Rockwell Automation 1398 User Manual

Allen-Bradley

N-Series

Brushless Servo

Motor Manual

IntroProduct Notice

Use of Motors

Servo motors are intended to drive machinery . As such, they must be part of a controlled system that includes a transistori zed electronic amplif ier. They are not intended for direct connecti on to the power supply or for use with thyristor drives. Instructions in the amplifier and control system manuals must be observed; this document does not replace those instructions.

Unless specified otherwise, servo motors are intended for use in a normal industrial environment without exposure to excessive or corrosive moisture or abnormal ambient temperatures. The exact operating conditions ma y be established by r eferring to th e data for the motor. The ma ting of motors to machinery is a skilled operation; disassembly or repair must not be attempted. In the event that a motor fails to operate correctly, contact the place of purchase for return instructions.

Safety Notes

There are some possible hazards associated with the use of motors. The following precautions should be observed. Specific Warnings and Cauti ons are listed inside the back cover.

Installation and Maintenance: Installation and maintenance or replacement must be carried out by suitably qualified service personnel, paying particular attention to possible electrical and mechanical hazards.

Weight: Lar ge mo to rs a re generally heavy, and the cen ter of gravi ty ma y be o ffset. When handling, take appropriate precautions and use suitable lifting equipment. Beware of sharp edges; use protective gloves when handling such ass e mbl ies .

Flying leads: Ensure that flying or loos e l ea ds are suitably re strained, to prevent snaggi ng or entanglement, before carryi ng motors with such leads.

Generation: If the motor is driven mechanically, it may generate hazardous voltages at its power input terminals. The power connector must be suitably guarded to prevent a possible shock hazard.

Loose motors: When running an unmounted motor, ensure that the rotating shaft is adequately guarded and the motor is physically restrained to prevent it from moving. Remove the key which otherwise could fly out wh e n the motor is running.

Damaged cables: Damage to cables or connectors may cause an electrical haza rd. En sure th ere is no damage before energizing the system.

Supply: Servo motors must not be directly conne cted to a power supply; they req u ire an electronic drive system. Consult the instructions for the drive system before energizing or using the motor.

Brakes: The brakes that are included on motors are hold ing bra kes onl y and are not to be used as a mechanical restraining device for safety purposes.

Safety requirements: The safe incorporati on of this product into a machine sys tem is the responsibility of the machine designer, who should comply with the local safety requirements at the place where the machine is to be used. In Europe this is likely to be the Machinery Directive.

Mechanical connection : Motors must be connected to the machine with a torsionally rigid coupler or a reinforced timing belt. Couplers which are not rigid will cause difficulty in achieving an acceptable response from the control system. Couplings and pulleys must be tight as the high dynamic performance of a servo motor can easily cause couplings to slip, and thereby damage the shaft and cause instability. Care must be taken in aligning couplings and tightening belt s so t h at the motor is not subjected to significant bearing loads, or premature bearing wear will occur. Once connected to a load, tuning will be affected. A system tuned without a load will probably require retuning once a load is applied.

Connectors: Motor power connectors are for assembly purposes only. They should not be connected or disconnected wh ile power is applie d.

© 1999 Rockwell Internat ion al Corporation. All rights reserve d. Electro-Craft is a trademark of Rockwell Automation. Printed in the United States of America. Information contained in this manual is subject to change without notice.

Motor Data

MOTOR N-2302-1 N-2304-1 N-3406-2 N-3412-2 N-4214-2 N-4220-2

Rotor Moment of Inertia

Rotor Moment of Inertia Motors W/Brake

Motor Weight: Net

Brake Motor Weight: Net

Damping Nm/krpm 0.023 0.034 0.13 0.19 0.20 0.19

Friction Torque Nm 0.12 0.23 0.26 0.34 0.45 0.73

Max. Operating Speed rpm 6000 6000 6000 6000 6000 5000 Shaft Material 416 Stainless Steel

Poles 4 4 4444 Sine Wave KT

Torque Constant (2) Square Wave KT

Torque Constant (3) KE Voltage Constant (4) V/krpm 11 27 21 41 49 34

Winding Resistance Phase to Phase at 25oC Winding Inductance

Phase to Phase Thermal Resistance

Dielectric Rating Power Leads (R, S, T) to Ground: 1800 VACrms 50/60 Hz for 1 minute.

Est. Shipping

kg-m

lb-in-s

kg-m

lb-in-s

kg/lb 1.0/2.2 1.5/3.3 2.6/5.7 3.5/7.7 4.7/10.4 5.9/13.0 kg/lb 1.3/2.9 1.8/4.0 3.0/6.6 4.0/8.8 5.2/11.5 6.7/14.8 kg/lb 1.3/2.9 2.0/4.4 3.4/7.5 4.3/9.5 5.1/11.2 6.9/15.2 kg/lb 1.5/3.3 2.2/4.9 3.9/8.6 4.8/10.6 5.5/12.1 7.7/17.0

oz-in/krpm 0.2 0.3 1.1 1.7 1.8 1.7

oz-in 1.0 2.0 2.3 3.0 4.0 6.5

Nm/A 0.09 0.22 0.17 0.33 0.40 0.28 in-lb/A 0.8 2.0 1.5 3.0 3 .6 2.5

Nm/A 0.09 0.24 0.18 0.37 0.45 0.3 lb-in/A 0.88 2.2 1.6 3.3 4.0 2 .7

Ohms 3.92 5.89 2.24 2.68 2.79 0.77

mH 4.2 8.8 6.1 8.6 11.0 2.9

C/Watt

0.000009 0.00002 0.00008 0.00015 0.00024 0.00035

0.00008 0.00016 0.0007 0.0013 0.0021 0.0031

0.000018 0.000032 0.000122 0.000202 0.000210 0.000320

0.00016 0.00028 0.00108 0.00179 0.00186 0.00283

3.0 2.2 1.6 1.2 1.1 0.83

MOTOR N-5630-2 N-5637-2 N-5647-2

Rotor Moment of Inertia

Rotor Moment of Inertia Motors W/Brake

Motor Weight: Net kg/lb 9.1/20.1 11/24.3 13/28.7

Brake Motor Weight: Net

Damping Nm/krpm 0.35 0.32 0.45

Friction Torque Nm 1.3 1.6 1.7

Max. Operating Speed rpm 4000 4000 3000 Shaft Material 416 Stainless Steel

Poles 444 Sine Wave KT +10%

Torque Constant (2) Square Wave KT

Torque Constant (3) KE Voltage Constant (4) V/krpm 47 60 77

Winding Resistance Phase to Phase at 25oC

Winding Inductance Phase to Phase Thermal Resistance

Dielectric Rating Power Leads (R, S, T) to Ground: 1800 VACrms 50/60 Hz for 1 minute.

(1) Specifications are at 25oC unless otherwise noted. (3) Peak value of per phase square wave Amperes (2) Peak value of per phase sine wave Amperes (4) Peak value of sinusoidal phase to phase Volts

Est. Shipping kg/lb 9.6/21.2 11.7/25.8 13.8/30.4

Est. Shipping

kg-m

lb-in-s

kg-m

lb-in-s

kg/lb 10.9/24.0 13.2/29.1 15.9/35.1 kg/lb 11.4/25.1 13.8/30.4 13.9/37.3

oz-in/krpm 3.1 2.8 4.0

oz-in 11 14 15

Nm/A 0.38 0.49 0.63 lb-in/A 3.4 4.4 5.6

Nm/A 0.41 0.54 0.70 lb-in/A 3.7 4.8 6.2

Ohms

±10%

mH 4.3 5.2 7.0

C/Watt

0.0009 0.0012 0.0015

0.008 0.01 0.013

0.000651 0.000778 0.000893

0.00576 0.00689 0.00791

0.89 1.0 1.23

0.81 0.76 0.70

MECHANICAL DATA (1)

WINDING DATA (1)

MECHANICAL DATA (1)

WINDING DATA (1)

Ambient Temperature: Operating 0 to 40°C (32 - 104°F) Relative Humidity: 5% to 95%

Storage 0 to 50°C (32 - 122°F) non-condensing

STORAGE AND OPERATING CONDITIONS

Dimensional Data

AJ DIA CIRCLE

Intro

SHAFT END PLAY UNDER LOAD

Maximum end play (All Motors)

Direction mm/in

---> A 0.127/

<--- B 0.025/

Note: End play and load are measured in inches and

pounds. Metric measurements are approximate conversions from inches and pounds.

0.005

0.001

Load

(Kg/Lb)

3.8/10

brake option connector

N-2300

N-3400

N-4200 N-5600

brake option connector

power connector

BF DIA HOLES AJ DIA CIRCLE

BF DIA HOLES

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