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Servomotors NK Series

1. 4 N N t N peat penche e e N N lt N 441 mo poe NI N IN S N E N N lk ass a ISE x EN 1 0 1 amp Ny id 1 1 NNI IE RR A te eo ee a 92 ps tiie ihe iii uN 3000 4000 5000 6000 Speed rpm 2000 3 2 1 10 Series NK840E Efficiency 1000 ee ee STET P 7
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4. 19 3 1 6 Peak ce rrenilimidliopg uu uu eu vu tur Rex ua DE WEN COE D RS 19 3 2 NK Characteristics Torque speed current 20 3 2 1 EIMICGIGNCY CURVES P 24 3 2 2 EIECIFOMAGNEIIC 1055656 a E MH 32 3 2 3 Time constants ofthe 33 3 2 4 MODIS nana E 35 3 2 5 Rated data according to rated Voltage variation 36 3 2 6 Voltage withstand characteristics of NK series 38 2 3 Dimension BOSS EARS daa Va v SO 39 oid Ts ple OE PM LEES 39 3 9 2 CDU 40 3 3 3 41 3 3 4 b 42 3 3 5 NRO n ua Sua E A E 43 3 3 6 uH 44 3 3 1 HR 45 3 3 2 VoM MEHR 46 3 9 3 ISO Way usata sU Das hiya sasha S D ELS 47 3 3 4 With aus lente he SU pa pia asa aD 48 3 4 Motor mounting 49 3 4 1 240
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6. u o Ji n sapi er E Z Z un CEN CEREREM M g WIE ak ai I c 2 IU F 88 sees 86 Ei a 3000 Speed rpm 11 WN nbio L 6000 5000 4000 2000 1000 July 2014 Docx 27 PVD 3664_GB_NK
7. 3 2 1 1 Efficiency 96 TT y nF j a 82 4 1 E 782 o L Av 0 9 0 8 0 5 WN 1 6000 SA 7000 c IERI ee 5000 6000 ee DEM E TE 5 OE gt 4000 5000 July 2014 Docx E 4000 Speed rpm zi T 77 3000 Speed rpm 7 SS F Me Ne mdi 3000 2000 Series NK205E 25 PVD 3664_GB_NK 2000 eL a Lo
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9. lt Kan ta uas E 4 E E III 3 Las ta 1 Aa 99 u 1 on oo a i tasqa m 9 m 9 amp i 4 8 E TNI 4 gt s E C9 aa x Lu a Lal ta q a a hu TM ees bagel 4 9 OO T Casas M pug 9 4 ga mi m E MR mti d T gt gt gt Ea ik ce 2000 3000 4000 5000 6000 7000 8000 9000 10000 Speed rpm Series NK310E 1000 3 2 1 4 wy Ie gt ut pi ie 7 Efficiency rS a 1 amp lt lt n eet D ae lt DW Ny 5 i 4 4 gt lt o 4 ie 1 9 3 Si h BN S
10. mE 7 1000 3 2 1 2 Efficiency 1000 25 ELI wa f LS E y pm OR 4 E 0 4 0 9 0 6 Series 210 3 2 1 3 gt N N oe MEE eec gt 7 w b k k W Sy NN B Ss 22 LX ES Wc 2 EE N 1 P L 1 1 m 4 M a u Rh m lt N lt e 4 lt i He Q a 8 A lt amp k m lt s w 1 m ha uM 1 um 9 els O Lo 998 Le Amy S
11. Le NR Ce LS S k rx Em RS 1 A E 4 1 e 4 4 la n S59 s 4 lt 1 Hol T uN 9 5401 6000 5000 4000 3000 2000 1000 Speed rpm July 2014 Docx 26 PVD 3664_GB_NK Series NK420E 3 2 1 5 4 4 ___________ 2 SS SSS gt 3000 2000 4000 5000 6000 7000 Speed rpm 1000 3 2 1 6 Series NK430E 2 Fd 5 etr La Toi tah See Sey qo Sa ra Z
12. 111 m D A ZZZZZ99 2 Hn 06 uus Z OFE Z 9 9915 UO JaJBsWEIP apising pay 911 6 0 594 M XEW S OL jJoddns 01815 JO LS E jJoddns 40404 30 01815 010 uljes 495340 SE NK3 3 3 3 G4 By 90 5 22 819 M 71 901 pajJop Ul pa ji3ads seaJe Jajua poys sjJed JiyauBew JO 8 13 03 ON _ 509 OGL L OTTI9 Z 5 UO 4 5 0 HUM X3e1g 15 0 029 55 1 M WOJ Sa Jp SS MMM 3 INVYS X9P3 NO IO LOO0L 69248 2e1 np 9 HV L 01770 96 72 Ms lim ___ ____ 960 MV SS u311 SsouJsu Z9MV 0SL Jld 78 ALY 57 OLEXN a u3J1MSOUlJau 90094 Jld 4040 aseg 672 09 7 al lt 01 M M 31 UMOJG aDueJg 0113A MO 541045 5 JO padiujs aq jou pjnous au m S Jed 9 1115 95 M man 7 AT 11 E Y IS p e Q 2 5 5 5 T E 4 oo i m ou ET li mmm 6L 7 _0 IX W EL 401815 49104 V
13. 3 4 x E un 2 u 4 Q 3 Q lt SO c bd ss o oo OU n 55 XL ELLE ELE LEE EET ELLE dd pori 22222222225 2222 7 Y M 1910 8 1003 BL LX SLD a LXC6 o 8 0 51295 7 0 51285 2 w n Y CIS sepis 400 IUIW 4098 9 SL 3 uiu OSL 41691 0 79 7 5 757 M 098 28 0 MV 5941 M July 2014 Docx 45 PVD 3664_GB_NK NK4 W 3 3 2 881993 CIEN 3 inns 672 df 2 8 8 AMM 3 8 4 5 53 1 001 381 8 9 9 ae 2 00 9 oo oo 960 MV SSL 1211 50 4 991 06 LZ MOE YN 78 915 59 COL Lul t 4 uMOJg abueJQ m0134 COT rl C OFZ 20 579 5901 91408
14. 67 3 7 3 Motor cable 68 3 7 4 ORE 68 3 7 1 gelo Em 68 3 8 Feedback system oce 69 3 8 1 misceri c i 69 3 8 2 gt u Pe E 75 4 COMMISSIONING USE AND MAINTENANCE Q J J J J 76 4 1 Instructions for commissioning use and maintenance 76 4 1 1 EQUIPMENT AGIS osere uum uman huso mu 76 4 1 2 Pandin SSeS 76 4 1 3 LOMAS Troc 76 4 2 Machine 77 4 2 1 General 77 4 2 2 Tightening 79 4 2 3 Rotor integration step by 80 4 2 1 Natural cooled stator integration step by step 82 4 2 2 Water cooled stator integration step by 84 4 2 3 Ri sre OES OE S TEE m 85 4 3 FEO SOIV GM TOU e e 91 4 3 1 Mounting Step p 91 4 3 2 Selling ol the 65 __ _ _ 92 4 4 El
15. Lun j K Oxo E a 5 e ep A q a 1 18 igili N C SEE I s 1 Ld d s o NC m nom MA x pa E 1 2 ECC i n E ER 1 l __ WEM PN S e Ne ae S TE S TE 99 oe 4 E LE L M 1 1 SY eg N 266 a lt SI sasa a 4 a c x 1 E Um 1 m 56 i 9 je d 4 2275412 i lt dE dE dr TTE lE CE OM 3E F 4 1 Mig 1 a Tj or 7 J Je s M p Lou SL 1 P i P pou t d
16. SE MIS RUE 3500 r at 4500 4000 3000 2500 2000 1500 1000 500 Speed rpm July 2014 Docx 29 PVD 3664_GB_NK 3 2 1 11 Series NK860E w E i Ss Ss s sm ann T m 3 8 IN um c 72 N 66 o oo ooo N M N V 1 M Um Lo LUE s
17. 5 5 Speed rpm motor torque Nm rms average torque Nm speed rpm rms average speed rpm The maximal torque delivered by the motor at each segment 7 of movement is obtained by the algebric sum of the acceleration deceleration torque and the resistant torque Therefore Mmax corresponds to the maximal value of 14 PVD 3664 GB NK July 2014 Docx Selection of the motor The motor adapted to the duty cycle has to provide the rms torque Mims at the rms speed without extra heating This means that the permanent torque M available at the average speed presents a sufficient margin regarding the rms torque Mims O ans 5 OFA VT lt rms speed is calculated thanks to the same formula as that used for the rms torque The mean speed cannot be used in general mean speed is equal to zero Only use the rms speed Furthermore each Mi and speed associated Qi of the duty cycle has to be located in the operational area of the torque vs speed curve Torque Ok 15 PVD 3664 GB NK July 2014 Docx 3 1 4 Drive selection Drive selection depends on its rated power and its mode selection which leads to the maximal current duration Please refer to the drive technical documentation for any further information and to select the best motor and drive association 890 PARKER drive example The rated current provided by the AC890 dr
18. Compact 40 smaller than standard cylinder Excellent control due to the high mechanical stiffness no coupling Lower weight ideal for robot application Pump Mains benefits Y Low cost Compact Y Simplified design Y Low temperature rise 9 PVD 3664 GB NK July 2014 Docx 2 4 Motor description Copper windings impregnated with resin STATOR Stator stack 7 laminations Rotor flange for key ROTOR balancing laminations Rotor stack Rivets 2 5 General Technical Data Motor type Permanent magnet synchronous motor Magnets material Neodymium Iron Boron Number of poles Type of protection e Natural cooling Rated voltage 230VAC 400 VAC and 480 VAC Class F according to IEC Class F according Class F according 60034 1 with potting to IEC 60034 1 with potting Atitude Up to 1000m IEC 60034 1 for higher altitude see 3 1 1 for derating e 15 C to 40 C IEC 60034 1 Ambiant e 40 C on request temperature e0 to 40 C for water cooled version IEC 60034 1 to avoid condensation see 3 5 Storage O 10 PVD 3664 GB NK July 2014 Docx 2 6 Product Code Code K 3 1 0 E Product Series Motor size 1 2 3 4 8 in relation with the motor diameter Motor length up to 60 depend on size Windings variant E standard serial windings class F W serial windings class water cooled Feedback Sen
19. te dii e e uN 3000 2500 2000 1500 1000 500 Speed rpm July 2014 Docx 30 PVD 3664_GB_NK 3 2 1 12 Series NK860V 3 Efficiency 96 n y N m M 1 x w Bo I Y rx E 1 0 0 E N IN EY 1 ki Ecc E o x 4 5 5 N Saas rut 4 87 WN 2000 2500 3000 3500 Speed rpm 1500 3 2 1 13 Series NK860W io 1000 500
20. 8 MOO98XN MOYSAN MOZSXN S SS 56 MZL8XN UMOJG xeu 91 51 0014295 jyBia 550 9L LX 9 LS D Buis 0 51295 Z 71 3 COFL XEW 91 8072 NK8 W ZZZzZZZZZZZZZZZZZZ2ZXZZZZZ 41 L 0 U 0814123805 seaJe Jejue 1429 214 JO 8 13 3 ON BL LX LL Dulu 51295 Z SEE 2 aT s 2 lt m mm mmm NI 4 222 7 2727 22222 H z EZ E L 24 INNES sayt 00 S9 t CWV 5 8 4 2 0 OL SO LE umeug 729 M ALM 2 1 50 90044 Jld 4010 aseg Ei V MON A 08L 1e 760 10 96 7 1 EAD 270 D ar oo oo DE 81552 7 N A A s CLL 2 277777 7 4 7 2 277 a a 1 LLL AAA Bm p a a 60 a 2222 2 3 2222222222222222222222 416091 pay
21. Rth copper iron Cth copper CUT 389 Jkg K With Rthcopper_iron thermal resistance between copper and iron K W Cthcopper thermal capacity of the copper J K MasScopper mass of the copper winding kg Hereunder is given an overall summary of motor time constants 34 PVD 3664 GB NK July 2014 Docx 3 2 4 Speed ripple The typical speed ripple for a NK motor with a resolver at 4000rpm is 3 peak to peak This value is given as indicative data because depending on the settings of the drive gains of both speed and current regulation loops presence of filtering or not load inertia resistant torque and type of sensor in use without external load neither external inertia nor resistant torque 35 PVD 3664 GB NK July 2014 Docx 3 2 5 Rated data according to rated voltage variation The nominal characteristics and especially the rated speed maximal speed rated power rated torque depend on the nominal voltage supplying the motor considered as the rated voltage The rated data mentioned in the data sheet are given for each association of motor and drive Therefore if the supply voltage changes the rated values will also change As long as the variation of the rated voltage remains limited for instance 10 of the nominal value it is possible to correctly evaluate the new rated values as illustrated below Example Extract of NK620EAR datasheet BRUSHLESS MOTORS NK620EAR ELECTRONIC DRIVE
22. Servomotors NK Series Technical Manual PVD 3664 1 PVD 3664 GB NK July 2014 Docx DECLARATION CE OF CONFORMITY Parker Hannifin Manufacturing France SAS Etablissement de Dijon 8 Avenue du Lac CS 30749 21007 DIJON CEDEX Certify that the product SERVOMOTORS TYPE NK Satisfy the arrangements of the directives Directive 2006 95 EC Low Voltage Directive Directive 2011 65 EU Restriction of hazardous substances and meet standards or normative document according to 60034 1 2010 rotating electrical machines part 1 Rating and performance EN 60034 5 2001 A1 2007 rotating electrical machines part 5 Degrees of protection provided by the integral design of rotating electrical machine Further information SERVOMOTORS shall be mounted on a mechanical support providing good heat conduction and not exceeding 40 C in the vicinity of the motor flange As NK is a kit motor final conformance of the complete motor is under the responsibility of the integrator The instructions and recommendations of the user manual supplied with the product together with the servo amplifier commissioning manual instructions must be applied NK1 C E Marking in March 2005 NK4 C E Marking in September 2002 NK2 C E Marking in October 2003 NK6 C E Marking in July 2002 NK3 Marking in November 2001 NK8 Marking in April 2004 DIJON July tst 2014 MOS 27 QUALITY MANAGER S
23. C without torque derating The water inlet temperature must not be below 5 C The inner pressure of the cooling liquid must not exceed 5 bars Caution To avoid the appearance of corrosion of the motor cooling system the water must have anti corrosion additive The servomotors are water cooled Corrosion inhibitors must be added to the water to avoid the corrosion The complete cooling system must be taken into account to choose the right additive this includes the different materials in the cooling circuit the chiller manufacturer recommendations the quality of the water The right additive solution is under the responsibility of the user Some additives like TYFOCOR or GLYSANTIN G48 correctly used have demonstrated their ability to prevent corrosion in a closed cooling circuit For example Glysantin G48 recommendations are Water hardness 0 to 20 dH 0 3 6 mmol l Chloride content max 100ppm Sulphate content max 100ppm Caution The water quality is very important and must comply with supplier recommendations The additive quantity and periodic replacement must respect the same supplier recommendations Caution The additive choice must take into account the global cooling system chiller or water exchanger recommendations Select carefully the materials of all the cooling system parts chiller exchanger hoses adapters and fittings because the difference between material galvanic potential can m
24. DIGIVEX 8 16 400V No UL certification Torque at low speed Nm Permanent current at low speed Ps Peak torque Nm Current for the peak torque Poss Back emf constant at 1000 rpm 25 C Torque sensitivity ms Winding resistance 25 3 Winding inductance mH Rotor inertia kgm x10 Thermal time constant Tth min Motor mass M kg Voltage of the mains UR1 UR2 UR3 M as Rated speed Nn1 Nn2 Nn3 rpm Rated torque Mn1 Mn2 Mn3 Nm Rated current In1 In2 In3 Arms Rated power Pn1 Pn2 Pn3 we suppose that the rated voltage U 400 Vrms decreases of 10 this means that the new rated voltage becomes U 2 360 Vrms Rated speed The former rated speed N 3900 rpm obtained with a rated voltage U 400 Vrms and an efficiency of 29296 leads to the new rated speed given as follows U p it 300 140 92 N N 3900 400 _______ 3476 rpm 0 92 36 PVD 3664 GB NK July 2014 Docx Maximum speed The former maximum speed Nmax 3900 rom obtained with U 400 Vims and 3900 rpm leads to the new maximum speed Nmax2 given as follows N x2 3900 Bo e us rr 3476rpm If the rated voltage increases Una gt Un the new rated speed and the new maximum speed Nmax will be greater than the former ones Nn and Nmax Moreover you will have to check that the drive still shows able to deal with the new maximum electric frequency Warning If the main supply decrea
25. For the safety you need to connect stator to the ground Consult local regulation to choose the cross section and to know resistance limits to check ground continuity between frame and ground wire 3 1 Motor cable The motor cables are flexible so cables can take any direction The electrical connection on motor in kit version is realized by high performance cable The motor cable section depends of the motor current level Please refer to the outline drawing to know the cross section Caution The motor cables are designed for high current density so cable surface can reach temperatures exceeding 100 C Caution The wiring must comply with the drive commissioning manual and with recommended cables Caution Section motor cable is lower than commissioning section cable between motor and drive due to high performance motor cable design Do not take the same cable section than motor ones 68 PVD 3664 GB NK July 2014 Docx 3 8 Feedback system An angular position sensor is often used to run the motor and it depends on the drive functionalities A drive with a sensorless mode needn t a feedback system A classic position sensor is an encoder but a resolver could be an lower cost and more robust alternative 3 8 1 Resolver 3 8 1 1 Overview A resolver is an angular position sensor It is used to determine rotor position Its signals are processed by the drive in order to control the stator currents the speed and the
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27. 60034 17 lt 500V AC N A k N lt lt O 6 gt 5 O 0 4 0 6 0 8 1 Voltage Pulse Rise Time ps Figure 1 Minimum Voltage withstands characteristics for motors insulations according to standards At the top are the typical capabilities for the NK motors Note The pulse rise times are defined in accordance with the IEC TS 60034 17 ed4 0 2006 05 09 The NK motors can be used with a supply voltage up to 500 V under the following conditions The pulse rise times must be longer than 50 ns The repetitive pulse voltages must not exceed the values given in figure 1 Curve NK motors in dark blue 38 PVD 3664 GB NK July 2014 Docx 03 59 MMM JNV84 x p 80710 10 67288 351 055 uorjejnsui 40 Jue SIp au 14 lt e _ _ UH X 1 U 9111290 a JdjU8 0 102 1 i r 5 9 4 In I d c aiu lt b lt 5 BOS 5 x 1 Gyno JIA 9 July 2014 Docx 39 PVD 3664_GB_NK 2 3 3 2
28. PM EL LL LL LL TL FL ZL DLL LL LL LL JL gZL LL ILL LL Ill lll 5 5 gt gt ON 3 LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLJ su fD CMT Z 09 00 ujDue 22222224 eer t M peg A c y3e1g IXPU 1 jyoddns 1004 1400005 01815 10 ued sj 101 5 010 DuijeJ 195110 50 July 2014 Docx 44 PVD 3664 GB NK uorjesiJou ne usjjrJ WOJ J34Jed P A 3JNv3J xapa3 NO G LOOLZ 00 0 60 1 597 672 df 281 8 pajjiuJad you SI Ado uo janpoudaJ SP SP UOISSIWSUPJ jo Ajsadoud ay s 4 8 30 Siul SUO 41 POY gx j V 1314 Nj JO 969 MV SSL 5 S JIM 29 MV 0 Jld 78 311 50 8 1 405495 tHd 94044 Jld 010 9568 paads 10 spuedap 5 spuadap anDJo UMOJG 3 M0 3A M01134 TOF Z OFOG Cors Sul ul 2905 seaJe Jajua pjnous sjued jiyaubew MENE JO 8 13 03 0 COTL M E COFL 19110 100 1 22227 i iw Lm m 2222
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31. constants is given a little further 3 2 3 2 Mechanical time constant P Ronn aJ OSER n a T Kt 3 ph y ph V3 V3 0 5 Ron pn J pn With following values obtained from the motor data sheet Hpn pn resistance of the motor phase to phase at 25 C Ohm inertia of the rotor kgm pn back emf coefficient phase to phase V ms rags The coefficient prin the formula above is given in Vims rad s To calculate this coefficient from the datasheet use the following relation _ phy 1000p ph radis 2 1000 60 Example Motor series NK620EAR Rph ph at 25 C 2 24 Ohm J 98 10 kgm ph Vims 1000rpm 95 7 Vrms 1000rpm gt ph Vims rad s 95 7 2 x 1 000 60 0 9139 V ms rad s gt Omech 0 5 2 24 98 10 0 91392 1 2 ms 33 PVD 3664 GB NK July 2014 Docx 5 For a DC motor the mechanical time constant Omech represents the duration needed to reach 63 of the final speed when applying a voltage step without any resistant torque However this value makes sense only if the electric time constant 15 much smaller than the mechanical time constant Omech for the motor NK620EAR taken as illustration it is not the case because we obtain Omech lt Gelec An overall summary of motor time constants is given a little further 3 2 3 3 Thermal time constant of the copper k cem
32. stator is thermally well connected to a metallic surface S v This surface must not exceed 40 C w N wee owe _ _ 89 _ 56 PVD 3664 GB NK July 2014 Docx Water cooled motor Danger The cooling system has to be operational when the motor is running or energized Danger The Inlet temperature and the water flow have to be monitored to avoid any exceeding values Caution When motor is not running the cooling system has to be stopped 10 minutes after motor shut down Caution Condensation and risk of rust may occur when the temperature gradient between the air and the water becomes Significant Condensation is also linked to hygrometry rate To avoid any issue we recommend T water gt Tair 2 C The motor can be used with an ambient temperature between 27 to 40 with a high water temperature but with derating If inlet water temperature becomes higher than 25 derating factor must be applied according to 3 1 2 Temperature Derating Caution the ambient air temperature shall not exceed 40 in the vicinity of the motor flange Danger If the water flow stops the motor can be damaged or destroyed causing accidents 5 PVD 3664 GB NK July 2014 Docx 3 5 3 Additives for water as cooling media Please refer to motor technical data for coolant flow rates The water inlet temperature must not exceed 25
33. 0005P1001 Cote de montage 0 0 25 0 0 25 Mounting position between rotor and stator Transfo tournant 2 36 83 G7 1 9 0 2 2 54 73 PVD 3664 GB NK July 2014 Docx SW al D 36 83 5 525 D 34 3 0 5 27 7 LL E PAV Zen 5777 on 26 Maxi 37 5 Maxi Resolver part number 220005 1002 Cote de montage 0 0 25 0 0 25 Mounting position between rotor and stator Transfo tournant 36 83 G7 236 83 0 0 234 3 5 1 9 0 2 Resolver part number 220005P1003 01 1 0 25 Mounting position between rotor and stator Cote de montage 1 1 0 25 2 0 15 74 PVD 3664 GB NK July 2014 Docx 12 H7 i 37 5 Maxi 210 5 16 8 2 Transfo tournant 1 SMHS 8 raf HOOT ME A 13 6 5 TN 77777 O 10 ox 22 _ 235840065 lt O LO LO U amp 9 S _ 1 1 5 5 2 45 85 3 8 2 Encoder Instead of a resolver we can provide an encoder Incremental encoder incremental encoder with 10 poles commutations channels Hiperface single turn or multiturn Endat single turn or multiturn 75 PVD 3664 GB NK July 2014 Docx 4 COMMISSIONING USE AND MAINTENANCE 4 1 Instructions for com
34. 2 O rings must be greased with an ordinary lubricant before mounting to avoid damages and leakages Caution Be careful not to make damage on the O ring during the mounting to avoid leakage It s recommended to realize a waterproof test with 5 bars air pressure during 30 minutes and check if there is not pressure decreasing Caution Water inlet and outlet must be aligned with the cables inlet to guarantee an optimized cooling circulation Zm ad Im Um O ring Cross Working diameter section Material Hardness temperature mm mm C PARKER part number 0 shores 25 120 5340 0069 70 shores 25 120 5340P0081 70 shores 25 120 5340P0077 70 shores 5 120 5340P0093 54 PVD 3664 GB NK July 2014 Docx 3 4 5 2 Condensation water drain hole Condensation and risk of rust may occur when the temperature gradient between the air and the water becomes significant so drain holes must be integrated on the frame design These holes must be positioned at the lowest point in the motor housing Condensation water drain holes must be checked at least once a year 55 PVD 3664 GB NK July 2014 Docx 3 5 Cooling In compliance with the IEC 60034 1 standards 3 5 1 Natural fan cooled motor The ambient air temperature shall not be less than 15 C and more than 40 C The NK torque and speed data are given with the following conditions The
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36. 5 0 DRIVE 13 50 6 121 267 42 oa 37 98 40 368 69 0 6305 08 53 11 5 12 262 40 105 27 457 92 56 17 40 9 1088 240 690 6205 8 DRIVE 12 44Ams 11 42 16 10 s20 40 5900 1294 907 52 405 DRIVE 16 60 Ams 28 151 se sos 16 16 os 67 62 40 so 1990 09 690 22 PVD 3664 GB NK July 2014 Docx 400 68 426 400 7000 90 72 590 1 37 98 400 700 102 155 7500 1 _35_ 400 162 354 1 400 _ EE 400 5 43 20 400 23 PVD 3664 GB NK July 2014 Docx Efficiency curves Caution The efficiency curves are typical values They may vary from one motor to an other Caution The efficiency curves are given for an optimal motor control no voltage saturation and optimal phase between current and EMF Caution The efficiency curves do not include the losses due to the switching frequency 24 PVD 3664 GB NK July 2014 Docx 29 i 45 n 221 aW LR LEE Series NK110E
37. 5 10 15 20 25 It is possible to use the NK motor with current higher than the permanent current But to avoid any overheating the following rules must be respected 1 The peak currents and peak torques given in the data sheet must never be exceeded 2 The thermal equivalent torque must be respected 3 1 3 3 If 1 and 2 are respected it can limit the peak current value or duration the peak current duration tp must be limited in addition accordingly to the following table lo is the permanent current at low speed Ipeak In NK110 NK210 NK310 tp lt 0 8 s tp 0 3s lt 0 155 lt 0 15 lt 1 55 lt 0 6 tp 0 3s lt 0 25 NK840 860 NK860V tp 3s tp 1 5s not allowed NK860W The peak current duration is calculated for a temperature rise of 3 C Consult us for more demanding applications 19 PVD 3664 GB NK July 2014 Docx 3 2 NK Characteristics Torque speed current power The torque vs speed graph below explains different intrinsic values of the next tables Torque Peak Torque Permanent torque at low speed Nominal Power Nominal torque Stall torque 3 rpm Nominal Max Speed speed speed 20 PVD 3664 GB NK July 2014 Docx Electronic Drive Type DRIVE 1 4 Arms NK205EAV DRIVE 1 5 6 Arms NK205EAS DRIVE 1 5 7 5 Arms NK210EAT DRIVE 1 5 6 Arms 210 DRIVE 2 8 Arms NK210EAG DRIVE 3 11 Arms NK310EAP DRIVE 1 5 6 Arms NK310EAI DRIV
38. 51419950414 21 To 49 3 4 2 Servomotor typical construction nnns 49 3 4 3 Bearings recommendation 2 TO ER 50 3 4 4 MIN Re EE DETTO 51 3 4 5 Water cooled version 54 3 5 Qura mi UH 56 354 Natural fan cooled 56 3 5 2 Water cooled MOTOT ger 57 3 5 3 Additives Tor water as cooling titre ta xd Fete c axes 58 3 5 4 Motor cooling circuit drop DEESSUEG coda cops Poo VERDE EA 59 9 5 5 Chiller selection MM 59 3 5 6 Flow derating according to glycol concentration 60 3 5 7 Water cooling a 62 3 6 Thermal POLS 64 3 6 1 Alarm tripping with PTC 64 3 6 2 Temperature measurement with KT Y sensors 65 Power 1 4 Sa UU 66 PVD 3664 GB NK July 2014 Docx 3 7 1 SIZ isa 66 3 7 2 Conversion
39. Docx 2 PRODUCT DESCRIPTION 21 Quick URL All informations and datas are avaible on http www parker com eme nk 2 2 Overview NK servomotors Series from PARKER is an innovative direct drive solution designed for industrial applications NK Series brushless servomotors from Parker SSD Parvex combine exceptional precision and motion quality high dynamic performances and very compact dimensions A large set of torque speed characteristics options and customization possibilities are available making NK Series servomotors the ideal solution for most servosystems applications Advantages High precision High motion quality High dynamic performances Compact dimensions and robustness Hiher stiffness of the system no coupling systems needed 2 3 Applications Medical Blood pumps air pump radiology tables Machine tools Ancillary axis spindle axis Semiconductor Hand tool screwdriver Packaging machinery Robot applications Special machines Fully optimized mechanical system Frameless Integration Servomotors Partner of your integration Flexible organization and technical know how v Assistance during mechanical integration 7 PVD 3664 GB NK July 2014 Docx Assistance during mechanical system tuning 8 PVD 3664 GB NK July 2014 Docx Examples Electric cylinder Mains benefits Cost coupling bearings motor front flange are deleted and cylinder frame is simple
40. E 3 5 14 Arms NK310EAK DRIVE 2 5 10 Arms NK310EAX DRIVE 4 16 Arms NK420EAP DRIVE 3 11 Arms NK420EAV DRIVE 1 5 6 Arms NK420EAX DRIVE 6 22 Arms NK420EAJ DRIVE 5 20 Arms NK430EAV DRIVE 1 5 6 Arms NK430EAP DRIVE 3 12 Arms NK430EAL DRIVE 4 16 Arms NK430EAF DRIVE 7 27 Arms NK430EAJ DRIVE 6 22 Arms NK430EAH DRIVE 6 23 Arms NK110EAP Vol Rated SMS Peak Peak constant Torque Winding Winding Rotor speed Rated Rated Rated 1 aoe Torque current sensitivity resistance inductance inertia zi ihe and max torque current power peed speed p mains speed 06 101 2 568 302 176 21 400 7500 029 06 20 06 14 2 vor 9 os 243 21 400 690 023 20 129 66 556 1 207 620 79 400 4000 165 118 690 sss 66 195 ss os 94 105 79 20 so 14 261 99 _ 66 wn 509 os 66 209 79 400 7000 1 176 1000 85 38 13 4 78 16 Teos 66 168 265 su 05 14 68 se s exo ase ars 1670 21 PVD 3664 GB NK July 2014 Docx Electronic Drive alow at iow ee 1000rpm p as een e ret um L BE BR NE NK RR AE OXE 08 53 12 5 6 283 267 112 10 2 75 ere 98 40 200 752 289 50 620
41. OEFWW oot ZHd A LHd yeg 1011295 5042 199 5 885 S JI 3 3 4 10 0 19 Oulj003 018091 20104 071 19 30109 UIW 7 1 05 Pave jndjng sjel UOIJESIJOYJNE U JJIJM jou 51 4003 Jo 0113 0 08 SP SP U0ISSIUSUPJ XJAMVd jo 51190040 ayy 5 Siul 401 0 Josuas JnOUJIA 88805 40 Spu d p sBuipuiM 11649 jo spuadap 59552 2 anb Jo July 2014 Docx 48 PVD 3664_GB_NK 3 4 Motor mounting recommendations 3 4 1 Frame recommendation Warning The user has the entire responsibility to design and prepare the housing the shaft connection box the support the coupling device shaft line alignment and shaft line balancing Machine design must be even sufficiently rigid precise and shall be dimensioned as to avoid vibrations due to resonances Integrator bears the entire responsibility for choice of the key components such as bearing encoder electric connection and mechanical parts design Warning A grade A motor according to IEC 60034 14 well balanced may exhibit large vibrations when installed in situ arising from various causes such as unsuitable foundations reaction of the driven motor current ripple from the power supply etc Vibrati
42. POIZOT PVD 3664 GB NK July 2014 Docx 1 Table of Content INTRO DUC THON kusikusi a 5 E Purpose and intended audience uu uu be E D 5 1 2 So ERS 5 1 2 1 inem C UR 5 122 General Salely TER 6 PRODUCT DESCRIPTION unuy Susu saka 7 2 1 TST UR 7 2 2 es Alien cain 7 2 3 PADD ATOMS 7 2 4 get ee RS 10 2 5 General TechiniCal 10 2 6 DEN 11 TECHNICAL DATA 1 2 ee a AEE 12 MOO SECC IOs Pn 12 3 1 1 PAIGE COV Dass 12 3 1 2 iTemperaluredderali gu 12 9 1 9 Thermal equivalent torque rms torque aa 14 3 1 4 Drive Selection Ee 16 3 1 5 Current limitation at stall conditions i e speed lt 3 rpm
43. V 78 18 UMOUg C OFL BL 2 2 k 1 24 Fww os 10 9 04 89 8 8915 UO 19110 pag 9 2818 OLOMV 55 M 2905 SeaJe 81 8 pjnous 1420 J 13 8 Bulu 0 51585 Z ES 7 4 b 4 1 1 7 C OFZ saui pajjop U JO 8 43 03 ON LXZL 9ZLD BL LXZL 9ZLD DuiJ 0 51295 Z T 4 gt LL i i 91110 aU A 22 port WE o zt 74 oo 00 0 60 71 20 MV 0S Jld t Hd Hd k Hd sapis 1100 OL uid p SOTECWY ALY u311M SOulJal 90044 Jld 040 9568 SUO 2 JI DO paads jo spuadap 5 5 JOYJNE us j J pajjiwuad jou 4003 Jo uo j3npoudaJ SP SP U0ISSIUSUPJ XJAM3Vd jo 51190010 ayy 51 Siul 440 DuiMeu jyBua spuedep 95521 8 30 July 2014 Docx 47 PVD 3664 GB NK 4NI LIO tV JeulJo 4 WOJ 499420 3 4 NOFI G LOOLZ 672 da 361
44. a n a a Be QUEE EET gt an i in E Ne e T i WN 1500 2000 2500 3000 3500 4000 4500 Speed rpm 1000 500 July 2014 Docx 31 PVD 3664 GB NK 3 2 2 Electromagnetic losses Caution Following data result from our best estimations but are indicative They can vary from one motor to another and with temperature No responsibility will be accepted for direct or indirect losses or damages due to the use of these data Following data are indicative Tf Nm Kd Nm 1000rpm NK110EAP NK205EAV NK210EAP NK310EAP NK420EAP NK430EAP NK620EAR NK630EAR NK820EAR NK840EAK NK860EAJ 0 485 0 160 NK860VAJ 0 485 0 160 Torque losses Tf Kd x speed 1000 32 PVD 3664 GB NK July 2014 Docx 3 2 3 Time constants of the motor 3 2 3 1 Electric time constant L ____ _ alec m R ph ph With following values given in the motor data sheet Lon pn Inductance of the motor phase to phase pn resistance of the motor phase to phase at 25 C Ohm Example Motor series NK620EAR Lon 19 2 mH or 19 2 10 Rph ph at 25 2 24 Ohm gt 19 2 107 2 24 8 6 ms overall summary of motor time
45. ake corrosion 58 PVD 3664 GB NK July 2014 Docx 3 5 4 Motor cooling circuit drop pressure The tab below describes the drop pressure at the water flow rate from the motor data Motor type NK W Note all motors drop pressure are checked before shipping 3 5 5 Chiller selection This section describes how to choose the chiller The chiller is able to evacuate the heat from the motor losses with the water circulation The motor losses power to evacuate by the chiller depend on the efficiency and motor power pos n p With Pc Power to evacuate by the chiller KW Pn Nominal motor power kW p motor efficiency at nominal power Refer to the respective motor data sheet for nominal power efficiency and water flow Chiller pump must provide water flow through motor and pipe pressure drop Inlet temperature must be inferior to 25 C Example Motor NK860W For a torque of 80 9 2500 rpm the efficiency is 92 Water flow 5 l min Pn 80 x 2500 x 1 30 Pn 20 9 kW am 1205 1 8 kW 0 92 So the chiller must evacuate 1 8 kW and has a water flow of 5 for this point of running 59 PVD 3664 GB NK July 2014 Docx 68 8 100 102 105 9 117 6 110 1125 116 5 122 3 129 3 120 130 140 188 1 2116 Use of the table above Example If the motor needs 25 l min with 0 glycol If application needs 20 glycol the water flow must be 26 5 l min If
46. als 71 PVD 3664 GB NK July 2014 Docx 3 8 1 4 Cables and connectors associated to the resolver To connect NK motor with a connector M23 to PARKER drive AC890 or SL VD you can use complete cable with part number on the tabs below The in the part number must be replaced by the length in meter Ex for 20m cable xxx 020 Feedback Cable reference Cable reference Cable reference Cable reference Sensor for AC890 for COMPAX3 for SLVD for 637 638 CS4UA1F1ROxxx CC3UA1F1ROxxx CS5UA1F1ROxxx CS1UA1F1ROxxx For other drive you can assembly cable and plug by soldering with part number on the tab below Feedback Sensor Cable reference Plug reference Resolver 6537 0047 22006594621 3 8 1 5 Resolver setting During the setting procedure it is strictly necessary to respect the 3 following conditions The rotor must be able to rotate freely The maximum friction torque on the rotor must not exceed 1 of the motor permanent torque The cooling circuit has to be in use The operator must be able to reach the resolver stator and to manually turn it and lock it access to the locking screws Look at the drive instruction manual for the setting procedure details 72 PVD 3664 GB NK July 2014 Docx 3 8 1 6 Resolver drawings Resolver part number 220005P1000 2 5 0 25 Mounting position between rotor and stator 55221 PESOS BRS SR Resolver part number 22
47. an commissioning section cable between motor and drive due to high performance motor cable design Do not take the same cable section than motor Danger The spindle servomotor must be earthed by connecting to an unpainted section of the motor Caution The motor cables are designed for high current density so cable surface can reach temperatures exceeding 100 C Caution After 15 days check all tightening torques on cable connection Please read 83 7 Electrical connection to have information about cable A lot of information are already available in the drive documentations The motor must be connected to the servo amplifier according to the drive user manual The color code given in the table C must be followed 93 PVD 3664 GB NK July 2014 Docx The motor is shipped without a ground cable It is mandatory to connect a green yellow ground cable between the motor frame and machine The ground cable cross section must be the same as the power cable cross section Ground connectors on stator _ Not supplied with motor i D m 90000000 Check there is no damage on winding or cable due the mounting by a dielectric test Check all external wiring circuits of the system power control motor and earth connections v Ensure that nobody is working on another part of the system who will be affected by powering up Ensure that other equipment will not be adverse
48. application needs 40 glycol the water flow must be 29 4 l min 60 PVD 3664 GB NK July 2014 Docx Main formulas Power_dissipatin 60 A0 C With Flow rate l min Power dissipation W A0 Gradient inlet outlet Cp thermal specific capacity of the water as coolant J kg K Cp depends on the 96 glycol concentration please see below Thermal specific capacity Cp according to glycol concentration and temperature We have considered an average temperature of the coolant of 30 Glycol concentration Average temperature of the water Thermal specific capacity of the water 96 coolant Cp J kg K 4 30 4176 61 PVD 3664 GB NK July 2014 Docx 3 5 7 Water cooling diagram Recommendation The use of a filter allows to reduce the presence of impurities or chips in the water circuit in order to prevent its obstruction We recommend 0 1mm filter This section shows typical water cooling diagram There is NO recommendation on water inlet and outlet position Chiller or Exchanger Pump Recommendations Check water flow at this point Check inlet temperature Servomotor Recommendations Check inlet temperature Water flow meter gt DI Chiller or Exchanger Pump Water flow regulators Water flow meter OK X Servomotors 62 PVD 3664 GB NK July 2014 Docx No Parallel Circuit N h Chill
49. ch more important Please refer to PARKER to know the precise data of Torque derating according to water inlet temperature at high speed for a specific motor Illustration Only for example given for the NK860WAF Torque Derating vs cooling temperature Torque derating Cooling temperature 35 13 PVD 3664 GB NK July 2014 Docx 3 1 3 Thermal equivalent torque rms torque The selection of the right motor can be made through the calculation of the rms torque Mims i e root mean squared torque sometimes called equivalent torque This calculation does not take into account the thermal time constant It can be used only if the overload time is much shorter than the copper thermal time constant The rms torque Mims reflects the heating of the motor during its duty cycle Let us consider the period of the cycle T s the successively samples of movements characterized each ones by the maximal torque M Nm reached during the duration At s So the rms torque Mrms can be calculated through the following basic formula 1 gt At Example For a cycle of 2s at 0 Nm and 2s at 10Nm and a period of 4 s the rms torque is 1510 2 7 07 lllustration Acceleration deceleration torque 10 Nm during 0 1 Resistant torque 1 Nm during the movement Max min speed 2800 rpm during 0 2 s Max torque provided by the motor 11 Nm rms torque 6 Nm
50. e constant Tth min Motor mass M kg Voltage of the mains UR1 UR2 UR3 Vins Rated speed Nn1 Nn2 Nn3 rpm Rated torque Mn1 Mn2 Mn3 Nm Rated current In1 In2 In3 0 1000 2000 3000 4000 5000 Rated power Pn1 Pn2 Pn3 W The permanent current lo of the motor is 5 31 Arms for 8 Nm at low speed The nominal current In of the motor is 4 25 Arms for M 6 17 Nm at the nominal speed Selection of the drive The drive has to provide at least a permanent current equals to Ip 5 31 Arms In order to obtain an acceleration torque of 12 Nm the current will be about 8 Arms the motor data sheet shows 17 Nm with 11 3 Arms This means that the drive has to provide at least 8 Arms as transient current gt Therefore we can select the drive AC890SD 53 2100 B which delivers under 400 VAC 6 Arms as permanent current and 6 200 12 Arms as maximal transient current during 4 s The drive is set with Servo Mode gt We also can select the drive DIGIVEX 8 16 A which delivers under 400 VAC 5 6 Arms as permanent current and 5 6 200 11 3 Arms as maximal transient current during 2 s 17 PVD 3664 GB NK July 2014 Docx Example n 2 This times the application needs a permanent torque of 5 8 Nm at low speed a rms torque of 5 8 Nm at the rms speed of 1890 rpm an acceleration torque of 8 8 Nm a maximal speed of 2800 rpm Selection of the motor The selected motor is the type NK620EAR The nominal speed is
51. ectrical COMMECHONS un 93 4 5 u u m 95 4 6 cem 96 4 7 Rss os 97 4 PVD 3664 GB NK July 2014 Docx 1 INTRODUCTION 1 1 Purpose and intended audience This manual contains information that must be observed to select install operate and maintain PARKER NK servomotors Installation operation and maintenance of the equipment should be carried out by qualified personnel A qualified person is someone who 15 technically competent and familiar with all safety information and established safety practices with the installation process operation and maintenance of this equipment and with all the hazards involved Reading and understanding the information described in this document is mandatory before carrying out any operation on the motors If any malfunction or technical problem occurs that has not been dealt with in this manual please contact PARKER for technical assistance In case of missing information or doubts regarding the installation procedures safety instructions or any other issue tackled in this manual please contact PARKER as well PARKER s responsibility is limited to its servomotors and does not encompass the whole user s system Data provided in this manual are for product description only and may not be guaranteed unless expressly mentioned in a contract DANGER PARKER declines responsibility for any industrial accident or ma
52. en any conductive point and the grounding conductor shall not exeed thani00mQ This test shall be performed before the dielectric tests EN60204 1 Safety of the machine Below exemples of dielectric tests performed on each complete unit Sefelec 5 50 can be used for a 400V supply Dielectric Thermal Resolver Test duration i wires depends on power 1800V for Connected Connected Connected 400 V on Frame on Frame on Frame Thermal Connected 1800V for Connected Connected sensor on Frame 400 V on Frame on Frame Connected Connected Connected Resolver 620V on Frame on Frame on Frame Brake Connected Connected 500 Connected on Frame on Frame on Frame Check with encoder supplier for tests to be done 96 PVD 3664 GB NK July 2014 Docx 4 7 Troubleshooting Some symptoms and their possible causes are listed below This list is not comprehensive Whenever an operating incident occurs consult the relevant servo drive installation instructions the troubleshooting display indications will help you in your investigation or contact us at http www parker com eme repairservice You note that the motor does not turn by hand when the motor is not connected to the drive e Check there is no mechanical blockage or if the motor terminals are not short circuited You have difficulty starting the motor or making it run e f there is a thermal protector check it and its connecti
53. en the motor rotor is manually rotated when the motor is driven by its load when the motor is at standstill or stopped For measurements use only a meter to IEC 61010 CAT III or higher Always begin using the highest range CAT and CAT meters must not be used on this product Allow at least 5 minutes for the drive s capacitors to discharge to safe voltage levels 50V Use the specified meter capable of measuring up to 1000V dc amp ac rms to confirm that less than 50V is present between all power terminals and between power terminals and earth Check the drive recommendations The motor must be permanently connected to an appropriate safety earth To prevent any accidental contact with live components it is necessary to check that cables are not damaged stripped or not in contact with a rotating part of the machine The work place must be clean dry General recommendations Check the wiring circuit Lock the electrical cabinets Use standardized equipment Mechanical hazard oervomotors can accelerate in milliseconds Running the motor can lead to other sections of the machine moving dangerously Moving parts must be screened off to prevent operators coming into contact with them The working procedure must allow the operator to keep well clear of the danger area Burning Hazard Always bear in mind that some parts of the surface of the motor can reach temperatures exceeding 100 C 6 PVD 3664 GB NK July 2014
54. equals to 3900 rpm The maximal speed is equals to 3900 rpm The torque sensitivity is equals to 1 47 Nm Arms Selection of the drive The drive has to provide a permanent current equals to 4 Arms to obtain 5 8 Nm In order to obtain an acceleration torque of 8 8 Nm the current will be of about 6 Arms This means that the drive has to provide at less 6 Arms as transient current Compared to the previous example n 1 it is now possible to decrease the size of drive gt Therefore we can select the drive AC890SD 53 1600 B which delivers under 400 VAC 4 Arms as permanent current and 4 200 8 Arms as maximal transient current during 4 s The drive is set with Servo Mode 16 PVD 3664 GB NK July 2014 Docx 3 1 5 Current limitation at stall conditions i e speed lt 3 rpm Recommended reduced current at speed lt 3 rpm loq 0 7 1 tack J2 Warning The current must be limited to the prescribed values If the nominal torque has to be maintained at stop or low speed lt 3 rpm imperatively limit the current to 70 of lo permanent current at low speed in order to avoid an excessive overheating of the motor Please refer to the drive technical documentation for any further information and to choose functions to program the drive 3 1 6 Peak current limitations 4 _ _ x 8 gt 9 2 1 11 zE 5 1 jt 2 L 9 0 E 0
55. er without flow control To other s device s Servormotor No Serial Circuit Servomotors 63 PVD 3664 GB NK July 2014 Docx 3 6 Thermal Protection Different protections against thermal overloading of the motor are proposed as an option Thermoswitch PTC thermistors or KTY temperature built into the stator winding No thermal protection are available for the NK1 motor The thermal sensors due to their thermal inertia are unable to follow very fast winding temperature variations They acheive their thermal steady state after a few minutes Warning To protect correctly the motor against very fast overload please refer to 3 1 6 Peak current limitations 3 6 1 Alarm tripping with PTC thermistors One thermal probe PTC thermistors fitted in the NK servomotor winding trip the electronic system at 150 5 C for class F version When the rated tripping temperature is reached the PTC thermistor undergoes a step change in resistance This means that a limit can be easily and reliably detected by the drive The graph and tab below Resistance O shows PTC sensor resistance as a function of temperature TN 15 nominal temperature 9 OD 2125 Temperature N 2 gt Z 20 C up to 20 R1 lt 5000 R1 lt 7500 TNF 5 C 2 lt 11000 2 lt 16500 5 R3226600 R3239900 15 R4280000 R42120000 64 PVD 3664 GB NK July 2014 D
56. erperature C Torque deratingd 100 allie 48 105 At high speed the calculation is more complex and the derating is much more important Please refer to PARKER to know the precise data of Torque derating according to ambient temperature at high speed for a specific motor Illustration Only for example given for the NK620EAR Torque Derating vs ambient temperature Torque derating at low speed Torque derating at high speed N Torque derating 96 Ambient temperature 5 30 35 40 45 50 55 6 12 PVD 3664 GB NK July 2014 Docx 3 1 2 2 Water cooled motor Typical values are given with a water inlet temperature of 25 C and a temperature gradient Inlet Outlet of 10 C These references lead to a winding overheating of 95 C corresponding to a winding temperature of 120 C Recommendations regarding condensation issues are given at 3 5 lt is possible to increase little bit the Inlet temperature up to 40 C but the torque must be reduced The following formula gives an indicative of the torque derating at low speed But any case refer to PARKER technical department to know the exact values At low speed the torque derating is given by the following formula for an water Inlet temperature gt 25 C 120 C Inlet _ temperature C Torque _ deratinge 100 que _ 9190 95 C At high speed the calculation is more complex and the derating is mu
57. f the servo drive or the position loop check rotation with the loop open The motor is warmer on its top Air bubbles can be stocked in the water cooling circuit You need to purge the circuit or to double the water flow rate during 10 minutes to remove the air bubbles 97 PVD 3664 GB NK July 2014 Docx
58. fers at 30 86 PVD 3664 GB NK July 2014 Docx Screw the rear flange on the stator to close motor Step 5 Last step is the encoder or resolver mounting Caution After 15 days check all tightening torques on screws and nuts 87 PVD 3664 GB NK July 2014 Docx 2 solution for for heavy motor motor Tooling Smooth Bars to slide thread bars to break and push and flange A workbench no magnet part For an easier assembly use extra smooth and thread bars outside of the stator to guide and push rotor onto the stator Step 4 gt A Nuts to break the Caution do not magnetic attraction Turn to slide down put inside the motor during way down Magnetic attraction 88 PVD 3664 GB NK July 2014 Docx Step 5 Nuts to push the rotor into Make sure the the stator rotor is well Turn to slide down setting up in place Unscrew the mobile flange onto the rear flange Fit rear flange 89 PVD 3664 GB NK July 2014 Docx step 7 Last step is the encoder or resolver mounting Caution After 15 days check all tightening torques on screws and nuts 90 PVD 3664 GB NK July 2014 Docx 4 3 Resolver mounting Caution The resolver is a high precision carefully manufactured device and the following precautions should be taken to maintain its characteristics avoid shocks avoid impact between rotor and stator do
59. ion step by step O Ring seal Water jacket with water circuit Cooling jacquet Water jacket with water circuit Assemble O Ring seal on water jacket O Ring information s for standard water jacket in chapter O Ring specification 3 4 5 1 Prepare the cooling jacket for his integration Water inlet and outlet must be aligned with the cables inlet Make sure you have followed the cooling jacket interface instructions The 4 O rings must be greased with an ordinary lubricant before mounting to avoid damages and leakages 84 PVD 3664 GB NK July 2014 Docx 4 2 3 Motor integration Rotor assembly into stator There are different solutions depends of the weight of the rotor 1 solution for light motor otep 1 Rear flange Rotor on the shaft X Housing with stator A Clean workbench no magnet part Bearings Spring ring Front flange Screw the stator onto the front flange Put the stator onto workbench Put spring ring Prepare rotor fit onto rear flange step 2 Tooling Guide is an extra shaft 85 PVD 3664 GB NK July 2014 Docx For an easier assembly use an extra shaft to guide rotor on stator to avoid gluing due to magnetic parts Step 3 Danger do not put your hand inside the motor during way down Magnetic attraction A Chamfer at 30 to have a easy mounting Make sure you have done cham
60. ive depends on its rated power and its mode selection Vector mode is used for induction motors while Servo mode is used for brushless AC motors With NK motors the power is usually lt 37 kW the rated current corresponds to 100 Power of Drive AC890 kW lt 37 kW Overload capability 150 during 60 5 200 during 4 5 Illustration 25 200 during 4 s 15 5 E 10 5 Speed rpm 0 0 500 1000 1500 2000 2500 3000 3500 4000 16 PVD 3664 GB NK July 2014 Docx Example 21 The application needs arms torque of 7 Nm at the rms speed of 2000 rpm an acceleration torque of 12 Nm a maximal speed of 2800 rpm Selection of the motor The selected motor is the type NK620EAR The nominal speed is equals to 3900 rpm The maximal speed is equals to 3900 rpm The torque sensitivity is equals to 1 47 Nm Arms m Continuous duty UR2 Intermittent duty UR2 Continuous duty URI BRUSHLESS MOTORS Intermittent duty URT Continuous duty URI Intermittent duty URI NK620EAR ELECTRONIC DRIVE DIGIVEX 8 16 400V No UL certification Torque at low speed Nm Permanent current at low speed Ags Peak torque Nm Current for the peak torque Back emf constant at 1000 rpm 25 Vims Torque sensitivity Winding resistance 25 Winding inductance mH Rotor inertia kgm x1 0 Thermal tim
61. ly affected by powering up 555550505 stator retaining screw d 22222022 i ji Not supplied with motor 94 PVD 3664 GB NK July 2014 Docx 4 5 Encoder cable handling Danger before any intervention the drive must be stopped in accordance with the procedure Caution It is forbidden to disconnect the Encoder cable under voltage high risk of damage and sensor destruction Warning Always wear an antistatic wrist strap during encoder handling Warning Do not touch encoder contacts risk of damage due to electrostatic discharges ESD 95 PVD 3664 GB NK July 2014 Docx 4 6 Tests The motor components delivered by Parvex are tested dielectric test surge test winding resistance and inductance direction of rotation rotor flux But complete motor must be tested for safety reason and to comply with the regulations Danger The integrator must certify the motor by an approved organism to comply with all the regulations CE UL and perform all the mandatory routine tests exemples IEC60034 The typical process is the qualification of a complete unit and routine tests including safety tests on each unit produced Exemple of a summary of the recommended safety tests to be validated bu an approved organism Attention other could be needed in accordance with regulations The continuity of the grounding circuit On each complete unit the resistance betwe
62. missioning use and maintenance 4 1 1 Equipment delivery All servomotors are strictly controlled during manufacturing before shipping While receiving it it is necessary to verify motor condition and if it has not been damaged in transit Remove it carefully from its packaging Verify that the data written on the label are the same as the ones on the acknowledgement of order and that all documents or needed accessories for user are present in the packaging Warning In case of damaged material during the transport the recipient must immediately make reservations to the carrier through a registered mail within 24 h 4 1 2 Handling Kit motors are delivered in two part rotor and stator divided DANGER Do not handle the stator with the help of electrical cables or use any other inappropriate method Use non magnetic material to handle rotor 4 1 3 Storage Before being mounted the motor has to be stored in a dry place without rapid or important temperature variations in order to avoid condensation During storage the ambient temperature must be kept between 20 and 60 C the torque motor has to be stored for a long time verify that the rotor and stator coated with corrosion proof product 76 PVD 3664 GB NK July 2014 Docx 4 2 Machine Integration 4 2 1 General warnings Caution The integrator bears the entire responsibility for the preparation of the machine design Danger The i
63. not hold the stator by its cables Do not mismatch the rotor stator and resolver Connect the resolver according to the drive user manual The resolver is not watertight Protect it against oil spray Attention Do not mix resolver wires with motor wires to avoid EMI electromagnetic interference EMI risk to set default the drive So to separate resolver and motor wires 4 3 1 Mounting step by step Check the mounting position between rotor and stator and ajust with rings Ajust with rings 91 PVD 3664 GB NK July 2014 Docx Put the resolver rotor Fit the resolver stator 4 3 2 Setting of the resolver At the time of the procedure of setting it is imperative to observe the 3 following conditions The motor rotor must be free in rotation The torque of maximum friction on the rotor should not exceed 1 of torque permanent motor The coolant cooling system must be under operation The operator must have access to the resolver stator and be able to turn it manually and then lock it in place with lock screw To refer to the drive manuals for the details of the setting procedure 92 PVD 3664 GB NK July 2014 Docx 4 4 Electrical connections Danger Check that the power to the electrical cabinet is off prior to making any connections Caution The wiring must comply with the drive commissioning manual and with recommended cables Caution Section motor cable is lower th
64. ntegrator must certify the motor by an approved organism to comply with all the regulations CE UL and perform all the mandatory routine tests exemples IEC60034 Attention Rotor has strong permanent magnets It creates strong attraction force that can crush fingers or hands Firmly hold the rotor and move away all magnetic parts Caution Clean the working area of all ferromagnetic part such as tools screws steel particles Use wood table to work or make machine assembly Caution Anyone wearing pacemaker hearing aid watches magnetic data storage device must keep at 1 meter from kit motor Caution Before mounting the motor the surface must be cleaned 77 PVD 3664 GB NK July 2014 Docx The axial attraction force Fa during the rotor insertion in the stator is Rotor attraction Radial attraction Fr is proportional with axial offset x Fr N x mm Stator 78 PVD 3664 GB NK July 2014 Docx 4 2 2 Tightening torque The table below gives the average tightening torques required regarding the fixing screw diameter These values are valid for both motor s feet and flange bolting M2 x 0 35 M9 x 1 25 M8 x 1 25 M22 x 2 5 437 N m M24 x 3 564 N m Warning After 15 days check all tightening torques on all screw and nuts 79 PVD 3664 GB NK July 2014 Docx Rotor integration step by step Push down the rotor on the shaft with a press Maximum press force i
65. ocx 3 6 2 Temperature measurement with KTY sensors Motor temperature can also be continuously monitored by the drive using a KTY 84 130 thermal sensor built in to the stator winding KTY sensors are semiconductor sensors that change their resistance according to an approximately linear characteristic The required temperature limits for alarm and tripping can be set in the drive The graph below shows KTY sensor resistance vs temperature for a measuring current of 2 mA 1 Warning sensor is sensitive to electrostatic discharge So always wear an antistatic wrist strap during KT Y handling Warning KTY sensor is polarized Do not invert the wires Warning KTY sensor is sensitive Do not check it with an Ohmmeter or any measuring or testing device 65 PVD 3664 GB NK July 2014 Docx 3 Power Electrical Connections 3 7 1 Wires sizes In every country you must respect all the local electrical installation regulations and standards Cable selection depends on the cable construction so refer to the cable technical documentation to choose wire sizes some drives have cable limitations or recommendations please refer to the drive technical documentation for any further information Cable selection At standstill the current must be limited at 80 of the low speed current and cable has to support peak current for a long period So if the motor works at standstill the cu
66. on and how it is set in the drive e Check the servomotor insulation in doubt measure when the motor is hot and cold The minimum insulation resistance measured under 50VDC max is 50 MO Between phase wire and housing Between thermal protector and housing Between resolver winding and housing You find that the motor speed is drifting e Adjust the offset of the servo drive You notice that the motor is racing e Check the speed set point of the servo drive e Check you are well and truly in speed regulation and not in torque regulation e Check the encoder setting You notice vibrations e Check the encoder and tachometer connections the earth connections carefully and the earthing of the earth wire the setting of the servo drive speed loop tachometer screening and filtering e Check the stability of the secondary voltages e Check the rigidity of the frame and motor support You think the motor is becoming unusually hot e t may be overloaded or the rotation speed is too low check the current and the operating cycle of the torque motor e Friction in the machine may be too high Test the motor current with and without a load Check the motor does not have thermal insulation e Check the cooling circuit You find that the motor is too noisy oeveral possible explanations e Unsatisfactory mechanical balancing Defective coupling Loosening of several pieces Poor adjustment o
67. on may also be caused by driving elements with a natural oscillation frequency very close to the excitation due to the small residual unbalance of the rotating masses of the motor In such cases checks should be carried out not only on the machine but also on each element of the installation See ISO 10816 3 3 4 2 Servomotor typical construction Connector Deep groove ball bearing Motor frame 1 blocked Deep groove ball i Sensor bearing free in translation Spring ring STATOR Cast iron ring 49 PVD 3664 GB NK July 2014 Docx 3 4 3 Bearings recommendation The arrangement bearings choice is a key point fot the motor design It depend on speed load and life time needed We recommend to contact bearing supplier technical department to check the arrangement Warning When motor runs the temperature increases up to 120 C on the rotor So use springs or spring rings on one bearing to accept shaft dilatation and to create a preload Spring ring Warning When motor runs temperature increases up to 120 C on the rotor so we recommend to use bearings with clearance 50 PVD 3664 GB NK July 2014 Docx 3 4 4 Mechanical interfaces The mechanical interfaces requirements for the user structure must comply with the following drawings and values 3 4 4 1 Rotor interfaces To fit the rotor on the shaft apply a force Fmaxi from the following tab with a press near
68. position The resolver is a high precision device and must be wired and mounted with care 3 8 1 2 Example of resolver mounting NI Screw and ring 5 NS to fit stator lt lt 69 PVD 3664 GB NK July 2014 Docx 3 8 1 3 Resolver characteristics Parker part number 220005 1000 220005P1001 220005 1002 220005P1003 Electrical Values 8 kHz specification 2 poles Polarity Input voltage 7 Vrms 70mA 56 Input current 86 maximum maximum maximum Zero voltage Encoder accuracy Ratio Output impedance primary in short 20mV maximum 10 0 5 5 Typical 120 200j Q Ds aa circuit whatever the position of the rotor Dielectric rigidity 50 60 Hz 500 V 1 min Insulation resistance gt gt 100MQ Rotor inertia 123 g cm 55 155 temperature range 180 R1 Red Wight ROTOR 1 Black 3 Cos Theta x 22 Yellow Wight 53 Red Sin Theta R1 R2 excitation S2 Yellow Sb i S1 Cos S2 Sin R1 exitation 53 Cos S4 Sin R2 exifation Rotor is clock wise rotation viewed from mounting flange end F view Resolvers are single pole pair resolvers they give absolute position on 1 motor rotation 70 PVD 3664 GB NK July 2014 Docx For easy motor integration and electrical checking a connector is recommended for the sign
69. rrent to select wire size Is V2 x 0 8 lo 1 13 x Io Sizes H07 RN F cable for 3 cores a cable tray at 30 C max 66 PVD 3664 NK July 2014 Docx Example of sizes for 7 RN F cable Conditions of use Case of 3 conductors type HO7 RN F 60 C maximum Ambient temperature 30 C Cable runs on dedicated cables ways Current limited to 8096 lo at low speed or at motor stall Example lo 100 Arms Permanent current at standstill 80 Arms Max permanent current in the cable 113 Arms Cable section selection 35mm for a 3 cores in a cable tray at 30 max You also have to respect the Drive commissioning manual and the cables current densities or voltage specifications 3 7 2 Conversion Awg kcmil mm 177 0000 4 0 107 000 3 0 85 00 2 0 7 4 3 5 0 1 0 O NO 2 0000 4 0 000 3 0 ___00 2 0 0 _ 6 4 8 9 0 26 26 67 PVD 3664 GB NK July 2014 Docx 3 7 3 Motor cable length For motors windings which present low inductance values or low resistance values the own cable inductance respectively own resistance in case of large cable length can greatly reduce the maximum speed of the motor Please contact PARKER for further information Caution It might be necessary to fit a filter at the servo drive output the length of the cable exceeds 25 m Consult us Ground connection DANGER
70. s described in 63 4 4 1 Make sure you have followed the shaft Interface instruction see S3 4 4 1 Rotor recommendations chamfer at 30 to have an easy mounting Follow Interface 80 PVD 3664 GB NK July 2014 Docx Rotor balancing is an option and depend on speed application For high speed application rotor must be balanced with bearings and shaft Balancing recommended level G2 5 Area to add or remove material to balance rotor Rotors are not balanced before delivery The electro spindle manufacturer must balance the complete spindle rotor shaft bearings and rotor using an appropriate method for example by removing or add material from shaft Caution In case of drilling be careful about shaving of metal with magnetic part We recommend to add material screws Caution Balancing must never be made by removing material from the rotor sides the rotor lamination or any other part of the rotor 81 PVD 3664 GB NK July 2014 Docx 4 2 1 Natural cooled stator integration step by step Increase the housing temperature to 250 C to 300 C Push down the stator in the water jacket Chamfer at 30 to have an Make sure you have followed the easy mounting housing interface instruction 3 4 2 2 82 PVD 3664 GB NK July 2014 Docx After fitting let stator housing go back to ambient temperature 83 PVD 3664 GB NK July 2014 Docx Water cooled stator integrat
71. ses you must reduce the maximum speed accordingly in order not damage the motor In case of doubt consult us Rated power The former rated power 2520 W obtained with Un 2400 Vms leads to the new rated power P given as follows P P Una 2520 360 _ 2268W U 400 Rated torque The former rated torque M 6 17 Nm obtained with U 400 Vims leads to the new rated torque Mj given as follows 2268 S NN 6 23 2 2 3476 60 60 37 PVD 3664 GB NK July 2014 Docx 3 2 6 Voltage withstand characteristics of NK series The motors fed by converters are subject to higher stresses than in case of sinusoidal power supply The combination of fast switching inverters with cables will cause overvoltage due to the transmission line effects The peak voltage is determined by the voltage supply the length of the cables and the voltage rise time As an example with a rise time of 200 ns and a 30 m 100 ft cable the voltage at the motor terminals is twice the inverter voltage The insulation system of the servomotors NK is designed to withstand high repetitive pulse voltages and largely exceeds the recommendations of the IEC TS 60034 25 ed 2 0 2007 03 12 for motors without filters up to 500V AC See figure 1 MOTOR PULSE WITHSTAND CHARACTERISTIC CURVES Pe Curve NK motors Curve IEC 60034 25 lt 690V AC Curve IEC 60034 25 lt 500V AC Curve IEC
72. sor resolver 2 poles transformation ratio 0 5 without sensor Hiperface encoder singleturn SKS36 128pulses Hiperface encoder mutiturn SKM36 128pulses Hiperface encoder singleturn 58550 1024pulses Hiperface encoder SRM50 1024pulses Endat encoder singleturn ECN1113 W Endat encoder multiturn ECN1125 X Commuted lines 10 poles 2048pulses Y sensorless series for 650S drive Z Special encoder Torque Speed Characteristics See motor data Unused character Electric connection 1 flying wires Mechanical Interface 000 Standard motor Other custom code lt gt R 11 PVD 3664 NK July 2014 Docx 3 TECHNICAL DATA 3 1 Motor selection 3 1 1 Altitude derating From 0 to 1000 m no derating 1000 to 4000 m torque derating of 5 for each step of 1000 m for water cooled 1000 to 4000 m torque derating of 10 for each step of 1000 m for air cooled 3 1 2 Temperature derating 3 1 2 1 Natural cooled motor The maximal temperature for natural cooling is 40 C But it is possible to increase a little bit the ambient temperature above 40 C with a torque reduction The following formula gives an indicative about the torque derating at low speed But in any case refer to PARKER technical department to know the exact values low speed the torque derating is given by the following formula for an ambient temperature gt 40 C 145 C Anbient_ t
73. terial damage that may arise if the procedures and safety instructions described in this manual are not scrupulously followed 1 2 Safety 1 2 1 Principle To operate safely this equipment must be transported stored handled installed and serviced correctly Following the safety instructions described in each section of this document is mandatory Servomotors usage must also comply with all applicable standards national directives and factory instructions in force DANGER Non compliance with safety instructions legal and technical regulations in force may lead to physical injuries or death as well as damages to the property and the environment 5 PVD 3664 GB NK July 2014 Docx General Safety Rules Generality DANGER The installation commission and operation must be performed by qualified personnel in conjunction with this documentation The qualified personnel must know the safety C18510 authorization standard VDE 0105 or IEC 0364 and local regulations They must be authorized to install commission and operate in accordance with established practices and standards Electrical hazard Servo drives may contain non insulated live AC or DC components Respect the drives commissioning manual Users are advised to guard against access to live parts before installing the equipment some parts of the motor or installation elements can be subjected to dangerous voltages when the motor is driven by the inverter wh
74. the center with a no magnetic part To decrease the force applied it is possible to heat the rotor up to 130 C maxi No magnetic tool 0 02 NK820 4016 0 NK840 4016 40 NK860 4016 dp Warning Te rotor must not touch the step D2 to avoid shaft flexion 51 PVD 3664 GB NK July 2014 Docx 3 4 4 2 Natural cooled stator interfaces The stator can be shrink fitted inside an aluminium housing with a yield strength gt 160 Mpa or a steel housing with a yield strength gt 350Mpa or stainless steel housing with a yield strength 290Mpa The housing has to be heated at 250 C to 300 C and the stator inserted in the housing The tab below show the main housing dimensions D1 for D1 for 1 for 2 D3 2 aluminum steel stainless steel mini Stator mini Re gt 160Mpa Re gt 350Mpa Re gt 290 OD2 OD1 Warning D3 and L give the place for the end winding Respect the Spacing indicated in the outline drawing or add an insulation sheet between the end winding and the housing 52 PVD 3664 GB NK July 2014 Docx Water cooled stator interfaces 3 4 4 1 D1 LU 05 s SW S ru 2 oe oo 2014 53 PVD 3664 GB NK Jul 3 4 5 3 4 5 1 O ring recommendations The cooling circuit is sealed by four O rings seal between stator and user s housing Water cooled version recommendations Caution The

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