HR / HRS BRUSHLESS AC SERVOMOTORS
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TECHNICAL DATA MANUAL HR / HRS BRUSHLESS AC SERVOMOTORS ––––––––––––––––––––– Publication No. TD HRM 1.1 ISSUE NO.9.5 (Metric Series) Date: November 2009

- Environmental protection. - Thermal protection. - Holding brake options. 5 Feedback device specification 6 Torque derating at high temperatures

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...

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....

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...

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...

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...

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...

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...

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

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...

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...