Servodrives. TGN servomotors AKD digital servoamplifiers

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1 Servodrives TGN servomotors AKD digital servoamplifiers

2 Production and delivery of servodrives and control systems. The Czech company TG Drives offers servodrives since 1995 for machines and equipments in industrial automation. The range of service of our technicians and programmers includes design, optimization including custom solutions, programming, configuring and start up. Servodrives and control systems from TG Drives are used in the cutting tables, CNC machines and machining centers, automotive, rubber, food, glass and construction industries. Easy solution of every motion 1. Servomotors TGN, TGH and TGT synchronous servomotors with permanent magnets 2. Digital servoamplifiers AKD digital servoamplifiers TGA300 digital servoamplifiers S700 digital servoamplifiers TGP three-axis digital servoamplifiers TGA-24 and TGA-48 digital servoamplifiers 3. Precision mechanical systems EXLAR linear actuators DRIVESPIN precision rotary actuators TWINSPIN cycloidal reducers high precision planetary reducers 4. TG Motion control system 5. Industrial PCs and operator terminals ASEM panel and standard industrial PCs ESA operator terminals Our services Design and optimization of servodrives. Design of control system. Programming. Start up. Customer service. TG Drives, s. r. o. Jeneweinova 37 CZ Brno Tel.: Fax:

3 Servomotors TGN synchronous servomotors AC synchronous servomotors have a three-phase distributed stator windings and permanent magnets on the rotor. The winding is designed for sinusoidal current and voltage. A thin layer of magnets (neodymium / iron / boron) is located on the surface of the rotor shaft, which causes a small inertia torque of motor. Higher torque, then higher power of the TGN motor range is achieved by improving escape of heat from the stator to the front flange and by optimized magnetic circuit. Shortening of stator plates and segmented stator windings with higher density of magentic field allows shortening of the motor length. These advantages increase the ratio of torque to the dimensions of motor and expand usage of the motors to other applications. Holding Brake All servomotors can be delivered with or without a built-in electromagnetic holding brake. The brake is not intended for the positioning. The purpose of the brake is to lock the motor in zero speed. Supply voltage: 24 VDC 0 % +10 % Location: Back side of servomotor. Feedback The flexible design of servomotors allows different feedback sensor mounting. The most frequent types are: Resolver is a brushless electric appliance, used for rotor position measuring and for commutation angle derivation. Resolver is commonly used as a position and angle speed sensor in regulation circuits of servoamplifiers. EnDat is high resolution encoder with a data channel. The absolute position is sent through a fast serial interface. The sine cosine shape of the incremental signals (1Vpp) provides highly accurate positioning. ( increments per revolution). The EnDat sensor could be single-turn or multi-turn (4096 turns). Hiperface is like EnDat a high resolution encoder with a data channel. The absolute position is sent through a fast serial interface. The sine cosine shape of the incremental signals (1Vpp) provides highly accurate positioning. ( increments per revolution). The sensor could be singleturn or multi-turn (4096 turns). Comcoder is a combined incremental encoder. An absolute position is given through the commutation signalsof three Halls. The incremental signals(5v TTL) provides accurate positioning. Temperature protection The temperature of the winding is monitored by sensors in the stator windings. The temperature is then signaled via an electrically isolated contact (thermo contact or posistor). The sensors are set so that the winding temperature does not exceed 150 C. The type of temperature protection should be specified. Technical data Design: flange, B5 Colour: matt black Bearings: closed ball-bearings with grease Protection: IP64 (IP54 as shaft motor part), as an option IP67 including shaft protection Insulation class: F Cooling: convection (type A) Temperature: according to the ČSN EN 60034, rise of temperature T = 110 C, ambient temperature T = 40 C Load cycle: continual (S1) Electrical connection: connectors, connectors counterparts or cable bushings TGN servomotors are produced for different DC-bus voltages (36V, 320V, 560V) and for different nominal speed (500, 1000, 1500, 2000, 3000, 4500 rpm). The catalogue includes motors with nominal speed 3000 rpm (except some types of TGN2 and TGN3) and DC-bus voltage 36V, 320V and 560V. We can send you technical parameters of motors designed for other DC-bus or speed on demand. 1

4 Coding example T G N / T 1 P B S 4 W K X Motor type T standard H segment type N new line of segment motors Temperature protection (T0 termocontact, T1 PTC111-K13, T3 KTY83-110, T4 KTY84-130) Shaft with keyway (no coding without keyway) Motor size (0 8) Motor with brake (no coding without brake) Stall torque (0205 = 2,05 Nm) Nominal speed (30 = 3000 rpm) DC intermediate circuit voltage (36, 320, 560 V) Connector type (no coding upright to motor shaft) S1 rectangular to shaft, S2 rectangular to rearwards, S3 rectangular to sides, S4 rectangular rotary Ingress protection V IP65, W IP67 (no coding IP64) K cable bushings Other substandards Standard connections for motor connectors (for AKD, TGA and TGP servoamplifiers) Motor 1 U Resolver 2 term 1 cos- 2 PE 3 W ytec 4 V A Br+ B Br C Reserved D Reserved 3 sin+ 4 cos 5 ref+ 6 term 7 sin 8 cos+ 9 ref 2 OV 3 sin- 4 Up 5 DATA+ 6 N.C. 7 term 8 CLOCK+ EnDAT, Hiperface 9 cos+ 10 SENSE OV 11 sin+ 12 SENSE Up 13 DATA- 14 term 15 CLOCK+ 2 term 3 sin+ 4 cos 5 ref+ 6 term 7 sin 8 cos+ 9 ref Resolver Motor A B C U V W PE 1 Br+ 2 Br

5 Servomotors Dimensions of connectors Rectangular connectors (S1, S2, S3, S4) motor sensor Ytec connectors Streight connectors sensor motor 2 31

6 TGN2 servomotors Nm Magnets Nd-Fe-B 36 VDC 320 VDC 560 VDC Nominal torque M N Nm Nominal speed n N rpm Nominal power P N W Nominal current I N A Stall torque M 0 Nm Stall current I 0 A Peak torque M max Nm Peak current I max A Max. speed mech. n max rpm Torque constant K M Nm/A Voltage constant K E V/1000 rpm Motor poles 2 p Resistance 2 ph. R 2Ph Ω Inductance 2 ph. L 2Ph mh Inertia J kgcm Mass without brake m kg Mass with brake m Br kg Brake torque M Br Nm Dimensions Type K K1 (brake) KE (EnDAT) KE1 (EnDAT+brake) mm 105 mm 131 mm 166 mm mm 120 mm 146 mm 181 mm mm 135 mm 161 mm 196 mm mm 150 mm 176 mm 211 mm Length of motor with Hiperface sensor is the same like legth of motor with EnDat sensor. In some types of motor can be smaller.

7 Servomotors Dimensions of TGN2 with standard connectors Dimensions of TGN2 with ytec connectors Dimensions of TGN2 with cable bushings 4 5

8 TGN3 servomotors Nm Magnets Nd-Fe-B 36 VDC 320 VDC 560 VDC Nominal torque MN Nm Nominal speed n N rpm Nominal power PN W Nominal current IN A Stall torque M0 Nm Stall current I0 A Maximum torque M max Nm Maximum current Imax A Max. speed mech. nmax rpm Torque constant K M Nm/A Voltage constant KE V/1000 rpm Motor poles 2 p Resistance 2ph. R2Ph Ω Inductance 2 ph. L2Ph mh Inertia J kgcm Mass without brake m kg Mass with brake m Br kg Brake torque M Br Nm Dimensions Typ K K1 (brake) KE (EnDAT) KE1 (EnDAT+brake) mm 120 mm 123 mm 161 mm mm 138 mm 141 mm 197 mm mm 174 mm 177 mm 215 mm mm 210 mm 213 mm 251 mm Length of motor with Hiperface sensor is the same like legth of motor with EnDat sensor. In some types of motor can be smaller.

9 Servomotors TGN4 servomotors Nm Magnets Nd-Fe-B 320 VDC 560 VDC TGN TGN Nominal torque MN Nm Nominal speed n N rpm Nominal power PN W Nominal current IN A Stall torque M0 Nm Stall current I0 A Maximum torque M max Nm Maximum current Imax A Max. speed mech. nmax rpm Torque constant K M Nm/A Voltage constant KE V/1000 rpm Motor poles 2 p Resistance 2 ph. R2Ph Ω Inductance 2 ph. L2Ph mh Inertia J kgcm Mass without brake m kg Mass with brake m Br kg Brake torque M Br Nm TGN TGN TGN TGN TGN TGN Dimensions Typ K K1 (brake) KE (EnDAT) KE1 (EnDAT+brake) TGN mm 154 mm 150 mm 191 mm TGN mm 184 mm 180 mm 221 mm TGN mm 214 mm 210 mm 251 mm TGN mm 244 mm 240 mm 281 mm Length of motor with Hiperface sensor is the same like legth of motor with EnDat sensor. In some types of motor can be smaller. 6 7

10 TGN5 servomotors Nm Magnets Nd-Fe-B 320 VDC 560 VDC TGN TGN Nominal torque MN Nm Nominal speed n N rpm Nominal power PN W Nominal current IN A Stall torque M0 Nm Stall current I0 A Maximum torque M max Nm Maximum current Imax A Max. speed mech. nmax rpm Torque constant K M Nm/A Voltage constant KE V/1000 rpm Motor poles 2 p Resistance 2ph. R2Ph Ω Inductance 2 ph. L2Ph mh Inertia J kgcm Mass without brake m kg Mass with brake m Br kg Brake torque M Br Nm TGN TGN TGN TGN TGN TGN Dimensions Typ K K1 (brake) KE (EnDAT) KE1 (EnDAT+brake) TGN mm mm 177 mm 222 mm TGN mm mm 207 mm 252 mm TGN mm mm 237 mm 282 mm TGN mm mm 267 mm 312 mm Length of motor with Hiperface sensor is the same like legth of motor with EnDat sensor. In some types of motor can be smaller.

11 Servomotors TGN6 servomotors Nm Magnets Nd-Fe-B 560 VDC TGN TGN TGN TGN TGN Nominal torque MN Nm Nominal speed n N rpm Nominal power PN W Nominal current IN A Stall torque M0 Nm Stall current I0 A Peak torque M max Nm Peak current Imax A Max. speed mech. nmax rpm Torque constant K M Nm/A Voltage constant KE V/1000 rpm Motor poles 2 p Resistance 2 ph. R2Ph Ω Inductance 2 ph. L2Ph mh Inertia J kgcm Mass without brake m kg Mass with brake m Br kg Brake torque M Br Nm Dimensions Typ K K1 (brake) KE (EnDAT) KE1 (EnDAT+brake) TGN mm 222 mm consult consult TGN mm 247 mm consult consult TGN mm 272 mm consult consult TGN mm 297 mm consult consult TGN mm 322 mm consult consult Length of motor with Hiperface sensor is the same like legth of motor with EnDat sensor. In some types of motor can be smaller. In some types of motor can be smaller. 8 9

12 TGN7 servomotors Nm Magnets Nd-Fe-B 560 VDC TGN TGN TGN TGN Nominal torque MN Nm Nominal speed n N rpm Nominal power PN W Nominal current IN A Stall torque M0 Nm Stall current I0 A Peak torque M max Nm Peak current Imax A Max. speed mech. nmax rpm Torque constant K M Nm/A Voltage constant KE V/1000 rpm Motor poles 2 p Resistance 2 ph. R2Ph Ω Inductance 2 ph. L2Ph mh Inertia J kgcm Mass without brake m kg Mass with brake m Br kg Brake torque M Br Nm Dimensions Typ K K1 (brake) KE (EnDAT) KE1 (EnDAT+brake) TGN mm 245 mm 201 mm 265 mm TGN mm 275 mm 231 mm 295 mm TGN mm 305 mm 261 mm 325 mm TGN mm 335 mm 291 mm 355 mm Length of motor with Hiperface sensor is the same like legth of motor with EnDat sensor. In some types of motor can be smaller.

13 Servoamplifiers Servozesilovače AKD AKD digital servoamplifiers AKD digital servoamplifiers are designed for driving of rotary and linear synchronous servomotors. Servoamplifiers are equipped with multiple inputs for communication with many types of positioning sensors. This gives us the possibility to find an optimum priced solution of a used feedback sensor and of a servomotor application. Digital servoamplifiers AKD are designed to be easily connected to different control systems, because of this the servoamplifiers can be used in many applications. In relation to the application and control system used, it is possible to utilize the integrated motion functions or to use only the basic functions of control loops. Controlling of AKD servoamplifiers EtherCAT or CANopen communication interface Service channel Modbus/TCP (used for parameter setting) Analogue input +/-10V (16 bits) Analogue output +/-10V (16 bits) Digital control inputs (7) and outputs (2) activation of programmed position profiles Control signals for step motors STEP and DIRECTION Control in the electronic gearing mode Feedbacks Resolver EnDAT (single-turn or multi-turn) Hiperface (single-turn or multi-turn) A sensor with sincos signals An incremental sensor with commutation signals. The possibility to simultaneously connect two sensors (e.g. resolver and incremental sensor) Performance specification Digital current loop (0,67 μs), speed loop (62,5 μs) and position loop (125 μs) ensure high motion dynamics and repeatibility of demand motion tasks Servoamplifiers AKD 3 x 400 V are equipped with anti-interference network filter Control of the motors holding brake Input (STO Safe Torque Off) to block the reverse SIL2 by IEC The versatility of using increases the wide spectrum of supply voltages 3 x x 240 V for the 230V version and 3 x x 480 V and CE, UL and cul certification Simple Grafical User Interface (GUI)- WorkBench is designated to expedite and streamline the user s experience with AKD. From easy application selection and reduced math, to a sleek sixchannel scope. WorkBench also makes auto-tunning the AKD high-performance drive with TG motors very simple

14 Operating data 230 V Rated data DIM AKD-P00306 AKD-P00606 AKD-P01206 AKD-P02406 Rated supply voltage V~ V / Hz V / Hz V ±10 % Rated installed power for S1 operation kva Nominal current (±3 %) at rated voltage 120 V Aef at rated voltage 240 V Aef Maximum current (max. 5s, ±3 %) Aef Continuous power regen circuit (RBint) W Continuous power regen circuit (RBext) max. Ws 60 (with 120 V) 20 (with 240 V) 60 (with 120 V) 20 (with 240 V) 160 (with 120 V) 55 (with 240 V) 180 (with 120 V) 60 (with 240 V) Continuous power regen circuit (RBext) max. kw Peak power regen circuit (RBext) max. kw Dimensions Height mm Width mm Depth mm Depth with connectors mm Operating data 3 x 400 V Rated data DIM AKD-P00307 AKD-P00607 AKD-P01207 AKD-P02407 Rated supply voltage V~ V / Hz Rated installed power for S1 operation kva Nominal current (±3 %) Aef Maximum current (max. 5s, ±3 %) Aef Continuous power regen circuit (RBint) W Breaking energy of regen circuit capacitor Ws 5 (with 240 V) 35 (with 400 V) 20 (with 480 V) Continuous power regen circuit (RBext) max. 5 (with 240 V) 35 (with 400 V) 20 (with 480 V) 10 (with 240 V) 70 (with 400 V) 40 (with 480 V) 15 (with 240 V) 110 (with 400 V) 60 (with 480 V) at 240 V / 400 V a 480 V kw 0.77 / / 3 3 / 6 6 / 12 Peak power regen circuit (RBext) max. kw 5.4 / / / / 30.6 Dimensions Height mm Width mm Depth mm Depth with connectors mm Servoamplifier V AKD P01207 Servoamplifier 230 V AKD P00306

15 Notes: 12 13

16 Servomotors Servoamplifiers Gearboxes Control systems TG Drives, s. r. o. Jeneweinova 37 CZ Brno Tel.: Fax: /2011

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