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AKMA Installation Manual | 6 Technical Data
6.4.3 AKMA4 Mechanical Parameters
Parameters
Torque Constant ➀➁
±10%
Back EMF Constant ➅
±10%
Motor Constant ➀
Resistance (line-line) ➅
±10%
Inductance (line-line)
Inertia (includes
±10%
feedback) ➂
Optional Brake Inertia
±10%
(additional)
Weight ➇
Static Friction ➀
Viscous Damping ➀
Thermal Time Constant
Thermal Resistance
Pole Pairs
Heat Sink Size
Notes:
➀ Motor winding temperature rise, 'T=100°C, at 40 °C ambient.
➁ All data referenced to sinusoidal commutation.
➂ Add holding brake if applicable for total inertia.
➃ Motor with 125 °C rated feedback and standard heat sink.
➄ May be limited at some values of Vbus.
➅ Measured at 25°C.
➆ Brake option reduces continuous torque rating by:
AKMA41 = 0.12 Nm AKMA42 = 0.26 Nm AKMA43 = 0.35 Nm AKMA44 = 0.46 Nm
➇ Brake option increases weight by 1.3 kg (2.9 lb)
128
Kollmorgen® | kdn.kollmorgen.com | June 2024
Tol
Symbol
Units
Nm/A rms
1.34
K t
lb-in/A rms
11.9
K e
V rms /krpm
86.3
N-m/—W
0.24
Nom
K m
lb-in/—W
2.10
R m
ohm
21.30
L
mH
66.1
kg-cm
2
J m
lb-in-s
2
kg-cm
2
J m
lb-in-s
2
kg
W
lb
Nm
T f
lb-in
Nm/krpm
K dv
lb-in/krpm
TCT
minutes
R thw-a
°C/W
AKMA41
C
E
G
0.71
0.37
2.40
6.3
3.3
21.2
45.6
23.7
154.3
0.24
0.24
0.37
2.09
2.11
3.30
6.02
1.56
27.50
18.4
5.0
97.4
0.81
7.2E-04
0.058
5.1E-05
3.7
8.2
0.085
0.75
0.0090
0.08
13
0.97
5
10"x10"x0.25"
Aluminum Plate
AKMA42
C
E
G
1.26
0.74
0.59
11.1
6.5
80.9
47.5
38.3
0.37
0.38
0.37
3.25
3.33
3.31
7.78
2.51
1.65
26.8
9.2
1.50
1.3E-03
0.058
5.1E-05
4.9
10.8
0.097
0.86
0.0130
0.12
17
0.80
5
10"x10"x0.25"
Aluminum Plate
H
J
0.43
5.3
3.8
27.5
0.39
3.41
0.80
6.0
3.1
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