Catalogue. Stepper Motors VRDM, ExRDM

Transcription

1 Catalogue Stepper Motors VRDM, ExRDM

2

3 Stepper Motors Table of Contents -phase stepper motors Product description VRDM 6 Technical data Dimensional drawings Type code VRDM 9 Technical data Dimensional drawings Type code VRDM Technial data Dimensional drawings Type code Options Holding brake Encoder Gearbox Explosion-proof -phase stepper motors ExRDM 9 Product description Technial data Dimensional drawings Type code Options Encoder Gearbox phase stepper motors VRDM 6 Technical data Dimensional drawings Motor connection Type code Appendix Conversion tables Berger Lahr Catalogue Stepper Motors VRDM, ExRDM

4 Product description -phase stepper motors Product description The -phase stepper motors from Berger Lahr are extremely robust, maintenancefree motors. They carry out precise stepper movements that are controlled by a stepper drive. A stepper motor drive consists of a stepper motor and the matching stepper drive. The maximum power can be reached only if motor and electronics are optimally matched. The -phase stepper motors can be operated at very high resolutions depending on the stepper motor controller. Options such as rotation monitoring and holding brake with robust, low-play planetary gears extend the application options. There are also -phase stepper motors by Berger Lahr in normal and explosion-proof types (explosion degree of protection EEx d IIC T4). Special features Quiet Due to the sinus-commutation of the drive and the special mechanical construction of the motors, the result is a very quiet stepper motor that runs virtually resonance-free. Strong The optimised internal geometry of the motor offers a high power density; i.e. up to 5% greater torque compared to conventional stepper motors of comparable size. Stepper motor drive system Flexible It is possible to manufacture and supply a wide variety of motor types due to their flexible modular system and modern version management. Design () Motor connection, here versions with an offset connector () Additional terminal for protective conductor () Housing, with black protective coating (4) Axial flange with four mounting points as per DIN 498 (5) Smooth shaft end as per DIN Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

5 -phase stepper motors Product description Product overview -phase stepper motors VRDM 6 VRDM 9 VRDM ExRDM 9 (explosion-proof motors) Size Max. torque M max Nm Holding torque M H Nm Steps per revolution z ) / 5 / / / 4 / 5 / Step angle α ).8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 ) Depending on controller Motor types Gear ) Shaft model Centring collar Size (Flange dimension) Length (Dimension without shaft) Winding ) Motor Options 4) connection ) VRDM 6 PLE 4 smooth Ø 6.5 mm Ø 8. mm 6 (57. mm) 4 (4 mm) H Braided wires nd shaft end PLE 6 6 (56 mm) H Terminal box Holding brake PLS 7 N Plug Encoder 8 (79 mm) H Ø 8 mm N W VRDM 9 PLE 8 smooth Ø 9.5 mm 5) Ø 6 mm 9 (85 mm) 7 (68 mm) H Braided wires nd shaft end PLS 9 with woodruff Ø mm Ø 7 mm (98 mm) N Terminal box Holding brake key Ø 4 mm (8 mm) W Plug Encoder VRDM PLE with parallel Ø 9 mm Ø 56 mm ( mm) 7 (8 mm) W Terminal box nd shaft end PLS 5 key (8 mm) Plug Holding brake Encoders ExRDM 9 PL 5//ATEX with woodruff key Ø 4 mm Ø 6 mm 9 (85 mm) (98 mm) W Terminal box Holding brake (8 mm) Encoder ) ) Planetary gears each available in the gear ratios :, 5: and 8:. The gear PL 5//ATEX is available in the gear ratios : and 5: Nominal voltage: H = 4 / 5 V DC ; N = V DC ; W = 5 V DC ) Motors with W-winding are not available with braids. For motors with terminal box there is a strip terminal within the motor; the screwed cable gland is sealed and EMC-tested. 4) Alternative: nd shaft end or holding brake. Motors with encoder are only available with plug; nd shaft end or holding brake are not possible then. 5) Ø 9.5 mm and Ø mm at VRDM 97 and VRDM 9; Ø 4 mm at VRDM 9 Berger Lahr Catalogue Stepper Motors VRDM, ExRDM

6 Product description -phase stepper motors Degree of protection Front of motor Motor connection Rear of motor Gearbox Shaft bushing Braided wires Terminal box nd shaft end Holding brake PL, PLE PLS Plug Encoder IP 54 IP 65 IP 4 IP 56 (optional with VRDM 9x and VRDM x) IP 44 for ExRDM 9x IP 4 IP 56 IP 4 IP 56 Motor connection U YE W WH V Motor connection in braided wire version Designation Motor braided wire colour as per DIN IEC 757 Motor braided wire colour U BK and YE black and yellow V WH and BU white and blue W OR and RD orange and red BK W W BU OR RD W U V W () () () PE Motor connection in terminal box version Designation Pin Wire colour as per DIN IEC 757 Wire colour ) U BR brown V BU blue W BK black PE GN/YE green/yellow SHLD Shield ) Berger Lahr motor cable SHLD Motor connection in connector version Designation Pin U V W PE 4 4 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

7 -phase stepper motors Product description Control -phase stepper motors in triangle The windings of the -phase stepper motors are circuited internally to form a triangle. The control currents of the control electronics are impressed via three connections. Motor W W W Control switch for -phase stepper motors Micro-step procedure with sinusoidal control The system consisting of a -phase stepper motor and control electronics works according to the bipolar delta connection (see control circuit). The current can be controlled via three half-bridges so that it can flow through each winding in both directions (bipolar). This makes it possible to control the current according to a sinusoidal step function. Here each step corresponds to a motor step. The steps per revolution are determined by the number of the different current patterns per period and due to the number of pole pairs of the motor. Thus, any step count is possible. This procedure is known as the micro-step procedure. I t I t I t Step Current pattern of the three motor connections at steps per revolution Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 5

8 Product description -phase stepper motors Characteristic values of a stepper motor In order to assess and select a stepper motor, certain characteristic values and characteristic curves are required. Each stepper motor with its control electronics has its own characteristics which are shown in characteristic curves. To better understand their content and statement, here the major characteristic values and the handling of the characteristic curves are explained. The terms used here correspond to DIN 4. Basic terms Steps per revolution Step count z is the number of the rotor-steps per revolution. The step count of the - phase stepper motor can be used on the control electronics. Step angle A step includes the procedure in which the motor shaft rotates around the step angle due to a step angle α. The step angle α is derived from the steps per revolution z as follows: α = 6 /z Holding torque In this step position, the rotor is held into place due to the electrical d.c. operation of the windings if its holding torque M H is not exceeded on the motor shaft. Systematic angular tolerance The systematic angular tolerance per step Δα s indicates by how many angular minutes a step can have a maximum deviation from the step angle. Control and pulse rate With a continuous sequence of control pulses with a control frequency f S, the motor shaft will also run a sequence of steps with the (same) pulse rate f z. Speed From a certain control frequency depending on the motor type and the mechanical load the step-by-step movement of the motor shaft switches to a continuous rotary movement. Then the speed of rotation n of the motor applies: α n = f 6 S 6min f S in Hz Torques If the rotating motor shaft is loaded with a load torque M L, the motor of the control frequency continuous to run synchronously as long as the load moment does not exceed a certain limit which exceeds the pull-out torque M BM. In this case, the rotor can no longer follow the control frequency. This case does not occur when the motor and the control is correctly selected. 6 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

9 -phase stepper motors Product description Torque characteristic curves The pull-out torque M BM of a stepper motor depends primarily on the pulse rate in addition to its size and the type of electrical control. This procedure is indicated as a characteristic curve for each stepper motor system. The motor can produce the maximum pulse rate M BM at low pulse rates, with an increasing pulse rate, the pull-out torque decreases. The operating range of the motor created by the pull-out torque is subdivided into the starting area and the acceleration range. In the starting area, the motor can follow, without a step error, a control frequency used erratically or which is interrupted. The starting area is limited by the characteristic curve of the starting limit frequency f AM (start-stop characteristic curve). Without a load, the motor can start with the maximum starting frequency f AM, with a load, the starting frequency decreases. The acceleration range is between the starting area of the start-stop characteristic curve and the pull-out torque curve. In the acceleration range, the control frequency can only be changed continuously (frequency ramp) so that the motor can follow the control frequency. Mass moment of inertia of the load The size of the starting area also depends on the load inertia which is in effect on the motor shaft J L of the load. With an increasing J L, the start-stop characteristic curve shifts to lower frequencies. The start-stop characteristic curve shows the dependency of the maximum starting frequency f AM on the load inertia J L. If load inertia and load torque are present simultaneously, the starting limit frequency f AM is determined by moving the stop-start characteristic curve in the torque graph parallel to the left until the maximum starting frequency f AM corresponds to the J L -diagram (see Figure). M Start-Stop (J L > ) M BM M L Start-Stop (J L = ) f Am f Aom f Aom f Bom f S [khz] J J L f S [khz] Stepper motor characteristic curve M BM Pull-out torque M L Load torque M H Holding torque f S Control frequency f AM Starting limit frequency f AM Maximum starting frequency f BM Maximum operating frequency J L Load inertia Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 7

10 8 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

11 -phase stepper motors VRDM 6 Technical data VRDM 6 Technical data Motor type VRDM 64 VRDM 66 VRDM 68 Winding H H N H N W Max. supply voltage U max V AC Nominal voltage DC bus U N V DC 4 / 5 4 / 5 4 / 5 5 Nominal torque M N Nm Holding torque M H Nm.5..7 Rotor inertia J R kgcm²...8 Steps per revolution z ) / 4 / 5 / / / 4 / 5 / Step angle α.8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 Systematic angular tolerance Δα ) s ±6 Max. starting frequency f Aom khz Phase current I N A rms Winding resistance R W Ω Rate-of-current rise time constant τ ms Weight m ) kg..6. Shaft load 4) Max. radial force st shaft end 5) N Max. radial force nd shaft end (optional) 6) N 5 / 4 Max. axial force pull N Max. axial force compression N 8.4 Nominal bearing life L h 7) h ) Depending on controller ) Measured at steps/revolution, unit: angular minutes ) Weight of the motor version with cable retaining screws and connector 4) Conditions for shaft load: speed of rotation 6 /min, % ED at nominal torque, ambient temperature 4 C (storage temperature 8 C) 5) Point of attack of radial force: in the middle of the shaft end 6) Point of attack of radial force: in the middle of the shaft end; st value: Motors with terminal boxes, connectors or encoder; nd value: Motors with braided wires 7) Operating hours at a failure probability of % Environmental conditions Ambient temperature C Installation height without power reduction m a. MSL < Transport and storage temperature C Relative humidity % 5 85; no condensation permissible Vibration magnitude in operation as per EN 64-4 A Vibration strain as per DIN EN m/s² Degree of protection as per EN 64-5 Total except shaft bushing IP 56 Shaft bushing without shaft seal ring IP 4 Heat class as per EN (F) Shaft wobble and axial precision As per EN 5 47 (IEC 67-) Maximum rotary acceleration Wheel/s Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 9

12 VRDM 6 Technical data -phase stepper motors Characteristic curves VRDM 64 / 5L H M[Nm],6,45 4 V DC, 5 V DC,5, f S [khz] J [kg cm²] n [/min] 4 VRDM 66 / 5L H VRDM 66 / 5L N M[Nm] M[Nm],,,9 4 V DC,9,6 5 V DC,6,,, f S [khz], f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] 4 4 Measurement at steps/revolution, nominal voltage DC bus U N and phase current I N () Pull-out torque () Start limit torque () Maximum load inertia Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

13 -phase stepper motors VRDM 6 Technical data Characteristic curves VRDM 68 / 5L H VRDM 68 / 5L N + W M[Nm],6 M[Nm],6, 4 V DC 5 V DC,,8,8,4,4, f S [khz], f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] Measurement at steps/revolution, nominal voltage DC bus U N and phase current I N () Pull-out torque () Start limit torque () Maximum load inertia Berger Lahr Catalogue Stepper Motors VRDM, ExRDM

14 VRDM 6 Dimensional drawings -phase stepper motors Dimensional drawings Ø 8. ±.5 Shafts Ø -. 5 L ±.5 Ø 8 ± Ø 5. Rotor axially sprung.6 With nd shaft end only braided wires on the sides are possible. R5 7.7 VRDM 64 VRDM 66 VRDM 68 Length L Shafts Ø phase stepper motor VRDM 6 in braided wire version Ø 8. ±.5 Ø 8 -. L ± Ø 8 ( ) Ø 5. Rotor axially sprung.6 R5 Cable retension screw M x.5 for cable Ø 9 to Ø.5 ca. 49 L ± Ø5 Length L Shafts Ø VRDM Holding brake (optional) VRDM VRDM phase stepper motor VRDM 6 in terminal box version Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

15 -phase stepper motors VRDM 6 Dimensional drawings Dimensional drawings ca. 58 Ø 8. ±.5 Shafts Ø -. L ± Ø 8 ( ) Ø 5. ca. 58 Rotor axially sprung.6 R5 Connector encoder (optional) -pin L ± Connector motor 6-pin with encoder (optional) 5 Ø 5 ca. 49 Holding brake (optional) ca. 49 L ± without encoder Ø 5 VRDM 64 Length L 4 Shafts Ø 6.5 VRDM Holding brake (optional) VRDM phase stepper motor VRDM 6 in connector version Berger Lahr Catalogue Stepper Motors VRDM, ExRDM

16 VRDM 6 Type code -phase stepper motors Type code Example: VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO Phase count VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO Size (Flange) VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO 6 = 57. mm Length VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO 4 = 4 mm 6 = 56 mm 8 = 79 mm Number of pole pairs VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B B OOO 5 Rotor VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO L = Laminated rotor plate Maximum voltage VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B B OOO H = 5 V AC (5 V DC ) N = 9 V AC ( V DC ) W = V AC (5 V DC ) Connection type VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO A = Braided wire B = Terminal box C = Connector Position capture VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO E = Encoder ( increments/revolution) O = Without encoder Holding brake VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO B = Brake O = Without brake Degree of protection VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO IP4 = IP4 on shaft bushing Gearbox type VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without gearbox = PLE 4 = PLE 6 A = PLS 7 Gear ratio VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without gearbox = : 5 = 5: 8 = 8: Shaft diameter VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO D6 = 6.5 mm D8 = 8 mm DO = With gearbox Shaft model front VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Smooth shaft or gearbox Centring collar VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO 8 = 8. mm OO = With gearbox Second shaft: VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without = With Connection direction motor plug ) VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Coonection direction encoder plug ) VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Braided wire output VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without S = Side B = Back Braided wire length OOO = No xxx = xxx mm (max. 4 mm) VRDM 6 8 / 5 L H C E O IP4 5 DO O OO B B O OOO ) Connection direction viewed from front at st shaft end, connector up. Note: Please note the description of the possible motor types on page. 4 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

17 -phase stepper motors VRDM 9 Technical data VRDM 9 Technical data Motor type VRDM 97 VRDM 9 VRDM 9 Winding H N W H N W H N W Max. supply voltage U max V AC Nominal voltage DC bus U N V DC 4 / / / 5 5 Nominal torque M N Nm Holding torque M H Nm Rotor inertia J R kgcm²... Steps per revolution z ) / 4 / 5 / / / 4 / 5 / Step angle α.8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 ) Systematic angular tolerance Δα s ±6 Max. starting frequency f Aom khz Phase current I N A rms Winding resistance R W Ω Rate-of-current rise time constantτ ms ~7 ~9 ~ Weight m ) kg.. 4. Shaft load 4) Max. radial force st shaft end 5) N Max. radial force nd shaft end (optional) 6) N 5 / 75 Max. axial force pull N 75 Max. axial force compression N 7) Nominal bearing life L h h ) Depending on controller ) Measured at steps/revolution, unit: angular minutes ) Weight of the motor version with cable retaining screws or connector 4) Conditions for shaft load: speed of rotation 6 /min, % ED at nominal torque, ambient temperature 4 C (storage temperature 8 C) 5) Point of attack of radial force: in the middle of the shaft end 6) Point of attack of radial force: in the middle of the shaft end; st value: Motors with terminal boxes, connectors or encoder; nd value: Motors with braided wires 7) Operating hours at a failure probability of % Environmental conditions Ambient temperature C Installation height without power reduction m a. MSL < Transport and storage temperature C Relative humidity % 5 85; no condensation permissible Vibration magnitude in operation as per EN 64-4 A Vibration strain as per DIN EN m/s² Degree of protection as per EN 64-5 Total except shaft bushing IP 56 Shaft bushing without shaft seal ring IP 4 Heat class as per EN (F) Shaft wobble and axial precision As per EN 5 47 (IEC 67-) Maximum rotary acceleration Wheel/s Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 5

18 VRDM 9 Technical data -phase stepper motors Characteristic curves VRDM 97 / 5L H VRDM 97 / 5L N+ W M[Nm] M[Nm],5 4 V DC,5 5 V DC,5,5, f S [khz], f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] VRDM 9 / 5L H VRDM 9 / 5L N + W M[Nm] 4 M[Nm] 4 4 V DC 5 V DC, f S [khz], f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] Measurement at steps/revolution, nominal voltage DC bus U N and phase current I N () Pull-out torque () Start limit torque () Maximum load inertia 6 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

19 -phase stepper motors VRDM 9 Technical data Characteristic curves VRDM 9 / 5L H VRDM 9 / 5L N + W M[Nm] 6 M[Nm] 6 4,5 4 V DC 4,5 5 V DC,5,5, f S [khz], f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] Measurement at steps/revolution, nominal voltage DC bus U N and phase current I N () Pull-out torque () Start limit torque () Maximum load inertia Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 7

20 VRDM 9 Dimensional drawings -phase stepper motors Dimensional drawings Centring collar Ø h8 Shafts Ø h6 Woodruff key DIN 6888 (optional) Shafts Ø 9.5: x 5 Shafts Ø : 4 x 6.5 Shafts Ø 4: 5 x 6.5 ± L ( ) -.8 ±.5 Ø 4 h Ø 6.5 Rotor axially sprung Only braided wires on the sides are possible for the nd shaft end. R Length L Shafts Ø Centring collar Ø VRDM VRDM VRDM phase stepper motor VRDM 9 in braided wire version Slide spring DIN 6888 (optional) Shafts Ø 9.5: x 5 Shafts Ø : 4 x 6.5 Shafts Ø 4: 5 x 6.5 Centring collar Ø h8 Shafts Ø h6 ± L ( ) ±.5 Ø 4 h Ø 6.5 Rotor axially sprung R8. Cable retension screw M x.5 for cable Ø 9 to Ø Holding brake (optional) +.6 L ( ) Ø 8.5 Length L Shafts Ø Centring collar Ø VRDM ca. 66 VRDM VRDM phase stepper motor VRDM 9 in terminal box version 8 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

21 -phase stepper motors VRDM 9 Dimensional drawings Dimensional drawings Slide spring DIN 6888 (optional) Shafts Ø 9.5: x 5 Shafts Ø : 4 x 6.5 Shafts Ø 4: 5 x 6.5 ca. 7 Centring collar Ø h8 Shafts Ø h6 ± L ( ) 4 ± Ø 4 h6 Ø 6.5 ca. 7 Rotor axially sprung +.6 L ( ) R8. Connector motor 6-pole Holding brake (optional) Connector encoder (optional) -pole Length L Shafts Ø Centring collar Ø VRDM VRDM VRDM ca. 6 -phase stepper motor VRDM 9 in connector version Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 9

22 VRDM 9 Type code -phase stepper motors Type code Example: VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO Phase count VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO Size (Flange) VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO 9 = 85 mm Motor length VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO 7 = 68 mm = 98 mm = 8 mm Number of pole pairs VRDM 9 / 5 L H C E O IP4 5 DO O OO B B B OOO 5 Rotor VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO L = Laminated rotor plate Maximum voltage VRDM 9 / 5 L H C E O IP4 5 DO O OO B B B OOO H = 5 V AC (5 V DC ) N = 9 V AC ( V DC ) W = V AC (5 V DC ) Connection type VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO A = Braided wire B = Terminal box C = Connector Position capture VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO E = Encoder ( increments/revolution) O = Without encoder Holding brake VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO B = Brake O = Without brake Degree of protection VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO IP4 = IP4 on shaft bushing IP56 = IP56 on shaft bushing front Gearbox type VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without gearbox = PLE 8 B = PLS 9 Gear ratio VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without gearbox = : 5 = 5: 8 = 8: Shaft diameter VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO D9 = 9.5 mm D = mm D4 = 4 mm DO = With gearbox Shaft model front VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Smooth shaft or gearbox K = Woodruff key per DIN 6888 Centring collar VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO 6 = 6 mm 7 = 7 mm OO = With gearbox Second shaft VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without = With Connection direction motor plug ) VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Coonection direction encoder plug ) VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Braided wire output VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO S = Side B = Back O = Without Braided wire length OOO = Without xxx = xxx mm (max. 4 mm) VRDM 9 / 5 L H C E O IP4 5 DO O OO B B O OOO ) Connection direction viewed from front at st shaft end, connector up. Note: Please note the description of the possible motor types on page. Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

23 -phase stepper motors VRDM Technical data VRDM Technical data Motor type VRDM 7 VRDM Winding W W Max. supply voltage U max V AC Nominal voltage DC bus U N VDC DC 5 5 Nominal torque M N Nm 6.5 Holding torque M H Nm Rotor inertia J R kgcm².5 6 Steps per revolution z / 4 / 5 / / / 4 / 5 / Step angle α ).8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 ) Systematic angular tolerance Δα s ±6 Max. starting frequency f Aom khz 4.7 Phase current I N A rms Winding resistance R W Ω.8.9 Rate-of-current rise time constant τ ms ~ ~ Weight m ) kg 8.. Shaft load 4) Max. radial force st shaft end 5) N Max. radial force nd shaft end (optional) 5) N 5 Max. axial force pull N Max. axial force compression N 6 6) Nominal bearing life L h h ) Depending on the control ) Measured at steps/revolution, unit: minutes of arc ) Weight of the motor version with cable retaining screws or connector 4) Conditions for shaft load: speed of rotation 6 /min, % ED at nominal torque, ambient temperature 4 C (storage temperature 8 C) 5) Point of attack of radial force: in the middle of the shaft end 6) Operating hours at a failure probability of % Environmental conditions Ambient temperature C Installation height without power reduction m a. MSL < Transport and storage temperature C Relative humidity % 5 85; no condensation permissible Vibration magnitude in operation as per EN 64-4 A Vibration strain as per DIN EN m/s² Degree of protection as per EN 64-5 Total except shaft bushing IP 56 Shaft bushing without shaft seal ring IP 4 Heat class as per EN (F) Shaft wobble and axial precision As per EN 5 47 (IEC 67-) Maximum rotary acceleration Wheel/s Berger Lahr Catalogue Stepper Motors VRDM, ExRDM

24 VRDM Technical data -phase stepper motors Characteristic curves VRDM 7 / 5L W VRDM / 5L W M[Nm] M[Nm] , f S [khz], f S [khz] J[kgcm²] n [/min] J[kgcm²] n [/min] Measurement at steps/revolution, nominal voltage DC bus U N and phase current I N () Pull-out torque () Start limit torque () Maximum load inertia Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

25 -phase stepper motors VRDM Dimensional drawings Dimensional drawings Parallel key DIN 6885 A 6 x 6 x L ± 4 4 ±.5 89 Ø 56 h7 Ø 9 Ø 9 j6 Ø 9 h7 Rotor axially sprung R.5 Cable retention scr ew M x.5 for cable Ø 9 to Ø 5 L ± 5.7 Holding brake (optional) Ø ca. 74 VRDM 7 VRDM Length L 8 8 -phase stepper motor VRDM in terminal box version Parallel key DIN 6885 A 6 x 6 x 5 ca L ± 4 4 ±.5 89 ca. 85 Ø9 Ø 56 h7 Ø 9 j6 Ø 9 h7 Rotor axially sprung R.5 L ± 5.7 Connector encoder (optional) -pin Holding brake (optional) Connector motor 6-pin Ø Length L ca. 68 VRDM 7 VRDM 8 8 -phase stepper motor VRDM in connector version Berger Lahr Catalogue Stepper Motors VRDM, ExRDM

26 VRDM Type code -phase stepper motors Type code Example: VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO Phase count VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO Size (Flange) VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO = mm Length VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO 7 = 8 mm = 8 mm Number of pole pairs VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B B OOO 5 Rotor VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO L = Laminated rotor plate Maximum voltage VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B B OOO W = V AC (5 V DC ) Connection type VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO B = Terminal box C = Connector Recording of position VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO E = Encoder ( increments/revolution) O = Without encoder Holding Brake VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO B = Brake O = Without brake Degree of protection VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO IP4 = IP4 on shaft bushing IP56 = IP56 on shaft bushing front Gearbox type VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO O = Without gearbox 4 = PLE C = PLS 5 Gear ratio VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO O = Without gearbox = : 5 = 5: 8 = 8: Shaft diameter VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO D9 = 9 mm DO = With gearbox Shaft model front VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO O = With gearbox K = Parallel key as per DIN 6885 Centring collar VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO 56 = 56 mm OO = With gearbox Second shaft VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO O = Without = With Connection direction motor plug ) VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Coonection direction encoder plug ) VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO O = Without, L = Left, R = Right B = Back, F = Front, S = Straight Braided wire output VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO O = Without Braided wire length OOO = Without xxx = xxx mm (max. 4 mm) VRDM 7 / 5 L W C E O IP4 4 5 DO O OO B B O OOO ) Connection direction viewed from front at st shaft end, connector up. Note: Please note the description of the possible motor types on page. 4 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

27 -phase stepper motors Options Holding brake Options Holding brake The holding brake is an electromagnetic sprung brake and fixes the motor axis after switching off the motor current (e.g. in case of power failure or emergency stop). The shaft must be fixed with torque loads resulting from gravity, e.g. with Z-axes in handling technology. Technical Data Holding brake for motor type VRDM 6 VRDM 9 VRDM Nominal voltage V Holding torque Nm 6 6 Pull-in power W Moment of inertia kgcm².6..5 Energise time (release brake) ms Shutdown time (apply brake) ms 4 Mass kg Approx..5 Approx..5 Approx.. Note: In order to ensure the safe function of the holding brake for Z-axes, the static load torque must be no greater than 5% of the holding torque of the motor. Wiring diagram The connector is a part of the scope of supply. Connector name: Hirschmann Type G4 5M 4 V DC Non-polarised Wiring diagram of the connector for the holding brake Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 5

28 Options Encoder -phase stepper motors Encoder The -phase stepper motors from Berger Lahr can be equipped with an encoder. If the control electronics are equipped with rotation monitoring electronics, the encoder is used as a measurement system to acknowledge the actual position of the rotor. Rotation monitoring compares the set point and actual position of the motor and reports errors if the actual position deviates from the setpoint position. For example, a mechanical overload of the motor can thereby be recorded. Note: An encoder can only be used in motors with a connector. A temperature sensor is integrated, which protects the encoder from high temperatures. Technical Data Resolution Pulse/rpm. Index plus Pulse/rpm. Output RS 4 Signals A; B; I Signal shape Rectangular Supply voltage V 5 ± 5% Max. power consumption A.5 (VRDM 6 ).5 (VRDM 9 and ) Temperature sensor C...5 (VRDM 9 and ) Wiring diagram () A A Wiring diagram encoder plug on VRDM xx () Motor housing Pin Designation A A negated B 4 B negated 5 C, I 6 C negated, negated 7 5 V GND SENSE + SENSE Temperature sensor not assigned 6 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

29 -phase stepper motors Options Gearboxes Gearboxes Stepper motors from Berger Lahr can also be supplied with a built-in planetary gear. The PLE gears are cost-effective planetary gears, which are sufficient to meet most precision requirements. The PLS gears are high-quality gears with a very low torsional backlash. These gears can be supplied with one of three gear ratios: :, 5: and 8:. The output torque of the gearbox is determined by multiplying the torque of the motor with the gear ratio and efficiency of the gearbox (.96). The following table shows the preferred gearboxes for the motors. Motor type Gearbox type VRDM 64 PLE 4, PLE 6 PLS 7 VRDM 66 PLE 6 PLS 7 VRDM 68 PLE 6 PLS 7 VRDM 9x PLE 8 PLS 9 VRDM 7 PLE PLS 5 VRDM PLS 5 Technical data PLE gearboxes PLE-gearbox general Gear stages Service life ) h Efficiency at full load % 96 Housing material aluminium Surface black anodised Shaft material C 45 Bearings roller bearing Operating temperature ) C , shortly + Degree of protection ) IP 54 Lubrication life lubrication ) Life time with an output speed at /min and T = C ) Referring to the housing surface ) With mounting position IM V (drive shaft vertical, shaft end upward) only degree of potection IP 4 is guaranteed Size of PLE Max. radial force ) ) N 5 95 Max. axial force ) N 6 8 Torsional play arcmin < < < <8 Max. drive speed /min Recommended drive speed /min Torsional stiffness Nm/arcmin.. 6 Weight kg ) The information refers to min. h service life with an output speed of /min and application factor K = min and S-operating mode for electrical machines and T = C ) Refers to the centre of the drive shaft and 5% ED Attention: the actual output torque must be less than the nominal output torque of the gearbox, otherwise the gearbox may be destroyed. Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 7

30 Options Gearboxes -phase stepper motors Technical data PLS gearboxes PLS gearbox general Gear ratios Service life ) h Efficiency at full load % 98 Case material aluminium Surface black anodised Shaft material C 45 Bearings tapered roller bearings Operating temperature ) C , shortly +4 Degree of protection ) IP 65 Lubrication life lubrication ) Service life with an output speed of /min and T = C ) Measured at the housing surface ) At mounting position IM V (drive shaft vertical, shaft end up) only degree of protection IP 4 is guaranteed Size of PLS Max. radial force ) ) N 4 48 Max. axial force ) N Torsional play arcmin < < < Max. drive speed /min 4 85 Received drive speed /min Torsion rigidity Nm/arcmin 6 9 Weight kg ) The details are based on min. h service life with an output speed of /min and application factor K = min and S-operating mode for electric machines and T = C ) Refers to the centre of the device shaft and 5% ED 8 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

31 -phase stepper motors Options Gearboxes Dimensional drawings Lkr. Ø4 M4 x 6 Ø Parallel key DIN 5885 A x x 8 Ø Ø 4 6. Ø h7( ) -.5 Ø6 h7( -. ) Centre hole DIN DS Mx9 PLE 4 gearbox, -stage M5 x 8 5 Ø Parallel key DIN 6885 A 5x5x5 Ø Ø4 h7( -.8 ) Ø7 Ø4 h7( -.5 ) Ø Centre hole DIN DS M5x PLE 6 gearbox, -stage Parallel key DIN 6885 A 6x6x8 Centre hole DIN DS M6x6 M6 x Ø6 4 Ø Ø h7( -. ) Ø5 Ø6 h7( -. ) Ø8 PLE 8 gearbox, -stage Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 9

32 Options Gearboxes -phase stepper motors Dimensional drawings Parallel key DIN 6885 A 8x7x4 Centre hole DIN DS M x 4 M x 6 Ø45 5 Lkr. Ø 8 Ø5 h7( -. ) Ø5 4 5 Ø8 h7( -. ) Ø PLE gearbox, -stage Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

33 -phase stepper motors Options Gearboxes Dimensional drawings ,5 9,5 6,5 8 7 Ø9 k6 Ø4 Ø6 h7 Ø75 7 PLS 7 gearbox 5,5 87 6, ,5 6 9 Ø k6 5 Ø8 h7 Ø 8 PLS 9 gearbox , ,5 64, Ø k6 Ø55 Ø h7 Ø PLS 5 gearbox Berger Lahr Catalogue Stepper Motors VRDM, ExRDM

34 ExRDM 9 Product description Explosion-proof -phase stepper motors ExRDM 9 Product description For operation in potentially explosive areas, Berger Lahr offers the -phase stepper motors ExRDM 9 and ExRDM 9. The explosion-proof -phase stepper motors have a robust design and a high torque in relation to their size. Special features The motors have protection type EEx d IIC T4. The result is the following characteristics and conditions: Ex-protection as per European standards EN 54 and EN 58 Registration as per UL 79 or ATEX 94/9/EG (EC-type test certification PTB ATEX 4) Device group II Explosion group C Type of protection pressure-resistant encapsulation "d" Temperature class "T4" (5 C) Use in potentially explosive atmospheres of zones and, device category G Tested thermistor monitoring devices are required for temperature monitoring. Product overview Motor type ExRDM 9 ExRDM 9 Nominal torque M N Nm Holding torque M H Nm Steps per revolution z ) / 5 / / / 4 / 5 / Step angle α ).8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 ) With appropriate control Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

35 Explosion-proof -phase stepper motors ExRDM 9 Technical data Technical data Motor type ExRDM 9N ExRDM 9NEi ExRDM 9N ExRDM 9NEi ExRDM 9NEa Max. supply voltage U max V AC Nominal voltage DC bus U N V DC Max. voltage against PE V AC Phase current in S operation I ) N A eff Winding resistance R W Ω Nominal torque M N Nm Holding torque Nm Rotor inertia M H kgcm²... Steps per revolution z ) /min / 4 / 5 / / / 4 / 5 / Step angle α ).8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 ) Systematic angular tolerance Δα s ±6 ±6 ±6 Max. starting frequency f ) Aom khz Current rise time constant τ ms ~9 ~ ~ Type of protection EEx d IIC T4 EEx d IIC T4 EEx d IIC T4 Total length l mm Weigth m kg Shaft load Max. radial force F R (st shaft end, % ED) 4) N Max. axial force pull F A N Max. axial force pressure F A N Press-on force N Nominal bearing life L h h ) S operation, as per DIN VDE 5: continuous operation ) Depending on controller ) Measured at steps/revolution, unit in angular minutes 4) Point of attack of radial force: in the middle of the shaft end Environmental conditions Ambient temperature C Installation height without power reduction m a. MSL < Transport and storage temperature C Relative humidity % 5 85; no condensation permissible Vibration severity in operation as per DIN EN 64-4 A Max. vibration load m/s Degree of protection as per DIN EN 64-5 Gear IP 54 Shaft bushing front IP 44 Terminal box IP 56 Heat class as per EN (F) Shaft wobble and axial precision DIN EN 547 (IEC 67-) Max. rotary acceleration Wheel/s² Temperature monitoring The explosion-proof motors ExRDM 9 and ExRDM 9 are operated with Berger Lahr stepper motor drives. Tested thermistor monitoring devices are obligatory for temperature monitoring of the stepper motors ExRDM 9 Nxx and ExRDM 9 Nxx. The devices are to be installed outside of the potentially explosive area. The following devices are recommended: Dold MK 9./ ATEX V AC Möller EMT 6 DBK The devices can be purchased from their manufacturers. Berger Lahr Catalogue Stepper Motors VRDM, ExRDM

36 ExRDM 9 Technical data Explosion-proof -phase stepper motors Characteristic curves ExRDM 9 ExRDM 9 M[Nm] 5 M [Nm] 4,5 4, ,5,5,5, f S [khz], f S [khz] J[kgcm²] 5 n [/min] J [kg c m²] 5 n [/min] , f S [khz], f S [khz] Measurement at steps/revolution, nominal voltage DC bus U N and phase current I N () Pull-out torque () Start limit torque () Maximum load inertia 4 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

37 Explosion-proof -phase stepper motors ExRDM 9 Dimensional drawings Dimensional drawings Parallel key DIN A 6 x 6 x L ± Tk Ø 9 M 8 x Ø 55 h7 Ø h6 Ø 5 Ø Centre hole DIN - DS M6 4 8 ExRDM 9 ExRDM 9 Length L 94 4 Connection encoder cable Connection motor cable Cable retension screw for clamping area 6. to. m for clamping area 6. to. mm. ExRDM 9 NE and ExRDM 9 NEi with gearbox Woodruff key DIN x 6.5 L ± 9 86 ±.5 Ø 6.5 Ø 6 h8 Ø 4 h6 Ø Ø 4 Rotor axially sprung Connection encoder cable Connection motor cable ExRDM 9 Length L 94 Cable retension screw for clamping area 6. to. mm. ExRDM 9 4 ExRDM 9 NE and ExRDM 9 NEi without gearbox Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 5

38 ExRDM 9 Dimensional drawings Explosion-proof -phase stepper motors Dimensional drawings Parallel key DIN A 6 x 6 x ± Tk Ø 9 4 M8 x 5 8 Ø 55 h7 Ø h6 Ø 5 Ø Centre hole DIN - DS M6 6.5 Cable retension screw for clamping area 6. to. mm. Can be ordered separately as an accessory. ExRDM 9 NEa with gearbox Woodruff key DIN x ± 9 86 Ø 6 h8 Ø 4 h6 Ø Ø 6.5 ±.5 Ø 4 Rotor axially sprung Cable retension screw for clamping area 6. to. mm. Can be ordered separately as an accessory. ExRDM 9 NEa without gearbox 6 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

39 Explosion-proof -phase stepper motors ExRDM 9 Type code Type code Example: ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 Product family ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 ExRDM = Explosion-protected motor Phase count ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 Motor size (Flange) ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 9 = 85 mm Motor length ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 = 94 mm = 4 mm Number of pole pairs ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 5 N = No meaning ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 Encoders ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 O = Without encoder E = With encoder Encoder type ExRDM 9 / 5 N E I 7 A IP44 O 5 D4 K 6 A = Absolute I = Incremental Winding (Motor voltage) ExRDM 9 / 5 N E I 7 O IP44 O O D4 K 6 7 = V AC (5 V DC ) Approval ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 A = ATEX U = UL (only with length ) Degree of protection ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 IP44 = IP44 on shaft bushing Gearbox type ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 O = Without gearbox U = Planetary gear PL 5/ /ATEX Gear ratio ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 O = Without gearbox = : 5= 5 : Shaft diameter ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 D4 = 4 mm DO = With gearbox Shaft model front ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 K = Woodruff key as per DIN 6888 O = With gearbox Centring collar 6 = 6 mm OO = With gearbox ExRDM 9 / 5 N E I 7 A IP44 O O D4 K 6 Note: Please note the description of the possible motor types on page. Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 7

40 Options Encoder Explosion-proof -phase stepper motors Options Encoder The -phase stepper motors from Berger Lahr can be equipped with an encoder. If the control electronics are equipped with rotation monitoring electronics, the encoder is used as a measurement system to acknowledge the actual position of the rotor. Rotation monitoring compares the set point and actual position of the motor and reports errors if the difference exceeds the tracking error limit. For example, a mechanical overload of the motor can thereby be recorded. Incremental encoder for ExRDM 9 N- and ExRDM 9 NEi Technical Data Resolution Incr./rpm Index pulse Pulse/rpm. Output RS 4 Signals A, B, I Signal shape Rectangular Supply voltage V 5 ± 5% Supply current A max..5 Wiring diagram T U V W T A T A B B C C +5V T - +SENSE -SENSE PE Wiring diagram ExRDM 9 N and ExRDM 9 NEi with incremental encoder 8 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

41 Explosion-proof -phase stepper motors Options Encoder Absolute encoder for ExRDM 9 NEa Unlike incremental encoders, the current position value is directly available for the absolute encoder. If this encoder is mechanically run in a shut-off state, the current position value can be read out directly after re-start of the power supply. Technical Data Supply voltage V DC 8... Max. power consumption A <. at 8 V DC, <.7 at V DC Resolution Incr./rpm max. 89 ( Bit) Measurement range rpm max. 496 ( Bit) Baud rate kbaud 5, line length to 5 m kbaud 5, line length to m Encoder interface CAN-field bus interface (opto-isolated) Data transmission CAN bus driver (ISO/DIS 898) Protocol CANopen device profile for encoder CiA DS- 46 V.A Output code Binary Max. allowable speed /min Wiring diagram CN CN VDC 4VDC CAN_V CAN_H CAN_L CN U V W PE T T SHLD ON S OFF Wiring diagram for ExRDM 9 NEa with absolute encoder S (DIP switch) Description -5 Base ID 6 Memory function : All parameters are stored : No parameter is stored. After power Off/On, the old values apply again. 7 Baud rate : 5 kbaud : 5 kbaud 8 Count direction : Bus parameter Index 6 is valid : Bus parameter Index 6 has inverse effect 9 CAN bus termination (terminating resistor Ω ± 5%) : powered off : connected Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 9

42 Options Gearbox Explosion-proof -phase stepper motors Gearbox Explosion-proof stepper motors by Berger Lahr can also be supplied with a built-in planetary gear PL 5//ATEX. These gearboxes are available in a choice of two gear ratios: : and 5:. The output torque of the gearbox is obtained by multiplying the characteristic values of the motor by the reduction ratio and the efficiency of the gearbox (.96). Technical data Gearbox PL 5//ATEX Planetary gear, spur-toothed, suitable for group II as per ATEX 94/9/EC, category D/G/D/G; S-operation Gear ratio 5 Torsional play arcmin Torsional stiffness Nm/arcmin 5.8 Nominal output torque ) Nm 5 Moment of inertia kgcm².65.5 Max. radial force F ) R N 7 Max. axial force F ) A N 7 Max. allowable press-on force N Weight kg.9 Gear stages Max. drive speed /min 7 Recommended drive speed 4) /min 4,5 Efficiency for nominal load % 9 Min. operating temperature C - Max. operating temperature C +8 Bearings Deep-groove ball bearing Degree of protection IP 65 Lubrication Grease lubrication Service life h ) The actual output torque is calculated from the motor torque x gear ratio x efficiency of the gearbox. ) For N = /min, F A = ) For N = /min, F R = 4) The recommended operating temperature may not be exceeded! 4 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

43 Explosion-proof -phase stepper motors Options Gearbox Dimensional drawing 44.5 Lkr. Ø 9 M8 x Parallel key DIN 6885 A 6x6x Ø 5 -. Ø h6 ( ) -. Ø 55 h7 ( ) Centre hole DIN DS M6 PL 5//ATEX gearbox Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 4

44 VRDM 6 Technical data -phase stepper motors VRDM 6 Technical data Motor type VRDM 64 / 5L VRDM 66 / 5L VRDM 68 / 5L Winding 5G4A 7G8A 7G8A 5G4A G8A 5G4A G8A Max. supply voltage U max V AC 4 Nominal voltage DC bus U N V DC 5 Nominal torque M N Nm Holding torque M H Nm Rotor inertia J R kgcm² Steps per revolution z / 4 Step angle α.8 /.9 ) Systematic angular tolerance Δα s ± Max. starting frequency full step f Aom khz Max. starting frequency half step f Aom khz Phase current I W A rms... Winding resistance R W Ω Rate-of-current rise time constant τ ms Number of connection wires Weight m ) kg Shaft load ) Max. radial force st shaft end 4) N 4 5 Max. radial force nd shaft end (optional) 5) N 5 / 4 Max. axial force pull N Max. axial force compression N 8.4 Nominal bearing life L 6) h h ) Measured at / 4 steps/revolution, unit: minutes of arc ) Weight of the motor version with braided wires ) Conditions for shaft load: speed of rotation 6 /min, % ED at nominal torque, ambient temperature 4 C (storage temperature 8 C) 4) Point of attack of radial force: in the middle of the shaft end 5) Point of attack of radial force: in the middle of the shaft end; st value: Motors with terminal boxes, connectors or encoder; nd value: Motors with braided wires 6) Operating hours at a failure probability of % Environmental conditions Ambient temperature C Installation height without power reduction m a. MSL Transport and storage temperature C Relative humidity % 5 85; no condensation permissible Vibration severity in operation as per DIN EN 64-4 A Max. vibration load m/s Degree of protection as per DIN EN 64-5 Total except shaft bushing IP 4 Shaft bushing IP 4 Heat class as per EN (F) Shaft wobble and axial precision DIN EN 5 47 (IEC 67-) Max. rotary acceleration Wheel/s 4 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

45 -phase stepper motors VRDM 6 Technical data Characteristic curves VRDM 64 / 5L 5G4A VRDM 64 / 5L 7G8A M [Nm],4. M [Nm],4.,.,.,,,,,,5 5 f s [khz],,5 5 f s [khz] J [kg cm²] 4 n [/min] J [kg cm²] 4 n [/min] VRDM 66 / 5L 5G4A VRDM 66 / 5L 7G8A M [Nm],8. M [Nm],8.,6.,6.,4,4,,,,5 5 f s [khz],,5 5 f s [khz] J [kg cm²] 4 n [/min] J [kg cm²] 4 n [/min] (.) Pull-out torque at U N = 5 V DC and I W =. A : Measured at full step ( steps per revolution) (.) Pull-out torque at U N = 5 V DC and I W =.4 A : Measured at half step (4 steps per revolution) (The characteristic curve was measured with a bipolar parallel connection and the calculated current: I W = I W, I W - Current setting on controller) () Start limit torque () Maximum load inertia Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 4

46 VRDM 6 Technical data -phase stepper motors Characteristic curves VRDM 66 / 5L G8A M[Nm],8..,6,4,,,5 5 f s [khz] J [kg cm²] 4 n [/min] VRDM 68 / 5L G8A VRDM 68 / 5L 5G4A M [Nm],6. M [Nm],6.,.,.,8,8,4,4,,5 5 f s [khz],,5 5 f s [khz] J [kg cm²] 4 n [/min] J [kg cm²] 4 n [/min] (.) Pull-out torque at U N = 5 V DC and I W =. A : Measured at full step ( steps per revolution) (.) Pull-out torque at U N = 5 V DC and I W = 4. A : Measured at half step (4 steps per revolution) (The characteristic curve was measured with a bipolar parallel connection and the calculated current: I W = I W, I W - Current setting on controller) () Start limit torque () Maximum load inertia 44 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

47 -phase stepper motors VRDM 6 Dimensional drawings Dimensional drawings Ø 8. ±.5 Shafts Ø -. L ±.5 5 Ø 8 ( -. ) Ø 5. Rotor axially sprung.6 Only braided wires on the sides are possible for the nd shaft end. R VRDM 64 Length L 4 Shafts Ø 6.5 VRDM VRDM phase stepper motor VRDM 6 in braided wire version 57. Ø 8. ±.5 Shafts Ø -. L ± Ø 8 ( -. ) 47. Ø 5. Rotor axially sprung.6 R 5 Cable retension screw M x.5 for cable Ø 9 to Ø.5 Length L Shafts Ø VRDM 64 VRDM VRDM phase stepper motor VRDM 6 in terminal box version Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 45

48 VRDM 6 Motor connection -phase stepper motors Motor connection W W Motor connection in braided wire version with four connection wires Designation Motor wire colour as per Motor wire colour DIN IEC 757 BR brown BR/WH brown and white RD red 4 RD/WH red and white 4 5 W W Motor connection in braided wire version with eight connection wires Designation Motor wire colour as per Motor wire colour DIN IEC 757 BR brown BR/WH brown and white RD red 4 RD/WH red and white 5 OR orange 6 OR/WH orange and white 7 YE yellow 8 YE/WH yellow and white 6 W W Motor connection in terminal box version Designation Wire colour as per Wire colour DIN IEC 757 BR brown BR/WH brown and white RD red 4 RD/WH red and white 5 OR orange 6 OR/WH orange and white 7 YE yellow 8 YE/WH yellow and white Control bipolar unipolar W W W 46 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

49 -phase stepper motors VRDM 6 Type code Type code Example: VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO Phase count VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO Size (Flange) VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO 6 (57.mm) Length VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO 4 = 4 mm 6 = 56 mm 8 = 79 mm Number of pole pairs VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO 5 Rotor VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO L = Laminated rotor plate Winding variant VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO ; 5; 7 Winding circuit VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO G = General Connection type I VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO 4 = 4 braided wires 8 = 8 braided wires Connection type II VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO A = Braided wires B = Terminal box Degree of protection VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO IP4 = IP4 on shaft bushing Gearbox type ) VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO O = Without gearbox = PLE 4 = PLE 6 A = PLS 7 Gear ratio VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO O = Without gearbox = : 5= 5 : 8= 8 : Shaft diameter VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO D6 = 6.5 mm D8 = 8 mm DO = With gearbox Shaft model front VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO O = Without processing or with gearbox Centring collar VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO 8 = 8. mm OO = With gearbox Second shaft VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO OOO O = Without = With O = Reserved VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO O = Reserved VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO Braided wire output VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO O = Without S = Side B = Back Braided wire length OOO = Without xxx = xxx mm (max. 4 mm) VRDM 6 8 / 5 L G 4 B IP4 5 DO O OO O O O OOO ) Description of gearbox see options VRDM 6x, page 7 Possible motor types VRDM 64 / 5L 5G4... VRDM 64 / 5L 7G8... VRDM 66 / 5L G8... VRDM 66 / 5L 5G4... VRDM 66 / 5L 7G8... VRDM 68 / 5L G8... VRDM 68 / 5L 5G4... Berger Lahr Catalogue Stepper Motors VRDM, ExRDM 47

50 Appendix Conversion tables Stepper motors Conversion tables Rotor inertia lb in lb ft lb in s lb ft s slug ft kg cm kg cm s g cm g cm s oz in oz in s lb in 6.94 x -.59 x -.5 x x -.9 x x - lb ft x x lb in s x -.9 x.5.9 x 6.5 x 6.77 x 6 lb ft s 4.6 x.7.5 x x 7.8 x x 4 9 slug ft kg cm.47.7 x x x -6.9 x x - kg cm s x x x.887 g cm.47 x -4.7 x x x -8 x -. x -6. x x -.4 x -6 g cm s.5. x x x x x - oz in x -4.6 x -6.4 x x x - oz in s x - 5. x x x Torque lb in lb ft oz in Nm kg m kg cm g cm dyne cm lb in 8. x x x.9 x 6 lb ft x 4.55 x 7 oz in 6.5 x x x - 7. x x x 4 Nm x 4 x 7 kg m x 9.86 x x 7 kg cm x x x 5 g cm x x x x -5 x -5 x dyne cm 8.85 x x x x x -6.9 x -6 Power Length H.P. W in ft yd m cm mm H.P in W. x - ft yd m cm x -. mm x -.. Rotation Weight /min (rpm) rad/sec deg./sec lb oz slug kg g /min (rpm).5 6. lb rad/sec oz 6.5 x -.9 x deg./sec x - slug x 4 kg g.5 x -.57 x x -5. Temperature Force F C lb oz gf dyne N F (ϑ - ) 5 / 9 lb x C ϑ 9 / 5 + oz x 4.78 gf.5 x ,665 N.A. dyne.48 x x -6. x -. N N.A., Example for conversion: Conversion of a inch length measurement into metres. Look for the entry in (= inch) in the Length table in the left column and the entry m (= metre) in the header. The table cell at the point of intersection of the column and the row will show the conversion factor:.54. Multiply inches by.54 and you will get the value in metres: in x.54 =.54 m. 48 Catalogue Stepper Motors VRDM, ExRDM Berger Lahr

51

52 Berger Lahr offers you the positioning and automation solutions you need, based on our technology and proven series of products. Our comprehensive engineering and consulting service is ready to support and advise you every step of the way. Berger Lahr is a member company of the Schneider Electric Group. With its Merlin Gerlin, Square D and Telemecanique brands, Schneider Electric is one of the leading providers of electrical and automationengineering solutions. Berger Lahr GmbH & Co. KG Breslauer Str. 7, D-779 Lahr 4. GB4.7 reinisch AG Subject to technical changes Printed in Germany