1056748 03/2023
1056748 03/2023
81
80
Commissioning instructions
10. Commissioning instructions
The manufacturer's documentation of Harmonic Drive SE is authoritative for commissioning.
Before commissioning make sure that
•
the actuator is properly mounted
•
all electrical connections as well as mechanical connections are carried out according to the regulations
•
the protective earth is properly connected
•
any additional equipment (brake, ...) is in working order
•
appropriate measures have been taken to prevent contact with moving and live parts
•
the maximum speed n
max
is specified and cannot be exceeded
•
the setup of the drive parameters has been executed
•
the commutation is adjusted correctly
The direction of rotation must be checked in the uncoupled state without output elements. Any loose parts must be
removed or secured.
If in doubt, switch off the actuator if increased temperatures, noises or vibrations occur.
The cause must be determined and the manufacturer consulted if necessary. Protective devices must not be
deactivated even during trial operation.
This list might be incomplete. Further checks may be necessary.
Due to the self heating of the actuator, only a short test run outside the final installation location and at relatively low
speed is permissible. Typical guide values are maximum 5 minutes test duration (S1 operation) at a motor speed of
approximately 1000 rpm. The above guide values must be observed to avoid damage due to overheating!
For actuators with grease lubrication, a run-in process is recommended under the following conditions:
Load:
without
load
Gear input speed:
1000 rpm
Duration:
15 - 20 minutes
During the run-in process, the actuator temperature must be monitored to avoid damage due to overheating.
9.3 Overload protection
Protection against overload of the stator winding is only possible at speed > 0. At standstill, the temperature sensor
does not provide full motor protection because the sensor is thermally connected to one of the three motor phases. If a
high motor current is required at standstill - such as in a press application - the maximum current can flow in one of the
phases to which the sensor is not attached; this could lead to overheating and damage to this phase winding without
the temperature sensor responding. Furthermore, due to the thermal inertia of the system, the temperature sensor does
not provide full protection against overheating during very high short term overload currents.
Therefore, additional overload protection must be provided by limiting the overload duration.
It is recommended to protect the stator winding by means of I2t monitoring integrated in the servo controller.
The overload factor describes the ratio between the current effective current and the permissible standstill current.
The limit value for the parameterisation of the I
2
t protection is generally: The permissible overload current applies as
twice the standstill current for a maximum duration of 5 seconds.
This results in the following illustration of the response time of the I
2
t monitoring from the overload factor.
Illustration 10
1
1,5
2
2,5
3
3,5
4
4,5
0
2,5
5
7,5
10
12,5
15
17,5
20
i / i
o
t [sec]
i / i
0
= Ratio of actual motor current to standstill current
The above illustration shows the permissible current time area in overload operation.
In addition, it should be noted that the maximum permissible motor current must not be exceeded.
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Assembly Instructions Servo Actuators
