Lexium 05 Servo Drives Lexium Motion Control

Transcription

1 5 Servo Drives Motion Control Catalogue June 7 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

2 This international site allows you to access all the Telemecanique products in just clicks via comprehensive range data-sheets, with direct links to: b Complete library: technical documents, catalogs, certificates, FAQs, brochures... b Selection guides from the e-catalog. b Product discovery sites and their Flash animations. Flexibility b Interchangeable modular functions, to better meet the requirements for extensions b Software and accessories common to multiple product families Ingenuity b Auto-adapts to its environment, "plug & play" b Application functions, control, communication and diagnostics embedded in the products b User-friendly operation either directly on the product or remotely Simplicity b Cost effective optimum offers that make selection easy for most typical applications b Products that are easy to understand for users, electricians and automation specialists b User-friendly intuitive programming You will also find illustrated overviews, news to which you can subscribe, a discussion forum, the list of country contacts... To live automation solutions every day! Compactness b High functionality in a minimum of space b Freedom in implementation Openness b Compliance with field bus, connection, and software standards b Enabling decentralised or remote surveillance via the web with Transparent Ready products Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

3 Contents 5 servo drives 5 offer Presentation page Servo motor/servo drive combinations page 5 servo drives Functions page 6 Characteristics page References Servo drives page 6 Separate parts page 7 CANopen or Profibus DP communication bus page 8 Modbus serial link page 9 Other connecting cables and accessories page Options Braking resistors page 5 Additional EMC input filters page 7 Line chokes page 8 Holding brake controller page 9 Dimensions page Schemes page Recommendations for EMC compatibility page 5 Operation on an IT system page 5 Motor starters page 6 Mounting recommendations page 8 PowerSuite TM software workshop page 5 BSH servo motors Presentation page 5 Characteristics page 56 References page 8 Dimensions page 8 Options Integrated holding brake page 86 Integrated encoder page 87 GBX planetary gearboxes page 9 Servo motor sizing page 9 Services Product reference index page 9 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

4 5 offer 5 servo drive Presentation An extended offer The range of 5 servo drives that are compatible with BSH servo motors constitutes a compact and dynamic combination for machines across a wide power and supply voltage range: 5 servo drive: - V single phase,. to. kw - V single phase,.75 to.5 kw - V three-phase,.75 to. kw V three-phase,. to 6 kw BSH servo motor: - Nominal torque:. to.5 Nm - Nominal speed: 5 to 6 rpm 5 servo drive BSH servo motor The 5 servo drive range is enhanced by GBX planetary gearboxes. These are easy to mount, lubricated for life and available in reduction ratios: : to :. GBX gearboxes are economical, and designed for applications requiring very limited play. 5 servo drives comply with EN 578 and IEC/EN 68- international standards and carry UL (USA), cul (Canada) approvals and CE marking. A complete piece of equipment 5 drives integrate functions and components that are usually external. This enables users to maintain particularly compact dimensions and makes it easier to integrate the servo drive in control enclosures or machines. Electromagnetic compatibility (EMC) The incorporation of conducted and radiated level A EMC filters in LXM 5 F, LXM 5 M and LXM 5 N servo drives simplifies installation and provides a very economical means of complying with e marking requirements. LXM 5 MX servo drives are available without an EMC filter. If compliance with EMC standards is required, filters which are available as an option can be installed by the customer. Safety The 5 servo drive is incorporated in the safety system of installations. It integrates the Power Removal safety function which prevents accidental starting of the motor. This function is compliant with machine standard EN 95- category, standard IEC/EN 658 SIL for electrical installations and draft standard IEC/EN for power drives. Braking 5 servo drives integrate a resistor as standard, which does away with the need to use an external braking resistor in most applications. Dynamic and powerful Thanks to their new winding technology based on salient poles, BSH servo motors are compact and offer a high power density. The low inertia of the rotor and the slight notching effect make it possible to meet demands for accuracy and dynamic performance. 5: A Telemecanique branded servo drive offer This dynamic performance is enhanced by the fast sampling time of the 5 servo drive control loops: µs for the current loop - 5 µs for the speed loop - 5 µs for the position loop Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

5 5 offer (continued) 5 servo drive Presentation Twido CANopen Control and interfaces The 5 servo drive can control BSH servo motors in accordance with a large number of control modes: - Point-to-point mode: relative and absolute movements - Electronic gearing mode - Speed control with acceleration/deceleration ramp - Instantaneous speed control - Current control - Manual movement for easy setup The 5 servo drive has three control interfaces as standard: - Interface for CANopen, Modbus, or Profibus DP communication network - Two ± V analog reference inputs to give the speed or current reference, and limit the speed or current - One RS (A/B) incremental encoder or pulse/direction input. This input can also be configured as an output to emulate an encoder (ESIM). - These interfaces are supplemented by logic inputs and outputs which can be used as Source (positive logic) or Sink (negative logic) in order to adapt to the outputs of controllers that are available on the market. Simplicity Integration Its high integration level, compact size, the ability to mount it side by side, and its ability to operate at ambient temperatures of 5 C without derating, enable the size of enclosures to be reduced. Low-power servo drives can be mounted on DIN rails. Wiring Spring terminals are used to save time, and avoid periodic checking of tightening torques. Setup Thanks to the SinCos Hiperface encoder of BSH motors, 5 drive automatically receives data from the servo motor. The parameters of the servo motor do not need to be set manually. The Simply Start menu, which is available with the PowerSuite TM software workshop, ensures that the installation operates within a few seconds. The 5 drive auto-tuning function and its new algorithm automatically define the optimum gains of the control loops in accordance with the mechanics for different types of movement, including vertical movements. The oscilloscope function of the PowerSuite TM software workshop is used to display the electrical and mechanical values of the axis. The Fourier series transform (FFT) can be used for fine analysis of the signals from the machine. Dialogue tool Integrated 7-segment display terminal The 5 servo drive is supplied with an integrated 7-segment display terminal, which is used to set the servo drive parameters, display errors and monitor the system. It is also used to control the servo drive in manual operation. FWO REV RUN ESC ENT stop reset Remote LCD terminal Available as an option, it can be mounted on an enclosure door so that the monitoring and adjustment functions and manual operation are always accessible. Its IP 65 protection enables it to be used in difficult environments. PowerSuite TM The PowerSuite TM software workshop is used to configure, set and debug the 5 servo drive axis in the same way as for all other Telemecanique variable speed drives and starters. It can be used with a direct connection or a Bluetooth wireless connection. See page 5. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

6 5 offer (continued) 5 servo drive BSH servo motor and 5 servo drive combinations BSH servo motors 5 single-phase servo drives () 5 V single-phase, with integrated EMC input filter LXM 5 V single-phase, with integrated EMC input filter LXM 5 DF D7F D8F DM D7M D8M M n N.kW.65kW.kW n N.75 kw. kw.5 kw BSH 55T.5 Nm rpm. Nm 6 rpm. Nm BSH 55M.9 Nm 5 rpm. Nm BSH 55P.9 Nm rpm.7 Nm BSH 55T.9 Nm rpm.77 Nm.7 Nm 6 rpm.77 Nm BSH 55M. Nm 5 rpm. Nm BSH 55P. Nm rpm.8 Nm BSH 55T. Nm rpm. Nm 6 rpm. Nm BSH 7P. Nm rpm. Nm BSH 7T. Nm 5 rpm. Nm 5 rpm.9 Nm BSH 7M. Nm 5 rpm 6.8 Nm BSH 7P. Nm rpm 5.7 Nm 7.55 Nm BSH 7T. Nm 5 rpm. Nm 6 rpm. Nm 6.8 Nm BSH 7M.8 Nm 5 rpm Nm BSH 7P. Nm rpm 7.8 Nm. Nm BSH 7T.8 Nm 5 rpm 7.8 Nm 6 rpm 7.8 Nm BSH T. Nm 5 rpm 8.5 Nm rpm 8.5 Nm BSH P 5.8 Nm rpm 8. Nm BSH P 7.8 Nm rpm.79 Nm Where: M = stall torque n N = maximum nominal speed (see characteristics pages 56 to 78). Nm. Nm Peak stall torque that can be supplied by the BSH servo motor and 5 servo drive combination () In the reference, replace p with A for the CANopen version with analog inputs, and with B for the Profibus DP version. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

7 5 offer (continued) 5 servo drive BSH servo motor and 5 servo drive combinations BSH servo motors 5 three-phase servo drives () V three-phase, without integrated EMC input filter /8 V three-phase, with integrated EMC input filter LXM 5 () LXM 5 () DMX D7MX DMX DN DN DN D57N M n N.75 kw. kw. kw n N. kw. kw. kw 6. kw BSH 55T.5 Nm 6 rpm. Nm BSH 55M.9 Nm 5 rpm. Nm BSH 55P.9 Nm rpm.7 Nm 6 rpm.7 Nm BSH 55T.9 Nm 6 rpm.77 Nm BSH 55M. Nm 5 rpm. Nm BSH 55P. Nm rpm.8 Nm 6 rpm.87 Nm BSH 55T. Nm 6 rpm. Nm BSH 7M. Nm 5 rpm. Nm BSH 7P. Nm rpm. Nm BSH 7T. Nm 6 rpm. Nm.9 Nm BSH 7M. Nm 5 rpm 6.8 Nm BSH 7P. Nm rpm 5.7 Nm 7.55 Nm 6 rpm 7.55 Nm BSH 7T. Nm 5 rpm 6.8 Nm BSH 7M.8 Nm 5 rpm Nm rpm. Nm BSH 7P. Nm rpm 7.8 Nm 6 rpm 8.9 Nm BSH 7T.8 Nm 6 rpm.5 Nm BSH M. Nm rpm 8.5 Nm BSH P. Nm rpm 9.5 Nm rpm 9.5 Nm BSH T. Nm rpm 8.5 Nm BSH M 5.5 Nm rpm 6 Nm BSH P 5.8 Nm rpm.5 Nm rpm 5. Nm BSH T 5.5 Nm rpm 6 Nm BSH M 7.8 Nm rpm 7.8 Nm BSH P 8 Nm rpm 8. Nm rpm 6.97 Nm BSH P Nm 5 rpm. Nm rpm.5 Nm. Nm BSH P. Nm 5 rpm 6. Nm BSH T. Nm 5 rpm.77 Nm BSH M 9.5 Nm 5 rpm 57. Nm BSH P 9.5 Nm 5 rpm 6.7 Nm rpm 57. Nm BSH T.7 Nm rpm 5. Nm BSH M 7.8 Nm 5 rpm Nm 88.7 Nm BSH P 7.8 Nm rpm 57. Nm BSH M. Nm 5 rpm 6.5 Nm BSH P. Nm rpm 6. Nm BSH 5M 6 Nm 5 rpm 68.Nm Where: M = stall torque n N = maximum nominal speed (see characteristics pages 56 to 78). Nm. Nm Peak stall torque that can be supplied by the BSH servo motor and 5 servo drive combination () In the reference, replace p with A for the CANopen version with analog inputs, and with B for the Profibus DP version. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

8 Functions 5 servo drive Motion Control General overview of 5 servo drive functions The 5 servo drive integrates a large number of functions, enabling it to be used in a wide range of industrial applications. There are two main function families: Conventional adjustment functions, such as: - Homing - Manual mode - Auto-tuning of the servo drive/servo motor combination Operating modes: Position control: - Point-to-point mode - Electronic gearing mode Speed control: - Speed control with acceleration/deceleration ramp - Instantaneous speed control Current control: - Current regulation Two types of operation are possible: - Local mode - Fieldbus mode In local mode: The servo drive parameters are defined via: - The user interface - The remote display terminal - The PowerSuite software Movements are then determined by: - Analog signals (± V) - RS type signals (pulse/direction or A/B signals) In this mode, limit switches and homing switches are not managed by the servodrive. In fieldbus mode: - All the servo drive parameters and those associated with the operating modes can be accessed via: - The fieldbus, in addition to the access via the user interface - The remote display terminal - The PowerSuite software 6 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

9 Functions (continued) 5 servo drive Motion Control Adjustment functions Homing 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: - Immediately writing the actual position register - Movements up to a reference sensor Homing with search for sensors Four types of homing with movement to sensors are possible: - Homing on - limit switch, LIMN - Homing on + limit switch, LIMP - Homing on reference contact REF with initial movement in negative direction of rotation - Homing on reference contact REF with initial movement in positive direction of rotation These homing movements can be performed 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 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 M M After power-up, the position value is Start movement 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 ( increments if forced homing had not been performed). Inc Inc Forced homing operating mode Homing parameters The homing parameters are transmitted via the fieldbus or using PowerSuite software. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

10 Functions (continued) 5 servo drive Motion Control Adjustment functions Manual mode This mode enables an axis to be moved manually. The movement can be carried out over one movement step or continuously, at constant speed. Two speeds of movement are available (slow or fast). Various parameters are used to configure the manual movement. Setpoint value The parameters are transmitted via the fieldbus, the PowerSuite software or the servo drive user interface. startman, Bit startman, Bit n_fastman Servo motor stateman, Bit M Stop n_slowman : step_man : t < time_man : time_man :Continuous movement Adjustment of the machine in manual mode On a rising edge of a startman control bit, a movement step is performed at low or high speed depending on the command on a second bit, speedman. If the startman control bit is maintained active beyond the waiting time timeman - example -, the movement is restarted and continues monitored by the operator, until the startman command returns to inactive level. A stateman bit reflects the state - ready/rotating - of the servo motor in manual mode. Auto-tuning of the servo drive/servo motor combination The auto-tuning function integrated in the servo drive enables automatic tuning of the servo control parameters to be performed after the initial configuration. This function is activated via: - The user interface - The remote display terminal - The PowerSuite software This procedure requires the servo motor to be coupled to its mechanism. Additional parameters can be used to limit the amplitude and the direction of the movements performed during the auto-tuning phase. The PowerSuite software also provides screens for carrying out these servo control adjustments conventionally. 8 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

11 Functions (continued) 5 servo drive Motion Control Operating modes Operating mode The following table summarizes the various possible operating modes, the control types and the sources of setpoint values. Operating mode Control Setpoint value via via local fieldbus Point-to-point mode Fieldbus or PowerSuite software Electronic gearing mode Speed control with ramp Pulse/direction signals or A/B signals Fieldbus or PowerSuite software Instantaneous speed control Current control Functions available Functions not available Point-to-point mode Analog input, fieldbus or PowerSuite software Analog input, fieldbus or PowerSuite software This mode, also referred to as PTP (Point To Point), 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: in this case the movement is performed in relation to the current position of the axis (A). The movement is performed according to acceleration, deceleration and speed parameters. Setpoint value The homing parameters are transmitted via the fieldbus or using the PowerSuite software. Software limits Movement generator Target position Limiting Speed setpoint Limiting Actual motor speed Max. speed Acceleration Deceleration Point-to-point mode, absolute and relative Possible applications A motion controller for coordinated axes or a PLC can manage several axes controlled via fieldbus. This mode is often used in material handling, automated inspection, etc. Electronic gearing mode In this mode a master/slave relationship is established between a number of 5 drives or between a 5 drive and an external master (external A/B encoder, pulse/direction signals). This relationship can be assigned a fixed or variable ratio. The ratio and operating direction parameters can be accessed dynamically via fieldbus. IMAX NMAX GEARratio GearNum GearDenom Position, speed and current control ESIM pulses AB PD N D M PREF M ~ IOposInterface GEARdir_enabl RAMP_TAUjerk E Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

12 Functions (continued) 5 servo drive Motion Control Operating modes Electronic gearing mode (continued) Possible applications This mode is used in material handling, conveying and sectional production line applications, as well as 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 that are in speed control mode, and enables position control mode to be entered on the fly. Setpoint value The setpoint value is transmitted via the fieldbus or using the PowerSuite 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 5 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 via analog input, the fieldbus or the PowerSuite software. Analog input can be used for current or speed limiting. Nref_Scale Operating mode Speed control IMAX NMAX Analog input (± V) Scaling NREF Position, speed and current control Parameters M ~ Analog input (± V) Scaling Current limiting E ESIM pulses Iref_Scale Scaling Activation of limiting ESIM_Scale RS I/O Mode Instantaneous speed control operating mode Use with analog output motion controller The axis position feedback can be provided to the motion controller by the ESIM (Encoder SIMulation) output on the 5 servo drive. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

13 Functions (continued) 5 servo drive Motion Control Operating modes Instantaneous speed control (continued) Possible applications - Material handling - Packaging - Cutting to length - Winding and unwinding applications Current control Current control is necessary for servo motor torque control. This mode, which can be provided in addition to the other modes, is used in machine phases where torque control is crucial. Setpoint value The setpoint value is transmitted via analog input, the fieldbus or the PowerSuite software. Analog input can be used for current or speed limiting. The position and speed of the servo motor are transmitted to the motion controller by the encoder simulation signals (ESIM) of the RS interface. Nref_Scale Operating mode Current control IMAX NMAX Analog input (± V) Scaling NREF Speed and current control Parameters M ~ Analog input (± V) Scaling Speed limiting E ESIM pulses Iref_Scale Scaling Activation of limiting ESIM_Scale RS I/O Mode Current control operating mode, effects of the adjustable parameters Possible applications - Car assembly applications (tool fixing machine) - Special machines Other functions Other functions for monitoring and setting operating parameters can be activated via: The logic I/O The fieldbus The PowerSuite software The servo drive user interface Control functions: - Status monitoring in movement mode - Monitoring of the axis signals - Monitoring of the internal signals specific to the servo drive - Monitoring switching - Monitoring the communication on the fieldbus Entering the various scaling factors Adjusting the movement generator Activation of the STOP signal Triggering the fast stop function (Quick-Stop) Activation of the motor brake via the HBC (Holding Brake Controller) Reversing the direction of rotation of the motor Reading the analog input values Determining the logic of the signals Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

14 Characteristics 5 servo drive Motion Control Environmental characteristics Conformity to standards 5 servo drives have been developed to conform to the strictest international standards and the recommendations relating to electrical industrial control equipment (IEC, EN), including: low voltage, IEC/EN 68-5-, IEC/EN 578, IEC/EN 68- (conducted and radiated EMC immunity and emissions) EMC immunity IEC/EN 68-, environments and IEC/EN 6-- level IEC/EN 6-- level IEC/EN 6-- level IEC/EN 6--5 level e marking Product certification Conducted and radiated EMC emissions for servo drives LXM 5 DF D8F LXM 5 DM...D8M LXM 5 DN...D57N LXM 5 DMX...DMX IEC/EN 68-, environments and, categories C, C EN 55 class A group, IEC/EN 68- category C With additional EMC filter (): EN 55 class A group, IEC/EN 68- category C With additional EMC filter (): EN 55 class A group, IEC/EN 68- category C The drives are e marked in accordance with the European low voltage (7//EEC and 9/68/EEC) and EMC (89/6/EEC) directives UL (USA), cul (Canada) Degree of protection IEC/EN 68-5-, IEC/EN 659 LXM 5 DF D8F LXM 5 DM...D8M LXM 5 DMX...DMX LXM 5 DN...D57N IP on the upper part with protective cover in place IP after removal of the protective cover (see page 8) Vibration resistance Shock resistance Maximum ambient pollution Environmental conditions LXM 5DF D8F LXM 5 DM...D8M LXM 5 DMX...DMX LXM 5 DN...D57N LXM 5 DF D8F LXM 5 DM...D8M LXM 5 DMX...DMX LXM 5 DN...D57N LXM 5 DF D8F LXM 5 DM...D8M LXM 5 DMX...DMX LXM 5 DN...D57N LXM 5 DF D8F LXM 5 DM...D8M LXM 5 DMX...DMX LXM 5 DN...D57N According to IEC/EN :.5 mm peak to peak from Hz to Hz gn from Hz to 5 Hz According to IEC/EN 6 paragraph gn for ms conforming to IEC/EN Degree conforming to IEC/EN IEC 67-- classes C Relative humidity Ambient air temperature around the device According to IEC 67--, class K, 5% to 9%, without condensation Operation C Temperature derating and limitations: see mounting recommendations page 8 Storage C Type of cooling LXM 5 DF LXM 5 DM LXM 5 DMX LXM 5 D7F...D57N Natural convection Fan Maximum operating altitude m without derating Up to under the following conditions: - Temperature C max. - Mounting distance between servo drives > 5 mm - Protective film removed Operating position Maximum permanent angle in relation to the normal vertical mounting position () See table on page 7 to check permitted cable lengths. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

15 Characteristics (continued) 5 servo drive Motion Control Drive characteristics Switching frequency khz or 8 depending on rating and associated servo motor. See pages 56 to 78 Electrical power characteristics Power supply Voltage V - 5%... + % single phase for LXM 5 DF D8F - 5%... + % single phase for LXM 5 DM...D8M - 5%... + % three-phase for LXM 5 DMX...DMX 8-5% % three-phase for LXM 5 DN...D57N External V DC power supply (not provided) () Frequency Hz 5-5% % Transient overvoltage Overvoltage category III Inrush current A < 6 Leakage current ma < Input voltage V (-5 / +%) Input current (no-load) A Ripple </= 5% Signalling Output voltage Electrical isolation red LED: LED lit indicates the presence of servo drive voltage Maximum three-phase voltage equal to line supply voltage Between power and control sections (inputs, outputs, power supplies) Connection cable characteristics Recommended cable type for mounting in an enclosure Single-strand IEC cable, ambient temperature 5 C, copper 9 C XLPE/EPR or copper 7 C PVC Connection characteristics (terminals for the power supply, the DC bus, and the servo motor) Servo drive terminals R/L, S/L, T/L (power supply) PA/+, PBI, PBe (external braking resistor) U/T, V/T, W/T (servo motor) Maximum wire size and tightening torque for the power supply, servo motor, braking resistor and DC bus terminals LXM 5 DF LXM 5 DM LXM 5 DMX LXM 5 D7F LXM 5 D7M LXM 5 D7MX LXM 5 DN.5 mm (AWG ).8 Nm 6. mm (AWG ). Nm.5 mm (AWG ).8 Nm 6. mm (AWG ). Nm See characteristics of VW M5 R cables on page 79 LXM 5 D8F LXM 5 DN LXM 5 D8M LXM 5 DMX LXM 5 DN 6. mm (AWG ). Nm 6. mm (AWG ). Nm LXM 5 D57N 6. mm (AWG 6). Nm 6. mm (AWG 6). Nm () Please consult our specialist catalogue Interfaces, I/O splitter boxes and power supplies. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

16 Characteristics (continued) 5 servo drive Motion Control Control signal characteristics Protection Inputs Against reverse polarity Outputs Against short-circuits Electrical link Presence of an electrical link on the V DC V DC I/O logic Positive or negative (default: positive) Logic inputs Number Power supply V DC Sampling period ms.5 Debounce filtering ms Positive logic (Sink) State if < 5 V or input not wired, state if > 5 V Logic inputs conforming to standard IEC/EN 6- type Negative logic (Source) State if > 9 V or logic input not wired, state if < 9 V Safety inputs PWRR_A, PWRR_B Type Inputs for the "Power Removal" safety function Number Power supply V DC Input filtering ms Response time ms </= Positive logic (Sink) State if < 5 V or input not wired, state if > 5 V Logic inputs conforming to standard IEC/EN 6- type Logic outputs Type V DC logic outputs: positive logic (Source) or negative logic (Sink) Number Output voltage V </=, conforming to standard IEC/EN 6- Sampling period ms Max. breaking current ma 5 Voltage drop V (at 5 ma load) Analog inputs () ANA+/ANA- ANA+/ANA- Resolution bit Range Differential ± V Input resistance kω >/= Sampling period µs 5 Absolute error Less than ±%, less than ±% over the temperature range Linearity Less than ±.5% Pulse/direction, A/B encoder signals Type RS link Common mode range V Input resistance kω 5 Input frequency Pulse/direction khz </= A/B signals khz </= ESIM (encoder emulation) output signals Logic level RS link Output frequency khz </= 5 Servo motor encoder feedback signals Voltages Encoder power supply V + / ma SinCos input signals V V SS with.5 V offset.5 V SS at khz Input resistance Ω Operational safety characteristics Protection Of the machine Power Removal (PWR) safety function which forces stopping and/or prevents unintended operation of the servo motor, conforming to EN 95- category and draft standard IEC/EN Of the system process Power Removal (PWR) safety function which forces stopping and/or prevents unintended operation of the servo motor, conforming to IEC/EN 658 level SIL and draft standard IEC/EN () Only available on LXM 5AD servo drives. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

17 Characteristics (continued) 5 servo drive Motion Control Communication port characteristics CANopen protocol, LXM 5AD servo drives Structure Connectors RJ5 (labelled CN) or spring terminals (labelled CN) Network management Slave Transmission speed 5 kbps, 5 kbps, 5 kbps or Mbps Address (Node ID) to 7, configurable via the display terminal or the PowerSuite TM software workshop Polarization Line termination impedances are integrated in the servo drive and are switchable Services PDO Implicit exchange of PDO (Process Data Objects): - PDO conforming to DSP modes (position control and speed profile modes) PDO modes PDO mapping Number of SDO Emergency Profile Communication monitoring - configurable mapping PDO Event-triggered, Time-triggered, Remotely-requested, Sync (cyclic), Sync (acyclic) configurable PDO Explicit exchange of SDO (Service Data Objects): - receive SDO - transmit SDO Yes CiA DSP : CANopen Device Profile Drives and Motion Control Position control and speed profile modes Node guarding, heartbeat Diagnostics Using LEDs LEDs: RUN and ERROR on integrated 7-segment display terminal Display of faults Full diagnostics with the PowerSuite TM software workshop Description file A single eds file for the whole range is supplied on the documentation CD-ROM. This file contains the description of the servo drive parameters Modbus Protocol, LXM 5 D servo drives Structure Connector RJ5 (labelled CN) Physical interface -wire RS 85 multidrop Transmission mode RTU Transmission speed Configurable via the display terminal or the PowerSuite TM software workshop: 96, 9, or 8 bps Format Configurable via the display terminal or the PowerSuite TM software workshop: - 8 bits, odd parity, stop - 8 bits, even parity, stop - 8 bits, no parity, stop - 8 bits, no parity, stop Polarization No polarization impedances These must be provided by the wiring system (for example, in the master) Number of servo drives 5 servo drives maximum Address to 7, configurable via the display terminal or the PowerSuite TM software workshop. Services Messaging Read Holding Registers () 6 words maximum Write Single Register (6) Write Multiple Registers (6) 6 words maximum Read/Write Multiple Registers () 6/59 words maximum Read Device Identification () Diagnostics (8) Communication monitoring Monitoring function (node guarding) can be activated Time out can be set between. s and s Diagnostics Display of faults on integrated 7-segment display terminal Profibus DP protocol, LXM 5BD servo drives Structure Connector Spring terminals (labelled CN) Physical interface -wire RS 85 multidrop Transmission speed 96 bps, 9. kbps, 5.5 kbps, 9.75 kbps, 87.5 kbps, 5 kbps,.5 Mbps, Mbps, 6 Mbps or Mbps Address to 6, configurable via the integrated 7-segment display terminal or the PowerSuite TM software workshop Services Periodic variables PPO type 8 PKW bytes Process Data bytes Communication monitoring Can be inhibited Time out can be set via the Profibus DP network configurator Diagnostics Two LEDs: RUN and ERR Display of faults on integrated 7-segment display terminal Full diagnostics with the PowerSuite TM software workshop Description file A single gsd file for the whole range is supplied on the documentation CD-ROM. This file does not contain the description of the servo drive parameters Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

18 References 5 servo drives Motion Control LXM 5 DF LXM 5 DM LXM 5 DMX 5 servo drives Output current Nominal Line current Continuous (RMS) Peak (RMS) () power at khz at 8 khz at khz at 8 khz at khz at U () at U () Max. Reference () prospective line Isc Weight A A A A kw A A ka kg Single-phase supply voltage: V ~ () 5/6 Hz, with integrated EMC filter LXM 5ADF LXM 5AD7F LXM 5AD8F. LXM 5 D7F LXM 5 D7M LXM 5 D7MX LXM 5 DN Single-phase supply voltage: V ~ () 5/6 Hz, with integrated EMC filter LXM 5ADM LXM 5AD7M LXM 5AD8M. Three-phase supply voltage: V ~ () 5/6 Hz, without integrated EMC filter LXM 5ADMX LXM 5AD7MX LXM 5ADMX.9 LXM 5 D8F LXM 5 D8M LXM 5 DMX LXM 5 DN LXM 5 DN Three-phase supply voltage: 8 8 V ~ () 5/6 Hz, with integrated EMC filter LXM 5ADN LXM 5ADN LXM 5ADN LXM 5AD57N.8 () References for models with Profibus DP communication: replace LXM 5A with LXM 5B at the beginning of the reference. () Maximum value for seconds. () Nominal supply voltage, min. U, max. U: (U) V (U), (U) V (U), 8 (U) 8 V (U). LXM 5 D57N 6 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

19 References (continued) 5 servo drives Motion Control FWO REV RUN ESC ENT stop reset Separate parts The 5 servo drive can be connected to a remote display terminal. The remote display terminal can be mounted on the door of an enclosure with IP 65 protection on the front panel. The terminal provides access to the same functions as the integrated display and keypad on the servo drive. It can be used to: - Configure, adjust and control the servo drive remotely - Provide a remote display Description Use Reference Weight kg Remote display terminal For all 5. Kit comprising: - Display terminal, 5 m cable equipped with connectors - Seal and screws for IP 65 mounting on an enclosure door VW A.8 Plates for mounting on DIN rail width 5 mm For LXM 5 DF/M/MX VW A85. For LXM 5 D7F/M/MX and LXM 5 DN VW A85. VW A Connectors Description Reference Weight kg Molex connectors -way female connectors for CN5 VW M8 (order in multiples of 5) -way female connectors for CN VW M8 Documentation Description Reference Weight kg Simplified 5 user's manual and CD-ROM, containing: - A variables user's manual - A Modbus and CANopen user's manual - A Profibus DP user's manual Supplied with the 5 servo drive Note: The manuals and quick reference guides for servo drives and servo motors are available on the website: Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

20 References (continued) 5 servo drives Motion Control Twido TWD NCOM CANopen machine bus The 5AD servo drive can be connected directly to the CANopen machine bus via spring terminals, or using an RJ5 connector (which supports the CANopen and Modbus protocols). The communication function provides access to the servo drive s configuration, adjustment, control and monitoring functions. Each servo drive incorporates line terminators that can be disconnected via a switch. () Connection via RJ5 connector (CN) Designation Description Item no. IP junction box Reference Weight kg RJ5 ports VW CAN TAP.8 Connection to 5AD via RJ5 connector (CN) Twido TWD NCOM Designation Description Length m Cables for CANopen bus Item no. Reference Weight kg RJ5 connectors. VW CAN CARR.5 VW CAN CARR.5 Connection via terminals (CN) Designation Description Item no. Reference Weight kg () CANopen IP SUB-D connector (controller side) 9 angled female 9-way SUB-D. Switch for line terminator TSX CAN KCDF9 T.6 Connection to 5AD via spring terminals (CN) TSX CAN KCDF 9T CANopen cables () Description Standard cables, e marking Low smoke emission, halogen-free Flame retardant (IEC 6-) UL certification, e marking Flame retardant (IEC 6-) Cable for harsh environments () or mobile installations, e marking Low smoke emission, halogen-free Flame retardant (IEC 6-) Length m Item no. Reference Weight kg 5 TSX CAN CA 5.9 TSX CAN CA 8.8 TSX CAN CA.56 5 TSX CAN CB 5.58 TSX CAN CB 7.8 TSX CAN CB.87 5 TSX CAN CD 5.5 TSX CAN CD 7.77 TSX CAN CD.7 TSX CAN CA/CB/CD Premium Connection to 5BD via spring terminals (CN) Profibus DP fieldbus The 5BD servo drive can be connected directly to the Profibus DP bus via spring terminals. The communication function provides access to the same functions as those described for CANopen. Cables Designation Length m Item no. Reference Weight kg Profibus DP trunk cables TSX PBS CA TSX PBS CA () RJ5 connector CN () Spring terminals CN, terminals,,. () For other CANopen bus connection accessories, please consult our catalogue Machines & installations with CANopen. () Harsh environment: - Resistance to hydrocarbons, industrial oils, detergents, solder splashes - Relative humidity up to % - Saline atmosphere - Significant temperature variations - Operating temperature between - C and + 7 C 8 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

21 References (continued) 5 servo drives Motion Control Twido 5 Modbus serial link The 5 servo drive can be connected directly to Modbus using an RJ5 connector (which supports the Modbus and CANopen protocols). The communication function provides access to the servo drive s configuration, adjustment, control and monitoring functions. 5 Connection accessories Description Length m Item no. Unit reference Weight kg Junction box TSX SCA 5.5 screw terminals, RC line terminator To be connected using cable VW A8 6 D 5AD connection via RJ5 connector (CN) Subscriber socket 5-way female SUB-D connectors and screw terminals, RC line terminator To be connected using cable VW A8 6 TSX SCA 6.57 Modbus splitter block RJ5 connectors and screw terminal LU9 GC.5 Modbus line terminator () For RJ5 R = Ω, C = nf VW A8 6 RC. R = 5 Ω VW A8 6 R. For R = Ω, C = nf VW A8 6 DRC. screw R = 5 Ω VW A8 6 DR. terminals TSX SCA5 Modbus RJ5 T-junction boxes (with integrated cable). VW A8 6 TF.9 VW A8 6 TF. Cable for Twido controller serial link. TWD XCA RJ mini-din connector, RJ5 connector TWD XCA RJ.9 TWD XCA RJ.6 TSX SCA6 Connection cables Description Connectors Length m Cables for Modbus connection RJ5 connector and one end with flying leads RJ5 connector and 5-way male SUB-D connector for TSX SCA 6 Item no. Reference Weight kg VW A8 6 D.5 VW A8 6.5 RJ5 connectors. 5 VW A8 6 R.5 5 VW A8 6 R.5 5 VW A8 6 R.5 LU9 GC RS 85 double shielded twisted pair Modbus cables Supplied without connector TSX CSA 5.68 TSX CSA.9 5 TSX CSA 5. () For connections for other PLCs, please consult our specialist automation product catalogues. () Sold in lots of. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

22 References (continued) 5 servo drives Motion Control 5 servo drives Equipped cables for Modicon Premium TM motion control modules () From To Length m 5 servo drive Simulated incremental encoder feedback interface TSX CAY Premium module, encoder input. Cables equipped with a -way Molex connector on the 5 side (CN5), and a 5-way SUB-D connector on the TSX CAY side Reference Weight kg.5 VW M8 R5..5 VW M8 R5. VW M8 R. 5 VW M8 R5.5 TSX CFY Premium module 5 servo drive, pulse/direction interface Cables equipped with a -way Molex.5 VW M8 R5. connector.5 VW M8 R5. on the 5 side (CN5), and a 5-way SUB-D VW M8 R. connector on the TSX CFY side 5 VW M8 R5.5 Equipped cables for RS control ± V 5 External control External control ESIM CN5 A B CN5 A/B in Incremental encoder A B CN5 A/B in P D CN5 P/D ESIM CN5 A B A/B in From To Length m 5 servo drive 5 servo drive, master/slave connection Cables equipped at both ends with a -way Molex connector for CN5 Item no. Reference Weight kg.5 VW M8 R5.5.5 VW M8 R5.5 VW M8 R.5 5 VW M8 R5.55 External encoder, external control 5 servo drive 5 servo drive (CN5 A/B input) (CN5 pulse/direction input) External or other type of control Cables equipped at one end with a -way Molex connector for CN5, and flying leads at the other end.5 VW M8 R5..5 VW M8 R5. VW M8 R. 5 VW M8 R5.5 RS interface accessories Designation Description Length m Splitter block for encoder signals (RVA) Reference Weight kg For distributing A/B encoder signals or pulse/ direction signals to five 5 servo drives. Includes a V DC / 5 V power supply for external encoder VWM.7 Cascading cable For cascading two VW M (RVA) splitter blocks.5 VWM8R5 RS converter (USIC) For adapting V control signals to RS standard VWM VWM (USIC) Equipped cables for RS interface From To Length m 5 servo drive (encoder simulator) Reference Weight kg VW M (RVA) for ESIM distribution.5 VW M8 9 R5. Splitter block VW M (RVA) Converter VWM (USIC) 5 servo drive, input CN5.5 VW M8 9 R5. 5 servo drive, input CN5 Cables equipped with a -way Molex connector on the 5 side (CN5), and a 5-way SUB-D connector on the VW M side VW M8 9 R. 5 VW M8 9 R5.5 () For other Modicon Premium TM connection cables, please consult our catalogue. Note: ESIM (Encoder SIMulation) designates encoder output signals simulated by the servo drives (available on 5 CN5, configured as output). Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

23 References (continued) 5 servo drives Motion Control Other connection cables Description Pulse/direction control cables Length m Reference Weight kg Siemens S5 IP 7 to 5 VW M8 5 R Siemens S5 IP 67 to 5 VW M8 6 R Siemens S7 FM 5 to 5 Cables equipped with a -way Molex connector on the 5 side (CN5), and a 9-way SUB-D connector on the other end VW M8 7 R Encoder feedback cable 5 to Siemens S7 FM 5 Cable equipped with a -way Molex connector on the 5 side (CN5), and a 5-way SUB-D connector on the FM 5 side VW M8 8 R PLC to VW M cables (USIC) For pulse/direction signals Cable equipped with a 5-way SUB-D connector on the VW M (USIC) side, and flying leads at the other end.5 VW M8 R5.5 VW M8 R5 VW M8 R 5 VW M8 R5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

24 Presentation, sizing 5 servo drives Motion Contol Option: braking resistors Braking resistors Internal braking resistor A braking resistor is built into the servo drive to absorb the braking energy. If the DC bus voltage in the servo drive exceeds a specified value, this braking resistor is activated. The restored energy is converted into heat by the braking resistor. External braking resistor An external braking resistor is necessary for applications in which the servo motor has to be braked frequently and the internal braking resistor cannot dissipate the excess braking energy. If an external braking resistor is used, the internal braking resistor must be deactivated. To do this, the shunt between PA/+ and PBI must be removed and the external braking resistor connected between PA/+ and PBE (see page ). 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 9 for selecting the size of the servo motor. The curve segments to be taken into account, when the servo drive is decelerating, are marked in blue by D i. Servo motor speed n i n n D n D D t n t t t t t5 t6 t7 t8 t9 t t t T cycle M M M t M M5 Required torque M i Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

25 Sizing (continued) 5 servo drives Motion Control Option: braking resistors Sizing the braking resistor (continued) Calculation of the constant deceleration energy To do this, the user must know the total inertia, defined as follows: J t : Total inertia where: J t = Jm (servo motor inertia) + Jc (load inertia). For Jm, see pages 7/ to 7/. The energy E i of each deceleration segment is defined as follows: πn i E i = --J t ω i = --J t Which gives the following for the various segments: π[ n E --J n ] = t πn E = --J t πn E = --J t where E i is in joules, J t in kgm, ω in radians and n i in rpm. Energy absorbed by the internal capacitor The energy absorption capacity of the servo drive Edrive (without using an internal or external braking resistor) is given for each servo drive on page. In the remainder of the calculation, only take account of the D i segments, for which the energy E i is greater than the absorption capacities given in the table opposite. This additional energy E Di must be dissipated in the resistor (internal or external): E Di = E i - Edrive (in joules). Calculation of the continuous power The continuous power Pc is calculated for each machine cycle: Pc ΣE = Di Tcycle where Pc is in W, E Di in joules and T cycle in s. Selecting the braking resistor (internal or external) Note: This is a simplified selection method. In extreme applications, for example with vertical axes, this method is inadequate. In this case, please consult your Regional Sales Office. The selection is carried out in two steps: The maximum energy during a braking procedure must be less than the peak energy that can be absorbed by the internal braking resistor: E Di < EPk and the continuous power of the internal braking resistor must in turn not exceed: Pc < PPr. If these conditions are met, the internal braking resistor is adequate. If one of the above conditions is not met, an external braking resistor must be used to satisfy these conditions. The value of the external braking resistor must be between the minimum and maximum values given in the table. Otherwise the servo drive may be subject to disturbance and the load will no longer be braked safely. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

26 Characteristics 5 servo drives Motion Control Option: braking resistors Characteristics LXM 5 DF D7F D8F DM D7M D8M DMX D7MX DMX Supply voltage V 5 Number of phases Single-phase Three-phase Load threshold V DC 5 Energy absorption of the internal capacitors Edrive Joule (Ws) Internal resistor External resistor Resistance Ω Continuous power PPr W Peak energy EPk Joule (Ws) Min. resistance Ω Max. resistance Ω Degree of protection IP 65 LXM 5 DN DN DN D57N Supply voltage V Number of phases Three-phase Load threshold V DC 78 Energy absorption of the internal capacitors Edrive Joule (Ws) Internal resistor External resistor Resistance Ω Continuous power PPr W 6 Peak energy EPk Joule (Ws) 6 Min. resistance Ω 6 5 Max. resistance Ω 8 6 Degree of protection IP 65 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

27 References 5 servo drives Motion Control Option: braking resistors VW A7 6 R References External braking resistors Value Continuous power PPr Peak energy EPk 5 V Ws V Ws V Ws Length of Reference connection cable Weight W W m kg VW A7 6 R7. VW A7 6 R.7 VW A7 6 R VW A7 6 R7.6 VW A7 6 R.78 VW A7 6 R VW A7 6 R7.9 VW A7 6 R.8. VW A7 6 R VW A7 6 R7. VW A7 6 R.7 VW A7 6 R VW A7 65 R7.6 VW A7 65 R.75 VW A7 65 R VW A7 66 R7.9 VW A7 66 R.8 VW A7 66 R VW A7 67 R7. VW A7 67 R.7 VW A7 67 R.6 5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

28 Presentation 5 servo drives Motion Control Option: additional EMC input filters L L L M Integrated EMC input filter Function 5 LXM 5 D F/M/N servo drives have built-in radio interference input filters to comply with the EMC standard for variable speed electrical power drive products IEC/EN 68-, edition, category C in environment, and to comply with the European directive on EMC (electromagnetic compatibility). LXM 5 D F LXM 5 D M LXM 5 D N For 5 servo drive Maximum servo motor cable length according to EMC category IEC 68-, category C in environment Switching frequency khz (default) m Single-phase supply voltage LXM 5ADF LXM 5ADM LXM 5AD7F LXM 5AD7M LXM 5AD8F LXM 5AD8M Three-phase supply voltage LXM 5ADN LXM 5ADN LXM 5ADN LXM 5AD57N L Additional EMC input filters Applications L L Additional EMC filter 5 M Additional filters can be used to meet more stringent requirements: these filters are designed to reduce conducted emissions on the line supply below the limits of standard IEC 68- edition categories C and C. These additional filters are mounted either underneath the 5 servo drives, or to the side of the product. They act as a support for the drives and are attached to them via tapped holes. For servo drives that are not equipped with an EMC filter, reference LXM 5 D MX, an additional EMC filter must be provided. Use according to the type of line supply These built-in or additional filters can only be used on TN (neutral connection) and TT (neutral to earth) type supplies. The filters must not be used on IT (impedance or isolated neutral) type supplies. For LXM 5pDppF/M/N servo drives with integrated filter, the filter must be disconnected using the selector switch on the servo drive (see page 5). Standard IEC/EN 68-, appendix D., states that on IT (isolated or impedance earthed neutral) type supplies, filters can adversely affect the operation of the insulation monitors. In addition, the effectiveness of additional filters on this type of line supply depends on the type of impedance between neutral and earth, and therefore cannot be predicted. Note: If a machine is to be installed on an IT supply, one solution is to insert an isolation transformer in order to re-create a TT system on the secondary side. 6 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

29 Characteristics, references 5 servo drives Motion Control Option: additional EMC input filters Characteristics of servo drive/emc filter mounting Conformity to standards EN Degree of protection Relative humidity Ambient temperature around the device IP on the upper part with protective cover in place IP after removal of the protective cover (see page 8) According to IEC 67--, class K, 5% to 85%, without condensation or dripping water Operation C Storage C Altitude m m without derating Up to m under the following conditions: - Max. temperature C - Mounting distance between servo drives > 5 mm - Removal of the protective cover Vibration resistance Conforming to IEC Hz to 57 Hz: amplitude.75 mm 57 Hz to 5 Hz: g Shock resistance Conforming to IEC gn for ms Maximum nominal voltage Single-phase 5/6 Hz V + % + % Three-phase 5/6 Hz V + % 8 + % Application, category: EN 68-: -; IEC 68-, Ed. Category C in environment Category C in environment Description Restricted distribution, for domestic use, sale conditioned by the competence of the user and the distributor on the subject of EMC compatibility Use in industrial premises References VW A Additional EMC input filters For 5 servo drive Maximum servo motor cable length according to EMC category, IEC 68- Category C in environment Switching frequency khz (default) Category C in environment Switching frequency khz (default) Switching frequency 8 khz Reference Weight m m m kg Single-phase supply voltage LXM 5 DF VW A.6 LXM 5 DM LXM 5 D7F VW A.775 LXM 5 D7M LXM 5 D8F VW A5. LXM 5 D8M Three-phase supply voltage LXM 5 DMX VW A.55 LXM 5 D7MX VW A.9 LXM 5 DN LXM 5 DMX VW A6.5 LXM 5 DN LXM 5 DN LXM 5 D57N VW A7.5 7 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

30 Presentation, characteristics, references 5 servo drives Motion Control Option: line chokes Line chokes L A line choke is used to provide improved protection against overvoltages on the line supply and to reduce the current harmonics produced by the servo drive. L Line choke L 5 M The recommended chokes limit the line current. They have been developed in line with standard EN 578 (VDE 6 level high energy overvoltages on the line supply). The inductance values are defined for a voltage drop of between % and 5% of the nominal line voltage. Values higher than this will cause loss of torque. These chokes must be installed upstream of the servo drive. A number of servo drives can be used on one line choke. The current consumption of all the servo drives must not exceed the nominal current of the line choke (at nominal voltage). Applications The use of line chokes is recommended in particular under the following circumstances: - Close connection of several servo drives in parallel - Line supply with significant disturbance from other equipment (interference, overvoltages) - Line supply with voltage imbalance between phases greater than.8% of the nominal voltage - Servo drive supplied by a line with very low impedance (in the vicinity of a power transformer times more powerful than the servo drive rating) - Installation of a large number of servo drives on the same line - Reduction of overloads on the cos ϕ correction capacitors, if the installation includes a power factor correction unit General characteristics Type of line choke VZ L7UM5 VZ L8UM VW A 55 VW A 55 VWA 55 Conformity to standards EN 578 (VDE 6 level high energy overvoltages on the line supply) Voltage drop Between % and 5% of the nominal supply voltage. Values higher than this will cause loss of torque Degree of protection Choke IP Terminals IP Inductance value mh 5 Nominal current A Losses W References VW A 55 Line chokes For LXM 5 servo drive Line current without choke Line current with choke Reference Weight U min. U max. U min. U max. A A A A kg Single-phase supply voltage: V 5/6 Hz () DF VZL7UM5.88 D7F VZL8UM.99 D8F Single-phase supply voltage: V 5/6 Hz () DM VZL7UM5.88 D7M VZL8UM.99 D8M Three-phase supply voltage: V 5/6 Hz () DMX VW A 55.5 D7MX VW A 55. DMX VW A 55.5 Three-phase supply voltage: 8 8 V 5/6 Hz () DN....8 VW A 55.5 DN DN VW A 55.5 D57N () Nominal supply voltage: U min U max. 8 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

31 Presentation, characteristics, references 5 servo drives Motion Control Option: holding brake controller Holding brake controller L L L? V 5 If a servo motor has a holding brake, it must be given an appropriate control logic (HBC, Holding Brake Controller), which releases the brake when power is supplied to the servo motor and immobilizes the servo motor shaft when it is stationary. The holding brake controller amplifies the braking control signal transmitted by the 5 servo drives, so that the brake is deactivated quickly, then reduces the brake control power so as to decrease the dissipated heat. HBC Holding brake controller Characteristics Mounting on rail DIN 55 Degree of protection IP Supply voltage V 9. Input current A.5 A + brake nominal current Brake output Voltages Before power reduction V DC 5 After power reduction V DC 7 9 Maximum current A.6 Time before voltage reduction ms Note: Electrical isolation between the V power supply, the control input and the brake control output. Reference Holding brake controller Designation Description Reference Weight kg Holding brake controller DC V power supply Max. power 5 W IP, for mounting on 55 mm DIN rail VW M.6 VW M Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

32 Dimensions 5 servo drive Motion Control Dimensions LXM 5 DF, LXM 5 DM, LXM 5 DMX EMC mounting plate (supplied with servo drive) xø5 5 5,5 8,5 xm5 screws = 6 = 7 5,5 M5 J 5 xm LXM 5 D7F, LXM 5 D7M, LXM 5 DN, LXM 5 D7MX EMC mounting plate (supplied with servo drive) 5 xø5 5 6,5,5 = 9 = 7 67, M5 J 9 xm5 screws xm LXM 5 D8F, LXM 5 D8M, LXM 5 DN, LXM 5 DMX EMC mounting plate (supplied with servo drive) 6,5 xø5 5 8,5 57 = 6 = 88,8 M5 J 9 xm5 screws xm LXM 5 D57N EMC mounting plate (supplied with servo drive) xø5 7 5 xm5 screws 7 = 6 8 = 75,8 xm M5 J Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

33 Dimensions (continued) 5 servo drive Options: remote display terminal, plates for mounting on DIN rail and braking resistors Dimensions (continued) Remote display terminal VW A 55,6 79,6 5 xø,5 Ø6 Plates for mounting on DIN rail VW A85 7,9 77,5 VW A85,6 5 Braking resistors VW A7 6 R c xø,6 = 6 = = VW b b c c H A7 6, A7 6, A7 6, 6, = b b H c 8 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

34 Dimensions (continued) 5 servo drive Options: additional EMC input filters and line chokes Dimensions (continued) Additional EMC input filters Mounting the filter under the servo drive Mounting the filter next to the servo drive b xø H = xø b c = = G = a c a VW a b c G H Ø A, A M A M A M A M A M A M Single-phase line chokes VZ L UM Ø b VZ a b c G H Ø L7UM x 9 L8UM x H c G a Three-phase line chokes VW A 55 8xØ b VW a b c c G G H Ø A x 9 A x A x H c c G G a Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

35 Dimensions (continued) 5 servo drive Options: splitter block, USIC and holding brake controller Dimensions (continued) Splitter block VW M RS converter (USIC) VW M ,5 Holding brake controller VW M 99,5,5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

36 Schemes 5 servo drives Motion Control Safety requirements Power Removal safety function The 5 servo drive integrates the Power Removal safety function which prevents unintended operation of the servo motor. The servo motor no longer produces any torque. This safety function: - Complies with the standard for safety of machinery EN 95-, category - Complies with the standard for functional safety IEC/EN 658, 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 observe the setup recommendations could inhibit the SIL capability of the Power Removal safety function. - Complies with draft product standard IEC/EN for both stop functions: Safe Torque Off ( STO ) Safe Stop ( SS ) The Power Removal safety function has a redundant electronic architecture () which is monitored continuously by a diagnostics function. This level SIL and category safety function is certified as conforming to these standards by the TUV certification body in the context of a voluntary certification program. B Categories relating to safety according to EN 95- Category Basic safety principle Control system requirements Selection of components that conform to relevant standards Selecting components and safety principles Selecting components and safety principles Structure of the safety circuits Structure of the safety circuits Control according to good engineering practice Use of tried and tested components and proven safety principles Cyclic testing. The intervals between tests must be appropriate to both the machine and its application A single fault must not result in loss of the safety function. The fault must be detected if this is reasonably possible A single fault must not result in loss of the safety function. The fault must be detected when or before the safety function is next invoked. An accumulation of faults must not result in loss of the safety function. Behaviour in the event of a fault Possible loss of the safety function Possible loss of the safety function with a lower probability than in B Fault detected at each test Safety function ensured, except in the event of an accumulation of faults Safety function always ensured The machinery manufacturer is responsible for selecting the safety category. The category depends on the level of risk factors given in standard EN 95-. Safety Integrity Levels (SIL) according to standard IEC/EN 658 SIL according to standard IEC/EN 658 is comparable to category according to EN 95- (SIL: mean probability of undetected hazardous failure per hour between -5 and -6 ). SIL according to standard IEC/EN 658 is comparable to category according to EN 95- (SIL: mean probability of undetected hazardous failure per hour between -6 and -7 ). () Redundant: Consists of mitigating the effects of the failure of one component by means of the correct operation of another, assuming that faults do not occur simultaneously on both. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

37 Schemes (continued) 5 servo drives Motion Control Safety requirements Power Removal safety function considerations The Power Removal safety function cannot be considered as a means of electrical disconnection of the servo motor (no electrical isolation); if necessary, a Vario TM switch disconnector must be used. The Power Removal safety 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. Power Removal active); these are Preventa TM -type safety module outputs which must be integrated into a safety control-signalling circuit. The schemes on the following pages take into account conformity with standard IEC/EN 6- which defines three stopping categories: - Category : Stopping by immediate removal of the power from the actuators (e.g. uncontrolled stop) - Category : Controlled stop maintaining the power on the actuators until the machine stops, then removal of the power when the actuators stop when the machine stops - Category : Controlled stop maintaining the power on the actuators Connection diagrams and applications Conformity to category of standard EN 95- and level SIL according to standard IEC/EN 658 Use of the connection diagrams on page 6, which use a line contactor or a Vario TM switch disconnector between the servo drive and the servo motor: In this case, the Power Removal safety function is not used and the servo motor stops in accordance with category of standard IEC/EN 6-. Conformity to category of standard EN 95- and level SIL according to standard IEC/EN 658 The connection diagrams use the Power Removal safety function of the 5 servo drive combined with a Preventa TM safety module to monitor the emergency stop circuits. Machines with short freewheel stopping times (low inertia or high resistive torque, see page 7). When the activation command is given on the PWRR_A and PWRR_B inputs with the controlled servo motor, the servo motor power supply is cut immediately and the servo motor stops according to category of standard IEC/EN 6-. 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 as long as the PWRR_A and PWRR_B inputs remain activated. This diagram must also be used for hoisting applications. On a Power Removal command, the servo drive requires the brake to be engaged, but a Preventa TM 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 Power Removal safety function. Machines with long freewheel stopping times (high inertia or low resistive torque, see pages 8 and 9). 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 an XPS AV (Preventa TM -type) fault relay which corresponds to the deceleration time, the Power Removal safety function is activated by the PWRR_A and PWRR_B inputs. The servo motor stops according to category of standard IEC/EN 6- ( SS ). Note: Periodic test: The Power Removal safety input must be activated at least once a year for preventive maintenance purposes. The servo drive must be switched off before preventive maintenance is carried out, 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 Power Removal safety function. The servo drive must therefore be replaced to ensure the operational safety of the machine or the system process. 5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

38 Schemes (continued) 5 servo drives Motion Control Schemes conforming to standards EN 95- category, IEC/EN 658 SIL capability, in stopping category according to IEC/EN 6- LXM 5 D MX, LXM 5 D N LXM 5 D F, LXM 5 D M Three phase power supply with upstream breaking via contactor Power section for single phase power supply Q 5 Q 5 6 Q T Q S S KM A A To /Q KM 6 5 Q Q () KM KM To /Q L P + - () () L A CN CN A PA/+ R / L PBI S / L PBE T / L U / T V / T + VDC W / T + VDC VDC VDC Motor Encoder 6 7 NO_FAULT_OUT ACTIVE_OUT HALT PWRR_A PWRR_B + VDC Interface MOD/CAN position CN CN CN5 6 5 PA/+ R / L PBI S / L / N PBE PC/- PC/- U / T V / T W / T Motor Encoder 6 7 CN () 8 (5) (6) M M Note: All terminals are located at the bottom of the servo drive. Fit interference suppressors to all inductive circuits near the servo drive or connected on the same circuit, such as relays, contactors, solenoid valves, fluorescent lighting, etc. Compatible components (for a complete list of references, please consult our Motor starter solutions - Control and protection components" catalogue). Ref. Description A 5 servo drive, see page 6 KM Line contactor, see motor starters on pages 6 and 7 L Line choke, see page 8 M BSH servo motor, see pages 8 and 8 P Phaseo (SELV) power supply DC V, please consult our Interfaces, I/O splitter boxes and power supplies catalogue Q Circuit-breaker, see motor starters on pages 6 and 7 Q GV L magnetic circuit-breaker rated at twice the nominal primary current of T Q, Q GB CB5 thermal magnetic circuit-breaker S, S XB B or XB5 A Start and Emergency stop pushbuttons T V secondary transformer () Insert (in series) a contact of the relay controlled by the NO_FAULT_OUT () logic output: On a servo drive fault, KM (line contactor) opens. () Specific spring terminals according to the type of servo drive (see page ) () logic inputs and logic outputs DC V (see page ) () External braking resistor (see page 5) (5) CANopen bus or Modbus serial link on RJ5 connector. Can also be used to connect a PC terminal (equipped with PowerSuite TM software workshop) or the remote terminal VW A. (6) Molex connector for connecting A/B encoder signals or pulse/direction signals (see page ) 6 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

39 Schemes (continued) 5 servo drives Motion Control Schemes conforming to standards EN 95- category, IEC/EN 658 SIL capability, in stopping category according to IEC/EN 6- The diagram below is shown in local control mode via logic I/O. In communication network control mode, the inputs marked and 5 on the CN spring terminals must be controlled via the network. In this network mode, inputs and 5 have the assignments LIMN and LIMP. LXM 5 D MX, LXM 5 D N LXM 5 D F, LXM 5 D M Three phase power supply, low inertia machine, vertical movement Power section for single phase power supply Q 5 Q 5 6 Q T To /Q Q Q S To /Q L P + - S S () () L A CN CN A PA/+ R / L PBI S / L PBE T / L U / T V / T + VDC W / T + VDC VDC VDC Motor Encoder 6 7 NO_FAULT_OUT ACTIVE_OUT REF FAULT_RESET ENABLE HALT PWRR_A PWRR_B + VDC Interface MOD/CAN position CN CN CN5 6 5 PA/+ R / L PBI S / L / N PBE PC/- PC/- U / T V / T W / T Motor Encoder 6 7 CN () 8 () (5) () M M Note: All terminals are located at the bottom of the servo drive. Fit interference suppressors to all inductive circuits near the servo drive or connected on the same circuit, such as relays, contactors, solenoid valves, fluorescent lighting, etc. Compatible components (for the complete list of references, please consult our Motor starter solutions - Control and protection components" catalogue). Ref. Description A 5 servo drive, see page 6 L Line choke, see page 8 M BSH servo motor, see pages 8 and 8 P Phaseo (SELV) power supply DC V, please consult our Interfaces, I/O splitter boxes and power supplies catalogue Q Circuit-breaker, see motor starters on pages 6 and 7 Q GV L magnetic circuit-breaker rated at twice the nominal primary current of T Q GB CB5 thermal magnetic circuit-breaker S XB B or XB5 A Emergency stop dual contact pushbutton S XB B or XB5 A Enable stay-put pushbutton S XB B or XB5 A Reset pushbutton T V secondary transformer () Specific spring terminals according to the type of servo drive (see page ) () logic input and logic outputs DC V (see page ) () External braking resistor (see page 5) () CANopen bus or Modbus serial link on RJ5 connector. Can also be used to connect a PC terminal (equipped with PowerSuite TM software workshop) or the remote terminal VW A. (5) Molex connector for connecting A/B encoder signals or pulse/direction signals (see page ) 7 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

40 Schemes (continued) 5 servo drives Motion Control Schemes conforming to standards EN 95- category, IEC/EN 658 SIL capability, in stopping category according to IEC/EN 6- (continued) The diagram below is shown in local control mode via logic I/O. In communication network control mode, the inputs marked and 5 on the CN spring terminals must be controlled via the network. In this network mode, inputs and 5 have the assignments LIMN and LIMP. LXM 5 D MX, LXM 5 D N LXM 5 D F, LXM 5 D M Three phase power supply, low inertia machine, vertical movement Power section for single phase power supply Q + V V 5 S () F S () ESC A A Y Y Y XPS AC + K T K Q 5 6 Q 8 V, 5 V, V A T K PE K Y () To /Q Q Q () To /Q L P + - V + V (5) (6) L A CN CN A PA/+ R / L PBI S / L PBE T / L U / T V / T + VDC W / T + VDC VDC VDC Motor Encoder 6 7 NO_FAULT_OUT ACTIVE_OUT REF FAULT_RESET ENABLE HALT PWRR_A PWRR_B + VDC Interface MOD/CAN position CN CN CN5 6 5 PA/+ R / L PBI S / L / N PBE PC/- PC/- U / T V / T W / T Motor Encoder 6 7 CN (7) 8 (8) (9) (7) M M Note: All terminals are located at the bottom of the servo drive. Fit interference suppressors to all inductive circuits near the servo drive or connected on the same circuit, such as relays, contactors, solenoid valves, fluorescent lighting, etc. Compatible components (for a complete list of references, please consult our Motor starter solutions. Control and protection components and Safety solutions using Preventa TM catalogues). Ref. Description A 5 servo drive, see page 6 A Preventa TM XPS AC safety module for monitoring emergency stops and switches. The XPS AC safety module can manage the Power Removal function of several servo drives on the same machine. F Fuse L Line choke, see page 8 M BSH servo motor, see pages 8 and 8 P Phaseo (SELV) power supply DC V, please consult our Interfaces, I/O splitter boxes and power supplies catalogue Q Circuit-breaker, see motor starters on pages 6 and 7 Q GV L magnetic circuit-breaker rated at twice the nominal primary current of T Q GB CB5 thermal magnetic circuit-breaker S XB B or XB5 A Emergency stop pushbutton with contacts S XB B or XB5 A spring return pushbutton T V secondary transformer () S: Resets the XPS AC module on power-up or after an emergency stop. ESC can be used to set external starting conditions. () S: Requests uncontrolled stopping of the movement and activates the Power Removal safety function. () The logic output can be used to indicate that the machine is in a safe stop state. () To Power Removal safety function of an Altivar 7 variable speed servo drive (for example). (5) Specific spring terminals according to the type of servo drive (see page ) (6) logic inputs and logic outputs DC V (see page ) (7) External braking resistor (see page 5) (8) CANopen bus or Modbus serial link on RJ5 connector. Can also be used to connect a PC terminal (equipped with PowerSuite TM software workshop) or the remote terminal VW A. (9) Molex connector for connecting A/B encoder signals or pulse/direction signals (see page ) 8 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

41 Schemes (continued) 5 servo drives Motion Control Schemes conforming to standards EN 95- category, IEC/EN 658 SIL capability, in stopping category according to IEC/EN 6- The diagram below is shown in local control mode via logic I/O. In communication network control mode, the inputs marked and 5 on the CN spring terminals must be controlled via the network. In this network mode, inputs and 5 have the assignments LIMN and LIMP. LXM 5 D MX, LXM 5 D N Three phase power supply, high inertia machine + V F S () A A S S S S S S Y+ Y6 Y7 Y8 K K K K/K K/K K XPS AV A Y9 S S S S Y S () Q 5 S () ESC 6 Q V T 5 6 Q Q L P + - V + V S S () (5) A CN CN PA/+ R / L PBI S / L PBE T / L PC/- U / T V / T + VDC W / T + VDC VDC VDC Motor Encoder 6 7 NO_FAULT_OUT ACTIVE_OUT REF FAULT_RESET ENABLE HALT PWRR_A PWRR_B + VDC Interface MOD/CAN position CN CN CN5 6 5 (6) 8 (7) (8) M Note: All terminals are located at the bottom of the servo drive. Fit interference suppressors to all inductive circuits near the servo drive or connected on the same circuit, such as relays, contactors, solenoid valves, fluorescent lighting, etc. Compatible components (see page ) () S: Requests controlled stopping of the movement and activates the Power Removal safety function. () S: Resets the XPS AT module on power-up or after an emergency stop. ESC can be used to set external starting conditions. () Time-delayed opening safety outputs, seconds max. (stopping category ) () Specific spring terminals according to the type of servo drive(see page ) (5) logic input and logic outputs DC V (see page ) (6) External braking resistor (see page 5) (7) CANopen bus or Modbus serial link on RJ5 connector. Can also be used to connect a PC terminal (equipped with PowerSuite TM software workshop) or the remote terminal VW A. (8) Molex connector for connecting A/B encoder signals or pulse/direction signals (see page ) Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

42 Schemes (continued) 5 servo drives Motion Control Schemes conforming to standards EN 95- category, IEC/EN 658 SIL capability, in stopping category according to IEC/EN 6- (continued) LXM 5 D MX, LXM 5 D N Three phase power supply, high inertia machine (continued) Compatible components (for a complete list of references, please consult our Motor starter solutions. Control and protection components and Safety solutions using Preventa TM catalogues). Ref. Description A 5 servo drive, see page 6 A () Preventa TM XPS AV safety module for monitoring emergency stops and switches. One safety module can manage the Power Removal function for several drives on the same machine, but the time delay must be adjusted on the servo drive controlling the servo motor that requires the longest stopping time. F Fuse L Line choke, see page 8 M BSH AC servo motor, see pages 8 and 8 P Phaseo (SELV) power supply DC V, please consult our Interfaces, I/O splitter boxes and power supplies catalogue Q Circuit-breaker, see motor starters on pages 6 and 7 Q GV L magnetic circuit-breaker rated at twice the nominal primary current of T Q GB CB5 thermal magnetic circuit-breaker S XB B or XB5 A Emergency stop dual contact pushbutton S XB B or XB5 A Start pushbutton S XB B or XB5 A Enable stay-put pushbutton S XB B or XB5 A Reset pushbutton T V secondary transformer () For stopping times requiring more than seconds in category, use a Preventa TM XPS AV safety module which can provide a maximum time delay of seconds. LXM 5 D F, LXM 5 D M Power section for single phase power supply, high inertia machine Q 5 PA/+ PBI PBE R / L S / L / N PC/- 6 To /Q To /Q KM L A U / T V / T W / T Motor Encoder 6 7 CN () M Note: All terminals are located at the bottom of the servo drive. Fit interference suppressors to all inductive circuits near the servo drive or connected in the same circuit, such as relays, contactors, solenoid valves, fluorescent lighting, etc. Compatible components (for a complete list of references, please consult our Motor starter solutions. Control and protection components and Safety solutions using Preventa TM catalogues). Ref. Description A 5 servo drive, see page 6 L Line choke, see page 8 M BSH AC servo motor, see pages 8 and 8 Q Circuit-breaker, see motor starters on pages 6 and 7 Q GV L magnetic circuit-breaker rated at twice the nominal primary current of T () External braking resistor (see page 5) Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

43 Schemes (continued) 5 servo drives Motion Control Braking resistor Internal resistor External resistor Holding brake controller P A PA/+ R / L PBI S / L / N PBE U / T V / T W / T A PA/+ R / L PBI S / L / N PBE U / T V / T W / T A PC/- PC/- PC/- U / T V / T CN CN W / T + VDC + VDC VDC VDC NO_FAULT_OUT ACTIVE_OUT REF A HBC R M Compatible components Ref. Description A 5 servo drive, see page 6 A Holding brake controller VW M, see page 9 M BSH servo motor with holding brake, see pages 8 and 8 P Phaseo (SELV) power supply DC V, please consult our Interfaces, I/O splitter boxes and power supplies catalogue R External braking resistor VW A7 6 R, see page 5 Line chokes Three phase power supply VW A 55/55/55 Single phase power supply VZL UM L S S S L S R/L E E E S/L T/L E LXM 5FDFFMX/N R/L S/L/N LXM 5FDFFF/M Compatible components Ref. Description L Three phase line choke VW A 55/55/55, see page 8 L Single phase line choke VZL UM, see page 8 Additional EMC input filters VW A Three phase power supply Single phase power supply F L L L F L L' L' L R/L S/L L' T/L L' L' LXM 5FDFFMX/N R/L S/L/N LXM 5FDFFF/M Compatible components Ref. Description F Three phase additional EMC input filter VW A//6/7, see page 7 F Single phase additional EMC input filter VW A//5, see page 7 Note: The additional EMC input filters are connected as close as possible to the servo drive, directly upstream of the drive. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

44 Schemes (continued) 5 servo drives Motion Control Logic I/O The servo drive parameters are used to adapt the logic operation of the logic inputs/ logic outputs (DC V) to the technology of the peripherals connected to the servo drive I/O (sensors, preactuators, PLC I/O, etc): - Positive logic (default setting) for connection to PNP transistor sensors - Negative logic for connection to NPN transistor peripherals External DC V power supply Positive logic (default setting) () Negative logic () P P A CN CN A CN CN + VDC + VDC VDC VDC NO_FAULT_OUT ACTIVE_OUT REF FAULT_RESET ENABLE HALT PWRR_A PWRR_B + VDC + VDC + VDC VDC VDC NO_FAULT_OUT ACTIVE_OUT REF FAULT_RESET ENABLE HALT PWRR_A PWRR_B + VDC Logic I/O DC V Ref. Description NO_FAULT_OUT output Servo drive fault ACTIVE_OUT output Control of holding brake controller VW M REF input Not used () FAULT_RESET input Reset, fault acknowledgement () 5 ENABLE input Enable servo drive power bridge () 6 HALT input Stop servo drive (stopping category ) Compatible components Ref. Description A 5 servo drive, see page 7/ P Phaseo (SELV) power supply DC V, please consult our Interfaces, I/O splitter boxes and power supplies catalogue () Positive logic: Sink input, Source output () Negative logic: Source input, Sink output () If the servo drive is controlled via the communication network, these inputs have other assignments. Please consult the user's manual. Specific spring terminals for LXM 5AD Specific spring terminals for LXM 5BD analog inputs ± V CANopen Profibus DP CN CN ANA+ ANA ANA+ ANA CAN_V CAN_L CAN_H RxD/TxD-N-In RxD/TxD-P-In RxD/TxD-N-Out RxD/TxD-P-Out LXM 5ADFFFFF LXM 5BDFFFFF Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

45 Schemes (continued) 5 servo drives Motion Control Servo drive control by Twido programmable controller Via CANopen machine bus Schemes and references, see page 8. Via Modbus serial link Schemes and references, see page 9. Servo drive control by Modicon Premium TM automation platform Via CANopen machine bus Example of daisy chain connection Example of tap junction connection Magelis Magelis Premium Premium CANopen () 7 () 5A 5A 5A 5 CANopen 7 5A PCMCIA card with tap junction and cable L =.5 m, TSX CPP Junction box with RJ 5 ports, VW CAN TAP () CANopen bus adaptor for 5 servo drive (CANopen standard hardware interface), AM CA V Cable fitted with RJ5 connectors, VW CAN CARR/ (L =. or m) 5 CANopen standard cables, TSX CAN CA/CB/CD 5// (L = 5, or m), with flying leads at both ends 6 Cable fitted with SUB-D connectors (9-way, male and female), TLA CD CBA 5/5//5 (L =.5,.5, or 5 m) 7 9-way female SUB-D IP connector with line terminator, TSX CAN KCDF 9T/8T/9TP (right-angled, straight or right-angled with SUB-D for diagnostic tool) See references on page 8. () Connection to spring terminals (CN) () Connection to RJ5 connector (CN) () Disconnect the line termination resistors from the junction box VW CAN TAP (included in the 5A servo drive). Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

46 Ð Ð Ð Ð Ð Ð + C C C C Schemes (continued) 5 servo drives Motion Control Servo drive control by Modicon Premium TM automation platform (continued) Connection example for TSX CFY / motion control modules Axis output Axis output Axis inputs Axis inputs Brake output Brake output Limit switch - Limit switch + External stop Emergency stop Event Homing Limit switch - Limit switch + External stop Emergency stop Event Homing RI RI Q Q I5 I I I I I I5 I I I I I OR TSX CFY / To terminals in base of enclosure Pulse/direction control ÐÐ ABE-7H6R Auxiliary I/O c V power supply Advantys Telefast ABE CN5 5 servo drive Motor Encoder PC/- U / T V / T W / T CN 6 7 SinCos encoder BSH servo motor Cable with connectors VW M8 Rpp Cable with connectors TSX (pulse/direction), see page CDP5////5 (L =.5,,, or 5 m) Connection example for TSX CAY//// motion control modules Cable with connector at one end and flying leads at the other TSX CDP /5/ (L =, 5 or m), see TSX CFY installation manual C C C C Simulated encoder feedback CN Speed reference black blue CN External incremental encoder TSX CAY TSX TAP MAS r c V power supply To other 5 servo drives 5 servo drive Motor Encoder CN 6 7 SinCos encoder PC/ ABE 7H6R Servo drive auxiliary I/O U / T V / T W / T BSH servo motor Absolute or incremental encoder 5 Cable with connectors TSX CCP S5 5/ and TSX CCP S5 (L =.5, or.5 m) 6 Connector TSX TAP S5 5 7 Cable with connectors TSX CXP /6 (L =.5 or 6 m) 8 Cable with connectors TSX CDP 6 (L = 6 m) 9 Cable with connectors TSX CDP5////5 (L =.5,,, or 5 m) Cable with connector at one end and flying leads at the other TSX CDP /5/ (L =, 5 or m) Cable with connectors VW M8 Rpp (simulated incremental encoder feedback), see page Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

47 Installation recommendations 5 servo drives Motion Control Electromagnetic compatibility Connections for ensuring conformity to EMC standards Principle - The earths between the servo drive, servo motor and cable shielding must have high frequency equipotentiality. - Use shielded cables with shielding connected to earth throughout 6 at both ends for the servo motor cable, the braking resistor cable and the control-signalling cables. Conduit or metal ducting can be used for part of the shielding length provided that there is no break in the continuity of the earth connections. - Ensure maximum separation between the power supply cable (line supply) and the servo motor cable Installation diagram for LXM 5 D servo drives Steel plate supplied with the servo drive, to be mounted on it (earthed casing) 5 servo drive Unshielded power supply wires or cable Unshielded wires for the output of the fault relay contacts 5 Attach and earth the shielding of cables 6, 7, 8, 9 and as close as possible to the servo drive: - Strip the shielding. - Attach the cable to the plate by attaching the clamp to the stripped part of the shielding. The shielding must be clamped tightly enough to the steel plate to ensure good contact. 6 Shielded cable for connecting the BSH servo motor power 7 Shielded cable for connecting the BSH servo motor encoder 8 Shielded cable for connecting the position interface signals (A/B encoder or pulse/direction) 9 Shielded cable for connecting the communication network (CANopen, Modbus or Profibus DP) Shielded cable for connecting the braking resistor For cables 6, 7, 8, 9,, the shielding must be connected to earth at both ends. The shielding must be continuous and intermediate terminals must be placed in EMC shielded metal boxes. Earth screw for servo 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 beneath the servo drive and connected directly to the line supply via an unshielded cable. Link on the servo drive is via the filter output cable. Operation on an IT system Principle IT system: Isolated or impedance earthed neutral Use a permanent insulation monitor compatible with non-linear loads, such as a Merlin Gerin type XM (please consult your Regional Sales Office). Filter connected LXM 5 D F/M/N servo drives have an integrated EMC filter. These filters must be isolated from earth for use on an IT system. For this disconnection see below, depending on the model. Filter disconnected PE R/L S/L T/L R/L S/L T/L Filter connected Filter disconnected LXM 5 D F LXM 5 D M LXM 5 D//N LXM 5 D57N Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

48 Combinations 5 servo drives Motor starters Protection by circuit breaker Applications The combinations listed below can be used to create a complete motor starter unit comprising a circuit breaker, a contactor and a 5 servo drive. The circuit breaker provides protection against accidental short-circuits, disconnection and, if necessary, isolation. The contactor starts up and manages any safety features, as well as isolating the servo motor on stopping. The servo drive controls the servo motor, provides protection against short-circuits between the servo drive and the servo motor and protects the motor cable against overloads. The overload protection is provided by the motor thermal protection of the servo drive GV L + LC K6 + LXM 5 D Motor starters for 5 servo drives Servo drive Nominal power Circuit-breaker Max. Reference Rating prsp. line Isc Contactor () Add the voltage reference to the basic reference to obtain the full reference () kw A ka Single phase supply voltage: V LXM 5 DF. GV L LC K6 LXM 5 D7F.65 GV L6 LC K6 LXM 5 D8F. GV L 8 LC K6 Single phase supply voltage: V LXM 5 DM.75 GV L LC K6 LXM 5 D7M. GV L6 LC K6 LXM 5 D8M.5 GV L 5 LC D9 Three-phase supply voltage: V LXM 5 DMX.75 GV L 6. 5 LC K6 LXM 5 D7MX. GV L6 5 LC K6 LXM 5 DMX. GV L 5 5 LC D9 Three-phase supply voltage: 8 8 V LXM 5 DN. GV L 5 LC K6 LXM 5 DN GV L 5 LC K6 LXM 5 DN GV L6 5 LC K6 LXM 5 D57N 6 GV L 5 5 LC D9 () Composition of contactors: b LC K6: poles + N/O auxiliary contact b LC D9: poles + N/O auxiliary contact + N/C auxiliary contact () Usual control circuit voltages, see table below: AC control circuit Volts ~ 8 LC-K 5/6 Hz B7 E7 F7 M7 P7 U7 Volts ~ 8 / / LC-D 5 Hz B5 E5 F5 M5 P5 U5 6 Hz B6 E6 F6 M6 U6 5/6 Hz B7 E7 F7 M7 P7 U7 Note: For other voltages between V and 66 V, or for a DC control circuit, please consult your Regional Sales Office. 6 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

49 Combinations (continued) 5 servo drives Motor starters Protection using fuses Protection using class J fuses (UL standard) Servo drive Nominal power Fuse to be placed upstream kw A Single phase supply voltage: V LXM 5 DF. LXM 5 D7F.65 5 LXM 5 D8F. 5 Single phase supply voltage: V LXM 5 DM.75 LXM 5 D7M. 5 LXM 5 D8M.5 5 Three-phase supply voltage: V LXM 5 DMX.75 LXM 5 D7MX. LXM 5 DMX. 5 Three-phase supply voltage: 8 8 V LXM 5 DN. LXM 5 DN 5 LXM 5 DN 5 LXM 5 D57N Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

50 Mounting and installation recommendations 5 servo drives Motion Control Mounting recommendations 5 servo drives, reference LXM 5 D, are cooled by natural convection. The other 5 servo drives, references LXM 5 D7 to LXM 5 D57N, have an integrated fan. When installing the servo drive in the electrical enclosure, the instructions below should be followed with regard to the temperature and protection index: - Provide sufficient cooling of the servo drive by complying with the minimum mounting distances. - Do not mount the servo drive near heat sources. - Do not mount the servo drive on flammable materials. - Do not heat the servo drive cooling air by currents of hot air from other equipment and components, for example from an external braking resistor. - If the servo drive is used above its thermal limits, the control stops due to overtemperature. - When IP protection is sufficient, we recommend that the protective film is removed once installation is complete. - Mount the servo drive vertically (± %). Note: For cables that are connected via the underside of the servo drive, at least mm free space is required under the unit to comply with the bending radius of the connection cables. Ambient Mounting distances Instructions to be followed temperature - C to + C d > 5 mm < d < 5 mm Remove the protective cover < d < mm Remove the protective cover Remove the protective cover if IP is sufficient + C to +5 C d > 5 mm Remove the protective cover d < 5 mm Remove the protective cover Reduce the output current by.% per C above C Note: Do not use insulated enclosures as they have a poor level of conductivity. 8 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

51 Mounting and installation recommendations 5 servo drives Motion Control (continued) Recommendations for mounting in a wall-mounted or floor-standing enclosure - To ensure good air circulation in the servo drive: - Fit ventilation grilles on the enclosure - Ensure that ventilation is adequate: if not, install a forced ventilation unit with a filter - Any apertures and/or fans must provide a flow rate at least equal to that of the servo drive fans (see below) - Use special filters with IP 5 protection - Remove the protective film stuck on the upper part of the servo drive Dissipated power and fan flow rate compatible with 5 servo drive Servo drive Dissipated power Ventilation Flow rate LXM 5 DF LXM 5 DM LXM 5 DMX W 8 W W Natural convection. m /min Natural convection Forced cooling LXM 5 D7F LXM 5 D7M LXM 5 D7MX LXM 5 DN 76 W 7 W 68 W 65 W Integrated fan.55 m /min LXM 5 D8F LXM 5 DN LXM 5 D8M LXM 5 DMX LXM 5 DN 5 W 9 W W W 7 W Integrated fan.55 m /min LXM 5 D57N W Integrated fan.75 m /min Metal dust and damp proof wall-mounted or floor-standing enclosure (IP 5 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, 5 servo drives can be installed in an enclosure where the internal temperature must not exceed 5 C. Calculating the dimensions of the enclosure Maximum thermal resistance Rth ( C/W) The thermal resistance is defined by the following formula: θ θe R = th P θ = maximum temperature inside the enclosure in C θe = maximum external temperature in C P = total power dissipated in the enclosure in W Power dissipated by the servo drive: see table above. Add the power dissipated by the other equipment components. Useful heat exchange area of the 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 k = R th k = thermal resistance per m of the enclosure For metal enclosures: k =. with internal fan, k =.5 without fan Note: Do not use insulated enclosures as they have a poor level of conductivity. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

52 Presentation, functions PowerSuite TM software workshop 55 Presentation The PowerSuite TM software workshop for PC is a user-friendly tool designed for setting up control devices for the following Telemecanique brand motors: - TeSys U controller-starters - Altistart soft start/soft stop units - Altivar variable speed drives - 5 servo drives It includes various functions designed for setup phases such as: - Preparing configurations - Start-up - Maintenance In order to simplify the start-up and maintenance phases, the PowerSuite TM software workshop can use the Bluetooth wireless link. PowerSuite TM screen on PC Installed base management Functions () Preparing configurations The PowerSuite TM software workshop can be used on its own to generate the device configuration. It can be saved, printed and exported to office automation software. The PowerSuite TM software workshop can also be used to convert an Altivar 58 or Altivar 58F drive configuration to an Altivar 7 drive configuration. 58 PowerSuite screen on PC View of PI regulator function parameters Start-up When the PC is connected to the device, the PowerSuite TM software workshop can be used to: Transfer the generated configuration Adjust Monitor. This option has been enhanced with new functions such as: - The oscilloscope - The high-speed oscilloscope (minimum time base: ms) - The FFT (Fast Fourier Transform) oscilloscope - Displaying communication parameters Control Save the final configuration Maintenance In order to simplify maintenance operations, the PowerSuite TM software workshop can be used to: Compare the configuration of a device currently being used with a saved configuration Manage the user s installed base of equipment, in particular: - Organize the installed base into folders (electrical equipment, machinery, workshops, etc.) - Store maintenance messages - Simplify Ethernet connection by storing the IP address 5776 View of the FTT oscilloscope function User interface The PowerSuite TM software workshop can be used to: Present the device parameters arranged by function in the form of illustrated views of diagrams or simple tables Customize the parameter names Create: - A user menu (choice of particular parameters) - Monitoring control panels with graphic elements (cursors, gauges, bar charts Perform sort operations on the parameters Display text in five languages (English, French, German, Italian and Spanish). The language changes immediately and there is no need to restart the program. It also has online contextual help: - On the PowerSuite TM tool - On the device functions by direct access to the user manuals () Some functions are not available for all devices. See the table of function availability, page 5. 5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

53 Functions (continued) PowerSuite TM software workshop Function availability for the PowerSuite TM software workshop Functions not listed in the table are available for all devices. Function available with devices Controllerstarter Monitoring Oscilloscope High-speed oscilloscope FFT oscilloscope Display of communication parameters Control Customization of parameter names Creation of a user menu Creation of monitoring control panels Sort operation on parameters Soft start/ soft stop unit Drives Servo drives TeSys U ATS 8 ATV ATV ATV 6 ATV 7 LXM 5 Functions available Functions not available 579 PowerSuite RS XGS Z RS 85 Modbus serial link Connections () Modbus serial link The PowerSuite TM software workshop can be connected directly to the device terminal port or Modbus serial link port via the serial port on the PC. Two types of connection are possible: - With a single device (point-to-point connection), using a VW A8 6 PC serial port connection kit - With a number of devices (multidrop connection), using the XGS Z interface. ATV or 5 ATV 6 ATV 7 TeSys U Modbus multidrop connection ATS 8 Ethernet TCP/IP communication network The PowerSuite TM software workshop can be connected to an Ethernet TCP/IP network. In this case, the devices can be accessed: - Using a VW A communication card for the Altivar 6 and 7 drives - Using a TSX ETG Ethernet/Modbus bridge 579 PLC () PowerSuite Bluetooth wireless link The PowerSuite TM software workshop can communicate via a Bluetooth radio link with a device equipped with a Bluetooth - Modbus VW A8 adapter. The adapter plugs into the device connector terminal port or Modbus serial link port and has a range of m (class ). Ethernet TCP/IP network If the PC does not have Bluetooth technology, use the VW A8 5 USB-Bluetooth adapter. Bridge Modbus serial link Remote maintenance Using a simple Ethernet connection, the PowerSuite TM software workshop can be used for remote monitoring and diagnostics. When devices are not connected to the Ethernet network, or it is not directly accessible, various remote transmission solutions may be possible (modem, teleprocessing gateway, etc.). Please consult your Regional Sales Office. ATV or 5 Ethernet connection ATS 8 ATV 6 ATV 7 () Please refer to the compatibility table on page 5. () Please refer to our Automation platform Modicon Premium TM and Unity - PL7 software and Automation platform Modicon TSX Micro - PL7 software catalogues. 5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

54 References PowerSuite TM software workshop PowerSuite TM software workshop VWA8 VWA8 Description Composition Reference Weight kg PowerSuite TM CD-ROM - program for PC in English, French, German, Italian and Spanish - Variable speed drive, starter and servo drive technical manuals VWA8. PowerSuite TM update CD- ROM () Connection kit for PC serial port for point-to-point Modbus connection RS -RS 85 interface for multidrop Modbus connection Modbus -Bluetooth adapter () USB-Bluetooth adapter for PC - program for PC in English, French, German, Italian and Spanish - Variable speed drive and starter technical manuals VWA85. - x m cable with RJ5 connectors VWA RS /RS 85 converter with one 9-way female SUB-D connector and RJ5 connector - converter for the ATV drive, with one -way male connector and one RJ5 connector - RJ5/9-way male SUB-D adapter for connecting ATV 8/58/58F drives - RJ5/9-way female SUB-D adapter for connecting ATV 68 drives. multidrop Modbus converter for connection XGS Z.5 to screw terminals. Requires a V DC (... V), ma power supply (). - Bluetooth adapter ( m range, class ) VWA8.55 with RJ5 connector - x. m cable with RJ5 connectors for PowerSuite TM - x. m cable with RJ5 connector and mini DIN connector for TwidoSoft - RJ5/9-way male SUB-D adapter for connecting ATV 8/58/58F drives. This adapter is required for a PC which is not equipped with VWA85.9 Bluetooth technology. It is connected to a USB port on the PC. Range of m (class ). () Updates a version >/= V. with the latest available version. For versions < V., you should order the PowerSuite TM CD- ROM, VWA8. () Please consult our specialist catalogue Power supplies, splitter blocks and interfaces. () Can also be used to communicate between a Twido PLC and the TwidoSoft software workshop. 5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

55 Compatibility PowerSuite TM software workshop Compatibility of PowerSuite TM software workshop with the following devices () Connection Controllerstarter Soft start/ soft stop unit TeSys U ATS 8 ATV ATV ATV 6 ATV 7 LXM 5A/B () Modbus V. V. V. V. V. V. V. Ethernet (device equipped with an Ethernet TCP/IP card) V. V. Ethernet via Ethernet/Modbus bridge V.5 V. V. V. V. Bluetooth V. V. V. V. V. Compatible software versions Incompatible software versions Drives Hardware and software environments The PowerSuite TM software workshop can operate in the following PC environments and configurations: b Microsoft Windows XP SP, SP, b Pentium III, 8 MHz, hard disk with MB available, 8 MB RAM b SVGA or higher definition monitor Servo drives () Minimum software version () For the LXM 5A servo drives, the minimum software version is.. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

56 Presentation 5 servo drives BSH servo motors Presentation BSH servo motors are the ideal choice to meet the requirements of dynamics and precision. With five flange sizes and a variety of lengths, there is a suitable solution for most applications, covering a torque range from. to.5 Nm for speeds ranging from 5 to 6 rpm. BSH servo motor with straight connectors BSH servo motor with angled connectors Their new winding technology based on salient poles makes BSH servo motors very compact in comparison with conventional servo motors. BSH servo motors are available in 5 flange sizes: 55, 7,, and 5 mm. Thermal protection is provided by a temperature probe integrated in the servo motors. They are certified Recognized by the Underwriters Laboratories and comply with standard UL (except for the BSH P servo motor) and with European directives (e marking). BSH servo motors are available with the following variants: - IP or IP65 degree of protection - With or without holding brake - Straight or angled connectors - Single turn or multiturn SinCos encoder - Smooth or keyed shaft end M M eq 5 6 Work zone n moy 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: - 6 (in rpm) corresponds to the servo motor's maximum mechanical speed - M max (in Nm) represents the peak stall torque value - M n (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. For example, for a 5 V single phase supply voltage, the curves used are curves and. 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 9). 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 9. Functions General functions BSH servo motors have been developed to meet the following requirements: - Functional characteristics, ruggedness, safety, etc in accordance with IEC/EN 6- - Ambient operating temperature: -... C according to DIN 59R. Maximum 55 C with derating from C of % per C - Relative humidity: Class F according to DIN - Altitude: m without derating, m with k =.86 (), m with k =.8 - Storage and transport temperature: C - Winding insulation class: F (maximum temperature for windings 55 C) according to DIN VDE 5 - Power and sensor connections via straight or angled connectors - Thermal protection by built-in PTC thermistor probe, controlled by the 5 servo drive - Out-of-round, concentricity and perpendicularity between flange and shaft according to DIN 955, class N - Flange compliant with standard DIN 98 - Permitted mounting positions: no mounting restrictions for IMB5 - IMV and IMV according to DIN 95 - Polyester resin based paint: opaque black RAL 95 () k: derating factor 5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

57 Functions, description 5 servo drives BSH servo motors Functions (continued) General functions (continued) Degree of protection: - Servo motor casing: IP 65 in accordance with IEC/EN Shaft end: IP or IP 65 in accordance with IEC/EN 659 () Integrated sensor: SinCos Hiperface single turn or multiturn high resolution encoder. Smooth or keyed shaft end in standard sizes (according to DIN 98). Holding brake (depending on model) The integrated brake fitted on BSH servo motors (depending on the model) is a failsafe electro-magnetic holding brake. Do not use the holding brake as a dynamic brake for deceleration, as this will quickly damage the brake. Built-in encoder The servo motor is fitted with a SinCos Hiperface high resolution single turn (96 points) or multiturn (96 points x 96 turns) absolute encoder providing angular precision of the shaft position, accurate to less than ±. arc minutes. This performs the following functions: - Gives the angular position of the rotor so that flows can be synchronized - Measures the servo motor speed via the associated 5 servo drive. This information is used by the speed controller of the servo drive. - Measures the position information for the servo drive position controller - Measures and sends position information in incremental format for the position feedback of a motion control module ( simulated encoder output of the 5 servo drive) 5 6 Description BSH servo motors with a -phase stator and a 6- to -pole rotor (depending on model) with Neodymium Iron Borium (NdFeB) magnets consist of: A casing with a square cross-section, protected by RAL 95 opaque black paint A -point axial fixing flange in accordance with DIN 98 A standard shaft end in accordance with DIN 98, smooth or keyed (depending on the model) A threaded dust and damp proof male straight connector for connecting the power cable () 5 A threaded dust and damp proof male straight connector for connecting the encoder cable () 6 A manufacturer's rating plate on the right side Connectors to be ordered separately, for connection to 5 servo drives, see page 8. Schneider Electric has taken particular care to ensure compatibility between BSH servo motors and 5 servo drives. This compatibility can only be assured by using cables and connectors sold by Schneider Electric, see page 8. () IP mounted in position IMV (vertical mounting with shaft end at the top) () Other model with angled connector that can be rotated through Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

58 Characteristics 5 servo drives BSH servo motors Characteristics with BSH 55T servo motors Type of servo motor BSH 55T Associated with 5 servo drive LXM 5 DF LXM 5 DM LXM 5 DMX Line supply voltage V 5 single phase single phase -phase Switching frequency khz 8 Torque Continuous stall M Nm.5 Peak stall M max Nm. Nominal operating point Nominal torque Nm.6.. Nominal speed rpm 6 Maximum current A rms 6. Servo motor characteristics Maximum mechanical speed rpm 9 Constants (at C) Torque Nm/A rms.6 Back emf V rms /krpm Rotor Number of poles 6 Inertia Without J m kgcm.59 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh.8 Electrical time constant ms.75 Holding brake (depending on model) See page 86 Speed/torque curves BSH 55T servo motors With LXM 5 DF servo drive 5 V single phase, With LXM 5 DM servo drive V single phase, With LXM 5 DMX servo drive V -phase,,6,,6,,6,,8 M,,8 M,,8 M, Peak torque Continuous torque 56 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

59 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 55M/55P servo motors Type of servo motor BSH 55M BSH 55P Associated with 5 servo drive LXM 5 DM Line supply voltage V single phase LXM 5 DMX -phase Switching frequency khz 8 Torque Continuous stall M Nm.9 Peak stall M max Nm..7 Nominal operating point LXM 5 DM single phase LXM 5 DMX -phase LXM 5 DN /8 -phase Nominal torque Nm Nominal speed rpm 5 6 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 9 Constants (at C) Torque Nm/A rms..7 Back emf V rms /krpm 7 Rotor Number of poles 6 Inertia Without J m kgcm.96 brake With brake J m kgcm.6 Stator (at C) Resistance (phase/phase) Ω Inductance (phase/phase) mh 5. Electrical time constant ms. Holding brake (depending on model) See page 86 Speed/torque curves BSH 55M servo motor With LXM 5 DM servo drive V single phase With LXM 5 DMX servo drive V -phase M M BSH 55P servo motor With LXM 5 pdm servo drive V single phase With LXM 5 DMX servo drive V -phase With LXM 5 DN servo drive /8 V -phase.. M M M./ Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 57 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

60 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 55T servo motors Type of servo motor BSH 55T Associated with 5 servo drive LXM 5 DF Line supply voltage V 5 single phase LXM 5 D7F 5 single phase LXM 5 DM single phase Switching frequency khz 8 Torque Continuous stall M Nm.9 Peak stall M max Nm Nominal operating point Nominal torque Nm.8.7 Nominal speed rpm 6 Maximum current A rms. LXM 5 DMX -phase Servo motor characteristics Maximum mechanical speed rpm 9 Constants (at C) Torque Nm/A rms.6 Back emf V rms /krpm Rotor Number of poles 6 Inertia Without J m kgcm. brake With brake J m kgcm.6 Stator (at C) Resistance (phase/phase) Ω 5. Inductance (phase/phase) mh.6 Electrical time constant ms. Holding brake (depending on model) See page 86 Speed/torque curves BSH 55T servo motor With LXM 5 DF servo drive 5 V single phase,,6, M,8, With LXM 5 D7F servo drive 5 V single phase M With LXM 5 DM servo drive V single phase,,6, M,8, With LXM 5 DMX servo drive V -phase,,6, M,8, 6 8 Peak torque Continuous torque 58 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

61 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 55M servo motors Type of servo motor BSH 55M Associated with 5 servo drive LXM 5 DM LXM 5 DMX Line supply voltage V single phase -phase Switching frequency khz Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm. Nominal speed rpm 5 Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm 9 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm 79 Rotor Number of poles 6 Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω 8. Inductance (phase/phase) mh 9. Electrical time constant ms.5 Holding brake (depending on model) See page 86 Speed/torque curves BSH 55M servo motors With LXM 5 DM servo drive V single phase With LXM 5 DMX servo drive V -phase M M Peak torque Continuous torque Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

62 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 55P/55T servo motors Type of servo motor BSH 55P BSH 55T Associated with 5 servo drive LXM 5 DM Line supply voltage V single phase LXM 5 DMX -phase LXM 5 DN /8 -phase LXM 5 D7F 5 single phase Switching frequency khz 8 Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point LXM 5 D7M single phase Nominal torque Nm.9.9 Nominal speed rpm 6 6 Maximum current A rms LXM 5 D7MX -phase Servo motor characteristics Maximum mechanical speed rpm 9 Constants (at C) Torque Nm/A rms.7.9 Back emf V rms /krpm Rotor Number of poles 6 Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh 5 7. Electrical time constant ms.5 Holding brake (depending on model) See page 86 Speed/torque curves BSH 55P servo motors With LXM 5 DM servo drive V single phase With LXM 5 DMX servo drive V -phase With LXM 5 DN servo drive /8 V -phase M M 5 M./ BSH 55T servo motor With LXM 5 D7F servo drive 5 V single phase With LXM 5 D7M servo drive V single phase With LXM 5 D7MX servo drive V -phase M M M Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 6 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

63 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 7M/7P servo motors Type of servo motor BSH 7M BSH 7P Associated with 5 servo drive LXM 5 DMX LXM 5 DM LXM 5 DMX Line supply voltage V -phase single phase -phase Switching frequency khz Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm.6. Nominal speed rpm 5 Maximum current A rms.8 5. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.6.8 Back emf V rms /krpm 9 6 Rotor Number of poles 6 Inertia Without J m kgcm.5 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.6. Inductance (phase/phase) mh Electrical time constant ms.6.7 Holding brake (depending on model) See page 86 Speed/torque curves BSH 7M servo motor With LXM 5 DMX servo drive V -phase BSH 7P servo motor With LXM 5 DM servo drive V single phase With LXM 5 DMX servo drive V -phase M M M Peak torque Continuous torque Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

64 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 7T servo motors Type of servo motor BSH 7T Associated with 5 servo drive LXM 5 DF Line supply voltage V 5 single phase LXM 5 D7M single phase LXM 5 DMX -phase LXM 5 D7MX -phase Switching frequency khz 8 Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point Nominal torque Nm.... Nominal speed rpm Maximum current A rms 9.9 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.6 Back emf V rms /krpm 7 Rotor Number of poles 6 Inertia Without J m kgcm.5 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh.6 Electrical time constant ms.8 Holding brake (depending on model) See page 86 Speed/torque curves BSH 7T servo motor With LXM 5 DF servo drive 5 V single phase M With LXM 5 D7M servo drive V single phase M With LXM 5 DMX servo drive V -phase M With LXM 5 D7MX servo drive V -phase M 6 8 Peak torque Continuous torque 6 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

65 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 7M servo motors Type of servo motor BSH 7M Associated with 5 servo drive LXM 5 DM LXM 5 DMX Line supply voltage V single phase -phase Switching frequency khz Torque Continuous stall M Nm. Peak stall M max Nm 6.8 Nominal operating point Nominal torque Nm. Nominal speed rpm 5 Maximum current A rms 5.9 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.6 Back emf V rms /krpm 9 Rotor Number of poles 6 Inertia Without J m kgcm. brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω 7. Inductance (phase/phase) mh 8. Electrical time constant ms.88 Holding brake (depending on model) See page 86 Speed/torque curves BSH 7M servo motor With LXM 5 DM servo drive V single phase M With LXM 5 DMX servo drive V -phase M Peak torque Continuous torque Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

66 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 7P servo motors Type of servo motor BSH 7P Associated with 5 servo drive LXM 5 DM Line supply voltage V single phase LXM 5 D7M single phase LXM 5 DMX -phase LXM 5 D7MX -phase Switching frequency khz Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point LXM 5 DN /8 -phase Nominal torque Nm.9.6 Nominal speed rpm 6 Maximum current A rms 9.8 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.77 Back emf V rms /krpm 8 Rotor Number of poles 6 Inertia Without J m kgcm. brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms 5.7 Holding brake (depending on model) See page 86 Speed/torque curves BSH 7P servo motor With LXM 5 DM servo drive V single phase M 5 6 With LXM 5 D7M servo drive V single phase 8 6 M 5 6 With LXM 5 DMX servo drive V -phase M 5 6 With LXM 5 D7MX servo drive V -phase With LXM 5 DN servo drive /8 V -phase M M./ Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 6 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

67 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 7T servo motors Type of servo motor BSH 7T Associated with 5 servo drive LXM 5 D7F Line supply voltage V 5 single phase LXM 5 D7M single phase Switching frequency khz 8 Torque Continuous stall M Nm. Peak stall M max Nm. 6.8 Nominal operating point LXM 5 D8M single phase Nominal torque Nm Nominal speed rpm Maximum current A rms.6 LXM 5 DMX -phase Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm 8 Rotor Number of poles 6 Inertia Without J m kgcm. brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.5 Inductance (phase/phase) mh 6.6 Electrical time constant ms. Holding brake (depending on model) See page 86 Speed/torque curves BSH 7T servo motor With LXM 5 D7F servo drive 5 V single phase With LXM 5 D7M servo drive V single phase With LXM 5 D8M servo drive V single phase M 6 5 M 8 6 M With LXM 5 DMX servo drive V -phase 8 6 M 6 8 Peak torque Continuous torque Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

68 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 7M servo motors Type of servo motor BSH 7M Associated with 5 servo drive LXM 5 DM LXM 5 DMX LXM 5 DN Line supply voltage V single phase -phase /8 -phase Switching frequency khz Torque Continuous stall M Nm.8 Peak stall M max Nm. Nominal operating point Nominal torque Nm.7.5 Nominal speed rpm 5 Maximum current A rms 7. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.8 Back emf V rms /krpm 96 Rotor Number of poles 6 Inertia Without J m kgcm.58 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.7 Inductance (phase/phase) mh 8. Electrical time constant ms.5 Holding brake (depending on model) See page 86 Speed/torque curves BSH 7M servo motor With LXM 5 DM servo drive V single phase With LXM 5 DMX servo drive V -phase With LXM 5 DN servo drive /8 V -phase M M M Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 66 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

69 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 7P servo motors Type of servo motor BSH 7P Associated with 5 servo drive LXM 5 D7M Line supply voltage V single phase LXM 5 D8M single phase LXM 5 D7MX -phase LXM 5 DN /8 -phase Switching frequency khz 8 Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 6 Maximum current A rms 5. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.78 Back emf V rms /krpm 9 Rotor Number of poles 6 Inertia Without J m kgcm.58 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.7 Inductance (phase/phase) mh Electrical time constant ms.8 Holding brake (depending on model) See page 86 Speed/torque curves BSH 7P servo motor With LXM 5 D7M servo drive V single phase 8 6 M With LXM 5 D8M servo drive V single phase 8 6 M With LXM 5 D7MX servo drive V -phase 8 6 M With LXM 5 DN servo drive /8 V -phase M./. 6 8 Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

70 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 7T servo motors Type of servo motor BSH 7T Associated with 5 servo drive LXM 5 D8F LXM 5 D8M LXM 5 DMX Line supply voltage V 5 single phase single phase -phase Switching frequency khz 8 Torque Continuous stall M Nm.8 Peak stall M max Nm Nominal operating point Nominal torque Nm.55. Nominal speed rpm 5 6 Maximum current A rms.9 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm 9 Rotor Number of poles 6 Inertia Without J m kgcm.58 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (depending on model) See page 86 Speed/torque curves BSH 7T servo motor With LXM 5 D8F servo drive 5 V single phase 8 6 With LXM 5 D8M servo drive V single phase 8 6 With LXM 5 DMX servo drive V -phase 5 9 M M 6 M Peak torque Continuous torque 68 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

71 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of M/P servo motors Type of servo motor BSH M BSH P Associated with 5 servo drive LXM 5 DN LXM 5 D7MX LXM 5 DN Line supply voltage V /8 -phase -phase /8 -phase Switching frequency khz Torque Continuous stall M Nm.. Peak stall M max Nm Nominal operating point Nominal torque Nm..8 Nominal speed rpm Maximum current A rms 5.9 Servo motor characteristics Maximum mechanical speed rpm 6 Constants (at C) Torque Nm/A rms.8.89 Back emf V rms /krpm 6 Rotor Number of poles 8 Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω 8..8 Inductance (phase/phase) mh Electrical time constant ms..6 Holding brake (depending on model) See page 86 Speed/torque curves BSH M servo motor With LXM 5 DN servo drive /8 V -phase BSH P servo motor With LXM 5 D7MX servo drive V -phase With LXM 5 DN servo drive /8 V -phase M M M./. 5 6 Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 69 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

72 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH T servo motors Type of servo motor BSH T Associated with 5 servo drive LXM 5 D8F LXM 5 D8M LXM 5 DMX Line supply voltage V 5 single phase single phase -phase Switching frequency khz 8 Torque Continuous stall M Nm. Peak stall M max Nm 8.5 Nominal operating point Nominal torque Nm.8 Nominal speed rpm 5 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 6 Constants (at C) Torque Nm/A rms.5 Back emf V rms /krpm 8 Rotor Number of poles 8 Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.9 Inductance (phase/phase) mh Electrical time constant ms. Holding brake (depending on model) See page 86 Speed/torque curves BSH T servo motor With LXM 5 D8F servo drive 5 V single phase With LXM 5 D8M servo drive V single phase With LXM 5 DMX servo drive V -phase M M M Peak torque Continuous torque 7 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

73 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH M/P/T servo motors Type of servo motor BSH M BSH P BSH T Associated with 5 servo drive LXM 5 DN Line supply voltage V /8 -phase LXM 5 D8M single phase LXM 5 D7MX -phase LXM 5 DN /8 -phase Switching frequency khz 8 Torque Continuous stall M Nm Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 6 Constants (at C) Torque Nm/A rms Back emf V rms /krpm 6 77 Rotor Number of poles 8 Inertia Without J m kgcm. brake With brake J m kgcm.9 Stator (at C) LXM 5 DMX -phase Resistance (phase/phase) Ω Inductance (phase/phase) mh Electrical time constant ms Holding brake (depending on model) See page 86 Speed/torque curves BSH M servo motor With LXM 5 DN servo drive /8 V -phase BSH T servo motor With LXM 5 D7MX servo drive V -phase 5 M M 5 6 BSH P servo motor With LXM 5 D8M servo drive V single phase With LXM 5 D7MX servo drive V -phase With LXM 5 DN servo drive /8 V -phase M 9 M 8 M Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

74 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH M/P servo motors Type of servo motor BSH M BSH P Associated with 5 servo drive LXM 5 DN Line supply voltage V /8 -phase LXM 5 D8M single phase LXM 5 DMX -phase LXM 5 DN /8 -phase Switching frequency khz Torque Continuous stall M Nm Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 6 Constants (at C) Torque Nm/A rms.. Back emf V rms /krpm 77 Rotor Number of poles 8 Inertia Without J m kgcm. brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω 5.. Inductance (phase/phase) mh Electrical time constant ms Holding brake (depending on model) See page 86 Speed/torque curves BSH M servo motor With LXM 5 DN servo drive /8 V -phase M 5.. BSH P servo motor With LXM 5 D8M servo drive V single phase With LXM 5 DMX servo drive V -phase With LXM 5 DN servo drive /8 V -phase 5 5 M M M Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 7 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

75 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH P servo motors Type of servo motor BSH P Associated with 5 servo drive LXM 5 DMX LXM 5 DN LXM 5 D57N Line supply voltage V -phase /8 -phase /8 -phase Switching frequency khz 8 Torque Continuous stall M Nm Peak stall M max Nm..5. Nominal operating point Nominal torque Nm Nominal speed rpm 5 Maximum current A rms.5 Servo motor characteristics Maximum mechanical speed rpm 6 Constants (at C) Torque Nm/A rms.6 Back emf V rms /krpm Rotor Number of poles 8 Inertia Without J m kgcm. brake With brake J m kgcm 5.5 Stator (at C) Resistance (phase/phase) Ω.8 Inductance (phase/phase) mh.8 Electrical time constant ms 6.5 Holding brake (depending on model) See page 86 Speed/torque curves BSH P servo motor With LXM 5 DMX servo drive V -phase With LXM 5 DN servo drive /8 V -phase With LXM 5 D57N servo drive /8 V -phase M 5 5 M M Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

76 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH P/T servo motors Type of servo motor BSH P BSH T Associated with 5 servo drive LXM 5 DN LXM 5 DMX Line supply voltage V /8 -phase -phase Switching frequency khz Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 5 Maximum current A rms.8 7. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms..8 Back emf V rms /krpm 56 Rotor Number of poles Inertia Without J m kgcm 7. brake With brake J m kgcm 8.56 Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh Electrical time constant ms.6.8 Holding brake (depending on model) See page 86 Speed/torque curves BSH P servo motor With LXM 5 DN servo drive /8 V -phase BSH T servo motor With LXM 5 DMX servo drive V -phase.. 5 M. 5 M 5. 5 Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 7 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

77 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH M/P/T servo motors Type of servo motor BSH M BSH P BSH T Associated with 5 servo drive LXM 5 DN Line supply voltage V /8 -phase LXM 5 DMX -phase LXM 5 D57N /8 -phase LXM 5 DMX -phase Switching frequency khz Torque Continuous stall M Nm 9.5 Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 5 5 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 J m kgcm.68 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω..6. Inductance (phase/phase) mh Electrical time constant ms... Holding brake (depending on model) See page 86 Speed/torque curves BSH M servo motor With LXM 5 DN servo drive /8 V -phase BSH P servo motor With LXM 5 DMX servo drive V -phase With LXM 5 D57N servo drive /8 V -phase 6 5 M M 6 5 M.../. BSH T servo motor With LXM 5 DMX servo drive V -phase M 5 Peak torque Continuous torque. Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

78 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH M/P servo motors Type of servo motor BSH M BSH P Associated with 5 servo drive LXM 5 DN LXM 5 D57N LXM 5 D57N Line supply voltage V /8 -phase Switching frequency khz Torque Continuous stall M Nm 7.8 Peak stall M max Nm Nominal operating point Nominal torque Nm.5..9 Nominal speed rpm 5 5 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.9.58 Back emf V rms /krpm 5 5 Rotor Number of poles Inertia Without J m kgcm 7.9 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.5. Inductance (phase/phase) mh Electrical time constant ms Holding brake (depending on model) See page 86 Speed/torque curves BSH M servo motor With LXM 5 DN servo drive /8 V -phase With LXM 5 D57N servo drive /8 V -phase BSH P servo motor With LXM 5 D57N servo drive /8 V -phase M M M..... Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 76 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

79 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH M/P servo motors Type of servo motor BSH M BSH P Associated with 5 servo drive LXM 5 D57N Line supply voltage V /8 -phase Switching frequency khz Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 5 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms..57 Back emf V rms /krpm 8 Rotor Number of poles Inertia Without J m kgcm.7 brake With brake J m kgcm 9. Stator (at C) Resistance (phase/phase) Ω..8 Inductance (phase/phase) mh Electrical time constant ms.9 Holding brake (depending on model) See page 86 Speed/torque curves BSH M servo motor With LXM 5 D57N servo drive /8 V -phase BSH P servo motor With LXM 5 D57N servo drive /8 V -phase M M..... Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

80 Characteristics (continued) 5 servo drives BSH servo motors Characteristics of BSH 5M servo motors Type of servo motor BSH 5M Associated with 5 servo drive LXM 5 D57N Line supply voltage V /8 -phase Switching frequency khz Torque Continuous stall M Nm 6 Peak stall M max Nm 68. Nominal operating point Nominal torque Nm.5 Nominal speed rpm 5 Maximum current A rms.8 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.6 Back emf V rms /krpm 8 Rotor Number of poles Inertia Without J m kgcm 6 brake With brake J m kgcm 78 Stator (at C) Resistance (phase/phase) Ω.6 Inductance (phase/phase) mh 5. Electrical time constant ms 9.5 Holding brake (depending on model) See page 86 Speed/torque curves BSH 5M servo motor With LXM 5 D57N servo drive /8 V -phase M..... Peak torque at V -phase. Continuous torque at V -phase. Peak torque at 8 V -phase. Continuous torque at 8 V -phase 78 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

81 Characteristics (continued) 5 servo drives BSH servo motors Radial and axial forces permissible on the motor shaft Fr X Even when the servo motors are used under optimum conditions, their lifetime is limited by that of the bearings. B Conditions Nominal lifetime of bearings () L h =, hours Ambient temperature (temperature of bearings ~ C) C Force application point Fr applied at the middle of the shaft end X = B/ (dimension B see pages 8 to 85) () Hours of use with % probability of failure Fa The following conditions must be observed: - Radial and axial forces must not be applied simultaneously. - Shaft end with IP or IP 65 protection. - The bearings cannot be changed by the user as the built-in position sensor has to be realigned if the unit is dismantled. Maximum radial force Fr Mechanical speed rpm Servo motor BSH 55 N BSH 55 N BSH 55 N BSH 7 N BSH 7 N BSH 7 N BSH N BSH N BSH N BSH N BSH N 76 5 BSH N 9 68 BSH N BSH N 66 8 BSH 5 N Maximum axial force: Fa =. x Fr Characteristics of servo motor-servo drive power connection cables VW M5 R VW M5 R VW M5 R Outer cover, insulation PUR (RAL orange), TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [( x.5 mm ) + ( x. mm )] [( x.5 mm ) + ( x. mm )] [( x mm ) + ( x. mm )] Connectors industrial connector (motor side) and end with flying leads (drive side) External diameter mm ±.. ±. 6. ±. Curvature radius mm 9, suitable for daisy-chain, cable carrier chain Operating voltage V 6 Maximum length m 75 () Operating temperature C (fixed), (mobile) Certifications UL, CSA, VDE, e, DESINA Characteristics of servo motor-servo drive encoder connection cables, suitable for daisy-chain, cable carrier chain 5, suitable for daisy-chain, cable carrier chain VW M8 R Encoder type SinCos encoder Outer cover, insulation PUR (RAL 68 green), polyester Number of conductors (shielded) 5 x ( x.5 mm ) + ( x.5 mm ) External diameter mm 8.8 ±. Connectors industrial connector (motor side) and x -way Molex connector (drive side) Min. curvature radius mm 68, suitable for daisy-chain, cable carrier chain Operating voltage V 5 (.5 mm ), 5 (.5 mm ) Maximum length m 75 () Operating temperature C (fixed) (mobile) Certifications UL, CSA, VDE, e, DESINA () For cables longer than 75 m, please consult your Regional Sales Office. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

82 References 5 servo drives BSH servo motors 5 5 BSH 7 A BSH 7 A BSH servo motors The BSH servo motors shown below are supplied without a gearbox. For GBX gearboxes, see page 9. Continuous stall torque Peak stall torque Maximum mechanical speed Associated servo drive LXM 5 Maximum nominal speed () Reference () Weight () Nm Nm rpm rpm kg.5. 9 DF BSH 55T A.8 DM 6 DMX DF BSH 55T A. DM 6 DMX 6. 9 DM 5 BSH 55M A. DMX D7F BSH 55T A. DM BSH 55P A. DMX DN DM BSH 55P A. DMX. 9 D7F BSH 55T A. D7M 6 D7MX DN 6 BSH 55T A.. 9 DM 5 BSH 55M A. DMX DMX 6 BSH 7T A.. 8 DF D7MX 5 D7M 5. 8 DMX 5 BSH 7M A. DM BSH 7P A. DMX DM 5 BSH 7M A.8 DMX D7F 5 BSH 7T A.8 D7M D8M 5 DMX DM BSH 7P A.8 DMX DN 6 D7M D7MX D8F 5 BSH 7T A.6 D8M 6 8 DM 5 BSH 7M A.6 DMX DMX 6 BSH 7T A.6. DN BSH 7M A D7M BSH 7P A.6 D7MX DN 6. 8 D8M () Derating possible according to the supply voltage, see characteristics on pages 56 to 78. () To complete each reference, see the table opposite. () Servo motor weight without brake. To obtain the weight of the servo motor with holding brake, see page Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

83 References (continued) 5 servo drives BSH servo motors 5 BSH servo motors (continued) Continuous stall torque Peak stall torque Maximum mechanical speed Associated servo drive LXM 5 Maximum nominal speed () Reference () Weight () Nm Nm rpm rpm kg D7MX BSH P A. DN DN BSH M A. D8F 5 BSH T A. D8M DMX DN BSH M A 5.8 BSH A DMX BSH T A D7MX BSH P A DN 8. 6 D8M DN BSH M A D8M BSH P A DN 8. 6 DMX.5 6 DN BSH P A DMX 5 D57N..77 DMX 5 BSH T A.9 6. DN 5 BSH P A DMX BSH T A DMX 5 BSH P A DN 5 BSH M A D57N BSH P A 6.6 BSH A D57N BSH P A DN 5 BSH M A D57N D57N BSH P A D57N 5 BSH M A D57N 5 BSH 5M A. () Derating possible according to the supply voltage, see characteristics on pages 56 to 78. () To complete each reference, see the table below. () Servo motor weight without brake. To obtain the weight of the servo motor with holding brake, see page 86. To order a BSH motor, complete each reference as appropriate: BSH 7P p p p p A Shaft end IP Smooth Keyed IP 65 Smooth Keyed Integrated sensor Single turn, SinCos Hiperface 96 points/turn Multiturn, SinCos Hiperface (no. of turns: 96) Holding brake Without With A F Connection Straight connectors Rotatable right-angled connectors Flange International standard A Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

84 References (continued) 5 servo drives BSH servo motor Connection cables VW M5 // R Cables equipped with one connector (servo motor side) Description From servo motor To LXM 5 servo drive Composition Power cables BSH 55 BSH 7 BSH BSH P BSH M BSH P BSH M BSH M All types [( x.5 mm ) + ( x mm )] Length Reference Weight m kg VW M5 R.8 5 VW M5 R5. VW M5 R.9 5 VW M5 R5. VW M5 R.5 5 VW M5 R VW M5 R VW M5 R BSH T BSH T BSH P BSH P DMX D57N [( x.5 mm ) + ( x mm )] VW M5 R.7 5 VW M5 R5.67 VW M5 R. 5 VW M5 R5.76 VW M5 R 6. 5 VW M5 R VW M5 R VW M5 R75.95 BSH 5M D57N [( x mm ) + ( x mm )] VW M5 R. 5 VW M5 R5. VW M5 R. 5 VW M5 R5 6. VW M5 R VW M5 R VW M5 R VW M5 R75.75 VW M8 R Cables equipped with two connectors Description From servo motor SinCos Hiperface encoder cables To LXM 5 servo drive Composition BSH, all types All types 5 x ( x.5 mm ) + ( x.5 mm ) Length Reference Weight m kg VW M8 R.8 5 VW M8 R5. VW M8 R.5 5 VW M8 R5.5 VW M8 R.5 5 VW M8 R VW M8 R5. 75 VW M8 R Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

85 Dimensions 5 servo drives BSH servo motors BSH 55 (Example with straight connectors: servo motor/brake power supply and encoder ) Shaft end, keyed slot (optional) 9 9,5 9,5 b,8 +, N9 c 55 Straight connectors Rotatable angled connectors b b c (without brake) c (with brake) BSH BSH BSH BSH 7 (Example with straight connectors: servo motor/brake power supply and encoder ) Shaft end, keyed slot (optional),5 8,5 9,5 b,5 c h h c c c c 7 Straight connectors Rotatable angled connectors b b c (without brake) c (with brake) c c c h h Ø Ø +. BSH N9.5 k6 M +. BSH N9.5 k6 M +. BSH N9 k6 M5 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

86 Dimensions (continued) 5 servo drives BSH servo motors BSH (Example with straight connectors: servo motor/brake power supply and encoder ),5 8,5 9,5 b Shaft end, keyed slot (optional) c h h 5 c c c Straight connectors Rotatable angled connectors b b c (without brake) c (with brake) c c h h Ø Ø +. BSH N9.5 9 k6 M6 +. BSH N9.5 9 k6 M6 +. BSH N9.5 9 k6 M6 +. BSH N9 k6 M8 BSH (Example with straight connectors: servo motor/brake power supply and encoder ),5 9,5 b Shaft end, keyed slot (optional) , 8 N9 5 5 c Straight connectors Rotatable angled connectors b b c (without brake) c (with brake) BSH BSH BSH BSH Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

87 Dimensions (continued) 5 servo drives BSH servo motors BSH 5 (Example with rotatable angled connectors: servo motor/brake power supply and encoder ) Shaft end, keyed slot (optional) 7,5 b b 8 +, b 8 N9 5 8 c 5 Straight connectors Rotatable angled connectors b b b b b b c (without brake) c (with brake) BSH Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

88 Presentation, characteristics, references 5 servo drives BSH servo motors Option: holding brake integrated in servo motor Holding brake Presentation L L L? V 5 The holding brake integrated in the BSH servo motor is an electromagnetic pressure spring brake that blocks the servo motor axis once the motor current has been switched off. 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 case of vertical axis movement. HBC Holding brake controller The holding brake is activated using an external device, the holding brake controller (HBC) VW M (see page 9). This device also ensures electrical isolation. Holding brake Characteristics Type of servo motor BSH Holding torque M Br Nm Rotor moment of inertia (brake only) J Br kgcm Electrical clamping power P Br W 8 6 Supply voltage V + 6/- % Opening time ms Closing time ms Weight (brake only) kg References For selection of BSH servo motor with F or without A holding brake, see references on page 8. BSH servo motor 86 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

89 Presentation, characteristics, references 5 servo drives BSH servo motors Option: encoder integrated in the servo motor Encoder integrated in the BSH servo motor Presentation L L L 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 5 range of servo drives. 5 Use of this interface enables: - Automatic identification of the BSH servo motor data by the servo drive - Automatic initialization of the servo drive's control loops, thus simplifying installation of the motion control device SinCos Hiperface encoder Characteristics Type of encoder Single turn SinCos Multiturn SinCos Sinus periods per turn 8 8 Number of points x 96 turns Encoder precision ±. arc minutes Measurement method Optical, high resolution Interface Hiperface Operating temperature C References For selection of the SinCos Hiperface single turn or multiturn encoder integrated in BSH servo motor, see references on page 8. BSH servo motor 87 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

90 Presentation 5 servo drives BSH servo motors Option: GBX planetary gearboxes Presentation GBX planetary gearbox In many cases, motion control requires the use of a planetary gearbox to adapt the speeds and torques, while continuing to provide the precision required 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 that do not require very low backlash. The fact that their use in combination with BSH servo motors has been fully verified and that they are easily assembled, ensures simple, risk-free operation. The planetary gearboxes are available in 5 sizes (GBX...GBX 6) and with reduction ratios (:...:) (see the table below). The continuous and peak stall 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 (.96 or.9 depending on the reduction ratio). The following table gives the most appropriate servo motor/gearbox combinations. For other combinations, please see the servo motor data sheets. BSH servo motor/gbx gearbox combinations Type of servo motor Reduction ratio : : 5: 8: 9: : 5: 6: : 5: : : BSH 55 GBX GBX GBX GBX 6 GBX GBX GBX GBX GBX 6 GBX 6 GBX 6 GBX 6 * BSH 55 GBX 6 GBX 6 GBX 6 GBX 6 GBX GBX GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 * GBX 6 * BSH 55 GBX 6 GBX 6 GBX 6 GBX 6 * GBX GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 * GBX 6 * BSH 7 GBX 6 GBX 6 GBX 8 GBX 8 GBX 6 GBX 6 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX BSH 7 GBX 8 GBX 8 GBX 8 GBX 8 GBX 6 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX BSH 7 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX BSH GBX 8 GBX 8 GBX 8 GBX GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX GBX 6 BSH GBX 8 GBX 8 GBX GBX GBX 8 GBX GBX GBX GBX GBX 6 GBX 6 GBX 6 BSH GBX 8 GBX GBX GBX GBX 8 GBX GBX GBX GBX GBX 6 GBX 6 GBX 6 BSH GBX GBX GBX GBX 6 GBX GBX GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 * GBX 6 * BSH GBX GBX GBX GBX 6 GBX GBX GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 * GBX 6 * BSH GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 * GBX 6 * BSH GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 * GBX 6 * BSH GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 GBX 6 GBX 6 GBX 6 GBX 6 * GBX 6 * GBX 6 * BSH 5 GBX 6 * GBX 6 * GBX 6 * GBX 6 * GBX 6 * For combinations in italics and with an asterisk, you must check that the application will not result in the continuous output torque of the gearbox being exceeded (see values on page 89). 88 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

91 Characteristics 5 servo drives BSH servo motors Option: GBX planetary gearboxes Characteristics of GBX gearboxes Type of gearbox GBX GBX 6 GBX 8 GBX GBX 6 Type of gearbox Planetary gearbox with single reduction stage and straight teeth Backlash in reverse direction :...8: min arc < < < < 8 < 6 9:...: < 5 < 5 < 7 < < Torsional rigidity :...8: Nm/min :...: arc Sound level db (A) Casing Black anodised aluminium Shaft material C 5 Shaft output dust and damp protection IP 5 Lubrication Lubricated for life Average service life () h, Mounting position Any position Operating temperature C Characteristics of BSH servo motor/gbx gearbox combinations Type of gearbox GBX GBX 6 GBX 8 GBX GBX 6 Efficiency :...8:.96 9:...:.9 Maximum permitted radial force () () Maximum permitted axial force () L h =, hours N L h =, hours L h =, hours N L h =, hours Gearbox moment of inertia : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm Continuous output torque M N () : Nm.5 8 : Nm : Nm : Nm : Nm 6.5 : Nm 6 8 5: Nm 8 7 6: Nm 6 8 : Nm 6 8 5: Nm 8 7 : Nm 6 8 : Nm 8 7 () Values given at an output shaft speed of rpm, cyclic ratio = (S mode) for electrical machines with an ambient temperature of C. () Force applied midway along the output shaft. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

92 References, mounting 5 servo drives BSH servo motors Option: GBX planetary gearboxes References GBX Size Reduction ratio Reference () Weight kg GBX :, :, 5: and 8: GBX F.5 9:, :, 5:, 6:, :, 5:, : and GBX F.5 : GBX 6 :, :, 5: and 8: GBX 6 F.9 9:, :, 5:, 6:, :, 5:, : and GBX 6 F. : GBX 8 :, :, 5: and 8: GBX 8 F. 9:, :, 5:, 6:, :, 5:, : and GBX 8 F.6 : GBX :, :, 5: and 8: GBX F 6. 9:, :, 5:, 6:, :, 5:, : and GBX F 8. : GBX 6 :, :, 5: and 8: GBX 6 F 8. 9:, :, 5:, 6:, :, 5:, : and : GBX 6 ppp ppp pf. To order a GBX planetary gearbox, add the following to each of the above references: GBX F Size Diameter of the casing (see table of combinations with BSH servo motor, page 7/) mm 6 mm 6 8 mm 8 mm 6 mm 6 Reduction ratio : : 5: 5 8: 8 9: 9 : 5: 5 6: 6 : 5: 5 : : Associated BSH servo motor Type BSH BSH 7 7 BSH BSH BSH 5 5 Model BSH BSH BSH BSH BSH servo motor adaptation Mounting No special tool is required for mounting the GBX planetary gearbox on the BSH 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, please consult the instruction sheets supplied with the products. F 9 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

93 Dimensions 5 servo drives BSH servo motors Option: GBX planetary gearboxes Dimensions Assembly on servo motor side g xø Ø5 a a a a a a5 xø6 Ø7 h Ø Ø Ø c GBX c a a a a a a5 h g Ø Ø Ø Ø Ø5 Ø6 Ø h7 h7 M x 6 M x h7 h7 M x 6 M x h7 h7 M5 x 8 5 M5 x h7 h7 M5 x 8 5 M5 x h7 h7 M6 x 7 M6 x h7 h7 M6 x 7 M6 x h7 5 h7 M x 6 M8 x h7 5 h7 M x 6 M8 x h7 h7 M x 5 M x h7 h7 M x 5 M x Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

94 Sizing 5 servo drives BSH servo motors M Sizing the servo motor The " Sizer" sizing tool is available on the website to help you size your servo motor. These pages are provided to help you understand the calculation method used. To be able to size the servo motor you need to know the equivalent thermal torque and the average speed required by the mechanism to be used with the servo motor. Both values are calculated using the motor cycle timing diagram and should be compared with the torque/speed curves given for each servo motor (see BSH servo motor curves, on pages 56 to 78). Motor speed n i n n n n t t t t t5 t6 t7 t8 t9 t t t T cycle M M M M M5 t t Motor cycle timing diagram The motor cycle is made up of several sub-cycles, the duration of which is known. Each sub-cycle is divided into phases which correspond to the periods of time during which the motor torque is constant ( to phases maximum per sub-cycle). This division into phases can be used to calculate the following for each phase: - Duration (tj) - Speed (n i ) - Required torque value (M i ) The curves on the left show the four types of phase: - Constant acceleration during times t, t and t 9 - At work during times t, t, t 6 and t - Constant deceleration during times t 5, t 7 and t - Motor stopped during times t 8 and t The total duration of the cycle is: T cycle = t + t + t + t + t 5 + t 6 + t 7 + t 8 + t 9 + t + t + t Calculating the average speed n avg ni t The average speed is calculated using the formula: j n avg = b n i corresponds to the different work speeds t j ni b ---- corresponds to the average speeds during the acceleration phases constant and constant deceleration In the above example: Duration tj t t t t t 5 t 6 t 7 t 8 t 9 t t t + n n n n n n n n Speed ni n n n n The average speed is calculated as follows: n n + n n t + n t t n t + n n n t5 n t t n t9 + n t t n avg = Tcycle Calculating the equivalent thermal torque M eq The equivalent thermal torque is calculated using the formula: Mi t j M eq = Tcycle In the above example, this formula gives the following calculation: M M t + M t + M t + M t + M5 t5 + M t6 + M5 t7 + M5 t9 + M t + M t eq = Tcycle 9 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

95 Sizing 5 servo drives BSH servo motors M M eq 5 6 n moy Work zone Sizing the servo motor (continued) Determining the size of the servo motor The point defined by the two preceding calculations (average speed and equivalent thermal torque) where the: b horizontal axis represents the average speed n avg b vertical axis represents the thermal torque M eq must be within the area bounded by curve and the work zone. The motor cycle timing diagram should also be used to ensure that all torques M i required for the different speeds n i during the various cycle phases are within the area bounded by curve and the work zone. Peak torque Continuous torque 9 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

96 9 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

97 Product reference index L L B BSH 55T 8 BSH 55M 8 BSH 55P 8 BSH 55T 8 BSH 55M 8 BSH 55P 8 BSH 55T 8 BSH 7M 8 BSH 7P 8 BSH 7T 8 BSH 7M 8 BSH 7P 8 BSH 7T 8 BSH 7M 8 BSH 7P 8 BSH 7T 8 BSH M 8 BSH P 8 BSH T 8 BSH M 8 BSH P 8 BSH T 8 BSH M 8 BSH P 8 BSH P 8 BSH P 8 BSH T 8 BSH M 8 BSH P 8 BSH T 8 BSH M 8 BSH P 8 BSH M 8 BSH P 8 BSH 5M 8 G GBX 9 GBX 6 9 GBX 8 9 GBX 9 GBX 6 9 GV L 6 GV L 6 GV L6 6 GV L 6 GV L 6 L LC D9** 6 LC K6** 6 LU9 GC 9 LXM 5*DF 6 LXM 5*DM 6 LXM 5*DMX 6 LXM 5*DN 6 LXM 5*D7F 6 LXM 5*D7M 6 LXM 5*D7MX 6 LXM 5*DN 6 LXM 5*D8F 6 LXM 5*D8M 6 LXM 5*DN 6 LXM 5*DMX 6 LXM 5*D57N 6 T TSX CAN CA 5 8 TSX CAN CA 8 TSX CAN CA 8 TSX CAN CB 5 8 TSX CAN CB 8 TSX CAN CB 8 TSX CAN CD 5 8 TSX CAN CD 8 TSX CAN CD 8 TSX CAN KCDF 9T 8 TSX SCA 5 9 TSX SCA 6 9 TSX CSA 9 TSX CSA 9 TSX CSA 5 9 TWD XCA RJ 9 TWD XCA RJ 9 TWD XCA RJ 9 V VW A85 7 VW A 7 VW A 7 VW A 7 VW A 7 VW A 7 VW A5 7 VW A6 7 VW A7 7 VW A85 7 VW A 55 8 VW A 55 8 VW A 55 8 VW A7 6 R7 5 VW A7 6 R 5 VW A7 6 R 5 VW A7 6 R7 5 VW A7 6 R 5 VW A7 6 R 5 VW A7 6 R7 5 VW A7 6 R 5 VW A7 6 R 5 VW A7 6 R7 5 VW A7 6 R 5 VW A7 6 R 5 VW A7 65 R7 5 VW A7 65 R 5 VW A7 65 R 5 VW A7 66 R7 5 VW A7 66 R 5 VW A7 66 R 5 VW A7 67 R7 5 VW A7 67 R 5 VW A7 67 R 5 VW A8 5 VW A8 5 5 VW A8 6 5 VW A8 5 VW A8 5 5 VW A8 6 9 VW A8 6 DR 9 VW A8 6 DRC 9 VW A8 6 D 9 VW A8 6 R 9 VW A8 6 RC 9 VW A8 6 R 9 VW A8 6 R 9 VW A8 6 R 9 VW A8 6 TF 9 VW A8 6 TF 9 VW CAN CARR 8 VW CAN CARR 8 VW CAN TAP 8 VW M VW M VW M 9 VW M5 R 8 VW M5 R5 8 VW M5 R 8 VW M5 R5 8 VW M5 R 8 VW M5 R5 8 VW M5 R5 8 VW M5 R75 8 VW M5 R 8 VW M5 R5 8 VW M5 R 8 VW M5 R5 8 VW M5 R 8 VW M5 R5 8 VW M5 R5 8 VW M5 R75 8 VW M5 R 8 VW M5 R5 8 VW M5 R 8 VW M5 R5 8 VW M5 R 8 VW M5 R5 8 VW M5 R5 8 VW M5 R75 8 VW M8 R 8 VW M8 R5 8 VW M8 R 8 VW M8 R5 8 VW M8 R 8 VW M8 R5 8 VW M8 R5 8 VW M8 R75 8 VW M8 R5 VW M8 R5 VW M8 R VW M8 R5 VW M8 R5 VW M8 R5 VW M8 R VW M8 R5 VW M8 R5 VW M8 R5 VW M8 R VW M8 R5 VW M8 R5 VW M8 R5 VW M8 R VW M8 R5 VW M8 5 R VW M8 6 R VW M8 7 R VW M8 8 R VW M8 9 R5 VW M8 9 R5 VW M8 9 R VW M8 9 R5 VW M8 R5 VW M8 R5 VW M8 R VW M8 R5 VW M8 R5 VW M8 7 VW M8 7 VZL7UM5 8 VZL8UM 8 X XGS Z 5 XM 5ADF 6 95 Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)

98 The efficiency of Telemecanique branded solutions Used in combination, Telemecanique products provide quality solutions, meeting all your Automation and Control applications requirements. Motion control: 5: to 5 A BSH motors:.5 to 6 Nm A worldwide presence Constantly available More than 5 points of sale in 9 countries. You can be sure to find the range of products that are right for you and which complies fully with the standards in the country where they are used. Motion control: 5:.5 to 7 A BDH motors:.8 to 5 Nm BSH motors:.5 to 9 Nm Technical assistance wherever you are Our technicians are at your disposal to assist you in finding the optimum solution for your particular needs. Schneider Electric provides you with all necessary technical assitance, throughout the world. Schneider Electric Motion Simply Smart! Due to evolution of standards and equipment, the characteristics indicated in texts and images of this document do not constitute a commitment on our part without confirmation. Design: Schneider Electric Photos: Schneider Electric motion@us.schneider-electric.com Copyright 7 Schneider Electric. All Rights Reserved. Altistart, Altivar,, Modbus, Modicon, Phaseo, Telemecanique and Twido are registered trademarks and PowerSuite, Premium, Vario and Preventa are trademarks, of Schneider Electric. Other trademarks used herein are the property of their respective owners. DIA7ED59US ART / 7 - V. Courtesy of Steven Engineering, Inc.- Ryan Way, South San Francisco, CA Main Office: (65) Outside Local Area: (8)