SEM HD55 User Manual

SERVICE
MANUAL
HD/HR RANGE
OF SERVOMOTORS
ISSUE 2
WARNING
Servomotors contain magnetic material which will attract metal particles. Care should be taken
when dismantling motors to
avoid this.
All D.C. servomotors
manufactured by SEM contain
magnets which are air stable
and can be dismantled without
demagnetisation

HD/HR55

servicing instructions
1 GENERAL
1.1 Before starting work on the motor, these servicing instructions should be read and fully understood.
1.2 Servicing of SEM motors must be done only by suitably trained and qualified personnel, and only after such motors have been electrically isolated and removed from their mechanical drives.
1.3 The jaws of any vice or clamp must be suitably protected when used to grip any part of the motor.
1.4 When separating the motor end covers from the motor body, care must be taken to avoid damage to their mating surfaces.
1.5 NOTE. There are strong magnetic forces between the stator and the rotor of all SEM servomotors. Fingers should be kept clear of the gaps between the stator and end covers during assembly and disassembly of the rotor.
1.6 Dismantled components awaiting reassembly should be kept in a safe, clean and dry location.
Various types of encoder are used, involving different procedures for dismantling, reassembly, connection, setting up and testing. Contact SEM with regard to relevant servicing procedures for the particular type of encoder involved.
2 MARKING
2.1 The following relationships must be marked with a marker pen or other suitable method before dismantling.
2.2 Drive end (DE) cover (A) to motor body (B).
2.3 Non-drive end cover (D) to motor body (C).
2.4 Enclosing Cover (18) to non-drive end (NDE) cover (17).
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator (4) and resolver rotor (3)
3 DISMANTLING THE MOTOR
3.1 Remove 4 M4 socket screws from N.D.E. enclosing cover (18), remove the end cover and the gasket.
3.2 Remove 8 screws (21) from D.E. cover (12).
3.3 For Sagem resolver this must be removed prior to dismantling of the motor, proceed as per instructions for tacho removal, for any other manufacturer check with SEM for instructions.
3.4 Withdraw D.E. cover with complete attached assembly of rotor (1), bearings (10 & 8), resolver rotor (3) and spacer (5). Remove circlip (11) and press out rotor shaft to separate from D.E. housing. Remove circlip (9) and remove bearing from D.E. housing. To remove resolver rotor (3) use bearing extractor tool behind the shoulder on spacer (5); the bearing can then be withdrawn. Handle the resolver assembly with great care at all times.
3.5 Before removing N.D.E., go through the disconnection sequence:
3.6 Disconnection sequence. PIN REMOVAL TOOL REQUIRED – available from SEM Ltd. Both connectors (23 & 27) must be removed before N.D.E. cover can be removed. Take out 4 screws, pull the socket forward to allow access to connector pins. Withdraw the connector pins using the pin removal tool. Pull wires through from feedback connector (23) to clear screw access; remove 4 screws (20) from N.D.E. cover. Withdraw the cover carefully to avoid damage to wiring.
3.7 Removal of resolver. Important: At all stages of removal and reassembly, the resolver unit must be handled with care. Unscrew (36) and release resolver body (4) complete. At this point the resolver rotor (3) is free and will drop out of the resolver body unless held in place by hand. Remove the resolver and store in a safe place until re-assembly.
3.8 Removal of D.E. cover – Brake Models. Remove 8 cover screws (21) then 3 screws (19) holding brake assembly. This allows cover to be removed, leaving the brake and bearing on the shaft and exposing the leads to the brake. Disconnect these leads and remove complete rotor assembly as Section 3.4. Pull the bearing off the shaft, leaving brake free to be removed. When this sequence is complete, continue as Section 3.4 above.
screws.
4.2 Fit the resolver to the N.D.E. cover with 3 screws and clamping washers (metal shield outwards), feed both resolver and thermal overload leads through the hole on the left of the N.D.E. cover.
4.3 Fit 2 connector elbows with cap screws and gaskets, bringing out the leads at the same time. Press the pins firmly into the back of the connectors until they click into place. Position the connectors and gaskets and tighten down with screws and washers.
4.4 Fit O-ring, bearing and circlip to D.E. cover, slide rotor into cover/bearing assembly. Slide bearing onto N.D.E. of shaft.
4.5 Supporting the inner race of the bearing, press both bearings into place. Fit spacer and tolerance ring to N.D.E. Fit circlip at D.E.
4.6 Carefully stand motor upright (with N.D.E. down). Locate the wave washer in the N.D.E. housing, lower the rotor/cover assembly very carefully into the body and screw the D.E. cover to the body.
4.7 Support and press into position (resolver rotor). Fit a new tolerance ring (2).
4.8 Fit brake, carefully press rotor into brake (ensuring that teeth line up correctly). Fit rotor to body as above, but connect and isolate 2 brake leads before pushing into place.
5 RESETTING THE RESOLVER.
5.1 This only applies to a standard resolver supplied by SEM with the standard setting. For any other resolver, refer to the drive manufacturer.
5.2 For these procedures it is necessary to make connections and links to feedback connector pins. To avoid damage to these pins, it is advisable to make such connections and links via a suitable separate test socket which mates with the feedback connector multi-pin plug (27) and which has short leads connected to its sockets. Alternatively appropriate pins can be made available for connections and links by withdrawing them from plug (27) as in Section 3.6 “Disconnection”.
5.3 If a brake is used, it must be temporarily held off during this operation by applying a 24V dc supply across the brake terminals.
5.4 Undo 4 screws (20) and pull back the enclosing cover (18) to give access to the resolver. With the above test plug connected to the feedback connector, link pins R1 to S3 & pins R2 to S2. Connect a signal generator (approx 5V 6kHz) between pins R1 and R2. Connect an AC voltmeter between pins S1 and R2.
5.5 At the power connector, link motor phase pins V and W and then connect a low voltage dc supply to motor phases at power connector pins U (+ve) and V+W (-ve). Adjust this voltage to give between 25% and 100% of motor rated current thereby causing the motor to turn to a preferred position.
5.6 Slacken the 3 screws holding the resolver stator and then rotate it until the voltmeter gives a maximum reading. Reconnect the AC voltmeter to pins S4 and R2. Make a small final adjustment of the resolver stator to get a minimum reading. Retighten the screws, disconnect the test socket, the supplies, the voltmeter and links, let the brake (if used) be re-applied.
5.7 Attach the protective shield (if fitted) to the resolver and fix the enclosing cover (18) to the NDE cover in accordance with marks made in operation 2.3.
6 ELECTRICAL TESTS NECESSARY BEFORE
CONNECTING MOTOR TO AMPLIFIER.
6.1 Measure motor stator winding resistances U-V, V-W, W-U. These must be equal to within 3%.
6.2 Check dielectric strength by flash test at 1000 Vac from: a Phase U (power connector pin) U to motor body.
b Phase U to thermal sensor (feedback connector pins Thermal
Sensor + and Thermal Sensor -).
c Phase U to brake connections (power connector pins B+ & B-).
If flash test is not possible then check that insulation resistance is greater than 1megaohm.
6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc supply from motor body to:
d Brake connections (power connector pins B+ and B-)
e Thermal sensor (feedback connector pins Thermal Sensor + and
Thermal Sensor -) f Resolver (feedback connector pins R2 and S1.
If flash test is not possible then check that insulation resistance is greater than 1megaohm.
4 RE-ASSEMBLY OF THE MOTOR
To fit N.D.E. cover to body. Note: new circlips, oil seals and bearings must be fitted on the re-assembly as standard procedure.
4.1 Feed the thermal overload leads through the hole in the N.D.E. cover, feed the earth lead through the hole in the body and fit 4 cap head
SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884 E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
HD/HR55 parts list
ITEM NO. DESCRIPTION
1 Rotor Assembly
2 Tolerance Ring
3 Resolver Rotor
4 Resolver Body
5 Spacer (Non tacho motors only)
6 Tachogenerator Rotor Assembly
7 P.C.B. Assembly
8 N.D.E. Bearing
9 Bearing Retaining Circlip
10 D.E. Bearing
11 Bearing Retaining Circlip
12 D.E. Cover
13 D.E. ‘O’ Ring
14 Motor Body
14a Long Motor Body for Brake Motor
15 N.D.E. ‘O’ Ring
16 Wave Washer
17 Non Drive Encl Housing
18 N.D.E. Enclosing Cover
19 N.D.E. Housing Fixing Screw
20 N.D.E. Cover Fixing Screw
21 D.E. Cover Fixing Screw
22 Fixing Screw: Brake
23 M.S. Connector: Power
24 Gasket
25 Connector Housing
26 Gasket
27 MS Connector: Feedback
28 Gasket
29 Connector Housing
30 Gasket
31 Fixing Screw: Cap-head
32 Fixing Screw: Cheese-head
33 Plain Washer M4
34 Plain Washer M3
35 Single-turn Coil Spring Washer
36 Fixing Screw
37 Brake Key (Optional)
38 Brake (Optional)
SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884 E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk

HD/HR70

servicing instructions
1 GENERAL
1.1 Before starting work on the motor, these servicing instructions should be read and fully understood.
1.2 Servicing of SEM motors must be done only by suitably trained and qualified personnel, and only after such motors have been electrically isolated and removed from their mechanical drives.
1.3 The jaws of any vice or clamp must be suitably protected when used to grip any part of the motor.
1.4 When separating the motor end covers from the motor body, care must be taken to avoid damage to their mating surfaces.
1.5 NOTE. There are strong magnetic forces between the stator and the rotor of all SEM servomotors. Fingers should be kept clear of the gaps between the stator and end covers during assembly and disassembly of the rotor.
1.6 Dismantled components awaiting reassembly, should be kept in a safe, clean and dry location.
Various types of encoder are used, involving different procedures for dismantling, reassembly, connection, setting up and testing. Contact SEM with regard to relevant servicing procedures for the particular type of encoder involved.
2 MARKING
2.1 The following relationships must be marked with a marker pen or other suitable method before dismantling.
2.2 Drive end (DE) cover (A) to motor body (B).
2.3 Non-drive end cover (D) to motor body (C).
2.4 Enclosing Cover (18) to non-drive end (NDE) cover (17).
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator (4) and resolver rotor (3)
3 DISMANTLING THE MOTOR
3.1 Remove 4 M4 socket screws from N.D.E. enclosing cover (18), remove the end cover and the gasket.
3.2 Remove 8 screws (21) from D.E. cover (12).
3.3 For Sagem resolver this must be removed prior to dismantling of the motor, proceed as per instructions for tacho removal, for any other manufacturer check with SEM for instructions.
3.4 Withdraw D.E. cover with complete attached assembly of rotor (1), bearings (10 & 8), resolver rotor (3) and spacer (5). Remove circlip (11) and press out rotor shaft to separate from D.E. housing. Remove circlip (9) and remove bearing from D.E. housing. To remove resolver rotor (3) use bearing extractor tool behind the shoulder on spacer (5); the bearing can then be withdrawn. Handle the resolver assembly with great care at all times.
3.5 Before removing N.D.E., go through the disconnection sequence:
3.6 Disconnection sequence. PIN REMOVAL TOOL REQUIRED – available from SEM Ltd. Both connectors (23 & 27) must be removed before N.D.E. cover can be removed. Take out 4 screws, pull the socket forward to allow access to connector pins. Withdraw the connector pins using the pin removal tool. Pull wires through from feedback connector (23) to clear screw access, remove 4 screws (20) from N.D.E. cover. Withdraw the cover carefully to avoid damage to wiring.
3.7 Removal of resolver. Important: At all stages of removal and reassembly, the resolver unit must be handled with care. Unscrew (36) and release resolver body (4) complete. At this point the resolver rotor (3) is free and will drop out of the resolver body unless held in place by hand. Remove the resolver and store in a safe place until re-assembly.
3.8 Removal of D.E. cover – Brake Models. Remove 8 cover screws (21) then 3 screws (19) holding brake assembly. This allows cover to be removed, leaving the brake and bearing on the shaft and exposing the leads to the brake. Disconnect these leads and remove complete rotor assembly as Section 3.4. Pull the bearing off the shaft, leaving brake free to be removed. When this sequence is complete, continue as Section 3.4 above.
feed the earth lead through the hole in the body and fit 4 cap head screws.
4.2 Fit the resolver to the N.D.E. cover with 3 screws and clamping washers (metal shield outwards), feed both resolver and thermal overload leads through the hole on the left of the N.D.E. cover.
4.3 Fit 2 connector elbows with cap screws and gaskets, bringing out The leads at the same time. Press the pins firmly into the back of the connectors until they click into place. Position the connectors and gaskets and tighten down with screws and washers.
4.4 Fit O-ring, bearing and circlip to D.E. cover, slide rotor into cover/bearing assembly. Slide bearing onto N.D.E. of shaft.
4.5 Supporting the inner race of the bearing, press both bearings into place. Fit spacer and tolerance ring to N.D.E. Fit circlip at D.E.
4.6 Carefully stand motor upright (with N.D.E. down). Locate the wave washer in the N.D.E. housing, lower the rotor/cover assembly very carefully into the body and screw the D.E. cover to the body.
4.7 Support and press into position (resolver rotor). Fit a new tolerance ring (2). Fit brake, carefully press rotor into brake (ensuring that teeth line up correctly). Fit rotor to body as above, but connect and isolate 2 brake leads before pushing into place.
5 RESETTING THE RESOLVER.
5.1 This only applies to a standard resolver supplied by SEM with the standard setting. For any other resolver, refer to the drive manufacturer.
5.2 For these procedures it is necessary to make connections and links to feedback connector pins. To avoid damage to these pins, it is advisable to make such connections and links via a suitable separate test socket which mates with the feedback connector multi-pin plug (27) and which has short leads connected to its sockets. Alternatively appropriate pins can be made available for connections and links by withdrawing them from plug (27) as in Section 3.6 “Disconnection”.
5.3 If a brake is used, it must be temporarily held off during this operation by applying a 24V dc supply across the brake terminals.
5.4 Undo 4 screws (20) and pull back the enclosing cover (18) to give access to the resolver. With the above test plug connected to the feedback connector, link pins R1 to S3 & pins R2 to S2. Connect a signal generator (approx 5V 6kHz) between pins R1 and R2. Connect an AC voltmeter between pins S1 and R2.
5.5 At the power connector, link motor phase pins V and W and then connect a low voltage dc supply to motor phases at power connector pins U (+ve) and V+W (-ve). Adjust this voltage to give between 25% and 100% of motor rated current thereby causing the motor to turn to a preferred position.
5.6 Slacken the 3 screws holding the resolver stator and then rotate it until the voltmeter gives a maximum reading. Reconnect the AC voltmeter to pins S4 and R2. Make a small final adjustment of the resolver stator to get a minimum reading. Retighten the screws, disconnect the test socket, the supplies, the voltmeter and links, let the brake (if used) be re-applied.
5.7 Attach the protective shield (if fitted) to the resolver and fix the enclosing cover (18) to the NDE cover in accordance with marks made in operation 2.2.
6 ELECTRICAL TESTS NECESSARY
BEFORE CONNECTING MOTOR TO AMPLIFIER.
6.1 Measure motor stator winding resistances U-V, V-W, W-U. These must be equal to within 3%.
6.2 Check dielectric strength by flash test at 1000 Vac from:
a Phase U (power connector pin) U to motor body.
b Phase U to thermal sensor (feedback connector pins Thermal
Sensor + and Thermal Sensor -). c Phase U to brake connections (power connector pins B+ & B-).
If flash test is not possible then check that insulation resistance is greater than 1megaohm.
6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc supply from motor body to:
d Brake connections (power connector pins B+ and B-)
e Thermal sensor (feedback connector pins Thermal Sensor + and
Thermal Sensor -)
f Resolver (feedback connector pins R2 and S1.
6.4 If flash test is not possible then check that insulation resistance is greater than 1megaohm.
4 RE-ASSEMBLY OF THE MOTOR
To fit N.D.E. cover to body. Note: new circlips, oil seals and bearings must be fitted on the re-assembly as standard procedure.
4.1 Feed the thermal overload leads through the hole in the N.D.E. cover,
SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884 E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
HD/HR70 parts list
ITEM NO. DESCRIPTION
1 Rotor Assembly
2 Tolerance Ring
3 Resolver Rotor
4 Resolver Body
5 Spacer (Non tacho motors only)
6 Tachogenerator Rotor Assembly
7 P.C. B. Assembly
8 N.D.E. Bearing
9 Bearing Retaining Circlip
10 D.E. Bearing
11 Bearing Retaining Circlip
12 D.E. Cover
13 D.E. ‘O’ Ring
14 Motor Body
14a Long Motor Body for Brake Motor
15 N.D.E. ‘O’ Ring
16 Wave Washer
17 Non Drive End Housing
18 N.D.E. Enclosing Cover
19 N.D.E. Housing Fixing Screw
20 N.D.E. Cover Fixing Screw
21 D.E. Cover Fixing Screw
22 Fixing Screw: Brake
23 M.S. Connector: Power
24 Gasket
25 Connector Housing
26 Gasket
27 MS Connector: Feedback
28 Gasket
29 Connector Housing
30 Gasket
31 Fixing Screw: Cap-head
32 Fixing Screw: Cheese-head
33 Plain Washer M4
34 Plain Washer M3
35 Single-turn Coil Spring Washer
36 Fixing Screw
37 Brake Key (Optional)
38 Brake (Optional)
SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884 E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
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