Rockwell Automation MPM-A1151, MPM-A1302, MPM-A1152, MPM-A1153, MPM-A1651 Installation Instructions Manual

Installation Instructions

MP-Series Medium Inertia Servo
Motor

Catalog Numbers MPM-A1151, MPM-A1152, MPM-A1153, MPM-A1302,
MPM-A1304, MPM-A1651, MPM-A1652, MPM-A1653, MPM-A2152,
MPM-A2153, MPM-A2154, MPM-B1151, MPM-B1152, MPM-B1153,
MPM-B1302, MPM-B1304, MPM-B1651, MPM-B1652, MPM-B1653,
MPM-B2152, MPM-B2153, MPM-B2154

Topic Page

Important User Information 2

Catalog Number Explanation 3

Before You Begin 4

Install the Motor 9

Connector Data 13

Product Dimensions 15

Accessory Kits 19

Specifications 22

Additional Resources 23

About the MP-Series Medium Inertia Motors

MP-Series medium-inertia motors feature resolvers and single-turn or multi-turn high resolution
encoders. They are also available with 24V DC holding brakes. These compact brushless servo
motors combine the features of the MP-Series low-inertia motors with a rotor that is better
suited for high inertia loads.

2 MP-Series Medium Inertia Servo Motor Installation Instructions

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment.
Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls, publication

SGI-1.1

, is available from your local Rockwell Automation sales office or online at

http://www.rockwellautomation.com/literature

equipment and hard-wired electromechanical devices. Because of this difference, and also because of the
wide variety of uses for solid state equipment, all persons responsible for applying this equipment must
satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages
resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot
assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits,
equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell
Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an
explosion in a hazardous environment, which may lead to personal injury or death,
property damage, or economic loss.

describes some important differences between solid state

ATTENTION: Identifies information about practices or circumstances that can lead to
personal injury or death, property damage, or economic loss. Attentions help you
identify a hazard, avoid a hazard and recognize the consequences.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, drive or
motor, to alert people that dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, drive or
motor, to alert people that surfaces may reach dangerous temperatures.

IMPORTANT Identifies information that is critical for successful application and understanding of

the product.

Publication MPM-IN001C-EN-P - February 2011

MP-Series Medium Inertia Servo Motor Installation Instructions 3

MP M -B115 1 F -MJ 7 2 A A

Catalog Number Explanation

FACTORY DESIGNATED OPTIONS

= Standard Factory Configuration

A

MOUNTING FLANGE

A = IEC Metric

BRAKE

2 = No Brake

4 = 24V DC Brake

CONNECTORS

7 = Circular, Right Angle, 180° Rotatable

ENCLOSURE/SHAFT KEY/SHAFT SEAL

J = IP65/IP67 Housing/Shaft Key/No Shaft Seal

FEEDBACK

2 = Resolver

M = Multi-turn High Resolution Encoder

S = Single -turn High Resolution Encoder

BASE SPEED

B = 1300 rpm

C = 1500 rpm

E = 2250 rpm

F = 3000 rpm

M = 4500 rpm

T = 6000 rpm

MAGNET STACKS

1 = 1 Stack

2 = 2 Stacks

3 = 3 Stacks

4 = 4 Stacks

FRAME SIZE - Bolt Circle Diameter

115 = 115 mm

130 = 130 mm

165 = 165 mm

215 = 215 mm

VOLTAGE RATING

A = 200V Class

B = 400V Class

SERIES TYPE

M = Medium-inertia

SERIES

MP = MP-Series

Publication MPM-IN001C-EN-P - February 2011

4 MP-Series Medium Inertia Servo Motor Installation Instructions

Before You Begin

Remove all packing material from within and around the item. After unpacking, verify the
nameplate catalog number against the purchase order.

1. Remove the motor carefully from its shipping container.

2. Visually inspect the motor frame, shaft, and mounting pilot for damage.

3. Notify the carrier of any shipping damage immediately.

ATTENTION: Do not attempt to open or modify this motor beyond changing the
connector orientation as described in Build and Route Cables

An authorized Allen-Bradley repair center must service this item. Refer to

Rockwell Automation Support for assistance to locate the nearest repair center.

Failure to observe safety precautions could result in personal injury or damage to
equipment.

Using Shaft Seals

You can install a seal on the motor shaft to protect the front bearing from fluids or fine dust that
could contaminate the motor bearing and reduce its lifetime. The International Protection (IP)
rating for the motor may require the use of shaft seals, connectors, and cables that provide an
environmental seal equal to or exceeding the rating:

• Refer to Specifications on page 22 for a brief description of IP ratings for this motor.

• Refer to Shaft Seals on page 19 to find the catalog numbers of seal kits for your motor.

• Refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001, to

find environmentally sealed connectors and cables that are compatible with MP-Series
motors.

on page 6.

Prolonging Motor Life

Thoughtful design and proper maintenance can increase the life of a servo motor. Follow these
guidelines to maximize the life of a servo motor:

• Always provide a drip loop in each cable to carry liquids away from the connection to the

motor.

• If design requirements permit, provide shields that protect the motor housing, shaft,

seals, and their junctions from contamination by foreign matter or fluids.

• Replace the shaft seal at or before its expected lifetime of 12 months.

Refer to Shaft Seals on page 19 for more information.

• Inspect the motor and seals for damage or wear on a regular basis. If damage or excessive

wear is observed, replace the item.

• The brake option on this motor is a spring-set holding brake that releases when voltage is

applied to its coil. A separate power source is required to disengage the brake. This power
source can be applied by a servo motor controller or manual operator control.

Publication MPM-IN001C-EN-P - February 2011

MP-Series Medium Inertia Servo Motor Installation Instructions 5

IMPORTANT

If system main power fails, holding brakes can withstand occasional use as stopping
brakes. However, this creates mechanical backlash that is potentially damaging to the
system, increases brake wear, and reduces brake life.

Holding brakes are not designed to stop rotation of the motor shaft, nor are they intended
to be used as a safety device. They are designed to hold a motor shaft at 0 rpm for up to
the rated brake holding torque.

The recommended method of preventing motor shaft rotation is a four step process: first ­command the servo drive to 0 rpm, second - verify the motor is at 0 rpm, third - engage the
brake; and fourth - disable the drive.

Disabling the drive removes the potential for brake wear caused by an improperly tuned
servo system oscillating the shaft.

Using Couplings and Pulleys

Mechanical connections to the motor shaft, such as couplings and pulleys, require a torsionally
rigid coupling or a reinforced timing belt. The high dynamic performance of servo motors can
cause couplings, pulleys, or belts to loosen or slip over time. A loose or slipping connection causes
system instability and can damage the motor shaft. All connections between the system and the
servo motor shaft must be rigid to achieve an acceptable response from the system. Periodically
inspect connections to verify their rigidity.

When mounting couplings or pulleys to the motor shaft, make sure that the connections are
properly aligned and that axial and radial loads are within the specifications of the motor. Refer
to Shaft Seals

on page 19 for guidelines to achieve 20,000 hours of motor bearing life.

A shaft key provides a rigid mechanical connection with the potential for self-alignment when
the key is properly installed. These sections provide additional information:

ATTENTION: Damage may occur to the motor bearings and the feedback device
if sharp impact is applied to the shaft during installation of couplings and pulleys.
Damage to the feedback device may result from applying leverage to the motor
mounting face when removing devices mounted on the motor shaft.

Do not strike the shaft, couplings, or pulleys with tools during installation or
removal. Use a wheel puller to apply pressure from the user end of the shaft to
remove any device from the motor shaft.

Failure to observe safety precautions could result in damage to the motor and its
components.

• Refer to Product Dimensions on page 15 for information about the key and keyway.

• Refer to Shaft Key on page 20 for information about removing and install a shaft key.

Publication MPM-IN001C-EN-P - February 2011

6 MP-Series Medium Inertia Servo Motor Installation Instructions

Preventing Electrical Noise

Electromagnetic interference (EMI), commonly called electrical noise, can reduce motor
performance. Effective techniques to counter EMI include filtering the AC power, using
shielded cables, separating signal cables from power wiring, and practicing good grounding
techniques.

Follow these guidelines to avoid the effects of EMI:

• Isolate the power transformers or install line filters on all AC input power lines.

• Physically separate signal cables from motor cabling and power wiring. Do not route

signal cables with motor and power wires, or over the vent openings of servo drives.

• Ground all equipment using a single-point parallel ground system that employs ground

bus bars or large straps. If necessary, use additional electrical-noise reduction techniques
to reduce EMI in noisy environments.

Refer to the System Design for Control of Electrical Noise Reference Manual, publication

GMC-RM001

, for additional information on reducing the effects of EMI.

Build and Route Cables

Knowledgeable cable routing and careful cable construction improves system performance.

Install cables as described in these guidelines:

• Keep wire lengths as short as physically possible.

• Route noise sensitive wiring (encoder, serial, and I/O) away from input power and motor

power wiring.

• Separate cables by 0.3 m (1 ft) minimum for every 9 m (30 ft) of parallel run.

• Ground both ends of the encoder cable shield and twist the signal wire pairs to prevent

electromagnetic interference (EMI) from other equipment.

BURN HAZARD: Do not tightly gather or coil the excess length of a power cable.
Heat is generated within a cable whenever power is applied. Always position a
power cable so it may freely dissipate any heat.

A power cable should not be coiled, except for temporary use when building or
testing a machine. If you temporarily coil a power cable, you must also derate the
cable to meet local code or follow a authoritative directive, such as Engineering
Section 310.15(C) of the NEC Handbook.

Failure to observe these safety procedures could result in personal injury or
equipment damage.

Publication MPM-IN001C-EN-P - February 2011

MP-Series Medium Inertia Servo Motor Installation Instructions 7

Ground Shielded Signal Wires within a Power Cable

Always connect the shield on any signal wire pair routed inside a power cable to the overall
machine ground.

SHOCK HAZARD: If any shield on a power cable is not grounded, high voltage can
be present on that shield.

Make sure there is a connection to ground for all shield wires inside a power cable,
and for the overall power cable shield.

Failure to observe safety precautions could result in personal injury or damage to
equipment.

If you are installing a 2090-CPBM7DF-xxAAxx or 2090-XXNPMF-xxSxx power cable, loop
the signal wire pair to the overall cable shield as shown in the diagram, and clamp all of the
shields together in the power-cable (chassis) ground connection on the drive.

Grounding of Signal Wire Shields in a Power Cable

Factory Supplied

Shielded Signal Wires (one pair shown) within Power
Cable

Overall Power Cable Shield

Field Modified

Connect all signal wire shields and the overall power-cable shield to machine ground:

• The 2090-CPBM7DF-xxAFxx cable (shown) contains one signal wire pair.

• The 2090-XXNPMF-xxSxx cable contains two signal wire pairs.

Signal Wire Shield Contacts Overall Power
Cable Shield

All power and signal wire shields must connect to
machine ground.

The additional signal wire pair within the 2090-XXNPMF-xxSxx power cable often carries a
24V DC brake signal, but also can carry a logic signal. Grounding the shield that surrounds the
signal wires reduces any voltage inductance and the effects of EMI.

Publication MPM-IN001C-EN-P - February 2011

8 MP-Series Medium Inertia Servo Motor Installation Instructions

IMPORTANT

Change Connector Orientation

You can rotate the connector housings up to 180°.

This lets you move the connector to a position that best protects the connection from possible
environmental contaminates while providing cable access.

ATTENTION: Connectors are designed to be rotated into a fixed position during
motor installation, and remain in that position without further adjustment.
Strictly limit the applied forces and the number of times the connector is rotated
to make sure that connectors meet the appropriate IP rating as outlined in

Specifications

Failure to observe safety precautions could result in damage to the motor and its
components.

Do not use tools, such as pliers or vise-grips, to assist you in rotating either a
feedback or power/brake connector.

Only apply force to the connector. Do not apply force to or pull on the cable.

Follow these steps to rotate either a feedback or power/brake connector.

1. Mount and fully seat a mating cable on either the feedback or power/brake connector.

2. Grasp the mated connector and cable plug and slowly rotate them to the outside of the

motor.

on page 22.

Publication MPM-IN001C-EN-P - February 2011

ATTENTION: Apply force only to the motor connector and cable plug. Do not
apply force to the cable extending from the cable plug. Do not use tools, for
example pliers or vise-grips, to assist with the rotation of the connector.

Failure to observe safety precautions could result in damage to the motor and its
components.