Kollmorgen AKM13C, AKM13D, AKM21C, AKM21E, AKM22E Technical Description, Installation, Setup
...
www.DanaherMotion.com
Synchronous servomotors
AKM
Technical description, Installation, Setup
Edition 05/2006
File akm_e.xxx
Choose your Motor:
Typ
AKM1
AKM2
AKM3
AKM4
AKM5
AKM6
AKM7
Flange
Standstill torque
40 0,18..0,41
58 0,48..1,42
70 1,15..2,88
84 1,95..6
108 4,7..14,4
138 11,9..25
188 29,4..53
0105020 70130540
0,5
Already published editions
Edition Comments
03 / 2004 First edition
12 / 2004 Performance curves corrected, polenumbers, gearhead mounts, several corrections
09 / 2005 centering AKM7, chapter 1, several corrections, BISS interface, protection class
05 / 2006 Performance curves deleted, order numbers cables, new label
Page
Þ 24
Þ 26
Þ 28
Þ 30
Þ 32
Þ 34
Þ 36
Nm
Technical changes to improve the performance of the equipment may be made without prior notice!
Printed in the Federal Republic of Germany
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.
Kollmorgen 05/2006 Contents
Page
NewTableof Contents
1 General
1.1 About this manual ....................................................................... 5
1.2 Use as directed ......................................................................... 5
1.3 Symbols used in this manual:............................................................... 5
1.4 Safety Notes ........................................................................... 6
1.5 Important Notes ......................................................................... 7
1.6 Design of the motors ..................................................................... 8
1.7 General technical data .................................................................... 8
1.8 Standard features........................................................................ 9
1.8.1 Style............................................................................. 9
1.8.2 Shaft end, A-side ................................................................... 9
1.8.3 Flange ........................................................................... 9
1.8.4 Protection class .................................................................... 9
1.8.5 Protective device ................................................................... 9
1.8.6 Insulation material class.............................................................. 9
1.8.7 Vibration class .................................................................... 10
1.8.8 Connection method ................................................................ 10
1.8.9 Feedback unit .................................................................... 10
1.8.10 Holding brake..................................................................... 10
1.8.11 Pole numbers..................................................................... 10
1.9 Options............................................................................... 11
1.10 Selection criteria........................................................................ 11
1.10.1 Model number description ........................................................... 12
1.10.2 Nameplate ....................................................................... 12
2 Installation / Setup
2.1 Important notes ........................................................................ 13
2.2 Assembly / Wiring ...................................................................... 14
2.2.1 Connection of the motors with preassembled cables....................................... 16
2.2.1.1 Wiring diagram for motors with resolver .............................................17
2.2.1.2 Wiring diagram for motors with encoder ............................................. 18
2.2.1.3 Wiring diagram for motors with SFD ................................................ 19
2.2.1.4 Wiring diagram for motors with ComCoder ........................................... 20
2.2.1.5 Wiring diagram for motors with BISS................................................ 21
2.3 Setup ................................................................................ 22
3 Technical Data
3.1 Definitions ............................................................................ 23
3.2 AKM1 ................................................................................ 24
3.3 AKM2 ................................................................................ 26
3.4 AKM3 ................................................................................ 28
3.5 AKM4 ................................................................................ 30
3.6 AKM5 ................................................................................ 32
3.7 AKM6 ................................................................................ 34
3.8 AKM7 ................................................................................ 36
4 Appendix
4.1 Assignment of RediMount gearhead mounts .................................................. 38
4.2 Delivery package, transport, storage, maintenance, disposal ..................................... 39
4.3 Removing faults ........................................................................ 40
4.4 Index ................................................................................ 41
Servomotors AKM 3
Manufacturer declaration
According to the EG-Machine-guideline 98/37/EC, appendix II B
We, the company
Danaher Motion GmbH
Wacholderstrasse 40-42
40489 Düsseldorf
declare, that the product
Motor series AKM
(Types AKM1, AKM2, AKM3, AKM4, AKM5, AKM6, AKM7)
05/2006 Kollmorgen
is intended exclusively, in its standard version, for installation in another machine and that its setup is forbid
den until it has been established that the machine into which this product is to be installed conforms to the pro
visions of the EC Directive in its version 98/37/ECW.
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 EN 60034-7 Design
DIN 748 Cylindrical shaft ends
DIN 6885 Keyway and Key
DIN 42955 True running, coaxiality and concentricity
DIN EN 60034-14 Vibration class
Issued by: Management
Michel van Roozendaal
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This Declaration does not contain any assurance of properties. The notes on safety and protection in the ope
rating instructions must always be observed.
4 Servomotors AKM
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Kollmorgen 05/2006 General
1 General
1.1 About this manual
This manual describes the AKM series of synchronous servomotors (standard
version). Among other things, you find information about:
General description, standard version of the motors Chapter 1
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Installation, Setup, Wiring Chapter 2
l
Technical data, dimensions Chapter 3
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Notes on Transport, Storage, Maintenance, Disposal Chapter 4
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This Manual is intended for the use of qualified staff with professional knowledge of electri
cal and mechanical engineering.
The motors are operated in drive systems together with servo amplifiers SERVOSTAR. Please
observe the entire system documentation, consisting of:
— Installation and setup instructions for the servo amplifier
— Installation and setup instructions for any expansion card which is connected
— Operating manual for the Operator Software of the servo amplifier
— Technical description of the AKM series of motors
1.2 Use as directed
The AKM 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 AKM series of motors is exclusively intended to be driven by servo amplifiers from the
SERVOSTAR 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.
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The conformity of the servo-system to the standards mentioned in the manufacturers
declaration on page 4 is only guaranteed when the components (servo amplifier, motor, cables etc.)
that are used have been supplied by us.
1.3 Symbols used in this manual:
Danger to personnel from electricity
and its effects
see page/chapter (cross reference) l special emphasis
Þ
General warning
general instruction
mechanical hazard
Servomotors AKM 5
General 05/2006 Kollmorgen
1.4 Safety Notes
Only properly qualified personnel are permitted to perform such tasks as transport,
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assembly, setup and maintenance. Properly qualified personnel are persons who are
familiar with the transport, assembly, installation, setup 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 / accident prevention or BGV A3
Read the available documentation before assembly and setup. Incorrect handling of
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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).
The manufacturer of the machine must generate a hazard analysis for the machine,
l
and take appropriate measures to ensure that unforeseen movements cannot cause
injury or damage to any person or property.
It is vital that you ensure that the motor housing is safely earthed to the PE(protective
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earth) busbar in the switch cabinet. Electrical safety is impossible without a low-re
sistance earth connection.
Do not unplug any connectors during operation. This creates the danger of death, se
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vere injury, or extensive material damage.
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Power connections may be live even when the motor is not rotating. Never discon-
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nect 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 mi-
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nutes 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.
l
The surfaces of the motors can be very hot in operation, according to their protection
category. The surface temperature can exceed 100°C. Measure the temperature, and
wait until the motor has cooled down below 40°C before touching it.
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Remove any fitted key (if present) from the shaft before letting the motor run indepen
dently, to avoid the dangerous results of the key being thrown out by centrifugal for
ces.
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6 Servomotors AKM
Kollmorgen 05/2006 General
1.5 Important Notes
Servomotors are precision equipment. The flange and shaft are especially vulnerable
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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.
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Ensure correct alignment of the couplings. A displacement will cause unacceptable
vibration and the destruction of the bearings and the coupling.
For toothed belts, it is vital to observe the permissible radial forces. An excessive ra
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dial 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
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shortens the life of the motor.
In all cases, do not create a mechanically constrained motor shaft mounting by using
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a rigid coupling with additional external bearings (e.g. in a gearbox).
l
For mounting style V3 (shaft end upwards), make sure that no liquid can enter the upper bearing.
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Take note of the no. of motor poles and the no. of resolver poles, 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.
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Servomotors AKM 7
General 05/2006 Kollmorgen
1.6 Design of the motors
Synchronous servomotors in the AKM series are brushless DC motors for demanding servo appli
cations. When combined with our digital servo amplifiers they are especially suited for positioning
tasks in industrial robots, machine tools, transfer lines etc. With high requirements for dynamics and
stability.
The servomotors have permanent magnets in the rotor. The rare earth neodymium -iron-boron
magnetic material is an important factor in making it possible to drive these motors in a highly dyna
mic fashion. A three-phase winding which is driven by the servo amplifier is integrated into the sta
tor. 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 windings and is
signalled via an electrically isolated thermistor (PTC, £550W / ³1330W).
A resolver is built into the motors as standard feedback element. The servo amplifiers in the
SERVOSTAR series evaluate the resolver position and supply sinusoidal currents to the motors.
The alternatively offered feedback systems partly cause a change of the motor length and cannot
be retrofitted.
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).
1.7 General technical data
Climate category 3K3 to EN 50178
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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 95% rel. humidity, no condensation
(at rated values)
Power derating 1%/Kinrange 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
Ball-bearing life ³ 20.000 operating hours
Technical data Þ p.23
Storage data Þ p.39
8 Servomotors AKM
Kollmorgen 05/2006 General
1.8 Standard features
1.8.1 Style
The basic style for the AKM synchronous motors is style IM B5 according to DIN EN 60034-7. The
permitted mounting positions may be read from the technical data of the motor series.
1.8.2 Shaft end, A-side
Power transmission is made through the cylindrical shaft end A, fit k6 (AKM1: h7) to DIN 748, with a
locking thread but without a fitted-keyway.
If the motors drive via pinions or toothed belts, then high radial forces will occur. The permissible
values at the end of the shaft may be read from the diagrams in chapter 3. The maximum values at
rated speed you will find at the technical data. Power take-off from the middle of the free end of the
shaft allows a 10% increase in F
The curves are based on a bearing life of 20.000 operating hours.
The axial force F
Double-coned collets have proved to be ideal zero-backlash coupling devices, combined, if required, with metal bellows couplings.
.
R
must not exceed FR/3.
A
1.8.3 Flange
Flange dimensions to IEC standard, fit j6 (AKM1: h7), accuracy according to DIN 42955.
Tolerance class: N
1.8.4 Protection class
Standard version IP65
Standard shaft bushing IP54
Shaft bushing with shaft-sealing ring IP67
1.8.5 Protective device
The standard version of each motor is fitted with an electrically isolated PTC. The switching point is
at 155°C ± 5%. The thermostat does not provide any protection against short, heavy overloading.
Provided that our preassembled resolver cable is used, the thermostat contact is integrated into the
monitoring system of the digital servo amplifier SERVOSTAR.
1.8.6 Insulation material class
The motors come up to insulation material class F according to DIN 57530. - E.4.929.4/09
Servomotors AKM 9
General 05/2006 Kollmorgen
1.8.7 Vibration class
The motors are made to vibration class N according to DIN EN 60034-14.
1.8.8 Connection method
The motors are equipped with angular connectors (AKM1: straight connectors at cable ends) for
power supply and feedback signals .
The mating connectors are not part of the delivery package. We can supply preassembled resolver
and power cables. On page 16 you will find notes on the cable materials.
1.8.9 Feedback unit
Standard
Option
Option
Option
Option
Option
Resolver Two-pole hollow-shaft EnDat Encoder, Single-Turn AKM2-AKM4: ECN 1113, AKM5-AKM7: ECN1313 EnDat Encoder, Multi-Turn AKM2-AKM4: EQN 1125, AKM5-AKM7: EQN1325
ComCoder
SFD fully digital resolver interface
BiSS Encoder, Single-/Multi-Turn AKM2-AKM4: AD36, AKM5-AKM7: AD58
The motor length depends on the mounted feedback unit. Retrofitting is not possible.
1.8.10 Holding brake
The AKM2-AKM7 motors are optionally available with a holding brake.
A spring applied brake (24V DC) is integrated into the 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 motor length increases when a holding brake is mounted.
The holding brake can be controlled directly by SERVOSTAR-servo amplifier (no personal safety !),
the winding is suppressed in the servo amplifier — additional circuitry is not required.
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
Incremental encoder with commutation,
resolution 500-10000 lines
SERVOSTAR 600
1.8.11 Pole numbers
Motor Poles Motor Poles
AKM1 6 AKM5 10
AKM2 6 AKM6 10
AKM3 8 AKM7 10
AKM4 10
- A.4.031.1/35
10 Servomotors AKM
Kollmorgen 05/2006 General
1.9 Options
— Holding brake
Built-in holding brake.
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 IP67.
— Keyway
The motors are available with keyway and key inserted according to DIN6885
The shaft is balanced with a short (half) key.
— EnDat, BISS, ComCoder, SFD
Another feedback system is mounted instead of the resolver. The motor length
can increase by the alternative feedback.
With exception of the radial shaft seal the options cannot be retrofitted. Options such as radial shaft
seal, holding brake, EnDat or Comcoder can lead to a reduction of rated data.
1.10 Selection criteria
The three-phase servomotors are designed to operate with SERVOSTAR servo amplifiers. Toget
her, 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]
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Servomotors AKM 11
General 05/2006 Kollmorgen
1.10.1 Model number description
AKM62P- ANCNDA-00
Flange size
1 40mm
2 58mm
3 70mm
4 84mm
5 108mm
6 138mm
7 188mm
Rotor length
1
2
3
4
5
Winding type
A..Z
S special
Flange
A IEC
B NEMA
C alternative IEC standard
D other standard
G alternative IEC standard
H alternative IEC standard
S special
Shaft
C keyway
K open keyway
N smooth shaft
S special
Customization
00 standard
01 with shaft seal
xx special
Feedback
1 Comcoder with 1024 PPR
2 Comcoder with 2048 PPR
AA Acuro(Biss) Single Turn
AB Acuro(Biss) Multi Turn
C Smart Feedback Device
DA ECN1x13
DB EQN1x25
R Resolver
S special
Brake
2 24V holding brake
N w/o brake
S special
Connectors
B angular connectors
rotatable (AKM2)
C 0.5m shielded cable with
IP65 connector (AKM1/2),
angular connectors
rotatable (AKM3..7)
D single aangular connector,
rotatable (AKM3/4
with SFD, w/o brake)
M 0.5m shielded cable with
IP20 connectors (In < 6A)
P 0.5m shielded cable with
single IP20 connector
(In < 6A and SFD)
S special
1.10.2 Nameplate
- A.4.028.6/44
12 Servomotors AKM
Kollmorgen 05/2006 Installation / Setup
2 Installation / Setup
2.1 Important notes
Check that the servo amplifier and motor match each other. Compare the rated voltage and
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rated current of the unit. Carry out the wiring according to the wiring diagram in the Installati
on and Setup 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 (separation
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> 20 cm). This will improve the immunity of the system to electromagnetic 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 EN 60204.
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The recommended cross-section can be found in the Technical data.
Caution!
If a servo amplifier of the series SERVOSTAR is used and the motor cable exceeds
25m, a motor choke (type 3YLNxx, see manual of the servo amplifier) and motor leads
with the following diameters must be used:
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Rated output current of the servo amplifier
1...6 A 4 x 1mm²
10...20 A 4 x 2,5mm²
l Connect up all shielding via a wide surface-area contact (low impedance) and metallized
Maximum lead diameter of the motor cable
(cable length > 25m and motor choke)
connector housings or EMC-cable glands.
l
Check the compliance to the permitted radial and axial forces FRand FA.
When you use a toothed belt drive, the minimal permitted diameter of the pinion e.g. follows
M
from the equation:
d
min
³´02
.
F
R
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.
Servomotors AKM 13
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