3-PHASE STEPPING MOTOR. VRDM 39x. Document: Edition: d013,

Transcription

1 -PHASE STEPPING MOTOR VRDM 9x Edition: d, 5.

2 Features common to all motor types Test voltage to DIN EN 64 part Insulation class F Run-out and perpendicularity to DIN 4955 N Paint: black RAL 95 Security Please observe before installation, set-up, maintenance and repairs of the motors our security tips. Should you not know these sheets, please ask for the data sheet Security tips of the motors Motor specification The listet data in this table are motor-specified data. A breakdown of the individual motors is given under the type code on page. Motor type VRDM 97 VRDM 9 VRDM 9 Winding H N W H N W H N W V 4) AC Max. voltage U max V 5) DC Rated torque M N Nm Holding torque M H Nm Rotor inertia J R kgm Number of steps z / 4 / 5 / / / 4 / 5 / Step angle α.8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 Systematic angle tolerance per step ) α s ±6 Max. starting frequency f Aom khz Rated current I N A rms Resistance / winding R W Ω Current rise constant τ ms ~ 7 ~ 9 ~ Weight ) m kg Terms and symbols taken from DIN 4 part With suitable power drive ) Measured at steps / revolution, units in minutes ) Weight of the motor with stranded wires 4) maximal possible rms value 5) DC bus voltage Edition: d, 5. Data sheet stepping motor Page

3 Characteristic curves VRDM 97 VRDM 97 / 5L H M[Nm].,5,5 fs [khz] n (/min) [rpm] J [kg cm ] VRDM 97 / 5L N VRDM 97 / 5L W M[Nm].,5.,5 J [kg cm ] fs [khz] n (/min) [rpm]. Pull-out torque Drive = D 9 U N = 5 V DC I W = 5,8 A. Pull-out torque Drive = D 9 U N = V DC I W = 4,4 A. Pull-out torque Drive = WDx-xx4, TLxx U N = 5 V DC I W =,75 A Pull-in torque Maximum load inertia Measuring of characteristic curves with steps / revolution Edition: d, 5. Data sheet stepping motor Page

4 Characteristic curves VRDM 9 VRDM 9 / 5L H 4 M[Nm]. fs [khz] J [kg cm ] n (/min) [rpm] VRDM 9 / 5L N VRDM 9 / 5L W 4 M[Nm].. J [kg cm ] fs [khz] n (/min) [rpm]. Pull-out torque Drive = D 9 U N = 5 V DC I W = 5,8 A. Pull-out torque Drive = D 9 U N = V DC I W = 5 A. Pull-out torque Drive = WDx-xx4, TLxx U N = 5 V DC I W = A Pull-in torque Maximum load inertia Measuring of characteristic curves with steps / revolution Edition: d, 5. Data sheet stepping motor Page

5 Characteristic curves VRDM 9 VRDM 9 / 5L H 6 M[Nm] 4,5.,5 fs [khz] n (/min) [rpm] J [kg cm ] VRDM 9 / 5L N VRDM 9 / 5L W 6 M[Nm] 4,5..,5 J [kg cm ] fs [khz] n (/min) [rpm]. Pull-out torque Drive = D 9 U N = 5 V DC I W = 5,8 A. Pull-out torque Drive = D 9 U N = V DC I W = 5 A. Pull-out torque Drive = WDx-xx4, TLxx U N = 5 V DC I W =,5 A Pull-in torque Maximum load inertia Measuring of characteristic curves with steps / revolution Edition: d, 5. Data sheet stepping motor Page 4

6 Shaft load The Motor must not be opened by the customer. If it is opened it will be partially demagnetuized with a consequent loss of power. In the case of motors with terminal box, the cover can be opened to connect the terminals! Please always observe our saftey information! F R F R Conditions: F A F A X Y Nominal bearing life L h =. hours Speed n = 6 min - Ambient temperature = 4 C ( 8 C bearing temperature) = Rated torque = % c.d.f. Point of application of forces X = 5 mm Y = 5 mm Motor VRDM 97 VRDM 9 VRDM 9 Max. radial force Front F R Max. radial force nd shaft end F R Max. axial force Pull FA Max. axial force Push FA % c.d.f. N N % c.d.f. In operation hours with a % probability of failure ) Motors with terminal box, receptacle or encoder ) Motors with stranded wires 5 N ) 75 N ) % c.d.f. 7 N % c.d.f. N - Axial and radial loading must not occur simultaneously. - The shaft must be supported if components are pressed onto the shaft ends. Degree of protection The degree of protection of your motor version is shown in the following diagramm. Motor front Motor connection Motor back Gearbox Stranded Terminal box, nd Holding brake, Shaft exit PLE PLS wires Receptacle shaft end Encoder IP 54 IP 65 IP 4 IP 4 IP 56 IP4 IP56 Edition: d, 5. Data sheet stepping motor Page 5

7 Ambient conditions Climate: (with reference to DIN 59-R4) Temperature (t): -5 C to +4 C Atmospheric humidity (U): 75 % RH annual average / 95 % RH on days / without condensation Storage and transportation temperature: -5 C to +7 C Motor service life Where motors are operated under technically correct conditions, the service life is largely depend on the service life of the bearing. The following operating conditions may significantly reduce the service life of the motor: Installation at altitudes over m above mean sea level Continuous operating temperatures greater than 8 C Angular travel less than Operation with very high rotation accelerations Operation und vibration loads greater than m/s² High cyclic frequencies Running with dry sealing rings Wetting seals with aggressive media Motor versions Our flexible modular system and the latest version management techniques enable us to supply the following versions. The dimensions and a detailed information are shown in the variants section on page. Pease also see thy type code on page. Schematic representation Gearbox : 5: 8: Shaft version Surfacefinished Crossdrilled hole Woodruffkey 9,5 4 Centring Motor type VRDM xx collar Size Length Winding 6 mm 7 mm 9 7 H N W Motor connection Stranded wires Terminal box ) Receptacle Options nd shaft end ) Holding brake ) Encoder 4) 9.5 mm and mm for VRDM 97 and 4mm for VRDM 9 ) Terminal strip inside the motor, sealed with a cable gland, EMC-tested ) Choice between nd shaft end or holding brake. Both cannot be fitted simultaneously 4) Motors with receptacle only (nd shaft end or a holding brake is also possible) Edition: d, 5. Data sheet stepping motor Page 6

8 Level VRDM 9x Encoder -phase stepping motors can optionally be fitted with an encoder. This system of measurement returns the actual position if the power drive is equipped with a rotation monitoring circuit. The rotation monitoring circuit compares the setpoint and actual positions of the motor and signals an error if the difference between the two exceeds a certain limit (contouring error limit). This will detect overloading of the motor, for example. An Encoder can only be fitted on motors equipped with a receptacle. A second shaft end or a holding brake can also be used. Technical data Resolution Index pulse Output Signals Pulse waveshape Supply voltage Current increments / revolution increment / revolution RS 4 A; B; I Square-wave 5V ± 5% up to.5 A Timing diagram 9 A A B B C C Invertiert inverted Invertiert inverted Invertiert inverted Notes: A Temperature sensor is integrated. The shield must be connected to both the motor and the device. t Connection View A Motor housing A PIN Designation A A (-) B B (-) C, I C (-), I (-) 5 V GND + 5 SENSE + SENSE Temperature sensor Not asssigned Any strands that are not used must be seperately insulated (to prevent the risk of short-circuits) Edition: d, 5. Data sheet stepping motor Page 7

9 Holding brake The holding brake is an electromagnetic spring-pressure brake which holds the motor shaft in position when there is no current to the motor (e.g. in the event of a power failure or emergency stop). This holding function is needed for applications in which weight on the shaft can cause excessive torque, e.g. the Z axes of handling equipment. Technical data Rated voltage Holding torque Power consumption Moment of inertia ON time (disengage brake) OFF time (engage brake) Weight 4 V 6 Nm 4 W. kgcm² 4 ms ms Approx..5 kg VRDM 97 with encoder and brake For the brake to work reliably on Z axes with a holding brake the static load torque must not exceed 5% of the motor s holding torque. Drive circuit The drive circuit must be electrically excited in order to disengage the brake. To prevent overheating, the excitation current should be reduced as soon as the brake is disengaged. The recommended circuit arrangement is shown in the following diagram. 4 Ω min. 6 W für / for VRDM V N µf / 8 V für / for VRDM 9.. U [V] B % (=4V) 75% Anzugshaltespannung Starting voltage U B Bremse/ Brake 5% V Haltespannung Holding voltage t Connection The plug is supplied with the motor. Plug designation: Hirschmann type G4 A 5M The holding torque of the brake is reduced by approximately 5% at an operating temperature of C. Edition: d, 5. Data sheet stepping motor Page 8

10 Gearbox options The following tables show available combinations of motor and gearbox. Refer to gearbox datasheet for further information. Gearbox type PLE Economic precision planetary gearbox (Single-stage gearbox) Configuration options Grey highlighted Bold highlighted x recommended types Limiter of torque by gear box or motor gearbox over or under-sized or uneconomic M d [Nm] Motor Gearbox : 5: 8: ) ) ) [Nm] [Nm] [Nm] [Nm] [Nm] [Nm] VRDM VRDM 9 with PLE VRDM 9 Index G (M xxg ) -> in relation to gearbox output shaft ) continuous gearbox output torque max. output torque with this motor (theoretical value calculated from: max. motor torque M max x gear ratio) The continuous gearbox output torque may not be continuously exceeded. For a short period, e.g. in an emergency shutdown situation, twice this torque is permitted. Edition: d, 5. Data sheet stepping motor Page 9

11 Gearbox type PLS High-quality, low-backlash, planetary gearbox (Single-stage gearbox) Configuration options Grey highlighted Bold highlighted x recommended types Limiter of torque by gear box or motor gearbox over or under-sized or uneconomic M d [Nm] Motor Gearbox : 5: 8: ) ) ) [Nm] [Nm] [Nm] [Nm] [Nm] [Nm] VRDM VRDM 9 with PLS VRDM 9 Index G (M xxg ) -> in relation to gearbox output shaft ) gearbox output torque (continuous) max. output torque with this motor (theoretical value calculated from: max. motor torque M max x gear ratio) The continuous gearbox output torque may not be continuously exceeded. For a short period, e.g. in an emergency shutdown situation, twice this torque is permitted. Edition: d, 5. Data sheet stepping motor Page

12 Type code Example: VRDM 9 / 5 L N C E B IP 4 VRDM X X X / 5 L X X X X IP X Number of phases Size (flange) 9 (approx. 85 mm) Length 7 overall approx. 7 mm The motor is approximately overall approx. mm 7 mm longer with a terminal overall approx. mm box or a receptacle. Number of pairs of poles 5 Laminated rotor L Winding identification H 5 V AC (5 V DC ) N 9 V AC ( V DC ) W V AC (5 V DC ) S spezial modell Motor connection A B C T stranded wires terminal box receptacle, straight connector receptacle, right-angled System of measurement E with encoder ( increments / revolution) O without encoder Holding brake B with holding brake O without holding brake Degree of protection Edition: d, 5. Data sheet stepping motor Page

13 Variants Motor mit Haltebremse Motor with holding brake Motor mit Einbaudose und Encoder Motor with receptacle and encoder Motor mit Klemmkasten Motor with terminal box Motor mit Litzen Motor with stranded wires L ±.5 L 4 ±.5 L 4 ±.5 L 4 46,5 bei. Wellenende, nur Litzen seitlich möglich The wires must exit at the back if the shaft exits at the back Getriebe Gearbox Messsystem System of measurement Ø 9,5 : x 5 DIN 6888 Ø : 4 x 6,5 DIN 6888 Ø 4 : 5 x 6,5 DIN 6888 A Rotor axial gefedert Rotor spring-mounted in axial direction Motoranschluss Motor connection Motor mit Klemmkasten Motor with terminal box Kabelverschraubung M*,5 für Kabel ø 9 bis ø Cable gland M*,5 for cable diameter 9 to Motor mit Einbaudose gerader Abgang Power receptacle straight connector Optionen Options Wellenausführung Shaft key ohne Getriebe Without gearbox ohne Encoder Without encoder. Wellenende nd shaft end Welle vorne Shaft at front mit Encoder With encoder : Einbaudose gerader Abgang Signal receptacle straight connector Einbaudose 9 abgewinkelt Signal receptacle right-angled Motor mit Einbaudose 9 abgewinkelt Power receptacle right-angled mit Getriebe With gearbox 5: 8: Motor mit Litzen Motor with stranded wires hinten at back seitlich at side Standard 4 mm Sonderlänge < 4 mm other length ohne. Wellenende Without nd shaft end ohne Bearbeitung unfinishedt PLE mit. Wellenende With nd shaft end Fläche Surface-finished PLS Haltebremse Holding brake ohne Haltebremse Without holding brake Querbohrung Cross-drilled hole mit Haltebremse With holding brake Zentrierbund Centring collar Ø 6 h8 Scheibenfeder DIN 6888 Woodruff key DIN 6888 Ø 7 h8 Wellendurchmesser Shaft diameter Ø 9,5 VRDM 97 oder 9 Ø VRDM 97 oder 9 Ø 4 VRDM 9 nach hinten zeigend Pointing to the back nach vorne zeigend Pointing to the front nach links zeigend Pointing to the left nach rechts zeigend Pointing to the right nach hinten zeigend Pointing to the back nach vorne zeigend Pointing to the front nach links zeigend Pointing to the left nach rechts zeigend Pointing to the right Ansicht A (Ansicht von vorne) View A (front view) Baugröße - Wicklung Size - Winding version Motorwicklung Motor winding W N H L Motor-Typ Motor-type Dear Customer This page shows the motor variants that can be supplied as standart. 67,5 97,5 VRDM 97 VRDM 9 7,5 VRDM 9 Variante möglich / Variants possible Variante in Vorbereitung / Variants in preparation --- Edition: d, 5. Data sheet stepping motor Page

14 Variants Vorder- und Rückansichten der Motorvarianten Views from the motor versions Ansichten Views Motor mit Litzen Motor with stranded wires Ansicht A View A A B Motor mit Klemmkasten Motor with terminal box Ansicht A View A Ansicht B ohne Haltebremse View A, without holding brake Motor mit Einbaudose Motor with receptacle Ansicht A Einbaudose, gerader Abgang View A Receptacle, straight connector Ansicht A Einbaudose, 9 abgewinkelt View A Receptacle, right-angled Einbaudose Motor 6-pol Power receptacle 6-pin Motor mit Encoder Motor with encoder Ansicht A Einbaudose, gerader Abgang View A Receptacle, straight connector Ansicht A Einbaudose, 9 abgewinkelt View A Receptacle, right-angled Einbaudose Encoder -pol Signal receptacle -pin Einbaudose Motor 6-pol Power receptacle 6-pin Steckerposition der Haltebremse (wenn vorhanden) brake plug position Edition: d, 5. Data sheet stepping motor Page

15 Motor connection Motor with receptacle Pin Designation U V W PE Motor with terminal box (symbolic) Cable colours brown blue black green / yellow Designation U V W PE Terminal U V W ( () () green / yellow* Shield * or shield tracer Motor with stranded wires The wires shown in the figure must be bridged. U V Cable colours black and yellow white and blue orange and red Designation U V W W W W W = Bridges Notes: The protective earth (or shield tracer) must be connected to both the motor and the device If the cables are connected in a terminal box, simply unscrew the four Phillips screws on the box. Do not remove the brake! Outer terminal is the EMC terminal Motors with stranded wires must be connected via the front flange with PE potential. The direction of rotation of the motor shaft can be inverted by swapping over two terminals (e.g. U, V or V, W). Edition: d, 5. Data sheet stepping motor Page 4