W r.p.m. r.p.m. Nm Nm P50B05020D P50B07040D
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1 SNYO DENKI RUSHLESS C SEROMOTORS & DRIES rushless C operation 4500 rpm top speed 240C single phase supply 0.16 to 10.8Nm continuous torque 50W to 3kW shaft power rushless C servomotors combine the best performance features of stepper motors and brushed DC servomotors. They are used in applications where higher speed and performance are required than stepper motors can offer. However, the cost is higher than stepper systems. They are constructed from a permanent magnet rotor and three phase stator windings. The commutation is controlled electronically, eliminating the need for brushes that wear out. n incremental shaft encoder is fitted to the rear of the rotor to enable closed loop operation. selection of 12 motors and 4 drives are available to suit a wide range of applications requiring position, speed or torque control. ll servomotor parameters and functions are set using a PC and manufacturer s software and downloaded to the drive. On site modifications can be made using pushbutton switches and an LED display on the drive. MOTOR & DRIE SPECIFICTIONS SERIES P5 P3 P2 P6 Q MOTOR MODEL NOMINL POWER NOMINL SPEED P D P D MXIMUM NOMINL STLL SPEED TORQUE TORQUE W r.p.m. r.p.m. Nm Nm P D P D P D P D ROTOR INERTI kg.m x x x x x10 7.9x10 SELING WEIGHT DRIE IP55 kg P D x10 IP55 7 P D x10 IP P D x10 IP55 5 P H x10 IP P H x10 IP Q113300D x10 IP QS103 QS103 QS103 QS103 QS105 QS105 QS110 SDservo1.cdr
2 FETURES LED display and pushbuttons for minor parameter adjustment without a computer Optional 24DC failsafe brake Connectors for power and encoder Parameter setting by RS232 and PC software ustralian 240C single phase supply Digital inputs & outputs Step & direction or 10 analog input Simulated encoder output Compact housing SPECIFICTIONS POWER SUPPLY Motor: 200 to 230 C (10%, -15%), 50/60Hz Control: 200 to 230 C (10%, -15%), 50/60Hz Motor: single/three phase, Control: single phase OPERTING TEMPERTURE 0to55 C STORGE TEMPERTURE -20 to 65 C HUMIDITY 90% max ENCODER OUTPUT Line driver 26LS31, \,, \, Z, Z\ ENCODER RESOLUTION 2000 pulse/rev (8000 pulse/rev calculated) LED DISPLY status, monitor, alarm, parameter setting, adjustment mode MONITOR OUTPUT elocity: 10% at 1000 rpm Current: 10% at 100% ELOCITY CONTROL RNGE 1:5000 PROTECTION Overcurrent, overload, drive overtemperature, Excessive mains power, overspeed, sensor error, Low supply voltage, velocity control error, Motor overheating, excessive deviation, servo processor error, memory error, CPU error MOTOR OUTPUT 400Hz, sinusoidal, IGT, PWM NLOG INPUT 10 into 10k DIGITL INPUTS 5 to 5m load (optocoupled) PULSE INPUT 5 line driver or NPN current sink 5MHz max frequency line driver, 150kHz for NPN DIGITL OUTPUTS 12 to 24 50m max. (optocoupled) SEQUENCE INPUTS Servo on, alarm reset, torque limit, encoder clear, forward rotation inhibit, rev rotation inhibit, command inhibit, external trip, forced discharge, emergency stop, control mode switching, proportional control, gain switching, internal velocity setting. SEQUENCE OUTPUTS Servo ready, power on, servo on, holding brake timing, torque limit status, velocity control status, low velocity, speed reaching, zero velocity, command receive enabled, gain switching status, velocity loop proportional control status, current mode switching status, forward & rev overtravel, warning, alarm code (3 bits) CONTROL MODES elocity, torque and position CONNECTIONS ssembled cables can be supplied for motor, supply and encoder connections. SDservo2.cdr
3 USTRLIN MINS SUPPLY The Q Series drives will operate on 240 C single phase supply. There is no need for an expensive and heavy isolating transformer. Three phase supply is also possible but in this instance, a transformer is required to reduce 415C 3 to 240 C 3 MOTOR CONNECTIONS ll motors are supplied with multipole connectors, either on a flying lead or on the motor body. UTOTUNING The Q Series drives are autotuning which will set servo parameters automatically after running the motor a few revolutions with load attached. SPCE SING The Q Series drives are very compact, saving on cabinet size. PRMETERS SETTING ll servo parameters are set from a computer using manufacturer s software and RS232 port. However, if minor parameter changes are required on site later, these can be adjusted, without a computer, using push buttons and a 5 digit LED display on the drive. MOTOR MODELS The low to medium power motors are available in the P3 and P5 ranges. The P3 series are very compact and are ideal for applications involving fast acceleration and fast positioning. They are ideal for low inertia loads. The P5 series are better for applications where the load inertia exceeds the motor inertia. PULSE INPUT The Q Series drives can be configured for step and direction inputs (like a stepper motor) as well as the standard for /-10 analog velocity command input. This means a simpler and lower cost controller can be used. It is also possible to run the drives with CW and CCW pulse inputs. NO RMPING REQUIRED When operating drive with pulse input, no ramping is necessary. The drive takes care of acceleration and deceleration. FREQUENCY MULTIPLICTION When running the Q Series drives with step and direction inputs, often a controller like a small PLC is unable to output pulses at sufficiently high frequency. To solve this problem, the drive has built in adjustable pulse multiplication factor (upto times 63) so a low frequency pulse train can generate a high motor speed. ENCODER PULSE DIIDING The encoder pulses can be divided by a factor from 1 to 1/8192 to allow correct scaling when interfacing to motion controllers. CLOSED LOOP OPERTION The servomotors use 2000 pulse per rev incremental encoders to obtain closed loop operation. The drives process the position information based on 8000 pulse per rev. The drive can also be run in open loop with /-10 analog input. HIGH INERTI RTIO Due to a complex control algorithm and improved stabilisation, the Q series drives and motors can handle very high inertia ratios, upto about 150:1. Normally, maximum recommended load/rotor inertia ratio for servomotors is 10:1. MOTOR OUTPUT IGT, PWM control, sinusoidal current. THREE OPERTING MODES The Q Series drive can be set for position, velocity or torque control. LIMIT SWITCH INPUTS The Q Series drives can be configured for positive and negative overtravel switch inputs. These can be used instead of, or independently of the motion controller. INTERNL JOGGING The drives have internal jogging function built in. This is useful when testing the drive and motor to ensure all connections are correct. REGENERTION RESISTOR regeneration resistor is built in to dissipate energy produced by the motor on deceleration. This will be sufficient in most applications, however, an additional external resistor can also be added if necessary. HIGH EFFICIENCY high efficiency power module in the Q Series drive reduces mains power loss by 20% compared to the previous Sanyo Denki drives. LOWER IRTION uilt in high order torque command low pass filter, broadband 2nd order notch filter and a vibration control monitor provide low vibration operation. SETTLING TIME n improved speed controller is used to shorten settling time to one fifth of the old drives. INPUTS & OUTPUTS The Q Series drives have 6 general purpose inputs and 8 general purpose outputs which can be allocated special functions. ll digital inputs and outputs are optically isolated. EMC The Q Series drives conform to the Low oltage Directive. n EMC filter should be used on the mains supply. MOTOR RKES The brushless C servomotors can be fitted with an optional failsafe 24DC brake. This is useful when a motor is working against gravity and a power failure may cause the load to move. REGENERTION RESISTORS regeneration resistor is sometimes required to dissipate energy during rapid deceleration of high inertia loads. This is included inside the drive, however, in high energy situations, an external resistor may be required. SDservo3.cdr
4 TORQUE CURES These torque curves use the units of r.p.m. for speed and Nm for torque. The torque curves are in two sections, continuous and instantaneous. The continuous torque can be delivered by the motor continuously at 100% duty cycle. The instantaneous torque can be delivered at less than 100% duty cycle, for short periods. Contact our office for allowable duty cycle and torques. Instantaneous torque is further divided into two parts, for single phase and three phase supply MOTOR: P D DRIE: POWER: 50W MOTOR: P D DRIE: QS103 POWER: 400W SERIES: P5 MOTOR: P D DRIE: POWER: 200W MOTOR: P D DRIE: POWER: 100W MOTOR: P D DRIE: QS103 POWER: 750W SERIES: P5 MOTOR: P D DRIE: QS103 POWER: 400W MOTOR: P D DRIE: POWER: 200W SERIES: P5 MOTOR: P D DRIE: POWER: 100W SERIES: P5 MOTOR: P D DRIE: QS103 POWER: 1000W SERIES: P6 MOTOR: P H DRIE: QS105 POWER: 1500W 2 SERIES: P2 MOTOR: P H DRIE: QS105 POWER: 1500W SERIES: Q MOTOR: Q113300D DRIE: QS110 POWER: 3000W SDservo4
5 MOTOR DIMENSIONS D1 L3 L1 L9 D3 D4 D2 L2 L5 L6 L4 OPTIONL 24 DC RKE L7 U D6 D5 L8 W D7 MOTOR CLE 230mm ENCODER CLE 230mm SERIES P3 SERIES P5 SERIES P6 P2 Q DIMENSION DESCRIPTION P D P D P D P D P D P D P D P D P D P H P H Q113300D L1 L2 L3 L4 L5 L6 L7 L8 L9 D1 D2 D3 D4 D5 D6 D7 U W Motor length Shaft length Pilot face thickness earing seal Keyway length Keyway position Cable gland Flange thickness Optional rake Flange size Shaft diameter Pilot face olt P.C.D. Mounting bolt holes Shaft bolt D6 tapping depth Shaft slot depth Key height Key width n/a n/a n/a n/a n/a 2.5 n/a n/a 4.0 n/a n/a n/a M5 M5 M5 n/a M4 M5 M5 M6 n/a n/a n/a n/a n/a 1.2 n/a 1.5 n/a 3.0 n/a 4.0 n/a 3.0 n/a 4.0 NOTES When fitted with an optional 24 DC brake, motor length is longer (refer L9). Flying leads for motor and encoder connections are 230mm long. Motors P H, P H and Q113300D have connectors instead of flying leads for motor and encoder. Motor P D shaft is not fitted with keyway. Motor P D double faces shaft, open keyway. Motor P H does not have a shaft bolt hole n/a M SDservo5.cdr
6 DRIE DIMENSIONS W 70 H L DRIE MODEL L W H QS103 QS105 QS Drives should always be mounted vertically. Front panel layout differs slightly on QS110 due to heavier terminals. QS110 has 10 mouting holes available. WEIGHT REGENERTION RESISTORS R W/100 OHM (for drive) R W/50 OHM (for QS103 drive) 40 R W/20 OHM (for QS105 drive) R W/10 OHM (for QS110 drive) When there is a high inertia load, high speeds and deceleration rates, excess energy can be generated. regeneration resistor is built into the drive, however, in some instances, an external regeneration resistor may also be required. Contact our office to determine if this is necessary. SDservo6.cdr
7 WIRING DIGRM Disconnect for single phase E.M.C FILTER REQUIRED C T W lack MOTOR SUPPLY S R U White Red MOTOR LOGIC SUPPLY REGENERTION RESISTOR C t r R1 R2 Q SERIES SERO DRIE E Z Z INCREMENTL ENCODER STEP & DIRECTION INPUTS ELOCITY/ TORQUE COMMND INPUT TORQUE COMP. INPUT Line driver 26LS Line receiver Line driver 26LS31 Z Z PS PS ZOP SIMULTED ENCODER OUTPUT Fwd 18 TORQUE LIMIT INPUT Rev MON MONITOR OUTPUT TTERY INPUT 3.6 Lithium 5-24 DC DC 37 IN1 OUT1 39 GENERL PURPOSE INPUTS 36 IN2 35 IN3 34 IN4 33 IN5 32 IN Line receiver OUT2 40 OUT3 41 OUT4 42 OUT5 43 OUT6 44 OUT7 45 GENERL PURPOSE OUTPUTS OUT SDservo7.cdr
8 INTERFCING NLOG ELOCITY or TORQUE COMMND -10 to k - 18k 3.3k - 1k 1k NLOG MONITOR OUTPUT 1k 2.2k DIGITL GENERL PURPOSE INPUTS - 5to24 - IN COM 2.7k IN (1 to 6) 3.9k 30 max. - DIGITL OUTPUTS m max 5 HIGH SPEED INPUTS or POSITION COMMND PULSE suitable LINE DRIER (3MHz max) - 1k 390 1k 1.5k suitable 5 HIGH SPEED INPUTS or POSITION COMMND PULSE NPN (150kHz ma) - 1k 390 1k 1.5k suitable Continuous development may necessitate changes in specifications without notice. Motors, drives, belts & pulleys and gearheads also available. UTOMTED MOTION SYSTEMS PTY.LTD. MILING DDRESS: P.O.OX 1240 WNGR DC W PHONE: (08) FX: (08) EMIL: sales@automotsys.com.au INTERNET: OFFICE DDRESS: UNIT2, 7 RETT RD. WNGR, PERTH WESTERN USTRLI..N.: SDservo8
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