Kollmorgen Seidel 6SM56 Series Parts list manual

Synchronous Servomotors
Series 6SM45..100
Technical description, Installation, Commissioning
Edition 05/2000

Already published editions
Edition Comment
07 / 93 First edition
10 / 94 Adaptation to modified technical design, layout and page numbering changed
05 / 96 New motors 6SM27 / 6SM37 / 6SM100
05 / 97 New motors 6SMx7, 6SM109, several corrections
03 / 98 6SM27..77/109 removed
05 / 2000 Enhanced torque characteristics, new layout, corrections
Technical changes to improve the performance of the equipment
may be made without prior notice!
Printed in the Federal Republic of Germany 05/2000
Mat.No.: 79797
All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying,
microfilm or any other method) or stored, processed, copied or distributed by electronic means
without the written permission of Seidel Corporation.

Contents Drawing Page
Contents...............................................................................3
Safety Notes...........................................................................5
Important Notes.......................................................................6
Manufacturer Declaration ............................................................7
Motor series 6SM45..100 3
Kollmorgen 05.2000 Contents
I General
I.1 About this manual ........................................................................9
I.2 Prescribed usage ........................................................................9
I.3 Design of the motors.....................................................................10
I.4 General technical data ...................................................................10
I.5 Standard features .......................................................................11
I.5.1 Style ............................................................................11
I.5.2 Shaft end, A-side ..................................................................11
I.5.3 Flange ...........................................................................11
I.5.4 Protection class....................................................................11
I.5.5 Protective device...................................................................11
- E.4.929.4/09
I.5.6 Insulation material class .............................................................12
I.5.7 Vibration class.....................................................................12
I.5.8 Connection method.................................................................12
I.5.9 Resolver .........................................................................12
I.5.10 Holding brake .....................................................................12
I.6 Selection criteria ........................................................................12
- A.4.031.1/35
I.7 Options ...............................................................................13
I.8 Nameplate.............................................................................13
I.9 Technical data..........................................................................14
I.9.1 Definitions ........................................................................14
I.9.2 Technical data 6SM45..100 ..........................................................15
I.9.3 Technical data 6SM56..100-BV .......................................................16
II Installation / Commissioning
II.1 Important notes .........................................................................17
II.2 Assembly / Wiring .......................................................................18
II.2.1 Connection methods ................................................................20
II.3 Commissioning .........................................................................21

4 Motor series 6SM45..100
Contents 05.2000 Kollmorgen
III Drawings
III.1 Non-ventilated motors....................................................................23
III.1.1 Dimensions 6SM45..100.............................................................23
III.1.2 Radial-/axial force at the shaft end .....................................................23
- A.4.017.3/04, 4/20
III.1.3 Wiring diagram 6SM45..100 ..........................................................24- A.4.017.4/10
III.1.4 Torque characteristics 6SM45S-3000...................................................25
III.1.5 Torque characteristics 6SM45M-3000 ..................................................25
- A.4.036.3/13, 21
III.1.6 Torque characteristics 6SM45L-3000 ...................................................26
III.1.7 Torque characteristics 6SM56S-3000...................................................26
- A.4.036.3/14, 22
III.1.8 Torque characteristics 6SM56M-3000 ..................................................27
III.1.9 Torque characteristics 6SM56L-3000 ...................................................27
- A.4.036.3/51, 52
III.1.10 Torque characteristics 6SM71K-3000...................................................28
III.1.11 Torque characteristics 6SM71S-3000...................................................28
- A.4.036.3/15, 53
III.1.12 Torque characteristics 6SM71M-3000 ..................................................29
III.1.13 Torque characteristics 6SM100K-3000..................................................29
- A.4.036.3/16, 50
III.1.14 Torque characteristics 6SM100S-3000..................................................30
III.1.15 Torque characteristics 6SM100M-3000 .................................................30
- A.4.036.3/18, 19
III.1.16 Torque characteristics 6SM100L-3000 ..................................................31- A.4.036.3/17
III.2 Ventilated motors .......................................................................32
III.2.1 Dimensions 6SM56..100-BV..........................................................32
III.2.2 Radial-/axial force at the shaft end .....................................................32
. .A.4.017.3/09, 4/21
III.2.3 Wiring diagram 6SM56..100-BV .......................................................33- A.4.017.4/11
III.2.4 Fan connection ....................................................................34.- A.4.029.4/07
III.2.5 Torque characteristics 6SM56S-3000-BV................................................35
III.2.6 Torque characteristics 6SM56M-3000-BV ...............................................35
- A.4.036.3/51, 54
III.2.7 Torque characteristics 6SM56L-3000-BV ................................................36
III.2.8 Torque characteristics 6SM71K-3000-BV................................................36
- A.4.036.3/56, 57
III.2.9 Torque characteristics 6SM71S-3000-BV................................................37
III.2.10 Torque characteristics 6SM71M-3000-BV ...............................................37
- A.4.036.3/58, 59
III.2.11 Torque characteristics 6SM100K-3000-BV...............................................38
III.2.12 Torque characteristics 6SM100S-3000-BV...............................................38
- A.4.036.3/60, 61
III.2.13 Torque characteristics 6SM100M-3000-BV ..............................................39
III.2.14 Torque characteristics 6SM100L-3000-BV ...............................................39
- A.4.036.3/62, 63
IV Appendix
IV.1 Delivery package, transport, storage, maintenance, disposal......................................41
IV.2 Fault-finding ...........................................................................42
IV.3 Index .................................................................................43

Safety Notes
lOnly properly qualified personnel are permitted to perform such tasks as transport,
assembly, commissioning and maintenance. Properly qualified personnel are
persons who are familiar with the transport, assembly, installation, commissioning
and operation of motors, and who have the appropriate qualifications for their jobs.
The qualified personnel must know and observe the following standards and
regulations:
IEC 364 resp. CENELEC HD 384 or DIN VDE 0100
IEC-report 664 or DIN VDE 0110
national regulations for safety and accident prevention or BGV A2
lRead the available documentation before assembly and commissioning. Incorrect
handling of the motors can result in injury and damage to persons and machinery.
Keep strictly to the technical data and the information on the connection
requirements (nameplate and documentation).
lIt is vital that you ensure that the motor housing is safely earthed to the PE
(protective earth) busbar in the switch cabinet. Electrical safety is impossible
without a low-resistance earth connection.
lNever open the motor terminal box during operation. Do not unplug any
connectors during operation. This creates the danger of death, severe injury, or
extensive material damage.
lPower connections may be live even when the motor is not rotating. Never
disconnect the power connections of the motor while the equipment is energised.
This can cause flashovers with resulting injuries to persons and damage to the
contacts.
lAfter disconnecting the servo-amplifier from the supply voltage, wait at least five
minutes before touching any components which are normally live (e.g. contacts,
screw connections) or opening any connections.
The capacitors in the servo-amplifier can still carry a dangerous voltage up to five
minutes after switching off the supply voltages. To be quite safe, measure the
DC-link voltage and wait until the voltage has fallen below 40V.
lThe surfaces of the motors can be very hot in operation, according to their
protection category. The surface temperature can reach 100°C. Measure the
temperature, and wait until the motor has cooled down below 40°C before touching
it.
Warning signs used in this manual:
Danger to personnel from electricity
and its effects
General warning
general instruction
mechanical hazard
Þsee chapter (cross reference) ●special emphasis
Motor series 6SM45..100 5
Kollmorgen 05.2000 Safety notes

Important Notes
lServomotors are precision equipment. The flange and shaft are especially
vulnerable during storage and assembly — so avoid brute force. Precision requires
delicacy. It is important to use the locking thread which is provided to tighten up
couplings, gear wheels or pulley wheels and warm up the drive components, where
possible. Blows or the use of force will lead to damage to the bearings and the
shaft.
lWherever possible, use only backlash-free, frictionally-locking collets or couplings,
e.g. from the manufacturers Baumann & Cie, Gerwah, Jacob, KTR or Ringspann.
Ensure correct alignment of the couplings. A displacement will cause unacceptable
vibration and the destruction of the bearings and the coupling.
lFor toothed belts, it is vital to observe the permissible radial forces. An excessive
radial load on the shaft will significantly shorten the life of the motor.
lAvoid axial loads on the motor shaft, as far as possible. Axial loading significantly
shortens the life of the motor.
lIn all cases, do not create a mechanically constrained motor shaft mounting by
using a rigid coupling with additional external bearings (e.g. in a gearbox).
lFor mounting style V3 (shaft end upwards), make sure that no liquid can enter the
upper bearing.
lTake note of the no. of motor poles and the no. of resolver poles, and ensure that
the correct setting is made in the servo-amplifier which is used. An incorrect
setting can lead to the destruction of the motor, especially with small motors.
6 Motor series 6SM45..100
Important notes 05.2000 Kollmorgen

Motor series 6SM45..100 7
Kollmorgen 05.2000 Manufacturer Declaration
Manufacturer declaration
According to the EG-Machine-guideline 89/392/EWG, appendix II B
We, the company
Kollmorgen Seidel GmbH & Co. KG
Wacholderstraße 40-42
40489 Düsseldorf
declare, that the product
Motor series 6SM
(types 6SM45, 6SM56, 6SM71, 6SM100)
is intended exclusively, in its standard version, for installation in another machine and that its
commissioning is forbidden until it has been established that the machine into which this product is
to be installed conforms to the provisions of the EC Directive in its version 89/392/EEC.
We confirm that the above-mentioned product conforms to the following standards:
73/23/EWG Low voltage directive
VDE 0530 / DIN 57530 Provisions for rotating machinery
DIN 42950 Design
DIN 748 Cylindrical shaft ends
DIN 42955 True running, coaxiality and concentricity
DIN ISO 2373 Vibration class
Issued by: Management
Lawrence D. Kingsley
This Declaration does not contain any assurance of properties. The notes on safety and protection
in the operating instructions must always be observed.

This page has been deliberately left blank
8 Motor series 6SM45..100
05.2000 Kollmorgen

I General
I.1 About this manual
This manual describes the 6SM45..100 series of synchronous servomotors (standard
version). Among other things, you find information about:
lDescription of the Motors, Technical Data Chapter I
lInstallation, Commissioning of the motors Chapter II
lDimensions, wiring and characteristics Chapter III
lNotes on Transport, Storage, Maintenance, Disposal Chapter IV
This Manual is intended for the use of qualified staff with professional knowledge
of electrical and mechanical engineering.
The motors are operated in drive systems together with servo-amplifiers digifas® or
SERVOSTAR™. Please observe the entire system documentation, consisting of:
— Installation and commissioning instructions for the servo-amplifier
— Installation and commissioning instructions for any CONNECT module or expansion
—card which is connected
— Operating manual for the Operator Software of the servo-amplifier
— Technical description of the 6SM45..100 series of motors
I.2 Prescribed usage
The 6SM45..100 series of synchronous servomotors is designed especially for drives for
industrial robots, machine tools, textile and packing machinery and similar with high
requirements for dynamics.
The user is only permitted to operate the motors under the ambient conditions which are
defined in this documentation.
The 6SM45..100 series of motors is exclusively intended to be driven by servo-amplifi-
ers from the digifas® or SERVOSTAR™ series under speed and / or torque control.
The mains supply voltage of the used servo amplifier must not exceed 400V at 50..60Hz,
TN-system or TT-system with earthed neutral point.
The motors are installed as components in electrical apparatus or machines and can only
be commissioned and put into operation as integral components of such apparatus or
machines.
The motors must never be connected directly to the mains supply.
The thermal contact which is integrated in the motor windings must be observed and
evaluated.
The conformity of the servo-system to the standards mentioned in the manufacturers
declaration on page 7 is only guaranteed when the components (servo-amplifier, motor,
cables etc.) that are used have been supplied by us.
Motor series 6SM45..100 9
Kollmorgen 05.2000 General

I.3 Design of the motors
Synchronous servomotors in the 6SM45..100 series are brushless DC motors for
demanding servo applications. When combined with our digital servo-amplifiers they are
especially suited for positioning tasks in industrial robots, machine tools, transfer lines
etc. With high requirements for dynamics and stability.
The servomotors have permanent magnets in the rotor. The rare earth neodymium
-iron-boron magnetic material is an important factor in making it possible to drive these
motors in a highly dynamic fashion. A three-phase winding which is driven by the
servo-amplifier is integrated into the stator. The motor does not have any brushes since
commutation is performed electronically by the servo-amplifier.
For these motors, forced ventilation is usually not necessary, because of the optimised
heat transfer through the strongly ribbed motor housing. However, in order to increase
M0, the motors in the series 6SM56..100 can be delivered with a separately driven fan
(motor plus option -BV-). The fan can also be retrofitted.
The temperature of the winding is monitored by temperature sensors in the stator wind-
ings and is signalled via an electrically isolated contact (normally closed).
Aresolver is built into the motors as feedback element. The servo-amplifiers in the
digifas® or SERVOSTAR™ series evaluate the resolver (hence rotor) position and supply
sinusoidal currents to the motors.
The motors can be delivered with or without a built-in holding brake.
The motors are enamelled in matt black (RAL 9005). This finish is not resistant against
solvents (e.g. trichlorethylene, nitro-thinners, or similar).
I.4 General technical data
Climate category 3K3 to EN 50178
Ambient temperature 5...+40°C for site altitude up to 1000m amsl
(at rated values) It is vital to consult our applications department
for ambient temperatures above 40°C and
encapsulated mounting of the motors.
Permissible humidity (at rated values) 85% rel. humidity, no condensation
Power derating 1% / K in range 40°C...50°C up to 1000m amsl
(currents and torques) for site altitude above 1000m amsl and 40°C
6% up to 2000m amsl
17% up to 3000m amsl
30% up to 4000m amsl
55% up to 5000m amsl
No derating for site altitudes above 1000m amsl
with temperature reduction of 10K / 1000m
Max. permissible flange temperature 65°C ± 10% at rated values
Ball-bearing life ³20.000 operating hours
Technical data ÞI.9
Storage data ÞIV.1
10 Motor series 6SM45..100
General 05.2000 Kollmorgen