Index. DC Servo Motors MSS Series page 4 CML Series page 8 MS-EExdIIC Series page 10

Transcription

1 Motors ISSUE

2 Index DC Servo Motors MSS Series page CML Series page MS-EExdIIC Series page AC Servo Motors MA-EExdIIC Series page 3 MA Series page MSA Series page BL /5/7 Series page BL //9 Series page ROLIVAM Tachogenerators page Brakes page 3 Codification page 3 Options page 37 Cable Assembly Kit page Optional Connectors page Curves page 5

3 Since it s establishment in 973, Mavilor Motors S.A. has been associated with creativity, innovation and tenacity. Only in this way it has been possible to offer our clients the most complete range of servomotors during all these years. Servomotors, which range from plane geometry to extended geometry and brushtechnology to brushless technology, executed with ac or dc technology. Each one of these offers distinctive elements, which gives them their unique and exclusive characteristics. Moreover if we associate this with a culture based on flexibility in all aspects, listening to the client, the highest level of professionalism, offering intelligent solutions, all of which allow Mavilor Motors S.A. to respond appropriately to everything that we have been entrusted with, and to satisfy our clients in their need to optimise their industrial automation applications in all types of machines and installations. Thousands of clients every day using our servomotors confirms their confidence in us. 3

4 DC Servo Motors MSS Series Ratings to 6,. Compact Length. Zero Cogging. Acceleration Torques to x Rated. MAVILOR's axial air gap dish armature is specially suited for high response servo drives. High torque to inertia ratio and smooth, non cogging torque low speed velocity control makes MAVILOR the motor of choice for the most exacting applications. The MAVILOR MSS Series servomotors provide a % increase in power to weight and volume ratios and a % increase in power rate and acceleration capability over previous designs. Incorporating an ironless rotor design, these industrial strength motors have an extremely long brush life and high efficiency. MAVILOR MSS Series motors incorporate options of tachometers and fail-safe holding brakes within the motor structure, and in many cases are half the length of equivalently rated conventional motors. Available CSA-US certified Dimensions A B C D E F (DIN 933) G (DIN 65) H I J (j6) K (j6) L M N (h) O P Q (h9) R (g6) S ( -.) T V W X Z MSS M3x Axx 3 35 ø ø ø xm6 ø ø9 9 xø9 ø3.7.5 MSS- MSS Mx6 A5x5x 33 ø95 ø3 ø ø6 xm6 ø5 ø 7 ø 5 xø ø xø ø MSS ø9 ø5 76 TYPE MSS- MSS Mx6 Ax7x ø3 ø ø3 ø ø75 xm xm ø65 ø65 ø5 ø3 6 5 xø xø ø5 ø65 ø MSS-35 MSS Mx 9 ø ø5 ø35 xm ø5 ø35 xø ø3 3

5 Technical Specifications ALL CHARACTERISTICS MEASURED AT C AMBIENT TEMPERATURE EXCEPT TERMINAL RESISTANCE (5 C) SYMBOLS UNITS MSS- MSS- MSS-6 MSS- MSS- MSS- MSS-35 MSS-5 RATED SPEED RATED VOLTAGE ±5% RATED CURRENT RATED OUTPUT POWER () EFFICIENCY RATED TORQUE MAXIMUM TORQUE () MAXIMUM SPEED (3) EMF CONSTANT ±5% TORQUE CONSTANT ±5% FRICTION TORQUE DAMPING CONSTANT TERMINAL RESISTANCE (5 C) ARMATURE INDUCTANCE INERTIA MECHANICAL TIME CONSTANT TRANSITORY POWER THERMAL TIME CONSTANT ROTOR TO HOUSING THERMAL TIME CONSTANT () HOUSING TO AMBIENT THERMAL RESISTANCE ROTOR TO HOUSING THERMAL RESISTANCE () HOUSING TO AMBIENT RADIAL LOAD (at mid-length of shaft) AXIAL LOAD MASS (Only motor. No options) () With an aluminium heat sink plate () For an S3 cycle (3) Maximum speed in continuous service. During a very short time (r.p.m.) n rpm U V I A P W % T Tmax n max rpm K E V/ rpm K T /A T F K D / rpm R L H m -3 J M P S AC CA R AC R CA F R F A M ms kw/s s s C/W C/W N N 3, , < , x3x 3 9, 3, , < , , 3, , 5, < < ,, xx 6, 3, 6.7, , < , , 6, , < , , 3, 9.5 3,55, ,, <3 < ,, x5x,5 5

6 Options MODEL Tachometer Type Brake Type MSS- D MSS- D 6 MSS-6 D 6 MSS- D 6 MSS- D 7 MSS- D6 9 MSS-35 D6 MSS-5 D6 Tachometer Specifications Voltage Constant rpm (pp) 6 rpm Reversing Error Temperature Coeficient Rotor Inertia Resistance Inductance Current Maximum Current Maximum Speed Mass UNITS V/krpm % % % %/ C m -3 mh ma ma rpm TYPE D D6 ± 5%* ± 5%* <.5 < ,,.5.95 *other voltages available Performance Curves Speed (rpm) Speed (rpm) MSS Torque () MSS Torque () Speed (rpm) 5 3 Speed (rpm) 5 3 MSS-.5.5 Torque () MSS- 3 Torque () Brake Specificacions Holding Torque DC Voltage Input Power Inertia Response Time Disengagement Engagement Mass UNITS V W cm ms ms TYPE Speed (rpm) MSS Torque () Speed (rpm) MSS Torque () 6 Performance curves shown right indicate the continuous operating zone or torque-speed envelope for ºC ambient conditions. For MAVILOR motors, the torque that the motor can produce continuously at rated speed (3 rpm for most MSS Series motors) exceeds the stall torque rating of the motor. The continuous torque rating (T) is the value used for sizing motors once the RMS torque requirement has been determined. Acceleration torques to X rated torque can be obtained. The S3 curves for each motor should be consulted to ascertain time duration vs duty cycle for peak torques. Speed (rpm) MSS Torque () Speed (rpm) MSS Torque ()

7 DC Servo Motors MSS Series MSK Available as "kit" motor (shaftless version) for direct mounting on the shaft of a machine. Characteristics and curves correspond to Kit Option. Technical Specifications RATED SPEED RATED VOLTAGE ±5% RATED CURRENT RATED OUTPUT POWER () EFFICIENCY RATED TORQUE MAXIMUM TORQUE () MAXIMUM SPEED (3) EMF CONSTANT ±5% TORQUE CONSTANT ±5% FRICTION TORQUE DAMPING CONSTANT TERMINAL RESISTANCE (5 C) ARMATURE INDUCTANCE INERTIA MECHANICAL TIME CONSTANT TRANSITORY POWER THERMAL TIME CONSTANT ROTOR TO HOUSING THERMAL TIME CONSTANT () HOUSING TO AMBIENT THERMAL RESISTANCE ROTOR TO HOUSING THERMAL RESISTANCE () HOUSING TO AMBIENT RADIAL LOAD (at mid-length of shaft) AXIAL LOAD MASS (Only motor. No options) SYMBOLS n U I P T Tmax n max K E K T T F K D R L J M P S AC CA R AC R CA F R F A M () With a 3x3x aluminium heat sink plate () For an S3 cycle (3) Maximum speed in continuous service. During a very short time, rpm REMARK: Characteristics could be altered by any additional assembling UNITS rpm V A W % rpm V/ rpm /A / rpm µh m -3 ms kw/s s s C/W C/W N N MSK- 6, , >6.3. 6, Dimensions Speed (rpm) 6 MSK Torque () 7

8 DC Servo Motors CML Series Small dimensions. Radial magnetic flux. High performances. Square format. Encoder Specifications Waveform Line Counts Channels Supply Voltage Frecuency Response Operating Temperature Square Wave ppr A, B, Z, A, B, Z / U, V, W, U, V, W Line drives (RS) 5VDC ± % khz - ºC ~ + ºC Tachometer Specifications Performance Curves Torque ().5 CML-6. CML-5.5. CML Speed (rpm) Voltage Constant rpm (pp) 6 rpm Reversing Error Temperature Coeficient Rotor Inertia Resistance Inductance Current Maximum Current Maximum Speed Mass *other voltages available UNITS V/krpm % % % %/ C m -3 mh ma ma rpm TYPE D ± 5%* < ,.5

9 Technical Specifications ALL CHARACTERISTICS MEASURED AT 5 C AMBIENT TEMPERATURE SYMBOLS UNITS CML-3 CML-5 CML-6 RATED SPEED RATED VOLTAGE ±5% RATED CURRENT RATED OUTPUT POWER () RATED TORQUE MAX TORQUE MAX SPEED WITHOUT LOAD EMF CONSTANT ±5% TORQUE CONSTANT ±5% FRICTION TORQUE DAMPING CONSTANT TERMINAL RESISTANCE ARMATURE INDUCTANCE ROTOR INERTIA MECHANICAL TIME CONSTANT ELECTRICAL TIME CONSTANT THERMAL TIME CONSTANT THERMAL RESISTANCE MASS (Only motor. No system) RADIAL LOAD (at mid-length of shaft) AXIAL LOAD () With an aluminium heat sink plate n U I P T Tmax n max K E K T T F K D R L J M E TH R TH M F R F A rpm V A W rpm V/ rpm /A / rpm Ω mh m -3 ms ms s C/W N N x5x x5x x5x WITH ENCODER OPTION WITH TACHO OPTION (*) CML-3 CML-5 CML-6 CML-3 CML-5 CML-6 A B A B

10 DC Servo Motors EExdIIC Series EExdIIC Series are axial air-gap servomotors housed in an enclosure into which gas can gain access: the gas can be ignited within the enclosure without the explosion damaging the enclosure or being transmitted to any flammable atmosphere external to the enclosure. These motors comply with the requirements for Apparatus Group IIC specified in EN 5 (977) + A to 3 and EN 5 (977) + A to 5. The temperature classification referred to an ambient temperature of 7ºC is: T5 for T3 for MS- / MS- / MS- MA-3 / MA- / MA-3 MS- / MS-6 / MS- MA-6 / MA- D.C. and A.C. "brushless" motors are included in EExdIIC Series, incorporating options of tachometer, resolver and parking brake fitted internally. Performance Curves Speed (rpm) MS- Speed (rpm) 5 3 MS Torque () Speed (rpm) MS Torque () Torque () Speed (rpm) MS Torque ()

11 Technical Specifications ALL CHARACTERISTICS MEASURED AT C AMBIENT TEMPERATURE EXCEPT TERMINAL RESISTANCE (5 C) SYMBOLS UNITS MS- MS- MS-6 MS- MS- MS- RATED SPEED RATED VOLTAGE ±5% RATED CURRENT RATED OUTPUT POWER () EFFICIENCY RATED TORQUE MAXIMUM TORQUE () MAXIMUM SPEED (3) EMF CONSTANT ±5% TORQUE CONSTANT ±5% FRICTION TORQUE DAMPING CONSTANT TERMINAL RESISTANCE (5 C) ARMATURE INDUCTANCE INERTIA MECHANICAL TIME CONSTANT TRANSITORY POWER THERMAL TIME CONSTANT ROTOR TO HOUSING THERMAL TIME CONSTANT () HOUSING TO AMBIENT THERMAL RESISTANCE ROTOR TO HOUSING THERMAL RESISTANCE () HOUSING TO AMBIENT RADIAL LOAD (at mid-length of shaft) AXIAL LOAD MASS (Only motors. No options) () With an aluminium heat sink plate () For an S3 cycle (3) Maximum speed in continuous service. During a very short time (r.p.m.) n U I P T Tmax n max K E K T T F K D R L J M P S AC CA R AC R CA F R F A M rpm V A W % rpm V/ rpm /A / rpm µh m -3 ms kw/s s s C/W C/W N N 3, , < , x3x 3 9, 3, , < , , 3, , 5, < < ,, xx 6, 3, 6.7, , < , , 6, , < ,.. 6,5 Tachometer Specifications Speed (rpm) 6 5 MS-6 UNITS SIZE MS- D MS- D MS-6 D MS- D MS- D MS- D Torque () Voltage Constant rpm (pp) 6 rpm Reversing Error Temperature Coeficient V/krpm % % % %/ C ± 5%* < ± 5%* < ± 5%* < ± 5%* < ± 5%* < ± 5%* <.... Speed (rpm) MS Torque () Rotor Inertia Resistance Inductance Current Maximum Current Maximum Speed Mass m -3 mh ma ma rpm , 9, 9, *other voltages available , , ,.95

12 MS- EExdIIC MA-3 EExdIIC MS- EExdIIC MS-6 EExdIIC MS- EExdIIC MA-6 EExdIIC MA- EExdIIC MS- EExdIIC MS- EExdIIC MA- EExdIIC MA-3 EExdIIC

13 AC Servo Motors EExdIIC Series Technical Specifications ALL CHARACTERISTICS MEASURED AT C AMBIENT TEMPERATURE EXCEPT TERMINAL RESISTANCE (5 C) SYMBOLS UNITS MA-3 MA-6 MA- MA- MA-3 MAX MECHANICAL SPEED STALL TORQUE () ±% STALL CURRENT PEAK TORQUE ±% TORQUE-WEIGHT RATIO ±% EMF CONSTANT ±5% TORQUE CONSTANT ±5% RELUCTANCE TORQUE ±% WINDING RESISTANCE ±5% WINDING INDUCTANCE ±5% ROTOR INERTIA MECHANICAL TIME CONSTANT ELECTRICAL TIME CONSTANT THERMAL TIME CONSTANT THERMAL RESISTANCE MASS (motor with resolver) RADIAL LOAD (at mid-length of shaft) AXIAL LOAD INSULATION PROTECTION () With an aluminium heat sink plate n M S I S M J T W K E K T T R R L J M E TH R TH M F R F A rpm A / Vs/rad /A mh m -3 ms ms s ºC/W N N 9, < ,5. 3x3x 6, < , , < ,.5 5 xx 6, < , , < , x3x Performance Curves Torque () 6 MA-3 MA- 6 MA- MA-6 MA Speed (rpm) Resolver Specifications UNITS Input Voltage/Frecuency V/kHz Primary Element Number of Speed Transformation Ratio Electrical Error minutes Dielectric Strength / minute Mass Rotor Moment of Inertia m -3 Operating Temperature Range C T (Transmitter Speed ) /.5 Rotor X.5 ± 5% ± max ~ +55 Brake Specifications UNITS MS- MS- MS-6 MS- MS- MS- MA-3 MA-6 MA- MA- MA-3 Holding Torque DC Voltage Input Power Inertia Response Time Disengagement Engagement Mass SIZE V W cm ms ms (*) (*) with chopper

14 AC Servo Motors MA Series The short mechanical time constant makes it ideal for control operations. An extremely short electrical constant provides high peak torque at high speed. A high "theoretical" acceleration gives an extremely fast response time. High stall torque due to the absence of commutators bars. Low thermal resistance provides low working temperatures. High power to weight ratio, ideal for manipulator mounted motors. Air gap design, small diameter and short length. For many applications a separate position sensor is not required, the resolver can be used for deriving a position feed back signal as well as speed/current information. Performance Curves Torque () MA-55 MA MA-3 MA- MA- MA-6 MA Speed (rpm)

15 Technical Specifications ALL CHARACTERISTICS MEASURED AT 5 C AMBIENT TEMPERATURE SYMBOLS UNITS MA-3 MA-6 MA- MA- MA-3 MA-5 MA-55 MAX MECHANICAL SPEED n rpm STALL TORQUE () ±% M S STALL CURRENT I S A PEAK TORQUE ±% M J TORQUE-WEIGHT RATIO ±% T W / EMF CONSTANT ±5% K E Vs/rad TORQUE CONSTANT ±5% K T /A RELUCTANCE TORQUE ±% T R <. <. <. <. <.3 <. <.6 WINDING RESISTANCE ±5% R WINDING INDUCTANCE ±5% L mh ROTOR INERTIA J m MECHANICAL TIME CONSTANT ELECTRICAL TIME CONSTANT THERMAL TIME CONSTANT M E TH ms ms s..5,5 3..,5. 3.6,. 5., , , ,5 THERMAL RESISTANCE R TH C/W MASS (motor with resolver) M RADIAL LOAD (at mid-length of shaft) F R N AXIAL LOAD F A N INSULATION PROTECTION IP-5 () With an aluminium heat sink plate 3x3x xx 3x3x Resolver Specifications Brake Specifications UNITS T (Transmitter Speed ) SIZE TORQUE INERTIA cm MASS Input Voltage/Frecuency V/kHz /.5 MA-3 7 (*)..3 Primary Element Rotor MA-6 /.3. Number of Speed X MA- / 3.3. Transformation Ratio.5 ± 5% MA-5 / Electrical Error minutes ± max. (*) With chopper Dielectric Strength / minute 5 Mass.3 Rotor Moment of Inertia Operating Temperature Range m -3 C.3-55 ~ +55 The MA Series incorporates the option of a fail-safe holding brake within the structure of the motor which holds the shaft without backlash on loss of electric current. 5

16 6 MA-3

17 AC Servo Motors MA Series 7 MA- MA-3 ø3 3.5 ø65 xm ø 7 Ax7x ø ø ø6 ø MA-6 MA- ø95 3 ø5 xm ø 5 6 A5x5x ø7 ø7 ø ø ø5 xø5 ø5 A (j6) B (j6) C D E F G H I (k6) J (N9) K ( ) L (DIN 65) M N O P Q R S T U MA-5 MA-55 ø ø5 5 ø5 xm ø3 xø9 7 ø 3 Ax7x5 6 7 ø7 ø7 ø Dimensions

18 AC Servo Motors MSA Series Very compact. Reduced diameter and length. Axial magnetic flux. Low cogging torque. Excellent torque/weight/volume ratio. Brake Specifications SIZE TORQUE INERTIA cm MASS MSA MSA MSA MSA Resolver Specifications UNITS T (Transmitter Speed ) Performance Curves Input Voltage/Frecuency Primary Element V/kHz /.5 Rotor Torque () 5 MSA-5 3 MSA- MSA- MSA Speed (rpm) Number of Speed Transformation Ratio Electrical Error Dielectric Strength Mass Rotor Moment of Inertia Operating Temperature Range minutes / minute m -3 C X.5 ± 5% ± max ~ +55

19 Technical Specifications ALL CHARACTERISTICS MEASURED AT 5 C AMBIENT TEMPERATURE SYMBOLS UNITS MSA- MSA- MSA- MSA- MSA- MSA- MSA-5 MAX MECHANICAL SPEED STALL TORQUE () ±% STALL CURRENT PEAK TORQUE ±% TORQUE-WEIGHT RATIO EMF CONSTANT ±5% TORQUE CONSTANT ±5% RELUCTANCE TORQUE (Respect to the Stall Torque) WINDING RESISTANCE ±5% WINDING INDUCTANCE ±5% ROTOR INERTIA MECHANICAL TIME CONSTANT ELECTRICAL TIME CONSTANT MASS (Motor with resolver) RADIAL LOAD AXIAL LOAD INSULATION PROTECTION n M S A M J T W K E K T T R R L J M E M F R F A rpm A / Vs/rad /A mh m -3 ms ms N N <.5% <.5% <.5% <.5% <.5% <.5% () With an aluminium heat sink plate 3x3x xx 7x7x <.5% MODELS A B C D E F G H K L M O DIN933 j6 k6 DIN65 MSA Mx Ø5 Ø Axx Ø Ø65 xm5 MSA- 5 3 M6x6 Ø95 Ø6 A5x5x Ø9 Ø5 xm MSA Mx6 Ø3 Ø Ax7x3 66 Ø75 Ø65 xm MSA Mx Ø Ø Ax7x5 Ø35 Ø5 xm 9

20 AC Servo Motors BL /5/7 Series The BL Series are synchronous electrical servomotors, with 3 winding phases, supplied with Sinusoidal or Trapezoidal current wave forms. The Feed-Back devices that produce the synchronization signal and speed (position, also in the Sinusoidal case), are a Resolver (BLS Series) or a Hall Effect devices (BLT Series). This "BRUSHLESS" technology provides: High dynamic response. Full speed condition, not limited by the "Brush Sparking effect". High thermal and dynamic characteristics, because of the motor's windings which are located in the stators. Very low maintenance. BLS ALL CHARACTERISTICS MEASURED AT 5 C AMBIENT TEMPERATURE Technical Specifications MAX MECHANICAL SPEED STALL TORQUE () ±% STALL CURRENT PEAK TORQUE ±% TORQUE-WEIGHT RATIO EMF CONSTANT ±5% TORQUE CONSTANT ±5% RELUCTANCE TORQUE (*) WINDING RESISTANCE ±5% WINDING INDUCTANCE ±5% ROTOR INERTIA MECHANICAL TIME CONSTANT ELECTRICAL TIME CONSTANT THERMAL TIME CONSTANT THERMAL RESISTANCE MASS RADIAL LOAD (at mid-length of shaft) AXIAL LOAD INSULATION PROTECTION () With an aluminium heat sink plate (*) Respect to the Stall Torque SYMBOLS n M S I S M J T W K E K T T R R L J M E TH R TH M F R F A UNITS rpm A / Vs/rad /A mh m -3 ms ms s ºC/W N N BLT Technical Specifications ALL CHARACTERISTICS MEASURED AT 5 C AMBIENT TEMPERATURE SYMBOLS UNITS MAX MECHANICAL SPEED STALL TORQUE () ±% STALL CURRENT PEAK TORQUE ±% TORQUE-WEIGHT RATIO EMF CONSTANT ±5% TORQUE CONSTANT ±5% RELUCTANCE TORQUE (*) WINDING RESISTANCE ±5% WINDING INDUCTANCE ±5% ROTOR INERTIA MECHANICAL TIME CONSTANT ELECTRICAL TIME CONSTANT THERMAL TIME CONSTANT THERMAL RESISTANCE MASS RADIAL LOAD (at mid-length of shaft) AXIAL LOAD INSULATION PROTECTION () With an aluminium heat sink plate (*) Respect to the Stall Torque n M S I S M J T W K E K T T R R L J M E TH R TH M F R F A rpm A / Vs/rad /A mh m -3 ms ms s ºC/W N N

21 , ,.3.5, <3.5% 6 9 3x3x , ,.69.9, <3.5% 5 9 3x3x , , , <3.5% 7 9 3x3x , ,99.6., <3.5% 3 9 3x3x , ,9.53.6, <6% 5 3x3x , ,.6., <% 5 3x3x BLS- BLS-55 BLS-7 BLS-7 BLS-73 BLS , ,.9.7, <3.5% 6 9 3x3x ,7., ,.7.7, <3.5% 5 9 3x3x , ,56.6.7, <3.5% 7 9 3x3x , , , <3.5% 3 9 3x3x , , , <6% 5 3x3x , ,.5.37, <% 5 3x3x BLT- BLT-55 BLT-7 BLT-7 BLT-73 BLT-7

22 AC Servo Motors BL /5/7 Series Performance Curves Torque ()..3.. BL- BL- 6 Speed (rpm) Torque () BL-5 BL-55 6 Speed (rpm) Torque () BL BL-7 BL-73 BL-7 BL Speed (rpm) Resolver Specifications Input Voltage/Frecuency Primary Element Number of Speed Transformation Ratio Electrical Error Dielectric Strength Mass Rotor Moment of Inertia Operating Temperature Range UNITS V/kHz minutes / minute m -3 C BL- BL-5 BL-7 T (Transmitter Speed ) 7/ Rotor X.5 ± 5% ± max ~ + 55 /.5 Rotor X.5 ± 5% ± max ~ +55 Brake Specifications The BL Series incorporates the option of a fail-safe holding brake within the structure of the motor. Brake option is not available for short length version. BL- BL-55 BL-7 / 7 BL-73 / 7 SIZE 3 6 TORQUE INERTIA cm MASS..5..3

23 BL- BL-5 BL-7 SHORT LENGTH VERSION (Not available with brake option) STANDARD VERSION (With or without brake option) BL-7 BL-7 BL-73 BL-7 BL-7 BL-7 BL-73 BL-7 A A 9 37 B B.5 The short length version must be specifically indicated in the order, as the product code applies to the standard version only

24 AC Servo Motors BL //9 Series The BL Series are synchronous electrical servomotors, with 3 winding phases, supplied with Sinusoidal or Trapezoidal current wave forms. The Feed-Back devices that produce the synchronization signal and speed (position, also in the Sinusoidal case), are a Resolver (BLS Series) or a Hall effect devices (BLT Series). This "BRUSHLESS" technology provides: High dynamic response. Full speed condition, not limited by the "Brush Sparking effect". High thermal and dynamic characteristics, because of the motor's windings which are located in the stators. Very low maintenance. Connection box with four available positions from the standard construction. BLS ALL CHARACTERISTICS MEASURED AT 5 C AMBIENT TEMPERATURE Technical Specifications MAX MECHANICAL SPEED STALL TORQUE () ±% STALL CURRENT PEAK TORQUE ±% TORQUE-WEIGHT RATIO EMF CONSTANT ±5% TORQUE CONSTANT ±5% RELUCTANCE TORQUE (*) WINDING RESISTANCE ±5% WINDING INDUCTANCE ±5% ROTOR INERTIA MECHANICAL TIME CONSTANT ELECTRICAL TIME CONSTANT THERMAL TIME CONSTANT THERMAL RESISTANCE MASS RADIAL LOAD (at mid-length of shaft) AXIAL LOAD INSULATION PROTECTION () With an aluminium heat sink plate (*) Respect to the Stall Torque SYMBOLS n M S I S M J T W K E K T T R R L J M E TH R TH M F R F A UNITS rpm A / Vs/rad /A mh m -3 ms ms s ºC/W N N BLT Technical Specifications ALL CHARACTERISTICS MEASURED AT 5 C AMBIENT TEMPERATURE SYMBOLS UNITS MAX MECHANICAL SPEED STALL TORQUE () ±% STALL CURRENT PEAK TORQUE ±% TORQUE-WEIGHT RATIO EMF CONSTANT ±5% TORQUE CONSTANT ±5% RELUCTANCE TORQUE (*) WINDING RESISTANCE ±5% WINDING INDUCTANCE ±5% ROTOR INERTIA MECHANICAL TIME CONSTANT ELECTRICAL TIME CONSTANT THERMAL TIME CONSTANT THERMAL RESISTANCE MASS RADIAL LOAD (at mid-length of shaft) AXIAL LOAD INSULATION PROTECTION () With an aluminium heat sink plate (*) Respect to the Stall Torque n M S I S M J T W K E K T T R R L J M E TH R TH M F R F A rpm A / Vs/rad /A mh m -3 ms ms s ºC/W N N

25 BLS- BLS- BLS-3 BLS- BLS-5 BLS- BLS- BLS-3 BLS- BLS-9 BLS-9, <3% ,5, , ,5 <3% ,9, , <3% ,6, xx, <3% ,5, , <3% ,7 3, , <.5% ,7 3, ,5 6, <.5% <.5% , ,5,5,66, x7x 6, <.5% ,, ,.3 9.5, <% ,9. 39, 69 7x7x BLT- BLT- BLT-3 BLT- BLT-5 BLT- BLT- BLT-3 BLT- BLT-9 BLT-9, <3% ,5, , <3% ,9, , <3% ,6, xx, <3% ,5, , <3% ,7 3, , <.5% ,7 3, ,5 6, <.5% <.5% , ,5,5,66, x7x 6, <.5% ,, , <% ,, , 69 7x7x 5

26 AC Servo Motors BL //9 Series Performance Curves Torque () BL- BL-5 BL- BL-3 BL- BL- 6 Speed (rpm) Torque () BL Speed (rpm) Torque () BL BL- BL-3 BL- BL- BL-9 5 BL Speed (rpm) Resolver Specifications Input Voltage/Frecuency Primary Element Number of Speed Transformation Ratio Electrical Error Dielectric Strength Mass Rotor Moment of Inertia Operating Temperature Range UNITS V/kHz minutes / minute m -3 C T (Transmitter Speed ) /.5 Rotor X.5 ± 5% ± max ~ +55 Brake Specifications SIZE TORQUE INERTIA cm MASS 6 The BL Series incorporates the option of a fail-safe holding brake within the structure of the motor. BL- / BL-3 / / 5 BL- / / 3 / BL-9 /

27 BL- BL- BL-9 7

28 ROLIVAM Tachogenerators ROLIVAM TACHOGENERATORS are designed and produced by a leading manufacturer of precision A.C. and D.C. servomotors. They have been designed to stop, position, accelerate or change direction without cogging and with fluctuations of less than.5 % (pp). Electro-mechanic configuration with winding on parallel branches, four brushes ( on each line), a coppersilver alloy commutator with a great number of segments, good surface finish, rare-earth permanent magnets, very low inertia and high manufacturing quality. The above means that the ROLIVAM TACHOGENERATORS insure reliable transmission of the output signal and contributes to the ultrafast response in situations where rapid reversals are an essential element in the servo-drive system, without cyclic variation. Technical Specifications D-3 A D-5 A D-6 D- D- A D- B UNITS 7 v v v 7 v v v Voltage Constant ±5% V/ rpm 7 7 Ripple at rpm (*) (pp) % <. <. <. <.5 <.5 <.5 Linearity at 6 rpm % Reversing Error % Temperature Coefficient Rotor Inertia C/% m Resistance Inductance mh Current ma Maximum Current ma 7 6 Maximum Speed Brushes Life Expectancy rpm revolutions,.x 9,.x 9,.x 9 9, 3.x 9 9, 3.x 9 6, 3.x 9 Number of Poles (*) Ripple Test Circuit TG () v = k k (). µf MODELS D-3 A D-5 A D-6 D- D- A D- B MASS ()

29 D-3 A D-5 A D-6 D- 9

30 ROLIVAM Tachogenerators D- A D- B 3

31 ROLIVAM Brakes Brakes These Electro-Magnetic Brakes are Single Disc units which operate on the Fail Safe principle. Functionally the brake is released by energisation of the operating coil with D.C. supply, and is applied by interruption of the coil current or power failure. Technical Specifications FB- STATIC TORQUE () VOLTAGE (V) CURRENT (A). INERTIA OF FRICTION DISC ( cm ).3 MASS (). * without chopper FB-7 FB- FB- STATIC TORQUE () START POWER (W) CONSTANT INERTIA OF POWER FRICTION DISC (W) ( cm ) MASS ().3..5 * with chopper Chopper Specifications SYMBOLS UNITS DATA F E C F C 6 5 Supply Voltage (-3% 5%) ripple max. % Overexcitation Voltage Overexcitation Time Overexcitation Current Retention Voltage (Chopper for FB-/) Retention Voltage (Chopper for FB-7) Retention Current Response Time Chopper Frecuency Operating Temperature Mass U U I U 3 U 3 I 3 T F T M V V ms A V V A ms khz C - 5 max Dimensions D A G B A h B C H D ±.5 E F H G H FB x ø ø.3 6 FB x ø3.. ø.3 56 FB x ø ø.3 65 FB x ø ø.3 3

32 Motor-Codification Diagrams MSS Series 3

33 Motor-Codification Diagrams EExdIIC Series 33

34 Motor-Codification Diagrams MA Series 3

35 Motor-Codification Diagrams BL Series 35

36 Code list Model Motor Motor with With Brake With Encoder Kit With Encoder (A) With Encoder (H) With Encoder (K) BLT-55 BT55A5N BT55A5N BT55A35N BT55A5AN BT55AHN BT55AKN BLT-7 BT7A5N BT7A5N BT7A35N BT7A5AN BT7AHN BT7AKN BLT-7 BT7A5N BT7A5N BT7A35N BT7A5AN BT7AHN BT7AKN BLT-73 BT73A5N BT73A5N BT73A35N BT73A5AN BT73AHN BT73AKN BLT-7 BT7A5N BT7A5N BT7A35N BT7A5AN BT7AHN BT7AKN BLT- BTA5E BTA5E BTA5E BTA56E BTA5AE BTAHE BTAKE BLT- BTA5E BTA5E BTA5E BTA56E BTA5AE BTAHE BTAKE BLT-3 BT3A5E BT3A5E BT3A5E BT3A56E BT3A5AE BT3AHE BT3AKE BLT- BTA5E BTA5E BTA5E BTA56E BTA5AE BTAHE BTAKE BLT-5 BT5A5E BT5A5E BT5A5E BT5A56E BT5A5AE BT5AHE BT5AKE BLT- BTA5E BTA5E BTA35E BSA56E BTA5AE BTAHE BTAKE BLT- BTA5E BTA5E BTA35E BSA56E BTA5AE BTAHE BTAKE BLT-3 BT3A5E BT3A5E BT3A35E BS3A56E BT3A5AE BT3AHE BT3AKE BLT- BTA5E BTA5E BTA35E BSA56E BTA5AE BTAHE BTAKE BLS- BSAX BSAX BSA3X BLS-55 BS55AN BS55AN BS55A3N BLS-7 BS7AN BS7AN BS7A3N BLS-7 BS7AN BS7AN BS7A3N BLS-73 BS73AN BS73AN BS73A3N BLS-7 BS7AN BS7AN BS7A3N BLS- BSAE BSAE BSAE BSA6E BLS- BSAE BSAE BSAE BSA6E BLS-3 BS3AE BS3AE BS3AE BS3A6E BLS- BSAE BSAE BSAE BSA6E BLS-5 BS5AE BS5AE BS5AE BS5A6E BLS- BSAE BSAE BSA3N BSA6E BLS- BSAE BSAE BSA3N BSA6E BLS-3 BS3AE BS3AE BS3A3N BS3A6E BLS- BSAE BSAE BSA3N BSA6E BLS-9 BS9AE BS9AE BS9A3N BLS-9 BS9AE BS9AE BS9A3N MA-3 MA36B MA36B MA36B MA366B MA-6 MA6B MA66B MA6B MA66B MA- MAB MA6B MAB MA6B MA- MAB MA6B MAB MA6B MA-3 MA3B MA36B MA3B MA36B MA-5 MA5B MA56B MA5B MA56B MA-55 MA55B MA556B MA55B MA556B MA-3 EExdIIC XA XA MA-6 EExdIIC XA XA MA- EExdIIC XA XA MA- EExdIIC XA XA MA-3 EExdIIC XA XA Model Motor Motor with With Brake With Encoder Kit With Tacho With Brake &Tacho MS- EExdIIC XS XS XSG XSG MS- EExdIIC XS XS XSG XSG MS-6 EExdIIC XS XS XS6G XS6G MS- EExdIIC XS XS XSG XSG MS- EExdIIC XS XS XSG XSG MS- EExdIIC XS XS XSE XSE 36 MSK- MSK MSK MSKG MSS- MS MS65 MS MS6 MSG MSG MSS- MS MS65 MS MS6 MSG MSG MSS-6 MS6 MS665 MS6 MS66 MS6G MS6G MSS- MS MS65 MS MS6 MSG MSG MSS- MS MS65 MS MS6 MSG MSG MSS- MS MS65 MS MS6 MSE MSE MSS-35 MS35 MS3565 MS35 MS356 MS35E MS35E MSS-5 MS5 MS565 MS5 MS56 MS5E MS5E

37 Optional Dimensions Optional flange mounting A B C D E BL- 5 ø j6 ø3 BL- ø j6 ø65 ø3 xm Smaller output Shaft BL- BL- F ø6 k6 ø k6 G H 5x5x3 6x6x3 37

38 Optional Accesories MSS Encoder Kit (no encoder) ( * ) Mounting pilot of 5 mm and 3 holes M on a 67,3 diameter bolt circle for fixing clamps. I MSS- 35 MSS- 33 MSS-6 33 MSS- 3.5 MSS MSS MSS-35 9 MSS-5 9 ( * ) MA Encoder Kit (no encoder) ( *) Mounting pilot of 5 mm and 3 holes M on a 67,3 diameter bolt circle for fixing clamps. ( * ) A MA MA MA- 5.5 MA MA-5 7 MA-55 7 BL / Encoder Kit (no encoder) ( *) Mounting pilot of 5 mm and 3 holes M on a 67,3 diameter bolt circle for fixing clamps. A BL- BL- 37 BL-3 33 BL- 357 BL-5 3 BL- 36 BL- 367 BL-3 BL- 53 ( * ) 3

39 Optional Accesories BL 5/7 With Fitted Encoder Dimensions WITHOUT BRAKE BL-55 BL-7 BL-7 BL-73 BL-7 B Encoder Type A C Encoder Type H,5, Encoder Type K ----,5, WITH BRAKE BL-55 BL-7 BL-7 BL-73 BL-7 B Encoder Type A C Encoder Type H Encoder Type K Encoder Specifications TYPE A TYPE H TYPE K Waveform Line Counts Channels Supply Voltage Frecuency Response Operating Temperature Square Wave 5 ppr A, B, Z Open-Collector 5VDC ± % khz - ºC ~ + ºC Square Wave ppr ppr A, B, Z, A, B, Z / U, V, W, U, V, W Line drives (RS) 5VDC ± % khz - ºC ~ + ºC 39

40 Power Cable Assembly Kit BL- CONTACT COLOR FUNCTION Brown Phase U Black Phase V 3 Blue Phase 3 W Yellow/Green Ground 5 Red Brake + 6 White Brake - Code: CM75-5X (For L=.5 meter) L (in cm) BL-5/7 CONTACT COLOR FUNCTION Blue Phase 3 W Brown Phase U Yellow/Green Ground Black Phase V 5 Red Brake + 6 White Brake - Code: CM-5N (For L=.5 meter) L (in cm) BL-/ MA-6 to MA-55 CONTACT COLOR FUNCTION A Brown Phase U B Black Phase V C Blue Phase 3 W D Yellow/Green Ground E Red Brake + F White Brake - Code: CM-5E (For L=.5 meter) L (in cm)

41 Resolver Cable Assembly Kit BL- CONTACT COLOR FUNCTION Code: CR-5X (For L=.5 meter) L (in cm) Grey S (SEN -) Pink S (SEN +) 3 Blue S (COS -) Red S3 (COS +) 5 Yellow R (REF +) 6 Green R (REF -) 7 Brown Temp. Contact White Temp. Contact BL-5/7 CONTACT COLOR FUNCTION Code: CR5-5N (For L=.5 meter) L (in cm) Pink S (SEN +) Grey S (SEN -) 3 Blue S (COS -) Red S3 (COS +) Yellow R (REF +) 7 Green R (REF -) 5 Brown Temp. Contact 6 White Temp. Contact BL-/ MA-3 to MA-55 Code: CR5-5E (For L=.5 meter) L (in cm) CONTACT COLOR FUNCTION A Pink S (SEN +) B Grey S (SEN -) C Blue S (COS -) D Red S3 (COS +) E Yellow R (REF +) F Green R (REF -) H Brown Temp. Contact I White Temp. Contact

42 Optional Connectors BL-5/7 BL-5/7 Power Cable Assembly Kit (optional) CONTACT COLOR FUNCTION Brown Phase U Black Phase V 3 Blue Phase 3 W Yellow/Green Ground 5 Red Brake + 6 White Brake - Code: CM-5X (For L=.5 meter) L (in cm) BL-5/7 Resolver Cable Assembly Kit (optional) CONTACT COLOR FUNCTION Grey S (SEN -) Pink S (SEN +) 3 Blue S (COS -) Red S3 (COS +) 5 Yellow R (REF +) 6 Green R (REF -) 7 Brown Temp. Contact White Temp. Contact Code: CR5-5X (For L=.5 meter) L (in cm)

43 Optional Connector BL-/ (No terminal BOX) BL-/ Power Cable Assembly Kit (optional) CONTACT COLOR FUNCTION Code: CM-5N (For L=.5 meter) L (in cm) Blue Phase 3 W Brown Phase U Yellow/Green Ground Black Phase V 5 Red Brake + 6 White Brake - BL-/ Resolver Cable Assembly Kit (optional) Code: CR5-5N (For L=.5 meter) L (in cm) CONTACT COLOR FUNCTION Pink S (SEN +) Grey S (SEN -) 3 Blue S (COS -) Red S3 (COS +) Yellow R (REF +) 7 Green R (REF -) 5 Brown Temp. Contact 6 White Temp. Contact 3

44 Performance curves with some Infranor s drives These curves have been obtained using the most adequate drive in terms of current and voltage to the motor to be controlled. The current loop adjustment of the drive has been adapted depending on the characteristics of the motor. The limits drive curves refer to the maximum speed with and without load at the nominal voltage of the drive. BLS- ( ) BLS-55 ( ) With Drive SMTBD/ With Drive SMTBD/ BLS-7 ( ) BLS- ( ) With Drive SMTBD/ With Drive SMTBD/ BLS-5 ( ) BLS- ( ) With Drive SMTBD/5r With Drive SMTBD/5r

45 BLS-7 ( ) BLS-7 ( ) BLS-73 ( ) With Drive SMTBD/ With Drive SMTBD/ With Drive SMTBD/ BLS- ( ) BLS-3 ( ) BLS- ( ) With Drive SMTBD/7 With Drive SMTBD/5r With Drive SMTBD/5r BLS- ( ) BLS-3 ( ) BLS- ( ) With Drive SMTBD/5r With Drive SMTBD/5 With Drive SMTBD/5r 5

46 Performance curves with some Infranor s drives BLS- ( ) BLS-55 ( ) BLS-7 ( ) With Drive SMTBDa/ (Adapted) With Drive CDa-/.7 With Drive CDa-/.7 BLS- ( ) BLS- ( ) BLS-3 ( ) With Drive SMTBD/5 With Drive SMTBD/5 With Drive SMTBD/5 BLS- ( ) BLS-3 ( ) BLS- ( ) With Drive SMTBD/5 With Drive SMTBD/3 With Drive SMTBD/5

47 BLS-7 ( ) BLS-73 ( ) BLS-7 ( ) With Drive SMTBD/5 With Drive CDa-/7. With Drive SMTBD/5 BLS- ( ) BLS-5 ( ) BLS- ( ) With Drive SMTBD/5 With Drive SMTBD/5 With Drive SMTBD/3 BLS-9 ( ) BLS-9 ( ) With Drive SMTBD/6 With Drive SMTBD/6 53

48 Performance curves with some Infranor s drives MA-3 ( ) MA-6 ( ) MA- ( ) With Drive SMTBD-/ With Drive SMTBD-/ With Drive SMTBD-/7 MA- ( ) MA-3 ( ) MA-5 ( ) With Drive SMTBD-/3 With Drive SMTBD-/5 With Drive SMTBD-/6 MA-55 ( ) With Drive SMTBD-/7

49

50 MAVILOR MOTORS, S.A. Polígono Industrial URVASA C/ Empordà -3 3 Sta. Perpètua de Mogoda (Barcelona) - SPAIN Tel Fax mavilor@mavilor.es http: //