Assun AM-PC65140DN Series User manual

Assun Motor
Product Manual
For DC Servo Motor
of
AM-PC65140DN Series
(CAN Bus Communication)
1st edition. October, 2019.
All Rights Reserved
Assun Motor Inc.
Assun Motor Pte Ltd
Shenzhen Zhengyuan Motor Co., Ltd

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Contents
Assun Motor...........................................................................................................................................................1
Product Manual......................................................................................................................................................1
1. About the Manual...........................................................................................................................................3
1.1 Validity of This Document .........................................................................................................3
1.2 Using This Document..................................................................................................................3
1.3 Definition of Terms ......................................................................................................................4
1.4 Definition of Symbols..................................................................................................................4
2. Product Safety..................................................................................................................................................6
2.1 Intended Product Usage...................................................................................................................6
2.2 Product Usage Safety ........................................................................................................................6
2.3 Product Disposal/Recycling .............................................................................................................8
3. Product Series Information..........................................................................................................................9
3.1 Product Series Structure Introduction..........................................................................................9
3.2 Product Model Information.......................................................................................................... 10
4. Product Function and Usage ................................................................................................................... 12
4.1 Motor Specs....................................................................................................................................... 12
4.2. Application of Protocol ................................................................................................................. 13
5. Maintenance.................................................................................................................................................. 14
Appendix ............................................................................................................................................................. 15
Appendix 1. Series Product Parameters .......................................................................................... 15
Appendix 2. Specified Product Drawing and Parameters ......................................................... 15
Contact................................................................................................................................................................. 15

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1. About the Manual
1.1 Validity of This Document
The product manual document here is used for AM-PC65140DN Series product by Assun
Motor which is DC brushless motor with integrated position servo controller and CAN Open
communiation. The manual has made detailed description to the safety and functional usage
of this motor product series. It helps the professional user to install and connect the motor,
and also guide the user in relevant control function usage.
All data in this manual are based on the actual manufacturing and standard testing condition
of AM-PC65140DN Series product. Standard testing condition is when the motor installed
horizontally and environment temperature is 25℃.
For relevant parameter summaries of the product series, please refer to Appendix 1 “Product
Series Parameters”; For specified standard model or customized model, please refer to
Appendix 2 “Detailed Product Drawing and Parameter”.
1.2 Using This Document
Please read this document carefully before install and set-up the product. Please pay extra
attention to the second chapter “Product Safety”, and strictly follow the warnings and
instructions.
Please retain this document throughout the entire working life of the product, and keep the
document accessible to the operating and, if necessary, maintenance personnel at all times.
Pass a copy of this document on to any subsequent owner or user of the product.

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1.3 Definition of Terms
Term
Meaning
CAN
Control Area Network
CiA
CAN in Automation
PWM
Pulse Width Modulation
CW/CCW
Clockwise/Counter Clockwise
Feedback Pulse
Pulses give out per revolution
VIL/VIH
Voltage Input Low / Voltage Input High
Pin
Control Function Connect Pin
Cable
Power Connection Cable
GND
Ground / Negative Pole
Vcc
Direct Current Voltage
RPM
Revolution per Minute
1.4 Definition of Symbols
Caution! Hazard to persons. Disregard may lead to injury.
Warning! Improper operation will cause product damage.

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Caution! Hazardous due to hot surface. Disregard may lead to burns.

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2. Product Safety
2.1 Intended Product Usage
The Assun Motor AM-PC65140DN Series integrated DC servo motor product, which we are
describing here in this manual, are used for rotating power output under rated DC supply and
CAN Bus position control. It is suitable for many automation systems that require precise
position control. Position controller is integrated and encoder also attached, thus forming a
close-loop position servo control system that controlled by upper computer with CAN Bus
communication.
The product must be properly installed when in use, and shall be operated in an environment
with good heat dissipation conditions. In normal installation condition, when the operational
parameters have not exceeded the maximum continuous values, winding temperature must
be maintained below 85℃. The product can be used alone or coupled to a gearbox to achieve
ideal output torque and RPM.
The product is not suitable for operation in environments with high humid or excessive dust.
During the operation, please follow the parameter limits in the appendices to adjust the power
supply and running state, so as to achieve the optimum operational output and longest
product lifetime.
For usage of product in special environment, please contact our local sales or service staff for
consultancy and get the relevant advice or customized service.
This product is NOT SUITABLE for applications where the failure of the product could result
in the death of an individual or group of individuals.
2.2 Product Usage Safety
The product is a high-speed rotating device. Please make sure the product is properly
mounted before commencement of operation to prevent potential hazards to people or
equipment. Please refer to Chapter 4.1 of this manual for further installation guidance.

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Motor surface temperature could be high after long term operation. Please exercise caution
when touching or handling the product.
Power supply must be filtered DC. The input voltage shall be within the rated value for normal
operation. Voltage cannot be lower than 10V for lower voltage operation. Voltage cannot
exceed the rated value for long term operation and shall be always under 28V.
Power supply connection must be strictly according to the designated positive and
negative polarity. If the power supply is reversed, it will seriously damage the internal
driver and lead to malfunction of the motor. Red cable from motor shall connect to the
positive of power supply, blue cable from motor shall connect to the negative of power
supply. For detailed power connection guidance, refer to Chapter 4.1.
Please install the motor in an environment with good heat sinking and/or ventilation.
Inadequate heat dissipation will lead to the motor winding temperature exceeding the limit
of 85℃ and will cause thermal damage to the internal electronic parts and winding, resulting
in motor malfunction and/or failure.

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Please use the motor according to the parameter limits in the appendix, otherwise it may
cause the motor to be exceed current limits or overheat, which could lead to irreversible
damage to the motor.
The motor is not suitable for operating in high humid and dusty environments. High humidity
or excessive dust concentration could lower the motor performance and shorten the motor
lifetime.
The product is a precision Brushless DC motor with sensitive internal electronic components.
Please do not personally disassemble the product.
2.3 Product Disposal/Recycling
This series of motor products is manufactured with multiple types of metals, alloy materials,
chemical adhesives and lubricants. Please dispose it properly as recyclable material. For a
detailed product material listing please refer to Chapter 3.1.

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3. Product Series Information
3.1 Product Series Structure Introduction
AM-PC65140DN Series products is a series of precision DC servo motors with integrated
electronics and inner rotating rotor. Flange length is 65 mm, case length is 141.5 mm, rated
power around 95 W, with a net weight of approximately 1.5 Kg. For detailed series information
and parameters please refer to Appendix 1.
The series product is inner rotor brushless dc motor, relying on the internal driver electronics
to energize the stator winding in sequence to make the magnetic poles rotate and thus attract
the permanent magnetic rotors to rotate in synchronization. The product's basic structure is
depicted in illustration 1.
Illustration 1. Exploded Product View

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This series of product are manufactured using materials using multi-types of metal, alloy
material and chemical products. Specific material usage as shown in Table 1.
Table 1. Product Material Matrix
Components
End Cover
Winding
Bearing
Rotor
Magnet
Rotor
Shaft
Housing
Cable
Core
Material
Stainless
Steel
Copper
Stainless
Steel
Sintered
NdFeB
Stainless
Steel
Aluminum
Alloy
Copper
Components
Cable
Insulation
PCB
Board
PCB
Circuit
Glue
Grease
Cushion
Other
Materials
Material
Plastic
(Teflon)
Glass
Fiber &
Copper
Copper
Epoxy
Resin
Fluorine
Grease
Stainless
Steel
Precious
Metals;
Silicon.
3.2 Product Model Information
To make it convenient for the customer to choose a specific part number or model and
understand the part number methodology, please refer below in Illustration 2 the explanation
for model number composition principle.
Illustration 2. Part Number Nomenclature

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Customers can choose suitable products based on their types and characteristics shown in
the part number methodology. If products with special characteristics are required, please
contact our regional sales person for customized service.

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4. Product Function and Usage
Motor rotating direction (CW/CCW) is defined as when looking at the front cover of motor.
4.1 Motor Specs
Basic parameters
Rated power
95W
Rated voltage
24V DC
Rated current (effective value)
5.4A
Maximum current (effective value)
12.0A
Brake Resistance Voltage Threshold
Default 32V (modifiable)
Overload time
20S
MTBF
≥10000 hours
Power control mode
SVPWM control
Cooling method
Natural cooling
Digital IO input
Have Home switch(di0),
(Reserved: positive limit switch(di0)
and negative limit switch(di0))
Feedback method
Optical encoder ABZ
Rated Speed of Motor
3000RPM
Maximum Speed of Motor
3500RPM
Encoder Line Number
1000 Line
Basic application parameters
Communication method
CANOPEN CIA DS301 + 402
CANOPEN Control mode
The default baud rate is 500kbps.
the default node ID of the drive is 0x08.

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Node ID scope is 1-127.
CNOPEN PROFILE POSITION MODE(1),
HOMING MODE(6),
PROFILE VELOCITY MODE(3),
PROFILE TORQUE MODE(4),
CYCLIC SYNC POSITION MODE(8).
Protective function
Undervoltage protection
18 VDC
Overvoltage protection
60 VDC
IGBT protection
IGBT drive undervoltage
or IGBT overcurrent
Overload protection
The driver outputs the maximum working
current for a certain period of time and
reports overload protection.
Overcurrent protection
Drive output exceeds the maximum current
value set by the software
Fault lock
A voltage fault, a current fault, a rotor fault,
etc. are detected, the fault will be
automatically locked, and motor needs to
restart.
4.2. Application of Protocol
Motor fully complies with the CIA301 protocol, and partially complies with the CANOPEN
DS402 protocol. Before the official application is implemented, you can check the
AssunMotor-MAN-CAN301-V1.1 and AssunMotor-MAN-CAN402-V1.1. (Ask for the copy
from our sales.)
You may also refer to the official CAN manual.

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5. Maintenance
The product series is maintenance free, please do not disassemble in person. There are no
repairable components inside the motor. Regarding any quality issue or maintenance needs,
please contact our regional service person for relevant technical support.
Ignoring this warning will void the warranty.

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Appendix
Appendix 1. Series Product Parameters
Appendix 2. Specified Product Drawing and Parameters
Contact
Singapore
Tel: [phone]
Email: [e-mail]
Add: #06-05, 1092 Lower Delta Road. Singapore 169203.
China
Tel: [phone]
Email: [e-mail]
Add: 7th Floor, Blk 6, Yongping Industrial Area, 9 Tongfu Road. Shenzhen, P.R.China.
USA
Tel: [phone]
Email: [e-mail]
Add: Suit F208, 6370 Lusk Boulevard San Diego, CA 92121-2760 USA