Siemens 611 specification

Coupled motors 4.1 Parallel operation of several motors

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Figure 4-1 Connection diagram of two torque motors connected in parallel (tandem arrangement) with SME9x

1FW6 Built-in torque motors	57
Configuration Manual, 05/2009, 6SN1197-0AD00-0BP7

Image 57

Siemens 611 configurationmanual Coupled motors 4.1 Parallel operation of several motors

Contents

Simodrive Page Drive Technology 1FW6 Built-in torque motors Configuration Manual 05/2009 Qualified Personnel Legal informationProper use of Siemens products Trademarks Information on the documentation PrefaceTarget group Benefits Questions about this documentation Technical SupportInternet address for products EC Declaration of Conformity Preface Preface Page Table of contents 103 Table of contents115 163 187 10.110.2 11.1Page 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 Electrical shock hazard General safety guidelines 1.5 Electrical shock hazardAttaching warning signs Protective measures against residual voltages General safety guidelines 1.7 Pictograms supplied for 1FW6 Pictograms supplied for 1FW6Sign Page Properties Description of the motorOverview 1FW6 built-in torque motor Benefits Standards and regulationsDescription of the motor 2.1 Properties Technical features Description of the motor 2.2 Technical featuresApplications Technical feature Version Description of the motor 2.2 Technical features UL approval ValidityDirection of rotation Description of the motor 2.3 Selection and ordering data Selection and ordering dataCurrent 1 I N Rated torque Max. torque 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 Order designation Structure of the order designationsDescription of the motor 2.4 Order designation ,QWHJUDWHGFRROLQJDQGDLDOFDEOHRXWOHW Standard 1FW6 built-in torque motors QGLYLGXDOFRPSRQHQW Stators as individual components Round sealing ring O ring Rotor as individual componentQGLYLGXDOFRPSRQHQW 5RWRU 6SDUHSDUWDFFHVVRU\FRGH Connector type Connector size Plug connectorCooling connection adapter Ordering notes Example Ordering examples Motor rating plate Data on the motor rating plateDescription of the motor 2.5 Motor rating plate Overview of the motor construction Motor componentsMotors with a cooling jacket 1FW6 motor components with a cooling jacket Motors with integrated cooling Cooling method Motor components of the built-in motor and optionsOverview of the motor construction Temperature sensor Description of the temperature sensorsThermal motor protection Temp-S Name Description Temp-F Electrical shock hazard Thermal motor protection Method Evaluation of the temperature sensors for motor protection Cooling Effects when water cooling is not used Cooling circuitsCooling circuit requirements Materials used in the cooling circuits of torque motors Coolant intake temperatureCooling jacket Integrated cooling main Cooling connection adapter Heat-exchanger unit Dimensioning the heat-exchanger unit Provision of the cooling medium CoolantReason for the use of water with an anti-corrosion agent General requirements placed on the cooling medium Requirements placed on the water Requirements placed on the anti-corrosion agentSuitable mixture Parallel operation of several motors Coupled motorsParallel operation of several motors on one axes Requirements Motor arrangements Power connection for parallel operationTandem arrangement Janus 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 Configuring the motor ProcedureProcedure 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 Motor torque-speed diagram Uneven current loadChecking the torques and speeds Determining the motor torque-speed diagram Torque-speed requirementsFulfilling the torque-speed requirements More than one torque motor on one axes Checking the moments of inertiaElectrical parallel connection Calculating the required infeed power Infeed powerRecalculating the duty cycle Configuring the motor 5.2 Examples ExamplesSelecting an infeed unit Following must be determined General conditions for positioning within a defined period Section LQRULQ LQ Evaluation Periodic duty cycle S3 mode Short-time duty S2 and intermittent duty S3 Short-time duty S2An excessive load can lead to the destruction of the motor 7HPSHUDWXUH Intermittent duty S3Page Motor assembly Motor assemblyImportant information about motor assembly Motor assembly Radial and axial forces Radial forces between the stator and rotorLength of active Requirements of the installation device Axial forces between the stator and rotor1FW609 1FW613 1FW615 1FW616 1FW619 1FW623 1FW629 Screw material and tightening torques Mounting system Procedure for installing the motor Sequence for installing the motorType series Screw Tightening torque Motor assembly Motor assembly Risk of compression when the rotor is lowered Cooler connection Installing the cooling connection adapter 7LJKWHQLQJWRUTXH LLQJVFUHZRROHUFRQQHFWLRQRSWLRQDO $OOGLPHQVLRQVLQPP 6WDWRU Information on routing cables 6WDWRU RROHUFRQQHFWLRQRSWLRQDO$OOGLPHQVLRQVLQPP Checking the installation work Checking the work carried outRisk if axes moves in an uncontrolled manner 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 Motor assembly 6.2 Protecting the motor components Protecting the motor componentsDegree of protection Page System requirements System integrationComponents 3RZHUPRGXOH RUHDVVLJQPHQW RISRZHUFRQQHFWLRQ Roru \H System integration System requirements 2SWLRQ System integration 7.1 System requirementsRQGXFWRUDVVLJQPHQW 3RZHUFRQQHFWLRQ Roru Rqqhfwlrq JQ\H VLJQDOFRQQHFWLRQ Roru Drive systems Permissible voltages Accuracy MechanicsControl quality Encoder system EncodersRequirements regarding the encoder System integration 7.2 Encoders 109 5RWDU\WDEOH Hdulqj 6WDWRU 5RWRU RRGHQFRGHUDUUDQJHPHQW Bearings Selecting the bearingSystem integration 7.3 Bearings Possible malfunctions Braking conceptsBraking concepts System integration 7.4 Braking concepts Deploying a holding brake System integration 7.4 Braking concepts Overview InterfacesElectrical connection components Outgoing feeder Strain relief 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 Signal connection Power connectionNo direct connection of the temperature monitoring circuits Temperature sensor connection via SME9x SME9x 147 Qsxw WKH.7FDQEHFRQQHFWHG2XWSXW 3XOVHVXSSUHVVLRQ Rules Shielding, grounding, and equipotential bonding Cooler connection Specification of the motor supply cablesRequirements for the motor supply cables 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 6WDWRU WHUQDOGLDPHWHUVWDWRU 2XWOHW &XVWRPHUVSHFLILFUHDFKRIVFUHZ6FUHZSOXJ SUHDVVHPEOHG 2XWOHW,QOHW 6FUHZSOXJDgdswhu RROLQJFRQQHFWLRQ Dgdswhu 6WDWRU WHUQDOGLDPHWHUVWDWRU2XWOHW Qohw 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 Commissioning 9.1 Safety guidelines for commissioning Motion-based techniqueInductance-based technique Checks Commissioning the cooling circuitsChecks for commissioning in a current-free state 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 Fixed temperature Reduce the maximum motor current for safety reasonsDetermine the commutation angle offset 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 Checking the phase sequence U V W Procedure for fault messagesMeasuring the EMF voltages Determining the commutation angle offset Definition of channels Ch1 to Ch4 Dealing with faults Safety guidelines for operationOperation Improper operation can lead to serious material damagePage Safety information for maintenance and repairs Maintenance and repairs Risk of burns Safety guidelines for high-voltage test MaintenancePerforming maintenance work on the motor Intervals between maintenance Test and replacement intervals of the cooling mediumIndications that maintenance work is required Test and replacement intervals of the cooling medium Packaging, storage, and transport guidelines Storage and transport Storage and transport Safety note regarding lifting devices Safety note regarding lifting devices Environmental compatibility Main constituents of a proper disposal procedureEnvironmental compatibility during production Disposal Disposal of packaging Disposing of 1FW6 rotorsDisposing of and demagnetizing 1FW6 rotors Demagnetizing the rotors Technical data and characteristics Content of the data sheetExplanations of the formula abbreviations Boundary conditions Rated dataLimit data Physical constants Thermal time constant LQOPLQ Data, main motor cooler Data, precision motor cooler ΔTp˂SLQEDU LQOPLQ GXW\ Speed-torque diagram Data sheets and diagrams Data sheet 1FW6090-xxB05-xxxx14.2.1 1FW6090-xxxxx-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 Technical data and characteristics Data sheets and diagramsCharacteristics for 1FW6130-xxx05-xxxx 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 sheet 1FW6160-xxB05-xxxx 14.2.4 1FW6160-xxxxx-xxxxData for main motor cooler 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 Installation drawings/Dimension drawings Installation conditions for motors with cooling jacketDesign information for installation hole and O ring Installation dimensions Explanation of installation drawings 303 Installation drawings/Dimension drawings RQQHFWLRQEORFN 15.3 Installation drawings/Dimension drawingsQWHQGHGPRXQWLQJSRVLWLRQ ULQJVDUHLQFOXGHGLQWKHVFRSHRIGHOLYHU\ 306 Installation Drawings/Dimension drawings drawings/Dimension drawings FRROHU0DLQ FRROHU3UHFLVLRQLQVWDOODWLRQIROORZLQJ QWHQGHG PRXQWLQJ Srvlwlrq 309 ,QWHQGHG QWHQGHG PRXQWLQJ PRXQWLQJ Srvlwlrq 310 311 Page Information regarding third-party products Recommended manufacturersRectus GmbH Festo AG & Co. KG Appendix Recommended manufacturers Supply sources for cooling systems Hydac International GmbH Supply sources for anti-corrosion agentsRittal GmbH & Co. KG Tyforop Chemie GmbH 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 Appendix SoftwareGermany Page Index Index 323 Erlangen Germany