S M H. High Torque Density AC Synchronous Servo Motor ISSUE NO.1 CHANGZHOU FULLING MOTOR CO.,LTD

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1 FUIG MOOR S M H High orque Density AC Synchronous Servo Motor Product Manual ISSUE O.1 CHAGZHOU FUIG MOOR CO.,D Sanjing Industrial Park, Changzhou,China elephone: Fax: Web: Date: Aug

2 COES FUIG MOOR 1. Servo Motor Description he SMH servo motor typical specification 1.2 he SMH servo motor named principle 2. General Information arget group 2.2 Safety notes 2.3 hermal protection 2.4 Storage 3. echnical Description General technical information 3.2 Electrical technical information 3.3 Mechanical information 4 Connection Details Wiring diagram for motors with Resolver 4.2 SMH Motor with Resolver and M17 connectors 4.3 Wiring diagram for motors with Encoder 5 SMH60 echnical Information echnical data 5.2 Product dimension drawing SMH60(Fit M17)series dimension SMH60(ead line)series dimension 5.3 SMH60 series performance curve 6 SMH80 echnical Information echnical data 6.2 Product dimension drawing SMH80(Fit M17)series dimension SMH80(ead line)series dimension 6.3 SMH80 series performance curve 7 SMH110 echnical Information echnical data (UDC 300V) 7.2 echnical data (UDC 560V) 7.3 SMH110 product dimension drawing SMH110(Fit Encoder)dimension SMH110(Fit Resolver)dimension 7.4 SMH110 performance curve echnical changes to improve the performance of the equipment may be made without prior notice! Printed in the People s Republic of China All rights reserved. o part of this work may be reproduced in any form (by printing, photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Changzhou Fulling motor co.,td 2

3 1. Servo Motor Description 1.1 he SMH Servo Motor ypical Specification FUIG MOOR he SMH series rare earth servo motors feature neodymium-iron-boron permanent magnet rotors that provide low inertias, small size, high power density and high peak torque. hese compact, environmentally-rugged, brushless. ow noise and small vibration. 1. An economical, compact design that can function in harsh environments. 2. eodymium-iron-boron magnet rotors that provide a high torque-to-inertia rating for faster light machinery acceleration. ess than three times load as same as rated torque. 3. A three-phase, sinusoidal wound stator field for smooth operation at slow speeds. 4..he integrated temperature sensors make usage of working mode in insulation material class F possible and a high reliability of the motor at the same time. 5. he feedback device encoder (incremental or absolute ) or resolver. 6. IP65 rated(for output shaft is IP54), quick release connectors for easy installation and maintenance. 7.he ability to be vertically mounted at any angle with the shaft up or down. 1.2 he SMH Servo Motor amed Principle S M H E B C---1 s-----synchronous M----Motor H-----High power density Flange dimension 60x60 (unit mm) 20---Rated power 20x10 (W) 30---Rated speed 30x100 (rpm) Input voltage VAC(50/60Hz) Poles (4 Pair poles) E--- Feedback device: VAC(50/60Hz) B---- B----Brake ----o Brake C---- C-----Connector -----ine Design serial number E---Encoder(incremental2500p/rev) R---Resolver 3

4 FUIG MOOR 2. General information 2.1 arget group his manual addresses personnel with the following qualifications: ransport : only by personnel with knowledge of handling electrostatically sensitive components. Mech. Installation : only by mechanically qualified personnel. Electr. Installation : only by electrically qualified personnel. Setup : only by qualified personnel with extensive knowledge of electrical engineering and drive technology he operator must ensure that the safety instructions in this manual are followed. he operator must ensure that all personnel responsible for working with the motor have read and understood the product manual. 2.2 Safety otes Read the available documentation before assembly and setup. Incorrect handling of the motors can result in injury and damage to persons and machinery. Keep strictly to the technical data and the information on the connection requirements (nameplate and documentation). Only properly qualified personnel are permitted to perform such tasks as transport, assembly, setup and maintenance. Properly qualified personnel are persons who are familiar with the transport, assembly, installation, setup and operation of motors, and who have the appropriate qualifications for their jobs. 2.3 hermal Protection SMH servomotors are fitted with a Philips type KY thermal sensor. he resistance of this sensor varies with temperature as indicated below. Resistance change with temperature emperature( ºC) Resistance( Ω) to to to to to 1463 he current in the sensor should be between 1mA and 3mA. o protect the winding, the drive should shut down if the resistance exceeds 1400 Ohms. 2.4 Storage Storage temperature C, max. variation 20K/hr. _ Humidity rel. humidity 5% - 95%, no condensation Max. stacking height see table under Packaging - Far away active gas, combustible gas, oil drop, ash _ Storage time unlimited 3. echnical Description 3.1 General technical information Ambient temperature C for site altitude up to 1000m alms (at rated values) It is vital to consult our applications department for ambient temperatures above 40 C and encapsulated mounting of the motors. Permissible humidity 95% rel. humidity, no condensation (at rated values) 4

5 Power derating 1.5% / K in range 40 C C up to 1000m alms (currents and torques) for site altitude above 1000m alms and 40 C HODIG BRAKE OPIOS At present only a spring applied holding brake is available with SMH servomotors as standard. However, it may be possible to fit a permanent magnet brake if required. For further information, please contact SMH for more details. SPRIG APPIED BRAKE he brake is of the spring set fail to safe type. his is primarily a holding brake e.g. to hold a load under a no voltage condition. However, the brake can also be used in some applications for emergency stopping. Connection should be such that when the motor is powered the brake coil is energized and the brake released. Under normal conditions, no maintenance in required other than ensuring that the hub and stationary plates are kept free from foreign matter. Radial force If the motors drive via pinions or toothed belts, then high radial forces will occur. he maximum values at rated speed you will find at the technical data. Power take-off from the middle of the free end of the shaft allows a 10% increase in FR. Axial force When assembling pinions or wheels to the axis and use of e.g. angular gear heads axial forces arise. he maximum values at rated speed you will find at the technical data. BEARIGS All SMH servomotors are fitted with double shell protected, single row radial ball bearings. Ball-bearing life he bearings are selected to give a minimum of 20,000 hours life. Refer to the shaft loading graphs for further information. Under normal conditions, no maintenance is required 3.2 Electrical technical information hey contain electrical / electronic systems liable to cause an electromagnetic disturbance. hey contain electrical / electronic systems which may have their performance affected by an electromagnetic disturbance. he ground symbol, which you will find in the wiring diagrams, indicates that you must provide an electrical connection, with as large a surface area as possible, between the unit indicated and the mounting plate in the switch cabinet. his connection is to suppress HF interference and must not be confused with the PE protective earth) symbol. o wire up the motor, use the wiring diagrams in the Installation and Setup Instructions of the servo amplifier which is used. Requirements to cable material: Capacity Motor cable less than 150 pf/m Resolver cable less than 120 pf/m 3.3 Mechanical Installation It is recommended that a general inspection be made at regular intervals to check all bolts, nuts couplings etc to ensure that they are still tightened to the correct torque Protect the motor from unacceptable stresses. ake care, especially during transport and handling, that components are not bent and that insulation clearances are not altered. Attended to holding the tolerance of SHAF EXESIO RU-OU, COCERICIY OF SPIGO AD SHAF and PERPEDICUARIY OF MOUIG FACE O SHAF. Check the compliance to the permitted radial and axial forces FR and FA. 5

6 When you use a toothed belt drive, the minimal permitted diameter of the pinion e.g. follows from the equation: dmin M0/FRX2. 4 Connection details 4.1 Wiring diagram for motors fit Resolver or Encoder(SMH60 AD SMH80) Supply Wire YEOW RED BACK YEOW/GREE MOOR U MOOR V MOOR W GROUD Resolver Wire GREE ResRef+ WHIE ResRef- RED ResCos+ PIK ResCos- BUE ResSin+ YEOW ResSin- GRAY PC1 (+) BROW PC2 (-) Encoder Wire color Function Red DC +5 V Black 0 V Blue A Blue/Black /A Green B Green/Black /B Yellow Z Yellow/Black /Z Brown U Brown/Black /U Gray V Gray/Black /V White W. White/Black /W Shield n.c. 6

7 4.2 SMH Motor Fit Resolver And M17 Connectors Supply Connectors PI FUCIO 1 MOOR U 2 MOOR V 3 MOOR W 4 BRAKE B+ (IF FIED) 5 BRAKE B- (IF FIED) 6 n.c. M17 7 PI MOOR EARH Feedback Connectors PI FUCIO 1 ResRef+ 2 ResRef- 3 ResCos+ 4 ResCos- 5 ResSin+ 6 ResSin- 7 PC1 (+) 8 PC2 (-) COECORS VIEWED FROM CUSOMER SIDE M17 17 PI 4.3 SMH Motor Fit Encoder And M17 Connectors Supply Connectors PI FUCIO 1 MOOR U 2 MOOR V 3 MOOR W 4 BRAKE B+ (IF FIED) 5 BRAKE B- (IF FIED) 6 n.c. M17 7 PI MOOR EARH 7

8 Feedback Connectors PI FUCIO 1 Up(5V) 2 Un(0V) 3 A 4 /A 5 B 6 /B 7 PC1(+) 8 PC2(-) 9 U 10 /U 11 V 12 /V 13 n.c / 16 W 17 /W COECORS VIEWED FROM CUSOMER SIDE M17 17 PI 5 SMH60 echnical Information 5.1 echnical Data Motor ype SMH R SMH E SMH EC SMH RC SMH R SMH E SMH EC SMH RC U dc (DC ink) Rated power P (W) Continuous characteristics Rated torque Rated speed (m) n (rpm) Rated current I (A) Moment maximum torque Continuous static torque Continuous static current m (m) s (m) I s (A)

9 Resistance line-line R (Ω) Inductance line-line (m H) Electrical time constant τe (ms) Mechanical time constant τm (ms) Voltage constant K e (V/K rpm) orque constant Rotor polar moment of inertia K t (m/a) J m (Kg cm 2 ) he maximum allowable d / d (KV/μs) 8 8 u t Insulation class F F Feed back device Cooling method and protection level emperature Humidity he operating of Environment Environmental conditions Installation of height 2500p/rev incremental encoder or Resolver (sin--cos) Fully-closed,self-cooling;IP65(out shaft cover IP54) -20 ~40 (o freeze) Below 90%RH(o dewing) Far away active gas,combustible gas, oil drop,ash. he highest altitude is 4000m,from 1000m altitude, he power will be decreased 1.5% at every 100m higher 5.2 Product Dimension Drawing SMH60(Fit M17)Series Dimension unit:mm SMH60 Series(Fit M17) ength Power(W) o Brake Brake (Unit:mm) 9

10 5.2.2 SMH60(ead ine)series Dimension unit:mm SMH60 Series(ead ine) ength (Unit:mm) o Brake Brake Power(W) Fit Encoder Fit Resolver Fit Encoder Fit Resolver SMH60 Series Performance Curve SMH EC SMH EBC SMH RC SMH RBC SMH E SMH EB SMH R SMH RB Speed orque Performance Curve Intermittent District 1.92 (.m) Continuous District n(rpm)

11 SMH EC SMH E SMH EBC SMH RC SMH RBC SMH EB SMH R SMH RB Speed orque Performance Curve Intermittent District 3.82 (.m) Continuous District n(rpm) SMH60 Motor radial force at the shaft end FR() 400 FA F n(rpm) SMH80 echnical Information 6.1 echnical Data SMH R SMH R SMH R -1 Motor ype SMH E SMH EC SMH E SMH EC SMH E-1 SMH EC-1 SMH RC SMH RC SMH RC-1 DC bus U dc

12 Continuous characteristics Rated power P (W) Rated torque (m) Rated speed n (rpm) Rated current I (A) Moment maximum torque m (m) Continuous static torque s (m) Continuous static current I s (A) Resistance line-line R (Ω) Inductance line-line (m H) Electrical time constant τe (ms) Mechanical time constant τm (ms) Voltage constant K e (V/K rpm) orque constant K t (m/a) Rotor polar moment of inertia J m (Kg cm 2 ) he maximum allowable d / d (KV/μs) u t Insulation class F F F Feed back device Cooling method and protection level emperature Humidity he operating of Environment environmental conditions Installation of height 2500p/rev incremental encoder or Resolver (sin---cos) Fully-closed,self-cooling; IP65(out shaft cover IP54) -20 ~40 (o freeze) Below 90%RH(o dewing) Far away active gas, combustible gas, oil drop, ash. he highest altitude is 4000m.From 1000m altitude; the power will be decreased 1.5%, at every 100m higher. 12

13 6.2 Product Dimension Drawing SMH80(F it M17)Series Dimension M6X25 SMH80 Series(Fit M17) ength Power(W) o Brake Brake (Unit:mm) SMH80(ead ine)series Dimension 300 M6X25 9 SMH80 Series(ead ine) ength (Unit:mm) o Brake Brake Power(W) Fit Encoder Fit Resolver Fit Encoder Fit Resolver

14 6.3 SMH80 Series Performance Curve SMH EC SMH EBC SMH RC SMH RBC SMH E SMH EB SMH R SMH RB Speed orque Performance Curve Intermittent District (.m) Continuous District n(rpm) 5500 SMH EC SMH E SMH EBC SMH RC SMH RBC SMH EB SMH R SMH RB Speed orque Performance Curve Intermittent District (.m) Continuous District n(rpm) 14

15 SMH EC-1 SMH E-1 SMH EBC-1 SMH RC-1 SMH RBC-1 SMH EB-1 SMH R-1 SMH RB 瞬时工作区 (.m) 连续工作区 n(rpm) SMH80 Motor radial force at the shaft end FR() 800 FA F n(rpm) 15

16 7 SMH110 echnical Information 7.1 SMH110 echnical Data SMH110 SMH110 SMH110 SMH110 SMH110 SMH110 Motor ype EC SMH EC SMH EC SMH EC SMH EC SMH EC SMH RC RC RC RC RC RC DC bus U dc Continuous characteristics Rated power P (W) Rated torque (m) Rated speed n (rpm) Rated current I (A) Moment maximum torque m (m) Continuous static torque s (m) Continuous static current I s (A) Resistance line-line R (Ω) Inductance line-line (m H) Electrical time constant τe (ms) Mechanical time constant τm (ms) Voltage constant K e (V/K rpm) orque constant K t (m/a) Rotor polar moment of inertia J m (Kg cm 2 ) he maximum allowable

17 d / d (KV/μs) u t Insulation class F F F F F F Feed back device 2500p/rev incremental encoder or Resolver (sin---cos) Cooling method and protection level emperature he operating Humidity of Environment environmental Installation of conditions height Fully-closed,self-cooling; IP65(out shaft cover IP54) -20 ~40 (o freeze) Below 90%RH(o dewing) Far away active gas, combustible gas, oil drop, ash. he highest altitude is 4000m.From 1000m altitude; the power will be decreased 1.5%, at every 100m higher. 7.2 SMH110 echnical Data Motor ype SMH EC SMH RC SMH EC SMH RC SMH EC SMH RC DC bus U dc Rated power P (W) Continuous characteristics Rated torque Rated speed (m) n (rpm) Rated current I (A) Moment maximum torque m (m) Continuous static torque s (m) Continuous static current I s (A) Resistance line-line R (Ω) Inductance line-line (m H) Electrical time constant τe (ms) Mechanical time constant τm (ms) Voltage constant K e (V/K rpm)

18 orque constant K t (m/a) Rotor polar moment of inertia J m (Kg cm 2 ) he maximum allowable d / d (KV/μs) u t Insulation class F F F Feed back device 2500p/rev incremental encoder or Resolver (sin---cos) Cooling method and protection level emperature he operating Humidity of Environment environmental conditions Installation of height Fully-closed,self-cooling;IP65(out shaft cover IP54) -20 ~40 (o freeze) Below 90%RH(o dewing) Far away active gas, combustible gas, oil drop, ash. he highest altitude is 4000m.From 1000m altitude; the power will be decreased 1.5%, at every 100m higher. 7.3 SMH110 Product Dimension Drawing SMH110(Fit Encoder)Series Dimension unit:mm ( 25 SMH110(Fit Encoder)Series ength (unit:mm) orque o Brake Brake 2.m m m m

19 7.3.2 SMH110(Fit Resolver)Series Dimension unit:mm ( 25 SMH110(Fit Resolver)Series ength (unit:mm) orque o Brake Brake 2.m m m m SMH110 Series Performance Curve SMH EC SMH RC SMH EBC SMH RBC Performance Curve ORQUE (.m) Intermittent Distict Continuous Distict 19

20 SMH EC SMH RC SMH EBC SMH RBC Performance Curve ORQUE (.m) Intermittent Distict Continuous Distict n (rpm) SMH EC SMH RC SMH EBC SMH RBC Performance Curve ORQUE (.m) Intermittent Distict Continuous Distict n (rpm) 20

21 SMH EC SMH RC SMH EBC SMH RBC Performance Curve ORQUE (.m) Intermittent Distict Continuous Distict n (rpm) SMH EC SMH RC SMH EBC SMH RBC Performance Curve ORQUE (.m) Intermittent Distict Continuous Distict n (rpm) 21

22 SMH EC SMH RC SMH EBC SMH RBC Performance Curve ORQUE (.m) Intermittent Distict Continuous Distict n (rpm) 22

SMH High Torque Density

SMH High Torque Density AC Synchronous Servo Motor Catalogue Version:C Date: January, 207 Kinavo Servo Motor(Changzhou)Ltd. Tel.: +8-0-88037 Fax: +8-0-88072 Website: http://www.kinavo.com Add.: Building