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Technical Documentation
Motor manual 3-phase stepping motors
VRDM 3xx
Document: 0098441113309 Edition: V1.00, 02.2006
Berger Lahr GmbH & Co. KG Breslauer Str. 7 D-77933 Lahr
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Important information
VRDM 3xx
Important information
The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment. For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required.
See safety section for additional critical instructions.
Not all product variants are available in all countries. Please consult the current catalogue for information on the availability of product variants. We reserve the right to make changes during the course of technical developments. All details provided are technical data and not promised characteristics. In general, product names must be considered to be trademarks of the respective owners, even if not specifically identified as such.
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Table of Contents
Table of Contents
Important information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -2 Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -3 Writing conventions and symbols. . . . . . . . . . . . . . . . . . . . . . . -7 1 Introduction 1.1 1.2 1.3 1.3.1 1.3.2 1.4 1.5 1.6 2 Safety 2.1 2.2 2.3 Qualification of personnel . . . . . . . . . . . . . . . . . . . . . . 2-1 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Options, accessories and wiring . . . . . . . . . . . . . . . . . 1-2 Type code and nameplate . . . . . . . . . . . . . . . . . . . . . . 1-3 Overview of type code of VRDM 3xx . . . . . . . . . . . 1-3 Name plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Literature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Directives and standards. . . . . . . . . . . . . . . . . . . . . . . 1-5 Declaration of conformity. . . . . . . . . . . . . . . . . . . . . . . 1-7
3 Technical Data 3.1 3.2 3.3 3.4 3.5 3.6 3.6.1 3.6.2 3.6.3 3.6.4 3.6.5
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General features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Life time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 IP degree of protection . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Motor models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 VRDM 36x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 Motor-specific data of VRDM 36x . . . . . . . . . . . . . . 3-6 Shaft load of VRDM 36x . . . . . . . . . . . . . . . . . . . . . 3-7 Type code of VRDM 36x . . . . . . . . . . . . . . . . . . . . . 3-8 Dimensional drawing of VRDM 36x . . . . . . . . . . . 3-10 Characteristic curves of VRDM 36x . . . . . . . . . . . 3-12 VRDM 39x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor-specific data of VRDM 39x . . . . . . . . . . . . . Shaft load of VRDM 39x . . . . . . . . . . . . . . . . . . . . Type code of VRDM 39x . . . . . . . . . . . . . . . . . . . . Dimensional drawing of VRDM 39x . . . . . . . . . . . Characteristic curves of VRDM 39x . . . . . . . . . . . 3-15 3-15 3-16 3-16 3-19 3-21
3.7 3.7.1 3.7.2 3.7.3 3.7.4 3.7.5
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3.8 3.8.1 3.8.2 3.8.3 3.8.4 3.8.5 3.9 3.10 3.11 3.11.1 3.11.2
VRDM 311x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor-specific data of VRDM 311x . . . . . . . . . . . . Shaft load of VRDM 311x . . . . . . . . . . . . . . . . . . . Type code of VRDM 311x . . . . . . . . . . . . . . . . . . . Dimensional drawing of VRDM 311x . . . . . . . . . . . Characteristic curves of VRDM 311x . . . . . . . . . . .
3-24 3-24 3-25 3-25 3-28 3-30
Optional holding brake . . . . . . . . . . . . . . . . . . . . . . . . 3-32 Optional encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34 Optional gearbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35 Assignment of motor-gearbox . . . . . . . . . . . . . . . . 3-38 Dimensional drawings of gearbox . . . . . . . . . . . . . 3-40
4 Installation 4.1 4.2 4.3 4.4 4.4.1 4.4.2 4.4.3 4.4.4 Before installation... . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 Electromagnetic compatibility, EMC . . . . . . . . . . . . . . . 4-3 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Calculation of installation space. . . . . . . . . . . . . . . . 4-8 Motor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 Encoder connection . . . . . . . . . . . . . . . . . . . . . . . . 4-11 Holding brake connection . . . . . . . . . . . . . . . . . . . 4-12
5 Commissioning 5.1 5.2 Preparing for commissioning . . . . . . . . . . . . . . . . . . . . 5-2 Running commissioning . . . . . . . . . . . . . . . . . . . . . . . . 5-3
6 Diagnostics and troubleshooting 6.1 6.2 Mechanical faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Electrical faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
7 Accessories and spare parts 7.1 7.2 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 Motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
8 Service, maintenance and disposal 8.1 8.2 Service address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
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9 Glossary 9.1 9.1.1 9.1.2 9.1.3 9.1.4 9.1.5 9.1.6 9.1.7 9.1.8 9.1.9 9.2 10 Index Units and conversion tables . . . . . . . . . . . . . . . . . . . . Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conductor cross section . . . . . . . . . . . . . . . . . . . . . 9-1 9-1 9-1 9-1 9-1 9-2 9-2 9-2 9-2 9-2
Terms and Abbreviations. . . . . . . . . . . . . . . . . . . . . . . 9-3
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Writing conventions and symbols
Writing conventions and symbols
Work steps If work steps must be carried out in sequence, they are shown as follows: Special prerequisites for the following work steps Step 1 Important response to this work step Step 2 If a response to a work step is specified, this will inform you that the step has been carried out correctly. Unless otherwise stated, the individual instruction steps must be carried in the given sequence.
Lists
Lists can be sorted alphanumerically or by priority. Lists are structured as follows: * * Point 1 Point 2 - Subpoint to 2 - Subpoint to 2 * Point 3
Making work easier
Information on making work easier can be found at this symbol: This offers supplementary information on making work easier. See the chapter on safety for an explanation of the safety instructions.
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Introduction
1
1.1
Introduction
Overview
The three-phase stepper motors are extremely robust, maintenancefree drives. They carry out stepper motions which are controlled by a positioning controller. The three-phase stepper motors can be operated at very high resolutions with appropriate control electronics. Options such as rotation monitoring and holding brake with robust, lowplay planetary gears extend the application options. Features The three-phase stepper motors are: * strong the optimised internal geometry of the motor ensures a high power density; i.e. up to 50% more torque compared to conventional stepper motors of comparable size. quiet the sinus commutation of the drive amplifier and the special mechanical construction gives a very quiet and virtually resonancefree stepper motor. versatile with a flexible modular system and modern type management a wide variety of motor types can be manufactured and delivered in a very short time.
*
*
Motor data
Size Motor type Nominal torque MN Holding torque MH Steps per revolution 1) A VDC Step angle Motor phase current IN Nominal voltage of DC bus UN
1) depending on the controller
60 VRDM 36x Nm Nm 0.45 - 1.50 0.51 - 1.70
90 VRDM 39x 2.00 - 6.00 2.26 - 6.78
110 VRDM 311x 12.00 - 16.50 13.56 - 18.65
200 / 400 / 500 / 1000 / 2000 / 4000 / 5000 / 10000 1.8 / 0.9 / 0.72 / 0.36 / 0.18 / 0.09 / 0.072 / 0.036 0.9 - 5.8 24/35, 130, 325 1.75 - 5.8 24/35, 130, 325 4.1 - 4.75 325
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1.2
Options, accessories and wiring
The motors are optionally available with: * * * * * Encoder holding brake PLE or PLS gearbox angled and rotatable plug connectors various degrees of protection
For the options see the technical data in the various motor descriptions. The following accessories are available: * * controller for holding brake Cable
Fully finished motor and sensor system wiring precisely designed for the drive systems ensures that motor and power amplifier are perfectly connected.
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Introduction
1.3
Type code and nameplate
The type code is explained below. Type code for every motor size is shown in full in "Technical Data".
1.3.1
Example:
Overview of type code of VRDM 3xx
VRDM 3 9 10 / 50 L VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X VRDM 3 X X / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L / 50 L H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B B OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B B OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO
Phase count Size (flange) Length Pole pair count Rotor Maximum voltage Connection type (motor/encoder) Position capture holding brake Degree of protection Gearbox type Gear ratio Shaft diameter Shaft modelMotor Centring collar Second shaft Connection direction motor plug Connection direction encoder plug Wire output Wire length
H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO
H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO
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1.3.2
Name plate
The name plate shows the most important motor data.
1
VRDM3910/50LWC EB
MN
7 8 9
2
l
Ke
150,0 Vrms/1000rpm
22 W
IP41
made in Germany by
U max 230 VAC
N
4Nm 2 Arms
PLE 80 5:1
Brake 6 Nm
24VDC
10 11 12 13 14
3 4 5 6
Insulation class F
VPWM, VT, Inverter-duty Motor DOM 19.10.05 0055526035803 Ser.No. 1540085949
Figure 1.1
Name plate
(1) (2)
(3)
(4) (5) (6) (7) (8) (9)
(10) (11) (12) (13) (14)
Motor type, see type code Nominal torque at standstill phase current at standstill maximum supply voltage voltage constant variable PWM variable torque motor for converter operation only Order number CE mark Serial number manufacturer's name and logo gearbox type and gear ratio holding torque of the holding brake nominal voltage of the holding brake power consumption of the holding brake degree of protection Temperature class (155) cUR mark Date of manufacture Barcode
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1.4
Literature
* * * * Rummich, Erich: Elektrische Schrittmotoren und Antriebe. ISBN: 38169-2458-1, Expert-Verlag, Renningen Kreuth, Hans-Peter: Schrittmotoren. ISBN: 3-486-202642-3, Oldenbourg Verlag, Munchen Vogel, Johannes: Elektrische Antriebstechnik. ISBN: 3-7785-26499, Huthig Verlag Heidelberg Riefenstahl, Ulrich: Elektrische Antriebstechnik - Leitfaden der Elektrotechnik. ISBN: 3-519-06429-4, B.G. Teubner Stuttgart, Leipzig
1.5
Directives and standards
The EC directives define the minimum requirements - particularly safety requirements - applicable to a product and must be complied with by all manufacturers and dealers marketing the product in the member states of the European Union (EU). The EC directives describe the main requirements for a product. The technical details are laid down in the harmonized standards, which are published in Germany as the DIN EN standards. If there is not yet any EN standard applicable to a particular product area, existing technical standards and regulations will apply. CE mark With the declaration of conformity and the CE mark on the product the manufacturer certifies that the product complies with the requirements of all relevant EC directives. The drive systems described here can be used anywhere in the world. The drive systems described here are not machines as defined by the EC Machine Directive (98/37/EEC) but components for installation in machines. They do not have moving parts designed for specific purposes. However, they can be components of a machine or system. The manufacturer must certify that the complete system conforms to the machine directive with the CE mark. EC EMC Directive The EC Electromagnetic Compatibility Directives (89/336/EEC) applies to products that cause electromagnetic interference or whose operation may be be adversely affected by electromagnetic interference. Conformity with the EMC Directive can only be expected of drive systems after correct installation in the machine. The information on ensuring electromagnetic compatibility given in the chapter on "Installation" must be followed to ensure that the drive system in the machine or system is EMC-compatible and that the product can legally be operated.
EC Machine Directive
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EC Low-Voltage Directive
The EC Low-Voltage Directive (73/23/EEC) lays down safety requirements for 'electrical apparatus' as protection against the risks that can originate in such devices and can be created in response to external influences. The drive systems described here comply with the EN 50178 Standard as per the Low-Voltage Directive.
Standards for safe operation of the drive systems
EN 50178: Fitting power systems with electronic equipment EN 60034-ff: Rotating electrical machines 1-5
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Introduction
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EN 60664: Insulation coordination UL1004: Motor classification under UL Standards for terms and mechanical connections DIN 42021: Stepper motor terms, symbols, units and characteristic curves DIN 332-1: Centre hole DIN 6885: Parallel keys, grooves DIN 6888: Disc springs EN 50347: Standardised dimensions, centring diameter, hole circle, fastening screw
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1.6
Declaration of conformity
EC Declaration of Conformity Year 2005
BERGER LAHR GmbH & Co.KG Breslauer Str. 7 D-77933 Lahr
according to EC Directive Low Voltage 73/23/EC, changed by CE Marking Directive 93/68/EC according to EC Directive on Machinery 98/37/EC according to EC Directive EMC 2004/108/EC
We declare that the products listed below meet the requirements of the mentioned EC Directives with respect to design, construction and version distributed by us. This declaration becomes invalid with any modification on the products not authorized by us. Designation: Type: Product number: Applied harmonized standards, especially: Applied national standards and technical specifications, especially: 3 Phase Stepping Motor VRDM3xxxx/50xxx 0x5xx2xxxxxxx EN 60034-1:2005 EN 60034-5:2001 EN 60664-1:2003 Temperature class 155 (F) Protection class according product documenation Insulation system
UL 1004 Product documentation
Company stamp:
0098441113309, V1.00, 02.2006
Date/ Signature:
26 October 2005
Name/ Department: Wolfgang Brandstatter/R & D Drive Systems
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Safety
2
2.1
Safety
Qualification of personnel
Commissioning, operation and maintenance must be conducted by trained electrical and controller technicians only. The technicians must be familiar with the contents of all technical documentation relevant to this product. The technicians must have sufficient training, knowledge and experience to recognise and avoid dangers. The technicians must be familiar with the relevant standards, regulations and safety regulations that must be observed during installation, operation and maintenance of the product.
2.2
Intended use
The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment. For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required. In the system configuration described the drive systems must be used in industrial applications only and must have a fixed connection only. In all cases the applicable safety regulations and the specified operating conditions, such as environmental conditions and specified technical data, must be observed. The drive system must not be commissioned and operated until completion of installation in accordance with the EMC regulations and the specifications in this manual. To prevent personal injury and damage to property damaged drive systems must not be installed or operated.
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Changes and modifications of the drive systems are not permitted and if made all no warranty and liability will be accepted. The drive system must be operated only with the specified wiring and approved accessories. In general, use only original accessories and spare parts. The drive systems must not be operated in an environment subject to explosion hazard (ex area).
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2.3
Safety instructions
$ DANGER
Electric shock, fire or explosion * Only technicians who are familiar with and understand the contents of this manual and the other relevant manuals are authorised to work on and with this drive system. Before working on the drive system: - Switch off power to all terminals. - Place a sign "DO NOT SWITCH ON" on the switch and lock to prevent its being switched on. - Allow the DC bus capacitors to discharge (see power amplifier manual). - Check that there is no power. * * * Do not short-circuit DC bus or touch unshielded components or screws of the terminals under voltage. Install all covers and close the housing doors before applying power. The motor generates voltage when the shaft is rotated. Lock the shaft of the motor to prevent rotation before starting work on the drive system. AC voltages may jump over unused wires in the motor cable. Isolate unused wires at both ends of the motor cable. The system manufacturer is responsible for compliance with all applicable regulations relevant to earthing the drive system. Extend the earth through the motor cable with an additional earth at the motor housing.
*
* *
Failure to follow these instructions will result in death or serious injury.
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Technical Data
3
Technical Data
The following pages contains information on the VRDM 3xx motor family and an overview of the gearboxes.
3.1
General features
The series VRDM 3xx motors are three-phase stepper motors. They are distinguished by: * * * * * * * Maximum press-on force high power density integrated thermal winding monitoring in accordance with the EN requirements for "decoupled" test voltage in accordance with EN 60034-1 (IEC 60034-1) insulation system class 155 (F) in accordance with EN 60034-1 (IEC 60034-1) Mechanical vibration A in accordance with EN 60034-14 (IEC 60034-14) Shaft eccentricity and axial precision in accordance with EN 50347 (IEC 60072-1) colour: black RAL 9005
The maximum press-on force is related to the loading ratio of the bearing. The use of assembly paste (e.g. Kluberpaste 46 MR 401) on the shaft and drive element simplifies pressing on. If the output shaft is threaded, we advise you to push the output element onto the output shaft. This prevents any axial force from acting on the bearing. Alternatively the output shaft may be also shrunk on, clamped or glued. Note the following: * * * * * 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. Radial and axial limit loads must not be applied simultaneously The shaft must be supported if components are pressed onto the shaft ends. Please note the saftey information.
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Technical Data
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3.2
Ambient conditions
The motors must be in a dry, dust-free and vibration-free environment during transport and storage. The storage and transport temperature must remain in the range given below; in case of doubt the storage area must be air-conditioned. The storage period is primarily determined by the durability of the lubricants in the warehouses and should be less than 36 months. Occasional operation of the drive solution is recommended to ensure that it still operates.
Environmental influences: ambient climate for transport and storage
Ambient conditions ambient operating temperature Installation height without power reduction Transport and storage temperature Relative humidity Mechanical vibration in operation in accordance with EN 60034-14 Continuous shocks as per DIN EN 60068-2-29 * * Number of shocks per direction Peak acceleration m/s2 100 20 C m C % -25 ... +40 < 1000 above MSL -25 ... +70 75 (annual average), 95 (over 30 days, non-condensing) A
Degree of protection as per EN 60034-5 * * Total external shaft bushing Shaft bushing without shaft sealing ring IP56 IP41 155 (F) [as per EN 50 347 (IEC 60072-1)] rad/s2 200000
Temperature class as per EN 60034-1 Shaft eccentricity and axial precision Maximum rotary acceleration
3.3
Life time
The life time of the motors when operated correctly is limited primarily by the bearing life. The following operating conditions can in some cases significantly reduce the life time: * * * * * * * * * * Installation altitude above 1000 m over sea level Continuous operating temperatures greater than 80C Angular travel less than 100 Operation under vibration stress greater than 20 m/s2 High cycle frequencies Allowing sealing rings to run dry Wetting of the drive by aggressive media Condensation and icing of functional parts Exceeding the permissible shaft load
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Operation with very high rotary accelerations
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Technical Data
3.4
IP degree of protection
The motors have the following IP degrees of protection as per EN 60034-5:
1
2
3
Item 1 Motor front PLE gearbox PLS gearbox Shaft bushing 2 Motor connection Braided wires Terminal box, connector 3 Back of motor 2. Shaft end Holding brake, encoder
1) optional with VRDM 39x and VRDM 311x
Degree of protection IP 54 IP 65 IP 41, IP 56 1) IP 41 IP 56 IP 41 IP 56
The motors can also optionally be fitted with a radial shaft seal to place them in protection class IP56. However, this restricts the maximum speed to 3000 1/min. With mounting position IM V3 (drive shaft vertical, shaft end up) only protection class IP41 is guaranteed. The degree of protection of the drive is determined by the weakest component. Note the following: * * The radial shaft sealing ring is prelubricated. Allowing the seals to run dry increases friction and greatly reduces the service life of the sealing rings.
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Technical Data
VRDM 3xx
Overview of IP protection
First digit Protection against foreign bodies 0 1 2 3 4 5 6 no protection foreign body > 50mm foreign body > 12mm foreign body > 2.5mm foreign body > 1mm dust-protected dust-proof
Second digit Protection against water 0 1 2 3 4 5 6 7 8 no protection vertically falling drops diagonally falling drops (75-90) spray water splashing water jet water heavy sea immersion continuous immersion
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VRDM 3xx
Technical Data
3.5
Motor models
1
2
3
4
5
6
1 Motor gear
2 shaft [mm] D = 6.35
3
4
5
6
centring collar Motor type [mm] Size Length D = 38.1 60 4 6
Motor connection Options winding H H;N H;N;W H;N;W Braided wires 1) Terminal box 2) Plug Braided wires 1) Terminal box 2) H;N;W Plug Terminal box 2) Plug 2. Shaft end 3) Holding brake 3) Encoder 4) 2. Shaft end 3) Holding brake 3) Encoder 4) 2. Shaft end 3) Holding brake 3) Encoder 4)
VRDM 36x
3:1 5:1 8:1
D=8 D = 9,5 D = 12 D = 14
D = 38.1 D = 60 D = 73 D = 60 D = 73
60 90
8 7 10
VRDM 39x
3:1 5:1 8:1
90
13
VRDM 311x
3:1 5:1 8:1
D = 19
D = 56
110
17
W
1) Wire outlet at 2nd shaft end to the side only 2) Terminal bar inside the motor; sealed with a cable retaining screw; EMC-tested 3) only one feature can be selected; either 2nd shaft end or holding brake 4) only with motors with connector type (2nd shaft end or holding brake are possible)
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Technical Data
VRDM 3xx
3.6
VRDM 36x
The stepper motors of the VRDM 36x series are manufactured as the VRDM 364, VRDM 366 and VRDM 368 types. The edge length of the flange is 57.2 mm. The terms and formulas listed in the following tables correspond to DIN 42021 Part 2.
3.6.1
Motor-specific data of VRDM 36x
VRDM 364 H VAC VAC VDC Nm Nm kgcm 25 32 24 / 35 0.45 0.51 0.1 VRDM 366 H 25 32 24 / 35 0.90 1.02 0.22 N 92 125 130 0.90 1.02 0.22 VRDM 368 H 25 32 24 / 35 1.50 1.70 0.38 N 92 125 130 1.50 1.70 0.38 W 230 250 325 1.50 1.70 0.38
Motor type Winding Max. supply voltage Umax Max. voltage against PE Nominal voltage of DC bus UN Nominal torque MN Holding torque MH Rotor inertia JR Steps per revolution 1)
2)
200 / 400 / 500 / 1000 / 2000 / 4000 / 5000 / 10000 1.8 / 0.9 / 0.72 / 0.36 / 0.18 / 0.09 / 0.072 / 0.036 6 8.5 5.2 0.42 2.1 1.3 6 8.0 5.8 0.46 3.3 1.6 6 8.5 1.6 3.3 3.3 1.6 6 6.0 5.8 0.7 4.6 2.0 6 8.5 1.9 4.8 4.6 2.0 6 8.5 0.9 25 4.6 2.0
Step angle Systematic angular tolerance s Max. starting frequency fAom Motor phase current IN Winding resistance RW Rate-of-current rise time constant t Frame m 3)
' kHz Arms ms kg
1) depending on the controller 2) Measured at 1000 steps/revolution, unit: angular minutes 3) Earth of motor type with cable retaining screws or connector
3-6
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VRDM 3xx
Technical Data
3.6.2
Shaft load of VRDM 36x
FR1 FA1 FA2
FR2
X
Y
The following conditions apply: * * * speed n = 600 1/min ambient temperature = 40C (ca. 80C storage temperature) 100% Duty Cycle at rated torque
When these conditions apply the maximum forces shown in the table below can act on the shaft, but not simultaneously:
Motor type Max. radial force of 1st shaft end FR1 Max. axial force tension FA1 Max. axial force pressure FA2 Nominal bearing life L10h
3) 1) 1)
VRDM 364 N N N N h 24 25 / 100 8.4 20000 40 2)
VRDM 366 24 25 / 100 8.4 20000 40 2)
VRDM 368 50 25 / 40 2) 100 8.4 20000
Max. radial force of 2nd shaft end (optional) FR2
1) Point of attack of radial force: X = Y = 10mm distance from flange 2) 1. Value: motors with terminal box, connector or encoder; 2. Value: motors with braided wires 3) Operating hours at a failure probability of 10%
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Technical Data
VRDM 3xx
3.6.3
Example:
Type code of VRDM 36x
VRDM 3 6 8 / 50 L VRDM 3 6 8 / 50 L VRDM 3 8 8 / 50 L VRDM 3 6 8 / 50 L H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO
Phase count 3 Size (flange) 6 = 57.2 mm Length 4 = 42 mm 6 = 56 mm 8 = 79 mm Pole pair count 50 Rotor L = laminated rotor plate Maximum voltage H = 25 VAC (35 VDC) N = 92 VAC (130 VDC) W = 230 VAC (325 VDC) Connection type (motor/encoder) A = braided wires B = terminal box C = connector Position capture E = encoder (1000 Inc./rev.) O = without encoder holding brake B = brake O = without brake Degree of protection IP41 Gearbox type O = without gearbox 1 = PLE 40 2 = PLE 60 A = PLS 70 Gear ratio O = without gearbox 3 = 3:1 5 = 5:1 8 = 8:1 Shaft diameter D6 = 6.35 mm D8 = 8 mm DO = motor with gearbox
VRDM 3 6 8 / 50 L VRDM 3 6 8 / 50 L VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B B OOO H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B B OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
Centring collar 38 = 38.10 mm 00 = motor with gearbox Second shaft: O = without 2 = with
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
3-8
3-phase stepping motors
0098441113309, V1.00, 02.2006
Shaft modelfront VRDM 3 6 8 / 50 L O = smooth shaft or with gearbox
H C E O IP41 1 5 DO O OO 2 B B O OOO
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VRDM 3xx
Technical Data
Example: Connection direction motor plug O = without, L = left, R = right B = rear, F = front, S = straight Connection direction encoder plug O = without, L = left, R = right B = rear, F = front, S = straight Wire output O = without S = side B = rear Wire length OOO = none XXX = XXX mm (max. 400)
VRDM 3 6 8 / 50 L VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
VRDM 3 6 8 / 50 L
H C E O IP41 1 5 DO O OO 2 B B O OOO
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Technical Data
VRDM 3xx
3.6.4
Dimensional drawing of VRDM 36x
The following applies for the dimensional drawings: (1) motor with holding brake
L VRDM 364 VRDM 366 VRDM 368 42 56 79 D 6.35 6.35 8
O 38,1 0,025
O D -0,013
0 O 8 0,013
5
47,2
22
1,6 7,7
Figure 3.1
Dimensional drawing of VRDM 36x in braided wire type
O38,1 0,025
O D -0,013
21
L 0,5 5
37
20 0 O8 -0,013
57,2 47,2 O5,2
R5
1,6 M20 x 1,5 21,5 O9 - O13 L 0,5 37 41
O51
O 5,2
R5
21
L 0,5 20
57,2
1
Figure 3.2 Dimensional drawing of VRDM 36x in terminal type
3-10
3-phase stepping motors
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VRDM 3xx
Technical Data
O38,1 0,025
O D -0,013
21
L 0,5 5
37 21,5
20 0 O 8 -0,013
57,2 47,2 O 5,2
5 R
1,6
L 0,5
37
41
1
Figure 3.3 Dimensional drawing of VRDM 36x in connector type without encoder
O 38,1 0,025
O D -0,013
O 51 21 L 0,5 5 20 37 21,5 57,2 0 O8 -0,013 47,2 O5,1
5 R
5
1,6
L 0,5
37
41
0098441113309, V1.00, 02.2006
5
1
Figure 3.4 Dimensional drawing of VRDM 36x in connector type with encoder
3-phase stepping motors
O51
3-11
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Technical Data
VRDM 3xx
3.6.5
3.6.5.1
Characteristic curves of VRDM 36x
Characteristic curves of VRDM 364
VRDM 364 / 50L H
M [Nm] 0,6 1
0,45
24 VDC 35 VDC
0,3 2
0,15
0 0,1
1
10
fs [Hz]
100
n [1/min] J [kg cm] 4
3 3
2
1
0
Measurement of characteristic curves with 1000 steps/revolution, nominal voltage UN and phase current IN (1) (2) (3) Pull-out torque Pull-in torque Maximum load inertia
3-12
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VRDM 3xx
Technical Data
3.6.5.2
Characteristic curves of VRDM 366
VRDM 366 / 50L N
M [Nm] 1,2
VRDM 366 / 50L H
M [Nm] 1,2 1
0,9 0,9 24 VDC 35 VDC 0,6 2 2 0,3 0,3 0,6 1
0 0,1
0 0,1 1 10 fs [Hz] 100
1
10
fs [Hz]
100
n [1/min] n [1/min] J [kg cm] 4 4 [kg cm]
3 3 3 2 2 3
1 1
0 0
Measurement of characteristic curves with 1000 steps/revolution, nominal voltage UN and phase current IN (1) (2) (3) Pull-out torque Pull-in torque Maximum load inertia
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Technical Data
VRDM 3xx
3.6.5.3
Characteristic curves of VRDM 368
VRDM 368 / 50L N + W
1 M [Nm] 1,6 1 24 VDC
VRDM 368 / 50L H
M [Nm] 1,6
1,2 35 VDC
1,2
0,8 2
0,8 2 0,4
0,4
0 0,1
1
10
fs [Hz]
100
0 0,1
1
10
fs [Hz]
100
n [1/min] J [kg cm] 8 J [kg cm] 8
n [1/min]
6 3
6 3
4
4
2
2
0
0
Measurement of characteristic curves with 1000 steps/revolution, nominal voltage UN and phase current IN (1) (2) (3) Pull-out torque Pull-in torque Maximum load inertia
3-14
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VRDM 3xx
Technical Data
3.7
VRDM 39x
The stepper motors of the VRDM 39x series are manufactured as the VRDM 397, VRDM 3910 and VRDM 3913 types. The edge length of the flange is 85 mm. The terms and formulas listed in the following tables correspond to DIN 42021 Part 2.
3.7.1
Motor-specific data of VRDM 39x
VRDM 397 H VAC VAC VDC Nm Nm kgcm 25 32 N 92 125 W 230 250 325 2 2.26 1.1 VRDM 3910 H 25 32 N 92 125 W 230 250 325 4 4.52 2.2 VRDM 3913 H 25 32 N 92 125 W 230 250 325 6 6.78 3.3
Motor type winding Max. supply voltage Umax Max. voltage against PE Nominal voltage of DC bus UN Nominal torque MN Holding torque MH Rotor inertia JR Steps per revolution 1)
2)
24 / 35 130 1.7 1.92 1.1 2 2.26 1.1
24 / 35 130 3.7 4.18 2.2 4 4.52 2.2
24 / 35 130 5 5.65 3.3 6 6.78 3.3
200 / 400 / 500 / 1000 / 2000 / 4000 / 5000 / 10000 1.8 / 0.9 / 0.72 / 0.36 / 0.18 / 0.09 / 0.072 / 0.036 6 4.6 5.8 0.35 ~7 2.1 6 5.3 4.4 1 ~7 2.1 6 5.3 1.75 6.5 ~7 2.1 6 4.8 5.8 0.55 ~9 3.2 6 5.3 5 1.2 ~9 3.2 6 5.3 2 5.8 ~9 3.2 6 4.5 5.8 0.63 ~10 4.3 6 5.3 5 1.3 ~10 4.3 6 5.3 2.25 6.5 ~10 4.3
Step angle Systematic angular tolerance s Max. starting frequency fAom Motor phase current IN Winding resistance RW Rate-of-current rise time constant t Frame m 3)
' kHz Arms ms kg
1) depending on the controller 2) Measured at 1000 steps/revolution, unit: angular minutes 3) Earth of motor type with cable retaining screws or connector
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Technical Data
VRDM 3xx
3.7.2
Shaft load of VRDM 39x
FR1 FA1 FA2
FR2
X
Y
The following conditions apply: * * * speed n = 600 1/min ambient temperature = 40C (ca. 80C storage temperature) 100% Duty Cycle at rated torque
When these conditions apply the maximum forces shown in the table below can act on the shaft, but not simultaneously:
Motor type Max. radial force of 1st shaft end FR1 Max. axial force tension FA1 Max. axial force pressure FA2 Nominal bearing life L10h
3) 1) 1)
VRDM 397 N N N N h 100 50 / 175 30 20000 75 2)
VRDM 3910 100 50 / 175 30 20000 75 2)
VRDM 3913 110 50 / 75 2) 175 30 20000
Max. radial force of 2nd shaft end (optional) FR2
1) Point of attack of radial force: X = Y = 15mm distance from flange 2) 1. Value: motors with terminal box, connector or encoder; 2. Value: motors with braided wires 3) Operating hours at a failure probability of 10%
3.7.3
Type code of VRDM 39x
3-16
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VRDM 3xx
Technical Data
Example: Phase count 3 Size (flange) 9 = 85 mm Motor length 7 = 68 mm 10 = 98 mm 13 = 128 mm Pole pair count 50 Rotor L = laminated rotor plate Maximum voltage H = 25 VAC (35 VDC) N = 92 VAC (130 VDC) W = 230 VAC (325 VDC) Connection type (motor/ encoder) A = braided wires B = terminal box C = connector Position capture E = encoder (1000 Inc./rev.) O = without encoder holding brake B = brake O = without brake Degree of protection IP41 IP56 Gearbox type O = without gearbox 3 = PLE 80 B = PLS 90 Gear ratio O = without gearbox 3 = 3:1 5 = 5:1 8 = 8:1 Shaft diameter D9 = 9.5 mm D2 = 12 mm D4 = 14 mm DO = motor with gearbox
VRDM 3 9 10 / 50 L H C E O IP41 3 5 DO O OO 2 B B O OOO VRDM 3 9 10 / 50 L VRDM 3 9 10 / 50 L VRDM 3 9 10 / 50 L H C E O IP41 3 5 DO O OO 2 B B O OOO H C E O IP41 3 5 DO O OO 2 B B O OOO H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B B OOO
VRDM 3 9 10 / 50 L H C E O IP41 3 5 DO O OO 2 B B O OOO VRDM 3 9 10 / 50 L H C E O IP41 3 5 DO O OO 2 B B B OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
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VRDM 3 9 10 / 50 L Shaft modelfront O = smooth shaft or with gearbox K = disc spring, DIN 6888 Centring collar 60 = 60 mm 73 = 73 mm 00 = motor with gearbox Second shaft O = without 2 = with VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
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Technical Data
VRDM 3xx
Example: Connection direction motor plug O = without, L = left, R = right B = rear, F = front, S = straight Connection direction encoder plug O = without, L = left, R = right B = rear, F = front, S = straight Wire output O = without S = side B = rear Wire length OOO = none XXX = XXX mm (max. 400)
VRDM 3 9 10 / 50 L H C E O IP41 3 5 DO O OO 2 B B O OOO VRDM 3 9 10 / 50 L H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
VRDM 3 9 10 / 50 L
H C E O IP41 3 5 DO O OO 2 B B O OOO
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Technical Data
3.7.4
Dimensional drawing of VRDM 39x
The following applies for the dimensional drawings: (1) motor with holding brake
L VRDM 397 VRDM 3910 VRDM 3913 67.5 97.5 127.5 D 9.5 9.5 14 12 12 14 N 60 60 60 73 73 73
12 0,5
34
O 14 h6
2 6,5
Figure 3.5
Dimensional drawing of VRDM 39x in braided wire type
DIN 6888 O9,5:3 x 5 O12:4 x 6,5 O14:5 x 6,5 30 O D h6 O N h8 0,5 12 +0,6 L -0,8 10 43 30 1,5 O14 h6 85 70 O6,5
R8 ,2
2 M20 x 1,5 O9 - O13 +0,6 l -0,8
0098441113309, V1.00, 02.2006
22 43 46,5
1
Figure 3.6 Dimensional drawing of VRDM 39x in terminal type
3-phase stepping motors
O6,5
DIN 6888 O9,5:3 x 5 O12:4 x 6,5 O14:5 x 6,5
O N h8 O D h6
30
+0,6 L -0,8 10
30 1,5
85 70
R 8, 2
3-19
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Technical Data
VRDM 3xx
O N h8
DIN 6888 O9,5: 3 x 5 O12: 4 x 6,5 O14: 5 x 6,5 O D h6 30 12 0,5 +0,6 L -0,8 10 43 30 1,5 O 14 h6 22 85 70
2 +0,6 L -0,8 43
46,5
1
Figure 3.7 Dimensional drawing of VRDM 39x in connector type without encoder
O N h8 O D h6
DIN 6888 O9,5: 3 x 5 O12: 4 x 6,5 O14: 5 x 6,5 30 12 0,5 +0,6 L -0,8 10 43 30 1,5 O14 h6 22 O6,5 85 70
2 +0,6 L -0,8
43
46,5
0098441113309, V1.00, 02.2006
1
Figure 3.8 Dimensional drawing of VRDM 39x in connector type with encoder
3-20
O6,5
R 2 8,
30
R8 ,2
30
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VRDM 3xx
Technical Data
3.7.5
3.7.5.1
Characteristic curves of VRDM 39x
Characteristic curves of VRDM 397
VRDM 397 / 50L N+ W
M [Nm] 2 1 2 1 24 VDC
VRDM 397 / 50L H
M [Nm]
1,5
1,5
35 VDC 1 2 0,5
1 2
0,5
0 0,1
1
10
fs [Hz]
100
0 0,1
1
10
fs [Hz]
100
n [1/min] kg cm] 30
n [1/min] J [kg cm] 30
20
20 3 3
10
10
0
0
Measurement of characteristic curves with 1000 steps/revolution, nominal voltage UN and phase current IN (1) (2) (3) Pull-out torque Pull-in torque Maximum load inertia
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Technical Data
VRDM 3xx
3.7.5.2
Characteristic curves of VRDM 3910
VRDM 3910 / 50L N + W
M [Nm] 1
VRDM 3910 / 50L H
M [Nm] 4 24 VDC 3 35 VDC
4 1
3
2 2
2 2
1
1
0 0,1
1
10
fs [Hz]
100
0 0,1
1
10
fs [Hz]
100
n [1/min] [kg cm] 30 J [kg cm] 30
n [1/min]
20
3
20
3
10
10
0
0
Measurement of characteristic curves with 1000 steps/revolution, nominal voltage UN and phase current IN (1) (2) (3) Pull-out torque Pull-in torque Maximum load inertia
3-22
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Technical Data
3.7.5.3
Characteristic curves of VRDM 3913
VRDM 3913 / 50 N + W
M [Nm] 6 1 6 1
VRDM 3913 / 50L H
M [Nm]
4,5
24 VDC
4,5
35 VDC 3 2 1,5
3 2 1,5
0 0,1
1
10
fs [Hz]
100
0 0,1
1
10
fs [Hz]
100
n [1/min] J [kg cm] 30
n [1/min] J [kg cm] 30
20
3
20
3
10
10
0
0
Measurement of characteristic curves with 1000 steps/revolution, nominal voltage UN and phase current IN (1) (2) (3) Pull-out torque Pull-in torque Maximum load inertia
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Technical Data
VRDM 3xx
3.8
VRDM 311x
The stepper motors of the VRDM 311x series are manufactured as the VRDM 31117 and VRDM 31122 types. The edge length of the flange is 110 mm. The terms and formulas listed in the following tables correspond to DIN 42021 Part 2.
3.8.1
Motor-specific data of VRDM 311x
VRDM 31117 W VAC VAC VDC Nm Nm kgcm 230 250 325 12 13.5 10.5 VRDM 31122 W 230 250 325 16.5 19.7 16
Motor type winding Max. supply voltage Umax Max. voltage against PE Nominal voltage of DC bus UN Nominal torque MN Holding torque MH Rotor inertia JR Steps per revolution 1)
2)
200 / 400 / 500 / 1000 / 2000 / 4000 / 5000 / 10000 1.8 / 0.9 / 0.72 / 0.36 / 0.18 / 0.09 / 0.072 / 0.036 6 4.7 4.1 1.8 ~22 8.2 6 4.7 4.75 1.9 ~22 11.2
Step angle Systematic angular tolerance s Max. starting frequency fAom Motor phase current IN Winding resistance RW Rate-of-current rise time constant t Frame m 3)
' kHz Arms ms kg
1) depending on the controller 2) Measured at 1000 steps/revolution, unit: angular minutes 3) Earth of motor type with cable retaining screws or connector
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VRDM 3xx
Technical Data
3.8.2
Shaft load of VRDM 311x
FR1 FA1 FA2
FR2
X
Y
The following conditions apply: * * * speed n = 600 1/min ambient temperature = 40C (ca. 80C storage temperature) 100% Duty Cycle at rated torque
When these conditions apply the maximum forces shown in the table below can act on the shaft, but not simultaneously:
Motor type Max. radial force of 1st shaft end FR1 Max. axial force tension FA1 Max. axial force pressure FA2 Nominal bearing life L10h
2) 1) 1)
VRDM 31117 N N N N h 300 150 330 60 20000
VRDM 31122 300 150 330 60 20000
Max. radial force of 2nd shaft end (optional) FR2
1) Point of attack of radial force: X = Y = 20mm distance from flange 2) Operating hours at a failure probability of 10%
3.8.3
Type code of VRDM 311x
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Technical Data
VRDM 3xx
Example: Phase count 3 Size (flange) 11 = 110 mm Length 17 = 180 mm 22 = 228 mm Pole pair count 50 Rotor L = laminated rotor plate Maximum voltage W = 230 VAC (325 VDC) Connection type (motor/ encoder) B = terminal box C = connector Position capture E = encoder (1000 Inc./rev.) O = without encoder holding brake B = brake O = without brake Degree of protection IP41 IP56 Gearbox type O = without gearbox 4 = PLE 120 C = PLS 115 Gear ratio O = without gearbox 3 = 3:1 5 = 5:1 8 = 8:1 Shaft diameter D9 = 19 mm DO = motor with gearbox Shaft modelfront O = smooth shaft or gearbox K = parallel key, DIN 6885 Centring collar 56 = 56 mm 00 = motor with gearbox Second shaft O = without 2 = with Connection direction motor plug O = without, L = left, R = right B = rear, F = front, S = straight
VRDM 3 11 17 / 50 L W C E O IP41 4 VRDM 3 11 17 / 50 L W C E O IP41 4 VRDM 3 11 17 / 50 L W C E O IP41 4 VRDM 3 11 17 / 50 L W C E O IP41 4
5 5 5 5
DO O OO 2 B B O OOO DO O OO 2 B B O OOO DO O OO 2 B B O OOO DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4 VRDM 3 11 17 / 50 L W C E O IP41 4 VRDM 3 11 17 / 50 L W C E O IP41 4 VRDM 3 11 17 / 50 L W C E O IP41 4
5 5 5 5
DO O OO 2 B B B OOO DO O OO 2 B B O OOO DO O OO 2 B B B OOO DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
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VRDM 3 11 17 / 50 L W C E O IP41 4
5
DO O OO 2 B B O OOO
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VRDM 3xx
Technical Data
Example: Connection direction encoder plug O = without, L = left, R = right B = rear, F = front, S = straight Wire output O = without Wire length OOO = none XXX = XXX mm (max. 400)
VRDM 3 11 17 / 50 L W C E O IP41 4 VRDM 3 11 17 / 50 L W C E O IP41 4
5 5
DO O OO 2 B B O OOO DO O OO 2 B B O OOO
VRDM 3 11 17 / 50 L W C E O IP41 4 VRDM 3 11 17 / 50 L W C E O IP41 4
5 5
DO O OO 2 B B O OOO DO O OO 2 B B O OOO
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Technical Data
VRDM 3xx
3.8.4
Dimensional drawing of VRDM 311x
The following applies for the dimensional drawings: (1) motor with holding brake
L VRDM 31117 VRDM 31122 180 228
O56 h7 O19 j6
O19 h7
4 25
O9
R1 0, 5
DIN 6885 A 6 x 6 x 25
40 14
L 1
40 1,5
110 89
3 M 20 x 1,5 O9 - O13 L 1 25
52,7
1
Figure 3.9 Dimensional drawing of VRDM 311x in terminal type
O103
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VRDM 3xx
Technical Data
O19 h7
O56 h7 O19 j6
3
L 1
52,7
30
1
Figure 3.10
Dimensional drawing of VRDM 311x in connector type without encoder
O56 h7 O19 j6
3 L 1 52,7
O19 h7
30
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1
Figure 3.11 Dimensional drawing of VRDM 311x in connector type with encoder
3-phase stepping motors
O103
O9
R1 0,5
DIN 6885 A 6 x 6 x 25
40 14 4 52
L 1
40 1,5
O103
110 89
O9
5 0, R1
40 DIN 6885 A 6 x 6 x 25 4 25
L 1 14 25
40 1,50
110 89
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Technical Data
VRDM 3xx
3.8.5
3.8.5.1
Characteristic curves of VRDM 311x
Characteristic curves of VRDM 31117
VRDM 31117 / 50L W
M [Nm] 12 1
9 2
6
3
0 0,1
1
10 fs [Hz]
100
n [1/min] J [kg cm] 80
60
3
40
20
0
Measurement of characteristic curves with 1000 steps/revolution, nominal voltage UN and phase current IN (1) (2) (3) Pull-out torque Pull-in torque Maximum load inertia
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VRDM 3xx
Technical Data
3.8.5.2
Characteristic curves of VRDM 31122
VRDM 31122 / 50L W
M [Nm] 16 1
12 2
6
4
0 0,1
1
10
fs [Hz]
100
n [1/min] J [kg cm] 80
60
3
40
20
0
Measurement of characteristic curves with 1000 steps/revolution, nominal voltage UN and phase current IN (1) (2) (3) Pull-out torque Pull-in torque Maximum load inertia
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Technical Data
VRDM 3xx
3.9
Optional holding brake
The holding brake is an electromagnetic spring-pressure brake. It holds the motor axis after the motor current is switched off, including after power failure and EMERGENCY STOP. A holding brake is required particularly for torque loads caused by weight forces, such as occur with vertical axes in handling technology. The control is described in Chapter 4.4.4 "Holding brake connection". The connections are safely isolated from the motor winding. Technical Data
Holding brake for motor type Nominal voltage Holding torque Electrical pick-up power Moment of inertia Permissible friction per braking Make time (release brake) Break time (apply brake) Mass Q 1) V Nm W kgcm J ms ms kg
VRDM 36x 24 1 8 0.015 6*106 60 14 ca. 0.5
VRDM 39x 24 6 22 0.23 8*106 30 18 ca. 1.5
VRDM 311x 24 16 28 0.65 13*106 50 20 ca. 3
1) The values are applicable for 1...10 brake applications per hour
@ WARNING
Violations and system damage by falling loads during startup. When the brake is released on stepping motor drives with external forces (vertical axes), the load may fall if the friction is low. * Restrict the load in these applications to a maximum of 25% of the static holding torque.
Failure to follow these instructions can result in death, serious injury or equipment damage. Maximum brake power The permissible brake power for the drive is measured with the formula:
Q=
Where:
J * n2 M2 * 182,4 M dec
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Q = permissible friction per braking [J], J = mass moment of inertia [kgcm2], n = speed of rotation, M2 = nominal torque of brake, Mdec = deceleration torque.
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Technical Data
The holding brake is manufactured by Chr. Mayr GmbH + Co.KG. The "ROBA-Stop" and "ROBA-Stop-M" series holding brakes are used. For the documentation see http://www.mayr.de. Make and break time The switching times are based on the following release circuit:
24 VDC
ZPD 24V ZPD 24V
M
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Technical Data
VRDM 3xx
3.10
Optional encoder
Three-phase stepper motors can be fitted with an optional encoder. This measuring system reports the actual position if the power controller is fitted with rotary speed monitoring electronics. A temperature sensor is integrated. The connections are safely isolated from the motor winding. The rotation monitoring compares the setpoint and actual position of the motor and reports an error if the difference exceeds a specified limit (tracking error limit). For example, this enables detection of mechanical overload of the motor. An encoder can only be used with motors with connector. A second shaft end or a holding brake can also be used.
Technical Data
Resolution Indexplus Output Signals Pulse shape Supply voltage
Pulses/rev. Pulses/rev.
1000 1 RS 422 A; B; I Rectangular
V
5 5% 0.125 (VRDM 36x) 0.15 (VRDM 39x and 311x) 100...105 (VRDM 39x and 311x)
Max. power consumption A Temperature sensor C
Pulse diagram
90 A A B B I I t
Figure 3.12
Signal curve with motor rotating clockwise.
Temperature monitoring
ENC+5V PTC
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T_MOT ENC_0V
Figure 3.13
Temperature monitoring
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Technical Data
3.11
Optional gearbox
The stepper motors can also be supplied with attached PLE or PLS gearboxes with gear ratios 3:1, 5:1 or 8:1. The following table shows the preferred gearboxes for the motors.
Motor type VRDM 36x VRDM 39x VRDM 311x Gearbox types PLE 40 PLE 80 PLE 120 PLE 60 PLS 70 PLS 90 PLS 115
For more information on the layout of motor and gearbox see page 3-38. If you have any special requirements in addition to the standard range, please contact our technical support.
PLE gearbox
Economical precision planetary gearbox The PLE planetary gearbox series is the economy alternative to the PLS planetary gearbox series. They have been developed for applications that do not require extremely low torsional play. * * * * * low torsional play high output torques patented PCS(R) (precision connection) High efficiency (96%, depending on ratio) 22 ratios i=3,...,512 low noise high quality (ISO 9001) any desired mounting position simple motor attachment lubricated for life
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* * * * * PLS gearbox
High-quality low-play planetary gearbox Customer requirements are met by innovative solutions in the products. The PLS series represents 3-35
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Technical Data
VRDM 3xx
absolute precision and can be found in almost all aspects of mechanical engineering. * * * * * * * * * * * * Technical data of PLE gearbox extremely low torsional play (<3') high output torques patented NIEC(R) as option (precision connection) patented PCS(R) (precision connection) high efficiency (98%, depending on number of ratios) honed gear teeth 14 ratios i=3,...,100 low noise (<65dBA) high quality (ISO 9001) any desired mounting position simple motor attachment lubricated for life
PLE gearbox general Gear ratios Life time 1) [h] [%] 1 10000 96 aluminium black anodised C 45 roller bearing temperature 2) protection 3) [C] -25 to +90, shortly +120 IP 54 life lubrication
Efficiency at full load Case material Surface Shaft material Bearings Operating Degree of
Lubrication
1) Life time with an output shaft speed of 100 1/min and T = 30C 2) measured at the housing surface 3) at mounting position IM V3 (drive shaft vertical, shaft end up) only protection class IP 41 is guaranteed
Size of PLE Max. radial force Max. axial
1) 2)
40 [N] [N] [arcmin] 1/min 1/min Nm/arcmin [kg] 200 200 <24 18000 4500 1.0 0.35
60 500 600 <16 13000 4000 2.3 0.9
80 950 1200 <9 7000 4000 6 2.1
120 2000 2800 <8 6500 3500 12 6.0
160 6000 8000 <6 6500 3000 38 18
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force 1)
Torsional play Max. drive speed received drive speed Torsion rigidity Weight
1) the details are based on min. 20000 h life time with an output shaft speed of 100 1/min and application factor K=100 min and S1-operating mode for electric machines and T=30C 2) based on the centre of the driven shaft and 50% duty cycle
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Technical Data
Technical data of PLS gearbox
PLS gearbox general Gear ratios Life time 1) [h] [%] 1 20000 98 aluminium black anodised C 45 tapered roller bearings temperature 2) protection 3) [C] -25 to +100, shortly +124 IP 65 Life lubrication
Efficiency at full load Case material Surface Shaft material Bearings Operating Degree of
Lubrication
1) Life time with an output shaft speed of 100 1/min and T = 30C 2) measured at the housing surface 3) at mounting position IM V3 (drive shaft vertical, shaft end up) only protection class IP 41 is guaranteed
Size of PLS Max. radial Max. axial force 1) 2) [N] [N] [arcmin] 1/min 1/min Nm/arcmin [kg] force 1)
70 3300 4700 <3 14000 5000 6 3.0
90 4300 6400 <3 10000 4500 9 4.3
115 4800 8000 <3 8500 4000 20 9.0
142 9000 15000 <3 6500 3000 44 15.4
Torsional play Max. drive speed received drive speed Torsion rigidity Weight
1) the details are based on min. 20000 h life time with an output shaft speed of 100 1/min and application factor K=100 min and S1-operating mode for electric machines and T=30C 2) based on the centre of the driven shaft and 50% duty cycle
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3.11.1 Assignment of motor-gearbox
@ CAUTION
The gearbox can be destroyed by overload. Exceeding the allowable torques will cause accelerated wear, shaft breakage or blocking. * * * Do not exceed the peak gearbox torque in any operating status. Limit the motor torque if there is a danger of destruction of the gearbox by peak torques. Limit the torque in short-time operation (e.g. in an EMERGENCY STOP situation) to twice the continuous gearbox output torque Md2
Failure to follow these instructions can result in injury or equipment damage. The stepper motors can be combined with the standard gearboxes for your application. The following tables show the motor and gearbox combinations. Tables In the following tables the highlighted value indicate a limitation of the torque by gearbox or motor. Uneconomical combinations are indicated with x; the gearbox is overdimensioned or underdimensioned. The gearbox output side is described with index 2 (e.g. Mmax2). Md2 gearbox output torque (continuous torque) Mmax2 max. output torque (theoretical value, calculated from max. motor torque MN * gear ratio) VRDM 36x
Motor MN Nm 0.45 0.9 1.5 0.45 0.9 1.5 0.45 0.9 1.5 VRDM 364 VRDM 366 VRDM 368 VRDM 364 VRDM 366 VRDM 368 VRDM 364 VRDM 366 VRDM 368 PLE 40 PLE 40 PLE 40 PLE 60 PLE 60 PLE 60 PLS 70 PLS 70 PLS 70 gear 3:1 Md2 Nm 4.5 4.5 4.5 12 12 12 30 30 30 3:1 Mmax2 Nm 1.35 2.7 4.5 1.35 2.7 4.5 1.35 2.7 4.5 5:1 Md2 Nm 6 6 6 16 16 16 50 50 50 5:1 Mmax2 Nm 2.25 4.5 7.5 2.25 4.5 7.5 2.25 4.5 7.5 8:1 Md2 Nm 5 5 5 15 15 15 37 37 37 8:1 Mmax2 Nm 3.6 7.2 12 3.6 7.2 12 3.6
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Technical Data
VRDM 39x
Motor MN Nm 2 4 6 2 4 6 VRDM 397 VRDM 3910 VRDM 3913 VRDM 397 VRDM 3910 VRDM 3913 PLE 80 PLE 80 PLE 80 PLS 90 PLS 90 PLS 90 gear 3:1 Md2 Nm 40 40 40 75 75 75 3:1 Mmax2 Nm 6 12 18 6 12 18 5:1 Md2 Nm 50 50 50 110 110 110 5:1 Mmax2 Nm 10 20 30 10 20 30 8:1 Md2 Nm 50 50 50 62 62 62 8:1 Mmax2 Nm 16 32 48 16 32 48
VRDM 311x
Motor MN Nm 12 17.5 17.5 12 17.5 VRDM 31117 VRDM 31122 VRDM 31122 VRDM 31117 VRDM 31122 PLE 120 PLE 120 PLE 160 PLS 115 PLS 115 gear 3:1 Md2 Nm 80 80 x 150 150 3:1 Mmax2 Nm 36 52.5 x 36 52.2 5:1 Md2 Nm 110 110 x 210 210 5:1 Mmax2 Nm 60 87.5 x 60 87.5 8:1 Md2 Nm 120 120 450 148 148 8:1 Mmax2 Nm 96 140 140 96 140
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Technical Data
VRDM 3xx
3.11.2 Dimensional drawings of gearbox
Dimensional drawing of PLE
L13 B1 D2 L12 L11 L5 L4 L3 L1
L2
H1
Q1
Q2
Q2
D3
D4
D1
Q1 = D6
L8
Z
Figure 3.14 Size Combination possible with Flange hole circle Screw-in thread Shaft diameter Shaft stub Centring Case diameter Adapter flange cross section Centre hole 1)
2)
Dimensional drawing of PLE gearbox 60 VRDM 36x 52 M5 x 8 14 17 40 60 60 M5 x 12 16 5 25 2.5 30 35 47 3 8.2 16 106.2 80 VRDM 39x 70 M6 x 10 20 25 60 80 85 M6 x 16 22.5 6 28 4 36 40 60.5 3 12 21.2 133.7 120 VRDM 311x 100 M10 x 16 25 35 80 115 115 M10 x 22 28 8 40 5 50 55 74 4 25.5 21.8 176.3 160 VRDM 311x 145 M12 x 20 40 55 130 160 140 M16 x 36 43 12 65 8 80 87 104 5 64.5 255.5
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40 VRDM 36x D1 D2 D3 D4 D5 D6 Q2 Z H1 B1 L1 L2 L3 L4 L5 L8 L11 L12 L13 34 M4 x 6 10 12 26 40 60 M3 x 9 11.2 3 18 2.5 23 26 39 2 9.4 15 89.4
Parallel key height Parallel key Parallel key
width 2) length 2)
Distance from shaft end Shaft length to collar Output shaft length Case length Output centring collar Intermediate flange length Adapter flange length Total length
1) Centre hole DIN 332, page 2, form DS 2) Parallel key DIN 6885 T1
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Technical Data
Dimensional drawing of PLS
L12
D 11
L11 D2
L3
L2 L1
D12
D12
D6
D6
D3 D4
L6 L10 L9
115 130 8.5 32 55 110 115 115 115 58 64.5 77.5 4 14 34 46 188
D1
Figure 3.15 Size Combination possible with Flange hole circle Screw-in hole Shaft diameter Shaft stub Centring Gearbox cross section Cut-out Motor flange cross section Shaft length to collar Output shaft length Case length Output centring collar Flange thickness Cut-out width Motor flange length Total length D1 D2 D3 D4 D5 D6 D11 D12 L1 L2 L3 L6 L9 L10 L11 L12 70 VRDM 36x 75 5.5 19 40 60 70 64 70 28 32 62.5 3 7 23 29.5 124
Dimensional drawing of PLS gearbox 90 VRDM 39x 100 6.5 22 50 80 90 87 90 36 41.5 69 3 8 30 40 150.5
VRDM 311x
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D5
3-41
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VRDM 3xx
3-42
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Installation
4
Installation
$ DANGER
Electric shock, fire or explosion * Only technicians who are familiar with and understand the contents of this manual and the other relevant manuals are authorised to work on and with this drive system. Before working on the drive system: - Switch off power to all terminals. - Place a sign "DO NOT SWITCH ON" on the switch and lock to prevent its being switched on. - Allow the DC bus capacitors to discharge (see power amplifier manual). - Check that there is no power. * * * Do not short-circuit DC bus or touch unshielded components or screws of the terminals under voltage. Install all covers and close the housing doors before applying power. The motor generates voltage when the shaft is rotated. Lock the shaft of the motor to prevent rotation before starting work on the drive system. AC voltages may jump over unused wires in the motor cable. Isolate unused wires at both ends of the motor cable. The system manufacturer is responsible for compliance with all applicable regulations relevant to earthing the drive system. Extend the earth through the motor cable with an additional earth at the motor housing.
*
* *
Failure to follow these instructions will result in death or serious injury.
@ WARNING
Strong electromagnetic fields may cause injury and interference. Motors can generate strong localised electrical and magnetic fields. This can cause interference in sensitive devices. *
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Keep persons with implants such as pacemakers away from the motor. Do not place any sensitive devices close to the motor.
*
Failure to follow these instructions can result in death, serious injury or equipment damage.
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Installation
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@ WARNING
Danger of injury and damage to system components by unbraked motor. In case of power failure and faults that cause the power amplifier to switch off, the motor will no longer be actively braked and will run on to a mechanical stop, possibly at high speed. Overload or faults can cause danger by failure of the holding brake. Incorrect use of the holding brake results in accelerated wear and failure. * * * * * Do not use the internal brake as a service brake. If necessary, use a damped mechanical stop or a service brake. Check the function of the brake. In addition, secure the danger area to prevent entry. The brake function must be checked again after frequent EMERGENCY STOP braking operations.
Failure to follow these instructions can result in death, serious injury or equipment damage.
$ DANGER
Electric shock from foreign bodies or damage. Conductive foreign bodies in the product or serious damage can cause accidental energisation. * * * Do not use damaged products. Prevent foreign bodies such as chips, screws or wire clippings from entering the product. Do not use products that contain foreign bodies.
Failure to follow these instructions will result in death or serious injury.
4.1
Before installation...
* Read this manual carefully, particularly the chapter on safety and follow all safety instructions. Familiarise yourself with the power controller manual also. This will minimise the accident risk and prevent damage to the drive and to your system.
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* * * *
Before assembly obtain all required tools, instruments, testing aids and equipment. Check the nameplate to ensure that the motor is actually suitable for the intended application. Make sure that the required ambient conditions for operation will be maintained. Make sure that the attachment for the motor flange is stable, clean, free of chips and does not oscillate or vibrate. Check that the system side conforms with all dimensions and tolerances. 3-phase stepping motors
4-2
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VRDM 3xx
Installation
4.2
Electromagnetic compatibility, EMC
@ WARNING
Interference with signals and devices may cause injury Distorted signals can cause unexpected device responses. * * Install the wiring in accordance with the EMC requirements. Check compliance with the EMC requirements, particularly in an environment subject to strong interference.
Failure to follow these instructions can result in death, serious injury or equipment damage. Fully finished motor and sensor system connections in many different lengths are available for the drive solutions. Contact your dealer. EMC requirement:Run motor cable alone EMC requirement:motor and motor sensor cable When planning the cabling make sure that the motor cable is laid separately. It must never by laid in a conduit together with power, control or sensor lines or fastened parallel with cable ties. Motor leads and motor sensor cables are especially critical signal lines. Use the cables recommended by your local representative. They must be tested for EMC safety and must be suitable for trailing cables. The motor cable and the motor sensor cable on the drive system must be laid out over a wide area with low resistance on the unit, the switch cabinet output and on the motor. Lay out motor and motor sensor cable without interruption (do not install switch components) from the motor and sensor to the unit. If a line has to be interrupted, shielded connections and metal casing must be used to prevent interference. Lay the motor cable at least 20 cm from the signal cable. If the distance is less than this, the motor cable and signal cables must be separated by grounded screening plates. For long lines equipotential bonding conductors with a suitable cross section must be used EMC requirement:Mains and motor connection Great care is required when connecting the mains power and the motor to the power controller, because the danger of uncontrolled overcoupling is greatest here. Lay mains and motor cable well apart( (> 25 cm). Keep motor cable as short as possible.
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Keep unshielded braided wires of the motor cable (e.g. U,V,W) on the device and motor as short as possible. This is the only way to prevent the formation of active and passive antennas. EMC requirement:Earth band Connect the motor to earth with an earth band > 8mm2 to ensure correct function without interference.
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Installation
VRDM 3xx
fully fabricated Motor and sensor system wiring
Use only the fully fabricated and tested connection lines that we supply for the motor connection and to connect the sensor system. They are optimally designed for these drive solutions. Place the sleeve of the motor wiring on the motor plug connector and tighten the screw cap. Proceed in the same way with the sensor system connection line. Connect the motor wiring and the sensor system wiring with the power controller as specified by the circuit diagram of the power controller. If your motor is fitted with a holding brake, please follow the instructions on 4.4.4 "Holding brake connection".
PE conductor connection
For safety reasons a redundant PE conductor connection is recommended.
4.3
Mechanical installation
@ CAUTION
Failure of the drive by mechanical damage. If the maximum allowable forces on the shaft are exceeded, this will result in accelerated bearing wear or shaft breakage. * * * Do not exceed the maximum allowable axial and radial forces. Protect the shaft against impact. Do not exceed the maximum allowable axial force even when pressing on output components.
Failure to follow these instructions can result in injury or equipment damage.
@ CAUTION
The gearbox can be destroyed by overload. Exceeding the allowable torques will cause accelerated wear, shaft breakage or blocking. * * * Do not exceed the peak gearbox torque in any operating status. Limit the motor torque if there is a danger of destruction of the gearbox by peak torques. Limit the torque in short-time operation (e.g. in an EMERGENCY STOP situation) to twice the continuous gearbox output torque Md2
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Failure to follow these instructions can result in injury or equipment damage.
4-4
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VRDM 3xx
Installation
@ CAUTION
Hot surfaces can cause burns and damage to system components! The drive temperature can exceed 100C (212F) in some conditions. * * * * Avoid contact with the hot drive. Do not place combustible or heat-sensitive components in immediate vicinity. Follow the actions described for heat dissipation. Check the temperature of the drive during the test run.
Failure to follow these instructions can result in injury or equipment damage. Mounting position The motor can be mounted in any position; according to EN 60034-7 the following mounting positions are defined and approved: * * * IM B5 drive shaft horizontal IM V1 drive shaft vertical, shaft end down IM V3 drive shaft vertical, shaft end up
@ WARNING
Unexpected motion and destruction of the drive may cause injury. If the environmental conditions are other than those approved, foreign material from the environment may enter the drive and cause unexpected reactions. * * Check the environmental conditions. If the seals run dry occasionally, make sure that there are no liquids on the end of the shaft. (For example in the IM V3 installation position). Protect the shaft seals and cable glands from the spray of a pressure cleaner.
*
Failure to follow these instructions can result in death, serious injury or equipment damage. Mounting When attaching the motor to the fastening flange, make sure that the motor is carefully aligned and has an even contact. There must not be any tension. The flange area of the machine must be sufficiently rigid and able to resist the dynamic reaction by the drive. The same applies for the coupling components or loads that are mounted on the shaft.
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Installation
VRDM 3xx
Attaching output components
Attach output components such as pulleys, clutch etc. with suitable equipment and tools. The motors are fitted with a sliding bearing seat. The maximum effective axial and radial forces on the shaft must not exceed the values specified in "Technical Data, shaft load". The shaft must be supported if necessary. If the output component is not installed correctly, e.g. pressing on a pinion wheel, the position capture sensor or the bearings may be damaged. Both motor and output component must be precisely aligned both axially and radially. If this is not observed, it will run roughly, the bearings or the encoder will be damaged or the rotating components will be damaged. Follow the installation directions of the manufacturer of the output components.
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VRDM 3xx
Installation
4.4
Electrical installation
The motors are not designed for direct connection to mains power; they must be operated with a suitable power amplifier only.
@ CAUTION
Overheating the plug may cause fire. The power plug connector may overheat and fuse contacts by arcing if the plug is not correctly connected and the cap is not tightly screwed in place. * Make sure that plug is correctly connected and the plug cap is tight.
Failure to follow these instructions can result in injury or equipment damage.
@ WARNING
Danger of injury and damage to system components by loss of degree of protection Foreign bodies, deposits or humidity can cause unexpected device responses. * * Prevent any foreign bodies from entering the terminal device. Check that seals and cable entries are correctly seated.
Failure to follow these instructions can result in death, serious injury or equipment damage.
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Installation
VRDM 3xx
4.4.1
Calculation of installation space
Principle diagram
in m R
in m R
LC
LC
D
D
LM
LR
LS
d
LM LR
d
LS
Dimensions D LS LR LC LM Table 4.1 Dimensions d Table 4.2
Motor plug [mm] 28 [mm] 79 [mm] 115 [mm] 95 [mm] 34 Connector data Motor cable [mm] 10.5 (0.2) Cable data
Sensor system plug 26 54 80 65 24
Encoder cables 8.8 (0.2)
General rule
The following applies as a general rule for calculation of the plug insertion space Rmin: * * stationary wiring: R = 7.5 * d trailing cables (moving): R = 7.5 * d
With the allowable temperatures a distinction is made between stationary and moving: * * stationary wiring: -40C to +85C trailing cables (moving): -20C to +85C
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VRDM 3xx
Installation
4.4.2
Motor connection
* * * * * Cable data Protective conductor and shield must be connected to the motor and the device. To connect the cables in the terminal box only unscrew the four screws of the terminal box, do not remove the brake. The outer terminal is an EMC terminal Motors of the wire type must be connected to the front flange with PE. Two connections (e. g. U and V) can be reversed to change the direction of rotation of the motor shaft.
Cable data Cross section Permissible voltage Table 4.3 [mm2] 4*1.5 [V] 800
Cable data for motor connection
Wiring diagram for motor with braided wires
U
YE
WH
V
W1 BK W3 W2 BU
OR W
RD
Terminal U V W
Description Motor lead Motor lead Motor lead
Motor wire colour (IEC 757) black and yellow (BK and YE) white and blue (WH and BU) orange and red (OR and RD)
The braided wires of the same colours must be connected.
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Installation
VRDM 3xx
Wiring diagram of motor with terminal box (symbolic)
U VW (1) (2) (3)
PE
SHLD
Pin 1 2 3
Terminal U V W PE SHLD
Description Motor lead Motor lead Motor lead
Strand colour (IEC 757) brown (BR) blue (BU) black (BK)
Protective conductor green/yellow (GN/YE) Shield
Starting torque of motor terminals Starting torque for housing screws
[Nm] [Nm]
0.6 0.6
Wiring diagram for motor with connector
1 2 3
Figure 4.1 Pin 1 2 3 4
Connector, view of motor side to the contact pins Terminal U V W PE Description Motor lead Motor lead Motor lead Protective conductor
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VRDM 3xx
Installation
4.4.3
Encoder connection
The shield must be connected to the motor and the device.
Cable data
Cable data Cross section Table 4.4 [mm2] 5*2*0.25mm2 and 1*2*0.5mm2 Cable data for encoder connection
Wiring diagram of encoder
9 1 10 2 3
8 7 12 6
11 45
Pin 1 2 3 4 5 6 7 8 9 10 11 12
Designation ENC_A ENC_A ENC_B ENC_B ENC_I ENC_I ENC_0V ENC+5V ENC_0V_SENSE ENC+5V_SENSE T_MOT
Description Encoder signal channel A Encoder signal channel A, inverted Encoder signal channel B Encoder signal channel B, inverted Encoder signal channel I Encoder signal channel I, inverted Reference potential to ENC+5V 5VDC power supply for encoder Reference potential to ENC+5V_SENSE SENSE line to ENC+5V Temperature sensor not assigned
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Installation
VRDM 3xx
4.4.4
Holding brake connection
@ WARNING
Wear or high temperature will cause loss of braking power. Incorrect use of the holding brake causes accelerated wear and loss of braking power. Heat reduces the holding torque. * * Do not use the brake as a service brake. At operating temperatures over 80C (176F) do not exceed a maximum of 50% of the specified holding torque when using the brake.
Failure to follow these instructions can result in death, serious injury or equipment damage. Control logic Holding brake controller For a motor with a holding brake an appropriate control logic is required. The control logic releases and closes the holding brake. During heat build-up of the brake to 80C the holding torque can be reduced 50% from the rated value. If the heat build-up is excessive a holding brake controller with voltage reduction is recommended. A voltage reduction to a maximum of 50% after ca. 100ms is therefore possible. When using a holding brake controller the brake must be connected with a shielded line.
Wiring diagram of holding brake
The connector is a component of the scope of supply. Connector identification: Hirschmann Type G4 A 5M
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VRDM 3xx
Commissioning
5
Commissioning
$ DANGER
Electric shock, fire or explosion * Only technicians who are familiar with and understand the contents of this manual and the other relevant manuals are authorised to work on and with this drive system. Before working on the drive system: - Switch off power to all terminals. - Place a sign "DO NOT SWITCH ON" on the switch and lock to prevent its being switched on. - Allow the DC bus capacitors to discharge (see power amplifier manual). - Check that there is no power. * * * Do not short-circuit DC bus or touch unshielded components or screws of the terminals under voltage. Install all covers and close the housing doors before applying power. The motor generates voltage when the shaft is rotated. Lock the shaft of the motor to prevent rotation before starting work on the drive system. AC voltages may jump over unused wires in the motor cable. Isolate unused wires at both ends of the motor cable. The system manufacturer is responsible for compliance with all applicable regulations relevant to earthing the drive system. Extend the earth through the motor cable with an additional earth at the motor housing.
*
* *
Failure to follow these instructions will result in death or serious injury.
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Commissioning
VRDM 3xx
5.1
Preparing for commissioning
Before commissioning check the correct mechanical installation: take particular note of correctly installed screws at the flange and tension-free alignment of the motor. the correctly conducted electrical installation: in particular check the PE conductor connections and earth connections. Make sure that all connections on the motor and to the power controller are correctly made and connected and that cable fasteners are tight. the correct isolation of unused reserve wires: unused lines must be correctly isolated at both ends, because induction currents may also flow in unused wires in drive systems. the guards to prevent contact: the appropriate guards must be installed to prevent contact with electrical and mechanical or moving parts. the environmental and operation conditions: make sure that the specified ambient conditions are maintained and that the drive solution matches the operating conditions as specified on the nameplate. the output components: check that the output components, which may be already installed, are balanced and precisely aligned. the parallel key at the shaft end of the motor: If you have a motor with a parallel key groove and parallel key, the parallel key must not be inserted when commissioning without output component or it must be appropriately secured. the function of the holding brake: check that the holding torque of the brake as specified in the data sheet is reached. Make sure that the holding brake is released after applying the brake voltage.
5-2
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VRDM 3xx
Commissioning
5.2
Running commissioning
@ WARNING
Rotating parts may cause injury and damage to the system. Rotating parts may cause injuries and may catch clothing or hair. Loose parts or parts that are unbalanced may be thrown clear. * * After installation check all rotating parts (parallel keys, clutch, ..). Use a guard as protection against rotating parts.
Failure to follow these instructions can result in death, serious injury or equipment damage.
@ WARNING
Unexpected motion may cause injury and damage to the system When the drive is operated for the first time there is a high risk of unexpected motion because of possible wiring faults or unsuitable parameters. * * * * If possible, run the first test movement without coupled loads. Make sure that a functioning button for EMERGENCY STOP is within reach. Also anticipate a movement in the incorrect direction or oscillation of the drive. Make sure that the system is free and ready for the motion before starting the function.
Failure to follow these instructions can result in death, serious injury or equipment damage.
@ WARNING
Danger of injury from falling parts. The motor may move as a result of the reaction torque, tip and fall. * Fasten the motor securely to prevent it from breaking loose during strong acceleration.
Failure to follow these instructions can result in death, serious injury or equipment damage.
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Commissioning
VRDM 3xx
@ WARNING
Danger of injury and damage to system components by unbraked motor. In case of power failure and faults that cause the power amplifier to switch off, the motor will no longer be actively braked and will run on to a mechanical stop, possibly at high speed. Overload or faults can cause danger by failure of the holding brake. Incorrect use of the holding brake results in accelerated wear and failure. * * * * * Do not use the internal brake as a service brake. If necessary, use a damped mechanical stop or a service brake. Check the function of the brake. In addition, secure the danger area to prevent entry. The brake function must be checked again after frequent EMERGENCY STOP braking operations.
Failure to follow these instructions can result in death, serious injury or equipment damage.
@ CAUTION
Hot surfaces can cause burns and damage to system components! The drive temperature can exceed 100C (212F) in some conditions. * * * * Avoid contact with the hot drive. Do not place combustible or heat-sensitive components in immediate vicinity. Follow the actions described for heat dissipation. Check the temperature of the drive during the test run.
Failure to follow these instructions can result in injury or equipment damage.
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Diagnostics and troubleshooting
6
6.1
Error
Diagnostics and troubleshooting
Mechanical faults
Cause overload brake not open excessive dirt Troubleshooting reduce load check brake controller clean motor contact service align output component align output component balance output component contact service change coupling type check stiffness of motor fixing align output component check output component check stiffness of motor fastening Make sure that the axial load is not exceeded or the shaft is returned to the original axial position
excessive heat
whistling or knocking noise grinding noise radial oscillation
bearing or gearbox faulty rotating output component is grinding orientation of output component faulty unbalance of an output component shaft bent resonance with coupling components resonance with fastening
axial oscillation
output component incorrectly aligned output component impacts resonance in fastening
encoder does not operate or only operates sporadically
Encoder with axially displaced motor shaft may be damaged (max. axial load exceeded)
6.2
Error
Electrical faults
Cause Troubleshooting Reduce load check power controller check connection lines check motor phase current, use current reduction tighten plug
motor does not run or runs hea- Overload vily error in power controller connection line fault or not connected, phase/interturn fault excessive heat
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overcurrent
heat build-up at connection ter- plug loosened or not tightened minals
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Diagnostics and troubleshooting
VRDM 3xx
6-2
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VRDM 3xx
Accessories and spare parts
7
7.1
Accessories and spare parts
Accessories
Order number VW3M3103
Description Holding brake control HBC
7.2
Motor cable
Order number VW3S5101R30 VW3S5101R50 VW3S5101R100 VW3S5101R150 VW3S5101R200 VW3S5102R30 VW3S5102R50 VW3S5102R100 VW3S5102R150 VW3S5102R200
Description Motor cable sized for steppermotor 4x1,5 shielded;The cable has an 6-pin round plug on the motor side; other cable end = open; length=3m Motor cable sized for steppermotor 4x1,5 shielded;The cable has an 6-pin round plug on the motor side; other cable end = open; length=5m Motor cable sized for steppermotor 4x1,5 shielded;The cable has an 6-pin round plug on the motor side; other cable end = open; length=10m Motor cable sized for steppermotor 4x1,5 shielded;The cable has an 6-pin round plug on the motor side; other cable end = open; length=15m Motor cable sized for steppermotor 4x1,5 shielded;The cable has an 6-pin round plug on the motor side; other cable end = open; length=20m Motor cable sized for steppermotor 4x1,5 shielded;both cable end = open; length=3m Motor cable sized for steppermotor 4x1,5 shielded;both cable end = open; length=5m Motor cable sized for steppermotor 4x1,5 shielded;both cable end = open; length=10m Motor cable sized for steppermotor 4x1,5 shielded;both cable end = open; length=15m Motor cable sized for steppermotor 4x1,5 shielded;both cable end = open; length=20m
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Service, maintenance and disposal
8
Service, maintenance and disposal
$ DANGER
Electric shock, fire or explosion * Only technicians who are familiar with and understand the contents of this manual and the other relevant manuals are authorised to work on and with this drive system. Before working on the drive system: - Switch off power to all terminals. - Place a sign "DO NOT SWITCH ON" on the switch and lock to prevent its being switched on. - Allow the DC bus capacitors to discharge (see power amplifier manual). - Check that there is no power. * * * Do not short-circuit DC bus or touch unshielded components or screws of the terminals under voltage. Install all covers and close the housing doors before applying power. The motor generates voltage when the shaft is rotated. Lock the shaft of the motor to prevent rotation before starting work on the drive system. AC voltages may jump over unused wires in the motor cable. Isolate unused wires at both ends of the motor cable. The system manufacturer is responsible for compliance with all applicable regulations relevant to earthing the drive system. Extend the earth through the motor cable with an additional earth at the motor housing.
*
* *
Failure to follow these instructions will result in death or serious injury. You cannot carry out repairs yourself. The repair should only be carried out by a certified customer service organisation. No warranty or liability is accepted for repairs made by the customer.
8.1
Service address
If you cannot resolve the fault yourself please contact your appointed sales partner. Have the following details available: * * * * Type, identification number and serial number of the product (type plate) Type of fault (possibly with fault number) Previous and concurrent conditions Your own ideas regarding the cause of the fault
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Include this information if you return the product for inspection or repair.
3-phase stepping motors
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Service, maintenance and disposal
VRDM 3xx
If you have any questions please contact your local dealer. Your dealer will be happy to give you the name of a customer service outlet in your area. http://www.berger-lahr.com
8.2
Maintenance
Before all work on the drive system consult the chapters on Installation and Commissioning to see what precautions and processes must be observed.
The motor itself is maintenance-free. However, we recommend carrying out the following maintenance procedures at regular intervals: Connections and fastening Check all connection lines and plug connectors regularly for damage. Replace damaged lines immediately. Check that all drive components are firmly seated Tighten all mechanical and electrical threaded connections. Check the screw caps on the connection lines. Cleaning and care Clean dust and dirt off the motor, otherwise the heat dissipation of the motor will be less effective. Insufficient heat dissipation to the ambient air may increase the temperature in the bearings excessively and adversely affect the bearing lubricant. In addition, the temperature monitor may stop the drive unit even though all other conditions are within limits. Motors with shaft sealing rings (degree of protection IP56) are not suitable for cleaning with a high-pressure cleaner. The high pressure may force water into the motor. When using solvents or cleaning agents, make sure that the motor and encoder line, cable bush seals, O-rings and motor paint are not damaged. Occasional lubrication of the sealing rings extends their life time. Bearing replacement The bearings are not designed to be replaced by the customer, because this procedure partially demagnetises the motor and it loses power.
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Glossary
9
9.1
Glossary
Units and conversion tables
The value in the specified unit (left column) is calculated for the desired unit (top row) with the formula (in the field). Example: conversion of 5 metres [m] to yards [yd] 5 m / 0.9144 = 5.468 yd
9.1.1
Length
in ft / 12 *3 / 0.30479 / 30.479 / 304.79 yd / 36 /3 / 0.9144 / 91.44 / 914.4 m * 0.0254 * 0.30479 * 0.9144 / 100 / 1000 cm * 2.54 * 30.479 * 91.44 * 100 / 10 mm * 25.4 * 304.79 * 914.4 * 1000 * 10 -
in ft yd m cm mm
* 12 * 36 / 0.0254 / 2.54 / 25.4
9.1.2
Mass
lb oz * 16 / 1.942559*10-3 slug * 0.03108095 * 1.942559*10 / 14.5939 / 14593.9
-3
kg * 0.4535924 * 0.02834952 * 14.5939 / 1000
g * 453.5924 * 28.34952 * 14593.9 * 1000 -
lb oz slug kg g
/ 16 / 0.03108095 / 0.453592370 / 453.592370
/ 0.02834952 / 28.34952
9.1.3
Force
lb oz * 16 / 28.349524 / 27801 / 0.27801 p * 453.55358 * 28.349524 / 980.7 / 9.807*10-3 dyne * 444822.2 * 27801 * 980.7 * 100*103 N * 4.448222 * 0.27801 * 9.807*10-3 / 100*103 -
lb oz p dyne N
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/ 16 / 453.55358 / 444822.2 / 4.448222
9.1.4
Power
HP W * 745.72218 -
HP W
/ 745.72218
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Glossary
VRDM 3xx
9.1.5
Rotation
1/min (RPM) rad/s * / 30 / 57.295 deg./s *6 * 57.295 -
1/min (RPM) rad/s deg./s * 30 / /6
9.1.6
Torque
lb*in lb*ft / 12 / 192 / 1.355822 / 0.138255 / 13.8255 / 13.558*106 oz*in * 16 * 192 Nm * 0.112985 * 1.355822 kp*m * 0.011521 * 0.138255 kp*cm * 1.1521 * 13.8255 dyne*cm * 1.129*106 * 13.558*106 * 10*106 * 98.066*106 * 0.9806*106 -
lb*in lb*ft oz*in Nm kp*m kp*cm dyne*cm
* 12 / 16 / 0.112985 / 0.011521 / 1.1521 / 1.129*106
* 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5 * 0.101972 / 100 / 98.066*106 * 10.1972 * 100 / 0.9806*106
/ 7.0616*10-3 / 720.07*10-6 / 0.101972 / 72.007*10-3 / 10.1972 / 70615.5 / 10*106
9.1.7
Moment of inertia
lb*in2 lb*ft2 / 144 / 0.04214 / 421.4 / 0.429711 / 2304 kg*m2 / 3417.16 * 0.04214 / 10*103 kg*cm2 / 0.341716 * 421.4 * * 980.665 / 5.46 10*103 kp*cm*s2 / 335.109 * 0.429711 * 10.1972 / 980.665 / 5361.74 oz*in2 * 16 * 2304 * 54674 * 5.46 * 5361.74 -
lb*in2 lb*ft2 kg*m2 kg*cm2 kp*cm*s2 oz*in2
* 144 * 3417.16 * 0.341716 * 335.109 / 16
/ 10.1972 / 54674
9.1.8
Temperature
F C (F - 32) * 5/9 K - 273.15 K (F - 32) * 5/9 + 273.15 C + 273 -
F C K
C * 9/5 + 32 (K - 273.15) * 9/5 + 32
9.1.9
AWG mm2
Conductor cross section
1 42.4 2 33.6 3 26.7 4 21.2 5 16.8 6 13.3 7 10.5 8 8.4 9 6.6 10 5.3 11 4.2 12 3.3 13 2.6
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AWG mm
2
14 2.1
15 1.7
16 1.3
17 1.0
18 0.82
19 0.65
20 0.52
21 0.41
22 0.33
23 0.26
24 0.20
25 0.16
26 0.13
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VRDM 3xx
Glossary
9.2
Terms and Abbreviations
Axial forces Centring collar EMC Encoder Tension or compression forces acting longitudinally on the shaft centric protrusion on the motor flange to ensure precise assembly. Electromagnetic compatibility Sensor for recording the angular position of a rotating element. The encoder is mounted on the motor and signals the angular position of the rotor. brake that only prevents the motor from rotating without power after it has stopped (e.g. a vertikal-axis lowering). It must not be used as a service brake for braking motion. length of motor without optional equipment (such as brake or gearbox) patented process that increases the volume in the gearbox during heat build-and thus reduces the pressure on the shaft sealing ring. For highspeed applications at high torques or high temperature cycles. patented process for maximum precision when connecting the motor shaft to the pinion. The protection class is a standardised specification for electrical equipment that describes the protection against the ingress of foreign bodies and water (for example, IP20). resistance with positive temperature coefficient. Resistance value is increased as the temperature rises. forces that act radially on the shaft a special sealing ring between the fixed flange and the rotating shaft; it increases the protection class of the motor flange. Regular lubrication of the shaft sealing ring is essential and the allowable maximum speed of the motor shaft must not be exceeded. defined by the flange size in the type code
Holding brake
Length NIEC(R)
PCS(R) Protection class
PTC Radial forces Shaft sealing ring
Size
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Glossary
VRDM 3xx
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VRDM 3xx
Index
10
Index
A
Abbreviations 9-3 Accessories 7-1 Accessories and spare parts 7-1 Attaching output components 4-6
B
Before installation... 4-2
C
Cable data encoder connection 4-11 motor connection 4-9 care of the motor 8-2 CE mark 1-5 Characteristic curves VRDM 31117 3-30 VRDM 31122 3-31 VRDM 364 3-12 VRDM 366 3-13 VRDM 368 3-14 VRDM 3910 3-22 VRDM 3913 3-23 VRDM 397 3-21 Cleaning the motor 8-2 Commissioning 5-1 preparation 5-2 running 5-3 Connector installation space 4-8
D
Diagnostics 6-1 Dimensional drawing PLE gearbox 3-40 PLS gearbox 3-41 VRDM 311x 3-28 VRDM 36x 3-10 VRDM 39x 3-19 Disposal 8-1
E
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EMC 4-3 motor and sensor cables 4-3 EMC requirement Earth band 4-3 Mains and motor connection 4-3 Run motor cable alone 4-3 Encoder pulse diagram 3-34 technical data 3-32, 3-34 temperature monitoring 3-34 3-phase stepping motors 10-1
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Index
VRDM 3xx
wiring diagram 4-11 Encoder connection cable data 4-11 Environmental influences 3-2
G
Gearbox technical data 3-35 Glossary 9-1
H
Holding brake technical data 3-32 wiring diagram 4-12
I
Installation mechanical 4-4 Intended use 2-1 Introduction 1-1 IP degree of protection 3-3
L
Life time 3-2
M
Maintenance 8-1 maximum press-on force 3-1 Mechanical installation 4-4 Motor connection cable data 4-9 Motor models 3-5 Motor with braided wires wiring diagram 4-9 Motor with connector wiring diagram 4-10 Motor with terminal box wiring diagram 4-10 Motor-specific data VRDM 311x 3-24 VRDM 36x 3-6 VRDM 39x 3-15 Mounting 4-5 Mounting position of motor 4-5
N
Name plate 1-4
P
PLE gearbox 3-35 dimensional drawing 3-40 technical data 3-36 PLS gearbox 3-35 10-2 3-phase stepping motors
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VRDM 3xx
Index
dimensional drawing 3-41 technical data 3-37 press-on force 3-1 Pulse diagram (encoder) 3-34
S
Service 8-1 Service address 8-1 Shaft load VRDM 311x 3-25 VRDM 36x 3-7 VRDM 39x 3-16
T
Technical data 3-1 PLE gearbox 3-36 PLS gearbox 3-37 technical data encoder 3-32, 3-34 gearbox 3-35 holding brake 3-32 Temperature monitoring (encoder) 3-34 Terms 9-3 Troubleshooting 6-1 Type code VRDM 311x 3-25 VRDM 36x 3-8 VRDM 39x 3-16 VRDM 3x overview 1-3
U
Units and conversion tables 9-1
W
Wiring diagram encoder 4-11 holding brake 4-12 motor with braided wires 4-9 motor with connector 4-10 motor with terminal box 4-10
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Index
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