Hudson M-341 Series User manual

U SER M ANUAL
Hudson Motor User Manual
Rev. 1.30 April 18, 2022

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Table of Contents
Table of Contents..............................................................................................................2
Introduction ....................................................................................................................... 4
What's in This Document .......................................................................................................4
Information on the Web .........................................................................................................4
What are Hudson Motors?..................................................................................................... 5
Safety and Safe Handling Information ............................................................................ 6
General Precautionary Statement ......................................................................................... 6
Symbols Used in this Manual ................................................................................................ 6
Important Safe Handling Practices ........................................................................................ 7
Parts of a Hudson Motor.................................................................................................. 8
Interconnect and Wiring ................................................................................................... 9
Motor Connector Options.......................................................................................................9
Molex Mini-Fit Jr. Connector .................................................................................................. 9
Souriau Trim-Trio Connector ................................................................................................. 9
Connector Pinouts and Mating Parts................................................................................... 11
Molex Mini-Fit Jr. Pinout ......................................................................................................11
Souriau Trim-Trio Pinout...................................................................................................... 12
Servo Drive Selection ..................................................................................................... 13
Drive Compatibility ............................................................................................................... 13
Supported Commutation Methods ....................................................................................... 13
Six-Step (Trapezoidal) Commutation ................................................................................... 13
Sine wave Commutation (Better) ......................................................................................... 14
Sine wave commutation with Vector Torque Control (Best)................................................. 14
Encoder and Commutation Signals............................................................................... 16
Encoder & Commutation Board Power Requirements ........................................................ 16
Encoder Signaling................................................................................................................ 17
Differential............................................................................................................................ 17
Single-Ended ....................................................................................................................... 17
Commutation (Hall) Signaling .............................................................................................. 18
Commutation Signal and Motor Phase Relationship............................................................ 18
Wiring Hudson Motors To Third-Party Drives ...................................................................... 19

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Hudson Motor FAQ..........................................................................................................20
Q: Are Hudson Motors UL and CE certified?........................................................................20
Q: How are Hudson Motors tested? .....................................................................................20
Q: What type of servo drives will work with a Hudson Motor?..............................................20
Q: Which connector should I use?........................................................................................20
Q: Which motor winding option should I pick?......................................................................20
Q: Do I need the optional motor shaft seal? .........................................................................21
Q: How do I tune a Hudson motor? ......................................................................................21
Q: How can I change a motor’s “sense of direction”?...........................................................21
Q: Why is the motor warm during operation? .......................................................................22
Q: Where can I find 3D drawings of Hudson motors? ..........................................................22
Appendix A: Hudson Part Number Key .........................................................................23
Appendix B: Specifications ............................................................................................24
NEMA 23 Common Specifications....................................................................................... 24
NEMA 23 Individual Specifications ...................................................................................... 25
NEMA 34 Common Specifications....................................................................................... 26
NEMA 34 Individual Specifications ...................................................................................... 27
Appendix C: Motor Dimensions .....................................................................................28
Hudson Motor 3D Models .................................................................................................... 28
NEMA 34 Series Dimensions ..............................................................................................28
NEMA 23 Series Dimensions ..............................................................................................29
Appendix D: Motor Extension Cables............................................................................30
HDSN-CABLE-120 (Sold by Teknic) ...................................................................................30
Example Motor Cable Drawings (Flex-rated)....................................................................... 30
Golden Rules for Motor Cable Construction........................................................................31
Cable Making Guidelines.....................................................................................................32

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Introduction
What's in This Document
This document contains technical information on the Hudson family of
brushless DC servo motors, including:
x Wiring information
x Mechanical drawings
x Application tips
x Specifications
Information on the Web
Please visit Teknic's website for more information on the Hudson family of
brushless servo motors: https://www.teknic.com/products/hudson-motors/

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What are Hudson Motors?
Hudson motors have been called (more or less correctly) all of the following:
x BLDC motors
x Three-phase, permanent magnet motors
x Synchronous, permanent magnet motors
x AC servomotors (AC because electronic commutation requires a
sinusoidal current to produce constant torque, not to be confused
with AC induction motors)
x DC servomotors (presumably to distinguish them from AC induction
motors)
x 3-phase servomotors
Technically speaking, Hudson motors are:
Three-phase, synchronous, permanent magnet,
brushless servo motors.
Definition or Terms
"Servo Motor" refers to a motor that uses one or more feedback devices
(encoder, Hall effect sensors, etc.) to control torque, velocity, and/or position
in a closed loop manner.
"Brushless", aside from the obvious, means the motor requires a drive
(amplifier) that supports electronic, non-contact commutation.
"Permanent Magnet" means that the motor has permanent magnets affixed
to the rotor (brush motors typically have permanent magnets affixed to the
stator).
"Synchronous" means that the rotational speed of the electromagnetic field
is the same as (i.e. synchronous with) the speed of the rotor. There is no “slip”
between them like there is with an AC induction motor.
“3-phase" means the motor has three separate stator windings connected
together in a delta or wye configuration.

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Safety and Safe Handling Information
General Precautionary Statement
Always follow appropriate safety precautions when installing and operating
motion control devices. Automated equipment should be designed to prevent
personnel from coming into contact with moving parts and electrical contacts
that could potentially cause injury or death.
Read all cautions, warnings and notes before attempting to operate or service
motion control devices. Follow all applicable codes and standards when using
this equipment. Failure to use this equipment as described may impair or
neutralize protections built into the product.
Symbols Used in this Manual
The following symbols and conventions are used on the equipment and in this
manual.
Caution, risk of danger
Identifies information about practices or circumstances that can lead to
equipment damage, personal injury, or loss of life.
Shock hazard
Identifies presence of hazardous electrical voltages and currents.
Protective earth terminal
Indicates points that must be connected to a reliable earth system for safety
compliance. Protective earth connections should never be omitted.
Earth ground terminal
Frame or chassis terminal (shield)
Direct current
Note
Identifies information that is critical for successful application and
understanding of the product.
Tip
Identifies additional information that may be helpful in supporting certain
applications.

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Important Safe Handling Practices
x Do not hammer pulleys, pinions, etc. onto the motor shaft.
x Do not wrench or pry pulleys, pinions, or other accessories off the
motor shaft. Use a gear puller that pushes on the center of the shaft,
offsetting the applied force, when removing accessories from the
shaft. Maximum axial force limits are listed below.
x Do not exceed the axial force limits when pulling or pushing on the
motor shaft. Bearing damage will occur! See table below.
x Do not touch the bare pins on a Hudson motor connector unless you
are working in a static-safe area.
x Do not pick up a Hudson motor by its pigtail. Note: Maximum
pigtail pull force is 7 lbs.
x Do not allow the Hudson pigtail to flex during routine operation. The
Hudson pigtail is not flex-rated. Use cable ties or other means to
immobilize the motor pigtail during operation.
x Do not install a Hudson motor such that the pigtail is pulled taut (i.e.
has a constant tension applied to it). Allow for some slack in the
pigtail when securing the motor to a machine.
Motor Shaft Axial Force Limits
Pushing into shaft Pulling out of shaft
NEMA 23 N (Lbs.) NEMA 34 N (Lbs.) NEMA 23 N (Lbs.) NEMA 34 N (Lbs.)
Continuous (operating) 90 (20.2) 115 (25.9) 22 (4.9) 32 (7.2)
Static, short term 224 (50.4) 360 (80.9) 112 (25.2) 135 (30.3)
Shock / Impact 45 (10.1) 68 (15.3) 45 (10.1) 68 (15.3)

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Parts of a Hudson Motor
1 16-inch pigtail eliminates costly motor cables in many
applications.
11 Compression-fit aluminum stator housing channels heat
out of the motor.
2 Single cable, single connector pigtail results in neater,
lower cost installations.
12 Sintered, nickel-plated, rare-earth magnets generate
maximum power.
3 Connector choices: lower cost automotive-style, and
sealed, bayonet-style, M12 on-body.
13 Architectural-quality, anodized finish will look great for
years.
4 All Hudson motors come with connectors. 14 Oversized, permanently lubricated front bearing extends
bearing life.
5 Zero-clearance pigtail allows bigger motors to fit into
smaller spaces.
15 Long-stroke, wave spring imparts consistent bearing
preload.
6 Shatter-proof encoder disk eliminates shock-induced
failures.
16 Optional high-performance shaft seal for more protection
against dirt and dust.
7 Industry-standard encoder and commutation signals. 17 Smooth, radiused transition from external shaft diameter
results in a stronger shaft.
8 Low-profile encoder allows you to fit motors into tighter
spaces.
18 Feather keyway allows easy assembly (and the key
can’t work its way out).
9 Precision brass balancing tabs for smoother motion and
less vibration.
19 Helically skewed stator laminations improve smoothness
of motion.
10 Epoxy insulation layer allows the use of higher operating
voltages.
20 Tightly formed and laced end-turns heat more evenly for
higher reliability and longevity.

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Interconnect and Wiring
This section discusses:
x Hudson connector styles/options
x Motor pinouts
x Mating connector parts
Motor Connector Options
Hudson motor connector options include: Molex MiniFit Jr. and Souriau
Trim-Trio connectors.
Molex Mini-Fit Jr.
Free-Hanging Souriau Trim-Trio
Free-Hanging Souriau Trim-Trio Bulkhead-Mount
Hudson motor connector options
Molex Mini-Fit Jr. Connector
The Mini-Fit Jr. family provides a gas tight link with four points of contact per
circuit. This low cost, rugged connector is rated for up to 10A continuous and
600V per circuit. The connector includes a positive locking mechanism, and
fully isolated, low engagement-force terminals.
Use Molex Mini-Fit Jr. connectors when:
x Lower cost is required.
x The operating environment is relatively clean and dry (typical dust
and dirt is OK).
x No more than 10A continuous current per circuit is required.
Souriau Trim-Trio Connector
This bayonet-style connector is keyed, sealed, and positive locking in nature,
derived from the MIL-C 26482 specification.
Use Souriau Trim-Trio connectors when:

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x The pollution level at the connector is higher (light spray, mists,
fumes, chips, etc.).
x A water resistant seal at the connector is required.
x Higher current-carrying capacity (up to 20A continuous) is required.