Product Data. Motor & drive pairing specifications

Transcription

1 Unimotor Product Data Motor & drive pairing specifications High dynamic AC brushless servo motors for Control Techniques drives Frame sizes 55, 67, 89 and to lb-in (.72 to lb-in peak (56.4

2 Unimotor Compact servo motor for demanding applications Unimotor HD is Control Techniques new high dynamic brushless AC servo motor range designed for operation with Digitax ST, Unidrive SP, Epsilon EP and MDS drives. Unimotor HD provides an exceptionally compact, low inertia solution for applications where very high torque is required during rapid acceleration and deceleration profiles. The Unimotor HD torque profile is matched to Digitax ST servo drives providing up to 3% peak overload for maximum dynamic performance. Key features Unimotor HD is suitable for a wide range of industrial applications. Torque range: 6.3 to lb-in (.72 to 18.8 High torque-to-inertia ratio for high dynamic performance Compact but powerful High-energy dissipation brakes IP65 conformance: sealed against water spray and dust when mounted and connected Segmented stator design Rotatable connectors Supported by rigorous testing for performance and reliability Winding to suit 23V and 46V speeds include 2, 3, 4 and 6 rpm Larger shafts to increase torsional rigidity Soon available in ATEX and white, food-grade configurations The ultimate motor and drive combinations Control Techniques drive and motor combinations provide an optimized system in terms of ratings, performance, cost and ease of use. Unimotor HD motors fitted with high resolution sincos or absolute encoders are pre-loaded with the motor electronic nameplate data during the manufacturing process. This data can be read by Control Techniques servo drives and used to automatically optimize the drive settings. This feature simplifies coissioning and maintenance, ensures consistent performance and saves time. Accuracy and resolution to suit your application requirements Choosing the right feedback device for your application is critical in getting optimum performance. Unimotor HD has a range of feedback options that offer different levels of accuracy and resolution to suit most applications: Resolver: low accuracy, medium resolution; robust for extreme applications and conditions Incremental encoder: high accuracy, medium resolution Inductive absolute: medium accuracy, medium resolution, single-turn and multi-turn Optical sincos/absolute: high accuracy, high resolution, single-turn and multi-turn Hiperface (SICK Stegmann) and EnDAT (Heidenhain) protocols supported Unimotor HD ordering code Information Use the information below to create an order code for a Unimotor HD. (Example order reference shown in dark green band.) 89 UD B 3 5 B A CA A Frame size Motor voltage Stator length frame speed Brake (24V) Connection type Output shaft Feedback device* frame 55 frame frame 55 ED = 23V A 3 = 3 rpm = Not fitted (std.) B = Power and signal, A = Keyed AR = Resolver A = Standard 67 UD = 46V B 6 = 6 rpm 1 = Parking brake rotatable B = Plain CR = Incremental encoder (Renco) 496 ppr (R35i) 89 C 89 frame X = Special shaft EM = Inductive absolute multi-turn EQI frame 3 = 3 rpm frame FM = Inductive absolute single-turn ECI 1118 B 4 = 4 rpm = Not fitted (std.) XX = Special C 6 = 6 rpm 5 = High energy dissipation parking brake D 115 frame AE = Resolver 2 = 2 rpm X = Special 89/115 frame CA = Incremental encoder (SICK) Stegmann 496 ppr (CFS5) 3 = 3 rpm EB = Optical absolute multi-turn EQN 1325 FB = Optical absolute single-turn ECN 1313 EC = Inductive absolute multi-turn EQI 1331 FC = Inductive absolute single-turn ECI 1319 RA = Optical sincos multi-turn SRM 5 SA = Optical sincos single-turn SRS 5 XX = Special 89 frame only CR = Incremental encoder (Renco) 496 ppr (R35i) *Some feedback options change the length of the motor. Inertia 2

3 Motor drive selection Epsilon EP Digitax ST Unidrive SP Modular System (MDS) VAC A rms ( peak) 1.5 axis servo drive This compact (fits in cabinets 6 deep), easy-to-use, scalable servo drive has a powerful standard feature set and can perform at low DC input voltages. Capable of 2% continuous currents (peak current) for up to 4 seconds. 23 / 46VAC A rms ( peak) Scalable option modules Flexible integration Meets the demands of modern lean manufacturing environments using smaller, more flexible machinery. Digitax ST is optimized for high peak torque, dynamic response, ease-of-use and flexible integration. Features 3% continuous current (peak current) for up to 25ms /46/575/69VAC A rms ( peak) Universal drive Scalable option modules Unidrive SP offers a wide power range and can control both AC induction motors and servo motors up. Highly flexible integration features VAC A rms (8-68 peak) Coon power supply for compact inations The MDS is a powerful and cost effective solution for applications with multiple axes. The unique backplane architecture provides a coon bus platform for one of three sizes of power modules and up to eight drive modules. Epsilon EP Digitax ST Unidrive SP MDS Input voltage 5/6Hz 2 to 264 VAC 1Ø, 9 to 264 VAC on Epsilon EP29 1Ø and EP216 3Ø/1Ø 2-24V 1Ø, 2-24V 3Ø, 38-48V 3Ø 2-24V 1Ø/3Ø, 38-48V, V 3Ø 187 to 528 VAC 3Ø Motors controlled Servo linear, gear, linear actuators Servo linear, gear, linear actuators Servo linear, gear, linear actuator AC Induction open loop, closed loop Servo linear, gear, linear actuators Control modes Prograing software Analog velocity/torque, digital velocity preset, suation of A/D velocity, pulse following, indexing and prograable positioning, analog positioning - Position Tracker. PowerTools Pro Analog velocity/torque, digital velocity preset, indexing pulse following. Prograable options: IEC , Motion Made Easy. CTSoft or PowerTools Pro, SyPT Pro, CTSoft with SM-EZmotion module ined. Analog velocity, analog torque, digital velocity preset, suation of A/D velocity, and with second encoder- pulse following. Prograable options: IEC , Motion Made Easy. CTSoft or PowerTools Pro, SyPT Pro, CTSoft with SM-EZmotion module ined. Analog velocity/torque, digital velocity preset, suation of A/D velocity, pulse following, indexing and prograable positioning, analog positioning - Position Tracker. PowerTools Pro Co-processors Model integrated Supports SM modules Supports SM modules Supports FM modules Continuous torque using Unimotor HD 166 lb-in/18.8 Nm 158 lb-in/17.7 Nm 166 lb-in/18.8 Nm 166 lb-in/18.8 Nm Motor feedback Incremental encoder All HD feedback options All HD feedback options Incremental encoder Switching frequency 1kHz Selectable 6 or 8kHz Selectable 3-16kHz Selectable 5 or 1kHz 1kHz: 6kHz: 6kHz: 5kHz: 1kHz: size current 23V 3Ø compatible with Unimotor HD EP29 EP216 9.A 16.A 23V 1Ø EP22 2.2A EP24 4.A EP26 6.5A 23V 3Ø DST A DST A DST A DST A DST A 46V 3Ø DST A DST A DST143 4.A DST A DST145 8.A 23V 1Ø SP A SP A SP A SP A SP A SP A 23V 3Ø SP A SP142 3.A SP A SP A SP A SP A SP A SP A SP A 23V and MD-44 4.A MD-47 7.A MD-41 1.A MD-42 2.A MD A 46V 3Ø MD A MD-47 5.A MD A MD A MD A 3

4 Unimotor Frame size 55 specifications Motor frame size () 55ED 55UD Voltage (Vrms) Frame length A B C A B C Continuous torque (lb-in) Continuous torque ( (lb-in) holes R (H14) equispaced on a mounting BCD S ( P Inertia (lb-in-s 2 x1-4 ) Inertia (kgcm 2 ) Motor weight unbraked (lb) Motor weight unbraked (kg) Number of poles D T B Tapped hole thread size I to depth J Speed 3 (rpm) Kt (lb-in/a) = Kt (Nm/A) = Ke (V/krpm) = torque (lb-in) torque ( Stall current (A) M E Optional key power (hp) power (kw) Speed 6 (rpm) Kt (lb-in/a) = Kt (Nm/A) = Ke (V/krpm) = torque (lb-in) torque ( Stall current (A) power (hp) power (kw) C G H F L K N t= 212 F (1 C) winding 14 F (4 C) maximum ambient. All data subject to +/-1% tolerance. Stall torque, rated torque and power relate to maximum continuous operation above 1kHz drive switching frequency. Maximum intermittent winding temperature is 284 F (14 C). All Unimotor HD motors feature connections that swivel for easier cable routing and ination. Motor dimensions 55A 55B 55C Unbraked length A B Braked length A B Flange thickness K Register length L Register diameter M Overall height N Flange square P Fixing hole diameter R Fixing hole BCD S Motor housing T Mounting bolts M5 Shaft dimensions 14. Standard Shaft diameter C Shaft length D Key height E Key length F Key to shaft end G Key width H.2 5. Tapped hole thread size I M5 Tapped hole depth J Feedback AR, CR, EM, FM A 4

5 Frame size 55 with servo drives Continuous torque 12V 23V 55EDA6 with EP22 55EDA6 with DST SPEED (RPM) 55EDC3 with EP EDC6 with EP V UDA6 with DST141 55EDC3 with DST EDC6 with DST TORQUE (lb-in/ EDC6 with SP V HD motor/drive combination specifications Motor model 55EDA6 55EDA6 55EDC3 55EDC3 model DST121 EP22 DST121 EP22 Cont. torque* (lb-in/ NOTE: All motors listed are stocked for quick delivery. Peak torque* (lb-in/ speed (lb-in/ power (hp/ kw) EDC6 55EDC6 DST122 EP SPEED (RPM) UDC3 with DST UDC6 with DST UDC6 with SP UDC6 with MD EDC6 SP V HD motor/drive combination specifications Motor model 55UDA6 55UDC3 55UDC6 model DST141 DST141 DST142 Cont. torque* (lb-in/ Peak torque* (lb-in/ speed (lb-in/ power (hp/ kw) UDC6 SP UDC6 MD TORQUE (lb-in/ * Values shown include derating due to operating frequency listed on page 3. Brake version also stocked for quick delivery. NOTES: All performance data listed on pages 4-11 have a ± 1% tolerance and is subject to change at any time without notice. Please refer to the web site for the latest drawings. Imperial dimensions on pages 4-11 are derived/calculated from true metric dimensions. 5

6 Unimotor Frame size 67 specifications Motor frame size () 67ED 67UD Voltage (Vrms) Frame length A B C A B C Continuous torque (lb-in) holes R (H14) equispaced on a mounting BCD S Continuous torque ( (lb-in) ( P Inertia (lb-in-s 2 x 1-4 ) Inertia (kgcm 2 ) Motor weight unbraked (lb) Motor weight unbraked (kg) T Tapped hole thread size I to depth J Number of poles Speed 3 (rpm) Kt (lb-in/a) = Kt (Nm/A) = Ke (V/krpm) = torque (lb-in) torque ( C G H D F B Stall current (A) power (hp) power (kw) Speed 6 (rpm) Kt (lb-in/a) = n/a Kt (Nm/A) = n/a L K Ke (V/krpm) = n/a torque (lb-in) n/a torque ( n/a M Optional key E N Stall current (A) n/a power (hp) n/a power (kw) n/a A t= 212 F (1 C) winding 14 F (4 C) maximum ambient. All data subject to +/-1% tolerance. Stall torque, rated torque and power relate to maximum continuous operation above 1kHz drive switching frequency. Maximum intermittent winding temperature is 284 F (14 C). *"A" DIMENSION NOTE: Motor length increases.512 (13) for feedback options FB, EB, CA, MA, SA and RA. Motor length decreases.394 (1) for feedback options AE and CR. Motor dimensions 67A 67B 67C Unbraked length A B Braked length A B Flange thickness K Register length L Register diameter M Overall height N Flange square P Fixing hole diameter R Fixing hole BCD S Motor housing T Mounting bolts M5 Shaft dimensions 14. Standard Shaft diameter C Shaft length D Key height E Key length F Key to shaft end G Key width H.2 5. Tapped hole thread size I M5 x.8 Tapped hole depth J Feedback AR, CR, EM, FM 6

7 Frame size 67 with servo drives Continuous torque 12V 23V 67EDA6 with EP24 67EDA6 with DST EDB3 with EP24 SPEED (RPM) 67EDA6 with SP EDB3 with DST EDB6 with EP EDB6 with SP TORQUE (lb-in/ 46V 67UDA6 with SP142 67UDA6 with DST UDB3 with SP141 SPEED (RPM) 67UDA6 with MD UDB6 with SP EDA6 EP24 67EDA6 DST122 67EDA6 SP121 67EDB3 EP24 67EDB3 DST122 67EDB3 DST121 67EDB6 EP26 67EDB6 DST123 67EDB6 SP torque* torque* speed power (lb-in/ (lb-in/ (lb-in/ (hp/ kw) V HD motor/drive combination specifications UDA6 DST142 67UDA6 SP142 67UDA6 MD-44 67UDB3 DST141 67UDB3 SP141 67UDB3 MD-44 67UDB6 SP143 67UDB6 DST143 67UDB6 MD-47 67UDB6 with MD Motor model model Motor model model 67UDB6 with DST UDB3 with MD UDB3 with DST141 3 NOTE: All motors listed are stocked for quick delivery. 23V HD motor/drive combination specifications 67EDB6 with DST EDB3 with SP TORQUE (lb-in/ torque* torque* speed power (lb-in/ (lb-in/ (lb-in/ (hp/ kw) * Values shown include derating due to operating frequency listed on page 3. Brake version also stocked for quick delivery. 7

8 Unimotor Frame size 89 specifications Motor frame size () 89ED 89UD Voltage (Vrms) Frame length A B C A B C Continuous torque (lb-in) Continuous torque ( (lb-in) ( Inertia (lb-in-s 2 x 1-4 ) Inertia (kgcm 2 ) Motor weight unbraked (lb) Motor weight unbraked (kg) Number of poles Speed 3 (rpm) Kt (lb-in/a) = Kt (Nm/A) = Ke (V/krpm) = torque (lb-in) torque ( Stall current (A) power (hp) power (kw) Speed 4 (rpm) Kt (lb-in/a) = Kt (Nm/A) = Ke (V/krpm) = torque (lb-in) torque ( Stall current (A) power (hp) power (kw) Speed 6 (rpm) Kt (lb-in/a) = Kt (Nm/A) = Ke (V/krpm) = torque (lb-in) torque ( Stall current (A) power (hp) power (kw) t= 212 F (1 C) winding 14 F (4 C) maximum ambient. All data subject to +/-1% tolerance. Stall torque, rated torque and power relate to maximum continuous operation above 1kHz drive switching frequency. Maximum intermittent winding temperature is 284 F (14 C). *"A" DIMENSION NOTE: Motor length increases.472 (12) for feedback options FB, EB, CA, MA, SA and RA. Motor length decreases.394 (1) for feedback options AE and CR. C M H Optional key E P D F G L K T B 4 holes R (H14) equispaced on a mounting BCD S A Tapped hole thread size I to depth J Motor dimensions 89A 89B 89C Unbraked length A* B Braked length A* B Flange thickness K Register length L Register diameter M Overall height N Flange square P Fixing hole diameter R Fixing hole BCD S Motor housing T Mounting bolts M5 Shaft dimensions 19. Standard Shaft diameter C Shaft length D Key height E Key length F Key to shaft end G Key width H Tapped hole thread size I M6 x 1. Tapped hole depth J Feedback EC and FC only* N 8

9 Frame size 89 with servo drives Continuous torque 23V 89EDB3 with EP26 12V 89EDB3 with DST123 89EDB3 with SP NOTE: All motors listed are stocked for quick delivery. 23V HD motor/drive combination specifications SPEED (RPM) 89EDB4 with EP EDC3 with EP EDC4 with EP UDB3 with DST UDB4 with DST UDC3 with DST UDC4 with DST UDC4 with MD UDC4 with SP UDC3 with MD EDB3 EP26 89EDB3 DST123 89EDB3 SP122 89EDB4 EP29 89EDB4 DST124 89EDB4 SP221 89EDC3 EP29 89EDC3 DST124 89EDC3 SP124 89EDC4 EP216 89EDC4 DST124 89EDC4 SP222 torque* torque* speed power (lb-in/ (lb-in/ (lb-in/ (hp/ kw) V HD motor/drive combination specifications 89UDC3 with SP UDB4 with MD UDB4 with SP UDB3 with MD UDB3 with SP TORQUE (lb-in/ 46V 5 89EDC4 with SP EDB4 with DST EDC3 with SP Motor model model 89EDC3 with DST EDB4 with SP EDB4 with DST124 4 SPEED (RPM) TORQUE (lb-in/ Motor model model 89UDB3 DST143 89UDB3 SP143 89UDB3 MD-47 89UDB4 DST143 89UDB4 SP144 89UDB4 MD-47 89UDC3 DST144 89UDC3 SP144 89UDC3 MD-47 89UDC4 DST144 89UDC4 SP145 89UDC4 MD-41 torque* torque* speed power (lb-in/ (lb-in/ (lb-in/ (hp/ kw) * Values shown include derating due to operating frequency listed on page 3. Brake version also stocked for quick delivery. 9

10 Unimotor Frame size 115 specifications Motor frame size () 115ED 115UD Voltage (Vrms) Frame length B C D B C D Continuous torque (lb-in) Continuous torque ( (lb-in) ( Inertia (lb-in-s 2 x 1-4 ) Inertia (kgcm 2 ) Motor weight unbraked (lb) Motor weight unbraked (kg) Number of poles Speed 2 (rpm) Kt (lb-in/a) = Kt (Nm/A) = Ke (V/krpm) = torque (lb-in) torque ( Stall current (A) power (hp) power (kw) Speed 3 (rpm) Kt (lb-in/a) = n/a Kt (Nm/A) = n/a Ke (V/krpm) = torque (lb-in) n/a torque ( n/a Stall current (A) n/a power (hp) n/a power (kw) n/a t= 212 F (1 C) winding 14 F (4 C) maximum ambient. All data subject to +/-1% tolerance. Stall torque, rated torque and power relate to maximum continuous operation above 1kHz drive switching frequency. Maximum intermittent winding temperature is 284 F (14 C). White, food-grade configuration available soon. *"A" DIMENSION NOTE: Motor length increases.512 (13) for feedback options FB, EB, CA, MA, SA and RA. Motor length decreases.394 (1) for feedback options AE and CR. C M H E P G D F L Optional key K T B A 4 holes R (H14) equispaced on a mounting BCD S Tapped hole thread size I to depth J Motor dimensions 115B 115C 115D Unbraked length A* B Braked length A* B Flange thickness K Register length L Register diameter M Overall height N Flange square P Fixing hole diameter R Fixing hole BCD S Motor housing T Mounting bolts M8 Shaft dimensions 24. Standard Shaft diameter C Shaft length D Key height E Key length F Key to shaft end G Key width H Tapped hole thread size I M8 x 1.25 Tapped hole depth J.8 2. Feedback EC and FC only* N 1

11 Frame size 115 with servo drives Continuous torque 12V 23V 115EDB3 with EP EDB2 with DST EDC3 with EP EDC3 with SP V HD motor/drive combination specifications 115EDC3 with SP EDD2 with EP EDD2 with SP NOTE: All motors listed are stocked for quick delivery EDB3 with DST124 3 SPEED (RPM) Motor model model 115EDB2 DST EDB3 EP EDB3 DST EDC3 EP EDC3 SP EDC3 SP EDD2 EP29 115EDD2 SP TORQUE (lb-in/ 46V 115UDB3 with DST UDB3 with SP UDC3 with DST145 SPEED (RPM) 115UDB3 with MD UDD2 with SP Motor model model 115UDD2 with DST UDD3 with SP UDD3 with MD power (hp/ kw) V HD motor/drive combination specifications 115UDC3 with SP torque* torque* speed (lb-in/ (lb-in/ (lb-in/ TORQUE (lb-in/ UDB3 DST UDB3 SP UDB3 MD UDC3 DST UDC3 SP UDD2 DST UDD3 SP UDD2 SP UDD3 MD-42 torque* torque* speed (lb-in/ (lb-in/ (lb-in/ power (hp/ kw) * Values shown include derating due to operating frequency listed on page 3. Brake version also stocked for quick delivery. 11

12 Unimotor Motor selection Motor derating Any adverse operating conditions require that the motor performance be derated. These conditions include ambient temperature above 14 F (4 C), motor mounting position, drive switching frequency or a drive oversized for the motor. Thermal test conditions The performance data shown was recorded with an ambient temperature of 68 F (2 C) and the motor mounted on a thermally isolated aluminum plate as shown below. Ambient temperatures For ambient temperatures above 14 F (4 C), the torque must be derated using the following formula as a guideline (only applies to motors up to 3 rpm and assumes copper losses dominate). Thermal Isolator Plate Motor Shaft Dynometer New derated torque = Specified torque x 1 - ([ambient temperature * 4] / 1) *Measured in C. For example, with an ambient temperature of 169 F (76 C), the new derated torque will be.8 x specified torque. Mounting arrangements In general, motor torque should be derated if the motor mounting surface is heated from an external source such as a gearbox, the motor is connected to a poor thermal conductor, or the motor is mounted in a confined space with restricted air flow. switching frequency Most drive current ratings are reduced at higher switching frequencies. See individual drive manuals for details. See the table below for motor derating factors. These figures are for guidance only. Switching frequency Motor type/frame kHz kHz /6kHz kHz /12/16kHz Thermal protection Thermistor protection to 293 F (145 C) is built into the motor windings and gives an indication of serious overheating problems. The iner must connect the thermistor to the drive. Failure to do so will invalidate the motor warranty if winding burns out. Environmental conditions Conformance and standards FM 361 QUALITY MANAGEMENT 3 Aluminum heatsink plate Motor frame x 4.3 x x 11 x 27 67, x 9.8 x.6 25 x 25 x x 13.8 x.8 35 x 35 x 2 Any liquids or gases that may come into contact with the motor must be confirmed to ensure compliance with the correct international standards. Brake Specification Motor frame size Supply Volts (VDC) Input power (Watts) Standard parking brake (1) Static Torque High energy parking brake (5) Lb-in Nm Lb-in Nm Release Time (ms nom) Moment of inertia Backlash Lb-in-s 2 (1x1-4 ) kgcm 2 * Deg.** N/A N/A N/A N/A < N/A N/A < N/A N/A *Note 1 kgcm² = 1x1-4 kgm². **Backlash amount will increase with use. The brakes are intended for parking duty and NOT dynamic or safety use. The brake will engage when power is removed. To provide protection to the brake control circuit it is recoended that a diode is connected across the output terminals of the solid state or relay contacts devices. Figures shown are at 68 F (2 C) ambient. Apply a derate factor of.7 to standard brake torque figures if motor temperature is above 212 F (1 C). 12

13 Feedback options Feedback device order code AR Feedback type Resolver Encoder supply voltage Sincos cycles or incremental pulses per revolution motors CR 4 Incremental encoder 5VDC 496 EM (multi-turn) FM (single-turn) AE Inductive absolute encoder EnDat 2.1 (Heidenhain) Resolver Resolution available to position loop 1, 2 Feedback accuracy 3 7V rms Medium Low 1 Excitation 5kHz (14 bit) +/- 6 arc sec 5VDC motors CA Incremental encoder 5VDC 496 EC (multi-turn) FC (single-turn) RA (multi-turn) SA (single-turn) EB (multi-turn) FB (single-turn) Inductive absolute encoder EnDat 2.1 (Heidenhain) Sincos optical encoder Hiperface (SICK Stegmann) Optical absolute encoder EnDat 2.2 (Heidenhain) Medium Medium (14 bit) +/- 15 arc sec High Medium 2.62 x 1 5 (18 bits) +/- 48 arc sec 6 V rms Medium Medium 1 Excitation 6kHz (14 bit) +/- 72 arc sec 7-1VDC VDC VDC 248 Medium High ( 14 bit) +/- 6 arc sec Medium absolute position (19 bits) Very high 1.4 x 1 6 (2 bits) Very high 2.8 x 1 6 (21 bits) Medium +/- 28 arc sec High For sincos integral non-linearity +/- 45 arc sec For sincos differential non-linearity +/- 7 arc sec (total accuracy+/-52 arc sec) Very high +/-2 arc sec (differential non-linearity +/- 1% signal period) 1 The sine and cosine outputs from the sincos optical encoders are analog outputs. With Unidrive SP and Digitax ST, the resolutions quoted above are true when the encoder type is set to either SC Endat or SC Hiper, depending on the encoder. 2 The information is supplied by the feedback device manufacturer and relates to it as a standalone device. The values may change when mounted into the motor and connected to a drive. 3 The output from the resolver is an analog output. The resolution is determined by the analog-to-digital converter used. The value shown is when the resolver is used in conjunction with the SM-Resolver. 4 Also available on 89 frame size. Resolver A passive wound device consisting of a stator and rotor elements excited from an external source, such as an SM-Resolver, the resolver produces two output signals that correspond to the sine and cosine angle of the motor shaft. This is a robust absolute device of low accuracy, capable of withstanding high temperature and high levels of vibration. Positional information is absolute within one turn (i.e. position is not lost when the drive is powered down). Incremental encoder An electronic device using an optical disc. The position is determined by counting steps or pulses. Two sequences of pulses in quadrature are used so the direction sensing may be determined and 4 x (pulses per rev) may be used for resolution in the drive. A marker pulse occurs once per revolution and is used to zero the position count. The encoder also provides coutation signals, which are required to determine the absolute position during the motor phasing test. Positional information is nonabsolute (i.e. position is lost when the drive is powered down.) Sincos/absolute encoders In addition to resolvers and incremental encoders, Control Techniques offers two types of sincos/absolute encoders: optical or inductive (single-turn or multi-turn). 1) Optical: An electronic device using an optical disc. An absolute encoder with high resolution that employs a combination of absolute information, transmitted via a serial link, and sin/cos signals with incremental techniques. 2) Inductive: An electronic device using inductively coupled PCB s. An absolute encoder with medium resolution that employs a combination of absolute information, transmitted via a serial link, and sincos signals with incremental techniques. This encoder can be operated with the drive using either sine/cosine or absolute (serial) values only. Positional information is absolute within 496 turns (i.e. position is not lost when the drive is powered down). Multi-turn: As above but with extra gear wheels included so that the output is unique for each shaft position and the encoder has the additional ability to count complete turns of the motor shaft up to 496 revolutions. Electronic nameplating When a servo drive is connected to a motor fitted with a sincos or absolute encoder, it can recognize and counicate with the motor to obtain the electronic nameplate data. The motor data can then be used to automatically optimize the drive settings simplifying coissioning and maintenance and helping ensure consistent performance. 13

14 Unimotor Cable information Power and feedback cables Power cables PS B A H A 15 Cable type Jacket Phase & ground Connection details - drive end Connection details - motor end Cable length 2 conductor size 1 PS = Power (standard) B = PUR G = 1.5² - 16A C = Extension power connector, 6-way PB - Power (with brake) A = 2.5² - 22A F = Unidrive SP (1-2) ferrules, M5 ring lugs B = 4.² - 3A C = 6.² - 39A G = Unidrive SP (3-4), ring lugs H = Digitax ST ferrules, M4 ring lugs K = Epsilon EP, EN, MDS X = Cut end A = Unimotor HD power connector Min=1 39 in (1m) Max =1 393 ft (1m) 1Phase and ground connector note: Select CONDUCTOR SIZE according to motor's STALL CURRENT. Ratings are for individual cables (not lashed together) in free air temperature up to 14 F (4 C) make allowances as appropriate. 2 Refer to Price List for standard cable lengths. Feedback cables SI B A A A 15 Cable type Jacket Special options Connection details - drive end Connection details - motor end Cable length 1 SI = Incremental encoder hyperboloid pins SR = Resolver SS = Sincos encoder B = PUR A = Standard cable E = Twisted screened SS cable L =.33 in (8.5) dia. SI cable A = Digitax ST/Unidrive SP/Epsilon EP incremental encoder 15-pin connector B = Resolver / sincos encoder ferrules F = MDS incremental encoder 26-pin connector A = Incremental encoder connector B = Resolver connector C = Sincos connector (Hiperface) (SICK Stegmann) Min=1 39 (1m) Max =1 393 ft (1m) I = Extension connector male pins H = Digitax ST/Unidrive SP sincos, 15-pin connector X = Cut end E = 17-way extension connector N = Sincos connector (EnDat) (Heidenhain) X = Cut end Feedback Cable Note: A = standard cable; L = smaller diameter.33 (8.5) incremental cable for static performance. 1 Refer to Price List for standard cable lengths. Motor power cable (PSBxKA) Motor with brake power cable (PBBxKA) Motor Power Cable Motor w/brake Power Cable HD Motor Standard incremental encoder cables Servo drive models Feedback cable Power cable Epsilon EP Epsilon EP Modular System EP22 - EP29 EP216 MD-44, MD-47, MD-41 Motor with brake power cable SIBAAA PSBGKA or PBBGKA Modular System MD-42 SIBAFA PSBAFA or PBBAFA PSBGKA PBBGKA Modular System MD-434 PSBCGB PBBCGB Digitax ST All models SIBAAA PSBAHA or PBBAHA Unidrive SP SP121, SP122, SP123, SP141, SP142, SP143, SP144, SP145, SP146 PSBAFA PBBAFA Unidrive SP SP124, SP221, SP241, SP242 SIBAAA PSBAFA or PBBAFA Unidrive SP SP222, SP243 PSBAFA PBBAFA Example (DST): PSBAHA-15 where 15 is length in meters. 14

15 Cable information Power - PUR Basic cable diameters NOTES: Minimum bend radius = 1x dia. long chain, 7.5x dia. short cha Bending life 1,, cycles. Phase & conductor size (current rating Cenlec EN624.1) Maximum acceleration = 6 ft/s 2 (2m/s 2 ) Temperature rating = 14 F to 176 F (-1 C to 8 C) Overall cable diameter No brake Braked Cable code 2 PxBG G (16A) PxBA A (22A) PxBB B - 4. (3A) PxBC C - 6. (39A) Maximum cable lengths NOTES: Cable types *328 ft. (1m) only if +5V tolerance can be ±1%. Maximum cable length (meters) Resolver SICK Stegmann Heidenhain SIBA incremental CA/CR 5m* SRBA Resolver SSBA Sincos SSBE Sincos, twisted pair SIBL incremental AR/AE 1m RA/SA 1m CA/CR 1m EC/FC 2m EB/FB 3M EC/FC 2m EB/FB 1M Signal - PUR Basic cable diameters Overall cable diameter Cable code SIBA SRBA/SSBA SIBL NOTES: Minimum bend radius = 1x dia. long chain, 7.5x dia. short cha Bending life 1,, cycles. Maximum acceleration: SRBA/SSBA = 6 ft/s 2 (2m/s 2 ) SIBA/SIBL = 32.8 ft/s 2 (1m/s 2 ) Temperature rating = 14 F to 176 F (-1 C to 8 C) Motor connector details Power plug Signal plug Power plug Pin with brake Function without brake Incremental encoder (CR,CA) Function Heidenhain absolute encoders (EM, FM, EC, FC, EB, FB) Resolver (AR, AE) SICK Stegmann sincos encoders (RA, SA) 1 Phase U (R) Phase U (R) Thermistor Thermistor Excitation high REF cos 2 Phase V (S) Phase V (S) Thermistor Thermistor Excitation low +Data 3 Ground Ground - Screen (optical encoder only) Cos high -Data 4 Phase W (T) Phase W (T) S1 - Cos low +Cos 5 Brake - S1 inverse - Sin high +Sin 6 Brake - S2 - Sin low REF sin S2 inverse - Thermistor Thermistor S3 + Clock Thermistor Thermistor S3 inverse - Clock - Screen Channel A + Cos - Volts Index + Data Index inverse - Data - + Volts Channel A inverse - Cos Channel B + Sin Channel B inverse - Sin Volts + V Volts Volts Signal plugs (Incremental, Heidenhain encoders) (Resolver, Sick/Stegmann encoders)

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