HDD Servo Motors AB

Transcription

HDD Servo Motors AB

HDD Servo Motors AB
MANUAL
HDD Servo Motors AB Motor Manual
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Table of contents
....................................................................................................................................................................1
Table of contents........................................................................................................................................2
Safety Advices...........................................................................................................................................4
Installation / Start-up..................................................................................................................................4
...................................................................................................................................................................5
Motor series................................................................................................................................................6
HDD – 20 pole shaft motors..................................................................................................................6
ICM – 20 pole internal coupling motors................................................................................................6
HSM – 20 pole hollow shaft motors......................................................................................................6
HDT – 10 pole shaft motors...................................................................................................................6
Insulation system........................................................................................................................................7
Overtemperature protection and thermistors .............................................................................................7
Couplings for ICM motors.........................................................................................................................7
Holding brake.............................................................................................................................................8
Motor name structure.................................................................................................................................9
Motor type..............................................................................................................................................9
Flange size .............................................................................................................................................9
Stator length ..........................................................................................................................................9
Winding .................................................................................................................................................9
Feedback type.........................................................................................................................................9
..............................................................................................................................................................10
Connector ............................................................................................................................................10
Pin-out suffix........................................................................................................................................10
Brake ...................................................................................................................................................11
Shaft key/sealed...................................................................................................................................11
Options ................................................................................................................................................11
HDD 09E ................................................................................................................................................12
HDD 09J .................................................................................................................................................15
HDD 09N ...............................................................................................................................................17
HDD 09Q ...............................................................................................................................................19
HDD 09S ................................................................................................................................................21
ICM 09J ..................................................................................................................................................23
ICM 09N.................................................................................................................................................25
HSM 09J..................................................................................................................................................27
HSM 09N................................................................................................................................................29
HSM 09Q................................................................................................................................................31
HDD 14J..................................................................................................................................................33
HDD 14N................................................................................................................................................35
ICM 14J....................................................................................................................................................37
ICM 14N..................................................................................................................................................39
Connector pin-outs...................................................................................................................................41
HDD Standard pin–out.........................................................................................................................42
z: HDD Standard pin–out with thermistor in feedback connector.......................................................43
t: HDD Standard pin–out with both trip and measurement thermistor (KTY) in power connector....44
b: Infranor pin–out 1............................................................................................................................45
b: Infranor pin–out 2............................................................................................................................46
c: Control Techniques pin–out.............................................................................................................47
e: Elau pinout.......................................................................................................................................48
f: Ferrocontrol pin–out.........................................................................................................................49
h: AMK pin–out...................................................................................................................................50
i: Bosch-Rexroth-Indramat pin–out 1..................................................................................................51
i2: Bosch-Rexroth-Indramat pin–out 2................................................................................................52
k: Kollmorgen–Seidel pin–out.............................................................................................................53
o: KEB pin–out....................................................................................................................................54
p: Parker pin–out..................................................................................................................................55
s: Siemens pin–out...............................................................................................................................56
u: Baumüller pin–out............................................................................................................................57
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n: Baldor pin–out..................................................................................................................................58
v: YTec pin–out....................................................................................................................................59
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Safety Advices
All operations on transport, assembly, start-up and maintenance must be done by skilled and qualified
personnel only. The qualified personnel must know and observe the following standards and
guidelines: DIN VDE 0105, IEC 364, accident prevention regulations. Deviant behaviour may cause
serious injury to persons and may lead to damages.
Before mounting and start-up carefully read the documents on hand. Follow the instructions for power
supply (motor label and manual) and go by the rules of the technical data.
Ensure a proper, low-impedance grounding of the motor housing with the PE-reference potential inside
the switch cabinet, as otherwise personal safety is not assured.
Take suitable steps, that unexpected false move will not lead to injury or damage.
Power connection can also lead current, when motor is not rotating. Do not remove or pull off plugs
during operation or power supply. This can lead to electric arcs which may hurt people or damage
contacts.
Surface temperatures of more than 100°C can arise on the motors. Take care do not stick or fasten any
temperature sensitive parts to it. Possibly make provisions for precautions against touch.
Installation / Start-up
Important notes
Check the assignment between inverter and motor. Compare rated voltage and rated current of the
devices. The wiring has to be carried out in accordance to the circuit diagram shown in the
installation/operation manual of the inverter.
Pay attention to proper grounding of inverter and motor.
Place power and signal cables separately from each other. When using motor power cables with
integrated brake wires, the brake wires should be shielded. The shielding braid has to be applied bothsided.
Lay all circuits with sufficient cross section. Shields to be applied in great circle (low-resistance) via
metalized connector housings resp. EMV - approved cable glands.
Assure sufficient heat removal in the surroundings and at the flange of the motor to not exceed the
maximum permitted flange temperature of 650C in S1-operation. If necessary reduce the motor rating.
Caution!
Never remove the electric connections of the motor during power supply.
Residual charges inside the compacitor of the inverter can still exist up to 5 minutes after the
disconnection of the main supply.
Power and signal connections can lead voltage even if the motor stands idle.
Before start-up respectively before mounting check the motors regarding damage in transit. Damages
of any part of the motor as well as corrosion at the shaft or flange have to be reported immediately to
us. The rotor should be easily rotating by hand. Existing brakes to be electrically let off in advance.
Environmental conditions
With regard to the installation site of the motor please take into consideration the environmental
conditions like ambient temperature: -20...+40°C, maximum mounting height: 1000m above sea level,
relative humidity: 15...85%, non-condensing.
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A power reduction might possibly be necessary in case of tolerances to the a.m. environmental
conditions. The motors are not suitable for outdoor installation or installation within aggressive or
foreign substance afflicted atmosphere.
Drive elements
The rotor of the motor has been electronically counterbalanced during production. Before fitting your
drive elements onto the shaft end, please remove the corrosion prevention (if existing).
Strictly use suitable tools for fitting or removing the drive elements and follow the advices of the drive
element manufacturer to avoid damages.
Our recommendation: Use double conical tensioning devices.
Absolutely avoid strong pushes to the motor flange and the motor shaft during fitting or removing. This
might lead to damages of the ball bearing or shaft
Power connections
The power connections have to be carried out by skilled electricians only. Before starting work make
sure that the systems actually is and remains without current during the installation time.
Follow the safety rules according to DIN VDE 0105.
The cross-sectional area of the cable has to be layed out in accordance to the rated power of the motor.
The environmental conditions, the way of laying and the local legal requirements have to be taken into
consideration.
Strictly follow the advices of the inverter manufacturer to fulfil EMV-wiring conditions.
When using shielded cables take care of a great circle metallic shield connection on both sides of the
cable.
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Motor series
HDD Servo Motors AB offers four series of
brushless, permanent-magnet servo motors,
based on the same patented ultra-compact
technology.
HSM – 20 pole hollow shaft motors
HDD – 20 pole shaft motors
HSM motors allow cables, hoses, rotating
shafts, etc. to pass through the servomotor’s
own shaft. They have 20 poles = 10 pole pairs.
HDD and ICM motors can be equipped with a
range of different feedback systems (resolver,
SICK/Stegmann Hiperface or Heidenhain
Endat). These motors can optionally be
equipped with a holding brake. The HSM
motors are only available with Hiperface
feedback and no brake.
HDD motors are equipped with a conventional
shaft for easy assembly. They have 20 poles =
10 pole pairs.
ICM – 20 pole internal coupling
motors
HDT – 10 pole shaft motors
ICM motors are even more compact because
the coupling is integrated within the motor.
They have 20 poles = 10 pole pairs.
HDD motors are equipped with a conventional
shaft for easy assembly. They have 10 poles =
5 pole pairs.
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Insulation system
The insulation system complies with the requirements of EEC LV Directive 73/23/EEC and
93/68/EEC. Test report E9911111E01.
Overtemperature protection and thermistors
As a standard, HDD motors are equipped with overtemperature protection. The protection consists of
three PTC thermistors in series, one for each phase. The PTC thermistors are manufactured according
to norms DIN 44081 and DIN 44082. According to these norms, the resistance for a single thermistor
at room temperature is in the range 20 Ohms - 250 Ohms. For three thermistors in series, the total room
temperature resistance is typically between 150 Ohms - 300 Ohms (50 Ohms - 100 Ohms per
thermistor), but can be as high as 750 Ohm without indicating malfunction.
The PTC thermistors have a switch temperature of 150 C. When T < 145 C, R < 550 Ohm for each
thermistor (R < 1650 Ohms for the whole triplet), and when T > 155 C, R > 1330 Ohm for each
thermistor (R < 4990 Ohms for the whole triplet). The resistance should be measured with a d.c.
voltage no greater than 2.5V.
As an option, HDD motors can be equipped with a temperature measurement device of type KTY84130.
Couplings for ICM motors
Three types of couplings are presently available, all using metal bellows. There are two bellow lengths
that can accommodate run-outs of 0.2 and 0.3 mm respectively. Both lengths have a stiffness of
approx. 9 kNm/rad.
The CBE models shown in the top row uses an expanding shaft.
The standard diameter of the expanding shaft is 16f7; other shafts are available on request. The CBC
model shown in the center row uses a single screw to clamp around the machine shaft. It can be
delivered to fit shafts from 5 to 20mm. The CBS model shown in the bottom row uses two clamping
screws. It can be delivered to fit shafts from 6 to 28mm.
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Holding brake
HDD, ICM and HDTmotors (but not HSM motors) have the option of an installed brake. The
permanent-magnet brake is operated by 24 VDC and blocks the rotor when being without voltage.
The brake is to be understood as a holding brake and it is not to be used for permanent slow downs
during production. When the brake is detached the rotor can operate without residual torque, the
functioning is free from backlash. The brakes can be operated directly by the inverter . In this case the
reset of the brake winding is effected without additional external wiring.
If the brake is not directly operated by the inverter and additional wiring (for example varistor) has to
be carried out. A personnel-safe application of the brake needs an additional contact within the brake
circuit and then also a release device for the brake (for example varistor).
The brake has the following characteristics:
Holding torque
Inertia J
Operating voltage
Power dissipation
9
0.4
24
12
Nm
kgcm^2
V DC
W
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Motor name structure
The different fields in a motor type name, e.g. HDD 09J– Pa– Az– Az– A– A– AAA, contain the
following information:
Motor type
HDD 09J– Pa– Az– Az– A– A– AAA
HDD
ICM
HSM
HDT
20 pole shaft motor
20 pole internal coupling motor
20 pole hollow shaft motor
10 pole shaft motor
Flange size
HDD 09J–Pa– Az– Az– A– A– AAA
Approximate flange size in cm:
09 series
92 mm
14 series
140 mm
20 series
200 mm
Stator length
A single letter indicates the stator length; the later the letter’s position in the alphabeth, the longer the
stator. Currently the following lengths are available:
For 09 series:
E (shortest), J, N, Q, S (longest).
For 14 series
J (shortest), N, R (longest).
For 20 series:
J (shortest), N (longest).
Other stator lengths may be available on request.
Winding
Pa suitable for 3000 rpm at rail voltage 560V
Ma suitable for 3000 rpm at rail voltage 320V
Kb suitable for 3000 rpm at rail voltage 180V
More generally, the first, uppercase, letter (P, M, K) roughly indicates the voltage constant; the later the
letter in the alphabeth, the higher is the counter EMF. The second, lowercase, letter is used to
distinguish between different windings that give roughly the same voltage constants.
Feedback type
HDD 09– Pa– Az– Az– A– A– AAA
HDD motors are available with a large range of feedback options:
A
B
D
Resolver
Resolver
Resolver
7 V input, 1 pole pair, 0.5 transf. ratio
7 V input, 2 pole pairs, 0.5 transf. ratio
9 V input, 1 pole pair, 0.3 transf. ratio
ES
EM
ET
EN
Endat singleturn 512 lines per rev. Electrically equivalent to ECN1313
Endat multiturn 512 lines per rev. Electrically equivalent to EQN1325
Endat singleturn 2048 lines per rev. Electrically equivalent to ECN1313
Endat multiturn 2048 lines per rev. Electrically equivalent to EQN1325
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EA
EB
Endat singleturn 32 periods (17 bit) per rev. Electrically equivalent to ECI1317
Endat multiturn 32 periods (17 bit) per rev. Electrically equivalent to EQI1329
SS
SM
ST
SN
Sincos singleturn 1024 lines per rev. Electrically equivalent to SRS50
Sincos multiturn 1024 lines per rev. Electrically equivalent to SRM50
Sincos kit singleturn 1024 lines per rev. Electrically equivalent to SRS50
Sincos kit multiturn 1024 lines per rev. Electrically equivalent to SRM50
The physical size of the motors depend on the choice of feedback, du to the size of the different
transducers, cf the figure below:
Connector
A
B1
B2
C
D
E
F1
F2
G
H
K
L
M
N
X
Y1
Y2
Y3
Pin arrangement
Mount
Sizes
Intercontec 4+3+PE (or 5+PE )
straight top mount
09
angled top mount, pointing forward
09
angled top mount, pointing back
09
straight rear mount
14 and 20
angled rear mount
14 and 20
Intercontec 5+PE
straight top mount
09
Intercontec 5+PE
angled top mount, pointing forward
09
Intercontec 5+PE
angled top mount, pointing back
09
Intercontec 5+PE
straight rear mount
14 and 20
Intercontec 5+PE
angled rear mount
14 and 20
straight forward mount
14 and 20
angled forward mount
14 and 20
Intercontec 5+PE
straight forward mount
14 and 20
Intercontec 5+PE
angled forward mount
14 and 20
Special connectors available on request. Contact HDD for details.
Speed Tech 12 pole
angled top mount shaft direction
Speed Tech 12 pole
angled top mount counter shaft direction
Speed Tech 12 pole
angled top mount pointing right seen from rear side
The letters A, B, C, D, K and L are used for 4+3+PE power connectors, whereas E, F, G, H, M and N
are used for 5+PE power connectors. However, for legacy reasons motors with pinnings suitable for
Parker and Siemens drives use the first series of letters, despite their six-pole connectors.
Pin-out suffix
HDD motors are designed to work with a large range of electronic drive systems. The pinnings of the
power and feedback connectors are adapted to fit the standard cables from different drive
manufacturers. Mechanical and electrical adjustment of the feedback are also made differently
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depending on the target drive. Currently pin-outs suitable for use with the following manufactures are
available.
a
z
t
b
c
e
f
h
k
n
p
s
u
y
HDD standard with thermistor in power connector.
HDD standard with thermistor in feedback connector.
HDD standard with both trip and KTY thermistors in power connector (no brake possible).
Infranor
Control Techniques
Elau
Ferrocontrol
AMK
Kollmorgen-Seidel
Baldor
Parker
Siemens
Baumüller
Y-Tec
Not all feedback types are presently available with all pin-out suffices.
Brake
A = no brake,
D = holding brake.
Shaft key/sealed
A = shaft with keyway (standard),
B = shaft without keyway.
C = sealed motor, shaft with keyway
D = sealed motor, shaft without keyway
X = special. Contact HDD for details.
Options
AAA = standard.
For other options please contact HDD.
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HDD 09E
Mechanical data
Unit
Rotor inertia
Mass (resolver version)
Flange height
Flange width
Length “L”
Length with resolver
Length with Hiperface transducer
Length with Endat transducer
kgcm^2
kg
mm
mm
mm
mm
mm
mm
without
brake
1.3
1.8
92
92
47.3
57.8
86.3
88.3
with brake
1.7
2.4
92
92
72.7
83.2
111.7
113.7
Electrical data
Unit
Number of poles
Number of pole pairs
Inductance/phase
Resistance/phase
Resistance/phase–phase
Back EMF/phase–phase RMS
Back EMF @ 1000 rpm
Torque constant (RMS)
Max rail voltage
Recommended max current
Torque at rec. max current
Continuous torque at 30 rpm
Continuous current at 30 rpm
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09E – Pa
20
10
19
15
30
0.71
74
1.22
750
3
3.1
1.3
1.2
1.2
1.1
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09E – Ma
20
10
3.4
2.5
5.0
0.30
31
0.52
750
7
3.1
1.3
2.8
1.2
2.7
09E – Fa
20
10
0.094
0.075
0.13
0.043
4.55
0.074
750
49.5
3.1
1.3
19.8
1.2
18.2
13/04/15
Torque versus speed
Data were measured on an HDD 09E–Pa series motor mounted on a vertical 260 x 200 x 12 mm
aluminum plate in free air, with a winding temperature rise of 90ºC and driven by a commercially
available inverter. Continuous torque and 25% duty cycle (1 minute on, 3 minutes off):
2.5
2
1.5
100%
25%
1
0.5
0
0
1000
2000
3000
Short term torque
kT derating factor
HDD 09E–Pa at 560V rail voltage
Low speed, HDD09E–Pa
Relative kT vs commanded current
1.5
4
3
2
1
0
kT relative
Torque Nm
Short term torque vs speed
0
900
Speed rpm
1800
2700
2.5A
3600
1
0.5
0
0
4.2A
1
2
3
Torque (Nm)
Maximum load on shaft at life expectancy 20,000 h
Maximal axial load (push): 350 N at 500 rpm, 100 N at 3000 rpm. Maximal axial load (pull): 50 N at
all speeds. Maximal radial load at zero axial load is given by the curves below. For special cases please
contact HDD for calculations.
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4
HDD 09J
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
mm
without
brake
2.8
2.4
92
92
59.6
70.1
98.6
100.6
with brake
3.2
3.0
92
92
85.1
95.6
124.1
126.1
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09J – Pa
20
10
7.6
3.7
7.4
0.69
72
1.20
750
7
7.35
2.9
2.5
2.6
2.3
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09J –Ma
20
10
2.2
1.16
2.32
0.38
39
0.65
750
14
7.35
2.9
4.3
2.6
4.0
09J–Kb
20
10
0.62
0.29
0.58
0.19
20
0.33
750
24
7.35
2.9
8.6
2.6
8.0
13/04/15
Torque vs speed
Data were measured on an HDD 09J–Pa series motor mounted on a vertical 260 x 200 x 12 mm
6
5
4
100%
3
25%
2
1
0
0
1000
2000
3000
Short term torque
kT derating factor
HDD 09J–Pa at 560V rail voltage
Low speed, HDD09J–Pa
1.2
1
kT relative
Torque Nm
14
12
10
8
6
4
2
0
0
900
Speed rpm
1800
7.5A
2700
10A
3600
0.8
0.6
0.4
0.2
0
0
15A
2
4
6
8
10
Torque (Nm)
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HDD 09N
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
mm
without
brake
6.1
3.6
92
92
87.3
97.8
126.3
128.3
with brake
6.5
4.2
92
92
112.7
123.2
151.7
153.7
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09N – Pa
20
10
4.9
1.9
3.9
0.84
88
1.46
750
13
16.4
5.2
3.4
3.6
3.3
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09N –Ma
20
10
1.23
0.47
0.94
0.42
44
0.73
750
26
16.4
5.2
6.3
7.7
6.3
13/04/15
Torque vs speed
Data were measured on an HDD 09N–Pa series motor mounted on a vertical 260 x 200 x 12 mm
12
10
8
100%
6
25%
4
2
0
0
1000
2000
3000
Short term torque
kT derating factor
HDD 09N–Pa at 560V rail voltage
Low speed, HDD09N–Pa
25
1.2
20
1
15
0.8
kT relative
Torque Nm
0.6
10
0.4
5
0.2
0
0
900
Speed rpm
1800
10A
2700
15A
3600
20A
0
0
5
10
15
Torque (Nm)
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20
HDD 09Q
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
mm
without
brake
8.8
4.7
92
92
109.7
120.2
148.7
150.7
with brake
9.2
5.3
92
92
137.3
147.8
176.3
178.3
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09Q – Pa
20
10
2.7
1.0
2.0
0.76
80
1.32
750
18
18
6.5
5.3
3.7
3.0
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Torque vs speed
Data were measured on an HDD 09Q–Pa series motor mounted on a vertical 260 x 200 x 12 mm
14
Torque Nm
12
10
8
6
4
2
0
0
1000
Speed rpm
2000
100%
3000
25%
Short term torque
kT derating factor
HDD 09Q–Pa at 560V rail voltage
Low speed, HDD 09Q–Pa
1.2
30
25
20
15
10
5
0
1
kT relative
Torque Nm
0
900
Speed rpm
1800
10A
2700
20A
3600
25A
0.8
0.6
0.4
0.2
0
0
5
10
15
Torque (Nm)
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20
HDD 09S
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
mm
without
brake
12.0
5.7
92
92
137.3
147.8
176.3
178.3
with brake
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09S – Pa
20
10
2.45
1.0
1.9
0.76
80
1.46
750
26
33
7.5
5.6
3.8
3.2
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Torque vs speed
Data were measured on an HDD 09S–Pa series motor mounted on a vertical 260 x 200 x 12 mm
available inverter. Only continuous torque has been measured
8
7
6
5
100%
4
25%
3
2
1
0
0
1000
2000
3000
Short term torque
kT derating factor
HDD 09S–Pa at 560V rail voltage
Low speed, HDD 09S–Pa
40
1.25
20
kT relative
Torque Nm
1.5
30
10
0
1
0.75
0.5
0.25
0
900
1800
Speed rpm
10A
2700
3600
0
0
20A
30A
40A
5
10
15
20
25
30
Torque (Nm)
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35
40
ICM 09J
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
mm
without
brake
2.6
2.1
92
92
59.6
70.1
98.6
100.6
with brake
3.0
2.7
92
92
85.1
95.6
124.1
126.1
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09J – Pa
20
10
7.6
3.7
7.4
0.69
72
1.20
750
7
7.35
2.9
2.5
2.6
2.3
22/58
09J –Ma
20
10
2.2
1.16
2.32
0.38
39
0.65
750
14
7.35
2.9
4.3
2.6
4.0
09J–Kb
20
10
0.62
0.29
0.58
0.19
20
0.33
750
24
7.35
2.9
8.6
2.6
8.0
13/04/15
Torque vs speed
Data were measured on an ICM 09J–Pa series motor mounted on a vertical 260 x 200 x 12 mm
6
5
4
100%
3
25%
2
1
0
0
1000
2000
3000
Short term torque
kT derating factor
ICM 09J–Pa at 560V rail voltage
Low speed, ICM 09J–Pa
1.2
1
kT relative
Torque Nm
14
12
10
8
6
4
2
0
0
900
Speed rpm
1800
7.5A
2700
10A
3600
0.8
0.6
0.4
0.2
0
0
15A
2
4
6
8
10
Torque (Nm)
23/58
13/04/15
ICM 09N
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
mm
without
brake
5.5
3.0
92
92
87.3
97.8
126.3
128.3
with brake
5.9
3.6
92
92
112.7
123.2
151.7
153.7
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09N – Pa
20
10
4.9
1.9
3.9
0.84
88
1.46
750
13
16.4
5.2
3.4
3.6
3.3
24/58
09N –Ma
20
10
1.23
0.47
0.94
0.42
44
0.73
750
26
16.4
5.2
6.3
7.7
6.3
13/04/15
Torque vs speed
Data were measured on an ICM 09N–Pa series motor mounted on a vertical 260 x 200 x 12 mm
12
10
8
100%
6
25%
4
2
0
0
1000
2000
3000
Short term torque
kT derating factor
ICM 09N–Pa at 560V rail voltage
Low speed, ICM 09N–Pa
1.2
25
1
0.8
kT relative
Torque Nm
20
15
0.6
10
0.4
5
0.2
0
0
0
900
Speed rpm
1800
10A
2700
15A
3600
0
5
10
15
Torque (Nm)
20A
25/58
13/04/15
20
HSM 09J
Mechanical data
Unit
Rotor inertia
Mass
Flange height
Flange width
Length “L” with Hiperface
transducer
kgcm^2
kg
mm
mm
mm
singleturn
w/o brake
5.1
3.3
92
92
100.2
multiturn
w/o brake
5.5
3.6
92
92
100.2
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09J – Pa
20
10
7.6
3.7
7.4
0.67
71
1.17
750
7
7.35
2.9
2.5
2.6
2.3
09J –Ma
20
10
2.2
1.16
2.32
0.34
36
0.60
750
14
7.35
2.9
4.3
2.6
4.0
09J–Kb
20
10
0.62
0.29
0.58
0.19
20
0.32
750
24
7.35
2.9
8.6
2.6
8.0
Note: Only available with Hiperface feedback and without brake.
26/58
13/04/15
Torque vs speed
Data were measured on an HSM 09J–Pa series motor mounted on a vertical 260 x 200 x 12 mm
6
5
4
100%
3
25%
2
1
0
0
1000
2000
3000
Short term torque
kT derating factor
HSM 09J–Pa at 560V rail voltage
Low speed, HSM09J–Pa
1.2
1
kT relative
Torque Nm
14
12
10
8
6
4
2
0
0
900
Speed rpm
1800
7.5A
2700
10A
3600
0.8
0.6
0.4
0.2
0
0
15A
2
4
6
8
10
Torque (Nm)
Maximal axial load (push): 1600 N at 500 rpm, 650 N at 3000 rpm.
Maximal axial load (pull): 50 N at all speeds.
Maximal radial load is given by the curves below.
27/58
13/04/15
HSM 09N
Mechanical data
Unit
Rotor inertia
Mass
Flange height
Flange width
transducer
kgcm^2
kg
mm
mm
mm
singleturn
w/o brake
7.8
3.8
92
92
127.9
multiturn
w/o brake
8.2
4.1
92
92
127.9
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09N – Pa
20
10
4.9
1.9
3.9
0.82
86
1.42
750
13
16.4
5.2
3.4
3.6
3.3
09N –Ma
20
10
1.12
0.47
0.94
0.41
43
0.71
750
26
16.4
5.2
6.3
7.7
6.3
28/58
13/04/15
Torque vs speed
Data were measured on an HSM 09N–Pa series motor mounted on a vertical 260 x 200 x 12 mm
12
10
8
100%
6
25%
4
2
0
0
1000
2000
3000
Short term torque
kT derating factor
HSM 09N–Pa at 560V rail voltage
Low speed, HSM 09N–Pa
25
1.2
20
1
15
0.8
kT relative
Torque Nm
0.6
10
0.4
5
0.2
0
0
900
Speed rpm
1800
10A
2700
15A
3600
20A
0
0
5
10
15
Torque (Nm)
29/58
13/04/15
20
HSM 09Q
Mechanical data
Unit
Rotor inertia
Mass
Flange height
Flange width
transducer
kgcm^2
kg
mm
mm
mm
singleturn
w/o brake
10.0
4.6
92
92
150.3
multiturn
w/o brake
10.5
4.9
92
92
150.3
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
09Q – Pa
20
10
2.7
1.0
2.0
0.69
72
1.19
750
18
18
6.5
5.3
3.7
3.0
30/58
13/04/15
Torque vs speed
Data were measured on an HSM 09Q–Pa series motor mounted on a vertical 260 x 200 x 12 mm
14
Torque Nm
12
10
8
6
4
2
0
0
1000
Speed rpm
2000
100%
3000
25%
Short term torque
kT derating factor
HSM 09Q–Pa at 560V rail voltage
Low speed, HSM 09Q–Pa
1.2
30
25
20
15
10
5
0
1
kT relative
Torque Nm
0
900
Speed rpm
1800
10A
2700
20A
3600
25A
0.8
0.6
0.4
0.2
0
0
5
10
15
Torque (Nm)
31/58
13/04/15
20
HDD 14J
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
without
brake
13.3
6.0
140
140
80.9
91.9
121.9
with brake
13.7
6.5
140
140
80.9
91.9
121.9
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
14J – Pa
20
10
4.4
0.77
1.5
0.90
94
1.56
750
30
40
10.0
7.0
7.0
5.3
32/58
13/04/15
Torque vs speed
Torque Nm
Data were measured on an HDD 14J–Pa series motor mounted on a vertical 260 x 200 x 12 mm
20
18
16
14
12
10
8
6
4
2
0
0
1000
2000
Speed rpm
100%
3000
25%
Short term torque
50
Torque Nm
40
30
20
10
0
0
800
speed
15A
1600
30A
2400
3200
40A
HDD 14J–Pa at 560V rail voltage
Maximal axial load (push): 1000 N at 500 rpm, 300 at 3000 rpm. Maximal axial load (pull): 100 N at
all speeds. Maximal radial load is given by the curves below. For special cases please contact HDD for
calculations.
33/58
13/04/15
HDD 14N
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
without
brake
32.6
10.0
140
140
114.1
125.1
155.1
with brake
33.0
10.5
140
140
114.1
125.1
155.1
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
14N – Pa
20
10
2.25
0.32
0.64
0.90
95
1.57
750
13
16.4
18.0
12.5
10.0
7.7
34/58
14N – Ma
20
10
0.89
0.14
0.29
0.55
58
0.96
750
21
16.4
18.0
20.5
10.0
12.6
13/04/15
Torque vs speed
Data were measured on an HDD 14N–Pa series motor mounted on a vertical 260 x 200 x 12 mm
35
Torque Nm
30
25
20
15
10
5
0
0
1000
2000
Speed rpm
100%
3000
25%
Short term torque
HDD 14N–Pa at 560V rail voltage
Torque Nm
100
90
80
70
60
50
40
30
20
10
0
0
speed
800
1600
30A
2400
60A
3200
80A
Maximal axial load (push): 1000 N at 500 rpm, 300 at 3000 rpm. Maximal axial load (pull): 100 N at
all speeds. Maximal radial load is given by the curves below. For special cases please contact HDD for
calculations.
35/58
13/04/15
ICM 14J
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
without
brake
13.3
6.0
140
140
80.9
91.9
121.9
with brake
13.7
6.5
140
140
80.9
91.9
121.9
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
14J – Pa
20
10
4.4
0.77
1.5
0.90
94
1.56
750
30
40
10.0
7.0
7.0
5.3
36/58
13/04/15
Torque vs speed
Torque Nm
Data were measured on an ICM 14J–Pa series motor mounted on a vertical 260 x 200 x 12 mm
20
18
16
14
12
10
8
6
4
2
0
0
1000
2000
Speed rpm
100%
3000
25%
Short term torque
50
Torque Nm
40
30
20
10
0
0
800
speed
15A
1600
30A
2400
3200
40A
ICM 14J–Pa at 560V rail voltage
37/58
13/04/15
ICM 14N
Mechanical data
Unit
Rotor inertia
Flange height
Flange width
Length “L”
kgcm^2
kg
mm
mm
mm
mm
mm
without
brake
32.6
10.0
140
140
114.1
125.1
155.1
with brake
33.0
10.5
140
140
114.1
125.1
155.1
Electrical data
Unit
Number of poles
Inductance/phase
Resistance/phase
Back EMF @ 1000 rpm
Max rail voltage
mH
Ohm
Ohm
Vs/rad
V
Nm/A
V
A
Nm
Nm
A
Nm
A
14N – Pa
20
10
2.25
0.32
0.64
0.90
95
1.57
750
13
16.4
18.0
12.5
10.0
7.7
38/58
14N – Ma
20
10
0.89
0.14
0.29
0.55
58
0.96
750
21
16.4
18.0
20.5
10.0
12.6
13/04/15
Torque vs speed
Data were measured on an ICM 14N–Pa series motor mounted on a vertical 260 x 200 x 12 mm
35
Torque Nm
30
25
20
15
10
5
0
0
1000
2000
Speed rpm
100%
3000
25%
Short term torque
ICM 14N–Pa at 560V rail voltage
Torque Nm
100
90
80
70
60
50
40
30
20
10
0
0
speed
800
1600
30A
2400
60A
3200
80A
39/58
13/04/15
Connector pin-outs
HDD does not manufacture power electronics itself. Instead, the motors can be equipped with different
connectors with pinnings that fit standard cables of many major manufacturers of electronic drives.
Currently connector pin-out suitable for power electronics from the following manufacturers are
supported:
a
z
t
b
b2
c
e
f
h
i
i2
k
o
p
s
u
y
HDD default with thermistor in power connector
HDD default with thermistor in feedback connector
HDD default with trip thermistor and temperature measuring device
Infranor 1 (12-pole resolver connector)
Infranor 2 (17-pole resolver connector)
Control-Techniques
Elau
Ferrocontrol
AMK
Bosch-Rexroth-Indramat 1 (8-pole power connector)
Bosch-Rexroth-Indramat 2 (9-pole power connector)
Kollmorgen-Seidel
KEB
Parker
Siemens
Baumüller
Y-Tec
Connector type
Power recepacle 3+4+gnd straight
Power receptacle 3+4+gnd angled
Power receptacle 5+gnd straigth
Power receptacle 5+gnd angled
Signal receptacle 12–pole straight
Signal receptacle 12–pole angled
Signal receptacle 17–pole straight
Signal receptacle 17–pole angled
Intercontec article number
B EG A 125 MR 13 00 0006 000
B ED C 089 MR 13 00 0005 000
B EG A 127 MR 10 00 0006 000
B ED C 088 MR 10 00 0005 000
A EG A 052 MR 04 00 0012 000
A ED C 052 MR 04 00 0012 000
A EG A 113 MR 04 00 0012 000
A ED C 113 MR 04 00 0012 000
40/58
13/04/15
HDD Standard pin–out
Power
HDD09J-Pa-A-A-A-AAAA
Resolver
Hiperface
HDD09J-Pa-A-A-A-A-AAA
Endat
A
Straight top
A
B
Angled top
B
C
Straight rear
D
D
Angled rear
EN
K
Straight front
EA
L
Straight rear
EB
X
Special
EF
Pin
1
2
3
4
A
B
C
D
Phase U
Ground
Phase W
Phase V
Brake +24V
Brake 0V
Trip thermistor
Trip thermistor
Pin
1
2
3
4
5
6
7
8
9
10
11
12
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
Single turn
ES
SM
Multi turn
EM
SC
Hollow shaft
single turn
ET
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Exc hi R1
Exc lo R2
–
Cos hi S1
Cos lo S3
Sin lo S4
Sin hi S2
–
–
–
–
–
SS
41/58
–
–
Gnd
Cos
RefCos
RefSin
Sin
+VCC
+RS485
–RS485
–
–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
Sensor (U_P)
–
–
Sensor (0V)
–
–
U_P
Clock
Clock’
0V (U_N)
Shield
B+ (if incr)
B– (if incr)
Data
A+ (if incr)
A– (if incr)
Data’
13/04/15
z: HDD Standard pin–out with thermistor in feedback connector
Power
HDD09J-Pa-Az-Az-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Az-Az-A-A-AAA
Endat
Az
Straight top
Az
Bz
Angled top
Bz
Cz
Straight rear
Dz
Dz
Angled rear
ENz
Kz
Straight front
EAz
Lz
Straight rear
EBz
Xz
Special
EFz
Pin
1
2
3
4
A
B
C
D
Phase U
Ground
Phase W
Phase V
Brake +24V
Brake 0V
–
–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
Exc hi R1
Exc lo R2
–
Cos hi S1
Cos lo S3
Sin lo S4
Sin hi S2
–
–
–
Trip thermistor
Trip thermistor
42/58
SSz
Single turn
ESz
SMz
Multi turn
EMz
SCz
Hollow shaft
single turn
ETz
Pin
1
2
3
4
5
6
7
8
9
10
11
12
–
–
Gnd
Cos
RefCos
RefSin
Sin
+VCC
+RS485
–RS485
Trip thermistor
Trip thermistor
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
Sensor (U_P)
–
–
Sensor (0V)
Trip thermistor
Trip thermistor
U_P
Clock
Clock’
0V (U_N)
Shield
B+ (if incr)
B– (if incr)
Data
A+ (if incr)
A– (if incr)
Data’
13/04/15
t: HDD Standard pin–out with both trip and measurement thermistor (KTY) in
power connector
Power
HDD09J-Pa-At-At-A-AAAA
Resolver
Hiperface
HDD09J-Pa-At-At-A-A-AAA
Endat
At
Straight top
At
Bt
Angled top
Bt
Ct
Straight rear
Dt
Dt
Angled rear
ENt
Kt
Straight front
EAt
Lt
Straight rear
EBt
Xt
Special
EFt
Pin
1
2
3
4
A
B
C
D
Phase U
Ground
Phase W
Phase V
KTY +
KTY –
Trip thermistor
Trip thermistor
Pin
1
2
3
4
5
6
7
8
9
10
11
12
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
SSt
Single turn
ESt
SMt
Multi turn
EMt
SCt
Hollow shaft
single turn
ETt
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Exc hi R1
Exc lo R2
–
Cos hi S1
Cos lo S3
Sin lo S4
Sin hi S2
–
–
–
–
–
–
–
Gnd
Cos
RefCos
RefSin
Sin
+VCC
+RS485
–RS485
–
–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
Sensor (U_P)
–
–
Sensor (0V)
–
–
U_P
Clock
Clock’
0V (U_N)
Shield
B+ (if incr)
B– (if incr)
Data
A+ (if incr)
A– (if incr)
Data’
Note: The measurement thermistor is KTY–84 temperature measuring device.
43/58
13/04/15
b: Infranor pin–out 1
Power
HDD09J-Pa-Ab-Eb-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Ab-Eb-A-A-AAA
Endat
May be available on
request. Please contact
HDD.
Eb
Straight top
Ab
Fb
Angled top
Bb
Gb
Straight rear
Db
Hb
Mb
Nb
Angled rear
Straight front
Straight rear
Pin
1
2
3
4
5
6
Phase W
Phase U
Ground
Phase V
Brake +24V
Brake 0V
Pin
1
2
3
4
5
6
7
8
9
10
11
12
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
Sin– S4
Sin+ S2
Cos– S1
Cos+ S3
Trip thermistor
Trip thermistor
Ref– R2
Ref+ R1
–
–
–
–
44/58
SSb
Single turn
SMb
Multi turn
SCb
Hollow shaft
single turn
Pin
1
2
3
4
5
6
7
8
9
10
11
12
VCC
Gnd
RefSin
RefCos
+RS485
–RS485
Sin +
Cos +
Trip thermistor
Trip thermistor
–
–
13/04/15
b: Infranor pin–out 2
Power
HDD09J-Pa-Ab2-Eb2A-A-AAA
Resolver
Hiperface
HDD09J-Pa-Ab2-Eb2-A-A-AAA
Eb2
Straight top
Ab2
Fb2
Angled top
Bb2
Gb2
Straight rear
Db2
Hb2
Angled rear
ENb2
Mb2
Straight front
EAb2
Nb2
Straight rear
EBb2
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
Endat
SSb2
Single turn
ESb2
SMb2
Multi turn
EMb2
SCb2
Hollow shaft
single turn
ETb2
EFb2
Pin
1
2
3
4
5
6
Phase W
Phase U
Ground
Phase V
Brake +24V
Brake 0V
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Sin+ S2
Sin– S4
Cos+ S3
Cos– S1
Ref+ R1
Ref– R2
–
–
–
–
–
Trip thermistor
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
Trip thermistor
13
14
15
16
17
–
–
–
–
14
15
16
17
45/58
Sin+
Sin–
Cos+
Cos–
Data+
Data–
–
–
–
0V
+12V
Trip
thermistor
Trip
thermistor
–
–
–
–
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
Pin
1
2
3
4
5
6
7
8
9
10
11
12
A+
A–
B+
B–
Clock
Clock’
Data
Data’
–
0V
+5V
Trip thermistor
13
Trip thermistor
14
15
16
17
–
–
–
–
13/04/15
c: Control Techniques pin–out
Power
HDD09J-Pa-Ac-Ec-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Ac-Ec-A-A-AAA
Endat
Ec
Straight top
Ac
Fc
Angled top
Bc
Gc
Straight rear
Dc
Hc
Angled rear
ENc
Mc
Straight front
EAc
Nc
Straight rear
EBc
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
SSc
Single turn
ESc
SMc
Multi turn
EMc
SCc
Hollow shaft
single turn
ETc
EFc
Pin
1
2
3
4
5
6
Phase U
Phase V
Ground
Phase W
Brake +24V
Brake 0V
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Exc hi
Exc lo
Cos hi
Cos lo
Sin hi
Sin lo
Trip thermistor
Trip thermistor
–
–
–
–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
REF Cos
+ Data
– Data
+ Cos
+ Sin
REF Sin
Trip thermistor
Trip thermistor
Screen
0V
–
+Volts
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
Trip thermistor
Trip thermistor
–
–
–
–
+ Clock
– Clock
+ Cos (if incr)
+ Data
– Data
– Cos (if incr)
+ Sin (if incr)
– Sin (if incr)
+ 8V
0 Volts
Screen
Note: Location of connector key in resolver and hiperface connectors.
46/58
13/04/15
e: Elau pinout
Power
HDD09J-Pa-SSe-Ae-AA-AAA
Ae
Be
Ce
Straight top
Angled top
Straight rear
De
Ke
Le
Xe
Angled rear
Straight front
Straight rear
Special
Pin
1
2
3
4
A
B
C
D
Phase W
Ground
Phase U
Phase V
Brake +24V
Brake 0V
Trip thermistor
Trip thermistor
Resolver
Hiperface
HDD09J-Pa-SSe-Ae-A-A-AAA
Endat
May be available on
HDD.
May be available on
HDD.
SSe
SMe
SCe
Pin
1
2
3
4
5
6
7
8
9
10
11
12
47/58
Single turn
Multi turn
Hollow shaft
single turn
RefCos
+ RS485
–
–
Sin
RefSin
– RS485
Cos
–
Gnd (0V)
–
+VCC (7–11V)
13/04/15
f: Ferrocontrol pin–out
Power
HDD09J-Pa-SSf-Af-AA-AAA
Af
Bf
Cf
Straight top
Angled top
Straight rear
Df
Kf
Lf
Angled rear
Straight front
Straight rear
Pin
1
2
3
4
A
B
C
D
Phase U
Ground
Phase V
Phase W
Trip thermistor
Trip thermistor
Brake +24V
Brake 0V
Resolver
Hiperface
HDD09J-Pa-SSf-Af-A-A-AAA
Endat
May be available on
HDD.
May be available on
HDD.
SSf
SMf
SCf
Pin
1
2
3
4
5
6
7
8
9
10
11
12
48/58
Single turn
Multi turn
Hollow shaft
single turn
RefCos
+ RS485
–
–
Sin
RefSin
– RS485
Cos
–
Gnd (0V)
–
+VCC (7–11V)
13/04/15
h: AMK pin–out
Power
HDD09J-Pa-Ah-Ah-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Ah-Ah-A-A-AAA
Endat
May be available on
HDD.
Ah
Straight top
Ah
Bh
Angled top
Bh
Ch
Straight rear
Dh
Dh
Kh
Lh
Angled rear
Straight front
Straight rear
Pin
1
2
3
4
A
B
C
D
Phase U
Ground
Phase V
Phase W
Trip thermistor
Trip thermistor
Brake +24V
Brake 0V
Pin
1
2
3
4
5
6
7
8
9
10
11
12
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
Single turn
SMh
Multi turn
SCh
Hollow shaft
single turn
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Sin +
Sin –
Cos +
Cos –
–
–
–
Screen
Exc +
Exc –
–
–
SSh
49/58
Sin +
RefSin
Cos +
RefCos
–
Gnd
–
Screen
+RS485
–RS485
Us (7–12V)
–
13/04/15
i: Bosch-Rexroth-Indramat pin–out 1
Power
HDD09J-Pa-SSi-Ai-AA-AAA
Resolver
Hiperface
HDD09J-Pa-SSi-Ai-A-A-AAA
Endat
May be available on
HDD.
Ai
Straight top
SSi
Single turn
ESi
Bi
Angled top
SMi
Multi turn
EMi
Ci
Straight rear
SCi
Hollow shaft
single turn
ETi
Di
Angled rear
ENi
Ki
Straight front
EAi
Li
Straight rear
EBi
EFi
Pin
1
2
3
4
A
B
C
D
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Phase U
Ground
Phase W
Phase V
Brake +24V
Brake 0V
Trip thermistor
Trip thermistor
50/58
+VCC (7–11V)
Gnd (0V)
Ref Sin
Ref Cos
Data +
Data –
Sin +
Cos +
–
–
–
–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
A+ (if incr)
A– (if incr)
Data+
–
Clock+
–
0V
KTY+
KTY–
+5V
B+ (if incr)
B– (if incr)
Data–
Clock–
0V sense
+5V sense
Shield
13/04/15
i2: Bosch-Rexroth-Indramat pin–out 2
Power
HDD09J-Pa-SSi2-Pi2-AA-AAA
Resolver
Hiperface
HDD09J-Pa-SSi2-Pi2-A-A-AAA
Endat
May be available on
HDD.
Pi2
Straight top
SSi2
Single turn
ESi2
Qi2
Angled top
SMi2
Multi turn
EMi2
Si2
Straight rear
SCi2
Hollow shaft
single turn
ETi2
Ti2
Angled rear
ENi2
Ui2
Straight front
EAi2
Vi2
Straight rear
EBi2
EFi2
Pin
1
2
3
4
5
6
7
8
9
Pin
1
2
3
4
5
6
7
8
9
10
Phase U
Ground
Phase W
Phase V
KTY84 +
KTY84 –
Brake +24V
Brake 0V
–
51/58
+VCC Encoder
GND
A+ (if incr)
A– (if incr)
B+ (if incr)
B– (if incr)
Data+
Data–
–
–
Pin
1
2
3
4
5
6
7
8
9
10
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
+VCC Encoder
GND
A+ (if incr)
A– (if incr)
B+ (if incr)
B– (if incr)
Data+
Data–
Clock+
Clock–
13/04/15
k: Kollmorgen–Seidel pin–out
Power
HDD09J-Pa-Ak-Ak-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Ak-Ak-A-A-AAA
Endat
May be available on
HDD.
Ak
Straight top
Ak
Bk
Angled top
Bk
Ck
Straight rear
Dk
Dk
Kk
Lk
Angled rear
Straight front
Straight rear
Pin
1
2
3
4
A
B
C
D
Phase U
Ground
Phase W
Phase V
Brake +24V
Brake 0V
–
–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
–
Trip thermistor
Sin S3
Cos S4
Exc R2
Trip thermistor
Sin S1
Cos S2
Exc R1
–
–
–
52/58
SSk
Single turn
SMk
Multi turn
SCk
Hollow shaft
single turn
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
RefSin
Gnd
RefCos
Up +8V
+RS485
–
Trip thermistor
–
Sin
–
Cos
–
–Rs485
Trip thermistor
–
–
–
13/04/15
o: KEB pin–out
Power
HDD09J-Pa-Ao-Ao-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Ao-Ao-A-A-AAA
Endat
Ao
Straight top
Ao
Bo
Angled top
Bo
Co
Straight rear
Do
Do
Angled rear
ENo
Ko
Straight front
EAo
Lo
Straight rear
EBo
Xo
Special
EFo
Pin
1
2
3
4
A
B
C
D
Phase U
Ground
Phase W
Phase V
Brake +24V
Brake 0V
Temp+
Temp–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
Single turn
ESo
SMo
Multi turn
EMo
SCo
Hollow shaft
single turn
ETo
Pin
1
2
3
4
5
6
7
8
9
10
11
12
SIN–
COS+
–
–
REF+
–
REF–
–
–
SIN+
COS–
–
SSo
53/58
–
–
–
REF_SIN–
REF_COS–
Data+
Data–
SIN+
COS+
+ 7.5V
COM
–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
Sensor (U_P)
–
–
Sensor (0V)
–
–
+5V
Clock+
Clock–
COM
Shield
B+ (if incr)
B– (if incr)
Data+
A+ (if incr)
A– (if incr)
Data–
13/04/15
p: Parker pin–out
Power
HDD09J-Pa-Ap-Ap-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Ap-Ap-A-A-AAA
Endat
May be available on
HDD.
Ap
Straight top
Ap
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
ESp
Bp
Angled top
Bp
Gp
Straight rear
Dp
Hp
Angled rear
ENp
Mp
Straight front
EAp
Np
Straight rear
EBp
EMp
ETp
EFp
Pin
1
2
3
4
5
6
Phase U
Phase V
Shield
Brake +24V
Brake 0V
Phase W
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Pin
Sin hi S2
Sin lo S4
–
–
–
–
Exc lo R2
Trip thermistor
Trip thermistor
Exc hi R1
Cos hi S1
Cos lo S3
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
A+ (if incr)
A– (if incr)
D+
–
C+
–
0V
Trip thermistor
Trip thermistor
+5V
B+ (if incr)
B– (if incr)
D–
C–
0V sense
+5V sense
shield
Note: Location of connector key in resolver connectors.
54/58
13/04/15
s: Siemens pin–out
Power
HDD09J-Pa-As-As-A-AAAA
Resolver
Endat SIL2
HDD09J-Pa-As-As-A-A-AAA
Endat
May be available on
HDD.
As
Straight top
As
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
ESs
Bs
Angled top
Bs
Gs
Straight rear
Ds
Hs
Angled rear
ENs
Ms
Straight front
EAs
Ns
Straight rear
EBs
EMs
ETs
EFs
Pin
1
2
3
4
5
6
Phase U
Phase V
Shield
Brake +24V
Brake 0V
Phase W
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Pin
Sin hi S2
Sin lo S4
–
–
–
–
Exc lo R2
KTY+
KTY –
Exc hi R1
Cos hi S1
Cos lo S3
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Single turn, 512
lines/rev
Multi turn, 512
lines/rev
Single turn,
2048 lines/rev
Multi turn, 2048
lines/rev
Single turn, 32
ppr (17 bit)
Multi turn, 32
ppr (17 bit)
Multi turn, 23
bits/rev, SIL2,
no incr signals
A+ (if incr)
A– (if incr)
D+
–
C+
–
0V
KTY+
KTY –
+5V
B+ (if incr)
B– (if incr)
D–
C–
0V sense
+5V sense
shield
Note: The thermistor is a Siemens–compatible KTY–84 temperature measuring device. For motors
with the same pinout but with standard PTC protection thermistor, please refer to the “p” pinout.
Note: Location of connector key in resolver connectors.
55/58
13/04/15
u: Baumüller pin–out
Power
HDD09J-Pa-Au-Au-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Au-Au-A-A-AAA
May be available on
HDD.
Au
Straight top
Au
Bu
Angled top
Bu
Cu
Straight rear
Du
Du
Ku
Lu
Angled rear
Straight front
Straight rear
Pin
1
2
3
4
A
B
C
D
Phase V
Ground
Phase U
Phase W
Brake +24V
Brake 0V
–
–
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Endat
May be available on
HDD.
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
Cos+ S3
–
–
–
Sin– S4
Sin+ S2
KTY+
Cos– S1
KTY –
Ref– R2
–
Ref+ R1
Note: The thermistor is KTY–84 temperature measuring device
56/58
13/04/15
n: Baldor pin–out
Power
HDD09J-Pa-An-An-AA-AAA
Resolver
Hiperface
HDD09J-Pa-An-An-A-A-AAA
May be available on
HDD.
An
Straight top
An
Bn
Angled top
Bn
Cn
Straight rear
Dn
Dn
Kn
Ln
Angled rear
Straight front
Straight rear
Pin
1
2
3
4
A
B
C
D
Phase U
Ground
Phase W
Phase V
Trip thermistor
Trip thermistor
Brake +24V
Brake 0V
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Endat
May be available on
HDD.
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
Exc+ R1
Exc– R2
Cos+ S1
Cos– S3
Sin+ S2
Sin– S4
–
–
–
–
–
–
57/58
13/04/15
v: YTec pin–out
Power
HDD09J-Pa-Av-Y2v-AA-AAA
Resolver
Hiperface
HDD09J-Pa-Av-Y2v-A-A-AAA
May be available on
HDD.
Y1v
Y2v
Y3v
Pin
A
B
C
gnd
1
2
3
4
5
Angled top mount
pointing forward
Angled top mount
pointing back
Angled top mount
pointing right
Phase U
Phase W
Phase V
Ground
Brake +24V
Brake 0V
–
–
–
Av
Bv
Dv
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Endat
May be available on
HDD.
2 poles, 0.5
transf. ratio
4 poles, 0.5
transf. ratio
2 poles, 0.3
transf. ratio
–
KTY84-130+
S4 Cos–
S3 Sin–
R2 Exc–
KTY84-130–
S2 Cos+
S1 Sin+
R1 Exc+
–
–
–
58/58
13/04/15

HDD Servo Motors AB

Transcription

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