Cisco Systems Z600 User Manual

C H A P T E R ➆

The information in this chapter will enable you to:

❏ Use this chapter as a quick-reference for system performance specifications

Z600 Electrical Specifications

Electrical specifications for the Z Drive’s input and output power are provided in this section.

Input Power

❏ Voltage (Nominal) 120VAC (1 or 3-phase) or 240VAC (1 or 3-phase ) ❏ Voltage (Range) 92-130VAC (1 or 3-phase) or 205-252VAC (1 or 3-phase)

❏ Frequency (Range) 47-66 Hz ❏ Current (Max. cont.) 15A (rms) 3-phase or 26A (rms) 1-phase

❏ Power (Max. cont.) 6.2 KVA ❏ Fuses 20A slow blow—Not user accessible ❏ Isolation transformer Not required

The actual input power and current is a function of the motor's operating point (speed and torque) and the duty cycle. You can de-rate the fuses and isolation transformer by scaling the above numbers by your actual requirements. The numbers above reflect the servo motor and drive operating at rated speed and rated torque at 100% duty.

Hardware Reference

Output Power

❏ Voltage 405 VDC (maximum) ❏ Frequency 0 - 400Hz fundamental (7 kHz PWM) ❏ Current 20A continuous per phase sinusoidal (14.14Arms)

❏ Regen/power dump Optional accessory

Z600 Motor/Drive Configuration

The Z600's hardware is pre-configured to control Z600 motors. The Z600 series drives only Z600 motors, the Z800 series drives only Z800 motors, and the Z900 series drives only Z900 motors. Be sure that your drive type matches your motor type (Z600, Z800, or Z900). If you have questions about the Z motor/drive configuration, call your local Automation Technology Center (ATC) or distributor.

40A peak per phase sinusoidal (28.3Arms)

Chapter ➆ Hardware Reference

Z600 Technical Data

Continuous Stall Torque*

Peak Torque (±10%)

Rated Torque (±10%)

Rated Power Rated Speed Rated Current (line)

Peak Current (3.3 seconds max) Max. Cont. AC Input Current

(3 phase 240VAC) Rotor Inertia

Motor Weight Shipping Weight

Z600 Series Indexer/Drive Performance Specifications

Positional Repeatability

Repeatability: ±0.088 degrees, unloaded

Units Z-605 Z-606 Z-610 Z-620 Z-630 Z-635 Z-640

oz-in lb-in lb-ft Nm

hp kWatts

rpm rps

A (rms) 5.0 5.3 14.1 14.1 14.1 14.1 14.1 A (rms) 16.6 17.2 28.2 28.2 28.2 28.2 28.2 A (rms) 6 6 15 15 15 15 15

oz-in2 (mass)

oz-in-sec Kg-m2 x 1E-6 lbs

kg(f) lbs

kg(f)

346

1.8

2.4

1083

5.6

7.7

321

1.7

2.3

2.0

1.5

6200

103

5.45

0.01

99.6 10

51 23

633

3.3

4.5

1954

122

10.2

13.8 576

3.0

4.1

2.1

1.5

3600607000

9.45

0.02

172.9 13

55 25

867

4.5

6.1

1733

108

9.0

12.2 616

3.2

4.4

4.3

3.2

117

13.73

0.04

251.2 16

58 26

1743

12.3

3486

18.2

24.6

1538

10.9

3700622500423000501600

35.87

0.09

656.0

109

9.1

218

8.0

5.6

4.2

29 13

70 32

2475

155

12.9

17.5

4951

309

25.8

35.0

2172

136

11.3

15.3

5.4

4.0

50.79

0.13

929.0 32

15 73

2458

154

12.8

17.4

7008

438

36.5

49.5

2054

128

10.7

14.5

6.1

4.5

56.21

0.146

1028.0 37

16 78

4114

257

21.4

29.1

8228

514

42.9

58.1

3729

233

19.4

26.3

5.9

4.4 27

111.21

0.29

2034.0 51

23 92

Positional Accuracy

Resolver Accuracy: ±7 arc minutes Resolver-to-Digital Converter Accuracy: ±8 arc minutes (For finer

accuracies, contact Compumotor—800-722-2282.)

Motor/Drive Compatibility

Different motors can take different amounts of current and require different tuning parameters for typical loads. The CMTR (Configure Motor Type) command sets up a drive for a particular motor. By issuing CMTR, motor

current levels and default parameters are recalled from memory. Do not exceed the current level specified for the motor, excessive current levels will damage the motor. The following information is provided in case you must modify the motor/drive configuration.

The following commutation procedure causes violent motor motion. All loads should be removed from the motor shaft before you begin this procedure.

☞

Helpful Hint:

This command sequence sets up a drive for a particular motor size and performs the commutation.

Command Description

> 1OFF Turns drive off > 1CMTRxxx Sets drive for the motor; xxx = 605, 606, 610, 620, 630, 635, or 640 > 10N Enables the drive

Motor Brakes

Motor brakes are mounted directly behind the motor and are pre- assembled at the factory. When ordering the brake option, specify the motor type.

Brake Characteristics Z605/606/610 Z620/630 Z640 Units

Supply voltage 24 24 24 VDC Supply current 0.57 0.93 1.27 A Static braking torque 960 1152 6720 oz-in

Z600 Motor Brake Characteristics

WARNING

Motor Data

Z Drive User Guide

The data reflecting motor torque does not assume operation from a Z600 drive. The torque specifications reflect the motor's capabilities. In most cases, the motor windings match the drive's output power with an additional safety margin.

Motor Size: Z605 Value Units Tolerance

Constant (s): Torque 2 3 4 5

Torque (s): Continuous, Stall

6 7 8 9

10 11

Voltage (Sinusodial) Electrical Time Mechanical Time Thermal

Continuous, Stall Continuous, Rated Peak, Max w/o Saturation Static Friction Ripple (of Rated Torque)

1213Speed: Rated

Maximum

68.7

29.4

10.68

1.46 32 367 346 321 1085

0.96 5

6200 6200

oz-in/A rms V rms/Krpm milliseconds milliseconds minutes oz-in oz-in oz-in oz-in oz-in percent

rpm rpm

± 10% ± 10%

nominal nominal nominal min. [1] min. [2] min. [2] min. [1] max. max. [3]

reference

reference 14 Frequency Rated 207 Hz max. 1516Current: Rated

Peak

1718Voltage: Rated

Max

16.6 240

250

A rms A rms

V rms V rms

max. [1]

nominal

reference

maximum 19 Output Power Rated 1.5 (2.0) kWatts (hp) min. [1] 20 Inductance Terminal (line-line) 25 mH ± 30% 21 D.C. Resistance Terminal (line-line) 2.3 ohms ± 10 % [1] 22 Acceleration at Rated Torque 76870 rads/sec

Theoretical 23 Rotor Inertia 99.6 kgm2 * 1E-6 nominal 24 Damping 0.96 oz-in / krpm nominal 25 Weight 10 lbs. max. 26 Winding Temperature 170 [4] °C (Celsius) max. 27 Winding Temperature Rise (Above Ambient) [1] 145 °C (Celsius) reference 28 Insulation Class H — reference 29 Thermostat TRIP Temperature 170 °C (Celsius) ± 5° C 30 Thermostat RESET Temperature 135 °C (Celsius) ± 10° C 31 Dielectric Strength, (Winding-to-Frame) 1750 VAC min. 32 Winding Capacitance-to-Frame 0.00122 µF max. 33 IP Classification 65 [8] rated standard 34

Shaft: Radial-Play (Front to Back) 35 36 37

Material [5] Magnet Type Loading [6] 1000 rpm

2000 rpm 3000 rpm 4000 rpm 5000 rpm

1.4E-5/8E-6 RC-#30 NdFeB

85.4

67.8

59.1

53.8 50

in/lb — — lbs. lbs. lbs. lbs. lbs.

reference reference

—

max. [7] max. [7] max. [7] max. [7]

max. [7] 38 Bearing Class, Internal/External 1/Class 3 ABEC/AFBMA reference 39 Bearing Grease SRI #2 Manufacturer reference 40 Shaft Seal Pressure 0.21 (3) kg/cm2 (psi) max. 41 Basic Motor Design 3 phase

wye

connected 2(P/2) 42 Stator Phase Sequence A-C-B (viewed from front face plate) 43 Vendor/Supplier Industrial Drives B-202-C 44 Resolver Type/Accuracy Single-Speed; Rotor-Excited; ± 7 arc min. 45 Resolver Manufacturer/Model # Fasco # 21-BRCX-335-J39 46 Standard Resolver Cable Part Number 71-011777-xx 47 Standard Motor Cable Part Number 71-011774-xx 48 Options: Brake—24VDC (0.57A)—960 oz-in Holding Torque

IP67 Classification Incremental Encoder Tachometer No Keyway

[1] 25°C Ambient [2] 40°C Ambient [3] Measured at 60 rpm (1 rps) in Velocity Mode [4] Rated for 20,000 Hours or 40,000 Hours @ 155° C

[5] Rotor steel is rated as

fatigue proof

[6] Loads centered 1 inch from mounting flange [7] Loads may be radial and axial such that the sum of the

radial and two times the axial does not exceed this figure.

[8] Motor shaft is IP30 rated.

Z605 Motor Specifications

Chapter ➆ Hardware Reference

Motor Size: Z606 Value Units Tolerance

Constant (s): Torque 2 3 4 5

Torque (s): Continuous, Stall

6 7 8 9

10 11

Voltage (sinusodial) Electrical Time Mechanical Time Thermal

Continuous, Stall Continuous, Rated Peak, Max w/o Saturation Static Friction Ripple (of Rated Torque)

1213Speed: Rated

Maximum

120

51.2

15.32

0.896 34 672 634 576 1957

0.96 5

3600 3600

oz-in/A rms V rms/Krpm milliseconds milliseconds minutes oz-in oz-in oz-in oz-in oz-in percent

rpm rpm

± 10% ± 10%

nominal nominal nominal min. [1] min. [2] min. [2] min. [1] max max. [3]

reference reference

14 Frequency Rated 120 Hz max. 1516Current: Rated

Peak

5.3

17.2

A rms A rms

max. [1] nominal

1718Voltage: Rated

Max

240 250

V rms V rms

reference maximum

19 Output Power: Rated 1.6 (2.1) kWatts (hp) min. [1] 20 Inductance: Terminal (line-line) 38 mH ± 30% 21 D.C. Resistance Terminal (line-line) 2.48 ohms ± 10 % [1] 22 Acceleration at Rated Torque 80000 rads/sec

Theoretical 23 Rotor Inertia 172.9 kgm2 * 1E-6 nominal 24 Damping 1.344 oz-in / krpm nominal 25 Weight 13.4 lbs. max. 26 Winding Temperature 170 [4] °C (Celsius) max. 27 Winding Temperature Rise (Above Ambient) [1] 145 °C (Celsius) reference 28 Insulation Class H — reference 29 Thermostat TRIP Temperature 170 °C (Celsius) ± 5 °C 30 Thermostat RESET Temperature 135 °C (Celsius) ± 10 °C 31 Dielectric Strength, (Winding-to-Frame) 1750 VAC min. 32 Winding Capacitance to Frame 0.00201 µF max. 33 IP Classification 65 [8] rated standard 34

Shaft: Radial-Play (front to back) 35 36 37

Material [5] Magnet Type Loading [6] 1000 rpm

2000 rpm 3000 rpm 4000 rpm 5000 rpm

1.4E-5/8E-6 RC-#30 NdFeB

90.1

71.6

62.4 N/A N/A

in/lb — — lbs. lbs. lbs. lbs. lbs.

reference reference — max. [7] max. [7] max. [7] max. [7]

wye

connected 2(P/2) 42 Stator Phase Sequence A-C-B (viewed from front face plate) 43 Vendor/Supplier Industrial Drives B-204-B 44 Resolver Type/Accuracy Single-Speed; Rotor-Excited; ± 7 arc min. 45 Resolver Manufacturer/Model # Fasco # 21-BRCX-335-J39 46 Standard Resolver Cable Part Number 71-011777-xx 47 Standard Motor Cable Part Number 71-011774-xx 48 Options: Brake—24VDC (0.57A)—960 oz-in Holding Torque