KUKA Robot Group

Motor Data
Technical Data and Configuration Data for KUKA Motors

Issued: 16.08.2006 Version: 0.6

V0.6 16.08.200
Motor Data

© Copyright 2006
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of the KUKA ROBOT GROUP.
Other functions not described in this documentation may be operable in the controller. The user has no
claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software de-
scribed. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guaran-
tee total conformity. The information in this documentation is checked on a regular basis, however, and
necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS4-DOC

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 Contents

Contents

1 Introduction ...................................................................................................... 5
1.1 Target group ................................................................................................................... 5
1.2 Representation of warnings and notes ........................................................................... 5

2 Product description ......................................................................................... 7

2.1 Overview of motor data ................................................................................................... 7
2.2 Nomenclature of motor designations .............................................................................. 8
2.3 Motor data for ME_228_180_30_S0 ............................................................................... 9
2.4 Motor data for ME_250_180_37_S0 ............................................................................... 11
2.5 Motor data for MG_120_110_25_S0 .............................................................................. 13
2.6 Motor data for MG_220_130_25_S0 .............................................................................. 15
2.7 Motor data for MG_40_80_45_S0 .................................................................................. 17
2.8 Motor data for MG_64_110_35_S0 ................................................................................ 19
2.9 Motor data for MG_8_44_45_S0 .................................................................................... 21
2.10 Motor data for Mx_11_60_44_S0 ................................................................................... 23
2.11 Motor data for Mx_110_130_40_S0 ............................................................................... 25
2.12 Motor data for Mx_16_60_42_S0 ................................................................................... 27
2.13 Motor data for Mx_160_130_30_S0 ............................................................................... 29
2.14 Motor data for Mx_180_130_40_S6_cool ....................................................................... 31
2.15 Motor data for Mx_180_180_40_S0 ............................................................................... 33
2.16 Motor data for Mx_180_180_40_S6_cool ....................................................................... 35
2.17 Motor data for Mx_260_180_30_S0 ............................................................................... 37
2.18 Motor data for Mx_360_180_30_S0 ............................................................................... 39
2.19 Motor data for Mx_480_180_30_S0 ............................................................................... 41
2.20 Motor data for Mx_60_110_30_S0 ................................................................................. 43

3 Appendix ........................................................................................................... 45
3.1 Standard connector pin allocations ................................................................................. 45

Index .................................................................................................................. 47

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Motor Data

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 1. Introduction

1 Introduction

1.1 Target group

This documentation is aimed at users with the following knowledge and skills:
„ Advanced KRL programming skills
„ Advanced knowledge of the robot controller system
„ Advanced knowledge of machine data
„ Advanced knowledge of external axes
„ Advanced knowledge of machine design
For optimal use of our products, we recommend that our customers take part
in a course of training at KUKA College. Information about the training pro-
gram can be found at www.kuka.com or can be obtained directly from our
subsidiaries.

1.2 Representation of warnings and notes

Safety warnings Warnings marked with this pictogram are relevant to safety and must be ob-
served.

Danger!
This warning means that death, severe physical injury or substantial material
damage will occur, if no precautions are taken.

Warning!
This warning means that death, severe physical injury or substantial material
damage may occur, if no precautions are taken.

Caution!
This warning means that minor physical injuries or minor material damage
may occur, if no precautions are taken.

Notes Notes marked with this pictogram contain tips to make your work easier or ref-
erences to further information.

Tips to make your work easier or references to further information.

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Motor Data

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 2. Product description

2 Product description

2.1 Overview of motor data

Motor
ME_228_180_30_S0 (>>> 2.3 "Motor data for
ME_228_180_30_S0" page 9)
ME_250_180_37_S0 (>>> 2.4 "Motor data for
ME_250_180_37_S0" page 11)
MG_120_110_25_S0 (>>> 2.5 "Motor data for
MG_120_110_25_S0" page 13)
MG_220_130_25_S0 (>>> 2.6 "Motor data for
MG_220_130_25_S0" page 15)
MG_40_80_45_S0 (>>> 2.7 "Motor data for
MG_40_80_45_S0" page 17)
MG_64_110_35_S0 (>>> 2.8 "Motor data for
MG_64_110_35_S0" page 19)
MG_8_44_45_S0 (>>> 2.9 "Motor data for
MG_8_44_45_S0" page 21)
Mx_11_60_44_S0 (>>> 2.10 "Motor data for
Mx_11_60_44_S0" page 23)
Mx_110_130_40_S0 (>>> 2.11 "Motor data for
Mx_110_130_40_S0" page 25)
Mx_16_60_42_S0 (>>> 2.12 "Motor data for
Mx_16_60_42_S0" page 27)
Mx_160_130_30_S0 (>>> 2.13 "Motor data for
Mx_160_130_30_S0" page 29)
Mx_180_130_40_S6_cool (>>> 2.14 "Motor data for
Mx_180_130_40_S6_cool" page 31)
Mx_180_180_40_S0 (>>> 2.15 "Motor data for
Mx_180_180_40_S0" page 33)
Mx_180_180_40_S6_cool (>>> 2.16 "Motor data for
Mx_180_180_40_S6_cool" page 35)
Mx_260_180_30_S0 (>>> 2.17 "Motor data for
Mx_260_180_30_S0" page 37)
Mx_360_180_30_S0 (>>> 2.18 "Motor data for
Mx_360_180_30_S0" page 39)
Mx_480_180_30_S0 (>>> 2.19 "Motor data for
Mx_480_180_30_S0" page 41)
Mx_60_110_30_S0 (>>> 2.20 "Motor data for
Mx_60_110_30_S0" page 43)

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Motor Data

2.2 Nomenclature of motor designations

Description

Fig. 2-1: Nomenclature of motor designations

Item Description
1 M = Motor
2 G = Smooth shaft
E = Involute toothing
3 Static torque [Nm] * 10
4 Flange height z [mm]
5 Speed [rpm] / 100
6 Type suffix

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 2. Product description

2.3 Motor data for ME_228_180_30_S0

Ordering data
Version 1
Drawing number -
Article number 00-119-766
Order designation ME_228_180_30_S0
Shaft Involute
Cool variant No

Technical data
Servo drive module KSD1-48 KSD1-32
Static torque 22.8 Nm 22.8 Nm
Standstill current 16 A 16 A
Torque constant (KT0) 1.58 1.58
Rated speed 3000 rpm 3000 rpm
Rated torque 8.5 Nm 8.5 Nm
Rated power 2.7 kW 2.7 kW
Rated current 7A 7A
Maximum torque 62 Nm 45 Nm
Maximum current 48 A 32 A
Moment of inertia (drive shaft) 94 kg x cm² 94 kg x cm²
Brake holding torque (120°) 23 Nm 23 Nm
Intermediate circuit voltage 560 V 560 V
Weight 26 kg 26 kg
Protection rating IP64/IP65 IP64/IP65

Worst case value for the design

Acceleration torque to break speed 60 Nm 41 Nm
Break speed 2500 rpm 3200 rpm
Maximum torque at rated speed 21 Nm 21 Nm
Maximum braking torque - -

Configuration data
$VEL_AXIS_MA [rpm] 3750 3750
$SERVOFILE KSD_48_MIaII KSD_32_MI_7
$CURR_MAX [A] 48 32
$CURR_LIM [%] 100 100
$KT_MOT 1.3 1.3
$KT0_MOT 1.58 1.58
$CURR_MON [A] 16.5 16.5
$RAT_MOT_ENC {N1, D4} {N1, D4}
$RAISE_T_MOT [ms] 10 10
$BRK_ENERGY_MAX [J] 7459 7459
$BRK_COOL_OFF_COEFF [J/s] 41 41
$BRK_TORQUE [Nm] 33 33

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Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions
l 240 mm
a 192 mm
z 180 mm
b 215 mm
w W32 x 0.8 x 30 x 38 x 7h
v 40 mm
wl 50 mm
zl 4 mm
c 14 mm
Connector size 1

Fig. 2-2: Motor dimensions

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 2. Product description

2.4 Motor data for ME_250_180_37_S0

Ordering data
Version 1
Drawing number -
Article number 00-119-768
Order designation ME_250_180_37_S0
Shaft Involute
Cool variant No

Technical data
Servo drive module KSD1-48
Static torque 25 Nm
Standstill current 17.5 A
Torque constant (KT0) 1.43
Rated speed 3750 rpm
Rated torque 15 Nm
Rated power 5.9 kW
Rated current 12 A
Maximum torque 62 Nm
Maximum current 48 A
Moment of inertia (drive shaft) 118 kg x cm²
Brake holding torque (120°) 23 Nm
Intermediate circuit voltage 560 V
Weight 29 kg
Protection rating IP64

Worst case value for the design

Acceleration torque to break speed 58 Nm
Break speed 2800 rpm
Maximum torque at rated speed 25 Nm
Maximum braking torque -

Configuration data
$VEL_AXIS_MA [rpm] 3750
$SERVOFILE KSD_48_MK_S7_0
$CURR_MAX [A] 48
$CURR_LIM [%] 100
$KT_MOT 1.35
$KT0_MOT 1.43
$CURR_MON [A] 17.5
$RAT_MOT_ENC {N1, D4}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 7570
$BRK_COOL_OFF_COEFF [J/s] 42
$BRK_TORQUE [Nm] 33

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Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions
l 266 mm
a 192 mm
z 180 mm
b 215 mm
w W32 x 0.8 x 30 x 38 x 7h
v 40 mm
wl 50 mm
zl 4 mm
c 14 mm
Connector size 1

Fig. 2-3: Motor dimensions

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 2. Product description

2.5 Motor data for MG_120_110_25_S0

Ordering data
Version 1
Drawing number 394.100-01.601.47-00
Article number 00-136-897
Order designation MG_120_110_25_S0
Shaft Smooth
Cool variant No

Technical data
Servo drive module KSD1-32
Static torque 12 Nm
Standstill current 11 A
Torque constant (KT0) 1.09 Nm/A
Rated speed 2500 rpm
Rated torque 8 Nm
Rated power 2.1 kW
Rated current 7.5 A
Maximum torque 32 Nm
Maximum current 31 A
Moment of inertia (drive shaft) 6.84 kg x cm²
Brake holding torque (120°) 13 Nm
Intermediate circuit voltage 560 V
Weight 16.8 kg
Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed 28 Nm
Break speed 2000 rpm
Maximum torque at rated speed 22 Nm
Maximum braking torque 77.2 Nm

Configuration data
$VEL_AXIS_MA [rpm] 2500
$SERVOFILE KSD_32_M12_30
$CURR_MAX [A] 32
$CURR_LIM [%] 96
$KT_MOT 1.06
$KT0_MOT 1.09
$CURR_MON [A] 11
$RAT_MOT_ENC {N1, D3}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 400
$BRK_COOL_OFF_COEFF [J/s] 2.2
$BRK_TORQUE [Nm] 17.50

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Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions
l 292 mm
a 126 mm
z 110 mm
b 130 mm
w 24k6
v -
wl 50 mm
zl 3.5 mm
c 9 mm
Connector size 1

Fig. 2-4: Motor dimensions

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 2. Product description

2.6 Motor data for MG_220_130_25_S0

Ordering data
Version 1
Drawing number 394.100-01.601.48-00
Article number 00-136-898
Order designation MG_220_130_25_S0
Shaft Smooth
Cool variant No

Technical data
Servo drive module KSD1-64
Static torque 22 Nm
Standstill current 22.5 A
Torque constant (KT0) 0.98
Rated speed 2500 rpm
Rated torque 6.5 Nm
Rated power 1.7 kW
Rated current 7A
Maximum torque 52 Nm
Maximum current 64 A
Moment of inertia (drive shaft) 2.5 kg x cm²
Brake holding torque (120°) 22 Nm
Intermediate circuit voltage 560 V
Weight 25.7 kg
Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed 50 Nm
Break speed 2000 rpm
Maximum torque at rated speed 46 Nm
Maximum braking torque 87 Nm

Configuration data
$VEL_AXIS_MA [rpm] 2500
$SERVOFILE KSD_64_M22_30
$CURR_MAX [A] 64
$CURR_LIM [%] 100
$KT_MOT 0.98
$KT0_MOT 0.98
$CURR_MON [A] 22.5
$RAT_MOT_ENC {N1, D4}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 1400
$BRK_COOL_OFF_COEFF [J/s] 7.78
$BRK_TORQUE [Nm] 33.0

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Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions
l 303 mm
a 155 mm
z 130 mm
b 165 mm
w 32k6
v -
wl 58 mm
zl 3.5 mm
c 11 mm
Connector size 1.5

Fig. 2-5: Motor dimensions

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 2. Product description

2.7 Motor data for MG_40_80_45_S0

Ordering data
Version 1
Drawing number 394.100-01.601.45-00
Article number 00-136-895
Order designation MG_40_80_45_S0
Shaft Smooth
Cool variant No

Technical data
Servo drive module KSD1-16 KSD1-32
Static torque 4 Nm 4 Nm
Standstill current 6.3 A 6.3 A
Torque constant (KT0) 0.635 0.635
Rated speed 4500 rpm 4500 rpm
Rated torque 3 Nm 3 Nm
Rated power 1.4 kW 1.4 kW
Rated current 4.9 A 4.9 A
Maximum torque 9.6 Nm 12 Nm
Maximum current 16 A 20 A
Moment of inertia (drive shaft) 1.41 kg x cm² 1.41 kg x cm²
Brake holding torque (120°) 3.2 Nm 3.2 Nm
Intermediate circuit voltage 560 V 560 V
Weight 8.3 kg 8.3 kg
Protection rating IP64/IP65 IP64/IP65

Worst case value for the design

Acceleration torque to break speed 9 Nm 10.5 Nm
Break speed 3500 rpm 3000 rpm
Maximum torque at rated speed 7.5 Nm 7.5 Nm
Maximum braking torque 17.4 Nm 17.4 Nm

Configuration data
$VEL_AXIS_MA [rpm] 4500 4500
$SERVOFILE KSD_16_M4_45 KSD_32_M4_45
$CURR_MAX [A] 16 32
$CURR_LIM [%] 100 62
$KT_MOT 0.66 0.66
$KT0_MOT 0.635 0.635
$CURR_MON [A] 6.3 6.3
$RAT_MOT_ENC {N1, D3} {N1, D3}
$RAISE_T_MOT [ms] 10 10
$BRK_ENERGY_MAX [J] 74 74
$BRK_COOL_OFF_COEFF [J/s] 0.41 0.41
$BRK_TORQUE [Nm] 5.40 5.40

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Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions
l 245 mm
a 96 mm
z 80 mm
b 100 mm
w 19k6
v -
wl 40 mm
zl 3 mm
c 7 mm
Connector size 1

Fig. 2-6: Motor dimensions

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 2. Product description

2.8 Motor data for MG_64_110_35_S0

Ordering data
Version 1
Drawing number 394.100-01.601.46-00
Article number 00-136-896
Order designation MG_64_110_35_S0
Shaft Smooth
Cool variant No

Technical data
Servo drive module KSD1-32
Static torque 6.4 Nm
Standstill current 8A
Torque constant (KT0) 0.80
Rated speed 3500 rpm
Rated torque 4.3 Nm
Rated power 1.6 kW
Rated current 5.9 A
Maximum torque 17.3 Nm
Maximum current 25.3 A
Moment of inertia (drive shaft) 3.74 kg x cm²
Brake holding torque (120°) 13 Nm
Intermediate circuit voltage 560 V
Weight 11.2 kg
Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed 15 Nm
Break speed 2700 rpm
Maximum torque at rated speed 12.6 Nm
Maximum braking torque 34.8 Nm

Configuration data
$VEL_AXIS_MA [rpm] 3500
$SERVOFILE KSD_32_M11_45
$CURR_MAX [A] 32
$CURR_LIM [%] 78
$KT_MOT 0.77
$KT0_MOT 0.8
$CURR_MON [A] 8
$RAT_MOT_ENC {N1, D3}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 400
$BRK_COOL_OFF_COEFF [J/s] 2.2
$BRK_TORQUE [Nm] 17.50

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Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions
l 228 mm
a 126 mm
z 110 mm
b 130 mm
w 24
v -
wl 50 mm
zl 3.5 mm
c 9 mm
Connector size 1

Fig. 2-7: Motor dimensions

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 2. Product description

2.9 Motor data for MG_8_44_45_S0

Ordering data
Version 1
Drawing number -
Article number 00-131-269
Order designation MG_8_44_45_S0
Shaft Smooth
Cool variant No

Technical data
Servo drive module KSD1-8
Static torque 0.8 Nm
Standstill current 1.69 A
Torque constant (KT0) 0.47
Rated speed 4500 rpm
Rated torque 0.6 Nm
Rated power 0.283 kW
Rated current 1.4 A
Maximum torque 2.5 Nm
Maximum current 6A
Moment of inertia (drive shaft) 0.35 kg x cm²
Brake holding torque (120°) 1.1 Nm
Intermediate circuit voltage 560 V
Weight 2 kg
Protection rating IP64

Worst case value for the design

Acceleration torque to break speed 2.3 Nm
Break speed 4500 rpm
Maximum torque at rated speed 2.3 Nm
Maximum braking torque -

Configuration data
$VEL_AXIS_MA [rpm] 4500
$SERVOFILE KSD_08_MF_S_1
$CURR_MAX [A] 8
$CURR_LIM [%] 75
$KT_MOT 0.4335
$KT0_MOT 0.47
$CURR_MON [A] 1.69 (1.8)
$RAT_MOT_ENC {N1, D3}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 8
$BRK_COOL_OFF_COEFF [J/s] 0.044
$BRK_TORQUE [Nm] 1.5

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Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions
l 175 mm
a 55 mm
z 40 mm
b 64 mm
w 9k6
v -
wl 20 mm
zl 2 mm
c 5.4 mm
Connector size 1

Fig. 2-8: Motor dimensions

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 2. Product description

2.10 Motor data for Mx_11_60_44_S0

Ordering data
Version 1 1
Drawing number - -
Article number 00-115-927 00-136-925
Order designation ME_11_60_44_S0 MG_11_60_44_S0
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-08
Static torque 1.1 Nm
Standstill current 1.7 A
Torque constant (KT0) 0.67
Rated speed 4400 rpm
Rated torque 0.8 Nm
Rated power 0.4 kW
Rated current 1.3 A
Maximum torque 4.5 Nm
Maximum current 7A
Moment of inertia (drive shaft) 0.71 kg x cm²
Brake holding torque (120°) 1.1 Nm
Intermediate circuit voltage 560 V
Weight 2.9 kg
Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed 4 Nm
Break speed 3600 rpm
Maximum torque at rated speed 2.4 Nm
Maximum braking torque -

Configuration data
$VEL_AXIS_MA [rpm] 4400
$SERVOFILE KSD_08_ME_S7
$CURR_MAX [A] 8
$CURR_LIM [%] 87
$KT_MOT 0.65
$KT0_MOT 0.67
$CURR_MON [A] 1.7
$RAT_MOT_ENC {N1, D3}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 114
$BRK_COOL_OFF_COEFF [J/s] 0.63
$BRK_TORQUE [Nm] 2.9

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Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 175 mm
a 72 mm
z 60 mm
b 75 mm
w W10 x 0.8 x 30 x 11 x 14k6
7h
v 15 mm -
wl 23 mm 30 mm
zl 3 mm
c 6.5 mm
Connector size 1

Fig. 2-9: Motor dimensions

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 2. Product description

2.11 Motor data for Mx_110_130_40_S0

Ordering data
Version 1 1
Drawing number 394.100-01.601.18-00 394.100-01.601.23-00
Article number 00-115-925 00-121-216
Order designation ME_110_130_40_S0 MG_110_130_40_S0
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-16
Static torque 11 Nm
Standstill current 9.2 A
Torque constant (KT0) 1.2
Rated speed 4000 rpm
Rated torque 5.8 Nm
Rated power 2.4 kW
Rated current 5.4 A
Maximum torque 18.9 Nm
Maximum current 16 A
Moment of inertia (drive shaft) 24 kg x cm²
Brake holding torque (120°) 11 Nm
Intermediate circuit voltage 560 V
Weight 13.8 kg
Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed 16.5 Nm
Break speed 3000 rpm
Maximum torque at rated speed 11 Nm
Maximum braking torque 47 Nm

Configuration data
$VEL_AXIS_MA [rpm] 4000
$SERVOFILE KSD_16_MH_S7
$CURR_MAX [A] 16
$CURR_LIM [%] 100
$KT_MOT 1.16
$KT0_MOT 1.2
$CURR_MON [A] 9.2
$RAT_MOT_ENC {N1, D4}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 1908
$BRK_COOL_OFF_COEFF [J/s] 30.8
$BRK_TORQUE [Nm] 22

V0.6 16.08.2006 SP-KR-Motordaten en 25 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 203 mm
a 155 mm
z 130 mm
b 165 mm
w W25 x 0.6X x 30 x 40 x 24k6
7h
v 31 -
wl 40 mm 50 mm
zl 3.5 mm
c 11 mm
Connector size 1

Fig. 2-10: Motor dimensions

26 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 2. Product description

2.12 Motor data for Mx_16_60_42_S0

Ordering data
Version 1 1
Drawing number 394.100-01.601.22-00 394.100-01.601.24-00
Article number 00-120-420 00-125-537
Order designation ME_16_60_42_S0 MG_16_60_42_S0
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-08
Static torque 1.6 Nm
Standstill current 2A
Torque constant (KT0) 0.8
Rated speed 4200 rpm
Rated torque 1.2 Nm
Rated power 0.5 kW
Rated current 1.6 A
Maximum torque 6.4 Nm
Maximum current 8A
Moment of inertia (drive shaft) 0.98 kg x cm²
Brake holding torque (120°) 1.1 Nm
Intermediate circuit voltage 560 V
Weight 4 kg
Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed 5.6 Nm
Break speed 3600 rpm
Maximum torque at rated speed 4.8 Nm
Maximum braking torque -

Configuration data
$VEL_AXIS_MA [rpm] 4200
$SERVOFILE KSD_08_ME0_S7
$CURR_MAX [A] 8
$CURR_LIM [%] 100
$KT_MOT 0.82
$KT0_MOT 0.8
$CURR_MON [A] 2
$RAT_MOT_ENC {N1, D3}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 114
$BRK_COOL_OFF_COEFF [J/s] 0.63
$BRK_TORQUE [Nm] 2.9

V0.6 16.08.2006 SP-KR-Motordaten en 27 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 200 mm
a 72 mm
z 60 mm
b 75 mm
w W10 x 0.8 x 30 x 11 x 7 14k6
h
v 15 mm -
wl 23 mm 30 mm
zl 3 mm
c 6.5 mm
Connector size 1

Fig. 2-11: Motor dimensions

28 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 2. Product description

2.13 Motor data for Mx_160_130_30_S0

Ordering data
Version 1 1
Drawing number - -
Article number 00-131-493 00-136-891
Order designation ME_160_130_30_S0 MG_160_130_30_S0
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-32
Static torque 16 Nm
Standstill current 14 A
Torque constant (KT0) 1.14
Rated speed 3000 rpm
Rated torque 10 Nm
Rated power 3.1 kW
Rated current 9.3 A
Maximum torque 36.5 Nm
Maximum current 32 A
Moment of inertia (drive shaft) 35.9 kg x cm²
Brake holding torque (120°) 16 Nm
Intermediate circuit voltage 560 V
Weight 16.5 kg
Protection rating IP64

Worst case value for the design

Acceleration torque to break speed 32 Nm
Break speed 3000 rpm
Maximum torque at rated speed 32 Nm
Maximum braking torque 79 Nm

Configuration data
$VEL_AXIS_MA [rpm] 3000
$SERVOFILE KSD_32_MC0_S7
$CURR_MAX [A] 32
$CURR_LIM [%] 100
$KT_MOT 1.166
$KT0_MOT 1.14
$CURR_MON [A] 14
$RAT_MOT_ENC {N1, D4}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 2500
$BRK_COOL_OFF_COEFF [J/s] 41
$BRK_TORQUE [Nm] 13

V0.6 16.08.2006 SP-KR-Motordaten en 29 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 245 mm
a 155 mm
z 130 mm
b 165 mm
w W25 x 0.6 x 30 x 40 x 32k6
7h
v 36 mm -
wl 58 mm 58 mm
zl 3.5 mm
c 11 mm
Connector size 1

Fig. 2-12: Motor dimensions

30 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 2. Product description

2.14 Motor data for Mx_180_130_40_S6_cool

Ordering data
Version 1 1
Drawing number - -
Article number 00-113-709 00-137-217
Order designation ME_180_130_40_S6_ MG_180_130_40_S6_
cool cool
Shaft Involute Smooth
Cool variant Yes Yes

Technical data
Servo drive module KSD1-16
Static torque 11 Nm
Standstill current 9.3 A
Torque constant (KT0) 1.26
Rated speed 4000 rpm
Rated torque 5.5 Nm
Rated power 2.3 kW
Rated current 5.1 A
Maximum torque 18.9 Nm
Maximum current 16 A
Moment of inertia (drive shaft) 26 kg x cm²
Brake holding torque (120°) 11 Nm
Intermediate circuit voltage 560 V
Weight 15.9 kg
Protection rating IP64

Worst case value for the design

Acceleration torque to break speed 16.5 Nm
Break speed 3000 rpm
Maximum torque at rated speed 8 Nm
Maximum braking torque -

Configuration data
$VEL_AXIS_MA [rpm] 4000
$SERVOFILE KSD_16_MH_A
$CURR_MAX [A] 16
$CURR_LIM [%] 100
$KT_MOT 1.25
$KT0_MOT 1.26
$CURR_MON [A] 8.7
$RAT_MOT_ENC {N1, D3}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 1650
$BRK_COOL_OFF_COEFF [J/s] 27
$BRK_TORQUE [Nm] 12

V0.6 16.08.2006 SP-KR-Motordaten en 31 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 214 mm
a 155 mm
z 130 mm
b 165 mm
w W25 x 0.6 x 30 x 40 x -
7h
v 31 mm -
wl 40 mm -
zl 3.5 mm
c 11 mm
Connector size 1

Fig. 2-13: Motor dimensions

32 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 2. Product description

2.15 Motor data for Mx_180_180_40_S0

Ordering data
Version 1 1
Drawing number - -
Article number 00-117-606 00-129-492
Order designation ME_180_180_40_S0 MG_180_180_40_S0
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-48 KSD1-32
Static torque 18 Nm 18 Nm
Standstill current 15 A 15 A
Torque constant (KT0) 1.2 1.2
Rated speed 4000 rpm 4000 rpm
Rated torque 7.1 Nm 7.1 Nm
Rated power 3.0 kW 3.0 kW
Rated current 7.3 A 7.3 A
Maximum torque 48 Nm 38 Nm
Maximum current 48 A 32 A
Moment of inertia (drive shaft) 65 kg x cm² 65 kg x cm²
Brake holding torque (120°) 18 Nm 18 Nm
Intermediate circuit voltage 560 V 560 V
Weight 22.5 kg 22.5 kg
Protection rating IP64/IP65 IP64/IP65

Worst case value for the design

Acceleration torque to break speed 40 Nm 32 Nm
Break speed 2850 rpm 3000 rpm
Maximum torque at rated speed 18 Nm 18 Nm
Maximum braking torque - -

Configuration data
$VEL_AXIS_MA [rpm] 4000 4000
$SERVOFILE KSD_48_MG1all KSD_32_MG1_7
$CURR_MAX [A] 48 32
$CURR_LIM [%] 100 100
$KT_MOT 0.9743 0.9743
$KT0_MOT 1.2 1.2
$CURR_MON [A] 15 15
$RAT_MOT_ENC {N1, D4} {N1, D4}
$RAISE_T_MOT [ms] 10 10
$BRK_ENERGY_MAX [J] 6736 6736
$BRK_COOL_OFF_COEFF [J/s] 37 37
$BRK_TORQUE [Nm] 23 23

V0.6 16.08.2006 SP-KR-Motordaten en 33 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 214 mm
a 192 mm
z 180 mm
b 215 mm
w W32 x 0.8 x 30 x 38 x 32k6
7h
v 40 -
wl 50 mm 80 mm
zl 4 mm
c 14 mm
Connector size 1

Fig. 2-14: Motor dimensions

34 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 2. Product description

2.16 Motor data for Mx_180_180_40_S6_cool

Ordering data
Version 1 1
Drawing number - -
Article number 00-113-707 00-137-220
Order designation ME_180_180_40_S6_ MG_180_180_40_S6_
cool cool
Shaft Involute Smooth
Cool variant Yes Yes

Technical data
Servo drive module KSD1-48
Static torque 18 Nm
Standstill current 16 A
Torque constant (KT0) 1.13
Rated speed 4000 rpm
Rated torque 7.1 Nm
Rated power 3.0 kW
Rated current 7.6 A
Maximum torque 45 Nm
Maximum current 48 A
Moment of inertia (drive shaft) 66 kg x cm²
Brake holding torque (120°) 18 Nm
Intermediate circuit voltage 560 V
Weight 22.5 kg
Protection rating IP64

Worst case value for the design

Acceleration torque to break speed 40 Nm
Break speed 3000 rpm
Maximum torque at rated speed 18 Nm
Maximum braking torque -

Configuration data
$VEL_AXIS_MA [rpm] 4000
$SERVOFILE KSD_48_MG1_S
$CURR_MAX [A] 48
$CURR_LIM [%] 100
$KT_MOT 0.94
$KT0_MOT 1.13
$CURR_MON [A] 16
$RAT_MOT_ENC {N1, D4}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 6855
$BRK_COOL_OFF_COEFF [J/s] 38
$BRK_TORQUE [Nm] 21

V0.6 16.08.2006 SP-KR-Motordaten en 35 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 218 mm
a 192 mm
z 180 mm
b 215 mm
w W32 x 0.8 x 30 x 38 x -
7h
v 40 mm -
wl 50 mm -
zl 4 mm
c 14 mm
Connector size -

Fig. 2-15: Motor dimensions

36 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 2. Product description

2.17 Motor data for Mx_260_180_30_S0

Ordering data
Version 1 1
Drawing number - -
Article number 00-119-767 00-136-892
Order designation ME_260_180_30_S0 MG_260_180_30_S0
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-48 KSD1-32
Static torque 26 Nm 25.2 Nm
Standstill current 16.5 A 16 A
Torque constant (KT0) 1.58 1.58
Rated speed 3000 rpm 3000 rpm
Rated torque 12 Nm 12 Nm
Rated power 3.8 kW 3.8 kW
Rated current 8.5 A 8.5 A
Maximum torque 67 Nm 44 Nm
Maximum current 48 A 32 A
Moment of inertia (drive shaft) 94 kg x cm² 94 kg x cm²
Brake holding torque (120°) 27 Nm 27 Nm
Intermediate circuit voltage 560 V 560 V
Weight 28 kg 28 kg
Protection rating IP64/IP65 IP64/IP65

Worst case value for the design

Acceleration torque to break speed 62 Nm 43 Nm
Break speed 2000 rpm 2600 rpm
Maximum torque at rated speed 20 Nm 20 Nm
Maximum braking torque - -

Configuration data
$VEL_AXIS_MA [rpm] 3000 3000
$SERVOFILE KSD_48_MI1all KSD_32_MI_7
$CURR_MAX [A] 48 32
$CURR_LIM [%] 100 100
$KT_MOT 1.4 1.4
$KT0_MOT 1.58 1.58
$CURR_MON [A] 16.5 16.5
$RAT_MOT_ENC {N1, D4} {N1, D4}
$RAISE_T_MOT [ms] 10 10
$BRK_ENERGY_MAX [J] 7235 7235
$BRK_COOL_OFF_COEFF [J/s] 40 40
$BRK_TORQUE [Nm] 33 33

V0.6 16.08.2006 SP-KR-Motordaten en 37 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 240 mm
a 192 mm
z 180 mm
b 215 mm
w W32 x 0.8 x 30 x 38 x 38k6
7h
v 40 -
wl 50 mm 80 mm
zl 4 mm
c 14 mm
Connector size 1

Fig. 2-16: Motor dimensions

38 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 2. Product description

2.18 Motor data for Mx_360_180_30_S0

Ordering data
Version 1 1
Drawing number - -
Article number 00-131-492 00-136-893
Order designation ME_360_180_30_S0 MG_360_180_30_S0
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-64
Static torque 36 Nm
Standstill current 26.7 A
Torque constant (KT0) 1.35
Rated speed 3000 rpm
Rated torque 22 Nm
Rated power 6.9 kW
Rated current 17.3 A
Maximum torque 82 Nm
Maximum current 64 A
Moment of inertia (drive shaft) 118 kg x cm²
Brake holding torque (120°) 36 Nm
Intermediate circuit voltage 560 V
Weight 32 kg
Protection rating IP64

Worst case value for the design

Acceleration torque to break speed 68 Nm 68 Nm
Break speed 2500 rpm 2500 rpm
Maximum torque at rated speed 43 Nm 43 Nm
Maximum braking torque 190 Nm 190 Nm

Configuration data
$VEL_AXIS_MA [rpm] 3000
$SERVOFILE KSD_64_MA0_S7
$CURR_MAX [A] 64
$CURR_LIM [%] 100
$KT_MOT 1.33
$KT0_MOT 1.35
$CURR_MON [A] 26.7
$RAT_MOT_ENC {N1, D4}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 7650
$BRK_COOL_OFF_COEFF [J/s] 127
$BRK_TORQUE [Nm] 32

V0.6 16.08.2006 SP-KR-Motordaten en 39 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 285 mm
a 190 mm
z 180 mm
b 215 mm
w W32 x 0.8 x 30 x 38 x 38k6
7h
v 50 mm -
wl 76.5 mm 80 mm
zl 4 mm
c 14 mm
Connector size 1.5

Fig. 2-17: Motor dimensions

40 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 2. Product description

2.19 Motor data for Mx_480_180_30_S0

Ordering data
Version 1 1
Drawing number - -
Article number 00-131-491 00-136-894
Order designation ME_480_180_30_S0 MG_480_180_30_S0
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-64
Static torque 48 Nm
Standstill current 25.5 A
Torque constant (KT0) 1.88
Rated speed 3000 rpm
Rated torque 26.5 Nm
Rated power 8.6 kW
Rated current 15 A
Maximum torque 112 Nm
Maximum current 64 A
Moment of inertia (drive shaft) 170 kg x cm²
Brake holding torque (120°) 48 Nm
Intermediate circuit voltage 560 V
Weight 42 kg
Protection rating IP64

Worst case value for the design

Acceleration torque to break speed 85 Nm
Break speed 2200 rpm
Maximum torque at rated speed 24 Nm
Maximum braking torque 208 Nm

Configuration data
$VEL_AXIS_MA [rpm] 3000
$SERVOFILE KSD_64_MA01_S7
$CURR_MAX [A] 64
$CURR_LIM [%] 100
$KT_MOT 1.72
$KT0_MOT 1.88
$CURR_MON [A] 25.5
$RAT_MOT_ENC {N1, D4}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 10500
$BRK_COOL_OFF_COEFF [J/s] 175
$BRK_TORQUE [Nm] 32

V0.6 16.08.2006 SP-KR-Motordaten en 41 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 337 mm
a 192 mm
z 180 mm
b 215 mm
w W32 x 0.8 x 30 x 38 x 38k6
7h
v 50 mm -
wl 76.5 mm 80 mm
zl 4 mm
c 14 mm
Connector size 1.5

Fig. 2-18: Motor dimensions

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 2. Product description

2.20 Motor data for Mx_60_110_30_S0

Ordering data
Version 1 1
Drawing number - -
Article number 00-115-926 00-127-727
Order designation ME_60_110_30_S0 MG_60_110_30
Shaft Involute Smooth
Cool variant No No

Technical data
Servo drive module KSD1-08
Static torque 6 Nm
Standstill current 4.5 A
Torque constant (KT0) 1.33
Rated speed 3000 rpm
Rated torque 4.7 Nm
Rated power 1.5 kW
Rated current 3.7 A
Maximum torque 9.6 Nm
Maximum current 8A
Moment of inertia (drive shaft) 9.1 kg x cm²
Brake holding torque (120°) 8 Nm
Intermediate circuit voltage 560 V
Weight 8.1 kg
Protection rating IP64

Worst case value for the design

Acceleration torque to break speed 8.8 Nm
Break speed 2900 rpm
Maximum torque at rated speed 6.5 Nm
Maximum braking torque 21 Nm

Configuration data
$VEL_AXIS_MA [rpm] 3000
$SERVOFILE KSD_08_MD0_S7
$CURR_MAX [A] 8
$CURR_LIM [%] 100
$KT_MOT 1.21
$KT0_MOT 1.33
$CURR_MON [A] 4.5
$RAT_MOT_ENC {N1, D4}
$RAISE_T_MOT [ms] 10
$BRK_ENERGY_MAX [J] 845
$BRK_COOL_OFF_COEFF [J/s] 5
$BRK_TORQUE [Nm] 11

V0.6 16.08.2006 SP-KR-Motordaten en 43 / 50

Motor Data

The load-specific configuration data must be calculated for each individual kin-
ematic system.

Load-specific configuration data

$G_VEL_PTP 30…80
$G_VEL_CP 30…80
$I_VEL_PTP 40…800
$I_VEL_CP 40…800
$LG_PTP 0.2…0.7
$LG_CP 0.2…0.7

Dimensions Involute Smooth

l 185 mm
a 126 mm
z 110 mm
b 130 mm
w W14 x 0.8 x 30 x 16 x 19k6
7h
v 20 mm -
wl 40 mm 40 mm
zl 3.5 mm
c 10 mm
Connector size 1

Fig. 2-19: Motor dimensions

44 / 50 V0.6 16.08.2006 SP-KR-Motordaten en

 3. Appendix

3 Appendix

3.1 Standard connector pin allocations

Connector XM The connector is a 6-contact Intercontec connector.

Fig. 3-1: Connector pin allocation XM

Connector size 1 Connector size 1.5 Assignmen

Pin Pin t
1 U U
2 V V
3 GND
4 + Brake +
5 - Brake -
6 W W

Connector XP The connector is an 8-contact Intercontec connector M23.

Fig. 3-2: Connector pin allocation XP

Pin Assignment Color

1 S2 BU Blue
2 S4 YE Yellow
7 R2 YE/WH Yellow/White
8 KTY - -
9 KTY - -
10 R1 RD/WH Red/White
11 S1 RD Red
12 S3 BK Black

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Motor Data

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 Index

Index
A P
Appendix 45 Product description 7

C S
Connector pin allocations 45 Safety warnings 5
Control cable XP 45
T
I Target group 5
Introduction 5
W
M Warnings 5
ME_228_180_30_S0, motor data 9
ME_250_180_37_S0, motor data 11
MG_120_110_25_S0, motor data 13
MG_220_130_25_S0, motor data 15
MG_40_80_45_S0, motor data 17
MG_64_110_35_S0, motor data 19
MG_8_44_45_S0, motor data 21
Motor cable XM 45
Motor data, ME_228_180_30_S0 9
Motor data, ME_250_180_37_S0 11
Motor data, MG_120_110_25_S0 13
Motor data, MG_220_130_25_S0 15
Motor data, MG_40_80_45_S0 17
Motor data, MG_64_110_35_S0 19
Motor data, MG_8_44_45_S0 21
Motor data, Mx_11_60_44_S0 23
Motor data, Mx_110_130_40_S0 25
Motor data, Mx_16_60_42_S0 27
Motor data, Mx_160_130_30_S0 29
Motor data, Mx_180_130_40_S6_cool 31
Motor data, Mx_180_180_40_S0 33
Motor data, Mx_180_180_40_S6_cool 35
Motor data, Mx_260_180_30_S0 37
Motor data, Mx_360_180_30_S0 39
Motor data, Mx_480_180_30_S0 41
Motor data, Mx_60_110_30_S0 43
Motor data, overview 7
Mx_11_60_44_S0, motor data 23
Mx_110_130_40_S0, motor data 25
Mx_16_60_42_S0, motor data 27
Mx_160_130_30_S0, motor data 29
Mx_180_130_40_S6_cool, motor data 31
Mx_180_180_40_S0, motor data 33
Mx_180_180_40_S6_cool, motor data 35
Mx_260_180_30_S0, motor data 37
Mx_360_180_30_S0, motor data 39
Mx_480_180_30_S0, motor data 41
Mx_60_110_30_S0, motor data 43

N
Nomenclature of motor designations 8
Notes 5

O
Overview of motor data 7

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Motor Data

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Motor Data

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