Pilz PMCtendo SZ Operating Manual Download Page 1

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PMC

tendo SZ

Operating Manual1002

405

EN0

Pilz Motion Control

Summary of Contents for PMCtendo SZ

Page 1: ...PMCtendo SZ Operating Manual 1002405 EN 03 Pilz Motion Control...

Page 2: ...KG Copies may be made for internal purposes Suggestions and comments for improving this documentation will be gratefully received Pilz PIT PMI PNOZ Primo PSEN PSS PVIS SafetyBUS p SafetyEYE SafetyNET...

Page 3: ...Qualified personnel 8 2 5 Working on the machine 8 2 6 Disposal 8 2 7 Directives and norms 8 2 8 Presentation of notes on safety 9 3 Description 11 3 1 PMCtendo SZ servo motors 11 3 1 1 Type label 12...

Page 4: ...les 23 6 1 4 speedtec and springtec plug connector 23 6 2 Servo motor and motor brake 26 6 2 1 Power cable 26 6 2 2 Assignment Motor and power cable 28 6 3 Feedback 30 6 4 External fan 31 6 5 Water co...

Page 5: ...ling 41 9 5 Feedback 42 9 6 Holding brake 43 9 7 Thermal winding protection 46 9 8 Derating 47 9 8 1 Installation altitude 47 9 8 2 Ambient temperature 48 9 9 Type specific data 49 9 9 1 Inertia 62 9...

Page 6: ...ueries that are not covered in this document you can find more infor mation at www pilz com 1 3 Modifications No Version Date Change 1002504 01 0 7 2012 First edition 1002504 02 09 2012 Update Feedbac...

Page 7: ...umentation contains important information always keep it handy in the vicinity of the device until the machine is disposed of If the product is sold disposed of or rented out always include the techni...

Page 8: ...mation contained in it 2 5 Working on the machine Apply the 5 safety rules in the order stated before working on the machine 1 Activate Make sure the auxiliary circuits are activated 2 Secure against...

Page 9: ...OBJY2 and OBJY8 Component Systems Electrical Insula tion UL certification is needed mainly for the use of motors and geared motors on the US market But also in many countries UL approval is considere...

Page 10: ...ANGER Danger means that serious danger of death exists if the stated precautionary measures are not taken INFO refers to important information about the product or serves to emphasize a section in the...

Page 11: ...y short design achieved thanks to an optimized winding technology This feature makes it possible to manufacture the stator windings with the highest possible copper fill factor With this technology an...

Page 12: ...orque of the motor for a rated speed nN 5 I0eff 2 02 A Standstill current I0eff is the current flowing at M0 IN 1 93 A Rated current Constant current at MN 5 and nN 5 KE M 40 V 1000 rpm EMC voltage st...

Page 13: ...not applicable for SZ 3x F Water cooling not applicable for SZ 3x W 3 Brake and dynamic design Code Without brake and dynamic design 0 8 Voltage Code With brake and dynamic design 1 400 V UZK 540 V H...

Page 14: ...the static and the dynamic load acceleration braking 3 3 Feedback PMCtendo SZ motors may be fitted with the following feedback systems Single turn EnDat 2 2 ECI1118 G2 inductive Multi turn EnDat 2 2 E...

Page 15: ...44 External fan systems can be retrofitted In applications requiring a higher protection class than IP44 or a lower noise level the servo motors can be water cooled in the A side flange 3 8 Holding br...

Page 16: ...ill Regrind the brake If the tested braking torque differs from the required value a brake can be reground To do this run the motor at maximum 20 rpm Release and close the brake once per second so tha...

Page 17: ...the fan guards or the angular flange sockets 4 2 Storage Store the servo motors in enclosed dry spaces Storage on the fan guards is not permit ted If the servo motors are protected from all harmful e...

Page 18: ...capacitors Cover all open electrical connections e g with protective caps Cordon off the installation area according to the safety regulations e g with barriers warning signs WARNING Burns The surfac...

Page 19: ...he bearings feedback system and motor shaft Do not hit the motor shaft or motor housing with a hammer or other tools Do not apply any pressure impact or high acceleration to the motor Use backlash fre...

Page 20: ...contact with the sealing lips of the shaft seal rings otherwise materials may be damaged If possible warm up the drive elements e g belt pulley Make sure that the paintwork of the servo motors is not...

Page 21: ...r switching off the power supply due to the residual charge of the DC link capacitors Cover all open electrical connections e g with protective caps Cordon off the installation area according to the s...

Page 22: ...nes Earth the inner and outer cable shield connections on both sides e g on a bus bar You will need shielded cable for data and control lines Earth the outer cable shield connection on both sides e g...

Page 23: ...railability and torsional strength of the leads The leads are connected to the servo motor by plug connectors Cables are available as accessories For the choice of the cable cross sections see chapter...

Page 24: ...ket 3 Turn the screw cap of the union nut in the direction of close up to the limit stop Connect the cable with springtec plug connector 1 Align the respective union nuts of the green encoder plug and...

Page 25: ...Operating Manual PMCtendo SZ 1002405 EN 03 25 6 Electrical installation 2 Connect the union nuts directly onto the angle connection socket...

Page 26: ...ifications apply to the connection strands and are only rel evant for the motor wiring Power cable connector size con 15 Angular flange socket motor Pin Signal Colour A 1U1 BK B 1V1 BU C 1W1 RD 1 2 3...

Page 27: ...SZ 1002405 EN 03 27 6 Electrical installation Power cable connector sizes con 40 con 58 Angular flange socket motor Pin Signal Colour U 1U1 BK V 1V1 BU W 1W1 RD 1BR brake 24 VDC RD 1BR brake 0 V BK 1...

Page 28: ...000 min 1 nN 4500 min 1 nN 6000 min 1 Connec tor size min mm2 Connec tor size min mm2 Connec tor size min mm2 Connec tor size min mm2 SZ 31 con 15 1 0 con 15 1 0 SZ 32 con 15 1 0 con 15 1 0 SZ 33 con...

Page 29: ...n 23 1 5 con 23 4 0 SZ 73 con 23 2 5 con 23 4 0 SZ 75 con 40 4 0 con 40 6 0 SZ 82 con 40 6 0 con 40 10 0 SZ 83 con 40 10 0 SZ 85 con 58 16 0 PMCtendo SZ water cooled PMCtendo SZ xx W Motor nN 2000 min...

Page 30: ...ns apply to the connection strands and are only relevant for the motor wiring Feedback cable plug connector con 15 Feedback cable plug connector con 23 Angular flanged socket motor Pin Signal Colour 1...

Page 31: ...on for connecting the external fan is included with delivery 6 5 Water cooling Connect the water cooling to the hose connectors G1 8 fittings Connection is possible on the connector side or opposite O...

Page 32: ...pply due to the residual charge of the DC link capacitors Cover all open electrical connections e g with protective caps Cordon off the installation area according to the safety regulations e g with b...

Page 33: ...lation area according to the safety regulations e g with barriers warning signs WARNING Risk of injury from moving parts Make sure that no persons are at risk due to start up all protective and safety...

Page 34: ...ning only when the following preconditions are satisfied The tests in chapters 7 1 Check installation and 7 2 Check connection have been carried out All other specific and necessary tests for your sys...

Page 35: ...s correctly Motor oscillates Screen of feedback cable interrupted Reconnect screen of feedback cable interrupted Replace cable if necessary Control parameters incorrect Correct control parameters in s...

Page 36: ...rotective caps Cordon off the installation area according to the safety regulations e g with barriers warning signs 8 1 Maintenance If properly installed the servo motors are more or less maintenance...

Page 37: ...ible qualified person immediately Check which safety measures for remaining in the transport area of a motor e g in the machine system particularly under a suspended load have to be taken Every 500 op...

Page 38: ...or clutches Always use the tightening thread provided in the motor shaft to fit or remove clutches gears or belt pulleys Use suitable tools Please note the following when changing the motor If servo...

Page 39: ...Vibration level A according to DIN 60034 14 2008 03 B according to DIN 60034 14 2008 03 Maximum vibrating load for quasi sinu soidal movements up to 1 kHz 5 g Note that built in brakes can no longer f...

Page 40: ...data Current waveform Sinusoidal Protection class I protective grounding Insulation class F as per EN 60034 VDE 0530 Standard Optional PMCtendo SZ IC 410 Convection cooling IC 416 Convection cooling b...

Page 41: ...ed with heat exchanger pressure control valve in supply line do not use any nonferrous metals Maximum operating pressure 3 5 bar Coolant Clear aerosol free and free of dirt provide particle filter if...

Page 42: ...2 2 EQN1135 multi turn optical type PMCtendo SZ xx x 2 Protocol EnDat 2 2 Resolution per revolution 262144 18 bit Operating voltage range 3 6 14 VDC Power consumption 3 6 V 520 mW 14 V 600 mW Protoco...

Page 43: ...42 24 5 8 7 0 75 300 8 5 13500 4 39 20 40 SZ 44 24 5 8 7 0 75 300 8 5 8500 7 09 20 40 SZ 51 24 5 8 7 0 75 300 8 5 8700 6 94 20 40 SZ 52 24 5 8 7 0 75 300 8 5 5200 11 5 20 40 SZ 53 24 5 15 12 1 550 11...

Page 44: ...ons deviate S1 Maximum permissible number of stops if conditions deviate WB R B Friction work per braking Jtot Total mass moment of inertia kgm2 Note section 9 9 1 Inertia Jmotor Mass moment of inerti...

Page 45: ...Operating Manual PMCtendo SZ 1002405 EN 03 45 9 Technical data Stop time tdec Stop time ms tdec 2 66 t1 n Jtot 9 55 MB...

Page 46: ...C drilling Characteristic line of the individual PTC resistor max operating voltage 7 5 VDC Cold resistance R25 C 750 Nominal response temperature NRT 145 C 5 K Resistance for NRT R145 C 3990 Thermal...

Page 47: ...temperature other than 40 C factor DT The total derating is calculated as follows The admissible torque Mperm can be calculated from Dtotal 9 8 1 Installation altitude Example The drive is to be insta...

Page 48: ...ambient temperatures up to max 60 C IMPORTANT Motor damage caused operating outside the admissible ambient temperature range for water cooled servo motors Note that water cooled servo motors have to...

Page 49: ...nting conditions Mounting of motor with steel bracket on baseplate Minimum mounting surface area between motor and steel bracket and between steel bracket and baseplate according to the following tabl...

Page 50: ...88 7 4 SZ 42 94 3000 4 7 4 4 1 068 1 5 5 2 4 8 1 092 0 04 6500 16 26 5 3 21 8 7 26 SZ 44 78 6000 5 8 7 18 0 808 3 6 8 4 9 78 0 863 0 04 6500 29 51 0 89 7 07 7 94 SZ 44 116 3000 6 9 5 8 1 19 2 2 8 6 6...

Page 51: ...1 3 14 2 1 5 6 7 30 2 19 5 1 561 0 24 6500 104 87 0 33 4 8 14 55 SZ 82 90 4500 10 5 11 2 0 938 5 0 34 5 33 3 1 045 0 3 5000 100 135 0 13 1 9 26 6 SZ 82 136 3000 22 3 13 9 1 604 7 0 37 1 22 3 1 677 0 3...

Page 52: ...2 11 2 8 16 1 38 0 06 6500 31 33 2 32 16 8 7 24 SZ 53 84 6000 10 4 13 5 0 772 6 5 14 8 15 9 1 068 0 06 6500 43 63 5 0 62 5 8 06 SZ 53 119 3000 14 4 10 9 1 32 4 5 15 9 11 8 1 353 0 06 6500 43 41 1 25 1...

Page 53: ...0 49 35 9 1 365 15 66 7 42 3 1 584 0 3 4500 145 124 0 18 2 79 15 5 SZ 85 142 2000 77 2 45 2 1 708 16 94 53 9 1 749 0 3 4000 205 155 0 13 2 22 17 08 Motor KEM nN MN IN KM N PN M0 I0 KM0 MR nmax Mmax Im...

Page 54: ...3 2 11 7 85 1 409 0 06 6500 31 33 2 32 16 8 7 24 SZ 53 84 6000 9 95 12 6 0 79 6 3 14 2 15 2 0 938 0 06 6500 43 63 5 0 62 5 8 06 SZ 53 119 3000 13 5 10 2 1 324 4 2 15 2 11 3 1 35 0 06 6500 43 41 1 25...

Page 55: ...6 7 34 1 1 37 15 65 7 41 7 1 583 0 3 4500 145 124 0 18 2 79 15 5 SZ 85 142 2000 72 1 42 1 1 713 15 90 1 51 9 1 742 0 3 4000 205 155 0 13 2 22 17 08 Motor KEM nN MN IN KM N PN M0 I0eff KM0 MR nmax Mmax...

Page 56: ...Operating Manual PMCtendo SZ 1002405 EN 03 56 9 Technical data Dimensioned drawing SZ motors IC410 convection cooled SZ xx K Without brake With brake 1 With feedback system EnDat optical...

Page 57: ...5 SZ 51 110j6 130 19k6 40 115 10 3 5 115 40 36 109 163 5 9 M6 100 22 74 5 SZ 52 110j6 130 19k6 40 115 10 3 5 115 40 36 134 188 5 9 M6 100 22 99 5 SZ 53 110j6 130 24k6 50 115 10 3 5 115 40 36 159 213 5...

Page 58: ...Operating Manual PMCtendo SZ 1002405 EN 03 58 9 Technical data Dimensioned drawing SZ motors IC416 with external fan SZ xx F Without brake With brake...

Page 59: ...40 36 204 259 9 M6 100 120 99 5 25 SZ 53 110j6 130 24k6 50 115 10 3 5 135 40 36 229 284 9 M6 100 120 124 5 25 SZ 55 110j6 130 24k6 50 115 10 3 5 135 40 36 279 334 9 M6 100 120 174 5 25 SZ 71 130j6 16...

Page 60: ...ting Manual PMCtendo SZ 1002405 EN 03 60 9 Technical data Dimensioned drawing SZ motors water cooled SZ xx W SZ 4 SZ 7 SZ 8 SZ 5 Further dimensions see dimensioned drawing SZ motors IC410 convection c...

Page 61: ...und on the Internet at www pilz com or are available on request Motor w3 z7 SZ 41 49 12 5 SZ 42 49 12 5 SZ 44 49 12 5 SZ 51 70 5 10 5 SZ 52 70 5 10 5 SZ 53 70 5 10 5 SZ 55 70 5 10 5 SZ 71 72 5 10 5 SZ...

Page 62: ...y see section 3 4 Dynamic performance Motor Jmotor J motors with increased mass moment of inertia J motors with motor brake Jbrake 10 4 kgm2 SZ 31 0 19 0 186 SZ 32 0 29 SZ 33 0 4 SZ 41 0 93 0 2 0 192...

Page 63: ...ke m m m m m kg SZ 31 1 5 0 55 SZ 32 2 1 SZ 33 2 6 SZ 41 4 5 4 4 0 08 0 76 SZ 42 5 1 6 5 5 1 0 15 0 97 SZ 44 7 2 8 6 7 2 0 31 SZ 51 5 7 5 1 19 SZ 52 6 5 8 5 6 5 0 22 SZ 53 8 10 8 0 43 1 62 SZ 55 10 9...

Page 64: ...he middle of the drive shaft x2 l 2 For EMERGENCY STOP operation max 1000 load changes the values for F2ax F2radN and M2k N are multiplied by a factor of 2 Motor F2ax F2radN M2k N N N Nm SZ 31 350 100...

Page 65: ...ual PMCtendo SZ 1002405 EN 03 65 9 Technical data For speeds 100 min 1 F2ax decreases according to the following diagram The diagram is based on the following formula F 2ax n 100min 1 F 2ax n 100min 1...

Page 66: ...Ctendo SZ 1002405 EN 03 66 9 Technical data For speeds 100 min 1 F2radN decreases according to the following diagrams The diagrams are based on the following formula F 2RradN n 100min 1 F 2RradN n 100...

Page 67: ...Operating Manual PMCtendo SZ 1002405 EN 03 67 9 Technical data For speeds 100 min 1 M2k N decreases according to the following diagrams...

Page 68: ...Operating Manual PMCtendo SZ 1002405 EN 03 68 9 Technical data...

Page 69: ...03 69 9 Technical data The diagrams are based on the following formula The following applies for an eccentric application of force Motor z2 mm SZ 3 24 SZ 4 19 5 SZ 5 19 5 SZ 7 24 5 SZ 8 28 5 M 2k N n...

Page 70: ...l ventilation MW Torque for water cooling Mmax Maximum torque M lim Voltage limit characteristic line torque limit without field weakening e g for nN 3000 min 1 MlimFW Voltage limit characteristic lin...

Page 71: ...Operating Manual PMCtendo SZ 1002405 EN 03 71 9 Technical data PMCtendo SZ 31 PMCtendo SZ 32...

Page 72: ...Operating Manual PMCtendo SZ 1002405 EN 03 72 9 Technical data PMCtendo SZ 33 PMCtendo SZ 41...

Page 73: ...Operating Manual PMCtendo SZ 1002405 EN 03 73 9 Technical data PMCtendo SZ 42 PMCtendo SZ 44...

Page 74: ...Operating Manual PMCtendo SZ 1002405 EN 03 74 9 Technical data PMCtendo SZ 51 PMCtendo SZ 52...

Page 75: ...Operating Manual PMCtendo SZ 1002405 EN 03 75 9 Technical data PMCtendo SZ 53 PMCtendo SZ 55...

Page 76: ...Operating Manual PMCtendo SZ 1002405 EN 03 76 9 Technical data PMCtendo SZ 71 PMCtendo SZ 72...

Page 77: ...Operating Manual PMCtendo SZ 1002405 EN 03 77 9 Technical data PMCtendo SZ 73 PMCtendo SZ 75...

Page 78: ...Operating Manual PMCtendo SZ 1002405 EN 03 78 9 Technical data PMCtendo SZ 82 PMCtendo SZ 83...

Page 79: ...fety related indicators Safety related indicators feedback Safety related indicators brake Type Operating mode MTTFd in years ECI1118 G2 Sensor rotary encoder absolute 76 EQN1135 Sensor rotary encoder...

Page 80: ...I0eff Standstill current Current that flows for standstill torque M0 Imax Maximum current The maximum current flowing for Mmax tolerance 5 Ex ceeding this value causes demagnetisation of the rotor irr...

Page 81: ...ue M0 frictional torque MR and standstill current I0 tolerance 10 KMN Torque factor Calculated from the rated torque MN frictional torque MR and rated current IN tolerance 10 LU V Winding inductance W...

Page 82: ...Torque limit without field weakening MGF Torque limit with field weakening ML Load torque Mmax Maximum torque Maximum short time torque tolerance 10 MN Rated torque Constant torque for nN tolerance 5...

Page 83: ...istance of a motor between two phases at 20 C t1 Engagement time Time between switching off the supply voltage and reaching the nominal holding torque when the brake is engaged t2 Ventilation time tBr...

Page 84: ...uraNET p Pilz PIT PMCprotego PMI PNOZ Primo PSEN PSS PVIS SafetyBUS p SafetyEYE SafetyNET p the spirit of safety are registered and protected trademarks of Pilz GmbH Co KG in some countries We would p...

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