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1. 0 500 1000 1500 2000 2500 3000 3500 Speed rpm 3 2 1 7 Series EX840E EX840EAK Constant efficiency curves of the motor EX840E Efficiency 95 Torque Nm 0 500 1000 1500 2000 2500 3000 Speed rpm 28 PVD3665 GB EX July 2013 docx 3 2 1 8 Series EX860E EX860EAJ Constant efficiency curves of the motor EX860E a Torque Nm 40 1500 2000 2500 Speed rpm 29 PVD3665 GB EX July 2013 docx Torque Nm 3 2 1 9 Series EX310U EX310UAU 3 5 Constant efficiency curves of the motor EX310U T Efficiency F a g A IE ERR Le 5577 Z i 2 e Hires S 7 i lig gil E y GER k ECH i 4 S 5 Ki HEEE S 2000 3000 4000 Speed rpm 5000 6000 7000 30 PVD3665 GB EX July 2013 docx Torque Nm Torque Nm 3 2 1 10 Series EX420U EX420UAI Constant efficiency curves of the motor EX42
2. 0 500 1000 1500 2000 2500 3000 3500 4000 Speed rpm 32 PVD3665_GB_EX_July 2013 docx 3 2 1 14 Series EX820U EX820UAQ Constant efficieney curves of the motor EX820U I Efficiency 26 _ o 8 Torque Nm 0 500 1000 1500 2000 2500 3000 3500 4000 Speed rpm 3 2 1 15 Series EX840U EX840UAL Constant efficieney curves of the motor EX840U Efficiency CI o6 z Gg Le a Torque Nm 0 500 1000 1500 2000 2500 3000 Speed rpm 33 PVD3665 GB EX July 2013 docx Torque Nm 3 2 1 16 Series EX860U EX860UAJ Constant efficiency curves of the motor Efficiency 96 74 Ki ES 500 1000 1500 Speed rpm 34 PVD3665_GB_EX_July 2013 docx 2000 3 2 2 Electromagnetic losses Caution Following data result from our best estimations but are indicative They can vary from one motor to another a
3. IJVHS aynpow buidwe 9 s 90 ampow Buidue oo gg mem 013 8l1px3 Duef aige2 Judo 0133 g115x3 ae Josuas z GW MaJ3s punoJc y 2013 docx 46 PVD3665 GB EX Ju Lu o Ke co gt Lu Lu o t 00 gt Lu Lu o N co gt Lu OY S3AIJD ISS MMM 3 NV83 X3P32 NOfIO LOOLZ 6 Zd8 181 np anuary g 6 6 LIJHS NO INVIBVA SN LL JINNO J m JapoJua 1802 Mo 920 N03 uJnjrjjnu jepuj ELLE N23 UJnja 6uis jepu3 OSWYS uJnjij nur a3ejJadiH OSSuS uJnja Duis alejJadiy OEWAS un UD a3ejJaCiH ESYS uuJnj l uis Jejuj diH Q 01184 JIAJOSIY S O 01184 JOA OSBY y180p983 fay UU M L Heys uield ul M G 1896 jnouj M Z DER aur DIREx paads uo spuadap ujBua uo spuadap SOUBJ nt l k 40 8X3 04 sansoj1ua XQ U0112310Jd Jedi jsnp lqiisnquoj jo aduasaJd ay u asn Joy Snjeuedde 1831443913 1 17219 NI XL900X31VS0 SIY3NI sjuauaJinbaJ 18 L d UOHeI Ida 49np lQiisnquo jo ayy U sn JOJ smjeJedde 1831443813 0 17219 N3 spuepueis p SaUnsojue joodaue j jJed seJnsopua jooJdauelj L jeg saJaudsouje seb e4 sol dxa JOJ SoJaydsowje sef 5010 Joj snyevedde 1821412913 L 6L009 NI snjeJedde 1931412912 L 64009 N3 Sjuawau
4. y 2013 docx 58 PVD3665 GB EX Jul EX420E EX430E 3 8 4 2 WOT S D SE MMM 3 Nv23 xena3 NON L A LOOLZ 6rZaB 181 np anvany g UO JESIJOYINE Val An pue yu 894Z pajjuJad jou S 1093 Jo U01130pOJd J OSI NIG SE 18M SE UOISSIUSUEJ Y3ABVd Ajsadoud ayi S Wen Siu OS 60 ZI 0 vottz wv v ONI 0 3NI 1100 as 1 70 2Z 80172 Uv a 007X4 2 esst g 61977 TITITTI ev LETS una Z Z 93S up E PO Zi EH 48425 UOl d plays 9 48 U01110 ayeJg X8 XL600X31V 0 SI83NI UOIJe31J14J3 UO 4do ayeug JiwJay 4013840Jd JiwJIY M aseug M A n A f aseud 3Seud 3 BEN SOZ AN W33 SI Jowaw Japodua u MeA S AJowaw Japodua u an eA 1214 2318 06 S 44S ayi aseyd ul S A jeubis A Due M ang jeumou A PUB M anea Jeuiwou A pue M anjea jeuiuou GuiyayimsS apis pue jjeus 1 au je jusJJn3 juaJJnj ayy je juaJJn3 juaJJn3 ayy je 3S 920 2 U A1JD auiDu3 1J JID AQ pavamod Jojow 129 10 q PaJamod Jojo jeUp Aq Jojon X J8j18 3JeqD383 MI 7 99197 MJEQD 33 Sz 7 191137 938qpas 5 7 1911917 x3eqpaej Oues 1900709 150J mo Aus 4974 976790 OUS WyS7SuS s36 JeUlH 193705 A 7 1180997 UOTPISUUOT 553 J05035 SONTIIIS
5. eee eee eee 66 3 9 Feedback SSI ci ee prn ene deed enne ka d svar ee ENEE ene de ge e y ni 66 3 9 1 Resolver 2 poles transformation ratio 0 5 code A eee eee 66 3 9 2 Hiperface encoder singleturn SKS36 128pulses code H 67 4 PVD3665 GB EX July 2013 docx 3 9 3 Hiperface encoder multiturn SKM36 128pulses code S 67 3 9 4 Hiperface encoder singleturn SRS50 1024pulses code T 68 3 9 5 Hiperface encoder multiturn SRM50 1024pulses code U 68 3 9 6 Endat encoder singleturn ECN1113 code 69 3 9 7 Endat encoder multiturn ECN1125 code W a 69 3 9 8 Cale ek eten Ded rr 71 3 9 9 Cable connection asset ttes Llc 82 10 Brake option aseo Rb Uo b DO REO RES 82 COMMISSIONING USE AND MAINTENANCE u u u u u 83 4 1 Instructions for commissioning use and eee eee eee eee 83 4 1 1 Ed lpment delivery EE 83 4 1 2 ainal a e EE 83 4 1 3 EILO KENE ou TTT TT 84 4 2 acre EE 84 4 2 1 La Wale EE 84 4 2 2 NEI BE 85 4 2 3 Mecharical installatiOn J it inte 86 4 3 Electrical connections ai Dee d pea e D de tne Ba RR Re RON 87 4 3 1 CAM lee el EE 88 4 3 2 Encoder cabl
6. 111 E EN SEG fi yo DUET e 7 1 j xi EN ap n f 0 500 1000 1500 2000 2500 Speed rpm 3 2 1 3 Series EX430E EX430EAL Constant efficiency curves of the motor EX430E 3000 3500 4000 T Efficiency 36 i a 4 KELL L 144 Af Le f s 4 do 58 68 gt gi Ki D 500 1000 1500 2000 2500 Speed rpm 3000 26 PVD3665 GB EX July 2013 docx 3500 4000 Torque Nm Torque Nm 3 2 1 4 Series EX620E EX620EAO Constant efficiency curves of the motor EX620E 0 500 1000 1500 2000 2500 3000 3500 4000 Speed rpm 3 2 1 5 Series EX630E EX630EAN Constant efficieney curves of the motor EX630E 0 500 1000 1500 2000 2500 3000 3500 4000 Speed rpm 27 PVD3665 GB EX July 2013 docx 3 2 1 6 Series EX820E EX820EAR iency curves of the motor EX820E 35 I fficiency 55 El 4 E d I u P di Laf Torque Nm
7. Servomotors EX Series Technical Manual PVD 3665 EX 1 PVD3665 GB EX vuly 2013 docx Compliance with CE directives The explosive atmosphere EX 0E motors Series comply with the Directives 94 9 CE and 2006 95 CE and also meets the Standards EN 60034 1 and IEC 34 1 1994 If the motors are used in a gazeous atmosphere they meet EN 60079 0 2006 and EN 60079 1 2004 For a combustible dust atmosphere using they meet EN 61241 0 2006 and EN 61241 1 2004 corrigendum 2006 Compliance vvith these standards requires explosive atmosphere EX motors to be mounted in accordance vvith the recommendations given in this commissioning and use manual Equipment shall furthermore be mounted on a mechanical support that conducts heat effectively and does not exceed 40 C PARKER HANNIFIN MANUFACTURING FRANCE SAS 8 avenue du Lac BP30749 F 21007 DIJON CEDEX Tel 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www parker com 2 PVD3665 GB EX July 2013 docx Compliance vvith UL standards The explosive atmosphere EX OU motors Series comply with the UL standards UL1004 1 and UL674 Compliance vvith these standards requires explosive atmosphere EX motors to be mounted in accordance vvith the recommendations given in this commissioning and use manual Equipment shall furthermore be mounted on a mechanical support that conducts heat effectively and does not exceed 40 C PARKER HANNIFIN MANUFACTURING FRANCE SA
8. tD Protection by enclosure A21 Protection vvith seal Combustible dust T135 C atmosphere 135 C for the Max Not available temperature on the motor surface IP65 Protection index 1 2 4 In case of fail of a screw used to assemble the parts of the flameproof enclosure the new Special conditions for the ATEX servomotors The EC certifications are marked with a X It seems the using of the motor must be in accordance with special conditions explained below part must have a quality class superior or equal to 8 8 In case of an using in dusty explosive atmospheres the user must perform regular cleaning operations on the motor to avoid dust deposits 9 PVD3665 GB EX vuly 2013 docx 2 PRODUCT DESCRIPTION 2 1 Overvievv The EX servomotors from Parker are specifically designed to operate in explosive atmospheres for industrial applications The EX motors are brushless synchronous servomotors with permanent magnets based on NX active paris A large set of torque speed characteristics options and customization possibilities are available making EX servomotors the ideal solution for most servosystems applications in explosive atmospheres Advantages High precision High motion quality High dynamic performances Compact dimensions and robustness Large set of options and customization possibilities CE and UL marking certification available 2 2 Applications
9. 3 4 6 or 8 in relation vvith the motor diameter Motor length up to 60 depend on size Motor version E ATEX motor U UL motor Feedback Sensor A resolver 2 poles transformation ratio 2 0 5 R Hiperface encoder singleturn SKS36 128pulses S Hiperface encoder mutiturn SKM36 128pulses T Hiperface encoder singleturn SRS50 1024pulses U Hiperface encoder mutiturn SRM50 1024pulses V Endat encoder singleturn ECN1113 VV Endat encoder multiturn ECN1125 Y sensorless series for 6505 drive Z Special encoder Torque Speed Characteristics See motor data Painting R no painting Electric connection 1 Cable gland Break and thermal sensor option 2 Without brake 5 With brake Mechanical Interface 00 IP64 plain shaft 10 IP65 with plain shaft 01 IP64 key on shaft 11 IP65 with key on shaft Other custom code 13 PVD3665 GB EX July 2013 docx 3 TECHNICAL DATA 3 1 Motor selection 3 1 1 Altitude derating From 0 to 1000 m no derating gt 1000 m the EX motors are not designed to operate in hazardous area for this altitude 3 1 2 Pressure The EX motors are designed to operate in area with a pressure between 80 kPa 0 8 bar and 110 kPa 1 1 bar 3 1 3 Temperature derating The maximal ambient temperature for these motor is 40 C In case of a maximal ambient temperature above 40 C is needed a special certification is mandatory plea
10. 64 oo 230 1500 2480 11 28 3900 EX840EAM DRIVE 12 23 400 245 112 488 226 135 220 os 620 400 2500 11 50 546 3010 285 207 990 23 PVD3665 GB EX July 2013 docx 3 2 1 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 betvveen current and EMF A A A Caution The efficiency curves do not include the losses due to the switching frequency 24 PVD3665_GB_EX_July 2013 docx 3 2 1 1 Series EX310E EX310EAP Constant efficiency curves of the motor EX310E 111 V e i i i f 2 d e 4 EIF lis OD d A 46 74 S A d 4 9 d e g E Z L A 2 3 5 A gt I A e 8 A A a ka e lt 2 4 we L Li fg ll fs 7 f 5 I A L e f 2 BC 7 Je p a A e s e ah e 2 m e 7 0 500 1000 1500 2000 2500 3000 3500 4000 Speed rpm 25 PVD3665 GB EX July 2013 docx Torque Nm Torque Nm 3 2 1 2 Series EX420E EX420EAP Constant efficiency curves of the motor EX420E T Z A A A 8 S F fay A D LI a e sa
11. 930 29 290 2300 260 186 690 14 68 426 230 4000 328 407 1370 EX420EAL omwesar a00 48 33 116 825 ooo 145 42 210 426 400 4000 328 232 1370 44 48 126 564 oso 16 s1 426 290 3200 348 394 1170 44 48 n 126 564 oso 16 s1 426 290 3200 348 394 1170 EX430UAG DRIVE 5 13 230 EX430UAG DRIVE 5 13 230 22 PVD3665 GB EX July 2013 docx Back emf mie z EE TE sa sz es JE p p teme ten eti letus u din im Ke Tina mg LO ala pg tero nn 120 620 DRIVE6A2 230 7 551 147 i113 817 127 16 140 98 230 2500 549 447 1440 EXS30EAI DRIVE 10 22 230 104 928 241 212 682 112 oe 61 147 230 3000 724 675 2270 Exsz0UAM DRIVE as zap 64 602 16 147 688 106 11 99 98 230 2750 476 467 1370 230 EX820EAR DRIVE 10 23 230 14 928 226 93 151 10 86 320 230 2200 1146 748 2570 320 Exs20UAQ DRIVE 10 23 230 129 299 227 872 142 09 75 320 230 2300 toto 721 2430 35 35 1 exeaouaL DRIVE 13 33 230 226 12 565 321 118 1 89 os 67 620 230 1650 16 80 9 00 2900 Ex860EAD DRIVE2871 280 35 279 849 707 787 126 02 20 920 230 2500 900 7 62 2360 EXBGOEAJ DRIVE1640 230 35 157 888 392 140 223 05
12. Painting applications Packaging machinery Robot applications Special machines Cleaning applications Printing applications 10 PVD3665 GB EX July 2013 docx 2 3 General Technical Data for ATEX motors EX3 EX4 EX6 EX8 Motor type Permanent magnet synchronous motor Magnets material Neodymium ron Boron Number of poles 10 Type of IMB5 IMV1 IMV3 EN60034 7 construction Degree of e Gazeous atmosphere IP64 IP65 protection e Combustible dust atmosphere IP65 Cooling Natural cooling Rated voltage 230VAC 400 VAC Insulation of the stator winding Class F according to IEC 60034 1 1 Class F according to IEC 60034 1 with potting Altitude Up to 1000m IEC 60034 1 No allowed for higher altitude Ambiant 20 C to 40 C temperature Storage 20 C to 40 C temperature Connection Electronic plate with cable glands Marking CE Paint Without Sensor e Resolver in standard e Sick encoder Hiperface SKS36 and SKM36 SRS50 and SRM50 Not available for EX3 e Heidenhain encoder Endat ECN1113 and EQN1125 Not available for EX3 and EX4 e Sensorless Brake Parking brake in option Thermal protection Temperature sensors thermofuse Remark Numerous customization are possible on request special shaft special flange 11 PVD3665 GB EX July 2013 docx 2 4 General Technical Data for UL motors EX3
13. Rotor inertia J kgm x10 98 Therm al time constant Tth min 27 Motor mass kg 11 3 Voltage of the mains Vims 230 400 Rated speed rpm 2500 4300 Rated torque Nm 549 3 13 Rated current Ams 447 2 75 w 0 1000 2000 3000 4000 5000 Speed in rpm The permanent current la of the motor is 5 51 Arms for Mo 7 Nm at low speed The nominal current 1 of the motor is 2 46 Arms for M 3 13 Nm at the nominal speed Selection of the drive The drive has to provide at least a permanent current equals to Ig 5 51 Arms n order to obtain an acceleration torque of 10 Nm the current vvill be about 8 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 vvith 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 18 PVD3665 GB EX July 2013 docx Example n 2 This times the application needs a permanent torque of 5 Nm at low speed arms torque of 5 Nm at the rms speed of 1890 rpm an acceleration torque of 7 6 Nm a maximal speed of 2800 rpm Selection of the motor The selected motor is the type EX620EAO The nominal speed is equals to 4300 rpm
14. Typical 120 200 O Dielectric rigidity 50 60 Hz 500 V 1 min Insulation resistance gt 100MO Rotor inertia 30 g cm Operating temperature 55 to 155 C range 66 PVD3665 GB EX July 2013 docx 3 9 2 Hiperface encoder singleturn SKS36 128pulses code R EX3 EX4 EX6 8 EX8 Model SKS36 Sick Type Absolute single turn encoder Parker part number 220174P0003 Line count 128 sine cosine periods per revolution Electrical interface Hiperface Position values per 4096 revolution Error limits for the digital absolute value 320 via RS485 Integral non linearity t 80 Error limits for evaluating sine cosine period Differential non linearity 40 Non linearity within a sine cosine period Perating speed 12 000 rpm 7VDC to 12VDC Current consumption 60mA vvithout load Output frequency OkHz 65kHz Operating temperature range 20 C to 110 C 3 9 3 Hiperface encoder multiturn SKM36 128pulses code S EX3 EX4 EX6 8 EX8 Model SKM36 Sick Type Absolute multi turn encoder Parker part number 220174P0004 Line count 128 sine cosine periods per revolution Electrical interface Hiperface Position values per 4 096 revolution Revolutions 4 096 Error limits for the digital absolute value 320 via RS485 Integral non linearity t 80 Error limits
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16. 3100011 punoJa EW 49425 uolydo pje us M 428 401100 503 NIS ejeg ejeg S0312J NIS4 4 pu sn UOIJd0 axeJg YY ct 31V3S g EN 49425 uorjdo m l s punoJD 8 8 22A J poau3 9 Jan0Say Japoau3 Japo3u3 Japoau3 Jepo2u3 Japo3u3 ayeJg 4 po2u3 ayeJg U01110 ayeJg 39 2iUJ8U H uuJau HL u01140 axeJg YY 31uJau HI uo do yesg aq 0 JIWJ Y J0438J0Jd M aseud M n 31uJau JIwJAUj A aseud A n aseud n A fi seud aseud Ma seyd A 5 aseya N M asi X yep UOT J8UUOJ 1507 MO Jaye MJEUDS 3 UOTTT UU0T JIN OSIA HZ 1 S 4 7 491137 Veqp s4 JEJJ UTH y 2013 docx 59 PVD3665 GB EX vul EX620E EX630E 3 8 4 3 d 0SS77E 041 34111 0 zi sen mt DIT TEE MIME KV 009x3 rfofsfafa ewo ZAJ AN W33 HUN 017 S Augen Japodua WI BMBA A GE9L S AJowaw Japo3ua 1 mPA A G Z S joueu Japodua ul a A
17. CA 1521412818 De S UIUS sul A aseyd ul SI A jeubis Dulu A ons pue m ang Jeuiuou juavunil ay pue M anje jeuruou aul pue M jeuiuou juesJJn3 ayi pue M ameA jeuiuou jU JJn aul Pus jjeus asi 30 2 ua Jp euiBu3 18 juaJun3 129 10 Aq pajamod A010M Je jusJJn3 J JID Q Pajamod JojoW je jusJJn3 129 10 AQ paJamod 40404 je jusJJn3 139 10 AQ J0 ONW X PY i MZA 7 491197 x3eqpeaj 7a 7 491197 33eqpae N jepuj UTTT35 WWS SXS 7W 9425 uorjdo pjeius g Me L 0 punoJg amp NM 9 N 9 101 2314 48428 001100 Dies g 2066 01100 ayeug Mg I 001100 ayeug yg L are 0 JiwJAU HL 8 D Wiz 40438j04d 3iuJau HL M aseyd M A Seud A aseud f 126 vil ayesg 48 U0 ydo ayeug ag 0 211 1 0 211 H1 M 9SP d M seud A X MJEGQD 33jJ n aseyd N UOTJJJUUOJ 1507 MO X 7 G l T yieqpss4 UOTIJSUUOJ 559710503 punoug 4301 Jepo203 o 3301 4 po2u 6 NVIVO J poluz g WW 49425 01100 pl lus S0 Japoduy IS J pou punoJg W 8428 uo ido Dies g Q sajosay Z punoJg amp g 8 L 9 S VLVO Japodu3 ejeg 49p02u3 S Janjosay La sit g JapouJ o m
18. Cable arrangement 1 up Red 10 2 OV Black Black Red pair 2 3 A Green 3 4 A Black Black Green pair 11 5 B Blue 1 6 B Black Black Blue pair 9 7 Data White 4 8 Datal Black Black White pair 12 9 Clock Yellow 5 10 Clock Black Black Yellovv pair 13 72 PVD3665 GB EX vuly 2013 docx 3 9 8 3 Resolver cable connection for COMPAX3 Cable reference CC3UA101 ROxxx Feedback cable 6537P0059 Male 15 pins SUB D connector reference 220029P0040 SUB D cover reference 220029P0039 Cable arrangement 1 S1 Cos Black Black White pair 12 2 S2 Sin Black Black Blue pair 8 3 S3 Cos White 11 4 S4 Sin Blue 7 5 R1 Ref Red 4 6 R2 Ref Black Black Red pair 15 73 PVD3665 GB EX July 2013 docx 3 9 8 4 Hiperface encoder cable connection for Cable reference CC3UR1D1ROxxx Feedback cable 6537P0059 Male 15 pins SUB D connector reference 220029P0040 SUB D cover reference 220029P0039 Cable arrangement 1 Us Red 4 2 Gnd Black Black Red pair 15 3 refSin Black Black White pair 7 4 refCos Black Black Blue pair 1 5 Data Yellow 13 6 Data Black Black Yellow pair 14 7 Sin White 8 8 Cos Blue 12 74 PVD3665 GB EX July 2013 docx 3 9 8 5 Resolver cable connection for SLVD Cable reference CS5UA1D1ROxxx DESINA Feedback ca
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20. E 35 3 2 3 Time constants of the motor l a iret de au ee AS LSR SA 36 3 2 4 Speed Wale IER 37 3 2 5 Rated data according to rated voltage vartatton nana narran 38 3 2 6 Voltage withstand characteristics of EX series A 40 3 2 7 Voltage and current during the operating rc cnnn eee er rc 41 3 3 luese Te CN 44 3 3 1 EXSTOE soya m B m mu tadas 44 3 3 2 2 iii pira lid 45 3 3 3 EX620 Es EXGSOES uuu ior usai ati 46 3 3 4 EX820E EX840E EX860E u l u unun Susu entere enses inttr inrer rennen nr entree nnns 47 3 3 5 enr 48 3 3 6 EX420U EX430U ER 49 3 3 7 EXb20U EX630UJ ii den aia 50 3 3 8 EX820U EX840U EX860U n s sassa 51 3 4 Motor Ve lr le EE 52 3 4 1 Motor MOUNTING EE 52 3 4 2 Installation of explosionproof machines eee eee eee eee 52 3 4 3 Frame recommendation T 53 3 5 Shat Ee 0 EE 54 3 5 1 Vibration resistance to Shaft end 54 3 5 2 Maximum load acceptable on the bat 54 3 6 Cooler 55 3 6 1 Natural cooled Ce aaa On 55 3 7 Lhermal Protect EE 55 3 8 Power Electrical Connections sees sees eee eee eee eee eee eee 56 3 8 1 VVITeS siZzeS e EE ELE 56 3 8 2 Conversion Awg kcmil mm z l n n inrer sinn enne nnns 57 3 8 3 Motor cable lengi i itt en DE EUR ETE Ea abt AT de BERRY SERERE Tainan 57 3 8 4 Mains supply connection diagrams nennen 58 3 8 5 Conversion resolver connection
21. EX4 EX6 EX8 Motor type Permanent magnet synchronous motor Magnets material Neodymium ron Boron Number of poles 10 Type of IMB3 EN60034 7 construction Degree of IP65 protection Cooling Natural cooling Rated voltage 230VAC 400 VAC 480 VAC nsulation of the stator winding Class F according to IEC 60034 1 1 Class F according to IEC 60034 1 vvith potting Altitude Up to 1000m IEC 60034 1 Ambiant 20 C to 40 C temperature Storage 20 C to 40 C temperature Connection Electronic plate with threaded holes Marking UL Paint Without Sensor e Resolver in standard e Sick encoder Hiperface SKS36 and SKM36 SRS50 and SRM50 Not available for EX3 e Heidenhain encoder Endat ECN1113 and EQN1125 e Sensorless Brake Parking brake in option Thermal protection Temperature sensors thermofuse Remark Numerous customization are possible on request special shaft special flange 12 PVD3665 GB EX July 2013 docx 2 5 Product Code The EX servomotors are defined by its electrical and mechanical characteristics by its accompanying accessories and by any customer specificity This information is coded and entered in the Type column on the manufacturer s plate for the basic codification the specificities are entered in a separate column Code E X 3 1 O E A K R 1 2 0 o Product Series Motor size 1 2
22. N m M7x1 14N m M20 x 2 5 329 N m M8 x 1 25 20 N m M22 x 2 5 437 N m M24 x3 564 N m Warning After 15 days check all tightening torques on all screw and nuts 4 2 2 Preparation Once the motor is installed it must be possible to access the vviring and read the manufacturer s plate Air must be able to circulate around the motor for cooling purposes Clean the shaft using a cloth soaked in white spirit or alcohol Pay attention that the cleaning solution does not get on to the bearings The motor must be in a horizontal position during cleaning or running Caution Do not step on the motor or the cable glands Caution Always bear in mind that some parts of the surface of the motor can reach a temperature of 135 C 85 PVD3665 GB EX July 2013 docx 4 2 3 Mechanical installation The operational life of torque motor bearings largely depends on the care and attention given to this operation Carefully check the alignment of the motor shaft with that of the machine to be driven thus avoiding vibration irregular rotation or putting too much strain on the shafft e Prohibit any impact on the shaft and avoid press fittings which could mark the bearing tracks f press fitting cannot be avoided it is advisable to immobilize the shaft in motion this solution is nevertheless dangerous as it puts the encoder at risk e n the event that the front bearing block is se
23. The maximal speed is equals to 4300 rpm The torque sensitivity is equals to 1 27 Nm Arms Selection of the drive The drive has to provide a permanent current equals to 4 Arms to obtain 5 Nm In order to obtain an acceleration torque of 7 6 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 19 PVD3665 GB EX July 2013 docx 3 1 5 Current limitation at stall conditions i e speed 3 rpm Recommended reduced current at speed lt 3 rpm m SU TI reduced Warning The current must be limited to the prescribed values If the nominal torque has to be maintained at stop or low speed 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 information and to choose functions to program the drive T Please refer to the drive technical documentation for any further 3 1 6 Peak current limitations 4 E I lo 3 2 D i 5 tc 201 3 E 0 Time a 0 5 10 15 20 25 It is possible to use the EX motor with a current higher than the perm
24. ejeg J8po2u3 9 J A10S 39 YS at g J pO3u3 S S03J84 J poJu3 Jaajosay ES Ze V J DO3U3 y SE NISJ J Z Jaajosay 25 y d ponu Snape pub 2 L sanjosay LS 88 AO 49po2u3 Z NSS SA J8p02U3 U01100 ayeug 48 SF AS Jepo2u3 uo jd0 ayeug 48 u011do ayeug Aug u01140 axeug Jg uo jd0 ayeug yg J038 0Jd 31uJ8aU Hl 001110 ayeug yg J038404d 314 Hl JOJJBJOJA HL 40138J0ud 31 1 214 H1 M aseuyg M 0 214 HL M aseud M A 5 4 A ISTHE M Sb d M A Seyd A n aseyd n MZA 7 491197 MJEQD S3 A aseug MIZSZJ 7 4380993 n seyd N 97V 7 MJEQD 3 UOTTJ UU0J J8A 0598 Uu01 39UU0J Jepu f aseug N UOT 38UU03 y 2013 docx 60 PVD3665 GB EX Jul EX820E EX840E EX860E 3 8 4 4 03 S3AI ap S MMM 32NY84 X9p32 NOT 0 100 2 67248 np anu ay 9 x O ewo 2 2 4983S AN W33 ut aseyd ui Si A leuis Duiu3jiMS apis Pus jjeus 85 9230 3 ua Jp euiDu3 UNOS 1507 MO XL900X31VS0 SIBINI u01J831J J8 punoJg TR Mayas uo jdo pjaius 2013 4922012 vo 12012 J D03u3 Nejeg 4910203 ejeg Japoduz j Japo3u3 4 po2u3 SF AS dn J pO3u
25. the contactor to detect condition changes should also be carried out 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 55 PVD3665 GB EX July 2013 docx 3 8 Povver Electrical Connections VVires sizes n every country you must respect all the local electrical installation regulations and standards Not limiting example in France NFC 15 100 or IEC 60364 as well in Europe Cable selection depends on the cable construction so refer to the cable technical documentation to choose vvire sizes Some drives have cable limitations or recommendations please refer to the drive technical documentation for any further information gt P Cable selection At standstill the current must be limited at 80 of the low speed current lo and cable has to support peak current for a long period So if the motor works at standstill the current to select wire size is V2 x 0 8 lo 1 13 x lo 56 PVD3665 GB EX July 2013 docx 3 8 2 Conversion Awg kcmil mm 0000 4 0 212 107 000 3 0 168 85 00 2 0 133 67 4 0 1 0 106 53 5 1
26. vapo3u3 Japoau IW M JIS 01100 plays 9 J3AJ0SaY S Janjosay 9 J A10S 2 Jan osay S03184 4 po2u3 NISj8J d po2u3 Z 49A10S pub Japodu3 J3A 0S3Y S Japoluj uo1jdO ayeJg 401100 ayeug 48 Uorydo ayeJg u0 jd0 syeug 8 4012941040 JlUJ U 4014294046 JiwJAUY HL 4012914040 JIUJ U 4012914040 3 uJau HL M aseud M 3SP d M A aseud YIeqpss4 n aseud UOT J8UUOJ 15 10S y 2013 docx 61 PVD3665 GB EX vul 3 8 4 5 EX310U 62 PVD3665 GB EX July 2013 docx 3 8 4 6 EX420U EX430U 63 PVD3665 GB EX July 2013 docx 3 8 4 7 EX620U EX630U 64 PVD3665 GB EX July 2013 docx 3 8 4 8 EX820U EX840U EX860U 65 PVD3665 GB EX July 2013 docx 3 8 5 Conversion resolver connection S1 Cos S2 Sin S3 Cos S4 Sin R1 Ref R2 Ref 3 9 Feedback system 3 9 1 Resolver 2 poles transformation ratio 0 5 code A EX3 NX4 NX6 amp NX8 Parker part number 220005P1001 220005P1002 Electrical specification Values 8 kHz Polarity 2 poles Input voltage 7 Vrms Input current S6mA maximum Zero voltage 20mV maximum Encoder accuracy 10 maxi Ratio 0 5 5 Yo Output impedance primary in short circuit whatever the position of the rotor
27. 013 docx 4 4 Maintenance Operations 4 44 Summary maintenance operations Generality DANGER The installation commission and maintenance operations 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 Please contact PARKER for technical assistance Danger before any intervention the motor must be disconnected from te power supply Due to the permanent magnets a voltage is generated at the terminals when the motor shaft is turned Special requirements for ATEX servomotors If a screw assembly of the enclosure need to be replaced the new screw will must be quality 8 8 or higher For the EX8 in UL version the screw must be quality 14 9 or higher If the motor is used in dust explosive atmospheres do not forget to do a regular cleaning in order to avoid the deposits of dusts Operation Periodicity Clean the motor Every year Motor inspection vibration changes temperature changes tightening Every year torques on all scews Bearing replacement Every 20 000h 89 PVD3665 GB EX July 2013 docx 4 4 2 Informations about the flameproof enclosure components The Ex m
28. 0364 and local regulations They must be authorized to install commission and operate in accordance with established practices and standards A A 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 when 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 II meters must not be used on this product Allovv at least 5 minutes for the drive s capacitors to discharge to safe voltage levels lt 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 electr
29. 0EAO Hon ph at 25 C 1 63 Ohm J 98 10 kgm Kepn ph Vims 1 000rpm 81 7 Vims 41000rpm gt ph Vrms rad s 81 7 2 n 1 000 60 0 7802 Vims rad s gt Omech 0 5 1 63 98 10 0 78022 1 3 ms 36 PVD3665_GB_EX_July 2013 docx Remarks 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 Gelec S much smaller than the mechanical time constant Omech for the motor EX620EAO taken as illustration it is not the case because we obtain Omech lt Oelec An overall summary of motor time constants is given a little further 3 2 3 3 Thermal time constant of the copper T Rth Cth therm copper 705 MASS open 389 ek With Rth thermal resistance between copper and ambient temperature K W Cth opper thermal capacity of the copper J K MaSScopper Mass of the copper winding kg Hereunder is given an overall summary of motor time constants EX310EAP 3 0 1 0 11 6 EX420EAP 4 6 1 2 31 1 EX430EAP 5 2 1 3 32 6 EX620EAR 8 6 1 2 59 5 EX630EAR 10 2 1 3 53 9 EX820EAR 8 5 1 9 67 3 EXS40EAK 11 0 1 5 29 9 EX860EAJ 12 9 1 7 28 1 3 2 4 Speed ripple The typical speed ripple for a EX motor with a resolver at 4000rpm is 3 peak to peak This value is given as in
30. 0U 8 L 3 Efficiency m WE 0 1000 2000 3000 4000 5000 6000 7000 Speed rpm 3 2 1 11 Series EX430U EX430UAG Constant efficiency curves of the motor EX430U 11 T Efficiency ITE PIT d e 78 Speed rpm 31 PVD3665 GB EX July 2013 docx 3 2 1 12 Series EX620U EX620UAM Constant efficiency curves of the motor EX620U 16 T Efficiency 6 4 4 d 3 Td merde f Jj E 85 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 Speed rpm 3 2 1 13 Series EX630U EX630UAK Constant efficiency curves of the motor EX630U Td la ss s Pi i 3 g
31. 11x3 puejb lqej Josu s ampow Guidwen oO 00 Q1X3 911Dx3 puejh age Jamod y 2013 docx 47 PVD3665 GB EX Jul EX310U 3 3 5 2 19945 DEELT FJINYBL XAPAJ N T 1 O LOOLZ 67248 261 XeAled SS 2 2 uj M ayeJq nou DEN SnopJeze UOISIA 3U D pue SJOJOW 214129 Q 8 2 dnoup L uois 133HS NO SINVIBVA SNOILJ3NNO2 00 01710 81 LZEEZWY Xu BILZ OSI NIG 5 10 16 ne jnouji pajynusad jou 51 4do 40 wo yanpoudau se m se uo SIDD ss l1Josu s SO mo 62 NOJ ELLE NJ3 udn lBuis jepuj 092 ayeug uji EAYS uJnjij nu Je J diH 9ESAS uJnje Duis S O OIJBJ saajosay 062 ayeug inot M 520 NOJ puadep E jepu3 4 9ESAS 4 aJejJadiy 5591 05 X 105 1503 M0 Cp One J8 0534 491191 Jegpesj uoijdo y3eqp 4 turur M nbuol 314245 9600 Mz abeyon Kqddns ayeug nou M I3VHS SNOISN3ATO y 2013 docx 48 PVD3665 GB EX Jul aen E 33Nv83 Xxape2 NOP 0 L00LZ 00 01 0 8 LZEEZWY 01238 2e np aioa OS NIG XeAled OSS SaIueJa 0 6 SNOI L J3NNO 3 ssaj osuas a 1502 M0 2 K SZ NOJ unii YeI ul M ayeug ui
32. 1712 Max 14 9 9 Max 8 5 6 Maximum peak current in a phase Max 34 24 Max 34 24 Max 28 19 8 Max 16 11 3 A Arms Maximum steady motor power VV Max 200 Max 400 Max 3400 Max 3400 EX6 ATEX 0007 SE 230V single three phase 400V three phase Power supply direct current voltage 310 10 550 10 V 5 2 Motor electrical frequency Hz 0 to 500 0 to 500 Steady peak current in a phase Max 25 17 7 Max 16 11 3 A Arms Maximum peak current in a phase Max 50 35 3 Max 32 22 6 A Arms i Maximum steady motor power W Max 6000 Max 6000 41 PVD3665 GB EX July 2013 docx EX8 ATEX 5 05 55 230V single three phase 400V three phase Power supply direct current voltage 310 10 550 10 V Ld 2 7 Motor electrical frequency Hz 0 to 500 0 to 500 2105117 pesi Cumann AE CES Max 100 70 7 Max 50 35 3 A Arms Maximum peak current in a phase Max 200 141 4 Max 100 70 7 A Arms Maximum steady motor power W Max 10 000 Max 10 000 EX310 UL s oimne 0007 5 230V single three phases 400 480V three phases Nominal Power supply direct current 310 41095 550 660 10 voltage v Motor electrical frequency Hz 0 to 650 0 to 650 Steady peak current in a phase Max 7 5 5 3 Max 4 2 8 A Arms Maximum peak current in a phase Max 15 10 6 Max 8 5 6 A Arms Maximum steady motor power W Max 1900 Max 1800 EX4 UL 77 20057 SEA 230V single three phases 400 480V thre
33. 3 Arms Pn1 Pn2 Pn3 W All data are given in typical values under standard conditions Phase to phase Valtages and currents are given in rms values a If we suppose that the rated voltage U 400 Vms decreases of 10 this means that the new rated voltage becomes Un2 360 Vims Rated speed The former rated speed N 4300 rpm obtained with a rated voltage U 400 Vims and an efficiency of n 92 leads to the new rated speed N given as follows 1 0 92 N a m N 2 4300 309 3832rpm 7 0 92 U 2 360 1 7 H 38 PVD3665 GB EX July 2013 docx Maximum speed The former maximum speed Nmax 4300 rpm obtained with Un 400 Vms and Nn 4300 rpm leads to the new maximum speed Nmax given as follows N ea N 4300 2832 3832rpm 4300 max 2 max 2 N N n N B a the rated voltage increases Ur Un the new rated speed Nn and the new maximum speed 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 decreases 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 P 1410 W obtained with Un 2400 Vms leads to the new rated power P given as follows p p slu p 1410 292 1269W U 400 n n Rated torque The former rated torque M 3 13 Nm o
34. 3 w Ground Green Yellow Br Brake Black 5 B Br Brake Black 6 B TH Thermal sensor Black 7 T TH Thermal sensor Black 8 T 80 PVD3665 GB EX July 2013 docx 3 9 8 12 Povver cable for 637 638 Cable reference CS2UQ1D1ROXxxx for current lt 12Amps Power cable 6537P0057 CS2UQ2D1ROxxx for current s 30Amps Power cable 6537P0058 DESINA Cable arrangement U U phase Black 1 U V V phase Black 2 V w W phase Black 3 W e Ground Green Yellow Br Brake Black 5 Bt Br Brake Black 6 B TH Thermal sensor Black 7 T TH Thermal sensor Black 8 T 3 9 8 13 Power cable reference For other drive you can assembly cable and plug by soldering with part number on the tab below Current lt 12Amps 6537P0057 Current lt 30Amps 6537P0058 81 PVD3665_GB_EX_July 2013 docx 3 9 9 Cable connection The EX motors must be carefully connected according to the connection diagrams placed in the commissionning and use manuals PVD3559 EX3 PVD3566 EX4 PVD3562 EX6 PVD3571 EX8 and PVD3628 EXUL To avoid other problems due to the connections cable glands connections cover etancheity the EX motors must be carefully connected according the chapter Final connection placed in the commissioning and use manuals 3 10 Brake option Caution The holding brake is used to completely immobilize the ser
35. 83 7 42 4 2 66 4 33 6 3 52 6 26 7 4 41 7 212 5 33 1 16 8 6 26 3 13 3 7 20 8 10 5 8 16 5 8 37 9 13 1 6 63 10 10 4 5 26 11 8 23 4 17 12 6 53 1 3 31 14 4 10 2 08 16 2 58 1 31 18 1 62 0 82 20 1 03 0 52 22 0 63 0 32 24 0 39 0 20 26 0 26 0 13 3 8 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 lt might be necessary to fit a filter at the servo drive output if the length of the cable exceeds 25 m Consult us 57 PVD3665 GB EX July 2013 docx connection diagrams Mains su 3 8 4 EX310E 3 8 4 1 A A uoijesiuoujne t qil E LUE TA QS 60 21 01 OEEZWY Y S T MyYd JNI 1100 sg sv DA 11 0 12 00962 iz yik ed 31895 m yo Aisedosd au S yuawnr0p Su sadue 1370 LETS s Jeje 9 1014231J14J9 punoJn 2 ER maJs uodo pans q X0900X31Y 0 SIYINI ct 3125 uoijdo axeJg dg uo0 jd0 axeug ER gey coto 1G o osre J0438 0J0 2iuau HI 013 Jiuwvayi HL M aseyd M A SEUd A neseug N G z SC AN W33 s Ajowaw JapoJua ut anjen SI AJowaw U an
36. M ayeug moy M 0 oswas 1 05545 S JEWXS 4 9tSyS 4 X I 191 2egpaaJ aJejJadiy 32ejJadIH 92e JadiH 338 4801 ssa uosuas 1503 Mo A 100 1760022 SNOISN3ATO oa oma nbu0 IBIS YOUF vz a e 1 EX420U EX430U 3 3 6 y 2013 docx 49 PVD3665 GB EX Jul VAC 4NI11f0 Iesel zi MA XeAJed 099 CUM 31835 5 10 1009 3 Ce E esta ao 60 60 80 Leed 182949 pow Gun TYE 50011821 x Tn lt 2 19945 2 2 141HS NO SINVI SN01123 NN02 09 08 09 STE i ayeJa a Japolua gt SZLL NOJ UJ W LY ELLL NJ3 Ganja buis LYONI SEE Ker SEE oze 00 yeuq meual 2 Osw s unu 3 yad d H N 1 URSS S JIVJAJAIK L ou UHM L 9EWXS uJnilj nu 3 v3d3dlH S SEE SSE SEE OZE Ul ayeug us JOYS 1814 0 SECH 9ESAS uJnje Duis JIVABIdIK Y 1 X I J9AJOSIY Y T T 3 z WW _ e DLE SZE SOE 062 1 yesq noujim M 520 N 3 A ELLE N23 A OSWAS 1 OSSAS S SEWMS Y JESAS A x J9podua 1 V S O orjeJ J9419 jepu3 ssajjosuas 50 0 uoijdo x3eqpaaJ SNOISN3W 0 La 9 0F0S SUu0118207 1091115567171 SNOPJEZEH UOISIAIG U 5 40 SJojeJauan pu
37. Mounting 3 4 1 Motor mounting By flange in any direction 3 4 2 Installation of explosionproof machines When installing electrical systems in hazardous locations carefully observe the corresponding country regulations 52 PVD3665 GB EX July 2013 docx 3 4 3 Frame recommendation VVarning The user has the entire responsibility to design and prepare the support the coupling device shaft line alignment and shaft line balancing Foundation must be even sufficiently rigid and shall be dimensioned in order to avoid vibrations due to resonances The servomotors need a rigid support machined and of good quality The maximum flatness of the support has to be lovver than 0 05mm The motor vibration magnitudes in rms value are in accordance vvith IEC 60034 14 grade A gt maximum rms vibration velocity for EX is 1 3mm s for rigid mounting 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 Vibration 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 installa
38. S 8 avenue du Lac BP30749 F 21007 DIJON CEDEX Tel 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www parker com 3 PVD3665 GB EX July 2013 docx 1 Table of Content INTRODUCTION See ELE 6 1 1 Purpose and intended audience 6 1 2 SEI kanm TOM 6 1 2 1 PA ENN NO aci 6 1 2 2 General Satety R leS nde tton vo RA o eiit eee nt ele 7 1 2 3 Using Category of the EX motors eterne trennen nnns nnne 9 1 2 4 Special conditions for the ATEX SOrVOMOTOFS nennen 9 PRODUCT DESCRIPTION eere Ee 10 Sch eu MI EE M 10 2 2 Applications ae Pn EE 10 2 3 General Technical Data for ATEX motors eee 11 2 4 General Technical Data for UL motors ALA Ae Ae nn ee rancia 12 2 5 leefeg 13 TECHN CAL DATA EE 14 3 1 EE 14 3 1 1 Altitude u a RAR ds 14 3 1 2 NEE 14 3 1 3 Temperature d rfalln0g u air nie mira amaya yam tenente tnter nnne 14 3 1 4 Thermal equivalent torque rms torque eene eene nennen 14 3 1 5 Current limitation at stall conditions i e speed lt 3 rpm 20 3 1 6 Peak Current un E le EE 20 3 2 EX Characteristics Torque speed current power 88888 2 8288838883 8 8 8 21 3 2 1 Efficl ney Te 24 3 2 2 Stu Ee
39. aled by a lip seal which rubs on the rotating section we recommend that you lubricate the seal with grease thus prolonging its operational life We cannot be held responsible for wear on the drive shaft resulting from excessive strain 86 PVD3665_GB_EX_July 2013 docx 4 3 Electrical connections Danger Check that the povver to the electrical cabinet is off prior to making any connections Caution The wiring must comply with the drive commissioning manual and vvith recommended cables Danger The motor must be earthed by connecting to an unpainted section of the motor Caution After 15 days check all tightening torques on cable connection 87 PVD3665 GB EX July 2013 docx 4 3 1 Cable connection Please read 83 8 Electrical connection to have information about cable connection A lot of information are already available in the drive documentations 4 3 2 Encoder cable handling Danger before any intervention the drive must be stopped in accordance with the procedure Caution t 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 88 PVD3665 GB EX July 2
40. aluating sine cosine period Differential non linearity 7 Non linearity within a sine cosine period Perating speed 6 000 rpm Power Supply 7VDC to 12VDC Current consumption 80mA without load Output frequency OkHz 200kHz Operating temperature range 30 C to 115 C 68 PVD3665 GB EX July 2013 docx 3 9 6 Endat encoder singleturn ECN1113 code V EX3 amp EX4 ATEX EX3UL EX4UL EX6 8 EX8 Model Type Parker part number Line count Electrical interface Position values per revolution System accuracy Perating speed Power Supply Current consumption without load Cutoff frequency 3 dB Operating temperature range N A ECN 1113 Heidenhain Absolute single turn encoder 220165P0002 512 sine cosine periods per revolution Endat2 2 8 192 13 bits 60 12 000 rom 3 6VDC to 14VDC 85mA 5VDC gt 190kHz typical 409C to 115 C 3 9 7 Endat encoder multiturn ECN1125 code W EX3 amp EX4 ATEX EX3UL EX4UL EX6 amp EX8 Model Type Parker part number Line count Electrical interface Position values per revolution Revolutions System accuracy Perating speed Power Supply Current consumption without load Cutoff frequency 3 dB Operating temperature rang
41. and plug by soldering with part number on the tab below Resolver Hiperface Encoder 6537P0059 EnDat Encoder 77 PVD3665 GB EX July 2013 docx 3 9 8 9 Power cable for AC890 Cable reference CS4UQ1D1ROxxx for current lt 12Amps Power cable 6537P0057 CS4UQ2D1ROxxx for current s 30Amps Power cable 6537P0058 Fer Cable arrangement U U phase Black 1 U V V phase Black 2 V w W phase Black 3 w Ground Green Yellow Br Brake Black 5 B Br Brake Black 6 B TH Thermal sensor Black 7 T TH Thermal sensor Black 8 T 78 PVD3665 GB EX July 2013 docx 3 9 8 10 Povver cable for COMPAX3 Cable reference CC3UQ1D1ROxxx for current lt 12Amps Povver cable 6537P0057 CC3UQ2D1 R xxx for current lt 30Amps Povver cable 6537P0058 DESINA Cable arrangement U U phase Black 1 U V V phase Black 2 V w W phase Black 3 w Ground Green Yellow Br Brake Black 5 B Br Brake Black 6 B TH Thermal sensor Black 7 T TH Thermal sensor Black 8 T 79 PVD3665 GB EX July 2013 docx 3 9 8 11 Povver cable for SLVD Cable reference CS5UQ1D1ROxxx for current lt 12Amps Povver cable 6537P0057 CS5UQ2D 1 R xxx for current s 30Amps Povver cable 6537P0058 DESINA Cable arrangement U U phase Black 1 U V V phase Black 2 V w W phase Black
42. anent 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 83 1 3 3 f 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 EX310 EX420 tp 0 8 s tp lt 0 3s EX430 EX620 EX630 EX820 tp 1 5s tp lt 0 6s EX840 EX860 The peak current duration is calculated for a temperature rise of 3 C Consult us for more demanding applications 20 PVD3665 GB EX July 2013 docx 3 2 EX Characteristics Torque speed current povver The torque vs speed graph belovv explains different intrinsic values of the next tables Torque Peak Torque Permanent torque at lovv speed Nominal Povver Nominal torque Stall torque 3 rpm Nominal Max Speed speed speed 21 PVD3665 GB EX vuly 2013 docx Back emf gane pe atiow atiow a a ct 1000rpm p T mom to arms Mp Nm Tip arms Kei ktomm se Cen a URO cpm Mn gei in arms mg 770 sss es 142 72 330 29 290 2300 318 226 77 EX420EAP1 DRIVE 2457 400 325 28 77 566 so 142 72 330 29 40 4000 230 ter 960 73 532 s sat 72
43. apodua S 9EWMS 4 9ESAS 0 01841 3 01732 570 5591 1502 407 238JJadiH aJejJBdiy Jan 0say Japo3u3 J3A 0S3Y uoijdo UN 9 L 2 001 UN Z 1 02 LVF 016X3 andso IIIS A Z abepon jddns TAVI 1 ZE ez ui ayesq noui M N SLB Uo ESA YY a ampow Guidwen 9 2Z s 9 01 3 8110 Duef Jamog J doa 1555 ZIXTW y 2013 docx 44 PVD3665 GB EX Jul 03 S8A JDSS AMM 8 61971 MVdd ANI TL onu gt EAE uonesiJouine Toun xu goLc jou S Ado Jo uo 3npoJdeJ OSI NIG Se SE UOISSIUSUPJ XJAN Yd OS 60 21 01 0662 wv v 05 6 40 22 80172 Wo a r zap jo AiJadoud ayy s juaumoop Siul SUD 1521 k l 9 9us 2 2 133HS NO SINVIAVA SNOILO3NNO cen a aea win 5591405 A 1502 M0 X oer 062 uu 1 ayeuq man OSW S uJnjij nu a3ejJediH N 0695 uJnjajDuis Jejj diH 9EWXS uJnjij nu aJeyJadiH S OEE OLE 062 uu exequi y UHM L 9ESYS uunjajBuis
44. ble 6537P0059 Male 15 pins SUB D connector reference 220029P0040 SUB D cover reference 220029P0039 Cable arrangement 1 S1 Cos White 12 2 S2 Sin Black Black Blue pair 8 3 S3 Cos Black Black White pair 11 4 S4 Sin Blue 5 R1 Ref Red 6 R2 Ref Black Black Red pair 15 75 PVD3665 GB EX July 2013 docx 3 9 8 6 Resolver cable connection for 637 638 Cable reference CS1UA1D1ROxxx Feedback cable 6537P0059 Male 9 pins SUB D connector reference 220029P0020 SUB D cover reference 220029P0039 Pins reference 220029P0021 Cable arrangement 1 S1 Cos Black Black White pair 7 2 S2 Sin Black Black Blue pair 4 3 S3 Cos 4 White 3 4 S4 Sin Blue 8 5 R1 Ref Red 5 6 R2 Ref Black Black Red pair 9 76 PVD3665 GB EX July 2013 docx 3 9 8 7 Hiperface encoder cable connection for 637 638 Cable reference CS2UR1D1ROxxx DESINA Feedback cable 6537P0059 Male 9 pins SUB D connector reference 220029P0020 SUB D cover reference 220029P0039 Pins reference 220029P0021 Cable arrangement 1 Us Green 2 2 Gnd Black Black Green pair 1 3 refSin Blue 4 4 refCos Black Black White pair 7 5 Data Red 9 6 Data Black Black Red pair 5 7 Sin Black Black Blue pair 8 8 Cos White 3 3 9 8 8 Feedback cable reference For other drive you can assembly cable
45. btained with Un 2400 Vms leads to the new rated torque Mm given as follows m s 22 RN 2 z 3832 60 60 39 PVD3665 GB EX July 2013 docx 3 2 6 Voltage vvithstand characteristics of EX 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 EX 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 2 6 2 4 4 2 2 4 an 2 1 21 8 g 16 814 x 1 a 0 8 Curve EX motors 0 6 Curve IEC 60034 25 690V AC Curve IEC 60034 25 500V AC pe Curve IEC 60034 17 lt 500V AC 0 2 0 T T T T T 0 0 2 0 4 0 6 0 8 1 1 2 Voltage Pulse Rise Time us Figure 1 Minimum Voltage vvithstands characteristics for motors insulations according to IEC standards At the top are the typical capabilities for the EX motors Note The pulse rise times are defined in accordance with
46. d may not be guaranteed unless expressly mentioned in a contract DANGER PARKER declines responsibility for any industrial accident or material damage that may arise if the procedures and safety instructions described in this manual are not scrupulously followed Motors for ATEX locations EX servomotors manufactured for the CE market are designed to operate in ATEX classified areas Motors for hazardous classified locations EX servomotors manufactured C US for the North American market are designed to operate in harzardous LISTED classified areas 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 6 PVD3665 GB EX July 2013 docx A 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 1 2 2 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
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48. dicative 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 37 PVD3665_GB_EX_July 2013 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 EX620EAO datasheet BRUSHLESS MOTORS EX620EAO ELECTRONIC DR VE DIGIVEX 7 5 15 et DIGIVEX 8 16 230V 400V No UL certification Torque at low speed Permanent current at low speed Peak torque Current for the peak torque Arms Back emf constant at 1000 rpm 25 C V ms Torque sensitivity Nm A mms Winding resistance 25 C Q Winding inductance mH Rotor inertia J kgm x10 Thermal time constant Tth min Motor mass M kg Voltage of the mains UR1 UR2 UR3 V ims Rated speed Nn1 Nn2 Nn3 rpm Mn1 Mn2 Mn3 Nm In In2 In
49. e N A ECN 1125 Heidenhain Absolute multi turn encoder 220165P0001 512 sine cosine periods per revolution Endat2 2 8 192 13 bits 4 096 60 12 000 rpm 3 6VDC to 14VDC 105mA 5VDC gt 190kHz typical 40 C to 115 C With unregulated power supply AC890 PARKER drive for instance the max cable length is 65m with 0 25mm power supply wire due to the voltage drop into the cable itself 69 PVD3665_GB_EX_July 2013 docx Maximum Endat cable length Please refer to the follovving curve to calculate the max cable length depending on the clock frequency a o N o Cable length m m E e 0 300 1000 2000 4000 6000 8000 Clock frequency kHz Without delay compensation With delay compensation AC890 PARKER Wiring EnDat encoder From Heidenhain Data measured values or parameters can be transferred bidirectionally between position encoders and subsequent elec tronics with transceiver components in accordance with RS 485 differential signals in synchronism with the clock signal produced by the subsequent electronics Data transfer Encoder Subsequent electronics Dimensioning IC4 RS 485 differential line receiver and driver Ca 330 pF Zo 120 Q ncremental signals D
50. e handling errero inor aO AIEA cnn 88 4 4 Maintenance Operations nn nana 89 4 4 1 Summary Maintenance operations U nn 89 4 4 2 Informations about the flameproof enclosure 66 90 4 5 Troubleshooting EE 90 5 PVD3665 GB EX July 2013 docx 1 INTRODUCTION 1 1 Purpose and intended audience This manual contains information that must be observed to select install operate and maintain PARKER EX servomotors Installation operation and maintenance of the equipment should be carried out by qualified personnel A qualified person is someone who is 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 f 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 an
51. e phases Nominal Power supply direct current 310 10 550 660 10 voltage V Motor electrical frequency Hz 0 to 650 0 to 650 Steady peak current in a phase Max 14 9 9 Max 8 5 6 A Arms Maximum peak current in a phase Max 28 19 8 Max 16 11 3 A Arms Maximum steady motor power W Max 3400 Max 3400 EX6 UL volage neme 07 Speed 230V single three phases 400 480V three phases Nominal Power supply direct current 310 10 550 660 10 voltage Steady peak current in a phase Maximum peak current in a phase A Maximum steady motor power W Max 6000 Max 6000 v Motor electrical frequency Hz 0 to 650 0 to 650 42 PVD3665 GB EX July 2013 docx EX8 UL GUN 20007 SEN 230V single three phases 400 480V three phases Nominal Povver supply direct current 310 10 550 660 10 voltage V The EX motors must be connected in accordance with the diagrams in the commissioning and use manual supplied with the motor 43 PVD3665 GB EX July 2013 docx imension dravvings D 3 3 EX310E A 3 3 KES on sisislilsl 00 X3 Ey ewJoy 2 Z 133HS NO ANVIAYA SNOIL23NNO SsajJosuas Jepo3us 1902 M0 OENNS uJnjrjjnu aJlejJadiH ESYS UJnyajbu s a3ejuediH Kay UI M 2 CO 01 8 jjeus 1814 0 ayeug UH A S 01782 J9D03U3 nus JnOUJ M Z S 0 OlJeJ Jan osay zeg amm mouara
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53. ement 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 Servomotors are equipped with two lifting rings intended for handling Caution Use only servomotors lifting rings if present or slings to handle the motor Do not handle the motor with the help of electrical cables connectors and water inputs outputs or use any other inappropriate method The drawings below show the correct handling procedure 50 mini DANGER Choose the correct slings for the motor weight The two slings must the same length and a minimum angle of 50 has to be respected between the motor axis and the slings 83 PVD3665 GB EX July 2013 docx 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 If the torque motor has to be stored for a long time verify that the shaft end feet and the flange are coated with corrosion proof product After a long storage duration more than 3 month run the motor at low speed in both directions in order to blend the bearing grease spreading The m
54. epends on encoder Zo 1200 70 PVD3665 GB EX July 2013 docx 3 9 8 Cables You can connect EX motor to PARKER drive AC890 COMPAX3 or SLVD you can use complete cable vvith part number on the tabs belovv The xxx in the part number must be replaced by the length in meter Ex for 20m cable xxx 020 Special requirements for ATEX servomotors For ATEX installations you must use special type of cable self extinguish according to EN 50265 2 1 VVarning the temperature of the cables used for the e EX3 can reach a temperature of 80 C EX4 can reach a temperature of 85 C e EX6 can reach a temperature of 89 C e EX8 can reach a temperature of 95 C 3 9 8 1 Resolver cable connection for AC890 Cable reference CSAUA1D1ROxxx DESINA Feedback cable 6537P0059 Male 15 pins SUB D connector reference AC 80552 SUB D cover reference 220029P0043 Pins reference 220029P0021 Cable arrangement 1 S1 Cos Black Black White pair 3 2 S2 Sin Black Black Blue pair 1 3 S3 Cos VVhite 11 4 S4 Sin Blue 9 5 R1 Ref Red 8 6 R2 Ref Black Black Red pair 15 71 PVD3665 GB EX vuly 2013 docx 3 9 8 2 Endat cable connection for AC890 Cable reference CS4UV1D1ROxxx DESINA Feedback cable 6537P0059 Male 15 pins SUB D connector reference AC 80552 SUB D cover reference 220029P0043 Pins reference 220029P0021
55. eting safety classification SIL2 in accordance with the standard IEC 61508 The drive can be equipped with a Safe Torque Off function in accordance with EN ISO13849 1 2006 and EN 61800 5 2 2006 and validated by a notified organization In this case the safety system can be connected to this function with a validation of a notified organization In the motor there are 2 kinds of thermal sensors used for the safety Both devices are wired in series with the coil of the drive power contactor e Two thermosvvitches fitted in the servomotor coil mean that the circuit is mechanically opened on a basis at 125 C 5 C This protection is reversible after a decreasing of the temperature under the basis the circuit is mechanically closed e A thermofuse fitted with a contact on the servomotor frame means that the circuit is mechanically opened on a permanent basis at 130 C 5 C In case of an over temperature and thermoswitches default the thermo fuse cuts off permanently the power supply to the contactor coil Caution see diagrams in the commisionning and use manuals PVD3559 EX3 PVD3566 EX4 PVD3562 EX6 PVD3571 EX8 and PVD3628 EXUL e Make sure the parameters of the contactor and the connecting are strictly followed The motor is out of order if the thermofuse is activated e The power contactor KM1 should be replaced in accordance with its operation lifespan and number of manoeuvres A yearly test intended to check on the ability of
56. for evaluating sine cosine period Differential non linearity 40 Non linearity within a sine cosine period Perating speed 9000 rpm Uu 7VDC to 12VDC Current consumption 60mA vvithout load Output frequency OkHz 65kHz Operating temperature range 20 C to 110 C 67 PVD3665 GB EX July 2013 docx 3 9 4 Hiperface encoder singleturn SRS50 1024pulses code T EX4 EX6 amp EX8 Model SRS50 Sick Type Absolute single turn encoder Parker part number 220174P0007 Line count 1024 sine cosine periods per revolution Electrical interface Hiperface Position values per 32 768 revolution ntegral non linearity t 45 Error limits for evaluating sine cosine period Differential non linearity 7 Non linearity within a sine cosine period Perating speed 6 000 rpm Power Supply 7VDC to 12VDC Current consumption 80mA without load Output frequency OkHz 200kHz Operating temperature range 30 C to 115 C 3 9 5 Hiperface encoder multiturn SRM50 1024pulses code U EX4 EX6 8 EX8 Model SRM50 Sick Type Absolute multi turn encoder Parker part number 220174P0009 220174P0005 Line count 1024 sine cosine periods per revolution Electrical interface Hiperface Position values per 32 768 revolution Revolutions 4 096 Integral non linearity t 45 Error limits for ev
57. ical cabinets Use standardized equipment 7 PVD3665 GB EX July 2013 docx Mechanical hazard Servomotors 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 a temperature of 135 C Generality The installation and operation must be made with the Commissioning and use manual given with the motor Commissioning and use manual of the EX motor series EX3 Atex PVD 3559 4 Atex PVD 3566 6 Atex PVD 3562 EX8 Atex PVD 3571 3 UL to EX8 UL PVD 3628 Atex servomotors This motor can be used in hazardous areas May particular attention to the notes marked with 8 PVD3665 vuly 2013 docx 1 2 3 Using Category of the EX motors Version ATEX locations UL Hazardous locations II ar Class 1 E gases vapours ntermittent presence of gas 1477 d Division 1 Explosionproof 500 Gazeous up i Groups C amp D Ethylene or propane atmosphere Ethylene or propane TAA T4 135 C for the Max 75 temperature on the motor surface surface IP65 IP64 or IP65 Protection index Protection index
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59. ive coupling Loosening of several pieces Poor adjustment of the servo drive or the position loop check rotation with the loop open 91 PVD3665 GB EX July 2013 docx
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61. l torque M delivered by the motor at each segment i 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 Mj 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 Mrs n gt Q At l T i l 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 15 PVD3665 GB EX July 2013 docx 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 Mims Qi Qk Orns Qn Speed 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 AC890 PARKER drive example The rated current provided by the AC890 drive 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 EX motors the power is usuall
62. nd 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 EX310EAP 0 024 0 012 EX430EAP EX620EAR EX630EAR EX820EAR EX840EAK EX860EAJ 0 485 0 160 Torque losses Tf Kd x speed 1000 Speed in rpm 35 PVD3665_GB_EX_July 2013 docx 3 2 3 Time constants of the motor 3 2 3 1 Electric time constant ph ph R ph ph VVith follovving values given in the motor data sheet Lon pn inductance of the motor phase to phase H Ron pn resistance of the motor phase to phase at 25 C Ohm Example Motor series EX620EAO Lon ph 14 mH or 14 10 Rph ph at 25 C 1 63 Ohm gt Selec 14 107 1 63 8 6 ms An overall summary of motor time constants is given a little further 3 2 3 2 Mechanical time constant T Rs J 0 5 ut NT Kt 3 E Ke on ph A ph Ja 43 iz 0 5 SR i J GE K 2 E ph With following values obtained from the motor data sheet Ron op resistance of the motor phase to phase at 25 C Ohm J inertia of the rotor kgm pn back emf coefficient phase to phase Vms radisl The coefficient prin the formula above is given in Vims rad s To calculate this coefficient from the datasheet use the following relation E _ Keon ae 110009 ph rh Iradist 2 7 1000 60 Example Motor series EX62
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64. otor is delivered with caps for the water inlet and outlet to protect the cooling circuit Keep them on place until the motor commissioning 4 2 Installation 4 2 1 Mounting Generality The installation and operation must be made vvith the Commissioning and use manual given vvith the motor Commissioning and use manual of the EX motor series EX3 Atex PVD 3559 EX4 Atex PVD 3566 EX6 Atex PVD 3562 EX8 Atex PVD 3571 EX3 UL to EX8 UL PVD 3628 Foundation must be even sufficiently rigid and shall be dimensioned in order to avoid vibrations due to resonance Before bolting the motor the foundation surface must be cleaned and checked in order to detect any excessive height difference between the motor locations The surface variation shall not exceed 0 1 mm Caution The user bears the entire responsibility for the preparation of the foundation 84 PVD3665_GB_EX_July 2013 docx The table belovv gives the average tightening torques required regarding the fixing screw diameter These values are valid for both motor s feet and flange bolting Screw diameter Tightening torque Screw diameter Tightening torque M2 x 0 35 0 35 N m M9 x 1 25 31 N m M2 5 x 0 4 0 6 N m M10x1 5 40 N m M3 x 0 5 1 1 N m M11 x 1 5 56 N m M3 5 x 0 6 1 7 N m M12 x 1 75 70 N m M4 x 0 7 2 5 N m M14x2 111N m M5 x 0 8 5 N m M16 x 2 167 N m M6 x1 8 5 N m M18 x 2 5 228
65. otors of Parker Hannifin France has a traceability on the frameprood enclosure compotents It is forbidden to replace on of these components without consulting Parker Hannifin If a cover exchange between two identical motors is required the customer must make a new traceability on these components To make the traceability the customer must refer to the number written on the cover 4 5 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 You note that the motor does not turn by hand when the motor is not connected to the drive Check there is no mechanical blockage or if the motor terminals are not short circuited e Check the power supply to the brake You have difficulty starting the motor or making it run e Check on the fuses the voltage at the terminals there could be an overload or the bearings could be jammed also checks on the load current e Check the power supply to the brake 24 V 10 96 and its polarity e Check on any thermal protection e Check on the servomotor insulation if in doubt carry out hot and cold measurements The minimum insulation resistance value measured under a max 50V DC is 50 MO Between the phase and the casing Between the thermal protec
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67. se contact Parker 3 1 4 Thermal equivalent torque rms torque The selection of the right motor can be made through the calculation of the rms torque Mj i e root mean squared torque sometimes called equivalent torque This calculation does not take into account the thermal time constant lt 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 i characterized each ones by the maximal torque M Nm reached during the duration At s So the rms torque M ms can be calculated through the following basic formula 1 n M M Mt rms T 2 il P Example For a cycle of 2s at 0 Nm and 2s at 10Nm and a period of 4 s the rms torque is M Gm 52 7 07Nm Illustration Acceleration deceleration torque 10 Nm during 0 1 s 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 14 PVD3665 GB EX July 2013 docx 20 4 4000 15 3000 I F F See 2000 5 1000 E Time s amp 0 z 5 00 0 2 4 0 0 8 0 12 a a 5 1000 10 2000 15 3000 motor torque Nm rms average torque Nm speed rpm rms average speed rpm 20 4000 The maxima
68. the IEC TS 60034 17 ed4 0 2006 05 09 The EX 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 EX motors in dark blue 40 PVD3665 GB EX July 2013 docx 3 2 7 Voltage and current during the operating The EX motors carry ATEX and UL certification and due to this certificate they are subjected to strict rules regarding their use One of such rules is the us of a servoamplifier that meets specific characteristics EX310 ATEX Voltage of the associated speed 24V direct 48V direct 230V single 400V three drive current current three phase phase ae supply direct current voltage ma 5 2 48 10 310 5109 550 10 Motor electrical frequency Hz 0 500 0 500 0 500 0 500 Steady peak current in a phase ma 17 12 Max 17 12 7 5 5 3 Max 4 2 8 A Arms Maximum peak current in a phase Max 34 24 Max 34 24 Max 15 10 6 Max 8 5 6 A Arms Maximum steady motor povver VV Max 250 Max 500 Max 1900 Max 1800 EX4 ATEX Voltage of the associated speed 24V direct 48V direct 230V single 400V three drive current current three phase phase supply direct current voltage 54 4400 48 10 310 10 550 10 Motor electrical frequency Hz 0 500 0 500 0 to 500 0 to 500 2 peak current in a phase max 17 12 Max
69. tion See ISO 10816 3 58 PVD3665 GB EX July 2013 docx 3 5 Shaft Loads 3 5 1 Vibration resistance to shaft end Frequency domain 10 to 55 Hz according to EN 60068 2 6 Vibration resistance to the shaft end radial 3g axial 1 g Maximum load acceptable on the shaft VVarning The values written in the table are given for a load placed on the middle of the shaft like the picture belovv VVarning Due to the small ATEX airgap requirements between the shaft and the front flange the radial loads on the shaft are lovver than standard NX motors The ATEX airgap requirements depend on the volume of the motor and can lead to lovver radial loads for bigger motors VVarning Regarding to these shaft loads you must nt use a pulley belt system vvithout a load take up system EX310 100 EX430 500 EX630 500 EX860 250 54 PVD3665 GB EX July 2013 docx 3 6 Cooling n compliance vvith the IEC 60034 1 standards 3 6 1 Natural cooled motor The ambient air temperature shall not be less than 20 C and more than 40 C 3 7 Thermal Protection The drive guarantees a 1st level of safety but it is not sufficient Safety is guaranteed by the independent relay system described in the connection diagram in the PVD3559_EX3 PVD3566_EX4 PVD3562_EX6 PVD3571_EX8 and PVD3628_EXUL which constitutes an independent protection circuit me
70. tion and the casing Between the brake coil and the casing Between the resolver coils and the casing You find that the motor speed is drifting e Reset the offset of the servoamplifier after having given a zero instruction to the speed input 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 e Check on the servomotor phase order U V W 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 Check the stability of the secondary voltages e Check the rigidity of the frame and motor support 90 PVD3665 GB EX July 2013 docx You think the motor is becoming unusually hot It may be overloaded or the rotation speed is too low check the current and the operating cycle of the torque motor 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 Check that there is no friction from the brake when the brake power is on You find that the motor is too noisy Several possible explanations Unsatisfactory mechanical balancing There is friction from the brake mechanical jamming Defect
71. vomotor under load It is not designed to be used for repeated dynamic braking dynamic braking must only be used in the case of an emergency stop and vvith a limited occurance depending on the load inertia and speed The standard brake power supply is 24 Vcc DC 10 Follow the polarity and the permissible voltage and use shielded cables A 220 UE capacitor avoids untimely braking if the 24 V voltage is disturbed by the external relay Check the voltage value once this capacitor has been fitted The RC network 220 O 0 1 pF is needed to eliminate interference produced by the brake coil Position the contactor in the DC circuit to reduce brake response times Follow the connection instructions taking the brake polarisation into account Static Static torque torque 20 C 100 C N m N m ms ms Kg m2 10 Engaging Disengaging Extra Angular time time Inertia backlash Table with typical values 82 PVD3665_GB_EX_July 2013 docx 4 COMMISSIONING USE AND MAINTENANCE 4 1 Instructions for commissioning 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 acknowledg
72. y lt 37 kW the rated current corresponds to 100 Power of Drive AC890 kW lt 37 kW Mode Vector mode Servo mode Overload capability 15096 during 60 s 200 96 during 4 s 16 PVD3665 GB EX July 2013 docx Illustration Torque Nm 25 4 20 20096 during 4 s Ka 10 100 permanent Speed rpm 0 500 1000 1500 2000 2500 3000 17 PVD3665 GB EX July 2013 docx 3500 4000 Example n 1 The application needs a rms torque of 7 Nm at the rms speed of 2000 rpm an acceleration torque of 10 Nm a maximal speed of 2800 rpm Selection of the motor The selected motor is the type EX620EAO The nominal speed is equals to 4300 rpm The maximal speed is equals to 4300 rpm The torque sensitivity is equals to 1 27 Nm Arms BRUSHLESS MOTORS Con nuousduyUR2 IntermitentdutyUR2 Continuous duty UR 1 7 Parker ELECTRONIC DRIVE ef e Intermittent duty URI Continuous duty Intermittent duty UR3 DIGIVEX 7 5 15 et DI 230V 400V No UL certification E Torque at low speed M z Permanent current at low speed lo Awe 5 51 5 Peak torque M Nm 14 7 3 Current for the peak torque li Ami 11 3 5 Back emf constant at 1000 rpm 25 C Ke V zs 817 Torque sensitivity Kt Nm A mms 1 27 Winding resistance 25 C Rb Q 1 63 VVinding inductance L mH 14

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