Lexium Motion control

Transcription

1 Lexium Motion control Catalogue January This document provided by Barr-Thorp Electric Co., Inc

2 This document provided by Barr-Thorp Electric Co., Inc

3 Contents Lexium motion control - Lexium motion control b Presentation page b Association of brushless motors and servodrives page - Modicon Premium motion control modules Selection guides Counter and electronic cam modules page Motion control modules page b TSX CFY / motion control modules for stepper motors page 8 b TSX CAY motion control modules for servomotors page b TSX CFY/CAY module software setup page b SERCOS TSX CSY 8/ motion control modules page - Modicon Quantum motion control modules Selection guide, motion control modules page b MSB single-axis motion module for servomotors page b SERCOS MMS motion control modules page 8 - Lexium servodrives b Presentation, description and functions page b Unilink software page b Connectivity of MHDA servodrives page b Characteristics and references page b Dimensions and connections page 8 - SER brushless motors b Presentation, functions and description page 7 b Characteristics and dimensions page 79 b References page 8 b Holding brake page 88 b PLE gearboxes page 89 - Lexium BPH brushless motors b Presentation, functions and description page 9 b Characteristics and dimensions page 9 b References page 7 - Additional products and services b Sizing the brushless motor and braking resistor page b Phaseo regulated power supplies page b Automation product certifications page 8 b Schneider Electric worldwide page b Index page 7 This document provided by Barr-Thorp Electric Co., Inc

4 Lexium offer Lexium motion control Presentation Analog setpoint or digital link mode Stand alone mode with integral position indexer The axis control offer is intended for machines which simultaneously require high performance servo motion control, associated with PLC sequential control. Position control system Modicon Premium and Modicon Quantum automation platforms offer a range of interfaces including axis control modules providing a position control function. These modules are: b Analog output modules: v TSX CAY, multi-axis control ( to axes) for Premium, v MSB, single-axis control for Quantum b Modules with SERCOS digital link: v TSX CSY, controls up to servodrives for Premium, v MMS, controls up to servodrives for Quantum. Lexium MHDA servodrive Lexium servodrives provide solid state switching, current (or torque), speed and position control. Three types of servodrive, each available in 7 current ratings (.,,,,, and 7 A permanent rms), are available: b + V analog setpoint, controlled by position control module of PLC. b Stand alone mode with integral position indexer, controlled by: v discrete inputs/outputs (), v CANopen bus, v Modbus Plus network, Fipio bus or Profibus DP bus (). b SERCOS high speed digital link () allows Lexium servodrives to be controlled by PLC position control module. Lexium brushless motors Brushless motors are synchronous, -phase motors. They are equipped with a builtin sensor which can be a resolver or a SinCos Hiperface absolute encoder. They are provided with or without holding brake. Two ranges of motors are available: SER motors They are equipped with Neodynium Iron Borium (NdFeB) magnets and provide a high power density within a confined space, as well as large velocity dynamic that meet all machine requirements. They have: b IP or IP protection. b With or without gearbox. These gearboxes are offered with three speed reduction ratios :, : and 8:. b Smooth shaft end () (for the model without gearbox) or with key (for the model with gearbox). BPH motors Their design, with samarium cobalt permanent magnets, ensures perfect rotation even at low speed. Depending on the model, they have: b IP or IP 7 protection (IP for BPH motor). b Keyed or smooth shaft ends. Configuration and installation Motion control applications are designed and installed using: b PL7 Junior/Pro (for Premium PLCs) software. b Concept (for Quantum PLCs) software. b Unity Pro (for Premium or Quantum PLCs) software. Unilink user software, in association with Lexium servodrives, provides configuration and adjustment of the parameters for these servodrives. () Requires use of an optional card (one slot available per MHDA servodrive). () Shaft end with key for the model without a gearbox, please contact our Regional Sales Office. This document provided by Barr-Thorp Electric Co., Inc

5 Lexium offer Lexium motion control Association of brushless motors and Lexium servodrives SER brushless motors (IP or IP ) Digital Lexium MHDA servodrives Lexium BPH brushless motors (IPorIP7) MHDA MHDA MHDA MHDA MHDA MHDA MHDA p 8p 7p 8p p A 98A. A rms A rms A rms A rms A rms A rms 7 A rms./. Nm 8, rpm BPH S.9/.9 Nm./. Nm, rpm BPH 7 N SER 9A L7S, rpm./. Nm./ Nm SER 9B LS, rpm./. Nm./8. Nm./. Nm./.8 Nm, rpm BPH 7 N SER 9C LS, rpm.9/.7 Nm.9/9. Nm.7/7. Nm./. Nm, rpm BPH 9 N SER BA LS, rpm./9. Nm./. Nm SER BA LS, rpm./8. Nm./ Nm./. Nm./. Nm, rpm BPH 9 N SER BB LS, rpm./ Nm./ Nm SER BB LS, rpm./.8 Nm./ Nm 7./. Nm 7./9. Nm, rpm BPH N.8/. Nm./9 Nm, rpm BPH N SER BC LS, rpm /7 Nm /8 Nm SER BC L7S, rpm / Nm / Nm./8 Nm / Nm, rpm BPH N SER BD LD, rpm./9 Nm SER BD L7S, rpm./ Nm./8 Nm./ Nm 7/ Nm, rpm BPH N /7. Nm, rpm BPH 9 N /7 Nm, rpm BPH 9 K /7. Nm, rpm BPH 9 K 7/7 Nm, rpm BPH 97 K 9/ Nm / Nm, rpm BPH 9A K./. Nm For a SER motor, the st value corresponds to continuous stall torque max., the nd value corresponds to peak stall torque max../. Nm For a SER/Lexium BPH motor, the st value corresponds to continuous stall torque max., the nd value corresponds to peak stall torque max. Example: The SER BB LS motor associated with the MHDA7 servodrive meets the requirements of applications requiring a. Nm continuous stall torque max, Nm peak stall torque max. and, rpm mechanical speed. This document provided by Barr-Thorp Electric Co., Inc

6 Selection guide Lexium motion control Counter and electronic cam modules Applications Counter modules Number of channels channels channels Frequency per channel khz khz Module cycle time ms ms Counter/measurement input Counting pulses c V Up to khz: - Proximity sensor type - Mechanical contacts Incremental encoder Up to khz : - c V - c V RS with zero marker Absolute encoder Reflex inputs/outputs Per channel: - inputs c V: enable, preset and read - input c V line check, incremental encoder power supply - reflex outputs c V Counting capacity bits + sign ( to points or ± 777 points) Functions Downcounting with preset input, upcounting with reset to zero input Up/down counting with preset input, configurable upcounter input: - upcounter input/ downcounter input - up/down counter input and direction input - Incremental encoder with phase-shifted signals Processing Inputs: counter enable, counter preset, read current value Comparison: - Downcounting, to value - Upcounting, thresholds and setpoint - Up/down counting, thresholds and setpoints Reflex outputs: - Downcounting function, passage through zero output - Upcounting function, passage through setpoint value output - Up/down counting function, user-definable outputs - Up/down counting function, user-definable outputs Events User-definable activation of the event-triggered task (threshold crossing, setpoint crossing, preset or reset, enable, capture) Connection - -way SUB-D connectors ( per counter channel, direct or TSX TAP S pp accessory) - HE connector for auxiliary I/O and power supply - Telefast system (ABE 7CPA, ABE 7H8R/R) Type of module TSX CTY A TSX CTY A Page Please consult our catalogue Modicon Premium automation platform This document provided by Barr-Thorp Electric Co., Inc

7 Fast counter and measurement module Electronic cam module channels channel khz ms Up to MHz: - Proximity sensor type - Mechanical contacts khz in multiplication by, khz in multiplication by : - c V - c V RS with zero marker Power supply c V ou c V: - SSI absolute encoder up to bits - Parallel absolute encoder up to bits (with Telefast ABE 7CPA sub-base) Per channel : - inputs c V : preset and read - enable input or c V output, configurable - reflex outputs c V - programmable frequency output V - encoder power supply input c V/ V - proximity sensor compatible inputs V type I - track outputs V/. A protected bits + sign ( to + 777, upcounting) or bits + sign (- 777 to + 777, downcounting, up/down counting). Up to bits for SSI absolute encoder to 78 points per cycle and from to 78 cycles,(absorbs play on reverse) Up/down counting with preset input, configurable counter input: - upcounter input/ downcounter input - up/down counter input and direction input - Incremental encoder with phase-shifted signals Measurement : - SSI absolute encoder - Parallel output absolute encoder with ABE 7CPA sub-base Processing of 8 cams/ tracks (of which with direct output) Output update cycle: - µs for cams - µs for cams - µs for 8 cams Two capture registers Control/recalibration of axis slip Inputs: counter enable, counter preset, read current value Comparison: thresholds Reflex outputs: user-definable outputs Speed monitoring Special functions Cam profiles: basic types (position, monostable, brake) Associated functions: - Elimination of axis backlash, position recalibration - Measurement capture - Switching feedforward - Parts counter User-definable activation of the event-triggered task (crossing of thresholds or modulo value, preset, enable, capture) User-definable activation of the event-triggered task (cams, track, adjustment, read, etc.) - way SUB-D connectors ( per counter channel, direct or TSX TAP Spp accessory) - HE connector for reflex I/O and power supply - Telefast system (ABE 7CPA, ABE 7HR, ABE 7CPA) TSX CTY C TSX CCY 8 Please consult our catalogue Modicon Premium automation platform This document provided by Barr-Thorp Electric Co., Inc

8 Selection guide Lexium motion control Premium motion control modules Applications Motion control modules for stepper motor Motion control modules for servomotors Compatible with: - Lexium MHDA servodrives with analog setpoint - Altivar ATV 8/8/8 variable speed drives Number of axes axis axes axes axes Frequency per axis 87 khz Counter: khz with incremental encoder Counter input Per axis: Translator inputs c V, negative logic (translator loss of step checks) Per axis: Incremental encoder c V, RS /RS 8 or Totem pole SSI serial absolute encoder to bits c V Parallel output absolute encoder to bits c // V with Telefast conversion subbase (ABE 7CPA) Control outputs Per axis: RS translator outputs, TTL V compatible (+/- pulses, boost, enable, reset loss of step check) Per axis: analog output ± V, bits + sign, Auxiliairy input/output Per axis: discrete inputs c V output c V (brake control) Per axis: discrete I/O c V (homing cam, event, recalibration, input/ output for servodrive control reflex output c V Counter capacity bits + sign (± 777 points) Functions Servo Control on individual linear axis Processing Open loop control of the position of a moving part on a limited linear axis according to motion control functions supplied by the PLC processor Axis parameter setting, adjustment and debugging using PL7 Junior/Pro and Unity Pro software Positioning of a moving part on an axis according Axis parameter setting, adjustement and debugging using Events User-definable activation of the event-triggered task Connection - -way SUB-D connector for translator - -way HE connector for auxiliary I/O - Telefast system (ABE 7HR) - 9 and -way SUB-D connectors for encoder input - HE connector for auxiliary inputs - Telefast system (ABE 7CPA, ABE 7HR, - Specific accessories (TSX TAP MAS) Type of modules TSX CFY TSX CFY TSX CAY TSX CAY Page This document provided by Barr-Thorp Electric Co., Inc

9 Motion control modules for servomotors Compatible with Lexium MHDA servodrives equipped with optional card SERCOS axes axes axes 8 axes axes Acquisition: khz with SSI serial absolute encoder or parallel output SERCOS ring: M bauds Per axis: - Incremental encoder c V, RS /RS 8 or Totem pole, - SSI serial absolute encoder to bits Parallel output absolute encoder to bits c // V with Telefast conversion sub-base (ABE 7CPA) Per SERCOS digital link servodrive setpoint Per SERCOS digital link emergency stop) Per SERCOS digital link Servo control on individual infinite axis Follower axes (dynamic ratio) Realtime correction of servodrive offset Flying shear on position or event () Servo control on individual linear or infinite axis Linear interpolation on or axes Realtime correction of servodrive offset Individual linear or infinite axis Linear interpolation on to 8 axes Follower axes ( slaves) by gearing or camming Manual mode (JOG and INC) () Special functions, see page to motion control functions supplied by the Premium PLC processor PL7 Junior/Pro and Unity Pro software () Axis parameter setting, adjustment and debugging using PL7 Junior/Pro software (direct or via TSX TAP Spp ), speed reference ABE 7CPA), SMA type connectors for plastic (or glass) fiber optic cable TSX CAY TSX CAY TSX CAY TSX CSY 8 TSX CSY () Function not available with Premium platform under Unity Pro software. () The Unity Pro software is not compatible with the TSX CSY module. This document provided by Barr-Thorp Electric Co., Inc

10 Presentation, description Lexium motion control TSX CFY / modules for stepper motors Presentation Fip Premium Amplifier The TSX CFY / stepper motor axis control range is intended for machines which simultaneously require motion control by stepper motor associated with sequential control by programmable controller. The TSX CFY module controls, via an amplifier for stepper motor, axis (channel ). The TSX CFY module controls axes (channels and ). They accept amplifiers with: b RS or TTL V inputs (negative logic). b RS or c V NPN open collector outputs. Motor In a Premium PLC configuration, the number of TSX CFY motion control modules should be added to the other application-specific modules (communication, counting, axis control and weighing). Description TSX CFY TSX CFY CH CH RUN ERR CH CH I/O The front panel of TSX CFY / stepper control modules comprises: One -way SUB-D connector per channel for connecting: v Amplifier inputs. v Amplifier outputs. v Amplifier input power supply. One -way HE connector for connecting: v Auxiliary inputs: per axis, homing cam, emergency stop, limit switches (+ and -), event, external stop. v Brake outputs ( per axis). v External power supplies for sensors and preactuators. Rigid casing which: v Holds the electronic card. v Locates and locks the module in its slot. Module diagnostics lamps: v Module diagnostics: - green RUN lamp: module operating, - red ERR lamp: internal fault, module failure, - red I/O lamp: external fault. v Axis diagnostics: - green CHp lamps: axis diagnostics available. Operation block diagram Operating characteristics are described on page. Stepper control modules are set up using PL7 Junior/Pro and Unity Pro software. Configuration + adjustment %KW.%MW Configuration parameters Pulse generator Amplifier enable output A/B pulse outputs Reactivation of loss of step output Boost output Amplifier fault input Loss of step check input SMOVE function %O, %QW Processing Auxiliary I/O processing Cam input (homing) + and limit switch input Emergency stop input Event input External stop input %I, %IW Brake output pages 9 and page Connection: page 8 This document provided by Barr-Thorp Electric Co., Inc

11 Characteristics Lexium motion control TSX CFY / modules for stepper motors Electrical characteristics Type of module TSX CFY TSX CFY Modularity axis axes Maximum pulse frequency khz Consumption c V ma c V ma Power dissipated in the module Typical W.8. Sensor power supply check Yes Yes Input characteristics Inputs Amplifier inputs Auxiliary inputs Logic Negative Positive Nominal values Voltage V Current ma. 7 Limit values Voltage V 9... (up to V possible, limited to hr per hr period) At state Voltage V < Current ma > (for U = V) At state Voltage V >. < Current ma < (for U = V) Input impedance for nominal U kω. Input immunity µs Loss of step input: to : µs Homing cam and event inputs: < ms Amplifier fault input: to Limit switch, emergency stop and external stop inputs: to Monitoring of external power supply for sensors and preactuators Voltage for OK state V > 8 Voltage for fault state V < Immunity OK V fault ms > Immunity fault V OK ms < Type of input Resistive Current sink IEC conformity Type Sensor compatibility -wire/-wire Output characteristics Outputs Amplifier outputs Brake outputs ( per axis) Type of output RS, TTL V open collector NPN Open collector, PNP compatible Output differential voltage V ± (load resistance Ω) Short-circuit current ma < Permissible common mode voltage V 7 Permissible differential voltage V Voltages Nominal V c Limit V 9... (up to V possible, limited to hr per hr period) Currents Nominal ma Leakage ma <. Maxi ma (for U = or V) Maximum voltage drop when ON V c < Switching time µs < Compatibility with DC inputs All positive logic inputs with input resistance < kω IEC - compliance Yes Protection against overloads and short-circuits Via current limiter and thermal tripping (reactivated via program or automatically) Short-circuit check on each channel One signalling bit per channel Protection against channel overvoltage Zener diode between outputs and c + V Protection against polarity inversions By diode reverse-mounted on supply page Connection: page This document provided by Barr-Thorp Electric Co., Inc

12 C C C C Characteristics (continued), connections Lexium motion control TSX CFY / modules for stepper motors Operating characteristics Control Pulse, frequency from to 87 khz + and - outputs or +/- outputs and direction Paths Trapezoidal speed profile with minimum movement frequency Operating modes OFF Module inactive DIR DRIVE MAN Module operating as pulse generator Motion controlled by operator: v visual control of movement v incremental movement AUTO Movement sequence controlled by PLC program. Movements are described using a syntax similar to that of ISO language. Movements may be expressed in absolute or relative terms (in relation to either the current position or a home point). Operation is possible in "step-by-step" mode. Checks Environment Amplifier, limits switches, Emergency stop Motion Control Parameters Check correct execution by software position limits, loss of step Check consistency of commands Check validity of parameters Optional commands Boost, brake Connections TSX CFY / stepper control module connections + pulses pulses (or direction) Boost Amplifier enable Reactivation of step loss check Amplifier check Loss of step check Amplifier () Twin line TLD servodrive with PULSE-C option Axis Axis Axis or TSX CFY / TSX CAP S connector TSX CDPpp cable with connector TSX CDPp preformed cable with connector TSX CDPp cable with connector ÐÐ Telefast ABE 7HR Axes and Auxiliary I/O c V Power supply Q Q I I I I I I I I I I I I Ð Ð Ð Ð Ð Ð RI RI Brake output Output axis Brake output Output axis Limit switch Limit switch + External stop Inputs axis Emergency stop Event Homing Limit switch Limit switch + External stop Inputs axis Emergency stop Event Homing () Type of amplifier b With RS interface: v RS compatible inputs, v RS outputs. b With open collector, NPN interface: v TTL/ V source compatible inputs, v Open collector, NPN outputs ( V power supply from TSX CFY / module). pages 9 and page This document provided by Barr-Thorp Electric Co., Inc

13 References Lexium motion control TSX CFY / modules for stepper motors Motion control modules for stepper motors Description To control Connections to connectors No. of Reference Weight SUB-D, -way HE, -way axes () kg Motion control modules for stepper motors Amplifier I/O TSX CFY. Amplifier with RS I/O, c V TTL and O c V with open collector Auxiliary I/O, c V power supply TSX CFY.8 TSX CFY Connection accessories Description TSX CFY p connector Type of connector on TSX CFY p module SUB-D connectors Amplifier SUB-D, -way ( per axis) Sold in lots of N Unit Weight () reference kg TSX CAP S. Telefast connection subbase Auxiliary I/O for axes /, c V power supply HE, -way ( for axes) ABE 7HR. Additional terminal block shunted terminals Order in multiples of ABE 7BV. for ABE 7HR subbases TSX CFY ABE 7HR Connecting cables Description Cables (crosssection. mm ) From module TSX CFY p -way HE connector To N () Length Reference Weight kg ABE 7HR subbase. m TSX CDP.8 (-way HE molded connector) m TSX CDP. m TSX CDP.8 m TSX CDP. m TSX CDP.7 Preformed cables (crosssection. mm ) -way HE connector Auxiliary I/O for axes / m TSX CDP., V c power supply (flying leads at I/O end) m TSX CDP. TSX CDP p m TSX CDP. Cables for Twin Line TLD p amplifier -way SUB-D connector Twin Line TLD p amplifier with PULSE- C option (-way female SUB- D connector) () Includes a bilingual Quick Reference Guide: French and English. () For key, see page. m TSX CXP m TSX CXP TSX CDP p pages 9 and Connection: page This document provided by Barr-Thorp Electric Co., Inc

14 Description Lexium motion control TSX CAY modules for servomotors Premium Lexium servodrive Motor The TSX CAY pp servo loop positioning axis control range is intended for machines which require simultaneous high performance motion control together with sequential control by programmable controller. Depending on model: b The TSX CAY / modules control individual axes. b The TSX CAY / modules control up to individual axes. b The TSX CAY module control interpolated linear axes. They can be used with ± V analog input servodrives such as Lexium 7D/7D HP, and Twin Line TLD servodrives. TSX CAY pp modules can be installed, like all application-specific modules, in any location on a Premium PLC rack. Description TSX CAY / TSX CAY / The front panel of TSX CAY pp axis control modules comprises: One -way SUB-D connector per axis for connecting an incremental or absolute encoder. One 9-way SUB-D connector for all axes for connecting: v "speed reference" analog output for each axis. One -way HE connector for all axes for connecting: v Auxiliary inputs for servodrive control, v External power supply for servodrive I/O. One -way HE connector for axes (/ or /) for connecting: v Auxiliary inputs: homing cam, Emergency stop, event, recalibration. v High speed outputs. v External power supplies for sensors and preactuators. Rigid casing which: v Holds the electronic card. v Locates and locks the module in its slot. Module diagnostic lamps: v Module diagnostics: - green RUN lamp: module operating, - red ERR lamp: internal fault, module failure, - red I/O lamp: external fault. v Axis diagnostics: - green CHp lamps: axis diagnostics available. Operation Block diagram of an axis Configuration + adjustment %KW.%MW Configuration parameters Servo loops Encoder input Servodrive speed reference output SMOVE function %O, %QW Processing Auxiliary I/O processing Cam input (homing) Event input Recalibration input Emergency stop input Drive fault input %I, %IW Drive enable output High speed output Axis control modules are set up using PL7 Junior/Pro or Unity Pro software (see page ). TSX CAY // modules require the use of TSX P7 ppm/m/m processors and Atrium TPCX7 ppm/m coprocessors or TSX PCI 7ppM. Flying shear function of the TSX CAY module requires the version. of PL7 Junior/Pro software (function not available with Unity Pro software, version.). pages and pages and page This document provided by Barr-Thorp Electric Co., Inc

15 Characteristics Lexium motion control TSX CAY modules for servomotors Operating characteristics Type of module TSX CAY / TSX CAY / TSX CAY Servo loop Proportional with feedforward and gain switching Period ms Paths Speed profile Trapezoidal or parabolic Resolution Minimum. position unit per point Maximum position units per point Length of axis Minimum TSX CAY :, points TSX CAY :, points TSX CAY : points TSX CAY : points TSX CAY : points Maximum,, points Speed Minimum, points/min Maximum 7, points/min Acceleration (from to VMAX) Minimum s Maximum ms 8 Operating modes OFF Measurement mode, inhibition of servo loop The module operates in current speed and position acquisition mode DIR DRIVE MAN AUTO Direct drive mode, inhibition of servo loop The module operates in analog output mode only Motion controlled by operator: b visual control of movement b incremental movement Movement sequence controlled by PLC program. Movements are described using a syntax similar to that of ISO language. Movements can be expressed in absolute or relative terms (either in relation to current position, to a captured position or in relation to a home point). Operation is possible in "step by step" mode, by motion stop/start, by speed correction FOLLOWER The n axis of the module is governed by: b either the axis of the same module b or a command profile transmitted by the application program Checks Environment Encoder link, drive present, Emergency stop Motion Commands Parameters Check correct execution of movements (following error, in-position band, software position limits) Check consistency of commands Check validity of parameters Functions Type of module TSX CAY TSX CAY TSX CAY TSX CAY TSX CAY Linear interpolation, / axes Yes Limited axes Yes Yes Yes Yes Yes Infinite axes Yes Yes Yes Follower axes Static ratio Yes Yes Dynamic ratio Yes Yes Correction of servodrive offset Yes Yes Yes Flying shear On position or on event with infinite master axis and linear slave axis Yes (see page ) pages and pages and Connections: pages 7 to This document provided by Barr-Thorp Electric Co., Inc

16 Characteristics (continued) Lexium motion control TSX CAY modules for servomotors Electrical characteristics Type of module TSX CAY TSX CAY TSX CAY TSX CAY TSX CAY Number of axes axes axes axes axes axes Maximum frequency at counter inputs SSI absolute encoder to bits to bits to bits to bits to bits CLK transmission frequency khz Incremental encoder x khz x khz khz as input or MHz as counter Consumption c V ma c V ma Current drawn by the module Typical ma ( max) ( max) on the / V encoder at V ( V absolute encoder) Power dissipated in the Typical W 7. (. max) (7 max) module Sensor power supply check Yes Yes Input characteristics Type of input Counter inputs c V (IA/IB/IZ) Servodrive check inputs ( per axis) Logic Positive Positive Positive Nominal values Voltage V Current ma Auxiliary inputs (homing, event, recalibration, Emergency stop) Limit values Voltage V (up to V possible, limited to hr per hr period) 9... (up to V possible, limited to hr per hr period) At state Voltage V. (OK state) Current ma >.7 (for U =. V) >. (for U = V) > (for U = V) At state Voltage V. (fault state) Current ma < (for U =. V) <. (for U = V) < (for U = V) Voltage/encoder feedback check Presence check Input impedance for nominal U Ω 7 Type of input Resistive Resistive Current sink IEC compliance Type Type -wire sensor compatibility Yes (all prox. sens. V) -wire sensor compatibility Yes (all prox. sens. V) Output characteristics Type of output Analog outputs ( per axis) Drive enable ( relay output per axis) High speed outputs ( per axis) Range V ±. Resolution bits + sign Value of LSB mv. Nominal voltage V c c Voltage limit V 9... (up to V possible, limited to hr per hr period) Current ma nominal Maximum current ma. (resistive load at V) (for U = or V) Minimum permitted load V/ ma Maximum voltage drop when ON V < Leakage current ma <. Switching time < ms < µs Compatibility with DC inputs All positive logic inputs with input resistance < kω IEC compliance Yes Protections against overload and short-circuits Current limiter and thermal tripping Protection against channel overvoltage Zener diode between outputs and + V supply Protection against polarity inversions Reverse-mounted diode on supply pages and Connections: pages 7 to page This document provided by Barr-Thorp Electric Co., Inc

17 References Lexium motion control TSX CAY modules for servomotors Motion control modules for servomotors TSX CAY p Type of input Characteristics Functions No. of axes () Incremental encoders khz counter Servo control on independent c V RS, c V with incremental linear axis Totem Pole () encoder, Absolute encoders Acquisition khz RS 8 serial or parallel with serial absolute () encoder Servo control on independent linear or infinite axis Follower axes Realtime correction of servodrive offset Flying shear () Connection accessories Description Connection Type of connector on TSX CAY pp module SUB-D connectors (lot of ) Incremental/SSI absolute encoder Reference () Weight kg TSX CAY.8 TSX CAY. TSX CAY.8 TSX CAY. Servo control on linear or infinite axis Linear interpolation on or axes Realtime correction of servodrive offset TSX CAY. SUB-D, -way ( per axis) No. () Reference Weight kg TSX CAP S. TSX CAY Speed references SUB-D, 9-way ( per TSX CAY module) 7 TSX CAP S9. Connection interface for incremental encoder Incremental encoder SUB-D, -way c V ( per axis) RS /RS 8 TSX TAP S. Splitter block Speed references to servodrives SUB-D, 9-way ( per TSX CAY module) TSX TAP MAS.9 Telefast connection subbases Speed references SUB-D, 9-way ( per TSX CAY module) ABE 7CPA. TSX CAY p TSX TAP S Auxiliary inputs, HE, -way High speed outputs, ( for axes) I/O power supply c V, encoder power supplies c / V ABE 7HR. TSX TAP MAS ABE 7CPA Adaptor sub-base Servodrive control signals, I/O c V power supply HE, -way ( per TSX CAY module) ABE 7HR. Parallel output SUB-D, -way ABE 7CPA. absolute encoders ( to bits) c V, c V () TSX CAY // modules, double format. () Product supplied with a bilingual Quick Reference Guide: English and French () Totem Pole encoder with complementary Push/Pull outputs. () Parallel output absolute encoders with ABE 7CPA adaptor interface. () Flying shear function available with TSX CAY module. Requires version.. of PL7 Junior/Pro software. Function not available with Unity Pro software. () For key, see pages 7 to. ABE 7HR pages and Connections: pages /7 to page This document provided by Barr-Thorp Electric Co., Inc

18 References (continued) Lexium motion control TSX CAY modules for servomotors Cables with SUB-D connectors From To No. () TSX CAYpp module, - way SUB-D connector TSX TAP S interface, or ABE 7CPA adaptor subbase (-way SUB-D connector) Length Reference Weight kg. m TSX CCP S. m TSX CCP S.. m TSX CCP S. TSX CAYpp module, 9- ABE 7CPA sub-base or TSX TAP MAS block (- 8. m TSX CXP.7 way SUB-D way SUB-D connector) connector (speed reference) m TSX CXP.8 Preformed cables with SUB-D connector fitted at end and free end (servodrive side) TSX CAY pp Speed reference for 9 m TSX CDP.79 module, or servodrive: Lexium MHDA, TSX TAP MAS Twin Line TLD or other block (cross-section. mm) Connecting cables with HE connector TSX CAY pp ABE 7HR sub-base (-. m TSX CDP.8 module, (-way way HE moulded m TSX CDP. HE connector) connector) m TSX CDP.8 ( ma max.) m TSX CDP. m TSX CDP.7 Preformed cables with HE connector fitted at end and free end (servodrive side) TSX CAY pp Auxiliary inputs, high speed m TSX CDP. module, (-way outputs, control signals, power HE connector) supplies (free end) -wire ( ma max.) m TSX CDP. Connecting cables for Lexium MHDA servodrive TSX CAY pp Simulated incremental m TSX CXP. module, way encoder feedback (9- SUB-D connector way SUB-D connector) (encoder input) m TSX CXP.7 Simulated absolute encoder m TSX CXP. feedback (9-way SUB- D connector) m TSX CXP.7 TSX CDP pp Connecting cables for Twin Line TLD servodrive TSX CAY pp module, way SUB-D connector (encoder input) TLD servodrive with ESIM- C/-C module Simulated incremental encoder feedback (- way SUB-D connector) m TSX CXP () m TSX CXP () TLD servodrive with SSI-C module Simulated absolute encoder feedback (-way SUB- D connector) m TSX CXP 7 m TSX CXP 7 TSX CDP p Connecting cables for NUM MDLA servodrive () TSX CAY pp module, - NUM MDLA modular speed drive. m TSX CXP. (encoder input) way SUB-D (-way, high density, SUBconnector D connector) m TSX CXP.7 TSX TAP MAS block, 9-way Speed reference on NUM MDLA modular speed 7. m TSX CXP. SUB-D connector drive (-way SUB-D connector) Cables fitted with splitter block for Altivar AC drive TSX CAY pp module Speed reference for ATV 8/ 8/8F AC drives for asynchronous motors 8 m VY XCA. () For key, see pages 7 to. () See page. pages and Connections: pages 7 to page This document provided by Barr-Thorp Electric Co., Inc

19 7 9 8 C C C C Connections Lexium motion control TSX CAY modules for servomotors Connections for TSX CAY modules General connections Examples of encoder connections Examples of speed reference signal connections GND + + ABE 7CPA Telefast GND Telefast C 9 C 9 C C 7 GND-ANA link (terminals,, and 9) 8 Vref Axis Vref Axis Vref Axis Speed drive with differential inputs Common ( V) Ref Ref + GND 9 Vref Axis Ref Common GND Axis Axis Speed drive with -wire input Axis Axis TSX CAY Power supply c V Example of speed drive connection (auxiliary I/O) V Drive check input Drive enable V Axis GND + + Telefast 8 8 ABE 7HR V Drive check input Drive enable V Axis ABE 7CPA P Incremental or absolute encoder V RS incremental encoder Parallel output absolute encoder TSX CAP S connector TSX CCP Sppp cable with connectors TSX TAP S connector IB- 7 NC Sup. Ret. 8 IB + V IZ + V 9 NC IZ - V IA + V NC IA - + V 7 TSX CAP S9 connector 8 TSX CXP / cable with connector 9 TSX CDP preformed cable with connector TSX CDPpp cable with connector TSX CDPp preformed cable with connector Telefast ABE 7HR Power supply c V auxiliary I/O sensors Example of auxiliary I/O connection / V V V High speed output Recalibration Event Emergency stop Homing High speed output Recalibration Event Emergency stop Homing encoder power supply Q I I I I Q I I I I Axes and Axes and pages and pages and page This document provided by Barr-Thorp Electric Co., Inc

20 Connections (continued) Lexium motion control TSX CAY modules for servomotors Connection example for Lexium MHDA servodrives C C C C TSX CAY Telefast ABE 7HR C C C C Incremental encoder SSI absolute encoder X 9 9 black blue brown X - In + - In - Com TSX TAP MAS r To other Lexium servodrives Power supply c V Lexium MHDA servodrive Enable servodrive OK + V Power supply c V auxiliary I/O sensors Telefast ABE 7HR 8 Common Input Connection example for Twin Line TLD servodrives with ESIM -C/-C option C C C C Incremental encoder with module ESIM-C/-C Absolute encoder with SSI-C option M Simulated encoder feedback black blue brown 7 8 TSX CAY TSX TAP MAS r Power supply c V To other Twin Line servodrives Twin Line TLD servodrive Speed reference, auxiliary servodrive I/Os Telefast ABE 7HR Incremental or absolute encoder TSX CCP Sppp cable with connector (encoder feedback) TSX TAP S connector 8 TSX CXP / cable with connector pages and pages and 9 TSX CDP preformed cable with connector TSX CDPpp cable with connector TSX CDPp preformed cable with connector page TSX CXP / cable with connector (simulated incremental encoder feedback) TSX CXP / cable with connector (simulated SSI absolute encoder feedback) TSX CXP / cable with connector (simulated incremental encoder feedback) TSX CXP 7/7 cable with connector (simulated SSI absolute encoder feedback) 8 This document provided by Barr-Thorp Electric Co., Inc

21 C C C C Enable Ref. power supply Connections (continued) Lexium motion control TSX CAY modules for servomotors Connection example for Altivar ATV-8F speed drive (for asynchronous motors) 8 TSX CAY ++ Power supply c V ++ Telefast () ABE 7HR TSX TAP MAS 9 To other drives A+ A B+ B Z+ Z V +V Drive fault black blue brown A A A/ B B/ V LI LI RB RA AIA AIB COM ATV 8F speed drive () Axis Incremental encoder 8 TSX CXP / cable with connector 9 TSX CDP preformed cable with connector TSX CDPpp cable with connector 8 VY XCA cable with connector and adapter sub-base pages and pages and () For auxiliary I/O connections (for example: Emergency stop, homing, etc), see the connections on page 7. () The speed drive must be programmed as "Macro configuration General use". For other ATV 8F speed drive connections, please see our specialist catalog "Progressive starters and speed servodrives". page This document provided by Barr-Thorp Electric Co., Inc

22 Connections (continued) Lexium motion control TSX CAY modules for servomotors Connection example for NUM MDLA modular speed drives 7 J J J 8 NUM MDLA TSX CAY 7 J TSX TAP MAS NUM MDLA 8 TSX CXP / cable with connector TSX CXP / cable with connector 7TSX CXP cable with connector Connection example for distribution of speed references for speed drives 9 8 Drive TSX CAY 9 TSX TAP MAS 8 TSX CXP / cable with connector 9 TSX CDP preformed cable with connector Drive pages and pages and page This document provided by Barr-Thorp Electric Co., Inc

23 Dimensions Lexium motion control TSX CAY modules for servomotors Dimensions TSX TAP S connection interface for incremental encoder 7, 8 7 7, Mounting in enclosure feedthrough (dust and damp proof) b Ø 7 cut-out, b Panel thickness mm maximum TSX TAP MAS speed reference splitter block for speed drives = = 8 = = 8 Mounting on DIN rail with LA9-DC997 accessory. pages and pages and This document provided by Barr-Thorp Electric Co., Inc

24 Software set up Lexium motion control Motion control modules TSX CAY/CFY module software setup Programming movements PL7 Junior/Pro or Unity Pro setup software provides: b SMOVE and XMOVE motion control functions for programming movements. These functions can be used in Ladder language, Instruction list language or Structured Text language. b Specialized screens for configuring, adjusting and debugging axes. A movement on an independent axis is initiated by executing an SMOVE control function in the application program. Example: go to the absolute position µm, at a speed of mm/min, without stopping. A screen enables the assisted entry of parameters in the SMOVE function in an operation block. The XMOVE command enables movement to be initialized on interpolated axes (TSX CAY only). Instruction codes The characteristics of movements are described using a syntax similar to that for a numerical controller program block written in ISO language. TSX CAY and TSX CFY motion control modules use the following instructions: Individual axes (SMOVE) Interpol. axes (XMOVE) Code and type of instruction TSX CAY / TSX CAY // TSX CFY / TSX CAY 9 Move to the position and stop Move to the position without stopping Move until an event is detected and stop Move until an event is detected without stopping Homing Stop command Await an event 7 Memorize the current position when an event occurs Forced homing / Simple machining 9 Initialization of memorized positions Move without stopping, with homing on the fly Flying shear on two axes () 9/98 Cutting mode (on position or on event) () Possible instruction These instruction codes can be represented as symbols by the user in G code (for example: 9 can be represented by G9). The instruction codes are preceded by another code indicating the type of target position: b 9 : if the target position is absolute. b 9 : if the target position is relative to the current position. b 98 : if the target position is relative to a memorized position (index). b : if the target position is absolute and movement direction is fixed (TSX CAY // only). b 8 : if the target position is relative to a memorized position and movement direction is fixed (TSX CAY // only). Programming a path A complete path can be programmed by means of a series of SMOVE or XMOVE elementary motion control functions. Grafcet language is ideal for this type of programming. An elementary movement is associated with each step. F F Speed SMOVE %CH. (, 9,, X, F) SMOVE %CH. (, 9, 9, X, F) SMOVE %CH. (, 9, 9,, F) F X X Position ()Only with TSX CAY module. Requires the version >. of PL7 Junior/Pro software TLX CD/RCD PL7J/P P M. Not available with Unity Pro software. Xp : coordinate of target position Fp : movement speed of moving part This document provided by Barr-Thorp Electric Co., Inc

25 Software setup (continued) Lexium motion control Motion control modules TSX CAY/CFY module software setup (continued) When setting up application-specific functions, screens specific to axis control and stepper control functions can be accessed via PL7 Junior/Pro software for configuration, adjustment, debugging and documentation of applications. These services are performed by editors which can be directly accessed from the basic screen using icons in the tool bars. Windows relating to the editors can be simultaneously displayed on one screen (example : it is possible to simultaneously program using the program editor and define the symbols in the variables editor). Declaring the axis control modules and stepper control modules Parameter entry screens for application-specific functions can be accessed via the configuration screen by clicking on the slot. Example : modules TSX CAY and TSX CFY in which the module has been defined. Configuring the modules The configuration editor provides assistance with entering and modifying the values of the various axis configuration parameters. These parameters enable the operation of the axis control module (module TSX CAY for example) to be adapted to the machine which is to be controlled. Axis configuration parameters are : b Units of measurement. b Resolution. b Type of encoder. b Maximum and minimum limits. b Maximum speed. b This data relates to the machine and cannot be modified by the program. Adjusting the modules These parameters are associated with operation of the axes. They generally require the operations on and movements of the moving part to be known. These parameters are adjusted in online mode (they are initialized during configuration, in offline mode). They concern: b Encoder offset. b Resolution. b Servo control parameters. b Debugging the modules In online mode, the configuration editor also provides the user with a control panel screen, giving him a quick visual display which he can use to control and observe the behaviour of the axis. The control panel provides different information and commands according to the selected operating mode : b Automatic mode (Auto). b Manual mode (Manu). b Direct mode (Dir_Cde). b Off mode (Off). This document provided by Barr-Thorp Electric Co., Inc

26 SERCOS architecture, system overview Lexium motion control SERCOS TSX CSY 8/ motion control module Architecture Fiber optic cables SERCOS ring network Lexium MHDA servodrives (with SERCOS option card). SER/Lexium BPH motors SERCOS (SERiaI COmmunication System) is a communication standard which defines the digital link (exchange protocol and medium) between a motion control module and intelligent servodrives. It is defined in European standard EN 9. Using the SERCOS distributed architecture allows application I/O (position encoder, emergency stop, etc.) to be connected directly to the intelligent servodrives, reducing the cost of connection. The fiber optic digital link permits high speed exchanges ( or M bauds) while ensuring a high level of immunity in disturbed industrial environments. The SERCOS range in the Premium control system platform comprises: b Two TSX CSY 8/ axis control modules which can each control up to servodrives via a SERCOS ring. The module calculates the path and interpolation for several axes (position mode). Access to the other modes (speed and torque) is possible with the assistance of Schneider Electric application services. b. A to 7 A Lexium MHDA servodrives with digital link (equipped with SERCOS option card). The servodrives manage the position loop, speed loop and torque loop, and ensure power conversion to control the motor. The encoder feedback information is sent to the servodrive (current position, current speed). b SER/Lexium BPH brushless motors. These have permanent magnets delivering a high power-to-weight ratio, resulting in excellent dynamic speed response in a compact unit. The Lexium range offers all the accessories required (filter choke, braking resistor, etc.) and a full set of connectors. System overview The system overview presents the various functions performed by the different parts of the multi-axis control system. PL7 Junior/Pro, Unity Pro Unilink PLC Premium/Atrium Application program Bus X SERCOS TSX CSY 8/ module Linear or infinite independent axes to 8-axis linear interpolation Follower axes ( slaves) by gearing or profiled cams Lexium MDHA servodrive (with SERCOS option card). Interpretation of commands Position loop Speed loop Current loop Power conversion SER/Lexium BPH motor Speed Position SERCOS ring (to servodrive network) pages and Functions: pages 8 and 9 page Connections: page This document provided by Barr-Thorp Electric Co., Inc

27 System overview (continued), description Lexium motion control SERCOS TSX CSY 8/ motion control modules System overview (continued) PL7 Junior/Pro or Unity software via the Premium platform terminal port can: b Declare TSX CSY 8/ SERCOS modules () in the PLC configuration. b Configure the functions and define the parameters for the axes used. b Program the movements in the PLC application. b Adjust the parameters via the operating codes (parameters, TSX CSY module and Lexium MHDA servodrives) (). b Test and debug the application. Unilink software, via the RS terminal port for the Lexium MHDA servodrive () can: b Define types of Lexium MHDA servodrives () and SER/Lexium BPH motors. b Adjust the parameters for Lexium MHDA servodrives (), back them up to EEprom memory in the drive and save them on a compatible PC. Description 7 The TSX CSY 8/ SERCOS axis control modules comprise: A SMA-type connector, marked Tx, for connecting the servodrives using the SERCOS ring fiber optic transmission cable. A SMA-type connector, marked Rx, for connecting the servodrives using the SERCOS ring fiber optic reception cable. Rigid cases, double format, in order to: b Support electronic cards b Attach and lock the module in its slot. Module diagnostic lamps: b RUN LED (green): LED ON indicates module operating correctly. b SER LED (yellow): flashing LED indicates data transmission and reception on the SERCOS network b ERR LED (red): v LED ON indicates internal module fault, v flashing LED on module start up indicates communication fault, incompatible configuration or application missing. b I/O LED (red): LED ON indicates external fault or application fault. b INI LED (yellow): flashing LED indicates module is reinitializing. Channel diagnostic LEDs (green): LED ON indicates axis operating normally; OFF: configuration fault; flashing: serious error on axis: b to 8: display of 8 real axes (). b 9 to : display of imaginary axes (). b to : display of remote axes (). b 7 to : display of coordinated sets. b to : display of follower sets. A pencil point button to initialize the module. 7 Two mini DIN type 8-way connectors for Schneider Electric use. () TSX CSY module can not be implemented with Unity Pro V. software. () Lexium MHDA servodrive equipped with AM SER V SERCOS option card. () to : display the axes (real, imaginary or remote) with module TSX CSY. pages and Functions: pages 8 and 9 page Connections: page This document provided by Barr-Thorp Electric Co., Inc

28 Characteristics Lexium motion control SERCOS TSX CSY 8/ motion control module Characteristics Electrical characteristics TSX CSY 8 TSX CSY SERCOS ring network Type Industrial medium complying with standard EN 9 Topology Ring Medium Fiber optic cable Baud rate M bauds by default Cycle time () (independent axes) Maximum number of segments ms axes axes 8 axes axes axes 8 axes axes axes 9 7 Length of segment m 8 max. with plastic fiber optic cable, max. with glass fiber optic cable Bus X Distance m max. () between TSX CSY 8 axis control module and the Premium processor SERCOS certification () TSX CSY 8/ modules comply with SERCOS CEI/EN 9 certification and with the tests determined by IGS (Interest Group SERCOS). Certification N Z Power consumption for c V voltage ma 8 Power dissipated in the module W 9 (typical) Operating characteristics TSX CSY 8 TSX CSY Number of channels configurable ( to ), channel used for SERCOS ring configuration Type of axes Real axes (connected to a servodrive) 8 (channels to 8) (channels to ) may be dynamically configured as real axes, imaginary axes or remote axis. Imaginary axes (channels 9 to ) Remote axes () (channels to ) Set of axes coordinated (channels 7 to ). Each set allows linear interpolation of to 8 axes followers (channels to ). Each set can comprise a maximum of 7 axes: master/ slaves in gearing or camming Cam profile 7 (channels to ). Used to create the electronic cams with linear or cubic interpolation between profile points () ms default value. Values may be programmed according to number of axes. () Without the use of a TSX REY bus X remote module. () For further certification details, see pages 8 and 9. () Determine external position using an encoder connected to the servodrive position input. Architectures pages and Functions: pages 8 and 9 page Connections: page This document provided by Barr-Thorp Electric Co., Inc

29 Characteristics (continued) Lexium motion control SERCOS TSX CSY 8/ Premium motion control module Characteristics (continued) Main functions Programming Movements b Homing, absolute, relative, or continuous b Immediate movement, or queued, to a given position b Speed override possible b Acceleration and deceleration parameters may be set for each axis motion control () b Synchronisation on start and desynchronisation on stop for a slave axis on a master axis, in a given position () b Rollover counter () Special functions b Capture position and distance measurement between two edges on one or two discrete inputs on the drive. This can be applied to a real or remote axis (position measurement via external encoder) b Count probe: counts the edges on a discrete input on the drive over a period of time b Fast index: starts a movement on an event b Registration move: position capture on an edge of the discrete input on the drive b Rotary Knife: cuts using a rotary knife. Synchronizes a circular axis on a linear axis and controls a discrete output on the drive Other special functions The development of all other special function is possible with the assistance of our application services. Please consult our Regional Sales Offices. Configuration /adjustment Stop/start functions SERCOS ring Acceleration/deceleration b Fast stop, stop on configured deceleration profile b Temporary stop b Restart of stopped movement b Choice of stop method (): v On faulty slave: master is not stopped. master stops normally according to pre-determined deceleration ramp or Servo-driven master emergency stop v On faulty master: slave stops normally according to pre-determined deceleration ramp or Servo-driven slave emergency stop b On Emergency Stop: calculation of slave axis deceleration ramp alignment with master axis so that obtains the synchronization stop of all set axes. () b Emergency Stop: axes may be allowed to "freewheel" or may be stopped according to predetermined ramp () Bus cycle time, traffic on the bus, optical power on the fiber, SERCOS loop diagnostics Ramp values, ramp type (rectangular, triangular and trapezoid), choice of units, maximum acceleration adjustment Speed Speed units, default speed, maximum speed, speed override Other settings Target window, rollover, software limits Set of follower axes Following of master axis by gearing or camming (cam profile), threshold position of master triggers the following, bias value when synchronizing an axis, monitoring of master/slave positions, master offset for follower axis Set of coordinated axes Type of interpolation: linear Cam profile Value of an existing point of a cam profile, number of points ( max.), type of interpolation, table addresses State of a movement or axis Moving, accelerating, decelerating, homing, in position, faulty, etc. Diagnostics b Drive fault, axis currently reading data, following error, overvoltage, undervoltage, overcurrent, power supply fault b Availability of master axis fault information for a given axis set () b Multiaxis motion path control according to common tolerance for all axes in the motion, with alarm feature. Access available only with TSX CSY module () Implementation of the TSX CSY 8, release u. requires the use of the PL7 Junior/Pro software, version u.. Access available only with TSX CSY module. Architectures pages and Functions: pages 8 and 9 page Connections: page This document provided by Barr-Thorp Electric Co., Inc

30 Functions Lexium motion control SERCOS TSX CSY 8/ motion control modules Software setup () When setting up application-specific functions, screens specific to SERCOS axis control functions can be accessed via PL7 Junior/Pro or Unity software for configuration, adjustment, debugging and documentation of applications. These services are performed by editors which can be directly accessed from the basic screen using icons in the tool bars. Windows relating to the editors can be simultaneously displayed on one screen (example: it is possible to program using the program editor and simultaneously define the symbols in the variables editor). Declaring the SERCOS motion control modules Parameter entry screens for application-specific functions are accessed via the configuration screen by clicking on the slot. Example: configuration in which a TSX CSY 8/ module has been defined. Configuring the module The configuration editor provides assistance with entering and modifying the values of the various axis configuration parameters. These parameters enable the operation of the axis control module to be adapted to the machine which is to be controlled. Axis configuration parameters are: b Units of measurement. b Resolution. b Maximum and minimum limit positions. b Maximum speed. b Accelerating/decelerating. This data relates to the machine and cannot be modified by the program. The following configuration screen can be used to declare the axes as real, imaginary or remote measurement axes in module TSX CSY. () The setting up screens require the version u. of PL7 Junior/Pro software TLX CD/RCD PL7J/P PM/M/M/M or Unity Pro UNY SPU pfu CD. Architectures pages and pages and 7 page Connections: page 8 This document provided by Barr-Thorp Electric Co., Inc

31 Functions (continued) Lexium motion control SERCOS TSX CSY 8/ motion control modules Software setup (continued) Adjusting the modules These parameters are associated with operation of the axes. They generally require the operations on and movements of the moving part to be known. These parameters are adjusted in online mode (they are initialized during configuration, in offline mode). They concern: b Maximum speed. b Resolution. b Servocontrol parameters. b Accelerating/decelerating. Debugging the modules In online mode, the configuration editor also provides the user with a control panel screen, giving a quick visual display which can be used to control and observe the behavior of the axis. The TSX CSY 8/ module associated with PL7 Junior/Pro software () provides manual mode for running continual (JOG) or incremental (INC) motion commands without prior programming. () Mode not available with Unity Pro. Architectures pages and pages and 7 page Connections: page This document provided by Barr-Thorp Electric Co., Inc

32 References Lexium motion control SERCOS TSX CSY 8/ motion control module References The TSX CSY 8/ multiaxis control module has application-specific channels which are only counted when they are configured in the Premium application (using PL7 Junior/Pro or Unity Pro software). The maximum number of application-specific channels allowed depends on the type of processor: Type of processors TSX/7 p TSX/7 p PCX 7- PCI 7- Maximum number of application-specific channels TSX/7 p PCX 7- TSX/7 p PCI 7-8 TSX/7 p Description Functions Number of axes Reference Weight kg Multiaxis control modules SERCOS digital servodrives control 8 real axes imaginary axes remote axes TSX CSY 8. axes (real axes, imaginary axes or remote axes) TSX CSY () TSX CSY 8 : Connection accessories Description Connection Length Reference Weight kg Plastic fiber optic cables fitted with SMA-type connectors (curvature radius: mm min.) Lexium MHDA servodrive pppn/a (with SERCOS option card). m 99 MCO..9 m 99 MCO.8. m 99 MCO.. m 99 MCO.77. m 99 MCO.8. m 99 MCO m 99 MCO.9 Sets of plastic fiber optic connections Description Composition Reference Weight kg Set of fiber optic cables and SMA-type connectors SMA-type connectors insulating sleeves Plastic fiber optic cable, length m 99 MCO KIT Fiber optic cable installation tool Tools for making up cables to required length from a 99 MCO KIT kit Includes stripping tool, crimping pliers, W/ V cutting tool, and instructions for use 99 MCO KIT Separate item Description Use Reference Weight kg PC to TSX CSY 8/ connectors connection cable (length m) Used to download the servodrive operation configuration file for the servodrives present on the SERCOS ring () Used to download specific functions developed by our Industrial Applications Department. TSX CCT. () The TSX CSY module is compatible with version. of the PL7 Junior/Pro software application with the Motion software add-on update included on the TSX CSY module CD-Rom. Version. of PL7 Junior/Pro includes this software add-on. The TSX CSY module is not compatible with Unity Pro version. software. () The add-on can be downloaded when the default configuration file is not adapted to the configuration required. Architectures: pages and pages and 7 Functions: pages 8 and 9 Connections: page This document provided by Barr-Thorp Electric Co., Inc

33 Connections Lexium motion control SERCOS TSX CSY 8/ motion control module Connections SERCOS ring with servodrives (example) TX RX SERCOS network ring RX TX RX TX RX TX RX TX RX TX X X X X Servodrive Servodrive Servodrive Servodrive Servodrive TSX CSY 8/: multiaxis control module for Premium. MHDA pppn/a Lexium servodrives fitted with the SERCOS AM SER V option card. 99 MCO pp: plastic fiber optic cables fitted with SMA type connectors. TXTransmission. RXReception. Architectures: pages and pages and 7 Functions: pages 8 and 9 page This document provided by Barr-Thorp Electric Co., Inc

34 Selection guide Lexium motion control Quantum motion control modules Applications Single-axis Motion module for servomotors. Compatible with Lexium servodrive through an analog interface Drive interface Counter inputs: incremental encoder, c V, (RS ) channels Encoder feedback : ± V, bits Programming Methodology Using MMDS motion configuration software, with Concept or ProWORX software Features Multiplication of counter frequency (x) Automatic brake control Configurable discrete I/O inputs (including one high-speed input) Configurable discrete/analog I/O outputs Axis Count real axis remote axis (for master signal) Special Functions Master/slave position capture Synchronization of master/slave axes Point lock Model MSB Page This document provided by Barr-Thorp Electric Co., Inc

35 Multi-axis Motion control modules for servomotors. Compatible with Lexium servodrive via SERCOS link Via SERCOS link Library of Motion Function Block under Concept software The development of all other special function is possible with the assistance of our application services Electronic gearing Multi-axis interpolation Cam profiles execution from Register Table With MMF Start programmer's kit - 8 real axes - imaginary axes - remote axes - coordinate sets (with linear interpolation of 8 axes maximum) - follower sets - Cam profiles The evolution, up to - real axes - axes/axis sets is possible with the Motion Open C kit requiring the assistance of our Application Department With MMF Start programmer's kit - 8 real axes - imaginary axes - remote axes - coordinate sets (with linear interpolation of 8 axes maximum) - follower sets - Cam profiles The evolution, up to - real axes - axes/axis sets is possible with the Motion Open C kit requiring the assistance of our Application Department Point lock position and point lock time Measure part Count probe Fast index Registration move Rotary knife MMS MMS This document provided by Barr-Thorp Electric Co., Inc

36 Presentation, description Lexium motion control MSB Quantum single-axis motion module for servomotors Presentation The MSB single-axis motion module is designed for applications with one axis requiring a strong integration with the sequential program of the machine. The analog output of this module can drive the speed reference of the Lexium MHDA servodrive, or any other servodrive with an analog interface. See characteristics on page. The module, using encoder feedback input, receives a signal from an incremental encoder which represents the position of the machine axis. After calculation, this information, depending on the movement driven by the application program, delivers a speed reference of ± V to the servodrive. The MSB module is designed as follows: b 8 digital inputs of VDC, configurable in stops or in motion-specific functions. The inputs not used in the axis control application can be used as standard inputs for the application program. b outputs of VDC and one ± V analog output, which can be programmed as a real-time image of the internal parameters of the axis under control. These inputs and outputs require an external V power supply. The module includes a ± V analog input. The incremental encoder's multiplication of impulses is integrated in the MSB module, which accepts a second auxiliary encoder feedback signal as an image of the master axis. The 9 MCB breakout box allows connection between the MSB motion module and the Lexium MHDA servodrive, to simplify the system cabling. Description The MSB is comprised of: A rugged outer rugged shell ensures the following: v PCB card support. v closing and locking of module into position. Module diagnostic LEDs, including a digital Modbus status indicator. A SUB-D 9 connector for RS Modbus link. A SUB-D port for connection to the servodrive. A clear access door to hold the user label. page page Connections: page 7 This document provided by Barr-Thorp Electric Co., Inc

37 Characteristics Lexium motion control MSB Quantum single-axis motion module for servomotors Operating characteristics Axe Type Automatic control of linear, rotary, or continuous axes Synchronization of master/slave speed and position Number real axis, remote axis Positioning Maximum points ( bits) range Units inches, mm or orther units Speed Range points ( bits) Units counts/s, inches/s, mm/s, rpm Update Position loop ms Speed loop ms. Motion Homing, absolute, relative, or continuous movement 8 traversing programs flash memory commands Controls Environnement Encoder interface, position captures (stops) Register words Motion Logical stops, loop position control, point window input words and output words Electrical characteristics Encoder feedback ( channels) Incremental encoder Type Differential Voltage c V ± % Impedance W > at V nominal Frequency x khz nominal, maximum Frequency x khz maximum (internal counting) Maximum system accuracy. arc/minute, encoder-dependent Servo interface Analogue outputs Drive-enable output Drive-fault input Type Bipolar Range V +, Resolution bits + sign Voltage V nominal, maximum Current ma (resistive maximum under V) True high, V TTL-compatible I/O Discrete inputs Number 7 Voltage c V + % Discrete outputs Number Voltage c V + % Current ma maximum Analog inputs Voltage V ±. Resolution 9 bits + sign Impedance kω Analog outputs Voltage V ±. Maximum current ma Resolution bits + sign High-speed input OT inputs Position capture time ms Pulse width ms Time between two captures ms minimum Dry contact Communication Serial ports Type RS D ports Protocol Modbus slave Baud rate Bits/s...9, software selectable Power requirements From the backplane External (power process) c V - ma c V + % at - ma max (for auxiliary I/O) Description: page page Connections: page 7 This document provided by Barr-Thorp Electric Co., Inc

38 References Lexium motion control MSB Quantum single-axis motion module for servomotors References All types of Quantum CPUs support the MSB single-axis motion module. The module performs the same regardless of rack selected (primary, RI/O, or DI/O). Designation For Encoder inputs Motion module for one controlled axis Servodrive via analog reference Functions Reference Weight kg Closed-loop control of linear, MSB. encoder inputs c V, khz rotary and continuous axes. Synchronization of master-slave axes. Connection accessories Designation Use No. () Breakout box () Connection between the MSB module and the servodrive: speed reference, auxiliary I/O, and simulated encoder feedback Reference Weight kg 9 MCB MSB Connector cables Designation Use No. () Length Reference Weight kg Supplied cables Connection between the MSB module and the 9 MCB breakout box. Cable comes with SUB-D connectors on each end., m ( ft),9 m ( ft) 9 MCI 9 MCI,8 m ( ft) 9 MCI Connection between the breakout box 9 MCB and Lexium MHDA servodrive (simulated encoder feedback). Cable comes with SUB-D 9 connector on one end m ( ft) 9 MCI Configuration software Designation Description Reference Weight kg MMDS configuration Configuration and programming software for the MSB SW MMDS DB. and programming software motion module Use with ProWORX or Concept () See page 7 for key. () For e conformity, you must order the breakout box field wiring kit (9 MCB ). Description: page page Connections: page 7 This document provided by Barr-Thorp Electric Co., Inc

39 Connections Lexium motion control MSB Quantum single-axis motion module for servomotors Connections MSB : single-axis motion module MSB. MHDA pppn/a: Lexium servodrive for Lexium SER or BPH motor. 9 MCB : breakout box (speed reference, auxiliary I/O, and simulated encoder feedback). 9 MCI p: breakout box cable (p indicates cable length). 9 MCI : cable with connector for simulated encoder feedback. Cable (not included; flying lead cable with connections to terminal strips on each end). Description: page page page This document provided by Barr-Thorp Electric Co., Inc

40 Presentation Lexium motion control SERCOS MMS Quantum motion control modules Presentation SERCOS MMS motion control modules are used to build a distributed automation solution, tightly integrating axis command applications with control applications, based on Quantum PLCs. The motion control modules and Quantum CPUs communicate either through the Quantum backplane or via the Modbus Plus network. The data transfer is transparent, and does not need any additional application program. The physical interface between the motion control module and speed servodrives is provided by the SERCOS network, using fiber optic cable. This optic link is entirely digital, and provides communication parameters for the tuning, diagnostics and operation of both motion control modules and servodrives. SERCOS offer The SERCOS offer, based on the Quantum platform contains: b Two multi-axis modules, MMS /, that can drive up to 8 real axes (), each one connected to a Lexium servodrive using the SERCOS ring network. All these modules perform the trajectory calculation, synchronization or interpolation of several axes. b Lexium MHDA (with optional SERCOS card) servodrives with a SERCOS digital link from. A to 7 A. These drives manage the position, speed and torque loops, and convert the power that drives the motor. Feedback from the motor sensors or external encoders (such as usual position and actual speed) are sent to the servodrive. b SER/Lexium BPH brushless motors. These devices are equipped with magnets which deliver a high power-to-weight ratio, resulting in a wide range of speed within low overall dimensions. The Lexium range includes all necessary accessories (filter chokes, braking resistors, etc.) and connection elements. Quantum motion modules The MMS SERCOS motion modules are double-width Quantum modules. They provide high-performance motion control functions, while being integrated with the Quantum PLC and via a real-time multi-task system. In addition to communicating with the Quantum CPU via the internal bus, each MMS module has a Modbus Plus communications port. The availability of program libraries simplifies configuration of the motion controls for high-performance applications requiring highly dynamic and high-precision position tracking algorithms. SERCOS motion control built into Quantum PLCs This integration is used to fulfill motion control applications requiring a large number and great diversity of inputs and outputs. The solution makes it possible to share a single database between the Quantum CPU and the SERCOS motion control module. The SERCOS ring network corresponds to a widely developed standard used in closed-loop position and speed applications. It complies with the European standard EN 9. The SERCOS solution, compared to analog interface solutions, offers the following benefits: b Efficient diagnostics, supplied in the motion control modules and the Quantum CPU, can send feedback to the upper levels of the control hierarchy for action. This minimizes machine downtime. b The distributed architecture significantly reduces cabling costs and simplifies the installation. b The SERCOS digital network eliminates the low-resolution analog interface ( or -bits) between the servodrive and the motion control module. b Fiber optic connections increase immunity from electromagnetic interference found in harsh industrial environments. b It is easy to expand the number of axes in one machine using the ring network. () The use of the Motion Open C kit (requiring the assistance of our applications team) enables you to extend the capacities of these modules: MMS, up to real axes and MMS, up to real axes. Descritpion: page pages and pages and Connections: page 8 This document provided by Barr-Thorp Electric Co., Inc

41 SERCOS architecture, system overview Lexium motion control SERCOS MMS Quantum motion control modules SERCOS architecture Fiber optic cables SERCOS ring network Quantum Lexium MHDA servodrives (with optional SERCOS card) SER Lexium BPH motors SERCOS (SERiaI COmmunication System) is a communication standard defining the digital link (medium and exchange protocol) between the motion control module and intelligent servodrives. It is defined by European standard EN 9. The use of SERCOS distributed architecture enables the connection of input/output devices (position encoder, Emergency stop, etc.) directly with the intelligent servodrives, thereby reducing connection costs. The fiber optic digital medium enables high-speed exchange ( or M bauds), yet provides a high level of noise immunity in high-interference industrial environments. System overview The system overview presents the various functions performed by the different parts of the multi-axis control system. Concept Unity Pro software UniLink software Quantum PLC CPU SERCOS modules MMS / MMS Lexium MDHA Servodrives (with SERCOS) Application program PLC or Modbus Plus Independent or continuous axes Interpolation linear Follower sets by gearing or camming Interpretation of commands Position loop, speed loop, current loop, Power conversion SER/Lexium BPH motor Position and speed SERCOS ring (to drives network) Descritpion: page pages and pages and Connections: page This document provided by Barr-Thorp Electric Co., Inc

42 System overview (continued), description Lexium motion control SERCOS MMS Quantum motion control modules System overview (continued) Concept or Unity Pro software (via the Modbus Plus communications port) enable you to: b Register the SERCOS MMS module(s) in the Quantum module configuration table. b Configure functions and parameterize used axes. b Program activities in the PLC application. b Adjust parameters through operating codes (parameters for MMS module, and Lexium MHDA servodrives) (). b Test and update the application. The UniLink software via the PC port of the Lexium MHDA servodrive allows you to: b Define the Lexium MHDA drive and SER/Lexium BPH motor types. b Adjust the Lexium MHDA drive parameters, save them into the drive's EEprom memory and store them on a PC. Description The MMS pp p double-width SERCOS axis modules are equipped with: 7 8 A SMA-type connector, marked Tx, for connecting the servodrives using the SERCOS ring fiber optic transmission cable. A SMA-type connector, marked Rx, for connecting the servodrives using the SERCOS ring fiber optic reception cable. Hard outer casing, performing the following functions: b Electronic card support. b Attachment and locking of the module in its slot. Module diagnostics indicator lamps: b READY: when lit, indicates the module as successfully passed power-up tests. b RUN lamp: v Steady, indicates the motion controller is in run mode, the SERCOS ring is complete, and the motion controller is accepting commands from the PLC to control the servodrives. v Blinking, indicates that the motion controller is attempting to go into run mode, but the SERCOS ring has not been established due to a physical disconnection or an incorrect address setting. v Off, indicates the motion controller is stopped. b MODBUS PLUS: normal Modbus Plus indicator codes. A RUN/ RESET keyswitch. COM port with SUB-D 9 connectors - for Schneider Electric use only. 7 COM port with SUB-D 9 connectors - for Schneider Electric use only. 8 Modbus Plus port with SUB-D 9 connectors. () Lexium MHDA servodrive equipped with AM SER V SERCOS option card. pages and pages and Connections: page This document provided by Barr-Thorp Electric Co., Inc

43 Software setup Lexium motion control SERCOS MMS Quantum motion control modules Software setup The configuration of the multi-axis motion modules are carried out by Concept or Unity Pro software and the MMFStart Programmer s kit, 9 MMC. They are used to configure the multi-axis applications by the creation of a common database (between Quantum PLC and the MMS motion control modules). It simplifies the access to a library of motion-specific function blocks. Programming motion and special functions Movements are initiated using function blocks in the Concept or Unity Pro application program (Quantum CPU). The function blocks can be written in IEC Ladder or Function Block Diagrams. Function blocks are available for each specific move type: incremental, absolute, or continuous. In addition, function blocks are available to set parameters and configure objects (axes, sets, cam profiles, and special application functions). The sequence of events or movements can be controlled by using the Sequential Function Chart (Grafcet) defined by IEC standard -. Application-specific functions, such as Continuous Registration, are set up using the MMF_SUB function block (see screen opposite). Descritpion: page pages and pages and Connections: page This document provided by Barr-Thorp Electric Co., Inc

44 Characteristics Lexium motion control SERCOS MMS Quantum motion control modules Functional characteristics of modules MMS / Type of module MMS MMS Software kit 9 MMC With the assistance of our application services () 9 MMC With the assistance of our application services () Number of axes max max Type of axes Actual axes (connected to Lexium drives) Imaginary axes Up to axes/sets of axes 8 8 Up to axes/sets of axes Remote axes, for interpretation of remote position by encoder Set of axes Coordinates allowed in each group for the linear interpolation of up to 8 axes (max.) Followers groups up to 8 axes maximum Up to axes/sets of axes Up to axes/sets of axes Up to axes/sets of axes, for interpretation of remote position by encoder allowed in each group for the linear interpolation of up to 8 axes (max.) groups up to 8 axes maximum Up to axes/sets of axes Up to axes/sets of axes Up to axes/sets of axes Cam profile 8 profiles which can be changed from PLC registers Any number up to the memory limitation of K points on all cam profiles 8 profiles which can be changed from PLC registers Any number up to the memory limitation of K points on all cam profiles Main functions Programming Movements Homing, absolute, relative, or continuous Immediate movement, or queued, toward a given position Speed override possible Special functions Other special functions Stop/start functions b Point lock position and point lock time: synchronizes a Slave axis with a Slave position target and a Master position target using parameters b Measure part: measures the distance between two edges on a discrete input on the drive This can be applied to a real or auxiliary axis (position measurement via external encoder) b Count probe (): counts the edges on a discrete input on the drive within a period of time b Fast index (): starts a movement on an event. b Registration move (): position reading on the edge of a discrete input on the drive b Rotary knife: cuts using a rotary knife. Synchronizes a circular axis on a linear axis and controls a discrete output on the drive The development of all other special functions is possible with the use of a Motion Open C kit requiring the assistance of our application services (). Rapid stop, stop following configured deceleration profile Temporary stop Restart of stopped movement Configuration/adjustment SERCOS ring Bus cycle time, traffic on the bus, optical power on the fiber, SERCOS loop diagnostics Acceleration/deceleration Speed Other setting Groups of Slave axes Groups of coordinate axes Cam profile State of an activity or axis Diagnostics Ramp values, ramp type (rectangular, triangular, and trapezoidal), unit choices, maximum acceleration adjustment Speed units, default speed, maximum speed, speed modulation coefficient Target window, rollover, software limits Tracking of master axis by ratio or by cam (cam profile), threshold position of tracking master, value of the Bias during synchronization of an axis, monitoring of Master/Slave positions, master offset for a slave axis Linear interpolation Values of a point existing from a cam profile, number of points (, maximum), type of interpolation, table addresses Movement in acceleration, in deceleration, in homing, servodrive fault Drive fault, tracking error, overvoltage, undervoltage, current overload, power supply fault () Please consult our Regional Sales Offices. () Special functions require version. of the MMFStart 9 MMC multi-axis programming kit. Descritpion: page pages and Connections: page This document provided by Barr-Thorp Electric Co., Inc

45 Characteristics (continued) Lexium motion control SERCOS MMS Quantum motion control modules Electrical characteristics of modules MMS / Type of module MMS MMS Processor MHz PLC registers Memory Application Mb Static RAM Mb Dynamic RAM Mb 8 8 SERCOS network Nature Industrial support complying with standard EN 9 Topology Ring Medium Baud rate M bauds Fiber optic cable Cycle time ms to, configurable Number of segments 9 max max Communication ports Length of segment m 8 max with plastic fiber optic cable max with glass fiber optic cable ( µm) Serial links Number RS D Protocol Modbus slave Data rate Bit/s 9 Network interface Modbus Plus Consumption ma at c V at c V Descritpion: page pages and Connections: page This document provided by Barr-Thorp Electric Co., Inc

46 References Lexium motion control SERCOS MMS Quantum motion control modules References Any of the Quantum PLC processors can be used with the SERCOS MMS motion modules. To obtain optimum performances, the cycle time of the Quantum processor should not exceed ms. The maximum number of MMS modules in a configuration depends on the processor type: Type of processors CPU CPU CPU A CPU A Maximum number of MMS, NOE or NOM modules MMS Description Functions Number of axes with: Reference Weight 9 MMC Programmer s kit Motion Open C kit () kg Multi-axis control modules SERCOS digital servodrive control 8 real axes imaginary axes 8 sets of axes 8 real axes 8 imaginary axes 8 sets of axes real axes MMS. axes/sets of axes real axes MMS. axes/sets of axes Connection accessories Description Connection Length Reference Weight kg Plastic fiber optic cables fitted with SMA-type connectors (curvature radius: mm minimum) Lexium MHDA pppn, MHDA pppa servodrive. m ( ft) 99 MCO..9 m ( ft) 99 MCO.8. m ( ft) 99 MCO.. m ( ft) 99 MCO.77. m ( ft) 99 MCO.8. m (7 ft) 99 MCO 7.7 MMS 7. m ( ft) 99 MCO.9 Set of plastic fiber optic connections Description Composition Reference Weight kg Set of fiber optic cables and SMA-type connectors () SMA-type connectors insulating sleeves Plastic fiber optic cable, length m 99 MCO KIT Equipment for installation of fiber optic cables Tools for making up cables to required length from a 99 MCO KIT kit Includes stripping tool, crimping pliers, W/ V cutting tool, and instructions for use 99 MCO KIT () The Motion Open C kit requires the assistance of our applications services. Consult our Regional Sales Offices. () Connectors to be used exclusively for connecting SERCOS motion control modules in the same electrical cabinet. Descritpion: page pages and Connections: page This document provided by Barr-Thorp Electric Co., Inc

47 References (continued), connections Lexium motion control SERCOS MMS Quantum motion control modules References (continued) Concept programming and configuration software Description Type of user license Reference Weight kg Concept packages Single-user license 7 SPU 7 V Concept XL version. -user license 7 SPU 7 V -user license 7 SPU 7 V Network license 7 SPU 7 V SERCOS multi-axis motion control software Designation Description Reference Weight kg Multi-Axis MMF start programmer s kit Concept library and MMF Start Shared data base creation Backup and restoration functions for maintenance personnel. Configuration software. 9 MMC Connections Tx Rx SERCOS ring network Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Servodrive Servodrive Servodrive Servodrive Servodrive MMS / : Quantum multi-axis control module. MHDA pppn/a: Lexium drives (equipped with the optional SERCOS card AM SER V) for SER/Lexium BPH motor. 99 MCO ppp: plastic fiber optic cables fitted with SMA-type connectors. Tx Transmission. Rx Reception. Descritpion: page pages and This document provided by Barr-Thorp Electric Co., Inc

48 Presentation Lexium motion control Lexium servodrives Presentation The Lexium MHDA servodrives are designed for the control of the torque, speed and/or position of the SER/Lexium BPH brushless motors. These servodrive units are designed for high performance applications, which require strong dynamics and high precision positionning. Lexium MHDA servodrives, with -phase power supply, are supplied with 7 different current ratings: permanent current. A to 7 A rms. They must also be connected to an auxiliary power supply of c V (from.7a to. A). Some MHDA servodrives are equipped with an anti-start device designed to protect anyone working on the machines. High current rating servodrives ( to 7 A) are all equipped with the anti-start device. The Lexium servodrive/motor units are designed mainly to be controlled by the positioning modules on the Modicon Premium or Modicon Quantum automation platforms. These Lexium MHDA servodrives are all equipped with standard + V analog setpoint. If equipped with a SERCOS option card, they can be integrated in a SERCOS ring. Furthermore, the Lexium MHDA servodrives have an integral position indexer, which can be used in cases where the simple applications do not require positioning modules. In this case, the numerous possibilities for connectivity (RS serial link, CANopen bus, Fipio bus, Profibus DP bus, Modbus Plus network,) respond to the different automation structures. Compatibility between Lexium servodrives and SER/Lexium BPH axis motors SER brushless motors Lexium 7D servodrives MHDA Lexium 7D HP servodrives MHDA Lexium BPH brushless motors p 8p 7p 8p p A 98A Permanent rms current Permanent rms current. A A A A A A 7 A./. Nm: BPH S.9/.9 Nm:./. Nm: BPH 7N SER 9A L7S./. Nm./ Nm SER 9B LS./. Nm./8. Nm:./. Nm:./.8 Nm: BPH 7N SER 9C LS.9/.7 Nm:.9/9. Nm:.7/7. Nm:./. Nm: BPH 9N SER BA LS./9. Nm:./. Nm: SER BA LS./8. Nm.8/. Nm./. Nm:./. Nm: BPH 9N SER BB LS./. Nm./. Nm SER BB LS./.8 Nm./. Nm 7./. Nm: 7./9. Nm BPH N.8/. Nm:./9. Nm BPH N SER BC LS./7. Nm:./8. Nm: SER BA L7S./. Nm:./. Nm./8. Nm:./. Nm: BPH N SER BD LD./9. Nm: SER BB L7S./. Nm:./8. Nm./. Nm: 7./. Nm: BPH N./7. Nm: BPH 9N./7. Nm: BPH 9K./7. Nm: BPH 9K 7./7 Nm: BPH 97K 9./ Nm: / Nm: BPH 9AK./, Nm: For a SER motor, the st value corresponds to continuous stall torque max., and the nd value corresponds to peak stall torque max../. Nm: For a SER/Lexium BPH motor, the st value corresponds to continuous stall torque max., and the nd value corresponds to peak stall torque max. Description: pages 7 and 8 pages and pages and 7 page 8 and 9 Connections: pages 7 and 7 This document provided by Barr-Thorp Electric Co., Inc

49 Description Lexium motion control Lexium servodrives Lexium 7D servodrives: overview Front panel 7D servodrives are in RAL gray metal casings (degree of protection IP ). A 8-way male connector () (addr. X) to connect: v two configurable analog setpoint inputs + V, v two configurable analog outputs + V, v four configurable discrete inputs/two configurable discrete outputs c V, v one servodrive validation input c V, v one alarm relay contact. A -way male connector () (addr. X) terminal block for connection to the external c V power supply. This connector distributes the power supply c V to other Lexium servodrives. A -digit display, which indicates the operating status of the servodrive, as well as error code messages. Two control keys, which provide access to the various operating modes for the display. A -way male connector () (addr. X) for use with the anti-start function (AS function) Only available on MHDA pppa.servodrives Top panel of MHDA servodrives (with analog setpoint ± V) A 9-way SUB-D male connector (addr. X) for connection to the CANopen field bus. (RS integral serial link) This connector is also used to connect the PC compatible terminal, which supports the Unilink configuration software. Slot for one of the following option cards: v SERCOS digital link control card v Fipio bus, Modbus Plus network, or Profibus DP bus connection card, v Discrete I/O card for Lexium servodrive control with integral position indexer function. A 9-way SUB-D male connector (addr. X) to connect the simulated encoder feedback (incremental or SSI). This connector can also be used to interconnect with other Lexium servodrives (maximum ) in Master/Slave operation (). A 9-way SUB-D female connector (addr. X) to connect the SER/Lexium BPH motor resolver (includes connection of the PTC probe). A -way SUB-D female connector (addr. X) to connect the SinCos encoder on the SER/ Lexium BHP motor (includes connection of the PTC probe). Lower panel Two -way unscrewable terminals (addr. XA and XB) to connect to the -phase power supply network a V (or single phase a V). The second connector distributes the network supply to other Lexium servodrives. Two -way unscrewable terminal (addr. X7) to interconnect the Lexium servodrive power buses, when operating with the braking power distribution over a set of Lexium servodrives. Two -way unscrewable terminal (addr. X8) to connect the external braking resistance. By default, braking is on the internal resistance (shunt fitted to the connector). A -way male connector (addr. X9) to connect the SER/Lexium BPH motor power (includes connection to the holding brake - model dependant). () Female screw connectors supplied with each servodrive. () Please use TSX CXP p8 servodrive interconnecting cables (see page 7) Functions: pages and pages and pages and 7 page 8 and 9 Connections: pages 7 and 7 This document provided by Barr-Thorp Electric Co., Inc

50 Description (continued) Lexium motion control Lexium servodrives Lexium 7D HP servodrives: overview Front panel Lexium 7 HP servodrives are in RAL gray metal casings (degree of protection IP ). 9 A 8-way female connector () (addr. X) to connect: v two configurable analog setpoint inputs ± V, v two configurable analog outputs ± V, v four configurable discrete inputs/outputs c V, v one servodrive validation input c V, v one alarm relay contact. 8 7 A -way male connector () (addr. X) to connect the auxiliary power supply c V and the holding brake connection (depending on the model of SER/ Lexium BPH motor). A EMC filter for this supply is built-in to the Lexium 7D HP servodrives. A -digit display, which indicates the operating status of the servodrive, as well as error code messages. Two control keys, which provide access to the various operating modes for the display. A -way male connector () (addr. X) for use with the anti-start function (AS function). A 9-way SUB-D male connector (addr. X) to connect the servodrive to the CANopen field bus. (RS integral serial link) This connector is also used to connect the PC compatible terminal, which supports the Unilink configuration software. 7 Slot for one of the following option cards: v SERCOS digital link control card v Fipio bus, Modbus Plus network, or Profibus DP bus connection card, v CANopen bus adapter to ensure conformity of link above to the CANopen standard. v Discrete I/O card for Lexium servodrive control with integral position indexer function. 8 A 9-way SUB-D male connector (addr. X). Connects the simulated encoder feedback (incremental or SSI), for the ± V analog setpoint servodrives. This connector can also be used to interconnect with other Lexium servodrives (maximum ) in Master/Slave operation (). 9 A 9-way SUB-D female connector (addr. X) to connect the SER/Lexium BPH motor resolver (includes connection of the PTC probe). A -way SUB-D female connector (addr. X) to connect the SinCos encoder on the SER/ Lexium BHP motor (includes connection of the PTC probe). Lower panel -way screw terminal (addr. X) to connect : v Connect to the -phase power supply network a V. An external choke must be inserted between the network supply and the 7D HP servodrive (). The EMC filter for the power input is not built-in, which means that it should be externally provided, when Class A is essential (non-propagation of electromagnetic disturbances). v The power connection of the SER/Lexium BPH motor. v The connection of the external braking resistance. The 7D HP servodrives do not have internal braking resistance. () Male screw connectors supplied with each servodrive. () Female screw connectors supplied with each servodrive. () Please use TSX CXP p8 servodrive interconnecting cables (see page 7) () External input choke is not necessary when using isolation transformers 8pp shown on page 7 Functions: pages and pages and pages and 7 pages 8 and 9 Connections: pages 7 and 7 8 This document provided by Barr-Thorp Electric Co., Inc

51 Functions Lexium motion control Lexium servodrives Functions Power supplies The Lexium servodrives can be directly connected to -phase mains supply, whose nominal value can be any voltage within the range a 8 8 V, Hz. If the motor s maximum speed and current rating are derated (see page ), low current rating Lexium servodrives can be powered by a a V single phase supply. b Withstance of electromagnetic disturbances and non-propagation of electromagnetic disturbances is provided by the EMC filter integral to the Lexium 7D servodrives (), in compliance with EEC directives 89/, 9/ and 9/8. b Lexium servodrives are compatible with the TT or TN loads. When the load is IT (isolated neutral), it is necessary to provide an isolating transformer so that a TT load (neutral to ground) can be re-built on the secondary (servodrive side). b An auxiliary c V SELV power supply is required for the internal electronic circuits and the input/output interfaces (isolation required for the motor power supply). Internal braking resistance (for Lexium 7D servodrives only) The servodrive is fitted with a braking (or ballast) resistance (8 or W depending on the model). Depending on the required braking characteristics, internal braking can be disabled and an external, or W braking resistance used instead, depending on the Lexium 7D servodrive used. Placing the servodrive power buses in parallel shares the internal capacitors and braking resistances, thus making it possible to benefit from the cumulative absorption and dissipation capacities offered by the servodrives. 7D HP servodrives do not have internal braking resistance. See page for external braking resistance selection. Signal processing/motor control b Three programmable built-in digital regulators: v a current regulator (torque image) with a control loop period of. µs, v a speed regulator with proportional and integral gain with a control loop period of µs, v a position regulator with a control loop period of µs. b Processing of motor position feedback signals from the motor sensor (SinCos EnDAT or SinCos Hiperface ) type high resolution absolute encoder or resolver). Using this information, the servodrive can generate a simulated encoder feedback, which can be either incremental or absolute SSI. The simulated encoder feedback and external encoder functions can not be used concurrently. b Two discrete data bits control the automation system: v one servodrive validation input c V, v one volt-free relay output, for servodrive faults. b Two analog inputs/outputs + V and four discrete inputs/two discrete outputs c V, allowing Lexium servodrives to be integrated into sequential command systems controlled by programmable PLCs (e.g. Micro). The I/O functions can be configured. b Integral position indexer: In addition, Lexium MHDA servodrives have integral position indexing ( program steps, of which 8 are stored). This positioning function performs simple automation operations, which permanently do not require motion control modules. b Connectivity: Lexium MHDA servodrives all have an RS serial link or CANopen bus link. If an option card is added, they can also be connected to the Modbus Plus network, a Fipio bus or a Profibus DP bus (or a SERCOS network). () With Lexium 7D HP servodrives, an AMO EMC pp external EMC input filter may be required on the power supply side. Description: pages 7 and 8 pages and pages and 7 pages 8 and 9 Connections: pages 7 and 7 This document provided by Barr-Thorp Electric Co., Inc

52 Functions (continued) Lexium motion control Lexium servodrives AS anti-start function The AS (anti-start) function found on all Lexium MHDA ppppa servodrive models should be used primarily when the motor has to be de-activated, as for instance when operators need to have access to the machines for brief periods of time. The system consists of an additional auxiliary relay switch, accessible on the -way screw terminal (rep. X). When the relay switch coil is automatically activated, this locks the servodrive power bridge, cutting out the motor power supply (). The anti-start relay contact is used to check that the locking mechanism is activated. The state of the relay contact must be checked constantly by the control system: to ensure that the system is working and that emergency stop and locking procedures are strictly applied. The AS (anti-start) function is standard in all Lexium MDHA ppppa servodrives and provides the following features: b Servodrive power supply stays ON even when system is locked. b Reduced cabling requirements. Configuring the Lexium MHDA servodrives MHDA servodrives must be configured using the Unilink software installed on a PC. This terminal is connected to the servodrives via a RS C serial link. Accessible parameters relate to: b The type of motor, braking. b The position loop. b The speed loop. b The current loop (torque). b The power converter. b The discrete and analog I/O. b The integral position indexer. b Modbus Plus, CANopen or SERCOS communication. These parameters are backed up to the servodrive EEProm memory using Unilink software. The multi-lingual Unilink software, compatible with Windows 9/98,, NT. and XP, is supplied with the "Lexium motion tools" CD-Rom AM CSW V, also including the following multi-lingual (French, English, German, Spanish and Italian) documentation: b Technical guide to SER/BPH motors. b SER/BPH motor file library for CAD software (D and D). b Lexium 7D and 7D HP servodrives user guide b List of ASCII commands for the Lexium 7D servodrives (English and German). b Unilink software user guide. b Graphic Motion Task for Unilink software. b SERCOS ring communication. b Fipio bus communication. b CANopen bus communication. b Modbus Plus network communication. b Profibus DP communication. b Example file for the installation of a CANopen bus application on a Premium platform. b.esd files for configuring the CANopen bus with the SyCon configuration tool. b.gsd files for configuring the Profibus DP bus with the SyCon configuration tool. b.dib files, images of the Lexium servodrives. () Vertical axis immobilization can only be obtained by installing a mechanical locking system (servo brake) on the axes. Description: pages 7 and 8 pages and pages and 7 pages 8 and 9 Connections: pages 7 and 7 This document provided by Barr-Thorp Electric Co., Inc

53 Presentation of Unilink software Lexium motion control Lexium servodrives Presentation of Unilink software Unilink software is used to configure and adjust Lexium MHDA servodrives according to the associated BPH axis motor and the application requirements. During these phases, the PC supporting Unilink software under Windows 9/98,, NT. or XP, is connected to MHDA servodrives via a serial link ( 9 -way SUB-D connector, on X). Three types of configuration are possible: b MHDA servodrive with analog setpoint, with Premium or Quantum motion control module. b MHDA servodrive with SERCOS digital link option card; with Premium or Quantum motion control module. b MHDA servodrive in independent position indexer mode with discrete input/output control or field bus control. MHDA servodrive with analog setpoint The MHDA servodrive with analog setpoint is associated with the TSX CAY p// p (with Premium platform) or the MSB (with Quantum platform) motion control module. The KP position loop is executed in the automation platform control module. It is configured and adjusted using PL7 Junior/Pro (with TSX CAY module) or Concept (with MSB module) programming software. The closed KV speed loop and KT torque loop in the MHDA servodrive are configured and adjusted using Unilink software. The motion program, which defines the paths, is in the Premium or Quantum platform application program. The position and speed setpoints are calculated by the motion control module. Premium/Quantum platform Lexium MHDA servodrive TSX CAY or MSB Process PLC Input/output PLC program Set-up/ diagnostics Path KP KV KT Motor SER/Lexium BPH Motion control module Servodrive with analog setpoint MHDA servodrive with SERCOS digital link The MHDA servodrive with the SERCOS digital link option card is associated with the TSX CSY 8/ (with Premium platform) or MMS / (with Quantum platform) motion control modules. The closed KP position loops, KV speed loops and KT torque loops in the servodrive are configured and adjusted using Unilink software. The motion program, which defines the paths, is in the Premium or Quantum platform application program. The position setpoints are calculated by the motion control module (position mode). The motion control module can also work out the speed reference (speed mode) or the current reference (torque mode). The last two modes can be accessed with the assistance of Schneider application services. Premium/Quantum platform TSX SAY or MMS Lexium MHDA servodrive with AM SER V SERCOS card Process PLC Input/output Set-up/ diagnostics Path Set-up/ diagnostics KP KV KT Motor SER/Lexium BPH PLC program SERCOS axis control module SERCOS digital link servodrive Description: pages 7 and 8 pages and pages and 7 pages 8 and 9 Connections: pages 7 and 7 This document provided by Barr-Thorp Electric Co., Inc

54 Presentation of Unilink software (continued) Lexium motion control Lexium servodrives Presentation of the Unilink software (continued) MHDA servodrive with integral position indexer function MHDA servodrives have an integral position indexer function. The servodrive is then controlled by its discrete input/outputs, which can be extended to discrete inputs/ 8 discrete outputs, using extension card AMO INE V. The closed KP position loops, KV speed loops and KT torque loops in the MHDA servodrive are configured and adjusted using Unilink software. The motion program ( program steps, of which 8 are permanently stored in Flashmemory) and the calculation of the position setpoints are provided by the integral position indexer of the MHDA servodrive. PLC program steps Lexium MHDA servodrive Process PLC I/O Path KP KV KT Motor SER/Lexium BPH Connectivity of the MHDA servodrive with integral position indexer function The MHDA servodrive can be remotely controlled by: b The CANopen bus or the integral RS C serial link, available as standard on the X connector. b With the addition of an option card, they can be connected to the Fipio bus, the Modbus Plus network,or the Profibus DP bus. These links download the motion program steps (servodrive in run mode for the steps stored in the dynamic RAM memory). They also allow the set-up and diagnostics functions of the drive. Modbus Plus/CANopen Profibus DP/Fipio Premium Diagnostics Lexium MHDA servodrive OR Parameters Path KP KV KT Motor SER/Lexium BPH RS Program steps Description: pages 7 and 8 pages and pages 8 and 9 pages 8 and 9 Connections: pages 7 and 7 This document provided by Barr-Thorp Electric Co., Inc

55 Unilink software functions Lexium motion control Lexium servodrives Unilink software functions Basic screen The basic screen providing access to the Unilink software services and functions is divided into three zones: Top bar, for accessing the main functions. Block diagram for accessing the configuration/adjust/set-up and the realtime display of the different drive values. Lower zone indicating the drive status. Main Unilink functions Servodrive configuration Offline/online operation Hyperterminal mode Used at servodrive level to select the power supply voltage and the braking resistance (internal/ external for the Lexium 7D servodrive, external for 7D HP servodrives. Used to define the name of the servodrive. used to import or export drive parameters and data files as well as the motion task for the integral position indexer function. These functions allow the servodrive application to be developed offline. The set of drive parameters is accessible in read/write mode from a single terminal operating in ASCII mode Monitor mode Realtime display of 7 drive data items, for example, values for the following: analog setpoint inputs, instantaneous current, actual speed, drive power bus voltage (DC bus), braking power, angular position of the axis, following error, etc. Oscilloscope mode Storage and display, in the form of internal drive data curves, of values for the following: setpoint, actual speed and current, drive power bus voltage, image of following error. Activation of the speed increment generation service (up and down) for optimizing loop tuning Stop command Motion stop control (for safety reasons, this software control should not be substituted for the external Emergency stop command). EEP memory access for the Lexium servodrive E E Save saves the defined set of servodrive parameters in the EEProm memory Clear clears the content of the EEProm memory Bode diagram Acquires data (gain G and phase shift ϕ) in the frequential domain. Graphically displays the responses in frequency. This document provided by Barr-Thorp Electric Co., Inc

56 Unilink software functions (continued) Lexium motion control Lexium servodrives Lexium servodrive parameters Motor parameters Used to define the parameters for MHDA servodrives, according to the associated motor. Used to define motor with or without brake, maximum speed, and to adapt the min. and max. motor currents. When used with SER/BPH motors, which are referenced in the Unilink software, the selection of a motor causes its parameters to be set up by default. It is the responsibility of the user, should it be necessary, to adjust these values for another application. Motor encoder selection Defines the type and characteristics of motor encoder feedback (resolver, SinCos EnDAT/ Hiperface high resolution absolute encoder) Electronic gearing command or encoder emulation Servodrive operating mode Functions associated to discrete inputs/ outputs Defines the type and characteristics of the simulated, incremental or absolute SSI () encoder feedback or the type in electronic gearing mode (ROD) Specifies the servodrive operating mode: v MHDA servodrive with analog setpoint, with TSX CAY pp or MSB motion control module. v MHDA servodrive with SERCOS digital link, with TSX CSY 8/ or MMS / motion control module v MHDA servodrive with integral position indexer v MHDA servodrive in independent mode in Master/Slave operation (electronic gearing) v MHDA servodrive connected to a PLC via the CANopen/Fipio/Profibus DP bus or the Modbus Plus network Assigns: v a specific function to inputs ( of, depending on the type of servodrive). For example, position limit sensor, speed reference analog input, deactivation of integral position check, homing, starting a motion sequence, brake control, etc. v a specific function to outputs ( of, depending on the type of servodrive). For example, following error, actual position greater than a predefined value, target position reached, servodrive inhibited, etc. Furthermore, this screen displays the state of the I/O in realtime. Functions associated with the analog input/outputs (with MHDA servodrive) Assigns: v a specific function to analog inputs ( of, depending on the type of servodrive). For example, control voltage on the first input, control current on the second input, setpoint corresponding to the sum of the analog inputs, etc. The automatic offset compensation and scaling can be configured on these inputs. v a specific function to analog outputs ( of ). For example, actual speed or current values, setpoint values for speed or current, following error image, etc. Furthermore, this screen displays the values (mv) of the I/O in realtime. These I/O allow many possibilities for applications which require electrical shafts (for example, sending an analog output from the "Master" servodrive, current image and setpoint, to an analog input on the "Slave" servodrive in order to create a coupled electrical shafts). Set-up of the current loop Adjusts the parameters of the KT current loop using the defined default values through the set-up operation of the "SET Motor" SER/BPH motor () To use the encoder output in absolute SSI simulation mode, contact our Regional Sales Offices. Description: pages 7 and 8 pages and pages and 7 pages 8 and 9 Connections: pages 7 and 7 This document provided by Barr-Thorp Electric Co., Inc

57 Unilink software functions (continued) Lexium motion control Lexium servodrives Lexium servodrives parameters (continued) Speed loop settings Adjusts the KV speed loop gain parameters using the default values defined by the SER/BPH motor set-up operation "SET Motor". For example, maximum speed, overspeed threshold, acceleration and deceleration ramps, Emergency stop deceleration time, etc. Position loop parameter settings The position loop parameter settings are only effective with MHDA servodrives with a SERCOS link or with the MHDA servodrives in integral position indexer mode. Adjusts the KV speed loop and KP position loop gain parameters and defines the maximum following error. The following additional functions can be accessed: v Specifies the homing type and parameters (acceleration/deceleration ramps and speed). Also used to define motion speed in running continual manual (JOG) mode. v Used in follower mode to specify the type of motor position feedback and define the movement multiplier ratio v Provides access to the following definitions: - axis type (linear or rotary), - axis resolution, - minimum acceleration/deceleration time, maximum speed, data relating to the target windows, position registers, upper/lower software limits, thresholds to compare the current position (determine discrete output status). v Used to program the movement steps in integral position indexer operation, including for each step ( steps max.): - movement type (absolute or relative), - target position and setpoint speed, - speed profile (trapezoid or sinusoid), - conditions for accessing the next step, - definition of start conditions. Lexium servodrive status display Drive status The lower zone of the basic screen: v indicates the servodrive status, v provides access to a window, which displays the current alarm or fault in realtime, as well as its history and frequency. Description: pages 7 and 8 pages and pages and 7 pages 8 and 9 Links pages 7 and 7 This document provided by Barr-Thorp Electric Co., Inc

58 Connectivity of MHDA servodrives Lexium motion control Lexium Servodrives Motion control applications Applications with independent servodrives MHDA servodrives support connections using the CANopen bus, Modbus Plus network, Fipio bus or Profibus DP bus. The CANopen bus connection b is standard on MHDA servodrives. b The Modbus Plus network can be established by adding an option card. b The Fipio bus can be established by adding an option card. b The Profibus DP bus can be established by adding an option card. This type of structure is used to respond to performances in three types of applications: applications with independent servodrives, PLC controlled independent axes and PLC controlled electronic gearing. MT MT SP KP KV KT Axe Start Motion Task axe Start Motion Task axe Start Motion Task axe Start Motion Task axe Bus/network Independent axes controlled by PLC MTn MT MT MTn SP KP Axe The "Motion tasks" (MT) for each Lexium servodrive are managed using the basic activation/deactivation commands from the Premium or Quantum PLCs (i.e. start, stop, etc.). Typical number of controlled servodrives: KV KT SP KP KV KT Axe MT motion parameters (position, speed, acceleration) Bus/network MT motion parameters (new positions, speed, acceleration) SP KP KV KT Axe Electronic gearing controlled by PLC The PLC application calculates and directly updates the parameters for a "Motion Task" (position/speed/acceleration) for each movement for each of the servodrives, which work out various paths from these parameters. Typical number of controlled servodrives: to 8 SP KP KV KT Axe Path generator Speed Set point SP Set point SP Bus/network t SP KP KV KT Axe Setpoint SP = f [SP(t) x ratio] The path (position or speed or torque) of the virtual Master axis is worked out by the PLC. This path is used to determine the new positions of each of the Slave axes in each PLC cycle according to the formula SPn = [SP (t) x ratio]. Typical number of controlled servodrives: to Description: pages 7 and 8 pages to pages and 7 pages 8 and 9 Connections: pages 9 to 7 This document provided by Barr-Thorp Electric Co., Inc

59 Connectivity of MHDA servodrives (continued) Lexium motion control Lexium Servodrives Software configuration Communication and Parameterizing are integrated in the following software tools: b Configuration mode for PL7Junior/Pro or Concept, depending on the medium used: v CANopen and Profibus DP bus: the configuration mode of the PL7 Junior/Pro or Concept installation software is used to define the communication buffers (addresses and lengths of the %MW input and output word tables). v Modbus Plus network: the configuration mode of the PL7 Junior/Pro or Concept installation software is used to define the data exchanged. Configuration example for Fipio with PL7 Junior/Pro v Fipio bus: the configuration mode of the PL7 Junior/Pro installation software is used to define the numbers of the connection points from the Lexium MHDA servodrives to the Fipio bus. v Profibus DP bus: the configuration mode of the PL7 Junior/Pro installation software is used to define the numbers of the connection points from the Lexium MHDA to the Profibus DP bus. b The CANopen bus and Profibus DP bus are configured using a specific software (SyCon) to be ordered separately (reference SYS SPU LFp CD8M). This software is used to generate a configuration file to define the data exchanged on the bus. The file must be imported in the PL7 application via the PL7Junior/Pro installation software. Configuration example for CANopen with the SyCon tool b Unilink software: is used to define the address of the Lexium servodrive on which the user would like to communicate with. The transmission speed of the CANopen bus or the Modbus Plus network is also defined at this level. Furthermore, with the Modbus Plus network, a function of the Unilink software can be used to define the configuration parameters and display the Modbus Plus communication status. The Unlilink software is also used to define the parameters relating to the Fipio bus (time-out, etc.). Configuration example for Modbus Plus with Unilink Debugging The Unilink software and PL7 Junior/Pro installation software provide different debugging services: b Unilink software: access to commands and statuses for managing DRIVECOM, including specific debugging screens with the Profibus bus. b PL7 Junior/Pro software: specific debugging and diagnostics screens with the Fipio bus (see left for example). Description: pages 7 and 8 pages to pages and 7 pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

60 Connectivity of MHDA servodrives (continued) Lexium motion control Lexium servodrives Fipio bus Architecture Premium (bus manager) Lexium MHDA servodrives Magelis IPC Magelis XBT, CCX7 Momentum Fipio Sealed TBX Micro (Agent) ATV Premium (Agent) AS-i AS-i gateway Characteristics Type of bus The Fipio field bus is an industrial standard for communication between different PLC components. This field bus complies with the WorldFip standard for production/ consumption mechanisms. It is used for extending remote I/O to up to km. Schneider Electric is a major promoter of Fipio bus technology, which supports the connectivity of PLCs, Lexium servodrives, Altivar starter motors, Magelis terminals and the partner products of the Schneider Alliances program. Fipio bus Compatibility Modicon automation platform Premium (TSX P 7 //8///8) or Atrium coprocessor (T PCX 7 ) Profile Open industrial medium complying with the World Fip standard Transmission Rate Mbit/s Medium W double twisted shielded pair Length Max., m for an electrical segment Max., m for an optical segment Device addressing Fipio utilities with Lexium MHDA servodrive X-Way Uni-Te utilities Access to all the parameters of the Lexium servodrives in read/write: v "DRIVECOM" data for operating modes and fault management modes v operating modes v Motion Task movement data (realtime modification of acceleration, position and speed) v external position, speed and torque setpoints v servodrive status, path and fault data v loading and downloading of the servodrive parameters (max. 8 bytes of data) Installation utility using PL7 Junior/Pro software Configuration tool Unilink software (version u.) v integrated installation screens (presymbolization of objects, management of double word length, debugging and diagnostics screens) v "FDR" utility, operating context restoration for servodrive replacement Installation tool PL7 Junior/Pro software (version., recommended.) Fipio communication card Cabling system Wiring on MHDA servodrive T-Junction box Derivation cable Main cable Optional AM FIP V card 9-way SUB-D male connector TSX FP ACC/ACC block TSX FP CCp cable TSX FP CA/CRp cable Description: pages 7 and 8 pages to pages and 7 pages 8 to 9 Connections: pages 7 to 7 8 This document provided by Barr-Thorp Electric Co., Inc

61 Connectivity of the MHDA servodrives (continued) Lexium motion control Lexium Servodrives Modbus Plus network Architecture Premium or Quantum Magelis XBT-F/T XBT Repeater ATV8-F Third party products Lexium MHDA servodrive The Modbus Plus communication network is a high baud rate industrial network (up to Mbit/s). It consists of a main segment and secondary segments concerning the use of accessories such as electric repeaters, optical repeaters or bridges. The Modbus Plus network supports connectivity for Schneider products (PLCs, distributed I/O, ATV variable speeddrives, Magelis terminals with graphic screens etc. As part of the Schneider Alliances partnership, several third party products are compatible with the Modbus Plus network. Characteristics Type of network Compatibility Modicon automation platform Profile Modbus Plus network Premium, Quantum and Micro Exchanges: v Peer Cop 9 registers v Global Data 8 registers v Modbus Messaging Transmission Rate... Kbit/s Medium Twisted pair, optic fiber Length v max. m per segment v max.,8 m with repeaters Device addressing... Modbus Plus utilities with Lexium MDHA servodrives Peer Cop () Global data () Read/write access to Lexium servodrive Status/Command data: v "DRIVECOM" registers v Setpoints (position, speed and torque) v Run/Stop for Motion tasks v "OPMODE" operating modes v "STATCOD and ERRCOD" diagnostics, etc. The Global Data utility is only effective when transmitting data from Lexium servodrives Modbus Messaging Access to all the above data as well as to the following parameters: v Adjustment of torque, speed and position loops v Monitoring (threshold, gap, etc.) Configuration tool v PL7 Junior/Pro software with Premium platform v Concept software with Quantum platform Modbus Plus communication card Optional AM MBP V card, requiring a Lexium 7D or 7D HP servodrive, version RL > 8 (9-way SUB-D male connector) Cabling system () Junction boxes v IP T-Junction box 99_NAD Requires cabling tool ref. 9 8 v IP T-Junction box 99_NAD (connection on screw terminals) Derivation cables 99 NAD / derivation cable (length, or m). Servodrive end of cable equipped with a 9-way SUB-D female connector and derivation end with free wires () Utilities available only on the main segment of the Modbus Plus, and with Premium or Quantum platforms only. () For other Modbus Plus network connection cables and accessories, consult our Premium platform and Quantum platform catalogs. Description: pages 7 and 8 pages to pages and 7 pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

62 Connectivity of MHDA servodrives (continued) Lexium motion control Lexium Servodrives CANopen bus Architecture Premium Lexium MHDA The CANopen bus is a field bus based on CAN low layers and components. It complies with standard ISO 898 compliant. Thanks to its standard communication profiles, the CANopen bus can be used to ensure the opening and interoperability of various devices (servodrives, motor starters, smart sensors, etc.) The CANopen bus is a multi-master bus, which guarantees a sure and deterministic access to realtime automation device data. The CSMA/CA type protocol is based on exchanges, transmitted cyclically or on event, which guarantee optimum use of the bandwidth. A messaging channel is also used to parameterize the slave devices. Lexium MHDA servodrives are all equipped with a CANopen bus compatible interface (connector on X, see pages and 8). Lexium MHDA ATV-8F Motor starter Smart sensors Characteristics Type of bus CANopen communication Compatibility Modicon automation platform Profile CANopen bus Integrated with the Lexium MHDA servodrive Premium (with the PCMCIA card and SYS SPU LFp CD8M, SyCon CANopen configuration software) CANopen DS with DSP profile Transmission Rate... Kbit/s Medium Shielded twisted double pair Length Max. m at Mbit/s Max. 7 m at Kbit/s Max. m at Kbit/s Device addressing to CANopen utility with Lexium MHDA servodrive PDO (Process Date Object) periodic exchange Implicit read/write access to Lexium servodrive Status/Command data (using %MW words): v Setpoints (position and torque) v Stop/start "Motion Tasks" v Command register/drivecom status SDO messaging (Service Data Object) Explicit access (by READ_VAR/WRITE_VAR function) to the following parameters: v Adjustment of torque, speed and position loops v Monitoring (threshold, gap, etc.) v "OPMODE" operating modes v "STATCOD and ERRCOD" diagnostics SYNC object For applications requiring axis synchronization () Configuration tool SYS SPU LFp CD8M, SyCon configuration software CANopen cabling system Wiring on MHDA servodrive A 9-way SUB-D male connector (addr. X) T-Junction box Derivation cable TSX CPP ACC ( x -way SUB-D male connector on the device end and 9-way SUB-D male connectors on the bus end) Client provision () Function available with version SVu. MHDA servodrives. Description: pages 7 and 8 pages to pages and 7 pages 8 and 9 Connections: pages 9 to 7 This document provided by Barr-Thorp Electric Co., Inc

63 Connectivity of MHDA servodrives (continued) Lexium motion control Lexium Servodrives Profibus DP bus Architecture Premium Lexium MHDA servodrive Repeaters (max. ) With PL7 and DP software ATV Momentum The Profibus DP bus is a field bus that meets industrial communication requirements. Profibus DP has linear bus topology with a Master/Slave-type centralized access procedure. The physical link is made by a single shielded twisted pair, although optical interfaces are available for establishing tree, star or ring structures. Characteristics Bus type Compatibility Modicon automation platform Profile Profibus DP bus Premium and Quantum Industrial bus, line architecture with end of line resistance Transmission/length Baud rate/segment length 9. Kbit/s:,m (,8 m with repeaters) at Mbit/s m ( m with repeaters) Medium Twisted pair, optic fiber, infrared Lexium servodrive addressing (max. Lexium servodrives, without repeater) Profibus DP utilities with Lexium MDHA servodrives PPO-type profile v Access to all movement parameters and diagnostics parameters ( words PKW) v DRIVECOM command and status words v Access to the different Motion Task command words (speed, torque, electronic gearing) Configuration tool SYS SPU LFp CD8M, SyCon configuration software Installation tool Unilink software (version u.) Profibus DP communication card Optional AM PBS V card Cabling system Wiring on Profibus DP communication card: AM PBS V 9-way SUB-D female connectors 9 NAD 9 p Daisy chaining cable Profibus DP connection cable: TSX PBS CA / (length m/ m) Description: pages 7 and 8 pages to pages and 7 pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

64 Characteristics Lexium motion control Lexium servodrives Characteristics of Lexium 7 D Servodrives Lexium servodrives have been developed to comply with the main international standards which relate to electronic devices for international automation: b Specific requirements : operating characteristics, immunity, ruggedness, safety, etc. EN 78, EN 9-, EN, UL 8C, IEC 9 (for SERCOS cards). b Conformity to the European directives on low voltage 7//EEC, electromagnetic compatibility 89//EEC and machinery 89/9/EEC. b Conformity to the machine safety standard NF EN 9-. b Electrical quality of insulating materials (electrical equipment, printed circuit boards) UL 8. Characteristics of Lexium 7 Servodrives Type of module MHDA p MHDA 8p MHDA 7p MHDA 8p MHDA p Power supply Voltage V rms a V -phase ± %, / Hz (a V authorized single-phase with derating) Current A rms Inrush current Internal limitation Neutral load Compatible TN and TT loads. If the load is IT, it is necessary to use an isolation transformer on the power supply, see page 7. External Via circuit-breaker GV-L (. A) GV-L ( A) GV-L ( A) GV-L ( A) protection against Q overloads and short circuits By fuse A type am type am type am type am Motor output Permanent current A rms./. () / () / () / () / () Maximum current A rms / () / () / () / () / () Motor choke mh min 8 min min. min. min Cable length m max. 7 Use motor choke AM FIL V for lengths > m Holding brake command Nominal voltage V c, supplied by the external power supply, see page Current A.7 max Resolver input Frequency khz 8 ±. % Voltage V rms.7 Current ma max. rms Transformation ratio. Resolution bits () Cable length m 7 max SinCos absolute encoder input Voltage V 9 ± % Current ma Single-turn encoder Resolution: bits () Multi-turn encoder Resolution: bits per revolution, number of revolutions: bits () Cable length m 7 max. with Hiperface encoder, m max. with EnDAT encoder Simulated Type () RS 8 differential, incremental format encoder output Resolver resolution / points SinCos resolution //8/9/89/8 points Master/Slave Interface Use of the Master Lexium servodrive simulated encoder output to control up to Slave Lexium servodrives (electric gearing function) Control loop performances Adjustable with Unilink software Torque µs. Speed µs Position µs Speed scale rpm (...8 with the BPH motor) Discrete I/O Number isolated ( drive enable input, inputs configurable with Unilink software) Voltage V c Current ma to V Limit values V At state : >, at state : < 7 status Acquisition period ms in normal cycle,. in rapid cycle Discrete outputs Number isolated with current absorption (programmable with Unilink software) Voltage V c Current ma Acquisition period ms () The second value is provided for a power supply of a V single-phase () Position precision depends on the associated SER/Lexium BPH motor, see pages 9 and 77. () For use of the simulated encoder output in absolute SSI type, please consult our Regional Sales Offices. Description: pages 7 and 8 Functions: pages 9 to pages and 7 pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

65 Characteristics (continued) Lexium motion control Lexium servodrives Lexium 7D servodrive characteristics (continued) Module type MDHA p MDHA 8p MDHA 7p MDHA 8p MDHA p Alarm output Number volt-free contact Max voltage V c, a Current ma (resistive load) Analog inputs Number non-isolated differentials (programmable with Unilink software) Input range V ± Input impedance kω Resolution bits channel, bits channel Common mode V ± between channels and ground Acquisition period µs Analog outputs (with MHDA servodrive) Number non-isolated (programmable with Unilink software) Output range V ± Output impedance kω. Resolution bits Conversion time ms Asynchronous Type RS isolated serial link Rate bit/s 9 Transmission 8 data bits, stop bit, no parity Dissipated internal power (at nominal current) W 9 Braking power -phase servodrive power supply V On internal resistor Ω Max. continual PPr W 8 8 Peak (s) PCr kw Protection Internal, electronic circuit-breaker On external resistor Ω Continuous PPr kw Peak (s) PCr kw Resistance to be associated Protection by F fuse AM RFE V AM RFE V GK-DD + DF-CN ( x A gc serial fuses) AM RFE V GK-DD + DF-CN ( x A gc serial fuses) Auxiliary power supply c V (See page ) Limit values For SER motors, see page 88 For BPH motors, see page Environment Temperature Operation C:...,... with derating of. %/ C (> C) of motor output current Storage C: Relative humidity Operation Storage 8 % without condensation 9 % without condensation Pollution Level (EN 78) Altitude Operation m..., up to with derating of. %/ m (above m) of motor output current Storage m Withstand to vibrations 7 Hz mm Sinusoidal, amplitude of.7 during operation 7 Hz g during operation Description: pages 7 and 8 Functions: pages 9 to pages and 7 pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

66 Characteristics (continued) Lexium motion control Lexium servodrives Characteristics of Lexium 7D HP Servodrives Lexium servodrives have been developed to comply with the main international standards which relate to electronic devices for international automation: b Specific requirements: operating characteristics, immunity, ruggedness, safety, etc. EN 78, EN 9-, EN, UL 8C, IEC 9 (for SERCOS cards). b Conformity to the European directives on low voltage 7//EEC, electromagnetic compatibility 89//EEC and machinery 89/9/EEC. b Compatibility with the machine safety standard NF EN 9-. b Electrical quality of insulating materials (electrical equipment, printed circuit boards) UL 8. Lexium 7D HP servodrive characteristics Module type MDHA A MDHA 98A Power supply Voltage V rms a V -phase ± %, / Hz Current A rms 8 8 Inrush current Internal limitation Neutral load Compatible TN and TT loads. If the load is IT, it is necessary to use an isolation transformer on the power supply, see page 7. External protection against Via circuit-breaker NSLMA (A) NSLMA (A) overloads and Q short circuits By fuse A type am 8 type am Motor output Permanent current A rms 7 Maximum current A rms 8 Motor choke mh.7 min.8 min Cable length m 7 max Holding brake command Nominal voltage V c, supplied by the external power supply, see page Current A.7 max Resolver input Frequency khz 8 ±. % Voltage V rms.7 Current ma rms Transformation ratio. Resolution bits () Cable length m 7 max SinCos absolute encoder input Voltage V 9 ± % Current ma Single-turn encoder Resolution: bits () Multi-turn encoder Resolution: bits per revolution, number of revolutions: bits () Cable length m 7 max. with Hiperface encoder, m max. with EnDAT encoder Simulated encoder output Type Resolver resolution SinCos resolution RS 8 differential, incremental format / points //8/9/89/8 points Master/Slave Interface Use of the Master Lexium servodrive simulated encoder output to control up to Slave Lexium servodrives (electric gearing function) Control loop perfomances Adjustable with Unilink software Torque µs. Speed µs Position µs Discrete I/O Number isolated ( drive enable input, inputs configurable with Unilink software) Voltage V c Current ma to V Limit values V At state : >, at state : < 7 status Acquisition period ms in normal cycle,. in rapid cycle Discrete outputs Number isolated with current absorption (programmable with Unilink software) Voltage V c Current ma Acquisition period ms () Position precision depends on the associated SER/Lexium BPH motor, see page 9. Description: pages 7 and 8 Functions: pages 9 to pages and 7 pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

67 Characteristics (continued) Lexium motion control Lexium servodrives Lexium 7D HP servodrive characteristics (continued) Module type MHDA A Alarm output Number volt-free contact Max voltage V c, a Current ma (resistive load) MHDA 98A Analog inputs Number non-isolated differential (programmable with Unilink software) Input range V ± Input impedance kω Resolution bits channel, bits channel Common mode V ± between channels and ground Acquisition period µs Analog outputs (with MHDA servodrive) Number non-isolated (programmable with Unilink software) Output range V ± Output impedance kω. Resolution bits Conversion time ms Asynchronous Type RS isolated serial link Rate bit/s 9 Transmission 8 data bits, stop bit, no parity Dissipated internal power (at nominal current) W 7 Braking power Auxiliary power supply c V (See page ) -phase servodrive power supply V 8 8 On external resistor Ω Max. continuity PPr kw Max. peak (s) PCr kw 7 Resistor to be associated AM RFE V8 AM RFE V Protection by fuse F GK-DD + DF-CN ( x A gg serial fuses) Limit values For BPH motors, see page GK-DD + DF-CN ( x A gg serial fuses) Environment Temperature Operation C:...,... with derating of. %/ C (> C) of motor output current Storage C: Relative humidity Operation Storage 8 % without condensation 9 % without condensation Pollution Level (EN 78) Altitude Operation m..., up to with derating of. %/ m (above m) of motor output current Storage m Withstand to vibrations 7 Hz mm Sinusoidal, amplitude of.7 during operation 7 Hz g during operation Description: pages 7 and 8 Functions: pages 9 to pages and 7 pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

68 References Lexium motion control Lexium Servodrives Digital servodrives for brushless motor Specific functions Output current Reference Weight Permanent Discontinuous (s) kg Lexium 7D Servodrives No anti-start safety function Integral braking. A rms A rms MHDA N. resistors, integral EMC filter A rms A rms MHDA 8N. A rms A rms MHDA 7N. A rms A rms MHDA 8N. A rms A rms MHDA N 7. MHDA ppna MHDA ppa Integral anti-start safety function Integral braking. A rms A rms MHDA A. resistors, integral EMC filter A rms A rms MHDA 8A. A rms A rms MHDA 7A. A rms A rms MHDA 8A. A rms A rms MHDA A 7. Lexium 7D HP servodrives Integral anti-start safety function No integral braking A rms 8 A rms MHDA A 9. resistors, no integral EMC filter, obligatory input choke () (to be ordered separately). 7 A rms A rms MHDA 98A. MHDA N/A Accessories for Lexium 7D Servodrives Use Functions Reference Weight kg External braking resistors MDHA /8 Ω, power W AM RFE V. servodrives Ω, power W AM RFE V. MDHA Servodrives 7/8/ Motor choke Filter choke to be placed very close to the servodrive Ω, power, W AM RFE V. For cable lengths between servodrive/motor of m AM FIL V MHDA /98A Connecting cables Connection to BPH motors See page 7 SER motors See page 87 Documentation (not included with the MHDA servodrives) Lexium 7D User Guide 89 USE p () Servodrive replacement wiring Set of connectors for Female screw connectors AM SPA V the Lexium 7D (X, X, X7, X8, XA and XB) () Input choke is obligatory when the servodrive is not powered by an isolation transformer. () For the documentation, add to the end of the reference : English, : French, : German, : Spanish, : Italian. Description: pages 7 and 8 Functions: pages 9 to pages to pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

69 References (continued) Lexium motion control Lexium servodrives AM SER V Accessories for Lexium 7D HP servodrives Use Functions Reference Weight kg External braking resistors MDHA Servodrives Ω, power 8 W AM RFE V8. MDHA 98 Servodrives Ω, power W AM RFE V 8. EMC input filters () MDHA Servodrives A rms permanent AM EMC 8 MDHA 98 Servodrives 7 A rms permanent AM EMC Input chokes MDHA Servodrives A rms permanent AM CHK 7 () 9. MDHA 98 Servodrives 7 A rms permanent AM CHK (). Connection cables Connection to BPH motors See page 7 AM FIP V AM MBP V Documentation Lexium 7D HP user guide 89 USE p () Servodrive replacement wiring Set of connectors for the Lexium 7D HP screw connectors (X, X and X) Shared accessories for Lexium servodrives AM SPA V Use Functions Reference Weight kg "Lexium motion tools" CD-ROM containing the Unilink software and a set of documentation () Configuration and setting of the Defines the type of servodrive AM CSW V Lexium 7D servodrives from a and motor PC terminal Sets the parameters for the servodrive and saves to the servodrive's EEProm memory Connection cables Servodrive end connector ( X) Master/Slave m TSX CXP 8 m TSX CXP 8 Connection to a compatible PC, equipped with Unilink software Connection to the CAY and CSY positioning modules SUB-D connector with AM CAV V 9 contacts at the PC end ( m) See pages and 9 Optional items for MHDA servodrives ( slot) SERCOS digital link card SERCOS network AM SER V. Communication cards Fipio bus () and () AM FIP V. Modbus Plus network () AM MBP V. AM PBS V Input/Output cards Discrete Profibus DP bus () and () AM PBS V. discrete inputs/8 discrete outputs for controlling the MHDA servodrive integral position indexer AM INE V.8 () Radio interference filter element to be ordered when class A EMC (EN) resistance is necessary. () Must be ordered with the servodrive. Do not order if an isolation transformer in IT load is used. () For the documentation, add to the end of the reference : English, : French, : German, : Spanish, : Italian () For details, see page. () Connection accessories, see wiring system pages 7 and 7. () Requires Unilink software version u V., included in reference AM CSW V. Functions: pages 9 to Description: pages 7 and 8 pages to pages 8 and 9 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

70 Dimensions Lexium motion control Lexium servodrives Lexium 7D servodrives Common side view MHDA /8/7/8 p MHDA p: 7 7 () 7 = = () With connectors Lexium 7D HP Servodrives Common side view MHDA/98 A 7 () 8 () () With connectors () 9 with grounding part Mounting Lexium 7D servodrives Lexium 7D HP servodrives () () () () Cable clip or ducting 8 This document provided by Barr-Thorp Electric Co., Inc

71 Dimensions (continued) Lexium motion control Lexium servodrives Braking resistors AM RFE pvppp EMC input filters (for Lexium 7D HP servodrives) AM EMC ppp Ø b b b H c c G J H b a a G a AM RFE a a b c G H J a b b b c G H V x 9 AM EMC 8 7 V 8 9. x AM EMC V 8 8. x V x V 7 8. x 8 Motor choke (for Lexium 7D servodrives) AM FIL V Input chokes (for Lexium 7D HP servodrives) AM CHK ppp c Ø G a H b, Phaseo power supplies c V a b c G H ABL/7RE pp AM CHK See page 7 AM CHK Description: pages 7 and 8 Functions: pages 9 to pages to pages and 7 Connections: pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

72 Connections Lexium motion control Lexium servodrives Connections for the Lexium 7D Servodrives Braking resistor AM RFE Vppp. Motor choke AM FIL V (required for servodrive/motor cable lengths > m). This inductance should be placed very closely to the servodrive ( m). Connection cables for SER or BPH motors: Power cable. Resolver cable. SinCos Hiperface encoder cable. The power, resolver or SinCos Hiperface cables offer two possibilities: b AGO FRU: Ready to use cables. b AGO KIT: extension cables (mounting of the connector on the servodrive end performed by the user). For SER motors, see page 87 For BPH motors, see page 7 a V Q L L L Q Q A X8 XOA X X SUB-D with SUB-D with 9 contacts contacts X9X X - Anti-start lock (on MHDAppA) X - Motor enable - Alarm - discrete inputs/ discrete outputs - analog inputs - analog outputs F or Integral brake (depending on model) Resolver (depending on model) SinCos Hiperface Encoder (depending on model) Additional components required Address Description Q GV-L magnetic circuit breaker, see page Q GB or CN thermal magnetic circuit breaker, see page 7 A Phaseo process power supply c V ABL 7RE, see page 7 F GK-DD bipolar fuse carrier (obligatory) with x 8 DF-CN ( A) or DF-CN ( A) type gg cartridges, see page To connect the connectors X and X to the Premium motion control modules, see page 8, for X and X, see page () Max. length m. Description: pages 7 and 8 Functions: pages 9 to pages to pages and 7 pages 8 to 9 7 This document provided by Barr-Thorp Electric Co., Inc

73 Connections (continued) Lexium motion control Lexium servodrives Connections for the Lexium 7D HP servodrives AM CHK 7/ input choke (not to be used if power supply is via Schneider recommended insulation transformer, see page 7). AM EMC 8/ EMC input filter (if Class A is requested). AM RFE V8/ braking resistor. Connection cables for SER/BPH motors: Power cable. Resolver cable. SinCos Hiperface encoder cable. The power, resolver or SinCos Hiperface cables offer two possibilities: b AGO FRU: Ready to use cables. b AGO KIT: extension cables (mounting of the connector on the servodrive end performed by the user for the resolver or SinCos encoder cable, connection on the screw terminal on the servodrive end for the power cable). See page 7. L L L a V Q Lock circuit - Anti-start lock Q A X X X X SUB-D with 9 contacts X X SUB-D with contacts X 8 X - Motor enable - Alarm - discrete inputs/ discrete outputs - analog inputs - analog outputs F or Integral brake (depending on model) Resolver (depending on model) SinCos Hiperface Encoder (depending on model) Additional components required Address Description Q Magnetic circuit-breaker /A NSLMA /, see page Q GB or CN thermal magnetic circuit breaker, see page 7 A Phaseo process power supply c V ABL 7RE, see page 7 F GK-DD bipolar fuse carrier (obligatory) with x 8 DF-CN ( A) or DF-CN ( A) type gg cartridges, see page To connect the connectors X and X to the Premium motion control modules, see page 8, for X and X, see page. Description: pages 7 and 8 Functions: pages 9 to pages to pages and 7 pages 7 to 7 This document provided by Barr-Thorp Electric Co., Inc

74 Connections (continued) Lexium motion control Lexium servodrives Example of connecting a set of Lexium 7D servodrives with a distribution of braking energy (links on X7 connectors) () L L L A Q Q Q () a V Example of Lexium 7D servodrive connection () XOA X X7 + DC - DC X8 X9 XOB + DC - DC X X XOA XOB XOA XOB X X X7 X7 () + DC + DC + DC + DC () - DC - DC - DC - DC X8 X X8 X X X X9 X9 or or or For keys, and : See page 7 () The same connection principle for connecting the Lexium 7D HP servodrive power buses in parallel is possible. Please consult our Regional Sales Offices. () Circuit-breaker Q and the power supply cables must be of sufficient size to provide protection against overloads and short-circuits on each servodrive. The connectors (XOA, XOB) limit the line current to A rms, therefore for line currents > A rms use the separate power supplies and protection devices. () Cables for connecting the power buses in parallel: using non-shielded cables for lengths y cm. For lengths > cm, use shielded cables (maximum length meters). The connectors (X7) are limited to A. () On the X connectors for the main servodrive, check that the sum of c V power supply currents for the servodrives and the holding brakes is y A. Description: pages 7 and 8 Functions: pages 9 to pages to pages and 7 pages 7 to 7 7 This document provided by Barr-Thorp Electric Co., Inc

75 Connections (continued) Lexium motion control Lexium servodrives Connection of Lexium servodrives with installation in IT neutral load (insulated or impedance neutral) L L L Q w v v In this type of installation, a -phase BT/BT transformer is inserted in the supply circuit for the servodrives, which also allows a TT load network to be re-built on the secondary side. This plan, with a secondary star transformer, also meets the following requirements: b Protection of personnel. Primary T Secondary b Adaptation of the supply voltage. In the case of associating a MHDA servodrive with a BPH motor, use a / V transformer to obtain the optimum performances for the servodrive, see page 9. Adding an insulation transformer dispenses of the use of a AM CHKppp input choke. Merlin Gerin or Square D brand T -phase transformer to be associated The dimensions of the transformers are defined by the following formulae PE L L L b Lexium servodrives with independent power supply (one transformer per servodrive): Pu= ( Un In K), where Pu: unitary power (KVA), Un: Nominal input voltage (V), In: permanent current (A), K =.9: reduction factor of the servodrive and. factor that takes into account the call and peak currents of the servodrive. b Lexium servodrives with common power supply (one transformer for n servodrives): Pm= ( ΣPu) If Pm < Pu of the largest servodrive, take Pm = Pu of the largest servodrive. where Pm: power used (KVA) and Pu: servodrive unitary power (KVA). Formula not applicable for permanent operation (S mode). Selection of Merlin Gerin transformer with x V rms primary voltage Lexium servodrives with independent power supply MHDA Merlin Gerin -phase T BT/BT transformer to be associated Required power Pu Nominal transformer power V rms () kva,8 V rms () kva V rms () kva. V rms () kva.. 8 Reference / V rms 8 / V rms Lexium servodrives with common power supply kva,, 8 Power required Pm Reference / V rms / V rms Selection of Square D transformer with x V rms primary voltage Lexium servodrives with independent power supply MHDAp Square D -phase T BT/BT transformer to be associated Required power Pu Nominal transformer power V rms () kva.8 V rms () kva V rms () kva V rms () kva 7. 7 Reference / V rms / V rms 7T HDIT T HDIT T HDIT T HDIT 7T HDIT Lexium servodrives with common power supply kva Power required Pm Reference / V rms () () 7T HDIT T HDIT / V rms () () 7T HDIT T HDIT () For -phase secondary voltage, () contact our Regional Sales Offices. Unit equivalence: kw =.7 HP. T HDIT T HDIT 7T HDIT T HDIT T HDIT This document provided by Barr-Thorp Electric Co., Inc

76 Connections (continued) Lexium motion control Lexium servodrives Connecting Lexium MHDA servodrives to the Fipio bus D C D TSX P7pM: Premium processor with integrated Fipio bus link manager. MHDA pppn/a: Lexium 7D or 7D HP servodrives, equipped with an optional AM FIP V communication card. TSX FP ACC/ACC: 9-way SUB-D female connector. Used to provide a tap link or daisy-chain connection (case of nd servodrive). TSX FP CA/CRpp: trunk cable, shielded twisted pair. In lengths of, or m. TSX FP ACC/ACC: IP (TSX FP ACC) or IP (TSX FP ACC) T-junction box. TSX FP CCp: derivation cable, shielded twisted pairs. In lengths of, or m. Premium bus manager D: tap link connection C: daisy-chain connection Other connection elements: consult our Premium automation platform catalogue Connecting Lexium MHDA servodrives to the Modbus Plus network Premium 7 7 TSX MBP : Modbus Plus PCMCIA card to be placed in processor's type III slot on the Premium platform with the TSX MBP CE / derivation cable ( m or m in length). CPU ppp pp p: Quantum platform processor. MHDA ppp N/A: Lexium 7D or 7D HP servodrives, equipped with the optional AM MBP V Modbus Plus communication card. Quantum Lexium MHDA servodrives 9 NAA 7p: main cable, shielded twisted pair with shielding drain (free wire end). In lengths of.,.7, or m. 99 NAD : IP T-junction box (in plastic) to connect one device. Adapts the impedance when installed at the end of the line (connecting the connectors requires the 9 8 cabling tool). 99 NAD : IP T-junction box (in zamac) to connect one device (connection on screw terminals). Has an RJ type connector to connect a programming and maintenance terminal. 99 NAD : lot of impedance line terminators (99 NAD adapter) for the 99 NAD box, to be placed at the end of each segment NAD /: derivation cable with a 9-way SUB-D male connector at the device end and a junction box with free wires. In lengths of. m or m. Functions: pages 9 to Description: pages 7 and pages to pages and 7 pages 7 to 7 7 This document provided by Barr-Thorp Electric Co., Inc

77 Connections (continued) Lexium motion control Lexium servodrives Connecting Lexium MHDA servodrives to the CANopen bus The CANopen bus is integrated as standard in Lexium servodrive. TSX CPP : CANopen card to be placed in the processor's type III slot on the Premium platform. Card supplied with. m length cable. MHDA ppp N/A: Lexium 7D or 7D HP servodrives (connecting to the connector, add. X). TSX CPP ACC: junction box equipped with SUB-D male connectors (one with contacts and two with 9 contacts). Cable: a shielded twisted pair (impedance / Ω, capacity nf/km max., resistance 9.8 Ω/km). Premium Lexium MHDA servodrives 9-way SUB-D female connector. Ω / W resistor to be provided at the line end. Connecting Lexium MHDA servodrives to the Profibus DP bus. TSX PBY : Profibus DP module set (host module, PCMCIA card and junction box) to be placed in the Premium platform rack. CRP 8 : Profibus DP module set (host module, PCMCIA card and junction box) to be placed in the Quantum platform rack. MHDA ppp N/A: Lexium 7D or 7D HP servodrives, equipped with an optional AM PBS V Profibus DP communication card. TSX PBS CA /: Profibus DP connection cable: In lengths of or m. 9 NAD 9 : 9-way SUB-D male connector for intermediate connection (gray). Premium Lexium MHDA servodrives 9 NAD 9 : 9-way SUB-D male connector for end of line (yellow). 9 NAD 9 : 9-way SUB-D male connector for intermediate connection. Has a 9-way SUB-D female connector (for example for connecting a programming terminal). Functions: pages 9 to Description: pages 7 and 8 pages to pages and 7 pages to 7 This document provided by Barr-Thorp Electric Co., Inc

78 Presentation Lexium motion control SER brushless motors Presentation SER AC brushless motors are equipped with Neodymium Iron Borium (NdFeB) magnets and provide a high level of density power within a confined space, as well as a dynamic velocity range that meets all machine requirements. Thermal protection is provided by an integral probe in the motor. These support high overloads without risk of demagnetization. SER motors are certified "Recognized" (UR) by the Underwriters Laboratories. They are compliant with standard UL and with European directives (marking e). Depending on the model, SER motors are available with a holding brake and gearbox. MHDA servodrives, which are associated with SER motors, deliver a sinusoidal wave allowing perfect rotation, even at low speed. Speed/torque characteristics Torque in Nm Tm,, Tn,, Speed in rpm SER motors show torque/speed profiles similar to the example opposite with: Continuous torque at 8 V, -phase. Continuous torque at V, -phase. Continuous torque at V, -phase. Peak torque at 8 V, -phase. Peak torque at V, -phase. Peak torque at V, -phase. where: (in rpm) corresponds to the motor's maximum mechanical speed. Tn (in Nm) represents the continuous stall torque value. Tm (in Nm) represents the peak stall torque value. Torque in Nm Tm Tn Teq Savg Work zone Speed in rpm Principle for determining the size of the motor according to the application Torque/speed curves enable the optimum size of a motor to be determined. For example, for a supply voltage of V, -phase, the useful graphs are graphs and. The time diagram of speeds and torques according to the motor cycle must also be defined (see page ): Locate the work zone of the application in speed. Verify, using the motor cycle time diagram, (see page ), that the torques required by the application during the different cycle phases are located within the area bounded by graph in the work zone. Calculate the average speed S avg and the equivalent thermal torque T eq (see page ). The point defined by S avg and T eq must be within the area bounded by graph in the work zone. Functions: page 77 Description: page 78 pages 79 to 8 pages 8 and 87 page 8 7 This document provided by Barr-Thorp Electric Co., Inc

79 Functions Lexium motion control SER brushless motors Functions General functions SER brushless motors have been developed to meet to the following requirements: b Functional characteristics, robustness, safety, etc. in compliance with IEC -. b Ambient operating temperature: -... C according to DIN 9R. b Relative humidity: y 7 % yearly average/9 % for days without condensation. b Storage and transport temperature: C. b Winding insulation class: F (threshold temperature for windings C) according to VDE. b Supply and sensor connections using angled connectors rotatable over. b Thermal protection by built-in PTC thermistor probe, controlled by the Lexium servodrive. b Out-of-round, concentricity and perpendicularity between flange and shaft as per DIN 9, class N. b Flange compliant with standard DIN 98. b Permitted mounting positions: no mounting restriction for IMB - IMV and IMV as per DIN 9. b Polyester resin based paint: opaque black RAL 9. Functions b Degree of protection of the motor casing: IP as per IEC 9. b Degree of protection of the shaft end: IP as per IEC 9, IP as option. b Degree of protection of the gearbox (depending on model): IP as per IEC 9. b Integrated sensor, pole resolver or SinCos Hiperface high-resolution multirevolution absolute encoder. b Standard sized shaft end (as per DIN 98): v for motors without gearbox: smooth shaft end (), v for motors with gearbox: shaft end with key. Holding brake (depending on model) The integral brake fitted on the SER motor (depending on the model) is a failsafe electro-magnetic holding brake. d Use of the holding brake as a dynamic brake for deceleration purposes will rapidly cause damage to it. Built-in encoder The motor has a position sensor which, depending on the model, can be: b A -pole resolver providing a precision of the angular position of the shaft to less than ± arc minutes. b A SinCos Hiperface high-resolution absolute encoder, multi-revolution (9 revolutions) making the angular position of the shaft precise to less than ± arc seconds. These sensors make it possible to: b Give the angular position of the rotor in such a way that flows can be synchronized. b Measure the motor speed via the associated Lexium servodrive. This information is used by the speed regulator of the Lexium servodrive. b May measure position information for the position controller of the Lexium servodrive. b Measure and transmit, if required, position information in incremental or absolute format, for the position return of a motion control module ("simulated encoder" output of the Lexium servodrive). () For shaft end with key, consult our Regional Sales Offices. Description: page 78 pages 79 to 8 pages 8 and 87 page 8 This document provided by Barr-Thorp Electric Co., Inc

80 Description Lexium motion control SER brushless motors Description 7 SER brushless motors with a -phase stator and an 8 pole rotator with Neodymium Iron Borium magnets (NdFeB) comprising: Housing with a square cross-section, protected by black opaque polyester resin paint RAL 9. Axial flange with fixing points complying with DIN 98. A smooth shaft end of standard DIN 98 (). A dust and damp-proof male screw connector for connecting the power cable. The output of this connector is continuously rotatable over an arc of. A dust and damp-proof male screw connector for connecting the resolver or encoder cable. The output of this connector is continuously rotatable over an arc of. A manufacturer's data plate located on the side opposite the shaft end. 7 A ground terminal. Connector to be ordered separately, for connecting to Lexium MHDA servodrives. See page 87. Schneider Electric has taken great care to find the most appropriate match between SER motors and MHDA servodrives. This compatibility is only guaranteed when cables sold by Schneider Electric are used (see page 87). () For shaft end with key, consult our Regional Sales Offices. Presentation: page 7 Functions: page 77 pages 79 to 8 pages 8 and 87 page 8 78 This document provided by Barr-Thorp Electric Co., Inc

81 Characteristics Lexium motion control SER brushless motors Characteristics of motors SER 9A/9B/9C Type of motor SER 9A L7S SER 9B LS SER 9C LS Torque (model without gearbox) Associated with Lexium servodrive MHDA p MHDA 8p MHDA 8p MHDA 7p MHDA 8p Continuous stall Tn Nm....9 Peak stall Tm Nm Current Permanent A rms...7 Maximum A rms Demagnetization current A 8 Maximum speed rpm Constants (at C) Torque Nm/A rms Back emf V rms s/.8..8 rad Rotor Number of poles 8 Inertia without brake Jm gm.8.. Inertia with brake Jm gm..8. MHDA 7p Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh Electrical time constant ms Holding brake (depending on model) See page 88 gearbox (depending on model) See page 89 Couple en Nm Vitesse en tr/min Speed/torque graphs () SER 9A L7S motors SER 9B LS motors SER 9C LS motors b with MHDA p servodrives b with MHDA 8p servodrives b with MHDA 8p servodrives Torque in Nm Torque in IN-lbs,, Cm Cn,,, Speed in rpm Torque in Nm Torque in IN-lbs Torque in Nm Torque in IN-lbs 8 Cm,, Cn,,, Speed in rpm 8,, Cm Cn,, 8,, Speed in rpm b with MHDA 8p servodrives b with MHDA 7p servodrives b with MHDA 7p servodrives Torque in Nm Torque in IN-lbs Torque in Nm Torque in IN-lbs Torque in Nm Torque in IN-lbs Cm,, Cn,,, Speed in rpm 8 Cm,, Cn,,, Speed in rpm Cm,, 8 8 Cn,,, Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V, -phase Peak torque at V, -phase Peak torque at V, -phase () The graphs above are given for an increase in motor temperature of 8 C. Presentation: page 7 Functions: page 77 Description: page 78 pages 8 and 87 page 8 This document provided by Barr-Thorp Electric Co., Inc

82 Characteristics (continued) Lexium motion control SER brushless motors Characteristics of SER BA motors Type of motor SER BA LS SER BA LS Torque (model Associated with Lexium servodrive MHDA 7p MHDA 8p MHDA 8p MHDA 7p without Continuous stall Tn Nm... gearbox) Peak stall Tm Nm Current Permanent A rms. Maximum A rms Demagnetization current A. Maximum speed rpm Constants (at C) Torque Nm/A rms.7. Back emf V rms s/..7 rad Rotor Number of poles 8 Inertia without brake Jm gm. Inertia with brake Jm gm. Stator (at C) Resistance (phase/phase) Ω. Inductance (phase/phase) mh.. Electrical time constant ms Holding brake (depending on model) See page 88 Gearbox (depending on model) See page 89 Speed/torque graphs () SER BA LS motors b with MHDA 7p servodrives Torque in Nm Torque in IN-lbs Cm,, Cn,,, Speed in rpm b with MHDA 8p servodrives Torque in Nm Cm,, Cn,, Torque in IN-lbs, Speed in rpm SER BA LS motors b with MHDA 8p servodrives Torque in Nm Torque in IN-lbs 7 Cm,, Cn,, Speed in rpm b with MHDA 7p servodrives Torque in Nm Torque in IN-lbs Cm,, 7 Cn,, Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V -phase Peak torque at V -phase Peak torque at V -phase () The graphs above are given for an increase in motor temperature of 8 C. Presentation: page 7 Functions: page 77 Description: page 78 pages 8 and 87 page 8 8 This document provided by Barr-Thorp Electric Co., Inc

83 Characteristics (continued) Lexium motion control SER brushless motors Characteristics of SER BB motors Type of motor SER BB LS SER BB LS Torque Associated with Lexium MHDA 7p MHDA 8p MHDA 7p MHDA 8p (model without servodrive gearbox) Continuous stall Tn Nm... Peak stall Tm Nm...8. Current Permanent A rms. Maximum A rms Demagnetization current A Maximum speed rpm 8 Constants (at C) Torque Nm/A rms.. Back emf V rms s/..78 rad Rotor Number of poles 8 Inertia without brake Jm gm.8 Inertia with brake Jm gm.8 Stator (at C) Resistance (phase/phase) Ω.. Inductance (phase/phase) mh.. Electrical time constant ms Holding brake (depending on model) See page 88 Gearbox (depending on model) See page 89 Speed/torque graphs () SER BB LS motors b with MHDA 7p servodrives Torque in Nm,, Cm,, Cn, Speed in rpm b with MHDA 8p servodrives Torque in Nm Cm,, Cn,, Torque in IN-lbs Torque in IN-lbs, Speed in rpm SER BB LS motors b with MHDA 7p servodrives Torque in Nm Torque in IN-lbs Cm,,,, Cn Speed in rpm b with MHDA 8p servodrives Torque in Nm Torque in IN-lbs Cm,, Cn,, Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V -phase Peak torque at V -phase Peak torque at V -phase () The graphs above are given for an increase in motor temperature of 8 C. Presentation: page 7 Functions: page 77 Description: page 78 pages 8 and 87 page 8 This document provided by Barr-Thorp Electric Co., Inc

84 Characteristics (continued) Lexium motion control SER brushless motors Characteristics of SER BC motors Type of motor SER BC LS SER BC L7S Torque Associated with Lexium MHDA 7p MHDA 8p MHDA 8p MHDA 7p (model without servodrive gearbox) Continuous stall Tn Nm Peak stall Tm Nm Current Permanent A rms 7. Maximum A rms Demagnetization current A. Maximum speed rpm 8 Constants (at C) Torque Nm/A rms..78 Back emf V rms s/.87.9 rad Rotor Number of poles 8 Inertia without brake Jm gm. Inertia with brake Jm gm.7 Stator (at C) Resistance (phase/phase) Ω.7.7 Inductance (phase/phase) mh 7.. Electrical time constant ms..9 Holding brake (depending on model) See page 88 Gearbox (depending on model) See page 89 Speed/torque graphs () SER BC LS motors b with MHDA 7p servodrives Torque in Nm Torque in IN-lbs,, Cm Cn,, Speed in rpm b with MHDA 8p servodrives Torque in Nm Cm,, Cn,, Torque in IN-lbs Speed in rpm SER BC L7S motors b with MHDA 8p servodrives Torque in Nm Torque in IN-lbs Cm,, Cn,, Speed in rpm b with MHDA 7p servodrives Torque in Nm Torque in IN-lbs Cm,, Cn,, Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V -phase Peak torque at V -phase Peak torque at V -phase () The graphs above are given for an increase in motor temperature of 8 C. Presentation: page 7 Functions: page 77 Description: page 78 pages 8 and 87 page 8 8 This document provided by Barr-Thorp Electric Co., Inc

85 Characteristics (continued) Lexium motion control SER brushless motors Characteristics of SER BD motors Type of motor SER BD LD SER BD L7S Torque Associated with Lexium MHDA 8p MHDA 7p MHDA 8p (model without servodrive gearbox) Continuous stall Tn Nm. Peak stall Tm Nm Current Permanent A rms 9.. Maximum A rms Demagnetization current A Maximum speed rpm 7 Constants (at C) Torque Nm/A rms.. Back emf V rms s/.8. rad Rotor Number of poles 8 Inertia without brake Jm gm. Inertia with brake Jm gm.8 Stator (at C) Resistance (phase/phase) Ω..7 Inductance (phase/phase) mh.. Electrical time constant ms..7 Holding brake (depending on model) See page 88 Gearbox (depending on model) See page 89 Speed/torque graphs () SER BD LD motors b with MHDA 8p servodrives Torque in Nm Torque in IN-lbs Cm,, Cn,, SER BD L7S motors b with MHDA 7p servodrives Torque in Nm Torque in IN-lbs,, Cm,, Cn Speed in rpm Speed in rpm b with MHDA 8p servodrives Torque in Nm Torque in IN-lbs Cm,, Cn,, Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V -phase Peak torque at V -phase Peak torque at V -phase () The graphs above are given for an increase in motor temperature of 8 C. Presentation: page 7 Functions: page 77 Description: page 78 pages 8 and 87 page 8 This document provided by Barr-Thorp Electric Co., Inc

86 Characteristics (continued) Lexium motion control SER brushless motors Fr x Radial and axial forces permissible on the motor shaft Even when motors are used under optimum conditions, their lifetime is limited by that of the bearings. Conditions: b Nominal lifetime of bearings () b Speed b Ambient temperature (temperature of bearings ~ C) b Peak torque b Continuous torque b Force application point Lh =, hours N =, rpm C cyclic ratio of % permanent X = mm with motors SER 9A X = mm with motors SER Bp Fa () Hours of use with a failure probability of % d The following conditions must be respected: b Radial and axial forces must not be applied simultaneously. b The maximum pressure permissible on the shaft end is,8 N. b Shaft end with IP degree of protection, optional IP. b Bearings cannot be changed by the user as the built-in position sensor must be realigned after disassembly of the apparatus. Motors SER 9A SER 9B SER 9C SER BA SER BB SER BC SER BD Maximum radial force Fr Cyclic ratio % N 8 7 Permanent N Maximum axial force Fa Cyclic ratio % N 77 Permanent N 77 Characteristics of motor-servodrive power connection cables LXA CP AAA ppp LXA CP AAB ppp External cover PUR orange colored RAL Insulation TPM or PP/PE Capacity pf/m < 7 (conductors/shielding) Number of conductors (shielded) [( x. mm ) + ( x. mm )] [( x. mm ) + ( x. mm )] External diameter mm Curvature radius mm (suitable for flexible cable carrier/tray) (suitable for flexible cable carrier/tray) Working voltage V Maximum service length m 7 (with Lexium MHD servodrives) Service temperature C (storage: ) Certification UL, CSA Characteristics of motor-servodrive encoder connection cables LXA CF ACA ppp LXA CF ABA ppp Encoder type Resolver SinCos Hiperface encoder External cover PUR green colored RAL 8 Insulation Polyester Number of conductors (shielded) x ( x. mm )+( x. mm ) External diameter mm 8. max Curvature radius mm 8 (suitable for flexible cable carrier/tray) Working voltage V Maximum length m 7 (with Lexium MHD servodrives) Service temperature C (storage: ) Certification UL, CSA Presentation: page 7 Functions: page 77 Description: page 78 pages 8 and 87 page 8 8 This document provided by Barr-Thorp Electric Co., Inc

87 Dimensions Lexium motion control SER brushless motors SER motors (models without gearbox), for gearbox dimensions, see page 9 SER motors 9A/9B/9C CA synchronous servo-motor, standard, size 9 a Ø g. Ø 99 () SER motors BA/BB/BC CA synchronous servo-motor, standard, size a g 9 () Ø Ø,9 Shaft end with key g h SER a (without brake) a (with brake) g () g h Ø 9A L7S 8. M x. 9B LS 7. M x. 9C LS. M x. BA LS 98 M x. 9 BA LS 98 M x. 9 BB LS 8 M x. 9 BB LS 8 M x. 9 BC LS 8 9 M x. 9 BC L7S 8 9 M x. 9 BD LD 7 M x. 9 BD L7S 7 M x. 9 () 9 with mounted connector () according to DIN -DS Presentation: page 7 Functions: page 77 Description: page 78 pages 79 to 8 pages 8 and 87 This document provided by Barr-Thorp Electric Co., Inc

88 References Lexium motion control SER brushless motors SER brushless motors The SER motors shown below are not equipped with gearboxes. They are supplied with smooth shaft ends (). The SER motors equipped with PLE gearboxes are given on page 89. Continuous stall torque Associated servodrive MHDA Peak stall torque Mechanical speed Reference Weight () kg. Nm p. Nm rpm SER 9A L7Spp poo. 8p. Nm. Nm 8p. Nm rpm SER 9B LSpp poo. 7p 8. Nm. Nm 8p.7 Nm rpm SER 9C LSpp poo..9 Nm 7p 9. Nm SER 9A L7SRA poo SER 9B LSRA poo. Nm 7p 9. Nm rpm SER BA LSpp poo. 8p. Nm. Nm 8p 8. Nm rpm SER BA LSpp poo.. Nm 7p. Nm. Nm 7p. Nm rpm SER BB LSpp poo 8.. Nm 8p. Nm. Nm 7p.8 Nm 8 rpm SER 9BB LSpp poo 8. 8p Nm SER BA LSRA poo SER BD LDRA poo 8. Nm 7p 7. Nm 8 rpm SER 9BC LSpp poo.. Nm 8p 8. Nm 8. Nm 8p. Nm rpm SER BC L7Spp poo.. Nm 7p.Nm. Nm 8p 9. Nm rpm SER BD LDpp poo.. Nm 7p. Nm,7 rpm SER BD L7Spp poo. 8p 8. Nm To order an SER motor, fill out each reference SER 9/B A/B/C/D L //7 S/D pp p O/// O///8 Sensor integrated in motor Resolver with pair of poles RA SinCos multiturn absolute encoder MO Shaft tightness IP Without holding brake A With holding brake IP Without holding brake B With holding brake Gearbox (see page 89) Without gearbox O Shaft end Smooth O With key () With gearbox (shaft end with key) Type () PLE8 PLE PLE Reduction ratio Ratio : Ratio : Ratio 8: 8 () Without brake, for weight of motor with brake see page 88. () For motor without gearbox equipped with shaft end with key, consult our regional branch. () For motor equipped with PLE gearbox, see page 89. Presentation: page 7 Functions: page 77 Description: page 78 pages 79 to 8 page 8 8 This document provided by Barr-Thorp Electric Co., Inc

89 References (continued) Lexium motion control SER brushless motors. Choice of power cables, resolver and SinCos Hiperface encoder Cables supplied with a fitted connector (motor end) and a second connector for fitting (servodrive end) Cables fitted with connectors at both ends MHDA servodrive Length = m m < length = m m y length y m () Power p () 8 p LXA CP AAA ppp () 7 p () 8 p LXA CP AAB ppp () Resolver LXA CF ACA ppp SinCos Hiperface encoder () LXA CF ABA ppp m < length y 7 m () Connecting cables Cables fitted with a connector at the motor end (the servodrive end connector supplied with the cable has to be fitted) Description From To Composition Length Reference Weight kg LXA CP AAA/AAB pp Power cables Motors SER () For association with servodrives, see table above Lexium MHDA ppp N/A servodrives [( x. mm ) + ( x mm )] [( x. mm ) + ( x mm )] m LXA CP AAA m LXA CP AAA m LXA CP AAA m LXA CP AAA m () LXA CP AAA m LXA CP AAB m LXA CP AAB m LXA CP AAB m LXA CP AAB m () LXA CP AAB Cables fitted with connectors at both ends Description From To Length Reference Weight kg LXA CF ACA/ABA pp Resolver cables () Sincos Hiperface encoder cables () Lexium SER motors Lexium SER motors Lexium MHDA ppp N/A servodrives Lexium MHDA ppp N/A servodrives m LXA CF ACA m LXA CF ACA m LXA CF ACA m LXA CF ACA m LXA CF ACA m LXA CF ABA m LXA CF ABA m LXA CF ABA m LXA CF ABA m LXA CF ABA () For a cable length between the servodrive and motor u m, it is essential to use a motor choke placed as close as possible to the servodrive. For information, see page. () For a cable length of > m, consult our Regional Sales Offices. Presentation: page 7 Functions: page 77 Description: page 78 pages 79 to 8 page 8 This document provided by Barr-Thorp Electric Co., Inc

90 Presentation, characteristics Lexium motion control SER brushless motor options Holding brake Presentation Holding brake The integral brake fitted on the SER motor (depending on the model) is a failsafe electro-magnetic holding brake. d Use of the holding brake as a dynamic brake for deceleration purposes will rapidly cause damage to it. Characteristics Holding brake Holding torque M Br () SER 9p motor brake SER Bp motor brake Nm Inertia of rotor (brake only) J Br gm.. Electrical clamping power P Br W 8 Supply voltage with Lexium servodrive V c.8... Current A. Opening time ms Closing time ms Weight (brake only) kg.8. () Holding torque for a motor temperature y 8 C. For a temperature of > 8 C, apply a derating coefficient of %. 88 This document provided by Barr-Thorp Electric Co., Inc

91 Presentation, characteristics Lexium motion control SER brushless motor options PLE gearboxes Presentation SER motors are also available with mounted PLE-type gearboxes. Schneider Electric has selected and standardized the following gearbox models, available in a choice of speed reduction ratios :, : and 8:. Type of motor Associated servodrive Gearbox : Gearbox : Gearbox 8: SER 9A L7S MHDA p PLE 8 PLE 8 PLE 8 MHDA 8p PLE 8 PLE 8 PLE 8 SER 9B LS MHDA 8p PLE 8 PLE 8 PLE 8 MHDA 7p PLE 8 PLE 8 PLE SER 9C LS MHDA 8p PLE 8 PLE 8 PLE 8 MHDA 7p PLE 8 PLE 8 PLE SER BA LS MHDA 7p PLE 8 PLE 8 PLE MHDA 8p PLE 8 PLE PLE SER BA LS MHDA 8p PLE 8 PLE 8 PLE MHDA 7p PLE 8 PLE PLE SER BB LS MHDA 7p PLE 8 PLE 8 PLE MHDA 8p PLE PLE PLE SER BB LS MHDA 7p PLE PLE PLE MHDA 8p PLE PLE PLE SER BC LS MHDA 7p PLE PLE PLE MHDA 8p PLE PLE PLE SER BC L7S MHDA 8p PLE PLE PLE MHDA 7p PLE PLE PLE SER BD LD MHDA 8p PLE PLE PLE SER BD L7S MHDA 7p PLE PLE PLE MHDA 8p PLE PLE PLE Characteristics General characteristics Type PLE 8 PLE PLE Gearbox type Planetary gearbox with single reduction level straight teeth Inversion play min arc < < 8 < Torsional rigidity Nm/.. min arc Noise level db (A) 7 Junction box Black anodized aluminum Shaft material C Tightness of shaft output IP Lubrication No lubrication required Average lifetime () Hour : S mode (permanent service) and % continuous torque : S mode (permanent service) and 8% continuous torque Mounting position All positions Operating temperature C (+ when operating impulsively) Weight (gearbox only) kg.. 8. Combining an SER motor with a PLE gearbox Gearbox type PLE 8 PLE PLE Maximum permitted radial force () () N 9 Maximum permitted axial force () N 8 8 Efficiency.9 Inertia of gearbox : gm.77.. : gm...7 8: gm.9.. Continuous output torque T N () : Nm 8 : Nm 8: Nm () Data in operating hours for a % fault probability rating. () Values given for a minimum lifetime of, hours at an output speed of rpm for a cyclic ratio = (S mode) on electrical machines. () Force applied at mid-distance from the output shaft. This document provided by Barr-Thorp Electric Co., Inc

92 Associations and references Lexium motion control SER brushless motor options PLE gearboxes References of SER brushless motors and associated PLE gearboxes The following table of references provides the different torque and speed values of shaft ends for the various possible motor configurations. d The continuous output torque of the gearbox T N must not be exceeded permanently. It is possible, for example in an emergency stop, to have a double torque over a short period. The motor's torque should be limited thereafter to avoid destroying the gearbox through excessive torque. Associated Lexium servodrive Gearbox type Continuous stall torque Peak stall torque Maximum output Reference speed of gearbox Weight () kg SER 9A L7S motors MHDA p Without. Nm. Nm rpm SER 9A L7Spp poo. PLE8, ratio :. Nm 7. Nm rpm SER 9A L7Spp p. PLE8, ratio :. Nm. Nm rpm SER 9A L7Spp p. PLE8, ratio 8: 8. Nm 9. Nm 7 rpm SER 9A L7Spp p8. MHDA 8p Without. Nm. Nm rpm SER 9A L7Spp poo. PLE8, ratio :. Nm. Nm rpm SER 9A L7Spp p. PLE8, ratio :. Nm 9. Nm rpm SER 9A L7Spp p. PLE8, ratio 8: 8. Nm.7 Nm 7 rpm SER 9A L7Spp p8. SER 9B LS motors MHDA 8p Without. Nm. Nm rpm SER 9B LSpp poo. PLE8, ratio :. Nm. Nm rpm SER 9B LSpp p. PLE8, ratio :. Nm. Nm rpm SER 9B LSpp p. PLE8, ratio 8:.9 Nm.7 Nm 7 rpm SER 9B LSpp p8. MHDA 7p Without. Nm 8. Nm rpm SER 9B LSpp poo. PLE8, ratio :. Nm. Nm rpm SER 9B LSpp p. PLE8, ratio :. Nm 8. Nm rpm SER 9B LSpp p. PLE, ratio 8:.9 Nm. Nm 7 rpm SER 9B LSpp p8 9. SER 9C LS motors MHDA 8p Without. Nm.7 Nm rpm SER 9C LSpp poo. PLE8, ratio :.9 Nm. Nm rpm SER 9C LSpp p. PLE8, ratio :. Nm. Nm rpm SER 9C LSpp p. PLE8, ratio 8: 8. Nm. Nm 7 rpm SER 9C LSpp p8. MHDA 7p Without.9 Nm 9. Nm rpm SER 9C LSpp poo. PLE8, ratio : 8. Nm 7. Nm rpm SER 9C LSpp p. PLE8, ratio :.9 Nm. Nm rpm SER 9C LSpp p. PLE, ratio 8:. Nm 7. Nm 7 rpm SER 9C LSpp p8. SER BA LS motors MHDA 7p Without. Nm 9. Nm rpm SER BA LSpp poo. PLE8, ratio :. Nm. Nm rpm SER BA LSpp p 7. PLE8, ratio :. Nm. Nm rpm SER BA LSpp p 7. PLE, ratio 8:. Nm 7. Nm 7 rpm SER BA LSpp p8. MHDA 8N Without. Nm. Nm rpm SER BA LSpp poo. PLE8, ratio :. Nm. Nm rpm SER BA LSpp p 7. PLE, ratio :. Nm 7. Nm rpm SER BA LSpp p. PLE, ratio 8:. Nm 7. Nm 7 rpm SER BA LSpp p8. SER BA LS motors MHDA 8p Without. Nm 8. Nm rpm SER BA LSpp poo. PLE8, ratio :. Nm. Nm 8 rpm SER BA LSpp p 7. PLE8, ratio :. Nm 9. Nm rpm SER BA LSpp p 7. PLE, ratio 8:.9 Nm.9 Nm 8 rpm SER BA LSpp p8. MHDA 7p Without. Nm. Nm rpm SER BA LSpp poo. PLE8, ratio :.9 Nm. Nm 8 rpm SER BA LSpp p 7. PLE, ratio :. Nm 7. Nm rpm SER BA LSpp p 7. PLE, ratio 8:. Nm. Nm 8 rpm SER BA LSpp p8. SER BB LS motors MHDA 7p Without. Nm. Nm rpm SER BB LSpp poo 8. PLE8, ratio : 7. Nm. Nm rpm SER BB LSpp p. PLE8, ratio : 8.7 Nm 7. Nm rpm SER BB LSpp p. PLE, ratio 8:. Nm 9. Nm 7 rpm SER BB LSpp p8. MHDA 8p Without. Nm. Nm rpm SER BB LSpp poo 8. PLE, ratio : 9. Nm 7. Nm rpm SER BB LSpp p. PLE, ratio :. Nm 9. Nm rpm SER BB LSpp p. PLE, ratio 8:. Nm. Nm 7 rpm SER BB LSpp p8. () For weight of motor with or without brake, see page This document provided by Barr-Thorp Electric Co., Inc

93 Associations and references (continued) Lexium motion control SER brushless motor options PLE gearboxes References of SER brushless motors and associated PLE gearboxes (continued) Associated Lexium servodrive Gearbox type Continuous stall torque Peak stall torque Maximum output Reference speed of gearbox () Weight SER BB LS motors MHDA 7p Without. Nm.8 Nm 8 rpm SER BB LSpp poo 8. PLE, ratio : 9. Nm. Nm 9 rpm SER BB LSpp p. PLE, ratio :. Nm 7.8 Nm rpm SER BB LSpp p. PLE, ratio 8:. Nm. Nm 7 rpm SER BB LSpp p8. MHDA 8p Without. Nm. Nm 8 rpm SER BB LSpp poo 8. PLE, ratio : 9. Nm 7. Nm 9 rpm SER BB LSpp p. PLE, ratio :. Nm.7 Nm rpm SER BB LSpp p. PLE, ratio 8:. Nm.7 Nm 7 rpm SER BB LSpp p8. SER BC LS motors MHDA 7p Without 8. Nm 7. Nm 8 rpm SER BC LSpp poo. PLE, ratio :.7 Nm 8.9 Nm rpm SER BC LSpp p 7. PLE, ratio :. Nm 8. Nm 9 rpm SER BC LSpp p 7. PLE, ratio 8:. Nm. Nm rpm SER BC LSpp p8 7. MHDA 8p Without. Nm 8. Nm 8 rpm SER BC LSpp poo. PLE, ratio : 8.8 Nm 8. Nm rpm SER BC LSpp p 7. PLE, ratio : 8. Nm. Nm 9 rpm SER BC LSpp p 9. PLE, ratio 8: 7.8 Nm. Nm rpm SER BC LSpp p8 9. SER BC L7S motors MHDA 8p Without 8. Nm. Nm rpm SER BC L7Spp poo. PLE, ratio :.9 Nm. Nm 8 rpm SER BC L7Spp p 7. PLE, ratio : 9.8 Nm 7.8 Nm rpm SER BC L7Spp p 7. PLE, ratio 8:.7 Nm.8 Nm rpm SER BC L7Spp p8 7. MHDA 7p Without. Nm. Nm rpm SER BC L7Spp poo. PLE, ratio : 8.8 Nm 9. Nm 8 rpm SER BC L7Spp p 7. PLE, ratio : 8. Nm. Nm rpm SER BC L7Spp p 9. PLE, ratio 8: 7.8 Nm.7 Nm rpm SER BC L7Spp p8 9. SER BD LD motors MHDA 8p Without. Nm 9. Nm rpm SER BD LDpp poo. PLE, ratio : 8. Nm 8. Nm rpm SER BD LDpp p 9. PLE, ratio :. Nm 9. Nm rpm SER BD LDpp p. PLE, ratio 8:.9 Nm.7 Nm rpm SER BD LDpp p8. SER BD L7S motors MHDA 7p Without. Nm. Nm,7 rpm SER BD L7Spp poo. PLE, ratio : 8. Nm 9. Nm 9 rpm SER BD L7Spp p 9. PLE, ratio :. Nm. Nm rpm SER BD L7Spp p 9. PLE, ratio 8:.9 Nm 8. Nm rpm SER BD L7Spp p8. MHDA 8p Without. Nm 8. Nm,7 rpm SER BD L7Spp poo. PLE, ratio : 8. Nm 9. Nm 9 rpm SER BD L7Spp p. PLE, ratio :. Nm 8. Nm rpm SER BD L7Spp p. PLE, ratio 8:.9 Nm 9.8 Nm rpm SER BD L7Spp p8. () Complete the reference by replacing: pp with RA: Resolver with pair of poles, with MO: SinCos absolute encoder. p with A, B, : For tightness of shaft end and holding brake, see page 8. kg Dimensions PLE planetary gearboxes PLE8 PLE PLE a 7.. b. 7.. c. 7 d 8 f 87 f 8 g. 8 h 8 Ø 8 Ø () 8 Ø () G 7 Ø M x M x M x () Tolerance H7 g h G Ø a b c f d f Ø Ø Ø This document provided by Barr-Thorp Electric Co., Inc

94 Presentation Lexium motion control Lexium BPH brushless motors Presentation Lexium BPH AC brushless motors with samarium cobalt magnets provide greatly increased power and an excellent dynamic speed response in a compact unit. Thermal protection is provided by an integral probe in the motor. These motors support high temperature overloads without risk of demagnetization. Lexium BPH motors (except for motor BPH ) are certified as Recognized (RL) and Listed (UL) by the Underwriters Laboratories. They comply with standards UL and CSA (except for motor BPH ) as well as to European directives (marking e). Lexium MHDA servodrives, which are associated with Lexium BPH motors, deliver a sinusoidal wave allowing perfect rotation, even at low speed. Speed/torque characteristics Torque in Nm Tm,, Tn,, Speed in rpm Lexium BPH motors show torque/speed profiles similar to the example displayed: Continuous torque at 8 V, phase. Continuous torque at V, phase. Continuous torque at V, phase. Peak torque at 8 V, phase. Peak torque at V, phase. Peak torque at V, phase. where: (in rpm) corresponds to the motor's maximum mechanical speed. Tn (in Nm) represents the continuous stall torque value. Tm (in Nm) represents the peak stall torque value. Torque in Nm Tm Tn Teq Savg Work zone Speed in rpm Principle for determining the size of the motor according to the application Torque/speed curves enable the optimum size of a motor to be determined. For example, for a supply voltage of V, -phase, the useful graphs are graphs and. The time diagram of speeds and torques according to the motor cycle must also be defined (see page ): Locate the work zone of the application in speed. Verify, using the motor cycle time diagram, (see page ), that the torques required by the application during the different cycle phases are located within the area bounded by graph in the work zone. Calculate the average speed S avg and the equivalent thermal torque T eq (see page ). The point defined by S avg and T eq must be within the area bounded by graph in the work zone. Functions: page 9 Description: page 9 pages 9 to pages to 9 page 9 This document provided by Barr-Thorp Electric Co., Inc

95 Functions Lexium motion control Lexium BPH brushless motors Functions General functions Lexium BPH AC brushless motors have been developed to respond to the following specifications: b Functional characteristics, robustness, safety, etc. complying with IEC -. b Ambient operating temperature: to C. b Winding insulation class: H (limit temperature of windings: 8 C) as per VDE, class F, for motor BPH. b Power and sensor connection via connector rotatable in increments of 9 C. b Thermal protection by built-in PTC thermistor probe, controlled by the Lexium servodrive. b Out-of-round, concentricity, perpendicularity between flange and shaft as per DIN 9 R, class N, for motor BPH. b Class S balancing, complying with ISO 7. b European flange with smooth holes (complying with IEC 7-). b Permitted mounting positions: no mounting restriction for IMB - IMV and IMV as per DIN 9. Polyester resin based paint: opaque black RAL 9. Functions (depending on model) b Degree of protection: IP or IP 7 (IP for the motor BPH ) in accordance with IEC 9. b Degree of protection at shaft end: IP or IP 7 (IP or IP with end joint for motor BPH ) in accordance with IEC 9. b Integral sensor, -pole resolver or SinCos Hiperface interface -bit highresolution absolute encoder. b Standard size shaft end, smooth or with key (complying with IEC 7-). Holding brake (according to model) The integral brake fitted on the Lexium BPH motor (depending on the model) is a failsafe electro-magnetic brake. It is a holding brake (and not a dynamic brake which enables slow-down). However, it is capable of applying 8 to brake operations in the event of emergencies or loss of power with an inertia equivalent to twice that of the rotor. d Do not use the holding brake as a dynamic brake. Integral sensor The motor has a position sensor which, depending on the model, can be: b A -pole resolver ensuring precision of the angular position of the shaft to less than + arc minutes. b A high-resolution absolute encoder ( bits per revolution), single turn or multiturn (9 revolutions) making the angular position of the shaft precise to less than ± arc seconds. These sensors are compatible with the following functions: b Give the angular position of the rotor in such a way that flows can be synchronized. b Measure the motor speed via the associated Lexium servodrive. This information is used by the speed regulator of the Lexium servodrive. b May measure position information for the position controller of the Lexium servodrive. b Measure and transmit, if required, position information in incremental or absolute format, for the position return of a motion control module ( simulated encoder output of the Lexium servodrive). Description: page 9 pages 9 to pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

96 Description Lexium motion control Lexium BPH brushless motors Description 7 Lexium BPH brushless motors with a -phase stator and a -pole rotator (-poles for the BPH motor) with samarium cobalt magnets comprising: Housing with a square cross-section, protected by black opaque polyester resin paint RAL 9. An axial flange with mounting points complying with IEC 7-. IEC 7- standard shaft end, smooth or with key depending on the model. A dust and damp-proof male screw connector for connecting the power cable. The output of this connector can be rotated in increments of 9 (). A dust and damp-proof male screw connector for connecting the resolver or encoder cable. The output of this connector can be rotated in increments of 9 (). A manufacturer's rating plate. 7 Two lifting rings which can be screwed to any points on both sides of the motor (for model BPH 9). Connector to be ordered separately, for connecting to Lexium MHDA servodrives. See pages 7 to 9. Schneider Electric has taken great care to find the most appropriate match between Lexium motors and servodrives. This compatibility is only guaranteed when cables sold by Schneider Electric are used (see pages 7 and 8). () By default, this connector is turned towards the motor shaft end. Introduction: page 9 Functions: page 9 pages 9 to pages to 9 page 9 This document provided by Barr-Thorp Electric Co., Inc

97 Characteristics Lexium motion control Lexium BPH brushless motors Characteristics of BPH motors d Type of motor Torque Associated with Lexium servodrive Continuous stall Tn Nm. Peak stall Tm Nm. Current Permanent A rms.7 Maximum A rms Demagnetization current A.8 Maximum mechanical speed rpm 8 Constants (at C) Torque Nm/A rms.7 Back emf V rms s/. rad Rotor Number of poles Inertia without brake Jm gm. Inertia with brake Jm gm. Static friction Nm <. Mechanical time constant ms.9 Stator Resistance Ω 9 (at C) Inductance mh 7 Electrical time constant ms.9 Thermal time constant min Holding brake (depending on model) BPH S MHDA p Holding torque Nm Voltage V c nominal, for limit values see page Current A. Opening time ms Closing time ms d For this BPH motor, the MHDA servodrive must not be supplied by a voltage greater than x V rms + %. This motor is not UL/cUL listed. Speed/torque curves () Motors BPH S b with MHDA p servodrives Torque in Nm., Tm. Tn, Torque in In-lbs 8 Continuous torque at V, - phase Continuous torque at V, single phase Peak torque at V -phase Peak torque at V single phase 8 Speed in rpm () This curve is given for a motor temperature increase of C. Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

98 Characteristics (continued) Lexium motion control Lexium BPH brushless motors Characteristics of BPH 7 motors Type of motor BPH 7 N BPH 7 N Torque Associated with Lexium servodrive MHDA p MHDA 8p MHDA p MHDA 8p Continuous stall Tn Nm.9... Peak stall Tm Nm Current Permanent A rms....7 Maximum A rms Demagnetization current A Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.8.8 Back emf V rms s/..8 rad Rotor Number of poles Inertia without brake Jm gm.8. Inertia with brake Jm gm.. Static friction Nm <. <. Mechanical time constant ms.. Stator Resistance Ω (at C) Inductance mh 9.. Electrical time constant ms. Thermal time constant min Holding brake (according to model) Holding torque Nm. Voltage V c nominal, for threshold values see page Current A. Opening time ms 7 Closing time ms Speed/torque curves () BPH 7N motors b with MHDA p servodrives BPH 7N motors b with MHDA p servodrives Torque in Nm,, Tm, Tn,,, Torque in In-lbs,, Speed in rpm Tm Tn Torque in Nm Torque in In-lbs,,,,,, Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V - phase Peak torque at V - phase Peak torque at V - phase b with MHDA 8p servodrives b with MHDA 8p servodrives Torque in Nm Torque in In-lbs,,, Tm,, Tn, Speed in rpm Tm Tn Torque in Nm Torque in In-lbs,,,,, Speed in rpm () The curves are given for a motor temperature increase of C. Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page 9 This document provided by Barr-Thorp Electric Co., Inc

99 Characteristics (continued) Lexium motion control Lexium BPH brushless motors Characteristics of BPH 9 motors Type of motor BPH 9 N BPH 9 N Torque Associated with Lexium servodrive MHDA 8p MHDA 7p MHDA 7p MHDA 8p Continuous stall Tn Nm.7. Peak stall Tm Nm Current Permanent A rms... Maximum A rms Demagnetization current A.8 Maximum mechanical speed rpm Constants Torque Nm/A rms.. (at C) Back emf V rms s/.7. rad Rotor Number of poles Inertia without brake Jm gm.. Inertia with brake Jm gm.. Static friction Nm <.9 <. Mechanical time constant ms..7 Stator Resistance Ω 7. (at C) Inductance mh 7. Electrical time constant ms..9 Thermal time constant min 9 Holding brake (according to model) Speed/torque curves () BPH 9N motors Holding torque Nm Voltage V c nominal, for threshold values see page Current A.7 Opening time ms Closing time ms 7 BPH 9 N motors b with MHDA 8p servodrives Torque in Nm Torque in In-lbs 8 7,, Tm Tn,, Speed in rpm b with MHDA 7p servodrives Torque in Nm Torque in In-lbs Tm,, 7,, Tn Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V - phase Peak torque at V - phase Peak torque at V - phase b with MHDA 7p servodrives b with MHDA 8p servodrives Torque in Nm Torque in In-lbs Torque in Nm Torque in In-lbs Tm,, Tm,, Tn,, Speed in rpm 7 Tn,, Speed in rpm () The curves are given for a motor temperature increase of C. Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

100 Characteristics (continued) Lexium motion control Lexium BPH brushless motors Characteristics of BPH motors Type of motor BPH N BPH N Torque Associated with Lexium servodrive MHDA 7p MHDA 8p MHDA 7p MHDA 8p Continuous stall Tn Nm Peak stall Tm Nm Current Permanent A rms.. 9. Maximum A rms Demagnetization current A.8 Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms s/.7. rad Rotor Number of poles Inertia without brake Jm gm.7.97 Inertia with brake Jm gm.7. Static friction Nm <.7 <. Mechanical time constant ms..9 Stator (at C) Resistance Ω.7.7 Inductance mh Electrical time constant ms.9 8 Thermal time constant min 9 Holding brake (depending on model) Speed/torque curves () BPH N motors Holding torque Nm Voltage V c nominal, for threshold values see page Current A.8 Opening time ms Closing time ms BPH N motors b with MHDA 7p servodrives Torque in Nm Torque in In-lbs Tm,, Tn,, 7 Speed in rpm b with MHDA 7p servodrives Torque in Nm Torque in In-lbs Tm,, 7,, Tn Speed in rpm Continuous stall torque at 8 V, -phase Continuous stall torque at V, -phase Continuous stall torque at V, -phase Peak stall torque at 8 V -phase Peak stall torque at V -phase Peak stall torque at V -phase b with MHDA 8p servodrives Torque in Nm Torque in In-lbs b with MHDA 8p servodrives Torque in Nm Torque in In-lbs () The curves are given for a motor temperature increase of C. Tm Tn,,,, Tm Tn,,,, Speed in rpm Speed in rpm Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page 98 This document provided by Barr-Thorp Electric Co., Inc

101 Characteristics (continued) Lexium motion control Lexium BPH brushless motors Characteristics of BPH motors Type of motor BPH N BPH N Torque Associated with Lexium servodrive MHDA 8p MHDA p MHDA 8p MHDA p Continuous stall Tn Nm.. 7 Peak stall Tm Nm 8. Current Permanent A rms..7 Maximum A rms Demagnetization current A..8 Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms s/..8 rad Rotor Number of poles Inertia without brake Jm gm.9.9 Inertia with brake Jm gm.. Static friction Nm <. <. Mechanical time constant ms. Stator (at C) Resistance Ω.. Inductance mh. Electrical time constant ms Thermal time constant min Holding brake (depending on model) Holding torque Nm Voltage V c nominal, for threshold values see page Current A Opening time ms Closing time ms 8 Speed/torque curves () BPH N motors b with MHDA 8p servodrives Tm Tn Torque in Nm,,,, Torque in In-lbs, Speed in rpm BPH N motors b with MHDA 8p servodrives Torque in Nm Torque in In-lbs,, Tm,, Tn, Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V - phase Peak torque at V - phase Peak torque at V - phase b with MHDA p servodrives Torque in Nm Torque in In-lbs b with MHDA p servodrives Torque in Nm Torque in In-lbs () The curves are given for a motor temperature increase of C. Tm Tn,,,,, Speed in rpm Tm Tn,,,,, Speed in rpm Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

102 Characteristics (continued) Lexium motion control Lexium BPH brushless motors Characteristics of BPH 9 motors Type of motor BPH 9 N BPH 9 K BPH 9 K Torque Associated with Lexium servodrive MHDA p Continuous stall Tn Nm Peak stall Tm Nm Current Permanent A rms Maximum A rms Demagnetization current A Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms Back emf V rms s/.7.. rad Rotor Number of poles Inertia without brake Jm gm Inertia with brake Jm gm 8... Static friction Nm <.7 <.9 <.8 Mechanical time constant ms..9.7 Stator (at C) Resistance Ω..8.9 Inductance mh 8... Electrical time constant ms Thermal time constant min 8 8 Holding brake (depending on model) Holding torque Nm Voltage V c nominal, for threshold values see page Current A. Opening time ms Closing time ms Speed/torque curves () BPH 9 N motors b with MHDA p servodrives Tm Tn Torque in Nm,,,, BPH 9 K motors b with MHDA p servodrives Torque in In-lbs, Speed in rpm BPH9 K motors b with MHDA p servodrives Tm Tn Torque in Nm,,,, Torque in In-lbs Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V - phase Peak torque at V - phase Peak torque at V - phase () Torque in Nm 8 Tm,, Torque in In-lbs 7 Tn,, Speed in rpm () The curves are given for a motor temperature increase of C. Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

103 Characteristics (continued) Lexium motion control Lexium BPH brushless motors Characteristics of BPH 9 motors Type of motor BPH 97 K BPH 9A K Torque Associated with Lexium servodrive MHDA A MHDA A MHDA 98A Continuous stall Tn Nm 7 9 () Peak stall Tm Nm 7 () Current Permanent A rms 7.9 Maximum A rms 8 8 Demagnetization current A. 7 Maximum mechanical speed rpm Constants (at C) Torque Nm/A rms.. Back emf V rms s/.. rad Rotor Number of poles Inertia without brake Jm gm.9.7 Inertia with brake Jm gm 8.8 Static friction Nm <.7 <. Mechanical time constant ms.. Stator (at C) Resistance Ω.7.7 Inductance mh 9.. Electrical time constant ms.9.7 Thermal time constant min Holding brake (depending on model) Holding torque Nm 8 Voltage V c nominal, for threshold values see page Current A. Opening time ms 97 Closing time ms Speed/torque graphs () BPH 97 K motors b with MHDA A servodrives BPH9A K motors b with MHDA A servodrives Torque in Nm Tm Tn,,,, Torque in In-lbs Speed in rpm Torque in Nm Tm,, Tn,, Torque in In-lbs, Speed in rpm Continuous torque at 8 V, -phase Continuous torque at V, -phase Continuous torque at V, -phase Peak torque at 8 V - phase Peak torque at V - phase Peak torque at V - phase b with MHDA 98A servodrives Torque in Nm Tm, Torque in In-lbs Tn, () For BPH motor with higher torque, please consult our Regional Sales Office. () The curves are given for a motor temperature increase of C. Speed in rpm Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

104 Characteristics (continued) Lexium motion control Lexium BPH brushless motors x Radial and axial forces permissible on the motor shaft Fr Radial force The permissible permanent radial force is limited by: b The shaft end resistance. b The desired life of the bearings. The graphs on pages and characterize the permissible radial force on the axis according to: b The rotation speed of the motor. b The radial force application distance x in relation to the surface to which it is applied. for a bearing life of, hours. Axial force Fa The axial force allowed is illustrated by the graphs on pages and according to: b The rotation speed of the motor. b The motor mounting position (horizontal or vertical). for a bearing life of, hours. Graphs showing the forces applied to the motor shaft () BPH S motors Radial force Fr (N) 7 8 Application distance of radial force X in mm Axial force Fa (N) Rotation speed of motor in rpm BPH 7 N/7 N motors Radial force Fr (N) Application distance of radial force X in mm Axial force Fa (N) 9 8 Rotation speed of motor in rpm Average motor speeds rpm, rpm, rpm, rpm, rpm, rpm 7, rpm 8 8, rpm Motor mounting 9 Horizontal position Vertical position () The graphs above are given for an increase in motor temperature of C. Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

105 Characteristics (continued) Lexium motion control Lexium BPH brushless motors Radial and axial forces permissible on the motor shaft (continued) Graphs showing the forces applied to motor shaft () BHP 9 N/9 N motors Radial force Fr (N) Axial force Fa (N) Application distance of radial force X in mm Rotation speed of motor in rpm BPH N/ N motors Radial force Fr (N) Axial force Fa (N) Application distance of radial force X in mm BPH N/ N motors Rotation speed of motor in rpm Radial force Fr (N) 8 8 Axial force Fa (N) 8 9 Average motor speeds rpm, rpm, rpm, rpm, rpm, rpm 7, rpm Motor mounting 8 Horizontal position 9 Vertical position Application distance of radial force X in mm Rotation speed of motor in rpm () The graphs above are given for an increase in motor temperature of C. Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

106 Characteristics (continued) Lexium motion control Lexium BPH brushless motors Radial and axial forces permissible on the motor shaft (continued) Graphs showing the forces applied to motor shaft () BPH 9 N/9 K/9 K/97 K/9A K motors Radial force Fr (N) Axial force Fa (N) Average motor speeds rpm, rpm, rpm, rpm, rpm, rpm 7, rpm Motor mounting 8 Horizontal position 9 Vertical position 7 8 Application distance of radial force X in mm Rotation speed of motor in rpm () The graphs above are given for an increase in motor temperature of C. Characteristics of motor-servodrive power connection cables External cover Insulation BPH BPH 7/9/ BPH /9// BPH 97/A Polyurethane, color Polyester polyurethane PUR Y, VDE compliant, color RAL RAL Polypropylene, Polyolefin, TPE-E for signals polyester for brake Traction resistance N/mm dynamic, static Capacity pf/m < (conductors/shielding) Number of conductors (shielded) ( x. mm + x mm ) ( x mm + xmm ) External diameter mm... Curvature radius (bend) mm 8 Working voltage V Maximum length of operation m 7 Operating temperature C 8 Characteristics of motor-servodrive encoder connection cables External cover Insulation Resolver SinCos Hiperface Encoder Polyester polyurethane PUR Y, VDE compliant ( x mm + xmm ) Polyolefin TPE-E for signals Traction resistance N/mm dynamic, static Capacity pf/m < (conductors/shielding) Number of conductors (shielded) ( x x. mm ) ( x x.8 mm + x. mm ) External diameter mm Curvature radius (bend) mm 9 Working voltage V Maximum length m 7 7 Service temperature C 8 Limit supply values of the servodrive MHDA associated with a BPH motor with brake To take into account voltage drops caused by the Lexium MHDA servodrive and AGO FRU/AGO KIT supply cable connecting the servodrive to the motor, it is essential that the servodrive power connection supply the holding brake with a compatible voltage. Power supply cable length m m m m m m 7 m Voltage range c V BPH with brake servodrive power supply () BPH7p with brake BPH9p with brake BPHp with brake BPHp with brake BPH9p with brake impossible () Voltage measured on the c V connector of the MHDA servodrive. Introduction: page 9 Functions: page 9 Description: page 9 pages to 9 page This document provided by Barr-Thorp Electric Co., Inc

107 Dimensions Lexium motion control Lexium BPH brushless motors Lexium BPH motors (all models) e b g b c d c H b G a g f f h BPH a b b c c d e Ø () G H S /7 () N N N N N N N 9 89 N N K K K A K Shaft end with key BPH c f f g g h () Ø () S. M x 9 7 N. M x 7 N M x. 9 N. M x 9 9 N. M x 9 N. M x 9 N. M x 9 N 7 M8 x 9 8 N 7 M8 x N 8. M x 8 9 K 8. M x 8 9 K 8. M x 8 97 K 8 7. M x 8 8 9A K 8 7. M x 8 8 () for motor without holding brake / 7 for motor with holding brake () Tolerance j () Tolerance h9 () Tolerance j Introduction: page 9 Functions: page 9 Description: page 9 pages 9 to pages to 9 This document provided by Barr-Thorp Electric Co., Inc

108 References Lexium motion control Lexium BPH brushless motors Lexium BPH brushless motors BPH p BPH 7p BPH 9p BPH p BPH p Continuous Associated stall servodrive torque () MHDA Peak stall torque Maximum mechanical speed Holding brake Reference d Weight. Nm N/A. Nm 8, rpm Without brake () BPH Sp App. With brake () BPH Sp Fpp..9 Nm or N/A.7 Nm, rpm Without brake () BPH 7 Np ApAp.. Nm 8N/A. Nm, rpm With brake () BPH 7 Np FpAp.8. Nm or N/A. Nm, rpm Without brake () BPH 7 Np ApAp.. Nm 8N/A.8 Nm, rpm With brake () BPH 7 Np FpAp..7 Nm or 8N/A 7. Nm, rpm Without brake () BPH 9 Np ApAp.7. Nm 7N/A. Nm, rpm With brake () BPH 9 Np FpAp 7.. Nm 7N/A. Nm, rpm Without brake () BPH 9 Np ApAp 8. 8N/A. Nm, rpm With brake () BPH 9 Np FpAp Nm 7N/A. Nm, rpm Without brake () BPH Np ApAp 9. 8N/A 9. Nm, rpm With brake () BPH Np FpAp.9.8 Nm or 7N/A. Nm, rpm Without brake () BPH Np ApAp.7. Nm 8N/A 9. Nm, rpm With brake () BPH Np FpAp.. Nm or 8N/A 8. Nm rpm Without brake () BPH Np ApAp 7.. Nm N/A. Nm, rpm With brake () BPH Np FpAp 9.. Nm or 8N/A. Nm, rpm Without brake () BPH Np ApAp. 7. Nm N/A. Nm, rpm With brake () BPH Np FpAp.. Nm N/A 7. Nm, rpm Without brake () BPH 9 Np ApAp. With brake () BPH 9 Np FpAp.. Nm N/A 7. Nm, rpm Without brake () BPH 9 Kp ApAp 7. With brake () BPH 9 Kp FpAp.. Nm N/A 7. Nm, rpm Without brake () BPH 9 Kp ApAp. With brake () BPH 9 Kp FpAp. 7. Nm A 7. Nm, rpm Without brake () BPH 97 Kp ApAp 8. With brake () BPH 97 Kp FpAp. 9. Nm or A. Nm, rpm Without brake () BPH 9A Kp ApAp 7.9 Nm 98A. Nm, rpm With brake () BPH 9A Kp FpAp 78. () Depending on the associated Lexium servodrive () To order a BPH motor, fill out the reference BPH S A/ F () Sensor integrated in Resolver with pair of poles U motor Shaft end Key C Smooth L Degree of protection IP (housing), IP (shaft end) () () To order a BPH motor, fill out each reference BPH N A/ F A () Sensor integrated in motor Resolver with pair of poles High resolution absolute encoder, multiturn, SinCos Hiperface (no. of turns: 9) single turn, SinCos Hiperface Shaft end Key C Smooth L Degree of protection IP (housing and shaft end) IP 7 (housing and shaft end) () This motor is compatible with the MHDA servo drive even though its reference ends in p. However, the servodrive's supply voltage must be limited to x V rms + %. () IP with BMH Q end of shaft joint. () The reference ending in Ap refers to Lexium motors that are compatible with Lexium MHDA servodrives. Other BPH motors with p at the end of their reference are not compatible with MHDA servodrives. d To obtain the list of short delay BPH motors, contact our Regional Sales Offices. M A B kg BPH 9p Introduction: page 9 Functions: page 9 Description: page 9 pages 9 to page This document provided by Barr-Thorp Electric Co., Inc

109 References (continued) Lexium motion control Lexium BPH brushless motors References (continued) Choice of power cables, resolver and SinCos Hiperface encoder Length BPH BPH 7N BPH 7N Cables with connectors fitted at both ends BPH 9N BPH 9N BPH N BPH N BPH N BPH N BPH 9N BPH 9K BPH 9K Power m AGO FRU M AGO FRU M Resolver m AGO FRU M BPH 97K BPH 9AK Cables fitted with one connector (motor side) and one connector to be mounted (servodrive side) SinCos Hiperface Encoder Power m AGO KIT M m AGO FRU M AGO KIT 8M AGO KIT 9M AGO FRU M m AGO FRU M m AGO KIT M AGO KIT 8M AGO KIT 9M AGO FRU M m AGO KIT M AGO KIT 8M AGO KIT 9M AGO FRU M m AGO KIT 8M AGO KIT 9M AGO FRU M 7 m AGO KIT 8M 7 AGO KIT 9M 7 AGO FRU M 7 Resolver m AGO KIT M m AGO KIT M AGO KIT M AGO KIT M m AGO KIT M AGO KIT M m AGO KIT M 7 m AGO KIT M 7 SinCos Hiperface Encoder m AGO KIT M m AGO KIT M m AGO KIT M m AGO KIT M 7 m AGO KIT M 7 Cables sold by the meter Power Sold by the meter RPC S () Resolver Sold by the meter AGO CAV () () AGO FRU Mppp cables are fitted with a connector (at the motor end) and a free wire termination (for connection to the screw terminal block at the servodrive end). () The two lengths of cable, RPC S and AGO CAV, are fitted with all AGO KIT CON shear connectors. Introduction: page 9 Functions: page 9 Description: page 9 pages 9 to page This document provided by Barr-Thorp Electric Co., Inc

110 References (continued) Lexium motion control Lexium BPH brushless motors Connecting cables () Cables fitted with connectors at both ends Description From To Length Reference Weight kg Cables power () Lexium motors BPH 7 Lexium MHDA /8/ 7/8 servodrives m AGO FRU M Lexium motors BPH 9K Lexium MHDA 8/ servodrives m AGO FRU M Cable resolver Lexium motors BPH 7 9AK Lexium MHDA ppp servodrives m AGO FRU M AGO FRU /// M Encoder cable SinCos Hiperface Lexium motors BPH 7 9AK Lexium MHDA ppp servodrives m AGO FRU M Cables fitted with a connector at the motor end (the servodrive end connector supplied with the cable has to be fitted) Description From To Length () Reference Weight kg Power cables () Lexium motors BPH Lexium MHDA servodrives m AGO KIT M m AGO KIT M m () AGO KIT M Lexium motors BPH 7 Lexium MHDA /8/7/ 8 servodrives m AGO KIT 8M m AGO KIT 8M m () AGO KIT 8M m () AGO KIT 8M 7 m () AGO KIT 8M 7 AGO FRU M pp Lexium motors BPH 9 Lexium MHDA 8/ servodrives m AGO KIT 9M m AGO KIT 9M m () AGO KIT 9M m () AGO KIT 9M 7 m () AGO KIT 9M 7 Lexium motors BPH 97 9A Lexium MHDA /98 servodrives m () AGO FRU M m () AGO FRU M m () AGO FRU M m () AGO FRU M m () AGO FRU M 7m () AGO FRU M 7 Resolver cables Lexium motors BPH Lexium MHDA servodrives m AGO KIT M m AGO KIT M m AGO KIT M Lexium motors BPH 7 9A Lexium MHDA ppp servodrives m AGO KIT M m AGO KIT M m AGO KIT M m AGO KIT M 7 m AGO KIT M 7 AGO KIT /8/9///M pp SinCos encoder cables Lexium motors BPH 7 9A Lexium MHDA ppp servodrives m AGO KIT M m AGO KIT M m AGO KIT M m AGO KIT M 7 m AGO KIT M 7 () The properties of Lexium MHDA servodrives associated with Lexium BPH motors require the use of the AGO FRU/AGO KIT connection cables described above. (See paragraph on the characteristics of motor-servodrive power connection cables). () The reference AGO KIT pm pp includes a cable silk-screened AGO FRU ppm pp. In the case you order a AGO KIT M, the cable will be silk-screened AGO FRU M. () Conductors for supplying the holding brake integrated in the motor are included. () If the connection distance between the BPH motor and the MHDA servodrive (...) is greater than or equal to m, an AM FIL V choke must be inserted at the connection. This element must be placed as close as possible to the servodrive (a distance of less than one meter). See page. () There is no connector at the servodrive end: connection to the servodrive is via a screw terminal. Introduction: page 9 Functions: page 9 Description: page 9 pages 9 to page 8 This document provided by Barr-Thorp Electric Co., Inc

111 References (continued) Lexium motion control Lexium BPH brushless motors Connecting cables (continued) Cables (sold by the meter) to be assembled from separate elements Description From To Length Reference Weight kg Power cables Lexium motors BPH Lexium MHDA Sold by the meter () RPC S servodrives Resolver cables Lexium motors BPH Lexium MHDA Sold by the meter () AGO CAV servodrives RPC AGO CAV AGO KIT CON Description Type Used for Reference Weight kg Package with connectors Power and resolver (shear connectors) Lexium BPH motors and Lexium AGO KIT CON MHDA servodrives with RPC S/ AGO CAV cables () The quantity ordered specifies the cable length in meters (maximum length 7m). For example, ordering RPC S corresponds to ordering one -meter long RPC S cable. Documentation Documentation A (English, French, German, Spanish and Italian) Description Reference Weight kg Lexium BPH technical guide AMO MAN U. Separate parts Description Use Reference Weight kg End joint for IP BPH motors BMH Q shaft end Hoisting eye BPH 9...9A motors AMO GOL M8 Replacement parts Description Use Reference Weight kg Keys for motor Lexium BPH motors AMO CHI X shaft Lexium BPH 7 motors AMO CHI X Lexium BPH 7 motors AMO CHI X Lexium BPH 9... motors AMO CHI X Lexium BPH / motors AMO CHI 8X7 Lexium BPH motors AMO CHI X8 Lexium BPH 97/9A motors AMO CHI 77X Introduction: page 9 Functions: page 9 Description: page 9 pages 9 to page This document provided by Barr-Thorp Electric Co., Inc

112 Sizing the brushless motor Lexium motion control Sizing the brushless motor To assist you in sizing the motor the Lexium Sizer utility is available on the site: This page is to help you understand the method of calculation used. In order to size a motor, you need to know the equivalent thermal torque and average speed required by the mechanics to be associated with the motor. Both these values are calculated using a motor cycle trend diagram and should be compared with the speed/torque curves given for each motor (see pages 9 to ). Motor speed V V V V t t t t t t t7 t8 t9 t t t Cycle time Torque required C C C C C t t Motor cycle trend diagram The motor cycle is made up of several sub-cycles, the duration of which is known. Each sub-cycle is split into phases which correspond to the periods of time during which the motor torque is constant (maximum to phases per sub-cycle). This division can be used to calculate, for each phase : b the duration (ti) b the speed (Si) b the required torque (Ti) The trend diagrams opposite show the phase types : b constant acceleration during t, t and t9 b at work during times t, t, t, and t b constant deceleration during t, t7 and t b motor stopped during t8 and t The total duration of the cycle is calculated as follows : Cycle time = t + t + t + t + t + t + t7 + t8 + t9 + t + t + t Calculating the average speed Si ti S = The average speed is calculated using the formula : avg b Si corresponds to the various working speeds ti Si b corresponds to the average speeds during the constant acceleration and deceleration phases. In the example above : Duration ti t t t t t t t7 t8 t9 t t t Si + S S S S S S Speed S S S S S S The average speed is calculated as follows : 7 S S + S S S t + S t t+ S t t + S t + S t7 + S t9 + S t + S t S = avg Cycletime Calculating the equivalent thermal torque The equivalent thermal torque is calculated using the formula : T = eq Ti ti Cycletime In the example above, this formula gives the following calculation : T t + T t + T t + T t + T t + T t + T t7 + T t9 + T t + T t T eq = Cycletime Torque in Nm Speed in rpm Work zone Determining the motor size The point defined by the calculations above, where the : b vertical axis represents the average speeds avg b horizontal axis represents the thermal torque T eq must be within the area bounded by curve and the work zone. The example time diagram opposite illustrates a BPH N motor used with an MHDA 7N/7A servodrive, with a -phase V supply. The motor cycle time diagram should also be used to ensure that all torques Ti required for the different speeds Si during the various cycle phases are within the area bounded by curve and the work zone. Nominal stopping torque at V, -phase. Maximum torque at V, -phase. This document provided by Barr-Thorp Electric Co., Inc

113 Sizing the braking resistor Lexium motion control Sizing the braking resistor When braking or deceleration is required, the kinetic energy of the load must be absorbed by the servodrive. The energy generated by deceleration loads the capacitors integrated in the servodrive. When the voltage at the capacitor terminals exceeds the permitted threshold, the braking resistor (internal or external) is automatically activated in order to dissipate this energy. Calculation of the power to be dissipated by the braking resistor requires an understanding of the trend diagram giving the motor torques and speeds according to time in order to identify the curve segments in which the servodrive decelerates the load. Motor cycle trend diagram These two curves are used on page to size the motor. The segments of the curve to be taken into account, when the servodrive is decelerating, are marked in blue by Di. Calculating the constant deceleration power In order to do this you need to know the total inertia, defined as follows : Jt : total inertia where : Jt = Jm (motor inertia, with or without brake) + Jc (load inertia). For Jm, see pages 79 to 8 (for SER motors) or 9 to (for BPH motors). The energy Ei of each deceleration segment is defined as follows : Ei = / Jt. ωi = / Jt.(πSi/) giving, for the different segments : E = / Jt. (π/). (S -S ) for segment D E = / Jt. (π S/) for segment D E = / Jt. (π S/) for segment D where Ei is in joules, Jt in kgm, ω in radians and Si in rpm Edrive Power supply V single ph. -ph. -ph. 8 -ph. MHDA p Joules 9 MHDA 8p Joules 9 MHDA 7p Joules 9 MHDA 8p Joules 9 MHDA p Joules 8 7 MHDA p Joules 8 MHDA 98p Joules Energy absorbed by the internal capacitors The energy absorption capacity of the servodrive Edrive (without using an internal or external braking -resistor) is shown opposite. In the calculation, only take into account segments Di whose energy Ei is greater than the absorption capacity given in the table opposite. The additional -energy values EDi are dissipated in the resistor (internal or external) : EDi = Ei - Edrive (in joules) Calculating pulsed and continuous power Pulsed power : for each segment, the power PIi is defined as follows : PIi = EDi / ti where Pli is in W, EDi in joules and t in s and ti corresponds to the deceleration time of the segment concerned. The continuous power Pc is calculated for each machine cycle as follows : Pc = EDi / Cycle time where Pc is in W, EDi in joules and Cycle time in s. 7 Selecting the braking resistor (internal or external) There are two options : The pulsed powerspii of the various segments are to be compared with the maximum peak braking power PCr given in the table below. Select PCr > PIi. This selection is confirmed by comparing the continuous power calculatedpc with the continuous braking power PPr given in the table below. Select PPr > Pc. Braking power of servodrive Lexium 7D MHDA Lexium 7D HP Lexium 7D HP et 7S HP /8N/A 7/8/N/A MHDA /A MHDA 98/A -phase servodrive supply V Internal resistor Ω Continuous PPr W 8 Peak (s) PCr W 8 External resistor Ω Continuous PPr W 7 Peak (s) PCr W 7 Resistor to associate AM RFE AM RFE V AM RFE V8 AM RFE V V V This document provided by Barr-Thorp Electric Co., Inc

114 Presentation Lexium motion control Phaseo regulated power supplies ABL 7 power supplies The ABL 7 range of power supplies is designed to provide the d.c. voltage necessary for the control circuits of automation system equipment. Split into three families, this range meets all the needs encountered in industrial, commercial and residential applications. Single-phase or -phase (), of the electronic switch mode type, they provide a quality of output which is suitable for the loads supplied and compatible with the mains supply available in the equipment. Clear guidelines are given on selecting protection devices which are often used with them, and thus a comprehensive solution is provided which can be used in total safety. Phaseo switch mode power supplies These switch mode power supplies are totally electronic and regulated. The use of electronics makes it possible to significantly improve the performance of these power supplies which offer: b compact size, b integrated overload, short-circuit, overvoltage and undervoltage protection, b a very wide range of permissible input voltages, without any adjustment, b a high degree of output voltage stability, b hight performance, b LED indicators on the front panel. 7 / A power supply A power supply Phaseo power supplies are available in single-phase and -phase versions (). They deliver a voltage which is precise to %, whatever the load and whatever the type of mains supply, within a range of 8 to V for single-phase, or to V for - phase. Conforming to IEC standards, UL and CSA certified, they are suitable for universal use. The inclusion of overload and short-circuit protection makes downstream protection unnecessary if discrimination is not required. ABL 7 RE supplies are also equipped with an output undervoltage control which causes the product to trip if the output voltage drops below 9 V, in order to ensure that the voltage delivered is always usable by the actuators being supplied. All the products are fitted with an output voltage adjustment potentiometer in order to be able to compensate for any line voltage drops in installations with long cable runs. Most of our power supplies are designed for direct mounting on and 7 mm 7 rails. The AC single-phase power supplies ABL 7RE selected () in this catalogue are quite adapted to tie-up with the Lexium MHDA servodrives): b power between 8 W ( A) and W ( A), b compact size, b for all machine equipment, b suitable for use in automation system environments based on the Modicon platforms of Telemecanique brand requiring c V power supply. () -phase power supplies, consult our catalogue Phaseo Power Supplies and Transformers. () ABL 7RP single-phase power supplies, consult our catalogue Phaseo Power Supplies and Transformers. A power supply Selection page pages and page 7 page 7 This document provided by Barr-Thorp Electric Co., Inc