Engineering Data AC Servo Actuators LynxDrive

Transcription

1 Engineering Data AC Servo Actuators LynxDrive More information on our servo products can be found HERE! Contact us today!

2 Contents 1. General Description of Safety Alert Symbols Disclaimer and Copyright Safety and Installation Instructions Hazards Intended Purpose Non Intended Purpose Declaration of Conformity Technical Description Product Description Ordering Code Technical Data General Technical Data Actuator Data Dimensions Accuracy Torsional Stiffness Output Bearing Motor Feedback Systems Temperature Sensors Electrical Connections Actuator Selection Procedure Selection Procedure and Calculation Example Calculation of the Torsion Angle Output Bearing Lifetime Calculation Angle of Inclination Installation and Operation Transportation and Storage Installation Mechanical Installation Electrical Installation Commissioning Overload Protection Protection against Corrosion and Penetration of Liguids and Debris Shutdown and Maintenance Decommissioning and Disposal Glossary Technical Data Labelling, Guidelines and Regulations /217 V3

3 1. General About this documentation This document contains safety instructions, technical data and operation rules for servo actuators and servo motors of Harmonic Drive AG. The documentation is aimed at planners, project engineers, commissioning engineers and machine manufacturers, offering support during selection and calculation of the servo actuators, servo motors and accessories. Rules for storage Please keep this document for the entire life of the product, up to its disposal. Please hand over the documentation when re-selling the product. Additional documentation For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional documents. Documentation is provided for all products offered by Harmonic Drive AG and can be found in pdf format on the website. Third-party systems Documentation for parts supplied by third party suppliers, associated with Harmonic Drive components, is not included in our standard documentation and should be requested directly from the manufacturers. Before commissioning servo actuators and servo motors from Harmonic Drive AG with servo drives, we advise you to obtain the relevant documents for each device. Your feedback Your experiences are important to us. Please send suggestions and comments about the products and documentation to: Harmonic Drive AG Marketing and Communications Hoenbergstraße Limburg / Lahn Germany info@harmonicdrive.de /217 V3 3

4 1.1 Description of Safety Alert Symbols Symbol Meaning DANGER WARNING ATTENTION ADVICE INFORMATION Indicates an imminent hazardous situation. If this is not avoided, death or serious injury could occur. Indicates a possible hazard. Care should be taken or death or serious injury may result. Indicates a possible hazard. Care should be taken or slight or minor injury may result. Describes a possibly harmful situation. Care should be taken to avoid damage to the system and surroundings. This is not a safety symbol. This symbol indicates important information. Warning of a general hazard. The type of hazard is determined by the specific warning text. Warning of dangerous electrical voltage and its effects. Beware of hot surfaces. Beware of suspended loads. Precautions when handling electrostatic sensitive components. 1.2 Disclaimer and Copyright The contents, images and graphics contained in this document are protected by copyright. In addition to the copyright, logos, fonts, company and product names can also be protected by brand law or trademark law. The use of text, extracts or graphics requires the permission of the publisher or rights holder. We have checked the contents of this document. Since errors cannot be ruled out entirely, we do not accept liability for mistakes which may have occurred. Notification of any mistake or suggestions for improvements will be gratefully received and any necessary correction will be included in subsequent editions /217 V3

5 2. Safety and Installation Instructions Please take note of the information and instructions in this document. Specialy designed models may differ in technical detail. If in doubt, we strong recommend that you contact the manufacturer, giving the type designation and serial number for clarification. 2.1 Hazards DANGER Electric servo actuators and motors have dangerous live and rotating parts. All work during connection, operation, repair and disposal must be carried out by qualified personnel as described in the standards EN511-1 and IEC 6364! Before starting any work, and especially before opening covers, the actuator must be properly isolated. In addition to the main circuits, the user also has to pay attention to any auxilliary circuits. Observing the five safety rules: Disconnect mains Prevent reconnection Test for absence of harmful voltages Ground and short circuit Cover or close off nearby live parts The measures taken above must only be withdrawn when the work has been completed and the device is fully assembled. Improper handling can cause damage to persons and property. The respective national, local and factory specific regulations must be adhered to. ATTENTION The surface temperature of gears, motors and actuators can exceed 55 degrees Celsius. The hot surfaces should not be touched. ADVICE Cables must not come into direct contact with hot surfaces /217 V3 5

6 DANGER Electric, magnetic and electromagnetic fields are dangerous, in particular for persons with pacemakers, implants or similiar. Vulnerable groups must not be in the immediate vicinity of the products themselves. DANGER Built-in holding brakes alone are not functional safe. Particularly with unsupported vertical axes, the functional safety and security can only be achieved with additional, external mechanical brakes. WARNING The successful and safe operation of gears, servo actuators and motors requires proper transport, storage and assembly as well as correct operation and maintenance. ADVICE Use suitable lifting equipment to move and lift gears, servo actuators and motors with a weight > 2 kg. INFORMATION Special versions of products may differ in the specification from the standard. Further applicable data from data sheets, catalogues and offers of the special version have to be considered. 2.2 Intended Purpose The Harmonic Drive servo actuators and motors are intended for industrial or commercial applications. They comply with the relevant parts of the harmonised EN 634 standards series. Typical areas of application are robotics and handling, machine tools, packaging and food machines and similar machines. The servo actuators and motors may only be operated within the operating ranges and environmental conditions shown in the documentation (altitude, degree of protection, temperature range etc). Before plant and machinery which have Harmonic Drive servo actuators and motors built into them are commissioned, the compliance must be established with the Machinery Directive, Low Voltage Directive and EMC guidelines. Plant and machinery with inverter driven motors must satisfy the protection requirements in the EMC guidelines. It is the responsibility of the installer to ensure that installation is undertaken correctly. Signal and power lines must be shielded. The EMC instructions from the inverter manufacturer must be observed in order that installation meets the EMC regulations /217 V3

7 2.3 Non Intended Purpose The use of servo actuators and motors outside the areas of application mentioned above or, inter alia, other than in the operating areas or environmental conditions described in the documentation is considered as non-intended purpose. ADVICE Direct operating from the mains supply is not allowed. The following areas of application are, inter alia, those considered as non-intended purpose: Aerospace Areas at risk of explosion Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of radio-activity Vacuum Machines for domestic use Medical equipment which comes into direct contact with the human body Machines or equipment for transporting or lifting people Special devices for use in annual markets or leisure parks 2.4 Declaration of Conformity The Harmonic Drive Servo Actuators and Motors described in the engineering data comply with the Low Voltage Directive. In accordance with the Machinery Directive, Harmonic Drive Servo Actuators and Servo Motors are electrical equipment for the use within certain voltage limits as covered by the Low Voltage Directive and thus excluded from the scope of the Machinery Directive. Commissioning is prohibited until the final product conforms to the Machinery Directive. According to the EMC directive 214/3/EU article2 and article 3 Harmonic Drive Servo Actuators and Motors are not classified as equipment, finished apparatus or fixed installation. Harmonic Drive Servo Actuators and Motors are classified as components which are not intended to be installed by the end-user in a finished apparatus. Harmonic Drive Servo Actuators and Motors therefore are not within the scope of the EMC- Directive. The conformity to the EU directives of equipment, plant and machinery in which Harmonic Drive Servo Actuators and Motors are installed must be provided by the manufacturer before taking the device into operation. Equipment, plant and machinery with inverter driven motors must satisfy the prediction requirements in the EMC directive. It is the responsibility of the manufacturer to ensure that the installation is undertaken correctly /217 V3 7

8 3. Technical Description 3.1 Product Description Compact actuator with high corrosion protection The servo drives of the LynxDrive Series combine a synchronous servo motor, Unit from the HFUC-2UH Series, feedback sensor and a cross roller output bearing. Available in seven sizes with six gear ratios between 3 and 16:1, the actuators can provide maximum torques from 9 to 118Nm. The output bearing with high tilting capacity can easily withstand and accurately handle heavy payloads. To adapt to your specific application, the LynxDrive Series offers many possible combinations when selecting the motor feedback, brake, as well as offering various cable and connector options. With the servo controller YukponDrive, a pre-configured drive system from a single source is available - perfectly tailored for your application. Alternatively, the flexible configuration of the actuator ensures compatibility with almost any servo controller on the market. The accurate positioning of the actuator ensures stable machine characteristics, short cycle times and minimum space requirements. With high protection ratings and corrosion resistance, the series is perfectly suited for use in harsh and demanding environmental conditions /217 V3

9 3.2 Ordering Code Table 9.1 Series Size Ratio Motor winding Connector configuration Motorfeedback Brake Special design 14C C AO LynxDrive 2C C C AR H L MGH MEE MKE ROO B According to customer requirements 4C AT 5C AW Ordering Code LynxDrive - 2C AO - H - MGH - B - SP Variations in bold print are available at short notice, subject to prior sale. Table 9.2 Table 9.3 Motor winding Connector configuration Size Ordering Code Maximum stationary DC bus voltage Ordering Code Motor Motorfeedback 14C 17C AO MGH ROO MEE MKE 2C 25C 32C AR 68 VDC H L 6 pol. 8 pol. 12 pol. 17 pol. 4C AT 5C AW Table 9.4 Motorfeedback Ordering Code Type Protocol MGH HIPERFACE MEE Multiturn Absolut MKE EnDat ROO Resolver Explanation of the technical data can be found in the Glossary /217 V3 9

10 Combinations Table 1.1 Size 14C 17C 2C 25C 32C 4C 5C 3 5 Ratio Motor winding 16 AO AR AT AW Connector configuration H L MGH Motorfeedback MEE MKE available on request not available ROO Brake B /217 V3

11 3.3 Technical Data General Technical Data Table 11.1 Insulation class (EN 634-1) F Insulation resistance (5VDC) MΩ 1 Insulation voltage (1s) V rms 25 Lubrication Harmonic Drive Flexolub A1 Degree of protection (EN 634-5) IP65 Ambient operating temperature C 4 Ambient storage temperature C -2 6 Altitude (a. s. l.) m < 1 Relative humidity (without condensation) % 2 8 Vibration resistance (DIN IEC 68 Teil 2-6, 1 5 Hz) g 5 Shock resistance (DIN IEC 68 Teil 2-27, 18 ms) g 3 Temperature sensor 1 x KTY und 1 x PTC 116-K C The continuous operating characteristics given in the following apply to an ambient temperature of 4 C and an aluminium cooling surface with the following dimensions: Table 11.2 Series Size Unit Dimensions LynxDrive 14C [mm] 2 x 2 x 6 17C [mm] 3 x 3 x 15 2C [mm] 3 x 3 x 15 25C [mm] 35 x 35 x 18 32C [mm] 35 x 35 x 18 4C [mm] 4 x 4 x 2 5 C [mm] 6 x 6 x /217 V3 11

12 3.3.2 Actuator Data Table 12.1 Symbol [Unit] LynxDrive-14C Ratio i [ ] Maximum output torque T max [Nm] Maximum output speed n max [rpm] Maximum current I max [A rms ] Continuous stall torque T [Nm] Continuous stall current I [A rms ] Maximum DC bus voltage U DCmax [V DC ] 68 Electrical time constant (2 C) t e [ms] 1.9 Mechanical time constant (2 C) t m [ms] 1.9 No load current I NLS [A rms ] No load running current constant (3 C) K INL [x1-3 A rms /rpm] No load running current constant (8 C) K INL [x1-3 A rms /rpm] Torque constant (at output) k Tout [Nm/A rms ] Torque constant (at motor) k TM [Nm/A rms ].39 AC voltage constant (L-L, 2 C, at motor) k EM [V rms /1 rpm] 26 Motor terminal voltage (fundamental wave only) U M [V rms ] Demagnetisation current I E [A rms ] - Maximum motor speed n max [rpm] 85 Rated motor speed n N [rpm] 35 Resistance (L-L, 2 C) R L-L [Ω] 7.2 Inductance (L-L) L L-L [mh] 14 Number of pole pairs p [ ] 5 Weight without brake m [kg] 2.2 Moment of Inertia Table 12.2 Symbol [Unit] LynxDrive-14C Ratio i [ ] Moment of inertia at outputside Moment of inertia without brake J out [kgm²] Moment of inertia at motor Moment of inertia at motor without brake J [x1-4 kgm²] /217 V3

13 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. LynxDrive-14C-3 Illustration 13.1 Illustration 13.2 LynxDrive-14C-5 Drehmoment Torque [Nm] / [Nm] Torque [Nm] Drehmoment Torque [Nm] / [Nm] Torque [Nm] Drehzahl [min -1 ] Speed / Speed [rpm] [rpm] Illustration 13.3 LynxDrive-14C Drehzahl [min -1 ] Speed / Speed [rpm] [rpm] Drehmoment Torque [Nm] [Nm] / Torque [Nm] Drehzahl [min -1 Speed ] / Speed [rpm] [rpm] Legend Intermittent duty U M = VAC S3-ED 5% (1 min) Continuous duty /217 V3 13

14 Table 14.1 Symbol [Unit] LynxDrive-17C Ratio i [ ] Maximum output torque T max [Nm] Maximum output speed n max [rpm] Maximum current I max [A rms ] Continuous stall torque T [Nm] Continuous stall current I [A rms ] Maximum DC bus voltage U DCmax [V DC ] 68 Electrical time constant (2 C) t e [ms] 1.9 Mechanical time constant (2 C) t m [ms] 2.4 No load current I NLS [A rms ] No load running current constant (3 C) K INL [x1-3 A rms /rpm] No load running current constant (8 C) K INL [x1-3 A rms /rpm] Torque constant (at output) k Tout [Nm/A rms ] Torque constant (at motor) k TM [Nm/A rms ].39 AC voltage constant (L-L, 2 C, at motor) k EM [V rms /1 rpm] 26 Motor terminal voltage (fundamental wave only) U M [V rms ] Demagnetisation current I E [A rms ] - Maximum motor speed n max [rpm] 73 Rated motor speed n N [rpm] 35 Resistance (L-L, 2 C) R L-L [Ω] 7.2 Inductance (L-L) L L-L [mh] 14 Number of pole pairs p [ ] 5 Weight without brake m [kg] 2.3 Moment of Inertia Table 14.2 Symbol [Unit] LynxDrive-17C Ratio i [ ] Moment of inertia at outputside Moment of inertia without brake J out [kgm²] Moment of inertia at motor Moment of inertia at motor without brake J [x1-4 kgm²] /217 V3

15 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. LynxDrive-17C-3 Illustration 15.1 Illustration 15.2 LynxDrive-17C-5 Torque [Nm] Drehmoment [Nm] Torque / [Nm] Torque [Nm] Drehzahl [min -1 Speed ] / Speed [rpm] [rpm] Illustration LynxDrive-17C-1 Drehmoment [Nm] Torque / Torque [Nm] [Nm] Drehzahl [min -1 ] Speed / Speed [rpm] [rpm] Drehzahl [min -1 Speed ] / Speed [rpm] [rpm] Legend Intermittent duty U M = VAC S3-ED 5% (1 min) Continuous duty /217 V3 15

16 Table 16.1 Symbol [Unit] LynxDrive-2C Ratio i [ ] Maximum output torque T max [Nm] Maximum output speed n max [rpm] Maximum current I max [A rms ] Continuous stall torque T [Nm] Continuous stall current I [A rms ] Maximum DC bus voltage U DCmax [V DC ] 68 Electrical time constant (2 C) t e [ms] 2. Mechanical time constant (2 C) t m [ms] 3.3 No load current I NLS [A rms ] No load running current constant (3 C) K INL [x1-3 A rms /rpm] No load running current constant (8 C) K INL [x1-3 A rms /rpm] Torque constant (at output) k Tout [Nm/A rms ] Torque constant (at motor) k TM [Nm/A rms ].39 AC voltage constant (L-L, 2 C, at motor) k EM [V rms /1 rpm] 26 Motor terminal voltage (fundamental wave only) U M [V rms ] Demagnetisation current I E [A rms ] - Maximum motor speed n max [rpm] 65 Rated motor speed n N [rpm] 35 Resistance (L-L, 2 C) R L-L [Ω] 7. Inductance (L-L) L L-L [mh] 14. Number of pole pairs p [ ] 5 Weight without brake m [kg] 2.6 Weight with brake m [kg] 3 Moment of Inertia Table 16.2 Symbol [Unit] LynxDrive-2C Ratio i [ ] Moment of inertia at outputside Moment of inertia without brake J out [kgm²] Moment of inertia with brake J out [kgm²] Moment of inertia at motor Moment of inertia at motor without brake J [1-4 kgm²].37 Moment of inertia at motor with brake J [1-4 kgm²].43 Technical Data Brake Table 16.3 Symbol [Unit] LynxDrive-2C Ratio i [ ] Brake voltage U Br [V DC ] % - 1% Brake holding torque (at output) T Br [Nm] Brake current to open I OBr [A DC ].5 Brake current to hold (1 VDC) I HBr [A DC ].2 Number of brake cycles at n = rpm 5 Emergency brake cycles 1 Opening time t O [ms] 25 Closing time t C [ms] /217 V3

17 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. LynxDrive-2C-3 Illustration 17.1 Illustration 17.2 LynxDrive-2C Drehmoment Torque [Nm] / [Nm] Torque [Nm] Drehmoment Torque [Nm] / [Nm] Torque [Nm] Speed [rpm] Speed [rpm] LynxDrive-2C-8 Illustration 17.3 Illustration 17.4 LynxDrive-2C Drehmoment Torque [Nm] /[Nm] Torque [Nm] Drehmoment Torque [Nm] / [Nm] Torque [Nm] Speed [rpm] Speed [rpm] LynxDrive-2C-12 Illustration 17.5 Illustration 17.6 LynxDrive-2C-16 Torque [Nm] Drehmoment [Nm] / Torque [Nm] Drehmoment Torque [Nm] / [Nm] Torque [Nm] Speed [rpm] Speed [rpm] Legend Intermittent duty U M = 43 VAC S3-ED 5% (1 min) Continuous duty U M = 22 VAC /217 V3 17

18 Table 18.1 Symbol [Unit] LynxDrive-25C Ratio i [ ] Maximum output torque T max [Nm] Maximum output speed n max [rpm] Maximum current I max [A rms ] Continuous stall torque T [Nm] Continuous stall current I [A rms ] Maximum DC bus voltage U DCmax [V DC ] 68 Electrical time constant (2 C) t e [ms] 3.8 Mechanical time constant (2 C) t m [ms] 1.8 No load current I NLS [A rms ] No load running current constant (3 C) K INL [x1-3 A rms /rpm] No load running current constant (8 C) K INL [x1-3 A rms /rpm] Torque constant (at output) k Tout [Nm/A rms ] Torque constant (at motor) k TM [Nm/A rms ].58 AC voltage constant (L-L, 2 C, at motor) k EM [V rms /1 rpm] 38 Motor terminal voltage (fundamental wave only) U M [V rms ] Demagnetisation current I E [A rms ] - Maximum motor speed n max [rpm] 48 Rated motor speed n N [rpm] 35 Resistance (L-L, 2 C) R L-L [Ω] 2.4 Inductance (L-L) L L-L [mh] 6.4 Number of pole pairs p [ ] 7 Weight without brake m [kg] 4.5 Weight with brake m [kg] 5 Moment of Inertia Table 18.2 Symbol [Unit] LynxDrive-25C Ratio i [ ] Moment of inertia at outputside Moment of inertia without brake J out [kgm²] Moment of inertia with brake J out [kgm²] Moment of inertia at motor Moment of inertia at motor without brake J [1-4 kgm²] 1.78 Moment of inertia at motor with brake J [1-4 kgm²] 2. Technical Data Brake Table 18.3 Symbol [Unit] LynxDrive-25C Ratio i [ ] Brake voltage U Br [V DC ] % - 1% Brake holding torque (at output) T Br [Nm] Brake current to open I OBr [A DC ].5 Brake current to hold (1 VDC) I HBr [A DC ].2 Number of brake cycles at n = rpm 5 Emergency brake cycles 1 Opening time t O [ms] 25 Closing time t C [ms] /217 V3

19 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. LynxDrive-25C-3 Illustration 19.1 Illustration 19.2 LynxDrive-25C Torque [Nm] Torque [Nm] LynxDrive-25C-8 Illustration 19.3 Illustration LynxDrive-25C-12 Illustration 19.5 Illustration 19.6 Torque [Nm] Speed [rpm] Speed [rpm] Torque [Nm] Torque [Nm] Torque [Nm] Speed [rpm] LynxDrive-25C Speed [rpm] LynxDrive-25C Speed [rpm] Speed [rpm] Legend Intermittent duty U M = 43 VAC S3-ED 5% (1 min) Continuous duty U M = 22 VAC /217 V3 19

20 Table 2.1 Symbol [Unit] LynxDrive-32C Ratio i [ ] Maximum output torque T max [Nm] Maximum output speed n max [rpm] Maximum current I max [A rms ] Continuous stall torque T [Nm] Continuous stall current I [A rms ] Maximum DC bus voltage U DCmax [V DC ] 68 Electrical time constant (2 C) t e [ms] 2.7 Mechanical time constant (2 C) t m [ms] 4.1 No load current I NLS [A rms ] No load running current constant (3 C) K INL [1-3 A rms /rpm] No load running current constant (8 C) K INL [1-3 A rms /rpm] Torque constant (at output) k Tout [Nm/A rms ] Torque constant (at motor) k TM [Nm/A rms ].58 AC voltage constant (L-L, 2 C, at motor) k EM [V rms /1 rpm] 38 Motor terminal voltage (fundamental wave only) U M [V rms ] Demagnetisation current I E [A rms ] - Maximum motor speed n max [rpm] 48 Rated motor speed n N [rpm] 35 Widerstand (L-L, +2 C) R L-L [Ω] 2.4 Inductance (L-L) L L-L [mh] 6.4 Number of pole pairs p [ ] 7 Weight without brake m [kg] 6.5 Weight with brake m [kg] 7.1 Moment of Inertia Table 2.2 Symbol [Unit] LynxDrive-32C Ratio i [ ] Moment of inertia at outputside Moment of inertia without brake J out [kgm²] Moment of inertia with brake J out [kgm²] Moment of inertia at motor Moment of inertia at motor without brake J [1-4 kgm²] 2.95 Moment of inertia at motor with brake J [1-4 kgm²] 3.12 Technical Data Brake Table 2.3 Symbol [Unit] LynxDrive-32C Ratio i [ ] Brake voltage U Br [V DC ] % - 1% Brake holding torque (at output) T Br [Nm] Brake current to open I OBr [A DC ].5 Brake current to hold (1 VDC) I HBr [A DC ].3 Number of brake cycles at n = rpm 5 Emergency brake cycles 1 Opening time t O [ms] 35 Closing time t C [ms] /217 V3

21 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. LynxDrive-32C-3 Illustration 21.1 Illustration 21.2 LynxDrive-32C Torque [Nm] Torque [Nm] Speed [rpm] LynxDrive-32C-8 Illustration 21.3 Illustration 21.4 Speed [rpm] LynxDrive-32C-12 Illustration 21.5 Illustration 21.6 Torque [Nm] Torque [Nm] Torque [Nm] Torque [Nm] Speed [rpm] Speed [rpm] LynxDrive-32C LynxDrive-32C Speed [rpm] Speed [rpm] Legend Intermittent duty U M = 43 VAC S3-ED 5% (1 min) Continuous duty U M = 22 VAC /217 V3 21

22 Table 22.1 Symbol [Unit] LynxDrive-4C Ratio i [ ] Maximum output torque T max [Nm] Maximum output speed n max [rpm] Maximum current I max [A rms ] Continuous stall torque T [Nm] Continuous stall current I [A rms ] Maximum DC bus voltage U DCmax [V DC ] 68 Electrical time constant (2 C) t e [ms] 3.8 Mechanical time constant (2 C) t m [ms] 3.9 No load current I NLS [A rms ] No load running current constant (3 C) K INL [1-3 A rms /rpm] No load running current constant (8 C) K INL [1-3 A rms /rpm] Torque constant (at output) k Tout [Nm/A rms ] Torque constant (at motor) k TM [Nm/A rms ].71 AC voltage constant (L-L, 2 C, at motor) k EM [V rms /1 rpm] 46 Motor terminal voltage (fundamental wave only) U M [V rms ] Demagnetisation current I E [A rms ] - Maximum motor speed n max [rpm] 4 Rated motor speed n N [rpm] 3 Resistance (L-L, 2 C) R L-L [Ω] 1.3 Inductance (L-L) L L-L [mh] 5. Number of pole pairs p [ ] 7 Weight without brake m [kg] 9.1 Weight with brake m [kg] 1.1 Moment of Inertia Table 22.2 Symbol [Unit] LynxDrive-4C Ratio i [ ] Moment of inertia at outputside Moment of inertia without brake J out [kgm²] Moment of inertia with brake J out [kgm²] Moment of inertia at motor Moment of inertia at motor without brake J [1-4 kgm²] 7.86 Moment of inertia at motor with brake J [1-4 kgm²] 8.27 Technical Data Brake Table 22.3 Symbol [Unit] LynxDrive-4C Ratio i [ ] Brake voltage U Br [V DC ] % - 1% Brake holding torque (at output) T Br [Nm] Brake current to open I OBr [A DC ].8 Brake current to hold (1V) I HBr [A DC ].4 Number of brake cycles at n = rpm 5 Emergency brake cycles 1 Opening time t O [ms] 4 Closing time t C [ms] /217 V3

23 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. LynxDrive-4C-5 Illustration 23.1 Illustration 23.2 LynxDrive-4C-8 Torque [Nm] LynxDrive-4C Torque [Nm] LynxDrive-4C Speed [rpm] Speed [rpm] LynxDrive-4C-1 Illustration 23.3 Illustration 23.4 LynxDrive-4C Torque [Nm] Torque [Nm] Speed [rpm] Speed [rpm] Illustration 23.5 LynxDrive-4C Torque [Nm] Speed [rpm] Legend Intermittent duty U M = 43 VAC S3-ED 5% (1 min) Continuous duty U M = 22 VAC /217 V3 23

24 Table 24.1 Symbol [Unit] LynxDrive-5C Ratio i [ ] Maximum output torque T max [Nm] Maximum output speed n max [rpm] Maximum current I max [A rms ] Continuous stall torque T [Nm] Continuous stall current I [A rms ] Maximum DC bus voltage U DCmax [V DC ] 68 Electrical time constant (2 C) t e [ms] 7.2 Mechanical time constant (2 C) t m [ms] 2.3 No load current I NLS [A rms ] No load running current constant (3 C) K INL [1-3 A rms /rpm] No load running current constant (8 C) K INL [1-3 A rms /rpm] Torque constant (at output) k Tout [Nm/A rms ] Torque constant (at motor) k TM [Nm/A rms ] 1.25 AC voltage constant (L-L, 2 C, at motor) k EM [V rms /1 rpm] 8.5 Motor terminal voltage (fundamental wave only) U M [V rms ] Demagnetisation current I E [A rms ] - Maximum motor speed n max [rpm] 35 Rated motor speed n N [rpm] 25 Resistance (L-L, 2 C) R L-L [Ω] 1.36 Inductance (L-L) L L-L [mh] 7.4 Number of pole pairs p [ ] 7 Weight without brake m [kg] 16.1 Weight with brake m [kg] 17.2 Moment of Inertia Table 24.2 Symbol [Unit] LynxDrive-5C Ratio i [ ] Moment of inertia at outputside Moment of inertia without brake J out [kgm²] Moment of inertia with brake J out [kgm²] Moment of inertia at motor Moment of inertia at motor without brake J [1-4 kgm²] 17.9 Moment of inertia at motor with brake J [1-4 kgm²] 18.5 Technical Data Brake Table 24.3 Symbol [Unit] LynxDrive-5C Ratio i [ ] Brake voltage U Br [V DC ] % - 1% Brake holding torque (at output) T Br [Nm] Brake current to open I OBr [A DC ].8 Brake current to hold (1V) I HBr [A DC ].4 Number of brake cycles at n = rpm 5 Emergency brake cycles 1 Opening time t O [ms] 4 Closing time t C [ms] /217 V3

25 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. LynxDrive-5C-5 Illustration 25.1 Illustration 25.2 LynxDrive-5C-8 Torque [Nm] Torque [Nm] Speed [rpm] LynxDrive-5C-1 Illustration 25.3 Illustration Torque [Nm] Torque [Nm] Speed [rpm] LynxDrive-5C Speed [rpm] Speed [rpm] Illustration 25.5 LynxDrive-5 C Torque [Nm] Speed [rpm] Legend Intermittent duty U M = 43 VAC S3-ED 5% (1 min) Continuous duty U M = 22 VAC /217 V3 25

26 3.3.3 Dimensions Detailed 2D drawings and 3D models can be found at the following Quicklink: QUICKLINK Illustration 26.1 LynxDrive-14C [mm] Illustration 26.2 LynxDrive-17C Table 26.3 Symbol [Unit] LynxDrive-14C LynxDrive-17C Motor feedback system MKE MKE Length (without brake) L [mm] Illustration 26.4 LynxDrive-2C [mm] Illustration 26.5 LynxDrive-25C Table 26.6 Symbol [Unit] LynxDrive-2C LynxDrive-25C Motor feedback system ROO / MKE MGH / MEE ROO / MKE MGH / MEE Length (without brake) L [mm] Length (with brake) L1 [mm] /217 V3

27 Illustration 27.1 LynxDrive-32C Illustration 27.2 LynxDrive-4C [mm] Table 27.3 Symbol [Unit] LynxDrive-32C LynxDrive-4C Motor feedback system ROO / MKE MGH / MEE ROO/MKE MGH/MEE Length (without brake) L [mm] Length (with brake) L1 [mm] Illustration 27.4 LynxDrive-5C [mm] Table 27.5 Symbol [Unit] LynxDrive-5C Motor feedback system MEE Length (without brake) L [mm] 249 Length (with brake) L1 [mm] 288 QUICKLINK /217 V3 27

28 3.3.4 Accuracy Table 28.1 Symbol [Unit] LynxDrive-14C LynxDrive-17C LynxDrive-2C Ratio i [ ] Transmission accuracy [arcmin] < 2 < 1.5 < 1.5 < 1.5 < 1.5 < 1 Repeatability [arcmin] < ±.1 < ±.1 < ±.1 Hysteresis loss [arcmin] < 3 < 1 < 3 < 1 < 3 < 1 Lost Motion [arcmin] < 1 < 1 < 1 Table 28.2 Symbol [Unit] LynxDrive-25C LynxDrive-32C LynxDrive-4C LynxDrive-5C Ratio i [ ] Transmission accuracy [arcmin] < 1.5 < 1 < 1.5 < 1 < 1 < 1 Repeatability [arcmin] < ±.1 < ±.1 < ±.1 < ±.1 Hysteresis loss [arcmin] < 3 < 1 < 3 < 1 < 1 < 1 Lost Motion [arcmin] < 1 < 1 < 1 < Torsional Stiffness Table 28.3 Symbol [Unit] LynxDrive-14C LynxDrive-17C LynxDrive-2C T1 [Nm] T2 [Nm] Ratio i [ ] 3 5 >5 3 5 >5 3 5 > 5 K 3 [x1 3 Nm/rad] K 2 [x1 3 Nm/rad] K 1 [x1 3 Nm/rad] Table 28.4 Symbol [Unit] LynxDrive-25C LynxDrive-32C LynxDrive-4C LynxDrive-5C T1 [Nm] T2 [Nm] Ratio i [ ] 3 5 >5 3 5 >5 5 >5 5 > 5 K 3 [x1 3 Nm/rad] K 2 [x1 3 Nm/rad] K 1 [x1 3 Nm/rad] /217 V3

29 3.3.6 Output Bearing The servo actuators incorporate a high stiffness cross roller bearing to support output loads. This specially developed bearing can withstand high axial and radial forces as well as high tilting moments. The reduction gear is thus protected from external loads, so guaranteeing a long life and consistent performance. The integration of an output bearing also serves to reduce subsequent design and production costs, by removing the need for an additional output bearing in many applications. Furthermore, installation and assembly of the servo actuators are greatly simplified. Technical Data Table 29.1 Symbol [Unit] LynxDrive- 14C LynxDrive- 17C LynxDrive- 2C LynxDrive- 25C LynxDrive- 32C LynxDrive- 4C LynxDrive- 5C Bearing type 1) C C C C C C C Pitch circle diameter d p [m] Offset R [mm] Dynamic load rating C [N] Stating load rating C [N] Dynamic tilting moment 2) M dyn (max) [Nm] Static tilting moment 3) M (max) [Nm] Tilting moment stiffness 5) K B [Nm/arcmin] Dynamic axial load 4) F A dyn (max) [N] Dynamic radial load 4) F R dyn (max) [N] ) C=Cross roller bearing, F = Four point contact bearing 2) These values are valid for moving gears. They are not based on the equation for lifetime of the output bearing but on the maximum allowable deflection of the Harmonic Drive component set. The values indicated in the table must not be exceeded even if the lifetime equation of the bearing permits higher values. 3) These values are valid for gears at a standstill and for a static load safety factor f s = 1.8 for size and f s = 1.5 for size ) These data are valid for n = 15 rpm and L 1 = 15h 3)4) These data are only valid if the following conditions are fulfilled: for M : F a = N; F r = N F a : M= Nm; F r = N F r : M= Nm; F a = N 5) Average value Illustration 29.2 Tolerances Table 29.3 Symbol [Unit] LynxDrive- 14C LynxDrive- 17C LynxDrive- 2C LynxDrive- 25C LynxDrive- 32C LynxDrive- 4C LynxDrive- 5C a [mm] b [mm] c [mm] d [mm] /217 V3 29

30 3.3.7 Motor Feedback Systems Design and Operation For accurate position setting, the servo motor and its control device are fitted with a measuring device (feedback), which determines the current position (e.g. the angle of rotation set for a starting position) of the motor. This measurement is effected via a rotary encoder, e.g. a resolver, an incremental encoder or an absolute encoder. The position controller compares the signal from this encoder with the pre-set position value. If there is any deviation, then the motor is turned in the direction which represents a shorter path to the set value which leads to the deviation being reduced. The procedure repeats itself until the value lies incrementally or approximately within the tolerance limits. Alternatively, the motor position can also be digitally recorded and compared by computer to a set value. Servo motors and actuators from Harmonic Drive AG use various motor feedback systems which are used as position transducers to fulfil several requirements. Commutation Commutation signals or absolute position values provide the necessary information about the rotor position, in order to guarantee correct commutation. Rotormagnet Motorfeedback Actual Speed The actual speed is obtained in the servo controller suing the feedback signal, from the cyclical change in position information. Actual Position Incremental encoder Stator The actual signal value needed for setting the position is formed by adding up the incremental position changes. Where incremental encoders have square wave signals, definition of the edge evaluation can be quadrupled (quad counting). Where incremental encoders have SIN / COS signals, then the definition can be increased by interpolation in the control device. Absolute encoder Absolute encoders deliver absolute position information about one (single turn) or several (multi-turn) rotations. This information can on the one hand provide the rotor position for commutation and on the other hand possibly a reference of travel. Where absolute encoders have additional incremental signals, then typically the absolute position information can be read at power up and the incremental signals then evaluated to determine the rotation and actual position value. Fully digital absolute encoders as motor feedback systems have such a high definition of the absolute value that there is no need for additional incremental signals. Resolution In conjunction with the Harmonic Drive AG high precision gears, the output side position can be recorded via the motor feedback system without any additional angle encoders having to be used. The resolution of the motor feedback system can also be multiplied by gear ratio /217 V3

31 MGH Multiturn absolute motor feedback system with incremental SIN / COS signals and HIPERFACE data interface Table 31.1 Ordering code Symbol [Unit] MGH Manufacturer's designation SKM36 Type identifier 1) 37 h Protocol HIPERFACE Power supply 1) U b [VDC] 7 12 Current consumption 1) I [ma] 6 Incremental signals u pp [V ss ] Signal form sinusoidal Number of pulses n 1 [SIN / COS] 128 Absolute position / revolution (motor side) 3) 496 Number of revolutions 496 Available memory in EEPROM [Bytes] 1792 Accuracy 1) [arcsec] ± 8 Gear ratio LynxDrive Resolution of the absolute value (output side) i [ ] [arcsec] Number of revolutions (at outputside) Incremental resolution (motor side) 2) inc [ ] Gear ratio LynxDrive Resolution (output side) 2) i [ ] [arcsec] MEE Multiturn absolute motor feedback system with incremental SIN / COS signals and EnDat data interface Table 31.2 Ordering code Symbol [Unit] MEE Manufacturer's designation EQN 1125 Protocol EnDat 2.2 Power supply 1) U b [VDC] Current consumption 5 VDC, without load) 1) I [ma] 15 Incremental signals u pp [V ss ] Signal form sinusoidal Number of pulses n 1 [SIN / COS] 512 Absolute position / revolution (motor side) 3) 8192 Number of revolutions 496 Accuracy 1) [arcsec] ± 6 Gear ratio LynxDrive Resolution of the absolute value (output side) i [ ] phi [arcsec] Number of revolutions (at outputside) Incremental resolution (motor side) 2) inc [ ] Gear ratio LynxDrive Resolution (output side) 2) i [ ] phi [arcsec] ) Source: Manufacturer 2) for interpolation with 8 bit /217 V3 3) increasing position values - for rotation in clockwise direction, looking at the motor shaft - for rotation in counter clockwise direction, looking at the output flange 31

32 MKE Multiturn absolute motor feedback system with incremental SIN / COS signals and EnDat data interface Table 32.1 Ordering code Symbol [Unit] MKE Manufacturer's designation EQI 113 Protocol EnDat 2.1 Power supply 1) U b [VDC] 5 ± 5% Current consumption 5 VDC, without load) 1) I [ma] 145 Incremental signals u pp [V ss ] 1 Signal form sinusoidal Number of pulses n 1 [SIN / COS] 16 Absolute position / revolution (motor side) 3) Number of revolutions 496 Accuracy 1) [arcsec] ± 28 Gear ratio LynxDrive Resolution of the absolute value (output side) i [ ] phi [arcsec] Number of revolutions (at outputside) Incremental resolution (motor side) 2) inc [ ] 496 Gear ratio LynxDrive Resolution (output side) 2) i [ ] phi [arcsec] ) Source: Manufacturer 2) for interpolation with 8 bit 3) increasing position values - for rotation in clockwise direction, looking at the motor shaft - for rotation in counter clockwise direction, looking at the output flange ROO Resolver Table 32.2 Ordering code Symbol [Unit] ROO Manufacturer's designation RE Power supply 1) U b [VAC] 7 Current consumption 5 khz, without load) 1) I [ma] 58 Input frequency f [khz] 5 1 Pole pairs 1 Transmission ratio i [ ].5 ± 1% Accuracy 1) [arcmin] ± 1 Incremental resolution (motor side) 2) inc [ ] 256 Gear ratio LynxDrive Resolution (output side) 2) i phi [arcsec] ) Source: Manufacturer 2) for interpolation with 8 bit /217 V3

33 3.3.8 Temperature sensor For motor protection at speeds greater than zero, temperature sensors are integrated in the motor windings. For applications with high load where the speed is zero, additional protection (eg I ² t monitoring) is recommended. When using the KTY the values given in the table can be parametrized in the servo controller or an external evaluation unit. Table 33.1 Sensor type Parameter T Nat [ C] PTC-91-K Rated operating temperature 12 PTC thermistors, because of their very high positive temperature coefficient at nominal operating temperature (Tnat), are ideally suited for motor winding protection. Due to their principle, the PTC sensors should only be used to monitor the winding temperature. Illustration 33.2 Widerstand [Ω] Diagram PTC 1 Temperatur [ºC] T NAT -5 T NAT T NAT +5 Table 33.3 Sensor type Parameter Symbol [Unit] Warning Shutdown KTY Temperature T [ C] Resistance R [Ω] 882 ± 3% 94 ± 3% The KTY sensor is used for temperature measurement and monitoring the motor winding. Because the KTY sensor provides an analogue temperature measurement, it is also possible to protect the actuator grease from temperature overload. Temperature sensors used in the LynxDrive Actuator Series meet the requirements for safe separation according to EN5178. Illustration 33.4 Diagram KTY Widerstand [Ω] Temperatur [ºC] /217 V3 33

34 3.3.9 Electrical Connections Table 34.1 Connector configuration Ordering Code Motor Motor feedback MGH ROO MEE MKE H L 6 pol. (M23) 8 pol. (M23) 12 pol. (M23) 17 pol. (M23) The servoactuators of the LynxDrive series with connector configuration H and L are equipped with turnable connectors for power and feedback. The connectors can be turned by approx. 18 from the standard position. Connecting cables LynxDrive-xx-yy-Az-x-yyy(-B) For use of LynxDrive servo actuators together with YukonDrive servo controllers, assembled cable sets are available. Table 34.2 Motor feedback Connector configuration Part no. connecting cables Description 3 m 5 m 1 m MGH L Connecting cables HIPERFACE YukonDrive MEE MKE H Connecting cables LynxDrive -MEE/MKE to YukonDrive ROO H Connecting cables LynxDrive -ROO to YukonDrive Other variants on request /217 V3

35 Connecting cables LynxDrive-xx-yy-Az-H-xxx(-B) For the connection of LynxDrive servo actuators to the SINAMICS S12 series drives, cable sets from company SIEMENS are available. The cable are tailored for the connection to the sensor modules SMC. Connecting cables SINAMICS S12 Table 35.1 Power Connection LynxDrive without brake LynxDrive with brake 6FX82-5CA1-1xx 6FX82-5DA1-1xx Motor feedback MEE MKE 6FX82-2EQ1-1xx ROO 6FX82-2CF2-1xx Connecting cables with flying leads Alternatively, cable sets which are tailored to the actuator side, but have flying leads to the drive side, can be used. These cable sets can also be used for the connection to third party drives. Table 35.2 Variante Connector configuration Part no. Length [m] MEE MKE H /217 V3 35

36 LynxDrive-xxC-yy-Az-H-MGH(-B) Motor connection Table 36.1 Illustration 36.2 Motor connector 6 / M23 x 1 Cable plug 6 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 36.3 LynxDrive-xxC-H Connector pin Motorphase U V PE BR+ 1) BR- 1) W 1) only for LynxDrive with option brake (-B) Feedback connection Table 36.4 Illustration 36.5 Encoder connector 12 / M23 x 1 Cable plug 12 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 36.6 Connector pin Signal Us GND SIN+ REFSIN DATA+ DATA- COS+ REFCOS Temp+ (KTY) Temp- (KTY) n. c. n. c /217 V3

37 LynxDrive-xxC-yy-Az-H-MEE(-B) / -MKE(-B) Motor connection Table 37.1 Illustration 37.2 Motor connector 6 / M23 x 1 Cable plug 6 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 37.3 LynxDrive-xxC-H Connector pin Motorphase U V PE BR+ 1) BR- 1) W 1) only for LynxDrive with option brake (-B) Feedback connection Table 37.4 Illustration 37.5 Encoder connector 12 / M23 x 1 Cable plug 17 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 37.6 Connector pin Signal A+ A- Data+ n.c Clock+ n.c M- Encoder (GND) Temp+ (KTY) Temp- (KTY) P- Encoder (Up) B+ B- Data- Clock- V Sense 5V Sense n.c /217 V3 37

38 LynxDrive-xxC-yy-Az-H-ROO(-B) Motor connection Table 38.1 Illustration 38.2 Motor connector 6 / M23 x 1 Cable plug 6 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 38.3 LynxDrive-xxC-H Connector pin Motorphase U V PE BR+ 1) BR- 1) W 1) only for LynxDrive with option brake (-B) Feedback connection Table 38.4 Illustration 38.5 Encoder connector 12 / M23 x 1 Cable plug 12 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 38.6 Connector pin Signal sin+ (S2) sin- (S4) n. c. n. c. n. c. n. c. Vss- (R2) Temp+ (KTY) Temp- (KTY) Vss+ (R1) cos+ (S1) cos- (S3) /217 V3

39 LynxDrive-xxC-yy-Az-L-MGH(-B) Motor connection Table 39.1 Illustration 39.2 Motor connector 8 / M23 x 1 Cable plug 8 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 39.3 LynxDrive-xxC-L Connector pin A B C D Motorphase U PE W V Temp+ PTC Temp- PTC BR+ 1) BR- 1) 1) only for LynxDrive with option brake (-B) Feedback connection Table 39.4 Illustration 39.5 Encoder connector 12 / M23 x 1 Cable plug 12 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 39.6 Connector pin Signal Us GND SIN+ REFSIN DATA+ DATA- COS+ REFCOS Temp+ (KTY) Temp- (KTY) n. c. n. c /217 V3 39

40 LynxDrive-xxC-yy-Az-L-MEE(-B) / -MKE(-B) Motor connection Table 4.1 Illustration 4.2 Motor connector 8 / M23 x 1 Cable plug 8 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 4.3 LynxDrive-xxC-L Connector pin A B C D Motorphase U PE W V Temp+ PTC Temp- PTC BR+ 1) BR- 1) 1) nur für LynxDrive with Option brake (-B) Feedback connection Table 4.4 Illustration 4.5 Encoder connector 17 / M23 x 1 Cable plug 17 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 4.6 Connector pin Signal A+ A- Data+ n.c Clock+ n.c M- Encoder (GND) Temp+ (KTY) Temp- (KTY) P- Encoder (Up) B+ B- Data- Clock- V Sense 5V Sense n.c /217 V3

41 LynxDrive-xxC-yy-Az-L-ROO(-B) Motor connection Table 41.1 Illustration 41.2 Motor connector 8 / M23 x 1 Cable plug 8 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 41.3 LynxDrive-xxC-L Connector pin A B C D Motorphase U PE W V Temp+ PTC Temp- PTC BR+ 1) BR- 1) 1) only for LynxDrive with option brake (-B) Feedback connection Table 41.4 Illustration 41.5 Encoder connector 12 / M23 x 1 Cable plug 12 / M23 x 1 / Part no External diameter ca. 26 mm Length ca. 6 mm Table 41.6 Connector pin Signal sin+ (S2) sin- (S4) n. c. n. c. n. c. n. c. Vss- (R2) Temp+ (KTY) Temp- (KTY) Vss+ (R1) cos+ (S1) cos- (S3) /217 V3 41

42 4. Actuator Selection Procedure 4.1. Selection Procedure and Calculation Example ADVICE We will be pleased to make a gear calculation and selection on your behalf. Please contact our application engineers. Flowchart for actuator selection Equation 42.1 Equation 42.2 T 1 = T L + 2π 6. (J out + J L ). n 2 t 1 Confirm the type of servo mechanism required: linear motion or rotary motion Calculate load torque (T L ) and moment of inertia (J L ): Equation 43.3/43.5 T 2 = T L T 3 = T L ( T 1 T L ) Determine speed pattern from duty cycle T rms = T 1 2. t 1 + T 2 2. t 2 + T 3 2. t 3 t 1 + t 2 + t 3 + t p Tentatively select the required actuator based upon load conditions Equation 42.3 n av = n 2. t1 + n 2. n 2 t 2 +. t t 1 + t 2 + t 3 + t p Calculate the required acceleration torque (T 1 ): Equation 42.1 Equation 42.4 Is the required acceleration torque less than max. output torque of the actuator? No ED = t 1 + t 2 + t 3 t 1 + t 2 + t 3 + t p. 1 % Yes Determine the torque pattern and calculate the effective torque (T rms ): Equation 42.2 Calculate average Speed (nav): Equation 42.3 Calculate duty factor (ED): Equation 42.4 T rms and n av are inside the Continuous Duty Zone Yes No Confirm final selection /217 V3

43 Pre selection conditions Table 43.1 Load Confirmation Catalogue value Unit Load max. rotation speed (n 2 ) n max Max. output speed [rpm] Load moment of inertia (J L ) 3J Out 1) Moment of inertia [kgm 2 ] 1) J L 3. J Out is recommended for highly dynamic applications (high responsiveness and accuracy). Linear horizontal motion Illustration 43.2 Load torque T L [Nm] Coefficient of friction µ m [kg] Pitch P [m] Ball screw moment of inertia J S [kgm 2 ] Efficiency η Equation 43.3 J L = J S + m ( P ) 2 2π [kgm 2 ] µ. m. P. g T = L 2π. η [Nm] Rotary motion Illustration 43.4 Equation 43.5 Coefficient of friction of bearing µ T L [Nm] J L [kgm 2 ] m [kg] r [m] D [m] J L = m 8. D 2 [kgm 2 ] T L = µ. m. g. r [Nm] g = 9.81 [m/s 2 ] Illustration 43.6 Speed n [min -1 ] Speed pattern n 2 time t [s] Torque T [Nm] T 1 Torque pattern Note: t 1 = t 3 T2 T 3 t 1 t 2 t 3 t P Betriebszyklus t time t [s] /217 V3 43

44 Example of actuator selection Load Conditions Assume servo mechanism is used to cyclically position a mass with a horizontal axis of rotation. Table 44.1 Load rotation speed n 2 = 4 [min -1 ] Load torque (e. g. friction) T L = 5 [Nm] Load inertia J L = 1.3 [kgm 2 ] Speed pattern Acceleration; Deceleration t 1 = t 3 =.1 [s] Operate with rated speed t 2 =.1 [s] Stand still t p = 1 [s] Total cycle time t O = 1.3 [s] Please note: Each characteristic value should be converted to the value at the output shaft of the actuator. Illustration 44.2 Speed n [min -1 ] n 2 = 4 min -1 Speed pattern time t [s] Torque T [Nm] T 1 Torque pattern Note: t 1 = t 3 T 2 T 3 t 1 =.1 t 2 =.1 t 3 =.1 t P =1 t = 1.3 time t [s] Actuator data FHA-25C-5-L Table 44.3 Max. Torque T max = 151 [Nm] Max. output speed n max = 9 [min -1 ] Moment of inertia J Out =.86 [kgm 2 ] /217 V3

45 Actuator selection Tentatively select a required actuator based upon load conditions. FHA-25C-5 meets the tentative selection requirements from catalogue value (see rating table) Calculation of the duty factor n 2 = 4 min -1 < n max = 9 min -1 J L = 1.3 kgm 2 < 3J out = 2.58 kgm 2 ED = % 1.3 ED = 23 % Calculate required acceleration torque (T 1 ) T 1 = 5 + 2π ( ) 4 = 95 Nm 6.1 T rms = 35 Nm n av = 6 min -1 Confirm: Is the required acceleration torque less than the maximum output torque of the actuator? Check according to the performance characteristics T rms and n av are inside the continuous duty zone T 1 = 95 Nm < T max = 151 Nm No Calculate effective torque (T rms) Yes Confirm final selection T 1 T 2 T 3 = 95 Nm = T L = 5 Nm = T L - (T 1 - T L ) = - 85 Nm (-85) 2.1 T rms = 1.3 = 35 Nm Calculation of the average speed n av = n av = 6 min -1 Illustration 45.1 FHA-25C-5L Intermittent duty Torque [Nm] Continuous duty Speed [rpm] min -1 = ^ rpm ED = 1 min /217 V3 45

46 4.2 Calculation of the Torsion Angle Equation 46.1 T < T 1 φ = T K 1 Equation 46.2 T 1 < T T 2 T 1 T - T 1 φ = K + 1 K 2 Equation 46.3 T T 2 < T T φ = T 1 T - T 2 K K 2 K 3 φ = Angle [rad] T 1 = Limit torque 1 from Section [Nm] T 2 = Limit torque 2 from Section [Nm] K 1 = Torsional stiffness up to the limit torque T 1 from Section [Nm/rad] K 2 = Torsional stiffness up to the limit torque T 2 from Section [Nm/rad] K 3 = Torsional stiffness above the limit torque T 2 from Section [Nm/rad] Example T = 6 Nm K 1 = Nm/rad φ = 29 Nm Nm/rad + φ = rad φ = 2.5 arc min 6 Nm - 29 Nm Nm/rad T 1 = 29 Nm T 2 = 18 Nm K 2 = Nm/rad K 3 = Nm/rad Equation 46.4 φ [arc min] = φ [rad] /217 V3

47 4.3 Output Bearing Lifetime calculation For oscillating motion The operating life at oscillating motion can be calculated using equation Equation 47.1 with: L OC [h] = Operating life for oscillating motion L OC = ϕ. C f. w P C 6. n 1. ( ) B n 1 [cpm] = C [N] = Number of oscillations/minute* Dynamic load rating, see table Output Bearing in the appropriate product chapter Illustration 47.2 Oscillating angle P C [N] = Dynamic equivalent load ϕ [Degree] = Oscillating angle f W = Operating factor (Table 47.3) * one oscillation means 2ϕ Table 47.3 Bearing type B Cross roller bearing 1/3 Four point bearing 3 At oscillating angles < 5 fretting corrosion may occur due to insufficient lubrication. In this case please contact our sales engineer for countermeasures. Bearing type of selected products see Output Bearing Ratings in the appropriate product chapter. For continuous operation The operating life of the output bearing can be calculated using equation Equation C n av ( ) B L 1 = 1 6 f w. P C where: L 1 [h] = Operating life n av [min -1 ] = Average output speed C [N] = Dynamic load rating, see table Output Bearing Ratings P C [N] = Dynamic equivalent load f W = Operating factor Average output speed Table 47.5 n av = n 1 t 1 + n 2 t n n t n t 1 + t t n + t p Load conditions f W No impact loads or vibrations Normal rotating, normal loads Impact loads and/or vibrations /217 V3 47

48 Dynamic equivalent load Equation 48.1 P C = x. F rav + ( ) 2M dp + y. F aav Equation 48.2 F = n 1. t. 1 ( F r1 ) B + n 2. t. 2 ( F r2 )B n n. t. n ( F rn )B rav ( n 1. t + n 1 2. t n n. t n ) 1/B Equation 48.3 F = n 1/B aav ( 1 ). t. 1 ( F a1 )B + n 2. t. 2 ( F a2 )B n n. t. n ( F an )B n 1. t + n 1 2. t n 2 n. t n where: F rav [N] = Radial force F aav [N] = Axial force d p [m] = Pitch circle x = Radial load factor (Table 48.4) y = Axial load factor (Table 48.4) M = Tilting moment Table 48.4 Load factors x y F aav F rav + 2 M / dp 1.5 F aav F rav + 2 M / dp > Illustration 48.5 Illustration 48.6 Please note: F rx represents the maximum radial force. F ax represents the maximum axial force. t p represents the pause time between cycles /217 V3