Transcription
engineeringmannesmannRexrothDigital AC MotorsMKDProject Planning Manual7 78)1 DOK-MOTOR*-MKD********-PR05-EN-PRexrothIndramatLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
About this DocumentationDigitale AC Motoren MKDTitleType of documentationDigital AC Motors MKDProject Planning ManuelDocumentation codeDOK-MOTOR*-MKD********-PR05-EN-PInternal file reference Document number : 120-1500-B302-05/EN Replaces drawing number 209-0069-4377-04What is the purpose of thisdocument?Course of modificationsCopyrightThe following documentation helps. in the familiarization with digital MKD AC Motors to plan the mechanical integration into the installation to plan the electrical connections to connect the motor to order or identify a motor to determine the required motor cable and connectorDocument identification ofprevious and present J2-EN-PSept 961st edition (not printed)DOK-MOTOR*-MKD********-PRJ2-EN-PJan 97Motor feedback: digital Servofeedback (MSF) - obsoleteDOK-MOTOR*-MKD********-PR05-EN-PMai 993rd edition INDRAMAT GmbH, 1999Transmission as well as reproduction of this documentation, commercialuse or communication of its contents will not be permitted withoutexpressed written permission. Violation of these stipulations will requirecompensation. All rights reserved for the issuance of the patent orregistered design. (DIN 34-1)ValidityPublished byAll rights are reserved with respect to the content of this documentationand the availability of the product.INDRAMAT GmbH Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. MainTelephone 09352/40-0 Tx 689421 Fax 09352/40-4885Dept. ECM5 (JW)NoteThis document has been printed on chlorine-free bleached paper.DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
Digitale AC Motoren MKDContents IContents1Introducing the MKD Digital AC Servo Motors . 1-11.1 General Features . 1-11.2 Versions . 1-31.3 Motor feedback. 1-32Safety Instructions for Electrical Drives. 2-12.1 Introduction. 2-12.2 Hazards due to Improper Use . 2-22.3 General Information. 2-32.4 Protection against contact with electrical parts and enclosures not grounded . 2-42.5 Protection by protective low voltage (PELV) against electrical shock . 2-52.6 Protection against dangerous movements. 2-62.7 Protection against magnetic and electromagnetic fields during operation and when mounting . 2-72.8 Protection against contact with hot parts . 2-82.9 Protection during handling and installation . 2-83Mechanical Integration Into the Machine. 3-13.1 Environmental Conditions . 3-1Maximum Installation Elevation and Ambient Temperature . 3-1Maximum Vibration and Shock Demands . 3-3Base Coat and Housing Finish. 3-43.2 Construction and Mounting Orientation. 3-43.3 Output Shafts . 3-5Available Designs. 3-5Shaft loads . 3-53.4 Surface Cooling. 3-73.5 Holding Brake. 3-83.6 Connecting Variants and Cable Output Directions . 3-93.7 Speed and Torque. 3-124Electrical Connections . 4-14.1 Terminal Overview . 4-14.2 Connecting Motors with Terminal Boxes. 4-2Terminal diagram . 4-2Power Cables . 4-3Feedback Cables . 4-6Technical Data of the Power and Feedback Cables. 4-7Individual Components. 4-7DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
II ContentsDigitale AC Motoren MKD4.3 Connections for Motors with Plug-In Connections . 4-8Terminal diagram . 4-8Power Cables . 4-9Feedback cable . 4-14Technical Data of the Power and Feedback Cables. 4-15Individual Components. 4-165MKD025 . 5-15.1 Technical data . 5-15.2 Speed/torque characteristics. 5-25.3 Data on determining maximum shaft load. 5-35.4 Dimensional data. 5-45.5 Available Versions and Type Codes . 5-66MKD041 . 6-16.1 Technical data MKD041 . 6-16.2 Technical data MKD041 „without painted coating“ . 6-36.3 Speed/torque characteristics MKD041. 6-46.4 Speed/torque characteristics MKD041 „without painted coating“ . 6-56.5 Data on determining maximum shaft load. 6-66.6 Dimensional data. 6-76.7 Available Versions and Type Codes . 6-87MKD071 . 7-17.1 Technical data . 7-17.2 Speed/torque characteristics. 7-37.3 Data on determining maximum shaft load. 7-47.4 Dimensional data. 7-57.5 Available Versions and Type Codes . 7-68MKD090 . 8-18.1 Technical data MKD090 . 8-18.2 Technical data MKD090 „without painted coating“ . 8-38.3 Speed/torque characteristics MKD090. 8-48.4 Speed/Torque Characteristics - MKD090 „without painted coating“ . 8-68.5 Data on determining maximum shaft load. 8-78.6 Dimensional data. 8-88.7 Available Versions and Type Codes . 8-99MKD112 . 9-19.1 Technical data . 9-19.2 Speed/torque characteristics. 9-49.3 Data on determining maximum shaft load. 9-79.4 Dimensional data. 9-89.5 Available Versions and Type Codes . 9-10DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
Digitale AC Motoren MKD10Contents IIICondition at Delivery. 10-110.1 General Information. 10-110.2 Releasing the Metal Bands. 10-110.3 Documents. 10-110.4 What is Included in the Delivery . 10-211Identifying the merchandise . 11-111.1 Delivery slip . 11-111.2 Barcode stickers . 11-111.3 Name plate . 11-112Storage, transport and handling . 12-112.1 Notes on packaging. 12-112.2 Storage . 12-112.3 Transportation and handling. 12-113Mounting and Installation . 13-113.1 General Information on Mounting . 13-113.2 Mounting the Motor. 13-113.3 Connecting the Motor . 13-2Mounting Standard Cables to Motors with Terminal Boxes . 13-3Changing Cable Output Direction in Motors with Terminal Boxes. 13-4Connecting Standard Cables to Motors with Plug-in Connectors. 13-5Changing the Direction of the Power and Feedback Connections . 13-513.4 Connecting and Mounting Blower Connector. 13-913.5 Refinishing the holding brake . 13-1014Service Guidelines . 14-114.1 Replacing the battery. 14-114.2 Maintenance . 14-314.3 Contacting Customer Service. 14-314.4 Fault report . 14-315Index . 15-116Kundenbetreuungsstellen - Sales & Service Facilities . 16-1DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
IV ContentsDigitale AC Motoren MKDDOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
Introducing the MKD Digital AC Servo Motors 1-1Digitale AC Motoren MKD1Introducing the MKD Digital AC Servo Motors1.1General FeaturesApplicationsIn conjunction with digital intelligent INDRAMAT drives, MKD AC servomotors create cost-effective automatization systems for a broad range ofindustrial applications in such areas as machine tools transfer machines handling systems printing presses packaging machines textile machines the food processing industries (specific motor types that are required"without painted coating“) .AdvantagesThe salient advantages of MKD motors are: high operating reliability maintenance-free operations (due to the brushless design and the useof lifetime lubricated bearings) implementation even under adverse environmental conditions (due tothe completely sealed motor design with protection category IP 65) overload protection (accomplished with motor temperature monitoring) high performance data high dynamics (favorable power to weight ratio) high overload capacities (as a result of favorable heat conduction fromthe stator windings to the outside wall of the motor) peak torque which can be used over a broad speed range(accomplished with electronic commutation) continuous start-stop operations with high repetitive frequencies arepossible (accomplished with electronic commutation) easy mounting to the machine (with a flange as per DIN 42948) any mounting orientation pinions and belt pulleys can be directly mounted (the design of thebearing shaft accomodates high radial loads) simple cabling (accomplished with ready-made cables available invarious designs) simple and rapid commissioning (as a result of data storagecapabilities in the motor feedback)DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
1-2 Introducing the MKD Digital AC Servo Motors4500250045002500Motors with the following continuous torques at standstill and ratedspeeds are available:600060009000Power overviewDigitale AC Motoren MKDSpeedin min-1naturalconvectionMdNin Nm14surfacecooledwithout paintedcoating121086Size4MKD B2MKD eedin min-1without paintedcoatingMdNin NmMKD071MKD0413200MKD025250008060SizeMKD D40MKD C20MKD BMKD A0MKD090MKD112o11mk81p.fh7Fig. 1-1: Continuous torque at standstill for the available MHD motorsStructure and componentsMKD motors are permanent magnet-excited motors with electroniccommutation. Special magnetic materials permit a design with low inertia.The following illustrates the principle structure of MKD motors.DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
Introducing the MKD Digital AC Servo Motors 1-3Digitale AC Motoren MKDMotor feedbackRotor shaftRotor withpermanent magnetsStator withwindingHolding brake(optional)X01MH81.fh7Fig. 1-2: The structure of an MKD motor1.2VersionsMKD motors are available in different versions:Motor feedbackThey are available with relative rotor position evaluation (standard) or absolute rotor position evaluation (optional).For details see section 1.3.Holding brakeOutput shaftOptional. For a safe holding of the axes at standstill when power to themotor is shutdown. For details see sectionThey are available as plain shaft (standard) or shaft with keyway (optional).For details see section 3.3.Electrical connectionsThese are motor-specific and use either a terminal box or plugin connectors.For details see section 3.6.1.3Motor feedbackThe drive controller requires the current position of the motor to regulatemotor speed or when positioning the motor. The integrated motorfeedback makes available to the drive controller such signals as areneeded to perform this function. The drive controllers are, in turn,equipped to transmit the determined position value to a superordinateCNC or PLC.Feedback data storageThe feedback electronics are equipped with data memory in which motortype designations, control loops and motor parameters are stored.The digital intelligent drive controllers from INDRAMAT can read this datathus guaranteeing an easy and quick commissioningDOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
1-4 Introducing the MKD Digital AC Servo MotorsDigitale AC Motoren MKD and an automatic adjustment between motor and drive controllers,avoiding any damage to the motor.MKD motors are available with two position-evaluation principles, viz., relative position evaluation and absolute position evaluation.Technical data of the motor edback (RSF)with integratedmultiturnabsolute encodermeasuring principleinductiveposition resolution at themotorMKD025, 041: 3 x 2 24 57613MKD071, 090, 112: 4 x 2 32 768information / rotationssystem accuracy 8 angle minutesposition detection type13relativeabsolute (withinrange of 4096 motorrotations)Fig. 1-3: Technical data of the motor feedbackNote: The MDD or MHD lines of motors are available if higherperformance levels are required.Resolver feedback (RSF)For relative indirect position detection. Replaces a separate incrementalencoder on the motor.Features of the digital resolver feedback: Given a power failure or afterthe initial POWER ON, it is necessary to first run the axis to its referencepoint, or home, before work can begin. When placing the reference point switches and during the referencingprocedure itself, it must be taken into account that during the courseof a mechanical motor revolution several zero pulses are generated.This is the result of the operating principle of the resolver. Thereforenote that there are three (3) zero pulses per revolution with the MKD 025 andMKD 041 and four (4) zero pulses per revolution with the MKD 071, 090 and112. For this reason, avoid transmission ratios that are too large or feedconstants that are too small.Resolver feedback (RSF) withintegral multiturn absoluteencoderFor absolute indirect position detection within a range of 4096 motorrevolutions. Replaces a separate absolute encoder on the motor.The absolute axis position of this feedback variant is retained even afterpower has been shutdown because of the battery backup it is equippedwith. The battery has a lifespan of approximately ten (10) years.DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
Safety Instructions for Electrical Drives 2-1Digitale AC Motoren MKD2Safety Instructions for Electrical Drives2.1IntroductionThese instructions must be read and understood before the equipment isused to minimize the risk of injury to personnel and / or property damage.Follow these safety instructions at all times.Do not attempt to install, use or service this equipment without firstreading all documentation provided with the product. Please read andunderstand these safety instructions, and all user documentation of theequipment, prior to working with the equipment at any time. You mustcontact your local INDRAMAT representative if you cannot locate thedocumentation for your equipment. A listing of INDRAMAT offices issupplied in the back of this manual. Request that your representativesend this documentation immediately to the person or personsresponsible for the safe operation of this equipment.If the product is resold, rented or lent out and/or otherwise transferred orpassed on to others, then these safety instructions must accompany it.WARNINGImproper use of this equipment, failure to follow theattached safety instructions, or tampering with theproduct, including disabling or disconnecting thesafety device, may result in injury, severe electricalshock or death and property damage!DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
2-2 Safety Instructions for Electrical Drives2.2Digitale AC Motoren MKDHazards due to Improper UseHigh voltage and high discharge current!Danger to life, risk of severe electrical shock and risk ofinjury!DANGERDangerous movements!Danger to life and risk of injury or equipment damage byunintentional motor movements!DANGERHigh electrical voltages due to incorrect connections!Danger to life, severe electrical shock and serious bodilyinjury!WARNINGHealth hazard for persons with heart pacemakers,metal implants and hearing aids when in proximity toelectrical equipment!WARNINGSurface of machine housing could be extremely hot!Danger of injury!Danger of burns!CAUTIONRisk of injury due to incorrect handling!Bodily injury caused by crushing, shearing, cutting andthrusting movements!CAUTIONRisk of injury due to incorrect handling of SA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
Safety Instructions for Electrical Drives 2-3Digitale AC Motoren MKD2.3General Information INDRAMAT GmbH is not liable for damages resulting from failure toobserve the warnings given in these instructions. Order operating, maintenance and safety instructions in yourlanguage before starting up the machine. If your language is notavailable, then numerous other languages are. Please select one thatyou understand perfectly. Proper and correct transport, storage, assembly and installation aswell as care in operation and maintenance are prerequisites foroptimal and safe operation of this equipment. Personnel trained and qualified to handle electrical equipment:Only trained and qualified personnel may work on this equipment orwithin its proximity. Personnel are qualified if they have sufficientknowledge of the assembly, installation, and operation of the productas well as an understanding of all warnings and precautionarymeasures noted in these instructions.Furthermore, they should be trained, instructed, and qualified to switchelectrical circuits and equipment on and off, to ground them, and toidentify and mark them according to the requirements of safe workpractices and common sense. They must be adequately equipped andtrained in first aid. Use only spare parts approved by the manufacturer. All safety regulations and requirements for the specific applicationmust be followed as practiced in the country of use. The equipment is designed for installation on commercial machinery. Start-up is only permitted once it is sure that the machine in which theproduct is installed complies with the requirements of national safetyregulations and safety specifications of the application.European countries: see Directive 89/392/EEC (Machine Guideline). Operation is only permitted if the national EMC regulations for theapplication are met.The instructions for installation in accordance with EMC requirements canbe found in the INDRAMAT document "EMC in Drive and ControlSystems“.The machine builder is responsible for compliance with the limiting valuesas prescribed in the national regulations and specific EMC regulationsfor the application.European countries: see Directive 89/336/EEC (EMC Guideline).U.S.A.: See National Electrical Codes (NEC), National ElectricalManufacturers Association (NEMA), and local building codes. Theuser of this equipment must consult the above noted items at all times. Technical data, connections and operational conditions are specifiedin the product documentation and must be followed.DOK-MOTOR*-MKD********-PR05-DE-PLSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01
2-4 Safety Instructions for Electrical Drives2.4Digitale AC Motoren MKDProtection against contact with electrical parts andenclosures not groundedNote: This section pertains to equipment and drive components thatconduct voltages exceeding 50 volts.Touching live parts with potentials of 50 volts and higher applied to themor touching not grounded enclosures can be dangerous and causesevere electrical shock. In order for electrical equipment to be operated,certain parts must have dangerous voltages applied to them.High Voltage!Danger to life, severe electrical shock and risk of injury!DANGER Only those trained and qualified to work with or onelectrical equipment are permitted to operate, maintainand / or repair this equipment. Follow general construction and safety regulationswhen working on electrical installations. Before switching on power, the ground wire must bepermanently connected to all electrical units accordingto the connection diagram. At no time may electrical equipment be operated if theground wire is not permanently connected, even forbrief measurements or tests. Before beginning any work, disconnect mains or thevoltage source from the equipment. Lock theequipment against being switched on while work isbeing performed. Wait five (5) minutes after switching off power to allowcapacitors to discharge before beginning work.Measure the voltage on the capacitors beforebeginning work to make sure that the equipment is safeto touch. Never touch the
Project Planning Manual DOK-MOTOR*-MKD*****-PR05-EN-P mannesmann Rexroth engineering Indramat Rexroth 7 78)1 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01. About this Documentation Digitale AC Motoren MKD . Digitale AC Motoren MKD Introducing the MKD Digital AC Servo Motors 1-3 DOK-MOTOR*-MKD*****-PR05-DE-P .
