Electro Craft
Electro Craft


N-3412-2

(N-Series) Motors Brushless Servo Motors


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N-Series Motors
Brushless Servo Motors
N-2302-1, N-2304-1,
N-3406-2, N-3412-2,
N-4214-2, N-4220-2,
N-5630-2, N-5637-2,
N-5647-2
Electro-Craft Motion Control
6950 Washington Avenue South
Eden Prairie, MN 55344
612-942-3600
THE RIGHT COMPANY. THE RIGHT SOLUTION.
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IntroProduct Notice
Use of Motors
Servo motors are intended to drive machinery. As such, they must be part of a controlled system that
includes a transistorized electronic amplifier. They are not intended for direct connection to the power
supply or for use with thyristor drives. Instructions in the amplifier and control system manuals must
be observed; this document does not replace those instructions.
Unless specified otherwise, servo motors are intended for use in a normal industrial environment
without exposure to excessive or corrosive moisture or abnormal ambient temperatures. The exact
operating conditions may be established by referring to the data for the motor. The mating of motors
to machinery is a skilled operation; disassembly or repair must not be attempted. In the event that a
motor fails to operate correctly, contact the place of purchase for return instructions.
Safety Notes
There are some possible hazards associated with the use of motors. The following precautions should
be observed. Specific Warnings and Cautions are listed inside the back cover.
Installation and Maintenance: Installation and maintenance or replacement must be carried out by
suitably qualified service personnel, paying particular attention to possible electrical and mechanical
hazards.
Weight: Large motors are generally heavy, and the center of gravity may be offset. When handling,
take appropriate precautions and use suitable lifting equipment. Beware of sharp edges; use protec-
tive gloves when handling such assemblies.
Flying leads: Ensure that flying or loose leads are suitably restrained, to prevent snagging or entan-
glement, before carrying motors with such leads.
Generation: If the motor is driven mechanically, it may generate hazardous voltages at its power
input terminals. The power connector must be suitably guarded to prevent a possible shock hazard.
Loose motors: When running an unmounted motor, ensure that the rotating shaft is adequately
guarded and the motor is physically restrained to prevent it from moving. Remove the key which
otherwise could fly out when the motor is running.
Damaged cables: Damage to cables or connectors may cause an electrical hazard. Ensure there is no
damage before energizing the system.
Supply: Servo motors must not be directly connected to a power supply; they require an electronic
drive system. Consult the instructions for the drive system before energizing or using the motor.
Brakes: The brakes that are included on motors are holding brakes only and are not to be used as a
mechanical restraining device for safety purposes.
Safety requirements: The safe incorporation of this product into a machine system is the responsi-
bility of the machine designer, who should comply with the local safety requirements at the place
where the machine is to be used. In Europe this is likely to be the Machinery Directive.
Mechanical connection: Motors must be connected to the machine with a torsionally rigid coupler
or a reinforced timing belt. Couplers which are not rigid will cause difficulty in achieving an accept-
able response from the control system. Couplings and pulleys must be tight as the high dynamic
performance of a servo motor can easily cause couplings to slip, and thereby damage the shaft and
cause instability. Care must be taken in aligning couplings and tightening belts so that the motor is
not subjected to significant bearing loads, or premature bearing wear will occur. Once connected to
a load, tuning will be affected. A system tuned without a load will probably require retuning once a
load is applied.
Connectors: Motor power connectors are for assembly purposes only. They should not be connected
or disconnected while power is applied.
© 1999 Rockwell International Corporation. All rights reserved.
Electro-Craft is a trademark of Rockwell Automation.
Printed in the United States of America.
Information contained in this manual is subject to change without notice.
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Motor Data
MOTOR
Rotor Moment of Inertia
kg-m2
lb-in-s2
Rotor Moment of Inertia
Motors W/Brake
kg-m2
lb-in-s2
Motor Weight:
Net
kg/lb
Est. Shipping kg/lb
Brake Motor Weight: Net
kg/lb
Est. Shipping kg/lb
Damping
Nm/krpm
oz-in/krpm
Friction Torque
Nm
oz-in
Max. Operating Speed
rpm
Shaft Material
Poles
Sine Wave KT
Torque Constant (2)
Square Wave KT
Torque Constant (3)
KE Voltage Constant (4)
Winding Resistance
Phase to Phase at 25oC
Winding Inductance
Phase to Phase
Thermal Resistance
Dielectric Rating
Nm/A
in-lb/A
Nm/A
lb-in/A
V/krpm
Ohms
mH
oC/Watt
N-2302-1
0.000009
0.00008
0.000018
0.00016
1.0/2.2
1.3/2.9
1.3/2.9
1.5/3.3
0.023
0.2
0.12
1.0
6000
4
0.09
0.8
0.09
0.88
11
3.92
N-2304-1 N-3406-2 N-3412-2
MECHANICAL DATA (1)
0.00002
0.00008 0.00015
0.00016
0.0007
0.0013
0.000032 0.000122 0.000202
0.00028
0.00108 0.00179
1.5/3.3
2.6/5.7
3.5/7.7
1.8/4.0
3.0/6.6
4.0/8.8
2.0/4.4
3.4/7.5
4.3/9.5
2.2/4.9
3.9/8.6
4.8/10.6
0.034
0.13
0.19
0.3 1.1 1.7
0.23
0.26
0.34
2.0 2.3 3.0
6000
6000
6000
416 Stainless Steel
WINDING DATA (1)
4 44
0.22
0.17
0.33
2.0 1.5 3.0
0.24
2.2
0.18
1.6
0.37
3.3
27 21 41
5.89
2.24
2.68
N-4214-2
0.00024
0.0021
0.000210
0.00186
4.7/10.4
5.2/11.5
5.1/11.2
5.5/12.1
0.20
1.8
0.45
4.0
6000
4
0.40
3.6
0.45
4.0
49
2.79
N-4220-2
0.00035
0.0031
0.000320
0.00283
5.9/13.0
6.7/14.8
6.9/15.2
7.7/17.0
0.19
1.7
0.73
6.5
5000
4
0.28
2.5
0.3
2.7
34
0.77
4.2 8.8 6.1 8.6 11.0 2.9
3.0 2.2 1.6 1.2 1.1 0.83
Power Leads (R, S, T) to Ground: 1800 VACrms 50/60 Hz for 1 minute.
MOTOR
N-5630-2 N-5637-2 N-5647-2
MECHANICAL DATA (1)
Rotor Moment of Inertia
kg-m2
0.0009
0.0012
0.0015
lb-in-s2
0.008
0.01
0.013
Rotor Moment of Inertia
Motors W/Brake
kg-m2
lb-in-s2
0.000651
0.00576
0.000778
0.00689
0.000893
0.00791
Motor Weight:
Net
kg/lb
9.1/20.1
11/24.3
13/28.7
Est. Shipping kg/lb
9.6/21.2
11.7/25.8 13.8/30.4
Brake Motor Weight: Net
kg/lb
10.9/24.0
13.2/29.1 15.9/35.1
Est. Shipping kg/lb
11.4/25.1
13.8/30.4 13.9/37.3
Damping
Nm/krpm
0.35
0.32
0.45
oz-in/krpm
3.1
2.8 4.0
Friction Torque
Nm 1.3
1.6 1.7
oz-in
11
14 15
Max. Operating Speed
rpm 4000
4000
3000
Shaft Material
416 Stainless Steel
WINDING DATA (1)
Poles
4 44
Sine Wave KT +10%
Torque Constant (2)
Nm/A
lb-in/A
0.38
3.4
0.49
4.4
0.63
5.6
Square Wave KT
Torque Constant (3)
Nm/A
lb-in/A
0.41
3.7
0.54
4.8
0.70
6.2
KE Voltage Constant (4)
V/krpm
47
60 77
Winding Resistance
Ohms
0.89
1.0 1.23
Phase to Phase at 25oC
±10%
Winding Inductance
mH 4.3
5.2 7.0
Phase to Phase
Thermal Resistance
oC/Watt
0.81
0.76
0.70
Dielectric Rating
Power Leads (R, S, T) to Ground: 1800 VACrms 50/60 Hz for 1 minute.
(1) Specifications are at 25oC unless otherwise noted.
(3) Peak value of per phase square wave Amperes
(2) Peak value of per phase sine wave Amperes
(4) Peak value of sinusoidal phase to phase Volts
STORAGE AND OPERATING CONDITIONS
Ambient Temperature: Operating
0 to 40°C (32 - 104°F)
Relative Humidity:
Storage
0 to 50°C (32 - 122°F)
5% to 95%
non-condensing
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Dimensional Data
Intro
L
N-2300
U
BF DIA HOLES
AJ DIA CIRCLE
SHAFT END PLAY UNDER LOAD
Maximum end play (All Motors)
Direction
mm/in
Load
(Kg/Lb)
---> A
0.127/
0.005
3.8/10
<--- B
0.025/
0.001
Note: End play and load are measured in inches and
pounds. Metric measurements are approxi-
mate conversions from inches and pounds.
AB
AB
brake option
connector
BE
power
connector
BB
AH
AK
P
L
BE
N-3400
N-4200
N-5600
brake option
connector
AH
BB
S
U
BF DIA HOLES
AJ DIA CIRCLE
P
AK


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Motor Dimensions
MOTOR DIMENSIONS
Motor AB AH AJ AK BB BE BF L L Brake
Model mm/in mm/in mm/in mm/in mm/in mm/in mm/in mm/in mm/in
N-2302 70/2.75 21/0.81 (1) 67/2.63 38/1.50 (2) 2/.09 7/0.28 5/0.21 118/4.63 161/6.32
N-2304
156/6.13 199/7.82
N-3406 63/2.48 30/1.19 (1) 98/3.88 73/2.88 (4) 3/.12 8/0.32 6/0.22 144/5.67 193/7.59
N-3412
169/6.67 218/8.59
N-4214 62/2.45 35/1.38 (1) 126/4.95 56/2.19 (7)
10/0.39 7/0.28 174/6.85 219/8.63
N-4220
199/7.85 245/9.63
N-5630 75/2.96 50/1.97 (1) 149/5.88 114/4.50 (8)
N-5637
12/0.47 0.375 in 199/7.83 256/10.06
UNC 224/8.83 281/11.06
N-5647
250/9.83 306/12.06
NOTE: Motors are manufactured to inch dimensions. Millimeter dimensions are approximate conversions from inches.
S
mm/in
NA
3.2 X 3.2 /0.125 X 0.125 (5)
4.8 X 4.8 /0.1875 X 0.1875 (5)
U
mm/in
6/.25 (3)
13/.5 (3)
16/.63 (3)
19/.75 (3)
XD
mm/in
NA
19/0.75 (6)
24/0.94 (6)
38/1.50 (6)
TOLERANCES
mm inches
1 -0.03 -0.00012
2 -0.01 -0.0004
3 ±0.5 ±0.0196
4 ±0.2 ±0.0079
5 -0.035 -0.0014
6 -0.013 -0.0051
7 -0.016
-0.006
8 -0.046 -0.0181
Connector
Brake (mm/in)
Power (mm/in)
Encoder (mm/in)
N-2302
105/4.13
62/2.43
145/5.71
N-2304
143/5.63
100/3.93
183/7.22
SUPPLEMENTAL MOTOR DIMENSIONS
Length, from motor faceplate to center of connectors
N-3406
N-3412
N-4214
N-4220
118/4.66
144/5.66
145/5.7
170/67
173/6.81
198/7.81
198/7.79
223/8.79
173/6.81
198/7.81
198/7.79
223/8.79
N-5630
176/6.94
235/9.25
235/9.25
N-5637
202/7.94
260/10.25
260/10.25
N-5647
227/8.94
286/11.25
286/11.25


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Connector Data
NEMA 23-Series
Encoder
Pin Signal
A A+
B A-
C B+
D B-
E I+
F I-
G GROUND
H Open
J 5 VDC
K 5 VDC
L COMMON
M COMMON
N Open
P Open
R THERMOSTAT+
S THERMOSTAT-
T HALL A
U HALL B
V HALL C
ITT Cannon Connectors
Power Connector P/Ns
N-2300
KPSE02E14-5P-A71
N-3400
N-4200
N-5600
Connectors require1/4 turn to seal
Encoder Connector P/Ns
N-2300
KPSE02E14-19P-A71
N-3400
N-4200
N-5600
Connectors require1/4 turn to seal.
Brake Connector P/Ns
N-2300
KPSE02E12-3P-A71
N-3400
N-4200
N-5600
Connectors require1/4 turn to seal.
NEMA 34, 42 & 56-Series
Encoder
Pin Signal
A A+
B A-
C B+
D B-
E I+
F I-
G GROUND
H ABS
J 5 VDC
K 5 VDC
L COMMON
M COMMON
N Open
P Open
R THERMOSTAT+
S THERMOSTAT-
T HALL A
U HALL B
V HALL C
NEMA 23-Series
Power Connector
Pin Signal
A PHASE R
B PHASE S
C PHASE T
D GROUND
E Open
Brake Option Connector
Pin Signal
A BR+
B BR-
C OPEN
NEMA 34, 42 & 56-Series
Power Connector
Pin Signal
A PHASE R
B PHASE S
C PHASE T
D GROUND
E Open
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Encoder Data
Encoders are factory aligned and must not be adjusted outside the factory.
ENCODER SPECIFICATIONS
N-2300
N-3400, N-4200 and N-5600
Line Count
Supply Voltage
Supply Current
Line Driver
Line Driver Output
1000 (1) (2)
5 VDC
175 mA max.
LM339
TTL
Index Pulse
Refer to diagrams below
(No key for physical reference)
(1) Standard line count before quadrature.
2000 (1)
5 VDC
300 mA max.
26LS31
A, B, I signals: Logic 1 =2.5 VDC min @ 20 mA DC source,
Logic 0 = 0.5 VDC max @ 20 mA DC sink.
HALL signals: Logic 1 = 3.5 VDC min @ 1mA DC source,
Logic 0 = 0.5 VDC max @ 5mA DC sink.
When facing the motor, the key is oriented 90o±10 clockwise
(mechanical) from connectors
(2) N-2300 encoder does not have Absolute Signal (ABS)
Encoder Outputs
N-2300 Encoder Output
N-3400, 4200 and 5600 Encoder Output
360o
A+
A-
Logic 1
2.5 VDC min
Logic 0
0.5 VDC max
A+
A-
360o
Logic 1
2.5 VDC min
Logic 0
0.5 VDC max
90o +45o
90o +45o
B+ B+
B- B-
Index Alignment Reference
I+ I+
I- I-
Index Alignment Reference
360o
90o +45o Gated Index
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Encoder Phase-to-Neutral and Phase-to-Phase
Waveforms
NOTE: N-3400, N-4200 and N-5600 only
NOTE: Hall and ABS signals are in
electrical degrees.
For 4 pole commutation,
360° mechanical = 720° electrical.
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Options: Connectors and Shaft Seals
An environmentally sealed package may be formed when an N-Series motor is coupled with sealed
cable assemblies and shaft seals.
Factory manufactured power cables and encoder cables are available in standard cable lengths of 10,
25, 50, 75 and 100 feet (3, 7.6, 15, 23 and 30 meters). Factory cables provide environmental sealing
and shield termination.
Shaft Seal Kits
MOTOR SEAL KITS
MOTOR
SIZE
SERIES
PART NUMBER
(Outside Dia x Inside Dia x Width) mm/in
N-2300
0041-5068
0.035 x 0.001 x 0.005 / 0.875 x 0.250 x 0.125
N-3400
0041-5069
0.044 x 0.019 x 0.010 / 1.125 x 0.500 x 0.250
N-4200
0041-5070
0.044 x 0.025 x 0.010 / 1.125 x 0.625 x 0.250
N-5600
0041-5071
0.054 x 0.030 x 0.010 / 1.375 x 0.750 x 0.250
NOTE: Shaft seals are manufactured to inch dimensions. Millimeter dimensions are conversions from inches.
Shaft seals require a lubricant to reduce wear. Lubricant is provided with kit.
Connectors and Connector Kits
MOTOR POWER CONNECTORS
PART
NUMBER
CONNECTOR
TYPE
9101-1557
POWER - SOLDER
9101-1558
ENCODER - SOLDER
9101-1698
BRAKE - SOLDER
These connectors provide environmental sealing and shield termination.
05
NOTES:
STRAIGHT
MS3126F14-19S
MS3116F14-19S
MS3126F14-5S
MS3116F14-5S
MS3126F12-3S
MS3116F12-3S
OTHER MATING CONNECTORS
CONNECTOR TYPE
RIGHT ANGLE
ENCODER - CRIMP
KPSE08F14-19S PT08SE14-19S
ENCODER - SOLDER
KPT08F14-19S
PT08E14-19S
POWER - CRIMP
KPSE08F14-5S
PT08SE14-5S
POWER - SOLDER
KPT08F14-5S
PT08E14-5S
BRAKE - CRIMP
KPSE08F12-3S
PT08SE12-3S
BRAKE - SOLDER
KPTO8F12-3S
PT08E12-3S
· These connectors provide environmental sealing, but do not provide cable shield termination.
· Angle Connectors are ITT Cannon (KP) and Amphenol (PT).
· Power contacts are size 16 AWG. Crimp type connectors accept wire sizes 20 AWG to 16 AWG.
· Brake and Encoder contacts are size 20 AWG. Crimp type connectors accept wire sizes 24 AWG to 20 AWG.
04
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Motor Radial Load Force Ratings
Motors are capable of carrying an axial load in most applications. The following table provides
guidelines for 20,000 hour bearing life with a specified radial load applied to the center of the shaft.
Please consult with Reliance Motion Control regarding loads, operating speeds and bearing life in
your particular application to ensure the proper selection of motors.
MOTOR
N-2302
N-2304
N-3406
N-3412
N-4214
N-4220
N-5630
N-5637
N-5647
500 rpm
lb (kg)
17 (8)
19(9)
103 (47)
113 (51)
137 (62)
146 (66)
188 (85)
197 (89)
203 (92)
STANDARD RADIAL LOAD FORCE RATINGS
1000 rpm 2000 rpm 3000 rpm 4000 rpm
lb (kg)
lb (kg)
lb (kg)
lb (kg)
16 (7)
14 (6)
12 (5)
11 (5)
17 (8)
15 (7)
14 (6)
12 (5)
82 (37)
65 (29)
56 (25)
51 (23)
89 (40)
71 (32)
62 (28)
56 (25)
109 (49)
86 (39)
76 (34)
68 (31)
116 (53)
92 (42)
80 (36)
73 (33)
149 (68)
118 (54)
103 (47)
94 (43)
156 (71)
124 (56)
108 (49)
98 (44)
161 (73)
128 (58)
112 (51)
5000 rpm
lb (kg)
9 (4)
10 (5)
48 (22)
53 (24)
64 (29)
68 (31)
6000 rpm
lb (kg)
8 (4)
8 (4)
45 (20)
49 (22)
Radial load force applied at center of shaft extension
Axial load force
NOTE: When motor shaft has no radial load, axial load rating = 100% of radial load rating above.
When motor shaft has both a radial load and an axial load, axial load rating = 44% of radial load rating above.
Brake Motor Application Guidelines
P0010
The brakes offered as options on these servo motors are holding brakes. They are designed to hold
the motor shaft at 0 rpm for up to the rated brake holding torque. The brakes are spring-set type, and
release when voltage is applied to the brake coil.
The brakes are not designed for stopping rotation of the motor shaft. Servo drive inputs should be
used to stop motor shaft rotation. The recommended method of stopping motor shaft rotation is to
command the servo drive to decelerate the motor to 0 rpm, and engage the brake after the servo drive
has decelerated the motor to 0 rpm.
If system main power fails, the brakes can withstand use as stopping brakes. However, use of the
brakes as stopping brakes creates rotational mechanical backlash that is potentially damaging to the
system, increases brake pad wear and reduces brake life. The brakes are not designed nor are they
intended to be used as a safety device.
A separate power source is required to disengage the brake. This power source may be controlled by
the servo motor controls, in addition to manual operator controls.
Brake Specifications
MOTOR
SERIES
N-2300
N-3400
N-4200
N-5600
MAX. BACKLASH
(BRAKE ENGAGED)
1 degree
BRAKE DATA
HOLDING TORQUE
(lb/in)
(Nm)
5 0.56
15 1.69
30 3.39
50 5.64
COIL CURRENT
at 24 VDC
0.28 ADC
0.36 ADC
0.36 ADC
0.71 ADC
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Motor Installation
Observe the following installation guidelines and those in the Product Notice:
WARNING: Motors and linkages must be securely mounted for a system
! to be operational. Disassembled equipment should be appropriately iden-
tified (tagged-out) and access to electrical power restricted (locked-out).
Failure to observe these safety procedures could result in personal injury
and damage to equipment.
1. Do not run motors that are not properly mounted. Attach all power and data cables after the
motor is mounted.
2. Mount motors with connectors pointing downward and use a drip loop in the cable to keep liq-
uids flowing away from the connectors.
3. Consider motor case temperature if necessary to safeguard operator and maintenance staff.
Maximum case temperature is approximately 100°C (212°F) for a motor used at continuous rat-
ing in a 40°C ambient temperature.
4. The installer must comply with all local regulations and should use equipment and installation
practices that promote electromagnetic compatibility and safety.
Preventing Electrical Noise
ElectroMagnetic Interference (EMI), commonly called “noise”, may adversely impact motor perfor-
mance by inducing stray signals. Effective techniques to counter EMI include filtering the AC power,
shielding and separating signal carrying lines, and practicing good grounding techniques. Effective
AC power filtering can be achieved through the use of isolated AC power transformers or properly
installed AC line filters. Physically separate signal lines from motor cabling and power wiring; do
not parallel signal wires with motor or power wires or route signal wires over the vent openings of
servo drives. Ground all equipment using a single-point parallel ground system that employs ground
bus bars or straps. If necessary, use electrical noise remediation techniques to mitigate EMI in “noisy”
environments.
Knowledgable cable routing and careful cable construction improves system electromagnetic com-
patibility (EMC). General cable build and installation guidelines include:
1. Keep wire lengths as short as physically possible.
2. Route signal cables (encoder, serial, analog) away from motor and power wiring.
3. Separate cables by 1 foot minimum for every 30 feet of parallel run.
4. Ground both ends of the encoder cable and twist the signal wire pairs.
5. Use shielded motor cables when necessary to prevent electromagnetic interference (EMI) with
other equipment.
Couplings and Pulleys
Mechanical connections to the motor shaft, such as couplings and pulleys, require a rigid coupling
or a reinforced timing belt. The high dynamic performance of servo motors can cause couplings,
pulleys or belts to loosen or slip over time. A loose or slipping connection will cause system instability
and may damage the motor shaft and keyway. All connections between the system and the servo
motor shaft must be rigid to achieve acceptable response from the system. Connections should be
periodically inspected to verify the rigidity.
When mounting couplings or pulleys to the motor shaft, ensure that the connections are properly
aligned and that axial and radial loads are within the specifications of the motor. The section “Load
Force Ratings” provides guidelines to achieve 20,000 hours of bearing life. Additional information
about load force ratings, including graphical depiction of varied load ratings and bearing life, is
available for any motor from the Technical Support groups listed on the back cover.
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Product Information
Motor Part Number Identification
N - 42 14 - 2 - H 00 AA
FACTORY DESIGNATED SPECIAL OPTIONS
AA = STANDARD FLANGE
OPTIONS
00 = STANDARD
04 = 24 VDC BRAKE
ENCODER LINE COUNT
F = 1000 (N-2300 STANDARD)
H = 2000 (N-3400 thru N-5600 STANDARD)
K = 5000
MOTOR WINDING VOLTAGE DESIGNATOR
1 = 115 VAC
2 = 230 VAC
CONTINUOUS TORQUE CAPABILITY (LB-IN)
FRAME SIZE
SERIES DESIGNATOR
N = NEMA FRAME STYLE
NOTE: OPTIONS NOT AVAILABLE ON ALL SIZES
Disposal or Warranty Return of Motors
Motors may contain environmentally regulated materials, such as lead solder and
circuit boards. When disposing of a motor, please recycle motors per regulations at your
location. You may choose to return a motor for disposal by contacting your supplier.
Please contact the source that supplied the motor for warranty, non-warranty, or
disposal work. All returned products require a Return Material Authorization (RMA)
number for efficient processing and tracking.
Technical Support
In the United States, hours for product assistance are 7:00 AM to 5:00 PM (CST), Monday through
Friday at 1-800-328-3983 or via fax at 1-612-942-3636.
In Europe, product assistance can be obtained between 8:30 and 17:30 local time, Monday through
Friday at (+44)1270 580142 or via fax at (+44)1270 580141.
N-Series Motors
Brushless Servo Motors
Part Number 0013-1065-001 Rev B
DataSheet4 U .com
Electro-Craft Motion Control
6950 Washington Avenue South
Eden Prairie, MN 55344
612-942-3600




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