User manual CONTROL TECHNIQUES UNIMOTOR TECHNICAL DATA

[. . . ] Technical Data Unimotor and High performance AC brushless servo motors Control Techniques Dynamics Limited Unimotor and Technical Data Control Techniques Dynamics is renowned for its innovations in the industrial servo, aerospace and defence markets since 1962 and is a member of the Emerson (USA) group of companies. Our long experience provides a strong base to develop cost effective solutions for a spectrum of applications from machine tools, mechanical handling, pick and place machinery; through to specialised mechanisms a nd actuators for the avionics industry. Our Research and Development team works closely with leading universities and, using our own proprietary software, designs innovative products for a wide range of demanding environments. Control Techniques Dynamics offers continuous advances in product range, backed with the expertise and flexibility to meet the demands of your applications - now and in the future. 2 www. controltechniques. com Contents Page. [. . . ] These conditions include; ambient temperature above 40°C, motor mounting position, drive switching frequency or the drive being oversized for the motor. Ambient temperatures The ambient temperature around the motor must be taken into account. For ambient temperatures above 40°C the torque must be derated using the following formula as a guideline. (Note: Only applies to 2000/3000rpm motors and assumes copper losses dominate. ) New derated torque = Specified torque x [1-((Ambient temperature - 40°C) / 100)] Mounting arrangements The motor torque must be derated if: The motor mounting surface is heated from an external source, such as a gearbox. Drive switching frequency Most Unidrive and Digitax ST nominal current ratings are reduced for the higher switching frequencies. These figures are for guidance only. For example with an ambient temperature of 76°C the new derated torque will be 0. 8 x specified torque. 4. 11 Motor derate factors 4. 11. 1 Unimotor fm Motor type/frame Switching frequency 3kHz 4kHz 6kHz 8kHz 12/16kHz 055 A-C 0. 92 0. 93 0. 95 0. 96 1 075 A-D 0. 93 0. 94 0. 95 0. 98 1 095 A-E 0. 88 0. 91 0. 93 0. 97 1 A-C 0. 89 0. 91 0. 93 0. 97 1 115 D-E 0. 84 0. 87 0. 90 0. 95 1 A-C 0. 87 0. 91 0. 94 0. 97 1 142 D-E 0. 81 0. 86 0. 89 0. 96 1 A-B 0. 98 0. 99 0. 99 1 1 190 C-H N/A 0. 55 0. 77 0. 90 1 250 D-F 0. 88 0. 90 0. 94 0. 98 1 Note Only applies to motors up to 3000rpm (rms) for frame sizes 055 to 190 and 1500rpm (rms) for frame size 250. Derate factor is applied to stall torque, rated torque, stall current and rated power. 4. 11. 2 Unimotor hd Switching frequency 3kHz 4kHz 6kHz 8kHz 12/16kHz Motor type/frame 055 0. 92 0. 93 0. 95 0. 96 1 067 0. 93 0. 94 0. 95 0. 98 1 089 0. 89 0. 91 0. 95 0. 97 1 115 0. 89 0. 92 0. 96 0. 98 1 Note Only applies to motors up to 3000rpm (rms) and assumes copper losses dominate. 44 www. controltechniques. com 4. 12 Feedback selection Feedback device part number code Feedback type Manufacturer Encoder supply voltage¹ 6V rms AE Resolver API Harrowe Excitation 6kHz 1 16384 (14 bit) Medium CA MA KA EC (Multi-turn) FC (Single turn) Inductive absolute encoder Incremental Encoder SICK 5V 4096 2048 1024 16384 (14 bit) 8192 (13 bit) 4096 (12 bit) Medium Absolute position 524288 (19 bits) Yes 4096 revs (12 bits) No Quadrature tracks High ±60" SinCos cycles or incremental pulses per revolution Resolution available to position loop²&³ Medium No Multi -turn option1 Other information1 Transformation ratio 0. 31 Resolver rotor winding 2 pole Feedback accuracy1 Vibration1 Shock Limit1 Low ±720" High (not stated by supplier) Medium 20g (10 - 2000 Hz) (to BS EN 60068-2-6) Medium 10g (55-2000Hz) (to IEC60 068-2-6) High (not stated by supplier) Medium 100g per 10ms (to BS EN 60068-2-27) Medium 100g 6ms (to IEC60 0682-27) Heidenhain 7-10V 32 EnDat serial comms Medium ±280" RA (Multi-turn) SinCos optical encoder SA (Single turn) SICK 7-12V 1024 High 1. 04x10^6 (20 bits) Yes 4096 revs (12 bits) Hiperface High For sin/cos Integral non-linearity ±45" For sin/cos Differential nonlinearity ±7" (Total accuracy ±52") Very High ±20" (Differential non linearity ±1% signal period) Low ±600" Medium 20g (10-2000 Hz) (to BS EN 60068-2-6) Medium 100g per 10ms (to BS EN 60068-2-27) EB (Multi-turn) FB (Single turn) SinCos optical encoder Heidenhain 3. 6-14V 2048 Very High 2. 08x10^6 (21 bits) Yes 4096 revs (12 bits) EnDat Serial comms Medium 15g (55-2000Hz) (to IEC60 068-2-6) High 50g (10 to 500 Hz) Medium 100g 6ms (to IEC 60 068-2-27) Medium 100g (11ms) AR Resolver LTN RE-15 7V Excitation 5kHz 1 Medium 16384 (14 bit) Medium No Transformation ratio 0, 5 ±10 % Resolver rotor winding 2 pole KP MP CP Incremental Encoder Hengstler F14 5V 1024 2048 4096 4096 (12 bit) 8192 (13 bit) 16384 (14 bit) Medium Mainly for Unimotor M2 (60Vdc) version No Medium ±150" Low 2, 5g (5 to 2000 Hz) Medium 100g (11 ms) KR MR CR EM (Multi-turn) FM (Single turn) TL (Multi-turn) UL (Single turn) TM (Multi-turn) UM (Single turn) 1 Incremental encoder Renco R35i 5V 1024 2048 4096 4096 (12 bit) 8192 (13 bit) 16384 (14 bit) Medium 2. 62x10^5 (18 bits) No Medium ±150" Medium 10g (200 to 2000 Hz) Medium 50g (11ms) Inductive absolute encoder Heidenhain EQI1130 ECI1118 5V 16 Yes 4096 revs (12 bits) EnDat Serial comms Medium ±480" Medium 30g (55 to 2000 Hz) (EN 60 068-2-6) Medium 50 g (10 to 2000 Hz) (EN 60 068-2-6) Medium 20g (55 to 2000 Hz) (EN 60068-2-6) Medium 100g (6ms) (EN 60 068-2-27) Medium 100 g (6ms) (EN 60 068-2-27) Medium 100g (6ms) (EN 60068-2-27) SinCos optical encoder SICK SKM36 SKS36 7 - 12V 128 Medium 1. 31x10^5 (17 bit) Yes 4096 revs (12 bits) Hiperface High ±52" SinCos optical encoder Heidenhain EQN1125 ECN1113 3, 6 - 14V 512 Medium 5. 24x10^5 (19bit) Yes 4096 revs (12 bits) EnDat Serial comms HIgh ±60" The information is supplied by the feedback device 2 The output from the resolver is an anologue output. 3 The sin and cosine outputs from the SinCos optical encoders manufacturer and relates to it as a standalone device. The values may change when mounted into the motor and connected to a drive. These values have not been verified by Control Techniques Dynamics. The resolution is determined by the anologue to digitial converter used. The value shown is when the resolver is used in conjunction with the SM-Resolver. are analogue outputs. With Unidrive SP and Digitax ST the resolutions quoted above are when the encoder type is set to either SC Endat or SC Hiper depending on the encoder. www. controltechniques. com 45 Unimotor and Technical Data 4. 13 Feedback terminology Accuracy Accuracy is the measure of the difference between the expected position and actual measured value. Rotary feedback accuracy is usually given as an angle representing the maximum deviation from the expected position. Linear feedback accuracy is usually given as a distance representing the maximum deviation from the expected. Generally, as accuracy increases the cost of the feedback device increases. Absolute encoders output unique information for each mechanical measured position. With the motor shaft or plate in any position when the drive is turned on the feedback device will always be able to sense a unique position and transmit this value to the drive. For an absolute single turn rotary encoder these unique positions will be over one revolution. When power is removed from the encoder and the shaft or plate moves the device will know its current position when the power is restored. A non-absolute feedback mechanism must start from a known position, such as the index or marker pulse. Commutation Commutation outputs are used on devices that are nonabsolute. For AC Synchronous 3 phase motors there are 3 outputs commutation output signal channels from the feedback device, for example S1, S2 and S3. The diagram below shows commutation outputs for 6 pole commutation (3 pole pairs). The 3 phase motor sinusoidal power from the drive runs synchronously with motor speed at N/2 cycles per revolution; Index K U V W R S T Absolute encoder 0 20 40 60 120 360 Bit A bit is short for Binary Digit. The larger the number of bits in a group the larger the amount of information that is available and thus the higher the resolution. [. . . ] This tool grips the outer trim of the pulley and, then using the threaded screw of the gear puller against the shaft, the pulley can be raised off the shaft without any force being applied to the motor. Force Screw Bolt Pulley Motor Shaft Motor Shaft A socket head screw should be screwed into the end of the shaft to protect the thread from damage. Failure to apply these simple methods may render the motor useless or in need of repair. Motor Motor Force Force Bolt Pulley Motor Shaft Screw the bolt into the tapped hole of the shaft and, while holding the pulley, use it to push the pulley down and pull the shaft through at the same time. Motor www. controltechniques. com 101 Unimotor 8 Declarations and Technical Data EC DECLARATION OF CONFORMITY We, the manufacturer: Control Techniques Dynamics Ltd. (part of Emerson Industrial Automation) South Way, Walworth Industrial Estate, Andover, Hampshire SP10 5AB, United Kingdom Tel: +44 (0) 1264 387 600 Fax: +44 (0) 1264 356 561 Certify and declare under our sole responsibility that the following products: Name Unimotor hd AC Brushless Permanent Magnet Electric Servo Motors Description Catalogue numbers 067UDA********, 067UDB********, 067UDC********, 089UDA********, 089UDB********, 089UDC********, 115UDA********, 115UDB********, 115UDC********, 115UDD********, 067EDA********, 067EDB********, 067EDC********, 089EDA********, 089EDB********, 089EDC********, 115EDA********, 115UDB********, 115EDC********, 115EDD******** * maybe any number or letter indicating motor options which do not affect this DoC. Comply with the essential requirements and provisions of the Low Voltage Directive 2006/95/EC and of the EMC Directive 2004/108/EC based on the following specifications applied: EU Harmonised Standards under directive 2006/95/EC: EN 60034-1:2004 , EN 60034-5:2001, EN 60034-6:1993, EN 60034-7:1993, EN 60034-8:2007, EN 60034-14:2004, EN 60204-1:2006 EU Harmonised Standards under directive 2004/108/EC: EN 61000-6-2:2005, EN 61000 -6-4:2007 Year of CE Marking: 2009 102 www. controltechniques. com EC DECLARATION OF CONFORMITY Manufacturers Name: Control Techniques Dynamics Limited Manufacturers' Address: South Way, Walworth Industrial Estate, Andover, Hampshire, SP105AB Declare under our sole responsibility that the Brushless Permanent Magnet Servo Motors described below comply with applicable Health and Safety Requirements of Annex I of the Low Voltage Directive 2006/95/EC and Annex II of the ATEX Directive 94/9/EC and the EMC Directive 2004/108/EC. Confidential technical documentation has been compiled according to the specific requirements of each directive: Description of product: Brushless Permanent Magnet Servo Motors Types 480V U2, UM/SL, UD 220V E2, EZ, ED. [. . . ]