Harmonic Drive LynxDrive Series User manual

AC Servo Actuators LynxDrive®
Engineering Data
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can be found HERE!
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Contents
1. General .................................................................................................................................................. 4
1.1 Description of Safety Alert Symbols....................................................................................................................................5
1.2 Disclaimer and Copyright ......................................................................................................................................................5
2. Safety and Installation Instructions.................................................................................................... 6
2.1 Hazards ..................................................................................................................................................................................6
2.2 Intended Purpose ..................................................................................................................................................................7
2.3 Non Intended Purpose ..........................................................................................................................................................7
2.4 Use in Special Application Areas ......................................................................................................................................... 8
2.5 Declaration of Conformity.................................................................................................................................................... 8
2.5.1 Gears.......................................................................................................................................................................... 8
2.5.2 Servo Actuators and Motors.................................................................................................................................... 8
3. Technical Description............................................................................................................................ 9
4. Ordering Code ......................................................................................................................................10
5. Combinations........................................................................................................................................11
6. Technical Data......................................................................................................................................12
6.1 General Technical Data ........................................................................................................................................................ 12
6.2 Actuator Data LynxDrive-14C.............................................................................................................................................. 13
6.2.1 Technical Data.......................................................................................................................................................... 13
6.2.2 Moment of Inertia ................................................................................................................................................... 13
6.2.3 Technical Data Brake................................................................................................................................................ 13
6.2.4 Performance Characteristics ................................................................................................................................... 14
6.3 Actuator Data LynxDrive-17C .............................................................................................................................................. 15
6.3.1 Technical Data.......................................................................................................................................................... 15
6.3.2 Moment of Inertia ................................................................................................................................................... 15
6.3.3 Technical Data Brake................................................................................................................................................ 15
6.3.4 Performance Characteristics ................................................................................................................................... 16
6.4 Actuator Data LynxDrive-20C ..............................................................................................................................................17
6.4.1 Technical Data...........................................................................................................................................................17
6.4.2 Moment of Inertia ................................................................................................................................................... 18
6.4.3 Technical Data Brake................................................................................................................................................ 18
6.4.4 Performance Characteristics ................................................................................................................................... 19
6.5 Actuator Data LynxDrive-25C............................................................................................................................................. 20
6.5.1 Technical Data......................................................................................................................................................... 20
6.5.2 Moment of Inertia ................................................................................................................................................... 21
6.5.3 Technical Data Brake................................................................................................................................................ 21
6.5.4 Performance Characteristics ...................................................................................................................................22
6.6 Actuator Data LynxDrive-32C..............................................................................................................................................23
6.6.1 Technical Data..........................................................................................................................................................23
6.6.2 Moment of Inertia ...................................................................................................................................................24
6.6.3 Technical Data Brake................................................................................................................................................24
6.6.4 Performance Characteristics ...................................................................................................................................25
6.7 Actuator Data LynxDrive-40C.............................................................................................................................................26
6.7.1 Technical Data..........................................................................................................................................................26
6.7.2 Moment of Inertia ...................................................................................................................................................27
6.7.3 Technical Data Brake................................................................................................................................................27
6.7.4 Performance Characteristics .................................................................................................................................. 28

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6.8 Actuator Data LynxDrive-50C .............................................................................................................................................29
6.8.1 Technical Data..........................................................................................................................................................29
6.8.2 Moment of Inertia .................................................................................................................................................. 30
6.8.3 Technical Data Brake............................................................................................................................................... 30
6.8.4 Performance Characteristics ................................................................................................................................... 31
6.9 Dimensions ..........................................................................................................................................................................32
6.10 Accuracy.............................................................................................................................................................................. 34
6.11 Torsional Stiness.............................................................................................................................................................. 34
6.12 Output Bearing ....................................................................................................................................................................35
6.12.1 Technical Data..........................................................................................................................................................35
6.12.2 Tolerances ................................................................................................................................................................35
6.13 Motor Feedback Systems ...................................................................................................................................................36
6.13.1 MGH..........................................................................................................................................................................37
6.13.2 MEE ..........................................................................................................................................................................37
6.13.3 MKE ......................................................................................................................................................................... 38
6.13.4 ROO.......................................................................................................................................................................... 38
6.14 Temperature sensor ............................................................................................................................................................39
6.15 Electrical Connections ........................................................................................................................................................ 40
6.15.1 LynxDrive-xxC-yy-Az-H-MGH(-B) ............................................................................................................................42
6.15.2 LynxDrive-xxC-yy-Az-H-MEE(-B) / -MKE(-B)......................................................................................................... 43
6.15.3 LynxDrive-xxC-yy-Az-H-ROO(-B)............................................................................................................................ 44
6.15.4 LynxDrive-xxC-yy-Az-L-MGH(-B) ............................................................................................................................ 45
6.15.5 LynxDrive-xxC-yy-Az-L-MEE(-B) / -MKE(-B).......................................................................................................... 46
6.15.6 LynxDrive-xxC-yy-Az-L-ROO(-B) ..............................................................................................................................47
7. Actuator Selection Procedure............................................................................................................48
7.1. Selection Procedure and Calculation Example.................................................................................................................. 48
7.2 Calculation of the Torsion Angle.........................................................................................................................................52
7.3 Output Bearing ....................................................................................................................................................................53
7.3.1 Lifetime Calculation for Continuous Operation .....................................................................................................53
7.3.2 Lifetime Calculation for Oscillating Motion ...........................................................................................................53
7.3.3 Permissible Static Tilting Moment.........................................................................................................................55
7.3.4 Angle of Inclination .................................................................................................................................................55
8. Design Notes ...................................................................................................................................... 56
8.1 Notes on the Fit Selection ..................................................................................................................................................56
9. Installation and Operation..................................................................................................................57
9.1 Transport and Storage.........................................................................................................................................................57
9.2 Installation...........................................................................................................................................................................57
9.3 Mechanical Installation ...................................................................................................................................................... 58
9.4 Electrical Installation...........................................................................................................................................................59
9.5 Commissioning ................................................................................................................................................................... 60
9.6 Overload Protection............................................................................................................................................................ 60
9.7 Protection against Corrosion and Penetration of Liquids and Debris .............................................................................. 61
9.8 Shutdown and Maintenance............................................................................................................................................... 61
10. Decommissioning and Disposal......................................................................................................... 63
11. Glossary...............................................................................................................................................64
11.1 Technical Data .................................................................................................................................................................... 64
11.2 Labelling, Guidelines and Regulations ................................................................................................................................71

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1. General
About this documentation
This document contains safety instructions, technical data and operation rules for servo actuators and servo motors of
Harmonic Drive AG.
The documentation is aimed at planners, project engineers, commissioning engineers and machine manufacturers, oering
support during selection and calculation of the servo actuators, servo motors and accessories.
Rules for storage
Please keep this document for the entire life of the product, up to its disposal. Please hand over the documentation when
re-selling the product.
Additional documentation
For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional documents.
Documentation is provided for all products oered by Harmonic Drive AG and can be found in pdf format on the website.
www.harmonicdrive.de
Third-party systems
Documentation for parts supplied by third party suppliers, associated with Harmonic Drive® components, is not included in
our standard documentation and should be requested directly from the manufacturers.
Before commissioning servo actuators and servo motors from Harmonic Drive AG with servo drives, we advise you to obtain
the relevant documents for each device.
Your feedback
Your experiences are important to us. Please send suggestions and comments about the products and documentation to:
Harmonic Drive AG
Marketing and Communications
Hoenbergstraße 14
65555 Limburg / Lahn
Germany
E-Mail: [e-mail]

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1.1 Description of Safety Alert Symbols
Symbol Meaning
Indicates an imminent hazardous situation. If this is not avoided, death or
serious injury could occur.
Indicates a possible hazard. Care should be taken or death or serious injury may
result.
Indicates a possible hazard. Care should be taken or slight or minor injury
may result.
Describes a possibly harmful situation. Care should be taken to avoid damage
to the system and surroundings.
This is not a safety symbol. This symbol indicates important information.
Warning of a general hazard. The type of hazard is determined by the
specific warning text.
Warning of dangerous electrical voltage and its eects.
Beware of hot surfaces.
Beware of suspended loads.
Precautions when handling electrostatic sensitive components.
Beware of electromagnetic environmental compatibility.
1.2 Disclaimer and Copyright
The contents, images and graphics contained in this document are predected by copyright. In addition to the copyright, logos,
fonts, company and product names can also be predected by brand law or trademark law. The use of text, extracts or graphics
requires the permission of the publisher or rights holder.
We have checked the contents of this document. Since errors cannot be ruled out entirely, we do not accept liability for mis-
takes which may have occurred. Notification of any mistake or suggestions for improvements will be gratefully received and any
necessary correction will be included in subsequent editions.
DANGER
WARNING
ATTENTION
INFORMATION
ADVICE

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2. Safety and Installation Instructions
Please take note of the information and instructions in this document. Specially designed models may dier in technical
detail. If in doubt, we recommend to contact the manufacturer, giving the type designation and serial number for
clarification.
2.1 Hazards
DANGER
Electric servo actuators and motors have dangerous live and rotating parts. All work during connection, operation, repair and
disposal must be carried out by qualified personnel as described in the standards EN 50110-1 and IEC 60364! Before starting
any work, and especially before opening covers, the actuator must be properly isolated. In addition to the main circuits, the
user also has to pay attention to any auxilliary circuits.
Observing the five safety rules:
• Disconnect mains
• Prevent reconnection
• Test for absence of harmful voltages
• Ground and short circuit
• Cover or close o nearby live parts
The measures taken above must only be withdrawn when the work has been completed and the device is fully assembled.
Improper handling can cause damage to persons and property. The respective national, local and factory specific regulations
must be adhered to.
ATTENTION
The surface temperature of gears, motors and actuators can exceed 55 degrees Celsius. The hot surfaces should not be touched.
ADVICE
Cables must not come into direct contact with hot surfaces.
DANGER
Electric, magnetic and electromagnetic fields are dangerous, in particular for persons with pacemakers, implants or similiar.
Vulnerable individuals must not be in the close proximity of the products themselves.
DANGER
Built-in holding brakes are not functional safe by themselves. Particularly with unsupported vertical axes, functional safety
can only be achieved with additional, external mechanical brakes.

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DANGER
Danger of injury due to improper handling of batteries.
Observing of the battery safety rules:
• do not insert batteries in reverse. Observe the + and - marks on the battery and on the electrical device
• do not short circuit
• do not recharge
• do not open or deform
• do not expose to fire, water or high temperature
• do not leave discharged batteries in the electrical device
• keep batteries out of reach of children. In case of ingestion of a battery, seek medical assistance promptly.
WARNING
The successful and safe operation of gears, servo actuators and motors requires proper transport, storage and assembly as
well as correct operation and maintenance.
ATTENTION
Use suitable lifting equipment to move and lift gears, servo actuators and motors with a weight > 20 kg.
INFORMATION
Special versions of products may dier in the specification from the standard. Further applicable data from data sheets,
catalogues and oers of the special version have to be considered.
2.2 Intended Purpose
Harmonic Drive® Products are intended for industrial or commercial applications.
Typical areas of application are robotics and handling, machine tools, packaging and food machines and similar machines.
The products may only be operated within the operating ranges and environmental conditions shown in the documentation
(altitude, degree of predection, temperature range, etc).
Before commissioning of plants and machinery including Harmonic Drive® Products, the compliance with the Machinery
Directive must be established.
2.3 Non Intended Purpose
The use of products outside the areas of application mentioned above or beyond the operating areas or environmental
conditions described in the documentation is considered as non-intended purpose.

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2.4 Use in Special Application Areas
The use of the products in one of the following application areas requires a risk assessment and approval by
Harmonic Drive AG.
• Aerospace
• Areas at risk of explosion
• Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of radio-activity
• Vacuum
• Household devices
• Medical equipment
• Devices which interact directly with the human body
• Machines or equipment for transporting or lifting people
• Special devices for use in annual markets or leisure parks
2.5 Declaration of Conformity
2.5.1 Gears
Harmonic Drive® Gears are components for installation in machines as defined by the Machinery Directive.
Commissioning is prohibited until the end product conforms to the provisions of this directive.
Essential health and safety requirements were considered in the design and manufacture of these gear component sets.
This simplifies the implementation of the Machinery Directive by the end user for the machinery or the partly completed
machinery. Commissioning of the machine or partly completed machine is prohibited until the end product conforms to the
Machinery Directive.
2.5.2 Servo Actuators and Motors
The Harmonic Drive® Servo Actuators and Motors described in the engineering data comply with the Low Voltage Directive.
In accordance with the Machinery Directive, Harmonic Drive® Servo Actuators and Motors are electrical equipment
for the use within certain voltage limits as covered by the Low Voltage Directive and thus excluded from the scope of the
Machinery Directive. Commissioning is prohibited until the final product conforms to the Machinery Directive.
According to the EMC directive Harmonic Drive® Servo Actuators and Motors are inherently benign equipment, unable to
generate electromagnetic disturbance or to be aected by such disturbance.
The conformity to the EU directives of equipment, plant and machinery in which Harmonic Drive® Servo Actuators and Motors
are installed must be provided by the user before taking the device into operation.
Equipment, plant and machinery with inverter driven motors must satisfy the protection requirements of the EMC directive.
It is the responsibility of the user to ensure that the installation is carried out correctly.

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Compact actuator with high corrosion protection
The servo drives of the LynxDrive® Series combine a synchronous servo motor, Unit from the HFUC-2UH Series, feedback
sensor and a cross roller output bearing.
Available in seven sizes with six gear ratios between 30 and 160:1, the actuators can provide maximum torques from 9 to
1180 Nm. The output bearing with high tilting capacity can easily withstand and accurately handle heavy payloads.
To adapt to your specific application, the LynxDrive® Series oers many possible combinations when selecting the motor
feedback, brake, as well as oering various cable and connector options.
With the servo controller YukponDrive®, a pre-configured drive system from a single source is available - perfectly tailored
for your application. Alternatively, the flexible configuration of the actuator ensures compatibility with almost any servo
controller on the market.
The accurate positioning of the actuator ensures stable machine characteristics, short cycle times and minimum space
requirements. With high protection ratings and corrosion resistance, the series is perfectly suited for use in harsh and
demanding environmental conditions.
3. Technical Description

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4. Ordering Code
Explanation of the technical data can be found in the Glossary.
Table 10.2
Table 10.1
Table 10.3
Table 10.4
Motor winding
Size Ordering Code Maximum stationary
DC bus voltage
14C
AO
680 VDC
17C
20C
25C AR
32C
40C AT
50C AW
Motorfeedback
Ordering Code Type Protocol
MGH
Multiturn Absolut
HIPERFACE®
MEE EnDat®
MKE
ROO Resolver –
Connector configuration
Ordering Code Motor Motor-
feedback
MGH
ROO
MEE
MKE
H 6 pol. 12 pol. 17 pol.
L 8 pol.
Series Size Ratio Motor
winding
Connector
configuration
Motorfeed-
back Brake Special
design
LynxDrive
14C 30 50 100
AO
H
L
MGH
MEE
MKE
ROO
B
According
to customer
requirements
17C 30 50 100
20C 30 50 80 100 120 160
25C 30 50 80 100 120 160 AR
32C 30 50 80 100 120 160
40C 50 80 100 120 160 AT
50C 50 100 160 AW
Ordering Code
LynxDrive 20C 100 AO H MGH B SP
- - - - - - -

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5. Combinations
Table 11.1
available  on request – not available
Size 14C 17C 20C 25C 32C 40C 50C
Ratio
30  – –
50 
80 
100 
120 –
160 – – 
Motor winding
AO  ––––
AR – – –   – –
AT ––––––
AW ––––––
Connector configuration H
L
Motorfeedback
MGH 
MEE 
MKE 
ROO 
Brake B 

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6. Technical Data
6.1 General Technical Data
Table 12.1
Table 12.2
Insulation class (EN 60034-1) F
Insulation resistance (500 VDC) MΩ 100
Insulation voltage (10 s) Vrms 2500
Lubrication Flexolub®-A1
Degree of protection (EN 60034-5) IP65
Ambient operating temperature °C 0 … 40
Ambient storage temperature °C -20 … 60
Altitude (a. s. l.) m < 1000
Relative humidity (without condensation) % 20 … 80
Vibration resistance (DIN IEC 68 Teil 2-6, 10 … 500 Hz) g 5
Shock resistance (DIN IEC 68 Teil 2-27, 18 ms) g 30
Temperature sensor 1 x KTY 84-130 and 1 x PTC 91-K135
The continuous operating characteristics given in the following apply to an ambient temperature of 40 °C and an aluminium
cooling surface with the following dimensions:
Series Size Unit Dimensions
LynxDrive
14C [mm] 200 x 200 x 6
17C [mm] 300 x 300 x 15
20C [mm] 300 x 300 x 15
25C [mm] 350 x 350 x 18
32C [mm] 350 x 350 x 18
40C [mm] 400 x 400 x 20
50 C [mm] 600 x 600 x 30

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6.2 Actuator Data LynxDrive-14C
6.2.1 Technical Data
Table 13.1
6.2.2 Moment of Inertia
Table 13.2
Symbol
[Unit] LynxDrive-14C
Ratio i [ ] 30 50 100
Maximum output torque Tmax [Nm] 9 18 28
Maximum output speed nmax [rpm] 283 170 85
Maximum current Imax [Arms]0.9 1.1 0.8
Continuous stall torque T0[Nm] 6.8 6.9 11.0
Continuous stall current I0[Arms]0.7 0.5 0.4
Maximum DC bus voltage UDCmax [VDC]680
Electrical time constant (20 °C) te[ms] 1.9
Mechanical time constant (20 °C) tm[ms] 1.9
No load current INLS [Arms]0.10 0.09 0.08
No load running current constant (30 °C) KINL [·10-3 Arms/rpm] 0.5 0.8 2
No load running current constant (80 °C) KINL [·10-3 Arms/rpm] 0.2 0.4 0.8
Torque constant (at output) kTout [Nm/Arms]11.3 16.8 34.4
Torque constant (at motor) kTM [Nm/Arms]0.39
AC voltage constant (L-L, 20 °C, at motor) kEM [Vrms/1000 rpm] 26
Motor terminal voltage (fundamental wave only) UM[Vrms]220 … 430
Demagnetisation current IE[Arms] -
Maximum motor speed nmax [rpm] 8500
Rated motor speed nN[rpm] 3500
Resistance (L-L, 20 °C) RL- L [Ω] 7.2
Inductance (L-L) LL- L [mH] 14
Number of pole pairs p [ ] 5
Weight without brake m [kg] 2.2
Symbol
[Unit] LynxDrive-14C
Ratio i [ ] 30 50 100
Moment of inertia at outputside
Moment of inertia without brake Jout [kgm²] 0.023 0.063 0.250
Moment of inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.25
6.2.3 Technical Data Brake
Motor brake only on request
ADVICE

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Berechnung von Antriebskennlinien LynxDrive-14C-30
Drehzahl Drehmoment
Maximal
0 9
283 9
283 0
283 0
283 0
S3-ED 50%
0 8,5
235 8,5
235 0
235 0
235 0
Dauerbetrieb
0 6,8
115 6,8
115 0
115 0
115 0
Spannungsgrenze
0 0
0 0
0
1
2
3
4
5
6
7
8
9
10
0100200300
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min-1] / Speed [rpm]
LynxDrive-14C-30
Berechnung von Antriebskennlinien LynxDrive-14C-100
Drehzahl Drehmoment
Maximal
0 28
85 28
85 0
85 0
85 0
S3-ED 50%
0 13
68 13
68 0
68 0
68 0
Dauerbetrieb
0 11
36 11
36 0
36 0
36 0
Spannungsgrenze
0 0
0 0
0
5
10
15
20
25
30
0 20 40 60 80 100
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min-1] / Speed [rpm]
LynxDrive-14C-100
Berechnung von Antriebskennlinien LynxDrive-14C-50
Drehzahl Drehmoment
Maximal
0 18
170 18
170 0
170 0
170 0
S3-ED 50%
0 8,5
140 8,5
140 0
140 0
140 0
Dauerbetrieb
0 6,9
70 6,9
70 0
70 0
70 0
Spannungsgrenze
0 0
0 0
0
2
4
6
8
10
12
14
16
18
20
0 50 100150200
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min-1] / Speed [rpm]
LynxDrive-14C-50
LynxDrive-14C-30 LynxDrive-14C-50
LynxDrive-14C-100
Illustration 14.1 Illustration 14.2
Illustration 14.3
Legend
Intermittent duty UM= 220 ... 430 VAC S3-ED 50 % (1 min)
Continuous duty
Speed [rpm]
Speed [rpm]
Speed [rpm]
Torque [Nm]
Torque [Nm] Torque [Nm]
6.2.4 Performance Characteristics
The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage
is higher or equal to the values given in the ratings table.

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Table 15.1
Symbol
[Unit] LynxDrive-17C
Ratio i [ ] 30 50 100
Maximum output torque Tmax [Nm] 16 34 54
Maximum output speed nmax [rpm] 243 146 73
Maximum current Imax [Arms]1.6 2.0 1.6
Continuous stall torque T0[Nm] 12 26 39
Continuous stall current I0[Arms]1.2 1.6 1.2
Maximum DC bus voltage UDCmax [VDC]680
Electrical time constant (20 °C) te[ms] 1.9
Mechanical time constant (20 °C) tm[ms] 2.4
No load current INLS [Arms]0.12 0.10 0.10
No load running current constant (30 °C) KINL [·10-3 Arms/rpm] 0.8 1.3 2.6
No load running current constant (80 °C) KINL [·10-3 Arms/rpm] 0.3 0.5 1.0
Torque constant (at output) kTout [Nm/Arms]11.1 17.9 37.1
Torque constant (at motor) kTM [Nm/Arms]0.39
AC voltage constant (L-L, 20 °C, at motor) kEM [Vrms/1000 rpm] 26
Motor terminal voltage (fundamental wave only) UM[Vrms]220 … 430
Demagnetisation current IE[Arms] -
Maximum motor speed nmax [rpm] 7300
Rated motor speed nN[rpm] 3500
Resistance (L-L, 20 °C) RL- L [Ω] 7.2
Inductance (L-L) LL- L [mH] 14
Number of pole pairs p [ ] 5
Weight without brake m [kg] 2.3
6.3.2 Moment of Inertia
Table 15.2
Symbol
[Unit] LynxDrive-17C
Ratio i [ ] 30 50 100
Moment of inertia at outputside
Moment of inertia without brake Jout [kgm²] 0.027 0.075 0.300
Moment of inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.30
6.3 Actuator Data LynxDrive-17C
6.3.1 Technical Data
6.3.3 Technical Data Brake
Motor brake only on request
ADVICE

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Berechnung von Antriebskennlinien LynxDrive-17C-30
Drehzahl Drehmoment
Maximal
0 16
243 16
243 0
243 0
243 0
S3-ED 50%
0 15
230 15
230 0
230 0
230 0
Dauerbetrieb
0 12
115 12
115 0
115 0
115 0
Spannungsgrenze
0 0
0 0
0
2
4
6
8
10
12
14
16
18
0100200300
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
LynxDrive-17C-30
Berechnung von Antriebskennlinien LynxDrive-17C-100
Drehzahl Drehmoment
Maximal
0 54
73 54
73 0
73 0
73 0
S3-ED 50%
0 49
69 49
69 0
69 0
69 0
Dauerbetrieb
0 39
35 39
35 0
35 0
35 0
Spannungsgrenze
0 0
0 0
0
10
20
30
40
50
60
0 20 40 60 80
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min-1] / Speed [rpm]
LynxDrive-17C-100
Berechnung von Antriebskennlinien LynxDrive-17C-50
Drehzahl Drehmoment
Maximal
0 34
146 34
146 0
146 0
146 0
S3-ED 50%
0 33
140 33
140 0
140 0
140 0
Dauerbetrieb
0 26
70 26
70 0
70 0
70 0
Spannungsgrenze
0 0
0 0
0
5
10
15
20
25
30
35
40
0 50 100150200
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
LynxDrive-17C-50
LynxDrive-17C-30 LynxDrive-17C-50
LynxDrive-17C-100
Illustration 16.1 Illustration 16.2
Illustration 16.3
Speed [rpm]
Speed [rpm]
Speed [rpm]
Torque [Nm]
Torque [Nm] Torque [Nm]
6.3.4 Performance Characteristics
The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage
is higher or equal to the values given in the ratings table.
Legend
Intermittent duty UM= 220 ... 430 VAC S3-ED 50 % (1 min)
Continuous duty

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Symbol
[Unit] LynxDrive-20C
Ratio i [ ] 30 50 80 100 120 160
Maximum output torque Tmax [Nm] 27 56 74 82 87 92
Maximum output speed nmax [rpm] 217 130 81 65 54 41
Maximum current Imax [Arms]2.6 3.2 2.6 2.3 2.0 1.6
Continuous stall torque T0[Nm] 20 34 47 49 49 49
Continuous stall current I0[Arms]2.0 2.0 1.7 1.4 1.2 0.9
Maximum DC bus voltage UDCmax [VDC]680
Electrical time constant (20 °C) te[ms] 2.0
Mechanical time constant (20 °C) tm[ms] 3.3
No load current INLS [Arms]0.13 0.12 0.09 0.09 0.08 0.08
No load running current constant (30 °C) KINL [·10-3 Arms/rpm] 1.2 1.9 3.1 3.9 4.6 6.2
No load running current constant (80 °C) KINL [·10-3 Arms/rpm] 0.5 0.7 1.3 1.6 1.9 2.5
Torque constant (at output) kTout [Nm/Arms]10.3 17.0 27.6 35.0 40.8 54.4
Torque constant (at motor) kTM [Nm/Arms]0.39
AC voltage constant (L-L, 20 °C, at motor) kEM [Vrms/1000 rpm] 26
Motor terminal voltage (fundamental wave only) UM[Vrms]220 … 430
Demagnetisation current IE[Arms] -
Maximum motor speed nmax [rpm] 6500
Rated motor speed nN[rpm] 3500
Resistance (L-L, 20 °C) RL- L [Ω] 7.0
Inductance (L-L) LL- L [mH] 14.0
Number of pole pairs p [ ] 5
Weight without brake m [kg] 2.6
Weight with brake m [kg] 3
Table 17.1
6.4 Actuator Data LynxDrive-20C
6.4.1 Technical Data

18 1018856 08/2018 V04
6.4.3 Technical Data Brake
Table 18.3
6.4.2 Moment of Inertia
Table 18.2
Symbol
[Unit] LynxDrive-20C
Ratio i [ ] 30 50 80 100 120 160
Brake voltage UBr [VDC] 24 +6 % ... -10 %
Brake holding torque (at output) TBr [Nm] 27 56 74 82 87 92
Brake current to open IOBr [ADC]0.5
Brake current to hold IHBr [ADC]0.2
Number of brake cycles at n = 0 rpm 500000
Emergency brake cycles 1000
Opening time tO[ms] 25
Closing time tC[ms] 6
Symbol
[Unit] LynxDrive-20C
Ratio i [ ] 30 50 80 100 120 160
Moment of inertia at outputside
Moment of inertia without brake Jout [kgm²] 0.033 0.093 0.237 0.370 0.533 0.947
Moment of inertia with brake Jout [kgm²] 0.039 0.108 0.275 0.430 0.619 1.101
Moment of inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.37
Moment of inertia at motor with brake J [·10-4 kgm²] 0.43

191018856 08/2018 V04
LynxDrive-20C-30
LynxDrive-20C-100
LynxDrive-20C-50
LynxDrive-20C-120
LynxDrive-20C-80
LynxDrive-20C-160
Illustration 19.1 Illustration 19.2
Illustration 19.3 Illustration 19.4
Illustration 19.5 Illustration 19.6
Speed [rpm] Speed [rpm]
Speed [rpm]
Speed [rpm]
Speed [rpm]
Speed [rpm]
6.4.4 Performance Characteristics
The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage
is higher or equal to the values given in the ratings table.
Legend
Intermittent duty UM= 430 VAC S3-ED 50 % (1 min)
Continuous duty UM= 220 VAC
Berechnung von Antriebskennlinien LynxDrive-20C-30
Untersetzung: 30
Drehzahl Drehmoment
Maximal
027
217 27
217 0
217 0
217 0
S3-ED 50%
025
50 25
217 17
217 0
217 0
Dauerbetrieb
020
117 13
117 0
117 0
117 0
Spannungsgrenze
194 27
217 21
0
5
10
15
20
25
30
050 100 150 200 250
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
LynxDrive-20C-30
Berechnung von Antriebskennlinien LynxDrive-20C-80
Untersetzung: 80
Drehzahl Drehmoment
Maximal
074
81,3 74
81,3 0
81,3 0
81,3 0
S3-ED 50%
059
75 59
81,3 57,1
81,3 0
81,3 0
Dauerbetrieb
047
34,8 47
43,8 43,7
43,8 0
43,8 0
Spannungsgrenze
73 74
81 60
0
10
20
30
40
50
60
70
80
020 40 60 80 100
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
LynxDrive-20C-80
Berechnung von Antriebskennlinien LynxDrive-20C-120
Untersetzung: 120
Drehzahl Drehmoment
Maximal
087
54,2 87
54,2 0
54,2 0
54,2 0
S3-ED 50%
061,7
54,2 61,7
54,2 19
54,2 0
54,2 0
Dauerbetrieb
049
29,2 49
29,2 14
29,2 0
29,2 0
Spannungsgrenze
0 0
0 0
0
10
20
30
40
50
60
70
80
90
100
020 40 60
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
LynxDrive-20C-120
Berechnung von Antriebskennlinien LynxDrive-20C-160
Untersetzung: 160
Drehzahl Drehmoment
Maximal
092
40,6 92
40,6 0
40,6 0
40,6 0
S3-ED 50%
061,7
40,6 61,7
40,6 0
40,6 0
40,6 0
Dauerbetrieb
049
21,9 49
21,9 0
21,9 0
21,9 0
Spannungsgrenze
0 0
0 0
0
10
20
30
40
50
60
70
80
90
100
010 20 30 40 50
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min-1] / Speed [rpm]
LynxDrive-20C-160
Berechnung von Antriebskennlinien LynxDrive-20C-100
Untersetzung: 100
Drehzahl Drehmoment
Maximal
082
65 82
65 0
65 0
65 0
S3-ED 50%
061,7
65 61,7
65 19
65 0
65 0
Dauerbetrieb
049
35 49
35 14
35 0
35 0
Spannungsgrenze
62 82
65 74
0
10
20
30
40
50
60
70
80
90
020 40 60 80
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
LynxDrive-20C-100
Berechnung von Antriebskennlinien LynxDrive-20C-50
Untersetzung: 50
Drehzahl Drehmoment
Maximal
056
130 56
130 0
130 0
130 0
S3-ED 50%
042,8
56,7 42,8
130 0
130 0
130 0
Dauerbetrieb
034
934
70 25
70 0
70 0
Spannungsgrenze
103 56
130 36
0
10
20
30
40
50
60
050 100 150
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
LynxDrive-20C-50
Torque [Nm]
Torque [Nm]
Torque [Nm] Torque [Nm]
Torque [Nm]
Torque [Nm]

20 1018856 08/2018 V04
Symbol
[Unit] LynxDrive-25C
Ratio i [ ] 30 50 80 100 120 160
Maximum output torque Tmax [Nm] 50 98 137 157 167 176
Maximum output speed nmax [rpm] 160 96 60 48 40 30
Maximum current Imax [Arms]3.5 3.9 3.3 3.1 2.7 2.2
Continuous stall torque T0[Nm] 38 56 87 109 109 109
Continuous stall current I0[Arms]2.6 2.1 2.0 2.0 1.7 1.3
Maximum DC bus voltage UDCmax [VDC]680
Electrical time constant (20 °C) te[ms] 3.8
Mechanical time constant (20 °C) tm[ms] 1.8
No load current INLS [Arms]0.16 0.14 0.12 0.12 0.12 0.13
No load running current constant (30 °C) KINL [·10-3 Arms/rpm] 0.45 1.0 2.2 3.2 4.3 6.8
No load running current constant (80 °C) KINL [·10-3 Arms/rpm] 0.14 0.31 0.65 0.93 1.3 2.0
Torque constant (at output) kTout [Nm/Arms]18.4 33.1 54.7 67.9 80.0 104
Torque constant (at motor) kTM [Nm/Arms]0.58
AC voltage constant (L-L, 20 °C, at motor) kEM [Vrms/1000 rpm] 38
Motor terminal voltage (fundamental wave only) UM[Vrms]220 … 430
Demagnetisation current IE[Arms] -
Maximum motor speed nmax [rpm] 4800
Rated motor speed nN[rpm] 3500
Resistance (L-L, 20 °C) RL- L [Ω] 2.4
Inductance (L-L) LL- L [mH] 6.4
Number of pole pairs p [ ] 7
Weight without brake m [kg] 4.5
Weight with brake m [kg] 5
Table 20.1
6.5 Actuator Data LynxDrive-25C
6.5.1 Technical Data