american precision industries aprapr. · 2015. 11. 25. · west chester, pa 19382 phone: (610)...

network of highly trained independentsales rep organizations provide thetechnical know-how to solve yourmotion application requirements.

For the nearest sales office in yourarea contact:

AMERICAN PRECISION INDUSTRIESHarowe Servo Controls, Inc.

110 Westtown RoadWest Chester, PA 19382Phone: (610) 692-2700Fax: (610) 696-4598

American Precision IndustriesInc. is people; and throughtheir efforts, its divisions and

subsidiaries develop, manufacture,and sell high quality products toindustry and government. Ouremployees understand that quality iseveryone’s job and that it is the basicingredient for success into the future.API is listed on the New York StockExchange with the trading symbol ofAPRAPRAPRAPRAPR.

Harowe Servo Controls, a subsidiaryof API is a developer andmanufacturer of a full line of MotionControl Components. This catalog isintended to offer the potential user awide variety of information to assistin applying and choosing the mostappropriate product. In-houseapplications specialists, factory-directregional sales managers and a

API-HR 5/95

BR

US

HLE

SS

RE

SO

LVE

RS

CONTENTS:RESOLVER TECHNOLOGY....................... 2CALCULATIONS ......................................... 5PART NUMBERING .................................... 6SCHEMATICS ............................................. 6HOUSED BRUSHLESS .............................. 7

Size 8 ....................................................... 8Size 11 ..................................................... 9

FRAMELESS BRUSHLESS ........................ 12Size 15 ..................................................... 13Size 21 ..................................................... 14Size 40 ..................................................... 16

HEAVY DUTY INDUSTRIAL ....................... 17Size 25 ..................................................... 18

APPLICATIONS ORDER FORM ................ 19

AMERICAN PRECISION INDUSTRIESHAROWE SERVO CONTROLS, INC.

1


2

Harowe Resolvers

RESOLVER TECHNOLOGY

TECHNOLOGY

Harowe Shaft Position TransducersA resolver is an analog trigonometric functiongenerator. It has two primary windings lo-cated at right angles to each other in the rotor,and two secondary windings also at rightangles to each other, located on the stator.See Figure 1.

If the rotor winding is excited with the ratedinput voltage, the output winding of the stator(S1-S3) will be proportional to the cosine ofthe rotor angle θ, and the output of the secondstator winding (S2-S4) will be proportional tosine θ.

In order to establish a standard starting point,electrical zero may be defined as the positionof the rotor with respect to the stator at whichthere is minimum voltage across S2-S4 whenthe rotor winding R1-R2 is excited with ratedvoltage. Nulls will occur across S2-S4 at the0° and 180° positions. Nulls will occur acrossS1-S3 at the 90° and 270° positions.

Because the resolver is an analog device andthe outputs are continuous through 360°, thetheoretical resolution of a resolver is infinite.There are, however, ambiguities in outputvoltages caused by inherent variations in thetransformation of the voltage from primary tosecondary throughout 360° of rotation. Theseambiguities result in inaccuracy when deter-mining the true angular position. The types oferror signals that are found in resolvers areshown in Figure 2.

Figure 1

RED/WHT

YEL/WHT

R1

R2

RED

BLK

S1

S3

BLU

YE

L

S2 S4

θ

Brushless Resolver Schematic

As a rule, the larger the diameter of the statorlaminations, the better the accuracy and thehigher the absolute resolution of the device.This is a function of the number of magneticpoles that can be fit into the device which is adirect function of the number of slots in thestator and rotor laminations. With multispeedunits the resolution increases as a multiple ofthe speeds. For most angular excursions themultispeed resolver can exceed the position-ing accuracy capability of any component inits size, weight and price range.

The Sensible Design Alternative forShaft Angle EncodingDesigners of motion control devices havealways argued about the ideal solution totheir velocity and position feedback prob-lems. With the advent of Brushless DC Motorsand the need for rotor position information tocommutate windings, the problem is evenmore perplexing. Harowe has developed asolution that does away with the need formultiple devices: a family of resolvers thatcan be mated with modular R/D convertersthat will meet all your requirements and workreliably in the roughest of industrial and aero-space environments.

Figure 2

360°0°One Cycle ErrorCause: Rotor Eccentricity

Two Cycle ErrorCause:

Higher Frequency ErrorCause: Harmonics due to windings

slot combinations, LAM design, etc.

Stator ID out-of-round or interwinding capacitance unbalanced.

Electrical Error in Resolvers


3

Harowe Resolvers TECHNOLOGY

Shaft Position TransducerTechnologyAs can be seen from Figure 1, resolvers arebasically rotating transformers which modu-late an AC excitation signal with the mechani-cal rotation of the device. This electrical outputmay be used for position and velocity infor-mation.

The excitation signal provided by the signalconditioning module is transformed into sineand cosine (quadrature) windings so the out-put equals Exsin θ and Excos θ.

The resolver to digital converter calculatesthe angle:

θ = arctan (Exsin θ / Excos θ)Since the output of the sine winding is dividedby the output of the cosine winding, anyinjected noise whose magnitude is approxi-mately equivalent on both windings is can-celed. This provides an inherent noiserejection feature which is unique to the re-solver.

Multispeed UnitsThe signal relationships for a simple 1X speedunit are present in Figure 4. The relationshipfor multispeeds is such that the speed (2X,3X, etc.) designates how many full sinusoidalcycles the resolver output electrically com-pletes in 360° of mechanical rotation. The 2Xelectrical output is such that the full sinusoi-dal cycle for a 2X resolver occurs in 180°instead of 360°. A full 3X cycle is completedin 120°. The number of speeds selected foruse are a function of the system require-ments. Multispeed units are created by in-creasing the number of magnetic poles in therotor and stator. Each speed has severalwinding and slot combinations. The optimumcombination is selected by the resolver de-signer based on system demands.

θ

Brushless Resolver

Resolver to Digital Converter

PowerSupply

Digitaland Tachometer Outputs

cos output

sin output

Figure 3

Block Diagram

360°270°180°90°0°

ExcitationReferenceEx

1 speedsin output

1 speedcos output

Figure 4

Shaft Angle θ θ θ θ θ


4

Harowe ResolversTECHNOLOGY

ApplicationsResolvers are often used in conjunction withmotors, and because of their inherent similar-ity of design (copper windings on iron lamina-tion stacks), their environmental resistance isquite similar. Harowe resolvers are ideal todesign into industrial applications where dustand airborne liquids can obscure optical en-coder signals. NC machines, coil winders,presses, and positioning tables are useswhere resolvers excel. The resolver’s inher-ent resistance to shock and vibration makesit uniquely suited to moving platforms, andtheir reliability under these conditions lends awelcome hand to the designer’s of robots,gantries and automotive transfer lines.

Heat sensitivity is always a problem for mo-tion control system designers. Resolvers usedfor sensing the position of valves in hightemperature applications such as aircraftengines, petrochemical refining and chemi-cal processing have continually proven theirreliability.

Moving devices to precise positions withsmooth and accurate control can be a realchallenge in the electromagnetic noise envi-ronment of the modern facility. Emitted andconducted EMI from adjacent equipment,and input voltage variations with unwantedcurrent spikes on input power lines can robdigital systems of their signal integrity. Theanalog resolver continues to function withoutinformation loss of signal interruption. Digitiz-ing the signal can be done at a remote inter-face under more controlled conditions thanon the factory floor. Only robust materialsneed to be subjected to harsh environments.

A Modular Resolver SolutionThe Brushless Resolver is a self-containedfeedback device that, unlike optical encod-ers, provides an analog signal with infiniteresolution. Not only can the output signal beconverted to precise digital position informa-tion, but it also provides an accurate velocitysignal; eliminating the need for using a sepa-rate tachometer. Reliability is enhanced us-ing the same resolver for speed feedbackand commutation. Piece part count can bereduced and the complexity of using halleffect devices for commutation timing signalscan be eliminated.

Harowe’s modular approach allows the de-signer to easily select a single or multispeedresolver and appropriate electronics that willmeet almost any desired level of resolutionand accuracy. The resolvers are designed inthe most commonly used frame sizes, 8, 11,15 and 21. All housed models feature highquality motor-grade ball bearings. The heavyduty size 25 units are enclosed in ruggedblack painted aluminum housings with eitherflange, face or servo-type mounting; and uti-lize MS-style connectors.


5

Harowe Resolvers

CONVERSION TABLES

ROTARY INERTIA CONVERSION(To convert from A to B, multiply by entry in table.)

TORQUE CONVERSION(To convert from A to B, multiply by entry in table.)

COEFFICIENTS OF FRICTION

Materials µµµµµS

Steel on Steel 0.58Steel on Steel (lubricated) 0.15Steel on Steel (rolling) 0.01Aluminum on Steel 0.45Copper on Steel 0.22Brass on Steel 0.19Teflon on Steel 0.04

LEADSCREW EFFICIENCIES

Efficiency (%)Type High Median Low

Ball-nut 95 90 85Acme with metal nut 55 35 20Acme plastic nut 85 65 50

Since viscous lubricant is required, the coefficient offriction is both speed and temperature dependent.

1.0 0.0010.001010.005462

gm-cm Kg-cmgm-cm-soz-in 2222

gm-cmoz-in

gm-cm-s

Kg-cm

lb-in

oz-in-s

lb-ft

Kg-cm-s

lb-in-s

lb-ft-sorslug-ft

2

2

2

2

2

2

2

2

2

213.55 x 10

1.129 x 10

980.0 x 10

421.0 x 10

70.62 x 10

2920.0

1000.0

980.6

182.9 1.0

5.36

5.46

16

386.08

2304.0

5360.0

6177.0

74100.0

0.186

1.0

1.019

2.984

72.0

429.71

1000.0

1152.0

13800.0

0.182

0.9806

1.0

2.9626

70.615

421.4

980.66

1129.0

13500.0

-6

3

-6

-6

-6

AB

73.7 x 10885.0 x 101.01 x 102.37 x 1014.1 x 1034.17 x 10-3 -6-6-6 -9-9

lb-ft-sorslug-ft

lb-in-sKg-cm-slb-ftoz-in-slb-in2

2

22222

0.0625

0.335

0.3417

1.0

24.13

144.0

335.1

386.08

4630.0

2.59 x 10

0.0138

0.0141

0.0414

1.0

5.967

13.887

16.0

192.0

434.0 x 10

2.32 x 10

2.37 x 10

6.94 x 10

0.1675

1.0

2.327

2.681

32.17

186.0 x 10

1.0 x 10

1.019 x 10

2.98 x 10

0.072

0.4297

1.0

1.152

13.825

161.0 x 10

867.0 x 10

885.0 x 10

2.59 x 10

62.5 x 10

0.3729

0.8679

1.0

12.0

13.4 x 10

72.3 x 10

73.7 x 10

215.0 x 10

5.2 x 10

0.031

0.0723

0.0833

1.0

-6

-6

-6

-6

-3

-6

-6

-6

-3

-3

-6

-3

-3

-3

-6

-3

-3

-3

-3

1.0 -9 -9-9-9

Kg-mlb-ftN-mlb-inKg-cmoz-in

oz-in

Kg-cm

lb-in

N-m

lb-ft

Kg-m

10.0 x 10

1.0

1.0

1.0

1.0

1.0

1.0

1.0

-6

-6

-3

-3

-6

-3

-3

-3

-6

6

6

6

AB

dyne-cm gm-cm

dyne-cmgm-cm 980.665

70.61 x 10

980.6 x 10

1.129 x 10

13.55 x 10

98.06 x 10

1.019 x 10

72.007

1000.0

1152.0

10.19 x 10

13.82 x 10

100.0 x 10

14.16 x 10

13.88 x 10

13.877

16.0

141.612

192.0

1388.0

1.019 x 10

1.0 x 10

72.0 x 10

1.152

10.197

13.825

100.0

885.0 x 10

867.9 x 10

62.5 x 10

0.8679

8.850

12.0

86.796

100.0 x 10

98.06 x 10

7.061 x 10

98.06 x 10

0.112

1.355

9.806

73.75 x 10

72.33 x 10

5.208 x 10

72.33 x 10

83.33 x 10

0.737

7.233

10.19 x 10

10.0 x 10

720.0 x 10

10.0 x 10

11.52 x 10

0.101

0.138

-3

-3

-6

-3

-6

-3

-3

-6

-3

-3

3

3

6

CALCULATIONS


6

Harowe Resolvers

ROTOR - SECONDARY

YEL BLU

S2 S4

R1

R2

RED/WHT

YEL/WHT

RED

BLK

S1

S3

R2 R4

YEL/WHT BLU/WHT

RED

BLK BLK/WHT

RED/WHTR1

R3

S1

S3

R1

R2

RED/WHT

YEL BLU

S2 S4

S1

S3

RED

BLK YEL/WHT

S2 S4

BLUYEL

STATOR - SECONDARY

ccw

ROTOR - PRIMARY

ccw

ROTOR - SECONDARYSTATOR - PRIMARY

ccw

STATOR - PRIMARY

ccw

CONFIGURATION/PART NUMBER

SCHEMATICS

11 BRCX 3 0 0 A 1 A 5/

Shaft or Sleeve TypeVariations in length, diameter and configuration.Typical standard shaft type numbers for size 11:1 = .375" long x .120" dia.10 = .562" long x .120" dia.58 = .375" long x .120" dia. w/.250" long x .102" flat95 = .562" long x .120" dia. w/.437" long x .102" flat

MinorElectrical &MechanicalVariationsVariations notaffecting framesize. Blank forstandard units.

AccuracyVariations

No. = + minutes5 = +5 minutes7 = +7 minutes

FrameSize

O.D. of unitto next

highest tenthof an inch.

UnitFunction

BRWBRCXBRCTBRC

Major Design Variations3 = Standard Housing O.D. & Length4 = Machine Wound5 = Laminated xfm

Minor Design VariationsLength, mounting dimensions

ElectricalSpecifications

Not uniformfor differentframe size.

(See individual datafor parameters).

In any given size, if a unit has the same unitfunction and same electrical specification letter,they are electrically interchangeable. They mighthave shaft and accuracy differences.

Termination & Mounting Variations0 = Leads1 = Screw Terminal2 = Solder Pins4 = Leads & Face Mount

5 = Screw Terminal & Face Mount6 = Beweps - Keyway on Mount7 = Solder Pins & Face Mount8 = Connector

Transmitter

Control Transformer Differential

PART NUMBERING


7

Harowe Resolvers

Housed Brushless Resolvers

Description

Harowe’s Brushless resolvers are available in awide variety of electrical and mechanical con-figurations. Our “true” brushless constructionuses a rotary transformer to transmit electricaldata to the rotor. This design eliminates thenormal brush and slip ring sliding contact used

in conventional resolvers. Since the brushand slip ring are life limiting components andcan be a source of noise in harsh environ-ments, the transformer coupled units enhancereliability and performance.

Applications

• Material handling systems• Medical instruments• Clean rooms• Robotics• Packaging equipment• Factory automation• Scanning devices• Machine tools• Pumps• Textile machines

Reliability

Brushless Construction

High Accuracy

Lower Maintenance Cost

Features

• Up to 10X longer operating lifethan conventional resolvers.

• Reduced friction error.

• Vibration immunity.

• Up to 100X less RFI.

• No explosion hazard.

• Reliability at high speeds &high temperatures.

• Full rotation.

• Accuracy of +7 minutes.

• Rated at 125°C continuous duty.

• Stainless steel case parts.


8

Harowe Resolvers

Function and Model No. 8BRCX-300-C 8BRCX-300-E 8BRCX-300-F 8BRW-300-C

Input Voltage/Frequency 5.9/2500 Hz 6.0/1000 Hz 5.9/2500 Hz 11.8/400 Hz

Primary Winding R R R S

Input Current (mA) (max) 60 11 12 12

Input Power (mW) 220 30 32 40

Output Voltage 11.8 2.7 5.9 5.9

TR 2.00 .45 1.00 .50

Zro (Ω) 73 + j94 450 + j625 300 + j500 1125 + j500

Zrs (Ω) 48 + j36 320 + j200 190 + j190 1160 + j210

Zso (Ω) 550 + j1150 170 + j200 425 + j1000 510 + j1210

Zss (Ω) 410 + j610 125 + j60 270 + j370 800 + j985

Phase Shift (deg. leading) 11 10 9 18

Sensitivity (mV/deg.) 206 48 103 103

DC Rotor Resist. (Ω) 33 63 63 900

DC Stator Resist. (Ω) 67 52 67 280

Total Null Voltage (mV) 30 30 30 30

Accuracy Max Error (min) ±7 ±7 ±7 ±7

Weight (nom) 47g (1.6 oz) 47g (1.6 oz) 47g (1.6 oz) 47g (1.6 oz)

Rotor Moment of Inertia 1.0 gm-cm2 1.0 gm-cm2 1.0 gm-cm2 1.0 gm-cm2

Typical Size 8 Specifications

ResolverTransmitter

DIMENSIONS

ResolverTransmitter

ResolverTransmitter

Resolver ControlTransformer

SIZE 8

DIM IN MMA 1.240 31.50B∅ .753 19.13C∅ .500 12.70D .040 1.02E∅ .691 17.55F .062 1.57G∅ .750 19.05H .062 1.57J∅ .120 3.05M .375 9.53

Notes:

Model numbers will have suffix digits added to designate shaftinformation. All units are usable over a wide range of frequencies(400 to 10,000 Hz) and voltages (2 to 26 volts). Electrical data forother input frequencies is available.

BE

M

A

J

CG

DF

H

SIZE 8


9

Harowe Resolvers

Function and Model No. 11BRW-300-B 11BRW-300-C 11BRW-300-E 11BRW-300-F 11BRW-300-M

Input Voltage/Frequency 12.0/400 Hz 12.0/400 Hz 12.0/400 Hz 12.0/2500 Hz 10.0/5000 Hz

Primary Winding S S S S S

Input Current (mA) (max) 10.9 9.2 10.9 3.1 8.3

Input Power (mW) 40 25 40 18 35

Output Voltage 21.0 23.2 12.0 6.0 5.0

TR 1.75 1.93 1.00 .50 .50

Zro (Ω) 3400 + j6500 9400 + j11700 1240 + j1855 1150 + j2050 345 + j515

Zrs (Ω) 3330 + j1900 9800 + j5400 1185 + j550 360 + j775 80 + j230

Zso (Ω) 500 + j1250 425 + j1525 500 + j1250 2500 + j4800 750 + j1150

Zss (Ω) 680 + j400 700 + j925 625 + j450 800 + j1800 160 + j500

Phase Shift (deg. leading) 12 9 12 -2 -5

Sensitivity (mV/deg.) 366 405 209 105 87

DC Rotor Resist. (Ω) 850 4000 302 76 16

DC Stator Resist. (Ω) 197 197 197 197 31

Total Null Voltage (mV) 30 30 30 30 30

Accuracy Max Error (min) ±10 ±10 ±7 ±7 ±7

Weight (nom) 116g (4.1 oz) 116g (4.1 oz) 116g (4.1 oz) 116g (4.1 oz) 116g (4.1 oz)

Rotor Moment of Inertia 3.6 gm-cm2 3.6 gm-cm2 3.6 gm-cm2 3.6 gm-cm2 3.6 gm-cm2

Function and Model No. 11BRCT-300-F 11BRCT-300-M 11BRCT-300-S 11BRCT-300-T 11BRCT-300-P


Primary Winding S S S S S

Input Current (mA) (max) 8.3 70 7.0 6.0 1.4

Input Power (mW) 30 350 12.3 12.0 2.6

Output Voltage 6.0 12.0 2.5 6.4 4.7

TR .50 1.02 .50 .53 .39

Zro (Ω) 350 + j945 250 + j350 155 + j365 1375 + j2950 4100 + j9150

Zrs (Ω) 200 + j525 150 + j250 60 + j205 1250 + j2270 3350 + j7600

Zso (Ω) 600 + j1150 95 + j170 300 + j720 440 + j2400 2500 + j10600

Zss (Ω) 325 + j820 45 + j95 130 + j480 420 + j1880 2000 + j8900

Phase Shift (deg. leading) 0 -1 -5 -2 -7


DC Rotor Resist. (Ω) 40 10 11 170 443






Resolver Control Transformers - Typical Size 11 Specifications

Resolver Control Transformers - Typical Size 11 Specifications

2 Speed 2 Speed 2 Speed 4 Speed 5 Speed


SIZE 11


10

Harowe Resolvers

Function and Model No. 11BRCX-300-A 11BRCX-300-B 11BRCX-300-C 11BRCX-300-E 11BRCX-300-G


Primary Winding R R R R R

Input Current (mA) (max) 13.5 40 15 3.5 40

Input Power (mW) 60 190 42 19.3 630

Output Voltage 4.0 8.0 2.7 8.9 11.8

TR .54 1.07 .45 .98 .45

Zro (Ω) 455 + j450 164 + j150 325 + j320 2100 + j2100 540 + j540

Zrs (Ω) 200 + j330 165 + j110 185 + j170 885 + j1235 485 + j300

Zso (Ω) 265 + j335 335 + j395 140 + j145 4380 + j4870 375 + j320

Zss (Ω) 105 + j235 120 + j265 80+ j80 1790 + j3010 305 + j160

Phase Shift (deg. leading) -2 -2 4 0 12


DC Rotor Resist. (Ω) 15 5.7 20 38 67






Function and Model No. 11BRCX-300-J 11BRCX-300-N 11BRCX-300-M 11BRCX-300-P 11BRCX-300-P



Input Current (mA) (max) 10.9 14 10.9 11.0 5.0

Input Power (mW) 47 64 37 40 27

Output Voltage 6.7 8.5 6.7 5.9 5.5

TR .95 1.00 .95 .84 .55

Zro (Ω) 570 + j565 475 + j565 360 + j620 440 + j690 1525 + j1875

Zrs (Ω) 235 + j375 225 + j265 165 + j390 340 + j555 1425 + j1775

Zso (Ω) 800 + j1300 770 + j1100 800 + j1500 1000 + j3875 1900 + j8400

Zss (Ω) 310 +j885 400 + j525 370 + j975 780 + j3170 1380 + j8000

Phase Shift (deg. leading) -6 3 -2 7 -3


DC Rotor Resist. (Ω) 16 25 19 11.4 26






Resolver Transmitters - Typical Size 11 Specifications

Resolver Transmitters - Typical Size 11 Specifications



SIZE 11


11

Harowe Resolvers

Function and Model No. 11BRC-300-D 11BRC-300-E 11BRW-300-K 11BRCX-300-U 11BRCX-300-R


Primary Winding S S S R R

Input Current (mA) (max) 6.2 25 6.5 26 20

Input Power (mW) 20 100 35 120 100

Output Voltage 12 12 6 5 6

TR 1.00 1.00 .50 .50 .50

Zro (Ω) 1825 + j3600 715 + j1650 440 + j750 320 + j315 440 + j600

Zrs (Ω) 1100 + j1200 605 + j1350 135 + j285 290 + j310 360 + j400

Zso (Ω) 700 + j2200 195 + j555 1150 + j1900 380 + j1630 420 + j480

Zss (Ω) 530 + j775 140 + j375 330 + j750 315 + j1550 340 + j300

Phase Shift (deg. leading) 2 -1 -2 -2 5


DC Rotor Resist. (Ω) 465 239 23 15 18.5




Weight (nom) 150g (5.3 oz) 150g (5.3 oz) 116g ( 4.1 oz) 116g ( 4.1 oz) 116g ( 4.1 oz)


Resolver Differential - Typical Size 11 Specifications

DIMENSIONS


SIZE 11

DIM IN MMA (see Note 2) (see Note 2)B∅ 1.065 27.05*C∅ 1.000 25.40D .062 1.57E∅ .980 24.89F∅ .625 15.88G∅ 1.062 26.97H .062 1.57J .093 2.36K .050 1.27L .120 3.05M .562 14.27

* Denotes optional configuration

Notes:

1 Model numbers will have suffix digits added to designate shaftinformation. All units are usable over a wide range of frequen-cies (250 to 10,000 Hz) and voltages (2 to 26 volts). Electricaldata for other input frequencies is available.

2 Length for BRC = 2.059 in (52.30 mm)Length for BRW & BRCX = 1.590 in (40.39 mm)

KJ

D

H

FC

L

G

M

EB

A

SIZE 11


12

Harowe Resolvers

Frameless Brushless Resolvers

Description

Harowe’s frameless resolvers generate speedand position data for robotic, machine tool andaerospace servo applications, as well as forcommutating brushless servo motors. They areeasily adaptable to most existing feedback sys-tems. The frameless construction simplifiesmounting mechanics because the rotor mounts

Mechanically Adaptable

True Transformer Coupled

Minimum Length

Maximum Accuracy

directly onto the motor shaft and the statorhousing mounts directly into the motor endbell. Elimination of coupling devices, mount-ing brackets and additional bearings improveshigh speed performance and reliability.

Applications

• BLDC motor commutation• AC flux vector drive feedback• Integral factory automation• Process control valve position sensor• Gimbal positioning systems• Robotics• Harsh and/or hazardous environment• Automotive industry• Material handling systems

• Military & commercial aerospace

Features

• Frame Sizes up to 14” in diameter.• Wide variety of mechanical and electrical

options.• Wide frequency range (up to 50,000 Hz).• Temperature rating of +125°C continuous

duty (+175°C on request).• Temperature compensation available.• Thermally stable.• Corrosion resistant.• Standard accuracies ± 7 to ± 20 arcmin.• Multispeed to your specifications.


13

Harowe Resolvers


DIMENSIONS

SIZE 15

DIM IN MMA 1.0000 25.40B∅ 1.4500 36.83C .0780 1.98D .0930 2.36E∅ 1.3900 35.31*F .2830 7.19*G .0635 1.61**H∅ .2500 6.35

* Denotes optional configuration** Optional ID’s are available up to .437

FH

EB

G CD

A

Function and Model No. 15BRCX-320-D 15BRCX-320-F 15BRCX-320-J 15BRW-320-B 15BRCX-320-G


Primary Winding R R R S R

Input Current (mA) (max) 40 25 55 23 33

Input Power (mW) 80 42 120 130 30

Output Voltage 4.0 2.0 2.0 5.8 2.0

TR 1.00 .50 .470 .485 1.00

Zro (Ω) 50 + j100 95 + j190 48 + j70 460 + j605 36 + j60

Zrs (Ω) 53 + j70 85 + j145 42 + j55 470 + j485 28 + j43

Zso (Ω) 260 + j340 140 + j190 62 + j80 315 + j520 170 + j270

Zss (Ω) 250 + j240 115 + j140 53 + j63 340 + j415 135 + j195

Phase Shift (deg. leading) +12 +2 +4 +21 +4 ±3


DC Rotor Resist. (Ω) 23 23 16 27.5 10.5





Rotor Moment of Inertia 27 gm-cm2 27 gm-cm2 27 gm-cm2 27 gm-cm2 27 gm-cm2


SIZE 15


14

Harowe Resolvers

Function and Model No. 21BRCX-500-H 21BRCX-500-J 21BRCX-500-F 21BRCX-500-E 21BRW-330-D


Primary Winding R R R R S


Input Power (mW) 40 140 80 45 30

Output Voltage 2.0 2.0 3.75 4.0 3.6

TR .5 .470 .5 1.00 .515

Zro (Ω) 105 + j180 62 + j61 165 + j270 85 + j160 335 + j615

Zrs (Ω) 85 + j155 54 + j54 145 + j215 75 + j125 280 + j460

Zso (Ω) 150 + j280 80 + j137 240 + j385 565 + j870 270 + j630

Zss (Ω) 120 + j245 67 + j122 210 + j310 480 + j740 235 + j455

Phase Shift (deg. leading) -6 4+3 +6 +2 +5


DC Rotor Resist. (Ω) 30 36 52 30 180




Weight (nom) 312g (11 oz) 312g (11 oz) 312g (11 oz) 312g (11 oz) 312g (11 oz)




SIZE 21


15

Harowe Resolvers

Function and Model No. 21BRW-330-E 21BRW-330-E 21BRCX-510-D 21BRCX-510-L 21BRCT-510-A


Primary Winding S R R R S


Input Power (mW) 70 80 65 110 30

Output Voltage 3.1 9.5 2.0 2.0 3.9

TR .31 .95 .25 .470 .5

Zro (Ω) 150 + j210 270 + j535 210 + j410 50 + j75 670 + j1715

Zrs (Ω) 165 + j135 195 + j350 190 + j350 42 + j64 595 + j1525

Zso (Ω) 350 + j650 725 + j1545 110 + j180 53 + j136 235 + j665

Zss (Ω) 410 + j440 530 + j1010 100 + j155 45 + j118 200 + j610

Phase Shift (deg. leading) +18 +2 5.5+3 5+3 -9+2


DC Rotor Resist. (Ω) 79 79 53 18 129






DIMENSIONS


Stator Input Rotor Input 2 Speed 3 Speed 2 Speed

SIZE 21

DIM IN MMA 1.2500 31.75*A 1.0620 26.97B∅ 2.0620 52.37*C∅ 1.9970 50.80*D .0620 1.57E∅ 1.9850 50.42F .1870 4.75*F .0930 2.36G .1870 4.75*G .0500 1.27**H∅ .5000 12.70*J .5505 13.98*K .0958 2.43

* Denotes optional configuration** Optional ID’s are available up to .800

C

B

I

G

D

E

F

HJ

K

A

SIZE 21


16

Harowe Resolvers

Function and Model No. 40BRCX-300-F1 40BRCX-300-B2 40BRCX-300-D2 40BRCX-300-E2 40BRCX-300-C3




Input Power (mW) 22 123 123 25 75

Output Voltage 2.0 2.0 3.5 2.0 3.5

TR .5 .5 .5 .5 .5

Zro (Ω) 265 + j360 50 + j60 59 + j154 180 + j310 200 + j300

Zrs (Ω) 215 + j305 40 + j50 67 + j120 145 + j277 200 + j230

Zso (Ω) 280 + j485 50 + j100 135 + j140 245 + j515 200 + j345

Zss (Ω) 245 + j390 40+j75 128 + j103 160 + j440 180 + j270

Phase Shift (deg. leading) 0+5 5 7 7 5


DC Rotor Resist. (Ω) 100 17.5 15 50 99

DC Stator Resist. (Ω) 70 8.6 70 70 70






SIZE 40

DIMENSIONS


SIZE 40

Notes:

1 0.015 Rad Max at bottom of groove

2 Alternate mounting groove configuration


17

Harowe Resolvers

Heavy Duty Industrial Resolvers

Description

Are you breaking sensors? Do you need a reallytough package to stand the abuse? Give ourHeavy Duty Industrial Resolvers a test. Made ofaluminum and steel with high integrity seals yetcapable of measuring rotary motion with theaccuracy of absolute encoders, our units aredesigned for use in harsh industrial environ-ments. We have the flexibility to match your

Rugged Construction

IP-65 Sealing

MS-Style Connectors

Precision Accuracies

mechanical interface and the engineeringtalent to meet your system’s performancerequirements. The inherent noise immunity ofresolvers, coupled with our brushless tech-nology, make our units ideal for measuringposition and speed in areas where othersensors fear to tread.

Applications

• Factory automation• Textile machines• Robotics• Packaging• Pulp & paper processing• Plastics & film manufacturing• Chemical & food processing• Construction equipment• Material handling• Conveyor equipment• CNC & NC machine tools• Metal forming & cutting equipment

Features

• Built for factory floor use.• High noise immunity.• Replaces delicate encoders.• Wide frequency range (up to 50,000

Hz).• Standard +125°C continuous duty

(+175°C on request).• Optional temperature compensation.• Thermally stable.• Corrosion resistant.• Standard accuracies +7 to +20 arcmin.• Multispeed to your specifications.


18

Harowe Resolvers

Function and Model No. 25 BRCX-500-F 25 BRCX-500-H 25 BRCX-500-J 25 BRCX-510-D 25 BRCX-510-L




Input Power (mW) 80 40 140 65 110

Output Voltage 3.75 2.0 2.0 2.0 2.0

TR .5 .5 .470 .25 .470

Zro (Ω) 165 + j270 105 + j180 62 + j61 205 + j400 50 + j75

Zrs (Ω) 145 + j215 85 + j155 54 + j54 190 + j330 42 + j64

Zso (Ω) 240 + j385 150 + j280 80 + j137 80 + j150 53 + j136

Zss (Ω) 210 + j310 120 + j245 67 + j122 100 + j155 45 + j118

Phase Shift (deg. leading) +6 -6 4+3 4.5+3 5+3


DC Rotor Resist. (Ω) 52 30 36 53 18

DC Stator Resist. (Ω) 88 35 1.5 40 18




DIMENSIONS



SIZE 25

Note:

Connector MS-3102R-16S-1P orMS-3102R-18-1P

Other connectors available on request.

SIZE 25


19

Harowe Resolvers

APPLICATIONS ORDER FORM - BRUSHLESS RESOLVERS

ORDER FORM

For pricing and technical/application support, contactBeth or Tracy at:

Phone: (800) 569-0074 or(610) 692-2700

Fax: (610) 696-4598

This catalog contains information on a selection ofHarowe’s resolver designs in various sizes, configura-tions and performances in active applications. If youcannot find a resolver that meets your specific needs inthis catalog, Harowe’s experienced engineering/mar-keting staffs are always ready to assist you.

This application is for a:

Synchro 1X 2X 3X Other ________________________________________________

Resolver 1X 2X 3X Other ________________________________________________

Other (Please Specify) ______________________________________________________________________________

General Operating Parameters:

Primary Winding Rotor Stator

Accuracy: _________________ arcmin. Specified as: + Spread

Available Excitation Voltage ___________________________ Volts AC @ ________________________________ Hertz

Available Drive Current ____________________________________ amps

Transformation Ratio (Output Voltage/Input Voltage) _____________________________+ __________________ %Input Impedance ___________________ Ω minimum Output Impedance______________________ Ω maximum

Load Impedance ____________________________________________________________________________________ Ω

Sensitivity _____________________________________________________________________________ Volts per degree

Phase Shift ___________________________________________degrees maximum minimum

Null Voltage ______________________________________________________________________________ mV maximum

Design Parameters:

Zro ______________________________ +j _____________________________ Ω + ________________________ %

Zrs ______________________________ +j _____________________________ Ω + ________________________ %

Zso ______________________________ +j _____________________________ Ω + ________________________ %

Mechanical Specifications:

Housed Frameless

OD ____________________________________ in (max) Length _____________________________ in (max)

Weight ________________________________ oz (max)

Shaft Diameter ______________ + ____________ in Shaft Length ______________ + __________ in

Shaft Type: Full Round Flatted Pinion

Other ___________________________________________________________________________

Type of Mounting: Face Mount Flange Mount Servo Clamp

Pilot Diameter: ______________________________________ + _______________________________________ in

CONDITIONS OF SALESTANDARD TERMS AND CONDITIONS

AMERICAN PRECISION INDUSTRIES

7. Terms.Unless otherwise specified, standard terms of credit are net thirty (30)days from date of invoice, providing satisfactory credit is establishedwith Seller. If the purchaser defaults in any payments when due, Sellerreserves the right to defer delivery or cancel the order, without preju-dice to other lawful remedies. In the event Seller engages the servicesof an attorney to collect such overdue amounts, the Purchaser agreesto pay the attorney’s fees and costs. Seller reserves the right to ship toits order and make collection by sight draft with bill of lading attachedor on a C.O.D. basis or any other terms.

8. Freight.All prices as quoted (including repairs and parts) are f.o.b. Seller’factory, no freight allowed.

9. Minimum Billing.Minimum billing for any apparatus or parts sold by Seller shall be$100.00 net.

10. Quotations.Written quotations automatically expire ninety (90) calendar days fromdate issued unless otherwise specified. A verbal quotation, unlessaccepted on day of quotation, expires the day on which it was made.All quotations are subject to the terms and conditions or our regularform of acknowledgment and to the procedure described herein. Allquotations, to be binding, must list the actual quantities involved.

11. Product Changes.Changes in design and improvements are being made whenever Sellerbelieves the product will be improved. No obligation to incorporatethese changes in units manufactured prior to the change will be as-sumed.

12. Limitation of Liability.In no event shall Seller be liable for consequential damages or for anyexpense incurred by the Buyer attributed to any product sold hereun-der.

13. Acceptance of Orders.All orders become effective only when accepted by our written ac-knowledgment. To avoid delay in filling orders, purchasers withoutprevious experience with Seller should incur credit information or ref-erences with their first order, or remit cash. Transportation costs can-not be deducted from the selling price.

14. Dimensions.Published dimensions shown in catalog are approximate. Certifieddimensional drawings can be obtained upon request to the nearestsales office. Certified dimensional drawings can be obtained onlyagainst a specific purchase order.

15. Price Protection Policy.The following price Protection Policy applies to all products of ourmanufacture. Only those orders which were fully specified and re-leased for production prior to the effective date of a price increase areeligible for Price Protection. The date on which orders are fully speci-fied and released for production shall be effective “date of order”.Prices are firm, provided that shipment can be made within twelve(12) months from the date of order. In the event that shipment cannotbe made or will not be accepted within twelve (12) months after thedate of the order, the prices will be those in effect at the time ofshipment.

1. General.American Precision Industries is hereinafter referred to as “Seller”. Allsales of Seller are subject to the following terms and conditions. Anyorder that contains terms and conditions in addition to or inconsistentwith the following shall not be binding upon Seller unless acceptancethereof is made in writing by an authorized representative of Sellerand failure of Seller to object to provisions contained in any purchaseorder or other communication from Buyer shall not be construed as awavier of these conditions nor an acceptance of any such provisions.This contract and these provisions and terms shall be governed byand construed according to the laws of the State of New York withreference to the laws of any other jurisdictions.

2. Penalty Clauses.Contracts or quotations shown penalty clause for failure to meet ship-ments are not acceptable unless specifically approved in writing byan officer of Seller.

3. Delay.Shipping promises are made in good faith: shipping dates appearingon acknowledgments of orders, or given the customer in any othermanner are approximate. Where the customer delays in supplyinginformation necessary to proceeding with the order, the date of ship-mate may be extended accordingly.

4. Warranty.American Precision Industries guarantees that its products will leavethe factory in good condition. We warrant our products against anydefects in workmanship and material for a period of 365 days (oneyear) after shipment. Adjustments under this warranty may be madeonly after completion of inspection of the part or production in ourfactory. Our liability under this warranty shall extend only to the re-placement or correction of any defective part or product determinedby our inspection as not conforming to this Warranty. All material mustbe returned, freight prepaid. This warranty shall not apply to anyproduct which shall have been repaired or altered without our knowl-edge and consent or operated or installed contrary to our instructionor subjected to misuse, improper maintenance or is damaged byaccident or negligence.THIS WARRANTY IS MADE IN LIEU OF ALL OTHER WARRANTIES,EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO WAR-RANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULARPURPOSE, AND THERE ARE NO OTHER WARRANTIES THAT EX-TEND BEYOND THIS EXPRESS WARRANTY.

5. Taxes and Other Charges.Any manufacture’s tax, retailer’s occupation tax, use tax, sales tax,duty custom inspection or testing fee, or any other tax, fee or chargeof any nature whatsoever, imposed by any government authority, onor measured by any transaction between Seller and the Buyer, shallbe paid by the Buyer.

6. Cancellation.ALL ITEMS WITHIN THIRTY (30) CALENDAR DAYS OF COMPLETIONARE NOT CANCELLABLE, i.e., 100% CANCELLATION CHARGE, ANDWILL BE BILLED TO CUSTOMER. All items entered for productionand on which cancellation is requested, and which are not within thirty(30) calendar days of completion, shall be paid for on the basis ofactual cost of labor, materials and supplies applied to the productionof such items plus proper overhead expenses determined in accor-dance with good accounting practice, plus 15% of the total of suchcost and expenses; provided that such cost and expense plus 15%shall in no case exceed 90% of the quoted price of total order. In theevent of cancellation of incomplete equipment, Seller's figures shall beaccepted as final and conclusive and disposition of the material can-celled shall be given to Seller within said thirty (30) calendar daysshall constitute Buyer’s agreement that Seller may be dispose of thecancellation material as it sees fit without further credit to Buyer orobligation of any nature by Seller.

HAROWE PRODUCTS AVAILABLE TO MEETOTHER APPLICATION NEEDS

LOOK FOR MORE INNOVATIVE PRODUCTSFROM HAROWE SERVO CONTROLS, INC.

Harowe’s brushless DC motors feature thelatest in materials to provide the highest per-formance possible in the minimum space.Our use of available magnet types, combinedwith flexibility in winding configurations andmechanical designs give customers the opti-mum solutions for their motion applications.Through CAD and applied technology, ourunique design capability enables us to meetthe changing and more demanding chal-lenges of our customers.

Brushless DC Motors

AC MotorsAC motors are historically the workhorse ofthe precision motion control industry. Whetheryou are seeking highly accurate, extremelyreliable rotary components for use in hostileenvironments; components for criticallydamped, highly stable servo systems; or con-stant speed units; the AC motor should beseriously considered. Using available 400 Hzpower processed through simple control elec-tronics, the AC servo is often the most costeffective answer to motion control.

Specialty Step MotorsHarowe’s progressive design and manufac-turing techniques ensure peak performanceand value to our customers. We offer a di-verse range of precision products for use inmotion controls applications. Harowe spe-cializes in producing “modified standards” tomeet your exact electrical, mechanical andenvironmental specifications.

Sales Offices Worldwide

API-M-HR 5/95

API Motion

Contact API Motion for assistancein locating your local distributor.

HeadquartersAPI Motion Inc.45 Hazelwood Dr.Amherst, NY 14228 USATel: +1 (716) 691-9100Fax:+1 (716) 691-9181Toll-free: 1 (800) 566-5274http://www.apimotion.com

North AmericaNew EnglandCT, MA, ME, NH, RI, VTTel: +1 (516) 327-5115Fax: +1 (516) 327-5116North AtlanticMD, N. NJ, NY, VATel: +1 (516) 327-5115Fax: +1 (516) 327-5116Mid-AtlanticDC, DE, KY, S. NJ, OH, PA, WVTel: +1 (610) 940-1344Fax: +1 (610) 940-2253

MidwestIA, IL, N. IN, MN, ND, SD, WITel: +1 (815) 356-1901Fax: +1 (815) 356-1955

North CentralIN, KS, KY, MI, MO, NETel: +1 (800) 566-5274Fax: +1 (716) 691-9181SoutheastFLTel: +1 (727) 789-0446Fax: +1 (727) 789-0737

Mid-SouthAL, GA, MS, NC, SC, TNTel: +1 (704) 395-1254Fax: +1 (704) 395-1255South CentralAR, LA, NM, OK, TXTel: +1 (949) 768-1016Fax: +1 (949) 768-1826NorthwestN. CA, CO, MT, NV, OR,UT, WA, WYTel: +1 (949) 768-1016Fax: +1 (949) 768-1826SouthwestAZ, S. CA, S. NVTel: +1 (949) 768-1016Fax: +1 (949) 768-1826Canada (Eastern)Tel: +1 (516) 327-5115Fax: +1 (516) 327-5116Canada (Western)Tel: +1 (949) 768-1016Fax: +1 (949) 768-1826

EuropeSwitzerlandEuropean Support CenterCH-2301La Chaux-de-Fonds 1Tel: +41 (32) 925 61 11Fax: +41 (32) 925 65 96

GermanyD-75179 PforzheimTel: +49 (7231) 491 5Fax: +49 (7231) 491 620D-87700 MemmingenTel: +49 (8331) 978 913Fax: +49 (8331) 978 920D-01458 OttendorfTel: +49 (35205) 7160-6Fax: +49 (35205) 7160-7FranceF-94706 Maisons AlfortTel: +33 (1) 45 18 33 93Fax: +33 (1) 45 18 33 94F-69003 LyonTel: +33 (4) 72 91 21 00Fax: +33 (4) 72 35 92 35PolandPL-26-600 RadomTel: +48 (48) 427 48Fax: +48 (48) 427 48

FinlandFIN-00250 HelsinkiTel: +358 (9) 415 586 20Fax: +358 (9) 415 586 21NorwayN-0608 OsloTel: +47 (22) 68 96 12Fax: +47 (22) 68 96 14

SwedenS-182 36 DanderydTel: +46 (8) 62 250 00Fax: +46 (8) 75 360 82United KingdomRingwood, HampshireBH24 3PBTel: +44 (1425) 46 32 00Fax: +44 (1425) 47 77 55

AsiaJapanTokyo 103-0023Tel: +81 (3) 3241 0201Fax: +81 (3) 3241 0221

ChinaBeijing 100013, P.R. ChinaTel: +86 (10) 8427 7049Fax: +86 (10) 8427 7049

american precision industries aprapr. · 2015. 11. 25. · west chester, pa 19382 phone: (610)...

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