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HR / HRS BRUSHLESS AC SERVOMOTORS
HR / HRS BRUSHLESS AC SERVOMOTORS
The document introduces the HR range of brushless AC servomotors, emphasizing their cost-effective performance and suitability for applications such as machine tools and robotics. These motors use Neodymium-Iron-Boron magnets, providing a high torque-to-inertia ratio for rapid acceleration and dynamic response. They are enclosed to IP65 standards, with other ratings available upon request.
- Receiving and Storage: Motors should be inspected upon receipt, and any damage reported immediately. The shaft is coated with a rust inhibitor removable with a solvent.
- Environmental Protection: Motors are protected to IP65, except at the shaft (IP64).
- Mounting of Motors: Motors should be flange mounted close to the drive line, ensuring proper tension of drive belts to avoid high shaft loads.
- Thermal Protection: A thermal sensor is embedded in the winding to prevent overheating, with various sensors available, including thermal switches and thermistors.
- Holding Brake Options: Two fail-safe brake models are available: spring applied and permanent magnet types, primarily for holding under no voltage conditions.
- Maintenance and Servicing: Bearings require no maintenance under normal conditions, with a life expectancy of 30,000 hours. Regular inspections are recommended.
- E.C. Directives: Compliance with Machinery, Low Voltage, and EMC Directives is outlined, with certificates and guidelines provided as needed.
Details on shaft and spigot concentricity, perpendicularity, and permissible changes in indicator readings are provided, adhering to IEC 72 standards.
Various connection diagrams are included for different motor series, detailing pin functions for supply and feedback connectors.
Specifications for feedback devices like resolvers and encoders are provided, ensuring accurate rotor position information.
The document discusses how high temperatures affect torque, providing guidelines for maintaining performance.
Technical specifications for different HR motor models (HR55, HR70, HR92, etc.) are detailed, including torque ratings and power consumption.
The manual concludes with a section on useful formulae for calculations related to servomotor applications.
This document provides technical specifications and data for the HR92 series of brushless AC servomotors, which are UL approved. It includes detailed information on various models such as HR92C4, HR92E4, HR92G4, and HR92J4, covering their electrical, thermal, mechanical, and performance characteristics.
- Electrical Specifications: The motors operate at different line-line voltages (64, 44, 32 volts) with a maximum motor EMF of 380, 260, and 190 volts respectively. The maximum speed for all models is 6000 RPM.
- Torque and Current: Continuous stall torque varies by model, with HR92C4 offering 1.5 Nm and HR92J4 offering up to 3.8 Nm. Peak stall torque ranges from 4.6 Nm to 11.5 Nm. Continuous stall current ranges from 2 to 8 amps depending on the model.
- Thermal Specifications: All motors have an insulation class of F and a maximum ambient temperature of 40°C. The thermal time constant is consistent across models, ranging from 28 to 33 minutes.
- Mechanical Specifications: The motors have a static friction torque of 0.04 Nm and weights ranging from 4.3 kg to 6.6 kg.
The document includes performance curves and shaft loading information, indicating the radial and axial load capacities based on a bearing life expectancy of 30,000 hours. It provides guidelines for operating under abnormal conditions and suggests consulting SEM Ltd for specific requirements.
The motors can be customized with various options such as different feedback devices, fitted encoders, mechanical interfaces, brakes, electrical terminations, thermal protection, and enclosure protection. Standard features include a 92 x 92 mm square flange and IP64/65 enclosure protection.
All data is subject to a tolerance of ±10%, except for the motor voltage gradient and torque constant (Kt), which have a tolerance of +15%/-5%. The document emphasizes the importance of not exceeding the class F insulation temperature specification of 150°C.
The document provides detailed specifications for the HR115 series of brushless AC servomotors. Key parameters include thermal resistance, static friction torque, motor weight, and various electrical and mechanical characteristics. The thermal resistance is specified as 0.58°C/Watt (1.04°F/Watt), and the static friction torque is 0.066 Nm (0.58 lb-in). The motor weight is consistently 11.4 kg (25 lb) across models.
The motors are designed with a tolerance of ±10% for most data, except for the motor 'Voltage Gradient' and Kt, which have a tolerance of +15%/-5%. The temperature rise on the windings is 110K, with a maximum ambient temperature of 40°C, ensuring the winding temperature does not exceed 150°C, which is the limit for class F insulation.
The document includes graphs for radial and axial shaft loading, based on an L10 bearing life expectancy of 30,000 hours. It advises consulting SEM Ltd for loadings outside the published scope or under abnormal conditions like excessive vibration.
The HR115 series offers various options, including different waveform settings, feedback devices, fitted encoders, mechanical interfaces, brakes, electrical terminations, thermal protection, and enclosure protection. Standard features include a sinusoidal waveform, a resolver feedback device, and IP64/65 enclosure protection.
Detailed performance data is provided for different models (HRS115A6, HRS115B6, HRS115C6, HRS115E6), including line-line voltage, maximum current, mechanical speed limits, continuous and peak stall torque, and thermal properties. Each model has specific parameters for voltage gradient, maximum motor EMF, and rotor polar moment of inertia.
The document emphasizes the importance of adhering to specified tolerances and temperature limits to avoid exceeding insulation specifications. Certified drawings are available upon request, and dimensions may change without notice.
The document specifies different resolver settings for feedback devices, including F00 and F16 settings for 2 Pole Resolver type 21-B, and an option for no feedback (F66).
Various encoder options are detailed, such as the Heidenhain ERN1387 series with 2048ppr, and the Renco R35i series with different ppr options. Encoders are available in singleturn and multiturn configurations with optical and inductive types.
Standard features include a 105 x 105 mm square flange, a 19mm diameter shaft, and a keyway option. There is also a close tolerance interface option.
A 24Vdc brake with 13.5Nm torque is available.
Options for motor and feedback connectors are provided, with different pin configurations for motors fitted with resolvers or encoders.
Includes a bi-metal thermal switch (P21) and a temperature sensor option (P17). There is also an option for no thermal protection (P18).
IP64/65 enclosure options with nitrile or viton shaft seals are available, with some supplied loose.
Motors are UL approved.
Detailed specifications for HR142 series brushless AC servomotors are provided, including voltage, torque, current, and thermal characteristics. Performance curves and shaft loading information are included, with notes on tolerances and temperature limits.
Graphs illustrate radial and axial shaft loading limits based on bearing life expectancy. Special conditions and abnormal operating conditions should be referred to SEM Ltd.
Dimensions for various motor configurations are provided, with notes on potential changes and availability of certified drawings upon request.
This document provides technical specifications and options for various models of brushless AC servomotors, focusing on the HRS142 and HR190 series. It includes details on encoders, mechanical interfaces, brakes, electrical terminations, thermal protection, and enclosure protection.
The document lists multiple encoder options, including multiturn and singleturn types with interfaces like EnDat and Hiperface. Incremental encoders from the Renco R35i series are also available with different pulse per revolution (ppr) counts.
Standard features include a 142 x 142 mm square flange with a spigot diameter of 130 mm, a shaft diameter of 24 mm, and a keyway of 8 x 7 x 40 mm. Options for close tolerance interfaces and plain shafts are also provided.
Options include 24Vdc and 90Vdc brakes with torque ratings of 18.0Nm and high torque versions at 40.0Nm. A rectifier is available for specific brake models.
Various motor and feedback connectors are detailed, with restrictions on current for certain power connectors. Options include different pin configurations for motors fitted with resolvers or encoders.
Standard thermal overload protection is provided by a bi-metal thermal switch, with additional options for temperature sensors or no thermal protection.
IP64/65 enclosure protection is standard, with options for nitrile or Viton shaft seals, either factory fitted or supplied loose.
Detailed performance data is provided for different motor models, including voltage gradients, maximum current, mechanical speed limits, stall torque, and thermal characteristics. The document specifies tolerances and notes on temperature rise and insulation class.
All data is subject to a tolerance of ±10%, except for specific parameters with different tolerances. The maximum ambient temperature is 40°C, and the temperature on the windings should not exceed 150°C to comply with class F insulation specifications.
This document provides technical specifications and data for HR190 series brushless AC servomotors, detailing their electrical, thermal, mechanical, and performance characteristics.
- General: The motors are available in different models (HR190G8, HR190J8) with varying voltage gradients and maximum speeds ranging from 1900 to 4000 RPM.
- Stator Winding: Resistance and inductance values are provided for each model, with resistance ranging from 0.19 to 1.02 Ohms and inductance from 2.5 to 20 milliHenrys.
- Thermal: All models have an insulation class of F, a maximum ambient temperature of 40°C, and a thermal time constant of 60 to 100 minutes.
- Mechanical: Static friction torque is consistent across models at 0.14 Nm, with motor weights varying from 36 to 50 kg.
- Sinusoidal Motors: Peak stall torque ranges from 129 to 210 Nm, with continuous stall currents from 13.3 to 37 Amps.
- Radial and axial shaft loading graphs are provided, indicating permissible loads based on bearing life expectancy of 30,000 hours.
- Maximum radial shaft loadings are illustrated for different RPMs, and guidelines for combined radial and axial loadings are included.
- Various feedback devices, encoders, mechanical interfaces, brakes, and electrical terminations are available as options.
- Thermal protection options include bi-metal thermal switches and temperature sensors.
- Enclosure protection options offer IP64/65 ratings with different shaft seal materials.
- All data is subject to a tolerance of ±10%, with specific exceptions for voltage gradient and torque constant.
- Useful formulas for mechanical and electrical time constants, power, and conversion tables are provided.
Catalog excerpts
TECHNICAL DATA MANUAL HR / HRS BRUSHLESS AC SERVOMOTORS ––––––––––––––––––––– Publication No. TD HRM 1.1 ISSUE NO.9.5 (Metric Series) Date: November 2009
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- Environmental protection. - Thermal protection. - Holding brake options. 5 Feedback device specification 6 Torque derating at high temperatures
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INTRODUCTION SEM has continuously developed its range of servo products to best serve the latest industry requirements. The new HR range of servomotors uses the long experience gained in the servomotor field to give cost effective performance. The HR range is fitted with Neodymium-Iron-Boron magnets (NdFeB) and is ideally suited to the requirements of Machine Tools, Transfer Lines, Robotics, etc. A high torque to inertia ratio gives fast acceleration and rapid dynamic response. The motors are enclosed to IP65 as standard (other ratings on request). WHY BRUSHLESS? The optimum performance of a...
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INTRODUCTION SEM Sinusoidal Motors are fitted as standard with a Resolver to give the Rotor position information. This has the added advantage that feedback for velocity and positional loops can be provided by the same Resolver. Trapezoidal (D.C.) - The motor back E.M.F. and current waveforms are Trapezoidal. The Drive Amplifier ensures 2 out of the 3 phases are on at each commutation point. As one phase turns off the third phase takes its place. The rotor will try to align itself with the new M.M.F. causing rotation. A diagram showing the switching sequence is shown below:- 1 STEP No. CURRENT...
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GENERAL INFORMATION RECEIVING AND STORAGE On receipt the motors should be inspected. Any damage found should be reported immediately to SEM and the carrier. The shaft has been coated with a rust inhibitor, this can be removed with a suitable solvent. ENVIRONMENTAL PROTECTION All SEM brushless servomotors are protected to IP65 except at the shaft where the protection is to IP64. Protection Class Description IP65 Totally protected against dust. Protected against low pressure jets of water from all directions with limited ingress permitted. IP64 Totally protected against dust. Protected against...
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GENERAL INFORMATION The actual temperature at which the switch opens (155° C ± 5° C) has been selected to give reasonable protection to the SEM range of motors. After the switch has opened, the temperature must fall to approximately 120° C before it will close again. PTC THERMISTOR (OPTION) The thermistor is a single thermistor of the type specified in BS4999 part 111 1987. The voltage across the thermistor must not exceed 2.5V. Resistance change with temperature Temperature °C < -20 - 20 to 130 145 155 > 165 Resistance ⍀ not defined < 250 < 550 < 1330 > 4000 To protect the winding, the drive...
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GENERAL INFORMATION HOLDING BRAKE OPTIONS Two models of fail safe brake options are available, one is a spring applied and the other a permanent magnet type. Both types are primarily holding brakes e.g. to hold a vertical axis under a no voltage condition. However, they can also be used in some applications for emergency stopping. Spring Applied Brake The brake is of the 'springset' fail to safe type. Connection should be such that when the motor is powered the brake coil is energised and the brake released. Under normal operating conditions no maintenance is required other than ensuring that...
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GENERAL INFORMATION MAINTENANCE AND SERVICING Bearings All servomotors are fitted with double shielded, single row radial ball bearings. Under normal conditions no maintenance is required. Bearing Specification Frame ISO Code for Drive End ISO Code for Non-Drive End HR55 6000-2RS 6000-2Z HR70 6002-2RS 6000-2Z HR92 6002-2Z 6002-2Z HR115 6004-2Z 6003-2Z HR142 6205-2Z 6004-2Z HR190 6207-2Z 6205-2Z The bearings are selected to give a minimum 30,000 hours life. Refer to the shaft loading graphs for further information. 2 2 Mechanical It is recommended that a general inspection be made at regular intervals...
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E.C. DIRECTIVES There are three main directives that affect applications incorporating servomotors. Machinery Directive 2006/42/EC This directive applies to complete machines. In accordance with the directive, SEM provides a Certificate of Incorporation which includes installation instructions and general service guidelines in different languages. Low Voltage Directive 2006/95/EC This applies to electrical equipment for use with a DC voltage of 75V to 1500V and AC voltage of 50V to 1000V. SEM AC/DC brushless servomotors in the ranges HJ96, HJ116, HJ130 and HJ/HJT155 conform to the EC directive....
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BRUSHLESS 55/70 SERIES MOTOR WITH RESOLVER – SOURIAU TYPE SUPPLY CONNECTOR PIN FUNCTION FEEDBACK CONNECTOR PIN FUNCTION 1 MOTOR U 1 ROTOR R1 2 MOTOR V 2 ROTOR R2 3 MOTOR W 3 STATOR 1st PHASE S1 4 BRAKE B+ (IF FITTED) 4 STATOR 1st PHASE S3 5 BRAKE B– (IF FITTED) 5 STATOR 2nd PHASE S2 EARTH 6 STATOR 2nd PHASE S4 7 THERMAL SENSOR K1 8 THERMAL SENSOR K2 9 4 4 SOURIAU 8GN-QL2-6P 5 1 4 SOURIAU 8GN-QL2-9P NOTE: Connectors viewed from customer side. 8 1 7 2 9 6 2 3 3 5 4
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CONNECTION DETAILS MOTOR WITH RESOLVER – INTERCONNECTRON TYPE PIN FUNCTION U MOTOR U V MOTOR V – W + BRAKE B– (IF FITTED) W U BRAKE B+ (IF FITTED) – + V MOTOR W MOTOR EARTH INTERCONNECTRON SIZE 1.5 6 PIN (FOR FRAME 142 AND LARGER) SUPPLY CONNECTOR PIN FUNCTION 1 2 4 MOTOR U MOTOR V 5 1 6 4 4 5 BRAKE B– (IF FITTED 6 MOTOR W 2 BRAKE B+ (IF FITTED) MOTOR EARTH INTERCONNECTRON SIZE 1 6 PIN (FOR FRAME 115 AND SMALLER*) FEEDBACK CONNECTOR PIN FUNCTION 1 STATOR 2nd PHASE S2 2 STATOR 2nd PHASE S4 1 9 8 L C 2 10 12 7 3 4 3 5 11 4 6 5 6 7 ROTOR R2 8 THERMAL SENSOR 9 THERMAL SENSOR 10 ROTOR R1 11 STATOR...
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CONNECTION DETAILS MOTOR WITH RESOLVER – MS TYPE TERMINAL BOX (OPTION) B+ B– U BRAKE (OPTIONAL) V W MOTOR EARTH TERMINAL SUPPLY CONNECTOR (OPTION) PIN FEEDBACK CONNECTOR FUNCTION PIN FUNCTION A A ROTOR R1 B MOTOR V B ROTOR R2 C 4 MOTOR U BRAKE B+ IF FITTED C STATOR 1st PHASE S1 D BRAKE B- IF FITTED D STATOR 2nd PHASE S2 E MOTOR EARTH E STATOR 1st PHASE S3 F MOTOR W F G G H J FRAMES 92 & 115 – MS3102E-20-15P K L F E A G D M B N C P STATOR 2nd PHASE S4 R S T FRAME 142 – MS3102E-24-10P THERMAL SENSOR K1 THERMAL SENSOR K2 MS3102E-20-29P F E A G D B C NOTE: Connectors viewed from cutomer side M A...
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