Schneider Electric LXM23D Product manual
LXM23D and BCH
Servo drive system
Product manual
V2.02, 11.2014
0198441113926, V2.02, 11.2014
www.schneider-electric.com
LXM23D and BCH
The information provided in this documentation contains general
descriptions and/or technical characteristics of the performance of the
products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user applications. It is the duty of
any such user or integrator to perform the appropriate and complete
risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric
nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments or have found errors in this
publication, please notify us.
No part of this document may be reproduced in any form or by any
means, electronic or mechanical, including photocopying, without
express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be
observed when installing and using this product. For reasons of safety
and to help ensure compliance with documented system data, only
the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must be followed.
Failure to use Schneider Electric software or approved software with
our hardware products may result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment
damage.
© 2013 Schneider Electric. All rights reserved.
2 Servo drive system
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LXM23D and BCH Table of contents
Table of contents
Table of contents 3
Safety Information 9
Hazard categories 9
Qualification of personnel 10
Intended use 10
Basic information 10
DC bus voltage measurement 13
Standards and terminology 13
About the book 15
1 Introduction 17
1.1 Device overview 17
1.2 Components and interfaces 18
1.3 Nameplate 19
1.4 Type code 21
1.5 Servo Drive and Servo Motor Combinations 23
2 Technical Data 25
2.1 Ambient conditions 25
2.1.1 Ambient conditions of drive 25
2.2 Dimensions 27
2.2.1 Dimensions of drive 27
2.2.2 Dimensions of motor 30
2.3 Electrical data of drive 34
2.3.1 Specification of drive 34
2.3.2 DC bus data 36
2.3.3 Additional EMC input filters 36
2.3.4 Upstream circuit breaker, fuse 39
2.4 Motor data 40
2.4.1 Specification of motor 40
2.4.2 Servo Motor Speed-Torque Curves (T-N Curves) 44
2.4.3 Overload Characteristics 49
2.5 Conditions for UL 508C 51
2.6 Certifications 51
2.7 Declaration of conformity 52
3 Engineering 55
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3.1 Electromagnetic compatibility (EMC) 55
Servo drive system 3
Table of contents LXM23D and BCH
3.2 Residual current device 57
3.3 Operation in an IT mains 57
3.4 Common DC bus 57
3.5 Rating the braking resistor 58
3.6 Monitoring functions 65
3.7 Configurable inputs and outputs 66
4 Installation 67
4.1 Before mounting 68
4.2 Scope of supply 69
4.3 Mechanical installation of drive 70
4.4 Mechanical installation of motor 73
4.5 Electrical installation of drive 76
4.5.1 Overview 76
4.5.2 Servo drive connectors and terminals 77
4.5.3 Wiring Methods 80
4.5.4 Cable specifications for servo drive 81
4.5.5 Structure of the drive system 82
4.5.6 Input / Output Interface Connector CN1 83
4.5.6.1 CN1 Terminal Identification 83
4.5.6.2 Signals Explanation of Connector CN1 85
4.5.6.3 User-defined DI and DO signals 97
4.5.6.4 Wiring Diagrams of I/O Signals (CN1) 98
4.5.7 Encoder Connector CN2 106
4.5.8 Serial Communication Connector CN3 107
4.6 Electrical installation motor 108
4.6.1 Connections and pin assignments 108
4.6.2 Connection of motor and encoder 111
4.6.3 Holding brake connection 112
4.7 Verifying installation 114
5 Commissioning 115
5.1 Commissioning steps 116
5.2 Commissioning tools 118
5.2.1 Integrated HMI 119
5.2.1.1 Description of the integrated HMI 119
5.2.1.2 Display Flowchart 120
5.2.1.3 Status Display 121
5.2.2 Commissioning software 125
5.3 Commissioning procedure 126
5.3.1 Commissioning without load (trial run) 127
5.3.1.1 JOG Trial Run without Load 132
5.3.1.2 Speed Trial Run without Load 134
5.3.1.3 Position Trial Run without Load 136
5.3.2 Tuning with load 138
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5.3.2.1 Tuning Flowchart 139
5.3.2.2 Load Inertia Estimation Flowchart 140
5.3.2.3 Auto Mode Tuning Flowchart 140
5.3.2.4 Semi-Auto Mode Tuning Flowchart 142
5.3.2.5 Limit of Load Inertia Estimation 143
5.3.2.6 Mechanical Resonance Suppression Method 145
5.3.2.7 Relationship between Tuning Modes and Parameters 147
5.3.2.8 Gain Adjustment in Manual Mode 148
5.3.3 Forcing the digital outputs 149
6 Operation 151
6.1 Access channels 151
6.2 General Function Operation 152
6.2.1 Displaying alarm codes 152
6.2.2 Jog operation 152
6.3 Control modes 154
6.3.1 Position Control mode 154
6.3.1.1 Command source for Position Conrol (Pt) mode 155
6.3.1.2 Command source for Position Control (Pr) mode 157
6.3.1.3 Structure of Position Control mode 158
6.3.1.4 S-curve filter for Position Control 159
6.3.1.5 Electronic gear ratio 162
6.3.1.6 Low-pass filter 163
6.3.1.7 Timing of Position Control (Pr) mode 164
6.3.1.8 Position loop gain adjustment 165
6.3.1.9 Low-frequency vibration suppression 167
6.3.2 Speed Control Mode 172
6.3.2.1 Command Source of Speed Control Mode 172
6.3.2.2 Structure of Speed Control Mode 173
6.3.2.3 Smoothing Strategy of Speed Control Mode 174
6.3.2.4 Analog Speed Input Scaling 177
6.3.2.5 Timing Chart of Speed Control Mode 179
6.3.2.6 Speed Loop Gain Adjustment 179
6.3.2.7 Resonance Suppression 185
6.3.3 Torque Control Mode 191
6.3.3.1 Command Source of Torque Control Mode 191
6.3.3.2 Structure of Torque Control Mode 191
6.3.3.3 Smoothing Strategy of Torque Control Mode 192
6.3.3.4 Analog Torque Input Scaling 193
6.3.3.5 Timing Chart of Torque Control Mode 194
6.3.4 Control Modes Selection 195
6.3.4.1 Speed / Position Control Mode Selection 195
6.3.4.2 Speed / Torque Control Mode Selection 196
6.3.4.3 Torque / Position Control Mode Selectionn 197
6.4 Other functions 198
6.4.1 Speed Limit 198
6.4.2 Torque Limit 198
6.4.3 Analog Monitor 199
6.4.4 Holding Brake 202
7 Motion Control Function 205
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Table of contents LXM23D and BCH
7.1 Available Motion Control Functions 205
7.2 Servo Drive Information 205
7.2.1 Monitor Variables 206
7.3 Motion Axis 212
7.4 Introduction to Pr mode 212
7.5 Position command unit of Pr mode 213
7.6 Registers of Pr mode 213
7.7 Homing Function of Pr Mode 214
7.8 DI and DO signals of Pr Mode 215
7.9 Parameter settings of Pr mode 216
7.9.1 Path Order 219
7.9.2 Pr Path 219
8 Examples 221
8.1 Position control mode wiring diagram (pulse control) 221
8.2 Position control mode wiring diagram (build-in motion sequence) 222
8.3 Speed control mode wiring diagram 223
8.4 Torque control mode wiring diagram 224
9 Diagnostics and troubleshooting 225
9.1 Status request/status indication 225
9.2 DI Diagnosis Operation 225
9.3 DO Diagnosis Operation 226
9.4 Alarm Messages Table 227
9.5 Potential Cause and Corrective Actions 229
9.6 Clearing alarms 238
10 Parameters 241
10.1 Representation of the parameters 241
10.2 Definition 243
10.3 Parameter Summary 244
10.3.1 Parameters Listed by Group 244
10.3.1.1 Group 0: Monitor Parameters 244
10.3.1.2 Group 1: Basic Parameters 246
10.3.1.3 Group 2: Extension Parameters 249
10.3.1.4 Group 3: Communication Parameters 251
10.3.1.5 Group 4: Diagnosis Parameters 252
10.3.1.6 Group 5: Motion Control Parameters 253
10.3.1.7 Group 6: Pr Path Definition Parameters 256
10.3.2 Parameters Listed by Function 257
10.3.2.1 Monitor and General Use 257
10.3.2.2 Smooth Filter and Resonance Suppression 259
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10.3.2.3 Gain and Switch 260
10.3.2.4 Position Control 261
10.3.2.5 Speed Control 264
10.3.2.6 Torque Control 265
10.3.2.7 Digital I/O and Relative Input Output Setting 266
10.3.2.8 Communication 267
10.3.2.9 Diagnosis 268
10.4 Detailed Parameter Listings 269
10.4.1 Group 0: Monitor Parameters 269
10.4.2 Group 1: Basic Parameters 284
10.4.3 Group 2: Extension Parameters 310
10.4.4 Group 3: Communication Parameters 334
10.4.5 Group 4: Diagnosis Parameters 339
10.4.6 Group 5: Motion Control Parameters 348
10.4.7 Group 6: Pr Path Definition Parameters 366
10.5 Input Function Definition 372
10.6 Output Function Definition 378
11 Accessories and spare parts 385
11.1 Connector and cable 385
11.1.1 Connector 385
11.1.2 Cable 385
11.1.3 Connector for power cable 386
11.1.4 Connector for encoder cable 387
11.1.5 Power cable 388
11.1.6 Encoder cable 391
11.2 Power Connectors 392
11.3 I/O Signal Connector (CN1) 393
11.4 I/O Terminal Block Module 393
11.5 USB to RJ45 connector for CN3 interface 393
11.6 Other Accessories 394
12 Service, maintenance and disposal 397
12.1 Service address 398
12.2 Maintenance 399
12.2.1 Maintenance of drive 399
12.2.2 Maintenance of motor 399
12.3 Replacement of drive 401
12.4 Changing the motor 401
12.5 Shipping, storage, disposal 402
Glossary 403
Units and conversion tables 403
Length 403
Mass 403
Force 403
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Table of contents LXM23D and BCH
Power 403
Rotation 404
Torque 404
Moment of inertia 404
Temperature 404
Conductor cross section 404
Terms and Abbreviations 405
Index 407
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Servo drive system
LXM23D and BCH
Safety Information
Safety Information
Read these instructions carefully, and look at the equipment to
become familiar with the device before trying to install, operate, or
maintain it. The following special messages may appear throughout
this documentation or on the equipment to warn of potential hazards
or to call attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a Danger safety label indicates that an electrical hazard exists, which will result in
personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to
potential personal injury hazards. Obey all safety messages
that follow this symbol to avoid possible injury or death.
Hazard categories
Safety instructions to the user are highlighted by safety alert symbols
in the manual. In addition, labels with symbols and/or instructions are
attached to the product that alert you to potential hazards.
Depending on the seriousness of the hazard, the safety instructions
are divided into 4 hazard categories.
DANGER
DANGER indicates an imminently hazardous situation, which, if not
avoided, will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not
avoided, can result in death, serious injury, or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not
avoided, can result in injury or equipment damage.
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Servo drive system
NOTICE
NOTICE indicates a potentially hazardous situation, which, if not
avoided, can result in equipment damage.
9
Safety Information
Qualification of personnel
Intended use
LXM23D and BCH
Only appropriately trained persons who are familiar with and understand the contents of this manual and all other pertinent product documentation are authorized to work on and with this product. In addition,
these persons must have received safety training to recognize and
avoid hazards involved. These persons must have sufficient technical
training, knowledge and experience and be able to foresee and detect
potential hazards that may be caused by using the product, by changing the settings and by the mechanical, electrical and electronic equipment of the entire system in which the product is used.
All persons working on and with the product must be fully familiar with
all applicable standards, directives, and accident prevention regulations when performing such work.
This product consists of a drive and a three-phase servo motor; it is
intended for industrial use in this combination according to this manual.
Basic information
The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical data.
Prior to using the product, you must perform a risk assessment in view
of the planned application. Based on the results, the appropriate
safety measures must be implemented.
Since the product is used as a component in an entire system, you
must ensure the safety of persons by means of the design of this
entire system (for example, machine design).
Operate the product only with the specified cables and accessories.
Use only genuine accessories and spare parts.
Any use other than the use explicitly permitted is prohibited and can
result in hazards.
Electrical equipment should be installed, operated, serviced, and
maintained only by qualified personnel.
The use and application of the information contained herein require
expertise in the design and programming of automated control systems.
10
Only you, the user, machine builder or integrator, can be aware of all
the conditions and factors present during installation and setup, operation, repair and maintenance of the machine or process.
You must also consider any applicable standards and/or regulations
with respect to grounding of all equipment. Verify compliance with any
safety information, different electrical requirements, and normative
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LXM23D and BCH
Safety Information
standards that apply to your machine or process in the use of this
equipment.
Many components of the equipment, including the printed circuit
board, operate with mains voltage, or present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.
DANGER
HAZARD DUE TO ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Only qualified personnel may install, adjust, repair and maintain
this equipment.
• Do not touch any connectors, contacts, terminals, unshielded
components or printed circuit boards while the equipment is
under power.
• Use only electrically insulated tools.
• Block the motor shaft to prevent rotation prior to performing any
type of work on the drive system.
• Insulate both ends of unused conductors of the motor cable to
help prevent AC voltage from coupling to unused conductors in
the motor cable.
• Do not short across the DC bus terminals or the DC bus capacitors.
• Before performing work on the drive system:
- Disconnect all power, including external control power that
may be present.
- Place a "Do Not Turn On" label on all power switches.
- Lock all power switches in the open position.
- Wait 10 minutes to allow the DC bus capacitors to discharge.
- Measure the voltage on the DC bus as per chapter "DC bus
voltage measurement" and verify the voltage is <42 Vdc.
- Do not assume that the DC bus is voltage-free when the DC
bus LED is off.
• Refit/replace and secure all covers, accessories, hardware,
cables, and wires and verify that a proper ground connection
exists before applying power to the unit.
Failure to follow these instructions will result in death or serious injury.
This equipment has been designed to operate outside of any hazardous location. Only install this equipment in zones known to be free of
a hazardous atmosphere.
DANGER
POTENTIAL FOR EXPLOSION
Install and use this equipment in non-hazardous locations only.
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Servo drive system
Failure to follow these instructions will result in death or serious injury.
If the power stage is disabled unintentionally, for example as a result
of power outage, errors or functions, the motor is no longer decelerated in a controlled way. Overload, errors or incorrect use may cause
11
Safety Information
LXM23D and BCH
the holding brake to no longer operate properly and may result in premature wear.
WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that movements without braking effect cannot cause injuries or equipment damage.
• Verify the function of the holding brake at regular intervals.
• Do not use the holding brake as a service brake.
• Do not use the holding brake for safety-related purposes.
Failure to follow these instructions can result in death, serious
injury, or equipment damage.
Drive systems may perform unanticipated movements because of
incorrect wiring, incorrect settings, incorrect data or other errors.
WARNING
UNINTENDED EQUIPMENT OPERATION
• Carefully install the wiring in accordance with the EMC requirements.
• Do not operate the product with unknown settings or data.
• Perform a comprehensive commissioning test.
Failure to follow these instructions can result in death, serious
injury, or equipment damage.
WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential
failure modes of control paths and, for certain critical functions,
provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are emergency stop,
overtravel stop, power outage and restart.
• Separate or redundant control paths must be provided for critical
functions.
• System control paths may include communication links. Consideration must be given to the implication of unanticipated transmission delays or failures of the link.
• Observe all accident prevention regulations and local safety
guidelines.
• Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious
injury, or equipment damage.
1)
12
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control”
and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide
for Selection, Installation and Operation of Adjustable-Speed Drive Systems”.
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LXM23D and BCH
DC bus voltage measurement
Safety Information
The DC bus voltage can exceed 400 Vdc. The DC bus LED is not an
indicator of the absence of DC bus voltage.
DANGER
ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Disconnect the voltage supply to all connections.
• Wait 10 minutes to allow the DC bus capacitors to discharge.
• Use a properly rated voltage-sensing device for measuring
(>400 Vdc).
• Measure the DC bus voltage between the DC bus terminals (PA/+
and PC/-) to verify that the voltage is less than 42 Vdc.
• Contact your local Schneider Electric representative if the DC bus
capacitors do not discharge to less than 42 Vdc within a period of
10 minutes.
• Do not operate the product if the DC bus capacitors do not discharge properly.
• Do not attempt to repair the product if the DC bus capacitors do
not discharge properly.
• Do not assume that the DC bus is voltage-free when the DC bus
LED is off.
Failure to follow these instructions will result in death or serious injury.
Standards and terminology
Technical terms, terminology and the corresponding descriptions in
this manual are intended to use the terms or definitions of the pertinent standards.
In the area of drive systems, this includes, but is not limited to, terms
such as "safety function", "safe state", "fault", "fault reset", "failure",
"error", "error message", "warning", etc.
Among others, these standards include:
• IEC 61800 series: "Adjustable speed electrical power drive systems"
• IEC 61158 series: "Digital data communications for measurement
and control – Fieldbus for use in industrial control systems"
• IEC 61784 series: "Industrial communication networks – Profiles"
• IEC 61508 series: "Functional safety of electrical/electronic/
programmable electronic safety-related systems"
In addition, the term "zone of operation" is used in conjunction with the
description of specific hazards, and is defined as it is for a "hazard
zone" or "danger zone" in the EC Machinery Directive (2006/42/EC)
and in ISO 12100-1.
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Servo drive system
Also see the glossary at the end of this manual.
13
Safety Information
LXM23D and BCH
14
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LXM23D and BCH
About the book
Source manuals The latest versions of the manuals can be downloaded from the Inter-
Source CAD data For easier engineering, CAD data (drawings or EPLAN macros) are
About the book
This manual is valid for LXM23D and BCH standard products.
net at:
http://www.schneider-electric.com
available for download from the Internet at:
http://www.schneider-electric.com
Work steps If work steps must be performed consecutively, this sequence of steps
is represented as follows:
■
Special prerequisites for the following work steps
▶
Step 1
◁
Specific response to this work step
▶
Step 2
If a response to a work step is indicated, this allows you to verify that
the work step has been performed correctly.
Unless otherwise stated, the individual steps must be performed in the
specified sequence.
Making work easier Information on making work easier is highlighted by this symbol:
Sections highlighted this way provide supplementary information on
making work easier.
SI units Technical data are specified in SI units. Converted units are shown in
parentheses behind the SI unit; they may be rounded.
Example:
Minimum conductor cross section: 1.5 mm2 (AWG 14)
Glossary Explanations of special technical terms and abbreviations.
Index List of keywords with references to the corresponding page numbers.
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15
About the book
LXM23D and BCH
16
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LXM23D and BCH
1 Introduction
1.1 Device overview
1 Introduction
The LXM23 product family consists of two servo drive models that
cover different application areas. Together with Lexium BCH servo
motors as well as a comprehensive range of options and accessories,
the drives are ideally suited to implement compact, high-performance
drive solutions for a wide range of power requirements.
This product manual describes the LXM23D servo drive and the BCH
servo motor.
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Overview of some of the features of the servo drive:
• Two analog inputs (+/-10V, pulse/direction) for supplying reference
values.
• The product is commissioned via the integrated HMI or a PC with
commissioning software.
• Operating modes include: Jog, Position Control, Speed Control,
Torque Control, and Dual Mode.
17
DANGER
WARNING
C
N
1
C
N
2
C
N
3
PA / +
PBi
PBe
PC/-
U
V
W
R
S
T
L1
L2
C
N
4
ENT
M
S
CN5220V Motor
1 Introduction
LXM23D and BCH
1.2 Components and interfaces
Carefully read and observe all safety instructions and the chapter "Before you begin - safety information".
HMI display
Information: page 119
Alarm codes: page 225
DC bus LED
The LED lights when mains voltage or internal charge are
present. The DC bus LED is not
an indicator of the absence of DC
bus voltage.
Information: page 13
HMI keypad
M: HMI mode
S: Shift (several functions)
UP: Navigate, increase values
DOWN: Navigate, decrease val-
ues
ENT: Confirm, store data
Information: page 119
Controller supply (L1, L2)
Connect to mains circuit.
Information: page 77
Power stage supply (R,S,T)
Connect to mains circuit.
Information: page 77
Servo motor terminals (U,V, W)
Connect output (U, V, W) to the
motor.
Information: page 77
Braking resistor terminal (CN5)
Information: page 77
• Internal braking resistor PA/+
and PBi bridged (PBe not connected)
• External braking resistor PA/+
and PBe (PBi not connected)
Reserved (CN4)
I/O Interface (CN1)
For connecting master controller
(PLC) or I/O signals.
Information: page 77
Encoder Interface (CN2)
For connecting motor encoder.
Information: page 77
Ground terminal
For grounding the drive and the
connected components.
Information: page 77
18
Commissioning interface (CN3)
For connecting PC via converter
VW3M8131
Information: page 77
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Servo drive system
US
C
3
2
1
9
8
7
6
5
4
0000 rpm
BCH ...
UN: 00 VDC
DOM 00-00-00
IP...
USC
Made in China
Brake
Th.-CI B
PN: 0.0 W
2
1
3
5
6
4
9
8
7
10
12
11
Pn:000W
000 V
Sn 0000000000000
Nn:
Imax: 00 A
Un:
Mass: 0.0kg
In: 0.0 A
Mn:0.00 Nm
13
14
15
17
16
LXM23D and BCH
1.3 Nameplate
1 Introduction
Drive The nameplate contains the following data:
Figure 1: Nameplate
(1) Type code
(2) Nominal voltage
(3) Motor type
(4) Firmware version
(5) Date of manufacture DOM, see page 405
(6) Degree of protection
(7) CE marking and UL marking
(8) Barcode
(9) Serial number
Motor The nameplate contains the following data:
Figure 2: Nameplate
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19
1 Introduction
LXM23D and BCH
(1) Motor type, see type code
(2) Nominal torque
(3) Nominal power
(4) Nominal current
(5) Maximum peak current
(6) Nominal voltage
(7) Nominal speed of rotation
(8) CE marking
(9) UL marking
(10) Date of manufacture DOM, see page 405
(11) Serial number
(12) Degree of protection
(13) Temperature class
(14) Mass
(15) Nominal voltage of the holding brake (optional)
(16) Nominal power of the holding brake (optional)
(17) Barcode
20
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LXM23D and BCH
1.4 Type code
Product designation
LXM = Lexium
Product type
23 = AC servo drive for one axis
Interfaces
D = I/O
A = Fieldbus CANopen
Continuous power
U01 = 0.1 kW
U02 = 0.2 kW
U04 = 0.4 kW
U07 = 0.75 kW
U10 = 1 kW
U15 = 1.5 kW
U20 = 2 kW
U30 = 3 kW
U45 = 4.5 kW
U55 = 5.5 kW
U75 = 7.5 kW
1 Introduction
Drive
LXM 23 D U07 M3X (∙∙∙∙)
Power stage supply [Vac]
M3X = 3~, 200/240 V
Further options
ac
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21
1 Introduction
Motor
Product family
BCH = Synchronous motor - medium moment of inertia
Size (housing)
040 = 40 mm flange
060 = 60 mm flange
080 = 80 mm flange
100 = 100 mm flange
130 = 130 mm flange
180 = 180 mm flange
Length
1 = 1 stack
2 = 2 stacks
3 = 3 stacks
4 = 4 stacks
5 = 5 stacks
Winding
M = Optimized in terms of torque (1000 min-1/1500 min-1)
N = Optimized in terms of torque and speed of rotation (2000 min-1)
O = Optimized in terms of speed of rotation (3000 min-1)
Shaft and degree of protection
0 = Smooth shaft; degree of protection: IP40
1 = Parallel key; IP40
2 = Smooth shaft; degree of protection: shaft and housing IP65
3 = Parallel key; degree of protection: shaft and housing IP 65
LXM23D and BCH
BCH 040 1 O 0 2 A 1 C
Encoder system
2 = High-resolution encoder (20 bit)
Holding brake
A = Without holding brake
F = With holding brake
Connection version
1 = Flying leads (for BCH040, BCH060, BCH080); military connector (for BCH100, BCH130, BCH180)
Mechanical interface - mounting
C = Asian standard
22
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Servo drive system
LXM23D and BCH
1.5 Servo Drive and Servo Motor Combinations
1 Introduction
BCH
servo
motor
output
power
kW kgcm
Single phase: 200 ... 255 V ~ 50/60 Hz or three phase : 170 ... 255 V ~50/60 Hz
0.1 0.037 0.32 0.96 5000 3000 LXM23∙U01M3X BCH0401O∙2∙1C ultra low
0.2 0.177 0.64 1.92 5000 3000 LXM23∙U02M3X BCH0601O∙2∙1C ultra low
0.3 8.17 2.86 8.59 2000 1000 LXM23∙U04M3X BCH1301M∙2∙1C medium
0.4 0.277 1.27 3.82 5000 3000 LXM23∙U04M3X BCH0602O∙2∙1C ultra low
0.4 0.68 1.27 3.82 5000 3000 LXM23∙U04M3X BCH0801O∙2∙1C low
0.5 8.17 2.39 7.16 3000 2000 LXM23∙U04M3X BCH1301N∙2∙1C medium
0.6 8.41 5.73 17.19 2000 1000 LXM23∙U07M3X BCH1302M∙2∙1C medium
0.75 1.13 2.39 7.16 5000 3000 LXM23∙U07M3X BCH0802O∙2∙1C low
0.9 11.18 8.59 25.78 2000 1000 LXM23∙U10M3X BCH1303M∙2∙1C medium
1 2.65 3.18 9.54 5000 3000 LXM23∙U10M3X BCH1001O∙2∙1C low
1 11.18 4.77 14.32 3000 2000 LXM23∙U10M3X BCH1302N∙2∙1C medium
1.5 11.18 7.16 21.48 3000 2000 LXM23∙U15M3X BCH1303N∙2∙1C medium
Three phase: 170 ... 255 V ~50/60 Hz
2 4.45 6.37 19.11 5000 3000 LXM23∙U20M3X BCH1002O∙2∙1C low
2 14.59 9.55 26.65 3000 2000 LXM23∙U20M3X BCH1304N∙2∙1C medium
2 34.68 9.55 26.65 3000 2000 LXM23∙U20M3X BCH1801N∙2∙1C high
3 54.95 14.32 42.96 3000 2000 LXM23∙U30M3X BCH1802N∙2∙1C high
3 54.95 19.10 57.29 3000 1500 LXM23∙U30M3X BCH1802M∙2∙1C high
4.5 77.75 28.65 71.62 3000 1500 LXM23∙U45M3X BCH1803M∙2∙1C high
5.5 99.78 35.01 87.53 3000 1500 LXM23∙U55M3X BCH1804M∙2∙1C high
7.5 142.7 47.74 119.36 3000 1500 LXM23∙U75M3X BCH1805M∙2∙1C high
BCH servo
motor inertia
(without
brake)
2
Rated
torque
Nm Nm RPM RPM
Peak
stall torque
Maximum
speed
Rated
speed
Combinations
Servo drive Servo motor Motor
inertia
type
0198441113926, V2.02, 11.2014
Servo drive system
23
1 Introduction
LXM23D and BCH
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0198441113926, V2.02, 11.2014
Servo drive system
LXM23D and BCH
2 Technical Data
This chapter contains information on the ambient conditions and on
the mechanical and electrical properties of the product family and the
accessories.
2.1 Ambient conditions
Ambient conditions of motor see chapter "2.4 Motor data".
2.1.1 Ambient conditions of drive
2 Technical Data
Climatic environmental conditions
transportation and storage
Climatic environmental conditions
operation
The environment during transportation and storage must be dry and
free from dust.
Temperature °C
(°F)
-20 ... 65
(-4 ... 149)
The following relative humidity is permissible during transportation and
storage:
Relative humidity (non-condensing)
% 0 ... 90
The maximum permissible ambient temperature during operation
depends on the mounting distances between the devices and on the
required power. Observe the pertinent instructions in the chapter
"4 Installation".
Ambient temperature (no icing,
non-condensing)
Ambient temperature (no icing,
non-condensing) if all of the following conditions are met:
• Installed in a well ventilated
location
• No obstructed airflow for the
cooling fan
°C
(°F)
°C
(°F)
0 ... 45
(32 ... 113)
45 ... 55
(113 ... 131)
0198441113926, V2.02, 11.2014
Servo drive system
The following relative humidity is permissible during operation:
Relative humidity (non-condensing)
Atmospheric pressure kPa
% 5 ... 95
86 ... 106
(psi)
(12.47 ... 15.37)
25
2 Technical Data
LXM23D and BCH
Altitude above mean sea level
without derating
Altitude above mean sea level if
all of the following conditions are
met:
• 45 °C (113 °F) maximum
ambient temperature
• Reduction of the continuous
power by 1 % per 100 m
(328 ft) above 1000 m
(3281 ft)
m
(ft)
m
(ft)
<1000
(<3281)
1000 ... 2000
(3281 ... 6562)
Installation site and connection For operation, the device must be mounted in a closed control cabi-
net. The device may only be operated with a permanently installed
connection.
Pollution degree and degree of
protection
Vibration
LXM23∙ U01, U02, U04, U07, U10,
U15
Pollution degree 2
Degree of protection
Vibration resistance
mass <20 kg (<44.1 lb)
Vibration resistance
mass 20 ... 100 kg
(44.1 ... 220.5 lb)
IP20 IP10
Tested as per IEC 60068-2-6
3 mm [2 ... 9 Hz]
10 m/s2 [9 ... 200 Hz]
Tested as per IEC 60068-2-6
1.5 mm [2 ... 13 Hz]
6 m/s2 [13 ... 200 Hz]
U20, U30, U45, U55, U75
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Servo drive system
146
60
49
Ø5.5
152
162
5.75
2.36
6.38
5.98
1.93
Ø0.22
mm
in
85
74
Ø5.5
152
162
180
7.09
3.35
6.38
5.98
2.91
Ø0.22
mm
in
LXM23D and BCH
2.2 Dimensions
2.2.1 Dimensions of drive
2 Technical Data
Figure 3: Dimensions LXM23∙U01M3X, LXM23∙U02M3X, LXM23∙U04M3X
Figure 4: Dimensions LXM23∙U07M3X, LXM23∙U10M3X, LXM23∙U15M3X
0198441113926, V2.02, 11.2014
Servo drive system
27
114
102
Ø5.5
213
225
195
7.68
4.49
8.86
8.39
4.02
Ø0.22
mm
in
110
91.2
230
245
205
Ø5.5
8.07
4.33
9.65
9.06
3.59
Ø0.22
mm
in
2 Technical Data
Figure 5: Dimensions LXM23∙U20M3X, LXM23∙U30M3X
LXM23D and BCH
Figure 6: Dimensions LXM23∙U45M3X
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Servo drive system
0198441113926, V2.02, 11.2014
123
107
230
245
208.5
Ø6
216.5
8.21
4.84
9.65
9.06
4.21
Ø0.24
8.52
mm
in
136
119.5
230
245
Ø6
107
260
254
208.5
216.5
8.21
5.35
9.65
9.06
4.70
Ø0.24
8.52
10
10.24
4.21
mm
in
LXM23D and BCH
Figure 7: Dimensions LXM23∙U55M3X
2 Technical Data
Figure 8: Dimensions LXM23∙U75M3X
0198441113926, V2.02, 11.2014
Servo drive system
29
300±50
11.81±1.97
300±50
11.81±1.97
20
0.79
16
0.63
25
0.98
2.5
0.1
5
0.20
Ø4.5
Ø0.18
4x
Ø46
Ø1.81
Ø30h7
Ø1.18
Ø8h6
Ø0.31
0.12
3
0.12
0.12
6.2
0.24
c
mm
in
40
1.57
3
0
- 0.0 3
3
0
- 0.0 3
300±50
11.81±1.97
300±50
11.81±1.97
24
0.94
20
0.79
30
1.18
3
0.12
7.5
0.30
Ø5.5
Ø0.22
4x
Ø70
Ø2.76
Ø50h7
Ø1.97
Ø14h6
Ø0.55
0.20
5
0.20
0.20
11
0.43
c
60
2.36
5
0
- 0.0 3
5
0
- 0.0 3
mm
in
2 Technical Data
2.2.2 Dimensions of motor
Dimensions BCH040
Figure 9: Dimensions BCH040
BCH040 mm
(in)
LXM23D and BCH
c (without holding brake) c (with holding brake)
100.6
(3.96)
136.6
(5.38)
Dimensions BCH060
Figure 10: Dimensions BCH060
c (without holding brake) c (with holding brake)
BCH0601 mm
BCH0602 mm
(in)
(in)
105.5
(4.15)
130.7
(5.15)
141.6
(5.57)
166.8
(6.57)
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0198441113926, V2.02, 11.2014
Servo drive system
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