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User Manual

Appendix

EM1 Series AC Servo Motors

EM1-01-0-EN-2110-MA

Page

13.1.1

Mechanical Mechanism

There are many mechanism of mechanical transmission, here we list 3 types of normal
transmission mechanism and requirements for motor sizing as bellowing:

Transmission mechanism

Requirements

Ball Screw



Installation direction : horizontal or vertical



Ball screw diameter / length / lead



Work pieces weight



Outer force

Pulley & Belt



Installation direction : horizontal or vertical



Pulley dimension / weight



Work pieces weight / Belt weight



Belt tension force (F

)

Rotary Table



Installation direction : horizontal or vertical



Table dimension / weight



Work pieces weight / quantities



Distance from work pieces to rotation axis

13.1.2

Motion Profile



Trapezoidal profile



Triangle profile

Summary of Contents for EM1 Series

Page 1: ...MC04UE01 2107_V1 0 User Manual EM1 Series AC Servo Motors EM1 01 0 EN 2110 MA www hiwin de...

Page 2: ...ne 49 0 7 81 9 32 78 0 Fax 49 0 7 81 9 32 78 90 info hiwin de www hiwin de All rights reserved Complete or partial reproduction is not permitted without our permission These assembly instructions are...

Page 3: ...s user manual in full Maintenance staff maintain and repair the servo motor systems in such a way that they pose no danger to people property or the environment Qualified personnel are those who based...

Page 4: ...Technical Data 21 5 3 EM1 C M 10 2 X X 0 X Technical Data 22 5 4 EM1 C M 20 2 X X 0 X Technical Data 23 5 5 EM1 C M 40 2 X X 0 X Technical Data 24 5 6 EM1 C M 75 2 X X 0 X Technical Data 25 5 7 EM1 A...

Page 5: ...Tools and Equipment 57 10 2 Maintenance and Cleaning 57 11 Troubleshooting 59 11 1 HIWIN AC Servo Motor Troubleshooting Form 60 12 Decommissioning and Disposal 62 12 1 General 62 12 2 Tools and Equipm...

Page 6: ...that you have received the correct servo motor If you have received a motor with the wrong specifications or if the motor is damaged or missing parts please contact your dealer the retailer or this c...

Page 7: ...al injury will result if proper precautions are not taken Warning Potential Danger Indicates that death or severe personal injury may result if proper precautions are not taken Caution Moderate Danger...

Page 8: ...must be taken to protect the motor against overload Proper use of the AC servo motors includes observing the assembly instructions and following the maintenance and repair specifications Use only gen...

Page 9: ...product People who have physical or mental disease or who do not have experience with the use of related products should not be allowed to use this product unless they are accompanied by supervisors o...

Page 10: ...rsonnel or the product should be sent back to this company for repairs Do not use the servo motor for loads that exceed its specification standards Do not change servo motor parts or remove motor scre...

Page 11: ...n encoder please take sufficient measures to prevent electromagnetic noise interference or abnormal temperature changes when using The absolute encoder has an attached magnetic sensor Do not operate m...

Page 12: ...specialist personnel of the operator or manufacturer 3 3 2 1 Protective Equipment Table 3 2 Personal Protective Equipment Operating Phase Personal Protective Equipment Normal Operation When in the vic...

Page 13: ...ir temperature C 15 70 Relative humidity 20 80 Rate of change of temperature C min 0 5 Air pressure kPa 70 106 Condensation Not allowed Formation of ice Not allowed Store the motor in an environment w...

Page 14: ...ally or even cause permanent damage to the motor Select extension cord with isolation net The isolation net must be grounded Attention Risk of Personal Injury Ensure the servo motor is correctly groun...

Page 15: ...d components are disposed of correctly 3 4 Applicable Standards According to IEC 60034 5 standard all HIWIN AC servo motors have the following class of protection IP65 except 50 W 750 W plastic power...

Page 16: ...A EM1 C M 20 2 0 200 W 0 64 Nm 3 000 rpm ED1 0422 A EM1 C M 40 2 0 400 W 1 27 Nm 3 000 rpm ED1 0422 A EM1 C M 75 2 0 750 W 2 39 Nm 3 000 rpm ED1 1022 A EM1 A M 1K 2 0 1 kW 4 77 Nm 2 000 rpm ED1 1022 A...

Page 17: ...M1 01 0 EN 2110 MA Page 17 of 72 1 kW 2 kW AC servo motor appearance are as bellowing 1 Power connector 7 Motor cover stator 2 Brake connector 8 Front cover 3 Encoder connector 9 Oil seal 4 Encoder co...

Page 18: ...2 000 3 000 rpm C 3 000 6 000 rpm D 2 000 5 000 rpm 5 M Rotor Inertia M Medium inertia 6 7 05 Rated output 05 50 W 10 100 W 20 200 W 40 400 W 75 750 W 1K 1 000 W 1A 1 200 W 2K 2 000 W 8 2 Input voltag...

Page 19: ...0 MA Page 19 of 72 4 3 Nameplate Example of AC servo motor nameplate is as following 1 Product Name 6 Serial No 2 Motor Type 7 Company Address 3 Part No 8 CE Mark 4 Input Spec 9 UL Mark 5 Output Spec...

Page 20: ...on of crated torque to motor line current at motor temperature 25 C Voltage constant back EMF constant Ke V krpm Root mean square RMS value of the induced motor voltage at a motor temperature of 25 C...

Page 21: ...t Ke V krpm 18 526 Winding resistance R 25 24 Winding inductivity L mH 13 09 Mechanical data Moment of inertia of the rotor J kg m2 x10 4 0 0368 0 0401 Weight M kg 0 36 0 56 Insulation class Class F C...

Page 22: ...Ke V krpm 28 364 Winding resistance R 22 72 Winding inductivity L mH 13 86 Mechanical data Moment of inertia of the rotor J kg m2 x10 4 0 0620 0 0653 Weight M kg 0 47 0 67 Insulation class Class F Co...

Page 23: ...ant Ke V krpm 27 23 Winding resistance R 5 53 Winding inductivity L mH 8 76 Mechanical data Moment of inertia of the rotor J kg m2 x10 4 0 263 0 326 Weight M kg 0 851 1 085 Insulation class Class F Co...

Page 24: ...constant Ke V krpm 33 87 Winding resistance R 3 59 Winding inductivity L mH 7 22 Mechanical data Moment of inertia of the rotor J kg m2 x10 4 0 48 0 49 Weight M kg 1 25 1 8 Insulation class Class F C...

Page 25: ...onstant Ke V krpm 33 48 Winding resistance R 1 08 Winding inductivity L mH 4 6 Mechanical data Moment of inertia of the rotor J kg m2 x10 4 1 44 1 47 Weight M kg 2 7 3 36 Insulation class Class F Cool...

Page 26: ...k EMF constant Ke V krpm 54 15 Winding resistance R 0 81 Winding inductivity L mH 8 Mechanical data Moment of inertia of the rotor J kg m2 x10 4 7 2 8 0 Weight M kg 5 4 6 2 Insulation class Class F Co...

Page 27: ...constant Ke V krpm 41 52 Winding resistance R 0 482 Winding inductivity L mH 4 54 Mechanical data Moment of inertia of the rotor J kg m2 x10 4 7 2 8 0 Weight M kg 5 3 6 1 Insulation class Class F Coo...

Page 28: ...onstant Ke V krpm 50 49 Winding resistance R 0 264 Winding inductivity L mH 2 825 Mechanical data Moment of inertia of the rotor J kg m2 x10 4 12 8 13 3 Weight M kg 7 9 8 7 Insulation class Class F Co...

Page 29: ...ty of DIN 60034 5 refers to water as medium that can potentially enter and not oil For the degree of protection of HIWIN servo motors please refer to the chapter 8 2 1 Mechanical in this manual 5 11 M...

Page 30: ...optional for all types of AC servo motor EM1 C M 40 2 X X 0 X For this motor type power connector and encoder connector are not satisfied with IP65 motor through shaft section need to add oil seal whi...

Page 31: ...optional for all types of AC servo motor EM1 D M 1A 2 X X 0 X For this motor type power connector and encoder connector are not satisfied with IP65 motor through shaft section need to add oil seal whi...

Page 32: ...model 3 Three phase For 2 kW model or model above 2 kW 10 2 AC Voltage 2 100 VAC 240 VAC 3 400 VAC 11 0 Applicable Motor 0 AC LM DM and TM A AC only 12 1 Reserved 1 STO function security approval 13 1...

Page 33: ...2 3 HVP Mode name 4 S Capacity S Small capacity 50 W 750 W M Medium capacity 1 KW 2 KW 5 6 04 Pin assignment 04 U V W GND 06 U V W GND B B 7 A Motor connector A AMP connector B Straight military type...

Page 34: ...single turn absolute encoder 7 A Motor connector A AMP connector B Straight military type connector C L shape military type connector 8 B Drive connector B 3M SCR type connector 9 10 11 03M Cable leng...

Page 35: ...ers and wire housings for CN1 and CN2 connectors TE1981045 1 1 ED1 CK2 accessory kit 400 W 2 kW Fieldbus 8 10 1918 CN1 AC main input power terminal control input power terminal terminal for regenerati...

Page 36: ...PS06AB MB EM1CM2020F0 HVPS04AB MB HVE23AAB MB EM1CM202BF0 HVPS06AB MB EM1CM4020E0 400 W HVPS04AB MB HVE23IAB MB EM1CM402BE0 HVPS06AB MB EM1CM4020F0 HVPS04AB MB HVE23AAB MB EM1CM402BF0 HVPS06AB MB EM1C...

Page 37: ...ons with implants that are affected by magnetic fields should maintain a safe distance of at least 1 m from AC servo motor systems Warning Risk of Personal Injury Lifting heavy loads may damage your h...

Page 38: ...he Operator Possible safety equipment measures Personal protective equipment in accordance with regional regulations Zero contact protective equipment Mechanical protective equipment 7 2 Storage Dange...

Page 39: ...ver During unpacking do not put any additional loads on the AC servo motors Note The AC servo motor may only be unpacking indoors The AC servo motor provided with fly wiring with 50 W 750 W During unp...

Page 40: ...hazardous corrosive gases or liquids 3 The servo motor s shaft is not water or oil proof Thus do not install or use this servo motor in an environment with water or oil droplets excessively high humi...

Page 41: ...lues at an ambient temperature of 40 C from 40 to 50 de rating avoid condensation and icing when servo motors are installed with the following heat sinks and screws 1 Nm 10 1972 kgf cm Motor PCD screw...

Page 42: ...table for motor attachment for details see the dimension sheet 4 Inspect all components mounting surfaces and threads to ensure they are clean 5 Make sure that the assembly can be carried out in a dry...

Page 43: ...hould not be used in a location lower than the oil surface or the oil can leak in through the opening of motor flange to damage the servo motor 8 2 1 3 Key Installation Procedures 1 Clean dirt from ke...

Page 44: ...200 W 400 W 750 W 1 kW 2 kW 1 Remove plastic cover from shaft 2 Attach jig on motor shaft 3 Rotate jig clockwise 4 Couple puller with jig on 5 Rotate puller clockwise to remove key from keyway Warnin...

Page 45: ...the belt tension force and consider the allowable radial load stated in the motor operating instruction Please reference to the following information Motor Shaft Allowable Axial and Radial Force Fa A...

Page 46: ...or other methods to check installation concentricity 4 When installing the coupling on motor shaft do not apply too much compressive or tensile force Do not impact the motor shaft or it can affect th...

Page 47: ...own in the following table Motor output power Flange circle size Tolerance 50 W 100 W 30 mm H7 200 W 400 W 50 mm H7 750 W 70 mm H7 1 kW 2 kW 110 mm H7 14 When installing the motor flange please make s...

Page 48: ...S04AB HVPS06AB Signal AMP 172159 1 AMP 170360 1 AMP 172160 1 AMP 170360 1 Conductors Insulators without brake with brake U 3 Red 3 Red European terminal 18 AWG 2 8 mm V 2 White 2 White European termin...

Page 49: ...ignal WPS3106A18 10S R WPS3108A18 10S R WPS3106A14S 7S R WPS3108A14S 7S R Conductors Insulators U A Red European terminal 14 AWG 3 6 mm V B White European terminal 14 AWG 3 6 mm W C Black European ter...

Page 50: ...1 3 mm 0 V 2 Blue Black 2 24 AWG 1 3 mm Serial Data Signal SD 7 Yellow Red 3 24 AWG 1 3 mm SD 8 Yellow Black 4 24 AWG 1 3 mm Shielding Shielding 9 Black Housing Shielding Middle Capacity Series 1 kW 2...

Page 51: ...24 AWG 1 3 mm GND 6 Green Black Black 24 AWG 1 3 mm Serial Data Signal SD 7 Yellow Red 3 24 AWG 1 3 mm SD 8 Yellow Black 4 24 AWG 1 3 mm Shielding Shielding 9 Black Housing Shielding Small Capacity Se...

Page 52: ...solute Encoder Cable Battery Replacement Procedures 1 Remove screw from upper cover 2 Remove upper cover from battery case 3 Remove battery from battery case 4 Check battery type is correct 5 Replace...

Page 53: ...on the servo motor system you must disconnect the power supply and protect it from being switched back on Do not remove the cover cables or connector from the servo motor while the power is ON Do not...

Page 54: ...can damage the encoder Do not connect the servo motor U V W directly to the input power Install an external emergency stop circuit to ensure that power can be shut off in an emergency situation Do not...

Page 55: ...ly instructions and following the maintenance and repair specifications Use only genuine spare parts from HIWIN Use of the AC servo motor components for any other purpose shall be considered improper...

Page 56: ...hen operating such high frequency remote control and radio equipment in its possible positions of normal use It might possibly be necessary to perform a special electromagnetic compatibility EMC test...

Page 57: ...tenance and Cleaning Please read all safety instructions before performing motor maintenance Danger Danger from Electrical Voltage Work may only be carried out by a qualified electrician and with the...

Page 58: ...or authorized dealers and with appropriate protective equipment Do not perform any maintenance actions while the motor is running The controller must stop the motor first Please turn off the power an...

Page 59: ...ection Wrong controller setting Check controller setting Wrong motor power cable wiring Interchange the two phase power cable connected to the controller Smell of burning Wrong controller setting Chec...

Page 60: ...al operation stage e q turning milling stalled please specify _____________________________________________________________________________________________ Other operation ____________________________...

Page 61: ...ll the file and parts sent to HIWIN _____________________________________________________________________________________________ ______________________________________________________________________...

Page 62: ...health risk to persons with implants e g cardiac pacemakers that are affected by magnetic fields Persons with implants that are affected by magnetic fields should maintain a safe distance of at least...

Page 63: ...ecessary to confirm that the related fixture and configuration are installed 6 Remove all the fixings at the machine end If the motor is fixed it can be separated from the machine at the same time if...

Page 64: ...vide load condition Load inertia calculation Motor speed calculation Motor torque calculation Motor sizing completed Symbol tf Moving time sec Jb Ball screw inertia kgm2 ta Acceleration time sec JP Pu...

Page 65: ...m Requirements Ball Screw Installation direction horizontal or vertical Ball screw diameter length lead Work pieces weight Outer force Pulley Belt Installation direction horizontal or vertical Pulley...

Page 66: ...ulation Transmission mechanism Load inertia calculation Ball Screw JL JB WBp 2 4 2 Bp Ball screw lead m Pulley Belt JL JP W D2 4 Rotary Table JL JT n Jw WDw 2 Continuing contents of previous page Load...

Page 67: ...torque calculation Ball Screw Tt BP 2 Beff gW F Beff Ball screw efficiency g gravity m s2 friction coefficient Pulley Belt Tt D 2Peff gW gWb 2Ft Peff Pulley efficiency Ft Belt tension force N Wb Belt...

Page 68: ...2 Motor calculation acceleration torque suggested bellowing 80 of motor peak torque Motor calculation equivalent torque suggested bellowing 80 of motor rated torque 0 5 10 15 20 0 1000 2000 3000 T Nm...

Page 69: ...subsequently by the final user The declaration is no more valid if the product is modified without agreement Herewith we declare that the machinery described below Product Denomination Servomotor Mod...

Page 70: ...User Manual EM1 Series AC Servo Motors EM1 01 0 EN 2110 MA Page 70 of 72...

Page 71: ...User Manual EM1 Series AC Servo Motors EM1 01 0 EN 2110 MA Page 71 of 72...

Page 72: ...1 68 Fax 39 039 287 43 73 info hiwin it www hiwin it Poland HIWIN GmbH ul Pu awska 405a PL 02 801 Warszawa Phone 48 22 544 07 07 Fax 48 22 544 07 08 info hiwin pl www hiwin pl Switzerland HIWIN Schwei...

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