TETRA COMPACT. PreliminarY

Transcription

1 TETRA COMPACT PreliminarY

2 TETRA COMPACT HOW TO ORDER A BRUSHLESS SERVOMOTOR TETRA COMPACT 40 SR 0.16 E A TETRA COMPACT TYPE WAVEFORM RATED STALL TORQUE TETRA COMPACT SR = sinusoidal TRANSDUCER TYPE E = Encoder R = Resolver H = Hall sensor WINDING CODE See data Sheet TRANSDUCER MODEL 001 = 2000ppr optical encoder 401 = 2poles Resolver 008 = 4poles Hall sensor CONNECTION TYPE A = Std. VERSION LIST 00 = Not prearranged Motor Power Company s.r.l. all rights reserved / The data can be modified without notice DATA SHEET N : 6B GB Motor Power Company s.r.l. - Reggio Emilia - Italy Tel Fax

3 MOTOR SPEED BRAKE THERMAL P. SERVOMOTOR TETRA COMPACT 40 SINEWAVE FORM SIMBOLS UNITS TORQUE [Nm] TETRACOMPACT TETRACOMPACT Vn drive 3phase 60 Vdc [ rpm ] Vn drive 3phase 100 Vdc [ rpm ] Vn drive 3phase 200 Vdc [ rpm ] Vn drive 3phase 230 Vac 1/3phase [ rpm ] 5000 Vn drive 3phase 380 Vac 3phase [ rpm ] WINDING DATA Poles number P 8 8 Continuos stall torque (*1) Cn0 [ Nm ] Rated power at3000 rpm (*1) P [W] Voltage constant ± 5% Ke [Vrms/Krpm] Torque constant ± 5% Kt [Nm/Arms] Stall current In0 [Arms] Peak torque Cmax [ Nm ] Peak current I cmax [Arms] Ph/ph resistance ±10% at25 C Rff [ Ohm ] Phase / phase inductance Lff [ mh ] Electrical time constant Te [ ms ] Thermal time constant Tt [ min ] Operating temperature Tr [ C ] Protection degree IP 65 (*) 65 (*) Insulation class F F MECHANICAL DATA Moment of inertia Jm [Kg cm 2 ] 0.02 (only rotor) 0.04 (only rotor) Max theorethical acceleration αmax [rad/s 2 ] Mechanical time constant Tm Tm [ ms ] Cogging torque Tcog [ Nm ] 4.8 * *10-3 Damping constant at 1000pm Td [ Nm ] 3.2 * *10-3 Max radial load ( at 3000rpm) Fr [ N ] 180 (applied on the shaft s middle) 180 (applied on the shaft s middle) Max axial load Fa [ N ] 30 (applied on the shaft s middle) 30 (applied on the shaft s middle) Weight M [ Kg ] Type of thermal cut - off N To be defined Rated voltage Vn [ V ac] - Rated current In [ A ] - Operative temperature Tn [ C ] - Resetting temperature Tr [ C ] - Operative time [ ms ] - Insulation class - Type STD 2 Static torque Co [ Nm ] 2 Rated voltage Vn [ V ] 24 Vcc + 6% -10% Stabilized Rated current In [ A ] 0.46 Input power Pn [ W ] 11 Engaging time Tr [ ms ] 6 Release time Tl [ ms ] 25 (*) with oil seal mounted on the flange; (*1) Output continous ratings with 250 x 250 x 6 mm metallic heat sink flange coupling DATA SHEET N 1B GB

4 TETRA COMPACT 40 TRANSDUCER E TYPE : ENCODER Rated voltage Vn [ V ] 5 ± 5% Rated current In [ ma ] 200 Frequency F [K Hz ] 200 Working temperature Tn [ C ] Electronic type LINE DRIVER AM 26 LS31 Rotation BIDIRECTIONAL Zero impulse N of pulses revolution N commutation signals 3 Differential TRANSDUCER R TYPE : RESOLVER Rated voltage Vn [ V rms] 7 ± 5% Rated current In [ ma ] 18 Phase shift 0 Electric error ± 10 Min.sin.amplitude [mvrms] 20 Frequency F [ KHz ] 10 Poles number 2 Trasformer ratio 0.5 ± 5% Input inpendance Zro [ Ohm ] 140 Output inpendance Zss [ Ohm ] 120 Working temperature Tn [ C ] Rotor inertia Jm [Kg cm 2 ] H TYPE : HALL SENSORS Rated voltage Vn [ V ] 5 24 Rated current In [ ma ] 100 Working temperature Tn [ C ] N of commutation signals 3 Common Mode DATA SHEET N 2B GB

5 TETRA COMPACT 40 DIMENSION (mm) TYPE A L φd (h7) 8 8 F - - C - - R SAFETY BRAKE INCREASE 30 mm THE LENGHT L WIRING DIAGRAM POWER CABLE U phase WHITE V phase BLACK W phase RED Earth YELLOW-GREEN Schield BLACK RESOLVER SIGNAL CABLE Sin (s2) BLACK Sin- (s4) RED Cos (s1) Cos- (s3) YELLOW 7Vrms f=10khz RED/WHITE 0 V YELLOW/WHITE ENCODER SIGNAL CABLE 5 Vdc RED 0 V BLACK Ch A GREEN Ch /A GREEN/BLACK Ch B Ch /B /BLACK Ch Z YELLOW Ch /Z YELLOW/BLACK Ch U GREEN Ch /U GREEN/BLACK Ch V WHITE Ch /V WHITE/BLACK Ch W GREY Ch /W GREY DATA SHEET N 7B GB

6 MOTOR SPEED SERVOMOTOR THERMIAL P. BRAKE TETRA COMPACT 60 SINEWAVE FORM SIMBOLS SIMBOLI UNITS TORQUE [Nm] TETRACOMPACT TETRACOMPACT Vn drive 3phase 60 Vdc [ rpm ] Vn drive 3phase 100 Vdc [ rpm ] Vn drive 3phase 200 Vdc [ rpm ] Vn drive 3phase 230 Vac 1/3phase [ rpm ] Vn drive 3phase 380 Vac 3phase [ rpm ] 5000 WINDING DATA Poles number P 8 8 Continuos stall torque (*1) Cn0 [ Nm ] Rated power at3000 rpm (*1) P [W] Voltage constant ± 5% Ke [Vrms/Krpm] Torque constant ± 5% Kt [Nm/Arms] Stall current In0 [Arms] Peak torque Cmax [ Nm ] Peak current I cmax [Arms] Ph/ph resistance ±10% at25 C Rff [ Ohm ] Phase / phase inductance Lff [ mh ] Electrical time constant Te [ ms ] Thermal time constant Tt [ min ] Operating temperature Tr [ C ] Protection degree IP 65 (*) 65 (*) Insulation class F F MECHANICAL DATA Moment of inertia Jm [Kg cm 2 ] 0.12 ((only rotor) 0.21 (only rotor) Max theorethical acceleration αmax [rad/s 2 ] Mechanical time constant Tm Tm [ ms ] Cogging torque Tcog [ Nm ] 1.95 * *10-2 Damping constant at 1000pm Td [ Nm ] 1.3* *10-2 Max radial load ( at 3000rpm) Fr [ N ] 220 (applied on the shaft s middle) 220 (applied on the shaft s middle) Max axial load Fa [ N ] 70 (applied on the shaft s middle) 70 (applied on the shaft s middle) Weight M [ Kg ] Type of thermal cut - off N To be defined Rated voltage Vn [ V ac] - Rated current In [ A ] - Operative temperature Tn [ C ] - Resetting temperature Tr [ C ] - Operative time [ ms ] - Insulation class - Type STD 2 Static torque Co [ Nm ] 2 Rated voltage Vn [ V ] 24 Vcc + 6% -10% Stabilized Rated current In [ A ] 0.46 Input power Pn [ W ] 11 Engaging time Tr [ ms ] 6 Release time Tl [ ms ] 25 (*) with oil seal mounted on the flange; (*1) Output continous ratings with 250 x 250 x 6 mm metallic heat sink flange coupling DATA SHEET N 1B GB

7 TETRA COMPACT 60 TRANSDUCER E TYPE : ENCODER Rated voltage Vn [ V ] 5 ± 5% Rated current In [ ma ] 200 Frequency F [K Hz ] 200 Working temperature Tn [ C ] Electronic type LINE DRIVER AM 26 LS31 Rotation BIDIRATIONAL Zero impulse N of pulses revolution N commutation signals 3 Differential TRANSDUCER R TYPE: RESOLVER Rated voltage Vn [ V rms] 7 ± 5% Rated current In [ ma ] 18 Phase shift 0 Electric error ± 10 Min.sin.amplitude [mvrms] 20 Frequency F [ KHz ] 10 Poles number 2 Trasformer ratio 0.5 ± 5% Input inpendance Zro [ Ohm ] 70 + j 100 Output inpendance Zss [ Ohm ] j 257 Working temperature Tn [ C ] Rotor inertia Jm [Kg cm 2 ] H TYPE : HALL SENSOR Rated voltage Vn [ V ] 5 24 Rated current In [ ma ] 100 Working temperature Tn [ C ] N of commutation signals 3 Common Mode DATA SHEET N 2B GB

8 TETRA COMPACT 60 DIMENSIONS (mm) TYPE A L φd (h7) F M4 M5 C 4*4*18 5*5*25 R SAFETY BRAKE INCREASE 30 mm THE LENGHT L WIRING DIAGRAM POWER CABLE U phase WHITE V phase BLACK W phase RED Earth YELLOW-GREEN Schield BLACK RESOLVER SIGNAL CABLE Sin (s2) BLACK Sin- (s4) RED Cos (s1) Cos- (s3) YELLOW 7Vrms f=10khz RED/WHITE 0 V YELLOW/WHITE ENCODER SIGNAL CABLE 5 Vdc RED 0 V BLACK Ch A GREEN Ch /A GREEN/BLACK Ch B Ch /B /BLACK Ch Z YELLOW Ch /Z YELLOW/BLACK Ch U BROWN Ch /U BROWN/BLACK Ch V WHITE Ch /V WHITE/BLACK Ch W GREY Ch /W GREY/BLACK DATA SHEET N 7B GB

9 MOTOR SPEED SERVOMOTORS THERMAL P. TETRA COMPACT 80 SINEWAVE FORM SIMBOLS SIMBOLI UNITS TORQUE[Nm] TETRACOMPACT TETRACOMPACT Vn drive 3phase 60 Vdc [ rpm ] 2000 Vn drive 3phase 100 Vdc [ rpm ] Vn drive 3phase 200 Vdc [ rpm ] Vn drive 3phase 230 Vac 1/3phase [ rpm ] Vn drive 3phase380 Vac 3phase [ rpm ] WINDING DATA Poles number P 8 8 Continuos stall torque (*1) Cn0 [ Nm ] Rated power at3000 rpm (*1) P [W] Voltage constant ± 5% Ke [Vrms/Krpm] Torque constant ± 5% Kt [Nm/Arms] Stall current In0 [Arms] Peak torque Cmax [ Nm ] Peak current I cmax [Arms] Ph/ph resistance ±10% at25 C Rff [ Ohm ] Phase / phase inductance Lff [ mh ] Electrical time constant Te [ ms ] Thermal time constant Tt [ min ] Operating temperature Tr [ C ] Protection degree IP 65 (*) 65 (*) Insulation class F F MECHANICAL DATA Moment of inertia Jm [Kg cm 2 ] 0.61 (only rotor) 1.12 (only rotor) Max theorethical acceleration αmax [rad/s 2 ] Mechanical time constant Tm Tm [ ms ] Cogging torque Tcog [ Nm ] 4.5 * *10-2 Damping constant at 1000pm Td [ Nm ] 3 * *10-2 Max radial load ( at 3000rpm) Fr [ N ] 350 (applied on the shaft s middle) 350 (applied on the shaft s middle) Max axial load Fa [ N ] 110 (applied on the shaft s middle) 110(applied on the shaft s middle) Weight M [ Kg ] Type of thermal cut - off N To be defined Rated voltage Vn [ V ac] - Rated current In [ A ] - Operative temperature Tn [ C ] - Resetting temperature Tr [ C ] - Operative time [ ms ] - Insulation class - Type STD 4.5 Static torque Co [ Nm ] 4.5 Rated voltage Vn [ V ] 24 Vcc +6% -10% Stabilized Rated current In [ A ] 0.5 Input power Pn [ W ] 12 Engaging time Tr [ ms ] 7 Release time Tl [ ms ] 35 (*) with oil seal mounted on the flange; (*1) Output continous ratings with 250 x 250 x 6 mm metallic heat sink flange coupling DATA SHEET N 1B GB BRAKE

10 TETRA COMPACT 80 TRANSDUCER E TYPE : ENCODER Rated voltage Vn [ V ] 5 ± 5% Rated current In [ ma ] 200 Frequency F [K Hz ] 200 Working temperature Tn [ C ] Electronic type LINE DRIVER AM 26 LS31 Rotation BIDIRECTIONAL Zero impulse N of pulses revolution N commutation signals 3 Differential TRNASDUCERS R TYPE : RESOLVER Rated voltage Vn [ V rms] 7 ± 5% Rated current In [ ma ] 18 Phase shift 0 Electric error ± 10 Min.sin.amplitude [mvrms] 20 Frequency F [ KHz ] 10 Poles number 2 Trasformer ratio 0.5 ± 5% Input inpendance Zro [ Ohm ] 70 + j 100 Output inpendance Zss [ Ohm ] j 257 Working temperature Tn [ C ] Rotor inertia Jm [Kg cm 2 ] H TYPE : HALL SENSORS Rated voltage Vn [ V ] 5 24 Rated current In [ ma ] 100 Working temperature Tn [ C ] N of commutation signals 3 Common Mode DATA SHEET N 2B GB

11 TETRA COMPACT 80 DIMENSIONS (mm) TYPE A L φd (h7) F M5 M6 C 5*5*25 6*6*30 R SAFETY BRAKE INCREASE 30 mm THE LENGHT L WIRING DIAGRAM POWER CABLE U phase WHITE V phase BLACK W phase RED Earth YELLOW-GREEN Schield BLACK RESOLVER SIGNAL CABLE Sin (s2) BLACK Sin- (s4) RED Cos (s1) Cos- (s3) YELLOW 7Vrms f=10khz RED/WHITE 0 V YELLOW/WHITE ENCODER SIGNAL CABLE 5 Vdc RED 0 V BLACK Ch A GREEN Ch /A GREEN/BLACK Ch B Ch /B /BLACK Ch Z YELLOW Ch /Z YELLOW/BLACK Ch U BROWN Ch /U BROWN/BLACK Ch V WHITE Ch /V WHITE/BLACK Ch W GREY Ch /W GREY/BLACK DATA SHEET N 7B GB