Kollmorgen Seidel 6SM 45M-3000, 6SM45 Series, 6SM 45L-3000, 6SM 56S-3000, 6SM 56M-3000 Technical Description

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Page 1

Synchronous Servomotors

Series 6SM45..100

Technical description, Installation, Commissioning

Edition 05/2000

Page 2

Already published editions

Edition Comment

07 / 93 First edition

10 / 94 Adaptation to modified technical design, layout and page numbering changed

05 / 96 New motors 6SM27 / 6SM37 / 6SM100

05 / 97 New motors 6SMx7, 6SM109, several corrections

03 / 98 6SM27..77/109 removed

05 / 2000 Enhanced torque characteristics, new layout, corrections

Technical changes to improve the performance of the equipment

may be made without prior notice!

Printed in the Federal Republic of Germany 05/2000

Mat.No.: 79797

microfilm or any other method) or stored, processed, copied or distributed by electronic means

without the written permission of Seidel Corporation.

Page 3

Kollmorgen 05.2000 Contents

Contents Drawing Page

Contents...............................................................................3

Safety Notes...........................................................................5

Important Notes.......................................................................6

Manufacturer Declaration ............................................................7

I General

I.1 About this manual ........................................................................9

I.2 Prescribed usage ........................................................................9

I.3 Design of the motors.....................................................................10

I.4 General technical data ...................................................................10

I.5 Standard features .......................................................................11

I.5.1 Style ............................................................................11

I.5.2 Shaft end, A-side ..................................................................11

I.5.3 Flange ...........................................................................11

I.5.4 Protection class....................................................................11

I.5.5 Protective device...................................................................11

I.5.6 Insulation material class .............................................................12

I.5.7 Vibration class.....................................................................12

I.5.8 Connection method.................................................................12

I.5.9 Resolver .........................................................................12

I.5.10 Holding brake .....................................................................12

I.6 Selection criteria ........................................................................12

I.7 Options ...............................................................................13

I.8 Nameplate.............................................................................13

I.9 Technical data..........................................................................14

I.9.1 Definitions ........................................................................14

I.9.2 Technical data 6SM45..100 ..........................................................15

I.9.3 Technical data 6SM56..100-BV .......................................................16

II Installation / Commissioning

II.1 Important notes .........................................................................17

II.2 Assembly / Wiring .......................................................................18

II.2.1 Connection methods ................................................................20

II.3 Commissioning .........................................................................21

- E.4.929.4/09

- A.4.031.1/35

Motor series 6SM45..100 3

Page 4

Contents 05.2000 Kollmorgen

III Drawings

III.1 Non-ventilated motors....................................................................23

III.1.1 Dimensions 6SM45..100.............................................................23

III.1.2 Radial-/axial force at the shaft end .....................................................23

III.1.3 Wiring diagram 6SM45..100 ..........................................................24- A.4.017.4/10

III.1.4 Torque characteristics 6SM45S-3000...................................................25

III.1.5 Torque characteristics 6SM45M-3000 ..................................................25

III.1.6 Torque characteristics 6SM45L-3000 ...................................................26

III.1.7 Torque characteristics 6SM56S-3000...................................................26

III.1.8 Torque characteristics 6SM56M-3000 ..................................................27

III.1.9 Torque characteristics 6SM56L-3000 ...................................................27

III.1.10 Torque characteristics 6SM71K-3000...................................................28

III.1.11 Torque characteristics 6SM71S-3000...................................................28

III.1.12 Torque characteristics 6SM71M-3000 ..................................................29

III.1.13 Torque characteristics 6SM100K-3000..................................................29

III.1.14 Torque characteristics 6SM100S-3000..................................................30

III.1.15 Torque characteristics 6SM100M-3000 .................................................30

III.1.16 Torque characteristics 6SM100L-3000 ..................................................31- A.4.036.3/17

III.2 Ventilated motors .......................................................................32

III.2.1 Dimensions 6SM56..100-BV..........................................................32

III.2.2 Radial-/axial force at the shaft end .....................................................32

III.2.3 Wiring diagram 6SM56..100-BV .......................................................33- A.4.017.4/11

III.2.4 Fan connection ....................................................................34.- A.4.029.4/07

III.2.5 Torque characteristics 6SM56S-3000-BV................................................35

III.2.6 Torque characteristics 6SM56M-3000-BV ...............................................35

III.2.7 Torque characteristics 6SM56L-3000-BV ................................................36

III.2.8 Torque characteristics 6SM71K-3000-BV................................................36

III.2.9 Torque characteristics 6SM71S-3000-BV................................................37

III.2.10 Torque characteristics 6SM71M-3000-BV ...............................................37

III.2.11 Torque characteristics 6SM100K-3000-BV...............................................38

III.2.12 Torque characteristics 6SM100S-3000-BV...............................................38

III.2.13 Torque characteristics 6SM100M-3000-BV ..............................................39

III.2.14 Torque characteristics 6SM100L-3000-BV ...............................................39

IV Appendix

IV.1 Delivery package, transport, storage, maintenance, disposal......................................41

IV.2 Fault-finding ...........................................................................42

IV.3 Index .................................................................................43

- A.4.017.3/04, 4/20

- A.4.036.3/13, 21

- A.4.036.3/14, 22

- A.4.036.3/51, 52

- A.4.036.3/15, 53

- A.4.036.3/16, 50

- A.4.036.3/18, 19

. .A.4.017.3/09, 4/21

- A.4.036.3/51, 54

- A.4.036.3/56, 57

- A.4.036.3/58, 59

- A.4.036.3/60, 61

- A.4.036.3/62, 63

4 Motor series 6SM45..100

Page 5

Kollmorgen 05.2000 Safety notes

Safety Notes

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

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.

Never open the motor terminal box during operation. 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.

Warning signs used in this manual:

Danger to personnel from electricity and its effects

see chapter (cross reference)

General warning general instruction mechanical hazard

special emphasis

●

Motor series 6SM45..100 5

Page 6

Important notes 05.2000 Kollmorgen

Important Notes

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.

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 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.

6 Motor series 6SM45..100

Page 7

Kollmorgen 05.2000 Manufacturer Declaration

Manufacturer declaration

According to the EG-Machine-guideline 89/392/EWG, appendix II B

We, the company

Kollmorgen Seidel GmbH & Co. KG Wacholderstraße 40-42

40489 Düsseldorf

declare, that the product

Motor series 6SM (types 6SM45, 6SM56, 6SM71, 6SM100)

is intended exclusively, in its standard version, for installation in another machine and that its commissioning is forbidden until it has been established that the machine into which this product is to be installed conforms to the provisions of the EC Directive in its version 89/392/EEC.

We confirm that the above-mentioned product conforms to the following standards:

73/23/EWG Low voltage directive VDE 0530 / DIN 57530 Provisions for rotating machinery DIN 42950 Design DIN 748 Cylindrical shaft ends DIN 42955 True running, coaxiality and concentricity

DIN ISO 2373 Vibration class

Issued by: Management

Lawrence D. Kingsley

This Declaration does not contain any assurance of properties. The notes on safety and protection in the operating instructions must always be observed.

Motor series 6SM45..100 7

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05.2000 Kollmorgen

This page has been deliberately left blank

8 Motor series 6SM45..100

Page 9

Kollmorgen 05.2000 General

I General

I.1 About this manual

This manual describes the 6SM45..100 series of synchronous servomotors (standard version). Among other things, you find information about:

Description of the Motors, Technical Data Chapter I

Installation, Commissioning of the motors Chapter II

Dimensions, wiring and characteristics Chapter III

Notes on Transport, Storage, Maintenance, Disposal Chapter IV

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 digifas® or SERVOSTAR™. Please observe the entire system documentation, consisting of:

— Installation and commissioning instructions for the servo-amplifier — Installation and commissioning instructions for any CONNECT module or expansion

— card which is connected

— Operating manual for the Operator Software of the servo-amplifier — Technical description of the 6SM45..100 series of motors

I.2 Prescribed usage

The 6SM45..100 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 6SM45..100 series of motors is exclusively intended to be driven by servo-amplifi ers from the digifas® or SERVOSTAR™ series under speed and / or torque control.

The mains supply voltage of the used servo amplifier must not exceed 400V at 50..60Hz, TN-system or TT-system with earthed neutral point.

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 7 is only guaranteed when the components (servo-amplifier, motor, cables etc.) that are used have been supplied by us.

Motor series 6SM45..100 9

Page 10

General 05.2000 Kollmorgen

I.3 Design of the motors

Synchronous servomotors in the 6SM45..100 series are brushless DC motors for demanding servo applications. 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 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.

For these motors, forced ventilation is usually not necessary, because of the optimised heat transfer through the strongly ribbed motor housing. However, in order to increase M

, the motors in the series 6SM56..100 can be delivered with a separately driven fan

(motor plus option -BV-). The fan can also be retrofitted.

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 feedback element. The servo-amplifiers in the digifas® or SERVOSTAR™ series evaluate the resolver (hence rotor) position and supply sinusoidal currents to the motors.

The motors can be delivered with or without a built-in holding brake.

The motors are enamelled in matt black (RAL 9005). This finish is not resistant against solvents (e.g. trichlorethylene, nitro-thinners, or similar).

I.4 General technical data

Climate category 3K3 to EN 50178

Ambient temperature 5...+40°C for site altitude up to 1000m amsl

(at rated values) It is vital to consult our applications department

Permissible humidity (at rated values) 85% rel. humidity, no condensation

Power derating 1% / K in range 40°C...50°C up to 1000m amsl

(currents and torques) for site altitude above 1000m amsl and 40°C

for ambient temperatures above 40°C and encapsulated mounting of the motors.

6% up to 2000m amsl 17% up to 3000m amsl

30% up to 4000m amsl 55% up to 5000m amsl No derating for site altitudes above 1000m amsl with temperature reduction of 10K / 1000m

Max. permissible flange temperature 65°C ± 10% at rated values

Ball-bearing life ³ 20.000 operating hours

Technical data ÞI.9

Storage data ÞIV.1

10 Motor series 6SM45..100

Page 11

Kollmorgen 05.2000 - E.4.929.4/09 General

I.5 Standard features

I.5.1 Style

The basic style for the 6SM45..100 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 but without a fitted-keyway.

If the motors drive via pinions or toothed belts, then high radial forces will occur. The per missible values at the end of the shaft may be read from the diagram in chapter III.1.2.

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: N (R available as option -65-)

I.5.4 Protection class

Standard version IP65 Motors with separate fan (Option -BV-) IP54 Standard shaft bushing IP64 Shaft bushing with shaft-sealing ring (Option -J-) IP65

I.5.5 Protective device

must not exceed FR/3.

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 digifas® or SERVOSTAR™.

The flange temperature must not exceed 65°C in rated operation.

Motor series 6SM45..100 11

Page 12

General 05.2000 - A.4.031.1/35 Kollmorgen

I.5.6 Insulation material class

The motors come up to insulation material class F according to DIN 57530.

I.5.7 Vibration class

The motors are made to vibration class N according to DIN ISO 2373.

I.5.8 Connection method

The motors are fitted with rectangular connectors for resolver signals and terminal boxes for the power supply. The mating connectors are not part of the delivery package.

We can supply preassembled resolver and power cables (Þ II.2.1).

I.5.9 Resolver

The motors are equipped with two-pole hollow-shaft resolvers.

I.5.10 Holding brake

The motors are optionally available with a holding brake.

Type designation: 6SMxxx-xxxx-G 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 holding brake can be controlled directly by digifas® or SERVOSTAR™-servo-ampli fier (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:

SERVOSTAR™ 600

I.6 Selection criteria

The three-phase servomotors are designed to operate with digifas® or SERVOSTAR™ 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 formula and examples of the calculations are available from our applications department.

rms

[Nm] [min-1]

[Nm]

12 Motor series 6SM45..100

Page 13

Kollmorgen 05.2000 General

I.7 Options

-09- Special flanges and shafts are possible, we invite inquiries.

-G- Built-in holding brake.

-J- Radial shaft-sealing rings:

A radial shaft-sealing ring can be supplied at extra charge to seal against oil mist

and oil spray. This increases the protection rating of the shaft bushing to IP65. The

sealing ring is not suitable for dry running. When a holding brake is built in, the

motor length increases by option -J- for 10mm.

-65- Low tolerance for flange and shaft dimensions and increased concentricity and angularity according to DIN 42955

-67- Shaft end precisely ground for oil tight seal, tolerance field k5

-92- Tropical insulation

-BV- The rated torque in the series 6SM56..100 can be increased by fitting a separately

driven fan. The fan has the intake on the B-side, cools the motor surface and exhausts to the A-side. For motors of the 6SM100 series, the fan is also obtainable with a shortened bonnet.The electrical connection of the fan is carried out via a

connector. The mating connector is included in the delivery package of the option. The protection rating of the motor with a fan is IP54.

-K- Mounting flange for Stöber bevel gear

-2K- Special varnish with 2-component enamel.

-426- Encoder adaptor for ROD426/ROQ425 with coupling and eccentric washers.

I.8 Nameplate

The nameplate depicted below is attached to the side of the servomotor. The information described below is printed in the individual fields.

Servomotor-Type

and options

Standstill torque

Rated powerStandstill current

Serial number

Protection class

Insulation material

class

Rated speed Operating mode

Motor series 6SM45..100 13

Page 14

General 05.2000 Kollmorgen

I.9 Technical data

I.9.1 Definitions

Standstill torque M0[Nm]

The standstill torque can be maintained indefinitely at a speed n=0 min ambient conditions.

-1

and rated

Rated torque M

[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) should not exceed 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

Voltage constant KE[V/1000min-1]

The voltage constant defines the induced motor EMF, as a sinusoidal peak 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:

´´

[]=

3000 2

Ms cm

´´ ´

60 10

with M

in Nm and J in kgcm²

Thermal time constant t

The constant t

defines the time for the cold motor, under a load of I0, to heat up to an

[min]

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 digifas® or SERVOSTAR™ servo-amplifier.

14 Motor series 6SM45..100

Page 15

Kollmorgen 05.2000 General

I.9.2 Technical data 6SM45..100

Data Sym Dim

6SM 45S-3000

6SM 45M-3000

6SM 45L-3000

6SM 56S-3000

6SM 56M-3000

6SM 56L-3000

6SM 71K-3000

6SM 71S-3000

6SM 71M-3000

6SM 100K-3000

6SM 100S-3000

6SM 100M-3000

Standstill torque M0Nm 0,85 1,7 3,2 3,8 7,0 10,0 10,5 16,5 22,0 25,0 36,0 46,0 57,0

Standstill current I

Rated speed n

Torque constant K Voltage constant K

Mains supply voltage U Rated torque at n

Rated current I Rated power P

Peak current I Motor pole no. p

Resolver pole no. p

Winding resistance Ph-Ph

A 1,3 1,3 2,4 2,8 4,8 7,6 8,0 12,3 15,6 18,8 26,7 35,0 42,0

0rms

min-13000 3000 3000 3000 3000 3000 3000 3000 3000 3000 3000 3000 3000

Nm/A 0,68 1,36 1,36 1,33 1,45 1,32 1,31 1,35 1,41 1,33 1,35 1,32 1,35

Trms

mVmin 58 116 116 114 124 113 112 115 121 114 116 113 115

V 400

MnNm 0,8 1,6 2,9 3,6 6,4 8,4 9,5 13,4 16,3 19,9 24,6 27,1 28,0

A 1,4 1,3 2,3 2,9 4,7 6,7 7,6 10,5 12,2 15,7 19,2 21,8 22,5

kW 0,25 0,5 0,91 1,13 2,0 2,6 3,0 4,2 5,1 6,2 7,7 8,5 8,8

A 4,7 5,6 9,6 12,4 19,6 28,3 32,0 44,0 51,0 72,0 113,0 150,0 180,0

0max

-6

Mot

-2

Res

20 W 25,4 34,0 11,9 9,4 4,0 1,8 1,65 0,8 0,57 0,46 0,22 0,16 0,12

Winding inductance Ph-Ph L mH 54,0 99,0 47,0 54,0 30,0 15,8 19,6 12,0 9,0 10,5 7,0 5,0 4,0 Insulation class - - F, DIN 57530

Switch point therm contact - °C 145 ± 5

Design - - IM B5 (V1, V3), DIN 42950 Rotor moment of inertia J kgcm² 1,5 2,1 3,4 5,2 10,0 15,0 20,0 31,0 42,0 74,0 108,0 141,0 175,0

Static friction torque M Radial load permitted at shaft end with n

Axial load permitted at shaft end with n

Nm 0,127 0,131 0,14 0,154 0,18 0,208 0,23 0,28 0,334 0,4 0,49 0,58 0,67

R N 370 530 700 1050

A N 120 170 230 350

Tolerance class flange - - N, DIN42955 Vibration class - - N, DIN ISO 2373

Thermal time constant t

min 15 20 20 20 20 20 25 30 35 32 40 41 46

Weight standard G kg 4,5 5,5 6,5 6,1 8,0 10,3 11,7 15,8 20,0 26,0 33,0 40,0 49,0 Order number standard - - 81681 81684 81752 81682 81683 81753 81679 81754 81680 84855 84856 84876 84874

EMV-RES connector - - 12 poles, round RES cable, shielded - mm² 4x2x0,25

Power connection - stud M4 M6 M8 Motor cable, shielded - mm² 4x1 or 4x1,5 4x2,5 4x4 4x6 4x10 4x16

max. Æ of motor cable

-mm 15 20 28

max. Æ of braking cable - mm 8 12,5

Holding torque M Operating voltage U electrical power P

Moment of inertia J Release delay time t

Application delay time t Weight of the brake G

Nm 6,5 12 20 60

V= 24 +6/-10%

W161822 50

kgcm² 1,06 3,6 9,5 57,5

ms 10-30 30-60 20-60 70-160

BRH

ms 5-15 10-20 10-35 30-60

BRL

kg 0,6 1,1 1,9 5,4

Motor cable with brake - mm² 4x1 + 2x0,75 or 4x1,5 + 2x0,75 4x2,5 + 2x1 Separate braking cable - mm² 4x1,5 or 4x2,5

Order number with -G- - - 81870 81869 81871 81868 81867 81866 81865 81864 81863 84699 84857 84877 84875

6SM 100L-3000

Motor series 6SM45..100 15

Page 16

General 05.2000 Kollmorgen

I.9.3 Technical data 6SM56..100-BV

Data Sym Dim Standstill torque M

Standstill current I

Rated speed n

Torque constant K Voltage constant K

Mains supply voltage U Rated torque at n

Rated current I Rated power P

Peak current I Motor pole no. p

Resolver pole no. p

Winding resistance Phase-Phase

Nm 4,8 9,2 13,2 14,0 23,0 31,0 36,0 53,0 69,0 84,0

0BV

min-13000 3000 3000 3000 3000 3000 3000 3000 3000 3000

Nm/A 1,33 1,45 1,32 1,31 1,35 1,41 1,33 1,35 1,32 1,35

Trms

mVmin 114 124 113 112 115 121 114 116 113 115

Nm 4,8 9,0 12,5 13,7 21,9 28,6 35,1 50,1 63,1 75,0

nBV

kW 1,5 2,8 3,9 4,3 6,9 9,0 11,0 15,7 19,8 23,6

0max

Mot

Res

20 W 9,4 4,0 1,8 1,65 0,8 0,57 0,46 0,22 0,16 0,12

A 3,6 6,3 10,0 10,7 17,1 22,0 27,1 39,3 52,2 62,2

V 400

A 3,8 6,5 9,8 10,8 16,8 21,0 27,1 38,1 49,1 57,2

A 12,4 19,6 28,3 32,0 44,0 51,0 72,0 113,0 150,0 180,0

-6

-2

6SM 56S-3000-BV

6SM 56M-3000-BV

6SM 56L-3000-BV

6SM 71K-3000-BV

6SM 71S-3000-BV

6SM 71M-3000-BV

6SM 100K-3000-BV

6SM 100S-3000-BV

6SM 100M-3000-BV

6SM 100L-3000-BV

Winding inductance Phase-Phase L mH 54,0 30,0 15,8 19,6 12,0 9,0 10,5 7,0 5,0 4,0 Insulation class - - F, DIN 57530

Switch point thermal contact - °C 145 ± 5

Design - - IM B5 (V1, V3), DIN 42950 Rotor moment of inertia J kgcm² 5,2 10,0 15,0 20,0 31,0 42,0 74,0 108,0 141,0 175,0

Static friction torque M Radial load permitted at shaft end with n

Axial load permitted at shaft end with n

Nm 0,154 0,18 0,208 0,23 0,28 0,334 0,4 0,49 0,58 0,67

N 530 700 1050

N 170 230 350

Tolerance class flange - - N, DIN42955

Vibration class - - N, DIN ISO 2373 Thermal time constant t

min 15 15 15 15 20 20 20 20 25 25

Weight incl. ventilator G kg 7,8 9,7 12,0 14,2 18,2 22,5 29,5 36,5 43,5 52,5 Order number motor - - 81682 81683 81753 81679 81754 81680 84855 84856 84876 84874

Order number -BV- - - 65079 65078 65080 EMV-RES connector - - 12 poles, round

RES cable, shielded - mm² 4x2x0,25 Power connection - stud M4 M6 M8

Motor cable, shielded - mm² 4x1,5 4x4 4x6 4x16

max. Æ of motor cable

-mm 15 20 28

max. Æ of braking cable - mm 8 12,5

Holding torque M Operating voltage U

electrical power P Moment of inertia J

Release delay time t Application delay time t

Weight of the brake G

Nm 12 20 60

V= 24 +6/-10%

W18 22 50

kgcm² 3,6 9,5 57,5

ms 30-60 20-60 70-160

BRH

ms 10-20 10-35 30-60

BRL

kg 1,1 1,9 5,4

Order number with -G- - - 81868 81867 81866 81865 81864 81863 84699 84857 84877 84875

Motor cable with brake, shielded - mm²

4x1 + 2x0,75 or

4x1,5 + 2x0,75

4x2,5 + 2x1 -

Separate braking cable - mm² 4x1,5 or 4x2,5 Operating voltage ventilator U

Rated current ventilator I

V 230 (50-60 Hz)

A 0,12 0,25 0,25

Connector - - 4 poles

Protection class with ventilator -- IP54

16 Motor series 6SM45..100

Page 17

Kollmorgen 05.2000 Installation / Commissioning

II Installation / Commissioning

II.1 Important notes

Check that the servo-amplifier and motor match each other. Compare the rated

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 24 and 33. Notes on the connection methods can be found on page 20.

Ensure that there is proper earthing of the servo-amplifier and the motor.

Route the power and control cables as separately as possible from one another

(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

EN 60204. The recommended cross-section can be found in the Technical data.

Caution! If a servo-amplifier of the series digifas® or SERVOSTAR™ is used and the

motor cable exceeds 25m, a boxed choke (type 3YL-xx, manufactured by Seidel) and motor leads with the following diameters must be used:

Servo-amplifier choke box Max. cable diameter

digifas® 7201...7206 3YL-06 4x1mm² SERVOSTAR™ 601...606 3YL-20 4x1mm² SERVOSTAR™ 610 3YL-20 4x1,5mm² SERVOSTAR™ 620 3YL-20 4x2,5 mm²

Connect up all shielding via a wide surface-area contact (low impedance) and

metallized connector housings or EMC-PG glands.

Check the compliance to the permitted radial and axial forces F

and FA.

When you use a toothed belt drive, the minimal permitted diameter of the pinion

e.g. follows from the equation:

Ensure that there is adequate heat transfer in the surroundings and the motor

min

³´

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 300 seconds 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.

Motor series 6SM45..100 17

Page 18

Installation / Commissioning 05.2000 Kollmorgen

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

connected.

Ensure that the switch cabinet remains turned off (barrier, warning signs etc.). The individual voltages will only be turned on again during commissioning

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 con

nection is to suppress HF interference and must not be confused with the PE

(protective earth) symbol

To wire up the motor, use the wiring diagrams in the Installation and Commis sioning Instructions of the servo-amplifier which is used.

X, which you will find in the wiring diagrams, indicates that

W (protective measure to EN 60204).

18 Motor series 6SM45..100

Page 19

Kollmorgen 05.2000 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

Wiring

Check

— Route power cables as separately as possible from control cables

— Connect up the resolver

— Connect the motor leads, install ring cores or 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. — Connect the separate fan, if used.

Final check of the installed wiring, according to the wiring diagram which was used

Motor series 6SM45..100 19

Page 20

Installation / Commissioning 05.2000 Kollmorgen

II.2.1 Connection methods

Carry out the wiring in accordance with the valid standards and regulations.

Only use our preassembled shielded cables for the resolver connections.

Connect up the shielding according to the wiring diagrams in the Installation

Instructions for the servo-amplifier.

Incorrectly installed shielding inevitably leads to EMC interference.

In the table below you find all cables supplied by us. They are cUL approved. Further information referring to chemical, 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 cable - less than 150 pF/m Resolver cable - less than 120 pF/m

Technical Data

— All cables are suitable for trailing. — Technical data refer to mobile usage of cables.

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 (4x1,5) B -30 / +80 11,3 115 (4x2,5) N -5 / +70 12,7 125

(4x4) N -5 / +70 12,8 130

(4x6) N -5 / +70 16,1 160 (4x10) N -5 / +70 19,0 190 (4x16) N -5 / +70 23,3 235

(4x1,5) F -30 / +80 11,3 115

(4x2,5) B -5 / +70 12,7 125 (4x1,0+(2x0,75)) F -30 / +80 12 120 Motor cable 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 cable

Identification Temperature range

[°C]

Cable diameter

[mm]

Bending radius

[mm]

Remarks

Motor cable

Braking cable

integral brake

control leads

20 Motor series 6SM45..100

Page 21

Kollmorgen 05.2000 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 300 seconds 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 result for personnel or machinery.

Check the assembly and orientation of the motor.

Check the drive components (clutch, gear unit, belt pulley) for the correct seating

and setting (observe the permissible radial and axial forces).

Check the wiring and connections to the motor and the servo-amplifier.

Check that the earthing is correct.

Test the function of the holding brake, if used.

(apply 24V, the brake must be released).

Check whether the rotor of the motor revolves freely

(release the brake, if necessary). Listen out for grinding noises.

Check that all the required measures against accidental contact with live and

moving parts have been carried out.

Carry out any further tests which are specifically required for your system.

Now commission the drive according to the commissioning instructions for the

servo amplifier.

In multi-axis systems, individually commission each drive unit

(servo-amplifier and motor).

Motor series 6SM45..100 21

Page 22

Installation / Commissioning 05.2000 Kollmorgen

This page has been deliberately left blank.

22 Motor series 6SM45..100

Page 23

Kollmorgen 05.2000 - A.4.017.3/04, 4/20 Drawings

III Drawings

III.1 Non-ventilated motors

III.1.1 Dimensions 6SM45..100

III.1.2 Radial-/axial force at the shaft end

Motor series 6SM45..100 23

Page 24

X-Axis : Speed [min Y-Axis : Torque [Nm] 1 : Performance curve 2 : Cut-off characteristic M(n) 3 : Rated speed n

]

30 Motor series 6SM45..100

Page 31

Kollmorgen 05.2000 - A.4.036.3/17 Drawings

III.1.16 Torque characteristics 6SM100L-3000

Legend:

X-Axis : Speed [min Y-Axis : Torque [Nm] 1 : Performance curve 2 : Cut-off characteristic M(n) 3 : Rated speed n

-1

]

Motor series 6SM45..100 31

Page 32

Drawings 05.2000. .A.4.017.3/09, 4/21 Kollmorgen

III.2 Ventilated motors

III.2.1 Dimensions 6SM56..100-BV

III.2.2 Radial-/axial force at the shaft end

32 Motor series 6SM45..100

Page 33

Kollmorgen 05.2000 - A.4.017.4/11 Drawings

III.2.3 Wiring diagram 6SM56..100-BV

Motor series 6SM45..100 33

Page 34

Drawings 05.2000 .- A.4.029.4/07 Kollmorgen

III.2.4 Fan connection

Strip off the outer insulation of the cable over a length of 35mm. Push the parts

1, 2‚ and 3 of the PG7 connection onto the cable.

Push the O-Ring 5 onto the thread of part 4 of the PG7 connection and screw part 4 into the plug housing 6, using an open-ended spanner (15 a/f).

Legend:

X-Axis : Speed [min Y-Axis : Torque [Nm] 1 : Performance curve 2 : Cut-off characteristic M(n) 3 : Rated speed n

-1

]

Motor series 6SM45..100 39

Page 40

Drawings 05.2000 Kollmorgen

This page has been deliberately left blank

40 Motor series 6SM45..100

Page 41

Kollmorgen 05.2000 Appendix

IV Appendix

IV.1 Delivery package, transport, storage, maintenance, disposal

Delivery package:— Motor from the 6SM45..100 series

— Technical description (documentation), 1 copy per delivery — Motor package leaflet (short info)

Transport: — Climate category 2K3 to EN 50178

— Transport temperature—25...+70°C, max. 20K/hr change — Transport humidity rel. humidity 5% - 95% , no condensation

— only by qualified personnel — only in the manufacturer’s original recyclable packaging — avoid shocks — if the packaging is damaged, check the motor for visible damage.

— Inform the carrier and, if appropriate, the manufacturer.

Packaging:

Motor type Carton Pallet or skeleton box Max. stacking height

6SM45 X 6 6SM56 X 6 6SM71K/71S X 5 6SM71M X 1 6SM100 X 1

Storage: — Climate category 1K4 to EN 50178

— Storage temperature —25...+55°C, max. variation 20K/hr. — Humidity rel. humidity 5% - 95%, no condensation

— only in the manufacturer’s original recyclable packaging — max. stacking height see table under Packaging — Storage time unlimited

Maintenance: — Only by qualified personnel

— The ball bearings have a grease packing which is adequate for

— 20,000 hours of operation under normal conditions. The bearings — should be replaced after 20,000 hours of operation under rated

— conditions.

— Check the motor for bearing noise every 2500 operating hours,

— respectively each year. If any noises are heard, then the operation — of the motor must stop, the bearings must be replaced.

— Opening the motor invalidates the warranty.

Cleaning: — If the housing is dirty: clean with Isopropanol or similar.

do not immerse or spray

— If a separate fan is fitted: check the fan mesh for dirt twice a year.

— If necessary, clean the mesh with a brush.

Disposal: — The disposal should be carried out by a certified disposal company.

— Ask us for addresses.

Motor series 6SM45..100 41

Page 42

Appendix 05.2000 Kollmorgen

IV.2 Fault-finding

The following table is to be seen as a “First Aid” box. There can be a large number of dif ferent reasons for a fault, depending on the particular conditions in your system. The fault causes described below are mostly those which directly influence the motor. Peculiarities which show up in the control loop behaviour can usually be traced back to an error in the parameterization of the servo-amplifier. The documentation for the servo-amplifier and

the operator software provides information on these matters.

For multi-axis systems there may be further hidden reasons for faults.

Our applications department can give you further help with your problems.

Fault Possible cause

— Servo-amplifier not enabled

Motor doesn’t rotate

Motor runs away

Motor oscillates

Error message: brake

Error message: output stage fault

Error message: resolver

Error message: motor temperature

Brake does not grip

— Break in setpoint lead — Motor phases in wrong sequence

— Brake not released — Drive is mechanically blocked — Motor phases in wrong sequence — ROD cable faulty or not properly plugged in

(for option -IL- ) — Break in the shielding of the resolver cable — amplifier gain to high — Short-circuit in the supply voltage lead to

the motor holding brake — Faulty motor holding brake

— Motor cable has short-circuit or earth short — Motor has short-circuit or earth short

— Resolver connector is not properly plugged in — Break in res. cable, cable crushed or similar

— Motor thermostat has switched

— Loose resolver connector or break in

resolver cable — Required holding torque too high — Brake faulty

— Motor shaft axially overloaded

Measures to remove the cause of the fault

— Supply ENABLE signal — Check setpoint lead

— Correct the phase sequence — Check brake controls — Check mechanism — Correct the phase sequence — Check ROD/SSI cable

— Replace resolver cable — use motor default values — Remove the short-circuit

— Replace motor

— Replace cable — Replace motor

— Check connector — Check cables

— Wait until the motor has cooled

down. Then investigate why the motor becomes so hot.

— Check connector, replace resolver

cable if necessary — Check the dimensioning — Replace motor

— Check the axial load, reduce it.

Replace motor, since the bearings

have been damaged

42 Motor series 6SM45..100

Page 43

Kollmorgen 05.2000 Appendix

IV.3 Index

Text Page Text Page

A Ambient temperature ...........10

Assembly .................19

Axial force ................11

Axial force, diagram ...........23

B Break response times ..........14

C Commissioning..............21

Connection method ...........12

Contents ..................3

Coupling .................11

D Delivery package .............41

Dimensions................23

Disposal .................41

E Earthing .................19

F Fan connection ..............34

Feedback unit ..............12

Flange temperature ...........10

H Holding brake ..............12

I Insulation material class .........12

M Maintenance ...............41

Manufacturer declaration .........7

Motor lead ................20

N Nameplate ................13

O Options ..................13

P Peak current ...............14

Power derating ..............10

Protection class .............11

Protective device .............11

R Radial force ...............11

Radial force, diagram ..........23

Rated current ...............14

Rated torque ...............14

Resolver .................12

Resolver lead...............20

Rotor moment of inertia .........14

S Safety notes ................5

Separate fan ...............13

Servo amplifier ..............10

Shielding .................19

Site ....................19

Standstill current .............14

Standstill torque .............14

Storage ..................41

Storage humidity .............41

Storage temperature ...........41

Storage time ...............41

Style ...................11

T Technical data ..............15

Thermal time constant ..........14

Thermostat ................11

Torque constant .............14

Transport .................41

V Ventilation ................19

Vibration class ..............12

Voltage constant .............14

W Wiring ..................19

Wiring diagram ..............24

Motor series 6SM45..100 43

Page 44

Vertrieb und Service / Sales and Service / Agence et Services

Bundesrepublik Deutschland/ Germany/Allemagne

Kollmorgen Seidel GmbH & Co. KG Verkaufsniederlassung Nord Heinrich-Albertz- Str. 40 29221 Celle Tel.: +49(0)5141 - 98 10 40 Fax: +49(0)5141 - 98 10 41

Kollmorgen Seidel GmbH & Co. KG Verkaufsniederlassung West Lilienstraße 3 42719 Solingen Tel.: +49(0)212-2307799 Fax: +49(0)212-2307797

Kollmorgen Seidel GmbH & Co. KG Verkaufsniederlassung Süd-West Lessingstr. 41 75015 Bretten Tel.: +49(0)7252 - 97 39 040 Fax: +49(0)7252 - 97 39 055

Kollmorgen Seidel GmbH & Co. KG Verkaufsniederlassung Süd-Ost Landsbergerstr. 17 86947 Weil Tel.: +49(0)8195 - 99 92-50 Fax: +49(0)8195 - 99 92-33

Servo-Dyn Technik GmbH Münzgasse 10 01067 Dresden Tel.: +49(0)351 - 49 05 793 Fax: +49(0)351 - 49 05 794

Dänemark/Denmark/Danemark DIGIMATIC A/S

"Laerkenfeldt" Aalkaergaardvej 20 8700 Horsens Nord Tel.:+45-75656666 Fax: +45 - 75 65 68 33

Finnland/Finland/Finlande Drivematic OY

Hevosenkenkä 4 28430 Pori Tel.:+358-2-61003311 Fax: +358-2-61003350

Frankreich/France/France Kollmorgen Seidel GmbH & Co. KG

Parc technologique St.Jacques 2 rue Pierre et Marie Curie 54320 Maxéville Tel.: +33(0)3 83 95 44 80 Fax: +33(0)3 83 95 44 81

Kollmorgen Seidel GmbH & Co. KG 216 Lotissement Les Peiffendes Le Sonnant d'Uriage 38410 Uriage Tel.: +33(0)4 76 59 22 30 Fax: +33(0)4 76 59 22 31

Großbritannien/ Great Britain/Royaume-Uni

Kollmorgen PO Box 147, KEIGHLEY West Yorkshire, BD21 3XE Tel.: +44(0)15 35 - 60 76 88 Fax: +44(0)15 35 - 68 05 20

Heason Technologies Group Claremont Lodge Fontwell Avenue Eastergate Chichester PO20 6RY Tel.: +44(0)12 43 - 54 54 00 Fax: +44(0)12 43 - 54 45 90

Italien/Italy/Italie M.C.A. s.r.l.

Via f. Turati 21 20016 Pero (Mi) Tel.: +39(0)02 - 33 91 04 50 Fax: +39(0)02 - 33 90 85 8

Niederlande/ Netherlands/Pays-Bas

Dynamic Drives Jan van der Heydenstraat 24a 2665 JA Bleiswijk Tel.: +31(0)10 - 52 15 490 Fax: +31(0)10 - 52 18 994

Schweden/Sweden/Suéde SDT AB

25467 Helsingborg Tel.: +46(0)42 - 380 800 Fax: +46(0)42 - 380 813 Stockholm 12030 Stockholm Tel.: +46(0)8 - 640 77 30 Fax: +46(0)8 - 641 09 15 Göteborg 42671 Västra Frölunda Tel.: +46(0)31 - 69 62 60 Fax: +46(0)31 - 69 62 69

Schweiz/Switzerland/Suisse Kollmorgen Seidel GmbH & Co. KG

Buhnrain 30 8052 Zürich Tel.: +41(0)1 - 300 29 65 Fax: +41(0)1 - 300 29 66

Spanien/Spain/Espagne BROTOMATIC S.L.

C/San Miguel de Acha, 2 Pab.3 01010 Vitoria (ALAVA) Tel.: +34 945 - 24 94 11 Fax: +34 945 - 22 78 32

Ungarn/Hungary/Hongrie Q-TECH Mérnöki Szolgáltató Kft.

1161 Budapest Batthyány u. 8. Tel.: +36 (1) 405 - 33 38 Fax: +36 (1) 405 - 91 34

Systempartner / System partners / Partenaires du systéme

Bundesrepublik Deutschland/ Germany/Allemagne

Werner P. Hermes Ingenieurbüro Turmstr. 23 40750 Langenfeld Tel.: +49(0)212 - 65 10 55 Fax :+49(0)212 - 65 10 57

EAT GmbH Elektronische Antriebstechnik Hanferstraße 23 79108 Freiburg Tel: +49(0)761 - 13 03 50 Fax:+49(0)761 - 13 03 555

IBK Ingenieurbüro Keßler GmbH Dachtmisser Str. 10 21394 Kirchgellersen Tel: +49(0)4135 - 12 88 Fax:+49(0)4135 - 14 33

MACCON GmbH Kühlbachstr. 9 81543 München Tel: +49(0)89 - 65 12 20-0 Fax:+49(0)89 - 65 52 17

Kollmorgen Seidel GmbH & Co. KG Kollmorgen

Hausanschrift Postanschrift Motion Technologies Group Wacholderstr. 40-42 Postfach 34 01 61 201 Rock Road

D - 40489 Düsseldorf D-40440 Düsseldorf Radford, VA 24141, USA Tel.: +49(0)203 - 99 79 - 0 Tel.: +1 540 - 639 - 24 95 Fax: +49(0)203 - 99 79 - 155 Fax: +1 540 - 731 - 08 47 Internet : http://www.kollmorgen-seidel.de Internet : http://www.kollmorgen.com

Großbritannien/ Great Britain/Royaume-Uni

Motor Technology Ltd. Unit 1 Chadkirk Industrial Estate Otterspool Road Romiley, Stockport Cheshire SK6 3LE Tel.: +44(0)161 - 42 73 641 Fax : +44(0)161 - 42 71 306

Niederlande/ Netherlands/Pays-Bas

Kiwiet Ingenieurbüro Helenaveenseweg 35 5985 NK Panningen (Grashoek) Tel.: +31(0)77 - 30 76 661 Fax: +31(0)77 - 30 76 646

Schweiz/Switzerland/Suisse Bobry Servo Electronic AG

Zentralstr. 6 6030 Ebikon Tel.: +41(0)41- 440 - 77 22 Fax : +41(0)41 - 440 - 69 43

Italien/Italy/Italie Servo Tecnica

Viale Lombardia 20 20095 Cusano Milanino (MI) Tel.: +39 (0)02 - 66 42 01 Fax: +39 (0)02 - 66 40 10 20

Türkei / Turkey / Turquie Robotek Otomasyon Teknolojileri

Ali Nihat Tarlan CAD. Kartal Sk. No: 16/7 Üstbostancý ÝSTANBUL Tel: +90 216 464 50 64 pbx Fax: +90 216 464 50 72

Griechenland/Greece/Grèce Alpha Motion

5 - 7 Alkamenoys Str.

104.39 Athens Tel.: +30 1 82 27 470 Fax: +30 1 82 53 787

Australien/Australia/Australie Motion Technologies PTY. Ltd.

1/65 Alexander Avenue Taren Point NSW 2229 Sydney Tel.: +61 (0)295 24 47 82 Fax: +61 (0)295 25 38 78