Motion control Lexium 32

Transcription

1 Motion control Lexium 3 Catalogue August 9

2 Contents Lexium 3 motion control Lexium 3 offer b Presentation page b Servo motor/servo drive combinations page 6 Lexium 3 servo drives b Functions page b Characteristics page b References v Servo drives page 4 v Accessories page 8 b Options v Communication buses and networks page 3 v Encoder cards for Lexium 3M servo drives page 38 v Safety card for Lexium 3M servo drives page 4 v Braking resistors page 4 v page 46 v Line chokes page 48 v SoMove setup software page 5 b Dimensions page 5 b Schemes page 54 b Motor starters page 56 b Mounting and installation recommendations page 58 BMH servo motors b Presentation page 6 b Characteristics page 6 b References page 74 b Dimensions page 78 b Options v Integrated holding brake and sensor page 8 v GBX planetary gearboxes page 8 BSH servo motors b Presentation page 88 b Characteristics page 9 b References page b Dimensions page 6 b Options v Integrated holding brake and sensor page 8 v GBX planetary gearboxes page 7 Technical appendice b Sizing a servo motor page 7

3 Presentation Lexium 3 motion control LXM 3 servo drive controlling a printing machine LXM 3 servo drive controlling a pick and place robot Lexium 3 servo drive controlling a cut to length machine Presentation The Lexium 3 range of servo drives includes three servo drive models associated with two servo motor ranges for optimum use which can adapt to demands for high performance, power and simplicity of use in motion control applications. It covers power ratings between.5 and 7 kw. The Lexium 3 servo drive offer is designed to simplify the life cycle of machines. The SoMove setup software, side-by-side mounting and colour-coded plug-in connectors, easily accessible on the front panel or on top of the servo drives, all make installation, setup and maintenance easier. Maintenance is also quicker and cheaper thanks to the new duplication and backup tools. Performance is improved by optimised motor control: reduction of vibration with optimisation increases machine productivity. The compact size of the servo drives and servo motors provides maximum power in the minimum space, enabling the machine dimensions and costs to be reduced. A number of standard communication cards and encoders enable adaptation to numerous types of architecture on the market. Integrated safety function and access to additional safety functions reduce design times and make it easier to comply with safety standards. Applications for industrial machines The Lexium 3 servo drive incorporates functions which are suitable for the most common applications, including: b Printing: cutting, machines with position control, etc. b Packaging and wrapping: cutting to length, rotary knife, bottling, capsuling, labelling, etc. b b b b Textiles: winding, spinning, weaving, embroidery, etc. Handling: conveying, palletization, warehousing, pick and place, etc. Transfer machines (gantry cranes, hoists), etc. Description The Lexium 3 range of servo drives covers motor power ratings between.5 kw and 7 kw with three types of power supply: b b b V single-phase,.5 kw to.8 kw (LXM 3ppppM) 4 V single-phase,.3 kw to.6 kw (LXM 3ppppM) V three-phase,.4 kw to 7 kw (LXM 3ppppN4) The entire range conforms to international standards IEC/EN and requirements of directives regarding protection of the environment (RoHS) as well as those of European Directives to obtain the e marking. Electromagnetic compatibility (EMC) compliance with EMC simplify installation and make it very inexpensive to bring the device into conformity to obtain the e marking. the level of emissions (see page 47). Accessories and options External accessories and options such as braking resistors, line chokes, etc. complete this offer. Functions: page Characteristics: page page 4 page 5 Schemes: page 54

4 Presentation (continued) Lexium 3 motion control Simplicity, from installation to maintenance Lexium 3C, 3A and 3M servo drives Safety card Encoder card Communication card 4 Human-Machine Interface (HMI) BMH servo motor BSH servo motor faults, access parameters and modify them in manual mode using the navigation button. 5 Remote graphic display terminal The Lexium 3 servo drive can be connected to a remote display terminal, available as an option. This terminal can be mounted on an enclosure door with IP 54 degree of protection. It provides access to the same functions as the Human-Machine interface and some additional functions. 6 Multi-Loader tool SoMove setup software 3 and loaded onto another servo drive. The servo drives can be powered-down. Oscilloscope function in automatic mode or in manual mode, and also for maintenance of the Lexium 3 servo drive, like all other Schneider Electric drives and starters. It can be used with a direct connection or a Bluetooth wireless connection. 7 Memory card 4 This stores all the servo drive parameters. When replacing a Lexium 3 servo drive, this function ensures immediate startup since the programming time has been eliminated. Maintenance time is optimised, and costs reduced. 8 Auto-tuning Installation and maintenance Adapted to each user, the three auto-tuning levels, automatic, semi-automatic and expert, allow your machine to achieve a high level of performance, whatever the application. Several Lexium 3 servo drives can be mounted side by side to save space. are easily accessed on the front panel or on top of the drive. 9 Functions: page Characteristics: page page 4 page 5 Schemes: page 54 3

5 Presentation (continued) Lexium 3 motion control CANopen machine bus CANmotion LMC Lexium controller Performance The Lexium 3 servo drive offer increases machine performance due to the following characteristics: b Overload capacity: the high peak current (up to 4 times the direct current) increases the range of movement b a small space b High bandwidth: better speed stability and faster acceleration improve the quality of control b Motor control: reduction of vibration, speed observer and additional band-stop 3 4 Lexium integrated drive Lexium 3A Flexibility Depending on the model, the Lexium 3 servo drive has logic or analog inputs and It also has control interfaces for easy access to the various architecture levels: b It has a control interface for control via pulse train b It integrates a combined CANopen/CANmotion port for enhanced control system performance b It can also be connected to the main communication networks and buses using various communication cards. The following protocols are available: DeviceNet, EtherNet/IP and PROFIBUS DP V. 5 Lexium SD3 stepper drive BMH servo motor BSH servo motor Safety The Lexium 3 range of servo drives forms part of a control system's safety system restarting of the servo motor. This function complies with standard IEC/EN 658 level SIL governing electrical installations and the power drive systems standard IEC/EN 68-. An additional esm module is available for accessing enhanced safety functions. 6 Altivar 3 drive BMH and BSH servo motors: dynamics and power BMH and BSH servo motors are synchronous three-phase motors. They feature a SinCos Hiperface encoder for sending data from the servo motor to the servo drive automatically, and are available with or without a holding brake. 7 BMH servo motors BMH servo motors are motors with medium inertia. They are perfectly adapted to high-load applications and allow the movement to be adjusted in a more robust manner. This product offer covers a continuous stall torque range between. Nm and 84 Nm for nominal speeds between and 6 rpm Lexium 3M servo drive Example of control system architecture with CANopen and CANmotion machine bus BSH servo motors BSH servo motors satisfy requirements for precision and high dynamic performance, due to the low rotor inertia. They are compact, and offer a high power density. This product offer covers a continuous stall torque range between.5 Nm and 33.4 Nm for nominal speeds between 5 and 6 rpm -. Functions: page Characteristics: page page 4 page 5 Schemes: page 54 4

6 Presentation (continued) Lexium 3 motion control Main functions Type of servo drive LXM 3C LXM 3A LXM 3M Communication Integrated Modbus serial link Pulse train 4 V c logic inputs () 4 V c capture inputs () () 4 V c logic outputs () Modbus serial link CANopen, CANmotion machine bus Modbus serial link Pulse train As an option CANopen, CANmotion machine bus, DeviceNet, EtherNet/IP, PROFIBUS DP Operating modes Functions Manual mode (JOG) Electronic gearbox Speed control Current control Homing Manual mode (JOG) Speed control Current control Position control Auto-tuning, monitoring, stopping, conversion Stop window Rapid entry of position values Homing Manual mode (JOG) Motion sequence Electronic gearbox Speed control Current control Position control Stop window Rapid entry of position values Rotary axes Position register 6, reassignable 3, reassignable 4, reassignable Analog inputs 5, reassignable, reassignable 3, reassignable 3 4 Pulse control input ESIM PTO output b RS 4 link b 5 V or 4 V push-pull b 5 V or 4 V open collector RS 4 link 5 Human/Machine Interface Via integrated display terminal: Manual mode (positive/negative, fast/slow), auto-tuning, simple startup, display of information and errors, homing for Lexium 3A and 3M Safety functions Integrated As an option Safe Stop (SS) and Safe Stop (SS) Safe Operating Stop (SOS) Safe Limited Speed (SLS) Sensor Integrated SinCos Hiperface sensor Architecture As an option Resolver encoder Analog encoder Digital encoder Control via: b Logic or analog I/O Control via: b Motion controller via CANopen and CANmotion machine bus Type of servo motor BMH BSH Application type High load With robust adjustment of the movement High dynamic range Power density Flange size 7,, 4 and 5 55, 7, and 4 Continuous stall torque. to 84 Nm.5 to 33.4 Nm Encoder type Single turn SinCos: b 3,768 points/turn and b 3,7 points/turn Multiturn SinCos: b 3,768 points/turn x 496 turns and b 3,7 points/turn x 496 turns Degree of protection Casing IP 65 (IP 67 conformity kit as an option) IP 65 Shaft end IP 5 or IP 65 (IP 67 conformity kit as an option) Control via: b Schneider Electric or third-party PLCs via communication buses and networks Single turn SinCos: b 3,7 points/turn Multiturn SinCos: b 3,7 points/turn x 496 turns IP 5 or IP 65 () Unless otherwise stated, the logic I/O can be used in positive logic (Sink inputs, Source outputs) or negative logic (Source inputs, Sink outputs). () The capture inputs can be used as standard logic inputs

7 Lexium 3 offer (continued) Lexium 3 motion control V single-phase supply voltage Servo drive/servo motor combinations Lexium 3 servo drive/bmh or BSH servo motor combinations Servo motors Lexium 3C, 3A and 3M servo drives 3 BMH (IP 5 or IP 65) BSH (IP 5 or IP 65) LXM 3pU9M Continuous output current: 3 A rms Nominal operating point Stall torques Type of servo motor Rotor inertia BMH 7T.59 BMH 7T.3 BMH 73T.67 BMHT 3. BMHT 6.3 Type of servo motor Rotor inertia Nominal torque Nominal speed Nominal power M / () kgcm kgcm Nm rpm W Nm/Nm BSH 55T /.5 BSH 55T /.9 BSH 553T.3 BSH 7T.5 BSH 7T.4 BSH T.4 () - M : Continuous stall torque - : Peak stall torque

8 LXM 3pD8M Continuous output current: 6 A rms LXM 3pD3M Continuous output current: A rms Nominal operating point Stall torques Nominal operating point Stall torques 3 Nominal torque Nominal speed Nominal power M / () Nominal torque Nominal speed Nominal power M / () Nm rpm W Nm/Nm Nm rpm W Nm/Nm / / / / / / / / /

9 Lexium 3 offer (continued) Lexium 3 motion control Supply voltage 4 V single phase Servo drive/servo motor combinations Lexium 3 servo drive/bmh or BSH servo motor combinations Servo motors Lexium 3C, 3A and 3M servo drives 3 BMH (IP 5 or IP 65) BSH (IP 5 or IP 65) LXM 3pU45M Continuous output current:.5 A rms Nominal operating point Stall torques Type of servo motor Rotor inertia BMH 7T.59 BMH 7T.3 BMH 73T.67 BMH T 3. BMH T 6.3 BMH 3T 9.4 BMH 4P 6.5 Type of servo motor Rotor inertia Nominal torque Nominal speed Nominal power M / () kgcm kgcm Nm rpm W Nm/Nm BSH 55T /.4 BSH 55T. BSH 553T.3 BSH 7T.5 BSH 7T.4 BSH 73T.58 BSH T.4 BSH T.3 () - M : Continuous stall torque - : Peak stall torque

10 LXM 3pU9M Continuous output current: 3 A rms Nominal operating point Nominal torque Nominal speed Nominal power Stall torques M / () LXM 3pD8M Continuous output current: 6 A rms Nominal operating point Nominal torque Nominal speed Nominal power Stall torques M / () LXM 3pD3M Continuous output current: A rms Nominal operating point Nominal torque Nominal speed Nominal power Stall torques M / () Nm rpm W Nm/Nm Nm rpm W Nm/Nm Nm rpm W Nm/Nm / / / / / / / / / / / / / /

11 Lexium 3 offer (continued) Lexium 3 motion control V three-phase supply voltage Servo drive/servo motor combinations Lexium 3 servo drive/bmh or BSH servo motor combinations Servo motors Lexium 3C, 3A and 3M servo drives 3 BMH (IP 5 or IP 65) BSH (IP 5 or IP 65) LXM 3pU6N4 Continuous output current:.5 A rms Nominal operating point Stall torques LXM 3pDN4 Continuous output current: 3 A rms Nominal operating point Stall torques Motor type Rotor inertia Motor type Rotor inertia Nominal torque Nominal speed Nominal power M / () Nominal torque Nominal speed Nominal power M / () kgcm kgcm Nm rpm W Nm/Nm Nm rpm W Nm/Nm BSH 55P /.5 BSH 55P /.5 BSH 553P /3.5 BMH 7P /4. BMH 7P /4. BSH 7P /3.5 BSH 7P /7.6 BMH P /.8 BMH 7P /7.4 BMH 73P.67 BMH P 3. BMH P 6.3 BMH 3P 9.4 BMH 4P 6.5 BMH 4P 3. BMH 43P 47.5 BMH 5P 7.4 BMH 5P 9 BMH 53P 9 BSH 73P.58 BSH P.4 BSH P.3 BSH 3P 3. BSH 4P 4. BSH 4P 7.4 BSH 4T.7 BSH 43T 7.9 BSH 44P 3.7 () - M : Continuous stall torque - : Peak stall torque

12 LXM 3pD8N4 Continuous output current: 6 A rms Nominal operating point Stall torques LXM 3pD3N4 Continuous output current: A rms Nominal operating point Stall torques LXM 3pD7N4 (r) Continuous output current: 4 A rms Nominal operating point Stall torques 3 Nominal torque Nominal speed Nominal power M / () Nominal torque Nominal speed Nominal power M / () Nominal torque Nominal speed Nominal power Nm rpm W Nm/Nm Nm rpm W Nm Nm rpm W Nm M / () / / / / / / / / / / / / / / / / / / / r Available 4 th quarter 9

13 Functions Lexium 3 motion control Lexium 3 servo drives General overview of Lexium 3 functions The Lexium 3 servo drive drive integrates different operating modes, enabling it to be used in a wide range of industrial applications. There are two main function families: b v v v b v v v - Conventional adjustment modes, such as: Homing Manual mode (JOG) for position or speed Auto-tuning of the servo drive/servo motor combination Operating modes, such as: Position control: Point-to-point mode Motion sequence mode Electronic gearing mode (pulse position and speed control) Speed control: Motion sequence mode Electronic gearing mode Speed control with acceleration/deceleration ramp Instantaneous speed control Current control: Current control Two types of operation are possible, in local mode or via communication buses and networks. In local mode: b The user interface b The remote graphic display terminal b The SoMove setup software Movements are then determined by: b Analog signals (± V) PTI signals (pulse/direction (P/D), A/B or CW/CCW signals) b In this mode, limit switches and homing switches are not managed by the servo drive. It is, however, possible to limit movement by assigning a logic input. Via communication buses and networks: All the servo drive parameters and those associated with the operating modes can be accessed via: b The communication buses and networks, in addition to access via the user interface b The remote display terminal b The SoMove setup software The following table indicates the control type and the sources of setpoint values available for each of the operating modes. Operating modes Control Setpoint value via Adjustment modes Homing (for Lexium 3A and M) Manual mode (JOG) Auto-tuning Operating modes Point-to-point mode (for Lexium 3A and M) Motion sequence mode (for Lexium 3M) Electronic gearing mode (for Lexium 3C and M) Speed control with ramp Current control Functions available Via communication buses and networks Local Buses and networks or SoMove setup software Buses and networks, SoMove setup software, user interface or remote display terminal Buses and networks or SoMove setup software Buses and networks or SoMove setup software Buses and networks or SoMove setup software Pulse/direction (P/D), A/B or CW/CCW signals Buses and networks or SoMove setup software Analog input, buses and networks or SoMove setup software Functions not available

14 Functions (continued) Lexium 3 motion control Lexium 3 servo drives Adjustment modes Homing Note: Available with Lexium 3A and Lexium 3M servo drives. Before performing an absolute movement in point-to-point mode, a homing operation must be carried out. Homing consists of associating an axis position with a known mechanical position. This position then becomes the reference position for any subsequent movement of the axis. Homing is carried out by: b Immediately writing the actual position register b Movements up to a reference sensor Homing with search for sensors Four types of homing with movement to sensors are possible: b Homing on - limit switch, LIMN b Homing on + limit switch, LIMP b rotation b rotation pulse into account. LIMN LIMP M 3 R- Move at search speed HMn Move at output speed HMn_out 3 Clearance at distance HMdis at output speed HMn_out HMdis HMdisout_max HMn HMn_out Homing operating mode: example with limit switch and clearance from sensor edge Forced homing Forced homing consists of setting the current motor position as the new reference point to which all subsequent positioning data refer. M M M After power-up, the position value is. Start towards the home point: the servo motor is positioned using a relative movement of increments Forced homing to value by writing the actual position expressed in user units 3 Initiation of a command to move 4 increments to the absolute position. The target position is 4 increments (if forced homing (step ) were not performed, the target position would be 44 increments (+ 4)). Inc 3 Forced homing operating mode 4 Inc Homing parameters The homing parameters are transmitted via the communication buses and networks, or using the SoMove setup software. Presentation: page Characteristics: page page 4 page 5 Schemes: page 54 3

15 Functions (continued) Lexium 3 motion control Lexium 3 servo drives Adjustment modes Manual mode (JOG) This mode enables an axis to be moved manually. The movement can be carried out over one movement step (position JOG) or continuously, at constant speed (speed JOG). Two speeds of movement are available (slow or fast). interface or the remote display terminal. Setpoint value in manual mode (position JOG) Manual mode works in local mode via the reassignable logic inputs LIp or via communication buses and networks using a bit from the control word (Bit, Bit, etc.). or to a rising edge of a bit from the control word (Bit, Bit ), a movement step is carried out at low or high speed. The choice between low and high speed of level of a bit from the control word (Bit ). startman, Bit or LI (JOG fast/slow) startman, Bit or LI (JOG positive) startman, Bit or LI (JOG negative) JOGn_slow Actual speed (n_act) JOGstepusr t < JOGtime 3 JOGtime 3 JOGn_fast Machine adjustment in manual mode (position JOG) Setpoint value in manual mode (speed JOG) parameter. The acceleration/deceleration ramp is set to the maximum value JOG mode. Activation of a new command does not interrupt an active command. JOG positive JOG negative JOGn_fast Actual speed (n_act) JOGn_fast Machine adjustment in manual mode (speed JOG) Presentation: page Characteristics: page page 4 page 5 Schemes: page 54 4

16 Functions (continued) Lexium 3 motion control Lexium 3 servo drives Adjustment and operating modes Auto-tuning of the servo drive/servo motor combination The auto-tuning function integrated in the servo drive enables tuning of the servo This function is activated via: b b b The user interface The remote display terminal The SoMove setup software The user has a choice of three auto-tuning modes: b Automatic mode: This enables automatic tuning of the servo control parameters, without user intervention. This mode is designed for simple applications. b Semi-automatic mode: This enables automatic tuning of the standard parameters used in the majority of motion applications. It does, however, offer the user the opportunity to modify certain parameters to ensure optimum use of the servo motor/ servo drive combination. b each adjustment parameter. This mode is designed for complex applications. The SoMove setup software also provides access to screens for making servo control adjustments in each of the three modes. Point-to-point mode Note: Available with Lexium 3A and Lexium 3M servo drives. This mode, also referred to as PTP, is used to move the axis from a position A to a position B. The movement can be absolute: this consists of expressing position B in relation to a home position (the axis must have previously been referenced), or relative position: in this case the movement is performed in relation to the current axis position (A). The movement is performed according to acceleration, deceleration and speed parameters. Setpoint value The setpoint value is transmitted via the communication buses and networks, or using the SoMove setup software. Software limits Movement generator Target position Limiting Speed setpoint Limiting Actual servo motor speed Max. speed Acceleration Deceleration Point-to-point mode, absolute and relative movements Possible applications A motion controller for coordinated axes or a PLC can manage several axes controlled via communication buses and networks. This mode is often used in: b b Material handling Automated inspection For multi-axis applications requiring fast and precise sequences, we recommend using the motion sequence operating mode (see page 6). Presentation: page Characteristics: page page 4 page 5 Schemes: page 54 5

17 Functions (continued) Lexium 3 motion control Lexium 3 servo drives Operating modes Motion sequence mode Note: Available with the Lexium 3M servo drive. A more sophisticated mode than that for the Lexium 5 servo drive, this is used for programming the parameters required for executing rapid movements. It allows absolute or relative movement of the axis from a point A to a point B, in accordance another movement. The motion setpoint can be an relative or absolute movement, Homing positions can also be added to the sequences. The movement is executed according to the selected acceleration, deceleration and speed parameters. It is also possible to choose the sequencing type and conditions for the various movements. Sequencing types and conditions Based on PLCopen, several types of sequencing are available to the user. It is possible to link movements in sequence without passing through zero speed (linked movements), by aborting the movement during or at the end of execution. The sequencing conditions are also varied: level or edge of a logic input, request by communication bus, waiting periods. It is also possible to have a logical combination of two conditions. times. Example of movement sequencing b Movement is used to move from initial point O to point A in 5 ms b Movement is used to move from point A to point B in 5 ms b Movement 3 is used to move from point B to point C in ms b Movement 4 is used to move from point C to point D in 3 ms b Movement 5 is used to move from point D to the initial point O in 8 ms at negative speed. Position D B C M3 M4 A M O M O Speed (rpm) 4 t (ms) 3 5 M M M3 M4 t (ms) Example of a movement executed using 5 movement stages Note: It is also possible to keep the axis in position (zero speed) between movement stages. Presentation: page Characteristics: page page 4 page 5 Schemes: page 54 6

18 Functions (continued) Lexium 3 motion control Lexium 3 servo drives Operating modes Motion sequence mode (continued) Possible applications This mode is used for applications requiring fast, precise sequences, and where movements are being made over short distances: b b b b Material handling Automated inspection Punching Drilling, etc. Electronic gearing mode (pulse position and speed control mode) Note: Available with Lexium 3C and Lexium 3M servo drives. In this mode, a master/slave relationship is established between a number of Lexium 3 servo drives or between a Lexium 3 servo drive and an external master (external A/B encoder, pulse/direction signals (P/D)). This mode is also used for position and speed control via pulse train (pulse/direction (P/D) or CW/CCW signals, depending on the servo drive) sent by an axis controller (PLC, motion controller, numerical controller, etc.). The Lexium 3 servo drive's integrated electronic reduction ratio makes it possible to adapt the pulse train frequency to the frequency of the servo drive input. This means that the servo motor's full speed range can be utilised. The ratio and direction of operation parameters can be accessed dynamically via the communication buses and networks. IMAX NMAX GEARratio GearNum GearDenom Position, speed or current control Pulses P/D CW/CCW A/B N D M M 3 a IOposInterface GEARdir_enable E Electronic gearing mode Possible applications b Handling b Conveying b Packing b Cutting to length b Speed control with acceleration/deceleration ramp In this operating mode, the speed setpoint is applied according to an acceleration/ deceleration ramp that can be adjusted using parameters. The speed setpoint can of two axes which are in speed control mode, and enables position control mode to Presentation: page Characteristics: page page 4 page 5 Schemes: page 54 7

19 Functions (continued) Lexium 3 motion control Lexium 3 servo drives Operating modes Speed control with acceleration/deceleration ramp (continued) Setpoint value The setpoint value is transmitted via the communication bus and networks, or the SoMove setup software. Speed setpoint Max. speed Acceleration Deceleration Limiting Actual servo motor speed Speed control with acceleration/deceleration ramp operating mode Possible applications Examples include turntable management, printing, labelling applications, etc. Instantaneous speed control In this mode the Lexium 3 servo drive can be used with an analog output motion controller. It is suitable for all other high-performance speed control requirements. Setpoint value The setpoint value is transmitted: b Via analog input or a parameter for Lexium 3C servo drives b Via a parameter for the Lexium 3A and 3M servo drive Speed or current limiting is transmitted: b Via analog input or a parameter for the Lexium 3C servo drive b Via a parameter for Lexium 3A and 3M servo drives Note: A reassignable logic input can also be used to limit speed. n_scale Operating mode Speed control IMAX for current limiting NMAX for speed limiting Analog input Scaling (± V) Speed and current control Parameters (bus or SoMove) Analog input (± V) Scaling Current limiting Speed limiting No limiting Selection of limiting type M E ESIM pulses Scaling l_scale NREF ESIMscale ESIM output activation Instantaneous speed control operating mode with current limiting via analog input Use with analog output motion controller Axis position feedback can be supplied to the axis controller (PLC, motion controller, numerical controller, etc.) by the ESIM (Encoder SIMulation) output on the RS 4 interface. Possible applications b Handling b Packing b Cutting to length b Winding and unwinding applications Presentation: page Characteristics: page page 4 page 5 Schemes: page 54 8

20 Functions (continued) Lexium 3 motion control Lexium 3 servo drives Operating modes Current control Current control is necessary for servo motor torque control. This mode, which can be added onto the other modes, is used in machine phases where torque control is crucial. Setpoint value The setpoint value is transmitted: b Via analog input or a parameter for Lexium 3C servo drives b Via a parameter for the Lexium 3A and 3M servo drive Speed or current limiting is transmitted: b Via analog input or a parameter for the Lexium 3C servo drive b Via a parameter for Lexium 3A and 3M servo drives The ESIM (Encoder SIMulation) output on the RS 4 interface can be used to transmit the position and speed of the servo motor to the axis controller (PLC, motion controller, numerical controller, etc.). l_scale Operating mode Speed control IMAX for current limiting NMAX for speed limiting Analog input Scaling (± V) Speed and current control Parameters (bus or SoMove) Analog input (± V) Scaling Current limiting Speed limiting No limiting Selection of limiting type IREF M E ESIM pulses Scaling ESIMscale ESIM output activation Current control operating mode with speed limiting via analog input Possible applications b b Special machines Other functions b Control functions: v Status monitoring in movement mode v Monitoring of the axis signals v v Monitoring switching v Monitoring communication on the communication buses and networks b Entering the various scaling factors b Adjusting the movement generator b Activating the STOP signal b Triggering the fast stop function (Quick-Stop) b Activating the motor brake via the HBC (Holding Brake Controller) b Reversing the direction of rotation of the motor b Reading the analog input values b Determining the signal logic b Possible replacement of the servo motor encoder with an external encoder to close the position loop b b b Rotary axes (rollover) Position register for controlling logic outputs Controlling third-party motors b Logic I/O, some of which are reassignable b Communication buses and networks b The SoMove setup software b The servo drive user interface b The remote graphic display terminal 9

21 Characteristics Lexium 3 motion control Servo drives Environmental characteristics Conformity to standards Lexium 3 servo drives have been developed to conform to the strictest levels of international standards and the recommendations relating to electrical industrial control equipment (IEC, EN), including: IEC/EN (low voltage) and IEC/EN 68-3 (conducted and radiated EMC immunity and emissions) e marking EMC immunity IEC/EN 68-3, environments and IEC/EN 6-4- level 3 IEC/EN level 3 IEC/EN level 4 IEC/EN level 3 Conducted EMC emissions for servo drives Radiated EMC emissions for servo drives b IEC/EN 68-3, environment, category C3 b EN 55 class A group (): b EN 55 class A group, IEC/EN 68-3 category C b EN 55 class A group, IEC/EN 68-3 category C3 b IEC/EN 68-3, environment, category C3 b EN 55 class A group Lexium 3 servo drives are marked e according to the European low voltage (6/95/EC) and EMC (4/8/EC) directives UL (USA), CSA (Canada) RoHS, TÜV Degree of protection IP conforming to IEC/EN 68-5-, IEC/EN 659 Vibration resistance According to IEC/EN :.5 mm peak to peak from 3 Hz to 3 Hz gn from 3 Hz to 5 Hz Shock resistance According to IEC/EN 63 paragraph gn for ms conforming to IEC/EN Maximum ambient pollution Degree conforming to IEC/EN Environmental conditions Relative humidity Ambient air temperature around the device IEC category 3C According to IEC , category 3K3, 5% to 85%, without condensation Operation C + 5 Temperature derating and limitations: see mounting recommendations page 58 Storage C Type of cooling LXM 3pU45M LXM 3pU9M LXM 3pU6N4 LXM 3pD8M LXM 3pD3M LXM 3pDN4 LXM 3pD8N4 LXM 3pD3N4 LXM 3pD7N4 Natural convection Integrated fan Maximum operating altitude m without derating Up to 3 under the following conditions: b Temperature 5 C max. b With derating of the motor output current by % per additional m b Using a voltage limiter above m Operating position Maximum permanent angle in relation to the normal vertical mounting position Drive characteristics Switching frequency khz 8 () See table on page 47 to check permitted cable lengths. Presentation: page Functions: page page 4 page 5 Schemes: page 54

22 Characteristics (continued) Lexium 3 motion control Servo drives Electrical power characteristics Power supply Voltages V - 5%... + % single-phase for LXM 3ppppM - 5% % single-phase for LXM 3ppppM 38-5% % three-phase for LXM 3ppppN4 External 4 V c power supply (not provided) () Frequency Hz 5-5% % Transient overvoltage Overvoltage category III, conforming to IEC Inrush current A < 6 Leakage current ma < 3 Input voltage V 4 (-5 / +%) Input current (no-load) A Ripple y 5% Signalling Output voltage Electrical isolation Connection cable characteristics Recommended cable type for mounting in an enclosure red LED: LED on indicates the presence of servo drive voltage Maximum three-phase voltage equal to line supply voltage Between power and control (inputs, outputs, power supplies) Single-strand IEC cable, ambient temperature 45 C, copper 9 C XLPE/EPR or copper 7 C PVC Connection characteristics (power supply, braking resistor and servo motor terminals) Servo drive terminals Maximum wire size and tightening torque for the power supply, braking resistor and servo motor terminals R/L, S/L, T/L3 (power supply) 5 mm (AWG ).7 Nm PA/+, PBI, PBe (external braking resistor) 3 mm (AWG ).5 Nm U/T, V/T, W/T3 (servo motor) 5 mm (AWG ).7 Nm See characteristics of VW3 M5 p Rppp and VW3 M5 3p Rpppp cables on pages 76, 77 and 4, 5 Control signal characteristics Type of servo drive LXM 3Cppppp LXM 3Appppp LXM 3Mppppp Protection Inputs Against reverse polarity Outputs Against short-circuits 4 V c I/O logic Positive logic (Sink input/source output) or negative logic (Source input/sink output). Default setting: positive logic. Logic inputs Type 4 V c logic inputs with positive (Sink) or negative (Source) logic Number 6, reassignable 3, reassignable 4, reassignable Power supply V c 4 Sampling period ms.5 ms Positive logic (Sink) Negative logic (Source) State if < 5 V or input not wired, state if > 5 V Logic inputs conforming to standard IEC/EN 63- type State if > 9 V or input not wired, state if < 9 V () Please consult our specialist catalogue "Phaseo power supplies and transformers". Presentation: page Functions: page page 4 page 5 Schemes: page 54

23 Characteristics (continued) Lexium 3 motion control Servo drives Control signal characteristics (continued) Type of servo drive LXM 3Cppppp LXM 3Appppp LXM 3Mppppp Capture inputs Type 4 V c logic inputs Can be used as standard logic inputs Number Power supply V c 4 Safety inputs Type Number Power supply V c 4 Response time ms y 5 Positive logic (Sink) Logic outputs Type (STO_A, STO_B) State if < 5 V or input not wired, state if > 5 V Logic inputs conforming to standard IEC/EN 63- type 4 V c logic outputs with positive (Source) or negative (Sink) logic. Number 5, reassignable, reassignable 3, reassignable Output voltage V y 3, conforming to standard IEC/EN 63- Sampling period µs 5 Max. breaking current ma 5 Voltage drop V (at 5 ma load) Analog inputs Type Resolution bit 4 ± V differential analog inputs Number (ANA +/ANA, ANA +/ANA ) Input resistance k u Sampling period µs 5 Absolute error Less than ±.5% Linearity Less than ±.5% Pulse/direction (P/D), A/B, CW/CCW signals Type Number Signal input frequency RS 4 link khz y 5 V or 4 V push-pull khz y 5 V or 4 V open collector khz y 5 V, 4 V or RS 4 link interface for 5 V, 4 V signals or RS 4 link Maximum cable length RS 4 link m ESIM (Encoder SIMulation) PTO signals Type 5 V or 4 V push-pull m 5 V or 4 V open collector m Output frequency khz y 5 Maximum cable length m Servo motor encoder feedback signals RS 4 link Voltages Encoder power supply V + / ma SinCos input signals V V SS with.5 V offset.5 V SS at khz Input resistance Connection characteristics of the control signal terminals Servo drive terminals Safe Torque Off STO safety inputs (4 V c power supply) Logic inputs (4 V c power supply) Maximum wire size 3 mm (AWG ) mm (AWG 6) Presentation: page Functions: page page 4 page 5 Schemes: page 54

24 Characteristics (continued) Lexium 3 motion control Servo drives Functional safety characteristics Protection Of the machine (PL d), and standard IEC/EN Of the system process Communication port characteristics CANopen and CANmotion protocols (on LXM 3Appppp servo drives) restarting of the servo motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN Protocol type CANopen CANmotion Structure Connectors RJ45 labelled CN4 or CN5 Network management Transmission speed Address (Node ID) Slave Transmission speed depends on the length of the bus: b 5 kbps for bus lengths of up to m b 5 kbps for bus lengths of up to 5 m b 5 kbps for bus lengths of up to 5 m b 5 kbps for bus lengths of up to m b Mbps for bus lengths of up to 4 m, where no segment is no longer than.3 m Service PDOs (Process Data Objects) Implicit exchange of PDOs: b PDO modes Number of SDOs (Service Data Objects) Emergency Event-triggered, Time-triggered, Remotelyrequested, Sync (cyclic), Sync (acyclic) Explicit exchange of SDOs: b receive SDOs b transmit SDOs Yes Implicit exchange of PDOs: b PDOs conforming to DSP 4 (position control mode) Sync (cyclic) Explicit exchange of SDOs: b receive SDO b transmit SDO Communication monitoring Node guarding, heartbeat Position control mode Diagnostics Using LEDs Display of faults Full diagnostics with the SoMove setup software Modbus protocol (on all servo drive models) Structure Connector RJ45 (labelled CN7) Physical interface Transmission mode Transmission speed Polarization Number of servo drives -wire RS 485 multidrop RTU 96 bps, 9. kbps or 38.4 kbps for serial links of up to 4 m No polarization impedances These must be provided by the wiring system (for example, in the master) 3 Lexium 3 servo drives maximum Address Diagnostics Display of faults on integrated display terminal Presentation: page Functions: page page 4 page 5 Schemes: page 54 3

25 References Lexium 3 motion control Servo drives Lexium 3C, 3A and 3M servo drives Output current at 8 khz Nominal power at 8 khz Line current () Max. prospective line Isc Reference Weight Continuous (rms) Peak (rms) () A A kw A A ka kg Single-phase supply voltage: 5 V a (3) LXM 3CU45M.6 LXM 3AU45M.6 LXM 3MU45M.7 LXM 3Cppppp LXM 3CU9M.7 LXM 3AU9M.7 LXM 3MU9M LXM 3CD8M.8 LXM 3AD8M.8 LXM 3MD8M LXM 3CD3M. LXM 3AD3M. LXM 3MD3M. Single-phase supply voltage: 3 V a (3) LXM 3CU45M.6 LXM 3AU45M.6 LXM 3MU45M LXM 3CU9M.7 LXM 3AU9M.7 LXM 3MU9M LXM 3CD8M.8 LXM 3AD8M.8 LXM 3MD8M.9 LXM 3Appppp LXM 3CD3M. LXM 3AD3M. LXM 3MD3M. () Maximum value for 3 seconds () With line choke (see page 49) 47) Presentation: page Functions: page Characteristics: page page 5 Schemes: page 54 4

26 References (continued) Lexium 3 motion control Servo drives Lexium 3C, 3A and 3M servo drives (continued) Output current at 8 khz Nominal power at 8 khz Line current () Max. prospective line Isc Reference Weight Continuous (rms) Peak (rms)() A A kw A A ka kg Three-phase supply voltage: 38 V a (3) LXM 3CU6N4.7 LXM 3AU6N4.7 LXM 3MU6N LXM 3CDN4.8 LXM 3ADN4.8 LXM 3MDN4.9 LXM 3Mppppp LXM 3CD8N4. LXM 3AD8N4. LXM 3MD8N LXM 3CD3N4.6 LXM 3AD3N4.6 LXM 3MD3N LXM 3CD7N4 LXM 3AD7N4 LXM 3MD7N4 Three-phase supply voltage: 48 V a (3) LXM 3CU6N4.7 LXM 3AU6N4.7 LXM 3MU6N LXM 3CDN4.8 LXM 3ADN4.8 LXM 3MDN LXM 3CD8N4. LXM 3AD8N4. LXM 3MD8N LXM 3CD3N4.6 LXM 3AD3N4.6 LXM 3MD3N LXM 3CD7N4 LXM 3AD7N4 LXM 3MD7N4 () Maximum value for 3 seconds () With line choke (see page 49) 47) Presentation: page Functions: page Characteristics: page page 5 Schemes: page 54 5

27 References (continued) Lexium 3 motion control Servo drives Remote graphic display terminal (to be ordered separately) () Lexium 3 servo drives can be connected to a remote graphic display terminal, which can be used remotely using remote mounting accessories. This terminal can be mounted on an enclosure door with IP 54 degree of protection. This terminal is common to various ranges of variable speed drive or servo drive. It has a graphic screen and accesses the same functions as the integrated display and control keys on the servo drive but also to some additional functions. It can be used for example to: b b b b b Display the servo drive status and faults remotely Override the servo drive I/O Execute motion sequences Its main characteristics are as follows: b The graphic screen displays 8 lines of 4 characters of plain text. b The navigation button provides quick and easy access to the drop-down menus. b It is supplied with six languages installed as standard (Chinese, English, French, Its maximum operating temperature is 6 C. PF9 9 8 Graphic display terminal + remote-mounting cordset + female/female RJ45 adaptor Description Graphic display unit: - 8 lines of 4 characters, 4 x 6 pixels - Large digit display - Bar chart display Function keys ESC key: Aborts a value, a parameter or a menu to return to the previous selection FW/REV key: Local control for reversing the direction of rotation of the motor Navigation button: - Rotate ±: Goes to the next or previous line, increases or decreases the value - Press: Saves the current value ( ENT ) 6 Motor local control keys: RUN : Starts the motor STOP/RESET : Local control of motor stopping/drive fault clearing - Remote graphic display terminal Remote-mounting cordset Female/female RJ45 adaptor References Description Item no. Length m Reference Weight kg Remote graphic display terminal A remote-mounting cordset (VW3 A 4Rpp) and an RJ45 adaptor (VW3 A 5) are also required 7 VW3 A Remote-mounting cordsets equipped with RJ45 connectors 8 VW3 A 4R.5 3 VW3 A 4R3.5 5 VW3 A 4R5.5 VW3 A 4R.5 Female/female RJ45 adaptor 9 VW3 A 5. () This terminal may require a software upgrade using the VW3 A8 Multi-Loader Presentation: page Functions: page Characteristics: page page 5 Schemes: page 54 6

28 References (continued) Lexium 3 motion control Servo drives Documentation Description Reference Weight kg Description of the Motion & Drives offer DVD-ROM () comprising: b Technical documentation (programming manuals, installation manuals, quick reference guides) b SoMove Lite setup software b Catalogues, brochures Servo drive name plate Description Use Dimensions cm Name plate (sold in lots of 5) This contains information about the servo drive. To be clipped onto the top right-hand part of the servo drive VW3 A8. Available on our website Reference Weight kg 38.5 x 3 VW3 M 5 SoMove setup software VW3 A8 5 USB-Bluetooth adaptor Description Use Reference Weight kg SoMove setup software and associated accessories SoMove setup software Cordset Modbus-Bluetooth adaptor. USB-Bluetooth adaptor for PC Lexium 3 servo drive. Downloadable from our website See page 5 This is used to connect the Lexium 3 servo drive to the USB port on the PC..5 m cable equipped with: b b RJ45 connector (servo drive end) and USB connector (PC end) For establishing a Bluetooth wireless connection between the Lexium 3 servo drive and a PC equipped with a Bluetooth wireless link. Supplied with: b Bluetooth adaptor (range m, class ) with RJ45 connector b x. m cordset with x RJ45 connectors b Etc. () This is required for a PC that does not have Bluetooth technology. Connects to the USB port on the PC. Range of m, class. TCS MCNAM 3MP VW3 A VW3 A8 5. Multi-Loader tool duplicating them on another drive. The drives do not need to be powered-up. Supplied with: b cordset equipped with RJ45 connectors b cordset equipped with one type A USB connector and one mini B USB connector b x GB SD memory card b x female/female RJ 45 adaptor b 4 AA.5 V LR6 round batteries VW3 A8 VW3 A8 Multi-Loader VW3 M8 75 memory card Memory card Memory card Used to store parameters of the Lexium 3 servo drive. Another Lexium 3 servo drive can be commissioned immediately if the application is undergoing maintenance or duplication. VW3 M8 75 Pack of 5 memory cards VW3 M8 74 Memory card recorder Writes data from the Lexium 3 servo drive to the memory card. This recorder is not supplied by Schneider Electric. See the User's manual () The documentation for the servo drives and servo motors is also available on our website () Also includes other components for connecting compatible Schneider Electric devices. Presentation: page Functions: page Characteristics: page page 5 Schemes: page 54 7

29 References (continued) Lexium 3 motion control Servo drives Connection accessories Replacement connectors Description Used for Connector kit Lexium 3C Comprising: b 3 connectors for the line supply b connector for the DC bus b 3 connectors for the I/O b connector for the motor power supply b connector for the holding brake Description Reference Weight kg VW3 M Lexium 3A Lexium 3M Lexium 3 (all types) Comprising: b 3 connectors for the line supply b connector for the DC bus b connectors for the I/O b connector for the motor power supply b connector for the holding brake Comprising: b 3 connectors for the line supply b connector for the DC bus b 3 connectors for the I/O b connector for the motor power supply b connector for the holding brake Comprising: b connectors for creating extension cordsets for the DC bus VW3 M VW3 M 3 VW3 M 7 Cordsets Used for Daisy chain connection of the DC bus between two Lexium 3 servo drives Daisy chain connection or pulse control for the Lexium 3C and 3M servo drives Adaptor for motor encoder cable (replacement of a Lexium 5 servo drive with a Lexium 3 servo drive) Description Equipped with connectors for Lexium 3 servo drive (Sold in lots of 5) Equipped with RJ45 connectors Equipped with RJ45 connector and a free end Equipped with one -way Molex connector and one RJ45 connector (Lexium 3 servo drive end). Cable length m Length m Reference Weight kg. VW3 M7 R.3 VW3 M8 5R3.5.5 VW3 M8 5R5.6 3 VW3 M8 3R3 VW3 M8 R Adaptor for motor encoder cable (replacement of a Lexium 5 servo drive with a Lexium 3 servo drive) Equipped with one 5-way male SUB-D connector and one RJ45 connector (Lexium 3 servo drive end). Cable length m VW3 M8 R Presentation: page Functions: page Characteristics: page page 5 Schemes: page 54 8

30 References (continued) Lexium 3 motion control Lexium 3A servo drives M38 PLC 5 CANopen machine bus CANopen and CANmotion machine bus for Lexium 3A servo drives Lexium 3A servo drives can be connected directly to the CANopen machine bus using an RJ45 connector. To simplify daisy chain connection, each servo drive is equipped with two connectors of this type (marked CN4 and CN5). monitoring functions. Used with a Lexium Controller motion controller, the CANmotion bus can be used to control motion for applications with up to eight Lexium 3A servo drives. Twido programmable controller + TWD NCM Lexium 3A Lexium 3A CANopen machine bus Example of architecture with control by M38 PLC Example of architecture with control by Twido programmable controller Lexium Controller LMC or LMC A3p CANopen machine bus Lexium 3A 4 3 Lexium 3A Lexium 3A Lexium 3A Example of architecture with control by LMC Lexium Controller Connection accessories () Description Use Item no. Reference Weight kg CANopen IP junction box RJ45 ports Line terminator (equipped with one RJ45 connector) Cordsets and cables () Tap-off from trunk cable for RJ45 wiring Connection to the RJ45 connector VW3 CAN TAP.48 TCS CAR 3M.9 Description Use Item no. Length Reference Weight CANopen cordsets () equipped with RJ45 connectors CANopen cordsets () equipped with one 9-way female SUB-D connector with integrated line terminator and one RJ45 connector CANopen cables () Standard cables, e marking Low smoke emission, halogen-free Flame retardant (IEC 633-) CANopen cables () e marking Flame retardant (IEC 633-) CANopen cables () Cables for harsh environments () or mobile installation, e marking Low smoke emission, halogen-free Flame retardant (IEC 633-) From To m kg VW3 CAN TAP LXM 3A servo drive junction box (CN4 and CN5 LXM 3A servo drive connectors) (CN4 and CN5 connectors) Twido programmable controller Lexium controller motion controller LMC, LMC A3p PLC PLC PLC LXM 3A servo drive (CN4 and CN5 connectors) VW3 CAN TAP junction box VW3 CAN TAP junction box VW3 CAN TAP junction box 3.3 VW3 CAN CARR3.3 VW3 CAN CARR.5 4 VW3 M3 85R 3 VW3 M3 85R3 5 5 TSX CAN CA TSX CAN CA TSX CAN CA TSX CAN CB TSX CAN CB TSX CAN CB TSX CAN CD TSX CAN CD TSX CAN CD 3.7 () For other CANopen machine bus connection accessories, please consult the Machines & installations with CANopen catalogue. () Harsh environment: - Resistance to hydrocarbons, industrial oils, detergents, solder splashes - Relative humidity up to % - Saline atmosphere - Operating temperature between - C and + 7 C Presentation: page Functions: page Characteristics: page page 5 Schemes: page 54 9

31 Presentation Lexium 3 motion control Communication buses and networks CANopen machine bus Presentation Lexium 3A servo drives integrate the CANopen communication protocol as standard (see characteristics on page 3). If one of the communication cards (available as options) is added, the Lexium 3M servo drive can be connected to the following communication buses and networks: b CANopen and CANmotion machine bus b b b EtherNet/IP network CANopen and CANmotion machine bus Presentation Modicon M38 PLC CANopen machine bus Lexium 3M ATV 3 ATV 7 Osicoder encoder Osicoder encoder of CAN. It complies with standard ISO 898. With its standardized communication various devices (drives, motor starters, smart sensors, etc.). The CANopen machine bus is a multi-master bus, which provides secure, deterministic access to real-time automation device data. The CSMA/CA type protocol is based on broadcast exchanges, transmitted cyclically or on event, which ensure optimum use of the bandwidth. A messaging channel is also used to set the parameters of the slave devices. A tiered CANopen connectivity solution reduces costs and optimizes the control system architecture, thanks to: b Reduced cabling time b Greater reliability of the load b Flexibility should you need to add or remove equipment A single communication card provides access to either the CANopen or CANmotion machine bus. 3

32 Characteristics Lexium 3 motion control Communication buses and networks CANopen machine bus Characteristics of VW3 A3 6p8 CANopen/CANmotion cards Protocol type CANopen CANmotion Structure Connectors RJ45 connectors or one 9-way male SUB-D connector Network management Transmission speed Address (Node ID) Slave Transmission speed depends on the length of the bus: b 5 kbps for bus lengths of up to m b 5 kbps for bus lengths of up to 5 m b 5 kbps for bus lengths of up to 5 m b 5 kbps for bus lengths of up to m b Mbps for bus lengths of up to 4 m, where no segment is no longer than.3 m Service PDOs (Process Data Objects) Implicit exchange of PDOs: b PDO modes Number of SDOs (Service Data Objects) Emergency Event-triggered, Time-triggered, Remotelyrequested, Sync (cyclic), Sync (acyclic) Explicit exchange of SDOs: b receive SDOs b transmit SDOs Yes Implicit exchange of PDOs: b PDOs conforming to DSP 4 (position control mode) Sync (cyclic) Explicit exchange of SDOs: b receive SDO b transmit SDO Communication monitoring Node guarding, heartbeat Position control mode Diagnostics Using LEDs Using the graphic display terminal Fault display Complete diagnostics with SoMove setup software 3

33 References Lexium 3 motion control Communication buses and networks CANopen machine bus Twido or programmable controller 6 CANopen machine bus or 5 Lexium Controller Lexium 3 Lexium 3 Example of connecting Lexium 3M with VW3 A3 68 card CANopen/CANmotion machine bus connection components Communication cards Description Type of port Item no. Reference Weight kg CANopen/CANmotion cards for Lexium 3M servo drives Connection accessories RJ45 connectors One 9-way male SUB-D connector VW3 A3 68 VW3 A3 68 Description Type of port Item no. Reference Weight CANopen IP junction boxes () Line terminator RJ45 ports 3 VW3 CAN TAP.48 4 SUB-D ports. Line terminator kg 4 TSX CAN TDM4.96 With RJ45 connector TCS CAR 3M.9 Stripped wires TCS CAR NM IP CANopen connectors () 9-way female SUB-D type. Line termination switch Straight TSX CAN KCDF8T.49 Angled at 9 TSX CAN KCDF9T.46 Angled at 9 with 9-way SUB-D for connecting PC or diagnostic tool TSX CAN KCDF9TP.5 Twido or Lexium programmable Controller controller Cordsets () Description Use Item no. CANopen cordsets equipped with one RJ45 connector at each end Length Reference Weight From To m kg LXM 3A servo drive VW3 A3 68 card VW3 CAN TAP junction box VW3 A3 68 card LXM 3A servo drive 5.3 VW3 CAN CARR3.3 VW3 CAN CARR.5 CANopen machine bus or 7 4 CANopen cordsets equipped with one 9-way female SUB-D connector with integrated line terminator and one RJ45 connector Twido programmable controller LMC LMC A3 Lexium Controller VW3 A3 68 card LXM 3A servo drive 6 VW3 M3 85R 3 VW3 M3 85R3 7 Lexium 3 7 Example of connecting Lexium 3M with VW3 A3 68 card Lexium 3 CANopen IP cordsets equipped with one 9-way female SUB-D 9 connector at each end. Standard cables, e marking Low smoke emission, halogen-free Flame retardant (IEC 633-) CANopen IP cordsets equipped with one 9-way female SUB-D 9 connector at each end. Standard cables, e marking Flame retardant (IEC 633-) LMC LMC A3 Lexium Controller TSX CAN TDM4 junction box LMC LMC A3 Lexium Controller TSX CAN TDM4 junction box VW3 A3 68 card TSX CAN TDM4 junction box VW3 A3 68 card TSX CAN TDM4 junction box 7.3 TSX CAN CADD 3.9 TSX CAN CADD.43 3 TSX CAN CADD TSX CAN CADD TSX CAN CBDD 3.86 TSX CAN CBDD.3 3 TSX CAN CBDD TSX CAN CBDD 5.4 () To order other components for connection to the CANopen machine bus, please refer to the Automation platform Modicon Premium and Unity - PL7 software and Machines & installations with CANopen catalogues. 3

34 References (continued) Lexium 3 motion control Communication buses and networks CANopen machine bus M38 programmable controller 3 5 CANopen machine bus CANopen/CANmotion machine bus connection components (continued) Connection cables () Description Use Item no. CANopen cables () Standard cables, e marking Low smoke emission, halogen-free Flame retardant (IEC 633-) CANopen cables () e marking Flame retardant (IEC 633-) Length Reference Weight From To m kg TSX CAN KCDF9T connector M38 PLC TSX CAN KCDF9T connector M38 PLC TSX CAN KCDF9T connector M38 PLC TSX CAN KCDF9T connector VW3 CAN TAP junction box TSX CAN TDM4 junction box 8 5 TSX CAN CA TSX CAN CA TSX CAN CA TSX CAN CB TSX CAN CB TSX CAN CB 3.87 Example of connecting Lexium 3M with VW3 A3 68 and VW3 A3 68 cards CANopen cables () Cable for harsh environment () or mobile installation, e marking Low smoke emission, halogen-free Flame retardant (IEC 633-) TSX CAN KCDF9T connector M38 PLC TSX CAN KCDF9T connector VW3 CAN TAP junction box TSX CAN TDM4 junction box 8 5 TSX CAN CD TSX CAN CD TSX CAN CD 3.7 () To order other CANopen machine bus connection components, please refer to the Machines & installations with CANopen catalogue. () Harsh environment: - Resistance to hydrocarbons, industrial oils, detergents, solder splashes - Relative humidity up to % - Saline atmosphere - Operating temperature between - C and + 7 C 33

35 Presentation, characteristics, references Lexium 3 motion control Communication buses and networks Presentation Magelis XBT Third-party control system Altivar 3 Lexium 3M Lexium 3M ATV 7 to manage a large number of devices remotely. It is based on CAN technology (OSI layers and ). The physical link is made up of two shielded twisted pairs to which it is possible to connect up to 63 slaves. Each slave constitutes a network node. Each end must have a line terminator. standardize motion control solutions, while remaining independent of the system controlling the machine. Characteristics of the VW3 M3 3 DeviceNet card Structure Connector One removable screw connector, 5 contacts with 5.8 pitch Transmission speed Maximum cable length Address m at 5 kbps, 5 m at 5 kbps Services I/O data b Standard assemblies: Output assembly, Input assembly b Extended assemblies: Output assembly, Input assembly b Motion assemblies: Output assembly, Input assembly Periodic exchange mode Auto Device Replacement Inputs: Polled, Change of state, Cyclic Outputs: Polled Yes Communication monitoring Time out (which can be inhibited) Diagnostics Using LEDs Using the graphic display terminal Control mode received Reference received Reference Description Used for Type of port Reference Weight kg DeviceNet card Lexium 3M servo drive removable screw connector VW3 M3 3 34

36 Presentation, characteristics, references Lexium 3 motion control Communication buses and networks Presentation Other communication network Quantum () Lexium 3 Lexium 3 Repeaters (3 max.) With Unity, PL7 and Sycon software () Altivar 7 Structure Connector One 9-way female SUB-D connector PROFIBUS DP has a linear bus topology with a master/slave type centralized access procedure. interfaces are available for establishing star or ring tree structures. VW3 A3 67 communication card. Other devices can be connected to the PROFIBUS DP bus such as PLCs (), STB I/O (), Altivar variable speed drives (3), Osicoder rotary encoders (4), etc. Transmission speed Address 9.6 kbps, 9. kbps and kbps for bus lengths of m 87.5 kbps for bus lengths of m 5 kbps for bus lengths of 4 m.5 Mbps for bus lengths of m 3 Mbps, 6 Mbps and Mbps for bus lengths of m Application layer I/O data Depends on the application layer Messaging DPV acyclic message Diagnostics Using LEDs Using the graphic display terminal Fault display Complete diagnostics with SoMove setup software parameters. Reference Description Used for Type of port Reference Weight kg Communication card PROFIBUS DP V card Lexium 3M servo drives One 9-way female SUB-D connector () Please refer to the Automation platform Modicon Quantum and Unity software catalogue. () Please refer to the Human-Machine interfaces catalogue. (3) Please refer to the Soft starters and variable speed drives catalogue. (4) Please refer to the Global Detection catalogue. VW3 A

37 Presentation, characteristics Lexium 3 motion control Communication buses and networks EtherNet/IP network EtherNet/IP network Presentation Premium (bus manager) Lexium 3M Lexium 3M EtherNet/IP network Altivar 3 ATV 7 EtherNet/IP is an application layer industrial protocol specially designed for the industrial environment. Based on the CIP (Control & Information Protocol) layer, it uses widely implemented Ethernet protocols: TCP (Transport Control Protocol) and IP (Internet Protocol). It thus offers an integrated transparent connection system to the company network. Media access is random. Thanks to its high speed, the network no longer restricts the application's performance. EtherNet/IP, the pre-eminent open protocol, supports all types of communication: b b b Web pages File transfers Messaging Characteristics of the VW3 A3 66 EtherNet/IP card Structure Connectors RJ45 connectors Transmission speed / Mbps, half duplex and full duplex, by manual selection or auto-negotiation Address Physical IEEE 8.3 Manual assignment via the graphic display terminal or SoMove setup software BOOTP DHCP Conformity level Industrial Link LLC: IEEE 8. MAC: IEEE 8.3 Automatic switching Network Transport IP (RFC79) ICMP client for supporting certain IP services such as the "ping" command TCP (RFC793), UDP The maximum number of connections is 8 (port 5) 36

38 Characteristics (continued), references Lexium 3 motion control Communication buses and networks EtherNet/IP network Characteristics of the VW3 A3 66 EtherNet/IP card (continued) Services CIP explicit message Permits access to all the drive's parameters Web server Network management File transfer The memory available for the application is approximately 4 MB. Drive monitor: displays the drive status and the state of its I/O, the main measurements (speed, current, etc.) signalling transmission counters Message statistics: displays the TCP/IP and CIP counters sent on alarm, fault or fault reset Generic SNMP FTP for Web server Diagnostics Using LEDs Using the graphic display terminal Via the Web server Control word received Reference received Number of incorrect frames Via the "Drive monitor", "Drive parameters", "Ethernet statistics", "Message statistics" and "Net IO monitoring" pages EtherNet/IP network connection components Description Communication card EtherNet/IP card Used for Lexium 3M servo drives Type of port Length m () Reference Weight kg RJ45 connectors VW3 A ConneXium cordsets (conforming to EIA/TIA-568 standard category 5 and IEC 8/EN 573, class D) Straight shielded twisted pair cables EtherNet/IP card RJ45 connectors 49 NTW 5 49 NTW 5 49 NTW Crossed shielded twisted pair cables EtherNet/IP card RJ45 connectors 5 49 NTC NTC 5 ConneXium cordsets (conforming to UL and CSA. standards) Straight shielded twisted pair cables EtherNet/IP card RJ45 connectors 49 NTW U 5 49 NTW 5U 5 49 NTW U Crossed shielded twisted pair cables EtherNet/IP card RJ45 connectors 5 49 NTC 5U 5 49 NTC 5U () Also exist in 4 and 8 metre lengths. To order other EtherNet/IP network connection components, please refer to the Communication networks in machines and installations catalogue. 37

39 Presentation, characteristics, references Lexium 3 motion control Option: Encoder cards for Lexium 3M servo drives Presentation The Lexium 3M servo drive can take an encoder interface card. This has an input available for an additional encoder, thus offering the following advantages: b Possible to connect to third-party motors, which increases the installation's b Possible to improve positioning accuracy by reducing the effect of mechanical backlash thanks to position measurement directly on the machine, and to satisfy the requirements of simple applications or very complex systems which need a very quick response or very accurate path following VW3 M3 4 encoder card Three cards are available depending on the encoder technology: b Resolver encoder b Encoder with digital output b Encoder with analog output Characteristics VW3 M3 4 resolver interface card Type of connection 9-way female SUB-D connector VW3 M3 4 interface card for digital output encoder Power supply Type of connection A/B/I BISS EnDat. V 5 c SSI V V c VW3 M3 43 interface card for analog output encoder Power supply Vpp/Hall Vpp EnDat. Type of connection References Description Technology type V 5 c Hiperface V c Encoder type Reference Weight Machine encoder Motor encoder kg Resolver card VW3 M3 4 Interface card for digital output encoder Interface card for analog output encoder A/B/I VW3 M3 4 SSI BISS EnDat. Vpp VW3 M3 43 Vpp/Hall EnDat. Hiperface Connection accessories Connectors Description Composition Length m Connector 9-way male SUB-D For resolver card Reference Weight kg AEO CON Cordset Cordset equipped with 5-way high density SUB-D connector For interface card for digital or analog output encoder 5 VW3 M4 75 Connecting cable Cable for creating cordsets for encoder interface cards [5 x ( x.5 mm ) + ( x.5 mm )] VW3 M8 R. 38

40 Presentation, references Lexium 3 motion control Option: Encoder cards for Lexium 3M servo drives Osicoder machine encoders for VW3 M3 4 encoder card Presentation To meet requirements for machine encoders, Schneider Electric offers the Osicoder range of encoders. They connect to the VW3 M3 4 encoder interface card with digital output. The Osicoder offer consists of incremental encoders and absolute encoders. requirements for machine encoders with A/B/I output signal. The proposed absolute encoders are among the most commonly used machine encoders with SSI interface. For more information about the Osicoder offer, please refer to the Rotary encoders Osicoder Ø 58 mm incremental encoder Operating on the principle of in-line differential optical reading, XCC incremental encoders are extremely rugged, thanks to their technology based on photosensitive cells and their triple light source. The cyclic ratio is maintained even in the event of: b b b Failure of one of the sender components XCC 5PSM5X incremental encoder Resolution 5 8, points Type of connection Male M3 radial connector Type of output stage Supply voltage Reference Weight kg 5 V, RS V XCC 5PSM5X.465 Note: XCC incremental encoders can also be used as a master encoder on Lexium 3C and Lexium 3M servo drives, when connected to the PTI input. Ø 58 mm absolute encoders An absolute encoder continuously delivers a code which is the image of the actual power after a power failure, the encoder will deliver a data item which can be used directly by the processing system. XCC 5PS8SBN absolute encoder Single turn encoder with Ø mm solid shaft Resolution Type of connection 89 points Male M3 radial connector Type of output stage SSI, 3 bits, binary Supply voltage Reference Weight kg 3 V XCC 5PS8SBN.46 Multiturn encoder with Ø mm solid shaft 89 points x 496 turns Male M3 radial connector SSI, 5 bits, binary 3 V XCC 35PS84SBN

41 Presentation, functions Lexium 3 motion control Option: Safety card for Lexium 3M servo drives n Controlled braking Presentation The esm safety card allows Lexium 3 servo drives to access additional safety complex safety device, while ensuring reliable monitoring of the installation. The esm card optimises the overall cost of the installation by avoiding the addition of external safety products, while conforming to international safety standards. As a result, wiring is cheaper and quicker. It also improves performance during maintenance by reducing machine or installation stopping times and increases the safety of any work carried out. Servo motor speed Activation of the Safe Stop (SS) safety function n Servo motor speed SS activation SS activation STO activation (zero torque) Controlled braking SOS activation (maximum torque) Activation of the Safe Stop (SS) safety function t (s) t (s) It includes safety functions compliant with standard IEC/EN These functions, required in the majority of applications, are as follows: b b b b b Safety functions Safe Stop (SS) safety function The SS safety function is used to achieve a category safe stop. After activating the function, the servo motor is braked in a controlled manner, maintaining the power on the actuators. The power is then cut when the actuators stop after the machine has come to a halt. Safe Stop (SS) safety function The SS safety function is used to achieve a category safe stop. After activating the function, the servo motor is braked in a controlled manner, maintaining the power on the actuators. Once the motor has come to a halt, it is immobilised with the n Configured maximum speed SS activation Controlled braking SOS activation Activation of the Safe Limited Speed (SLS) safety function t (s) Safe Limited Speed (SLS) safety function speed is exceeded, the servo motor will be stopped in accordance with SS. Safe Operating Stop (SOS) safety function The SOS safety function is used to monitor any deviation from the standstill position, once the servo motor has come to a halt. 4

42 Characteristics, references Lexium 3 motion control Option: Safety card for Lexium 3M servo drives 5695 Electrical characteristics Power supply V c 4 (min. 9, max. 3) VW3 M3 5 safety card Logic inputs Logic outputs Conformity to standards References Description esm safety card for Lexium 3 servo drives Preassembled cordset with a 4-way female connector (safety card end) and a free end x 4 V c logic inputs Protection against reverse polarity Switching thresholds: b b b Conforming to standard IEC 63- type State if y 5 V State if u 5 V 7 x 4 V c open collector logic outputs Short-circuit protection Conforms to the machine safety standard ISO 3849-, Conforms to the functional safety standard IEC/EN 658, SIL 3 capability Conforms to the functional safety standard IEC/EN 66, SIL 3 capability Cable length m Reference Weight VW3 M3 5 3 VW3 M8 8R3 kg 4

43 Presentation, sizing Lexium 3 motion control Option: braking resistors for servo drives Braking resistors Internal braking resistor A braking resistor is built into the servo drive to absorb the braking energy. If the activated. The restored energy is converted into heat by the braking resistor. External braking resistor When the servo motor has to be braked frequently, an external braking resistor must be used to dissipate the excess braking energy. If an external braking resistor is used, the internal braking resistor must be deactivated. To do this, the shunt between PA/+ and PBI must be removed and the external braking resistor connected between PA/+ and PBE. Two or more external braking resistors can be connected in parallel. The servo drive monitors the power dissipated in the braking resistor. Sizing the braking resistor During braking or deceleration requested by the servo drive, the kinetic energy of the moving load must be absorbed by the servo drive. The energy generated by deceleration charges the capacitors integrated in the servo drive. When the voltage at the capacitor terminals exceeds the permitted threshold, the braking resistor (internal or external) will be activated automatically in order to dissipate this energy. In order to calculate the power to be dissipated by the braking resistor, the user needs a knowledge of the timing diagram giving the servo motor torques and speeds as a function of time in order to identify the curve segments in which the servo drive decelerates the load. Servo motor cycle timing diagram These curves are the same as those used on page 6 for selecting the size of the servo motor. The curve segments during which the servo drive is decelerating must be taken into account (D i ). Servo motor speed n i n3 n D n D D3 t n4 t tt3 t4 t5 t6t7 t8t9 t t t T cycle M3 M M t M4 M5 Required torque M i Characteristics: page 44 4 page 45 page 5

44 Sizing (continued) Lexium 3 motion control Option: braking resistors for servo drives Sizing the braking resistor (continued)) Calculation of the constant deceleration energy J t : Total inertia where: J t = Jm (servo motor inertia) + Jc (load inertia). For Jm, see pages 6 and 88. The energy E i ni t 6 i t which gives the following for the various segments: [ ] π n3 n E = J. t 6 n E J. t 6 n E3 J. t 6 4 where E i is in joules J t in kgm, in radians and n i in rpm. Energy absorbed by the internal capacitor The energy absorption capacity of the servo drive Edrive (without using an internal or external braking resistor) is given for each servo drive in the table on page 44. In the remainder of the calculation, only take account of the D i segments for which the energy E i is greater than the absorption capacity Edrive. This additional energy E Di must be dissipated in the resistor (internal or external): E Di = E i - Edrive (in joules). Calculation of the continuous power The continuous power Pc is calculated for each machine cycle: E Pc= Di Tcycle where Pc is in W, E Di in joules and T cycle in s. Selecting the braking resistor (internal or external) Note The selection is carried out in two steps: The internal braking resistor is adequate if the following two conditions are met: b 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) b The continuous power must be lower than the continuous power of the internal braking resistor (Pc < PPr) If one of the above conditions is not met, an external braking resistor must be used to satisfy these two conditions. The value of the external braking resistor must be between the minimum and maximum values given in the table on page 44. If this range of values is not respected, the servo drive may be subject to disturbance and the load can no longer be braked safely. Characteristics: page 44 page 45 page 5 43

45 Characteristics Lexium 3 motion control Option: braking resistors for servo drives Characteristics Braking resistors used with LXM 3ppppM servo drives with 5 V a power supply Type of servo drive LXM 3pU45M LXM 3pU9M LXM 3pD8M LXM 3pD3M Number of phases Load threshold V c 43 Energy absorption of the internal capacitors Edrive Joules (Ws) Single-phase Internal resistor Resistance Continuous power PPr W 4 6 Peak energy EPk Joules (Ws) External resistor Minimum resistance Maximum resistance Braking resistors used with LXM 3ppppM servo drives with 3 V a power supply Type of servo drive LXM 3pU45M LXM 3pU9M LXM 3pD8M LXM 3pD3M Number of phases Load threshold V c 43 Energy absorption of the internal capacitors Edrive Joules (Ws) Single-phase Internal resistor Resistance Continuous power PPr W 4 6 Peak energy EPk Joules (Ws) External resistor Minimum resistance Maximum resistance Braking resistors used with LXM 3ppppN4 servo drives with 3 V a power supply Type of servo drive LXM 3 pu6n4 Number of phases Load threshold V c 78 Energy absorption of the internal capacitors Edrive Joules (Ws) Three-phase LXM 3 pdn4 LXM 3 pd8n4 LXM 3 pd3n Internal resistor Resistance Continuous power PPr W Peak energy EPk Joules (Ws) LXM 3 pd7n External resistor Minimum resistance Maximum resistance Braking resistors used with LXM 3ppppN4 servo drives with 48 V a power supply Type of servo drive LXM 3 pu6n4 Number of phases Load threshold V c 78 Energy absorption of the internal capacitors Edrive Joules (Ws) Three-phase LXM 3 pdn4 LXM 3 pd8n4 LXM 3 pd3n Internal resistor Resistance Continuous power PPr W Peak energy EPk Joules (Ws) LXM 3 pd7n External resistor Minimum resistance Maximum resistance Presentation: page 4 Sizing: page 4 page 45 page 5 44

46 Characteristics (continued), references Lexium 3 motion control Option: braking resistors for servo drives General characteristics Type of braking resistor VW3 A7 6 Rpp 68 Rpp VW3 A7 7p Ambient air temperature around the device Conforming to standards Operation C + 5 Storage C UL (except for VW3 A7 6, 64 and 67 braking resistors) Degree of protection of the casing IP 65 IP Connection characteristics Maximum wire size For servo drive For temperature-controlled switch VW3 A7 6 Rpp 68 Rpp Supplied with connection cable VW3 A7 7p Connected on a bar, M6.5 mm (AWG 4) References VW3 A7 6p Rpp Value Continuous power PPr Peak energy EPk 5 V 3 V 38 V 48 V Length of connection cable Reference Weight W Ws Ws Ws Ws m kg 4 8,8 3, VW3 A7 6 R7.4 VW3 A7 6 R.47 3 VW3 A7 6 R3.6 36,5 36,5,5,5 VW3 A , 43, 6,5 6,5 VW3 A VW3 A7 6 R7.63 VW3 A7 6 R.78 3 VW3 A7 6 R VW3 A7 63 R7.93 VW3 A7 63 R.8 3 VW3 A7 63 R3. 4 5,5 8,,4,5.75 VW3 A7 64 R7.4 VW3 A7 64 R.47 3 VW3 A7 64 R VW3 A7 65 R7.6 VW3 A7 65 R.75 3 VW3 A7 65 R3.85 4, VW3 A7 66 R7.93 VW3 A7 66 R.8 3 VW3 A7 66 R ,6 4,7 6, 5,5.75 VW3 A7 67 R7.4 VW3 A7 67 R.47 3 VW3 A7 67 R VW3 A7 68 R7.4 VW3 A7 68 R.56 3 VW3 A7 68 R3.76 Note: The total continuous power dissipated in the external braking resistor(s) must be less than or equal to the nominal power of the Lexium 3 servo drive (see pages 4 and 5). Presentation: page 4 Sizing: page 4 page 5 45

47 Presentation Lexium 3 motion control for servo drives L L L3 Lexium 3 Lexium 3 servo drive M 3 Function IEC/EN 68-3, edition, category C3 in environment, and to comply with the European directive on EMC (electromagnetic compatibility). For servo drive Maximum servo motor cable length conforming to EN 55, class A, Gr IEC/EN 68-3, category C3 in environment Switching frequency: 8 khz m Single-phase supply voltage: 5 V a 5/6 Hz LXM 3ppppM ( metres in category C, environment ) Single-phase supply voltage: 3 V a 5/6 Hz LXM 3ppppM ( metres in category C, environment ) Three-phase supply voltage: 38 V a 5/6 Hz LXM 3ppppN4 Three-phase supply voltage: 48 V a 5/6 Hz LXM 3ppppN4 L L L3 Additional Lexium 3 M 3 Applications stringent requirements and are designed to cut down conducted emissions on the line supply below the limits of standard IEC/EN 68-3, edition, categories C and C3 (see page 47). Lexium 3 servo drive holes for mounting in an enclosure. Use according to the type of line supply Lexium 3 servo drives cannot be used on IT type supplies. (neutral connection) and TT (neutral to earth) type supplies. If a machine is to be installed on an IT type supply, an isolation transformer must be inserted in order to re-create a TT system on the secondary side. Characteristics: page page 47 page 53

48 Characteristics, references Lexium 3 motion control for servo drives Conformity to standards EN 33 Degree of protection IP Relative humidity Ambient air temperature around the device Operation C + 5 Storage C According to IEC , class 3K3, 5% to 85%, without condensation or dripping water Altitude m m without derating Up to m under the following conditions: b Temperature 5 C max. b Mounting distance between servo drives > mm Vibration resistance Conforming to IEC Hz to 57 Hz: amplitude.75 mm 57 Hz to 5 Hz: gn Shock resistance Conforming to IEC gn for ms Maximum nominal voltage Single-phase 5/6 Hz V + % 4 + % Three-phase 5/6 Hz V 4 + % 48 + % Application, category: EN 68-3: - ; IEC 68-3, Ed. Category C in environment Category C3 in environment Description Restricted distribution, for domestic use, sale conditional on the competence of the user and the distributor in terms of EMC compatibility Use in industrial premises Connection characteristics Maximum wire size 5 mm (AWG ) References For servo drive Maximum servo motor cable length conforming to Reference Weight Single-phase supply voltage LXM 3pU45M LXM 3pU9M LXM 3pD8M LXM 3pD3M Three-phase supply voltage LXM 3pU6N4 LXM 3pDN4 LXM 3pD8N4 LXM 3pD3N4 EN 55 class A Gr IEC/EN 68-3 category C in environment Switching frequency 8 khz EN 55 class A Gr IEC/EN 68-3 category C3 in environment Switching frequency 8 khz m m kg 5 VW3 A VW3 A VW3 A4 4.9 LXM 3pD7N4 5 VW3 A Presentation: page 46 page 53 47

49 Presentation, characteristics Lexium 3 motion control Option: Line chokes for servo drives Line chokes L L Line choke Lexium 3 L3 M 3 A line choke can be used to provide improved protection against overvoltages on the line supply and to reduce harmonic distortion of the current produced by the servo drive. The recommended chokes limit the line current. They have been developed in line with standard EN 578 (VDE 6 level highenergy overvoltages on the line supply). nominal line voltage. Values higher than this will cause loss of torque. These chokes must be installed upstream of the servo drive. One line choke can be connected to a number of servo drives. In such cases, the current consumption of all the servo drives at nominal voltage must not exceed the nominal current of the line choke. Applications The use of line chokes is recommended in particular under the following circumstances: b Close connection of several servo drives in parallel b overvoltages) b Line supply with voltage unbalance between phases that is more than.8% of the nominal voltage b Servo drive supplied by a line with very low impedance (in the vicinity of a power transformer times more powerful than the servo drive rating) b Installation of a large number of servo drives on the same line b Reduction of overloads on the cos correction capacitors, if the installation includes a power factor correction unit General characteristics Type of line choke VZ L7UM5 VZ L8UM VW3 A4 553 VW3 A4 554 Conformity to standards Voltage drop Degree of protection Choke IP EN 578 (VDE 6 level high-energy overvoltages on the line supply) Between 3% and 5% of the nominal line voltage. Values higher than this will cause loss of torque. Terminals IP IP Inductance value mh 5 Nominal current A Losses W page 53 48

50 References Lexium 3 motion control Option: Line chokes for servo drives References Line chokes For servo drive Line current and THD Reference Weight Without choke Single-phase supply voltage: 5 V a 5/6 Hz With choke A % A % kg LXM 3pU45M VZ L7UM5.88 LXM 3pU9M VZ L8UM.99 VW3 A4 55p LXM 3pD8M LXM 3pD3M Single-phase supply voltage: 3 V a 5/6 Hz LXM 3pU45M VZ L7UM5.88 LXM 3pU9M VZ L8UM.99 LXM 3pD8M LXM 3pD3M Three-phase supply voltage: 38 V a 5/6 Hz LXM 3pU6N VW3 A LXM 3pDN LXM 3pD8N VW3 A LXM 3pD3N LXM 3pD7N Three-phase supply voltage: 48 V a 5/6 Hz LXM 3pU6N VW3 A LXM 3pDN LXM 3pD8N VW3 A LXM 3pD3N LXM 3pD7N page 53 49

51 Presentation, functions SoMove setup software SoMove start page Connecting the SoMove software to the device SoMove software control panel SoMove software oscilloscope function Presentation SoMove is user-friendly setup software for PCs, for setting up the following Schneider Electric motor control devices: b ATV, ATV 3, ATV 3, ATV 6 and ATV 7 variable speed drives b ATS and ATS 48 starters b TeSys U starter-controllers b TeSys T motor management system b Lexium 3 servo drives SoMove software incorporates various functions for the device setup phases, such as: b b Setup b Maintenance To facilitate setup and maintenance, SoMove software can use a direct USB/RJ45 wireless link. SoMove software is also compatible with the SoMove software and all the DTMs (Device Type Managers) associated with the devices can be downloaded from our website Functions SoMove software has a genuine disconnected mode which provides access to all SoMove software checks the consistency of the parameters, validating the A large number of functions are available in disconnected mode, in particular: b b b Loader, SoMove Mobile or Microsoft Excel . Setup When the PC is connected to the device, SoMove software can be used for: b b Adjustment and monitoring. This includes such functions as: v The oscilloscope v Displaying communication parameters b Easy control using the control panel user interface b Maintenance In order to simplify maintenance operations, SoMove software can be used to: b saved on the PC Compare oscilloscope curves Save oscilloscope curves and faults b b b User interface SoMove software provides fast, direct access to all information on the device via 5 tabs: b My Device: displays all the information on the device (type, reference, software versions, option cards, etc.) b Parameters: displays all the device adjustment parameters, shown in a table or in the form of diagrams b Faults: displays a list of the faults that may be encountered with the device, the fault log and current faults or alarms b Monitoring: provides a dynamic display of the device status, its I/O and all the monitoring parameters. It is possible to create your own control panel by selecting your parameters and how they are to be represented b Oscilloscope: provides a high-speed oscilloscope (recording traces in the device) or low-speed oscilloscope (recording traces in the software for devices that do not have an integrated oscilloscope). 5

52 Functions (continued), references SoMove setup software SoMove setup software Functions (continued) Connections Modbus serial link The PC running SoMove software can be connected directly via the RJ45 connector on the device and the USB port on the PC with the USB/RJ45 cable. See references table below. Bluetooth wireless link SoMove software can communicate via Bluetooth wireless link with a device equipped with the Modbus-Bluetooth adaptor. This adaptor is connected to the terminal port or the Modbus network port on the device. It has a m range (class ). If the PC does not have Bluetooth technology, use the USB-Bluetooth adaptor. See references table below. References Designation Description Reference Weight kg SoMove setup software USB/RJ45 cable Modbus-Bluetooth adaptor USB-Bluetooth adaptor for PC Includes: b SoMove setup software for PC in Chinese, English, French, German, Italian and Spanish b DTMs (Device Type Managers) and technical documentation for variable speed drives, starters and servo motors () Used to connect a PC to the device This cable is.5 m long, and has a USB connector (PC end) and an RJ45 connector (device end). TCSM CNAM 3MP Enables the device to communicate via Bluetooth serial link. Includes: b Bluetooth adaptor (range m, class ) with an RJ45 connector b For SoMove: x. m cable with x RJ45 connectors b For TwidoSuite: x. m cable with RJ45 connector and mini DIN connector VW3 A This adaptor is required for a PC that does not have Bluetooth technology. It is connected to a USB port on the PC. Range m (class ) VW3 A PF VW3 A8 4 Environments b Microsoft Windows SP3 b Microsoft Windows Vista b Pentium IV (or equivalent), GHz, hard disk with GB available space, 5 MB () Available on the Description of the Motion & Drives offer DVD-ROM, VW3 A8, or on our website

53 Dimensions Lexium 3 motion control Servo drives, remote graphic display terminal and braking resistors Lexium 3 servo drives LXM 3CU45M CD8N4 and LXM 3AU45M AD8N4 servo drives 4 xø5, LXM 3MU45M MD8N4 servo drives 4 LXM 3pD3N4 servo drives xø5,5 4xØ5, LXM 3pD7N4 servo drives xØ5, VW3 A remote graphic display terminal 35, 6,5 6, 44,3 Braking resistors VW3 A7 6p braking resistors c 4xØ4,6 = 6 = = VW3 b b c c H A7 6, 65, A7 63, A7 6, 64, = b b H c 8 Presentation: page Functions: page Characteristics: page page 4 Schemes: page 54 5

54 Dimensions (continued) Lexium 3 motion control Braking resistors, and line chokes Braking resistors (continued) VW3 A7 74 and VW3 A7 75 braking resistors 4 4xØ b 4xØ4,5 H VW3 a b c H A A A A c a Line chokes VZ L7UM5 and VZ L8UM single-phase line chokes 4xØ b VZ a b c G H Ø L7UM x 9 L8UM x H c G a VW3 A4 553 and VW3 A4 554 three-phase line chokes b VW3 a b c c G G H Ø A x A x 8xØ H c c G G a Presentation: page Functions: page Characteristics: page page 4 Schemes: page 54 53

55 Schemes Lexium 3 motion control Servo drives Safety requirements Safe Torque Off (STO) safety function Lexium 3 servo drives integrate the Safe Torque Off (STO) function which prevents unintended operation of the servo motor. The servo motor no longer produces any torque. This safety function: b Complies with the machine safety standard ISO 3849-, performance b Complies with the standard for functional safety IEC/EN 658, SIL capability (safety control-signalling applied to processes and systems) The SIL (Safety Integrity Level) capability depends on the connection diagram for the servo drive and for the safety function. Failure to follow the setup recommendations could inhibit the SIL capacity of the safety function. b Complies with the product standard IEC/EN for both stop functions: v Safe Torque Off (STO) v Safe Stop (SS). This safe stop requires a Preventa XPS AV-type safety module with time delay () The Safe Torque Off function has a redundant electronic architecture () which is monitored continuously by a diagnostic function. Performance level (PL) according to ISO Performance level PL a u 5 to < 4 b u 3 x 6 to < 5 Mean probability of hazardous failure per hour /h c u 6 to < 3 x 6 d u 7 to < 6 e u 8 to < 7 Note: In addition to the mean probability of undetected hazardous failure per hour, other measures are also necessary in order to achieve the PL (performance level). Note: Lexium 3 servo drives can be used up to performance level d (PL d). Safety Integrity Levels (SIL) according to IEC/EN 658 undetected hazardous failure per hour between -5 and -6 ). (PL d) according to ISO (SIL: mean probability of undetected hazardous failure per hour between -6 and -7 ). () Please refer to the "Safety functions and solutions using Preventa" catalogue. () Redundant: Consists of mitigating the effects of the failure of one component by means of the correct operation of another, assuming that faults do not occur simultaneously on both. Presentation: page Functions: page Characteristics: page page 4 page 5 54

56 Schemes (continued) Lexium 3 motion control Servo drives Safety requirements Considerations of the Safe Torque Off function The Safe Torque Off function cannot be considered as a means of electrical disconnection of the servo motor (no electrical isolation); if necessary, a Vario switch disconnector must be used. The Safe Torque Off function is not designed to compensate for any malfunction in the servo drive process control or application functions. The output signals available on the servo drive must not be considered as safety-related signals (e.g. Safe Torque Off active); these are Preventa-type safety module outputs () which must be integrated into a safety control-signalling circuit. The information below takes into account conformity with standard IEC/EN 64-, b Category : Stopping by immediate removal of the power from the actuators (e.g. uncontrolled stop) b Category : Controlled stop maintaining the power on the actuators until the machine stops, then removal of the power when the actuators stop once the machine has stopped b Category : Controlled stop maintaining the power on the actuators Applications Conformity with performance level d (PL d) according to ISO and with SIL according to IEC/EN 658 The examples below describe the Lexium 3 servo drive Safe Torque Off function combined with a Preventa safety module to monitor emergency stop circuits. Examples of connection diagrams are available on our website at Machines with short freewheel stopping times (low inertia or high resistive torque). When the activation command is given on the STO inputs with the servo motor controlled, the servo motor power supply is immediately switched off and the motor stops according to category of standard IEC/EN 64-. Restarting is not permitted even when the activation command is given after the servo motor has come to a complete stop. This safe stop is maintained for as long as the STO inputs remain activated. For hoisting applications it is necessary to add a Preventa XPS AC-type safety module (). On a Safe Torque Off command, the servo drive requires the brake to be engaged, but a Preventa safety module contact must be inserted in series in the brake control circuit to engage it safely when a request is made to activate the Safe Torque Off function. Machines with long freewheel stopping times (high inertia or low resistive torque). When the activation command is given, deceleration of the servo motor controlled by Preventa XPS AV-type safety module () which corresponds to the deceleration time, the Safe Torque Off function is activated by the STO inputs. The servo motor stops according to category of standard IEC/EN 64- (Safe Stop : SS). Periodic test The Safe Torque Off safety input must be activated at least once a year for preventive maintenance purposes. The servo drive must be switched off before preventive maintenance takes place, and then powered up again. If the power supply to the servo motor is not switched off during testing, safety integrity is no longer assured for the Safe Torque Off function. The servo drive must therefore be replaced to ensure the operational safety of the machine or the system process. () Please refer to the "Safety functions and solutions using Preventa" catalogue. 55

57 Combinations Lexium 3 motion control Motor starters Applications The combinations listed below can be used to create a complete motor starter unit comprising a contactor and a Lexium 3 servo drive. The contactor turns on and manages any safety features, as well as isolating the servo motor on stopping. The servo drive controls the servo motor, provides protection against short-circuits between the servo drive and the servo motor and protects the motor cable against overloads. The overload protection is provided by the motor thermal protection of the servo drive. Motor starters for Lexium 3 servo drives Servo drive Max. prospective Contactor Reference Nominal power line Isc Reference () () kw ka Single-phase supply voltage: V a 5/6 Hz LXM 3pU45M.5 LC D9pp LXM 3pU9M.3 LC D9pp LXM 3pD8M.5 LC Dpp LXM 3pD3M.8 LC D8pp Single-phase supply voltage: 4 V a 5/6 Hz LXM 3pU45M.3 LC D9pp LXM 3pU9M.5 LC D9pp LXM 3pD8M LC Dpp LXM 3pD3M.6 LC D8pp Three-phase supply voltage: 4 V a 5/6 Hz LXM 3pU6N4.4 5 LC D9pp LXM 3pDN4.9 5 LC D9pp LXM 3pD8N4.8 5 LC D9pp LXM 3pD3N4 3 5 LC Dpp LXM 3pD7N4 7 5 LC D5pp LC D8pp + LXM 3pD3M Three-phase supply voltage: 48 V a 5/6 Hz LXM 3pU6N4.4 5 LC D9pp LXM 3pDN4.9 5 LC D9pp LXM 3pD8N4.8 5 LC D9pp LXM 3pD3N4 3 5 LC Dpp LXM 3pD7N4 7 5 LC D5pp () Composition of contactors: LC Dpp: 3 poles + "N/O" auxiliary contact and "N/C" auxiliary contact. In certain situations, it is possible to use an LC K contactor with "N/C" auxiliary contact. Please refer to the Control and protection components catalogue. () Replace pp with the control circuit voltage reference given in the table below: Volts a 4 48 /3 3 3/4 LC Dpp 5 Hz B5 E5 F5 M5 P5 U5 5 Hz B6 E6 F6 M6 U6 5/6 Hz B7 E7 F7 M7 P7 U7 For other available voltages between 4 V and 66 V, or for a DC control circuit, please consult your customer care centre. Presentation: page Functions: page Characteristics: page page 4 page 5 56

58 Combinations (continued) Lexium 3 motion control Motor starters Protection using fuses Protection using class J fuses (UL standard) Servo drive Fuse to be placed upstream Reference Nominal power kw A Single-phase supply voltage: V a 5/6 Hz LXM 3pU45M.5 4 LXM 3pU9M.3 6 LXM 3pD8M.5 LXM 3pD3M.8 5 Single-phase supply voltage: 4 V a 5/6 Hz LXM 3pU45M.3 4 LXM 3pU9M.5 6 LXM 3pD8M LXM 3pD3M.6 5 Three-phase supply voltage: 4 V a 5/6 Hz LXM 3pU6N4.4 LXM 3pDN4.9 4 LXM 3pD8N4.8 8 LXM 3pD3N4 3 LXM 3pD7N4 7 Three-phase supply voltage: 48 V a 5/6 Hz LXM 3pU6N4.4 LXM 3pDN4.9 3 LXM 3pD8N4.8 8 LXM 3pD3N4 3 LXM 3pD7N4 7 Presentation: page Functions: page Characteristics: page page 4 page 5 57

59 Mounting and installation recommendations Lexium 3 motion control Servo drives 5 mm Mounting recommendations LXM 3pU45M, pu9m and LXM 3pU6N4 servo drives are cooled by natural convection. LXM 3pD8M, pd3m, LXM 3 pdn4, pd8n4, pd3n4 and pd7n4 servo drives have an integrated fan. mm When installing the servo drive in the enclosure, follow the instructions below with regard to the temperature and protection index: b b Do not mount the servo drive near heat sources b 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 Mount the servo drive vertically (± %) b If the servo drive is used above its thermal limits, control stops due to overtemperature Note: For cables that are connected via the underside of the servo drive, a free space u mm is required under the unit to comply with the bending radius of the connection cables. Ambient temperature Mounting distances Instructions to be followed C + 5 C d u mm + 5 C + 6 C d u mm Reduce the output current by.% per C above 5 C Note: Do not use insulated enclosures, as they have a poor level of conductivity. 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, otherwise install a forced ventilation unit with b servo drive fans (see below). b Natural convection Forced ventilation Dissipat Servo drive Dissipated power Ventilation Flow rate LXM 3pU45M LXM 3pU9M LXM 3pU6N4 W 8 Natural convection m 3 /min LXM 3pD8M LXM 3pD3M LXM 3pDN4 LXM 3pD8N4 LXM 3pD3N4 LXM 3pD7N Integrated fan Mounting in metal enclosure (IP 54 degree of protection) The servo drive must be mounted in a dust and damp proof enclosure in certain environmental conditions, such as dust, corrosive gases, high humidity with risk of condensation and dripping water, splashing liquid, etc. In these cases, Lexium 3 servo drives can be installed in an enclosure where the internal temperature must not exceed 6 C. Presentation: page Functions: page Characteristics: page page 4 page 5 58

60 Mounting and installation recommendations (continued) Lexium 3 motion control Servo drives L L L3 Q w v v Primary Calculating the enclosure dimensions Maximum thermal resistance Rth ( C/W) R th e = maximum temperature inside the enclosure in C P e = maximum external temperature in C P = total power dissipated in the enclosure in W Power dissipated by the servo drive: see table on previous page. Add the power dissipated by the other equipment components. Useful heat exchange area of enclosure S (m ) of the areas of the two sides + top + front panel. S= k k = thermal resistance per m of the enclosure For metal enclosures: b k =. with internal fan b k =.5 without fan Note: Do not use insulated enclosures, as they have a poor level of conductivity. Connections ensuring conformity with EMC standards Principle b The earths between the servo drive, servo motor and cable shielding must have b Use shielded cables with shielding connected to earth throughout 36 at both ends for the servo motor cable, the braking resistor cable and the control-signalling cables. Metal conduit or ducting can be used for part of the shielding length provided that there is no break in continuity of the earth connections. b Ensure maximum separation between the power supply cable (line supply) and the motor cable. Note: The HF equipotential earth connection between the servo drive, servo motor and cable shielding does not remove the need to connect the PE protective conductors (green-yellow) to the appropriate terminals on each unit. connected directly to the line supply via an unshielded cable. The power supply on the servo Operation on an IT system (isolated or impedance earthed neutral) Principle Insert a three-phase LV/LV transformer in the supply circuit for the servo drives, which thus allows a TT load system to be recreated on the secondary side. This diagram, with a secondary star transformer, thus meets the following requirements: b b R th Protection of personnel Adaptation of the supply voltage PE R/L S/L T/L3 T Secondary Lexium 3 Connection of a Lexium 3 servo drive to an installation with an IT neutral system Sizing the three-phase T transformer b Lexium servo drives with independent power supply (one transformer per servo drive): Pu = ( 3 Un In K ),5 where Pu = unit power (kva), Un = nominal input voltage (V), In = continuous current (A), K (=.9) = reduction factor for the servo drive, and factor.5 = factor taking account of the inrush and peak currents of the servo drives. b Lexium servo drives with common power supply (one transformer per n servo drives): Pm = ( Pu ) / If Pm < Pu of the largest servo drive, take Pm = Pu of the largest servo drive. Where Pm = usable power (kva) and Pu = servo drive unit power (kva). Formula not applicable for continuous operation (S mode). 59

61 Presentation, functions Lexium 3 motion control BMH servo motors Presentation BMH servo motors excel with best-in-class power density to meet the requirements of most compact machine design. continuous stall torque range from. to 84 Nm for a maximum speed of 8 rpm. BMH servo motor with straight connectors M M eq n avg Work zone BMH servo motor with rotatable angled connectors n max Thanks to their medium inertia motor design, the new BMH servo motors enables higher load inertia per motor frame size and increases the gain for settling, thus satisfying the requirements for robust load and plug-and-play motion tuning. by the Underwriters Laboratories and conform to UL 4 standards as well as to European directives (e marking). BMH servo motors are available with the following variants: b IP 5 or IP 65 degree of protection (IP 67 with compressed air connection kit in option) b With or without holding brake b Straight or angled connectors b Single turn or multiturn SinCos encoder b Untapped or keyed shaft end Torque/speed characteristics on the left with: Peak torque, depending on the servo drive model Continuous torque, depending on the servo drive model where: b b b n max (in rpm) corresponds to the maximum speed of the servo motor (in Nm) represents the peak stall torque value M (in Nm) represents the continuous stall torque value Principle for determining servo motor size according to the application The torque/speed curves can be used to determine the correct servo motor size. Locate the work zone of the application in terms of speed. Verify, using the servo motor cycle timing diagram, that the torques required by the application during the various phases of the cycle are located within the area bounded by curve in the work zone. 3 Calculate the average speed n avg and the equivalent thermal torque M eq (see page 6). 4 n avg and M eq must be located below curve in the work zone. Note: For sizing of servo motors, see page 6. Functions General functions BMH servo motors have been developed to meet the following requirements: b Functional characteristics, ruggedness, safety, etc. in accordance with IEC/EN 634- b Ambient operating temperature: v C according to DIN 59R4. v Maximum 55 C with derating from 4 C by % of the nominal output power per additional C b Relative humidity: IEC category 3K4 b Maximum operating altitude: m without derating, m with k =.86, 3 m with k =.8 () b Storage and transport temperature: C b Winding insulation class: F (threshold temperature for windings 55 C) in accordance with DIN VDE 53 b Power and encoder connection via straight or angled connectors b Thermal protection provided and controlled by the Lexium 3 servo drive via the motor temperature control algorithm b shaft in accordance with DIN 4955, class N b Permitted mounting positions: no mounting restrictions for IMB5 - IMV and IMV3 in accordance with DIN 495 b Polyester resin-based paint: opaque black RAL 95 () k: derating factor Characteristics: page 6 6 page 74 page 78

62 Functions (continued), description Lexium 3 motion control BMH servo motors Functions (continued) General functions (continued) b Degree of protection: v Casing: IP 65 in accordance with IEC/EN 659 (IP 67 with air compressed connection kit in option, see page 75) v Shaft end: IP 5 (), or IP 65 in accordance with IEC/EN 659 (IP 67 with air compressed connection kit in option, see page 75) b Integrated sensor: SinCos Hiperface single turn or multiturn, medium or highresolution encoder b Untapped or keyed shaft end. Holding brake d Do not use the holding brake as a dynamic brake for deceleration, as this will quickly damage the brake. Integrated encoder BMH servo motors are equipped as standard with an absolute encoder. Four types of encoder are available: b High resolution SinCos Hiperface encoder: v monotour (3 7 points/tour) () ou v multitour (3 7 points/tour x 496 tours) (), assurant une précision de position angulaire de l arbre inférieure à ±,3 minutes d arc, b v Medium resolution SinCos Hiperface encoder: Single turn (3,768 points/turn) () or Multiturn (3,768 points/turn x 496 turns) (), v ensuring angular precision of the shaft position, accurate to less than ± 4.8 arc minutes. This performs the following functions: b Gives the absolute motor position b Measures the servo motor speed via the associated Lexium 3 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 Sends data from the servo motor to the servo drive, which ensures automatic Description BMH servo motors with a three-phase stator and a -pole rotor with Neodymium Iron Boron (NdFeB) magnets consist of: A casing protected by RAL 95 opaque black paint 3 A keyed or untapped shaft end (depending on the model) 4 A threaded dust and damp proof male straight connector for connecting the power cable (3) 5 A threaded dust and damp proof male straight connector for connecting the control cable (encoder) (3) Connectors to be ordered separately, for connection to Lexium 3 servo drives (see page 76). Schneider Electric has taken particular care to ensure compatibility between BMH servo motors and Lexium 3 servo drives. This compatibility can only be assured by using cables and connectors sold by Schneider Electric (see page 76). () IP 5 mounted in position IMV3 (vertical mounting with shaft end at the top), IP 54 mounted in position IMV (vertical mounting with shaft end at the bottom) or position IMB5 (horizontal mounting). () Encoder resolution given for use with a Lexium 3 servo drive. (3) Other model with rotatable angled connector. Characteristics: page 6 page 74 page 78 6

63 Characteristics Lexium 3 motion control BMH servo motors 5 V single-phase supply voltage Characteristics of BMH 7 servo motor Type of servo motor BMH 7 T BMH 7 T BMH 7 3T Associated with Lexium 3 servo drive LXM 3pD8M LXM 3pD3M Switching frequency khz 8 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm 5 Nominal servo motor output power W 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 brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH 7 T servo motor BMH 7 T servo motor BMH 7 3T servo motor With LXM 3pD8M servo drive With LXM 3pD3M servo drive With LXM 3pD3M servo drive 4,5 3,5 3,,5, M,, M M Peak torque Continuous torque Description: page 6 6 page 74 page 78

64 Characteristics (continued) Lexium 3 motion control BMH servo motors 5 V single-phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH T BMH T Associated with Lexium 3 servo drive Switching frequency khz 8 LXM 3pD3M Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm Nominal servo motor output power Maximum current A rms 5 Servo motor characteristics Maximum mechanical speed rpm 6 Constants (at C) W 7 75 Torque Nm/A rms.67.7 Back emf V rms/ krpm Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase).9.54 Inductance (phase/phase) mh Torque/speed curves BMH T servo motor With LXM 3pD3M servo drive BMH T servo motor With LXM 3pD3M servo drive M 3 8 M 4 3 Peak torque Continuous torque Description: page 6 page 74 page 78 63

65 Characteristics (continued) Lexium 3 motion control BMH servo motors 3 V single-phase supply voltage Characteristics of BMH 7 servo motor Type of servo motor BMH 7 T BMH 7 T BMH 7 3T Associated with Lexium 3 servo drive LXM 3pU9M LXM 3pD8M Switching frequency khz 8 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm...9 Nominal speed rpm 4 3 Nominal servo motor output power W 45 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 Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH 7 T servo motor BMH 7 T servo motor BMH 7 3T servo motor With LXM 3pU9M servo drive With LXM 3pD8M servo drive With LXM 3pD8M servo drive 4,5 3,5 3,,5, M,, M M Peak torque Continuous torque Description: page 6 64 page 74 page 78

66 Characteristics (continued) Lexium 3 motion control BMH servo motors 3 V single-phase supply voltage Characteristics of BMH /4 servo motors Type of servo motor BMH T BMH T BMH 3T BMH 4 P Associated with Lexium 3 servo drive LXM 3pD8M LXM 3pD3M Switching frequency khz 8 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm 3 5 Nominal servo motor output power W 9 45 Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 6 4 Constants (at C) Torque Nm/A rms Back emf V rms/ krpm Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH T servo motor BMH T servo motor BMH 3T servo motor With LXM 3pD8M servo drive With LXM 3pD3M servo drive With LXM 3pD3M servo drive 8 6 M M M BMH 4 P servo motor With LXM 3pD3M servo drive M Peak torque Continuous torque Description: page 6 page 74 page 78 65

67 Characteristics (continued) Lexium 3 motion control BMH servo motors 4 V 3-phase supply voltage Characteristics of BMH 7 servo motor Type of servo motor BMH 7 P BMH 7 P BMH 7 3P Associated with Lexium 3 servo drive LXM 3pU6N4 LXM 3pDN4 LXM 3pD8N4 Switching frequency khz 8 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm Nominal servo motor output power W Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms Back emf V rms/ krpm Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH 7 P servo motor BMH 7 P servo motor With LXM 3pU6N4 servo drive With LXM 3pDN4 servo drive With LXM 3pDN4 servo drive 4,5 3,5 3,,5,,5 M, ,5 3,5 3,,5, M,, M BMH 7 3P servo motor With LXM 3pD8N4 servo drive 8 6 M Peak torque Continuous torque Description: page 6 66 page 74 page 78

68 Characteristics (continued) Lexium 3 motion control BMH servo motors 4 V 3-phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH P BMH P BMH 3P Associated with Lexium 3 servo drive LXM 3pDN4 LXM 3pD8N4 LXM 3pD3N4 Switching frequency khz 8 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm Nominal servo motor output power W Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 6 Constants (at C) Torque Nm/A rms.. Back emf V rms/ krpm Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH P servo motor BMH P servo motor With LXM 3pDN4 servo drive With LXM 3pD8N4 servo drive With LXM 3pD8N4 servo drive 8 6 M 4 6 BMH 3P servo motor With LXM 3pD3N4 servo drive M M M Peak torque Continuous torque Description: page 6 page 74 page 78 67

69 Characteristics (continued) Lexium 3 motion control BMH servo motors 4 V 3-phase supply voltage Characteristics of BMH 4/5 servo motors Type of servo motor BMH 4 P BMH 4 P BMH 4 3P BMH 5 P BMH 5 P BMH 5 3P Associated with Lexium 3 servo drive LXM3pD3N4 LXM 3pD7N4 Switching frequency khz 8 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm 3 5 Nominal servo motor output power W Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 4 38 Constants (at C) Torque Nm/A rms Back emf V rms/ krpm Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH 4 P servo motor BMH 4 P servo motor BMH 4 3P servo motor With LXM 3pD3N4 servo drive With LXM 3pD7N4 servo drive With LXM 3pD7N4 servo drive M M 3 4 BMH 5 P servo motor BMH 5 P servo motor BMH 5 3P servo motor M 3 4 With LXM 3pD7N4 servo drive With LXM 3pD7N4 servo drive With LXM 3pD7N4 servo drive M 3 4 Peak torque Continuous torque M M 5 3 Description: page 6 68 page 74 page 78

70 Characteristics (continued) Lexium 3 motion control BMH servo motors 48 V 3-phase supply voltage Characteristics of BMH 7 servo motor Type of servo motor BMH 7 P BMH 7 P BMH 7 3P Associated with Lexium 3 servo drive LXM 3pU6N4 LXM 3pDN4 LXM 3pD8N4 Switching frequency khz 8 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm Nominal servo motor output power W Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms Back emf V rms/ krpm Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH 7 P servo motor BMH 7 P servo motor With LXM 3pU6N4 servo drive With LXM 3pDN4 servo drive With LXM 3pDN4 servo drive 4,5 3,5 3,,5,,5 M, ,5 3,5 3,,5, M,, M BMH 7 3P servo motor With LXM 3pD8N4 servo drive M Peak torque Continuous torque Description: page 6 page 74 page 78 69

71 Characteristics (continued) Lexium 3 motion control BMH servo motors 48 V 3-phase supply voltage Characteristics of BMH servo motor Type of servo motor BMH P BMH P BMH 3P Associated with Lexium 3 servo drive Switching frequency khz 8 LXM 3p DN4 LXM 3p D8N4 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm 4 5 Nominal servo motor output power LXM 3p D3N4 W Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 6 Constants (at C) Torque Nm/A rms.. Back emf V rms/ krpm Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH P servo motor BMH P servo motor With LXM 3pDN4 servo drive With LXM 3pD8N4 servo drive With LXM 3pD8N4 servo drive M 4 6 BMH 3P servo motor With LXM 3pD3N4 servo drive M M M Peak torque Continuous torque Description: page 6 7 page 74 page 78

72 Characteristics (continued) Lexium 3 motion control BMH servo motors 48 V 3-phase supply voltage Characteristics of BMH 4/5 servo motors Type of servo motor BMH 4 P BMH 4 P BMH 4 3P BMH 5 P BMH 5 P BMH 5 3P Associated with Lexium 3 servo drive Switching frequency khz 8 LXM 3p D3N4 LXM 3p D7N4 Torque Continuous stall M Nm Nominal operating point Peak stall Nm Nominal torque Nm Nominal speed rpm 3 5 Nominal servo motor output power W Maximum current A rms Servo motor characteristics Maximum mechanical speed rpm 4 38 Constants (at C) Torque Nm/A rms Back emf V rms/ krpm Rotor Number of poles Inertia Without brake J m kgcm With brake J m kgcm Stator (at C) Resistance (phase/phase) Inductance (phase/phase) mh Torque/speed curves BMH 4 P servo motor BMH 4 P servo motor BMH 4 3P servo motor With LXM 3pD3N4 servo drive With LXM 3pD7N4 servo drive With LXM 3pD7N4 servo drive M M 3 4 BMH 5 P servo motor BMH 5 P servo motor BMH 5 3P servo motor M 3 4 With LXM 3pD7N4 servo drive With LXM 3pD7N4 servo drive With LXM 3pD7N4 servo drive 8 6 M 3 4 Peak torque Continuous torque M M 5 3 Description: page 6 page 74 page 78 7

73 Characteristics (continued) Lexium 3 motion control BMH servo motors Fr X Radial and axial forces permitted on the motor shaft Even when the servo motors are used under optimum conditions, their service life is limited by that of the bearings. B Conditions Nominal service life of bearings () Ambient temperature (bearing temperature a C) Force application point L h =, hours 4 C Fr applied at the middle of the shaft end X = B/ (dimension B, see page 78) () 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 5 or IP 65 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 Servo motor BMH 7 N BMH 7 N BMH 73 N BMH N BMH N BMH 3 N BMH 4 N BMH 4 N BMH 43 N BMH 5 N BMH 5 N BMH 53 N Maximum axial force: Fa =. x Fr Description: page 6 7 page 74 page 78

74 Characteristics (continued) Lexium 3 motion control BMH servo motors Characteristics of servo motor/servo drive power connection cables Preassembled cordsets with connector at servo motor end Type of cordset VW3 M5 Rppp VW3 M5 Rppp VW3 M5 3 Rppp External sleeve, insulation PUR orange coloured RAL 3, TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [(4 x.5 mm ) + ( x mm )] Connector type [(4 x.5 mm ) + ( x mm )] M3 industrial connector (servo motor side) [(4 x 4 mm ) + ( x mm )] External diameter mm ±. 4.3 ±,3 6.3 ±.3 Curvature radius mm 9, suitable for daisychaining, cable-carrier system Working voltage V 6 Maximum length m 75 () Operating temperature C Cables without connectors UL, CSA, VDE, e, DESINA, suitable for daisychaining, cable-carrier system M4 industrial connector (servo motor side) (servo drive side) 5, suitable for daisychaining, cable-carrier system Cable type VW3 M5 3 Rpppp VW3 M5 3 Rppp VW3 M5 33 Rpppp External sleeve, insulation PUR orange coloured RAL 3, TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [(4 x.5 mm ) + ( x mm )] Connector type None, see page 5 [(4 x.5 mm ) + ( x mm )] External diameter mm ±. 4.3 ±,3 6.3 ±.3 Curvature radius mm 9, suitable for daisychaining, cable-carrier system Working voltage V 6 Maximum length m Operating temperature C UL, CSA, VDE, e, DESINA Characteristics of the servo motor/servo drive control connection cables Preassembled cordsets with connector at both ends (servo motor and servo drive) Type of cordset Type of encoder External sleeve, insulation VW3 M8 Rppp SinCos encoder, suitable for daisychaining, cable-carrier system PUR green coloured RAL 68, polypropylen Number of conductors (shielded) [3 x ( x.4 mm ) + x ( x.34 mm )] External diameter mm 6.8 ±. Connector type [(4 x 4 mm ) + ( x mm )] 5, suitable for daisychaining, cable-carrier system M3 industrial connector (servo motor side) and RJ45 connector (servo drive side) Min. curvature radius mm 68, suitable for daisy-chaining, cable-carrier system Working voltage V 3 (.4 mm and.34 mm ) Maximum length m 75 () Operating temperature C Cables without connectors Cable type Type of encoder External sleeve, insulation UL, CSA, VDE, e, DESINA VW3 M8 Rpppp SinCos encoder PUR green coloured RAL 68, polypropylen Number of conductors (shielded) [3 x ( x.4 mm ) + x ( x.34 mm )] External diameter mm 6.8 ±. Connector type None, see page 5 Min. curvature radius mm 68, suitable for daisy-chaining, cable-carrier system Working voltage V 3 (.4 mm and.34 mm ) Maximum length m Operating temperature C UL, CSA, VDE, e, DESINA () For cables longer than 75 m, please consult your customer care center. Description: page 6 page 74 page 78 73

75 References Lexium 3 motion control BMH servo motors BMH servo motors The BMH servo motors shown below are supplied without a gearbox. For GBX gearboxes see page 8. Continuous stall torque Peak stall torque Nominal servo motor output power Nominal speed Maximum mechanical speed Associated servo drive LXM 3 Reference () Weight () Nm Nm W rpm rpm kg pu6n4 BMH 7P ppppa.6 BMH 7pp pppa pu9m BMH 7T ppppa pd8m BMH 7T ppppa pdn4 BMH 7P ppppa pd3m BMH 7T ppppa pd8m pdn4 BMH 7P ppppa pd3m BMH 73T ppppa pd8m BMH 73T ppppa pd8n4 BMH 73P ppppa pdn4 BMH P ppppa pd3m BMH T ppppa pd8m pd8n4 BMH P ppppa pd3m BMH T ppppa pd3m pd8n4 BMH P ppppa 4.9 BMH pp pppa pd3m BMH 3T ppppa pd3n4 BMH 3P ppppa 6.5 () To complete each reference see the table on page 75. () Weight of servo motor without brake, no packaging. To obtain the weight of the servo motor with holding brake, see page 8. Presentation: page 6 74 Characteristics: page 6 page 78

76 References (continued) Lexium 3 motion control BMH servo motors BMH servo motors (continued) Continuous stall torque Peak stall torque Nominal servo motor output power Nominal speed Maximum mechanical speed Associated servo drive LXM 3 Reference () Weight () Nm Nm W rpm rpm kg pd3m BMH 4P ppppa pd3n pd7n4 BMH 4P ppppa pd7n4 BMH 43P ppppa 6. BMH 4PpppA pd7n4 BMH 5P ppppa pd7n4 BMH 5P ppppa pd7n4 BMH 53P ppppa 67. To order a BMH servo motor, complete each reference above with: Shaft end IP 54 Untapped BMH 4P p p p p A Keyed IP 65/IP 67 (3) Untapped Integrated sensor Single turn, SinCos Hiperface 3,7 points/turn (4) 8 sine/cosine periods per turn Multiturn, SinCos Hiperface 3,7 points/turn x 496 turns (4) 8 sine/cosine periods per turn Single turn, SinCos Hiperface 3,768 points/turn (4) 6 sine/cosine periods per turn Multiturn, SinCos Hiperface 3,768 points/turn x 496 turns (4) 6 sine/cosine periods per turn Keyed 3 Holding brake Without A With Connections Straight connectors Rotatable right-angled connectors Flange International standard A 6 7 F Note: The example above is for a BMH 4P servo motor. For other servo motors, replace BMH 4P with the relevant reference. IP 67 conformity kits VW3 M 3 Description IP 67 conformity kits (supplied as an option) For servo motors Reference Weight kg BMH 7pp VW3 M 3. BMH pp VW3 M 3. BMH 4pp VW3 M 33.4 BMH 5pp VW3 M 34.6 () To complete each reference see the table above. () Weight of servo motor without brake, no packaging. To obtain the weight of the servo motor with holding brake, see page 8. (3) IP 67 with the VW3 M 3p IP 67 conformity kit supplied as an option, see above. (4) Sensor resolution given for use with a Lexium 3 servo drive. Presentation: page 6 Characteristics: page 6 page 78 75

77 References (continued) Lexium 3 motion control BMH servo motors VW3 M5 p Rppp Connection elements Power cordsets Description Cables equipped with one M3 industrial connector (servo motor end) From servo motor BMH 7pp BMH pp BMH 4P To servo drive Composition Length Reference Weight LXM 3pppppp depending on combinations (see pages 6 to 7) [(4 x.5 mm ) + ( x mm )] m kg.5 VW3 M5 R5.6 3 VW3 M5 R3.8 5 VW3 M5 R5. VW3 M5 R.9 5 VW3 M5 R5 3.4 VW3 M5 R VW3 M5 R VW3 M5 R VW3 M5 R BMH 4P BMH 43P LXM 3pD7N4 [(4 x.5 mm ) + ( x mm )] 3 VW3 M5 R3.7 5 VW3 M5 R5.67 VW3 M5 R 3. 5 VW3 M5 R VW3 M5 R VW3 M5 R VW3 M5 R VW3 M5 R Cables equipped with one M4 industrial connector (servo motor end) BMH 5pP LXM 3pD7N4 [(4 x 4 mm ) + ( x mm )] 3 VW3 M5 3 R VW3 M5 3 R5.3 VW3 M5 3 R VW3 M5 3 R5 6. VW3 M5 3 R VW3 M5 3 R VW3 M5 3 R VW3 M5 3 R VW3 M8 Rppp Control cordsets Description SinCos Hiperface encoder cables equipped with an M3 industrial connector (servo motor end) and an RJ45 connector with 8 + contacts (servo drive end) From servo motor BMH ppppp To servo drive Composition Length Reference Weight LXM 3pppppp depending on combinations (see pages 6 to 7) [3 x ( x.4 mm ) + ( x.34 mm )] m kg.5 VW3 M8 R5.4 3 VW3 M8 R3.5 5 VW3 M8 R5.6 VW3 M8 R.9 5 VW3 M8 R5. VW3 M8 R.4 5 VW3 M8 R5.7 5 VW3 M8 R VW3 M8 R Presentation: page 6 76 Characteristics: page 6

78 References (continued) Lexium 3 motion control BMH servo motors 5 4 Connection elements (continued) Connectors for creating power and control cordsets Description Used for Item no. M3 industrial connector for creating power cordsets (sold in lots of 5) BMH 7pp, BMH pp and BMH 4pP servo motors For cable crosssection mm.5 or.5 Reference Weight kg VW3 M M4 industrial connector for creating power cordsets (sold in lots of 5) BMH 5pP servo motors 4 VW3 M RJ45 connector with 8 + contacts for creating control cordsets (sold in lots of 5) LXM 3pppppp servo drives (CN3 connector) VW3 M 8. M3 industrial connector for creating control cordsets (sold in lots of 5) BMH ppppp servo motors 3 VW3 M Cables for creating power and control cordsets Description Cables for creating power cordsets From servo motor To servo drive BMH 7pp LXM 3pppppp BMH pp depending on BMH 4P combinations (see pages 6 to 7) Composition Item no. [(4 x.5 mm ) + ( x mm )] Length Reference Weight m kg 4 5 VW3 M5 3 R VW3 M5 3 R5. VW3 M5 3 R. BMH 4P LXM 3ppppN4 [(4 x.5 mm ) 4 5 VW3 M5 3 R BMH 43P + ( x mm )] 5 VW3 M5 3 R VW3 M5 3 R 3.9 BMH 5pP LXM 3ppppN4 [(4 x 4 mm ) + ( x mm )] 4 5 VW3 M5 33 R VW3 M5 33 R5 9.8 VW3 M5 33 R 39.6 Cables for creating control cordsets for SinCos Hiperface encoders BMH ppppp LXM 3pppppp depending on combinations (see pages 6 to 7) [(3 x 5 5 VW3 M8 R5.4 ( x.4 mm ) + ( x.34mm )] 5 VW3 M8 R5.8 VW3 M8 R 5.6 Presentation: page 6 Characteristics: page 6 77

79 Dimensions Lexium 3 motion control BMH servo motors BMH 7 (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional) 6.5 M4x8 9.5 b b h h c3 c c c 7 Straight connectors Rotatable angled connectors b b b b c (without brake) c (with brake) c c c3 h h Ø Ø for screws + BMH 7p h9.5 k6 M4 x 4 + BMH 7p h9.5 k6 M4 x 4 + BMH 73p h9 6 4 k6 M5 x 7 BMH (example with straight connectors: power supply for servo motor/brake and encoder ) M4x b b Shaft end, keyed slot (optional) Ø9 k Ø95 j6 Ø9 k For screw 6 h9 5 3 M6 x 4 c Straight connectors Rotatable angled connectors b b b b c (without brake) BMH p BMH p BMH 3p c (with brake) Presentation: page 6 78 Characteristics: page 6 page 74

80 Dimensions (continued) Lexium 3 motion control BMH servo motors BMH 4 (example with straight connectors: power supply for servo motor/brake and encoder ) Shaft end, keyed slot (optional) M4x b b h9 5 4 For screw M8 x 5 5 c 4 Straight connectors Rotatable angled connectors b b b b c (without brake) c (with brake) BMH 4p BMH 4p BMH 43p BMH 5 (example with straight connectors: power supply for servo motor/brake and encoder ) 4 7 M6x b b Shaft end, keyed slot (optional) 5 +. b N For screw M x 8 8 c 5 Straight connectors Rotatable angled connectors b b b b b b c (without brake) c (with brake) BMH 5P BMH 5P BMH 53P IP 67 conformity kits (optional) c b b a a b b c VW3 M VW3 M VW3 M VW3 M Presentation: page 6 Characteristics: page 6 page 74 79

81 Presentation, characteristics, references Lexium 3 motion control BMH servo motors Option: Holding brake integrated in servo motor Holding brake Presentation L L L3 c 4 V The holding brake integrated in the BMH servo motor is an electromagnetic pressure spring brake that blocks the servo motor axis once the output current has been switched off. Lexium 3 HBC Servo drive with integrated holding brake controller (HBC) In the event of an emergency, such as a power outage or an Emergency stop, the Blocking the servo motor axis is also necessary in cases of torque overload, such as in the event of vertical axis movement. The servo drive Lexium 3 integrates as standard an holding brake controller which reduces this control signal so as to decrease the power dissipated by the holding brake. Servo motor with integrated holding brake Characteristics Type of servo motor BMH 7, 7, 73, 3 4, , 5, 53 Holding torque M Br Nm Moment of inertia of rotor(brake only) J Br kgcm Electrical clamping power P Br W Nominal current A Supply voltage V 4 +5/-5% 4 +6/-% Opening time ms Closing time ms Weight (to be added to the weight of the servo motor without brake, see page 74) kg References For selection of BMH servo motor with or without holding brake, see references on page 75. BMH servo motor 8

82 Presentation, characteristics, references Lexium 3 motion control BMH servo motors Option: Encoder integrated in servo motor Encoder integrated in BMH servo motor Presentation L L L3 Lexium 3 The standard measurement device is the SinCos Hiperface single turn or multiturn encoder integrated in BMH servo motors. This measurement device is perfectly suited to the Lexium 3 range of servo drives. Use of this interface enables: b b Automatic initialization of the servo drive's control loops, thus simplifying installation of the motion control device. E Servo motor with SinCos Hiperface encoder Characteristics Type of encoder Single turn SinCos Multiturn SinCos Sine/cosine periods per turn Number of points () , x 496 turns 3,7 x 496 turns Encoder precision arc min ± 4.8 ±.3 ± 4.8 ±.3 Measurement method Capacitive, medium resolution Optical, high resolution Capacitive, medium resolution Optical, high resolution Interface Hiperface Operating temperature C () Encoder resolution given for use with a Lexium 3 servo drive. References For selection of the SinCos Hiperface single turn or multiturn encoder integrated in the BMH servo motor, see references on page 75. BMH servo motor 8