Moog CD Series User manual

WHAT MOVES YOUR WORLD
Rev. B, May 2015
LOW INERTIA, COMPACT LENGTH, SERVO MOTORS
FOR HIGHLY DYNAMIC APPLICATIONS
USER MANUAL FOR
COMPACT DYNAMIC
BRUSHLESS
SERVO
MOTORS
CD SERIES

Rev. B, May 2015 A
Copyright
© 2015 Moog India
Moog Controls India (P) Ltd.,
No. 41P, 99P & 100P, KIADB Industrial Area,
Electronic City Phase-II
Hosur Road, Bengaluru – 560 100, India
All rights reserved.
No part of these operating instructions may be reproduced in any form (print,
photocopies, microfilm, or by any other means) or edited, duplicated, or
distributed with electronic systems without our prior written consent.
Offenders will be held liable for the payment of damages.
Subject to change without notice.
Phone: [phone]
Fax: [phone]
E-Mail: [e-mail]
Web site: www.moog.com/Industrial

Compact Dynamic Brushless Servo Motors Table of contents
Rev. B, May 2015 i
Table of contents
Copyright ................................................................................................................................................... A
List of tables................................................................................................................................................ ii
List of figures ............................................................................................................................................. iii
Foreword.................................................................................................................................................... 1
About Moog ............................................................................................................................................... 1
Document version...................................................................................................................................... 1
Revision record.......................................................................................................................................... 1
1 Introduction ...............................................................................................2
1.1 About this Document .................................................................................................................. 2
1.2 Documents on CD Series Servo Motor...................................................................................... 2
1.3 Typographical Conventions ....................................................................................................... 3
1.4 Structure of Warning Notices..................................................................................................... 4
1.5 Abbreviations............................................................................................................................... 4
2 Safety Instructions....................................................................................5
2.1 Safety Oriented Systems ............................................................................................................ 5
2.2 Qualified Personnel..................................................................................................................... 6
2.3 Electrical Hazards........................................................................................................................ 6
2.4 Thermal Hazards.......................................................................................................................... 6
3 Product Information..................................................................................7
3.1 Manufacturer Name and Address .............................................................................................. 7
4 Shipment and Storage ..............................................................................8
4.1 Transport and Storage ................................................................................................................ 9
5 CD Series Motor Codification ................................................................10
6 Installation ...............................................................................................12
6.1 Recommended Drives............................................................................................................... 13
6.2 Mounting .................................................................................................................................... 14
6.3 CD Series Servo Motor Mounting Orientations ...................................................................... 15
6.4 Fan Cooled Motors .................................................................................................................... 16
7 Electrical Interfaces ................................................................................17
7.1 Wiring Schematics .................................................................................................................... 18
7.2 Connectors................................................................................................................................. 19
8 Maintenance ............................................................................................20
9 Troubleshooting ......................................................................................21
10 Motor Disposition....................................................................................22
10.1 What to do if repairs are required?.......................................................................................... 22
11 Ordering Code .........................................................................................23

Compact Dynamic Brushless Servo Motors List of tables
Rev. B, May 2015 ii
List of tables
Table 1: Abbreviations................................................................................................................................ 4
Table 2: Manufacturer name and address.................................................................................................. 7
Table 3: Motor nameplate......................................................................................................................... 10
Table 4: Motor brake data ........................................................................................................................ 11
Table 5: Maximum permissible axial and radial loads (N) for Moog CD Series motors
during installation........................................................................................................................ 15
Table 6: Power connector - type G-1, G-2, G-3, G-4, G-5, G-6................................................................ 18
Table 7: Power connector - type G-5-x9, G-6........................................................................................... 18
Table 8: Resolver signal connector .......................................................................................................... 18
Table 9: Encoder signal connector ........................................................................................................... 18

Compact Dynamic Brushless Servo Motors List of figures
Rev. B, May 2015 iii
List of figures
Figure 1: Structure of a warning notice........................................................................................................ 4
Figure 2: Hosting points............................................................................................................................... 9
Figure 3: Mounting..................................................................................................................................... 14
Figure 4: Mounting orientations ................................................................................................................. 15
Figure 5: Natural cooled motor .................................................................................................................. 16
Figure 6: Fan cooled motor........................................................................................................................ 16
Figure 7: Speedtec-ready motor connector with O-ring............................................................................. 19
Figure 8: Speedtec-ready motor connector with O-ring uninstalled........................................................... 19

Compact Dynamic Brushless Servo Motors Foreword
Rev. B, May 2015 1
Foreword
This manual has been prepared in accordance with IEC 82079-1, "Preparation of instructions for use -
Structuring, content and presentation - Part 1: General principles and detailed requirements".
The manual was written and checked at the best experience of Moog.
Moog has written this technical document to comply with the requirements of the Machinery Directive
2006/42/EC.
About Moog
Moog's Industrial Group designs and manufacturers high performance motion control solutions combining
electric, hydraulic, and hybrid technologies with expert consultative support in a range of applications
including test, simulation, plastics, metal forming, and power generation.
Moog customers include leading automotive manufacturers, aerospace manufacturers, testing labs and
global automotive racing teams.
We help performance-driven companies design and develop their next-generation machines.
Moog's Industrial Group is part of Moog Inc.
For more information please visit www.moog.com/industrial.
Author:
Document version
The language of documents and drawings are subject to contractual negotiations with the customer.
In case of "Translation of the Original Instructions", the manufacturer of the machinery supplies also the
"English Instructions".
Revision record
The following table shows the revision record:
Info Description
Moog Company Moog India
Address No. 41P, 99P & 100P, KIADB Industrial Area,
Electronic City Phase II
Hosur Road, Bangalore - 560100
India
Phone [phone]
Fax [phone]
E-Mail [email protected]
Web site www.moog.com/industrial
ES DA DE EL EN FR IT NL PT FL SV CS ET LV HU MT PL SK SL BG RO GA
X
Revision Description Prepared Checked Approved Date
B Format and
contents changed
Naresh Gupta Prashanth Bhatt Volker Schmitt February 2015

Compact Dynamic Brushless Servo Motors 1 Introduction
About this Document
Rev. B, May 2015 2
1 Introduction
1.1 About this Document
This document gives the safe working instructions while working with the CD Series Servo Motors. It
describes how to install, operate and maintain the CD Series servo motors.
All personnel working on with the motor should have this user manual available during work and should check
for the relevant information before start of the work.
1.2 Documents on CD Series Servo Motor
In addition to this user manual the other documents that are available on CD Series Servo Motor are:
• Installation drawing - provides information on motor mounting and wiring schematics for electrical
installation.
• Data sheet - provides information on technical data.
• Catalogue on CD Series Servo Motor – Compact Dynamic Brushless Servo Motor – provides product
description, bearing load diagrams, Servo Motor selection and sizing.
For the catalogue refer to
http://www.moog.com/literature/ICD/Moog-ServoMotors-CD_Series-Catalog-en.pdf
If the information and notes provided in this documentation do not meet your requirements please
contact Moog personnel.

Compact Dynamic Brushless Servo Motors 1 Introduction
Typographical Conventions
Rev. B, May 2015 3
1.3 Typographical Conventions
DANGER
Identifies safety instructions that are intended to warn of an immediate and impending danger to life and
limb.
Failure to observe these safety instructions will inevitably lead to death, serious personal injury
(disablement)!
WARNING
Identifies safety instructions that are intended to warn of potential danger to life and limb.
Failure to observe these safety instructions might lead to death, serious personal injury (disablement)!
CAUTION
Identifies safety instructions that are intended to warn of slight personal injury.
Failure to observe these safety instructions might lead to slight personal injury.
NOTICE
Failure to observe this safety notice can result in property damage!
Identifies important information
• / - Identifies listings
Identifies references to another chapter, page, table or figure in this manual
blue text Identifies a hyperlink within the PDF file
1., 2., … Identifies steps in a procedure that should be performed in consecutive order
"…" Used for references

Compact Dynamic Brushless Servo Motors 1 Introduction
Structure of Warning Notices
Rev. B, May 2015 4
1.4 Structure of Warning Notices
The warning notices in this user manual have the following structure:
Figure 1: Structure of a warning notice
Legend
1.5 Abbreviations
DANGER
Moving machine parts!
Entrapment hazard!
Do not enter danger zone!
1 2
3
4
5
1 Warning symbol
2 Signal word
3 Type and source of hazard
4 Possible consequences of a potential hazard
5 Hazard prevention measures
Abbreviation Explanation
CD Compact Dynamic
DC Direct Current
MSD Moog Programmable Multi-Axis Servo Drive System
IM B5 Motor mounting without feet with Front flange
IM V1 Motor mounting without feet with Front flange with drive shaft vertically downwards
IM V3 Motor mounting without feet with Front flange with drive shaft vertically upwards
ESD Electro Static Discharge
Table 1: Abbreviations

Compact Dynamic Brushless Servo Motors 2 Safety Instructions
Safety Oriented Systems
Rev. B, May 2015 5
2 Safety Instructions
Do not attempt to install, operate, maintain or inspect the servo motor until you have read through this user
manual and appended document carefully and can use the equipment correctly. The CD Series Servo Motor
may only be set up and operated in conjunction with this manual.
2.1 Safety Oriented Systems
The use of control technology in safety-oriented systems calls for special measures. When planning to use
control technology in a safety-oriented system, the user should seek detailed advice in addition to referring to
all the potentially available standards or guidelines on safety-engineering installations.
Human safety and equipment safety must be the first considerations when performing the
installation procedures for the servo motor and drive system. When it comes to electronics in your
factory or workplace, you want to make sure both your facility and the employees in it are safe. The
following gives safety instructions which should be followed when you are working on the servo
motor.
WARNING
Danger of high voltage and electrical shock hazard!
This creates the danger of death, severe injury, or extensive material damage.
It is vital that you ensure the motor is safely earthed to the PE (Protective Earth). Electrical safety is
impossible without a low-resistance earth connection.
Do not unplug any connectors during operation.
NOTICE
Observe and adhere to the technical data and in particular the information given on the motor nameplate.
The installation must comply with the local regulations and use of equipment and installation practices
that promote electromagnet compatibility and safety.
Safety equipment - To protect yourself against personal injury by falling motor, always wear suitable
safety equipment, such as work shoes, when handling the motor.
Use this document if you are responsible for installing or troubleshooting motors. As with any
electro-mechanical device, safety should be considered during the installation and operation.
Throughout this manual you will see safety messages marked with CAUTION and WARNING
signal words. Follow the given actions to avoid the hazardous situation.

Compact Dynamic Brushless Servo Motors 2 Safety Instructions
Qualified Personnel
Rev. B, May 2015 6
2.2 Qualified Personnel
Only properly qualified personnel are permitted to perform such tasks as transport, assembly, setup and
maintenance.
Qualified personnel are those who are specialized with required knowledge and experience, who have been
trained to perform such work and authorized to commission, systems and circuits in accordance with
established safety practices and standards. The qualified personnel must know and observe the following
standards and regulations:
• IEC 60364 or DIN VDE 0100
• IEC 60664 or DIN VDE 0110
• National regulations for safety and accident prevention e.g. for Germany BGV A3
2.3 Electrical Hazards
Certain electrical systems have to be maintained and cleaned by staff. Before they can be accessed, the
systems have to be disconnected from the mains supply to eliminate electrical hazards to operating staff.
According to the state of technology, this is accomplished with the five safety rules of DIN VDE 0105-100.
• Disconnect the mains
• Secure against reconnection
• Verify that the system is dead
• Carry out earthing and short circuiting
• Provide protection from adjacent live parts.
2.4 Thermal Hazards
CAUTION
Burn hazard!
The surface temperature of the motor may reach up to 100 °C (212 °F) and may become very
hot in operation, according to their protection category.
Do not touch hot surfaces, measure the temperature, and wait until the motor has cooled
down below 40 °C (104 °F) before touching it.

Compact Dynamic Brushless Servo Motors 3 Product Information
Manufacturer Name and Address
Rev. B, May 2015 7
3 Product Information
• Moog CD Series Servo Motors have Brushless construction which means that they are maintenance
free. The longevity of the motors is limited only by the life of the bearings, which have lifetime lubrication
(a L10h life of 20,000 operation hours with the recommended maximum axial and radial loads).
• The servo motors correspond to the harmonized standards of the EN 60034 (VDE 0530) series
EN 60034-1, EN 60034-5, EN 60034-9 and EN 60204-1.
• The CD Series Servo Motors are designed and manufactured in accordance with strict CE standards,
using ruggedized components with proven reliability in harsh thermal and shock load environments.
3.1 Manufacturer Name and Address
The following table shows all the information regarding the manufacturer:
Info Description
Moog Company Moog Controls (India) PVT. LTD.
Address No. 41P, 99 & 100 P, KIADB Industrial Area,
Electronic City Phase II, Hosur Road,
Bangalore - 560100, India
Phone [phone]
Fax [phone]
E-Mail [email protected]
Web site www.moog.com/industrial
Table 2: Manufacturer name and address

Compact Dynamic Brushless Servo Motors 4 Shipment and Storage
Rev. B, May 2015 8
4 Shipment and Storage
Please check the contents of delivery are as ordered and that no damage, especially the areas of the shaft
and connectors, has occurred during transit. Any problems should be immediately addressed to Moog
representative with a description of the fault or damage.
CAUTION
Danger of personal injury and damage to property!
Failure to observe these safety procedures could result in personnel injury or equipment damage.
Do not forget to observe the safety signs indicated on the motor.
Destruction of the paint seals on the screws will make the warranty void.
Do not open or attempt to open the motor.

Compact Dynamic Brushless Servo Motors 4 Shipment and Storage
Transport and Storage
Rev. B, May 2015 9
4.1 Transport and Storage
Figure 2: Hosting points
Use suitable suspension and load devices for transportation and assembly. Use lifting eyes if necessary
provided by the manufacturer. Improper handling may lead to serious injury.
In the case of intermediate storage, observe the following storage conditions:
• Recommended ambient temperature: +15 to +25 °C (+60 to +78 °F),
permissible temperature: -40 to +80 °C (-40 to +176 °F), temperature fluctuation: < 10 °C (18 °F) per
day.
• Relative humidity: < 65 % non-condensing is recommended, 90 % is permissible.
• Ensure there are minimal vibration and shock where servo motors are stored.
WARNING
Heavy weight!
Danger during lifting and transporting procedures!
Improper handling, unsuitable or defective devices, tools etc. can cause injuries and/or
property damage. Lifting devices, ground conveyors and lifting tackle must correspond to
the valid regulations.
Lifting eye provided should not be used for lifting entire machine. Only the component
attached to this support may be safely lifted by the support.
Lifting eye
Lifting eye
NOTICE
Damage due to dirt, moisture
Storage outside or under the wrong climatic conditions can cause corrosion and other damage to the servo
motor. Condensation due to temperature fluctuations can result in electronic malfunctions.

Compact Dynamic Brushless Servo Motors 5 CD Series Motor Codification
Rev. B, May 2015 10
5 CD Series Motor Codification
The motor nameplate data are used for the setting of the servo drive. In case of contact with Moog,
identification data of the motor must be supplied.
1
2
3
Pos. Description
1 General data
Type Motor type
(Note: for motors built before July 2008 this may vary)
Ambient temp Ambient temperature
Model Motor model number (ordering number)
S/N Serial number
Date Week and year of production
2 Standards
IP65 Degree of protection. Motor protection against jets of water (at shaft with seal option)
CLASS F Motor listed for insulation class F (155 °C (311 °F))
IEC34 Motor fulfills IEC34 (standard defines rating and performance of rotating electrical machines)
VDE-0350-S1 Performance measurements are done according to VDE-0530
CE Conformity certificate will be supplied on request
3 Technical data (data are measured at 25 °C ambient temperature)
nNNominal speed at PN
PNNominal power (max continuous output power)
MOContinuous stall torque
IOContinuous stall current (at MO)
KeBack emf (voltage constant)
J Rotor moment of inertia
UdNominal operating voltage (bus voltage)
UL Motor c-UL Recognized, file number E137630
Table 3: Motor nameplate

Compact Dynamic Brushless Servo Motors 5 CD Series Motor Codification
Rev. B, May 2015 11
More details on type: Chapter "11 Ordering Code", page 23
Brake data
Description
Brake data (brake is optional, data provided refers to holding torque)
Type Permanent magnet brake
Voltage DC voltage to unlock shaft
Current Nominal current ADC
Caution Caution on voltage polarity
Table 4: Motor brake data

Compact Dynamic Brushless Servo Motors 6 Installation
Rev. B, May 2015 12
6Installation
Following care must be taken while installing the motor:
• Read the name plate, warning and caution plates on the motor carefully.
• Permissible radial and axial loads should be known to the personnel handling.
• Screwed-in lifting eye bolts can be removed after installation.
• Refer installation drawing before installing.
WARNING
Danger of personal injury!
Working with and on the motor without the required basic electrical knowledge may cause injuries or parts
may be damaged.
The motor is intended for installation and use by qualified personnel, familiar with electrical machines and
safety requirements.
The safety equipment necessary to prevent accidents and electrical shocks must be provided by the
installer.
Ensure that the installation drawing and data sheet are available.
CAUTION
Electrical hazard!
Moog motors may consist ESD sensitive parts. For motors with such parts additional care is
required.
Do not touch these motor connector pins with bare hands.
If the user carries out a HI pot test, then pins must be short circuited before the test is
carried out. The polarity must be carefully observed. Avoid currents > 4 mA in the
KTY circuit.
NOTICE
Risk of damage
Release the brake before starting the motor by supplying proper voltage as defined by the manufacturer.
Do not use holding brake to stop the motor. It is not permitted to be used as working brake.
When installing and mounting the motor, ensure that the shaft extension is protected against
impact and pressure.
Observe the technical data on the labeling plates on the motor enclosure.

Compact Dynamic Brushless Servo Motors 6 Installation
Recommended Drives
Rev. B, May 2015 13
6.1 Recommended Drives
The Moog motors are designed to be used together with a sinusoidal servo drive. The best performance will
be achieved by using a fully digital controller with extremely high bandwidth capability like the Moog MSD
Servo Drive System.
Because of high quality feedback signals, the MSD Servo Drive can compute his powerful control algorithms
at a very high frequency which increases the precision and the dynamics of the axis.
Some remarkable points about the MSD Servo Drive are listed below:
• Wide range of power
• Single and Multi axes solutions available
• High frequency control loops (current 62,5 s, speed 125 s, and position loops 125 s) with result in
high current, velocity and position loop bandwidths
• High encoder interpolation factor to ensure adequate speed and position resolution with error
compensation
• Advanced control algorithms and additional features: like feed-forward, observers, notch filters
compensation of cogging torque, stick slip, and others
• CE and UL certification

Compact Dynamic Brushless Servo Motors 6 Installation
Mounting
Rev. B, May 2015 14
6.2 Mounting
• The motor shaft should be degreased carefully before mounting a coupling. When using a degreaser
(grease dissolving substance), prevent it from flowing into the bearing as this will destroy the lifetime
lubrication. A clamp coupling or a shrink connection is recommended to provide a reliable torque
transmission. For direct drive, use flexible couplings. Alignment to be coaxial, poor alignment will lead to
mechanical vibration during operation. The resulting damage to the bearings can reduce the motor's life.
• Excessive axial force on the rotor shaft can result in bearing failure and impair the functionality of brake in
case of brake motors. This leads either to reduced braking force or brake failure. Therefore excessive
pressure and shocks on the front end of the shaft and the back housing must be avoided under all
circumstances. The impulse of any hammer blow always exceeds the maximum permissible axial and
radial forces.
• Moog recommends the use of socket screws according to ISO 4762 (old DIN 912) 8.8. The mounting of
Moog motors especially size 2 and 3 motors can be eased considerably by the use of hexagonal ball
ended Allen key (like the picture below).
With the motor sizes 2 and 3 the length of the screws used should not exceed 40 mm (1.57 in) if the
screws are mounted from the motor side as shown in the below image.
Figure 3: Mounting
Motor
Socket head screw
Allen key

Compact Dynamic Brushless Servo Motors 6 Installation
CD Series Servo Motor Mounting Orientations
Rev. B, May 2015 15
6.3 CD Series Servo Motor Mounting Orientations
Figure 4: Mounting orientations
IM B5 IM V1 IM V3
Type G-1 G-2 G-3 G-4 G-5 G-6
Axial Load 1)
1During installation:
Less load is allowed when the motor is rotating [refer to catalog].
60 150 150 300 400 500
Radial Load 1) 300 500 500 1,000 1,600 2,000
Table 5: Maximum permissible axial and radial loads (N) for Moog CD Series motors during installation