MCM synchronous servo motors

Transcription

1 Motors MCM synchronous servo motors Nm

2 Contents General information Technical data Accessories List of abbreviations Product key Product information Functions and features Dimensioning Standards and operating conditions Permissible radial and axial forces Rated data, non-ventilated Selection tables, Servo-Inverter i700 Selection tables, Servo Drives 9400 HighLine Selection tables, Inverter Drives 8400 TopLine Torque characteristics Dimensions, self-ventilated Spring-applied holding brake Resolver SinCos absolute value encoder Temperature monitoring ICN connector

3 General information List of abbreviations η 100 % cos ϕ du/dt F ax,- F ax,+ f in,max f max f max f N F rad H max I 0 I max I max I max I max I max I N J J MB KE LL 150 C Kt C L L 1ϭ L 2ϭ L N m, max M av M max M N n eto n k n max [%] [kv/µs] [N] [N] [Hz] [khz] [khz] [Hz] [N] [m] [A] [A] [A] [A] [A] [A] [A] [kgcm²] [kgcm²] [V /(1000 r/min)] [Nm/A] [mh] [mh] [mh] [mh] [kg] [Nm] [Nm] [Nm] [Nm] [Nm] [r/min] [r/min] [r/min] Efficiency Power factor Insulation resistance Min. axial force Max. axial force Max. input frequency Limit frequency Max. switching frequency Rated frequency Max. radial force Site altitude Standstill current Max. short-time DC-bus current Max. current Max. current consumption Max. current Max. DC-bus current Rated current Moment of inertia Moment of inertia Voltage constant Torque constant Mutual inductance Stator leakage inductance Rotor leakage inductance Rated inductance Mass Stall torque Max. standstill torque Average dynamic torque Max. torque Rated torque Transition speed Speed Max. speed n N P N Q E R R R 1 R 2 R 2 R UV 150 C R UV 20 C S hü T T T T T T T T t 1 t 2 T opr,max T opr,min U in,max U in,min U max U max U min U N, AC U N, DC Z ro Z rs Z so [r/min] [kw] [J] [Ω] [Ω] [Ω] [Ω] [Ω] [Ω] [Ω] [1/h] [ C] [ C] [ C] [ C] [ C] [ C] [ C] [ C] [ms] [ms] [ C] [ C] [V] [V] [V] [V] [V] [V] [V] [Ω] [Ω] [Ω] Rated speed Rated power Maximum switching energy Insulation resistance Min. insulation resistance Stator impedance Charging resistor Rotor impedance Stator impedance Stator impedance Transition operating frequency Operating temperature Rated temperature Max. ambient temperature of bearing Max. surface temperature Max. ambient temperature for transport Min. ambient storage temperature Min. ambient temperature for transport Ambient temperature Engagement time Disengagement time Max. ambient operating temperature Min. ambient operating temperature Max. input voltage Min. input voltage Max. mains voltage Min. input voltage Min. mains voltage Rated voltage Rated voltage Rotor impedance Impedance Stator impedance - 4

4 General information List of abbreviations CE CSA DIN EMC EN EAC IEC IM IP NEMA UkrSEPRO UL UR VDE Communauté Européenne Canadian Standards Association Deutsches Institut für Normung e.v. Electromagnetic compatibility European standard Customs union Russia / Belarus / Kazakhstan certificate International Electrotechnical Commission International Mounting Code International Protection Code National Electrical Manufacturers Association Certificate for Ukraine Underwriters Laboratory Listed Product Underwriters Laboratory Recognized Product Verband deutscher Elektrotechniker (Association of German Electrical Engineers) - 5

5 General information Product key - 6

6 General information Product information MCM the compact synchronous servo motor for applications in positioning, robotics and packaging technology as well as handling systems. In combination with the Servo-Inverters i700, 9400 and 8400 TopLine, the MCM is a powerful drive component within a torque range of 0.6 to 26.4 Nm. Advantages Easy controllability thanks to a favourable mass inertia ratio of the load and the motor Excellent smooth running characteristics for exact work results A smooth surface of the housing provides for the use in the food industry Simplicity thanks to robust resolvers as standard and multiturn SinCos encoders Easy installation and servicing thanks to SpeedTec connectors with rotary connector boxes MCM12/MCM09/MCM06 synchronous servo motors - 7

7 General information Functions and features Design Shaft end (with and without keyway) A end shield Brake Spring-applied brake Speed and angle encoder Cooling Without blower Temperature sensor Thermal detector Motor connection: plug connector Shaft bearings Bearing type Position of the locating bearing Colour MCM06 B5-FF75 11 x 23 MCM09 B5-FF x 30 Not oil-tight DC 24 V Resolver SinCos multi-turn Naturally ventilated KTY Power + brake Encoder + thermal sensor MCM12 B5-FF x 40 Deep-groove ball bearing with high-temperature resistant grease, sealing disc or cover plate Not coated Non-drive end Primed - 8

8 General information Dimensioning Cooling effect of mounting flange Mounting on a thermally conducting / insulating plate or machine chassis has an influence on heating up the motor, particularly when using naturally ventilated motors. The motor rating data specified in the catalogue applies when mounting on a steel plate with free convection with the following dimensions: MCM06: 270 x 270 mm MCM09: 330 x 330 mm MCM12: 450 x 450 mm Vibrational severity Vibrational severity IEC/EN Maximum r.m.s. value of the vibration velocity [mm/s] MCM06 MCM09 A 1.60 MCM12 1) Free suspension at n = 600 to 3,600 rpm - 9

9 General information Dimensioning Concentricity and axial run-out of the mounting flanges and smooth running of the shaft ends Flange size Dimensions Distance Measuring diameter Dial gauge holder for flange check Concentricity IEC Value Axial run-out IEC Value Smooth running IEC Value MCM06 MCM09 MCM12 FF75 FF100 FF130 b 2 j6 [mm] d k6 [mm] m [mm] z +/- 1 [mm] 10.0 Normal class y [mm] Normal class y [mm] Normal class x [mm] Limit values for checking the smooth running of the shaft ends as well as the concentricity and axial run-out of the mounting flange to IEC

10 General information Dimensioning Notes on the selection tables Graphical display of the operating points Please note: In case of an active load (e.g. vertical drive axes, hoists, test benches, unwinders), max has to be considered In case of a passive load (e.g. horizontal drive axes), M max can be usually used In case of a speed < n k and inverter-specifically, the achievable torque max is smaller than M max In case of a speed n = 0, the standstill torque and the standstill current I 0 have to be reduced by 30% after 2 seconds. In case of applications which require a longer holding of, we recommend the drive to be held via the holding brake and reduce the current, e.g. by controller inhibit. In case of servo inverters, the switching frequency dependent overload capacity is considered in the default setting. For more information, see the servo inverter catalogue. MCM n k [r/min]

11 General information Dimensioning Influence of ambient temperature and site altitude The information relating to the servo motors in the tables and graphs is valid for a maximum ambient temperature (T opr ) of 40 C and a site altitude (H) up to 1000 m above sea level. The torque correction factor (k M1 ) shall be applied to the S1 torque characteristic ( M N ) in the event of differing installation conditions. Torque correction factor k m1-12

12 Technical data Standards and operating conditions Cooling type Degree of protection EN Temperature class IEC/EN ; utilisation IEC/EN ; insulation system (enamelinsulated wire) Conformity CE Approval CSA curus Max. voltage load IEC/TS Smooth running IEC Axial run-out IEC Concentricity IEC Mechanical ambient conditions (vibration) IEC/EN Min. ambient operating temperature Without brake With brake Max. ambient operating temperature Max. surface temperature Mechanical tolerance Flange centring diameter Shaft diameter Site altitude Amsl T opr,min T opr,min T opr,max T H max [ C] [ C] [ C] [ C] [m] MCM Naturally ventilated IP54 1) F F Low-Voltage Directive 2006/95/EC CSA 22.2 No. 100 UL UL Power Conversion Equipment (File-No. E210321) Pulse voltage limiting curve A Normal class Normal class Normal class 3M b mm = j6 b 2 > 230 mm = h6 d 50 mm = k6 d > 50 mm = m ) IP65 housing - 13

13 Technical data Permissible radial and axial forces Application of forces Application of force at l/2 Bearing service life L h F rad F ax,- F ax,+ [N] [N] [N] MCM MCM MCM Application of force at l Bearing service life L h F rad F ax,- F ax,+ [N] [N] [N] MCM MCM09 MCM The values for the bearing service life L 10 refer to an average speed of 4000 r/min. Depending on the ambient temperatures, the service life of the bearings is also reduced by the grease lifetime. - 14

14 Technical data Rated data, non-ventilated The data applies to a mains connection voltage of 3 x 400 V. n N M N M max P N I 0 I N I max U N, AC f N [r/min] [Nm] [Nm] [Nm] [kw] [A] [A] [A] [V] [Hz] MCM06C MCM06E MCM09C MCM09E MCM12C MCM12F MCM12J η 100 % J 1) KE LL 150 C R UV 20 C R UV 150 C L N Kt C n max 2) m 1) [%] [kgcm²] [V /(1000 r/min)] [Ω] [Ω] [mh] [Nm/A] [r/min] [kg] MCM06C MCM06E MCM09C MCM09E MCM12C MCM12F MCM12J ) Without brake. 2) Mechanically permissible maximum speed. - 15

15 Technical data Selection tables, Servo-Inverter i700 Non-ventilated motors The data applies to a mains connection voltage of 3 x 400 V and an inverter switching frequency of 4 khz. MCM 06C30 M N 0.6 n N I N 0.9 P N 0.19 E70ACM S 0054 S 0104 S 0204 I N I 0,max I max M N 0.6,max 1.8 M max 1.8 n eto E M N 1.2,max 3.1 M max 3.1 n eto C M N 1.3,max 3.5 M max 3.5 n eto E30 12C M N 2.4,max 6.5 M max 6.5 n eto M N ,max 6.5 M max - n eto F M N 4.8,max 14.1 M max 14.1 n eto J M N 8.0,max 26.4 M max 26.4 n eto - I [A], M [Nm], n [r/min], P [kw] - 16

16 Technical data Selection tables, Servo Drives 9400 HighLine Non-ventilated motors The data applies to a mains connection voltage of 3 x 400 V and an inverter switching frequency of 4 khz. MCM 06C30 M N 0.6 n N I N 0.9 P N 0.19 E94A E0024 E0034 E0044 E0074 E0094 E0134 I N I 0,max I max M N 0.6,max 1.8 M max 1.8 n eto E M N 1.2,max 3.1 M max 3.1 n eto C30 09E30 12C M N 1.3,max 3.5 M max 3.5 n eto M N ,max M max n eto M N ,max M max n eto F M N 4.8,max 14.1 M max J n eto M N ,max M max n eto I [A], M [Nm], n [r/min], P [kw] - 17

17 Technical data Selection tables, Inverter Drives 8400 TopLine Non-ventilated motors The data applies to a mains connection voltage of 3 x 400 V and an inverter switching frequency of 8 khz. MCM 06C30 M N 0.6 n N I N 0.9 P N 0.19 E84AVTC I N I 0,max I max M N 0.6,max 1.8 M max 1.8 n eto E M N 1.2,max 3.1 M max 3.1 n eto C M N 1.3,max 3.5 M max 3.5 n eto E30 12C M N 2.4,max 6.5 M max 6.5 n eto M N ,max 6.5 M max - 12F30 12J n eto M N ,max M max n eto M N ,max M max n eto I [A], M [Nm], n [r/min], P [kw] - 18

18 Technical data Torque characteristics The data applies to a mains connection voltage of 3 x 400 V. MCM06C30- MCM06F

19 Technical data Torque characteristics The data applies to a mains connection voltage of 3 x 400 V. MCM09C30- MCM09F

20 Technical data Torque characteristics The data applies to a mains connection voltage of 3 x 400 V. MCM12C30- MCM12F

21 Technical data Torque characteristics The data applies to a mains connection voltage of 3 x 400 V. MCM12J

22 Technical data Dimensions, self-ventilated MCM06 RS0/SKM B0 RS0/SKM F1 LB LB LS [mm] [mm] [mm] MCM06C MCM06E Speed / angle sensor: R / C / S / E Brake: B0 / F1 / F2-23

23 Technical data Dimensions, self-ventilated MCM09 RS0/SKM B0 RS0/SKM F1 LB LB LS [mm] [mm] [mm] MCM09C MCM09E Speed / angle sensor: R / C / S / E Brake: B0 / F1 / F2-24

24 Technical data Dimensions, self-ventilated MCM12 RS0/SKM B0 RS0/SKM F1 LB LB LS [mm] [mm] [mm] MCM12C MCM12F MCM12J Speed / angle sensor: R / C / S / E Brake: B0 / F1 / F2-25

25 Accessories Spring-applied holding brake Spring-operated holding brakes are available for the MCM synchronous servo motors. The brakes are activated when the supply voltage is disconnected (closed-circuit principle). When using the brakes purely as holding brakes, virtually no wear occurs on the friction surfaces. If no suitable voltage (incorrect value, incorrect polarity) is applied to the brake, the brake will be applied and can be overheated and destroyed by the motor continuing to rotate. The shortest switching times of the brakes are achieved by DC switching of the voltage. A spark suppressor is required to suppress interference and to increase the service life of the relay contacts here. Caution: The brakes used are not safety brakes in the sense that a reduction in torque may arise as a result of disruptive factors that cannot be influenced, e.g. oil ingress. The ohmic voltage drop along the cable must be taken into consideration in long motor supply cables and must be compensated for by a higher voltage at the line input. The following applies for Lenze system cables: Spring-applied holding brake - 27

26 Accessories Spring-applied holding brake Rated data U N, DC 3, 5) M N 20 C M N 120 C M av 120 C I N 2) J t 1 1) t 2 1) Q E 4) m [V] [Nm] [Nm] [Nm] [A] [kgcm²] [ms] [ms] [J] [kg] MCM06C30- MCM06E MCM09C30- MCM09E MCM12C30- MCM12F MCM12J ) Engagement and disengagement times are valid for rated voltage (± 0 %) and protective circuit for brakes with varistor for DC switching. The times may increase without a protective circuit. 2) The currents are the maximum values when the brake is cold (value used for dimensioning the current supply). The values for a motor at operating temperature are considerably lower. 3) With 24V DC brake: smoothed DC voltage, ripple 1 %. 4) Maximum switching energy per emergency stop at n = r/min for at least 2000 emergency stops. 5) Voltage tolerance: MCM06/09 ± 5 % MCM12 ± 10 % - 28

27 Accessories Resolver Stator-fed resolver with two stator windings offset by 90 and one rotor winding with transformer winding. Speed/angle sensor Product key Resolution Angle Accuracy Absolute positioning Max. speed Max. input voltage DC Max. input frequency Ratio Stator / rotor Rotor impedance Stator impedance Impedance Min. insulation resistance At DC 500 V Number of pole pairs Max. angle error Inverter assignment 1) n max U in,max f in,max Z ro Z so Z rs R ± 5 % ['] ['] [r/min] [V] [khz] [Ω] [Ω] [Ω] [MΩ] ['] RS0 RS revolution j j j i700 E84AVTC E94A ECS EVS93 1) 6 - Product key > speed/angle sensor - 29

28 Accessories SinCos absolute value encoder Encoder type Speed/angle sensor Product key Encoder type Pulses Output signals Interfaces Absolute revolutions Resolution Angle Accuracy Min. input voltage DC Max. input voltage DC Max. speed Max. current consumption Limit frequency Inverter assignment 1) U in,min U in,max n max I max f max ['] ['] [V] [V] [r/min] [A] [khz] SinCos absolute value SKM AM128-8V-H Multi-turn Vss Hiperface i700 E84AVTC E94A ECS EVS93 1) 6 - Product key > speed/angle sensor - 30

29 Accessories Temperature monitoring The KTY thermal sensor used in the MCM motors continuously monitors the motor temperature. The temperature information is transmitted to the servo inverter by means of the system cable of the feedback system. Variation of resistance If the thermal sensor is supplied with a measurement current of 1 ma, the above relationship between the temperature and the resistance applies. - 31

30 Accessories ICN connector An ICN connector is used as standard for the electrical connection to the servo motors. A connector is used for the connection of motor and brake. The connections to the feedback system/temperature monitoring and the blower each employ a separate connector. The connectors can be rotated through 270 and are fitted with a bayonet catch for SpeedTec connectors. As the connector fixing is also compatible with conventional union nuts. Existing mating connectors can therefore still be used without difficulty. Connection for power and brake Pin assignment Contact Designation 1 BD1 2 BD2 PE PE 4 U 5 V 6 W Meaning Holding brake + Holding brake - PE conductor Phase U power Phase V power Phase W power - 32

31 Accessories ICN connector Feedback connection Resolver Pin assignment Contact Designation +Ref -Ref +VCC ETS +COS -COS +SIN -SIN +KTY -KTY Meaning Transformer windings Supply: Electronic nameplate Cosine stator windings Sine stator windings Not assigned KTY temperature sensor Hiperface SinCos absolute value encoder Pin assignment Contact Designation Meaning 1 2 B A Track B/+SIN Track A inverse/-cos 3 A Track A/+COS 4 +U B Supply + 5 GND Mass 6 Z Zero track inverse/-rs485 7 Z Zero track/+rs485 8 Not assigned 9 B Track B inverse/-sin 10 Not assigned KTY -KTY KTY temperature sensor - 33