Navigation

  • Page 1

    Product Data1326AB High PerformanceAC ServomotorsIntroductionThis publication provides detailed information about 1326AB ACServomotors. The topics covered in this publication are listed below inorder of presentation.Basic Servomotor Descriptionpage 2Servomotor Optionspage 2Catalog Number Expl...

  • Page 2

    Product Data1326AB AC Servomotor2Basic Servomotor DescriptionThe 1326AB Servomotors are a family of high performance, three-phase,brushless AC synchronous motors designed by Allen-Bradley to meet thestringent requirements of servo system applications. This series of standardAC servomotors can be ...

  • Page 3

    Product Data1326AB AC Servomotor3Figure 1AC Servomotor Configuration and OptionsResolver/EncoderSecondary Feedback PackagesFeedback Mounting KitsJunction Box KitViton Shaft Oil SealBlower Cooling KitsIntegral Brake(Internal to Motor)90V DC BrakePower Supply• Resolver Feedback Packages (1326AB-M...

  • Page 4

    Product Data1326AB AC Servomotor41326A3First PositionSecond PositionThird PositionBulletinNumberFourth PositionMax. Op.SpeedEFifth PositionSeries11StandardOptions–DescriptionAC ServomotorPM TypeLetterADesignMotorLengthDescription72 lb.-in. (8.1 N-m) Holding Brake w/90V DC Coil.120 lb.-in. (13.6...

  • Page 5

    Product Data1326AB AC Servomotor53 The motor comes standard with IP65 plug style connectors mounted radially to the motor. This kit allows theconnectors to be brought out axially from the motor without further wiring. Kit includes Motor Junction Boxand Mounting Hardware.Motor Junction Box Kit 313...

  • Page 6

    Product Data1326AB AC Servomotor6Feedback Coupling 51326MODC1First PositionSecond PositionThird PositionBulletinNumberTypeCouplingSize–DescriptionModificationKitCodeMODCodeC1C2Size – Motor Shaft to Encoder Shaft3/8” to 3/8” (9.5 mm to 9.5 mm)1/4” to 3/8” (6.4 mm to 9.5 mm)–5 The fee...

  • Page 7

    Product Data1326AB AC Servomotor7Blower Mod Kit1326ABMODG3BulletinNumberTypeDescription–DescriptionModificationKitCodeMODCodeG3G4Motor SeriesRear mounted blower for the C4B andC2E motors“Saddle” type blower for the C4B motor–1326CFirst PositionSecond PositionThird PositionBulletinNumberSi...

  • Page 8

    Product Data1326AB AC Servomotor8Servomotor Performance DataThe following section contains 1326AB performance data. Included is aSelection List detailing the performance parameters of selected amplifier/motor combinations, followed by typical speed-torque curves.1391B Servo System Selection List ...

  • Page 9

    Product Data1326AB AC Servomotor9Figure 2Typical 1326AB Speed-Torque Curve ÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇÇ...

  • Page 10

    Product Data1326AB AC Servomotor10Rated Operation Area – boundary of speed-torque curve where the motorand controller combination may operate on a servo basis without exceedingthe RMS rating of either. See page 31 for formula details.Tpa2 x t1 + Tss2 x t2 + Tpd2 x t3 + Tr2 x t4t1 + t2 + t3 + t4...

  • Page 11

    Product Data1326AB AC Servomotor11Figure 31326AB-A1G and A2E Motor Performance CurvesCategoryGeneralThermalWindingMechanicalParameterContinuous Stall Torque at 40° C AmbientRated Output/1391B-ES, DES Rated OutputPeak Stall Torque/1391B-ES, DES Peak Stall Torque 3Continuous Stall Current 3Peak St...

  • Page 12

    Product Data1326AB AC Servomotor12Figure 41326AB-A3E and B2E Motor Performance CurvesCategoryGeneralThermalWindingMechanicalUnitslb.-in. (N-m)kWlb.-in. (N-m)amperesamperesmillisecondsmillisecondsrpmdegrees Cminuteslb.-in. (N-m)/Avolts/1000 rpmohmsmillihenrylb.-in.-s2 (kg-m2)lbs. (kg)in. (mm) 2132...

  • Page 13

    Product Data1326AB AC Servomotor13Figure 51326AB-B3E and C2E Motor Performance CurvesCategoryGeneralThermalWindingMechanicalUnitslb.-in. (N-m)kWlb.-in. (N-m)amperesamperesmillisecondsmillisecondsrpmdegrees Cminuteslb.-in. (N-m)/Avolts/1000 rpmohmsmillihenrylb.-in.-s2 (kg-m2)lbs. (kg)in. (mm) 2132...

  • Page 14

    Product Data1326AB AC Servomotor14Figure 61326AB-C3E and C4C Motor Performance CurvesCategoryGeneralThermalWindingMechanicalUnitslb.-in. (N-m)kWlb.-in. (N-m)amperesamperesmillisecondsmillisecondsrpmdegrees Cminuteslb.-in. (N-m)/Avolts/1000 rpmohmsmillihenrylb.-in.-s2 (kg-m2)lbs. (kg)in. (mm) 2132...

  • Page 15

    Product Data1326AB AC Servomotor15Figure 71326AB-C4B Motor Performance CurvesCategoryGeneralThermalWindingMechanicalUnitslb.-in. (N-m)kWlb.-in. (N-m)amperesamperesmillisecondsmillisecondsrpmdegrees Cminuteslb.-in. (N-m)/Avolts/1000 rpmohmsmillihenrylb.-in.-s2 (kg-m2)lbs. (kg)in. (mm) 21326AB-C4B4...

  • Page 16

    Product Data1326AB AC Servomotor16Figure 8Motor Output Shaft Radial Load vs. Thrust Load5050100150200250300100150200250300Radial Load (lbs.)Thrust (lbs.)100100200300400500600200300400500600Radial Load (lbs.)Thrust (lbs.)150100200300400500600300450600750900Radial Load (lbs.)Thrust (lbs.)X=0.25 (6....

  • Page 17

    Product Data1326AB AC Servomotor17Special Order Motor InformationMotors having operating characteristics different from standard motors areavailable as a special order item. Refer to the data listed below. Forordering and delivery information, contact your local Allen-Bradley SalesOffice.Table AN...

  • Page 18

    Product Data1326AB AC Servomotor18Servomotor DimensionsThe following figures provide approximate dimensions for the 1326ABface and flange mount motors, respectively.Figure 9Motor Dimensions – 1326AB-Axx Series ServomotorCatalog Number1326AB-A1x-111326AB-A2x-111326AB-A3x-11AG10.4412.6914.94AD8.6...

  • Page 19

    Product Data1326AB AC Servomotor19Figure 10Motor Dimensions – 1326AB-Bxx Series ServomotorCatalog Number1326AB-B1x-111326AB-B2x-111326AB-B3x-111326AB-B4x-11AG11.7814.7818.0321.28AD10.1613.1616.4119.66AH2.382.382.382.38AK14.504.504.504.50C14.1617.1620.4123.66O5.885.885.885.88Key0.25 x 0.25 x 1....

  • Page 20

    Product Data1326AB AC Servomotor20Figure 11Motor Dimensions – 1326AB-Cxx Series ServomotorCatalog Number1326AB-C1x-111326AB-C2x-111326AB-C3x-111326AB-C4x-11AG12.4415.4418.9422.44AD10.8813.8817.3820.88AH3.003.003.003.00AK14.504.504.504.50C15.4418.4421.9425.44O7.637.637.637.63Key0.31 x 0.31 x 2.0...

  • Page 21

    Product Data1326AB AC Servomotor21Figure 12Motor Power & Feedback Cable DimensionsCable1326-CFUxxx1326ES-CFUxxx 41326-CFUTxxx1326ES-CFUTxxx 41326-CPABxxx1326ES-CPABxxx 41326-CPABTxxx1326ES-CPABTxxx 41326-CPCxxx1326ES-CPCxxx1326-CPCTxxx1326ES-CPCTxxx1326-CEUxxx1326-CVUxxxBR22.0 (50.8)2.0 (50.8...

  • Page 22

    Product Data1326AB AC Servomotor22Servomotor OptionsThis section provides detailed information on the various options availablefor the 1326 AC Servomotor.Integral Holding Brake (Option -Ax or -Kx)The 1326AB servomotor contains an integral holding brake when thecatalog number contains a suffix of ...

  • Page 23

    Product Data1326AB AC Servomotor23Figure 13Brake Power Supply Dimensions and Wiring28.6(1.125)28.6(1.125)4.2 (0.165) Dia.Mounting Hole6.4 (0.25) Terminal,4 Places19.1(0.75)+Suppressor(Supplied)Brake Wiresfrom Motor Cable120V AC–Encoder Mounting Adapters (1326AB-MOD-Mxx)Several adapters are avai...

  • Page 24

    Product Data1326AB AC Servomotor24Shaft Oil Seal (1326AB-MOD-SSV-xx)A Viton shaft oil seal is available for field installation on the motor shaft.The seal is to be used in applications where the motor shaft may besubjected to occasional oil splashes (motor is mounted to gearbox, etc.).The kit is ...

  • Page 25

    Product Data1326AB AC Servomotor25Resolver Feedback Mounting Adapter Kit (1326AB-MOD-Mx)The Resolver Feedback Mounting Kit provides a means of mounting the1326AB Resolver to B and C series motors. An adapter is not needed for Aseries motors. Refer to Figure 16 for dimension information.Important:...

  • Page 26

    Product Data1326AB AC Servomotor26Figure 17Motor Junction Box DimensionsDimensionABCwithConnectors4.13 (105.0)2.44 (62.0)2.50 (190.5)Alternate PositionCover and GasketGasketCABBlower Kits (1326AB-MOD-G3, G4)Two blower kits are available for use with 1326AB “C” Series ACServomotors. The “G3...

  • Page 27

    Product Data1326AB AC Servomotor27Table CPerformance Improvements with the Blower Kit Motor CatalogNumber1326AB-C2E31326AB-C4B4RMS Cont.Torque1 lb.-in. (N-m)210 (23.7)420 (47.5)ContinuousAmperesA33.238.2RMS Cont.Torque1 lb.-in. (N-m)285 (32.2)505 (57.1)ContinuousAmperes2A45.045.0Motor without Blo...

  • Page 28

    Product Data1326AB AC Servomotor28Cable Wiring InformationPin-outs and interconnect information for the various 1326 cables areprovided in this section.1326-CFUxx, 1326ES-CFUxx 1, 1326-CFUTxx, 1326ES-CFUTxx 1Commutation CableConnector1391Wire ColorGaugePinTerminal #Black#20A TB1-10White#20B TB1-9...

  • Page 29

    Product Data1326AB AC Servomotor291326-CVUxx Master/Vernier Resolver CableMaster/Wire ConnectorVernierPairColorGaugePinDescriptionMaster1White22ARotor 1Black22BRotor 22Red22DStator 1Black22FStator 33Orange22EStator 2Black22GStator 4Vernier4Blue22JRotor 1Black22KRotor 25Green22NStator 2Black22RSta...

  • Page 30

    Product Data1326AB AC Servomotor30Servomotor Application GuideThe following steps are a general guide designed to assist in servomotorselection. Formulas provided on the following pages should be used inconjunction with the steps below to determine correct motor sizing. Forfurther assistance, com...

  • Page 31

    Product Data1326AB AC Servomotor31System Inertia in lb.-in.-s2Peak Torque =System Inertia x ∆rpm9.6 x Time (to accelerate) + Tlwhere:Peak Torque = total motor torque required to accelerate the load in lb.-in.System Inertia = total system inertia in lb.-in.-s2 (listed as Jtjm on formula shee...

  • Page 32

    Product Data1326AB AC Servomotor32Servomotor Driven Leadscrew FormulasPositionControllerMotion ControlDriveTransmissionMotorNutPosition FeedbackDeviceLeadscrewTable/SlidePart/ToolMotor SpeedNm =V1Leadx G.R.Continuous Torque at the LeadscrewTb =W1 x u x Lead6.28 x e1Thrust x Lead6.28 x e1Thrust ...

  • Page 33

    Product Data1326AB AC Servomotor33Typical Leadscrew Data(Using Formulas from Previous Page)Torque at Lead to Produce 1000 lbs. Thrust Force1. Divide the lb.-in. value shown by efficiency of screw to obtaincorrected value.Lead Torque(in./rev) (lb.-in.)0.20031.840.25039.800.30047.77LeadTorque(in./r...

  • Page 34

    Product Data1326AB AC Servomotor34Servomotor Driven Rack and Pinion FormulasPositionControllerMotion ControlDriveGearbox(5)MotorPosition FeedbackDevicePinionTable/ShuttleMotor SpeedNm =V16.28 x Rx G.R.Continuous Torque at the PinionRxw1e1Tpin =R x W1 x ue1R x Thruste1R x Thrust x ue1 + +(1)(2...

  • Page 35

    Product Data1326AB AC Servomotor35Typical Rack & Pinion System Data(Using Rack and Pinion Formulas from Previous Page)Torque at Pinion to Produce 1000 lbs. Thrust Force1. Divide lb.-in. value shown at pinion by gearbox ratio and efficiency toobtain required motor torque (Tm)2. To determine pi...

  • Page 36

    Product Data1326AB AC Servomotor36Servomotor Driven Conveyor FormulasPositionControllerMotion ControlDriveGearbox(4)MotorPosition FeedbackDeviceConveyor BeltLoadPulley/Roller 1(Main Drive)Pulley/Roller 2Pulley/Roller 3IMPORTANT: Assume that all pulley radii are equalMotor SpeedNm =V16.28 x Rx G...

  • Page 37

    Product Data1326AB AC Servomotor37Typical Conveyor System Data(Using Conveyor Formulas from Previous Page)Torque at Drive Pulley/Roller 1 w/1000 lbs. Load1. Divide lb.-in. value shown at the roller by the gearbox ratio, roller/ belt(e1) and gearbox (e2) efficiency to obtain required motor torque ...

  • Page 38

    Product Data1326AB AC Servomotor38Leadscrew Application Data for Point to Point PositioningA. CUSTOMER B. AXIS DESCRIPTION C. t NEW SYSTEMD. t EXISTING EQUIPMENT1.SERVOMOTORMANUFACTURER t ACMODEL NO. / RATED CURRENT / RATED RPM / KW= / CONTINUOUS TORQUE / PEAK TORQUE / SHAFT INERTIAt DCWINDING...

  • Page 39

    Product Data1326AB AC Servomotor39Leadscrew Application Data for Point to Point Positioning (Continued)G. DUTY CYCLE & TOTAL CYCLE TIME (TRIANGULAR OR TRAPEZOIDAL) trestt3t2t1trestt2t1H. ENVIRONMENT (NOTE IF OILY, CORROSIVE, HIGH TEMPERATURE, ETC.)

  • Page 40

    Product Data1326AB AC Servomotor40Leadscrew Application Data for Machine Tool PositioningA. CUSTOMER B. AXIS DESCRIPTION C. t NEW SYSTEMD. t EXISTING EQUIPMENT1.SERVOMOTORMANUFACTURER t ACMODEL NO. / RATED CURRENT / RATED RPM / KW= / CONTINUOUS TORQUE / PEAK TORQUE / SHAFT INERTIAt DCWINDING N...

  • Page 41

    Product Data1326AB AC Servomotor41Leadscrew Application Data for Machine Tool Positioning (Continued)G. DUTY CYCLE & TOTAL CYCLE TIME (TRIANGULAR OR TRAPEZOIDAL) trestt3t2t1trestt2t1H. ENVIRONMENT (NOTE IF OILY, CORROSIVE, HIGH TEMPERATURE, ETC.)

  • Page 42

    Product Data1326AB AC Servomotor42Rack and Pinion Application Data for Point to Point PositioningA. CUSTOMER B. AXIS DESCRIPTION C. t NEW SYSTEMD. t EXISTING EQUIPMENT1.SERVOMOTORMANUFACTURER t ACMODEL NO. / RATED CURRENT / RATED RPM / KW= / CONTINUOUS TORQUE / PEAK TORQUE / SHAFT INERTIAt DCW...

  • Page 43

    Product Data1326AB AC Servomotor43Conveyor Application Data A. CUSTOMER B. AXIS DESCRIPTION C. t NEW SYSTEMD. t EXISTING EQUIPMENT1.SERVOMOTORMANUFACTURER t ACMODEL NO. / RATED CURRENT / RATED RPM / KW= / CONTINUOUS TORQUE / PEAK TORQUE / SHAFT INERTIAt DCWINDING NO. 2.SERVO AMPLIFIERMANUFACTU...

  • Page 44

    Product Data1326AB AC Servomotor44Conversion Factors Abbreviations used in this publication are in ( ).TorqueTo ConvertToMultiply Bylb.-in.Newton-meters (N-m)0.113lb.-ft.Newton-meters (N-m)1.3558Newton-meters (N-m)lb.-in.8.85Newton-meters (N-m)lb.-ft.0.7376lb.-in.kg-cm1.155lb.-in.lb.-ft.0.0833lb...

  • Page 45

    Product Data1326AB AC Servomotor45Mass / WeightTo ConvertToMultiply Byounces (oz.)grams31.1pounds (lbs.)kilograms (kg)0.4536pounds (lbs.)ounces (oz.)16kilograms (kg)pounds (lbs.)2.205Newtonspounds (lbs.)0.2248SlugsPounds (lbs.)32.7LengthTo ConvertToMultiply Bymeters (m)inches (in.)39.37meters (m)...

  • Page 46

    Product Data1326AB AC Servomotor46

  • Page 47

    Product Data1326AB AC Servomotor47

  • Page 48

    Publication 1326A-2.3 November, 1996Supersedes September, 1994Copyright 1994 Allen-Bradley Company, Inc., a Rockwell International company Printed in USA

x