RDDM Rotary Direct Drive Motors RIB Series 1
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
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...35 3
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
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
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
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
89xH Drawing A ca. 36 Motor cable 50 33 Sensor cable 10 45 Ø160 f8 Ø150 Ø89 Ø70 19.5 H 1 Ø60 H8 M5 x10 (nx)* M5 x10 (nx)* M5 x10 (nx)* Ø70 Ø150 22.5 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
89xH Technical data I Technical data Symbol Unit 89x25 89x50 89x75 89x100 89x125 89x150 Number of pole pairs P 11 11 11 11 11 11 Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm 37 74 112 149 186 223 Peak torque (saturation range) at I p T p Nm 33 65 98 163 196 Peak torque (linear range) at I pl T pl Nm 12 24 37 49 61 73 Continuous torque cooled at I cw T cw Nm 17 35 53 72 90 109 Continuous torque not cooled at I c T c Nm 5 12 18 26 33 40 Stall torque (n = 0) cooled at I sw T sw Nm 13 27 41 55 69 84 Ripple torque (typical cogging) at I = 0 T r Nm 0.10 0.21 0.31 0.41 0.52 0.62 Power loss at T p (25 C) P lp W 3020 4392 5765 7137 8510 9882 Power loss at T pl (25 C) P lpl W 195 284 373 461 550 639 Power loss at T cw ( C) P lw W 668 1056 1444 1832 2220 2608 Power loss at T c (25 C) P lc W 33 67 100 133 166 200 Motor constant (25 C) k m Nm/ W 0.9 1.4 1.8 2.2 2.5 2.8 Cooling water flow rate of main cooling system dv/dt l/min 1.9 3.0 4.1 5.2 6.4 7.5 Temperature difference of cooling water ϑ K Mechanical data Symbol Unit 89x25 89x50 89x75 89x100 89x125 89x150 Height of rotor H 1 mm 26.0 51.0 76.0 101.0 126.0 151.0 Height of stator H 2 mm 70.0 90.0.0 140.0 16 190.0 Rotor mass m 1 kg 0.5 1.1 1.6 2.2 2.7 3.2 Stator mass m 2 kg 5.1 7.2 9.3 11.8 14.1 16.3 Moment of inertia of rotor J kgm 2 0.00075 0.0015 0.00225 0.0030 0.00375 0.0045 Axial attraction F a kn 0.1 0.1 0.1 0.1 0.1 0.1 Radial attraction/eccentricity F r kn/mm 0.5 1.0 1.5 2.0 2.4 2.9 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
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 1.2 0.7 2.4 1.5 3.6 2.2 Back EMF constant, phase to phase k u V/(rad/s) 1.0 0.6 2.0 1.2 2.9 1.8 Limiting speed at I cw and U DCL n lw rpm 3592 6064 1730 2935 1125 1918 No-load speed at I = 0 and U DCL n 0 rpm 5829 9601 2914 4800 1943 3200 Limiting speed for continuous operation at I cw n cr rpm Electrical resistance, phase to phase (25 C) R 25 Ω 1.27 0.49 1.84 0.72 2.42 0.94 Inductance, phase to phase L mh 6.3 2.3 12.6 4.7 19.0 7.0 Ultimate current (1 s) I u A rms 49.8 82.0 49.8 82.0 49.8 82.0 Peak current (saturation range) I p A rms 39.9 65.6 39.9 65.6 39.9 65.6 Peak current (linearer Bereich) I pl A rms 10.1 16.7 10.1 16.7 10.1 16.7 Continuous current at P lw (cooled) I cw A rms 16.1 25.9 16.8 27.0 17.2 27.5 Continuous current at P lc (not cooled) I c A rms 4.2 6.7 4.9 7.9 5.2 8.4 Stall current (n = 0, cooled) I sw A rms 11.4 18.4 11.9 19.1 12.2 19.5 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 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 4.8 3.9 826 1457 3.00 25.3 49.8 39.9 10.1 17.4 5.4 12.3 2.9 2.4 1417 2400 1.16 9.3 82.0 65.6 16.7 27.9 8.7 19.8 6.0 4.9 649 1166 3.57 31.6 49.8 39.9 10.1 17.5 5.6 12.4 3.7 3.0 1119 1920 1.39 11.6 82.0 65.6 16.7 28.1 8.9 19.9 7.2 5.9 532 971 4.15 37.9 49.8 39.9 10.1 17.6 5.7 12.5 4.4 3.6 922 1 1.61 14.0 82.0 65.6 16.7 28.3 9.1 20.1 89x100- Z1.7 89x100- Z2.7 89x125- Z1.7 89x125- Z2.7 89x150- Z1.7 89x150- Z2.7
120xH Drawing Motor cable A 33.5 Sensor cable ca. 35 8 50 Ø100 22.5 Ø198-0.12 0 Ø120 Ø100 Ø90 H8 24.5 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 120x100 120x125 120x150 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
120xH Technical data I Technical data Symbol Unit 120x25 120x50 120x75 120x100 120x125 120x150 Number of pole pairs P 11 11 11 11 11 11 Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm 79 157 236 314 393 471 Peak torque (saturation range) at I p T p Nm 70 140 210 280 351 421 Peak torque (linear range) at I pl T pl Nm 34 67 101 134 168 201 Continuous torque cooled at I cw T cw Nm 40 83 128 173 219 264 Continuous torque not cooled at I c T c Nm 11 25 40 55 71 87 Stall torque (n = 0) cooled at I sw T sw Nm 29 60 93 125 158 191 Ripple torque (typical cogging) at I = 0 T r Nm 0.21 0.42 0.63 0.84 1.05 1.26 Power loss at T p (25 C) P lp W 2385 3422 4458 5495 6532 7569 Power loss at T pl (25 C) P lpl W 414 594 774 954 1134 1314 Power loss at T cw ( C) P lw W 833 1317 1802 2286 2771 3255 Power loss at T c (25 C) P lc W 42 83 125 166 208 249 Motor constant (25 C) k m Nm/ W 1.6 2.7 3.6 4.3 4.9 5.5 Cooling water flow rate of main cooling system dv/dt l/min 2.4 3.8 5.2 6.5 7.9 9.3 Temperature difference of cooling water ϑ K Mechanical data Symbol Unit 120x25 120x50 120x75 120x100 120x125 120x150 Height of rotor H 1 mm 26.0 51.0 76.0 101.0 126.0 151.0 Height of stator H 2 mm 80.0 100.0 120.0 150.0 17 200.0 Rotor mass m 1 kg 0.8 1.7 2.5 3.4 4.2 5.1 Stator mass m 2 kg 7.7 10.7 13.8 17.7 21.1 24.6 Moment of inertia of rotor J kgm 2 0.0023 0.0046 0.0069 0.0091 0.0114 0.0136 Axial attraction F a kn 0.16 0.16 0.16 0.16 0.16 0.16 Radial attraction/eccentricity F r kn/mm 0.5 0.9 1.4 1.8 2.2 2.7 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
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 2.7 1.5 5.4 3.0 8.2 4.5 Back EMF constant, phase to phase k u V/(rad/s) 2.2 1.2 4.4 2.5 6.7 3.7 Limiting speed at I cw and U DCL n lw rpm 1752 3224 838 1556 540 1013 No-load speed at I = 0 and U DCL n 0 rpm 2578 4632 1289 2316 859 1544 Limiting speed for continuous operation at I cw n cr rpm Electrical resistance, phase to phase (25 C) R 25 Ω 1.81 0.58 2.60 0.83 3.39 1.08 Inductance, phase to phase L mh 11.2 3.5 22.3 6.9 33.5 10.4 Ultimate current (1 s) I u A rms 37.0 66.5 37.0 66.5 37.0 66.5 Peak current (saturation range) I p A rms 29.6 53.2 29.6 53.2 29.6 53.2 Peak current (linearer Bereich) I pl A rms 12.3 22.2 12.3 22.2 12.3 22.2 Continuous current at P lw (cooled) I cw A rms 15.1 26.7 15.8 28.1 16.2 28.8 Continuous current at P lc (not cooled) I c A rms 3.9 6.9 4.6 8.2 4.9 8.8 Stall current (n = 0, cooled) I sw A rms 10.7 19.0 11.2 19.9 11.5 20.4 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 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 10.9 8.9 393 644 4.18 44.7 37.0 29.6 12.3 16.4 5.1 11.7 6.1 4.9 745 1158 1.33 13.8 66.5 53.2 22.2 29.2 9.1 20.7 13.6 11.1 306 516 4.97 55.8 37.0 29.6 12.3 16.6 5.3 11.8 7.6 6.2 586 926 1.58 17.3 66.5 53.2 22.2 29.5 9.4 20.9 16.3 13.3 248 430 5.76 67.0 37.0 29.6 12.3 16.7 5.4 11.9 9.1 7.4 481 772 1.83 20.7 66.5 53.2 22.2 29.7 9.5 21.1 120x100- Z1.6 120x100- Z2.9 120x125- Z1.6 120x125- Z2.9 120x150- Z1.6 120x150- Z2.9
RIB17-3P-168xH Drawing Motor cable A Sensor cable ca. 36 10 50 Ø230-0.12 0 Ø220 Ø168 Ø150 Ø140 H8 30 19.5 30 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 168x100 168x125 168x150 168x175 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
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 168x100 168x125 168x150 168x175 Number of pole pairs P 17 17 17 17 17 17 17 Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm 116 232 348 464 580 696 812 Peak torque (saturation range) at I p T p Nm 113 225 338 451 564 676 789 Peak torque (linear range) at I pl T pl Nm 62 124 186 249 311 373 435 Continuous torque cooled at I cw T cw Nm 60 128 197 267 338 409 480 Continuous torque not cooled at I c T c Nm 16 37 60 84 107 131 155 Stall torque (n = 0) cooled at I sw T sw Nm 43 91 140 190 240 290 340 Ripple torque (typical cogging) at I = 0 T r Nm 0.56 1.13 1.69 2.25 2.81 3.38 3.94 Power loss at T p (25 C) P lp W 3552 5032 6512 7992 9472 10952 12432 Power loss at T pl (25 C) P lpl W 780 6 1431 1756 2081 2406 2732 Power loss at T cw ( C) P lw W 999 1579 2160 2740 3321 3901 4482 Power loss at T c (25 C) P lc W 50 100 149 199 249 299 348 Motor constant (25 C) k m Nm/ W 2.2 3.7 4.9 5.9 6.8 7.6 8.3 Cooling water flow rate of main cooling system dv/dt l/min 2.9 4.5 6.2 7.8 9.5 11.2 12.8 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 168x100 168x125 168x150 168x175 Height of rotor H 1 mm 26.0 51.0 76.0 101.0 126.0 151.0 176.0 Height of stator H 2 mm 70.0 90.0 11 140.0 16 190.0 21 Rotor mass m 1 kg 1.2 2.4 3.6 4.8 6.0 7.2 8.4 Stator mass m 2 kg 7.2 10.1 13.3 16.5 19.8 23.0 26.2 Moment of inertia of rotor J kgm 2 0.007 0.014 0.021 0.028 0.035 0.042 0.049 Axial attraction F a kn 0.28 0.28 0.28 0.28 0.28 0.28 0.28 Radial attraction/eccentricity F r kn/mm 1.0 2.0 3.0 3.9 4.9 5.9 6.8 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
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 8.6 4.3 17.1 8.6 25.7 12.9 Back EMF constant, phase to phase k u V/(rad/s) 7.0 3.5 14.0 7.0 21.0 10.5 Limiting speed at I cw and U DCL n lw rpm 598 1279 273 609 167 389 No-load speed at I = 0 and U DCL n 0 rpm 819 1638 409 819 273 546 Limiting speed for continuous operation at I cw n cr rpm 353 353 353 353 353 353 Electrical resistance, phase to phase (25 C) R 25 Ω 9.89 2.47 14.01 3.50 18.13 4.53 Inductance, phase to phase L mh 31.9 8.0 63.8 16.0 95.7 23.9 Ultimate current (1 s) I u A rms 19.3 38.7 19.3 38.7 19.3 38.7 Peak current (saturation range) I p A rms 15.5 30.9 15.5 30.9 15.5 30.9 Peak current (linearer Bereich) I pl A rms 7.3 14.5 7.3 14.5 7.3 14.5 Continuous current at P lw (cooled) I cw A rms 7.1 14.1 7.5 14.9 7.7 15.3 Continuous current at P lc (not cooled) I c A rms 1.8 3.7 2.2 4.4 2.3 4.7 Stall current (n = 0, cooled) I sw A rms 10.0 5.3 10.6 5.4 10.9 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 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 34.3 28.0 114 205 353 22.25 127.6 19.3 15.5 7.3 7.8 2.4 5.5 17.1 14.0 280 409 353 5.56 31.9 38.7 30.9 14.5 15.6 4.9 11.1 42.9 3 82 164 353 26.37 159.5 19.3 15.5 7.3 7.9 2.5 5.6 21.4 17.5 216 328 353 6.59 39.9 38.7 30.9 14.5 15.8 11.2 51.4 42.0 61 136 353 30.49 191.4 19.3 15.5 7.3 7.9 2.6 5.6 25.7 21.0 172 273 353 7.62 47.9 38.7 30.9 14.5 15.9 5.1 11.3 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- Z1.6 60.0 49.0 46 117 353 34.61 223.3 19.3 15.5 7.3 8.0 2.6 5.7 30.0 24.5 142 234 353 8.65 55.8 38.7 30.9 14.5 16.0 5.2 11.4 RIB17-3P- 168x175- Z0.8 RIB17-3P- 168x175- Z1.6
230xH Drawing Motor cable A Sensor cable ca. 36 10 50 Ø210-0.137 Ø310 0 30 Ø300 Ø230 Ø200 H8 H 1 15 M5 x10 (nx)* 19.5 15 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 230x100 230x125 230x150 230x175 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
230xH Technical data I Technical data Symbol Unit 230x25 230x50 230x75 230x100 230x125 230x150 230x175 Number of pole pairs P 22 22 22 22 22 22 22 Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm 245 490 735 980 1225 1470 1715 Peak torque (saturation range) at I p T p Nm 215 430 645 860 1075 1290 1505 Peak torque (linear range) at I pl T pl Nm 80 161 241 321 402 482 563 Continuous torque cooled at I cw T cw Nm 151 310 471 634 796 967 1122 Continuous torque not cooled at I c T c Nm 42 96 153 211 269 328 386 Stall torque (n = 0) cooled at I sw T sw Nm 116 238 361 486 610 735 860 Ripple torque (typical cogging) at I = 0 T r Nm 0.64 1.29 1.93 2.58 3.22 3.86 4.51 Power loss at T p (25 C) P lp W 3922 5864 7806 9748 11690 13631 15573 Power loss at T pl (25 C) P lpl W 254 379 505 630 756 881 1007 Power loss at T cw ( C) P lw W 1572 2487 3401 4315 5229 6143 7058 Power loss at T c (25 C) P lc W 69 137 206 274 343 411 480 Motor constant (25 C) k m Nm/ W 8.2 10.7 12.7 14.5 16.2 17.6 Cooling water flow rate of main cooling system dv/dt l/min 4.5 7.1 9.7 12.4 1 17.6 20.2 Temperature difference of cooling water ϑ K Mechanical data Symbol Unit 230x25 230x50 230x75 230x100 230x125 230x150 230x175 Height of rotor H 1 mm 26.0 51.0 76.0 101.0 126.0 151.0 176.0 Height of stator H 2 mm 80.0 100.0 120.0 150.0 17 200.0 22 Rotor mass m 1 kg 1.7 3.5 5.2 7.0 8.7 10.5 12.2 Stator mass m 2 kg 16.1 22.6 29.1 37.2 44.5 51.8 59.1 Moment of inertia of rotor J kgm 2 0.0200 0.0392 0.0585 0.0777 0.0969 0.1162 0.1354 Axial attraction F a kn 0.35 0.35 0.35 0.35 0.35 0.35 0.35 Radial attraction/eccentricity F r kn/mm 1.0 2.0 3.0 4.0 6.0 7.0 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
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 10.2 3.6 20.4 7.2 30.6 10.8 Back EMF constant, phase to phase k u V/(rad/s) 8.3 2.9 16.7 5.9 2 8.8 Limiting speed at I cw and U DCL n lw rpm 426 1253 203 610 129 399 No-load speed at I = 0 and U DCL n 0 rpm 688 1955 344 978 229 652 Limiting speed for continuous operation at I cw n cr rpm 273 273 273 273 273 273 Electrical resistance, phase to phase (25 C) R 25 Ω 2.75 0.34 4.11 0.50 5.48 0.67 Inductance, phase to phase L mh 24.0 3.0 48.1 5.9 72.1 8.9 Ultimate current (1 s) I u A rms 38.7.1 38.7.1 38.7.1 Peak current (saturation range) I p A rms 31.0 88.1 31.0 88.1 31.0 88.1 Peak current (linearer Bereich) I pl A rms 7.9 22.4 7.9 22.4 7.9 22.4 Continuous current at P lw (cooled) I cw A rms 16.8 48.1 17.3 49.5 17.5 50.2 Continuous current at P lc (not cooled) I c A rms 4.1 11.6 4.7 13.5 14.3 Stall current (n = 0, cooled) I sw A rms 11.9 34.2 12.3 35.2 12.4 35.6 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 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 40.8 33.3 93 172 273 6.84 96.1 38.7 31.0 7.9 17.6 5.2 12.5 14.4 11.7 295 489 273 0.84 11.9.1 88.1 22.4 50.6 14.8 35.9 51.0 41.6 71 138 273 8.20 120.1 38.7 31.0 7.9 17.7 5.3 12.6 17.9 14.7 232 391 273 1.00 14.9.1 88.1 22.4 50.9 15.1 36.1 61.2 50.0 57 115 273 9.56 144.2 38.7 31.0 7.9 17.8 5.4 12.6 21.5 17.6 191 326 273 1.17 17.8.1 88.1 22.4 51.1 15.3 36.2 230x100- Z1.7 230x100- Z4.0 230x125- Z1.7 230x125- Z4.0 230x150- Z1.7 230x150- Z4.0 71.4 58.3 46 98 273 10.92 168.2 38.7 31.0 7.9 17.9 5.4 12.7 25.1 20.5 162 279 273 1.34 20.8.1 88.1 22.4 51.2 15.5 36.3 230x175- Z1.7 230x175- Z4.0
RIB13-3P-298xH Drawing ca. 40 Motor cable A Sensor cable 10 42 70 Ø385 f8 Ø370 Ø298 Ø277 Ø265 H8 29 H 1 15 15 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 298x100 298x125 298x150 298x175 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
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 298x100 298x125 298x150 298x175 Number of pole pairs P 26 26 26 26 26 26 26 Maximum operating voltage U V Ultimate torque (1 s) at I u T u Nm 414 827 1241 1655 2068 2482 2896 Peak torque (saturation range) at I p T p Nm 296 592 888 1184 1479 1775 2071 Peak torque (linear range) at I pl T pl Nm 195 389 584 779 973 1168 1363 Continuous torque cooled at I cw T cw Nm 188 416 655 899 1145 1393 1641 Continuous torque not cooled at I c T c Nm 59 142 230 320 412 504 597 Stall torque (n = 0) cooled at I sw T sw Nm 132 292 461 632 805 979 1153 Ripple torque (typical cogging) at I = 0 T r Nm 1.23 2.45 3.68 4.91 6.14 7.36 8.59 Power loss at T p (25 C) P lp W 2303 3224 4145 5066 5987 6908 7829 Power loss at T pl (25 C) P lpl W 899 1259 1619 1979 2339 2698 3058 Power loss at T cw ( C) P lw W 1151 1973 2796 3618 4440 5262 6085 Power loss at T c (25 C) P lc W 85 170 255 340 425 510 595 Motor constant (25 C) k m Nm/ W 6.4 10.9 14.4 17.4 20.0 22.3 24.5 Cooling water flow rate of main cooling system dv/dt l/min 3.3 5.7 8.0 10.4 12.7 15.1 17.4 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 298x100 298x125 298x150 298x175 Height of rotor H 1 mm 26.0 51.0 76.0 101.0 126.0 151.0 176.0 Height of stator H 2 mm 90.0.0.0 160.0 18 210.0 23 Rotor mass m 1 kg 2.6 5.1 7.7 10.2 12.8 15.3 17.9 Stator mass m 2 kg 20.9 28.2 35.2 44.2 51.9 59.7 67.6 Moment of inertia of rotor J kgm 2 0.05 0.10 0.15 0.20 0.25 0.30 0.35 Axial attraction F a kn 0.48 0.48 0.48 0.48 0.48 0.48 0.48 Radial attraction/eccentricity F r kn/mm 1.3 2.6 3.8 5.1 6.4 7.6 8.9 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
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 16.0 4.9 31.9 9.7 47.9 14.6 Back EMF constant, phase to phase k u V/(rad/s) 13.0 4.0 26.1 7.9 39.1 11.9 Limiting speed at I cw and U DCL n lw rpm 302 1049 138 495 86 318 No-load speed at I = 0 and U DCL n 0 rpm 439 1442 220 721 146 481 Limiting speed for continuous operation at I cw n cr rpm 231 231 231 231 231 231 Electrical resistance, phase to phase (25 C) R 25 Ω 4.04 0.38 5.65 0.53 7.26 0.68 Inductance, phase to phase L mh 31.2 2.9 62.4 5.8 93.6 8.7 Ultimate current (1 s) I u A rms 30.5 100.0 30.5 100.0 30.5 100.0 Peak current (saturation range) I p A rms 19.5 64.0 19.5 64.0 19.5 64.0 Peak current (linearer Bereich) I pl A rms 12.2 40.0 12.2 40.0 12.2 40.0 Continuous current at P lw (cooled) I cw A rms 11.9 38.6 13.1 42.8 13.8 44.9 Continuous current at P lc (not cooled) I c A rms 3.7 12.2 4.5 14.6 4.8 15.8 Stall current (n = 0, cooled) I sw A rms 8.4 27.4 9.3 30.4 9.8 31.9 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 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 63.9 52.2 60 231 8.88 124.8 30.5 19.5 12.2 14.2 5.1 10.1 19.5 15.9 232 361 231 0.84 11.6 100.0 64.0 40.0 46.2 16.5 32.8 79.8 65.2 45 88 231 10.49 156.0 30.5 19.5 12.2 14.5 5.2 10.3 24.3 19.9 182 288 231 0.99 14.5 100.0 64.0 40.0 47.1 16.9 33.4 95.8 78.2 35 73 231 12.11 187.2 30.5 19.5 12.2 14.6 5.3 10.4 29.2 23.8 149 240 231 1.14 17.4 100.0 64.0 40.0 47.7 17.3 33.9 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- Z3.8 111.8 91.3 28 63 231 13.72 218.5 30.5 19.5 12.2 14.8 5.4 10.5 34.1 27.8 125 206 231 1.29 20.3 100.0 64.0 40.0 48.2 17.5 34.2 RIB13-3P- 298x175- Z1.4 RIB13-3P- 298x175- Z3.8
Checklist for Your Enquiry idam.sales@schaeffler.com or Fax +49 3681 7574-30 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 E-mail 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
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
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
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
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
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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1 1 1 1 1 1 1 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 www.idam.de. 35
INA Drives & Mechatronics AG & Co. KG Mittelbergstrasse 2 98527 Suhl, Germany Phone +49 3681 I 7574-0 Fax +49 3681 I 7574-30 E-mail Web idam@schaeffler.com www.idam.de Issue: May 2016 I Subject to changes without advance notification, according to technical progress. I Photos: IDAM AG & Co. KG