HANDBOOK -M. Synchronous servo motors

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Howard Hicks
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1 HANDBOOK -M Synchronous servo motors

2 Contents 1. Technical specification General Construction /assembly Three phase synchronous motors Frame type references Options Mechanical specification Standard construction Mounting Cooling and protection Balance Special flange Shaft seal Bearings Permissible bearing loads Coupling the motor to the load Direct coupling Belt drive Mounting of couplings etc Paint finish Electrical specification Altitude and ambient temperature Dimensioning of the motors Moment of inertia calculations Motor acceleration or braking time Thermal rating of motor Connections Plug or terminal box connections Resolver Accessories Thermal protection Additional encoders Parking brakes Operating conditions Electrical data Operating voltage 300 volts dc bus Operating voltage 500 volts dc bus Dimensions...17

3 Copyright STA STATE OF THE ART ENGINEERING AG All rights reserved. Reproduction, transfer, distribution or storage of part or all of the contents in this document in any form (printed, photocopied, microfilm or in any other process), or processed or reproduced by use of any electronic system, without the specific prior written permission of STA STATE OF THE ART ENGINEERING AG is strictly prohibited. STA STATE OF THE ART ENGINEERING AG, operating under the deltadrive Group other product and company names mentioned (R&D Deltadrive Phils Inc., Otto Bartholdi AG Motoren) herein might be trademarks or tradenames of their respective owners. STA STATE OF THE ART ENGINEERING AG operates a policy of continuous development. STA STATE OF THE ART ENGINEERING AG; reserves the right to make any changes and improvements to any of the products described in this document without prior notice. The contents of this document are provided as is. Except as required by applicable law, no warranties of any kind, either express or implied, including, but not limited to, the implied warranties of merchantability or contents of this document. STA STATE OF THE ART ENGINEERING AG reserves the right to revise this document or withdraw it any time without prior notice.

4 1. Technical specification 1.1 General Ac synchronous servo motors are particularly suitable for high dynamic applications because of their high peak torques and low moment of inertia of the rotor. They are brushless and therefore require little maintenance. In the stator a three phase rotating field with changeable frequency and direction is produced. The rotor is fitted with rare earth magnets. A resolver mounted on the motor shaft continuously transmits the angular position of the rotor to the servo amplifier. The amplifier allows the rotating field opposite to the permanent rotor field to be always 90 degrees in advance and thereby facilitates a power factor of about 1 to be achieved. The efficiency of the motor is about 90%. At standstill a direct current flows in the individual phases in different directions. In order that the single phases may not be overloaded,the holding torque may not exceed 60% of the nominal torque. The maximum permissible peak current may not be exceeded even for a short period otherwise the permanent magnets may be demagnetised. The possible peak torque is dependent upon the speed of rotation and the maximum output voltage of the amplifier which is subject to the level of the supply voltage. The following data for motors is valid for the rated supply voltage. A reduction in the supply voltage will reduce the available peak torque at the upper end of the speed range. The motor may become overloaded during periods of acceleration or braking. The additional heat developed in the stator winding must be allowed to disperse by resting the motor. Therefore with short work cycles the heating of the motor must be considered.(see "thermal rating of the motors" page 8). 1.2 Construction /assembly The ac synchronous servo motors listed here are for use with a servo-amplifier having a sinusoidal output voltage. The data relates to intermediate circuit voltages of 300 volts and 500 volts. Please refer to the manufacturers if the output voltage of the servo amplifier is trapezoidal. The stator and rotor are constructed with high quality laminations. Rare earth magnets are mounted on the rotor. A special assembly technique ensures secure fixing of the magnets during operation with high centrifugal and acceleration forces. For improved heat dissipation the housing and bearing mounts are made of aluminium. Power connection at 300 volts intermediate voltage is by means of plugs and at 500 volts and frame BAC 70 through a terminal box. The resolver is integral with the motor and generally connected through a plug. Generously dimensioned bearings and a solid shaft in combination with insulating materials and varnish of class "F" guarantees a long working life of motors even under harsh service conditions. Preferably the motors should be used as feed drives.

5 2. Three phase synchronous motors 2.1 Frame type references BAC 70 S 30 T 3 / RA / FF /.. TYPE BAC frame size core length K S M L speed [min -1 ] trapezoidal volts T otherwise sinusoidal operating volts 300 V V - 5 resolver 2 polig - RA 4 polig - RB 6 polig - RC Options /../ Options BR standard brake BS brake with increased braking torque provision for: EA adaptor for ROD 426 encoder EC adaptor for ROD 426 encoder with cover EX adaptor for other encoders FT special flange finish in accordance to din class R IP enclosure ip 67 NK shaft without key PA special paint finish to ral SE special shaft extension SS oil seal at drive end TH thermistors(without monitoring unit) VS balance to class s to din/iso 2373 RA 2 pole resolver(standard) RB 4 pole resolver (on application) RD 6 pole resolver (on application)

6 3. Mechanical specification 3.1 Standard construction The motors will be supplied in the following basic form with the torque and speeds as listed in the output data sheets. shaft/key with dimensions to din784/332 mounting flange b5 (IM 3001) enclosure to IP 64 naturally cooled IC 0041 temperature protection by thermostat(bac 70 PTC sensor) insulation class F bayonet socket connections on motors BAC 90- BAC 195 operating on 300 volts terminal box connections on motors BAC 90-BAC195 operating on 500 volts and also on motors BAC 70 resolver connections with bayonet socket (without cable plug) paint finish black to ral Mounting the standard mounting is IM B5 flange (IM3001) DIN The motor can be mounted vertically shaft down IM V1 (IM3011) or vertical shaft up im V3 (IM3031) without modification. 3.3 Cooling and protection Cooling of the motors complies with IC 0041 according to IEC 34-6 (external surface cooled).the motor protection is IP 64 according to DIN with attached plugs and specified cable diameters. Additional items fitted to the motor (encoders etc) have their own form of protection which can differ according to the circumstances. 3.4 Balance As standard the balance of the motor is checked to comply with class r according to DIN/ISO 2373.class s balance is an option. Rotors will also be checked without pulleys, pinions etc.difficult cases may arise due to vibration from the mounting or from the load machine. In extreme cases this may lead to wear of the bearings or fracture of the shaft. 3.5 Special flange The standard flange is machined to class N DIN A high precision machined flange to class R is an option. 3.6 Shaft seal Motors are not supplied with a shaft seal but can be supplied as an option:- i.e for gearbox type applications. 3.7 Bearings The motors are supplied with single groove ball bearings.the driving end bearing is used for location with the non driving end fitted with a spring loaded washer.the bearings are lubricated for life and will last 20,000 hours provided that the bearing loads do not exceed the figures shown in the table.

7 type ball bearing type ball bearing A-side B-side A-side B-side BAC ZZ 6001-ZZ BAC ZZ 6202-ZZ BAC ZZ 6304-ZZ BAC ZZ 6205-ZZ BAC ZZ 6306-ZZ Permissible bearing loads Fr L Fa Radial bearing load The table gives the radial load permitted on the motor shaft with the motor mounted horizontally. Distance Zulässige Radialkraft Fr in N bei Drehzahl type L min-¹ mm BAC BAC BAC BAC BAC Axial bearing loads The table gives the axial loading on the motor shaft when installed in a vertical position. type Axial force Fa (N) permitted at speeds min-¹ BAC BAC BAC BAC BAC

8 3.8 Coupling the motor to the load Direct coupling The shaft on the a-side is designed for 1.5 times the permittable electrical peak torque of the motor Belt drive The pull on the belt when using a pulley must not exceed the maximum radial load P c Fr = D n [ N ] M rated torque (nm) D diameter of belt pulley(metres) C the factor c is an empirical value from the belt manufacturer.its value can be in the following range:- c = 2.0 for flat belts with jockey pulley. c = for special sythenic belts. 3.9 Mounting of couplings etc Couplings and pulleys etc must be fitted carefully and without force. Before assembly the shaft end and the pulley bore must be clean and lubricated with a thin film of oil. The tapped hole in the end of the shaft should be used for assembly. In no circumstances should a hammer be used to fit the pulley. If the pulley etc is heated prior toassembly the motor shaft should be kept cold Paint finish The motors are finished with two layers of black paint to ral 9005.

9 4. Electrical specification 4.1 Altitude and ambient temperature For ambient temperatures between 30 0 c and 60 0 c and for altitudes upto 4000 metres the rated torque of the motor can be determined from the diagram below: TORQUE % AMBIENT TEMPERATURE ALTITUDE ABOVE SEA LEVEL 30 0 C 0 40 C 0 50 C 0 60 C 4.2 Dimensioning of the motors The drive motor is the link between the electrical control signal.and the movement of a given load. The size and type of motors is significant and depends upon the speed and acceleration requirements. The most unfavourable service conditions should be taken into account in the calculations. Formulae are provided in order that the correct application of motors may be determined. symbols: D = outer diameter mm d = inner diameter mm i = gear ratio J = moment of inertia( kg m 2 ) J2 = moment of inertia of speed reducer(kg m 2 ) Jg = total inertia of motor and load(kg m 2 ) L = length (metres) m = mass (kgs) MB = accel/decel torque(nm) Md = motor rated torque(nm from data list) ML = torque of load machine(nm) MM = accel torque of motor(nm) n = motor speed rpm S = density(kg/dm 3 ) t0 = time at standstill(secs) tb = accel/decel time(secs) tl = time running on load(secs) v = line speed(m/s) η = efficiency of speed reducer

10 4.2.1 Moment of inertia calculations Cylinder J = 98 S L D ; Hollow Cylinder J = 98 S L ( D d ) Conversion of linear motion of machine components to moment of inertia at motor shaft. J = 912. m v n 2 2 Conversion of speed converter moment of inertia to the motor shaft. J Speed reducer J = 2 2 ; Speed increacer J = J2 i i Motor acceleration or braking time t B = J g n ( M M ) 955. ± B L Acceleration + M L ; Deceleration - M L Acceleration/Braking Torque M B = n M J 955. t g B 1 M M = ML + MB Mmax. lt. Liste η Motor Torque during Acceleration ( ) Thermal rating of motor Servo motors may be overloaded upto the peak torques listed during acceleration and/or braking provided the rms torque does not exceed the constant torque of the motor. For short load cycles and/or with high peak torques the thermal effect should be taken into consideration. Ratio of required torque to motor rated torque: Effective value of motor torque: During Acceleration M M Md ; By constant speed M L M d Effective rms value of a given motor torque M eff = ( ) ( ) tb MM Md + tl ML Md +... M t + t +... t B 2 2 L 0 d M d

11 4.3 Connections Normally when operating on 300 volts the motors are provided with plug connections for the motor, resolver, and the brake, if supplied. For motors operating on 500 volts a terminal box is provided, with the resolver and brake connected by plug connections Plug or terminal box connections Connections for motor Motor with Motor with Motor Terminal Plug Supply Phase Box U U A L1 V V B L2 W W C L3 PE PE D PE Connections for resolver and temperature sensor Plug Signal Connection Code G Öpener Temperature Color Code for for H or PTC Sensor Resolver connection F R2 - Ref1 yellow/white D R1 - Ref2 red/white B S3 - cos2 Resolver black A S1 - cos1 red E S2 - sin2 yellow C S4 - sin1 blue J + Tacho K - (Option) As required it is possible to put the temperature sensor connections into the power plug or in the terminal box. Brake connections A B Plug Code + 24V - 24V Plugs Motor Socket Cabel connector type on Motor straight BAC 90 + BAC 118 CA 3102E18-10P-B-01 CA 3106E18-10S-B-01 BAC BAC 195 CA 3102E22-22P-B-01 CA 3106E22-22S-B-01 Resolver KPT 02 E P KPT 02 F S Brake KPT 02 E 8-2 P KPT 02 F 8-2 S

12 4.4 Resolver The motor is supplied as standard with a brushless 2 pole resolver which indicates the rotor position and speed. 4 pole and 6 pole resolvers can be supplied on application. Resolver data Motor Type BAC BAC 70 Resolver code RA RA Poles 2 2 Primary Rotor Rotor Input Voltage AC 7 V rms 10 khz AC 7 V rms 10 khz Transformation Ratio 0.5± % 0.5± % Null Voltage 20 mv rms Max. 20 mv rms Max. Phase Shift -5 NOM. -5 REF. Input Current 50 ma Max. 80 ma Max. Z RO 120+j140 Ohm REF. 90 Ohm REF Impedance Z SO 150+j270 Ohm REF. 280 Ohm REF Z SS 130+j240 Ohm REF. 260 Ohm REF Electrical Error ±10' Max. ±10' Max. Operating Temperature -55 C~+155 C -55 C~+155 C Rotor moment of Inertia 12.3x10-6 kgm 2 NOM. 3x10-6 kgm 2 NOM. Max. operating speed 10'000 min -1 10'000 min -1 Weight 0.22 kg NOM kg NOM. 5. Accessories 5.1 Thermal protection The motors are supplied with a bimetal temperature detector set within the motor windings. It is possible to provide temperature protection with a ptc sensor. Because of the possible rapid rise in temperature the sensor may be slow in response. It is better therefore to rely on the i 2 t detector cicuit which is usually supplied on modern equipment. 5.2 Additional encoders A digital position feedback device can be fitted to the b side of the motor if required. The standard adaptor flange is for a heindenhain rod 426 encoder or equivalent. If required the encoder can be supplied with a cover but not on framesize BAC Technical data on the rod 426 is available on request. 5.3 Parking brakes To hold the motor shaft stationary,without play,a parking brake can be fitted. The brake is located behind the "a" bearing and will increase the motor length. Later fitting of the brake is not possible. The permanent magnet brake is on when no current flows (fail safe).the motor shaft is held tight by the action of the permanent magnet on the brake disc. The brake is for parking only and must be energised while the motor is rotating. In emergency stops, or a supply failure condition, brake operation can take place without undue wear of the brake disc. The mounting of the pinion etc on the motor shaft must be carefully carried out as the air gap in the brake is only mm and the correct operation of the brake is dependent upon this air gap. The brake is connected by means of a plug interference to. The brakes 24 volt supply can cause a delay in the brake operation.

13 Technical data for standard brake Motor Brake Torque Current t on t off type size [Nm] [A] [ms] [ms] BAC E BAC E BAC E BAC E Technical data for larger brake Motor Brake Torque Current t on t off type Size [Nm] [A] [ms] [ms] BAC H BAC H BAC H BAC H The brake voltage is 24 volts d c with a ripple not exceeding +/- 5%. For the correct operation of the parking brake its rating and operating time must be within specification. t on -is the time from switching on the current upto the time the brake is released. t off -is the time from switching off the current to full braking torque being applied. 6. Operating conditions The ratings given in the technical data are based on: Operating with a 3 phase sinusoidal suppy Continuous operation ( s1) Ambient temperature 40 degrees centigrade maximum Altitude 1000 metres maximum.

14 7. Electrical data 7.1 Operating voltage 300 volts dc bus Motor Nominal Stall- Nominal Maximum Torque Winding Electr. Moment Weight type speed torque current torque current power torque current constant resist. ind. time of eff. eff. eff. const inertia BAC min -1 Nm A Nm A kw Nm A Nm/A Ohm mh ms kgm kg 70 S S S S M M M M L L L L S S S S M M M M L L L S S S S M M M M L L L K K K S S S M M M L L L S S S M

15 M M L L L

16 7.2 Operating voltage 500 volts dc bus Motor Nominal Stall- Nominal- Maximum Torque Winding Electr. Moment Weight type speed torque current torque current power torque current const. resist. induct. time of eff. eff. eff. const. Inertia BAC min -1 Nm A Nm A kw Nm A Nm/A Ohm mh ms kgm kg 70 S S S S M M M M L L L L S S S S M M M M L L L S S S S M M M M L L L K K K K S S S S M M M M L L L S S S M M M L L L

17 8. Dimensions F SZ G E F1 LB3 T L (LB) LA ROD 426 L1(LB1) L2 69 x 58 A D k6 M N S1 E F1 L3(LB4) LB3 T H1 L (LB) LA ROD 426 Lk x Bk 69 x 58 x1 x2 x3 N Terminal box Motor Typ x1 x2 x3 Lk x Bk * Socket connector for Resolver and thermostat BAC x 45 ** Socket connector for Motors operating on 300 Volts, BAC x 65 terminal box for motors on 500 Volts BAC 118 PG x 93 and also BAC 70 frame size BAC x 109 *** Socket connector for brake (if supplied) BAC x 123 Flange Shaft Length Type without brake with brake A M N F1 T S1 D E G F SZ L L1 L3 LB LB1 LB3 LB4 L2 LA H1 BAC 70 S BAC 70 M M Not possible BAC 70 L j6 k BAC 90 S BAC 90 M M BAC 90 L j6 k BAC 118 S BAC 118 M M BAC 118 L j6 k BAC 145 K BAC 145 S M BAC 145 M j6 k BAC 145 L BAC 195 S

18 BAC 195 M M BAC 195 L j6 k

Brushless Servo Motors

Quantum QB56 Series Housed Brushless Servo Motors NEMA Size 56 High Power Density, Sinusoidal BEMF Allied Motion s Quantum (QB) housed brushless servo motors are designed for use in precision servo applications