RDDM Rotary Direct Drive Motors. RIB Series

Transcription

1 RDDM Rotary Direct Drive Motors RIB Series 1

2 IDAM Direct Drives: Precise. Fast. Efficient. INA Drives & Mechatronics AG & Co. KG, a member of the Schaeffler Group, is a specialist in linear and rotary direct drives. To complement these products, we also offer directly driven positioning systems and all the necessary controllers and mechatronic assemblies. In addition to standard products, IDAM also develops and produces customised drive solutions. In modern machines and equipment, direct drives are increasingly replacing standard drive solutions because of ever-stricter requirements for dynamics, precision and cost-effectiveness. Directly linking the motor and the moving mass increases the dynamic and static rigidity, enabling high-performance positioning movements. Direct drives are low wearing. This allows maintenance and operating costs to be reduced whilst also increas ing availability. Teams at IDAM have been developing and producing direct drives and complex drive systems for the following sectors: machine tools and production machinery, automation, productronics/semicon, measuring technology and medical engineering for over 20 years. Models and simulations are integrated into the development process for direct drives and positioning systems, making the process more efficient. IDAM has a state-of-the-art quality man agement system. At IDAM, quality man agement is a dynamic process that is checked daily and continuously im proved. IDAM is certified to DIN EN ISO 9001:2008. IDAM uses specially developed tools to develop and design the motors, including tools for mechanical and thermal simulation. This produces results that our customers can use to optimise their subsequent designs. Linear direct drives Rotary direct drives Multi-axis positioning systems 2

3 Contents Product Range Benefits of Rotary Direct Drives...4 RIB Torque Motors Features, benefits, applications... 5 Designation...6 Technical Data...8 General Information Checklist for Your Enquiry...28 Glossary...30 IDAM Worldwide...34 Overview of Publications

4 Benefits of Rotary Direct Drives Performance Operating costs Design 1. No conversion of the motion form There is no elasticity, no play, little friction and no hysteresis in the drive train resulting from transmission or coupling elements. 2. Multi-pole motor Very high torques are produced owing to the multi-pole design. These can be used from a speed > 0 up to the nominal speed. 3. Thin, ring-shaped rotor The motor has low inertia owning to the thin, ring-shaped design with a large, free internal diameter. This is the basis for fast acceleration. 4. Direct position measurement Direct position measurement and the rigid mechanical structure enable highly precise, dynamic positioning operations. 1. No additional moving parts This reduces the effort of installing, adjusting and maintaining the drive assembly. 2. Minimal wear in the drive train The drive train has a very long service life, even if subjected to extreme alternating loads. This reduces machine downtime. 3. High availability In addition to the longer service life and reduced wear, the sturdiness of the torque motors increases their availability. 4. Energy efficiency Heat is reduced to a minimum, thus saving energy in the frequency converter and heat exchanger. 1. Hollow shaft The hollow shaft with a large diameter makes integration or lead-through of other assemblies possible (shafts, rotary distributors, supply lines etc.). Bearing level, generation of force and effective working area can be very close to one another. 2. Installation of primary part The ring for the primary part can be easily integrated in the machine design owing to the small space requirement (thin ring). 3. Small height A very compact and axially small design with a high torque is produced in combination with the large, free internal diameter (hollow shaft). 4. Few parts The well-engineered design makes it easier to integrate the motor parts into the machine concept. There are only a few, very sturdy parts, which reduces the fail rate (high MTBF * ). * MTBF: Mean time between failures 4

5 RIB Torque Motors Features, benefits, applications Features RIB torque motors are slotted, permanent magnet excited AC synchronous direct drive motors with an internal rotor. The primary part is a fully cast stator with external liquid cooling. The secondary part comprises an interference ring with a large internal diameter and permanent magnets attached on the outside. This motor series is optimised to maximum efficiency, which means maximum torque in the available installation space at nominal speed and lower power loss. The usable torque is available over a very large range. RIB motors are designed for very high circumferential speeds in the air gap. The low torque fluctuations allow them to be used in precision applications. RIB (internal rotor) motors are offered in different categories: With stators at 7 different heights in 25 mm steps With 2 standard windings for low and medium speeds With special winding variants for higher speeds (low heating of the rotor) In commonly used sizes Benefits Applications Optimised in terms of power loss Higher speeds/power ranges can be achieved through customised designs Highly dynamic and high rigidity Compact design Maintenance-free Good synchronisation characteristics Reduced energy requirements through frequency converter oriented and application oriented winding design Cost savings through downsizing Machine tools (direct drive CNC axes) NC rotary tables (direct drive) Index tables (cycled) Direct drive in radial precision tracking units Automation technology Printing and packaging machinery Servo presses 5

6 Designation RIB series, primary part XXXXX - 3P - DxH - X - X - X - X - PRIM Short designation of motor type RIB RIB series, internal running motor (internal rotor) Model code Number of motor phases 3P 3-phase Dimensions Effective diameter in the air gap x package size (mm) Winding types ZX Application-specific Temperature monitoring P PTC and PT1000 O PTC and KTY84- S Special design on request Commutation type O Without sensors, measuring-system commutated Model variant M Complete motor K With cooling in the ring (additional ring is provided by IDAM) Motor part PRIM Primary part The IDAM article number in the order confirmation is binding for the unequivocal designation of the motor. 6

7 Designation RIB series, secondary part XXXX - 3P - DxH - X - SEK Short designation of motor type RI Internal running motor (internal rotor) Model code Number of motor phases 3P 3-phase Dimensions Effective diameter in the air gap x package size (mm) Model variant M Complete motor O Special design on request Motor part SEK Secondary part 7

8 89xH Drawing A ca. 36 Motor cable Sensor cable Ø160 f8 Ø150 Ø89 Ø H 1 Ø60 H8 M5 x10 (nx)* M5 x10 (nx)* M5 x10 (nx)* Ø70 Ø M5 x10 (nx)* H 2 *Note: The number (n) of fastening threads depends on the height. Fastening threads 89x25 89x50 89x75 89x100 89x125 89x150 Fastening thread of rotor M5 x 10, 8 x (45 ) M5 x 10, 16 x (22.5 ) Fastening thread of stator cable side M5 x 10, 15 x (22.5 ) M5 x 10, 15 x (22.5 ) Fastening thread of stator M5 x 10, 16 x (22.5 ) M5 x 10, 16 x (22.5 ) Standard: cable outlet axial Option: cable outlet tangential Option: cable outlet radial 8

9 89xH Technical data I Technical data Symbol Unit 89x25 89x50 89x75 89x100 89x125 89x150 Number of pole pairs P Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm Peak torque (saturation range) at I p T p Nm Peak torque (linear range) at I pl T pl Nm Continuous torque cooled at I cw T cw Nm Continuous torque not cooled at I c T c Nm Stall torque (n = 0) cooled at I sw T sw Nm Ripple torque (typical cogging) at I = 0 T r Nm Power loss at T p (25 C) P lp W Power loss at T pl (25 C) P lpl W Power loss at T cw ( C) P lw W Power loss at T c (25 C) P lc W Motor constant (25 C) k m Nm/ W Cooling water flow rate of main cooling system dv/dt l/min Temperature difference of cooling water ϑ K Mechanical data Symbol Unit 89x25 89x50 89x75 89x100 89x125 89x150 Height of rotor H 1 mm Height of stator H 2 mm Rotor mass m 1 kg Stator mass m 2 kg Moment of inertia of rotor J kgm Axial attraction F a kn Radial attraction/eccentricity F r kn/mm Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 9

10 89xH Technical data II Winding data Symbol Unit 89x25-89x25-89x50-89x50-89x75-89x75- Z1.7 Z2.7 Z1.7 Z2.7 Z1.7 Z2.7 Torque constant k T Nm/A rms Back EMF constant, phase to phase k u V/(rad/s) Limiting speed at I cw and U DCL n lw rpm No-load speed at I = 0 and U DCL n 0 rpm Limiting speed for continuous operation at I cw n cr rpm Electrical resistance, phase to phase (25 C) R 25 Ω Inductance, phase to phase L mh Ultimate current (1 s) I u A rms Peak current (saturation range) I p A rms Peak current (linearer Bereich) I pl A rms Continuous current at P lw (cooled) I cw A rms Continuous current at P lc (not cooled) I c A rms Stall current (n = 0, cooled) I sw A rms Permissible winding temperature ϑ C Switch-off threshold of thermal sensor ϑ C DC link voltage U DCL V Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Tolerance range of value for inductance : ±15% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 10

11 11 Symbol k T k u n lw n 0 n cr R 25 L I u I p I pl I cw I c I sw ϑ ϑ U DCL x100- Z1.7 89x100- Z2.7 89x125- Z1.7 89x125- Z2.7 89x150- Z1.7 89x150- Z2.7

12 120xH Drawing Motor cable A 33.5 Sensor cable ca Ø Ø Ø120 Ø100 Ø90 H H 1 M5 x10 (nx)* beidseitig 45 M(x) x10 (nx)* M(x) x10 (nx)* Ø185 A H 2 *Note: The number (n) and the size M(x) of fastening threads depend on the height. Fastening threads 120x25 120x50 120x75 120x x x150 Fastening thread of rotor M5 x 10, 16 x (22.5 ) M6 x 10, 16 x (22.5 ) Fastening thread of stator cable side M5 x 10, 8 x (45 ) M5 x 10, 15 x (22.5 ) Fastening thread of stator M5 x 10, 8 x (45 ) M5 x 10, 16 x (22.5 ) Standard: cable outlet axial Option: cable outlet tangential Option: cable outlet radial 12

13 120xH Technical data I Technical data Symbol Unit 120x25 120x50 120x75 120x x x150 Number of pole pairs P Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm Peak torque (saturation range) at I p T p Nm Peak torque (linear range) at I pl T pl Nm Continuous torque cooled at I cw T cw Nm Continuous torque not cooled at I c T c Nm Stall torque (n = 0) cooled at I sw T sw Nm Ripple torque (typical cogging) at I = 0 T r Nm Power loss at T p (25 C) P lp W Power loss at T pl (25 C) P lpl W Power loss at T cw ( C) P lw W Power loss at T c (25 C) P lc W Motor constant (25 C) k m Nm/ W Cooling water flow rate of main cooling system dv/dt l/min Temperature difference of cooling water ϑ K Mechanical data Symbol Unit 120x25 120x50 120x75 120x x x150 Height of rotor H 1 mm Height of stator H 2 mm Rotor mass m 1 kg Stator mass m 2 kg Moment of inertia of rotor J kgm Axial attraction F a kn Radial attraction/eccentricity F r kn/mm Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 13

14 120xH Technical data II Winding data Symbol Unit 120x25-120x25-120x50-120x50-120x75-120x75- Z1.6 Z2.9 Z1.6 Z2.9 Z1.6 Z2.9 Torque constant k T Nm/A rms Back EMF constant, phase to phase k u V/(rad/s) Limiting speed at I cw and U DCL n lw rpm No-load speed at I = 0 and U DCL n 0 rpm Limiting speed for continuous operation at I cw n cr rpm Electrical resistance, phase to phase (25 C) R 25 Ω Inductance, phase to phase L mh Ultimate current (1 s) I u A rms Peak current (saturation range) I p A rms Peak current (linearer Bereich) I pl A rms Continuous current at P lw (cooled) I cw A rms Continuous current at P lc (not cooled) I c A rms Stall current (n = 0, cooled) I sw A rms Permissible winding temperature ϑ C Switch-off threshold of thermal sensor ϑ C DC link voltage U DCL V Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Tolerance range of value for inductance : ±15% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 14

15 15 Symbol k T k u n lw n 0 n cr R 25 L I u I p I pl I cw I c I sw ϑ ϑ U DCL x100- Z x100- Z x125- Z x125- Z x150- Z x150- Z2.9

16 RIB17-3P-168xH Drawing Motor cable A Sensor cable ca Ø Ø220 Ø168 Ø150 Ø140 H H 1 30 M(x) x10 (nx)* A Ø150 M(x) x10 (nx)* M5 x10 (nx)* M5 x10 (nx)* H 2 Ø220 *Note: The number (n) and the size M(x) of fastening threads depend on the height. Fastening threads RIB17-3P- RIB17-3P- RIB17-3P- 168x25 168x50 168x75 168x x x x175 Fastening thread of rotor M5 x 10, 12 x (30 ) M5 x 10, 24 x (15 ) M6 x 10, 24 x (15 ) Fastening thread of stator cable side M5 x 10, 11 x (30 ) M5 x 10, 21 x (15 ) M5 x 10, 21 x (15 ) Fastening thread of stator M5 x 10, 12 x (30 ) M5 x 10, 24 x (15 ) M5 x 10, 24 x (15 ) Standard: cable outlet axial Option: cable outlet tangential Option: cable outlet radial 16

17 RIB17-3P-168xH Technical data I Technical data Symbol Unit RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- 168x25 168x50 168x75 168x x x x175 Number of pole pairs P Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm Peak torque (saturation range) at I p T p Nm Peak torque (linear range) at I pl T pl Nm Continuous torque cooled at I cw T cw Nm Continuous torque not cooled at I c T c Nm Stall torque (n = 0) cooled at I sw T sw Nm Ripple torque (typical cogging) at I = 0 T r Nm Power loss at T p (25 C) P lp W Power loss at T pl (25 C) P lpl W Power loss at T cw ( C) P lw W Power loss at T c (25 C) P lc W Motor constant (25 C) k m Nm/ W Cooling water flow rate of main cooling system dv/dt l/min Temperature difference of cooling water ϑ K Mechanical data Symbol Unit RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- 168x25 168x50 168x75 168x x x x175 Height of rotor H 1 mm Height of stator H 2 mm Rotor mass m 1 kg Stator mass m 2 kg Moment of inertia of rotor J kgm Axial attraction F a kn Radial attraction/eccentricity F r kn/mm Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 17

18 RIB17-3P-168xH Technical data II Winding data Symbol Unit RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- RIB17-3P- 168x25-168x25-168x50-168x50-168x75-168x75- Z0.8 Z1.6 Z0.8 Z1.6 Z0.8 Z1.6 Torque constant k T Nm/A rms Back EMF constant, phase to phase k u V/(rad/s) Limiting speed at I cw and U DCL n lw rpm No-load speed at I = 0 and U DCL n 0 rpm Limiting speed for continuous operation at I cw n cr rpm Electrical resistance, phase to phase (25 C) R 25 Ω Inductance, phase to phase L mh Ultimate current (1 s) I u A rms Peak current (saturation range) I p A rms Peak current (linearer Bereich) I pl A rms Continuous current at P lw (cooled) I cw A rms Continuous current at P lc (not cooled) I c A rms Stall current (n = 0, cooled) I sw A rms Permissible winding temperature ϑ C Switch-off threshold of thermal sensor ϑ C DC link voltage U DCL V Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Tolerance range of value for inductance : ±15% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 18

19 19 Symbol k T k u n lw n 0 n cr R 25 L I u I p I pl I cw I c I sw ϑ ϑ U DCL RIB17-3P- 168x100- Z0.8 RIB17-3P- 168x100- Z1.6 RIB17-3P- 168x125- Z0.8 RIB17-3P- 168x125- Z1.6 RIB17-3P- 168x150- Z0.8 RIB17-3P- 168x150- Z RIB17-3P- 168x175- Z0.8 RIB17-3P- 168x175- Z1.6

20 230xH Drawing Motor cable A Sensor cable ca Ø Ø Ø300 Ø230 Ø200 H8 H 1 15 M5 x10 (nx)* M5 x10 (nx)* M5 x10 (nx)* A Ø210 M5 x10 (nx)* H 2 Ø300 *Note: The number (n) of fastening threads depends on the height. Fastening threads 230x25 230x50 230x75 230x x x x175 Fastening thread of rotor M5 x 10, 24 x (15 ) M5 x 10, 48 x (7.5 ) Fastening thread of stator cable side M5 x 10, 23 x (15 ) M5 x 10, 45 x (7.5 ) Fastening thread of stator M5 x 10, 24 x (15 ) M5 x 10, 48 x (7.5 ) Standard: cable outlet axial Option: cable outlet tangential Option: cable outlet radial 20

21 230xH Technical data I Technical data Symbol Unit 230x25 230x50 230x75 230x x x x175 Number of pole pairs P Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm Peak torque (saturation range) at I p T p Nm Peak torque (linear range) at I pl T pl Nm Continuous torque cooled at I cw T cw Nm Continuous torque not cooled at I c T c Nm Stall torque (n = 0) cooled at I sw T sw Nm Ripple torque (typical cogging) at I = 0 T r Nm Power loss at T p (25 C) P lp W Power loss at T pl (25 C) P lpl W Power loss at T cw ( C) P lw W Power loss at T c (25 C) P lc W Motor constant (25 C) k m Nm/ W Cooling water flow rate of main cooling system dv/dt l/min Temperature difference of cooling water ϑ K Mechanical data Symbol Unit 230x25 230x50 230x75 230x x x x175 Height of rotor H 1 mm Height of stator H 2 mm Rotor mass m 1 kg Stator mass m 2 kg Moment of inertia of rotor J kgm Axial attraction F a kn Radial attraction/eccentricity F r kn/mm Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 21

22 230xH Technical data II Winding data Symbol Unit 230x25-230x25-230x50-230x50-230x75-230x75- Z1.7 Z4.0 Z1.7 Z4.0 Z1.7 Z4.0 Torque constant k T Nm/A rms Back EMF constant, phase to phase k u V/(rad/s) Limiting speed at I cw and U DCL n lw rpm No-load speed at I = 0 and U DCL n 0 rpm Limiting speed for continuous operation at I cw n cr rpm Electrical resistance, phase to phase (25 C) R 25 Ω Inductance, phase to phase L mh Ultimate current (1 s) I u A rms Peak current (saturation range) I p A rms Peak current (linearer Bereich) I pl A rms Continuous current at P lw (cooled) I cw A rms Continuous current at P lc (not cooled) I c A rms Stall current (n = 0, cooled) I sw A rms Permissible winding temperature ϑ C Switch-off threshold of thermal sensor ϑ C DC link voltage U DCL V Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Tolerance range of value for inductance : ±15% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 22

23 23 Symbol k T k u n lw n 0 n cr R 25 L I u I p I pl I cw I c I sw ϑ ϑ U DCL x100- Z x100- Z x125- Z x125- Z x150- Z x150- Z x175- Z x175- Z4.0

24 RIB13-3P-298xH Drawing ca. 40 Motor cable A Sensor cable Ø385 f8 Ø370 Ø298 Ø277 Ø265 H8 29 H M6 x12 (nx)* A Ø277 M6 x12 (nx)* M6 x12 (nx)* M6 x12 (nx)* H 2 Ø370 *Note: The number (n) of fastening threads depends on the height. Fastening threads RIB13-3P- RIB13-3P- 298x25 298x50 298x75 298x x x x175 Fastening thread of rotor M6 x 12, 24 x (15 ) M6 x 12, 48 x (7.5 ) Fastening thread of stator cable side M6 x 12, 23 x (15 ) M6 x 12, 45 x (7.5 ) Fastening thread of stator M6 x 12, 24 x (15 ) M6 x 12, 48 x (7.5 ) Standard: cable outlet axial Option: cable outlet tangential Option: cable outlet radial 24

25 RIB13-3P-298xH Technical data I Technical data Symbol Unit RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- 298x25 298x50 298x75 298x x x x175 Number of pole pairs P Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm Peak torque (saturation range) at I p T p Nm Peak torque (linear range) at I pl T pl Nm Continuous torque cooled at I cw T cw Nm Continuous torque not cooled at I c T c Nm Stall torque (n = 0) cooled at I sw T sw Nm Ripple torque (typical cogging) at I = 0 T r Nm Power loss at T p (25 C) P lp W Power loss at T pl (25 C) P lpl W Power loss at T cw ( C) P lw W Power loss at T c (25 C) P lc W Motor constant (25 C) k m Nm/ W Cooling water flow rate of main cooling system dv/dt l/min Temperature difference of cooling water ϑ K Mechanical data Symbol Unit RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- 298x25 298x50 298x75 298x x x x175 Height of rotor H 1 mm Height of stator H 2 mm Rotor mass m 1 kg Stator mass m 2 kg Moment of inertia of rotor J kgm Axial attraction F a kn Radial attraction/eccentricity F r kn/mm Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 25

26 RIB13-3P-298xH Technical data II Winding data Symbol Unit RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- RIB13-3P- 298x25-298x25-298x50-298x50-298x75-298x75- Z1.4 Z3.8 Z1.4 Z3.8 Z1.4 Z3.8 Torque constant k T Nm/A rms Back EMF constant, phase to phase k u V/(rad/s) Limiting speed at I cw and U DCL n lw rpm No-load speed at I = 0 and U DCL n 0 rpm Limiting speed for continuous operation at I cw n cr rpm Electrical resistance, phase to phase (25 C) R 25 Ω Inductance, phase to phase L mh Ultimate current (1 s) I u A rms Peak current (saturation range) I p A rms Peak current (linearer Bereich) I pl A rms Continuous current at P lw (cooled) I cw A rms Continuous current at P lc (not cooled) I c A rms Stall current (n = 0, cooled) I sw A rms Permissible winding temperature ϑ C Switch-off threshold of thermal sensor ϑ C DC link voltage U DCL V Subject to changes without advance notification, according to technical progress. Tolerance range of values: ±10% Tolerance range of value for inductance : ±15% Binding data and drawings are passed on to the customer upon request. We recommend the support of our engineers for the motor layout. 26

27 27 Symbol k T k u n lw n 0 n cr R 25 L I u I p I pl I cw I c I sw ϑ ϑ U DCL RIB13-3P- 298x100- Z1.4 RIB13-3P- 298x100- Z3.8 RIB13-3P- 298x125- Z1.4 RIB13-3P- 298x125- Z3.8 RIB13-3P- 298x150- Z1.4 RIB13-3P- 298x150- Z RIB13-3P- 298x175- Z1.4 RIB13-3P- 298x175- Z3.8

28 Checklist for Your Enquiry or Fax Please fill out the following checklist so that we can respond to your enquiry quickly and precisely. Please feel free to contact the IDAM sales team if you have any questions. Company Contact Sector/Project designation Telephone Application Rotary table Swivel application Other Predominant operating mode Continuous operation (S1, e.g. in NC axes) Intermittent operation (S6, e.g. in cycled applications) Operating several motors in parallel No Yes Tandem arrangement Janus arrangement Motor type (if known) Any required compatibility to Manufacturer Type Installation space Min. internal diameter / max. external diameter / max. height in mm / / Required operating points Operating point 1 Torque Speed Continuous operation (S1) Intermittent operation (S6) Standstill Operating point 2 Torque Speed Continuous operation (S1) Intermittent operation (S6) Standstill Frequency converter Manufacturer Type DC link voltage [V DC ] Constant operation current (S1) Peak current 28

29 Cooling Water cooling (standard) Convection Other Cable Cable outlet Axial (standard) Tangential Radial Cable type Cable length Separate motor and sensor cables 1 m standard, open-ended Other types and lengths upon request. O-rings (seals required for water cooled motors) Yes No Temperature sensors PTC and PT1000 (standard) Others upon request. Technical documentation Paper CD Language General information Single item Series Prototype for series Estimated annual quantity required Planned series start Price range/cost of previous solution Desired date of quotation Further processing by: Created by: Feasibility checked by: Date: Date: Date: 29

30 Glossary Winding-independent parameters Saturation behaviour The torque initially increases linearly the more the effective current rises, goes into a curvature range and then increases more in a flatter linear way again. The curve is produced from the magnetic saturation of the overall magnetic circuit. Torque T T u T p T cw T pl T c I c I pl I cw I p I u Motor current I Torque curve depending on the current Symbol Meaning Unit Explanation T u Ultimate torque Nm Ultimate torque with high saturation in the magnetic circuit. When this is exceeded, there is a risk of demagnetisation posed for the heated up motor (magnet temperature 80 C) or thermal destruction within a very short period of time. It should not be used as a dimensioning size, but must be observed in the case of short-circuit braking. T p Peak torque Nm Briefly (in seconds) producible peak torque at I p which is reliably attained in the saturation range and at all operating temperatures. With magnet temperatures up to 60 C and in pulsed mode, T p can be increased up to the value of T u. T pl Peak torque, Nm Briefly (a few seconds) producible motor torque which is attained at the end of linear range the linear modulation range at I pl. k T. T cw Continuous Nm Motor torque at I cw which is available as a continuous torque in nominal opera- torque, tion with water cooling and where a temperature gradient of approx. 100 K is set cooled between the winding and cooling. T c Continuous Nm Continuous motor torque at continuous current I c at which the motor can be used torque, for thermally stable running without cooling, but is heated up in doing so. not cooled 30

31 Symbol Meaning Unit Explanation T sw Stall torque, Nm Stall torque when the motor is stationary and with a control frequency up to cooled approx. 1 Hz which is produced with the respective stall current owing to the uneven power distribution in the individual motor phases. T r Ripple torque Nm Ripple torque as the sum of torques caused by reluctance (cogging) which is effective in the direction of rotation when the de-energised motor is moving and operates as the ripple-torque during operation. P l Power loss W The thermal output produced in the motor winding which leads to a timedependent increase in temperature depending on the operational mode (current) and the ambient conditions (cooling). In the upper modulation range (at T p ), P l is especially high because of the quadratic dependence on the current, while in the continuous current range, only relatively low heating occurs. P l is calculated with the help of the motor constant k m for one movement section using the required torque T: P l = (T/k m ) 2 P lp Power loss W Peak power loss at I p P lpl Power loss W Peak power loss at I pl P lw Power loss W Power loss at I cw P lc Power loss W Power loss at I c ϑ Winding temperature C Permissible winding temperature recorded by sensors with a specified offset. The motor surface temperature being set depends on The specific installation conditions (dimensions of machine construction) Heat dissipation conditions Operational mode and thus on the mean power used and can only be determined when this fact is known. k m Motor constant Nm/ W The motor constant which conveys the relation between generated torque and power loss, thus the efficiency. It depends on the temperature and is only completely accurate during static operation as well as in the linear modulation range of the motor, e.g. in positioning procedures at low speeds. At a winding temperature of C, it goes back to about 0.85 of the value. 31

32 Glossary Winding-dependent parameters Symbol Meaning Unit Explanation k T Torque constant Nm/A rms Torque constant, which, when multiplied by the current, produces a resulting motor torque in the linear modulation range: T c = I. c k T k u Back EMF V/(rad/s) Voltage constant, which (in generator operation), when multiplied by the speed, constant produces the armature countervoltage resulting at the motor terminals: U EMF = k u. n n lp Limiting speed rpm Winding-dependent speed limit without taking the dynamic heat losses into account when the peak current I p and no field weakening are used. The torque for the motor drops after this point. n 0 No-load speed rpm Winding-dependent speed limit without taking the dynamic heat losses for a motor without load and without field weakening. n cr Limiting speed rpm Speed limit under consideration of the additional frequency-dependent heat losses (caused by eddy currents and change in magnetisation losses). Continuous, water-cooled operation at speed n cr is possible if the permissible current is approx. 45% of the water-cooled continuous current I cw. The speed n cr at current I cw is possible for a duty cycle of approx. 20%. To attain a duty cycle of 100% with current I cw, a speed reduction to approx. 0.2 x n cr is required. U DCL DC link voltage V Direct current link voltage or supply voltage of the power controlling elements. The higher the speed and associated increasing countervoltage and frequencydependent losses are, the greater this voltage has to be. R 25 Winding Ω Winding resistance at 25 C. resistance At C, it increases to approx. 1.4 times this value. I u Ultimate current A rms Ultimate current at which the magnetic circuit has high saturation. It is determined either by the maximum current density in the winding or by the incipient risk of demagnetisation at a magnet temperature of 80 C (see also T u ). I p Peak current A rms Peak effective current in the iron saturation range and should be used as the dimensioning size (see also T p ). When the rotor is only moderately warm (magnet temperature max. 60 C) and for pulsed mode (max. 1 s), I p can be increased to the limit value I u. 32

33 Symbol Bedeutung Einheit Erläuterung I pl Peak current, A rms Effective peak current up to which an approximately proportional torque curve linear range occurs. I cw Continuous A rms Effective continuous current which is permissible during continuous operation current, cooled with water cooling. I c Continuous A rms Effective continuous current at which the associated power loss leads to relative- current, not ly low heating of the motor without forced cooling, depending on the size of the cooled fastening base. I sw Stall current, cooled A rms Effective stall current when the motor is stationary and with control frequencies up to approx. 1 Hz. Owing to the varying power distribution in the motor phases, the motor current must be reduced to this value to prevent local overheating, if no noticeable movement takes place across a pole pair. 33

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35 Overview of Publications Are you interested in detailed technical information? We would be happy to send you our product brochures. Contact us: idam@schaeffler.com LDDM LDDM LDDM X/Y Positioning Systems Linear Direct Drive Motors Linear Direct Drive Motors Linear Direct Drive Motors based on Planar Motor T e chnology L1 Series L2U Series UPL Series LDDM Linear Direct LDDM Linear Direct LDDM Linear Direct X/Y Positioning Systems Drive Motors: L1 Series Drive Motors: L2U Series Drive Motors: UPL Series based on Planar Motor Technology T o gether we move the world. RDDM RDDM RDDM RDDS IDAM Direct Drives Rotary Direct Drive Motors Rotary Direct Drive Motors Rotary Direct Drive Motors Rotary Direct Drive Systems The perfect solution for every application anywhere in the world. RIB Series RKI Series RDDS1 Matrix RDDS2 Matrix RDDM Rotary Direct RDDM Rotary Direct RDDM Rotary Direct RDDS Rotary Direct Product Overview: Drive Motors: Drive Motors: RIB Series Drive Motors: RKI Series Drive Systems: RDDS1, IDAM Direct Drives RI/RE Series RDDS2 Matrix We would be happy to provide you with product brochures for our electronic assemblies and system solutions. All information about our motors and systems can also be found on our website at 35

36 INA Drives & Mechatronics AG & Co. KG Mittelbergstrasse Suhl, Germany Phone I Fax I Web idam@schaeffler.com Issue: May 2016 I Subject to changes without advance notification, according to technical progress. I Photos: IDAM AG & Co. KG