Motion control Lexium 15. Catalogue May

Transcription

1 Motion control Catalogue May

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3 Contents Motion control offer b Presentation page b Servo motor/servo drive combinations page servo drives b Presentation page 8 b Applications page b Functions page b Characteristics page b References v Servo drives page 8 v Accessories page 9 b Options v Communication buses and networks page v SERCOS card page 8 v I/O extension card page 9 v Braking resistors page v Additional EMC input filters page v Line chokes page v Motor chokes page 7 b Dimensions page 8 b Schemes page b Motor starters page b Mounting and installation recommendations page TSX CAY and TSX CSY motion control modules b Selection guide page b TSX CAY motion control modules page 7 b TSX CSY motion control modules page 8 BDH servo motors b Presentation page 8 b Characteristics page 8 b References page b Dimensions page b Options v Holding brake, sensor page 8 v GBX planetary gearboxes page b Sizing of servo motors page BSH servo motors b Presentation page 8 b Characteristics page b References page 78 b Dimensions page 8 b Options v Holding brake, sensor page 8 v GBX planetary gearboxes page 9 b Sizing of servo motors page 9

4 offer motion control Presentation LP, MP and HP servo drives Single axis application Presentation The compact dimensions of the servo drive combined with the wide range of power ratings and power supplies available make it the ideal solution to meet the application requirements of all kinds of machinery. This range is designed to control the torque, speed and/or position of BSH and BDH servo motors. These motor-drive units are designed for high-performance applications requiring highly precise and dynamic position monitoring algorithms. servo drives Applications The range of servo drives is designed to meet the requirements of the following types of application: b Single axis: The integrated position indexer in servo drives makes it possible to control the operation of a single axis. b Master/slave: Operation in electrical shaft mode synchronizes the movement of several axes. There are numerous communication bus and network connection possibilities available for both these types of application, including CANopen, Fipio, Modbus Plus and Profibus DP, all enabling integration into a distributed automation architecture. For multi-axis applications, you can also add: b A Motion Controller axis card (r), which extends the operating capabilities of servo drives to include applications requiring complex synchronization of several axes (cam profile, cut on-the-fly, etc.) b A SERCOS option card, which, when connected to TSX CSY motion control modules on a Premium PLC, means that servo drives can meet the performance requirements of complex applications. Multi-axis application Operating modes servo drives feature a large number of operating modes: b Conventional adjustment modes: v Homing v Manual b Position control operating modes: v Point-to-point mode v Motion tasks v Electronic gearing b Speed operating mode: v Speed regulation b Torque operating mode: v Torque control Configuration and setup Unilink setup software is used to configure and adjust the parameters of servo drives. r Available: st quarter 7 Functions: pages, 8 and 8 Characteristics: pages, 8 and pages 8, and 78 pages 8, and 8 Schemes: page

5 offer (continued) motion control Presentation BSH, BSH servo motors BSH and BDH servo motors BSH and BDH servo motors are synchronous three phase motors. They feature an integrated sensor, which can be a Resolver (BDH servo motor only) or a Hiperface SinCos absolute encoder. They can be supplied with or without a parking brake. Two ranges of motors are offered to meet specific application requirements: b BSH servo motors satisfy the demands for dynamics and high-performance b BDH servo motors satisfy the demands for compactness and adaptability BDH 7, BDH 88 servo motors BSH servo motors: Dynamics and high-performance Thanks to their new winding technology based on salient poles, BSH servo motors are compact and offer a high power density. The rotor's low inertia and the slight notching effect make it possible to meet the demands of both precision and dynamics. The dynamics are enhanced by the fast sampling time of the servo drive control loops: b. µs for the current loop b µs for the speed loop b µs for the position loop BDH servo motors: Compactness and adaptability The design of the windings based on salient poles has been optimized for BDH servo motors to achieve one of the best torque/size ratios available on the market. This compactness is available across 7 different flange sizes and, when combined with various measuring systems, offers optimum adaptability when designing your machines. : A Telemecanique branded servo motor offer Functions: pages, 8 and 8 Characteristics: pages, 8 and pages 8, and 78 pages 8, and 8 Schemes: page

6 offer (continued) motion control LP servo drives LP servo drive/servo motor combinations LP servo drive/bdh or BSH servo motor combinations Servo motors LP servo drives Supply voltage V three-phase Supply voltage 8 8 V three-phase BDH (IP or IP 7) BSH (IP or IP ) Max. speed LXM LDM LXM LDM LXM LD8M LXM LUN LXM LDN LXM LD7N Continuous output current (RMS) rpm A A A. A A A BDH B 8.8/. Nm BDH C 8./.8 Nm BDH C 8./. Nm BSH P 88./. Nm./. Nm BSH T 8./. Nm BDH 8C 8.8/. Nm BDH 8E 8.87/. Nm BSH M.9/. Nm BSH P 9.9/.7 Nm.9/. Nm BSH T 8.9/. Nm BDH 8C 8./. Nm BDH 8D 8./.8 Nm./.8 Nm BDH 8F 8.8/. Nm BSH M 88./. Nm BSH P 8./. Nm./.87 Nm BDH 8C 8.8/.9 Nm BSH 7T 8./.9 Nm./.9 Nm./.9 Nm BSH 7P 88./. Nm./. Nm BDH 8D 8./. Nm./. Nm BDH 8F 8./. Nm BDH 7C 8./. Nm BDH 7E 8./. Nm BDH 7C./.7 Nm BDH 7D 77./. Nm./. Nm BDH 7H 8./. Nm BDH 7C 8.7/7.8 Nm BDH 7E 8.79/8. Nm.79/8. Nm BDH 7H.88/7. Nm BDH 8C 8.9/. Nm BDH 8E./. Nm./. Nm BDH 8H./.78 Nm BSH 7M 9./. Nm BSH 7P 8./. Nm./.8 Nm BSH 7T 8./. Nm./.7 Nm BSH 7P 8.8/9.8 Nm.8/7.7 Nm BSH 7T 8.8/7.8 Nm.8/. Nm The st value corresponds to the continuous torque on stopping. The nd value corresponds to the peak torque on stopping. Selection example: The servo motor BDH B combined with servo drive LXM LDM meets the requirements of applications needing a maximum of.8 Nm continuous torque on stopping,. Nm peak torque on stopping and 8 rpm mechanical speed. Functions: pages, 8 and 8 Characteristics: pages, 8 and pages 8, and 78 pages 8, and 8 Schemes: page

7 offer (continued) motion control LP servo drives LP servo drive/servo motor combinations LP servo drive/bdh or BSH servo motor combinations (continued) Servo motors LP servo drives Supply voltage V three-phase Supply voltage 8 8 V three-phase BDH (IP or IP 7) BSH (IP or IP ) Max. speed LXM LDM LXM LDM LXM LD8M LXM LUN LXM LDN LXM LD7N Continuous output current (RMS) rpm A A A. A A A BDH 8C./9.7 Nm BSH P 78.9/7.8 Nm.9/.9 Nm BSH T.9/8. Nm BDH 8E./9.7 Nm./9. Nm BDH 8G./9. Nm./8. Nm BDH 8J./7. Nm BDH 8E.7/.7 Nm BDH 8G.8/. Nm.8/.8 Nm BDH 8K.9/9. Nm BSH P.8/.79 Nm.8/. Nm BSH T./.9 Nm BDH 8E 8.7/. Nm BDH 8G.88/. Nm.88/.97 Nm BDH 8J 98 /.8 Nm BDH 8E.7/.7 Nm BDH 8G.7/.8 Nm.7/.8 Nm BDH 8K.9/9. Nm BSH M 7.7/.9 Nm 7.7/.9 Nm BSH P 7.8/9.9 Nm BDH 8E 8 8./8.8 Nm BDH 8G 9 8./9. Nm 8./9. Nm BDH 8K 8./.9 Nm BSH M 9./9.8 Nm 9./9.87 Nm BDH 8G./.8 Nm BDH 8K 8./.9 Nm BDH 8G./.7 Nm BDH 8K 8./8. Nm BDH 8G 88.9/. Nm BDH 8K 7./.7 Nm BDH 8G 9./8. Nm BDH 8K.8/ Nm./9.7 Nm The st value corresponds to the continuous torque on stopping. The nd value corresponds to the peak torque on stopping. Selection example: The servo motor BDH 8C combined with servo drive LXM LUN meets the requirements of applications needing a maximum of. Nm continuous torque on stopping, 9.7 Nm peak torque on stopping and rpm mechanical speed. Functions: pages, 8 and 8 Characteristics: pages, 8 and pages 8, and 78 pages 8, and 8 Schemes: page

8 offer (continued) motion control MP servo drives MP servo drive/servo motor combinations MP servo drive/bdh or BSH servo motor combinations Servo motors MP servo drives Supply voltage 8 8 V three-phase BDH (IP or IP 7) BSH (IP or IP ) Max. speed LXM MD8N LXM MDN LXM MDN Continuous output current (RMS) rpm A A A BDH 8J./7. Nm BDH 8K.9/9. Nm BDH 8J 98 /.8 Nm BDH 8K.9/9. Nm BSH P 7.8/9.9 Nm 7.8/.7 Nm BDH 8K 8./.9 Nm BDH 8M 8./.7 Nm BSH M 9./.7 Nm BSH P 8 9./.7 Nm 9./.8 Nm BSH T 8 9./. Nm BDH 8K 8./.9 Nm BDH 8M./. Nm BDH 8P 7./. Nm BSH M./ Nm BSH P./. Nm./. Nm BSH T 9./. Nm BDH 8K 8./8. Nm BDH 8L./7.8 Nm BDH 8N./. Nm BDH 8K 7./.7 Nm BDH 8M./.8 Nm BDH 8P./. Nm BDH 8K.8/ Nm BDH 8M 7 7/. Nm BDH 8N 7/.8 Nm BSH M 9./7. Nm BSH P 9./9. Nm 9./7. Nm BDH 8K.8/. Nm BDH 8L /.9 Nm BDH 8P./. Nm BDH 8K 8.8/.8 Nm BDH 8M 8 /7. Nm BDH 8N./. Nm BSH M 7.8/7.7 Nm BSH P 7.8/7. Nm BDH 88K 9.7/9. Nm BDH 88M /9.8 Nm BDH 88P 9./8. Nm BSH M./8. Nm./9 Nm BSH M /8. Nm /8. Nm BDH 88M 8 /8.7 Nm BDH 88P./79. Nm BDH 88L 7 /8 Nm BDH 88P./ Nm./7.7 Nm The st value corresponds to the continuous torque on stopping. The nd value corresponds to the peak torque on stopping. Selection example: The servo motor BDH 8J combined with servo drive LXM MD8N meets the requirements of applications needing a maximum of. Nm continuous torque on stopping, 7. Nm peak torque on stopping and rpm mechanical speed.

9 offer (continued) motion control HP servo drives HP servo drive/servo motor combinations HP servo drive/bsh servo motor combinations Servo motors HP servo drives Supply voltage 8 8 V three-phase BSH (IP or IP ) Max. speed LXM HCNX LXM HCNX Continuous output current (RMS) rpm A 7 A BSH M /8. Nm BSH P /8 Nm BSH M 9 / Nm / Nm BSH P /8. Nm /9. Nm BSH M 9 9/7.8 Nm 9/ Nm BSH P 9/.9 Nm /8. Nm The st value corresponds to the continuous torque on stopping. The nd value corresponds to the peak torque on stopping. Selection example: The servo motor BSH M combined with servo drive LXM HCNX meets the requirements of applications needing a maximum of Nm continuous torque on stopping, 8. Nm peak torque on stopping and rpm mechanical speed. Functions: pages, 8 and 8 Characteristics: pages, 8 and pages 8, and 78 pages 8, and 8 Schemes: page 7

10 Presentation motion control LP, MP and HP servo drives LP, MP and HP servo drives An offer tailored to your needs The range of servo drives combined with BSH and BDH servo motors constitutes an offer that is perfectly tailored to the requirements of your applications. This offer covers a wide range of supply voltages and power ratings. In order to keep costs down and ensure ease of adaptation to different applications, the range of servo drives comprises models: b LP servo drives: v V single phase,.9 kw to. kw (LXM LDppM) v V -phase, kw to. kw (LXM LDppM) v 8 8 V -phase,. kw to. kw (LXM LpppN) b MP servo drives: v 8 8 V -phase,.7 kw to. kw (LXM MDppN) b HP servo drives: v 8 8 V -phase,. kw to. kw (LXM HCppNX) BSH 7 servo motor BDH 7 servo motor BSH servo motor BDH 8 servo motor servo motors: b BSH servo motors (see pages 78 to 8): v Nominal torque: from. Nm to 9 Nm v Nominal speed: from to 8 rpm b BDH servo motors (see pages to ): v Nominal torque: from.8 Nm to Nm v Nominal speed: from to 8 rpm The motion control offer also includes GBX planetary gearboxes. Easy to mount and lubricated for life, these gearboxes are available in reduction ratios, ranging from : to :. GBX gearboxes are economical and are designed for high inertia applications. servo drives comply with EN 78, IEC/EN 9-, IEC/EN -, EN 9 and IEC/EN 8- international standards, and carry UL (USA) and cul (Canada) approvals, and e marking. A complete unit The motion control offer integrates 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 enclosures or machines. Electromagnetic compatibility, EMC The incorporation of class A EMC filters in LP and MP servo drives makes it easier to install machines and render them compliant for e marking, while being very economical. HP servo drives are designed without an EMC filter. Filters, available as an option, can be installed by the customer to reduce the level of emissions, see pages and. Safety The servo drive is incorporated in the safety system of installations. It integrates the Power Removal safety function which prevents accidental starting of the servo motor. This function complies with: b Machinery standard EN 9- category for LP servo drives b Machinery standard EN 9- category for MP and HP servo drives The Power Removal safety function describes the wiring of your safety circuits. The diagrams on pages to 9 show wiring that complies with standard EN 9- categories,, or. Braking LP and MP servo drives integrate a resistor as standard, which does away with the need to use an external braking resistor in most applications. HP servo drives are designed without an integrated braking resistor. Braking resistors are available as an option. Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to 8

11 Presentation (continued) motion control LP, MP and HP servo drives Premium PLC Communication bus or network Control and interfaces The multifunction servo drive range can be controlled in a number of ways: b The programming of motion tasks in its integrated position indexer provides an economical, dynamic solution ( ms response time and +/- ms jitter ) for your single axis applications b A wide range of position feedback possibilities for servo drives (A/B incremental encoder; SSI, EnDat, Hiperface, etc, absolute encoders) provides, with no additional option card, infinite openness for simple master/slave applications or those which require the use of an external encoder. In addition to the above possibilities for controlling the servo drive, there is a wide range of option cards. The additional I/O card and communication cards enable you to get the best from your machine. The servo drive also integrates more conventional control functions such as a pulse/direction input and two ± V analog reference inputs in order to adapt to all types of axis control cards. BSH or BDH servo motor Example of an architecture BSH or BDH servo motor BSH or BDH servo motor The SERCOS option card extends the control possibilities of the servo drive even further, enabling it to meet the requirements of complex multi-axis applications. 77 Simplicity Integration Its high level of integration, compact size and the ability to mount it side by side enable the size of enclosures to be reduced. Setup Using the SinCos Hiperface encoder on BSH and BDH servo motors, the servo drive automatically receives data from the servo motor. The parameters of the motor do not need to be set manually. The Unilink software graphic interface guides you through the configuration of each of the parameters of your axes. 78 LP and MP servo drives: mounting the option card The ability to program motion tasks enables fast configuration of machines. Simply enter the data of the various sequences of the application and set the parameters of the movement sequencing. With its Oscilloscope and Bode Diagram functions, the Unilink software can be used for accurate setting of the various servo drive filter parameters for optimum machine control. Options The servo drive can take one of the following option cards : b Communication cards, see pages to 7 b SERCOS card, see page 8 b I/O extension card, see page 9 External options can be used with the servo drive: b Braking resistors, see pages to b Additional EMC input filters, see pages and b Line chokes, see page b Motor chokes, see page 7 HP servo drive: mounting the option card Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to 9

12 Applications motion control servo drives Motion control applications The servo drive integrates the CANopen protocol as standard. It is also possible to connect to other communication buses and networks by adding an option card: b Fipio b Modbus Plus b Profibus DP For applications requiring fast synchronization of axes, the servo drive can be connected to a SERCOS module using its option card. This type of architecture provides a high-performance response to four types of application: b Applications with independent servo drives b Applications with independent axes controlled by controller b Applications with master/slave operation b Applications with coordinated axes Applications with independent servo drives MT MT SP KP KV KT Axis Start Motion Task axis Start Motion Task axis Start Motion Task axis Start Motion Task axis Bus/network MTn MT MT SP KP KV KT Axis MTn Servo drive in motion task mode The Motion Tasks (MT) for each servo drive are managed using simple motion task activation/deactivation commands (start, stop, etc.) from the controller. Note: Typical number of servo drives controlled: Applications with independent axes controlled by controller SP KP KV KT Axis MT motion parameters (position, speed, acceleration) MT motion parameters (new position, speed, acceleration) Bus/network SP KP KV KT Axis Servo drive in motion task mode The controller synchronizes the Motion Tasks (MT) commands executed in each servo drive. Note: Typical number of servo drives controlled: to 8 Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

13 Applications (continued) motion control servo drives Motion control applications (continued) Applications with master/slave operation Process PLC I/O TSX CAY Parameters/ diagnostics PLC program Path KP KV KT Axis Motion control module Servo drive in analog reference mode KV KT Axis Servo drive in analog reference mode The servo drive with analog reference is used with the TSX CAY p//p motion control module (with Premium platform). The KP position loop is executed in the automation platform TSX CAY control module. It is configured and adjusted using PL7 Junior/Pro or Unity Pro programming software. The KV speed loop and KT torque loop of the are configured and adjusted using Unilink software. The motion program, which defines the paths, is in the Premium platform application program. The position and speed setpoints are calculated by the motion control module. Note: Typical number of servo drives controlled: to Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

14 Applications (continued) motion control servo drives Motion control applications (continued) Applications with coordinated axes Process PLC I/O TSX CSY Parameters/ diagnostics Parameters/ diagnostics PLC program Path KP KV KT Axis SERCOS motion control module Servo drive in SERCOS position indexer mode Parameters/ diagnostics Parameters/ diagnostics Path KP KV KT Axis Servo drive in SERCOS position indexer mode Parameters/ diagnostics Parameters/ diagnostics Path KP KV KT Axis Servo drive in SERCOS position indexer mode The servo drive equipped with the AM SER V SERCOS option card is used with the TSX CSY 8/8 and TSX CSY motion control modules (with Premium platform). The KP position loop, KV speed loop and KT torque loop of the servo drive are configured and adjusted using Unilink software. The motion program, which defines the paths, is in the Premium platform application program. The position setpoints are calculated by the motion control module (position mode). The motion control module can also calculate the speed reference (speed mode) or the current reference (torque mode). These two modes can be accessed with the assistance of Schneider Electric application services. Note: Typical number of servo drives controlled: to Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

15 Applications (continued) motion control servo drives Motion control applications (continued) Debugging Unilink, PL7 Junior/Pro and Unity Pro software provide simple solutions for debugging motion control applications. In the context of programming applications with independent servo drives, Unilink software makes the programming of motion tasks and the configuration of your network architecture easier. It can be used to adjust the following communication bus and network parameters: b The address of each of the master controller's slave servo drives b The transmission speed b The network monitoring parameters This software also provides access to the debugging and diagnostics screens specific to each communication bus and network. On the PLC side, in addition to these services there are screens specific to the PL7 Junior/Pro and Unity Pro software for debugging and diagnostics of communication buses and networks: b Access to CanOpen Motion Function Blocks under Unity Pro b Fipio, Modbus Plus and Profibus DP service screens under PL7 Junior/Pro or Unity Pro. In the context of programming applications with master/slave operation or applications with coordinated axes, the Unilink software can be used to adjust the control parameters of each of the axes. On the PLC side, the position parameters are accessed via PL7 Junior/Pro or Unity Pro software using the parameter screens of the TSX CAY and TSX CSY motion control modules. Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

16 Functions motion control servo drives Overview of the functions of servo drives servo drives integrate numerous operating modes, enabling them to be used in a wide range of industrial applications. These functions include: b Conventional adjustment modes: v Homing v Manual b Operating modes: v Position control: - Point-to-point - Motion tasks - Electronic gearing v Speed control: - Speed control according to an acceleration ramp - Instantaneous speed control v Torque control: - Torque control Each of these operating modes is available offline and/or via the communication buses and networks. Offline The servo drive parameters are defined using Unilink configuration software. Movements are then controlled by: b The position indexer integrated in the servo drive by programming motion tasks b Analog signals (± V) ( resolution bits) b RS /8 signals (pulse/direction or A/B signals) In this mode, limit switches and homing switches are not managed by the servo drive. Via communication buses and networks All the servo drive parameters and those associated with the operating modes can be accessed via the communication buses and networks, in addition to access via the Unilink configuration software. The following table shows, for each of the operating modes, the type of control and the available sources of setpoint values. Operating mode Control Via Offline communication buses and networks Adjustment modes Homing Manual Operating modes Point-to-point Motion tasks Electronic gearing Speed control according to an acceleration ramp Instantaneous speed control Torque control Functions available Functions not available Transmission of the setpoint value Communication buses and networks or Unilink software Communication buses and networks, Unilink software, encoder signals, pulse/direction or A/B signals Communication buses and networks Communication buses and networks or Unilink software Encoder signals, pulse/direction or A/B signals Communication buses and networks Analog input or communication buses and networks Analog input or communication buses and networks pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

17 Functions (continued) motion control servo drives Adjustment modes Homing mode Before performing a movement, 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: b Either searching for a reference sensor b Or one servo motor revolution with a Zero marker b Or immediately writing the actual position register (forced homing) Homing with search for reference sensor There are possible types of homing with search for reference sensor: b Homing on - limit switch, NSTOP b Homing on + limit switch, PSTOP b Homing on reference contact REF with initial movement in negative direction of rotation b Homing on reference contact REF with initial movement in positive direction of rotation b Homing on the mechanical limit of the axis These homing movements can be performed with or without taking the Zero marker pulse into account. Limit switch NSTOP Reference contact REF Limit switch PSTOP M Negative mechanical limit Application Positive mechanical limit + VREF DECR ACCR VREF Speed diagram Example of a homing movement on NSTOP limit switch with Zero marker. Start point of the homing movement New homing point of the movement Zero marker ACCR: homing acceleration ramp DECR: homing deceleration ramp VREF: homing speed pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

18 Functions (continued) motion control servo drives Adjustment modes Homing mode (continued) Homing on one servo motor revolution with a Zero marker Homing on one revolution consists of setting the Zero marker point as the new reference point Start point of the homing movement Zero marker New homing point of the movement Forced homing Three types of forced homing are possible: b Simple forced homing: the current position of the servo motor is set as the new reference point, and the following error is lost b Forced homing without loss of following error: the actual position of the servo motor is set as the new reference point, and the following error is retained b Forced homing on SSI encoder: this is simple forced homing specific to SSI encoders. When the application is started, the position is read in the encoder and set as the new reference point. M M M Inc Inc Operating mode with forced homing After power-up, the position value is. Start towards the home point: the 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 final position is increments ( increments if forced homing has not been performed). pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

19 Functions (continued) motion control servo drives Adjustment modes Manual mode This mode enables an axis to be moved manually when the speed and motion tasks operating modes are selected. The movement is performed continuously at a constant speed as long as this mode is activated. Various parameters such as acceleration, movement speed and deceleration are used to configure manual mode. This adjustment mode can be configured via communication buses and networks or via Unilink software. Example MJOG bit t Speed VJOG t Adjustment of the machine in manual mode The acceleration ramp can be configured via the ACCR parameter The deceleration ramp can be configured via the DECR parameter On a rising edge of the MJOG bit, a movement is made according to the acceleration ramp ACCR up to manual movement speed VJOG. On a falling edge of the MJOG bit, the movement speed decreases according to the deceleration ramp DECR. pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to 7

20 Functions (continued) motion control servo drives Operating modes Point-to-point mode 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: b Absolute: this consists of expressing position B in relation to a home position. The axis must have previously been referenced. b 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 setpoint values are transmitted via the communication bus or network. Software limits Movement generator Target position Limitation Speed setpoint Limitation Actual motor speed Maximum speed Acceleration Deceleration Point-to-point operating mode 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. Motion tasks mode This mode is used for programming the parameters required for making rapid movements. It is used for absolute or relative axis movements, from a point A to a point B in accordance with a predefined movement (in this mode, point A can be entered on the fly). Then, from point B to another point C, in accordance with another movement. The movement is performed according to selected acceleration, deceleration and speed parameters. It is also possible to choose the type of sequencing for these two movements, as well as the required profile (Trapeze or Sinus ). pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to 8

21 Functions (continued) motion control servo drives Operating modes Motion tasks mode (continued) Examples of motion tasks The movement performed below is made up of motion tasks: b Motion task is used to move from the home point O to point A in ms following a Sinus speed profile. The axis remains in position for ms. b Motion task is used to move from the point A to point B in ms following a trapezoid speed profile. The axis remains in position for ms. b Motion task is used to move from point B to point C in ms following a negative trapezoid speed profile. The movement is then linked directly to the next task. b Motion task moves the axis from point C to home point O in ms following a Sinus speed profile which has a very high deceleration component (smooth approach to home position O). Position (mm) B A C O O MT In MT In MT MT Time Speed (mm/s) position position (ms),,,,, MT In MT In MT MT Time position position (ms) Example of a movement performed using motion tasks Electronic gearing mode In this mode a master/slave relationship is established between a number of servo drives or between a servo drive (slave) and an external motion controller (master). This mode can handle types of control signal: b External or simulated A/B encoder b Pulse/direction signals b EnDAT encoder b Hiperface encoder b External or simulated SSI encoder This relationship can be assigned a fixed or variable ratio. The ratio and direction of operation parameters can be accessed statically via Unilink software, and dynamically via the communication bus or network. Position, speed and current control Pulse/direction Number of revolutions Number of lines M a Electronic gearing operating mode Possible applications This mode is used in material handling, conveying or sectional production line applications, as well as in the fields of plastics and fibers. pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to 9

22 Functions (continued) motion control servo drives Operating modes Speed control according to acceleration ramp mode 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. Torque limiting is also possible. Setpoint value The setpoint value is transmitted via the communication bus or network. Speed profile Speed setpoint Limitation Actual motor speed Max. speed Acceleration Deceleration Speed control according to acceleration ramp operating mode Instantaneous speed control In this mode the servo drive can be used with a motion controller with analog output. It is suitable for all other high performance speed control requirements. Setpoint value The setpoint value is transmitted via analog input (AI+/AI-), the communication bus or the network. Analog input (AI+/AI-) can be used to limit the torque or speed, or for precise adjustment of the setpoint. Speed control operating mode Analog input (± V) Parameters Scaling Position, speed and torque control M a Analog input (± V) Scaling Current limiting Encoder emulation output Scaling Activation of limiting 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 Encoder emulation output (X) on the servo drive. Possible applications b Material handling b Cutting to length b Winding and unwinding applications pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

23 Functions (continued) motion control servo drives Operating modes Torque control mode This mode, which can be added onto the other modes, is used in machine phases where torque control is crucial. Setpoint value The setpoint value is transmitted via analog input (AI+/AI-), the communication bus or network. Analog input (AI+/AI-) can be used to limit the current. The position of the servo motor is transmitted to the motion controller by the encoder emulation output (X) on the servo drive. Torque control operating mode Analog input (± V) Parameters Scaling Position, speed and torque control M a Analog input (± V) Scaling Speed limiting Encoder emulation output Scaling Activation of limiting RS I/O Mode Torque control operating mode Possible applications b Car assembly applications (tool fixing machine) b Special machines Other functions It is possible to activate other functions for setting operating parameters via logic I/O, the communication bus or network, or Unilink software. b Automatic start b Programming of emergency stop sequences (categories, or ) b Position register for controlling logic outputs b Switching commands on the fly b Starting motion tasks b Signaling the end of movement by logic inputs b Starting a series of ASCII commands on a logic input edge pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

24 Presentation, functions motion control servo drives Unilink software Presentation Unilink software for PC is a tool for configuring servo drive operating parameters. Its simple, easy-to-follow graphic interface helps to reduce setup costs. Example of parameter setting with Unilink software It incorporates various functions for the setup phases, such as: b Parameter setting b Advanced adjustment of the various control loops b Programming motion tasks b Supervision This software is available in two versions, for configuring LP servo drives (Unilink L) and MP/ HP servo drives (Unilink MH). It is supplied with the servo drive as standard. Example of adjusting the speed loop with Unilink software Functions Parameter setting Unilink software can be used to configure: b The servo drive parameters such as the supply voltage, the breaking resistance, the ID, the address of the drive on the network, etc b BDH and BSH servo motors: v Automatically, using the motor parameters stored in the memory of the SinCos Hiperface absolute encoder v Simply, using the Unilink software's motor database, which contains the parameters of all the servo motors sold by Schneider Electric b The parameters of third party servo motors by simply entering motor parameters such as the type of position sensor, the maximum speed, the minimum and maximum motor currents, etc b Operation in simple master/slave mode by setting the parameters of the incremental (A/B) or SSI absolute encoder emulation output, the encoder input and pulse/direction input b The functions associated with the logic and analog I/O, such as capture of position registers, control of motion tasks or speed, torque and coupling ratio adjustment in the context of electronic gearing type applications. Sophisticated adjustment of the various control loops Unilink software can be used to access the following control loop parameters: b Torque control. The motor database that can be accessed via Unilink software is used to automatically configure the KT gain of the current loop for optimum regulation of the motor torque. b Speed control. Provides access to the KV gain parameters of the speed loop, as well as to the parameters of the internal PID controller. Other service parameters such as maximum speed, overspeed threshold, acceleration and deceleration ramps and the emergency stop deceleration time can also be accessed. b Position control. In integrated position indexer operating mode, the software can be used to optimize the adjustment of the KP gain of the position loop. Oscilloscope function With its Oscilloscope and Bode Diagram functions, Unilink software simplifies the optimization of these control loops. pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

25 Functions (continued), setup motion control servo drives Unilink software Functions (continued) Programming of motion tasks For each motion task, Unilink software can be used to set the parameters for the type of speed profile, the position to be reached and the setpoint speed. These motion tasks can be absolute, relative in relation to a known position or relative in relation to a position register. The sequencing of the motion tasks can be direct, delayed or triggered by a logic input. Example of programming a motion task Supervision When the axis is set up, the Unilink software Monitor can be used to supervise the speed, temperature, current, voltage, position and following error parameters that allow the user to check that the application is operating correctly. Setup and connection Preparation of the configurations Unilink software can be used on its own for configuring the servo drive. The configurations can be saved, printed, etc. LEX Unilink software PC/ servo drive connection Online mode In online mode, it is possible, using the RS link, to load the parameters of the servo drive in the PC and vice versa. It is also possible to supervise the correct operation of the servo drive and the communication buses and networks in offline mode. PowerSuite For easier setup of applications requiring other types of servo drives ( ) or variable speed drives (Altivar), Unilink can be launched via the PowerSuite software workshop (). () This function is available from version. r of PowerSuite. r Available th quarter pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

26 Characteristics motion control servo drives Environmental characteristics Conformity to standards servo drives have been developed to conform to the strictest levels of international standards and the recommendations relating to electrical industrial control equipment (IEC, EN), including: b EN 78, IEC/EN 9-, IEC/EN - for low voltages b IEC/EN -, EN 9 for machine safety b IEC/EN 8- for EMC immunity and conducted and radiated emissions EMC immunity IEC/EN 8-, environment IEC/EN -- level IEC/EN -- level EMC conducted and EN 8-, environments and, categories C and C radiated emissions LXM Lppppp EN class A group, IEC/EN 8- category C for cable lengths < m EN class A group, IEC/EN 8- category C for cable lengths m LXM MDppN IEC/EN 8- category C e marking Product certification LXM HCppNX With additional EMC filter (): b EN class A group, IEC/EN 8- category C The servo drives are e marked in accordance with the European low voltage (7//EEC) and EMC (89//EEC) directives UL (USA), cul (Canada) Degree of protection IP Vibration resistance According to IEC/EN 8--:. mm peak to peak from 7 Hz gn from 7 Hz Shock resistance gn for ms according to IEC/EN 8--7 Maximum ambient pollution LXM Lppppp Degree according to IEC - Environmental conditions Relative humidity LXM MDppN LXM HCppNX Degree according to EN and EN 78 IEC 7-- class C According to IEC 7--, class K, 8%, without condensation Ambient air temperature around the device Operation LXM Lppppp C without derating with derating of the motor output current by.% per additional C LXM MDppN LXM HCppNX Storage C C without derating with derating of the motor output current by.% per additional C Type of cooling LXM LDM LXM LUN LXM LDM, LD8M LXM LDN, LD7N LXM MDppN LXM HCppNX Natural convection Fan Maximum operating altitude m without derating with derating of the motor output current by.% per additional m Operating position Maximum permanent angle in relation to the normal vertical mounting position () See page to check the permitted cable lengths. pages 8 and 9 Functions: pages to pages 8 and 9 pages 8 and 9 Schemes: pages to

27 Characteristics (continued) motion control servo drives Drive characteristics Switching frequency khz 8 Control loop characteristics Torque µs. Speed µs Position µs Electrical power characteristics Power supply Voltages V - % + % single phase for LXM LDppM - % + % -phase for LXM LDppM 8 - % 8 + % -phase for LXM ppppn, LXM HCppNX Frequency Hz - % + % Inrush current A Internal limitation Neutral connection Compatible with TN and TT connection. For IT connection, an isolation transformer must be used on the power supply, see page Vc external power supply () Input voltage V 8 for LXM DM, LXM LUN used with a servo motor without brake Input current (no-load) A. for LXM DM, LXM LUN used with a servo motor without brake Ripple y % Output voltage Electrical isolation Maximum -phase voltage equal to line supply voltage Between power and control (inputs, outputs, sources) Connection characteristics (power supply, braking resistor, DC bus and motor terminals) Servo drive terminals R/L, S/L, T/L (power supply) PA/+, PC/-, PBi, PBe (external braking resistor and DC bus) U/T, V/T, W/T (motor) Maximum wire size and tightening torque of power supply, braking resistor, DC bus and motor terminals LXM Lppppp. mm (AWG ). Nm LXM MD8N. mm (AWG ).. Nm. mm (AWG ). Nm. mm (AWG ).. Nm See characteristics of VWMp Rppp cables, pages 9 and 7 See characteristics of VWMp Rppp cables, pages 9 and 77 LXM MDN, MDN. mm (AWG ).. Nm. mm (AWG ).. Nm LXM HCppNX mm (AWG ) 8 Nm mm (AWG ) 8 Nm See characteristics of VWMp Rppp, VWMp Rppp cables, pages 7 and 77 () Please consult our Interfaces, I/O splitter boxes and power supplies specialist catalogue. pages 8 and 9 Functions: pages to pages 8 and 9 pages 8 and 9 Schemes: pages to

28 Characteristics (continued) motion control servo drives Control signal characteristics Type of servo drive LXM Lppppp LXM MDppN, LXM HCppNX Protection Inputs Against reverse polarity Outputs Against short-circuits Electrical link Presence of an electrical link on the V c Relay outputs Type Relay output, N/O contact Number (RA, RC) Maximum switching capacity On resistive load (cos ϕ = ):. A for V a or V c Maximum response time ms Logic inputs Type Logic inputs conforming to standard IEC - type Number including one ENABLE input (LI, LI, LI, LI) Power supply V c Sampling period ms. in normal cycle,. in fast cycle Positive logic (Sink) State if < V or input not wired State if > V State if < 7 V or input not wired State if > V Safety inputs Type Inputs for the "Power Removal" safety function Number (PWR) (PWRI+, PWRI-) Power supply V c Response time ms. Positive logic (Sink) Logic outputs Type State if < V or input not wired State if > V Logic outputs V c positive logic (Source) Number (LO, LO) Output voltage V max. Sampling period ms. Max. breaking current ma Analog inputs Type Number Resolution ± V differential analog inputs (AI+/AI-, AI+/AI-) bits (AI+/AI-) bits (AI+/AI-) Input resistance kω Sampling period ms.. State if < 7 V or input not wired State if > V Logic outputs V c negative logic (Sink) Analog outputs Type ± V analog outputs Number (Analog Out, Analog Out ) Resolution bit Output impedance kω. Response time ms pages 8 and 9 Functions: pages to pages 8 and 9 pages 8 and 9 Schemes: pages to

29 Characteristics (continued) motion control servo drives Control signal characteristics (continued) Type of servo drive LXM Lppppp LXM MDppN, LXM HCppNX Resolver feedback Type Resolver feedback input Number ; 9-way female SUB-D connector (X) Voltages Sensor power supply.7 V a, ma max. Resolver input signals 7 V ± % Resolution bits Input resistance kω. Motor encoder feedback signals Type Encoder feedback input Number ; -way female SUB-D connector (X) Voltages Encoder power supply + V/ ma SinCos input signals V SS with. V offset. V SS at khz Pulse/direction, A/B encoder signals Type RS and RS 8 link compatible input Number ; 9-way male SUB-D connector (X) Common mode range V Input frequency Pulse/direction khz y A/B signals MHz y. Output signals for encoder emulation Type RS /8 link compatible output Number ; 9-way male SUB-D connector (X) Logic level V or V Output frequency MHz y. Connection characteristics of the control signal terminals Servo drive terminals Maximum wire size and tightening torque + VDC, VDC (power supply) LXM Lppppp. mm (AWG ) - ; spring terminal LXM MDppN. mm (AWG ).. Nm LXM HCppNX. mm (AWG ). Nm Rp, LIp, Enable, LOp, PWRp, AIp and Analog Outp (I/O). mm (AWG ) - ; spring terminal. mm (AWG ).. Nm. mm (AWG ). Nm Operational safety characteristics Machine protection LXM Lppppp Power Removal (PWR) safety function, which forces stopping and/or prevents unintended restarting of the motor, conforming to EN 9- category LXM MDppN, LXM HCppNX Power Removal (PWR) safety function, which forces stopping and/or prevents unintended restarting of the motor, conforming to EN 9- category Characteristics of the communication port CANopen protocol Structure Connector 9-way male SUB-D Network management Slave Transmission speed kbps to Mbps Address (Node ID) to 7, configurable via the terminal or the Unilink software Polarization Impedance line terminators are integrated in the servo drive and are switchable Services PDO Implicit exchange of PDO (Process Data Objects): - PDO (position control and speed profile modes) - configurable mapping PDO Emergency Yes Profile Position control and speed profile modes Communication monitoring Node guarding, heartbeat Description file EDS files supplied on the documentation CD-ROM These files contain the description of the servo drive parameters pages 8 and 9 Functions: pages to pages 8 and 9 pages 8 and 9 Schemes: pages to 7

30 References motion control LP, MP and HP servo drives 88 LP servo drives Output currents () Permanent (RMS) Transient (RMS for s) Transient (peak current) Nominal power () Line currents at U () at U () Apparent power Reference Weight A A A kw A A kva kg Single phase supply voltage: Va () / Hz, with integrated EMC filter LXM LDM. LXM LDM LXM LDM LXM LD8M. 8 Three phase supply voltage: Va () / Hz, with integrated EMC filter LXM LDM LXM LDM LXM LD8M. Three phase supply voltage: 8 8 Va () / Hz, with integrated EMC filter LXM LUN.7 LXM MD8N LXM LDN LXM LD7N.7 8 MP servo drives Output currents () Permanent (RMS) Transient (RMS for s) Transient (peak current) Nominal power () Line currents at U () at U () Apparent power Reference Weight A A A kw A A kva kg Three phase supply voltage: 8 8 Va () / Hz, with integrated EMC filter LXM MD8N LXM MDN. LXM MDN LXM MDN 7. 8 HP servo drives Output currents () Permanent (RMS) Transient (RMS for s) Transient (peak current) Nominal power () Line currents () at U () at U () Apparent power Reference Weight A A A kw A A kva kg Three phase supply voltage: 8 8 Va () / Hz, without integrated EMC filter () () 8.. LXM HCNX LXM HCNX. LXM HCNX () These values are given for a nominal switching frequency of 8 khz. () Nominal supply voltage, min. U, max. U: (U) V (U) or 8 (U) 8 V (U). () The line currents are given for a connection with line choke. For a connection without line choke, see page. () EMC filters available as an option (see page ). () When the line supply has a TT or TN load system, a line choke MUST be used (see page ). For an IT system, see page. pages 8 and 9 Functions: pages to Characteristics: pages to 7 pages 8 and 9 Schemes: pages to 8

31 References (continued) motion control LP, MP and HP servo drives Option: Accessories 7 Accessories Designation Use Reference Weight kg Backup key One key needed per servo drive Memory backup device Saves the servo drive working parameters Fast servo drive parameter setting without a PC VW M8 7 Connection accessories Connectors Designation Use Reference Weight kg Sets of replacement connectors Female screw connectors for terminals X, X, X, X8 and X9 for LXM LDppM Female screw connectors for terminals X, X, X, X8 and X9 for LXM LpppN Female screw connectors for terminals X, X, X7, X8, XA and XB for LXM MDppN Female screw connectors for terminals X, X and X for LXM HCppNX VW M VW M VW M VW M 7 Connection via extension cables Unilink software LEX PC/ servo drive connection Cables Designation Use Length Item no. Reference Weight From To m kg Extension cables. VW M8 R equipped with two 9-way female VW M8 R SUB-D connectors VW M8 R Connection cable for PC serial port equipped with two 9-way female SUB-D connectors PC serial port VW M8 R Documentation Designation Reference Weight kg Simplified installation manual and documentation CD-ROM supplied with the servo drive Note: The manuals and quick reference guides for servo drives and servo motors are available on the website: pages 8 and 9 Functions: pages to Characteristics: pages to 7 pages 8 and 9 Schemes: pages to 9

32 Presentation motion control Communication buses and networks Presentation The servo drive integrates the CANopen communication protocol as standard (). By adding one of the communication cards (available as options), the servo drive can also be connected to the following communication buses and networks: b Fipio bus b Profibus DP fieldbus b Modbus Plus network CANopen machine bus Premium () CANopen bus ATV 7 Quickfit TeSys Osicoder encoder Osicoder encoder The CANopen machine bus is a fieldbus based on CAN lower layers and components. It complies with standard ISO 898. With its standard communication profiles, the CANopen bus provides openness and interoperability with various devices (drives, motor starters, smart sensors, etc). The CANopen bus is a multi-master bus, which provides secure, deterministic access to realtime automation device data. The CSMA/CA type protocol is based on broadcast exchanges, transmitted cyclically or on event, which ensure optimum use of the bandwidth. A messaging channel is also used to set the parameters of the slave devices. The servo drive is equipped with a CANopen bus compatible interface as standard. The AM CA V adaptor provides a hardware interface which complies strictly with the CANopen standard. This adaptor (occupying the slot for the option card) also has a 9-way male SUB-D connector for connecting a PC terminal. () See characteristics page 7. () Please consult our Automation platform Modicon Premium and Unity - PL7 software specialist catalogue. Characteristics: page 7

33 Connections, references motion control Communication buses and networks 9 TSX Micro/Premium + TSX CPP Example of connection to CANopen bus CANopen machine bus connection components () Description Connection accessories CANopen PCMCIA card Type III, supplied with cable and junction box with 9-way male SUB-D connector 9-way female SUB-D connector not supplied. Provide a Ω - / W line terminator CANopen bus adaptor for Hardware interface conforming to the CANopen standard + one 9-way male SUB-D connector for connecting PC Includes line terminator Cables CANopen cables () Standard cables, CE marking Low smoke emission, halogen-free Flame retardant (IEC -) Item no. Length m Reference Weight kg. TSX CPP. AM CA V. TSX CAN CA.9 TSX CAN CA 8.8 TSX CAN CA. TSX Micro/Premium + TSX CPP CANopen cables () UL certification, CE marking Flame retardant (IEC -) TSX CAN CB.8 TSX CAN CB 7.8 TSX CAN CB.87 CANopen cables () Cable for harsh environments () or mobile installations, CE marking Low smoke emission, halogen-free Flame retardant (IEC -) TSX CAN CD. TSX CAN CD 7.77 TSX CAN CD.7 Example of connection to CANopen bus via adaptor AM CA V CANopen cables equipped with two 9-way female SUB-D connectors Standard cable, CE marking Low smoke emission, halogen-free Flame retardant (IEC -). TSX CAN CADD.9 TSX CAN CADD. TSX CAN CADD.9 TSX CAN CADD. CANopen cables equipped with two 9-way female SUB-D connectors UL certification, CE marking Flame retardant (IEC -). TSX CAN CBDD.8 TSX CAN CBDD. TSX CAN CBDD.8 TSX CAN CBDD. AM CA V () To order other components for connection to the CANopen bus, please consult our Automation platform Modicon Premium and Unity - PL7 software, Automation platform Modicon TSX Micro and PL7 software and Machines & installations with CANopen specialist catalogues. () 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 Characteristics: page 7

34 Presentation, characteristics motion control Communication buses and networks Fipio bus Presentation Premium (bus manager) STB I/O Magelis ipc Magelis XBT Fipio bus AS-Interface gateway Sealed TBX Micro (Agent) ATV 7 Premium (Agent) AS-Interface Characteristics of the AM FIP V Fipio card Structure Connector One 9-way male SUB-D connector The Fipio fieldbus is a standard means of communication between control system components, and conforms to the World FIP standard. A Premium PLC (bus manager) can control 7 devices (agents) over a distance of km. The Fipio bus manager is integrated in the PLC processor. The servo drive is connected to the Fipio bus via the AM FIP V communication card. Other devices can be connected to the Fipio bus such as TSX Micro () and Premium () PLCs, Magelis XBT terminals (), Magelis ipc industrial PCs (), Altivar variable speed drives () and partner products in the Collaborative Automation program. Transmission speed Address Mbps to, configurable via the terminal or the Unilink software Services X-Way and Uni-Te services Read/write access to all servo drive parameters: b Operating mode and fault management status data b Operating mode data b Motion Task movement data (realtime modification of the acceleration, position and speed) b External position, speed and torque setpoints b Path status data b Uploading and downloading of servo drive parameters (8 bytes of data maximum) Setup service via Unity Pro or PL7 Junior/Pro software v Integrated setup screens (presymbolization of objects, handling of double length words, debugging and diagnostics screens) v FDR (Faulty Device Replacement) service. Restoring the operating context if a drive is replaced. Diagnostics Using LEDs LEDs on the card: ERR (fault), COM (data exchange) () Please consult our Automation platform Modicon TSX Micro and PL7 software specialist catalogue. () Please consult our Automation platform Modicon Premium and Unity - PL7 software specialist catalogue. () Please consult our Human-Machine interfaces specialist catalogue. () Please consult our Soft starters and variable speed drives specialist catalogue. Note: See also our Distributed I/O Advantys STB and Momentum automation platform specialist catalogues.

35 Connections, references motion control Communication buses and networks 7 87 Premium D C D D: tap junction connection C: daisy chain connection Example of connection to the Fipio bus Fipio bus connection components with Premium PLC () Description Use Item no. Reference Weight kg Card Fipio card For, all ratings AM FIP V. Connection accessories 9-way female SUB-D connector (zamak) 9-way female SUB-D connector (polycarbonate, IP ) Junction box (polycarbonate, IP ) Equipped with two 9-way female SUB-D connectors Junction box (zamak, IP ) Equipped with one 9-way female SUB-D connector Junction box (polycarbonate, IP ) Fipio line terminators (sold in lots of ) Connection by daisy chain or tap junction, for Premium PLC Connection of a number of by daisy chain TSX FP ACC.8 Connection by daisy-chain or tap junction, TSX FP ACC. for Premium PLC Connection of a number of by daisy chain Trunk cable tap link TSX FP ACC.9 Also used to connect devices via 9-way female SUB-D connectors Trunk cable tap link Also used to connect device via a 9-way female SUB-D connector TSX FP ACC. Trunk cable tap link TSX FP ACC. Fit at the end of each segment TSX FP ACC7. Cables Description Use Item Length Reference Weight From To no. m kg Trunk cables 8 mm, shielded twisted pair Ω In standard environment () and indoors Connectors TSX FP ACC/ ACC Junction boxes TSX FP ACC/ ACC/ACC Connectors TSX FP ACC/ ACC Junction boxes TSX FP ACC/ ACC/ACC TSX FP CA.8 TSX FP CA.9 TSX FP CA. 7 AM FIP V Trunk cables Connectors 9. mm, shielded twisted TSX FP ACC/ pair Ω ACC In harsh environments (), Junction boxes outdoors, or in mobile TSX FP ACC/ installations () ACC/ACC Drop cables 8 mm, shielded twisted pairs Ω In standard environment () and indoors Connectors TSX FP ACC/ ACC Connectors TSX FP ACC/ ACC Junction boxes TSX FP ACC/ ACC/ACC Junction boxes TSX FP ACC/ ACC/ACC TSX FP CR 7.8 TSX FP CR.9 TSX FP CR. TSX FP CC.8 TSX FP CC.9 TSX FP CC. TSX FP ACC () To order other components for connection to the Fipio bus, please consult our Automation platform Modicon Premium and Unity - PL7 software and Automation platform Modicon TSX Micro and PL7 software specialist catalogues. () Standard environment: - No particular environmental restrictions - Operating temperature between + C and + C - Fixed installation () 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 () Mobile installation: cables in accordance with VDE 7 part /H: - Use on a cable-carrier mechanism (cable with minimum 7mm radius of curvature) - Use on a gantry, provided that operating conditions such as acceleration, speed, length, etc. are adhered to: Please consult your Regional Sales Office. - Use on robots or multi-axis applications not authorized

36 Presentation, characteristics motion control Communication buses and networks Modbus Plus network Presentation Quantum Premium Magelis XBT Modbus Plus network ATV 7 Characteristics of the AM MBP V Modbus Plus card Structure Connector One 9-way female SUB-D connector The Modbus Plus network is a high-performance industrial local area network which meets the needs of client/server type extended architectures, combining a high data rate ( Mbps), simple, low cost transmission media and numerous messaging services. The servo drive is connected to the Modbus Plus network via the AM MBP V communication card. Other devices can be connected to the Modbus Plus network such as Quantum () and Premium () PLCs, Magelis XBT terminals (), Altivar variable speed drives (), etc. Transmission speed Address kbps to, configurable via the terminal or the Unilink software Services Messaging Yes, Modbus; point-to-point requests with confirmation: bytes maximum, compatible with all Modbus subscribers Periodic variables Peer Cop : 9 registers Global data : 8 registers Communication monitoring Time out adjustable from. s via the Unilink software Diagnostics Using LEDs LED on the COM card (status) () Please consult our Automation platform Modicon Quantum and Unity specialist catalogue. () Please consult our Automation platform Modicon Premium and Unity - PL7 software specialist catalogue. () Please consult our Human-Machine interfaces specialist catalogue. () Please consult our Soft starters and variable speed drives specialist catalogue.

37 Connections, references motion control Communication buses and networks Modbus Plus wiring system Quantum Premium 8 Network # Network # Modbus Plus network connection components () Description Use Item no. Reference Weight kg Card Modbus Plus card For, all ratings AM MBP V. AM MBP V Connection accessories Modbus Plus tap (IP ) Modbus Plus junction box (zamak, IP ) Line terminators (Sold in lots of ) Connectors with Modbus Plus terminator (sold in lots of ) Modbus Plus electrical repeater Modbus Plus bridge with ports Connection by tap junction Provides impedance matching when it is installed at the end of the line (requires wiring tool 9 8) Connection via tap (screw terminals) Equipped with an RJ connector for connecting a programming or maintenance terminal. Installed at the end of the line, it requires 99 NAD line terminators Set of line terminators for 99 NAD junction box Set of connectors for bridge and repeater 99 NAD. 99 NAD. 99 NAD AS MBKT 8. Extension beyond m or up to NW RR8.77 subscribers Connection of networks maximum 7 NW BP8.8 Wiring tool Inserting trunk and drop cables in 99 NAD tap 9 8. Cables Description Use Item Length Reference Weight From To no. m kg Modbus Plus trunk cables Shielded twisted pair with shielding drain Drop cables One 9-way male SUB-D connector and one stripped end Modbus Plus tap Modbus Plus 99 NAD, 99 NAD tap, Modbus Plus junction connector with box 99 NAD Modbus Plus terminator AS MBKT 8, Modbus Plus junction box 99 NAD Premium and Modbus Plus Quantum PLCs, 99 NAD tap Modbus Plus bridge with ports NW BP8, servo drive 8. 9 NAA NAA 7. 9 NAA NAA 7. 9 NAA NAD.9 99 NAD.9 () To order other components for connection to the Modbus Plus network, please consult our Automation platform Modicon Premium and Unity - PL7 software and Automation platform Modicon Quantum and Unity specialist catalogues.

38 Presentation, characteristics motion control Communication buses and networks Profibus DP fieldbus Presentation Other communication network Premium Profibus DP network Repeaters ( max.) With Unity, PL7 and Sycon software ()() ATV 7 STB I/O Profibus DP is a fieldbus for industrial communication. Profibus DP has a linear bus topology with a master/slave type centralized access procedure. The physical link is a single shielded twisted pair, but optical interfaces are available for establishing star and ring tree structures. The servo drive is connected to the Profibus DP fieldbus via the VWM communication card. Other devices can be connected to the Profibus DP bus such as Premium () and Quantum () PLCs, STB I/O (), Altivar variable speed drives (), etc. Characteristics of the VW M Profibus DP card Structure Connectors Two 9-way female SUB-D connectors Transmission speed Address 9. kbps: m (8 m with repeaters) to Mbps: m ( m with repeaters) to ( servo drives max., without repeater) Services Periodic variables Type PPO: b Access to all the movement parameters and diagnostics parameters ( PKW words) b Control and status words b Access to the various Motion Task control words b External position, speed and torque setpoints Description file A single gsd file for the whole range is supplied on the documentation CD-ROM or can be downloaded from the website. This file does not contain descriptions of the servo drive parameters. () Please consult our Automation platform Modicon Premium and Unity - PL7 software specialist catalogue. () Please consult our Automation platform Modicon Quantum and Unity specialist catalogue. () Please consult our Distributed I/O Advantys STB specialist catalogue. () Please consult our Soft starters and variable speed drives specialist catalogue.

39 Connections, references motion control Communication buses and networks 7 Premium Profibus DP network connection components () Description Use Item no. Reference Weight kg Card Profibus DP card For, all ratings VW M. Connection accessories Profibus connector Line terminator connection 9 NAD 9 One 9-way male SUB-D with line terminator output at 9 Profibus connector Intermediate connection 9 NAD 9 One 9-way male SUB-D output at 9 Profibus connector One 9-way male SUB-D and one 9-way female SUB-D, output at 9 Intermediate connection with possibility of connecting a programming terminal on the 9-way female SUB-D connector 9 NAD 9 Cables Description Use Item no. Length Reference Weight From To m kg Profibus DP trunk cables Profibus DP connectors 9 NAD 9 / Profibus DP connectors 9 NAD 9 // TSX PBS CA TSX PBS CA () To order other components for connection to the Profibus DP network, please consult our Automation platform Modicon Premium and Unity - PL7 software and Automation platform Modicon Quantum and Unity specialist catalogues. VW M 8 9 NAD 9 7

40 Presentation, characteristics, references motion control Option: SERCOS card 87 Presentation SERCOS (SERiaI COmmunication System) is a communication standard which defines both an exchange protocol between a motion control module and a number of servo drives and the connection media. This standard is defined in European standard IEC/EN 9. The SERCOS architecture is totally dedicated to the synchronization requirements of complex motion control applications. The ring topology of the SERCOS network is created using optical fibers that provide a very high speed ( Mbps) and total immunity in disturbed industrial environments. This bus also allows application I/O (position encoder, emergency stop, etc.) to be connected directly to the servo drives, thus reducing connection costs. AM SER V Characteristics () Topology Industrial bus complying with standard EN 9 Ring connection of servo drives Rate Mbps by default Medium Fiber optic cable Cycle time ms depending on the number of axes, see page 7 Maximum number of segments 9 7 depending on the motion control module used, see page 7 Segment length References Premium PLC + TSX CSYpp module () servo drives TX: transmission RX: reception RX TX RX TX RX TX RX TX SERCOS network ring 8 m maximum with plastic fiber optic cable m maximum with glass fiber optic cable Card Description Use for Item no. Reference Weight kg SERCOS card, all ratings AM SER V. Cables Description Use Item no. Length Reference Weight m kg Plastic fiber optic cables fitted with SMA connectors (radius of curvature: mm min.) Connecting servo drives equipped with card AM SER V. 99 MCO MCO MCO.. 99 MCO MCO MCO MCO.9 () Motion control module, see page 8. 8

41 Presentation, characteristics, references motion control Option: I/O extension card 8 Presentation AM INE V servo drives can be adapted for applications that require the possibility of control via extended logic I/O by installing an I/O extension card. This card has logic inputs that can be used for: b Activating a motion task. The number of this task is coded on 8 bits (XA- XA-8). Each input represents one bit. b Connecting a home position referencing sensor (XA-9) b Resetting errors to zero (XA-) b Sequencing the next motion task (XA-) b Activation of manual mode (XA-) b Resumption of a previously interrupted motion task (XB-) b Launching the motion task coded on the first 8 inputs (XB-). It also has 8 logic outputs that can be used for: b Sending the In position signal (XB-) b Capturing position registers (XB-, XB- XB) b Monitoring the following error (XB-) Electrical characteristics V c external power supply () Voltage V 8 Current A Logic inputs Type Logic inputs conforming to standard IEC - type Number Power supply (XA- XA-, XB-, XB-) V c, 7 ma Sampling period ms Response time ms Logic state A State if < 7 V or input not wired State if > V Logic outputs Type V c logic outputs conforming to standard IEC - type Number 8 (XB- XB-) Output voltage V Response time ms Max. breaking current ma Connection characteristics Type of terminal Power supply Logic I/O Maximum wire size mm (AWG 7). mm (AWG ) References Description Reference Weight kg I/O extension card AM INE V.8 () Please consult our Interfaces, I/O splitter boxes and power supplies specialist catalogue. 9

42 Presentation, sizing motion control servo drives Option: Braking resistors Presentation Internal braking resistor A braking resistor is integrated in servo drives, except LXM HCppNX servo drives, 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 For LXM HCppNX servo drives or for applications requiring the servo motor to perform frequent braking operations, it may be necessary to add an external braking resistor. If an external braking resistor is used, the internal braking resistor must be deactivated. To do this, the shunt between terminals PBe and PBi must be removed and the external braking resistor connected between terminals PA/+ and PBe. Two or more external braking resistors can be connected in parallel. The servo drive monitors the power dissipated in the braking resistor. Sizing the braking resistor During braking or deceleration requested by the servo drive, the kinetic energy of the moving load must be absorbed by the servo drive. The energy generated by deceleration charges the capacitors integrated in the servo drive. When the voltage at the capacitor terminals exceeds the permitted threshold, the braking resistor (internal or external) will be activated automatically in order to dissipate this energy. In order to calculate the power to be dissipated by the braking resistor, the user needs a knowledge of the timing diagram giving the motor torques and speeds according to the time in order to identify the curve segments in which the servo drive decelerates the load. Motor cycle timing diagram These curves are those used in pages and 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. Motor speed n i n n D n D D t n M t t t t t t t7 t8 t9 t t t T cycle M M t M M Required torque M i Characteristics: pages and page page 9

43 Sizing (continued) motion control servo drives 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 (motor inertia) + Jc (load inertia). For Jm, see pages 8 to 7 and to 7. The energy E i of each 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 Edrive (without using an internal or external braking resistor) is given for each servo drive on page. In the calculation, only take account of segments D i for which the energy E i is greater than the absorption capacities given in the table opposite. This additional energy E Di must be dissipated in the resistor (internal or external): E Di = E i - Edrive (in joules). Calculation of the continuous power The continuous power Pc is calculated for each machine cycle: ΣE Di Pc = 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 internal braking resistor's continuous power 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 can no longer be braked safely. page Characteristics: pages and page page 9

44 Characteristics motion control servo drives Option: Braking resistors Characteristics Braking resistors used with LP servo drives Type of servo drive LXM LDM LDM LD8M LDM LDM LD8M Supply voltage V Number of phases Single phase Three phase Load threshold V c Energy absorption of the internal capacitors Edrive Joule (Ws) Internal resistor Resistance Ω Continuous power PPr W Peak energy EPk Joule (Ws) External resistor Minimum resistance Ω Maximum resistance () Ω Degree of protection IP. Type of servo drive LXM LUN LDN LD7N Supply voltage V Number of phases Three phase Load threshold V c Energy absorption of the internal capacitors Edrive Joule (Ws) Internal resistor Resistance Ω 9 Continuous power PPr W Peak energy EPk Joule (Ws) External resistor Minimum resistance Ω Maximum resistance () Ω Degree of protection IP Braking resistors used with MP servo drives Type of servo drive LXM MD8N MDN MDN Supply voltage V Number of phases Three phase Load threshold V c Energy absorption of the internal capacitors Edrive Joule (Ws) Internal resistor Resistance Ω Continuous power PPr W Peak energy EPk Joule (Ws),,,,,, External resistor Minimum resistance Ω 8 8 Maximum resistance () Ω Degree of protection IP Braking resistors used with HP servo drives Type of servo drive LXM HCNX HCNX Supply voltage V 8 8 Number of phases Three phase Load threshold V c Energy absorption of the internal capacitors Edrive Joule (Ws) 8 External resistor Minimum resistance Ω 7 Maximum resistance () Ω Degree of protection IP () Values given for braking at nominal motor torque (M ) page page page 9

45 Characteristics (continued), references motion control servo drives Option: Braking resistors General characteristics Type of braking resistor VW A7 Rpp 8 Rpp VW A7 7, 77 Ambient air temperature around the device Operation C + Storage C Degree of protection of the casing IP IP Thermal protection Via the servo drive () Via temperature-controlled switch () or via the servo drive () Temperature-controlled switch Activation temperature C Max. voltage - max. current V a - A Min. voltage - min. current V c -. A Maximum switch resistance mω Connection characteristics Type of terminal For servo drive For temperature-controlled switch Maximum wire size VW A7 Rpp 8 Rpp Supplied with connection cable VW A7 7, 77 Connected on a bar, M. mm (AWG ) External braking resistors VW A7 Rpp Value Continuous power PPr Peak energy EPk V V 8 V Length of connection cable Reference Weight Ω W Ws Ws Ws m kg,,, VW A7 77., VW A7 R7. VW A7 R.7 VW A7 R.,,, VW A VW A7 R7. VW A7 R.78 VW A7 R VW A7 R7.9 VW A7 R.8 VW A7 R., 7,,.7 VW A7 R7. VW A7 R.7 VW A7 R VW A7 R7. VW A7 R.7 VW A7 R.8, 8.7 VW A7 R7.9 VW A7 R.8 VW A7 R., 7,,.7 VW A7 7 R7. VW A7 7 R.7 VW A7 7 R. 7.7 VW A7 8 R7. VW A7 8 R. VW A7 8 R.7 () Thermal protection is provided by internal limitation of the servo drive braking power. () The switch should be connected in sequence (used for signalling or controlling the line contactor). page page 9

46 Presentation motion control servo drives Option: Additional EMC input filters L L L LXM LDppM LXM ppppn with integrated filter M Integrated EMC filter Function LXM LpppM and LXM ppppn servo drives have built-in radio interference input filters to meet the EMC standard for variable speed electrical power drive products IEC/EN 8-, edition, category C or C in environment or and to comply with the European directive on EMC (electromagnetic compatibility). For servo drive Maximum motor cable length conforming to EN, class A, Gr IEC/EN 8- category C m EN, class A, Gr IEC/EN 8- category C m Single phase supply voltage: V a / Hz LXM LDppM, with motor choke Three phase supply voltage: V a / Hz LXM LDppM, with motor choke Three phase supply voltage: 8 8 V a / Hz LXM LpppN, with motor choke LXM MDppN, with motor choke L L L M Additional EMC input filters Applications An additional EMC filter must be provided for LXM HCppNX servo drives. This additional input filter is used to meet the requirements of standard IEC 8-, edition, category C in environment. Additional EMC filter LXM HCppNX Use according to the type of line supply Use of these built-in or additional filters is only possible on TN (neutral connection) and TT (neutral to earth) type networks. The filters must not be used on IT (impedance or isolated neutral) type networks. For a servo drive with integrated filter (LXM LDppM, LXM ppppn), the filter must be connected to an LV/LV transformer in order to recreate, on the secondary side, a TT system (see page ). Standard IEC 8-, appendix D., states that on IT (isolated or impedance earthed neutral) type networks, 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. page 9

47 Characteristics, references motion control servo drives Option: Additional EMC input filters Characteristics of drive/additional EMC input filter mounting Filter type VW M VW M Conformity to standards UL 8 Degree of protection IP Losses W Maximum nominal voltage -phase / Hz V 8 + % Max. nominal current A 7 Application, category: EN 8-: -; IEC 8-, Ed. Category C in environment Description Use in industrial premises Connection characteristics Maximum wire size mm (AWG ) 8 References For servo drive Maximum motor cable length Reference Weight conforming to IEC/EN 8-, category C m kg Three phase supply voltage: 8 8 V a / Hz LXM HCNX VW M. LXM HCNX VW M. VW M page 9

48 Presentation, characteristics, references motion control servo drives Option: Line chokes Line chokes L L L M A line choke can be used to provide improved protection against overvoltages on the line supply and to reduce harmonic distortion of the current produced by the servo drive. The recommended chokes limit the line current. They have been developed in accordance with standards UL and EN 8-- (VDE 7). Line choke LXM HCppNX The inductance values are defined for a voltage drop between % and % of the nominal line voltage. Values higher than this will cause loss of torque. These chokes should be installed upstream of the servo drive. Applications In the context of a TT or TN supply system, it is compulsory to use a line choke with LXM HCppNX servo drives. Nota : Do not order if an isolation transformer is used with an IT system. General characteristics Type of line choke VW M VW M Conformity to standards UL, EN 8-- (VDE 7) Voltage drop Between % and % of the nominal supply voltage. Values higher than this will cause loss of torque. Degree of protection Choke IP Terminals IP Inductance value mh.. Nominal current A 7 Losses W Connection characteristics Maximum wire size VW M, mm (AWG ) 9 References For servo drives Line current without choke Line current with choke Reference Weight 8 V 8 V 8 V 8 V A A A A kg Three phase supply voltage: 8 8 V a / Hz LXM HCNX. VW M 9. LXM HCNX VW M. VW M page 9

49 Presentation, characteristics, references motion control servo drives Option: Motor chokes Motor chokes L L L Motor choke M The motor choke is used to reduce current ripple generated along the power cable. It enables the servo motor to be operated for motor cable lengths greater than m (limited to or m depending on the rating). LXM HCppNX servo drives are designed to allow the use of motor cables up to metres long without the addition of a motor choke. LXM Lppppp, MDppN m maxi d u m The motor choke is also used to: b Protect the servo drive power stage against overvoltages b Limit ripple to % of the nominal current Nota : The servo drive/motor choke connection cable MUST be less than metres long. Increasing the current absorption of the motor power circuit reduces the maximum rotation frequency, thus limiting the maximum rotation speed of the servo motor: b For a -pole servo motor, it is limited to rpm b For an 8-pole servo motor, it is limited to rpm b For a -pole servo motor, it is limited to 8 rpm In addition, the increase in the leakage current caused by the increase in the length of the cables makes it necessary to limit the output current to A. It is advisable to use servo motors with a nominal current greater than A. General characteristics Type of motor choke VW M VW M VW M VW M Degree of protection Choke IP Terminals IP Inductance value mh.9. Maximum current A. x nominal current for s Dielectric strength V Between earth and power terminals: 7 V c Losses W Connection characteristics Maximum wire size VW M mm (AWG ) VW M mm (AWG 8) References For servo drive LXM LDM, LDM LXM LpppN Length of motor cable Nominal current Reference Weight m A kg VW M. LXM LD8M VW M. LXM MD8N VW M. LXM MDN VW M. VW M LXM MDN VW M. page 9 7

50 Dimensions motion control LP, MP and HP servo drives LXM LDM LD8M, LUN LD7N servo drives c () 7 LXM c LDM LD8M LUN LD7N () With connectors LXM MD8N MDN servo drives Common side view LXM MD8N LXM MDN, MDN 7 7 () LXM a MDN MDN () With connectors LXM HCNX, HCNX servo drives 7 = = a 7 () () () With connectors () 9, with earthing part pages 8 and 9 Functions: pages to Characteristics: pages to 7 pages 8 and 9 Schemes: pages to 8

51 Dimensions (continued) motion control LP, MP and HP servo drives Options Options Braking resistors VW A7 7, 77 Mounting recommendations xø9 u 8 8 u u Braking resistors VW A7 Rpp 8Rpp Additional EMC input filters VW M, xø7 c = = xø, = b b b H b b H = c 8 c G a VW b b c c H VW a b b b c G H A7,, M A7,. M A7,, 7 7 Line chokes VW M, Motor chokes VW M b xø8 xø 7 9 H a G c H a VW a H VW a b c G H Ø M 8 M 7 9.x8 M 8 M x8 M x M x pages,, and 7 Characteristics: pages,, and 7 pages,, and 7 Schemes: pages to 9

52 Presentation motion control servo drives Advice on use in accordance with the machinery safety directive Categories relating to safety according to EN 9- The categories of standard EN 9- are used to define the necessary system performance to meet safety requirements. Categories Basic safety principle Control system requirements Behaviour in the event of a fault B Selection of components that comply with the relevant standards Control according to good engineering practice Selection of components and safety principles Use of tried and tested components and proven safety principles Selection of components and safety principles Test per cycle. The intervals between tests must be appropriate to both the machine and its application Structure of the safety circuits A single fault must not result in loss of the safety function. The fault must be detected if this is reasonably possible Possible loss of the safety function Possible loss of the safety function with a lower probability than in B Fault detected on each test Safety function ensured, except in the event of an accumulation of faults Structure of the safety circuits A single fault must not result in loss of the safety function. Safety function always assured 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. d The machine manufacturer is responsible for selecting the safety category. The category depends on the level of risk factors given in standard EN 9-. Safety level Devices required For servo drives servo drives and standard EN 9- The table below shows the safety level obtained according to the type of servo drive, with the integrated Power Removal safety function and associated equipment (Preventa monitoring module, contactor, etc) Equipment to be added Recommended wiring diagram, see page Category B All ratings Category breaking All ratings and Category breaking and All ratings breaking device per PWR function with Preventa monitoring module () and 7 monitoring Category breaking () All ratings breaking device per PWR function, breaking device per contactor and and 8 Preventa monitoring module () Category breaking and monitoring () All ratings Power Removal safety function breaking device per PWR function, breaking device per contactor and Preventa monitoring module () and 9 The Power Removal (PWR) safety function makes it easier to achieve the safety levels defined above. The Power Removal safety function integrated in LP servo drives consists of a PWR logic input, accessed on the X connector. Deactivation of this input in particular initiates locking of the power stage of the servo drive supplying the servo motor, thus depriving the servo motor of energy (). The Power Removal safety function integrated in MP and HP servo drives consists principally of an auxiliary relay that is accessed on the PWRI+ and PWRI- terminals of the X connector. When the relay coil is activated by the control system, this locks the servo drive power stage that supplies power to the servo motor, thus depriving the servo motor of energy (). The anti-start relay contact, accessed on the PWRO and PWRO terminals on the X connector, enables the application to check the locking command. The state of the relay contact is monitored constantly by the control system, to check that the system is working correctly and ensure strict compliance with the machine stop and locking procedures. This function is used primarily when the servo motor has to be kept stationary, for example when personnel need to have frequent access to protected areas in which machinery is running, for brief periods of time. Note: The use of servo drives with the integral Power Removal safety function simplifies the connection diagrams required to comply with standard EN 9-. () The category of the Preventa safety module must be u the required safety category. () Where there are breaking devices, see also the sections relating to Categories and on pages,, 8 and 9. () Vertical axis immobilization can only be obtained by installing a mechanical locking system (holding brake) on the axes.

53 Schemes motion control servo drives Recommended wiring diagrams complying with standard EN 9- Application with requirement for access to a hazardous area Presentation The recommended wiring diagrams on pages to 9 give an example of an application where access to a hazardous area needs to be protected (space inside and/or around a machine in which an operator is exposed to a hazard). These diagrams apply to LP, MP and HP servo drives with integrated Power Removal safety function. Description of the application Pressing the "Request for access to protected area" spring return pushbutton S causes the axes to slow down and stop, and also opens the access door to the protected area (activation of the latch electromagnet). Depending on the safety level, if all the safety conditions are not met: v Either the line contactor drops out v Or the access door to the area remains locked S: Request for access Door contact Reset After operator intervention, the door closes and pressing the Reset spring return pushbutton enables the axes to operate again. Selection criteria for the positions of the breaking contactors Note: A contactor can be used to break the power either upstream or downstream of the servo drive, without compromising safety. Mixed breaking, upstream and downstream, is also possible. The positions of the contactors should be selected according to how often access to the hazardous area is required. Occasional access requests Breaking via a contactor upstream of the servo drive is recommended. This type of breaking eliminates any risk of disconnection of the servo drive/servo motor assembly, which can cause overvoltages (only in the event of malfunction of the Enable control system input). Frequent access requests Breaking via a contactor downstream of the servo drive is preferable. This type of breaking allows the servo drive input power bridge to remain energized, which enhances the longevity of the servo drive rectifier-filtering stage. The recommended wiring diagrams on the following pages illustrate the most severe case corresponding to frequent access requests. Note: As a general rule, the breaking command for upstream KM contactors is instantaneous. The command for downstream KM contactors is delayed to allow the axis to come to a controlled stop (in accordance with parameter StopMode = ). Categories and The diagrams for categories and on pages,, 8 and 9 take account of the widest requirements and thus incorporate double breaking of the control circuit and the power circuit. Note: Following specific analysis of machine risks, this redundancy can be limited to the control circuit alone, and thus can be restricted to simply breaking the power circuit. pages 8 and 9 Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9

54 Schemes (continued) motion control LP servo drives Recommended wiring diagrams complying with standard EN 9- Category safety level in accordance with EN 9- Power circuit of LXM Lppppp servo drives L L L Q Q KM A -X R/L S/L T/L U/T V/T W/T V X X X + VDC + VDC VDC VDC PWR Enable X9 X X RA RC -X -X Control circuit Resolver feedback Encoder feedback K Enable control system Q: magnetic circuit breaker, see page KM: contactor, see page Control circuit of LXM Lppppp servo drives c V Emergency stop K Stop K S Door K Turn on KM K Servo drive OK -X -X -X Servo drive V KM K Latch electromagnet K Timing diagram Request for access to protected area S K servo drive anti-start PWR Latch opening authorized K Comments b Time delay T on the K relay must be long enough for the axis to come to a controlled stop. b LP servo drive parameters: v StopMode = : Axis performs a freewheel stop v StopMode = : Axis comes to a controlled stop according to the emergency deceleration ramp Latch electromagnet Door contact Line contactor KM servo drive speed reference T < ms

55 Schemes (continued) motion control LP servo drives Recommended wiring diagrams complying with standard EN 9- Category safety level in accordance with EN 9- Power circuit of LXM Lppppp servo drives L L L Q Q A -X R/L S/L T/L U/T V/T W/T V X X X + VDC + VDC VDC VDC PWR Enable X9 X X RA RC -X -X -X Control circuit Resolver feedback Encoder feedback Q: magnetic circuit breaker, see page Control circuit of LXM Lppppp servo drives c V F Request for access S Door -X -X Servo drive OK Enable control system To control system A S S S S S S Y+ Y Y7 Y8 K K7 K K K K/K K/K K XPS AV K A Y9 S S S S Y V Reset S K K Servo drive -X -X Servo drive K7 K Latch electromagnet XPS AV: Preventa safety module, please consult our Safety solutions using Preventa specialist catalogue Timing diagram Request for access to protected area S servo drive anti-start PWR K7 Latch opening authorized K Latch electromagnet Comments b Time delay Tv on the XPS AV monitoring module must be long enough for the axis to come to a controlled stop. b LP servo drive parameters: v StopMode = : Axis performs a freewheel stop v StopMode = : Axis comes to a controlled stop according to the emergency deceleration ramp Door contact Reset servo drive speed reference Tv < ms

56 Schemes (continued) motion control LP servo drives Recommended wiring diagrams complying with standard EN 9- Category safety level in accordance with EN 9- Power circuit of LXM Lppppp servo drives L L L Q Q A -X R/L S/L T/L U/T V/T W/T V X X X + VDC + VDC VDC VDC PWR Enable X9 X X RA RC -X -X -X Control circuit KM Resolver feedback Encoder feedback Q: magnetic circuit breaker, see page Control circuit of LXM Lppppp servo drives c V F Door S Enable control system A S S B S S XPS ATE K K () V V T + A PE S Y K K K K K K K K K K K K Y Y Y Y (A-A) (S) (S) (Stop) Y + Y88 Y89 Y9 Y9 K7 K K V Reset Servo drive OK -X -X XPS ATE: Preventa safety module, please consult our Safety solutions using Preventa specialist catalogue KM K K -X Servo drive -X Servo drive KM K7 K Latch electromagnet Timing diagram Request for access to protected area S Servo motor contactor KM K7 servo drive anti-start PWR Latch opening authorized K Latch electromagnet Comments b Time delay Tv on the XPS ATE monitoring module must be long enough for the axis to come to a controlled stop. b LP servo drive parameters: v StopMode = : Axis performs a freewheel stop v StopMode = : Axis comes to a controlled stop according to the emergency deceleration ramp Door contact Reset servo drive speed reference Tv < ms

57 Schemes (continued) motion control LP servo drives Recommended wiring diagrams complying with standard EN 9- Category safety level in accordance with EN 9- Power circuit of LXM Lppppp servo drives L L L Q Q A -X R/L S/L T/L U/T V/T W/T V X X X + VDC + VDC VDC VDC PWR Enable X9 X X RA RC -X -X -X Control circuit KM Resolver feedback Encoder feedback Q: magnetic circuit breaker, see page Control circuit of LXM Lppppp servo drives c V F Request for access S Door -X -X Enable control system To control system A S S S S S S Y+ Y Y7 Y8 K K7 K K K K/K K/K K XPS AV K A Y9 S S S S Y V Reset S K KM XPS AV: Preventa safety module, please consult our Safety solutions using Preventa specialist catalogue K -X Servo drive -X Servo drive KM K7 K Latch electromagnet Timing diagram Request for access to protected area S Servo motor contactor KM K7 servo drive anti-start PWR Latch opening authorized K Latch electromagnet Comments b Time delay Tv on the XPS AV monitoring module must be long enough for the axis to come to a controlled stop. b LP servo drive parameters: v StopMode = : Axis performs a freewheel stop v StopMode = : Axis comes to a controlled stop according to the emergency deceleration ramp Door contact Reset servo drive speed reference Tv < ms

58 Schemes (continued) motion control MP and HP servo drives Recommended wiring diagrams complying with standard EN 9- Category safety level in accordance with EN 9- Power circuit of LXM MDppN, LXM HCppNX servo drives L L L Q Q KM V A -X -X -X -X Control circuit U/T R/L S/L T/L V/T W/T XOA X + VDC + VDC VDC VDC PWRO PWRO PWRI X9 X X PWR+ X X RA RC Enable -X -X Resolver feedback Encoder feedback K Enable control system Q: magnetic circuit breaker, see page KM: contactor, see page Control circuit of LXM MDppN, LXM HCppNX servo drives c V Emergency stop Stop K S Door -X Turn on PWRO -X KM K K Servo drive OK -X -X -X V KM PWRI -X K Latch electromagnet K Timing diagram Request for access to protected area S Servo motor contactor KM servo drive anti-start PWRI Latch opening authorized K Latch electromagnet Comments b Time delay T on the K relay must be long enough for the axis to come to a controlled stop. b MP and HP servo drive parameters: v StopMode = : Axis performs a freewheel stop v StopMode = : Axis comes to a controlled stop according to the emergency deceleration ramp Door contact Reset servo drive speed reference T < ms

59 Schemes (continued) motion control MP and HP servo drives Recommended wiring diagrams complying with standard EN 9- Category safety level in accordance with EN 9- Power circuit of LXM MDppN, LXM HCppNX servo drives L L L Q Q A -X -X -X V -X U/T R/L S/L T/L V/T W/T XOA X + VDC + VDC VDC VDC PWRO PWRO PWRI X9 X X PWR+ X X RA RC Enable -X -X -X Resolver feedback Encoder feedback Q: magnetic circuit breaker, see page Control circuit of LXM MDppN, LXM HCppNX servo drives c V F Request for access S Door -X Servo drive -X OK Enable control system To control system PWRO -X A S S S S S S Y+ Y Y7 Y8 -X K K7 K K K K/K K/K K XPS AV K A Y9 S S S S Y V Reset S K7 K K -X Servo drive K7 PWRI -X -X K Latch electromagnet XPS AV: Preventa safety module, please consult our Safety solutions using Preventa specialist catalogue Timing diagram Request for access to protected area S K7 servo drive anti-start PWRI Latch opening authorized K Latch electromagnet Comments b Time delay Tv on the XPS AV monitoring module must be long enough for the axis to come to a controlled stop. b MP and HP servo drive parameters: v StopMode = : Axis performs a freewheel stop v StopMode = : Axis comes to a controlled stop according to the emergency deceleration ramp Door contact Reset servo drive speed reference Tv < ms 7

60 Schemes (continued) motion control MP and HP servo drives Recommended wiring diagrams complying with standard EN 9- Category safety level in accordance with EN 9- Power circuit of LXM MDppN, LXM HCppNX servo drives L L L Q Q A -X -X -X V -X Control circuit U/T R/L S/L T/L V/T W/T XOA X + VDC + VDC VDC VDC PWRO PWRO PWRI X9 X X PWR+ X X RA RC Enable -X -X -X KM Resolver feedback Encoder feedback Q: magnetic circuit breaker, see page Control circuit of LXM MDppN, LXM HCppNX servo drives c V F Door S Request for access Enable control system PWRO -X A S S B S S XPS ATE K K () V V T + A PE S Y K K K K K K K K Y Y Y Y K K K K (A-A) (S) (S) (Stop) Y + Y88 Y89 Y9 Y9 KM -X K K Reset -X Servo drive -X K OK -X -X V -X XPS ATE: Preventa safety module, please consult our Safety solutions using Preventa specialist catalogue KM K KM PWRI K Latch electromagnet Timing diagram Request for access to protected area S Contactor servo motor KM servo drive anti-start PWRI Latch opening authorized K Latch electromagnet Comments b Time delay Tv on the XPS ATE monitoring module must be long enough for the axis to come to a controlled stop. b MP and HP servo drive parameters: v StopMode = : Axis performs a freewheel stop v StopMode = : Axis comes to a controlled stop according to the emergency deceleration ramp Door contact Reset servo drive speed reference Tv < ms 8

61 Schemes (continued) motion control MP and HP servo drives Recommended wiring diagrams complying with standard EN 9- Category safety level in accordance with EN 9- Power circuit of LXM MDppN, LXM HCppNX servo drives L L L Q Q A -X -X -X V -X Control circuit U/T R/L S/L T/L V/T W/T XOA X + VDC + VDC VDC VDC PWRO PWRO PWRI X9 X X PWR+ X X RA RC Enable -X -X -X KM Resolver feedback Encoder feedback Q: magnetic circuit breaker, see page Control circuit of LXM MDppN, LXM HCppNX servo drives c V F Request for access S Door -X -X Enable control system To control system PWRO -X A S S S S S S Y+ Y Y7 Y8 -X K KM K K K K/K K/K K XPS AV K A Y9 S S S S Y V Reset S K KM K -X Servo drive KM PWRI -X -X K Latch electromagnet XPS AV: Preventa safety module, please consult our Safety solutions using Preventa specialist catalogue Timing diagram Request for access to protected area S Contactor servo motor KM servo drive anti-start PWRI Latch opening authorized K Latch electromagnet Comments b Time delay Tv on the XPS AV monitoring module must be long enough for the axis to come to a controlled stop. b MP and HP servo drive parameters: v StopMode = : Axis performs a freewheel stop v StopMode = : Axis comes to a controlled stop according to the emergency deceleration ramp Door contact Reset servo drive speed reference Tv < ms 9

62 Schemes (continued) motion control servo drives Example of connection of a set of two MP servo drives and one LP servo drive with distribution of braking energy () () L L L A Q Q Q () Va + VDC () VDC Example of servo drive connection LXM MDppN LXM MDppN LXM LpppN XOA X X7 PC/- PA/+ X8 X9 A XOB XOA A XOB X A X X X7 X8 PC/- PC/- PC/- PC/- () () PA/+ PA/+ PA/+ () X X8 X X8 PA/+ X X X X9 X9 Sensor Sensor Sensor Additional components required (for the complete references, please consult our Motor starter solutions - Control and protection components specialist catalogue). Item no. Designation A, A, A servo drives, see page 8. For different power ratings, power A u power A u power A A Phaseo power supply, please consult our Interfaces, I/O splitter boxes and power supplies specialist catalogue. Q () Circuit breaker Q GV-L circuit breaker rated at twice the nominal current of supply A Servo motor/servo drive power connection cable, see pages and 8 Servo motor/servo drive control connection cable, see pages and 8 () The same connection principle is possible for connecting HP servo drive DC buses in parallel. Please consult your Regional Sales Office. () Only servo drives that have the same supply voltage can be connected on the same DC bus. () Circuit breaker Q and the power supply cables must be of sufficient size to provide protection against overloads and short-circuits on each servo drive. Connectors X, XOA, XOB limit the line current to A rms. For line currents > A rms, use separate power supplies and protection devices for the servo drives. () On the X connector on the main servo drive (A), check that the sum of the V c power supply currents on the servo drives and the holding brakes (optional) is y A. () Connectors X7 and X8 limit the DC bus current to A. () Not connected pages 8 and 9 Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9

63 Schemes (continued) motion control servo drives Connection of servo drives to installation with IT netural system (isolated or impedance earthed neutral) L L L Q In this type of installation, a -phase LV/LV transformer must be inserted in the supply circuit for the servo drives, which thus allows a TT load system to be recreated on the secondary side. This diagram, with a secondary star transformer, thus meets the following requirements: b Protection of personnel b Adaptation of the supply voltage w v v Primary T Secondary If a HP servo drive is connected, inserting an isolation transformer eliminates the need for a line choke (VW M pp). Merlin Gerin or Square D -phase T transformer to be used The size of the transformers is defined using the following formulae: b servo drives with independent power supply (one transformer per servo drive): Pu= ( Un In K), PE R/L S/L T/L Connection of a servo drive to an installation with an IT neutral system where Pu: unit power (kva), Un: nominal input voltage (V), In: continuous current (A), K =.9: reduction factor for the servo drive, and factor.: factor taking account of the inrush and peak currents of the servo drives. b servo drives with common power supply (one transformer per n servo drives): Pm= ( ΣPu) If Pm < Pu of the largest servo drive, take Pm = Pu of the largest servo drive. Where Pm: usable power (kva), and Pu: servo drive unit power (kva). Formula not applicable for continuous operation (S mode). Selection of Merlin Gerin transformer with x V rms primary voltage servo drives with independent power supply LXM LUN LDN LD7N MD8N MDN MDN HCNX HCNX Required power Pu V rms () kva Merlin Gerin Nominal V rms () kva.. 8 -phase LV/LV T transformer to be used transformer power Reference / V rms servo drives with common power supply kva.. 8 Power required Pm Reference / V rms Selection of Square D transformer with x V rms primary voltage servo drives with independent power supply LXM LUN LDN LD7N MD8N MDN MDN HCNX HCNX Required power Pu V rms () kva Square D -phase LV/LV T transformer to be used Nominal transformer power V rms () kva 7. 7 Reference / V rms 7T HDIT servo drives with common power supply Power required Pm Reference / V rms () () 7T HDIT T HDIT T HDIT T HDIT T HDIT 7T HDIT kva T HDIT T HDIT () -phase secondary voltage () Please consult your Regional Sales Office. Note: Unit equivalent: kw =.7 HP T HDIT T HDIT 7T HDIT T HDIT pages 8 and 9 Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9

64 Combinations motion control Motor starters Protection by circuit breaker 8 79 Applications The combinations listed below can be used to create a complete motor starter unit comprising a circuit breaker, a contactor and a servo drive. The circuit breaker provides protection against accidental short-circuits, disconnection and, if necessary, isolation. The contactor turns on and manages any safety features, as well as isolating the servo motor on stopping. The servo drive controls the servo motor, provides protection against short-circuits between the servo drive and the servo motor and protects the motor cable against overloads. The overload protection is provided by the motor thermal protection of the servo drive. 88 GV L + LC D9pp + LXM LDM Motor starters for LP servo drives Servo drive Circuit breaker Contactor Reference Nominal Reference Rating Reference () () power kw A Single phase supply voltage: V a / Hz LXM LDM.9 GV L LC Kpp LXM LDM. GV L LC Kpp LXM LD8M. GV L LC Kpp Three phase supply voltage: V a / Hz LXM LDM GV L. LC Kpp LXM LDM. GV L LC D9pp LXM LD8M. GV L LC Dpp Three phase supply voltage: 8 8 V a / Hz LXM LUN. GV L. LC Kpp LXM LDN. GV L. LC Kpp LXM LD7N. GV L LC D9pp GV L + LC Dpp + LXM MDN Motor starters for MP servo drives Servo drive Circuit breaker Contactor Reference Nominal Reference Rating Reference () () power kw A Three phase supply voltage: 8 8 V a / Hz LXM MD8N.7 GV L LC Dpp LXM MDN 7.9 GV L LC D8pp LXM MDN. GV L LC Dpp Motor starters for HP servo drives Servo drive Circuit breaker Contactor Reference Nominal Reference () Rating Reference () () power kw A Three phase supply voltage: 8 8 V a / Hz LXM HCNX. NSHMA LC Dpp LXM HCNX. NSLMA LC D8pp () Composition of contactors: LC K: poles + N/O auxiliary contact LC Dpp: poles + N/O auxiliary contact + N/C auxiliary contact () Replace pp with the control circuit voltage reference given in the table below: AC control circuit Volts a 8 LC K / Hz B7 E7 F7 M7 P7 U7 Volts a 8 / / LC D Hz B E F M P U Hz B E F M U / Hz B7 E7 F7 M7 P7 U7 For other voltages between V and V, or a DC control circuit, please consult your Regional Sales Office. () NSpMA: Products sold under the Merlin Gerin brand. pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

65 Combinations (continued) motion control Motor starters Protection using fuses Protection of LP servo drives using fuses Servo drive Fuse to be fitted upstream Reference Nominal power Type Current kw A Single phase supply voltage: V a / Hz LXM LDM.9 at LXM LDM. at LXM LD8M. at Three phase supply voltage: V a / Hz LXM LDM at LXM LDM. at LXM LD8M. at Three phase supply voltage: 8 8 V a / Hz LXM LUN. at LXM LDN. at LXM LD7N. at Protection of MP servo drives using fuses Servo drive Fuse to be fitted upstream Reference Nominal power Type Current kw A Three phase supply voltage: 8 8 V a / Hz LXM MD8N.7 am LXM MDN 7.9 am LXM MDN. am Protection of HP servo drives using fuses Servo drive Fuse to be fitted upstream Reference Nominal power Type Current kw A Three phase supply voltage: 8 8 V a / Hz LXM HCNX. am LXM HCNX. am pages 8 and 9 Characteristics: pages to 7 pages 8 and 9 pages 8 and 9 Schemes: pages to

66 Mounting and installation recommendations motion control servo drives Mounting recommendations LXM LDM and LXM LUN servo drives are cooled by natural convection. The other servo drives, LXM LDM, LD8M, LXM pdppn and LXM HCppNX, have an integrated fan. When the servo drive is installed in an enclosure, the following instructions should be followed with regard to the temperature and protection index: b Provide sufficient cooling of the servo drive by complying with the minimum mounting distances b Do not mount the servo drive near heat sources b Do not mount the servo drive on flammable materials b 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 b If the servo drive is used above its thermal limits, the control stops due to overtemperature b Mount the servo drive vertically (± %). Note: Do not use insulated enclosures, as they have a poor level of conductivity. Mounting Cooling principle LXM Lppppp servo drives () () 7 7 7, () (), () LXM MDppN servo drives () () LXM HCppNX servo drives () () () () () () () 7 () 8 7 () () () Ambient air temperature: + C without derating. From + + C with derating of the motor output current by.% per additional C. () Ambient air temperature: + C without derating. From + + C with derating of the motor output current by.% per additional C. () For easier connection of the power cables, leave a free space u mm beneath the servo drive. () Cable clip or ducting () Minimum distance between the inside panel of the enclosure and the side of the servo drive. pages 8 and 9 Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9

67 Mounting and installation recommendations (continued) motion control servo drives Natural convection Forced cooling Recommendations for mounting in an enclosure To ensure good air circulation in the servo drive: b Fit ventilation grilles on the enclosure. b Ensure that ventilation is adequate: if not install a forced ventilation unit with a filter. b Any apertures and/or fans must provide a flow rate at least equal to that of the servo drive fans (see below). b Use special filters with IP protection. Servo drive Dissipated power Ventilation Flow rate W m /hour LXM LDM Natural convection LXM LDM Integrated fan LXM LD8M 9 Integrated fan LXM LUN Natural convection LXM LDN Integrated fan LXM LD7N 9 Integrated fan LXM MD8N 9 Integrated fan LXM MDN Integrated fan LXM MDN Integrated fan LXM HCNX Integrated fan LXM HCNX 7 Integrated fan 7 Sealed metal enclosure (IP degree of protection) The servo drive must be mounted in a dust and damp proof enclosure in certain environmental conditions, such as dust, corrosive gases, high humidity with risk of condensation and dripping water, splashing liquid, etc. In these cases, servo drives can be installed in an enclosure where the internal temperature must not exceed 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 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 enclosure S (m ) For an enclosure fixed to the wall, the useful heat exchange area is defined as the sum of the areas of the sides + top + front panel S k = R th k = thermal resistance per m of the enclosure For a metal enclosure: b k =. with internal fan b k =. without fan Note: Do not use insulated enclosures, as they have a poor level of conductivity. pages 8 and 9 Functions: pages to Characteristics: pages to 7 pages 8 and 9 pages 8 and 9

68 Selection guide motion control Modicon Premium motion control modules Application type Master/slave (cam profile, cut on the fly) Number of axes / axes / axes axes Frequency per axis Counting: khz with an incremental encoder Acquisition: khz with a SSI series absolute encoder or an absolute encoder with parallel outputs Counter inputs Per axis: - incremental encoder Vc, RS /RS 8 or Totem pole - SSI serial absolute encoder to bits, Vc - Parallel output absolute encoder to bits, // Vc with Advantys Telefast (ABE 7CPA) conversion sub-base Command outputs Per axis: - analog output ± V, bits + sign, servo drive reference Auxiliary I/O Per axis: - "discrete" inputs Vc (homing cam, event, recalibration, emergency stop) - input/ output for servo drive control - reflex output Vc Functions Servo control on independent linear axis Servo control on independent infinite axis Follower axis (dynamic ratio) Realtime correction of servo drive offset Servo control on independent linear or independent infinite axis Linear interpolation on or axes Realtime correction of servo drive offset Processing Positioning of a moving part on an axis following the motion control functions supplied by the Premium PLC processor Parameter setting, adjustment and debugging of axes by Unity Pro and PL7 Junior/Pro software Events User-definable activation of the event-triggered task Connections 9 and -way SUB-D type connectors for encoder input (direct or TSX TAP Spp accessories), speed reference HE connector for auxiliary inputs Advantys Telefast prewiring system (ABE 7CPA, ABE 7HR, ABE 7CPA) Specific accessories (TSX TAP MAS) Module type TSX CAY p () TSX CAY p () TSX CAY Pages 7 () TSX CAY p/p: substitute for axe module, for axe module.

69 Synchronized multiaxis 8 axes axes 8 axes SERCOS network ring: Mbps Per SERCOS digital link Per SERCOS digital link Per SERCOS digital link Independent linear or infinite axes Follower axes ( slaves) by gearing or camming Manual mode (JOG and INC) Special functions, see page 7 groups of axes with simple to 8 axes linear interpolation Path functions: groups of axes or groups of axes. With linear and circular interpolation with links via polynomial interpolation Axis parameter setting, adjustment and debugging using Unity Pro and PL7 Junior/Pro software User-definable activation of the event-triggered task By SMA type connectors for plastic (or glass) fibre optic cable TSX CSY 8 TSX CSY TSX CSY 8 8 7

70 Presentation, description motion control TSX CAY motion control modules for servo motors Presentation Premium PLC + TSX CAY module servo drive Servo motor The servo-controlled TSX CAYpp positioning axis control offer is designed for machines requiring both high performance servo motion control in conjunction with PLC sequential control. Depending on the model, the TSX CAY pp modules make it possible to: b Control independent axes (TSX CAY /) b Control up to independent axes (TSX CAY /) b Control linearly interpolated axes (TSX CAY ) They accept servo drives with ± V analog inputs including,, 7D and Twin Line TLD servo drives. TSX CAY pp modules can be inserted, like all application-specific modules, in all Premium PLC or Slot PLC Atrium slots. Description TSX CAY / On the front panel of the TSX CAY pp axis control modules there is: A -way SUB-D connector per axis for connection of an incremental or absolute encoder A 9-way SUB-D connector for all axes for connection of an analog output "speed reference" for each axis An HE to -way connector for all axes for connection: v of auxiliary servo drive control inputs v of external power supply of servo drive inputs/outputs An HE to -way connector for two axes (/ or /) for connection: v of auxiliary inputs: homing cam, emergency stop, event, recalibration, v of reflex outputs v external sensor and preactuator power supplies rigid casing that performs the functions of: v supporting electronic cards v attaching and locking the module in its slot LEDs for module diagnostics: v diagnostics at module level: - Green RUN LED: module in operation - Red ERR LED: internal fault, module out of service - red I/O LED: external fault v diagnostics at axis level: - Green CHp LED: axis diagnostics present TSX CAY / Operation Diagram of an axis Configuration + adjustment %KW.%MW Configuration parameters Servo control loop Encoder input Servo drive speed reference output SMOVE function %O, %QW %I, %IW Processing Auxiliary input/output processing Cam input (homing) Event input Recalibration input Emergency stop input Default servo drive input Servo drive validation output Reflex output Axis control modules are set up using Unity Pro or PL7 Junior/Pro software. Premium TSX P7 ppm/m and Atrium TPCX7ppM or TSX PCI 7ppM slot PLCs are required for TSX CAY // modules. Characteristics: pages 9 and 7 8 pages 7 and 7 Connections: page 7

71 Characteristics motion control TSX CAY motion control modules for servo motors Functional characteristics Module type TSX CAY / TSX CAY / TSX CAY Servo control loop Proportional to overshoot compensation and gain switching Period ms Paths Speed profile Trapezoid or parabolic Resolution Minimum. position units per point Maximum position units per point Length of axis Minimum TSX CAY :, points TSX CAY : points Maximum,, points TSX CAY :, points TSX CAY : points TSX CAY : points Speed Minimum, points/min Maximum 7, points/min Acceleration (Change from to VMAX) Minimum s Maximum ms 8 Operating modes OFF Measuring mode, disabling of the servo control loop The module operates by acquiring the position and current speed DIR DRIVE Servo control is switched off, disabling of the servo control loop The module operates only in analog output MAN Motion control by an operator: - movement by viewing - incremental movement AUTO Sequence of movements controlled by a PLC program. The movements are described by a syntax similar to ISO language. The movements can be expressed absolutely or relatively (in relation to the current position or the captured position). Possibility of "step by step" execution, suspension/resumption of movement, changes in speed FOLLOWER Axis n of the module is servo controlled: - either at the axis of the same module - or at a control profile transmitted by application program Environment Encoder coupling, servo drive present, emergency stop Movements Control of the proper execution of movements (following difference, operational window, software stops) Control Control consistency check Parameters Parameter validity check Functionalities Module type TSX CAY TSX CAY TSX CAY TSX CAY TSX CAY / axes linear interpolation Yes Limited axes Yes Infinite axes Yes Yes Following axes Static ratio Yes Yes Dynamic ratio Yes Yes Servo drive offset correction Yes Yes Cut on the fly On position or on event with infinite master axis and linearly-limited slave axis Yes () () The TSX CAY module's cut on the fly function requires Unity Pro software version u. or PL7 Junior/Pro software version u.. page 8 pages 7 and 7 Connections: page 7 9

72 Characteristics (continued) motion control TSX CAY motion control modules for servo motors Electrical characteristics Module type TSX CAY TSX CAY TSX CAY TSX CAY TSX CAY Modularity axes axes axes Maximum frequency on the counter inputs SSI absolute encoder to bits to bits to bits to bits CLK frequency transmission khz Incremental encoder x khz x khz khz in input or MHz in counting Consumption Vc ma Vc ma Current consumed by module Typical ma ( max) ( max) on the / V encoder at V ( V absolute encoder) Power dissipated inside the module Typical W 7. (. max) (7 max) Control of sensor power supplies Yes Input characteristics Type of input Counter inputs Vc (IA/IB/IZ) Logic Positive Nominal values Voltage V Current ma 8 8 Value limits Servo drive control inputs ( per axis) Auxiliary inputs (homing, event, recalibration, emergency stop) Voltage V y (possible up to V, limited hr per hr) At state Voltage V u. u (OK state) u Current ma >.7 (for U =. V) >. (for U = V) > (for U = V) At state Voltage V y. y (default state) y Current ma < (for U =. V) <. (for U = V) < (for U = V) Control of voltage/sensor feedback Presence check Input impedance for nominal U Ω 7 Type of input Resistive Current sinks Conforming to IEC Type Type -wire compatibility detector: Yes (all V detectors) -wire compatibility detector Yes (all V detectors) Output characteristics Type of output Analog outputs ( per axis) Servo drive validation ( relay output per axis) Reflex outputs ( per axis) Range V ±, Resolution bits + sign LSB value mv. Nominal voltage V c Voltage limit V 9... (possible up to V, limited hr per hr) Current ma nominal Maximum current ma. (resistive charge under (for U = or V) V) Minimum permitted load V/mA Max voltage drop ON V < Leakage current ma <. Switching time < ms < µs Compatibility with d.c. inputs All positive logic inputs for which the input resistance is < kω Conforming to IEC Yes Short-circuit and overload protection By current limiter and thermal release Channel overvoltage protection Zener diodes between the inputs and the + V Protection against reverse polarity By diode in the opposite direction to the power supply page 8 7 pages 7 and 7 Connections: page 7

73 References motion control TSX CAY motion control modules for servo motors TSX CAY p TSX CAY Motion control modules for servo motors () Type of input Characteristics Function No. of axes () Incremental encoders Vc RS, Vc Totem pole () Absolute encoders RS 8 serial or parallel () khz counter with incremental encoder khz acquisition with absolute serial encoder Servo control on independent linear axis Servo control on independent linear or independent infinite axis Following axes Servo drive realtime offset correction Cut on the fly () Connection elements Connection accessories Description Connection Type of connector on module TSX CAY pp SUB-D connectors (sold in lots of ) Reference () Weight kg TSX CAY.8 TSX CAY. TSX CAY.8 TSX CAY. Servo control on linear or infinite axis Linear interpolation on or axes Servo drive realtime offset correction TSX CAY. Item no. (7) Reference Weight kg SSI absolute/ -way SUB-D ( per axis) TSX CAP S. incremental encoder Speed references 9-way SUB-D ( per TSX CAY module) TSX CAP S9. Connection interface for incremental encoder Incremental encoder Vc RS /RS 8 -way SUB-D ( per axis) TSX TAP S. Splitter unit Speed references towards servo drives 9-way SUB-D ( per TSX CAY module) TSX TAP MAS.9 TSX CAY p Telefast connection bases Speed references 9-way SUB-D ( per TSX CAY module) ABE 7CPA. TSX TAP S Auxiliary inputs, reflex outputs, I/O power supply Vc, encoder power supplies / Vc, -way HE ( for axes) ABE 7HR. Servo drive control signals, I/O power supply Vc, -way HE ( per TSX CAY module) ABE 7HR. TSX TAP MAS ABE 7CPA Adaptor base Absolute encoders -way SUB-D ABE 7CPA. with parallel outputs ( to bit) Vc, Vc () To order other accessories please consult our Automation platform Modicon Premium and Unity - PL7 software specialist catalogue. () Double format TSX CAY // modules. () Supplied with a multilingual quick reference guide: in English and French. () Totem pole encoder with supplementary Push/Pull outputs. () Parallel output absolute encoders with ABE 7CPA adaptor interface. () Cut on the fly function available with TSX CAY module. Requires Unity Pro software version u. or PL7 Junior/Pro software version u. (7) Item no. see page 7. ABE 7HR page 8 Characteristics:: pages 9 and 7 Connections: page 7 7

74 References (continued) motion control TSX CAY motion control modules for servo motors Connection elements (continued) Cables Description Use Item no. Length Reference Weight From To () m kg Cables fitted with SUB-D connectors TSX CAYpp module, -way SUB-D connector TSX TAP S interface or ABE 7CPA adaptor base (-way SUB-D connector). TSX CCP S. TSX CCP S.. TSX CCP S. Sectors equipped with a SUB-D connector and a free end (servo drive side) Connection cables fitted with HE connectors TSX CAYpp module, 9-way SUB-D connector (speed reference) ABE 7CPA sub-base or TSX TAP MAS splitter unit (-way SUB-D connector) //7D TSX CAY pp module, or TSX TAP MAS unit servo drive speed reference, Twin Line TLD or other drives (section. mm ) TSX CAY pp module, (cast mould -way HE connector) ABE 7HR sub-base (, -way HE connector) ma max cable. TSX CXP.7 TSX CXP.8 TSX CDP.79. TSX CDP.8 TSX CDP. TSX CDP.8 TSX CDP. TSX CDP.7 TSX CDP pp Sectors equipped with an HE connector and a free end (servo drive side) Cables equipped for servo drives TSX CAY pp module, (cast mould -way HE connector) TSX CAY pp module, -way SUB-D connector (encoder input) Auxiliary inputs, reflex output, control signals, power supplies (free end) wire ma max sectors Simulated incremental encoder feedback (9-way SUB-D connector) Simulated absolute encoder feedback (9-way SUB-D connector) 7 TSX CDP. TSX CDP. 8 TSX CXP. TSX CXP.7 9 TSX CXP. TSX CXP.7 TSX CDP p () Item no. see page 7. page 8 7 Characteristics:: pages 9 and 7 Connections: page 7

75 Connections motion control TSX CAY motion control modules for servo motors Example of servo drive connection for BDH/BSH servo motor C C C C TSX CAY Telefast ABE-7HR C C C C Incremental encoder SSI absolute encoder X Simulated encoder feedback axis black blue brown X AI + AI - ACom Speed reference axis TSX TAP MAS r To other servo drives Vc power supply servo drive 7 Enable RA RC Auxiliary I/O axis servo drive Vc power supply Auxiliary I/O sensors Telefast ABE-7HR DCOM/VDC LI Auxiliary I/O Absolute/incremental encoder TSX CCP Sppp fitted cable (encoder feedback) TSX TAP S connector TSX CXP / fitted cable TSX CDP fitted sector TSX CDPpp fitted cable 7 TSX CDPp fitted sector 8 TSX CXP / fitted cable (simulated incremental encoder feedback) 9 TSX CXP / fitted cable (simulated SSI absolute encoder feedback) page 8 Characteristics:: pages 9 and 7 pages 7 and 7 7

76 Presentation motion control SERCOS TSX CSY 8/8/ motion control modules Presentation Fibre optic cables SERCOS network ring Premium PLC + TSX CSY8/8/ module servo drives (with SERCOS AM SER V option card) BDH/BSH servo motors System overview SERCOS (SERiaI COmmunication System) is a communication standard which defines the digital link (exchange protocol and medium) between a motion control module and servo drives. This is defined in European standard EN 9. The use of SERCOS distributed architecture allows application I/O (position encoder, emergency stop, etc.) to be connected directly to the servo drives, thus reducing connection costs. The fibre optic digital link permits high speed exchanges ( or Mbps) while ensuring a high level of immunity in disturbed industrial environments. The SERCOS range in the Premium automation platform consists of: b TSX CSY 8/8/ axis control modules () which can each control up to 8 servo drives (TSX CSY 8/8) and servo drives (TSX CSY ) via a SERCOS ring. The module calculates the path and the interpolation for several axes (position mode). Access to the other modes (speed and torque) is possible with the assistance of Schneider Electric application services. b. A to 7 A permanent servo drives (fitted with SERCOS option card). The servo drives manage the position loop, speed loop and torque loop, and ensure power conversion to control the servo motor. The sensor feedback information is sent to the servo drive (current position, current speed). b BDH and BSH servo motors. The motors feature permanent magnets delivering a high power-to-weight ratio, resulting in excellent dynamic speed response in a compact unit. The range offers all the accessories required (line chokes, braking resistors, etc.) as well as a full set of connectors. () The TSX CSY 8 module also supports path functions using the TjE path editor software. The system overview shows the various functions performed by the different parts of the multi-axis control system. Unity Pro, PL7 Junior/Pro UniLink Premium/Atrium PLC TSX CSY 8/8/ SERCOS module servo drive (with SERCOS option card) Application program Bus X Linear or infinite independent axes to 8-axis linear interpolation Follower axes ( slaves) by gearing or profiled cams Interpretation of commands Position loop Speed loop Current loop Power conversion BDH/BSH servo motors SERCOS ring Speed Position (to servo drive network) Characteristics: pages 7 and 77 Functions: pages 78 to 8 page 8 Connections: page 8 7

77 Description motion control SERCOS TSX CSY 8/8/ motion control modules System overview (continued) PL7 Junior/Pro or Unity Pro software via the Premium platform terminal port can be used to: b Declare SERCOS TSX CSY 8/8/ modules in the PLC configuration. b Configure the functions and define the parameters for the axes used. b Program the movements in the PLC application. b Adjust the parameters via the operating codes (parameters, TSX CSY module and servo drive with SERCOS option card). b Test and debug the application. Unilink software, via the servo drive's RS terminal port (with SERCOS option card) can be used to: b Define types of servo drive (with SERCOS option card) and BDH/BSH servo motor. b Adjust the parameters for servo drives (with SERCOS option card), back them up in the servo drive EEprom memory and save them on a compatible PC. Description TSX CSY 8/ TSX CSY The SERCOS TSX CSY 8/8/ axis control modules comprise: An SMA-type connector, marked TX, for connecting the servo drives using the SERCOS ring fibre optic transmission cable. An SMA-type connector, marked RX, for connecting the servo drives using the SERCOS ring fibre optic reception cable. Double format rigid casing, in order to: v Support electronic cards. v Attach and lock the module in its slot. Module diagnostics LEDs: v RUN LED (green): LED ON indicates module operating correctly. v SER LED (yellow): flashing LED indicates data transmission and reception on the SERCOS network. v ERR LED (red): - LED ON indicates internal module fault. - flashing LED on module start up indicates communication fault, incompatible configuration or application missing. v I/O LED (red): LED ON indicates external fault or application fault. v INI LED (yellow): flashing LED indicates module reinitializing. Channel diagnostic LEDs (green): LED ON indicates axis operating normally; OFF: configuration fault; flashing: serious error on axis: v to 8: display of 8 real axes (). v 9 to : display of imaginary axes (). v to : display of remote axes (). v 7 to : display of coordinated sets. v to : display of follower sets. A pencil point button to reinitialize the module. 7 Two mini DIN type 8-way connectors for Schneider Electric use. () to : display of axes (real, imaginary or remote) with module TSX CSY. page 7 Characteristics: pages 7 and 77 Functions: pages 78 to 8 page 8 Connections: page 8 7

78 Characteristics motion control SERCOS TSX CSY 8/8/ motion control modules Electrical characteristics Module type TSX CSY 8 TSX CSY 8 TSX CSY SERCOS network: Type Industrial support complying with standard EN 9 Topology Medium Rate Ring Fibre optic cable Mbps by default Cycle time () (independent axes) axes axes 8 axes //8 axes axes axes ms Max. number of segments 9 7 Length of segment m 8 max. with plastic fibre optic cable, max. with glass fibre optic cable Bus X Distance m max. () between TSX CSY 8/8/ axis control module and Premium processor SERCOS certification TSX CSY 8/ modules comply with SERCOS IEC/EN 9 certification and with the tests defined by IGS (SERCOS Interest Group). Certification no. Z Power consumption for Vc voltage A.8 Power dissipated in the module W 9 (typical) Operating characteristics Module type TSX CSY 8 TSX CSY 8 TSX CSY Number of channels configurable channels ( to ), channel used for SERCOS ring configuration Type of axes Real axes (connected to a servo drive) Imaginary axes (channels 9 to ) 8 (channels to 8) (channels to ) may be dynamically configured as real axes, imaginary axes or external encoders Remote axes () (channels to ) Set of axes coordinated (channels 7 to ) Each set allows simple linear interpolation of to 8 axes followers (channels to ) Each set can have up to 7 axes: master/ slaves in gearing or camming mode Cam profile Path functions 7 (channels to ). Used to create the electronic cams with linear or cubic interpolation between profile points Simple linear paths, following of auxiliary axes Linear paths: - with or polynomial links. - with circular link on axes. Circular path TjE path editor software for sets of or axes Simple linear paths, following of auxiliary axes () ms default value. Values may be programmed according to the number of axes. () Without use of the TSX REY bus X remote module. () Determine external position using an encoder connected to the servo drive position input. page 7 Functions: pages 78 to 8 page 8 Connections: page 8 7

79 Characteristics (continued) motion control SERCOS TSX CSY 8/8/ motion control modules Main functions of TSX CSY 8/8/ modules Programming Movements Homing, absolute, relative or continuous Immediate movement, or queued, to a given position Speed override possible Acceleration and deceleration parameters may be set for each axis motion control Synchronization on start or desynchronization on stop for a slave axis on a master axis in a given position Rollover counter Special functions Other special functions Stop/start functions Configuration and adjustment SERCOS ring Acceleration/deceleration Speed Other settings Set of follower axes Set of coordinated axes Cam profile State of a movement or axis Diagnostics Position capture and distance measurement between two edges on one or two logic inputs on the servo drive. This can be applied to the real or remote axis (position measurement via external sensor) Count probe: counts the edges on a logic input on the servo drive over a period of time Fast index: starts a movement on an event Registration move: position capture on an edge of the logic input on the servo drive Rotary knife: cuts using a rotary knife. Synchronizes a circular axis on a linear axis and controls a logic output on the servo drive It is possible to develop all other special functions with the assistance of our application services. Please consult our Regional Sales Offices. Fast stop, stop on configured deceleration profile Temporary stop Restart of stopped movement Choice of stop method: b on faulty slave: master is not stopped. Master stops normally according to pre-determined deceleration ramp or servo-driven master emergency stop b on faulty master: slave stops normally according to pre-determined deceleration ramp or servo-driven slave emergency stop On Emergency Stop: calculation of slave axis deceleration ramp alignment with master axis to obtain synchronized stopping of all axes in the set On Emergency Stop: axes may be allowed to "freewheel" or may be stopped according to a pre-determined ramp Bus cycle time, traffic on the bus, optical power on the fibre, SERCOS loop diagnostics Ramp values, ramp type (rectangular, triangular and trapezoid), choice of units, maximum acceleration adjustment Speed units, default speed, maximum speed, speed override Target window, rollover, software limits Following of master axis by gearing or camming (cam profile), threshold position of master triggers the following, bias value when synchronizing an axis, monitoring of master/slave positions, master offset for follower axis Type of interpolation: linear Values of an existing point of a cam profile, number of points ( max.), type of interpolation, table addresses Moving, accelerating, decelerating, homing, in position, faulty, etc. Servo drive fault, axis currently reading data, following error, overvoltage, undervoltage, overcurrent, power supply fault Availability of follower axis fault information for a given axis set Multi-axis motion path control according to a common tolerance for all axes in the motion, with alarm feature. Only available with the TSX CSY module page 7 Functions: pages 78 to 8 page 8 Connections: page 8 77

80 Functions motion control SERCOS TSX CSY 8/8/ motion control modules Functions specific to the TSX CSY 8 module Path creation using TjE editor All paths, whether simple or complex, are divided into linear or circular segments linked by interpolation laws of possible types. Each segment is characterized by: b The X and Y coordinates of the point to be reached (in the example on the left, P) or "tangented" (P, P,...P) b The movement speed, maximum or limited according to setpoint (parameter "ParF", see screens below): v The type of interpolation (parameter "ParW", see screens below) v The number of points in the linear segment (min. point) v The number of points in the cubic interpolation part of the segment v Various other parameters depending on the type of interpolation Linear interpolation This type of interpolation is used to create a rectilinear path between the preceding point P i- and point P i defining the segment. The various parameters below are used as follows: b "ParW" indicates the number of points in the linear segment. The number of points represents the number of intermediate points that the TSX CSY 8 motion control module must calculate to define the path on the segment (minimum ). b "ParW" is used to indicate that the movement of a third axis will follow the path (here, a linear segment) using the tangential mode: positioning according to a constant angle with the path (). () Available in the future version of the TjE software. Linear interpolation with polynomial interpolation connection This type of interpolation is used to create a curve between two linear segments in accordance with a interpolation in order to smooth the transitions. The path no longer passes through the defined point P i (in the example on the left, P) but follows a curve defined by the following parameters: b "ParW" indicates the number of points in the cubic interpolation part (curve) b "ParW" defines the shape coefficient of the cubic interpolation enabling the curve to move closer to or further from the defined point P i b "Iracc" and "Iracc" correspond to the initial and final connection lengths. If these lengths are too great, maximum lengths are calculated by the TSX CSY 8 motion control module as a function of the previous section for Iracc and of the following section for Iracc. Linear interpolation with polynomial interpolation connection This type of polynomial interpolation is used to define a path in the same way as that using polynomial interpolation. Nonetheless, compared to a interpolation, interpolation ensures more flexible movement. If the acceleration limit in the segment in question is reached, however, the speed on the segment can be reduced for this type of connection. Linear interpolation with circular interpolation connection This type of interpolation is used to link segments via a circular path (circle arcs or full circles). The specific parameters defining this type of path are: b "ParW" indicates the number of points in the circular interpolation part b "ParW" defines whether the arc is greater or less than 8 (defining the arc direction) b "ParF" corresponds to the length of the circular interpolation segment Circular interpolation is only possible for a movement in a plane involving only axes. page 7 Characteristics: pages 7 and 77 page 8 Connections: page 8 78

81 Functions (continued) motion control SERCOS TSX CSY 8/8/ motion control modules Functions specific to the TSX CSY 8 module (continued) Circular interpolation according to radius This type of interpolation is used to connect segments via a circular path (circle arcs) by specifying the start and end points, the circle radius and the path direction (clockwise or counter-clockwise). The specific parameters defining this type of path are: b "ParW" indicates the number of points in the circle arc b "ParW" defines the path direction (clockwise or counter-clockwise) b "ParF" corresponds to the radius of the circle arc Circular interpolation according to radius: b Is only possible for a movement in a single plane ( axes only) b Cannot be used to create paths in a full circle (to do this, use linear interpolation with connection according to circular interpolation) Circular interpolation according to centre Tangential axis interpolation This type of interpolation is also used to connect segments by a circular path (circle arcs or full circles) by specifying the start and end points, the circle centre coordinates and the path direction (clockwise or counter-clockwise). The specific parameters defining this type of path are: b "ParW" indicates the number of points in the circle arc b "ParW" defines the path direction (clockwise or counter-clockwise) b "ParF" indicates the abscissa of the centre of the circle (X) b "ParF" indicates the ordinate of the centre of the circle (Y) Full circular movement is defined as the end point being the same as the start point. Circular interpolation is only possible for a movement in a single plane ( axes only). Tangential axis interpolation applied to a third angular axis is used to enable it to follow the path defined by the first two axes according to a constant and controlled angle. Tangential mode will be fully available in a future version. This version V. of the TSX CSY 8 module, however, offers functions for creating tangential mode using the PL7 application. TjE path editor software The TjE path editor software supplied with the SERCOS TSX CSY 8 motion control module is used in offline mode to: b Create master/slave axes and axis sets for use in the paths with a maximum of sets of real axes or sets of axes. b Each slave axis requires a cam profile selected from the 7 profiles available in the TSX CSY 8 module (with a limit of, cam points for all the profiles). b Define paths by setting the parameters for each segment which are linked to the various possible interpolations described in pages 78 and 79. The TjE software validates all the parameters and calculates the paths for each set of axes. Path display The TjE software integrates different graphic tools for displaying the previously created paths and the relevant data linked to the axes (making up the paths) with their positions, speeds and accelerations. The paths can be displayed with: b A choice of curves, colours and scaling b A choice of scales and offsets b Display of segment reference points b Display of points of the master, and calculated points of cam profiles This display enables the user to validate the paths before transferring all the data thus generated to the PL7 Junior/Pro application managing the SERCOS TSX CSY 8 motion control module(s). () Maximum 8 real axes per TSX CSY 8 module. page 7 Characteristics: pages 7 and 77 page 8 Connections: page 8 79

82 Functions (continued) motion control SERCOS TSX CSY 8/8/ motion control modules Software setup of TSX CSY 8/8/ modules When setting up application-specific functions, screens specific to SERCOS motion control functions can be accessed via Unity Pro or PL7 Junior/Pro software, for configuration, adjustment, debugging and documentation of applications. These services are performed by editors which can be directly accessed from the basic screen using icons in the toolbars. Windows relating to the editors can be simultaneously displayed on one screen (example: it is possible to program using the program editor and to simultaneously define the symbols in the variables editor). Declaring the SERCOS motion control modules Parameter entry for application-specific functions is accessed via the configuration screen, by clicking on the slot occupied by the module. Module configuration Declaring the axes of the TSX CSY module Configuring the module The configuration editor provides assistance with entering and modifying the values of the various axis configuration parameters. These parameters enable the operation of the axis control module to be adapted to the machine which is to be controlled. The axes configuration parameters are: b Units of measurement b Resolution b Maximum and minimum limit positions b Maximum speed b Accelerating/decelerating This data relates to the machine and cannot be modified by the program. The configuration screen as shown here can be used to declare the axes as real, imaginary or remote measurement axes in the TSX CSY module. Adjusting the modules These parameters are associated with operation of the axes. They generally require the operations on and movements of the moving part to be known. These parameters are adjusted in online mode (they are initialized during configuration, in offline mode). They include: b Maximum speed b Resolution b Servo control parameters b Accelerating/decelerating Setting the axis parameters Debugging the modules In online mode, the debugging tool provides the user with a control panel screen, giving a quick display which can be used to control and observe the behaviour of the axis. The TSX CSY 8/8/ modules associated with the Unity Pro or PL7 Junior/Pro software provides manual mode for running continual (JOG) or incremental (INC) motion commands without prior programming. Debugging in PL7 Pro software page 7 8 Characteristics: pages 7 and 77 page 8 Connections: page 8

83 References, connections motion control SERCOS TSX CSY 8/8/ motion control modules References () TSX CSY 8/8/ multi-axis control modules have application-specific channels which are only counted they are configured in the Premium PLC application (using PL7 Junior/Pro or Unity Pro software). The maximum number of application-specific channels allowed depends on the type of processor: Type of processor or slot PLC TSX 7 p TSX 7 p PCX 7 PCI 7 TSX 7 p PCX 7 PCI 7 TSX 7 p TSX 7 p Max. number of application-specific channels 8 Motion control modules Description Functions Number of axes Reference Weight kg Multi-axis control modules SERCOS digital servo drives control 8 real axes imaginary axes remote axes TSX CSY 8. TSX CSY 8/ TSX CSY 8 Connections 8 real axes TSX CSY 8. imaginary axes remote axes TjE path creation function axes (real, imaginary or remote) TSX CSY. Fibre optic connection cables Description Connection Length Reference Weight kg Plastic fibre optic cables fitted with SMA-type connectors (curvature radius: mm min.) servo drive (with SERCOS option card) SERCOS ring with five servo drives (example). m 99 MCO..9 m 99 MCO.8. m 99 MCO.. m 99 MCO.77. m 99 MCO.8. m 99 MCO m 99 MCO.9 TX RX SERCOS network ring RX TX RX TX RX TX RX TX RX TX Servo drive Servo drive Servo drive Servo drive Servo drive TSX CSY 8/8/: multi-axis motion control module for Premium PLC. LXM pppm/n/nx: servo drives fitted with the SERCOS AM SER V option card, see page MCO pp: plastic fibre optic cables fitted with SMA-type connectors. TX Transmission RX Reception () To order other accessories please consult our "Automation platform Modicon Premium and Unity - PL7 software" specialist catalogue page 7 Characteristics: pages 7 and 77 Functions: pages 78 to 8 8

84 Presentation, functions motion control BDH servo motors 999 Presentation Thanks to the advanced technology incorporated into their design, BDH servo motors represent a compact and high-performance solution for your machines, offering one of the best torque/size ratios available on the market. 7 flange sizes and multiple winding possibilities mean that these servo motors can be sized to match the requirements of each application. This product offer covers a torque range of between.8 Nm to Nm for speeds from, to 8 rpm. BDH servo motor The BDH servo motors come in 7 flange sizes available in IEC or NEMA mounting:, 8, 7, 88, 8, 8 and 88 mm. They are fitted as standard with angled connectors, with the exception of the mm flange size which is supplied with remote straight connectors. Thermal protection is provided by a PTC probe integrated into the servo motor. They are certified as "Recognized" by the Underwriters Laboratories and conform to UL standards as well as to European directives (e marking). BDH servo motors are available with the following variants: b IP or IP 7 degree of protection b with or without holding brake b resolver, SinCos Hiperface single turn or multiturn encoder b untapped or keyed shaft end b IEC or NEMA mounting,, M Meq Torque/speed characteristics The BDH 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: b 8 (in rpm) corresponds to the servo motor's maximum mechanical speed b M max (in Nm) represents the peak stall torque value b M max (in Nm) represents the continuous stall torque value 8 navg Work zone 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 power supply voltage of V single phase, the curves used are curves and. Then: Position the work zone of the application in relation to speed Verify, using the motor cycle diagram, that the torques required by the application during the different cycle phases are located within the area bound by curve in the work zone Calculate the average speed n avg and the equivalent thermal torque M eq (see page ) The point defined by n avg and M eq must be located below curve in the work zone Note: Sizing of servo motors, see page Functions General functions BDH servo motors have been developed to meet the following requirements: b Functional characteristics, robustness, safety,... in compliance with IEC/EN - b Ambient operating temperature:... C in compliance with EN 78 climatic class K. Maximum C with derating from C of % per additional C b Relative humidity: 9% without condensation in compliance with EN 78 climatic class K b Altitude: m without derating, m with k =.9 (), m with k =.8 b Storage and transport temperature: -... C in compliance with EN 78 climatic class K b Winding insulation class: F (threshold temperature for windings C) in compliance with DIN 7 b Power and sensor connection using angled connectors (with the exception of the mm flange size supplied with remote straight connectors) b Thermal protection by built-in PTC thermistor probe, controlled by the servo drive () k: derating factor Characteristics: pages 8 to 9 8 pages to pages to 7

85 Functions (continued), description motion control BDH servo motors Functions (continued) General functions (continued) b Out-of-round, concentricity and perpendicularity between flange and shaft in accordance with DIN 9, class N b Flange compliant with standard DIN 98 b Authorized mounting positions: no mounting restriction IMB, IMV and IMV in accordance with DIN 9 b Opaque black lacquer paint RAL 9 b Degree of protection: v of the frame: IP in accordance with IEC/EN 9 v of the shaft end: IP or IP 7 in accordance with IEC/EN 9 b Integrated sensor: resolver, SinCos Hiperface high resolution single turn or multiturn encoder b Untapped or keyed shaft end in standard sizes (according to DIN 78) Holding brake (depending on model) The integrated brake fitted to the BDH servo motors (depending on the model) is a failsafe electro-magnetic holding brake. d Do not use the holding brake as a dynamic brake for deceleration, as this will rapidly damage the brake. Built-in position sensor The servo drive is fitted, depending on the model, with a position sensor which can be: b A -pole resolver providing angular precision of the shaft position, accurate to less than ± arc minutes. b A SinCos Hiperface high resolution single turn (9 points) or multiturn (9 points x 9 turns) absolute encoder providing angular precision of the shaft position, accurate to less than ±. arc minutes. These sensors perform the following functions: b Give the angular position of the rotor in such a way that flows can be synchronized b Measure the motor speed via the associated servo drive. This information is used by the speed controller of the servo drive b Measure the position information for the servo drive position controller, if necessary b Measure and transmit position information in incremental or absolute format for the position return of a motion control module (Encoder emulation output of the servo drive). Description BDH servo drives with a -phase stator and a - to -pole rotor (depending on model) with Neodymium Iron Borium (NdFeB) magnets consist of: An axial flange with fixing points in accordance with standard DIN 98 Standard shaft end according to DIN 78, untapped or keyed (depending on the model) An angled dust and damp-proof male screw connector for connecting the power cable (with the exception of the mm flange size supplied with remote straight connectors) An angled dust and damp-proof male screw connector for connecting the control (sensor) cable (with the exception of the mm flange size supplied with remote straight connectors) Connecting cables must be ordered separately, see pages and. Schneider Electric has taken particular care to ensure compatibility between BDH servo motors and servo drives. This compatibility can only be assured by using cables and connectors sold by Schneider Electric (see pages and ). Characteristics: pages 8 to 9 pages to pages to 7 8

86 Characteristics motion control BDH servo motors Characteristics of BDH B/C servo motors Type of servo motor BDH B BDH C Associated with servo drive LXM LDM LXM LDM Line supply voltage V single phase -phase single phase -phase Torque Continuous stall M Nm.8. Peak stall M max Nm.9.8 Nominal operating point Nominal torque Nm.7.8 Nominal speed rpm 8 Maximum current A rms.8. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.. Back emf V rms /krpm.. Rotor Number of poles Inertia Without J m kgcm.7. brake With brake J m kgcm Stator (at C) Resistance (phase/phase) Ω., Inductance (phase/phase) mh, 9. Electrical time constant ms..7 Holding brake (according to model) See page 8 Torque/speed curves BDH B servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase,7,7,,,,, M,, M, 8 8 BDH C servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase,,,8,8,,, M,, M, Peak torque Continuous torque 8 8 pages 8 and 8 8 pages to pages to 7

87 Characteristics (continued) motion control BDH servo motors Characteristics of BDH C servo motors Type of servo motor BDH C Associated with servo drive LXM LDM Line supply voltage V single phase -phase Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm. Nominal speed rpm 8 Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.8 Back emf V rms /krpm 7.9 Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms.7 Holding brake (according to model) See page 8 Torque/speed curves BDH C servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase,,,,8, M,,,,,8, M, 8 8 Peak torque Continuous torque pages 8 and 8 pages to pages to 7 8

88 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8C/8E servo motors Type of servo motor BDH 8C BDH 8E Associated with servo drive LXM LUN LXM LDM Line supply voltage V -phase -phase 8 -phase single phase -phase Torque Continuous stall M Nm.8.87 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 8 Constants (at C) Torque Nm/A rms.. Back emf V rms /krpm 9. Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm.7 Stator (at C) Resistance (phase/phase) Ω 9..9 Inductance (phase/phase) mh. 9.7 Electrical time constant ms.8.9 Holding brake (according to model) See page 8 Torque/speed curves BDH 8C servo motor With LXM LUN servo drive V -phase With LXM LUN servo drive /8 V -phase,,,,.. M, M./., 8 8 BDH 8E servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase,, M M,, 8 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 pages 8 and 8 pages to pages to 7 8

89 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8C servo motors Type of servo motor BDH 8C Associated with servo drive LXM LUN Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm.87.8 Nominal speed rpm 88 Maximum current A rms.9 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.8 Back emf V rms /krpm.8 Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh.7 Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 8C servo motor With LXM LUN servo drive V -phase,,, M, 8 With LXM LUN servo drive /8 V -phase,,.., M.,. 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 pages 8 and 8 pages to pages to 7 87

90 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8D servo motors Type of servo motor BDH 8D Associated with servo drive LXM LDM LXM LDN Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm.8 Nominal operating point Nominal torque Nm....9 Nominal speed rpm Maximum current A rms. 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 Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω 8. Inductance (phase/phase) mh 7. Electrical time constant ms.7 Holding brake (according to model) See page 8 Torque/speed curves BDH 8D servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase,,, M, M,, 8 8 With LXM LDN servo drive V -phase With LXM LDN servo drive /8 V -phase,, M,, M./...,, 8 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 pages 8 and 8 pages to pages to 7 88

91 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8F/8C servo motors Type of servo motor BDH 8F BDH 8C Associated with servo drive LXM LDM LXM LUN Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm Peak stall M max Nm...9 Nominal operating point Nominal torque Nm Nominal speed rpm 8 8 Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.7.97 Back emf V rms /krpm 7.. Rotor Number of poles Inertia Without J m kgcm..7 brake With brake J m kgcm..8 Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh.8.8 Electrical time constant ms.. Holding brake (according to model) See page 8 Torque/speed curves BDH 8F servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase,, M,,, M, 8 8 BDH 8C servo motor With LXM LUN servo drive V -phase With LXM LUN servo drive /8 V -phase,,, M, 8 Peak torque Continuous torque,,,.. M,.. 8. Peak torque at V, -phase. Continuous torque at V, -phase. Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 8 pages to pages to 7 89

92 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8D servo motors Type of servo motor BDH 8D Associated with servo drive LXM LDM LXM LDN Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm.8.9 Nominal speed rpm 8 Maximum current A rms. 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 Inertia Without J m kgcm.7 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω 8. Inductance (phase/phase) mh 8.7 Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 8D servo motor With LXM LDM servo drive V single phase,, M, 8 With LXM LDM servo drive V -phase,, M, 8 With LXM LDN servo drive V -phase With LXM LDN servo drive /8 V -phase,, M, 8,,.. M./., 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 pages 8 and 8 9 pages to pages to 7

93 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8F servo motors Type of servo motor BDH 8F Associated with servo drive LXM LDM Line supply voltage V single phase -phase Torque Continuous stall M Nm. Peak stall M max Nm.7. Nominal operating point Nominal torque Nm.. Nominal speed rpm Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm. Rotor Number of poles Inertia Without J m kgcm.7 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.77 Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 8F servo motor With LXM LDM servo drive V single phase, M, 8 With LXM LDM servo drive V -phase,, M, 8 Peak torque Continuous torque pages 8 and 8 pages to pages to 7 9

94 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 7C/7E servo motors Type of servo motor BDH 7C BDH 7E Associated with servo drive LXM LUN LXM LDM Line supply voltage V -phase -phase 8 -phase single phase -phase Torque Continuous stall M Nm.. Peak stall M max Nm.. Nominal operating point Nominal torque Nm.9.. Nominal speed rpm 8 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.8. Back emf V rms /krpm.. Rotor Number of poles 8 Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω..8 Inductance (phase/phase) mh Electrical time constant ms.7.88 Holding brake (according to model) See page 8 Torque/speed curves BDH 7C servo motor With LXM LUN servo drive V -phase With LXM LUN servo drive /8 V -phase,,,,.., M,, M,.. 8 BDH 7E servo motor With LXM LDM servo drive V single phase 8 With LXM LDM servo drive V -phase,,,,, M, M,, 8 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 pages 8 and 8 pages to pages to 7 9

95 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 7C servo motors Type of servo motor BDH 7C Associated with servo drive LXM LUN Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm Peak stall M max Nm.7 Nominal operating point Nominal torque Nm.8.7. Nominal speed rpm 8 8 Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm 89.8 Rotor Number of poles 8 Inertia Without J m kgcm.9 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 7C servo motor With LXM LUN servo drive V -phase With LXM LUN 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 pages 8 and 8 pages to pages to 7 9

96 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 7D servo motors Type of servo motor BDH 7D Associated with servo drive LXM LDM LXM LDN Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm.8.. Nominal speed rpm 8 Maximum current A rms.9 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.9 Back emf V rms /krpm 9 Rotor Number of poles 8 Inertia Without J m kgcm.9 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω 9.7 Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 7D servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase 7 7 M M 8 8 With LXM LDN servo drive V -phase With LXM LDN servo drive /8 V -phase 7 M M.. 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 pages 8 and 8 pages to pages to 7 9

97 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 7H servo motors Type of servo motor BDH 7H Associated with servo drive LXM LDM Line supply voltage V single phase -phase 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 8 Constants (at C) Torque Nm/A rms.9 Back emf V rms /krpm.8 Rotor Number of poles 8 Inertia Without J m kgcm.9 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 7H servo motor With LXM LDM servo drive V single phase. M. 8 With LXM LDM servo drive V -phase M 8 Peak torque Continuous torque pages 8 and 8 pages to pages to 7 9

98 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 7C servo motors Type of servo motor BDH 7C Associated with servo drive LXM LUN Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm.7 Peak stall M max Nm 7.8 Nominal operating point Nominal torque Nm... Nominal speed rpm 88 8 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 Rotor Number of poles 8 Inertia Without J m kgcm.8 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 7C servo motor With LXM LUN servo drive V -phase 9 7 M 8 With LXM LUN servo drive /8 V -phase M.. 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 pages 8 and 8 9 pages to pages to 7

99 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 7E servo motors Type of servo motor BDH 7E Associated with servo drive LXM LDM LXM LDN Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm.79 Peak stall M max Nm 8. Nominal operating point Nominal torque Nm... Nominal speed rpm 9 8 Maximum current A rms 7.8 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm 7. Rotor Number of poles 8 Inertia Without J m kgcm.8 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω 8. Inductance (phase/phase) mh 8. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 7E servo motor With LXM LDM servo drive V single phase M 8 With LXM LDM servo drive V -phase M 8 With LXM LDN servo drive V -phase With LXM LDN servo drive /8 V -phase M M.. 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 pages 8 and 8 pages to pages to 7 97

100 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 7H servo motors Type of servo motor BDH 7H Associated with servo drive LXM LDM Line supply voltage V single phase -phase Torque Continuous stall M Nm.8.88 Peak stall M max Nm. 7. Nominal operating point Nominal torque Nm.8. Nominal speed rpm 9 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. Rotor Number of poles 8 Inertia Without J m kgcm.8 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.8 Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 7H servo motor With LXM LDM servo drive V single phase,, M,, 8 With LXM LDM servo drive V -phase 8 M 8 Peak torque Continuous torque pages 8 and 8 98 pages to pages to 7

101 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8C servo motors Type of servo motor BDH 8C Associated with servo drive LXM LUN Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm.9 Peak stall M max Nm. Nominal operating point Nominal torque Nm Nominal speed rpm 8 8 Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms. Back emf V rms /krpm 8. Rotor Number of poles Inertia Without J m kgcm.8 brake With brake J m kgcm.878 Stator (at C) Resistance (phase/phase) Ω.7 Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves Characteristics of BDH 8C servo motors With LXM LUN servo drive V -phase With LXM LUN 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 pages 8 and 8 pages to pages to 7 99

102 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8E servo motors Type of servo motor BDH 8E Associated with servo drive LXM LDM LXM LDN Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm.. Nominal operating point Nominal torque Nm.8.7. Nominal speed rpm Maximum current A rms 8. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.7 Back emf V rms /krpm. Rotor Number of poles Inertia Without J m kgcm.8 brake With brake J m kgcm.878 Stator (at C) Resistance (phase/phase) Ω.7 Inductance (phase/phase) mh 8. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 8E servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase M M With LXM LDN servo drive V -phase With LXM LDN 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 pages 8 and 8 pages to pages to 7

103 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8H/8C servo motors Type of servo motor BDH 8H BDH 8C Associated with servo drive LXM LDM LXM LUN Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm... Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 8 Maximum current A rms.8.97 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.7. Back emf V rms /krpm.7 Rotor Number of poles Inertia Without J m kgcm.8. brake With brake J m kgcm Stator (at C) Resistance (phase/phase) Ω. 7. Inductance (phase/phase) mh 97. Electrical time constant ms.. Holding brake (according to model) See page 8 Torque/speed curves BDH 8H servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase,, M, M BDH 8C servo motor With LXM LUN servo drive V -phase With LXM LUN 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 pages 8 and 8 pages to pages to 7

104 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8E servo motors Type of servo motor BDH 8E Associated with servo drive LXM LDM LXM LDN Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point Nominal torque Nm..9.8 Nominal speed rpm 8 8 Maximum current A rms 7.78 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms. Back emf V rms /krpm 8.9 Rotor Number of poles 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.7 Holding brake (according to model) See page 8 Torque/speed curves BDH 8E servo motor With LXM LDM servo drive V single phase 8 With LXM LDM servo drive V -phase 8 M M With LXM LDN servo drive V -phase With LXM LDN 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 pages 8 and 8 pages to pages to 7

105 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8G servo motors Type of servo motor BDH 8G Associated with servo drive LXM LDM LXM LD7N Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm.9. Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms.8 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.7 Back emf V rms /krpm 7. Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.8 Inductance (phase/phase) mh 9. Electrical time constant ms.87 Holding brake (according to model) See page 8 Torque/speed curves BDH 8G servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase 7 M 8 M With LXM LD7N servo drive V -phase With LXM LD7N servo drive /8 V -phase 8 7 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 pages 8 and 8 pages to pages to 7

106 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8J/8E servo motors Type of servo motor BDH 8J BDH 8E Associated with servo drive LXM LD8M LXM MD8N LXM LDN Line supply voltage V -phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm..7 Peak stall M max Nm 7..7 Nominal operating point Nominal torque Nm...8 Nominal speed rpm 7 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms..7 Back emf V rms /krpm 7. Rotor Number of poles Inertia Without J m kgcm.. brake With brake J m kgcm.8.8 Stator (at C) Resistance (phase/phase) Ω.8 8. Inductance (phase/phase) mh.. Electrical time constant ms.88. Holding brake (according to model) See page 8 Torque/speed curves BDH 8J servo motor With LXM LD8M servo drive V -phase With LXM MD8N servo drive V -phase 8 7 M 8 7 M BDH 8E servo motor With LXM LDN servo drive V -phase With LXM LDN 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 pages 8 and 8 pages to pages to 7

107 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8G servo motors Type of servo motor BDH 8G Associated with servo drive LXM LDM LXM LD7N Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm.9.8 Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 8 98 Maximum current A rms.79 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.99 Back emf V rms /krpm.9 Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh.8 Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 8G servo motor With LXM LDM servo drive V single phase 8 7 M With LXM LDM servo drive V -phase 8 M With LXM LD7N servo drive V -phase With LXM LD7N servo drive /8 V -phase 8 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 pages 8 and 8 pages to pages to 7

108 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8K/8E servo motors Type of servo motor BDH 8K BDH 8E Associated with servo drive LXM LD8M LXM MD8N LXM LDN Line supply voltage V -phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm.9.7 Peak stall M max Nm 9.. Nominal operating point Nominal torque Nm..8. Nominal speed rpm 9 9 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..7 brake With brake J m kgcm.8.78 Stator (at C) Resistance (phase/phase) Ω Inductance (phase/phase) mh.9.9 Electrical time constant ms.. Holding brake (according to model) See page 8 Torque/speed curves BDH 8K servo motor With LXM LD8M servo drive V -phase 8 7 M With LXM MD8N servo drive V -phase 8 7 M BDH 8E servo motor With LXM LDN servo drive V -phase With LXM LDN servo drive /8 V -phase 8 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 pages 8 and 8 pages to pages to 7

109 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8G servo motors Type of servo motor BDH 8G Associated with servo drive LXM LDM LXM LD7N Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm.7.88 Peak stall M max Nm...97 Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.9 Back emf V rms /krpm 7. Rotor Number of poles Inertia Without J m kgcm.7 brake With brake J m kgcm.78 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 8G servo motor With LXM LDM servo drive V single phase 8 M With LXM LDM servo drive V -phase 8 8 M With LXM LD7N servo drive V -phase With LXM LD7N servo drive /8 V -phase 8 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 pages 8 and 8 pages to pages to 7 7

110 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8J servo motors Type of servo motor BDH 8J Associated with servo drive LXM LD8M LXM MD8N Line supply voltage V -phase -phase Torque Continuous stall M Nm Peak stall M max Nm.8 Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms.89 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.9 Back emf V rms /krpm. Rotor Number of poles Inertia Without J m kgcm.7 brake With brake J m kgcm.78 Stator (at C) Resistance (phase/phase) Ω.88 Inductance (phase/phase) mh.8 Electrical time constant ms. Holding brake (according to model) See page 8 Speed/torque curves BDH 8J servo motor With LXM LD8M servo drive V -phase 8 M With LXM MD8N servo drive V -phase 8 M Peak torque Continuous torque pages 8 and 8 8 pages to pages to 7

111 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8E servo motors Type of servo motor BDH 8E Associated with servo drive LXM LDN Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm.7 Peak stall M max Nm.7 Nominal operating point Nominal torque Nm..8 Nominal speed rpm 88 Maximum current A rms.8 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.7 Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm.7 Stator (at C) Resistance (phase/phase) Ω 8.7 Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 8E servo motor With LXM LDN servo drive V -phase With LXM LDN servo drive /8 V -phase 8 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 pages 8 and 8 pages to pages to 7 9

112 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8G servo motors Type of servo motor BDH 8G Associated with servo drive LXM LDM LXM LD7N Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm.9.7 Peak stall M max Nm 9..8 Nominal operating point Nominal torque Nm Nominal speed rpm 8 Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.99 Back emf V rms /krpm. Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm.7 Stator (at C) Resistance (phase/phase) Ω.7 Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 8G servo motor With LXM LDM servo drive V single phase 8 7 M With LXM LDM servo drive V -phase 8 M With LXM LD7N servo drive V -phase With LXM LD7N servo drive /8 V -phase. 8 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 pages 8 and 8 pages to pages to 7

113 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8K/8E servo motors Type of servo motor BDH 8K BDH 8E Associated with servo drive LXM LD8M LXM MD8N LXM LDN Line supply voltage V -phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm.9 8. 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 Constants (at C) Torque Nm/A rms..79 Back emf V rms /krpm. 79 Rotor Number of poles Inertia Without J m kgcm.. brake With brake J m kgcm.7.7 Stator (at C) Resistance (phase/phase) Ω Inductance (phase/phase) mh..7 Electrical time constant ms.. Holding brake (according to model) See page 8 Torque/speed curves BDH 8K servo motor With LXM LD8M servo drive V -phase 8 7 M With LXM MD8N servo drive V -phase 8 7 M BDH 8E servo motor With LXM LDN servo drive V -phase With LXM LDN 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 pages 8 and 8 pages to pages to 7

114 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8G servo motors Type of servo motor BDH 8G Associated with servo drive LXM LDM LXM LD7N Line supply voltage V single phase -phase -phase -phase 8 -phase 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 Constants (at C) Torque Nm/A rms.79 Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm.7 Stator (at C) Resistance (phase/phase) Ω.7 Inductance (phase/phase) mh 8. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BDH 8G servo motor With LXM LDM servo drive V single phase. 8. M With LXM LDM servo drive V -phase M With LXM LD7N servo drive V -phase With LXM LD7N 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 pages 8 and 8 pages to pages to 7

115 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8K/8M/8G servo motors Type of servo motor BDH 8K BDH 8M BDH 8G Associated with servo drive LXM LD8M LXM MD8N LXM MDN LXM LD7N Line supply voltage V -phase -phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm 8.. 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 Constants (at C) Torque Nm/A rms.9..9 Back emf V rms /krpm.. Rotor Number of poles Inertia Without J m kgcm. 9.7 brake With brake J m kgcm.7 Stator (at C) Resistance (phase/phase) Ω Inductance (phase/phase) mh.. Electrical time constant ms.8..8 Holding brake (according to model) See page 8 Torque/speed curves BDH 8K servo motor With LXM LD8M servo drive V -phase 8 M 8 With LXM MD8N servo drive V -phase 8 M 8 BDH 8M servo motor With LXM MDN servo drive V -phase 8 M 8 BDH 8G servo motor With LXM LD7N servo drive V -phase With LXM LD7N 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 pages 8 and 8 pages to pages to 7

116 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8K/8M/8P servo motors Type of servo motor BDH 8K BDH 8M BDH 8P Associated with servo drive LXM LD8M LXM MD8N LXM MDN LXM MDN Line supply voltage V -phase -phase -phase -phase Torque Continuous stall M Nm.. Peak stall M max Nm.9.. Nominal operating point Nominal torque Nm Nominal speed rpm 8 7 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms..8. Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm 9. brake With brake J m kgcm 9.7 Stator (at C) Resistance (phase/phase) Ω..7 Inductance (phase/phase) mh.7.7. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 8K servo motor With LXM LD8M servo drive V -phase With LXM MD8N servo drive V -phase M M BDH 8M servo motor With LXM MDN servo drive V -phase BDH 8P servo motor With LXM MDN servo drive V -phase M M Peak torque Continuous torque pages 8 and 8 pages to pages to 7

117 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8G/8K servo motors Type of servo motor BDH 8G BDH 8K Associated with servo drive LXM LD7N LXM LD8M LXM MD8N Line supply voltage V -phase -phase 8 -phase -phase -phase Torque Continuous stall M Nm.. Peak stall M max Nm.7 8. Nominal operating point Nominal torque Nm..7.. Nominal speed rpm Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.88. Back emf V rms /krpm 8 9. Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm.7 Stator (at C) Resistance (phase/phase) Ω.8. Inductance (phase/phase) mh.9. Electrical time constant ms..8 Holding brake (according to model) See page 8 Torque/speed curves BDH 8G servo motor With LXM LD7N servo drive V -phase With LXM LD7N servo drive /8 V -phase M M.... BDH 8K servo motor With LXM LD8M servo drive V -phase With LXM MD8N servo drive 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 pages 8 and 8 pages to pages to 7

118 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8L/8N servo motors Type of servo motor BDH 8L BDH 8N Associated with servo drive LXM MDN LXM MDN Line supply voltage V -phase -phase -phase Torque Continuous stall M Nm. Peak stall M max Nm 7.8. Nominal operating point Nominal torque Nm Nominal speed rpm 78 Maximum current A rms 7.7. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.8. Back emf V rms /krpm. 7.9 Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm.7 Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh.8. Electrical time constant ms.. Holding brake (according to model) See page 8 Torque/speed curves BDH 8L servo motor With LXM MDN servo drive V -phase With LXM MDN servo drive V -phase M M BDH 8N servo motor With LXM MDN servo drive V -phase M Peak torque Continuous torque pages 8 and 8 pages to pages to 7

119 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8G/8K servo motors Type of servo motor BDH 8G BDH 8K Associated with servo drive LXM LD7N LXM LD8M LXM MD8N Line supply voltage V -phase -phase 8 -phase -phase -phase Torque Continuous stall M Nm.9. Peak stall M max Nm..7 Nominal operating point Nominal torque Nm... Nominal speed rpm Maximum current A rms..9 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.7.8 Back emf V rms /krpm 9 8. Rotor Number of poles Inertia Without J m kgcm 7 brake With brake J m kgcm 7. Stator (at C) Resistance (phase/phase) Ω.9. Inductance (phase/phase) mh.7 8. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 8G servo motor With LXM LD7N servo drive V -phase With LXM LD7N servo drive /8 V -phase.. M M.. BDH 8K servo motor With LXM LD8M servo drive V -phase With LXM MD8N servo drive 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 pages 8 and 8 pages to pages to 7 7

120 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8M/8P servo motors Type of servo motor BDH 8M BDH 8P Associated with servo drive LXM MDN LXM MDN Line supply voltage V -phase -phase 8 -phase -phase Torque Continuous stall M Nm.. Peak stall M max Nm.8. Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.9. Back emf V rms /krpm 8.8. Rotor Number of poles Inertia Without J m kgcm 7 brake With brake J m kgcm 7. Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh.. Electrical time constant ms 8 7. Holding brake (according to model) See page 8 Torque/speed curves BDH 8M servo motor With LXM MDN servo drive V -phase With LXM MDN servo drive /8 V -phase. M M./.. BDH 8P servo motor With LXM MDN servo drive V -phase 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 pages 8 and 8 8 pages to pages to 7

121 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8G/8K servo motors Type of servo motor BDH 8G BDH 8K Associated with servo drive LXM LD7N LXM LD8M LXM MD8N Line supply voltage V -phase -phase 8 -phase -phase -phase Torque Continuous stall M Nm..8 Peak stall M max Nm 8. Nominal operating point Nominal torque Nm.7..8 Nominal speed rpm Maximum current A rms 9.8 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.7.7 Back emf V rms /krpm 8 Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω..9 Inductance (phase/phase) mh. 9. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 8G servo motor With LXM LD7N servo drive V -phase M With LXM LD7N servo drive /8 V -phase M.... BDH 8K servo motor With LXM LD8M servo drive V -phase With LXM MD8N servo drive 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 pages 8 and 8 pages to pages to 7 9

122 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8M/8N servo motors Type of servo motor BDH 8M BDH 8N Associated with servo drive LXM MDN LXM MDN Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm 7 Peak stall M max Nm..8 Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms..98 Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.8.8 Inductance (phase/phase) mh.9. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 8M servo motor With LXM MDN servo drive V -phase With LXM MDN servo drive /8 V -phase M M.... BDH 8N servo motor With LXM MDN servo drive V -phase With LXM MDN 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 pages 8 and 8 pages to pages to 7

123 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8K/8L servo motors Type of servo motor BDH 8K BDH 8L Associated with servo drive LXM MD8N LXM MDN Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm.8 Peak stall M max Nm..9 Nominal operating point Nominal torque Nm Nominal speed rpm 8 8 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.8. Back emf V rms /krpm 7 7 Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω..7 Inductance (phase/phase) mh.8. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 8K servo motor With LXM MD8N servo drive V -phase M With LXM MD8N servo drive /8 V -phase M.... BDH 8L servo motor With LXM MDN servo drive V -phase With LXM MDN 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 pages 8 and 8 pages to pages to 7

124 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8P/8K servo motors Type of servo motor BDH 8P BDH 8K Associated with servo drive LXM MDN LXM MD8N Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm..8 Peak stall M max Nm..8 Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms /krpm 7 Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm.. Stator (at C) Resistance (phase/phase) Ω..7 Inductance (phase/phase) mh.8. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 8P servo motor With LXM MDN servo drive V -phase M With LXM MDN servo drive /8 V -phase.. M.. BDH 8K servo motor With LXM MD8N servo drive V -phase With LXM MD8N 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 pages 8 and 8 pages to pages to 7

125 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 8M/8N servo motors Type of servo motor BDH 8M BDH 8N Associated with servo drive LXM MDN LXM MDN Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm 7.. Nominal operating point Nominal torque Nm Nominal speed rpm 8 98 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.8.8 Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.8. Inductance (phase/phase) mh.. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 8M servo motor With LXM MDN servo drive V -phase M With LXM MDN servo drive /8 V -phase M.... BDH 8N servo motor With LXM MDN servo drive V -phase With LXM MDN 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 pages 8 and 8 pages to pages to 7

126 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 88K/88M servo motors Type of servo motor BDH 88K BDH 88M Associated with servo drive LXM MD8N LXM MDN Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm 9.7 Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 7 8 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms /krpm 8 Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh.7.8 Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 88K servo motor With LXM MD8N servo drive V -phase With LXM MD8N servo drive /8 V -phase 7 M 7 M.... BDH 88M servo motor With LXM MDN servo drive V -phase With LXM MDN servo drive /8 V -phase 7 M 7 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 pages 8 and 8 pages to pages to 7

127 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 88P/88M servo motors Type of servo motor BDH 88P BDH 88M Associated with servo drive LXM MDN LXM MDN Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm 9. 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 Constants (at C) Torque Nm/A rms.8. Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm 9 brake With brake J m kgcm. 9. Stator (at C) Resistance (phase/phase) Ω..8 Inductance (phase/phase) mh. Electrical time constant ms. 8. Holding brake (according to model) See page 8 Torque/speed curves BDH 88P servo motor With LXM MDN servo drive V -phase With LXM MDN servo drive /8 V -phase 7 M 7 M.... BDH 88M servo motor With LXM MDN servo drive V -phase With LXM MDN servo drive /8 V -phase 9 7 M 9 7 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 pages 8 and 8 pages to pages to 7

128 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 88P/88L servo motors Type of servo motor BDH 88P BDH 88L Associated with servo drive LXM MDN LXM MDN Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 8 8 Maximum current A rms. 7.7 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms /krpm 7 Rotor Number of poles Inertia Without J m kgcm 9 brake With brake J m kgcm 9.. Stator (at C) Resistance (phase/phase) Ω..8 Inductance (phase/phase) mh.9. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BDH 88P servo motor With LXM MDN servo drive V -phase 9 7 M With LXM MDN servo drive /8 V -phase 9 7 M.... BDH 88L servo motor With LXM MDN servo drive V -phase With LXM MDN 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 pages 8 and 8 pages to pages to 7

129 Characteristics (continued) motion control BDH servo motors Characteristics of BDH 88P servo motors Type of servo motor BDH 88P Associated with servo drive LXM MDN Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm Nominal operating point Nominal torque Nm 9 Nominal speed rpm 9 98 Maximum current A rms 9. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.8 Back emf V rms /krpm 8 Rotor Number of poles Inertia Without J m kgcm brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh 7.7 Electrical time constant ms 7.9 Holding brake (according to model) See page 8 Torque/speed curves BDH 88P servo motor With LXM MDN servo drive V -phase With LXM MDN servo drive /8 V -phase 8 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 pages 8 and 8 pages to pages to 7 7

130 Characteristics (continued) motion control BDH servo motors Radial and axial forces permitted on the motor shaft Fr X Even when the servo motors are used under optimum conditions, their service life is limited by that of the bearings. Conditions Nominal service life of bearings () L h =, hours B Ambient temperature (temperature of bearings ~ C) Force application point C Fr applied at the middle point of the shaft end X = B/ (dimension B, see pages to 7) () Hours of service with a failure probability of % Fa d The following conditions must be adhered to: b Radial and axial forces must not be applied simultaneously b Shaft end with IP or IP 7 degree of protection b The bearings cannot be changed by the user as the built-in position sensor must be realigned if the unit is dismantled. Maximum radial force Fr Mechanical speed rpm 7 8 Servo motor BDH N 7 7 BDH 8 N BDH 7 N 8 BDH 8 N 7 BDH 8 N 7 BDH 8 N BDH 88 N 8 Maximum axial force: Fa Fr = pages 8 and 8 pages to pages to 7 8

131 Characteristics (continued) motion control BDH servo motors Characteristics of servo motor/servo drive power connection cables Cables fitted with a connector on servo motor side Cable type External sleeve, insulation VW M Rppp PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x mm )] Connector type industrial connector (BDH servo motor side) and free wire end ( LP servo drive side) External diameter mm ±. Curvature radius mm 9, suitable for daisy-chaining, cable carrier system Working voltage V Maximum usable length m, for connection with a LP servo drive Operating temperature C (fixed), (mobile) Certification UL, CSA, VDE, e, DESINA Cables fitted with a connector on both the servo motor and servo drive sides Cable type VW M Rppp VW M Rppp VW M Rppp External sleeve, insulation PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x mm )] [( x. mm ) + ( x mm )] [( x mm ) + ( x mm )] Connector type industrial connector (BDH servo motor side) and removable -way connector ( MP servo drives side) External diameter mm ±.. ±.. ±. Curvature radius mm 9, suitable for daisy-chaining, cable carrier system Working voltage V, suitable for daisy-chaining, cable carrier system, suitable for daisy-chaining, cable carrier system Maximum usable length m, for connection with a MP servo drive Operating temperature C (fixed), (mobile) Certification UL, CSA, VDE, e, DESINA Characteristics of the servo motor/servo drive control connection cables Cable type VW M8 Rppp VW M8 Rppp Sensor SinCos Hiperface encoder Resolver External sleeve, insulation PUR green coloured RAL 8, polyester Number of conductors (shielded) x ( x. mm ) + ( x. mm ) External diameter mm 8.8 ±. Connector type industrial connector (servo motor side) and x -way SUB-D male connector (servo drive side) Min. curvature radius mm 8, suitable for daisy-chaining, cable carrier system industrial connector (servo motor side) and x 9-way SUB-D male connector (servo drive side) Working voltage V (. mm ), (. mm ) Operating temperature C (fixed), (mobile) Certification UL, CSA, VDE, e, DESINA pages 8 and 8 pages and pages to 7 9

132 References motion control BDH servo motors BDH p BDH 7p BDH 8p BDH servo motors The BDH servo motors shown below are supplied without a gearbox. For GBX gearboxes see page. Continuous stall torque Peak stall torque Maximum mechanical speed Associated servo drive LXM Maximum nominal speed () Reference () Weight () Nm Nm rpm rpm kg.8. 8 LDM 8 BDH B pap LDM 8 BDH C pap LDM 8 BDH C pap LUN 78 BDH 8C pppp LDM 88 BDH 8E pppp LDM 8 BDH 8F pppp LUN BDH 8C pppp LUN BDH 7C pppa LDM 8 BDH 8D pppp.8 LDN LDM 8 BDH 8F pppp LDM BDH 7E pppa LUN BDH 8C pppp... 8 LDM BDH 8D pppp. LDN LDM BDH 8F pppp.. 8 LDM.. LDM BDH 8H pppp..9. LUN 8 BDH 8C pppp..7 8 LUN BDH 7C pppa... LDM BDH 8E pppp.. LDN.. 8 LDM BDH 7D pppa. LDN..78 LDM BDH 8H pppp LDM BDH 7HpppA LDM BDH 7H pppa LUN BDH 7C pppa LDM BDH 7E pppa.9 LDN LDM 9 BDH 7H pppa.9.9. LDM BDH 8G pppp LUN 8 BDH 8C pppp LDN 8 BDH 8E pppp LDM. 8. LD7N BDH 8G pppp.9 9. LDM LD8M BDH 8J pppp.9 MD8N LDM BDH 8G pppp. 9. LDM 8 BDH 8G pppp..7.7 LDN 88 BDH 8E pppp..7 LDN 7 BDH 8E pppp..7.8 LDM BDH 8G pppp. LD7N.7. LDM 8 BDH 8G pppp..8.8 LD7N 98 BDH 8G pppp.. LDM.9 9. LD8M 9 BDH 8K pppp. MD8N 9 9. LD8M 8 BDH 8K pppp. MD8N 8.7. LDN BDH 8E pppp LD7N 8 BDH 8G pppp.. LDM 8.8 LD8M BDH 8J pppp. MD8N LDM BDH 8G pppp.8 () Derating possible according to the power supply voltage, see characteristics pages 8 to 7. () Complete each reference based on the available options, see table page. () Servo motor weight without brake. To obtain the weight of the servo motor with holding brake, see page 8.

133 References (continued) motion control BDH servo motors BDH servo motors (continued) Continuous stall torque Peak stall torque Maximum mechanical speed Associated servo drive LXM Maximum nominal speed () Reference () Nm Nm rpm rpm kg LDN 8 BDH 8E pppp LDM BDH 8G pppp.8 LD7N 8..7 LD7N 8 BDH 8M pppp.8.9 LD8M 8 BDH 8K pppp.8 MD8N 8.. MDN 8 BDH 8M pppp 7.. MDN 7 BDH 8P pppp 7..8 LD7N BDH 8G pppp LD8M BDH 8K pppp 7. BDH 88p MD8N.9. LD7N 8 BDH 8G pppp LD8M 8 BDH 8K pppp 8.9 MD8N 8.8 MDN 8 BDH 8M pppp MDN 8 BDH 8P pppp MDN 78 BDH 8N pppp MDN BDH 8L pppp LD7N 98 BDH 8G pppp LD8M 8 BDH 8K pppp LD7N BDH 8G pppp..8 LD8M BDH 8K pppp. MD8N 7. MDN BDH 8M pppp..8 MDN 8 BDH 8N pppp... MDN 8 BDH 8P pppp..8. MD8N BDH 8K pppp..9 MDN BDH 8L pppp... MDN BDH 8N pppp..8.8 MD8N 8 BDH 8K pppp. 7. MDN 8 BDH 8M pppp MDN BDH 88P pppp MD8N BDH 88K pppp MDN BDH 88M pppp MDN 8 BDH 88P pppp MDN 7 BDH 88M pppp.7. MDN 98 BDH 88P pppp. 8 MDN BDH 88L pppp. To order a BDH servo motor complete each reference with: BDH 8D p p p p Shaft end IP Untapped () Keyed () (7) IP 7 Untapped () Keyed () (7) Integrated sensor Single turn, SinCos Hiperface 9 points/turn () Multiturn, SinCos Hiperface 9 points/turn, 9 turns () -pole resolver Holding brake None A With () F Connection Angled connectors that can be rotated through 9 Flange International IEC standard (7) A NEMA () (7) (8) B Note: The example above is for a BDH 8D servo motor. Replace BDH 8D with the relevant reference for other servo motors. () Derating possible according to the power supply voltage, see characteristics pages 8 to 7. () To complete each reference see the above table. () Servo motor weight without brake. To obtain the weight of the servo motor with holding brake, see page 8. () Not available in NEMA mounting for BDH 8pp, BDH 8pp, BDH 8pp and BDH 88pp servo motors. () Not available for BDH pp servo motors. () Not available in NEMA mounting for BDH pp servo motors and BDH 8pp. (7) The type of key differs according to the type of mounting (IEC or NEMA) and the servo motor rating, see pages to 7: b EMC mounting: BDH pp, open shaft key; other BDH servo motors, closed shaft key. b NEMA mounting: BDH 8pp, BDH 8pp, BDH 8pp and BDH 88pp, open shaft key. Shaft key option not available for BDH pp and BDH 8pp. (8) Not available for BDH 7pp servo motors. Weight () pages 8 and 8 Characteristics: pages 8 to 8 pages to 7

134 References (continued) motion control BDH servo motors Power supply connection cables Description Cables fitted with a connector on servo motor side From servo motor BDH pp BDH 8pp BDH 7pp BDH 8pp BDH 8pE BDH 8pG BDH 8pK BDH 8pG BDH 8pK To servo drive Composition Length m LXM Lppppp [( x. mm ) + ( x mm )] Reference Weight kg VW M R.8 VW M R.9 VW M R.9 VW M R. VW M R. () VW M R. () VW M R. VW M Rppp Cables fitted with two connectors BDH 8pp BDH 8pK BDH 8pK BDH 88pK LXM MDppN [( x. mm ) + ( x mm )] VW M R.88 VW M R.7 VW M R. VW M R.8 VW M R. () VW M R.7 () VW M R. VW M // Rppp 7 () VW M R7 8. BDH 8pL BDH 8pM BDH 8pL BDH 8pM BDH 88pL BDH 88pM LXM MDppN [( x. mm ) + ( x mm )] VW M R.7 VW M R.79 VW M R. VW M R.8 VW M R.7 () VW M R 8.7 () VW M R. 7 () VW M R7.8 BDH 8pN BDH 8pP BDH 8pN BDH 8pP BDH 88pP LXM MDppN [( x mm ) + ( x mm )] VW M R. VW M R. VW M R.77 VW M R 7.8 VW M R 9.9 () VW M R.7 () VW M R. 7 () VW M R7.8 () For cables longer than m, a motor choke is compulsory, see page 7. pages 8 and 8 Characteristics: page 9

135 References (continued) motion control BDH servo motors Control connecting cables Description SinCos Hiperface encoder cables fitted with two connectors From servo motor BDH, all ratings To servo drive Composition Length m LXM, all ratings x( x. mm ) + ( x. mm ) Reference Weight kg VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 Rppp 7 VW M8 R7 Resolver cables fitted with two connectors BDH, all ratings LXM, all ratings x( x. mm ) + ( x. mm ) VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 Rppp 7 VW M8 R7 pages 8 and 8 Characteristics: page 9

136 Dimensions motion control BDH servo motors BDH (straight remote connectors: power supply for servo motor/brake and sensor ) () Keyed shaft end (optional) () c,,, () 9,,,, c With resolver IEC mounting NEMA mounting c c Ø Ø Ø Ø Ø Ø Ø Ø +. BDH 9... h7 8 h BDH h7 8 h BDH h7 8 h () SinCos Hiperface encoder options and holding brake not available. () Not available in NEMA mounting. () Supplied with remote connectors, connection length: mm... BDH 8 (angled connectors: power supply for servo motor/brake and sensor ) c 8 Keyed shaft end (optional) (),, ,,,, c c 8 With resolver With SinCos encoder IEC mounting NEMA mounting c (without brake) c (with brake) c (without brake) c (with brake) c c Ø Ø Ø Ø c Ø Ø Ø Ø +.79 BDH j 9 k BDH j 9 k BDH j 9 k () Not available in NEMA mounting.... pages 8 and 8 Characteristics: pages 8 to 9 pages to

137 Dimensions (continued) motion control BDH servo motors BDH 7 (angled connectors: power supply for servo motor/brake and sensor ) () Keyed shaft end (optional) c 8,,,9 9 9, N9, c 7 With resolver or SinCos encoder c (without brake) c (with brake) c BDH BDH BDH () Not available in NEMA mounting. BDH 8 (angled connectors: power supply for servo motor/brake and sensor ) (), 8 c 9 Keyed shaft end, IEC mounting (optional),, N9, Keyed shaft end, NEMA mounting () 7,9,,,7 c c 8 7, +,, With resolver or SinCos encoder IEC mounting NEMA mounting c (without brake) c (with brake) c c Ø Ø Ø Ø c Ø Ø Ø Ø +.79 BDH j 9 k BDH j 9 k BDH j 9 k BDH j 9 k () The untapped shaft end option is not available in NEMA mounting..... pages 8 and 8 Characteristics: pages 8 to 9 pages to

138 Dimensions (continued) motion control BDH servo motors BDH 8 (angled connectors: power supply for servo motor/brake and sensor ) () c Keyed shaft end, IEC mounting (optional), 9 9 7,9 8 N9, 7 Keyed shaft end, NEMA mounting (),,,7, c c 8,8 +,, With resolver With SinCos encoder IEC mounting NEMA mounting c (without c (with c (without c (with c c Ø Ø Ø Ø c Ø Ø Ø Ø brake) brake) brake) brake) +.79 BDH j k BDH j k BDH j k BDH j k () The untapped shaft end option is not available in NEMA mounting..... BDH 8 (angled connectors: power supply for servo motor/brake and sensor ) (),,, c 9 Keyed shaft end, IEC mounting (optional),9 N9, 77 Keyed shaft end, NEMA mounting (),9 8,, c c 8 With resolver With SinCos encoder IEC mounting NEMA mounting c (without c (with c (without c (with c c Ø Ø Ø Ø c Ø Ø Ø Ø brake) brake) brake) brake) BDH j k 9 h7 8 h BDH j k 9 h7 8 h BDH j k 9 h7 8 h BDH j k 9 h7 8 h () The untapped shaft end option is not available in NEMA mounting. pages 8 and 8 Characteristics: pages 8 to 9 pages to

139 Dimensions (continued) motion control BDH servo motors BDH 88 (angled connectors: power supply for servo motor/brake and sensor ) () c Keyed shaft end, IEC mounting (optional),, 9,9 N9 7, 7 Keyed shaft end, NEMA mounting () 8,9, c c 88 7, With resolver With SinCos encoder IEC mounting NEMA mounting c (without c (with c (without c (with c c Ø Ø Ø Ø c Ø Ø Ø Ø brake) brake) brake) brake) BDH j 8 k h BDH j 8 k h BDH j 8 k h () The untapped shaft end option is not available in NEMA mounting. pages 8 and 8 Characteristics: pages 8 to 9 pages to 7

140 Presentation, characteristics, references motion control BDH servo motors Option: integrated holding brake Holding brake () Presentation L L L c V controller with integrated holding brake The holding brake integrated into the BDH servo motor, depending on the model, is an electromagnetic pressure spring brake with that blocks the servo motor axis once the output current has been switched off. In the event of an emergency, such as a power outage or an emergency stop, the drive is immobilized, significantly increasing safety. Blocking the servo motor axis is also necessary in cases of torque overload, such as in the event of vertical axis movement. U/T V/T W/T BR BR + Activation of the holding brake is directly controlled by the servo drive. Holding brake Characteristics Type of servo motor BDH Holding torque M Br Nm... Inertia of rotor (brake only) J Br kgcm Electrical clamping power P Br W Supply voltage Vc - + % Opening time ms 7 8 Closing time ms 8 Weight kg References Selection of BDH servo motor with F () or without A holding brake, see references page. () Not available for BDH pp servo motors. BDH servo motor pages to 7 8

141 Presentation, characteristics, references motion control BDH servo motors Option: integrated sensor Sensor integrated into BDH servo motors Presentation L L L BDH servo motors can be fitted with types of sensor: b -pole resolver b SinCos high resolution Hiperface () encoder: v single turn v multiturn These measurement devices are perfectly adapted to the range of servo drives. U/T V/T W/T The use of a resolver allows (at low cost): b The angular position of the rotor to be identified b The servo motor speed to be measured The use of a SinCos Hiperface () encoder also allows: b The BDH servo motor data to be automatically identified by the servo drive b The servo drive's control loops to be automatically initialized. These functions therefore simplify the installation of the motion control device. SinCos Hiperface encoder or resolver Characteristics Type of sensor Resolver Single turn SinCos () Multiturn SinCos () Sinus periods per turn 8 8 Number of points 9 9 x 9 turns Encoder precision ± arc minutes ±. arc minutes Measurement method Electromagnetic Optical high resolution demodulation Interface Hiperface Operating temperature C References Selection of resolver sensor, type of SinCos Hiperface encoder () integrated into the BDH servo motor (single turn or multiturn ), see references page. () Not available for BDH pp servo motors. BDH servo motor pages to 7 9

142 Presentation motion control BDH servo motors Option: GBX planetary gearboxes Presentation GBX planetary gearboxes In many cases, motion control requires the use of planetary gearboxes to adapt speeds and torques, while ensuring the precision demanded by the application. Schneider Electric has selected GBX gearboxes made by Neugart to be used in association with the BDH servo motor range. These gearboxes are lubricated for life and are designed for applications not requiring very low backlash. As their association with BDH servo motors has been fully qualified and they are very easy to mount, the gearboxes are simple to put into operation and risk free. Available in sizes (GBX... GBX ), the planetary gearboxes are offered in gear ratios (:...:), see table below. Continuous stall torques and peak stall torques available from the gearbox are obtained by multiplying the characteristic values of the servo motor by the reduction ratio and gearbox efficiency (.9 or.9 depending on the speed reduction ratio). The table below shows the most suitable servo motor/gearbox combinations. For other combinations, see the servo motor data sheets. BDH servo motor/gbx gearbox associations Type of servo motor Speed reduction ratio : : : 8: 9: : : : : : : : BDH B GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX BDH C GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX BDH C GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * BDH 8C GBX GBX GBX GBX * GBX GBX GBX GBX GBX GBX * GBX * GBX * BDH 8E GBX GBX GBX GBX * GBX GBX GBX GBX GBX GBX * GBX * GBX * BDH 8C GBX GBX GBX GBX * GBX GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8D GBX GBX GBX GBX * GBX GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8F GBX GBX GBX GBX * GBX GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8C GBX GBX GBX * GBX * GBX GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8D GBX GBX GBX * GBX * GBX GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8F GBX GBX GBX * GBX * GBX GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 7C GBX GBX GBX GBX 8 GBX GBX GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX BDH 7E GBX GBX GBX GBX 8 GBX GBX GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX BDH 7C GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX BDH 7D GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX BDH 7H GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX BDH 7C GBX 8 GBX 8 GBX 8 GBX GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX GBX * BDH 7E GBX 8 GBX 8 GBX 8 GBX GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX GBX * BDH 7H GBX 8 GBX 8 GBX 8 GBX GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX GBX * BDH 8C GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX BDH 8E GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX BDH 8H GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX GBX GBX BDH 8C GBX 8 GBX 8 GBX 8 GBX GBX 8 GBX 8 GBX GBX GBX GBX GBX GBX BDH 8E GBX 8 GBX 8 GBX 8 GBX GBX 8 GBX 8 GBX GBX GBX GBX GBX GBX BDH 8G GBX 8 GBX 8 GBX 8 GBX GBX 8 GBX 8 GBX GBX GBX GBX GBX GBX BDH 8J GBX 8 GBX 8 GBX 8 GBX GBX 8 GBX 8 GBX GBX GBX GBX GBX GBX BDH 8E GBX 8 GBX 8 GBX GBX GBX 8 GBX GBX GBX GBX GBX GBX GBX BDH 8G GBX 8 GBX 8 GBX GBX GBX 8 GBX GBX GBX GBX GBX GBX GBX BDH 8K GBX 8 GBX 8 GBX GBX GBX 8 GBX GBX GBX GBX GBX GBX GBX BDH 8E GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX BDH 8G GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX BDH 8J GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * For associations in italics and marked with an asterisk, you must check that the application does not exceed the maximum continuous output torque of the gearbox, see values page. Characteristics: page page page

143 Presentation (continued) motion control BDH servo motors Option: GBX planetary gearboxes BDH servo motor/gbx gearbox associations (continued) Type of servo motor Speed reduction ratio : : : 8: 9: : : : : : : : BDH 8E GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX BDH 8G GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX BDH 8K GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX BDH 8E GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * BDH 8G GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * BDH 8K GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * BDH 8M GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * BDH 8G GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8K GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8M GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8P GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8G GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8K GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8L GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8N GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8G GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8K GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8M GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8P GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BDH 8G GBX GBX GBX GBX GBX * GBX GBX GBX GBX * GBX * GBX * GBX * BDH 8K GBX GBX GBX GBX GBX * GBX GBX GBX GBX * GBX * GBX * GBX * BDH 8M GBX GBX GBX GBX GBX * GBX GBX GBX GBX * GBX * GBX * GBX * BDH 8N GBX GBX GBX GBX GBX * GBX GBX GBX GBX * GBX * GBX * GBX * BDH 8K GBX GBX GBX GBX GBX * GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8L GBX GBX GBX GBX GBX * GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8P GBX GBX GBX GBX GBX * GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8K GBX GBX GBX GBX * GBX * GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8M GBX GBX GBX GBX * GBX * GBX GBX * GBX * GBX * GBX * GBX * GBX * BDH 8N GBX GBX GBX GBX * GBX * GBX GBX * GBX * GBX * GBX * GBX * GBX * GBX * For associations in italics and marked with an asterisk, you must check that the application does not exceed the maximum continuous output torque of the gearbox, see values page. Characteristics: page page page

144 Characteristics motion control BDH servo motors Option: GBX planetary gearboxes Characteristics of GBX gearboxes Type of gearbox GBX GBX GBX 8 GBX GBX Type of gearbox Planetary gearbox with straight teeth, single reduction stage Backlash :...8: arc min < < < < 8 < 9:...: < < < 7 < < Torsion rigidity :...8: Nm/arc.. 8 9:...: min... Noise level db (A) 8 7 Junction box Black anodized aluminum Shaft material C Shaft output dust and damp protection IP Lubrification Lubricated for life Average service life () hr, Mounting position All positions Operating temperature C Characteristics of BDH servo motor/gbx gearbox associations Type of gearbox GBX GBX GBX 8 GBX GBX Efficiency :...8:.9 9:...:.9 Maximum permitted radial force () () Maximum permitted axial force () L h =, hours N 9 L h =, hours L h =, hours N 8 8 L h =, hours 9 Inertia of gearbox : kgcm : kgcm : kgcm : kgcm : kgcm...7. : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm Continuous output torque () : Nm. 8 M N : Nm : Nm 8: Nm 9: Nm. : Nm 8 : Nm 8 7 : Nm 8 : Nm 8 : Nm 8 7 : Nm 8 : Nm 8 7 () Values refer to an output shaft speed of rpm in S mode (cyclic ratio = ) on electrical machines and an ambient temperature of C. () Force applied at mid-distance from the output shaft. pages and page page

145 References motion control BDH servo motors Option: GBX planetary gearboxes References GBXppp Size Speed reduction ratio Reference () Weight kg GBX :, :, : and 8: GBX ppp ppp pd. 9:, :, :, :, :, :, : and GBX ppp ppp pd. : GBX :, :, : and 8: GBX ppp ppp pd.9 9:, :, :, :, :, :, : and GBX ppp ppp pd. : GBX 8 :, :, : and 8: GBX 8 ppp ppp pd. 9:, :, :, :, :, :, : and GBX 8 ppp ppp pd. : GBX :, :, : and 8: GBX ppp ppp pd. 9:, :, :, :, :, :, : and GBX ppp ppp pd 8. : GBX :, :, : and 8: GBX ppp ppp pd 8. 9:, :, :, :, :, :, : and : GBX ppp ppp pd. To order a GBX planetary gearbox, complete each reference with: GBX ppp ppp ppp p B Size Junction box diameter mm (see associations table mm with BDH servo motor, 8 mm 8 pages and ) mm mm Speed reduction ratio : : : 8: 8 9: 9 : : : : : : : Associated BDH servo motor Type BDH BDH 8 8 BDH 7 7 BDH 8 8 BDH 8 8 BDH 8 8 Model BDH ppp BDH ppp BDH ppp BDH ppp BDH ppp BDH servo motor adaptation D pages and Characteristics: page page

146 Mounting motion control BDH servo motors Option: GBX planetary gearboxes Mounting No specialized tool is required to install the GBX planetary gearbox on the BDH servo motor. The general usage rules for mechanical mounting must be observed: Clean support areas and joints. Align the shafts to be linked and assemble in vertical position. Join the servo motor flange to the gearbox flange in uniform manner, with cross tightening of the screws. Using a torque wrench, tighten the TA ring following tightening torque (... Nm according to the gearbox model). For more information, consult the user instructions supplied with the products). pages and Characteristics: page Reference: page page

147 Dimensions motion control BDH servo motors Option: GBX planetary gearboxes Dimensions Servo motor assembly a g xø Ø a a a a a xø Ø7 h Ø Ø Ø c GBX c a a a a a a h g Ø Ø Ø Ø Ø Ø Ø h7 h7 M x M x h7 h7 M x M x h7 h7 M x 8 M x h7 h7 M x 8 M x h7 h7 M x 7 M x h7 h7 M x 7 M x h7 h7 M x M8 x h7 h7 M x M8 x h7 h7 M x M x h7 h7 M x M x pages and Characteristics: page page

148 Sizing motion control BDH servo motors M Sizing of BDH servo motors To assist you in sizing your servo motor, the " Sizer" software tool is available on the website These pages are to help you understand the method used for calculation. To size the servo motor you need to know the equivalent thermal torque and the average speed required by the mechanics to be used with the servo motor. Both values are calculated using the motor cycle trend diagram and can be compared with the speed/torque curves given for each servo motor (see BDH servo motor curves, pages 8 to 7). Motor speed n i n n n n t t t t t t t7 t8 t9 t t t T cycle M M M M M Required torque M i t t Motor cycle trend diagram The motor cycle is made up of various sub-cycles for which the duration of each is known. Each sub-cycle is broken down into phases which correspond to the periods of time during which the motor torque is constant ( to phases maximum per sub-cycle). This breakdown makes it possible to find out for each phase: b The duration (t j ) b The speed (n i ) b The required torque value (M i ) The curves on the left show the phase types: b Constant acceleration during t, t and t 9 b At work during t, t, t and t b Constant deceleration during t, t 7 and t b Motor stopped during t 8 and t The total cycle duration is: T cycle = t + t + t + t + t + t + 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 opposite with: j n avg = t j b n i corresponds to the various work speeds. ni b ---- corresponds to the average speeds during constant acceleration and deceleration phases. In the above example: Duration t j t t t t t t 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 n t + n t t + n t t + n t + n t7 + n t9 + n t + n t n moy = Tcycle Calculating the equivalent thermal torque M eq The equivalent thermal torque is calculated using the following formula: Mi t j M eq = Tcycle In the above example, this formula gives the following calculation: M t + M t + M t + M t + M t + M t + M t7 + M t9 + M t + M t M eq = Tcycle pages 8 and 8 Characteristics: pages 8 to 7 pages to pages to 7

149 Sizing (continued) motion control BDH servo motors,, M Meq Sizing of BDH servo motors (continued) Determining the size of the servo motor The point defined by the preceding calculations (average speed and equivalent thermal torque) where: b the horizontal axis represents the average speed n avg b the vertical axis represents the thermal torque M eq must be within the area bound by curve and the work zone. 8 navg Work zone The motor cycle trend diagram must 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 bound by curve and the work zone. Peak torque Continuous torque pages 8 and 8 Characteristics: pages 8 to 7 pages to pages to 7 7

150 Presentation, functions motion control BSH servo motors BSH servo motor with straight connectors BSH servo motor with angled connectors Presentation BSH servo motors offer an excellent solution for dynamics and precision requirements. With five flange sizes and available in a variety of lengths, they are perfectly suited to most applications, covering a torque range of between. Nm to 9 Nm and speeds from to 8 rpm. Incorporating the latest technology in their windings, based on salient poles, BSH servo motors are far more compact than conventional servo motors. BSH servo motors are available in five flange sizes:, 7,, and mm. Thermal protection is provided by a temperature probe integrated into the servo motor. They are certified as "Recognized" by the Underwriters Laboratories and conform to UL standards as well as to European directives (e marking). BSH servo motors are available with the following variants: b IP or IP degree of protection b with or without holding brake b straight or angled connectors () b SinCos Hiperface single turn or multiturn encoders b untapped or keyed shaft end,, M Meq 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: b 8 (in rpm) corresponds to the servo motor's maximum mechanical speed, b M max (in Nm) represents the peak stall torque value b M (in Nm) represents the continuous stall torque value 8 navg Work zone Principle for determining motor size according to the application The torque/speed curves can be used to determine the correct servo motor size. For example, for a power supply voltage of V single phase, the curves used are curves and. Then: Position the work zone of the application in relation to speed. Verify, using the motor cycle trend diagram, that the torques required by the application during the different cycle phases are located within the area bound 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: Sizing of servo motors, see page 9 Functions General functions BSH servo motors were developed to meet the following requirements: b Functional characteristics, robustness, safety,... in compliance with IEC/EN - b Ambient operating temperature: -... C according to DIN 9R. Maximum C with derating from C of % per additional C b Relative humidity: Class F according to DIN b Altitude: m without derating, m with k =.8 (), m with k=.8 b Storage and transport temperature: C b Winding insulation class: F (threshold temperature for windings C) in compliance with DIN VDE b Power and sensor connection using straight or angled connectors () b Thermal protection via built-in PTC thermistor probes, controlled by the servo drive () BSH p and BSH p servo motors are supplied with a power connection terminal and an angled connector for sensor connection () k: derating factor Characteristics: pages to 77 8 pages 78 to 8 pages 8 to 8

151 Functions (continued), description motion control BSH servo motors Functions (continued) General functions (continued) b Out-of-round, concentricity and perpendicularity between flange and shaft in accordance with DIN 9, class N b Flange compliant with standard DIN 98 b Authorized mounting positions: no mounting restriction IMB, IMV and IMV in accordance with DIN 9 b Polyester resin-based paint: Opaque black paint RAL 9 b Degree of protection: v of the frame: IP in accordance with IEC/EN 9 v of the shaft end: IP or IP in accordance with IEC/EN 9() b Integrated sensor: SinCos Hiperface high resolution single turn or multiturn encoder b Standard sized untapped or keyed shaft end (according to DIN 98) Holding brake (depending on model) The integrated brake fitted to the BSH servo motors (depending on the model) is a failsafe electro-magnetic holding brake. d Do not use the holding brake as a dynamic brake for deceleration, as this will rapidly damage the brake. Built-in sensor The servo motor is fitted with a SinCos Hiperface high resolution single turn (9 points) or multiturn (9 points x 9 turns) absolute encoder providing angular precision of the shaft position, accurate to less than ±. arc minutes. This sensor performs the following functions: b Gives the angular position of the rotor in such a way that flows can be synchronized b Measures the servo motor speed via the associated servo drive. This information is used by the speed controller of the servo drive b Measures the position information for the servo drive position controller b Measures and transmits position information in incremental format for the position return of a motion control module (Encoder emulation output of the servo drive) Description BSH servo motors with a -phase stator and a - to -pole rotor (depending on model) with Neodymium Iron Borium (NdFeB) magnets consist of: An axial flange with fixing points in accordance with standard DIN 98. Standard shaft end according to DIN 98, untapped or keyed (depending on model). A straight dust and damp-proof male screw connector for connecting the power cable (). A straight dust and damp-proof male screw connector for connecting the control (sensor) cable (). Connecting cables must be ordered separately; for connection to servo drives, see pages 8 and 8. Schneider Electric has taken particular care to ensure compatibility between BSH servo motors and servo drives. This compatibility can only be assured by using cables and connectors sold by Schneider Electric (see pages 8 and 8). () IP when motor is mounted in position IMV (vertical mounting, upper shaft end). () Available in angled version for BSH pp, BSH 7pp, BSH pp, BSH pp and BSH p servo motors. The BSH p and BSH p servo motors are supplied with a power connection terminal and an angled connector for the sensor connection. Characteristics: pages to 77 pages 78 to 8 pages 8 to 8 9

152 Characteristics motion control BSH servo motors Characteristics of BSH P/T servo motors Type of servo motor BSH P BSH T Associated with servo drive LXM LDM LXM LUN LXM LDM Line supply voltage V single phase -phase -phase Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm.. Nominal speed rpm 7 Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms..8 Back emf V rms /krpm 8 Rotor Number of poles Inertia Without J m kgcm.9 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.8 Inductance (phase/phase) mh 7 Electrical time constant ms.9 Holding brake (according to model) See page 8 Torque/speed curves BSH P servo motor With LXM LDM servo drive V single phase With LXM LUN servo drive V -phase,,,8, M,,,,,8, M,, 8 8 BSH T servo motor With LXM LDM servo drive V -phase,,,8, M,, 8 Peak torque Continuous torque pages 8 and 9 pages 78 to 8 pages 8 to 8

153 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M/P servo motors Type of servo motor BSH M BSH P Associated with servo drive LXM LUN LXM LDM LXM LUN Line supply voltage V -phase 8 -phase single phase -phase -phase Torque Continuous stall M Nm.9.9 Peak stall M max Nm..7. Nominal operating point Nominal torque Nm Nominal speed rpm 8 7 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 7 7 Rotor Number of poles Inertia Without brake J m kgcm. With brake J m kgcm.. Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM LUN servo drive /8 V -phase,, M, BSH P servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase With LXM LUN servo drive V -phase,,,, M,, M,, M, 8 Peak torque Continuous torque 8. Peak torque at V, -phase. Continuous torque at V, -phase 8. Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 pages 78 to 8 pages 8 to 8

154 Characteristics (continued) motion control BSH servo motors Characteristics of BSH T servo motors Type of servo motor BSH T Associated with servo drive LXM LDM Line supply voltage V single phase -phase Torque Continuous stall M Nm.9 Peak stall M max Nm. Nominal operating point Nominal torque Nm.7.8 Nominal speed rpm 9 7 Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BSH T servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase,, M, M, 8 8 Peak torque Continuous torque pages 8 and 9 pages 78 to 8 pages 8 to 8

155 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M/P servo motors Type of servo motor BSH M BSH P Associated with servo drive LXM LUN LXM LDM LXM LDN Line supply voltage V -phase 8 -phase single phase -phase -phase Torque Continuous stall M Nm. Peak stall M max Nm...87 Nominal operating point Nominal torque Nm Nominal speed rpm 78 Maximum current A rms. 8.7 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.8.9 Back emf V rms /krpm 78 9 Rotor Number of poles Inertia Without J m kgcm.9 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω 8 Inductance (phase/phase) mh 8 Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM LUN servo drive /8 V -phase,, M..,.. 8 BSH P servo motor With LXM LDM servo drive V single phase,,,, M, 8 Peak torque Continuous torque With LXM LDM servo drive V -phase,,,, M, 8. Peak torque at V, -phase. Continuous torque at V, -phase With LXM LDN servo drive V -phase,,, M, 8. Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 pages 78 to 8 pages 8 to 8

156 Characteristics (continued) motion control BSH servo motors Characteristics of BSH 7T servo motors Type of servo motor Associated with servo drive BSH 7T LXM LDM Line supply voltage V single phase -phase LXM LDM -phase Torque Continuous stall M Nm. Peak stall M max Nm.9.9 Nominal operating point LXM LDN -phase -phase Nominal torque Nm.. Nominal speed rpm Maximum current A rms phase Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BSH 7T servo motor With LXM LDM servo drive V single phase With LXM LDM servo drive V -phase With LXM LDM servo drive V -phase,, M,, M,, M,,, 8 With LXM LDN servo drive V -phase 8 With LXM LDN servo drive /8 V -phase 8,,,,./. M M./.,, 8 Peak torque Continuous torque 8. Peak torque at V, -phase. Continuous torque at V, -phase. Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 pages 78 to 8 pages 8 to 8

157 Characteristics (continued) motion control BSH servo motors Characteristics of BSH 7P servo motors Type of servo motor BSH 7P Associated with servo drive LXM LDM LXM LUN Line supply voltage V single phase -phase Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm.. Nominal speed rpm 9 Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.78 Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BSH 7P servo motor With LXM LDM servo drive V single phase With LXM LUN servo drive V -phase,, M M,, 8 8 Peak torque Continuous torque pages 8 and 9 pages 78 to 8 pages 8 to 8

158 Characteristics (continued) motion control BSH servo motors Characteristics of BSH 7M/7P servo motors Type of servo motor BSH 7M BSH 7P Associated with servo drive LXM LXM LUN LDM Line supply voltage V -phase 8 -phase single phase Torque Continuous stall M Nm.. Peak stall M max Nm..8 Nominal operating point LXM LDN -phase -phase Nominal torque Nm Nominal speed rpm 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 9 8 Rotor Number of poles 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. 9 Electrical time constant ms.88. Holding brake (according to model) See page 8 Torque/speed curves BSH 7M servo motor With LXM LUN servo drive /8 V -phase 8 -phase M BSH 7P servo motor With LXM LDM servo drive V single phase With LXM LDN servo drive V -phase With LXM LDN servo drive /8 V -phase M M M Peak torque Continuous torque 8. Peak torque at V, -phase. Continuous torque at V, -phase 8. Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 pages 78 to 8 pages 8 to 8

159 Characteristics (continued) motion control BSH servo motors Characteristics of BSH 7T servo motors Type of servo motor BSH 7T Associated with servo drive LXM LDM LXM LD7N Line supply voltage V -phase -phase Torque Continuous stall M Nm. Peak stall M max Nm..7 Nominal operating point Nominal torque Nm.7. Nominal speed rpm 8 9 Maximum current A rms. 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 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. Holding brake (according to model) See page 8 Torque/speed curves BSH 7T servo motor With LXM LDM servo drive V -phase With LXM LD7N servo drive V -phase M M 8 8 Peak torque Continuous torque pages 8 and 9 pages 78 to 8 pages 8 to 8 7

160 Characteristics (continued) motion control BSH servo motors Characteristics of BSH 7P/7T servo motors Type of servo motor BSH 7P BSH 7T Associated with servo drive LXM LXM LXM LDM LD7N LD8M Line supply voltage V single phase -phase -phase -phase 8 -phase Torque Continuous stall M Nm.8 Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms..9 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.78. Back emf V rms /krpm 9 9 Rotor Number of poles Inertia Without J m kgcm.8 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.7.9 Inductance (phase/phase) mh. Electrical time constant ms.. Holding brake (according to model) See page 8 -phase Torque/speed curves BSH 7P servo motor With LXM LDM servo drive V single phase 7 M 8 BSH 7P servo motor With LXM LD7N servo drive /8 V -phase M.. 8 Peak torque Continuous torque With LXM LDM servo drive V -phase 8 7 M 8 BSH 7T servo motor With LXM LD8M servo drive V -phase 8 7. Peak torque at V, -phase. Continuous torque at V, -phase M 8 With LXM LD7N servo drive V -phase 9 7 M 8. Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 8 pages 78 to 8 pages 8 to 8

161 Characteristics (continued) motion control BSH servo motors Characteristics of BSH P/T servo motors Type of servo motor BSH P BSH T Associated with servo drive LXM LDM LXM LDN LXM LD8M Line supply voltage V single phase -phase -phase -phase Torque Continuous stall M Nm.9 Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 8 9 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.89. Back emf V rms /krpm 8 Rotor Number of poles 8 Inertia Without J m kgcm. brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.8.9 Inductance (phase/phase) mh 9. Electrical time constant ms.78 Holding brake (according to model) See page 8 Torque/speed curves BSH P servo motor With LXM LDM servo drive V single phase 8 M BSH T servo motor With LXM LD8M servo drive V -phase M With LXM LDM servo drive V -phase 8 M With LXM LDN servo drive V -phase 7 M Peak torque Continuous torque pages 8 and 9 pages 78 to 8 pages 8 to 8 9

162 Characteristics (continued) motion control BSH servo motors Characteristics of BSH P/T servo motors Type of servo motor BSH P BSH T Associated with servo drive LXM LDM LXM LD7N LXM LD8M Line supply voltage V -phase -phase 8 -phase -phase Torque Continuous stall M Nm.8. Peak stall M max Nm Nominal operating point Nominal torque Nm.8..7 Nominal speed rpm Maximum current A rms 7.. Servo motor characteristics Maximum mechanical speed rpm 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.98 Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh..9 Electrical time constant ms..8 Holding brake (according to model) See page 8 Torque/speed curves BSH P servo motor With LXM LDM servo drive V -phase With LXM LD7N servo drive /8 V -phase 8 M 8 M.... BSH T servo motor With LXM LD8M servo drive V -phase 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 pages 8 and 9 pages 78 to 8 pages 8 to 8

163 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M servo motors Type of servo motor BSH M Associated with servo drive LXM LDN LXM LD7N Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm 7.7 Peak stall M max Nm.9.9 Nominal operating point Nominal torque Nm... Nominal speed rpm 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 8 Inertia Without J m kgcm. brake With brake J m kgcm.88 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh.7 Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM LDN servo drive V -phase M With LXM LD7N servo drive /8 V -phase.. 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 pages 8 and 9 pages 78 to 8 pages 8 to 8

164 Characteristics (continued) motion control BSH servo motors Characteristics of BSH P servo motors Type of servo motor BSH P Associated with servo drive LXM LD8M LXM MD8N LXM MDN Line supply voltage V -phase -phase 8 -phase -phase 8 -phase Torque Continuous stall M Nm 7.8 Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 8 Maximum current A rms 8. Servo motor characteristics Maximum mechanical speed rpm 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.88 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh 9. Electrical time constant ms.7 Holding brake (according to model) See page 8 Torque/speed curves BSH P servo motor With LXM LD8M servo drive V -phase With LXM MD8N servo drive /8 V -phase With LXM MDN servo drive /8 V -phase.... M Peak torque Continuous torque M... Peak torque at V, -phase. Continuous torque at V, -phase M... Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 pages 78 to 8 pages 8 to 8

165 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M servo motors Type of servo motor BSH M Associated with servo drive LXM LDN LXM LD7N LXM MDN Line supply voltage V -phase -phase 8 -phase -phase 8 -phase Torque Continuous stall M Nm 9. Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 8 7 Maximum current A rms 7. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms Back emf V rms /krpm 9 Rotor Number of poles 8 Inertia Without J m kgcm. brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω 7. Inductance (phase/phase) mh.9 Electrical time constant ms.8 Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM LDN servo drive V -phase M Peak torque Continuous torque With LXM LD7N servo drive /8 V -phase M..... Peak torque at V, -phase. Continuous torque at V, -phase With LXM MDN servo drive /8 V -phase M..... Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 pages 78 to 8 pages 8 to 8

166 Characteristics (continued) motion control BSH servo motors Characteristics of BSH P/T servo motors Type of servo motor BSH P BSH T Associated with servo drive LXM MD8N LXM MDN LXM MDN Line supply voltage V -phase 8 -phase -phase -phase 8 -phase -phase Torque Continuous stall M Nm 9. Peak stall M max Nm.7.8. Nominal operating point Nominal torque Nm Nominal speed rpm 9 8 Maximum current A rms.8 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms..8 Back emf V rms /krpm Rotor Number of poles 8 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 7.8. Holding brake (according to model) See page 8 Torque/speed curves BSH P servo motor With LXM MD8N servo drive /8 V -phase M... BSH T servo motor With LXM MDN servo drive V -phase. With LXM MDN servo drive V -phase M With LXM MDN 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 pages 8 and 9 pages 78 to 8 pages 8 to 8

167 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M/P servo motors Type of servo motor BSH M BSH P Associated with servo drive LXM MD8N LXM MD8N LXM MDN Line supply voltage V -phase 8 -phase -phase 8 -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms.8.8 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.78. Back emf V rms /krpm 9 Rotor Number of poles Inertia Without J m kgcm 7. brake With brake J m kgcm 8. Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh.8. Electrical time constant ms.9 Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM MD8N servo drive /8 V -phase.. M.. BSH P servo motor With LXM MD8N servo drive /8 V -phase With LXM MDN 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 pages 8 and 9 pages 78 to 8 pages 8 to 8

168 Characteristics (continued) motion control BSH servo motors Characteristics of BSH T servo motors Type of servo motor BSH T Associated with servo drive LXM MDN Line supply voltage V -phase Torque Continuous stall M Nm. Peak stall M max Nm. Nominal operating point Nominal torque Nm 7. Nominal speed rpm Maximum current A rms 7. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.8 Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm 7. brake With brake J m kgcm 8. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms.88 Holding brake (according to model) See page 8 Speed/torque curves BSH T servo motor With LXM MDN servo drive V -phase M Peak torque Continuous torque. pages 8 and 9 pages 78 to 8 pages 8 to 8

169 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M/P servo motors Type of servo motor BSH M BSH P Associated with servo drive LXM MDN LXM MDN LXM MDN Line supply voltage V -phase 8 -phase -phase 8 -phase -phase 8 -phase Torque Continuous stall M Nm 9. Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 8 7 Maximum current A rms.. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.9.7 Back emf V rms /krpm 99 Rotor Number of poles Inertia Without J m kgcm.8 brake With brake J m kgcm.8 Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh Electrical time constant ms.8 Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM MDN servo drive /8 V -phase M.... BSH P servo motor With LXM MDN servo drive /8 V -phase With LXM MDN 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 pages 8 and 9 pages 78 to 8 pages 8 to 8 7

170 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M/P servo motors Type of servo motor BSH M BSH P Associated with servo drive LXM MDN LXM MDN Line supply voltage V -phase 8 -phase -phase 8 -phase Torque Continuous stall M Nm 7.8 Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 8 Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.9.9 Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm 7.9 brake With brake J m kgcm. Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh.. Electrical time constant ms.. Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM MDN servo drive /8 V -phase 8 M.... BSH P servo motor With LXM MDN servo drive /8 V -phase 7 M..... Peak torque at V, -phase. Continuous torque at V, -phase. Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 8 pages 78 to 8 pages 8 to 8

171 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M servo motors Type of servo motor BSH M Associated with servo drive LXM MDN LXM MDN Line supply voltage V -phase 8 -phase -phase 8 -phase Torque Continuous stall M Nm. Peak stall M max Nm 8. 9 Nominal operating point Nominal torque Nm...9. Nominal speed rpm 8 Maximum current A rms 7.8 Servo motor characteristics Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms. 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. Inductance (phase/phase) mh.8 Electrical time constant ms. Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM MDN servo drive /8 V -phase With LXM MDN servo drive /8 V -phase 9 7 M M..... Peak torque at V, -phase. Continuous torque at V, -phase. Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 pages 78 to 8 pages 8 to 8 9

172 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M servo motors Type of servo motor BSH M Associated with servo drive LXM MDN LXM MDN LXM HCNX Line supply voltage V -phase 8 -phase -phase 8 -phase -phase 8 -phase Torque Continuous stall M Nm Peak stall M max Nm 8. Nominal operating point Nominal torque Nm.... Nominal speed rpm Maximum current A rms. 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 Inertia Without J m kgcm 77 brake With brake J m kgcm 9 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms 9. Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM MDN servo drive /8 V -phase With LXM MDN servo drive /8 V -phase With LXM HCNX 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 pages 8 and 9 7 pages 78 to 8 pages 8 to 8

173 Characteristics (continued) motion control BSH servo motors Characteristics of BSH P servo motors Type of servo motor BSH P Associated with servo drive LXM HCNX Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm Peak stall M max Nm 8 Nominal operating point Nominal torque Nm Nominal speed rpm 9 Maximum current A rms 78. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm 77 brake With brake J m kgcm 9 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh.7 Electrical time constant ms 9 Holding brake (according to model) See page 8 Torque/speed curves BSH P servo motor With LXM HCNX servo drive V -phase 9 7 M Peak torque Continuous torque With LXM HCNX servo drive /8 V -phase 9 7 M... Peak torque at V, -phase. Continuous torque at V, -phase... Peak torque at 8 V, -phase. Continuous torque at 8 V, -phase pages 8 and 9 pages 78 to 8 pages 8 to 8 7

174 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M servo motors Type of servo motor BSH M Associated with servo drive LXM HCNX LXM HCNX Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm 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 Rotor Number of poles Inertia Without J m kgcm 9 brake With brake J m kgcm Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms 8.7 Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM HCNX servo drive V -phase With LXM HCNX servo drive /8 V -phase With LXM HCNX servo drive V -phase.. M Mo. With LXM HCNX 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 pages 8 and 9 7 pages 78 to 8 pages 8 to 8

175 Characteristics (continued) motion control BSH servo motors Characteristics of BSH P servo motors Type of servo motor BSH P Associated with servo drive LXM HCNX LXM HCNX Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm Peak stall M max Nm Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms 9.8 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.8 Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm 9 brake With brake J m kgcm Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms 8 Holding brake (according to model) See page 8 Torque/speed curves BSH P servo motor With LXM HCNX servo drive V -phase With LXM HCNX servo drive /8 V -phase With LXM HCNX servo drive V -phase 8 M 8 M./../. M With LXM HCNX servo drive /8 V -phase./. 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 pages 8 and 9 pages 78 to 8 pages 8 to 8 7

176 Characteristics (continued) motion control BSH servo motors Characteristics of BSH M servo motors Type of servo motor BSH M Associated with servo drive LXM HCNX LXM HCNX Line supply voltage V -phase -phase 8 -phase -phase -phase 8 -phase Torque Continuous stall M Nm 9 Peak stall M max Nm 7.8 Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms 8 Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms. Back emf V rms /krpm Rotor Number of poles Inertia Without J m kgcm 8 brake With brake J m kgcm 9 Stator (at C) Resistance (phase/phase) Ω.8 Inductance (phase/phase) mh.8 Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BSH M servo motor With LXM HCNX servo drive V -phase With LXM HCNX servo drive /8 V -phase With LXM HCNX servo drive V -phase.. M M.. M With LXM HCNX servo drive /8 V -phase 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 pages 8 and 9 7 pages 78 to 8 pages 8 to 8

177 Characteristics (continued) motion control BSH servo motors Characteristics of BSH P servo motors Type of servo motor BSH P Associated with servo drive LXM HCNX Line supply voltage V -phase -phase 8 -phase Torque Continuous stall M Nm 9 Peak stall M max Nm.9 Nominal operating point Nominal torque Nm Nominal speed rpm Maximum current A rms. Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.7 Back emf V rms /krpm 7 Rotor Number of poles Inertia Without J m kgcm 8 brake With brake J m kgcm 9 Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh. Electrical time constant ms Holding brake (according to model) See page 8 Torque/speed curves BSH P servo motor With LXM HCNX servo drive V -phase With LXM HCNX 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 pages 8 and 9 pages 78 to 8 pages 8 to 8 7

178 Characteristics (continued) motion control BSH servo motors Radial and axial forces permitted on the motor shaft Fr X Even when the servo motors are used under optimum conditions, their service life is limited by that of the bearings. B Conditions Nominal service life of bearings () Ambiant temperature (temperature of bearings ~ C) Force application point L h =, hours C Fr applied at the middle point of the shaft end X = B/ (dimension B, see pages 8 to 8) () Hours of use with a failure probability of % Fa d The following conditions must be adhered to: b Radial and axial forces must not be applied simultaneously b Shaft end with IP or IP degree of protection b The bearings cannot be changed by the user as the built-in position sensor must be realigned if the unit is dismantled. Maximum radial force Fr Mechanical speed rpm 7 8 Servo motor BSH N BSH N BSH N BSH 7 N 8 BSH 7 N BSH 7 N 7 8 BSH N BSH N BSH N 8 7 BSH N BSH N 7 BSH N 9 8 BSH N 78 BSH N 8 BSH N BSH N 9 BSH N 7 Maximum axial force: Fa =. x Fr Characteristics of servo motor/servo drive power connection cables Cables fitted with a connector on servo motor side Cable type VW M Rppp VW M Rppp External sleeve, insulation PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x mm )] [( x mm ) + ( x mm )] Connector type industrial connector (on BSH servo motor side) and free wire end (on LP and HP servo drive side) External diameter mm ±.. ±. Curvature radius mm 9, suitable for daisy-chaining, cable carrier system Working voltage V, suitable for daisy-chaining, cable carrier system Maximum usable length m, for connection with a LP servo drive, for connection with a HP servo drive Operating temperature C (fixed), (mobile) Certification UL, CSA, VDE, e, DESINA pages 8 and 9 pages 78 to 8 pages 8 to 8 7

179 Characteristics (continued) motion control BSH servo motors Characteristics of servo motor/servo drive power connection cables (continued) Cables fitted with a connector on both the servo motor and servo drive sides Cable type VW M Rppp VW M Rppp VW M Rppp External sleeve, insulation PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x mm )] [( x. mm ) + ( x mm )] [( x mm ) + ( x mm )] Connector type industrial connector (BSH servo motor side) and removable -way connecteur ( MP servo drives side) External diameter mm ±.. ±.. ±. Curvature radius mm 9, suitable for daisy-chaining, cable-carrier system Working voltage V, suitable for daisy-chaining, cable-carrier system, suitable for daisy-chaining, cable-carrier system Maximum usable length m, for connection with a MP servo drive Operating temperature C (fixed), (mobile) Certification Cables Cable type External sleeve, insulation UL, CSA, VDE, e, DESINA VW M Rpppp PUR orange coloured RAL, TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [( x mm ) + ( x mm )] Connector type Without connectors; cable for connection of BSH and BSH servo motors (terminal) with HP servo drive (terminal) External diameter mm 8 ±. Curvature radius mm, suitable for daisy-chaining, cable-carrier system Working voltage V Maximum usable length m Operating temperature C (fixed), (mobile) Certification UL, CSA, VDE, e, DESINA Characteristics of the servo motor/servo drive control connection cables Cable type VW M8 Rppp Sensor SinCos Hiperface encoder External sleeve, insulation PUR green coloured RAL 8, polyester Number of conductors (shielded) x ( x. mm ) + ( x. mm ) External diameter mm 8.8 ±. Connector type industrial connector (servo motor side) and x -way SUB-D male connector (servo drive side) Min. curvature radius mm 8, suitable for daisy-chaining, cable-carrier system Working voltage V (. mm ), (. mm ) Operating temperature C (fixed), (mobile) Certification UL, CSA, VDE, e, DESINA pages 8 and 9 pages 8 and 8 pages 8 to 8 77

180 References motion control BSH servo motors BSH servo motors The BSH servo motors shown below are not equipped with gearboxes. For GBX gearboxes see page 9. Continuous stall torque Peak stall torque Maximum mechanical speed Associated servo drive LXM Maximum nominal speed () Reference () Weight () 99 Nm Nm rpm rpm kg.. 8 LDM BSH P ppppa.8 LUN LDM 7 BSH T ppppa.8 BSH pp.9. 8 LUN 8 BSH M ppppa.. 8 LUN 7 BSH P ppppa.. 8 LDM 7 BSH T ppppa..7 8 LDM BSH P ppppa... 8 LUN BSH M ppppa LDN 78 BSH P ppppa.. 8 LDM..9 8 LDN BSH 7T ppppa..9 8 LDM LDM.. 8 LDM 9 BSH 7P ppppa. LUN LD7N 9 BSH 7T ppppa.8. 8 LDM 8. 8 LUN 9 BSH 7M ppppa LDN 88 BSH 7P ppppa.8. 8 LDM 88 BSH 7pp LDM 9 BSH 7P ppppa LD8M BSH 7T ppppa LD7N 8 BSH 7P ppppa LDM.9.9 LDN 8 BSH P ppppa. 7.8 LDM 8. LD8M 9 BSH T ppppa...9 LD8M 8 BSH T ppppa.8.8. LD7N 7 BSH P ppppa.8.79 LDM LDN BSH M ppppa 7..9 LD7N LD8M BSH P ppppa 7. MD8N.7 MDN BSH pp LDN BSH M ppppa 9.. MDN 8 BSH T ppppa 9..7 MD8N BSH P ppppa LD7N 7 BSH M ppppa 9..8 MDN BSH P ppppa 9..7 MDN BSH M ppppa 9. () Derating possible according to the power supply voltage, see characteristics pages to 7. () To complete each reference see the table on page 79. () Servo motor weight without brake. To obtain the weight of the servo motor with holding brake, see page 8. pages 8 and 9 78 Characteristics: pages to 7 pages 8 to 8

181 References (continued) motion control BSH servo motors 99 BSH servo motors (continued) Continuous stall torque Peak stall torque Maximum mechanical speed Associated servo drive LXM Maximum nominal power () Reference () Weight () Nm Nm rpm rpm kg.. MDN BSH T ppppa.9 MD8N 8 BSH P ppppa.9 MDN 8 MD8N BSH M ppppa MDN BSH P ppppa. 7. MDN 8 BSH M ppppa. MDN BSH P ppppa. BSH p MDN BSH P ppppa. 7.7 MDN BSH M ppppa.. 8. MDN BSH M ppppa. 9 MDN 8. 8 MDN 7 BSH M ppppa. MDN 7 HCNX HCNX 9 BSH P ppppa HCNX BSH P pppa () HCNX 8 HCNX 7 BSH M pppa (). 8 HCNX HCNX BSH P pppa () HCNX 98 BSH M pppa (). 8 HCNX 89 To order a BSH servo motor complete each reference with: BSH 7P p p p p A Shaft end IP Untapped Keyed IP Untapped Keyed Integrated sensor Single turn, SinCos Hiperface 9 points/turn Multiturn, SinCos Hiperface 9 points/turn, 9 turns Holding brake None A With F Connection () Straight connectors Rotatable right-angled connectors Flange International standard A Note: The example above is for a BSH 7P servo motor. Replace BSH 7P by the relevant reference for other servo motors. () Derating possible according to the power supply voltage, see characteristics pages to 7. () To complete each reference see the table above. () Servo motor weight without brake. To obtain the weight of the servo motor with holding brake, see page 8. () The BSH p and BSH p servo motors are supplied with a power connection terminal and an angled connector for the control connection (sensor), see page 8. The product reference is BSH pp pppa. pages 8 and 9 Characteristics: pages to 7 pages 8 to 8 79

182 References (continued) motion control BSH servo motors Power connection cables Description Cables fitted with a connector on servo motor side From servo motor BSH pp BSH 7pp BSH pp To servo drive Composition LXM Lppppp [( x. mm ) + ( x mm )] Length m Reference Weight kg VW M R.8 VW M R. VW M R.9 VW M R. VW M R. () VW M R. () VW M R. VW M / Rppp BSH M BSH P LXM HCppNX [( x mm ) + ( x mm )] VW M R. VW M R. VW M R. VW M R. VW M R 8.9 VW M R. VW M R.7 7 VW M R7.7 Cables fitted with two connectors BSH P BSH p BSH M BSH P BSH M BSH P BSH M BSH M LXM MDppN [( x. mm ) + ( x mm )] VW M R.88 VW M R.7 VW M R. VW M R.8 VW M R. () VW M R.7 () VW M R. 7 () VW M R7 8. VW M // Rppp BSH T BSH T BSH P BSH P LXM MDppN [( x. mm ) + ( x mm )] VW M R.7 VW M R.79 VW M R. VW M R.8 VW M R.7 () VW M R 8.7 () VW M R. 7 () VW M R7.8 BSH M LXM MDppN [( x mm ) + ( x mm )] VW M R. VW M R. VW M R.77 VW M R 7.8 VW M R 9.9 () VW M R.7 () VW M R. 7 () VW M R7.8 () For cables longer than m, a motor choke is compulsory, see page 7. pages 8 and 9 Characteristics: pages 7 and 77 8

183 References (continued) motion control BSH servo motors Power connection cables (continued) Description Cable From servo motor BSH M BSH P BSH M BSH P To servo drive Composition LXM HCppNX [( x mm ) + ( x mm )] Length m Reference Weight kg VW M R 8. VW M R. VW M R. VW M R 8. VW M Rpppp Control connecting cables Description SinCos Hiperface encoder cables fitted with two connectors From servo motor BSH, all ratings To servo drive Composition Length m LXM, all ratings x( x. mm ) + ( x. mm ) Reference Weight kg VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 Rppp 7 VW M8 R7 pages 8 and 9 Characteristics: pages 7 and 77 8

184 Dimensions motion control BSH servo motors BSH (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional) 9 9, 9, b,8 +, N9 c Straight connectors Rotary angled connectors b b c (without brake) c (with brake) BSH BSH BSH BSH 7 (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional), 8, 9, b, c h h c c c c 7 Straight connectors Rotary angled connectors b b c (without brake) c (with brake) c c c h h Ø Ø +. BSH N9. k M +. BSH N9. k M +. BSH N9 k M pages 8 and 9 8 Characteristics: pages to 77 pages 78 to 8

185 Dimensions (continued) motion control BSH servo motors BSH (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional), 8, 9, b c h h c c c Straight connectors Rotary angled connectors b b c (without brake) c (with brake) c c h h Ø Ø +. BSH N9. 9 k M +. BSH. 9. N9. 9 k M +. BSH N9. 9 k M +. BSH N9 k M8 BSH (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional), 9, b 78 +, 8 N9 c Straight connectors Rotary angled connectors b b c (without brake) c (with brake) BSH BSH BSH BSH pages 8 and 9 Characteristics: pages to 77 pages 78 to 8 8

186 Dimensions (continued) motion control BSH servo motors BSH (example with rotary angled connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional) 7, b b 8 +, b 8 N9 8 c Straight connectors Rotary angled connectors b b b b b b c (without brake) c (with brake) BSH pages 8 and 9 Characteristics: pages to 77 pages 78 to 8 8

187 Dimensions (continued) motion control BSH servo motors BSH and (example with angled connectors: power supply for servo motor/brake and encoder ) () Shaft end, keyed slot (optional) 7 9, , P9 7 8 c c (without brake) c (with brake) BSH. BSH () Not available with straight connectors. The power supply cable for servo motor/brake is connected via a terminal. pages 8 and 9 Characteristics: pages to 77 pages 78 to 8 8

188 Presentation, characteristics, references motion control BSH servo motors Option: integrated holding brake Holding brake Presentation L L L c V controller with integrated holding brake The holding brake integrated into the BSH servo motor, depending on the model, is an electromagnetic pressure spring brake that blocks the servo motor axis once the output current has been switched off. In the event of an emergency, such as a power outage or an emergency stop, the drive is immobilized, significantly increasing safety. Blocking the servo motor axis is also necessary in cases of torque overload, such as in the event of vertical axis movement. U/T V/T W/T BR BR + Activation of the holding brake is directly controlled by the servo drive. Holding brake Characteristics Type of servo motor BSH Holding torque M Br Nm Inertia of rotor (brake only) J Br kgcm Electrical clamping power P Br W 8 Supply voltage Vc - + % Opening time ms Closing time ms 8 8 Weight (brake only) kg References Selection of BSH servo motor with F or without A holding brake, see references page 79. BSH servo motor pages 8 to 8 8

189 Presentation, characteristics, references motion control BSH servo motors Option: integrated sensor Sensor integrated into BSH servo motors Presentation L L L The standard measurement device is the SinCos Hiperface single turn or multiturn encoder integrated into the BSH servo motors. This measurement device is perfectly adapted to the range of servo drives. Use of this encoder allows: v The BSH servo motor data to be automatically identified by the servo drive v The servo drive's control loops to be automatically initialized. These functions therefore simplify the installation of the motion control device. U/T V/T W/T SinCos Hiperface encoder Characteristics Type of sensor Single turn SinCos Multiturn SinCos Sinus periods per turn 8 8 Number of points 9 9 x 9 turns Encoder precision ±. arc minutes Measurement method Optical high resolution Interface Hiperface Operating temperature C References Selection of SinCos Hiperface single turn or multiturn encoder integrated into the BSH servo motor, see references page 79. BSH servo motor pages 8 to 8 87

190 Presentation motion control BSH servo motors Option: GBX planetary gearboxes 9 Presentation In many cases, motion control requires the use of planetary gearboxes to adapt speeds and torques, while ensuring the precision demanded by the application. Schneider Electric has selected GBX gearboxes made by Neugart to be used in association with the BSH servo motor range. These gearboxes are lubricated for life and are designed for applications not requiring very low backlash. As their association with BSH servo motors has been thoroughly qualified and they are very easy to mount, the gearboxes are simple to put into operation and risk free. GBX planetary gearbox Available in sizes (GBX... GBX ), the planetary gearboxes are offered in speed reduction ratios (:...:), see table below. Continuous stall torques and peak stall torques available from the gearbox are obtained by multiplying the characteristic values of the servo motor by the reduction ratio and gearbox efficiency (.9 or.9 depending on the speed reduction ratio). The table below shows the most suitable servo motor/gearbox combinations. For other associations consult the servo motor data sheets. BSH servo motor/gbx gearbox associations Type of servo motor Speed reduction ratio : : : 8: 9: : : : : : : : BSH GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * BSH GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * GBX * GBX * BSH GBX GBX GBX GBX * GBX GBX GBX GBX GBX GBX * GBX * GBX * BSH 7 GBX GBX GBX 8 GBX 8 GBX GBX GBX 8 GBX 8 GBX 8 GBX 8 GBX 8 GBX BSH 7 GBX 8 GBX 8 GBX 8 GBX 8 GBX 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 BSH GBX 8 GBX 8 GBX GBX GBX 8 GBX GBX GBX GBX GBX GBX GBX BSH GBX 8 GBX GBX GBX GBX 8 GBX GBX GBX GBX GBX GBX GBX BSH GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * GBX * GBX * BSH GBX GBX GBX GBX GBX GBX GBX GBX GBX GBX * GBX * GBX * BSH GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BSH GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BSH GBX GBX GBX GBX GBX * GBX GBX GBX GBX GBX * GBX * GBX * BSH GBX * GBX * GBX * GBX * BSH BSH GBX * For associations in italics and marked with an asterisk, you must check that the application does not exceed the maximum continuous output torque of the gearbox, see values page 89. Characteristics: page 89 page 9 page 9 88

191 Characteristics motion control BSH servo motors Option: GBX planetary gearboxes Characteristics of GBX gearboxes Type of gearbox GBX GBX GBX 8 GBX GBX Type of gearbox Planetary gearbox with straight teeth, single reduction stage Backlash :...8: arc min < < < < 8 < 9:...: < < < 7 < < Torsion rigidity :...8: Nm/arc.. 8 9:...: min... Noise level db (A) 8 7 Junction box Black anodized aluminum Shaft material C Shaft output dust and damp protection IP Lubrification Lubricated for life Average service life () hr, Mounting position All positions Operating temperature C Characteristics of BSH servo motor/gbx gearbox associations Type of gearbox GBX GBX GBX 8 GBX GBX Efficiency :...8:.9 9:...:.9 Maximum permitted radial force () () Maximum permitted axial force () L h =, hours N 9 L h =, hours L h =, hours N 8 8 L h =, hours 9 Moment of gearbox inertia : kgcm : kgcm : kgcm : kgcm : kgcm...7. : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm : kgcm Continuous output torque () M N : Nm. 8 : Nm : Nm 8: Nm 9: Nm. : Nm 8 : Nm 8 7 : Nm 8 : Nm 8 : Nm 8 7 : Nm 8 : Nm 8 7 () Values refer to an output shaft speed of rpm in S mode (cyclical ratio = ) on electrical machines for an ambient temperature of C. () Force applied at mid-distance from the output shaft. page 88 page 9 page 9 89

192 References, mounting motion control BSH servo motors Option: GBX planetary gearboxes 9 References Size Speed reduction ratio Reference () Weight kg GBX :, :, : and 8: GBX ppp ppp pf. 9:, :, :, :, :, :, : and : GBX ppp ppp pf. GBX :, :, : and 8: GBX ppp ppp pf.9 9:, :, :, :, :, :, : and : GBX ppp ppp pf. GBX ppp GBX 8 :, :, : and 8: GBX 8 ppp ppp pf. 9:, :, :, :, :, :, : and : GBX 8 ppp ppp pf. GBX :, :, : and 8: GBX ppp ppp pf. 9:, :, :, :, :, :, : and : GBX ppp ppp pf 8. GBX :, :, : and 8: GBX ppp ppp pf 8. 9:, :, :, :, :, :, : and : GBX ppp ppp pf. To order a GBX planetary gearbox, complete each reference with: GBX ppp ppp ppp p F Size Junction box diameter mm (see associations table mm with BSH servo motor, 8 mm 8 page 88) mm mm Speed reduction ratio : : : 8: 8 9: 9 : : : : : : : Associated BSH servo motor Type BSH BSH 7 7 BSH BSH BSH Model BSH ppp BSH ppp BSH ppp BSH ppp BSH servo motor adaptation F Mounting No specialized tool is required to mount the GBX planetary gearbox on the BSH servo motor. The general usage rules for mechanical mounting must be observed: Clean support areas and joints. Align shafts to be linked and assemble in vertical position. Join the servo motor flange to the gearbox flange in uniform manner, with cross tightening of the screws. Using a torque wrench, tighten the TA ring following tightening torque (... Nm according to the gearbox model). For more information, consult the user instructions supplied with the products). 9

193 Dimensions motion control BSH servo motors Option: GBX planetary gearboxes Dimensions Servo motor assembly a g xø Ø a a a a a xø Ø7 h Ø Ø Ø c GBX c a a a a a a h g Ø Ø Ø Ø Ø Ø Ø h7 h7 M x M x h7 h7 M x M x h7 h7 M x 8 M x h7 h7 M x 8 M x h7 h7 M x 7 M x h7 h7 M x 7 M x h7 h7 M x M8 x h7 h7 M x M8 x h7 h7 M x M x h7 h7 M x M x page 88 Characteristics: page 89 page 9 9

194 Sizing motion control BSH servo motors M Sizing of BSH servo motor To assist you in sizing the servo motor, the " Sizer" software tool is available on the website These pages are to help you understand the method used for calculation. To size the servo motor you need to know the equivalent thermal torque and the average speed required by the mechanics to be associated with the servo motor. Both values are calculated using the motor cycle trend diagram and should be compared with the speed/torque curves given for each servo motor (see BSH servo motor curves, pages to 7). Motor speed n i n n n n t t t t t t t7 t8 t9 t t t T cycle M M M M M Required torque M i t t Motor cycle trend diagram The motor cycle is made up of several sub-cycles for which the duration of each is known. Each sub-cycle is broken down into phases which correspond to the periods of time during which the motor torque is constant ( to phases maximum per sub-cycle). This breakdown can be used to calculate, for each phase: b the duration (t j ) b the speed (n i ) b the required torque value (M i ) The curves on the left show the phase types: b constant acceleration during t, t and t 9 b at work during t, t, t and t b constant deceleration during t, t 7 and t b motor stopped during t 8 and t The total cycle duration is: T cycle = t + t + t + t + t + t + 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 opposite where: j n avg = t j b n i corresponds to the different work speeds. ni b ---- corresponds to the average speeds during constant acceleration and deceleration phases. In the above example: Duration t j t t t t t t 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 t n t t7 n n t9 + n t t n avg = Tcycle Calculating the equivalent thermal torque M eq The equivalent thermal torque is calculated using the following formula: Mi t j M eq = Tcycle In the above example, this formula gives the following calculation: M t + M t + M t + M t + M t + M t + M t7 + M t9 + M t + M t M eq = Tcycle pages 8 and 9 Characteristics: pages to 7 pages 78 to 8 pages 8 to 8 9

195 Sizing (continued) motion control BSH servo motors,, M Meq Sizing of BSH servo motor (continued) Determining the size of the servo motor The point defined by the 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 bound by the curve and the work zone. navg 8 Work zone The motor cycle trend 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 bound by the curve and the work zone. Peak torque Continuous torque pages 8 and 9 Characteristics: pages to 7 pages 78 to 8 pages 8 to 8 9

196 9

197 Product reference index NAA 7 p 9 NAD 9 p 7 99 MCO p 8 and 8 99 MCO 8 and 8 99 MCO 8 and 8 99 MCO 7 8 and 8 99 MCO 8 and 8 99 NAD 99 NAD 99 NAD 99 NAD p A ABE 7CPAp 7 ABE 7HR 7 AM CA V AM FIP V AM INE V 9 AM MBP V AM SER V 8 AS MBKT 8 B BDH B pap BDH C pap BDH C pap BDH 8C pppp BDH 8E pppp BDH 8C pppp BDH 8D pppp BDH 8F pppp BDH 8C pppp BDH 8D pppp BDH 8F pppp BDH 7C pppa BDH 7E pppa BDH 7C pppa BDH 7D pppa BDH 7H pppa BDH 7C pppa BDH 7E pppa BDH 7H pppa BDH 8C pppp BDH 8E pppp BDH 8H pppp BDH 8C pppp BDH 8E pppp BDH 8G pppp BDH 8J pppp BDH 8E pppp BDH 8G pppp BDH 8K pppp BDH 8E pppp BDH 8G pppp BDH 8J pppp BDH 8E pppp BDH 8G pppp BDH 8K pppp BDH 8E pppp BDH 8G pppp and BDH 8K pppp BDH 8M pppp BDH 8G pppp BDH 8K pppp BDH 8M pppp BDH 8P pppp BDH 8G pppp BDH 8K pppp BDH 8L pppp BDH 8N pppp BDH 8G pppp BDH 8K pppp BDH 8M pppp BDH 8P pppp BDH 8G pppp BDH 8K pppp BDH 8M pppp BDH 8N pppp BDH 8K pppp BDH 8L pppp BDH 8P pppp BDH 8K pppp BDH 8M pppp BDH 8N pppp BDH 88K pppp BDH 88M pppp BDH 88P pppp BDH 88M pppp BDH 88P pppp BDH 88L pppp BDH 88P pppp BSH P ppppa 78 BSH T ppppa 78 BSH M ppppa 78 BSH P ppppa 78 BSH T ppppa 78 BSH M ppppa 78 BSH P ppppa 78 BSH 7P ppppa 78 BSH 7T ppppa 78 BSH 7M ppppa 78 BSH 7P ppppa 78 BSH 7T ppppa 78 BSH 7P ppppa 78 BSH 7T ppppa 78 BSH P ppppa 78 BSH T ppppa 78 BSH P ppppa 78 BSH T ppppa 78 BSH M ppppa 78 BSH P ppppa 78 BSH M ppppa 78 BSH P ppppa 78 BSH T ppppa 78 BSH M ppppa 79 BSH P ppppa 79 BSH T ppppa 79 BSH M ppppa 79 BSH P ppppa 79 BSH M ppppa 79 BSH P ppppa 79 BSH M ppppa 79 BSH M ppppa 79 BSH P ppppa 79 BSH M pppa 79 BSH P pppa 79 BSH M pppa 79 BSH P pppa 79 G GBX ppp ppp pd GBX ppp ppp pf 9 GBX ppp ppp pd GBX ppp ppp pf 9 GBX 8 ppp ppp pd GBX 8 ppp ppp pf 9 GBX ppp ppp pd GBX ppp ppp pf 9 GBX ppp ppp pd GBX ppp ppp pf 9 GV Lp GV L L LC D9pp LC Dpp LC D8pp LC Dpp LC Dpp LC D8pp LC Kpp LXM HCNX 8 LXM HCNX 8 LXM LDN 8 LXM LDM 8 LXM LD7N 8 LXM LDM 8 LXM LD8M 8 LXM LUN 8 LXM MD8N 8 LXM MDN 8 LXM MDN 8 N NSHMA NSLMA NW BP8 NW RR8 T TSX CAN CA TSX CAN CA TSX CAN CA TSX CAN CADD pp TSX CAN CB TSX CAN CB TSX CAN CB TSX CAN CBDD p TSX CAN CD TSX CAN CD TSX CAN CD TSX CAP S 7 TSX CAP S9 7 TSX CAY p 7 TSX CAY 7 TSX CAY p 7 TSX CCP S 7 TSX CCP S 7 TSX CCP S 7 TSX CDP 7 TSX CDP 7 TSX CDP 7 TSX CDP p 7 TSX CDP p 7 TSX CDP 7 TSX CPP TSX CSY 8 TSX CSY 8p 8 TSX CXP 7 TSX CXP 7 TSX CXP 7 TSX CXP 7 TSX CXP 7 TSX CXP 7 TSX FP ACCp TSX FP ACCp TSX FP CA TSX FP CA TSX FP CA TSX FP CC TSX FP CC TSX FP CC TSX FP CR TSX FP CR TSX FP CR TSX PBS CA 7 TSX PBS CA 7 TSX TAP MAS 7 TSX TAP S 7 V VW A7 R7 VW A7 R VW A7 R VW A7 R7 VW A7 R VW A7 R VW A7 R7 VW A7 R VW A7 R VW A7 R7 VW A7 R VW A7 R VW A7 R7 VW A7 R VW A7 R VW A7 R7 VW A7 R VW A7 R VW A7 7 R7 VW A7 7 R VW A7 7 R VW A7 8 R7 VW A7 8 R VW A7 8 R VW A7 7p VW M 7 VW M p VW M p VW M p 9 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R 8 VW M R 8 VW M R 8 VW M R 8 VW M R 8 VW M R 8 VW M R 8 VW M R7 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R7 and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R7 and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R and 8 VW M R7 and 8 VW M p 7 VW M R 8 VW M R 8 VW M R 8 VW M R 8 VW M8 R and 8 VW M8 R and 8 VW M8 R and 8 VW M8 R and 8 VW M8 R and 8 VW M8 R and 8 VW M8 R and 8 VW M8 R7 and 8 VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R VW M8 R7 VW M8 R 9 VW M8 R 9 VW M8 R 9 VW M8 R 9 VW M

198 The efficiency of Telemecanique branded solutions Used in combination, Telemecanique products provide quality solutions, meeting all your Automation and Control applications requirements. Motion control: : to A BSH motors:. to Nm A worldwide presence Constantly available b More than points of sale in countries. b 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: :, to 7 A BDH motors:.8 to Nm BSH motors:. to 9 Nm Technical assistance wherever you are b Our technicians are at your disposal to assist you in finding the optimum solution for your particular needs. b 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 motion@us.schneider-electric.com Photos: Schneider Electric Printed by: DIAEDUS ART. 88 /