Motion Control Lexium 23. Catalogue

Transcription

1 Motion Control 3 Catalogue

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3 Contents 3 motion control 3 offer b Presentation b Servo motor/drive combinations b References servo drives b Functions b Characteristics b Dimensions b Schemes b Options v Braking resistors v Motor starters BCH servo Motors b Characteristics b Dimensions b Accessories

4 Presentation 3 motion control 3 servo drive 3 C servo drive 3 M servo drive A powerful offer The range of 3 servo drives, compatible with BCH servo motors constitutes a tailored solution for machines across a wide power and functionality range: b 3 C servo drives : v V single phase,, to,5 kw v V three phase,, to 3 kw b 3 M servo drives : v 7 55 V single phase, 3 kw to 7,5 kw b BCH servo motor : v Rated power :, to 7,5 kw v Rated torque :,3 to 48 Nm v Rated speed : to 3 rpm depending of the model 3 servo drives wide power range combined with high performance functionalities and extended choice of BCH servo motors is the best suited package for all applications such as material working, material handling, textile, electronics, packaging and printing. 3 servo drives comply with EN 578 and IEC/EN 68-3 international standards and carry UL (USA) and CE marking. Applied functionalities 3 servo drives can control your machine using 3 type of control modes: b Position control mode: Using 3 types of pulse input (AB phase pulse, CW CCW, Pulse/Direction) Using internal 8 motion sequences. b Speed control mode : Using analog inputs ( ± V) Using internal 3 speed registers. b Torque control mode: Using analog inputs ( ± V) Using internal 3 torque registers b Switching control mode : Under this mode, position, speed and torque control can be switched instantly by digital I/O. BCH servo motor

5 Presentation (continue) 3 motion control 3 SET UP software Before resonance suppression Smart software interface The user-friendly graphical user interface of LEXIUM 3 SET UP commissioning software shortens tuning and diagnoses time greatly, providing: b Auto recognition of communication format. b Quick set up mode and graphical parameter set. b Auto tuning and manual tuning. b Resonance point detection using FFT analysis. b Real time oscilloscope function. This software provides all functions used to configure, set and debug the 3 axis as well as comprehensive three languages (English, Simplified Chinese and Traditional Chinese) user interface Quick set up mode and graphical parameter set LEXIUM 3 SET UP provides quick set up mode to be able to configure all related function to one operating mode. These screens provide easy navigation and comprehensive interface. All the parameters can be visualized on the same page using the Graphical parameter set. This screen provides to expert user remove high flexibility and high effectiveness. Auto tuning LEXIUM 3 SET UP provides state of the art auto tuning functionalities offering different modes: b Off line Auto tuning: This mode permits to calculate the values of the gain parameters according to the conditions selected by user b On line dynamic tuning: This mode provides the best control for your machine by computing dynamically the gain parameters according to the real response of the machine. Resonance point detection (FFT analysis) FFT analysis is used to detect the resonance point of the machine. Both Current and velocity can be monitored. To perform the FFT analysis, the motor will run in one direction according to the position command and record the behaviour of the axis in terms of current or velocity. Once this movement is finished, LEXIUM 3 SET UP will analyse the resonant frequencies and display it as a peak on the oscilloscope screen. Notch filter can then be applied to suppress the influence of this resonant frequency. Oscilloscope functionnalities LEXIUM 3 SET UP is providing a powerful oscilloscope which can be used in different modes: b Fast oscilloscope: To monitor evolution of the measured values in real-time b Fine oscilloscope: To capture a very accurate moment of the application. This functionality is recording all the information before displaying them therefore the information is more accurate and can be use to make very precise tuning. After resonance suppression 3

6 Selection guide 3 motion control BCH servo motor BCH servo motor BCH servo motors are 3 phases synchronous motors. BCH motor are equipped with ranges of high quality encoder. The 3C Series is compatible with, Increment encoder; 3M is compatible with bit encoder,allowing the 3M to be used on applications requiring high performance for material working, for example machine tools etc. The BCH Servo motor has been designed to fit the requirement of any types of Machines, with 6 Different flange sizes 4 mm, 6 mm, 8 mm, mm, 3 mm & 8 mm BCH motor offer a wide choice of inertia from ultra low inertia to high inertia which provide the best match to different kind of machine : b Ultra low inertia motor: Power range is. ~.4 kw, suitable for electronic equipment and small printing machinery. b Low inertia motor: Power range is.4 ~ kw, suitable for textile and packaging machinery. b Medium inertia motor: Power range is.3 ~ 3 kw, suitable for material handling and machine tools. b High inertia motor: Power range is ~ 7.5 kw, suitable for metal processing and printing machinery. Type of machine Ultra Low inertia Low inertia Medium Inertia High inertia Conveyors Packaging machines Printing Machines Loaders and unloaders X-Y Tables Press feeders Inserters, mounters, bonders Printed board hole openers In-circuit testers Label printer Knitting and embroinding machines Conveyors Special machines Winders / Unwinders Roll feeders 4

7 Selection guide 3 motion control BCH servo motor and 3 servo drive 3 servo drive / BCH servo motor combination BCH servo motor output power BCH servo motor inertia (without brake) Rated torque Peak stall torque Maximum speed Rated speed Combination Servo drive Servo motor Motor type Reference Reference kw kgcm Nm Nm rpm rpm Single phase:...55 V a 5/6 Hz or three phase : V a 5/6 Hz LXM3CUM3X BCH4OpAC ultra low inertia LXM3CUM3X BCH6OppC ultra low inertia LXM3CU4M3X BCH3MppC medium inertia LXM3CU4M3X BCH6OppC ultra low LXM3CU4M3X BCH8OppC low inertia LXM3CU4M3X BCH3NppC medium inertia LXM3CU7M3X BCH3MppC medium inertia LXM3CU7M3X BCH8OppC low inertia LXM3CUM3X BCH33MppC medium inertia LXM3CUM3X BCHOppC low inertia LXM3CUM3X BCH3NppC medium inertia LXM3CU5M3X BCH33NppC medium inertia Three phase : 7 55 V a 5/6 Hz LXM3CUM3X BCHOppC low inertia LXM3CUM3X BCH34NppC medium inertia LXM3CUM3X BCH8NppC high inertia LXM3CU3M3X BCH8MppC high inertia LXM3MU45M3X BCH8MppC high inertia LXM3MU45M3X BCH8NppC high inertia LXM3MU45M3X BCH83MppC high inertia LXM3MU55M3X BCH84MppC high inertia LXM3MU75M3X BCH85MppC high inertia 5

8 References 3 motion control 3 servo drive Definition of 3 drive reference L X M 3 C U M 3 X LXM = Servo Drive 3 = New generation compact I/O drive Interface C = Normal I/O interface M = I/O interface oriented to Machine tools () Continuous Power U =. kw U =. kw U4 =.4 kw U7 =.75 kw U =. kw U5 =.5 kw U =. kw U3 = 3. kw U45 = 4.5 kw U55 = 5.5 kw U75 = 7.5 kw Mains voltage M3X = VAC three phase/single phase,no EMC filter ()M only for drive type which power is higher than 4.5kW, will be launched on September 8 3 servo drive Rated output power Feedback resolution Reference Weight kw ppr kg Single phase : 55 V ~ 5/6 Hz. LXM3CUM3X.5. LXM3CUM3X.5.4 LXM3CU4M3X.5.75 LXM3CU7M3X. LXM3CUM3X..5 LXM3CU5M3X. Three phase : 7 55 V ~ 5/6 Hz. LXM3CUM3X.5. LXM3CUM3X.5.4 LXM3CU4M3X.5.75 LXM3CU7M3X. LXM3CUM3X..5 LXM3CU5M3X. LXM3CUM3X 3. 3 LXM3CU3M3X LXM3MU45M3X LXM3MU55M3X LXM3MU75M3X 5.5 6

9 References (continue) 3 motion control Definition of BCH motor Definition of BCH motor reference B C H 4 O A C BCH = BCH servo motor series Flange size 4 = 4 mm Flange 6 = 6 mm Flange 8 = 8 mm Flange = mm Flange 3 = 3 mm Flange 8 = 8 mm Flange Length ( Number of stacks) = one stack = two stacks 3 = three stacks 4 = four stacks 5 = five stacks Speed type: M = Low Speed (/5 rpm) N = Medium Speed ( rpm) O = High Speed (3 rpm) Shaft = Smooth, No Oil Seal = With key, No Oil Seal = Smooth, With Oil seal 3 = With key, With Oil Seal Encoder = Incremental encoder 5 ppr ( Only for under 3kW - C series) = High resolution incremental encoder Bits ( Only for above 3kW - M series ) Brake A = w/o brake F = with brake (.kw no brake option ) Connection System = Straight connector Mount C = Asia mechanical mounting 7

10 Functions 3 motion control 3 servo drive 3 function presentation 3 is a Powerful Servo Drive, which can be used, either in Stand Alone Mode (with Digital I/O Control), or with External Position Controller. 3 servo drive is providing powerfull functions which can be used on many different applications: b Automatic recognition of the motor b Smart and powerfull autotuning function b Advanced filtering function v Low pass filter to suppress High frequency perturbations v Resonance suppression v Command smoothing b Control mode v Position control mode: - Pulse control (pulse/direction, CW/CCW, AB phase signal) - 8 Built-in Motion Sequence v Speed Control: - Analog input (±V ) - 3 Internal Speed registers v Torque control: - Analog input (±V ) - 3 Internal torque registers v Switching mode: - Position control mode,speed control mode and torque control mode can be switched instantly by each other through DI. 8

11 Functions (continue) 3 motion control 3 servo drive Auto recognition, auto tuning and filter functions b Automatic motor recognition 3 Servo Drives and BCH Servo Motors are pre-matched according to motor shaft power. On Power-up the 3 Automatically identifies the Motor attached and adjusts its internal settings. b Smart and powerful auto-tuning 3 servo drives provide several ways to tune the gain. Most applications can find ideal gain value through the auto-tuning function. Drive estimates the inertia of the load and automatically adjust parameters. In term of the structure, auto-tuning can be divided into PI auto-tuning and PDFF auto-tuning. b Advanced filtering v Low pass filter Low-pass filter is usually used to keep away unwanted noise or high-frequency response, also has command smoothing effect. v Resonance suppression When the mechanical structure comes to resonance phenomenon, it is probably caused by too high rigidity of drive control system or too fast response bandwidth. Resonance can be suppressed by low pass filter and resonance suppression filter without changing control parameters. v Command smoothing function Position control and speed control both offer command smoothing function to smooth the control command. 9

12 Functions (continue) 3 motion control 3 servo drive Operating mode Position control In this mode, lexium 3 servo drive is controlled by pulse train (pulse / direction, cw / ccw signal, A/B signal ) sent out by controller (PLC, motion controllers, NC devices, etc.) for position control. Input pulse train can be line driver or open collector type. LXM3 M Series, uses a high speed pulse line driver input, with the maximum input pulse frequency of 4 Mpps. Position control also can be done through 8 built-in motion tasks. movement can be incremental type or absolute type. The built-in electronic gear ratio of lexium 3 servo drive can adapt the input pulse frequency to servo drive. Electronic gear ratio can be defined by elements "N" and the denominator "M". This ratio can easily be changed. Speed limit Torque limit GR/GR Position,speed and current control Pulses P/D CW/CCW A/B N M M M 3 a PTT CTL E ESIM pulses Scaling GR3 Pulse control mode Absolute Type Incremental Type turns turns turns turns Motion sequence target positions External I/O signal Build-in motion sequence Position control mode >ms,can be set by P-9 you can also use S-curve function or low pass filter to smooth position command. The S-Curve Function can run the servo motor more smoothly in response to the a sudden position command. Since the speed and acceleration curve are both continuous and the time for the motor to accelerate is shortened. Using S- curve not only can improve the performance when servo motor accelerate or decelerate but also can make motor to operate more smoothly (from mechanical view). S-curve is only for built-in motion sequence. Possible application b Material Handling b Cut to length b Packaging

13 Functions (continue) 3 motion control 3 servo drive Operating mode Speed control Under this mode, 3 servo drives are controlled by a controller with an analog output, suitable for high-performance speed control. Settings vaule Value can be set through external analog input (±V voltage) or 3 build-in speed registers of the drive. VCM Operating mode Speed control Speed limit Torque limit Analog Input ( V) Scaling Speed and current control Speed registers M 3 a ESIM pulses Scaling E Analog input GR3 Internal speed command External analog voltage or zero () External I/O signal Speed register Speed control mode You can also use S-curve Filter (for internal speed registers) or analog speed smoothing function (for external analog voltage input) to smooth the input speed command. Using S-curve Using the S-curve filter will allow the servo motor to run more smoothly in response to a dynamic speed command change. Since the speed and acceleration curve are both continuous, in order to avoid the mechanical resonance and noise may occur due to a sudden speed command (differentiation of acceleration), using S-curve filter not only can improve the performance when servo motor accelerate or decelerate but also can make the motor run more smoothly. Possible application b Winder and unwinder

14 Functions (continue) 3 motion control 3 servo drive Operating mode Torque control Under this mode, 3 servo drives control the motor output torque by controlling the servo drive output current. Torque control can work with other modes. Settings value Value can be set through external analog input (±V voltage) or 3 build-in speed registers in the drive. TCM Operating mode Speed control Speed limit Torque limit Analog input ( V) Scaling Speed and current control Torque registers M 3 a ESIM pulses Scaling E Analog input GR3 Internal torque command External analog voltage or zero () External I/O signal Torque register Torque control mode Possible application b Printing machine b Winding machine

15 Functions (continue) 3 motion control 3 servo drive Operating mode Switching mode Position control model, speed control mode and torque control mode can be switched instantly through digital input. s 3 offers three switching modes: speed/position switch mode, speed/torque switch mode and torque /position switch mode. DI8 P S P Position Taken into account Position NOT taken into account Position Taken into account Speed NOT taken into account Speed taken into account Speed NOT taken into account Switching mode Other functions b Speed limitation, using under torque control mode b Torque limitation, using under position or speed control mode b Encoder simulation (ESIM) monitoring function, 3 drive provide two simulation channels, which can be used to monitor the speed, torque, command frequency etc. 3

16 Characteristics 3 motion control 3 servo drive Environmental characteristics Conformity to standards 3 servo drives have been developed to conform to the strictest international standards and the recommendations relating to electrical industrial control equipment (IEC, EN), including: low voltage, IEC/EN 68-5-, IEC/EN 68-3(conducted and radiated EMC immunity and emissions) EMC immunity IEC/EN 68-3, environments and IEC/EN 6-4- level 3 IEC/EN level 3 IEC/EN level 4 IEC/EN level 3 Conducted and radiated EMC IEC/EN 68-3, environments and, categories C, C3 emissions for servo drives Installation Site Indoor location (no direct sunlight), no corrosive liquid and gas (far away from oil mist, flammable gas, dust) e marking The drives are e marked in accordance with the European low voltage (73/3/EECand 93/68/EEC) and EMC (89/336/EEC) directives Product certification UL (USA), C-tick () Degree of protection Degree of protection IEC/EN 68-5-, IEC/EN 659 IP Vibration resistance m/s (G) under Hz 5.88m/s (.6G) ~5 Hz Relative humidity ~9 %RH (without condensation) Ambient air temperature Operation C + 55(if operating temperature is above specified range, forced cooling will be required) Storage C -~65 Type of cooling Natural convection Fan Maximum operating altitude m without derating Atmospheric pressure kpa 86~6 Power system TN system() Operating position Maximum permanent angle in relation to the normal vertical mounting position Control signal characteristic Protective function Digital Input Digital Output Communication interface Overcurrent, Overvoltage, Undervoltage, Motor Overheated, Regeneration Error, Overload, Overspeed, Abnormal pulse control command, Encoder error, memory error, Communication error, U,V,W and CN,CN and CN3 terminals with short circuit protection. Servo ON, Reset, Gain Switching, Pulse Clear, Emergency stop, Forward /Reverse inhibit limit, Internal parameter selection, Torque limit activation, Speed limit activation, Control mode selection (Position / Speed / Torque mode selection, Dual mode selection, Position register), Internal auto running mode, Electronic gear ratio selection (3). Encoder Signal output (A,B,Z Line Driver) Servo ready, Servo On, Zero Speed, Speed Reached, Positionning completed, At torque limit, Servo alarm output (Servo Fault), Electromagnetic brake, Home completed, Ready, Overload Alarm, Servo Pre-alarm RS 3/ RS 485/ RS 4 ()For above Kw type pls consult our sales branch ()TN system: A power distribution having one point directly earthed,the exposed conductive parts of the installation being connected to that points by protective earth conductor (3) 3 M also have other advanced function like automatically postioning mode control 4

17 Characteristics (continue) 3 motion control 3 servo drive Driver features Control of main Circuit Tuning Modes Dynamic brake SVPWM Control Auto/ Manual Built-in Electric power features Power Voltage V VAC single phase or three phase LXM 3CUM3X...5M3X VAC three phase LXM 3CUM3X...MU75M3X Permissible Voltage Range V 7~55 VAC three phase, ~55 VAC single phase LXM 3CUM3X...5M3X 7~55 VAC three phase LXM 3CUM3X..MU75M3X Permissible Frequency Range Hz 5/6 HZ +/- 5% Control mode Position control mode Max. Input Pulse Frequency Kpps Line driver : 5 Kpps, Open collector : Kpps () Pulse Type Pulse/direction, A phase + B phase, CCW Pulse + CW Pulse Command Source External pulse train / Internal parameters Smoothing strategy Low Pass and P-Curve filter Electronic Gear Electronic gear N/M multiple N: ~3767, M : :3767 (/5<N/M<) Torque limit operation Set by parameters Feedforward compensation Set by parameters Speed control mode Analog input command VDC ~+/- VDC Voltage Range Input Resistance kω Time constant μs. Speed control range () LXM 3CUM3X...3M3X :5 LXM 3MU45M3X...MU75M3X :3 Command Source External Analog signal/internal parameters Smoothing strategy Low Pass and S-Curve filter Torque limit operation Set by parameters or via Analog input Band with characteristics Hz LXM 3CUM3X...3M3X Maximum 45 Hz LXM 3MU45M3X...MU75M3X Maximum 55 Hz Speed Fluctuation Rate (3),% or less at load fluctuation to % (rated speed),% or less at power fluctuation +/-% (rated speed),% or less at amabiant temperature fluctuation C to 5 C (rated speed) Torque control mode Analog inputcommand VDC ~+/- VDC Voltage Range Input Resistance kω Time constant μs. Permissible time for overload(4) S LXM 3CUM3X...3M3X 8 sec. Under % rated output LXM 3MU45M3X...MU75M3X 6 sec. Under % rated output Command Source External Analog signal/internal parameters Smoothing strategy Low pass filter Speed limit operation Set by parameters or via Analog input Analog monitor output Monitor signal can be set by parameters (Output voltage range : +/- 8V) () 4.5 ~7.5 Kw add high speed pulse input function, max. frequency is 4 Mpps. () During full load, the speed ratio is defined as min. speed (no go and stop)/rated speed. (3) When command is rated speed, speed fluctuation rate is defined as (empty load speed -full load speed)/rated speed. (4) Pls refer to the over load sector of the user manual. 5

18 Dimensions 3 motion control 3 servo drive Dimensions LXM3CUM3X, CUM3X, CU4M3X 75(.95) Unit: mm (inch) LXM3CU7M3X, CUM3X, CU5M3X M4 x.7 PE Unit: mm (inch) LXM3CUM3X, CU3M3X, MU45M3X M4 x.7 PE Unit: mm (inch) M4 x.7 PE 6

19 Dimensions (continue) 3 motion control 3 servo drive Dimensions (continue) LXM3MU55M3X Unit: mm (inch) LXM3MU75M3X Unit: mm (inch) 7

20 Schemes 3 motion control 3 servo drive Position control mode wiring diagram (pulse control) LXM 3CUppM3X Q Q KM S S A A Q3 KM V ALRM_RY () 3 5 KM 4 6 ALRM-RY +/- V () () () () () A R S T L L CN 7 45/47/ CN CN SIGN SIGN PULSE PULSE T-REF VDD COM+ DO5- COM- DI DI DI3 DI4 DI5 DI6 DI7 DI8 DO+ DO+ DO3+ DO4+ DO5+ DO- DO- DO3- DO4- PA/+ PBe PBi U V W FG A A B B Z Z +5V 4/6 3/5 MON MON OCZ OZ OZ OB OB OA OA CN CN CN (3) Z phase open collector Z phase pulse B phase pulse A phase pulse (4) Compatible components Ref. Description A 3 servo drive, see page 6 KM Line contact or see motor starter on page 6 Q Circuit breaker, see motor starter on page 6 Q GV L magnetic circuit-breaker Q3 GB CB5 thermal magnetic circuit-breaker S, S XB4 B or XB5A "Start" and "Emergency stop" push buttons ()Contact ALRM-RY is controlled by the output of DO5+(8),on a servo drive fault, KM (line contact) open. ().5 k resistor (3)External braking resistor (see page 5) (4)Modbus serial link, support RS485/RS4/RS3, be used to connect to a PC terminal( installed LEXIUM 3 SET UP software) 8

21 Schemes (continue) 3 motion control 3 servo drive Position control mode wiring diagram (build-in motion sequence) LXM 3CUppM3X Q 3 5 Q KM S S A A Q3 KM 3 4 ALRM_RY () V KM 4 6 VCC ALRM-RY +/- V () () () () () A R S T L L 8 3 CN 7 45/47/ CN CN T-REF VDD COM+ DO5- COM- DI DI DI3 DI4 DI5 DI6 DI7 DI8 DO+ DO+ DO3+ DO4+ DO5+ DO- DO- DO3- DO4- PA/+ PBe PBi U V W FG A A B B Z Z +5V 4/6 3/5 MON MON OCZ OZ OZ OB OB OA OA CN CN CN (3) (4) Z phase open collector Z phase pulse B phase pulse A phase pulse Compatible components Ref. Description A 3 servo drive, see page 6 KM Line contact or see motor starter on page 6 Q Circuit breaker, see motor starter on page 6 Q GV L magnetic circuit-breaker Q3 GB CB5 thermal magnetic circuit-breaker S, S XB4 B or XB5A "Start" and "Emergency stop" push buttons ()Contact ALRM-RY is controlled by the output of DO5+(8),on a servo drive fault, KM (line contact) open. ().5 k resistor (3)External braking resistor (see page 5) (4)Modbus serial link, support RS485/RS4/RS3, be used to connect to a PC terminal( installed LEXIUM 3 SET UP software) 9

22 Schemes (continue) 3 motion control 3 servo drive Speed control mode wiring diagram LXM 3CUppM3X Q 3 5 Q KM S S A A Q3 KM 3 4 ALRM_RY () V KM 4 6 ALRM-RY +/- V +/- V () () () () () A R S T L L CN 7 45/47/ CN CN T-REF VDD COM+ DO5- COM- DI DI DI3 DI4 DI5 DI6 DI7 DI8 DO+ DO+ DO3+ DO4+ DO5+ DO- DO- DO3- DO4- PA/+ PBe PBi U V W FG A A B B Z Z +5V 4/6 3/5 MON MON OCZ OZ OZ OB OB OA OA CN CN CN (3) (4) Z phase open collector Z phase pulse B phase pulse A phase pulse V-REF Compatible components Ref. Description A 3 servo drive, see page 6 KM Line contact or see motor starter on page 6 Q Circuit breaker, see motor starter on page 6 Q GV L magnetic circuit-breaker Q3 GB CB5 thermal magnetic circuit-breaker S, S XB4 B or XB5A "Start" and "Emergency stop" push buttons ()Contact ALRM-RY is controlled by the output of DO5+(8),on a servo drive fault, KM (line contact) open. ().5 k resistor (3)External braking resistor (see page 5) (4)Modbus serial link, support RS485/RS4/RS3, be used to connect to a PC terminal( installed LEXIUM 3 SET UP software)

23 Schemes (continue) 3 motion control 3 servo drive Torque control mode wiring diagram LXM 3CUppM3X Q 3 5 Q KM S S A A Q3 KM 3 4 ALRM_RY () V KM 4 6 ALRM-RY +/- V +/- V () () () () () A R S T L L CN 7 45/47/ CN CN T-REF VDD COM+ DO5- COM- DI DI DI3 DI4 DI5 DI6 DI7 DI8 DO+ DO+ DO3+ DO4+ DO5+ DO- DO- DO3- DO4- PA/+ PBe PBi U V W FG A A B B Z Z +5V 4/6 3/5 MON MON OCZ OZ OZ OB OB OA OA CN CN CN (3) (4) Z phase open collector Z phase pulse B phase pulse A phase pulse V-REF Compatible components Ref. Description A 3 servo drive, see page 6 KM Line contact or see motor starter on page 6 Q Circuit breaker, see motor starter on page 6 Q GV L magnetic circuit-breaker Q3 GB CB5 thermal magnetic circuit-breaker S, S XB4 B or XB5A "Start" and "Emergency stop" push buttons ()Contact ALRM-RY is controlled by the output of DO5+(8),on a servo drive fault, KM (line contact) open. ().5 k resistor (3)External braking resistor (see page 5) (4)Modbus serial link, support RS485/RS4/RS3, be used to connect to a PC terminal( installed LEXIUM 3 SET UP software)

24 Options 3 motion control Braking resistors Braking resistors Internal braking resistor A braking resistor is built into the servo drive to absorb the braking energy. If the DC bus voltage in the servo drive exceeds a specified value, this braking resistor is activated. The restored energy is converted into heat by the braking resistor. External braking resistor An external braking resistor is necessary for applications in which the servo motor has to be braked frequently and the internal braking resistor cannot dissipate the excess braking energy. If an external braking resistor is used, the internal braking resistor must be deactivated. To do this, the shunt between PA/+ and PBi must be removed and the external braking resistor connected between PA/+ and Pbe. Two or more external braking resistors can be connected in parallel. The servo drive monitors the power dissipated in the braking resistor. Sizing the braking resistor During braking or deceleration requested by the servo drive, the kinetic energy of the moving load must be absorbed by the servo drive. The energy generated by deceleration charges the capacitors integrated in the servo drive. When the voltage at the capacitor terminals exceeds the permitted threshold, the braking resistor (internal or external) will be activated automatically in order to dissipate this energy. In order to calculate the power to be dissipated by the braking resistor, the user needs a knowledge of the timing diagram giving the servo motor torques and speeds as a function of time in order to identify the curve segments in which the servo drive decelerates the load. Servo motor cycle timing diagram The curve segments to be taken into account, when the servo drive is decelerating, are marked in blue. Servo motor speed n i n3 n D n D D3 t n4 t t t3 t4 t5 t6 t7 t8 t9 t t t T cycle M3 M M t M4 M5 Required torque M i

25 Options (continue) 3 motion control Braking resistors Sizing the braking resistor (continued) Calculation of the constant deceleration energy To do this, the user must know the total inertia, defined as follows: J t : Total inertia where: J t = Jm (servo motor inertia) + Jc (load inertia). For Jm, see pages 8 to 37. The energy E i of each deceleration segment is defined as follows: πn i E i = --J t ω i = --J t Which gives the following for the various segments: π[ n E --J 3 n ] = t πn E = --J t πn E 3 = --J t where E i is in joules, J t in kgm, ω in radians and n i in rpm. Energy absorbed by the internal capacitor The energy absorption capacity of the servo drive Edrive (without using an internal or external braking resistor) is given for each servo drive on page 4. In the remainder of the calculation, only take account of the D i segments, for which the energy E i is greater than the absorption capacities given in the table opposite. This additional energy E Di must be dissipated in the resistor (internal or external): E Di = E i - Edrive (in joules). Calculation of the continuous power The continuous power Pc is calculated for each machine cycle: ΣE Pc = Di Tcycle where Pc is in W, E Di in joules and T cycle in s. Selecting the braking resistor (internal or external) Note: This is a simplified selection method. In extreme applications, for example with vertical axes, this method is inadequate. In this case, please consult your Regional Sales Office. The selection is carried out in two steps: The maximum energy during a braking procedure must be less than the peak energy that can be absorbed by the internal braking resistor: E Di < EPk and the continuous power of the internal braking resistor must in turn not exceed: Pc < PPr. If these conditions are met, the internal braking resistor is adequate. If one of the above conditions is not met, an external braking resistor must be used to satisfy these conditions. The value of the external braking resistor must be between the minimum and maximum values given in the table. Otherwise the servo drive may be subject to disturbance and the load will no longer be braked safely. 3

26 Characteristics 3 motion control Braking resistors Characteristics LXM3CU M3X LXM3CU M3X LXM3CU4 M3X LXM3CU7 M3X LXM3CU M3X Supply voltage V Number of phases Single-phase Load threshold V c 4 Energy absorption of the internal capacitors Edrive Joule (Ws) Internal resistor Resistance Ω 4 Continuous power PPr W 3 Peak energy EPk Joule (Ws) External resistor Min. resistance Ω 4 4 Degree of protection IP LXM3CUM3X LXM3CU3M3X LXM3MU45M3X Supply voltage V Number of phases Three-phase Load threshold V c 4 Energy absorption of the internal capacitors Edrive Joule (Ws) Internal resistor Resistance Ω Continuous power PPr W 6 Peak energy EPk Joule (Ws) 8 8 External resistor Min. resistance Ω Degree of protection IP LXM3CU5 M3X 4

27 References 3 motion control Braking resistors References External braking resistors Value Continuous power Peak energy EPk Reference PPr V Ω W Ws VW3M7 4 VW3M7 5

28 Motor starters 3 motion control Protection by circuit breaker GV Lpp + LC K6pppp + LXM 3pUppM3X Application The combinations listed below can be used to create a complete motor starter unit comprising a circuit breaker, a contactor and a 3 servo drive. The circuit breaker provides protection against accidental short-circuits, disconnection and, if necessary, isolation. The contactor starts up and manages any safety features, as well as isolating the servo motor on stopping. The servo drive controls the servo motor, provides protection against short-circuits between the servo drive and the servo motor and protects the motor cable against overloads. The overload protection is provided by the motor thermal protection of the servo drive. Motor starters for 3 servo drives Servo drive Nominal power Circuit-breaker Reference Rating Contactor() Add the voltage reference to the basic reference to obtain the full reference () kw A Single phase:...55 VAC/three phase: VAC LXM3CUM3X. GVL 6.3 LC K6pp LXM3CUM3X. GVL 6.3 LC K6pp LXM3CU4M3X.4 GVL4 LC D9pp LXM3CU7M3X.75 GVL4 LC D9pp LXM3CUM3X GVL6 4 LC Dpp LXM3CU5M3X.5 GV3L 5 LC D8pp LXM3CUM3X GV3L3 3 LC D3pp LXM3CU3M3X 3 GV3L3 3 LC D3pp LXM3MU45M3X 4.5 GV3L5 5 LC D5pp LXM3MU55M3X 5.5 GV7 RS LC D8pp LXM3MU75M3X 7.5 GV7 RS LC D8pp ()Composition of contactors: b LC K6: 3 poles + "N/O" auxiliary contact b LC D9: 3 poles + "N/O" auxiliary contact + "N/C" auxiliary contact ()Usual control circuit voltages, see table below: AC control circuit Volts a LC-K 5/6 Hz B7 E7 F7 M7 P7 U7 Volts a 4 48 /3 3 3/4 LC-D 5 Hz B5 E5 F5 M5 P5 U5 6 Hz B6 E6 F6 M6 U6 5/6 Hz B7 E7 F7 M7 P7 U7 Note: For other voltages between 4 V and 66 V, or for a DC control circuit, please consult your Regional Sales Office. 6

29 Motor starters (continue) 3 motion control Protection using fuses Protection using class J fuses (UL standard) Servo drive Reference Nominal power kw Single phase:...55 VAC/three phase: VAC LXM3CUM3X. 5 LXM3CUM3X. 5 LXM3CU4M3X.4 LXM3CU7M3X.75 LXM3CUM3X 5 LXM3CU5M3X.5 4 LXM3CUM3X 6 LXM3CU3M3X 3 8 LXM3MU45M3X 4.5 LXM3MU55M3X 5.5 LXM3MU75M3X 7.5 Fuse to be placed upstream A 7

30 Characteristics 3 motion control 3 servo drive BCH4O, BCH6O ultra low inertia servo motor curve Servo motor reference BCH4O BCH6O Compatible 3 servo drive LXM3CUM3X LXM3CUM3X Supply power V Single phase Torque Continuous stall M Nm.3.64 Peak stall M max Nm.96.9 Rated work point Rated toruqe Nm.3.64 Rated speed rpm 3 Rated power kw.. Peak current A rms Servo motor specification Maximum speed rpm 5 Constant Torque Nm/A rms.36.4 Inertia No brake J m kgcm With brake J m kgcm -.9 Stator (at C) Armature resistance (phase/phase) Ω Armature inductance (phase/phase) mh 4.7 Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH4O servo motor Control by LXM3CUM3X servo drive Single phase V BCH6O servo motor Control by LXM3CUOM3X servo drive Single phase V Torque in Nm. Mmax.8 Torque in Nm. Mmax M.. M Speed in rpm Speed in rpm Peak torque Continuous torque 8

31 Characteristics (continue) 3 motion control 3 servo drive BCH6O, BCH8O ultra low inertia /low inertia servo motor curve Servo motor reference BCH6O BCH8O Compatible 3 servo drive LXM3CU4M3X LXM3CU4M3X Supply power V Single phase Torque Continuous stall M Nm.7 Peak stall M max Nm 3.8 Rated work point Rated toruqe Nm.7 Rated speed rpm 3 Rated power kw.4 Peak current A rms 7.8 Servo motor specification Maximum speed rpm 5 Constant Torque Nm/A rms Inertia No brake J m kgcm With brake J m kgcm.3.73 Stator (at C) Armature resistance (phase/phase) Ω Armature inductance (phase/phase) mh Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH6O servo motor Control by LXM3CU4M3X servo drive Single phase V BCH8O servo motor Control by LXM3CU4M3X servo drive Single phase V Torque in Nm 4. Mmax M Speed in rpm Torque in Nm 4. Mmax M Speed in rpm Peak torque Continuous torque 9

32 Characteristics (continue) 3 motion control 3 servo drive BCH8O, BCHO low inertia servo motor curve Servo motor reference BCH8O BCHO Compatible 3 servo drive LXM3CU7M3X LXM3CUM3X Supply power V Single phase Torque Continuous stall M Nm Peak stall M max Nm Rated work point Rated toruqe Nm Rated speed rpm 3 Rated power kw.75 Peak current A rms Servo motor specification Maximum speed rpm 5 Constant Torque Nm/A rms Inertia No brake J m kgcm.3.65 With brake J m kgcm Stator (at C) Armature resistance (phase/phase) Ω.4. Armature inductance (phase/phase) mh Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH8O servo motor Control by LXM3CU7M3X servo drive Single phase V BCHO servo motor Control by LXM3CUM3X servo drive Single phase V Torque in Nm 8 Mmax M Speed in rpm Torque in Nm Mmax M Speed in rpm Peak torque Continuous torque 3

33 Characteristics (continue) 3 motion control 3 servo drive BCHO, BCH3N low inertia /medium inertia servo motor curve Servo motor reference BCHO BCH3N Compatible 3 servo drive LXM3CUM3X LXM3CU4M3X Supply power V Three phase Single phase Torque Continuous stall M Nm Peak stall M max Nm Rated work point Rated toruqe Nm Rated speed rpm 3 Rated power kw.5 Peak current A rms Servo motor specification Maximum speed rpm 5 3 Constant Torque Nm/A rms Inertia No brake J m kgcm With brake J m kgcm Stator (at C) Armature resistance (phase/phase) Ω.3.57 Armature inductance (phase/phase) mh Electrical time constant ms.4.96 Brake (depending on reference) See page 7 Toruqe/speed curve BCHO servo motor Control by LXM3CUM3X servo drive Three phase V BCH3N servo motor Control by LXM3CU4M3X servo drive Single phase V Torque in Nm Mmax 5 M Speed in rpm Peak torque Continuous torque Torque in Nm 8 Mmax M 3 Speed in rpm 3

34 Characteristics (continue) 3 motion control 3 servo drive BCH3N, BCH33N medium inertia servo motor curve Servo motor reference BCH3N BCH33N Compatible 3 servo drive LXM3CUM3X LXM3CU5M3X Supply power V Single phase Torque Continuous stall M Nm Peak stall M max Nm Rated work point Rated toruqe Nm Rated speed rpm Rated power kw.5 Peak current A rms Servo motor specification Maximum speed rpm 3 Constant Torque Nm/A rms Inertia No brake J m kgcm With brake J m kgcm Stator (at C) Armature resistance (phase/phase) Ω.47.6 Armature inductance (phase/phase) mh Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH3N servo motor Control by LXM3CUM3X servo drive Single phase V BCH33N servo motor Control by LXM3CU5M3X servo drive Single phase V Torque in Nm Torque in Nm 5 Mmax 5 M 5 Mmax 5 M 5 3 Speed in rpm 3 Speed in rpm Peak torque Continuous torque 3

35 Characteristics (continue) 3 motion control 3 servo drive BCH34N, BCH8N medium inertia /high inertia servo motor curve Servo motor reference BCH34N BCH8N Compatible 3 servo drive LXM3CUM3X LXM3CUM3X Supply power V Three phase Torque Continuous stall M Nm 9.55 Peak stall M max Nm 8.65 Rated work point Rated toruqe Nm 9.55 Rated speed rpm Rated power kw Peak current A rms Servo motor specification Maximum speed rpm 3 Constant Torque Nm/A rms Inertia No brake J m kgcm With brake J m kgcm Stator (at C) Armature resistance (phase/phase) Ω.74.9 Armature inductance (phase/phase) mh Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH34N servo motor Control by LXM3CUM3X servo drive Three phase V BCH8N servo motor Control by LXM3CUM3X servo drive Three phase V Torque in Nm 3 Mmax 5 Torque in Nm 3 Mmax 5 5 M 5 M Speed in rpm 3 Speed in rpm Peak torque Continuous torque 33

36 Characteristics (continue) 3 motion control 3 servo drive BCH3M, BCH3M medium inertia servo motor curve Servo motor reference BCH3M BCH3M Compatible 3 servo drive LXM3CU4M3X LXM3CU7M3X Supply power V Single phase Torque Continuous stall M Nm Peak stall M max Nm Rated work point Rated toruqe Nm Rated speed rpm Rated power kw.3.6 Peak current A rms Servo motor specification Maximum speed rpm Constant Torque Nm/A rms.5.9 Inertia No brake J m kgcm With brake J m kgcm Stator (at C) Armature resistance (phase/phase) Ω.6.8 Armature inductance (phase/phase) mh 4.9. Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH3M servo motor Control by LXM3CU4M3X servo drive Single phase V BCH3M servo motor Control by LXM3CU7M3X servo drive Single phase V Torque in Nm Mmax M Torque in Nm Mmax 5 M 5 Speed in rpm Speed in rpm Peak torque Continuous torque 34

37 Characteristics (continue) 3 motion control 3 servo drive BCH33M, BCH8M medium inertia /high inertia servo motor curve Servo motor reference BCH33M BCH8M Compatible 3 servo drive LXM3CUM3X LXM3CU3M3X LXM3MU45M3X Supply power V Single phase Three phase Torque Continuous stall M Nm Peak stall M max Nm Rated work point Rated toruqe Nm Rated speed rpm 5 Rated power kw.9 3 Peak current A rms Servo motor specification Maximum speed rpm 3 Constant Torque Nm/A rms.5.98 Inertia No brake J m kgcm With brake J m kgcm.9 - Stator (at C) Armature resistance (phase/phase) Ω Armature inductance (phase/phase) mh Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH33M servo motor Control by LXM3CUM3X servo drive Single phase V BCH8M servo motor Control by LXM3CU3M3X / LXM3MU45M3X servo drive Three phase V Torque in Nm 3 Mmax Torque in Nm 6 Mmax M 5 3 M Speed in rpm 5 3 Speed in rpm Peak torque Continuous torque 35

38 Characteristics (continue) 3 motion control 3 servo drive BCH8N, BCH83M high inertia servo motor curve Servo motor reference BCH8N BCH83M Compatible 3 servo drive LXM3MU45M3X LXM3MU45M3X Supply power V Three phase Torque Continuous stall M Nm Peak stall M max Nm Rated work point Rated toruqe Nm Rated speed rpm 5 Rated power kw Peak current A rms Servo motor specification Maximum speed rpm 3 Constant Torque Nm/A rms Inertia No brake J m kgcm With brake J m kgcm - Stator (at C) Armature resistance (phase/phase) Ω.5.3 Armature inductance (phase/phase) mh Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH8N servo motor Control by LXM3MU45M3X servo drive Three phase V BCH83M servo motor Control by LXM3MU45M3X servo drive Three phase V Torque in Nm 6 Mmax M 3 Speed in rpm Torque in Nm 8 Mmax M 5 3 Speed in rpm Peak torque Continuous torque 36

39 Characteristics (continue) 3 motion control 3 servo drive BCH84M, BCH85M high inertia servo motor curve Servo motor reference BCH84M BCH85M Compatible 3 servo drive LXM3MU55M3X LXM3MU75M3X Supply power V Three phase Torque Continuous stall M Nm Peak stall M max Nm Rated work point Rated toruqe Nm Rated speed rpm 5 Rated power kw Peak current A rms 8.8 Servo motor specification Maximum speed rpm 3 Constant Torque Nm/A rms.88. Inertia No brake J m kgcm With brake J m kgcm - Stator (at C) Armature resistance (phase/phase) Ω.5.5 Armature inductance (phase/phase) mh.6.4 Electrical time constant ms Brake (depending on reference) See page 7 Toruqe/speed curve BCH84M servo motor Control by LXM3MU55M3X servo drive Three phase V BCH85M servo motor Control by LXM3MU75M3X servo drive Three phase V Torque in Nm Mmax M Peak torque Continuous torque 5 3 Speed in rpm Torque in Nm Mmax 8 6 M Speed in rpm 37

40 3 5 Dimensions 3 motion control BCH servo motor BCH4 (Servo motor/brake and Motor Power Connector and Encoder Connector ) Key shaft (optional) h6 3h c c (without brake) c (with brake) BCH BCH6 (Servo motor/brake and Motor Power Connector and Encoder Connector ) Key shaft (optional) h6 5h7 6 c (without brake) c (with brake) BCH BCH c BCH8 (Servo motor/brake and Motor Power Connector and Encoder Connector ) Key shaft (optional) 3 5 LS c W T Wk Sh6 7h7 8 RH 8 3 c c 9 c (without brake) c (with brake) S c c LS RH Wk W T BCH BCH

41 Dimensions (continue) 3 motion control BCH servo motor BCH (Servo motor/brake and Motor Power Connector and Encoder Connector ) Key shaft (optional) h6 95h c c (without brake) c (with brake) BCH BCH BCH3 (Servo motor/brake and Motor Power Connector and Encoder Connector ) Key shaft (optional) h6 h c c (without brake) c (with brake) BCH BCH BCH33M BCH33N BCH BCH8 (Servo motor/brake and Motor Power Connector and Encoder Connector ) Key shaft (optional) LS c Sh6 4.3h7 8 W 8 Wk RH c 4 c c (without brake) c (with brake) S c c LS RH Wk W BCH BCH8M BCH8N BCH BCH BCH

42 Accessories 3 motion control Connector and cable Connector Name Description Reference Weight kg Replaced connector set Power connector set,drive side VW3 M4 I/O connector I/O connector of CN interface VW3 M4 I/O terminal block module Terminal block module,with.5 m cable VW3 M4 3 Cable Name Description Length Reference Weight From To m kg PC serial communication PC serial port Servo drive 3 VW3 M R3 cable Connection accessory Connector for power cable Description For Item no. Reference Weight kg For motor with flying cable,no brake BCH4OppAC VW3M5 - BCH6OppAC BCH6OppAC BCH8OppAC BCH8OppAC For motor with flying cable,with brake Military connector for motor under KW Military connector for motor above 3 kw BCH6OppFC VW3M5 - BCH6OppFC BCH8OppFC BCH8OppFC BCHOpppC VW3M5 - BCH3MpppC BCH3NpppC BCH3MpppC BCH3NpppC BCH33MpppC BCH33NpppC BCHOpppC BCH34NpppC BCH8NpppC BCH8NpppC VW3M53 - BCH8MpppC BCH83MpppC BCH84MpppC BCH85MpppC Connector for encoder cable Description For Item no. Reference Weight kg For motor with flying cable BCH4O VW3M8 - BCH6O BCH6O BCH8O BCH8O For motor with military connector BCHO VW3M8 - BCH3M BCH3N BCH3M BCH3N BCH33M BCH33N BCHO BCH34N BCH8N BCH8M BCH83M 4

43 Accessories (continue) 3 motion control Connector and cable Connection accessory (continue) Power cable Description From servo motor To servo drive Composition Length Reference Weight m kg Servo motor side with plastic BCH4OppAC LXM3CUM3X 4.8 mm 3 VW3M5R3 - connector BCH6OppAC LXM3CUM3X 5 VW3M5R5 - Drive side with flying lead,no BCH6OppAC LXM3CU4M3X brake BCH8OppAC LXM3CU4M3X BCH8OppAC LXM3CU7M3X VW3M5 //3 //3/33/4 Rppp Servo motor side with plastic connector Drive side with flying lead,with brake Servo motor side with military connector Drive side with flying lead,no brake Servo motor side with military connector Drive side with flying lead,with brake BCH6OppFC LXM3CUM3X 6.8 mm 3 VW3M5R3 - BCH6OppFC LXM3CU4M3X 5 VW3M5R5 - BCH8OppFC LXM3CU4M3X BCH8OppFC LXM3CU7M3X BCHOppAC LXM3CUM3X 4.3 mm 3 VW3M5R3 - BCH3MppAC LXM3CU4M3X 5 VW3M5R5 - BCH3NppAC LXM3CU4M3X BCH3MppAC LXM3CU7M3X BCH3NppAC LXM3CUM3X BCH33MppAC LXM3CUM3X BCH33NppAC LXM3CU5M3X BCHOppFC LXM3CUM3X 6.3 mm 3 VW3M53R3 - BCH3MppFC LXM3CU4M3X 5 VW3M53R5 - BCH3NppFC LXM3CU4M3X BCH3MppFC LXM3CU7M3X BCH3NppFC LXM3CUM3X BCH33MppFC LXM3CUM3X BCH33NppFC LXM3CU5M3X Servo motor side with military connector Drive side with flying lead,no brake Servo motor side with military connector Drive side with flying lead,with brake Servo motor side with military connector Drive side with flying lead,no brake BCHOppAC LXM3CUM3X 4. mm 3 VW3M5R3 - BCH34NppAC LXM3CUM3X 5 VW3M5R5 - BCHOppFC LXM3CUM3X 6. mm 3 VW3M53R3 - BCH34NppFC LXM3CUM3X 5 VW3M53R5 - BCH8NppAC LXM3CUM3X mm 3 VW3M53R3 - BCH8MppAC LXM3CU3M3X 5 VW3M53R5 - BCH8MppAC LXM3MU45M3X BCH8NppAC LXM3MU45M3X Servo motor side with military connector Drive side with flying lead,with brake BCH8NppFC LXM3CUM3X mm 3 VW3M533R3 - BCH8MppFC LXM3CU3M3X 5 VW3M533R5 - BCH8MppFC LXM3MU45M3X BCH8NppFC LXM3MU45M3X Servo motor side with military connector Drive side with flying lead,no brake BCH83MppAC LXM3MU45M3X mm 3 VW3M54R3 - BCH84MppAC LXM3MU55M3X 5 VW3M54R5 - BCH85MppAC LXM3MU75M3X Encoder cable Description From servo motor To servo drive Composition Length Reference Weight m kg Servo motor side and drive side BCH4O LXM3CUM3X.3 mm 3 VW3M8R3 - with plastic connector BCH6O LXM3CUM3X 5 VW3M8R5 - BCH6O LXM3CU4M3X BCH8O LXM3CU4M3X BCH8O LXM3CU7M3X VW3M8 / Rppp Servo motor side with military BCHO LXM3CUM3X.3 mm 3 VW3M8R3 - connector BCH3M LXM3CU4M3X 5 VW3M8R5 - Drive side with plastic connector BCH3N LXM3CU4M3X BCH3M LXM3CU7M3X BCH3N LXM3CUM3X BCH33M LXM3CUM3X BCH33N LXM3CU5M3X BCHO LXM3CUM3X BCH34N LXM3CUM3X BCH8N LXM3CUM3X BCH8M LXM3CU3M3X BCH8M LXM3MU45M3X BCH83M LXM3MU45M3X 4

44 Schneider Electric Industries SAS Simply Smart! Head Office 89, bd Franklin Roosevelt 956 Rueil-Malmaison Cedex France Due to evolution of standards and equipment, the characteristics indicated in texts and images of this document do not constitute a commitment on our part without confirmation. Design: Schneider Electric Photos: Schneider Electric Printed by: Ingoprint XXXXXXXXXXXEN ART. XXXXXX 7 / 8