SM SERIES SERVO MOTORS 40 mm 60 mm 80 mm

Transcription

1 SM SERIES SERVO MOTORS 40 mm 60 mm 80 mm

2 MOONS SM Series of servo motors has been expanded and improved. The SM Series now includes a variety of standard windings, more feedback options, and more connection options. Some ratings have increased, the model number system has been updated, and all motors are now CE, RoHS, and UL recognized. Features MOONS SM servo motors offer a great combination of Power, Precision and Value: Applications All motors are CE, RoHS, and UL recognized High torque in a small package: 40mm, 60mm and 80mm diameters Power Range: 60 Watts to 1,000 Watts Low cogging Windings for drive voltages from 240 VAC down to 24 VDC Optional Feedback Devices Incremental encoder Encoder with shared commutation signals Absolute encoder Low cost non sealed connectors, or Metal IP rated connectors Standard Brake Option Shaft Seals IP65 protection level (Capable to provide IP66 protective level) Custom motors are available: Shafts Windings Connectors Temperature Sensor And More.. Industrial Equipment Textile Packaging Electronic Assembly Wood Working Semiconductor 2

3 Index Model Numbers... 4 Winding Selection... 5 SM040 Series: 40mm, Watts... 6 SM060 Series: 60mm, Watts SM080 Series: 80mm, Watts Motor Power Connections Holding Brake Option Feedback Options Shaft Seal Bearing Life Conversion Factors Rugged cast metal covers for reliable protection from electrical noise and harsh operating conditions Stators built for: Maximum Torque, Environmental Protection and Reliability Segmented construction with maxim winding fill, for lower resistance coils and more power Stators inserted in aluminum shells and completely encapsulated in Epoxy, to maximize heat transfer and protect the motors from harsh operating conditions Latest feedback options, precision aligned to each motor, for maximum performance and control Rugged aluminum endcaps with steel inserts and high capacity bearings, for long life with high radial loads Shaft movement controlled with captured bearings to eliminate axial movement, for consistent feedback performance and precise load control. Low cogging rotors built for: Power, Speed and Accuracy High energy magnets provide enhanced peak torque Skewed magnets minimize cogging, for smooth speed control and accurate positioning Double bonded magnets and precision balanced, for smooth reliable high speed performance 3

4 Model Numbers SM A E2 - K CD- N N V Series Frame Size SM Servo Motor Medium Inertia mm mm mm Motor Length 1 1 Stack All Frame Sizes 2 2 Stacks All Frame Sizes 3 3 Stacks 80mm only 4 4 Stacks 80mm only Winding (See motor rating tables for available windings) Feedback Shaft Basic Bus Voltage A 320 VDC (230 VAC) Lower Current B 240 VDC C 160 VDC (115 VAC) D 120 VDC E 80 VDC F 60 VDC G 48 VDC H 36 VDC J 24 VDC Higher Current E2 E4 MA MB K 2500 ppr Optical Encoder with Separate Commutation Signals 2500 ppr Optical Encoder with Shared Commutation Signals Absolute Multi Turn Tamagawa Encoder - SM060 & SM080 Motors Absolute Multi Turn Heidenhain EnDat 2.2 Encoder - SM060 & SM080 Motors Standard Keyway Connections (Lead Style / Connector Style) Brake CD CF CM N B 300mm (12") Shielded Cables with Non - Sealed Connectors - For Windings up to 6.5 Amps 300mm (12") Shielded Cables with Non - Sealed Connectors - For Windings 6.6 to 12.5 Amps 300mm (12") Shielded Cables with Sealed Metal Connectors No Brake 24 VDC Brake Temperature Sensor N Shaft Seal V No Sensor Shaft seal shipped with motor, but not placed on shaft 4

5 Winding Selection MOONS offers a selection of SM servo motor windings that work well with most drive voltage and current ratings. Speed torque curves for typical motor drive combinations are shown in each motor section of this catalog. Each SM servo motor winding is designated by a Basic Bus Voltage. This is the nominal drive DC Bus Voltage that the motor winding is designed to work with, and deliver rated peak torque and speeds. A winding with a Basic Bus Voltage closest to the drive DC Busvoltage is usually used. Drives with AC voltage input usually convert the AC voltage to a DC Bus Voltage with a value that is 1.4 times the AC RMS voltage. The drive then uses this DC Bus Voltage to create the voltages and currents that power the motor. Thus a 230 VAC drive typically has 320 VDC Bus Voltage, and a 115 VAC drive typically has 160 VDC Bus Voltage. Drives with DC input voltage use this as the DC Bus Voltage. AC Input Servo Drive Servo Motor User Interface Control Feed back Motor Mechanical Load ACPower Power Supply DC Bus Voltage Drive All MOONS SM servo motor windings can be used with a large range of drive voltages. A drive DC Bus Voltage above the motor Basic Bus Voltage, allows the motor to deliver torque at higher speeds. To avoid damage to the motor, the motor should never be operated at more than the rated peak torque or maximum rated speed. If the drive DC Bus Voltage is much higher than the winding Basic Bus Voltage, consider changing to a higher voltage motor winding. This will reduce the motor current, and allow the drive to run cooler, or allow the use of a lower current (less expensive) drive. It s rare for the drive DC Bus Voltage to be more than two times the Basic Bus Voltage of the motor winding. The nominal drive DC Bus Voltage is limited to 350 volts, as this is the insulation voltage rating for SM series motors. Drive DC Bus Voltages below the motor Basic Bus Voltage will reduce high speed performance. When high speed performance is not needed, this is done to minimize motor current, reduce drive heating, and reduce drive size. This is especially useful for low voltage applications of larger motors, where the maximum motor current is limited by the construction of the motor. Custom windings are also available. Please contact MOONS for help with motor selection and recommandations for your application. 5

6 SM040 Series: 40mm, Watts UL File Number E Insulation Class B (130 C) IP rating IP65 (except shaft without seal and non-sealed connectors) Installation location Indoors, free from corrosive gas, inflammable gas Ambient temperature Operating 0 to 40 C, Storage -20 to 80 C Ambient humidity 85%RH or lower (free from condensing) Altitude (maximum) Operating 1,000m Vibration Resistance 49 m/s 2 Rotor Poles 8 Series SM Watt SM Watt Preferred Model & Winding Letter ^ A ^ C E ^ H ^ A ^ C E ^ F Base Model Number (with 2500 PPR incremental encoder non-sealed plastic connectors, no brake) SM0401 AE2-KCD- SM0401 CE2-KCD- SM0401 EE2-KCD- SM0401 HE2-KCD- SM0402 AE2-KCD- SM0402 CE2-KCD- SM0402 EE2-KCD- SM0402 FE2-KCD- Typical Supply Voltages VAC 120 VAC VDC VDC VAC 120 VAC VDC VDC Basic DC Bus Voltage V (dc) Rated Output Power watts Rated Speed rpm Max. Mechanical Speed rpm Rated Torque Nm Continuous Stall Torque Nm Peak Torque Nm Rated Current A (rms) Continuous Stall Current A (rms) Peak Current A (rms) Voltage Constant ±5% V (rms) / K rpm Torque Constant ±5% Nm / A (rms) Winding Resistance (Line-Line) Ohm C Winding Inductance (Line-Line) mh (typ.) Inertia (with encoder) kg m^ X X 10-4 Inertia - With Brake Option kg m^ X X 10-4 Thermal Resistance (mounted) C / W Thermal Time Constant Minutes Heat Sink Size mm 120 x 120 x 5 Aluminum 120 x 120 x 5 Aluminum Shaft Load - Axial (max.) 50 N / 11 Lb 50 N / 11 Lb Shaft Load - Radial (End of Shaft) (max.) 50 N / 11 Lb 60 N / 13.5 Lb Weight (with std. encoder) 0.4 kg / 0.9 Lb 0.55 kg / 1.2 Lb Weight - With Brake Option 0.65 kg / 1.4 lb 0.8 kg / 1.8 lb Shaft Load: (L 10 life, 20,000 hours, 2,000 RPM) 6

7 SM040 Series: 40mm, Watts Max. Intermittent Torque Max. Continuous Torque 7

8 SM040 Series: 40mm, Watts Motor Dimensions No Brake: mm Motor Feedback Shown with CD & CF Connection Style: Non-Sealed Plastic Connectors. Includes cover to protect fine encoder wires. 300 ± ± Ø 30 h Ø 8 h6 (0,-0.009) 5 58 M 3 8 Ø 46 -KEY 25 ± L± 1 4- Ø h Motor Length-Without Brake Motor Series L (mm) SM0401, 60 Watt 92 SM0402, 100 Watt 109 Optional CM Connection Style: Sealed Metal Connectors These rugged connectors provide more protection IP65 sealed Better protection from EMI / RFI noise, for use over longer distances Metal housings provide more mechanical protection Metal housings form a continuous electrical shield Cable shields are connected to the connector housings Motor Connector (Includes Optional Brake) Feedback Connector 8

9 SM040 Series: 40mm, Watts Brake Specifications: This is a holding brake. Brake Releases when energized. Do NOT engage when motor is rotating. Brake power is not polarity sensitive. Static Friction Torque 0.35 Nm Rated Voltage 24 VDC Rated Current 0.25 A Engage Time At nominal air - < 25ms (As brakes are out of box) Release Time Without diode - < 25 ms (During E-stop condition) Release Voltage 18.5 VDC max (at 20 ) Brake Motor Dimensions: mm Shown with CD & CF Connection Style: Non-Sealed Plastic Connectors. Motor Brake Feedback Includes cover to protect fine encoder wires. Brake leads may be combined in motor cable. 300 ± ± ± Ø 30 h Ø 8 h6 (0, ) M ± L± 1 Ø Ø KEY 3 h Motor Length-With Brake Motor Series L (mm) SM0401, 60 Watt 129 SM0402, 100 Watt 147 9

10 SM060 Series: 60mm, Watts UL File Number E Insulation Class B (130 C) IP rating IP65 (except shaft without seal and non-sealed connectors) Installation location IIndoors, free from corrosive gas, inflammable gas Ambient temperature Operating 0 to 40 C, Storage -20 to 80 C Ambient humidity 85%RH or lower (free from condensing) Altitude (maximum) Operating 1,000m Vibration Resistance 49 m/s 2 Rotor Poles 8 Series SM Watt SM Watt Preferred Model & Winding Letter ^ A ^ C ^ E G ^ A ^ C ^ D ^ F Base Model Number (with 2500 PPR incremental encoder non-sealed plastic connectors, no brake) SM0601 AE2-KCD- SM0601 CE2-KCD- SM0601 EE2-KCD- SM0601 GE2-KCF- SM0602 AE2-KCD- SM0602 CE2-KCD- SM0602 DE2-KCF- SM0602 FE2-KCF- Typical Supply Voltages V (rms) VAC 120 VAC VDC VDC VAC 120 VAC 60 VDC-120 VAC VDC Basic DC Bus Voltage V (dc) Rated Output Power watts Rated Speed rpm Max. Mechanical Speed rpm Rated Torque Nm Continuous Stall Torque Nm Peak Torque Nm Rated Current A (rms) Continuous Stall Current A (rms) Peak Current A (rms) Voltage Constant ±5% V (rms) / K rpm Torque Constant ±5% Nm / A (rms) Winding Resistance (Line-Line) Ohm C Winding Inductance (Line-Line) mh Inertia (with encoder) kg m^ X X 10-4 Inertia - With Brake Option kg m^ X X 10-4 Thermal Resistance (mounted) C / W Thermal Time Constant Minutes Heat Sink Size mm 180 x 180 x 5 Aluminum 180 x 180 x 5 Aluminum Shaft Load - Axial (max.) 70 N / 15 Lb 70 N / 15 Lb Shaft Load - Radial (End of Shaft) (max.) 200 N / 45 Lb 240 N / 54 Lb Weight (with std. encoder) 1.1 kg / 2.3 lb 1.4 kg / 3.1 lb Weight - With Brake Option 1.6 kg / 3.5 lb 1.9 kg / 4.2 lb Shaft Load: (L 10 life, 20,000 hours, 2,000 RPM) 10

11 SM060 Series: 60mm, Watts Max. Intermittent Torque Max. Continuous Torque 11

12 SM060 Series: 60mm, Watts Motor Dimensions No Brake: mm Motor Feedback Shown with CD & CF Connection Style: Non-Sealed Plastic Connectors. Includes cover to protect fine encoder wires. 0 Ø 50 h Ø 14 h ± ±50 74 M Ø 5.5 Ø h Key 3 30 ±1 L ± Motor Length - Without Brake Basic Motor Series Feedback L (mm) E ppr Optical Encoder with Separate Commutation Signals 98 SM0601, 200 Watt E ppr Optical Encoder with Shared Commutation Signals 105 MA Absolute Multi Turn Tamagawa Encoder 98 MB Absolute Multi Turn Heidenhain Encoder 98 E ppr Optical Encoder with Separate Commutation Signals 118 SM0602, 400 Watt E ppr Optical Encoder with Shared Commutation Signals 125 MA Absolute Multi Turn Tamagawa Encoder 118 MB Absolute Multi Turn Heidenhain Encoder 118 Optional CM Connection Style: Sealed Metal Connectors These rugged connectors provide more protection IP65 sealed Better protection from EMI / RFI noise, for use over longer distances Metal housings provide more mechanical protection Metal housings form a continuous electrical shield Cable shields are connected to the connector housings Motor Connector (Includes Optional Brake) Feedback Connector 12

13 74 SM060 Series: 60mm, Watts Brake Specifications: This is a holding brake. Brake Releases when energized. Do NOT engage when motor is rotating. Brake power is not polarity sensitive. Static Friction Torque 2 Nm Rated Voltage 24 VDC Rated Current 0.38 A Engage Time At nominal air - < 25ms (As brakes are out of box) Release Time Without diode - < 25 ms (During E-stop condition) Release Voltage 18.5 VDC max (at 20 ) Brake Motor Dimensions: mm Shown with CD & CF Connection Style: Non-Sealed Plastic Connectors. Brake leads may be combined in motor cable. Motor Brake Feedback Includes cover to protect fine encoder wires. 0 Ø 50 h Ø 14 h ± ± ±50 M Ø 5.5 Ø h Key ±1 L±1 60 Motor Length - With Brake Basic Motor Series Feedback L (mm) E ppr Optical Encoder with Separate Commutation Signals 138 SM0601, 200 Watt E ppr Optical Encoder with Shared Commutation Signals 145 MA Absolute Multi Turn Tamagawa Encoder 138 MB Absolute Multi Turn Heidenhain Encoder 138 E ppr Optical Encoder with Separate Commutation Signals 158 SM0602, 400 Watt E ppr Optical Encoder with Shared Commutation Signals 165 MA Absolute Multi Turn Tamagawa Encoder 158 MB Absolute Multi Turn Heidenhain Encoder

14 SM080 Series: 80mm, Watts UL File Number E Insulation Class B (130 C) IP rating IP65 (except shaft without seal and non-sealed connectors) Installation location Indoors, free from corrosive gas, inflammable gas Ambient temperature Operating 0 to 40 C, Storage -20 to 80 C Ambient humidity 85%RH or lower (free from condensing) Altitude (maximum) Operating 1,000m Vibration Resistance 49 m/s 2 Rotor Poles 8 Series SM Watt SM Watt Preferred Model & Winding Letter ^ A ^ C ^ E G ^ A ^ C E Base Model Number (with 2500 PPR incremental encoder non-sealed plastic connectors, no brake) SM0801 AE2-KCD- "SM0801 CE2-KCD- " SM0801 EE2-KCF- SM0801 GE2-KCF- SM0802 AE2-KCD- SM0802 CE2-KCD- SM0802 EE2-KCF- Typical Supply Voltages V (rms) VAC 120 VAC VDC VDC VAC 120 VAC VDC Basic DC Bus Voltage V (dc) Rated Output Power watts 300 (250) 300 (250) Rated Speed rpm Max. Mechanical Speed rpm Rated Torque Nm 0.95 (0.79) 0.95 (0.79) Continuous Stall Torque Nm 1 (0.83) 1 (0.83) Peak Torque Nm 2.3 (2.3) 2.3 (2.3) Rated Current A (rms) 1.8 (1.5) 3.6 (3.0) Continuous Stall Current A (rms) 1.9 (1.6) 3.8 (3.2) Peak Current A (rms) 4.5 (4.5) 9 (9.0) Voltage Constant ±5% V (rms) / K rpm Torque Constant ±5% Nm / A (rms) Winding Resistance (Line-Line) Ohm C Winding Inductance (Line-Line) mh Inertia (with encoder) kg m^ X X 10-4 Inertia - With Brake Option kg m^ X X 10-4 Thermal Resistance (mounted) C / W Thermal Time Constant Minutes Heat Sink Size mm 240 x 240 x 6 Aluminum 240 x 240 x 6 Aluminum Shaft Load - Axial (max.) 90 N / 20 Lb 90 N / 20 Lb Shaft Load - Radial (End of Shaft) (max.) 200 N / 45 Lb 240 N / 54 Lb Weight (with std. encoder) 1.7 kg / 3.7 lb 2.2 kg / 4.8 lb Weight - With Brake Option 2.5 kg / 5.4 lb 3.0 kg / 6.5 lb Shaft Load: (L 10 life, 20,000 hours, 2,000 RPM) 14

15 SM080 Series: 80mm, Watts Due to the construction of these motors, high current windings have a maximum rating of 12.5 amps continuous. With the highest current windings, the SM0803 and SM0804 motors ( watts) can reach rated torque down to about 80 volts. This winding can be used at lower voltage (60, 48, etc.) but the maximum speed is reduced. See speed torque curves on page 17. Series SM Watt SM Watt Preferred Model & Winding Letter ^ A ^ B ^ C ^ D ^ A ^ C ^ D Base Model Number (with 2500 PPR incremental encoder non-sealed plastic connectors, no brake) SM0803 AE2-KCD- SM0803 BE2-KCD- SM0803 CE2-KCF- Typical Supply Voltages V (rms) VAC VAC 120 VAC SM0803 DE2-KCF- 48 VDC-120 VAC SM0804 AE2-KCD- SM0804 CE2-KCF VAC 120 VAC SM0804 DE2-KCF- 48 VDC-120 VAC Basic DC Bus Voltage V (dc) Rated Output Power watts Rated Speed rpm Max. Mechanical Speed rpm Rated Torque Nm Continuous Stall Torque Nm Peak Torque Nm Rated Current A (rms) Continuous Stall Current A (rms) Peak Current A (rms) Voltage Constant ±5% V (rms) / K rpm Torque Constant ±5% Nm / A (rms) Winding Resistance (Line-Line) Ohm C Winding Inductance (Line-Line) mh Inertia (with encoder) kg m^ X X 10-4 Inertia - With Brake Option kg m^ X X 10-4 Thermal Resistance (mounted) C / W Thermal Time Constant Minutes Heat Sink Size mm 240 x 240 x 6 Aluminum 240 x 240 x 6 Aluminum Shaft Load - Axial (max.) 90 N / 20 Lb 90 N / 20 Lb Shaft Load - Radial (End of Shaft) (max.) 270 N / 60 Lb 290 N / 65 Lb Weight (with std. encoder) 2.6 kg / 5.8 lb 3.1 kg / 6.9 lb Weight - With Brake Option 3.4 kg / 7.6 lb 3.9 kg / 8.6 lb 15

16 SM080 Series: 80mm, Watts 250 amps amps Max. Intermittent Torque Max. Continuous Torque 16

17 SM080 Series: 80mm, Watts Max. Intermittent Torque Max. Continuous Torque 17

18 SM080 Series: 80mm, Watts Motor Dimensions No Brake: mm Motor Feedback 300 ±50 Shown with CD & CF Connection Style: Non-Sealed Plastic Connectors. Includes cover to protect fine encoder wires. 300 ±50 0 Ø 70 h M Ø Ø 19 h Ø 90 -KEY h ±1 L ±1 80 Motor Length-Without Brake Motor Series L (mm) SM0801, 300 Watt 101 SM0802, 550 Watt 116 SM0803, 750 Watt 131 SM0804, 1000 Watt 146 Optional CM Connection Style: Sealed Metal Connectors These rugged connectors provide more protection IP65 sealed Better protection from EMI / RFI noise, for use over longer distances Metal housings provide more mechanical protection Metal housings form a continuous electrical shield Cable shields are connected to the connector housings Motor Connector (Includes Optional Brake) Feedback Connector 18

19 0 SM080 Series: 80mm, Watts Brake Specifications: This is a holding brake. Brake Releases when energized. Do NOT engage when motor is rotating. Brake power is not polarity sensitive. Static Friction Torque 4.5 Nm Rated Voltage 24 VDC Rated Current 0.61 A Engage Time At nominal air - < 25ms (As brakes are out of box) Release Time Without diode - < 25 ms (During E-stop condition) Release Voltage 18.5 VDC max (at 20 ) Brake Motor Dimensions: mm Shown with CD & CF Connection Style: Non-Sealed Plastic Connectors. Motor Brake Feedback Includes cover to protect fine encoder wires. Brake leads may be combined in motor cable. 300 ± ± ±50 0 Ø 70 h M Ø Ø 19 h Ø KEY 6 h ±1 L ±1 80 Motor Length-With Brake Motor Series L (mm) SM0801, 300 Watt 148 SM0802, 550 Watt 163 SM0803, 750 Watt 178 SM0804, 1000 Watt

20 Motor Power Connections CD & CF Connection Style 300 mm (12") Shielded Cables with Non-Sealed Plastic Connector CD windings up to 6.5 amps 4 Pin AMP Housing P/N: CF windings 6.6 to 12.5 amps 4 Pin AMP Housing P/N: CM Connection Style 300 mm (12") Shielded Cables with Sealed Metal Connector Motor & Optional Brake Housing: -Phoenix CA-06P1N Pin # Signal Color (Typ.) Function 1 Phase U Red 2 Phase V Yellow Motor Power 3 Phase W Blue 4 Ground Yellow/Green Ground Pin # Signal Color (Typ.) Function 1 Phase U Red 2 Phase V Yellow Motor Power 3 Phase W Blue 4 Brake Optional Brake 5 Brake 6 Ground Yellow/Green Ground Shield is connected to connector housing Brake power is not polarity sensitive Holding Brake Option A holding brake is used to stop the load from moving when power is lost. Typical applications include vertical axis that would drop if power is lost. Holding brakes are not intended to slow a motor that is spinning. The motor should be stopped and then the brake applied. With no power, a spring presses a friction plate into a stationary plate, which produces holding torque. When power is applied to the brake coil, the brake solenoid pulls the friction plate away from the stationary plate, which allows the motor to turn. CD & CF Connection Style 300 mm (12") Shielded Cables with Non-Sealed Plastic Connector CM Connection Style 300 mm (12") Shielded Cables with Sealed Metal Connector AMP Housing P/N: Connections are included with motor power connector PIN Signal Color(Typ.) 1 Brake Red 2 Brake Black 20

21 Feedback Options MOONS SM series motors are available with a variety of feedback devices. They produce position signals used by the drive to commutate the motor. These signals are aligned with the motor rotor, and used by the drive to know when to best apply power to the motor windings. There are also fine position signals produced every revolution. These are used by the drive to precisely control the angular position of the motor. Absolute encoders also record motor position, and some also record motor turns. This allows the motion system to remember the position of the driven machine even if power is lost and then restored. E2 Feedback Option 2500 ppr Optical Encoder with Separate Commutation Signals This is a basic feedback device that works with many drives. It produces commutation signals, 2500 position pulses per revolution, and an index pulse per revolution. It has separate wires to connect all the commutation and position signals. Encoder Siganls a T b c d Zch Output Ach Output Bch Output T = Uch Output Vch Output k / l / m / n / p / q 15 ±1 Mechanical r = 90 ±1 Mechanical Zch Output Uch Output g h Zch Center a.b.c.d = T/4±T/8 h = T ±T/2 g = ±1 Between Zch center and Uch rise Wch Output k l m n p q r turn Motor Phases U U-V Output U V-W Output U W-U Output All the timing logics are obtained in CCW rotation as viewed from front shaft. CD & CF Connection Style 300 mm (12") Shielded Cables with Non-Sealed Plastic Connector Encoder Connector: Housing AMP P/N: 视图 Pin # Signal Color (Typ.) Function 1 +5V Red Power 2 GND Black Ground 3 U+ Brown 4 U- Brown/Black 5 V+ Gray 6 V- Gray/Black 7 W+ White 8 W- White/Black 9 A+ Blue/Black 10 A- Blue 11 B+ Green 12 B- Green/Black 13 Z+ Yellow 14 Z- Yellow/Black Commutation Signal Incremental Position Pulse Index Pulse 15 Shield Shield Shield Shield is connected to motor frame CM Connection Style 300 mm (12") Shielded Cables with Sealed Metal Connector Encoder Connector: Housing: Phoenix ST-17P1N8A9K03S Pin # Signal Color (Typ.) Function 1 A+ Blue 2 A- Blue/Black 3 B+ Green 4 B- Green/Black 5 Z+ Yellow 6 Z- Yellow/Black 7 U+ Brown 8 U- Brown/Black 9 V+ Grey 10 V- Grey/Black 11 W+ White 12 W- White/Black Incremental Position Pulses Index Pulse Commutation Signals 13 +5V Red Power 14 GND Black Ground Shield is connected to connector housing Shield is connected to motor frame 21

22 Feedback Options E4 Feedback Option 2500 ppr Optical Encoder with Shared Commutation Signals This feedback option transmits one commutation and one position signal over a shared wire. This allows for reduced numbers of wires. It produces commutation signals, 2500 position pulses per revolution, and an index pulse per revolution. Encoder Siganls T Ach Output Bch Output a b c d T = Uch Output Vch Output k / l / m / n / p / q 15 ±1 Mechanical r = 90 ±1 Mechanical h a.b.c.d = T/4±T/8 Wch Output Zch Output Zch Center h = T ±T/2 k l m n p q Uch Output g g = ±1 Between Zch center and Uch rise Zch Output r turn Motor Phases U U-V Output U V-W Output U W-U Output All the timing logics are obtained in CCW rotation as viewed from front shaft. CD & CF Connection Style 300 mm (12") Shielded Cables with Non-Sealed Plastic Connector CM Connection Style 300 mm (12") Shielded Cables with Sealed Metal Connector Encoder Connector: Housing AMP P/N: Encoder Connector: Housing: Phoenix ST-08P1N8A9K03S Pin # Signal Color (Typ.) Function 1 U+/A+ Blued Pin # Signal Color (Typ.) Function A U+ / A+ Blue 2 V+/B+ Green 3 W+/Z+ Yellow 4 U-/A- Blued/Black 5 V-/B- Green/Black Commutation / Incremental Position Pulse B U- / A- Blue/Black C V+ / B+ Green D V- / B- Green/Black E W+ / Z+ Yellow Commutation / Incremental Position 6 W-/Z- Yellow/Black 3 W- / Z- Yellow/Black 7 +5V Red Power 8 GND Black Ground 9 Shield Shield Shield Shield is connected to motor frame 1 +5V Red Power 2 GND Black Ground Shield is connected to connector housing Shield is connected to motor frame 22

23 Feedback Options MA Feedback Option - SM060&SM080 Motors Absolute Multi Turn, Tamagawa Encoder This is an absolute encoder with a resolution of 17 bits (131072) per revolution, and multi-turn counting of 16 bits (0-65,535 turns). It transmits the output of the complete absolute position as serial data in response to an external request. It uses power from an external battery to operate the multi-turn counter and save the multi-turn data. When the battery is not connected, it continues to function as a full 17 bit single turn absolute encoder. Item Unit Value Remarks Main Power Voltage VDC 5 ± 0.25 Current Consumption ma 110 Max Voltage VDC 3.6 Typ Current Consumption, External Battery External battery Normal mode μa 3.6 Main Power Off μa 150 Typ Power-Off Operation μa 110 Max Power-off timer Type: Differential Line Driver equivalent to RS485 Output Signals SD & SD- H level V 3.5 Min L level V 1.7 Max Maximum Angular Acceleration rad/s2 80,000 Startup Time (after power-on) s 1 Max With external battery s 1.5 Max No external battery CD & CF Connection Style 300 mm (12") Shielded Cables with Non-Sealed Plastic Connector Encoder Connector: Housing AMP P/N: CM Connection Style 300 mm (12") Shielded Cables with Sealed Metal Connector Encoder Connector: Housing: Phoenix ST-08P1N8A9K03S Pin # Signal Color (Typ.) Function 1 SD Blue Serial Data 2 Green 3 VB Yellow External Battery 4 SD- Blue/Black Serial Data 5 Green/Black 6 VB- Yellow/Black External Battery 7 VCC Red Main Power 8 Ground Black +5 VDC 9 Shield Shield Shield Shield is connected to motor frame Pin # Signal Color (Typ.) Function A SD Blue B SD- Blue/Black C D Green Green/Black E VB Yellow 3 VB- Yellow/Black Serial Data External Battery 1 VCC Red Main 2 Ground Black Power +5 VDC Shield is connected to connector housing Shield is connected to motor frame 23

24 Feedback Options MB Feedback Option - SM060 & SM080 Motors Absolute Multi Turn Heidenhain EnDat 2.2 Encoder This is an absolute encoder with a resolution of 18 bits (262144) per revolution, and multi-turn counting of 16 bits (0-65,535 turns). It uses EnDat 2.2 to communicate with the drive. Power from an external battery is needed to operate the multi-turn counter and save the multi-turn data when main input power is lost. When the battery is not connected, it continues to function as a full 18 bit single turn absolute encoder. Item Unit Value Main Power Voltage VDC 3.6 V to 14 Current Consumption ma 80 Max External battery Signals Voltage VDC 3.6 to 5.25 Lithium Thionyl Chloride, with 3.6 V and 1500 mah is recommended Typical Service Life years over 10 EnDat version 2.2 (serial two-directional interface). EnDat is a synchronous encoder that has clock signals sent to it by a controller Maximum Angular Acceleration rad/s 2 100,000 CD & CF Connection Style 300 mm (12") Shielded Cables with Non-Sealed Plastic Connector CM Connection Style 300 mm (12") Shielded Cables with Sealed Metal Connector Encoder Connector: Housing AMP P/N: Encoder Connector: Housing: Phoenix ST-08P1N8A9K03S Pin # Signal Color (Typ.) Function 1 Data Blue Serial Data 2 Clock Green Clock 3 +U Bat Yellow Battery 4 Data- Blue/Black Serial Data 5 Clock- Green/Black Clock 6 -U Bat Yellow/Black Battery 7 Up (VCC) Red 8 0V Black Main Power 9 Shield Shield Shield Shield is connected to motor frame Pin # Signal Color (Typ.) Function A Data Blue B Data- Blue/Black C Clock Green D Clock- Green/Black E +U Bat Yellow 3 -U Bat Yellow/Black 1 Up (VCC) Red 2 0V Black Shield is connected to connector housing Shield is connected to motor frame Serial Data Clock Battery Main Power 24

25 Shaft Seal A shaft seal can extend the life of a motor by keeping contaminants out of the motor. MOONS servo motors typically include a shaft seal shipped with the motor, but not installed in the motor. These are high quality seals. Installing a shaft seal is recommended if the front of the motor will be exposed to significant amounts of oil, dirt or liquids. Shaft seals produce a small amount of drag on the motor shaft. This will slightly reduce the overall efficiency of the system, and cause a small increase in motor temperature. Because of this, a shaft seal is not recommended in applications where the front of the motor is not exposed to contaminants. Oil,Fluids,and Fine Dust Oil,Fluids,and Fine Dust Motor Shaft and End Bell are Exposed to Containments Motor Shaft and End Bell are Protected Form Containments Shaft Seal Installation is Recommended Shaft Seal Installation is Not Recommended Sealant between Motor and Machine(Optional) 25

26 Bearing Life Motor bearing life depends on several factors including: axial and radial loads, motor speed, temperature, and the bearing ratings. Because the front bearing is positioned closest to the motor shaft, it usually carries a higher radial load and has the shortest life. A common cause for shaft and bearing failure is high radial loads that are created when a pulley is attached to the motor shaft at a large distance from the motor mounting face, and the belt has high tension. To avoid this condition mount pulleys and gears as close to the face of the motor as possible, and avoid over tightening belts. These curves show bearing life, at various speeds and radial loads. The curves were calculated with the radial load applied at the end of the shaft. Bearing L10 Life Bearing L10 Life Bearing L10 Life Bearing L10 Life 26

27 Conversion Factors Length B A mm cm m inch feet mm cm m inch feet Force B A g kgf oz lb Newton g kgf oz lb Newton Torque B A Nm Ncm mnm kgm* kgcm* gcm* oz-in Ib-ft Ib-in Nm Ncm mnm kgm* kgcm* gcm* E oz-in Ib-ft Ib-in Inertia B Ib-ft-sec kgm A kgcm 2 gcm 2 oz-in 2 oz-in-sec 2 Ib-in 2 Ib-in-sec 2 Ib-ft 2 2 (slug ft 2 ) kgm , , kgcm , E-05 gcm E E E E-08 oz-in E-05 oz-in-sec , Ib-in , Ib-in-sec , , Ib-ft ,000 2, Ib-ft-sec 2 (slug ft 2 ) , , ,

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