Lexium 32 Servo Drives motion control

Transcription

1 Lexium Servo Drives Catalog /

2 Contents Lexium Servo Drives Introduction b Presentation page b Selection Guide: Servo motor/servo drive combinations... page Lexium servo drives b Functions page b Characteristics page b References v Servo drives page v Accessories... page b Options v Communication buses and networks... page v Encoder cards for Lexium M servo drives... page v Safety card for Lexium M servo drives page v Braking resistors page v Integrated and additional EMC input filters page v Line chokes page v SoMove setup software...page b Dimensions... page b Schemes... page b Motor starters page b Mounting and installation recommendations... page BMH servo motors b Presentation page b Characteristics page b References page b Dimensions... page b Options v Integrated holding brake and sensor... page v GBX planetary gearboxes page BSH servo motors b Presentation page b Characteristics page b References page b Dimensions... page b Options v Integrated holding brake and sensor... page v GBX planetary gearboxes page Technical appendices b Sizing a servo motor page

3 Presentation Lexium Servo Drives Presentation The Lexium range of servo drives includes three drive models with two servo motor ranges for optimum utilization. It provides high performance, power and simplicity of use in applications at power ratings between. and kw. Lexium servo drives are designed to simplify the life cycle of machines. The SoMove setup software, side-by-side mounting and color coded plug-in connectorseasily accessible on the front panel or the top of the servo drives-make installation and setup easier. And, maintenance can be performed quicker, and at less cost, thanks to the new duplication and backup tools. Lexium servo drive controlling a printing machine Performance and productivity are improved with motor control,reduction of vibration with automatic parameter calculation, speed monitoring, and additional band-stop filtration. The compact size of the Lexium servo drives and servo motors provides maximum power in minimum space, reducing machine dimensions and lowering your costs. And, with a number of standard communication cards and encoders available, Lexium servo drives are easily adaptable with different architectures. Also, the Lexium integrated safety function, plus access to additional safety functions, reduces design time by making it easier to comply with safety standards. Applications for industrial machines The Lexium servo drive incorporates functions which are suitable for the most common applications, including: bbprinting: cutting, machines with position control, etc. bbpackaging and wrapping: cutting to length, rotary knife, bottling, capsuling, labelling, etc. bbtextiles: winding, spinning, weaving, embroidery, etc. bbhandling: conveying, palletization, warehousing, pick and place, etc. bbtransfer machines (gantry cranes, hoists), etc. bbclamping, on the fly cutting operations (flying shear, printing, marking), etc. Lexium servo drive controlling a pick and place robot Description The Lexium range of servo drives covers motor power ratings between. kw and kw with three types of power supply: bb V single-phase,. kw to. kw ( LXM ppppm) bb V single-phase,. kw to. kw ( LXM ppppm) bb V three-phase,. kw to kw ( LXM ppppn) The entire range conforms to international standards IEC/EN -- and IEC/EN -, is UL and CSA certified, and has been developed to meet the requirements of directives regarding protection of the environment (RoHS) as well as those of European Directives to obtain the e marking. Electromagnetic compatibility (EMC) The integration of a category C EMC filter in Lexium servo drives and compliance with EMC simplifies installation and reduces the costs involved in obtaining CE certification. Additional filters, available as an option, can be installed by the customer to reduce the level of emissions (see page ). Accessories and options External accessories and options such as braking resistors, line chokes, etc. complete this offer. Lexium servo drive controlling a cut to length machine Functions: page Characteristics: page page page Schemes: page

4 Presentation (continued) Lexium Servo Drives Simplicity, from installation to maintenance Lexium C, A and M servo drives Safety card Encoder card Communication card BMH servo motor BSH servo motor Human-Machine Interface (HMI) Remote graphic display terminal Multi-Loader tool SoMove setup software Memory card Auto-tuning Installation and maintenance The display can be used to control and configure the servo drive, display states and detect errors, access parameters and modify them in manual mode using the navigation button. The Lexium servo drive can be connected to a remote display terminal, available as an option. This terminal can be mounted on an enclosure door with an IP degree of protection. It provides access to the same functions as the Human-Machine interface and some additional functions. The Multi-Loader tool enables configurations to be copied from a PC or a servo drive and loaded onto another servo drive. The servo drives can be powered-down. The SoMove setup software is used to configure and optimize control loops with the Oscilloscope function in automatic mode or in manual mode, and also for maintenance of the Lexium servo drive. Like all other Schneider Electric drives and starters. It can be used with a direct connection or a Bluetooth wireless connection. This stores all the servo drive parameters. When replacing a Lexium servo drive, this function helps ensure immediate startup since the programming time has been eliminated. Maintenance time is optimized, and costs reduced. Adapted to each user, the three auto-tuning levels, automatic, semi-automatic and expert, allow your machine to achieve a high level of performance, whatever the application. Several Lexium servo drives can be mounted side by side to save space. Connecting the servo drives is simplified by colour-coded plug-in connectors, which are easily accessed on the front panel or on top of the drive. Functions: page Characteristics: page page page Schemes: page

5 Presentation (continued) Lexium Servo Drives CANopen machine bus CANmotion Lexium Motion Controller Performance The Lexium servo drive increases machine performance by providing: bboverload capacity: the high peak current (up to times the direct current) increases the range of movement bbpower density: the compact size of the servo drives offers maximum efficiency in a small space bbhigh bandwidth: better speed stability and faster acceleration improve the quality of control bbmotor control: reduction of vibration, speed observer and additional band-stop filter enhance the quality of control Flexibility Lexium servo drives provide excellent flexibility for integration into different control system structures. Lexium integrated drive Lexium A Depending on the model, the Lexium servo drive has logic or analog inputs and outputs as standard, which can be configured to adapt better to applications. It also has control interfaces for easy access to the various architecture levels: bbit has a control interface for control via pulse train bbit integrates a combined CANopen/CANmotion port for enhanced control system performance bbit can also be connected to the main communication networks and buses using various communication cards. The following protocols are available: DeviceNet, EtherNet/IP and PROFIBUS DP V. Lexium SD stepper drive Altivar drive BMH servo motor BSH servo motor Safety The Lexium servo drive provides added functionality to a control system s safety system with its integrated Safe Torque Off (STO) function, which prevents unintended restarting of the servo motor. This function complies with standard IEC SIL governing electrical installations and the power drive systems standard IEC/EN -. An additional esm module is available for accessing enhanced safety functions. BMH and BSH servo motors: dynamics and power BMH and BSH servo motors are synchronous three-phase motors. They feature a SinCos Hiperface encoder for sending data from the servo motor to the servo drive automatically, and are available with or without a holding brake. BMH servo motors BMH servo motors are motors with medium inertia. They are perfectly adapted to high-load applications and allow the movement to be adjusted in a more robust manner. This product offer covers a continuous stall torque range between. Nm and Nm for nominal speeds between and RPM. BSH servo motors BSH servo motors satisfy requirements for precision and high dynamic performance, due to the low rotor inertia. They are compact, and offer a high power density. Lexium M servo drive Example of control system architecture with CANopen and CANmotion machine bus This product offer covers a continuous stall torque range between. Nm and. Nm for nominal speeds between and RPM. Functions: page Characteristics: page page page Schemes: page

6 Presentation (continued) Lexium Servo Drives Main functions Type of servo drive LXM C LXM A LXM M Communication Integrated Modbus serial link Pulse train V c logic inputs () V c capture inputs () () V c logic outputs () Modbus serial link CANopen, CANmotion machine bus Modbus serial link Pulse train As an option CANopen, CANmotion machine bus, DeviceNet, EtherNet/IP, PROFIBUS DP Operating modes Functions Manual mode (JOG) Electronic gearbox Speed control Current control Homing Manual mode (JOG) Speed control Current control Position control Auto-tuning, monitoring, stopping, conversion Stop window Rapid entry of position values Position register Rotary axes Homing Manual mode (JOG) Motion sequence Electronic gearbox Speed control Current control Position control Stop window Rapid entry of position values Rotary axes Position register, reassignable, reassignable, reassignable Analog inputs, reassignable, reassignable, reassignable Pulse control input ESIM PTO output, configurable as: bb RS link bb V or V push-pull bb V or V open collector RS link Human/Machine Interface Via integrated display terminal: Manual mode (positive/negative, fast/slow), auto-tuning, simple startup, display of information and errors, homing for Lexium A and M Safety functions Integrated Safe Torque Off STO As an option Safe Stop (SS) and Safe Stop (SS) Safe Operating Stop (SOS) Safe Limited Speed (SLS) Sensor Integrated SinCos Hiperface sensor As an option Resolver encoder Analog encoder Digital encoder Architecture Control via: bb Logic or analog I/O Control via: bb Motion controller via CANopen and CANmotion machine bus Control via: bb Schneider Electric or third-party PLCs via communication buses and networks Type of servo motor BMH BSH Application type High load With robust adjustment of the movement High dynamic range Power density Flange size,, and,, and Continuous stall torque. to Nm. to. Nm Encoder type Single turn SinCos: bb, points/turn and bb, points/turn Multiturn SinCos: bb, points/turn x turns and bb, points/turn x turns Degree of protection Casing IP (IP conformity kit as an option) IP Shaft end IP or IP (IP conformity kit as an option) Single turn SinCos: bb, points/turn Multiturn SinCos: bb, points/turn x turns IP or IP () Unless otherwise stated, the logic I/O can be used in positive logic (Sink inputs, Source outputs) or negative logic (Source inputs, Sink outputs). () The capture inputs can be used as standard logic inputs.

7 Selection Guide Lexium Servo Drives V single-phase supply voltage Servo drive/servo motor combinations Lexium servo drive/bmh or BSH servo motor combinations Servo motors Lexium C, A and M servo drives V single-phase supply voltage with integrated EMC filter BMH (IP or IP ) BSH (IP or IP ) LXM pum Continuous output current: A rms Nominal operating point Stall torques Type of servo motor Rotor inertia BMH T. BMH T. BMH T. BMHT. BMHT. () - M : Continuous stall torque - : Peak stall torque Type of servo motor Rotor inertia Nominal torque Nominal speed Nominal power M / () kgcm kgcm Nm rpm W Nm/Nm BSH T.../. BSH T.../. BSH T. BSH T. BSH T. BSH T.

8 LXM pdm Continuous output current: A rms LXM pdm Continuous output current: A rms Nominal operating point Stall torques Nominal operating point Stall torques Nominal torque Nominal speed Nominal power M / () Nominal torque Nominal speed Nominal power M / () Nm rpm W Nm/Nm Nm rpm W Nm/Nm../.../.../. () - M : Continuous stall torque - : Peak stall torque../.../.../.../.../.. /.

9 Selection Guide Lexium Servo Drives Supply voltage V single phase Servo drive/servo motor combinations Lexium servo drive/bmh or BSH servo motor combinations Servo motors Lexium C, A and M servo drives V single-phase supply voltage with integrated EMC filter BMH (IP or IP ) BSH (IP or IP ) LXM pum Continuous output current:. A rms Nominal operating point Stall torques Type of servo motor Rotor inertia BMH T. BMH T. BMH T. BMH T. BMH T. BMH T. BMH P. () - M : Continuous stall torque - : Peak stall torque Type of servo motor Rotor inertia Nominal torque Nominal speed Nominal power M / () kgcm kgcm Nm rpm W Nm/Nm BSH T.../. BSH T. BSH T. BSH T. BSH T. BSH T. BSH T. BSH T.

10 LXM pum Continuous output current: A rms Nominal operating point Nominal torque Nominal speed Nominal power Stall torques M / () LXM pdm Continuous output current: A rms Nominal operating point Nominal torque Nominal speed Nominal power Stall torques M / () LXM pdm Continuous output current: A rms Nominal operating point Nominal torque Nominal speed Nominal power Stall torques M / () Nm rpm W Nm/Nm Nm rpm W Nm/Nm Nm rpm W Nm/Nm../.../../.../ () - M : Continuous stall torque - : Peak stall torque../.../.../.../.../.../.../.. /.../.../.

11 Selection Guide Lexium Servo Drives V three-phase supply voltage Servo drive/servo motor combinations Lexium servo drive/bmh or BSH servo motor combinations Servo motors Lexium C, A and M servo drives V three-phase supply voltage with integrated EMC filter BMH (IP or IP ) BSH (IP or IP ) LXM pun Continuous output current:. A rms Nominal operating point Stall torques LXM pdn Continuous output current: A rms Nominal operating point Stall torques Motor type Rotor inertia Motor type Rotor inertia Nominal torque Nominal speed Nominal power M / () Nominal torque Nominal speed Nominal power M / () kgcm kgcm Nm rpm W Nm/Nm Nm rpm W Nm/Nm BSH P.../. BSH P.../. BSH P.../. BMH P.../. BMH P.../. BSH P.../. BSH P.../. BMH P.../. BMH P.../. BMH P. BMH P. BMH P. BMH P. BMH P. BMH P. BMH P. BMH P. BMH P BMH P () - M : Continuous stall torque - : Peak stall torque BSH P. BSH P. BSH P. BSH P. BSH P. BSH P. BSH T. BSH T. BSH P.

12 LXM pdn Continuous output current: A rms Nominal operating point Stall torques LXM pdn Continuous output current: A rms Nominal operating point Stall torques LXM pdn (r) Continuous output current: A rms Nominal operating point Stall torques Nominal torque Nominal speed Nominal power M / () Nominal torque Nominal speed Nominal power M / () Nominal torque Nominal speed Nominal power Nm rpm W Nm/Nm Nm rpm W Nm Nm rpm W Nm M / ()../.../.../.../.../../. () - M : Continuous stall torque - : Peak stall torque../.. /.../.. /.../../.../.../.. /./.../.../. / r Available th quarter

13 Functions Lexium Servo Drives General overview of Lexium functions The Lexium servo drive integrates different operating modes, enabling it to be used in a wide range of industrial applications. There are two main function families: bbconventional adjustment modes, such as: vvhoming vvmanual mode (JOG) for position or speed vvauto-tuning of the servo drive/servo motor combination bboperating modes, such as: vvposition control: -- Point-to-point mode -- Motion sequence mode -- Electronic gearing mode (pulse position and speed control) vvspeed control: -- Motion sequence mode -- Electronic gearing mode -- Speed control with acceleration/deceleration ramp -- Instantaneous speed control vvcurrent control: -- Current control Two types of operation are possible, in local mode or via communication buses and networks. In local mode: The servo drive parameters are defined via: bbthe user interface bbthe remote graphic display terminal bbthe SoMove setup software Movements are then determined by: bbanalog signals (± V) bbpti signals (pulse/direction (P/D), A/B or CW/CCW signals) In this mode, limit switches and homing switches are not managed by the servo drive. It is, however, possible to limit movement by assigning a logic input. Via communication buses and networks: All the servo drive parameters and those associated with the operating modes can be accessed via: bbthe communication buses and networks, in addition to access via the user interface bbthe remote display terminal bbthe SoMove setup software The following table indicates the control type and the sources of setpoint values available for each of the operating modes. Operating modes Control Setpoint value via Adjustment modes Homing (for Lexium A and M) Manual mode (JOG) Auto-tuning Operating modes Point-to-point mode (for Lexium A and M) Motion sequence mode (for Lexium M) Electronic gearing mode (for Lexium C and M) Spe)ed control with ramp Current control Functions available Via communication buses and networks Local Buses and networks or SoMove setup software Buses and networks, SoMove setup software, user interface or remote display terminal Buses and networks or SoMove setup software Buses and networks or SoMove setup software Buses and networks or SoMove setup software Pulse/direction (P/D), A/B or CW/CCW signals Buses and networks or SoMove setup software Analog input, buses and networks or SoMove setup software Functions not available

14 Functions (continued) Lexium Servo Drives Adjustment modes Homing Note: Available with Lexium A and Lexium M servo drives. Before performing an absolute movement in point-to-point mode, a homing operation must be carried out. Homing consists of associating an axis position with a known mechanical position. This position then becomes the reference position for any subsequent movement of the axis. Homing is carried out by: bbimmediately writing the actual position register bbmovements up to a reference sensor Homing with search for sensors Four types of homing with movement to sensors are possible: bbhoming on - limit switch, LIMN bbhoming on + limit switch, LIMP bbhoming on reference contact REF with initial movement in negative direction of rotation bbhoming on reference contact REF with initial movement in positive direction of rotation These homing movements can be executed with or without taking the Zero marker pulse into account. LIMN LIMP M R- Move at search speed HMn Move at output speed HMn_out Clearance at distance HMdis at output speed HMn_out After power-up, the position value is. Start towards the home point: the servo motor is positioned using a relative movement of increments Forced homing to value by writing the actual position expressed in user units Initiation of a command to move increments to the absolute position. The target position is increments (if forced homing (step ) were not performed, the target position would be increments (+ )). HMdis HMdisout_max HMn HMn_out Homing operating mode: example with limit switch and clearance from sensor edge Forced homing Forced homing consists of setting the current motor position as the new reference point to which all subsequent positioning data refer. M Forced homing operating mode M Inc M Inc Homing parameters The homing parameters are transmitted via the communication buses and networks, or using the SoMove setup software. Presentation: page Characteristics: page page page Schemes: page

15 Functions (continued) Lexium Servo Drives Adjustment modes Manual mode (JOG) This mode enables an axis to be moved manually. The movement can be carried out over one movement step (position JOG) or continuously, at constant speed (speed JOG). Two speeds of movement are available (slow or fast). Various parameters are used to configure the manual movement. They are transmitted via the fieldbus, the SoMove setup software, the servo drive user interface or the remote display terminal. Setpoint value in manual mode (position JOG) Manual mode works in local mode via the reassignable logic inputs LIp or via communication buses and networks using a bit from the control word (Bit, Bit, etc.). When a high logic level is applied to the JOG positive, JOG negative logic input, or to a rising edge of a bit from the control word (Bit, Bit ), a movement step is carried out at low or high speed. The choice between low and high speed of movement is defined by the logic state of the JOG fast/slow input or by the logic level of a bit from the control word (Bit ). startman, Bit or LI (JOG fast/slow) startman, Bit or LI (JOG positive) startman, Bit or LI (JOG negative) JOGn_slow Actual speed (n_act) JOGstepusr t < JOGtime JOGtime JOGn_fast Machine adjustment in manual mode (position JOG) Setpoint value in manual mode (speed JOG) The speed is adjusted by the user. By default, it is defined by the JOGn_fast parameter. The acceleration/deceleration ramp is set to the maximum value configured by the user. The JOG positive (positive direction), JOG negative (negative direction) command is selected with the JOGactivate parameter already activated in position JOG mode. Activation of a new command does not interrupt an active command. JOG positive JOG negative JOGn_fast Actual speed (n_act) JOGn_fast Machine adjustment in manual mode (speed JOG) Presentation: page Characteristics: page page page Schemes: page

16 Functions (continued) Lexium Servo Drives Adjustment and operating modes Auto-tuning of the servo drive/servo motor combination The auto-tuning function integrated in the servo drive enables tuning of the servo control parameters to be performed after the initial configuration. This function is activated via: bbthe user interface bbthe remote display terminal bbthe SoMove setup software The user has a choice of three auto-tuning modes: bbautomatic mode: This enables automatic tuning of the servo control parameters, without user intervention. This mode is designed for simple applications. bbsemi-automatic mode: This enables automatic tuning of the standard parameters used in the majority of motion applications. It does, however, offer the user the opportunity to modify certain parameters to help ensure optimum use of the servo motor/servo drive combination. bbexpert mode: This allows the user to modify the standard configuration by altering each adjustment parameter. This mode is designed for complex applications. The SoMove setup software also provides access to screens for making servo control adjustments in each of the three modes. Point-to-point mode Note: Available with Lexium A and Lexium M servo drives. This mode, also referred to as PTP, is used to move the axis from a position A to a position B. The movement can be absolute: this consists of expressing position B in relation to a home position (the axis must have previously been referenced), or relative position: in this case the movement is performed in relation to the current axis position (A). The movement is performed according to acceleration, deceleration and speed parameters. Setpoint value The setpoint value is transmitted via the communication buses and networks, or using the SoMove setup software. Software limits Movement generator Target position Limiting Speed setpoint Max. speed Limiting Actual servo motor speed Acceleration Deceleration Point-to-point mode, absolute and relative movements Possible applications A ler for coordinated axes or a PLC can manage several axes controlled via communication buses and networks. This mode is often used in: bbmaterial handling bbautomated inspection For multi-axis applications requiring fast and precise sequences, we recommend using the motion sequence operating mode (see page ). Presentation: page Characteristics: page page page Schemes: page

17 Functions (continued) Lexium Servo Drives Operating modes Motion sequence mode Note: Available with the Lexium M servo drive. Used for programming the parameters required for executing rapid movements, the Motion sequence mode allows absolute or relative movement of the axis from a point A to a point B, in accordance with a predefined movement, and then from point B to a point C, in accordance with another movement. The motion setpoint can be a relative or absolute movement, and also a speed setpoint. Up to different movements can be configured. Homing positions can also be added to the sequences. The movement is executed according to the selected acceleration, deceleration and speed parameters. It is also possible to choose the sequencing type and conditions for the various movements. Sequencing types and conditions Based on PLCopen, several types of sequencing are available to the user. It is possible to link movements in sequence without passing through zero speed (linked movements), by aborting the movement during or at the end of execution. The sequencing conditions are also varied: level or edge of a logic input, request by communication bus, waiting periods. It is also possible to have a logical combination of two conditions. The Repeat option is used to repeat a motion sequence a predefined number of times. Example of movement sequencing The movement executed below is made up of configured movement stages: bbmovement is used to move from initial point O to point A in ms bbmovement is used to move from point A to point B in ms bbmovement is used to move from point B to point C in ms bbmovement is used to move from point C to point D in ms bbmovement is used to move from point D to the initial point O in ms at negative speed. Position B C M D M O A M M O Speed (rpm) t (ms) M M M M t (ms) - - Example of a movement executed using movement stages Note: It is also possible to keep the axis in position (zero speed) between movement stages. Presentation: page Characteristics: page page page Schemes: page

18 Functions (continued) Lexium Servo Drives Operating modes Motion sequence mode (continued) Possible applications This mode is used for applications requiring fast, precise sequences, and where movements are being made over short distances: bbmaterial handling bbautomated inspection bbpunching bbdrilling, etc. Electronic gearing mode (pulse position and speed control mode) Note: Available with Lexium C and Lexium M servo drives. In this mode, a master/slave relationship is established between a number of Lexium servo drives or between a Lexium servo drive and an external master (external A/B encoder, pulse/direction signals (P/D)). This mode is also used for position and speed control via pulse train (pulse/direction (P/D) or CW/CCW signals, depending on the servo drive) sent by an axis controller (PLC, ler, numerical controller, etc.). The Lexium servo drive's integrated electronic reduction ratio makes it possible to adapt the pulse train frequency to the frequency of the servo drive input. This means that the servo motor's full speed range can be utilised. This reduction ratio, which can be either fixed or variable, is determined by the Lexium servo drive's Gearnum and GearDenom parameters. The ratio and direction of operation parameters can be accessed dynamically via the communication buses and networks. GEARratio GearNum GearDenom IMAX NMAX Position, speed or current control Pulses P/D CW/CCW A/B N D M M a IOposInterface GEARdir_enable E Electronic gearing mode Possible applications bbhandling bbconveying bbpacking bbcutting to length bbapplications in the fields of plastics and fibres Speed control with acceleration/deceleration ramp In this operating mode, the speed setpoint is applied according to an acceleration/ deceleration ramp that can be adjusted using parameters. The speed setpoint can be modified during the movement. Current limiting is also possible. The position control that is present in the background allows flexible synchronization of two axes which are in speed control mode, and enables position control mode to be entered on the fly. Presentation: page Characteristics: page page page Schemes: page

19 Functions (continued) Lexium Servo Drives Operating modes Speed control with acceleration/deceleration ramp (continued) Setpoint value The setpoint value is transmitted via the communication bus and networks, or the SoMove setup software. Speed profile Speed setpoint Limiting Actual servo motor speed Max. speed Acceleration Deceleration Speed control with acceleration/deceleration ramp operating mode Possible applications This mode is mainly used with infinite axes. Examples include turntable management, printing, labelling applications, etc. Instantaneous speed control In this mode the Lexium servo drive can be used with an analog output motion controller. It is suitable for all other high-performance speed control requirements. Setpoint value The setpoint value is transmitted: bbvia analog input or a parameter for Lexium C servo drives bbvia a parameter for the Lexium A and M servo drive Speed or current limiting is transmitted: bbvia analog input or a parameter for the Lexium C servo drive bbvia a parameter for Lexium A and M servo drives Note: A reassignable logic input can also be used to limit speed. n_scale Operating mode Speed control IMAX for current limiting NMAX for speed limiting Analog input Scaling (± V) Speed and current control Parameters (bus or SoMove) Analog input (± V) ESIM pulses Scaling Scaling l_scale Current limiting Speed limiting No limiting Selection of limiting type NREF M E ESIMscale ESIM output activation Instantaneous speed control operating mode with current limiting via analog input Use with analog output ler Axis position feedback can be supplied to the axis controller (PLC, ler, numerical controller, etc.) by the ESIM (Encoder SIMulation) output on the RS interface. Possible applications bbhandling bbpacking bbcutting to length bbwinding and unwinding applications Presentation: page Characteristics: page page page Schemes: page

20 Functions (continued) Lexium Servo Drives Operating modes Current control Current control is necessary for servo motor torque control. This mode, which can be added onto the other modes, is used in machine phases where torque control is crucial. Setpoint value The setpoint value is transmitted: bbvia analog input or a parameter for Lexium C servo drives bbvia a parameter for the Lexium A and M servo drive Speed or current limiting is transmitted: bbvia analog input or a parameter for the Lexium C servo drive bbvia a parameter for Lexium A and M servo drives The ESIM (Encoder SIMulation) output on the RS interface can be used to transmit the position and speed of the servo motor to the axis controller (PLC, motion controller, numerical controller, etc.). l_scale Operating mode Speed control IMAX for current limiting NMAX for speed limiting Analog input Scaling (± V) Speed and current control Parameters (bus or SoMove) Analog input (± V) Scaling Current limiting Speed limiting No limiting Selection of limiting type IREF M E ESIM pulses Scaling ESIMscale ESIM output activation Current control operating mode with speed limiting via analog input Possible applications bbcar assembly applications (tool fixing machine) bbspecial machines Other functions bbcontrol functions: vvstatus monitoring in movement mode vvmonitoring of the axis signals vvmonitoring of the internal signals specific to the servo drive vvmonitoring switching vvmonitoring communication on the communication buses and networks bbentering the various scaling factors bbadjusting the movement generator bbactivating the STOP signal bbtriggering the fast stop function (Quick-Stop) bbactivating the motor brake via the HBC (Holding Brake Controller) bbreversing the direction of rotation of the motor bbreading the analog input values bbdetermining the signal logic bbpossible replacement of the servo motor encoder with an external encoder to close the position loop bbrotary axes (rollover) bbposition register for controlling logic outputs bbcontrolling third-party motors These functions can be activated and configured via: bblogic I/O, some of which are reassignable bbcommunication buses and networks bbthe SoMove setup software bbthe servo drive user interface bbthe remote graphic display terminal

21 Characteristics Lexium Servo Drives Servo drives Environmental characteristics Conformity to standards Lexium servo drives have been developed to conform to the strictest levels of international standards and the recommendations relating to electrical industrial control equipment (IEC, EN), including: IEC/EN -- (low voltage) and IEC/EN - (conducted and radiated EMC immunity and emissions) e marking Product certification EMC immunity IEC/EN -, environments and IEC/EN -- level IEC/EN -- level IEC/EN -- level IEC/EN -- level Conducted EMC emissions for servo drives Radiated EMC emissions for servo drives With integrated filter: bb IEC/EN -, environment, category C bb EN class A group With additional EMC filter (): bb EN class A group, IEC/EN - category C bb EN class A group, IEC/EN - category C With integrated filter: bb IEC/EN -, environment, category C bb EN class A group Lexium servo drives are marked e according to the European low voltage (//EC) and EMC (//EC) directives UL (USA), CSA (Canada) RoHS, TÜV Degree of protection IP conforming to IEC/EN --, IEC/EN Vibration resistance According to IEC/EN --:. mm peak to peak from Hz to Hz gn from Hz to Hz Shock resistance According to IEC/EN paragraph... gn for ms conforming to IEC/EN -- Maximum ambient pollution Degree conforming to IEC/EN -- Environmental conditions IEC -- category C Relative humidity Ambient air temperature around the device According to IEC --, category K, % to %, without condensation Operation C + Temperature derating and limitations: see mounting recommendations page / Storage C - + Type of cooling LXM pum LXM pum LXM pun LXM pdm LXM pdm LXM pdn LXM pdn LXM pdn LXM pdn Natural convection Integrated fan Maximum operating altitude m without derating Up to under the following conditions: bb Temperature C max. bb With derating of the motor output current by % per additional m bb Using a voltage limiter above m Operating position Maximum permanent angle in relation to the normal vertical mounting position Drive characteristics Switching frequency khz () See table on page / to check permitted cable lengths. Presentation: page Functions: page page page Schemes: page

22 Characteristics (continued) Lexium Servo Drives Servo drives Electrical power characteristics Power supply Voltages V - %... + % single-phase for LXM ppppm - %... + % single-phase for LXM ppppm - %... + % three-phase for LXM ppppn Frequency Hz - %... + % Transient overvoltage Overvoltage category III, conforming to IEC -- External V c power supply (not provided) () Signalling Output voltage Inrush current A < Leakage current ma < Input voltage V (- / +%) Input current (no-load) A Ripple y % red LED: LED on indicates the presence of servo drive voltage Maximum three-phase voltage equal to line supply voltage Electrical isolation Connection cable characteristics Recommended cable type for mounting in an enclosure Between power and control (inputs, outputs, power supplies) Single-strand IEC cable, ambient temperature C, copper C XLPE/EPR or copper C PVC Connection characteristics (power supply, braking resistor and servo motor terminals) Servo drive terminals Maximum wire size and tightening torque for the power supply, braking resistor and servo motor terminals R/L, S/L, T/L (power supply) mm (AWG ). Nm PA/+, PBI, PBe (external braking resistor) mm (AWG ). Nm U/T, V/T, W/T (servo motor) mm (AWG ). Nm See characteristics of VW M p Rppp and VW M p Rpppp cables on pages /, / and /, / Control signal characteristics Type of servo drive LXM Cppppp LXM Appppp LXM Mppppp Protection Inputs Against reverse polarity Outputs Against short-circuits V c I/O logic Positive logic (Sink input/source output) or negative logic (Source input/sink output). Default setting: positive logic. Logic inputs Type V c logic inputs with positive (Sink) or negative (Source) logic Number, reassignable, reassignable, reassignable Power supply V c Sampling period ms. Debounce filtering ms Configurable between µs and. ms, in increments of µs Positive logic (Sink) Negative logic (Source) State if < V or input not wired, state if > V Logic inputs conforming to standard IEC/EN - type State if > V or input not wired, state if < V () Please consult our specialist catalog "Phaseo power supplies and transformers". Presentation: page Functions: page page page Schemes: page

23 Characteristics (continued) Lexium Servo Drives Servo drives Control signal characteristics (continued) Type of servo drive LXM Cppppp LXM Appppp LXM Mppppp Capture inputs Type V c logic inputs Can be used as standard logic inputs Number Power supply V c Safety inputs Type Number Power supply V c Response time ms y Positive logic (Sink) Logic outputs Type Inputs for the Safe Torque Off (STO) safety function (STO_A, STO_B) State if < V or input not wired, state if > V Logic inputs conforming to standard IEC/EN - type V c logic outputs with positive (Source) or negative (Sink) logic. Number, reassignable, reassignable, reassignable Output voltage V y, conforming to standard IEC/EN - Sampling period µs Max. breaking current ma Voltage drop V (at ma load) Analog inputs Type Resolution bit ± V differential analog inputs Number (ANA +/ANA, ANA +/ANA ) Input resistance kw u Sampling period µs Absolute detected error Less than ±.% Linearity Less than ±.% Pulse/direction (P/D), A/B, CW/CCW signals Type Number Signal input frequency RS link khz y V or V push-pull khz y V or V open collector khz y Maximum cable length RS link m ESIM (Encoder SIMulation) PTO signals Type V or V push-pull m V or V open collector m Output frequency khz y Maximum cable length m Servo motor encoder feedback signals V, V or RS link interface for V, V signals or RS link RS link Voltages Encoder power supply V + / ma SinCos input signals V V SS with. V offset. V SS at khz Input resistance W Connection characteristics of the control signal terminals Servo drive terminals Safe Torque Off STO safety inputs ( V c power supply) Logic inputs ( V c power supply) Maximum wire size mm (AWG ) mm (AWG ) Presentation: page Functions: page page page Schemes: page

24 Characteristics (continued) Lexium Servo Drives Servo drives Functional safety characteristics Protection Of the machine Safe Torque Off (STO) safety function which forces stopping and/or prevents unintended restarting of the servo motor, conforming to standard ISO performance level e (PL e), and standard IEC/EN -- Of the system process Communication port characteristics CANopen and CANmotion protocols (on LXM Appppp servo drives) Safe Torque Off (STO) safety function which forces stopping and/or prevents unintended restarting of the servo motor, conforming to standard IEC/EN level SIL and standard IEC/EN -- Protocol type CANopen CANmotion Structure Connectors RJ labelled CN or CN Network management Transmission speed Address (Node ID) Slave Service PDOs (Process Data Objects) Implicit exchange of PDOs: bb configurable mapping PDOs PDO modes Number of SDOs (Service Data Objects) Emergency Profile Communication monitoring Transmission speed depends on the length of the bus: bb kbps for bus lengths of up to m bb kbps for bus lengths of up to m bb kbps for bus lengths of up to m bb kbps for bus lengths of up to m bb Mbps for bus lengths of up to m, where no segment is no longer than. m to, configurable via the terminal or the SoMove setup software Event-triggered, Time-triggered, Remotelyrequested, Sync (cyclic), Sync (acyclic) Explicit exchange of SDOs: bb receive SDOs bb transmit SDOs Yes Implicit exchange of PDOs: bb PDOs conforming to DSP (position control mode) Sync (cyclic) CiA : CANopen Device Profile Drives and Motion Control Position control, speed profile, torque profile and homing modes Node guarding, heartbeat Explicit exchange of SDOs: bb receive SDO bb transmit SDO Position control mode Diagnostics Using LEDs LEDs: RUN and ERROR on integrated display terminal Display of detected errors Full diagnostics with the SoMove setup software Description file Modbus protocol (on all servo drive models) Structure Connector RJ (labelled CN) Diagnostics Physical interface Transmission mode Transmission speed Polarization Number of servo drives Address A single eds file for the whole range is available on our website at This file contains the description of the servo drive parameters. -wire RS multidrop RTU Configurable via the display terminal or the SoMove setup software: bps,. kbps or. kbps for serial links of up to m No polarization impedances These must be provided by the wiring system (for example, in the master) Lexium servo drives maximum to, configurable via the terminal or the SoMove setup software Display of detected errors on integrated display terminal Presentation: page Functions: page page page Schemes: page

25 References Lexium Servo Drives Servo drives LXM Cppppp LXM Appppp Lexium C, A and M servo drives Output current at khz Continuous (rms) Peak (rms) () Nominal power at khz Line current () Max. prospective line Isc Reference Weight A A kw A A ka kg Single-phase supply voltage: V a / Hz, with integrated EMC filter ()... LXM CUM. LXM AUM. LXM MUM... LXM CUM. LXM AUM. LXM MUM... LXM CDM. LXM ADM. LXM MDM... LXM CDM. Single-phase supply voltage: V a / Hz, with integrated EMC filter () LXM ADM. LXM MDM..... LXM CUM. LXM AUM. LXM MUM... LXM CUM. LXM AUM. LXM MUM.. LXM CDM. LXM ADM. LXM MDM... LXM CDM. () Maximum value for seconds () With line choke (see page ) () Additional EMC filters available as an option (see page ) LXM ADM. LXM MDM. Presentation: page Functions: page Characteristics: page page Schemes: page

26 References (continued) Lexium Servo Drives Servo drives LXM Mppppp Lexium C, A and M servo drives (continued) Output current at khz Continuous (rms) Peak (rms)() Nominal power at khz Line current () Max. prospective line Isc Reference Weight A A kw A A ka kg Three-phase supply voltage: V a / Hz, with integrated EMC filter ()... LXM CUN. LXM AUN. LXM MUN.. LXM CDN. LXM ADN. LXM MDN... LXM CDN. LXM ADN. LXM MDN.. LXM CDN. LXM ADN. LXM MDN.. LXM CDN Three-phase supply voltage: V a / Hz, with integrated EMC filter () LXM ADN LXM MDN... LXM CUN. LXM AUN. LXM MUN... LXM CDN. LXM ADN. LXM MDN... LXM CDN. LXM ADN. LXM MDN. LXM CDN. LXM ADN. LXM MDN.. LXM CDN LXM ADN LXM MDN () Maximum value for seconds () With line choke (see page ) () Additional EMC filters available as an option (see page ) Presentation: page Functions: page Characteristics: page page Schemes: page

27 References (continued) Lexium Servo Drives Servo drives Remote graphic display terminal (to be ordered separately) () Lexium servo drives can be connected to a remote graphic display terminal, which can be used remotely using remote mounting accessories. This terminal can be mounted on an enclosure door with IP degree of protection. This terminal is common to various ranges of variable speed drive or servo drive. It has a graphic screen and accesses the same functions as the integrated display and control keys on the servo drive but also to some additional functions. It can be used for example to: bbconfigure, adjust and control the servo drive remotely bbdisplay the servo drive status and detected errors remotely bboverride the servo drive I/O bbexecute motion sequences bbload configurations PF Graphic display terminal + remote-mounting cordset + female/female RJ adaptor Its main characteristics are as follows: bbthe graphic screen displays lines of characters of plain text. bbthe navigation button provides quick and easy access to the drop-down menus. bbit is supplied with six languages installed as standard (Chinese, English, French, German, Italian and Spanish); other languages can be downloaded to the flash memory using the VW A Multi-Loader configuration tool. Its maximum operating temperature is C. Description Graphic display unit: -- lines of characters, x pixels --Large digit display --Bar chart display Function keys ESC key: Aborts a value, a parameter or a menu to return to the previous selection FW/REV key: Local control for reversing the direction of rotation of the motor Navigation button: --Rotate ±: Goes to the next or previous line, increases or decreases the value --Press: Saves the current value ( ENT ) Motor local control keys: -- RUN : Starts the motor -- STOP/RESET : Local control of motor stopping/drive interrupt clearing Remote graphic display terminal Remote-mounting cordset Female/female RJ adaptor References Description Item no. Length m Reference Weight kg Remote graphic display terminal A remote-mounting cordset (VW A Rpp) and an RJ adaptor (VW A ) are also required VW A Remote-mounting cordsets equipped with RJ connectors VW A R. VW A R. VW A R. VW A R. Female/female RJ adaptor VW A. () This terminal may require a software upgrade using the VW A Multi-Loader configuration tool (see page ). Presentation: page Functions: page Characteristics: page page Schemes: page

28 References (continued) Lexium Servo Drives Servo drives SoMove setup software VW A USB-Bluetooth adaptor Documentation Description Reference Weight kg Description of the Motion & Drives offer DVD-ROM () comprising: bb Technical documentation (programming manuals, installation manuals, quick reference guides) bb SoMove Lite setup software bb Catalogs, brochures Simplified Lexium user's manual Servo drive name plate Description Use Dimensions cm Name plate (sold in lots of ) This contains information about the servo drive. To be clipped onto the top right-hand part of the servo drive VW A. Available on our website Reference Weight kg. x VW M Configuration tools Description Use Reference Weight kg SoMove setup software and associated accessories SoMove setup software Cordset Modbus-Bluetooth adaptor. USB-Bluetooth adaptor for PC For configuring, adjusting and debugging the Lexium servo drive. Downloadable from our website or available on the Description of the Motion & Drives Offer DVD ROM (VW A ). See page This is used to connect the Lexium servo drive to the USB port on the PC.. m cable equipped with: bb RJ connector (servo drive end) and bb USB connector (PC end) For establishing a Bluetooth wireless connection between the Lexium servo drive and a PC equipped with a Bluetooth wireless link. Supplied with: b b Bluetooth adaptor (range m, class ) with RJ connector bb x. m cordset with x RJ connectors b b Etc. () This is required for a PC that does not have Bluetooth technology. Connects to the USB port on the PC. Range of m, class. TCS MCNAM MP VW A. VW A. Multi-Loader configuration tool Multi-Loader tool For downloading configurations from a PC or drive and duplicating them on another drive. The drives do not need to be powered-up. Supplied with: bb cordset equipped with RJ connectors bb cordset equipped with one type A USB connector and one mini B USB connector bb x GB SD memory card bb x female/female RJ adaptor bb AA. V LR round batteries VW A VW A Multi-Loader configuration tool VW M memory card Memory card Memory card Used to store parameters of the Lexium servo drive. Another Lexium servo drive can be commissioned immediately if the application is undergoing maintenance or duplication. VW M Pack of memory cards VW M Memory card recorder Writes data from the Lexium servo drive to the memory card. This recorder is not supplied by Schneider Electric. See the User's manual () The documentation for the servo drives and servo motors is also available on our website () Also includes other components for connecting compatible Schneider Electric devices. Presentation: page Functions: page Characteristics: page page Schemes: page

29 References (continued) Lexium Servo Drives Servo drives Connection accessories Replacement connectors Description Used for Connector kit Lexium C Comprising: bb connectors for the line supply bb connector for the DC bus bb connectors for the I/O bb connector for the motor power supply bb connector for the holding brake Lexium A Lexium M Description Reference Weight kg Comprising: bb connectors for the line supply bb connector for the DC bus bb connectors for the I/O bb connector for the motor power supply bb connector for the holding brake Comprising: bb connectors for the line supply bb connector for the DC bus bb connectors for the I/O bb connector for the motor power supply bb connector for the holding brake VW M VW M VW M Lexium (all types) Comprising: bb connectors for creating extension cordsets for the DC bus VW M Cordsets Used for Daisy chain connection of the DC bus between two Lexium servo drives Description Equipped with connectors for Lexium servo drive (Sold in lots of ) Length m Reference Weight kg. VW M R Daisy chain connection or pulse control for the Lexium C and M servo drives Equipped with RJ connectors Equipped with RJ connector and a free end. VW M R.. VW M R. VW M R Adaptor for motor encoder cable (replacement of a Lexium servo drive with a Lexium servo drive) Adaptor for motor encoder cable (replacement of a Lexium servo drive with a Lexium servo drive) Equipped with one -way Molex connector and one RJ connector (Lexium servo drive end). Cable length m Equipped with one -way male SUB-D connector and one RJ connector (Lexium servo drive end). Cable length m VW M R VW M R Presentation: page Functions: page Characteristics: page page Schemes: page

30 References (continued) Lexium Servo Drives Lexium A servo drives M PLC CANopen machine bus Twido programmable controller + TWD NCM Lexium A Lexium A CANopen machine bus Example of architecture with control by M PLC Example of architecture with Twido programmable controller Lexium Controller LMC or LMC Ap CANopen machine bus Lexium A Lexium A Lexium A Lexium A Example of architecture with LMC Lexium Controller CANopen and CANmotion machine bus for Lexium A servo drives Lexium A servo drives can be connected directly to the CANopen machine bus using an RJ connector. To simplify daisy chain connection, each servo drive is equipped with two connectors of this type (marked CN and CN). The communication function provides access to the servo drive s configuration, adjustment, control and monitoring functions. Used with a Lexium ler, the CANmotion bus can be used to control motion for applications with up to eight Lexium A servo drives. Connection accessories () Description Use Item no. Reference Weight kg CANopen IP junction box RJ ports Line terminator W (equipped with one RJ connector) Cordsets and cables () Tap-off from trunk cable for RJ wiring Connection to the RJ connector VW CAN TAP. TCS CAR M. Description Use Item no. Length Reference Weight CANopen cordsets () equipped with RJ connectors CANopen cordsets () equipped with one -way female SUB-D connector with integrated line terminator and one RJ connector CANopen cables () Standard cables, e marking Low smoke emission, halogen-free Flame retardant (IEC -) CANopen cables () UL certification, e marking Flame retardant (IEC -) CANopen cables () Cables for harsh environments () or mobile installation, e marking Low smoke emission, halogen-free Flame retardant (IEC -) From To m kg VW CAN TAP junction box LXM A servo drive (CN and CN connectors) Twido programmable controller Lexium controller ler LMC, LMC Ap PLC PLC PLC LXM A servo drive (CN and CN connectors) LXM A servo drive (CN and CN connectors) VW CAN TAP junction box VW CAN TAP junction box VW CAN TAP junction box. VW CAN CARR. VW CAN CARR. VW M R VW M R TSX CAN CA. TSX CAN CA. TSX CAN CA. TSX CAN CB. TSX CAN CB. TSX CAN CB. TSX CAN CD. TSX CAN CD. TSX CAN CD. () For other CANopen machine bus connection accessories, please consult the Machines & installations with CANopen catalog. () Harsh environment: - Resistance to hydrocarbons, industrial oils, detergents, solder splashes - Relative humidity up to % - Saline atmosphere - Significant temperature variations - Operating temperature between - C and + C Presentation: page Functions: page Characteristics: page page Schemes: page

31 Presentation Lexium Servo Drives Communication buses and networks CANopen machine bus Presentation Lexium A servo drives integrate the CANopen communication protocol as standard (see characteristics on page ). If one of the communication cards (available as options) is added, the Lexium M servo drive can be connected to the following communication buses and networks: bbcanopen and CANmotion machine bus b DeviceNet fieldbus b PROFIBUS DP V fieldbus b EtherNet/IP network CANopen and CANmotion machine bus Presentation Modicon M PLC CANopen machine bus Lexium M Altivar Ativar TeSys Quickfit Osicoder encoder Osicoder encoder The CANopen machine bus is a fieldbus based on the lower layers and components of CAN. It complies with standard ISO. With its standardized communication profiles, the CANopen machine bus provides openness and interoperability with various devices (drives, motor starters, smart sensors, etc.). The CANopen machine bus is a multi-master bus, which provides secure, deterministic access to real-time automation device data. The CSMA/CA type protocol is based on broadcast exchanges, transmitted cyclically or on event, which helps ensure optimum use of the bandwidth. A messaging channel is also used to set the parameters of the slave devices. A tiered CANopen connectivity solution reduces costs and optimizes the control system architecture, thanks to: bbreduced cabling time bbgreater reliability of the load bbflexibility should you need to add or remove equipment A single communication card provides access to either the CANopen or CANmotion machine bus.

32 Characteristics Lexium Servo Drives Communication buses and networks CANopen machine bus Characteristics of VW A p CANopen/CANmotion cards Protocol type CANopen CANmotion Structure Connectors RJ connectors or one -way male SUB-D connector Network management Transmission speed Address (Node ID) Slave Transmission speed depends on the length of the bus: bb kbps for bus lengths of up to m bb kbps for bus lengths of up to m bb kbps for bus lengths of up to m bb kbps for bus lengths of up to m bb Mbps for bus lengths of up to m, where no segment is no longer than. m to, configurable via the terminal or SoMove setup software Service PDOs (Process Data Objects) Implicit exchange of PDOs: bb configurable mapping PDOs PDO modes Number of SDOs (Service Data Objects) Emergency Event-triggered, Time-triggered, Remotelyrequested, Sync (cyclic), Sync (acyclic) Explicit exchange of SDOs: bb receive SDOs bb transmit SDOs Yes Implicit exchange of PDOs: bb PDOs conforming to DSP (position control mode) Sync (cyclic) Explicit exchange of SDOs: bb receive SDO bb transmit SDO Device profiles Communication monitoring CiA : CANopen Device Profile Drives and Motion Control Position control, speed profile, torque profile and homing modes Node guarding, heartbeat Position control mode Diagnostics Using LEDs LEDs on the card: RUN and ERROR Using the graphic display terminal Detected error display Complete diagnostics with SoMove setup software Description file A single eds file for the whole range is available on our website at This file contains the description of the servo drive parameters.

33 References Lexium Servo Drives Communication buses and networks CANopen machine bus Twido or programmable controller CANopen machine bus or Lexium Controller Lexium Lexium Example of connecting Lexium M with VW A card CANopen/CANmotion machine bus connection components Communication cards Description Type of port Item no. Reference Weight kg CANopen/CANmotion cards for Lexium M servo drives Connection accessories RJ connectors One -way male SUB-D connector VW A VW A Description Type of port Item no. Reference Weight CANopen IP junction boxes () Line terminator RJ ports VW CAN TAP. SUB-D ports. Line terminator kg TSX CAN TDM. With RJ connector TCS CAR M. Stripped wires TCS CAR NM IP CANopen connectors () -way female SUB-D type. Line termination switch Straight TSX CAN KCDFT. Angled at TSX CAN KCDFT. Angled at with -way SUB-D for connecting PC or diagnostic tool TSX CAN KCDFTP. Twido programmable controller or Lexium Controller Cordsets () Description Use Item no. CANopen cordsets equipped with one RJ connector at each end Length Reference Weight From To m kg LXM A servo drive VW A card VW CAN TAP junction box VW A card LXM A servo drive. VW CAN CARR. VW CAN CARR. CANopen machine bus or CANopen cordsets equipped with one -way female SUB-D connector with integrated line terminator and one RJ connector Twido programmable controller LMC LMC A Lexium Controller VW A card LXM A servo drive VW M R VW M R Lexium Example of connecting Lexium M with VW A card Lexium CANopen IP cordsets equipped with one -way female SUB-D connector at each end. Standard cables, e marking Low smoke emission, halogen-free Flame retardant (IEC -) CANopen IP cordsets equipped with one -way female SUB-D connector at each end. Standard cables, UL certification, e marking Flame retardant (IEC -) LMC LMC A Lexium Controller TSX CAN TDM junction box LMC LMC A Lexium Controller TSX CAN TDM junction box VW A card TSX CAN TDM junction box VW A card TSX CAN TDM junction box. TSX CAN CADD. TSX CAN CADD. TSX CAN CADD. TSX CAN CADD.. TSX CAN CBDD. TSX CAN CBDD. TSX CAN CBDD. TSX CAN CBDD. () To order other components for connection to the CANopen machine bus, please refer to the Automation platform Modicon Premium and Unity - PL software and Machines & installations with CANopen catalogs.

34 References (continued) Lexium Servo Drives Communication buses and networks CANopen machine bus M programmable controller CANopen machine bus CANopen/CANmotion machine bus connection components (continued) Connection cables () Description Use Item no. CANopen cables () Standard cables, e marking Low smoke emission, halogen-free Flame retardant (IEC -) CANopen cables () UL certification, e marking Flame retardant (IEC -) Length Reference Weight From To m kg TSX CAN KCDFT connector M PLC TSX CAN KCDFT connector M PLC TSX CAN KCDFT connector M PLC TSX CAN KCDFT connector VW CAN TAP junction box TSX CAN TDM junction box TSX CAN CA. TSX CAN CA. TSX CAN CA. TSX CAN CB. TSX CAN CB. TSX CAN CB. Example of connecting Lexium M with VW A and VW A cards CANopen cables () Cable for harsh environment () or mobile installation, e marking Low smoke emission, halogen-free Flame retardant (IEC -) TSX CAN KCDFT connector M PLC TSX CAN KCDFT connector VW CAN TAP junction box TSX CAN TDM junction box TSX CAN CD. TSX CAN CD. TSX CAN CD. () To order other CANopen machine bus connection components, please refer to the Machines & installations with CANopen catalog. () Harsh environment: - Resistance to hydrocarbons, industrial oils, detergents, solder splashes - Relative humidity up to % - Saline atmosphere - Significant temperature variations - Operating temperature between - C and + C

35 Presentation, characteristics, references Lexium Servo Drives Communication buses and networks DeviceNet fieldbus DeviceNet fieldbus Presentation Magelis XBT Third-party control system DeviceNet fieldbus Altivar Lexium M Lexium M Altivar The DeviceNet fieldbus is a Producer-Consumer type bus system, used in industry to manage a large number of devices remotely. It is based on CAN technology (OSI layers and ). It can be configured as a master/slave system. DeviceNet supports communication with several hierarchical levels with priority of messages defined by configuration. The physical link is made up of two shielded twisted pairs to which it is possible to connect up to slaves. Each slave constitutes a network node. Each end must have a line terminator. The connection to the DeviceNet fieldbus allows Lexium M servo drives to standardize solutions, while remaining independent of the system controlling the machine. Characteristics of the VW M DeviceNet card Structure Connector One removable screw connector, contacts with. pitch Transmission speed Maximum cable length Address kbps, kbps or kbps, configurable using the graphic display terminal m at kbps, m at kbps to, configurable via the graphic display terminal or using SoMove setup software Services I/O data bb Standard assemblies: Output assembly, Input assembly bb Extended assemblies: Output assembly, Input assembly bb Motion assemblies: Output assembly, Input assembly Periodic exchange mode Device profiles Auto Device Replacement Inputs: Polled, Change of state, Cyclic Outputs: Polled CIP motion profile Profile compatible with PLCopen libraries Yes Communication monitoring Time out (which can be inhibited) can be set via the DeviceNet bus configurator Diagnostics Using LEDs LEDs on the card: MS (Module Status: green/red) and NS (Network Status) Description file Using the graphic display terminal Control mode received Reference received A single eds file for the whole range is available on our website at This file contains the description of the servo drive parameters. Reference Description Used for Type of port Reference Weight kg DeviceNet card Lexium M servo drive removable screw connector VW M

36 Presentation, characteristics, references Lexium Servo Drives Communication buses and networks PROFIBUS DP V fieldbus PROFIBUS DP V fieldbus Presentation Other communication network Quantum () Lexium Lexium PROFIBUS DP V fieldbus Repeaters ( max.) With Unity, PL and Sycon software () Altivar Characteristics of the VW A Profibus DP card Structure Connector One -way female SUB-D connector PROFIBUS DP is a fieldbus that meets industrial communication requirements. PROFIBUS DP has a linear bus topology with a master/slave type centralized access procedure. The physical link is made by a single shielded twisted pair, although fibre optic interfaces are available for establishing star or ring tree structures. The Lexium M servo drive is connected to the PROFIBUS DP V fieldbus via the VW A communication card. Other devices can be connected to the PROFIBUS DP bus such as PLCs (), STB I/O (), Altivar variable speed drives (), Osicoder rotary encoders (), etc. Transmission speed Address. kbps,. kbps and. kbps for bus lengths of m. kbps for bus lengths of m kbps for bus lengths of m. Mbps for bus lengths of m Mbps, Mbps and Mbps for bus lengths of m to, configurable via the graphic display terminal or using SoMove setup software Application layer I/O data Depends on the application layer Messaging DPV acyclic message Diagnostics Using LEDs LEDs on the card: ST (status) and DX (data exchange) Using the graphic display terminal Detected error display Complete diagnostics with SoMove setup software Description file A single gsd file for the whole range is available on our website at This file does not contain descriptions of the servo drive parameters. Reference Description Used for Type of port Reference Weight kg Communication card PROFIBUS DP V card Lexium M servo drives One -way female SUB-D connector () Please refer to the Automation platform Modicon Quantum and Unity software catalog. () Please refer to the Human-Machine interfaces catalog. () Please refer to the Soft starters and variable speed drives catalog. () Please refer to the Global Detection catalog. VW A.

37 Presentation, characteristics Lexium Servo Drives Communication buses and networks EtherNet/IP network EtherNet/IP network Presentation Premium (bus manager) Lexium M Lexium M EtherNet/IP network Altivar EtherNet/IP is an application layer industrial protocol specially designed for the industrial environment. Based on the CIP (Control & Information Protocol) layer, it uses widely implemented Ethernet protocols: TCP (Transport Control Protocol) and IP (Internet Protocol). It thus offers an integrated transparent connection system to the company network. Media access is random. Thanks to its high speed, the network no longer restricts the application's performance. EtherNet/IP, the pre-eminent open protocol, supports all types of communication: bbweb pages bbfile transfers bbmessaging Characteristics of the VW A EtherNet/IP card Structure Connectors RJ connectors Transmission speed / Mbps, half duplex and full duplex, by manual selection or auto-negotiation Address Physical IEEE. Manual assignment via the graphic display terminal or SoMove setup software BOOTP DHCP Conformity level Industrial Link LLC: IEEE. MAC: IEEE. Automatic switching Network Transport IP (RFC) ICMP client for supporting certain IP services such as the "ping" command TCP (RFC), UDP The maximum number of connections is (port )

38 Characteristics (continued), references Lexium Servo Drives Communication buses and networks EtherNet/IP network Characteristics of the VW A EtherNet/IP card (continued) Services CIP explicit message Permits access to all the drive's parameters Web server Device profile Network management File transfer HTTP server: factory-configured and modifiable The memory available for the application is approximately MB. The factory-configured server contains the following pages: b Drive monitor: displays the drive status and the state of its I/O, the main measurements (speed, current, etc.) b Drive parameters: access to the drive parameters for configuration, adjustment and signalling b Drive recorder: displays both drive servo drive parameters (simplified oscilloscope function) b Security: configuration of passwords for reading and modification access b EtherNet/IP setup: configuration of Ethernet, TCP/IP and CIP parameters b EtherNet/IP scanner setup: configuration of I/O data (IO messaging) b Ethernet statistics: drive identification (IP addresses, version, etc.), display of Ethernet transmission counters b Message statistics: displays the TCP/IP and CIP counters b configuration of the function sent on alarm, trip or trip reset Generic SNMP FTP for Web server Diagnostics Using LEDs LEDs on the card: MS (Module Status), NS (Network Status), Link (Link Status), TX/RX (Transmit/Receive port and Transmit/Receive port ) Using the graphic display terminal Via the Web server Control word received Reference received Number of incorrect frames Via the "Drive monitor", "Drive parameters", "Ethernet statistics", "Message statistics" and "Net IO monitoring" pages EtherNet/IP network connection components Description Communication card EtherNet/IP card Used for Lexium M servo drives Type of port Length m () Reference Weight kg RJ connectors VW A. ConneXium cordsets (conforming to EIA/TIA- standard category and IEC /EN, class D) Straight shielded twisted pair cables EtherNet/IP card RJ connectors NTW NTW NTW Crossed shielded twisted pair cables EtherNet/IP card RJ connectors NTC ConneXium cordsets (conforming to UL and CSA. standards) Straight shielded twisted pair cables EtherNet/IP card RJ connectors NTW U NTW U NTW U Crossed shielded twisted pair cables EtherNet/IP card RJ connectors NTC U () Also exist in and metre lengths. To order other EtherNet/IP network connection components, please refer to the Communication networks in machines and installations catalog.

39 Presentation, characteristics, references Lexium Servo Drives Option: Encoder cards for Lexium M servo drives VW M encoder card Presentation The Lexium M servo drive can take an encoder interface card. This has an input available for an additional encoder, thus offering the following advantages: bbpossible to connect to third-party motors, which increases the installation's flexibility bbpossible to improve positioning accuracy by reducing the effect of mechanical backlash thanks to position measurement directly on the machine, and to satisfy the requirements of simple applications or very complex systems which need a very quick response or very accurate path following Three cards are available depending on the encoder technology: bbresolver encoder bbencoder with digital output bbencoder with analog output Characteristics VW M resolver interface card Type of connection -way female SUB-D connector VW M interface card for digital output encoder Power supply Type of connection A/B/I BISS EnDat. V c SSI V V c VW M interface card for analog output encoder Power supply Vpp/Hall Vpp Type of connection References Description Technology type V -way female high-definition SUB-D connector c Hiperface V c -way female high-definition SUB-D connector Encoder type Reference Weight Machine encoder Motor encoder kg Resolver card VW M Interface card for digital output encoder Interface card for analog output encoder A/B/I VW M SSI BISS EnDat. Vpp VW M Vpp/Hall Hiperface Connection accessories Connectors Description Composition Length m Connector -way male SUB-D For resolver card Cordset Cordset equipped with -way high density SUB-D connector For interface card for digital or analog output encoder Reference Weight kg AEO CON VW M VW M Connecting cable Cable for creating cordsets for encoder interface cards [ x ( x. mm ) + ( x. mm )] VW M R.

40 Presentation, references Lexium Servo Drives Option: Encoder cards for Lexium M servo drives Osicoder machine encoders for VW M encoder card Presentation To meet requirements for machine encoders, Schneider Electric offers the Osicoder range of encoders. They connect to the VW M encoder interface card with digital output. The Osicoder offer consists of incremental encoders and absolute encoders. XCC PSMX incremental encoder The proposed incremental encoder, with its configurable resolution, satisfies most requirements for machine encoders with A/B/I output signal. The proposed absolute encoders are among the most commonly used machine encoders with SSI interface. For more information about the Osicoder offer, please refer to the Rotary encoders Osicoder catalog. Ø mm incremental encoder Operating on the principle of in-line differential optical reading, XCC incremental encoders are extremely rugged, thanks to their technology based on photosensitive cells and their triple light source. The cyclic ratio is maintained even in the event of: bbfailure of one of the sender components bbreduced efficiency of the sender components (up to %) bbdeposit of fine dust on the optical elements Configurable encoder with Ø mm solid shaft Resolution Type of connection, points Male M radial connector Type of output stage Supply voltage Reference Weight kg V, RS. V XCC PSMX. Note: XCC incremental encoders can also be used as a master encoder on Lexium C and Lexium M servo drives, when connected to the PTI input. XCC PSSBN absolute encoder Ø mm absolute encoders An absolute encoder continuously delivers a code which is the image of the actual position of the moving part to be controlled. On the first power-up or on return of the power after a power failure, the encoder will deliver a data item which can be used directly by the processing system. Single turn encoder with Ø mm solid shaft Resolution Type of connection points Male M radial connector Type of output stage SSI, bits, binary Supply voltage Reference Weight kg V XCC PSSBN. Multiturn encoder with Ø mm solid shaft points x turns Male M radial connector SSI, bits, binary V XCC PSSBN.

41 Presentation, functions Lexium Servo Drives Option: Safety card for Lexium M servo drives Presentation The esm safety card allows Lexium servo drives to access additional safety functions, as well as the Safety Torque Off (STO) function, thus putting in place a complex safety device, while ensuring reliable monitoring of the installation. The esm card minimizes the overall cost of the installation by reducing the need for additional, external safety equipment - while conforming to international safety standards. As a result wiring time and costs are reduced. n Controlled braking Also, this card helps expedite scheduled maintenance activities by reducing machine or installation stopping times. Servo motor speed Activation of the Safe Stop (SS) safety function n Servo motor speed SS activation SS activation STO activation (zero torque) Controlled braking SOS activation (maximum torque) Activation of the Safe Stop (SS) safety function t (s) t (s) It includes safety functions compliant with standard IEC/EN --. These functions, required in the majority of applications, are as follows: bb Safe Torque Off (STO) bb Safe Stop (SS) bb Safe Stop (SS) bb Safe Limited Speed (SLS) bb Safe Operating Stop (SOS) Safety functions Safe Stop (SS) safety function The SS safety function is used to achieve a category safe stop. After activating the function, the servo motor is braked in a controlled manner, maintaining the power on the actuators. The power is then cut when the actuators stop after the machine has come to a halt. Safe Stop (SS) safety function The SS safety function is used to achieve a category safe stop. After activating the function, the servo motor is braked in a controlled manner, maintaining the power on the actuators. Once the motor has come to a halt, it is immobilized with the Safe Operating Stop (SOS) function. n Configured maximum speed SS activation Controlled braking SOS activation Activation of the Safe Limited Speed (SLS) safety function t (s) Safe Limited Speed (SLS) safety function The SLS safety function is used to monitor the configured maximum speed. If this speed is exceeded, the servo motor will be stopped in accordance with SS. Safe Operating Stop (SOS) safety function The SOS safety function is used to monitor any deviation from the standstill position, once the servo motor has come to a halt.

42 Characteristics, references Lexium Servo Drives Option: Safety card for Lexium M servo drives Electrical characteristics Power supply V c (min., max. ) Logic inputs Logic outputs x V c logic inputs Protection against reverse polarity Switching thresholds: bb Conforming to standard IEC - type bb State if y V bb State if u V x V c open collector logic outputs Short-circuit protection VW M safety card Conformity to standards References Description esm safety card for Lexium servo drives Conforms to the machine safety standard ISO -, performance level e (PL e) Conforms to the functional safety standard IEC/EN, SIL capability Conforms to the functional safety standard IEC/EN, SIL capability Cable length m Reference Weight VW M kg Preassembled cordset with a -way female connector (safety card end) and a free end VW M R Safety cable x.mm², pin - pin connector. VW M R VW M R Enhanced Safety Module Terminal Adapter VW M

43 Presentation, sizing Lexium Servo Drives Option: braking resistors for servo drives 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 When the servo motor has to be braked frequently, an external braking resistor must be used to dissipate the excess braking energy. If an external braking resistor is used, the internal braking resistor must be deactivated. To do this, the parameter between PB/+ and PC/- 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 These curves are the same as those used on page for selecting the size of the servo motor. The curve segments during which the servo drive is decelerating must be taken into account (D i ). Servo motor speed n i n n D n D D t n M M M t t t t t t t t t t t t T cycle M M Required torque M i t Characteristics: page page page

44 Sizing (continued) Lexium Servo Drives Option: braking resistors for servo drives 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 and. The energy E i of each deceleration segment is defined as follows: πni t i = t ω = which gives the following for the various segments: [ ] π n n E = J. t πn E = J. t πn E = J. t where E i is in joules J t in kgm, w 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 in the table on page Lexium Cat Interior Rev - FINAL/. 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 capacity Edrive. 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: E 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 internal braking resistor is adequate if the following two conditions are met: bbthe 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) bbthe continuous power must be lower than the continuous power of the internal braking resistor (Pc < PPr) If one of the above conditions is not met, an external braking resistor must be used to satisfy these two conditions. The value of the external braking resistor must be between the minimum and maximum values given in the table on page Lexium Cat Interior Rev - FINAL/. If this range of values is not respected, the servo drive may be subject to disturbance and the load can no longer be braked safely. Characteristics: page page page

45 Characteristics Lexium Servo Drives Option: braking resistors for servo drives Characteristics Braking resistors used with LXM ppppm servo drives with V a power supply Type of servo drive LXM pum LXM pum LXM pdm LXM pdm Number of phases Load threshold V c Energy absorption of the internal capacitors Edrive Joules (Ws) Single-phase Internal resistor Resistance W Continuous power PPr W Peak energy EPk Joules (Ws) External resistor Minimum resistance W Maximum resistance W Braking resistors used with LXM ppppm servo drives with V a power supply Type of servo drive LXM pum LXM pum LXM pdm LXM pdm Number of phases Load threshold V c Energy absorption of the internal capacitors Edrive Joules (Ws) Single-phase Internal resistor Resistance W Continuous power PPr W Peak energy EPk Joules (Ws) External resistor Minimum resistance W Maximum resistance W Braking resistors used with LXM ppppn servo drives with V a power supply Type of servo drive LXM pun Number of phases Load threshold V c Energy absorption of the internal capacitors Edrive Joules (Ws) Three-phase LXM pdn LXM pdn LXM pdn Internal resistor Resistance W Continuous power PPr W Peak energy EPk Joules (Ws) LXM pdn External resistor Minimum resistance W Maximum resistance W Braking resistors used with LXM ppppn servo drives with V a power supply Type of servo drive LXM pun Number of phases Load threshold V c Energy absorption of the internal capacitors Edrive Joules (Ws) Three-phase LXM pdn LXM pdn LXM pdn Internal resistor Resistance W Continuous power PPr W Peak energy EPk Joules (Ws) LXM pdn External resistor Minimum resistance W Maximum resistance W Presentation: page Sizing: page page page

46 Characteristics (continued), references Lexium Servo Drives Option: braking resistors for servo drives General characteristics Type of braking resistor VW A Rpp Rpp VW A p Ambient air temperature around the device Conforming to standards Operation C + Storage C UL (except for VW A, and braking resistors) Degree of protection of the casing IP IP Connection characteristics Maximum wire size For servo drive For temperature-controlled switch VW A Rpp Rpp Supplied with connection cable VW A p Connected on a bar, M. mm (AWG ) References Value Continuous power PPr Peak energy EPk V V V V Length of connection cable Reference Weight VW A p Rpp W W Ws Ws Ws Ws m kg,,. VW A R. VW A R. VW A R.,,,, VW A.,,,, VW A.. VW A R. VW A R. VW A R.. VW A R. VW A R. VW A R.,,,,. VW A R. VW A R. VW A R.. VW A R. VW A R. VW A R.,. VW A R. VW A R. VW A R.,,,,. VW A R. VW A R. VW A R.. VW A R. VW A R. VW A R. Note: The total continuous power dissipated in the external braking resistor(s) must be less than or equal to the nominal power of the Lexium servo drive (see pages and ). Presentation: page Sizing: page page

47 Presentation Lexium Servo Drives Integrated EMC filters and additional EMC input filters for servo drives L L L Lexium Lexium servo drive with integrated EMC filter M Integrated EMC filter Function Lexium servo drives have integrated radio interference input filters to comply with the EMC standard for variable speed electrical power drive products IEC/EN -, edition, category C in environment, and to comply with the European directive on EMC (electromagnetic compatibility). For servo drive Maximum servo motor cable length conforming to EN, class A, Gr IEC/EN -, category C in environment Switching frequency: khz m Single-phase supply voltage: V a / Hz LXM ppppm ( metres in category C, environment ) Single-phase supply voltage: V a / Hz LXM ppppm ( metres in category C, environment ) Three-phase supply voltage: V a / Hz LXM ppppn Three-phase supply voltage: V a / Hz LXM ppppn L L L Additional EMC filter Lexium M Additional EMC input filters Applications Used with servo drives, additional EMC input filters can be used to meet more stringent requirements and are designed to cut down conducted emissions on the line supply below the limits of standard IEC/EN -, edition, categories C and C (see page ). Lexium servo drive with additional EMC filter Additional EMC filters are mounted on the side of the device. They have tapped holes for mounting in an enclosure. Use according to the type of line supply Lexium servo drives cannot be used on IT type supplies. Integrated or additional EMC filters can only therefore be used on TN (neutral connection) and TT (neutral to earth) type supplies. If a machine is to be installed on an IT type supply, an isolation transformer must be inserted in order to re-create a TT system on the secondary side. Characteristics: page page page

48 Characteristics, references Lexium Servo Drives Option: additional EMC input filters for servo drives Characteristics of servo drive/emc filter mounting Conformity to standards EN Degree of protection IP Relative humidity According to IEC --, class K, % to %, without condensation or dripping water Ambient air temperature around the device Operation C + Storage C - + Altitude m m without derating Up to m under the following conditions: bb Temperature C max. bb Mounting distance between servo drives > mm Vibration resistance Conforming to IEC -- Hz to Hz: amplitude. mm Hz to Hz: gn Shock resistance Conforming to IEC -- gn for ms Maximum nominal voltage Single-phase / Hz V + % + % Application, category: EN -: - ; IEC -, Ed. Category C in environment Category C in environment Three-phase / Hz V + % + % Description Restricted distribution, for domestic use, sale conditional on the competence of the user and the distributor in terms of EMC compatibility Use in industrial premises Connection characteristics Maximum wire size mm (AWG ) References For servo drive Maximum servo motor cable length conforming to Reference Weight Single-phase supply voltage LXM pum LXM pum LXM pdm LXM pdm Three-phase supply voltage LXM pun LXM pdn LXM pdn LXM pdn EN class A Gr IEC/EN - category C in environment Switching frequency khz EN class A Gr IEC/EN - category C in environment Switching frequency khz m m kg VW A. VW A. VW A. LXM pdn VW A. Presentation: page page

49 Presentation, characteristics Lexium Servo Drives Option: Line chokes for servo drives Line chokes L L Line choke Lexium L M A line choke can be used to provide improved protection against overvoltages on the line supply and to reduce harmonic distortion of the current produced by the servo drive. The recommended chokes limit the line current. They have been developed in line with standard EN (VDE level high-energy overvoltages on the line supply). The inductance values are defined for a voltage drop between % and % of the nominal line voltage. Values higher than this will cause loss of torque. These chokes must be installed upstream of the servo drive. One line choke can be connected to a number of servo drives. In such cases, the current consumption of all the servo drives at nominal voltage must not exceed the nominal current of the line choke. Applications The use of line chokes is recommended in particular under the following circumstances: bbclose connection of several servo drives in parallel bbline supply with significant disturbance from other equipment (interference, overvoltages) bbline supply with voltage unbalance between phases that is more than.% of the nominal voltage bbservo drive supplied by a line with very low impedance (in the vicinity of a power transformer times more powerful than the servo drive rating) bbinstallation of a large number of servo drives on the same line bbreduction of overloads on the cos j correction capacitors, if the installation includes a power factor correction unit General characteristics Type of line choke VZ LUM VZ LUM VW A VW A Conformity to standards Voltage drop Degree of protection Choke IP EN (VDE level high-energy overvoltages on the line supply) Between % and % of the nominal line voltage. Values higher than this will cause loss of torque. Terminals IP IP Inductance value mh Nominal current A Losses W page

50 References Lexium Servo Drives Option: Line chokes for servo drives References VW A p Line chokes For servo drive Line current and THD Reference Weight Without choke Single-phase supply voltage: V a / Hz With choke A % A % kg LXM pum.. VZ LUM. LXM pum.. VZ LUM. LXM pdm.. LXM pdm.. Single-phase supply voltage: V a / Hz LXM pum.. VZ LUM. LXM pum.. VZ LUM. LXM pdm.. LXM pdm.. Three-phase supply voltage: V a / Hz LXM pun.. VW A. LXM pdn. LXM pdn.. VW A. LXM pdn.. LXM pdn.. Three-phase supply voltage: V a / Hz LXM pun.. VW A. LXM pdn.. LXM pdn. VW A. LXM pdn. LXM pdn.. page

51 Presentation, functions Lexium Servo Drives SoMove setup software SoMove start page Connecting the SoMove software to the device SoMove software control panel Presentation SoMove is user-friendly setup software for PCs, for setting up the following Schneider Electric motor control devices: b baltivar,,,, and variable speed drives b baltistart and soft starts b btesys U starter-controllers b btesys T motor management system bblexium servo drives SoMove software incorporates various functions for the device setup phases, such as: bbconfiguration preparation bbsetup bbmaintenance To facilitate setup and maintenance, SoMove software can use a direct USB/RJ cable link or a Bluetooth wireless link. SoMove software is also compatible with the Multi-Loader configuration tool and SoMove Mobile software for mobile phones. These tools can save a significant amount of time when loading, duplicating or editing configurations on a device. SoMove software and all the DTMs (Device Type Managers) associated with the devices can be downloaded from our website Functions Configuration preparation in disconnected mode SoMove software has a genuine disconnected mode which provides access to all the device parameters. This mode can be used to generate the device configuration. The configuration can be saved, printed and exported to office automation software. SoMove software checks the consistency of the parameters, validating the configurations created in disconnected mode. A large number of functions are available in disconnected mode, in particular: bbthe device configuration software wizard bbthe configuration comparison function bbsaving, copying, printing and creating configuration files for export to Multi- Loader, SoMove Mobile or Microsoft Excel tools, and sending configurations by . Setup When the PC is connected to the device, SoMove software can be used for: bbtransferring the configuration that has been generated onto the device bbadjustment and monitoring. This includes such functions as: vvthe oscilloscope vvdisplaying communication parameters bbeasy control using the control panel user interface bbsaving the final configuration Maintenance In order to simplify maintenance operations, SoMove software can be used to: bbcompare the configuration of a device currently being used with a configuration saved on the PC bbtransfer a configuration to a device bbcompare oscilloscope curves bbsave oscilloscope curves and detected errors User interface SoMove software provides fast, direct access to all information on the device via tabs: bbmy Device: displays all the information on the device (type, reference, software versions, option cards, etc.) bbparameters: displays all the device adjustment parameters, shown in a table or in the form of diagrams bbdetected errors: displays a list of the trips that may be encountered with the device, the trip log and current trips or alerts bbmonitoring: provides a dynamic display of the device status, its I/O and all the monitoring parameters. It is possible to create your own control panel by selecting your parameters and how they are to be represented bboscilloscope: provides a high-speed oscilloscope (recording traces in the device) or low-speed oscilloscope (recording traces in the software for devices that do not have an integrated oscilloscope). SoMove software oscilloscope function

52 Functions (continued), references Lexium Servo Drives SoMove setup software Functions (continued) Connections Modbus serial link The PC running SoMove software can be connected directly via the RJ connector on the device and the USB port on the PC with the USB/RJ cable. See references table below. Bluetooth wireless link SoMove software can communicate via Bluetooth wireless link with a device equipped with the Modbus-Bluetooth adaptor. This adaptor is connected to the terminal port or the Modbus network port on the device. It has a m range (class ). If the PC does not have Bluetooth technology, use the USB-Bluetooth adaptor. See references table below. References Designation Description Reference Weight kg SoMove setup software Includes: bb SoMove setup software for PC in Chinese, English, French, German, Italian and Spanish bb DTMs (Device Type Managers) and technical documentation for variable speed drives, starters and servo motors () USB/RJ cable Used to connect a PC to the device This cable is. m long, and has a USB connector (PC end) and an RJ connector (device end). TCSM CNAM MP SoMove setup software Modbus-Bluetooth adaptor Enables the device to communicate via Bluetooth serial link. Includes: b b Bluetooth adaptor (range m, class ) with an RJ connector bb For SoMove: x. m cable with x RJ connectors bb For TwidoSuite: x. m cable with RJ connector and mini DIN connector VW A. USB-Bluetooth adaptor for PC This adaptor is required for a PC that does not have Bluetooth technology. It is connected to a USB port on the PC. Range m (class ) VW A. PF VW A Environments SoMove operates in the following PC environments and configurations: b bmicrosoft Windows SP b bmicrosoft Windows Vista bbpentium IV (or equivalent), GHz, hard disk with GB available space, MB of RAM (minimum configuration) () Available on the Description of the Motion & Drives offer DVD-ROM, VW A, or on our website

53 Dimensions Lexium Servo Drives Servo drives, remote graphic display terminal and braking resistors Lexium servo drives LXM CUM CDN and LXM AUM ADN servo drives xø, LXM MUM MDN servo drives LXM pdn servo drives xø, xø, LXM pdn servo drives xø, VW A remote graphic display terminal,,,, Braking resistors VW A p braking resistors c xø, = = = VW b b c c H A,,. A,. A,, = b b H c Presentation: page Functions: page Characteristics: page page Schemes: page

54 Dimensions (continued) Lexium Servo Drives Braking resistors, additional EMC input filters and line chokes Braking resistors (continued) VW A and VW A braking resistors xø VW A additional EMC input filters Mounting the filter on the side of the servo drive b xø, H VW a b c H A A A A c a Line chokes VZ LUM and VZ LUM single-phase line chokes xø b VZ a b c G H Ø LUM x LUM x H c G a VW A and VW A three-phase line chokes b VW a b c c G G H Ø A. x A x xø H c c G G a Presentation: page Functions: page Characteristics: page page Schemes: page

55 Schemes Lexium Servo Drives Safety requirements Safe Torque Off (STO) safety function Lexium servo drives integrate the Safe Torque Off (STO) function which prevents unintended operation of the servo motor. The servo motor no longer produces any torque. This safety function: bbcomplies with the machine safety standard ISO -, performance level e (PL e) bbcomplies with the standard for functional safety IEC/EN, SIL capability (safety control-signalling applied to processes and systems) The SIL (Safety Integrity Level) capability depends on the connection diagram for the servo drive and for the safety function. Failure to follow the setup recommendations could inhibit the SIL capacity of the safety function. bbcomplies with the product standard IEC/EN -- for both stop functions: vvsafe Torque Off (STO) vvsafe Stop (SS). This safe stop requires a Preventa XPS AV-type safety module with time delay () The Safe Torque Off function has a redundant electronic architecture () which is monitored continuously by a diagnostic function. This PL e and SIL safety function is certified as conforming to these standards by the TÜV certification body under a program of voluntary certification. Performance level (PL) according to ISO - Performance level PL a u to < b u x to < c u to < x Mean probability of hazardous failure per hour /h d u to < e u to < Note: In addition to the mean probability of undetected hazardous failure per hour, other measures are also necessary in order to achieve the PL (performance level). Note: Lexium servo drives can be used up to performance level d (PL d). Safety Integrity Levels (SIL) according to IEC/EN SIL according to standard IEC/EN is comparable with performance levels b and c (PL b and PL c) according to ISO - (SIL: mean probability of undetected hazardous failure per hour between - and - ). SIL according to standard IEC/EN is comparable with performance level d (PL d) according to ISO - (SIL: mean probability of undetected hazardous failure per hour between - and - ). () Please refer to the "Safety functions and solutions using Preventa" catalog. () Redundant: Consists of mitigating the effects of the failure of one component by means of the correct operation of another, assuming that trips do not occur simultaneously on both. Presentation: page Functions: page Characteristics: page page page

56 Schemes (continued) Lexium Servo Drives Safety requirements Considerations of the Safe Torque Off function The Safe Torque Off function cannot be considered as a means of electrical disconnection of the servo motor (no electrical isolation); if necessary, a Vario switch disconnector must be used. The Safe Torque Off function is not designed to compensate for any malfunction in the servo drive process control or application functions. The output signals available on the servo drive must not be considered as safety-related signals (e.g. Safe Torque Off active); these are Preventa-type safety module outputs () which must be integrated into a safety control-signalling circuit. The information below takes into account conformity with standard IEC/EN -, which defines three stopping categories: bbcategory : Stopping by immediate removal of the power from the actuators (e.g. uncontrolled stop) bbcategory : Controlled stop maintaining the power on the actuators until the machine stops, then removal of the power when the actuators stop once the machine has stopped bbcategory : Controlled stop maintaining the power on the actuators Applications Conformity with performance level e (PL e) according to ISO - and with SIL according to IEC/EN The examples below describe the Lexium servo drive Safe Torque Off function combined with a Preventa safety module to monitor emergency stop circuits. Examples of connection diagrams are available on our website at Machines with short freewheel stopping times (low inertia or high resistive torque). When the activation command is given on the STO inputs with the servo motor controlled, the servo motor power supply is immediately switched off and the motor stops according to category of standard IEC/EN -. Restarting is not permitted even when the activation command is given after the servo motor has come to a complete stop. This safe stop is maintained for as long as the STO inputs remain activated. For hoisting applications it is necessary to add a Preventa XPS AC-type safety module (). On a Safe Torque Off command, the servo drive requires the brake to be engaged, but a Preventa safety module contact must be inserted in series in the brake control circuit to engage it safely when a request is made to activate the Safe Torque Off function. Machines with long freewheel stopping times (high inertia or low resistive torque). When the activation command is given, deceleration of the servo motor controlled by the servo drive is first requested, then, following a time delay controlled by a Preventa XPS AV-type safety module () which corresponds to the deceleration time, the Safe Torque Off function is activated by the STO inputs. The servo motor stops according to category of standard IEC/EN - (Safe Stop : SS). Periodic test The Safe Torque Off safety input must be activated at least once a year for preventive maintenance purposes. The servo drive must be switched off before preventive maintenance takes place, and then powered up again. If the power supply to the servo motor is not switched off during testing, safety integrity is no longer assured for the Safe Torque Off function. The servo drive must therefore be replaced to help ensure the operational safety of the machine or the system process. () Please refer to the "Safety functions and solutions using Preventa" catalog.

57 Combinations Lexium Servo Drives Motor starters LC Dpp + LXM pdm Applications The combinations listed below can be used to create a complete motor starter unit comprising a contactor and a Lexium servo drive. The contactor turns on 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 Lexium servo drives Servo drive Max. prospective Contactor Reference Nominal power line Isc Reference () () kw ka Single-phase supply voltage: V a / Hz LXM pum. LC Dpp LXM pum. LC Dpp LXM pdm. LC Dpp LXM pdm. LC Dpp Single-phase supply voltage: V a / Hz LXM pum. LC Dpp LXM pum. LC Dpp LXM pdm LC Dpp LXM pdm. LC Dpp Three-phase supply voltage: V a / Hz LXM pun. LC Dpp LXM pdn. LC Dpp LXM pdn. LC Dpp LXM pdn LC Dpp LXM pdn LC Dpp Three-phase supply voltage: V a / Hz LXM pun. LC Dpp LXM pdn. LC Dpp LXM pdn. LC Dpp LXM pdn LC Dpp LXM pdn LC Dpp () Composition of contactors: LC Dpp: poles + "N/O" auxiliary contact and "N/C" auxiliary contact. In certain situations, it is possible to use an LC K contactor with "N/C" auxiliary contact. Please refer to the Control and protection components catalog. () Replace pp with the control circuit voltage reference given in the table below: Volts a / / LC Dpp Hz B E F M P U Hz B E F M U / Hz B E F M P U For other available voltages between V and V, or for a DC control circuit, please consult your customer care centre. Presentation: page Functions: page Characteristics: page page page

58 Combinations (continued) Lexium Servo Drives Motor starters Protection using fuses Protection using class J fuses (UL standard) Servo drive Fuse to be placed upstream Reference Nominal power kw A Single-phase supply voltage: V a / Hz LXM pum. LXM pum. LXM pdm. LXM pdm. Single-phase supply voltage: V a / Hz LXM pum. LXM pum. LXM pdm LXM pdm. Three-phase supply voltage: V a / Hz LXM pun. LXM pdn. LXM pdn. LXM pdn LXM pdn Three-phase supply voltage: V a / Hz LXM pun. LXM pdn. LXM pdn. LXM pdn LXM pdn Presentation: page Functions: page Characteristics: page page page

59 Mounting and installation recommendations Lexium Servo Drives Servo drives mm Mounting recommendations LXM pum, pum and LXM pun servo drives are cooled by natural convection. LXM pdm, pdm, LXM pdn, pdn, pdn and pdn servo drives have an integrated fan. mm When installing the servo drive in the enclosure, follow the instructions below with regard to the temperature and protection index: bbprovide sufficient cooling of the servo drive bbdo not mount the servo drive near heat sources bbdo not mount the servo drive on flammable materials bbdo not heat the servo drive cooling air by currents of hot air from other equipment and components, for example from an external braking resistor bbmount the servo drive vertically (± %) bbif the servo drive is used above its thermal limits, control stops due to overtemperature Note: For cables that are connected via the underside of the servo drive, a free space u mm is required under the unit to comply with the bending radius of the connection cables. Ambient temperature Mounting distances Instructions to be followed C + C d u mm Note: Do not use insulated enclosures, as they have a poor level of conductivity. Recommendations for mounting in an enclosure To help ensure good air circulation in the servo drive: bbfit ventilation grilles on the enclosure. bbmake sure that ventilation is adequate, otherwise install a forced ventilation unit with a filter. bbany apertures and/or fans must provide a flow rate at least equal to that of the servo drive fans (see below). bbuse special filters with IP protection. Dissipated power and fan flow rate compatible with the servo drive rating Natural convection Forced ventilation Servo drive Dissipated power Ventilation Flow rate LXM pum LXM pum LXM pun W Natural convection m /min LXM pdm LXM pdm LXM pdn LXM pdn LXM pdn LXM pdn Integrated fan Mounting in metal enclosure (IP degree of protection) The servo drive must be mounted in a dust and damp proof enclosure in certain environmental conditions, such as dust, corrosive gases, high humidity with risk of condensation and dripping water, splashing liquid, etc. In these cases, Lexium servo drives can be installed in an enclosure where the internal temperature must not exceed C. Presentation: page Functions: page Characteristics: page page page

60 Mounting and installation recommendations (continued) Lexium Servo Drives Servo drives PE L L L Q w v v R/L S/L T/L Primary T Secondary Lexium Connection of a Lexium servo drive to an installation with an IT neutral system Calculating the enclosure dimensions Maximum thermal resistance Rth ( C/W) The thermal resistance is defined by the following formula: R th = θ θe q = maximum temperature inside the enclosure in C P qe = maximum external temperature in C P = total power dissipated in the enclosure in W Power dissipated by the servo drive: see table on previous page. Add the power dissipated by the other equipment components. Useful heat exchange area of enclosure S (m ) For a wall-mounted enclosure, the useful heat exchange area is defined as the sum of the areas of the two sides + top + front panel. S = R k th For metal enclosures: bbk =. with internal fan bbk =. without fan k = thermal resistance per m of the enclosure Note: Do not use insulated enclosures, as they have a poor level of conductivity. Connections ensuring conformity with EMC standards Principle bbthe earths between the servo drive, servo motor and cable shielding must have high frequency equipotentiality. bbuse shielded cables with shielding connected to earth throughout at both ends for the servo motor cable, the braking resistor cable and the control-signalling cables. Metal conduit or ducting can be used for part of the shielding length provided that there is no break in continuity of the earth connections. bbmake sure there is maximum separation between the power supply cable (line supply) and the motor cable. Note: The HF equipotential earth connection between the servo drive, servo motor and cable shielding does not remove the need to connect the PE protective conductors (green-yellow) to the appropriate terminals on each unit. If using an additional EMC input filter, it should be mounted on the side of the servo drive and connected directly to the line supply via an unshielded cable. The power supply on the servo drive is via the filter output cable. Operation on an IT system (isolated or impedance earthed neutral) Principle Insert a three-phase LV/LV transformer in the supply circuit for the servo drives, which thus allows a TT load system to be recreated on the secondary side. This diagram, with a secondary star transformer, thus meets the following requirements: bbprotection of personnel bbadaptation of the supply voltage Sizing the three-phase T transformer The size of the transformers is defined using the following formulae: b blexium servo drives with independent power supply (one transformer per servo drive): Pu = ( Un In K ), where Pu = unit power (kva), Un = nominal input voltage (V), In = continuous current (A), K (=.) = reduction factor for the servo drive, and factor. = factor taking account of the inrush and peak currents of the servo drives. b blexium servo drives with common power supply (one transformer per n servo drives): Pm = ( Pu )/ If Pm < Pu of the largest servo drive, take Pm = Pu of the largest servo drive. Where Pm = usable power (kva) and Pu = servo drive unit power (kva). Formula not applicable for continuous operation (S mode).

61 Presentation, functions Lexium Servo Drives BMH servo motors Presentation BMH servo motors excel with best-in-class power density to meet the requirements of most compact machine design. With four flange sizes and three different lengths per flange size, there is a suitable solution for most applications, covering a continuous stall torque range from. to Nm for a maximum speed of rpm. BMH servo motor with straight connectors BMH servo motor with rotatable angled connectors Thanks to their medium inertia motor design, the new BMH servo motors enables higher load inertia per motor frame size and increases the gain for settling, thus satisfying the requirements for robust load and plug-and-play motion tuning. BMH servo motors are available in four flange sizes:,, and mm. They are certified as "Recognized" by Underwriters Laboratories, and conform to UL standards, as well as to European directives (CE). BMH servo motors are available with the following variants: bb IP or IP degree of protection (IP with compressed air connection kit in option) bb With or without holding brake bb Straight or angled connectors bb Single turn or multiturn SinCos encoder bb Untapped or keyed shaft end M M eq n avg Work zone n max Torque/speed characteristics BMH servo motors provide torque/speed curve profiles similar to the example shown on the left with: Peak torque, depending on the servo drive model Continuous torque, depending on the servo drive model where: bb n max (in rpm) corresponds to the maximum speed of the servo motor bb (in Nm) represents the peak stall torque value bb M (in Nm) represents the continuous stall torque value Principle for determining servo motor size according to the application The torque/speed curves can be used to determine the correct servo motor size. Locate the work zone of the application in terms of speed. Verify, using the servo motor cycle timing diagram, that the torques required by the application during the various phases of the cycle are located within the area bounded by curve in the work zone. Calculate the average speed n avg and the equivalent thermal torque M eq (see page ). The point defined by n avg and M eq must be located below curve in the work zone. Note: For sizing of servo motors, see page. Functions General functions BMH servo motors have been developed to meet the following requirements: bbfunctional characteristics, ruggedness, safety, etc. in accordance with IEC/EN - bbambient operating temperature: vv-... C according to DIN R. vvmaximum C with derating from C by % of the nominal output power per additional C bbrelative humidity: IEC -- category K bbmaximum operating altitude: m without derating, m with k =., m with k =. () bbstorage and transport temperature: -... C bbwinding insulation class: F (threshold temperature for windings C) in accordance with DIN VDE bbpower and encoder connection via straight or angled connectors bbthermal protection provided and controlled by the Lexium servo drive via the motor temperature control algorithm bbout-of-round, concentricity and perpendicularity between flange and shaft in accordance with DIN, class N bbpermitted mounting positions: no mounting restrictions for IMB - IMV and IMV in accordance with DIN bbpolyester resin-based paint: opaque black RAL () k: derating factor Characteristics: page page page

62 Functions (continued), description Lexium Servo Drives BMH servo motors Functions (continued) General functions (continued) bbdegree of protection: vvcasing: IP in accordance with IEC/EN (IP with air compressed connection kit in option, see page ) v vshaft end: IP (), or IP in accordance with IEC/EN (IP with air compressed connection kit in option, see page ) b bintegrated sensor: SinCos Hiperface single turn or multiturn, medium or high-resolution encoder bbuntapped or keyed shaft end. Holding brake BMH servo motors can be fitted with an electro-magnetic holding brake. d Do not use the holding brake as a dynamic brake for deceleration, as this will quickly damage the brake. Integrated encoder BMH servo motors are equipped as standard with an absolute encoder. Four types of encoder are available: b bhigh resolution SinCos Hiperface encoder: v v Single turn (, points/turn) () or v v Multi-turn (, points/turn x turns) (), helps ensure the angular precision of the shaft position, accurate to less than ±. arc minutes. b bmedium resolution SinCos Hiperface encoder: v vsingle turn (, points/turn) () or v v Multi-turn (, points/turn x turns) (), helps ensure the angular precision of the shaft position, accurate to less than ±. arc minutes. This performs the following functions: b bgives the absolute motor position so that flows can be synchronized bbmeasures the servo motor speed via the associated Lexium servo drive. This information is used by the speed controller of the servo drive. bbmeasures the position information for the servo drive position controller bbsends data from the servo motor to the servo drive, which helps ensure automatic identification of the motor when the servo drive starts. Description BMH servo motors with a three-phase stator and a -pole rotor with Neodymium Iron Boron (NdFeB) magnets consist of: A casing protected by RAL opaque black paint A -point axial fixing flange A keyed or untapped shaft end (depending on the model) A threaded dust and damp proof male straight connector for connecting the power cable () A threaded dust and damp proof male straight connector for connecting the control cable (encoder) () Connectors to be ordered separately, for connection to Lexium servo drives (see page ). Schneider Electric has taken particular care to help ensure compatibility between BMH servo motors and Lexium servo drives. This compatibility can only be assured by using cables and connectors sold by Schneider Electric (see page ). () IP mounted in position IMV (vertical mounting with shaft end at the top), IP mounted in position IMV (vertical mounting with shaft end at the bottom) or position IMB (horizontal mounting). () Encoder resolution given for use with a Lexium servo drive. () Other model with rotatable angled connector. Characteristics: page page page

63 Characteristics Lexium Servo Drives BMH servo motors V single-phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH T BMH T BMH T Associated with Lexium servo drive LXM pdm LXM pdm Switching frequency khz Torque Continuous stall M Nm... Nominal operating point Peak stall Nm... Nominal torque Nm... Nominal speed rpm Nominal servo motor output power W Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms... Back emf V rms/ krpm Rotor Number of poles Inertia Without brake... J m kgcm... With brake J m kgcm... Stator (at C) Resistance (phase/phase) W... Inductance (phase/phase) mh... Torque/speed curves BMH T servo motor BMH T servo motor BMH T servo motor With LXM pdm servo drive With LXM pdm servo drive With LXM pdm servo drive,,,,, M,, M M Peak torque Continuous torque Description: page page page

64 Characteristics (continued) Lexium Servo Drives BMH servo motors V single-phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH T BMH T Associated with Lexium servo drive Switching frequency khz LXM pdm Torque Continuous stall M Nm. Nominal operating point Peak stall Nm.. Nominal torque Nm.. Nominal speed rpm Nominal servo motor output power Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) W Torque Nm/A rms.. Back emf V rms/ krpm Rotor Number of poles Inertia Without brake.. J m kgcm.. With brake J m kgcm.. Stator (at C) Resistance (phase/phase) W.. Inductance (phase/phase) mh.. Torque/speed curves BMH T servo motor With LXM pdm servo drive M BMH T servo motor With LXM pdm servo drive M Peak torque Continuous torque Description: page page page

65 Characteristics (continued) Lexium Servo Drives BMH servo motors V single-phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH T BMH T BMH T Associated with Lexium servo drive LXM pum LXM pdm Switching frequency khz Torque Continuous stall M Nm... Nominal operating point Peak stall Nm.. Nominal torque Nm... Nominal speed rpm Nominal servo motor output power W Maximum current A rms... Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms... Back emf V rms/ krpm Rotor Number of poles Inertia Without brake... J m kgcm... With brake J m kgcm... Stator (at C) Resistance (phase/phase) W... Inductance (phase/phase) mh... Torque/speed curves BMH T servo motor BMH T servo motor BMH T servo motor With LXM pum servo drive With LXM pdm servo drive With LXM pdm servo drive,,,,, M,, Peak torque Continuous torque M M Description: page page page

66 Characteristics (continued) Lexium Servo Drives BMH servo motors V single-phase supply voltage Characteristics of BMH / servo motors Type of servo motor BMH T BMH T BMH T BMH P Associated with Lexium servo drive LXM pdm LXM pdm Switching frequency khz Torque Continuous stall M Nm... Nominal operating point Peak stall Nm.... Nominal torque Nm.... Nominal speed rpm Nominal servo motor output power W Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.... Back emf V rms/ krpm Rotor Number of poles Inertia Without brake.... J m kgcm.... With brake J m kgcm.... Stator (at C) Resistance (phase/phase) W.... Inductance (phase/phase) mh... Torque/speed curves BMH T servo motor BMH T servo motor BMH T servo motor With LXM pdm servo drive With LXM pdm servo drive With LXM pdm servo drive M BMH P servo motor With LXM pdm servo drive M M M Peak torque Continuous torque Description: page page page

67 Characteristics (continued) Lexium Servo Drives BMH servo motors V -phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH P BMH P BMH P Associated with Lexium servo drive LXM pun LXM pdn LXM pdn Switching frequency khz Torque Continuous stall M Nm.... Nominal operating point Peak stall Nm... Nominal torque Nm.... Nominal speed rpm Nominal servo motor output power W Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms... Back emf V rms/ krpm Rotor Number of poles Inertia Without brake... J m kgcm... With brake J m kgcm... Stator (at C) Resistance (phase/phase) W... Inductance (phase/phase) mh... Torque/speed curves BMH P servo motor BMH P servo motor With LXM pun servo drive With LXM pdn servo drive With LXM pdn servo drive,,,,,, M, BMH P servo motor With LXM pdn servo drive,,,,, M,, M M Peak torque Continuous torque Description: page page page

68 Characteristics (continued) Lexium Servo Drives BMH servo motors V -phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH P BMH P BMH P Associated with Lexium servo drive LXM pdn LXM pdn LXM pdn Switching frequency khz Torque Continuous stall M Nm.... Nominal operating point Peak stall Nm... Nominal torque Nm.... Nominal speed rpm Nominal servo motor output power W Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms/ krpm Rotor Number of poles Inertia Without brake.. J m kgcm... With brake J m kgcm... Stator (at C) Resistance (phase/phase) W... Inductance (phase/phase) mh.. Torque/speed curves BMH P servo motor BMH P servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M BMH P servo motor With LXM pdn servo drive M M M Peak torque Continuous torque Description: page page page

69 Characteristics (continued) Lexium Servo Drives BMH servo motors V -phase supply voltage Characteristics of BMH / servo motors Type of servo motor BMH P BMH P BMH P BMH P BMH P BMH P Associated with Lexium servo drive LXMpDN LXM pdn Switching frequency khz Torque Continuous stall M Nm.... Nominal operating point Peak stall Nm... Nominal torque Nm Nominal speed rpm Nominal servo motor output power W Maximum current A rms... Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms Back emf V rms/ krpm Rotor Number of poles Inertia Without brake... J m kgcm... With brake J m kgcm.... Stator (at C) Resistance (phase/phase) W..... Inductance (phase/phase) mh.... Torque/speed curves BMH P servo motor BMH P servo motor BMH P servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M M BMH P servo motor BMH P servo motor BMH P servo motor M With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M Peak torque Continuous torque M M Description: page page page

70 Characteristics (continued) Lexium Servo Drives BMH servo motors V -phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH P BMH P BMH P Associated with Lexium servo drive LXM pun LXM pdn LXM pdn Switching frequency khz Torque Continuous stall M Nm.... Nominal operating point Peak stall Nm... Nominal torque Nm.... Nominal speed rpm Nominal servo motor output power W Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms... Back emf V rms/ krpm Rotor Number of poles Inertia Without brake... J m kgcm... With brake J m kgcm... Stator (at C) Resistance (phase/phase) W... Inductance (phase/phase) mh... Torque/speed curves BMH P servo motor BMH P servo motor With LXM pun servo drive With LXM pdn servo drive With LXM pdn servo drive,,,,,, M, BMH P servo motor With LXM pdn servo drive,,,,, M,, M M Peak torque Continuous torque Description: page page page

71 Characteristics (continued) Lexium Servo Drives BMH servo motors V -phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH P BMH P BMH P Associated with Lexium servo drive Switching frequency khz LXM p DN LXM p DN Torque Continuous stall M Nm.... Nominal operating point Peak stall Nm... Nominal torque Nm.... Nominal speed rpm Nominal servo motor output power LXM p DN W Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms/ krpm Rotor Number of poles Inertia Without brake.. J m kgcm... With brake J m kgcm... Stator (at C) Resistance (phase/phase) W... Inductance (phase/phase) mh.. Torque/speed curves BMH P servo motor BMH P servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M BMH P servo motor With LXM pdn servo drive M M M Peak torque Continuous torque Description: page page page

72 Characteristics (continued) Lexium Servo Drives BMH servo motors V -phase supply voltage Characteristics of BMH / servo motors Type of servo motor BMH P BMH P BMH P BMH P BMH P BMH P Associated with Lexium servo drive Switching frequency khz LXM p DN LXM p DN Torque Continuous stall M Nm.... Nominal operating point Peak stall Nm... Nominal torque Nm Nominal speed rpm Nominal servo motor output power W Maximum current A rms... Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms Back emf V rms/ krpm Rotor Number of poles Inertia Without brake... J m kgcm... With brake J m kgcm.... Stator (at C) Resistance (phase/phase) W..... Inductance (phase/phase) mh.... Torque/speed curves BMH P servo motor BMH P servo motor BMH P servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M M BMH P servo motor BMH P servo motor BMH P servo motor M With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M Peak torque Continuous torque M M Description: page page page

73 Characteristics (continued) Lexium Servo Drives BMH servo motors Fr X Radial and axial forces permitted on the motor shaft Even when the servo motors are used under optimum conditions, their service life is limited by that of the bearings. B Conditions Nominal service life of bearings () Ambient temperature (bearing temperature a C) Force application point L h =, hours C Fr applied at the middle of the shaft end X = B/ (dimension B, see page ) () Hours of use with a failure probability of %. Fa d The following conditions must be adhered to: bb Radial and axial forces must not be applied simultaneously bb Shaft end with IP or IP degree of protection bb The bearings cannot be changed by the user as the built-in position sensor must be realigned if the unit is dismantled. Maximum radial force Fr Mechanical speed rpm Servo motor BMH N BMH N BMH N BMH N BMH N BMH N BMH N BMH N BMH N BMH N BMH N BMH N Maximum axial force: Fa =. x Fr Description: page page page

74 Characteristics (continued) Lexium Servo Drives BMH servo motors Characteristics of servo motor/servo drive power connection cables Preassembled cordsets with connector at servo motor end Type of cordset VW M Rppp VW M Rppp VW M Rppp External sleeve, insulation PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x mm )] Connector type [( x. mm ) + ( x mm )] M industrial connector (servo motor side) and end with flying leads (servo drive side) [( x mm ) + ( x mm )] External diameter mm ±.. ±,. ±. Curvature radius mm, suitable for daisychaining, cable-carrier system Working voltage V Maximum length m () Operating temperature C (fixed), - + (mobile) Certifications Cables without connectors UL, CSA, VDE, e, DESINA, suitable for daisy-chaining, cablecarrier system M industrial connector (servo motor side) and end with flying leads (servo drive side), suitable for daisy-chaining, cablecarrier system Cable type VW M RppppVW M Rppp VW M Rpppp External sleeve, insulation PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x mm )] Connector type None, see page [( x. mm ) + ( x mm )] External diameter mm ±.. ±,. ±. Curvature radius mm, suitable for daisychaining, cable-carrier system Working voltage V Maximum length m Operating temperature C (fixed), - + (mobile) Certifications UL, CSA, VDE, e, DESINA Characteristics of the servo motor/servo drive control connection cables Preassembled cordsets with connector at both ends (servo motor and servo drive) Type of cordset Type of encoder External sleeve, insulation VW M Rppp SinCos encoder, suitable for daisy-chaining, cablecarrier system PUR green coloured RAL, polypropylen Number of conductors (shielded) [ x ( x. mm ) + x ( x. mm )] External diameter mm. ±. Connector type [( x mm ) + ( x mm )], suitable for daisy-chaining, cablecarrier system M industrial connector (servo motor side) and RJ connector (servo drive side) Min. curvature radius mm, suitable for daisy-chaining, cable-carrier system Working voltage V (. mm and. mm ) Maximum length m () Operating temperature C - + (fixed), - + (mobile) Certifications Cables without connectors Cable type Type of encoder External sleeve, insulation UL, CSA, VDE, e, DESINA VW M Rpppp SinCos encoder PUR green coloured RAL, polypropylen Number of conductors (shielded) [ x ( x. mm ) + x ( x. mm )] External diameter mm. ±. Connector type None, see page Min. curvature radius mm, suitable for daisy-chaining, cable-carrier system Working voltage V (. mm and. mm ) Maximum length m Operating temperature C - + (fixed), - + (mobile) Certifications UL, CSA, VDE, e, DESINA () For cables longer than m, please consult your customer care center. Description: page page page

75 References Lexium Servo Drives BMH servo motors BMH pp pppa BMH servo motors The BMH servo motors shown below are supplied without a gearbox. For GBX gearboxes see page. Continuous stall torque Peak stall torque Nominal servo motor output power Nominal speed Maximum mechanical speed Associated servo drive LXM Reference () Weight () Nm Nm W rpm rpm kg.. pun BMH P ppppa.. pum BMH T ppppa.. pdm BMH T ppppa. pdn BMH P ppppa... pdm BMH T ppppa.. pdm pdn BMH P ppppa... pdm BMH T ppppa.. pdm BMH T ppppa. pdn BMH P ppppa. BMH pp pppa.. pdn BMH P ppppa... pdm BMH T ppppa.. pdm pdn BMH P ppppa.. pdm BMH T ppppa.. pdm.. pdn BMH P ppppa... pdm BMH T ppppa... pdn BMH P ppppa. () To complete each reference see the table on page. () Weight of servo motor without brake, no packaging. To obtain the weight of the servo motor with holding brake, see page. Presentation: page Characteristics: page page

76 References (continued) Lexium Servo Drives BMH servo motors BMH servo motors (continued) Continuous stall torque Peak stall torque Nominal servo motor output power Nominal speed Maximum mechanical speed Associated servo drive LXM Reference () Weight () Nm Nm W rpm rpm kg.. pdm BMH P ppppa. pdn.. pdn BMH P ppppa.. pdn BMH P ppppa. BMH P pppa.. pdn BMH P ppppa.. pdn BMH P ppppa. pdn BMH P ppppa. To order a BMH servo motor, complete each reference above with: Shaft end IP Untapped BMH P p p p p A Keyed IP /IP () Untapped Integrated sensor Single turn, SinCos Hiperface, points/turn () sine/cosine periods per turn Multiturn, SinCos Hiperface, points/turn x turns () sine/cosine periods per turn Single turn, SinCos Hiperface, points/turn () sine/cosine periods per turn Multiturn, SinCos Hiperface, points/turn x turns () sine/cosine periods per turn Keyed Holding brake Without A With Connections Straight connectors Rotatable right-angled connectors Flange International standard A Note: The example above is for a BMH P servo motor. For other servo motors, replace BMH P with the relevant reference. IP conformity kits This kit can be used to help ensure IP degree of protection. It is fitted in place of the rear motor rating plate. F VW M Description IP conformity kits (supplied as an option) For servo motors Reference Weight kg BMH pp VW M. BMH pp VW M. BMH pp VW M. BMH pp VW M. () To complete each reference see the table above. () Weight of servo motor without brake, no packaging. To obtain the weight of the servo motor with holding brake, see page. () IP with the VW M p IP conformity kit supplied as an option, see above. () Sensor resolution given for use with a Lexium servo drive. Presentation: page Characteristics: page page

77 References (continued) Lexium Servo Drives BMH servo motors VW M p Rppp Connection elements Power cordsets Description Cables equipped with one M industrial connector (servo motor end) From servo motor BMH pp BMH pp BMH P BMH P BMH P To servo drive Composition Length Reference Weight LXM pppppp depending on combinations (see pages to ) [( x. mm ) + ( x mm )] LXM pdn [( x. mm ) + ( x mm )] m kg. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. Cables equipped with one M industrial connector (servo motor end) BMH pp LXM pdn [( x mm ) + ( x mm )] VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. Control cordsets Description SinCos Hiperface encoder cables equipped with an M industrial connector (servo motor end) and an RJ connector with + contacts (servo drive end) From servo motor BMH ppppp To servo drive Composition Length Reference Weight LXM pppppp depending on combinations (see pages to ) [ x ( x. mm ) + ( x. mm )] m kg. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M Rppp Presentation: page Characteristics: page

78 References (continued) Lexium Servo Drives BMH servo motors Connection elements (continued) Connectors for creating power and control cordsets Description Used for Item no. M industrial connector for creating power cordsets (sold in lots of ) M industrial connector for creating power cordsets (sold in lots of ) BMH pp, BMH pp and BMH pp servo motors For cable crosssection mm. or. Reference Weight kg VW M. BMH pp servo motors VW M. RJ connector with + contacts for creating control cordsets (sold in lots of ) LXM pppppp servo drives (CN connector) VW M. M industrial connector for creating control cordsets (sold in lots of ) BMH ppppp servo motors VW M. Cables for creating power and control cordsets Description Cables for creating power cordsets From servo motor To servo drive BMH pp LXM pppppp BMH pp depending on BMH P combinations (see pages to ) Composition Item no. [( x. mm ) + ( x mm )] Length Reference Weight m kg VW M R. VW M R. VW M R. BMH P LXM ppppn [( x. mm ) VW M R. BMH P + ( x mm )] VW M R. BMH pp LXM ppppn [( x mm ) + ( x mm )] VW M R. VW M R. VW M R. VW M R. Cables for creating control cordsets for SinCos Hiperface encoders BMH ppppp LXM pppppp depending on combinations (see pages to ) [( x VW M R. ( x. mm ) + ( x.mm )] VW M R. VW M R. Presentation: page Characteristics: page

79 Dimensions Lexium Servo Drives BMH servo motors BMH (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional). Mx. b b h c c h c c Straight connectors Rotatable angled connectors b b b b c (without brake) c (with brake) c c c h h Ø Ø for screws BMH p..... h +. k M x BMH p..... h +. k M x BMH p.... h + k M x BMH (example with straight connectors: power supply for servo motor/brake and encoder ) Ø k.. Mx. b b Ø j Ø k Shaft end, keyed slot (optional). -. For screw M x h c Straight connectors Rotatable angled connectors b b b b c (without c (with brake) brake) BMH p.... BMH p.... BMH p.... Presentation: page Characteristics: page page

80 Dimensions (continued) Lexium Servo Drives BMH servo motors BMH (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional).. Mx b b. -. h For screw M x c Straight connectors Rotatable angled connectors b b b b c (without brake) c (with brake) BMH p.... BMH p.... BMH p.... BMH (example with straight connectors: power supply for servo motor/brake and encoder ) Mx b b Shaft end, keyed slot (optional) b + +. N For screw M x c Straight connectors Rotatable angled connectors b b b b b b c (without brake) c (with brake) BMH P... BMH P... BMH P... IP conformity kits (optional) c b b a a b b c VW M.. VW M. VW M. VW M. Presentation: page Characteristics: page page

81 Presentation, characteristics, references Lexium Servo Drives BMH servo motors Option: Holding brake integrated in servo motor Holding brake Presentation L L L c V The holding brake integrated in the BMH servo motor is an electromagnetic pressure spring brake that blocks the servo motor axis once the output current has been switched off. Lexium HBC Servo drive with integrated holding brake controller (HBC) In the event of an emergency, such as a power outage or an Emergency stop, the drive is immobilized, thus significantly increasing safety. Blocking the servo motor axis is also necessary in cases of torque overload, such as in the event of vertical axis movement. The servo drive Lexium integrates as standard an holding brake controller which amplifies the braking control signal, so that the brake is deactivated quickly. It then reduces this control signal so as to decrease the power dissipated by the holding brake. Servo motor with integrated holding brake Characteristics Type of servo motor BMH,,,,,, Holding torque M Br Nm. Moment of inertia of rotor(brake only) J Br kgcm..... Electrical clamping power P Br W Nominal current A Supply voltage V +/-% +/-% Opening time ms Closing time ms Weight (to be added to the weight of the servo motor without brake, see page ) References kg For selection of BMH servo motor with or without holding brake, see references on page. BMH servo motor

82 Presentation, characteristics, references Lexium Servo Drives BMH servo motors Option: Encoder integrated in servo motor Encoder integrated in BMH servo motor Presentation L L L Lexium The standard measurement device is the SinCos Hiperface single turn or multiturn encoder integrated in BMH servo motors. This measurement device is perfectly suited to the Lexium range of servo drives. Use of this interface enables: bbautomatic identification of BMH servo motor data by the servo drive bbautomatic initialization of the servo drive's control loops, thus simplifying installation of the device. E Servo motor with SinCos Hiperface encoder Characteristics Type of encoder Single turn SinCos Multiturn SinCos Sine/cosine periods per turn Number of points (), x turns, x turns Encoder precision arc min ±. ±. ±. ±. Measurement method Capacitive, medium resolution Interface Hiperface Optical, high resolution Capacitive, medium resolution Optical, high resolution Operating temperature C References () Encoder resolution given for use with a Lexium servo drive. For selection of the SinCos Hiperface single turn or multiturn encoder integrated in the BMH servo motor, see references on page. BMH servo motor

83 Presentation Lexium Servo Drives BMH servo motors Option: GBX planetary gearboxes Presentation GBX planetary gearbox In many cases, requires the use of planetary gearboxes to adapt speeds and torques, while ensuring the precision demanded by the application. Schneider Electric has chosen to use GBX gearboxes (made by Neugart) with the BMH range of servo motors. These gearboxes are lubricated for life and are designed for applications which are not susceptible to mechanical backlash. The fact that their use in combination with BMH servo motors has been fully verified and that they are easily assembled, helps to ensure simple, risk-free operation. The planetary gearboxes are available in sizes (GBX...GBX ) and with reduction ratios (:...:) (see the table below). The continuous and peak standstill torques available at the gearbox output are obtained by multiplying the characteristic values of the servo motor by the reduction ratio and efficiency of the gearbox (.,. or. depending on the reduction ratio). The table below shows the most suitable servo motor/gearbox combinations. For other combinations, refer to the servo motor data sheets. BMH servo motor/gbx gearbox combinations Reduction ratios from : to : Type of servo motor Reduction ratio : : : : : : : : BMH GBX GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX BMH BMH BMH Reduction ratios from : to : Type of servo motor Reduction ratio : : : : : : : BMH GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX GBX GBX GBX BMH GBX GBX GBX GBX BMH GBX GBX GBX GBX BMH GBX GBX GBX GBX BMH GBX GBX GBX GBX BMH GBX GBX GBX GBX BMH GBX GBX GBX GBX BMH BMH BMH GBX For these combinations, you must check that the application will not exceed the maximum output torque of the gearbox (see the values given on page ). Characteristics: page page page Mounting: page

84 Characteristics Lexium Servo Drives BMH servo motors Option: GBX planetary gearboxes Characteristics of GBX gearboxes Type of gearbox GBX GBX GBX GBX GBX Type of gearbox Planetary gearbox with straight teeth Backlash : : arc min < < < < < : : < < < < < : : < < < < Torsion rigidity : : Nm/. : : arc min.. : :.. Noise level () db (A) Casing Shaft material C Shaft output dust and damp protection Lubrication Black anodized aluminum IP Average service life () hrs, Mounting position Lubricated for life Any position Operating temperature C - + Efficiency : :. Maximum permitted radial force () () Maximum permitted axial force () : :. : :. L h =, hours N L h =, hours N L h =, hours N L h =, hours N Moment of inertia of gearbox : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm.... : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm.... : kgcm.... : kgcm.... () Value measured at a distance of m, at no-load for a servo motor speed of rpm and a reduction ratio of :. () Values given for an output shaft speed of rpm in S mode (cyclic ratio = ) on electrical machines for an ambient temperature of C. () Force applied at mid-point along the output shaft. Presentation: page page page Mounting: page

85 Characteristics (continued) Lexium Servo Drives BMH servo motors Option: GBX planetary gearboxes Characteristics of GBX gearboxes (continued) Type of gearbox GBX GBX GBX GBX GBX Continuous output torque M N () Maximum output torque () : Nm : Nm : Nm : Nm : Nm. : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm. : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm () Values given for an output shaft speed of rpm in S mode (cyclic ratio = ) on electrical machines for an ambient temperature of C. Presentation: page page page Mounting: page

86 References Lexium Servo Drives BMH servo motors Option: GBX planetary gearboxes References GBX ppp Size Reduction ratio Reference Weight kg GBX :, :, : and : GBX ppp ppp pf. :, :, :, : and : GBX ppp ppp pf. GBX :, :, : and : GBX ppp ppp pf. :, :, :, :, :, :, : and GBX ppp ppp pf. : : GBX ppp ppp pf. GBX :, :, : and : GBX ppp ppp pf. :, :, :, :, :, :, : and GBX ppp ppp pf. : :, : and : GBX ppp ppp pf. GBX :, :, : and : GBX ppp ppp pf. :, :, :, :, :, :, : and GBX ppp ppp pf. : :, : and : GBX ppp ppp pf. GBX : and : GBX ppp ppp pf. :, :, :, :, :, : and : GBX ppp ppp pf. Refer to the BMH servo motor/gbx gearbox combinations table (page ) for the most suitable servo motor/gearbox combinations. To order a GBX planetary gearbox, complete each reference above with: GBX ppp ppp ppp p F Size Diameter of the casing mm (see table of combinations mm with BMH servo motor on page -EN/) mm mm mm Reduction ratio : : : : : : : : : : : : : : : Associated BMH servo motor Type BMH BMH BMH Model BMH ppp BMH ppp BMH ppp BMH servo motor adaptation F Presentation: page Characteristics: page page Mounting: page

87 Dimensions Lexium Servo Drives BMH servo motors Option: GBX planetary gearboxes Dimensions g xø Ø a () a() a a a a Servo motor assembly xø () Ø () h Ø Ø Ø GBX a a a a hrs g Ø Ø Ø Ø Ø..... h h M x c ()..... h h M x.... h h M x..... h h M x. h h M x..... h h M x..... h h M x.... h h M x... h h M x... h h M x... h h M x, h h M x.... h h M x () Dimensions a, a, Uc, Ø and Ø depend on the planetary gearbox/bmh servo motor combination: Combinations Reduction ratios Gearbox Servo motor : to : : to : : to : : to : : to : : to : : to : a a a a U c Ø Ø GBX BMH,.. M GBX BMH.. M GBX BMH p... M GBX BMH... M GBX BMH p.. M GBX BMH... M GBX BMH p... M GBX BMH,. M GBX BMH p.. M Presentation: page Characteristics: page page Mounting: page

88 Mounting Lexium Servo Drives BMH servo motors Option: GBX planetary gearboxes Mounting No special tool is required for mounting the GBX planetary gearbox on the BMH servo motor. The usual rules for mechanical mounting must be followed: Clean the bearing surfaces and seals. Align the shafts that are to be coupled and assemble in vertical position. Uniform adhesive force of the servo motor flange on the gearbox flange, with tightening of the Phillips screws. Correct tightening torque of the TA ring using a torque wrench (... Nm depending on the gearbox model). For more information, refer to the instruction sheets supplied with the products. Presentation: page Characteristics: page page page

89 Presentation, functions Lexium Servo Drives BSH servo motors Presentation BSH servo motors are the ideal choice to meet the requirements of dynamics and precision. With four flange sizes and a variety of lengths, there is a suitable solution for most applications, covering a continuous stall torque range from. to. Nm for a maximum speed of rpm. BSH servo motor with straight connectors BSH servo motor with rotatable angled connectors Thanks to their new winding technology based on salient poles, BSH servo motors are far more compact and offer a higher power density than conventional servo motors. BSH servo motors are available in four flange sizes:,, and mm. They are certified as "Recognized" by Underwriters Laboratories, and conform to UL standards, as well as to European directives (CE). BSH servo motors are available with the following variants: bb IP or IP degree of protection bb With or without holding brake bb Straight or angled connectors bb Single turn or multiturn SinCos encoder bb Untapped or keyed shaft end M M eq Torque/speed characteristics BSH servo motors provide torque/speed curve profiles similar to the example shown on the left with: Peak torque, depending on the servo drive model Continuous torque, depending on the servo drive model where: bb n max (in rpm) corresponds to the maximum speed of the servo motor bb (in Nm) represents the peak stall torque value bb M (in Nm) represents the continuous stall torque value n avg Work zone n max Principle for determining servo motor size according to the application The torque/speed curves can be used to determine the correct servo motor size. Locate the work zone of the application in terms of speed. Verify, using the servo motor cycle timing diagram, that the torques required by the application during the various phases of the cycle are located within the area bounded by curve in the work zone. Calculate the average speed n avg and the equivalent thermal torque M eq (see page ). The point defined by n avg and M eq must be located below curve in the work zone. Note: For sizing of servo motors, see page. Functions General functions BSH servo motors have been developed to meet the following requirements: bbfunctional characteristics, ruggedness, safety, etc. in accordance with IEC/EN - bbambient operating temperature: vv-... C according to DIN R. vvmaximum C with derating from C by % of the nominal output power per additional C bbrelative humidity: IEC -- category K bbmaximum operating altitude: m without derating, m with k =., m with k =. () bbstorage and transport temperature: -... C bbwinding insulation class: F (threshold temperature for windings C) in accordance with DIN VDE bbpower and encoder connection via straight or angled connectors bbbuilt-in PTC thermistor probe bbout-of-round, concentricity and perpendicularity between flange and shaft in accordance with DIN, class N bbpermitted mounting positions: no mounting restrictions for IMB - IMV and IMV in accordance with DIN bbpolyester resin-based paint: opaque black RAL () k: derating factor Characteristics: page page page

90 Functions (continued), description Lexium Servo Drives BSH servo motors Functions (continued) General functions (continued) bbdegree of protection: vvcasing: IP in accordance with IEC/EN v vshaft end: IP () or IP in accordance with IEC/EN b bintegrated sensor: SinCos Hiperface single turn or multiturn high-resolution encoder bbuntapped or keyed shaft end. Holding brake BSH servo motors can be fitted with an electro-magnetic holding brake. d Do not use the holding brake as a dynamic brake for deceleration, as this will quickly damage the brake. Integrated encoder BSH servo motors are fitted with a SinCos Hiperface high-resolution single turn (, points/turn) () or multiturn (, points/turn x turns) () encoder providing angular precision of the shaft position, accurate to less than ±. arc minutes. This performs the following functions: bbgives the absolute motor position so that flows can be synchronized bbmeasures the servo motor speed via the associated Lexium servo drive. This information is used by the speed controller of the servo drive. bbmeasures the position information for the servo drive position controller bbsends data from the servo motor to the servo drive, which helps ensure automatic identification of the motor when the servo drive starts. Description BSH servo motors with a three-phase stator and a - to -pole rotor (depending on model) with Neodymium Iron Boron (NdFeB) magnets consist of: A casing protected by RAL opaque black paint A -point axial fixing flange A keyed or untapped shaft end (depending on the model) A threaded dust and damp proof male straight connector for connecting the power cable () A threaded dust and damp proof male straight connector for connecting the control cable (encoder) () Connectors to be ordered separately, for connection to Lexium servo drives (see page ). Schneider Electric has taken particular care to help ensure compatibility between BSH servo motors and Lexium servo drives. This compatibility can only be assured by using cables and connectors sold by Schneider Electric (see page ). () IP mounted in position IMV (vertical mounting with shaft end at the top), IP mounted in position IMV (vertical mounting with shaft end at the bottom) or position IMB (horizontal mounting). () Encoder resolution given for use with a Lexium servo drive. () Other model with rotatable angled connector Characteristics: page page page

91 Characteristics Lexium Servo Drives BSH servo motors V single-phase supply voltage Characteristics of BSH servo motor Type of servo motor BSH T BSH T BSH T Associated with Lexium servo drive Switching frequency khz LXM p UM Torque Continuous stall M Nm... Nominal operating point Peak stall Nm... Nominal torque Nm... Nominal speed rpm Nominal servo motor output power W Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Torque/speed curves Without brake LXM p DM J m kgcm... With brake J m kgcm... Resistance (phase/phase) W... Inductance (phase/phase) mh... BSH T servo motor BSH T servo motor BSH T servo motor With LXM pum servo drive With LXM pum servo drive With LXM pdm servo drive,,,,,, M, Peak torque Continuous torque,,, M,,,,,, M,, Presentation: page page page

92 Characteristics (continued) Lexium Servo Drives BSH servo motors V single-phase supply voltage Characteristics of BSH servo motor Type of servo motor BSH T BSH T BSH T Associated with Lexium servo drive Switching frequency khz LXM p DM LXM p DM Torque Continuous stall M Nm... Nominal operating point Peak stall Nm... Nominal torque Nm... Nominal speed rpm Nominal servo motor output power W Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Torque/speed curves Without brake J m kgcm... With brake J m kgcm... Resistance (phase/phase) W... Inductance (phase/phase) mh.. BSH T servo motor BSH T servo motor BSH T servo motor With LXM pdm servo drive With LXM pdm servo drive With LXM pdm servo drive,,,, M,, Peak torque Continuous torque M M Presentation: page page page

93 Characteristics (continued) Lexium Servo Drives BSH servo motors V single-phase supply voltage Characteristics of BSH / servo motors Type of servo motor BSH T BSH T BSH T BSH T BSH T BSH T Associated with Lexium servo drive Switching frequency khz LXM p UM LXM p UM LXM p DM Torque Continuous stall M Nm Nominal operating point Peak stall Nm..... Nominal torque Nm Nominal speed rpm Nominal servo motor output power W Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms..... Back emf V rms/ krpm Rotor Number of poles Stator (at C),,,, M,, Inertia Without brake J m kgcm With brake J m kgcm Resistance (phase/phase) W Inductance (phase/phase) mh Torque/speed curves BSH T servo motor BSH T servo motor BSH T servo motor With LXM pum servo drive With LXM pum servo drive With LXM pum servo drive,,.,, M,,, M,, BSH T servo motor BSH T servo motor BSH T servo motor With LXM pum servo drive With LXM pdm servo drive With LXM pdm servo drive,,,, M,, Peak torque Continuous torque M M Presentation: page page page

94 Characteristics (continued) Lexium Servo Drives BSH servo motors V single-phase supply voltage Characteristics of BSH servo motor Type of servo motor BSH T BSH T Associated with Lexium servo drive Switching frequency khz LXM p DM Torque Continuous stall M Nm.. Nominal operating point LXM p DM Peak stall Nm.. Nominal torque Nm.. Nominal speed rpm Nominal servo motor output power W Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Without brake J m kgcm.. With brake J m kgcm.. Resistance (phase/phase) W.. Inductance (phase/phase) mh Torque/speed curves BSH T servo motor With LXM pdm servo drive M BSH T servo motor With LXM pdm servo drive M Peak torque Continuous torque Presentation: page page page

95 Characteristics (continued) Lexium Servo Drives BSH servo motors V -phase supply voltage Characteristics of BSH / servo motors Type of servo motor BSH P BSH P BSH P BSH P BSH P BSH P Associated with Lexium servo drive Switching frequency khz LXM p UN LXM p DN Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm..... Nominal speed rpm Nominal servo motor output power LXM p DN W Maximum current A rms.... Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.... Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Without brake J m kgcm With brake J m kgcm Resistance (phase/phase) W Inductance (phase/phase) mh... Torque/speed curves BSH P servo motor BSH P servo motor BSH P servo motor With LXM pun servo drive With LXM pun servo drive With LXM pun servo drive,,,,,,,,,,,, M, M M,,,, BSH P servo motor BSH P servo motor BSH P servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive, M max M max,,, M M, M, Peak torque Continuous torque Presentation: page page page

96 Characteristics (continued) Lexium Servo Drives BSH servo motors V -phase supply voltage Characteristics of BSH servo motor Type of servo motor BSH P BSH P BSH P BSH P Associated with Lexium servo drive Switching frequency khz LXM p DN LXM p DN Torque Continuous stall M Nm.. Nominal operating point Peak stall Nm.... Nominal torque Nm... Nominal speed rpm Nominal servo motor output power W Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.... Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Torque/speed curves Without brake J m kgcm.... With brake J m kgcm.... Resistance (phase/phase) W.... Inductance (phase/phase) mh.... BSH P servo motor BSH P servo motor BSH P servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M BSH P servo motor With LXM pdn servo drive M Peak torque Continuous torque M M Presentation: page page page

97 Characteristics (continued) Lexium Servo Drives BSH servo motors V -phase supply voltage Characteristics of BSH servo motor Type of servo motor BSH P BSH T BSH T BSH P Associated with Lexium servo drive Switching frequency khz LXM p DN LXM p DN Torque Continuous stall M Nm.... Nominal operating point Peak stall Nm... Nominal torque Nm... Nominal speed rpm Nominal servo motor output power Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) W Torque Nm/A rms.... Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Torque/speed curves Without brake J m kgcm.... With brake J m kgcm.... Resistance (phase/phase) W.... Inductance (phase/phase) mh.... BSH P servo motor BSH T servo motor BSH T servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M BSH P servo motor With LXM pdn servo drive M Peak torque Continuous torque M M Presentation: page page page

98 Characteristics (continued) Lexium Servo Drives BSH servo motors V -phase supply voltage Characteristics of BSH / servo motors Type of servo motor BSH P BSH P BSH P BSH P BSH P BSH P Associated with Lexium servo drive Switching frequency khz LXM p UN LXM p DN Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm..... Nominal speed rpm Nominal servo motor output power LXM p DN W Maximum current A rms.... Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.... Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Without brake J m kgcm With brake J m kgcm Resistance (phase/phase) W Inductance (phase/phase) mh... Torque/speed curves BSH P servo motor BSH P servo motor BSH P servo motor With LXM pun servo drive With LXM pun servo drive With LXM pun servo drive,,,,,,,,,,, M,, M M,,, BSH P servo motor BSH P servo motor BSH P servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive,,,, M,, Peak torque Continuous torque M M max M Presentation: page page page

99 Characteristics (continued) Lexium Servo Drives BSH servo motors V -phase supply voltage Characteristics of BSH servo motor Type of servo motor BSH P BSH P BSH P BSH P Associated with Lexium servo drive Switching frequency khz LXM p DN LXM p DN Torque Continuous stall M Nm.. Nominal operating point Peak stall Nm.... Nominal torque Nm... Nominal speed rpm Nominal servo motor output power W Maximum current.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.... Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Torque/speed curves Without brake J m kgcm.... With brake J m kgcm.... Resistance (phase/phase) W.... Inductance (phase/phase) mh.... BSH P servo motor BSH P servo motor BSH P servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M BSH P servo motor With LXM pdn servo drive M Peak torque Continuous torque M M Presentation: page page page

100 Characteristics (continued) Lexium Servo Drives BSH servo motors V -phase supply voltage Characteristics of BSH servo motor Type of servo motor BSH P BSH T BSH T BSH P Associated with Lexium servo drive Switching frequency khz LXM p DN LXM p DN Torque Continuous stall M Nm.... Nominal operating point Peak stall Nm... Nominal torque Nm... Nominal speed rpm Nominal servo motor output power Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) W Torque Nm/A rms.... Back emf V rms/ krpm Rotor Number of poles Stator (at C) Inertia Torque/speed curves Without brake J m kgcm.... With brake J m kgcm.... Resistance (phase/phase) W.... Inductance (phase/phase) mh.... BSH P servo motor BSH T servo motor BSH T servo motor With LXM pdn servo drive With LXM pdn servo drive With LXM pdn servo drive M BSH P servo motor With LXM pdn servo drive M Peak torque Continuous torque M M Presentation: page page page

101 Characteristics (continued) Lexium Servo Drives BSH servo motors Fr X Radial and axial forces permitted on the motor shaft Even when the servo motors are used under optimum conditions, their service life is limited by that of the bearings. B Conditions Nominal service life of bearings () Ambient temperature (bearing temperature a C) Force application point L h =, hours C Fr applied at the middle of the shaft end X = B/ (dimension B, see page ) () Hours of use with a failure probability of %. Fa d The following conditions must be adhered to: bb Radial and axial forces must not be applied simultaneously bb Shaft end with IP or IP degree of protection bb The bearings cannot be changed by the user as the built-in position sensor must be realigned if the unit is dismantled. Maximum radial force Fr Mechanical speed rpm Servo motor BSH N BSH N BSH N BSH N BSH N BSH N BSH N BSH N BSH N BSH N BSH N BSH N BSH N BSH N Maximum axial force: Fa =. x Fr Presentation: page page page

102 Characteristics (continued) Lexium Servo Drives BSH servo motors Characteristics of servo motor/servo drive power connection cables Preassembled cordsets with connector at servo motor end Type of cordset VW M Rppp VW M Rppp External sleeve, insulation PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x mm )] [( x mm ) + ( x mm )] Connector type M industrial connector (servo motor side) and end with flying leads (servo drive side) External diameter mm ±.. ±. Curvature radius mm, suitable for daisy-chaining, cablecarrier system Working voltage V Maximum length m () Operating temperature C (fixed), - + (mobile) Certifications Cables without connectors UL, CSA, VDE, e, DESINA M industrial connector (servo motor side) and end with flying leads (servo drive side), suitable for daisy-chaining, cable-carrier system Cable type VW M Rpppp VW M Rpppp External sleeve, insulation PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x mm )] [( x mm ) + ( x mm )] Connector type None, see page External diameter mm ±.. ±. Curvature radius mm, suitable for daisy-chaining, cablecarrier system Working voltage V Maximum length m Operating temperature C (fixed), - + (mobile) Certifications UL, CSA, VDE, e, DESINA Characteristics of the servo motor/servo drive control connection cables Preassembled cordsets with connector at both ends (servo motor and servo drive) Type of cordset Type of encoder External sleeve, insulation VW M Rppp SinCos encoder PUR green coloured RAL, polypropylen Number of conductors (shielded) [ x ( x. mm ) + x ( x. mm )] External diameter mm. ±. Connector type, suitable for daisy-chaining, cable-carrier system M industrial connector (servo motor side) and RJ connector (servo drive side) Min. curvature radius mm, suitable for daisy-chaining, cable-carrier system Working voltage V (. mm and. mm ) Maximum length m () Operating temperature C - + (fixed), - + (mobile) Certifications Cables without connectors Cable type Type of encoder External sleeve, insulation UL, CSA, VDE, e, DESINA VW M Rpppp SinCos encoder PUR green coloured RAL, polypropylen Number of conductors (shielded) [ x ( x. mm ) + x ( x. mm )] External diameter mm. ±. Connector type None, see page Min. curvature radius mm, suitable for daisy-chaining, cable-carrier system Working voltage V (. mm and. mm ) Maximum length m Operating temperature C - + (fixed), - + (mobile) Certifications UL, CSA, VDE, e, DESINA () For cables longer than m, please consult your customer care center. Presentation: page page page

103 References Lexium Servo Drives BSH servo motors BSH pp pppa BSH servo motors The BSH servo motors shown below are supplied without a gearbox. For GBX gearboxes see page. Continuous stall torque Peak stall torque Nominal servo motor output power Nominal speed Maximum mechanical speed Associated servo drive LXM Reference () Weight () Nm Nm W rpm rpm kg.. pum BSH T ppppa.. pum BSH T ppppa. pun BSH P ppppa... pum BSH T ppppa.. pum BSH T ppppa. pun BSH P ppppa... pun BSH P ppppa.. pum BSH T ppppa. BSH pp pppa. pdm.. pum BSH T ppppa... pdm BSH T ppppa. pdn BSH P ppppa... pdm BSH T ppppa.. pdm. pdn BSH P ppppa... pdm BSH T ppppa... pdm BSH T ppppa... pdn BSH P ppppa. BSH pp pppa () To complete each reference see the table on page. () Weight of servo motor without brake, no packaging. To obtain the weight of the servo motor with holding brake, see page. Presentation: page Characteristics: page page

104 References (continued) Lexium Servo Drives BSH servo motors BSH servo motors (continued) Continuous stall torque Peak stall torque Nominal servo motor output power Nominal speed Maximum mechanical speed Associated servo drive LXM Reference () Weight () Nm Nm W rpm rpm kg.. pdm BSH T ppppa. BSH P pppa. pdn BSH P ppppa... pdm BSH T ppppa.. pdn BSH P ppppa.. pdn BSH P ppppa. pdn BSH P ppppa.. pdn BSH P ppppa. pdn BSH P ppppa.. pdn BSH P ppppa. pdn BSH P ppppa... pdn BSH T ppppp... pdn BSH T ppppp... pdn BSH P ppppp. To order a BSH servo motor, complete each reference above with: Shaft end IP Untapped BSH P p p p p p Keyed IP Untapped Integrated sensor Single turn, SinCos Hiperface, points/turn () Multiturn, SinCos Hiperface, points/turn x turns () Keyed Holding brake Without A With Connections Straight connectors Rotatable right-angled connectors Flange International standard A or P () Note: The example above is for a BSH P servo motor. For other servo motors, replace BSH P with the relevant reference. () To complete each reference see the table above. () Weight of servo motor without brake, no packaging. To obtain the weight of the servo motor with holding brake, see page. () Sensor resolution given for use with a Lexium servo drive. () A or P depending on the model, see table of references above. F Presentation: page Characteristics: page page

105 References (continued) Lexium Servo Drives BSH servo motors VW M p Rppp Connection elements Power cordsets Description Cables equipped with one M industrial connector (servo motor end) Cables equipped with one M industrial connector (servo motor end) From servo motor BSH pp BSH pp BSH pp BSH P BSH T BSH T BSH P To servo drive Composition Length Reference Weight LXM pppppp depending on combinations (see pages to ) LXM pdn, pdn depending on combinations (see pages to ) [( x. mm ) + ( x mm )] [( x mm ) + ( x mm )] m kg. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. Control cordsets VW M Rppp Description SinCos Hiperface encoder cables equipped with an M industrial connector (servo motor end) and an RJ connector with + contacts (servo drive end) From servo motor To servo drive Composition Length Reference Weight BSH ppppp LXM pppppp [ x ( x. mm ) + ( x. mm )] m kg. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. VW M R. Presentation: page Characteristics: page

106 References (continued) Lexium Servo Drives BSH servo motors Connection elements (continued) Connectors for creating power and control cordsets Description Used for Item no. M industrial connector for creating power cordsets (sold in lots of ) BSH pp, BSH pp, BSH pp and BSH P servo motors For cable crosssection mm Reference Weight kg. VW M. M industrial connector for creating power cordsets (sold in lots of ) BSH T, BSH T and BSH P servo motors VW M. RJ connector with + contacts for creating control cordsets (sold in lots of ) LXM pppppp servo drives (CN connector) VW M. M industrial connector for creating control cordsets (sold in lots of ) Cables for creating power and control cordsets Description Cables for creating power cordsets BSH servo motors ppppp VW M. From servo motor BSH pp BSH pp BSH pp BSH P To servo drive LXM pppppp depending on combinations (see pages to ) Composition Item no. [( x. mm ) + ( x mm )] Length Reference Weight m kg VW M R. VW M R. VW M R. Cables for creating control cordsets for SinCos Hiperface encoders BSH T BSH T BSH P LXM pdn, pdn BSH ppppp LXM pppppp depending on combinations (see pages to ) [( x mm ) + ( x mm )] VW M R. VW M R. VW M R. [ x VW M R. ( x. mm ) + ( x. VW M R. mm )] VW M R. Presentation: page Characteristics: page

107 Dimensions Lexium Servo Drives BSH servo motors BSH (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional) M screw. b c. b. +. N For M x screw Straight connectors Rotatable angled connectors b b b b c (without brake) c (with brake) BSH p..... BSH p..... BSH p..... BSH (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional).. M screw b b. h h c c c c. Straight connectors Rotatable angled connectors b b b b c (without brake) c (with brake) c c c h h Ø Ø for screws BSH p..... N +.. k M x BSH p..... N +.. k M x BSH p.... N +. k M x. BSH (example with straight connectors: power supply for servo motor/brake and encoder ). M screw b b Shaft end, keyed slot (optional) h. h c c c Straight connectors Rotatable angled connectors b b b b c (without brake) c (with brake) c c h h Ø Ø for screws BSH p.... N +.. k M x BSH p.... N +.. k M x BSH p.... N +.. k M x BSH p.... N +. k M x Presentation: page Characteristics: page page

108 Dimensions (continued) Lexium Servo Drives BSH servo motors BSH (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional). M screw b b b +. N For screws M x c Straight connectors Rotatable angled connectors b b b b b b c (without brake) c (with brake) BSH P.... BSH T.... BSH T.... BSH P.... Presentation: page Characteristics: page page

109 Presentation, characteristics, references Lexium Servo Drives BSH servo motors Option: Holding brake integrated in servo motor Holding brake Presentation L L L c V The holding brake integrated in the BSH servo motor is an electromagnetic pressure spring brake that blocks the servo motor axis once the output current has been switched off. Lexium HBC Servo drive with integrated holding brake controller (HBC) In the event of an emergency, such as a power outage or an Emergency stop, the drive is immobilized, thus significantly increasing safety. Blocking the servo motor axis is also necessary in cases of torque overload, such as in the event of vertical axis movement. The servo drive Lexium integrates as standard an holding brake controller which amplifies the braking control signal, so that the brake is deactivated quickly. It then reduces this control signal so as to decrease the power dissipated by the holding brake. Servo motor with integrated holding brake Characteristics Type of servo motor BSH,,,,,,, Holding torque M Br Nm. Moment of inertia of rotor (brake only) J Br kgcm Electrical clamping power P Br W Nominal current A Supply voltage V +/-% Opening time ms Closing time ms Weight (to be added to the weight of the servo motor without brake, see page ) References kg For selection of BSH servo motor with or without holding brake, see references on page. BSH servo motor

110 Presentation, characteristics, references Lexium Servo Drives BSH servo motors Option: Encoder integrated in servo motor Encoder integrated in BSH servo motor Presentation L L L Lexium The standard measurement device is the SinCos Hiperface single turn or multiturn encoder integrated in BSH servo motors. This measurement device is perfectly suited to the Lexium range of servo drives. Use of this interface enables: bbautomatic identification of BSH servo motor data by the servo drive bbautomatic initialization of the servo drive's control loops, thus simplifying installation of the device. E Servo motor with SinCos Hiperface encoder Characteristics Type of encoder Single turn SinCos Multiturn SinCos Sine/cosine periods per turn Number of points (),, x turns Encoder precision arc min ±. Measurement method Optical, high resolution Interface Hiperface Operating temperature C - + References () Encoder resolution given for use with a Lexium servo drive. For selection of the SinCos Hiperface single turn or multiturn encoder integrated in the BSH servo motor, see references on page. BSH servo motor

111 Presentation Lexium Servo Drives BSH servo motors Option: GBX planetary gearboxes Presentation GBX planetary gearbox In many cases, requires the use of planetary gearboxes to adapt speeds and torques, while ensuring the precision demanded by the application. Schneider Electric has chosen to use GBX gearboxes (made by Neugart) with the BSH range of servo motors. These gearboxes are lubricated for life and are designed for applications which are not susceptible to mechanical backlash. The fact that their use in combination with BSH servo motors has been fully verified and that they are easily assembled, helps to ensure simple, risk-free operation. The planetary gearboxes are available in sizes (GBX...GBX ) and with reduction ratios (:...:) (see the table below). The continuous and peak standstill torques available at the gearbox output are obtained by multiplying the characteristic values of the servo motor by the reduction ratio and efficiency of the gearbox (.,. or. depending on the reduction ratio). The table below shows the most suitable servo motor/gearbox combinations. For other combinations, refer to the servo motor data sheets. BSH servo motor/gbx gearbox combinations Reduction ratios from : to : Type of servo motor Reduction ratio : : : : : : : : BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX Reduction ratios from : to : Type of servo motor Reduction ratio : : : : : : : BSH GBX GBX GBX GBX GBX BSH GBX GBX GBX BSH GBX BSH GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX BSH GBX GBX GBX GBX BSH GBX GBX GBX GBX BSH GBX GBX GBX GBX BSH GBX GBX GBX GBX BSH GBX GBX GBX GBX BSH GBX GBX GBX GBX BSH GBX GBX For these combinations, you must check that the application will not exceed the maximum output torque of the gearbox (see the values given on page ). Characteristics: page page page Mounting: page

112 Characteristics Lexium Servo Drives BSH servo motors Option: GBX planetary gearboxes Characteristics of GBX gearboxes Type of gearbox GBX GBX GBX GBX GBX Type of gearbox Planetary gearbox with straight teeth Backlash : : arc min < < < < < : : < < < < < : : < < < < Torsion rigidity : : Nm/. : : arc min.. : :.. Noise level () db (A) Casing Shaft material C Shaft output dust and damp protection Lubrication Black anodized aluminum IP Average service life () hrs, Mounting position Lubricated for life Any position Operating temperature C - + Efficiency : :. Maximum permitted radial force () () Maximum permitted axial force () : :. : :. L h =, hours N L h =, hours N L h =, hours N L h =, hours N Moment of inertia of gearbox : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm.... : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm..... : kgcm.... : kgcm.... : kgcm.... () Value measured at a distance of m, at no-load for a servo motor speed of rpm and a reduction ratio of :. () Values given for an output shaft speed of rpm in S mode (cyclic ratio = ) on electrical machines for an ambient temperature of C. () Force applied at mid-point along the output shaft. Presentation: page page page Mounting: page

113 Characteristics (continued) Lexium Servo Drives BSH servo motors Option: GBX planetary gearboxes Characteristics of GBX gearboxes (continued) Type of gearbox GBX GBX GBX GBX GBX Continuous output torque M N () Maximum output torque () : Nm : Nm : Nm : Nm : Nm. : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm. : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm : Nm () Values given for an output shaft speed of rpm in S mode (cyclic ratio = ) on electrical machines for an ambient temperature of C. Presentation: page page page Mounting: page

114 References Lexium Servo Drives BSH servo motors Option: GBX planetary gearboxes References GBX ppp Size Reduction ratio Reference Weight kg GBX :, :, : and : GBX ppp ppp pf. :, :, :, : and : GBX ppp ppp pf. GBX :, :, : and : GBX ppp ppp pf. :, :, :, :, :, :, : and GBX ppp ppp pf. : : GBX ppp ppp pf. GBX :, :, : and : GBX ppp ppp pf. :, :, :, :, :, :, : and GBX ppp ppp pf. : :, : and : GBX ppp ppp pf. GBX :, :, : and : GBX ppp ppp pf. :, :, :, :, :, :, : and GBX ppp ppp pf. : :, : and : GBX ppp ppp pf. GBX : and : GBX ppp ppp pf. :, :, :, :, :, : and : GBX ppp ppp pf. Refer to the BSH servo motor/gbx gearbox combinations table (page ) for the most suitable servo motor/gearbox combinations. To order a GBX planetary gearbox, complete each reference above with: GBX ppp ppp ppp p F Size Diameter of the casing mm (see table of combinations mm with BSH servo motor on page ) mm mm mm Reduction ratio : : : : : : : : : : : : : : : Associated BSH servo motor Type BSH BSH BSH BSH Model BSH ppp BSH ppp BSH ppp BSH ppp BSH servo motor adaptation F Presentation: page Characteristics: page page Mounting: page