BECKHOFF AM2000 User Manual
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
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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
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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
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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.
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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
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Installation, Commissioning of the motors Chapter II
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Dimensions, wiring and characteristics Chapter III
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Notes on Transport, Storage, Maintenance, Disposal Chapter IV
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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
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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.
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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.
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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
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