Parker MGV Series User manual

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11-12-05 PVD 3627_GB_MGV_November_2011.docx
HIGH SPEED MOTORS
MGV Series
Technical Manual
PVD 3627_GB

- 2 -
Compliance with « CE » directives
The high speed MGV motors Series complies with the Directive 2006/95/CE and also
meets the Standard IEC 60034-1.
Compliance with these standards requires high speed MGV motors to be mounted in
accordance with the recommendations given in this user manual.
Equipment shall furthermore be mounted on a mechanical support that conducts heat
effectively and does not exceed 40°C.
Start up date :
Delivery date :
Parker
8, avenue du Lac – BP30749

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11-12-05 PVD 3627_GB_MGV_November_2011.docx
Table of Content
1. INTRODUCTION....................................................................................................................................... 5
1.1. PURPOSE AND INTENDED AUDIENCE..................................................................................................... 5
1.2. SAFETY.............................................................................................................................................. 5
1.2.1. Principle................................................................................................................................... 5
1.2.2. General Safety Rules .............................................................................................................. 6
2. PRODUCT DESCRIPTION....................................................................................................................... 7
2.1. OVERVIEW ......................................................................................................................................... 7
2.2. MOTOR DESCRIPTION AND APPLICATIONS ............................................................................................ 8
2.2.1. Test benches........................................................................................................................... 8
2.2.2. Simulation benches ................................................................................................................. 8
2.3. GENERAL TECHNICAL DATA................................................................................................................. 9
2.4. PRODUCT CODE............................................................................................................................... 10
3. TECHNICAL DATAS.............................................................................................................................. 11
3.1. MOTOR SELECTION........................................................................................................................... 11
3.1.1. Altitude derating..................................................................................................................... 11
3.1.2. Temperature derating............................................................................................................ 11
3.1.3. Thermal equivalent torque (rms torque)................................................................................ 13
3.1.4. Acceleration – Deceleration time with MGV motors.............................................................. 15
3.1.5. Drive selection....................................................................................................................... 23
3.1.6. Current limitation at stall conditions (i.e. speed < 3 rpm)...................................................... 24
3.2. MOTOR CHARACTERISTICS AND DRIVE ASSOCIATION........................................................................... 25
3.2.1. Intrinsic characteristics.......................................................................................................... 25
3.2.2. DIGIVEX Drive Association ................................................................................................... 25
3.2.3. AC890 Drive Association....................................................................................................... 26
3.2.4. Illustration of tables................................................................................................................ 26
3.2.5. Further Data........................................................................................................................... 27
3.2.6. Time constants of the motor.................................................................................................. 28
3.2.7. Voltage withstand characteristics of MGV series.................................................................. 30
3.3. DIMENSION DRAWINGS...................................................................................................................... 31
3.3.1. General outline drawings....................................................................................................... 31
3.4. MOTOR MOUNTING............................................................................................................................ 32
3.4.1. Motor mounting...................................................................................................................... 32
3.4.2. Typical mounting.................................................................................................................... 32
3.4.3. Frame recommendation ........................................................................................................ 33
3.4.4. Motor alignment..................................................................................................................... 34
3.4.5. Coupling................................................................................................................................. 35
3.4.6. Pulley/belt.............................................................................................................................. 35
3.4.7. Vibration and bearings temperature control .......................................................................... 36
3.4.8. Vibration resistance to shaft end ........................................................................................... 36
3.5. BEARINGS........................................................................................................................................ 37
3.6. COOLING.......................................................................................................................................... 38
3.6.1. General recommendations .................................................................................................... 38
3.6.2. Additives for water as cooling media..................................................................................... 39
3.6.3. Motor cooling circuit data....................................................................................................... 40
3.6.4. Chiller selection ..................................................................................................................... 40

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11-12-05 PVD 3627_GB_MGV_November_2011.docx
3.6.5. Flow derating according to glycol concentration ................................................................... 41
3.6.6. Water cooling diagram........................................................................................................... 43
3.7. THERMAL PROTECTION..................................................................................................................... 45
3.7.1. Alarm tripping with PTC thermistors :.................................................................................... 45
3.7.2. Temperature measurement with KTY sensors:..................................................................... 46
3.8. POWER ELECTRICAL CONNECTION ..................................................................................................... 47
3.8.1. Wires sizes ............................................................................................................................ 47
3.8.2. Conversion Awg/kcmil/mm²:.................................................................................................. 48
3.8.3. Motor cable length................................................................................................................. 49
3.8.4. Ground connection ................................................................................................................ 49
3.8.5. Motor cable............................................................................................................................ 49
3.9. FEEDBACK SYSTEM........................................................................................................................... 50
3.9.1. Resolver................................................................................................................................. 50
3.9.2. Cables and connectors associated to the resolver................................................................ 51
3.9.3. Resolver setting..................................................................................................................... 51
3.9.4. Sin-Cos Encoder (on request)............................................................................................... 51
4. COMMISSIONING AND USE................................................................................................................. 52
4.1. RECEPTION,HANDLING,STORAGE ..................................................................................................... 52
4.1.1. Equipment delivery................................................................................................................ 52
4.1.2. Handling................................................................................................................................. 52
4.1.3. Storage.................................................................................................................................. 53
4.2. INSTALLATION................................................................................................................................... 53
4.2.1. Mounting................................................................................................................................ 53
4.2.2. Preparation............................................................................................................................ 54
4.2.3. Mechanical assembly ............................................................................................................ 54
4.2.4. Alignment............................................................................................................................... 55
4.2.5. Motor startup.......................................................................................................................... 57
4.2.6. Shaft line balancing and vibration control.............................................................................. 57
4.3. ELECTRICAL CONNECTION................................................................................................................. 58
4.4. MAINTENANCE OPERATIONS.............................................................................................................. 59
4.5. TROUBLESHOOTING.......................................................................................................................... 60

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1. INTRODUCTION
1.1. Purpose and intended audience
This manual contains informations that must be observed to select, install, operate and
maintain Parker MGV high speed Motors. The reader is expected to know the
fundamentals of mechanical, electricity, wiring, electrical components and electrical
schematic components.
Reading and understanding the information described in this document is mandatory
before carrying out any operation on the motors. If any malfunction or technical problem
occurs, that has not been dealt with in this manual, please contact Parker for technical
assistance. In case of missing information or doubts regarding the installation procedures,
safety instructions or any other issue tackled in this manual, please contact Parker as well.
Parker’s responsibility is limited to the MGV motors and doesn’t encompass the whole
user’s system. Data provided in this manual are for product description only and may not
be guaranteed, unless expressly mentioned in a contract.
DANGER: Parker declines responsibility for any industrial accident or
material damage that may arise, if the procedures and safety instructions
described in this manual are not scrupulously followed.
1.2. Safety
1.2.1.
For this equipment to work safely, it must be transported, stored, handled, installed and
serviced correctly. Following the safety instructions described in each section of this
document is mandatory. High speed Motors usage must also comply with all applicable
standards, national directives and factory instructions in force.
Principle
DANGER: Non-
compliance with safety instructions, legal and technical
regulations in force may lead to physical injuries or death, as well as
damages to the property and the environment.

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1.2.2. General Safety Rules
Generality
DANGER:
The installation, commissioning and operation must be performed
by qualified personnel, in conjunction with this documentation.
The qualified personnel must know the safety (C18510 authorization,
standard VDE 0105 or IEC 0364) and local regulations.
They must be authorized to install, commission and operate in accordance
with established practices and standards.
Electrical hazard
Servo drives may contain non-insulated live AC or DC components. See the
drives commissioning manual. Users are advised to guard against access to
live parts before installing the equipment.
The MGV requires special drives with flux weakening capabilities and all the
safety features and equipment required for such
usage. Check with the drive
provider that the motor can be safely driven by its drive.
Some parts of the motor or installation elements can be subject to
dangerous voltages, especially when the motor is driven by the converter or
when the motor rotor is manually rotated.
Even after the electrical panel is de-
energized, voltages may be present for
more than 3 minutes until the power capacitors have had time to discharge.
Use specified meter capable of measuring up to 1000V DC &
AC RMS to
confirm that less than 50V is present between power terminals an earth.
Check the drive recommendations.
To prevent any accidental contact with live components, it is necessary to
check that cables are not damaged, stripped or not in contact wi
th a
rotational part of the machine and to study first of all the following points:
-Connector lug protection
-Correctly fitted protection and earthing features
-Workplace insulation (enclosure insulation humidity, etc.)
General recommendations :
-Check the bonding circuit
-Lock the electrical cabinets
-Use standardized equipment
Mechanical hazard
Servomotors can accelerate in milliseconds. Running the motor can lead to
other sections of the machine moving dangerously. Moving parts must be
screened off to prevent operators coming into contact with them
or to protect
the people against a shaft failure.
The working procedure must allow the
operator to keep well clear of the danger area.
Burning Hazard
Always bear in mind that some parts of the surface of the motor can reach
temperatures exceeding 100°C.

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2. PRODUCT DESCRIPTION
2.1. Overview
The MGV high-speed motors from Parker are innovating solutions through direct
drive, specifically designed for industrial applications where high speed is needed.
The MGV motors are brushless synchronous servomotors, with permanent magnets,
based on HKW active parts and fully integrated with a water-cooled housing, high
speed ball bearings, encoder …
The water cooling increases the torque density and allows a silent operation.
These motors are taking advantage from the flux weakening principle that allows, at
the same time, a high torque at low speed and a constant power after a given speed
(called base speed).
As there is no current in the rotor, the losses in the rotor are very low
There are two areas :
-A constant torque area from the null speed to the base speed, where the motor
is performing as an axis motor.
-A constant power area that allows to perform at higher speed.
MGV motor typical curve
Power
Torque
Max speed
Speed
Base speed

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2.2. Motor description and Applications
These motors are characterized by a low inertia, a high acceleration capability and a
high speed up ability.
Driving is insured through a 2 poles resolver giving an absolute position on one turn.
Many winding are available to get the wished torque and speed characteristics for
power up to 80KW with the DIGIVEX drives.
Higher power is available with the universal PARKER AC890 drives.
The MGV motors are supplied integrated and ready to be used.
Drawing 1 : Assembly example of an MGV motor
2.2.1.
MGV motors are successfully used on test benches for characterization, control, burn-in tests
of automotive or aeronautical components (starters, pumps, alternators, pulleys, freewheels,
belts, gearboxes …).
Test benches
2.2.2.
Thanks to the possibility to generate running cycles with fast answers, the MGV motors can
be used for simulation (speed simulation in urban cycle or automobile race, non-cyclic speed
simulation for engine …).
Simulation benches
1 Stator housing 3 Winding 5 Resolver rotor 7 Nut
2 Rotor 4 Toric seal 6 Resolver stator

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2.3. General technical data
Motor type
Permanent-magnet synchronous motor
Magnet material
Nd-Fe-B
Number of poles
Size: MGV400 MGV600 MGV800 MGV900 MGVA00
Nbr of poles: 4 6 6 6 8
Mechanical interface
Flange IM3001 (IM B5) or feet IM1001 (IM B3)
(IEC60034-7)
Sizes
4, 6, 8, 9, A
Degree of Protection
IP40 as standard
Cooling
Water cooled
Cooling water temperature 5°C to 25°C (IEC 60034-1) – to avoid condensation see
§3.6
Altitude Up to 1000m (IEC 60034-1)
(for higher altitude see “Altitude derating”)
Rated voltage
400 VAC or 480 VAC
Connections
External power cables standard length 1.2m ;
PTC probe, KTY84-130 sensor and encoder signal
connector.
Insulation of the stator winding
Class F according to IEC 60034-1 with potting
Thermal protection
1 PTC probes and 1 KTY84-130 sensor
Operating temperature
0°C…+40°C (IEC 60034-1) – to avoid condensation see
§3.6
Storage temperature
-20… +60°C
Rotor balancing
G1 class
Shaft end
Smooth shaft as standard
Bearings
Steel or ceramic, depending on speed and load
Sensor
Resolver
Paint finish
Black RAL9005
Marking
CE

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2.4. Product Code
Code M G V 8 4 0 C A E A B 3 L R 1 0 0 0
Product Series
Motor size (in connection
with diameter)
4, 6, 8, 9, or A
Active Part Length
Torque / Speed characteristics
See motor datas
Feedback Sensor
A : Resolver
K : sin/cos encoder (on request)
Mounting arrangement
B3 : by feet
B5 : by flange
Bearing design
L : Low speed (common bearing)
H : high speed (hybrid bearings)
X : very high speed (X-Life bearings)
Unused character
Mechanical Option
1 : Cable connection
6 : terminal box (on request)
000 : Standard motor

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3. TECHNICAL DATAS
3.1. Motor selection
3.1.1.
From 0 to1000 m : no derating
Altitude derating
From 1000 to 4000 m : torque derating of 5% for each step of 1000 m
3.1.2.
Water cooled motor
Temperature derating
Typical values are given with a water inlet temperature of 25°C and a temperature
gradient Inlet-Outlet of 10°C. These references lead to a winding overheating of 90°C
corresponding to a winding temperature of 115°C.
It is possible to increase a little bit the Inlet temperature up to 40°C, but the torque
must be reduced. The following formula gives an indicative about the torque derating
at low speed. But in any case refer to SSD Parker technical department to know the
exact values
At low speed the torque derating is given by the following formula for an water Inlet
temperature > 25°C.
CCetemperaturInletC
deratingTorque °
°−°
=90 )_115( *100[%]_
At high speed, the calculation is more complex, and the derating is
much more important.
Please refer to PARKER
to know the precise data of Torque derating
according to water inlet temperature at high speed for a specific motor.
N.B.No general rules can be applied concerning the torque derating of MGV motors
at high speed. Please refer to Parker for each case.
In fact, the torque derating at high speed also depends on :
-the flux weakening ratio which leads to a short circuit current inherent in the
motor (no action can reduce its value),
-the maximal speed of the motor which determines the iron losses and
mechanical losses due to the rotation.

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Illustration of the torque derating vs. temperature at low speed for a MGV motor:
Torque Derating vs. Inlet temperature
90
92
94
96
98
100
102
25 30 35 40
Inlet temperature [°C]
Torque derating [%]
Torque derating at low speed [%]

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3.1.3.
The selection of the right motor can be made through the calculation of the rms
torque Mrms (i.e. root mean squared torque) (sometimes called equivalent torque).
Thermal equivalent torque (rms torque)
This calculation does not take into account the thermal time constant. It can be used
only if the overload time is much shorter than the copper thermal time constant.
The rms torque Mrms reflects the heating of the motor during its duty cycle.
Let us consider:
-the period of the cycle T [s],
-the successively samples of movements icharacterized each ones by the maximal
torque Mi[Nm] reached during the duration ∆ ti[s].
So, the rms torque Mrms can be calculated through the following basic formula:
For a cycle of 2s at 0 Nm and 2s at 100Nm, the rms torque is
Example:
Illustration :
The maximal torque Midelivered by the motor at each segment iof movement is
obtained by the algebric sum of the acceleration-deceleration torque and the
resistant torque.
Therefore, Mmax corresponds to the maximal value of Mi.
∑
=
∆= n
iiirms tM
T
M1
2
*
1
NmM
rms
7,702*100*
4
1
2
==

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The motor adapted to the duty cycle has to provide the rms torque Mrms at the rms
speed(*) without extra heating. This means that the permanent torque Mnavailable at
the average speed presents a sufficient margin regarding the rms torque Mrms.
Selection of the motor :
(*) rms speed is calculated thanks to the same formula as that used for the rms
torque. The mean speed can not used (in general mean speed is equal to zero).
Only use the rms speed
Furthermore, each Mi and speed associated Ωi of the duty cycle has to be located in
the operational area of the torque vs speed curve
Torque
Mk
Mrms.
Mn
Mi
Ωi Ωk Ωrms Ωn Speed
Base speed
∑
=
∆Ω=Ω
n
iiirms
t
T
1
2
*
1

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3.1.4.
A MGV motor shows two phases during its acceleration (resp. deceleration) time:
Acceleration – Deceleration time with MGV motors
-from 0 to the Base speed during its acceleration (or inversely from the Base speed
to 0 during its deceleration), the phase is called “at constant Torque”.
-from the Base speed to the Maximal speed during its acceleration (or inversely from
the Maximal speed to the Base speed during its deceleration), the phase is called “at
constant Power” or “Spindle mode”.
We assume that the resistant torque is maintained constant and that the motor is
able to provide it during the whole acceleration (resp. deceleration) phase. So the
calculation of the total acceleration (resp. deceleration) time can be separated in two
parts as explained below. When the resistant torque is not constant, the calculation
becomes more complex and can be made through iterative means.
Nbase Base speed of the motor [rpm]
Notations:
Ω
base Base angular speed of the motor [rad/s]
∑ JTotal inertia {motor rotor inertia + load inertia reflected to the motor} [kgm²]
Mmotor equal to MS6 (peak torque) for a short acceleration (deceleration) time,
otherwise MS1 (constant torque) [Nm]
Mresistant Resistant torque, considered as constant during the whole acceleration
(resp. deceleration) phase [Nm]
MTorque available for the acceleration (respectively deceleration) [Nm]
Nmax Maximal speed of the application [rpm]
Ω
max Maximal angular speed of the application [rad/s]
Pmotor equal to PS6 (peak power) for a short acceleration (deceleration) time,
otherwise PS1 (constant power) [W]
PPower available for the acceleration (respectively deceleration) [W]
t1Acceleration (respectively deceleration) time “at constant Torque” [s]
t2Acceleration (respectively deceleration) time “at constant Power” [s]
∆ tGlobal acceleration (respectively deceleration) time [s]
60
**2 base
base N
π
=Ω
Angular speeds:
60
**2
max
max
N π
=Ω
3.1.4.1. Constant Torque Phase – t1 calculation
tresismotor
MMM
tan
−=
Acceleration time t1“at constant Torque” from 0 to the Base speed :
MJ
tbase ΣΩ
=*
1
tresismotor
MMM
tan
+=
Deceleration time t1“at constant Torque” from Base speed to 0:
MJ
t
base
ΣΩ
=*
1

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3.1.4.2. Constant Torque Phase – t2calculation
Method #1
This method is simple and provides an estimation of t2sufficient in most situations:
:
-when the resistant torque Mresistant is small compared to Mmotor
-when the resistant torque Mresistant is equal to 0.
Procedure to follow:
We calculate firstly an estimation
2)(
*
max
tantan base tresistresis
MP Ω+Ω ≈
of the resistant power Presistant as follows:
The power available for the acceleration is equal to:
Acceleration time t2“at constant Power” from Base speed to Maximal speed:
tresismot PPP tan
−=
So the estimated
P
J
t
base
²)²(*
2
1
max
2
Ω−ΩΣ
=
duration t2is given by the formula:
The power available for the deceleration is equal to:
Deceleration time t2“at constant Power” from Maximal speed to Base speed:
tresismot
PPP
tan
+=
So the estimated
P
J
t
base
²)²(*
2
1
max
2
Ω−ΩΣ
=
duration t2is given by the formula:
21
ttt +=Λ
Total acceleration (resp. deceleration) time ∆ twill be given by the sum of t1and t2:

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This method is more complex but provides the exact solution for t2. It is sometimes
used where justified by the required accuracy or by a resistant torque Mresistant non-
negligible compared to Mmotor.This method is
Method #2:
only valid
if Mresistant ≠0.
t2is solution of a nonlinear first order differential equation.
Mresistant ≠0
Procedure to follow:
espindleintimeonacceleratietb
c
a
t
eaxisintimeonaccelerati
day
t
c
b
yLn
c
t
c
ac
b
y
y
y
MMd
Mc
Pb
Ja
x
tc
x
x
base
tresismotor
tresis
motor
mod__)**(
mod__
*
)(*
1
*
1
*
*
2
0
1
1
0
max1
0
tan
tan
−
−+=
=
−−=
=
−=
Ω=
Ω=
−=
=
=
Σ=
λµ
λ
λ
µ
λ
Acceleration time t2“at constant Power” from Base speed to Maximal speed:
21
ttt
+=Λ
Total acceleration time ∆ tfrom 0 to Maximal speed is given by the sum of t1and t2:

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espindleintimeondeceleratietb
c
a
t
eaxisintimeondecelerati
day
t
c
b
yLn
c
t
c
ac
b
y
y
y
MMd
Mc
brakingPb
Ja
x
tc
x
x
base
tresismotor
tresis
motor
mod__)**(
mod__
*
)(*
1
*
1
*
valuenegative
*
2
1
1
1
0
1
max0
tan
tan
−
−+=
−=
−−=
=
−=
Ω=
Ω=
−−=
=
⇔−=
Σ=
λµ
λ
λ
µ
λ
Deceleration time t2“at constant Power” from Maximal speed to Base speed:
21
ttt +=Λ
Total deceleration time ∆ tfrom Max speed to 0 will be given by the sum of t1and t2:

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3.1.4.3. Numerical example:
The MGV motor taken to illustrate the calculations is the type MGV840CAD
Corresponding data are as follows:
PS1 = PS6 = 63 kW
Nbase = 10300 rpm
Nmax = 24000 rpm
MS1 = 58.4 Nm
MS6 = 93.5 Nm
Jmotor= 0.01455 kgm²
We will consider:
Mresistant = 6 Nm
Jload =Jmotor 0.01455 kgm²
Method #1
rad/s1079
60
10300**2
60
**2 ==Ω
π
π
base
base
N
rad/s2513
60
24000**2
60
**2 max
max ==Ω
π
π
N
kgm²0.02910001455.001455.0 =++=Σ loadmotor JJJ
W10776
2)10792513(
*6
2)(
*max
tantan =
+
=
Ω+Ω
≈base
tresistresis MP
Nm52.464.58
tan
=−=−=
tresismotor
MMM
Acceleration duration t1“at constant Torque” from 0 to the Base speed :
s0.599
4.52 02910.0*1079
*
1==
ΣΩ
=MJ tbase
Nm64.464.58
tan
=+=+=
tresismotor
MMM
Deceleration time t1“at constant Torque” from the Base speed to 0:
s0.487
4.64 02910.0*1079
*
1
==
ΣΩ
=MJ t
base
The power available for the acceleration is equal to:
Acceleration time t2“at constant Power” from Base speed to Maximal speed:
W522241077663000
tan
=−=−=
tresismot
PPP
So the estimated
s1.436
52224 ²)1079²2513(*02910.0*5.0
²)²(
2
1max
2=
−
=
Ω−ΩΣ
=P
J
tbase
duration t2is given by the formula:
sttt 2.035436.1599.0
21 =++=Λ
Total acceleration time ∆ tfrom 0 to Maximal speed is given by the sum of t1and t2:

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The power available for the deceleration is equal to:
Deceleration time t2“at constant Power” from Maximal speed to Base speed:
WPPP
tresismot
737761077663000
tan
=+=+=
So the estimated
s1.016
73776 ²)1079²2513(*02910.0*5.0
²)²(
2
1max
2=
−
=
Ω−ΩΣ
=P
J
tbase
duration t2is given by the formula:
s1.503016.1487.0
21
=+=+=Λ ttt
Total deceleration time ∆ tfrom Max speed to 0 will be given by the sum of t1and t2:
Method #2
t2is solution of a nonlinear first order differential equation.
Mresistant ≠0
s1.455)*)9421(0275.0*63000(
6
02910.0
69.45
mod_)**(
mod_s0.599
4.52 02910.0*1079
*
0.0275)
6
63000
2513(*
9421
1
*
6
1
)(*
1
*
1
-45.69
6)9421(*02910.0*
-9421
6
63000
1079
/2513
/1079
4.5264.58
6
63000
kgm²0.02910
0275.0*6
2
*
2
0
1
1
0
max1
0
tan
tan
=−−+−=
−+=
===
=−
−
−=−−=
=
−
==
=−=−=
=Ω=
=Ω=
=−==−=
==
==
=+=Σ=
−
−
et
espindleonacceleratietb
c
a
t
eaxisonaccelerati
day
t
Ln
c
b
yLn
c
t
c
ac
b
y
srady
srady
NmMMMd
NmMc
WPb
JJJa
x
tc
x
x
base
tresismot
tresis
mot
loadmotor
λµ
λ
λ
µ
λ
Acceleration time t2“at constant Power” from Base speed to Maximal speed:
sttt 054.2455.1599.0
21
=+=+=Λ
Total acceleration time ∆ tfrom 0 to Maximal speed is given by the sum of t1and t2: