Bosch MSM019A User manual

Synchronous Servomotors
MSM
Data Sheet
R911329338
Edition 05

Synchronous Servomotors
MSM
Data Sheet
DOK-MOTOR*-MSM********-DA05-EN-P
RS-e2609feaf2a631970a6846a0002c9d48-7-en-US-3
This documentation ...
● explains the features of the product, possibilities for use, operating con‐
ditions and operational limits von MSM motors.
● contains technical data.
● provides information regarding product selection, handling and opera‐
tion.
Record of revisions Edition 05, 2019-02
See tab. 1-1 "Record of revisions" on page 3
Copyright © Bosch Rexroth AG 2019
All rights reserved, also regarding any disposal, exploitation, reproduction,
editing, distribution, as well as in the event of applications for industrial prop‐
erty rights.
Liability The specified data is intended for product description purposes only and shall
not be deemed to be a guaranteed characteristic unless expressly stipulated
in the contract. All rights are reserved with respect to the content of this docu‐
mentation and the availability of the product.
Title
Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation
Bosch Rexroth AG DOK-MOTOR*-MSM********-DA05-EN-P
Synchronous Servomotors MSM

Table of Contents
Page
1 About this documentation.............................................................................................. 3
1.1 Presentation of information..................................................................................................................... 3
2 Introduction.................................................................................................................... 5
3 Operating conditions...................................................................................................... 7
3.1 Ambient and application conditions........................................................................................................ 7
3.2 Compatibility with foreign matters........................................................................................................... 8
3.3 Materials................................................................................................................................................. 8
3.4 Frame shape and installation positions.................................................................................................. 9
3.5 Installation space ................................................................................................................................... 9
3.6 Output shaft............................................................................................................................................ 9
3.7 Bearing and shaft load.......................................................................................................................... 10
3.8 Holding brakes...................................................................................................................................... 11
3.9 Attachment of drive elements............................................................................................................... 12
3.10 Certifications ........................................................................................................................................ 14
4 Identification and type code......................................................................................... 15
4.1 Identification.......................................................................................................................................... 15
4.2 MSM019 Type code.............................................................................................................................. 16
4.3 MSM031 Type code.............................................................................................................................. 17
4.4 MSM041 Type code.............................................................................................................................. 18
5 Technical data.............................................................................................................. 19
5.1 Basics................................................................................................................................................... 19
5.2 MSM019............................................................................................................................................... 21
5.2.1 MSM019 Technical data.................................................................................................................... 21
5.2.2 MSM019 Specifications..................................................................................................................... 24
5.3 MSM031............................................................................................................................................... 26
5.3.1 MSM031 Technical data.................................................................................................................... 26
5.3.2 MSM031 Specifications..................................................................................................................... 29
5.4 MSM041............................................................................................................................................... 31
5.4.1 MSM041 Technical data.................................................................................................................... 31
5.4.2 MSM041 Specifications..................................................................................................................... 33
6 Motor encoder MSM.................................................................................................... 35
6.1 Motor encoder M0................................................................................................................................. 35
6.2 Motor encoder M5................................................................................................................................. 36
7 Connection technique.................................................................................................. 37
7.1 Electrical connection "C" cable connection .......................................................................................... 37
7.2 Electrical connection "M" cable connection circular connector M17 .................................................... 39
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Table of Contents

Page
7.3 Ready-made connection cables........................................................................................................... 41
7.3.1 Power cables .................................................................................................................................... 41
7.3.2 Encoder cable ................................................................................................................................... 42
8 Transport and storage.................................................................................................. 43
8.1 Transport of motors.............................................................................................................................. 43
8.2 Storage of motors................................................................................................................................. 43
9 Assembly accessory.................................................................................................... 45
9.1 Flange fastening................................................................................................................................... 45
9.2 Battery box SUP-E01-MSM-BATTERYBOX......................................................................................... 46
9.3 Battery box SUP-E02-MSM-BATTERYBOX-xxxx................................................................................ 48
9.4 Shaft sealing ring.................................................................................................................................. 50
10 Environmental protection and disposal ....................................................................... 51
10.1 Environmental protection...................................................................................................................... 51
10.2 Disposal................................................................................................................................................ 51
11 Service and support..................................................................................................... 53
12 Appendix...................................................................................................................... 55
12.1 EU-Declaration of conformity ............................................................................................................... 55
12.2 China RoHS 2....................................................................................................................................... 58
Index............................................................................................................................ 59
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Table of Contents

1 About this documentation
Editions of this documentation
Edition State Note
01 09/2007 First edition
02 02/2015 Revision; Plug connector revision
03 06/2015 Encoder lifetime, storage and transport temperature from technical data tables removed.
03.1 12/2015 System accuracy encoder in definition
04 09/2017 System accuracy encoder M5, switching cycles holding brakes
05 02/2019 Update technical data holding brakes. Declaration of conformity, RohS China.
Tab. 1-1: Record of revisions
1.1 Presentation of information
Safety instructions The safety instructions in this documentation include signal words (danger,
warning, caution, note) and a signal symbol (acc. to ANSI Z535.6-2006).
The signal word is intended to draw your attention to the safety instructions
and describes the seriousness of the danger. The warning triangle with excla‐
mation mark indicates the danger for persons.
DANGER
Non-compliance with this safety instructions will result in death or severe per‐
sonal injury.
WARNING
Non-compliance with this safety instructions can result in death or severe
personal injury.
CAUTION
Non-compliance with this safety instructions can result in moderate or minor
personal injury.
NOTICE
Non-compliance with this safety instructions can result in material damage.
Safety sign In the documentation, the following internationally standardized safety signs
and graphic symbols are used. The table contains the significance of the
signs.
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About this documentation

Safety sign Meaning
Warning against dangerous electric voltage
Warning against hot surfaces
Warning against rotating machine parts
Warning against overhead load
Electrostatic sensitive devices
Prohibition for persons with cardiac pacemakers or implanted defibrilla‐
tors.
Do not carry along metal parts or clocks.
Hammer scales are forbidden
Tab. 1-2: Meaning of safety signs
Markup The following markups are used for a user-friendly text information represen‐
tation:
Reference to supplementary documentation
This note gives important information, which must be observed.
● Listings on the first level contain a bullet point
– Listings on the second level contain a dash
1. Handling instructions are specified in numbered lists. Please comply
with the order of the handling instructions.
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About this documentation

2 Introduction
Introduction to the product of MSM
servomotors The maintenance-free MSM motors are available in five different frame sizes
up to a mechanical continuous power of 750 watt. High power density at a
short frame length and a minimized flange dimension make use in most dif‐
ferent applications possible. The motors with protection class IP54 are fitted
with an absolute encoder and are available with or without holding brake.
MSM motors with winding code "0xxx" are provided for operation on
IndraDrive Cs controllers with nominal votage 3x AC 230 V. MSM motors with
winding code "Rxxx" are provided for operation on NYCe4000 controllers with
nominal voltage 3x AC 100 V. Any operation on supply network with a higher
nominal voltage is forbidden.
MSM motors are featured by
● Dynamic
● Compact construction
● Protection class IP54
● Precision due to optical Single- and Multiturn absolute value encoders
● Holding brake
● Plug connector for encoder and power connection
Motor MSM Continuous power
PN [W]
Continuous tor‐
que at standstill
MO [Nm]
Maximum
torque
Mmax [Nm]
Maximum speed
nmax [min-1]
Degree of protection
019A 50 0.16 0.48 5000 IP54
(Shaft IP40)
019B 100 0.32 0.95
031B 200 0.64 1.91
031C 400 1.3 3.8
041B 750 2.4 7.1 4500
Tab. 2-1: MSM motors: Features
This documentation serves to
● Select motors
● Desribe variants
Feedback If you detect any failures or have any amendments, please do not hesitate to
contact us.
Please send your comments to [email protected].
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Introduction

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3 Operating conditions
3.1 Ambient and application conditions
MSM Servomotors are designed for use in machines and facilities.
Ambient and application conditions
Designation Symbol Unit Value
Protection class (IEC529) IP54
Use in scope of application of CSA / UL Only allowed for use in NFPA-79 applications.
Storage temperature see chapter "chapter 8.1 "Transport of motors"
on page 43"
Transport temperature see chapter "chapter 8.2 "Storage of motors"
on page 43"
Allowed installation positions.
Definition of installation positions: refer to key‐
word "Installation positions"
IM B5
IM V1
IM V3
Ambient temperature range Ta_work °C 0 … 40
Installation altitude hnenn m 1000
Derating vs. ambient temperature:
Within ambient temperature range Ta_work_red the
power data3) have to be reduced by the reduc‐
tion factorfTa.
Use outside of Ta_work or Ta_work_red is not al‐
lowed!
Ta_work_red °C 40 … 55
fTa %/K
2.0
also refer to technical data of the separate com‐
ponents
Derating vs. installation altitude:
From installation altitude h > hnenn for factor f re‐
duced performance data 2) 3) are available
For installation altitude in range hmax_without up to
hmax install an overvoltage limitation in the in‐
stallation against transient overvoltage.
Use above hmax is not allowed!
hmax_without m 2000
hmax m 4000
Simultaneous derating for ambient temperature
and installation altitude
allowed;
reduce with factors f and fTa
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Operating conditions

Designation Symbol Unit Value
Relative air humidity % 5 … 95
Absolute air humidity g/m31 … 29
Climatic class (IEC721) 3K3
Allowed degree of contamination (EN50178) 2
Allowability of dusts, vapors EN50178 Tab. A.2
Vibration Sinus: Acceleration at 10 ... 2000 Hz
1), axially g 1
Vibration Sinus: Acceleration at 10 ... 2000 Hz
1), radially g 3
Overvoltage category III (nach IEC60664-1)
1) acc. to EN 60068-2-6
2) reduced power data for drive controllers: allowed intermediate
circuit continuous power, brake resistor - continuous power,
continuous current
3) reduced power data for motors: Power, torque S1 and S3
Tab. 3-1: Ambient and conditions on use - use
3.2 Compatibility with foreign matters
All Rexroth controls and drives are developed and tested according to the
state-of-the-art technology.
As it is impossible to follow the continuing development of all materials (e.g.
lubricants in machine tools) which may interact with the controls and drives, it
cannot be completely ruled out that any reactions with the materials we use
might occur.
For this reason, before using the respective material a compatibility test has
to be carried out for new lubricants, cleaning agents etc. and our housings/
materials.
3.3 Materials
No. Material
1 Polyvinyl chlorid resin
(Oil resistance: according to standard"
JIS C 3005"; test conditions: Oil tempera‐
ture: 70 °C; Test duration (cable within
oil): 4 hours; oil: Machine oil 46 (from
GENERAL))
2 Aluminum; eloxed
3 Rubber
4 Die-cast aluminum; blanc
5 Polyamid 46 (Nylon 46)
Tab. 3-2: Materials
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Operating conditions

3.4 Frame shape and installation positions
Motor design B05
IM B5 IM V1 IM V3
Flange attachment on the
drive side of the flange
Flange attachment on the
drive side of the flange,
drive side facing down
Flange attachment on the
drive side of the flange,
drive side facing up
Tab. 3-3: Allowed installation types acc. to EN 60034-7:1993
Motor damage due to penetration of liquids!
NOTICE
If motors are attached according to IM V3, fluid present at the output shaft
over a prolonged time may penetrate and cause damage to the motors.
Ensure that fluid cannot be present at the output shaft.
3.5 Installation space
Self-cooling of the motor should not be prevented due to the installation situa‐
tion.
3.6 Output shaft
Smooth shaft MSM motors offer a non-positive shaft-hub connection without play with ex‐
cellent running smoothness. Use clamping sets, clamping sleeves or tension‐
ing elements to couple the machine elements to be driven.
Labeling within motor type: MSM....-....-..-..-.H
Shaft with keyway MSM motors with keyway allow form-locking transmission of torques with
constant direction and low requirements on the shaft-hub connection. The
keyway is not in the scope of delivery.
Labeling within motor type: MSM....-....-..-..-.L
①
②
③
④
MR000014
①Key
②Keyway
①Motor shaft
①Centering hole
Fig. 3-1: MSM Output shaft with keyway
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Operating conditions

In addition, the machine elements to be driven must be secured axially via
the frontal centering hole.
Damage to property due to reversing mode!
NOTICE
Shaft damage! In case of intense reversing operation, the seat of the fitting
spring may deflect. Increasing deformations can lead to a break of shaft.
Preferably, use plain output shafts.
3.7 Bearing and shaft load
During operation, radial and axial forces act on the motor shaft and the motor
bearings. The design of the machine and the shaft-side mounting of drive ele‐
ments must be coordinated to ensure that the specified load limits are not ex‐
ceeded.
LShaft length
PPoint of application of radial force
A, B Direction of axial force
Fig. 3-2: Parameter for shaft load
The following table shows the allowed shaft load of single motors.
Motor
At assembly During operation
Radial force
(N)
Axial force (N) Radial force
(N)
Axial force
(N)
Direction A Direction B
MSM019 147 88 117.6 68.6 58.8
MSM031 392 147 196 245 98
MSM041 686 294 392 392 147
Tab. 3-4: Allowed radial / axial force
In the case of adjusted point of application of radial force, calculate the al‐
lowed radial force according to the following formula.
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Operating conditions

Motor
Radial force dependend
from the point of applica‐
tion of force
MSM019A
MSM019B
MSM031B
MSM031C
MSM041B
Tab. 3-5: Radial force dependend from the point of application of force
Lifetime of motor bearing When operating MSM motors within the limits specified for radial
and axial load, the nominal bearing lifetime is L10h 20,000 ope‐
rating hours.
When exceeding the allowed radial force, the bearing lifetime is reduced to:
L10h Bearing service life (according to ISO 281, Version 12/1990)
Fradial Determined allowed radial force in N (Newton)
Fradial_act Actually acting radial force in N (Newton)
Fig. 3-3: Calculating the bearing lifetime L10h if the allowed radial force Fradial is
exceeded.
The actually acting radial force Fradial_act may never be higher than
the maximum allowed radial force Fradial_max.
3.8 Holding brakes
The following general details are binding for all MSM motors The frame size
depending data of the holding brakes are specified in chapter"Technical data"
● The values specified in the technical data are typical values excluding
holding torque, trip voltage and rated voltage.
● If the motor was moved, the brake clearance is ±1° or less.
● The power supply of the holding brake is done externally.
● The maximum number of acceleration and braking with the highest al‐
lowed angular acceleration: 10 million
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Operating conditions

3.9 Attachment of drive elements
Please observe the following notes during assembly of drive element onto the
output shaft.
Gearbox mounting on motors If transmissions are attached to motors, the thermal coupling of the motors to
the machine or system design changes.
Depending on the type of transmission, the amount of heat generated at the
transmission varies. In any case, the heat dissipation of the motor via the
flange is reduced when the transmission is attached. This must be taken into
account when planning the system.
In order not to thermally overload motors when using transmissions, it is nec‐
essary to reduce the specified performance data.
Fig. 3-4: S1 characteristic curve gearboxes
The torques specified in the motor characteristics must be re‐
duced by approx. 10-20% when attaching transmissions.
Observe all other notes and requirements in the documentation for the trans‐
missions used.
Over-determined bearing When assemble drive elements, avoid an over-determined bearing, because
the indispensable existing tolerances lead to additional forces on the bearing
of the motor shaft and, if necessary, to a significantly reduced bearing life.
If an over-determined arrangement cannot be avoided, please
contact Bosch Rexroth.
Couplings The machine construction and the drive elements used must be carefully
adapted to the motor type so as to make sure that the load limits of the shaft
and the bearing are not exceeded.
When mounting extremely rigid couplings, an unacceptably high
load on the shaft and bearing can occur due to a radial force
which constantly changes the angular position.
Bevel pinion or helical drive pin‐
ions Due to thermal effects, the flange end of the output shaft can shift by up to
0.6 mm in relation to the motor housing. When using helical drive pinions or
bevel gear pinions mounted directly on the output shaft, this change in length
leads to
Bosch Rexroth AG DOK-MOTOR*-MSM********-DA05-EN-P12/61
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Operating conditions

● A shift in the position of the axis, if the driving pinions are not axially
fixed on the machine side,
● A thermally dependent component of the axial force, if the driving pin‐
ions are axially fixed on the machine side. There is a risk that the maxi‐
mum permissible axial force will be exceeded or that the backlash within
the gearing will increase excessively.
● Damage to the B-side motor fixed bearing due to exceeding the maxi‐
mum permissible axial force.
Preferably use self-bearing drive elements which are connected
to the motor shaft via axially compensating couplings!
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Operating conditions

3.10 Certifications
Declaration of conformity Declaration of conformity (see chapter 12 "Appendix" on page 55 ) confirm
that the components comply with the valid EN standards and EC Directives.
MSM motors
CE-Conformity regarding
EN 60034-1: Rotating electrical machines - Part 1: Rating and performance:
Rating and performance behavior (Edition 2010 + Cor.:2010 (2010, modi‐
fied))
EN 60034-5: Rotating electrical machines - Part 5: Degrees of protection pro‐
vided by integral design of rotating electrical machines (IP-Code) - Classifica‐
tion (Edition 2001 + A1:2007 (2000 + Corrigendum 2001 + A1:2006))
C-UR-US-Listing The motors are listed by UL ("Underwriters Laboratories Inc.®"). A proof of
certification can be found in the Internet via http://www.ul.com under "Certifi‐
cations" by entering the file number or the "Company Name: Rexroth".
MSM motors
Company Name:
BOSCH REXROTH ELECTRIC DRIVES & CONTROLS GMBH
Category Name:
Servo and Stepper Motors Components
For file numbers, standards refer to table “Technical data”
Wiring material UL (ready-made cables of Rexroth)
Only use copper lines of class 6 (or equivalent) with minimal al‐
lowed wire temperature of 75 °C in the scope of application of
CSA / UL for wiring the components.
Allowed degree of contamination
Please observe the allowed pollution degree of the components
(see"Ambient and application conditions").
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Operating conditions

4 Identification and type code
4.1 Identification
MSM motors have an individual type plate showing the device designation
and providing technical information. The two-part type plate is attached at the
side of the encoder housing.
The type plate is provided for
● Identification of the motor
● Procurement of spare parts in case of a fault
● Service information.
(A) Type
(B) Material number
(C) Date of manufacture
(D) Serial number
(E) Hardware index
(F) Rated voltage
(G) Rated current
(H) Rated power
(I) Frequency
(J) Serial number (Rexroth)
(K) Speed
(L) Torque
(M) Insulation class
(N) Degree of protection
(O) Barcode
(P) Country of manufacture
(Q) UL file number
Fig. 4-1: Type plate MSM
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Identification and type code

4.2 MSM019 Type code
The figure illustrates the basic structure of the type code. Our
sales representative will help you with the current status of availa‐
ble versions.
Fig. 4-2: MSM019
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Identification and type code

4.3 MSM031 Type code
The figure illustrates the basic structure of the type code. Our
sales representative will help you with the current status of availa‐
ble versions.
Fig. 4-3: MSM031
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Identification and type code

4.4 MSM041 Type code
The figure illustrates the basic structure of the type code. Our
sales representative will help you with the current status of availa‐
ble versions.
Fig. 4-4: MSM041
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Identification and type code