Pilz PMCtendo SZ Series User manual

PMCtendo SZ
Operating Manual-1002405-EN-04

Contents
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Section 1 Introduction 5
1.1 Purpose of the manual 5
1.2 Additional support 5
Section 2 Safety instructions 6
2.1 Warranty and liability 6
2.2 Part of the product 6
2.3 Intended use 6
2.4 Qualified personnel 6
2.5 Working on the machine 7
2.6 Disposal 7
2.7 Directives and standards 7
2.8 Use of symbols 7
Section 3 Product description 9
3.1 PMCtendo SZ synchronous servo motors 10
3.1.1 Nameplate 10
3.1.2 Type label 11
3.2 Servo amplifiers 13
3.3 Feedback 13
3.4 Dynamics 13
3.5 Operating mode 13
3.6 Thermal winding protection 14
3.7 Cooling 14
3.8 Holding brake 14
3.9 Motor shaft and bearing 15
Section 4 Transport and storage 16
4.1 Transport 16
4.2 Storage 16
Section 5 Installation 17
5.1 Installation location 18
5.2 Motor installation 19
5.2.1 Preparing the motor for installation 19
5.2.2 Installing the motor 20
Section 6 Electrical installation 21
6.1 General information 22
6.1.1 Line routing 22
6.1.2 Grounding, shielding and EMC 22
6.1.3 Cable selection 23
6.1.4 speedtec and springtec plug connectors 23
6.1.4.1 Connecting cables using speedtec plug connectors 23
6.1.4.2 Connecting cables using springtec plug connectors 24
6.2 Connection method 25
6.2.1 Connection – Motor housing to grounding conductor system 25

Contents
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6.2.2 EnDat 2.2 power and feedback plug connectors 25
6.2.2.1 Terminal assignment – Power plug connectors 27
6.2.2.2 Terminal assignment – EnDat 2.2 feedback plug connectors 29
6.2.2.3 Overview – Motor types and plug connectors 30
6.2.3 HIPERFACE DSL power and feedback plug connectors 32
6.2.3.1 Terminal assignment – HIPERFACE DSL plug connectors 34
6.3 Forced ventilation unit 36
Section 7 Commissioning 37
7.1 Checking the motor installation 38
7.2 Checking the motor connection 39
7.3 Putting the motor into operation 40
7.3.1 Notes for troubleshooting 40
7.4 Testing and bedding in the brakes 42
Section 8 Service 43
8.1 Maintenance 43
8.2 Procedure in case of faults 44
8.3 Motor replacement 44
Section 9 Technical data 45
9.1 General features 45
9.2 Electrical features 45
9.3 Ambient conditions 46
9.4 Forced ventilation unit 46
9.5 Feedback connection 46
9.6 Holding brake 47
9.6.1 Holding brake – Technical data 49
9.7 Temperature sensor 50
9.8 Derating 51
9.9 Type-specific data 52
9.9.1 Attachment conditions 52
9.9.2 SZ motors with convection cooling 53
9.9.3 SZ motors with forced ventilation units 55
9.9.4 Dimensional drawings 57
9.9.4.1 PMCtendo SZ.3x 58
9.9.4.2 PMCtendo SZ.3x (HIPERFACE DSL) 59
9.9.4.3 PMCtendo SZ.4x – SZ.8x with convection cooling 60
9.9.4.4 PMCtendo SZ.4x – SZ.7x with convection cooling (HIPERFACE DSL) 62
9.9.4.5 PMCtendo SZ.4x – SZ.8x with forced ventilation unit 64
9.9.5 Mass moment of inertia 66
9.9.6 Permitted shaft load 67
9.9.7 Torque/speed curves 73
9.9.8 Key safety-related figures 82

Contents
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Section 10 Appendix 83
10.1 Abbreviations 83
10.2 Formula symbols 84
10.3 Trademarks 86

Introduction
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1 Introduction
1.1 Purpose of the manual
This operating manual describes PMCtendo SZ synchronous servo motors. It contains in-
formation about transport, storage, installation, connection, commissioning, service and dis-
posal.
1.2 Additional support
If you have questions that are not answered in this document, additional support is avail-
able at http://www.pilz.com.

Safety instructions
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2 Safety instructions
2.1 Warranty and liability
These devices can pose certain risks. For this reason, always comply with the safety infor-
mation listed in the following sections and points and with the technical rules and regula-
tions.
Warranty and liability claims are voided if:
}The product was not used as intended
}Damage can be traced back to noncompliance with the operating manual
}Operating personnel are not properly trained
}Changes of any kind have been made
2.2 Part of the product
The technical documentation is part of a product.
Always keep this operating manual at hand in the area of the device until disposal of the
product because it contains important information.
Hand over this operating manual in case of sale, transfer or rental of the product.
2.3 Intended use
The servo motors are intended for installation in machines or systems or for assembly with
other components into a machine or system. They must be operated in connection with ap-
propriate, correctly configured servo amplifiers (e.g. PMCtendo DD5 or PMCprotego D).
The thermal motor protection integrated in the motor winding must be monitored and evalu-
ated.
The following are considered non-intended use:
}Direct connection to the supply grid
}Any structural, technical or electrical change
}Use outside of the areas described in this operating manual
}Use deviating from the specified technical data
2.4 Qualified personnel
These devices can pose certain residual risks. Therefore all work on the device, as well as
its operation and disposal, may be performed only by qualified personnel who are aware of
the potential risks. Qualified personnel are persons who have acquired the authorization to
perform these tasks through professional training and/or instruction by specialists.
In addition, applicable regulations, legal provisions, technical standards, this technical doc-
umentation and especially the safety information contained within it must be read carefully,
understood and observed.

Safety instructions
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2.5 Working on the machine
Apply the 5 safety rules in the order stated before performing any work on the machine:
1. Disconnect. Also make sure to disconnect the auxiliary circuits.
2. Protect against being turned on again.
3. Check that voltage is not present.
4. Ground and short circuit.
5. Cover adjacent live parts.
2.6 Disposal
Observe the current national and regional regulations! Dispose of individual parts sepa-
rately depending on their condition and the currently applicable regulations, e.g. as elec-
tronic waste (circuit boards), plastic, sheet metal, copper or aluminum.
2.7 Directives and standards
The servo motors fulfill the following guidelines and standards:
}Low Voltage Directive 2014/35/EU
}EMC Directive 2014/30/EU
}DIN EN 50110
}DIN EN 60034-1:2011
}DIN EN 60034-5:2007
}DIN EN 60034-6:1996
}DIN EN 60034-9:2008
}DIN EN 60034-14:2008
}DIN IEC 60364
}UL and CSA certification
All motors are delivered with the Recognized Component Class 155 (F) motor insula-
tion system approval.
The approval is registered at Underwriters Laboratories in the United States under UL
number E357386 in the areas of OBJY2.GuideInfo Systems, Electrical Insulation -
Component and
OBJY8.E357386 Systems, Electrical Insulation Certified for Canada - Component.
This approval is primarily relevant for the use of motors and geared motors on the US
market, but it also represents a special quality feature in many countries.
2.8 Use of symbols
Safety instructions are identified with the following symbols. They indicate special risks
when handling the product and are accompanied by relevant signal words that express the
extent of the risk. Furthermore, useful tips and recommendations for efficient, error-free op-
eration are specially highlighted.

Safety instructions
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DANGER!
Danger
This word with a warning triangle indicates that there is a considerable risk
of fatal injury
– if the stated precautionary measures are not taken.
WARNING!
Warning
This word with a warning triangle means there may be a considerable risk of
fatal injury
– if the stated precautionary measures are not taken.
CAUTION!
Notice
This indicates that damage to property may occur
– if the stated precautionary measures are not taken.
NOTICE
Important indicates relevant information about the product or serves to em-
phasize a section in the documentation that deserves special attention from
the reader.

Product description
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3 Product description
The PMCtendo SZ synchronous servo motors have a very short design made possible by
using optimal winding technology. This allows for the stator windings to be manufactured
with the highest possible copper fill factor. This technology and other optimizations of the
mechanics make it possible to shorten the motor length by roughly half without negatively
impacting performance.
Fig.: PMCtendo SZ synchronous servo motors

Product description
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3.1 PMCtendo SZ synchronous servo motors
3.1.1 Nameplate
Designation Value in example Meaning
YOM 2018 Year of manufacturing
Type PMCtendo SZ.31/1/2/2/7/K/
H/30/00
Type label
Ser. No. 10251811 Serial number
Ident. No. 8177064 Identification number
M00.95Nm Stall torque: Continuous torque at
250rpm ± 5%
MN0.93Nm Rated torque; highest continuous
torque of the motor at rated speed
nN ± 5%
I02.02A Stall current: I0 is the current flow-
ing at M0
IN1.99A Rated current: Continuous current
at MN ± 5% and nN ± 5%
KEM 40V/1000rpm Back EMF constant: Peak value of
the induced phase-to-phase volt-
age at operating temperature (ΔT
= 100K) in generative idling mode
KM,N 0.467Nm/A Torque constant at the measure-
ment point
nN3000rpm Rated speed nN
Therm. class 155 (F) Thermal class in acc. with EN
60034/VDE 0530
IP 56 Protection class
Therm. prot. PTC thermistor 145°C Thermal winding protection by
PTC thermistor
Encoders EnDat 2.2 EQN 1135 FMA MT Feedback system
Brake 2.50Nm/24V/0.51A Permanent magnet holding brake