Parker Hannifin G2 manual 11-5, Unit

	Item			Unit				E Series
					DR1250E		DR1220E	DR1160E	DR1130E	DR1100E
					00*1		00*1	00*1	00*1	00*1
	Maximum output torque			N⋅m (kgf⋅m)	250 (25)		220 (22)	160 (16)	130 (13)	100 (10)
	Rated number of revolutions			rps		0.5/1.0				1.0/1.5
Motor	(100/200V)
+		Encoder resolution		p/rev				1,228,800
driver	Rotational	Repeatability		Sec				±3
	positioning	accuracy
		Absolute accuracy		Sec				±45
	Rotor inertia			kg⋅m2	185 x 10-3		170 x 10-3	140 x 10-3	125 x 10-3	100 x 10-3
	Allowable axial		Positive	N (kgf)			4	x 104 (4 x 10	3)
	load		Negative				2 x 104 (2 x 103)
	Allowable moment		load	N⋅m (kgf⋅m)				400 (40)
Motor	Axial displacement		Positive	mm/N			2 x 10-6(2 x 10-5)
	rigidity		Negative	(mm/kgf)			3 x 10-6(3 x 10-5)
	Moment displacement rigidity			rad/ N⋅m				4 x 10-7
				(rad/kgf⋅m)				(4 x 10-6)
	Mass			kg	48		44	36	32	26
	Height (refer to dimension diagram)			mm	355		327	271	243	210
Item				Unit	E Series
					DR1070E		DR1030E
					00*1		00*1
	Maximum output torque			N⋅m (kgf⋅m)	70 (7.0)		30 (3.0)
	Rated number of revolutions			rps	1.5/2.0		1.5/2.0
Motor	(100/200V)
+		Encoder resolution		p/rev	1,228,800
driver	Rotational	Repeatability		Sec		±3
	positioning	accuracy
		Absolute accuracy		Sec	±45
	Rotor inertia			kg⋅m2	85 x 10-3		72 x 10-3
	Allowable axial		Positive	N (kgf)	4 x 104		(4 x 103)
	load		Negative		2 x 104 (2 x 103)
	Allowable moment		load	N⋅m (kgf⋅m)	400 (40)
Motor	Axial displacement		Positive	mm/N	2 x 10-6(2 x 10-5)
			Negative		2 x 10-6(3 x 10-5)
	rigidity			(mm/kgf)
	Moment displacement rigidity			rad/ N⋅m	4 x 10-7
				(rad/kgf⋅m)	(4 x 10-6)
	Mass			kg	22		18
	Height (refer to dimension diagram)			mm	183		156

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11-5