Lenze m850 Technical manual

Servo motors
m850 synchronous servo motor
Project planning EN

Inhalt
About this document5
Document descripon 5
Further documents 5
Notaons and convenons 6
Product informaon 7
Product descripon 7
Idencaon of the products 7
Features 8
The modular system 9
Informaon on project planning 11
Safety instrucons 12
Basic safety instrucons 12
Applicaon as directed 12
Foreseeable misuse 12
Residual hazards 13
Drive dimensioning 14
Final conguraon 18
Environmental condions 18
Informaon on mechanical installaon 19
Important notes 19
Transport 19
Installaon 19
Informaon on electrical installaon 20
Important notes 20
Preparaon 20
Technical data 21
Notes regarding the given data 21
Standards and operang condions 22
Conformies/approvals 22
Protecon of persons and device protecon 22
EMC data 22
Environmental condions 22
Radial forces and axial forces 23
Rated data 25
Inverter mains connecon 400 V, Self-venlated 25
Selecon tables 27
Torque characteriscs 34
Dimensions 39
Basic dimensions 39
Inhalt
3

Product extensions 42
Motor connecon 42
Connecon via ICN connector 42
Brakes 46
Spring-applied brakes 48
Feedback 50
Resolver 51
Absolute value encoder 52
Temperature monitoring 53
Thermal detectors PT1000 53
Product codes 54
Appendix 55
Good to know 55
Approvals/direcves 55
Operang modes of the motor 56
Enclosures 57
Inhalt
4

About this document
Document descripon
This document addresses to all persons who want to carry out any conguraons with the
products described.
The data and informaon compiled in this document serve to support you in the dimensioning
and selecon processes and in carrying out the electrical and mechanical installaon. You will
receive informaon regarding product extensions and accessories.
•The document includes safety instrucons which must be observed.
•All persons working on and with the drives must have the documentaon at hand during
work and observe the informaon and notes relevant for it.
•The documentaon must always be complete and in a perfectly readable state.
NOTICE
Please observe the notes in the following chapters!
▶Safety instrucons ^ 12
▶Informaon on mechanical installaon ^ 19
▶Informaon on electrical installaon ^ 20
Further documents
Informaon and tools with regard to the Lenze products can be found on the
Internet:
hp://www.lenze.com à Download
About this document
Document descripon
Further documents
5

Notaons and convenons
This document uses the following convenons to disnguish dierent types of informaon:
Numeric notaon
Decimal separator Point The decimal point is always used.
Example: 1 234.56
Warning
UL warning UL Are used in English and French.
UR warning UR
Text
Programs » « Soware
Example: »Engineer«, »EASY Starter«
Icons
Page reference ¶Reference to another page with addional informaon
Example: ¶ 16 = see page 16
Documentaon reference ,Reference to another documentaon with addional informaon
Example: , EDKxxx = see documentaon EDKxxx
Layout of the safety instrucons
DANGER!
This note refers to an imminent danger which, if not avoided, may result in death or serious
injury.
WARNING!
This note refers to a danger which, if not avoided, may result in death or serious injury.
CAUTION!
This note refers to a danger which, if not avoided, may result in minor or moderate injury.
NOTICE
This note refers to a danger which, if not avoided, may result in damage to material assets.
About this document
Notaons and convenons
6

Product informaon
Product descripon
m850 - the servo motor for a medium dynamic performance in compact design.
The compact synchronous servo motor for applicaons in the elds of posioning, robocs,
and packaging technology as well as for handling systems.
In connecon with the Servo-Inverters i700, Servo Drives 9400, and Inverter Drives 8400 Top-
Line, high-performance drive soluons in the torque range from 4.8 to 200 Nm can be
obtained.
Customer benet
•Compact design
•Easy controllability by an advantageous rao of the mass inera of the load and that of the
motor
•Opmum smooth running characteriscs for accurate work results
•The smooth housing surface makes it perfect for the use in the food industry
•Robust resolvers are included as a standard, and multurn SinCos encoders ensure a high
precision
•Easy assembly and easy servicing by SpeedTec connectors with swivel connector boxes
Fig. 1: m850-S140/S3240 synchronous servo motor
Idencaon of the products
Product name of the motor
Product series Type Flange height Overall length Rated speed Motor
mm rpm
m850 - S (synchronous)
120
/
S (short) 3960 m850-S120/S3960
M (medium) 3960 m850-S120/M3960
L (long) 3960 m850-S120/L3960
140
S (short) 3240 m850-S140/S3240
M (medium) 3240 m850-S140/M3240
L (long) 3240 m850-S140/L3240
190
S (short) 3000 m850-S190/S3000
M (medium) 3000 m850-S190/M3000
L (long) 2520 m850-S190/L2520
Product informaon
Idencaon of the products
7

Features
Output flange
Output shaft
Spring-applied brake
Motor connection
Cooling
Feedback
Temperature monitoring
Product informaon
Features
8

The modular system
Values printed in bold are standard designs. Values that are not printed in bold
are potenal extensions, some of them including a surcharge.
Motor m850-S120/S3960 m850-S120/M3960 m850-S120/L3960
Technical data
Rated power kW 2.0 3.1 3.7
Rated torque Nm 4.8 7.4 9.0
Max. torque Nm 14.5 29.0 44.0
Rated speed rpm 3960 3960 3960
Colour Unpainted
Surface and corrosion protecon (called
OKS)
Without
Dierent types of OKS
Output sha
Solid sha without keyway mm 19 x 40
Solid sha with featherkey mm 19 x 40
Sha material Steel
Sha sealing ring material FKM
Output ange mm FF130
Cooling Self-venlated IP54
Self-venlated IP65
Motor connecon ICN connector
Spring-applied brake Without
With
Characterisc torque Nm 18
DC brake voltage V 24
Feedback Resolver
Absolute value encoder
Temperature monitoring PT1000 thermal detector + 2 PTC thermistors
Motor m850-S140/S3240 m850-S140/M3240 m850-S140/L3240
Technical data
Rated power kW 2.9 4.8 5.9
Rated torque Nm 8.5 14.0 17.4
Max. torque Nm 26.0 53.5 80.0
Rated speed rpm 3240 3240 3240
Colour Unpainted
Surface and corrosion protecon (called
OKS)
Without
Dierent types of OKS
Output sha
Solid sha without keyway mm 24 x 50
Solid sha with featherkey mm 24 x 50
Sha material Steel
Sha sealing ring material FKM
Output ange mm FF165
Cooling Self-venlated IP54
Self-venlated IP65
Motor connecon ICN connector
Spring-applied brake Without
With
Characterisc torque Nm 32
DC brake voltage V 24
Feedback Resolver
Absolute value encoder
Temperature monitoring PT1000 thermal detector + 2 PTC thermistors
Product informaon
The modular system
9

Motor m850-S190/S3000 m850-S190/M3000 m850-S190/L2520
Technical data
Rated power kW 5.0 7.5 9.2
Rated torque Nm 16 24 35
Max. torque Nm 71.0 120 200
Rated speed rpm 3000 3000 2520
Colour Unpainted
Surface and corrosion protecon (called
OKS)
Without
Dierent types of OKS
Output sha
Solid sha without keyway mm 28 x 60
Solid sha with featherkey mm 28 x 60
Sha material Steel
Sha sealing ring material FKM
Output ange mm FF215
Cooling Self-venlated IP54
Self-venlated IP65
Motor connecon ICN connector
Spring-applied brake Without
With
Characterisc torque Nm 100
DC brake voltage V 24
Feedback Resolver
Absolute value encoder
Temperature monitoring PT1000 thermal detector + 2 PTC thermistors
Product informaon
The modular system
10

Informaon on project planning
In order to carry out an accurate drive dimensioning process, you can use our conguring so-
ware, the Drive Soluon Designer.
With the Drive Soluon Designer you can carry out the drive dimensioning process quickly and
with top quality. The soware contains profound and proven experse with regard to drive
applicaons and mechatronic drive components.
Please refer to your competent Lenze sales company.
Informaon on project planning
11

Safety instrucons
Disregarding the following basic safety measures and safety informaon may lead to severe
personal injury and damage to property!
Observe all specicaons of the corresponding documentaon supplied. This is the precondi-
on for safe and trouble-free operaon and for obtaining the product features specied.
Please observe the specic safety informaon in the other secons!
Basic safety instrucons
Personnel
The product must only be used by qualied personnel. IEC 60364 or CENELEC HD 384 dene
the skills of these persons:
•They are familiar with installing, mounng, commissioning, and operang the product.
•They have the corresponding qualicaons for their work.
•They know and can apply all regulaons for the prevenon of accidents, direcves, and
laws applicable at the place of use.
Process engineering
The procedural notes and circuit details described are only proposals. It is up to the user to
check whether they can be adapted to the parcular applicaons. Lenze does not take any
responsibility for the suitability of the procedures and circuit proposals described.
The procedural notes and circuit details described in this document are only proposals. It is up
to the user to check whether they can be adapted to the parcular applicaons. Lenze does
not take any responsibility for the suitability of the procedures and circuit proposals descri-
bed.
Applicaon as directed
•The product must only be actuated under the operang condions and power limits speci-
ed in this documentaon.
•The product meets the protecon requirements of 2014/35/EU: Low-Voltage Direcve.
•The product is not a machine in terms of 2006/42/EC: Machinery Direcve.
•Commissioning or starng the operaon as directed of a machine with the product is not
permied unl it has been ensured that the machine meets the regulaons of the EC
Direcve 2006/42/EC: Machinery Direcve; observe EN 60204−1.
•Commissioning or starng operaon as directed is only permissible if the EMC Direcve
2014/30/EU is complied with.
•The product is not a household appliance, but is only designed as a component for com-
mercial or professional use in terms of EN 61000−3−2.
•The product can be used according to the technical data if drive systems have to comply
with categories according to EN 61800−3.
•In residenal areas, the product may cause EMC interferences. The operator is responsible
for taking interference suppression measures.
•Do not use the built-in brakes as fail-safe brakes. Disrupve factors that cannot be inu-
enced may cause the braking torque to be reduced.
•The product must only be actuated with inverters.
Foreseeable misuse
•Actuate directly on the mains voltage
•Use in potenally explosive areas
•Use in aggressive environments
•Use under water
•Use under radiaon
•Use in generator mode
Informaon on project planning
Safety instrucons
Foreseeable misuse
12

Residual hazards
Even if notes given are taken into consideraon and protecve measures are implemented,
the occurrence of residual risks cannot be fully prevented.
The user must take the residual hazards menoned into consideraon in the risk assessment
for his/her machine/system.
If the above is disregarded, this can lead to severe injuries to persons and damage to prop-
erty!
Protecon of persons
•The product does not provide safety-related funcons.
-A higher-level safety system must be implemented.
-Addional monitoring and protecve equipment complying with the safety regulaons
applicable in each case must be used.
•The power terminals may carry voltage in the switched-o state or when the motor is
stopped.
-Before working, check whether all power terminals are deenergised.
•Voltages may occur on the drive components (e.g. capacive, caused by inverter supply).
-Careful earthing in the marked posions of the components must be carried out.
•Risk of burns may be caused by hot surfaces!
-Provide for a protecon against accidental contact.
-Use the personal protecve equipment or wait unl the components have cooled
down completely!
-Prevent contact with ammable substances.
•There is a risk of injury due to rotang parts.
-Before working on the drive system, ensure that the motor is at a standsll.
•There is a danger of unintenonal starng or electrical shocks!
•Installed brakes are no fail-safe brakes.
- The torque may be reduced by disrupve factors that cannot be inuenced such as
ingressing oil.
Motor protecon
•Design with plug:
-Never disconnect the plug when energised! Otherwise, the plug can be destroyed.
-Switch o power supply and disable inverter prior to disconnecng the plug.
•Installed thermal detectors are no full protecon for the machine.
-If required, limit the maximum current. Parameterise the inverter so that it will be
switched o aer seconds of operaon with I > Irated , especially if there is the danger
of blocking.
-The installed overload protecon does not prevent an overload under any condions.
•The fuses are no motor protecon.
-Use a current-dependent motor protecon switch.
-Use the built-in thermal detectors.
•Too high torques cause a fracon of the motor sha.
-The maximum torques according to catalogue must not be exceeded.
•Lateral forces from the motor sha may occur.
-Align the shas of motor and driven machine exactly to each other.
Informaon on project planning
Safety instrucons
Residual hazards
13

Drive dimensioning
The dimensioning is suitable for:
•kinemac proles
•operang modes S1, S2, S3, S6
•simple linear speed proles, not for S-curves or similar
The following 3 elements are taken into consideraon in the dimensioning process :
Drive funcon
On the basis of the values required for the process that are specied, a drive is selected, for
which all operang points are within the speed-torque characterisc curve of the motor.
As a result, a motor with a suitable speed with an inverter with a sucient maximum current
is selected. Further limits (maximum speed, installaon height...) are specied in tables.
Mechanical strength
On the basis of the forces and torques which build, a drive is selected that has a sucient
mechanic strength (endurance strength for the periodically occurring torques and faque
strength for the sporadically occurring torques).
Thermal dimensioning
For the inverter, the thermal dimensioning process is carried out on the basis of the connu-
ous inverter current or on the basis of the connuous torque from the motor-inverter combi-
naon, which can be reached.
The motor is thermally dimensioned on the basis of the mean speed and the eecve torque.
The mean speed of the drive should not exceed the values specied.
If dimensioning processes are complex or reach limit loads, please refer to your
Lenze branch oce
Operaon chart
S1 operaon S2,S3 and S6 operaon Speed proles
Check operang condions
Dene required input variables
Determine correcon factor
Operang modes and operang me Operang modes and operang me
Ambient temperature and installaon height Ambient temperature and installaon height Ambient temperature and installaon height
Determine motor on the basis of the forces acng
Dene load characterisc for the individual
me segments
Calculaon of the values required for the proc-
ess
Inspect and select motor
Final conguraon
Informaon on project planning
Drive dimensioning
14

Check operang condions
Check
Approvals
Conformity declaraons
Supply voltage
Enclosure
Ambient temperature
Surface protecon
4Conformies/approvals ^ 22
4Environmental condions ^ 18
Dene required input variables
Necessary input variables Note Symbol Unit
Mean speed ulisaon Relang to the load speed nL %
Ambient temperature TU°C
Site altude Amsl H m
Radial force Frad N
Axial force Fax N
Transmission element at the output Gear wheels, sprockets …
Eecve diameter of the transmission element dwmm
Load torque Only with S1, S2, S3, and S6 operang modes MLNm
Load speed Only with S1, S2, S3, and S6 operang modes nLrpm
Short-me maximum torque Emergency o, quick stop, occasional high starng
duty
ML,max Nm
Runme with maximum torque tL%
Determine correcon factor
Operang modes S1, S2, S3, S6, and operang me
Operang mode S1 Operang mode S2 Operang mode S3 Operang mode S6
ED kLED kLED kLED kL
% min % %
100 1.0 10 1.4 - 1.5 15 1.4 - 1.5 15 1.5 - 1.6
30 1.15 - 1.2 25 1.3 - 1.4 25 1.4 - 1.5
60 1.07 - 1.1 40 1.15 - 1.2 40 1.3 - 1.4
90 1.0 - 1.05 60 1.05 - 1.1 60 1.15 - 1.2
4Operang modes of the motor ^ 56
Ambient temperature and installaon height
Ambient temperature Installaon height amsl
< 1000 m < 2000 m
Correcon factor
TUkHkH
≤ 20 °C 1.10 1.04
30 °C 1.05 1.00
40 °C 1.00 0.95
50 °C 0.80 0.76
60 °C 0.60 0.57
Informaon on project planning
Drive dimensioning
15

Determine product on the basis of the forces
Transmission element Gear wheels Sprockets Toothed belt pulleys Narrow V-belt
( depending on the pre-
loading)
( depending on the
preloading)
Addional radial force factor fz
≥ 17 teeth = 1.0 ≥ 20 teeth = 1.0 With belt ghtener= 2.0 -
2.5
1.5 - 2.0
< 17 teeth = 1.15 < 20 teeth = 1.25 Without belt ghtener= 2.5
- 3.0
< 13 teeth = 1.4
Calculaon Check
Radial force Frad N
´
= ´ L,max z
rad
M f
F 2000 dw
Frad ≤ Frad,max
Axial force Fax N Fax ≤ Frad,max
dw Eecve diameter of transmission element
4Radial forces and axial forces ^ 23
Operang mode S1
Check and select servo motor-inverter combinaon
Check Selecon Unit
Output torque MN ≥ ML/ (kL x kH) MN = Nm
Output speed nN ≥ nLnN = rpm
4Rated data ^ 25
Operang modes S2, S3, and S6
Check and select servo motor-inverter combinaon
Check Selecon Unit
Output torque MN ≥ ML/ ( kL x kH) MN = Nm
Output speed (recommendaon) nN ≥ nLnN = rpm
Max. output torque Mmax ≥ MLMmax = Nm
Max. output speed nmax ≥ nLnmax = rpm
All operang points (● )
n [r/min]
M [Nm]
nL
ML
Below the maximum torque character-
isc of the servo motor-inverter combi-
naon, taking ML,max into consideraon
Thermally eecve operang point (○ ) nL
ML/ (kLx kH)
Below the S1 torque characterisc of
the servo motor
4Rated data ^ 25
4Torque characteriscs ^ 34
Informaon on project planning
Drive dimensioning
16

Speed proles
Temporal load characterisc for the individual me segments z
Total me Individual me
segments
Load speed Load speed var-
iaon
Steady-state
load torque
Torque Acceleraon tor-
que
Moment of iner-
a
t ΔtznL,z Δ nL,z ML,z MzMs,z JL
s s rpm rpm Nm Nm Nm kgcm2
Calculaon Symbol Unit
Load cycle duraon
= D
åz
T t
T = s
Calculaon of the values required for the process
Calculaon Symbol Unit
Torque per me segment
p´ D
= + ´ D
L,z
z L,z L
z
2 n
M M J 60 t
Mz = Nm
Maximum torque of the prole MP
,max = max (Mz) MP,max = Nm
Eecve torque
= ´ D £
å2
eff z z
z
1
M M t ,T 1min
T
Me = Nm
Mean speed
= = ´D
å
m L,z L,z z
z
1
n |n | |n | t
T
nm = rpm
Maximum load speed nL,max = max (nL,z) nL,max = rpm
Check and select servo motor-inverter combinaon
Check Preselecon Unit
Output torque MN > Me / kHMN = Nm
Output speed nN ≥ nmnN = rpm
Load-matching factor
for an opmum dynamic performance/
control properes
Requirement kJ = 0.5 ... 10
Opmum kJ = 1 kJ= JL / (JM + JB)
Checking the motor torques
Acceleraon torque
( )
p´ D
= + + ´ ´ D
L,z
S,z z M B
z
2 n
M M J J 60 t
MS,z =
Nm
Eecve torque
= ´ D
å2
S,eff S,z z
z
1
M M t
T
MS,e =
All operang points (● )
n [r/min]
M [Nm]
nL,z
MS,z
Below the maximum torque character-
isc of the servo motor-inverter combi-
naon, taking ML,max into consideraon
Thermally eecve operang point (○ ) nm
MS,e / kH
Below the S1 torque characterisc of
the servo motor
4Rated data ^ 25
4Torque characteriscs ^ 34
Informaon on project planning
Drive dimensioning
17

Final conguraon
Check
Connecon dimensions Output sha
Output ange
Product extensions Brake
Feedback
More informaon about the nal conguraon:
4The modular system ^ 9
4Product extensions ^ 42
Environmental condions
Surface and corrosion protecon (called OKS)
Depending on the ambient condions, the surface and corrosion protecon system (called
OKS) oers tailor-made soluons for opmum protecon.
Various surface coangs ensure that the motors operate reliably even at high air humidity, in
outdoor installaon or in the presence of atmospheric impuries. Any colour from the "RAL
Classic" collecon can be chosen for the top coat.
For the indoor installaon and if no special corrosion protecon is required, the products are
also available unpainted (without OKS).
Surface and corrosion protec-
on (called OKS)
Applicaons Type
without OKS (unpainted) •Indoor installaon, no special corrosion protecon necessary
•Painng by customer
Standard
OKS-G (primed) •Dependent on subsequent top coat applied Oponal
OKS-S (small) •Standard applicaons
•Internal installaon in heated buildings
•Air humidity up to 90 %
OKS-M (medium) •Internal installaon in non-heated buildings
•Covered, protected external installaon
•Air humidity up to 95 %
OKS-L (large) •External installaon
•Air humidity above 95 %
•Chemical industrial plants
•Food industry
Surface and corrosion
protecon (called OKS)
Corrosivity category Surface coang Colour Coang thickness
DIN EN ISO 12944-2 Design
without OKS (unpainted)
OKS-G (primed) •2K PUR priming coat 60 ... 90 µm
OKS-S (small) Comparable to C1 •2K-PUR top coat
•Standard: RAL 7012
•Oponal: RAL Classic
80 ... 120 µm
OKS-M (medium) Comparable to C2 •2K PUR priming coat
•2K-PUR top coat
110 ... 160 µm
OKS-L (large) Comparable to C3 140 ... 200 µm
Informaon on project planning
Final conguraon
Environmental condions
18

Informaon on mechanical installaon
Important notes
•You must install the product according to specicaons in the chapter "standard and oper-
ang" condions.
4Standards and operang condions ^ 22
•The technical data and the data regarding the supply condions can be found on the
nameplate and in this documentaon.
•Observe the informaon relang to the surface and corrosion protecon.
4Environmental condions ^ 18
•Ambient media − especially chemically aggressive ones − may damage sha sealing rings,
lacquers and plascs. If required, contact your responsible Lenze subsidiary.
NOTICE
Bearing damage caused by unbalance!
Shas with keyway are balanced with a half featherkey!
▶Balance transmission elements with a half featherkey!
Transport
•Ensure appropriate handling.
•Make sure that all component parts are safely mounted. Secure or remove loose compo-
nent parts.
•Only use safely xed transport aids (e.g. eye bolts or support plates).
•Do not damage any components during the transport.
•Avoid electrostac discharge on electronic components and contacts.
•Avoid impacts.
•Check the carrying capacity of the hoists and load handling devices. The weights can be
obtained from the shipping documents.
•Secure the load against pping and falling down.
•Standing under a suspended load is forbidden.
Installaon
•Avoid resonances with the rotaonal frequency and double mains frequency.
•The mounng surfaces must be plane, torsionally rigid and free from vibraons.
•The mounng areas must be suited to absorb the forces and torques generated during
operaon.
•Ensure an unhindered venlaon.
•For versions with a fan, keep a minimum distance of 10 % from the outside diameter of the
fan cover in intake direcon.
Informaon on mechanical installaon
Installaon
19

Informaon on electrical installaon
Important notes
DANGER!
Hazardous voltage!
On the power connecons even when disconnected from the mains: residual voltage >60 V!
▶Disconnect the product from the mains and wait unl the motor is at a standsll.
▶Make sure that the product is safely isolated from supply!
•When working on energised products, comply with the applicable naonal accident pre-
venon regulaons.
•Carry out the electrical installaon in compliance with the relevant regulaons (e.g. cable
cross-secons, fuses, PE connecon).
•The manufacturer of the system or machine is responsible for adherence to the limits
required in connecon with EMC legislaon.
Preparaon
The notes for the electrical connecon can be found in
in the terminal box (if motors with a terminal box are used).
the connecon plan (if motors with connectors are used).
EMC-compliant wiring
The EMC-compliant wiring is described in detail in the documentaon of the
Lenze inverters.
Informaon on electrical installaon
Preparaon
20