Fagor FXM1 Series, Installation Manual

Page 1: ...MOTOR FXM FKM Installation manual Ref 2105...

Page 2: ...safety indications given in this document and or legal ones that may be applied to the work place software modifications and or repairs made by unauthorized personnel damage caused by the influence of...

Page 3: ...r ACSD 16H drives FKM8 series Models FKM82 20A 0 FKM82 30A 0 FKM82 40A 0 FKM83 20A 0 FKM83 30A 0 FKM84 20A 0 FKM84 30A 0 FKM85 20A 0 1307 Pairs of poles Reference to holding brake connection diagram T...

Page 4: ...oval of the vers x field on the nameplate The reference of the fan and servomotor connector MC 30 6 has been included in tables A change to the LA dimension on the packaging of the FKM8 ventilated ser...

Page 5: ...24 Balancing 24 Radial load and axial load 25 Installation 26 Mounting conditions 26 Things to check before the start up 26 Cabling 27 Feedback devices 30 Feedback replacement 32 2 3 PHASE SERVOMOTORS...

Page 6: ...eries 106 FKM6 V series 107 FKM8 V series 108 Technical data 109 Non ventilated FKM with A winding 400 Vac 109 Ventilated FKM with A winding 400 Vac 110 Non ventilated FKM with F winding 220 Vac 110 O...

Page 7: ...solute match However the contents of this document are regularly checked and updated implementing the pertinent corrections in a later edition MAN MOTOR FXM FKM IN C digo 04754051 DANGER In order to c...

Page 8: ...1 Notes of operating safety 9 2 Operating notes 10 3 Storage 11 4 Shipping 12 5 Installation 13 6 Cabling 14 7 Operation 15 8 Maintenance and inspection 16 GENERAL PRECAUTIONS This manual may be modif...

Page 9: ...ediate dangerous situation Ignoring this warning may cause serious even fatal consequences WARNING or caution symbol It warns about a potentially dangerous situation Ignoring this warning may cause se...

Page 10: ...ING Consider only the motor drive combinations specified in the manual Ignoring this warning may cause poor performance or not to work at all Use the shortest cables possible in the electrical install...

Page 11: ...unit avoiding direct exposure to the sun keeping the temperature and humidity within the specified ranges WARNING In the case of placing the equipment into storage for long periods of time it is recom...

Page 12: ...the motor up from its shaft in transit Ignoring this warning may cause personal injury or poor motor performance due to damage to the motor Do not load the products too much Ignoring this warning may...

Page 13: ...cial care must be taken with centering the tension of the pulley and the parallelism of the pulley A flexible coupling must be used to couple the motor with the machine load The encoder attached to th...

Page 14: ...put is off before doing the installation Foresee a protection circuit so the main machine is not connected when the motor fan group is not running Carry out the right ground connection and electrical...

Page 15: ...of error or alarm correct its cause First verify the safety conditions and then resume the operation after eliminating the error See section SAFETY CONDITIONS in the man_dds_hard pdf manual and chapt...

Page 16: ...d inspection DANGER Only authorized personnel may take the unit apart and repair the unit Contact your FAGOR representative before taking the motor apart The AC axis motor only needs a simple daily in...

Page 17: ...at the winding 4 Maximum turning speed limitation in voltage Nmax 5 Voltage saturation curves F 1 1 Electrical limitations in synchronous servomotors Mains voltage 400 15 340 Vrms Motor voltage 400 15...

Page 18: ...ere ZONE 1 is the permanent duty area S1 duty and it is delimited by the motor stall torque and the torque at rated speed ZONE 2 is the intermittent duty zone F 1 2 Electromechanical limitations for t...

Page 19: ...ng speed limitation due to electrical restrictions Note that the maximum value of this speed is shown in the graphs given in this manual Peak torque Mp Maximum torque limited by current It is availabl...

Page 20: ...te F 1 3 Identification label FKM1 series F 1 4 Identification label FKM2 4 6 8 6V 8V series T 1 1 Meaning of the fields of the identification plate 1 Serial Nr 10 Insulation class 2 EC seal 11 Rated...

Page 21: ...load 12 Level of vibration 5 Maximum current 13 Mass 6 Stall torque 14 Back Electro Motor Force 7 Maximum torque 15 Holding brake Unlocking voltage power absorbed 8 Motor model reference F 1 6 Identi...

Page 22: ...20 000 hours or after 5 years Shaft extension Seal Meets the DIN 3760 standard FXM FKM motors except FKM1 9 series have the seal option both for keyless shafts and for shafts with key The seal is type...

Page 23: ...e machine axis Noise emission Acoustic pressure level Meets the DIN 45635 standard T 1 6 Radial eccentricity tolerances Motor series N standard R optional FKM1 30 m 15 m FXM1 FKM2 35 m 18 m FXM3 5 FKM...

Page 24: ...6000 rev min the associated limit values will be set by the manufacturer of the motor Balancing F 1 10 Limit values of vibration levels for shaft heights between 36 and 132 mm T 1 8 Levels of vibrati...

Page 25: ...oid radial and axial loads on the motor shaft making sure that they do not exceed the limit values See these values in the following chapters for each motor model INFORMATION When applying a combined...

Page 26: ...gned properly Fasten the motor with the right size of self locking bolts nuts and washers of the right size and make sure that the tools used to fasten them neither interfere with the operation of the...

Page 27: ...r cable assignments given in the corresponding tables See section Assignment Sales reference The sales reference of the power cable has the following format of letters and digits It specifies the whol...

Page 28: ...x See table T 1 14 Flexibility High Special to be used in cable carrying chains with a bending radius of 12 times the Dmax under dynamic conditions when flexed and 4 times the Dmax under static condit...

Page 29: ...IECD 05 IECD 07 IECD 10 IECD 15 IECD 20 IECD 25 IECD 30 T 1 17 Mechanical characteristics of the feedback cable EEC SP with overall shield and shielded twisted pairs Type Overall shield Shielded twis...

Page 30: ...low voltage limited energy secondary circuits DVC A according IEC UL 61800 5 1 Series Encoder reference FXM1 3 5 7 A1 E1 1024 ppt FKM1 A4 E4 128 ppt FKM2 4 6 8 A3 E3 1024 ppt Note The connection base...

Page 31: ...6 8 I0 2500 ppv Note The connection base for incremental TTL encoder ref I0 shown in the following figures are viewed from the motor end T 1 20 Base of connector IOC 17 on FXM FKM motors Pin Signal Me...

Page 32: ...the drive that is going to control it is capable of providing the motor with its rated current Without applying power check that no errors come up at the drive or at the CNC Set the CNC in DRO mode o...

Page 33: ...t the value of RP5 is practically zero If instead of zero it registers a value double the rotated angle it means that it has been rotated in the opposite direction Carry out the whole operation and ag...

Page 34: ...1 GENERAL CONCEPTS General concepts 34 Ref 2105 FXM FKM SERVOMOTOR...

Page 35: ...cted by liquids or dirt They incorporate a temperature sensor for monitoring the internal temperature See section 2 3 Temperature sensor of this chapter These servomotors have an encoder as position f...

Page 36: ...the direction of the shaft and 3g sideways g 9 81 m s Stator winding insulation class Class F Limit temperature 150 C 302 F according to EN 60034 1 IEC 60034 1 Insulation resistance 500 Vdc 10 M or gr...

Page 37: ...etween 130 C 266 F and 160 C 320 F The following figure shows the resistance of the sensor as a function of the ambient temperature average values T 2 2 Thermistor characteristics Sensor type Triple P...

Page 38: ...of these servomotors and the location of the connectors for power supply motor feedback holding brake and fan when having all these options F 2 2 Servomotor FXM A Without FAN B With FAN 1 Voltage sup...

Page 39: ...x1 5 M 2000 5 1 5 0 32 20A 00 1 89 1 1 MC 23 MPC 4x1 5 M 2000 7 3 7 12 33 20A 00 2 7 1 5 MC 23 MPC 4x1 5 M 2000 9 3 9 02 34 20A 00 3 4 1 9 MC 23 MPC 4x1 5 M 2000 11 9 10 5 53 20A 00 4 7 2 5 MC 23 MPC...

Page 40: ...PC 4x1 5 M 4000 14 8 10 2 54 40A 00 11 8 6 2 MC 23 MPC 4x1 5 M 4000 17 3 11 2 55 40A 00 14 1 7 3 MC 23 MPC 4x2 5 M 4000 20 8 11 9 73 40A 00 16 5 8 7 MC 23 MPC 4x2 5 M 4000 27 3 15 0 74 40A 00 22 1 11...

Page 41: ...3 75 20A 01 20 0 10 6 MC 23 1 MPC 4x4 M 2000 59 5 51 8 76 20A 01 23 5 12 5 MC 46 MPC 4x6 M 2000 68 4 58 8 77 20A 01 26 8 14 3 MC 46 MPC 4x6 M 2000 76 6 65 1 78 20A 01 31 0 16 0 MC 46 MPC 4x10 M 3000 1...

Page 42: ...34 20F 00 7 6 1 9 MC 23 MPC 4x1 5 M 2000 11 9 10 5 53 20F 00 9 9 2 5 MC 23 MPC 4x1 5 M 2000 14 8 12 8 54 20F 00 12 7 3 1 MC 23 MPC 4x1 5 M 2000 17 3 14 7 55 20F 00 15 5 3 6 MC 23 MPC 4x2 5 M 3000 11 9...

Page 43: ...Inertia Approx mass N m W hp ms Vdc kg cm kg lb FXM1 Motor Mo 12 0 016 19 29 22 26 0 38 0 3 0 66 FXM3 Motor Mo 16 0 021 20 29 22 26 1 06 0 6 1 32 FXM5 Motor Mo 18 0 024 25 50 22 26 3 60 1 1 2 42 FXM7...

Page 44: ...al strip MC 80 F 2 5 Terminal strip MC 80 straight for rated current In 46 A MC 23 AMC 23 SEALING IP 67 PIN SIGNAL A B C D E F U PHASE V PHASE W PHASE PE BRAKE BRAKE AMC 23 MC 23 60 2 36 40 1 57 MC 23...

Page 45: ...motors M 3 Holding brake option MPC 4x 2x1 in mm U V W G E E H A C 24 V DC U V W Cable without connectors DRIVE FXM MOTOR MC 80 Power connector Shield Chassis M 3 Holding brake option MPC 4x 2x1 in mm...

Page 46: ...See detailed in section 10 16 Holding brake connection diagram of chapter 10 CONNECTION DIAGRAMS of the man_dds_hard pdf manual Note Note that for servomotors with an MC 80 plug the pin names are dif...

Page 47: ...to the drive through the base 2 connector of the servomotor See figure F 2 9 The pinout information of this feedback connector 2 depending on the feedback device integrated into the servomotor is pro...

Page 48: ...Yellow 9 Cable 3x2x0 14 4x0 14 2x0 5 Signal Pin Pin CHASSIS EOC 12 Front view Front view to FXM motor connector 2 0 5 mm2 0 5 mm2 Shielded by pairs of cable Overall shield The shield of twister pairs...

Page 49: ...lor and the corresponding signal to provide the desired differential effect between complementary signals i F 2 12 Incremental TTL encoder connection IECD cable Note For further details on these drive...

Page 50: ...25 6 1 521286 02725 6 5 6 6 1 7 5 7 63 1 1 9DF 7 3 0XOWL WXUQ DEVROXWH VLQXVRLGDO 9SS 6LQ RV HQFRGHU 6LQXVRLGDO 9SS 6LQ RGHU HQFRGHU SSW QFUHPHQWDO 77 HQFRGHU SSW 1 1 6 7 2 1 LWKRXW KROGLQJ EUDNH LWK...

Page 51: ...e a smaller drive than the one shown in the tables Therefore it is essential to know the requirements of the application before selecting the drive If they are unknown we recommend to apply the genera...

Page 52: ...4 Torque constant Kt N m A 2 7 1 8 1 3 Acceleration time tac ms 4 2 6 3 8 4 Inductance per fase 3 phase L mH 248 110 62 Resistance per phase R 93 5 43 0 23 5 Inertia without brake J kg cm 1 2 1 2 1 2...

Page 53: ...1 3 Acceleration time tac ms 3 6 5 4 7 2 Inductance per fase 3 phase L mH 111 49 28 Resistance per phase R 32 0 13 0 7 8 Inertia without brake J kg cm 1 9 1 9 1 9 Inertia with brake J kg cm 2 3 2 3 2...

Page 54: ...Acceleration time tac ms 3 4 5 1 6 8 Inductance per fase 3 phase L mH 71 32 18 Resistance per phase R 16 00 7 25 4 05 Inertia without brake J kg cm 2 6 2 6 2 6 Inertia with brake J kg cm 3 0 3 0 3 0...

Page 55: ...e tac ms 3 5 5 2 6 9 Inductance per fase 3 phase L mH 52 23 13 Resistance per phase R 12 00 4 85 2 95 Inertia without brake J kg cm 3 3 3 3 3 3 Inertia with brake J kg cm 3 7 3 7 3 7 Mass without brak...

Page 56: ...Acceleration time tac ms 5 6 8 5 11 3 Inductance per fase 3 phase L mH 126 56 32 Resistance per phase R 29 12 5 7 25 Inertia without brake J kg cm 3 5 3 5 3 5 Inertia with brake J kg cm 4 5 4 5 4 5 M...

Page 57: ...5 0 7 5 10 1 Inductance per fase 3 phase L mH 56 25 14 Resistance per phase R 9 55 4 05 2 30 Inertia without brake J kg cm 6 0 6 0 6 0 Inertia with brake J kg cm 7 0 7 0 7 0 Mass without brake P kg 7...

Page 58: ...7 4 9 9 Inductance per fase 3 phase L mH 36 16 8 6 Resistance per phase R 5 05 2 20 1 15 Inertia without brake J kg cm 8 5 8 5 8 5 Inertia with brake J kg cm 9 5 9 5 9 5 Mass without brake P kg 9 6 9...

Page 59: ...per fase 3 phase L mH 26 0 12 0 6 6 Resistance per phase R 3 45 1 6 0 85 Inertia without brake J kg cm 11 0 11 0 11 0 Inertia with brake J kg cm 12 0 12 0 12 0 Mass without brake P kg 11 5 11 5 11 5 M...

Page 60: ...mH 61 0 22 0 9 6 5 6 Resistance per phase R 5 850 2 150 0 905 0 545 Inertia without brake J kg cm 22 0 22 0 22 0 22 0 Inertia with brake J kg cm 25 6 25 6 25 6 25 6 Mass without brake P kg 15 8 15 8 1...

Page 61: ...9 Resistance per phase R 3 700 1 350 0 640 0 345 Inertia without brake J kg cm 29 0 29 0 29 0 29 0 Inertia with brake J kg cm 32 6 32 6 32 6 32 6 Mass without brake P kg 17 8 17 8 17 8 17 8 Mass with...

Page 62: ...esistance per phase R 2 95 1 05 0 45 0 24 Inertia without brake J kg cm 36 0 36 0 36 0 36 0 Inertia with brake J kg cm 39 6 39 6 39 6 39 6 Mass without brake P kg 20 0 20 0 20 0 20 0 Mass with brake P...

Page 63: ...esistance per phase R 3 050 1 100 0 485 0 265 Inertia without brake J kg cm 61 0 61 0 61 0 61 0 Inertia with brake J kg cm 92 8 92 8 92 8 92 8 Mass without brake P kg 29 0 29 0 29 0 29 0 Mass with bra...

Page 64: ...9 Resistance per phase R 1 90 0 68 0 31 0 17 Inertia without brake J kg cm 79 0 79 0 79 0 79 0 Inertia with brake J kg cm 110 8 110 8 110 8 110 8 Mass without brake P kg 31 6 31 6 31 6 31 6 Mass with...

Page 65: ...Resistance per phase R 1 450 0 515 0 230 0 125 Inertia without brake J kg cm 97 0 97 0 97 0 97 0 Inertia with brake J kg cm 128 8 128 8 128 8 128 8 Mass without brake P kg 36 0 36 0 36 0 36 0 Mass wi...

Page 66: ...per phase R 1 100 0 400 0 180 0 095 Inertia without brake J kg cm 115 0 115 0 115 0 115 0 Inertia with brake J kg cm 146 8 146 8 146 8 146 8 Mass without brake P kg 40 0 40 0 40 0 40 0 Mass with brake...

Page 67: ...ance per phase R 0 87 0 33 0 13 0 08 Inertia without brake J kg cm 133 133 133 133 Inertia with brake J kg cm 164 8 164 8 164 8 164 8 Mass without brake P kg 43 0 43 0 43 0 43 0 Mass with brake P kg 4...

Page 68: ...7 3 0 1 3 Resistance per phase R 0 705 0 265 0 140 0 065 Inertia without brake J kg cm 151 0 151 0 151 0 151 0 Inertia with brake J kg cm 182 8 182 8 182 8 182 8 Mass without brake P kg 47 0 47 0 47 0...

Page 69: ...tac ms 4 7 7 8 11 7 15 6 Inductance per fase 3 phase L mH 61 0 22 0 9 6 5 6 Resistance per phase R 5 850 2 150 0 905 0 545 Inertia without brake J kg cm 22 0 22 0 22 0 22 0 Inertia with brake J kg cm...

Page 70: ...tance per fase 3 phase L mH 44 0 16 0 7 3 3 9 Resistance per phase R 3 700 1 350 0 640 0 345 Inertia without brake J kg cm 29 0 29 0 29 0 29 0 Inertia with brake J kg cm 32 6 32 6 32 6 32 6 Mass witho...

Page 71: ...se 3 phase L mH 36 0 13 0 5 6 3 0 Resistance per phase R 2 95 1 05 0 45 0 24 Inertia without brake J kg cm 36 0 36 0 36 0 36 0 Inertia with brake J kg cm 39 6 39 6 39 6 39 6 Mass without brake P kg 24...

Page 72: ...phase L mH 46 0 17 0 7 4 4 2 Resistance per phase R 3 050 1 100 0 485 0 265 Inertia without brake J kg cm 61 0 61 0 61 0 61 0 Inertia with brake J kg cm 92 8 92 8 92 8 92 8 Mass without brake P kg 33...

Page 73: ...hase L mH 33 0 12 0 5 4 2 9 Resistance per phase R 1 90 0 68 0 31 0 17 Inertia without brake J kg cm 79 0 79 0 79 0 79 0 Inertia with brake J kg cm 110 8 110 8 110 8 110 8 Mass without brake P kg 35 8...

Page 74: ...se 3 phase L mH 27 0 9 7 4 3 2 4 Resistance per phase R 1 450 0 515 0 230 0 125 Inertia without brake J kg cm 97 0 97 0 97 0 97 0 Inertia with brake J kg cm 128 8 128 8 128 8 128 8 Mass without brake...

Page 75: ...fase 3 phase L mH 22 0 8 0 3 6 1 9 Resistance per phase R 1 100 0 400 0 180 0 095 Inertia without brake J kg cm 115 0 115 0 115 0 115 0 Inertia with brake J kg cm 146 8 146 8 146 8 146 8 Mass without...

Page 76: ...nce per fase 3 phase L mH 18 0 7 0 2 6 1 7 Resistance per phase R 0 87 0 33 0 13 0 08 Inertia without brake J kg cm 133 0 133 0 133 0 133 0 Inertia with brake J kg cm 164 8 164 8 164 8 164 8 Mass with...

Page 77: ...0 Inductance per fase 3 phase L mH 15 0 5 7 3 0 1 3 Resistance per phase R 0 705 0 265 0 140 0 065 Inertia without brake J kg cm 151 0 151 0 151 0 151 0 Inertia with brake J kg cm 182 8 182 8 182 8 1...

Page 78: ...wer Pcal kW 0 5 Rated power Pn kW 0 5 Torque constant Kt N m A 0 6 Acceleration time tac ms 8 4 Inductance per fase 3 phase L mH 12 Resistance per phase R 4 6 Inertia without brake J kg cm 1 2 Inertia...

Page 79: ...wer Pn kW 0 8 Torque constant Kt N m A 0 6 Acceleration time tac ms 7 2 Inductance per fase 3 phase L mH 5 5 Resistance per phase R 1 45 Inertia without brake J kg cm 1 9 Inertia with brake J kg cm 2...

Page 80: ...ower Pn kW 1 2 Torque constant Kt N m A 0 6 Acceleration time tac ms 6 8 Inductance per fase 3 phase L mH 3 5 Resistance per phase R 0 8 Inertia without brake J kg cm 2 6 Inertia with brake J kg cm 3...

Page 81: ...1 5 Torque constant Kt N m A 1 2 0 6 Acceleration time tac ms 3 5 6 9 Inductance per fase 3 phase L mH 10 0 2 6 Resistance per phase R 2 30 0 55 Inertia without brake J kg cm 3 3 3 3 Inertia with bra...

Page 82: ...0 Torque constant Kt N m A 1 2 0 6 Acceleration time tac ms 5 6 11 3 Inductance per fase 3 phase L mH 24 6 1 Resistance per phase R 5 05 1 25 Inertia without brake J kg cm 3 5 3 5 Inertia with brake J...

Page 83: ...rque constant Kt N m A 1 2 0 6 Acceleration time tac ms 5 0 10 1 Inductance per fase 3 phase L mH 11 2 9 Resistance per phase R 1 65 0 44 Inertia without brake J kg cm 6 0 6 0 Inertia with brake J kg...

Page 84: ...2 5 Torque constant Kt N m A 1 2 0 6 Acceleration time tac ms 4 9 9 9 Inductance per fase 3 phase L mH 6 7 1 8 Resistance per phase R 0 9 0 245 Inertia without brake J kg cm 8 50 8 50 Inertia with bra...

Page 85: ...Torque constant Kt N m A 1 2 0 6 Acceleration time tac ms 5 10 Inductance per fase 3 phase L mH 5 3 1 3 Resistance per phase R 0 65 0 17 Inertia without brake J kg cm 11 00 11 00 Inertia with brake J...

Page 86: ...que constant Kt N m A 1 2 0 8 0 6 Acceleration time tac ms 7 8 11 7 15 6 Inductance per fase 3 phase L mH 5 0 2 2 1 3 Resistance per phase R 0 445 0 200 0 110 Inertia without brake J kg cm 22 0 22 0 2...

Page 87: ...que constant Kt N m A 1 2 0 8 Acceleration time tac ms 8 2 12 3 Inductance per fase 3 phase L mH 3 4 1 6 Resistance per phase R 0 275 0 135 Inertia without brake J kg cm 29 0 29 0 Inertia with brake J...

Page 88: ...ue constant Kt N m A 1 9 1 1 Acceleration time tac ms 5 3 8 8 Inductance per fase 3 phase L mH 7 2 2 5 Resistance per phase R 0 55 0 19 Inertia without brake J kg cm 36 0 36 0 Inertia with brake J kg...

Page 89: ...power Pn kW 2 4 Torque constant Kt N m A 1 9 Acceleration time tac ms 7 4 Inductance per fase 3 phase L mH 9 8 Resistance per phase R 0 6 Inertia without brake J kg cm 61 0 Inertia with brake J kg cm...

Page 90: ...Rated power Pn kW 3 1 Torque constant Kt N m A 2 0 Acceleration time tac ms 7 4 Inductance per fase 3 phase L mH 7 8 Resistance per phase R 0 445 Inertia without brake J kg cm 79 0 Inertia with brake...

Page 91: ...Inductance per fase 3 phase L mH 5 9 Resistance per phase R 0 31 Inertia without brake J kg cm 97 0 Inertia with brake J kg cm 128 8 Mass without brake P kg 36 0 Mass with brake P kg 40 1 Note that a...

Page 92: ...dicated in the table Also bear in mind that T 2 74 Maximum values for axial and radial loads Series Axial force Fax Radial force Fr Distance d Units N lbf N lbf mm in FXM1 105 23 60 500 112 40 15 0 59...

Page 93: ...FXM1 series Dimensions of the shaft extension Dimension LB Units mm in FXM11 136 5 35 FXM12 171 6 70 FXM13 206 8 11 FXM14 241 9 48 32 40 8 LB 46 30 0 1 80j6 14j6 0 3 0 1 20 86 7 1 0 0 117 WITH BRAKE...

Page 94: ...XM3 series Dimensions of the shaft extension 30 10 158 10 114 115 154 1 4 0 19j6 30 40 0 1 0 3 0 1 LB 46 40 105 Dimension LB Units mm in FXM31 152 5 98 FXM32 187 7 36 FXM33 222 8 74 FXM34 257 10 12 Di...

Page 95: ...FXM5 series Dimensions of the shaft extension 12 40 130j6 24j6 50 0 25 0 3 5 0 1 LB WITH BRAKE LB 28 46 32 40 12 145 197 189 165 Dimension LB Units mm in FXM53 237 9 33 FXM54 272 10 71 FXM55 307 12 09...

Page 96: ...25 0 4 0 1 15 180j6 32 k6 15 2 1 5 2 4 5 Dimension C1 C2 C3 Units mm in mm in mm in Io 23 A MC 23 40 1 57 35 1 38 229 9 01 23 A Io 46 A MC 46 50 1 96 40 1 57 236 9 29 Dimension LB Units mm in FXM73 2...

Page 97: ...130j6 50 0 25 3 5 0 1 0 259 L 165 145 C2 C1 12 1 2 211 197 1 6 5 WITH BRAKE L 28 Dimension L Units mm in FXM53 V 365 14 37 FXM54 V 400 15 74 FXM55 V 435 17 12 Dimension C1 C2 Units mm in mm in Io 23...

Page 98: ...303 4 0 1 0 WITH BRAKE L 41 Dimension C1 C2 Units mm in mm in Io 23 A MC 23 40 1 57 157 6 18 23 A Io 46 A MC 46 50 1 96 162 6 25 46 A Io 80 A MC 80 50 1 96 162 6 37 Dimension L Units mm in FXM73 V 38...

Page 99: ...3 Temperature sensors in this chapter They carry an encoder for position feedback and optionally holding brake all series and fan FKM8 series only See the tables of the section 3 2 General characteris...

Page 100: ...earth magnets Nd Fe B Temperature sensor PTC KTY84 130 thermistor discontinued RTD Pt1000 thermoresistance Shaft extension Cylindrical without keyway Option with keyway Mounting methods IM B5 IM V1 IM...

Page 101: ...Type of winding A winding 400 Vac Pairs of poles p 3 Noise emission DIN 45635 Stator winding insulation class Class F Limit temperature 150 C 302 F according to EN 60034 1 IEC 60034 1 Protection degre...

Page 102: ...ltage limited energy secondary circuits DVC A according IEC UL 61800 5 1 T 3 4 Characteristics of the temperature sensor KTY84 130 Sensor type PTC KTY84 130 thermistor Resistance at 20 C 68 F 581 Resi...

Page 103: ...emperature coefficient PTC and has no polarity The following figure shows the resistance of the sensor as a function of the ambient temperature average values T 3 5 Characteristics of the temperature...

Page 104: ...nd 850 C 1562 F Its use is recommended in control and measurement systems It has no polarity The following figure shows the resistance of the sensor as a function of the ambient temperature average va...

Page 105: ...icable and for the fan if applicable F 3 4 FKM servomotors A Without FAN B With FAN 1 Power base connector for the servomotor brake if applicable 2 Servomotor feedback base connector 3 Power base conn...

Page 106: ...nectors on the end of the cables leaving the servomotor through the gland F 3 6 Rotary connectors Connector SERVOMOTOR Amax Hmax Power 1 FKM2 4 6 150 180 Signal 2 FKM2 150 180 FKM4 115 110 FKM6 110 10...

Page 107: ...x Power 1 FKM6 V 150 180 Signal 2 FKM6 V Keep it fixed in the position shown in the image Fan 3 FKM6 V 150 180 1 2 3 Note Certain positions cannot be reached by rotating with the based mounted Approx...

Page 108: ...tations are allowed in order to keep the degree of protection 1 2 3 MANDATORY Do not try to exceed the indicated rotating angle values We recommend to rotate both connectors only when necessary and ve...

Page 109: ...3000 6 3 4 6 42 30A 00 4 6 1 9 MC 20 6 MPC 4x1 5 M 3000 9 0 6 5 43 30A 00 5 5 2 8 MC 20 6 MPC 4x1 5 M 3000 11 6 7 4 44 30A 00 8 2 3 6 MC 20 6 MPC 4x1 5 M 3000 11 6 7 4 44 30A 00 2 7 0 3 6 MC 20 6 MPC...

Page 110: ...le name E g for the FKM82 40A 11 model with standard brake the power cable is MPC 4x10 2x T 3 9 Technical data of non ventilated FKM servomotors with F winding and without brake nN Mo Mn Servomotor mo...

Page 111: ...068 0 15 0 33 FKM2 4 5 3 32 12 0 016 7 35 0 18 0 30 0 66 FKM4 9 0 6 64 18 0 024 7 40 0 54 0 48 1 06 FKM6 18 0 13 28 24 0 032 10 50 1 66 0 87 1 92 FKM8 8V 80 0 59 00 35 0 046 53 97 31 8 4 10 9 03 FKM9...

Page 112: ...fan Rated voltage 24 Vdc SERVO MOTOR series Voltage Ambient temperature min max Power input Flow Noise emission Speed Units Vdc C W m h dB A 1 min FKM6 V 12 28 20 75 5 170 45 2800 T 3 12 Technical dat...

Page 113: ...2 made up of pieces 6 and 7 Insert the power cable whose reference is MPC 4x M for brakeless servomotor or MPC 4x 2x M for servomotor with brake into the holes of the pieces shown in the figure in the...

Page 114: ...d back onto piece 5a and press piece 5b against the previous one securing the shield between them thus making good contact shield piece 5 See figure F 3 11 Now cut off the excess shield with scissors...

Page 115: ...oth pieces F 3 14 SF Z0026 tool from Phoenix Contact F 3 15 Channeling the wires already crimped Note Make sure that the signal transmitted by each wire corresponds with the hole numbered according to...

Page 116: ...1 1 2 4 5 6 3 FKM1 1 MC 20 6 SEALING IP 65 PIN SIGNAL 1 2 6 3 4 5 U PHASE V PHASE W PHASE PE BRAKE B BRAKE B 97 3 82 80 3 15 27 1 06 MC 20 6 MPC 4x approx 97 3 82 80 3 15 27 1 06 MC 20 6 approx MPC 4x...

Page 117: ...ive 0 9 9 0 3 8 9 8 9 ROGLQJ EUDNH 2SWLRQ LWK EUDNH 03 PP DEOH ZLWKRXW FRQQHFWRUV 8 9 5 9 9 8 9 0 KDVVLV 6KLHOG 8 9 8 9 0 3 0 9 027256 3 0 UDNHOHVV 03 PP DEOH ZLWKRXW FRQQHFWRUV 8 9 5 9 8 9 0 KDVVLV 6...

Page 118: ...d by them and their main characteristics have already been described in the T 3 10 table See detailed in section 10 16 Holding brake connection diagram of chapter 10 CONNECTION DIAGRAMS of the man_dds...

Page 119: ...ugh the base 2 connector of the servomotor See figure F 3 20 The pinout information of this feedback connector 2 depending on the feedback device integrated into the servomotor is provided in chapter...

Page 120: ...H 3XUSOH KLWH 5HG 5HDG PDGH FDEOH 63 HQJWK LQ PHWHUV FRQQHFWRUV LQFOXGHG 5 26 6 1 5 6 1 1 WHPS WHPS 9 26 HOORZ DEOH 6LJQDO 3LQ 3LQ 66 6 2 URQW YLHZ URQW YLHZ WR 0 PRWRU FRQQHFWRU PP PP 6KLHOGHG E SDLU...

Page 121: ...ted as positions when looking at the front of the unit It is recommended to maintain the correspondence between cable color and the corresponding signal to provide the desired differential effect betw...

Page 122: ...er base connector pinout F 3 24 Fan power base connector pinout 1 2 4 5 6 1 2 4 5 6 Outside view of the motor 3 MC 20 6 SEALING IP 65 PIN SIGNAL 1 2 6 3 4 5 N C GND 24 V DC 0 V DC N C N C FKM6 V 80 3...

Page 123: ...able into the power base connector of the servomotor Use the figure to help you and proceed as follows Note For servomotors in these series FAGOR supplies upon request the MC 61 6 female connector in...

Page 124: ...MIN LENGTH 6x OUT 46 1 81 MC 61 6 109 4 29 105 4 13 46 1 81 MIN LENGTH 6x OUT MPC CABLE OUT MAX 26 5 1 04 1 FKM8 FKM9 FKM8 V 1 MC 61 6 PIN U V W U PHASE V PHASE PE BRAKE BRAKE W PHASE SEALING IP 67 W...

Page 125: ...0 3 8 9 8 9 0 UDNHOHVV 03 PP DEOH ZLWKRXW FRQQHFWRUV 8 9 5 9 8 9 0 KDVVLV 6KLHOG 3 3 8 9 0 8 9 0 3 3 0 9 6 592027256 0 8 9 8 9 8 9 0 9 9 0 3 3 8 9 8 9 8 9 8 9 0 ROGLQJ EUDNH 2SWLRQ LWK EUDNH 03 PP DE...

Page 126: ...c he power consumed by them and their main characteristics have already been described in the T 3 10 table See detailed in section 10 16 Holding brake connection diagram of chapter 10 CONNECTION DIAGR...

Page 127: ...or 2 depending on the feedback device integrated into the servomotor is provided in chapter 1 GENERAL CONCEPTS of this manual To take the feedback signals from the servomotor feedback device to the dr...

Page 128: ...WHPS WHPS 9 26 HOORZ DEOH 6LJQDO 3LQ 3LQ 66 6 2 URQW YLHZ URQW YLHZ WR 0 PRWRU FRQQHFWRU PP PP 6KLHOGHG E SDLUV RI FDEOH 2YHUDOO VKLHOG 7KH VKLHOG RI WZLVWHU SDLUV PXVW EH FRQQHFWHG WR HDFK RWKHU DQG...

Page 129: ...ed servomotor Fan power base connector pinout F 3 31 Fan power base connector pinout 1 2 4 5 6 Outside view of the motor 3 MC 20 6 SEALING IP 65 PIN SIGNAL 1 2 6 3 4 5 PHASE N C N C GND N C PHASE 97 3...

Page 130: ...DO HQFRGHU SSW 1 1 2 1 237 21 LWKRXW KROGLQJ EUDNH LWK VWDQGDUG KROGLQJ EUDNH 9GF LWK H WUD KROGLQJ EUDNH 9GF 1 1 1 57 237 21 9DF OLQGULFDO ZLWK QR NH ZD 3 UHY PLQ UHY PLQ 63 7 21 2QO ZKHQ LW KDV D VS...

Page 131: ...r drive than the one shown in the tables Therefore it is essential to know the requirements of the application before selecting the drive If they are unknown we recommend to apply the general criteria...

Page 132: ...93 Rated current In A 0 90 Peak current Ip A 4 30 Calculation power Pcal kW 0 25 Rated power Pn kW 0 22 Torque constant Kt N m A 0 6 Acceleration time tac ms 1 5 Inductance per fase 3 phase L mH 25 5...

Page 133: ...07 Peak current Ip A 5 3 Calculation power Pcal kW 0 45 Rated power Pn kW 0 40 Torque constant Kt N m A 0 8 Acceleration time tac ms 1 4 Inductance per fase 3 phase L mH 24 25 Resistance per phase R...

Page 134: ...3 Inductance per fase 3 phase L mH 7 7 Resistance per phase R 2 55 Inertia without brake J kg cm 1 6 Inertia with standard brake J kg cm 1 72 Inertia with extra torque brake J kg cm Mass without brake...

Page 135: ...cm 2 90 2 90 2 90 Inertia with standard brake J kg cm 3 02 3 02 3 02 Inertia with extra torque brake J kg cm Mass without brake P kg 5 30 5 30 5 30 Mass with standard brake P kg 5 58 5 58 5 58 Mass wi...

Page 136: ...brake J kg cm 8 50 8 50 8 50 Inertia with standard brake J kg cm 9 04 9 04 9 04 Inertia with extra torque brake J kg cm Mass without brake P kg 7 80 7 80 7 80 Mass with standard brake P kg 8 28 8 28 8...

Page 137: ...6 7 Inertia with standard brake J kg cm 17 24 17 24 17 24 Inertia with extra torque brake J kg cm Mass without brake P kg 11 70 11 70 11 70 Mass with standard brake P kg 12 18 12 18 12 18 Mass with ex...

Page 138: ...d brake J kg cm 17 3 17 3 17 3 17 3 Inertia with extra torque brake J kg cm 18 4 18 4 18 4 Mass without brake P kg 11 7 11 7 11 7 11 7 Mass with standard brake P kg 12 2 12 2 12 2 12 2 Mass with extra...

Page 139: ...ndard brake J kg cm 17 15 17 15 17 15 Inertia with extra torque brake J kg cm Mass without brake P kg 11 9 11 9 11 9 Mass with standard brake P kg 12 8 12 8 12 8 Mass with extra torque brake P kg T 3...

Page 140: ...9 50 29 50 Inertia with standard brake J kg cm 31 16 31 16 31 16 Inertia with extra torque brake J kg cm Mass without brake P kg 17 10 17 10 17 10 Mass with standard brake P kg 17 97 17 97 17 97 Mass...

Page 141: ...ia with standard brake J kg cm 30 65 30 65 30 65 Inertia with extra torque brake J kg cm Mass without brake P kg 17 1 17 1 17 1 Mass with standard brake P kg 18 0 18 0 18 0 Mass with extra torque brak...

Page 142: ...3 0 Inertia with standard brake J kg cm 44 7 44 7 44 7 Inertia with extra torque brake J kg cm 48 6 48 6 Mass without brake P kg 22 3 22 3 22 3 Mass with standard brake P kg 23 2 23 2 23 2 Mass with e...

Page 143: ...7 0 3 1 1 8 Resistance per phase R 0 48 0 21 0 12 Inertia without brake J kg cm 103 0 103 0 103 0 Inertia with standard brake J kg cm 134 8 134 8 134 8 Inertia with extra torque brake J kg cm Mass wi...

Page 144: ...5 5 38 3 Inductance per fase 3 phase L mH 4 6 1 8 Resistance per phase R 0 265 0 100 Inertia without brake J kg cm 150 0 150 0 Inertia with standard brake J kg cm 181 8 181 8 Inertia with extra torque...

Page 145: ...ms 26 4 39 6 Inductance per fase 3 phase L mH 3 4 1 5 Resistance per phase R 0 18 0 08 Inertia without brake J kg cm 197 0 197 0 Inertia with standard brake J kg cm 228 8 228 8 Inertia with extra torq...

Page 146: ...onstant Kt N m A 2 5 Acceleration time tac ms 22 9 Inductance per fase 3 phase L mH 2 9 Resistance per phase R 0 14 Inertia without brake J kg cm 243 0 Inertia with standard brake J kg cm 274 8 Inerti...

Page 147: ...stant Kt N m A 2 7 Acceleration time tac ms 11 7 Inductance per fase 3 phase L mH 3 15 Resistance per phase R 0 12 Inertia without brake J kg cm 430 Inertia with standard brake J kg cm 483 Inertia wit...

Page 148: ...stant Kt N m A 2 8 Acceleration time tac ms 11 5 Inductance per fase 3 phase L mH 2 4 Resistance per phase R 0 075 Inertia without brake J kg cm 550 Inertia with standard brake J kg cm 603 Inertia wit...

Page 149: ...m A 2 7 Acceleration time tac ms 11 5 Inductance per fase 3 phase L mH 1 7 Resistance per phase R 0 055 Inertia without brake J kg cm 660 Inertia with standard brake J kg cm Inertia with extra torque...

Page 150: ...4 Acceleration time tac ms 9 6 14 4 Inductance per fase 3 phase L mH 4 6 2 6 Resistance per phase R 0 52 0 17 Inertia without brake J kg cm 43 0 Inertia with standard brake J kg cm Inertia with extra...

Page 151: ...ration time tac ms 44 9 Inductance per fase 3 phase L mH 1 8 Resistance per phase R 0 12 Inertia without brake J kg cm 103 0 Inertia with standard brake J kg cm 134 8 Inertia with extra torque brake J...

Page 152: ...nt Kt N m A 1 5 Acceleration time tac ms 38 3 Inductance per fase 3 phase L mH 1 8 Resistance per phase R 0 100 Inertia without brake J kg cm 150 0 Inertia with standard brake J kg cm 181 8 Inertia wi...

Page 153: ...stant Kt N m A 2 4 1 6 Acceleration time tac ms 26 4 39 6 Inductance per fase 3 phase L mH 3 4 1 5 Resistance per phase R 0 18 0 08 Inertia without brake J kg cm 197 0 197 0 Inertia with standard brak...

Page 154: ...ase R 0 140 0 0525 Inertia without brake J kg cm 243 0 243 0 Inertia with standard brake J kg cm 274 8 274 8 Inertia with extra torque brake J kg cm Mass without brake P kg 65 65 Mass with standard br...

Page 155: ...0 4 Acceleration time tac ms 14 3 Inductance per fase 3 phase L mH 2 6 Resistance per phase R 0 885 Inertia without brake J kg cm 1 6 Inertia with standard brake J kg cm 1 72 Inertia with extra torqu...

Page 156: ...e per fase 3 phase L mH 4 6 1 7 Resistance per phase R 1 1 0 425 Inertia without brake J kg cm 2 9 2 9 Inertia with standard brake J kg cm 3 02 3 02 Inertia with extra torque brake J kg cm Mass withou...

Page 157: ...tance per fase 3 phase L mH 2 6 1 2 Resistance per phase R 0 45 0 21 Inertia without brake J kg cm 8 5 8 5 Inertia with standard brake J kg cm 9 04 9 04 Inertia with extra torque brake J kg cm Mass wi...

Page 158: ...eleration time tac ms 14 5 Inductance per fase 3 phase L mH 1 2 Resistance per phase R 0 150 Inertia without brake J kg cm 16 7 Inertia with standard brake J kg cm 17 24 Inertia with extra torque brak...

Page 159: ...eration time tac ms 11 2 Inductance per fase 3 phase L mH 1 2 Resistance per phase R 0 15 Inertia without brake J kg cm 16 7 Inertia with standard brake J kg cm 17 24 Inertia with extra torque brake J...

Page 160: ...er fase 3 phase L mH 2 1 1 3 Resistance per phase R 0 225 0 18 Inertia without brake J kg cm 16 16 Inertia with standard brake J kg cm 17 15 17 15 Inertia with extra torque brake J kg cm Mass without...

Page 161: ...uctance per fase 3 phase L mH 2 7 1 3 Resistance per phase R 0 205 0 100 Inertia without brake J kg cm 29 50 29 50 Inertia with standard brake J kg cm 31 16 31 16 Inertia with extra torque brake J kg...

Page 162: ...nductance per fase 3 phase L mH 2 7 1 3 Resistance per phase R 0 205 0 145 Inertia without brake J kg cm 29 5 29 5 Inertia with standard brake J kg cm 30 65 30 65 Inertia with extra torque brake J kg...

Page 163: ...celeration time tac ms 9 6 Inductance per fase 3 phase L mH 0 8 Resistance per phase R 0 135 Inertia without brake J kg cm 43 0 Inertia with standard brake J kg cm 44 15 Inertia with extra torque brak...

Page 164: ...o 70 of the value indicated in the table Also bear in mind that T 3 68 Maximum values for axial and radial loads Series Axial force Fax Radial force Fr Distance d Units N lbf N lbf mm in FKM1 45 10 11...

Page 165: ...s FKM1 series F 3 65 Synchronous servomotors FKM1 series Dimensions CABLE LENGTH 1 0 m 43 74 50 6 25 63 3 50 K 20 6 2 5 40j6 14 3 9k6 M3 8 55 4x R2 9 56 5 Dimensions in mm 1 in 25 4 mm 1000 Dimension...

Page 166: ...mensions D GA GD F ST 0 2 100 115 80 18 40 0 1 0 3 0 1 80j6 19j6 30 8 54 LB L 97 139 5 R3 5 with standard brake without brake Dimension LB L Units mm in mm in FKM21 106 4 17 208 8 19 FKM22 130 5 11 23...

Page 167: ...e without brake Dimension LB L Units mm in mm in FKM42 133 5 23 247 9 72 FKM43 175 6 88 289 11 38 FKM44 175 6 88 289 11 38 Dimension D j6 F GD R GA ST Units mm in mm in mm in mm in mm in mm FKM4 24 0...

Page 168: ...ake without brake Dimension LB L Units mm in mm in FKM62 136 5 35 260 10 24 FKM63 172 6 77 296 11 65 FKM64 172 6 77 296 11 65 FKM66 208 8 18 332 13 07 Dimension D k6 F GD R GA ST Units mm in mm in mm...

Page 169: ...mensions Models without brake FKM66 20A 01 2 Dimensions in mm 1 in 25 4 mm 383 5 325 5 233 5 217 176 R6 18 68 12 40 58 0 25 58 0 1 3 5 0 1 1 9 0 165 32k6 130j6 35 0 5 8 217 176 R6 158 387 5 295 5 12 4...

Page 170: ...25 0 60 15 240 215 without brake with standard brake Dimension LB L LB L Units mm in mm in mm in mm in FKM82 246 9 68 388 15 27 296 11 65 438 17 24 FKM83 296 11 65 438 17 24 346 13 62 488 19 21 FKM84...

Page 171: ...A LB L LA LB L Units mm in mm in mm in mm in mm in mm in FKM82 V 290 11 41 423 16 65 503 19 80 290 11 41 473 18 62 553 21 77 FKM83 V 290 11 41 473 18 62 553 21 77 290 11 41 523 20 59 603 23 74 FKM84 V...

Page 172: ...KM95 42 1 65 12 0 47 8 0 31 63 2 48 45 2 1 77 M12x30 FKM96 42 1 65 12 0 47 8 0 31 63 2 48 45 2 1 77 M12x30 D GD F ST E 240 18 4 55 25 293 45 128 89 5 151 230j6 Dk6 L 29 265 300 14 5 K without brake wi...

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Page 174: ...or Automation S Coop B San Andr s 19 Apdo 144 E 20500 Arrasate Mondrag n Spain Tel 34 943 719 200 34 943 039 800 Fax 34 943 791 712 E mail info fagorautomation es www fagorautomation com FAGOR AUTOMAT...