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MOTORS WITH INTEGRATED SERVODRIVE

1. 00 MALE EtherCAT protocol M12 Codification D Description TX Rx TW 3A02 SAFETY FUNCTION PERFORMANCE Phase Motion Control TW Motors with Integrated Servodrive 28 TW Motors with Inte Nomenclature 3 digits that identify those who assembles the product PHS 3 digits that identify the product 003 4 digits that identify Year and Week of production YYWW 6 digits that identify the serial number XXXX 6 2 STO FUNCTIONAL REQUIREMENTS The STO function is implemented in hardware and overrides all software activities The only software involvement is to report STO status to the user by the communication with the software In standard conditions STO function requires two separate 24 Vdc applied to dedicated pins This function is anyway guaranteed from 6 5 Vdc to 35Vdc STO circuits are protected from polarity inversion Power that can cause rotation is not applied to the motor The PDS SR will not provide energy to the motor which can generate torque STO corresponds to an uncontrolled stop in accordance with stop category O of IEC 60204 1 This safety function may be used where power removal is required to prevent an unexpected start up In circumstances where external influences for example falling of suspended loads are present additional measures for example mechanical brakes may be necessary to prevent any hazard 6 2 1 Real time processing If one of the control voltages or both of them is interrupt
2. MOTORS WITH INTEGRATED SERVODRIVE x User Manual Conformities Declaration of Conformity For PMC components there are declarations of conformity available These declarations confirm that the components are designed according to valid EC directives If required you can ask your sales representative for these declara tions Low Voltage Directive The PMC products of a drive system mentioned in this documentation comply with the requirements of the EC Directive see page 43 Safety Instruction Please read before the initial startup See page 53 EMC Directive The PMC products of a drive system mentioned in this documentation comply with the requirements of the EC Directive see page 43 CE Label Ce PHASE MOTION CONTROL T MOTORS WITH INTEGRATED SERVODRIVE A User Manual x Supported Models Size 3 Size 5 302 50 4 05A03 40 3 3A02 50 4 05A06 30 3 05A09 20 3 Size 7 720C 40 3 730C 30 3 740C 20 3 1 Introduction TorqueWire Motors ccccceeee eens 7 2 Electrical Installation 11 3 SoftWare na aa Is A TW Motor Size 3 19 5 TW Motor Size SAD2 auskennen 23 6 TW 3A02 Safety Function Performance 27 7 TW Motor SizeB5 ncs ann ol 8 TW Motor Siz amp 7 cccccncscesecvedesustesotssntianesesasneanans 35 9 TW 7 Safety Function Performance 39 ESNS ENR A A E E E E E E 43 WIN T WNMOGESSOTIES Sn nnnnnnaannnnnnunnannannannannannannnunnnnnn
3. Ask for these documents to be sent immediately to the person or persons responsible for the safe operation of the device If the device is resold rented and or passed on to others in any other form then these safety instructions must be delivered with the device Improper use of these devices failure to follow the safety instructions in this document or tampering with the product including disabling of safety devices may result in material damage bodily harm electric shock or even death Instructions for Use Read these instructions before the initial startup of the equipment in order to eliminate the risk of bodily harm or material damage Follow these safety instructions at all times PMC is not liable for damages resulting from failure to observe the warnings provided in this documentation Read the operating maintenance and safety instructions in your language before starting up the machine If you find that you cannot completely understand the documentation for your product please ask your supplier to clarify Proper and correct transport storage assembly and installation as well as care in opera WARNING 55 56 tion and maintenance are prerequisites for optimal and safe operation of this device Only assign trained and qualified persons to work with electrical installations Only persons who are trained and qualified for the use and operation of the device may work on this device or within its proximity T
4. e 2nd order digital filters e Rotary table control 3 3 STANDARD CANOPEN SETTING Setting the node number and baud rate is supported by the protocol CiA DSP305 V1 1 Layer Setting Services protocol The factory default setting for the Tw Motor is the following Node number 1 Baud rate 125 kbps according to CiA DS301 V4 02 Software 17 TW MOTORS SIZE 3 Phase Motion Control TW Motors with Integrated Servodrive 4 1 TECHNICAL DATA High torque density small size low inertia high voltage supply high speed Torque continuous 2 Nm peak 6 Nm Maximum power density 650 W in 2 8 kg including drive 5000 rpm operation Small diameter for limited pitch multi axis applications 310 Vdc and 550 Vdc bus compatible Universal 14 mm shaft with half key The servodrive is produced with resolver 2 poles or encoder Heidenhain inductive absolute mono ECI1319 or multi EQI1331 IP 67 protection Applications e Workpiece setting for wood and metal forming e Packaging bottling wrapping especially on rotary machines single wire commend for multi axis e Tool changers e Laser plotter e Pick and place robots e Mould automation e Assembly machines 4 2 MECHANICAL DRAWINGS All measurements are in mm except when specified 330 Rotatable Connectors Power connector M12 Signal Connectors 5 gt Universal shaft halfkey 67 1 59 Option K for full key 5x5x18 standard
5. passthrough male and female M12 connectors Brake Supply Unit DC Link CAN Open line Master CAN Open 2 2 POWER CONNECTIONS The integrated servodrive is designed to work with a 540Vdc supply that is the resulting rectified and filtered 380Vac on TW3 e TW7 motors version vodrvea OAT ntegra As described by the previous drawing the same DC bus can supply several motors in parallel No clamp resistor is integrated into the motor If the working cycle of the motor requires a significant braking energy dissipation a bigger capacitor or an external clamp device should be installed on the DC bus Both power supply and clamp device jobs are done by the optional Brake Unit and Power Supply module as shown in the Figure 2 A nominal current s sized shielded cable high flessibility kind suggested is required for the system reliability For EMI reduction an external filter like Schaffner FN 350 series between AC connection and rectifier should be installed However if the system employs the Brake Unit and Power Supply Module it has a built in filter suitable up to two motor On the power connector there is also the software configurable auxiliary digital input that could be used either as emergency stop or as input to sample internal values by external event nor as zero point switch in the homing procedures When requested on the power connector there are also the holding brake
6. N 4 holes 26 260 j6 0 007 214 j6 10008 L1 197 4 227 4 mm L2 167 4 197 4 mm Option B integrated brake 20 TW Motors with Integrated Servodrive 4 3 TORQUE NM VERSUS SPEED RPM TW 302 50 4 Wi Torque cont 1 flanged I Torque cont S1 free air E Torque max S6 10 flanged Torque Nm Speed rpm 4 4 MOTOR DRIVE TECHNICAL DATA ann a m sne e e us Nominal Torque S1 low speed free air 1 2 36 Nmrms Nominal Torque S1 low speed flanged 2 Tnw 2 50 Nmrms Peak Torque S6 10 1 Tpk 6 00 Nmrms Maximum speed Pn 800 rad s A 1 uns Rotor inertia 0 094 mkgm Acceleration at peak torque Apk 67000 rad s Mass Msta 2 8 Kg Insulation Class H F IP Protection IP67 Thermal data winding independent Symbol 302 50 4 BEE Thermal time constant free air 1 Thermal time constant flanged 2 Tw 145 sec Motor loss at Tnc LOc 62 Ww Motor loss at Tnw Low 72 Ww Threshold of built in PTC PTCt 110 C Electrical data winding dependent 302 50 4 Ben Power supply typical Rated speed flanged 3 Wn 500 rad s Peak current T Tpk Ipk 5 50 Arms Nominal current at T Tn In 220 Arms Rated power flanged speed 3 Pnw 0 60 kW Torque constant Kt 1 09 Nmamp 1 CE Supply voltage Power consumption P20 13 W Stall braking torque Tbk 7 00 Nm Additional Inertia JBk 0 041 mkgm 1 Motor in free still air worst case ambient 40 C copper 130 C frame 105 C 2 Motor mounted on
7. maintenance Maintain the drive according to the instructions given in the User Manual 9 2 6 Power on time Power on time of STO circuit is in the order of 400us 9 2 7 Power on integrity self tests The system is designed with intrinsic safe principle Software has only diagnostic purpose the safety is warranted by hardware circuit Software is able to detect a missing STO input in about 20ms and activate a diagnostic alarm condition 9 2 8 Operating environment requirements INGRESS PROTECTION CODE PDS is class IP 67 protected TEMPERATURE STO function is guaranteed in a range of temperatures from 40 C to 85 inside the alu minium box Diagnostic can check drive s temperature winding s temperature and the temperature of the power module IGBT If these values exceed the set values PDS goes in alarm state and the power is disabled Each size of TW7 motor requires a different coolant flow water with a max inlet tempera ture of 30 C TW720 needs 1 3 liter min TW730 needs 1 9 liter min TW740 needs 2 5 liter min RELATIVE HUMIDITY PDS maintains its correct functionality from 0 to 95 of relative humidity SHOCK AND VIBRATION PDS can sustain vibrations of 0 5 g in every directions O 10 Hz and shocks for the value of 1g ELECTROMAGNETIC COMPATIBILITY This product accords to EMC Directive 2004 108 CE Then it satisfies the requirements of EN 61000 4 2 ESD EN 61000 4 3 Radiated disturbances radiofrequ
8. on an energized controller the valid national requirements for the preven tion of accidents must be observed e The electrical installation must comply with applicable regulations cable cross sections fuses protective conductor connections e All control inputs and outputs of the drives are insulated with a basic insulation func tional Another level of protection must be implemented for personal safety against electrical contact e When using current operated protective devices please note that the controller have in ternal DC rectification A DC fault current is therefore possible Some differential current protection systems are made inoperative by DC current leakage Use only universal or pulse operated protection devices The RFI filter which is built into the drives cause a certain amount of leakage current to flow in the ground wires This current may cause tripping of too sensitive differential device and need to be taken into account while sizing differential devices e Irrespective of the CE mark on the motor it is reminded that the compliance of the required limit values with the legal EMC regulations remain the responsibility of the manufacturer of the system or machine e The RFI filter needs a ground connection The typical application is not operable without ground connection e For installations different from the typical application e g use of unscreened cables use of multiple drives etc the conformity
9. that includes all establishments other than those directly connected to a low voltage power supply network which supplies buildings used for domestic purposes NOTE Industrial areas technical areas of any building fed from a dedicated transformer are examples of second environment locations CE Conformity 47 48 TW Motors with Integrated Servodrive TW ACCESSORIES Phase Motion Control TW Motors with Integrated Servodrive 11 1 TW S SINGLE PHASE TW S Single phase power supply with pre charge cycle and integral brake unit SMD Technology Single phase supply operation Single phase supply 220 20 Vac Dynamic braking external resistor required pre charge capabilities Integrated EMC filter Nominal output voltage 310 Vdc continuous output power up to 1kW Nominal braking power up to 1kW DIN rail mounted Free air convection cooling 11 2 TW T THREE PHASE TW T Three phase 400 Vac rated 1 kW power supply with pre charge cycle and integral brake unit SMD technology 3 phase supply operation 3 phase supply 200 440 Vac Dynamic braking external resistor required Pre charge capability Integrated EMC filter Nominal output voltage Vin 1 35 volt max 600 Vdc Continuous output power 1 kW Din rail mounted Free air convec tion cooling 11 3 CAN USB COMPACT IXXAT INTERFACE The USB to CAN compact is a low cost active CAN interface for connection to the USB bus The 16 bit microcontroller system enables reliable lo
10. the safety is warranted by hardware circuit Software is able to detect a missing STO input in about 20ms and activate a diagnostic alarm condition 6 2 8 Operating environment requirements INGRESS PROTECTION CODE PDS is class IP 67 protected TEMPERATURE STO function is guaranteed in a range of temperatures from 20 C to 65 C ambient Diagnostic can check drive s temperature winding s temperature and the temperature of the power module IGBT If these values exceed the set values PDS goes in alarm state and the power is disabled RELATIVE HUMIDITY PDS maintains its correct functionality from 0 to 95 of relative humidity SHOCK AND VIBRATION PDS can sustain vibrations of 0 5 g in every directions O 10 Hz and shocks for the value of lg ELECTROMAGNETIC COMPATIBILITY This product accords to EMC Directive 2004 108 CE Then it satisfies the requirements of EN 61000 4 2 ESD EN 61000 4 3 Radiated disturbances radiofrequency electromagnetic field EN 61000 4 4 Burst EN 61000 4 5 Surge EN 61000 4 6 Conducted induced by radio frequency fields EN 61800 3 STO function operates from Logic threshold 6 5Vdc to 35Vdc Typical input current at 24Vdc each single circuit 10mA Response time at nominal voltage 8ms 8 3 TESTING 6 3 1 Type tests STO function will be tested in the operating temperature range power on time real time processing power cut off time min max STO input activation volt
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12. 130 C Electrical data winding dependent Symbol 720C 40 3 730C 30 3 740C 20 3 Power supply typical Rated speed Wn 419 314 262 rad s Peak current T Tpk Ipk 48 48 48 Arms Nominal current T Tn In 30 36 36 Arms Rated power Pnw 14 17 20 kw Torque constant Kt 1 35 1 71 2 50 Nmamp 1 Supply voltage Power consumption P20 22 8 22 8 22 8 W Stall braking torque Tbk 58 58 58 Nm Additional Inertia Jbk 0 13 103 0 13 102 0 13 10 kgm 1 Motor water cooled with 30 C water temperature 2 Connector cooling water pipe opposite inlet and outlet version TW Motors Size 7 37 S9 CONNECTIONS Power Connector Figure 13 TW7 power connector on the motor view from insertion side Figure 14 TW7 signal connectors A on the motor view from Signal Connector Signal Connector A M12 Size CAN Protocol Connection M12 Size EtherCAT Protocol Connection insertion side CAN protocol connection P Figure 15 O 4 TW7 signal connectors e on the motor view from 0 o insertion side EtherCAT SEE protocol connection FEMALE MALE FEMALE MALE Power connector Signal connectors CANOpen protocol EtherCAT protocol CONINVERS 8 pins SF 7EP1N8AWAOO MR23 M12 Codification A M12 Codification D Pin Description Pin Description Pin Description 1 DC 1 Shield 1 Tx 2 GND 2 24 V Supply 2 Rx 3 DC 3 CAN GND 0 V Supply 3 Tx 4 O V Supply 4 Can H 4 Rx A 24 V Input Torque H 5 Can L B A
13. 49 12 TW Motors permissible shaft load 51 WB SAPSty WSEUCHONNSNNN Nonuanunnanennnnnunnennnnnnnnennn 53 Appendix 4 TW Motors with Integrated Servodrive References 1 CiA DS301 V4 02 2 CiADSP305 V1 1 3 CiA DSP402 V2 0 4 Phase Motion Control Tw Motors Software Manual 5 Phase Motion Control CANPC S1 User Manual 6 Phase Motion Control Cockpit II Manual 7 Phase Motion Control Brake Unit and Power Supply technical documentation 8 EtherCAT Communication Specification Figures General connections design TW MOotors cccccccsssssseeeeeeeeeeees Power connections sample TW motors sssseeeeseeeeeeeeeeeaees Signal connections sample CAN protocol cccccsecceeeeeeeeees Led identifications as steikeiaiieieie ba deeper a TW3 power connector on the motor view from insertion side TW3 signal connectors on the motor view from insertion side CAN protocol CONNECTION ccccecccceceeeeeceeeeeeaeeeeeeeeeseeeeseees TW3 power connector on the motor view from insertion side 8 TW3 signal connectors on the motor view from insertion side CAN protocol CONNECTION cccceececeeeeeeeeceeeeeeaeeeseeeeesnesesnaes 9 TW3 signal connectors on the motor view from insertion side EtherCAl protocol CONNECTION s sicsccechadiconsnes cestersieaveds nen 10 TW5 power connector on the motor view from insertion side 11 TW5 signal connectors on the motor view from insertio
14. acitors which enables a particularly high lifetime The system is class IP 65 protected 8 2 MECHANICAL DRAWINGS All measurements are in mm except when specified 145 3 Dar e FIELDBUS IN FIELDBUS OUT me 194 6 _ Boa tem 128 5 B _ _ 145 2 en oo ne TWO720 305 2 76 5 355 2 126 5 mm TWO730 355 2 127 5 405 2 17S mm TW0740 406 2 178 5 456 2 228 5 mm Option C D dimension integrated brake 36 TW Motors with Integrated Servodrive N 2 pipe connectors 1 8 G 8 3 TORQUE NM VERSUS SPEED RPM 720C 40 3 730C 30 3 740C 20 3 N F o o o f E S i Speed rom Speed rom Speed rpm Wi Torque cont S1 flanged E Torque max S6 10 flanged 8 4 MOTOR DRIVE TECHNICAL DATA Reference data tiding independe Symbol _ 7206 03 7300303 7400203 une Nominal Torque S1 low speed water Tne 36 3 55 4 80 5 Nmrms cooled H20 Peak torque S6 10 1 Tpk 57 3 73 9 107 5 Nmrms Maximum speed Pn 600 600 600 rad s Rotor inertia 1 29 103 1 85 103 2 41 103 kgm Acceleration at peak torque Apk 5 07 10 5 30 104 S42 10 rad s2 Mass Msta 13 18 23 Kg Insulation Class H IP protection IP 67 Thermal data winding independent Symbol 720C 40 3 730C 30 3 740C 20 3 Thermal time constant water cooled H20 1 Motor loss at Tnc LOc 0 86 103 1 29 10 1 21 10 Ww Motor loss at Tnw LOw 1 02 103 1 44 103 1 83 103 Ww Threshold of built in PTC Pret 130 130
15. age will be checked to verify if they accord to values expressed in datasheets 6 3 2 Routine tests Test machines which are normally used for routine tests during production phase tests STO function by the interruption of safe voltages signals before the burn in test end after that 6 4 DOCUMENTATION 6 4 1 Quality assurance Quality procedures according to the ISO 9001 Standard requirements 6 4 2 IEC EN 61800 5 2 2007 STO function on TW3 motor accords to IEC EN 61800 5 2 2007 6 4 3 PFH STO function on TW3 motor at 60 C has PFHdtot 2 79E 08 it comes from fault tree analysis 6 4 4 SIL CAPABILITY The comparison between PFH value SFF value and HFT value shows that STO function on TW3 motor reach a level of SIL3 30 TW Motors with Integrated Servodrive TW MOTORS SIZE 5 Phase Motion Control TW Motors with Integrated Servodrive 7 1 TECHNICAL DATA High torque density small size low inertia high voltage supply high speed Torque continuous 3 8 Nm peak 8 20 Nm Maximum power density 1 6 KW in 9 kg including drive 3000 rpm operation Small diameter for limited pitch multi axis applications 310 Vdc and 550 Vdc bus compatible Universal 19 mm shaft with half key The servodrive is produced with resolver 2 poles or encoder Heidenhain inductive absolute mono ECI1319 or multi EQI1331 IP 65 protection Applications e Workpiece setting for wood and metal forming e Packaging bottling w
16. art up In circumstances where external influences for example falling of suspended loads are present additional measures for example mechanical brakes may be necessary to prevent any hazard 9 2 1 Real time processing If one of the control voltages or both of them is interrupted energy supply to the motor is switched off and the disconnection is effected at a delay of less than 10ms 9 2 2 Mode management The STO function is one fault fail safe No single fault of component failure can cause enabled drive to produce motor shaft torque Only in extremely unlike combination of com ponent faults the motor shaft could move jerky with sudden acceleration maximum 180 number pole pairs and produce torque It must be checked if this behaviour can cause a dangerous machine movement STO function is not a brake function after the disconnection of the power from the motor it could continue to rotate as a result of system s inertia 9 2 3 Location identification STO circuits are independent each other and from the rest of drive 9 2 4 Supervisor functions Software is able to detect if one or both safe voltage supplies are interrupted and generates an appropriate diagnostic message but it isn t involved in the safety function srated Servodrive 9 2 5 Maintenance Include the STO operation test to the routine maintenance program of the machinery that the drive runs The STO function or STO input terminals do not need any
17. azards by Improper Use High electric voltage and high working current Risk of death or severe bodily injury by electric shock gt DANGER Dangerous movements Danger to life severe bodily harm or material damage by unintentional motor movements gt DANGER High electric voltage because of incorrect connection Risk of death or bodily injury by electric shock gt WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment gt WARNING Hot surfaces on device housing Danger of injury Danger of burns gt CAUTION Electrical hazard due to water leakage on electrical component Risk of injury by improper handling Risk of bodily injury by bruising shearing cutting hitting or improper handling of pressurized lines gt DANGER Protection Against Contact with Electrical Parts Note This section only concerns devices and drive components with voltages of more than 50 Volt Contact with parts conducting voltages above 50 Volts can cause personal danger and electric shock When operating electrical equipment it is unavoidable that some parts of the devices conduct dangerous voltage High electrical voltage Danger to life electric shock and severe bodily injury Only those trained and qualified to work with or on electrical equipment are permitted to operate maintain and repair this equipment Follow general constructio
18. bodily injury by electric shock To all connections and terminals with voltages between O and 50 Volt only devices elec trical components and conductors may be connected which are equipped with a PELV Protective Extra Low Voltage system Connect only voltages and circuits which are safely isolated from dangerous voltages Safe isolation is achieved for example by isolating transformers safe optocouplers or battery operation without mains connection Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of connected motors Some common examples are improper or wrong wiring of cable connections incorrect operation of the equipment components wrong input of parameters before operation malfunction of sensors encoders and monitoring devices defective components software or firmware errors Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble free operation The monitoring in the drive components will normally be sufficient to avoid faulty operation in the connected drives Regarding personal safety especially the danger of bodily harm and material damage this alone cannot be relied upon to ensure complete safety Until the integrated monitoring functions become effective it must be assumed in any case that faulty drive movements will occur The extent of faulty drive movements depends u
19. commands For proper operation the holding brake have to be supplied with a 24Vdc inside the Tw this volt age is galvanic fully isolated from the power supply and from the other signals 2 9 SIGNAL CONNECTIONS CAN PROTOCOL The CAN bus is a network resistor terminated at the beginning and at the ending side that pass through all devices that is linked to the net It is necessary a twisted pair cable high flessibility and shielded kind suggested with line impedance equal to 1200 if the overall network is longer than 25m it is required right size wires to avoid excessive power loss as stated in the following table referred to a network with no more than 64 nodes Bus length m Resistance per length Wires size mm2 AWG Termination resistor Baudrate kbit s unit mO m RT QO 0 40 0 25 0 34 23 21 1000 at 40 m 40 300 lt 60 0 34 0 6 21 19 150 300 gt 500 at 100 m 300 600 lt 40 0 5 0 6 20 19 150 300 gt 100 at 500 m 600 1000 lt 26 0 75 0 8 19 18 150 300 gt 50 at 1 km In the Tw motor in order to let an easier harnessing there are two M12 connectors one male and one female All signals on the connectors are opto isolated The power supply of the signal interface is self generated thus voiding an external specific power supply and it is galvanically isolated from the main drive Electrical Installation 13 Drive AxM II Figure 3 Signal connections sample CAN pr
20. data winding dependent Symbol 05A03 40 3 05A06 30 3 05A09 20 3 Power supply typical Rated speed Wn 523 314 209 rad s Peak current T Tpk Ipk 8 0 8 0 8 0 Arms Nominal current T Tn In 2259 32 372 Arms Nominal power S1 at rated speed Pnw 0 96 1 08 1 64 kW Torque constant Kt 1 277 1 78 2 66 Nm Amp 1 Motor in free still air worst case ambient 40 C copper 130 C frame 105 C TW Motors Size 5 33 Figure 10 TW5 power connector on the motor view from insertion side Figure 11 TW5 signal connectors on the motor view from insertion side CAN protocol connection Figure 12 TW5 signal connectors on the motor view from insertion side EtherCAT protocol connection 34 TW Motors with Inte 2 9 CONNECTIONS Power Connector Signal Connector Signal Connector M12 Size CAN Protocol Connection M12 Size EtherCAT Protocol Connection _ 0_0 oo OO e e oo _ a FEMALE MALE FEMALE MALE Power connector Signal connectors CANOpen protocol EtherCAT protocol CONINVERS 8 pins SF 7EP1N8AWAOO MR23 M12 Codification A M12 Codification D Pin Description Pin Description Pin Description 1 DC 1 Shield 1 Tx 2 GND 2 24 V Supply 2 Rx 3 DC 3 CAN GND 0 V Supply 3 Tx 4 O V Supply 4 Can H 4 Rx A 24 V Input Torque H 5 Can L B Auxiliary Input 24 V c 24 V Supply D 24 V Input Torque L Note Voltage power supply 24 V can be connected alternately with pins 2 and 3 of th
21. e M12 con nector in CAN protocol version or to pins C and 2 of the power connector If you are not using the functionality of the SAFE pin A and D of the power connector must also be supplied with 24V auxiliary TW MOTORS SIZE 7 Phase Motion Control TW Motors with Integrated Servodrive Power connector M23 4holes 11 165 0 2 8 1 TECHNICAL DATA The new integrated servo TW7 is able to deliver 20 kW and 65 Nm continuous 30 kW over load The system is water cooled with a single circuit that affects both the motor as the drive so integrated that reaches levels of extreme compactness and power density making it ideal for high power applications in confined spaces and enabling the elimination of the cabinet as well as application self propelled vehicle or rotary tables with connections to minimize and control via fieldbus The servodrive is produced with resolver 2 poles or encoder Heidenhain inductive absolute mono ECI1319 or multi EQI1331 Option available brake for vertical axis The TW series is particularly innovative with regard to electromagnetic compatibility There are no cables between motor and drive also between the sensor and drive through the inte gration so that the system has a very low RFI emissions and an equally reduced susceptibil ity to electromagnetic interference The drive is designed and validated for a high level of vibration and temperature and works completely without electrolytic cap
22. ed energy supply to the motor is switched off and the disconnection is effected at a delay of less than 10ms 6 2 2 Mode management The STO function is one fault fail safe No single fault of components can enable the drive to produce motor shaft torque Only in extremely unlike combination of component faults the motor shaft could move jerky with sudden acceleration maximum 180 number pole pairs and produce torque It must be checked if this behaviour can cause a dangerous machine movement STO function is not a brake function after the disconnection of the power from the motor it could continue to rotate as a result of system s inertia 6 2 3 Location identification STO circuits are independent each other and from the rest of drive srated Servodrive 6 2 4 Supervisor functions Software is able to detect if one or both safe voltage supplies are interrupted and generates an appropriate diagnostic message but it isn t involved in the safety function 6 2 5 Maintenance Include the STO operation test to the routine maintenance program of the machinery that the drive runs The STO function or STO input terminals do not need any maintenance Maintain the drive according to the instructions given in the User Manual 6 2 6 Power on time Power on time of STO circuit is in the order of 400us 6 2 7 Power on integrity self tests The system is designed with intrinsic safe principle Software has only diagnostic purpose
23. ency electromagnetic field EN 61000 4 4 Burst EN 61000 4 5 Surge EN 61000 4 6 Conducted induced by radio frequency fields EN 61800 3 EN 61000 4 6 Conducted induced by radio frequency fields EN 61800 3 41 STO function operates from Absolute maximum voltage range 35Vdc to 35Vdc Logic threshold 6 5Vdc to 35Vdc Typical input current at 24Vdc each single circuit 10mA Response time at nominal voltage 8ms 9 3 1 Type tests STO function will be tested in the operating temperature range power on time real time processing power cut off time min max STO input activation voltage will be checked to verify if they accord to values expressed in datasheets 9 3 2 Routine tests Test machines which are normally used for routine tests during production phase will be able to test STO function by the interruption of safe voltages signals before the burn in test end after that 9 4 DOCUMENTATION 9 4 1 Quality assurance Quality procedures according to the ISO 9001 Standard requirements 9 4 2 IEC EN 61800 5 2 2007 STO function on TW7 motor accords to IEC EN 61800 5 2 2007 9 4 3 PFH STO function on TW7 motor at 60 C has PFHdtot 4 30E 08 it comes from fault tree analysis 9 4 4 SIL CAPABILITY The comparison between PFH value SFF value and HFT value shows that STO function on TW7 motor reach a level of SIL3 42 TW Motors with Integrated Servodrive CE CONFORMITY Phase Mot
24. entify the unit it let to read all parameters from it and save them on a backup file it let to load the firmware when neces sary Further it let to make powerful diagnostic with the Monitor Page Monitor window and Graphic window functions 6 The Cockpit could be used simultaneously with other devices in the CAN network only if there is no other systems that try to access via SDO protocol the same Tw that Cockpit is addressing 4 Additionally with the provided CAN Diagno tool it is possible to sniffer the traffic on the CAN bus and to inject customized messages 5 1 3 OPTIONAL BRAKE UNIT AND POWER SUPPLY This device make straightforward the commissioning of the Tw motors as it combine in one system a power supply EMI filter rectifier bridge capacitor filters input supply of 220 380Vac output supply of 310 560Vdc short circuit protected a capacitors pre charge and a clamp unit It can supply at the same time more than one Tw 7 The EMI filter is effective up to a maximum of two Tw motors ELECTRICAL INSTALLATION Figure 1 General connections design TW3 motors CANOpen or EtherCAT communication Figure 2 Power connections sample TW3 motors with TW S Single Phase Supply 11 1 12 TW Motors with 2 1 GENERAL CONNECTIONS DESIGN For the commissioning the Tw motor need only two connections a supply connection power holding brake auxiliary digital input and a signal connection CAN bus
25. es are brought to a safe standstill before accessing or entering the danger zone Additionally secure vertical axes against falling or dropping after switching off the motor power by for example mechanically securing the vertical axes adding an external braking arrester clamping mechanism or ensuring sufficient equilibration of the vertical axes The standard equipment motor brake or an external brake controlled directly by the drive controller are not sufficient to guarantee personal safety Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for maintenance and repair work cleaning of equipment long periods of discontinued equipment use Prevent the operation of high frequency remote control and radio equipment near elec tronics circuits and supply leads If the use of such devices cannot be avoided verify the DANGER 59 60 WARNING CAUTION system and the installation for possible malfunctions in all possible positions of normal use before initial startup If necessary perform a special electromagnetic compatibility EMC test on the installation Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting Magnetic and electromagnetic fields generated by current carrying conductors and perma nent magnets in motors represent a serious personal danger to those with heart pacemakers metal implants and hearing aids Health hazard for pe
26. example by an overcurrent pro tective device according to the relevant standards Secure built in devices from direct touching of electrical parts by providing an external housing for example a control cabinet With electrical drive and filter components observe the following High housing voltage and large leakage current Risk of death or bodily injury by electric shock Before switching on the housings of all electrical equipment and motors must be con nected or grounded with the equipment grounding conductor to the grounding points This is also applicable before short tests The equipment grounding conductor of the electrical equipment and the units must be non detachably and permanently connected to the power supply unit at all times The leakage current is greater than 3 5 mA Over the total length use copper wire of a cross section of a minimum of 10 mm2 for this equipment grounding connection Before start up also in trial runs always attach the equipment grounding conductor or connect with the ground wire Otherwise high voltages may occur at the housing causing electric shock Protection Against Electric Shock by Protective Low Voltage PELV All connections and terminals with voltages between 5 and 50 Volt at PMC products are protective extra low voltage systems which are provided with touch guard according to the product standards High electric voltage by incorrect connection Risk of death or
27. g machines and machine tools The drive controllers may only be operated under the assembly and installation conditions described in this documentation in the specified position of normal use and under the ambient conditions as described temperature degree of protection humidity EMC etc Inappropriate Use Using the drive controllers outside of the operating conditions described in this documenta tion and outside of the indicated technical data and specifications is defined as inappro priate use Drive controllers must not be used if they are subject to operating conditions that do not meet the specified ambient con ditions This includes for example operation under water under extreme temperature fluctuations or extremely high maximum temperatures Furthermore the drive controllers must not be used in applications which have not been expressly authorized by PMC Please carefully follow the specifications outlined in the general Safety Instructions 13 2 SAFETY INSTRUCTION ELECTRIC DOR S AND General Information Using the Safety Instructions and Passing them on to Others Do not attempt to install or commission this device without first reading all documentation provided with the product Read and understand these safety instructions and all user docu mentation prior to working with the device If you do not have the user documentation for the device contact your responsible PMC sales representative
28. gner or user In order to assist their Customers Phase Motion Control have already proved and certified the conformity of a CE typical system to the EMC directive with Tw brushless motors 10 2 LVD 2006 95 CE Refer to Low Voltage Directive LVD 2006 95 CE The LVD directive deals with all electrical machines operating in usual environments be tween 50 and 1000 Vac and between 75 and 1500 Vdc This directive does not apply to applications in particular atmospheres and or anti explosion machines also it does not refer to lifting equipment The directive s general purpose is to guarantee a uniform electrical safety level from the point of view of user s risk and of possible damage to objects the directive dictates the product to be supported from the point of view of safety and of application prescriptions The Tw Motors servodrive are designed manufactured and tested in conformity with the Low Voltage Directive 2006 95 CE and under the responsibility of Phase Motion Control S p A via Adamoli 461 16141 Genoa 10 3 EMCD 2004 108 CE Refer to Electromagnetic Compatibility Directive EMCD 2004 108 CE The EMCD directive relating to electromagnetic compatibility is effective for equipment which may either cause electromagnetic disturbances or be affected by such disturbances The aim is the limitation of the generation of electromagnetic disturbances so that the op eration of radio and telecommunication systems and other equip
29. h regard to the use of the components make sure that his ap plication complies with the applicable safety regulations and standards and carry out the required measures modifications and complements Startup of the delivered components is only permitted once it is sure that the machine or installation in which they are installed complies with the national regulations safety specifications and standards of the application Operation is only permitted if the national EMC regulations for the application are met The instructions for installation in accordance with EMC requirements can be found in the documentation EMC in Drive and Control Systems The machine or installation manufacturer is responsible for compliance with the limiting values as prescribed in the national regulations Technical data connections and operational conditions are specified in the product doc umentation and must be followed at all times Explanation of Warning Symbols and Degrees of Hazard Seriousness The safety instructions describe the following degrees of hazard seriousness The degree of hazard seriousness informs about the consequences resulting from non compliance with the safety instructions Warning symbol with signal word Degree of hazard seriousness according to ANSI Z 535 Death or severe bodily harm will occur gt DANGER Death or severe bodily harm may occur gt WARNING Bodily harm or material damage may occur gt CAUTION H
30. he persons are qualified if they have sufficient knowledge of the assembly installation and operation of the equipment as well as an understanding of all warnings and precautionary measures noted in these instructions Furthermore they must be trained instructed and qualified to switch electrical cir cuits and devices on and off in accordance with technical safety regulations to ground them and to mark them according to the requirements of safe work practices They must have adequate safety equipment and be trained in first aid Only use spare parts and accessories approved by the manufacturer Follow all safety regulations and requirements for the specific application as practiced in the country of use The devices have been designed for installation in industrial machinery The ambient conditions given in the product documentation must be observed Only use safety relevant applications that are clearly and explicitly approved in the Proj ect Planning Manual If this is not the case they are excluded Safety relevant are all such applications which can cause danger to persons and material damage The information given in the documentation of the product with regard to the use of the delivered components contains only examples of applications and suggestions The machine and installation manufacturer must make sure that the delivered com ponents are suited for his individual application and check the information given in this documentation wit
31. hey must remain in their original state in other words no structural changes are permitted It is not permitted to decompile software products or alter source codes Do not mount damaged or faulty products or use them in operation Make sure that the products have been installed in the manner described in the relevant documentation Areas of Use and Application Drive controllers made by PMC are designed to control electrical motors and monitor their operation Control and monitoring of the motors may require additional sensors and actors Note The drive controllers may only be used with the accessories and parts specified in this document If a component has not been specifically named then it may not be either mounted or connected The same applies to cables and lines Operation is only permitted in the specified configurations and combinations of components using the software and firmware as specified Every drive controller has to be programmed before commissioning making it possible for the motor to execute the specific functions of an application The drive controllers have been developed for use in single and multiaxis drive and control tasks To ensure an application specific use the drive controllers are available with different drive power and different interfaces Typical applications of the drive controllers include handling and mounting systems packaging and food machines printing and paper processin
32. ical Rated speed flanged 3 Wn 523 rad s Peak current T Tpk Ipk 5 37 Arms Nominal current at T Tn In 2 40 Arms Rated power flanged speed 3 Pnw 0 60 kw Torque constant Kt 1175 Nmamp 1 Ema Dmm ora U T a 1 une Supply voltage Power consumption P20 13 W Stall braking torque Tbk 7 00 Nm Additional Inertia JBk 0 041 mkgm 1 Motor in free still air worst case ambient 40 C copper 130 C frame 105 C 2 Motor mounted on steel flange temperature flange lt 60 C 3 Speed achievable only for flanged motor TW Motors Size 3A02 25 Figure 7 TW3 power connector on the motor view from insertion side Figure 8 TW3 signal connectors on the motor view from insertion side CAN protocol connection Figure 9 TW3 signal connectors on the motor view from insertion side EtherCAT protocol connection ons CONNECTIONS Power Connector Signal Connector Signal Connector M12 Size CAN Protocol Connection M12 Size EtherCAT Protocol Connection 00 2 FEMALE MALE FEMALE Power connector CANOpen protocol CONINVERS 8 pins SF 7EP1N8AWAOO MR23 M12 Codification A Pin Description Pin Description 1 DC 1 Shield 2 GND 2 24 V Supply 3 DC 3 CAN GND 0 V Supply 4 O V Supply 4 Can H A 24 V Input Torque H 5 Can L B Auxiliary Input 24 V c 24 V Supply D 24 V Input Torque L 26 TW Motors with Integrated Servodrive Signal connectors Pin A UU Ne oo
33. icularity are in conformity to IEC 72 Grade R Reduced shaft load tolerance TW 3 TW5 Z Z 8 2 i De i u w Speed rad sec v Speed rad sec F 10mm F 20mm M Fio 30 mm JF Max radial load on shaft N referred to 30 000 h bearing lifetime TW 7 Load N w Speed rad sec I Max radial load on shaft N referred to 30 000 h bearing lifetime 52 TW Motors with Integrated Servodrive SAFETY INSTRUCTIONS 54 13 1 IMPORTANT DIRECTIONS FOR USE Appropriate Use Introduction PMC products represent state of the art developments and manufacturing They are tested prior to delivery to ensure operating safety and reliability The products may only be used in the manner that is defined as appropriate If they are used in an inappropriate manner then situations can develop that may lead to property damage or injury to personnel Note PMC as manufacturer is not liable for any damages resulting from inappropriate use In such cases the guarantee and the right to payment of damages resulting from inappropri ate use are forfeited The user alone carries all responsibility of the risks Before using PMC products make sure that all the pre requisites for an appropriate use of the products are satisfied Personnel that in any way shape or form uses our products must first read and under stand the relevant safety instructions and be familiar with appropriate use If the products take the form of hardware then t
34. ion Control TW Motors with Integrated Servodrive 44 Declaration of conformity Manufacturer s declaration In stallation instructions This extension group all prescriptions advices and declara tions of the manufacturer in relation to the conformity to EC Directives concerning variable speed servodrive systems 10 1 INTRODUCTION EC DIRECTIVES The EC Directives are manufacturing prescriptions intended to guarantee a standard level of quality reliability and safety for all industrial goods produced and marketed across the European Union The EC Directives are general documents that establish base specifications for the certifications which are subsequently converted into national laws by all member states A certification issued by a member state is valid automatically in all other member states Technical details are not included in the directives They are determined by the rel evant European harmonized standards EN After verification affixing a CE mark certifies the conformity to the CE directives Within the EU there are no commercial barriers for a product with the CE mark A conformity certificate however is generally not required for most directives In the field of brushless motor drives the CE mark is referred exclusively to the Low Voltage Directive As for the EMCD directive a drive is only a component and not a system and the conformity of the system to the EMCD remains the one responsibility of the system desi
35. ment is possible and that a suitable immunity of the equipment against electromagnetic disturbances is ensured so that the operation can be achieved Controllers cannot be driven in standalone operation and therefore the controllers them selves cannot correspond to the EMC directive The controllers must be integrated into a drive system to check the compliance with the EC directive relating to EMC of the Regula tion about the electromagnetic compatibility of devices As Components the Tw Motors comply to the IEC 61000 4 2 2008 IEC 61000 4 4 2004 IEC 61000 4 5 2006 IEC 61800 3 2004 without any accessory or protection The Tw Motors servodrive are designed manufactured and tested in conformity with the Electromagnetic Compatibility Directive 2004 108 CE and under the responsibility of Phase Motion Control S p A via Adamoli 461 16141 Genoa 10 4 INSTALLATION e Transport installation and use of the drives are reserved to qualified staff IEC 60364 e The opening of the drive s enclosure or motors protections or a defective installation can lead to personal or material damage e The technical data on the unit s nameplates must be observed e The units must be installed and cooled according to the regulations stated in the cor responding documentation e Ensure that no components are bent or insulation distances changed during transport The electronic components and contacts must not be touched e When working
36. n and safety regulations when working on electrical power installations Before switching on the device the equipment grounding conductor must have been nondetachably connected to all electrical equipment in accordance with the connection diagram Do not operate electrical equipment at any time even for brief measurements or tests if the equipment grounding conductor is not permanently connected to the mounting points of the components provided for this purpose Before working with electrical parts with voltage potentials higher than 50 V the device must be disconnected from the mains voltage or power supply unit Provide a safeguard DANGER 57 58 DANGER WARNING to prevent reconnection With electrical drive and filter components observe the following Wait 30 minutes after switching off power to allow capacitors to discharge before beginning to work Measure the voltage on the capacitors before beginning to work to make sure that the equipment is safe to touch Never touch the electrical connection points of a component while power is turned on Install the covers and guards provided with the equipment properly before switching the device on Before switching the equipment on cover and safeguard live parts safely to prevent contact with those parts A residual current operated circuit breaker or r c d cannot be used for electric drives Indirect contact must be prevented by other means for
37. n side CAN protocol CONNECTION ccccecccceeeeeeeeeeeeeeeaeeeeeeeeeseeeesnees 12 TW5 signal connectors on the motor view from insertion side EtherCAT protocol connection cccccceeecceeceeeeeeeeeeeeseeeesaeeees 13 TW7 power connector on the motor view from insertion side 14 TW7 signal connectors on the motor view from insertion side CAN protocol CONNECTION x A anklhadan 15 TW7 signal connectors on the motor view from insertion side EtherCAT protocol connection ccccceeecceeceeseeeeseeceseeeeeaeeees 16 TW motors permissible shaft load ccccecceseceeseeeeseeeeeneees 17 UV Compliance with IEC EN 61800 5 2 eensneensneeesnnennenn NnoRWNFE N 14 16 22 22 26 26 26 38 52 INTRODUCTION TORQUEWIRE MOTORS he new TorqueWire series of integral servo systems sets a new style in complex automatic machinery architecture TorqueWire motors are complete self suffi cient servo axis building blocks which allow the design integration and operation of large multi axis systems with minimum hardware and surprising ease The TorqueWire motor system consists of an advanced high performance rare earth brushless servo motor a DSP based high voltage interpolating servo drive and a single or multi turn absolute encoder all assembled in a very compact IP 67 protected frame The motor systems are controlled via a multi drop CANOpen field bus or EtherCAT filed bus linking together gr
38. ording to IEC EN 61800 5 2 under fulfillment of a the conditions listed in the Safety Manual and ul reported in the Report R4S 221284 01 Rev 1 dated oO February the 4 2013 in ite currently valid version on which this Certificate is based Examination parameters Functional safety requirements Included in the IEC EN 61800 5 2 2007 Official Report No RAS 221284 01 Rev 1 Expiry Date February 4 2014 IT IS TO BE INTENDED THAT THE ABOVE OFFICIAL REPORT AND ITS ANNEXES ARE AN INTEGRAL PART OF THIS DOCUMENT Reference Standard IEC EN 61800 8 2 2007 Sesto San Giovanni February 8 2013 dud lt u cc wu oO HM x KL c Ww N TOV italia Gruppo T V S D Via Carducci 125 Pal 23 20098 Sesto San Giovanni M italia www tivit Tov Appendix 65 PHASE MOTION CONTROL PPORT AND DISTRIBUTION NETWORK Company headquarters Phase Motion Control S p a Via Adamoli 461 16141 Genova Italy www phase eu Phase Motion Control China Phase Motion Control Ningbo Ltd 55 Putuoshan Rd Beilun Science and Technology Park Ningbo 315800 www phase com cn Phase Automation Ningbo Ltd North of Binhai Rd Cixi Economic Development Zone Ningbo 315336 www phase com cn Phase Motion Control France Phase Automation S a r 20 Avenue Felix Faure 69007 Lyon www phase automation com Phase Motion Control U S A Phase USA Inc 1335 Industrial dr Itasca IL 60143
39. otocol In the previous drawing is illustrated an interconnection sample between different CAN de vices four Tw motors one AxM servodrive For more details refer to 1 and to 4 2 4 SIGNAL CONNECTIONS ETHERCAT PROTOCOL The EtherCAT technology overcomes the system limitations of other Ethernet solutions the Ethernet packet is no longer received then interpreted and copied as process data at every connection Instead the Ethernet frame is processed on the fly the newly developed FMMU fieldbus memory management unit in each slave node reads the data addressed to it while the telegram is forwarded to the next device Similarly input data is inserted while the tele gram passes through The telegrams are only delayed by a few nanoseconds EtherCAT can provide the same communication mechanisms as the familiar CANOpen mechanisms object dictionary PDO process data objects and SDO service data objects even the network management is comparable For more details refer to 8 14 TW Motors with Integrated Servodrive SOFTWARE Phase Motion Control TW Motors with Integrated Servodrive 3 1 MOTOR LED BEHAVIOUR The Tw Motor is equipped with two couples of leds which indicate the motor status led on the upper and lower side of the motor give redundant information except when different noted Figure 4 Led identifications Led 1 Led 2 Blinking Off Power supply Ok Power output disabled On Blinking Power suppl
40. oups of motors on a single bus system The motors are supplied from a common DC bus and braking energy from any drive is intrinsically recycled on any other axis on the network The performance of TorqueWire originates in the advanced design of both motor and drives The motor parts take advantage of a novel patent pending winding design along with new magnetic materials and a special winding technique all of which result in a servo motor with about 60 of the size of a conventional servo design Such advantage is invested in both temperature rise derating and space for the drive so that TorqueWire motors including the drive are smaller than comparable motors with similar rating The built in DSP based drive is a step forward in power drive miniaturization According to the established Phase drive technology neither electrolytic capacitors nor any components subject to ageing of temperature decay are used All magnetic are planar integrated in the drive PCB The drive is an ultra compact single board unit in high density SMD technology with no massive components and is vibration tested to 200 Hz 5g The drive is conformal coated and sealed connection is via IP 67 industrial circular connectors Drive temperature long considered the limiting factor in integral drives is controlled with an accurate strategy all components are rated rated for 120 C operation while the drive is temperature limited at 100 C The DSP senses motor temperature p
41. ower device temperature and drive ambient temperature All these data are available on the bus for application monitoring and optimization Drive loss and EMI are minimized intrinsically by the drive location with zero wiring stray ca pacitance and minimized winding capacitance In general all servo systems are intrinsically limited in performance by the S N ratio of the encoder signal In the TW motors the interpo lating drive is positioned in close proximity of the encoder thus ensuring the best possible position signal quality and integrity the servo performance is consequently optimal 1 1 TW MOTORS WITH INTEGRATED SERVODRIVE The CANOpen protocol implementation of the TW series is in full compliance with the stan dards DS 301 and device profile drives DSP 402v2 0 TW drives are controlled in space speed or torque The servo loops are updated at 4 kHz frequency In the interpolated mode a position profile synchronized with other axes is followed with a maximum throughput of 500 samples sec corresponding to a maximum mechanical band width of 250 Hz far in excess of the best mechanical systems available The TW interpolates points with a second order spline A separate programmable hardwired I O which overrides all software instructions is provided to cater for machine safety requirements The 2 wires optically isolated digital interface and the suppression of all other interfaces grants reli ability fault tolerance and ease of in
42. pon the type of control and the state of operation Dangerous movements Danger to life risk of injury severe bodily harm or material damage For the above reasons ensure personal safety by means of qualified and tested higher level monitoring devices or measures integrated in the installation They have to be provided for by the user according to the specific conditions within the installation and a hazard and fault analysis The safety regulations applicable for the installation have to be taken into consideration Unintended machine motion or other malfunction is possible if safety devices are disabled bypassed or not activated To avoid accidents bodily harm and or material damage Keep free and clear of the machine s range of motion and moving parts Possible mea sures to prevent people from accidentally entering the machine s range of motion use safety fences use safety guards use protective coverings install light curtains or light barriers Fences and coverings must be strong enough to resist maximum possible momentum Mount the emergency stop switch in the immediate reach of the operator Verify that the emergency stop works before startup Don t operate the device if the emergency stop is not working Isolate the drive power connection by means of an emergency stop circuit or use a safety related starting lockout to prevent unintentional start Make sure that the driv
43. rapping especially on rotary machines single wire commend for multi axis e Tool changers e Laser plotter e Pick and place robots e Mould automation e Assembly machines Z2 MECHANICAL DRAWINGS All measurements are in mm except when specified 05A03 40 3 195 mm 05A06 30 3 1 239 272 mm 05A09 20 3 279 312 mm Option B dimension integrated brake 1 The TW5 motor represented in the previous figure is 05A06 30 3 32 TW Motors with Integrated Servodrive 7 3 TORQUE NM VERSUS SPEED RPM 05A03 40 3 05A06 30 3 05A09 20 3 o o g g g Speed rpm Speed rpm Speed rpm M Torque cont S1 flanged E Torque max S6 10 flanged 7 4 MOTOR DRIVE TECHNICAL DATA Reference data winding independent Symbol 05A03 40 3 05A06 30 3 05A09 20 3 Units Nominal Torque S1 low speed free air 1 Tne 3 06 5 32 7 98 Nmrms Continuous Torque at low speed Tnw 2 94 5S2 7 98 Nmrms Peak torque S6 10 1 Tpk 8 84 12 94 19 41 Nmrms Maximum speed Pn 628 418 376 rad s Rotor inertia 1 81 10 3 15 10 4 49 10 kgm Acceleration at peak torque Apk 7 99 10 OIS ilo 9 66 10 rad s Mass Msta 4 01 6 39 8 88 Kg Insulation Class H IP protection IP 67 Thermal time constant free air 1 Tc 706 52 840 35 932 23 sec Motor loss at Tnc LOc 69 6 80 2 104 4 Ww Threshold of built in PTC PTCt 130 130 130 C Electrical
44. rmal time constant specified in the Technical Data After switching drive controllers or chokes off wait 15 minutes to allow them to cool down before touching them Wear safety gloves or do not work at hot surfaces For certain applications the manufacturer of the end product machine or installation according to the respective safety regulations has to take measures to avoid injuries caused by burns in the end application These measures can be for example warnings guards shielding or barrier technical documentation Protection During Handling and Mounting In unfavorable conditions handling and assembling certain parts and components in an improper way can cause injuries Risk of injury by improper handling Bodily injury by bruising shearing cutting hitting CAUTION Observe the general construction and safety regulations on handling and assembly Use suitable devices for assembly and transport Avoid jamming and bruising by appropriate measures Always use suitable tools Use special tools if specified Use lifting equipment and tools in the correct manner If necessary use suitable protective equipment for example safety goggles safety shoes safety gloves Do not stand under hanging loads Immediately clean up any spilled liquids because of the danger of skidding 61 62 TW Motors with Integrated Servodrive APPENDIX Phase Motion Control TW Moto
45. rs with Integrated Servodrive 64 A SERVICE AND SUPPORT Our service helpdesk at our headquarters in Genoa Italy and our worldwide service will as sist you with all kinds of enquiries Helpdesk Service Hotline Worldwide Phone 39 010 835 161 Genoa Italy please contact our sales service office in your area first For hotline numbers refer to the sales office addresses on the Internet Fax 39 010 42067 33 E mail sales phase eu Internet http www phase eu You will also find additional notes regarding service maintenance e g delivery addresses and training Preparing Information For quick and efficient help please have the following information ready Detailed description of the fault and the circumstances Information on the type plate of the affected products especially type codes and serial numbers Your phone fax numbers so we can contact you in case of questions Figure 17 UV Compliance with IEC EN 61800 5 2 lt S D TE gt ta a Lad oOo COMPLIANCE with IEC EN 61800 5 2 Certificate No C 4 221284 01 Eu CERTIFICATE OWNER PHASE MOTION CONTROL S p A un Via G Adamoll 461 r 1 46141 Genova GE Italy oc T WE HEREWITH CONFIRM THAT TW7 MOTORS WITH INTEGRATED SERVODRIVE MEET THE SIL3 REQUIREMENTS z FOR THE SAFETY FUNCTION Safe torque off STO Mw e Examination result The below described report was found to meet the standard defined requirements of the safety level m acc
46. rsons with heart pacemakers metal implants and hearing aids in prox imity to electrical equipment Persons with heart pacemakers and metal implants are not permitted to enter following areas Areas in which electrical equipment and parts are mounted being operated or com missioned Areas in which parts of motors with permanent magnets are being stored repaired or mounted If it is necessary for somebody with a pacemaker to enter such an area a doctor must be consulted prior to doing so The interference immunity of present or future implanted heart pacemakers differs greatly so that no general rules can be given Those with metal implants or metal pieces as well as with hearing aids must consult a doctor before they enter the areas described above Otherwise health hazards may occur Protection Against Contact with Hot Parts Hot surfaces at motor housings on drive controllers or chokes Danger of injury Danger of burns Do not touch surfaces of device housings and chokes in the proximity of heat sources Danger of burns Do not touch housing surfaces of motors Danger of burns According to operating conditions temperatures can be higher than 60 C 140 F during or after operation Before accessing motors after having switched them off let them cool down for a suf ficiently long time Cooling down can require up to 140 minutes Roughly estimated the time required for cooling down is five times the the
47. ss free transmission and reception of messages in CAN networks with both a high transmission rate and a high bus load In ad dition messages are provided with a time stamp and can be filtered and buffered directly in the USB to CAN compact The module can also be used as a master assembly e g for CANopen systems Together with the universal CAN driver VCI supplied with the delivery the USB to CAN compact allows the simple integration of PC supported applications into CAN systems TW MOTORS PERMISSIBLE SHAFT LOAD Phase Motion Control TW Motors with Integrated Servodrive TW3 and TW7 motors which are long and thin employ a classic dual bearing arrangement with axial preload for zero backlash The bearings are heavy duty type shielded and lubri cated for life The standard shaft lip seal is available from the motor front for easy replace ment or suppression All TW motors have a bearing system which is virtually backlash free locked in the motor frame and able to support radial axial and momentum loads The permissible radial loads vs point of load application on the shaft are defined in the graphs below for a life expec tancy of 30 000 h Axial loads should never exceed 30 of radial load Avoid impacts on the shaft during as sembly hammering as this would degenerate bearing life A threaded axial hole is provided Figure 16 to fasten keyless locking assemblies recommended TW motors permissible Flange concentricity and perpend
48. stallation especially in multi axis systems The motors can be programmed and monitored via the CAN Cockpit configuratore windows interface supplied with all TW motors All TW motors embody a non volatile memory to store permanent data settings and fault conditions irrespective of power supply availability Tw Motor with integrated servodrive including e absolute multi turn N absolute single turn M encoder or two poles resolver R e optional integrated holding brake B e optional shaft forelock K e CANOpen compatible CiA DS301 V4 02 and DSP402 V2 0 drive profile position pro file velocity homing mode interpolated mode rotary table and torque profile Tw spe cific e default values on the parameters table 4 Cdrom Phase Motion Control including e user manual e software manual e a copy of the firmware and the related parameters table e Cockpit software 6 e Phase Motion Control products documentation For a detailed description of all functionalities of the Tw motor please refer to the Software manual 84 1 2 OPTIONAL CANPC S1 CAN IXXAT INTERFACE MODULE The Cockpit configuration tool is useful to create analyze modify and copy all parameters for your applications This tool has to be installed on a PC together with the RS232 CAN CANPC S1 converter or with CanUsb Ixxat converter The Cockpit let the user to access to all functionalities and to all parameters of the drive it can id
49. steel flange temperature flange lt 60 C 3 Speed achievable only for flanged motor TW Motors Size 3 21 4 5 CONNECTIONS Power Connector Figure 5 M23 Size i WA Signal Connector power CONTEC or M12 Size CAN Protocol Connection on the motor view from 6 insertion side O Figure 6 TW3 signal connectors o o on the motor view from 5 insertion side CAN FEMALE MALE protocol connection Power connector Signal connectors CONINVERS 6 pins SF SEPINSAWAOO MR23 M12 Codfication A Pin Description Pin Description 1 DC 1 Shield 2 DC 2 24 V Supply 3 GND 3 CAN GND 0 V Supply 4 Auxiliary Input 24 V 4 Can H 5 O V Supply 5 Can L 6 24 V Supply 22 TW Motors with Integrated Servodrive TW MOTORS SIZE SAO2 Phase Motion Control TW Motors with Integrated Servodrive Bal TECHNICAL DATA High torque density small size low inertia high voltage supply high speed Torque continuous 2 50 Nm peak 6 30 Nm Maximum power density 650 W in 2 8 kg including drive 5000 rpm operation Small diameter for limited pitch multi axis applications 310 Vdc and 550 Vdc bus compatible Universal 14 mm shaft with half key The servodrive is produced with resolver 2 poles or encoder Heidenhain inductive absolute mono ECI1319 or multi EQI1331 IP 67 protection Applications e Workpiece setting for wood and metal forming e Packaging bottling wrapping especially on rotary machines single
50. to the CE EMC directive requires a check of the machine or system regarding EMC limit values e The user of the machine is responsible for the compliance with the EMC directive e Screen all power cables from filters to drive and from drive to motor with shield coverage greater than 85 e Signal cables must always be shielded as above 45 e In order to reduce the interference caused by the motor cable and the induced noise in the encoder connection cable such wiring must be shorter than 15 meters This limita tion is necessary also for the protection of the drive itself For longer cables use appro priate snubber inductors e The shields and grounds connections have to be made on the chassis of the motor on the specific screws distinguished by alr e It is important that the power wires are inserted in wire ways different from the signal and supply one and that any cross between the power and signal cables is carried out at right angle e If sensitive instruments are used for example analogue non preamplified transducers load cells thermocouples etc keep a safe distance between the instrumentation ground and the power ground e All devices drives filters motors must be grounded on a single ground bar with ground wires as straight and short as possible Note Tw Motors servodrive have to use in second environment locations as specified in the CEI EN 61800 3 norm From CEI EN 61800 3 3 2 2 second environment environment
51. uxiliary Input 24 V c 24 V Supply D 24 V Input Torque L Note Voltage power supply 24 V can be connected alternately with pins 2 and 3 of the M12 con nector in CAN protocol version or to pins C and 4 of the power connector Input Torque pin A and D of the power connector must also be supplied with 24V auxiliary 38 TW Motors with Integrated Servodrive TW 7 SAFETY FUNCTION PERFORMANCE Phase Motion Control TW Motors with Integrated Servodrive 40 TW Motors with Inte Nomenclature 3 digits that identify those who assembles the product 002 3 digits that identify the product 071 4 digits that identify Year and Week of production YYWW 6 digits that identify the serial number XXXXXX 9 2 STO FUNCTIONAL REQUIREMENTS The STO function is implemented in hardware and overrides all software activities The only software involvement is to report STO status to the user by the communication with the software In standard conditions STO function requires two separate 24 Vdc applied to dedicated pins This function is anyway guaranteed from 6 5 Vdc to 35Vdc STO circuits are protected from polarity inversion Power that can cause rotation is not applied to the motor The PDS SR will not provide energy to the motor which can generate torque STO corresponds to an uncontrolled stop in accordance with stop category O of IEC 60204 1 This safety function may be used where power removal is required to prevent an unexpected st
52. wire commend for multi axis e Tool changers e Laser plotter e Pick and place robots e Mould automation e Assembly machines 52 MECHANICAL DRAWINGS All measurements are in mm except when specified FIELDBUS OUT Power connector CONINVERS M23 00 6 38 Option K full key 5 x 5 x 20 L1 167 4 197 4 mm L2 197 4 227 4 mm Option B dimension integrated brake 24 TW Motors with Integrated Servodrive 5 3 TORQUE NM VERSUS SPEED RPM TW 3A02 50 4 Wi Torque cont S1 flanged I Torque cont S1 free air E Torque max S6 10 flanged Torque Nm Torque Nm curve versus speed motor rpm 400 Vac drive Motor mounted on steel flange temperature flange lt 60 C Speed rpm 5 4 MOTOR DRIVE TECHNICAL DATA ann a nn anna ame iz us Nominal Torque S1 low speed free air 1 2 40 Nmrms Nominal Torque S1 low speed flanged 2 Tnw 2 58 Nmrms Peak Torque S6 10 1 Tpk 6 10 Nmrms Maximum speed Pn 750 rad s EL T Rotor inertia 0 085 mkgm Acceleration at peak torque Apk 67000 rad s Mass Msta 2 52 Kg Insulation Class H F IP Protection IP67 Thermal data winding independent Symbol 3A02 50 4 BE Thermal time constant free air 1 Thermal time constant flanged 2 Tw 222 sec Motor loss at Tnc LOc 80 Ww Motor loss at Tnw Low 65 w Threshold of built in PTC PTCt 130 C Electrical data winding dependent Zr 3A02 50 4 en Power supply typ
53. y Ok Power output enabled Blinking alternately Fault condition Blinking simultaneously Waiting for firmware download due to Firmware download activation or wrong firmware CRC check Off Two fast blink Low DC link circuit voltage On one side Off both side Flash memory corrupted contact technical service 16 TW Motors with Integrated Servodrive 3 2 DRIVE FUNCTIONALITY The Tw Motor complies with the CAN 2 0A standard with 11 bit identifier furthermore it complies with the CIA DS301 V4 02 Application Layer and Communication Profile with the following functionalities NMT Slave only Baud rate node ID 1000 800 500 250 125 100 50 kbps node 1 127 Server SDO 1 Tx PDO 8 Rx PDO 8 PDO Mapping User programmable only in pre operational state PDO Modes All types supported Emergency object Yes Sync object Yes Time object No Error control protocols Boot up Node Guarding Heartbeat The Tw Motor complies with some functionalities of the CiA DSP402 V2 0 Device Profile Drives and Motion Control that are e Profile position mode e Profile velocity mode e Interpolated position mode e Factor group e Homing mode The baud rate and node id setting are provided by the CiA DSP305 V1 1 Layer Setting Services protocol The Tw Motor specific functions are e Absolute multi turn or absolute single turn encoder e Torque current mode e Auxiliary digital input for emergency disable

MOTORS WITH INTEGRATED SERVODRIVE

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