Aerotech Soloist CP Series User manual

Revision: 4.09.00
Soloist CPHardware Manual

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www.aerotech.com
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Copyright © 2004-2019, Aerotech, Inc., All rights reserved.

Table of Contents Soloist CP
Table of Contents
Soloist CPHardware Manual 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Agency Approvals 10
Safety Procedures and Warnings 11
Quick Installation Guide 13
Chapter 1: Introduction 15
1.1. Drive and Software Compatibility 18
1.2. Electrical Specifications 19
1.2.1. System Power Requirements 20
1.2.2. Power Dissipation 21
1.3. Mechanical Design 22
1.4. Environmental Specifications 23
Chapter 2: Installation and Configuration 25
2.1. Power Connections 25
2.1.1. Control Supply Connections (TB106) 26
2.1.2. Motor Supply Connections (TB102) 27
2.1.3. Transformer Options 28
2.1.4. Minimizing Conducted, Radiated, and System Noise 35
2.2. Motor Output Connections 36
2.2.1. Brushless Motor Connections 37
2.2.1.1. Powered Motor Phasing 38
2.2.1.2. Unpowered Motor and Feedback Phasing 39
2.2.2. DC Brush Motor Connections 40
2.2.2.1. DC Brush Motor Phasing 41
2.2.3. Stepper Motor Connections 42
2.2.3.1. Stepper Motor Phasing 43
2.3. Motor Feedback Connections (J103) 44
2.3.1. Encoder Interface (J103) 45
2.3.1.1. RS-422 Line Driver Encoder (Standard) 46
2.3.1.2. Absolute Encoder Interface (J103) 47
2.3.1.3. Analog Encoder Interface 48
2.3.1.4. Encoder Phasing 50
2.3.2. Hall-Effect Interface (J103) 52
2.3.3. Thermistor Interface (J103) 53
2.3.4. Encoder Fault Interface (J103) 54
2.3.5. End Of Travel Limit Input Interface (J103) 55
2.3.5.1. End Of Travel Limit Phasing 57
2.3.6. Brake Output (J103) 58
2.4. Emergency Stop Sense Input Connector (TB101) 59
2.4.1. Typical ESTOP Interface 60
2.5. Auxiliary I/O Connector (J104) 61
2.5.1. Auxiliary Encoder Channel (J104) 62
2.5.2. Position Synchronized Output (PSO)/Laser Firing (J104) 64
2.5.3. Digital Outputs (J104) 66
2.5.4. Digital Inputs (J104) 68
2.5.5. High-Speed User Inputs 4-5 (J104) 70
2.5.6. Analog Output 0 (J104) 71
2.5.7. Differential Analog Input 0 (J104) 72
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2.6. Brake Power Supply Connector (TB103) 73
2.7. RS-232 Interface (TB103) 76
2.8. -EXTSHUNT Option (TB104) 77
2.9. PC Configuration and Operation Information 79
Chapter 3: -I/O Expansion Board 81
3.1. Analog I/O Connector (TB201) 82
3.1.1. Analog Output (TB201) 83
3.1.2. Differential Analog Input (TB201) 84
3.2. Opto Out Connectors (Digital Outputs) (TB202/TB203) 85
3.3. Opto In Connectors (Digital Inputs) (TB204/TB205) 89
3.4. User Power (TB204, TB205) 92
3.5. Relay Connector (TB206) 93
Chapter 4: Standard Interconnection Cables 95
4.1. Joystick Interface 96
4.2. Handwheel Interface 99
Chapter 5: Maintenance 101
5.1. Control Board 102
5.2. Preventative Maintenance 104
Appendix A: Warranty and Field Service 105
Appendix B: Revision History 107
Index 109
Soloist CP Table of Contents

Table of Contents Soloist CP
List of Figures
Figure 1-1: Soloist CP Networked Digital Drive 15
Figure 1-2: Functional Diagram 17
Figure 1-3: Power Dissipation vs. Output Current 21
Figure 1-4: Ambient Temperature vs. Power Dissipation 21
Figure 1-5: Dimensions 22
Figure 2-1: Control Supply Connections 26
Figure 2-2: Motor Bus Input Connections 27
Figure 2-3: Transformer Examples 28
Figure 2-4: 40 VDC Motor Power with a TV0.3-28-56-ST Transformer 29
Figure 2-5: 80 VDC Motor Power with a TV0.3-28-56-ST Transformer 30
Figure 2-6: 40 Volt DC Bus from 115 and 230 VAC Source 31
Figure 2-7: 80 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 32
Figure 2-8: 160 Volt DC Bus from 115 and 230 VAC Source (TV0.3-56) 33
Figure 2-9: Control and Motor Power Wiring using a TM3 or TM5 Transformer 34
Figure 2-10: ACLine Filter (UFM-ST) 35
Figure 2-11: Brushless Motor Configuration 37
Figure 2-12: Encoder and Hall Signal Diagnostics 38
Figure 2-13: Motor Phasing Oscilloscope Example 39
Figure 2-14: Brushless Motor Phasing Goal 39
Figure 2-15: DC Brush Motor Configuration 40
Figure 2-16: Clockwise Motor Rotation 41
Figure 2-17: Stepper Motor Configuration 42
Figure 2-18: Clockwise Motor Rotation 43
Figure 2-19: Line Driver Encoder Interface (J103) 46
Figure 2-20: Serial Data Stream Interface 47
Figure 2-21: Analog Encoder Phasing Reference Diagram 48
Figure 2-22: Analog Encoder Interface (J103) 49
Figure 2-23: Encoder Phasing Reference Diagram (Standard) 50
Figure 2-24: Position Feedback in the DiagnosticDisplay 51
Figure 2-25: Hall-Effect Inputs (J103) 52
Figure 2-26: Thermistor Interface Input (J103) 53
Figure 2-27: Encoder Fault Interface Input (J103) 54
Figure 2-28: End of Travel Limit Input Connections 55
Figure 2-29: End of Travel Limit Interface Input (J103) 56
Figure 2-30: Limit Input Diagnostic Display 57
Figure 2-31: ESTOPSenseInput (TB101) 59
Figure 2-32: Typical Emergency Stop Circuit 60
Figure 2-33: Auxiliary Encoder Channel (J104) 63
Figure 2-34: PSOInterface 65
Figure 2-35: Outputs Connected in Current Sourcing Mode (J104) 67
Figure 2-36: Outputs Connected in Current Sinking Mode (J104) 67
Figure 2-37: Inputs Connected in Current Sourcing Mode (J104) 69
Figure 2-38: Inputs Connected in Current Sinking Mode (J104) 69
Figure 2-39: High-Speed User Inputs (J104) 70
Figure 2-40: Analog Output 0 (J104) 71
Figure 2-41: Analog Input 0 (J104) 72
Figure 2-42: Brake Connected to J103 74
Figure 2-43: Brake Connected to TB103 75
Figure 2-44: RS-232 Interface (TB103) 76
Figure 3-1: Soloist CP with -IO Option Board 81
Figure 3-2: Analog Output Connector (TB201) 83
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Figure 3-3: Analog Input Typical Connection (TB201) 84
Figure 3-4: Digital Outputs (TB202/TB203) 87
Figure 3-5: Outputs Connected in Current Sourcing Mode (TB202/TB203) 88
Figure 3-6: Outputs Connected in Current Sinking Mode (TB202/TB203) 88
Figure 3-7: Digital Inputs 90
Figure 3-8: Inputs Connected to a Current Sourcing Device 91
Figure 3-9: Inputs Connected to a Current Sinking Device 91
Figure 3-10: Brake Connected to J103 94
Figure 3-11: Brake Connected to TB206 94
Figure 4-1: Single Axis Joystick Interface (to Aux I/O) 96
Figure 4-2: Two Axis Joystick Interface (to the Aux I/O of two drives) 97
Figure 4-3: Two Axis Joystick Interface (to the Aux I/O and I/O Board) 97
Figure 4-4: Two Axis Joystick Interface (to the I/Oboard of two drives) 98
Figure 4-5: Handwheel Interconnection (to Aux I/O) 99
Figure 4-6: Handwheel Interconnection (to Aux I/O via a BBA32 Module) 99
Figure 5-1: Control Board Assembly 102
Soloist CP Table of Contents

Table of Contents Soloist CP
List of Tables
Table 1-1: FeatureSummary 16
Table 1-2: Ordering Options 16
Table 1-3: Drive and Software Compatibility 18
Table 1-4: Electrical Specifications 19
Table 1-5: Physical Specifications 22
Table 2-1: Control Supply ACInput Wiring 26
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 26
Table 2-3: Motor Supply Input Connections (TB102) 27
Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 27
Table 2-5: Nominal Motor Operating Voltages / Required ACVoltages 28
Table 2-6: TransformerOptions 28
Table 2-7: FerriteNoise Suppression Numbers 35
Table 2-8: UFM-STElectrical Specifications 35
Table 2-9: Motor Power Output Connections (TB102) 36
Table 2-10: Mating Connector Part Numbers for the Motor Power Output Connector 36
Table 2-11: Wire Colors for Aerotech Supplied Cables (Brushless) 37
Table 2-12: Wire Colors for Aerotech Supplied Cables (DCBrush) 40
Table 2-13: Wire Colors for Aerotech Supplied Cables (Stepper) 42
Table 2-14: Motor Feedback Connector Pinout (J103) 44
Table 2-15: Mating Connector Part Numbers for the Motor Feedback Connector (J103) 44
Table 2-16: Encoder Interface Pins on the Motor Feedback Connector (J103) 45
Table 2-17: Encoder Specifications 46
Table 2-18: Analog Encoder Specifications 48
Table 2-19: Hall-Effect Feedback Interface Pins on the Motor Feedback Connector (J103) 52
Table 2-20: Thermistor Interface Pin on the Motor Feedback Connector (J103) 53
Table 2-21: Encoder Fault Interface Pin on the Motor Feedback Connector (J103) 54
Table 2-22: End of Travel Limit Input Interface Pins on the Motor Feedback Connector (J103) 55
Table 2-23: Brake Output Pins on the Motor Feedback Connector (J103) 58
Table 2-24: Electrical Noise Suppression Devices 59
Table 2-25: TB101 Mating Connector 59
Table 2-26: Typical ESTOPRelay Ratings 60
Table 2-27: Auxiliary I/O Connector Pinout (J104) 61
Table 2-28: Mating Connector Part Numbers for the Auxiliary I/OConnector (J104) 61
Table 2-29: Auxiliary Encoder Specifications 62
Table 2-30: Auxiliary Encoder Channel Pins on the Auxiliary I/OConnector (J104) 62
Table 2-31: PSO Specifications 64
Table 2-32: PSOOutput Pins on the Auxiliary I/OConnector (J104) 64
Table 2-33: Digital Output Specifications 66
Table 2-34: Port 0 Digital Output Connector Pins on the Auxiliary I/OConnector (J104) 66
Table 2-35: Digital Input Specifications 68
Table 2-36: Port 0 Digital Input Connector Pins on the Auxiliary I/OConnector (J104) 68
Table 2-37: High-Speed Input Specifications 70
Table 2-38: Port 0 High Speed Digital Input Connector Pins on the Auxiliary I/OConnector (J104) 70
Table 2-39: Input Voltage Jumper Configuration 70
Table 2-40: Analog Output 0 Specifications (TB102B) 71
Table 2-41: Analog Output Connector Pins on the Auxiliary I/OConnector (J104) 71
Table 2-42: Differential Analog Input 0 Specifications 72
Table 2-43: Analog Input Connector Pins on the Auxiliary I/OConnector (J104) 72
Table 2-44: Relay Specifications 73
Table 2-45: Brake Power Supply Connector Pinout (TB103) 73
Table 2-46: Mating Connector Part Numbers for the Brake Power Supply Connector (TB103) 73
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Table 2-47: RS-232 Connector Pin Assignment (TB103) 76
Table 2-48: RS-232 Port Connector Mating Connector (TB103) 76
Table 2-49: -EXTSHUNTComponent Information 77
Table 2-50: Maximum Additional Storage Energy 78
Table 3-1: -IO Expansion Board Jumper Configuration 81
Table 3-2: -IO Option Board Fuse Information 81
Table 3-3: Analog I/O Connector Pinout (TB201) 82
Table 3-4: Mating Connector Part Numbers for the Analog Output Connector (TB201) 82
Table 3-5: Analog Output Specifications (TB201) 83
Table 3-6: Analog Output Pins on the Analog I/OConnector (TB201) 83
Table 3-7: Differential Analog Input Specifications 84
Table 3-8: Analog Input Pins on the Analog I/OConnector (TB201) 84
Table 3-9: Digital Output Specifications (TB202/TB203) 85
Table 3-10: Port 1 Opto Out Connector Pinout (TB202) 86
Table 3-11: Port 2 Opto Out Connector Pinout (TB203) 86
Table 3-12: Mating Connector Part Numbers for the Opto Out Connectors (TB202/TB203) 86
Table 3-13: Digital Input Device Specifications 89
Table 3-14: Port 1 Opto In Connector Pinout (TB204) 89
Table 3-15: Port 2 Opto In Connector Pinout (TB205) 89
Table 3-16: Mating Connector Part Numbers for the Opto In Connector (TB204/TB205) 89
Table 3-17: User Common Connector on the Opto In Connector (TB204) 92
Table 3-18: +5 Volt Power Connector Pin on the Opto In Connector (TB205) 92
Table 3-19: Voltage and Current Specifications (TB206) 93
Table 3-20: Relay Connector Pinout (TB206) 93
Table 3-21: Mating Connector Part Numbers for the Relay Connector (TB206) 93
Table 3-22: -IO Expansion Board Brake Jumper Configuration 93
Table 4-1: Standard Interconnection Cables 95
Table 4-2: Cable Part Numbers 98
Table 5-1: LEDDescription 101
Table 5-2: Control Board Jumper Configuration 103
Table 5-3: Control Board Fuse Information 103
Table 5-4: LEDDescription 103
Table 5-5: Preventative Maintenance 104
Soloist CP Table of Contents

Declaration of Conformity Soloist CP
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Soloist CP
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
2011/65/EU RoHS2 Directive
and has been designed to be in conformity with the applicable requirements of the following Standard(s)
when installed and used in accordance with the manufacturer’s supplied installation instructions.
EN 61800-3:2004 EMC Requirements for Power Drives
EN 61010-1:2010 Safety Requirements for Electrical Equipment
Authorized Representative: Simon Smith, European Director
Address: Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 6/20/2019
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Agency Approvals
Aerotech, Inc. Model Soloist CP Series Digital Drives have been tested and found to be in accordance to the
following listed Agency Approvals:
Approval / Certification: CUS NRTL
Approving Agency: TUV SUD America Inc.
Certificate #: U8 17 01 68995 023
Standards: CAN/CSA-C22.2 No. 61010-1:2012; UL 61010-1:2012
Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates. Type
the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech certificates.
Soloist CP Declaration of Conformity

Electrical Safety Soloist CP
Safety Procedures and Warnings
This manual tells you how to carefully and correctly use and operate the Soloist CP. Read all parts of this
manual before you install or operate the Soloist CP or before you do maintenance to your system. To prevent
injury to you and damage to the equipment, obey the precautions in this manual. The precautions that follow
apply when you see a Danger or Warning symbol in this manual. If you do not obey these precautions, injury
to you or damage to the equipment can occur. If you do not understand the information in this manual,
contact Aerotech Global Technical Support.
This product has been designed for light industrial manufacturing or laboratory environments. The protection
provided by the equipment could be impaired if the product is used in a manner not specified by the
manufacturer.
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of
electrical shock, bodily injury, or death the following precautions must be followed.
1. Disconnect electrical power before servicing equipment.
2. Disconnect electrical power before performing any wiring.
3. Access to the Soloist CP and component parts must be restricted while connected to a
power source.
4. To minimize the possibility of electrical shock and bodily injury, extreme care must be
exercised when any electrical circuits are in use. Suitable precautions and protection must
be provided to warn and prevent persons from making contact with live circuits.
5. Install the Soloist CP inside a rack or enclosure.
6. The shunt resistor temperature can exceed 70°C during normal operation and contains
lethal voltage on its terminals and surface. It must be properly enclosed and shielded to
avoid risk of fire and operator shock.
7. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
8. All components must be properly grounded in accordance with local electrical safety
requirements.
9. Operator safeguarding requirements must be addressed during final integration of the
product.
D A N G E R : The Soloist CP case temperature may exceed 70°C in some applications.
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W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. If the product is used in a manner not specified by the manufacturer, the protection
provided by the product can be impaired and result in damage, shock, injury, or death.
2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
3. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
4. Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
5. Operators must be trained before operating this equipment.
6. All service and maintenance must be performed by qualified personnel.
Soloist CP Electrical Safety

Quick Installation Guide Soloist CP
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the Soloist
CP. If a custom interconnection drawing was created for your system (look for a line item on your Sales
Order under the heading “Integration”), that drawing can be found on your installation device.
Figure 1: Quick Start Connections
Topic Section
Motor Output Section 2.2. Motor Output Connections
Motor Feedback Section 2.3. Motor Feedback Connections (J103)
Ethernet / USB No Section / Standard Connection
Control Supply Section 2.1.1. Control Supply Connections (TB106)
Motor Supply Section 2.1.2. Motor Supply Connections (TB102)
Additional I/O User / Application dependent
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Soloist CP Quick Installation Guide
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Introduction Soloist CP
Chapter 1: Introduction
Aerotech’s Soloist CP(Compact PWM) network digital drive is a high performance amplifier. The drive
provides deterministic behavior, auto-identification, and easy software setup. The Soloist CP’s high
performance double precision floating point DSP controls the digital PID and current loops. All system
configuration is done using software-settable parameters, including control loop gains and system safety
functions.
The Soloist CP is offered with an optional encoder interpolation feature (-MXU), an auxiliary square wave
encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -IO option), and
separate power connections for motor and control supply voltages.
Figure 1-1: Soloist CP Networked Digital Drive
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Table 1-1: FeatureSummary
Standard Features
l85 - 240 VAC control supply inputs Section 2.1.1.
lPrimary quadrature encoder input channels Section 2.3.1.
lAbsolute Encoder support Section 2.3.1.2.
lDedicated Home and Limit inputs Section 2.3.5.
lDedicated 5-24 V Emergency Stop sense input Section 2.4.
lAuxiliary quadrature encoder input channels Section 2.5.1.
lFour digital outputs (opto-isolated) Section 2.5.3.
lFour digital inputs (opto-isolated) Section 2.5.4.
lTwo high-speed digital inputs (opto-isolated) Section 2.5.5.
lOne 16-bit analog output (±10 VDC) Section 2.5.6.
lOne 16-bit analog differential input (±10 VDC) Section 2.5.7.
lSingle-axis PSO capability Section 2.5.2.
lOne 24 VDC, 1 A brake relay Section 2.6.
lCalibration Refer to the Help file
lCamming Refer to theHelp file
l10/100 BASE-T Ethernet port for use with Ethernet I/O modules Refer to the Help file
Table 1-2: Ordering Options
Options
Power Stage Options (Section 1.2.)
10 10 A peak; 5 A continuous
20 20 A peak; 10 A continuous
30-S 30 A peak; 10 A continuous; 40 W continuous internal shunt resistor
I/O(Chapter 3) and Feedback (Section 2.3.1.3.) Options
-IO Expansion board with 16 digital inputs (opto-isolated); 16 digital outputs (opto-
isolated); one 12-bit analog input; one 16-bit analog output
-MXU Programmable encoder multiplier up to x1024 (x4,096 after quadrature); no real-
time output
Drive Options
-S
Internal shunt resistor (standard on CP30).
50 Ohm, 40 W Continuous; 400 W Peak (5 seconds),
(Manufacturer's P/N:Ohmite F40J50RE or equivalent)
NOTE:Excludes -EXTSHUNToption
-EXTSHUNT Two-pin connector for external shunt resistor network (Section 2.8.).
NOTE:Excludes -S option.
Software Options (refer to the SoloistHelp file for more information)
-EIP Enable EtherNet/IP™ on the master drive;
-DCT Enable the Dynamic Controls Toolbox on the master drive;
-ETM Enable the Enhanced Throughput Module on the master drive
-ETC Enhanced Tracking Control for reduced dynamic following error and settling times;
effectiveness may be limited for low-resolution axes. Refer to the Help file.
-LCK
Locked drive; firmware and calibration data on the drive cannot be modified by the
user; the drive must be returned if updates are required; read/write access to
parameters and programs is supported
Soloist CP Introduction

Introduction Soloist CP
The following block diagram shows a connection summary. For detailed connection information, refer to
Chapter 2 and Chapter 3.
Figure 1-2: Functional Diagram
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1.1. Drive and Software Compatibility
The following table lists the available drives and which version of the software first supported the drive.
Drives that list a specific version number in the Last Software Version column will not be supported after
the listed version.
Table 1-3: Drive and Software Compatibility
Drive Type Firmware Revision First Software Version Last Software Version
CP
- 1.00 Current
A 2.01 Current
B 2.54 Current
Soloist CP Introduction

Introduction Soloist CP
1.2. Electrical Specifications
Table 1-4: Electrical Specifications
Description CP 10 CP 20 CP 30
Motor
Supply
Input Voltage 14-240 VAC
Input Frequency 50-60 Hz
Inrush Current 32 A @ 230 VAC; 16 A @ 115 VAC
Maximum
Continuous Input
Current
5 Arms 10 Arms 10 Arms
Input Current Refer to Section 1.2.1. System Power Requirements
Control
Supply
Input Voltage 85-240 VAC
Input Frequency 50-60 Hz
Inrush Current 26 A
Input Current .25 A max
Output Voltage (1) 20-340 VDC
Peak Output Current (1 second) 10 A 20 A 30 A
Continuous Output Current 5 A 10 A 10 A
Power Amplifier Bandwidth 2500 Hz maximum (software selectable)
Power Amplifier Efficiency 85% - 95% (2)
PWM Switching Frequency 20 kHz
Minimum Load Inductance 0.1 mH @160 VDC (1 mH @ 320 VDC)
User Power Supply Output 5 VDC (@ 500 mA)
Modes of Operation Brushless; Brush; Stepper
Protective Features
Output short circuit; Peak over current; DC bus over voltage; RMS
over current; Over temperature; Control power supply under voltage;
Power stage bias supply under voltage
Isolation Optical and transformer isolation between control and power stages.
(1) AC input voltage and load dependent.
(2) Dependent on total output power: efficiency increases with increasing output power.
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1.2.1. System Power Requirements
The following equations can be used to determine total system power requirements. The actual power
required from the mains supply will be the combination of actual motor power (work), motor resistance
losses, and efficiency losses in the power electronics or power transformer. An EfficiencyFactor of
approximately 90% should be used in the following equations.
Brushless Motor
Output Power
Rotary Motors Pout [W] = Torque [N·m] * Angular velocity[rad/sec]
Linear Motors Pout [W] = Force [N] * Linear velocity[m/sec]
Rotary or Linear Motors Pout [W] = Bemf [V] * I(rms) * 3
Ploss = 3 * I(rms)^2 * R(line-line)/2
Pin = SUM (Pout + Ploss ) / EfficiencyFactor
DC Brush Motor
Pout [W] = Torque [N·m] * Angular velocity[rad/sec]
Ploss = I(rms)^2 * R
Pin = SUM (Pout + Ploss ) / EfficiencyFactor
Soloist CP Introduction