Designed by MotorPro TM software

Transcription

1 Designed by MotorPro TM software KOMOTEK CO., LTD. Hyundai-i Vally 5F, Sangdaewon1-dong Jungwon-gu, Sungnam City, Kyunggi-do, Korea TEL FAX All specifications are subject to change without notice.

2 KOMOTEK AC Servo Motor Quality, Reliability and Flexibility

3 AC Servo Motor... KOMOTEK has reached its leadership position in the mechatronics industries through continuous efforts to innovate. A top performer in every respect, the KOMOTEK motor is the result of intensive product development. Designed and manufactured to meet the demands of today's servo motor market, the KOMOTEK motor offers you reliability, easy installation and servicing, and top notch performance against static and transient loads, and complicated system loads. KOMOTEK motor features provide a real choice in reliable torque control for a wide variety of installations from industrial machines to precise automation robots.

4 configurations KAND-25BE1B2 Servo motor Series Output Voltage Encoder Special sequence Axial end spec. K: Komotek NZ NQ ND NS NH NF NK NL A3: 30W : 04: 400W : 25: 2.5kW A: AC 100/110V B: AC 200/220V C: AC 100/110V, 200/220V D: DC 48V E: DC 24V F: DC 12V G: AC 380V J: DC 75V 2500 P/R Inc. Option 1,2,3,... N: Without option B: Brake S: Oil seal T: B+S option 1: Round(Standard) 2: Key way 3: D-cut Encoder specifications Symbol Spec. KANZ/Q KAND KANS KANH KANF KANK KANL A B C D E F 2000 P/R INC.(9wires) 2000 P/R INC.(15wires) 2048 P/R INC.(9wires) 2048 P/R INC.(15wires) 2500 P/R INC.(9wires) 2500 P/R INC.(15wires) standard standard standard standard standard standard standard G H K L Z M N 17bit ABS. 11bit ABS P/R INC.(15wires) 6000 P/R INC.(15wires) 1000 P/R INC.(15wires) P/R INC.(15wires) 3000 P/R INC.(15wires) standard standard standard standard standard Regarding standards for specially developed products, please inquire about items individually. KOMOTEK 3

5 Motor Classifications Rated/ Motor series Rated ouput Maximum Type speed (r/min) Protection degree Features Application examples 30W~600W 3000/5000 KANZ 750W 3000/4500 Cylinder IP65 Ultra low inertia Belt drives, Robots, Mounters, Inserters, XY tables 950W 3000/3500 KANQ 100W~400W 3000/5000 Pan cake IP65 Low inertia Robots, XY tables, Mounters, Sewing machines, Food processing machines KAND 0.75kW~5kW 2000/3000 Cylinder IP65 Middle inertia Conveyor machines, Robots, XY tables KANS 1.0kW~3.5kW 3000/ kW~5.0kW 3000/4500 Cylinder IP65 Low inertia High frequency positioning equipments KANH 0.5kW~5kW 2000/3000 Cylinder IP65 Ultra high inertia Machine tools, Winding machines, Press feeders, Woodworking machines KANF 0.4kW~4.5kW 2000/3000 Pan cake IP65 Middle inertia Robots, Food processing machines KANK 0.3kW~6.0kW 1000/2000 Cylinder IP65 Middle inertia Machine tools, Transfer machines, Woodworking machines KANL 0.3kW~6.0kW 1000/2000 Cylinder IP65 High inertia Machine tools, Transfer machines, Woodworking machines, Spring forming machines 4 KOMOTEK

6 Specifications and Characteristics KANZ series servo motor specifications Specifications Continuous running duty Servo motor series Flange size (mm) Supply voltage (VAC) Rated output (W) Rated torque (N. m) Maximum torque (N. m) Rated rotation speed (r/min) Maximum rotation speed (r/min) Rated power rate (kw/s) Rated current (Arms) 100/110, 200/ / KANZ A3 A A / Momentary maximum current (Arms) Rotor inertia (X10-4 Kg. m 2 ) Standard Encoder 2500 P/R Incremental / 17bit Absolute Recommended load/motor inertia ratio Structure Ambient temperature Less than 30-times the servo motor's inertia Totally enclosed non ventilated (protection degree:ip65) 0 to 40 (32 to 104 ) (non freezing), storage: -15 to 70 (5 to 158 ) (non freezing) Environment Ambient humidity Atmosphere Elevation/Vibration 85% RH max. (non condensing), storage: 90% RH max.(non condensing) Indoors (no direct sunligt); no corrosive gas, inflammable gas, oil mist, or dust 1000meters or less above sea level, 49 m/s 2 below Weight (kg) Standard If used in location such as actual site of machinery where oil or water may influence the product, special specifications apply, contact KOMOTEK. 2. This specification is guaranted after combining and adjusting with the driver. 3. All ratings typical and at 20 unless otherwise noted. 4. Contact KOMOTEK if the load/motor of inertia moment ratio exceeds the figure in the table KANZ series servo motor torque characteristics 1. Dotted lines show torque characteristics for 10% derated voltage operation. KOMOTEK 5

7 Specifications and Characteristics KANQ series servo motor specifications Servo motor series KANQ Flange size (mm) Specifications Continuous running duty Supply voltage (VAC) Rated output (W) Rated torque (N. m) Maximum torque (N. m) Rated rotation speed (r/min) Maximum rotation speed (r/min) Rated power rate (kw/s) Rated current (Arms) / / Momentary maximum current (Arms) Rotor inertia (X10-4 Kg. m 2 ) Standard Encoder 2500 P/R Incremental / 17bit Absolute Recommended load/motor inertia ratio Structure Ambient temperature Less than 20-times the servo motor's inertia Totally enclosed non ventilated (protection degree:ip65) 0 to 40 (32 to 104 ) (non freezing), storage: -15 to 70 (5 to 158 ) (non freezing) Environment Ambient humidity Atmosphere Elevation/Vibration 85% RH max. (non condensing), storage: 90% RH max.(non condensing) Indoors (no direct sunligt); no corrosive gas, inflammable gas, oil mist, or dust 1000meters or less above sea level, 49 m/s 2 below Weight (kg) Standard If used in location such as actual site of machinery where oil or water may influence the product, special specifications apply, contact KOMOTEK. 2. This specification is guaranted after combining and adjusting with the driver. 3. All ratings typical and at 20 unless otherwise noted. 4. Contact KOMOTEK if the load/motor of inertia moment ratio exceeds the figure in the table KANQ series servo motor torque characteristics 1. Dotted lines show torque characteristics for 10% derated voltage operation. 6 KOMOTEK

8 Specifications and Characteristics KAND series servo motor specifications Specifications Continuous running duty Servo motor series Flange size (mm) Supply voltage (VAC) Rated output (kw) Rated torque (N. m) Maximum torque (N. m) Rated rotation speed (r/min) Maximum rotation speed (r/min) Rated power rate (kw/s) Rated current (Arms) KAND /220V Momentary maximum current (Arms) Rotor inertia (X10-4 Kg. m 2 ) Standard Encoder 2500 P/R Incremental / 17bit Absolute Recommended load/motor inertia ratio Structure Ambient temperature Less than 10-times the servo motor's inertia Totally enclosed non ventilated (protection degree:ip65) 0 to 40 (32 to 104 ) (non freezing), storage: -15 to 70 (5 to 158 ) (non freezing) Environment Ambient humidity Atmosphere Elevation/Vibration 85% RH max. (non condensing), storage: 90% RH max.(non condensing) Indoors (no direct sunligt); no corrosive gas, inflammable gas, oil mist, or dust 1000meters or less above sea level, 49 m/s 2 below Weight (kg) Standard If used in location such as actual site of machinery where oil or water may influence the product, special specifications apply, contact KOMOTEK. 2. This specification is guaranted after combining and adjusting with the driver. 3. All ratings typical and at 20 unless otherwise noted. 4. Contact KOMOTEK if the load/motor of inertia moment ratio exceeds the figure in the table KAND series servo motor torque characteristics 1. Dotted lines show torque characteristics for 10% derated voltage operation. KOMOTEK 7

9 Specifications and Characteristics KANS series servo motor specifications Specifications Continuous running duty Servo motor series Flange size (mm) Supply voltage (VAC) Rated output (kw) Rated torque (N. m) Maximum torque (N. m) Rated rotation speed (r/min) Maximum rotation speed (r/min) Rated power rate (kw/s) Rated current (Arms) KANS /220V Momentary maximum current (Arms) Rotor inertia (X10-4 Kg. m 2 ) Standard Encoder 2500 P/R Incremental / 17bit Absolute Recommended load/motor inertia ratio Structure Ambient temperature Less than 15-times the servo motor's inertia Totally enclosed non ventilated (protection degree:ip65) 0 to 40 (32 to 104 ) (non freezing), storage: -15 to 70 (5 to 158 ) (non freezing) Environment Ambient humidity Atmosphere Elevation/Vibration 85% RH max. (non condensing), storage: 90% RH max.(non condensing) Indoors (no direct sunligt); no corrosive gas, inflammable gas, oil mist, or dust 1000meters or less above sea level, 49 m/s 2 below Weight (kg) Standard If used in location such as actual site of machinery where oil or water may influence the product, special specifications apply, contact KOMOTEK. 2. This specification is guaranted after combining and adjusting with the driver. 3. All ratings typical and at 20 unless otherwise noted. 4. Contact KOMOTEK if the load/motor of inertia moment ratio exceeds the figure in the table KANS series servo motor torque characteristics 1. Dotted lines show torque characteristics for 10% derated voltage operation. 8 KOMOTEK

10 Specifications and Characteristics KANH series servo motor specifications Specifications Continuous running duty Servo motor series Flange size (mm) Supply voltage (VAC) Rated output (kw) Rated torque (N. m) Maximum torque (N. m) Rated rotation speed (r/min) Maximum rotation speed (r/min) Rated power rate (kw/s) Rated current (Arms) KANH /220V Momentary maximum current (Arms) Rotor inertia (X10-4 Kg. m 2 ) Standard Encoder 2500 P/R Incremental / 17bit Absolute Recommended load/motor inertia ratio Structure Ambient temperature Less than 5-times the servo motor's inertia Totally enclosed non ventilated (protection degree:ip65) 0 to 40 (32 to 104 ) (non freezing), storage: -15 to 70 (5 to 158 ) (non freezing) Environment Ambient humidity Atmosphere Elevation/Vibration 85% RH max. (non condensing), storage: 90% RH max.(non condensing) Indoors (no direct sunligt); no corrosive gas, inflammable gas, oil mist, or dust 1000meters or less above sea level, 49 m/s 2 below Weight (kg) Standard If used in location such as actual site of machinery where oil or water may influence the product, special specifications apply, contact KOMOTEK. 2. This specification is guaranted after combining and adjusting with the driver. 3. All ratings typical and at 20 unless otherwise noted. 4. Contact KOMOTEK if the load/motor of inertia moment ratio exceeds the figure in the table KANH series servo motor torque characteristics 1. Dotted lines show torque characteristics for 10% derated voltage operation. KOMOTEK 9

11 Specifications and Characteristics KANF series servo motor specifications Specifications Continuous running duty Servo motor series Flange size (mm) Supply voltage (VAC) Rated output (kw) Rated torque (N. m) Maximum torque (N. m) Rated rotation speed (r/min) Maximum rotation speed (r/min) Rated power rate (kw/s) Rated current (Arms) KANF /220V Momentary maximum current (Arms) Rotor inertia (X10-4 Kg. m 2 ) Standard Encoder 2500 P/R Incremental / 17bit Absolute Recommended load/motor inertia ratio Structure Ambient temperature Less than 10-times the servo motor's inertia Totally enclosed non ventilated (protection degree:ip65) 0 to 40 (32 to 104 ) (non freezing), storage: -15 to 70 (5 to 158 ) (non freezing) Environment Ambient humidity Atmosphere Elevation/Vibration 85% RH max. (non condensing), storage: 90% RH max.(non condensing) Indoors (no direct sunligt); no corrosive gas, inflammable gas, oil mist, or dust 1000meters or less above sea level, 49 m/s 2 below Weight (kg) Standard If used in location such as actual site of machinery where oil or water may influence the product, special specifications apply, contact KOMOTEK. 2. This specification is guaranted after combining and adjusting with the driver. 3. All ratings typical and at 20 unless otherwise noted. 4. Contact KOMOTEK if the load/motor of inertia moment ratio exceeds the figure in the table KANF series servo motor torque characteristics 1. Dotted lines show torque characteristics for 10% derated voltage operation. 10 KOMOTEK

12 Specifications and Characteristics KANK series servo motor specifications Specifications Continuous running duty Servo motor series Flange size (mm) Supply voltage (VAC) Rated output (kw) Rated torque (N. m) Maximum torque (N. m) Rated rotation speed (r/min) Maximum rotation speed (r/min) Rated power rate (kw/s) Rated current (Arms) KANK /220V Momentary maximum current (Arms) Rotor inertia (X10-4 Kg. m 2 ) Standard Encoder 2500 P/R Incremental / 17bit Absolute Recommended load/motor inertia ratio Structure Ambient temperature Less than 10-times the servo motor's inertia Totally enclosed non ventilated (protection degree:ip65) 0 to 40 (32 to 104 ) (non freezing), storage: -15 to 70 (5 to 158 ) (non freezing) Environment Ambient humidity Atmosphere Elevation/Vibration 85% RH max. (non condensing), storage: 90% RH max.(non condensing) Indoors (no direct sunligt); no corrosive gas, inflammable gas, oil mist, or dust 1000meters or less above sea level, 49 m/s 2 below Weight (kg) Standard If used in location such as actual site of machinery where oil or water may influence the product, special specifications apply, contact KOMOTEK. 2. This specification is guaranted after combining and adjusting with the driver. 3. All ratings typical and at 20 unless otherwise noted. 4. Contact KOMOTEK if the load/motor of inertia moment ratio exceeds the figure in the table KANK series servo motor torque characteristics 1. Dotted lines show torque characteristics for 10% derated voltage operation. KOMOTEK 11

13 Specifications and Characteristics KANL series servo motor specifications Specifications Continuous running duty Servo motor series Flange size (mm) Supply voltage (VAC) Rated output (kw) Rated torque (N. m) Maximum torque (N. m) Rated rotation speed (r/min) Maximum rotation speed (r/min) Rated power rate (kw/s) Rated current (Arms) KANL /220V Momentary maximum current (Arms) Rotor inertia (X10-4 Kg. m 2 ) Standard Encoder 2500 P/R Incremental / 17bit Absolute Recommended load/motor inertia ratio Structure Ambient temperature Less than 10-times the servo motor's inertia Totally enclosed non ventilated (protection degree:ip65) 0 to 40 (32 to 104 ) (non freezing), storage: -15 to 70 (5 to 158 ) (non freezing) Environment Ambient humidity Atmosphere Elevation/Vibration 85% RH max. (non condensing), storage: 90% RH max.(non condensing) Indoors (no direct sunligt); no corrosive gas, inflammable gas, oil mist, or dust 1000meters or less above sea level, 49 m/s 2 below Weight (kg) Standard If used in location such as actual site of machinery where oil or water may influence the product, special specifications apply, contact KOMOTEK. 2. This specification is guaranted after combining and adjusting with the driver. 3. All ratings typical and at 20 unless otherwise noted. 4. Contact KOMOTEK if the load/motor of inertia moment ratio exceeds the figure in the table KANL series servo motor torque characteristics 1. Dotted lines show torque characteristics for 10% derated voltage operation. 12 KOMOTEK

14 Motor Dimension KANZ/Q series Specifications of motor/brake connector Brake Standard with Brake Part no. AMP/ Pin spec. AMP/ AMP/ Pin no. Signal Pin no. Signal 1 U 1 U 2 V 2 V 3 W 3 W 4 FG 4 FG 1 BR 2 BR LL Series KANZ KANQ A3 A5 A Standard LR S LA LB LC LE LF LZ KOMOTEK 13

15 Motor Dimension KAND/S/H/F series Specifications of motor/brake connector Motor connector (MS 3102A) Series KAND KANS KANH KANF 08~25 30~50 10~25 30~50 05~15 20~50 04~15 25~45 Standard 20-4P 22-22P 20-4P 22-22P 20-4P 22-22P 20-18P 24-11P 20-18P 24-11P 20-18P 24-11P 20-18P 24-11P 20-18P 24-11P Brake Standard with Brake Part no. Pin spec. Outline MS 3102A 20-4P MS 3102A 22-22P MS 3102A 20-18P MS 3102A 24-11P MS 3102A 20-18P MS 3102A 24-11P Pin no. Signal Pin no. Signal G A G A BR H B H B BR A C A C A F D U F D U B I E V I E V C B F W B F W D E G FG E G FG D H FG D H FG C I C I LL Series KAND KANS Standard LR S LA 130/ / / LB LC LD LE LF LZ LL Series KANH KANF Standard LR S LA LB LC LD LE LF LZ KOMOTEK

16 Motor Dimension KANK/L series Specifications of motor/brake connector Motor connector (MS 3102A) Series KANK KANL 03~09 12~60 03~09 12~60 Brake Standard with Brake Part no. Pin spec. Outlines MS 3102A 20-4P MS 3102A 22-22P MS 3102A 20-18P MS 3102A 24-11P Pin no. Signal Pin no. Signal A U G A BR B V H B BR C W A C D FG F D U I E V B F W E G FG D H FG C I Standard 20-4P 22-22P 20-4P 22-22P LL Series Standard LR S LA LB LC LD LE LF LZ KANK LL Series Standard LR S LA LB LC LD LE LF LZ KANL KOMOTEK 15

17 Special Specifications Electromagnetic brake specifications KANZ/Q series Series KANZ KANQ A3 A5 A Static friction torque Response time Release time Nm ms ms Rated voltage Rated voltage VDC VDC Rated current A(at 20 ) KAND/S series Series KAND KANS Static friction torque Nm Response time ms Release time ms Rated current A(at 20 ) KANH series Series Static friction torque Nm Response time ms Release time ms Rated voltage VDC Rated current A(at 20 ) KANH KANF series Series Static friction torque Response time Release time Rated voltage Rated current Nm ms ms VDC A(at 20 ) KANF KANK series Series Static friction torque Nm Response time ms Release time ms Rated voltage VDC Rated current A(at 20 ) KANK KANL series Series KANL Static friction torque Response time Release time Nm ms ms Rated voltage VDC Rated current A(at 20 ) The electromagnetic brake is for holding. It cannot be used for braking applications. 16 KOMOTEK

18 Special Specifications Special shaft end specifications KANZ, KANQ series(with key & D-cut) Series KANZ KANQ A3 A5 A LW/LN(D-cut) 13/20 14/20 14/20 14/20 20/22 25/22 25/25 25/25 25/25 14/20 20/22 25/22 LK KW 2 h9 3 h9 3 h9 3 h9 4 h9 5 h9 6 h9 6 h9 6 h9 3 h9 4 h9 5 h9 KH RH/LP(D-cut) 5.8/ / / / /10 11/ / / / / /10 11/12.5 KAND, KANS, KANH, KANF,KANK,KANL series(with key) Series KAND KANS KANH KANF KANK KANL 08 10~20 25~ ~50 10~25 30~35 40~50 05~15 20~ ~45 03~09 12~30 45~60 03~09 12~30 45~60 LW LK KW 6h9 8h9 8h9 8h9 10h9 6h9 8h9 8h9 8h9 10h9 6h9 8h9 10h9 8h9 10h9 12h9 8h9 10h9 12h9 KH RH KOMOTEK 17

19 Connector pin Arrangement Encoder connectors KANZ/Q series Wires Part no. Pin specification Outlines Pin AMP/ Signal A A B B Z Z U U V Inc. KANZ-A3~10 KANQ-01~04 9 AMP/ Pin Pin Signal A A B B Z Z +5V 0V FG Abs. (17bit) 9 AMP/ Pin Signal BAT + BAT - FG SD SD +5V 0V KAND/S/H/F series Part no. Pin specification Outlines Pin A B C D E F G H J Inc. Signal A A B B Z Z 0V +5V FG Pin K L M N P R S T Signal U U V V W W KAND-08~50 KANS-10~50 KANH-05~50 KANF-04~45 KANK-03~60 KANL-03~60 Abs. (17bit) MS 3102A 20-29P Pin A B C D E F G H J Signal 0V +5V FG Pin K L M N P R S T Signal SD SD BAT - BAT + Abs. (11bit) Pin A B C D E F G H J Signal A A B B Z Z 0V +5V FG 18 KOMOTEK

20 Glossary Power 1. The rate at which work is done. In motion control, power is equal to torque multiplied by speed. 2. The rate of doing work or expending energy. It may be written as: Power (watts)=force x distance/time. Expressed in electrical terms it is voltage x current=power (watts) Speed Describes the linear or rotational velocity of a motor or other object in motion. Torque A measure of angular force which produces rotational motion. This force is defined by a linear force multiplied by a radius e.g. N.m. Torque is an important parameter of an motion control system. Cogging torque A term used to describe non-uniform angular velocity. Cogging appears as a jerkiness especially at low speeds. Inductance The electrical equivalent to mechanical inertia; that is, the property of a circuit, which when no current flows has a tendency to resist current flow, and when current is flowing has a tendency to maintain that current flow. KOMOTEK measures inductance(line to line) with a bridge at 1000Hz and with an average value of several points where the rotor appears as a jerkiness. Inertia The property of an object to resist change in velocity unless acted upon by an outside force. Higher inertia objects require larger torques to accelerate and decelerate. Inertia is dependent upon the mass and shape of the object. Back EMF The voltage generated when a permanent magnet motor is rotated. This voltage is proportional to motor speed and is present regardless of whether the motor windings are enegized or unenergized. Torque-toinertia ratio Defined as the motor's holding torque divided by the inertia of its rotor. The higher the ratio, the higher a motor's maximum acceleration capability will be. Back EMF constant When a motor is operated, it generates a voltage proportional to speed but opposing the applied voltage. It describes the ratio of generated voltage to rotation speed at no load. The shape of the voltage waveform depends upon the specific motor design. For example, in a brushless motor the waveshape may be trapezoidal, or sinusoidal in nature. All KOMOTEK brushless motor designs have a sinusoidal voltage. Torque constant An expression of the relationship between input current and output torque. For each amperes of current, a fixed amount of torque is produced. Brushless servo motor A class of servo motors which operates using electronic commutation of phase currents rather than electromechanical(brushes) commutation. Commutation is a function of rotor position. These motors typically have a permanent magnet rotor and wound stator. Class B insulation A NEMA insulation specification. Class B insulation is rated to an operating(internal) temperature of 130 KOMOTEK 19