Synchronous Servomotors
Series DBL/DBK
Technical description, Installation, Commissioning
Edition 05/2001
Choose your Motor:
Type Flange Standstill torque
DBL1 37 0,1..0,2
DBL2 55 0,4..0,8
DBL3 75 0,65..3
DBL4 105 2,6..9,5
longshort
DBL5 142 10,5..22
DBL6 190 22..29
DBL7 190 26..40
DBL8 240 40...115
DBK4 105 1..1,6
DBK5 142 2,1..4,3
DBK6 190 3,5..7
DBK7 190 6,5..19,5
0,5
0105020 701 30 90 130540110
Page
Þ 22
Þ 26
Þ 30
Þ 34
Þ 38
Þ 42
Þ 46
Þ 50
Þ 54
Þ 58
Þ 62
Þ 66
Nm
Already published editions
Edition Comments
04 / 2001 First edition
05 / 2001 some minor corrections
Technical changes to improve the performance of the equipment
may be made without prior notice!
Printed in the Federal Republic of Germany 05/2001
Mat.No.: 102017
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 Danaher Motion Corporation.
Danaher Motion 05/2001 Contents
Contents 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.7.1 Model number description............................................................12
II Installation / Commissioning
II.1 Important notes .........................................................................13
II.2 Assembly / Wiring .......................................................................14
II.2.1 Connection of the motors ............................................................16
II.2.1.1 Wiring diagram for resolver motors .................................................17
II.2.1.2 Wiring diagram for encoder motors .................................................18
II.3 Commissioning .........................................................................19
III Technical data
III.1 Definitions .............................................................................21
III.2 DBL1 .................................................................................22
III.3 DBL2 .................................................................................26
III.4 DBL3 .................................................................................30
III.5 DBL4 .................................................................................34
III.6 DBL5 .................................................................................38
III.7 DBL6 .................................................................................42
III.8 DBL7 .................................................................................46
III.9 DBL8 .................................................................................50
III.10 DBK4.................................................................................54
III.11 DBK5.................................................................................58
III.12 DBK6.................................................................................62
III.13 DBK7.................................................................................66
IV Appendix
IV.1 Delivery package, transport, storage, maintenance, disposal......................................69
IV.2 Fault-finding ...........................................................................70
IV.3 Index .................................................................................71
Motor series DBL/DBK 3
Safety notes / Symbols 05/2001 Danaher Motion
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
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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 servo-amplifier 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 servo-amplifier 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.
l
Remove any fitted key (if present) from the shaft before letting the motor run
independently, to avoid the dangerous results of the key being thrown out by
centrifugal forces.
Symbols used in this manual:
Danger to personnel from electricity
and its effects
see chapter (cross reference) l special emphasis
Þ
General warning
general instruction
mechanical hazard
4 Motor series DBL/DBK
Danaher Motion 05/2001 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 servo-amplifier which is used. An
incorrect setting can lead to the destruction of the motor, especially with small
motors.
Motor series DBL/DBK 5
Manufacturer Declaration 05/2001 Danaher Motion
Manufacturer declaration
According to the EG-Machine-guideline 89/392/EEC, appendix II B
We, the company
Kollmorgen Seidel GmbH & Co. KG
Wacholderstrasse 40-42
40489 Düsseldorf
declare, that the product
Motor series DBL/DBK
(Typen DBL1, DBL2, DBL3, DBL4, DBL5, DBL6, DBL7, DBL8, DBK4, DBK5, DBK6, DBK7)
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/EEC 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
Norbert Witsch
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 DBL/DBK
Danaher Motion 05/2001 General
I General
I.1 About this manual
This manual describes the DBL/DBK series of synchronous servomotors (standard
version). Among other things, you find information about:
General description, standard version of the motors Chapter I
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Installation, Commissioning, Wiring Chapter II
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Technical data, dimensions 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 servo-amplifiers SERVOSTAR™
600. Please observe the entire system documentation, consisting of:
— Installation and commissioning instructions for the servo-amplifier
— Installation and commissioning instructions for any expansion card which is connected
— Operating manual for the Operator Software of the servo-amplifier
— Technical description of the DBL/DBK series of motors
I.2 Prescribed usage
The DBL/DBK 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 DBL/DBK series of motors is exclusively intended to be driven by servo-amplifiers
from the SERVOSTAR™ 600 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 (servo-amplifier, motor,
leads etc.) that are used have been supplied by us.
Motor series DBL/DBK 7
General 05/2001 Danaher Motion
I.3 Design of the motors
Synchronous servomotors in the DBL/DBK series are brushless DC motors for demand
ing servo applications. When combined with our digital servo-amplifiers they are espe
cially 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
servo-amplifier is integrated into the stator. The motor does not have any brushes since
commutation is performed electronically by the servo-amplifier.
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 servo-amplifiers in
the SERVOSTAR™ 600 series evaluate the resolver 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
for ambient temperatures above 40°C and
encapsulated mounting of the motors.
Permissible humidity 85% rel. humidity, no condensation
(at rated values)
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
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 Þ III
Storage data Þ IV.1
8 Motor series DBL/DBK
Danaher Motion 05/2001 - E.4.929.4/09 General
I.5 Standard features
I.5.1 Style
The basic style for the DBL/DBK 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 DBL1/DBL2) 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 diagrams in chapter III. 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 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 servo-amplifier SERVOSTAR™ 600.
The flange temperature must not exceed 65°C in rated operation.
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Motor series DBL/DBK 9
General 05/2001 - A.4.031.1/35 Danaher Motion
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
Motor series Resolver Power
DBL1 Cable Cable
DBL2..DBL6, DBK Connector Connector
DBL7, DBL8 Connector Terminal box
The mating connectors are not part of the delivery package. We can supply preassem
bled resolver and power leads.
In Chapter II.2.1 you will find notes on the cable materials.
I.5.9 Feedback unit
The motors are equipped with two-pole hollow-shaft resolvers as standard.
As an option, the motors (except DBL1) are available with built in single- (ECN1313) or
multiturn (EQN1325) EnDat-encoders (DBL2: ECN 1113 / EQN 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 (except DBL1).
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 SERVOSTAR™ 600-servo-amplifier (no
personal safety !), the winding is suppressed in the servo-amplifier — additional circuitry
is not required.
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If the holding brake is not controlled directly by the servo-amplifier, 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 SERVOSTAR™ 600
SERVOSTAR™ 600
10 Motor series DBL/DBK
Danaher Motion 05/2001 General
I.6 Options
— Holding brake
Built-in holding brake (Þ I.5.10).
Motor length increases by the holding brake.
— 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 a sealing ring for approximately 10mm.
— Vertical mounting sockets
If fitted with angular sockets for feedback and power connectors, the motors are
also available with vertical sockets.
— Keyway
The motors are available with keyway and key inserted according to DIN748
The shaft is balanced with a short (half) key.
— EnDat
A high resolution EnDat-encoder is mounted instead of the resolver (Þ I.5.9).
the motor length increases by the encoder.
— 2nd Thermostat
An additional thermostat can be applied to the motor winding. The connection
takes place via the power connector resp. the terminal box.
— Forced ventilation
For some motors ventilation bonnets are available wich cool the motor electrically.
Connection takes place via a 6-pole angular socket
With the ventilation bonnet mounted, the dimensions and nominal data of the
motors vary. Please consult our applications department.
All options can not be retrofitted.
I.7 Selection criteria
The three-phase servomotors are designed to operate with SERVOSTAR™ 600
servo-amplifiers. Together, both units form a closed speed or torque control loop.
The most important selection criteria are:
— Standstill torque M
— Rated speed n
— Moment of inertia of motor and load J [kgcm²]
— Effective torque (calculated) M
When calculating the motors and servo-amplifiers 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.
0
n
rms
[Nm]
[min-1]
[Nm]
Motor series DBL/DBK 11
General 05/2001 Danaher Motion
I.7.1 Model number description
In preparation
12 Motor series DBL/DBK
Danaher Motion 05/2001 Installation / Commissioning
II Installation / Commissioning
II.1 Important notes
Check that the servo-amplifier and motor match each other. Compare the rated
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voltage and rated current of the unit. Carry out the wiring according to the wiring
diagram in the Installation and Commissioning Instructions for the servo-amplifier.
The connections to the motor are shown on pages 17f. Notes on the connection
methods can be found on page 16.
Ensure that there is proper earthing of the servo-amplifier and the motor.
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Route the power and control cables as separately as possible from one another
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(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 servo-amplifier).
Install all cables carrying a heavy current with an adequate cross-section, as per
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EN 60204. The recommended cross-section can be found in the Technical data.
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Caution!
If a servo-amplifier of the series SERVOSTAR™ 601 ..620 is used and the mo
tor cable exceeds 25m, a boxed choke (type 3YL-xx, manufactured by
Danaher Motion) and motor leads with the following diameters must be used:
Servo amplifier Choke box Max. diameter of the motor lead
SERVOSTAR™ 601...606 3YL-20 4 x 1mm²
SERVOSTAR™ 610 3YL-20 4 x 1,5mm²
SERVOSTAR™ 620 3YL-20 4 x 2,5 mm²
l Connect up all shielding via a wide surface-area contact (low impedance) and
metallized connector housings or EMC-cable glands.
l
Check the compliance to the permitted radial and axial forces F
and FA.
R
When you use a toothed belt drive, the minimal permitted diameter of the pinion
M
e.g. follows from the equation:
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Ensure that there is adequate heat transfer in the surroundings and the motor
d
min
0
³´
.
2
F
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 5 minutes 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.
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Motor series DBL/DBK 13
Installation / Commissioning 05/2001 Danaher Motion
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 con
nected.
Ensure that the switch cabinet remains turned off (barrier, warning signs etc.).
The individual voltages will only be turned on again during commissioning
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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 connection is to suppress HF interference and must not be confused with the PE (protective earth) symbol (protective measure to EN 60204).
To wire up the motor, use the wiring diagrams in the Installation and Commissioning Instructions of the servo-amplifier which is used.
X, which you will find in the wiring diagrams, indicates that
14 Motor series DBL/DBK
Danaher Motion 05/2001 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 servo-amplifier which is used. Earth the mounting
plate and motor casing. For connection methods see chapter II.2.1.
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Wiring
Check
— Route power cables as separately as possible from control cables
— Connect up the resolver or encoder.
— Connect the motor leads, install motor chokes close to
— the servo-amplifier, 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 DBL/DBK 15
Installation / Commissioning 05/2001 Danaher Motion
II.2.1 Connection of the motors
Carry out the wiring in accordance with the valid standards and regulations.
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Only use our preassembled shielded leads for the resolver and power connections.
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Connect up the shielding according to the wiring diagrams in the Installation In
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structions for the servo-amplifier.
Incorrectly installed shielding inevitably leads to EMC interference.
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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
(7x2x0,25) F -10 / +80 9,5 95 Encoder 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
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16 Motor series DBL/DBK
Danaher Motion 05/2001 - A.4.043.1/01 Installation / Commissioning
II.2.1.1 Wiring diagram for resolver motors
Motor series DBL/DBK 17
Installation / Commissioning 05/2001 - A.4.043.1/02 Danaher Motion
II.2.1.2 Wiring diagram for encoder motors
18 Motor series DBL/DBK
Danaher Motion 05/2001 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 servo-amplifier and motor.
Caution!
Check that all live connection points (terminal boxes) 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 servo-amplifier can produce dangerous voltages up
to 5 minutes 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 re
sult for personnel or machinery.
Check the assembly and orientation of the motor.
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-
Check the drive components (clutch, gear unit, belt pulley) for the correct seating
l
and setting (observe the permissible radial and axial forces).
l Check the wiring and connections to the motor and the servo-amplifier. Check that
the earthing is correct.
l Test the function of the holding brake, if used. (apply 24V, the brake must be re-
leased).
l Check whether the rotor of the motor revolves freely (release the brake, if neces-
sary). Listen out for grinding noises.
l Check that all the required measures against accidental contact with live and mov-
ing parts have been carried out.
l
Carry out any further tests which are specifically required for your system.
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Now commission the drive according to the commissioning instructions for the
servo amplifier.
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In multi-axis systems, individually commission each drive unit (servo-amplifier and
motor).
Motor series DBL/DBK 19
Installation / Commissioning 05/2001 Danaher Motion
This page has been deliberately left blank.
20 Motor series DBL/DBK
Danaher Motion 05/2001 Technical data
III Technical data
III.1 Definitions
Standstill torque M0[Nm]
-1
The standstill torque can be maintained indefinitely at a speed n=0 min
and rated ambi
ent conditions.
Rated torque M
n
[Nm]
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) is approximately equivalent to 4-times the
rated current. The actual value is determined by the peak current of the servo-amplifier
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
(uptoI=2xI0)
T
-
Voltage constant K
Erms
[mV/min-1]
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
cm
´
10
with M
J
´
in Nm and J in kgcm²
0
b
[]=
3000 2
Ms
0
ts
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
´
p
´
´
60
[min]
th
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 servo-amplifier.
0
Motor series DBL/DBK 21
Technical data 05/2001 Danaher Motion
III.2 DBL1
Technical data
Data
Electrical data
Standstill torque M
Standstill current I
Mains voltage U
Rated speed n
U
=
Rated torque M
N
230V
Rated current I
Rated power P
Rated speed n
=
U
400V
Rated torque M
N
Rated current I
Rated power P
Rated speed n
U
=
Rated torque M
N
480V
Rated current I
Rated power P
Peak current I
Torque constant K
Voltage constant K
Winding resistance Ph-Ph
Winding inductance Ph-Ph L [mH] 6,5 4,7
Mechanical data
Rotor moment of inertia J [kgcm²] 0,06 0,12
Static friction torque M
Thermal time constant t
Weight standard G [kg] 0,7 0,8
Radial load permitted at
shaft end @ 6000 min
Axial load permitted at
shaft end @ 6000 min
V-No. 647 670
Symbol
[Unit]
[Nm] 0,1 0,2
0
[A] 0,60 0,93
0rms
[VAC] 230
N
[min-1] 6000 6000
n
[Nm] 0,09 0,18
n
[A] 0,59 0,89
n
[kW] 0,06 0,11
n
[min-1]——
n
[Nm] — —
n
[A] — —
n
[kW] — —
n
[min-1]——
n
[Nm] — —
n
[A] — —
n
[kW] — —
n
[A] 2,8 4,3
0max
[Nm/A] 0,17 0,22
Trms
[mVmin] 10 13
Erms
R
[W]
20
[Nm] 0,01 0,01
R
[min] 5 7
TH
-1
-1
FR[N]
FA[N]
DBL1
38,2 22
X00010
60
20
DBL1
X00020
Connections and leads
DBL1
Data
X00010
Power connection cable
Motor cable, shielded 4 x 1
Motor cable with control leads,
shielded
4x1+2x0,75
Resolver connection cable
Resolver cable, shielded 4x2x0,25mm²
Encoder connection (Option) 17 poles, round, angular
Encoder cable, shielded 7x2x0,25mm²
DBL1
X00020
22 Motor series DBL/DBK
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