SLM / SLG Installation & User Manual
Contents
1. 5 1 Returning a Product for Repair 6 0 Class I Division 2 Option 7 0 Certifications SLM G Manual doc 2 PN 18005 Rev 12 21 11 Exlar Corporation 952 500 6200 1 0 INTRODUCTION 1 1 Warranty and Limitation of Liability Exlar warrants its product s to the original purchaser and in the case of original equipment manufacturers to their original customer to be free from defects in material and workmanship and to be made in accordance with Exlar s specifications for the product s as published at the time of purchase unless otherwise agreed to in writing by an authorized Exlar representative In no event however shall Exlar be liable or have any responsibility under such warranty if the product s has been improperly stored installed used or maintained or if Buyer has permitted any unauthorized modifications adjustments and or repairs to such product s Seller s obligation hereunder is limited solely to repairing or replacing at its opinion at the factory any product s or parts thereof which prove to Seller s satisfaction to be defective as a result of defective materials or workmanship and within the period of time in accordance with the Seller s stated product warranty see Terms and Conditions at www exlar com provided however that written notice of claimed defects shall have been given to Exlar within thirty 30 days from the date of any such defect is first discovered The product s cla2. AIN pe 153 3 108 4 8 4 0 00901 10 181 0 00327 3 70 75 195 22 25 50 0 34 12 11 0 40 0 045 1 20 0 136 400 177 1 20 01 354 2 40 02 17 6 2 0 11 3 22 5 169 1 19 11 338 2 38 2 13 7 1 55 13 79 27 18 169 7 120 8 0 81 10 2 0 33 12 68 0 40 0 045 1 20 0 136 460 3000 Stator Insulation System Class Deg C 180 H Vrms Deg C Environmental Rating SLM Series Insulation System Volt Rating Thermal Switch Case Temp IP65 All ratings at 25 degrees Celsius For amplifiers using peak sinusoidal ratings multiply RMS sinusoidal Kt by 707 and peak current by 1 414 Test data derived using NEMA 12 x 12 x 1 2 aluminum heat sink SLM G Manual doc 12 12 21 11 Exlar Corporation 952 500 6200 4 1 Electrical Mechanical Specifications cont d SLM142 Sinusoidal Commutation Data 3 Stack Motor 2013 20 02 2670 2685 aoze 6341 6366 es en es en Trapezoidal Commutation Data gs22 19 12 22 50 2562 ea 1982 e 512 am eon am em Motor Stator Data Resistance L L 5 25 Ohms 1 01 1 39 0 61 0 86 Inductance L L 15 mH 5 4 30 5 41 5 20 0 28 2 0 02146 24 25 008408 85 5 85 Insulation System Volt Rating Vrms Thermal Switch Case Temp Deg Environmental Rating SLM Series IP65 All ratings at 25 degrees Celsius For amplifiers
3. 920 1039 800 904 _ 501 1798 203 1 1550 169 4 1200 135 6 1000 112 9 1004 HE 1100 tor 1100 o b cee tie 40664594 1445 163 3 11750828 104001175 _____ 101 2545 2875 1660 187 6 1350 152 6 1200 1356 Pp 161 4696 5304 2112 238 6 1714 193 0 1518 171 0 201 4696 530 4 2240 253 1 1840 2079 1620 1830 _____ 251 4066 459 4 2350 265 5 1900 214 77 1675 1892 401 4696 5304 2800 316 4 2240 253 1 2000 2259 501 4066 459 4 2900 3277 2350 265 5 2100 2373 10041 2545 287 5 2500 282 5 2 2500 282 5 2400 271 2 as 3 4 Lubrication Maintenance SLG Series gear motors are designed when used within their standard ratings to operate for thousands of hours with the initial grease lubrication provided from the factory Variables such as operating temperature and RMS rotational speed will affect the life of the grease lubrication and determine the period within which the unit should be re lubricated Please refer to the table next page to determine the hours of operation after which the unit should be re lubricated based on operating speed and operating temperature SLM G Manual doc 8 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 Due to the integrated nature of the gear motor product it is recommended that the unit be sent to Exlar for cleaning insp
4. SLM142 Lbf N 1350 6006 1071 4767 789 3512 626 2788 497 2213 AN Excessive side load on the output shaft of the motor will dramatically reduce the life of the motor and should be avoided Side load can be caused from misalignment loading from devices such as pulleys mounted directly to the output shaft and from the motor s use in the application SLM G Manual doc 7 12 21 11 PN 18005 Exlar Corporation Rev 952 500 6200 3 9 Output Torque Ratings SLG Series gearmotors are equivalent to SLM Series motors with integrated planetary gearing Consult SLM Series electrical and speed torque data for use with SLG ratios The maximum allowable output torque for the SLG Series motors is shown below It is the user s responsibility not to exceed the acceptable output torque of the SLG Series gearmotor Output Torque Ratings Maximum Static Load 1000 RPM 3000 RPM 5000 RPM Lbf in Nm Lbf in Nm Lbf in Nm Lbf in Nm 603 68 1 144 16 2 104 11 7 88 9 9 T 10 58 EE E z 340 38 4 245 27 7 210 23 7 EE 10071 327 36 9 320 36 1 280 31 6 240 27 1 179803 775 87 6 5006 5104576 _ 101 1126 1272 890 1006 680 76 8 590 66 7 E 2078 88 8 8810995 888 177 9 8 6831 201 2078 2348 980 07 740 si 1798 2031 1250 147 2 950 107 3 825 93 2 1401 2078 234 8 1200 135 6
5. 230 4000 Stator Insulation System Class Deg C 180 H Insulation System Volt Rating Vrms Thermal Switch Case Temp Deg Environmental Rating SLM Series IP65 All ratings at 25 degrees Celsius For amplifiers using peak sinusoidal ratings multiply RMS sinusoidal Kt by 707 and peak current by 1 414 Test data derived using NEMA 12 x 12 X 3 8 aluminum heat sink SLM G Manual doc 11 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 N 1 Electrical Mechanical Specifications cont d Sinusoidal Commutation Data 4 10 25C 1 8 2 0 Trapezoidal Commutation Data 262 057 4 10 25C N m A 1 40 1 53 Motor Stator Data Puomwam e s Inductance L L 4 15 mH 12 7 15 2 5 kg cm 00 s Q lt D m 2 D D T o D 2 D D 3 D 3 o N C1 O1 eo A lectrical Time Constant ms amping Constant___Ibf in krpm N m krpm lof in N m riction Torque Mechanical Time Constant tm ms SLM G115 3 Stack Motor 174 2 19 68 348 4 39 36 8 5 1 0 22 9 45 8 166 4 18 8 332 7 37 6 6 63 0 75 28 04 55 24 82 1 58 1 8 0 20 2 4 0 34 12 27 0 40 0 045 1 20 0 136 230 173 1 19 56 346 2 9 11 mlale to 165 3 18 67 330 6 37 3 2 37 1 40 14 93 29 85
6. 10 0 008 0 008 0 008 0 008 0 016 115 230 400 460 All ratings at 25 degrees Celsius For amplifiers using peak sinusoidal ratings multiply RMS sinusoidal Kt by 707 and peak current by 1 414 Test data derived using NEMA 10 x 10 x 1 4 aluminum heat sink SLM G Manual doc 10 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 4 1 Electrical Mechanical Specifications SLM G090 1 Stack Winding 2 Stack Winding ns 3 Stack Winding Sinusoidal Commutation Data aan aos sos teen tesa uzen 4 10 25C N m A 1 5 1 3 0 7 1 3 1 5 2 8 5 56 Qo M N A OI Trapezoidal Commutation Data 2 57 2 59 2 56 259 427 432 4 27 4 31 6 02 5 99 6 02 0 7 13 5 8 6 8 5 8 6 12 0 12 0 12 0 9 02 10 34 5 11 9 07 10 23 523 amp 5 Torque Constant Kt Lbf in A 10 34 5 17 1 02 1 17 0 58 1 03 1 16 10 25C N m A 1 17 0 58 1034 _ S47 ELM 058 _ Motor Data Pecon e 8 e 8 e s sl e s_ Resistance L L 5 25C Ohms 0 75 3 8 0 69 0 00140 5 1 58 0 00096 1 08 67 97 11 20 29 20 29 Mechanical Time Constant tm ms 0 54 Eleotical Time ms 514 502 6 14 601 593 606 985 0 37 0 31 6 86 0 12 0 18 0 020 035 035 0 50 0 040 0 056 400
7. 6 6 5 Trapezoidal Commutation Data Lbf in 11 4 10 7 10 8 14 7 14 6 N m 0 82 0 7 ee uar 1 24 1 21 1 22 1 66 1 65 1 61 Peak Motor Torque Lbf in 14 0 13 4 21 5 21 6 29 3 29 3 N m 1 15 1 5 25 24 24 33 3 3 3 2 Torque Constant Lbfn A 1 93 6 5 792 183 411 10 25C N m A 0 22 0 46 0 73 0 46 0 78 0 89 0 21 0 46 0 89 Cont Current Rating A 1 15 1 01 174 1 52 8 96 3 98 Peak Current Rating 2 02 347 3 04 17 92 7 96 Motor Data Voltage Constant Ke Vpk Krom 23 9 50 3 91 8 50 3 98 1 226 50 9 6 69 4 160 360 60 0 694 10 25C Krpm 16 9 56 9 ole Configuration 8 8 8 Resistance L L 5 25 262 12 52 35 22 45 79 526 1595 20 69 0 62 3 14 12 22 Inductance L L 4 15 35 0 455 15 66 190 25 0 T X T o T in in 9 P O P O O 2 mE 2 c c o lt mE s Q c D NO O e 3 3 o 4 4 12 3 16 5 0 000237 5 kg cm 0 466 0 665 22 23 14 28 14728 Mechanical Time Constant tm ms 1 41 1 52 1 67 1 67 0 60 0 64 0 67 0 66 0 37 0 37 Electical Tine Constant te ms 1 18 1 09 0 99 099 134 125 1 19 0 03 0 002 0 002 0 008 0 002 0
8. S sinusoidal Kt by 707 and peak current by 1 414 Test data derived using NEMA 12 x 12 x Vo SLM G Manual doc 14 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 42 SLM Series Motor SLG Series Gearmotor Stage Inertia SLM G060 Gear Stages binse gem bise Wem SLM G090 SLM Armature Inertia Ib in sec gm Reflected Inertias Gear Stages binse gem bise pem SLM Armature Inertia Ib in sec kg m 10 181 SLM Brake Inertia Ib in sec kg m 3 70 bie teen bises ocv SLM142 Geared motor SLG not available in 142 frame 1 Stack 2 Stack 3 Stack SLM Armature Inertia Ib in sec kg cm 0 00927 10 47 0 01537 17 36 0 02146 24 25 SLM Brake Inertia Ib in sec kg cm 008408 9 5 SLM180 Geared motor SLG not available in 180 frame otator 1 Stack 2 Stack 3 Stack SLM Armature Inertia Ib in sec kg cm 0 0427 48 25 0 0758 85 65 0 1089 123 04 SLM Brake Inertia Ib in sec kg cm 02814 31 8 SLM G Manual doc 15 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 5 0 TROUBLESHOOTING PROCEDURES This section provides you with guidelines and hints on troubleshooting various problems that may be encountered during installation and operation of your Exlar SLM G Series motor Symptom Trouble Possible Cause Troubleshooting Procedure No response from motor Motor se
9. SLM SLG SERIES BRUSHLESS SERVO MOTOR INSTALLATION AND SERVICE MANUAL SLM Series Brushless Servo Motor SLG Series Gearmotor Information furnished by EXLAR Corporation is believed to be accurate and reliable However no responsibility is assumed by EXLAR Corporation for its use EXLAR reserves the right to change the design and operation of the equipment described herein and any associated motion products that may appear in this document Information in this document pertaining to equipment not furnished by EXLAR should be confirmed by that equipment manufacturer EXLAR assumes no responsibility for changes to information by other manufacturers or errors in that information or the description of that information Information in this document is subject to change without notice SLM G Manual doc 1 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 TABLE OF CONTENTS 1 0 Introduction 1 1 Warranty and Limitations of Liability 1 2 Safety Considerations 2 0 System Configuration 2 1 Typical System Configuration 2 2 Feedback Information 2 3 Brake 3 0 Installation and Operation 3 1 Mounting Configurations 3 2 Mounting Considerations 3 3 Output Torque Ratings 3 4 Lubrication Maintenance 4 0 SpecificalloDS 29 2 rarae ERE EE PEE p E RP Pacte edet Eb 4 1 Electrical Mechanical Specifications 4 2 SLG Series Motor and Gear Stage Inertia 5 0 Troubleshooting Procedures
10. act Exlar engineering 2 Motor is being operated outside of continuous ratings 3 Amplifier is poorly tuned causing excessive unnecessary current to be applied to motor Check Gain settings 16 12 21 11 Exlar Corporation 952 500 6200 5 1 Returning a Product for Repair STANDARD REPAIR LEADTIME e wo weeks for written evaluation from Exlar e wo weeks from receipt of approval by fax or email for repair where parts are available e Anevaluation charge per unit after evaluation applies if customer chooses not to repair or if product is found not in need of repair EXPEDITED REPAIR LEADTIME e expedite charge per unit can be quoted e his provides one week for written evaluation from Exlar e his provides one week from receipt of approval by fax or email for repair where parts are available PROCEDURE e Please discuss the return with Exlar Technical Support prior to requesting an RGA number to see if it is possible to resolve the issue prior to return e If itis determined that an RGA number is required please do so by contacting the Returned Goods Administrator Phone 952 500 6200 or email returns exlar com e International Repairs Closely follow instructions provided by the Exlar Returned Goods Administrator Failure to comply with issued instructions may result in delays for repair and return e Exlar requires a purchase order at the time of RGA 0 on warranty returns or for the standard evaluation charg
11. d after incoming power is removed Take care to insure that the amplifier has discharged all power 2 2 Feedback Information Most SLM G Series motors incorporate a 2 pole resolver or quadrature incremental encoder with commutation signals as the primary rotary feedback device The selection of this feedback device is dictated by the amplifier that the end user will use to operate the motor Each amplifier has specific requirements for the feedback on the motor Not all resolver based amplifiers can use the same resolver resolver alignment or relative direction of resolver rotation Not all encoder based amplifiers can use the same encoder encoder alignment or relative direction of encoder rotation SLM G Manual doc 4 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 Many amplifiers offer software that allows the entering of parameters or the downloading of motor data files that dictate how the feedback must be set up on the motor Exlar can provide many of these data files or the proper parameters to enter Entering motor parameter data to some amplifiers may require assistance from the amplifier manufacturer Feedback Alignment When Exlar manufactures an SLM or SLG Series motor the proper feedback is selected mounted aligned and test run on the amplifier that the customer plans to use or one that is known to be equivalent for confirming proper feedback alignment and operation In any case where it is determined that the feedbac
12. e per unit on all non warranty units for the evaluation fee e Following the evaluation you will receive a quote from Exlar on the charges that will apply If the actuator repair is approved the evaluation fee will be waived and we will request an amended PO for the actual repair value 6 0 CLASS I DIVISION 2 OPTION Class I division 2 products are provided with an electrical box containing terminal strips for customer wiring access The electrical box has two 2 NPT ports for customer conduit connection It is the responsibility of the installer to insure that the interconnecting wire cabling and conduit meet any local or regional required electrical codes and standards SLM G Manual doc 17 12 21 11 PN 18005 Exlar Corporation Rev 952 500 6200 6 1 Terminal Box Wiring Diagram 24 vide 1 amp Power Supply far logic Brake Coil Note 1 Thermal switch normally clesed opens when stator bomp exceeds 130 dag C 6 2 Terminal Box Dimensions 1 10 E 250 Es 27 8 31 8 Power and 2 20 55 9 SLM G Manual doc 18 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 7 0 EC CONFORMANCE CERTIFICATION Declaration of Conformity according to ISO IEC 17050 1 and ISO IEC 17050 2 Manufacturer s Name Exlar Corporation Manufacturer s Address 18400 West 77 Street Chanhassen MN 55317 USA declares that the product Product Name GSX GSM SR SLM SLG Series Complete Mode
13. ection and re lubrication at the end of the recommended grease renewal period This can be coordinated by contacting Exlar s RGA Coordinator at 952 368 3434 Exlar recommends using Mobilith SHC220 a high performance extreme pressure gear grease The unique physical properties of the synthetic base oil provide outstanding protection against wear rust corrosion and high or low temperature degradation Its operating range is 40 degrees C to 177 degrees C 40 degrees F to 350 degrees F RMS Rotational Speed RPM Recommended Grease Renewal Period Hours CASE TEMP CASE TEMP CASE TEMP Da Rouen SPEE 65 deg C 49 des C 149 deg F 80 C 176 deg 95 95 dex C QI dee A C 203 deg F 1000 5000 2500 O 8 500 4 250 2 125 1000 6 000 3 000 1 500 1500 3 500 1 750 SLM G Manual doc 9 12 21 11 PN 18005 Exlar Corporation Rev 952 500 6200 4 0 SPECIFICATIONS 4 1 Electrical Mechanical Specifications SLM GO060 3 Stack Motor Do Stack Motor 2 Stack Motor Sinusoidal Commutation Data N m 0 86 0 83 1 27 1 28 1 73 1 73 1 69 Peak Motor Torque Lbf in 15 3 14 7 22 5 22 6 30 7 30 7 N m 2 54 2 56 3 47 3 46 3 38 Torque Constant K Lbf in A 2 5 10 2 23 53 10 25C N m A 0 6 10 11 0 3 0 6 1 1 Cont Current Rating 34 16 19 08 54 25 1 4 1 2 13 3 2 Peak Current Rating 69 31 38 16 108 49 2 8 2 5 14
14. ems to be enabled receiving current but is not operating or is operating erratically Motor cannot move load Motor housing moves or vibrates when shaft is in motion Motor is overheating SLM G Manual doc PN 18005 Rev Q 1 Check amplifier for faults that may indicate problem 2 Check to insure that amplifier is enabled 3 Check for proper wiring 1 Amplifier may be improperly tuned Check all gain settings If a motor file or parameters specific to your amplifier motor combination have been supplied by Exlar be sure that they are entered or downloaded properly 2 Amplifier may be set up improperly for the particular motor being used Check amplifier settings for number of poles voltage current resistance inductance inertia etc 3 Feedback wiring may be incorrect 4 Feedback conductors touching or feedback cable may be damaged 5 Motor phases are wired incorrectly or in incorrect order R S T 6 Feedback resolver or encoder is improperly aligned Contact Exlar 1 Load is too large for the capacity of the motor or too much friction is present 2 Excessive side load 3 Misalignment of output shaft to load 4 Amplifier has too low of current capacity or is limited to too low of current capacity 1 Check motor mounting Insure that the motor is securely mounted 2 Amplifier is improperly tuned wrong gain settings Tune amplifier 1 Insufficient cooling for application requirements Cont
15. friction mechanism and does not provide a positive lock SLM G Manual doc 6 12 21 11 PN 18005 Exlar Corporation Rev 952 500 6200 3 0 INSTALLATION AND OPERATION 3 1 Mounting Configurations The SLM Series standard mounting configurations and dimensions can be obtained from the product catalog or from our website www exlar com The typical fasteners used to mount via the front through holes of the SLM Series actuators are SLM 60 M5 or 10 SHCS SLM 90 M6 or 1 4 SHCS SLM 115 M8 or 5 16 SHCS SLM 142 MIO or 3 8 SHCS SLM180 M12 SHCS 3 2 Mounting Considerations Every effort should be made to minimize misalignment Misalignment of the SLM G Series motor with respect to the load the motor is moving is of great concern Any misalignment will decrease the life of the components within the motor and also may create problems within the application associated with misalignment Also mounting of pulleys and similar devices on the output shaft of the motor imparts side load on the output shaft The life of the gear stage of the actuator is dependant on side load as shown in the table below Visit www exlar com for more detailed tables Radial Load for 10 000 hour bearing life at 25mm from motor face RPM 1000 SLM G060 Lbf N 195 867 155 690 114 507 90 400 _ 72 G20 SLM G090 Lbf N 389 1730 309 1375 227 1010 180 801 143 636 SLM G115 Lbf N 939 4177 745 3314 549 2442 435 1935 346 1539
16. he actuator assembly Encoders An incremental encoder is an electronic rotary device that transmits a string of electrical pulses when rotated Most brushless motors or servo systems that use incremental encoders use what is called a quadrature encoder Typical brushless motor encoders use two data channels labeled A amp B to provide direction velocity and position information The Channel labeled I or Z has one pulse per revolution and is called the index The channels labeled as hall signals or commutation signals are typically labeled S1 S2 amp S3 Hall 1 2 amp 3 or Hall A B amp C depending on the manufacturer s conventions These signals give the amplifier the commutation information that it needs to properly rotate the motor SLM G Series Feedback Devices Standard SLM G Series motors use either resolvers or encoders as their primary feedback device Depending on the amplifier that will be used to operate the actuator the hookup of the actuator can vary Refer to www exlar com or contact Exlar for the correct wiring details 2 3 Internal Holding Brake Many applications require the addition of the rear internal holding brake The brake is held open by the supply of power to a magnetic mechanical clutch Whenever there is not power to the brake the armature is held in place which prevents the shaft from moving SLM G Manual doc 5 12 21 11 PN 18005 Exlar Corporation Rev 952 500 6200 Historically Exlar motors which had ho
17. imed to be defective must be returned to Exlar transportation prepaid by Buyer with written specification of the claimed defect Evidence acceptable to Exlar must be furnished that the claimed defects were not caused by misuse abuse or neglect by anyone other than Exlar Components such as seals wipers bearings brakes bushings gears splines and roller screw parts are considered wear parts and must be inspected and serviced on a regular basis Any damage caused by failure to properly lubricate Exlar products and or to replace wear parts at appropriate times is not covered by this warranty Uses of components under load to the extent of their expected life according to typical ratings are not covered by this warranty Any damage due to excessive loading is not covered by this warranty Costs for shipment of units returned to the factory for warranty repairs are the responsibility of the customer Exlar will return ship all warranty repairs or replacements via UPS Ground at no cost to the customer For international customers Exlar will return ship warranty repairs or replacements via UPS Expedited Service and cover the associated shipping costs Any VAT or local country taxes are the responsibility of the customer The foregoing warranty is in lieu of all other warranties except as Title whether expressed or implied including without limitation any warranty of merchantability or of fitness for any particular purpose other than as expre
18. ith CAUTION and WARNING signs as shown below CAUTION WARNING AN A Pay particular attention to these paragraphs They are intended to provide you with helpful information to ensure safe and trouble free installation 2 0 SYSTEM CONFIGURATION 2 1 SLM G Series Servo Motor System Configuration The design of the SLM G Series motor and selection of the proper feedback configuration allows it to be powered by nearly every brand of brushless motor amplifier on the market This flexibility allows SLM G Series motors to be incorporated into the highest performance single and multi axis motion control systems in use today In applications varying from food and beverage packaging to multi axis turning centers to aircraft assembly these motors show incredible performance and durability Each brand of brushless motor amplifiers may have unique wiring requirements parameter settings and operational principals that affect how the motor operates Details on connections to specific brands of amplifiers can be obtained from www exlar com WARNING Attempting to connect the power cable to the motor feedback connector may cause damage to the connector Verify that pin patterns match before attempting to connect cables to actuator Never attempt to connect or disconnect the motor with power applied Dangerous voltages are present Damage to equipment and injury to personnel can result Many amplifiers have voltage present for a considerable time perio
19. k has become misaligned or an amplifier change is made requiring the feedback to be aligned differently it is recommended that Exlar be contacted and arrangements made to have that procedure performed Feedback Wiring The wiring of the feedback device is critical to the operation of the motor with the selected amplifier Wiring the feedback cable incorrectly can cause unstable operation incorrect operation or no operation at all In some cases improper current limits set in the amplifier along with improper wiring of the feedback cable can lead to damage of the motor Resolvers A resolver is a non electronic device that works like a small transformer When rotated it generates 2 sine waves that are out of phase with one another By decoding these two sine waves the amplifier can monitor the direction revolutions traveled and speed of rotation of the motor Each sine wave typically represents one revolution of the motor so the amplifier can also use these signals to know where the motor is within that revolution By knowing the motor s position the amplifier can properly time the supply of current and voltage to the motor for it to rotate This process is commutation For the amplifier to properly commutate the motor it must have a reference or zero point from which to track the motor s rotation This reference point is critical and is provided to the amplifier through the proper alignment of the resolver to the phases of the motor during t
20. l Listing Below Models _ GSX20 GSX30 GSX40 GSX50 GSX60 GSX90 GSX115 SR21 SR31 5841 SLM060 SLM090 SLM115 SLMI42 SLM180 SLG060 SLG090 SLG115 GSM20 GSM30 GSM40 to which this declaration relates meets the essential health and safety requirements and is in conformity with the relevant EU Directives listed below EU EMC Directive 2004 108 EC EU Low Voltage Directive 2006 95 E C using the relevant section of the following EU standards and other normative documents EMC EN 55014 1 2006 EN 55014 2 1997 Al 2001 A2 2008 Safety EN 60034 1 2004 October 29 2004 Date of issue Chief Techfiplogy Officer European Contact Exlar GmbH Frankfurter Str 107 65479 Raunheim Germany SLM G Manual doc 19 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 Certificate of Compliance Certhcate Number 20111220 E225288A Page 1 of 1 Report Reference 225288 2002 May 30 Issue Date 2011 December 20 Underwriters Lahoratories Issued to EXLAR CORP 18400 W 77TH ST CHANHASSEN MN 55317 USA Ihis is to certify that Servo and Stepper Motors representative samples of Permanent Magnet servo motors SLG or SLM Series Model SLG or SLM followed by 060 090 115 142 or 180 followed by 04 05 10 16 20 25 40 50 100 or X followed by K R or X followed by A B C D E I J M P T or X followed by E F G or X followed bv B or 5 followed bv three letters or numbers followed by 1 2 3 o
21. lding brakes provided a transient suppression diode wired internally to the motor With the changes in servo amplifier and control technology there are now instances where the diode is not required to be within the motor An example of this is a control system using a dedicated brake control relay which contains transient suppression components Because of this change in technology Exlar now provides the transient suppression diode separately from the actuator for inclusion in the brake control circuitry as needed by the end user A schematic 1s provided showing the typical use of the transient suppression diode If the user is uncertain about their requirements for transient suppression they should refer to their servo amplifier or controller technical documentation or contact their servo amplifier or controller manufacturer for technical support For connection of your amplifier and actuator including rear brake lead information refer to www exlar com BRAKE Holding torque 195 Ib in 354 Ib in 708 Ib in Voltage 24 VDC 24 VDC 24 VDC 24 VDC 24 VDC Current required 0 33 Amps 0 67 Amps 0 75 Amps 1 45 Amps A DO NOT attempt to operate the motor with the brake applied Allowing the motor to operate with the brake applied may cause serious damage to the motor and or the brake Do not use the brake to support heavy loads while an operator is under the load Provide another means to lock the load in position The brake is a spring applied
22. r X followed by A B C 1 3 5 6 or X followed by 6 or 8 may be followed bv 01 through 99 HC HW MW NI RD SD S5 XF XH XM N4 XT or XL may be followed by 00000 through 99999 Have been investigated by Underwriters Laboratories in accordance with the Standard s indicated on this Certificate Standard s for Safety ANSI UL 1004 1 Rotating Electrical Machines General Requirements and CSA C22 2 No 100 Motors and Generators Additional Information See UL On line Certification Directory at WWW for additional information Only those products bearing the UL Recognized Component Marks for the U S and Canada should be considered as being covered by UL s Recognition and Follow Up Service and meeting the appropriate U S and Canadian requirements The UL Recognized Component Mark for the U S generally consists of the manufacturer s identification and catalog number model number or other product designation as specified under Marking for the particular Recognition as published in the appropriate UL Directory Asa supplementary means of identifying products that have been produced under UL s Component Recognition Program UL s Recognized Component Mark may be used in conjunction with the required Recognized Marks The Recognized Component Mark is required when specified m the UL Directory preceding the recognitions or under Markings for the individual recognitions The UL Recogmmed Component Mark for Canada con
23. sists of the UL Recognized Mark for Canada and the manufacturer s identification and catalog number model number or other product designation as specified under Marking for the particular Recognition as published m the appropriate UL Directory Look for the UL Recognized Component Mark on the product William Carney Director North American Certification Programs Uzderwriters Laboratories Inc Far questions please contact a local UL Customer Service Representative at https www SLM G Manual doc 20 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200
24. ssly set forth and to the extent specified herein and is in lieu of all other obligations or liabilities on the part of Exlar Seller s maximum liability with respect to these terms and conditions and any resulting sale arising from any cause whatsoever including without limitation breach of contract or negligence shall not exceed the price specified herein of the product s giving rise to the claim and in no event shall Exlar be liable under this warranty otherwise for special incidental or consequential damages whether similar or dissimilar of any nature arising or resulting from the purchase installation removal repair operation use or breakdown of the product s or any other cause whatsoever including negligence The foregoing warranty shall also apply to products or parts which have been repaired or replaced pursuant to such warranty and within the period of time in accordance with Seller s stated warranty No person including any agent or representative of Exlar is authorized to make any representation or warranty on behalf of Exlar concerning any products manufactured by Exlar except to refer purchasers to this warranty SLM G Manual doc 3 12 21 11 PN 18005 Exlar Corporation Rev Q 952 500 6200 1 2 Safety Considerations As with any electro mechanical device safety should be considered during the installation and operation of your SLM G Series brushless servo motor Throughout this manual you will see paragraphs marked w
25. using peak sinusoidal ratings multiply RMS sinusoidal Kt by 707 and peak current by 1 414 Test data derived using NEMA 12 x 12 x V2 EET 25 73 0 45 0 45 Electrical Time Constant te ms 32 60 32 90 Damping Constant lot in krpm 060 0 60 060 060 080 1 20 1 20 0 068 0 136 0 136 2 00 2 00 0 23 0 23 400 460 2400 12 21 11 Exlar Corporation 952 500 6200 SLM G Manual doc 13 PN 18005 Rev Q 1 Electrical Mechanical Specifications contd SLM180 RMS Sinusoidal Commutation Data 6729 69 10 ese 13459 1382 esa es Trapezoidal Commutation Data 613 6425 6595 e226 12851 131 97 eza os 222 Motor Stator Data Voltage Constant Ke 859 1489 171 8 148 9 171 8 146 1 171 8 4 10 25C Vrms Krom 121 5 210 6 243 0 121 5 210 6 243 0 206 6 243 0 8 3 1 3 0 13 0 5 0 23 0 3 LM Armature Inertia Ib in sec 0 0427 0 0758 N5 D D o o 5 5 5 O O c o 5 Co 5 48 25 85 65 123 04 kg cm 31 8 Nm 80 2 0 1 2 2 3 1 3 28 0 28 0 3 16 3 16 3 16 3 16 3 16 3 16 3 16 3 16 40 0 40 0 4 52 4 52 4 52 4 52 4 52 4 52 4 52 4 52 460 460 Speed Bus Voltage RPM 2400 180 P65 All ratings at 25 degrees Celsius For amplifiers using peak sinusoidal ratings multiply RM
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