Lenze MQA Series Technical manual

Servo motors
MQA asynchronous servo motor
Project planning EN

Contents
About this document 5
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 10
Safety instrucons 10
Basic safety instrucons 11
Applicaon as directed 12
Foreseeable misuse 12
Residual hazards 13
Drive dimensioning 15
Final conguraon 20
Surface and corrosion protecon 20
Informaon on mechanical installaon 21
Important notes 21
Transport 21
Installaon 21
Informaon on electrical installaon 22
Important notes 22
Preparaon 22
Technical data 23
Notes regarding the given data 23
Standards and operang condions 24
Conformies and approvals 24
Protecon of persons and device protecon 24
EMC data 24
Environmental condions 24
Radial forces and axial forces 25
Rated data 27
Inverter mains connecon 400 V, Forced venlated motors 27
Selecon tables 29
Torque characteriscs 34
Dimensions 39
Basic dimensions 39
Addional lengths 48
Weights 49
Addional weights 49
Contents
3

Product extensions 50
Motor connecon 50
Connecon via terminal box 50
Connecon via ICN connector 52
Brakes 54
Spring-applied brakes 56
Feedback 58
Resolver 59
Incremental encoder 60
Absolute value encoder 60
Blower 61
Temperature monitoring 62
Thermal detectors PT1000 62
Product codes 63
Environmental notes and recycling 64
Appendix 65
Good to know 65
Approvals and direcves 65
Operang modes of the motor 66
Enclosures 67
Contents
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.
Further documents
Informaon and tools with regard to the Lenze products can be found on the
Internet: www.Lenze.com à Downloads
About this document
Document descripon
5

Notaons and convenons
Convenons are used in this document to disnguish between dierent types of informaon.
Numeric notaon
Decimal separator Point Generally shown as a decimal point.
Example: 1 234.56
Warnings
UL Warnings UL Are used in English and French.
UR warnings UR
Text
Engineering Tools " " 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 other documentaon with addional informaon.
Example: , EDKxxx = see documentaon EDKxxx
Layout of the safety instrucons
DANGER!
Indicates an extremely hazardous situaon. Failure to comply with this instrucon will result
in severe irreparable injury and even death.
WARNING!
Indicates an extremely hazardous situaon. Failure to comply with this instrucon may result
in severe irreparable injury and even death.
CAUTION!
Indicates a hazardous situaon. Failure to comply with this instrucon may result in slight to
medium injury.
NOTICE
Indicates a material hazard. Failure to comply with this instrucon may result in material
damage.
About this document
Notaons and convenons
6

Product informaon
Product descripon
The MQA asynchronous servo motor for precisely controlled moon.
The naturally venlated MQA asynchronous servo motor is suitable for applicaons that
require a high dynamic performance, high construcon-related operaonal reliability and
precisely controlled moon.
In connecon with the i700 and i950 servo inverters, Servo Drives 9400, and Inverter Drives
8400 TopLine, high-performance drive soluons in the torque range from 66 to 1100 Nm can
be obtained.
Customer benet
•Opmum controllability and high dynamic performance thanks to low moments of inera
•Opmal smooth running characteriscs for exact work results
•Wide speed seng range
•Field weakening operaon usable
•Robust resolvers are included as a standard, and incremental encoders or absolute value
encoders ensure a high precision
Fig. 1: Asynchronous servo motor MQA22P08-
Idencaon of the products
Product name: MQA asynchronous servo motor
Motor
Example MQA 20 L 14 H
Meaning Variant
Product family MQA
Size 20
22
26
Overall length L
...
T
Rated speed rpm x 100 05
...
29
Inverter mains
connecon
3 x 400 V H
Product informaon
Product descripon
7

Features
Brake
Motor connection
Feedback
Temperature monitoring
Output flange
Output shaft
Motor connection
Power
Brake
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 MQA20 MQA22 MQA26
Technical data
Rated power kW 10.6 ... 20.3 11.5 ... 38.4 17.0 ... 60.2
Rated torque Nm 66.2 ... 71.3 125 ... 145 257 ... 296
Max. torque Nm 250 500 1100
Rated speed rpm 1420 ... 2930 760 ... 2935 550 ... 2235
Colour Primed RAL9005 ma jet black
RAL colours
Surface and corrosion protecon OKS-G
Dierent types of OKS
Output sha
Solid sha with featherkey mm 38 x 80 38 x 80 55 x 110
Solid sha without keyway mm 38 x 80 38 x 80 55 x 110
Sha material Steel
Sha sealing ring material FKM
Drive-end shield Not oil-ght
Oil-proof
Design With ange (B3/B35)
Output ange mm FF215
FF265
FF265 FF265
FF350
Cooling Forced-venlated IP23s
Dust lter Without
With
Motor connecon
Power + brake + separate fan ICN connector
Terminal box
Terminal box
Sensor + temperature monitoring ICN connector
Spring-applied brake - holding brake Without
With
Standard braking torque Nm 80.0 130 260
Increased braking torque Nm 130 260 -
DC brake voltage V 24
AC brake voltage V 230 (not with cURus and ICN connector)
Feedback Resolver
Absolute value encoder
Incremental encoder
Temperature monitoring Thermal detectors PT1000
Thermal contact TCO (not with ICN connector and spring-applied brake)
Product informaon
The modular system
9

Informaon on project planning
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!
Informaon on project planning
Safety instrucons
10

Basic safety instrucons
Product
•The product must only be used as directed.
•Never commission the product in the event of visible damage.
•The product must never be technically modied.
•Never commission the product before assembly has been completed.
•The product must never be operated without required covers.
•Connect/disconnect all pluggable terminals only in de-energized condion.
•Only remove the product from the installaon in the de-energized state.
Personnel
Only qualied and skilled personnel are allowed to work with the product. IEC 60364 and/or
CENELEC HD 384 dene the qualicaons of these persons as follows:
•They are familiar with the installaon, mounng, commissioning, and operaon of the
product.
•They possess the appropriate qualicaons for their tasks.
•They are familiar with all regulaons for the prevenon of accidents, direcves, and laws
applicable at the locaon and are able to apply them.
Electrical connecon
When working on energized products, comply with the applicable naonal accident
prevenon regulaons.
The electrical installaon work must be carried out according to the appropriate regulaons
(e.g. cable cross-secons, fusing, PE conductor connecon). Addional informaon can be
obtained from this documentaon.
This documentaon contains notes about installaon according to EMC regulaons. Also
observe these notes for CE-marked products. The manufacturer of the system or machine is
responsible for adherence to the limits required in connecon with EMC legislaon.
Operaon
Where appropriate, you must equip the system with addional monitoring and protecve
devices. Comply with the safety regulaons and other regulaons applicable at the place of
operaon.
Aer disconnecng the product from the supply voltage, do not touch live device parts and
power terminals immediately because capacitors may be charged. Observe the corresponding
informaon labels on the product.
Dirt or dust deposits impede the heat dissipaon and cooling. Remove any such deposits
where appropriate at regular intervals.
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.
Disposal
The products and accessories must be properly disposed of in accordance with the applicable
regulaons. The products contain raw materials that can be recycled such as metals, plascs
and electronic components.
Informaon on project planning
Safety instrucons
Basic safety instrucons
11

Applicaon as directed
NOTICE
Please observe the notes in the following chapters!
▶Safety instrucons ^ 10
▶Informaon on mechanical installaon ^ 21
▶Informaon on electrical installaon ^ 22
•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 classed as a machine under 2006/42/EU: Machinery Direcve.
•No machine is to be commissioned or put into operaon as intended in conjuncon with
the product unl it has been determined that the machine meets the regulaons of EC
Direcve 2006/42/EU: Machinery Direcve; observe EN 60204−1.
•Commissioning or pung into operaon as intended is only permied in compliance with
the EMC Direcve 2014/30/EU.
•The product is not a household appliance. Instead, it is a component that is intended
exclusively for further use in the context of commercial or professional use as dened by
EN 61000−3−2.
•The product can be used according to the technical data if the drive systems have to
comply with categories in accordance with 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uenced may cause the braking torque to be reduced.
•The product is only to be operated together with an inverter.
•The harmonized standards of the series IEC/EN60034 are used.
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
Applicaon as directed
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
property!
Product
Observe the warning labels on the product!
Dangerous electrical voltage:
Before working on the product, make sure there is no voltage applied to the power terminals!
Aer mains disconnecon, the power terminals will sll carry the hazardous electrical voltage for the me given next to the
symbol!
Electrostac sensive devices:
Before working on the product, the sta must ensure to be free of electrostac charge!
High leakage current:
Carry out xed installaon and PE connecon in compliance with:
EN 61800−5−1 / EN 60204−1
Hot surface:
Use personal protecve equipment or wait unl the device has cooled down!
Protecon of persons
•The product does not provide any safety-related funcons.
-A higher-level safety system must be implemented.
-Provide addional monitoring and protecve equipment complying with the safety
regulaons applicable in each case.
•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 deenergized.
•Voltages may occur on the drive components (e.g. capacive, caused by inverter supply).
-Careful earthing must be carried out at the marked posions of the components.
•There is a risk of burns from hot surfaces!
-Provide protecon against accidental contact.
-Use personal protecve equipment or wait unl the device has cooled down!
-Prevent contact with ammable substances.
•Risk of injury from 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 start-up or electric shocks!
•Installed brakes are no fail-safe brakes.
- torque may be reduced by disrupve factors that cannot be inuenced such as
ingressing oil.
Informaon on project planning
Safety instrucons
Residual hazards
13

Motor protecon
•Version with plug:
-Never disconnect the plug when energized. The plug could be destroyed.
-Switch o the voltage supply or disable the inverter prior to disconnecng the plug.
•Installed thermal detectors are no full protecon for the machine.
-Limit the maximum current if necessary. Parameterize the inverter so that it will be
switched o aer several seconds of operaon with I > Irated especially if there is a
danger of blocking.
-The integrated overload protecon does not prevent overloading under all condions.
•The fuses are no motor protecon.
-Use a current-dependent motor protecon switch.
-Use the built-in thermal detectors.
•Excessively high torques cause a fracture of the motor sha.
-Do not exceed the maximum torques according to the technical data on the
nameplate.
•Lateral forces on the motor sha are possible.
-Align the shas of motor and driven machine exactly to each other.
Informaon on project planning
Safety instrucons
Residual hazards
14

Drive dimensioning
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 design the drive both quickly and to a high
quality. The soware contains profound and proven experse with regard to drive applicaons
and mechatronic drive components.
Please get in touch with your Lenze representave.
The dimensioning is suitable for:
•kinemac proles
•operang modes S1, S2, S3, S6 ^ 66
•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 and an inverter with a sucient maximum current
are selected. Further limits (maximum speed, installaon height...) are specied in tables.
Mechanical strength
On the basis of the occurring forces and torques, a drive is selected that has a sucient
mechanical strength (endurance strength for the periodically occurring torques and fague
strength for the sporadically occurring torques).
Thermal dimensioning
For the inverter, the thermal dimensioning process is carried out on the basis of the
connuous inverter current or on the basis of the connuous torque from the motor-inverter
combina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 representave.
Informaon on project planning
Drive dimensioning
15

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
process
Inspect and select motor
Final conguraon
Check operang condions
Check
Approvals
Conformies
Supply voltage
Degree of protecon
Ambient temperature
Surface protecon
4Standards and operang condions ^ 24
4Surface and corrosion protecon ^ 20
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%
Informaon on project planning
Drive dimensioning
16

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 ^ 66
Ambient temperature and installaon height
Ambient temperature Installaon height amsl
≤ 1000 m ≤ 2000 m ≤ 3000 m ≤ 4000 m
Correcon factor
TUkHkHkHkH
≤ 20 °C 1.15 1.06 0.97 0.89
30 °C 1.07 0.99 0.90 0.83
40 °C 1.00 0.92 0.83 0.77
50 °C 0.92 0.85 0.76 0.71
60 °C 0.83 0.77 0.70 0.65
Determine product on the basis of the forces
Transmission element Gear wheels Sprockets Toothed belt pulleys Narrow V-belt
( depending on the
preloading)
( 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 ≤ Fax,max
dw Eecve diameter of transmission element
4Radial forces and axial forces ^ 25
Operang mode S1
Check and select servo motor/inverter combinaon
Check Selecon Unit
Output torque Mrated ≥ ML/ (kL x kH) Mrated Nm
Output speed nrated ≥ nLnrated rpm
4Rated data ^ 27
Informaon on project planning
Drive dimensioning
17

Operang modes S2, S3, and S6
Check and select servo motor/inverter combinaon
Check Selecon Unit
Output torque Mrated ≥ ML/ ( kL x kH) Mrated Nm
Output speed (recommendaon) nrated ≥ nLnrated 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
characterisc of the servo motor/
inverter combinaon here, ML,max must
be considered
Thermally eecve operang point (○ ) nL
ML/ (kLx kH)
below the S1 torque characterisc of
the servo motor
4Rated data ^ 27
4Torque characteriscs ^ 34
Speed proles
Temporal load characterisc for the individual me segments z
Total me Individual me
segments
Load speed Load speed
variaon
Steady-state
load torque
Torque Acceleraon
torque
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
MzNm
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
nmrpm
Maximum load speed nL,max = max (nL,z) nL,max rpm
Informaon on project planning
Drive dimensioning
18

Check and select servo motor/inverter combinaon
Check Preselecon Unit
Output torque Mrated > Me / kHMrated Nm
Output speed nrated ≥ nmnrated 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
characterisc of the servo motor/
inverter combinaon here, ML,max must
be considered
Thermally eecve operang point (○ ) nm
MS,e / kH
below the S1 torque characterisc of
the servo motor
4Rated data ^ 27
4Torque characteriscs ^ 34
Informaon on project planning
Drive dimensioning
19

Final conguraon
Check
Connecon dimensions Output sha
Output ange
Product extensions Motor connecon (connector/terminal box)
Brake
Feedback
Blower
More informaon about the nal conguraon:
4The modular system ^ 9
4Product extensions ^ 50
Surface and corrosion protecon
Depending on the ambient condions, the surface and corrosion protecon system (called
OKS) oers soluons for opmum protecon.
Various surface coangs ensure that the motors operate reliably at high air humidity, in
outdoor installaon or in the presence of atmospheric impuries. Any color from the "RAL
Classic" collecon can be chosen for the top coat.
Surface and corrosion
protecon
Applicaons Type
OKS-G (primed) •Dependent on subsequent top coat applied Standard
OKS-S (small) •Standard applicaons
•Internal installaon in heated buildings
•Air humidity up to 90 %
Oponal
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
Corrosivity category Surface coang Colour Coang thickness
DIN EN ISO 12944-2 Design
OKS-G (primed) •2K PUR priming coat •RAL 9005 ma jet black 60 ... 90 µm
OKS-S (small) Comparable to C1 •2K-PUR top coat
•According to 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
Surface and corrosion protecon
20