BECKHOFF AM3000 User Manual
Version: 1.5
Documentation
Synchronous Servomotor AM3000 and AM3500
Date: 2015-03-10
Documented motors
Rated speed at rated supply
voltage
without
brake
with
brake
without
brake
with
brake
Documented motors
Drive Technology
Rotor moment of inertia Weight Weight
AM3tuv-wxyz
Standstill
torque
Standstill
current
230 V AC 400 V AC 480 V AC
AM3011-wB00 0.18Nm 1.16 A 8000 min
AM3012-wC00 0.31Nm 1.51 A 8000 min
-1
-1
- - 0,017 kg cm² 0,021 kg cm² 0,35 kg 0,55 kg
- - 0,031 kg cm² 0,035 kg cm² 0,49 kg 0,69 kg
AM3013-wC00 0.41Nm 1.48 A 8000 min-1 - - 0,045 kg cm² 0,049 kg cm² 0,63 kg 0,83 kg
AM3021-wCyz 0.48 Nm 1.58 A 8000 min-1 - - 0.107 kg cm² 0.118 kg cm² 0.82 kg 1.09 kg
AM3022-WCyz 0.84 Nm 1.39 A 3500 min-1 8000 min
AM3023-wCyz 1.13Nm 1.41 A 2500 min-1 5500 min
AM3024-wCyz 1.38Nm 1.42 A 2000 min-1 4500 min
AM3024-wDyz 1.41 Nm 2.21 A 4000 min-1 8000 min
AM3031-wCyz 1.15 Nm 1.37 A 2500 min-1 5000 min
-1
8000 min
-1
7000 min
-1
5500 min
-1
8000 min
-1
6000 min
-1
0.161 kg cm² 0.172 kg cm² 1.10 kg 1.37 kg
-1
0.216 kg cm² 0.227 kg cm² 1.38 kg 1.65 kg
-1
0.270 kg cm² 0.281 kg cm² 1.66 kg 1.93 kg
-1
0.270 kg cm² 0.281 kg cm² 1.66 kg 1.93 kg
-1
0.330 kg cm² 0.341 kg cm² 1.55 kg 1.90 kg
AM3031-wEyz 1.20 Nm 2.99 A 6000 min-1 - - 0.330 kg cm² 0.341 kg cm² 1.55 kg 1.90 kg
AM3032-wCyz 2.00 Nm 1.44 A 1500 min-1 3000 min
AM3032-wDyz 2.04 Nm 2.23 A 2500 min-1 5500 min
AM3033-wCyz 2.71 Nm 1.47 A 1000 min-1 2000 min
AM3033.wEyz 2.79 Nm 2.58 A 2000 min-1 4500 min
AM3041-wCyz 1.95 Nm 1.46 A 1200 min-1 3000 min
AM3041-wEyz 2.02 Nm 2.85 A 3000 min-1 6000 min
AM3042-wEyz 3.42 Nm 2.74 A 1800 min-1 3500 min
AM3042-wGyz 3.53 Nm 4.80 A 3500 min-1 6000 min
AM3043-wEyz 4.70 Nm 2.76 A 1500 min-1 2500 min
AM3043-wGyz 4.80 Nm 4.87 A 2500 min-1 5000 min
AM3043-wHyz 4.82 Nm 5.4 A 3000 min-1 6000 min
AM3044-wEyz 5.76 Nm 2.90 A 1200 min-1 2500 min
AM3044-wGyz 5.88 Nm 5.00 A 2000 min-1 4000 min
AM3044-wHyz 5.89 Nm 5.6 A 2500 min-1 5000 min
AM3044-wJyz 6.00 Nm 8.80 A 4000 min-1 6000 min
AM3051-wEyz 4.70 Nm 2.75 A 1200 min-1 2500 min
AM3051-wGyz 4.75 Nm 4.84 A 2500 min-1 5000 min
AM3051-wHyz 4.79 Nm 6.00 A 3000 min-1 6000 min
AM3052-wGyz 8.43 Nm 4.72 A 1500 min-1 2500 min
AM3052-wHyz 8.48 Nm 5.9 A 1800 min-1 3500 min
AM3052-wKyz 8.60 Nm 9.30 A 3000 min-1 5500 min
AM3053-wGyz 11.37Nm 4.77 A 1000 min-1 2000 min
Am3053-wHyz 11.51 Nm 6.60 A - 3000 min
AM3053-wKyz 11.60 Nm 9.40 A 2000 min-1 4000 min
AM3054-wHyz 14.90 Nm 5.50 A 1000 min-1 1800 min
-1
3500 min
-1
6000 min
-1
2500 min
-1
5000 min
-1
3500 min
-1
6000 min
-1
4000 min
-1
6000 min
-1
3000 min
-1
6000 min
-1
-1
2500 min
-1
5000 min
-1
6000 min
-1
6000 min
-1
3000 min
-1
6000 min
-1
6000 min
-1
3000 min
-1
4000 min
-1
6000 min
-1
2400 min
-1
3500 min
-1
4500 min
-1
2000 min
-1
0.590 kg cm² 0.601 kg cm² 2.23 kg 2.58 kg
-1
0.590 kg cm² 0.601 kg cm² 2.23 kg 2.58 kg
-1
0.850 kg cm² 0.861 kg cm² 2.90 kg 3.25 kg
-1
0.850 kg cm² 0.861 kg cm² 2.90 kg 3.25 kg
-1
0.810 kg cm² 0.878 kg cm² 2.44 kg 3.07 kg
-1
0.810 kg cm² 0.878 kg cm² 2.44 kg 3.07 kg
-1
1.450 kg cm² 1.518 kg cm² 3.39 kg 4.02 kg
-1
1.450 kg cm² 1.518 kg cm² 3.39 kg 4.02 kg
-1
2.090 kg cm² 2.158 kg cm² 4.35 kg 4.98 kg
-1
2.090 kg cm² 2.158 kg cm² 4.35 kg 4.98 kg
- 2.090 kg cm² 2.158 kg cm² 4.35 kg 4.98 kg
-1
2.730 kg cm² 2.798 kg cm² 5.30 kg 5.93 kg
-1
2.730 kg cm² 2.798 kg cm² 5.30 kg 5.93 kg
-1
2.730 kg cm² 2.798 kg cm² 5.30 kg 5.93 kg
-1
2.730 kg cm² 2.798 kg cm² 5.30 kg 5.93 kg
-1
3.420 kg cm² 3.593 kg cm² 4.20 kg 5.30 kg
-1
3.420 kg cm² 3.593 kg cm² 4.20 kg 5.30 kg
-1
3.420 kg cm² 3.593 kg cm² 4.20 kg 5.30 kg
-1
6.220 kg cm² 6.393 kg cm² 5.80 kg 6.90 kg
-1
6.220 kg cm² 6.393 kg cm² 5.80 kg 6.90 kg
-1
6.220 kg cm² 6.393 kg cm² 5.80 kg 6.90 kg
-1
9.120 kg cm² 9.293 kg cm² 7.40 kg 8.50 kg
-1
9.120 kg cm² 9.293 kg cm² 7.40 kg 8.50 kg
-1
9.120 kg cm² 9.293 kg cm² 7.40 kg 8.50 kg
-1
12.92 kg cm² 12.093 kg cm² 9.00 kg 10.10 kg
2 Version: 1.5 AM3000 / AM3500
Rated speed at rated supply
voltage
without
brake
with
brake
without
brake
with
brake
Drive Technology Documented motors
AM3tuv-wxyz
Standstill
torque
Standstill
current
230 V AC 400 V AC 480 V AC
AM3054-wKyz 14.40 Nm 9.70 A 1800 min-1 3500 min
AM3062-wHyz 11.90 Nm 5.40 A 1000 min-1 2000 min
AM3062-wKyz 12.20 Nm 9.60 A 2000 min-1 3500 min
AM3062-wMyz 12.20 Nm 13.40 A 3000 min-1 6000 min
AM3063-wKyz 16.80Nm 9.90 A 1500 min-1 3000 min
AM3063-wMyz 17.00 Nm 13.80 A 2000 min-1 4000 min
AM3063-wNyz 17.00 Nm 17.40 A 3000 min-1 5000 min
AM3064-wHyz 16.60 Nm 5.60 A - 1500 min
AM3064-wKyz 20.80 Nm 9.20 A 1200 min-1 2000 min
AM3064-wLyz 21.00 Nm 12.80A 1500 min-1 3000 min
AM3064-wPyz 20.40 Nm 18.60 A 2500 min-1 4500 min
AM3065-wKyz 24.80 Nm 9.80 A 1000 min-1 2000 min
AM3065-wMyz 25.00 Nm 13.60 A 1500 min-1 2500 min
AM3065-wNyz 24.30 Nm 17.80 A 2000 min-1 3500 min
AM3065-wPyz 24.50 Nm 19.80 A 3000 min-1 4000 min
AM3072-wKyz 27.70 Nm 9.30 A - 1500 min
AM3072.wMyz 30.00 Nm 13.00 A - 2000 min
AM3072-wPyz 29.40 Nm 18.70 A 1800 min
-1
3000 min
AM3072-wQyz 29.70 Nm 20.90 A - 3500 min
AM3073-wMyz 42.00 Nm 13.60 A - 1500 min
AM3073-wMyz 41.60 Nm 19.50 A 1300 min
-1
2400 min
AM3073-wQyz 41.60 Nm 24.60 A - 2500 min
AM3074-wLyz 53.00 Nm 12.90 A - 1200 min
AM3074-wPyz 52.50 Nm 18.50 A - 1800 min
AM3074-wQyz 51.90 Nm 26.20 A - 2500 min
AM3082-wTyz 75.00 Nm 48.00 A - 2500 min
AM3083-wTyz
AM3084-wTyz
130.00 Nm
180.00 Nm
62.00 A - 2200 min
67.00 A - 1800 min
AM3541-w0yz 1.9 Nm 1.7 A - 3000 min
AM3541-w1yz 1.9 Nm 2.8 A - 6000 min
AM3542-w0yz 3.3 Nm 2.4 A - 3000 min
AM3542-w1yz 3.3 Nm 4.5 A - 6000 min
AM3543-w0yz 4.2 Nm 3.0 A - 3000 min
AM3543-w1yz 4.2 Nm 5.2 A - 6000 min
AM3551-w0yz 4.1 Nm 3.4 A - 3000 min
AM3551-w1yz 4.1 Nm 6.1 A - 6000 min
AM3552-w0yz 6.3 Nm 4.8 A - 3000 min
Rotor moment of inertia Weight Weight
-1
4000 min
-1
2400 min
-1
4500 min
-1
6000 min
-1
3500 min
-1
4500 min
-1
6000 min
-1
1800 min
-1
2500 min
-1
3500 min
-1
5500 min
-1
2200 min
-1
3000 min
-1
4000 min
-1
5000 min
-1
1800 min
-1
2500 min
-1
3500 min
-1
4000 min
-1
1800 min
-1
2800 min
-1
3000 min
-1
1400 min
-1
2000 min
-1
3000 min
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
11.92 kg cm² 12.093 kg cm² 9.00 kg 10.10 kg
-1
16.90 kg cm² 17.51 kg cm² 8.90 kg 10.90 kg
-1
16.90 kg cm² 17.51 kg cm² 8.90 kg 10.90 kg
-1
16.90 kg cm² 17.51 kg cm² 8.90 kg 10.90 kg
-1
24.20 kg cm² 24.81 kg cm² 11.10 kg 13.10 kg
-1
24.20 kg cm² 24.81 kg cm² 11.10 kg 13.10 kg
-1
24.20 kg cm² 24.81 kg cm² 11.10 kg 13.10 kg
-1
31.60 kg cm² 32.21 kg cm² 13.30 kg 15.30 kg
-1
31.60 kg cm² 32.21 kg cm² 13.30 kg 15.30 kg
-1
31.60 kg cm² 32.21 kg cm² 13.30 kg 15.30 kg
-1
31.60 kg cm² 32.21 kg cm² 13.30 kg 15.30 kg
-1
40.00 kg cm² 40.61 kg cm² 15.40 kg 17.40 kg
-1
40.00 kg cm² 40.61 kg cm² 15.40 kg 17.40 kg
-1
40.00 kg cm² 40.61 kg cm² 15.40 kg 17.40 kg
-1
40.00 kg cm² 40.61 kg cm² 15.40 kg 17.40 kg
-1
64.50 kg cm² 66.14 kg cm² 19.70 kg 21.80 kg
-1
64.50 kg cm² 66.14 kg cm² 19.70 kg 21.80 kg
-1
64.50 kg cm² 66.14 kg cm² 19.70 kg 21.80 kg
-1
64.50 kg cm² 66.14 kg cm² 19.70 kg 21.80 kg
-1
92.10 kg cm² 93.74 kg cm² 26.70 kg 28.80 kg
-1
92.10 kg cm² 93.74 kg cm² 26.70 kg 28.80 kg
-1
92.10 kg cm² 93.74 kg cm² 26.70 kg 28.80 kg
-1
119.70 kg cm² 121.64 kg cm² 33.60 kg 35.70 kg
-1
119.70 kg cm² 121.64 kg cm² 33.60 kg 35.70 kg
-1
119.70 kg cm² 121.64 kg cm² 33.60 kg 35.70 kg
3000 172 kg cm² 177.53 65 kg 73
2500 334 kg cm² 339.53 85 kg 93
2000 495 kg cm² 500.53 105 kg 113
- 2.0 kg cm² 2.2 kg cm² 2.4 kg 3.0 kg
- 2.0 kg cm² 2.2 kg cm² 2.4 kg 3.0 kg
- 4.0 kg cm² 4.2 kg cm² 3.8 kg 4.4 kg
- 4.0 kg cm² 4.2 kg cm² 3.8 kg 4.4 kg
- 8.0 kg cm² 8.2 kg cm² 5.35 kg 5.9 kg
- 8.0 kg cm² 8.2 kg cm² 5.35 kg 5.9 kg
- 15.0 kg cm² 15.6 kg cm² 5.8 kg 6.6 kg
- 15.0 kg cm² 15.6 kg cm² 5.8 kg 6.6 kg
- 19.0 kg cm² 19.6 kg cm² 7.0 kg 7.8 kg
AM3000 / AM3500 Version: 1.5 3
Documented motors
Rated speed at rated supply
voltage
without
brake
with
brake
without
brake
with
brake
Drive Technology
AM3tuv-wxyz
AM3553-w0yz 8.6 Nm 6.4 A - 3000 min
AM3562-w0yz 11.6 Nm 10.3 A - 3000 min
AM3563-w0yz 14.9 Nm 12.5 A - 3000 min
Standstill
torque
Standstill
current
230 V AC 400 V AC 480 V AC
Rotor moment of inertia Weight Weight
-1
- 20.0 kg cm² 20.6 kg cm² 8.9 kg 9.7 kg
-1
- 40.0 kg cm² 42.0 kg cm² 10.7 kg 11.8 kg
-1
- 60.0 kg cm² 62.0 kg cm² 13.6 kg 14.7 kg
4 Version: 1.5 AM3000 / AM3500
Drive Technology Table of contents – AM3000 and AM3500
Chapter Page
Table of contents – AM3000 and AM3500
Documented motors ............................................................................................................................................. 2
Table of contents – AM3000 and AM3500 .......................................................................................................... 5
1 Foreword ................................................................................................................................................ 7
1.1 Notes on the documentation .......................................................................................................... 7
1.2 Disclaimer ...................................................................................................................................... 7
1.3 Brands ............................................................................................................................................ 7
1.4 Patents ........................................................................................................................................... 7
1.5 Copyright ........................................................................................................................................ 7
1.6 Documentation issue status ........................................................................................................... 7
1.7 Appropriate use .............................................................................................................................. 8
2 Guidelines and Standards ................................................................................................................... 9
2.1 EC declaration of conformity .......................................................................................................... 9
3 Safety .................................................................................................................................................... 10
3.1 General safety instructions .......................................................................................................... 10
3.1.1 Personnel qualification ................................................................................................................. 10
3.1.2 Description of safety symbols ...................................................................................................... 10
3.2 Special safety instructions for AM3000 and AM3500 .................................................................. 11
4 Handling ............................................................................................................................................... 12
4.1 Transport ...................................................................................................................................... 12
4.2 Packaging .................................................................................................................................... 12
4.3 Storage ......................................................................................................................................... 12
4.4 Maintenance / Cleaning ............................................................................................................... 12
4.5 Disposal ....................................................................................................................................... 13
5 Product identification ........................................................................................................................ 14
5.1 AM3000, scope of supply ............................................................................................................. 14
5.2 AM3000 nameplate ...................................................................................................................... 14
5.3 AM3000 type key ......................................................................................................................... 14
5.4 AM3500, scope of supply ............................................................................................................. 15
5.5 AM3500 nameplate ...................................................................................................................... 15
5.6 AM3500 type key ......................................................................................................................... 15
6 Technical description ........................................................................................................................ 16
6.1 Design of the motors .................................................................................................................... 16
6.2 General technical data ................................................................................................................. 16
6.3 Standard features ......................................................................................................................... 17
6.3.1 Style ............................................................................................................................................. 17
6.3.2 Shaft end, A-side .......................................................................................................................... 17
6.3.3 Flange .......................................................................................................................................... 17
6.3.4 Protection class ............................................................................................................................ 17
6.3.5 Overtemperature protection ......................................................................................................... 17
6.3.6 Insulation material class ............................................................................................................... 17
6.3.7 Vibration class .............................................................................................................................. 18
6.3.8 Connection technology................................................................................................................. 18
6.3.9 Feedback unit ............................................................................................................................... 18
6.3.10 Holding brake ............................................................................................................................... 18
6.3.11 Pole numbers ............................................................................................................................... 19
6.4 Options ......................................................................................................................................... 19
6.5 Selection criteria ........................................................................................................................... 19
7 Mechanical installation ....................................................................................................................... 20
7.1 Important notes ............................................................................................................................ 20
8 Electrical installation........................................................................................................................... 21
8.1 Important notes ............................................................................................................................ 21
8.2 Connection of motors with pre-assembled cables ....................................................................... 22
8.2.1 AX5000 ........................................................................................................................................ 22
8.2.2 AX2000 and AX2500.................................................................................................................... 26
8.3 AX5000 connection diagram for motors with EnDAT / BiSS encoder ......................................... 29
AM3000 / AM3500 Version: 1.5 5
Table of contents – AM3000 and AM3500
8.4 AX5000 connection diagram for motors with resolver ................................................................. 30
8.5 AX5000 connection diagram for motors with resolver and yTec-Plug ......................................... 31
8.6 AX2000 connection diagram for motors with EnDAT / BiSS encoder ......................................... 32
8.7 AX2000 connection diagram for motors with resolver ................................................................. 33
9 Commissioning .................................................................................................................................... 34
9.1 Important notes ............................................................................................................................ 34
9.2 Guide for commissioning.............................................................................................................. 34
9.3 Troubleshooting ........................................................................................................................... 34
10 Technical data ...................................................................................................................................... 36
10.1 Term definitions ............................................................................................................................ 36
10.2 AM301x ........................................................................................................................................ 37
10.2.1A Dimensional drawing .................................................................................................................... 38
10.2.1B Dimensional drawing .................................................................................................................... 38
10.2.2 Radial / axial forces at the shaft end ............................................................................................ 39
10.2.3 Characteristic torque / speed curves ........................................................................................... 39
10.3 AM302x ........................................................................................................................................ 40
10.3.1 Dimensional drawing .................................................................................................................... 41
10.3.2 Radial / axial forces at the shaft end ............................................................................................ 41
10.3.3 Characteristic torque / speed curves ........................................................................................... 41
10.4 AM303x ........................................................................................................................................ 42
10.4.1 Dimensional drawing .................................................................................................................... 43
10.4.2 Radial / axial forces at the shaft end ............................................................................................ 43
10.4.3 Characteristic torque / speed curves ........................................................................................... 43
10.5 AM304x ........................................................................................................................................ 44
10.5.1 Dimensional drawing .................................................................................................................... 45
10.5.2 Radial / axial forces at the shaft end ............................................................................................ 45
10.5.3 Characteristic torque / speed curves ........................................................................................... 45
10.6A AM305x (AM3051; AM3052) ........................................................................................................ 46
10.6B AM305x(AM3053 and AM3054) ................................................................................................... 47
10.6.1 Dimensional drawing .................................................................................................................... 48
10.6.2 Radial / axial forces at the shaft end ............................................................................................ 48
10.6.3 Characteristic torque / speed curves ........................................................................................... 48
10.7 AM306x ........................................................................................................................................ 49
10.7.1 Dimensional drawing .................................................................................................................... 50
10.7.2 Radial / axial forces at the shaft end ............................................................................................ 50
10.7.3 Characteristic torque / speed curves ........................................................................................... 50
10.8 AM307x ........................................................................................................................................ 51
10.8.1 Dimensional drawing .................................................................................................................... 52
10.8.2 Radial / axial forces at the shaft end ............................................................................................ 52
10.8.3 Characteristic torque / speed curves ........................................................................................... 52
10.9 AM308x ........................................................................................................................................ 53
10.9.1 Dimensional drawing .................................................................................................................... 54
10.9.2 Radial / axial forces at the shaft end ............................................................................................ 55
10.9.3 Characteristic torque / speed curves ........................................................................................... 55
10.10 AM354x ........................................................................................................................................ 56
10.10.1 Dimensional drawing .................................................................................................................... 57
10.10.2 Characteristic torque / speed curves ........................................................................................... 58
10.11 AM355x ........................................................................................................................................ 59
10.11.1 Dimensional drawing .................................................................................................................... 60
10.11.2 Characteristic torque / speed curves ........................................................................................... 61
10.12 AM356x ........................................................................................................................................ 62
10.12.1 Dimensional drawing .................................................................................................................... 63
10.12.2 Characteristic torque / speed curves ........................................................................................... 64
11 Appendix ............................................................................................................................................. 65
11.1 Support and Service ..................................................................................................................... 65
11.1.1 Beckhoff Support .......................................................................................................................... 65
11.1.2 Beckhoff Service .......................................................................................................................... 65
11.2 Beckhoff headquarters ................................................................................................................. 65
Drive Technology
6 Version: 1.5 AM3000 / AM3500
Issue
Comment
1.5
Chapter update:
10.2.1B
1.4
Chapter update:
10.8; 10.9; 10.9.1; 10.10; 10.10.1; 10.11; 10.12; 10.12.1
1.3
Chapter update:
6.3.10
Drive Technology 1 Foreword
1 Foreword
1.1 Notes on the documentation
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards. It is essential that the following notes and explanations are
followed when installing and commissioning these components. The "General safety instructions" and "Special
safety instructions for AM3000 and AM3500" sections are also essential.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Danger for persons, the environment or equipment
The motors are operated in the drive system in conjunction with Beckhoff servo drives. Please
CAUTION
1.2 Disclaimer
This documentation has been prepared with care. The products described are, however, constantly under
development.
For this reason, the documentation may not always have been fully checked for consistency with the
performance data, standards or other characteristics described.
If it should contain technical or editorial errors, we reserve the right to make changes at any time and without
notice.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
observe the entire documentation which consists of:
− AM3000 and AM3500 documentation (this manual)
− Complete documentation (online and paper) for Beckhoff servo drives available at
www.beckhoff.com.
− Complete machine documentation (provided by the machine manufacturer)
1.3 Brands
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® and XFC® are registered and licensed
brand names of Beckhoff Automation GmbH.
The use by third parties of other brand names or trademarks contained in this documentation may lead to an
infringement of the rights of the respective trademark owner.
1.4 Patents
The TwinCAT technology is patent protected, in particular by the following applications and patents:
EP0851348, US6167425 with the corresponding applications and registrations in various other countries.
1.5 Copyright
© Beckhoff Automation GmbH & Co. KG.
The copying, distribution and utilisation of this document as well as the communication of its contents to others
without express authorisation is prohibited.
Offenders shall be held liable for damages. All rights conferred by patent grant or registration of a utility model
or registered design are reserved.
1.6 Documentation issue status
8.4; 8.5; 8.6; 8.7; 10.2; 10.9.1
New chapter:
Documented motors; 5.3; 6.3.2; 6.3.6; 8.2.1; 8.2.2; 10.2; 10.3; 10.4; 10.5; 10.5.1; 10.6; 10.7;
AM3000 / AM3500 Version: 1.5 7
1 Foreword
Issue
Comment
1.2
Chapter update:
Documented motors; 10.2; 10.3; 10.4; 10.5; 10.6; 10.7; 10.8; 10.9
1.1
Chapter update:
8.5
1.0
First issue (description of the AM3000 and AM3500 motors consolidated in one document and
amended)
drive system.
Documented motors; 5.3; 10.2; 10.3; 10.4; 10.5; 10.6; 10.7; 10.8; 10.9; 10.10; 10.11; 10.12
New chapter:
Drive Technology
1.7 Appropriate use
Synchronous servomotors of the AM3000 and AM3500 series are designed as drives for handling equipment,
textile machines, machine tools, packaging machines and similar machines with demanding requirements in
terms of dynamics. The motors of the AM3000 and AM3500 series are exclusively intended for speed- and/or
torque-controlled operation via digital servo drives from Beckhoff.
The thermal protection contact incorporated in the motor windings must be analysed and monitored.
Caution – Risk of injury!
Electronic equipment is not fail-safe. The machine manufacturer is responsible for ensuring that
WARNING
The servomotors from the AM3000 and AM3500 series are exclusively designed for installation as components
in electrical systems or machines and may only be operated as integrated components of the system or
machine.
The motors may only be operated under the ambient conditions defined in this documentation.
the connected motors and the machine are brought into a safe state in the event of a fault in the
8 Version: 1.5 AM3000 / AM3500
conformity of the complete machine or system.
Drive Technology 2 Guidelines and Standards
2 Guidelines and Standards
Danger for persons, the environment or equipment
Servomotors of the AM3000 and AM3500 series are not classified as products within the
CAUTION
2.1 EC declaration of conformity
We,
Beckhoff Automation GmbH & Co. KG
Hülshorstweg 20
33415 Verl
Germany
hereby declare, under our sole responsibility, that the product range
motor series AM3000
(types AM301x, AM302x, AM303x, AM304x, AM305x, AM306x, AM307x, AM308x)
motor series AM3500
(types AM354x, AM355x, AM 356x)
complies with following relevant regulations:
− EC Directive 2004/108/EC
Electromagnetic compatibility
Applied harmonised standard EN 61800-3
− EC Directive 2006/95/EC
Electrical equipment designed for use within certain voltage limits
Applied harmonised standard EN 61800-5-1
Attachment of the CE marking: 2007
Issued by: Management
H. Beckhoff
Verl, 25.05.2007
meaning of the EC Machinery Directive. Operation of the servomotors in machines or systems is
only permitted once the machine or system manufacturers has provided evidence of CE
AM3000 / AM3500 Version: 1.5 9
3 Safety
DANGER
WARNING
CAUTION
Attention
Note
Drive Technology
3 Safety
3.1 General safety instructions
3.1.1 Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
3.1.2 Description of safety symbols
The following safety symbols and associated safety instructions are used in this document. These safety
instructions must be read and followed.
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the life
and health of persons.
Caution – Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
Damage to the environment or devices!
Failure to follow the safety instructions associated with this symbol can lead to damage to the
environment or equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.
UL note
This symbol indicates important information regarding UL certification.
10 Version: 1.5 AM3000 / AM3500
Drive Technology 3 Safety
3.2 Special safety instructions for AM3000 and AM3500
The safety instructions are designed to avert danger and must be followed during installation, commissioning,
production, troubleshooting, maintenance and trial or test assemblies.
The servomotors of the AM3000 and AM3500 series are not designed for stand-alone operation and are always
installed in a machine or system. After installation the additional documentation and safety instructions provided
by the machine manufacturer must be read and followed.
Serious risk of injury through high electrical voltage!
• Never open the servomotor when it is live. The measured voltage between terminals U, V
WARNING
and W must have dropped below 50 V. Opening the device would invalidate any warranty
and liability claims against Beckhoff Automation GmbH & Co. KG.
• Negligent, improper handling of the servomotor and bypassing of the safety devices can lead
to personal injury or death through electric shock.
• Ensure that the protective conductor is connected properly.
• The machine manufacturer must prepare a hazard analysis for the machine, and must take
appropriate measures to ensure that unexpected movements can not lead to injury to
persons or to material damage.
• Power leads may be live, even if the motor is not running. Never undo the electrical
connections to the motor when it is live. Under unfavourable conditions arcing may occur,
resulting in injury and damage to contacts.
WARNING
Attention
• Disconnect the servomotor from the servo drive and secure it against reconnection before
working on electrical parts with a voltage > 50 V.
• The DC link voltage of the servo drive may exceed 890 V. Wait until the DC link capacitors
are discharged before touching live terminals. The measured voltage between terminals DC+
and DC- (X02) must have dropped below 50 V.
Serious risk of injury through hot surfaces!
• The surface temperature may exceed 50 °C, resulting in a risk of burns.
• Avoid touching the housing during or shortly after operation.
• Leave the servomotor to cool down for at least 15 minutes after it is switched off.
• Use a thermometer to check whether the surface has cooled down sufficiently.
Danger for persons, the environment or equipment
• Carefully read this manual before using the servomotor thoroughly, paying particular
attention to the safety instructions. In the event of any uncertainties please notify your sales
office immediately and refrain from working on the servomotor.
• Only well trained, qualified electricians with sound knowledge of drive equipment may work
on the device.
• During installation it is essential to ensure that the specified ventilation clearances and
climatic conditions are adhered to. Further information can be found in the "Technical data"
and "Mechanical installation" sections.
• If a servomotor is installed in a machine it must not be commissioned until proof of
compliance of the machine with the latest version of the EC Machinery Directive has been
provided. This includes all relevant harmonised standards and regulations required for
implementation of this Directive in national legislation.
AM3000 / AM3500 Version: 1.5 11
4 Handling
AM301x
X
10
AM302x
X
10
AM303x
X 6 AM304x
X 6 AM305x
X 5 AM306x
X 1 AM307x
X 1 AM308x
X
1
Attention
Drive Technology
4 Handling
4.1 Transport
• Climate category: 2K3 according to EN 50178
• Transport temperature: -25 °C - +70 °C, max. fluctuation 20 K/hour
• Transport humidity: relative humidity 5% - 95%, non-condensing
• The servomotor may only be transported by qualified personnel and in the manufacturer's original recyclable
packaging.
• Avoid hard impacts, particularly at the shaft end.
• If the packaging is damaged, check the motor for visible damage. Inform the transport company and, if
necessary, the manufacturer.
4.2 Packaging
• Cardboard packaging with Instapak
• You can return the plastic portion to the supplier (see Disposal)
Motor type Carton Max. stacking height
®
foam cushion.
4.3 Storage
• Climate category 1K4 according to EN50178
• Storage temperature: -25 °C - +55 °C, max. fluctuation 20 K/hour
• Air humidity: relative humidity 5% - 95%, non-condensing
• Max. stacking height: see table Packaging
• Storage time: without limitation
• Store only in the manufacturer’s original recyclable packaging
4.4 Maintenance / Cleaning
• Maintenance and cleaning only by qualified personnel.
• The ball bearings have a grease filling with a service life of 20,000 hours under normal operating conditions.
The bearings should be replaced after 20,000 hours of operation under rated conditions.
• Check the motor for bearing noise every 2,500 operating hours or once per year. If any noises are heard,
stop the operation of the motor. The bearings must be replaced.
• Opening the motor invalidates the warranty.
• Clean the housing with isopropanol or similar.
Destruction of the servomotor
Never immerse or spray the servomotor.
12 Version: 1.5 AM3000 / AM3500
Drive Technology 4 Handling
4.5 Disposal
• In accordance with the WEEE 2002/96/EC Directives we take old devices and accessories back for
professional disposal, provided the transport costs are taken over by the sender. Please send the devices
to:
Beckhoff Automation GmbH & Co. KG
Eiserstrasse 5
33415 Verl
Germany
AM3000 / AM3500 Version: 1.5 13
5 Product identification
BECKHOFF
Type
SN Art.No.
Mo
Nm
Udc
V
Iso. cl.
Nn
r/min
In A IP
Made in EU
Flange size
8 = 250 mm
Rotor length
5
Feedback unit
8 SKM multi turn
Winding type
S = special winding
Shaft
5 food industry
AM30 6 2 – 0 P 0 1 – 0000
Servomotor type
Serial number
Item number
Date of manufacture
Standstill torque
Nominal speed
DC link voltage
Rated current
Insulation class
Brake
1 24 V holding brake
Connection
6 terminal box
Protection class
5 Product identification
5.1 AM3000, scope of supply
Please check that the delivery includes the following items:
• Motor from the AM3000 series
• Motor package leaflet (short info)
5.2 AM3000 nameplate
5.3 AM3000 type key
Drive Technology
1 = 40 mm
2 = 58 mm
3 = 70 mm
4 = 84 mm
5 = 108 mm
6 = 138 mm
7 = 188 mm
0 rotatable angular connectors
1 0.5 m cable with connector
5 yTec connector
0 none brake
1
2
3
4
0 resolver, 2-pole
1 EnDAT single turn
2 EnDAT multi turn
3 BISS single turn
4 BISS multi turn
5 EQI single turn
6 EQI multi turn
7 SKS single turn
A…Z
0 smooth shaft
1 feather key groove
2 sealing ring – smooth shaft
3 sealing ring – feather key groove
14 Version: 1.5 AM3000 / AM3500
BECKHOFF
Type
SN Art.No.
Mo
Nm
Udc V Iso. cl.
Nn
r/min
In A IP
Made in EU
Flange size
6 138 mm
Rotor length
3
Brake
1 24V holding brake
Feedback unit
4 BISS multi turn
Winding type
9 special winding
Shaft
groove
AM35 4 1 – 0 0 0 1
Servomotor type
Serial number
Item number
Date of manufacture
Standstill torque
Nominal speed
DC link voltage
Rated current
Insulation class
Protection class
Drive Technology 5 Product identification
5.4 AM3500, scope of supply
Please check that the delivery includes the following items:
• Motor from the AM3500 series
• Motor package leaflet (short info)
5.5 AM3500 nameplate
5.6 AM3500 type key
4 84 mm
5 108 mm
1
2
0 without brake
0 Resolver
3 BiSS single turn
0 3000 min-1
1 6000 min
0 smooth shaft
1 feather key groove
2 sealing ring – smooth shaft
3 sealing ring – feather key
-1
AM3000 / AM3500 Version: 1.5 15
6 Technical description
3K3 according to EN 50178
+5 - +40 °C for site altitudes up to 1000 m amsl
above 40 °C and encapsulated installation of the motors.
95% relative humidity, non-condensing
For site altitudes above 1000 m amsl and 40 °C
reduction of 10K / 1000m
=20,000 operating hours
→ see Section 10
→ see Section 4
Drive Technology
6 Technical description
6.1 Design of the motors
The synchronous servomotors of the AM3000 and AM3500 series are brushless three-phase motors for
demanding servo-applications. In conjunction with our digital servo drives they are particularly suitable for
positioning tasks in industrial robots, machine tools, transfer lines etc. with demanding requirements in terms of
dynamics and stability.
The servomotors are equipped with permanent magnets in the rotor. This advanced neodymium magnetic
material makes a significant contribution to the motors' exceptional dynamic properties. A three-phase winding
is housed in the stator, and this is powered by the servo drive. The motor has no brushes, the commutation
being implemented electronically in the servo drive.
The temperature of the winding is monitored by temperature sensors in the stator windings and is signalled via
an electrically isolated thermistor (PTC, _550 Ω / _1330 Ω).
The motors normally have an integrated resolver to provide feedback. Beckhoff servo drives analyse the
resolver position of the rotor and supply the motors with sine currents. The optional feedback systems may
require modification of the motor length and cannot be retrofitted.
The motors are available with or without built-in holding brake. The brake cannot be retrofitted.
The motors have a matt black coating (RAL 9005). The finish is not resistant against solvents (e.g.
trichlorethylene, thinners or similar). The “Washdown”-model is white coated and FDA (Food and Drug
Administration) conform.
6.2 General technical data
Climate category
Ambient temperature
(at rated values)
Permissible humidity
(at rated values)
Power derating
(currents and torques)
Ball bearing service life
Technical data
Storage and transport data
It is vital to consult our applications department for ambient temperatures
6% at 2000 m amsl
17% at 3000m amsl
30% at 4000m amsl
55% at 5000m amsl
No derating for site altitudes above 1000 m amsl with temperature
16 Version: 1.5 AM3000 / AM3500
Drive Technology 6 Technical description
6.3 Standard features
6.3.1 Style
The basic style for the AM3000 and AM3500 synchronous servomotors is IM B5 according to DIN EN 60034-7.
IM B 5 (B5) IM V 3 (V3) IM V 1 (V)
The permitted mounting positions are specified in the technical data.
6.3.2 Shaft end, A-side
Power transmission is made through the cylindrical shaft end A, fit k6 (AKM1: h7) according to EN 50347, with
a locking thread or optionally with a feather key groove. The bearings are designed for a service life of 20,000
hours.
Radial force
If the motors drive via pinions or toothed belts, then high radial forces will occur. The permissible values at the
shaft end, depending on the speed, may be read from the diagrams in the Section 10. The permissible
maximum values can be found in the technical data. Power take-off from the middle of the free end of the shaft
allows a 10% increase in FR.
Axial force
Axial forces arise when assembling pinions or pulleys on the shaft and using angular gearheads, for example.
The permissible maximum values can be found in the technical data.
Coupling
Double-coned collets, possibly in association with metal bellows couplings, have proven themselves as
excellent, zero backlash coupling elements.
6.3.3 Flange
Flange dimensions according to IEC standard, fit j6 (AM301x: h7), accuracy according to DIN 42955
Tolerance class: N
6.3.4 Protection class
Standard version IP65
Standard shaft bushing IP54
Shaft bushing with shaft sealing ring IP67
6.3.5 Overtemperature protection
The standard version of each motor is fitted with an electrically isolated PTC with a rated temperature of 155 °C
± 5%. The PTC does not provide any protection against short, heavy overloading.
Provided that our preassembled cable is used, the PTC is integrated into the monitoring system of the digital
servo drives.
6.3.6 Insulation material class
The motors conform to insulation material class F according to IEC 60085 (UL 1446 class F).
AM3000 / AM3500 Version: 1.5 17
6 Technical description
<= 1800
90
23
> 1800
65
16
Resolver
Two-pole, hollow shaft
EnDAT Encoder, Singleturn
AM302x-AM304x: ECN 1113,
AM305x-AM307x: EQN 1325
EnDAT Encoder, Multiturn
AM302x-AM304x: EQN 1125
AM305x-AM307x: EQN 1325
BiSS Encoder, Single- / Multiturn
AM302x-AM304x: AD36
AM305x-AM307x: AD58
BiSS Encoder, Single- / Multiturn
AM35xx: AD34
Note
WARNING
Note
Drive Technology
6.3.7 Vibration class
The motors are made to vibration class A according to DIN EN 60034-14. For a speed range of 600-3600 rpm
and a shaft centre height between 56-132 mm, this means that the actual value of the permitted vibration
severity is 1.6 mm/s.
Speed [rpm] Max. rel. vibration
displacement [µm]
Max. run-out [µm]
6.3.8 Connection technology
The motors are fitted with angular connectors (AM301x: straight connectors at the cable ends) for the power
supply and the feedback signals.
The mating connectors are not included in the scope of supply. We can supply preassembled feedback and
power cables. Information regarding the cable materials can be found in Section 8.2.
6.3.9 Feedback unit
Standard
Option
Option
Option
Option
Motor length
The motor length depends on the built-in feedback unit, among other factors. Retrofitting is not
possible.
6.3.10 Holding brake
Serious risk of injury!
The holding brake is not personal safety. If the brake is released then the rotor can be moved
without a remanent torque!
The AM302x-AM308x and AM35xx motors are optionally available with an in-built holding brake. The AM3000
model features a spring-actuated brake (24 V DC), the AM3500 features a permanent-magnet brake (24 V DC).
When the brake is de-energised it blocks the rotor. The holding brakes are designed as standstill brakes
and are not suited for repeated operational braking.
The holding brakes can be controlled directly by the servo drive (no personal safety!), in which case the brake
winding is suppressed in the servo drive. Additional circuitry is not required.
If the holding brake is not controlled directly by the servo drive, additional circuitry (e.g. varistor) is required.
Consult our applications department beforehand.
Motor length
The motor length depends on the built-in holding brake, among other factors. It is not possible to
fit one at a later date.
18 Version: 1.5 AM3000 / AM3500
AM301x
6
AM304x
10
AM307x
10
AM354x
10
AM302x
6
AM305x
10
AM308x
10
AM355x
10
AM303x
8
AM306x
10
AM356x
10
data.
Drive Technology 6 Technical description
6.3.11 Pole numbers
Motor Poles Motor Poles Motor Poles Motor Poles
6.4 Options
Holding brake
The holding brake is integrated in the motor. It increases the motor length.
Radial shaft-sealing ring
Radial shaft-sealing ring (Teflon) for sealing against oil mist and oil spray. This increases the protection class of
the shaft bushing to IP67.
Feather key
The motors are available with feather key groove and fitted feather key according to DIN6885. The rotor is
balanced with half a feather key.
EnDat (only AM30xx), BiSS
This model features a different feedback system in place of the resolver, which may result in an increase of the
motor length.
Installation options and reduction of rated values
With the exception of the sealing ring, the options cannot be retrofitted.
Note
Options such as sealing ring, holding brake, EnDAT or BiSS can lead to a reduction of the rated
6.5 Selection criteria
The three-phase servomotors are designed for operation with servo drives.
Both units together form a speed or torque control loop.
The main selection criteria are:
— Standstill torque M0 [Nm]
— Rated speed at rated supply voltage nn [min-1]
— Moment of inertia of motor and load J [kgcm²]
— Effective torque (calculated) Mrms [Nm]
The static load and the dynamic load (acceleration/braking) must be taken into account in the calculation of the
required motors and servo drives. Formulas and calculation example are available from our applications
department on request.
AM3000 / AM3500 Version: 1.5 19
7 Mechanical installation
2
0
min
x
F
M
dR≥
7 Mechanical installation
7.1 Important notes
Destruction of the motors
• Protect the motors from unacceptable stresses. Take care, especially during transport and
Attention
handling, that components are not bent and that insulation clearances are not altered.
• 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 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.
• Servomotors are precision devices. The flange and shaft are especially vulnerable during
storage and assembly. It is important to use the locking thread which is provided to tighten
up couplings, gear wheels or pulleys and warm up the drive components, where possible.
Blows or the use of force will lead to damage to the ball bearings and the shaft.
Drive Technology
• Wherever possible, use only backlash-free, frictionally-locking collets or couplings. Ensure
correct alignment of the couplings. A displacement will cause unacceptable vibration and the
destruction of the ball bearings and the coupling.
• 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 any case, avoid creating a mechanically constrained motor shaft mounting by using a rigid
coupling with additional external bearings (e.g. in a gearbox).
• Take note of the no. of motor poles and the no. of resolver poles and ensure that the correct
setting is made in the used servo drives. An incorrect setting can lead to the destruction of
the motor, especially with small motors.
• Check compliance the permitted radial and axial loads F
drive, the minimum permitted diameter of the pinion follows from the equation:
and FA. When using a toothed belt
R
20 Version: 1.5 AM3000 / AM3500
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