Aerotech BM Series, Hardware Manual

Page 1: ...uy your excess underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing R...

Page 2: ...pair services USA 1 888 932 9183 Canada 1 905 829 2505 Emergency After hours 1 416 624 0386 Servicing USA and Canada Scroll down to view your document Over 100 years cumulative experience 24 hour rush...

Page 3: ...cated to the Science of Motion Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 Phone 412 963 7470 Fax 412 963 7459 www aerotech com BM BMS Series Brushless Motors Hardware Manual P N EDA135 Revision 1...

Page 4: ...com prodreg cfm United States Headquarters Phone 412 967 6440 Fax 412 967 6870 Email service aerotech com United Kingdom Phone 44 118 940 9400 Fax 44 118 940 9401 Email service aerotech co uk Technic...

Page 5: ...n 1 9 1 6 Motor Specifications 1 12 1 6 1 Feedback Device Specifications 1 18 1 6 2 Connector Pin Assignments 1 19 1 7 Installation 1 21 1 7 1 Wiring 1 21 1 7 2 Overcurrent Protection 1 22 1 7 3 Cooli...

Page 6: ...Table of Contents BM BMS Series Hardware Manual iv www aerotech com...

Page 7: ...all Phasing with Oscilloscope 1 6 Figure 1 6 Resolver and Motor Phasing 1 8 Figure 1 7 Phasing of Sine Cosine and Marker Channels for Rotary Encoder 1 18 Figure 1 8 BM75 BM130 BM200 Model Dimensions N...

Page 8: ...List of Figures BM BMS Series Hardware Manual vi www aerotech com...

Page 9: ...tions NEMA 34 Frame 1 13 Table 1 9 BM800 BM1400 Motor Specifications NEMA 42 Frame 1 14 Table 1 10 BM2000 BM3400 BM4500 Motor Specifications IEC 142 Frame 1 15 Table 1 11 BMS60 BMS100 Motor Specificat...

Page 10: ...List of Tables BM BMS Series Hardware Manual viii www aerotech com...

Page 11: ...ng Electrical Machines IEC 61010 1 2001 Safety requirements for Electrical Equipment for measurement control and laboratory use Use This product is intended for light industrial manufacturing or labor...

Page 12: ...Declaration of Conformity BM BMS Series Hardware Manual x www aerotech com...

Page 13: ...or resolver feedback 1 1 1 BM Series The BM series motors are available in ten different models with a rated power from 232 to 7 949 watts and torque ranging from 78 oz in 0 55 N m to 4 480 oz in 31...

Page 14: ...practice caution when following the given procedures Deviation from this may result in damage to the equipment To minimize the possibility of electrical shock and bodily injury when servicing the equ...

Page 15: ...for proper motor commutation Figure 1 2 shows the proper Hall effect to motor phasing for both clockwise CW and counterclockwise CCW motor rotation viewed looking into the mounting flange of the motor...

Page 16: ...the motor should be connected to the power supply common The 5V Hall power lead should be connected to the 5V power line The three Hall signal wires should be connected through the remaining three re...

Page 17: ...direction CW by hand Note the peak of the sine wave signal of channel 1 in comparison to the peak of the sine wave signal of channel 2 Next disconnect channel 2 from TP2 and reconnect it to TP3 and ag...

Page 18: ...1 5 With channel 1 still connected to one of the motor leads connect channel 2 of the oscilloscope to TP5 TP6 and then TP7 while advancing the motor in the positive direction after each connection No...

Page 19: ...the sine feedback signal is resting at a zero level and the cosine signal is resting at its positive peak The sine and cosine signals shown in Figure 1 6 represent demodulated waveforms In actual ope...

Page 20: ...Introduction BM BMS Series Hardware Manual 1 8 www aerotech com Figure 1 6 Resolver and Motor Phasing...

Page 21: ...litary Style connectors for feedback and motor power Standard Feedback Options Encoder Resolution with Hall Tracks E1000H Encoder A quad B w marker 5 VDC 1 000 line line driver output E2000H Encoder A...

Page 22: ...fect track RS 422 line driver output E2000H 2000 line incremental squarewave encoder w marker hall effect track RS 422 line driver output E2500H 2500 line incremental squarewave encoder w marker hall...

Page 23: ...r hall effect track RS 422 line driver output E2500H 2500 line incremental squarewave encoder w marker hall effect track RS 422 line driver output E5000H 5000 line incremental squarewave encoder w mar...

Page 24: ...N m W oz in W 0 052 7 33 0 088 12 43 0 107 15 18 Resistance 25 C Line Line ohms 1 0 2 0 1 1 Inductance Line Line mH 0 80 1 80 1 10 Maximum Bus Voltage VDC 340 340 340 Thermal Resistance C W 1 14 1 00...

Page 25: ...s Voltage VDC 340 340 Thermal Resistance C W 0 94 0 74 Number of Poles P 8 8 Mechanical Specifications Motor Weight kg lb 3 6 7 92 5 0 11 0 Rotor Moment of Inertia kg m 2 oz in s2 7 85x10 5 0 0111 1 3...

Page 26: ...Voltage VDC 340 340 Thermal Resistance C W 0 85 0 70 Number of Poles P 8 8 Mechanical Specifications Motor Weight kg lb 6 6 14 52 10 7 23 54 Rotor Moment of Inertia kg m 2 oz in s2 3 00x10 4 0 0425 5...

Page 27: ...0 54 0 20 0 17 Inductance Line Line mH 3 50 1 60 1 50 Maximum Bus Voltage VDC 340 340 340 Thermal Resistance C W 0 78 0 80 0 69 Number of Poles P 6 6 6 Mechanical Specifications Motor Weight kg lb 15...

Page 28: ...ductance Line Line mH 1 30 2 40 Maximum Bus Voltage VDC 340 340 Thermal Resistance C W 1 73 1 35 Number of Poles P 8 8 Mechanical Specifications Motor Weight kg lb 1 1 2 4 1 5 3 3 Rotor Moment of Iner...

Page 29: ...Inductance Line Line mH 1 10 0 87 Maximum Bus Voltage VDC 340 340 Thermal Resistance C W 0 93 0 72 Number of Poles P 14 14 Mechanical Specifications Motor Weight kg lb 3 60 7 9 5 00 11 0 Rotor Moment...

Page 30: ...rage Temperature 30 C to 110 C Resolution 1000 Cycles Rev Commutation 4 Cycles Rev Figure 1 7 Phasing of Sine Cosine and Marker Channels for Rotary Encoder Table 1 14 contains the resolver specificati...

Page 31: ...n Assignment MS3101A 20 29P Pin Function Pin Function A Cosine L Hall Effect A N optional B Cosine N M Hall Effect B C Sine N Hall Effect B N optional D Sine N P Hall Effect C E Marker R Hall Effect C...

Page 32: ...ved A3 Motor Phase C 5 Reserved 1 Shield A4 Motor Frame Ground 2 Reserved 1 13 5 9 14 18 22 25 B Pin Description Pin Description 1 Shield 14 Cosine 2 External Shutdown optional 15 Cosine N 3 5V 16 4 1...

Page 33: ...t be rated for the maximum voltage applied to the motor 300V wire insulation typical As a minimum requirement the motor wiring must be shielded to reduce electromagnetic emissions The Protective Groun...

Page 34: ...nfigured by Aerotech the user is responsible for providing over current protection for the motor Fuses can be used to protect the motor against severe overloads Fuse values should be selected accordin...

Page 35: ...20 29P 0 5 0 02 2 Flats At 90 Apart 157 5 187 9 218 4 193 0 132 1 6 345 9 517 9 517 162 6 Add 3 2 0 13 IN Per Side For Optional Brake Brake Optional Add 77 2 3 04 IN To Length For Optional Brake MS31...

Page 36: ...A 30 2 1 19 11 4 0 45 73 0 2 87 C Shaft Dia B 2 5 0 10 23 8 0 94 22 2 0 88 108 0 4 25 55 6 2 19 1 0 0 04 Typ 82 6 3 25 Square Brake Optional 0 000 0 013 12 69 190 0 220 3 BM250 7 48 9 64 BM500 10 83 8...

Page 37: ...ptional Brake BM800 BM1400 Motor Model No 0 0000 0 0005 0 0000 0 0005 0 000 0 013 0 000 0 013 238 187 318 12 52 9 37 267 2 10 52 7 37 A B 19 04 19 04 0 7497 0 7497 C 108 0 4 25 88 9 3 50 20 6 0 81 22...

Page 38: ...Width Model No A B Keyway BM2000 255 5 BM3400 BM4500 10 06 0 9449 0 9444 24 000 23 988 7 985 7 949 0 3144 0 3130 7 985 7 949 13 06 331 7 24 000 23 988 9 985 9 949 0 3931 0 3917 1 2598 1 2592 16 06 40...

Page 39: ...Connector 9 Pin 0 2498 5 20 0 0000 0 0005 0 0000 0 0005 0 000 0 013 0 3747 9 517 6 40 162 6 0 000 0 013 Dimensions millimeters inches 25 Pin D Connector 6 345 132 1 B C Cable Motor 47 142 1 86 0 5 0 0...

Page 40: ...5 10 83 275 1 9 64 244 9 220 3 8 67 A 190 0 7 48 B 12 69 0 4997 12 69 0 4997 C Optional Brake Cable Connector MS3102R20 29P 2 Flats 90 Apart Shaft Dia 5 6 0 22 Dia Thru 4 Holes Brake Optional 82 6 3 2...

Page 41: ...to 25 C consult Aerotech for performance deration for ambient temperatures above 25 C Temperature Storage 20 C to 85 C Humidity Ambient conditions need to be such that condensation on the motor does n...

Page 42: ...red Correct and repair as required Check for fluids or electrically conductive material exposure Clean Fluids or electrically conductive material must not be permitted to enter the motor Note Disconne...

Page 43: ...ansmitted between machines as a series of binary numbers Axial Runout Positioning error of the rotary stage in the vertical direction when the tabletop is oriented in the horizontal plane Axial runout...

Page 44: ...ommutation The process of switching motor phase current based on three Hall effect signals spaced 120 electrical degrees beginning 30 degrees into the electrical cycle This method is the easiest for c...

Page 45: ...laved to another open or closed loop axis with a variable ratio Encoder Marker Once per revolution signal provided by some incremental encoders to accurately specify a reference point within that revo...

Page 46: ...ocols that are necessary for message exchanges and further defines common commands and characteristics See G P I B Incremental Move A move referenced from its starting point relative move Inertia The...

Page 47: ...external influences Operator Interface Device that allows the operator to communicate with a machine A keyboard or thumbwheel is used to enter instructions into a machine See HMI or MMI Optical Encod...

Page 48: ...tion Resolution The smallest change in distance that a device can measure Retroreflector An optical element with the property that an input light beam is reflected and returns along the same angle as...

Page 49: ...ous Torque needed to drive a load over a continuous time Torque Peak Maximum amount of torque a motor can deliver when the highest allowable peak currents are applied Torque rms Root Mean Square is a...

Page 50: ...Appendix A BM BMS Series Hardware Manual A 8 www aerotech com...

Page 51: ...als No product may be returned whether in warranty or out of warranty without first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approva...

Page 52: ...rendered at times other than normal work periods then special service rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated...

Page 53: ...ies Hardware Manual Appendix C www aerotech com C 1 APPENDIX C TECHNICAL CHANGES C 1 Current Changes Table C 1 Current Changes Revision Section s Affected Description 1 04 All Revised updated with new...

Page 54: ...ardware Manual C 2 www aerotech com C 2 Archived Changes Table C 2 Archived Changes Version Section s Affected Description 1 03 Changes not recorded 1 02 Changes not recorded 1 01 Changes not recorded...

Page 55: ...Motor BM250 BM500 1 24 Motor BM800 BM1400 1 25 E Encoder Specifications 1 18 Encoder Hall effect commutation 1 3 Environmental Specifications Humidity 1 29 Temperature 1 29 Operating 1 29 Storage 1 2...

Page 56: ...Index BM BMS Series Hardware Manual Index 2 www aerotech com...

Page 57: ...Yes No Adequate to the subject Well organized Clearly presented Well illustrated How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please...

Page 58: ......

Page 59: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...