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Stober 2 Synchonous Servo Geared Motors

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Synchronous<br />

servo geared motors


Synchronous servo geared motors


STOBER drive technology for<br />

perfectionists<br />

Sooner or later, design engineers never satisfied with the second-best solution end up at<br />

STOBER. That is because they can find everything here, with the broadest range of all<br />

imaginable drive technology components. Available with the highest level of design granularity<br />

to satisfy any individualized requirements perfectly. And the result is a complete STOBER<br />

system, from the gear rack and geared motor to open-loop or closed-loop control to intuitive<br />

project configuration software. With open interfaces based on established industry standards<br />

and reliably functioning communication between the individual components. The STOBER<br />

system also includes a complete package of services and practical support. Find out more on<br />

the following pages.<br />

You can put your trust in<br />

STOBER<br />

STOBER has been building excellent drive technology for more than<br />

80 years. As a medium-sized, owner-operated company, STOBER<br />

understands the needs of its customers. Our company is down-toearth,<br />

innovative, dynamic and focused on the customer. Our<br />

customers can find certified experts in every area, whether in<br />

research and development, production, technical consultation or<br />

design support. This goes beyond the technical qualifications. It also<br />

includes an equal measure of dedication, dependability and friendly,<br />

clear communication.<br />

2


3


STOBER in motion<br />

Despite our sense of tradition, we always enjoy something new.<br />

We continue to push ourselves forward and to refine our<br />

products further. We do this by implementing suggestions from<br />

real-world use, giving due consideration to customer requests and<br />

constantly seeking out even better solutions. This is all made<br />

possible by the competitive spirit with which we face every<br />

exciting challenge. The strong STOBER team spirit provides for<br />

productive collaboration. Both at work and outside the company<br />

doors. Our customers benefit from the extraordinary constancy of<br />

our employee base. This provides the astounding result where we<br />

can provide contacts familiar with a customer's industry and who<br />

can identify with a customer's needs.<br />

4


5


The team that works well together wins<br />

STOBER supplies the complete system: controller, automation,<br />

geared motors<br />

STOBER has its roots in developing and<br />

building geared motors. We have also been<br />

developing and manufacturing drive<br />

controllers for decades. These STOBER<br />

components form drive systems with<br />

dependable functionality thanks to their<br />

plug-and-play design. Electronics and<br />

mechanical systems that speak the same<br />

language are critical for this. They<br />

understand each other without any<br />

adapters. All of the system components can<br />

recognize each other by their "electronic<br />

nameplate."<br />

Systematic quality assurance<br />

We check every single component and how it works together with<br />

others. Mass-producers are not able to do that. We assume<br />

responsibility for the complete system. This means certified<br />

operational reliability and the highest machine availability are<br />

guaranteed.<br />

6


Technical system advantages<br />

The STOBER system is flexible. One example is the freedom to<br />

choose between drive-based mode and controller-based mode.<br />

Or the feature allowing you to combine drive controllers in a<br />

multi-axis drive system and stand-alone controllers with special<br />

functions as you wish. This allows the modular design and free<br />

scalability of a drive system. This enables full utilization of<br />

capacity.<br />

STOBER engineering software<br />

Our AS6 engineering software based on Codesys plays a leading<br />

role in the STOBER system. The AS6 has a whole series of new and<br />

useful features integrated into it that make your work easier in<br />

every phase of the project. Comprehensive libraries provide direct<br />

access to STOBER products from every level of the drive system.<br />

You can find detailed technical information and have ready access<br />

to presets for standard functions.<br />

STOBER is your partner<br />

Our role does not end with the delivery of hardware and software. If you like, we will accompany and<br />

support you throughout your entire project. You can call on programming manpower at STOBER. Our<br />

experienced Codesys professionals will be happy to handle tricky special tasks or help you find the right<br />

template. This is even possible if components from other manufacturers are part of the bigger picture.<br />

You have direct, one-on-one contact with your project engineer. Your personal contact understands<br />

your needs and works with you to find the ideal solution.<br />

You receive quick, professional feedback using the 24-<br />

hour hotline. You are not a number—you are our<br />

priority. We at STOBER do not have anything like a<br />

"service ticket."<br />

Dortmund<br />

Geographic proximity is also an intrinsic part of this personal contact. STOBER has four<br />

customer support centers throughout Germany. These support centers provide you with a<br />

high level of decision-making expertise. Your contacts have technical experience.<br />

And STOBER is international. We have 10 subsidiaries across 3 continents. This is also a<br />

valuable part of being near to our customers.<br />

Frankfurt<br />

Pforzheim<br />

Nürnberg<br />

7


Table of contents<br />

n 1 Selection tool ........................................................................................................................... 10<br />

n 2 P planetary geared motors................................................................................................... 17<br />

n 3 PA planetary geared motors ............................................................................................... 45<br />

n 4 PH planetary geared motors............................................................................................... 69<br />

n 5 PHA planetary geared motors ............................................................................................ 89<br />

n 6 PHQ planetary geared motors .......................................................................................... 109<br />

n 7 PHQA planetary geared motors ........................................................................................ 127<br />

n 8 PHV planetary geared motors .......................................................................................... 145<br />

n 9 PHVA planetary geared motors......................................................................................... 155<br />

n 10 EZHP Planetary geared motors with hollow shaft ...................................................... 165<br />

n 11 PE planetary geared motors ............................................................................................. 187<br />

n 12 C helical geared motors...................................................................................................... 203<br />

n 13 F offset helical geared motors .......................................................................................... 251<br />

n 14 KS right-angle servo geared motors............................................................................... 293<br />

n 15 PKX right-angle planetary geared motors.................................................................... 319<br />

n 16 PK right-angle planetary geared motors ...................................................................... 347<br />

n 17 PHKX right-angle planetary geared motors ................................................................. 375<br />

n 18 PHK right-angle planetary geared motors.................................................................... 399<br />

n 19 PHQK right-angle planetary geared motors................................................................. 425<br />

n 20 KL helical bevel geared motors........................................................................................ 451<br />

n 21 K helical bevel geared motors ......................................................................................... 483<br />

n 22 S helical worm geared motors.......................................................................................... 565<br />

n 23 EZ synchronous servo motors.......................................................................................... 619<br />

8<br />

n 24 EZHD synchronous servo motors with hollow shaft.................................................. 659


n 25 EZM synchronous servo motors for screw drives ...................................................... 681<br />

n 26 EZS synchronous servo motors for screw drives ....................................................... 703<br />

n 27 Connecting to drive controllers of third-party manufacturers .............................. 729<br />

n 28 Close to customers around the world ............................................................................ 750<br />

n 29 Appendix................................................................................................................................. 753<br />

9


1.1 Inline and Offset <strong>Geared</strong> <strong>Motors</strong><br />

1 Selection tool<br />

1.1 Inline and Offset <strong>Geared</strong> <strong>Motors</strong><br />

Product chapter P PA PE C F<br />

Chapter number [} 2] [} 3] [} 11] [} 12] [} 13]<br />

Technical data<br />

i 3 – 100 3 – 100 3 – 28 2 – 270 4.3 – 274<br />

M 2acc 11 – 3000 Nm 15 – 1600 Nm 11 – 310 Nm 8.3 – 6500 Nm 19 – 1100 Nm<br />

Δφ 2 3 – 8 arcmin 1 – 3 arcmin 8 – 10 arcmin 10 – 20 arcmin 5 – 11 arcmin<br />

η get ≤ 97 % ≤ 97 % ≤ 97 % ≤ 97 % ≤ 97 %<br />

Features<br />

Power density ★★★★☆ ★★★★☆ ★★★☆☆ ★☆☆☆☆ ★☆☆☆☆<br />

Backlash ★★★★☆ ★★★★★ ★★★☆☆ ★★☆☆☆ ★★★☆☆<br />

Price category €€ €€€ € € €<br />

Shaft load ★★★★☆ ★★★★☆ ★★☆☆☆ ★★☆☆☆ ★★★☆☆<br />

Smooth operation ★★★★☆ ★★★★★ ★★★☆☆ ★★★☆☆ ★★★☆☆<br />

Torsional stiffness ★★★☆☆ ★★★☆☆ ★★★☆☆ ★★☆☆☆ ★★☆☆☆<br />

Mass moment of inertia ★★★★★ ★★★★★ ★★★★★ ★★★★★ ★★★★★<br />

Key:<br />

★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Shaft design<br />

Solid shaft with feather<br />

key<br />

✓ ✓ ✓ ✓ ✓<br />

Solid shaft without<br />

feather key<br />

Hollow shaft with<br />

keyway<br />

Hollow shaft with<br />

shrink ring<br />

✓ ✓ ✓ C0 − C5: ✓<br />

Starting at C6: Request<br />

✓<br />

✓<br />

✓<br />

Bearing design<br />

Standard ✓ ✓ ✓ ✓<br />

Axially reinforced ✓ [} 2.6.2] ✓ [} 3.6.2]<br />

Radially reinforced ✓ [} 2.6.2]<br />

Maintenance-free ✓ ✓ ✓ C0 − C5: ✓ ✓<br />

10


1 Selection tool<br />

1.1 Inline and Offset <strong>Geared</strong> <strong>Motors</strong><br />

Product chapter PH PHA PHQ PHQA PHV PHVA EZHP<br />

Chapter number [} 4] [} 5] [} 6] [} 7] [} 8] [} 9] [} 10]<br />

Technical data<br />

i 4 – 100 4 – 100 5.5 – 600 5.5 – 600 61 – 121 61 – 121 3 – 27<br />

M 2acc 24 – 7500 Nm 24 – 5000 Nm 84 – 22000 Nm 45 – 6000 Nm 1638 – 7500 Nm 1638 – 4250 Nm 47 – 500 Nm<br />

Δφ 2 3 – 4 arcmin 1 – 2 arcmin 3 arcmin 1 arcmin 3 arcmin 1 arcmin 3 – 4 arcmin<br />

η get ≤ 96 % ≤ 96 % ≤ 96 % ≤ 96 % ≤ 90 % ≤ 90 % ≤ 97 %<br />

Features<br />

Power density ★★★★☆ ★★★★☆ ★★★★★ ★★★★★ ★★★★☆ ★★★★☆ ★★★★☆<br />

Backlash ★★★★☆ ★★★★★ ★★★★☆ ★★★★★ ★★★★☆ ★★★★★ ★★★★☆<br />

Price category €€€ €€€€ €€€€ €€€€€ €€€ €€€€ €€€€<br />

Shaft load ★★★★★ ★★★★★ ★★★★★ ★★★★★ ★★★★★ ★★★★★ ★★★★★<br />

Smooth operation ★★★★☆ ★★★★★ ★★★★☆ ★★★★★ ★★★★☆ ★★★★★ ★★★☆☆<br />

Torsional stiffness ★★★★☆ ★★★★☆ ★★★★★ ★★★★★ ★★★★☆ ★★★★☆ ★★★★☆<br />

Mass moment of inertia ★★★★★ ★★★★★ ★★★★★ ★★★★★ ★★★★★ ★★★★★ ★★★★★<br />

Key:<br />

★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Shaft design<br />

Flange shaft ✓ ✓ ✓ ✓ ✓ ✓<br />

Flange hollow shaft<br />

✓<br />

Bearing design<br />

Standard ✓ ✓ ✓ ✓ ✓ ✓ ✓<br />

Maintenance-free ✓ ✓ ✓ ✓ ✓ ✓ ✓<br />

11


1.2 Right-angle geared motors<br />

1 Selection tool<br />

1.2 Right-angle geared motors<br />

Product chapter KS PKX PK<br />

Chapter number [} 14] [} 15] [} 16]<br />

Technical data<br />

i 6 – 100 3 – 210 12 – 486<br />

M 2acc 27 – 400 Nm 11 – 3000 Nm 68 – 2700 Nm<br />

Δφ 2 4 – 6 arcmin 4 – 8.5 arcmin 3.5 – 5 arcmin<br />

η get ≤ 95 % ≤ 96 % ≤ 94 %<br />

Features<br />

Power density ★★★☆☆ ★★★★☆ ★★★☆☆<br />

Backlash ★★★☆☆ ★★★★☆ ★★★★☆<br />

Price category €€€ €€€ €€€<br />

Shaft load ★★★★★ ★★★★☆ ★★★★☆<br />

Smooth operation ★★★★☆ ★★☆☆☆ ★★★☆☆<br />

Torsional stiffness ★★★☆☆ ★★★☆☆ ★★★☆☆<br />

Mass moment of inertia ★★★★★ ★★★☆☆ ★★★★★<br />

Key:<br />

★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Shaft design<br />

Solid shaft with feather<br />

key<br />

Solid shaft without<br />

feather key<br />

Hollow shaft with<br />

shrink ring<br />

Flange hollow shaft<br />

✓ ✓ ✓<br />

✓ ✓ ✓<br />

✓<br />

✓<br />

Bearing design<br />

Standard ✓ ✓ ✓<br />

Axially reinforced ✓ [} 15.6.2] ✓ [} 16.6.2]<br />

Radially reinforced ✓ [} 15.6.2] ✓ [} 16.6.2]<br />

Maintenance-free ✓ ✓ ✓<br />

12


1 Selection tool<br />

1.2 Right-angle geared motors<br />

Product chapter KS PHKX PHK PHQK<br />

Chapter number [} 14] [} 17] [} 18] [} 19]<br />

Technical data<br />

i 6 – 100 4 – 210 16 – 486 22 – 2242<br />

M 2acc 27 – 400 Nm 26 – 7500 Nm 89 – 7500 Nm 123 – 43000 Nm<br />

Δφ 2 4 – 6 arcmin 3 – 6 arcmin 3.5 – 4.5 arcmin 3.5 – 4 arcmin<br />

η get ≤ 95 % ≤ 95 % ≤ 93 % ≤ 93 %<br />

Features<br />

Power density ★★★☆☆ ★★★★★ ★★★★☆ ★★★★★<br />

Backlash ★★★☆☆ ★★★★☆ ★★★★☆ ★★★★☆<br />

Price category €€€ €€€€ €€€€ €€€€€<br />

Shaft load ★★★★★ ★★★★★ ★★★★★ ★★★★★<br />

Smooth operation ★★★★☆ ★★☆☆☆ ★★★☆☆ ★★★☆☆<br />

Torsional stiffness ★★★☆☆ ★★★★☆ ★★★★☆ ★★★★★<br />

Mass moment of inertia ★★★★★ ★★★☆☆ ★★★★★ ★★★★★<br />

Key:<br />

★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Shaft design<br />

Solid shaft with feather<br />

key<br />

Solid shaft without<br />

feather key<br />

Hollow shaft with<br />

shrink ring<br />

Flange hollow shaft<br />

✓<br />

✓<br />

✓<br />

✓<br />

Flange shaft ✓ ✓ ✓<br />

Bearing design<br />

Standard ✓ ✓ ✓ ✓<br />

Maintenance-free ✓ ✓ ✓ ✓<br />

13


1 Selection tool<br />

1.2 Right-angle geared motors<br />

Product chapter KL K S<br />

Chapter number [} 20] [} 21] [} 22]<br />

Technical data<br />

i 4 – 32 4 – 381 6 – 548<br />

M 2acc 11 – 65 Nm 23 – 13200 Nm 28 – 960 Nm<br />

Δφ 2 16 – 25 arcmin 1.5 – 12 arcmin<br />

η get ≤ 97 % ≤ 97 % ≤ 91 %<br />

Features<br />

Power density ★★☆☆☆ ★★☆☆☆ ★★☆☆☆<br />

Backlash ★☆☆☆☆ ★★★☆☆ ★☆☆☆☆<br />

Price category € €€ €<br />

Shaft load ★★☆☆☆ ★★★☆☆ ★★★☆☆<br />

Smooth operation ★★☆☆☆ ★★★☆☆ ★★★☆☆<br />

Torsional stiffness ★★☆☆☆ ★★☆☆☆ ★★☆☆☆<br />

Mass moment of inertia ★★★★★ ★★★★★ ★★★★★<br />

Key:<br />

★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Shaft design<br />

Solid shaft with feather<br />

key<br />

✓ ✓ ✓<br />

Solid shaft without<br />

feather key<br />

✓<br />

K1 − K4: ✓<br />

Starting at K5: Request<br />

Solid shaft on both sides ✓ ✓ ✓<br />

Hollow shaft with<br />

keyway<br />

Hollow shaft with shrink<br />

ring<br />

✓ ✓ ✓<br />

✓ ✓ ✓<br />

Accessories<br />

Flange ✓ ✓ ✓<br />

Baseboards ✓ ✓ ✓<br />

Torque arm ✓ ✓<br />

Bearing design<br />

Standard ✓ ✓ ✓<br />

Maintenance-free ✓ K1 − K4: ✓<br />

14


1.3 Synchronous servo motors<br />

1 Selection tool<br />

1.3 Synchronous servo motors<br />

Product chapter EZ EZHD<br />

Chapter number [} 23] [} 24]<br />

Technical data<br />

M N 0.89 – 77.2 Nm 1.9 – 24.6 Nm<br />

M 0 0.95 – 94 Nm 2.6 – 31.1 Nm<br />

Shaft design<br />

Solid shaft without<br />

feather key<br />

✓<br />

Flange hollow shaft<br />

✓<br />

Encoder<br />

EnDat 2.2 ✓ ✓<br />

EnDat 2.1 ✓ ✓<br />

HIPERFACE DSL One Cable<br />

Solution (OCS)<br />

Resolver<br />

✓<br />

✓<br />

Cooling<br />

Convection cooling ✓ ✓<br />

Forced ventilation<br />

✓<br />

Brake<br />

Permanent magnet holding<br />

brake<br />

✓<br />

✓<br />

Marks and test symbols<br />

CE ✓ ✓<br />

cURus ✓ ✓<br />

15


1 Selection tool<br />

1.3 Synchronous servo motors<br />

Product chapter EZM EZS<br />

Chapter number [} 25] [} 26]<br />

Technical data<br />

F ax 751 – 21375 N 760 – 31271 N<br />

Shaft design<br />

Direct drive of the<br />

threaded nut<br />

✓<br />

Direct drive of the<br />

threaded spindle<br />

✓<br />

Encoder<br />

EnDat 2.2 ✓ ✓<br />

EnDat 2.1 ✓ ✓<br />

HIPERFACE DSL One Cable<br />

Solution (OCS)<br />

Resolver<br />

✓<br />

✓<br />

Cooling<br />

Convection cooling ✓ ✓<br />

Forced ventilation<br />

✓<br />

Brake<br />

Permanent magnet holding<br />

brake<br />

✓<br />

✓<br />

Marks and test symbols<br />

CE ✓ ✓<br />

cURus ✓ ✓<br />

16


2 P planetary geared motors<br />

Table of contents<br />

2.1 Overview........................................................................................................................................................................... 18<br />

2.2 Selection tables ................................................................................................................................................................ 19<br />

2.3 Dimensional drawings ...................................................................................................................................................... 31<br />

2.3.1 G shaft design (solid shaft without feather key) .................................................................................................................. 32<br />

2.3.2 P shaft design (solid shaft with feather key) ........................................................................................................................ 34<br />

2.4 Type designation .............................................................................................................................................................. 36<br />

2.5 Product description........................................................................................................................................................... 36<br />

2.5.1 Installation conditions.......................................................................................................................................................... 36<br />

2.5.2 Lubricants............................................................................................................................................................................. 36<br />

2.5.3 Position of the plug connectors ........................................................................................................................................... 37<br />

2.5.4 Other product features ........................................................................................................................................................ 37<br />

2.5.5 Direction of rotation ............................................................................................................................................................ 37<br />

2.6 Project configuration......................................................................................................................................................... 37<br />

2.6.1 Calculation of the operating point ....................................................................................................................................... 37<br />

2.6.2 Permitted shaft loads for the output shaft .......................................................................................................................... 40<br />

2.6.3 Recommendation for radial shaft seal rings ........................................................................................................................ 42<br />

2.6.4 Reverse operation................................................................................................................................................................ 43<br />

2.7 Additional documentation ................................................................................................................................................. 43<br />

17


2 Planetary geared motors P<br />

2.1 Overview<br />

Helical-geared precision planetary geared motors<br />

Features<br />

Power density<br />

★★★★☆<br />

Backlash<br />

★★★★☆<br />

Price category €€<br />

Shaft load<br />

★★★★☆<br />

Smooth operation<br />

★★★★☆<br />

Torsional stiffness<br />

★★★☆☆<br />

Mass moment of inertia<br />

★★★★★<br />

Helical gearing<br />

✓<br />

Maintenance-free<br />

✓<br />

Any mounting position<br />

✓<br />

Continuous operation without cooling<br />

✓<br />

Reinforced output bearing<br />

✓ (optional)<br />

Compact and highly dynamic due to direct motor ✓<br />

attachment<br />

Key: ★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Technical data<br />

i 3 – 100<br />

M 2acc<br />

11 – 3000 Nm<br />

Δφ 2<br />

3 – 8 arcmin<br />

η get ≤ 97 %<br />

18


2 P planetary geared motors 2.2 Selection tables<br />

2.2 Selection tables<br />

The technical data specified in the selection tables applies to:<br />

• Installation altitudes up to 1000 m above sea level<br />

• Surrounding temperatures from 0 °C to 40 °C<br />

• Drives with convection-cooled motors (e.g. EZ401U)<br />

You can calculate the technical data for drives with forced ventilated motors (for example EZ401B) at http://<br />

products.stoeber.de.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P2 (n 1N = 3000 rpm, M 2acc,max = 22 Nm)<br />

188 14 14 5.8 1.1 P222_0160 EZ301U 22 44 16.00 16/1 4500 8000 0.23 8 1.8 2.9<br />

300 9.0 9.2 1.1 1.2 P221_0100 EZ301U 18 36 10.00 10/1 4500 8000 0.20 6 1.6 2.3<br />

375 7.2 7.4 1.2 1.7 P221_0080 EZ301U 18 36 8.000 8/1 4500 8000 0.20 6 1.7 2.3<br />

429 6.3 6.5 1.2 2.2 P221_0070 EZ301U 19 44 7.000 7/1 4500 8000 0.20 6 1.8 2.3<br />

429 11 11 2.1 1.3 P221_0070 EZ302U 22 44 7.000 7/1 4500 8000 0.30 6 1.8 2.9<br />

600 4.5 4.6 1.9 3.1 P221_0050 EZ301U 14 44 5.000 5/1 4500 8000 0.22 6 1.9 2.3<br />

600 7.7 8.1 3.2 1.8 P221_0050 EZ302U 22 44 5.000 5/1 4500 8000 0.32 6 1.9 2.9<br />

600 10 11 4.2 1.4 P221_0050 EZ303U 22 44 5.000 5/1 4500 8000 0.43 6 1.9 3.4<br />

750 3.6 3.7 2.4 3.9 P221_0040 EZ301U 11 44 4.000 4/1 4500 8000 0.24 6 1.9 2.3<br />

750 6.2 6.5 4.2 2.3 P221_0040 EZ302U 19 44 4.000 4/1 4500 8000 0.34 6 1.9 2.9<br />

750 8.0 8.5 5.4 1.7 P221_0040 EZ303U 22 44 4.000 4/1 4500 8000 0.45 6 1.9 3.4<br />

P2 (n 1N = 6000 rpm, M 2acc,max = 22 Nm)<br />

375 14 14 5.5 1.2 P222_0160 EZ301U 22 44 16.00 16/1 4500 8000 0.23 8 1.8 2.9<br />

750 6.9 7.4 1.5 1.4 P221_0080 EZ301U 18 36 8.000 8/1 4500 8000 0.20 6 1.7 2.3<br />

857 6.0 6.5 1.5 1.8 P221_0070 EZ301U 19 44 7.000 7/1 4500 8000 0.20 6 1.8 2.3<br />

857 10 11 2.5 1.1 P221_0070 EZ302U 22 44 7.000 7/1 4500 8000 0.30 6 1.8 2.9<br />

1200 4.3 4.6 2.3 2.6 P221_0050 EZ301U 14 44 5.000 5/1 4500 8000 0.22 6 1.9 2.3<br />

1200 7.3 8.1 3.8 1.5 P221_0050 EZ302U 22 44 5.000 5/1 4500 8000 0.32 6 1.9 2.9<br />

1200 9.5 11 5.0 1.2 P221_0050 EZ303U 22 44 5.000 5/1 4500 8000 0.43 6 1.9 3.4<br />

1500 3.5 3.7 2.9 3.2 P221_0040 EZ301U 11 44 4.000 4/1 4500 8000 0.24 6 1.9 2.3<br />

1500 5.8 6.5 5.0 1.9 P221_0040 EZ302U 19 44 4.000 4/1 4500 8000 0.34 6 1.9 2.9<br />

1500 7.6 8.7 6.5 1.5 P221_0040 EZ303U 22 44 4.000 4/1 4500 8000 0.45 6 1.9 3.4<br />

P3 (n 1N = 3000 rpm, M 2acc,max = 65 Nm)<br />

60 44 45 1.3 1.0 P322_0500 EZ301U 65 130 50.00 50/1 4500 8000 0.20 5 4.5 3.6<br />

75 35 36 1.6 1.2 P322_0400 EZ301U 65 130 40.00 40/1 4500 8000 0.20 5 4.4 3.6<br />

86 31 32 1.6 1.5 P322_0350 EZ301U 65 130 35.00 35/1 4500 8000 0.21 5 4.6 3.6<br />

94 28 29 1.9 1.4 P322_0320 EZ301U 50 100 32.00 32/1 4500 8000 0.23 5 4.1 3.6<br />

107 25 25 1.8 1.8 P322_0280 EZ301U 65 130 28.00 28/1 4500 8000 0.21 5 4.5 3.6<br />

107 42 45 3.0 1.1 P322_0280 EZ302U 65 130 28.00 28/1 4500 8000 0.31 5 4.5 4.2<br />

120 22 23 1.9 2.0 P322_0250 EZ301U 65 130 25.00 25/1 4500 8000 0.22 5 4.6 3.6<br />

120 38 40 3.2 1.2 P322_0250 EZ302U 65 130 25.00 25/1 4500 8000 0.32 5 4.6 4.2<br />

150 18 18 2.1 2.5 P322_0200 EZ301U 53 130 20.00 20/1 4500 8000 0.24 5 4.6 3.6<br />

150 30 32 3.6 1.5 P322_0200 EZ302U 65 130 20.00 20/1 4500 8000 0.34 5 4.6 4.2<br />

150 39 42 4.7 1.1 P322_0200 EZ303U 65 130 20.00 20/1 4500 8000 0.45 5 4.6 4.7<br />

188 14 14 2.4 3.2 P322_0160 EZ301U 43 130 16.00 16/1 4500 8000 0.24 5 4.5 3.6<br />

188 24 26 4.0 1.9 P322_0160 EZ302U 65 130 16.00 16/1 4500 8000 0.34 5 4.5 4.2<br />

188 31 33 5.2 1.4 P322_0160 EZ303U 65 130 16.00 16/1 4500 8000 0.45 5 4.5 4.7<br />

250 11 11 4.1 2.8 P322_0120 EZ301U 32 120 12.00 12/1 4000 8000 0.24 5 4.3 3.6<br />

250 18 19 7.0 1.7 P322_0120 EZ302U 50 120 12.00 12/1 4000 8000 0.34 5 4.3 4.2<br />

250 24 25 9.1 1.3 P322_0120 EZ303U 50 120 12.00 12/1 4000 8000 0.45 5 4.3 4.7<br />

300 9.0 9.2 0.6 2.9 P321_0100 EZ301U 27 100 10.00 10/1 4500 8000 0.21 4 4.0 3.0<br />

300 15 16 0.9 1.7 P321_0100 EZ302U 49 100 10.00 10/1 4500 8000 0.31 4 4.0 3.6<br />

300 20 21 1.2 1.3 P321_0100 EZ303U 50 100 10.00 10/1 4500 8000 0.42 4 4.0 4.1<br />

375 7.2 7.4 0.5 4.8 P321_0080 EZ301U 22 100 8.000 8/1 4500 8000 0.21 4 4.2 3.0<br />

375 12 13 0.9 2.8 P321_0080 EZ302U 39 100 8.000 8/1 4500 8000 0.31 4 4.2 3.6<br />

375 16 17 1.2 2.2 P321_0080 EZ303U 50 100 8.000 8/1 4500 8000 0.42 4 4.2 4.1<br />

375 22 23 1.6 1.6 P321_0080 EZ401U 50 100 8.000 8/1 4500 8000 0.95 4 4.2 5.5<br />

429 11 11 1.0 3.6 P321_0070 EZ302U 34 130 7.000 7/1 4500 8000 0.32 4 4.4 3.6<br />

429 14 15 1.3 2.8 P321_0070 EZ303U 48 130 7.000 7/1 4500 8000 0.43 4 4.4 4.1<br />

429 19 20 1.7 2.1 P321_0070 EZ401U 58 130 7.000 7/1 4500 8000 0.96 4 4.4 5.5<br />

429 32 35 2.9 1.2 P321_0070 EZ402U 60 130 7.000 7/1 4500 8000 1.7 4 4.4 6.6<br />

600 10 11 1.9 3.9 P321_0050 EZ303U 34 110 5.000 5/1 4000 7000 0.48 4 5.1 4.1<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

19


2.2 Selection tables 2 P planetary geared motors<br />

20<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P3 (n 1N = 3000 rpm, M 2acc,max = 65 Nm)<br />

600 14 15 2.6 2.9 P321_0050 EZ401U 41 130 5.000 5/1 4000 7000 1.0 4 5.1 5.5<br />

600 21 23 3.9 1.9 P321_0050 EZ501U 65 130 5.000 5/1 4000 7000 3.0 4 5.1 6.5<br />

600 23 25 4.3 1.7 P321_0050 EZ402U 65 130 5.000 5/1 4000 7000 1.7 4 5.1 6.6<br />

600 33 42 6.3 1.2 P321_0050 EZ404U 65 130 5.000 5/1 4000 7000 3.1 4 5.1 8.7<br />

600 36 39 6.8 1.1 P321_0050 EZ502U 65 130 5.000 5/1 4000 7000 5.3 4 5.1 8.0<br />

750 8.0 8.5 2.5 4.9 P321_0040 EZ303U 27 85 4.000 4/1 3700 6500 0.52 4 5.3 4.1<br />

750 11 12 3.3 3.6 P321_0040 EZ401U 33 130 4.000 4/1 3700 6500 1.1 4 5.3 5.5<br />

750 17 18 5.1 2.4 P321_0040 EZ501U 62 130 4.000 4/1 3700 6500 3.0 4 5.3 6.5<br />

750 18 20 5.6 2.2 P321_0040 EZ402U 62 130 4.000 4/1 3700 6500 1.8 4 5.3 6.6<br />

750 27 33 8.2 1.5 P321_0040 EZ404U 65 130 4.000 4/1 3700 6500 3.1 4 5.3 8.7<br />

750 29 31 8.8 1.4 P321_0040 EZ502U 65 130 4.000 4/1 3700 6500 5.3 4 5.3 8.0<br />

750 38 43 12 1.0 P321_0040 EZ503U 65 130 4.000 4/1 3700 6500 7.7 4 5.3 9.5<br />

1000 6.0 6.4 5.2 4.4 P321_0030 EZ303U 20 64 3.000 3/1 3500 6000 0.60 4 5.7 4.1<br />

1000 8.1 8.7 7.1 3.2 P321_0030 EZ401U 25 120 3.000 3/1 3500 6000 1.1 4 5.7 5.5<br />

1000 13 14 11 2.1 P321_0030 EZ501U 47 120 3.000 3/1 3500 6000 3.1 4 5.7 6.5<br />

1000 14 15 12 1.9 P321_0030 EZ402U 47 120 3.000 3/1 3500 6000 1.8 4 5.7 6.6<br />

1000 20 25 17 1.3 P321_0030 EZ404U 50 120 3.000 3/1 3500 6000 3.2 4 5.7 8.7<br />

1000 22 23 19 1.2 P321_0030 EZ502U 50 120 3.000 3/1 3500 6000 5.4 4 5.7 8.0<br />

P3 (n 1N = 6000 rpm, M 2acc,max = 65 Nm)<br />

171 30 32 1.5 1.5 P322_0350 EZ301U 65 130 35.00 35/1 4500 8000 0.21 5 4.6 3.6<br />

188 27 29 1.8 1.5 P322_0320 EZ301U 50 100 32.00 32/1 4500 8000 0.23 5 4.1 3.6<br />

214 24 25 1.8 1.8 P322_0280 EZ301U 65 130 28.00 28/1 4500 8000 0.21 5 4.5 3.6<br />

214 40 45 3.0 1.1 P322_0280 EZ302U 65 130 28.00 28/1 4500 8000 0.31 5 4.5 4.2<br />

240 21 23 1.8 2.1 P322_0250 EZ301U 65 130 25.00 25/1 4500 8000 0.22 5 4.6 3.6<br />

240 36 40 3.0 1.3 P322_0250 EZ302U 65 130 25.00 25/1 4500 8000 0.32 5 4.6 4.2<br />

300 17 18 2.0 2.7 P322_0200 EZ301U 53 130 20.00 20/1 4500 8000 0.24 5 4.6 3.6<br />

300 29 32 3.4 1.6 P322_0200 EZ302U 65 130 20.00 20/1 4500 8000 0.34 5 4.6 4.2<br />

300 37 43 4.4 1.2 P322_0200 EZ303U 65 130 20.00 20/1 4500 8000 0.45 5 4.6 4.7<br />

375 14 14 2.4 3.2 P322_0160 EZ301U 43 130 16.00 16/1 4500 8000 0.24 5 4.5 3.6<br />

375 23 26 4.0 1.9 P322_0160 EZ302U 65 130 16.00 16/1 4500 8000 0.34 5 4.5 4.2<br />

375 30 34 5.2 1.4 P322_0160 EZ303U 65 130 16.00 16/1 4500 8000 0.45 5 4.5 4.7<br />

500 10 11 3.9 3.0 P322_0120 EZ301U 32 120 12.00 12/1 4000 8000 0.24 5 4.3 3.6<br />

500 17 19 6.6 1.8 P322_0120 EZ302U 50 120 12.00 12/1 4000 8000 0.34 5 4.3 4.2<br />

500 22 26 8.6 1.3 P322_0120 EZ303U 50 120 12.00 12/1 4000 8000 0.45 5 4.3 4.7<br />

600 8.6 9.2 0.7 2.4 P321_0100 EZ301U 27 100 10.00 10/1 4500 8000 0.21 4 4.0 3.0<br />

600 15 16 1.1 1.4 P321_0100 EZ302U 49 100 10.00 10/1 4500 8000 0.31 4 4.0 3.6<br />

600 19 22 1.5 1.1 P321_0100 EZ303U 50 100 10.00 10/1 4500 8000 0.42 4 4.0 4.1<br />

750 6.9 7.4 0.7 4.0 P321_0080 EZ301U 22 100 8.000 8/1 4500 8000 0.21 4 4.2 3.0<br />

750 12 13 1.1 2.4 P321_0080 EZ302U 39 100 8.000 8/1 4500 8000 0.31 4 4.2 3.6<br />

750 15 17 1.4 1.8 P321_0080 EZ303U 50 100 8.000 8/1 4500 8000 0.42 4 4.2 4.1<br />

750 18 22 1.7 1.6 P321_0080 EZ401U 50 100 8.000 8/1 4500 8000 0.95 4 4.2 5.5<br />

750 27 38 2.6 1.0 P321_0080 EZ402U 50 100 8.000 8/1 4500 8000 1.7 4 4.2 6.6<br />

857 10 11 1.2 3.1 P321_0070 EZ302U 34 130 7.000 7/1 4500 8000 0.32 4 4.4 3.6<br />

857 13 15 1.5 2.3 P321_0070 EZ303U 48 130 7.000 7/1 4500 8000 0.43 4 4.4 4.1<br />

857 16 19 1.8 2.0 P321_0070 EZ401U 58 130 7.000 7/1 4500 8000 0.96 4 4.4 5.5<br />

857 24 33 2.7 1.3 P321_0070 EZ402U 60 130 7.000 7/1 4500 8000 1.7 4 4.4 6.6<br />

1200 7.3 8.1 1.7 4.3 P321_0050 EZ302U 24 110 5.000 5/1 4000 7000 0.37 4 5.1 3.6<br />

1200 9.5 11 2.3 3.3 P321_0050 EZ303U 34 110 5.000 5/1 4000 7000 0.48 4 5.1 4.1<br />

1200 11 14 2.6 2.8 P321_0050 EZ401U 41 130 5.000 5/1 4000 7000 1.0 4 5.1 5.5<br />

1200 16 21 3.9 1.9 P321_0050 EZ501U 65 130 5.000 5/1 4000 7000 3.0 4 5.1 6.5<br />

1200 17 24 4.0 1.8 P321_0050 EZ402U 65 130 5.000 5/1 4000 7000 1.7 4 5.1 6.6<br />

1200 25 38 6.0 1.2 P321_0050 EZ502U 65 130 5.000 5/1 4000 7000 5.3 4 5.1 8.0<br />

1200 28 41 6.7 1.1 P321_0050 EZ404U 65 130 5.000 5/1 4000 7000 3.1 4 5.1 8.7<br />

1500 7.6 8.7 3.0 4.1 P321_0040 EZ303U 27 85 4.000 4/1 3700 6500 0.52 4 5.3 4.1<br />

1500 8.9 11 3.5 3.5 P321_0040 EZ401U 33 130 4.000 4/1 3700 6500 1.1 4 5.3 5.5<br />

1500 13 17 5.1 2.4 P321_0040 EZ501U 62 130 4.000 4/1 3700 6500 3.0 4 5.3 6.5<br />

1500 14 19 5.3 2.3 P321_0040 EZ402U 62 130 4.000 4/1 3700 6500 1.8 4 5.3 6.6<br />

1500 20 30 7.8 1.5 P321_0040 EZ502U 65 130 4.000 4/1 3700 6500 5.3 4 5.3 8.0<br />

1500 23 33 8.7 1.4 P321_0040 EZ404U 65 130 4.000 4/1 3700 6500 3.1 4 5.3 8.7<br />

1500 24 41 9.3 1.3 P321_0040 EZ503U 65 130 4.000 4/1 3700 6500 7.7 4 5.3 9.5<br />

2000 4.4 4.9 4.8 4.8 P321_0030 EZ302U 15 64 3.000 3/1 3500 6000 0.49 4 5.7 3.6<br />

2000 5.7 6.5 6.2 3.6 P321_0030 EZ303U 20 64 3.000 3/1 3500 6000 0.60 4 5.7 4.1<br />

2000 6.7 8.1 7.3 3.1 P321_0030 EZ401U 25 120 3.000 3/1 3500 6000 1.1 4 5.7 5.5<br />

2000 9.9 13 11 2.1 P321_0030 EZ501U 47 120 3.000 3/1 3500 6000 3.1 4 5.7 6.5<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


2 P planetary geared motors 2.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P3 (n 1N = 6000 rpm, M 2acc,max = 65 Nm)<br />

2000 10 14 11 2.0 P321_0030 EZ402U 47 120 3.000 3/1 3500 6000 1.8 4 5.7 6.6<br />

2000 15 23 17 1.4 P321_0030 EZ502U 50 120 3.000 3/1 3500 6000 5.4 4 5.7 8.0<br />

2000 17 24 18 1.2 P321_0030 EZ404U 50 120 3.000 3/1 3500 6000 3.2 4 5.7 8.7<br />

2000 18 31 20 1.2 P321_0030 EZ503U 50 120 3.000 3/1 3500 6000 7.8 4 5.7 9.5<br />

P4 (n 1N = 3000 rpm, M 2acc,max = 120 Nm)<br />

38 71 72 0.7 1.1 P422_0800 EZ301U 100 200 80.00 80/1 4500 8000 0.21 5 9.2 6.0<br />

43 62 63 0.7 1.4 P422_0700 EZ301U 110 240 70.00 70/1 4500 8000 0.21 5 9.6 6.0<br />

54 49 51 0.8 1.6 P422_0560 EZ301U 100 200 56.00 56/1 4500 8000 0.23 5 9.2 6.0<br />

60 44 45 0.8 1.9 P422_0500 EZ301U 120 240 50.00 50/1 4500 8000 0.21 5 10 6.0<br />

60 76 80 1.4 1.1 P422_0500 EZ302U 120 240 50.00 50/1 4500 8000 0.31 5 10 6.6<br />

75 35 36 0.9 2.4 P422_0400 EZ301U 110 240 40.00 40/1 4500 8000 0.21 5 10 6.0<br />

75 60 64 1.5 1.4 P422_0400 EZ302U 120 240 40.00 40/1 4500 8000 0.31 5 10 6.6<br />

75 79 83 2.0 1.1 P422_0400 EZ303U 120 240 40.00 40/1 4500 8000 0.42 5 10 7.1<br />

86 31 32 0.9 2.7 P422_0350 EZ301U 93 240 35.00 35/1 4500 8000 0.23 5 11 6.0<br />

86 53 56 1.6 1.6 P422_0350 EZ302U 120 240 35.00 35/1 4500 8000 0.33 5 11 6.6<br />

86 69 73 2.1 1.2 P422_0350 EZ303U 120 240 35.00 35/1 4500 8000 0.44 5 11 7.1<br />

94 28 29 1.1 2.8 P422_0320 EZ301U 85 200 32.00 32/1 3700 6500 0.32 5 9.2 6.0<br />

94 48 51 1.8 1.7 P422_0320 EZ302U 100 200 32.00 32/1 3700 6500 0.42 5 9.2 6.6<br />

94 63 67 2.3 1.3 P422_0320 EZ303U 100 200 32.00 32/1 3700 6500 0.53 5 9.2 7.1<br />

107 25 25 1.1 3.4 P422_0280 EZ301U 74 240 28.00 28/1 4500 8000 0.23 5 10 6.0<br />

107 42 45 1.8 2.0 P422_0280 EZ302U 120 240 28.00 28/1 4500 8000 0.33 5 10 6.6<br />

107 55 58 2.4 1.5 P422_0280 EZ303U 120 240 28.00 28/1 4500 8000 0.44 5 10 7.1<br />

107 74 80 3.2 1.1 P422_0280 EZ401U 120 240 28.00 28/1 4500 8000 0.97 5 10 8.5<br />

120 22 23 1.1 3.8 P422_0250 EZ301U 67 240 25.00 25/1 4000 7000 0.27 5 11 6.0<br />

120 38 40 1.9 2.3 P422_0250 EZ302U 120 240 25.00 25/1 4000 7000 0.37 5 11 6.6<br />

120 49 52 2.5 1.7 P422_0250 EZ303U 120 240 25.00 25/1 4000 7000 0.48 5 11 7.1<br />

120 67 71 3.4 1.3 P422_0250 EZ401U 120 240 25.00 25/1 4000 7000 1.0 5 11 8.5<br />

150 18 18 1.3 4.8 P422_0200 EZ301U 53 240 20.00 20/1 3700 6500 0.32 5 11 6.0<br />

150 30 32 2.1 2.8 P422_0200 EZ302U 95 240 20.00 20/1 3700 6500 0.42 5 11 6.6<br />

150 39 42 2.8 2.2 P422_0200 EZ303U 120 240 20.00 20/1 3700 6500 0.53 5 11 7.1<br />

150 53 57 3.8 1.6 P422_0200 EZ401U 120 240 20.00 20/1 3700 6500 1.1 5 11 8.5<br />

150 82 89 5.8 1.0 P422_0200 EZ501U 120 240 20.00 20/1 3700 6500 3.0 5 11 9.5<br />

188 24 26 2.4 3.5 P422_0160 EZ302U 76 240 16.00 16/1 3700 6500 0.43 5 11 6.6<br />

188 31 33 3.1 2.7 P422_0160 EZ303U 110 240 16.00 16/1 3700 6500 0.54 5 11 7.1<br />

188 43 46 4.2 2.0 P422_0160 EZ401U 120 240 16.00 16/1 3700 6500 1.1 5 11 8.5<br />

188 65 71 6.5 1.3 P422_0160 EZ501U 120 240 16.00 16/1 3700 6500 3.0 5 11 9.5<br />

188 71 79 7.1 1.2 P422_0160 EZ402U 120 240 16.00 16/1 3700 6500 1.8 5 11 9.6<br />

250 11 11 2.8 4.7 P422_0120 EZ301U 32 240 12.00 12/1 3500 6500 0.36 5 9.9 6.0<br />

250 18 19 4.7 2.8 P422_0120 EZ302U 57 240 12.00 12/1 3500 6500 0.46 5 9.9 6.6<br />

250 24 25 6.1 2.1 P422_0120 EZ303U 80 240 12.00 12/1 3500 6500 0.57 5 9.9 7.1<br />

250 32 34 8.3 1.6 P422_0120 EZ401U 97 240 12.00 12/1 3500 6500 1.1 5 9.9 8.5<br />

250 49 54 13 1.0 P422_0120 EZ501U 100 240 12.00 12/1 3500 6500 3.1 5 9.9 9.5<br />

300 27 29 1.0 1.9 P421_0100 EZ401U 82 200 10.00 10/1 4000 7000 0.97 4 9.0 6.6<br />

300 42 46 1.6 1.3 P421_0100 EZ501U 100 200 10.00 10/1 4000 7000 2.9 4 9.0 7.6<br />

300 46 50 1.7 1.2 P421_0100 EZ402U 100 200 10.00 10/1 4000 7000 1.7 4 9.0 7.7<br />

375 22 23 1.0 3.2 P421_0080 EZ401U 66 200 8.000 8/1 4000 7000 0.99 4 9.5 6.6<br />

375 33 36 1.5 2.1 P421_0080 EZ501U 100 200 8.000 8/1 4000 7000 3.0 4 9.5 7.6<br />

375 36 40 1.7 1.9 P421_0080 EZ402U 100 200 8.000 8/1 4000 7000 1.7 4 9.5 7.7<br />

375 54 67 2.5 1.3 P421_0080 EZ404U 100 200 8.000 8/1 4000 7000 3.0 4 9.5 9.8<br />

375 57 62 2.6 1.2 P421_0080 EZ502U 100 200 8.000 8/1 4000 7000 5.3 4 9.5 9.1<br />

429 19 20 1.1 3.9 P421_0070 EZ401U 58 240 7.000 7/1 4000 7000 1.0 4 10 6.6<br />

429 29 32 1.7 2.5 P421_0070 EZ501U 110 240 7.000 7/1 4000 7000 3.0 4 10 7.6<br />

429 32 35 1.9 2.3 P421_0070 EZ402U 110 240 7.000 7/1 4000 7000 1.7 4 10 7.7<br />

429 47 58 2.7 1.6 P421_0070 EZ404U 110 240 7.000 7/1 4000 7000 3.1 4 10 9.8<br />

429 50 54 2.9 1.5 P421_0070 EZ502U 110 240 7.000 7/1 4000 7000 5.3 4 10 9.1<br />

429 66 75 3.8 1.1 P421_0070 EZ503U 110 240 7.000 7/1 4000 7000 7.7 4 10 11<br />

600 21 23 2.5 3.6 P421_0050 EZ501U 78 240 5.000 5/1 3700 6500 3.1 4 12 7.6<br />

600 23 25 2.8 3.3 P421_0050 EZ402U 78 240 5.000 5/1 3700 6500 1.8 4 12 7.7<br />

600 33 42 4.1 2.2 P421_0050 EZ404U 120 240 5.000 5/1 3700 6500 3.2 4 12 9.8<br />

600 36 39 4.4 2.1 P421_0050 EZ502U 120 240 5.000 5/1 3700 6500 5.4 4 12 9.1<br />

600 36 40 4.4 2.1 P421_0050 EZ701U 97 240 5.000 5/1 3700 6500 8.7 4 12 11<br />

600 47 54 5.7 1.6 P421_0050 EZ503U 120 240 5.000 5/1 3700 6500 7.8 4 12 11<br />

600 58 70 7.1 1.3 P421_0050 EZ702U 120 240 5.000 5/1 3700 6500 14 4 12 13<br />

600 65 78 8.0 1.1 P421_0050 EZ505U 120 240 5.000 5/1 3700 6500 12 4 12 14<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

21


2.2 Selection tables 2 P planetary geared motors<br />

22<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P4 (n 1N = 3000 rpm, M 2acc,max = 120 Nm)<br />

750 17 18 3.3 4.5 P421_0040 EZ501U 62 240 4.000 4/1 3300 6000 3.2 4 12 7.6<br />

750 18 20 3.6 4.1 P421_0040 EZ402U 62 240 4.000 4/1 3300 6000 1.9 4 12 7.7<br />

750 27 33 5.3 2.8 P421_0040 EZ404U 110 240 4.000 4/1 3300 6000 3.3 4 12 9.8<br />

750 29 31 5.7 2.6 P421_0040 EZ502U 120 240 4.000 4/1 3300 6000 5.5 4 12 9.1<br />

750 29 32 5.7 2.6 P421_0040 EZ701U 78 240 4.000 4/1 3300 6000 8.8 4 12 11<br />

750 38 43 7.5 2.0 P421_0040 EZ503U 120 240 4.000 4/1 3300 6000 7.9 4 12 11<br />

750 47 56 9.3 1.6 P421_0040 EZ702U 120 240 4.000 4/1 3300 6000 14 4 12 13<br />

750 52 62 10 1.4 P421_0040 EZ505U 120 240 4.000 4/1 3300 6000 12 4 12 14<br />

750 64 81 13 1.2 P421_0040 EZ703U 120 240 4.000 4/1 3300 6000 22 4 12 15<br />

1000 13 14 8.0 3.5 P421_0030 EZ501U 47 240 3.000 3/1 3000 5500 3.6 4 13 7.6<br />

1000 14 15 8.7 3.2 P421_0030 EZ402U 47 240 3.000 3/1 3000 5500 2.3 4 13 7.7<br />

1000 20 25 13 2.2 P421_0030 EZ404U 84 240 3.000 3/1 3000 5500 3.7 4 13 9.8<br />

1000 22 23 14 2.0 P421_0030 EZ502U 90 240 3.000 3/1 3000 5500 5.9 4 13 9.1<br />

1000 22 24 14 2.0 P421_0030 EZ701U 58 240 3.000 3/1 3000 5500 9.2 4 13 11<br />

1000 28 32 18 1.5 P421_0030 EZ503U 100 240 3.000 3/1 3000 5500 8.3 4 13 11<br />

1000 35 42 22 1.3 P421_0030 EZ702U 100 240 3.000 3/1 3000 5500 14 4 13 13<br />

1000 39 47 25 1.1 P421_0030 EZ505U 100 240 3.000 3/1 3000 5500 13 4 13 14<br />

P4 (n 1N = 4500 rpm, M 2acc,max = 120 Nm)<br />

900 46 74 6.4 1.4 P421_0050 EZ505U 120 240 5.000 5/1 3700 6500 12 4 12 14<br />

1125 37 59 8.4 1.8 P421_0040 EZ505U 120 240 4.000 4/1 3300 6000 12 4 12 14<br />

1125 47 78 11 1.4 P421_0040 EZ703U 120 240 4.000 4/1 3300 6000 22 4 12 15<br />

1500 28 45 20 1.4 P421_0030 EZ505U 100 240 3.000 3/1 3000 5500 13 4 13 14<br />

1500 35 58 26 1.1 P421_0030 EZ703U 100 240 3.000 3/1 3000 5500 22 4 13 15<br />

P4 (n 1N = 6000 rpm, M 2acc,max = 120 Nm)<br />

75 68 72 0.6 1.2 P422_0800 EZ301U 100 200 80.00 80/1 4500 8000 0.21 5 9.2 6.0<br />

86 59 63 0.6 1.4 P422_0700 EZ301U 110 240 70.00 70/1 4500 8000 0.21 5 9.6 6.0<br />

107 47 51 0.8 1.7 P422_0560 EZ301U 100 200 56.00 56/1 4500 8000 0.23 5 9.2 6.0<br />

120 42 45 0.8 2.0 P422_0500 EZ301U 120 240 50.00 50/1 4500 8000 0.21 5 10 6.0<br />

120 71 80 1.3 1.2 P422_0500 EZ302U 120 240 50.00 50/1 4500 8000 0.31 5 10 6.6<br />

150 34 36 0.9 2.4 P422_0400 EZ301U 110 240 40.00 40/1 4500 8000 0.21 5 10 6.0<br />

150 57 64 1.5 1.4 P422_0400 EZ302U 120 240 40.00 40/1 4500 8000 0.31 5 10 6.6<br />

150 74 86 2.0 1.1 P422_0400 EZ303U 120 240 40.00 40/1 4500 8000 0.42 5 10 7.1<br />

171 30 32 0.9 2.9 P422_0350 EZ301U 93 240 35.00 35/1 4500 8000 0.23 5 11 6.0<br />

171 50 56 1.5 1.7 P422_0350 EZ302U 120 240 35.00 35/1 4500 8000 0.33 5 11 6.6<br />

171 65 75 2.0 1.3 P422_0350 EZ303U 120 240 35.00 35/1 4500 8000 0.44 5 11 7.1<br />

188 27 29 1.0 3.0 P422_0320 EZ301U 85 200 32.00 32/1 3700 6500 0.32 5 9.2 6.0<br />

188 46 51 1.7 1.8 P422_0320 EZ302U 100 200 32.00 32/1 3700 6500 0.42 5 9.2 6.6<br />

188 60 68 2.2 1.3 P422_0320 EZ303U 100 200 32.00 32/1 3700 6500 0.53 5 9.2 7.1<br />

214 24 25 1.0 3.6 P422_0280 EZ301U 74 240 28.00 28/1 4500 8000 0.23 5 10 6.0<br />

214 40 45 1.7 2.1 P422_0280 EZ302U 120 240 28.00 28/1 4500 8000 0.33 5 10 6.6<br />

214 52 60 2.2 1.6 P422_0280 EZ303U 120 240 28.00 28/1 4500 8000 0.44 5 10 7.1<br />

214 61 74 2.6 1.4 P422_0280 EZ401U 120 240 28.00 28/1 4500 8000 0.97 5 10 8.5<br />

240 21 23 1.1 4.0 P422_0250 EZ301U 67 240 25.00 25/1 4000 7000 0.27 5 11 6.0<br />

240 36 40 1.8 2.4 P422_0250 EZ302U 120 240 25.00 25/1 4000 7000 0.37 5 11 6.6<br />

240 47 53 2.4 1.8 P422_0250 EZ303U 120 240 25.00 25/1 4000 7000 0.48 5 11 7.1<br />

240 55 67 2.8 1.6 P422_0250 EZ401U 120 240 25.00 25/1 4000 7000 1.0 5 11 8.5<br />

300 29 32 2.0 3.0 P422_0200 EZ302U 95 240 20.00 20/1 3700 6500 0.42 5 11 6.6<br />

300 37 43 2.6 2.3 P422_0200 EZ303U 120 240 20.00 20/1 3700 6500 0.53 5 11 7.1<br />

300 44 53 3.1 1.9 P422_0200 EZ401U 120 240 20.00 20/1 3700 6500 1.1 5 11 8.5<br />

300 65 84 4.6 1.3 P422_0200 EZ501U 120 240 20.00 20/1 3700 6500 3.0 5 11 9.5<br />

375 23 26 2.3 3.7 P422_0160 EZ302U 76 240 16.00 16/1 3700 6500 0.43 5 11 6.6<br />

375 30 34 3.0 2.9 P422_0160 EZ303U 110 240 16.00 16/1 3700 6500 0.54 5 11 7.1<br />

375 35 43 3.5 2.4 P422_0160 EZ401U 120 240 16.00 16/1 3700 6500 1.1 5 11 8.5<br />

375 52 67 5.1 1.6 P422_0160 EZ501U 120 240 16.00 16/1 3700 6500 3.0 5 11 9.5<br />

375 53 74 5.3 1.6 P422_0160 EZ402U 120 240 16.00 16/1 3700 6500 1.8 5 11 9.6<br />

500 10 11 2.6 4.9 P422_0120 EZ301U 32 240 12.00 12/1 3500 6500 0.36 5 9.9 6.0<br />

500 17 19 4.4 2.9 P422_0120 EZ302U 57 240 12.00 12/1 3500 6500 0.46 5 9.9 6.6<br />

500 22 26 5.8 2.2 P422_0120 EZ303U 80 240 12.00 12/1 3500 6500 0.57 5 9.9 7.1<br />

500 26 32 6.8 1.9 P422_0120 EZ401U 97 240 12.00 12/1 3500 6500 1.1 5 9.9 8.5<br />

500 39 50 10 1.3 P422_0120 EZ501U 100 240 12.00 12/1 3500 6500 3.1 5 9.9 9.5<br />

500 40 56 10 1.3 P422_0120 EZ402U 100 240 12.00 12/1 3500 6500 1.8 5 9.9 9.6<br />

600 22 27 1.1 1.9 P421_0100 EZ401U 82 200 10.00 10/1 4000 7000 0.97 4 9.0 6.6<br />

600 33 43 1.6 1.3 P421_0100 EZ501U 100 200 10.00 10/1 4000 7000 2.9 4 9.0 7.6<br />

600 34 48 1.6 1.2 P421_0100 EZ402U 100 200 10.00 10/1 4000 7000 1.7 4 9.0 7.7<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


2 P planetary geared motors 2.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P4 (n 1N = 6000 rpm, M 2acc,max = 120 Nm)<br />

750 18 22 1.0 3.1 P421_0080 EZ401U 66 200 8.000 8/1 4000 7000 0.99 4 9.5 6.6<br />

750 26 34 1.5 2.1 P421_0080 EZ501U 100 200 8.000 8/1 4000 7000 3.0 4 9.5 7.6<br />

750 27 38 1.6 2.0 P421_0080 EZ402U 100 200 8.000 8/1 4000 7000 1.7 4 9.5 7.7<br />

750 40 61 2.3 1.4 P421_0080 EZ502U 100 200 8.000 8/1 4000 7000 5.3 4 9.5 9.1<br />

750 45 65 2.6 1.2 P421_0080 EZ404U 100 200 8.000 8/1 4000 7000 3.0 4 9.5 9.8<br />

857 16 19 1.1 3.8 P421_0070 EZ401U 58 240 7.000 7/1 4000 7000 1.0 4 10 6.6<br />

857 23 30 1.7 2.6 P421_0070 EZ501U 110 240 7.000 7/1 4000 7000 3.0 4 10 7.6<br />

857 24 33 1.7 2.5 P421_0070 EZ402U 110 240 7.000 7/1 4000 7000 1.7 4 10 7.7<br />

857 35 53 2.6 1.7 P421_0070 EZ502U 110 240 7.000 7/1 4000 7000 5.3 4 10 9.1<br />

857 39 57 2.9 1.5 P421_0070 EZ404U 110 240 7.000 7/1 4000 7000 3.1 4 10 9.8<br />

857 42 72 3.1 1.4 P421_0070 EZ503U 110 240 7.000 7/1 4000 7000 7.7 4 10 11<br />

1200 16 21 2.5 3.6 P421_0050 EZ501U 78 240 5.000 5/1 3700 6500 3.1 4 12 7.6<br />

1200 17 24 2.6 3.5 P421_0050 EZ402U 78 240 5.000 5/1 3700 6500 1.8 4 12 7.7<br />

1200 25 38 3.9 2.3 P421_0050 EZ502U 120 240 5.000 5/1 3700 6500 5.4 4 12 9.1<br />

1200 25 38 3.9 2.3 P421_0050 EZ701U 97 240 5.000 5/1 3700 6500 8.7 4 12 11<br />

1200 28 41 4.3 2.1 P421_0050 EZ404U 120 240 5.000 5/1 3700 6500 3.2 4 12 9.8<br />

1200 30 51 4.6 2.0 P421_0050 EZ503U 120 240 5.000 5/1 3700 6500 7.8 4 12 11<br />

1200 35 69 5.4 1.7 P421_0050 EZ702U 120 240 5.000 5/1 3700 6500 14 4 12 13<br />

1500 13 17 3.3 4.5 P421_0040 EZ501U 62 240 4.000 4/1 3300 6000 3.2 4 12 7.6<br />

1500 14 19 3.4 4.3 P421_0040 EZ402U 62 240 4.000 4/1 3300 6000 1.9 4 12 7.7<br />

1500 20 30 5.1 2.9 P421_0040 EZ502U 120 240 4.000 4/1 3300 6000 5.5 4 12 9.1<br />

1500 20 31 5.1 2.9 P421_0040 EZ701U 78 240 4.000 4/1 3300 6000 8.8 4 12 11<br />

1500 23 33 5.6 2.6 P421_0040 EZ404U 110 240 4.000 4/1 3300 6000 3.3 4 12 9.8<br />

1500 24 41 6.0 2.5 P421_0040 EZ503U 120 240 4.000 4/1 3300 6000 7.9 4 12 11<br />

1500 28 55 7.0 2.1 P421_0040 EZ702U 120 240 4.000 4/1 3300 6000 14 4 12 13<br />

P5 (n 1N = 3000 rpm, M 2acc,max = 300 Nm)<br />

43 186 200 0.9 1.1 P522_0700 EZ401U 270 600 70.00 70/1 4000 7000 0.98 4 26 11<br />

54 149 160 1.1 1.3 P522_0560 EZ401U 250 500 56.00 56/1 4000 7000 1.0 4 25 11<br />

60 133 143 1.1 1.6 P522_0500 EZ401U 300 600 50.00 50/1 4000 7000 0.98 4 27 11<br />

60 204 223 1.7 1.0 P522_0500 EZ501U 300 600 50.00 50/1 4000 7000 3.0 4 27 12<br />

75 106 114 1.2 1.9 P522_0400 EZ401U 300 600 40.00 40/1 4000 7000 0.98 4 26 11<br />

75 163 179 1.9 1.2 P522_0400 EZ501U 300 600 40.00 40/1 4000 7000 3.0 4 26 12<br />

75 179 198 2.1 1.1 P522_0400 EZ402U 300 600 40.00 40/1 4000 7000 1.7 4 26 12<br />

86 93 100 1.3 2.3 P522_0350 EZ401U 280 600 35.00 35/1 4000 7000 1.0 4 28 11<br />

86 143 156 2.0 1.5 P522_0350 EZ501U 300 600 35.00 35/1 4000 7000 3.0 4 28 12<br />

86 156 173 2.2 1.3 P522_0350 EZ402U 300 600 35.00 35/1 4000 7000 1.7 4 28 12<br />

94 85 91 1.4 2.4 P522_0320 EZ401U 250 500 32.00 32/1 3300 6000 1.2 4 25 11<br />

94 131 143 2.2 1.5 P522_0320 EZ501U 250 500 32.00 32/1 3300 6000 3.2 4 25 12<br />

94 143 158 2.4 1.4 P522_0320 EZ402U 250 500 32.00 32/1 3300 6000 1.9 4 25 12<br />

107 74 80 1.4 2.8 P522_0280 EZ401U 230 600 28.00 28/1 4000 7000 1.0 4 27 11<br />

107 114 125 2.2 1.8 P522_0280 EZ501U 300 600 28.00 28/1 4000 7000 3.0 4 27 12<br />

107 125 138 2.4 1.7 P522_0280 EZ402U 300 600 28.00 28/1 4000 7000 1.7 4 27 12<br />

107 184 229 3.5 1.1 P522_0280 EZ404U 300 600 28.00 28/1 4000 7000 3.1 4 27 14<br />

107 197 213 3.8 1.1 P522_0280 EZ502U 300 600 28.00 28/1 4000 7000 5.3 4 27 14<br />

120 67 71 1.5 3.2 P522_0250 EZ401U 200 600 25.00 25/1 3700 6500 1.1 4 28 11<br />

120 102 112 2.3 2.1 P522_0250 EZ501U 300 600 25.00 25/1 3700 6500 3.1 4 28 12<br />

120 112 124 2.6 1.9 P522_0250 EZ402U 300 600 25.00 25/1 3700 6500 1.8 4 28 12<br />

120 164 204 3.7 1.3 P522_0250 EZ404U 300 600 25.00 25/1 3700 6500 3.2 4 28 14<br />

120 176 190 4.0 1.2 P522_0250 EZ502U 300 600 25.00 25/1 3700 6500 5.4 4 28 14<br />

120 176 197 4.0 1.2 P522_0250 EZ701U 300 600 25.00 25/1 3700 6500 8.7 4 28 15<br />

150 53 57 1.7 3.9 P522_0200 EZ401U 160 600 20.00 20/1 3300 6000 1.2 4 28 11<br />

150 82 89 2.6 2.6 P522_0200 EZ501U 300 600 20.00 20/1 3300 6000 3.2 4 28 12<br />

150 89 99 2.9 2.4 P522_0200 EZ402U 300 600 20.00 20/1 3300 6000 1.9 4 28 12<br />

150 131 163 4.2 1.6 P522_0200 EZ404U 300 600 20.00 20/1 3300 6000 3.3 4 28 14<br />

150 141 152 4.5 1.5 P522_0200 EZ502U 300 600 20.00 20/1 3300 6000 5.5 4 28 14<br />

150 141 158 4.5 1.5 P522_0200 EZ701U 300 600 20.00 20/1 3300 6000 8.8 4 28 15<br />

150 184 211 5.9 1.1 P522_0200 EZ503U 300 600 20.00 20/1 3300 6000 7.9 4 28 15<br />

188 43 46 1.9 4.9 P522_0160 EZ401U 130 600 16.00 16/1 3300 6000 1.3 4 28 11<br />

188 65 71 2.9 3.2 P522_0160 EZ501U 240 600 16.00 16/1 3300 6000 3.2 4 28 12<br />

188 71 79 3.2 2.9 P522_0160 EZ402U 240 600 16.00 16/1 3300 6000 2.0 4 28 12<br />

188 105 131 4.7 2.0 P522_0160 EZ404U 300 600 16.00 16/1 3300 6000 3.3 4 28 14<br />

188 112 122 5.0 1.9 P522_0160 EZ502U 300 600 16.00 16/1 3300 6000 5.5 4 28 14<br />

188 112 126 5.0 1.9 P522_0160 EZ701U 300 600 16.00 16/1 3300 6000 8.8 4 28 15<br />

188 147 169 6.6 1.4 P522_0160 EZ503U 300 600 16.00 16/1 3300 6000 7.9 4 28 15<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

23


2.2 Selection tables 2 P planetary geared motors<br />

24<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P5 (n 1N = 3000 rpm, M 2acc,max = 300 Nm)<br />

188 182 219 8.1 1.2 P522_0160 EZ702U 300 600 16.00 16/1 3300 6000 14 4 28 18<br />

250 32 34 3.8 3.8 P522_0120 EZ401U 97 460 12.00 12/1 3000 6000 1.3 4 27 11<br />

250 49 54 5.9 2.4 P522_0120 EZ501U 180 460 12.00 12/1 3000 6000 3.3 4 27 12<br />

250 54 59 6.4 2.2 P522_0120 EZ402U 180 460 12.00 12/1 3000 6000 2.0 4 27 12<br />

250 79 98 9.5 1.5 P522_0120 EZ404U 200 460 12.00 12/1 3000 6000 3.3 4 27 14<br />

250 84 91 10 1.4 P522_0120 EZ502U 200 460 12.00 12/1 3000 6000 5.6 4 27 14<br />

250 84 95 10 1.4 P522_0120 EZ701U 200 460 12.00 12/1 3000 6000 8.9 4 27 15<br />

250 111 127 13 1.1 P522_0120 EZ503U 200 460 12.00 12/1 3000 6000 7.9 4 27 15<br />

300 42 46 1.8 2.9 P521_0100 EZ501U 160 500 10.00 10/1 3700 6500 3.0 3 25 9.4<br />

300 72 78 3.1 1.7 P521_0100 EZ502U 250 500 10.00 10/1 3700 6500 5.3 3 25 11<br />

300 72 81 3.1 1.7 P521_0100 EZ701U 190 500 10.00 10/1 3700 6500 8.6 3 25 13<br />

300 94 108 4.1 1.3 P521_0100 EZ503U 250 500 10.00 10/1 3700 6500 7.7 3 25 12<br />

300 116 140 5.1 1.1 P521_0100 EZ702U 250 500 10.00 10/1 3700 6500 14 3 25 15<br />

375 57 62 2.9 3.0 P521_0080 EZ502U 240 500 8.000 8/1 3700 6500 5.4 3 26 11<br />

375 57 64 2.9 3.0 P521_0080 EZ701U 160 500 8.000 8/1 3700 6500 8.7 3 26 13<br />

375 75 86 3.8 2.3 P521_0080 EZ503U 250 500 8.000 8/1 3700 6500 7.8 3 26 12<br />

375 93 112 4.7 1.9 P521_0080 EZ702U 250 500 8.000 8/1 3700 6500 14 3 26 15<br />

375 105 124 5.3 1.7 P521_0080 EZ505U 250 500 8.000 8/1 3700 6500 12 3 26 15<br />

375 128 161 6.4 1.4 P521_0080 EZ703U 250 500 8.000 8/1 3700 6500 22 3 26 17<br />

429 50 54 3.2 3.7 P521_0070 EZ502U 210 600 7.000 7/1 3700 6500 5.5 3 28 11<br />

429 50 56 3.2 3.7 P521_0070 EZ701U 140 600 7.000 7/1 3700 6500 8.8 3 28 13<br />

429 66 75 4.2 2.8 P521_0070 EZ503U 270 600 7.000 7/1 3700 6500 7.8 3 28 12<br />

429 81 98 5.2 2.3 P521_0070 EZ702U 270 600 7.000 7/1 3700 6500 14 3 28 15<br />

429 92 109 5.9 2.0 P521_0070 EZ505U 270 600 7.000 7/1 3700 6500 12 3 28 15<br />

429 112 141 7.2 1.6 P521_0070 EZ703U 270 600 7.000 7/1 3700 6500 22 3 28 17<br />

600 47 54 6.3 3.9 P521_0050 EZ503U 210 430 5.000 5/1 3500 6000 8.2 3 31 12<br />

600 58 70 7.8 3.2 P521_0050 EZ702U 200 600 5.000 5/1 3500 6000 14 3 31 15<br />

600 65 78 8.8 2.8 P521_0050 EZ505U 300 600 5.000 5/1 3500 6000 13 3 31 15<br />

600 80 101 11 2.3 P521_0050 EZ703U 300 600 5.000 5/1 3500 6000 22 3 31 17<br />

600 103 146 14 1.8 P521_0050 EZ705U 300 600 5.000 5/1 3500 6000 35 3 31 23<br />

600 108 180 15 1.7 P521_0050 EZ802U 300 600 5.000 5/1 3500 6000 59 3 31 31<br />

750 38 43 8.3 4.9 P521_0040 EZ503U 170 350 4.000 4/1 3000 5000 8.6 3 32 12<br />

750 47 56 10 3.9 P521_0040 EZ702U 160 600 4.000 4/1 3000 5000 15 3 32 15<br />

750 52 62 11 3.5 P521_0040 EZ505U 260 600 4.000 4/1 3000 5000 13 3 32 15<br />

750 64 81 14 2.9 P521_0040 EZ703U 250 600 4.000 4/1 3000 5000 23 3 32 17<br />

750 83 117 18 2.2 P521_0040 EZ705U 300 600 4.000 4/1 3000 5000 35 3 32 23<br />

750 87 144 19 2.1 P521_0040 EZ802U 300 600 4.000 4/1 3000 5000 59 3 32 31<br />

1000 22 23 16 4.9 P521_0030 EZ502U 90 260 3.000 3/1 2500 4500 8.0 3 36 11<br />

1000 22 24 16 4.9 P521_0030 EZ701U 58 460 3.000 3/1 2500 4500 11 3 36 13<br />

1000 28 32 20 3.7 P521_0030 EZ503U 130 260 3.000 3/1 2500 4500 10 3 36 12<br />

1000 35 42 25 3.0 P521_0030 EZ702U 120 460 3.000 3/1 2500 4500 17 3 36 15<br />

1000 39 47 28 2.7 P521_0030 EZ505U 190 460 3.000 3/1 2500 4500 15 3 36 15<br />

1000 48 61 35 2.2 P521_0030 EZ703U 190 460 3.000 3/1 2500 4500 24 3 36 17<br />

1000 62 88 45 1.7 P521_0030 EZ705U 200 460 3.000 3/1 2500 4500 37 3 36 23<br />

1000 65 108 47 1.6 P521_0030 EZ802U 200 460 3.000 3/1 2500 4500 61 3 36 31<br />

P5 (n 1N = 4500 rpm, M 2acc,max = 300 Nm)<br />

450 92 148 4.6 1.2 P521_0100 EZ505U 250 500 10.00 10/1 3700 6500 12 3 25 15<br />

563 74 119 4.2 2.1 P521_0080 EZ505U 250 500 8.000 8/1 3700 6500 12 3 26 15<br />

563 94 155 5.4 1.6 P521_0080 EZ703U 250 500 8.000 8/1 3700 6500 22 3 26 17<br />

643 65 104 4.7 2.5 P521_0070 EZ505U 270 600 7.000 7/1 3700 6500 12 3 28 15<br />

643 82 136 6.0 2.0 P521_0070 EZ703U 270 600 7.000 7/1 3700 6500 22 3 28 17<br />

900 46 74 7.1 3.5 P521_0050 EZ505U 300 600 5.000 5/1 3500 6000 13 3 31 15<br />

900 51 167 7.8 3.1 P521_0050 EZ802U 300 600 5.000 5/1 3500 6000 59 3 31 31<br />

900 59 97 9.0 2.7 P521_0050 EZ703U 300 600 5.000 5/1 3500 6000 22 3 31 17<br />

900 80 146 12 2.0 P521_0050 EZ705U 300 600 5.000 5/1 3500 6000 35 3 31 23<br />

1125 37 59 9.3 4.3 P521_0040 EZ505U 260 600 4.000 4/1 3000 5000 13 3 32 15<br />

1125 41 134 10 3.9 P521_0040 EZ802U 300 600 4.000 4/1 3000 5000 59 3 32 31<br />

1125 47 78 12 3.4 P521_0040 EZ703U 250 600 4.000 4/1 3000 5000 23 3 32 17<br />

1125 64 116 16 2.5 P521_0040 EZ705U 300 600 4.000 4/1 3000 5000 35 3 32 23<br />

1500 28 45 23 3.3 P521_0030 EZ505U 190 460 3.000 3/1 2500 4500 15 3 36 15<br />

1500 31 100 25 3.0 P521_0030 EZ802U 200 460 3.000 3/1 2500 4500 61 3 36 31<br />

1500 35 58 29 2.6 P521_0030 EZ703U 190 460 3.000 3/1 2500 4500 24 3 36 17<br />

1500 48 87 40 1.9 P521_0030 EZ705U 200 460 3.000 3/1 2500 4500 37 3 36 23<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


2 P planetary geared motors 2.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P5 (n 1N = 6000 rpm, M 2acc,max = 300 Nm)<br />

86 153 186 0.7 1.4 P522_0700 EZ401U 270 600 70.00 70/1 4000 7000 0.98 4 26 11<br />

107 122 149 0.9 1.6 P522_0560 EZ401U 250 500 56.00 56/1 4000 7000 1.0 4 25 11<br />

120 109 133 0.9 1.8 P522_0500 EZ401U 300 600 50.00 50/1 4000 7000 0.98 4 27 11<br />

120 162 209 1.4 1.2 P522_0500 EZ501U 300 600 50.00 50/1 4000 7000 3.0 4 27 12<br />

150 87 106 1.3 1.8 P522_0400 EZ401U 300 600 40.00 40/1 4000 7000 0.98 4 26 11<br />

150 129 167 1.9 1.2 P522_0400 EZ501U 300 600 40.00 40/1 4000 7000 3.0 4 26 12<br />

150 133 186 2.0 1.2 P522_0400 EZ402U 300 600 40.00 40/1 4000 7000 1.7 4 26 12<br />

171 76 93 1.1 2.7 P522_0350 EZ401U 280 600 35.00 35/1 4000 7000 1.0 4 28 11<br />

171 113 146 1.6 1.9 P522_0350 EZ501U 300 600 35.00 35/1 4000 7000 3.0 4 28 12<br />

171 116 163 1.6 1.8 P522_0350 EZ402U 300 600 35.00 35/1 4000 7000 1.7 4 28 12<br />

188 70 85 1.2 2.9 P522_0320 EZ401U 250 500 32.00 32/1 3300 6000 1.2 4 25 11<br />

188 103 134 1.7 1.9 P522_0320 EZ501U 250 500 32.00 32/1 3300 6000 3.2 4 25 12<br />

188 106 149 1.8 1.9 P522_0320 EZ402U 250 500 32.00 32/1 3300 6000 1.9 4 25 12<br />

214 61 74 1.2 3.4 P522_0280 EZ401U 230 600 28.00 28/1 4000 7000 1.0 4 27 11<br />

214 90 117 1.7 2.3 P522_0280 EZ501U 300 600 28.00 28/1 4000 7000 3.0 4 27 12<br />

214 93 130 1.8 2.3 P522_0280 EZ402U 300 600 28.00 28/1 4000 7000 1.7 4 27 12<br />

214 138 207 2.7 1.5 P522_0280 EZ502U 300 600 28.00 28/1 4000 7000 5.3 4 27 14<br />

214 154 223 3.0 1.4 P522_0280 EZ404U 300 600 28.00 28/1 4000 7000 3.1 4 27 14<br />

240 55 67 1.2 3.8 P522_0250 EZ401U 200 600 25.00 25/1 3700 6500 1.1 4 28 11<br />

240 81 105 1.8 2.6 P522_0250 EZ501U 300 600 25.00 25/1 3700 6500 3.1 4 28 12<br />

240 83 116 1.9 2.5 P522_0250 EZ402U 300 600 25.00 25/1 3700 6500 1.8 4 28 12<br />

240 124 185 2.8 1.7 P522_0250 EZ502U 300 600 25.00 25/1 3700 6500 5.4 4 28 14<br />

240 124 188 2.8 1.7 P522_0250 EZ701U 300 600 25.00 25/1 3700 6500 8.7 4 28 15<br />

240 138 200 3.1 1.5 P522_0250 EZ404U 300 600 25.00 25/1 3700 6500 3.2 4 28 14<br />

300 44 53 1.4 4.8 P522_0200 EZ401U 160 600 20.00 20/1 3300 6000 1.2 4 28 11<br />

300 65 84 2.1 3.3 P522_0200 EZ501U 300 600 20.00 20/1 3300 6000 3.2 4 28 12<br />

300 67 93 2.1 3.2 P522_0200 EZ402U 300 600 20.00 20/1 3300 6000 1.9 4 28 12<br />

300 99 148 3.2 2.1 P522_0200 EZ502U 300 600 20.00 20/1 3300 6000 5.5 4 28 14<br />

300 99 150 3.2 2.1 P522_0200 EZ701U 300 600 20.00 20/1 3300 6000 8.8 4 28 15<br />

300 110 160 3.5 1.9 P522_0200 EZ404U 300 600 20.00 20/1 3300 6000 3.3 4 28 14<br />

300 118 201 3.8 1.8 P522_0200 EZ503U 300 600 20.00 20/1 3300 6000 7.9 4 28 15<br />

375 52 67 2.3 4.1 P522_0160 EZ501U 240 600 16.00 16/1 3300 6000 3.2 4 28 12<br />

375 53 74 2.4 3.9 P522_0160 EZ402U 240 600 16.00 16/1 3300 6000 2.0 4 28 12<br />

375 79 119 3.5 2.7 P522_0160 EZ502U 300 600 16.00 16/1 3300 6000 5.5 4 28 14<br />

375 79 120 3.5 2.7 P522_0160 EZ701U 300 600 16.00 16/1 3300 6000 8.8 4 28 15<br />

375 88 128 3.9 2.4 P522_0160 EZ404U 300 600 16.00 16/1 3300 6000 3.3 4 28 14<br />

375 94 161 4.2 2.2 P522_0160 EZ503U 300 600 16.00 16/1 3300 6000 7.9 4 28 15<br />

375 109 217 4.9 1.9 P522_0160 EZ702U 300 600 16.00 16/1 3300 6000 14 4 28 18<br />

500 26 32 3.2 4.6 P522_0120 EZ401U 97 460 12.00 12/1 3000 6000 1.3 4 27 11<br />

500 39 50 4.7 3.1 P522_0120 EZ501U 180 460 12.00 12/1 3000 6000 3.3 4 27 12<br />

500 40 56 4.8 3.0 P522_0120 EZ402U 180 460 12.00 12/1 3000 6000 2.0 4 27 12<br />

500 59 89 7.1 2.0 P522_0120 EZ502U 200 460 12.00 12/1 3000 6000 5.6 4 27 14<br />

500 59 90 7.1 2.0 P522_0120 EZ701U 200 460 12.00 12/1 3000 6000 8.9 4 27 15<br />

500 66 96 8.0 1.8 P522_0120 EZ404U 200 460 12.00 12/1 3000 6000 3.3 4 27 14<br />

500 71 121 8.5 1.7 P522_0120 EZ503U 200 460 12.00 12/1 3000 6000 7.9 4 27 15<br />

600 33 43 1.8 2.9 P521_0100 EZ501U 160 500 10.00 10/1 3700 6500 3.0 3 25 9.4<br />

600 50 76 2.8 1.9 P521_0100 EZ502U 250 500 10.00 10/1 3700 6500 5.3 3 25 11<br />

600 50 77 2.8 1.9 P521_0100 EZ701U 190 500 10.00 10/1 3700 6500 8.6 3 25 13<br />

600 60 103 3.3 1.6 P521_0100 EZ503U 250 500 10.00 10/1 3700 6500 7.7 3 25 12<br />

600 70 139 3.9 1.4 P521_0100 EZ702U 250 500 10.00 10/1 3700 6500 14 3 25 15<br />

750 40 61 2.5 3.4 P521_0080 EZ502U 240 500 8.000 8/1 3700 6500 5.4 3 26 11<br />

750 40 61 2.5 3.4 P521_0080 EZ701U 160 500 8.000 8/1 3700 6500 8.7 3 26 13<br />

750 48 82 3.0 2.9 P521_0080 EZ503U 250 500 8.000 8/1 3700 6500 7.8 3 26 12<br />

750 56 111 3.5 2.5 P521_0080 EZ702U 250 500 8.000 8/1 3700 6500 14 3 26 15<br />

857 35 53 2.9 4.1 P521_0070 EZ502U 210 600 7.000 7/1 3700 6500 5.5 3 28 11<br />

857 35 54 2.9 4.1 P521_0070 EZ701U 140 600 7.000 7/1 3700 6500 8.8 3 28 13<br />

857 42 72 3.4 3.5 P521_0070 EZ503U 270 600 7.000 7/1 3700 6500 7.8 3 28 12<br />

857 49 97 3.9 3.0 P521_0070 EZ702U 270 600 7.000 7/1 3700 6500 14 3 28 15<br />

1200 30 51 5.1 4.8 P521_0050 EZ503U 210 430 5.000 5/1 3500 6000 8.2 3 31 12<br />

1200 35 69 5.9 4.2 P521_0050 EZ702U 200 600 5.000 5/1 3500 6000 14 3 31 15<br />

P7 (n 1N = 2000 rpm, M 2acc,max = 700 Nm)<br />

400 212 321 14 2.1 P721_0050 EZ805U 700 1400 5.000 5/1 3000 5500 135 3 58 54<br />

500 170 256 19 2.6 P721_0040 EZ805U 700 1380 4.000 4/1 2500 4500 136 3 60 54<br />

667 127 192 41 2.2 P721_0030 EZ805U 500 1040 3.000 3/1 2200 3700 141 3 65 54<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

25


2.2 Selection tables 2 P planetary geared motors<br />

26<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P7 (n 1N = 3000 rpm, M 2acc,max = 700 Nm)<br />

38 327 357 0.8 1.2 P722_0800 EZ501U 500 1000 80.00 80/1 3700 6500 3.1 4 52 18<br />

43 286 313 0.8 1.5 P722_0700 EZ501U 650 1250 70.00 70/1 3700 6500 3.1 4 53 18<br />

54 229 250 1.0 1.7 P722_0560 EZ501U 500 1000 56.00 56/1 3700 6500 3.2 4 52 18<br />

60 204 223 0.9 2.2 P722_0500 EZ501U 700 1400 50.00 50/1 3700 6500 3.1 4 53 18<br />

60 352 380 1.6 1.3 P722_0500 EZ502U 700 1400 50.00 50/1 3700 6500 5.4 4 53 19<br />

60 352 394 1.6 1.3 P722_0500 EZ701U 700 1400 50.00 50/1 3700 6500 8.7 4 53 21<br />

75 163 179 1.1 2.7 P722_0400 EZ501U 610 1380 40.00 40/1 3700 6500 3.1 4 52 18<br />

75 281 304 1.8 1.6 P722_0400 EZ502U 700 1380 40.00 40/1 3700 6500 5.4 4 52 19<br />

75 281 315 1.8 1.6 P722_0400 EZ701U 700 1380 40.00 40/1 3700 6500 8.7 4 52 21<br />

75 369 422 2.4 1.2 P722_0400 EZ503U 700 1380 40.00 40/1 3700 6500 7.8 4 52 21<br />

86 143 156 1.1 3.1 P722_0350 EZ501U 530 1400 35.00 35/1 3700 6500 3.2 4 53 18<br />

86 246 266 1.9 1.8 P722_0350 EZ502U 700 1400 35.00 35/1 3700 6500 5.5 4 53 19<br />

86 246 276 1.9 1.8 P722_0350 EZ701U 670 1400 35.00 35/1 3700 6500 8.8 4 53 21<br />

86 323 369 2.5 1.4 P722_0350 EZ503U 700 1400 35.00 35/1 3700 6500 7.9 4 53 21<br />

86 399 479 3.2 1.1 P722_0350 EZ702U 700 1400 35.00 35/1 3700 6500 14 4 53 24<br />

94 131 143 1.3 3.1 P722_0320 EZ501U 490 1000 32.00 32/1 3000 5000 3.9 4 52 18<br />

94 225 243 2.2 1.8 P722_0320 EZ502U 500 1000 32.00 32/1 3000 5000 6.2 4 52 19<br />

94 225 252 2.2 1.8 P722_0320 EZ701U 500 1000 32.00 32/1 3000 5000 9.5 4 52 21<br />

94 295 337 2.9 1.4 P722_0320 EZ503U 500 1000 32.00 32/1 3000 5000 8.5 4 52 21<br />

107 114 125 1.3 3.8 P722_0280 EZ501U 430 1380 28.00 28/1 3700 6500 3.3 4 53 18<br />

107 197 213 2.2 2.2 P722_0280 EZ502U 700 1380 28.00 28/1 3700 6500 5.6 4 53 19<br />

107 197 221 2.2 2.2 P722_0280 EZ701U 530 1380 28.00 28/1 3700 6500 8.9 4 53 21<br />

107 258 295 2.9 1.7 P722_0280 EZ503U 700 1380 28.00 28/1 3700 6500 7.9 4 53 21<br />

107 319 383 3.5 1.4 P722_0280 EZ702U 700 1380 28.00 28/1 3700 6500 14 4 53 24<br />

107 359 426 4.0 1.2 P722_0280 EZ505U 700 1380 28.00 28/1 3700 6500 13 4 53 24<br />

120 102 112 1.3 4.3 P722_0250 EZ501U 380 1400 25.00 25/1 3500 6000 3.6 4 54 18<br />

120 176 190 2.3 2.5 P722_0250 EZ502U 700 1400 25.00 25/1 3500 6000 5.9 4 54 19<br />

120 176 197 2.3 2.5 P722_0250 EZ701U 480 1400 25.00 25/1 3500 6000 9.2 4 54 21<br />

120 230 264 3.0 1.9 P722_0250 EZ503U 700 1400 25.00 25/1 3500 6000 8.2 4 54 21<br />

120 285 342 3.7 1.5 P722_0250 EZ702U 700 1400 25.00 25/1 3500 6000 14 4 54 24<br />

120 321 380 4.2 1.4 P722_0250 EZ505U 700 1400 25.00 25/1 3500 6000 13 4 54 24<br />

120 392 494 5.1 1.1 P722_0250 EZ703U 700 1400 25.00 25/1 3500 6000 22 4 54 26<br />

150 141 152 2.6 3.1 P722_0200 EZ502U 590 1400 20.00 20/1 3000 5000 6.2 4 54 19<br />

150 141 158 2.6 3.1 P722_0200 EZ701U 380 1400 20.00 20/1 3000 5000 9.5 4 54 21<br />

150 184 211 3.4 2.4 P722_0200 EZ503U 700 1400 20.00 20/1 3000 5000 8.6 4 54 21<br />

150 228 274 4.2 1.9 P722_0200 EZ702U 700 1400 20.00 20/1 3000 5000 15 4 54 24<br />

150 257 304 4.7 1.7 P722_0200 EZ505U 700 1400 20.00 20/1 3000 5000 13 4 54 24<br />

150 314 395 5.7 1.4 P722_0200 EZ703U 700 1400 20.00 20/1 3000 5000 23 4 54 26<br />

188 112 122 2.9 3.9 P722_0160 EZ502U 470 1340 16.00 16/1 3000 5000 6.3 4 54 19<br />

188 112 126 2.9 3.9 P722_0160 EZ701U 300 1380 16.00 16/1 3000 5000 9.6 4 54 21<br />

188 147 169 3.8 3.0 P722_0160 EZ503U 650 1340 16.00 16/1 3000 5000 8.7 4 54 21<br />

188 182 219 4.7 2.4 P722_0160 EZ702U 620 1380 16.00 16/1 3000 5000 15 4 54 24<br />

188 205 243 5.2 2.1 P722_0160 EZ505U 700 1380 16.00 16/1 3000 5000 13 4 54 24<br />

188 251 316 6.4 1.8 P722_0160 EZ703U 700 1380 16.00 16/1 3000 5000 23 4 54 26<br />

188 324 459 8.3 1.4 P722_0160 EZ705U 700 1380 16.00 16/1 3000 5000 35 4 54 31<br />

250 84 91 5.2 3.3 P722_0120 EZ502U 350 1000 12.00 12/1 2500 5000 6.6 4 53 19<br />

250 84 95 5.2 3.3 P722_0120 EZ701U 230 1040 12.00 12/1 2500 5000 9.9 4 53 21<br />

250 111 127 6.8 2.5 P722_0120 EZ503U 490 1000 12.00 12/1 2500 5000 9.0 4 53 21<br />

250 137 164 8.5 2.0 P722_0120 EZ702U 470 1040 12.00 12/1 2500 5000 15 4 53 24<br />

250 154 182 9.5 1.8 P722_0120 EZ505U 500 1040 12.00 12/1 2500 5000 14 4 53 24<br />

250 188 237 12 1.5 P722_0120 EZ703U 500 1040 12.00 12/1 2500 5000 23 4 53 26<br />

250 243 344 15 1.2 P722_0120 EZ705U 500 1040 12.00 12/1 2500 5000 35 4 53 31<br />

300 72 81 1.8 3.7 P721_0100 EZ701U 190 1000 10.00 10/1 3300 6000 9.0 3 50 17<br />

300 116 140 2.9 2.3 P721_0100 EZ702U 400 1000 10.00 10/1 3300 6000 14 3 50 19<br />

300 160 202 3.9 1.6 P721_0100 EZ703U 500 1000 10.00 10/1 3300 6000 22 3 50 21<br />

300 207 293 5.1 1.3 P721_0100 EZ705U 500 1000 10.00 10/1 3300 6000 35 3 50 27<br />

300 216 360 5.3 1.2 P721_0100 EZ802U 500 1000 10.00 10/1 3300 6000 59 3 50 35<br />

375 93 112 2.8 3.8 P721_0080 EZ702U 320 1000 8.000 8/1 3300 6000 15 3 53 19<br />

375 128 161 3.9 2.7 P721_0080 EZ703U 500 1000 8.000 8/1 3300 6000 22 3 53 21<br />

375 165 234 5.0 2.1 P721_0080 EZ705U 500 1000 8.000 8/1 3300 6000 35 3 53 27<br />

375 173 288 5.2 2.0 P721_0080 EZ802U 500 1000 8.000 8/1 3300 6000 59 3 53 35<br />

429 81 98 3.0 4.7 P721_0070 EZ702U 280 1250 7.000 7/1 3300 6000 15 3 55 19<br />

429 112 141 4.1 3.4 P721_0070 EZ703U 440 1250 7.000 7/1 3300 6000 23 3 55 21<br />

429 145 205 5.3 2.7 P721_0070 EZ705U 650 1250 7.000 7/1 3300 6000 35 3 55 27<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


2 P planetary geared motors 2.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P7 (n 1N = 3000 rpm, M 2acc,max = 700 Nm)<br />

429 151 252 5.6 2.5 P721_0070 EZ802U 650 1250 7.000 7/1 3300 6000 59 3 55 35<br />

600 80 101 6.2 4.8 P721_0050 EZ703U 320 900 5.000 5/1 3000 5500 24 3 58 21<br />

600 103 146 7.9 3.7 P721_0050 EZ705U 500 1400 5.000 5/1 3000 5500 36 3 58 27<br />

600 108 180 8.3 3.6 P721_0050 EZ802U 490 1400 5.000 5/1 3000 5500 60 3 58 35<br />

600 129 234 9.9 3.0 P721_0050 EZ803U 700 1400 5.000 5/1 3000 5500 85 3 58 41<br />

750 83 117 10 4.7 P721_0040 EZ705U 400 1380 4.000 4/1 2500 4500 38 3 60 27<br />

750 87 144 11 4.4 P721_0040 EZ802U 390 1380 4.000 4/1 2500 4500 62 3 60 35<br />

750 103 187 13 3.7 P721_0040 EZ803U 560 1380 4.000 4/1 2500 4500 87 3 60 41<br />

1000 62 88 23 3.9 P721_0030 EZ705U 300 1040 3.000 3/1 2200 3700 42 3 65 27<br />

1000 65 108 24 3.8 P721_0030 EZ802U 290 1040 3.000 3/1 2200 3700 66 3 65 35<br />

1000 77 140 29 3.2 P721_0030 EZ803U 420 1040 3.000 3/1 2200 3700 92 3 65 41<br />

P7 (n 1N = 4500 rpm, M 2acc,max = 700 Nm)<br />

129 316 509 2.5 1.4 P722_0350 EZ505U 700 1400 35.00 35/1 3700 6500 12 4 53 24<br />

161 253 407 2.8 1.7 P722_0280 EZ505U 700 1380 28.00 28/1 3700 6500 13 4 53 24<br />

161 322 532 3.6 1.4 P722_0280 EZ703U 700 1380 28.00 28/1 3700 6500 22 4 53 26<br />

180 226 363 3.0 2.0 P722_0250 EZ505U 700 1400 25.00 25/1 3500 6000 13 4 54 24<br />

180 287 475 3.8 1.5 P722_0250 EZ703U 700 1400 25.00 25/1 3500 6000 22 4 54 26<br />

225 181 291 3.3 2.4 P722_0200 EZ505U 700 1400 20.00 20/1 3000 5000 13 4 54 24<br />

225 230 380 4.2 1.9 P722_0200 EZ703U 700 1400 20.00 20/1 3000 5000 23 4 54 26<br />

281 144 233 3.7 3.0 P722_0160 EZ505U 700 1380 16.00 16/1 3000 5000 13 4 54 24<br />

281 160 524 4.1 2.8 P722_0160 EZ802U 700 1380 16.00 16/1 3000 5000 59 4 54 40<br />

281 184 304 4.7 2.4 P722_0160 EZ703U 700 1380 16.00 16/1 3000 5000 23 4 54 26<br />

281 249 456 6.4 1.8 P722_0160 EZ705U 700 1380 16.00 16/1 3000 5000 35 4 54 31<br />

375 108 174 6.7 2.6 P722_0120 EZ505U 500 1040 12.00 12/1 2500 5000 14 4 53 24<br />

375 138 228 8.5 2.0 P722_0120 EZ703U 500 1040 12.00 12/1 2500 5000 23 4 53 26<br />

375 187 342 12 1.5 P722_0120 EZ705U 500 1040 12.00 12/1 2500 5000 35 4 53 31<br />

450 102 335 2.9 2.2 P721_0100 EZ802U 500 1000 10.00 10/1 3300 6000 59 3 50 35<br />

450 117 194 3.3 2.0 P721_0100 EZ703U 500 1000 10.00 10/1 3300 6000 22 3 50 21<br />

450 159 291 4.5 1.4 P721_0100 EZ705U 500 1000 10.00 10/1 3300 6000 35 3 50 27<br />

563 81 268 2.8 3.7 P721_0080 EZ802U 500 1000 8.000 8/1 3300 6000 59 3 53 35<br />

563 94 155 3.2 3.3 P721_0080 EZ703U 500 1000 8.000 8/1 3300 6000 22 3 53 21<br />

563 127 233 4.4 2.4 P721_0080 EZ705U 500 1000 8.000 8/1 3300 6000 35 3 53 27<br />

643 71 234 3.0 4.7 P721_0070 EZ802U 650 1250 7.000 7/1 3300 6000 59 3 55 35<br />

643 82 136 3.5 4.1 P721_0070 EZ703U 440 1250 7.000 7/1 3300 6000 23 3 55 21<br />

643 111 204 4.7 3.0 P721_0070 EZ705U 650 1250 7.000 7/1 3300 6000 35 3 55 27<br />

900 80 146 7.0 4.2 P721_0050 EZ705U 500 1400 5.000 5/1 3000 5500 36 3 58 27<br />

P7 (n 1N = 6000 rpm, M 2acc,max = 700 Nm)<br />

75 258 334 0.7 1.5 P722_0800 EZ501U 500 1000 80.00 80/1 3700 6500 3.1 4 52 18<br />

86 226 293 0.6 1.9 P722_0700 EZ501U 650 1250 70.00 70/1 3700 6500 3.1 4 53 18<br />

107 181 234 0.8 2.2 P722_0560 EZ501U 500 1000 56.00 56/1 3700 6500 3.2 4 52 18<br />

120 162 209 0.7 2.7 P722_0500 EZ501U 700 1400 50.00 50/1 3700 6500 3.1 4 53 18<br />

120 247 371 1.1 1.8 P722_0500 EZ502U 700 1400 50.00 50/1 3700 6500 5.4 4 53 19<br />

120 247 375 1.1 1.8 P722_0500 EZ701U 700 1400 50.00 50/1 3700 6500 8.7 4 53 21<br />

120 295 504 1.4 1.5 P722_0500 EZ503U 700 1400 50.00 50/1 3700 6500 7.7 4 53 21<br />

150 129 167 1.0 2.9 P722_0400 EZ501U 610 1380 40.00 40/1 3700 6500 3.1 4 52 18<br />

150 198 296 1.5 1.9 P722_0400 EZ502U 700 1380 40.00 40/1 3700 6500 5.4 4 52 19<br />

150 198 300 1.5 1.9 P722_0400 EZ701U 700 1380 40.00 40/1 3700 6500 8.7 4 52 21<br />

150 236 403 1.8 1.6 P722_0400 EZ503U 700 1380 40.00 40/1 3700 6500 7.8 4 52 21<br />

171 113 146 0.9 3.9 P722_0350 EZ501U 530 1400 35.00 35/1 3700 6500 3.2 4 53 18<br />

171 173 259 1.4 2.5 P722_0350 EZ502U 700 1400 35.00 35/1 3700 6500 5.5 4 53 19<br />

171 173 263 1.4 2.5 P722_0350 EZ701U 670 1400 35.00 35/1 3700 6500 8.8 4 53 21<br />

171 206 352 1.6 2.1 P722_0350 EZ503U 700 1400 35.00 35/1 3700 6500 7.9 4 53 21<br />

171 239 475 1.9 1.8 P722_0350 EZ702U 700 1400 35.00 35/1 3700 6500 14 4 53 24<br />

214 90 117 1.0 4.9 P722_0280 EZ501U 430 1380 28.00 28/1 3700 6500 3.3 4 53 18<br />

214 138 207 1.5 3.2 P722_0280 EZ502U 700 1380 28.00 28/1 3700 6500 5.6 4 53 19<br />

214 138 210 1.5 3.2 P722_0280 EZ701U 530 1380 28.00 28/1 3700 6500 8.9 4 53 21<br />

214 165 282 1.8 2.7 P722_0280 EZ503U 700 1380 28.00 28/1 3700 6500 7.9 4 53 21<br />

214 192 380 2.1 2.3 P722_0280 EZ702U 700 1380 28.00 28/1 3700 6500 14 4 53 24<br />

240 124 185 1.6 3.6 P722_0250 EZ502U 700 1400 25.00 25/1 3500 6000 5.9 4 54 19<br />

240 124 188 1.6 3.6 P722_0250 EZ701U 480 1400 25.00 25/1 3500 6000 9.2 4 54 21<br />

240 147 252 1.9 3.0 P722_0250 EZ503U 700 1400 25.00 25/1 3500 6000 8.2 4 54 21<br />

240 171 340 2.2 2.6 P722_0250 EZ702U 700 1400 25.00 25/1 3500 6000 14 4 54 24<br />

600 50 77 1.6 4.1 P721_0100 EZ701U 190 1000 10.00 10/1 3300 6000 9.0 3 50 17<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

27


2.2 Selection tables 2 P planetary geared motors<br />

28<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P7 (n 1N = 6000 rpm, M 2acc,max = 700 Nm)<br />

600 70 139 2.2 3.0 P721_0100 EZ702U 400 1000 10.00 10/1 3300 6000 14 3 50 19<br />

750 56 111 2.1 5.0 P721_0080 EZ702U 320 1000 8.000 8/1 3300 6000 15 3 53 19<br />

P8 (n 1N = 2000 rpm, M 2acc,max = 1600 Nm)<br />

125 664 1005 10 1.2 P822_0160 EZ805U 1600 3180 16.00 16/1 2500 4500 137 4 169 74<br />

167 498 754 12 1.6 P822_0120 EZ805U 1200 2400 12.00 12/1 2200 4500 138 4 156 74<br />

200 424 641 4.2 1.7 P821_0100 EZ805U 1200 2400 10.00 10/1 2800 4500 135 3 153 64<br />

250 339 513 4.8 2.4 P821_0080 EZ805U 1200 2400 8.000 8/1 2800 4500 136 3 166 64<br />

286 297 449 4.5 3.4 P821_0070 EZ805U 1390 2800 7.000 7/1 2800 4500 138 3 177 64<br />

400 212 321 6.8 4.7 P821_0050 EZ805U 990 2900 5.000 5/1 2500 4000 142 3 194 64<br />

500 170 256 11 4.7 P821_0040 EZ805U 800 2330 4.000 4/1 2200 3500 149 3 205 64<br />

P8 (n 1N = 3000 rpm, M 2acc,max = 1600 Nm)<br />

38 562 631 0.8 1.4 P822_0800 EZ701U 1200 2400 80.00 80/1 3300 6000 9.0 4 159 37<br />

43 492 552 0.7 2.0 P822_0700 EZ701U 1330 2800 70.00 70/1 3300 6000 9.0 4 165 37<br />

43 798 958 1.1 1.3 P822_0700 EZ702U 1400 2800 70.00 70/1 3300 6000 14 4 165 39<br />

54 394 442 0.9 2.0 P822_0560 EZ701U 1060 2400 56.00 56/1 3300 6000 9.7 4 159 37<br />

54 638 766 1.5 1.3 P822_0560 EZ702U 1200 2400 56.00 56/1 3300 6000 15 4 159 39<br />

60 352 394 0.8 2.8 P822_0500 EZ701U 950 3200 50.00 50/1 3300 6000 9.1 4 168 37<br />

60 570 684 1.3 1.8 P822_0500 EZ702U 1600 3200 50.00 50/1 3300 6000 14 4 168 39<br />

60 784 988 1.7 1.3 P822_0500 EZ703U 1600 3200 50.00 50/1 3300 6000 22 4 168 41<br />

75 281 315 1.1 2.8 P822_0400 EZ701U 760 3180 40.00 40/1 3300 6000 9.2 4 163 37<br />

75 456 547 1.8 1.8 P822_0400 EZ702U 1560 3180 40.00 40/1 3300 6000 14 4 163 39<br />

75 627 790 2.4 1.3 P822_0400 EZ703U 1600 3180 40.00 40/1 3300 6000 22 4 163 41<br />

86 246 276 0.9 4.1 P822_0350 EZ701U 670 3200 35.00 35/1 3300 6000 9.7 4 170 37<br />

86 399 479 1.5 2.5 P822_0350 EZ702U 1360 3200 35.00 35/1 3300 6000 15 4 170 39<br />

86 549 692 2.1 1.8 P822_0350 EZ703U 1600 3200 35.00 35/1 3300 6000 23 4 170 41<br />

86 708 1004 2.7 1.4 P822_0350 EZ705U 1600 3200 35.00 35/1 3300 6000 35 4 170 47<br />

86 741 1234 2.8 1.3 P822_0350 EZ802U 1600 3200 35.00 35/1 3300 6000 59 4 170 55<br />

94 225 252 1.2 3.6 P822_0320 EZ701U 610 2400 32.00 32/1 2500 4500 12 4 159 37<br />

94 365 438 2.0 2.2 P822_0320 EZ702U 1200 2400 32.00 32/1 2500 4500 17 4 159 39<br />

94 502 632 2.7 1.6 P822_0320 EZ703U 1200 2400 32.00 32/1 2500 4500 25 4 159 41<br />

94 648 918 3.5 1.2 P822_0320 EZ705U 1200 2400 32.00 32/1 2500 4500 37 4 159 47<br />

107 197 221 1.3 4.1 P822_0280 EZ701U 530 3180 28.00 28/1 3300 6000 9.8 4 166 37<br />

107 319 383 2.1 2.5 P822_0280 EZ702U 1090 3180 28.00 28/1 3300 6000 15 4 166 39<br />

107 439 553 2.9 1.8 P822_0280 EZ703U 1600 3180 28.00 28/1 3300 6000 23 4 166 41<br />

107 567 803 3.7 1.4 P822_0280 EZ705U 1600 3180 28.00 28/1 3300 6000 35 4 166 47<br />

107 593 987 3.9 1.3 P822_0280 EZ802U 1600 3180 28.00 28/1 3300 6000 59 4 166 55<br />

120 285 342 1.8 3.5 P822_0250 EZ702U 970 3200 25.00 25/1 3000 5500 16 4 171 39<br />

120 392 494 2.4 2.6 P822_0250 EZ703U 1540 3200 25.00 25/1 3000 5500 24 4 171 41<br />

120 506 717 3.2 2.0 P822_0250 EZ705U 1600 3200 25.00 25/1 3000 5500 36 4 171 47<br />

120 530 881 3.3 1.9 P822_0250 EZ802U 1600 3200 25.00 25/1 3000 5500 60 4 171 55<br />

120 632 1145 3.9 1.6 P822_0250 EZ803U 1600 3200 25.00 25/1 3000 5500 86 4 171 61<br />

150 228 274 2.0 4.4 P822_0200 EZ702U 780 3200 20.00 20/1 2500 4500 17 4 172 39<br />

150 314 395 2.7 3.2 P822_0200 EZ703U 1240 3200 20.00 20/1 2500 4500 25 4 172 41<br />

150 405 574 3.5 2.5 P822_0200 EZ705U 1600 3200 20.00 20/1 2500 4500 38 4 172 47<br />

150 424 705 3.7 2.4 P822_0200 EZ802U 1600 3200 20.00 20/1 2500 4500 62 4 172 55<br />

150 505 916 4.4 2.0 P822_0200 EZ803U 1600 3200 20.00 20/1 2500 4500 87 4 172 61<br />

188 182 219 2.8 4.4 P822_0160 EZ702U 620 2790 16.00 16/1 2500 4500 18 4 169 39<br />

188 251 316 3.8 3.2 P822_0160 EZ703U 990 2790 16.00 16/1 2500 4500 26 4 169 41<br />

188 324 459 4.9 2.5 P822_0160 EZ705U 1580 3180 16.00 16/1 2500 4500 38 4 169 47<br />

188 339 564 5.2 2.4 P822_0160 EZ802U 1520 3180 16.00 16/1 2500 4500 62 4 169 55<br />

188 404 733 6.2 2.0 P822_0160 EZ803U 1600 3180 16.00 16/1 2500 4500 88 4 169 61<br />

250 188 237 4.4 4.3 P822_0120 EZ703U 740 2090 12.00 12/1 2200 4500 27 4 156 41<br />

250 243 344 5.7 3.3 P822_0120 EZ705U 1190 2400 12.00 12/1 2200 4500 40 4 156 47<br />

250 254 423 6.0 3.1 P822_0120 EZ802U 1140 2400 12.00 12/1 2200 4500 64 4 156 55<br />

250 303 549 7.1 2.6 P822_0120 EZ803U 1200 2400 12.00 12/1 2200 4500 89 4 156 61<br />

300 216 360 2.5 2.8 P821_0100 EZ802U 970 2400 10.00 10/1 2800 4500 60 3 153 45<br />

300 258 468 2.9 2.4 P821_0100 EZ803U 1200 2400 10.00 10/1 2800 4500 86 3 153 51<br />

375 173 288 2.8 4.0 P821_0080 EZ802U 780 2400 8.000 8/1 2800 4500 62 3 166 45<br />

375 206 374 3.4 3.4 P821_0080 EZ803U 1130 2400 8.000 8/1 2800 4500 87 3 166 51<br />

429 181 327 3.2 4.8 P821_0070 EZ803U 980 2800 7.000 7/1 2800 4500 88 3 177 51<br />

P8 (n 1N = 4500 rpm, M 2acc,max = 1600 Nm)<br />

90 575 950 1.3 1.7 P822_0500 EZ703U 1600 3200 50.00 50/1 3300 6000 22 4 168 41<br />

113 460 760 1.8 1.7 P822_0400 EZ703U 1600 3180 40.00 40/1 3300 6000 22 4 163 41<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


2 P planetary geared motors 2.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

P8 (n 1N = 4500 rpm, M 2acc,max = 1600 Nm)<br />

113 623 1140 2.4 1.3 P822_0400 EZ705U 1600 3180 40.00 40/1 3300 6000 35 4 163 47<br />

129 349 1147 1.3 2.9 P822_0350 EZ802U 1600 3200 35.00 35/1 3300 6000 59 4 170 55<br />

129 402 665 1.5 2.5 P822_0350 EZ703U 1600 3200 35.00 35/1 3300 6000 23 4 170 41<br />

129 545 998 2.1 1.8 P822_0350 EZ705U 1600 3200 35.00 35/1 3300 6000 35 4 170 47<br />

141 368 608 2.0 2.2 P822_0320 EZ703U 1200 2400 32.00 32/1 2500 4500 25 4 159 41<br />

141 499 912 2.7 1.6 P822_0320 EZ705U 1200 2400 32.00 32/1 2500 4500 37 4 159 47<br />

161 279 918 1.8 2.9 P822_0280 EZ802U 1600 3180 28.00 28/1 3300 6000 59 4 166 55<br />

161 322 532 2.1 2.5 P822_0280 EZ703U 1600 3180 28.00 28/1 3300 6000 23 4 166 41<br />

161 436 798 2.9 1.8 P822_0280 EZ705U 1600 3180 28.00 28/1 3300 6000 35 4 166 47<br />

180 249 819 1.6 4.0 P822_0250 EZ802U 1600 3200 25.00 25/1 3000 5500 60 4 171 55<br />

180 287 475 1.8 3.5 P822_0250 EZ703U 1540 3200 25.00 25/1 3000 5500 24 4 171 41<br />

180 390 713 2.4 2.6 P822_0250 EZ705U 1600 3200 25.00 25/1 3000 5500 36 4 171 47<br />

225 230 380 2.0 4.4 P822_0200 EZ703U 1240 3200 20.00 20/1 2500 4500 25 4 172 41<br />

225 312 570 2.7 3.2 P822_0200 EZ705U 1600 3200 20.00 20/1 2500 4500 38 4 172 47<br />

281 184 304 2.8 4.4 P822_0160 EZ703U 990 2790 16.00 16/1 2500 4500 26 4 169 41<br />

281 249 456 3.8 3.2 P822_0160 EZ705U 1580 3180 16.00 16/1 2500 4500 38 4 169 47<br />

375 187 342 4.4 4.3 P822_0120 EZ705U 1190 2400 12.00 12/1 2200 4500 40 4 156 47<br />

P8 (n 1N = 6000 rpm, M 2acc,max = 1600 Nm)<br />

60 494 751 0.6 1.4 P822_1000 EZ701U 1200 2400 100.0 100/1 3300 6000 9.0 4 148 37<br />

75 395 600 0.5 2.0 P822_0800 EZ701U 1200 2400 80.00 80/1 3300 6000 9.0 4 159 37<br />

86 346 525 0.5 2.9 P822_0700 EZ701U 1330 2800 70.00 70/1 3300 6000 9.0 4 165 37<br />

86 479 951 0.6 2.1 P822_0700 EZ702U 1400 2800 70.00 70/1 3300 6000 14 4 165 39<br />

107 277 420 0.6 2.9 P822_0560 EZ701U 1060 2400 56.00 56/1 3300 6000 9.7 4 159 37<br />

107 383 761 0.9 2.1 P822_0560 EZ702U 1200 2400 56.00 56/1 3300 6000 15 4 159 39<br />

120 247 375 0.5 4.0 P822_0500 EZ701U 950 3200 50.00 50/1 3300 6000 9.1 4 168 37<br />

120 342 679 0.8 2.9 P822_0500 EZ702U 1600 3200 50.00 50/1 3300 6000 14 4 168 39<br />

150 198 300 0.8 4.0 P822_0400 EZ701U 760 3180 40.00 40/1 3300 6000 9.2 4 163 37<br />

150 274 543 1.1 2.9 P822_0400 EZ702U 1560 3180 40.00 40/1 3300 6000 14 4 163 39<br />

171 239 475 0.9 4.2 P822_0350 EZ702U 1360 3200 35.00 35/1 3300 6000 15 4 170 39<br />

214 192 380 1.3 4.2 P822_0280 EZ702U 1090 3180 28.00 28/1 3300 6000 15 4 166 39<br />

P9 (n 1N = 2000 rpm, M 2acc,max = 3000 Nm)<br />

57 1453 2198 2.9 1.4 P922_0350 EZ805U 3000 6000 35.00 35/1 2800 4500 138 4 333 99<br />

71 1162 1758 3.3 1.7 P922_0280 EZ805U 3000 5530 28.00 28/1 2800 4500 138 4 335 99<br />

80 1038 1570 3.5 1.9 P922_0250 EZ805U 3000 6000 25.00 25/1 2500 4000 143 4 335 99<br />

100 830 1256 3.9 2.4 P922_0200 EZ805U 3000 6000 20.00 20/1 2200 3500 149 4 336 99<br />

125 664 1005 4.4 3.0 P922_0160 EZ805U 3000 5530 16.00 16/1 2200 3500 150 4 341 99<br />

P9 (n 1N = 3000 rpm, M 2acc,max = 3000 Nm)<br />

60 1059 1762 1.3 1.9 P922_0500 EZ802U 3000 6000 50.00 50/1 2800 4500 60 4 329 80<br />

60 1264 2290 1.5 1.6 P922_0500 EZ803U 3000 6000 50.00 50/1 2800 4500 86 4 329 86<br />

75 847 1410 1.4 2.4 P922_0400 EZ802U 3000 5530 40.00 40/1 2800 4500 60 4 329 80<br />

75 1011 1832 1.7 2.0 P922_0400 EZ803U 3000 5530 40.00 40/1 2800 4500 86 4 329 86<br />

86 741 1234 1.5 2.7 P922_0350 EZ802U 3000 6000 35.00 35/1 2800 4500 63 4 333 80<br />

86 884 1603 1.8 2.3 P922_0350 EZ803U 3000 6000 35.00 35/1 2800 4500 89 4 333 86<br />

107 593 987 1.7 3.4 P922_0280 EZ802U 2660 5530 28.00 28/1 2800 4500 63 4 335 80<br />

107 708 1282 2.0 2.8 P922_0280 EZ803U 3000 5530 28.00 28/1 2800 4500 89 4 335 86<br />

120 530 881 1.8 3.8 P922_0250 EZ802U 2380 6000 25.00 25/1 2500 4000 68 4 335 80<br />

120 632 1145 2.1 3.2 P922_0250 EZ803U 3000 6000 25.00 25/1 2500 4000 93 4 335 86<br />

150 424 705 2.0 4.7 P922_0200 EZ802U 1900 6000 20.00 20/1 2200 3500 74 4 336 80<br />

150 505 916 2.4 4.0 P922_0200 EZ803U 2760 6000 20.00 20/1 2200 3500 100 4 336 86<br />

188 404 733 2.7 4.9 P922_0160 EZ803U 2200 5530 16.00 16/1 2200 3500 101 4 341 86<br />

P9 (n 1N = 4500 rpm, M 2acc,max = 3000 Nm)<br />

90 499 1639 0.6 4.0 P922_0500 EZ802U 3000 6000 50.00 50/1 2800 4500 60 4 329 80<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

29


30<br />

2.2 Selection tables 2 P planetary geared motors


2 P planetary geared motors 2.3 Dimensional drawings<br />

2.3 Dimensional drawings<br />

In this chapter you can find the dimensions of the geared motors.<br />

There is a dimensional drawing for every possible shaft/housing design, each with the tables for gear unit dimensions,<br />

motor dimensions and geared motor dimensions.<br />

Dimensions can exceed the specifications of ISO 2768-mK due to casting tolerances or accumulation of individual<br />

tolerances.<br />

We reserve the right to make dimensional changes due to ongoing technical development.<br />

You can download CAD models of our standard drives at http://cad.stoeber.de.<br />

Combination options and the dimensions of forced ventilated geared motors can be found at http://<br />

cad.stoeber.de.<br />

Tolerances<br />

Solid shaft<br />

Shaft ∅ fit ≤ 50 mm<br />

Shaft ∅ fit > 50 mm<br />

Feather keys<br />

Balance quality<br />

Tolerance<br />

DIN 748-1, ISO k6<br />

DIN 748-1, ISO m6<br />

DIN 6885-1, high form A<br />

Q 2.5 (balanced with half feather key)<br />

Centering holes in solid shafts in accordance with DIN 332-2, DR shape<br />

Thread size M4 M5 M6 M8 M10 M12 M16 M20 M24<br />

Thread depth<br />

[mm]<br />

10 12.5 16 19 22 28 36 42 50<br />

31


2.3 Dimensional drawings 2 P planetary geared motors<br />

2.3.1 G shaft design (solid shaft without feather key)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ☐a1 ∅b1 c1 ∅d ∅e1 f1 i2 i3 l ∅s1 s2<br />

P221 55 50 h6 6 12 k6 63 7.0 36 12 22 5.5 M4<br />

P222 55 50 h6 6 12 k6 63 7.0 36 12 22 5.5 M4<br />

P321 72 60 h6 7 16 k6 75 7.5 48 18 28 5.5 M5<br />

P322 72 60 h6 7 16 k6 75 7.5 48 18 28 5.5 M5<br />

P421 76 70 h6 9 22 k6 85 7.5 56 18 36 6.6 M8<br />

P422 76 70 h6 9 22 k6 85 7.5 56 18 36 6.6 M8<br />

P521 101 90 h6 10 32 k6 120 15.0 88 28 58 9.0 M12<br />

P522 101 90 h6 10 32 k6 120 15.0 88 28 58 9.0 M12<br />

P721 144 130 h6 15 40 k6 165 3.5 112 27 82 11.0 M16<br />

P722 144 130 h6 15 40 k6 165 3.5 112 27 82 11.0 M16<br />

P821 190 160 h6 15 55 k6 215 10.0 112 27 82 13.5 M20<br />

P822 190 160 h6 15 55 k6 215 10.0 112 27 82 13.5 M20<br />

P922 212 180 h6 17 75 k6 250 10.0 143 34 105 17.5 M20<br />

32


2 P planetary geared motors 2.3 Dimensional drawings<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ301U 72 90 130.0 55.5 21 54.5<br />

EZ302U 72 112 152.0 55.5 21 76.5<br />

EZ303U 72 134 174.0 55.5 21 98.5<br />

EZ401U 98 98 146.5 91.0 22 56.0<br />

EZ402U 98 123 171.5 91.0 22 81.0<br />

EZ404U 98 173 221.5 91.0 22 131.0<br />

EZ501U 115 93 147.5 100.0 22 58.5<br />

EZ502U 115 118 172.5 100.0 22 83.5<br />

EZ503U 115 143 197.5 100.0 22 108.5<br />

EZ505U 115 193 247.5 100.0 22 158.5<br />

EZ701U 145 102 161.0 115.0 22 64.0<br />

EZ702U 145 127 186.0 115.0 22 89.0<br />

EZ703U 145 152 211.0 115.0 22 114.0<br />

EZ705U 145 207 266.0 134.0 22 165.0<br />

EZ802U 190 197 274.0 156.5 22 143.0<br />

EZ803U 190 238 315.0 156.5 22 184.0<br />

EZ805U 190 320 397.0 156.5 22 266.0<br />

Dimensions of geared motors<br />

Type EZ3 EZ4 EZ5 EZ7 EZ8<br />

mp mp mp mp mp<br />

P221 61.5 – – – –<br />

P222 93.5 – – – –<br />

P321 73.5 70.0 72.5 – –<br />

P322 113.5 – – – –<br />

P421 – 79.0 81.5 87.5 –<br />

P422 131.0 127.5 130.0 – –<br />

P521 – – 81.0 87.0 102.0<br />

P522 – 136.5 139.0 145.0 –<br />

P721 – – – 98.0 113.0<br />

P722 – – 158.0 164.0 179.0<br />

P821 – – – – 137.0<br />

P822 – – – 206.5 221.5<br />

P922 – – – – 264.0<br />

33


2.3 Dimensional drawings 2 P planetary geared motors<br />

2.3.2 P shaft design (solid shaft with feather key)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ☐a1 ∅b1 c1 ∅d ∅e1 f1 i2 i3 l l1 ∅s1 s2 t u<br />

P221 55 50 h6 6 12 k6 63 7.0 36 12 22 2 5.5 M4 13.5 A4×4×18<br />

P222 55 50 h6 6 12 k6 63 7.0 36 12 22 2 5.5 M4 13.5 A4×4×18<br />

P321 72 60 h6 7 16 k6 75 7.5 48 18 28 2 5.5 M5 18.0 A5×5×22<br />

P322 72 60 h6 7 16 k6 75 7.5 48 18 28 2 5.5 M5 18.0 A5×5×22<br />

P421 76 70 h6 9 22 k6 85 7.5 56 18 36 3 6.6 M8 24.5 A6×6×28<br />

P422 76 70 h6 9 22 k6 85 7.5 56 18 36 3 6.6 M8 24.5 A6×6×28<br />

P521 101 90 h6 10 32 k6 120 15.0 88 28 58 3 9.0 M12 35.0 A10×8×50<br />

P522 101 90 h6 10 32 k6 120 15.0 88 28 58 3 9.0 M12 35.0 A10×8×50<br />

P721 144 130 h6 15 40 k6 165 3.5 112 27 82 4 11.0 M16 43.0 A12×8×70<br />

P722 144 130 h6 15 40 k6 165 3.5 112 27 82 4 11.0 M16 43.0 A12×8×70<br />

P821 190 160 h6 15 55 k6 215 10.0 112 27 82 6 13.5 M20 59.0 A16×10×70<br />

P822 190 160 h6 15 55 k6 215 10.0 112 27 82 6 13.5 M20 59.0 A16×10×70<br />

P922 212 180 h6 17 75 k6 250 10.0 143 34 105 7 17.5 M20 79.5 A20×12×90<br />

34


2 P planetary geared motors 2.3 Dimensional drawings<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ301U 72 90 130.0 55.5 21 54.5<br />

EZ302U 72 112 152.0 55.5 21 76.5<br />

EZ303U 72 134 174.0 55.5 21 98.5<br />

EZ401U 98 98 146.5 91.0 22 56.0<br />

EZ402U 98 123 171.5 91.0 22 81.0<br />

EZ404U 98 173 221.5 91.0 22 131.0<br />

EZ501U 115 93 147.5 100.0 22 58.5<br />

EZ502U 115 118 172.5 100.0 22 83.5<br />

EZ503U 115 143 197.5 100.0 22 108.5<br />

EZ505U 115 193 247.5 100.0 22 158.5<br />

EZ701U 145 102 161.0 115.0 22 64.0<br />

EZ702U 145 127 186.0 115.0 22 89.0<br />

EZ703U 145 152 211.0 115.0 22 114.0<br />

EZ705U 145 207 266.0 134.0 22 165.0<br />

EZ802U 190 197 274.0 156.5 22 143.0<br />

EZ803U 190 238 315.0 156.5 22 184.0<br />

EZ805U 190 320 397.0 156.5 22 266.0<br />

Dimensions of geared motors<br />

Type EZ3 EZ4 EZ5 EZ7 EZ8<br />

mp mp mp mp mp<br />

P221 61.5 – – – –<br />

P222 93.5 – – – –<br />

P321 73.5 70.0 72.5 – –<br />

P322 113.5 – – – –<br />

P421 – 79.0 81.5 87.5 –<br />

P422 131.0 127.5 130.0 – –<br />

P521 – – 81.0 87.0 102.0<br />

P522 – 136.5 139.0 145.0 –<br />

P721 – – – 98.0 113.0<br />

P722 – – 158.0 164.0 179.0<br />

P821 – – – – 137.0<br />

P822 – – – 206.5 221.5<br />

P922 – – – – 264.0<br />

35


2.5 Product description 2 P planetary geared motors<br />

2.4 Type designation<br />

In this chapter, you can find an explanation of the type designation with the associated options.<br />

Additional ordering information not included in the type designation can be found at the end of the chapter.<br />

Sample code<br />

P 4 2 1 S G R 0100 EZ401U<br />

Explanation<br />

Code Designation Design<br />

P Type Planetary gear unit<br />

4 Size 4 (example)<br />

2 Generation Generation 2<br />

1<br />

2<br />

Stages<br />

Single-stage<br />

Two-stage<br />

S Housing Standard<br />

G<br />

P<br />

Shaft<br />

Solid shaft without feather key<br />

Solid shaft with feather key<br />

R<br />

D<br />

Z<br />

Bearing<br />

Standard bearing<br />

Axially reinforced bearing<br />

Radially reinforced bearing<br />

0100 Transmission ratio (i x 10) i = 10 (example)<br />

EZ401U Motor EZ synchronous servo motor<br />

In order to complete the type designation, also specify:<br />

• A detailed type designation of the motor, see chapter [} 23]<br />

• Radial shaft seal rings at the output made of NBR or FKM, see chapter [} 2.6.3]<br />

• The position of the plug connectors, see chapter [} 2.5.3]<br />

• For reverse operation of the output shaft from ± 20° to ± 90° and horizontal installation, note the chapter<br />

[} 2.6.4]<br />

2.5 Product description<br />

2.5.1 Installation conditions<br />

The specified torques and forces only apply when attaching gear units at the machine side using screws of<br />

quality 10.9. In addition, the gear housing must be adjusted at the pilot (H7).<br />

2.5.2 Lubricants<br />

STOBER fills the gear units with the amount and type of lubricant specified on the nameplate.<br />

Lubricant filling quantities for gear units, document ID 441871, can be found online at http://www.stoeber.de<br />

36


2 P planetary geared motors 2.6 Project configuration<br />

2.5.3 Position of the plug connectors<br />

2.5.4 Other product features<br />

2.5.5 Direction of rotation<br />

In the standard version, the plug connectors are attached in the 270° position (relative to the oil drain plug<br />

(1) of the planetary gear unit). Indicate variations for your geared motor in the purchase order.<br />

Feature<br />

Value<br />

Max. permitted gear unit temperature (on the surface of the gear unit) ≤ 90 °C<br />

Paint Black RAL 9005<br />

(ATEX) Directive 2014/34/EU (option)<br />

Not suitable<br />

Protection class: 1<br />

Gear unit<br />

Motor<br />

IP65<br />

IP56, optionally IP66<br />

The input and output rotate in the same direction.<br />

2.6 Project configuration<br />

Project your drives using our SERVOsoft designing software. You can receive SERVOsoft for free from your<br />

adviser at one of our sales centers. Observe the limit conditions in this chapter to ensure a safe design for<br />

your drives.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

2.6.1 Calculation of the operating point<br />

Check the following conditions for operating points other than the nominal point M 2N specified in the selection<br />

tables.<br />

n<br />

1m*<br />

n<br />

£<br />

fB<br />

1maxDB<br />

T<br />

n<br />

M<br />

1max*<br />

2eff *<br />

n<br />

£<br />

fB<br />

£ M<br />

1max ZB<br />

2th<br />

T<br />

1<br />

Observe the protection class of all the components.<br />

37


2.6 Project configuration 2 P planetary geared motors<br />

M<br />

2acc*<br />

£ M<br />

2acc<br />

M<br />

2NOT*<br />

£ M<br />

2NOT<br />

S<br />

M 2eq*<br />

£ M 2N<br />

× fB fB op<br />

×<br />

t<br />

The values for n 1maxDB , n 1maxZB , M 2acc , M 2NOT , M 2N and S can be found in the selection tables.<br />

The values for fB T , fB op and fB t can be found in the corresponding tables in this chapter.<br />

Calculate the thermal limit torque M 2th for a duty cycle > 50%.<br />

Example of cyclic operation<br />

The following calculations are based on a representation of the power taken from the output based in accordance<br />

with the following example:<br />

Calculation of the actual average input speed<br />

n1m* = n2m*<br />

× i<br />

n<br />

2m*<br />

=<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

t + ... + t<br />

1* n*<br />

If t 1* + ... + t 5* ≥ 20 min, calculate n 2m* without the rest phase t 6* .<br />

The values for the ratio i can be found in the selection tables.<br />

Calculation of the actual effective torque<br />

M<br />

2eff *<br />

=<br />

t × M + ... + t × M<br />

2 2<br />

1* 2,1* n* 2,n*<br />

t + ... + t<br />

1* n*<br />

Calculation of the actual equivalent torque<br />

M<br />

2eq*<br />

=<br />

3<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2,1* 2m,n* n* 2,n*<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

38


2 P planetary geared motors 2.6 Project configuration<br />

Calculation of the thermal limit torque<br />

Calculate the thermal limit torque M 2th for a duty cycle ED 20 > 50% and the actual average input speed n 1m* .<br />

(At K mot,th ≤ 0 you must reduce the average input speed n 1m* accordingly or select another geared motor size.)<br />

M2th = Mop × i × Kmot,th<br />

ath æ n1m*<br />

ö<br />

Kmot,th<br />

= 0,95 - × fBT<br />

×<br />

1000 ç<br />

1000 ÷<br />

è ø<br />

The values for i and a th can be found in the selection tables.<br />

The values for fB T can be found in the corresponding table in this chapter.<br />

3<br />

The value for the torque of the motor at operating point M op with the determined average input speed n 1m*<br />

can be found in the motor curve of Chapter [} 23.3]. Note the size, nominal speed n N and cooling type of<br />

the motor. The figure below shows an example of reading the torque M op of a motor with convection cooling<br />

at the operating point.<br />

n [rpm]<br />

n 1m*<br />

Operating factors<br />

Operating mode<br />

Uniform continuous operation 1.00<br />

Cyclic operation 1.00<br />

Reversing load cyclic operation 1.00<br />

Run time<br />

fB t<br />

Daily run time ≤ 8 h 1.00<br />

Daily run time ≤ 16 h 1.15<br />

Daily run time ≤ 24 h 1.20<br />

fB op<br />

Temperature<br />

Motor cooling<br />

Surrounding temperature<br />

Motor with forced ventilation ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

Motor with convection cooling ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

fB T<br />

0.9<br />

1.0<br />

1.15<br />

1.0<br />

1.1<br />

1.25<br />

39


2.6 Project configuration 2 P planetary geared motors<br />

Notes<br />

• The maximum permitted gear unit temperature (see the "Other product features" chapter) must not be<br />

exceeded. Doing so may result in damage to the geared motor.<br />

• For braking from full speed (for example when the power fails or when setting up the machine), note<br />

the permitted gear unit torques (M 2acc , M 2NOT ) in the selection tables.<br />

• The values specified in the selection tables for M 2acc refer to the gear units with a solid shaft design<br />

without feather key (G). We recommend this shaft design in general for cyclic operation.<br />

2.6.2 Permitted shaft loads for the output shaft<br />

The values specified in the tables apply to the permitted shaft loads:<br />

• For shaft dimensions in accordance with the catalog<br />

• For output speeds n 2m* ≤ 100 rpm (F 2axN = F 2ax100 ; F 2radN = F 2rad100 ; M 2kN = M 2k100 )<br />

• Only if radial forces on the gear unit are stabilized by its pilots (housing, flange shaft)<br />

Permitted shaft loads for standard bearing R<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

P2 17.0 500 1200 1300 34 36<br />

P3 21.0 1000 2500 2500 88 88<br />

P4 22.0 1500 4000 4500 160 180<br />

P5 23.0 2300 6500 7000 338 364<br />

P7 26.0 2900 8000 9000 536 603<br />

P8 28.0 4700 13000 18000 897 1242<br />

P9 40.0 6000 18000 27000 1665 2498<br />

Fig. 1: Recommendation for bearing assignment R<br />

Permitted shaft loads for axially reinforced bearing D<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

P3 24.0 1400 2750 2750 105 105<br />

P4 25.0 2250 4500 5000 194 215<br />

P5 29.0 3500 7000 8000 406 464<br />

P7 31.0 4500 9000 10000 648 720<br />

P8 35.0 7500 15000 18000 1140 1368<br />

P9 51.0 10000 20000 30000 2070 3105<br />

Fig. 2: Recommendation for bearing assignment D<br />

40


2 P planetary geared motors 2.6 Project configuration<br />

Permitted shaft loads for radially reinforced bearing Z<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

P3 21.0 600 3000 3000 105 105<br />

P4 22.0 1000 5000 5000 200 200<br />

P5 23.0 1600 8000 8000 416 416<br />

P7 26.0 2000 10000 10000 670 670<br />

P8 28.0 3600 18000 18000 1242 1242<br />

P9 40.0 5000 27000 35000 2500 3238<br />

Fig. 3: Recommendation for bearing assignment Z<br />

For other output speeds, download diagrams at http://products.stoeber.de.<br />

The following applies to output speeds n 2m* > 100 rpm:<br />

F<br />

2axN<br />

=<br />

3<br />

F<br />

2ax100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

F<br />

2radN<br />

=<br />

3<br />

F<br />

2rad100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

M<br />

2kN<br />

=<br />

3<br />

M<br />

2k100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

The values for F 2ax100 , F 2rad100 and M 2k100 can be found in the table "Permitted shaft loads" in this chapter.<br />

Fig. 4: Force application points<br />

The specified values for F 2rad100 and F 2rad,acc refer to an application of force at the center of the output shaft: x 2<br />

= l/2.<br />

Shaft dimensions can be found in the "Dimensional drawings" chapter.<br />

The following applies to other force application points:<br />

M<br />

F<br />

2k,acc*<br />

2rad,acc*<br />

( )<br />

2 × F × y + F × x + z<br />

2ax* 2 2rad,acc* 2 2<br />

= £<br />

£ F<br />

2rad,acc<br />

1000<br />

M<br />

2k,acc<br />

F<br />

2ax*<br />

£ F<br />

2axN<br />

The values for F 2rad,acc and M 2k,acc can be found in the table "Permitted shaft loads" in this chapter.<br />

For applications with multiple axial and/or radial forces, you must add the forces as vectors.<br />

In the event of EMERGENCY OFF operation (max. 1000 load changes), you can multiply the permitted forces<br />

and torques for F 2ax100 , F 2rad100 and M 2k100 by a factor of two.<br />

41


2.6 Project configuration 2 P planetary geared motors<br />

Also note the calculation for equivalent values:<br />

M<br />

2k,eq*<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2k,acc,1* 2m,n* n* 2k,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

M<br />

2kN<br />

F<br />

2rad,eq*<br />

n × t × F + ... + n × t × F<br />

3 3<br />

2m,1* 1* 2rad,acc,1* 2m,n* n* 2rad,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

F<br />

2radN<br />

The following apply to the bearing service life L 10h (ED 20 ≤ 40%):<br />

L 10h > 10000 h with 1 < M 2kN /M 2k* < 1.25<br />

L 10h > 20000 h with 1.25 < M 2kN /M 2k* < 1.5<br />

L 10h > 30000 h with 1.5 < M 2kN /M 2k*<br />

For different duty cycles:<br />

L<br />

40%<br />

> L ×<br />

ED<br />

10h 10h(ED20<br />

= 40%)<br />

20<br />

2.6.3 Recommendation for radial shaft seal rings<br />

For a duty cycle > 60%, we recommend radial shaft seal rings made of FKM.<br />

Properties:<br />

• Excellent temperature resistance<br />

• High chemical stability<br />

• Very good resistance to aging<br />

• Excellent resistance to mineral oils and greases<br />

• For use in the food, beverage and pharmaceutical industries<br />

Leak-proofness<br />

Our gear units are equipped with high-quality radial shaft seal rings and checked for leak-proofness. However,<br />

a leak cannot be fully ruled out over the length of use of a gear unit. If you use a gear unit with goods<br />

incompatible with the lubricant, you must take measures to prevent direct contact with the gear unit lubricant<br />

in case of a leak.<br />

42


2 P planetary geared motors 2.7 Additional documentation<br />

2.6.4 Reverse operation<br />

To ensure lubrication of circulating geared parts during cyclic reverse operation from ± 20° to ± 90°, pay<br />

careful attention to the position of the output shaft if the gear unit is installed horizontally as shown in the<br />

images below. The images show the center position of reverse operation. Cyclic reverse operation ≤ ± 20°<br />

on request.<br />

Solid shaft without feather key<br />

Solid shaft with feather key<br />

1<br />

1<br />

1) Position of the mark: top 1) Position of the feather key: top<br />

Notes<br />

• If you use the solid shaft without a feather key (G) with a mark, note the position of the mark during assembly.<br />

• As an alternative, you can use the solid shaft with a feather key (P) and clamp. In that case, the feather<br />

key functions for position orientation.<br />

2.7 Additional documentation<br />

Additional documentation related to the product can be found at http://www.stoeber.de/en/download<br />

Enter the ID of the documentation in the Search... field.<br />

Documentation<br />

ID<br />

Operating manual for P/PA/PE/PH/PHA/PHQ/PHQA/PHV/PHVA planetary 443029_en<br />

gear units and planetary geared motors<br />

Lubricant filling quantities for gear units 441871<br />

43


44<br />

2.7 Additional documentation 2 P planetary geared motors


3 PA planetary geared motors<br />

Table of contents<br />

3.1 Overview........................................................................................................................................................................... 46<br />

3.2 Selection tables ................................................................................................................................................................ 47<br />

3.3 Dimensional drawings ...................................................................................................................................................... 57<br />

3.3.1 G shaft design (solid shaft without feather key) .................................................................................................................. 58<br />

3.3.2 P shaft design (solid shaft with feather key) ........................................................................................................................ 60<br />

3.4 Type designation .............................................................................................................................................................. 62<br />

3.5 Product description........................................................................................................................................................... 62<br />

3.5.1 Installation conditions.......................................................................................................................................................... 62<br />

3.5.2 Lubricants............................................................................................................................................................................. 62<br />

3.5.3 Position of the plug connectors ........................................................................................................................................... 62<br />

3.5.4 Other product features ........................................................................................................................................................ 63<br />

3.5.5 Direction of rotation ............................................................................................................................................................ 63<br />

3.6 Project configuration......................................................................................................................................................... 63<br />

3.6.1 Calculation of the operating point ....................................................................................................................................... 63<br />

3.6.2 Permitted shaft loads for the output shaft .......................................................................................................................... 65<br />

3.6.3 Radial shaft seal rings........................................................................................................................................................... 67<br />

3.6.4 Reverse operation................................................................................................................................................................ 67<br />

3.7 Additional documentation ................................................................................................................................................. 68<br />

45


3 Planetary geared motors PA<br />

3.1 Overview<br />

Low-backlash helical-geared precision planetary<br />

geared motors<br />

Features<br />

Power density<br />

★★★★☆<br />

Backlash<br />

★★★★★<br />

Price category €€€<br />

Shaft load<br />

★★★★☆<br />

Smooth operation<br />

★★★★★<br />

Torsional stiffness<br />

★★★☆☆<br />

Mass moment of inertia<br />

★★★★★<br />

Helical gearing<br />

✓<br />

Maintenance-free<br />

✓<br />

Any mounting position<br />

✓<br />

Continuous operation without cooling<br />

✓<br />

Axially reinforced output bearing, ideally suited ✓<br />

for helical-geared rack and pinion drives<br />

Compact and highly dynamic due to direct motor ✓<br />

attachment<br />

Key: ★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Technical data<br />

i 3 – 100<br />

M 2acc<br />

15 – 1600 Nm<br />

Δφ 2<br />

1 – 3 arcmin<br />

η get ≤ 97 %<br />

46


3 PA planetary geared motors 3.2 Selection tables<br />

3.2 Selection tables<br />

The technical data specified in the selection tables applies to:<br />

• Installation altitudes up to 1000 m above sea level<br />

• Surrounding temperatures from 0 °C to 40 °C<br />

• Drives with convection-cooled motors (e.g. EZ401U)<br />

You can calculate the technical data for drives with forced ventilated motors (for example EZ401B) at http://<br />

products.stoeber.de.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA3 (n 1N = 3000 rpm, M 2acc,max = 65 Nm)<br />

60 44 45 1.3 1.0 PA322_0500 EZ301U 65 130 50.00 50/1 4500 8000 0.20 3 4.5 3.6<br />

75 35 36 1.6 1.2 PA322_0400 EZ301U 65 130 40.00 40/1 4500 8000 0.20 3 4.4 3.6<br />

86 31 32 1.6 1.5 PA322_0350 EZ301U 65 130 35.00 35/1 4500 8000 0.21 3 4.6 3.6<br />

94 28 29 1.9 1.4 PA322_0320 EZ301U 50 100 32.00 32/1 4500 8000 0.23 3 4.1 3.6<br />

107 25 25 1.8 1.8 PA322_0280 EZ301U 65 130 28.00 28/1 4500 8000 0.21 3 4.5 3.6<br />

107 42 45 3.0 1.1 PA322_0280 EZ302U 65 130 28.00 28/1 4500 8000 0.31 3 4.5 4.2<br />

120 22 23 1.9 2.0 PA322_0250 EZ301U 65 130 25.00 25/1 4500 8000 0.22 3 4.6 3.6<br />

120 38 40 3.2 1.2 PA322_0250 EZ302U 65 130 25.00 25/1 4500 8000 0.32 3 4.6 4.2<br />

150 18 18 2.1 2.5 PA322_0200 EZ301U 53 130 20.00 20/1 4500 8000 0.24 3 4.6 3.6<br />

150 30 32 3.6 1.5 PA322_0200 EZ302U 65 130 20.00 20/1 4500 8000 0.34 3 4.6 4.2<br />

150 39 42 4.7 1.1 PA322_0200 EZ303U 65 130 20.00 20/1 4500 8000 0.45 3 4.6 4.7<br />

188 14 14 2.4 3.2 PA322_0160 EZ301U 43 130 16.00 16/1 4500 8000 0.24 3 4.5 3.6<br />

188 24 26 4.0 1.9 PA322_0160 EZ302U 65 130 16.00 16/1 4500 8000 0.34 3 4.5 4.2<br />

188 31 33 5.2 1.4 PA322_0160 EZ303U 65 130 16.00 16/1 4500 8000 0.45 3 4.5 4.7<br />

250 11 11 4.1 2.8 PA322_0120 EZ301U 32 120 12.00 12/1 4500 8000 0.24 3 4.3 3.6<br />

250 18 19 7.0 1.7 PA322_0120 EZ302U 50 120 12.00 12/1 4500 8000 0.34 3 4.3 4.2<br />

250 24 25 9.1 1.3 PA322_0120 EZ303U 50 120 12.00 12/1 4500 8000 0.45 3 4.3 4.7<br />

300 9.0 9.2 0.6 2.9 PA321_0100 EZ301U 27 100 10.00 10/1 4500 8000 0.21 2 4.0 3.0<br />

300 15 16 0.9 1.7 PA321_0100 EZ302U 49 100 10.00 10/1 4500 8000 0.31 2 4.0 3.6<br />

300 20 21 1.2 1.3 PA321_0100 EZ303U 50 100 10.00 10/1 4500 8000 0.42 2 4.0 4.1<br />

375 7.2 7.4 0.5 4.8 PA321_0080 EZ301U 22 100 8.000 8/1 4500 8000 0.21 2 4.2 3.0<br />

375 12 13 0.9 2.8 PA321_0080 EZ302U 39 100 8.000 8/1 4500 8000 0.31 2 4.2 3.6<br />

375 16 17 1.2 2.2 PA321_0080 EZ303U 50 100 8.000 8/1 4500 8000 0.42 2 4.2 4.1<br />

375 22 23 1.6 1.6 PA321_0080 EZ401U 50 100 8.000 8/1 4500 8000 0.95 2 4.2 5.5<br />

429 11 11 1.0 3.6 PA321_0070 EZ302U 34 130 7.000 7/1 4500 8000 0.32 2 4.4 3.6<br />

429 14 15 1.3 2.8 PA321_0070 EZ303U 48 130 7.000 7/1 4500 8000 0.43 2 4.4 4.1<br />

429 19 20 1.7 2.1 PA321_0070 EZ401U 58 130 7.000 7/1 4500 8000 0.96 2 4.4 5.5<br />

429 32 35 2.9 1.2 PA321_0070 EZ402U 60 130 7.000 7/1 4500 8000 1.7 2 4.4 6.6<br />

600 10 11 1.9 3.9 PA321_0050 EZ303U 34 110 5.000 5/1 4000 7000 0.48 2 5.1 4.1<br />

600 14 15 2.6 2.9 PA321_0050 EZ401U 41 130 5.000 5/1 4000 7000 1.0 2 5.1 5.5<br />

600 21 23 3.9 1.9 PA321_0050 EZ501U 65 130 5.000 5/1 4000 7000 3.0 2 5.1 6.5<br />

600 23 25 4.3 1.7 PA321_0050 EZ402U 65 130 5.000 5/1 4000 7000 1.7 2 5.1 6.6<br />

600 33 42 6.3 1.2 PA321_0050 EZ404U 65 130 5.000 5/1 4000 7000 3.1 2 5.1 8.7<br />

600 36 39 6.8 1.1 PA321_0050 EZ502U 65 130 5.000 5/1 4000 7000 5.3 2 5.1 8.0<br />

750 8.0 8.5 2.5 4.9 PA321_0040 EZ303U 27 85 4.000 4/1 3700 6500 0.52 2 5.3 4.1<br />

750 11 12 3.3 3.6 PA321_0040 EZ401U 33 130 4.000 4/1 3700 6500 1.1 2 5.3 5.5<br />

750 17 18 5.1 2.4 PA321_0040 EZ501U 62 130 4.000 4/1 3700 6500 3.0 2 5.3 6.5<br />

750 18 20 5.6 2.2 PA321_0040 EZ402U 62 130 4.000 4/1 3700 6500 1.8 2 5.3 6.6<br />

750 27 33 8.2 1.5 PA321_0040 EZ404U 65 130 4.000 4/1 3700 6500 3.1 2 5.3 8.7<br />

750 29 31 8.8 1.4 PA321_0040 EZ502U 65 130 4.000 4/1 3700 6500 5.3 2 5.3 8.0<br />

750 38 43 12 1.0 PA321_0040 EZ503U 65 130 4.000 4/1 3700 6500 7.7 2 5.3 9.5<br />

1000 6.0 6.4 5.2 4.4 PA321_0030 EZ303U 20 64 3.000 3/1 3500 6000 0.60 2 5.7 4.1<br />

1000 8.1 8.7 7.1 3.2 PA321_0030 EZ401U 25 120 3.000 3/1 3500 6000 1.1 2 5.7 5.5<br />

1000 13 14 11 2.1 PA321_0030 EZ501U 47 120 3.000 3/1 3500 6000 3.1 2 5.7 6.5<br />

1000 14 15 12 1.9 PA321_0030 EZ402U 47 120 3.000 3/1 3500 6000 1.8 2 5.7 6.6<br />

1000 20 25 17 1.3 PA321_0030 EZ404U 50 120 3.000 3/1 3500 6000 3.2 2 5.7 8.7<br />

1000 22 23 19 1.2 PA321_0030 EZ502U 50 120 3.000 3/1 3500 6000 5.4 2 5.7 8.0<br />

PA3 (n 1N = 6000 rpm, M 2acc,max = 65 Nm)<br />

171 30 32 1.5 1.5 PA322_0350 EZ301U 65 130 35.00 35/1 4500 8000 0.21 3 4.6 3.6<br />

188 27 29 1.8 1.5 PA322_0320 EZ301U 50 100 32.00 32/1 4500 8000 0.23 3 4.1 3.6<br />

214 24 25 1.8 1.8 PA322_0280 EZ301U 65 130 28.00 28/1 4500 8000 0.21 3 4.5 3.6<br />

214 40 45 3.0 1.1 PA322_0280 EZ302U 65 130 28.00 28/1 4500 8000 0.31 3 4.5 4.2<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

47


3.2 Selection tables 3 PA planetary geared motors<br />

48<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA3 (n 1N = 6000 rpm, M 2acc,max = 65 Nm)<br />

240 21 23 1.8 2.1 PA322_0250 EZ301U 65 130 25.00 25/1 4500 8000 0.22 3 4.6 3.6<br />

240 36 40 3.0 1.3 PA322_0250 EZ302U 65 130 25.00 25/1 4500 8000 0.32 3 4.6 4.2<br />

300 17 18 2.0 2.7 PA322_0200 EZ301U 53 130 20.00 20/1 4500 8000 0.24 3 4.6 3.6<br />

300 29 32 3.4 1.6 PA322_0200 EZ302U 65 130 20.00 20/1 4500 8000 0.34 3 4.6 4.2<br />

300 37 43 4.4 1.2 PA322_0200 EZ303U 65 130 20.00 20/1 4500 8000 0.45 3 4.6 4.7<br />

375 14 14 2.4 3.2 PA322_0160 EZ301U 43 130 16.00 16/1 4500 8000 0.24 3 4.5 3.6<br />

375 23 26 4.0 1.9 PA322_0160 EZ302U 65 130 16.00 16/1 4500 8000 0.34 3 4.5 4.2<br />

375 30 34 5.2 1.4 PA322_0160 EZ303U 65 130 16.00 16/1 4500 8000 0.45 3 4.5 4.7<br />

500 10 11 3.9 3.0 PA322_0120 EZ301U 32 120 12.00 12/1 4500 8000 0.24 3 4.3 3.6<br />

500 17 19 6.6 1.8 PA322_0120 EZ302U 50 120 12.00 12/1 4500 8000 0.34 3 4.3 4.2<br />

500 22 26 8.6 1.3 PA322_0120 EZ303U 50 120 12.00 12/1 4500 8000 0.45 3 4.3 4.7<br />

600 8.6 9.2 0.7 2.4 PA321_0100 EZ301U 27 100 10.00 10/1 4500 8000 0.21 2 4.0 3.0<br />

600 15 16 1.1 1.4 PA321_0100 EZ302U 49 100 10.00 10/1 4500 8000 0.31 2 4.0 3.6<br />

600 19 22 1.5 1.1 PA321_0100 EZ303U 50 100 10.00 10/1 4500 8000 0.42 2 4.0 4.1<br />

750 6.9 7.4 0.7 4.0 PA321_0080 EZ301U 22 100 8.000 8/1 4500 8000 0.21 2 4.2 3.0<br />

750 12 13 1.1 2.4 PA321_0080 EZ302U 39 100 8.000 8/1 4500 8000 0.31 2 4.2 3.6<br />

750 15 17 1.4 1.8 PA321_0080 EZ303U 50 100 8.000 8/1 4500 8000 0.42 2 4.2 4.1<br />

750 18 22 1.7 1.6 PA321_0080 EZ401U 50 100 8.000 8/1 4500 8000 0.95 2 4.2 5.5<br />

750 27 38 2.6 1.0 PA321_0080 EZ402U 50 100 8.000 8/1 4500 8000 1.7 2 4.2 6.6<br />

857 10 11 1.2 3.1 PA321_0070 EZ302U 34 130 7.000 7/1 4500 8000 0.32 2 4.4 3.6<br />

857 13 15 1.5 2.3 PA321_0070 EZ303U 48 130 7.000 7/1 4500 8000 0.43 2 4.4 4.1<br />

857 16 19 1.8 2.0 PA321_0070 EZ401U 58 130 7.000 7/1 4500 8000 0.96 2 4.4 5.5<br />

857 24 33 2.7 1.3 PA321_0070 EZ402U 60 130 7.000 7/1 4500 8000 1.7 2 4.4 6.6<br />

1200 7.3 8.1 1.7 4.3 PA321_0050 EZ302U 24 110 5.000 5/1 4000 7000 0.37 2 5.1 3.6<br />

1200 9.5 11 2.3 3.3 PA321_0050 EZ303U 34 110 5.000 5/1 4000 7000 0.48 2 5.1 4.1<br />

1200 11 14 2.6 2.8 PA321_0050 EZ401U 41 130 5.000 5/1 4000 7000 1.0 2 5.1 5.5<br />

1200 16 21 3.9 1.9 PA321_0050 EZ501U 65 130 5.000 5/1 4000 7000 3.0 2 5.1 6.5<br />

1200 17 24 4.0 1.8 PA321_0050 EZ402U 65 130 5.000 5/1 4000 7000 1.7 2 5.1 6.6<br />

1200 25 38 6.0 1.2 PA321_0050 EZ502U 65 130 5.000 5/1 4000 7000 5.3 2 5.1 8.0<br />

1200 28 41 6.7 1.1 PA321_0050 EZ404U 65 130 5.000 5/1 4000 7000 3.1 2 5.1 8.7<br />

1500 7.6 8.7 3.0 4.1 PA321_0040 EZ303U 27 85 4.000 4/1 3700 6500 0.52 2 5.3 4.1<br />

1500 8.9 11 3.5 3.5 PA321_0040 EZ401U 33 130 4.000 4/1 3700 6500 1.1 2 5.3 5.5<br />

1500 13 17 5.1 2.4 PA321_0040 EZ501U 62 130 4.000 4/1 3700 6500 3.0 2 5.3 6.5<br />

1500 14 19 5.3 2.3 PA321_0040 EZ402U 62 130 4.000 4/1 3700 6500 1.8 2 5.3 6.6<br />

1500 20 30 7.8 1.5 PA321_0040 EZ502U 65 130 4.000 4/1 3700 6500 5.3 2 5.3 8.0<br />

1500 23 33 8.7 1.4 PA321_0040 EZ404U 65 130 4.000 4/1 3700 6500 3.1 2 5.3 8.7<br />

1500 24 41 9.3 1.3 PA321_0040 EZ503U 65 130 4.000 4/1 3700 6500 7.7 2 5.3 9.5<br />

2000 4.4 4.9 4.8 4.8 PA321_0030 EZ302U 15 64 3.000 3/1 3500 6000 0.49 2 5.7 3.6<br />

2000 5.7 6.5 6.2 3.6 PA321_0030 EZ303U 20 64 3.000 3/1 3500 6000 0.60 2 5.7 4.1<br />

2000 6.7 8.1 7.3 3.1 PA321_0030 EZ401U 25 120 3.000 3/1 3500 6000 1.1 2 5.7 5.5<br />

2000 9.9 13 11 2.1 PA321_0030 EZ501U 47 120 3.000 3/1 3500 6000 3.1 2 5.7 6.5<br />

2000 10 14 11 2.0 PA321_0030 EZ402U 47 120 3.000 3/1 3500 6000 1.8 2 5.7 6.6<br />

2000 15 23 17 1.4 PA321_0030 EZ502U 50 120 3.000 3/1 3500 6000 5.4 2 5.7 8.0<br />

2000 17 24 18 1.2 PA321_0030 EZ404U 50 120 3.000 3/1 3500 6000 3.2 2 5.7 8.7<br />

2000 18 31 20 1.2 PA321_0030 EZ503U 50 120 3.000 3/1 3500 6000 7.8 2 5.7 9.5<br />

PA4 (n 1N = 3000 rpm, M 2acc,max = 120 Nm)<br />

38 71 72 0.7 1.1 PA422_0800 EZ301U 100 200 80.00 80/1 4500 8000 0.21 3 9.2 6.0<br />

43 62 63 0.7 1.4 PA422_0700 EZ301U 110 240 70.00 70/1 4500 8000 0.21 3 9.6 6.0<br />

54 49 51 0.8 1.6 PA422_0560 EZ301U 100 200 56.00 56/1 4500 8000 0.23 3 9.2 6.0<br />

60 44 45 0.8 1.9 PA422_0500 EZ301U 120 240 50.00 50/1 4500 8000 0.21 3 10 6.0<br />

60 76 80 1.4 1.1 PA422_0500 EZ302U 120 240 50.00 50/1 4500 8000 0.31 3 10 6.6<br />

75 35 36 0.9 2.4 PA422_0400 EZ301U 110 240 40.00 40/1 4500 8000 0.21 3 10 6.0<br />

75 60 64 1.5 1.4 PA422_0400 EZ302U 120 240 40.00 40/1 4500 8000 0.31 3 10 6.6<br />

75 79 83 2.0 1.1 PA422_0400 EZ303U 120 240 40.00 40/1 4500 8000 0.42 3 10 7.1<br />

86 31 32 0.9 2.7 PA422_0350 EZ301U 93 240 35.00 35/1 4500 8000 0.23 3 11 6.0<br />

86 53 56 1.6 1.6 PA422_0350 EZ302U 120 240 35.00 35/1 4500 8000 0.33 3 11 6.6<br />

86 69 73 2.1 1.2 PA422_0350 EZ303U 120 240 35.00 35/1 4500 8000 0.44 3 11 7.1<br />

94 28 29 1.1 2.8 PA422_0320 EZ301U 85 200 32.00 32/1 3700 6500 0.32 3 9.2 6.0<br />

94 48 51 1.8 1.7 PA422_0320 EZ302U 100 200 32.00 32/1 3700 6500 0.42 3 9.2 6.6<br />

94 63 67 2.3 1.3 PA422_0320 EZ303U 100 200 32.00 32/1 3700 6500 0.53 3 9.2 7.1<br />

107 25 25 1.1 3.4 PA422_0280 EZ301U 74 240 28.00 28/1 4500 8000 0.23 3 10 6.0<br />

107 42 45 1.8 2.0 PA422_0280 EZ302U 120 240 28.00 28/1 4500 8000 0.33 3 10 6.6<br />

107 55 58 2.4 1.5 PA422_0280 EZ303U 120 240 28.00 28/1 4500 8000 0.44 3 10 7.1<br />

107 74 80 3.2 1.1 PA422_0280 EZ401U 120 240 28.00 28/1 4500 8000 0.97 3 10 8.5<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


3 PA planetary geared motors 3.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA4 (n 1N = 3000 rpm, M 2acc,max = 120 Nm)<br />

120 22 23 1.1 3.8 PA422_0250 EZ301U 67 240 25.00 25/1 4000 7000 0.27 3 11 6.0<br />

120 38 40 1.9 2.3 PA422_0250 EZ302U 120 240 25.00 25/1 4000 7000 0.37 3 11 6.6<br />

120 49 52 2.5 1.7 PA422_0250 EZ303U 120 240 25.00 25/1 4000 7000 0.48 3 11 7.1<br />

120 67 71 3.4 1.3 PA422_0250 EZ401U 120 240 25.00 25/1 4000 7000 1.0 3 11 8.5<br />

150 18 18 1.3 4.8 PA422_0200 EZ301U 53 240 20.00 20/1 3700 6500 0.32 3 11 6.0<br />

150 30 32 2.1 2.8 PA422_0200 EZ302U 95 240 20.00 20/1 3700 6500 0.42 3 11 6.6<br />

150 39 42 2.8 2.2 PA422_0200 EZ303U 120 240 20.00 20/1 3700 6500 0.53 3 11 7.1<br />

150 53 57 3.8 1.6 PA422_0200 EZ401U 120 240 20.00 20/1 3700 6500 1.1 3 11 8.5<br />

150 82 89 5.8 1.0 PA422_0200 EZ501U 120 240 20.00 20/1 3700 6500 3.0 3 11 9.5<br />

188 24 26 2.4 3.5 PA422_0160 EZ302U 76 240 16.00 16/1 3700 6500 0.43 3 11 6.6<br />

188 31 33 3.1 2.7 PA422_0160 EZ303U 110 240 16.00 16/1 3700 6500 0.54 3 11 7.1<br />

188 43 46 4.2 2.0 PA422_0160 EZ401U 120 240 16.00 16/1 3700 6500 1.1 3 11 8.5<br />

188 65 71 6.5 1.3 PA422_0160 EZ501U 120 240 16.00 16/1 3700 6500 3.0 3 11 9.5<br />

188 71 79 7.1 1.2 PA422_0160 EZ402U 120 240 16.00 16/1 3700 6500 1.8 3 11 9.6<br />

250 11 11 2.8 4.7 PA422_0120 EZ301U 32 240 12.00 12/1 3700 6500 0.36 3 9.9 6.0<br />

250 18 19 4.7 2.8 PA422_0120 EZ302U 57 240 12.00 12/1 3700 6500 0.46 3 9.9 6.6<br />

250 24 25 6.1 2.1 PA422_0120 EZ303U 80 240 12.00 12/1 3700 6500 0.57 3 9.9 7.1<br />

250 32 34 8.3 1.6 PA422_0120 EZ401U 97 240 12.00 12/1 3700 6500 1.1 3 9.9 8.5<br />

250 49 54 13 1.0 PA422_0120 EZ501U 100 240 12.00 12/1 3700 6500 3.1 3 9.9 9.5<br />

300 27 29 1.0 1.9 PA421_0100 EZ401U 82 200 10.00 10/1 4000 7000 0.97 2 9.0 6.6<br />

300 42 46 1.6 1.3 PA421_0100 EZ501U 100 200 10.00 10/1 4000 7000 2.9 2 9.0 7.6<br />

300 46 50 1.7 1.2 PA421_0100 EZ402U 100 200 10.00 10/1 4000 7000 1.7 2 9.0 7.7<br />

375 22 23 1.0 3.2 PA421_0080 EZ401U 66 200 8.000 8/1 4000 7000 0.99 2 9.5 6.6<br />

375 33 36 1.5 2.1 PA421_0080 EZ501U 100 200 8.000 8/1 4000 7000 3.0 2 9.5 7.6<br />

375 36 40 1.7 1.9 PA421_0080 EZ402U 100 200 8.000 8/1 4000 7000 1.7 2 9.5 7.7<br />

375 54 67 2.5 1.3 PA421_0080 EZ404U 100 200 8.000 8/1 4000 7000 3.0 2 9.5 9.8<br />

375 57 62 2.6 1.2 PA421_0080 EZ502U 100 200 8.000 8/1 4000 7000 5.3 2 9.5 9.1<br />

429 19 20 1.1 3.9 PA421_0070 EZ401U 58 240 7.000 7/1 4000 7000 1.0 2 10 6.6<br />

429 29 32 1.7 2.5 PA421_0070 EZ501U 110 240 7.000 7/1 4000 7000 3.0 2 10 7.6<br />

429 32 35 1.9 2.3 PA421_0070 EZ402U 110 240 7.000 7/1 4000 7000 1.7 2 10 7.7<br />

429 47 58 2.7 1.6 PA421_0070 EZ404U 110 240 7.000 7/1 4000 7000 3.1 2 10 9.8<br />

429 50 54 2.9 1.5 PA421_0070 EZ502U 110 240 7.000 7/1 4000 7000 5.3 2 10 9.1<br />

429 66 75 3.8 1.1 PA421_0070 EZ503U 110 240 7.000 7/1 4000 7000 7.7 2 10 11<br />

600 21 23 2.5 3.6 PA421_0050 EZ501U 78 240 5.000 5/1 3700 6500 3.1 2 12 7.6<br />

600 23 25 2.8 3.3 PA421_0050 EZ402U 78 240 5.000 5/1 3700 6500 1.8 2 12 7.7<br />

600 33 42 4.1 2.2 PA421_0050 EZ404U 120 240 5.000 5/1 3700 6500 3.2 2 12 9.8<br />

600 36 39 4.4 2.1 PA421_0050 EZ502U 120 240 5.000 5/1 3700 6500 5.4 2 12 9.1<br />

600 36 40 4.4 2.1 PA421_0050 EZ701U 97 240 5.000 5/1 3700 6500 8.7 2 12 11<br />

600 47 54 5.7 1.6 PA421_0050 EZ503U 120 240 5.000 5/1 3700 6500 7.8 2 12 11<br />

600 58 70 7.1 1.3 PA421_0050 EZ702U 120 240 5.000 5/1 3700 6500 14 2 12 13<br />

600 65 78 8.0 1.1 PA421_0050 EZ505U 120 240 5.000 5/1 3700 6500 12 2 12 14<br />

750 17 18 3.3 4.5 PA421_0040 EZ501U 62 240 4.000 4/1 3300 6000 3.2 2 12 7.6<br />

750 18 20 3.6 4.1 PA421_0040 EZ402U 62 240 4.000 4/1 3300 6000 1.9 2 12 7.7<br />

750 27 33 5.3 2.8 PA421_0040 EZ404U 110 240 4.000 4/1 3300 6000 3.3 2 12 9.8<br />

750 29 31 5.7 2.6 PA421_0040 EZ502U 120 240 4.000 4/1 3300 6000 5.5 2 12 9.1<br />

750 29 32 5.7 2.6 PA421_0040 EZ701U 78 240 4.000 4/1 3300 6000 8.8 2 12 11<br />

750 38 43 7.5 2.0 PA421_0040 EZ503U 120 240 4.000 4/1 3300 6000 7.9 2 12 11<br />

750 47 56 9.3 1.6 PA421_0040 EZ702U 120 240 4.000 4/1 3300 6000 14 2 12 13<br />

750 52 62 10 1.4 PA421_0040 EZ505U 120 240 4.000 4/1 3300 6000 12 2 12 14<br />

750 64 81 13 1.2 PA421_0040 EZ703U 120 240 4.000 4/1 3300 6000 22 2 12 15<br />

1000 13 14 8.0 3.5 PA421_0030 EZ501U 47 240 3.000 3/1 3000 5500 3.6 2 13 7.6<br />

1000 14 15 8.7 3.2 PA421_0030 EZ402U 47 240 3.000 3/1 3000 5500 2.3 2 13 7.7<br />

1000 20 25 13 2.2 PA421_0030 EZ404U 84 240 3.000 3/1 3000 5500 3.7 2 13 9.8<br />

1000 22 23 14 2.0 PA421_0030 EZ502U 90 240 3.000 3/1 3000 5500 5.9 2 13 9.1<br />

1000 22 24 14 2.0 PA421_0030 EZ701U 58 240 3.000 3/1 3000 5500 9.2 2 13 11<br />

1000 28 32 18 1.5 PA421_0030 EZ503U 100 240 3.000 3/1 3000 5500 8.3 2 13 11<br />

1000 35 42 22 1.3 PA421_0030 EZ702U 100 240 3.000 3/1 3000 5500 14 2 13 13<br />

1000 39 47 25 1.1 PA421_0030 EZ505U 100 240 3.000 3/1 3000 5500 13 2 13 14<br />

PA4 (n 1N = 4500 rpm, M 2acc,max = 120 Nm)<br />

900 46 74 6.4 1.4 PA421_0050 EZ505U 120 240 5.000 5/1 3700 6500 12 2 12 14<br />

1125 37 59 8.4 1.8 PA421_0040 EZ505U 120 240 4.000 4/1 3300 6000 12 2 12 14<br />

1125 47 78 11 1.4 PA421_0040 EZ703U 120 240 4.000 4/1 3300 6000 22 2 12 15<br />

1500 28 45 20 1.4 PA421_0030 EZ505U 100 240 3.000 3/1 3000 5500 13 2 13 14<br />

1500 35 58 26 1.1 PA421_0030 EZ703U 100 240 3.000 3/1 3000 5500 22 2 13 15<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

49


3.2 Selection tables 3 PA planetary geared motors<br />

50<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA4 (n 1N = 6000 rpm, M 2acc,max = 120 Nm)<br />

75 68 72 0.6 1.2 PA422_0800 EZ301U 100 200 80.00 80/1 4500 8000 0.21 3 9.2 6.0<br />

86 59 63 0.6 1.4 PA422_0700 EZ301U 110 240 70.00 70/1 4500 8000 0.21 3 9.6 6.0<br />

107 47 51 0.8 1.7 PA422_0560 EZ301U 100 200 56.00 56/1 4500 8000 0.23 3 9.2 6.0<br />

120 42 45 0.8 2.0 PA422_0500 EZ301U 120 240 50.00 50/1 4500 8000 0.21 3 10 6.0<br />

120 71 80 1.3 1.2 PA422_0500 EZ302U 120 240 50.00 50/1 4500 8000 0.31 3 10 6.6<br />

150 34 36 0.9 2.4 PA422_0400 EZ301U 110 240 40.00 40/1 4500 8000 0.21 3 10 6.0<br />

150 57 64 1.5 1.4 PA422_0400 EZ302U 120 240 40.00 40/1 4500 8000 0.31 3 10 6.6<br />

150 74 86 2.0 1.1 PA422_0400 EZ303U 120 240 40.00 40/1 4500 8000 0.42 3 10 7.1<br />

171 30 32 0.9 2.9 PA422_0350 EZ301U 93 240 35.00 35/1 4500 8000 0.23 3 11 6.0<br />

171 50 56 1.5 1.7 PA422_0350 EZ302U 120 240 35.00 35/1 4500 8000 0.33 3 11 6.6<br />

171 65 75 2.0 1.3 PA422_0350 EZ303U 120 240 35.00 35/1 4500 8000 0.44 3 11 7.1<br />

188 27 29 1.0 3.0 PA422_0320 EZ301U 85 200 32.00 32/1 3700 6500 0.32 3 9.2 6.0<br />

188 46 51 1.7 1.8 PA422_0320 EZ302U 100 200 32.00 32/1 3700 6500 0.42 3 9.2 6.6<br />

188 60 68 2.2 1.3 PA422_0320 EZ303U 100 200 32.00 32/1 3700 6500 0.53 3 9.2 7.1<br />

214 24 25 1.0 3.6 PA422_0280 EZ301U 74 240 28.00 28/1 4500 8000 0.23 3 10 6.0<br />

214 40 45 1.7 2.1 PA422_0280 EZ302U 120 240 28.00 28/1 4500 8000 0.33 3 10 6.6<br />

214 52 60 2.2 1.6 PA422_0280 EZ303U 120 240 28.00 28/1 4500 8000 0.44 3 10 7.1<br />

214 61 74 2.6 1.4 PA422_0280 EZ401U 120 240 28.00 28/1 4500 8000 0.97 3 10 8.5<br />

240 21 23 1.1 4.0 PA422_0250 EZ301U 67 240 25.00 25/1 4000 7000 0.27 3 11 6.0<br />

240 36 40 1.8 2.4 PA422_0250 EZ302U 120 240 25.00 25/1 4000 7000 0.37 3 11 6.6<br />

240 47 53 2.4 1.8 PA422_0250 EZ303U 120 240 25.00 25/1 4000 7000 0.48 3 11 7.1<br />

240 55 67 2.8 1.6 PA422_0250 EZ401U 120 240 25.00 25/1 4000 7000 1.0 3 11 8.5<br />

300 29 32 2.0 3.0 PA422_0200 EZ302U 95 240 20.00 20/1 3700 6500 0.42 3 11 6.6<br />

300 37 43 2.6 2.3 PA422_0200 EZ303U 120 240 20.00 20/1 3700 6500 0.53 3 11 7.1<br />

300 44 53 3.1 1.9 PA422_0200 EZ401U 120 240 20.00 20/1 3700 6500 1.1 3 11 8.5<br />

300 65 84 4.6 1.3 PA422_0200 EZ501U 120 240 20.00 20/1 3700 6500 3.0 3 11 9.5<br />

375 23 26 2.3 3.7 PA422_0160 EZ302U 76 240 16.00 16/1 3700 6500 0.43 3 11 6.6<br />

375 30 34 3.0 2.9 PA422_0160 EZ303U 110 240 16.00 16/1 3700 6500 0.54 3 11 7.1<br />

375 35 43 3.5 2.4 PA422_0160 EZ401U 120 240 16.00 16/1 3700 6500 1.1 3 11 8.5<br />

375 52 67 5.1 1.6 PA422_0160 EZ501U 120 240 16.00 16/1 3700 6500 3.0 3 11 9.5<br />

375 53 74 5.3 1.6 PA422_0160 EZ402U 120 240 16.00 16/1 3700 6500 1.8 3 11 9.6<br />

500 10 11 2.6 4.9 PA422_0120 EZ301U 32 240 12.00 12/1 3700 6500 0.36 3 9.9 6.0<br />

500 17 19 4.4 2.9 PA422_0120 EZ302U 57 240 12.00 12/1 3700 6500 0.46 3 9.9 6.6<br />

500 22 26 5.8 2.2 PA422_0120 EZ303U 80 240 12.00 12/1 3700 6500 0.57 3 9.9 7.1<br />

500 26 32 6.8 1.9 PA422_0120 EZ401U 97 240 12.00 12/1 3700 6500 1.1 3 9.9 8.5<br />

500 39 50 10 1.3 PA422_0120 EZ501U 100 240 12.00 12/1 3700 6500 3.1 3 9.9 9.5<br />

500 40 56 10 1.3 PA422_0120 EZ402U 100 240 12.00 12/1 3700 6500 1.8 3 9.9 9.6<br />

600 22 27 1.1 1.9 PA421_0100 EZ401U 82 200 10.00 10/1 4000 7000 0.97 2 9.0 6.6<br />

600 33 43 1.6 1.3 PA421_0100 EZ501U 100 200 10.00 10/1 4000 7000 2.9 2 9.0 7.6<br />

600 34 48 1.6 1.2 PA421_0100 EZ402U 100 200 10.00 10/1 4000 7000 1.7 2 9.0 7.7<br />

750 18 22 1.0 3.1 PA421_0080 EZ401U 66 200 8.000 8/1 4000 7000 0.99 2 9.5 6.6<br />

750 26 34 1.5 2.1 PA421_0080 EZ501U 100 200 8.000 8/1 4000 7000 3.0 2 9.5 7.6<br />

750 27 38 1.6 2.0 PA421_0080 EZ402U 100 200 8.000 8/1 4000 7000 1.7 2 9.5 7.7<br />

750 40 61 2.3 1.4 PA421_0080 EZ502U 100 200 8.000 8/1 4000 7000 5.3 2 9.5 9.1<br />

750 45 65 2.6 1.2 PA421_0080 EZ404U 100 200 8.000 8/1 4000 7000 3.0 2 9.5 9.8<br />

857 16 19 1.1 3.8 PA421_0070 EZ401U 58 240 7.000 7/1 4000 7000 1.0 2 10 6.6<br />

857 23 30 1.7 2.6 PA421_0070 EZ501U 110 240 7.000 7/1 4000 7000 3.0 2 10 7.6<br />

857 24 33 1.7 2.5 PA421_0070 EZ402U 110 240 7.000 7/1 4000 7000 1.7 2 10 7.7<br />

857 35 53 2.6 1.7 PA421_0070 EZ502U 110 240 7.000 7/1 4000 7000 5.3 2 10 9.1<br />

857 39 57 2.9 1.5 PA421_0070 EZ404U 110 240 7.000 7/1 4000 7000 3.1 2 10 9.8<br />

857 42 72 3.1 1.4 PA421_0070 EZ503U 110 240 7.000 7/1 4000 7000 7.7 2 10 11<br />

1200 16 21 2.5 3.6 PA421_0050 EZ501U 78 240 5.000 5/1 3700 6500 3.1 2 12 7.6<br />

1200 17 24 2.6 3.5 PA421_0050 EZ402U 78 240 5.000 5/1 3700 6500 1.8 2 12 7.7<br />

1200 25 38 3.9 2.3 PA421_0050 EZ502U 120 240 5.000 5/1 3700 6500 5.4 2 12 9.1<br />

1200 25 38 3.9 2.3 PA421_0050 EZ701U 97 240 5.000 5/1 3700 6500 8.7 2 12 11<br />

1200 28 41 4.3 2.1 PA421_0050 EZ404U 120 240 5.000 5/1 3700 6500 3.2 2 12 9.8<br />

1200 30 51 4.6 2.0 PA421_0050 EZ503U 120 240 5.000 5/1 3700 6500 7.8 2 12 11<br />

1200 35 69 5.4 1.7 PA421_0050 EZ702U 120 240 5.000 5/1 3700 6500 14 2 12 13<br />

1500 13 17 3.3 4.5 PA421_0040 EZ501U 62 240 4.000 4/1 3300 6000 3.2 2 12 7.6<br />

1500 14 19 3.4 4.3 PA421_0040 EZ402U 62 240 4.000 4/1 3300 6000 1.9 2 12 7.7<br />

1500 20 30 5.1 2.9 PA421_0040 EZ502U 120 240 4.000 4/1 3300 6000 5.5 2 12 9.1<br />

1500 20 31 5.1 2.9 PA421_0040 EZ701U 78 240 4.000 4/1 3300 6000 8.8 2 12 11<br />

1500 23 33 5.6 2.6 PA421_0040 EZ404U 110 240 4.000 4/1 3300 6000 3.3 2 12 9.8<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


3 PA planetary geared motors 3.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA4 (n 1N = 6000 rpm, M 2acc,max = 120 Nm)<br />

1500 24 41 6.0 2.5 PA421_0040 EZ503U 120 240 4.000 4/1 3300 6000 7.9 2 12 11<br />

1500 28 55 7.0 2.1 PA421_0040 EZ702U 120 240 4.000 4/1 3300 6000 14 2 12 13<br />

PA5 (n 1N = 3000 rpm, M 2acc,max = 300 Nm)<br />

43 186 200 0.9 1.1 PA522_0700 EZ401U 270 600 70.00 70/1 4000 7000 0.98 2 26 11<br />

54 149 160 1.1 1.3 PA522_0560 EZ401U 250 500 56.00 56/1 4000 7000 1.0 2 25 11<br />

60 133 143 1.1 1.6 PA522_0500 EZ401U 300 600 50.00 50/1 4000 7000 0.98 2 27 11<br />

60 204 223 1.7 1.0 PA522_0500 EZ501U 300 600 50.00 50/1 4000 7000 3.0 2 27 12<br />

75 106 114 1.2 1.9 PA522_0400 EZ401U 300 600 40.00 40/1 4000 7000 0.98 2 26 11<br />

75 163 179 1.9 1.2 PA522_0400 EZ501U 300 600 40.00 40/1 4000 7000 3.0 2 26 12<br />

75 179 198 2.1 1.1 PA522_0400 EZ402U 300 600 40.00 40/1 4000 7000 1.7 2 26 12<br />

86 93 100 1.3 2.3 PA522_0350 EZ401U 280 600 35.00 35/1 4000 7000 1.0 2 28 11<br />

86 143 156 2.0 1.5 PA522_0350 EZ501U 300 600 35.00 35/1 4000 7000 3.0 2 28 12<br />

86 156 173 2.2 1.3 PA522_0350 EZ402U 300 600 35.00 35/1 4000 7000 1.7 2 28 12<br />

94 85 91 1.4 2.4 PA522_0320 EZ401U 250 500 32.00 32/1 3300 6000 1.2 2 25 11<br />

94 131 143 2.2 1.5 PA522_0320 EZ501U 250 500 32.00 32/1 3300 6000 3.2 2 25 12<br />

94 143 158 2.4 1.4 PA522_0320 EZ402U 250 500 32.00 32/1 3300 6000 1.9 2 25 12<br />

107 74 80 1.4 2.8 PA522_0280 EZ401U 230 600 28.00 28/1 4000 7000 1.0 2 27 11<br />

107 114 125 2.2 1.8 PA522_0280 EZ501U 300 600 28.00 28/1 4000 7000 3.0 2 27 12<br />

107 125 138 2.4 1.7 PA522_0280 EZ402U 300 600 28.00 28/1 4000 7000 1.7 2 27 12<br />

107 184 229 3.5 1.1 PA522_0280 EZ404U 300 600 28.00 28/1 4000 7000 3.1 2 27 14<br />

107 197 213 3.8 1.1 PA522_0280 EZ502U 300 600 28.00 28/1 4000 7000 5.3 2 27 14<br />

120 67 71 1.5 3.2 PA522_0250 EZ401U 200 600 25.00 25/1 3700 6500 1.1 2 28 11<br />

120 102 112 2.3 2.1 PA522_0250 EZ501U 300 600 25.00 25/1 3700 6500 3.1 2 28 12<br />

120 112 124 2.6 1.9 PA522_0250 EZ402U 300 600 25.00 25/1 3700 6500 1.8 2 28 12<br />

120 164 204 3.7 1.3 PA522_0250 EZ404U 300 600 25.00 25/1 3700 6500 3.2 2 28 14<br />

120 176 190 4.0 1.2 PA522_0250 EZ502U 300 600 25.00 25/1 3700 6500 5.4 2 28 14<br />

120 176 197 4.0 1.2 PA522_0250 EZ701U 300 600 25.00 25/1 3700 6500 8.7 2 28 15<br />

150 53 57 1.7 3.9 PA522_0200 EZ401U 160 600 20.00 20/1 3300 6000 1.2 2 28 11<br />

150 82 89 2.6 2.6 PA522_0200 EZ501U 300 600 20.00 20/1 3300 6000 3.2 2 28 12<br />

150 89 99 2.9 2.4 PA522_0200 EZ402U 300 600 20.00 20/1 3300 6000 1.9 2 28 12<br />

150 131 163 4.2 1.6 PA522_0200 EZ404U 300 600 20.00 20/1 3300 6000 3.3 2 28 14<br />

150 141 152 4.5 1.5 PA522_0200 EZ502U 300 600 20.00 20/1 3300 6000 5.5 2 28 14<br />

150 141 158 4.5 1.5 PA522_0200 EZ701U 300 600 20.00 20/1 3300 6000 8.8 2 28 15<br />

150 184 211 5.9 1.1 PA522_0200 EZ503U 300 600 20.00 20/1 3300 6000 7.9 2 28 15<br />

188 43 46 1.9 4.9 PA522_0160 EZ401U 130 600 16.00 16/1 3300 6000 1.3 2 28 11<br />

188 65 71 2.9 3.2 PA522_0160 EZ501U 240 600 16.00 16/1 3300 6000 3.2 2 28 12<br />

188 71 79 3.2 2.9 PA522_0160 EZ402U 240 600 16.00 16/1 3300 6000 2.0 2 28 12<br />

188 105 131 4.7 2.0 PA522_0160 EZ404U 300 600 16.00 16/1 3300 6000 3.3 2 28 14<br />

188 112 122 5.0 1.9 PA522_0160 EZ502U 300 600 16.00 16/1 3300 6000 5.5 2 28 14<br />

188 112 126 5.0 1.9 PA522_0160 EZ701U 300 600 16.00 16/1 3300 6000 8.8 2 28 15<br />

188 147 169 6.6 1.4 PA522_0160 EZ503U 300 600 16.00 16/1 3300 6000 7.9 2 28 15<br />

188 182 219 8.1 1.2 PA522_0160 EZ702U 300 600 16.00 16/1 3300 6000 14 2 28 18<br />

250 32 34 3.8 3.8 PA522_0120 EZ401U 97 460 12.00 12/1 3300 6000 1.3 2 27 11<br />

250 49 54 5.9 2.4 PA522_0120 EZ501U 180 460 12.00 12/1 3300 6000 3.3 2 27 12<br />

250 54 59 6.4 2.2 PA522_0120 EZ402U 180 460 12.00 12/1 3300 6000 2.0 2 27 12<br />

250 79 98 9.5 1.5 PA522_0120 EZ404U 200 460 12.00 12/1 3300 6000 3.3 2 27 14<br />

250 84 91 10 1.4 PA522_0120 EZ502U 200 460 12.00 12/1 3300 6000 5.6 2 27 14<br />

250 84 95 10 1.4 PA522_0120 EZ701U 200 460 12.00 12/1 3300 6000 8.9 2 27 15<br />

250 111 127 13 1.1 PA522_0120 EZ503U 200 460 12.00 12/1 3300 6000 7.9 2 27 15<br />

300 42 46 1.8 2.9 PA521_0100 EZ501U 160 500 10.00 10/1 3700 6500 3.0 1 25 9.4<br />

300 72 78 3.1 1.7 PA521_0100 EZ502U 250 500 10.00 10/1 3700 6500 5.3 1 25 11<br />

300 72 81 3.1 1.7 PA521_0100 EZ701U 190 500 10.00 10/1 3700 6500 8.6 1 25 13<br />

300 94 108 4.1 1.3 PA521_0100 EZ503U 250 500 10.00 10/1 3700 6500 7.7 1 25 12<br />

300 116 140 5.1 1.1 PA521_0100 EZ702U 250 500 10.00 10/1 3700 6500 14 1 25 15<br />

375 57 62 2.9 3.0 PA521_0080 EZ502U 240 500 8.000 8/1 3700 6500 5.4 1 26 11<br />

375 57 64 2.9 3.0 PA521_0080 EZ701U 160 500 8.000 8/1 3700 6500 8.7 1 26 13<br />

375 75 86 3.8 2.3 PA521_0080 EZ503U 250 500 8.000 8/1 3700 6500 7.8 1 26 12<br />

375 93 112 4.7 1.9 PA521_0080 EZ702U 250 500 8.000 8/1 3700 6500 14 1 26 15<br />

375 105 124 5.3 1.7 PA521_0080 EZ505U 250 500 8.000 8/1 3700 6500 12 1 26 15<br />

375 128 161 6.4 1.4 PA521_0080 EZ703U 250 500 8.000 8/1 3700 6500 22 1 26 17<br />

429 50 54 3.2 3.7 PA521_0070 EZ502U 210 600 7.000 7/1 3700 6500 5.5 1 28 11<br />

429 50 56 3.2 3.7 PA521_0070 EZ701U 140 600 7.000 7/1 3700 6500 8.8 1 28 13<br />

429 66 75 4.2 2.8 PA521_0070 EZ503U 270 600 7.000 7/1 3700 6500 7.8 1 28 12<br />

429 81 98 5.2 2.3 PA521_0070 EZ702U 270 600 7.000 7/1 3700 6500 14 1 28 15<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

51


3.2 Selection tables 3 PA planetary geared motors<br />

52<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA5 (n 1N = 3000 rpm, M 2acc,max = 300 Nm)<br />

429 92 109 5.9 2.0 PA521_0070 EZ505U 270 600 7.000 7/1 3700 6500 12 1 28 15<br />

429 112 141 7.2 1.6 PA521_0070 EZ703U 270 600 7.000 7/1 3700 6500 22 1 28 17<br />

600 47 54 6.3 3.9 PA521_0050 EZ503U 210 430 5.000 5/1 3500 6000 8.2 1 31 12<br />

600 58 70 7.8 3.2 PA521_0050 EZ702U 200 600 5.000 5/1 3500 6000 14 1 31 15<br />

600 65 78 8.8 2.8 PA521_0050 EZ505U 300 600 5.000 5/1 3500 6000 13 1 31 15<br />

600 80 101 11 2.3 PA521_0050 EZ703U 300 600 5.000 5/1 3500 6000 22 1 31 17<br />

600 103 146 14 1.8 PA521_0050 EZ705U 300 600 5.000 5/1 3500 6000 35 1 31 23<br />

600 108 180 15 1.7 PA521_0050 EZ802U 300 600 5.000 5/1 3500 6000 59 1 31 31<br />

750 38 43 8.3 4.9 PA521_0040 EZ503U 170 350 4.000 4/1 3000 5000 8.6 1 32 12<br />

750 47 56 10 3.9 PA521_0040 EZ702U 160 600 4.000 4/1 3000 5000 15 1 32 15<br />

750 52 62 11 3.5 PA521_0040 EZ505U 260 600 4.000 4/1 3000 5000 13 1 32 15<br />

750 64 81 14 2.9 PA521_0040 EZ703U 250 600 4.000 4/1 3000 5000 23 1 32 17<br />

750 83 117 18 2.2 PA521_0040 EZ705U 300 600 4.000 4/1 3000 5000 35 1 32 23<br />

750 87 144 19 2.1 PA521_0040 EZ802U 300 600 4.000 4/1 3000 5000 59 1 32 31<br />

1000 22 23 16 4.9 PA521_0030 EZ502U 90 260 3.000 3/1 2500 4500 8.0 1 36 11<br />

1000 22 24 16 4.9 PA521_0030 EZ701U 58 460 3.000 3/1 2500 4500 11 1 36 13<br />

1000 28 32 20 3.7 PA521_0030 EZ503U 130 260 3.000 3/1 2500 4500 10 1 36 12<br />

1000 35 42 25 3.0 PA521_0030 EZ702U 120 460 3.000 3/1 2500 4500 17 1 36 15<br />

1000 39 47 28 2.7 PA521_0030 EZ505U 190 460 3.000 3/1 2500 4500 15 1 36 15<br />

1000 48 61 35 2.2 PA521_0030 EZ703U 190 460 3.000 3/1 2500 4500 24 1 36 17<br />

1000 62 88 45 1.7 PA521_0030 EZ705U 200 460 3.000 3/1 2500 4500 37 1 36 23<br />

1000 65 108 47 1.6 PA521_0030 EZ802U 200 460 3.000 3/1 2500 4500 61 1 36 31<br />

PA5 (n 1N = 4500 rpm, M 2acc,max = 300 Nm)<br />

450 92 148 4.6 1.2 PA521_0100 EZ505U 250 500 10.00 10/1 3700 6500 12 1 25 15<br />

563 74 119 4.2 2.1 PA521_0080 EZ505U 250 500 8.000 8/1 3700 6500 12 1 26 15<br />

563 94 155 5.4 1.6 PA521_0080 EZ703U 250 500 8.000 8/1 3700 6500 22 1 26 17<br />

643 65 104 4.7 2.5 PA521_0070 EZ505U 270 600 7.000 7/1 3700 6500 12 1 28 15<br />

643 82 136 6.0 2.0 PA521_0070 EZ703U 270 600 7.000 7/1 3700 6500 22 1 28 17<br />

900 46 74 7.1 3.5 PA521_0050 EZ505U 300 600 5.000 5/1 3500 6000 13 1 31 15<br />

900 51 167 7.8 3.1 PA521_0050 EZ802U 300 600 5.000 5/1 3500 6000 59 1 31 31<br />

900 59 97 9.0 2.7 PA521_0050 EZ703U 300 600 5.000 5/1 3500 6000 22 1 31 17<br />

900 80 146 12 2.0 PA521_0050 EZ705U 300 600 5.000 5/1 3500 6000 35 1 31 23<br />

1125 37 59 9.3 4.3 PA521_0040 EZ505U 260 600 4.000 4/1 3000 5000 13 1 32 15<br />

1125 41 134 10 3.9 PA521_0040 EZ802U 300 600 4.000 4/1 3000 5000 59 1 32 31<br />

1125 47 78 12 3.4 PA521_0040 EZ703U 250 600 4.000 4/1 3000 5000 23 1 32 17<br />

1125 64 116 16 2.5 PA521_0040 EZ705U 300 600 4.000 4/1 3000 5000 35 1 32 23<br />

1500 28 45 23 3.3 PA521_0030 EZ505U 190 460 3.000 3/1 2500 4500 15 1 36 15<br />

1500 31 100 25 3.0 PA521_0030 EZ802U 200 460 3.000 3/1 2500 4500 61 1 36 31<br />

1500 35 58 29 2.6 PA521_0030 EZ703U 190 460 3.000 3/1 2500 4500 24 1 36 17<br />

1500 48 87 40 1.9 PA521_0030 EZ705U 200 460 3.000 3/1 2500 4500 37 1 36 23<br />

PA5 (n 1N = 6000 rpm, M 2acc,max = 300 Nm)<br />

86 153 186 0.7 1.4 PA522_0700 EZ401U 270 600 70.00 70/1 4000 7000 0.98 2 26 11<br />

107 122 149 0.9 1.6 PA522_0560 EZ401U 250 500 56.00 56/1 4000 7000 1.0 2 25 11<br />

120 109 133 0.9 1.8 PA522_0500 EZ401U 300 600 50.00 50/1 4000 7000 0.98 2 27 11<br />

120 162 209 1.4 1.2 PA522_0500 EZ501U 300 600 50.00 50/1 4000 7000 3.0 2 27 12<br />

150 87 106 1.3 1.8 PA522_0400 EZ401U 300 600 40.00 40/1 4000 7000 0.98 2 26 11<br />

150 129 167 1.9 1.2 PA522_0400 EZ501U 300 600 40.00 40/1 4000 7000 3.0 2 26 12<br />

150 133 186 2.0 1.2 PA522_0400 EZ402U 300 600 40.00 40/1 4000 7000 1.7 2 26 12<br />

171 76 93 1.1 2.7 PA522_0350 EZ401U 280 600 35.00 35/1 4000 7000 1.0 2 28 11<br />

171 113 146 1.6 1.9 PA522_0350 EZ501U 300 600 35.00 35/1 4000 7000 3.0 2 28 12<br />

171 116 163 1.6 1.8 PA522_0350 EZ402U 300 600 35.00 35/1 4000 7000 1.7 2 28 12<br />

188 70 85 1.2 2.9 PA522_0320 EZ401U 250 500 32.00 32/1 3300 6000 1.2 2 25 11<br />

188 103 134 1.7 1.9 PA522_0320 EZ501U 250 500 32.00 32/1 3300 6000 3.2 2 25 12<br />

188 106 149 1.8 1.9 PA522_0320 EZ402U 250 500 32.00 32/1 3300 6000 1.9 2 25 12<br />

214 61 74 1.2 3.4 PA522_0280 EZ401U 230 600 28.00 28/1 4000 7000 1.0 2 27 11<br />

214 90 117 1.7 2.3 PA522_0280 EZ501U 300 600 28.00 28/1 4000 7000 3.0 2 27 12<br />

214 93 130 1.8 2.3 PA522_0280 EZ402U 300 600 28.00 28/1 4000 7000 1.7 2 27 12<br />

214 138 207 2.7 1.5 PA522_0280 EZ502U 300 600 28.00 28/1 4000 7000 5.3 2 27 14<br />

214 154 223 3.0 1.4 PA522_0280 EZ404U 300 600 28.00 28/1 4000 7000 3.1 2 27 14<br />

240 55 67 1.2 3.8 PA522_0250 EZ401U 200 600 25.00 25/1 3700 6500 1.1 2 28 11<br />

240 81 105 1.8 2.6 PA522_0250 EZ501U 300 600 25.00 25/1 3700 6500 3.1 2 28 12<br />

240 83 116 1.9 2.5 PA522_0250 EZ402U 300 600 25.00 25/1 3700 6500 1.8 2 28 12<br />

240 124 185 2.8 1.7 PA522_0250 EZ502U 300 600 25.00 25/1 3700 6500 5.4 2 28 14<br />

240 124 188 2.8 1.7 PA522_0250 EZ701U 300 600 25.00 25/1 3700 6500 8.7 2 28 15<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


3 PA planetary geared motors 3.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA5 (n 1N = 6000 rpm, M 2acc,max = 300 Nm)<br />

240 138 200 3.1 1.5 PA522_0250 EZ404U 300 600 25.00 25/1 3700 6500 3.2 2 28 14<br />

300 44 53 1.4 4.8 PA522_0200 EZ401U 160 600 20.00 20/1 3300 6000 1.2 2 28 11<br />

300 65 84 2.1 3.3 PA522_0200 EZ501U 300 600 20.00 20/1 3300 6000 3.2 2 28 12<br />

300 67 93 2.1 3.2 PA522_0200 EZ402U 300 600 20.00 20/1 3300 6000 1.9 2 28 12<br />

300 99 148 3.2 2.1 PA522_0200 EZ502U 300 600 20.00 20/1 3300 6000 5.5 2 28 14<br />

300 99 150 3.2 2.1 PA522_0200 EZ701U 300 600 20.00 20/1 3300 6000 8.8 2 28 15<br />

300 110 160 3.5 1.9 PA522_0200 EZ404U 300 600 20.00 20/1 3300 6000 3.3 2 28 14<br />

300 118 201 3.8 1.8 PA522_0200 EZ503U 300 600 20.00 20/1 3300 6000 7.9 2 28 15<br />

375 52 67 2.3 4.1 PA522_0160 EZ501U 240 600 16.00 16/1 3300 6000 3.2 2 28 12<br />

375 53 74 2.4 3.9 PA522_0160 EZ402U 240 600 16.00 16/1 3300 6000 2.0 2 28 12<br />

375 79 119 3.5 2.7 PA522_0160 EZ502U 300 600 16.00 16/1 3300 6000 5.5 2 28 14<br />

375 79 120 3.5 2.7 PA522_0160 EZ701U 300 600 16.00 16/1 3300 6000 8.8 2 28 15<br />

375 88 128 3.9 2.4 PA522_0160 EZ404U 300 600 16.00 16/1 3300 6000 3.3 2 28 14<br />

375 94 161 4.2 2.2 PA522_0160 EZ503U 300 600 16.00 16/1 3300 6000 7.9 2 28 15<br />

375 109 217 4.9 1.9 PA522_0160 EZ702U 300 600 16.00 16/1 3300 6000 14 2 28 18<br />

500 26 32 3.2 4.6 PA522_0120 EZ401U 97 460 12.00 12/1 3300 6000 1.3 2 27 11<br />

500 39 50 4.7 3.1 PA522_0120 EZ501U 180 460 12.00 12/1 3300 6000 3.3 2 27 12<br />

500 40 56 4.8 3.0 PA522_0120 EZ402U 180 460 12.00 12/1 3300 6000 2.0 2 27 12<br />

500 59 89 7.1 2.0 PA522_0120 EZ502U 200 460 12.00 12/1 3300 6000 5.6 2 27 14<br />

500 59 90 7.1 2.0 PA522_0120 EZ701U 200 460 12.00 12/1 3300 6000 8.9 2 27 15<br />

500 66 96 8.0 1.8 PA522_0120 EZ404U 200 460 12.00 12/1 3300 6000 3.3 2 27 14<br />

500 71 121 8.5 1.7 PA522_0120 EZ503U 200 460 12.00 12/1 3300 6000 7.9 2 27 15<br />

600 33 43 1.8 2.9 PA521_0100 EZ501U 160 500 10.00 10/1 3700 6500 3.0 1 25 9.4<br />

600 50 76 2.8 1.9 PA521_0100 EZ502U 250 500 10.00 10/1 3700 6500 5.3 1 25 11<br />

600 50 77 2.8 1.9 PA521_0100 EZ701U 190 500 10.00 10/1 3700 6500 8.6 1 25 13<br />

600 60 103 3.3 1.6 PA521_0100 EZ503U 250 500 10.00 10/1 3700 6500 7.7 1 25 12<br />

600 70 139 3.9 1.4 PA521_0100 EZ702U 250 500 10.00 10/1 3700 6500 14 1 25 15<br />

750 40 61 2.5 3.4 PA521_0080 EZ502U 240 500 8.000 8/1 3700 6500 5.4 1 26 11<br />

750 40 61 2.5 3.4 PA521_0080 EZ701U 160 500 8.000 8/1 3700 6500 8.7 1 26 13<br />

750 48 82 3.0 2.9 PA521_0080 EZ503U 250 500 8.000 8/1 3700 6500 7.8 1 26 12<br />

750 56 111 3.5 2.5 PA521_0080 EZ702U 250 500 8.000 8/1 3700 6500 14 1 26 15<br />

857 35 53 2.9 4.1 PA521_0070 EZ502U 210 600 7.000 7/1 3700 6500 5.5 1 28 11<br />

857 35 54 2.9 4.1 PA521_0070 EZ701U 140 600 7.000 7/1 3700 6500 8.8 1 28 13<br />

857 42 72 3.4 3.5 PA521_0070 EZ503U 270 600 7.000 7/1 3700 6500 7.8 1 28 12<br />

857 49 97 3.9 3.0 PA521_0070 EZ702U 270 600 7.000 7/1 3700 6500 14 1 28 15<br />

1200 30 51 5.1 4.8 PA521_0050 EZ503U 210 430 5.000 5/1 3500 6000 8.2 1 31 12<br />

1200 35 69 5.9 4.2 PA521_0050 EZ702U 200 600 5.000 5/1 3500 6000 14 1 31 15<br />

PA7 (n 1N = 2000 rpm, M 2acc,max = 700 Nm)<br />

400 212 321 14 2.1 PA721_0050 EZ805U 700 1400 5.000 5/1 3000 5500 135 1 58 54<br />

500 170 256 19 2.6 PA721_0040 EZ805U 700 1380 4.000 4/1 2500 4500 136 1 60 54<br />

667 127 192 41 2.2 PA721_0030 EZ805U 500 1040 3.000 3/1 2200 3700 141 1 65 54<br />

PA7 (n 1N = 3000 rpm, M 2acc,max = 700 Nm)<br />

38 327 357 0.8 1.2 PA722_0800 EZ501U 500 1000 80.00 80/1 3700 6500 3.1 2 52 18<br />

43 286 313 0.8 1.5 PA722_0700 EZ501U 650 1250 70.00 70/1 3700 6500 3.1 2 53 18<br />

54 229 250 1.0 1.7 PA722_0560 EZ501U 500 1000 56.00 56/1 3700 6500 3.2 2 52 18<br />

60 204 223 0.9 2.2 PA722_0500 EZ501U 700 1400 50.00 50/1 3700 6500 3.1 2 53 18<br />

60 352 380 1.6 1.3 PA722_0500 EZ502U 700 1400 50.00 50/1 3700 6500 5.4 2 53 19<br />

60 352 394 1.6 1.3 PA722_0500 EZ701U 700 1400 50.00 50/1 3700 6500 8.7 2 53 21<br />

75 163 179 1.1 2.7 PA722_0400 EZ501U 610 1380 40.00 40/1 3700 6500 3.1 2 52 18<br />

75 281 304 1.8 1.6 PA722_0400 EZ502U 700 1380 40.00 40/1 3700 6500 5.4 2 52 19<br />

75 281 315 1.8 1.6 PA722_0400 EZ701U 700 1380 40.00 40/1 3700 6500 8.7 2 52 21<br />

75 369 422 2.4 1.2 PA722_0400 EZ503U 700 1380 40.00 40/1 3700 6500 7.8 2 52 21<br />

86 143 156 1.1 3.1 PA722_0350 EZ501U 530 1400 35.00 35/1 3700 6500 3.2 2 53 18<br />

86 246 266 1.9 1.8 PA722_0350 EZ502U 700 1400 35.00 35/1 3700 6500 5.5 2 53 19<br />

86 246 276 1.9 1.8 PA722_0350 EZ701U 670 1400 35.00 35/1 3700 6500 8.8 2 53 21<br />

86 323 369 2.5 1.4 PA722_0350 EZ503U 700 1400 35.00 35/1 3700 6500 7.9 2 53 21<br />

86 399 479 3.2 1.1 PA722_0350 EZ702U 700 1400 35.00 35/1 3700 6500 14 2 53 24<br />

94 131 143 1.3 3.1 PA722_0320 EZ501U 490 1000 32.00 32/1 3000 5000 3.9 2 52 18<br />

94 225 243 2.2 1.8 PA722_0320 EZ502U 500 1000 32.00 32/1 3000 5000 6.2 2 52 19<br />

94 225 252 2.2 1.8 PA722_0320 EZ701U 500 1000 32.00 32/1 3000 5000 9.5 2 52 21<br />

94 295 337 2.9 1.4 PA722_0320 EZ503U 500 1000 32.00 32/1 3000 5000 8.5 2 52 21<br />

107 114 125 1.3 3.8 PA722_0280 EZ501U 430 1380 28.00 28/1 3700 6500 3.3 2 53 18<br />

107 197 213 2.2 2.2 PA722_0280 EZ502U 700 1380 28.00 28/1 3700 6500 5.6 2 53 19<br />

107 197 221 2.2 2.2 PA722_0280 EZ701U 530 1380 28.00 28/1 3700 6500 8.9 2 53 21<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

53


3.2 Selection tables 3 PA planetary geared motors<br />

54<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA7 (n 1N = 3000 rpm, M 2acc,max = 700 Nm)<br />

107 258 295 2.9 1.7 PA722_0280 EZ503U 700 1380 28.00 28/1 3700 6500 7.9 2 53 21<br />

107 319 383 3.5 1.4 PA722_0280 EZ702U 700 1380 28.00 28/1 3700 6500 14 2 53 24<br />

107 359 426 4.0 1.2 PA722_0280 EZ505U 700 1380 28.00 28/1 3700 6500 13 2 53 24<br />

120 102 112 1.3 4.3 PA722_0250 EZ501U 380 1400 25.00 25/1 3500 6000 3.6 2 54 18<br />

120 176 190 2.3 2.5 PA722_0250 EZ502U 700 1400 25.00 25/1 3500 6000 5.9 2 54 19<br />

120 176 197 2.3 2.5 PA722_0250 EZ701U 480 1400 25.00 25/1 3500 6000 9.2 2 54 21<br />

120 230 264 3.0 1.9 PA722_0250 EZ503U 700 1400 25.00 25/1 3500 6000 8.2 2 54 21<br />

120 285 342 3.7 1.5 PA722_0250 EZ702U 700 1400 25.00 25/1 3500 6000 14 2 54 24<br />

120 321 380 4.2 1.4 PA722_0250 EZ505U 700 1400 25.00 25/1 3500 6000 13 2 54 24<br />

120 392 494 5.1 1.1 PA722_0250 EZ703U 700 1400 25.00 25/1 3500 6000 22 2 54 26<br />

150 141 152 2.6 3.1 PA722_0200 EZ502U 590 1400 20.00 20/1 3000 5000 6.2 2 54 19<br />

150 141 158 2.6 3.1 PA722_0200 EZ701U 380 1400 20.00 20/1 3000 5000 9.5 2 54 21<br />

150 184 211 3.4 2.4 PA722_0200 EZ503U 700 1400 20.00 20/1 3000 5000 8.6 2 54 21<br />

150 228 274 4.2 1.9 PA722_0200 EZ702U 700 1400 20.00 20/1 3000 5000 15 2 54 24<br />

150 257 304 4.7 1.7 PA722_0200 EZ505U 700 1400 20.00 20/1 3000 5000 13 2 54 24<br />

150 314 395 5.7 1.4 PA722_0200 EZ703U 700 1400 20.00 20/1 3000 5000 23 2 54 26<br />

188 112 122 2.9 3.9 PA722_0160 EZ502U 470 1340 16.00 16/1 3000 5000 6.3 2 54 19<br />

188 112 126 2.9 3.9 PA722_0160 EZ701U 300 1380 16.00 16/1 3000 5000 9.6 2 54 21<br />

188 147 169 3.8 3.0 PA722_0160 EZ503U 650 1340 16.00 16/1 3000 5000 8.7 2 54 21<br />

188 182 219 4.7 2.4 PA722_0160 EZ702U 620 1380 16.00 16/1 3000 5000 15 2 54 24<br />

188 205 243 5.2 2.1 PA722_0160 EZ505U 700 1380 16.00 16/1 3000 5000 13 2 54 24<br />

188 251 316 6.4 1.8 PA722_0160 EZ703U 700 1380 16.00 16/1 3000 5000 23 2 54 26<br />

188 324 459 8.3 1.4 PA722_0160 EZ705U 700 1380 16.00 16/1 3000 5000 35 2 54 31<br />

250 84 91 5.2 3.3 PA722_0120 EZ502U 350 1000 12.00 12/1 3000 5000 6.6 2 53 19<br />

250 84 95 5.2 3.3 PA722_0120 EZ701U 230 1040 12.00 12/1 3000 5000 9.9 2 53 21<br />

250 111 127 6.8 2.5 PA722_0120 EZ503U 490 1000 12.00 12/1 3000 5000 9.0 2 53 21<br />

250 137 164 8.5 2.0 PA722_0120 EZ702U 470 1040 12.00 12/1 3000 5000 15 2 53 24<br />

250 154 182 9.5 1.8 PA722_0120 EZ505U 500 1040 12.00 12/1 3000 5000 14 2 53 24<br />

250 188 237 12 1.5 PA722_0120 EZ703U 500 1040 12.00 12/1 3000 5000 23 2 53 26<br />

250 243 344 15 1.2 PA722_0120 EZ705U 500 1040 12.00 12/1 3000 5000 35 2 53 31<br />

300 72 81 1.8 3.7 PA721_0100 EZ701U 190 1000 10.00 10/1 3300 6000 9.0 1 50 17<br />

300 116 140 2.9 2.3 PA721_0100 EZ702U 400 1000 10.00 10/1 3300 6000 14 1 50 19<br />

300 160 202 3.9 1.6 PA721_0100 EZ703U 500 1000 10.00 10/1 3300 6000 22 1 50 21<br />

300 207 293 5.1 1.3 PA721_0100 EZ705U 500 1000 10.00 10/1 3300 6000 35 1 50 27<br />

300 216 360 5.3 1.2 PA721_0100 EZ802U 500 1000 10.00 10/1 3300 6000 59 1 50 35<br />

375 93 112 2.8 3.8 PA721_0080 EZ702U 320 1000 8.000 8/1 3300 6000 15 1 53 19<br />

375 128 161 3.9 2.7 PA721_0080 EZ703U 500 1000 8.000 8/1 3300 6000 22 1 53 21<br />

375 165 234 5.0 2.1 PA721_0080 EZ705U 500 1000 8.000 8/1 3300 6000 35 1 53 27<br />

375 173 288 5.2 2.0 PA721_0080 EZ802U 500 1000 8.000 8/1 3300 6000 59 1 53 35<br />

429 81 98 3.0 4.7 PA721_0070 EZ702U 280 1250 7.000 7/1 3300 6000 15 1 55 19<br />

429 112 141 4.1 3.4 PA721_0070 EZ703U 440 1250 7.000 7/1 3300 6000 23 1 55 21<br />

429 145 205 5.3 2.7 PA721_0070 EZ705U 650 1250 7.000 7/1 3300 6000 35 1 55 27<br />

429 151 252 5.6 2.5 PA721_0070 EZ802U 650 1250 7.000 7/1 3300 6000 59 1 55 35<br />

600 80 101 6.2 4.8 PA721_0050 EZ703U 320 900 5.000 5/1 3000 5500 24 1 58 21<br />

600 103 146 7.9 3.7 PA721_0050 EZ705U 500 1400 5.000 5/1 3000 5500 36 1 58 27<br />

600 108 180 8.3 3.6 PA721_0050 EZ802U 490 1400 5.000 5/1 3000 5500 60 1 58 35<br />

600 129 234 9.9 3.0 PA721_0050 EZ803U 700 1400 5.000 5/1 3000 5500 85 1 58 41<br />

750 83 117 10 4.7 PA721_0040 EZ705U 400 1380 4.000 4/1 2500 4500 38 1 60 27<br />

750 87 144 11 4.4 PA721_0040 EZ802U 390 1380 4.000 4/1 2500 4500 62 1 60 35<br />

750 103 187 13 3.7 PA721_0040 EZ803U 560 1380 4.000 4/1 2500 4500 87 1 60 41<br />

1000 62 88 23 3.9 PA721_0030 EZ705U 300 1040 3.000 3/1 2200 3700 42 1 65 27<br />

1000 65 108 24 3.8 PA721_0030 EZ802U 290 1040 3.000 3/1 2200 3700 66 1 65 35<br />

1000 77 140 29 3.2 PA721_0030 EZ803U 420 1040 3.000 3/1 2200 3700 92 1 65 41<br />

PA7 (n 1N = 4500 rpm, M 2acc,max = 700 Nm)<br />

129 316 509 2.5 1.4 PA722_0350 EZ505U 700 1400 35.00 35/1 3700 6500 12 2 53 24<br />

161 253 407 2.8 1.7 PA722_0280 EZ505U 700 1380 28.00 28/1 3700 6500 13 2 53 24<br />

161 322 532 3.6 1.4 PA722_0280 EZ703U 700 1380 28.00 28/1 3700 6500 22 2 53 26<br />

180 226 363 3.0 2.0 PA722_0250 EZ505U 700 1400 25.00 25/1 3500 6000 13 2 54 24<br />

180 287 475 3.8 1.5 PA722_0250 EZ703U 700 1400 25.00 25/1 3500 6000 22 2 54 26<br />

225 181 291 3.3 2.4 PA722_0200 EZ505U 700 1400 20.00 20/1 3000 5000 13 2 54 24<br />

225 230 380 4.2 1.9 PA722_0200 EZ703U 700 1400 20.00 20/1 3000 5000 23 2 54 26<br />

281 144 233 3.7 3.0 PA722_0160 EZ505U 700 1380 16.00 16/1 3000 5000 13 2 54 24<br />

281 160 524 4.1 2.8 PA722_0160 EZ802U 700 1380 16.00 16/1 3000 5000 59 2 54 40<br />

281 184 304 4.7 2.4 PA722_0160 EZ703U 700 1380 16.00 16/1 3000 5000 23 2 54 26<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


3 PA planetary geared motors 3.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA7 (n 1N = 4500 rpm, M 2acc,max = 700 Nm)<br />

281 249 456 6.4 1.8 PA722_0160 EZ705U 700 1380 16.00 16/1 3000 5000 35 2 54 31<br />

375 108 174 6.7 2.6 PA722_0120 EZ505U 500 1040 12.00 12/1 3000 5000 14 2 53 24<br />

375 138 228 8.5 2.0 PA722_0120 EZ703U 500 1040 12.00 12/1 3000 5000 23 2 53 26<br />

375 187 342 12 1.5 PA722_0120 EZ705U 500 1040 12.00 12/1 3000 5000 35 2 53 31<br />

450 102 335 2.9 2.2 PA721_0100 EZ802U 500 1000 10.00 10/1 3300 6000 59 1 50 35<br />

450 117 194 3.3 2.0 PA721_0100 EZ703U 500 1000 10.00 10/1 3300 6000 22 1 50 21<br />

450 159 291 4.5 1.4 PA721_0100 EZ705U 500 1000 10.00 10/1 3300 6000 35 1 50 27<br />

563 81 268 2.8 3.7 PA721_0080 EZ802U 500 1000 8.000 8/1 3300 6000 59 1 53 35<br />

563 94 155 3.2 3.3 PA721_0080 EZ703U 500 1000 8.000 8/1 3300 6000 22 1 53 21<br />

563 127 233 4.4 2.4 PA721_0080 EZ705U 500 1000 8.000 8/1 3300 6000 35 1 53 27<br />

643 71 234 3.0 4.7 PA721_0070 EZ802U 650 1250 7.000 7/1 3300 6000 59 1 55 35<br />

643 82 136 3.5 4.1 PA721_0070 EZ703U 440 1250 7.000 7/1 3300 6000 23 1 55 21<br />

643 111 204 4.7 3.0 PA721_0070 EZ705U 650 1250 7.000 7/1 3300 6000 35 1 55 27<br />

900 80 146 7.0 4.2 PA721_0050 EZ705U 500 1400 5.000 5/1 3000 5500 36 1 58 27<br />

PA7 (n 1N = 6000 rpm, M 2acc,max = 700 Nm)<br />

75 258 334 0.7 1.5 PA722_0800 EZ501U 500 1000 80.00 80/1 3700 6500 3.1 2 52 18<br />

86 226 293 0.6 1.9 PA722_0700 EZ501U 650 1250 70.00 70/1 3700 6500 3.1 2 53 18<br />

107 181 234 0.8 2.2 PA722_0560 EZ501U 500 1000 56.00 56/1 3700 6500 3.2 2 52 18<br />

120 162 209 0.7 2.7 PA722_0500 EZ501U 700 1400 50.00 50/1 3700 6500 3.1 2 53 18<br />

120 247 371 1.1 1.8 PA722_0500 EZ502U 700 1400 50.00 50/1 3700 6500 5.4 2 53 19<br />

120 247 375 1.1 1.8 PA722_0500 EZ701U 700 1400 50.00 50/1 3700 6500 8.7 2 53 21<br />

120 295 504 1.4 1.5 PA722_0500 EZ503U 700 1400 50.00 50/1 3700 6500 7.7 2 53 21<br />

150 129 167 1.0 2.9 PA722_0400 EZ501U 610 1380 40.00 40/1 3700 6500 3.1 2 52 18<br />

150 198 296 1.5 1.9 PA722_0400 EZ502U 700 1380 40.00 40/1 3700 6500 5.4 2 52 19<br />

150 198 300 1.5 1.9 PA722_0400 EZ701U 700 1380 40.00 40/1 3700 6500 8.7 2 52 21<br />

150 236 403 1.8 1.6 PA722_0400 EZ503U 700 1380 40.00 40/1 3700 6500 7.8 2 52 21<br />

171 113 146 0.9 3.9 PA722_0350 EZ501U 530 1400 35.00 35/1 3700 6500 3.2 2 53 18<br />

171 173 259 1.4 2.5 PA722_0350 EZ502U 700 1400 35.00 35/1 3700 6500 5.5 2 53 19<br />

171 173 263 1.4 2.5 PA722_0350 EZ701U 670 1400 35.00 35/1 3700 6500 8.8 2 53 21<br />

171 206 352 1.6 2.1 PA722_0350 EZ503U 700 1400 35.00 35/1 3700 6500 7.9 2 53 21<br />

171 239 475 1.9 1.8 PA722_0350 EZ702U 700 1400 35.00 35/1 3700 6500 14 2 53 24<br />

214 90 117 1.0 4.9 PA722_0280 EZ501U 430 1380 28.00 28/1 3700 6500 3.3 2 53 18<br />

214 138 207 1.5 3.2 PA722_0280 EZ502U 700 1380 28.00 28/1 3700 6500 5.6 2 53 19<br />

214 138 210 1.5 3.2 PA722_0280 EZ701U 530 1380 28.00 28/1 3700 6500 8.9 2 53 21<br />

214 165 282 1.8 2.7 PA722_0280 EZ503U 700 1380 28.00 28/1 3700 6500 7.9 2 53 21<br />

214 192 380 2.1 2.3 PA722_0280 EZ702U 700 1380 28.00 28/1 3700 6500 14 2 53 24<br />

240 124 185 1.6 3.6 PA722_0250 EZ502U 700 1400 25.00 25/1 3500 6000 5.9 2 54 19<br />

240 124 188 1.6 3.6 PA722_0250 EZ701U 480 1400 25.00 25/1 3500 6000 9.2 2 54 21<br />

240 147 252 1.9 3.0 PA722_0250 EZ503U 700 1400 25.00 25/1 3500 6000 8.2 2 54 21<br />

240 171 340 2.2 2.6 PA722_0250 EZ702U 700 1400 25.00 25/1 3500 6000 14 2 54 24<br />

600 50 77 1.6 4.1 PA721_0100 EZ701U 190 1000 10.00 10/1 3300 6000 9.0 1 50 17<br />

600 70 139 2.2 3.0 PA721_0100 EZ702U 400 1000 10.00 10/1 3300 6000 14 1 50 19<br />

750 56 111 2.1 5.0 PA721_0080 EZ702U 320 1000 8.000 8/1 3300 6000 15 1 53 19<br />

PA8 (n 1N = 2000 rpm, M 2acc,max = 1600 Nm)<br />

125 664 1005 10 1.2 PA822_0160 EZ805U 1600 3180 16.00 16/1 2500 4500 137 2 169 74<br />

167 498 754 12 1.6 PA822_0120 EZ805U 1200 2400 12.00 12/1 2500 4500 138 2 156 74<br />

200 424 641 4.2 1.7 PA821_0100 EZ805U 1200 2400 10.00 10/1 2800 4500 135 1 153 64<br />

250 339 513 4.8 2.4 PA821_0080 EZ805U 1200 2400 8.000 8/1 2800 4500 136 1 166 64<br />

286 297 449 4.5 3.4 PA821_0070 EZ805U 1390 2800 7.000 7/1 2800 4500 138 1 177 64<br />

400 212 321 6.8 4.7 PA821_0050 EZ805U 990 2900 5.000 5/1 2500 4000 142 1 194 64<br />

500 170 256 11 4.7 PA821_0040 EZ805U 800 2330 4.000 4/1 2200 3500 149 1 205 64<br />

PA8 (n 1N = 3000 rpm, M 2acc,max = 1600 Nm)<br />

38 562 631 0.8 1.4 PA822_0800 EZ701U 1200 2400 80.00 80/1 3300 6000 9.0 2 159 37<br />

43 492 552 0.7 2.0 PA822_0700 EZ701U 1330 2800 70.00 70/1 3300 6000 9.0 2 165 37<br />

43 798 958 1.1 1.3 PA822_0700 EZ702U 1400 2800 70.00 70/1 3300 6000 14 2 165 39<br />

54 394 442 0.9 2.0 PA822_0560 EZ701U 1060 2400 56.00 56/1 3300 6000 9.7 2 159 37<br />

54 638 766 1.5 1.3 PA822_0560 EZ702U 1200 2400 56.00 56/1 3300 6000 15 2 159 39<br />

60 352 394 0.8 2.8 PA822_0500 EZ701U 950 3200 50.00 50/1 3300 6000 9.1 2 168 37<br />

60 570 684 1.3 1.8 PA822_0500 EZ702U 1600 3200 50.00 50/1 3300 6000 14 2 168 39<br />

60 784 988 1.7 1.3 PA822_0500 EZ703U 1600 3200 50.00 50/1 3300 6000 22 2 168 41<br />

75 281 315 1.1 2.8 PA822_0400 EZ701U 760 3180 40.00 40/1 3300 6000 9.2 2 163 37<br />

75 456 547 1.8 1.8 PA822_0400 EZ702U 1560 3180 40.00 40/1 3300 6000 14 2 163 39<br />

75 627 790 2.4 1.3 PA822_0400 EZ703U 1600 3180 40.00 40/1 3300 6000 22 2 163 41<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

55


3.2 Selection tables 3 PA planetary geared motors<br />

56<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA8 (n 1N = 3000 rpm, M 2acc,max = 1600 Nm)<br />

86 246 276 0.9 4.1 PA822_0350 EZ701U 670 3200 35.00 35/1 3300 6000 9.7 2 170 37<br />

86 399 479 1.5 2.5 PA822_0350 EZ702U 1360 3200 35.00 35/1 3300 6000 15 2 170 39<br />

86 549 692 2.1 1.8 PA822_0350 EZ703U 1600 3200 35.00 35/1 3300 6000 23 2 170 41<br />

86 708 1004 2.7 1.4 PA822_0350 EZ705U 1600 3200 35.00 35/1 3300 6000 35 2 170 47<br />

86 741 1234 2.8 1.3 PA822_0350 EZ802U 1600 3200 35.00 35/1 3300 6000 59 2 170 55<br />

94 225 252 1.2 3.6 PA822_0320 EZ701U 610 2400 32.00 32/1 2500 4500 12 2 159 37<br />

94 365 438 2.0 2.2 PA822_0320 EZ702U 1200 2400 32.00 32/1 2500 4500 17 2 159 39<br />

94 502 632 2.7 1.6 PA822_0320 EZ703U 1200 2400 32.00 32/1 2500 4500 25 2 159 41<br />

94 648 918 3.5 1.2 PA822_0320 EZ705U 1200 2400 32.00 32/1 2500 4500 37 2 159 47<br />

107 197 221 1.3 4.1 PA822_0280 EZ701U 530 3180 28.00 28/1 3300 6000 9.8 2 166 37<br />

107 319 383 2.1 2.5 PA822_0280 EZ702U 1090 3180 28.00 28/1 3300 6000 15 2 166 39<br />

107 439 553 2.9 1.8 PA822_0280 EZ703U 1600 3180 28.00 28/1 3300 6000 23 2 166 41<br />

107 567 803 3.7 1.4 PA822_0280 EZ705U 1600 3180 28.00 28/1 3300 6000 35 2 166 47<br />

107 593 987 3.9 1.3 PA822_0280 EZ802U 1600 3180 28.00 28/1 3300 6000 59 2 166 55<br />

120 285 342 1.8 3.5 PA822_0250 EZ702U 970 3200 25.00 25/1 3000 5500 16 2 171 39<br />

120 392 494 2.4 2.6 PA822_0250 EZ703U 1540 3200 25.00 25/1 3000 5500 24 2 171 41<br />

120 506 717 3.2 2.0 PA822_0250 EZ705U 1600 3200 25.00 25/1 3000 5500 36 2 171 47<br />

120 530 881 3.3 1.9 PA822_0250 EZ802U 1600 3200 25.00 25/1 3000 5500 60 2 171 55<br />

120 632 1145 3.9 1.6 PA822_0250 EZ803U 1600 3200 25.00 25/1 3000 5500 86 2 171 61<br />

150 228 274 2.0 4.4 PA822_0200 EZ702U 780 3200 20.00 20/1 2500 4500 17 2 172 39<br />

150 314 395 2.7 3.2 PA822_0200 EZ703U 1240 3200 20.00 20/1 2500 4500 25 2 172 41<br />

150 405 574 3.5 2.5 PA822_0200 EZ705U 1600 3200 20.00 20/1 2500 4500 38 2 172 47<br />

150 424 705 3.7 2.4 PA822_0200 EZ802U 1600 3200 20.00 20/1 2500 4500 62 2 172 55<br />

150 505 916 4.4 2.0 PA822_0200 EZ803U 1600 3200 20.00 20/1 2500 4500 87 2 172 61<br />

188 182 219 2.8 4.4 PA822_0160 EZ702U 620 2790 16.00 16/1 2500 4500 18 2 169 39<br />

188 251 316 3.8 3.2 PA822_0160 EZ703U 990 2790 16.00 16/1 2500 4500 26 2 169 41<br />

188 324 459 4.9 2.5 PA822_0160 EZ705U 1580 3180 16.00 16/1 2500 4500 38 2 169 47<br />

188 339 564 5.2 2.4 PA822_0160 EZ802U 1520 3180 16.00 16/1 2500 4500 62 2 169 55<br />

188 404 733 6.2 2.0 PA822_0160 EZ803U 1600 3180 16.00 16/1 2500 4500 88 2 169 61<br />

250 188 237 4.4 4.3 PA822_0120 EZ703U 740 2090 12.00 12/1 2500 4500 27 2 156 41<br />

250 243 344 5.7 3.3 PA822_0120 EZ705U 1190 2400 12.00 12/1 2500 4500 40 2 156 47<br />

250 254 423 6.0 3.1 PA822_0120 EZ802U 1140 2400 12.00 12/1 2500 4500 64 2 156 55<br />

250 303 549 7.1 2.6 PA822_0120 EZ803U 1200 2400 12.00 12/1 2500 4500 89 2 156 61<br />

300 216 360 2.5 2.8 PA821_0100 EZ802U 970 2400 10.00 10/1 2800 4500 60 1 153 45<br />

300 258 468 2.9 2.4 PA821_0100 EZ803U 1200 2400 10.00 10/1 2800 4500 86 1 153 51<br />

375 173 288 2.8 4.0 PA821_0080 EZ802U 780 2400 8.000 8/1 2800 4500 62 1 166 45<br />

375 206 374 3.4 3.4 PA821_0080 EZ803U 1130 2400 8.000 8/1 2800 4500 87 1 166 51<br />

429 181 327 3.2 4.8 PA821_0070 EZ803U 980 2800 7.000 7/1 2800 4500 88 1 177 51<br />

PA8 (n 1N = 4500 rpm, M 2acc,max = 1600 Nm)<br />

90 575 950 1.3 1.7 PA822_0500 EZ703U 1600 3200 50.00 50/1 3300 6000 22 2 168 41<br />

113 460 760 1.8 1.7 PA822_0400 EZ703U 1600 3180 40.00 40/1 3300 6000 22 2 163 41<br />

113 623 1140 2.4 1.3 PA822_0400 EZ705U 1600 3180 40.00 40/1 3300 6000 35 2 163 47<br />

129 349 1147 1.3 2.9 PA822_0350 EZ802U 1600 3200 35.00 35/1 3300 6000 59 2 170 55<br />

129 402 665 1.5 2.5 PA822_0350 EZ703U 1600 3200 35.00 35/1 3300 6000 23 2 170 41<br />

129 545 998 2.1 1.8 PA822_0350 EZ705U 1600 3200 35.00 35/1 3300 6000 35 2 170 47<br />

141 368 608 2.0 2.2 PA822_0320 EZ703U 1200 2400 32.00 32/1 2500 4500 25 2 159 41<br />

141 499 912 2.7 1.6 PA822_0320 EZ705U 1200 2400 32.00 32/1 2500 4500 37 2 159 47<br />

161 279 918 1.8 2.9 PA822_0280 EZ802U 1600 3180 28.00 28/1 3300 6000 59 2 166 55<br />

161 322 532 2.1 2.5 PA822_0280 EZ703U 1600 3180 28.00 28/1 3300 6000 23 2 166 41<br />

161 436 798 2.9 1.8 PA822_0280 EZ705U 1600 3180 28.00 28/1 3300 6000 35 2 166 47<br />

180 249 819 1.6 4.0 PA822_0250 EZ802U 1600 3200 25.00 25/1 3000 5500 60 2 171 55<br />

180 287 475 1.8 3.5 PA822_0250 EZ703U 1540 3200 25.00 25/1 3000 5500 24 2 171 41<br />

180 390 713 2.4 2.6 PA822_0250 EZ705U 1600 3200 25.00 25/1 3000 5500 36 2 171 47<br />

225 230 380 2.0 4.4 PA822_0200 EZ703U 1240 3200 20.00 20/1 2500 4500 25 2 172 41<br />

225 312 570 2.7 3.2 PA822_0200 EZ705U 1600 3200 20.00 20/1 2500 4500 38 2 172 47<br />

281 184 304 2.8 4.4 PA822_0160 EZ703U 990 2790 16.00 16/1 2500 4500 26 2 169 41<br />

281 249 456 3.8 3.2 PA822_0160 EZ705U 1580 3180 16.00 16/1 2500 4500 38 2 169 47<br />

375 187 342 4.4 4.3 PA822_0120 EZ705U 1190 2400 12.00 12/1 2500 4500 40 2 156 47<br />

PA8 (n 1N = 6000 rpm, M 2acc,max = 1600 Nm)<br />

60 494 751 0.6 1.4 PA822_1000 EZ701U 1200 2400 100.0 100/1 3300 6000 9.0 2 148 37<br />

75 395 600 0.5 2.0 PA822_0800 EZ701U 1200 2400 80.00 80/1 3300 6000 9.0 2 159 37<br />

86 346 525 0.5 2.9 PA822_0700 EZ701U 1330 2800 70.00 70/1 3300 6000 9.0 2 165 37<br />

86 479 951 0.6 2.1 PA822_0700 EZ702U 1400 2800 70.00 70/1 3300 6000 14 2 165 39<br />

107 277 420 0.6 2.9 PA822_0560 EZ701U 1060 2400 56.00 56/1 3300 6000 9.7 2 159 37<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


3 PA planetary geared motors 3.3 Dimensional drawings<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PA8 (n 1N = 6000 rpm, M 2acc,max = 1600 Nm)<br />

107 383 761 0.9 2.1 PA822_0560 EZ702U 1200 2400 56.00 56/1 3300 6000 15 2 159 39<br />

120 247 375 0.5 4.0 PA822_0500 EZ701U 950 3200 50.00 50/1 3300 6000 9.1 2 168 37<br />

120 342 679 0.8 2.9 PA822_0500 EZ702U 1600 3200 50.00 50/1 3300 6000 14 2 168 39<br />

150 198 300 0.8 4.0 PA822_0400 EZ701U 760 3180 40.00 40/1 3300 6000 9.2 2 163 37<br />

150 274 543 1.1 2.9 PA822_0400 EZ702U 1560 3180 40.00 40/1 3300 6000 14 2 163 39<br />

171 239 475 0.9 4.2 PA822_0350 EZ702U 1360 3200 35.00 35/1 3300 6000 15 2 170 39<br />

214 192 380 1.3 4.2 PA822_0280 EZ702U 1090 3180 28.00 28/1 3300 6000 15 2 166 39<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

3.3 Dimensional drawings<br />

In this chapter you can find the dimensions of the geared motors.<br />

There is a dimensional drawing for every possible shaft/housing design, each with the tables for gear unit dimensions,<br />

motor dimensions and geared motor dimensions.<br />

Dimensions can exceed the specifications of ISO 2768-mK due to casting tolerances or accumulation of individual<br />

tolerances.<br />

We reserve the right to make dimensional changes due to ongoing technical development.<br />

You can download CAD models of our standard drives at http://cad.stoeber.de.<br />

Combination options and the dimensions of forced ventilated geared motors can be found at http://<br />

cad.stoeber.de.<br />

Tolerances<br />

Solid shaft<br />

Shaft ∅ fit ≤ 50 mm<br />

Shaft ∅ fit > 50 mm<br />

Feather keys<br />

Balance quality<br />

Tolerance<br />

DIN 748-1, ISO k6<br />

DIN 748-1, ISO m6<br />

DIN 6885-1, high form A<br />

Q 2.5 (balanced with half feather key)<br />

Centering holes in solid shafts in accordance with DIN 332-2, DR shape<br />

Thread size M4 M5 M6 M8 M10 M12 M16 M20 M24<br />

Thread depth<br />

[mm]<br />

10 12.5 16 19 22 28 36 42 50<br />

57


3.3 Dimensional drawings 3 PA planetary geared motors<br />

3.3.1 G shaft design (solid shaft without feather key)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ☐a1 ∅b1 c1 ∅d ∅e1 f1 i2 i3 l r ∅s1 s2<br />

PA321 72 60 h6 7 16 k6 75 7.5 48 18 28 0.025 5.5 M5<br />

PA322 72 60 h6 7 16 k6 75 7.5 48 18 28 0.025 5.5 M5<br />

PA421 76 70 h6 9 22 k6 85 7.5 56 18 36 0.025 6.6 M8<br />

PA422 76 70 h6 9 22 k6 85 7.5 56 18 36 0.025 6.6 M8<br />

PA521 101 90 h6 10 32 k6 120 15.0 88 28 58 0.030 9.0 M12<br />

PA522 101 90 h6 10 32 k6 120 15.0 88 28 58 0.030 9.0 M12<br />

PA721 144 130 h6 15 40 k6 165 3.5 112 27 82 0.035 11.0 M16<br />

PA722 144 130 h6 15 40 k6 165 3.5 112 27 82 0.035 11.0 M16<br />

PA821 190 160 h6 15 55 k6 215 10.0 112 27 82 0.035 13.5 M20<br />

PA822 190 160 h6 15 55 k6 215 10.0 112 27 82 0.035 13.5 M20<br />

58


3 PA planetary geared motors 3.3 Dimensional drawings<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ301U 72 90 130.0 55.5 21 54.5<br />

EZ302U 72 112 152.0 55.5 21 76.5<br />

EZ303U 72 134 174.0 55.5 21 98.5<br />

EZ401U 98 98 146.5 91.0 22 56.0<br />

EZ402U 98 123 171.5 91.0 22 81.0<br />

EZ404U 98 173 221.5 91.0 22 131.0<br />

EZ501U 115 93 147.5 100.0 22 58.5<br />

EZ502U 115 118 172.5 100.0 22 83.5<br />

EZ503U 115 143 197.5 100.0 22 108.5<br />

EZ505U 115 193 247.5 100.0 22 158.5<br />

EZ701U 145 102 161.0 115.0 22 64.0<br />

EZ702U 145 127 186.0 115.0 22 89.0<br />

EZ703U 145 152 211.0 115.0 22 114.0<br />

EZ705U 145 207 266.0 134.0 22 165.0<br />

EZ802U 190 197 274.0 156.5 22 143.0<br />

EZ803U 190 238 315.0 156.5 22 184.0<br />

EZ805U 190 320 397.0 156.5 22 266.0<br />

Dimensions of geared motors<br />

Type EZ3 EZ4 EZ5 EZ7 EZ8<br />

mp mp mp mp mp<br />

PA321 73.5 70.0 72.5 – –<br />

PA322 113.5 – – – –<br />

PA421 – 79.0 81.5 87.5 –<br />

PA422 131.0 127.5 130.0 – –<br />

PA521 – – 81.0 87.0 102.0<br />

PA522 – 136.5 139.0 145.0 –<br />

PA721 – – – 98.0 113.0<br />

PA722 – – 158.0 164.0 179.0<br />

PA821 – – – – 137.0<br />

PA822 – – – 206.5 221.5<br />

59


3.3 Dimensional drawings 3 PA planetary geared motors<br />

3.3.2 P shaft design (solid shaft with feather key)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ☐a1 ∅b1 c1 ∅d ∅e1 f1 i2 i3 l l1 ∅s1 s2 t u<br />

PA321 72 60 h6 7 16 k6 75 7.5 48 18 28 2 5.5 M5 18.0 A5×5×22<br />

PA322 72 60 h6 7 16 k6 75 7.5 48 18 28 2 5.5 M5 18.0 A5×5×22<br />

PA421 76 70 h6 9 22 k6 85 7.5 56 18 36 3 6.6 M8 24.5 A6×6×28<br />

PA422 76 70 h6 9 22 k6 85 7.5 56 18 36 3 6.6 M8 24.5 A6×6×28<br />

PA521 101 90 h6 10 32 k6 120 15.0 88 28 58 3 9.0 M12 35.0 A10×8×50<br />

PA522 101 90 h6 10 32 k6 120 15.0 88 28 58 3 9.0 M12 35.0 A10×8×50<br />

PA721 144 130 h6 15 40 k6 165 3.5 112 27 82 4 11.0 M16 43.0 A12×8×70<br />

PA722 144 130 h6 15 40 k6 165 3.5 112 27 82 4 11.0 M16 43.0 A12×8×70<br />

PA821 190 160 h6 15 55 k6 215 10.0 112 27 82 6 13.5 M20 59.0 A16×10×70<br />

PA822 190 160 h6 15 55 k6 215 10.0 112 27 82 6 13.5 M20 59.0 A16×10×70<br />

60


3 PA planetary geared motors 3.3 Dimensional drawings<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ301U 72 90 130.0 55.5 21 54.5<br />

EZ302U 72 112 152.0 55.5 21 76.5<br />

EZ303U 72 134 174.0 55.5 21 98.5<br />

EZ401U 98 98 146.5 91.0 22 56.0<br />

EZ402U 98 123 171.5 91.0 22 81.0<br />

EZ404U 98 173 221.5 91.0 22 131.0<br />

EZ501U 115 93 147.5 100.0 22 58.5<br />

EZ502U 115 118 172.5 100.0 22 83.5<br />

EZ503U 115 143 197.5 100.0 22 108.5<br />

EZ505U 115 193 247.5 100.0 22 158.5<br />

EZ701U 145 102 161.0 115.0 22 64.0<br />

EZ702U 145 127 186.0 115.0 22 89.0<br />

EZ703U 145 152 211.0 115.0 22 114.0<br />

EZ705U 145 207 266.0 134.0 22 165.0<br />

EZ802U 190 197 274.0 156.5 22 143.0<br />

EZ803U 190 238 315.0 156.5 22 184.0<br />

EZ805U 190 320 397.0 156.5 22 266.0<br />

Dimensions of geared motors<br />

Type EZ3 EZ4 EZ5 EZ7 EZ8<br />

mp mp mp mp mp<br />

PA321 73.5 70.0 72.5 – –<br />

PA322 113.5 – – – –<br />

PA421 – 79.0 81.5 87.5 –<br />

PA422 131.0 127.5 130.0 – –<br />

PA521 – – 81.0 87.0 102.0<br />

PA522 – 136.5 139.0 145.0 –<br />

PA721 – – – 98.0 113.0<br />

PA722 – – 158.0 164.0 179.0<br />

PA821 – – – – 137.0<br />

PA822 – – – 206.5 221.5<br />

61


3.5 Product description 3 PA planetary geared motors<br />

3.4 Type designation<br />

In this chapter, you can find an explanation of the type designation with the associated options.<br />

Additional ordering information not included in the type designation can be found at the end of the chapter.<br />

Sample code<br />

PA 4 2 2 S G D 0200 EZ401U<br />

Explanation<br />

Code Designation Design<br />

PA Type Low-backlash planetary gear unit<br />

4 Size 4 (example)<br />

2 Generation Generation 2<br />

1<br />

2<br />

Stages<br />

Single-stage<br />

Two-stage<br />

S Housing Standard<br />

G<br />

P<br />

Shaft<br />

Solid shaft without feather key<br />

Solid shaft with feather key<br />

D Bearing Axially reinforced bearing<br />

0200 Transmission ratio (i x 10) i = 20 (example)<br />

EZ401U Motor EZ synchronous servo motor<br />

In order to complete the type designation, also specify:<br />

• A detailed type designation of the motor, see chapter [} 23]<br />

• The position of the plug connectors, see chapter [} 3.5.3]<br />

• For reverse operation of the output shaft from ± 20° to ± 90° and horizontal installation, note the chapter<br />

[} 3.6.4]<br />

3.5 Product description<br />

3.5.1 Installation conditions<br />

The specified torques and forces only apply when attaching gear units at the machine side using screws of<br />

quality 10.9. In addition, the gear housing must be adjusted at the pilot (H7).<br />

3.5.2 Lubricants<br />

STOBER fills the gear units with the amount and type of lubricant specified on the nameplate.<br />

Lubricant filling quantities for gear units, document ID 441871, can be found online at http://www.stoeber.de<br />

3.5.3 Position of the plug connectors<br />

62<br />

In the standard version, the plug connectors are attached in the 270° position (relative to the oil drain plug<br />

(1) of the planetary gear unit). Indicate variations for your geared motor in the purchase order.


3 PA planetary geared motors 3.6 Project configuration<br />

3.5.4 Other product features<br />

3.5.5 Direction of rotation<br />

Feature<br />

Value<br />

Max. permitted gear unit temperature (on the surface of the gear unit) ≤ 90 °C<br />

Paint Black RAL 9005<br />

(ATEX) Directive 2014/34/EU (option)<br />

Not suitable<br />

Protection class: 1<br />

Gear unit<br />

Motor<br />

IP65<br />

IP56, optionally IP66<br />

The input and output rotate in the same direction.<br />

3.6 Project configuration<br />

Project your drives using our SERVOsoft designing software. You can receive SERVOsoft for free from your<br />

adviser at one of our sales centers. Observe the limit conditions in this chapter to ensure a safe design for<br />

your drives.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

3.6.1 Calculation of the operating point<br />

Check the following conditions for operating points other than the nominal point M 2N specified in the selection<br />

tables.<br />

n<br />

1m*<br />

n<br />

£<br />

fB<br />

1maxDB<br />

T<br />

n<br />

M<br />

M<br />

1max*<br />

2eff *<br />

2acc*<br />

n<br />

£<br />

fB<br />

£ M<br />

1max ZB<br />

2th<br />

£ M<br />

T<br />

2acc<br />

M<br />

2NOT*<br />

£ M<br />

2NOT<br />

S<br />

M 2eq*<br />

£ M 2N<br />

× fB fB op<br />

×<br />

t<br />

The values for n 1maxDB , n 1maxZB , M 2acc , M 2NOT , M 2N and S can be found in the selection tables.<br />

The values for fB T , fB op and fB t can be found in the corresponding tables in this chapter.<br />

Calculate the thermal limit torque M 2th for a duty cycle > 50%.<br />

1<br />

Observe the protection class of all the components.<br />

63


3.6 Project configuration 3 PA planetary geared motors<br />

Example of cyclic operation<br />

The following calculations are based on a representation of the power taken from the output based in accordance<br />

with the following example:<br />

Calculation of the actual average input speed<br />

n1m* = n2m*<br />

× i<br />

n<br />

2m*<br />

=<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

t + ... + t<br />

1* n*<br />

If t 1* + ... + t 5* ≥ 20 min, calculate n 2m* without the rest phase t 6* .<br />

The values for the ratio i can be found in the selection tables.<br />

Calculation of the actual effective torque<br />

M<br />

2eff *<br />

=<br />

t × M + ... + t × M<br />

2 2<br />

1* 2,1* n* 2,n*<br />

t + ... + t<br />

1* n*<br />

Calculation of the actual equivalent torque<br />

M<br />

2eq*<br />

=<br />

3<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2,1* 2m,n* n* 2,n*<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

Calculation of the thermal limit torque<br />

Calculate the thermal limit torque M 2th for a duty cycle ED 20 > 50% and the actual average input speed n 1m* .<br />

(At K mot,th ≤ 0 you must reduce the average input speed n 1m* accordingly or select another geared motor size.)<br />

M2th = Mop × i × Kmot,th<br />

ath æ n1m*<br />

ö<br />

Kmot,th<br />

= 0,95 - × fBT<br />

×<br />

1000 ç<br />

1000 ÷<br />

è ø<br />

The values for i and a th can be found in the selection tables.<br />

The values for fB T can be found in the corresponding table in this chapter.<br />

3<br />

64<br />

The value for the torque of the motor at operating point M op with the determined average input speed n 1m*<br />

can be found in the motor curve of Chapter [} 23.3]. Note the size, nominal speed n N and cooling type of<br />

the motor. The figure below shows an example of reading the torque M op of a motor with convection cooling<br />

at the operating point.


3 PA planetary geared motors 3.6 Project configuration<br />

n 1m*<br />

n [rpm]<br />

Operating factors<br />

Operating mode<br />

Uniform continuous operation 1.00<br />

Cyclic operation 1.00<br />

Reversing load cyclic operation 1.00<br />

Run time<br />

fB t<br />

Daily run time ≤ 8 h 1.00<br />

Daily run time ≤ 16 h 1.15<br />

Daily run time ≤ 24 h 1.20<br />

fB op<br />

Temperature<br />

Motor cooling<br />

Surrounding temperature<br />

Motor with forced ventilation ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

Motor with convection cooling ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

fB T<br />

0.9<br />

1.0<br />

1.15<br />

1.0<br />

1.1<br />

1.25<br />

Notes<br />

• The maximum permitted gear unit temperature (see the "Other product features" chapter) must not be<br />

exceeded. Doing so may result in damage to the geared motor.<br />

• For braking from full speed (for example when the power fails or when setting up the machine), note<br />

the permitted gear unit torques (M 2acc , M 2NOT ) in the selection tables.<br />

• The values specified in the selection tables for M 2acc refer to the gear units with a solid shaft design<br />

without feather key (G). We recommend this shaft design in general for cyclic operation.<br />

3.6.2 Permitted shaft loads for the output shaft<br />

The values specified in the tables apply to the permitted shaft loads:<br />

• For shaft dimensions in accordance with the catalog<br />

• For output speeds n 2m* ≤ 100 rpm (F 2axN = F 2ax100 ; F 2radN = F 2rad100 ; M 2kN = M 2k100 )<br />

• Only if radial forces on the gear unit are stabilized by its pilots (housing, flange shaft)<br />

65


3.6 Project configuration 3 PA planetary geared motors<br />

Permitted shaft loads for axially reinforced bearing D<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

PA3 24.0 1400 2750 2750 105 105<br />

PA4 25.0 2250 4500 5000 194 215<br />

PA5 29.0 3500 7000 8000 406 464<br />

PA7 31.0 4500 9000 10000 648 720<br />

PA8 35.0 7500 15000 18000 1140 1368<br />

Fig. 1: Recommendation for bearing assignment D<br />

For other output speeds, download diagrams at http://products.stoeber.de.<br />

The following applies to output speeds n 2m* > 100 rpm:<br />

F<br />

2axN<br />

=<br />

3<br />

F<br />

2ax100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

F<br />

2radN<br />

=<br />

3<br />

F<br />

2rad100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

M<br />

2kN<br />

=<br />

3<br />

M<br />

2k100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

The values for F 2ax100 , F 2rad100 and M 2k100 can be found in the table "Permitted shaft loads" in this chapter.<br />

Fig. 2: Force application points<br />

The specified values for F 2rad100 and F 2rad,acc refer to an application of force at the center of the output shaft: x 2<br />

= l/2.<br />

Shaft dimensions can be found in the "Dimensional drawings" chapter.<br />

The following applies to other force application points:<br />

M<br />

F<br />

2k,acc*<br />

2rad,acc*<br />

( )<br />

2 × F × y + F × x + z<br />

2ax* 2 2rad,acc* 2 2<br />

= £<br />

£ F<br />

2rad,acc<br />

1000<br />

M<br />

2k,acc<br />

F<br />

2ax*<br />

£ F<br />

2axN<br />

The values for F 2rad,acc and M 2k,acc can be found in the table "Permitted shaft loads" in this chapter.<br />

For applications with multiple axial and/or radial forces, you must add the forces as vectors.<br />

66<br />

In the event of EMERGENCY OFF operation (max. 1000 load changes), you can multiply the permitted forces<br />

and torques for F 2ax100 , F 2rad100 and M 2k100 by a factor of two.


3 PA planetary geared motors 3.6 Project configuration<br />

Also note the calculation for equivalent values:<br />

M<br />

2k,eq*<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2k,acc,1* 2m,n* n* 2k,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

M<br />

2kN<br />

F<br />

2rad,eq*<br />

n × t × F + ... + n × t × F<br />

3 3<br />

2m,1* 1* 2rad,acc,1* 2m,n* n* 2rad,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

F<br />

2radN<br />

The following apply to the bearing service life L 10h (ED 20 ≤ 40%):<br />

L 10h > 10000 h with 1 < M 2kN /M 2k* < 1.25<br />

L 10h > 20000 h with 1.25 < M 2kN /M 2k* < 1.5<br />

L 10h > 30000 h with 1.5 < M 2kN /M 2k*<br />

For different duty cycles:<br />

L<br />

40%<br />

> L ×<br />

ED<br />

10h 10h(ED20<br />

= 40%)<br />

20<br />

3.6.3 Radial shaft seal rings<br />

3.6.4 Reverse operation<br />

Leak-proofness<br />

Our gear units are equipped with high-quality radial shaft seal rings and checked for leak-proofness. However,<br />

a leak cannot be fully ruled out over the length of use of a gear unit. If you use a gear unit with goods<br />

incompatible with the lubricant, you must take measures to prevent direct contact with the gear unit lubricant<br />

in case of a leak.<br />

To ensure lubrication of circulating geared parts during cyclic reverse operation from ± 20° to ± 90°, pay<br />

careful attention to the position of the output shaft if the gear unit is installed horizontally as shown in the<br />

images below. The images show the center position of reverse operation. Cyclic reverse operation ≤ ± 20°<br />

on request.<br />

Solid shaft without feather key<br />

Solid shaft with feather key<br />

1<br />

1<br />

1) Position of the mark: top 1) Position of the feather key: top<br />

Notes<br />

• If you use the solid shaft without a feather key (G) with a mark, note the position of the mark during assembly.<br />

• As an alternative, you can use the solid shaft with a feather key (P) and clamp. In that case, the feather<br />

key functions for position orientation.<br />

67


3.7 Additional documentation 3 PA planetary geared motors<br />

3.7 Additional documentation<br />

Additional documentation related to the product can be found at http://www.stoeber.de/en/download<br />

Enter the ID of the documentation in the Search... field.<br />

Documentation<br />

ID<br />

Operating manual for P/PA/PE/PH/PHA/PHQ/PHQA/PHV/PHVA planetary 443029_en<br />

gear units and planetary geared motors<br />

Lubricant filling quantities for gear units 441871<br />

68


4 PH planetary geared motors<br />

Table of contents<br />

4.1 Overview........................................................................................................................................................................... 70<br />

4.2 Selection tables ................................................................................................................................................................ 71<br />

4.3 Dimensional drawings ...................................................................................................................................................... 79<br />

4.3.1 F shaft design (flange shaft) ................................................................................................................................................. 80<br />

4.4 Type designation .............................................................................................................................................................. 82<br />

4.5 Product description........................................................................................................................................................... 82<br />

4.5.1 Installation conditions.......................................................................................................................................................... 82<br />

4.5.2 Lubricants............................................................................................................................................................................. 82<br />

4.5.3 Other product features ........................................................................................................................................................ 82<br />

4.5.4 Direction of rotation ............................................................................................................................................................ 83<br />

4.6 Project configuration......................................................................................................................................................... 83<br />

4.6.1 Calculation of the operating point ....................................................................................................................................... 83<br />

4.6.2 Permitted shaft loads for the output shaft .......................................................................................................................... 85<br />

4.6.3 Recommendation for radial shaft seal rings ........................................................................................................................ 87<br />

4.6.4 Reverse operation................................................................................................................................................................ 87<br />

4.7 Additional documentation ................................................................................................................................................. 87<br />

69


4 Planetary geared motors PH<br />

4.1 Overview<br />

High-performance precision planetary geared motors<br />

Features<br />

Power density<br />

★★★★☆<br />

Backlash<br />

★★★★☆<br />

Price category €€€<br />

Shaft load<br />

★★★★★<br />

Smooth operation<br />

★★★★☆<br />

Torsional stiffness<br />

★★★★☆<br />

Mass moment of inertia<br />

★★★★★<br />

Helical gearing<br />

✓<br />

Maintenance-free<br />

✓<br />

Any mounting position<br />

✓<br />

Continuous operation without cooling<br />

✓<br />

Stiff output bearing due to pretension<br />

✓<br />

Compact and highly dynamic due to direct motor ✓<br />

attachment<br />

Key: ★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Technical data<br />

i 4 – 100<br />

M 2acc<br />

24 – 7500 Nm<br />

Δφ 2<br />

3 – 4 arcmin<br />

η get ≤ 96 %<br />

70


4 PH planetary geared motors 4.2 Selection tables<br />

4.2 Selection tables<br />

The technical data specified in the selection tables applies to:<br />

• Installation altitudes up to 1000 m above sea level<br />

• Surrounding temperatures from 0 °C to 40 °C<br />

• Drives with convection-cooled motors (e.g. EZ401U)<br />

You can calculate the technical data for drives with forced ventilated motors (for example EZ401B) at http://<br />

products.stoeber.de.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PH3 (n 1N = 3000 rpm, M 2acc,max = 65 Nm)<br />

60 43 44 1.5 1.0 PH322_0500 EZ301U 65 130 50.00 50/1 4500 8000 0.20 4 14 2.9<br />

86 30 31 1.8 1.5 PH322_0350 EZ301U 65 130 35.00 35/1 4500 8000 0.20 4 15 2.9<br />

107 24 25 2.0 1.9 PH322_0280 EZ301U 60 130 28.00 28/1 4500 8000 0.23 4 15 2.9<br />

107 41 44 3.5 1.1 PH322_0280 EZ302U 60 130 28.00 28/1 4500 8000 0.33 4 15 3.5<br />

120 22 22 2.2 2.1 PH322_0250 EZ301U 65 130 25.00 25/1 4500 8000 0.22 4 15 2.9<br />

120 37 39 3.7 1.2 PH322_0250 EZ302U 65 130 25.00 25/1 4500 8000 0.32 4 15 3.5<br />

150 17 18 2.4 2.6 PH322_0200 EZ301U 52 130 20.00 20/1 4500 8000 0.24 4 15 2.9<br />

150 30 31 4.1 1.5 PH322_0200 EZ302U 65 130 20.00 20/1 4500 8000 0.34 4 15 3.5<br />

150 39 41 5.4 1.2 PH322_0200 EZ303U 65 130 20.00 20/1 4500 8000 0.45 4 15 4.0<br />

300 8.9 9.1 1.6 2.9 PH321_0100 EZ301U 27 100 10.00 10/1 3800 6000 0.21 4 11 2.4<br />

300 15 16 2.8 1.7 PH321_0100 EZ302U 48 100 10.00 10/1 3800 6000 0.31 4 11 3.0<br />

300 20 21 3.6 1.3 PH321_0100 EZ303U 50 100 10.00 10/1 3800 6000 0.42 4 11 3.5<br />

429 11 11 2.9 3.7 PH321_0070 EZ302U 34 130 7.000 7/1 3500 6000 0.33 4 14 3.0<br />

429 14 15 3.7 2.8 PH321_0070 EZ303U 47 130 7.000 7/1 3500 6000 0.44 4 14 3.5<br />

429 19 20 5.0 2.1 PH321_0070 EZ401U 57 130 7.000 7/1 3500 6000 0.97 4 14 4.9<br />

429 32 35 8.4 1.2 PH321_0070 EZ402U 60 130 7.000 7/1 3500 6000 1.7 4 14 6.0<br />

600 9.9 11 5.6 4.0 PH321_0050 EZ303U 34 110 5.000 5/1 3000 6000 0.47 4 16 3.5<br />

600 13 14 7.5 2.9 PH321_0050 EZ401U 41 130 5.000 5/1 3000 6000 1.0 4 16 4.9<br />

600 23 25 13 1.7 PH321_0050 EZ402U 65 130 5.000 5/1 3000 6000 1.7 4 16 6.0<br />

600 33 41 19 1.2 PH321_0050 EZ404U 65 130 5.000 5/1 3000 6000 3.1 4 16 8.1<br />

PH3 (n 1N = 6000 rpm, M 2acc,max = 65 Nm)<br />

171 29 31 1.7 1.6 PH322_0350 EZ301U 65 130 35.00 35/1 4500 8000 0.20 4 15 2.9<br />

214 23 25 1.9 1.9 PH322_0280 EZ301U 60 130 28.00 28/1 4500 8000 0.23 4 15 2.9<br />

214 39 44 3.3 1.2 PH322_0280 EZ302U 60 130 28.00 28/1 4500 8000 0.33 4 15 3.5<br />

240 21 22 2.1 2.2 PH322_0250 EZ301U 65 130 25.00 25/1 4500 8000 0.22 4 15 2.9<br />

240 35 39 3.5 1.3 PH322_0250 EZ302U 65 130 25.00 25/1 4500 8000 0.32 4 15 3.5<br />

300 17 18 2.3 2.7 PH322_0200 EZ301U 52 130 20.00 20/1 4500 8000 0.24 4 15 2.9<br />

300 28 31 3.9 1.6 PH322_0200 EZ302U 65 130 20.00 20/1 4500 8000 0.34 4 15 3.5<br />

300 36 42 5.1 1.2 PH322_0200 EZ303U 65 130 20.00 20/1 4500 8000 0.45 4 15 4.0<br />

600 8.5 9.1 2.0 2.4 PH321_0100 EZ301U 27 100 10.00 10/1 3800 6000 0.21 4 11 2.4<br />

600 14 16 3.3 1.4 PH321_0100 EZ302U 48 100 10.00 10/1 3800 6000 0.31 4 11 3.0<br />

600 19 22 4.3 1.1 PH321_0100 EZ303U 50 100 10.00 10/1 3800 6000 0.42 4 11 3.5<br />

857 10 11 3.4 3.1 PH321_0070 EZ302U 34 130 7.000 7/1 3500 6000 0.33 4 14 3.0<br />

857 13 15 4.4 2.4 PH321_0070 EZ303U 47 130 7.000 7/1 3500 6000 0.44 4 14 3.5<br />

857 15 19 5.2 2.0 PH321_0070 EZ401U 57 130 7.000 7/1 3500 6000 0.97 4 14 4.9<br />

857 24 33 7.9 1.3 PH321_0070 EZ402U 60 130 7.000 7/1 3500 6000 1.7 4 14 6.0<br />

1200 7.2 8.1 5.1 4.3 PH321_0050 EZ302U 24 110 5.000 5/1 3000 6000 0.36 4 16 3.0<br />

1200 9.4 11 6.6 3.3 PH321_0050 EZ303U 34 110 5.000 5/1 3000 6000 0.47 4 16 3.5<br />

1200 11 13 7.8 2.8 PH321_0050 EZ401U 41 130 5.000 5/1 3000 6000 1.0 4 16 4.9<br />

1200 17 24 12 1.9 PH321_0050 EZ402U 65 130 5.000 5/1 3000 6000 1.7 4 16 6.0<br />

1200 28 40 20 1.1 PH321_0050 EZ404U 65 130 5.000 5/1 3000 6000 3.1 4 16 8.1<br />

PH4 (n 1N = 3000 rpm, M 2acc,max = 130 Nm)<br />

43 61 62 0.7 1.5 PH422_0700 EZ301U 110 240 70.00 70/1 4500 8000 0.21 3 27 5.3<br />

60 43 44 0.9 2.1 PH422_0500 EZ301U 130 240 50.00 50/1 4500 8000 0.21 3 27 5.3<br />

60 74 78 1.5 1.2 PH422_0500 EZ302U 130 240 50.00 50/1 4500 8000 0.31 3 27 5.9<br />

75 35 35 1.0 2.6 PH422_0400 EZ301U 100 240 40.00 40/1 4500 8000 0.21 3 24 5.3<br />

75 59 62 1.6 1.5 PH422_0400 EZ302U 130 240 40.00 40/1 4500 8000 0.31 3 24 5.9<br />

75 77 81 2.1 1.2 PH422_0400 EZ303U 130 240 40.00 40/1 4500 8000 0.42 3 24 6.4<br />

86 30 31 1.0 3.0 PH422_0350 EZ301U 91 240 35.00 35/1 4500 8000 0.23 3 28 5.3<br />

86 52 55 1.8 1.7 PH422_0350 EZ302U 130 240 35.00 35/1 4500 8000 0.33 3 28 5.9<br />

86 67 71 2.3 1.3 PH422_0350 EZ303U 130 240 35.00 35/1 4500 8000 0.44 3 28 6.4<br />

107 24 25 1.1 3.7 PH422_0280 EZ301U 73 240 28.00 28/1 4500 8000 0.24 3 25 5.3<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

71


4.2 Selection tables 4 PH planetary geared motors<br />

72<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PH4 (n 1N = 3000 rpm, M 2acc,max = 130 Nm)<br />

107 41 44 2.0 2.2 PH422_0280 EZ302U 130 240 28.00 28/1 4500 8000 0.34 3 25 5.9<br />

107 54 57 2.5 1.7 PH422_0280 EZ303U 130 240 28.00 28/1 4500 8000 0.45 3 25 6.4<br />

107 73 78 3.4 1.2 PH422_0280 EZ401U 130 240 28.00 28/1 4500 8000 0.98 3 25 7.8<br />

120 22 22 1.2 4.2 PH422_0250 EZ301U 65 240 25.00 25/1 4000 7000 0.28 3 29 5.3<br />

120 37 39 2.1 2.4 PH422_0250 EZ302U 120 240 25.00 25/1 4000 7000 0.38 3 29 5.9<br />

120 48 51 2.7 1.9 PH422_0250 EZ303U 130 240 25.00 25/1 4000 7000 0.49 3 29 6.4<br />

120 65 70 3.6 1.4 PH422_0250 EZ401U 130 240 25.00 25/1 4000 7000 1.0 3 29 7.8<br />

150 30 31 2.3 3.0 PH422_0200 EZ302U 93 240 20.00 20/1 3700 6500 0.43 3 29 5.9<br />

150 39 41 3.0 2.3 PH422_0200 EZ303U 130 240 20.00 20/1 3700 6500 0.54 3 29 6.4<br />

150 52 56 4.1 1.7 PH422_0200 EZ401U 130 240 20.00 20/1 3700 6500 1.1 3 29 7.8<br />

150 80 87 6.3 1.1 PH422_0200 EZ501U 130 240 20.00 20/1 3700 6500 3.0 3 29 8.8<br />

150 87 97 6.8 1.0 PH422_0200 EZ402U 130 240 20.00 20/1 3700 6500 1.8 3 29 8.9<br />

188 24 25 2.6 3.8 PH422_0160 EZ302U 74 240 16.00 16/1 3700 6500 0.44 3 27 5.9<br />

188 31 33 3.4 2.9 PH422_0160 EZ303U 100 240 16.00 16/1 3700 6500 0.55 3 27 6.4<br />

188 42 45 4.6 2.2 PH422_0160 EZ401U 130 240 16.00 16/1 3700 6500 1.1 3 27 7.8<br />

188 64 70 7.0 1.4 PH422_0160 EZ501U 130 240 16.00 16/1 3700 6500 3.1 3 27 8.8<br />

188 70 77 7.6 1.3 PH422_0160 EZ402U 130 240 16.00 16/1 3700 6500 1.8 3 27 8.9<br />

300 27 29 2.8 2.0 PH421_0100 EZ401U 82 200 10.00 10/1 3500 6000 1.0 3 21 6.5<br />

300 41 45 4.2 1.3 PH421_0100 EZ501U 100 200 10.00 10/1 3500 6000 3.0 3 21 7.5<br />

300 45 50 4.6 1.2 PH421_0100 EZ402U 100 200 10.00 10/1 3500 6000 1.7 3 21 7.6<br />

429 19 20 3.0 3.9 PH421_0070 EZ401U 57 240 7.000 7/1 3200 6000 1.1 3 31 6.5<br />

429 29 32 4.6 2.6 PH421_0070 EZ501U 110 240 7.000 7/1 3200 6000 3.1 3 31 7.5<br />

429 32 35 5.0 2.4 PH421_0070 EZ402U 110 240 7.000 7/1 3200 6000 1.8 3 31 7.6<br />

429 46 58 7.4 1.6 PH421_0070 EZ404U 110 240 7.000 7/1 3200 6000 3.1 3 31 9.7<br />

429 50 54 7.9 1.5 PH421_0070 EZ502U 110 240 7.000 7/1 3200 6000 5.4 3 31 9.0<br />

429 65 75 10 1.1 PH421_0070 EZ503U 110 240 7.000 7/1 3200 6000 7.7 3 31 11<br />

600 21 23 6.9 3.6 PH421_0050 EZ501U 77 240 5.000 5/1 2700 6000 3.2 3 37 7.5<br />

600 23 25 7.5 3.3 PH421_0050 EZ402U 77 240 5.000 5/1 2700 6000 1.9 3 37 7.6<br />

600 33 41 11 2.2 PH421_0050 EZ404U 130 240 5.000 5/1 2700 6000 3.3 3 37 9.7<br />

600 36 38 12 2.1 PH421_0050 EZ502U 130 240 5.000 5/1 2700 6000 5.5 3 37 9.0<br />

600 47 53 16 1.6 PH421_0050 EZ503U 130 240 5.000 5/1 2700 6000 7.9 3 37 11<br />

600 65 77 22 1.1 PH421_0050 EZ505U 130 240 5.000 5/1 2700 6000 12 3 37 13<br />

750 17 18 9.0 4.5 PH421_0040 EZ501U 61 240 4.000 4/1 2300 5000 3.4 3 39 7.5<br />

750 18 20 9.8 4.1 PH421_0040 EZ402U 61 240 4.000 4/1 2300 5000 2.1 3 39 7.6<br />

750 26 33 14 2.8 PH421_0040 EZ404U 110 240 4.000 4/1 2300 5000 3.5 3 39 9.7<br />

750 28 31 15 2.6 PH421_0040 EZ502U 120 240 4.000 4/1 2300 5000 5.7 3 39 9.0<br />

750 37 43 20 2.0 PH421_0040 EZ503U 130 240 4.000 4/1 2300 5000 8.1 3 39 11<br />

750 52 61 28 1.4 PH421_0040 EZ505U 130 240 4.000 4/1 2300 5000 13 3 39 13<br />

PH4 (n 1N = 4500 rpm, M 2acc,max = 130 Nm)<br />

900 46 73 17 1.4 PH421_0050 EZ505U 130 240 5.000 5/1 2700 6000 12 3 37 13<br />

1125 36 59 23 1.8 PH421_0040 EZ505U 130 240 4.000 4/1 2300 5000 13 3 39 13<br />

PH4 (n 1N = 6000 rpm, M 2acc,max = 130 Nm)<br />

86 58 62 0.7 1.6 PH422_0700 EZ301U 110 240 70.00 70/1 4500 8000 0.21 3 27 5.3<br />

120 41 44 0.8 2.2 PH422_0500 EZ301U 130 240 50.00 50/1 4500 8000 0.21 3 27 5.3<br />

120 70 78 1.4 1.3 PH422_0500 EZ302U 130 240 50.00 50/1 4500 8000 0.31 3 27 5.9<br />

150 33 35 1.0 2.4 PH422_0400 EZ301U 100 240 40.00 40/1 4500 8000 0.21 3 24 5.3<br />

150 56 62 1.7 1.4 PH422_0400 EZ302U 130 240 40.00 40/1 4500 8000 0.31 3 24 5.9<br />

150 73 84 2.3 1.1 PH422_0400 EZ303U 130 240 40.00 40/1 4500 8000 0.42 3 24 6.4<br />

171 29 31 1.0 3.1 PH422_0350 EZ301U 91 240 35.00 35/1 4500 8000 0.23 3 28 5.3<br />

171 49 55 1.7 1.8 PH422_0350 EZ302U 130 240 35.00 35/1 4500 8000 0.33 3 28 5.9<br />

171 64 73 2.2 1.4 PH422_0350 EZ303U 130 240 35.00 35/1 4500 8000 0.44 3 28 6.4<br />

171 75 91 2.5 1.2 PH422_0350 EZ401U 130 240 35.00 35/1 4500 8000 0.97 3 28 7.8<br />

214 23 25 1.1 3.9 PH422_0280 EZ301U 73 240 28.00 28/1 4500 8000 0.24 3 25 5.3<br />

214 39 44 1.8 2.3 PH422_0280 EZ302U 130 240 28.00 28/1 4500 8000 0.34 3 25 5.9<br />

214 51 59 2.4 1.8 PH422_0280 EZ303U 130 240 28.00 28/1 4500 8000 0.45 3 25 6.4<br />

214 60 73 2.8 1.5 PH422_0280 EZ401U 130 240 28.00 28/1 4500 8000 0.98 3 25 7.8<br />

240 21 22 1.2 4.3 PH422_0250 EZ301U 65 240 25.00 25/1 4000 7000 0.28 3 29 5.3<br />

240 35 39 2.0 2.6 PH422_0250 EZ302U 120 240 25.00 25/1 4000 7000 0.38 3 29 5.9<br />

240 46 52 2.6 2.0 PH422_0250 EZ303U 130 240 25.00 25/1 4000 7000 0.49 3 29 6.4<br />

240 53 65 3.0 1.7 PH422_0250 EZ401U 130 240 25.00 25/1 4000 7000 1.0 3 29 7.8<br />

300 28 31 2.2 3.2 PH422_0200 EZ302U 93 240 20.00 20/1 3700 6500 0.43 3 29 5.9<br />

300 36 42 2.9 2.5 PH422_0200 EZ303U 130 240 20.00 20/1 3700 6500 0.54 3 29 6.4<br />

300 43 52 3.3 2.1 PH422_0200 EZ401U 130 240 20.00 20/1 3700 6500 1.1 3 29 7.8<br />

300 63 82 5.0 1.4 PH422_0200 EZ501U 130 240 20.00 20/1 3700 6500 3.0 3 29 8.8<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


4 PH planetary geared motors 4.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PH4 (n 1N = 6000 rpm, M 2acc,max = 130 Nm)<br />

300 65 91 5.1 1.4 PH422_0200 EZ402U 130 240 20.00 20/1 3700 6500 1.8 3 29 8.9<br />

375 22 25 2.4 4.0 PH422_0160 EZ302U 74 240 16.00 16/1 3700 6500 0.44 3 27 5.9<br />

375 29 33 3.2 3.1 PH422_0160 EZ303U 100 240 16.00 16/1 3700 6500 0.55 3 27 6.4<br />

375 34 42 3.7 2.6 PH422_0160 EZ401U 130 240 16.00 16/1 3700 6500 1.1 3 27 7.8<br />

375 51 65 5.5 1.8 PH422_0160 EZ501U 130 240 16.00 16/1 3700 6500 3.1 3 27 8.8<br />

375 52 73 5.7 1.7 PH422_0160 EZ402U 130 240 16.00 16/1 3700 6500 1.8 3 27 8.9<br />

600 22 27 2.9 1.9 PH421_0100 EZ401U 82 200 10.00 10/1 3500 6000 1.0 3 21 6.5<br />

600 33 42 4.2 1.3 PH421_0100 EZ501U 100 200 10.00 10/1 3500 6000 3.0 3 21 7.5<br />

600 34 47 4.4 1.2 PH421_0100 EZ402U 100 200 10.00 10/1 3500 6000 1.7 3 21 7.6<br />

857 15 19 3.1 3.8 PH421_0070 EZ401U 57 240 7.000 7/1 3200 6000 1.1 3 31 6.5<br />

857 23 30 4.6 2.6 PH421_0070 EZ501U 110 240 7.000 7/1 3200 6000 3.1 3 31 7.5<br />

857 24 33 4.7 2.5 PH421_0070 EZ402U 110 240 7.000 7/1 3200 6000 1.8 3 31 7.6<br />

857 35 52 7.0 1.7 PH421_0070 EZ502U 110 240 7.000 7/1 3200 6000 5.4 3 31 9.0<br />

857 39 56 7.8 1.5 PH421_0070 EZ404U 110 240 7.000 7/1 3200 6000 3.1 3 31 9.7<br />

857 42 71 8.4 1.4 PH421_0070 EZ503U 110 240 7.000 7/1 3200 6000 7.7 3 31 11<br />

1200 16 21 6.9 3.6 PH421_0050 EZ501U 77 240 5.000 5/1 2700 6000 3.2 3 37 7.5<br />

1200 17 24 7.1 3.5 PH421_0050 EZ402U 77 240 5.000 5/1 2700 6000 1.9 3 37 7.6<br />

1200 25 37 10 2.4 PH421_0050 EZ502U 130 240 5.000 5/1 2700 6000 5.5 3 37 9.0<br />

1200 28 40 12 2.1 PH421_0050 EZ404U 130 240 5.000 5/1 2700 6000 3.3 3 37 9.7<br />

1200 30 51 13 2.0 PH421_0050 EZ503U 130 240 5.000 5/1 2700 6000 7.9 3 37 11<br />

PH5 (n 1N = 3000 rpm, M 2acc,max = 320 Nm)<br />

43 182 195 1.0 1.2 PH522_0700 EZ401U 270 600 70.00 70/1 4000 7000 0.98 3 66 11<br />

60 130 140 1.2 1.7 PH522_0500 EZ401U 320 600 50.00 50/1 4000 7000 0.98 3 66 11<br />

60 200 219 1.8 1.1 PH522_0500 EZ501U 320 600 50.00 50/1 4000 7000 3.0 3 66 12<br />

60 219 242 2.0 1.0 PH522_0500 EZ402U 320 600 50.00 50/1 4000 7000 1.7 3 66 12<br />

75 104 112 1.4 1.9 PH522_0400 EZ401U 320 600 40.00 40/1 4000 7000 0.98 3 58 11<br />

75 160 175 2.2 1.3 PH522_0400 EZ501U 320 600 40.00 40/1 4000 7000 2.9 3 58 12<br />

75 175 193 2.4 1.2 PH522_0400 EZ402U 320 600 40.00 40/1 4000 7000 1.7 3 58 12<br />

86 91 98 1.4 2.4 PH522_0350 EZ401U 280 600 35.00 35/1 4000 7000 1.0 3 68 11<br />

86 140 153 2.2 1.6 PH522_0350 EZ501U 320 600 35.00 35/1 4000 7000 3.0 3 68 12<br />

86 153 169 2.4 1.4 PH522_0350 EZ402U 320 600 35.00 35/1 4000 7000 1.7 3 68 12<br />

107 73 78 1.6 2.9 PH522_0280 EZ401U 220 600 28.00 28/1 4000 7000 1.0 3 61 11<br />

107 112 122 2.5 1.9 PH522_0280 EZ501U 320 600 28.00 28/1 4000 7000 3.0 3 61 12<br />

107 122 135 2.8 1.7 PH522_0280 EZ402U 320 600 28.00 28/1 4000 7000 1.7 3 61 12<br />

107 180 224 4.0 1.2 PH522_0280 EZ404U 320 600 28.00 28/1 4000 7000 3.1 3 61 14<br />

107 193 208 4.3 1.1 PH522_0280 EZ502U 320 600 28.00 28/1 4000 7000 5.3 3 61 13<br />

120 65 70 1.7 3.4 PH522_0250 EZ401U 200 600 25.00 25/1 3700 6500 1.2 3 71 11<br />

120 100 109 2.5 2.2 PH522_0250 EZ501U 320 600 25.00 25/1 3700 6500 3.1 3 71 12<br />

120 109 121 2.8 2.0 PH522_0250 EZ402U 320 600 25.00 25/1 3700 6500 1.9 3 71 12<br />

120 160 200 4.1 1.4 PH522_0250 EZ404U 320 600 25.00 25/1 3700 6500 3.2 3 71 14<br />

120 172 186 4.4 1.3 PH522_0250 EZ502U 320 600 25.00 25/1 3700 6500 5.4 3 71 13<br />

120 172 193 4.4 1.3 PH522_0250 EZ701U 320 600 25.00 25/1 3700 6500 8.7 3 71 15<br />

150 52 56 1.9 4.2 PH522_0200 EZ401U 160 600 20.00 20/1 3300 6000 1.3 3 71 11<br />

150 80 87 2.8 2.8 PH522_0200 EZ501U 300 600 20.00 20/1 3300 6000 3.2 3 71 12<br />

150 87 97 3.1 2.5 PH522_0200 EZ402U 300 600 20.00 20/1 3300 6000 2.0 3 71 12<br />

150 128 160 4.6 1.7 PH522_0200 EZ404U 320 600 20.00 20/1 3300 6000 3.3 3 71 14<br />

150 138 149 4.9 1.6 PH522_0200 EZ502U 320 600 20.00 20/1 3300 6000 5.5 3 71 13<br />

150 138 154 4.9 1.6 PH522_0200 EZ701U 320 600 20.00 20/1 3300 6000 8.8 3 71 15<br />

150 180 206 6.4 1.2 PH522_0200 EZ503U 320 600 20.00 20/1 3300 6000 7.9 3 71 15<br />

188 64 70 3.3 3.3 PH522_0160 EZ501U 240 600 16.00 16/1 3300 6000 3.2 3 65 12<br />

188 70 77 3.6 3.0 PH522_0160 EZ402U 240 600 16.00 16/1 3300 6000 1.9 3 65 12<br />

188 103 128 5.3 2.0 PH522_0160 EZ404U 320 600 16.00 16/1 3300 6000 3.3 3 65 14<br />

188 110 119 5.7 1.9 PH522_0160 EZ502U 320 600 16.00 16/1 3300 6000 5.5 3 65 13<br />

188 110 124 5.7 1.9 PH522_0160 EZ701U 300 600 16.00 16/1 3300 6000 8.8 3 65 15<br />

188 144 165 7.5 1.5 PH522_0160 EZ503U 320 600 16.00 16/1 3300 6000 7.9 3 65 15<br />

188 179 214 9.3 1.2 PH522_0160 EZ702U 320 600 16.00 16/1 3300 6000 14 3 65 18<br />

188 201 238 10 1.0 PH522_0160 EZ505U 320 600 16.00 16/1 3300 6000 12 3 65 18<br />

300 41 45 2.0 3.0 PH521_0100 EZ501U 150 500 10.00 10/1 3300 6000 3.1 3 55 9.5<br />

300 71 77 3.5 1.7 PH521_0100 EZ502U 250 500 10.00 10/1 3300 6000 5.4 3 55 11<br />

300 71 80 3.5 1.7 PH521_0100 EZ701U 190 500 10.00 10/1 3300 6000 8.7 3 55 13<br />

300 93 107 4.6 1.3 PH521_0100 EZ503U 250 500 10.00 10/1 3300 6000 7.8 3 55 13<br />

300 115 138 5.6 1.1 PH521_0100 EZ702U 250 500 10.00 10/1 3300 6000 14 3 55 15<br />

429 50 54 3.6 3.7 PH521_0070 EZ502U 210 600 7.000 7/1 3000 6000 5.7 3 77 11<br />

429 50 56 3.6 3.7 PH521_0070 EZ701U 130 600 7.000 7/1 3000 6000 9.0 3 77 13<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

73


4.2 Selection tables 4 PH planetary geared motors<br />

74<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PH5 (n 1N = 3000 rpm, M 2acc,max = 320 Nm)<br />

429 65 75 4.7 2.8 PH521_0070 EZ503U 270 600 7.000 7/1 3000 6000 8.1 3 77 13<br />

429 81 97 5.8 2.3 PH521_0070 EZ702U 270 600 7.000 7/1 3000 6000 14 3 77 15<br />

429 91 108 6.5 2.0 PH521_0070 EZ505U 270 600 7.000 7/1 3000 6000 13 3 77 15<br />

429 111 140 7.9 1.7 PH521_0070 EZ703U 270 600 7.000 7/1 3000 6000 22 3 77 17<br />

600 47 53 7.0 3.9 PH521_0050 EZ503U 210 430 5.000 5/1 2500 5500 8.6 3 93 13<br />

600 58 69 8.6 3.2 PH521_0050 EZ702U 200 600 5.000 5/1 2500 5500 15 3 93 15<br />

600 65 77 9.7 2.8 PH521_0050 EZ505U 320 600 5.000 5/1 2500 5500 13 3 93 15<br />

600 79 100 12 2.3 PH521_0050 EZ703U 310 600 5.000 5/1 2500 5500 23 3 93 17<br />

600 102 145 15 1.8 PH521_0050 EZ705U 320 600 5.000 5/1 2500 5500 35 3 93 23<br />

750 37 43 9.1 4.9 PH521_0040 EZ503U 170 340 4.000 4/1 2200 5000 9.1 3 98 13<br />

750 46 55 11 4.0 PH521_0040 EZ702U 160 600 4.000 4/1 2200 5000 15 3 98 15<br />

750 52 61 13 3.5 PH521_0040 EZ505U 260 600 4.000 4/1 2200 5000 14 3 98 15<br />

750 63 80 16 2.9 PH521_0040 EZ703U 250 600 4.000 4/1 2200 5000 23 3 98 17<br />

750 82 116 20 2.2 PH521_0040 EZ705U 320 600 4.000 4/1 2200 5000 36 3 98 23<br />

PH5 (n 1N = 4500 rpm, M 2acc,max = 320 Nm)<br />

281 141 228 7.4 1.5 PH522_0160 EZ505U 320 600 16.00 16/1 3300 6000 12 3 65 18<br />

450 91 147 5.1 1.2 PH521_0100 EZ505U 250 500 10.00 10/1 3300 6000 12 3 55 15<br />

643 64 103 5.2 2.5 PH521_0070 EZ505U 270 600 7.000 7/1 3000 6000 13 3 77 15<br />

643 81 134 6.7 2.0 PH521_0070 EZ703U 270 600 7.000 7/1 3000 6000 22 3 77 17<br />

900 46 73 7.8 3.5 PH521_0050 EZ505U 320 600 5.000 5/1 2500 5500 13 3 93 15<br />

900 58 96 10 2.8 PH521_0050 EZ703U 310 600 5.000 5/1 2500 5500 23 3 93 17<br />

900 79 144 14 2.0 PH521_0050 EZ705U 320 600 5.000 5/1 2500 5500 35 3 93 23<br />

1125 36 59 10 4.4 PH521_0040 EZ505U 260 600 4.000 4/1 2200 5000 14 3 98 15<br />

1125 46 77 13 3.4 PH521_0040 EZ703U 250 600 4.000 4/1 2200 5000 23 3 98 17<br />

1125 63 115 18 2.5 PH521_0040 EZ705U 320 600 4.000 4/1 2200 5000 36 3 98 23<br />

PH5 (n 1N = 6000 rpm, M 2acc,max = 320 Nm)<br />

86 150 182 0.9 1.4 PH522_0700 EZ401U 270 600 70.00 70/1 4000 7000 0.98 3 66 11<br />

120 107 130 1.1 1.9 PH522_0500 EZ401U 320 600 50.00 50/1 4000 7000 0.98 3 66 11<br />

120 158 205 1.6 1.3 PH522_0500 EZ501U 320 600 50.00 50/1 4000 7000 3.0 3 66 12<br />

120 163 228 1.6 1.2 PH522_0500 EZ402U 320 600 50.00 50/1 4000 7000 1.7 3 66 12<br />

150 86 104 1.5 1.9 PH522_0400 EZ401U 320 600 40.00 40/1 4000 7000 0.98 3 58 11<br />

150 126 164 2.2 1.3 PH522_0400 EZ501U 320 600 40.00 40/1 4000 7000 2.9 3 58 12<br />

150 130 182 2.3 1.2 PH522_0400 EZ402U 320 600 40.00 40/1 4000 7000 1.7 3 58 12<br />

171 75 91 1.2 2.9 PH522_0350 EZ401U 280 600 35.00 35/1 4000 7000 1.0 3 68 11<br />

171 111 143 1.7 2.0 PH522_0350 EZ501U 320 600 35.00 35/1 4000 7000 3.0 3 68 12<br />

171 114 159 1.8 1.9 PH522_0350 EZ402U 320 600 35.00 35/1 4000 7000 1.7 3 68 12<br />

214 60 73 1.3 3.5 PH522_0280 EZ401U 220 600 28.00 28/1 4000 7000 1.0 3 61 11<br />

214 89 115 2.0 2.4 PH522_0280 EZ501U 320 600 28.00 28/1 4000 7000 3.0 3 61 12<br />

214 91 128 2.1 2.3 PH522_0280 EZ402U 320 600 28.00 28/1 4000 7000 1.7 3 61 12<br />

214 135 203 3.0 1.6 PH522_0280 EZ502U 320 600 28.00 28/1 4000 7000 5.3 3 61 13<br />

214 151 219 3.4 1.4 PH522_0280 EZ404U 320 600 28.00 28/1 4000 7000 3.1 3 61 14<br />

240 53 65 1.4 4.1 PH522_0250 EZ401U 200 600 25.00 25/1 3700 6500 1.2 3 71 11<br />

240 79 102 2.0 2.8 PH522_0250 EZ501U 320 600 25.00 25/1 3700 6500 3.1 3 71 12<br />

240 81 114 2.1 2.7 PH522_0250 EZ402U 320 600 25.00 25/1 3700 6500 1.9 3 71 12<br />

240 121 181 3.1 1.8 PH522_0250 EZ502U 320 600 25.00 25/1 3700 6500 5.4 3 71 13<br />

240 121 184 3.1 1.8 PH522_0250 EZ701U 320 600 25.00 25/1 3700 6500 8.7 3 71 15<br />

240 135 195 3.4 1.6 PH522_0250 EZ404U 320 600 25.00 25/1 3700 6500 3.2 3 71 14<br />

240 144 246 3.7 1.5 PH522_0250 EZ503U 320 600 25.00 25/1 3700 6500 7.8 3 71 15<br />

300 63 82 2.2 3.5 PH522_0200 EZ501U 300 600 20.00 20/1 3300 6000 3.2 3 71 12<br />

300 65 91 2.3 3.4 PH522_0200 EZ402U 300 600 20.00 20/1 3300 6000 2.0 3 71 12<br />

300 97 145 3.4 2.3 PH522_0200 EZ502U 320 600 20.00 20/1 3300 6000 5.5 3 71 13<br />

300 97 147 3.4 2.3 PH522_0200 EZ701U 320 600 20.00 20/1 3300 6000 8.8 3 71 15<br />

300 108 156 3.8 2.0 PH522_0200 EZ404U 320 600 20.00 20/1 3300 6000 3.3 3 71 14<br />

300 115 197 4.1 1.9 PH522_0200 EZ503U 320 600 20.00 20/1 3300 6000 7.9 3 71 15<br />

375 51 65 2.6 4.2 PH522_0160 EZ501U 240 600 16.00 16/1 3300 6000 3.2 3 65 12<br />

375 52 73 2.7 4.0 PH522_0160 EZ402U 240 600 16.00 16/1 3300 6000 1.9 3 65 12<br />

375 77 116 4.0 2.7 PH522_0160 EZ502U 320 600 16.00 16/1 3300 6000 5.5 3 65 13<br />

375 77 118 4.0 2.7 PH522_0160 EZ701U 300 600 16.00 16/1 3300 6000 8.8 3 65 15<br />

375 86 125 4.5 2.4 PH522_0160 EZ404U 320 600 16.00 16/1 3300 6000 3.3 3 65 14<br />

375 92 158 4.8 2.3 PH522_0160 EZ503U 320 600 16.00 16/1 3300 6000 7.9 3 65 15<br />

375 107 213 5.6 2.0 PH522_0160 EZ702U 320 600 16.00 16/1 3300 6000 14 3 65 18<br />

600 33 42 2.0 3.0 PH521_0100 EZ501U 150 500 10.00 10/1 3300 6000 3.1 3 55 9.5<br />

600 50 75 3.1 1.9 PH521_0100 EZ502U 250 500 10.00 10/1 3300 6000 5.4 3 55 11<br />

600 50 76 3.1 1.9 PH521_0100 EZ701U 190 500 10.00 10/1 3300 6000 8.7 3 55 13<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


4 PH planetary geared motors 4.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PH5 (n 1N = 6000 rpm, M 2acc,max = 320 Nm)<br />

600 60 102 3.7 1.6 PH521_0100 EZ503U 250 500 10.00 10/1 3300 6000 7.8 3 55 13<br />

600 69 137 4.3 1.4 PH521_0100 EZ702U 250 500 10.00 10/1 3300 6000 14 3 55 15<br />

857 35 52 3.2 4.2 PH521_0070 EZ502U 210 600 7.000 7/1 3000 6000 5.7 3 77 11<br />

857 35 53 3.2 4.2 PH521_0070 EZ701U 130 600 7.000 7/1 3000 6000 9.0 3 77 13<br />

857 42 71 3.8 3.5 PH521_0070 EZ503U 270 600 7.000 7/1 3000 6000 8.1 3 77 13<br />

857 48 96 4.4 3.0 PH521_0070 EZ702U 270 600 7.000 7/1 3000 6000 14 3 77 15<br />

PH7 (n 1N = 2000 rpm, M 2acc,max = 700 Nm)<br />

400 210 317 16 2.1 PH721_0050 EZ805U 700 1400 5.000 5/1 2200 5000 135 3 184 54<br />

500 168 254 21 2.6 PH721_0040 EZ805U 700 1370 4.000 4/1 1900 4000 137 3 185 54<br />

PH7 (n 1N = 3000 rpm, M 2acc,max = 700 Nm)<br />

43 280 306 0.9 1.6 PH722_0700 EZ501U 650 1240 70.00 70/1 3700 6500 3.1 3 142 18<br />

60 200 219 1.1 2.2 PH722_0500 EZ501U 700 1400 50.00 50/1 3700 6500 3.1 3 142 18<br />

60 344 372 1.9 1.3 PH722_0500 EZ502U 700 1400 50.00 50/1 3700 6500 5.4 3 142 19<br />

60 344 386 1.9 1.3 PH722_0500 EZ701U 700 1400 50.00 50/1 3700 6500 8.7 3 142 21<br />

75 160 175 1.2 2.8 PH722_0400 EZ501U 600 1370 40.00 40/1 3700 6500 3.1 3 126 18<br />

75 275 298 2.1 1.6 PH722_0400 EZ502U 700 1370 40.00 40/1 3700 6500 5.4 3 126 19<br />

75 275 309 2.1 1.6 PH722_0400 EZ701U 700 1370 40.00 40/1 3700 6500 8.7 3 126 21<br />

75 361 413 2.7 1.2 PH722_0400 EZ503U 700 1370 40.00 40/1 3700 6500 7.8 3 126 21<br />

86 140 153 1.3 3.1 PH722_0350 EZ501U 520 1400 35.00 35/1 3700 6500 3.2 3 146 18<br />

86 241 260 2.2 1.8 PH722_0350 EZ502U 700 1400 35.00 35/1 3700 6500 5.5 3 146 19<br />

86 241 270 2.2 1.8 PH722_0350 EZ701U 650 1400 35.00 35/1 3700 6500 8.8 3 146 21<br />

86 316 361 2.9 1.4 PH722_0350 EZ503U 700 1400 35.00 35/1 3700 6500 7.9 3 146 21<br />

86 391 469 3.6 1.1 PH722_0350 EZ702U 700 1400 35.00 35/1 3700 6500 14 3 146 23<br />

86 439 521 4.1 1.0 PH722_0350 EZ505U 700 1400 35.00 35/1 3700 6500 12 3 146 23<br />

107 112 122 1.4 3.9 PH722_0280 EZ501U 420 1370 28.00 28/1 3700 6500 3.3 3 131 18<br />

107 193 208 2.5 2.3 PH722_0280 EZ502U 700 1370 28.00 28/1 3700 6500 5.6 3 131 19<br />

107 193 216 2.5 2.3 PH722_0280 EZ701U 520 1370 28.00 28/1 3700 6500 8.9 3 131 21<br />

107 253 289 3.3 1.7 PH722_0280 EZ503U 700 1370 28.00 28/1 3700 6500 8.0 3 131 21<br />

107 312 375 4.0 1.4 PH722_0280 EZ702U 700 1370 28.00 28/1 3700 6500 14 3 131 23<br />

107 352 417 4.5 1.3 PH722_0280 EZ505U 700 1370 28.00 28/1 3700 6500 13 3 131 23<br />

120 100 109 1.5 4.4 PH722_0250 EZ501U 370 1400 25.00 25/1 3500 6000 3.6 3 149 18<br />

120 172 186 2.6 2.6 PH722_0250 EZ502U 700 1400 25.00 25/1 3500 6000 5.9 3 149 19<br />

120 172 193 2.6 2.6 PH722_0250 EZ701U 470 1400 25.00 25/1 3500 6000 9.2 3 149 21<br />

120 226 258 3.4 2.0 PH722_0250 EZ503U 700 1400 25.00 25/1 3500 6000 8.3 3 149 21<br />

120 279 335 4.3 1.6 PH722_0250 EZ702U 700 1400 25.00 25/1 3500 6000 14 3 149 23<br />

120 314 372 4.8 1.4 PH722_0250 EZ505U 700 1400 25.00 25/1 3500 6000 13 3 149 23<br />

120 384 484 5.9 1.1 PH722_0250 EZ703U 700 1400 25.00 25/1 3500 6000 22 3 149 25<br />

150 138 149 2.9 3.2 PH722_0200 EZ502U 580 1400 20.00 20/1 3000 5000 6.3 3 150 19<br />

150 138 154 2.9 3.2 PH722_0200 EZ701U 370 1400 20.00 20/1 3000 5000 9.6 3 150 21<br />

150 180 206 3.9 2.4 PH722_0200 EZ503U 700 1400 20.00 20/1 3000 5000 8.7 3 150 21<br />

150 223 268 4.8 2.0 PH722_0200 EZ702U 700 1400 20.00 20/1 3000 5000 15 3 150 23<br />

150 251 298 5.4 1.8 PH722_0200 EZ505U 700 1400 20.00 20/1 3000 5000 13 3 150 23<br />

150 307 387 6.5 1.4 PH722_0200 EZ703U 700 1400 20.00 20/1 3000 5000 23 3 150 25<br />

188 110 119 3.3 4.0 PH722_0160 EZ502U 460 1330 16.00 16/1 3000 5000 6.4 3 136 19<br />

188 110 124 3.3 4.0 PH722_0160 EZ701U 300 1370 16.00 16/1 3000 5000 9.7 3 136 21<br />

188 144 165 4.3 3.0 PH722_0160 EZ503U 640 1330 16.00 16/1 3000 5000 8.8 3 136 21<br />

188 179 214 5.3 2.5 PH722_0160 EZ702U 610 1370 16.00 16/1 3000 5000 15 3 136 23<br />

188 201 238 6.0 2.2 PH722_0160 EZ505U 700 1370 16.00 16/1 3000 5000 13 3 136 23<br />

188 246 310 7.3 1.8 PH722_0160 EZ703U 700 1370 16.00 16/1 3000 5000 23 3 136 25<br />

188 317 449 9.5 1.4 PH722_0160 EZ705U 700 1370 16.00 16/1 3000 5000 35 3 136 31<br />

300 71 80 2.0 3.7 PH721_0100 EZ701U 190 1000 10.00 10/1 3000 5000 9.2 3 117 17<br />

300 115 138 3.2 2.3 PH721_0100 EZ702U 390 1000 10.00 10/1 3000 5000 14 3 117 19<br />

300 158 200 4.3 1.7 PH721_0100 EZ703U 500 1000 10.00 10/1 3000 5000 22 3 117 21<br />

300 204 290 5.6 1.3 PH721_0100 EZ705U 500 1000 10.00 10/1 3000 5000 35 3 117 27<br />

300 214 356 5.9 1.2 PH721_0100 EZ802U 500 1000 10.00 10/1 3000 5000 59 3 117 35<br />

429 81 97 3.3 4.8 PH721_0070 EZ702U 280 1240 7.000 7/1 2500 5000 15 3 160 19<br />

429 111 140 4.5 3.5 PH721_0070 EZ703U 440 1240 7.000 7/1 2500 5000 23 3 160 21<br />

429 143 203 5.9 2.7 PH721_0070 EZ705U 650 1240 7.000 7/1 2500 5000 35 3 160 27<br />

429 150 249 6.1 2.6 PH721_0070 EZ802U 650 1240 7.000 7/1 2500 5000 59 3 160 35<br />

600 79 100 6.8 4.9 PH721_0050 EZ703U 310 890 5.000 5/1 2200 5000 24 3 184 21<br />

600 102 145 8.8 3.8 PH721_0050 EZ705U 500 1400 5.000 5/1 2200 5000 37 3 184 27<br />

600 107 178 9.2 3.6 PH721_0050 EZ802U 480 1400 5.000 5/1 2200 5000 61 3 184 35<br />

600 128 231 11 3.0 PH721_0050 EZ803U 700 1400 5.000 5/1 2200 5000 86 3 184 41<br />

750 82 116 11 4.7 PH721_0040 EZ705U 400 1370 4.000 4/1 1900 4000 39 3 185 27<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

75


4.2 Selection tables 4 PH planetary geared motors<br />

76<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PH7 (n 1N = 3000 rpm, M 2acc,max = 700 Nm)<br />

750 86 142 12 4.5 PH721_0040 EZ802U 380 1370 4.000 4/1 1900 4000 63 3 185 35<br />

750 102 185 14 3.8 PH721_0040 EZ803U 560 1370 4.000 4/1 1900 4000 88 3 185 41<br />

PH7 (n 1N = 4500 rpm, M 2acc,max = 700 Nm)<br />

129 309 498 2.9 1.4 PH722_0350 EZ505U 700 1400 35.00 35/1 3700 6500 12 3 146 23<br />

161 247 398 3.2 1.8 PH722_0280 EZ505U 700 1370 28.00 28/1 3700 6500 13 3 131 23<br />

161 315 521 4.1 1.4 PH722_0280 EZ703U 700 1370 28.00 28/1 3700 6500 22 3 131 25<br />

180 221 356 3.4 2.0 PH722_0250 EZ505U 700 1400 25.00 25/1 3500 6000 13 3 149 23<br />

180 281 465 4.3 1.6 PH722_0250 EZ703U 700 1400 25.00 25/1 3500 6000 22 3 149 25<br />

225 177 285 3.8 2.5 PH722_0200 EZ505U 700 1400 20.00 20/1 3000 5000 13 3 150 23<br />

225 225 372 4.8 2.0 PH722_0200 EZ703U 700 1400 20.00 20/1 3000 5000 23 3 150 25<br />

281 141 228 4.2 3.1 PH722_0160 EZ505U 700 1370 16.00 16/1 3000 5000 13 3 136 23<br />

281 156 513 4.7 2.8 PH722_0160 EZ802U 700 1370 16.00 16/1 3000 5000 59 3 136 39<br />

281 180 298 5.4 2.4 PH722_0160 EZ703U 700 1370 16.00 16/1 3000 5000 23 3 136 25<br />

281 244 446 7.3 1.8 PH722_0160 EZ705U 700 1370 16.00 16/1 3000 5000 35 3 136 31<br />

450 101 331 3.2 2.3 PH721_0100 EZ802U 500 1000 10.00 10/1 3000 5000 59 3 117 35<br />

450 116 192 3.6 2.0 PH721_0100 EZ703U 500 1000 10.00 10/1 3000 5000 22 3 117 21<br />

450 157 288 4.9 1.5 PH721_0100 EZ705U 500 1000 10.00 10/1 3000 5000 35 3 117 27<br />

643 71 232 3.3 4.8 PH721_0070 EZ802U 650 1240 7.000 7/1 2500 5000 59 3 160 35<br />

643 81 134 3.8 4.1 PH721_0070 EZ703U 440 1240 7.000 7/1 2500 5000 23 3 160 21<br />

643 110 202 5.2 3.0 PH721_0070 EZ705U 650 1240 7.000 7/1 2500 5000 35 3 160 27<br />

900 79 144 7.7 4.3 PH721_0050 EZ705U 500 1400 5.000 5/1 2200 5000 37 3 184 27<br />

PH7 (n 1N = 6000 rpm, M 2acc,max = 700 Nm)<br />

86 221 286 0.7 2.0 PH722_0700 EZ501U 650 1240 70.00 70/1 3700 6500 3.1 3 142 18<br />

120 158 205 0.9 2.8 PH722_0500 EZ501U 700 1400 50.00 50/1 3700 6500 3.1 3 142 18<br />

120 242 363 1.3 1.8 PH722_0500 EZ502U 700 1400 50.00 50/1 3700 6500 5.4 3 142 19<br />

120 242 367 1.3 1.8 PH722_0500 EZ701U 700 1400 50.00 50/1 3700 6500 8.7 3 142 21<br />

120 288 493 1.6 1.5 PH722_0500 EZ503U 700 1400 50.00 50/1 3700 6500 7.8 3 142 21<br />

150 126 164 1.1 2.9 PH722_0400 EZ501U 600 1370 40.00 40/1 3700 6500 3.1 3 126 18<br />

150 193 290 1.7 1.9 PH722_0400 EZ502U 700 1370 40.00 40/1 3700 6500 5.4 3 126 19<br />

150 193 294 1.7 1.9 PH722_0400 EZ701U 700 1370 40.00 40/1 3700 6500 8.7 3 126 21<br />

150 231 394 2.1 1.6 PH722_0400 EZ503U 700 1370 40.00 40/1 3700 6500 7.8 3 126 21<br />

150 268 532 2.4 1.4 PH722_0400 EZ702U 700 1370 40.00 40/1 3700 6500 14 3 126 23<br />

171 111 143 1.0 4.0 PH722_0350 EZ501U 520 1400 35.00 35/1 3700 6500 3.2 3 146 18<br />

171 169 254 1.6 2.6 PH722_0350 EZ502U 700 1400 35.00 35/1 3700 6500 5.5 3 146 19<br />

171 169 257 1.6 2.6 PH722_0350 EZ701U 650 1400 35.00 35/1 3700 6500 8.8 3 146 21<br />

171 202 345 1.9 2.2 PH722_0350 EZ503U 700 1400 35.00 35/1 3700 6500 7.9 3 146 21<br />

171 234 465 2.2 1.9 PH722_0350 EZ702U 700 1400 35.00 35/1 3700 6500 14 3 146 23<br />

214 89 115 1.1 5.0 PH722_0280 EZ501U 420 1370 28.00 28/1 3700 6500 3.3 3 131 18<br />

214 135 203 1.7 3.2 PH722_0280 EZ502U 700 1370 28.00 28/1 3700 6500 5.6 3 131 19<br />

214 135 206 1.7 3.2 PH722_0280 EZ701U 520 1370 28.00 28/1 3700 6500 8.9 3 131 21<br />

214 161 276 2.1 2.7 PH722_0280 EZ503U 700 1370 28.00 28/1 3700 6500 8.0 3 131 21<br />

214 187 372 2.4 2.3 PH722_0280 EZ702U 700 1370 28.00 28/1 3700 6500 14 3 131 23<br />

240 121 181 1.8 3.6 PH722_0250 EZ502U 700 1400 25.00 25/1 3500 6000 5.9 3 149 19<br />

240 121 184 1.8 3.6 PH722_0250 EZ701U 470 1400 25.00 25/1 3500 6000 9.2 3 149 21<br />

240 144 246 2.2 3.1 PH722_0250 EZ503U 700 1400 25.00 25/1 3500 6000 8.3 3 149 21<br />

240 167 332 2.6 2.6 PH722_0250 EZ702U 700 1400 25.00 25/1 3500 6000 14 3 149 23<br />

PH8 (n 1N = 2000 rpm, M 2acc,max = 2000 Nm)<br />

80 1016 1537 5.9 1.2 PH822_0250 EZ805U 2000 3200 25.00 25/1 3000 5500 135 3 484 82<br />

100 813 1229 6.6 1.5 PH822_0200 EZ805U 2000 3200 20.00 20/1 2500 4500 137 3 459 82<br />

125 650 984 8.4 1.7 PH822_0160 EZ805U 2000 3150 16.00 16/1 2500 4500 137 3 452 82<br />

200 420 635 4.1 1.9 PH821_0100 EZ805U 1200 2400 10.00 10/1 2500 4000 136 3 317 73<br />

286 294 444 5.0 3.4 PH821_0070 EZ805U 1380 2770 7.000 7/1 2000 4000 140 3 474 73<br />

400 210 317 7.5 4.8 PH821_0050 EZ805U 980 2870 5.000 5/1 1700 4000 148 3 566 73<br />

500 168 254 12 4.8 PH821_0040 EZ805U 790 2310 4.000 4/1 1500 3500 157 3 634 73<br />

PH8 (n 1N = 3000 rpm, M 2acc,max = 2000 Nm)<br />

30 688 772 0.8 1.2 PH822_1000 EZ701U 1200 2400 100.0 100/1 3300 6000 9.0 3 305 44<br />

43 482 540 0.7 2.1 PH822_0700 EZ701U 1300 2770 70.00 70/1 3300 6000 9.1 3 421 44<br />

43 781 937 1.2 1.3 PH822_0700 EZ702U 1600 2770 70.00 70/1 3300 6000 14 3 421 47<br />

60 344 386 0.7 3.6 PH822_0500 EZ701U 930 3200 50.00 50/1 3300 6000 9.1 3 436 44<br />

60 558 670 1.1 2.2 PH822_0500 EZ702U 1910 3200 50.00 50/1 3300 6000 14 3 436 47<br />

60 767 967 1.6 1.6 PH822_0500 EZ703U 2000 3200 50.00 50/1 3300 6000 22 3 436 49<br />

60 990 1404 2.0 1.3 PH822_0500 EZ705U 2000 3200 50.00 50/1 3300 6000 35 3 436 54<br />

75 275 309 1.0 3.7 PH822_0400 EZ701U 740 3150 40.00 40/1 3300 6000 9.2 3 418 44<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


4 PH planetary geared motors 4.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PH8 (n 1N = 3000 rpm, M 2acc,max = 2000 Nm)<br />

75 446 536 1.6 2.3 PH822_0400 EZ702U 1530 3150 40.00 40/1 3300 6000 14 3 418 47<br />

75 614 774 2.2 1.6 PH822_0400 EZ703U 1920 3150 40.00 40/1 3300 6000 22 3 418 49<br />

75 792 1123 2.8 1.3 PH822_0400 EZ705U 1920 3150 40.00 40/1 3300 6000 35 3 418 54<br />

75 830 1380 3.0 1.2 PH822_0400 EZ802U 1920 3150 40.00 40/1 3300 6000 59 3 418 63<br />

86 391 469 1.4 3.2 PH822_0350 EZ702U 1330 3200 35.00 35/1 3300 6000 15 3 448 47<br />

86 537 677 1.9 2.3 PH822_0350 EZ703U 2000 3200 35.00 35/1 3300 6000 23 3 448 49<br />

86 693 983 2.4 1.8 PH822_0350 EZ705U 2000 3200 35.00 35/1 3300 6000 35 3 448 54<br />

86 726 1208 2.6 1.7 PH822_0350 EZ802U 2000 3200 35.00 35/1 3300 6000 59 3 448 63<br />

107 312 375 1.7 3.5 PH822_0280 EZ702U 1070 3150 28.00 28/1 3300 6000 15 3 435 47<br />

107 430 542 2.4 2.6 PH822_0280 EZ703U 1690 3150 28.00 28/1 3300 6000 23 3 435 49<br />

107 555 786 3.1 2.0 PH822_0280 EZ705U 2000 3150 28.00 28/1 3300 6000 35 3 435 54<br />

107 581 966 3.2 1.9 PH822_0280 EZ802U 2000 3150 28.00 28/1 3300 6000 59 3 435 63<br />

120 279 335 1.6 4.5 PH822_0250 EZ702U 950 3200 25.00 25/1 3000 5500 16 3 484 47<br />

120 384 484 2.2 3.3 PH822_0250 EZ703U 1510 3200 25.00 25/1 3000 5500 24 3 484 49<br />

120 495 702 2.9 2.5 PH822_0250 EZ705U 2000 3200 25.00 25/1 3000 5500 37 3 484 54<br />

120 518 863 3.0 2.4 PH822_0250 EZ802U 2000 3200 25.00 25/1 3000 5500 61 3 484 63<br />

120 618 1121 3.6 2.0 PH822_0250 EZ803U 2000 3200 25.00 25/1 3000 5500 86 3 484 69<br />

150 307 387 2.5 4.1 PH822_0200 EZ703U 1210 3200 20.00 20/1 2500 4500 26 3 459 49<br />

150 396 562 3.2 3.2 PH822_0200 EZ705U 1930 3200 20.00 20/1 2500 4500 38 3 459 54<br />

150 415 690 3.4 3.0 PH822_0200 EZ802U 1860 3200 20.00 20/1 2500 4500 62 3 459 63<br />

150 495 897 4.0 2.5 PH822_0200 EZ803U 2000 3200 20.00 20/1 2500 4500 88 3 459 69<br />

188 246 310 3.2 4.5 PH822_0160 EZ703U 970 2760 16.00 16/1 2500 4500 26 3 452 49<br />

188 317 449 4.1 3.5 PH822_0160 EZ705U 1550 3150 16.00 16/1 2500 4500 39 3 452 54<br />

188 332 552 4.3 3.3 PH822_0160 EZ802U 1490 3150 16.00 16/1 2500 4500 63 3 452 63<br />

188 396 717 5.1 2.8 PH822_0160 EZ803U 2000 3150 16.00 16/1 2500 4500 88 3 452 69<br />

300 214 356 2.4 3.3 PH821_0100 EZ802U 960 2400 10.00 10/1 2500 4000 62 3 317 54<br />

300 255 463 2.8 2.7 PH821_0100 EZ803U 1200 2400 10.00 10/1 2500 4000 87 3 317 60<br />

429 179 324 3.5 4.9 PH821_0070 EZ803U 970 2770 7.000 7/1 2000 4000 91 3 474 60<br />

PH8 (n 1N = 4500 rpm, M 2acc,max = 2000 Nm)<br />

90 563 930 1.3 2.0 PH822_0500 EZ703U 2000 3200 50.00 50/1 3300 6000 22 3 436 49<br />

90 763 1395 1.8 1.4 PH822_0500 EZ705U 2000 3200 50.00 50/1 3300 6000 35 3 436 54<br />

113 391 1283 1.6 2.3 PH822_0400 EZ802U 1920 3150 40.00 40/1 3300 6000 59 3 418 63<br />

113 450 744 1.8 2.0 PH822_0400 EZ703U 1920 3150 40.00 40/1 3300 6000 22 3 418 49<br />

113 610 1116 2.5 1.4 PH822_0400 EZ705U 1920 3150 40.00 40/1 3300 6000 35 3 418 54<br />

129 342 1123 1.2 3.7 PH822_0350 EZ802U 2000 3200 35.00 35/1 3300 6000 59 3 448 63<br />

129 394 651 1.4 3.2 PH822_0350 EZ703U 2000 3200 35.00 35/1 3300 6000 23 3 448 49<br />

129 534 977 1.9 2.3 PH822_0350 EZ705U 2000 3200 35.00 35/1 3300 6000 35 3 448 54<br />

161 273 898 1.5 4.0 PH822_0280 EZ802U 2000 3150 28.00 28/1 3300 6000 59 3 435 63<br />

161 315 521 1.8 3.5 PH822_0280 EZ703U 1690 3150 28.00 28/1 3300 6000 23 3 435 49<br />

161 427 781 2.4 2.6 PH822_0280 EZ705U 2000 3150 28.00 28/1 3300 6000 35 3 435 54<br />

180 281 465 1.6 4.4 PH822_0250 EZ703U 1510 3200 25.00 25/1 3000 5500 24 3 484 49<br />

180 381 698 2.2 3.3 PH822_0250 EZ705U 2000 3200 25.00 25/1 3000 5500 37 3 484 54<br />

225 305 558 2.5 4.1 PH822_0200 EZ705U 1930 3200 20.00 20/1 2500 4500 38 3 459 54<br />

281 244 446 3.2 4.5 PH822_0160 EZ705U 1550 3150 16.00 16/1 2500 4500 39 3 452 54<br />

PH8 (n 1N = 6000 rpm, M 2acc,max = 1910 Nm)<br />

60 484 735 0.6 1.7 PH822_1000 EZ701U 1200 2400 100.0 100/1 3300 6000 9.0 3 305 44<br />

86 339 514 0.5 3.0 PH822_0700 EZ701U 1300 2770 70.00 70/1 3300 6000 9.1 3 421 44<br />

86 469 931 0.7 2.1 PH822_0700 EZ702U 1600 2770 70.00 70/1 3300 6000 14 3 421 47<br />

120 242 367 0.6 4.1 PH822_0500 EZ701U 930 3200 50.00 50/1 3300 6000 9.1 3 436 44<br />

120 335 665 0.9 3.0 PH822_0500 EZ702U 1910 3200 50.00 50/1 3300 6000 14 3 436 47<br />

150 193 294 0.9 4.1 PH822_0400 EZ701U 740 3150 40.00 40/1 3300 6000 9.2 3 418 44<br />

150 268 532 1.2 3.0 PH822_0400 EZ702U 1530 3150 40.00 40/1 3300 6000 14 3 418 47<br />

PH9 (n 1N = 2000 rpm, M 2acc,max = 5000 Nm)<br />

42 1951 2951 1.9 1.5 PH932_0480 EZ805U 4500 9000 48.00 48/1 2800 4500 137 3 1084 109<br />

48 1707 2582 2.0 1.8 PH932_0420 EZ805U 4500 9000 42.00 42/1 2800 4500 138 3 1099 109<br />

50 1626 2459 2.3 1.7 PH932_0400 EZ805U 4610 9220 40.00 40/1 2800 4500 136 3 1057 109<br />

63 1301 1967 2.3 2.3 PH932_0320 EZ805U 4610 9220 32.00 32/1 2800 4500 138 3 1112 109<br />

67 1219 1844 2.4 2.5 PH932_0300 EZ805U 4500 9000 30.00 30/1 2500 4000 143 3 1115 109<br />

71 1138 1721 2.5 2.6 PH932_0280 EZ805U 5000 10000 28.00 28/1 2800 4500 139 3 1147 109<br />

83 975 1475 2.7 3.1 PH932_0240 EZ805U 4500 9000 24.00 24/1 2200 3500 149 3 1125 109<br />

100 813 1229 3.0 3.7 PH932_0200 EZ805U 3810 10000 20.00 20/1 2500 4000 145 3 1188 109<br />

111 732 1107 3.1 4.1 PH932_0180 EZ805U 3430 9000 18.00 18/1 1800 3000 177 3 1135 109<br />

125 650 984 3.3 4.6 PH932_0160 EZ805U 3050 8960 16.00 16/1 2200 3500 153 3 1212 109<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

77


4.2 Selection tables 4 PH planetary geared motors<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PH9 (n 1N = 3000 rpm, M 2acc,max = 4610 Nm)<br />

50 1244 2070 0.9 2.4 PH932_0600 EZ802U 4500 9000 60.00 60/1 2800 4500 60 3 1060 90<br />

50 1484 2690 1.0 2.0 PH932_0600 EZ803U 4500 9000 60.00 60/1 2800 4500 86 3 1060 96<br />

63 995 1656 1.0 3.0 PH932_0480 EZ802U 4460 9000 48.00 48/1 2800 4500 62 3 1084 90<br />

63 1187 2152 1.2 2.5 PH932_0480 EZ803U 4500 9000 48.00 48/1 2800 4500 88 3 1084 96<br />

71 871 1449 1.0 3.4 PH932_0420 EZ802U 3910 9000 42.00 42/1 2800 4500 63 3 1099 90<br />

71 1039 1883 1.2 2.9 PH932_0420 EZ803U 4500 9000 42.00 42/1 2800 4500 89 3 1099 96<br />

75 830 1380 1.4 2.8 PH932_0400 EZ802U 3720 9220 40.00 40/1 2800 4500 61 3 1057 90<br />

75 990 1793 1.6 2.4 PH932_0400 EZ803U 4610 9220 40.00 40/1 2800 4500 86 3 1057 96<br />

94 664 1104 1.3 4.0 PH932_0320 EZ802U 2980 9220 32.00 32/1 2800 4500 63 3 1112 90<br />

94 792 1434 1.6 3.4 PH932_0320 EZ803U 4320 9220 32.00 32/1 2800 4500 88 3 1112 96<br />

100 622 1035 1.2 4.8 PH932_0300 EZ802U 2790 9000 30.00 30/1 2500 4000 68 3 1115 90<br />

100 742 1345 1.5 4.0 PH932_0300 EZ803U 4050 9000 30.00 30/1 2500 4000 94 3 1115 96<br />

107 693 1255 1.5 4.3 PH932_0280 EZ803U 3780 10000 28.00 28/1 2800 4500 90 3 1147 96<br />

PH10 (n 1N = 2000 rpm, M 2acc,max = 7500 Nm)<br />

33 2438 3688 1.4 1.7 PH1032_0600 EZ805U 6910 13820 60.00 60/1 2800 4500 135 3 1602 124<br />

42 1951 2951 1.3 2.4 PH1032_0480 EZ805U 6910 13820 48.00 48/1 2800 4500 137 3 1657 124<br />

48 1707 2582 1.3 2.9 PH1032_0420 EZ805U 7500 15000 42.00 42/1 2800 4500 138 3 1691 124<br />

67 1219 1844 1.6 4.1 PH1032_0300 EZ805U 5720 15000 30.00 30/1 2500 4000 144 3 1730 124<br />

83 975 1475 1.9 4.7 PH1032_0240 EZ805U 4580 13430 24.00 24/1 2200 3500 151 3 1753 124<br />

PH10 (n 1N = 3000 rpm, M 2acc,max = 6910 Nm)<br />

50 1244 2070 0.8 2.8 PH1032_0600 EZ802U 5580 13820 60.00 60/1 2800 4500 61 3 1602 105<br />

50 1484 2690 1.0 2.4 PH1032_0600 EZ803U 6910 13820 60.00 60/1 2800 4500 86 3 1602 111<br />

63 995 1656 0.8 4.0 PH1032_0480 EZ802U 4460 13820 48.00 48/1 2800 4500 63 3 1657 105<br />

63 1187 2152 0.9 3.4 PH1032_0480 EZ803U 6470 13820 48.00 48/1 2800 4500 88 3 1657 111<br />

71 1039 1883 0.8 4.8 PH1032_0420 EZ803U 5660 15000 42.00 42/1 2800 4500 89 3 1691 111<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

78


4 PH planetary geared motors 4.3 Dimensional drawings<br />

4.3 Dimensional drawings<br />

In this chapter you can find the dimensions of the geared motors.<br />

There is a dimensional drawing for every possible shaft/housing design, each with the tables for gear unit dimensions,<br />

motor dimensions and geared motor dimensions.<br />

Dimensions can exceed the specifications of ISO 2768-mK due to casting tolerances or accumulation of individual<br />

tolerances.<br />

We reserve the right to make dimensional changes due to ongoing technical development.<br />

You can download CAD models of our standard drives at http://cad.stoeber.de.<br />

Combination options and the dimensions of forced ventilated geared motors can be found at http://<br />

cad.stoeber.de.<br />

79


4.3 Dimensional drawings 4 PH planetary geared motors<br />

4.3.1 F shaft design (flange shaft)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ∅a1 ∅b1 ∅bf c1 ∅df ∅e1 ∅ef f1 i2 i3 lh p r ∅s1 s7 sf ∅sf1 tf tf1<br />

PH321 86 h7 64 h7 40 h7 4 20.0 H6 79 31.5 7 19.5 16.5 4 0.02 0.020 4.5 – M5 5 H7 7 3<br />

PH322 86 h7 64 h7 40 h7 4 20.0 H6 79 31.5 7 19.5 16.5 4 0.02 0.020 4.5 – M5 5 H7 7 3<br />

PH421 118 h7 90 h7 63 h7 7 31.5 H6 109 50.0 10 30.0 24.0 6 0.02 0.020 5.5 – M6 6 H7 11 7<br />

PH422 118 h7 90 h7 63 h7 7 31.5 H6 109 50.0 10 30.0 24.0 6 0.02 0.020 5.5 – M6 6 H7 11 7<br />

PH521 145 h7 110 h7 80 h7 8 40.0 H6 135 63.0 10 29.0 23.0 6 0.02 0.020 5.5 – M6 6 H7 11 7<br />

PH522 145 h7 110 h7 80 h7 8 40.0 H6 135 63.0 10 29.0 23.0 6 0.02 0.020 5.5 – M6 6 H7 11 7<br />

PH721 179 h7 140 h7 100 h7 10 50.0 H6 168 80.0 12 38.0 32.0 6 0.02 0.025 6.6 – M8 8 H7 14 7<br />

PH722 179 h7 140 h7 100 h7 10 50.0 H6 168 80.0 12 38.0 32.0 6 0.02 0.025 6.6 – M8 8 H7 14 7<br />

PH821 247 h7 200 h7 160 h7 12 80.0 H6 233 125.0 15 50.0 42.0 8 0.02 0.030 9.0 M10 M10 10 H7 18 10<br />

PH822 247 h7 200 h7 160 h7 12 80.0 H6 233 125.0 15 50.0 42.0 8 0.02 0.030 9.0 M10 M10 10 H7 18 10<br />

PH932 300 255 h7 180 h7 18 90.0 H6 280 140.0 20 66.0 55.0 12 – 0.030 13.5 M8 M16 – 24 –<br />

PH1032 330 285 h7 200 h7 20 95.0 H6 310 160.0 20 75.0 60.0 10 – 0.040 13.5 M10 M20 – 30 –<br />

80


4 PH planetary geared motors 4.3 Dimensional drawings<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ301U 72 90 130.0 55.5 21 54.5<br />

EZ302U 72 112 152.0 55.5 21 76.5<br />

EZ303U 72 134 174.0 55.5 21 98.5<br />

EZ401U 98 98 146.5 91.0 22 56.0<br />

EZ402U 98 123 171.5 91.0 22 81.0<br />

EZ404U 98 173 221.5 91.0 22 131.0<br />

EZ501U 115 93 147.5 100.0 22 58.5<br />

EZ502U 115 118 172.5 100.0 22 83.5<br />

EZ503U 115 143 197.5 100.0 22 108.5<br />

EZ505U 115 193 247.5 100.0 22 158.5<br />

EZ701U 145 102 161.0 115.0 22 64.0<br />

EZ702U 145 127 186.0 115.0 22 89.0<br />

EZ703U 145 152 211.0 115.0 22 114.0<br />

EZ705U 145 207 266.0 134.0 22 165.0<br />

EZ802U 190 197 274.0 156.5 22 143.0<br />

EZ803U 190 238 315.0 156.5 22 184.0<br />

EZ805U 190 320 397.0 156.5 22 266.0<br />

Dimensions of geared motors<br />

Type EZ3 EZ4 EZ5 EZ7 EZ8<br />

mp mp mp mp mp<br />

PH321 51.0 48.0 – – –<br />

PH322 87.5 – – – –<br />

PH421 – 51.0 53.5 – –<br />

PH422 103.0 99.5 102.0 – –<br />

PH521 – – 57.0 63.0 –<br />

PH522 – 112.5 115.0 121.0 –<br />

PH721 – – – 68.0 77.0<br />

PH722 – – 128.0 134.0 149.0<br />

PH821 – – – – 99.5<br />

PH822 – – – 169.0 184.0<br />

PH932 – – – – 249.5<br />

PH1032 – – – – 257.0<br />

81


4.5 Product description 4 PH planetary geared motors<br />

4.4 Type designation<br />

In this chapter, you can find an explanation of the type designation with the associated options.<br />

Additional ordering information not included in the type designation can be found at the end of the chapter.<br />

Sample code<br />

PH 5 2 2 F 0250 EZ401U<br />

Explanation<br />

Code Designation Design<br />

PH Type Planetary gear unit<br />

5 Size 5 (example)<br />

2<br />

3<br />

Generation Generation 2<br />

Generation 3<br />

1<br />

2<br />

Stages<br />

Single-stage<br />

Two-stage<br />

F Shaft Flange shaft<br />

0250 Transmission ratio (i x 10) i = 25 (example)<br />

EZ401U Motor EZ synchronous servo motor<br />

In order to complete the type designation, also specify:<br />

• A detailed type designation of the motor, see chapter [} 23]<br />

• Radial shaft seal rings at the output made of NBR or FKM, see chapter [} 4.6.3]<br />

• For reverse operation of the output shaft from ± 20° to ± 90° and horizontal installation, note the chapter<br />

[} 4.6.4]<br />

4.5 Product description<br />

4.5.1 Installation conditions<br />

The torque and force values listed in this catalog are valid under the following conditions:<br />

• When using screws with quality 12.9 for machine-side attachment of the flange shaft and gear unit<br />

housing<br />

• When the gear unit housings are adjusted at pilot øb1 (H7)<br />

• When the flange shaft is adjusted using the connecting element at pilot øbf or ødf<br />

4.5.2 Lubricants<br />

STOBER fills the gear units with the amount and type of lubricant specified on the nameplate.<br />

Lubricant filling quantities for gear units, document ID 441871, can be found online at http://www.stoeber.de<br />

4.5.3 Other product features<br />

Feature<br />

Value<br />

Max. permitted gear unit temperature (on the surface of the gear unit) ≤ 90 °C<br />

Paint Black RAL 9005<br />

(ATEX) Directive 2014/34/EU (option)<br />

Not suitable<br />

Protection class: 1<br />

Gear unit<br />

Motor<br />

IP65<br />

IP56, optionally IP66<br />

82<br />

1<br />

Observe the protection class of all the components.


4 PH planetary geared motors 4.6 Project configuration<br />

4.5.4 Direction of rotation<br />

The input and output rotate in the same direction.<br />

4.6 Project configuration<br />

Project your drives using our SERVOsoft designing software. You can receive SERVOsoft for free from your<br />

adviser at one of our sales centers. Observe the limit conditions in this chapter to ensure a safe design for<br />

your drives.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

4.6.1 Calculation of the operating point<br />

Check the following conditions for operating points other than the nominal point M 2N specified in the selection<br />

tables.<br />

n<br />

1m*<br />

n<br />

£<br />

fB<br />

1maxDB<br />

T<br />

n<br />

M<br />

M<br />

1max*<br />

2eff *<br />

2acc*<br />

n<br />

£<br />

fB<br />

£ M<br />

1max ZB<br />

2th<br />

£ M<br />

T<br />

2acc<br />

M<br />

2NOT*<br />

£ M<br />

2NOT<br />

S<br />

M 2eq*<br />

£ M 2N<br />

× fB fB op<br />

×<br />

t<br />

The values for n 1maxDB , n 1maxZB , M 2acc , M 2NOT , M 2N and S can be found in the selection tables.<br />

The values for fB T , fB op and fB t can be found in the corresponding tables in this chapter.<br />

Calculate the thermal limit torque M 2th for a duty cycle > 50%.<br />

83


4.6 Project configuration 4 PH planetary geared motors<br />

Example of cyclic operation<br />

The following calculations are based on a representation of the power taken from the output based in accordance<br />

with the following example:<br />

Calculation of the actual average input speed<br />

n1m* = n2m*<br />

× i<br />

n<br />

2m*<br />

=<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

t + ... + t<br />

1* n*<br />

If t 1* + ... + t 5* ≥ 20 min, calculate n 2m* without the rest phase t 6* .<br />

The values for the ratio i can be found in the selection tables.<br />

Calculation of the actual effective torque<br />

M<br />

2eff *<br />

=<br />

t × M + ... + t × M<br />

2 2<br />

1* 2,1* n* 2,n*<br />

t + ... + t<br />

1* n*<br />

Calculation of the actual equivalent torque<br />

M<br />

2eq*<br />

=<br />

3<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2,1* 2m,n* n* 2,n*<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

Calculation of the thermal limit torque<br />

Calculate the thermal limit torque M 2th for a duty cycle ED 20 > 50% and the actual average input speed n 1m* .<br />

(At K mot,th ≤ 0 you must reduce the average input speed n 1m* accordingly or select another geared motor size.)<br />

M2th = Mop × i × Kmot,th<br />

ath æ n1m*<br />

ö<br />

Kmot,th<br />

= 0,93 - × fBT<br />

×<br />

1000 ç<br />

1000 ÷<br />

è ø<br />

The values for i and a th can be found in the selection tables.<br />

The values for fB T can be found in the corresponding table in this chapter.<br />

3<br />

84<br />

The value for the torque of the motor at operating point M op with the determined average input speed n 1m*<br />

can be found in the motor curve of Chapter [} 23.3]. Note the size, nominal speed n N and cooling type of<br />

the motor. The figure below shows an example of reading the torque M op of a motor with convection cooling<br />

at the operating point.


4 PH planetary geared motors 4.6 Project configuration<br />

n 1m*<br />

n [rpm]<br />

Operating factors<br />

Operating mode<br />

Uniform continuous operation 1.00<br />

Cyclic operation 1.00<br />

Reversing load cyclic operation 1.00<br />

Run time<br />

fB t<br />

Daily run time ≤ 8 h 1.00<br />

Daily run time ≤ 16 h 1.15<br />

Daily run time ≤ 24 h 1.20<br />

fB op<br />

Temperature<br />

Motor cooling<br />

Surrounding temperature<br />

Motor with forced ventilation ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

Motor with convection cooling ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

fB T<br />

0.9<br />

1.0<br />

1.15<br />

1.0<br />

1.1<br />

1.25<br />

Notes<br />

• The maximum permitted gear unit temperature (see the "Other product features" chapter) must not be<br />

exceeded. Doing so may result in damage to the geared motor.<br />

• For braking from full speed (for example when the power fails or when setting up the machine), note<br />

the permitted gear unit torques (M 2acc , M 2NOT ) in the selection tables.<br />

4.6.2 Permitted shaft loads for the output shaft<br />

The values specified in the tables apply to the permitted shaft loads:<br />

• For shaft dimensions in accordance with the catalog<br />

• For output speeds n 2m* ≤ 100 rpm (F 2axN = F 2ax100 ; F 2radN = F 2rad100 ; M 2kN = M 2k100 )<br />

• Only if radial forces on the gear unit are stabilized by its pilots (housing, flange shaft)<br />

85


4.6 Project configuration 4 PH planetary geared motors<br />

Permitted shaft loads<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

PH3 62.0 1650 1613 1613 100 100<br />

PH4 84.0 2150 3095 3571 260 300<br />

PH5 97.0 4150 4536 4897 440 475<br />

PH7 88.0 6150 17045 17045 1500 1500<br />

PH8 126.0 10050 27778 27778 3500 3500<br />

PH9 155.0 33000 48387 70968 7500 11000<br />

PH10 171.0 50000 51462 73099 8800 12500<br />

For other output speeds, download diagrams at http://products.stoeber.de.<br />

The following applies to output speeds n 2m* > 100 rpm:<br />

F<br />

2axN<br />

=<br />

3<br />

F<br />

2ax100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

F<br />

2radN<br />

=<br />

3<br />

F<br />

2rad100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

M<br />

2kN<br />

=<br />

3<br />

M<br />

2k100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

The values for F 2ax100 , F 2rad100 and M 2k100 can be found in the table "Permitted shaft loads" in this chapter.<br />

Fig. 1: Force application points<br />

You can determine the permitted radial forces from the permitted breakdown torque M 2kN and M 2k,acc . The<br />

actual radial forces may not exceed the permitted radial forces. The permitted radial forces are in relation to<br />

the end of the hollow shaft (x2 = 0).<br />

M<br />

2k,acc*<br />

( )<br />

2 × F × y + F × x + z<br />

2ax* 2 2rad,acc* 2 2<br />

= £<br />

1000<br />

M<br />

2k,acc<br />

For applications with multiple axial and/or radial forces, you must add the forces as vectors.<br />

In the event of EMERGENCY OFF operation (max. 1000 load changes), you can multiply the permitted forces<br />

and torques for F 2ax100 , F 2rad100 and M 2k100 by a factor of two.<br />

Also note the calculation for equivalent values:<br />

M<br />

2k,eq*<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2k,acc,1* 2m,n* n* 2k,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

M<br />

2kN<br />

F<br />

F<br />

2rad,eq*<br />

2ax,eq*<br />

n × t × F + ... + n × t × F<br />

3 3<br />

2m,1* 1* 2rad,acc,1* 2m,n* n* 2rad,acc,n*<br />

= 3<br />

£<br />

£ F<br />

2axN<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

F<br />

2radN<br />

The following apply to the bearing service life L 10h (ED 20 ≤ 40%):<br />

L 10h > 10000 h with 1 < M 2kN /M 2k* < 1.25<br />

L 10h > 20000 h with 1.25 < M 2kN /M 2k* < 1.5<br />

L 10h > 30000 h with 1.5 < M 2kN /M 2k*<br />

86


4 PH planetary geared motors 4.7 Additional documentation<br />

For different duty cycles:<br />

L<br />

40%<br />

> L ×<br />

ED<br />

10h 10h(ED20<br />

= 40%)<br />

20<br />

4.6.3 Recommendation for radial shaft seal rings<br />

4.6.4 Reverse operation<br />

For a duty cycle > 60%, we recommend radial shaft seal rings made of FKM.<br />

Properties:<br />

• Excellent temperature resistance<br />

• High chemical stability<br />

• Very good resistance to aging<br />

• Excellent resistance to mineral oils and greases<br />

• For use in the food, beverage and pharmaceutical industries<br />

Leak-proofness<br />

Our gear units are equipped with high-quality radial shaft seal rings and checked for leak-proofness. However,<br />

a leak cannot be fully ruled out over the length of use of a gear unit. If you use a gear unit with goods<br />

incompatible with the lubricant, you must take measures to prevent direct contact with the gear unit lubricant<br />

in case of a leak.<br />

To ensure lubrication of circulating geared parts during cyclic reverse operation from ± 20° to ± 90°, pay<br />

careful attention to the position of the output shaft if the gear unit is installed horizontally as shown in the<br />

images below.<br />

The images show the center position of reverse operation.<br />

Cyclic reverse operation ≤ ± 20° on request.<br />

Sizes 3, 4, 5, 8 Size 7 Sizes 9, 10<br />

1 Position of the positioning hole:<br />

bottom<br />

1 Position of the positioning hole:<br />

as shown in the image<br />

1 Position of the fastening thread:<br />

as shown in the image<br />

4.7 Additional documentation<br />

Additional documentation related to the product can be found at http://www.stoeber.de/en/download<br />

Enter the ID of the documentation in the Search... field.<br />

Documentation<br />

ID<br />

Operating manual for P/PA/PE/PH/PHA/PHQ/PHQA/PHV/PHVA planetary 443029_en<br />

gear units and planetary geared motors<br />

Lubricant filling quantities for gear units 441871<br />

87


88<br />

4.7 Additional documentation 4 PH planetary geared motors


5 PHA planetary geared motors<br />

Table of contents<br />

5.1 Overview........................................................................................................................................................................... 90<br />

5.2 Selection tables ................................................................................................................................................................ 91<br />

5.3 Dimensional drawings ...................................................................................................................................................... 99<br />

5.3.1 F shaft design (flange shaft) ................................................................................................................................................. 100<br />

5.4 Type designation .............................................................................................................................................................. 102<br />

5.5 Product description........................................................................................................................................................... 102<br />

5.5.1 Installation conditions.......................................................................................................................................................... 102<br />

5.5.2 Lubricants............................................................................................................................................................................. 102<br />

5.5.3 Other product features ........................................................................................................................................................ 102<br />

5.5.4 Direction of rotation ............................................................................................................................................................ 103<br />

5.6 Project configuration......................................................................................................................................................... 103<br />

5.6.1 Calculation of the operating point ....................................................................................................................................... 103<br />

5.6.2 Permitted shaft loads for the output shaft .......................................................................................................................... 105<br />

5.6.3 Radial shaft seal rings........................................................................................................................................................... 107<br />

5.6.4 Reverse operation................................................................................................................................................................ 107<br />

5.7 Additional documentation ................................................................................................................................................. 107<br />

89


5 Planetary geared motors PHA<br />

5.1 Overview<br />

Low-backlash high-performance precision planetary<br />

geared motors<br />

Features<br />

Power density<br />

★★★★☆<br />

Backlash<br />

★★★★★<br />

Price category €€€€<br />

Shaft load<br />

★★★★★<br />

Smooth operation<br />

★★★★★<br />

Torsional stiffness<br />

★★★★☆<br />

Mass moment of inertia<br />

★★★★★<br />

Helical gearing<br />

✓<br />

Maintenance-free<br />

✓<br />

Any mounting position<br />

✓<br />

Continuous operation without cooling<br />

✓<br />

Stiff output bearing due to pretension<br />

✓<br />

Compact and highly dynamic due to direct motor ✓<br />

attachment<br />

Key: ★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Technical data<br />

i 4 – 100<br />

M 2acc<br />

24 – 5000 Nm<br />

Δφ 2<br />

1 – 2 arcmin<br />

η get ≤ 96 %<br />

90


5 PHA planetary geared motors 5.2 Selection tables<br />

5.2 Selection tables<br />

The technical data specified in the selection tables applies to:<br />

• Installation altitudes up to 1000 m above sea level<br />

• Surrounding temperatures from 0 °C to 40 °C<br />

• Drives with convection-cooled motors (e.g. EZ401U)<br />

You can calculate the technical data for drives with forced ventilated motors (for example EZ401B) at http://<br />

products.stoeber.de.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHA3 (n 1N = 3000 rpm, M 2acc,max = 65 Nm)<br />

60 43 44 1.5 1.0 PHA322_0500 EZ301U 65 130 50.00 50/1 4500 8000 0.20 2 14 2.9<br />

86 30 31 1.8 1.5 PHA322_0350 EZ301U 65 130 35.00 35/1 4500 8000 0.20 2 15 2.9<br />

107 24 25 2.0 1.9 PHA322_0280 EZ301U 60 130 28.00 28/1 4500 8000 0.23 2 15 2.9<br />

107 41 44 3.5 1.1 PHA322_0280 EZ302U 60 130 28.00 28/1 4500 8000 0.33 2 15 3.5<br />

120 22 22 2.2 2.1 PHA322_0250 EZ301U 65 130 25.00 25/1 4500 8000 0.22 2 15 2.9<br />

120 37 39 3.7 1.2 PHA322_0250 EZ302U 65 130 25.00 25/1 4500 8000 0.32 2 15 3.5<br />

150 17 18 2.4 2.6 PHA322_0200 EZ301U 52 130 20.00 20/1 4500 8000 0.24 2 15 2.9<br />

150 30 31 4.1 1.5 PHA322_0200 EZ302U 65 130 20.00 20/1 4500 8000 0.34 2 15 3.5<br />

150 39 41 5.4 1.2 PHA322_0200 EZ303U 65 130 20.00 20/1 4500 8000 0.45 2 15 4.0<br />

300 8.9 9.1 1.6 2.9 PHA321_0100 EZ301U 27 100 10.00 10/1 3800 6000 0.21 2 11 2.4<br />

300 15 16 2.8 1.7 PHA321_0100 EZ302U 48 100 10.00 10/1 3800 6000 0.31 2 11 3.0<br />

300 20 21 3.6 1.3 PHA321_0100 EZ303U 50 100 10.00 10/1 3800 6000 0.42 2 11 3.5<br />

429 11 11 2.9 3.7 PHA321_0070 EZ302U 34 130 7.000 7/1 3500 6000 0.33 2 14 3.0<br />

429 14 15 3.7 2.8 PHA321_0070 EZ303U 47 130 7.000 7/1 3500 6000 0.44 2 14 3.5<br />

429 19 20 5.0 2.1 PHA321_0070 EZ401U 57 130 7.000 7/1 3500 6000 0.97 2 14 4.9<br />

429 32 35 8.4 1.2 PHA321_0070 EZ402U 60 130 7.000 7/1 3500 6000 1.7 2 14 6.0<br />

600 9.9 11 5.6 4.0 PHA321_0050 EZ303U 34 110 5.000 5/1 3000 6000 0.47 2 16 3.5<br />

600 13 14 7.5 2.9 PHA321_0050 EZ401U 41 130 5.000 5/1 3000 6000 1.0 2 16 4.9<br />

600 23 25 13 1.7 PHA321_0050 EZ402U 65 130 5.000 5/1 3000 6000 1.7 2 16 6.0<br />

600 33 41 19 1.2 PHA321_0050 EZ404U 65 130 5.000 5/1 3000 6000 3.1 2 16 8.1<br />

PHA3 (n 1N = 6000 rpm, M 2acc,max = 65 Nm)<br />

171 29 31 1.7 1.6 PHA322_0350 EZ301U 65 130 35.00 35/1 4500 8000 0.20 2 15 2.9<br />

214 23 25 1.9 1.9 PHA322_0280 EZ301U 60 130 28.00 28/1 4500 8000 0.23 2 15 2.9<br />

214 39 44 3.3 1.2 PHA322_0280 EZ302U 60 130 28.00 28/1 4500 8000 0.33 2 15 3.5<br />

240 21 22 2.1 2.2 PHA322_0250 EZ301U 65 130 25.00 25/1 4500 8000 0.22 2 15 2.9<br />

240 35 39 3.5 1.3 PHA322_0250 EZ302U 65 130 25.00 25/1 4500 8000 0.32 2 15 3.5<br />

300 17 18 2.3 2.7 PHA322_0200 EZ301U 52 130 20.00 20/1 4500 8000 0.24 2 15 2.9<br />

300 28 31 3.9 1.6 PHA322_0200 EZ302U 65 130 20.00 20/1 4500 8000 0.34 2 15 3.5<br />

300 36 42 5.1 1.2 PHA322_0200 EZ303U 65 130 20.00 20/1 4500 8000 0.45 2 15 4.0<br />

600 8.5 9.1 2.0 2.4 PHA321_0100 EZ301U 27 100 10.00 10/1 3800 6000 0.21 2 11 2.4<br />

600 14 16 3.3 1.4 PHA321_0100 EZ302U 48 100 10.00 10/1 3800 6000 0.31 2 11 3.0<br />

600 19 22 4.3 1.1 PHA321_0100 EZ303U 50 100 10.00 10/1 3800 6000 0.42 2 11 3.5<br />

857 10 11 3.4 3.1 PHA321_0070 EZ302U 34 130 7.000 7/1 3500 6000 0.33 2 14 3.0<br />

857 13 15 4.4 2.4 PHA321_0070 EZ303U 47 130 7.000 7/1 3500 6000 0.44 2 14 3.5<br />

857 15 19 5.2 2.0 PHA321_0070 EZ401U 57 130 7.000 7/1 3500 6000 0.97 2 14 4.9<br />

857 24 33 7.9 1.3 PHA321_0070 EZ402U 60 130 7.000 7/1 3500 6000 1.7 2 14 6.0<br />

1200 7.2 8.1 5.1 4.3 PHA321_0050 EZ302U 24 110 5.000 5/1 3000 6000 0.36 2 16 3.0<br />

1200 9.4 11 6.6 3.3 PHA321_0050 EZ303U 34 110 5.000 5/1 3000 6000 0.47 2 16 3.5<br />

1200 11 13 7.8 2.8 PHA321_0050 EZ401U 41 130 5.000 5/1 3000 6000 1.0 2 16 4.9<br />

1200 17 24 12 1.9 PHA321_0050 EZ402U 65 130 5.000 5/1 3000 6000 1.7 2 16 6.0<br />

1200 28 40 20 1.1 PHA321_0050 EZ404U 65 130 5.000 5/1 3000 6000 3.1 2 16 8.1<br />

PHA4 (n 1N = 3000 rpm, M 2acc,max = 130 Nm)<br />

43 61 62 0.7 1.5 PHA422_0700 EZ301U 110 240 70.00 70/1 4500 8000 0.21 1 27 5.3<br />

60 43 44 0.9 2.1 PHA422_0500 EZ301U 130 240 50.00 50/1 4500 8000 0.21 1 27 5.3<br />

60 74 78 1.5 1.2 PHA422_0500 EZ302U 130 240 50.00 50/1 4500 8000 0.31 1 27 5.9<br />

75 35 35 1.0 2.6 PHA422_0400 EZ301U 100 240 40.00 40/1 4500 8000 0.21 1 24 5.3<br />

75 59 62 1.6 1.5 PHA422_0400 EZ302U 130 240 40.00 40/1 4500 8000 0.31 1 24 5.9<br />

75 77 81 2.1 1.2 PHA422_0400 EZ303U 130 240 40.00 40/1 4500 8000 0.42 1 24 6.4<br />

86 30 31 1.0 3.0 PHA422_0350 EZ301U 91 240 35.00 35/1 4500 8000 0.23 1 28 5.3<br />

86 52 55 1.8 1.7 PHA422_0350 EZ302U 130 240 35.00 35/1 4500 8000 0.33 1 28 5.9<br />

86 67 71 2.3 1.3 PHA422_0350 EZ303U 130 240 35.00 35/1 4500 8000 0.44 1 28 6.4<br />

107 24 25 1.1 3.7 PHA422_0280 EZ301U 73 240 28.00 28/1 4500 8000 0.24 1 25 5.3<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

91


5.2 Selection tables 5 PHA planetary geared motors<br />

92<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHA4 (n 1N = 3000 rpm, M 2acc,max = 130 Nm)<br />

107 41 44 2.0 2.2 PHA422_0280 EZ302U 130 240 28.00 28/1 4500 8000 0.34 1 25 5.9<br />

107 54 57 2.5 1.7 PHA422_0280 EZ303U 130 240 28.00 28/1 4500 8000 0.45 1 25 6.4<br />

107 73 78 3.4 1.2 PHA422_0280 EZ401U 130 240 28.00 28/1 4500 8000 0.98 1 25 7.8<br />

120 22 22 1.2 4.2 PHA422_0250 EZ301U 65 240 25.00 25/1 4000 7000 0.28 1 29 5.3<br />

120 37 39 2.1 2.4 PHA422_0250 EZ302U 120 240 25.00 25/1 4000 7000 0.38 1 29 5.9<br />

120 48 51 2.7 1.9 PHA422_0250 EZ303U 130 240 25.00 25/1 4000 7000 0.49 1 29 6.4<br />

120 65 70 3.6 1.4 PHA422_0250 EZ401U 130 240 25.00 25/1 4000 7000 1.0 1 29 7.8<br />

150 30 31 2.3 3.0 PHA422_0200 EZ302U 93 240 20.00 20/1 3700 6500 0.43 1 29 5.9<br />

150 39 41 3.0 2.3 PHA422_0200 EZ303U 130 240 20.00 20/1 3700 6500 0.54 1 29 6.4<br />

150 52 56 4.1 1.7 PHA422_0200 EZ401U 130 240 20.00 20/1 3700 6500 1.1 1 29 7.8<br />

150 80 87 6.3 1.1 PHA422_0200 EZ501U 130 240 20.00 20/1 3700 6500 3.0 1 29 8.8<br />

150 87 97 6.8 1.0 PHA422_0200 EZ402U 130 240 20.00 20/1 3700 6500 1.8 1 29 8.9<br />

188 24 25 2.6 3.8 PHA422_0160 EZ302U 74 240 16.00 16/1 3700 6500 0.44 1 27 5.9<br />

188 31 33 3.4 2.9 PHA422_0160 EZ303U 100 240 16.00 16/1 3700 6500 0.55 1 27 6.4<br />

188 42 45 4.6 2.2 PHA422_0160 EZ401U 130 240 16.00 16/1 3700 6500 1.1 1 27 7.8<br />

188 64 70 7.0 1.4 PHA422_0160 EZ501U 130 240 16.00 16/1 3700 6500 3.1 1 27 8.8<br />

188 70 77 7.6 1.3 PHA422_0160 EZ402U 130 240 16.00 16/1 3700 6500 1.8 1 27 8.9<br />

300 27 29 2.8 2.0 PHA421_0100 EZ401U 82 200 10.00 10/1 3500 6000 1.0 1 21 6.5<br />

300 41 45 4.2 1.3 PHA421_0100 EZ501U 100 200 10.00 10/1 3500 6000 3.0 1 21 7.5<br />

300 45 50 4.6 1.2 PHA421_0100 EZ402U 100 200 10.00 10/1 3500 6000 1.7 1 21 7.6<br />

429 19 20 3.0 3.9 PHA421_0070 EZ401U 57 240 7.000 7/1 3200 6000 1.1 1 31 6.5<br />

429 29 32 4.6 2.6 PHA421_0070 EZ501U 110 240 7.000 7/1 3200 6000 3.1 1 31 7.5<br />

429 32 35 5.0 2.4 PHA421_0070 EZ402U 110 240 7.000 7/1 3200 6000 1.8 1 31 7.6<br />

429 46 58 7.4 1.6 PHA421_0070 EZ404U 110 240 7.000 7/1 3200 6000 3.1 1 31 9.7<br />

429 50 54 7.9 1.5 PHA421_0070 EZ502U 110 240 7.000 7/1 3200 6000 5.4 1 31 9.0<br />

429 65 75 10 1.1 PHA421_0070 EZ503U 110 240 7.000 7/1 3200 6000 7.7 1 31 11<br />

600 21 23 6.9 3.6 PHA421_0050 EZ501U 77 240 5.000 5/1 2700 6000 3.2 1 37 7.5<br />

600 23 25 7.5 3.3 PHA421_0050 EZ402U 77 240 5.000 5/1 2700 6000 1.9 1 37 7.6<br />

600 33 41 11 2.2 PHA421_0050 EZ404U 130 240 5.000 5/1 2700 6000 3.3 1 37 9.7<br />

600 36 38 12 2.1 PHA421_0050 EZ502U 130 240 5.000 5/1 2700 6000 5.5 1 37 9.0<br />

600 47 53 16 1.6 PHA421_0050 EZ503U 130 240 5.000 5/1 2700 6000 7.9 1 37 11<br />

600 65 77 22 1.1 PHA421_0050 EZ505U 130 240 5.000 5/1 2700 6000 12 1 37 13<br />

750 17 18 9.0 4.5 PHA421_0040 EZ501U 61 240 4.000 4/1 2300 5000 3.4 1 39 7.5<br />

750 18 20 9.8 4.1 PHA421_0040 EZ402U 61 240 4.000 4/1 2300 5000 2.1 1 39 7.6<br />

750 26 33 14 2.8 PHA421_0040 EZ404U 110 240 4.000 4/1 2300 5000 3.5 1 39 9.7<br />

750 28 31 15 2.6 PHA421_0040 EZ502U 120 240 4.000 4/1 2300 5000 5.7 1 39 9.0<br />

750 37 43 20 2.0 PHA421_0040 EZ503U 130 240 4.000 4/1 2300 5000 8.1 1 39 11<br />

750 52 61 28 1.4 PHA421_0040 EZ505U 130 240 4.000 4/1 2300 5000 13 1 39 13<br />

PHA4 (n 1N = 4500 rpm, M 2acc,max = 130 Nm)<br />

900 46 73 17 1.4 PHA421_0050 EZ505U 130 240 5.000 5/1 2700 6000 12 1 37 13<br />

1125 36 59 23 1.8 PHA421_0040 EZ505U 130 240 4.000 4/1 2300 5000 13 1 39 13<br />

PHA4 (n 1N = 6000 rpm, M 2acc,max = 130 Nm)<br />

86 58 62 0.7 1.6 PHA422_0700 EZ301U 110 240 70.00 70/1 4500 8000 0.21 1 27 5.3<br />

120 41 44 0.8 2.2 PHA422_0500 EZ301U 130 240 50.00 50/1 4500 8000 0.21 1 27 5.3<br />

120 70 78 1.4 1.3 PHA422_0500 EZ302U 130 240 50.00 50/1 4500 8000 0.31 1 27 5.9<br />

150 33 35 1.0 2.4 PHA422_0400 EZ301U 100 240 40.00 40/1 4500 8000 0.21 1 24 5.3<br />

150 56 62 1.7 1.4 PHA422_0400 EZ302U 130 240 40.00 40/1 4500 8000 0.31 1 24 5.9<br />

150 73 84 2.3 1.1 PHA422_0400 EZ303U 130 240 40.00 40/1 4500 8000 0.42 1 24 6.4<br />

171 29 31 1.0 3.1 PHA422_0350 EZ301U 91 240 35.00 35/1 4500 8000 0.23 1 28 5.3<br />

171 49 55 1.7 1.8 PHA422_0350 EZ302U 130 240 35.00 35/1 4500 8000 0.33 1 28 5.9<br />

171 64 73 2.2 1.4 PHA422_0350 EZ303U 130 240 35.00 35/1 4500 8000 0.44 1 28 6.4<br />

171 75 91 2.5 1.2 PHA422_0350 EZ401U 130 240 35.00 35/1 4500 8000 0.97 1 28 7.8<br />

214 23 25 1.1 3.9 PHA422_0280 EZ301U 73 240 28.00 28/1 4500 8000 0.24 1 25 5.3<br />

214 39 44 1.8 2.3 PHA422_0280 EZ302U 130 240 28.00 28/1 4500 8000 0.34 1 25 5.9<br />

214 51 59 2.4 1.8 PHA422_0280 EZ303U 130 240 28.00 28/1 4500 8000 0.45 1 25 6.4<br />

214 60 73 2.8 1.5 PHA422_0280 EZ401U 130 240 28.00 28/1 4500 8000 0.98 1 25 7.8<br />

240 21 22 1.2 4.3 PHA422_0250 EZ301U 65 240 25.00 25/1 4000 7000 0.28 1 29 5.3<br />

240 35 39 2.0 2.6 PHA422_0250 EZ302U 120 240 25.00 25/1 4000 7000 0.38 1 29 5.9<br />

240 46 52 2.6 2.0 PHA422_0250 EZ303U 130 240 25.00 25/1 4000 7000 0.49 1 29 6.4<br />

240 53 65 3.0 1.7 PHA422_0250 EZ401U 130 240 25.00 25/1 4000 7000 1.0 1 29 7.8<br />

300 28 31 2.2 3.2 PHA422_0200 EZ302U 93 240 20.00 20/1 3700 6500 0.43 1 29 5.9<br />

300 36 42 2.9 2.5 PHA422_0200 EZ303U 130 240 20.00 20/1 3700 6500 0.54 1 29 6.4<br />

300 43 52 3.3 2.1 PHA422_0200 EZ401U 130 240 20.00 20/1 3700 6500 1.1 1 29 7.8<br />

300 63 82 5.0 1.4 PHA422_0200 EZ501U 130 240 20.00 20/1 3700 6500 3.0 1 29 8.8<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


5 PHA planetary geared motors 5.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHA4 (n 1N = 6000 rpm, M 2acc,max = 130 Nm)<br />

300 65 91 5.1 1.4 PHA422_0200 EZ402U 130 240 20.00 20/1 3700 6500 1.8 1 29 8.9<br />

375 22 25 2.4 4.0 PHA422_0160 EZ302U 74 240 16.00 16/1 3700 6500 0.44 1 27 5.9<br />

375 29 33 3.2 3.1 PHA422_0160 EZ303U 100 240 16.00 16/1 3700 6500 0.55 1 27 6.4<br />

375 34 42 3.7 2.6 PHA422_0160 EZ401U 130 240 16.00 16/1 3700 6500 1.1 1 27 7.8<br />

375 51 65 5.5 1.8 PHA422_0160 EZ501U 130 240 16.00 16/1 3700 6500 3.1 1 27 8.8<br />

375 52 73 5.7 1.7 PHA422_0160 EZ402U 130 240 16.00 16/1 3700 6500 1.8 1 27 8.9<br />

600 22 27 2.9 1.9 PHA421_0100 EZ401U 82 200 10.00 10/1 3500 6000 1.0 1 21 6.5<br />

600 33 42 4.2 1.3 PHA421_0100 EZ501U 100 200 10.00 10/1 3500 6000 3.0 1 21 7.5<br />

600 34 47 4.4 1.2 PHA421_0100 EZ402U 100 200 10.00 10/1 3500 6000 1.7 1 21 7.6<br />

857 15 19 3.1 3.8 PHA421_0070 EZ401U 57 240 7.000 7/1 3200 6000 1.1 1 31 6.5<br />

857 23 30 4.6 2.6 PHA421_0070 EZ501U 110 240 7.000 7/1 3200 6000 3.1 1 31 7.5<br />

857 24 33 4.7 2.5 PHA421_0070 EZ402U 110 240 7.000 7/1 3200 6000 1.8 1 31 7.6<br />

857 35 52 7.0 1.7 PHA421_0070 EZ502U 110 240 7.000 7/1 3200 6000 5.4 1 31 9.0<br />

857 39 56 7.8 1.5 PHA421_0070 EZ404U 110 240 7.000 7/1 3200 6000 3.1 1 31 9.7<br />

857 42 71 8.4 1.4 PHA421_0070 EZ503U 110 240 7.000 7/1 3200 6000 7.7 1 31 11<br />

1200 16 21 6.9 3.6 PHA421_0050 EZ501U 77 240 5.000 5/1 2700 6000 3.2 1 37 7.5<br />

1200 17 24 7.1 3.5 PHA421_0050 EZ402U 77 240 5.000 5/1 2700 6000 1.9 1 37 7.6<br />

1200 25 37 10 2.4 PHA421_0050 EZ502U 130 240 5.000 5/1 2700 6000 5.5 1 37 9.0<br />

1200 28 40 12 2.1 PHA421_0050 EZ404U 130 240 5.000 5/1 2700 6000 3.3 1 37 9.7<br />

1200 30 51 13 2.0 PHA421_0050 EZ503U 130 240 5.000 5/1 2700 6000 7.9 1 37 11<br />

PHA5 (n 1N = 3000 rpm, M 2acc,max = 320 Nm)<br />

43 182 195 1.0 1.2 PHA522_0700 EZ401U 270 600 70.00 70/1 4000 7000 0.98 1 66 11<br />

60 130 140 1.2 1.7 PHA522_0500 EZ401U 320 600 50.00 50/1 4000 7000 0.98 1 66 11<br />

60 200 219 1.8 1.1 PHA522_0500 EZ501U 320 600 50.00 50/1 4000 7000 3.0 1 66 12<br />

60 219 242 2.0 1.0 PHA522_0500 EZ402U 320 600 50.00 50/1 4000 7000 1.7 1 66 12<br />

75 104 112 1.4 1.9 PHA522_0400 EZ401U 320 600 40.00 40/1 4000 7000 0.98 1 58 11<br />

75 160 175 2.2 1.3 PHA522_0400 EZ501U 320 600 40.00 40/1 4000 7000 2.9 1 58 12<br />

75 175 193 2.4 1.2 PHA522_0400 EZ402U 320 600 40.00 40/1 4000 7000 1.7 1 58 12<br />

86 91 98 1.4 2.4 PHA522_0350 EZ401U 280 600 35.00 35/1 4000 7000 1.0 1 68 11<br />

86 140 153 2.2 1.6 PHA522_0350 EZ501U 320 600 35.00 35/1 4000 7000 3.0 1 68 12<br />

86 153 169 2.4 1.4 PHA522_0350 EZ402U 320 600 35.00 35/1 4000 7000 1.7 1 68 12<br />

107 73 78 1.6 2.9 PHA522_0280 EZ401U 220 600 28.00 28/1 4000 7000 1.0 1 61 11<br />

107 112 122 2.5 1.9 PHA522_0280 EZ501U 320 600 28.00 28/1 4000 7000 3.0 1 61 12<br />

107 122 135 2.8 1.7 PHA522_0280 EZ402U 320 600 28.00 28/1 4000 7000 1.7 1 61 12<br />

107 180 224 4.0 1.2 PHA522_0280 EZ404U 320 600 28.00 28/1 4000 7000 3.1 1 61 14<br />

107 193 208 4.3 1.1 PHA522_0280 EZ502U 320 600 28.00 28/1 4000 7000 5.3 1 61 13<br />

120 65 70 1.7 3.4 PHA522_0250 EZ401U 200 600 25.00 25/1 3700 6500 1.2 1 71 11<br />

120 100 109 2.5 2.2 PHA522_0250 EZ501U 320 600 25.00 25/1 3700 6500 3.1 1 71 12<br />

120 109 121 2.8 2.0 PHA522_0250 EZ402U 320 600 25.00 25/1 3700 6500 1.9 1 71 12<br />

120 160 200 4.1 1.4 PHA522_0250 EZ404U 320 600 25.00 25/1 3700 6500 3.2 1 71 14<br />

120 172 186 4.4 1.3 PHA522_0250 EZ502U 320 600 25.00 25/1 3700 6500 5.4 1 71 13<br />

120 172 193 4.4 1.3 PHA522_0250 EZ701U 320 600 25.00 25/1 3700 6500 8.7 1 71 15<br />

150 52 56 1.9 4.2 PHA522_0200 EZ401U 160 600 20.00 20/1 3300 6000 1.3 1 71 11<br />

150 80 87 2.8 2.8 PHA522_0200 EZ501U 300 600 20.00 20/1 3300 6000 3.2 1 71 12<br />

150 87 97 3.1 2.5 PHA522_0200 EZ402U 300 600 20.00 20/1 3300 6000 2.0 1 71 12<br />

150 128 160 4.6 1.7 PHA522_0200 EZ404U 320 600 20.00 20/1 3300 6000 3.3 1 71 14<br />

150 138 149 4.9 1.6 PHA522_0200 EZ502U 320 600 20.00 20/1 3300 6000 5.5 1 71 13<br />

150 138 154 4.9 1.6 PHA522_0200 EZ701U 320 600 20.00 20/1 3300 6000 8.8 1 71 15<br />

150 180 206 6.4 1.2 PHA522_0200 EZ503U 320 600 20.00 20/1 3300 6000 7.9 1 71 15<br />

188 64 70 3.3 3.3 PHA522_0160 EZ501U 240 600 16.00 16/1 3300 6000 3.2 1 65 12<br />

188 70 77 3.6 3.0 PHA522_0160 EZ402U 240 600 16.00 16/1 3300 6000 1.9 1 65 12<br />

188 103 128 5.3 2.0 PHA522_0160 EZ404U 320 600 16.00 16/1 3300 6000 3.3 1 65 14<br />

188 110 119 5.7 1.9 PHA522_0160 EZ502U 320 600 16.00 16/1 3300 6000 5.5 1 65 13<br />

188 110 124 5.7 1.9 PHA522_0160 EZ701U 300 600 16.00 16/1 3300 6000 8.8 1 65 15<br />

188 144 165 7.5 1.5 PHA522_0160 EZ503U 320 600 16.00 16/1 3300 6000 7.9 1 65 15<br />

188 179 214 9.3 1.2 PHA522_0160 EZ702U 320 600 16.00 16/1 3300 6000 14 1 65 18<br />

188 201 238 10 1.0 PHA522_0160 EZ505U 320 600 16.00 16/1 3300 6000 12 1 65 18<br />

300 41 45 2.0 3.0 PHA521_0100 EZ501U 150 500 10.00 10/1 3300 6000 3.1 1 55 9.5<br />

300 71 77 3.5 1.7 PHA521_0100 EZ502U 250 500 10.00 10/1 3300 6000 5.4 1 55 11<br />

300 71 80 3.5 1.7 PHA521_0100 EZ701U 190 500 10.00 10/1 3300 6000 8.7 1 55 13<br />

300 93 107 4.6 1.3 PHA521_0100 EZ503U 250 500 10.00 10/1 3300 6000 7.8 1 55 13<br />

300 115 138 5.6 1.1 PHA521_0100 EZ702U 250 500 10.00 10/1 3300 6000 14 1 55 15<br />

429 50 54 3.6 3.7 PHA521_0070 EZ502U 210 600 7.000 7/1 3000 6000 5.7 1 77 11<br />

429 50 56 3.6 3.7 PHA521_0070 EZ701U 130 600 7.000 7/1 3000 6000 9.0 1 77 13<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

93


5.2 Selection tables 5 PHA planetary geared motors<br />

94<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHA5 (n 1N = 3000 rpm, M 2acc,max = 320 Nm)<br />

429 65 75 4.7 2.8 PHA521_0070 EZ503U 270 600 7.000 7/1 3000 6000 8.1 1 77 13<br />

429 81 97 5.8 2.3 PHA521_0070 EZ702U 270 600 7.000 7/1 3000 6000 14 1 77 15<br />

429 91 108 6.5 2.0 PHA521_0070 EZ505U 270 600 7.000 7/1 3000 6000 13 1 77 15<br />

429 111 140 7.9 1.7 PHA521_0070 EZ703U 270 600 7.000 7/1 3000 6000 22 1 77 17<br />

600 47 53 7.0 3.9 PHA521_0050 EZ503U 210 430 5.000 5/1 2500 5500 8.6 1 93 13<br />

600 58 69 8.6 3.2 PHA521_0050 EZ702U 200 600 5.000 5/1 2500 5500 15 1 93 15<br />

600 65 77 9.7 2.8 PHA521_0050 EZ505U 320 600 5.000 5/1 2500 5500 13 1 93 15<br />

600 79 100 12 2.3 PHA521_0050 EZ703U 310 600 5.000 5/1 2500 5500 23 1 93 17<br />

600 102 145 15 1.8 PHA521_0050 EZ705U 320 600 5.000 5/1 2500 5500 35 1 93 23<br />

750 37 43 9.1 4.9 PHA521_0040 EZ503U 170 340 4.000 4/1 2200 5000 9.1 1 98 13<br />

750 46 55 11 4.0 PHA521_0040 EZ702U 160 600 4.000 4/1 2200 5000 15 1 98 15<br />

750 52 61 13 3.5 PHA521_0040 EZ505U 260 600 4.000 4/1 2200 5000 14 1 98 15<br />

750 63 80 16 2.9 PHA521_0040 EZ703U 250 600 4.000 4/1 2200 5000 23 1 98 17<br />

750 82 116 20 2.2 PHA521_0040 EZ705U 320 600 4.000 4/1 2200 5000 36 1 98 23<br />

PHA5 (n 1N = 4500 rpm, M 2acc,max = 320 Nm)<br />

281 141 228 7.4 1.5 PHA522_0160 EZ505U 320 600 16.00 16/1 3300 6000 12 1 65 18<br />

450 91 147 5.1 1.2 PHA521_0100 EZ505U 250 500 10.00 10/1 3300 6000 12 1 55 15<br />

643 64 103 5.2 2.5 PHA521_0070 EZ505U 270 600 7.000 7/1 3000 6000 13 1 77 15<br />

643 81 134 6.7 2.0 PHA521_0070 EZ703U 270 600 7.000 7/1 3000 6000 22 1 77 17<br />

900 46 73 7.8 3.5 PHA521_0050 EZ505U 320 600 5.000 5/1 2500 5500 13 1 93 15<br />

900 58 96 10 2.8 PHA521_0050 EZ703U 310 600 5.000 5/1 2500 5500 23 1 93 17<br />

900 79 144 14 2.0 PHA521_0050 EZ705U 320 600 5.000 5/1 2500 5500 35 1 93 23<br />

1125 36 59 10 4.4 PHA521_0040 EZ505U 260 600 4.000 4/1 2200 5000 14 1 98 15<br />

1125 46 77 13 3.4 PHA521_0040 EZ703U 250 600 4.000 4/1 2200 5000 23 1 98 17<br />

1125 63 115 18 2.5 PHA521_0040 EZ705U 320 600 4.000 4/1 2200 5000 36 1 98 23<br />

PHA5 (n 1N = 6000 rpm, M 2acc,max = 320 Nm)<br />

86 150 182 0.9 1.4 PHA522_0700 EZ401U 270 600 70.00 70/1 4000 7000 0.98 1 66 11<br />

120 107 130 1.1 1.9 PHA522_0500 EZ401U 320 600 50.00 50/1 4000 7000 0.98 1 66 11<br />

120 158 205 1.6 1.3 PHA522_0500 EZ501U 320 600 50.00 50/1 4000 7000 3.0 1 66 12<br />

120 163 228 1.6 1.2 PHA522_0500 EZ402U 320 600 50.00 50/1 4000 7000 1.7 1 66 12<br />

150 86 104 1.5 1.9 PHA522_0400 EZ401U 320 600 40.00 40/1 4000 7000 0.98 1 58 11<br />

150 126 164 2.2 1.3 PHA522_0400 EZ501U 320 600 40.00 40/1 4000 7000 2.9 1 58 12<br />

150 130 182 2.3 1.2 PHA522_0400 EZ402U 320 600 40.00 40/1 4000 7000 1.7 1 58 12<br />

171 75 91 1.2 2.9 PHA522_0350 EZ401U 280 600 35.00 35/1 4000 7000 1.0 1 68 11<br />

171 111 143 1.7 2.0 PHA522_0350 EZ501U 320 600 35.00 35/1 4000 7000 3.0 1 68 12<br />

171 114 159 1.8 1.9 PHA522_0350 EZ402U 320 600 35.00 35/1 4000 7000 1.7 1 68 12<br />

214 60 73 1.3 3.5 PHA522_0280 EZ401U 220 600 28.00 28/1 4000 7000 1.0 1 61 11<br />

214 89 115 2.0 2.4 PHA522_0280 EZ501U 320 600 28.00 28/1 4000 7000 3.0 1 61 12<br />

214 91 128 2.1 2.3 PHA522_0280 EZ402U 320 600 28.00 28/1 4000 7000 1.7 1 61 12<br />

214 135 203 3.0 1.6 PHA522_0280 EZ502U 320 600 28.00 28/1 4000 7000 5.3 1 61 13<br />

214 151 219 3.4 1.4 PHA522_0280 EZ404U 320 600 28.00 28/1 4000 7000 3.1 1 61 14<br />

240 53 65 1.4 4.1 PHA522_0250 EZ401U 200 600 25.00 25/1 3700 6500 1.2 1 71 11<br />

240 79 102 2.0 2.8 PHA522_0250 EZ501U 320 600 25.00 25/1 3700 6500 3.1 1 71 12<br />

240 81 114 2.1 2.7 PHA522_0250 EZ402U 320 600 25.00 25/1 3700 6500 1.9 1 71 12<br />

240 121 181 3.1 1.8 PHA522_0250 EZ502U 320 600 25.00 25/1 3700 6500 5.4 1 71 13<br />

240 121 184 3.1 1.8 PHA522_0250 EZ701U 320 600 25.00 25/1 3700 6500 8.7 1 71 15<br />

240 135 195 3.4 1.6 PHA522_0250 EZ404U 320 600 25.00 25/1 3700 6500 3.2 1 71 14<br />

240 144 246 3.7 1.5 PHA522_0250 EZ503U 320 600 25.00 25/1 3700 6500 7.8 1 71 15<br />

300 63 82 2.2 3.5 PHA522_0200 EZ501U 300 600 20.00 20/1 3300 6000 3.2 1 71 12<br />

300 65 91 2.3 3.4 PHA522_0200 EZ402U 300 600 20.00 20/1 3300 6000 2.0 1 71 12<br />

300 97 145 3.4 2.3 PHA522_0200 EZ502U 320 600 20.00 20/1 3300 6000 5.5 1 71 13<br />

300 97 147 3.4 2.3 PHA522_0200 EZ701U 320 600 20.00 20/1 3300 6000 8.8 1 71 15<br />

300 108 156 3.8 2.0 PHA522_0200 EZ404U 320 600 20.00 20/1 3300 6000 3.3 1 71 14<br />

300 115 197 4.1 1.9 PHA522_0200 EZ503U 320 600 20.00 20/1 3300 6000 7.9 1 71 15<br />

375 51 65 2.6 4.2 PHA522_0160 EZ501U 240 600 16.00 16/1 3300 6000 3.2 1 65 12<br />

375 52 73 2.7 4.0 PHA522_0160 EZ402U 240 600 16.00 16/1 3300 6000 1.9 1 65 12<br />

375 77 116 4.0 2.7 PHA522_0160 EZ502U 320 600 16.00 16/1 3300 6000 5.5 1 65 13<br />

375 77 118 4.0 2.7 PHA522_0160 EZ701U 300 600 16.00 16/1 3300 6000 8.8 1 65 15<br />

375 86 125 4.5 2.4 PHA522_0160 EZ404U 320 600 16.00 16/1 3300 6000 3.3 1 65 14<br />

375 92 158 4.8 2.3 PHA522_0160 EZ503U 320 600 16.00 16/1 3300 6000 7.9 1 65 15<br />

375 107 213 5.6 2.0 PHA522_0160 EZ702U 320 600 16.00 16/1 3300 6000 14 1 65 18<br />

600 33 42 2.0 3.0 PHA521_0100 EZ501U 150 500 10.00 10/1 3300 6000 3.1 1 55 9.5<br />

600 50 75 3.1 1.9 PHA521_0100 EZ502U 250 500 10.00 10/1 3300 6000 5.4 1 55 11<br />

600 50 76 3.1 1.9 PHA521_0100 EZ701U 190 500 10.00 10/1 3300 6000 8.7 1 55 13<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


5 PHA planetary geared motors 5.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHA5 (n 1N = 6000 rpm, M 2acc,max = 320 Nm)<br />

600 60 102 3.7 1.6 PHA521_0100 EZ503U 250 500 10.00 10/1 3300 6000 7.8 1 55 13<br />

600 69 137 4.3 1.4 PHA521_0100 EZ702U 250 500 10.00 10/1 3300 6000 14 1 55 15<br />

857 35 52 3.2 4.2 PHA521_0070 EZ502U 210 600 7.000 7/1 3000 6000 5.7 1 77 11<br />

857 35 53 3.2 4.2 PHA521_0070 EZ701U 130 600 7.000 7/1 3000 6000 9.0 1 77 13<br />

857 42 71 3.8 3.5 PHA521_0070 EZ503U 270 600 7.000 7/1 3000 6000 8.1 1 77 13<br />

857 48 96 4.4 3.0 PHA521_0070 EZ702U 270 600 7.000 7/1 3000 6000 14 1 77 15<br />

PHA7 (n 1N = 2000 rpm, M 2acc,max = 700 Nm)<br />

400 210 317 16 2.1 PHA721_0050 EZ805U 700 1400 5.000 5/1 2200 5000 135 1 184 54<br />

500 168 254 21 2.6 PHA721_0040 EZ805U 700 1370 4.000 4/1 1900 4000 137 1 185 54<br />

PHA7 (n 1N = 3000 rpm, M 2acc,max = 700 Nm)<br />

43 280 306 0.9 1.6 PHA722_0700 EZ501U 650 1240 70.00 70/1 3700 6500 3.1 1 142 18<br />

60 200 219 1.1 2.2 PHA722_0500 EZ501U 700 1400 50.00 50/1 3700 6500 3.1 1 142 18<br />

60 344 372 1.9 1.3 PHA722_0500 EZ502U 700 1400 50.00 50/1 3700 6500 5.4 1 142 19<br />

60 344 386 1.9 1.3 PHA722_0500 EZ701U 700 1400 50.00 50/1 3700 6500 8.7 1 142 21<br />

75 160 175 1.2 2.8 PHA722_0400 EZ501U 600 1370 40.00 40/1 3700 6500 3.1 1 126 18<br />

75 275 298 2.1 1.6 PHA722_0400 EZ502U 700 1370 40.00 40/1 3700 6500 5.4 1 126 19<br />

75 275 309 2.1 1.6 PHA722_0400 EZ701U 700 1370 40.00 40/1 3700 6500 8.7 1 126 21<br />

75 361 413 2.7 1.2 PHA722_0400 EZ503U 700 1370 40.00 40/1 3700 6500 7.8 1 126 21<br />

86 140 153 1.3 3.1 PHA722_0350 EZ501U 520 1400 35.00 35/1 3700 6500 3.2 1 146 18<br />

86 241 260 2.2 1.8 PHA722_0350 EZ502U 700 1400 35.00 35/1 3700 6500 5.5 1 146 19<br />

86 241 270 2.2 1.8 PHA722_0350 EZ701U 650 1400 35.00 35/1 3700 6500 8.8 1 146 21<br />

86 316 361 2.9 1.4 PHA722_0350 EZ503U 700 1400 35.00 35/1 3700 6500 7.9 1 146 21<br />

86 391 469 3.6 1.1 PHA722_0350 EZ702U 700 1400 35.00 35/1 3700 6500 14 1 146 23<br />

86 439 521 4.1 1.0 PHA722_0350 EZ505U 700 1400 35.00 35/1 3700 6500 12 1 146 23<br />

107 112 122 1.4 3.9 PHA722_0280 EZ501U 420 1370 28.00 28/1 3700 6500 3.3 1 131 18<br />

107 193 208 2.5 2.3 PHA722_0280 EZ502U 700 1370 28.00 28/1 3700 6500 5.6 1 131 19<br />

107 193 216 2.5 2.3 PHA722_0280 EZ701U 520 1370 28.00 28/1 3700 6500 8.9 1 131 21<br />

107 253 289 3.3 1.7 PHA722_0280 EZ503U 700 1370 28.00 28/1 3700 6500 8.0 1 131 21<br />

107 312 375 4.0 1.4 PHA722_0280 EZ702U 700 1370 28.00 28/1 3700 6500 14 1 131 23<br />

107 352 417 4.5 1.3 PHA722_0280 EZ505U 700 1370 28.00 28/1 3700 6500 13 1 131 23<br />

120 100 109 1.5 4.4 PHA722_0250 EZ501U 370 1400 25.00 25/1 3500 6000 3.6 1 149 18<br />

120 172 186 2.6 2.6 PHA722_0250 EZ502U 700 1400 25.00 25/1 3500 6000 5.9 1 149 19<br />

120 172 193 2.6 2.6 PHA722_0250 EZ701U 470 1400 25.00 25/1 3500 6000 9.2 1 149 21<br />

120 226 258 3.4 2.0 PHA722_0250 EZ503U 700 1400 25.00 25/1 3500 6000 8.3 1 149 21<br />

120 279 335 4.3 1.6 PHA722_0250 EZ702U 700 1400 25.00 25/1 3500 6000 14 1 149 23<br />

120 314 372 4.8 1.4 PHA722_0250 EZ505U 700 1400 25.00 25/1 3500 6000 13 1 149 23<br />

120 384 484 5.9 1.1 PHA722_0250 EZ703U 700 1400 25.00 25/1 3500 6000 22 1 149 25<br />

150 138 149 2.9 3.2 PHA722_0200 EZ502U 580 1400 20.00 20/1 3000 5000 6.3 1 150 19<br />

150 138 154 2.9 3.2 PHA722_0200 EZ701U 370 1400 20.00 20/1 3000 5000 9.6 1 150 21<br />

150 180 206 3.9 2.4 PHA722_0200 EZ503U 700 1400 20.00 20/1 3000 5000 8.7 1 150 21<br />

150 223 268 4.8 2.0 PHA722_0200 EZ702U 700 1400 20.00 20/1 3000 5000 15 1 150 23<br />

150 251 298 5.4 1.8 PHA722_0200 EZ505U 700 1400 20.00 20/1 3000 5000 13 1 150 23<br />

150 307 387 6.5 1.4 PHA722_0200 EZ703U 700 1400 20.00 20/1 3000 5000 23 1 150 25<br />

188 110 119 3.3 4.0 PHA722_0160 EZ502U 460 1330 16.00 16/1 3000 5000 6.4 1 136 19<br />

188 110 124 3.3 4.0 PHA722_0160 EZ701U 300 1370 16.00 16/1 3000 5000 9.7 1 136 21<br />

188 144 165 4.3 3.0 PHA722_0160 EZ503U 640 1330 16.00 16/1 3000 5000 8.8 1 136 21<br />

188 179 214 5.3 2.5 PHA722_0160 EZ702U 610 1370 16.00 16/1 3000 5000 15 1 136 23<br />

188 201 238 6.0 2.2 PHA722_0160 EZ505U 700 1370 16.00 16/1 3000 5000 13 1 136 23<br />

188 246 310 7.3 1.8 PHA722_0160 EZ703U 700 1370 16.00 16/1 3000 5000 23 1 136 25<br />

188 317 449 9.5 1.4 PHA722_0160 EZ705U 700 1370 16.00 16/1 3000 5000 35 1 136 31<br />

300 71 80 2.0 3.7 PHA721_0100 EZ701U 190 1000 10.00 10/1 3000 5000 9.2 1 117 17<br />

300 115 138 3.2 2.3 PHA721_0100 EZ702U 390 1000 10.00 10/1 3000 5000 14 1 117 19<br />

300 158 200 4.3 1.7 PHA721_0100 EZ703U 500 1000 10.00 10/1 3000 5000 22 1 117 21<br />

300 204 290 5.6 1.3 PHA721_0100 EZ705U 500 1000 10.00 10/1 3000 5000 35 1 117 27<br />

300 214 356 5.9 1.2 PHA721_0100 EZ802U 500 1000 10.00 10/1 3000 5000 59 1 117 35<br />

429 81 97 3.3 4.8 PHA721_0070 EZ702U 280 1240 7.000 7/1 2500 5000 15 1 160 19<br />

429 111 140 4.5 3.5 PHA721_0070 EZ703U 440 1240 7.000 7/1 2500 5000 23 1 160 21<br />

429 143 203 5.9 2.7 PHA721_0070 EZ705U 650 1240 7.000 7/1 2500 5000 35 1 160 27<br />

429 150 249 6.1 2.6 PHA721_0070 EZ802U 650 1240 7.000 7/1 2500 5000 59 1 160 35<br />

600 79 100 6.8 4.9 PHA721_0050 EZ703U 310 890 5.000 5/1 2200 5000 24 1 184 21<br />

600 102 145 8.8 3.8 PHA721_0050 EZ705U 500 1400 5.000 5/1 2200 5000 37 1 184 27<br />

600 107 178 9.2 3.6 PHA721_0050 EZ802U 480 1400 5.000 5/1 2200 5000 61 1 184 35<br />

600 128 231 11 3.0 PHA721_0050 EZ803U 700 1400 5.000 5/1 2200 5000 86 1 184 41<br />

750 82 116 11 4.7 PHA721_0040 EZ705U 400 1370 4.000 4/1 1900 4000 39 1 185 27<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

95


5.2 Selection tables 5 PHA planetary geared motors<br />

96<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHA7 (n 1N = 3000 rpm, M 2acc,max = 700 Nm)<br />

750 86 142 12 4.5 PHA721_0040 EZ802U 380 1370 4.000 4/1 1900 4000 63 1 185 35<br />

750 102 185 14 3.8 PHA721_0040 EZ803U 560 1370 4.000 4/1 1900 4000 88 1 185 41<br />

PHA7 (n 1N = 4500 rpm, M 2acc,max = 700 Nm)<br />

129 309 498 2.9 1.4 PHA722_0350 EZ505U 700 1400 35.00 35/1 3700 6500 12 1 146 23<br />

161 247 398 3.2 1.8 PHA722_0280 EZ505U 700 1370 28.00 28/1 3700 6500 13 1 131 23<br />

161 315 521 4.1 1.4 PHA722_0280 EZ703U 700 1370 28.00 28/1 3700 6500 22 1 131 25<br />

180 221 356 3.4 2.0 PHA722_0250 EZ505U 700 1400 25.00 25/1 3500 6000 13 1 149 23<br />

180 281 465 4.3 1.6 PHA722_0250 EZ703U 700 1400 25.00 25/1 3500 6000 22 1 149 25<br />

225 177 285 3.8 2.5 PHA722_0200 EZ505U 700 1400 20.00 20/1 3000 5000 13 1 150 23<br />

225 225 372 4.8 2.0 PHA722_0200 EZ703U 700 1400 20.00 20/1 3000 5000 23 1 150 25<br />

281 141 228 4.2 3.1 PHA722_0160 EZ505U 700 1370 16.00 16/1 3000 5000 13 1 136 23<br />

281 156 513 4.7 2.8 PHA722_0160 EZ802U 700 1370 16.00 16/1 3000 5000 59 1 136 39<br />

281 180 298 5.4 2.4 PHA722_0160 EZ703U 700 1370 16.00 16/1 3000 5000 23 1 136 25<br />

281 244 446 7.3 1.8 PHA722_0160 EZ705U 700 1370 16.00 16/1 3000 5000 35 1 136 31<br />

450 101 331 3.2 2.3 PHA721_0100 EZ802U 500 1000 10.00 10/1 3000 5000 59 1 117 35<br />

450 116 192 3.6 2.0 PHA721_0100 EZ703U 500 1000 10.00 10/1 3000 5000 22 1 117 21<br />

450 157 288 4.9 1.5 PHA721_0100 EZ705U 500 1000 10.00 10/1 3000 5000 35 1 117 27<br />

643 71 232 3.3 4.8 PHA721_0070 EZ802U 650 1240 7.000 7/1 2500 5000 59 1 160 35<br />

643 81 134 3.8 4.1 PHA721_0070 EZ703U 440 1240 7.000 7/1 2500 5000 23 1 160 21<br />

643 110 202 5.2 3.0 PHA721_0070 EZ705U 650 1240 7.000 7/1 2500 5000 35 1 160 27<br />

900 79 144 7.7 4.3 PHA721_0050 EZ705U 500 1400 5.000 5/1 2200 5000 37 1 184 27<br />

PHA7 (n 1N = 6000 rpm, M 2acc,max = 700 Nm)<br />

86 221 286 0.7 2.0 PHA722_0700 EZ501U 650 1240 70.00 70/1 3700 6500 3.1 1 142 18<br />

120 158 205 0.9 2.8 PHA722_0500 EZ501U 700 1400 50.00 50/1 3700 6500 3.1 1 142 18<br />

120 242 363 1.3 1.8 PHA722_0500 EZ502U 700 1400 50.00 50/1 3700 6500 5.4 1 142 19<br />

120 242 367 1.3 1.8 PHA722_0500 EZ701U 700 1400 50.00 50/1 3700 6500 8.7 1 142 21<br />

120 288 493 1.6 1.5 PHA722_0500 EZ503U 700 1400 50.00 50/1 3700 6500 7.8 1 142 21<br />

150 126 164 1.1 2.9 PHA722_0400 EZ501U 600 1370 40.00 40/1 3700 6500 3.1 1 126 18<br />

150 193 290 1.7 1.9 PHA722_0400 EZ502U 700 1370 40.00 40/1 3700 6500 5.4 1 126 19<br />

150 193 294 1.7 1.9 PHA722_0400 EZ701U 700 1370 40.00 40/1 3700 6500 8.7 1 126 21<br />

150 231 394 2.1 1.6 PHA722_0400 EZ503U 700 1370 40.00 40/1 3700 6500 7.8 1 126 21<br />

150 268 532 2.4 1.4 PHA722_0400 EZ702U 700 1370 40.00 40/1 3700 6500 14 1 126 23<br />

171 111 143 1.0 4.0 PHA722_0350 EZ501U 520 1400 35.00 35/1 3700 6500 3.2 1 146 18<br />

171 169 254 1.6 2.6 PHA722_0350 EZ502U 700 1400 35.00 35/1 3700 6500 5.5 1 146 19<br />

171 169 257 1.6 2.6 PHA722_0350 EZ701U 650 1400 35.00 35/1 3700 6500 8.8 1 146 21<br />

171 202 345 1.9 2.2 PHA722_0350 EZ503U 700 1400 35.00 35/1 3700 6500 7.9 1 146 21<br />

171 234 465 2.2 1.9 PHA722_0350 EZ702U 700 1400 35.00 35/1 3700 6500 14 1 146 23<br />

214 89 115 1.1 5.0 PHA722_0280 EZ501U 420 1370 28.00 28/1 3700 6500 3.3 1 131 18<br />

214 135 203 1.7 3.2 PHA722_0280 EZ502U 700 1370 28.00 28/1 3700 6500 5.6 1 131 19<br />

214 135 206 1.7 3.2 PHA722_0280 EZ701U 520 1370 28.00 28/1 3700 6500 8.9 1 131 21<br />

214 161 276 2.1 2.7 PHA722_0280 EZ503U 700 1370 28.00 28/1 3700 6500 8.0 1 131 21<br />

214 187 372 2.4 2.3 PHA722_0280 EZ702U 700 1370 28.00 28/1 3700 6500 14 1 131 23<br />

240 121 181 1.8 3.6 PHA722_0250 EZ502U 700 1400 25.00 25/1 3500 6000 5.9 1 149 19<br />

240 121 184 1.8 3.6 PHA722_0250 EZ701U 470 1400 25.00 25/1 3500 6000 9.2 1 149 21<br />

240 144 246 2.2 3.1 PHA722_0250 EZ503U 700 1400 25.00 25/1 3500 6000 8.3 1 149 21<br />

240 167 332 2.6 2.6 PHA722_0250 EZ702U 700 1400 25.00 25/1 3500 6000 14 1 149 23<br />

PHA8 (n 1N = 2000 rpm, M 2acc,max = 2000 Nm)<br />

80 1016 1537 5.9 1.2 PHA822_0250 EZ805U 2000 3200 25.00 25/1 3000 5500 135 1 484 82<br />

100 813 1229 6.6 1.5 PHA822_0200 EZ805U 2000 3200 20.00 20/1 2500 4500 137 1 459 82<br />

125 650 984 8.4 1.7 PHA822_0160 EZ805U 2000 3150 16.00 16/1 2500 4500 137 1 452 82<br />

200 420 635 4.1 1.9 PHA821_0100 EZ805U 1200 2400 10.00 10/1 2500 4000 136 1 317 73<br />

286 294 444 5.0 3.4 PHA821_0070 EZ805U 1380 2770 7.000 7/1 2000 4000 140 1 474 73<br />

400 210 317 7.5 4.8 PHA821_0050 EZ805U 980 2870 5.000 5/1 1700 4000 148 1 566 73<br />

500 168 254 12 4.8 PHA821_0040 EZ805U 790 2310 4.000 4/1 1500 3500 157 1 634 73<br />

PHA8 (n 1N = 3000 rpm, M 2acc,max = 2000 Nm)<br />

30 688 772 0.8 1.2 PHA822_1000 EZ701U 1200 2400 100.0 100/1 3300 6000 9.0 1 305 44<br />

43 482 540 0.7 2.1 PHA822_0700 EZ701U 1300 2770 70.00 70/1 3300 6000 9.1 1 421 44<br />

43 781 937 1.2 1.3 PHA822_0700 EZ702U 1600 2770 70.00 70/1 3300 6000 14 1 421 47<br />

60 344 386 0.7 3.6 PHA822_0500 EZ701U 930 3200 50.00 50/1 3300 6000 9.1 1 436 44<br />

60 558 670 1.1 2.2 PHA822_0500 EZ702U 1910 3200 50.00 50/1 3300 6000 14 1 436 47<br />

60 767 967 1.6 1.6 PHA822_0500 EZ703U 2000 3200 50.00 50/1 3300 6000 22 1 436 49<br />

60 990 1404 2.0 1.3 PHA822_0500 EZ705U 2000 3200 50.00 50/1 3300 6000 35 1 436 54<br />

75 275 309 1.0 3.7 PHA822_0400 EZ701U 740 3150 40.00 40/1 3300 6000 9.2 1 418 44<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


5 PHA planetary geared motors 5.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHA8 (n 1N = 3000 rpm, M 2acc,max = 2000 Nm)<br />

75 446 536 1.6 2.3 PHA822_0400 EZ702U 1530 3150 40.00 40/1 3300 6000 14 1 418 47<br />

75 614 774 2.2 1.6 PHA822_0400 EZ703U 1920 3150 40.00 40/1 3300 6000 22 1 418 49<br />

75 792 1123 2.8 1.3 PHA822_0400 EZ705U 1920 3150 40.00 40/1 3300 6000 35 1 418 54<br />

75 830 1380 3.0 1.2 PHA822_0400 EZ802U 1920 3150 40.00 40/1 3300 6000 59 1 418 63<br />

86 391 469 1.4 3.2 PHA822_0350 EZ702U 1330 3200 35.00 35/1 3300 6000 15 1 448 47<br />

86 537 677 1.9 2.3 PHA822_0350 EZ703U 2000 3200 35.00 35/1 3300 6000 23 1 448 49<br />

86 693 983 2.4 1.8 PHA822_0350 EZ705U 2000 3200 35.00 35/1 3300 6000 35 1 448 54<br />

86 726 1208 2.6 1.7 PHA822_0350 EZ802U 2000 3200 35.00 35/1 3300 6000 59 1 448 63<br />

107 312 375 1.7 3.5 PHA822_0280 EZ702U 1070 3150 28.00 28/1 3300 6000 15 1 435 47<br />

107 430 542 2.4 2.6 PHA822_0280 EZ703U 1690 3150 28.00 28/1 3300 6000 23 1 435 49<br />

107 555 786 3.1 2.0 PHA822_0280 EZ705U 2000 3150 28.00 28/1 3300 6000 35 1 435 54<br />

107 581 966 3.2 1.9 PHA822_0280 EZ802U 2000 3150 28.00 28/1 3300 6000 59 1 435 63<br />

120 279 335 1.6 4.5 PHA822_0250 EZ702U 950 3200 25.00 25/1 3000 5500 16 1 484 47<br />

120 384 484 2.2 3.3 PHA822_0250 EZ703U 1510 3200 25.00 25/1 3000 5500 24 1 484 49<br />

120 495 702 2.9 2.5 PHA822_0250 EZ705U 2000 3200 25.00 25/1 3000 5500 37 1 484 54<br />

120 518 863 3.0 2.4 PHA822_0250 EZ802U 2000 3200 25.00 25/1 3000 5500 61 1 484 63<br />

120 618 1121 3.6 2.0 PHA822_0250 EZ803U 2000 3200 25.00 25/1 3000 5500 86 1 484 69<br />

150 307 387 2.5 4.1 PHA822_0200 EZ703U 1210 3200 20.00 20/1 2500 4500 26 1 459 49<br />

150 396 562 3.2 3.2 PHA822_0200 EZ705U 1930 3200 20.00 20/1 2500 4500 38 1 459 54<br />

150 415 690 3.4 3.0 PHA822_0200 EZ802U 1860 3200 20.00 20/1 2500 4500 62 1 459 63<br />

150 495 897 4.0 2.5 PHA822_0200 EZ803U 2000 3200 20.00 20/1 2500 4500 88 1 459 69<br />

188 246 310 3.2 4.5 PHA822_0160 EZ703U 970 2760 16.00 16/1 2500 4500 26 1 452 49<br />

188 317 449 4.1 3.5 PHA822_0160 EZ705U 1550 3150 16.00 16/1 2500 4500 39 1 452 54<br />

188 332 552 4.3 3.3 PHA822_0160 EZ802U 1490 3150 16.00 16/1 2500 4500 63 1 452 63<br />

188 396 717 5.1 2.8 PHA822_0160 EZ803U 2000 3150 16.00 16/1 2500 4500 88 1 452 69<br />

300 214 356 2.4 3.3 PHA821_0100 EZ802U 960 2400 10.00 10/1 2500 4000 62 1 317 54<br />

300 255 463 2.8 2.7 PHA821_0100 EZ803U 1200 2400 10.00 10/1 2500 4000 87 1 317 60<br />

429 179 324 3.5 4.9 PHA821_0070 EZ803U 970 2770 7.000 7/1 2000 4000 91 1 474 60<br />

PHA8 (n 1N = 4500 rpm, M 2acc,max = 2000 Nm)<br />

90 563 930 1.3 2.0 PHA822_0500 EZ703U 2000 3200 50.00 50/1 3300 6000 22 1 436 49<br />

90 763 1395 1.8 1.4 PHA822_0500 EZ705U 2000 3200 50.00 50/1 3300 6000 35 1 436 54<br />

113 391 1283 1.6 2.3 PHA822_0400 EZ802U 1920 3150 40.00 40/1 3300 6000 59 1 418 63<br />

113 450 744 1.8 2.0 PHA822_0400 EZ703U 1920 3150 40.00 40/1 3300 6000 22 1 418 49<br />

113 610 1116 2.5 1.4 PHA822_0400 EZ705U 1920 3150 40.00 40/1 3300 6000 35 1 418 54<br />

129 342 1123 1.2 3.7 PHA822_0350 EZ802U 2000 3200 35.00 35/1 3300 6000 59 1 448 63<br />

129 394 651 1.4 3.2 PHA822_0350 EZ703U 2000 3200 35.00 35/1 3300 6000 23 1 448 49<br />

129 534 977 1.9 2.3 PHA822_0350 EZ705U 2000 3200 35.00 35/1 3300 6000 35 1 448 54<br />

161 273 898 1.5 4.0 PHA822_0280 EZ802U 2000 3150 28.00 28/1 3300 6000 59 1 435 63<br />

161 315 521 1.8 3.5 PHA822_0280 EZ703U 1690 3150 28.00 28/1 3300 6000 23 1 435 49<br />

161 427 781 2.4 2.6 PHA822_0280 EZ705U 2000 3150 28.00 28/1 3300 6000 35 1 435 54<br />

180 281 465 1.6 4.4 PHA822_0250 EZ703U 1510 3200 25.00 25/1 3000 5500 24 1 484 49<br />

180 381 698 2.2 3.3 PHA822_0250 EZ705U 2000 3200 25.00 25/1 3000 5500 37 1 484 54<br />

225 305 558 2.5 4.1 PHA822_0200 EZ705U 1930 3200 20.00 20/1 2500 4500 38 1 459 54<br />

281 244 446 3.2 4.5 PHA822_0160 EZ705U 1550 3150 16.00 16/1 2500 4500 39 1 452 54<br />

PHA8 (n 1N = 6000 rpm, M 2acc,max = 1910 Nm)<br />

60 484 735 0.6 1.7 PHA822_1000 EZ701U 1200 2400 100.0 100/1 3300 6000 9.0 1 305 44<br />

86 339 514 0.5 3.0 PHA822_0700 EZ701U 1300 2770 70.00 70/1 3300 6000 9.1 1 421 44<br />

86 469 931 0.7 2.1 PHA822_0700 EZ702U 1600 2770 70.00 70/1 3300 6000 14 1 421 47<br />

120 242 367 0.6 4.1 PHA822_0500 EZ701U 930 3200 50.00 50/1 3300 6000 9.1 1 436 44<br />

120 335 665 0.9 3.0 PHA822_0500 EZ702U 1910 3200 50.00 50/1 3300 6000 14 1 436 47<br />

150 193 294 0.9 4.1 PHA822_0400 EZ701U 740 3150 40.00 40/1 3300 6000 9.2 1 418 44<br />

150 268 532 1.2 3.0 PHA822_0400 EZ702U 1530 3150 40.00 40/1 3300 6000 14 1 418 47<br />

PHA9 (n 1N = 2000 rpm, M 2acc,max = 5000 Nm)<br />

42 1951 2951 1.9 1.5 PHA932_0480 EZ805U 4500 9000 48.00 48/1 2800 4500 137 1 1084 109<br />

48 1707 2582 2.0 1.8 PHA932_0420 EZ805U 4500 9000 42.00 42/1 2800 4500 138 1 1099 109<br />

50 1626 2459 2.3 1.7 PHA932_0400 EZ805U 4610 9220 40.00 40/1 2800 4500 136 1 1057 109<br />

63 1301 1967 2.3 2.3 PHA932_0320 EZ805U 4610 9220 32.00 32/1 2800 4500 138 1 1112 109<br />

67 1219 1844 2.4 2.5 PHA932_0300 EZ805U 4500 9000 30.00 30/1 2500 4000 144 1 1115 109<br />

71 1138 1721 2.5 2.6 PHA932_0280 EZ805U 5000 10000 28.00 28/1 2800 4500 139 1 1147 109<br />

83 975 1475 2.7 3.1 PHA932_0240 EZ805U 4500 9000 24.00 24/1 2200 3500 151 1 1125 109<br />

100 813 1229 3.0 3.7 PHA932_0200 EZ805U 3810 10000 20.00 20/1 2500 4000 146 1 1188 109<br />

111 732 1107 3.1 4.1 PHA932_0180 EZ805U 3430 9000 18.00 18/1 1800 3000 177 1 1135 109<br />

125 650 984 3.3 4.6 PHA932_0160 EZ805U 3050 8960 16.00 16/1 2200 3500 155 1 1212 109<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

97


5.2 Selection tables 5 PHA planetary geared motors<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHA9 (n 1N = 3000 rpm, M 2acc,max = 4610 Nm)<br />

50 1244 2070 0.9 2.4 PHA932_0600 EZ802U 4500 9000 60.00 60/1 2800 4500 61 1 1060 90<br />

50 1484 2690 1.0 2.0 PHA932_0600 EZ803U 4500 9000 60.00 60/1 2800 4500 86 1 1060 96<br />

63 995 1656 1.0 3.0 PHA932_0480 EZ802U 4460 9000 48.00 48/1 2800 4500 62 1 1084 90<br />

63 1187 2152 1.2 2.5 PHA932_0480 EZ803U 4500 9000 48.00 48/1 2800 4500 88 1 1084 96<br />

71 871 1449 1.0 3.4 PHA932_0420 EZ802U 3910 9000 42.00 42/1 2800 4500 64 1 1099 90<br />

71 1039 1883 1.2 2.9 PHA932_0420 EZ803U 4500 9000 42.00 42/1 2800 4500 89 1 1099 96<br />

75 830 1380 1.4 2.8 PHA932_0400 EZ802U 3720 9220 40.00 40/1 2800 4500 61 1 1057 90<br />

75 990 1793 1.6 2.4 PHA932_0400 EZ803U 4610 9220 40.00 40/1 2800 4500 87 1 1057 96<br />

94 664 1104 1.3 4.0 PHA932_0320 EZ802U 2980 9220 32.00 32/1 2800 4500 63 1 1112 90<br />

94 792 1434 1.6 3.4 PHA932_0320 EZ803U 4320 9220 32.00 32/1 2800 4500 88 1 1112 96<br />

100 622 1035 1.2 4.8 PHA932_0300 EZ802U 2790 9000 30.00 30/1 2500 4000 69 1 1115 90<br />

100 742 1345 1.5 4.0 PHA932_0300 EZ803U 4050 9000 30.00 30/1 2500 4000 94 1 1115 96<br />

107 693 1255 1.5 4.3 PHA932_0280 EZ803U 3780 10000 28.00 28/1 2800 4500 90 1 1147 96<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

98


5 PHA planetary geared motors 5.3 Dimensional drawings<br />

5.3 Dimensional drawings<br />

In this chapter you can find the dimensions of the geared motors.<br />

There is a dimensional drawing for every possible shaft/housing design, each with the tables for gear unit dimensions,<br />

motor dimensions and geared motor dimensions.<br />

Dimensions can exceed the specifications of ISO 2768-mK due to casting tolerances or accumulation of individual<br />

tolerances.<br />

We reserve the right to make dimensional changes due to ongoing technical development.<br />

You can download CAD models of our standard drives at http://cad.stoeber.de.<br />

Combination options and the dimensions of forced ventilated geared motors can be found at http://<br />

cad.stoeber.de.<br />

99


5.3 Dimensional drawings 5 PHA planetary geared motors<br />

5.3.1 F shaft design (flange shaft)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ∅a1 ∅b1 ∅bf c1 ∅df ∅e1 ∅ef f1 i2 i3 lh p r ∅s1 s7 sf sf1 tf tf1<br />

PHA321 86 h7 64 h7 40 h7 4 20.0 H6 79 31.5 7 19.5 16.5 4 0.02 0.020 4.5 – M5 5 H7 7 3<br />

PHA322 86 h7 64 h7 40 h7 4 20.0 H6 79 31.5 7 19.5 16.5 4 0.02 0.020 4.5 – M5 5 H7 7 3<br />

PHA421 118 h7 90 h7 63 h7 7 31.5 H6 109 50.0 10 30.0 24.0 6 0.02 0.020 5.5 – M6 6 H7 11 7<br />

PHA422 118 h7 90 h7 63 h7 7 31.5 H6 109 50.0 10 30.0 24.0 6 0.02 0.020 5.5 – M6 6 H7 11 7<br />

PHA521 145 h7 110 h7 80 h7 8 40.0 H6 135 63.0 10 29.0 23.0 6 0.02 0.020 5.5 – M6 6 H7 11 7<br />

PHA522 145 h7 110 h7 80 h7 8 40.0 H6 135 63.0 10 29.0 23.0 6 0.02 0.020 5.5 – M6 6 H7 11 7<br />

PHA721 179 h7 140 h7 100 h7 10 50.0 H6 168 80.0 12 38.0 32.0 6 0.02 0.025 6.6 – M8 8 H7 14 7<br />

PHA722 179 h7 140 h7 100 h7 10 50.0 H6 168 80.0 12 38.0 32.0 6 0.02 0.025 6.6 – M8 8 H7 14 7<br />

PHA821 247 h7 200 h7 160 h7 12 80.0 H6 233 125.0 15 50.0 42.0 8 0.02 0.030 9.0 M10 M10 10 H7 18 10<br />

PHA822 247 h7 200 h7 160 h7 12 80.0 H6 233 125.0 15 50.0 42.0 8 0.02 0.030 9.0 M10 M10 10 H7 18 10<br />

PHA932 300 255 h7 180 h7 18 90.0 H6 280 140.0 20 66.0 55.0 12 – 0.030 13.5 M8 M16 – 24 –<br />

Dimensions of motors<br />

100<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ301U 72 90 130.0 55.5 21 54.5<br />

EZ302U 72 112 152.0 55.5 21 76.5<br />

EZ303U 72 134 174.0 55.5 21 98.5<br />

EZ401U 98 98 146.5 91.0 22 56.0


5 PHA planetary geared motors 5.3 Dimensional drawings<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ402U 98 123 171.5 91.0 22 81.0<br />

EZ404U 98 173 221.5 91.0 22 131.0<br />

EZ501U 115 93 147.5 100.0 22 58.5<br />

EZ502U 115 118 172.5 100.0 22 83.5<br />

EZ503U 115 143 197.5 100.0 22 108.5<br />

EZ505U 115 193 247.5 100.0 22 158.5<br />

EZ701U 145 102 161.0 115.0 22 64.0<br />

EZ702U 145 127 186.0 115.0 22 89.0<br />

EZ703U 145 152 211.0 115.0 22 114.0<br />

EZ705U 145 207 266.0 134.0 22 165.0<br />

EZ802U 190 197 274.0 156.5 22 143.0<br />

EZ803U 190 238 315.0 156.5 22 184.0<br />

EZ805U 190 320 397.0 156.5 22 266.0<br />

Dimensions of geared motors<br />

Type EZ3 EZ4 EZ5 EZ7 EZ8<br />

mp mp mp mp mp<br />

PHA321 51.0 48.0 – – –<br />

PHA322 87.5 – – – –<br />

PHA421 – 51.0 53.5 – –<br />

PHA422 103.0 99.5 102.0 – –<br />

PHA521 – – 57.0 63.0 –<br />

PHA522 – 112.5 115.0 121.0 –<br />

PHA721 – – – 68.0 77.0<br />

PHA722 – – 128.0 134.0 149.0<br />

PHA821 – – – – 99.5<br />

PHA822 – – – 169.0 184.0<br />

PHA932 – – – – 249.5<br />

101


5.5 Product description 5 PHA planetary geared motors<br />

5.4 Type designation<br />

In this chapter, you can find an explanation of the type designation with the associated options.<br />

Additional ordering information not included in the type designation can be found at the end of the chapter.<br />

Sample code<br />

PHA 5 2 2 F 0250 EZ401U<br />

Explanation<br />

Code Designation Design<br />

PHA Type Low-backlash planetary gear unit<br />

5 Size 5 (example)<br />

2<br />

3<br />

Generation Generation 2<br />

Generation 3<br />

1<br />

2<br />

Stages<br />

Single-stage<br />

Two-stage<br />

F Shaft Flange shaft<br />

0250 Transmission ratio (i x 10) i = 25 (example)<br />

EZ401U Motor EZ synchronous servo motor<br />

In order to complete the type designation, also specify:<br />

• A detailed type designation of the motor, see chapter [} 23]<br />

• For reverse operation of the output shaft from ± 20° to ± 90° and horizontal installation, note the chapter<br />

[} 5.6.4]<br />

5.5 Product description<br />

5.5.1 Installation conditions<br />

The torque and force values listed in this catalog are valid under the following conditions:<br />

• When using screws with quality 12.9 for machine-side attachment of the flange shaft and gear unit<br />

housing<br />

• When the gear unit housings are adjusted at pilot øb1 (H7)<br />

• When the flange shaft is adjusted using the connecting element at pilot øbf or ødf<br />

5.5.2 Lubricants<br />

STOBER fills the gear units with the amount and type of lubricant specified on the nameplate.<br />

Lubricant filling quantities for gear units, document ID 441871, can be found online at http://www.stoeber.de<br />

5.5.3 Other product features<br />

Feature<br />

Value<br />

Max. permitted gear unit temperature (on the surface of the gear unit) ≤ 90 °C<br />

Paint Black RAL 9005<br />

(ATEX) Directive 2014/34/EU (option)<br />

Not suitable<br />

Protection class: 1<br />

Gear unit<br />

Motor<br />

IP65<br />

IP56, optionally IP66<br />

102<br />

1<br />

Observe the protection class of all the components.


5 PHA planetary geared motors 5.6 Project configuration<br />

5.5.4 Direction of rotation<br />

The input and output rotate in the same direction.<br />

5.6 Project configuration<br />

Project your drives using our SERVOsoft designing software. You can receive SERVOsoft for free from your<br />

adviser at one of our sales centers. Observe the limit conditions in this chapter to ensure a safe design for<br />

your drives.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

5.6.1 Calculation of the operating point<br />

Check the following conditions for operating points other than the nominal point M 2N specified in the selection<br />

tables.<br />

n<br />

1m*<br />

n<br />

£<br />

fB<br />

1maxDB<br />

T<br />

n<br />

M<br />

M<br />

1max*<br />

2eff *<br />

2acc*<br />

n<br />

£<br />

fB<br />

£ M<br />

1max ZB<br />

2th<br />

£ M<br />

T<br />

2acc<br />

M<br />

2NOT*<br />

£ M<br />

2NOT<br />

S<br />

M 2eq*<br />

£ M 2N<br />

× fB fB op<br />

×<br />

t<br />

The values for n 1maxDB , n 1maxZB , M 2acc , M 2NOT , M 2N and S can be found in the selection tables.<br />

The values for fB T , fB op and fB t can be found in the corresponding tables in this chapter.<br />

Calculate the thermal limit torque M 2th for a duty cycle > 50%.<br />

103


5.6 Project configuration 5 PHA planetary geared motors<br />

Example of cyclic operation<br />

The following calculations are based on a representation of the power taken from the output based in accordance<br />

with the following example:<br />

Calculation of the actual average input speed<br />

n1m* = n2m*<br />

× i<br />

n<br />

2m*<br />

=<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

t + ... + t<br />

1* n*<br />

If t 1* + ... + t 5* ≥ 20 min, calculate n 2m* without the rest phase t 6* .<br />

The values for the ratio i can be found in the selection tables.<br />

Calculation of the actual effective torque<br />

M<br />

2eff *<br />

=<br />

t × M + ... + t × M<br />

2 2<br />

1* 2,1* n* 2,n*<br />

t + ... + t<br />

1* n*<br />

Calculation of the actual equivalent torque<br />

M<br />

2eq*<br />

=<br />

3<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2,1* 2m,n* n* 2,n*<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

Calculation of the thermal limit torque<br />

Calculate the thermal limit torque M 2th for a duty cycle ED 20 > 50% and the actual average input speed n 1m* .<br />

(At K mot,th ≤ 0 you must reduce the average input speed n 1m* accordingly or select another geared motor size.)<br />

M2th = Mop × i × Kmot,th<br />

ath æ n1m*<br />

ö<br />

Kmot,th<br />

= 0,93 - × fBT<br />

×<br />

1000 ç<br />

1000 ÷<br />

è ø<br />

The values for i and a th can be found in the selection tables.<br />

The values for fB T can be found in the corresponding table in this chapter.<br />

3<br />

104<br />

The value for the torque of the motor at operating point M op with the determined average input speed n 1m*<br />

can be found in the motor curve of Chapter [} 23.3]. Note the size, nominal speed n N and cooling type of<br />

the motor. The figure below shows an example of reading the torque M op of a motor with convection cooling<br />

at the operating point.


5 PHA planetary geared motors 5.6 Project configuration<br />

n 1m*<br />

n [rpm]<br />

Operating factors<br />

Operating mode<br />

Uniform continuous operation 1.00<br />

Cyclic operation 1.00<br />

Reversing load cyclic operation 1.00<br />

Run time<br />

fB t<br />

Daily run time ≤ 8 h 1.00<br />

Daily run time ≤ 16 h 1.15<br />

Daily run time ≤ 24 h 1.20<br />

fB op<br />

Temperature<br />

Motor cooling<br />

Surrounding temperature<br />

Motor with forced ventilation ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

Motor with convection cooling ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

fB T<br />

0.9<br />

1.0<br />

1.15<br />

1.0<br />

1.1<br />

1.25<br />

Notes<br />

• The maximum permitted gear unit temperature (see the "Other product features" chapter) must not be<br />

exceeded. Doing so may result in damage to the geared motor.<br />

• For braking from full speed (for example when the power fails or when setting up the machine), note<br />

the permitted gear unit torques (M 2acc , M 2NOT ) in the selection tables.<br />

5.6.2 Permitted shaft loads for the output shaft<br />

The values specified in the tables apply to the permitted shaft loads:<br />

• For shaft dimensions in accordance with the catalog<br />

• For output speeds n 2m* ≤ 100 rpm (F 2axN = F 2ax100 ; F 2radN = F 2rad100 ; M 2kN = M 2k100 )<br />

• Only if radial forces on the gear unit are stabilized by its pilots (housing, flange shaft)<br />

105


5.6 Project configuration 5 PHA planetary geared motors<br />

Permitted shaft loads<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

PHA3 62.0 1650 1613 1613 100 100<br />

PHA4 84.0 2150 3095 3571 260 300<br />

PHA5 97.0 4150 4536 4897 440 475<br />

PHA7 88.0 6150 17045 17045 1500 1500<br />

PHA8 126.0 10050 27778 27778 3500 3500<br />

PHA9 155.0 33000 48387 70968 7500 11000<br />

For other output speeds, download diagrams at http://products.stoeber.de.<br />

The following applies to output speeds n 2m* > 100 rpm:<br />

F<br />

2axN<br />

=<br />

3<br />

F<br />

2ax100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

F<br />

2radN<br />

=<br />

3<br />

F<br />

2rad100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

M<br />

2kN<br />

=<br />

3<br />

M<br />

2k100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

The values for F 2ax100 , F 2rad100 and M 2k100 can be found in the table "Permitted shaft loads" in this chapter.<br />

Fig. 1: Force application points<br />

You can determine the permitted radial forces from the permitted breakdown torque M 2kN and M 2k,acc . The<br />

actual radial forces may not exceed the permitted radial forces. The permitted radial forces are in relation to<br />

the end of the hollow shaft (x2 = 0).<br />

M<br />

2k,acc*<br />

( )<br />

2 × F × y + F × x + z<br />

2ax* 2 2rad,acc* 2 2<br />

= £<br />

1000<br />

M<br />

2k,acc<br />

For applications with multiple axial and/or radial forces, you must add the forces as vectors.<br />

In the event of EMERGENCY OFF operation (max. 1000 load changes), you can multiply the permitted forces<br />

and torques for F 2ax100 , F 2rad100 and M 2k100 by a factor of two.<br />

Also note the calculation for equivalent values:<br />

M<br />

2k,eq*<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2k,acc,1* 2m,n* n* 2k,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

M<br />

2kN<br />

F<br />

F<br />

2rad,eq*<br />

2ax,eq*<br />

n × t × F + ... + n × t × F<br />

3 3<br />

2m,1* 1* 2rad,acc,1* 2m,n* n* 2rad,acc,n*<br />

= 3<br />

£<br />

£ F<br />

2axN<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

F<br />

2radN<br />

The following apply to the bearing service life L 10h (ED 20 ≤ 40%):<br />

L 10h > 10000 h with 1 < M 2kN /M 2k* < 1.25<br />

L 10h > 20000 h with 1.25 < M 2kN /M 2k* < 1.5<br />

L 10h > 30000 h with 1.5 < M 2kN /M 2k*<br />

106


5 PHA planetary geared motors 5.7 Additional documentation<br />

For different duty cycles:<br />

L<br />

40%<br />

> L ×<br />

ED<br />

10h 10h(ED20<br />

= 40%)<br />

20<br />

5.6.3 Radial shaft seal rings<br />

5.6.4 Reverse operation<br />

Leak-proofness<br />

Our gear units are equipped with high-quality radial shaft seal rings and checked for leak-proofness. However,<br />

a leak cannot be fully ruled out over the length of use of a gear unit. If you use a gear unit with goods<br />

incompatible with the lubricant, you must take measures to prevent direct contact with the gear unit lubricant<br />

in case of a leak.<br />

To ensure lubrication of circulating geared parts during cyclic reverse operation from ± 20° to ± 90°, pay<br />

careful attention to the position of the output shaft if the gear unit is installed horizontally as shown in the<br />

images below.<br />

The images show the center position of reverse operation.<br />

Cyclic reverse operation ≤ ± 20° on request.<br />

Sizes 3, 4, 5, 8 Size 7 Sizes 9, 10<br />

1 Position of the positioning hole:<br />

bottom<br />

1 Position of the positioning hole:<br />

as shown in the image<br />

1 Position of the fastening thread:<br />

as shown in the image<br />

5.7 Additional documentation<br />

Additional documentation related to the product can be found at http://www.stoeber.de/en/download<br />

Enter the ID of the documentation in the Search... field.<br />

Documentation<br />

ID<br />

Operating manual for P/PA/PE/PH/PHA/PHQ/PHQA/PHV/PHVA planetary 443029_en<br />

gear units and planetary geared motors<br />

Lubricant filling quantities for gear units 441871<br />

107


108<br />

5.7 Additional documentation 5 PHA planetary geared motors


6 PHQ planetary geared motors<br />

Table of contents<br />

6.1 Overview........................................................................................................................................................................... 110<br />

6.2 Selection tables ................................................................................................................................................................ 111<br />

6.3 Dimensional drawings ...................................................................................................................................................... 117<br />

6.3.1 F shaft design (flange shaft) ................................................................................................................................................. 118<br />

6.4 Type designation .............................................................................................................................................................. 120<br />

6.5 Product description........................................................................................................................................................... 120<br />

6.5.1 Installation conditions.......................................................................................................................................................... 120<br />

6.5.2 Mounting positions .............................................................................................................................................................. 120<br />

6.5.3 Lubricants............................................................................................................................................................................. 121<br />

6.5.4 Other product features ........................................................................................................................................................ 121<br />

6.5.5 Direction of rotation ............................................................................................................................................................ 121<br />

6.6 Project configuration......................................................................................................................................................... 121<br />

6.6.1 Calculation of the operating point ....................................................................................................................................... 121<br />

6.6.2 Permitted shaft loads for the output shaft .......................................................................................................................... 124<br />

6.6.3 Recommendation for radial shaft seal rings ........................................................................................................................ 125<br />

6.6.4 Reverse operation................................................................................................................................................................ 125<br />

6.7 Additional documentation ................................................................................................................................................. 126<br />

109


6 Planetary geared motors PHQ<br />

6.1 Overview<br />

Quattro-Power for maximum power density<br />

Features<br />

Power density<br />

★★★★★<br />

Backlash<br />

★★★★☆<br />

Price category €€€€<br />

Shaft load<br />

★★★★★<br />

Smooth operation<br />

★★★★☆<br />

Torsional stiffness<br />

★★★★★<br />

Mass moment of inertia<br />

★★★★★<br />

Helical gearing<br />

✓<br />

Maintenance-free<br />

✓<br />

Any mounting position (single/two stage)<br />

✓<br />

High power density<br />

✓<br />

Continuous operation without cooling<br />

✓<br />

Stiff output bearing due to pretension<br />

✓<br />

Compact and highly dynamic due to direct motor ✓<br />

attachment<br />

Key: ★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Technical data<br />

i 5.5 – 600<br />

M 2acc<br />

84 – 22000 Nm<br />

Δφ 2<br />

3 arcmin<br />

η get ≤ 96 %<br />

110


6 PHQ planetary geared motors 6.2 Selection tables<br />

6.2 Selection tables<br />

The technical data specified in the selection tables applies to:<br />

• Installation altitudes up to 1000 m above sea level<br />

• Surrounding temperatures from 0 °C to 40 °C<br />

• Drives with convection-cooled motors (e.g. EZ401U)<br />

You can calculate the technical data for drives with forced ventilated motors (for example EZ401B) at http://<br />

products.stoeber.de.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQ4 (n 1N = 3000 rpm, M 2acc,max = 170 Nm)<br />

55 48 49 0.6 2.5 PHQ422_0550 EZ301U 140 300 55.00 55/1 4500 8000 0.21 3 35 5.3<br />

55 81 86 1.0 1.5 PHQ422_0550 EZ302U 170 300 55.00 55/1 4500 8000 0.31 3 35 5.9<br />

55 106 112 1.4 1.1 PHQ422_0550 EZ303U 170 300 55.00 55/1 4500 8000 0.42 3 35 6.4<br />

78 33 34 0.7 3.6 PHQ422_0390 EZ301U 100 300 38.50 77/2 4500 8000 0.24 3 37 5.3<br />

78 57 60 1.3 2.1 PHQ422_0390 EZ302U 170 300 38.50 77/2 4500 8000 0.34 3 37 5.9<br />

78 74 78 1.6 1.6 PHQ422_0390 EZ303U 170 300 38.50 77/2 4500 8000 0.45 3 37 6.4<br />

78 100 107 2.2 1.2 PHQ422_0390 EZ401U 170 300 38.50 77/2 4500 8000 0.98 3 37 7.8<br />

109 41 43 1.5 3.0 PHQ422_0280 EZ302U 130 300 27.50 55/2 4000 7000 0.38 3 37 5.9<br />

109 53 56 1.9 2.3 PHQ422_0280 EZ303U 170 300 27.50 55/2 4000 7000 0.49 3 37 6.4<br />

109 72 77 2.6 1.7 PHQ422_0280 EZ401U 170 300 27.50 55/2 4000 7000 1.0 3 37 7.8<br />

109 110 120 4.0 1.1 PHQ422_0280 EZ501U 170 300 27.50 55/2 4000 7000 3.0 3 37 8.8<br />

136 33 34 1.7 3.7 PHQ422_0220 EZ302U 100 300 22.00 22/1 3700 6500 0.44 3 37 5.9<br />

136 42 45 2.2 2.8 PHQ422_0220 EZ303U 140 300 22.00 22/1 3700 6500 0.55 3 37 6.4<br />

136 57 61 2.9 2.1 PHQ422_0220 EZ401U 170 300 22.00 22/1 3700 6500 1.1 3 37 7.8<br />

136 88 96 4.5 1.4 PHQ422_0220 EZ501U 170 300 22.00 22/1 3700 6500 3.1 3 37 8.8<br />

136 96 106 4.9 1.2 PHQ422_0220 EZ402U 170 300 22.00 22/1 3700 6500 1.8 3 37 8.9<br />

545 23 25 4.8 4.2 PHQ421_0055 EZ501U 84 300 5.500 11/2 2000 6000 3.2 3 42 7.5<br />

545 25 27 5.2 3.8 PHQ421_0055 EZ402U 84 300 5.500 11/2 2000 6000 1.9 3 42 7.6<br />

545 36 45 7.7 2.6 PHQ421_0055 EZ404U 150 300 5.500 11/2 2000 6000 3.2 3 42 9.7<br />

545 39 42 8.2 2.4 PHQ421_0055 EZ502U 160 300 5.500 11/2 2000 6000 5.5 3 42 9.0<br />

545 51 59 11 1.9 PHQ421_0055 EZ503U 170 300 5.500 11/2 2000 6000 7.8 3 42 11<br />

545 71 84 15 1.3 PHQ421_0055 EZ505U 170 300 5.500 11/2 2000 6000 12 3 42 13<br />

PHQ4 (n 1N = 6000 rpm, M 2acc,max = 170 Nm)<br />

109 46 49 0.6 2.4 PHQ422_0550 EZ301U 140 300 55.00 55/1 4500 8000 0.21 3 35 5.3<br />

109 77 86 1.1 1.4 PHQ422_0550 EZ302U 170 300 55.00 55/1 4500 8000 0.31 3 35 5.9<br />

109 100 115 1.4 1.1 PHQ422_0550 EZ303U 170 300 55.00 55/1 4500 8000 0.42 3 35 6.4<br />

156 32 34 0.7 3.8 PHQ422_0390 EZ301U 100 300 38.50 77/2 4500 8000 0.24 3 37 5.3<br />

156 54 60 1.2 2.2 PHQ422_0390 EZ302U 170 300 38.50 77/2 4500 8000 0.34 3 37 5.9<br />

156 70 81 1.5 1.7 PHQ422_0390 EZ303U 170 300 38.50 77/2 4500 8000 0.45 3 37 6.4<br />

156 82 100 1.8 1.5 PHQ422_0390 EZ401U 170 300 38.50 77/2 4500 8000 0.98 3 37 7.8<br />

218 38 43 1.4 3.1 PHQ422_0280 EZ302U 130 300 27.50 55/2 4000 7000 0.38 3 37 5.9<br />

218 50 58 1.8 2.4 PHQ422_0280 EZ303U 170 300 27.50 55/2 4000 7000 0.49 3 37 6.4<br />

218 59 72 2.1 2.0 PHQ422_0280 EZ401U 170 300 27.50 55/2 4000 7000 1.0 3 37 7.8<br />

218 87 113 3.2 1.4 PHQ422_0280 EZ501U 170 300 27.50 55/2 4000 7000 3.0 3 37 8.8<br />

218 90 125 3.3 1.3 PHQ422_0280 EZ402U 170 300 27.50 55/2 4000 7000 1.7 3 37 8.9<br />

273 31 34 1.6 3.9 PHQ422_0220 EZ302U 100 300 22.00 22/1 3700 6500 0.44 3 37 5.9<br />

273 40 46 2.0 3.0 PHQ422_0220 EZ303U 140 300 22.00 22/1 3700 6500 0.55 3 37 6.4<br />

273 47 57 2.4 2.6 PHQ422_0220 EZ401U 170 300 22.00 22/1 3700 6500 1.1 3 37 7.8<br />

273 70 90 3.5 1.7 PHQ422_0220 EZ501U 170 300 22.00 22/1 3700 6500 3.1 3 37 8.8<br />

273 72 100 3.6 1.7 PHQ422_0220 EZ402U 170 300 22.00 22/1 3700 6500 1.8 3 37 8.9<br />

1091 18 23 4.8 4.2 PHQ421_0055 EZ501U 84 300 5.500 11/2 2000 6000 3.2 3 42 7.5<br />

1091 18 26 4.9 4.1 PHQ421_0055 EZ402U 84 300 5.500 11/2 2000 6000 1.9 3 42 7.6<br />

1091 27 41 7.3 2.8 PHQ421_0055 EZ502U 160 300 5.500 11/2 2000 6000 5.5 3 42 9.0<br />

1091 31 44 8.1 2.5 PHQ421_0055 EZ404U 150 300 5.500 11/2 2000 6000 3.2 3 42 9.7<br />

1091 33 56 8.7 2.3 PHQ421_0055 EZ503U 170 300 5.500 11/2 2000 6000 7.8 3 42 11<br />

PHQ5 (n 1N = 3000 rpm, M 2acc,max = 430 Nm)<br />

55 143 153 0.9 1.9 PHQ522_0550 EZ401U 430 800 55.00 55/1 4000 7000 0.97 3 87 11<br />

55 220 240 1.4 1.3 PHQ522_0550 EZ501U 430 800 55.00 55/1 4000 7000 2.9 3 87 12<br />

55 240 266 1.5 1.2 PHQ522_0550 EZ402U 430 800 55.00 55/1 4000 7000 1.7 3 87 12<br />

78 100 107 1.0 2.8 PHQ522_0390 EZ401U 300 800 38.50 77/2 4000 7000 1.0 3 92 11<br />

78 154 168 1.6 1.8 PHQ522_0390 EZ501U 430 800 38.50 77/2 4000 7000 3.0 3 92 12<br />

78 168 186 1.8 1.7 PHQ522_0390 EZ402U 430 800 38.50 77/2 4000 7000 1.7 3 92 12<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

111


6.2 Selection tables 6 PHQ planetary geared motors<br />

112<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQ5 (n 1N = 3000 rpm, M 2acc,max = 430 Nm)<br />

78 247 308 2.6 1.1 PHQ522_0390 EZ404U 430 800 38.50 77/2 4000 7000 3.1 3 92 14<br />

78 265 286 2.8 1.1 PHQ522_0390 EZ502U 430 800 38.50 77/2 4000 7000 5.3 3 92 13<br />

109 72 77 1.2 3.9 PHQ522_0280 EZ401U 220 800 27.50 55/2 3700 6500 1.1 3 94 11<br />

109 110 120 1.9 2.5 PHQ522_0280 EZ501U 410 800 27.50 55/2 3700 6500 3.1 3 94 12<br />

109 120 133 2.1 2.3 PHQ522_0280 EZ402U 410 800 27.50 55/2 3700 6500 1.8 3 94 12<br />

109 176 220 3.1 1.6 PHQ522_0280 EZ404U 430 800 27.50 55/2 3700 6500 3.2 3 94 14<br />

109 189 205 3.3 1.5 PHQ522_0280 EZ502U 430 800 27.50 55/2 3700 6500 5.4 3 94 13<br />

109 189 212 3.3 1.5 PHQ522_0280 EZ701U 430 800 27.50 55/2 3700 6500 8.7 3 94 15<br />

109 248 284 4.3 1.1 PHQ522_0280 EZ503U 430 800 27.50 55/2 3700 6500 7.8 3 94 15<br />

136 57 61 1.4 4.9 PHQ522_0220 EZ401U 170 800 22.00 22/1 3300 6000 1.2 3 95 11<br />

136 88 96 2.1 3.2 PHQ522_0220 EZ501U 330 800 22.00 22/1 3300 6000 3.2 3 95 12<br />

136 96 106 2.3 2.9 PHQ522_0220 EZ402U 330 800 22.00 22/1 3300 6000 1.9 3 95 12<br />

136 141 176 3.4 2.0 PHQ522_0220 EZ404U 430 800 22.00 22/1 3300 6000 3.3 3 95 14<br />

136 151 164 3.7 1.8 PHQ522_0220 EZ502U 430 800 22.00 22/1 3300 6000 5.5 3 95 13<br />

136 151 170 3.7 1.8 PHQ522_0220 EZ701U 410 800 22.00 22/1 3300 6000 8.8 3 95 15<br />

136 198 227 4.8 1.4 PHQ522_0220 EZ503U 430 800 22.00 22/1 3300 6000 7.9 3 95 15<br />

136 246 295 6.0 1.1 PHQ522_0220 EZ702U 430 800 22.00 22/1 3300 6000 14 3 95 18<br />

136 276 327 6.7 1.0 PHQ522_0220 EZ505U 430 800 22.00 22/1 3300 6000 12 3 95 18<br />

545 63 76 6.4 3.5 PHQ521_0055 EZ702U 220 800 5.500 11/2 2500 5500 15 3 107 15<br />

545 71 84 7.2 3.1 PHQ521_0055 EZ505U 350 800 5.500 11/2 2500 5500 13 3 107 15<br />

545 87 110 8.8 2.6 PHQ521_0055 EZ703U 340 800 5.500 11/2 2500 5500 22 3 107 17<br />

545 112 159 11 2.0 PHQ521_0055 EZ705U 430 800 5.500 11/2 2500 5500 35 3 107 23<br />

PHQ5 (n 1N = 4500 rpm, M 2acc,max = 430 Nm)<br />

205 194 313 4.7 1.4 PHQ522_0220 EZ505U 430 800 22.00 22/1 3300 6000 12 3 95 18<br />

818 50 81 5.8 3.9 PHQ521_0055 EZ505U 350 800 5.500 11/2 2500 5500 13 3 107 15<br />

818 64 106 7.3 3.0 PHQ521_0055 EZ703U 340 800 5.500 11/2 2500 5500 22 3 107 17<br />

818 87 158 10 2.2 PHQ521_0055 EZ705U 430 800 5.500 11/2 2500 5500 35 3 107 23<br />

PHQ5 (n 1N = 6000 rpm, M 2acc,max = 430 Nm)<br />

109 118 143 0.9 1.9 PHQ522_0550 EZ401U 430 800 55.00 55/1 4000 7000 0.97 3 87 11<br />

109 174 225 1.4 1.3 PHQ522_0550 EZ501U 430 800 55.00 55/1 4000 7000 2.9 3 87 12<br />

109 179 251 1.4 1.2 PHQ522_0550 EZ402U 430 800 55.00 55/1 4000 7000 1.7 3 87 12<br />

156 82 100 0.9 3.4 PHQ522_0390 EZ401U 300 800 38.50 77/2 4000 7000 1.0 3 92 11<br />

156 122 158 1.3 2.3 PHQ522_0390 EZ501U 430 800 38.50 77/2 4000 7000 3.0 3 92 12<br />

156 125 175 1.3 2.2 PHQ522_0390 EZ402U 430 800 38.50 77/2 4000 7000 1.7 3 92 12<br />

156 186 279 1.9 1.5 PHQ522_0390 EZ502U 430 800 38.50 77/2 4000 7000 5.3 3 92 13<br />

156 208 301 2.2 1.3 PHQ522_0390 EZ404U 430 800 38.50 77/2 4000 7000 3.1 3 92 14<br />

218 59 72 1.0 4.8 PHQ522_0280 EZ401U 220 800 27.50 55/2 3700 6500 1.1 3 94 11<br />

218 87 113 1.5 3.2 PHQ522_0280 EZ501U 410 800 27.50 55/2 3700 6500 3.1 3 94 12<br />

218 90 125 1.6 3.1 PHQ522_0280 EZ402U 410 800 27.50 55/2 3700 6500 1.8 3 94 12<br />

218 133 199 2.3 2.1 PHQ522_0280 EZ502U 430 800 27.50 55/2 3700 6500 5.4 3 94 13<br />

218 133 202 2.3 2.1 PHQ522_0280 EZ701U 430 800 27.50 55/2 3700 6500 8.7 3 94 15<br />

218 148 215 2.6 1.9 PHQ522_0280 EZ404U 430 800 27.50 55/2 3700 6500 3.2 3 94 14<br />

218 159 271 2.7 1.8 PHQ522_0280 EZ503U 430 800 27.50 55/2 3700 6500 7.8 3 94 15<br />

273 70 90 1.7 4.0 PHQ522_0220 EZ501U 330 800 22.00 22/1 3300 6000 3.2 3 95 12<br />

273 72 100 1.7 3.9 PHQ522_0220 EZ402U 330 800 22.00 22/1 3300 6000 1.9 3 95 12<br />

273 106 160 2.6 2.6 PHQ522_0220 EZ502U 430 800 22.00 22/1 3300 6000 5.5 3 95 13<br />

273 106 162 2.6 2.6 PHQ522_0220 EZ701U 410 800 22.00 22/1 3300 6000 8.8 3 95 15<br />

273 119 172 2.9 2.4 PHQ522_0220 EZ404U 430 800 22.00 22/1 3300 6000 3.3 3 95 14<br />

273 127 217 3.1 2.2 PHQ522_0220 EZ503U 430 800 22.00 22/1 3300 6000 7.9 3 95 15<br />

273 147 293 3.6 1.9 PHQ522_0220 EZ702U 430 800 22.00 22/1 3300 6000 14 3 95 18<br />

PHQ7 (n 1N = 2000 rpm, M 2acc,max = 950 Nm)<br />

364 231 349 9.5 2.8 PHQ721_0055 EZ805U 950 1700 5.500 11/2 2200 5000 135 3 235 55<br />

PHQ7 (n 1N = 3000 rpm, M 2acc,max = 950 Nm)<br />

14 554 594 0.2 1.2 PHQ723_2200 EZ401U 950 1700 220.0 220/1 4000 7000 0.99 3 202 19<br />

16 485 520 0.2 1.3 PHQ723_1930 EZ401U 950 1700 192.5 385/2 4000 7000 1.0 3 203 19<br />

19 388 416 0.3 1.7 PHQ723_1540 EZ401U 950 1700 154.0 154/1 4000 7000 1.0 3 203 19<br />

19 596 651 0.4 1.1 PHQ723_1540 EZ501U 950 1700 154.0 154/1 4000 7000 3.0 3 203 20<br />

22 347 371 0.3 1.9 PHQ723_1380 EZ401U 950 1700 137.5 275/2 3700 6500 1.2 3 204 19<br />

22 532 582 0.4 1.2 PHQ723_1380 EZ501U 950 1700 137.5 275/2 3700 6500 3.1 3 204 20<br />

22 582 644 0.5 1.1 PHQ723_1380 EZ402U 950 1700 137.5 275/2 3700 6500 1.9 3 204 20<br />

27 277 297 0.3 2.3 PHQ723_1100 EZ401U 840 1700 110.0 110/1 3300 6000 1.3 3 204 19<br />

27 426 465 0.5 1.5 PHQ723_1100 EZ501U 950 1700 110.0 110/1 3300 6000 3.3 3 204 20<br />

27 465 515 0.5 1.4 PHQ723_1100 EZ402U 950 1700 110.0 110/1 3300 6000 2.0 3 204 20<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


6 PHQ planetary geared motors 6.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQ7 (n 1N = 3000 rpm, M 2acc,max = 950 Nm)<br />

34 222 238 0.3 2.9 PHQ723_0880 EZ401U 670 1700 88.00 88/1 3300 6000 1.3 3 204 19<br />

34 341 372 0.5 1.9 PHQ723_0880 EZ501U 950 1700 88.00 88/1 3300 6000 3.3 3 204 20<br />

34 372 412 0.6 1.7 PHQ723_0880 EZ402U 950 1700 88.00 88/1 3300 6000 2.0 3 204 20<br />

34 546 681 0.9 1.2 PHQ723_0880 EZ404U 950 1700 88.00 88/1 3300 6000 3.4 3 204 22<br />

34 586 634 0.9 1.1 PHQ723_0880 EZ502U 950 1700 88.00 88/1 3300 6000 5.6 3 204 22<br />

34 586 657 0.9 1.1 PHQ723_0880 EZ701U 950 1700 88.00 88/1 3300 6000 8.9 3 204 23<br />

55 220 240 0.7 2.9 PHQ722_0550 EZ501U 820 1700 55.00 55/1 3700 6500 3.1 3 195 18<br />

55 379 409 1.2 1.7 PHQ722_0550 EZ502U 950 1700 55.00 55/1 3700 6500 5.4 3 195 19<br />

55 379 425 1.2 1.7 PHQ722_0550 EZ701U 950 1700 55.00 55/1 3700 6500 8.7 3 195 21<br />

55 496 568 1.6 1.3 PHQ722_0550 EZ503U 950 1700 55.00 55/1 3700 6500 7.8 3 195 21<br />

78 154 168 0.8 4.2 PHQ722_0390 EZ501U 570 1700 38.50 77/2 3700 6500 3.3 3 203 18<br />

78 265 286 1.4 2.5 PHQ722_0390 EZ502U 950 1700 38.50 77/2 3700 6500 5.6 3 203 19<br />

78 265 297 1.4 2.5 PHQ722_0390 EZ701U 720 1700 38.50 77/2 3700 6500 8.9 3 203 21<br />

78 347 397 1.9 1.9 PHQ722_0390 EZ503U 950 1700 38.50 77/2 3700 6500 8.0 3 203 21<br />

78 430 516 2.3 1.5 PHQ722_0390 EZ702U 950 1700 38.50 77/2 3700 6500 14 3 203 23<br />

78 483 573 2.6 1.3 PHQ722_0390 EZ505U 950 1700 38.50 77/2 3700 6500 13 3 203 23<br />

109 189 205 1.7 3.4 PHQ722_0280 EZ502U 790 1700 27.50 55/2 3500 6000 5.9 3 206 19<br />

109 189 212 1.7 3.4 PHQ722_0280 EZ701U 510 1700 27.50 55/2 3500 6000 9.2 3 206 21<br />

109 248 284 2.2 2.6 PHQ722_0280 EZ503U 950 1700 27.50 55/2 3500 6000 8.3 3 206 21<br />

109 307 368 2.8 2.1 PHQ722_0280 EZ702U 950 1700 27.50 55/2 3500 6000 14 3 206 23<br />

109 345 409 3.1 1.9 PHQ722_0280 EZ505U 950 1700 27.50 55/2 3500 6000 13 3 206 23<br />

109 422 532 3.8 1.5 PHQ722_0280 EZ703U 950 1700 27.50 55/2 3500 6000 22 3 206 25<br />

136 151 164 1.9 4.3 PHQ722_0220 EZ502U 630 1700 22.00 22/1 3000 5000 6.4 3 207 19<br />

136 151 170 1.9 4.3 PHQ722_0220 EZ701U 410 1700 22.00 22/1 3000 5000 9.7 3 207 21<br />

136 198 227 2.5 3.3 PHQ722_0220 EZ503U 880 1700 22.00 22/1 3000 5000 8.8 3 207 21<br />

136 246 295 3.1 2.6 PHQ722_0220 EZ702U 840 1700 22.00 22/1 3000 5000 15 3 207 23<br />

136 276 327 3.5 2.4 PHQ722_0220 EZ505U 950 1700 22.00 22/1 3000 5000 13 3 207 23<br />

136 338 426 4.2 1.9 PHQ722_0220 EZ703U 950 1700 22.00 22/1 3000 5000 23 3 207 25<br />

136 436 618 5.5 1.5 PHQ722_0220 EZ705U 950 1700 22.00 22/1 3000 5000 35 3 207 31<br />

545 118 196 5.6 4.8 PHQ721_0055 EZ802U 530 1700 5.500 11/2 2200 5000 61 3 235 36<br />

545 140 254 6.6 4.0 PHQ721_0055 EZ803U 770 1700 5.500 11/2 2200 5000 86 3 235 42<br />

PHQ7 (n 1N = 4500 rpm, M 2acc,max = 950 Nm)<br />

117 340 548 1.8 1.9 PHQ722_0390 EZ505U 950 1700 38.50 77/2 3700 6500 13 3 203 23<br />

117 433 716 2.3 1.5 PHQ722_0390 EZ703U 950 1700 38.50 77/2 3700 6500 22 3 203 25<br />

164 243 391 2.2 2.7 PHQ722_0280 EZ505U 950 1700 27.50 55/2 3500 6000 13 3 206 23<br />

164 309 512 2.8 2.1 PHQ722_0280 EZ703U 950 1700 27.50 55/2 3500 6000 22 3 206 25<br />

205 194 313 2.4 3.3 PHQ722_0220 EZ505U 950 1700 22.00 22/1 3000 5000 13 3 207 23<br />

205 215 706 2.7 3.0 PHQ722_0220 EZ802U 950 1700 22.00 22/1 3000 5000 59 3 207 39<br />

205 248 409 3.1 2.6 PHQ722_0220 EZ703U 950 1700 22.00 22/1 3000 5000 23 3 207 25<br />

205 336 614 4.2 1.9 PHQ722_0220 EZ705U 950 1700 22.00 22/1 3000 5000 35 3 207 31<br />

PHQ7 (n 1N = 6000 rpm, M 2acc,max = 950 Nm)<br />

22 569 693 0.2 1.1 PHQ723_2750 EZ401U 950 1700 275.0 275/1 4000 7000 0.99 3 202 19<br />

27 455 554 0.2 1.4 PHQ723_2200 EZ401U 950 1700 220.0 220/1 4000 7000 0.99 3 202 19<br />

31 398 485 0.2 1.6 PHQ723_1930 EZ401U 950 1700 192.5 385/2 4000 7000 1.0 3 203 19<br />

39 319 388 0.2 2.0 PHQ723_1540 EZ401U 950 1700 154.0 154/1 4000 7000 1.0 3 203 19<br />

39 471 610 0.3 1.4 PHQ723_1540 EZ501U 950 1700 154.0 154/1 4000 7000 3.0 3 203 20<br />

39 485 679 0.3 1.3 PHQ723_1540 EZ402U 950 1700 154.0 154/1 4000 7000 1.7 3 203 20<br />

44 285 347 0.2 2.3 PHQ723_1380 EZ401U 950 1700 137.5 275/2 3700 6500 1.2 3 204 19<br />

44 421 545 0.3 1.5 PHQ723_1380 EZ501U 950 1700 137.5 275/2 3700 6500 3.1 3 204 20<br />

44 433 606 0.3 1.5 PHQ723_1380 EZ402U 950 1700 137.5 275/2 3700 6500 1.9 3 204 20<br />

55 228 277 0.3 2.9 PHQ723_1100 EZ401U 840 1700 110.0 110/1 3300 6000 1.3 3 204 19<br />

55 337 436 0.4 1.9 PHQ723_1100 EZ501U 950 1700 110.0 110/1 3300 6000 3.3 3 204 20<br />

55 347 485 0.4 1.9 PHQ723_1100 EZ402U 950 1700 110.0 110/1 3300 6000 2.0 3 204 20<br />

68 182 222 0.3 3.6 PHQ723_0880 EZ401U 670 1700 88.00 88/1 3300 6000 1.3 3 204 19<br />

68 269 348 0.4 2.4 PHQ723_0880 EZ501U 950 1700 88.00 88/1 3300 6000 3.3 3 204 20<br />

68 277 388 0.4 2.3 PHQ723_0880 EZ402U 950 1700 88.00 88/1 3300 6000 2.0 3 204 20<br />

68 412 618 0.6 1.6 PHQ723_0880 EZ502U 950 1700 88.00 88/1 3300 6000 5.6 3 204 22<br />

68 412 626 0.6 1.6 PHQ723_0880 EZ701U 950 1700 88.00 88/1 3300 6000 8.9 3 204 23<br />

68 459 665 0.7 1.4 PHQ723_0880 EZ404U 950 1700 88.00 88/1 3300 6000 3.4 3 204 22<br />

109 174 225 0.7 2.9 PHQ722_0550 EZ501U 820 1700 55.00 55/1 3700 6500 3.1 3 195 18<br />

109 266 399 1.1 1.9 PHQ722_0550 EZ502U 950 1700 55.00 55/1 3700 6500 5.4 3 195 19<br />

109 266 404 1.1 1.9 PHQ722_0550 EZ701U 950 1700 55.00 55/1 3700 6500 8.7 3 195 21<br />

109 317 542 1.3 1.6 PHQ722_0550 EZ503U 950 1700 55.00 55/1 3700 6500 7.8 3 195 21<br />

109 368 731 1.5 1.4 PHQ722_0550 EZ702U 950 1700 55.00 55/1 3700 6500 14 3 195 23<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

113


6.2 Selection tables 6 PHQ planetary geared motors<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQ7 (n 1N = 6000 rpm, M 2acc,max = 950 Nm)<br />

156 186 279 1.0 3.5 PHQ722_0390 EZ502U 950 1700 38.50 77/2 3700 6500 5.6 3 203 19<br />

156 186 283 1.0 3.5 PHQ722_0390 EZ701U 720 1700 38.50 77/2 3700 6500 8.9 3 203 21<br />

156 222 380 1.2 2.9 PHQ722_0390 EZ503U 950 1700 38.50 77/2 3700 6500 8.0 3 203 21<br />

156 258 512 1.4 2.5 PHQ722_0390 EZ702U 950 1700 38.50 77/2 3700 6500 14 3 203 23<br />

218 133 199 1.2 4.9 PHQ722_0280 EZ502U 790 1700 27.50 55/2 3500 6000 5.9 3 206 19<br />

218 133 202 1.2 4.9 PHQ722_0280 EZ701U 510 1700 27.50 55/2 3500 6000 9.2 3 206 21<br />

218 159 271 1.4 4.1 PHQ722_0280 EZ503U 950 1700 27.50 55/2 3500 6000 8.3 3 206 21<br />

218 184 366 1.7 3.5 PHQ722_0280 EZ702U 950 1700 27.50 55/2 3500 6000 14 3 206 23<br />

PHQ8 (n 1N = 2000 rpm, M 2acc,max = 2600 Nm)<br />

73 1118 1691 4.1 1.5 PHQ822_0280 EZ805U 2600 4000 27.50 55/2 3000 5500 135 3 656 82<br />

91 894 1352 4.6 1.9 PHQ822_0220 EZ805U 2600 4000 22.00 22/1 2500 4500 137 3 661 82<br />

PHQ8 (n 1N = 3000 rpm, M 2acc,max = 2600 Nm)<br />

7.8 1490 1629 0.1 1.1 PHQ823_3850 EZ501U 2600 4000 385.0 385/1 3700 6500 3.1 3 635 46<br />

11 1064 1163 0.1 1.6 PHQ823_2750 EZ501U 2600 4000 275.0 275/1 3700 6500 3.1 3 643 46<br />

14 851 931 0.1 2.0 PHQ823_2200 EZ501U 2600 4000 220.0 220/1 3700 6500 3.1 3 641 46<br />

14 1465 1584 0.2 1.2 PHQ823_2200 EZ502U 2600 4000 220.0 220/1 3700 6500 5.4 3 641 47<br />

14 1465 1643 0.2 1.2 PHQ823_2200 EZ701U 2600 4000 220.0 220/1 3700 6500 8.7 3 641 49<br />

16 745 814 0.1 2.3 PHQ823_1930 EZ501U 2600 4000 192.5 385/2 3700 6500 3.3 3 645 46<br />

16 1282 1386 0.3 1.3 PHQ823_1930 EZ502U 2600 4000 192.5 385/2 3700 6500 5.6 3 645 47<br />

16 1282 1438 0.3 1.3 PHQ823_1930 EZ701U 2600 4000 192.5 385/2 3700 6500 8.9 3 645 49<br />

16 1681 1923 0.3 1.0 PHQ823_1930 EZ503U 2600 4000 192.5 385/2 3700 6500 8.0 3 645 49<br />

19 596 651 0.2 2.9 PHQ823_1540 EZ501U 2220 4000 154.0 154/1 3700 6500 3.3 3 645 46<br />

19 1026 1109 0.3 1.7 PHQ823_1540 EZ502U 2600 4000 154.0 154/1 3700 6500 5.6 3 645 47<br />

19 1026 1150 0.3 1.7 PHQ823_1540 EZ701U 2600 4000 154.0 154/1 3700 6500 8.9 3 645 49<br />

19 1344 1538 0.4 1.3 PHQ823_1540 EZ503U 2600 4000 154.0 154/1 3700 6500 8.0 3 645 49<br />

19 1663 1996 0.5 1.0 PHQ823_1540 EZ702U 2600 4000 154.0 154/1 3700 6500 14 3 645 51<br />

22 532 582 0.2 3.2 PHQ823_1380 EZ501U 1980 4000 137.5 275/2 3500 6000 3.6 3 646 46<br />

22 916 990 0.3 1.9 PHQ823_1380 EZ502U 2600 4000 137.5 275/2 3500 6000 5.9 3 646 47<br />

22 916 1027 0.3 1.9 PHQ823_1380 EZ701U 2480 4000 137.5 275/2 3500 6000 9.2 3 646 49<br />

22 1200 1374 0.4 1.4 PHQ823_1380 EZ503U 2600 4000 137.5 275/2 3500 6000 8.3 3 646 49<br />

22 1485 1782 0.5 1.1 PHQ823_1380 EZ702U 2600 4000 137.5 275/2 3500 6000 14 3 646 51<br />

22 1671 1980 0.6 1.0 PHQ823_1380 EZ505U 2600 4000 137.5 275/2 3500 6000 13 3 646 51<br />

27 426 465 0.2 4.0 PHQ823_1100 EZ501U 1580 4000 110.0 110/1 3000 5000 4.1 3 647 46<br />

27 733 792 0.3 2.3 PHQ823_1100 EZ502U 2600 4000 110.0 110/1 3000 5000 6.4 3 647 47<br />

27 733 822 0.3 2.3 PHQ823_1100 EZ701U 1980 4000 110.0 110/1 3000 5000 9.7 3 647 49<br />

27 960 1099 0.4 1.8 PHQ823_1100 EZ503U 2600 4000 110.0 110/1 3000 5000 8.8 3 647 49<br />

27 1188 1426 0.6 1.4 PHQ823_1100 EZ702U 2600 4000 110.0 110/1 3000 5000 15 3 647 51<br />

27 1337 1584 0.6 1.3 PHQ823_1100 EZ505U 2600 4000 110.0 110/1 3000 5000 13 3 647 51<br />

34 341 372 0.2 5.0 PHQ823_0880 EZ501U 1270 4000 88.00 88/1 3000 5000 4.2 3 647 46<br />

34 586 634 0.4 2.9 PHQ823_0880 EZ502U 2460 4000 88.00 88/1 3000 5000 6.5 3 647 47<br />

34 586 657 0.4 2.9 PHQ823_0880 EZ701U 1580 4000 88.00 88/1 3000 5000 9.8 3 647 49<br />

34 768 879 0.5 2.2 PHQ823_0880 EZ503U 2600 4000 88.00 88/1 3000 5000 8.9 3 647 49<br />

34 950 1140 0.6 1.8 PHQ823_0880 EZ702U 2600 4000 88.00 88/1 3000 5000 15 3 647 51<br />

34 1069 1267 0.7 1.6 PHQ823_0880 EZ505U 2600 4000 88.00 88/1 3000 5000 13 3 647 51<br />

34 1307 1647 0.8 1.3 PHQ823_0880 EZ703U 2600 4000 88.00 88/1 3000 5000 23 3 647 53<br />

55 379 425 0.6 3.7 PHQ822_0550 EZ701U 1020 4000 55.00 55/1 3300 6000 9.2 3 615 44<br />

55 614 737 1.0 2.3 PHQ822_0550 EZ702U 2100 4000 55.00 55/1 3300 6000 14 3 615 47<br />

55 844 1064 1.4 1.6 PHQ822_0550 EZ703U 2600 4000 55.00 55/1 3300 6000 22 3 615 49<br />

55 1089 1545 1.8 1.3 PHQ822_0550 EZ705U 2600 4000 55.00 55/1 3300 6000 35 3 615 54<br />

55 1141 1898 1.8 1.2 PHQ822_0550 EZ802U 2600 4000 55.00 55/1 3300 6000 59 3 615 63<br />

78 430 516 1.0 4.0 PHQ822_0390 EZ702U 1470 4000 38.50 77/2 3300 6000 15 3 643 47<br />

78 591 745 1.3 2.9 PHQ822_0390 EZ703U 2330 4000 38.50 77/2 3300 6000 23 3 643 49<br />

78 763 1081 1.7 2.2 PHQ822_0390 EZ705U 2600 4000 38.50 77/2 3300 6000 35 3 643 54<br />

78 798 1328 1.8 2.1 PHQ822_0390 EZ802U 2600 4000 38.50 77/2 3300 6000 59 3 643 63<br />

109 422 532 1.6 4.0 PHQ822_0280 EZ703U 1660 4000 27.50 55/2 3000 5500 24 3 656 49<br />

109 545 772 2.0 3.1 PHQ822_0280 EZ705U 2600 4000 27.50 55/2 3000 5500 37 3 656 54<br />

109 570 949 2.1 3.0 PHQ822_0280 EZ802U 2560 4000 27.50 55/2 3000 5500 61 3 656 63<br />

109 680 1233 2.5 2.5 PHQ822_0280 EZ803U 2600 4000 27.50 55/2 3000 5500 86 3 656 69<br />

136 436 618 2.3 3.9 PHQ822_0220 EZ705U 2130 4000 22.00 22/1 2500 4500 38 3 661 54<br />

136 456 759 2.4 3.7 PHQ822_0220 EZ802U 2050 4000 22.00 22/1 2500 4500 63 3 661 63<br />

136 544 986 2.8 3.1 PHQ822_0220 EZ803U 2600 4000 22.00 22/1 2500 4500 88 3 661 69<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

114


6 PHQ planetary geared motors 6.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQ8 (n 1N = 4500 rpm, M 2acc,max = 2600 Nm)<br />

33 1176 1893 0.4 1.4 PHQ823_1380 EZ505U 2600 4000 137.5 275/2 3500 6000 13 3 646 51<br />

41 941 1515 0.4 1.8 PHQ823_1100 EZ505U 2600 4000 110.0 110/1 3000 5000 13 3 647 51<br />

41 1198 1980 0.6 1.4 PHQ823_1100 EZ703U 2600 4000 110.0 110/1 3000 5000 23 3 647 53<br />

51 752 1212 0.5 2.3 PHQ823_0880 EZ505U 2600 4000 88.00 88/1 3000 5000 13 3 647 51<br />

51 958 1584 0.6 1.8 PHQ823_0880 EZ703U 2600 4000 88.00 88/1 3000 5000 23 3 647 53<br />

82 537 1765 1.0 2.3 PHQ822_0550 EZ802U 2600 4000 55.00 55/1 3300 6000 59 3 615 63<br />

82 619 1023 1.1 2.0 PHQ822_0550 EZ703U 2600 4000 55.00 55/1 3300 6000 22 3 615 49<br />

82 839 1535 1.5 1.4 PHQ822_0550 EZ705U 2600 4000 55.00 55/1 3300 6000 35 3 615 54<br />

117 376 1235 0.8 4.5 PHQ822_0390 EZ802U 2600 4000 38.50 77/2 3300 6000 59 3 643 63<br />

117 433 716 1.0 3.9 PHQ822_0390 EZ703U 2330 4000 38.50 77/2 3300 6000 23 3 643 49<br />

117 587 1074 1.3 2.9 PHQ822_0390 EZ705U 2600 4000 38.50 77/2 3300 6000 35 3 643 54<br />

164 419 767 1.6 4.1 PHQ822_0280 EZ705U 2600 4000 27.50 55/2 3000 5500 37 3 656 54<br />

PHQ8 (n 1N = 6000 rpm, M 2acc,max = 2600 Nm)<br />

16 1178 1525 0.1 1.4 PHQ823_3850 EZ501U 2600 4000 385.0 385/1 3700 6500 3.1 3 635 46<br />

22 842 1089 0.1 2.0 PHQ823_2750 EZ501U 2600 4000 275.0 275/1 3700 6500 3.1 3 643 46<br />

22 1287 1931 0.2 1.3 PHQ823_2750 EZ502U 2600 4000 275.0 275/1 3700 6500 5.4 3 643 47<br />

22 1287 1955 0.2 1.3 PHQ823_2750 EZ701U 2600 4000 275.0 275/1 3700 6500 8.7 3 643 49<br />

27 673 871 0.1 2.5 PHQ823_2200 EZ501U 2600 4000 220.0 220/1 3700 6500 3.1 3 641 46<br />

27 1030 1544 0.2 1.7 PHQ823_2200 EZ502U 2600 4000 220.0 220/1 3700 6500 5.4 3 641 47<br />

27 1030 1564 0.2 1.7 PHQ823_2200 EZ701U 2600 4000 220.0 220/1 3700 6500 8.7 3 641 49<br />

31 589 762 0.1 2.9 PHQ823_1930 EZ501U 2600 4000 192.5 385/2 3700 6500 3.3 3 645 46<br />

31 901 1351 0.2 1.9 PHQ823_1930 EZ502U 2600 4000 192.5 385/2 3700 6500 5.6 3 645 47<br />

31 901 1369 0.2 1.9 PHQ823_1930 EZ701U 2600 4000 192.5 385/2 3700 6500 8.9 3 645 49<br />

31 1074 1836 0.2 1.6 PHQ823_1930 EZ503U 2600 4000 192.5 385/2 3700 6500 8.0 3 645 49<br />

39 471 610 0.1 3.6 PHQ823_1540 EZ501U 2220 4000 154.0 154/1 3700 6500 3.3 3 645 46<br />

39 721 1081 0.2 2.4 PHQ823_1540 EZ502U 2600 4000 154.0 154/1 3700 6500 5.6 3 645 47<br />

39 721 1095 0.2 2.4 PHQ823_1540 EZ701U 2600 4000 154.0 154/1 3700 6500 8.9 3 645 49<br />

39 859 1469 0.2 2.0 PHQ823_1540 EZ503U 2600 4000 154.0 154/1 3700 6500 8.0 3 645 49<br />

39 998 1982 0.3 1.7 PHQ823_1540 EZ702U 2600 4000 154.0 154/1 3700 6500 14 3 645 51<br />

44 421 545 0.1 4.0 PHQ823_1380 EZ501U 1980 4000 137.5 275/2 3500 6000 3.6 3 646 46<br />

44 644 965 0.2 2.6 PHQ823_1380 EZ502U 2600 4000 137.5 275/2 3500 6000 5.9 3 646 47<br />

44 644 978 0.2 2.6 PHQ823_1380 EZ701U 2480 4000 137.5 275/2 3500 6000 9.2 3 646 49<br />

44 767 1312 0.3 2.2 PHQ823_1380 EZ503U 2600 4000 137.5 275/2 3500 6000 8.3 3 646 49<br />

44 891 1770 0.3 1.9 PHQ823_1380 EZ702U 2600 4000 137.5 275/2 3500 6000 14 3 646 51<br />

109 266 404 0.5 4.1 PHQ822_0550 EZ701U 1020 4000 55.00 55/1 3300 6000 9.2 3 615 44<br />

109 368 731 0.7 3.0 PHQ822_0550 EZ702U 2100 4000 55.00 55/1 3300 6000 14 3 615 47<br />

PHQ9 (n 1N = 2000 rpm, M 2acc,max = 6000 Nm)<br />

28 2832 4283 1.2 1.3 PHQ933_0720 EZ805U 6000 10140 72.00 72/1 2200 4500 139 3 1205 127<br />

33 2438 3688 1.4 1.6 PHQ932_0600 EZ805U 6000 12000 60.00 60/1 2800 4500 135 3 1149 119<br />

48 1707 2582 1.6 2.2 PHQ932_0420 EZ805U 6000 12000 42.00 42/1 2800 4500 138 3 1195 119<br />

67 1219 1844 1.9 3.1 PHQ932_0300 EZ805U 5720 12000 30.00 30/1 2500 4000 143 3 1214 119<br />

83 975 1475 2.1 3.9 PHQ932_0240 EZ805U 4580 12000 24.00 24/1 2200 3500 150 3 1225 119<br />

PHQ9 (n 1N = 3000 rpm, M 2acc,max = 6000 Nm)<br />

7.1 2797 3137 0.1 1.4 PHQ933_4200 EZ701U 6000 12000 420.0 420/1 3300 6000 9.1 3 1184 90<br />

10 1998 2241 0.1 1.9 PHQ933_3000 EZ701U 5400 12000 300.0 300/1 3300 6000 9.1 3 1196 90<br />

10 3240 3888 0.2 1.2 PHQ933_3000 EZ702U 6000 12000 300.0 300/1 3300 6000 14 3 1196 92<br />

13 1598 1793 0.1 2.4 PHQ933_2400 EZ701U 4320 12000 240.0 240/1 3300 6000 9.2 3 1198 90<br />

13 2592 3110 0.2 1.5 PHQ933_2400 EZ702U 6000 12000 240.0 240/1 3300 6000 14 3 1198 92<br />

13 3564 4493 0.2 1.1 PHQ933_2400 EZ703U 6000 12000 240.0 240/1 3300 6000 22 3 1198 94<br />

14 1399 1569 0.1 2.7 PHQ933_2100 EZ701U 3780 12000 210.0 210/1 3300 6000 9.8 3 1200 90<br />

14 2268 2722 0.2 1.7 PHQ933_2100 EZ702U 6000 12000 210.0 210/1 3300 6000 15 3 1200 92<br />

14 3119 3931 0.3 1.2 PHQ933_2100 EZ703U 6000 12000 210.0 210/1 3300 6000 23 3 1200 94<br />

18 1119 1255 0.1 3.4 PHQ933_1680 EZ701U 3020 12000 168.0 168/1 3300 6000 9.9 3 1204 90<br />

18 1814 2177 0.2 2.1 PHQ933_1680 EZ702U 6000 12000 168.0 168/1 3300 6000 15 3 1204 92<br />

18 2495 3145 0.3 1.5 PHQ933_1680 EZ703U 6000 12000 168.0 168/1 3300 6000 23 3 1204 94<br />

18 3221 4566 0.4 1.2 PHQ933_1680 EZ705U 6000 12000 168.0 168/1 3300 6000 35 3 1204 100<br />

20 999 1121 0.1 3.8 PHQ933_1500 EZ701U 2700 12000 150.0 150/1 3000 5500 11 3 1202 90<br />

20 1620 1944 0.2 2.3 PHQ933_1500 EZ702U 5540 12000 150.0 150/1 3000 5500 16 3 1202 92<br />

20 2228 2808 0.3 1.7 PHQ933_1500 EZ703U 6000 12000 150.0 150/1 3000 5500 24 3 1202 94<br />

20 2876 4077 0.4 1.3 PHQ933_1500 EZ705U 6000 12000 150.0 150/1 3000 5500 37 3 1202 100<br />

25 799 896 0.2 4.8 PHQ933_1200 EZ701U 2160 12000 120.0 120/1 2500 4500 13 3 1203 90<br />

25 1296 1555 0.3 2.9 PHQ933_1200 EZ702U 4430 12000 120.0 120/1 2500 4500 18 3 1203 92<br />

25 1782 2246 0.4 2.1 PHQ933_1200 EZ703U 6000 12000 120.0 120/1 2500 4500 26 3 1203 94<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

115


6.2 Selection tables 6 PHQ planetary geared motors<br />

116<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQ9 (n 1N = 3000 rpm, M 2acc,max = 6000 Nm)<br />

25 2300 3262 0.5 1.7 PHQ933_1200 EZ705U 6000 12000 120.0 120/1 2500 4500 38 3 1203 100<br />

25 2408 4007 0.5 1.6 PHQ933_1200 EZ802U 6000 12000 120.0 120/1 2500 4500 62 3 1203 108<br />

31 1037 1244 0.3 3.7 PHQ933_0960 EZ702U 3540 12000 96.00 96/1 2500 4500 18 3 1207 92<br />

31 1426 1797 0.4 2.7 PHQ933_0960 EZ703U 5620 12000 96.00 96/1 2500 4500 26 3 1207 94<br />

31 1840 2609 0.5 2.1 PHQ933_0960 EZ705U 6000 12000 96.00 96/1 2500 4500 39 3 1207 100<br />

31 1927 3205 0.5 2.0 PHQ933_0960 EZ802U 6000 12000 96.00 96/1 2500 4500 63 3 1207 108<br />

31 2298 4164 0.6 1.7 PHQ933_0960 EZ803U 6000 12000 96.00 96/1 2500 4500 88 3 1207 114<br />

42 778 933 0.3 4.9 PHQ933_0720 EZ702U 2660 10140 72.00 72/1 2200 4500 20 3 1205 92<br />

42 1069 1348 0.5 3.6 PHQ933_0720 EZ703U 4210 10140 72.00 72/1 2200 4500 28 3 1205 94<br />

42 1380 1957 0.6 2.8 PHQ933_0720 EZ705U 6000 12000 72.00 72/1 2200 4500 41 3 1205 100<br />

42 1445 2404 0.6 2.6 PHQ933_0720 EZ802U 6000 10140 72.00 72/1 2200 4500 65 3 1205 108<br />

42 1724 3123 0.7 2.2 PHQ933_0720 EZ803U 6000 10140 72.00 72/1 2200 4500 90 3 1205 114<br />

50 1244 2070 0.7 2.8 PHQ932_0600 EZ802U 5580 12000 60.00 60/1 2800 4500 61 3 1149 100<br />

50 1484 2690 0.9 2.4 PHQ932_0600 EZ803U 6000 12000 60.00 60/1 2800 4500 86 3 1149 106<br />

71 871 1449 0.8 4.4 PHQ932_0420 EZ802U 3910 12000 42.00 42/1 2800 4500 63 3 1195 100<br />

71 1039 1883 1.0 3.7 PHQ932_0420 EZ803U 5660 12000 42.00 42/1 2800 4500 89 3 1195 106<br />

PHQ9 (n 1N = 4500 rpm, M 2acc,max = 6000 Nm)<br />

19 2614 4320 0.2 1.5 PHQ933_2400 EZ703U 6000 12000 240.0 240/1 3300 6000 22 3 1198 94<br />

21 2287 3780 0.2 1.7 PHQ933_2100 EZ703U 6000 12000 210.0 210/1 3300 6000 23 3 1200 94<br />

27 1830 3024 0.2 2.1 PHQ933_1680 EZ703U 6000 12000 168.0 168/1 3300 6000 23 3 1204 94<br />

27 2480 4536 0.3 1.5 PHQ933_1680 EZ705U 6000 12000 168.0 168/1 3300 6000 35 3 1204 100<br />

30 1634 2700 0.2 2.3 PHQ933_1500 EZ703U 6000 12000 150.0 150/1 3000 5500 24 3 1202 94<br />

30 2214 4050 0.3 1.7 PHQ933_1500 EZ705U 6000 12000 150.0 150/1 3000 5500 37 3 1202 100<br />

38 1134 3726 0.2 3.4 PHQ933_1200 EZ802U 6000 12000 120.0 120/1 2500 4500 62 3 1203 108<br />

38 1307 2160 0.3 2.9 PHQ933_1200 EZ703U 6000 12000 120.0 120/1 2500 4500 26 3 1203 94<br />

38 1771 3240 0.3 2.1 PHQ933_1200 EZ705U 6000 12000 120.0 120/1 2500 4500 38 3 1203 100<br />

47 907 2981 0.2 4.2 PHQ933_0960 EZ802U 6000 12000 96.00 96/1 2500 4500 63 3 1207 108<br />

47 1045 1728 0.3 3.6 PHQ933_0960 EZ703U 5620 12000 96.00 96/1 2500 4500 26 3 1207 94<br />

47 1417 2592 0.4 2.7 PHQ933_0960 EZ705U 6000 12000 96.00 96/1 2500 4500 39 3 1207 100<br />

63 784 1296 0.3 4.8 PHQ933_0720 EZ703U 4210 10140 72.00 72/1 2200 4500 28 3 1205 94<br />

63 1063 1944 0.4 3.6 PHQ933_0720 EZ705U 6000 12000 72.00 72/1 2200 4500 41 3 1205 100<br />

PHQ9 (n 1N = 6000 rpm, M 2acc,max = 6000 Nm)<br />

10 2808 4266 0.1 1.4 PHQ933_6000 EZ701U 6000 12000 600.0 600/1 3300 6000 9.1 3 1145 90<br />

14 1966 2986 0.1 1.9 PHQ933_4200 EZ701U 6000 12000 420.0 420/1 3300 6000 9.1 3 1184 90<br />

20 1404 2133 0.1 2.7 PHQ933_3000 EZ701U 5400 12000 300.0 300/1 3300 6000 9.1 3 1196 90<br />

20 1944 3861 0.1 2.0 PHQ933_3000 EZ702U 6000 12000 300.0 300/1 3300 6000 14 3 1196 92<br />

25 1123 1706 0.1 3.4 PHQ933_2400 EZ701U 4320 12000 240.0 240/1 3300 6000 9.2 3 1198 90<br />

25 1555 3089 0.1 2.4 PHQ933_2400 EZ702U 6000 12000 240.0 240/1 3300 6000 14 3 1198 92<br />

29 983 1493 0.1 3.9 PHQ933_2100 EZ701U 3780 12000 210.0 210/1 3300 6000 9.8 3 1200 90<br />

29 1361 2703 0.1 2.8 PHQ933_2100 EZ702U 6000 12000 210.0 210/1 3300 6000 15 3 1200 92<br />

36 786 1194 0.1 4.8 PHQ933_1680 EZ701U 3020 12000 168.0 168/1 3300 6000 9.9 3 1204 90<br />

36 1089 2162 0.1 3.5 PHQ933_1680 EZ702U 6000 12000 168.0 168/1 3300 6000 15 3 1204 92<br />

PHQ10 (n 1N = 2000 rpm, M 2acc,max = 10000 Nm)<br />

17 4720 7139 0.6 1.4 PHQ1033_1200 EZ805U 10000 20000 120.0 120/1 2200 3500 150 3 2062 166<br />

21 3776 5711 0.6 1.7 PHQ1033_0960 EZ805U 10000 20000 96.00 96/1 2200 3500 152 3 2068 166<br />

PHQ10 (n 1N = 3000 rpm, M 2acc,max = 10000 Nm)<br />

14 4215 7012 0.2 1.5 PHQ1033_2100 EZ802U 10000 20000 210.0 210/1 2800 4500 63 3 2059 147<br />

18 3372 5610 0.3 1.9 PHQ1033_1680 EZ802U 10000 20000 168.0 168/1 2800 4500 64 3 2064 147<br />

18 4022 7288 0.3 1.6 PHQ1033_1680 EZ803U 10000 20000 168.0 168/1 2800 4500 89 3 2064 153<br />

20 3011 5009 0.3 2.2 PHQ1033_1500 EZ802U 10000 20000 150.0 150/1 2500 4000 69 3 2061 147<br />

20 3591 6507 0.3 1.8 PHQ1033_1500 EZ803U 10000 20000 150.0 150/1 2500 4000 94 3 2061 153<br />

25 2408 4007 0.3 2.7 PHQ1033_1200 EZ802U 10000 20000 120.0 120/1 2200 3500 76 3 2062 147<br />

25 2873 5206 0.4 2.3 PHQ1033_1200 EZ803U 10000 20000 120.0 120/1 2200 3500 101 3 2062 153<br />

31 1927 3205 0.3 3.4 PHQ1033_0960 EZ802U 8640 20000 96.00 96/1 2200 3500 77 3 2068 147<br />

31 2298 4164 0.4 2.8 PHQ1033_0960 EZ803U 10000 20000 96.00 96/1 2200 3500 102 3 2068 153<br />

PHQ10 (n 1N = 4500 rpm, M 2acc,max = 10000 Nm)<br />

19 2268 7452 0.1 2.9 PHQ1033_2400 EZ802U 10000 20000 240.0 240/1 2800 4500 61 3 2055 147<br />

21 1985 6521 0.1 3.3 PHQ1033_2100 EZ802U 10000 20000 210.0 210/1 2800 4500 63 3 2059 147<br />

27 1588 5216 0.1 4.1 PHQ1033_1680 EZ802U 10000 20000 168.0 168/1 2800 4500 64 3 2064 147<br />

PHQ11 (n 1N = 2000 rpm, M 2acc,max = 22000 Nm)<br />

8.3 9439 14278 0.2 1.4 PHQ1133_2400 EZ805U 22000 40000 240.0 240/1 2800 4500 136 3 3497 276<br />

9.5 8259 12493 0.2 1.6 PHQ1133_2100 EZ805U 22000 40000 210.0 210/1 2800 4500 139 3 3506 276<br />

12 6607 9994 0.3 2.0 PHQ1133_1680 EZ805U 22000 40000 168.0 168/1 2800 4500 140 3 3520 276<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


6 PHQ planetary geared motors 6.3 Dimensional drawings<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQ11 (n 1N = 2000 rpm, M 2acc,max = 22000 Nm)<br />

13 5900 8924 0.3 2.2 PHQ1133_1500 EZ805U 22000 40000 150.0 150/1 2500 4000 145 3 3510 276<br />

17 4720 7139 0.3 2.8 PHQ1133_1200 EZ805U 22000 40000 120.0 120/1 2200 3500 153 3 3514 276<br />

21 3776 5711 0.3 3.4 PHQ1133_0960 EZ805U 17710 40000 96.00 96/1 2200 3500 156 3 3533 276<br />

PHQ11 (n 1N = 3000 rpm, M 2acc,max = 22000 Nm)<br />

10 6021 10017 0.1 2.2 PHQ1133_3000 EZ802U 22000 40000 300.0 300/1 2800 4500 61 3 3491 257<br />

10 7182 13014 0.1 1.8 PHQ1133_3000 EZ803U 22000 40000 300.0 300/1 2800 4500 87 3 3491 263<br />

13 4817 8014 0.1 2.7 PHQ1133_2400 EZ802U 21600 40000 240.0 240/1 2800 4500 62 3 3497 257<br />

13 5746 10411 0.1 2.3 PHQ1133_2400 EZ803U 22000 40000 240.0 240/1 2800 4500 87 3 3497 263<br />

14 4215 7012 0.1 3.1 PHQ1133_2100 EZ802U 18900 40000 210.0 210/1 2800 4500 64 3 3506 257<br />

14 5027 9110 0.1 2.6 PHQ1133_2100 EZ803U 22000 40000 210.0 210/1 2800 4500 90 3 3506 263<br />

18 3372 5610 0.1 3.9 PHQ1133_1680 EZ802U 15120 40000 168.0 168/1 2800 4500 65 3 3520 257<br />

18 4022 7288 0.2 3.2 PHQ1133_1680 EZ803U 21920 40000 168.0 168/1 2800 4500 91 3 3520 263<br />

20 3011 5009 0.1 4.3 PHQ1133_1500 EZ802U 13500 40000 150.0 150/1 2500 4000 71 3 3510 257<br />

20 3591 6507 0.2 3.6 PHQ1133_1500 EZ803U 19580 40000 150.0 150/1 2500 4000 96 3 3510 263<br />

25 2873 5206 0.2 4.5 PHQ1133_1200 EZ803U 15660 40000 120.0 120/1 2200 3500 104 3 3514 263<br />

PHQ11 (n 1N = 4500 rpm, M 2acc,max = 22000 Nm)<br />

15 2835 9315 – 4.6 PHQ1133_3000 EZ802U 22000 40000 300.0 300/1 2800 4500 61 3 3491 257<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

6.3 Dimensional drawings<br />

In this chapter you can find the dimensions of the geared motors.<br />

There is a dimensional drawing for every possible shaft/housing design, each with the tables for gear unit dimensions,<br />

motor dimensions and geared motor dimensions.<br />

Dimensions can exceed the specifications of ISO 2768-mK due to casting tolerances or accumulation of individual<br />

tolerances.<br />

We reserve the right to make dimensional changes due to ongoing technical development.<br />

You can download CAD models of our standard drives at http://cad.stoeber.de.<br />

Combination options and the dimensions of forced ventilated geared motors can be found at http://<br />

cad.stoeber.de.<br />

117


6.3 Dimensional drawings 6 PHQ planetary geared motors<br />

6.3.1 F shaft design (flange shaft)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

118


6 PHQ planetary geared motors 6.3 Dimensional drawings<br />

Dimensions of gear units<br />

Type ∅a1 ∅b ∅b1 ∅bf c1 ∅df ∅e1 ∅ef f1 i2 i3 lh r ∅s1 s7 sf tf<br />

PHQ421 118 h7 – 90 h7 63 h7 7 31.5 H6 109 50 10 30 24 6 0.020 5.5 – M6 11.0<br />

PHQ422 118 h7 – 90 h7 63 h7 7 31.5 H6 109 50 10 30 24 6 0.020 5.5 – M6 11.0<br />

PHQ521 145 h7 – 110 h7 80 h7 8 40.0 H6 135 63 10 29 23 6 0.020 5.5 – M8 11.0<br />

PHQ522 145 h7 – 110 h7 80 h7 8 40.0 H6 135 63 10 29 23 6 0.020 5.5 – M8 11.0<br />

PHQ721 179 h7 – 140 h7 100 h7 10 50.0 H6 168 80 12 38 32 6 0.025 6.6 – M10 16.0<br />

PHQ722 179 h7 – 140 h7 100 h7 10 50.0 H6 168 80 12 38 32 6 0.025 6.6 – M10 16.0<br />

PHQ723 179 h7 – 140 h7 100 h7 10 50.0 H6 168 80 12 38 32 6 0.025 6.6 – M10 16.0<br />

PHQ822 247 h7 – 200 h7 160 h7 12 80.0 H6 233 125 15 50 42 8 0.030 9.0 M10 M12 17.0<br />

PHQ823 247 h7 – 200 h7 160 h7 12 80.0 H6 233 125 15 50 42 8 0.030 9.0 M10 M12 17.0<br />

PHQ932 300 h7 – 255 h7 180 h7 18 90.0 H6 280 145 20 66 55 12 0.030 13.5 M8 M20 28.0<br />

PHQ933 300 h7 – 255 h7 180 h7 18 90.0 H6 280 145 20 66 55 12 0.030 13.5 M8 M20 28.0<br />

PHQ1033 330 h7 – 285 h7 200 h7 20 95.0 H6 310 166 20 75 60 10 0.040 13.5 M10 M24 35.0<br />

PHQ1133 425 365 g6 365 h6 260 h7 32 120.0 H6 395 200 30 190 180 10 0.040 17.5 M16 M24 35.5<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ301U 72 90 130.0 55.5 21 54.5<br />

EZ302U 72 112 152.0 55.5 21 76.5<br />

EZ303U 72 134 174.0 55.5 21 98.5<br />

EZ401U 98 98 146.5 91.0 22 56.0<br />

EZ402U 98 123 171.5 91.0 22 81.0<br />

EZ404U 98 173 221.5 91.0 22 131.0<br />

EZ501U 115 93 147.5 100.0 22 58.5<br />

EZ502U 115 118 172.5 100.0 22 83.5<br />

EZ503U 115 143 197.5 100.0 22 108.5<br />

EZ505U 115 193 247.5 100.0 22 158.5<br />

EZ701U 145 102 161.0 115.0 22 64.0<br />

EZ702U 145 127 186.0 115.0 22 89.0<br />

EZ703U 145 152 211.0 115.0 22 114.0<br />

EZ705U 145 207 266.0 134.0 22 165.0<br />

EZ802U 190 197 274.0 156.5 22 143.0<br />

EZ803U 190 238 315.0 156.5 22 184.0<br />

EZ805U 190 320 397.0 156.5 22 266.0<br />

Dimensions of geared motors<br />

Type EZ3 EZ4 EZ5 EZ7 EZ8<br />

mp mp mp mp mp<br />

PHQ421 – 51.0 53.5 – –<br />

PHQ422 103.0 99.5 102.0 – –<br />

PHQ521 – – 57.0 63.0 –<br />

PHQ522 – 112.5 115.0 121.0 –<br />

PHQ721 – – – – 77.0<br />

PHQ722 – – 128.0 134.0 149.0<br />

PHQ723 – 183.5 186.0 192.0 –<br />

PHQ822 – – – 169.0 184.0<br />

PHQ823 – – 229.0 235.0 –<br />

PHQ932 – – – – 249.5<br />

PHQ933 – – – 319.0 334.0<br />

PHQ1033 – – – – 384.0<br />

PHQ1133 – – – – 329.5<br />

119


6.5 Product description 6 PHQ planetary geared motors<br />

6.4 Type designation<br />

In this chapter, you can find an explanation of the type designation with the associated options.<br />

Additional ordering information not included in the type designation can be found at the end of the chapter.<br />

Sample code<br />

PHQ 7 2 3 F 0880 EZ401U<br />

Explanation<br />

Code Designation Design<br />

PHQ Type Planetary gear unit<br />

7 Size 7 (example)<br />

2<br />

3<br />

Generation Generation 2<br />

Generation 3<br />

1<br />

2<br />

3<br />

Stages<br />

Single-stage<br />

Two-stage<br />

Three-stage<br />

F Shaft Flange shaft<br />

0880 Transmission ratio (i x 10) i = 88 (example)<br />

EZ401U Motor EZ synchronous servo motor<br />

In order to complete the type designation, also specify:<br />

• A detailed type designation of the motor, see chapter [} 23]<br />

• The mounting position (for three-stage gear units), see Chapter [} 6.5.2]<br />

• Radial shaft seal rings at the output made of NBR or FKM, see chapter [} 6.6.3]<br />

• For reverse operation of the output shaft from ± 20° to ± 90° and horizontal installation, note the chapter<br />

[} 6.6.4]<br />

6.5 Product description<br />

6.5.1 Installation conditions<br />

The torque and force values listed in this catalog are valid under the following conditions:<br />

• When using screws with quality 12.9 for machine-side attachment of the flange shaft and gear unit<br />

housing<br />

• When the gear unit housings are adjusted at pilot øb1, and also at pilot Øb for size PHQ11 (H7)<br />

• When the flange shaft is adjusted using the connecting element at pilot øbf or ødf<br />

6.5.2 Mounting positions<br />

The following table shows the standard mounting positions.<br />

Please indicate the mounting position when ordering three-stage geared motors.<br />

EL1 EL5 EL6<br />

Horizontal output Vertical downward output Vertical upward output<br />

120


6 PHQ planetary geared motors 6.6 Project configuration<br />

6.5.3 Lubricants<br />

6.5.4 Other product features<br />

6.5.5 Direction of rotation<br />

STOBER fills the gear units with the amount and type of lubricant specified on the nameplate. The filling volume<br />

and the structure of the gear units depend on the mounting position.<br />

Only install the gear units in the intended mounting position! Reposition the gear units only after consulting<br />

STOBER. Otherwise, STOBER assumes no liability for the gear units.<br />

Lubricant filling quantities for gear units, document ID 441871, can be found online at http://www.stoeber.de/en/download.<br />

Enter the ID of the documentation in the Search... field.<br />

Feature<br />

Value<br />

Max. permitted gear unit temperature (on the surface of the gear unit) ≤ 90 °C<br />

Paint Black RAL 9005<br />

(ATEX) Directive 2014/34/EU (option)<br />

Not suitable<br />

Protection class: 1<br />

Gear unit<br />

Motor<br />

IP65<br />

IP56, optionally IP66<br />

The input and output rotate in the same direction.<br />

6.6 Project configuration<br />

Project your drives using our SERVOsoft designing software. You can receive SERVOsoft for free from your<br />

adviser at one of our sales centers. Observe the limit conditions in this chapter to ensure a safe design for<br />

your drives.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

6.6.1 Calculation of the operating point<br />

Check the following conditions for operating points other than the nominal point M 2N specified in the selection<br />

tables.<br />

n<br />

1m*<br />

n<br />

£<br />

fB<br />

1maxDB<br />

T<br />

n<br />

M<br />

M<br />

1max*<br />

2eff *<br />

2acc*<br />

n<br />

£<br />

fB<br />

£ M<br />

1max ZB<br />

2th<br />

£ M<br />

T<br />

2acc<br />

M<br />

2NOT*<br />

£ M<br />

2NOT<br />

S<br />

M 2eq*<br />

£ M 2N<br />

× fB fB op<br />

×<br />

t<br />

The values for n 1maxDB , n 1maxZB , M 2acc , M 2NOT , M 2N and S can be found in the selection tables.<br />

1<br />

Observe the protection class of all the components.<br />

121


6.6 Project configuration 6 PHQ planetary geared motors<br />

The values for fB T , fB op and fB t can be found in the corresponding tables in this chapter.<br />

Calculate the thermal limit torque M 2th for a duty cycle > 50%.<br />

Example of cyclic operation<br />

The following calculations are based on a representation of the power taken from the output based in accordance<br />

with the following example:<br />

Calculation of the actual average input speed<br />

n1m* = n2m*<br />

× i<br />

n<br />

2m*<br />

=<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

t + ... + t<br />

1* n*<br />

If t 1* + ... + t 5* ≥ 20 min, calculate n 2m* without the rest phase t 6* .<br />

The values for the ratio i can be found in the selection tables.<br />

Calculation of the actual effective torque<br />

M<br />

2eff *<br />

=<br />

t × M + ... + t × M<br />

2 2<br />

1* 2,1* n* 2,n*<br />

t + ... + t<br />

1* n*<br />

Calculation of the actual equivalent torque<br />

M<br />

2eq*<br />

=<br />

3<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2,1* 2m,n* n* 2,n*<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

Calculation of the thermal limit torque<br />

Calculate the thermal limit torque M 2th for a duty cycle ED 20 > 50% and the actual average input speed n 1m* .<br />

(At K mot,th ≤ 0 you must reduce the average input speed n 1m* accordingly or select another geared motor size.)<br />

M2th = Mop × i × Kmot,th<br />

ath æ n1m*<br />

ö<br />

Kmot,th<br />

= 0,93 - × fBT<br />

×<br />

1000 ç<br />

1000 ÷<br />

è ø<br />

The values for i and a th can be found in the selection tables.<br />

The values for fB T can be found in the corresponding table in this chapter.<br />

3<br />

122


6 PHQ planetary geared motors 6.6 Project configuration<br />

The value for the torque of the motor at operating point M op with the determined average input speed n 1m*<br />

can be found in the motor curve of Chapter [} 23.3]. Note the size, nominal speed n N and cooling type of<br />

the motor. The figure below shows an example of reading the torque M op of a motor with convection cooling<br />

at the operating point.<br />

n [rpm]<br />

n 1m*<br />

Operating factors<br />

Operating mode<br />

Uniform continuous operation 1.00<br />

Cyclic operation 1.00<br />

Reversing load cyclic operation 1.00<br />

Run time<br />

fB t<br />

Daily run time ≤ 8 h 1.00<br />

Daily run time ≤ 16 h 1.15<br />

Daily run time ≤ 24 h 1.20<br />

fB op<br />

Temperature<br />

Motor cooling<br />

Surrounding temperature<br />

Motor with forced ventilation ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

Motor with convection cooling ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

fB T<br />

0.9<br />

1.0<br />

1.15<br />

1.0<br />

1.1<br />

1.25<br />

Notes<br />

• The maximum permitted gear unit temperature (see the "Other product features" chapter) must not be<br />

exceeded. Doing so may result in damage to the geared motor.<br />

• For braking from full speed (for example when the power fails or when setting up the machine), note<br />

the permitted gear unit torques (M 2acc , M 2NOT ) in the selection tables.<br />

123


6.6 Project configuration 6 PHQ planetary geared motors<br />

6.6.2 Permitted shaft loads for the output shaft<br />

The values specified in the tables apply to the permitted shaft loads:<br />

• For shaft dimensions in accordance with the catalog<br />

• For output speeds n 2m* ≤ 100 rpm (F 2axN = F 2ax100 ; F 2radN = F 2rad100 ; M 2kN = M 2k100 )<br />

• Only if radial forces on the gear unit are stabilized by its pilots (housing, flange shaft)<br />

Permitted shaft loads<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

PHQ4 84.0 2150 3095 3929 260 330<br />

PHQ5 97.0 4150 4536 4897 440 475<br />

PHQ7 88.0 6150 17045 17045 1500 1500<br />

PHQ8 126.0 10050 27778 33333 3500 4200<br />

PHQ9 155.0 33000 48387 70968 7500 11000<br />

PHQ10 171.0 50000 51462 73099 8800 12500<br />

PHQ11 231.0 60000 47619 60606 11000 14000<br />

PHQ12 281.0 70000 53380 71040 15000 20000<br />

For other output speeds, download diagrams at http://products.stoeber.de.<br />

The following applies to output speeds n 2m* > 100 rpm:<br />

F<br />

2axN<br />

=<br />

3<br />

F<br />

2ax100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

F<br />

2radN<br />

=<br />

3<br />

F<br />

2rad100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

M<br />

2kN<br />

=<br />

3<br />

M<br />

2k100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

The values for F 2ax100 , F 2rad100 and M 2k100 can be found in the table "Permitted shaft loads" in this chapter.<br />

Fig. 1: Force application points<br />

You can determine the permitted radial forces from the permitted breakdown torque M 2kN and M 2k,acc . The<br />

actual radial forces may not exceed the permitted radial forces. The permitted radial forces are in relation to<br />

the end of the hollow shaft (x2 = 0).<br />

M<br />

2k,acc*<br />

( )<br />

2 × F × y + F × x + z<br />

2ax* 2 2rad,acc* 2 2<br />

= £<br />

1000<br />

M<br />

2k,acc<br />

For applications with multiple axial and/or radial forces, you must add the forces as vectors.<br />

In the event of EMERGENCY OFF operation (max. 1000 load changes), you can multiply the permitted forces<br />

and torques for F 2ax100 , F 2rad100 and M 2k100 by a factor of two.<br />

Also note the calculation for equivalent values:<br />

M<br />

2k,eq*<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2k,acc,1* 2m,n* n* 2k,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

M<br />

2kN<br />

124<br />

F<br />

2rad,eq*<br />

n × t × F + ... + n × t × F<br />

3 3<br />

2m,1* 1* 2rad,acc,1* 2m,n* n* 2rad,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

F<br />

2radN


6 PHQ planetary geared motors 6.6 Project configuration<br />

F<br />

2ax,eq*<br />

£ F<br />

2axN<br />

The following apply to the bearing service life L 10h (ED 20 ≤ 40%):<br />

L 10h > 10000 h with 1 < M 2kN /M 2k* < 1.25<br />

L 10h > 20000 h with 1.25 < M 2kN /M 2k* < 1.5<br />

L 10h > 30000 h with 1.5 < M 2kN /M 2k*<br />

For different duty cycles:<br />

L<br />

40%<br />

> L ×<br />

ED<br />

10h 10h(ED20<br />

= 40%)<br />

20<br />

6.6.3 Recommendation for radial shaft seal rings<br />

6.6.4 Reverse operation<br />

For a duty cycle > 60%, we recommend radial shaft seal rings made of FKM.<br />

Properties:<br />

• Excellent temperature resistance<br />

• High chemical stability<br />

• Very good resistance to aging<br />

• Excellent resistance to mineral oils and greases<br />

• For use in the food, beverage and pharmaceutical industries<br />

Leak-proofness<br />

Our gear units are equipped with high-quality radial shaft seal rings and checked for leak-proofness. However,<br />

a leak cannot be fully ruled out over the length of use of a gear unit. If you use a gear unit with goods<br />

incompatible with the lubricant, you must take measures to prevent direct contact with the gear unit lubricant<br />

in case of a leak.<br />

To ensure lubrication of circulating geared parts during cyclic reverse operation from ± 20° to ± 90°, pay<br />

careful attention to the position of the output shaft if the gear unit is installed horizontally as shown in the<br />

images below.<br />

The images show the center position of reverse operation.<br />

Cyclic reverse operation ≤ ± 20° on request.<br />

PHQ4 − PHQ8, PHQ11, PHQ12<br />

PHQ9 − PHQ10<br />

1 Position of the mark: top 1 Position of the fastening thread: as shown in the<br />

image<br />

125


6.7 Additional documentation 6 PHQ planetary geared motors<br />

6.7 Additional documentation<br />

Additional documentation related to the product can be found at http://www.stoeber.de/en/download<br />

Enter the ID of the documentation in the Search... field.<br />

Documentation<br />

ID<br />

Operating manual for P/PA/PE/PH/PHA/PHQ/PHQA/PHV/PHVA planetary 443029_en<br />

gear units and planetary geared motors<br />

Lubricant filling quantities for gear units 441871<br />

126


7 PHQA planetary geared motors<br />

Table of contents<br />

7.1 Overview........................................................................................................................................................................... 128<br />

7.2 Selection tables ................................................................................................................................................................ 129<br />

7.3 Dimensional drawings ...................................................................................................................................................... 135<br />

7.3.1 F shaft design (flange shaft) ................................................................................................................................................. 136<br />

7.4 Type designation .............................................................................................................................................................. 138<br />

7.5 Product description........................................................................................................................................................... 138<br />

7.5.1 Installation conditions.......................................................................................................................................................... 138<br />

7.5.2 Mounting positions .............................................................................................................................................................. 138<br />

7.5.3 Lubricants............................................................................................................................................................................. 138<br />

7.5.4 Other product features ........................................................................................................................................................ 139<br />

7.5.5 Direction of rotation ............................................................................................................................................................ 139<br />

7.6 Project configuration......................................................................................................................................................... 139<br />

7.6.1 Calculation of the operating point ....................................................................................................................................... 139<br />

7.6.2 Permitted shaft loads for the output shaft .......................................................................................................................... 141<br />

7.6.3 Radial shaft seal rings........................................................................................................................................................... 143<br />

7.6.4 Reverse operation................................................................................................................................................................ 143<br />

7.7 Additional documentation ................................................................................................................................................. 143<br />

127


7 Planetary geared motors PHQA<br />

7.1 Overview<br />

Quattro-Power for maximum power density<br />

Features<br />

Power density<br />

★★★★★<br />

Backlash<br />

★★★★★<br />

Price category €€€€€<br />

Shaft load<br />

★★★★★<br />

Smooth operation<br />

★★★★★<br />

Torsional stiffness<br />

★★★★★<br />

Mass moment of inertia<br />

★★★★★<br />

Helical gearing<br />

✓<br />

Maintenance-free<br />

✓<br />

Any mounting position (single/two stage)<br />

✓<br />

High power density<br />

✓<br />

Continuous operation without cooling<br />

✓<br />

Stiff output bearing due to pretension<br />

✓<br />

Compact and highly dynamic due to direct motor ✓<br />

attachment<br />

Key: ★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Technical data<br />

i 5.5 – 600<br />

M 2acc<br />

45 – 6000 Nm<br />

Δφ 2<br />

1 arcmin<br />

η get ≤ 96 %<br />

128


7 PHQA planetary geared motors 7.2 Selection tables<br />

7.2 Selection tables<br />

The technical data specified in the selection tables applies to:<br />

• Installation altitudes up to 1000 m above sea level<br />

• Surrounding temperatures from 0 °C to 40 °C<br />

• Drives with convection-cooled motors (e.g. EZ401U)<br />

You can calculate the technical data for drives with forced ventilated motors (for example EZ401B) at http://<br />

products.stoeber.de.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQA4 (n 1N = 3000 rpm, M 2acc,max = 170 Nm)<br />

55 48 49 0.6 2.5 PHQA422_0550 EZ301U 140 300 55.00 55/1 4500 8000 0.21 1 35 5.3<br />

55 81 86 1.0 1.5 PHQA422_0550 EZ302U 170 300 55.00 55/1 4500 8000 0.31 1 35 5.9<br />

55 106 112 1.4 1.1 PHQA422_0550 EZ303U 170 300 55.00 55/1 4500 8000 0.42 1 35 6.4<br />

78 33 34 0.7 3.6 PHQA422_0390 EZ301U 100 300 38.50 77/2 4500 8000 0.24 1 37 5.3<br />

78 57 60 1.3 2.1 PHQA422_0390 EZ302U 170 300 38.50 77/2 4500 8000 0.34 1 37 5.9<br />

78 74 78 1.6 1.6 PHQA422_0390 EZ303U 170 300 38.50 77/2 4500 8000 0.45 1 37 6.4<br />

78 100 107 2.2 1.2 PHQA422_0390 EZ401U 170 300 38.50 77/2 4500 8000 0.98 1 37 7.8<br />

109 41 43 1.5 3.0 PHQA422_0280 EZ302U 130 300 27.50 55/2 4000 7000 0.38 1 37 5.9<br />

109 53 56 1.9 2.3 PHQA422_0280 EZ303U 170 300 27.50 55/2 4000 7000 0.49 1 37 6.4<br />

109 72 77 2.6 1.7 PHQA422_0280 EZ401U 170 300 27.50 55/2 4000 7000 1.0 1 37 7.8<br />

109 110 120 4.0 1.1 PHQA422_0280 EZ501U 170 300 27.50 55/2 4000 7000 3.0 1 37 8.8<br />

136 33 34 1.7 3.7 PHQA422_0220 EZ302U 100 300 22.00 22/1 3700 6500 0.44 1 37 5.9<br />

136 42 45 2.2 2.8 PHQA422_0220 EZ303U 140 300 22.00 22/1 3700 6500 0.55 1 37 6.4<br />

136 57 61 2.9 2.1 PHQA422_0220 EZ401U 170 300 22.00 22/1 3700 6500 1.1 1 37 7.8<br />

136 88 96 4.5 1.4 PHQA422_0220 EZ501U 170 300 22.00 22/1 3700 6500 3.1 1 37 8.8<br />

136 96 106 4.9 1.2 PHQA422_0220 EZ402U 170 300 22.00 22/1 3700 6500 1.8 1 37 8.9<br />

545 23 25 4.8 4.2 PHQA421_0055 EZ501U 84 300 5.500 11/2 2000 6000 3.2 1 42 7.5<br />

545 25 27 5.2 3.8 PHQA421_0055 EZ402U 84 300 5.500 11/2 2000 6000 1.9 1 42 7.6<br />

545 36 45 7.7 2.6 PHQA421_0055 EZ404U 150 300 5.500 11/2 2000 6000 3.2 1 42 9.7<br />

545 39 42 8.2 2.4 PHQA421_0055 EZ502U 160 300 5.500 11/2 2000 6000 5.5 1 42 9.0<br />

545 51 59 11 1.9 PHQA421_0055 EZ503U 170 300 5.500 11/2 2000 6000 7.8 1 42 11<br />

545 71 84 15 1.3 PHQA421_0055 EZ505U 170 300 5.500 11/2 2000 6000 12 1 42 13<br />

PHQA4 (n 1N = 6000 rpm, M 2acc,max = 170 Nm)<br />

109 46 49 0.6 2.4 PHQA422_0550 EZ301U 140 300 55.00 55/1 4500 8000 0.21 1 35 5.3<br />

109 77 86 1.1 1.4 PHQA422_0550 EZ302U 170 300 55.00 55/1 4500 8000 0.31 1 35 5.9<br />

109 100 115 1.4 1.1 PHQA422_0550 EZ303U 170 300 55.00 55/1 4500 8000 0.42 1 35 6.4<br />

156 32 34 0.7 3.8 PHQA422_0390 EZ301U 100 300 38.50 77/2 4500 8000 0.24 1 37 5.3<br />

156 54 60 1.2 2.2 PHQA422_0390 EZ302U 170 300 38.50 77/2 4500 8000 0.34 1 37 5.9<br />

156 70 81 1.5 1.7 PHQA422_0390 EZ303U 170 300 38.50 77/2 4500 8000 0.45 1 37 6.4<br />

156 82 100 1.8 1.5 PHQA422_0390 EZ401U 170 300 38.50 77/2 4500 8000 0.98 1 37 7.8<br />

218 38 43 1.4 3.1 PHQA422_0280 EZ302U 130 300 27.50 55/2 4000 7000 0.38 1 37 5.9<br />

218 50 58 1.8 2.4 PHQA422_0280 EZ303U 170 300 27.50 55/2 4000 7000 0.49 1 37 6.4<br />

218 59 72 2.1 2.0 PHQA422_0280 EZ401U 170 300 27.50 55/2 4000 7000 1.0 1 37 7.8<br />

218 87 113 3.2 1.4 PHQA422_0280 EZ501U 170 300 27.50 55/2 4000 7000 3.0 1 37 8.8<br />

218 90 125 3.3 1.3 PHQA422_0280 EZ402U 170 300 27.50 55/2 4000 7000 1.7 1 37 8.9<br />

273 31 34 1.6 3.9 PHQA422_0220 EZ302U 100 300 22.00 22/1 3700 6500 0.44 1 37 5.9<br />

273 40 46 2.0 3.0 PHQA422_0220 EZ303U 140 300 22.00 22/1 3700 6500 0.55 1 37 6.4<br />

273 47 57 2.4 2.6 PHQA422_0220 EZ401U 170 300 22.00 22/1 3700 6500 1.1 1 37 7.8<br />

273 70 90 3.5 1.7 PHQA422_0220 EZ501U 170 300 22.00 22/1 3700 6500 3.1 1 37 8.8<br />

273 72 100 3.6 1.7 PHQA422_0220 EZ402U 170 300 22.00 22/1 3700 6500 1.8 1 37 8.9<br />

1091 18 23 4.8 4.2 PHQA421_0055 EZ501U 84 300 5.500 11/2 2000 6000 3.2 1 42 7.5<br />

1091 18 26 4.9 4.1 PHQA421_0055 EZ402U 84 300 5.500 11/2 2000 6000 1.9 1 42 7.6<br />

1091 27 41 7.3 2.8 PHQA421_0055 EZ502U 160 300 5.500 11/2 2000 6000 5.5 1 42 9.0<br />

1091 31 44 8.1 2.5 PHQA421_0055 EZ404U 150 300 5.500 11/2 2000 6000 3.2 1 42 9.7<br />

1091 33 56 8.7 2.3 PHQA421_0055 EZ503U 170 300 5.500 11/2 2000 6000 7.8 1 42 11<br />

PHQA5 (n 1N = 3000 rpm, M 2acc,max = 430 Nm)<br />

55 143 153 0.9 1.9 PHQA522_0550 EZ401U 430 800 55.00 55/1 4000 7000 0.97 1 87 11<br />

55 220 240 1.4 1.3 PHQA522_0550 EZ501U 430 800 55.00 55/1 4000 7000 2.9 1 87 12<br />

55 240 266 1.5 1.2 PHQA522_0550 EZ402U 430 800 55.00 55/1 4000 7000 1.7 1 87 12<br />

78 100 107 1.0 2.8 PHQA522_0390 EZ401U 300 800 38.50 77/2 4000 7000 1.0 1 92 11<br />

78 154 168 1.6 1.8 PHQA522_0390 EZ501U 430 800 38.50 77/2 4000 7000 3.0 1 92 12<br />

78 168 186 1.8 1.7 PHQA522_0390 EZ402U 430 800 38.50 77/2 4000 7000 1.7 1 92 12<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

129


7.2 Selection tables 7 PHQA planetary geared motors<br />

130<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQA5 (n 1N = 3000 rpm, M 2acc,max = 430 Nm)<br />

78 247 308 2.6 1.1 PHQA522_0390 EZ404U 430 800 38.50 77/2 4000 7000 3.1 1 92 14<br />

78 265 286 2.8 1.1 PHQA522_0390 EZ502U 430 800 38.50 77/2 4000 7000 5.3 1 92 13<br />

109 72 77 1.2 3.9 PHQA522_0280 EZ401U 220 800 27.50 55/2 3700 6500 1.1 1 94 11<br />

109 110 120 1.9 2.5 PHQA522_0280 EZ501U 410 800 27.50 55/2 3700 6500 3.1 1 94 12<br />

109 120 133 2.1 2.3 PHQA522_0280 EZ402U 410 800 27.50 55/2 3700 6500 1.8 1 94 12<br />

109 176 220 3.1 1.6 PHQA522_0280 EZ404U 430 800 27.50 55/2 3700 6500 3.2 1 94 14<br />

109 189 205 3.3 1.5 PHQA522_0280 EZ502U 430 800 27.50 55/2 3700 6500 5.4 1 94 13<br />

109 189 212 3.3 1.5 PHQA522_0280 EZ701U 430 800 27.50 55/2 3700 6500 8.7 1 94 15<br />

109 248 284 4.3 1.1 PHQA522_0280 EZ503U 430 800 27.50 55/2 3700 6500 7.8 1 94 15<br />

136 57 61 1.4 4.9 PHQA522_0220 EZ401U 170 800 22.00 22/1 3300 6000 1.2 1 95 11<br />

136 88 96 2.1 3.2 PHQA522_0220 EZ501U 330 800 22.00 22/1 3300 6000 3.2 1 95 12<br />

136 96 106 2.3 2.9 PHQA522_0220 EZ402U 330 800 22.00 22/1 3300 6000 1.9 1 95 12<br />

136 141 176 3.4 2.0 PHQA522_0220 EZ404U 430 800 22.00 22/1 3300 6000 3.3 1 95 14<br />

136 151 164 3.7 1.8 PHQA522_0220 EZ502U 430 800 22.00 22/1 3300 6000 5.5 1 95 13<br />

136 151 170 3.7 1.8 PHQA522_0220 EZ701U 410 800 22.00 22/1 3300 6000 8.8 1 95 15<br />

136 198 227 4.8 1.4 PHQA522_0220 EZ503U 430 800 22.00 22/1 3300 6000 7.9 1 95 15<br />

136 246 295 6.0 1.1 PHQA522_0220 EZ702U 430 800 22.00 22/1 3300 6000 14 1 95 18<br />

136 276 327 6.7 1.0 PHQA522_0220 EZ505U 430 800 22.00 22/1 3300 6000 12 1 95 18<br />

545 63 76 6.4 3.5 PHQA521_0055 EZ702U 220 800 5.500 11/2 2500 5500 15 1 107 15<br />

545 71 84 7.2 3.1 PHQA521_0055 EZ505U 350 800 5.500 11/2 2500 5500 13 1 107 15<br />

545 87 110 8.8 2.6 PHQA521_0055 EZ703U 340 800 5.500 11/2 2500 5500 22 1 107 17<br />

545 112 159 11 2.0 PHQA521_0055 EZ705U 430 800 5.500 11/2 2500 5500 35 1 107 23<br />

PHQA5 (n 1N = 4500 rpm, M 2acc,max = 430 Nm)<br />

205 194 313 4.7 1.4 PHQA522_0220 EZ505U 430 800 22.00 22/1 3300 6000 12 1 95 18<br />

818 50 81 5.8 3.9 PHQA521_0055 EZ505U 350 800 5.500 11/2 2500 5500 13 1 107 15<br />

818 64 106 7.3 3.0 PHQA521_0055 EZ703U 340 800 5.500 11/2 2500 5500 22 1 107 17<br />

818 87 158 10 2.2 PHQA521_0055 EZ705U 430 800 5.500 11/2 2500 5500 35 1 107 23<br />

PHQA5 (n 1N = 6000 rpm, M 2acc,max = 430 Nm)<br />

109 118 143 0.9 1.9 PHQA522_0550 EZ401U 430 800 55.00 55/1 4000 7000 0.97 1 87 11<br />

109 174 225 1.4 1.3 PHQA522_0550 EZ501U 430 800 55.00 55/1 4000 7000 2.9 1 87 12<br />

109 179 251 1.4 1.2 PHQA522_0550 EZ402U 430 800 55.00 55/1 4000 7000 1.7 1 87 12<br />

156 82 100 0.9 3.4 PHQA522_0390 EZ401U 300 800 38.50 77/2 4000 7000 1.0 1 92 11<br />

156 122 158 1.3 2.3 PHQA522_0390 EZ501U 430 800 38.50 77/2 4000 7000 3.0 1 92 12<br />

156 125 175 1.3 2.2 PHQA522_0390 EZ402U 430 800 38.50 77/2 4000 7000 1.7 1 92 12<br />

156 186 279 1.9 1.5 PHQA522_0390 EZ502U 430 800 38.50 77/2 4000 7000 5.3 1 92 13<br />

156 208 301 2.2 1.3 PHQA522_0390 EZ404U 430 800 38.50 77/2 4000 7000 3.1 1 92 14<br />

218 59 72 1.0 4.8 PHQA522_0280 EZ401U 220 800 27.50 55/2 3700 6500 1.1 1 94 11<br />

218 87 113 1.5 3.2 PHQA522_0280 EZ501U 410 800 27.50 55/2 3700 6500 3.1 1 94 12<br />

218 90 125 1.6 3.1 PHQA522_0280 EZ402U 410 800 27.50 55/2 3700 6500 1.8 1 94 12<br />

218 133 199 2.3 2.1 PHQA522_0280 EZ502U 430 800 27.50 55/2 3700 6500 5.4 1 94 13<br />

218 133 202 2.3 2.1 PHQA522_0280 EZ701U 430 800 27.50 55/2 3700 6500 8.7 1 94 15<br />

218 148 215 2.6 1.9 PHQA522_0280 EZ404U 430 800 27.50 55/2 3700 6500 3.2 1 94 14<br />

218 159 271 2.7 1.8 PHQA522_0280 EZ503U 430 800 27.50 55/2 3700 6500 7.8 1 94 15<br />

273 70 90 1.7 4.0 PHQA522_0220 EZ501U 330 800 22.00 22/1 3300 6000 3.2 1 95 12<br />

273 72 100 1.7 3.9 PHQA522_0220 EZ402U 330 800 22.00 22/1 3300 6000 1.9 1 95 12<br />

273 106 160 2.6 2.6 PHQA522_0220 EZ502U 430 800 22.00 22/1 3300 6000 5.5 1 95 13<br />

273 106 162 2.6 2.6 PHQA522_0220 EZ701U 410 800 22.00 22/1 3300 6000 8.8 1 95 15<br />

273 119 172 2.9 2.4 PHQA522_0220 EZ404U 430 800 22.00 22/1 3300 6000 3.3 1 95 14<br />

273 127 217 3.1 2.2 PHQA522_0220 EZ503U 430 800 22.00 22/1 3300 6000 7.9 1 95 15<br />

273 147 293 3.6 1.9 PHQA522_0220 EZ702U 430 800 22.00 22/1 3300 6000 14 1 95 18<br />

PHQA7 (n 1N = 2000 rpm, M 2acc,max = 950 Nm)<br />

364 231 349 9.5 2.8 PHQA721_0055 EZ805U 950 1900 5.500 11/2 2200 5000 135 1 235 55<br />

PHQA7 (n 1N = 3000 rpm, M 2acc,max = 950 Nm)<br />

14 554 594 0.2 1.2 PHQA723_2200 EZ401U 950 1900 220.0 220/1 4000 7000 0.99 1 202 19<br />

16 485 520 0.2 1.3 PHQA723_1930 EZ401U 950 1900 192.5 385/2 4000 7000 1.0 1 203 19<br />

19 388 416 0.3 1.7 PHQA723_1540 EZ401U 950 1900 154.0 154/1 4000 7000 1.0 1 203 19<br />

19 596 651 0.4 1.1 PHQA723_1540 EZ501U 950 1900 154.0 154/1 4000 7000 3.0 1 203 20<br />

22 347 371 0.3 1.9 PHQA723_1380 EZ401U 950 1900 137.5 275/2 3700 6500 1.2 1 204 19<br />

22 532 582 0.4 1.2 PHQA723_1380 EZ501U 950 1900 137.5 275/2 3700 6500 3.1 1 204 20<br />

22 582 644 0.5 1.1 PHQA723_1380 EZ402U 950 1900 137.5 275/2 3700 6500 1.9 1 204 20<br />

27 277 297 0.3 2.3 PHQA723_1100 EZ401U 840 1900 110.0 110/1 3300 6000 1.3 1 204 19<br />

27 426 465 0.5 1.5 PHQA723_1100 EZ501U 950 1900 110.0 110/1 3300 6000 3.3 1 204 20<br />

27 465 515 0.5 1.4 PHQA723_1100 EZ402U 950 1900 110.0 110/1 3300 6000 2.0 1 204 20<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]


7 PHQA planetary geared motors 7.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQA7 (n 1N = 3000 rpm, M 2acc,max = 950 Nm)<br />

34 222 238 0.3 2.9 PHQA723_0880 EZ401U 670 1900 88.00 88/1 3300 6000 1.3 1 204 19<br />

34 341 372 0.5 1.9 PHQA723_0880 EZ501U 950 1900 88.00 88/1 3300 6000 3.3 1 204 20<br />

34 372 412 0.6 1.7 PHQA723_0880 EZ402U 950 1900 88.00 88/1 3300 6000 2.0 1 204 20<br />

34 546 681 0.9 1.2 PHQA723_0880 EZ404U 950 1900 88.00 88/1 3300 6000 3.4 1 204 22<br />

34 586 634 0.9 1.1 PHQA723_0880 EZ502U 950 1900 88.00 88/1 3300 6000 5.6 1 204 22<br />

34 586 657 0.9 1.1 PHQA723_0880 EZ701U 950 1900 88.00 88/1 3300 6000 8.9 1 204 23<br />

55 220 240 0.7 2.9 PHQA722_0550 EZ501U 820 1900 55.00 55/1 3700 6500 3.1 1 195 18<br />

55 379 409 1.2 1.7 PHQA722_0550 EZ502U 950 1900 55.00 55/1 3700 6500 5.4 1 195 19<br />

55 379 425 1.2 1.7 PHQA722_0550 EZ701U 950 1900 55.00 55/1 3700 6500 8.7 1 195 21<br />

55 496 568 1.6 1.3 PHQA722_0550 EZ503U 950 1900 55.00 55/1 3700 6500 7.8 1 195 21<br />

78 154 168 0.8 4.2 PHQA722_0390 EZ501U 570 1900 38.50 77/2 3700 6500 3.3 1 203 18<br />

78 265 286 1.4 2.5 PHQA722_0390 EZ502U 950 1900 38.50 77/2 3700 6500 5.6 1 203 19<br />

78 265 297 1.4 2.5 PHQA722_0390 EZ701U 720 1900 38.50 77/2 3700 6500 8.9 1 203 21<br />

78 347 397 1.9 1.9 PHQA722_0390 EZ503U 950 1900 38.50 77/2 3700 6500 8.0 1 203 21<br />

78 430 516 2.3 1.5 PHQA722_0390 EZ702U 950 1900 38.50 77/2 3700 6500 14 1 203 23<br />

78 483 573 2.6 1.3 PHQA722_0390 EZ505U 950 1900 38.50 77/2 3700 6500 13 1 203 23<br />

109 189 205 1.7 3.4 PHQA722_0280 EZ502U 790 1900 27.50 55/2 3500 6000 5.9 1 206 19<br />

109 189 212 1.7 3.4 PHQA722_0280 EZ701U 510 1900 27.50 55/2 3500 6000 9.2 1 206 21<br />

109 248 284 2.2 2.6 PHQA722_0280 EZ503U 950 1900 27.50 55/2 3500 6000 8.3 1 206 21<br />

109 307 368 2.8 2.1 PHQA722_0280 EZ702U 950 1900 27.50 55/2 3500 6000 14 1 206 23<br />

109 345 409 3.1 1.9 PHQA722_0280 EZ505U 950 1900 27.50 55/2 3500 6000 13 1 206 23<br />

109 422 532 3.8 1.5 PHQA722_0280 EZ703U 950 1900 27.50 55/2 3500 6000 22 1 206 25<br />

136 151 164 1.9 4.3 PHQA722_0220 EZ502U 630 1900 22.00 22/1 3000 5000 6.4 1 207 19<br />

136 151 170 1.9 4.3 PHQA722_0220 EZ701U 410 1900 22.00 22/1 3000 5000 9.7 1 207 21<br />

136 198 227 2.5 3.3 PHQA722_0220 EZ503U 880 1900 22.00 22/1 3000 5000 8.8 1 207 21<br />

136 246 295 3.1 2.6 PHQA722_0220 EZ702U 840 1900 22.00 22/1 3000 5000 15 1 207 23<br />

136 276 327 3.5 2.4 PHQA722_0220 EZ505U 950 1900 22.00 22/1 3000 5000 13 1 207 23<br />

136 338 426 4.2 1.9 PHQA722_0220 EZ703U 950 1900 22.00 22/1 3000 5000 23 1 207 25<br />

136 436 618 5.5 1.5 PHQA722_0220 EZ705U 950 1900 22.00 22/1 3000 5000 35 1 207 31<br />

545 118 196 5.6 4.8 PHQA721_0055 EZ802U 530 1900 5.500 11/2 2200 5000 61 1 235 36<br />

545 140 254 6.6 4.0 PHQA721_0055 EZ803U 770 1900 5.500 11/2 2200 5000 86 1 235 42<br />

PHQA7 (n 1N = 4500 rpm, M 2acc,max = 950 Nm)<br />

117 340 548 1.8 1.9 PHQA722_0390 EZ505U 950 1900 38.50 77/2 3700 6500 13 1 203 23<br />

117 433 716 2.3 1.5 PHQA722_0390 EZ703U 950 1900 38.50 77/2 3700 6500 22 1 203 25<br />

164 243 391 2.2 2.7 PHQA722_0280 EZ505U 950 1900 27.50 55/2 3500 6000 13 1 206 23<br />

164 309 512 2.8 2.1 PHQA722_0280 EZ703U 950 1900 27.50 55/2 3500 6000 22 1 206 25<br />

205 194 313 2.4 3.3 PHQA722_0220 EZ505U 950 1900 22.00 22/1 3000 5000 13 1 207 23<br />

205 215 706 2.7 3.0 PHQA722_0220 EZ802U 950 1900 22.00 22/1 3000 5000 59 1 207 39<br />

205 248 409 3.1 2.6 PHQA722_0220 EZ703U 950 1900 22.00 22/1 3000 5000 23 1 207 25<br />

205 336 614 4.2 1.9 PHQA722_0220 EZ705U 950 1900 22.00 22/1 3000 5000 35 1 207 31<br />

PHQA7 (n 1N = 6000 rpm, M 2acc,max = 950 Nm)<br />

22 569 693 0.2 1.1 PHQA723_2750 EZ401U 950 1900 275.0 275/1 4000 7000 0.99 1 202 19<br />

27 455 554 0.2 1.4 PHQA723_2200 EZ401U 950 1900 220.0 220/1 4000 7000 0.99 1 202 19<br />

31 398 485 0.2 1.6 PHQA723_1930 EZ401U 950 1900 192.5 385/2 4000 7000 1.0 1 203 19<br />

39 319 388 0.2 2.0 PHQA723_1540 EZ401U 950 1900 154.0 154/1 4000 7000 1.0 1 203 19<br />

39 471 610 0.3 1.4 PHQA723_1540 EZ501U 950 1900 154.0 154/1 4000 7000 3.0 1 203 20<br />

39 485 679 0.3 1.3 PHQA723_1540 EZ402U 950 1900 154.0 154/1 4000 7000 1.7 1 203 20<br />

44 285 347 0.2 2.3 PHQA723_1380 EZ401U 950 1900 137.5 275/2 3700 6500 1.2 1 204 19<br />

44 421 545 0.3 1.5 PHQA723_1380 EZ501U 950 1900 137.5 275/2 3700 6500 3.1 1 204 20<br />

44 433 606 0.3 1.5 PHQA723_1380 EZ402U 950 1900 137.5 275/2 3700 6500 1.9 1 204 20<br />

55 228 277 0.3 2.9 PHQA723_1100 EZ401U 840 1900 110.0 110/1 3300 6000 1.3 1 204 19<br />

55 337 436 0.4 1.9 PHQA723_1100 EZ501U 950 1900 110.0 110/1 3300 6000 3.3 1 204 20<br />

55 347 485 0.4 1.9 PHQA723_1100 EZ402U 950 1900 110.0 110/1 3300 6000 2.0 1 204 20<br />

68 182 222 0.3 3.6 PHQA723_0880 EZ401U 670 1900 88.00 88/1 3300 6000 1.3 1 204 19<br />

68 269 348 0.4 2.4 PHQA723_0880 EZ501U 950 1900 88.00 88/1 3300 6000 3.3 1 204 20<br />

68 277 388 0.4 2.3 PHQA723_0880 EZ402U 950 1900 88.00 88/1 3300 6000 2.0 1 204 20<br />

68 412 618 0.6 1.6 PHQA723_0880 EZ502U 950 1900 88.00 88/1 3300 6000 5.6 1 204 22<br />

68 412 626 0.6 1.6 PHQA723_0880 EZ701U 950 1900 88.00 88/1 3300 6000 8.9 1 204 23<br />

68 459 665 0.7 1.4 PHQA723_0880 EZ404U 950 1900 88.00 88/1 3300 6000 3.4 1 204 22<br />

109 174 225 0.7 2.9 PHQA722_0550 EZ501U 820 1900 55.00 55/1 3700 6500 3.1 1 195 18<br />

109 266 399 1.1 1.9 PHQA722_0550 EZ502U 950 1900 55.00 55/1 3700 6500 5.4 1 195 19<br />

109 266 404 1.1 1.9 PHQA722_0550 EZ701U 950 1900 55.00 55/1 3700 6500 8.7 1 195 21<br />

109 317 542 1.3 1.6 PHQA722_0550 EZ503U 950 1900 55.00 55/1 3700 6500 7.8 1 195 21<br />

109 368 731 1.5 1.4 PHQA722_0550 EZ702U 950 1900 55.00 55/1 3700 6500 14 1 195 23<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

131


7.2 Selection tables 7 PHQA planetary geared motors<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQA7 (n 1N = 6000 rpm, M 2acc,max = 950 Nm)<br />

156 186 279 1.0 3.5 PHQA722_0390 EZ502U 950 1900 38.50 77/2 3700 6500 5.6 1 203 19<br />

156 186 283 1.0 3.5 PHQA722_0390 EZ701U 720 1900 38.50 77/2 3700 6500 8.9 1 203 21<br />

156 222 380 1.2 2.9 PHQA722_0390 EZ503U 950 1900 38.50 77/2 3700 6500 8.0 1 203 21<br />

156 258 512 1.4 2.5 PHQA722_0390 EZ702U 950 1900 38.50 77/2 3700 6500 14 1 203 23<br />

218 133 199 1.2 4.9 PHQA722_0280 EZ502U 790 1900 27.50 55/2 3500 6000 5.9 1 206 19<br />

218 133 202 1.2 4.9 PHQA722_0280 EZ701U 510 1900 27.50 55/2 3500 6000 9.2 1 206 21<br />

218 159 271 1.4 4.1 PHQA722_0280 EZ503U 950 1900 27.50 55/2 3500 6000 8.3 1 206 21<br />

218 184 366 1.7 3.5 PHQA722_0280 EZ702U 950 1900 27.50 55/2 3500 6000 14 1 206 23<br />

PHQA8 (n 1N = 2000 rpm, M 2acc,max = 2600 Nm)<br />

73 1118 1691 4.1 1.5 PHQA822_0280 EZ805U 2600 4400 27.50 55/2 3000 5500 135 1 656 82<br />

91 894 1352 4.6 1.9 PHQA822_0220 EZ805U 2600 4400 22.00 22/1 2500 4500 137 1 661 82<br />

PHQA8 (n 1N = 3000 rpm, M 2acc,max = 2600 Nm)<br />

7.8 1490 1629 0.1 1.1 PHQA823_3850 EZ501U 2600 4400 385.0 385/1 3700 6500 3.1 1 635 46<br />

11 1064 1163 0.1 1.6 PHQA823_2750 EZ501U 2600 4400 275.0 275/1 3700 6500 3.1 1 643 46<br />

14 851 931 0.1 2.0 PHQA823_2200 EZ501U 2600 4400 220.0 220/1 3700 6500 3.1 1 641 46<br />

14 1465 1584 0.2 1.2 PHQA823_2200 EZ502U 2600 4400 220.0 220/1 3700 6500 5.4 1 641 47<br />

14 1465 1643 0.2 1.2 PHQA823_2200 EZ701U 2600 4400 220.0 220/1 3700 6500 8.7 1 641 49<br />

16 745 814 0.1 2.3 PHQA823_1930 EZ501U 2600 4400 192.5 385/2 3700 6500 3.3 1 645 46<br />

16 1282 1386 0.3 1.3 PHQA823_1930 EZ502U 2600 4400 192.5 385/2 3700 6500 5.6 1 645 47<br />

16 1282 1438 0.3 1.3 PHQA823_1930 EZ701U 2600 4400 192.5 385/2 3700 6500 8.9 1 645 49<br />

16 1681 1923 0.3 1.0 PHQA823_1930 EZ503U 2600 4400 192.5 385/2 3700 6500 8.0 1 645 49<br />

19 596 651 0.2 2.9 PHQA823_1540 EZ501U 2220 4400 154.0 154/1 3700 6500 3.3 1 645 46<br />

19 1026 1109 0.3 1.7 PHQA823_1540 EZ502U 2600 4400 154.0 154/1 3700 6500 5.6 1 645 47<br />

19 1026 1150 0.3 1.7 PHQA823_1540 EZ701U 2600 4400 154.0 154/1 3700 6500 8.9 1 645 49<br />

19 1344 1538 0.4 1.3 PHQA823_1540 EZ503U 2600 4400 154.0 154/1 3700 6500 8.0 1 645 49<br />

19 1663 1996 0.5 1.0 PHQA823_1540 EZ702U 2600 4400 154.0 154/1 3700 6500 14 1 645 51<br />

22 532 582 0.2 3.2 PHQA823_1380 EZ501U 1980 4400 137.5 275/2 3500 6000 3.6 1 646 46<br />

22 916 990 0.3 1.9 PHQA823_1380 EZ502U 2600 4400 137.5 275/2 3500 6000 5.9 1 646 47<br />

22 916 1027 0.3 1.9 PHQA823_1380 EZ701U 2480 4400 137.5 275/2 3500 6000 9.2 1 646 49<br />

22 1200 1374 0.4 1.4 PHQA823_1380 EZ503U 2600 4400 137.5 275/2 3500 6000 8.3 1 646 49<br />

22 1485 1782 0.5 1.1 PHQA823_1380 EZ702U 2600 4400 137.5 275/2 3500 6000 14 1 646 51<br />

22 1671 1980 0.6 1.0 PHQA823_1380 EZ505U 2600 4400 137.5 275/2 3500 6000 13 1 646 51<br />

27 426 465 0.2 4.0 PHQA823_1100 EZ501U 1580 4400 110.0 110/1 3500 6000 4.1 1 647 46<br />

27 733 792 0.3 2.3 PHQA823_1100 EZ502U 2600 4400 110.0 110/1 3500 6000 6.4 1 647 47<br />

27 733 822 0.3 2.3 PHQA823_1100 EZ701U 1980 4400 110.0 110/1 3500 6000 9.7 1 647 49<br />

27 960 1099 0.4 1.8 PHQA823_1100 EZ503U 2600 4400 110.0 110/1 3500 6000 8.8 1 647 49<br />

27 1188 1426 0.6 1.4 PHQA823_1100 EZ702U 2600 4400 110.0 110/1 3500 6000 15 1 647 51<br />

27 1337 1584 0.6 1.3 PHQA823_1100 EZ505U 2600 4400 110.0 110/1 3500 6000 13 1 647 51<br />

34 341 372 0.2 5.0 PHQA823_0880 EZ501U 1270 4400 88.00 88/1 3000 5000 4.2 1 647 46<br />

34 586 634 0.4 2.9 PHQA823_0880 EZ502U 2460 4400 88.00 88/1 3000 5000 6.5 1 647 47<br />

34 586 657 0.4 2.9 PHQA823_0880 EZ701U 1580 4400 88.00 88/1 3000 5000 9.8 1 647 49<br />

34 768 879 0.5 2.2 PHQA823_0880 EZ503U 2600 4400 88.00 88/1 3000 5000 8.9 1 647 49<br />

34 950 1140 0.6 1.8 PHQA823_0880 EZ702U 2600 4400 88.00 88/1 3000 5000 15 1 647 51<br />

34 1069 1267 0.7 1.6 PHQA823_0880 EZ505U 2600 4400 88.00 88/1 3000 5000 13 1 647 51<br />

34 1307 1647 0.8 1.3 PHQA823_0880 EZ703U 2600 4400 88.00 88/1 3000 5000 23 1 647 53<br />

55 379 425 0.6 3.7 PHQA822_0550 EZ701U 1020 4400 55.00 55/1 3300 6000 9.2 1 615 44<br />

55 614 737 1.0 2.3 PHQA822_0550 EZ702U 2100 4400 55.00 55/1 3300 6000 14 1 615 47<br />

55 844 1064 1.4 1.6 PHQA822_0550 EZ703U 2600 4400 55.00 55/1 3300 6000 22 1 615 49<br />

55 1089 1545 1.8 1.3 PHQA822_0550 EZ705U 2600 4400 55.00 55/1 3300 6000 35 1 615 54<br />

55 1141 1898 1.8 1.2 PHQA822_0550 EZ802U 2600 4400 55.00 55/1 3300 6000 59 1 615 63<br />

78 430 516 1.0 4.0 PHQA822_0390 EZ702U 1470 4400 38.50 77/2 3300 6000 15 1 643 47<br />

78 591 745 1.3 2.9 PHQA822_0390 EZ703U 2330 4400 38.50 77/2 3300 6000 23 1 643 49<br />

78 763 1081 1.7 2.2 PHQA822_0390 EZ705U 2600 4400 38.50 77/2 3300 6000 35 1 643 54<br />

78 798 1328 1.8 2.1 PHQA822_0390 EZ802U 2600 4400 38.50 77/2 3300 6000 59 1 643 63<br />

109 422 532 1.6 4.0 PHQA822_0280 EZ703U 1660 4400 27.50 55/2 3000 5500 24 1 656 49<br />

109 545 772 2.0 3.1 PHQA822_0280 EZ705U 2600 4400 27.50 55/2 3000 5500 37 1 656 54<br />

109 570 949 2.1 3.0 PHQA822_0280 EZ802U 2560 4400 27.50 55/2 3000 5500 61 1 656 63<br />

109 680 1233 2.5 2.5 PHQA822_0280 EZ803U 2600 4400 27.50 55/2 3000 5500 86 1 656 69<br />

136 436 618 2.3 3.9 PHQA822_0220 EZ705U 2130 4400 22.00 22/1 2500 4500 38 1 661 54<br />

136 456 759 2.4 3.7 PHQA822_0220 EZ802U 2050 4400 22.00 22/1 2500 4500 63 1 661 63<br />

136 544 986 2.8 3.1 PHQA822_0220 EZ803U 2600 4400 22.00 22/1 2500 4500 88 1 661 69<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

132


7 PHQA planetary geared motors 7.2 Selection tables<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQA8 (n 1N = 4500 rpm, M 2acc,max = 2600 Nm)<br />

33 1176 1893 0.4 1.4 PHQA823_1380 EZ505U 2600 4400 137.5 275/2 3500 6000 13 1 646 51<br />

41 941 1515 0.4 1.8 PHQA823_1100 EZ505U 2600 4400 110.0 110/1 3500 6000 13 1 647 51<br />

41 1198 1980 0.6 1.4 PHQA823_1100 EZ703U 2600 4400 110.0 110/1 3500 6000 23 1 647 53<br />

51 752 1212 0.5 2.3 PHQA823_0880 EZ505U 2600 4400 88.00 88/1 3000 5000 13 1 647 51<br />

51 958 1584 0.6 1.8 PHQA823_0880 EZ703U 2600 4400 88.00 88/1 3000 5000 23 1 647 53<br />

82 537 1765 1.0 2.3 PHQA822_0550 EZ802U 2600 4400 55.00 55/1 3300 6000 59 1 615 63<br />

82 619 1023 1.1 2.0 PHQA822_0550 EZ703U 2600 4400 55.00 55/1 3300 6000 22 1 615 49<br />

82 839 1535 1.5 1.4 PHQA822_0550 EZ705U 2600 4400 55.00 55/1 3300 6000 35 1 615 54<br />

117 376 1235 0.8 4.5 PHQA822_0390 EZ802U 2600 4400 38.50 77/2 3300 6000 59 1 643 63<br />

117 433 716 1.0 3.9 PHQA822_0390 EZ703U 2330 4400 38.50 77/2 3300 6000 23 1 643 49<br />

117 587 1074 1.3 2.9 PHQA822_0390 EZ705U 2600 4400 38.50 77/2 3300 6000 35 1 643 54<br />

164 419 767 1.6 4.1 PHQA822_0280 EZ705U 2600 4400 27.50 55/2 3000 5500 37 1 656 54<br />

PHQA8 (n 1N = 6000 rpm, M 2acc,max = 2600 Nm)<br />

16 1178 1525 0.1 1.4 PHQA823_3850 EZ501U 2600 4400 385.0 385/1 3700 6500 3.1 1 635 46<br />

22 842 1089 0.1 2.0 PHQA823_2750 EZ501U 2600 4400 275.0 275/1 3700 6500 3.1 1 643 46<br />

22 1287 1931 0.2 1.3 PHQA823_2750 EZ502U 2600 4400 275.0 275/1 3700 6500 5.4 1 643 47<br />

22 1287 1955 0.2 1.3 PHQA823_2750 EZ701U 2600 4400 275.0 275/1 3700 6500 8.7 1 643 49<br />

27 673 871 0.1 2.5 PHQA823_2200 EZ501U 2600 4400 220.0 220/1 3700 6500 3.1 1 641 46<br />

27 1030 1544 0.2 1.7 PHQA823_2200 EZ502U 2600 4400 220.0 220/1 3700 6500 5.4 1 641 47<br />

27 1030 1564 0.2 1.7 PHQA823_2200 EZ701U 2600 4400 220.0 220/1 3700 6500 8.7 1 641 49<br />

31 589 762 0.1 2.9 PHQA823_1930 EZ501U 2600 4400 192.5 385/2 3700 6500 3.3 1 645 46<br />

31 901 1351 0.2 1.9 PHQA823_1930 EZ502U 2600 4400 192.5 385/2 3700 6500 5.6 1 645 47<br />

31 901 1369 0.2 1.9 PHQA823_1930 EZ701U 2600 4400 192.5 385/2 3700 6500 8.9 1 645 49<br />

31 1074 1836 0.2 1.6 PHQA823_1930 EZ503U 2600 4400 192.5 385/2 3700 6500 8.0 1 645 49<br />

39 471 610 0.1 3.6 PHQA823_1540 EZ501U 2220 4400 154.0 154/1 3700 6500 3.3 1 645 46<br />

39 721 1081 0.2 2.4 PHQA823_1540 EZ502U 2600 4400 154.0 154/1 3700 6500 5.6 1 645 47<br />

39 721 1095 0.2 2.4 PHQA823_1540 EZ701U 2600 4400 154.0 154/1 3700 6500 8.9 1 645 49<br />

39 859 1469 0.2 2.0 PHQA823_1540 EZ503U 2600 4400 154.0 154/1 3700 6500 8.0 1 645 49<br />

39 998 1982 0.3 1.7 PHQA823_1540 EZ702U 2600 4400 154.0 154/1 3700 6500 14 1 645 51<br />

44 421 545 0.1 4.0 PHQA823_1380 EZ501U 1980 4400 137.5 275/2 3500 6000 3.6 1 646 46<br />

44 644 965 0.2 2.6 PHQA823_1380 EZ502U 2600 4400 137.5 275/2 3500 6000 5.9 1 646 47<br />

44 644 978 0.2 2.6 PHQA823_1380 EZ701U 2480 4400 137.5 275/2 3500 6000 9.2 1 646 49<br />

44 767 1312 0.3 2.2 PHQA823_1380 EZ503U 2600 4400 137.5 275/2 3500 6000 8.3 1 646 49<br />

44 891 1770 0.3 1.9 PHQA823_1380 EZ702U 2600 4400 137.5 275/2 3500 6000 14 1 646 51<br />

55 515 772 0.2 3.3 PHQA823_1100 EZ502U 2600 4400 110.0 110/1 3500 6000 6.4 1 647 47<br />

55 515 782 0.2 3.3 PHQA823_1100 EZ701U 1980 4400 110.0 110/1 3500 6000 9.7 1 647 49<br />

55 614 1049 0.3 2.8 PHQA823_1100 EZ503U 2600 4400 110.0 110/1 3500 6000 8.8 1 647 49<br />

55 713 1416 0.3 2.4 PHQA823_1100 EZ702U 2600 4400 110.0 110/1 3500 6000 15 1 647 51<br />

109 266 404 0.5 4.1 PHQA822_0550 EZ701U 1020 4400 55.00 55/1 3300 6000 9.2 1 615 44<br />

109 368 731 0.7 3.0 PHQA822_0550 EZ702U 2100 4400 55.00 55/1 3300 6000 14 1 615 47<br />

PHQA9 (n 1N = 2000 rpm, M 2acc,max = 6000 Nm)<br />

28 2832 4283 1.2 1.3 PHQA933_0720 EZ805U 6000 12000 72.00 72/1 2200 4500 139 1 1205 127<br />

33 2438 3688 1.4 1.6 PHQA932_0600 EZ805U 6000 12000 60.00 60/1 2800 4500 135 1 1149 119<br />

48 1707 2582 1.6 2.2 PHQA932_0420 EZ805U 6000 12000 42.00 42/1 2800 4500 138 1 1195 119<br />

67 1219 1844 1.9 3.1 PHQA932_0300 EZ805U 5720 12000 30.00 30/1 2500 4000 143 1 1214 119<br />

83 975 1475 2.1 3.9 PHQA932_0240 EZ805U 4580 12000 24.00 24/1 2200 3500 150 1 1225 119<br />

PHQA9 (n 1N = 3000 rpm, M 2acc,max = 6000 Nm)<br />

7.1 2797 3137 0.1 1.4 PHQA933_4200 EZ701U 6000 12000 420.0 420/1 3300 6000 9.1 1 1184 90<br />

10 1998 2241 0.1 1.9 PHQA933_3000 EZ701U 5400 12000 300.0 300/1 3300 6000 9.1 1 1196 90<br />

10 3240 3888 0.2 1.2 PHQA933_3000 EZ702U 6000 12000 300.0 300/1 3300 6000 14 1 1196 92<br />

13 1598 1793 0.1 2.4 PHQA933_2400 EZ701U 4320 12000 240.0 240/1 3300 6000 9.2 1 1198 90<br />

13 2592 3110 0.2 1.5 PHQA933_2400 EZ702U 6000 12000 240.0 240/1 3300 6000 14 1 1198 92<br />

13 3564 4493 0.2 1.1 PHQA933_2400 EZ703U 6000 12000 240.0 240/1 3300 6000 22 1 1198 94<br />

14 1399 1569 0.1 2.7 PHQA933_2100 EZ701U 3780 12000 210.0 210/1 3300 6000 9.8 1 1200 90<br />

14 2268 2722 0.2 1.7 PHQA933_2100 EZ702U 6000 12000 210.0 210/1 3300 6000 15 1 1200 92<br />

14 3119 3931 0.3 1.2 PHQA933_2100 EZ703U 6000 12000 210.0 210/1 3300 6000 23 1 1200 94<br />

18 1119 1255 0.1 3.4 PHQA933_1680 EZ701U 3020 12000 168.0 168/1 3300 6000 9.9 1 1204 90<br />

18 1814 2177 0.2 2.1 PHQA933_1680 EZ702U 6000 12000 168.0 168/1 3300 6000 15 1 1204 92<br />

18 2495 3145 0.3 1.5 PHQA933_1680 EZ703U 6000 12000 168.0 168/1 3300 6000 23 1 1204 94<br />

18 3221 4566 0.4 1.2 PHQA933_1680 EZ705U 6000 12000 168.0 168/1 3300 6000 35 1 1204 100<br />

20 999 1121 0.1 3.8 PHQA933_1500 EZ701U 2700 12000 150.0 150/1 3000 5500 11 1 1202 90<br />

20 1620 1944 0.2 2.3 PHQA933_1500 EZ702U 5540 12000 150.0 150/1 3000 5500 16 1 1202 92<br />

20 2228 2808 0.3 1.7 PHQA933_1500 EZ703U 6000 12000 150.0 150/1 3000 5500 24 1 1202 94<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

133


7.2 Selection tables 7 PHQA planetary geared motors<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHQA9 (n 1N = 3000 rpm, M 2acc,max = 6000 Nm)<br />

20 2876 4077 0.4 1.3 PHQA933_1500 EZ705U 6000 12000 150.0 150/1 3000 5500 37 1 1202 100<br />

25 799 896 0.2 4.8 PHQA933_1200 EZ701U 2160 12000 120.0 120/1 2500 4500 13 1 1203 90<br />

25 1296 1555 0.3 2.9 PHQA933_1200 EZ702U 4430 12000 120.0 120/1 2500 4500 18 1 1203 92<br />

25 1782 2246 0.4 2.1 PHQA933_1200 EZ703U 6000 12000 120.0 120/1 2500 4500 26 1 1203 94<br />

25 2300 3262 0.5 1.7 PHQA933_1200 EZ705U 6000 12000 120.0 120/1 2500 4500 38 1 1203 100<br />

25 2408 4007 0.5 1.6 PHQA933_1200 EZ802U 6000 12000 120.0 120/1 2500 4500 62 1 1203 108<br />

31 1037 1244 0.3 3.7 PHQA933_0960 EZ702U 3540 12000 96.00 96/1 2500 4500 18 1 1207 92<br />

31 1426 1797 0.4 2.7 PHQA933_0960 EZ703U 5620 12000 96.00 96/1 2500 4500 26 1 1207 94<br />

31 1840 2609 0.5 2.1 PHQA933_0960 EZ705U 6000 12000 96.00 96/1 2500 4500 39 1 1207 100<br />

31 1927 3205 0.5 2.0 PHQA933_0960 EZ802U 6000 12000 96.00 96/1 2500 4500 63 1 1207 108<br />

31 2298 4164 0.6 1.7 PHQA933_0960 EZ803U 6000 12000 96.00 96/1 2500 4500 88 1 1207 114<br />

42 778 933 0.3 4.9 PHQA933_0720 EZ702U 2660 12000 72.00 72/1 2200 4500 20 1 1205 92<br />

42 1069 1348 0.5 3.6 PHQA933_0720 EZ703U 4210 12000 72.00 72/1 2200 4500 28 1 1205 94<br />

42 1380 1957 0.6 2.8 PHQA933_0720 EZ705U 6000 12000 72.00 72/1 2200 4500 41 1 1205 100<br />

42 1445 2404 0.6 2.6 PHQA933_0720 EZ802U 6000 12000 72.00 72/1 2200 4500 65 1 1205 108<br />

42 1724 3123 0.7 2.2 PHQA933_0720 EZ803U 6000 12000 72.00 72/1 2200 4500 90 1 1205 114<br />

50 1244 2070 0.7 2.8 PHQA932_0600 EZ802U 5580 12000 60.00 60/1 2800 4500 61 1 1149 100<br />

50 1484 2690 0.9 2.4 PHQA932_0600 EZ803U 6000 12000 60.00 60/1 2800 4500 86 1 1149 106<br />

71 871 1449 0.8 4.4 PHQA932_0420 EZ802U 3910 12000 42.00 42/1 2800 4500 63 1 1195 100<br />

71 1039 1883 1.0 3.7 PHQA932_0420 EZ803U 5660 12000 42.00 42/1 2800 4500 89 1 1195 106<br />

PHQA9 (n 1N = 4500 rpm, M 2acc,max = 6000 Nm)<br />

19 2614 4320 0.2 1.5 PHQA933_2400 EZ703U 6000 12000 240.0 240/1 3300 6000 22 1 1198 94<br />

21 2287 3780 0.2 1.7 PHQA933_2100 EZ703U 6000 12000 210.0 210/1 3300 6000 23 1 1200 94<br />

27 1830 3024 0.2 2.1 PHQA933_1680 EZ703U 6000 12000 168.0 168/1 3300 6000 23 1 1204 94<br />

27 2480 4536 0.3 1.5 PHQA933_1680 EZ705U 6000 12000 168.0 168/1 3300 6000 35 1 1204 100<br />

30 1634 2700 0.2 2.3 PHQA933_1500 EZ703U 6000 12000 150.0 150/1 3000 5500 24 1 1202 94<br />

30 2214 4050 0.3 1.7 PHQA933_1500 EZ705U 6000 12000 150.0 150/1 3000 5500 37 1 1202 100<br />

38 1134 3726 0.2 3.4 PHQA933_1200 EZ802U 6000 12000 120.0 120/1 2500 4500 62 1 1203 108<br />

38 1307 2160 0.3 2.9 PHQA933_1200 EZ703U 6000 12000 120.0 120/1 2500 4500 26 1 1203 94<br />

38 1771 3240 0.3 2.1 PHQA933_1200 EZ705U 6000 12000 120.0 120/1 2500 4500 38 1 1203 100<br />

47 907 2981 0.2 4.2 PHQA933_0960 EZ802U 6000 12000 96.00 96/1 2500 4500 63 1 1207 108<br />

47 1045 1728 0.3 3.6 PHQA933_0960 EZ703U 5620 12000 96.00 96/1 2500 4500 26 1 1207 94<br />

47 1417 2592 0.4 2.7 PHQA933_0960 EZ705U 6000 12000 96.00 96/1 2500 4500 39 1 1207 100<br />

63 784 1296 0.3 4.8 PHQA933_0720 EZ703U 4210 12000 72.00 72/1 2200 4500 28 1 1205 94<br />

63 1063 1944 0.4 3.6 PHQA933_0720 EZ705U 6000 12000 72.00 72/1 2200 4500 41 1 1205 100<br />

PHQA9 (n 1N = 6000 rpm, M 2acc,max = 6000 Nm)<br />

10 2808 4266 0.1 1.4 PHQA933_6000 EZ701U 6000 12000 600.0 600/1 3300 6000 9.1 1 1145 90<br />

14 1966 2986 0.1 1.9 PHQA933_4200 EZ701U 6000 12000 420.0 420/1 3300 6000 9.1 1 1184 90<br />

20 1404 2133 0.1 2.7 PHQA933_3000 EZ701U 5400 12000 300.0 300/1 3300 6000 9.1 1 1196 90<br />

20 1944 3861 0.1 2.0 PHQA933_3000 EZ702U 6000 12000 300.0 300/1 3300 6000 14 1 1196 92<br />

25 1123 1706 0.1 3.4 PHQA933_2400 EZ701U 4320 12000 240.0 240/1 3300 6000 9.2 1 1198 90<br />

25 1555 3089 0.1 2.4 PHQA933_2400 EZ702U 6000 12000 240.0 240/1 3300 6000 14 1 1198 92<br />

29 983 1493 0.1 3.9 PHQA933_2100 EZ701U 3780 12000 210.0 210/1 3300 6000 9.8 1 1200 90<br />

29 1361 2703 0.1 2.8 PHQA933_2100 EZ702U 6000 12000 210.0 210/1 3300 6000 15 1 1200 92<br />

36 786 1194 0.1 4.8 PHQA933_1680 EZ701U 3020 12000 168.0 168/1 3300 6000 9.9 1 1204 90<br />

36 1089 2162 0.1 3.5 PHQA933_1680 EZ702U 6000 12000 168.0 168/1 3300 6000 15 1 1204 92<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

134


7 PHQA planetary geared motors 7.3 Dimensional drawings<br />

7.3 Dimensional drawings<br />

In this chapter you can find the dimensions of the geared motors.<br />

There is a dimensional drawing for every possible shaft/housing design, each with the tables for gear unit dimensions,<br />

motor dimensions and geared motor dimensions.<br />

Dimensions can exceed the specifications of ISO 2768-mK due to casting tolerances or accumulation of individual<br />

tolerances.<br />

We reserve the right to make dimensional changes due to ongoing technical development.<br />

You can download CAD models of our standard drives at http://cad.stoeber.de.<br />

Combination options and the dimensions of forced ventilated geared motors can be found at http://<br />

cad.stoeber.de.<br />

135


7.3 Dimensional drawings 7 PHQA planetary geared motors<br />

7.3.1 F shaft design (flange shaft)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ∅a1 ∅b1 ∅bf c1 ∅df ∅e1 ∅ef f1 i2 i3 lh r ∅s1 s7 sf tf<br />

PHQA421 118 h7 90 h7 63 h7 7 31.5 H6 109 50 10 30 24 6 0.020 5.5 – M6 11<br />

PHQA422 118 h7 90 h7 63 h7 7 31.5 H6 109 50 10 30 24 6 0.020 5.5 – M6 11<br />

PHQA521 145 h7 110 h7 80 h7 8 40.0 H6 135 63 10 29 23 6 0.020 5.5 – M8 11<br />

PHQA522 145 h7 110 h7 80 h7 8 40.0 H6 135 63 10 29 23 6 0.020 5.5 – M8 11<br />

PHQA721 179 h7 140 h7 100 h7 10 50.0 H6 168 80 12 38 32 6 0.025 6.6 – M10 14<br />

PHQA722 179 h7 140 h7 100 h7 10 50.0 H6 168 80 12 38 32 6 0.025 6.6 – M10 16<br />

PHQA723 179 h7 140 h7 100 h7 10 50.0 H6 168 80 12 38 32 6 0.025 6.6 – M10 16<br />

PHQA822 247 h7 200 h7 160 h7 12 80.0 H6 233 125 15 50 42 8 0.030 9.0 M10 M12 17<br />

PHQA823 247 h7 200 h7 160 h7 12 80.0 H6 233 125 15 50 42 8 0.030 9.0 M10 M12 17<br />

PHQA932 300 255 h7 180 h7 18 90.0 H6 280 145 20 66 55 12 0.030 13.5 M8 M20 28<br />

PHQA933 300 255 h7 180 h7 18 90.0 H6 280 145 20 66 55 12 0.030 13.5 M8 M20 28<br />

136


7 PHQA planetary geared motors 7.3 Dimensional drawings<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ301U 72 90 130.0 55.5 21 54.5<br />

EZ302U 72 112 152.0 55.5 21 76.5<br />

EZ303U 72 134 174.0 55.5 21 98.5<br />

EZ401U 98 98 146.5 91.0 22 56.0<br />

EZ402U 98 123 171.5 91.0 22 81.0<br />

EZ404U 98 173 221.5 91.0 22 131.0<br />

EZ501U 115 93 147.5 100.0 22 58.5<br />

EZ502U 115 118 172.5 100.0 22 83.5<br />

EZ503U 115 143 197.5 100.0 22 108.5<br />

EZ505U 115 193 247.5 100.0 22 158.5<br />

EZ701U 145 102 161.0 115.0 22 64.0<br />

EZ702U 145 127 186.0 115.0 22 89.0<br />

EZ703U 145 152 211.0 115.0 22 114.0<br />

EZ705U 145 207 266.0 134.0 22 165.0<br />

EZ802U 190 197 274.0 156.5 22 143.0<br />

EZ803U 190 238 315.0 156.5 22 184.0<br />

EZ805U 190 320 397.0 156.5 22 266.0<br />

Dimensions of geared motors<br />

Type EZ3 EZ4 EZ5 EZ7 EZ8<br />

mp mp mp mp mp<br />

PHQA421 – 51.0 53.5 – –<br />

PHQA422 103.0 99.5 102.0 – –<br />

PHQA521 – – 57.0 63.0 –<br />

PHQA522 – 112.5 115.0 121.0 –<br />

PHQA721 – – – – 77.0<br />

PHQA722 – – 128.0 134.0 149.0<br />

PHQA723 – 183.5 186.0 192.0 –<br />

PHQA822 – – – 169.0 184.0<br />

PHQA823 – – 229.0 235.0 –<br />

PHQA932 – – – – 249.5<br />

PHQA933 – – – 319.0 334.0<br />

137


7.5 Product description 7 PHQA planetary geared motors<br />

7.4 Type designation<br />

In this chapter, you can find an explanation of the type designation with the associated options.<br />

Additional ordering information not included in the type designation can be found at the end of the chapter.<br />

Sample code<br />

PHQA 7 2 2 F 0550 EZ501U<br />

Explanation<br />

Code Designation Design<br />

PHQA Type Low-backlash planetary gear unit<br />

7 Size 7 (example)<br />

2<br />

3<br />

Generation Generation 2<br />

Generation 3<br />

1<br />

2<br />

3<br />

Stages<br />

Single-stage<br />

Two-stage<br />

Three-stage<br />

F Shaft Flange shaft<br />

0550 Transmission ratio (i x 10) i = 55 (example)<br />

EZ501U Motor EZ synchronous servo motor<br />

In order to complete the type designation, also specify:<br />

• A detailed type designation of the motor, see chapter [} 23]<br />

• The mounting position (for three-stage gear units), see chapter [} 7.5.2]<br />

• For reverse operation of the output shaft from ± 20° to ± 90° and horizontal installation, note the chapter<br />

[} 7.6.4]<br />

7.5 Product description<br />

7.5.1 Installation conditions<br />

The torque and force values listed in this catalog are valid under the following conditions:<br />

• When using screws with quality 12.9 for machine-side attachment of the flange shaft and gear unit<br />

housing<br />

• When the gear unit housings are adjusted at pilot øb1 (H7)<br />

• When the flange shaft is adjusted using the connecting element at pilot øbf or ødf<br />

7.5.2 Mounting positions<br />

The following table shows the standard mounting positions.<br />

Please indicate the mounting position when ordering three-stage geared motors.<br />

EL1 EL5 EL6<br />

Horizontal output Vertical downward output Vertical upward output<br />

7.5.3 Lubricants<br />

138<br />

STOBER fills the gear units with the amount and type of lubricant specified on the nameplate. The filling volume<br />

and the structure of the gear units depend on the mounting position.


7 PHQA planetary geared motors 7.6 Project configuration<br />

7.5.4 Other product features<br />

7.5.5 Direction of rotation<br />

Only install the gear units in the intended mounting position! Reposition the gear units only after consulting<br />

STOBER. Otherwise, STOBER assumes no liability for the gear units.<br />

Lubricant filling quantities for gear units, document ID 441871, can be found online at http://www.stoeber.de/en/download.<br />

Enter the ID of the documentation in the Search... field.<br />

Feature<br />

Value<br />

Max. permitted gear unit temperature (on the surface of the gear unit) ≤ 90 °C<br />

Paint Black RAL 9005<br />

(ATEX) Directive 2014/34/EU (option)<br />

Not suitable<br />

Protection class: 1<br />

Gear unit<br />

Motor<br />

IP65<br />

IP56, optionally IP66<br />

The input and output rotate in the same direction.<br />

7.6 Project configuration<br />

Project your drives using our SERVOsoft designing software. You can receive SERVOsoft for free from your<br />

adviser at one of our sales centers. Observe the limit conditions in this chapter to ensure a safe design for<br />

your drives.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

7.6.1 Calculation of the operating point<br />

Check the following conditions for operating points other than the nominal point M 2N specified in the selection<br />

tables.<br />

n<br />

1m*<br />

n<br />

£<br />

fB<br />

1maxDB<br />

T<br />

n<br />

M<br />

M<br />

1max*<br />

2eff *<br />

2acc*<br />

n<br />

£<br />

fB<br />

£ M<br />

1max ZB<br />

2th<br />

£ M<br />

T<br />

2acc<br />

M<br />

2NOT*<br />

£ M<br />

2NOT<br />

S<br />

M 2eq*<br />

£ M 2N<br />

× fB fB op<br />

×<br />

t<br />

The values for n 1maxDB , n 1maxZB , M 2acc , M 2NOT , M 2N and S can be found in the selection tables.<br />

The values for fB T , fB op and fB t can be found in the corresponding tables in this chapter.<br />

Calculate the thermal limit torque M 2th for a duty cycle > 50%.<br />

1<br />

Observe the protection class of all the components.<br />

139


7.6 Project configuration 7 PHQA planetary geared motors<br />

Example of cyclic operation<br />

The following calculations are based on a representation of the power taken from the output based in accordance<br />

with the following example:<br />

Calculation of the actual average input speed<br />

n1m* = n2m*<br />

× i<br />

n<br />

2m*<br />

=<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

t + ... + t<br />

1* n*<br />

If t 1* + ... + t 5* ≥ 20 min, calculate n 2m* without the rest phase t 6* .<br />

The values for the ratio i can be found in the selection tables.<br />

Calculation of the actual effective torque<br />

M<br />

2eff *<br />

=<br />

t × M + ... + t × M<br />

2 2<br />

1* 2,1* n* 2,n*<br />

t + ... + t<br />

1* n*<br />

Calculation of the actual equivalent torque<br />

M<br />

2eq*<br />

=<br />

3<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2,1* 2m,n* n* 2,n*<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

Calculation of the thermal limit torque<br />

Calculate the thermal limit torque M 2th for a duty cycle ED 20 > 50% and the actual average input speed n 1m* .<br />

(At K mot,th ≤ 0 you must reduce the average input speed n 1m* accordingly or select another geared motor size.)<br />

M2th = Mop × i × Kmot,th<br />

ath æ n1m*<br />

ö<br />

Kmot,th<br />

= 0,93 - × fBT<br />

×<br />

1000 ç<br />

1000 ÷<br />

è ø<br />

The values for i and a th can be found in the selection tables.<br />

The values for fB T can be found in the corresponding table in this chapter.<br />

3<br />

140<br />

The value for the torque of the motor at operating point M op with the determined average input speed n 1m*<br />

can be found in the motor curve of Chapter [} 23.3]. Note the size, nominal speed n N and cooling type of<br />

the motor. The figure below shows an example of reading the torque M op of a motor with convection cooling<br />

at the operating point.


7 PHQA planetary geared motors 7.6 Project configuration<br />

n 1m*<br />

n [rpm]<br />

Operating factors<br />

Operating mode<br />

Uniform continuous operation 1.00<br />

Cyclic operation 1.00<br />

Reversing load cyclic operation 1.00<br />

Run time<br />

fB t<br />

Daily run time ≤ 8 h 1.00<br />

Daily run time ≤ 16 h 1.15<br />

Daily run time ≤ 24 h 1.20<br />

fB op<br />

Temperature<br />

Motor cooling<br />

Surrounding temperature<br />

Motor with forced ventilation ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

Motor with convection cooling ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

fB T<br />

0.9<br />

1.0<br />

1.15<br />

1.0<br />

1.1<br />

1.25<br />

Notes<br />

• The maximum permitted gear unit temperature (see the "Other product features" chapter) must not be<br />

exceeded. Doing so may result in damage to the geared motor.<br />

• For braking from full speed (for example when the power fails or when setting up the machine), note<br />

the permitted gear unit torques (M 2acc , M 2NOT ) in the selection tables.<br />

7.6.2 Permitted shaft loads for the output shaft<br />

The values specified in the tables apply to the permitted shaft loads:<br />

• For shaft dimensions in accordance with the catalog<br />

• For output speeds n 2m* ≤ 100 rpm (F 2axN = F 2ax100 ; F 2radN = F 2rad100 ; M 2kN = M 2k100 )<br />

• Only if radial forces on the gear unit are stabilized by its pilots (housing, flange shaft)<br />

141


7.6 Project configuration 7 PHQA planetary geared motors<br />

Permitted shaft loads<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

PHQA4 84.0 2150 3095 3929 260 330<br />

PHQA5 97.0 4150 4536 4897 440 475<br />

PHQA7 88.0 6150 17045 17045 1500 1500<br />

PHQA8 126.0 10050 27778 33333 3500 4200<br />

PHQA9 155.0 33000 48387 70968 7500 11000<br />

For other output speeds, download diagrams at http://products.stoeber.de.<br />

The following applies to output speeds n 2m* > 100 rpm:<br />

F<br />

2axN<br />

=<br />

3<br />

F<br />

2ax100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

F<br />

2radN<br />

=<br />

3<br />

F<br />

2rad100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

M<br />

2kN<br />

=<br />

3<br />

M<br />

2k100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

The values for F 2ax100 , F 2rad100 and M 2k100 can be found in the table "Permitted shaft loads" in this chapter.<br />

Fig. 1: Force application points<br />

You can determine the permitted radial forces from the permitted breakdown torque M 2kN and M 2k,acc . The<br />

actual radial forces may not exceed the permitted radial forces. The permitted radial forces are in relation to<br />

the end of the hollow shaft (x2 = 0).<br />

M<br />

2k,acc*<br />

( )<br />

2 × F × y + F × x + z<br />

2ax* 2 2rad,acc* 2 2<br />

= £<br />

1000<br />

M<br />

2k,acc<br />

For applications with multiple axial and/or radial forces, you must add the forces as vectors.<br />

In the event of EMERGENCY OFF operation (max. 1000 load changes), you can multiply the permitted forces<br />

and torques for F 2ax100 , F 2rad100 and M 2k100 by a factor of two.<br />

Also note the calculation for equivalent values:<br />

M<br />

2k,eq*<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2k,acc,1* 2m,n* n* 2k,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

M<br />

2kN<br />

F<br />

F<br />

2rad,eq*<br />

2ax,eq*<br />

n × t × F + ... + n × t × F<br />

3 3<br />

2m,1* 1* 2rad,acc,1* 2m,n* n* 2rad,acc,n*<br />

= 3<br />

£<br />

£ F<br />

2axN<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

F<br />

2radN<br />

The following apply to the bearing service life L 10h (ED 20 ≤ 40%):<br />

L 10h > 10000 h with 1 < M 2kN /M 2k* < 1.25<br />

L 10h > 20000 h with 1.25 < M 2kN /M 2k* < 1.5<br />

L 10h > 30000 h with 1.5 < M 2kN /M 2k*<br />

142


7 PHQA planetary geared motors 7.7 Additional documentation<br />

For different duty cycles:<br />

L<br />

40%<br />

> L ×<br />

ED<br />

10h 10h(ED20<br />

= 40%)<br />

20<br />

7.6.3 Radial shaft seal rings<br />

7.6.4 Reverse operation<br />

Leak-proofness<br />

Our gear units are equipped with high-quality radial shaft seal rings and checked for leak-proofness. However,<br />

a leak cannot be fully ruled out over the length of use of a gear unit. If you use a gear unit with goods<br />

incompatible with the lubricant, you must take measures to prevent direct contact with the gear unit lubricant<br />

in case of a leak.<br />

To ensure lubrication for circulating gearing parts during cyclic reverse operation from ± 20° to ± 90°, pay<br />

careful attention to the position of the output shaft for the horizontal mounting of the gear unit, as shown<br />

in the diagrams below.<br />

The images show the center position of reverse operation.<br />

Cyclic reverse operation ≤ ± 20° on request.<br />

PHQA4 − PHQA8<br />

PHQA9<br />

1 Position of the mark: top 1 Position of the fastening thread: as shown in the<br />

image<br />

7.7 Additional documentation<br />

Additional documentation related to the product can be found at http://www.stoeber.de/en/download<br />

Enter the ID of the documentation in the Search... field.<br />

Documentation<br />

ID<br />

Operating manual for P/PA/PE/PH/PHA/PHQ/PHQA/PHV/PHVA planetary 443029_en<br />

gear units and planetary geared motors<br />

Lubricant filling quantities for gear units 441871<br />

143


144<br />

7.7 Additional documentation 7 PHQA planetary geared motors


8 PHV planetary geared motors<br />

Table of contents<br />

8.1 Overview........................................................................................................................................................................... 146<br />

8.2 Selection tables ................................................................................................................................................................ 147<br />

8.3 Dimensional drawings ...................................................................................................................................................... 147<br />

8.3.1 F shaft design (flange shaft) ................................................................................................................................................. 148<br />

8.4 Type designation .............................................................................................................................................................. 149<br />

8.5 Product description........................................................................................................................................................... 149<br />

8.5.1 Installation conditions.......................................................................................................................................................... 149<br />

8.5.2 Lubricants............................................................................................................................................................................. 149<br />

8.5.3 Other product features ........................................................................................................................................................ 149<br />

8.5.4 Direction of rotation ............................................................................................................................................................ 150<br />

8.6 Project configuration......................................................................................................................................................... 150<br />

8.6.1 Calculation of the operating point ....................................................................................................................................... 150<br />

8.6.2 Permitted shaft loads for the output shaft .......................................................................................................................... 152<br />

8.6.3 Recommendation for radial shaft seal rings ........................................................................................................................ 154<br />

8.6.4 Reverse operation................................................................................................................................................................ 154<br />

8.7 Additional documentation ................................................................................................................................................. 154<br />

145


8 Planetary geared motors PHV<br />

8.1 Overview<br />

High-performance precision planetary geared motors<br />

Features<br />

Power density<br />

★★★★☆<br />

Backlash<br />

★★★★☆<br />

Price category €€€<br />

Shaft load<br />

★★★★★<br />

Smooth operation<br />

★★★★☆<br />

Torsional stiffness<br />

★★★★☆<br />

Mass moment of inertia<br />

★★★★★<br />

Helical gearing<br />

✓<br />

Maintenance-free<br />

✓<br />

Any mounting position<br />

✓<br />

Continuous operation without cooling<br />

✓<br />

Stiff output bearing due to pretension<br />

✓<br />

Compact and highly dynamic due to direct motor ✓<br />

attachment<br />

Key: ★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Technical data<br />

i 61 – 121<br />

M 2acc<br />

1638 – 7500 Nm<br />

Δφ 2<br />

3 arcmin<br />

η get ≤ 90 %<br />

146


8 PHV planetary geared motors 8.3 Dimensional drawings<br />

8.2 Selection tables<br />

The technical data specified in the selection tables applies to:<br />

• Installation altitudes up to 1000 m above sea level<br />

• Surrounding temperatures from 0 °C to 40 °C<br />

• Drives with convection-cooled motors (e.g. EZ401U)<br />

You can calculate the technical data for drives with forced ventilated motors (for example EZ401B) at http://<br />

products.stoeber.de.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHV9 (n 1N = 3000 rpm, M 2acc,max = 4250 Nm)<br />

25 806 904 0.2 3.1 PHV933_1210 EZ701U 2180 9000 121.0 121/1 2500 4500 9.8 3 805 67<br />

25 1307 1568 0.4 1.9 PHV933_1210 EZ702U 4250 9000 121.0 121/1 2500 4500 15 3 805 70<br />

25 1797 2265 0.5 1.4 PHV933_1210 EZ703U 4250 9000 121.0 121/1 2500 4500 23 3 805 72<br />

33 606 680 0.3 4.1 PHV933_0910 EZ701U 1640 9000 91.00 91/1 2500 4500 11 3 838 67<br />

33 983 1179 0.4 2.5 PHV933_0910 EZ702U 3360 9000 91.00 91/1 2500 4500 16 3 838 70<br />

33 1351 1704 0.6 1.9 PHV933_0910 EZ703U 4250 9000 91.00 91/1 2500 4500 24 3 838 72<br />

33 1744 2473 0.8 1.4 PHV933_0910 EZ705U 4250 9000 91.00 91/1 2500 4500 36 3 838 77<br />

33 1826 3038 0.8 1.4 PHV933_0910 EZ802U 4250 9000 91.00 91/1 2500 4500 60 3 838 86<br />

49 1169 1658 1.0 2.1 PHV933_0610 EZ705U 4250 9000 61.00 61/1 2500 4500 40 3 850 77<br />

49 1224 2037 1.0 2.0 PHV933_0610 EZ802U 4250 9000 61.00 61/1 2500 4500 64 3 850 86<br />

49 1460 2646 1.2 1.7 PHV933_0610 EZ803U 4250 9000 61.00 61/1 2500 4500 89 3 850 92<br />

PHV9 (n 1N = 4500 rpm, M 2acc,max = 4250 Nm)<br />

37 1318 2178 0.4 1.7 PHV933_1210 EZ703U 4250 9000 121.0 121/1 2500 4500 23 3 805 72<br />

37 1786 3267 0.6 1.3 PHV933_1210 EZ705U 4250 9000 121.0 121/1 2500 4500 35 3 805 77<br />

49 860 2826 0.4 2.7 PHV933_0910 EZ802U 4250 9000 91.00 91/1 2500 4500 60 3 838 86<br />

49 991 1638 0.5 2.3 PHV933_0910 EZ703U 4250 9000 91.00 91/1 2500 4500 24 3 838 72<br />

49 1343 2457 0.7 1.7 PHV933_0910 EZ705U 4250 9000 91.00 91/1 2500 4500 36 3 838 77<br />

74 576 1894 0.5 4.0 PHV933_0610 EZ802U 4250 9000 61.00 61/1 2500 4500 64 3 850 86<br />

74 900 1647 0.8 2.5 PHV933_0610 EZ705U 4250 9000 61.00 61/1 2500 4500 40 3 850 77<br />

PHV10 (n 1N = 2000 rpm, M 2acc,max = 7500 Nm)<br />

22 3579 5414 1.1 1.1 PHV1033_0910 EZ805U 7500 15000 91.00 91/1 2500 4500 137 3 1342 128<br />

33 2399 3629 1.3 1.7 PHV1033_0610 EZ805U 7500 15000 61.00 61/1 2500 4500 140 3 1370 128<br />

PHV10 (n 1N = 3000 rpm, M 2acc,max = 7500 Nm)<br />

33 1826 3038 0.6 2.2 PHV1033_0910 EZ802U 7500 15000 91.00 91/1 2500 4500 62 3 1342 109<br />

33 2179 3948 0.7 1.8 PHV1033_0910 EZ803U 7500 15000 91.00 91/1 2500 4500 87 3 1342 115<br />

49 1460 2646 0.8 2.7 PHV1033_0610 EZ803U 7500 15000 61.00 61/1 2500 4500 90 3 1370 115<br />

PHV10 (n 1N = 4500 rpm, M 2acc,max = 7500 Nm)<br />

49 860 2826 0.3 4.4 PHV1033_0910 EZ802U 7500 15000 91.00 91/1 2500 4500 62 3 1342 109<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

8.3 Dimensional drawings<br />

In this chapter you can find the dimensions of the geared motors.<br />

There is a dimensional drawing for every possible shaft/housing design, each with the tables for gear unit dimensions,<br />

motor dimensions and geared motor dimensions.<br />

Dimensions can exceed the specifications of ISO 2768-mK due to casting tolerances or accumulation of individual<br />

tolerances.<br />

We reserve the right to make dimensional changes due to ongoing technical development.<br />

You can download CAD models of our standard drives at http://cad.stoeber.de.<br />

Combination options and the dimensions of forced ventilated geared motors can be found at http://<br />

cad.stoeber.de.<br />

147


8.3 Dimensional drawings 8 PHV planetary geared motors<br />

8.3.1 F shaft design (flange shaft)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ∅a1 ∅b1 ∅bf c1 ∅df ∅e1 ∅ef f1 i2 i3 lh r ∅s1 s7 sf tf<br />

PHV933 300 255 h7 180 h7 18 90 H6 280 140 20 66 55 12 0.030 13.5 M8 M16 24<br />

PHV1033 330 285 h7 200 h7 20 95 H6 310 160 20 75 60 10 0.040 13.5 M10 M20 30<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ701U 145 102 161 115.0 22 64<br />

EZ702U 145 127 186 115.0 22 89<br />

EZ703U 145 152 211 115.0 22 114<br />

EZ705U 145 207 266 134.0 22 165<br />

EZ802U 190 197 274 156.5 22 143<br />

EZ803U 190 238 315 156.5 22 184<br />

EZ805U 190 320 397 156.5 22 266<br />

148


8 PHV planetary geared motors 8.5 Product description<br />

Dimensions of geared motors<br />

Type EZ7 EZ8<br />

mp<br />

mp<br />

PHV933 97.0 106.0<br />

PHV1033 – 108.5<br />

8.4 Type designation<br />

In this chapter, you can find an explanation of the type designation with the associated options.<br />

Additional ordering information not included in the type designation can be found at the end of the chapter.<br />

Sample code<br />

PHV 9 3 3 F 0910 EZ703U<br />

Explanation<br />

Code Designation Design<br />

PHV Type Planetary gear unit<br />

9 Size 9 (example)<br />

3 Generation Generation 3<br />

3 Stages Three-stage<br />

F Shaft Flange shaft<br />

0910 Transmission ratio (i x 10) i = 91 (example)<br />

EZ703U Motor EZ synchronous servo motor<br />

In order to complete the type designation, also specify:<br />

• A detailed type designation of the motor, see chapter [} 23]<br />

• Radial shaft seal rings at the output made of NBR or FKM, see chapter [} 8.6.3]<br />

• For reverse operation of the output shaft from ± 20° to ± 90° and horizontal installation, note the chapter<br />

[} 8.6.4]<br />

8.5 Product description<br />

8.5.1 Installation conditions<br />

The torque and force values listed in this catalog are valid under the following conditions:<br />

• When using screws with quality 12.9 for machine-side attachment of the flange shaft and gear unit<br />

housing<br />

• When the gear unit housings are adjusted at pilot øb1 (H7)<br />

• When the flange shaft is adjusted using the connecting element at pilot øbf or ødf<br />

8.5.2 Lubricants<br />

STOBER fills the gear units with the amount and type of lubricant specified on the nameplate.<br />

Lubricant filling quantities for gear units, document ID 441871, can be found online at http://www.stoeber.de<br />

8.5.3 Other product features<br />

Feature<br />

Value<br />

Max. permitted gear unit temperature (on the surface of the gear unit) ≤ 90 °C<br />

Paint Black RAL 9005<br />

(ATEX) Directive 2014/34/EU (option)<br />

Not suitable<br />

Protection class: 1<br />

Gear unit<br />

Motor<br />

IP65<br />

IP56, optionally IP66<br />

1<br />

Observe the protection class of all the components.<br />

149


8.6 Project configuration 8 PHV planetary geared motors<br />

8.5.4 Direction of rotation<br />

The input and output rotate in the same direction.<br />

8.6 Project configuration<br />

Project your drives using our SERVOsoft designing software. You can receive SERVOsoft for free from your<br />

adviser at one of our sales centers. Observe the limit conditions in this chapter to ensure a safe design for<br />

your drives.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

8.6.1 Calculation of the operating point<br />

Check the following conditions for operating points other than the nominal point M 2N specified in the selection<br />

tables.<br />

n<br />

1m*<br />

n<br />

£<br />

fB<br />

1maxDB<br />

T<br />

n<br />

M<br />

M<br />

1max*<br />

2eff *<br />

2acc*<br />

n<br />

£<br />

fB<br />

£ M<br />

1max ZB<br />

2th<br />

£ M<br />

T<br />

2acc<br />

M<br />

2NOT*<br />

£ M<br />

2NOT<br />

S<br />

M 2eq*<br />

£ M 2N<br />

× fB fB op<br />

×<br />

t<br />

The values for n 1maxDB , n 1maxZB , M 2acc , M 2NOT , M 2N and S can be found in the selection tables.<br />

The values for fB T , fB op and fB t can be found in the corresponding tables in this chapter.<br />

Calculate the thermal limit torque M 2th for a duty cycle > 50%.<br />

Example of cyclic operation<br />

The following calculations are based on a representation of the power taken from the output based in accordance<br />

with the following example:<br />

150


8 PHV planetary geared motors 8.6 Project configuration<br />

Calculation of the actual average input speed<br />

n1m* = n2m*<br />

× i<br />

n<br />

2m*<br />

=<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

t + ... + t<br />

1* n*<br />

If t 1* + ... + t 5* ≥ 20 min, calculate n 2m* without the rest phase t 6* .<br />

The values for the ratio i can be found in the selection tables.<br />

Calculation of the actual effective torque<br />

M<br />

2eff *<br />

=<br />

t × M + ... + t × M<br />

2 2<br />

1* 2,1* n* 2,n*<br />

t + ... + t<br />

1* n*<br />

Calculation of the actual equivalent torque<br />

M<br />

2eq*<br />

=<br />

3<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2,1* 2m,n* n* 2,n*<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

Calculation of the thermal limit torque<br />

Calculate the thermal limit torque M 2th for a duty cycle ED 20 > 50% and the actual average input speed n 1m* .<br />

(At K mot,th ≤ 0 you must reduce the average input speed n 1m* accordingly or select another geared motor size.)<br />

M2th = Mop × i × Kmot,th<br />

ath æ n1m*<br />

ö<br />

Kmot,th<br />

= 0,93 - × fBT<br />

×<br />

1000 ç<br />

1000 ÷<br />

è ø<br />

The values for i and a th can be found in the selection tables.<br />

The values for fB T can be found in the corresponding table in this chapter.<br />

3<br />

The value for the torque of the motor at operating point M op with the determined average input speed n 1m*<br />

can be found in the motor curve of Chapter [} 23.3]. Note the size, nominal speed n N and cooling type of<br />

the motor. The figure below shows an example of reading the torque M op of a motor with convection cooling<br />

at the operating point.<br />

151


8.6 Project configuration 8 PHV planetary geared motors<br />

n 1m*<br />

n [rpm]<br />

Operating factors<br />

Operating mode<br />

Uniform continuous operation 1.00<br />

Cyclic operation 1.00<br />

Reversing load cyclic operation 1.00<br />

Run time<br />

fB t<br />

Daily run time ≤ 8 h 1.00<br />

Daily run time ≤ 16 h 1.15<br />

Daily run time ≤ 24 h 1.20<br />

fB op<br />

Temperature<br />

Motor cooling<br />

Surrounding temperature<br />

Motor with forced ventilation ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

Motor with convection cooling ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

fB T<br />

0.9<br />

1.0<br />

1.15<br />

1.0<br />

1.1<br />

1.25<br />

Notes<br />

• The maximum permitted gear unit temperature (see the "Other product features" chapter) must not be<br />

exceeded. Doing so may result in damage to the geared motor.<br />

• For braking from full speed (for example when the power fails or when setting up the machine), note<br />

the permitted gear unit torques (M 2acc , M 2NOT ) in the selection tables.<br />

8.6.2 Permitted shaft loads for the output shaft<br />

The values specified in the tables apply to the permitted shaft loads:<br />

• For shaft dimensions in accordance with the catalog<br />

• For output speeds n 2m* ≤ 100 rpm (F 2axN = F 2ax100 ; F 2radN = F 2rad100 ; M 2kN = M 2k100 )<br />

• Only if radial forces on the gear unit are stabilized by its pilots (housing, flange shaft)<br />

152


8 PHV planetary geared motors 8.6 Project configuration<br />

Permitted shaft loads<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

PHV9 155.0 33000 48387 70968 7500 11000<br />

PHV10 171.0 50000 51462 73099 8800 12500<br />

For other output speeds, download diagrams at http://products.stoeber.de.<br />

The following applies to output speeds n 2m* > 100 rpm:<br />

F<br />

2axN<br />

=<br />

3<br />

F<br />

2ax100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

F<br />

2radN<br />

=<br />

3<br />

F<br />

2rad100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

M<br />

2kN<br />

=<br />

3<br />

M<br />

2k100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

The values for F 2ax100 , F 2rad100 and M 2k100 can be found in the table "Permitted shaft loads" in this chapter.<br />

Fig. 1: Force application points<br />

You can determine the permitted radial forces from the permitted breakdown torque M 2kN and M 2k,acc . The<br />

actual radial forces may not exceed the permitted radial forces. The permitted radial forces are in relation to<br />

the end of the hollow shaft (x2 = 0).<br />

M<br />

2k,acc*<br />

( )<br />

2 × F × y + F × x + z<br />

2ax* 2 2rad,acc* 2 2<br />

= £<br />

1000<br />

M<br />

2k,acc<br />

For applications with multiple axial and/or radial forces, you must add the forces as vectors.<br />

In the event of EMERGENCY OFF operation (max. 1000 load changes), you can multiply the permitted forces<br />

and torques for F 2ax100 , F 2rad100 and M 2k100 by a factor of two.<br />

Also note the calculation for equivalent values:<br />

M<br />

2k,eq*<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2k,acc,1* 2m,n* n* 2k,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

M<br />

2kN<br />

F<br />

F<br />

2rad,eq*<br />

2ax,eq*<br />

n × t × F + ... + n × t × F<br />

3 3<br />

2m,1* 1* 2rad,acc,1* 2m,n* n* 2rad,acc,n*<br />

= 3<br />

£<br />

£ F<br />

2axN<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

F<br />

2radN<br />

The following apply to the bearing service life L 10h (ED 20 ≤ 40%):<br />

L 10h > 10000 h with 1 < M 2kN /M 2k* < 1.25<br />

L 10h > 20000 h with 1.25 < M 2kN /M 2k* < 1.5<br />

L 10h > 30000 h with 1.5 < M 2kN /M 2k*<br />

For different duty cycles:<br />

L<br />

40%<br />

> L ×<br />

ED<br />

10h 10h(ED20<br />

= 40%)<br />

20<br />

153


8.7 Additional documentation 8 PHV planetary geared motors<br />

8.6.3 Recommendation for radial shaft seal rings<br />

For a duty cycle > 60%, we recommend radial shaft seal rings made of FKM.<br />

Properties:<br />

• Excellent temperature resistance<br />

• High chemical stability<br />

• Very good resistance to aging<br />

• Excellent resistance to mineral oils and greases<br />

• For use in the food, beverage and pharmaceutical industries<br />

Leak-proofness<br />

Our gear units are equipped with high-quality radial shaft seal rings and checked for leak-proofness. However,<br />

a leak cannot be fully ruled out over the length of use of a gear unit. If you use a gear unit with goods<br />

incompatible with the lubricant, you must take measures to prevent direct contact with the gear unit lubricant<br />

in case of a leak.<br />

8.6.4 Reverse operation<br />

To ensure lubrication of circulating geared parts during cyclic reverse operation from ± 20° to ± 90°, pay<br />

careful attention to the position of the output shaft if the gear unit is installed horizontally as shown in the<br />

images below.<br />

The images show the center position of reverse operation.<br />

Cyclic reverse operation ≤ ± 20° on request.<br />

1 Position of the fastening thread: as shown in the image<br />

8.7 Additional documentation<br />

Additional documentation related to the product can be found at http://www.stoeber.de/en/download<br />

Enter the ID of the documentation in the Search... field.<br />

Documentation<br />

ID<br />

Operating manual for P/PA/PE/PH/PHA/PHQ/PHQA/PHV/PHVA planetary 443029_en<br />

gear units and planetary geared motors<br />

Lubricant filling quantities for gear units 441871<br />

154


9 PHVA planetary geared motors<br />

Table of contents<br />

9.1 Overview........................................................................................................................................................................... 156<br />

9.2 Selection tables ................................................................................................................................................................ 157<br />

9.3 Dimensional drawings ...................................................................................................................................................... 157<br />

9.3.1 F shaft design (flange shaft) ................................................................................................................................................. 158<br />

9.4 Type designation .............................................................................................................................................................. 159<br />

9.5 Product description........................................................................................................................................................... 159<br />

9.5.1 Installation conditions.......................................................................................................................................................... 159<br />

9.5.2 Lubricants............................................................................................................................................................................. 160<br />

9.5.3 Other product features ........................................................................................................................................................ 160<br />

9.5.4 Direction of rotation ............................................................................................................................................................ 160<br />

9.6 Project configuration......................................................................................................................................................... 160<br />

9.6.1 Calculation of the operating point ....................................................................................................................................... 160<br />

9.6.2 Permitted shaft loads for the output shaft .......................................................................................................................... 162<br />

9.6.3 Radial shaft seal rings........................................................................................................................................................... 164<br />

9.6.4 Reverse operation................................................................................................................................................................ 164<br />

9.7 Additional documentation ................................................................................................................................................. 164<br />

155


9 Planetary geared motors PHVA<br />

9.1 Overview<br />

Low-backlash high-performance precision planetary<br />

geared motors<br />

Features<br />

Power density<br />

★★★★☆<br />

Backlash<br />

★★★★★<br />

Price category €€€€<br />

Shaft load<br />

★★★★★<br />

Smooth operation<br />

★★★★★<br />

Torsional stiffness<br />

★★★★☆<br />

Mass moment of inertia<br />

★★★★★<br />

Helical gearing<br />

✓<br />

Maintenance-free<br />

✓<br />

Any mounting position<br />

✓<br />

Continuous operation without cooling<br />

✓<br />

Stiff output bearing due to pretension<br />

✓<br />

Compact and highly dynamic due to direct motor ✓<br />

attachment<br />

Key: ★☆☆☆☆ good | ★★★★★ excellent<br />

€ Economy | €€€€€ Premium<br />

Technical data<br />

i 61 – 121<br />

M 2acc<br />

1638 – 4250 Nm<br />

Δφ 2<br />

1 arcmin<br />

η get ≤ 90 %<br />

156


9 PHVA planetary geared motors 9.3 Dimensional drawings<br />

9.2 Selection tables<br />

The technical data specified in the selection tables applies to:<br />

• Installation altitudes up to 1000 m above sea level<br />

• Surrounding temperatures from 0 °C to 40 °C<br />

• Drives with convection-cooled motors (e.g. EZ401U)<br />

You can calculate the technical data for drives with forced ventilated motors (for example EZ401B) at http://<br />

products.stoeber.de.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

n 2N M 2N M 2,0 a th S Type M 2acc M 2NOT i i exakt n 1max n 1max J 1 Δφ 2 C 2 m<br />

[rpm] [Nm] [Nm] [Nm] [Nm] [rpm] [rpm] [10−⁴ [arcmin] [Nm/ [kg]<br />

PHVA9 (n 1N = 3000 rpm, M 2acc,max = 4250 Nm)<br />

25 806 904 0.2 3.1 PHVA933_1210 EZ701U 2180 9000 121.0 121/1 2500 4500 9.8 1 805 67<br />

25 1307 1568 0.4 1.9 PHVA933_1210 EZ702U 4250 9000 121.0 121/1 2500 4500 15 1 805 70<br />

25 1797 2265 0.5 1.4 PHVA933_1210 EZ703U 4250 9000 121.0 121/1 2500 4500 23 1 805 72<br />

33 606 680 0.3 4.1 PHVA933_0910 EZ701U 1640 9000 91.00 91/1 2500 4500 11 1 838 67<br />

33 983 1179 0.4 2.5 PHVA933_0910 EZ702U 3360 9000 91.00 91/1 2500 4500 16 1 838 70<br />

33 1351 1704 0.6 1.9 PHVA933_0910 EZ703U 4250 9000 91.00 91/1 2500 4500 24 1 838 72<br />

33 1744 2473 0.8 1.4 PHVA933_0910 EZ705U 4250 9000 91.00 91/1 2500 4500 36 1 838 77<br />

33 1826 3038 0.8 1.4 PHVA933_0910 EZ802U 4250 9000 91.00 91/1 2500 4500 60 1 838 86<br />

49 1169 1658 1.0 2.1 PHVA933_0610 EZ705U 4250 9000 61.00 61/1 2500 4500 40 1 850 77<br />

49 1224 2037 1.0 2.0 PHVA933_0610 EZ802U 4250 9000 61.00 61/1 2500 4500 64 1 850 86<br />

49 1460 2646 1.2 1.7 PHVA933_0610 EZ803U 4250 9000 61.00 61/1 2500 4500 89 1 850 92<br />

PHVA9 (n 1N = 4500 rpm, M 2acc,max = 4250 Nm)<br />

37 1318 2178 0.4 1.7 PHVA933_1210 EZ703U 4250 9000 121.0 121/1 2500 4500 23 1 805 72<br />

37 1786 3267 0.6 1.3 PHVA933_1210 EZ705U 4250 9000 121.0 121/1 2500 4500 35 1 805 77<br />

49 860 2826 0.4 2.7 PHVA933_0910 EZ802U 4250 9000 91.00 91/1 2500 4500 60 1 838 86<br />

49 991 1638 0.5 2.3 PHVA933_0910 EZ703U 4250 9000 91.00 91/1 2500 4500 24 1 838 72<br />

49 1343 2457 0.7 1.7 PHVA933_0910 EZ705U 4250 9000 91.00 91/1 2500 4500 36 1 838 77<br />

74 576 1894 0.5 4.0 PHVA933_0610 EZ802U 4250 9000 61.00 61/1 2500 4500 64 1 850 86<br />

74 900 1647 0.8 2.5 PHVA933_0610 EZ705U 4250 9000 61.00 61/1 2500 4500 40 1 850 77<br />

DB<br />

ZB<br />

kgm²]<br />

arcmin]<br />

9.3 Dimensional drawings<br />

In this chapter you can find the dimensions of the geared motors.<br />

There is a dimensional drawing for every possible shaft/housing design, each with the tables for gear unit dimensions,<br />

motor dimensions and geared motor dimensions.<br />

Dimensions can exceed the specifications of ISO 2768-mK due to casting tolerances or accumulation of individual<br />

tolerances.<br />

We reserve the right to make dimensional changes due to ongoing technical development.<br />

You can download CAD models of our standard drives at http://cad.stoeber.de.<br />

Combination options and the dimensions of forced ventilated geared motors can be found at http://<br />

cad.stoeber.de.<br />

157


9.3 Dimensional drawings 9 PHVA planetary geared motors<br />

9.3.1 F shaft design (flange shaft)<br />

qp0 Applies to motors without brake. qp1 Applies to motors with brake.<br />

x Applies to encoders using an optical measuring concept. w1 For variation for One Cable Solution (OCS), see Chapter<br />

[} 23.4]<br />

Dimensions of gear units<br />

Type ∅a1 ∅b1 ∅bf c1 ∅df ∅e1 ∅ef f1 i2 i3 lh r ∅s1 s7 sf tf<br />

PHVA933 300 255 h7 180 h7 18 90 H6 280 140 20 66 55 12 0.030 13.5 M8 M16 24<br />

Dimensions of motors<br />

Type ☐g qp0 qp1 w1 x zp0<br />

EZ701U 145 102 161 115.0 22 64<br />

EZ702U 145 127 186 115.0 22 89<br />

EZ703U 145 152 211 115.0 22 114<br />

EZ705U 145 207 266 134.0 22 165<br />

EZ802U 190 197 274 156.5 22 143<br />

EZ803U 190 238 315 156.5 22 184<br />

Dimensions of geared motors<br />

Type EZ7 EZ8<br />

mp<br />

mp<br />

PHVA933 97.0 106.0<br />

158


9 PHVA planetary geared motors 9.5 Product description<br />

9.4 Type designation<br />

In this chapter, you can find an explanation of the type designation with the associated options.<br />

Additional ordering information not included in the type designation can be found at the end of the chapter.<br />

Sample code<br />

PHVA 9 3 3 F 0910 EZ703U<br />

Explanation<br />

Code Designation Design<br />

PHVA Type nLow-backlash planetary gear unit<br />

9 Size 9 (example)<br />

3 Generation Generation 3<br />

3 Stages Three-stage<br />

F Shaft Flange shaft<br />

0910 Transmission ratio (i x 10) i = 91 (example)<br />

EZ703U Motor EZ synchronous servo motor<br />

In order to complete the type designation, also specify:<br />

• A detailed type designation of the motor, see chapter [} 23]<br />

• For reverse operation of the output shaft from ± 20° to ± 90° and horizontal installation, note the chapter<br />

[} 9.6.4]<br />

9.5 Product description<br />

9.5.1 Installation conditions<br />

The torque and force values listed in this catalog are valid under the following conditions:<br />

• When using screws with quality 12.9 for machine-side attachment of the flange shaft and gear unit<br />

housing<br />

• When the gear unit housings are adjusted at pilot øb1 (H7)<br />

• When the flange shaft is adjusted using the connecting element at pilot øbf or ødf<br />

159


9.6 Project configuration 9 PHVA planetary geared motors<br />

9.5.2 Lubricants<br />

9.5.3 Other product features<br />

9.5.4 Direction of rotation<br />

STOBER fills the gear units with the amount and type of lubricant specified on the nameplate.<br />

Lubricant filling quantities for gear units, document ID 441871, can be found online at http://www.stoeber.de<br />

Feature<br />

Value<br />

Max. permitted gear unit temperature (on the surface of the gear unit) ≤ 90 °C<br />

Paint Black RAL 9005<br />

(ATEX) Directive 2014/34/EU (option)<br />

Not suitable<br />

Protection class: 1<br />

Gear unit<br />

Motor<br />

IP65<br />

IP56, optionally IP66<br />

The input and output rotate in the same direction.<br />

9.6 Project configuration<br />

Project your drives using our SERVOsoft designing software. You can receive SERVOsoft for free from your<br />

adviser at one of our sales centers. Observe the limit conditions in this chapter to ensure a safe design for<br />

your drives.<br />

An explanation of the formula symbols can be found in Chapter [} 29.1].<br />

9.6.1 Calculation of the operating point<br />

Check the following conditions for operating points other than the nominal point M 2N specified in the selection<br />

tables.<br />

n<br />

1m*<br />

n<br />

£<br />

fB<br />

1maxDB<br />

T<br />

n<br />

M<br />

M<br />

1max*<br />

2eff *<br />

2acc*<br />

n<br />

£<br />

fB<br />

£ M<br />

1max ZB<br />

2th<br />

£ M<br />

T<br />

2acc<br />

M<br />

2NOT*<br />

£ M<br />

2NOT<br />

S<br />

M 2eq*<br />

£ M 2N<br />

× fB fB op<br />

×<br />

t<br />

The values for n 1maxDB , n 1maxZB , M 2acc , M 2NOT , M 2N and S can be found in the selection tables.<br />

The values for fB T , fB op and fB t can be found in the corresponding tables in this chapter.<br />

Calculate the thermal limit torque M 2th for a duty cycle > 50%.<br />

160<br />

1<br />

Observe the protection class of all the components.


9 PHVA planetary geared motors 9.6 Project configuration<br />

Example of cyclic operation<br />

The following calculations are based on a representation of the power taken from the output based in accordance<br />

with the following example:<br />

Calculation of the actual average input speed<br />

n1m* = n2m*<br />

× i<br />

n<br />

2m*<br />

=<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

t + ... + t<br />

1* n*<br />

If t 1* + ... + t 5* ≥ 20 min, calculate n 2m* without the rest phase t 6* .<br />

The values for the ratio i can be found in the selection tables.<br />

Calculation of the actual effective torque<br />

M<br />

2eff *<br />

=<br />

t × M + ... + t × M<br />

2 2<br />

1* 2,1* n* 2,n*<br />

t + ... + t<br />

1* n*<br />

Calculation of the actual equivalent torque<br />

M<br />

2eq*<br />

=<br />

3<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2,1* 2m,n* n* 2,n*<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

Calculation of the thermal limit torque<br />

Calculate the thermal limit torque M 2th for a duty cycle ED 20 > 50% and the actual average input speed n 1m* .<br />

(At K mot,th ≤ 0 you must reduce the average input speed n 1m* accordingly or select another geared motor size.)<br />

M2th = Mop × i × Kmot,th<br />

ath æ n1m*<br />

ö<br />

Kmot,th<br />

= 0,93 - × fBT<br />

×<br />

1000 ç<br />

1000 ÷<br />

è ø<br />

The values for i and a th can be found in the selection tables.<br />

The values for fB T can be found in the corresponding table in this chapter.<br />

3<br />

The value for the torque of the motor at operating point M op with the determined average input speed n 1m*<br />

can be found in the motor curve of Chapter [} 23.3]. Note the size, nominal speed n N and cooling type of<br />

the motor. The figure below shows an example of reading the torque M op of a motor with convection cooling<br />

at the operating point.<br />

161


9.6 Project configuration 9 PHVA planetary geared motors<br />

n 1m*<br />

n [rpm]<br />

Operating factors<br />

Operating mode<br />

Uniform continuous operation 1.00<br />

Cyclic operation 1.00<br />

Reversing load cyclic operation 1.00<br />

Run time<br />

fB t<br />

Daily run time ≤ 8 h 1.00<br />

Daily run time ≤ 16 h 1.15<br />

Daily run time ≤ 24 h 1.20<br />

fB op<br />

Temperature<br />

Motor cooling<br />

Surrounding temperature<br />

Motor with forced ventilation ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

Motor with convection cooling ≤ 20 °C<br />

≤ 30 °C<br />

≤ 40 °C<br />

fB T<br />

0.9<br />

1.0<br />

1.15<br />

1.0<br />

1.1<br />

1.25<br />

Notes<br />

• The maximum permitted gear unit temperature (see the "Other product features" chapter) must not be<br />

exceeded. Doing so may result in damage to the geared motor.<br />

• For braking from full speed (for example when the power fails or when setting up the machine), note<br />

the permitted gear unit torques (M 2acc , M 2NOT ) in the selection tables.<br />

9.6.2 Permitted shaft loads for the output shaft<br />

The values specified in the tables apply to the permitted shaft loads:<br />

• For shaft dimensions in accordance with the catalog<br />

• For output speeds n 2m* ≤ 100 rpm (F 2axN = F 2ax100 ; F 2radN = F 2rad100 ; M 2kN = M 2k100 )<br />

• Only if radial forces on the gear unit are stabilized by its pilots (housing, flange shaft)<br />

162


9 PHVA planetary geared motors 9.6 Project configuration<br />

Permitted shaft loads<br />

Type z 2 F 2ax100 F 2rad100 F 2rad,acc M 2k100 M 2k,acc<br />

[mm] [N] [N] [N] [Nm] [Nm]<br />

PHVA9 155.0 33000 48387 70968 7500 11000<br />

For other output speeds, download diagrams at http://products.stoeber.de.<br />

The following applies to output speeds n 2m* > 100 rpm:<br />

F<br />

2axN<br />

=<br />

3<br />

F<br />

2ax100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

F<br />

2radN<br />

=<br />

3<br />

F<br />

2rad100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

M<br />

2kN<br />

=<br />

3<br />

M<br />

2k100<br />

n<br />

2m*<br />

100min rpm<br />

-<br />

1<br />

The values for F 2ax100 , F 2rad100 and M 2k100 can be found in the table "Permitted shaft loads" in this chapter.<br />

Fig. 1: Force application points<br />

You can determine the permitted radial forces from the permitted breakdown torque M 2kN and M 2k,acc . The<br />

actual radial forces may not exceed the permitted radial forces. The permitted radial forces are in relation to<br />

the end of the hollow shaft (x2 = 0).<br />

M<br />

2k,acc*<br />

( )<br />

2 × F × y + F × x + z<br />

2ax* 2 2rad,acc* 2 2<br />

= £<br />

1000<br />

M<br />

2k,acc<br />

For applications with multiple axial and/or radial forces, you must add the forces as vectors.<br />

In the event of EMERGENCY OFF operation (max. 1000 load changes), you can multiply the permitted forces<br />

and torques for F 2ax100 , F 2rad100 and M 2k100 by a factor of two.<br />

Also note the calculation for equivalent values:<br />

M<br />

2k,eq*<br />

n × t × M + ... + n × t × M<br />

3 3<br />

2m,1* 1* 2k,acc,1* 2m,n* n* 2k,acc,n*<br />

= 3<br />

£<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

M<br />

2kN<br />

F<br />

F<br />

2rad,eq*<br />

2ax,eq*<br />

n × t × F + ... + n × t × F<br />

3 3<br />

2m,1* 1* 2rad,acc,1* 2m,n* n* 2rad,acc,n*<br />

= 3<br />

£<br />

£ F<br />

2axN<br />

n × t + ... + n × t<br />

2m,1* 1* 2m,n* n*<br />

F<br />

2radN<br />

The following apply to the bearing service life L 10h (ED 20 ≤ 40%):<br />

L 10h > 10000 h with 1 < M 2kN /M 2k* < 1.25<br />

L 10h > 20000 h with 1.25 < M 2kN /M 2k* < 1.5<br />

L 10h > 30000 h with 1.5 < M 2kN /M 2k*<br />

For different duty cycles:<br />

L<br />

40%<br />

> L ×<br />

ED<br />

10h 10h(ED20<br />

= 40%)<br />

20<br />

163


9.7 Additional documentation 9 PHVA planetary geared motors<br />

9.6.3 Radial shaft seal rings<br />

Leak-proofness<br />

Our gear units are equipped with high-quality radial shaft seal rings and checked for leak-proofness. However,<br />

a leak cannot be fully ruled out over the length of use of a gear unit. If you use a gear unit with goods<br />

incompatible with the lubricant, you must take measures to prevent direct contact with the gear unit lubricant<br />

in case of a leak.<br />

9.6.4 Reverse operation<br />

To ensure lubrication of circulating geared parts during cyclic reverse operation from ± 20° to ± 90°, pay<br />

careful attention to the position of the output shaft if the gear unit is installed horizontally as shown in the<br />

images below.<br />

The images show the center position of reverse operation.<br />

Cyclic reverse operation ≤ ± 20° on request.<br />

1 Position of the fastening thread: as shown in the image<br />

9.7 Additional documentation<br />

Additional documentation related to the product can be found at http://www.stoeber.de/en/download<br />

Enter the ID of the documentation in the Search... field.<br />

Documentation<br />

ID<br />

Operating manual for P/PA/PE/PH/PHA/PHQ/PHQA/PHV/PHVA planetary 443029_en<br />

gear units and planetary geared motors<br />

Lubricant filling quantities for gear units 441871<br />

164


10 EZHP Planetary geared motors with hollow shaft<br />

Table of contents<br />

10.1 Overview........................................................................................................................................................................... 166<br />

10.2 Selection tables ................................................................................................................................................................ 167<br />

10.2.1 Technical data for synchronous servo motor....................................................................................................................... 167<br />

10.2.2 Planetary geared motor selection tables ............................................................................................................................. 168<br />

10.3 Torque/speed curves........................................................................................................................................................ 169<br />

10.4 Dimensional drawings ...................................................................................................................................................... 171<br /></