sm series servo motors_servo... · 2017. 10. 8. · feed motor back ac input servo drive servo...

□40 mm□60 mm□80 mm

SM SERIESSERVO MOTORS

2

■ Features

MOONS’ SM servo motors offer a great combination ofPower, Precision and Value:

• AllmotorsareCE,RoHS,andULrecognized• Hightorqueinasmallpackage:40mm,60mmand80mmdiameters• PowerRange:60Wattsto1,000Watts• Lowcogging• Windingsfordrivevoltagesfrom240VACdownto24VDC• OptionalFeedbackDevices

• Incrementalencoder• Encoderwithsharedcommutationsignals• Absoluteencoder

• Lowcostnonsealedconnectors,orMetalIPratedconnectors• StandardBrakeOption• ShaftSeals• IP65protectionlevel(CapabletoprovideIP66protectivelevel)• Custommotorsareavailable:

• Shafts• Windings• Connectors• TemperatureSensor• AndMore………..•

•

■ Applications

• IndustrialEquipment• Textile• Packaging• ElectronicAssembly• WoodWorking• Semiconductor

MOONS’ SM Series of servo motors has been expanded and improved. The SM Series now includes a variety of standard windings, more feedback options, and more connection options. Some ratings have increased, the model number system has been updated, and all motors are now CE, RoHS, and UL recognized.

3

Rugged cast metal covers for reliable protection from electrical noise and harsh operating conditions

Latest feedback options, precision aligned to each motor, for maximum performance and control

Shaft movement controlled with captured bearings to eliminate axial movement, for consistent feedback performance and precise load control.

Low cogging rotors built for: Power, Speed and Accuracy• High energy magnets provide enhanced peak torque• Skewed magnets minimize cogging, for smooth speed control and accurate positioning• Double bonded magnets and precision balanced, for smooth reliable high speed performance

Rugged aluminum endcaps with steel inserts and high capacity bearings, for long life with high radial loads

Stators built for: Maximum Torque, Environmental Protection and Reliability • Segmented construction with maxim winding fill, for lower resistance coils and more power• Stators inserted in aluminum shells and completely encapsulated in Epoxy, to maximize heat transfer and protect the motors from harsh operating conditions

Index

ModelNumbers............................................................................................................... 4

WindingSelection........................................................................................................... 5

SM040Series:40mm,60-100Watts............................................................................... 6

SM060Series:60mm,200-400Watts........................................................................... 10

SM080Series:80mm,300-1000Watts......................................................................... 14

MotorPowerConnections............................................................................................. 20

HoldingBrakeOption.................................................................................................... 20

FeedbackOptions........................................................................................................ 21

ShaftSeal...................................................................................................................... 25

BearingLife................................................................................................................... 26

ConversionFactors.......................................................................................................27

4

Model Numbers

- -

Series

SM Servo Motor Medium Inertia

Frame Size

040 40 mm060 60 mm080 80 mm

Motor Length

1 1 Stack All Frame Sizes2 2 Stacks All Frame Sizes3 3 Stacks 80mm only4 4 Stacks 80mm only

Winding (See motor rating tables for available windings)

Basic Bus VoltageA 320 VDC (230 VAC) Lower CurrentB 240 VDCC 160 VDC (115 VAC)D 120 VDCE 80 VDCF 60 VDCG 48 VDCH 36 VDCJ 24 VDC Higher Current

Feedback

E2 2500 ppr Optical Encoder with Separate Commutation Signals E4 2500 ppr Optical Encoder with Shared Commutation Signals MAMB

Absolute Multi Turn Tamagawa EncoderAbsolute Multi Turn Heidenhain EnDat 2.2 Encoder - SM060 & SM080 Motors

- SM060 & SM080 Motors

Shaft

K Standard Keyway

Connections (Lead Style / Connector Style)

CD 300mm (12") Shielded Cables with Non - Sealed Connectors - For Windings up to 6.5 Amps CF 300mm (12") Shielded Cables with Non - Sealed Connectors - For Windings 6.6 to 12.5 Amps

CM 300mm (12") Shielded Cables with Sealed Metal Connectors

Brake

N No BrakeB 24 VDC Brake

Temperature Sensor

N No Sensor

Shaft Seal

V Shaft seal shipped with motor, but not placed on shaft

KSM 040 1 A E2 CD N N V

5

MOONS’offersaselectionofSMservomotorwindingsthatworkwellwithmostdrivevoltageandcurrentratings.Speedtorquecurvesfortypicalmotordrivecombinationsareshownineachmotorsectionofthiscatalog.

EachSMservomotorwindingisdesignatedbyaBasicBusVoltage.ThisisthenominaldriveDCBusVoltagethatthemotorwindingisdesignedtoworkwith,anddeliverratedpeaktorqueandspeeds.AwindingwithaBasicBusVoltageclosesttothedriveDCBusvoltageisusuallyused.

DriveswithACvoltageinputusuallyconverttheACvoltagetoaDCBusVoltagewithavaluethatis1.4timestheACRMSvoltage.ThedrivethenusesthisDCBusVoltagetocreatethevoltagesandcurrentsthatpowerthemotor.Thusa230VACdrivetypicallyhas320VDCBusVoltage,anda115VACdrivetypicallyhas160VDCBusVoltage.DriveswithDCinputvoltageusethisastheDCBusVoltage.

Power Supply Drive

Mechanical Load

Control UserInterface

Motor Feed back

AC Input Servo Drive Servo Motor

DC Bus

VoltageACPower

AllMOONS’SMservomotorwindingscanbeusedwithalargerangeofdrivevoltages.

AdriveDCBusVoltageabovethemotorBasicBusVoltage,allowsthemotortodelivertorqueathigherspeeds.Toavoiddamagetothemotor,themotorshouldneverbeoperatedatmorethantheratedpeaktorqueormaximumratedspeed.

IfthedriveDCBusVoltageismuchhigherthanthewindingBasicBusVoltage,considerchangingtoahighervoltagemotorwinding.Thiswillreducethemotorcurrent,andallowthedrivetoruncooler,orallowtheuseofalowercurrent(lessexpensive)drive.It’srareforthedriveDCBusVoltagetobemorethantwotimestheBasicBusVoltageofthemotorwinding.ThenominaldriveDCBusVoltageislimitedto350volts,asthisistheinsulationvoltageratingforSMseriesmotors.

DriveDCBusVoltagesbelowthemotorBasicBusVoltagewillreducehighspeedperformance.Whenhighspeedperformanceisnotneeded,thisisdonetominimizemotorcurrent,reducedriveheating,andreducedrivesize.Thisisespeciallyusefulforlowvoltageapplicationsoflargermotors,wherethemaximummotorcurrentislimitedbytheconstructionofthemotor.

Customwindingsarealsoavailable.PleasecontactMOONS’forhelpwithmotorselectionandrecommandationsforyourapplication.

Winding Selection

6

SM040 Series: 40mm, 60-100 Watts

ULFileNumberE465363InsulationClass B(130°C)IPrating IP65(exceptshaftwithoutseal andnon-sealedconnectors)Installationlocation Indoors,freefromcorrosivegas, inflammablegasAmbienttemperature Operating0to40°C, Storage-20to80°CAmbienthumidity85%RHorlower(freefromcondensing)Altitude(maximum) Operating1,000mVibrationResistance 49m/s2

RotorPoles 8

Series SM0401 - 60 Watt SM0402 - 100 Watt

PreferredModel&WindingLetter ^A ^C E ^H ^A ^C E ^F

BaseModelNumber(with2500PPRincrementalencodernon-sealedplasticconnectors,nobrake)

SM0401AE2-KCD-

NNV

SM0401CE2-KCD-

NNV

SM0401EE2-KCD-

NNV

SM0401HE2-KCD-

NNV

SM0402AE2-KCD-

NNV

SM0402CE2-KCD-

NNV

SM0402EE2-KCD-

NNV

SM0402FE2-KCD-

NNV

TypicalSupplyVoltages 208-240VAC 120VAC 60-90VDC 24-48VDC 208-240

VAC 120VAC 60-90VDC 24-80VDC

BasicDCBusVoltage V(dc) 320 160 80 36 320 160 80 60

RatedOutputPower watts 60 60 60 60 100 100 100 100

RatedSpeed rpm 3000 3000 3000 3000 3000 3000 3000 3000

Max.MechanicalSpeed rpm 6000 6000 6000 6000 6000 6000 6000 6000

RatedTorque Nm 0.19 0.19 0.19 0.19 0.32 0.32 0.32 0.32

ContinuousStallTorque Nm 0.19 0.2 0.2 0.2 0.34 0.34 0.34 0.34

PeakTorque Nm 0.48 0.48 0.48 0.48 0.93 0.92 0.91 0.91

RatedCurrent A(rms) 0.7 1.4 2.6 5.7 1.2 1.65 3.2 5.2

ContinuousStallCurrent A(rms) 0.7 1.5 2.8 6 1.27 1.8 3.4 5.6

PeakCurrent A(rms) 1.75 3.5 6.5 14.3 3.6 4.95 9.6 15.6

VoltageConstant±5% V(rms)/Krpm 17 8.6 4.6 2.1 16.6 12 6.1 3.8

TorqueConstant±5% Nm/A(rms) 0.283 0.143 0.077 0.035 0.271 0.195 0.1 0.061

WindingResistance(Line-Line) Ohm±10%@25°C 27 6 1.67 0.36 9.7 4.9 1.23 0.48

WindingInductance(Line-Line) mH(typ.) 26 6.6 1.88 0.39 11.5 5.9 1.56 0.58

Inertia(withencoder) kgm^2 0.0232X10-4 0.0428X10-4

Inertia-WithBrakeOption kgm^2 0.0298X10-4 0.0494X10-4

ThermalResistance(mounted) °C/W 2.9 2.4

ThermalTimeConstant Minutes 12 14.5

HeatSinkSize mm 120x120x5Aluminum 120x120x5Aluminum

ShaftLoad-Axial (max.) 50N/11Lb 50N/11Lb

ShaftLoad-Radial(EndofShaft) (max.) 50N/11Lb 60N/13.5Lb

Weight(withstd.encoder) 0.4kg/0.9Lb 0.55kg/1.2Lb

Weight-WithBrakeOption 0.65kg/1.4lb 0.8kg/1.8lb

ShaftLoad:(L10life,20,000hours,2,000RPM)

7


Max. Intermittent TorqueMax. Continuous Torque

8

SM040 Series: 40mm, 60-100 WattsMotor Dimensions – No Brake: mm

Motor Feedback

(0,-0.009)

L± 1

5

Ø 8 h6

Ø 30 h7 - 0.0210

25 ± 12.5

58M 3 8

9.2 - 0.13+0.20

23

4- Ø 4.2Ø 46

3h9

- 0.02

50

-KEY

40

300±

50

300±

50

Motor Length-Without Brake

Motor Series L (mm)

SM0401,60Watt 92

SM0402,100Watt 109

ShownwithCD&CFConnectionStyle:Non-SealedPlasticConnectors.

Includescovertoprotectfineencoderwires.

Optional CM Connection Style: Sealed Metal Connectors

MotorConnector(IncludesOptionalBrake)

FeedbackConnector

Theseruggedconnectorsprovidemoreprotection

• IP65sealed• BetterprotectionfromEMI/RFInoise,foruseoverlongerdistances

• Metalhousingsprovidemoremechanicalprotection• Metalhousingsformacontinuouselectricalshield• Cableshieldsareconnectedtotheconnectorhousings

9

Motor Brake Feedback

L± 1

5

Ø 8 h6

Ø 30 h7 - 0.0210

25 ± 12.5

58(0, -0.009) M 3 8

9.2 - 0.13+0.20

23

4- Ø 4.2Ø 46

3h9

- 0.02

50

-KEY

40

300±

50

300±

50

300±

50

Brake Specifications:

Thisisaholdingbrake.BrakeReleaseswhenenergized.Do NOT engage when motor is rotating.

Brakepowerisnotpolaritysensitive.

StaticFrictionTorque 0.35Nm

RatedVoltage 24VDC

RatedCurrent 0.25A

EngageTime Atnominalairgap@20℃-<25ms(Asbrakesareoutofbox)

ReleaseTime Withoutdiode-<25ms(DuringE-stopcondition)

ReleaseVoltage 18.5VDCmax(at20℃)

Brake Motor Dimensions: mm

Motor Length-With Brake

Motor Series L (mm)

SM0401,60Watt 129

SM0402,100Watt 147



Brakeleadsmaybecombinedinmotorcable.


10


ULFileNumberE465363InsulationClass B(130°C)IPrating IP65(exceptshaftwithoutseal andnon-sealedconnectors)Installationlocation IIndoors,freefromcorrosivegas, inflammablegasAmbienttemperature Operating0to40°C, Storage-20to80°CAmbienthumidity85%RHorlower(freefromcondensing)Altitude(maximum) Operating1,000mVibrationResistance 49m/s2

RotorPoles 8


PreferredModel&WindingLetter Â ^C Ê G Â ^C ^D ^F


SM0601AE2-KCD-

NNV

SM0601CE2-KCD-

NNV

SM0601EE2-KCD-

NNV

SM0601GE2-KCF-

NNV

SM0602AE2-KCD-

NNV

SM0602CE2-KCD-

NNV

SM0602DE2-KCF-

NNV

SM0602FE2-KCF-

NNV

TypicalSupplyVoltages V(rms) 208-240VAC 120VAC 48-90VDC 24-60VDC 208-240

VAC 120VAC 60VDC-120VAC 48-80VDC

BasicDCBusVoltage V(dc) 320 160 80 48 320 160 120 60

RatedOutputPower watts 200 200 200 200 400 400 400 400

RatedSpeed rpm 3000 3000 3000 3000 3000 3000 3000 3150

Max.MechanicalSpeed rpm 6000 6000 6000 6000 6000 6000 6000 6000

RatedTorque Nm 0.64 0.64 0.64 0.64 1.27 1.27 1.27 1.21

ContinuousStallTorque Nm 0.68 0.68 0.68 0.64 1.27 1.27 1.27 1.21

PeakTorque Nm 1.9 1.9 1.9 1.9 3.8 3.8 3.8 3.6

RatedCurrent A(rms) 1.5 3 5.2 10 2.75 5.7 6.9 10

ContinuousStallCurrent A(rms) 1.6 3.2 5.5 10 2.75 5.7 6.9 10

PeakCurrent A(rms) 4.5 9 15.6 30 8.3 17.1 20.7 30

VoltageConstant±5% V(rms)/Krpm 27.2 13.6 7.9 4.1 29 13.8 11.4 7.4

TorqueConstant±5% Nm/A(rms) 0.432 0.216 0.125 0.065 0.484 0.23 0.191 0.123

WindingResistance(Line-Line) Ohm±10%@25°C 8.6 2.1 0.67 0.192 3.7 0.85 0.57 0.25

WindingInductance(Line-Line) mH 25 6.1 2 0.56 12.9 2.9 2 0.84




ThermalTimeConstant Minutes 15 21



ShaftLoad-Radial(EndofShaft) (max.) 200N/45Lb 240N/54Lb

Weight(withstd.encoder) 1.1kg/2.3lb 1.4kg/3.1lb



11



12


Motor Feedback

Ø 70

4- Ø 5.5

60

5h9

-0 0.03

-Key

16 +-

0.3000.118

36M5 10

30 ±1 L ±1

Ø 14 h6 - 0.0110

300

±50

3

8Ø 50 h7 - 0.0250

300

±50

74

Motor Length - Without BrakeBasic Motor Series Feedback L (mm)

SM0601,200Watt

E2 2500pprOpticalEncoderwithSeparateCommutationSignals 98

E4 2500pprOpticalEncoderwithSharedCommutationSignals 105

MA AbsoluteMultiTurnTamagawaEncoder 98

MB AbsoluteMultiTurnHeidenhainEncoder 98

SM0602,400Watt









FeedbackConnector




13




StaticFrictionTorque 2Nm

RatedVoltage 24VDC

RatedCurrent 0.38A





Motor Brake Feedback

Ø 14 h6 - 0.0110

Ø 50 h7 - 0.0250

30 ±1 L±1

3

8

300

±50

300

±50

300

±50

74

Ø 704- Ø 5.5

60

16 +-

0.3000.118

5h9

-0 0.03

-Key

36M5 10

Motor Length - With Brake

Basic Motor Series Feedback L (mm)

SM0601,200Watt





SM0602,400Watt









14



PreferredModel&WindingLetter Â ^C Ê G Â ^C E


SM0801AE2-KCD-

NNV

"SM0801CE2-KCD-NNV"

SM0801EE2-KCF-

NNV

SM0801GE2-KCF-

NNV

SM0802AE2-KCD-

NNV

SM0802CE2-KCD-

NNV

SM0802EE2-KCF-

NNV

TypicalSupplyVoltages V(rms) 208-240VAC 120VAC 60-90VDC 24-60VDC 208-240VAC 120VAC 60-90VDC

BasicDCBusVoltage V(dc) 320 160 80 48 320 160 80

RatedOutputPower watts 300(250) 300 (250) 300 300 550 550 550

RatedSpeed rpm 3000 3000 3000 3000 3000 3000 3000

Max.MechanicalSpeed rpm 6000 6000 6000 6000 5500 5500 5500

RatedTorque Nm 0.95(0.79) 0.95 (0.79) 0.95 0.95 1.8 1.8 1.8

ContinuousStallTorque Nm 1(0.83) 1 (0.83) 1 1 1.9 1.9 1.9

PeakTorque Nm 2.3(2.3) 2.3 (2.3) 2.3 2.3 4.6 4.6 4.6

RatedCurrent A(rms) 1.8(1.5) 3.6 (3.0) 7 10 3 6 10

ContinuousStallCurrent A(rms) 1.9(1.6) 3.8 (3.2) 7.4 10.6 3.2 6.4 10.7

PeakCurrent A(rms) 4.5(4.5) 9 (9.0) 18 25 8.3 17 28

VoltageConstant±5% V(rms)/Krpm 34.3 17.2 8.9 6.2 37.3 18.6 11.2

TorqueConstant±5% Nm/A(rms) 0.532 0.266 0.138 0.096 0.586 0.293 0.176

WindingResistance(Line-Line) Ohm±10%@25°C 5.9 1.38 0.37 0.188 2.7 0.63 0.22

WindingInductance(Line-Line) mH 26 6.5 1.74 0.85 13.9 3.5 1.25











ULFileNumberE465363InsulationClass B(130°C)IPrating IP65(exceptshaftwithoutseal andnon-sealedconnectors)Installationlocation Indoors,freefromcorrosivegas, inflammablegasAmbienttemperature Operating0to40°C, Storage-20to80°CAmbienthumidity85%RHorlower(freefromcondensing)Altitude(maximum) Operating1,000mVibrationResistance 49m/s2

RotorPoles 8

15



PreferredModel&WindingLetter ^A ^B ^C ^D ^A ^C ^D


SM0803AE2-KCD-

NNV

SM0803BE2-KCD-

NNV

SM0803CE2-KCF-

NNV

SM0803DE2-KCF-

NNV

SM0804AE2-KCD-

NNV

SM0804CE2-KCF-

NNV

SM0804DE2-KCF-

NNV

TypicalSupplyVoltages V(rms) 208-240VAC 120-240VAC 120VAC 48VDC-120VAC 208-240VAC 120VAC 48VDC-120

VAC

BasicDCBusVoltage V(dc) 320 240 160 120 320 160 120

RatedOutputPower watts 750 750 750 750 1000 1000 1000

RatedSpeed rpm 3000 3000 3000 3000 3000 3000 3300

Max.MechanicalSpeed rpm 5500 5500 5500 5500 5000 5000 5000

RatedTorque Nm 2.4 2.4 2.4 2.4 3.2 3.2 2.9

ContinuousStallTorque Nm 2.6 2.6 2.6 2.6 3.5 3.5 2.9

PeakTorque Nm 6.9 6.9 6.9 6.9 9.3 9.3 8.5

RatedCurrent A(rms) 4.5 6 9 11.5 5.5 11 12.5

ContinuousStallCurrent A(rms) 4.9 6.5 9.8 12.5 6 12.1 12.5

PeakCurrent A(rms) 13.5 18 27 34.5 16.5 33 37.5

VoltageConstant±5% V(rms)/Krpm 36.6 27.5 18.3 14.2 39.5 19.9 15.8

TorqueConstant±5% Nm/A(rms) 0.543 0.407 0.271 0.21 0.581 0.293 0.233

WindingResistance(Line-Line) Ohm±10%@25°C 1.47 0.81 0.34 0.21 1.08 0.28 0.21

WindingInductance(Line-Line) mH 8.2 4.6 2 1.22 6.7 1.69 1.07










Duetotheconstructionofthesemotors,highcurrentwindingshaveamaximumratingof12.5ampscontinuous.Withthehighestcurrentwindings,theSM0803andSM0804motors(750-1000watts)canreachratedtorquedowntoabout80volts.Thiswindingcanbeusedatlowervoltage(60,48,etc.)butthemaximumspeedisreduced.Seespeedtorquecurvesonpage17.

16


250 [email protected] amps

250 watts@ 3 amps


17



18

Motor

Feedback

3

9.5

L ±1

Ø 70 h7 - 0.030

300 ±50

Ø 19 h6 - 0.0130

40 ±1

94

300±50

Ø 90

36

4- Ø 6.5

80

M5 10

6h9

- 0.030

-KEY

21.5 - 0.118+0.300

45°


Motor Length-Without Brake

Motor Series L (mm)

SM0801,300Watt 101

SM0802,550Watt 116

SM0803,750Watt 131

SM0804,1000Watt 146





FeedbackConnector




19

Motor

Brake

Feedback

3

9.5

L ±1

Ø 70 h7 - 0.030

Ø 19 h6 - 0.0130

40 ±1

94

300±50300 ±50

300 ±50

Ø 90

36

4- Ø 6.5

80

M5 10

6h9

- 0.030

-KEY

21.5 - 0.118+0.300

45°




StaticFrictionTorque 4.5Nm

RatedVoltage 24VDC

RatedCurrent 0.61A





Motor Length-With Brake

Motor Series L (mm)

SM0801,300Watt 148

SM0802,550Watt 163

SM0803,750Watt 178

SM0804,1000Watt 193





20

Motor Power Connections

CD&CFConnectionStyle 300mm(12")ShieldedCableswithNon-SealedPlasticConnector

CDwindingsupto6.5amps4PinAMPHousingP/N:172167-1

CFwindings6.6to12.5amps4PinAMPHousingP/N:350779-1

Pin # Signal Color (Typ.) Function

1 PhaseU Red

MotorPower2 PhaseV Yellow

3 PhaseW Blue

4 Ground Yellow/Green Ground


AMPHousingP/N:172165-1

PIN Signal Color(Typ.)

1 Brake Red

2 Brake Black

CMConnectionStyle300mm(12")ShieldedCableswithSealedMetalConnector

Motor&OptionalBrakeHousing:-Phoenix

CA-06P1N129007


1 PhaseU Red

MotorPower2 PhaseV Yellow

3 PhaseW Blue

4 BrakeOptionalBrake

5 Brake

6 Ground Yellow/Green Ground

ShieldisconnectedtoconnectorhousingBrakepowerisnotpolaritysensitive


Connectionsareincludedwithmotorpowerconnector

Holding Brake Option

Aholdingbrakeisusedtostoptheloadfrommovingwhenpowerislost.Typicalapplicationsincludeverticalaxisthatwoulddropifpowerislost.Holdingbrakesarenotintendedtoslowamotorthatisspinning.Themotorshouldbestoppedandthenthebrakeapplied.

Withnopower,aspringpressesafrictionplateintoastationaryplate,whichproducesholdingtorque.Whenpowerisappliedtothebrakecoil,thebrakesolenoidpullsthefrictionplateawayfromthestationaryplate,whichallowsthemotortoturn.

21

Feedback Options



MOONS’SMseriesmotorsareavailablewithavarietyoffeedbackdevices.Theyproducepositionsignalsusedbythedrivetocommutatethemotor.Thesesignalsarealignedwiththemotorrotor,andusedbythedrivetoknowwhentobestapplypowertothemotorwindings.Therearealsofinepositionsignalsproducedeveryrevolution.Theseareusedbythedrivetopreciselycontroltheangularpositionofthemotor.

Absoluteencodersalsorecordmotorposition,andsomealsorecordmotorturns.Thisallowsthemotionsystemtorememberthepositionofthedrivenmachineevenifpowerislostandthenrestored.

E2 Feedback Option2500 ppr Optical Encoder with Separate Commutation Signals

Thisisabasicfeedbackdevicethatworkswithmanydrives.Itproducescommutationsignals,2500positionpulsesperrevolution,andanindexpulseperrevolution.Ithasseparatewirestoconnectallthecommutationandpositionsignals.

Encoder Siganls

All the timing logics are obtained in CCW rotation as viewed from front shaft.

Ach Output

Bch Output

a.b.c.d = T/4±T/8

Zch Output h = T ±T/2

Uch Output

h

g

a

T

b c d

g = ±1° Between Zch center and Uch rise

Zch Center

360° 2500T =

Motor Phases

Zch Output

Uch Output

Vch Output

Wch Output

l m q

r

k

r = 90°±1° Mechanical

k / l / m / n / p / q15°±1° Mechanical

360° 1 turn

n p

UU-V Output

UV-W Output

UW-U Output

EncoderConnector:HousingAMPP/N:172171-1


1 +5V Red Power

2 GND Black Ground

3 U+ Brown

CommutationSignal

4 U- Brown/Black

5 V+ Gray

6 V- Gray/Black

7 W+ White

8 W- White/Black

9 A+ Blue/BlackIncrementalPositionPulse

10 A- Blue

11 B+ Green

12 B- Green/Black

13 Z+ YellowIndexPulse

14 Z- Yellow/Black

15 Shield Shield Shield

Shieldisconnectedtomotorframe

A B

A视图 B视图

EncoderConnector:Housing:Phoenix

ST-17P1N8A9K03S

Pin # Signal Color (Typ.) Function1 A+ Blue

IncrementalPositionPulses

2 A- Blue/Black3 B+ Green4 B- Green/Black5 Z+ Yellow

IndexPulse6 Z- Yellow/Black7 U+ Brown

CommutationSignals

8 U- Brown/Black9 V+ Grey10 V- Grey/Black11 W+ White12 W- White/Black13 +5V Red Power14 GND Black Ground151617

ShieldisconnectedtoconnectorhousingShieldisconnectedtomotorframe

22



1 U+/A+ Blued

Commutation/IncrementalPositionPulse

2 V+/B+ Green

3 W+/Z+ Yellow

4 U-/A- Blued/Black

5 V-/B- Green/Black

6 W-/Z- Yellow/Black

7 +5V Red Power

8 GND Black Ground




ST-08P1N8A9K03S


A U+/A+ Blue

Commutation/IncrementalPosition

B U-/A- Blue/Black

C V+/B+ Green

D V-/B- Green/Black

E W+/Z+ Yellow

3 W-/Z- Yellow/Black

1 +5V Red Power

2 GND Black Ground


Feedback Options

E4 Feedback Option2500 ppr Optical Encoder with Shared Commutation Signals

Thisfeedbackoptiontransmitsonecommutationandonepositionsignaloverasharedwire.Thisallowsforreducednumbersofwires.Itproducescommutationsignals,2500positionpulsesperrevolution,andanindexpulseperrevolution.

Motor Phases

Encoder Siganls

All the timing logics are obtained in CCW rotation as viewed from front shaft.

Ach Output

Bch Output

a.b.c.d = T/4±T/8

Zch Output h = T ±T/2

Uch Output

T

a b c d

h

gg = ±1° Between Zch

center and Uch rise

Zch Center

T = 360° 2500

Uch Output

Vch Output

Wch Output

Zch Output

k / l / m / n / p / q15°±1° Mechanical

r = 90°±1° Mechanical

k l m n p q

r

360° 1 turn

UW-U Output

UU-V Output

UV-W Output



23



1 SD Blue SerialData

2 Green

3 VB Yellow ExternalBattery

4 SD- Blue/Black SerialData

5 Green/Black

6 VB- Yellow/Black ExternalBattery

7 VCC Red MainPower+5VDC8 Ground Black




ST-08P1N8A9K03S

Pin # Signal Color (Typ.) FunctionA SD Blue

SerialDataB SD- Blue/Black

C Green

D Green/Black

E VB YellowExternalBattery

3 VB- Yellow/Black

1 VCC Red MainPower+5VDC2 Ground Black




Feedback Options

MA Feedback Option - SM060&SM080 MotorsAbsolute Multi Turn, Tamagawa Encoder

Thisisanabsoluteencoderwitharesolutionof17bits(131072)perrevolution,andmulti-turncountingof16bits(0-65,535turns).Ittransmitstheoutputofthecompleteabsolutepositionasserialdatainresponsetoanexternalrequest.Itusespowerfromanexternalbatterytooperatethemulti-turncounterandsavethemulti-turndata.Whenthebatteryisnotconnected,itcontinuestofunctionasafull17bitsingleturnabsoluteencoder.

Item Unit Value Remarks

MainPowerVoltage VDC 5±0.25

CurrentConsumption mA 110Max

Externalbattery

Voltage VDC 3.6Typ

CurrentConsumption,ExternalBattery

Normalmode μA 3.6

MainPowerOffμA 150Typ Power-OffOperation

μA 110Max Power-offtimer

OutputSignalsSD&SD-

Type:DifferentialLineDriverequivalenttoRS485

“H“level V 3.5Min

“L“level V 1.7Max

MaximumAngularAcceleration rad/s2 80,000

StartupTime(afterpower-on)s 1Max Withexternalbattery

s 1.5Max Noexternalbattery

24



1 Data Blue SerialData

2 Clock Green Clock

3 +UBat Yellow Battery

4 Data- Blue/Black SerialData

5 Clock- Green/Black Clock

6 -UBat Yellow/Black Battery

7 Up(VCC) RedMainPower

8 0V Black



EncoderConnector:Housing:PhoenixST-08P1N8A9K03S


A Data BlueSerialData

B Data- Blue/Black

C Clock GreenClock

D Clock- Green/Black

E +UBat YellowBattery

3 -UBat Yellow/Black

1 Up(VCC) RedMainPower

2 0V Black




Feedback Options

MB Feedback Option - SM060 & SM080 Motors Absolute Multi Turn Heidenhain EnDat 2.2 Encoder

Thisisanabsoluteencoderwitharesolutionof18bits(262144)perrevolution,andmulti-turncountingof16bits(0-65,535turns).ItusesEnDat2.2tocommunicatewiththedrive.Powerfromanexternalbatteryisneededtooperatethemulti-turncounterandsavethemulti-turndatawhenmaininputpowerislost.Whenthebatteryisnotconnected,itcontinuestofunctionasafull18bitsingleturnabsoluteencoder.

Item Unit Value

MainPowerVoltage VDC 3.6Vto14

CurrentConsumption mA 80Max

Externalbattery

Voltage VDC 3.6to5.25

LithiumThionylChloride,with3.6Vand1500mAhisrecommended

TypicalServiceLife years over10

SignalsEnDatversion2.2(serialtwo-directionalinterface).EnDatisasynchronousencoderthathasclocksignalssenttoitbyacontroller

MaximumAngularAcceleration rad/s2 100,000

25

Ashaftsealcanextendthelifeofamotorbykeepingcontaminantsoutofthemotor.MOONS’servomotorstypicallyincludeashaftsealshippedwiththemotor,butnotinstalledinthemotor.Thesearehighqualityseals.Installingashaftsealisrecommendedifthefrontofthemotorwillbeexposedtosignificantamountsofoil,dirtorliquids.

Shaftsealsproduceasmallamountofdragonthemotorshaft.Thiswillslightlyreducetheoverallefficiencyofthesystem,andcauseasmallincreaseinmotortemperature.Becauseofthis,ashaftsealisnotrecommendedinapplicationswherethefrontofthemotorisnotexposedtocontaminants.

Oil,Fluids,and Fine Dust

Motor Shaft andEnd Bell are Exposedto Containments

Shaft Seal Installationis Recommended

Oil,Fluids,and Fine Dust

Motor Shaft andEnd Bell are ProtectedForm Containments

Shaft Seal Installationis Not Recommended

Sealant between Motor and Machine(Optional)

Shaft Seal

26

Bearing Life

Motorbearinglifedependsonseveralfactorsincluding:axialandradialloads,motorspeed,temperature,andthebearingratings.Becausethefrontbearingispositionedclosesttothemotorshaft,itusuallycarriesahigherradialloadandhastheshortestlife.

Acommoncauseforshaftandbearingfailureishighradialloadsthatarecreatedwhenapulleyisattachedtothemotorshaftatalargedistancefromthemotormountingface,andthebelthashightension.Toavoidthisconditionmountpulleysandgearsasclosetothefaceofthemotoraspossible,andavoidovertighteningbelts.

Thesecurvesshowbearinglife,atvariousspeedsandradialloads.Thecurveswerecalculatedwiththeradialloadappliedattheendoftheshaft.

Bearing L10 Life

Bearing L10 Life

Bearing L10 Life

Bearing L10 Life

27

Conversion FactorsLength B A mm cm m inch feet

mm 1 0.1 0.001 0.03937 0.003281cm 10 1 0.01 0.3937 0.03281m 1000 100 1 39.37 3.281

inch 25.4 2.54 0.0254 1 0.08333feet 304.8 30.48 0.3048 12 1

Force B A g kgf oz lb Newton

g 1 0.001 0.03527 0.002205 0.0098kgf 1000 1 35.27 2.205 9.807oz 28.35 0.02835 1 0.0625 0.278lb 453.6 0.4536 16 1 4.448

Newton 102 0.102 3.597 0.2248 1

Torque B A Nm Ncm mNm kgm* kgcm* gcm* oz-in Ib-ft Ib-in

Nm 1 100 1000 0.102 10.2 10200 141.6 0.7376 8.851Ncm 0.01 1 10 0.00102 0.102 102 1.416 0.007376 0.08851mNm 0.001 0.1 1 0.000102 0.0102 10.2 0.1416 0.000738 0.008851kgm* 9.807 980.7 9807 1 100 100000 1389 7.233 86.8

kgcm* 0.09807 9.807 98.07 0.01 1 1000 13.89 0.07233 0.868gcm* 0.00009807 0.009807 0.09807 0.00001 0.001 1 0.01389 7.23E-05 0.000868oz-in 0.007062 0.7062 7.062 0.0007201 0.07201 72.01 1 0.00521 0.0625Ib-ft 1.356 135.6 1356 0.1383 13.83 13830 192 1 12Ib-in 0.113 11.3 113 0.01152 1.152 1152 16 0.0833 1

Inertia B A kgm2 kgcm2 gcm2 oz-in2 oz-in-sec2 Ib-in2 Ib-in-sec2 Ib-ft2 “Ib-ft-sec2

(slug ft2)”kgm2 1 10,000 10000000 54,700 142 3420 8.85 23.7 0.738kgcm2 0.0001 1 1,000 5.47 0.0142 0.342 0.000885 0.00237 7.38E-05gcm2 0.0000001 0.001 1 0.00547 1.42E-05 0.000342 8.85E-07 2.37E-06 7.38E-08oz-in2 0.00001829 0.1829 183 1 0.00259 0.0625 0.000162 0.000434 1.35E-05

oz-in-sec2 0.00706 70.62 70,600 386 1 24.1 0.0625 0.168 0.00521Ib-in2 0.0002926 2.926 2,930 16 0.0414 1 0.00259 0.00694 0.000216

Ib-in-sec2 0.113 1,130 1130000 6,180 16 386 1 2.68 0.0833Ib-ft2 0.0421 421.4 421,000 2,300 5.97 144 0.373 1 0.0318

“Ib-ft-sec2 (slug ft2)” 1.36 13,600 13600000 74,100 192 4,630 12 32.2 1

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• All the specifications, technical parameters of the products provided in this catalog are for reference only, subject to change without notice. For the latest details, please contact our sales department.

CH

INA / 1S

T PR

INT / 8TH

/ JAN

/ 2015 HeadquartersNo. 168 Mingjia Road Industrial Park NorthMinhang District Shanghai 201107, P.R. ChinaTel: +86(0)21-5263 4688Fax: +86(0)21-6296 8682Web: www.moonsindustries.comE-mail: [email protected]

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