Pilz PMCtendo SZ User manual

PMCtendo SZ
OperatingManual1002405EN03
Pilz Motion Control

Preface
Thisdocumentisatranslationoftheoriginaldocument.
AllrightstothisdocumentationarereservedbyPilzGmbH&Co.KG.Copiesmaybemade
forinternalpurposes.Suggestionsandcommentsforimprovingthisdocumentationwillbe
gratefullyreceived.
Pilz®,PIT®,PMI®,PNOZ®,Primo®,PSEN®,PSS®,PVIS®,SafetyBUSp®,
SafetyEYE®,SafetyNETp®,thespiritofsafety®areregisteredandprotectedtrademarks
ofPilzGmbH&Co.KGinsomecountries.
SDmeansSecureDigital

Operating Manual PMCtendo SZ
1002405-EN-03 3
Table of contents
Table of contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1 Purpose of the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Notes on Safety . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Warranty and liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Operation in accordance with its intended use . . . . . . . . . . . 7
2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.6 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.7 Directives and norms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.8 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . . 9
3 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1 PMCtendo SZ servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.1 Type label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.1.2 Order reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Drive controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4 Dynamic performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.5 Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.6 Thermal winding protection . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.7 Cooling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.8 Holding brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.8.1 Motor holding brake . . . . . . . . . . . . . . . . . . . . . . . . 15
3.8.2 Brake test and grinding . . . . . . . . . . . . . . . . . . . . . . 16
3.9 Motor shaft and bearings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4 Transportation and storage. . . . . . . . . . . . . . . . . 17

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Table of contents
4.1 Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1 Installation Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.2 Install motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6 Electrical installation . . . . . . . . . . . . . . . . . . . . . . 21
6.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.1.1 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.1.2 Earthing, shielding and EMC. . . . . . . . . . . . . . . . . . 22
6.1.3 Selecting the cables . . . . . . . . . . . . . . . . . . . . . . . . 23
6.1.4 speedtec® and springtec® plug connector . . . . . . . 23
6.2 Servo motor and motor brake . . . . . . . . . . . . . . . . . . . . . . . . 26
6.2.1 Power cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.2.2 Assignment: Motor and power cable . . . . . . . . . . . . 28
6.3 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.4 External fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.5 Water cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.1 Check installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.2 Check connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.3 Put into operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.1 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.2 In the event of disruptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.3 Replace motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
9.1 Ambient conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
9.2 Device Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
9.3 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.4 Cooling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

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Table of contents
9.4.1 Convection cooling . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.4.2 External fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.4.3 Water cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.5 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.6 Holding brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.7 Thermal winding protection . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.8 Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.8.1 Installation altitude . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.8.2 Ambient temperature. . . . . . . . . . . . . . . . . . . . . . . . 48
9.9 Type-specific data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.9.1 Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.9.2 Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.9.3 Permitted shaft load . . . . . . . . . . . . . . . . . . . . . . . . 64
9.9.4 Voltage limit curves . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.9.5 Key safety-related indicators. . . . . . . . . . . . . . . . . . 79
10 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

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1 Introduction
1Introduction
1.1 Purpose of the manual
This operating manual describes the servo motors PMCtendo SZ. It includes information
about, transport, storage, installation, connection, commissioning, service and disposal.
Please also refer to the documentation for the servo amplifier.
1.2 Further support
If you have any queries that are not covered in this document, you can find more infor-
mation at www.pilz.com
1.3 Modifications
No. Version Date Change
1002504 01 0
7/2012
First edition
1002504 02 09/2012 Update: Feedback system
1002504 03 03/2014 • Additions:
Motor types SZ3x and SZ8x
Type keys
Directives and standards
springtec® plug connector 
Type-specific data
Characteristic safety values
• Updates:
Rating plate
Power cable
Feedback connection
External fan
Thermal winding protection
Electrical installation
Brake data, brake moment of inertia val-
ues
Number of motor poles
Formula symbols

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2 Notes on Safety
2 Notes on Safety
2.1 Warranty and liability
The devices can represent a source of danger. Therefore observe
• the safety guidelines, technical rules and regulations given in the following sections
•andpoints.
Warranty and liability claims will be void if
• the product has not been used for its intended purpose,
• the damage is attributable to a failure to observe the operation instruction,
• the operating personnel has not been properly trained, or
• modifications of any kind have been made.
2.2 Component part of the product
The technical documentation is a component part of a product.
• Since the technical documentation contains important information, always keep it
handy in the vicinity of the device until the machine is disposed of.
• If the product is sold, disposed of, or rented out, always include the technical docu-
mentation with the product.
2.3 Operation in accordance with its intended use
The servo motors are intended for installation in machines or systems or for assembly
with other components in a machine They must be operated in conjunction with suitable
and correctly configured servo amplifiers (e.g. PMCtendo DD4, PMCtendo DD5 or
PMCprotego D).
The thermal motor protection integrated in the motor winding must be monitored and
evaluated.
The following is deemed improper use:
• direct connection to the mains power supply,
• any component, technical or electrical modification,
• use outside the areas described in this manual,
• use outside the documented technical details.

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2 Notes on Safety
2.4 Qualified personnel
Devices may cause residual risks. For this reason, all work on the devices as well as op-
eration and disposal must only be performed by qualified personnel who are aware of the
possible dangers.
Qualified personnel are persons who have acquired the authorisation to perform these
activities by
• Training from specialists and/or
• Instruction from specialists
In addition, they must have
• read,
• understood and
• observed the applicable regulations, legal provisions, rules and standards and exist-
ing technical documentation including the safety information contained in it.
2.5 Working on the machine
Apply the 5 safety rules in the order stated before working on the machine:
1. Activate. Make sure the auxiliary circuits are activated.
2. Secure against unintentional restart.
3. Make sure no voltage is present.
4. Ground and short-circuit.
5. Cover or enclose adjacent live parts.
2.6 Disposal
Please comply with the latest national and regional regulations! Dispose of the individual
parts separately depending on their nature and currently valid regulations such as, for
example:
• Electronic scrap (PCBs)
• Plastic
• Sheet metal
• Copper
•Aluminum
2.7 Directives and norms
The servo motors meet the following guidelines and norms
• Directive 2006/95/EC (Low Voltage Directive)
• Directive 2004/108/EC (Directive on Electromagnetic Compatibility)
• DIN EN 60204-1 version 2007
• DIN EN 60034-1 version 2011

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2 Notes on Safety
• DIN EN 60034-5 version 2007
• DIN EN 60034-6 version 1996
• DIN EN 60034-9 version 2008
• DIN EN 60034-14 version 2008
• UL and CSA approval 
All motors are supplied with certifications as "Recognized Component Class 155 (F)
motor insulation system". 
UL approval is registered with Underwriters Laboratories USA under UL File Number
E182088 (N), Classes OBJY2 and OBJY8, Component-Systems, Electrical Insula-
tion. UL certification is needed mainly for the use of motors and geared motors on
the US market. But, also in many countries UL approval is considered a special mark
of quality.
2.8 Presentation of notes on safety
IMPORTANT
IMPORTANT
This means that material damage may occur
if the safety precautions stated are not observed.
NOTICE!
CAUTION
This means that a minor injury may occur.
if the safety precautions stated are not observed.
WARNING!
Warning
means that there may be a serious danger of death
if the stated precautionary measures are not taken.

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2 Notes on Safety
DANGER!
Danger
means that serious danger of death exists
if the stated precautionary measures are not taken.
INFO
refers to important information about the product or serves to emphasize a
section in the documentation to which the reader should pay special atten-
tion.