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1FW6 Built-in torque motors

Configuration Manual, 05/2009, 6SN1197-0AD00-0BP7

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Siemens 611 configurationmanual 131

Contents

Simodrive Page Drive Technology 1FW6 Built-in torque motors Configuration Manual 05/2009 Trademarks Legal informationQualified Personnel Proper use of Siemens products Benefits PrefaceInformation on the documentation Target group Preface Technical SupportQuestions about this documentation Internet address for products EC Declaration of Conformity Preface Page Table of contents 163 Table of contents103 115 11.1 10.1187 10.2Page Residual risks of power drive systems General safety guidelines Observing and complying with safety guidelines Handling direct drives and components Use for the intended purpose General safety guidelines Use for the intended purpose Components with permanent magnets Occurrence of magnetic fields General safety guidelines Page Protective measures against residual voltages General safety guidelines 1.5 Electrical shock hazardElectrical shock hazard Attaching warning signs Sign General safety guidelines 1.7 Pictograms supplied for 1FW6Pictograms supplied for 1FW6 Page 1FW6 built-in torque motor Description of the motorProperties Overview Description of the motor 2.1 Properties BenefitsStandards and regulations Applications Technical featuresDescription of the motor 2.2 Technical features Technical feature Version Description of the motor 2.2 Technical features Direction of rotation UL approvalValidity Rated torque Max. torque Selection and ordering dataDescription of the motor 2.3 Selection and ordering data Current 1 I N 1FW6230-xxB07-8Fxx Description of the motor Selection and ordering data 1FW6230-xxB10-2Jxx Built-in torque motors overview part 2 1FW6160-xxB15-5Gxx 440 280 210 95.3 Description of the motor 2.4 Order designation Order designationStructure of the order designations ,QWHJUDWHGFRROLQJDQGDLDOFDEOHRXWOHW Standard 1FW6 built-in torque motors QGLYLGXDOFRPSRQHQW Stators as individual components 6SDUHSDUWDFFHVVRU\FRGH Rotor as individual componentRound sealing ring O ring QGLYLGXDOFRPSRQHQW 5RWRU Ordering notes Plug connectorConnector type Connector size Cooling connection adapter Example Ordering examples Description of the motor 2.5 Motor rating plate Motor rating plateData on the motor rating plate Motors with a cooling jacket Overview of the motor constructionMotor components 1FW6 motor components with a cooling jacket Motors with integrated cooling Overview of the motor construction Cooling methodMotor components of the built-in motor and options Temp-S Description of the temperature sensorsTemperature sensor Thermal motor protection Name Description Temp-F Electrical shock hazard Thermal motor protection Method Evaluation of the temperature sensors for motor protection Cooling Cooling circuit requirements Effects when water cooling is not usedCooling circuits Cooling connection adapter Coolant intake temperatureMaterials used in the cooling circuits of torque motors Cooling jacket Integrated cooling main Heat-exchanger unit Dimensioning the heat-exchanger unit General requirements placed on the cooling medium CoolantProvision of the cooling medium Reason for the use of water with an anti-corrosion agent Suitable mixture Requirements placed on the waterRequirements placed on the anti-corrosion agent Requirements Coupled motorsParallel operation of several motors Parallel operation of several motors on one axes Janus arrangement Power connection for parallel operationMotor arrangements Tandem arrangement Coupled motors 4.1 Parallel operation of several motors 7KHUPLVWRUPRWRUSURWHFWLRQGHYLFH Risk of electric shock Janus arrangement for motors with a cooling jacket Janus arrangement Janus arrangement for motors with integrated cooling Page Procedure Configuring the motorProcedure 6WDUW Configuring the motor 5.1 Procedure General mechanical conditions Specification of the duty cycle Required motor torque Torque-time diagram Determining the required motor torque Selecting the motors Motor torque-time diagram Checking the torques and speeds Motor torque-speed diagramUneven current load Fulfilling the torque-speed requirements Determining the motor torque-speed diagramTorque-speed requirements Electrical parallel connection More than one torque motor on one axesChecking the moments of inertia Recalculating the duty cycle Calculating the required infeed powerInfeed power Selecting an infeed unit Configuring the motor 5.2 ExamplesExamples Following must be determined General conditions for positioning within a defined period Section LQRULQ LQ Evaluation Periodic duty cycle S3 mode An excessive load can lead to the destruction of the motor Short-time duty S2 and intermittent duty S3Short-time duty S2 7HPSHUDWXUH Intermittent duty S3Page Important information about motor assembly Motor assemblyMotor assembly Motor assembly Length of active Radial and axial forcesRadial forces between the stator and rotor 1FW609 1FW613 1FW615 1FW616 1FW619 1FW623 1FW629 Requirements of the installation deviceAxial forces between the stator and rotor Screw material and tightening torques Mounting system Type series Screw Tightening torque Procedure for installing the motorSequence for installing the motor Motor assembly Motor assembly Risk of compression when the rotor is lowered Cooler connection Installing the cooling connection adapter $OOGLPHQVLRQVLQPP 6WDWRU LLQJVFUHZ7LJKWHQLQJWRUTXH RROHUFRQQHFWLRQRSWLRQDO $OOGLPHQVLRQVLQPP Information on routing cables6WDWRU RROHUFRQQHFWLRQRSWLRQDO Risk if axes moves in an uncontrolled manner Checking the installation workChecking the work carried out Image title Description Installation examples Rotary table with torque motor with integrated cooling Rotary table with torque motor with cooling jacket 3DUWWXUQDFWXDWRU RROHUFRQQHFWLRQ 7UDQVSRUWDWLRQORFNV Part-turn actuator with torque motor with cooling jacket Ohfwulfdo Frqqhfwlrq FRQQHFWLRQ&RROHU Degree of protection Motor assembly 6.2 Protecting the motor componentsProtecting the motor components Page 3RZHUPRGXOH RUHDVVLJQPHQW RISRZHUFRQQHFWLRQ Roru System integrationSystem requirements Components \H System integration System requirements VLJQDOFRQQHFWLRQ Roru System integration 7.1 System requirements2SWLRQ RQGXFWRUDVVLJQPHQW 3RZHUFRQQHFWLRQ Roru Rqqhfwlrq JQ\H Drive systems Permissible voltages Control quality AccuracyMechanics System integration 7.2 Encoders EncodersEncoder system Requirements regarding the encoder 109 5RWDU\WDEOH Hdulqj 6WDWRU 5RWRU RRGHQFRGHUDUUDQJHPHQW System integration 7.3 Bearings BearingsSelecting the bearing System integration 7.4 Braking concepts Braking conceptsPossible malfunctions Braking concepts Deploying a holding brake System integration 7.4 Braking concepts Outgoing feeder Strain relief InterfacesOverview Electrical connection components Interfaces Overview Dimensions of the electrical connections 117 7HUPLQDOEORFN 6WDWRU Electrical connection tangential with sleeve for 1FW609 RQWKHZLQGLQJYDULDQW 6LJQDOFDEOH 6WDWRU 7HUPLQDOEORFN 6LJQDOFDEOH 3RZHUFDEOH Electrical connection tangential with sleeve for 1FW613 121 7HUPLQDOEORFN $OOGLPHQVLRQVLQPP 7KHGLDPHWHURIWKHSRZHUFDEOHGHSHQGV 123 124 125 126 7HUPLQDOEORFN 6WDWRU $OOGLPHQVLRQVLQPP 128 129 130 131 6WDWRU 7HUPLQDOEORFN $OOGLPHQVLRQVLQPP $OOGLPHQVLRQVLQPP 7HUPLQDOEORFN 133 134 135 136 137 138 Motor type Interfaces 140 141 Specifications for the signal cable on the stator OHFWULFDOFRQQHFWRUSLQDVVLJQPHQWV Interfaces Electrical connections Electrical connections Temperature sensor connection via SME9x Power connectionSignal connection No direct connection of the temperature monitoring circuits SME9x 147 3XOVHVXSSUHVVLRQ WKH.7FDQEHFRQQHFWHGQsxw 2XWSXW Rules Shielding, grounding, and equipotential bonding Motor supply cables Specification of the motor supply cablesCooler connection Requirements for the motor supply cables 32 Cooler connection for 1FW609 and 1FW613 example Interfaces 8.3 Cooler connection 33 Cooler connection for 1FW615 example Cooler connection for motors with integrated cooling 6WDWRU $OOGLPHQVLRQVLQPP 0DLQFRROHU QWHUQDOGLDPHWHUVWDWRU 3UHFLVLRQFRROHU0DLQFRROHU 35 Cooling connection plate for 1FW629 6FUHZSOXJ SUHDVVHPEOHG 6WDWRU WHUQDOGLDPHWHUVWDWRU 2XWOHW&XVWRPHUVSHFLILFUHDFKRIVFUHZ Dgdswhu 2XWOHW,QOHW6FUHZSOXJ 2XWOHW Qohw RROLQJFRQQHFWLRQ Dgdswhu6WDWRU WHUQDOGLDPHWHUVWDWRU 158 3PD EDU +HDWHFKDQJHUXQLW ULQJV 5DGLDOFRROHUFRQQHFWLRQ LLQJVFUHZ ULQJV LVXSWRWKHFXVWRPHUWRGHFLGHZKHWKHU 5DGLDOFRROHUFRQQHFWLRQ Hoses for the cooling system Commissioning Safety guidelines for commissioning Commissioning Safety guidelines for commissioning Commutation setting Inductance-based technique Commissioning 9.1 Safety guidelines for commissioningMotion-based technique Checks for commissioning in a current-free state ChecksCommissioning the cooling circuits Measuring system cable Wiring Entering the motor data Commissioning single motors Configure the drive Minimum selection of axis machine data for torque motors Edit the axis-specific machine data MD 171 Selection of a motor for which data has already been defined Select the motor 173 Example Enter the motor data for NonSiemens mot Measuring system/encoder dialog box Entries for an absolute measuring system EnDat Determine the commutation angle offset Fixed temperatureReduce the maximum motor current for safety reasons 1RHURPDUNPXOWLSOHHUR Incremental measuring system For an absolute measuring system Absolute measuring system Check and set the rotor position identification Rotate the axis and check that it is functioning correctly Set or carry out referencing/adjustment Commissioning motors connected in parallel Optimize the axis controller settings Commission motor 1 as a single motor Disconnect the parallel connection Deviation between motor 1 Point 4 and motor 2 Point Determining the commutation angle offset Procedure for fault messagesChecking the phase sequence U V W Measuring the EMF voltages Definition of channels Ch1 to Ch4 Improper operation can lead to serious material damage Safety guidelines for operationDealing with faults OperationPage Safety information for maintenance and repairs Maintenance and repairs Risk of burns Performing maintenance work on the motor Safety guidelines for high-voltage testMaintenance Test and replacement intervals of the cooling medium Test and replacement intervals of the cooling mediumIntervals between maintenance Indications that maintenance work is required Packaging, storage, and transport guidelines Storage and transport Storage and transport Safety note regarding lifting devices Safety note regarding lifting devices Disposal Main constituents of a proper disposal procedureEnvironmental compatibility Environmental compatibility during production Demagnetizing the rotors Disposing of 1FW6 rotorsDisposal of packaging Disposing of and demagnetizing 1FW6 rotors Explanations of the formula abbreviations Technical data and characteristicsContent of the data sheet Limit data Boundary conditionsRated data Physical constants Thermal time constant LQOPLQ Data, main motor cooler ˂SLQEDU LQOPLQ Data, precision motor coolerΔTp GXW\ Speed-torque diagram 14.2.1 1FW6090-xxxxx-xxxx Data sheets and diagramsData sheet 1FW6090-xxB05-xxxx Characteristics for 1FW6090-xxx05-xxxx Data sheet 1FW6090-xxB07-xxxx 1PLQ07RUTXH Characteristics for 1FW6090-xxx07-xxxx Data sheet 1FW6090-xxB10-xxxx Characteristics for 1FW6090-xxx10-xxxx Data sheet 1FW6090-xxB15-xxxx Characteristics for 1FW6090-xxx15-xxxx 14.2.2 1FW6130-xxxxx-xxxx Data sheet 1FW6130-xxB05-xxxx Characteristics for 1FW6130-xxx05-xxxx Technical data and characteristicsData sheets and diagrams Data sheet 1FW6130-xxB07-xxxx Characteristics for 1FW6130-xxx07-xxxx Data sheet 1FW6130-xxB10-xxxx Characteristics for 1FW6130-xxx10-xxxx Data sheet 1FW6130-xxB15-xxxx Characteristics for 1FW6130-xxx15-xxxx 14.2.3 1FW6150-xxxxx-xxxx Data sheet 1FW6150-xxB05-xxxx Technical data Symbol Unit Characteristics for 1FW6150-xxx05-xxxx Data sheet 1FW6150-xxB07-xxxx Characteristics for 1FW6150-xxx07-xxxx Data sheet 1FW6150-xxB10-xxxx Characteristics for 1FW6150-xxx10-xxxx Data sheet 1FW6150-xxB15-xxxx Characteristics for 1FW6150-xxx15-xxxx Data for main motor cooler Data sheet 1FW6160-xxB05-xxxx14.2.4 1FW6160-xxxxx-xxxx ΔT P Data for precision motor cooler %- %- Characteristics for 1FW6160-xxx05-xxxx Data sheet 1FW6160-xxB07-xxxx 1FW6160 Boundary conditions 233 Characteristics for 1FW6160-xxx07-xxxx Data sheet 1FW6160-xxB10-xxxx 236 Technical data Symbol Unit XxB10-8Fxx XxB10-2Pxx 1FW6160 %- %- Characteristics for 1FW6160-xxx10-xxxx 239 Data sheet 1FW6160-xxB15-xxxx 241 Technical data Symbol Unit XxB15-2Pxx XxB15-0Wxx 1FW6160 Characteristics for 1FW6160-xxx15-xxxx 244 Data sheet 1FW6160-xxB20-xxxx 246 247 EDULQ˂S 7RUTXHRYHUVSHHG 14.2.5 1FW6190-xxxxx-xxxx Data sheet 1FW6190-xxB05-xxxx 250 %- Characteristics for 1FW6190-xxx05-xxxx Data sheet 1FW6190-xxB07-xxxx 1FW6190 Boundary conditions Technical data Symbol Unit XxB07-8Fxx 1FW6190 Characteristics for 1FW6190-xxx07-xxxx Data sheet 1FW6190-xxB10-xxxx 257 Technical data Symbol Unit XxB10-8Fxx XxB10-2Pxx 1FW6190 Characteristics for 1FW6190-xxx10-xxxx 260 Data sheet 1FW6190-xxB15-xxxx 262 Technical data Symbol Unit XxB15-2Pxx XxB15-0Wxx 1FW6190 %- Characteristics for 1FW6190-xxx15-xxxx 265 Data sheet 1FW6190-xxB20-xxxx 267 Technical data Symbol Unit XxB20-0Wxx 1FW6190 Characteristics for 1FW6190-xxx20-xxxx 14.2.6 1FW6230-xxxxx-xxxx Data sheet 1FW6230-xxB05-xxxx 271 %* Characteristics for 1FW6230-xxx05-xxxx Data sheet 1FW6230-xxB07-xxxx 1FW6230 Boundary conditions 275 %* Characteristics for 1FW6230-xxx07-xxxx Data sheet 1FW6230-xxB10-xxxx 278 279 6SHHGQLQUSP 1PLQ07RUTXH Data sheet 1FW6230-xxB15-xxxx 282 Technical data Symbol Unit XxB15-2Pxx XxB15-0Wxx 1FW6230 % Characteristics for 1FW6230-xxx15-xxxx 285 Data sheet 1FW6230-xxB20-xxxx 287 Technical data Symbol Unit XxB20-0Wxx 1FW6230 Characteristics for 1FW6230-xxx20-xxxx 14.2.7 1FW6290-xxxxx-xxxx Data sheet 1FW6290-xxB07-xxxx 291 Characteristics for 1FW6290-xxx07-xxxx Data sheet 1FW6290-xxB11-xxxx 294 Characteristics for 1FW6290-xxx11-xxxx Data sheet 1FW6290-xxB15-xxxx 297 %$ %/ Characteristics for 1FW6290-xxx15-xxxx Data sheet 1FW6290-xxB20-xxxx Characteristics for 1FW6290-xxx20-xxxx Design information for installation hole and O ring Installation drawings/Dimension drawingsInstallation conditions for motors with cooling jacket Installation dimensions Explanation of installation drawings 303 Installation drawings/Dimension drawings ULQJVDUHLQFOXGHGLQWKHVFRSHRIGHOLYHU\ 15.3 Installation drawings/Dimension drawingsRQQHFWLRQEORFN QWHQGHGPRXQWLQJSRVLWLRQ 306 Installation LQVWDOODWLRQIROORZLQJ Drawings/Dimension drawings drawings/Dimension drawingsFRROHU0DLQ FRROHU3UHFLVLRQ QWHQGHG PRXQWLQJ Srvlwlrq 309 ,QWHQGHG QWHQGHG PRXQWLQJ PRXQWLQJ Srvlwlrq 310 311 Page Festo AG & Co. KG Recommended manufacturersInformation regarding third-party products Rectus GmbH Appendix Recommended manufacturers Supply sources for cooling systems Tyforop Chemie GmbH Supply sources for anti-corrosion agentsHydac International GmbH Rittal GmbH & Co. KG Supply sources for braking elements Appendix Fax form for suggestions/corrections copy template Fax form for suggestions/corrections copy template Appendix List of abbreviations List of abbreviations Germany AppendixSoftware Page Index Index 323 Erlangen Germany