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About this manual

04/STM-560V/en/2010-12-10/SW

1.4

Symbols in this manual

To give you quick access to information, the following symbols
will be used in this guide:

Symbol

Meaning

DANGER

Dangers for persons.
Nonobservance causes death or serious injuries.

WARNING

Dangers for persons.
Nonobservance can cause death or serious injuries.

NOTICE

Information on avoiding material damage.



Prerequisite for a handling instruction.



Handling instruction, also measures in a warning or note.

3. ...

Step-by-step handling instruction.



Observe the order.

Component/spare part represented in a graphic.

(10)

Reference in the text or in a handling instruction to a part that is represented in a
graphic.

Table 3

1.5

Terms used in this manual

Term

Meaning

Controller

Frequency converter, controller, AC converter, servo converter, control system

Table 4

Содержание STM 560V Series

Страница 1: ...04 V01 A STM 560V en 2010 12 10 SW Document last updated 2010 12 03 Electrical Rotary Module SCHUNK Torque Motor Type STM 560V Assembly and Operating manual...

Страница 2: ...2 04 STM 560V en 2010 12 10 SW...

Страница 3: ...mer s complete satisfaction SCHUNK products are inspiring Our detailed assembly and operation manual will support you Do you have further questions You may contact us at any time even after purchase Y...

Страница 4: ...les service 10 2 4 Obligations of the manufacturer operator 11 2 4 1 Choice of personnel and personnel qualifications 11 2 4 2 Organizational measures 11 2 4 3 Disposal 11 2 5 Personnel qualification...

Страница 5: ...nical connection 26 7 2 Electrical connection 29 8 Start up 32 8 1 Start up of the Bosch IndraDrive C 33 8 2 Start up of the Siemens Sinamics S120 43 9 Control parameters 56 9 1 Bosch IndraDrive C HCS...

Страница 6: ...ts 6 04 STM 560V en 2010 12 10 SW 12 2 Packaging 65 12 3 Storage 66 12 4 Disposal 66 13 Drawing 67 13 1 STM 135 67 13 2 STM 170 68 13 3 STM 210 69 14 Translation of the EC declaration of conformity 70...

Страница 7: ...notes and warnings Skilled personnel fitter Read observe and follow this manual and the applicable documents especially the safety notes and warnings Table 1 1 3 Applicable documents Document Purpose...

Страница 8: ...h or serious injuries NOTICE Information on avoiding material damage Prerequisite for a handling instruction Handling instruction also measures in a warning or note 1 2 3 Step by step handling instruc...

Страница 9: ...ssembly operation and ambient conditions Any other use or use exceeding that specified is an infringement of use for intended purpose The manufacturer bears no liability for damage resulting from such...

Страница 10: ...parts or to switch the drive into a safe mode should the module or part of the module fail The protective equipment must comply with the requirements of the EC Machinery Directive and IEC EN 60204 1...

Страница 11: ...2 Organizational measures Make sure that at least one copy of this manual is kept in the direct vicinity of the machine system where the module is installed and that it is accessible for the relevant...

Страница 12: ...all protective equipment has been fitted and is in full working order Check the module at least once per shift for externally visible damage and faults Report any changes including changes in operati...

Страница 13: ...d when the energy supply is connected Do not reach into the open mechanism or the movement area of the module Remove the energy supplies before installation modification maintenance or adjustment work...

Страница 14: ...Measure the surface temperature before touching the module Wear protective gloves if necessary Risk of electric shock due to contact with live parts Before conducting work on the machine and the auxil...

Страница 15: ...when repair or intervention is carried out by persons not authorized to do so If accessories are used which are not designed for the module 4 Scope of delivery The scope of delivery includes Electrica...

Страница 16: ...ng with a center bore The STM has an integrated measuring system A temperature sensor is integrated in the motor winding The STM belongs to the category of torque motors The typical characteristics of...

Страница 17: ...on the drawing in chapter 13 page 67 5 1 3 Electrical interface Figure 2 STM schematic diagram An incremental encoder TTL signals is installed as position feedback unit In order to protect against im...

Страница 18: ...on S with plug connection for power component and encoder cable brake N without brake B with brake IP protection class 40 IP40 protection class The nameplate is attached to one of the broad sides of t...

Страница 19: ...parts kg m 0 001431 max mass moment of inertia kg m 0 05 rotation range 360 turning endlessly positioning accuracy 1 0 02 1 Distribution of the end positions of 100 successive motions When approaching...

Страница 20: ...26 5 winding inductivity phase phase L20 mH 42 68 electrical time constant T ms 1 61 numbers of pole pairings N 15 Specifications for the integrated measuring system Type 1V Sin Cos Signal analog magn...

Страница 21: ...s power mm 3 x 1 grounding mm 1 x 1 shaft encoder mm 8 x 0 25 temperature sensor mm 2 x 0 25 specifications for the integrated motor motor type synchronous switching star temperature sensor type KTY84...

Страница 22: ...ons of 100 successive motions When approaching from the same direction measuring system Incremental IP rating 40 permissible operating mode S1 continuous operation 2 2 Applies only if the precondition...

Страница 23: ...r the integrated measuring system type 1V Sin Cos Signal analog magnetic measuring system with reference track power supply V 5 10 mean current input mA 65 Number of poles 200 Table 8 6 2 Requirements...

Страница 24: ...ween brake pad and rotor 2 Pre loaded brake piston with brake pad Table 10 Legend to Figure 4 6 3 1 Technical data for brake valve MV15 Figure 4 Valve assembly Reference value Values Permissible mediu...

Страница 25: ...l signal from the controller pending on the valve the electropneumatic brake valve is opened In this state the brake is inactive 6 3 2 Connection to Bosch IndraDrive Terminal Cable color brake valve X...

Страница 26: ...ad the STM develops a very large heat quantity that needs to be dissipated Mount the motor on heat conducting materials To achieve the IP protection class 40 Design the connection structure so that no...

Страница 27: ...Zero point markings on rotor and base body 2 Maximum possible moving range Table 1 The interfaces to the attachments are clean and not damaged The module is mounted to the machine via the correspondi...

Страница 28: ...ssembly 28 04 STM 560V en 2010 12 10 SW 1 Fastening screws M10 3 Centering pin D5 H7 2 Centering pin D12 H7 4 Fastening screws M12 Figure 6 View of the assembly of the adapter plates on rotor and basi...

Страница 29: ...is correctly connected and installed There must be a sufficient distance between sources of interference and their supply cable Preconditions for installing the connection cables The cables are withou...

Страница 30: ...ensor T1 red T2 blue Table 16 Connection pin assignment of the red power cable for Bosch Function Signal Pin assignment 15 pin D Sub connector Encoder UB Pin 12 GND Pin 10 A Pin 7 A Pin 8 B Pin 6 B Pi...

Страница 31: ...cation Siemens 12 pin circular plug Encoder UB Pin 12 GND Pin 10 11 A Pin 5 A Pin 6 B Pin 8 B Pin 1 C Pin 3 C Pin 4 Pin allocation Siemens 6 1 pin circular plug Temperature sensor 1 Temp 2 Temp Table...

Страница 32: ...d out by authorized specialist personnel Observe the information in the operating manual for the controller WARNING Collisions in setup mode when the machine system moves unexpectedly Keep the motor s...

Страница 33: ...heck the alignment of the STM the set direction of counting of the measuring system and the motor s direction of rotation Note This brief instruction is solely relevant for the simple start up of the...

Страница 34: ...nterface of the computer to the serial interface X2 of the converter using the serial cable 2 Switch on the converter and power unit 3 Start IndraWorks on the PC Figure 8 Starting IndraWorks Setting u...

Страница 35: ...art up 04 STM 560V en 2010 12 10 SW 35 4 Search for a new device Figure 9 Search devices 5 Select the interface on the converter Figure 10 Selecting the interface 6 Select the interface on the compute...

Страница 36: ...Start up 36 04 STM 560V en 2010 12 10 SW Figure 11 7 When the desired device has been found click on Finish Figure 12 8 A new project is created automatically in the project explorer...

Страница 37: ...Start up 04 STM 560V en 2010 12 10 SW 37 Figure 13 9 Import the parameter file supplied on the SCHUNK DVD Figure 14 10 Open and start the Easy Start Up mode Figure 15...

Страница 38: ...2 Read the warning attentively and acknowledge it by clicking OK Note In the case of the Bosch IndraDrive C converter it can occur that the commutation current is too low or too high following enablem...

Страница 39: ...010 12 10 SW 39 Figure 17 13 Establish the new commutation offset Figure 18 Note When the drive is enabled a field appears in the foreground of the screen that can be used to switch off the drive STM...

Страница 40: ...he various options Referencing Velocity movement Positioning movement 1 Go to the following location Motor Motor encoder Motor encoder dimensional reference Figure 20 2 Select the referencing type Sel...

Страница 41: ...n 2010 12 10 SW 41 Figure 21 1 Select the Reference value box under the Optimization Start up folder Figure 22 2 Select the velocity movement type under Operating mode To start the movement click on S...

Страница 42: ...ure 23 1 Select a position controlled positioning movement under Operating mode Figure 24 Note With respect to the use of other functions Refer to the manual pertaining to the IndraDrive C or contact...

Страница 43: ...possible to change the voltage supply on the encoder interface from 5V to 24V using a parameter Ensure that the voltage supply on the encoder interface is set to 5V 1 Connect the motor with the conver...

Страница 44: ...en 2010 12 10 SW Figure 27 6 Select the checkbox see black arrow and adopt the settings by clicking on Accept 1 Start a new project using the wizard Figure 28 2 Assemble the drive control unit offline...

Страница 45: ...Start up 04 STM 560V en 2010 12 10 SW 45 Figure 29 3 Assign the project a name e g Start up Figure 30 4 The PG PC interface has already been set to the Profibus adapter...

Страница 46: ...Start up 46 04 STM 560V en 2010 12 10 SW Figure 31 5 Select and integrate the drive unit The bus address is dependent on the converter Figure 32 6 Finish project Figure 33...

Страница 47: ...SW 47 1 Configure the drive unit double click on Configure drive unit Figure 34 2 Select the control mode simple positioner and speed control with encoder Figure 35 3 Select the power unit 6SL3210 1S...

Страница 48: ...Start up 48 04 STM 560V en 2010 12 10 SW Figure 36 4 Select the drive CU310DP Figure 37 5 Enter the motor name e g STM135 and select the DRIVE CLiQ interface...

Страница 49: ...Start up 04 STM 560V en 2010 12 10 SW 49 Figure 38 6 Do not set up a motor holding brake Figure 39...

Страница 50: ...Start up 50 04 STM 560V en 2010 12 10 SW 7 Encoder 1 is preset Figure 40 8 Adopt free telegram configuration with BICO Figure 41...

Страница 51: ...re 42 10 Using the mouse right click on the drive and select the experts list Figure 43 11 Important Set parameter P340 to no calculation 12 Select Open user defined value list Figure 44 13 Load the p...

Страница 52: ...es and then close the window Figure 46 15 Double click on the drive and select Configure DDS Figure 47 16 Perform the settings described in steps 2 and 3 again 17 At step 4 select Enter motor data Pro...

Страница 53: ...up 04 STM 560V en 2010 12 10 SW 53 Figure 48 1 Copy the data from the PC PG to the converter target device Figure 49 2 Copy the data from RAM to ROM see arrows Connecting with the controller going on...

Страница 54: ...Start up 54 04 STM 560V en 2010 12 10 SW Figure 50 3 Following the copy procedure select Control panel under Start up Figure 51 4 Accept the safety note Figure 52 1 2 click...

Страница 55: ...STM Select the checkbox next to Enable 6 The speed movement n reference setting can be carried out Figure 53 Note With respect to the use of other functions Refer to the manual pertaining to the Sieme...

Страница 56: ...ime constant If this is not possible Set the speed controller smoothing time constant to 0 and reduce the Kp until the vibrations cease 4 Select the value that is half of the exact limit for Kp 5 Sele...

Страница 57: ...iemens Sinamics S120 series Siemens provides the Automatic controller settings function for the purpose of establishing the control parameters Figure 54 Select this function by clicking on the icon sh...

Страница 58: ...gure 58 1 Ensure that no one is positioned in the danger zone and that there is no potential for material damage 2 Acknowledge the warning Figure 59 The control parameters are now determined automatic...

Страница 59: ...arameters can be transmitted to the converter Figure 62 The motor can now be operated with the new parameters Note The Siemens auto tuning process selects a fairly hard converter setting which can res...

Страница 60: ...nents Check the evenness at the mounting surface see chapter 7 1 page 26 Shaft encoder defective Check shaft encoder and its connection If a defect is detected the STM must be sent to SCHUNK with a re...

Страница 61: ...ler s power component Check the stability of the supply voltage Use transformers instead of a switching power supply component Table 21 10 1 3 STM oscillates Possible cause Corrective action Motor ove...

Страница 62: ...at room temperature the STM must be sent to SCHUNK with a repair order Thermal motor overload Reduce the load Mount the motor on heat conducting materials to dissipate excess motor heat Rotor is bloc...

Страница 63: ...cants will harden faster Lubrication and maintenance works have to be carried out more often We recommend that maintenance and seal replacement is done by SCHUNK because the rotor must be aligned and...

Страница 64: ...ay STM can continue to be operated Uneven grinding noise The motor is not set up correctly check the evenness of the mounting surfaces see chapter 7 1 page 26 Loud and uneven noise motor not running s...

Страница 65: ...damaged themselves Comply with climatic category 2K3 in accordance with EN50178 Transport temperature 5 C 23 F to 60 C 140 F with maximum fluctuations of 20 K hour Transport air humidity relative humi...

Страница 66: ...ell ventilated No outdoor storage permitted No condensation permitted Comply with climatic category 1K4 in accordance with EN50178 Observe the maximum stacking height of three packaged modules 12 4 Di...

Страница 67: ...Drawing 04 STM 560V en 2010 12 10 SW 67 13 Drawing 13 1 STM 135 Figure 63 Dimensions of the STM torque motor...

Страница 68: ...Drawing 68 04 STM 560V en 2010 12 10 SW 13 2 STM 170 Figure 64 Dimensions of the STM torque motor...

Страница 69: ...Drawing 04 STM 560V en 2010 12 10 SW 69 13 3 STM 210 Figure 65 Dimensions of the STM torque motor...

Страница 70: ...iples for design Part 1 Basic terminology methodology ISO 12100 1 2003 EN ISO 12100 2 Safety of machinery Basic concepts general principles for design Part 2 Technical principles ISO 12100 2 2003 EN 6...

Страница 71: ...86 21 51760266 Fax 86 21 51760267 info cn schunk com www cn schunk com FRANCE SCHUNK Intec SARL Parc d Activit s des Trois Noyers 15 Avenue James de Rothschild Ferri res en Brie 77614 Marne la Vall e...

Страница 72: ...schunk com RUSSIA OOO SCHUNK Intec ul Samojlovoj 5 lit C St Petersburg 192102 Tel 7 812 326 78 35 Fax 7 812 326 78 38 info ru schunk com www ru schunk com SPAIN PORTUGAL SCHUNK Intec S L U Foneria 27...

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