Motion Solutions that Change the Game. HMP10 Servo Motors

Transcription

1 Motion Solutions that hange the Game HMP0 Servo Motors

2 Introduction The HeiMotion Premium series of brushless A servo motors are engineered to meet the most demanding application requirements. Five frame sizes are offered covering a wide range of torque levels and speeds. Use of our proven compressed winding technology enables the realization of a more compact motor with lower production costs compared to other motors on the market. The HeiMotion Premium motors are available in five standard frame sizes: 0 mm 60 mm 80 mm 00 mm 0 mm - HMP0 - HMP06 - HMP08 - HMP0 - HMP Key HeiMotion Premium features: Outstanding servo performance Highly configurable to fit virtually any application High efficiency Optimized moment of inertia Long service life ompact design High power density High overload capacity Low cogging torque Energy efficient

3 Overview HeiMotion Premium motors basic performance values Type HMP0 HMP06 HMP08 HMP0 HMP Model HMP0-00 HMP0-00 HMP HMP06-0 HMP08-08 HMP08-0 HMP0-06 HMP0-07 HMP-0 HMP-0 HMP- HMP-8 U Bus I 0 I n M 0 M n M max n n J P n (S) [V] [A] [A] [Nm] [Nm] [Nm] [rpm] [kg-cm²] [W] ,000.00E ,000.00E ,000.00E ,000.0E ,000.0E ,000.0E ,000.0E ,000.0E ,000.E ,000.E ,000.0E ,00.0E00, ,000.0E ,00.0E00, ,000.E00, ,00.E00, ,000.E00, ,00.E00, ,000.8E00, ,000.8E00, ,000 6.E00, ,000 6.E00, ,000.8E00, ,600.8E00, ,000.8E00, ,600.8E00, ,000.0E0, ,600.0E0, ,000.E0, ,600.E0, ,000.8E0, ,600.8E0,70

4 General Information Ambient conditions & technical characteristics Motor type Permanent magnet three-phase synchronous servo motor Ambient operating temperature - 0 to + 0 Ambient storage temperature - 0 to + 70 Humidity Insulation class Protection class ooling < 0 % relative humidity (without condensation) F ( ) Δ T = K IP6 (standard version), except drive end, protection class is IP without shaft oil seal Natural convective Bearing life 0,000 h under rated operation conditions (M n ) Temperature sensor KTY8-0 Voltage slew rate du/dt 8 kv / µs Maximum altitude,000 meters above sealevel; derate % per 00 meters above,000 meters). oncentricity, coaxial and axial run-out N (normal) per DIN Vibration Stage N in accordance with ISO 7 ogging torque factor t c HMP0 HMP06 HMP08 HMP0 HMP <.8 % based on the stall torque (M 0 ) <. % based on the stall torque (M 0 ) <.0 % based on the stall torque (M 0 ) <.7 % based on the stall torque (M 0 ) <. % based on the stall torque (M 0 ) oating Black top coat, RAL 00 Magnet material Shaft end Neodymium-Iron-Boron (NdFeB) ylindrical shaft end with / without keyway Balancing quality Q. Encoder systems Resolver, Sinos SEK/SEL 7, SKS/SKM 6, EKS/EKM 6, SRS/SRM 0, EFS/EFM 0, KS 6, HEM/HES Approvals E, - certification

5 Unit abbreviations & definitions Abbr. Unit Explanation f n [Hz] Nominal frequency I 0 [A rms ] Stall current per phase (Motor current at stall torque M 0 ) I n [A rms ] Rated current (Nominal current per phase) I max [A rms ] Peak current (Maximum permissible current per phase) J [kgcm ] Moment of inertia rotor (motor without brake) k e [V rms / krpm] Voltage constant (Induced voltage between two phases at,000 rpm) rms (root mean square value) k t [Nm / A rms ] Theoretical torque constant (rms), without losses at 0 L p-p [mh] Winding inductance (phase-to-phase) at rated current I n m [kg] Weight (motor without brake) M 0 [Nm] Stall torque (Stall torque at S) M n [Nm] Rated torque (ontinuous torque at S) M max [Nm] Peak torque (maximum permissible torque for short periods) n n [rpm] Rated speed n max [rpm] Maximum speed P n [W] Rated power (mechanical power at the shaft) R p-p [Ω] Winding resistance (phase-to-phase at winding temperature of 0 ) t [%] Local cogging torque t = M cmax - M cmin M 0 x 00 % M cmax [Nm] Local maximum of the cogging torque M cmin [Nm] Local minimum of the cogging torque T el [ms] Electrical time constant T th [min] Thermal time constant U mot [V rms ] Rated motor voltage (phase-to-phase at rated working point), rms U bus [V D ] D bus voltage

6 General Information Shaft loading forces Life span of the motors is at least 0,000 hours if operated under nominal conditions. The table below shows admissible radial forces for the bearing load. Point of force application is in the middle of the shaft (see drawing). F r I/ F a I Maximum radial force F r, [N],000,000,000,000,000 6,000 7,000 8,000,000 [rpm] [rpm] [rpm] [rpm] [rpm] [rpm] [rpm] [rpm] [rpm] HMP HMP HMP HMP HMP HMP HMP HMP HMP HMP HMP-, HMP-8, Maximum axial force: F a = 0. x F r At stall, a one-time axial force of 0 % of the radial force may be applied during motor mounting. Maximum allowed axial and radial forces must not occur together at the same time. 6

7 onfiguration key HMP B0HMWW Frame/flange size 0 mm 0 60 mm mm mm 0 0 mm Stall torque 0. Nm Nm Nm 007. Nm 0.8 Nm 08. Nm 0.6 Nm Nm 07. Nm 0. Nm 0. Nm 8. Nm 8 D bus voltage V 0 8 V 08 0 V 0 60 V 60 Rated speed,000 rpm,000 rpm,600 rpm,000 rpm,00 rpm 6,000 rpm,000 rpm Options Without brake Brake Without feather key Feather key Resolver Resolver safely mounted SEK 7 SEL 7 SKS 6 SKS 6S safely mounted SKM 6 SKM 6S safely mounted EKS 6 EKS 6- safely mounted EKM 6 EKM 6- safely mounted SRS 0 SRM 0 EFS 0 EFM 0 HES (. V ss) HES (.0 V ss) HEM (.0 V ss without battery) HEM (.0 V ss with battery) HES KS 6 M angled Y-Tec I-Tec able outlet. m ) able outlet m ) Twintus Without radial oil seal With radial oil seal 0 X X X X X X X X B X X X X X X X X X 0 X X X X X X X X P X X X X X X X X X R P X X X X X X R A P X X X X X X H S X X X X X X H M X X X X X X H S X X X X X X H B S X X X X X X H M X X X X X X H B M X X X X X X D S X X X X X X D B S X X X X X X D M X X X X X X D B M X X X X X X H S X X X X X X H M X X X X X X D S X X X X X X D M X X X X X X M S X X X X X X M S X X X X X X M M X X X X X X M M X X X X X X M I X X X X X X I S X X X X X X X X X W X X X X X X Y 7 X X X X X X I 7 X X X X X X K X X X X X X K 0 X X X X X X T 6 X X X X X X X X X 0 X X X X X X X X W ) upon request Example: HMP B0HMWW Frame/flange size: 80 mm Stall torque:.8 Nm D bus voltage: 0 V Rated speed:,000 rpm Options: With brake Without feather key Encoder SKM 6 Angled connector M With radial oil seal 7

8 HMP0-06 / -07 Specifications HMP 0-06 HMP 0-07 Rated speed [rpm] n n,000,000,000,000 Number of pole pairs Wiring of the motor winding Y Y Y Y D bus voltage [V D ] U bus Rated voltage motor [V rms ] U mot Rated power [W] P n,00,800,000,00 Rated torque [Nm] M n Rated current per phase [A rms ] I n Stall torque [Nm] M Stall current per phase [A rms ] I Peak torque [Nm] M max Peak current [A rms ] I max Maximum speed [rpm] n max,0,80,60,0 Voltage constant at,000 rpm [V rms ] k e Torque constant [Nm / A rms ] k t Winding resistance ( phases) at 0 [Ω] R ph Winding inductance ( phases) [mh] L ph Electrical time constant [ms] T el Thermal time constant [min] T th 0 0 Moment of inertia rotor [kg-cm²] J.8E00.8E00 6.E00 6.E00 Weight motor [kg] m Performance HMP * Mmax [Nm] HMP * Mmax [Nm] Mn [Nm].8 (70/.7) Mn [Nm]. (60/.) n [rpm] n [rpm] 8

9 Dimensions ± Power Signal Ø h6 0 approx. 77. approx.. Ø Ø h7 Ø ± 0. ± 0.. L ± 00 0 Feather key (optional) enter bore with axial thread according to DIN - DS M6 (M6 x 6) ± Ø h6. 0 ± Motor type L HMP0-06 without brake 00 mm HMP0-06 with brake mm HMP0-07 without brake mm HMP0-07 with brake 67 mm 6 h HMP * 80 Mmax [Nm] HMP * Mmax [Nm] Mn [Nm] 6. (00/6.) Mn [Nm].8 (70/.) n [rpm] n [rpm]

10 onfiguration Options onnection options Motor model Y-Tec* x M* I-Tec* x M* Twintus Flying leads HMP0 X X HMP06 X X X X X X HMP08 X X X X X X HMP0 X X X X X X HMP X X X X X X upon request upon request * Standard connectors are rotatable; fixed connector orientation available upon request. Feedback options As standard, HeiMotion Premium motors are supplied with a resolver. Optionally, you may choose an encoder in place of the resolver. Available standard encoder types include Sinos encoders with HIPERFAE -interface or HIPERFAE -DSL-interface. For motors with these encoders, the motor angular offset is written to the encoder memory. Motor model Resolver* Standard HES/HEM Hall encoder SEK/ SEL7 Absolute encoder SKS/ SKM6* Absolute encoder EKS/ EKM6* Absolute encoder SRS/ SRM0 Absolute encoder EFS/ EFM0 Absolute encoder HMP0 X X X HMP06 X X X X X X HMP08 X X X X X X X X HMP0 X X X X X X X X HMP X X X X X X X X * Safety enhanced version available to allow use of motors in applications up to at. / PL d acc. to EN ISO 8- and SIL acc. to EN 606 / IE 608 / EN KS6 Incremental encoder ontroller and feedback device compatibility: Feedback device type HF HB HE HJ Resolver X X X X Hiperface encoder X X Hiperface DSL encoder X* Incremental encoder X X X X SSI absolute value encoder X X X p 0 - p - p - p 6-7 * EnDat available upon request 0

11 Resolver Specifications RE- Pole pairs Input frequency 0 khz Input voltage 7 V rms Maximum current input 0 ma Transformation ratio 0. ± 0 % Phase shift (nominal) ± Ohmic resistance (at ) Stator winding Rotor winding 70 ± 0 % ± 0 % Impedances Zro (no-load impedance rotor) Zrs (short-circuit impedance rotor) Zso (no-load impedance stator) Zss (short-circuit impedance stator) typ. 86 j 0 typ. 70 j 0 typ. 0 j 7 typ. j Maximum residual voltage 0 mv Maximum electrical error ± 0 min. Weight 77 g Protection class IP 0 Insulation class F Insulation test housing / winding 00 V A / 0 Hz / s Moment of inertia rotor gcm Environmental Operating environment IE according to EN Operating temperature range - to Vibration according to EN Impact strength Maximum operating speed 00 m/s², 0-0 Hz 00 m/s², 6 ms 0,000 rpm Dimensions Safety norms Safety Integrity Level SIL ( / EN606 / IE608) ategory (EN ISO 8-) Performance Level PL d (EN ISO 8-)

12 onfiguration Options Magnetic Encoders HES-00 Features Single-turn encoder with a resolution of -bit (interpolated -bit) SSI interface differential and single-ended Differential sin/cos signals with. V p-p HES-00 Features Single-turn encoder with a resolution of bit (interpolated bit) SSI Interface differential and single-ended Differential sin/cos signals with.0 V p-p HEM-00 Features Multi-turn encoder with a resolution of bit (. billion rotations measurable) Single-turn encoder with a resolution of bit (interpolated bit) SSI Interface differential and single ended Differential sin/cos signals with V p-p External battery connector HEM-00 Features Multi-turn encoder with a resolution of bit (. billion rotations measurable) Single-turn encoder with a resolution of bit (interpolated bit) SSI Interface differential and single ended Differential sin/cos signals with V p-p Battery on board HES Features Single-turn encoder with a resolution of 0 bit (interpolated bit) ommutation and incremental signals ABZ, differential and single-ended ommutation signals for //6 or 8-pole motors

13 Specifications (according to DIN 878) HES-00 HES-00 HEM-00 HEM-00 HES Diameter (nominal) mm mm mm mm mm Power supply voltage.0 V D ± 0%.0 V D ± 0%.0 V D ± 0%.0 V D ± 0%.0 V D ± 0% Maximum output current 0 ma 0 ma 0 ma 0 ma 0 ma Maximum resolution single-turn -bit bit bit bit bit 0. Maximum resolution single-turn interpolated -bit 0.0 -bit 0.0 -bit 0.0 -bit 0.0 -bit Maximum number of turns - - -bit. billion -bit. billion - Backup battery for multi-turn encoder - - external on board - SSI interface differential & single ended differential & single ended differential & single ended differential & single ended - Maximum SSI operating frequency MHz MHz MHz MHz - Sin/cos signals differential differential differential differential - Number of sin/cos periods per turn - Amplitude sin/cos. Vp-p.0 Vp-p.0 Vp-p.0 Vp-p - Incremental signals (ABZ) differential High-level output voltage ABZ min..8 V Low-level output voltage ABZ max. 0.7 V ommutation signals differential ommutation high-level output voltage (UVW) min..8 Vi ommutation low-level output voltage (UVW) max. 0.7 V ESD voltage kv kv kv kv kv onfiguration code segment XXMSXXXX XXMSXXXX XXMMXXXX XXMMXXXX XXMIXXXX

14 onfiguration Options Absolute Encoders SEK / SEL7 (Single- or multi-turn encoder) Features apacitive sensing encoder 6 sin/cos periods per rotation Absolute position with a resolution of steps per rotation Measuring of,06 rotations (multi-turn) Programming of the position value HIPERFAE interface SKS / SKM6 (Single- / multi-turn encoder) Features Optical sensing encoder 8 sin/cos periods per rotation Absolute position with a resolution of,06 steps per rotation Measuring of,06 rotations (multi-turn) Programming of the position value HIPERFAE interface SRS / SRM0 (Single- / multi-turn encoder) Features Optical sensing encoder,0 sin/cos periods per rotation Absolute position with a resolution of,768 steps per rotation Measuring of,06 rotations (multi-turn) Programming of the position value HIPERFAE interface EKS / EKM6 (Single- / multi-turn encoder) Features Optical sensing encoder Absolute position with a resolution of 6, steps per rotation Measuring of,06 rotations (multi-turn) Programming of the position value HIPERFAE DSL interface EFS / EFM0 (Single- / multi-turn encoder) Features Optical sensing encoder Absolute position with a resolution of 8,88,608 steps per rotation Measuring of,06 rotations (multi-turn) Programming of the position value HIPERFAE DSL interface

15 Specifications (according to DIN 878) SEK/SEL7 SKS/SKM6 SRS/SRM0 EKS/EKM6 EFS/EFM0 Number of sin/cos periods per rotation 6 8,0 - - Maximum number of turns Single SEK Multi SEL,06 Single SKS Multi SKM,06 Single SRS Multi SRM,06 Single EKS Multi EKM,06 Single EFS Multi EFM,06 ode type for absolute value binary binary binary binary binary ode sequence () ascending ascending ascending ascending ascending Measuring step during interpolation of the sin/cos signals (for -bit) Maximum sin/cos signals interpretation error, integral non-linearity Non-linearity of a sin/cos period differential non-linearity 0 arc sec. arc sec 0. arc sec - - ± 88 arc sec ± 80 arc sec ± arc sec ± 80 arc sec ± arc sec ± arc sec () ± 0 arc sec () ± 7 arc sec () ± 0 arc sec () ± 7 arc sec Output frequency khz khz khz khz Resistance to shocks 00 g / 0 ms 00 g / 6 ms 00 g / 0 ms 00 g / 6 ms 00 g / 6 ms Resistance to vibration 0 g / 0...,000 Hz 0 g / 0...,000 Hz 0 g / 0...,000 Hz 0 g / 0...,000 Hz 0 g / 0...,000 Hz Operating voltage range 7... V 7... V 7... V 7... V 7... V Recommended supply voltage 8 V 8 V 8 V 8 V V Max. operating current without load < 0 ma 60 ma 80 ma 0 ma 0 ma Available memory within EEPROM 08 (),7 bytes,7 bytes,7 bytes 8, bytes 8, bytes Interface signals Process data cable: analog, analog, analog, SIN, REFSIN, OS, REFOS differential differential differential Parameter channel: RS 8 digital digital digital digital digital Safety norms () SKS/SKM6S EKS/EKM6- Safety Integrity Level - SIL (EN / EN606 / IE 608) - SIL (EN / EN606 / IE 608) - ategory - (EN ISO 8-) - (EN ISO 8-) - Performance Level - PL d (EN ISO 8-) - PL d (EN ISO 8-) - ) For rotation of the shaft in clockwise direction when facing in the direction of A ) In the nominal position ± 0. mm ) When using the electronic nameplate in operative connection with numerical controls, consider the patent EP B ; use in operative connection with speed controllers is excluded from this rule. ) Safety norms are only valid for motors with safely mounted encoders.

16 onfiguration Options Incremental Encoder KS6 Features Optical sensing encoder Resolution up to,08 pulses per revolution ommutation signals for up to pole pairs Index pulse 0 or 80 Up to,000 rpm speed Freely programmable Specifications according to DIN 878 KS6 Number of lines per revolution,08 ommutation signals Measurement step Reference signal Error limits Number Position binary number of lines non-binary number of lines pole pairs 0 / number of lines onfigurable 0 or 80 electrical, logically linked with A and B ± 0.0 ± 0. Measurement step deviation binary number of lines non-binary number of lines ± 0.0 ± 0.07 Max. output frequency TTL/RS 00 khz Resistance to shocks to vibration 00 g (6 ms) 0 g (0,000 Hz) Operating voltage range V ± 0 % Maximum operating current without load Interface signals: Incremental and commutation signals Parameterization interface 60 ma according to EIA II Bus 6

17 Holding Brake Any HeiMotion Premium motor may be equipped with a permanent-magnet D holding brake. Features Isolation class: F ( ) Maximum speed: 0,000 rpm Voltage supply: V D + 6 % / -0 % Specifications HMP0 HMP06 HMP Moment of inertia motor with brake* [kgcm ].0E-0 7.0E-0.E-0.E-0.68E00.0E00 Static braking torque [Nm] Dynamic braking torque [Nm] Rated input power [W] 8 8 Working voltage [V D ] Input current brake [A] Energy rating [kj] Separating time brake [ms] 0 0 Brake delay [ms] Application delay time [ms] Weight motor with brake* [kg] *incl. all attachment parts Specifications HMP0 HMP Moment of inertia motor with brake* [kgcm ].6E00 7.0E00.0E0.8E0.E0.8E0 Static braking torque [Nm] Dynamic braking torque [Nm] Rated input power [W] Working voltage [V D ] Input current brake [A] Energy rating [kj] ,0,0 Separating time brake [ms] Brake delay [ms] Application delay time [ms] Weight motor with brake* [kg] *incl. all attachment parts Note: The motor may not be operated with the brake applied. The brake is designed as a holding brake. An emergency stop of a running motor using the brake is permitted in exceptional cases. The number of emergency stops is limited by the moment of inertia of the entire system. 7

18 onfiguration Options onnectors, Y-Tec Power Signal resolver Signal Hiperface Signal HES/M Pin Pin Pin Pin A B Grounding U V W PE Therm. Prot. + ** Therm. Prot. - ** Brake +* Brake -* - * if applicable ** only with KS 6 cos + cos - / refcos sin + sin- / refsin R (ref +) 6 R (ref - ) Therm. Prot. + / Temp + 0 Therm. Prot. - / Temp cos + cos - / refcos sin + sin- / refsin Data + 6 Data - 7 Us 8 GND Therm. Prot. + / Temp + 0 Therm. Prot. - / Temp cos + cos - / refcos sin + sin- / refsin V / V 6 GND 7 Data + 8 Data - LK + 0 LK - Therm. Prot. + / Temp + Therm. Prot. - / Temp - Motor connector View mating face A B E Power connector, -pole x Ø mm (+PE+) 0 8 E Signal connector, -pole x Ø mm Signal connector, -pole x Ø mm E Signal connector, -pole x Ø mm E 7 6 Mating connector View mating face ESTA 0 NN mm) B P A 6 7 P ESTA 00 NN mm) ESTA 00 NN mm) P ESTA 00 NN mm) P 8 0 8

19 0.7 Signal KS 6 Signal HES Pin. Pin. Z Z A A B 6 B 7 R 8 R S 0 S T T A Us B GND - Z Z A A B 6 B 7 U 8 U V 0 V W W A V / V B GND - Motor connector Mating connectors available with metal fittings only Angled receptacle Y-Tec, rotatable Pivoting range: to the left side 00 ± to the right side 00 ± 7. Mating face Rotating stop O-ring 0. 0 A E B 0 A E B Signal connector, -pole x Ø mm Signal connector, -pole x Ø mm Signal Power Mating connector 6 B P A B P A Mating face Ø8.6 ESTA 0 NN mm) ESTA 0 NN mm)

20 onfiguration Options onnectors, M Power Signal resolver Signal Hiperface Signal HES/M Pin Pin Pin Pin A Brake + * B Brake - * Therm. Prot. + D Therm. Prot. - U V W Grounding PE * if applicable cos + cos - / refcos sin + sin - / refsin - 6 R (ref +) 7 R (ref -) Therm. Prot. + / Temp + Therm. Prot. - / Temp - cos + cos - / refcos sin + sin - / refsin GND 8 - US 0 Data + Data Therm. Prot. + / Temp + Therm. Prot. - / Temp cos + cos - / refcos sin + sin - / refsin V / V 6 GND 7 Data + 8 Data - LK + 0 LK - Therm. Prot. + / Temp + Therm. Prot. - / Temp Motor connector View mating face B D A 8-pole x Ø mm (+PE) + x Ø mm 0 P -pole x Ø mm, 0 coded E pole 7 x Ø mm, 0 coded 0 6 E pole 7 x Ø mm, 0 coded Mating connector View mating face BSTA 078 NN mm) E 0 ASTA 0 NN mm) P ASTA 0 NN mm) P ASTA 0 NN mm) 0

21 Signal KS 6 Signal HES Pin Pin Z Z A A B 6 B 7 R 8 R S 0 S T T Us GND Therm. Prot. + 6 Therm. Prot Z Z A A B 6 B 7 U 8 U V 0 V W W V / V GND Therm. Prot. + 6 Therm. Prot Motor connector Mating face 8. ± 0. M x O-ring Pivoting range: to the right 0 ±. A ± 0..8 ± 0.. Rotating stop 0 6 E E Pivoting range: to the left side ± ountersunk screw M x 0 DIN 700 M =. ± 0.Nm 7-pole 7 x Ø mm, 0 coded 7-pole 7 x Ø mm, 0 coded Mating connector B Mating face Ø 8 P ASTA 0 NN mm) P ASTA 0 NN mm) onnector type A B Signal.6 Power. 78

22 onfiguration Options Single able Motor onnector, I-Tec Power / Signal Pin A U B V W Grounding PE US (DSL +) GND (DSL -) Brake +* Brake -* - Motor connector Pivoting range: to the left 00 ± to the right 00 ± Ø. 8 Mating face Motor connector Mating connector Assembly window M. (x) Ø.7 (x) A B E B A P,8 Ø 0 H Ø 8 Ø Power connector, -pole x Ø mm (+PE+) ESTA 0 NN mm) * if available Mating connector Mating face Ø8.6

23 Single able Motor onnector, M Power / Signal Motor connector Pin A Brake + * B Brake - * Us (DSL+) 8. ± 0.. ± 0. D GND (DSL-) U V W Grounding PE Mating face M x O-ring..8 ± 0.. Rotary stop Motor connector Mating connector Pivoting range: to the right 00 ± D B A Pivoting range: to the left side 0 ± ountersunk scew M x 0 DIN 700 M =. ± 0.Nm 8-pole x Ø mm (+PE) + x Ø mm BSTA 078 NN mm) * if available Mating connector 78 Mating face Ø 8

24 Allied Motion Technologies Inc. ommerce Dr, Amherst, NY 8 USA North America + (76) -7 inquiry@alliedmotion.com Europe (EMEA) +6 (8) 6 00 inquiry.eu@alliedmotion.com Asia inquiry@alliedmotion.com 06 Allied Motion Technologies Inc. Technical data subject to change. Last revision: /8/06