SNYO DENKI RUSHLESS C SEROMOTORS & DRIES rushless C operation 4500 rpm top speed 240C single phase supply 0.16 to 10.8Nm continuous torque 50W to 3kW shaft power rushless C servomotors combine the best performance features of stepper motors and brushed DC servomotors. They are used in applications where higher speed and performance are required than stepper motors can offer. However, the cost is higher than stepper systems. They are constructed from a permanent magnet rotor and three phase stator windings. The commutation is controlled electronically, eliminating the need for brushes that wear out. n incremental shaft encoder is fitted to the rear of the rotor to enable closed loop operation. selection of 12 motors and 4 drives are available to suit a wide range of applications requiring position, speed or torque control. ll servomotor parameters and functions are set using a PC and manufacturer s software and downloaded to the drive. On site modifications can be made using pushbutton switches and an LED display on the drive. MOTOR & DRIE SPECIFICTIONS SERIES P5 P3 P2 P6 Q MOTOR MODEL NOMINL POWER NOMINL SPEED P3004005D 50 3000 4500 P3004010D 100 3000 4500 MXIMUM NOMINL STLL SPEED TORQUE TORQUE W r.p.m. r.p.m. Nm Nm 0.157 0.32 0.49 0.98 P3006020D 200 3000 4500 0.637 1.96 P3006040D 400 3000 4500 1.274 3.82 P3008075D 750 3000 4500 2.38 7.15 P5004010D 100 3000 4500 0.319 0.98 ROTOR INERTI kg.m 2-6 3.1x10-6 5.1x10 1.44x10 2.55x10 6.35x10 7.9x10 SELING WEIGHT DRIE IP55 kg 0.35 0.50 1.15 1.70 3.30 P5005020D 200 3000 4500 0.637 1.96 1.73x10 IP55 7 P5007040D 400 3000 4500 1.274 3.92 7.4x10 IP55 2.10 P5008100D 1000 2000 3000 3.185 8.82-4 2.65x10 IP55 5 P6013150H 1500 2000 3000 7.50 20.0-4 8.28x10 IP67 7.80 P2010150H 1500 3000 4500 4.79 14.9-4 4x10 IP55 6.50 Q113300D 3000 3000 4500 9.51 28.4-4 4.92x10 IP65 11.40-6 0.59 QS103 QS103 QS103 QS103 QS105 QS105 QS110 SDservo1.cdr
FETURES LED display and pushbuttons for minor parameter adjustment without a computer Optional 24DC failsafe brake Connectors for power and encoder Parameter setting by RS232 and PC software ustralian 240C single phase supply Digital inputs & outputs Step & direction or 10 analog input Simulated encoder output Compact housing SPECIFICTIONS POWER SUPPLY Motor: 200 to 230 C (10%, -15%), 50/60Hz Control: 200 to 230 C (10%, -15%), 50/60Hz Motor: single/three phase, Control: single phase OPERTING TEMPERTURE 0to55 C STORGE TEMPERTURE -20 to 65 C HUMIDITY 90% max ENCODER OUTPUT Line driver 26LS31, \,, \, Z, Z\ ENCODER RESOLUTION 2000 pulse/rev (8000 pulse/rev calculated) LED DISPLY status, monitor, alarm, parameter setting, adjustment mode MONITOR OUTPUT elocity: 10% at 1000 rpm Current: 10% at 100% ELOCITY CONTROL RNGE 1:5000 PROTECTION Overcurrent, overload, drive overtemperature, Excessive mains power, overspeed, sensor error, Low supply voltage, velocity control error, Motor overheating, excessive deviation, servo processor error, memory error, CPU error MOTOR OUTPUT 400Hz, sinusoidal, IGT, PWM NLOG INPUT 10 into 10k DIGITL INPUTS 5 to 24 @ 5m load (optocoupled) PULSE INPUT 5 line driver or NPN current sink 5MHz max frequency line driver, 150kHz for NPN DIGITL OUTPUTS 12 to 24 DC @ 50m max. (optocoupled) SEQUENCE INPUTS Servo on, alarm reset, torque limit, encoder clear, forward rotation inhibit, rev rotation inhibit, command inhibit, external trip, forced discharge, emergency stop, control mode switching, proportional control, gain switching, internal velocity setting. SEQUENCE OUTPUTS Servo ready, power on, servo on, holding brake timing, torque limit status, velocity control status, low velocity, speed reaching, zero velocity, command receive enabled, gain switching status, velocity loop proportional control status, current mode switching status, forward & rev overtravel, warning, alarm code (3 bits) CONTROL MODES elocity, torque and position CONNECTIONS ssembled cables can be supplied for motor, supply and encoder connections. SDservo2.cdr
USTRLIN MINS SUPPLY The Q Series drives will operate on 240 C single phase supply. There is no need for an expensive and heavy isolating transformer. Three phase supply is also possible but in this instance, a transformer is required to reduce 415C 3 to 240 C 3 MOTOR CONNECTIONS ll motors are supplied with multipole connectors, either on a flying lead or on the motor body. UTOTUNING The Q Series drives are autotuning which will set servo parameters automatically after running the motor a few revolutions with load attached. SPCE SING The Q Series drives are very compact, saving on cabinet size. PRMETERS SETTING ll servo parameters are set from a computer using manufacturer s software and RS232 port. However, if minor parameter changes are required on site later, these can be adjusted, without a computer, using push buttons and a 5 digit LED display on the drive. MOTOR MODELS The low to medium power motors are available in the P3 and P5 ranges. The P3 series are very compact and are ideal for applications involving fast acceleration and fast positioning. They are ideal for low inertia loads. The P5 series are better for applications where the load inertia exceeds the motor inertia. PULSE INPUT The Q Series drives can be configured for step and direction inputs (like a stepper motor) as well as the standard for /-10 analog velocity command input. This means a simpler and lower cost controller can be used. It is also possible to run the drives with CW and CCW pulse inputs. NO RMPING REQUIRED When operating drive with pulse input, no ramping is necessary. The drive takes care of acceleration and deceleration. FREQUENCY MULTIPLICTION When running the Q Series drives with step and direction inputs, often a controller like a small PLC is unable to output pulses at sufficiently high frequency. To solve this problem, the drive has built in adjustable pulse multiplication factor (upto times 63) so a low frequency pulse train can generate a high motor speed. ENCODER PULSE DIIDING The encoder pulses can be divided by a factor from 1 to 1/8192 to allow correct scaling when interfacing to motion controllers. CLOSED LOOP OPERTION The servomotors use 2000 pulse per rev incremental encoders to obtain closed loop operation. The drives process the position information based on 8000 pulse per rev. The drive can also be run in open loop with /-10 analog input. HIGH INERTI RTIO Due to a complex control algorithm and improved stabilisation, the Q series drives and motors can handle very high inertia ratios, upto about 150:1. Normally, maximum recommended load/rotor inertia ratio for servomotors is 10:1. MOTOR OUTPUT IGT, PWM control, sinusoidal current. THREE OPERTING MODES The Q Series drive can be set for position, velocity or torque control. LIMIT SWITCH INPUTS The Q Series drives can be configured for positive and negative overtravel switch inputs. These can be used instead of, or independently of the motion controller. INTERNL JOGGING The drives have internal jogging function built in. This is useful when testing the drive and motor to ensure all connections are correct. REGENERTION RESISTOR regeneration resistor is built in to dissipate energy produced by the motor on deceleration. This will be sufficient in most applications, however, an additional external resistor can also be added if necessary. HIGH EFFICIENCY high efficiency power module in the Q Series drive reduces mains power loss by 20% compared to the previous Sanyo Denki drives. LOWER IRTION uilt in high order torque command low pass filter, broadband 2nd order notch filter and a vibration control monitor provide low vibration operation. SETTLING TIME n improved speed controller is used to shorten settling time to one fifth of the old drives. INPUTS & OUTPUTS The Q Series drives have 6 general purpose inputs and 8 general purpose outputs which can be allocated special functions. ll digital inputs and outputs are optically isolated. EMC The Q Series drives conform to the Low oltage Directive. n EMC filter should be used on the mains supply. MOTOR RKES The brushless C servomotors can be fitted with an optional failsafe 24DC brake. This is useful when a motor is working against gravity and a power failure may cause the load to move. REGENERTION RESISTORS regeneration resistor is sometimes required to dissipate energy during rapid deceleration of high inertia loads. This is included inside the drive, however, in high energy situations, an external resistor may be required. SDservo3.cdr
TORQUE CURES These torque curves use the units of r.p.m. for speed and Nm for torque. The torque curves are in two sections, continuous and instantaneous. The continuous torque can be delivered by the motor continuously at 100% duty cycle. The instantaneous torque can be delivered at less than 100% duty cycle, for short periods. Contact our office for allowable duty cycle and torques. Instantaneous torque is further divided into two parts, for single phase and three phase supply. 0.6 0.5 0.4 0.3 0.2 0.1 4.0 3.0 2.5 1.5 MOTOR: P3004005D DRIE: POWER: 50W MOTOR: P3006040D DRIE: QS103 POWER: 400W SERIES: P5 MOTOR: P5005020D DRIE: POWER: 200W 0.8 0.6 0.4 0.2 8.0 4.0 4.0 3.0 MOTOR: P3004010D DRIE: POWER: 100W MOTOR: P3008075D DRIE: QS103 POWER: 750W SERIES: P5 MOTOR: P5007040D DRIE: QS103 POWER: 400W 2.5 1.5 0.5 0.8 0.6 0.4 0.2 10.0 8.0 4.0 MOTOR: P3006020D DRIE: POWER: 200W SERIES: P5 MOTOR: P5004010D DRIE: POWER: 100W SERIES: P5 MOTOR: P5008100D DRIE: QS103 POWER: 1000W 0.5 2 SERIES: P6 MOTOR: P6013150H DRIE: QS105 POWER: 1500W 2 SERIES: P2 MOTOR: P2010150H DRIE: QS105 POWER: 1500W 30.0 1000 2000 3000 4000 SERIES: Q MOTOR: Q113300D DRIE: QS110 POWER: 3000W 20.0 1 10.0 1000 2000 3000 4000 20.0 1 10.0 2 20.0 1 10.0 SDservo4
MOTOR DIMENSIONS D1 L3 L1 L9 D3 D4 D2 L2 L5 L6 L4 OPTIONL 24 DC RKE L7 U D6 D5 L8 W D7 MOTOR CLE 230mm ENCODER CLE 230mm SERIES P3 SERIES P5 SERIES P6 P2 Q DIMENSION DESCRIPTION P3004005D P3004010D P3006020D P3006040D P3008075D P5004010D P5005020D P5007040D P5008100D P6013150H P2010150H Q113300D L1 L2 L3 L4 L5 L6 L7 L8 L9 D1 D2 D3 D4 D5 D6 D7 U W Motor length Shaft length Pilot face thickness earing seal Keyway length Keyway position Cable gland Flange thickness Optional rake Flange size Shaft diameter Pilot face olt P.C.D. Mounting bolt holes Shaft bolt D6 tapping depth Shaft slot depth Key height Key width 70.0 88.0 95.5 123.5 140.0 9 10 113.0 17 15 20 20 22.5 22.5 27.0 27.0 37.0 20.0 2 2 30.0 50.0 40.0 50.0 2.5 2.5 3.0 3.0 3.0 2.5 3.0 3.0 4.0 3.0 4.0 n/a n/a n/a n/a n/a 2.5 n/a 1 20.0 20.0 2 1 20.0 20.0 2 4 30 4 n/a 4.0 n/a 3.0 3.0 3.0 30.0 30.0 4 4 5 3 38.0 50.0 5 119.0 9 119.0 8.0 8.0 8.0 1 10.0 1 38.5 38.5 38.0 38.0 40.5 3 29.0 27.0 40.0 33.0 44.0 40.0 40.0 40.0 60.0 60.0 80.0 4 54.0 7 8 130.0 100.0 8.0 8.0 14.0 14.0 1 7.0 1 14.0 1 2 2 30.0 30.0 50.0 50.0 70.0 34.0 50.0 70.0 80.0 110.0 9 4 4 70.0 70.0 90.0 48.0 60.0 90.0 100.0 14 11 4.5 4.5 5.5 5.5 6.6 3.5 4.5 5.5 6.6 9.0 9.0 n/a n/a M5 M5 M5 n/a M4 M5 M5 M6 n/a n/a n/a 1 1 1 n/a 10.0 1 1 n/a 1.2 n/a 1.5 n/a 3.0 n/a 4.0 n/a 3.0 n/a 4.0 NOTES When fitted with an optional 24 DC brake, motor length is longer (refer L9). Flying leads for motor and encoder connections are 230mm long. Motors P6013150H, P2010150H and Q113300D have connectors instead of flying leads for motor and encoder. Motor P3004005D shaft is not fitted with keyway. Motor P05004010D double faces shaft, open keyway. Motor P2010150H does not have a shaft bolt hole. 20.0 2.5 n/a 2.5 130.0 28.0 110.0 14 9.0 M8 2 3.0 7.0 8.0 SDservo5.cdr
DRIE DIMENSIONS W 70 H L DRIE MODEL L W H QS103 QS105 QS110 168 168 168 235 45 50 90 100 130 130 130 235 23 38 80 75 160 160 160 225 Drives should always be mounted vertically. Front panel layout differs slightly on QS110 due to heavier terminals. QS110 has 10 mouting holes available. WEIGHT 1.25 1.3 2.2 5.5 REGENERTION RESISTORS 230 220 4.3 250 235 700 60 60 80 20 700 4.5 R 10006-220W/100 OHM (for drive) R 05005-220W/50 OHM (for QS103 drive) 40 R 0203000W/20 OHM (for QS105 drive) R 0103000W/10 OHM (for QS110 drive) When there is a high inertia load, high speeds and deceleration rates, excess energy can be generated. regeneration resistor is built into the drive, however, in some instances, an external regeneration resistor may also be required. Contact our office to determine if this is necessary. SDservo6.cdr
WIRING DIGRM Disconnect for single phase E.M.C FILTER REQUIRED 200-230C T W lack MOTOR SUPPLY S R U White Red MOTOR LOGIC SUPPLY REGENERTION RESISTOR 200-230C t r R1 R2 Q SERIES SERO DRIE E 3 4 5 6 7 8 Z Z INCREMENTL ENCODER STEP & DIRECTION INPUTS ELOCITY/ TORQUE COMMND INPUT TORQUE COMP. INPUT Line driver 26LS31 5 26 27 475 28 29 48 21 20 22 23 Line receiver Line driver 26LS31 Z Z PS PS ZOP 9 10 3 4 5 6 7 8 9 10 11 12 5 0 SIMULTED ENCODER OUTPUT Fwd 18 TORQUE LIMIT INPUT Rev 17 19 MON1 30 31 MONITOR OUTPUT TTERY INPUT 3.6 Lithium 5-24 DC 1 2 50 25 24 12-24DC 37 IN1 OUT1 39 GENERL PURPOSE INPUTS 36 IN2 35 IN3 34 IN4 33 IN5 32 IN6 5 13 Line receiver OUT2 40 OUT3 41 OUT4 42 OUT5 43 OUT6 44 OUT7 45 GENERL PURPOSE OUTPUTS 14 5 15 OUT8 46 16 38 SDservo7.cdr
INTERFCING NLOG ELOCITY or TORQUE COMMND -10 to 10 180 1k - 18k 3.3k - 1k 1k NLOG MONITOR OUTPUT 1k 2.2k DIGITL GENERL PURPOSE INPUTS - 5to24 - IN COM 2.7k IN (1 to 6) 3.9k 30 max. - DIGITL OUTPUTS 12-24 50m max 5 HIGH SPEED INPUTS or POSITION COMMND PULSE suitable LINE DRIER (3MHz max) - 1k 390 1k 1.5k 100 100 suitable 5 HIGH SPEED INPUTS or POSITION COMMND PULSE NPN (150kHz ma) - 1k 390 1k 1.5k 100 100 suitable Continuous development may necessitate changes in specifications without notice. Motors, drives, belts & pulleys and gearheads also available. UTOMTED MOTION SYSTEMS PTY.LTD. MILING DDRESS: P.O.OX 1240 WNGR DC W.. 6947 PHONE: (08) 9309 1896 FX: (08) 9309 5671 EMIL: sales@automotsys.com.au INTERNET: http://www.automotsys.com.au OFFICE DDRESS: UNIT2, 7 RETT RD. WNGR, PERTH WESTERN USTRLI..N.: 94 009 232 535 SDservo8