Innovista Sensors CROUZET 801400TNI21, User And Safety Manual

Page 1: ...WWW CROUZET MOTORS COM TNi21 DCMIND BRUSHLESS MOTORS USER AND SAFETY MANUAL ...

Page 2: ...mation section Please see the current catalogue for the product s technical specification We reserve the right to make modifications without prior notice Unless otherwise stated in writing by Crouzet Automatismes any use of the products described herein automatically signifies unconditional acceptance by the user of our general conditions of sale and the waiver of any stipulations which might be p...

Page 3: ... 2 Radial load on the shaft 10 3 2 Options 11 3 2 1 Holding brake 11 3 2 2 Gearboxes 11 3 2 3 Others 11 4 Installation 12 4 1 Snapshot of the installation procedure 14 4 2 Electromagnetic compatibility EMC 14 4 3 Before fitting 15 4 4 Fitting the motor 16 4 5 Electrical installation 17 4 5 1 Connecting the holding brake option 19 4 6 Production connector 20 5 Switching on 21 5 1 Preparations for s...

Page 4: ... 2 2 Function E2 Direction of rotation 33 9 2 3 Function E3 Speed set point 33 9 2 4 Function E4 Torque limiter set point 34 9 3 Functions associated with outputs 34 9 3 1 Function S1 Encoder output 34 9 3 2 Function S2 Torque limiter output 34 9 3 3 Function S3 Actual direction of rotation output 34 9 4 SAFE mode 35 10 Diagnostics and troubleshooting 35 10 1 Mechanical faults 35 10 2 Electrical p...

Page 5: ...structions are identified by warning symbols Safety instructions are divided into three risk categories depending on the gravity of the situation DANGER DANGER indicates an immediately dangerous situation which if instructions are not followed would inevitably result in a serious or fatal accident WARNING WARNING indicates a potentially dangerous situation which if instructions are not followed co...

Page 6: ...rake in the event of loss of current various motor output shaft versions 1 4 Identification label The label carries the following information Figure 1 1 Product family code 2 Product reference 3 Reserved area 4 Area reserved for special customer markings 5 Date manufactured week year 6 Operating voltage 7 The motor s rated speed at 24V 8 The motor s rated current 9 Gear ratio for versions with gea...

Page 7: ...ased on TNI21 electronics PRODUCT REFERENCE 8 0 X X X X X X Motor Type of stator 14 30 mm brushless stator 18 50mm brushless stator 28 50mm brushless stator high torque Gearboxes fitted 00 no gearbox 10 RAD10 gearbox 95 P52 gearbox 96 P62 gearbox 97 P81 gearbox Incrementing numbers ...

Page 8: ...al electrical and electronic equipment in the installation in general 2 2 Use for intended purpose As stated in these instructions this product is a component intended for use in an industrial environment The safety instructions in force specified conditions and technical characteristics must be respected at all times Before using the product for the first time a risk analysis should be carried ou...

Page 9: ...ecessary to earth the motor depending on its use Do not touch unprotected live parts Use only electrically insulated tools AC voltages may flow along unused conductors in the motor cable Isolate unused conductors at both ends of the motor cable The motor produces a voltage when the shaft rotates Isolate the motor shaft from any external power supply before carrying out any work on the drive system...

Page 10: ...irectives Any installation in which the product described in this manual is used must be carefully and minutely checked to ensure that it is operating correctly before it is switched on If these precautions are not taken the result could be death or serious injury WARNING UNBRAKED MOVEMENT In the event of a loss of power to the power stage the motor is no longer braked in a controlled way and coul...

Page 11: ...shaft do not exceed the maximum permitted axial force If these precautions are not taken the result could be death serious injury or damage to equipment The maximum force when pushing items on to the shaft is limited by the maximum permitted axial force acting on the ball bearings This maximum axial force is given in the motor s data sheet Alternatively the item to be attached can be secured by cl...

Page 12: ...fety function The Connecting a holding brake section describes how it should be controlled 3 2 2 Gearboxes TNI21 DCmind brushless motors may be fitted with various types of gearbox The gearboxes offered in the standard catalogue are planetary gearboxes combining compactness with strength and worm gearboxes that provide output from the shaft at right angles to the motor shaft 3 2 3 Others Other typ...

Page 13: ...an cause sensitive equipment to fail Keep persons wearing implants such as heart pacemakers away from the motor Do not position sensitive equipment in the immediate proximity of the motor If these precautions are not taken the result could be death serious injury or damage to equipment WARNING UNEXPECTED BEHAVIOUR AS A RESULT OF DETERIORATION OR FOREIGN BODIES As a result of deterioration of the p...

Page 14: ...ed to withstand loads If the motor is stressed it could be damaged or even fall Do not stand on the motor Prevent the motor being used in any other way than its intended purpose by taking protective measures and following the safety instructions If these precautions are not taken the result could be injury or damage to equipment CAUTION OVER VOLTAGES During braking phases the motor generates over ...

Page 15: ...s power supply wiring must be installed isolated from network or signal transmission cables Take the following measures with regard to EMC EMC measures Effect Keep cables as short as possible Do not install loops of unused cable Reduce interference capacitive and inductive couplings Earth the product Reduce emissions increase immunity to interference Where shielded cables are used the cable shield...

Page 16: ...roduct used Fitting surface for the flange The fitting surface must be stable flat and clean On the installation side ensure compliance with all dimensions and tolerances Specification for power supply wires The power supply wires for the motor and its accessories must be selected with care according to their length the motor s supply voltage the ambient temperature the current passing through the...

Page 17: ...n cause faults in the encoding system and unexpected movements of the motor Use conductive components e g anti static belts or other appropriate measures to prevent any static charge due to movement WARNING UNINTENDED BEHAVIOUR DUE TO MECHNANICAL DETERIORATION OF THE MOTOR Exceeding the maximum permissible forces on the shaft will result in rapid wear of the bearings a broken shaft or damage to th...

Page 18: ... field of use of the final product For the supply to the power part we recommend the use of a stabilised double insulated power supply unit The motor s power stage is not protected against reversed polarity The motor is said to be regenerative i e it can feed back energy to the power supply during braking phases Voltage surges created in this way can reach levels that risk damaging the motor itsel...

Page 19: ... connector is not properly plugged in Poor connections can cause heating due to electrical arcing If these precautions are not taken the result could be injury or damage to equipment CAUTION REVERSED POLARITY COULD DESTROY THE PRODUCT Incorrectly connecting the power can result in reversed polarity and the destruction of the electronic board inside the motor Check that the power connection is corr...

Page 20: ...on Take care that this does not cause any damage Only run tests if there is no person or obstacle inside the danger zone If these precautions are not taken the result could be death serious injury or damage to equipment CAUTION MALFUNCTION OF THE HOLDING BRAKE DUE TO AN INAPPROPRIATE VOLTAGE If the voltage is too low the holding brake cannot release itself and that will cause wear If voltages are ...

Page 21: ...ccessed by users of the product If the plug is removed the motor will no longer be sealed allowing fluids and particles to enter the motor potentially destroying it or causing it to malfunction Figure 3 The plug should never be removed by the user CAUTION LOSS OF SEALING The plug keeps the motor sealed Do not remove the plug If these precautions are not taken the result could be injury or damage t...

Page 22: ...olding brake can support the maximum load Check that after the braking voltage is applied the holding brake releases correctly Ensure that the holding brake is properly released prior to movement starting Check that the connector protection plug is in place WARNING UNEXPECTED MOVEMENT Drives may move unexpectedly due to an incorrect connection or some other error Check the wiring Only start the in...

Page 23: ...on inflammable or heat sensitive components in immediate proximity Try to achieve an assembly that allows heat to dissipate efficiently Run a test to check the temperature If these precautions are not taken the result could be injury or damage to equipment CAUTION OVER VOLTAGES During braking phases the motor generates over voltages Check that these over voltages are acceptable to other equipment ...

Page 24: ...four inputs and three outputs that control the motor o Two 10 bit or PWM analogue control inputs Speed set point Torque limiting o Two switching inputs On off Direction of rotation o One encoder output 12 points per revolution for 80140 and 80180 motors 24 points per revolution for 80280 motors o One torque limit reached switching output o One actual direction of rotation switching output Label 8 ...

Page 25: ..._TOR 57 kΩ Input impedance between E3 and E4 RIN_ANA PWM 69 kΩ Low logic level on inputs E1 to E2 VIL_TOR 0 2 V High logic level on inputs E1 to E2 VIH_TOR 4 50 V Low logic level on inputs E3 to E4 VIL_PWM 0 2 V High logic level on inputs E3 to E4 VIH_PWM 7 5 50 V Frequency of PWMs on input 100 2000 Hz Resolution of proportional inputs 10 bits Output characteristics Parameters Min Typical Max Unit...

Page 26: ...nt 0 10V or PWM Bleu Blue 4 Input no 4 Speed set point 0 10V or PWM Orange Orange 5 Logical earth 0V DC Noir Black 6 Output no 1 Encoder 12 or 24 pts per rev Marron Brown 7 Output no 2 Torque limit reached Violet Purple 8 Output no 3 Actual direction of rotation Rouge Red a label attached to the motor provides this information References for the connector to be used On the board Molex series 43045...

Page 27: ... supplied 12V DC 32V DC Marron Brown Power earth 0V DC Bleu Blue The power supply cable is UL approved style 2517 105 C 300V 500mm long as standard Where a cable extension is used the cross section of the cable used must be of sufficient size for the current consumed and the length of cable ...

Page 28: ...e Reversing the polarity could damage the product beyond repair 8 1 1 Ballast circuit When the motor brakes the kinetic energy stored in the inertia in rotation is returned to the power supply and generates an over voltage This over voltage can be damaging to the motor or other devices connected to the same power supply Where there is frequent braking an external ballast circuit should be used In ...

Page 29: ...kg m The energy E in Joules stored in the inertia is given by If t is the braking time in seconds the power P1 dissipated during that time will be Note Time t is adjusted via the value of the deceleration ramps in the MMI If T is the time interval between two braking instances in seconds the average power dissipated P2 will be The resistor must be sized to dissipate power P2 while accepting the pe...

Page 30: ...perating voltages Rated voltage 12V 24V 32V Cut off voltage 14V 28V 36V D1 SMBJ14A SMBJ28A SMBJ36A R13 0R 560R 0 5W 1K 1W R5 15K 1 4K32 1 3K09 1 8 1 2 Protection for EMC To ensure that the product is compatible with EMC standards IEC 61000 6 1 IEC 61000 6 2 IEC 61000 6 3 and IEC 61000 6 4 We recommend Earthing the motor with the shortest possible length of earth braid For conducted emissions with ...

Page 31: ...oltage threshold is set to 56V When the power supply voltage exceeds the threshold the product automatically goes into SAFE mode power to the motor is then cut and it is no longer controlled To reset the motor it is necessary That the supply voltage is lower than 56V The motor inputs are in OFF mode Protection against under voltages When the power supply voltage drops below 9V the product automati...

Page 32: ...rrent to the peak current value in the motor phases If the limit is reached the motor s performance is reduced This product is not designed to operate continuously at this limit see the Electrical data section 8 3 Connecting inputs outputs 8 3 1 Equivalent inputs diagram NPN digital inputs ON OFF and Direction of rotation Figure 9 Analogue inputs PWM Speed set point and Torque set point Figure 10 ...

Page 33: ...g up the motor check that the outputs are wired correctly If these precautions are not taken the result could be injury or damage to equipment Figure 11 Caution the output level is equal to the motor s supply voltage if V DC 32V then S1 S2 S3 32V If there is rejection the voltage increases as a result it may rise to the maximum of 56V over voltage threshold value If for your application it is nece...

Page 34: ...r s OFF mode State 1 corresponds to the motor s ON mode Changing to 1 activates the power speed regulation as per the set point applied to E3 in 0 10V or PWM with torque limiting as per the set point applied to E4 in 0 10V or WM Changing to 0 cuts the power following the speed profile deceleration ramp 9 2 2 Function E2 Direction of rotation State Function 0 Anti clockwise rotation SI 1 Clockwise ...

Page 35: ...A fixed width top hall 500µs is generated each time that one of the motor s three hall sensors changes state Motors 80140_TNI21 and 80180_TNI21 have twelve top halls per motor revolution two pairs of poles Motor 80280_TNI21 has 24 top halls per motor revolution four pairs of poles The rest state of output S1 is 0 The calibrated pulse is positive set to V DC 9 3 2 Function S2 Torque limiter output ...

Page 36: ...Friction noises A rotating transmission component is rubbing Align the transmission component Radial vibration Transmission component not sufficiently accurately aligned Transmission component out of balance Twisted shaft Resonance in the mounting Align the transmission component Balance the transmission component Contact after sales Check the rigidity of the motor mounting Axial vibration Transmi...

Page 37: ...gns of damage Replace any damaged cables immediately Check that all transmission components are properly secure Re tighten all mechanical and electrical bolted assemblies to the appropriate torque WARNING UNEXPECTED MOVEMENT In the event that the permitted ambient conditions are not maintained foreign bodies from the surrounding area may enter and cause unexpected movement or damage to equipment C...

Page 38: ... established please contact your dealer 11 4 Replacing the motor Disconnect all sources of power Ensure that no power is still being applied safety instructions Identify all connections and dismount the product Replace it with a motor with the same reference Install the new product in accordance with chapter 4 Installation Carry out commissioning in accordance with chapter 5 Commissioning 11 5 Shi...

Page 39: ...orces Forces acting on the shaft in a radial direction Direction of rotation Positive or negative direction of rotation of the motor shaft A positive direction of rotation is clockwise rotation of the shaft when looking at the motor from the output shaft side Rated speed Speed of rotation of the motor when the nominal torque is applied Rated current Current drawn by the motor when the nominal torq...