Synchronous Servomotors
Series AM227..297
Technical description, Installation, Commissioning
Edition 12/2001
Already published editions
Edition Comments
04 / 2000 First edition
03 / 2001 Encoder wiring
12 / 2001 Dimensions for encoder-motors added
Technical changes to improve the performance of the equipment
may be made without prior notice!
Printed in the Federal Republic of Germany 12/2001
All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying,
microfilm or any other method) or stored, processed, copied or distributed by electronic means
without the written permission of BECKHOFF Corporation.
BECKHOFF 12/2001 Contents
Contents Drawing Page
Contents...............................................................................3
Safety Notes...........................................................................4
Important Notes.......................................................................5
Manufacturer Declaration ............................................................6
I General
I.1 About this manual ........................................................................7
I.2 Prescribed usage ........................................................................7
I.3 Design of the motors......................................................................8
I.4 General technical data ....................................................................8
I.5 Standard features ........................................................................9
I.5.1 Style .............................................................................9
I.5.2 Shaft end, A-side ...................................................................9
I.5.3 Flange ............................................................................9
I.5.4 Protection class.....................................................................9
I.5.5 Protective device....................................................................9
I.5.6 Insulation material class .............................................................10
I.5.7 Vibration class.....................................................................10
I.5.8 Connection method.................................................................10
I.5.9 Feedback unit .....................................................................10
I.5.10 Holding brake .....................................................................10
I.6 Options ...............................................................................11
I.7 Selection criteria ........................................................................11
I.8 Technical data..........................................................................12
I.8.1 Definitions ........................................................................12
I.8.2 Technical data AM227..297 ..........................................................13
II Installation / Commissioning
II.1 Important notes .........................................................................15
II.2 Assembly / Wiring .......................................................................16
II.2.1 Connection methods ................................................................18
II.3 Commissioning .........................................................................19
III Drawings
III.1 Dimensions AM227..297 with resolver .......................................................21- A.4.017.4/60
III.2 Dimensions AM237..297 with encoder .......................................................22
III.3 Radial-/axial force at the shaft end ..........................................................22
III.4 Wiring diagram AM227..297 with resolver ....................................................23- A.4.017.4/45
III.5 Wiring diagram AM227..297 with encoder ....................................................24- A.4.017.4/58
III.6 Torque characteristics AM227M ............................................................25
III.7 Torque characteristics AM227LL ...........................................................25
III.8 Torque characteristics AM237S ............................................................26
III.9 Torque characteristics AM237M ............................................................26
III.10 Torque characteristics AM237L ............................................................27
III.11 Torque characteristics AM237VL ...........................................................27
III.12 Torque characteristics AM247L ............................................................28
III.13 Torque characteristics AM257S ............................................................28
III.14 Torque characteristics AM257M ............................................................29
III.15 Torque characteristics AM277K ............................................................29
III.16 Torque characteristics AM277S ............................................................30
III.17 Torque characteristics AM297K ............................................................30
III.18 Torque characteristics AM297S ............................................................31- A.4.036.3/12
IV Appendix
IV.1 Delivery package, transport, storage, maintenance, disposal......................................32
IV.2 Fault-finding ...........................................................................33
IV.3 Index .................................................................................34
- E.4.929.4/9
- A.4.031.1/35
- A.4.017.3/10 4/64
- A.4.036.3/1, 68
- A.4.036.3/3, 4
- A.4.036.3/2, 20
- A.4.036.3/5, 8
- A.4.036.3/7, 9
- A.4.036.3/10, 11
Motor series AM227..297 3
Safety notes 12/2001 BECKHOFF
Safety Notes
l
Only properly qualified personnel are permitted to perform such tasks as transport,
assembly, commissioning and maintenance. Properly qualified personnel are
persons who are familiar with the transport, assembly, installation, commissioning
and operation of motors, and who have the appropriate qualifications for their jobs.
The qualified personnel must know and observe the following standards and
regulations:
IEC 364 resp. CENELEC HD 384 or DIN VDE 0100
IEC-report 664 or DIN VDE 0110
national regulations for safety and accident prevention or BGV A2
l
l
l
l
l
l
Read the available documentation before assembly and commissioning. Incorrect
handling of the motors can result in injury and damage to persons and machinery.
Keep strictly to the technical data and the information on the connection
requirements (nameplate and documentation).
It is vital that you ensure that the motor housing is safely earthed to the
PE(protective earth) busbar in the switch cabinet. Electrical safety is impossible
without a low-resistance earth connection.
Do not unplug any connectors during operation. This creates the danger of death,
severe injury, or extensive material damage.
Power connections may be live even when the motor is not rotating. Never
disconnect the power connections of the motor while the equipment is energised.
This can cause flashovers with resulting injuries to persons and damage to the
contacts.
After disconnecting the servoamplifier from the supply voltage, wait at least five
minutes before touching any components which are normally live (e.g. contacts,
screw connections) or opening any connections.
The capacitors in the servoamplifier can still carry a dangerous voltage up to five
minutes after switching off the supply voltages. To be quite safe, measure the
DC-link voltage and wait until the voltage has fallen below 40V.
The surfaces of the motors can be very hot in operation, according to their
protection category. The surface temperature can reach 100°C. Measure the
temperature, and wait until the motor has cooled down below 40°C before touching
it.
Warning signs used in this manual:
Danger to personnel from electricity
and its effects
see chapter (cross reference) ● special emphasis
Þ
General warning
general instruction
mechanical hazard
4 Motor series AM227..297
BECKHOFF 12/2001 Important notes
Important Notes
l
l
Servomotors are precision equipment. The flange and shaft are especially
vulnerable during storage and assembly — so avoid brute force. Precision requires
delicacy. It is important to use the locking thread which is provided to tighten up
couplings, gear wheels or pulley wheels and warm up the drive components, where
possible. Blows or the use of force will lead to damage to the bearings and the
shaft.
Wherever possible, use only backlash-free, frictionally-locking collets or couplings,
e.g. from the manufacturers Baumann & Cie, Gerwah, Jacob, KTR or Ringspann.
Ensure correct alignment of the couplings. A displacement will cause unacceptable
vibration and the destruction of the bearings and the coupling.
l
l
l
l
l
For toothed belts, it is vital to observe the permissible radial forces. An excessive
radial load on the shaft will significantly shorten the life of the motor.
Avoid axial loads on the motor shaft, as far as possible. Axial loading significantly
shortens the life of the motor.
In all cases, do not create a mechanically constrained motor shaft mounting by
using a rigid coupling with additional external bearings (e.g. in a gearbox).
For mounting style V3 (shaft end upwards), make sure that no liquid can enter the
upper bearing.
Take note of the no. of motor poles (6-pole) and the no. of resolver poles (2-pole),
and ensure that the correct setting is made in the servoamplifier which is used. An
incorrect setting can lead to the destruction of the motor, especially with small
motors.
Motor series AM227..297 5
Manufacturer Declaration 12/2001 BECKHOFF
Manufacturer declaration
According to the EG-Machine-guideline 89/392/EWG, appendix II B
We, the company
Elektro Beckhoff
Unternehmensbereich Industrie Elektronik
Eiserstraße 5
D-33415 Verl
declare, that the product
Motor series AM2
(types AM227, AM237, AM247, AM257, AM277, AM297)
is intended exclusively, in its standard version, for installation in another machine and that its
commissioning is forbidden until it has been established that the machine into which this product is
to be installed conforms to the provisions of the EC Directive in its version 89/392/EEC.
We confirm that the above-mentioned product conforms to the following standards:
73/23/EWG Low voltage directive
VDE 0530 / DIN 57530 Provisions for rotating machinery
DIN 42950 Design
DIN 748 Cylindrical shaft ends
DIN 42955 True running, coaxiality and concentricity
DIN ISO 2373 Vibration class
Issued by: Management
H. Beckhoff
This Declaration does not contain any assurance of properties. The notes on safety and protection
in the operating instructions must always be observed.
6 Motor series AM227..297
BECKHOFF 12/2001 General
I General
I.1 About this manual
This manual describes the AM227..297 series of synchronous servomotors (standard
version). Among other things, you find information about:
Description of the Motors, Technical Data Chapter I
l
Installation, Commissioning of the motors Chapter II
l
Dimensions, wiring and characteristics Chapter III
l
Notes on Transport, Storage, Maintenance, Disposal Chapter IV
l
This Manual is intended for the use of qualified staff with professional knowledge
of electrical and mechanical engineering.
The motors are operated in drive systems together with servoamplifiers AX2000. Please
observe the entire system documentation, consisting of:
— Installation and commissioning instructions for the servoamplifier
— Installation and commissioning instructions for any CONNECT module or expansion
— card which is connected
— Operating manual for the Operator Software of the servoamplifier
— Technical description of the AM227..297 series of motors
I.2 Prescribed usage
The AM227..297 series of synchronous servomotors is designed especially for drives for
industrial robots, machine tools, textile and packing machinery and similar with high
requirements for dynamics.
The user is only permitted to operate the motors under the ambient conditions which are
defined in this documentation.
The AM227..297 series of motors is exclusively intended to be driven by servoamplifiers
from the AX2000 series under speed and / or torque control.
The motors are installed as components in electrical apparatus or machines and can only
be commissioned and put into operation as integral components of such apparatus or
machines.
The motors must never be connected directly to the mains supply.
The thermal contact which is integrated in the motor windings must be observed and
evaluated.
The conformity of the servo-system to the standards mentioned in the manufacturers
declaration on page 6 is only guaranteed when the components (servoamplifier, motor,
leads etc.) that are used have been supplied by us.
Motor series AM227..297 7
General 12/2001 BECKHOFF
I.3 Design of the motors
Synchronous servomotors in the AM227..297 series are brushless DC motors for
demanding servo applications. When combined with our digital servoamplifiers they are
especially suited for positioning tasks in industrial robots, machine tools, transfer lines
etc. With high requirements for dynamics and stability.
The servomotors have permanent magnets in the rotor. The rare earth neodymium
-iron-boron magnetic material is an important factor in making it possible to drive these
motors in a highly dynamic fashion. A three-phase winding which is driven by the
servoamplifier is integrated into the stator. The motor does not have any brushes since
commutation is performed electronically by the servoamplifier.
The temperature of the winding is monitored by temperature sensors in the stator wind
ings and is signalled via an electrically isolated contact (normally closed).
A resolver is built into the motors as standard feedback element. The servoamplifiers in
the AX2000 series evaluate the resolver (hence rotor) position and supply sinusoidal cur
rents to the motors.
The motors can be delivered with or without a built-in holding brake. Retrofitting of the
brake is not possible.
The motors are enamelled in matt black (RAL 9005). This finish is not resistant against
solvents (e.g. trichlorethylene, nitro-thinners, or similar).
I.4 General technical data
Climate category 3K3 to EN 50178
Ambient temperature 5...+40°C for site altitude up to 1000m amsl
(at rated values) It is vital to consult our applications department
Permissible humidity (at rated values) 85% rel. humidity, no condensation
Power derating 1% / K in range 40°C...50°C up to 1000m amsl
(currents and torques) for site altitude above 1000m amsl and 40°C
-
-
for ambient temperatures above 40°C and
encapsulated mounting of the motors.
6% up to 2000m amsl
17% up to 3000m amsl
30% up to 4000m amsl
55% up to 5000m amsl
No derating for site altitudes above 1000m amsl
with temperature reduction of 10K / 1000m
Max. permissible flange temperature 65°C at rated values
Ball-bearing life ³ 20.000 operating hours
Technical data ÞI.8
Storage data ÞIV.1
8 Motor series AM227..297
BECKHOFF 12/2001 - E.4.929.4/9 General
I.5 Standard features
I.5.1 Style
The basic style for the AM227..297 synchronous motors is style IM B5 according to
DIN42950. The permitted mounting positions may be read from the technical data of the
motor series.
I.5.2 Shaft end, A-side
Power transmission is made through the cylindrical shaft end A (fit k6) to DIN 748, with a
locking thread (except AM227) but without a fitted-keyway.
If the motors drive via pinions or toothed belts, then high radial forces will occur. The per
missible values at the end of the shaft may be read from the diagram in chapter III.3. The
maximum values at rated speed you will find at the technical data. Power take-off from
the middle of the free end of the shaft allows a 10% increase in F
The curves are based on a bearing life of 20.000 operating hours.
The axial force F
Double-coned collets have proved to be ideal zero-backlash coupling devices, combined,
if required, with metal bellows couplings.
I.5.3 Flange
Flange dimensions to IEC standard, fit j6, accuracy according to DIN 42955.
Tolerance class: R
I.5.4 Protection class
Standard version IP65
Standard shaft bushing IP64
Shaft bushing with shaft-sealing ring (Option -J-) IP65
I.5.5 Protective device
must not exceed FR/3.
A
-
.
R
The standard version of each motor is fitted with a thermostat (electrically isolated,
normally closed). You will find the switching point at the technical data. The thermostat
does not provide any protection against short, heavy overloading. Provided that our pre
assembled resolver cable is used, the thermostat contact is integrated into the monitoring
system of the digital servoamplifier AX2000.
The flange temperature must not exceed 65°C in rated operation.
-
Motor series AM227..297 9
General 12/2001 - A.4.031.1/35 BECKHOFF
I.5.6 Insulation material class
The motors come up to insulation material class F according to DIN 57530.
I.5.7 Vibration class
The motors are made to vibration class N according to DIN ISO 2373.
I.5.8 Connection method
The motors are fitted with rectangular connectors for power supply and resolver signals.
The mating connectors are not part of the delivery package. We can supply preassem
bled resolver and power leads (Þ II.2.1).
I.5.9 Feedback unit
The motors are equipped with two-pole hollow-shaft resolvers as standard. As an option,
the motors are available with built in single- (ECNxx13) or multiturn (EQNxx25)
EnDat-encoders.
Type designation singleturn: AM2xxx-xxxx-S3-1313 (AM227 with S3-1113)
Type designation multiturn: AM2xxx-xxxx-S3-1325 (AM227 with S3-1125)
The motor length changes when an encoder is mounted. Retrofitting is not possible.
I.5.10 Holding brake
The motors are optionally available with a holding brake.
Type designation: AM2xxx-0001
A permanent magnet brake (24V DC) is integrated into the G-motors. When this brake is
de-energized it blocks the rotor. The holding brakes are designed as standstill brakes
and are not suited for repeated operational braking. If the brake is released then the rotor
can be moved without a remanent torque, the operation is free from backlash! The motor
length increases when a holding brake is mounted.
The holding brake can be controlled directly by AX2000-servoamplifier (no personal
safety !), the winding is suppressed in the servoamplifier — additional circuitry is not
required.
-
If the holding brake is not controlled directly by the servoamplifier, an additional wiring
(e.g. varistor) is required. Consult our applications department beforehand.
A personal safe operation of the holding brake requires an additional contact (normally
opened) in the braking circuit and an anti-surge-device (e.g. Varistor) for the brake.
Wiring example for AX2000:
AX2000
10 Motor series AM227..297
BECKHOFF 12/2001 General
I.6 Options
-09- Special flanges and shafts are possible, we invite inquiries.
-J- Radial shaft-sealing rings:
A radial shaft-sealing ring can be supplied at extra charge to seal against oil mist
and oil spray. This increases the protection rating of the shaft bushing to IP65. The
sealing ring is not suitable for dry running. When a holding brake is built in, the
motor length increases by option -J- for 10mm.
-V- Vertical mounting sockets for resolver and power connections.
-C- Cable exit with PG-glands.
-K- Mounting flange for Stöber bevel gear
-2K- Special varnish with 2-component enamel.
-426- Encoder adaptor for ROD426/ROQ425 with coupling and eccentric washers.
I.7 Selection criteria
The three-phase servomotors are designed to operate with AX2000 servoamplifiers.
Together, both units form a closed speed or torque control loop.
The most important selection criteria are:
— Standstill torque M
— Rated speed n
0
n
[Nm]
[min-1]
— Moment of inertia of motor and load J [kgcm²]
— Effective torque (calculated) M
rms
[Nm]
When calculating the motors and servoamplifiers which are required, take account of the
static load and the dynamic load (acceleration/braking). Collected formulae and examples
of the calculations are available from our applications department.
Motor series AM227..297 11
General 12/2001 BECKHOFF
I.8 Technical data
I.8.1 Definitions
Standstill torque M0[Nm]
The standstill torque can be maintained indefinitely at a speed n=0 min
ambient conditions.
-1
and rated
Rated torque M
[Nm]
n
The rated torque is produced when the motor is drawing the rated current at the rated
speed. The rated torque can be produced indefinitely at the rated speed in continuous
operation (S1).
Standstill current I
0rms
[A]
The standstill current is the effective sinusoidal current which the motor draws during
standstill to produce the standstill torque.
Rated current I
nrms
[A]
The rated current is the effective sinusoidal current which the motor draws at the rated
speed in order to produce the rated torque.
Peak current (pulse current) I
0max
[A]
The peak current (effective sinusoidal value) should not exceed 4-times the rated current.
The actual value is determined by the peak current of the servoamplifier which is used.
Torque constant K
Trms
[Nm/A]
The torque constant defines how much torque in Nm is produced by the motor with 1A
r.m.s. current. The relationship is M=I x K
Voltage constant K
[V/1000min-1]
Erms
T
The voltage constant defines the induced motor EMF, as an effective sinusoidal value
between two terminals, per 1000 rpm
Rotor moment of inertia J [kgcm²]
The constant J is a measure of the acceleration capability of the motor. For instance, at I
the acceleration time tbfrom 0 to 3000 rpm is given as:
2
m
42
xcm
10
J
´
with M
in Nm and J in kgcm²
0
ts
[]=
b
´
3000 2
Ms
p
x
´
60
0
0
Thermal time constant t
The constant t
defines the time for the cold motor, under a load of I0, to heat up to an
th
th
[min]
overtemperature of 0.63 x 105 Kelvin. This temperature rise happens in a much shorter
time when the motor is loaded with the rated current.
Release delay time t
[ms] / Application delay time t
BRH
[ms] of the brake
BRL
These constants define the response times of the holding brake when operated with the
rated voltage from the AX2000 servoamplifier.
12 Motor series AM227..297
BECKHOFF 12/2001 General
I.8.2 Technical data AM227..297
Data Sym Dim
AM227M
AM227LL
AM237S
AM237M
AM237L
AM237VL
AM247L
AM257S
AM257M
AM277K
AM277S
AM297K
Standstill torque M0Nm 0,32 0,8 0,5 1 1,5 3 3 4,6 8 11 17 26 32
Standstill current I
Rated speed n
Torque constant K
Voltage constant K
Mains supply voltage U
Rated torque at n
n
Rated current I
Rated power P
Peak current I
Motor pole no. p
Resolver pole no. p
Winding resistance
Phase-Phase
Winding inductance
Phase-Phase
A 0,8 0,82 1 1,6 1,6 3,8 2,3 2,8 4,3 6 10 16 20
0rms
min-14000 4500 6000 6000 4000 6000 3000 3000 3000 3000 3000 3000 3000
n
Nm/A 0,41 0,98 0,5 0,62 0,96 0,79 1,33 1,65 1,85 1,85 1,70 1,6 1,6
Trms
mVmin 25 59 30 38 58 48 81 97 112 112 103 97 97
Erms
V 400 / 460
n
MnNm 0,3 0,72 0,4 0,8 1,2 2 2,2 3 6 8,5 12 20 23
A 0,75 0,79 0,95 1,5 1,5 2,8 2 2,7 4 5 8 14 16
n
kW 0,13 0,34 0,25 0,5 0,5 1,2 0,47 0,95 1,9 2,7 4 6,3 7,2
n
A 3,5 3,7 4,0 6,5 6,4 15,2 9 11 17 24 40 70 85
0max
-6
Mot
-2
Res
R
W 31 37 36 12,8 15,5 3,65 11 6,3 3,9 2,2 1,1 0,45 0,37
20
L mH 21 42 32 21 30 8 25 35 24 18 8,3 4,4 3,6
Insulation class - - F(DIN 57530)
Switch point
thermal contact
- °C 145 ±5
Design - - IM B5(V1,V3), DIN 42950
Rotor moment of inertia J kgcm² 0,08 0,14 0,45 0,7 1,0 1,6 1,6 3,1 4,5 12 18 82 104
Static friction torque M
Radial load permitted at
shaft end with n
n
Axial load permitted at
shaft end with n
n
Nm 0,02 0,02 0,02 0,02 0,03 0,05 0,05 0,12 0,15 0,25 0,30 0,40 0,50
R
F
N 90 90 270 270 270 270 270 650 650 730 730 870 870
R
F
A N 30 30 90 90 90 90 90 180 180 210 210 360 360
Tolerance class flange - - R, DIN 42955
Vibration class - - N, DIN ISO 2373
Thermal time constant t
min 10 22 10 15 15 15 15 20 20 25 30 30 40
TH
Weight standard G kg 1,1 1,45 1,9 2,3 2,9 3,5 3,5 5,7 7,6 9,8 14 28 32,5
EMV-RES connector - - 12 poles, round
RES cable, shielded - mm² 4x2x0,25
Power connection - - 4 + 4-poles, angled
Motor cable, shielded - mm² 4x1 or 4x1,5 4x1,5 4x2,5
Holding torque M
Operating voltage U
electrical power P
Moment of inertia J
Release delay time t
Application delay time t
Weight of the brake G
Motor cable with brake,
shielded
Nm 1 2,5 6 12 20
BR
V= 24 +6/-10%
BR
W 8 14 16 18 22
BR
kgcm² 0,07 0,38 1,06 3,6 9,5
BR
ms 15-20 10-15 10-30 30-60 20-60
BRH
ms 5-10 10-15 5-15 10-20 10-35
BRL
kg 0,3 0,4 0,6 1,5 3,3
BR
- mm² 4x1 + 2x0,75 or 4x1,5 + 2x0,75
4x1,5+
2x0,75
4x2,5 +
2x1
AM297S
Motor series AM227..297 13
General 12/2001 BECKHOFF
This page has been deliberately left blank.
14 Motor series AM227..297
BECKHOFF 12/2001 Installation / Commissioning
II Installation / Commissioning
II.1 Important notes
Check that the servoamplifier and motor match each other. Compare the rated volt
l
age and rated current of the unit. Carry out the wiring according to the wiring
diagram in the Installation and Commissioning Instructions for the servoamplifier.
The connections to the motor are shown on page 23 Notes on the connection
methods can be found on page 18.
Ensure that there is proper earthing of the servoamplifier and the motor.
l
Route the power and control cables as separately as possible from one another
l
(separation > 20 cm). This will improve the immunity of the system to electromag
netic interference.
If a motor power cable is used which includes integral brake control leads, then
these brake control leads must be shielded. The shielding must be connected at
both ends (see under Installation Instructions for the servoamplifier).
Install all cables carrying a heavy current with an adequate cross-section, as per
l
EN 60204. The recommended cross-section can be found in the Technical data.
-
-
Caution!
If a servoamplifier of the series AX2000 is used and the motor cable exceeds
25m, a boxed choke (type 3YL-20, manufactured by BECKHOFF) and motor
leads with the following diameters must be used:
Servoamplifier choke box Max. cable diameter
AX2001...06 3YL-20 4 x 1mm²
AX2010 3YL-20 4 x 1,5mm²
AX2020 3YL-20 4 x 2,5 mm²
Connect up all shielding via a wide surface-area contact (low impedance) and
l
metallized connector housings or EMC-PG glands.
Check the compliance to the permitted radial and axial forces F
l
and FA.
R
When you use a toothed belt drive, the minimal permitted diameter of the pinion
M
e.g. follows from the equation:
Ensure that there is adequate heat transfer in the surroundings and the motor
l
d
min
0
³´
F
.
2
R
flange, so that the maximum permissible flange temperature is not exceeded in S1
operation.
Caution!
Never undo the electrical connections to the motor while it is energised. A
dangerous voltage, resulting from residual charge, can be still present on the
capacitors up to 300 seconds after switch-off of the mains supply.
Measure the DC-link voltage and wait until it has fallen below 40V.
Even when the motor is not rotating, control and power leads may be live.
Motor series AM227..297 15
Installation / Commissioning 12/2001 BECKHOFF
II.2 Assembly / Wiring
Only qualified staff with knowledge of mechanical engineering are permitted to
assemble the motor.
Only staff qualified and trained in electrical engineering are allowed to wire up the
motor.
The procedure is described as an example. A different method may be appropriate or
necessary, depending on the application of the equipment.
Warning!
Protect the motor from unacceptable stresses.
Take care, especially during transport and handling, that components are not bent
and that insulation clearances are not altered.
Always make sure that the motors are de-energized during assembly and wiring,
i.e. No voltage may be switched on for any piece of equipment which is to be
connected.
Ensure that the switch cabinet remains turned off (barrier, warning signs etc.).
The individual voltages will only be turned on again during commissioning
Note!
The ground symbol
you must provide an electrical connection, with as large a surface area as possible,
between the unit indicated and the mounting plate in the switch cabinet. This con
nection is to suppress HF interference and must not be confused with the PE (pro
tective earth) symbol (protective measure to EN 60204).
To wire up the motor, use the wiring diagrams in the Installation and Commis
sioning Instructions of the servoamplifier which is used.
X, which you will find in the wiring diagrams, indicates that
-
-
-
16 Motor series AM227..297
BECKHOFF 12/2001 Installation / Commissioning
The following notes should help you to carry out the assembly and wiring in an appropriate se
quence, without overlooking anything.
Site
Ventilation
Assembly
Cable selection
Earthing
Shielding
The site must be free of conductive and aggressive material.
For V3-mounting (shaft end upwards), make sure that no liquids can
enter the bearings. If an encapsulated assembly is required, please
consult our applications department beforehand.
Ensure an unhindered ventilation of the motors and observe the
permissible ambient and flange temperatures.
For ambient temperatures above 40°C please consult our applications
department beforehand.
During assembly, take care that the motor is not overstressed when it
is fixed in place.
Select cables according to EN 60204
See the table in chapter II.1 when cable length exceeds 25m.
Use correct earthing and EMC-shielding according to the Installation
Instructions for the servoamplifier which is used. Earth the mounting
plate and motor casing. For connection methods see chapter II.2.1
-
Wiring
Check
— Route power cables as separately as possible from control cables
— Connect up the resolver
— Connect the motor leads, install ring cores or motor chokes close to
— the servoamplifier, connect shields to shielding terminals or EMC
— connectors at both ends
— Connect the holding brake, if used, Connect shielding at both ends.
Final check of the installed wiring, according to the wiring diagram
which was used
Motor series AM227..297 17
Installation / Commissioning 12/2001 BECKHOFF
II.2.1 Connection methods
Carry out the wiring in accordance with the valid standards and regulations.
l
Only use our preassembled shielded leads for the resolver and power connections.
l
Connect up the shielding according to the wiring diagrams in the Installation
l
Instructions for the servoamplifier.
Incorrectly installed shielding inevitably leads to EMC interference.
l
In the table below you find all leads supplied by us. Further information referring to chemi
cal, mechanical and electrical qualities can be received from our applications department.
Insulating material
Sheathing - PUR (Polyurethane, identification 11Y)
core insulation - PETP (Polyesteraphtalate, identification 12Y)
Capacity
Motor lead - less than 150 pF/m Resolver lead - less than 120 pF/m
Technical Data
— All leads are suitable for trailing.
— Technical data refer to mobile usage of leads.
Life time : 1 Million bending cycles
— The temperature range refers to the operation temperature.
— Identification: N = numbered cores
F = cores with colour code according to DIN 47100
B = cores with letter identification
( ) = shielding
Cores
[mm²]
(4x1,0) F -30 / +80 10,5 105
(4x2,5) N -5 / +70 12,7 125
(4x1,0+(2x0,75)) F -30 / +80 12 120 Motor lead with
(4x1,5+(2x0,75)) B -10 / +80 12,5 125
(4x2,5+(2x1)) B -30 / +80 13,8 140
(4x2x0,25) F -30 / +80 6,9 60 Resolver lead
Identification Temperature range
[°C]
Cable diameter
[mm]
Bending radius
[mm]
Remarks
Motor lead(4x1,5) B -30 / +80 11,3 115
integral brake
control leads
-
18 Motor series AM227..297
BECKHOFF 12/2001 Installation / Commissioning
II.3 Commissioning
The procedure for commissioning is described as an example. A different method may be
appropriate or necessary, depending on the application of the equipment.
Only specialist personnel with extensive knowledge in the areas of electrical engineering /
drive technology are allowed to commission the drive unit of servoamplifier and motor.
Caution!
Check that all live connection points are safe against accidental contact. Deadly
voltages can occur, up to 900V.
Never undo the electrical connections to the motor when it is live. The residual
charge in the capacitors of the servoamplifier can produce dangerous voltages up
to 300 seconds after the mains supply has been switched off.
The surface temperature of the motor can reach 100°C in operation.
Check (measure) the temperature of the motor. Wait until the motor has cooled
down below 40°C before touching it.
Make sure that, even if the drive starts to move unintentionally, no danger can
result for personnel or machinery.
Check the assembly and orientation of the motor.
l
Check the drive components (clutch, gear unit, belt pulley) for the correct seating
l
and setting (observe the permissible radial and axial forces).
Check the wiring and connections to the motor and the servoamplifier.
l
Check that the earthing is correct.
Test the function of the holding brake, if used.
l
(apply 24V, the brake must be released).
Check whether the rotor of the motor revolves freely
l
(release the brake, if necessary). Listen out for grinding noises.
Check that all the required measures against accidental contact with live and
l
moving parts have been carried out.
Carry out any further tests which are specifically required for your system.
l
Now commission the drive according to the commissioning instructions for the
l
servo amplifier.
In multi-axis systems, individually commission each drive unit
l
(servoamplifier and motor).
Motor series AM227..297 19
Installation / Commissioning 12/2001 BECKHOFF
This page has been deliberately left blank.
20 Motor series AM227..297
BECKHOFF 12/2001 - A.4.017.4/60 Drawings
III Drawings
III.1 Dimensions AM227..297 with resolver
Motor series AM227..297 21
Drawings 12/2001 - A.4.017.3/10 4/64 BECKHOFF
III.2 Dimensions AM237..297 with encoder
III.3 Radial-/axial force at the shaft end
22 Motor series AM227..297
BECKHOFF 12/2001 - A.4.017.4/45 Drawings
III.4 Wiring diagram AM227..297 with resolver
AX2000
Motor series AM227..297 23
Drawings 12/2001 - A.4.017.4/58 BECKHOFF
III.5 Wiring diagram AM227..297 with encoder
AX2000
24 Motor series AM227..297
BECKHOFF 12/2001 - A.4.036.3/1, 68 Drawings
III.6 Torque characteristics AM227M
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : Rated speed n
]
n
1
III.7 Torque characteristics AM227LL
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
]
n
2
2
1
3
Motor series AM227..297 25
Drawings 12/2001 - A.4.036.3/3, 4 BECKHOFF
III.8 Torque characteristics AM237S
2
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
1
]
n
III.9 Torque characteristics AM237M
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
1
]
n
3
2
3
26 Motor series AM227..297
BECKHOFF 12/2001 - A.4.036.3/2, 20 Drawings
III.10 Torque characteristics AM237L
2
1
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
]
n
III.11 Torque characteristics AM237VL
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
1
]
n
3
2
3
Motor series AM227..297 27
Drawings 12/2001 - A.4.036.3/5, 8 BECKHOFF
III.12 Torque characteristics AM247L
2
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
1
]
n
3
III.13 Torque characteristics AM257S
2
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
1
]
n
3
28 Motor series AM227..297
BECKHOFF 12/2001 - A.4.036.3/7, 9 Drawings
III.14 Torque characteristics AM257M
2
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
1
]
n
3
III.15 Torque characteristics AM277K
2
1
Legend:
-1
X-axis : Speed [min
]
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
n
3
Motor series AM227..297 29
Drawings 12/2001 - A.4.036.3/10, 11 BECKHOFF
III.16 Torque characteristics AM277S
2
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
1
2 : cut-off characteristic M(n)
3 : Rated speed n
]
n
3
III.17 Torque characteristics AM297K
2
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
1
]
n
3
30 Motor series AM227..297
BECKHOFF 12/2001 - A.4.036.3/12 Drawings
III.18 Torque characteristics AM297S
2
1
Legend:
-1
X-axis : Speed [min
Y-axis : Torque [Nm]
1 : Performance curve
2 : cut-off characteristic M(n)
3 : Rated speed n
]
n
3
Motor series AM227..297 31
Appendix 12/2001 BECKHOFF
IV Appendix
IV.1 Delivery package, transport, storage, maintenance, disposal
Delivery package:— Motor from the AM227..297 series
— Technical description (documentation), 1 copy per delivery
— Motor package leaflet (short info)
Transport: — Climate category 2K3 to EN 50178
— Transport temperature—25...+70°C, max. 20K/hr change
— Transport humidity rel. humidity 5% - 95% , no condensation
— only by qualified personnel
— only in the manufacturer’s original recyclable packaging
— avoid shocks
— if the packaging is damaged, check the motor for visible damage.
— Inform the carrier and, if appropriate, the manufacturer.
Packaging:
Motor type Carton Pallet or skeleton box Max.stacking height
AM227/37 X 10
AM247 X 6
AM257 X 6
AM277 X 5
AM297 X 1
Storage: — Climate category 1K4 to EN 50178
— Storage temperature —25...+55°C, max. variation 20K/hr. — Humidity rel. humidity 5% - 95%, no condensation
— only in the manufacturer’s original recyclable packaging
— max. stacking height see table under Packaging
— Storage time unlimited
Maintenance: — Only by qualified personnel
— The ball bearings have a grease packing which is adequate for
— 20,000 hours of operation under normal conditions. The bearings
— should be replaced after 20,000 hours of operation under rated
— conditions.
— Check the motor for bearing noise every 2500 operating hours,
— respectively each year. If any noises are heard, then the operation
— of the motor must stop, the bearings must be replaced.
— Opening the motor invalidates the warranty.
Cleaning: — If the housing is dirty: clean with Isopropanol or similar.
do not immerse or spray
Disposal: — The disposal should be carried out by a certified disposal company.
— Ask us for addresses.
32 Motor series AM227..297
BECKHOFF 12/2001 Appendix
IV.2 Fault-finding
The following table is to be seen as a “First Aid” box. There can be a large number of dif
ferent reasons for a fault, depending on the particular conditions in your system. The fault
causes described below are mostly those which directly influence the motor. Peculiarities
which show up in the control loop behaviour can usually be traced back to an error in the
parameterization of the servoamplifier. The documentation for the servoamplifier and the
operator software provides information on these matters.
For multi-axis systems there may be further hidden reasons for faults.
Our applications department can give you further help with your problems.
Fault Possible cause
— servoamplifier not enabled
Motor doesn’t
rotate
Motor runs away — Motor phases in wrong sequence — Correct the phase sequence
Motor oscillates
Error message:
brake
Error message:
output stage fault
Error message:
resolver
Error message:
motor temperature
Brake does not
grip
— Break in setpoint lead
— Motor phases in wrong sequence
— Brake not released
— Drive is mechanically blocked
— Break in the shielding of the resolver cable
— amplifier gain to high
— Short-circuit in the supply voltage lead to
the motor holding brake
— Faulty motor holding brake
— Motor cable has short-circuit or earth short
— Motor has short-circuit or earth short
— Resolver connector is not properly plugged in
— Break in resolver cable, cable crushed or
similar
— Motor thermostat has switched
— Loose resolver connector or break in
resolver cable
— Required holding torque too high
— Brake faulty
— Motor shaft axially overloaded
Measures to remove the cause of
the fault
— Supply ENABLE signal
— Check setpoint lead
— Correct the phase sequence
— Check brake controls
— Check mechanism
— Replace resolver cable
— use motor default values
— Remove the short-circuit
— Replace motor
— Replace cable
— Replace motor
— Check connector
— Check cables
— Wait until the motor has cooled
down. Then investigate why the
motor becomes so hot.
— Check connector, replace resolver
cable if necessary
— Check the dimensioning
— Replace motor
— Check the axial load, reduce it.
Replace motor, since the bearings
have been damaged
-
Motor series AM227..297 33
Appendix 12/2001 BECKHOFF
IV.3 Index
Text Page Text Page
A Ambient temperature ...........8
Assembly.................17
Axial force .................9
Axial force, diagram ...........22
B Break response times ..........12
C Commissioning ..............19
Connection method ...........10
Contents ..................3
Coupling ..................9
D Delivery package .............32
Dimensions................21
Disposal .................32
E Earthing .................17
Encoder .................10
F Feedback unit ..............10
Flange temperature ............8
H Holding brake ..............10
I Insulation material class .........10
M Maintenance ...............32
Manufacturer declaration .........6
Motor lead ................18
O Options ..................11
P Peak current ...............12
Power derating ..............8
Protection class ..............9
Protective device .............9
R Radial force ................9
Radial force, diagram ..........22
Rated current ...............12
Rated torque ...............12
Resolver .................10
Resolver lead...............18
Rotor moment of inertia .........12
S Safety notes ................4
Servo amplifier...............8
Shielding .................17
Site ....................17
Standstill current .............12
Standstill torque .............12
Storage ..................32
Storage humidity .............32
Storage temperature ...........32
Storage time ...............32
Style ....................9
T Technical data AM227..297 .......13
Thermal time constant ..........12
Thermostat ................9
Torque constant .............12
Transport .................32
V Ventilation ................17
Vibration class ..............10
Voltage constant .............12
W Wiring ..................17
Wiring diagram ..............23
34 Motor series AM227..297
Loading...