AC SERVO DRIVE_New_18-06-10
Contents
1. A E m SAFE amp SURE LARSEN amp TOUBRO It s all about Imagineering Introduction About Us Larsen amp Toubro L amp T is a technology driven USD 9 8 billion company that infuses engineering with imagination The Company offers a wide range of advanced solutions in the fields of Engineering Construction Electrical amp Automation Machinery and Information Technology L amp T Switchgear which forms part of the Electrical amp Automation business is India s largest manufacturer of low voltage switchgear with the scale sophistication and range to meet global benchmarks With overfour decades of experience in this field the Company today enjoys a leadership position in the Indian market with growing presence in international markets It offers a complete range of products including controlgear powergear motor starters energy meters wires and host of other accessories Most of our products conform to international standards carry C markings and are KEMA certified Servo Power Larsen amp Toubro s New Generation Servomotor and Drive incorporates the latest technological advancements in motion control system Servomotor and Servopack are used in closed loop control systems in which work is the control variable The digital Servomotor controller directs operation of the Servomotor by sending velocity command signals to the Servopack which drives the Serv2. 0 338 x 104 kg m2 Load running power p 2mNw 2mX3000x0 139 60 60 43 7 W Selection ot Servomotor Size Load running power 2n J 2n 2 425x104 _ S Nu x x 3000 x ESO 123 4 W Recommended Servomotor selections Conditions TL amp Motor rated torque Pa Po 1 to 2 X Motor rated output Motor rated speed or maximum speed JL S Allowable load inertia of Servopack From these conditions the following selections are recommended Servomotor SJME 02AMAA4 Servopack SJDE 02APA Ratings e Rated output 200 W e Rated speed 3000 min 1 e Maximum speed 4500 min 1 e Rated torque 0 637 N m Instantaneous peak torque gt 1 91 N m e Rotor moment of inertia 0 417 X 10 kg m Allowable load inertia of Servopack 3 X 10 kg m Servomotor check Required starting torque 2T Nu Ju JL 2 3000 0 417 1 25 X 10 60 600 1 lt 1 91 N m Instantaneous peak torque Therefore the Servomotor can be used 0 139 0 662 N m Required breaking troque 2n NM JM JL T 2 3000 X 0 417 1 25 X 10 4 60ta 60 x 0 1 lt 1 91 N m Instantaneous peak torque Therefore the Servomotor can be used Ts 0 139 0 384 N m Effective torque Tis TP 2 tc Ts ta _ 0 662 2 0 1 0 139 2 0 9 0 384 X 0 1 1 5 0 225 N m lt 0 637 N m Rated torque Therefore the Servom
3. 4 Drive to motor OIP power Connector IST JZSRCHMS2 5 Encoder end Connector receptacle housing Moley JZSRCHPO4 6 Drive end encoder Connector sher kiem XSPOHPS2 For prefab cables please contact branch office Servo Selection Software SigmaJunma Size Servo Drive sizing software Very Simple to use Driving method are shown in comprehensible figures e Sizing tool models various parameters such as the mechanism friction external forces etc in the calculation process e Inertia is automatically calculated Velocity diagram can be set Sizing information is saved and it is reusable sigmaJunmasize yemas ird eS bere Ron ed Remi Ud COVE OHA TGH Selection ot Servomotor Size Formulae for selecting Servomotor capacity m MEE otions Rotational Motion Horizontal Axis Vartical Axis Vo Servomotor i Counterbalance Mc r TR Servomotor J servomotor T Lead PB 1 R Mechanical Configuration Lead PB L N Load axis speed min 1 PB Ball screw lead m 1 R Gear ratio V Load speed m min M Mass of linear motion unit kg 7 Combined efficiency T Effective load torque Mc Mass of counterbalance kg TM Servomotor maximum at motor shaft N m torque N m Friction coefficien
4. _ 271 745 X 0 0669 60 60 5 2 W Load acceleration power 2n JL _ 2m 2 269x104 _ res Nu t 60 745 x 4 16 4 W Recommended Servomotor selections Conditions TL lt Motor rated torque Pa Po 1 to 2 X Motor rated output Nu Motor rated speed or maximum speed JL S Allowable load inertia of Servopack From these conditions the following selections are recommended Servomotor SJME 02AMA4 Servopack SJDE 02APA Ratings e Rated output 200 W e Rated speed 3000 min e Maximum speed 4500 1 e Rated torque 0 637 N m Instantaneous peak torque 1 91 N m Rotor moment of inertia 0 417X 107 kg m2 e Allowable load inertia of Servopack 3X 10 4 kg m Servomotor check Required starting torque _ 2nNM JM JL T 270X745 x 0 417 2 69 x 10 4 60 ta 60 X 0 1 lt 1 91 N m Instantaneous peak torque Therefore the Servomotor can be used 0 0669 0 309 N m Required breaking troque 2 JL _ _ 20 745 x 0 417 2 69 x 10 60ta 60 X 0 1 lt 1 91 N m Instantaneous peak torque Therefore the Servomotor can be used Ts 0 0669 0 175 N m Effective torque Timex tat TL2 amp Ts ta _ 0 297 2 0 1 0 0669 2 0 9 0 177 x 0 1 t 1 5 0 1032 N m lt 0 637 N m Rated torque Therefore the Servomotor can be used Therefore the recommended selection of servomotors and Serv
5. 02A SJME 04A SJME 08A 5000 5000 4000 4000 min min min 2000 2000 1000 1000 0 0 0 0 25 0 50 0 75 1 00 1 0 1 5 Torque Nem Torque Nem Torque Torque Nem Model Designations Servopack Servomotors SJDE 02 A P A SJME 02 A M B 4 1 EE JUNMA series JUNMA series SJME Servo motors Applicable Servomotor Capacity Rated Output 01 100 W 01 100 W 02 200 W 02 200 W 04 400 W 04 400 W 08 750 W 08 750 W Power Supply Voltage Power Supply Voltage A 200 VAC 1Ph 200 VAC Interface Specifications Encoder Specifications P Pulse train reference input M Incremental encoder Design Revision Order Design Revision Order B Shaft End Specifications 4 Straight key Options 1 No option C 24 VDC brake Servopack Specitications Specifications Instantaneous max output current Amps 5 890 11 1 Voltage Single phase 200 V to 230 VAC 10 to 15 Input power supply for main circuit 50 60Hz 5 and control circuit Capacitor input type single phase full wave rectification with resistance to prevent inrush currents PWM control sine wave power driven system Analog output encoder Allowable load inertia kgm 1 5 x 10 10 x 10 Select one of the following signals 1 CCW CW Input signal Pulse type 2 Sign pulse train for Reference 3 CCW CW logic reversal Designated pulse type and Pulse Select one of the following signals resolution
6. 1 1000 pulses rev Open collector line driver 75 kpps max with PULSE Fuke 2 2500 pulses rev Open collector line driver 187 5 kpps max switch 3 5000 pulses rev Line driver 375 kpps max 4 10000 pulses rev Line driver 750 kpps max Clear input signal Clears the positioning error when turned ON Servo ON input signal Turns the Servomotor ON or OFF OFF if an alarm occurs se CUNT Note OFF for 2s when power is turned ON Brake output signal External signal to control brakes Turn ON to release the brake 4 Sign pulse train logic reversal I O Signals Positioning completed output signal ON if the current position is equal to the reference position 10 pulses Origin output signal ON if the motor is at the origin Width 1 500 rev Note Use the pulse edge that changes the signal from OFF to ON Operated at main power OFF Servo alarm Servo OFF Dynamic OFF after motor stops ON if the motor power is off Regenerative processing optional If the regenerated enery is too large install a regenerative unit Speed erros overload encoder errors voltage errors overcurrents disablement of the built in Protection cooling fan system errors Note No built in circuit for ground protection LED display 5 PWR REF AL1 AL2 AL3 Reference filter Select one of eight levels with FIL switch Forced cooling built in fan 90 RH or less with no condensation 90 RH or less with no condensation e F
7. longer period of time to help in quick acceleration e 17 bit incremental encoder resolution 131072 PPR as standard with Serial Interface to Servopack Option for absolute encoder Choice of Servo Drives with 200V amp 400V Speed Control Position Control Torque Control and Contact Speed as Standard On the fly mode change through digital input possible as standard e Analog Pulse train reference as standard with network option of Mechatrolink Il Profibus Devicenet JUNMA Series Servo Drives 100W to 750W Excellent cost to performance ratio for Position Control ndustry s first plug and play type Servo Drive Achieve optimum Servo performance without gain setting and tuning parameters No gain tuning and parameter setting required Great stability despite of load changes Encoder resolution 10000 PPR Option for servomotor with electromagnetic brake Selectable electronic gear 1000 PPR 2500 PPR 5000 PPR and 10000 PPR Option of Mechatrolink communication Sigma V Series Servo Drives 50W to 15 kW Very High Performance Servo with outstanding frequency response of 1600 Hz best in Industry Choice of Low inertia Middle inertia and High inertia motors Very good peak torque performance approx 350 for longer period of time to help in quick acceleration e 20 bit incremental encoder resolution 1 048 576 PPR as standard with Serial Interface to the Servopack Maxspeed upto 600
8. without brake gt SGMAH Without Brake Connectors Sr No Calegry II SGMAH With Brake Connectors Sino Ooo y o a II SGMGH Without Brake 1 8kW 2 9kW 4 4kW Connectors E E EE Drive CN2 Amplifier Mating Connector II SGMGH With Brake 1 8kW 2 9kW 4 4kW Connectors 6 Drive CN2 Amplifier Mating Connector JZSP CMP9 1 I SGMGH Without Brake 0 45kW 0 85kW 1 3kW Connectors amp Wo Gay 6 Drive CN2 Amplifier Mating Connector JZSP CMP9 1 II SGMGH With Brake 0 45kW 0 85kW 1 3kW Connectors Gay 6 Connesor _ SGMGH Without Brake 5 5kW 7 5kW 11kW 15kW Connectors Interface Connector CN1 JZSP CKI9 Motor Connector Straight type 5 5kW 7 5kW 11kW 15kW MS3106B32 17S Encoder Straight type Connector MS3106B20 29S Encoder Connector cable clamp MS3057 12A 6 Drive CN2 Amplifier Mating Connector JZSP CMP9 1 SGMGH With Brake 5 5kW 7 5kW 11kW 15kW Connectors 6 Encoder Staighttype Connector YS 8100820298 8 Drive CN2 Amplifier Mating Connector JZSP CMP9 1 Connector list for JUNMA Series Drive I P power Connector JST Made JZSP CHG9 1 2 CNt Interface Connector 14 pin connect Plug 3M JZSP CHI9 1 Motor end Connector receptaclehousing Molex JZSPOHMBA
9. 0 3840 2890 3150 ated Angular Acceleration rad s 7180 7990 3370 3790 4090 3410 3740 3590 3580 2680 2960 330A Applicable Servopack SGDV 3R8A 3R8A 7R6A 120A 180A 330A 470A 550A 590A 780A 1 These items and torque motor speed characteristics quoted in combination with a Servopack are at an armature winding temperature of 20 2 Some restrictions apply when using an SGDV 200A Servopack in combination with an SGMGV 30A servomotor Notes 1 The values in parentheses are for servomotors with holding brakes 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors SGMGV 03A 05A 250 mm x 250 mm x 6 mm aluminum SGMGV 09A 13A 20A 400 mm x 400 mm x 20 mm iron SGMGV 30A 44A 55A 75A 550 mm x 550 mm x 30 mm iron SGMGV 1AA 1EA 650 mm x 650 mm x 35 mm iron Rotor Moment of Inertia x10 kg m 400 V Class SewomerMederSGMGVCII oD oso oop rab ano soo wo seo eo TAD TED Finstantaneous Cure Ams 8 w s vo 190 o t Max Speed 3000 2000 Torque Constat Nm Ams 155 171 274 e s Ie ES KU 139 19 9 675 890 125 s s gm 2 73 3 58 16 22 1 5 76 0 97 5 134 Eo ud is 2 p b m A 7900 8590 3880 4190 4420 4040 4
10. 0 rpm Option for Servomotor with electromagnetic brake Faster setup simple tuning process with tuneless function Except SGMAH amp SGMPH series LLLA DIS Features Easy setup and operation Online auto tuning Simple set up Just plug and play enhanced inertia matching precision eliminates the need for Servo gain adjustment Online auto tuning Borer Serer rr Lae Load inertia Current torque limit The peak current input to the motor can be limited to minimize occurrence of overtorque and reduce machinery damage Overtorque Torque Limit Overcurrent Current limit High resolution serial encoder e Error checking eliminates positioning inaccuracies due to electrical noise e Reduces number of wires to half e Absolute encoder 15 to 7 wires e Incremental encoder 9 to 5 wires e Amplifier automatically recognizes the motor and optimizes parameters All in one control Position torque and speed can be controlled independently with simple switching between control modes 3583 Servopack Selection of internal speed presets The motor can be operated at any of the three preset user speeds Contact input Servopack Feed forward compensation Feed forward compensation provides reduced positioning time Command Shorter positioning time Servomotor Designation Designation SGMAH 01 1 25 Servomotor Type SGMAH Super
11. 00 to 150 ms level Setting time 10 ms level Encoder Resolution Enhanced Vibration USB1 1 Support Encoder with Suppression Realtime trace of 20 bit adjustment state Improved trackin 1 048 576 Styles means you can pulses revolution check instantly Servomotor Designation Designation SGMJV 01 ADA 21 Sigma V Servomotor Type SGMJV Medium Inertia Small capacity Brake Oil Seal Specifications 7th Digit No Brake No Oil Seal Oil Seal SGMAV Low Inertia Small capacity SGMGV Medium Inertia Medium capacity 24VDC Brake Capacity KW 1st amp 2nd Digit Oil Seal 24VDC Brake as pes ow I Shaft End Specifications 6th Digit Code shaft End SGMJV SGMAV SGMGV 2 Straight without key standard o O o 6 Straight with key and tap optional O O 8 Straight without key and with tap optional O O _ _ With wo fat seats optional O O Design Procedure 5th Digit Code Shaft End SGMJV SGMAV SGMGV Color Code Voltage V m 200 400 Servomotor Ratings amp Specitications Ratings amp Specifications Capacity Rated Speed Series kW Peak Speed rpm Inertia EA 0 159 0 557 0 0414 20 times SGMJV Medium 3000 low capacity 10 times 30 times 42 8 Maximum Inertia Allowed Load Rate Power kg m2 Moment of Rate KW s Basic specifications x e 4 0 477 0 0531 0 637
12. 2 0 5m Coupling mass Mc 2690kg m Positioning interval tm 1 2 S max Coupling outer diameter Dc 0 03m e Friction coefficient i 0 2 Gear A outer diameter DA 0 02m e Effective load torque T2 0 e Gear A thickness LA 0 02m at motor shaft Gear B outer diameter DB 0 1m Combined efficiency e Gear thickness LB 0 02m Reference pulse Cycle time t E P 1 5 s Where acceleration time ta deceleration time ta and setting time tc 0 1 s Time s Acceleration time ta td tm Ot 1 2 0 1 58205 0 1 5 Constant speed time c tm ts ta ta 1 2 0 1 0 1 0 1 0 9 s Speed md 0 064 0 201 i Va _ 30 in Load axis speed Ps 0201 149 min e Motor speed Nu R 149 X 5 745 min Effective torque at motor shaft p 9 8 M Pst 2m Te _ 0 2X9 8X4X0 201 2 0 05 _ T jer 0 0669 N m Effective load moment of inertia at motor shaft JL JL1 Ji2 Jis 1 639 0 687 0 362 x 10 2 69 x 104 kg m Linear motion 9204 690 10 ho e Load shaft motion Pulley X 2 Gear Ji Ls E a5 2690 x 0 02 x 0 064 4 x2 7870 x 0 02 x 0 1 4 0 687 x 10 kg m Motor shaft motion Gear A Coupling E x 7870 x 0 02 x 0 02 t x 0 3 X 0 03 0 362 X 10 kg m2 LX Selection ot Servomotor Size Load running power p
13. 210 3930 3840 2890 3150 atos Ace lore e rad s 7180 7990 3370 3790 4090 3410 3740 3590 3580 2680 2960 1 These items and torque motor speed characteristics quoted in combination with a Servopack are at an armature winding temperature of 20 C Notes 1 The values in parentheses are for servomotors with holding brakes 2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors SGMGV 03D 05D 250 mm x 250 mm x 6 mm aluminum SGMGV 09D 13D 20D 400 mm x 400 mm x 20 mm iron SGMGV 30D 44D 55D 75D 550 mm x 550 mm x 30 mm iron SGMGV 1AD 1ED 650 mm x 650 mm x 35 mm iron Servopack Type Designation Designation SGDV R70A 01A X V Series L4 Design Revision Order 7th digit SGDV Servopack A B Capacity KW 1st 2nd amp 3rd Digit Lm we Interface 5th amp 6th digit Specifications ae Analog voltage pulse train reference type for rotary servomotors Analog voltage pulse train reference 05 type for linear servomotors MECHATROLINK 2 communications Reference Type for rotary servomotors MECHATROLINK 2 communications Reference Type for linear servomotors Source Voltage 4th Digit Voltage V 200 400 Connector list for gt II SGMAH SGMGH series with brake and
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15. High Power Rate SGMGH High Speed Feed Type Brake Oil Seal Specifications 7th Digit No Brake No Oil Seal No Brake Oil Seal B 90V Break No Oil Seal 24V Break No Oil Seal D OilSeal 90VDC Brake Capacity kW 1st amp 2nd Digit 9 A5 00 EN o NER _ Voltage 3rd Digit Design Procedure bth Digit Serial Encoder Specifications 4th Digit Shaft End 2 iBhAbsdde Shaft End Specifications 6th Digit Code Shaft End 2 ramno s Wweritowipaalely OO O 4 Sky L 9 8 Taper 110 OOO tapped Oo j j Standard O Optional Color Code Voltage V 200 T mee _ Servomotor Ratings Ratings 30 W to 90 kW Rated Speed i Maximum Series M Peak Speed Allowed Load Rated Power pu rpm Moment of Inertia SGMAH 0 0955 0 286 0 0166 0 159 0 477 0 022 Series 30 times Super High Power Rate 0 318 0 955 3000 0 0364 5000 0 637 0 106 20 times 5 times e All X II Servomotors are available with an absolute encoder electromagnetic brake and oil seal as option All X II Servomotor use serial encoder Refer to X II Servo user manual for detailed specifications and dimensions Faster acceleration with lower Small Capacity inertia SGMGH High Speed Feed Series High speed rota
16. SGMAV Low inertia small capacity 3000 Enclosure IP65 ex shaft opening 6000 0 116 c ENE r S o o2 g 8 92 ol G zle 9 un o o 3 9 S gt c c E CN n o c 5 z E w lt s g E lt C 1500 Medium x medium 5 D O LLI 202 1500 2000 300 Servomotor Ratings amp Specitications Ratings and Specifications SGMJV series Time Rating Continuous Withstand Voltage 1500 VAC for one minute Vibration Class V15 Enclosure Totally enclosed self cooled IP65 Insulation Resistance 500 VDC 10 MQ min except for shaft opening Ambient Temperature 0 to 40 Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange mounted Rotation Direction Counter clockwise CCW with forward run Thermal Class B reference when viewed from the load side Voltage 200 V 8999 Rated Speed 3000 Max Speed 6000 Torque Constant 0 285 0 413 0 435 0 512 0 544 0 0414 0 0665 0 259 0 442 1 57 Rotor Moment of Inertia x 10 kg m 0 0561 0 0812 0 323 0 506 1 74 Rated Angular Acceleration 38400 47800 24600 28800 15200 Applicable Servopack SGDV LULI R7OL R90L 1R6A 2R1F 2R8 5R5A 1 These items and torque motor speed characteristics quoted in combination with an SGDV Servopack are at an armature winding temperature of 100 C Oth
17. SGMGH 09DLIA SGMGH 13DLIA SGMGH 20DLIA 3000 Torque N m Torque N m Torque N m Torque N m SGMGH 30DLIA SGMGH 44DLIA SGMGH 55DLIA SGMGH 75DLIA 3000 Torque N m Torque N m Torque N m Torque N m SGMGH 1ADLIA SGMGH 1EDLIA 2000 2000 5 Speed Nm Speed lI LI il 0 100 150 200 250 pe N m prd N m Servopack Type Designation Designation SGDM SGDH Servopack SGDH 08 AE0 S gt II Servopack Type SGDM SGDH Phase 6th Digit only for SGDH type Servopack Capacity kW 1st amp 2nd Digit Blank Three phase 0 5 to 55kW E ingle phase A o5 Design Version A 5th Digit i only for SGDM type Servopack Model 4th Digit F E Speed Torque Position SGDH D Speed Torque Position SGDM Source Voltage 3rd Digit Voltage V Color Code Voltage V o 200 400 Servopack Specifications SGDM SGDH series Specifications Single phase 200V 08AE S Applicable 08A Servomotor Input Power For single phase 200 to 230VAC 10 15 50 60Hz Feeney Supply Control Circuit For single phase 200 to 230VAC 10 15 50 60Hz 10 10 15 50 60hZ Control Method Single phase full wave rectification IGBT PWM sine wave current drive method Feedback Serial encoder incremental absolute value Usage Storage Temperature 0 to 55 20 to 85 C Usage Storage Humidity 9096 RH o
18. Servopacks 2 The characteristics of the intermittent duty zone differ depending on the supply voltages 3 When the effective torque during intermittent duty is within the rated torque the servomotor can be used within the intermittent duty zone 4 When the main circuit cable length exceeds 20 m note that the intermittent duty zone of the Torque Motor Speed Characteristics will shrink as the line to line voltage drops I C Servomotor Ratings amp Specitications Ratings and Specifications SGMGV series Time Rating Continuous Withstand Voltage 1500 VAC for one minute 200 V Class Vibration Class V15 1800 VAC for one minute 400 V Class Insulation Resistance 500 VDC 10 MQ min Enclosure Totally enclosed self cooled IP67 except for shaft opening Ambient Humidity 20 to 80 no condensation Drive Method Direct drive Rotation Direction Counter clockwise CCW with forward run reference when viewed from the load side Ambient Temperature 0 to 40 C Excitation Permanent magnet Mounting Flange mounted Thermal Class F 200 V Class PRated Curent 28 36 69 107 167 2 328 424 sez 56 instantaneous Curen Ams 8 n amp s e wo 170 2 48 3 33 he x 26 46 67 5 89 0 125 242 303 2 73 9 58 28 1 54 5 76 0 97 5 134 26 1 341 e 2 a a E bo i E 7900 8590 3880 4190 4420 4040 4210 393
19. ax 0712 2260020 30 e mail esp nag LNTEBG com 32 Shivaji Marg P O Box 6223 New Delhi 110 015 Tel 011 41419514 15 16 Fax 011 41419600 e mail esp del LNTEBG com L amp T House P O Box 119 191 1 Dhole Patil Road Pune 411 001 Tel 020 26135048 Fax 020 26124910 26135048 e mail esp pnq LNTEBG com 3rd Floor Vishwakarma Chambers Majura Gate Ring Road Surat 395 002 Tel 0261 2473726 Fax 0261 2477078 e mail esp sur LNTEBG com Radhadaya Complex Old Padra Road Near Charotar Society Vadodara 390 015 Tel 0265 2311744 6613610 11 12 Fax 0265 2336184 e mail esp bar LNTEBG com 48 8 16 Dwarakanagar Visakhapatnam 530 016 Tel 0891 6620411 3 Fax 0891 6620416 e mail esp vIZ LNTEBG com Product improvement is a continuous process For the latest information and special applications please contact any of L amp T s offices listed here SAFE amp SURE Electrical Standard Products Larsen amp Toubro Limited Powai Campus Mumbai 400 072 Customer Interaction Center CIC BSNL MTNL toll free 1800 233 5858 Reliance toll free 1800 200 5858 Tel 022 6774 5858 Fax 022 6774 5859 E mail cic LNTEBG com Website www LNTEBG com LARSEN amp TOUBRO It s all about Imagineering SP 50523
20. ch m H Friction coefficient TM Servomotor maximum torque Nem PB Zp Lp or T dp Speed Diagram m S T lat 21 id E ides ravel Distance m 5 Where ta td R 60 tm Load axis speed min Motor Speed min Effective Load Torque at _ 9 8 xu Pa 2t Motor Shaft N m 2n R N Effective Load Inertia at Motor Shaft kg m JL JL1 Ji2 JL3 ON JL17 M C Solid cylinder ke dern d de ous 8 32 an I D m 0 Density kg m Iron o 7 87 X 10 kg m Mass kg Aluminum 2 70 X 10 kg m Rotational Motion lt Inertia for motor shaft At gear input side J 2 Jk At gear output side JL3 s Acceleration Power W Pa s Nm ys 5 Required Starting Torque _ 2m Nu Ju JL t 60 5 i Required Braking Torque T4 21 Nu Jm J N m 60 x ta Effective Torque N m Tas IE tat n 5 ta Min Starting Time S am 2 Nu Ju Jt 60 Tu TL _ _2Tt Nu Ju Jt Min Braking Time S tam eo Tu T Selection ot Servomotor Size Servomotor selection example Mechanical Specifications Load speed Ve 30m min Gear density aA 7870kg m Load e Mass of linear motion unit M 4kg Gear ratio R 5 Pulley diameter DP 0 064m Positioning frequency n 40 times min e Pulley thickness LP 0 02m e Traveling distance
21. e N m How to read a graph of speed and torque characteristics The output torque will decrease if the speed exceeds the rated speed Rated operating point Rated torque Speed 3000 4 i The same torque is output at any rotation speed B Repetitive operating range Range where the motor can be operated for a short time provided that the effective torque of the motor is within the continuous operating range A Continuous operating range Safe range allowing the continuous operation of the Servomotor The effective torque must be within this range 0 0 04 02 03 04 Torque N m Servomotor Specifications SGMGH series Specifications Applied Voltage w 230V Servomotor Type SGMGH 5 05 09 1 20 30ADA 44 55 75 1 1 Rated Rotation Speed min 1500 Max Rotation Speed min 3000 2000 Allowable Load as much as the Moment of Inertia Moment of Inertia 5 times or less Encoder Incremental Encoder 17 bits 16384P R Time Rating Continuous Ambient Temperature 0 to 40 C 20 to 8096 non condensing 15 or below Totally enclosed self cooled IP67 excluding shaft opening Vibration acceleration 24 5m s 2 5G Mounting Flange mounted Basic Specifications For 17 bit and 20 bit encoders without divider pulses output from Servopack are also 16384 P R Torque Speed characteristics A Con
22. e servomotor can be used within the intermittent duty zone 4 When the main circuit cable length exceeds 20 m note that the intermittent duty zone of the Torque Motor Speed Characteristics will shrink as the line to line voltage drops Servomotor Ratings amp Specitications Ratings and Specifications SGMAV series Time Rating Continuous Withstand Voltage 1500 VAC for one minute Vibration Class V15 Enclosure Totally enclosed self cooled IP65 Insulation Resistance 500 VDC 10 MQ min except for shaft opening Ambient Temperature 0 to 40 C Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange mounted Rotation Direction Counterclockwise CCW with forward run Thermal Class B reference when viewed from the load side Voltage 7 min min 6000 Max Speed 0 265 0 375 0 381 0 450 0 539 0 496 0 487 0 467 0 0242 0 0380 0 0531 0 116 0 190 0 326 0 769 1 20 Rotor Moment of Inertia x 10 kgem 0 0389 0 0527 0 0678 0 180 0 254 0 403 0 940 1 41 Rated Angular Acceleration rad s 65800 83800 89900 54900 67000 53700 31000 26500 Applicable Servopack SGDV R700 90 1R6A 2R1F 5R5A 5R5A 120A 1 These items and torque motor speed characteristics quoted in combination with an SGDV Servopack are at an armature winding temperature of 100 C Other values quoted are at 20 C 2 Rated torques are continuo
23. er values quoted are at 20 2 Rated torques are continuous allowable torque values at 40 C with an aluminium heat sink of the following dimensions attached SGMJV A5A 01A 200 mm x 200 mm x 6 mm SGMJV 02A 04A 08A 250 mm x 250 mm x 6 mm Note The values in parentheses are for servomotors with holding brakes e Torque Motor Speed Characteristics A Continuous Duty Zone B Intermittent Duty Zone SGMJV A5A SGMJV 01A SGMJV 02A E E E 03 02 N gt gt gt 0 0 0 0 15 03 045 0 6 0 025 05 0 75 1 Torque N m Torque N m Torque N m SGMJV 04A SGMJV 08A Q Q 02 0 gt gt Torque Torque Notes 1 The Solid dotted and dashed dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations The solid line With a three phase 200 V or a single phase 230 V Servopack The dotted line With a single phase 200 V Servopack The dashed dotted line With a single phase 100 V Servopack An SGMAV ASA servomotor has the same characteristics in combination with three phase 200 V and single phase 200 V servopack 2 The characteristics of the intermittent duty zone differ depending on the supply voltages 3 When the effective torque during intermittent duty is within the rated torque th
24. g range 1 to 10VDC at rated torque reference Bias Setting 0 to 450 min 1 setting resolution 1 min 1 Input Pulse Type Sign pulse train 90 phase displacement 2 phase pulse A phase B phase or CCW CW pulse train Command Pulse Performance Input Pulse Form Line driver 5V level open collector 5V or 12V Input Pulse Frequency 0 to 500kpps 200kpps max at open collector Control Signal Clear signal input pulse is same as reference pulse Position Signal Output A phase B phase C phase Line driver output S phase is for absolute encoder only Servo ON P control or control mode switching zero clamp command pulse inhibit forward reverse run Position Control Mode c D 0 2 Q c Sequence Input Signal prohibit alarm reset forward reverse current limit or internal speed switching I O Signal Servo alarm alarm codes 3 bit output CN1 output terminal is fixed Sequence Output Signal It is possible to output three types of signals from among positioning complete speed agree motor rotation Servo ready current limit speed limit brake release warning NEAR and zero point pulse signal Interface Digital operator hand held type RS 422A port for PCs etc RS 232C ports under some conditions 1 N Communications N may equal up to 14 when an RS 422A port is used Axis Address Setting Set by user setting Status display user constant setting monitor display alarm traceback d
25. isplay JOG run autotuning operations and graphing functions for speed torque command signal etc Overcurrent overvoltage insufficient voltage overload main circuit sensor error heatsink overheat power phase loss overflow overspeed encoder error runaway CPU error parameter error etc Analog Monitor Functions for Supervision Integrates analog monitor connectors for supervision of the speed and torque reference signals etc Display Functions Charge Power 7 segment LED5 Integrated digital operator function Others Reverse connection zero search automatic motor discrimination function and DC reactor connection terminal Communications Functions Integrated Functions Protective Functions for high frequency power suppression function except 6 to 15kW Features Features e 100W to 750W No parameters setting required e Encoder resolution 10 000 pulses per revolution e Selectable electronic gearing ratio 10000 ppr 5000 ppr 2500 ppr 1000 ppr e Automatic real time tunning to adjust for dynamically changing load condition e Mechatrolink Il communication Optional Fast amp easy setup Unpacking u Installation and wiring Remove the Servopack Connect the cables for the from the box power supply signal lines and drop a motor 3 Reference pulse setting 4 Setup completion Select the reference pulse switch The motor is ready to run with the for your suitable contr
26. oller reference from the controller No parameter settings and gain The required torque is possible adjustments are required even at a high speed rotation 4500 Servomotor Specifications Specifications Voltage 200 VAC Description Servomotor Model SJME Applicable Servopack Rated Output 1 Rated Torque 1 2 e SJDE 01 100 200 400 Motor output at the rated operating point U 0 637 Torque at the rated operating point Instantaneous Peak Torque 1 1 91 Maximum instantaneous torque of the motor Rated Current 1 1 1 Current flowing to the motor at the rated operating point Instantaneous Max Current 1 Am 33 60 111 Maximum instantaneous current that is allowed to flow to the motor Rated 1 3000 Speed at the rated operating point Max Speed 1 4500 Highest possible speed Torque Constant N m Amp 0 413 0 645 0 682 0 699 Generated torque ratio for current flowing to the motor Rotor Moment of Inertia kg m x 104 0 0634 0 330 0 603 1 50 Inertia moment at the rotor shaft Rated Power Rate 1 kW s Motor output per unit time The oretical angular acceleration also called torque to 2 rad s 90200 19300 21100 19900 inertia ratio at the rated torque Continuous rating means that the temperature of the Servomotor in continuous operation under specified conditions will not exceed specified temperature or other limitation The maximum vibration amplitude of the motor expre
27. omotor An integral feedback device provide the Servomotor s position and velocity feedback that the controller compares to its programmed motion profile and uses to alter its velocity signal AC Servomotors are used in AC Servo mechanisms which require rapid and accurate response characteristics To obtain these characteristics Servomotors have small diameter high resistance rotors The small diameter provides low inertia for fast starts stops and reversals while the high resistance provides a nearly linear speed torque relationship for accurate control In an ideal Servomotor torque at any speed is directly proportional to control winding voltage In practice however this relationship exists only at zero speed because of the inherent inability of an induction motor to respond to voltage input changes under conditions of light load L amp T introduces Servo system with enhanced performance and functions X II series X V series Junma series and MP series controllers are easy to use and conforms to world standard Switchgear Factory Mumbai Manufactured by YASKAWA Electric Corporation JAPAN i T y n je h F ANT n A UN T IA T D LT Aa gar kas HE WW Range of Servo Products Sigma ll Series Servo Drives 30W to 90 kW Choice of Low inertia Middle inertia and High inertia motors Very good peak torque performance approx 300 for
28. opacks has sufficient capacity and can be used LEE Selection ot Servomotor Size Servomotor selection example Mechanical Specifications Load speed Ve 15m min e Positioning frequency n 40 times min Servomotor Linear motion unit Mass of linear motion unit M 80kg e Traveling distance 4 0 25m Ball screw length LB 0 8m Positioning interval tm 1 2 S max Ball screw diameter DB 0 016m Friction coefficient u 7 02 e Ball screw lead PB 0 005m e Combined efficiency 0 9 90 Coupling mass Mc 0 3kg Coupling outer diameter Dc 0 03m 15 Vi Reference pulse Cycle time s 1 50 Where acceleration time ta deceleration time ta and Load speed setting time tc 0 1 Acceleration time ta td tm 1 2 0 1 m 0 1 s Constant speed time tm ts ta ta 1 2 0 1 0 1 0 1 0 9 s Speed LV 45 Load axis speed N2 Ps 0 008 3000 min Motor speed Because of direct coupling the gear ratio is 1 R 1 1 Then Nu Ne R 3000 x 123000 min Effective torque at motor shaft 2nR 2nX1X0 9 Effective load moment of inertia at motor shaft JL JL1 JB Jc 1 25 x 104 kg m 2 2 Linear motion Jui Mag 0 025 0 507 x 104 v Ballscrew JB u 0 Le Ds 4 x 7 87 x 103 x 0 8 x 0 016 4 0 405 x 104 kg m Coupling Jc Mc Dc2 0 3 0 03
29. otor can be used Therefore the recommended selection of Servomotor s and Servopacks has sufficient capacity and can be used Electrical Standard Products ESP Branch Offices REGISTERED OFFICE AND HEAD OFFICE L amp T House Ballard Estate P O Box 278 Mumbai 400 001 Tel 022 6752 5656 Fax 022 6752 5858 Website www Larsentoubro com ELECTRICAL STANDARD PRODUCTS ESP 501 Sakar Complex Opp Gandhigram Rly Station Ashram Road Ahmedabad 380 009 Tel 079 66304007 11 Fax 079 26580491 66304025 e mail esp ahm LNTEBG com 38 Cubbon Road Post Box 5098 Bangalore 560 001 Tel 080 25020100 25593613 Fax 080 25580525 e mail esp bIr LNTEBG com 131 1 Zone II Maharana Pratap Nagar Bhopal 462 011 Tel 0755 4098706 7 8 9 Fax 0755 2769264 e mail esp bho LNTEBG com Plot No 559 Annapurna Complex Lewis Road Bhubaneswar 751 014 Tel 0674 6451342 2436696 Fax 0674 2537309 e mail esp bbi LNTEBG com SCO 32 Sector 26 D Madhya Marg P O Box 14 Chandigarh 160 026 Tel 0172 4646841 to 7 Fax 0172 4646802 e mail esp chd LNTEBG com 10 Club House Road Chennai 600 002 Tel 044 28462072 4 5 2109 Fax 044 28462102 3 e mail esp maa LNTEBG com 67 Appuswamy Road Post Bag 7156 Opp Nirmala College Coimbatore 641 045 Tel 0422 2588120 1 5 Fax 0422 2588148 e mail esp cbe LNTEBG com L amp T House Group MIG 5 Padmanabhpur Durg 491 001 Tel 0788 2213833 14 2
30. r less non condensing Basic Specifications o Iw s Conditions Three phase 200V 3 1AALIA 1EALIA Servomotor 1 Supply For Thee phase 200 to 230VAC 10 15 50 60Hz Base mounted Rack mount is also available Basic Specifications Conditions Three phase 400V Servopack Type Applicable 1 O5DOA O9DLIA 1300 2000 30DDA 44D0A 55DLIA 7500 1ADDA 1EDDA Input Power Main Circuit For Thee phase 380 to 480VAC 10 15 50 60Hz supply Control Circuit 24VDC 15 Control Method Three phase full wave rectification IGBT PWM sine wave current drive method Usage Storage Temperature 0 to 55 20 to 85 C Basic Specifications Conditions Configuration Base mounted Rack mount is also available Servopack Specitications SGDM SGDH series Specifications Speed Control Range 1 5000 ate From 0 to 100 load 0 01 max at rated speed ee vcore Voltage Variance Rated voltage 10 0 at rated speed Temperature Variance 25 25 C 0 1 max at rated speed Performance Speed Reference Input Reference Voltage Variable setting range 2 to 10VDC at rated speed max input voltage 12V Input Impedance Approx 14kQ 3VDC forward rotation torque if positive reference at rated speed set at delivery Speed Torque Control Mode c D 0 E Q Reference Voltage Torque Reference Input Variable settin
31. ree of corrosive gases Installation site e Free of dust and iron powder e Clean and dry Altitude 1000 m or below Vibration resistance 4 9m s Shock resistance 19 6m s y Installation category overvoltage category Operating conditions Pollution degree 2 Protection class IP1X EN50178 Built in functions 1 Be sure to use the motor within the allowable load inertia moment The operation of the motor will become unstable if the allowable load Inertia moment is exceeded Features amp Designation gt V Delivers the highest performance in industry SIGMA V series Servo Drives 50W to 15kW Build the machine you ve dreamed of with Sigma V Features Settling time 0 to 4 ms E E V Simple Tuning Get up and running quickly Minimize setting time Fine tuning is a must after hooking up the motor with less vibration New tuning less New advanced New 1 parameter function autotuning tuning Even without Servo adjustment The reference filter and feedback gain adjustment Fine tuning can tweak machine with load changes oscillation and functions have a new automatic fee forward gain performance to the max vibration free drive is possible up to adjustment for optimal adjustment performance The Setting time 0 to 4 ms level 20 times the load movement of friction compensation function automatically cancels out Inertia the effect of friction on machine characteristics Setting time 1
32. ssed in units of Vibration Class 15 or below micrometers on the condition that the vibration is measured with a vibrometer parallel to the shaft and in two directions perpendicular to the shaft 3 5 3 Rated Angular Acceleration 1 Time Rating Continuous Thermal Class Withstand Voltage 1500 VAC for one minute Insulation Resistance 500 VDC 10 MO Enclosure Totally enclosed self cooled IP55 excluding shaft opening and connectors Level of protection from dust and water drops Impact acceleration 490 m s in three directions vertical Impact resistance of the motor in three directions up and Impact Resistance side to side and front to back down left and right and back and forth with the motor Impact occurrences 2 shaft mounted horizontally Vibration acceleration 49 m s in three directions Vibration resistance of the motor in three directions up and down left Vibration Resistance vertical side to side and front to back and right and back and forth with the motor shaft mounted horizontally 1 These items and speed torque characteristics quoted in combination with an SJDE Servopack are at an armature winding temperature of 100 C Other values are quoted at 20 2 The rated torques listed here are the values for the continuous allowable torque at 40 with an aluminum heatsink 250 mm x 250 mm x 6 mm attached Speed Torque characteristics SJME 01A SJME
33. t Speed Speed Diagram V Travel Distance m R 60 5 Motor Speed min Effective Load Torque at EE E T 9 8 xu M _ 9 8 x M Mc Ps Motor Shaft N m 2m R n 2m R 7 Effective Load Inertia at Motor Shaft kg m2 JL JL1 JL2 JL3 mes Solid cylinder iy be or Jeon 8 32 Mass kg o Density kg m Iron p 7 87 x 10 kg m Aluminum 0 2 70 x 10 kg m Rotational Motion nertia for motor shaft At gear input side 2 Jk At gear output side Jis Running Power W Po 2T i _ 2 2 J Acceleration Power W a 60 Required Starting Torque Nu Ju Ji Required Braking Torque Ts 2T Nu Ju JL 60 x ta Effective Torque Tus Tp ta TL Ts ta Trms ta TL t te Ts ta i _ 2m Nu Ju J Min Starting Time S tam e0 Tw T _ 2T NM Ju JL Min Braking Time S 60 Tu T Selection ot Servomotor Size Linear Motion Motions Rack amp Pinion Chain and Timin Belt Mechanical Configuration Ne Load axis speed min M Mass of linear motion unit kg dp Pitch diameter m Ve Load speed m min 1 R Gear ratio 2 Number of gear T4 Effective load torque at motor shaft Nem Combined efficiency Lp Pit
34. tinuous duty zone Intermittent duty zone SGMGH 05ALIA SGMGH 09ALIA SGMGH 13ALIA 3000 2000 Speed min 1000 0 Torque N m Torque N m Torque N m SGMGH 20ALIA SGMGH 30ALIA SGMGH 44ALIA 3000 3000 2000 2000 Speed Speed min min 1000 1000 0 20 40 60 80 Torque N m Torque N m Torque N m SGMGH 55ALIA SGMGH 75ALIA SGMGH 1AALIA SGMGH 1EALIA 2000 2000 z NI Speed M Speed il v MI Jul 00 50 100 150 200 o 0 150 0 50 100 150 200 250 Torque m Torque N m Torque N m Torque N m Servomotor Specifications SGMGH series Specifications Applied Voltage DIM 400V Servomotor Type SGMGH L 05 09 1300 2000 30DDA 44DEJA 55DEJA 7500 1ADDA 1EDOA ME Rated Rotation Speed min 1500 Max Rotation Speed min Moment of Inertia J kg m2x10 4 Allowable Load as much as the 5 times Moment of Inertia Moment of Inertia or less Rated Power Rate kw s 112 209 338 415 753 120 137 184 174 289 Standard Incremental Encoder 17 bits 16384P R Applicable Encoder Absolute Encoder 17 bits 16384P R Time Rating Continuous 20 to 8096 non condensing 15 or below Totally enclosed self cooled IP67 excluding shaft opening Basic Specifications Vibration acceleration 24 5m s Flange mounted Torque Speed characteristics A Continuous Duty Zone IB Intermittent Duty Zone SGMGH 05DLIA
35. tion required without load Medium Capacity Forratings beyond 15kW please contact branch office Me Servomotor Specifications SGMAH series Specifications Servomotor m SGMAH _ meom w m m m m 00 Rated Rotation Speed min 3000 Max Rotation Speed min 5000 Moment of Inertia JM kg m x 1074 0 0166 0 0220 0 0364 0 106 0 173 0 672 Allowable Load as much as the 30 times Moment of Inertia JL Moment of Inertia or less or less Standard Incremental Encoder 13 bits 2048P R Applicable Encoder Incremental Encoder 16 bits 16384P R Absolute Encoder 16 bits 16384P R Time Rating Continuous Ambient Temperature to 40 C Ambient Humidity 20 to 8096 non condensing Vibration Class 15 or below Enclosure Totally enclosed self cooled IP55 excluding shaft opening Vibration Resistance Vibration acceleration 49m s Torque Speed characteristics A Continuous Duty Zone BI Intermittent Duty Zone Basic Specifications SGMAH A3A SGMAH A5A SGMAH 01A SGMAH 02A 5000 5000 5000 TT 5000 om Spee 3000 Speed Ta H Breed 3000 Speed 3000 ii ds E om UTI lE llli 1000 EN 1000 1000 1000 mH Em 0 0 0 0 0 0 15 0 3 0 45 0 6 0 0 2b 0 5 0 75 1 0 0 5 1 15 2 Torque N m Torque N m Torque N m Torque N m SGMAH 04A SGMAH 08A 5000 5000 4000 4000 um Speed 3000 Speed 3000 min min os ot 1000 1000 0 0 Torque m Torqu
36. us allowable torque values at 40 C with an aluminium heat sink of the following dimensions attached SGMAV A5A 01A 200 mm x 200 mm x 6 mm SGMAV C2A 02A 04A 06A 08A 250 mm x 250 mm x 6 mm SGMAV 10A 300 mm x 300 mm x 12 mm Note The values in parentheses are for servomotors with holding brakes 3000 e Torque Motor Speed Characteristics 4 Continuous Duty Zone B Intermittent Duty Zone SGMAV A5A SGMAV A1A SGMAV C2A SGMAV 02A B E E Q Q Q Q Cp U U lt 5 5 5 5 o gt gt gt gt 0 0 0 0 0 0 15 0 3 0 45 0 6 0 025 05 075 1 0 04 08 12 1 6 0 05 1 15 2 Torque Nem Torque Nem Torque Nem Torque Nem SGMAV 04A SGMAV 06A SGMAV 08A SGMAV 10A E z E o Q Q o U U 5 5 5 5 0 0 0 15 3 45 6 0 25 5 75 10 Torque N m Torque Nem Torque Nem Torque Nem Notes 1 The Solid dotted and dashed dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations The solid line With a three phase 200 V or a single phase 230 V Servopack The dotted line With a single phase 200 V Servopack The dashed dotted line With a single phase 100 V Servopack An SGMAV ASA servomotor has the same characteristics in combination with three phase 200 V and single phase 200 V
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