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G410 SeriesBrushless Servo Motors

2 Moog • G410 Series

OVERVIEW

Section Page

Overview 2

Features & Benefits 3

Technical Data 4-13

Options 14-15

Accessories 16

General Info. & Notes 17

Ordering Information 18-19

MOOG BRUSHLESS TECHNOLOGYFor two decades, the name Moog has been associated withbrushless servo motors and drives offering the highest dynam-ics, power density and reliability. The servo motors and drivesare designed as a system to deliver superior servo perfor-mance. Moog offers a broad range of standard servo motorsand drives as well as custom solutions to meet your uniqueapplication requirements. Moog brushless servo motors anddrives are found on a variety of applications; especially wheredynamics, compact size and reliability are important.

G410 SERIES BRUSHLESS SERVOMOTORSMoog’s G410 Series motors are electronically commutated syn-chronous AC motors with permanent magnet field excitation.G410 Series motors are designed for highly dynamic servoapplications where positioning times of 100 mSec or less areoften the norm. The G410 Series offers one of the industry’swidest power ranges with standard models available atcontinuous torque ratings from 0.2 to 100 Nm (2.2 to 885 lb-in). The modular design is supported by a variety of optionswith Moog’s application staff capable of supplying fully cus-tomized solutions. All Moog servo motors are manufacturedin-house and the use of tight machining tolerances, precisionbalancing and thorough production testing guarantee a longservice life.

G410

D EV

The motors describedherein are UL certifiedunder file number 206936.

The motors describedherein have successfullypassed EMC tests requiredby EC Directive.

The motors describedherein follow the designdirectives according toVDE standards.

Moog Motor Performance CharacteristicsIn collaborating with a variety of industrial machinedesigners, Moog realizes what a critical role theapplication sizing process plays in overall machinedesign. With global competition forcing designers todo more with less, there is an ever-increasing needto avoid unnecessary margin and ”size” exactly toyour application needs. It is for these reasons thatMoog specifies motor performance characteristics ina manner that makes them practical for designingyour system. Motor characteristics are specifiedunder the same environmental conditions in whichthey will be used, with notes clearly articulating theoperating conditions.

The motor performance characteristic contains threeelements.

The first element is the continuous torque curve.This curve illustrates the motor torque available at100% duty cycle under the following conditions:➣ operation in still air with ambient temperatures

up to 55°C➣ winding temperature at 100°C over ambient➣ motor front flange attached to a steel

mounting plate measuring 300 x 300 x 12 mm

The second element is the peak torque curve. Thiscurve reflects the motor torque available with a 10%duty cycle (1 out of 10 seconds). It is based on yearsof practical industry experience and is useful for typicalservo applications.

The third element is the motor Kt characteristic.The motor Kt characteristic depicts stator saturationat various operating points and can be used to opti-mize sizing in low duty cycle applications. As shownby the “t” symbol on the motor Kt line, G400 motorscan deliver a low duty cycle “impulse torque” whichis typically 30% more than rated peak torque. Whilemotors can be operated reliably at this operatingpoint it is recommended that a member of Moog’sapplication team review the application to ensurethermal restrictions are not violated.

Torq

ue (N

m) Torque (lb/in)

0 1000 2000 3000 4000

0 10 20 30 40 50 60 70 80 9035

30

25

20

15

10

5

0

310

265

221

177

133

88

44

0

Speed (rpm)

Current (Arms)

1

2

3

FEATURES & BENEFITS G410Superior Motor Dynamics Improves Cycle TimeThe G410 Series motor combines a low inertia rotor with anelectromagnetic design having exceptional overload capacity.The result is an increase in the effective torque available toaccelerate and decelerate the load, enabling higher dynamicsand improved cycle times.

G410 Series motors use a fully laminated, weight-optimized,rotor to provide a significant inertia reduction over conventionalsolid rotor designs. It is able to achieve a high overload capacitythrough the use of high-energy SmCo magnets, a high pole countelectrical design, and an efficient thermal construction.

Compact, Lightweight, Construction SimplifiesMachine DesignThe G410 Series motor provides high torque in a compact,lightweight, package to achieve both high power density and ahigh torque-to-weight ratio. The compact, lightweight, packageprovides greater flexibility and often enables new cost-savingapproaches to machine construction. In applications where themotor is mounted on a moving axis the high torque to weightratio allows greater payloads and/or increased acceleration.

G410 Series motors leverage an all aluminum motor hous-ing to achieve a significant weight reduction over low cost steelhousings. A robust thermal design allows more power to bedesigned into a small, compact, package.

Proprietary, Low-Cogging, Design Delivers Smooth LowSpeed OperationThe G410 Series motor includes several design enhancementsto deliver smooth slow speed performance. The enhancementsinclude the selection of a high pole count (8 to 12 poles) elec-tromagnetic design, a stator with non-symmetric slot count andother proprietary features to minimize cogging.

Ruggedized, Maintenance-Free, Design to Boost OverallSystem AvailabilityThe G410 Series motor is designed and manufactured in accor-dance with strict CE (VDE) standards, using ruggedized compo-nents with proven reliability in harsh thermal and shock loadenvironments. These all combine to offer years of reliable, main-tenance-free, operation and boost overall system availability.

G410 Series motors are designed using high grade SmComagnets. SmCo magnets offer extremely stable operating char-acteristics and are highly resistant to demagnetization. Thisallows the G410 to deliver fully rated performance with ambi-ent temperatures as high as 55°C. Lower cost magnet materialsoften require the motor to be derated in ambient environ-ments above 25°C and can exhibit degrading performance inhigher peak power applications.

The use of high reliability resolvers, sealed life-time lubri-cated bearings, precision balanced rotors (Class G 6.3 of ISO1940), reduced runout machining tolerances (Class R of DIN42955-R) and IP67 construction combine to extend service life.

Flexible Design Option Ease IntegrationThe G410 Series motor is available with the following options:➣ Integral holding brakes➣ Resolver (standard) or encoder based feedback➣ Plain or slot & key type shafts➣ Teflon shaft seal (IP68 sealing)➣ Convection (standard) or fan cooling (select models)

Fully Customized Designs Support UniqueApplication RequirementsFinally, our G410 Series motors can be customized to meet yourunique needs.

The following are typical requests supported by Moog’sapplication staff:➣ Custom motor windings➣ Custom shafts and flanges➣ Custom frameless designs➣ Custom connector configurations (including pigtails)➣ Custom feedback devices➣ Custom designs for unique environments including high

temperature, high shock levels, oil and water immersion,areas with explosive gases and areas with elevatedradiation levels.

Metal, CE Compliant Connectors

Optional Holding BrakeHigh ReliabilityResolver Feedback

Lightweight ExtrudedAluminum Housing

Proprietary Stator Design

Fully LaminatedLow Inertia Rotor

Sealed, Life-TimeLubricated, Bearings

Moog • G410 Series 3

Robust SmCo Magnets


G412 TECHNICAL DATA

PERFORMANCE SPECIFICATIONS FOR STANDARD MODELS

Metric [English] G412-2xx G412-4xx G412-6xx G412-8xx

Continuous stall torque Mo Nm [lb-in] 0.25 [2.2] 0.50 [4.4] 0.95 [8.4] 1.8 [15.9]

Continuous stall current lo Arms 0.65 1.2 2.2 2.9

Peak torque Mmax Nm [lb-in] 0.70 [6.2] 1.5 [13.3] 3.00 [26.6] 5.0 [44.3]

Peak current lmax Arms 1.9 3.7 6.4 8.3

Nominal speed nN rpm 8100 7400 6800 6200

Nominal power PN kW [hp] 0.15 [0.20] 0.33 [0.44] 0.53 [0.71] 0.82 [1.1]

Maximum speed nmax rpm 11500 10000 9000 7000

Torque constant kT Nm/Arms [lb-in/Arms] 0.37 [3.3] 0.42 [3.7] 0.46 [4.1] 0.60 [5.3]

Motor terminal resistance Rtt Ohm 50.9 20.7 9.9 6.3

Motor inductance Ltt mH 29.7 15.7 9.1 7.2

Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 0.09 [0.80] 0.13 [1.2] 0.22 [2.0] 0.41 [3.6]

Mass w/o brake m kg [lb] 1.0 [2.2] 1.2 [2.7] 1.5 [3.3] 2.3 [5.1]

Notes: Refer to page 17 for notes on performance specifications.

Torq

ue (N

m) Torque (lb/in)

0 2000 4000 6000 8000 10000

0 1 2 3 4 5 6 7 8 9 10

2.42.22.01.81.61.41.21.00.80.60.40.20.0

21.219.517.715.914.212.410.68.87.15.33.51.80

Speed (rpm)

Current (Arms)

1

2

3

0 2000 4000 6000 8000 10000 12000

1.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.0

Current (Arms)

Speed (rpm)

Torque (lb-in)Torq

ue (N

m)

8.85

7.96

7.08

6.19

5.31

4.42

3.54

2.65

1.77

0.88

0.0

0.0 0.5 1.0 1.5 2.0 2.5 3.0

3

2

1

Torq

ue (N

m) Torque (lb/in)

0 2000 4000 6000 8000

0 2 4 6 8 10 12 14 168

7

6

5

4

3

2

1

0

Speed (rpm)

Current (Arms)

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0

1

2

3

Torq

ue (N

m) Torque (lb/in)

0 2000 4000 6000 8000 10000

0 1 2 3 4 5 6 7 8 9 1044.2

39.8

35.4

31.0

26.5

22.1

17.7

13.3

8.8

4.4

0

Speed (rpm)

Current (Arms)

1

2

3

5.0

4.5

4.0

3.5

3.0

2.5

2.0

1.5

1.0

0.5

0.0

G412-6xx G412-8xx


G412-2xx G412-4xx

Optional Holding Brake metric [english] Option 1 Option 2

Holding torque Nm [lb-in] 0.90 [8.0] N/A

Extra weight kg [lb] 0.18 [0.40] N/A

Inertia kg cm2 [lb-insec2 x 10-4] 0.02 [0.18] N/A

Power requirement Watt [Watt] 11.0 [11.0] N/A

For a complete list of options and accessories, see pages 14-16.

1 Continuous torquewith convection cooling

2 Peak torque3 Motor Kt

G412

:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KW

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

15

4 2

3

6

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM

TECHNICAL DATA

Maximum Permissible Shaft LoadThe maximum permissible radial loaddepends on desired service length. Thebearing load curves illustrated support anoperational life of 20,000 hours (L10h)with axial loads up to 75 N. Consult Moogfor extended service life requirements oralternate load conditions.

Notes:1. Load capacity referenced to middle

of output shaft.2. Maximum axial load during installation:

150N.

Ø 63[2.480 DIA]

Ø5.5[.217 DIA]Ø74

[2.913 DIA]

45

KEYDIN 6885 PAGE 1 3 x 3 x 14

THREAD M2.5 x 8 DIN 13

SHAFT DIN 748 PART 3

A

A

NAMEPLATE

WITH BRAKE

20[.787]

14[.551]

3[.118]

9[.354]

17[.669]

47[1

.850

]

40[1.575]

W

X

97.6[3.843]

48.0[1.890]

15.0[.591]

TOLERANCE OF SHAFT EXTENSION-RUN-OUTAND OF MOUNTING FLANGE PERDIN 42955-R

A

Ø9+0.010–0.001

Ø40+0.011–0.005

[.098]

2.5

FLANGE IEC34, DIN 42948

[.35433+.00039–.00003 DIA]

+0.011–0.005[1.57480 DIA]

POWER RECEPTACLE MATES WITH MOOGP/N A63472-001 PLUG

55[2.165]

14.0[.551]

14.0[.551]

26.0 (2x)[1.024]

[.94488 +.00130+.00001 DIA]

33.1[1.303]

90 (4x)

Ø 24+.033–.0

SIGNAL RECEPTACLE MATES WITH MOOGP/N A63021-001 PLUG

Permissible Radial Force (lb)

Permissible Radial Force (N)

Mo

tor

Spee

d (

rpm

)

0.0 11 23 34 45 56 67 79 90 101 112 124 135

0 50 100 150 200 250 300 350 400 450 500 550 600

12000

11000

10000

9000

8000

7000

6000

5000

4000

3000

2000

1000

0

4x2-2xx

4x2-4xx

4x2-6xx

4x2-8xx

BEARING LOAD DIAGRAM

INSTALLATION DIAGRAM

Dimensions: mm [in]

MODEL NO. Dimension “A”

G412-2xx 109 [4.3]

G412-4xx 122 [4.8]

G412-6xx 147 [5.8]

G412-8xx 198 [7.8]


Torq

ue (N

m) Torque (lb/in)

0 1000 2000 3000 4000 5000 6000

0 5 10 15 20 25 30131211109876543210

Speed (rpm)

Current (Arms)

115.0106.297.388.579.670.861.953.144.235.426.517.78.80.0

1

2

3

Torq

ue (N

m) Torque (lb/in)

0 1000 2000 3000 4000 5000

0 5 10 15 20 25 30 35 40 45 50177

159

142

124

106

88

71

53

35

18

0

Speed (rpm)

Current (Arms)

20

18

16

14

12

10

8

6

4

2

0

1

2

3

Torq

ue (N

m) Torque (lb/in)

0 1000 2000 3000 4000 5000 6000 7000 8000

0 3 6 9 12 15 18 21 248

7

6

5

4

3

2

1

0

Speed (rpm)

Current (Arms)

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0

1

2

3

Torq

ue (N

m) Torque (lb/in)

0 2000 4000 6000 8000 10000

0 1 2 3 4 5 6 7 8 9 10 11

2.42.22.01.81.61.41.21.00.80.60.40.20.0

21.219.517.715.914.212.410.68.87.15.33.51.80.0

Speed (rpm)

Current (Arms)

1

2

3

G413 PERFORMANCE SPECIFICATIONS FOR STANDARD MODELS

TECHNICAL DATA


Continuous stall torque Mo Nm [lb-in] 0.60 [5.3] 1.7 [14.6] 2.7 [23.9] 4.0 [35.4]


Peak torque Mmax Nm [lb-in] 1.6 [14.2] 5.1 [45.1] 8.7 [77.0] 14.0 [124]








Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 0.16 [1.4] 0.39 [3.5] 0.62 [5.5] 0.97 [8.6]




G413-4xxG413-2xx

G413-8xxG413-6xx



Holding torque Nm [lb-in] 1.5 [13.3] 3.0 [26.6]

Extra weight kg [lb] 0.20 [0.44] 0.32 [0.70]

Inertia kg cm2 [lb-insec2 x 10-4] 0.07 [0.62] 0.18 [1.59]

Power requirement Watt [Watt] 11.0 [11.0] 10.0 [10.0]




G413

:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KW

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

15

4 2

3

6

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM

TECHNICAL DATA

4[.158]16

[.630]

NAME PLATE

WITH BRAKE

[.098]

23[.906]

9[.354]

40[1.575]

[2.36221 +.00047+.00028 DIA]

[.43307+.00047+.00005 DIA]

W

54.5

[2.1

46]

22[.866]

15.0[.591]

97.6[3.843]

57.0[2.244]

X TOLERANCE OF SHAFT EXTENSION-RUN-OUT AND OFMOUNTING FLANGE PERDIN 42955-R

A

A

2.5

A FLANGE IEC 34, DIN 42948

Ø

THREAD M2.5 x 8 DIN13

11+0,012+0,001

+0,012-0,007

KEYDIN 6885 PAGE 1 4 x 4 x 16


Ø60

4 x 90

Ø 75

[2.95

3 DIA

]

Ø 5.5[.217 DIA]

Ø 93[3.661 DIA]

45

14[.551]

33.1[1.303]

[.94488+.00130+.00001 DIA]

26.0 (2x)[1.024]

POWER RECEPTACLE MATESWITH MOOG P/N A63472-001 PLUG

SIGNAL RECEPTACLE MATESWITH MOOGP/N A63021-001 PLUG

Ø 24+0.033–0

70[2.756]

14[.551]

Maximum Permissible Shaft LoadThe maximum permissible radial loaddepends on desired service length. Thebearing load curves illustrated support anoperational life of 20,000 hours (L10h)with axial loads up to 75 N. Consult Moogfor extended service life requirements oralternate load conditions.



150 N.



Mo

tor

Spee

d (

rpm

)

0.0 11 23 34 45 67 79 90 101 112 124 135

0 50 100 150 200 250 300 350 400 450 500 550 600

12000

11000

10000

9000

8000

7000

6000

5000

4000

3000

2000

1000

0

4x3-2xx

4x3-4xx

4x3-6xx

4x3-8xx



Dimensions: mm [in]


G413-2xx 114 [4.5]

G413-4xx 140 [5.5]

G413-6xx 165 [6.5]

G413-8xx 203 [8.0]



Metric [English] G414-2xx G414-4xx G414-6xx G414-8xx G414-9xx

Continuous stall torque 1 Mo Nm [lb-in] 1.3 [11.5] 2.7 [24.0] 5.2 [46.0] 9.0 [79.7] 11.0 [97.4]

Continuous stall current 1 lo Arms 3.1 4.8 6.7 9.2 9.5

Peak torque 2 Mmax Nm [lb-in] 3.0 [26.5] 6.6 [58.4] 12.6 [112] 23.0 [204] 31.0 [274]

Peak current 2 lmax Arms 9.0 15.0 20.0 28.0 30.0

Nominal speed 4 nN rpm 5800 5500 4300 3500 3000

Nominal power 4 PN kW [hp] 0.58 [0.78] 0.95 [1.3] 1.8 [2.4] 2.3 [3.1] 2.4 [3.2]

Maximum speed 6 nmax rpm 10000 8000 5800 4700 3800

Torque constant kT Nm/Arms [lb-in/Arms] 0.42 [3.7] 0.56 [5.0] 0.8 [6.9] 0.99 [8.8] 1.2 [10.3]

Motor terminal resistance 7 Rtt Ohm 5.1 2.7 1.5 0.90 0.96

Motor inductance 7 Ltt mH 8.5 5.8 4.6 3.5 4.0

Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 1.05 [9.3] 1.5 [13.7] 2.6 [23.0] 4.7 [41.6] 6.8 [60.2]

Mass w/o brake m kg [lb] 3.0 [6.6] 3.6 [7.9] 4.7 [10.4] 6.9 [15.2] 9.1 [20.1]

Notes: 1–7 refer to page 17.

TECHNICAL DATA

Torq

ue (N

m) Torque (lb/in)

0 1000 2000 3000 4000 5000 6000 7000 8000

0 5 10 15 20 25 30 35 4010

9

8

7

6

5

4

3

2

1

0

88.5

79.6

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0.0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb/in)

0 2000 4000 6000 8000 10000

0 1 2 3 4 5 6 7 8 9 105.0

4.5

4.0

3.5

3.0

2.5

2.0

1.5

1.0

0.5

0.0

44.2

39.8

35.4

31.0

26.5

22.1

17.7

13.3

8.8

4.4

0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb/in)

0 10 20 30 40 50 60 70 80 90 10040

35

30

25

20

15

10

5

0

333

292

250

208

167

125

83

42

0

Speed (rpm)

Current (Arms)

0 1000 2000 3000 4000 5000

1

3

2

1a

Torq

ue (N

m) Torque (lb/in)

0 1000 2000 3000 4000 5000 6000

0 5 10 15 20 25 30 35 40 45 50 55 6020

18

16

14

12

10

8

6

4

2

0

177

159

142

124

106

88

71

53

35

18

0

Speed (rpm)

Current (Arms)

1

2

3

G414-2xx G414-6xx


Torq

ue (N

m) Torque (lb/in)

0 500 1000 1500 2000 2500 3000 3500 4000

0 10 20 30 40 50 60 70 80605550454035302520151050

53148744239835431026522117713388440

Speed (rpm)

Current (Arms)

1a

1

3

2

G414-9xxG414-8xx


G414-4xx


Holding torque Nm [lb-in] 6.0 [53.0] 15.0 [133]






1a Continuous torque withoptional fan cooling(select models)


Ø 9.0[.354 DIA]

[4.528 DIA]

66.3

[2.6

10]

33.1

[1.3

03]

[.378 RAD]

100.

5[3

.957

]

19.0[.748]

45

4x90

[1.37795 DIA]+.00154+.00001

Ø 115.0

19.0[.748]

26.0 (2x)[1.024]

POWER RECEPTACLE MATESWITH MOOGP/N A63472-001 PLUG


R 9.6

Ø 35.0+.039– 0

WITH BRAKE

A

A

40.0[1.575]

9.8[.386]

32.0[1.260]

4.0[.157]

[.748

03+.

0005

9+.

0000

9D

IA]

[3.7

4016

+.00

051

-.000

35D

IA]

Ø95

.0+0

.013

-0.0

09

NAMEPLATE

21.1[O.831]


BRAKE LABEL

3.0[.118]

59.0[3.23]

97.6[3.843]

W

15.0[.591]

A

X

FLANGE IEC 34, DIN 42948

KEYDIN 6885 PAGE1 6x6x32

THREAD M4x16 DIN 13


Ø19

.0+0

.015

+0.0

02


G414

:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KW

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

V

U

12

W+-

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM

TECHNICAL DATA

Maximum Permissible Shaft LoadThe maximum permissible radial loaddepends on desired service length. Thebearing load curves illustrated support anoperational life of 20,000 hours (L10h)with axial loads up to 150 N. ConsultMoog for extended service life require-ments or alternate load conditions.



300 N.



Mo

tor

Spee

d (

rpm

)

0.0 23 45 68 90 112 135 157 180 202 225 247

0 100 200 300 400 500 600 700 800 900 10001100

11000

10000

9000

8000

7000

6000

5000

4000

3000

2000

1000

0

4x4-4xx

4x4-6xx

4x4-8xx

4x4-9xx

4x4-2xx


Dimensions: mm [in]


G414-2xx 133 [5.2]

G414-4xx 146 [5.8]

G414-6xx 171 [6.7]

G414-8xx 222 [8.8]

G414-9xx 273 [10.8]





Continuous stall torque Mo Nm [lb-in] 5.8 [51.3] 12.0 [106] 16.6 [147] 26.0 [230]


Peak torque Mmax Nm [lb-in] 12.2 [108] 26.0 [230] 36.0 [319] 60.0 [531]








Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 4.6 [40.7] 8.0 [70.8] 11.5 [102] 18.4 [163]



TECHNICAL DATA

Torq

ue (N

m) Torque (lb/in)

0 1000 2000 3000 4000

0 10 20 30 40 50 60 70 80 9035

30

25

20

15

10

5

0

310

265

221

177

133

88

44

0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb/in)

0 1000 2000 3000 4000 5000 6000 7000

0 10 20 30 40 50 60 7020

18

16

14

12

10

8

6

4

2

0

177

159

142

124

106

88

71

53

35

18

0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb/in)

0 400 800 1200 1600 2000 2400

0 10 20 30 40 50 60 70 80 90 100110120100

90

80

70

60

50

40

30

20

10

0

885

796

708

619

531

442

354

265

177

88

0

Speed (rpm)

Current (Arms)

1

2

3

1a

Torq

ue (N

m) Torque (lb/in)

0 500 1000 1500 2000 2500 3000 3500 4000

0 10 20 30 40 50 60 70 80605550454035302520151050

53148744239835431026522117713388440

Speed (rpm)

Current (Arms)

3

2

1

G415-2xx G415-4xx

G415-6xx G415-8xx



Holding torque Nm [lb-in] 25.0 [221] 50.0 [443]


Inertia kg cm2 [lb-insec2 x 10-4] 3.6 [31.9] 15.1 [134]






G415

:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KW

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

WV

U

1

2

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM

TECHNICAL DATA

Ø 11[.433 DIA]

R 11.9[.906 RAD]

45

4x90

33.5[1.319]

17.3[.681]

98.8

[3.8

90]

140.

5[5

.531

]

[1.85039 DIA]+.00154+.00001

46.2

[1.8

19]

Ø 165[6.496 DIA]

71.8

[2.8

27]

26.0[1.024]

62.0[2.441]

POWER RECEPTACLE MATESWITH MOOG P/N B47736-001PLUG

SIGNAL RECEPTACLE MATESWITH MOOG P/N A63021-001PLUG

Ø 47+.039–0

25[.984]

TOLERANCE OF SHAFT EXTENSION-RUN-OUT

AND OF MOUNTING FLANGE PER

DIN 42955-R

A

NAMEPLATE

50[1.969]

12.2[.480]

3.5[.138]

59.6[2.346]

150[5.906]

BRAKE LABEL

WITH BRAKE

14.4[.567]

40[1.575]

A

W

5.0[.197]

[5.1

1811

+.00

055

-.000

42D

IA]

[.944

88+.

0005

9+.

0000

9D

IA] Ø13

0+0

.014

-0.0

11

A Ø 2

4+0

.015

+0.0

02

DIN 6885 PAGE 1 8x7x40

KEY

X


THREAD M4x16 DIN 13

SHAFT DIN748 PART 3




400 N.



Mo

tor

Spee

d (

rpm

)

0.0 27.5 55.0 82.4 109.9 137.4 164.9 192.3 219.8

0 200 400 600 800 1000 1200 1400 1600 1800

7000

6000

5000

4000

3000

2000

1000

0

4x5-2xx

4x5-4xx

4x5-6xx

4x5-8xx



Dimensions: mm [in]


G415-2xx 170 [6.7]

G415-4xx 195 [7.7]

G415-6xx 220 [8.7]

G415-8xx 271 [10.7]



Metric [English] G416-2xx G416-4xx G416-6xx G416-8xx G416-9xx

Continuous stall torque Mo Nm [lb-in] 14.0 [124] 27.0 [239] 40.0 [354] 51.0 [451] 70.0 [620]

Continuous stall current lo Arms 22.0 30.0 38.0 43.0 45.0

Peak torque Mmax Nm [lb-in] 40.0 [354] 73.0 [646] 110 [974] 150 [1328] 200 [1770]

Peak current lmax Arms 72.0 95.0 117 134 141

Nominal speed nN rpm 4000 3000 2500 2200 2200

Nominal power PN kW [hp] 3.8 [5.1] 4.9 [6.5] 6.7 [9.0] 7.8 [10.5] 11.3 [15.2]

Maximum speed nmax rpm 6300 4700 3900 3300 3000

Torque constant kT Nm/Arms [lb-in/Arms] 0.64 [5.7] 0.90 [8.0] 1.1 [9.3] 1.2 [10.5] 1.6 [13.8]

Motor terminal resistance Rtt Ohm 0.23 0.14 0.11 0.10 0.11

Motor inductance Ltt mH 1.9 1.5 1.5 1.5 1.7

Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 27.2 [241] 52.1 [461] 77.0 [682] 102 [903] 152 [1345]

Mass w/o brake m kg [lb] 15.1 [33.3] 21.1 [46.5] 27.1 [59.7] 33.1 [73.0] 40.0 [88.2]


TECHNICAL DATA

0 1000 2000 3000 4000 5000

0 50 100 150 200 250

Speed (rpm)

885

796

708

619

531

442

354

265

177

88

0

100

90

80

70

60

50

40

30

20

10

0

Current (Arms)

Torque (lb/in)Torq

ue (N

m)

3

2

1

0 1000 2000 3000 4000 5000 6000 7000Speed (rpm)

Current (Arms)0 20 40 60 80 100 120 140

50

45

40

35

30

25

20

15

10

5

0

50

45

40

35

30

25

20

15

10

5

0

Torque (lb/in)Torq

ue (N

m)

3

2

1

0 500 1000 1500 2000 2500 3000 3500Speed (rpm)

Current (Arms)

1770

1593

1416

1239

1062

885

708

531

354

177

0

200

180

160

140

120

100

80

60

40

20

0

Torque (lb/in)Torq

ue (N

m)

0 50 100 150 200 250 300 350

2

3

1

1a

0 500 1000 1500 2000 2500 3000 3500 4000

1416

1239

1062

885

708

531

354

177

0

160

140

120

100

80

60

40

20

0

0 50 100 150 200 250 300 350 400Current (Arms)

Speed (rpm)

Torq

ue (N

m) Torque (lb/in)

3

2

1

G416-8xx


0 500 1000 1500 2000 2500 3000 3500Speed (rpm)

0 50 100 150 200 250 300 350Current (Arms)

Torq

ue (N

m) Torque (lb/in)

300280260240220100180160140120100806040200

26552478230121241947177015931416123910628857085313541770

3

2

1a

1

G416-6xxG416-2xx G416-4xx

G416-9xx



Holding torque Nm [lb-in] 15.0 [133] 25.0 [221]








G416

:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KW

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

15

4 2

3

6

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM


TECHNICAL DATA

Ø 13.5[.531 DIA]

A

A


WITH BRAKE

BRAKE LABEL

60.0[2.362]

40.0[1.575]

10.0[.394]

[1.2

5984

+.00

071

+.00

009

DIA

]

[7.0

8661

+.00

05-.0

0042

DIA

]

Ø 1

80.0

+0.0

14-0

.011

37.0[1.457]

81.5[3.209]

163.5[6.437]

17.0[.669]

W

Ø 3

2.0

+.01

8+.

002

A

45

4x90

26.0[1.024]

[.748 RAD]

47.4

[1.8

66]

128.

0[5

.039

]

Ø 215.0[8.465 DIA]

25.0[.984]

33.0[1.299]

[1.96850 DIA]+.00154+.00001

190.

5[7

.500

]

62.0[2.441]

R 19.0

Ø 50.0+.039–0

POWER RECEPTACLE MATESWITH MOOGP/N B47711-001 PLUG


NAMEPLATE

11.0[.433]

4.0[.157]

X


THREAD M4x16 DIN 13


KEYDIN 6885 PAGE 1 10x8x40




500 N.



Mo

tor

Spee

d (

rpm

)

0.0 45.0 90 135 180 225 270 315 360 405 450 495

0 400 800 1200 1600 2000

7000

6000

5000

4000

3000

2000

1000

0

4x6-2xx

4x6-4xx

4x6-6xx4x6-8xx

4x6-9xx


Dimensions: mm [in]


G416-2xx 187 [7.3]

G416-4xx 225 [8.9]

G416-6xx 263 [10.3]

G416-8xx 301 [11.9]

G416-9xx 377 [14.8]



G410

Integral Holding BrakeHolding brakes are available for all standard G410 motors. Thebrake is a permanent magnet style that is designed to hold theaxis in position even with power removed. This is especiallyuseful in applications where the motor is on an axis controllinga weight-induced load (e.g., vertical axis on a gantry robot).Note, the brake is a holding brake and is not designed to stopdynamic loads. The servo drive is required to decelerate theaxis and hold position before the brake is engaged.

The integral holding brake requires a regulated 24 VDC sup-ply (see Motor Accessories) for proper operation. Brake powerconnections are through the standard motor power connector.Refer to motor technical data for brake current requirements.

Encoder AdapterEncoder adapters are available as an option to all standardG410 motors. The encoder adapter incorporates the industrystandard syncro flange mechanical interface providing com-patibility with incremental and absolute encoders from a vari-ety of suppliers (Heidenhain, Stegmann, Hengstler, …etc.). Theunique mechanical design allows standard encoders to be usedwithout thermally derating motor performance.

Brake Holding Torque Option 1 Option 2

G4x2 Series 0.9 [8.0] N/A

G4x3 Series 1.5 [13.0] 3.0 [26.0]

G4x4 Series 6.0 [53.0] 15.0 [133]

G4x5 Series 15.0 [133] 25.0 [221]

G4x6 Series 25.0 [221] 50.0 [443]

Parameters in Nm [lb-in]

Moog’s G410 motors are available with a variety of standardand custom options to address the unique requirements ofyour application. Moog’s motor design and application teamsare continually introducing new options to address the chang-ing needs of the market place. As a result, if you need some-thing that’s not presently listed, don’t hesitate to contact yourlocal sales office – chances are we already have it.

OPTIONS

STANDARD OPTIONS

Fan CoolingTo supply high dynamics in high duty cycle applications, Moogoffers optional fan cooling on select G410 motor models. Fancooling delivers up to 50% greater continuous torque outputwithout increasing motor inertia.

Fans are powered by an unregulated 24 VDC supply (seeMotor Accessories) with dedicated power connector. Currentrequirements are 1 ADC per motor.

Fan cooling is available as a standard option on thefollowing motors:

➣ G4x4-8xx➣ G4x4-9xx➣ G4x5-8xx➣ G4x6-8xx➣ G4x6-9xx

Shaft OptionsStandard G410 motors are available with plain or slot and keymetric shafts per NEMA MG7. For custom motor shafts such asspline or english dimension shafts see Custom Options.

Shaft Seal In applications where the shaft/flange mating surface isimmersed in fluids, an IP68 shaft seal is required to maintainmotor integrity. Moog offers PTFE (teflon) type shaft sealswhich have excellent operating characteristics (resistant toshrinkage and thermal stress).

G410

CUSTOM OPTIONS

Motor WindingsMoog’s standard G410 motors are designed to address the needsof most dynamic motion control applications. However, Moogrecognizes that OEMs have unique needs which can not alwaysbe addressed by catalog products. This is why Moog offers cus-tom motor windings. Custom motor windings may be used tooptimize motor performance in applications with non-standardbus voltages or deliver customized performance characteristicsfor applications with unique speed or current requirements.

Frameless OptionsIn addition to offering our compact G410 motors in a framelesspackage, Moog’s motor design and application teams are ableto develop specialty motors meeting your unique specifica-tions. Moog’s high power density design allows our motor tobe packaged in envelopes where other motors simply won’t fit.In addition, Moog’s design expertise includes motors adaptedfor operation in extreme environments:

➣ Elevated Temperatures ➣ High Shock Loads➣ Explosive/Flammable Gases ➣ Radiation Zones➣ Underwater Application

Our G410 frameless motor offering is based on the followingstandard stator dimensions:

Custom Shafts and FlangesTo support legacy products or meet unique application needs,moog’s modular G410 motor design is capable of supporting cus-tom shafts (length, diameter or spline fittings) and custom flanges.

Custom ConnectorsMoog’s standard G410 motors are equipped with quick con-nect right angle connectors. In applications where straight con-nectors or flying leads are required, Moog can adapt thedesign to best meet your needs.

Custom Feedback OptionsIn addition to encoder adapter kits (see Standard Options),Moog can support requests for special feedback devices.Options presently offered include integral encoders (incremen-tal or absolute), tachometers and hall sensors.

Custom CoatingsMoog’s standard G410 motors are rated for spraydown environ-ments. Moog is capable of coating the motors with FDA requiredcoatings for applications in the food processing industry.

OPTIONS

Model Stator Outer Diameter (nominal) mm [in]G412 48.0 [1.9]G413 63.5 [2.5]G414 91.9 [3.6]G415 130 [5.1]G416 178 [7.0]



G410 To speed your design cycle, Moog offers a variety of accessorieswhich have been specified and tested for compatibility withour motors and drives. These accessories will also minimizeassembly activities, allowing you to reduce production time.

PREASSEMBLED MOTOR CABLES POWER SUPPLIES

To reduce wiring time, Moog offers preassembled motor cableswhich have been sized and tested for compatibility withMoog’s servo motors and drives. Cables are specially selectedfor high duty cycle moving cable track applications.

➣ Power CablesThese cables provide motor power and brake connections.A variety of standard as well as custom lengths are avail-able. Contact your local sales office regarding cablelengths and any special regulatory requirements.

➣ Signal (Resolver) CablesThese cables provide connections for the resolver andinternal thermal sensor. Cables are shielded and selectedfor high noise immunity. A variety of standard as well ascustom lengths are available. Contact your local salesoffice regarding cable lengths and any special regulatoryrequirements.

CRIMP TOOLSTo support in-field cable repairs, Moog sells motor connectorcrimp tools and kits. Complete kits are available to replacemotor power, brake power and resolver/thermistor signal pinson all our standard G410 motors.

Moog offers UL, cUL and CE marked 24 VDC power supplies forthe integral holding brakes and optional cooling fans on stan-dard G410 motors. These power supplies are compact and sup-port panel or DIN rail mounting. Screw terminal type connectionssimplify wiring. Power supply options include 230 or 110 VACinput voltage and a variety of output power ratings.

➣ Regulated 24 VDC Power SuppliesThese power supplies have been tested for compatibilitywith the integral holding brakes on standard G410 motors.Power supplies should be selected based on total brakecontinuous power requirements as noted in the motortechnical specification section. These regulated supplieswill also support applications where brake motors and fanmotors are intermixed.

➣ Unregulated 24 VDC Fan Power SuppliesThese power supplies have been tested for compatibilitywith the optional cooling fans available on standard G410motors. Power supplies should be selected based on totalcontinuous power requirements as noted in motor techni-cal specification section.Caution! Unregulated power supplies can not be used formotor brake applications, as proper operation can notbe guaranteed.

ACCESSORIES

G410


1. Motors designed to EN 60034 (VDE 0530).2. Runout class R per DIN 42955-R.3. Rotors balanced to Class G 6.3 per ISO 1940.4. Sealing to IP68 (excluding shaft) with Moog specified

mating connectors.5. Operating temperature -40 to 55°C

(up to 130°C with derated output).6. Class H winding insulation.7. Motor flange dimensions per IEC 34, NEMA MG7,

DIN 42948, ISO 286.8. Motor shaft dimensions per DIN 748.9. Motor shaft keyway per DIN 6885.10. Resolver electrical specifications as follows:

a. Resolver Type: Transmitterb. Pole Count: 2c. Input Voltage: 4 Vrmsd. Carrier frequency: 3.4 to 8 kHze. Input Current: 35 mA max.f. Transformer Ratio: 0.5

11. The following metric conversions were used:a. 1 Nm = 8.85 lb-inb. 1 N = 0.225 lbc. 1 kW = 1.34 hpd. 1 kg-cm2 = 8.85 lb-in-sec2 x 10-4

1. Continuous ratings based upon:a. Operation in still air with ambient temperatures up to 55°C.b. Winding temperature at 100°C over ambient.c. Motor front flange attached to a steel mounting plate

measuring 300 x 300 x 12 mm.2. Peak ratings based on:

a. Duty cycle of 10% (1 out of 10 seconds).b. Iron saturation of 15% or less.

3. Kt-line show non-linearity between current and torque athigh end.

4. Nominal speed and power values at maximum continuousoutput power with conditions per note 1.

5. Maximum speed based on back EMF of 360 VDC.6. Resistance and inductance measurement based on

“cold” values (i.e., measured at 25°C).7. Current ratings are Arms per phase.8. Motor performance as measured with Moog’s T200

servo drive. Performance with other drives may vary.9. Specification tolerances are ±10%.

GENERAL INFORMATION & NOTES

GENERAL INFORMATION NOTES


G410 In addition to high performance servo motors, Moog alsooffers a broad range of servo drives. Moog’s drive productsrepresent two decades of evolution and refinement with 3separate product families to best match your price and perfor-mance goals.

To boost system reliability, Moog uses a conservative ther-mal management approach in all drive designs. The combina-tion of forced air cooling and multi-tiered fault protection system

provides fully rated performance in temperatures up to 55°C(50°C for the L180 Series).

Each drive is supported with an easy to use Windows®

based graphical user interface to speed setup and commis-sioning. This includes a virtual oscilloscope, data logger, motordatabase and system status displays.

COMPATIBLE DRIVE OPTIONS

T200 Programmable Servo DriveThe T200 Series servo drive is Moog’s full featured drive offer-ing with standalone motion control and on-board fieldbus sup-port. An optional integral power supply makes this drive wellsuited for single or multi-axis applications. Drives are sized tooperate Moog’s full range of standard servo motors.➣ High bandwidth control loops and advanced signal pro-

cessing algorithms deliver superior servo control.➣ Highly integrated design eliminates many accessories to

reduce wiring runs and free up valuable cabinet real estate.➣ Integral motion control support eliminates the cost of

separate motion control hardware in many applications.

L180 Series Servo DriveThe L180 Series servo drive is Moog’s value priced drive offer-ing with a streamlined set of features targeted at making highperformance servo control available for general-purpose appli-cations. Each drive comes standard with an integral power sup-ply and high power regen. Drives are sized to operate motorsup to 4.5 kW (G415-800).➣ Digital control loop design supports high dynamic and

smooth low speed control.➣ Compact, low profile, package compatible with reduced

clearance electronic panels.

T161 Digital Servo DriveThe T161 Series servo drive is Moog’s value priced offering forhigher axis count applications. The rack-mounted design isavailable for 2 to 6 axes of servo control (multiple racks can beused for higher axis count applications). Drives are sized tooperate motors up to 3.5 kW (G415-600).➣ Rack mounted design with backplane and plugable system

connectors greatly reduces assembly time.➣ Optional CAN fieldbus interface supports up to 32 axes of

distributed control, including drive parameterization andadvanced system control and diagnostics.

ORDERING INFORMATION

G410


ORDER INFORMATION

ORDERING INFORMATION

G 41

Frame Size

Code Description

2 55 mm Flange

3 70 mm Flange

4 100 mm Flange

5 140 mm Flange

6 190 mm Flange

Shaft Configuration

Code Shaft End Shaft Seal

4 Keyway No

5 Keyway Yes

6 Plain No

7 Plain Yes

X Custom No

Y Custom Yes

Brake Option

G412 G413 G414 G415 G416

0 No brake No brake No brake No brake No brake

1 0.9 Nm 1.5 Nm 6 Nm 15 Nm 25 Nm

2 — 3 Nm 15 Nm 25 Nm 50 Nm

Sequential Specials

Stack Length

Code G412 G413 G414 G415 G416

2 L05 L05 L05 L10 L15

4 L10 L15 L10 L20 L30

6 L20 L25 L20 L30 L45

8 L40 L40 L40 L50 L60

9 – – L60 – L90

Cooling Option

Code Description

0 Convection

1 Fan Cooled*

* Select Models

Winding Configuration

Code Description

A Standard

X Custom

Feedback Option

Code Primary Device Secondary Device

0 Resolver – 2 Pole –

A Resolver – 2 Pole Adapter Kit Only

B Resolver – 2 Pole Abs Encoder–2048

PPR w/Hall Tracks

X Custom Custom

Connector Style

Code Description

0 CE Right Angle – Rear Facing

1 CE Right Angle – Forward Facing

4* CE Right Straight – Rear Oriented

5* CE Right Straight – Forward Oriented

X Custom Connectors

* Reflects the direction of mating cables with standard right angle mating connectors.

• • • • • • • • • • •

Revision Index

Moog Industrial Controls Division East Aurora, NY 14052-0018Telephone: 716/655-3000Fax: 716/655-1803 Toll Free: 1-800-272-MOOGwww.moog.com

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