Motion Control with Unidrive

Transcription

1 Motion Control with Unidrive

2 Unidrive Distributed Multi-Axis Motion Control SM-EZMotion DECENTRALIZED CONTROL CENTRALIZED CONTROL CTNET SOLUTION SM-APPLICATIONS or SM-APPLICATIONS PLUS SM-Profibus-DN SM-DeviceNet COMMUNICATIONS I/O SM-UNIVERSAL ENCODER PLUS SM-ENCODER PLUS SM-RESOLVER FEEDBACK MOTORS FM NT XV 168

3 SM-APPLICATIONS PLUS SM-APPLICATIONS MC26X CTIU SM-Ethernet SM-APPLICATIONS LITE MC224 CTNet I/O SM-SERCOS Ethernet SM-I/O Plus SM-I/O Lite SM-I/O Timer SM-I/O 24V SM-I/O 12V SM-PLEV Vectormotor Magna Linear Actuator Gearmotor 169

4 Unidrive Scalable Applications & Motion Functionality Unidrive SP is the true Solutions Platform, offering a wide range of distributed or centralized motion control solutions, giving users unparalleled performance and flexibility. Powering this capability is the SM-EZMotion and SM-Application Plus motion modules, which provide the choice of Motion Made Easy or Advanced IEC1131 programming. Unidrive with motion functionality The Unidrive SP features dynamic servo performance with a wide array of power, motor types and snap-in Solution Modules including; programming platforms, distributed or centralized control, I/O, communications and feedback to tailor the solution to your exact needs. FLEXIBLE MOTION AND PROGRAMMING SOLUTIONS Unidrive SP Base Servo Mode Servo drive with universal flexibility; I/O, connectivity, feedback and power SM-Applications Plus SM-APPLICATIONS PLUS Advanced distributed position control 1 1/2 Axis or Multi-Axis (synchronized motion control) using CTNet with user configurable RS-485 port and high speed I/O Open IEC1131 based SyPT programming software Extensive applications based function block library with PLCopen funtionality Complete machine control capable with powerful PLC Functionality SM-EZMotion 17 SM-EZMOTION Simple to use distributed position control 1 1/2 Axis motion control Free Motion Made Easy PowerTools Pro software PowerTools Pro includes a simple yet powerful basic programming language and intuitive drag and drop interface MOTION COORDINATOR (MC) CONTROLLER Powerful centralized motion control Interpolation; linear, circular, helical 2 to 24 axis Centralized motion programming with MotionPerfect2 MC Controller Series

5 Unidrive Base Servo Mode The base Unidrive SP can be easily controlled with single and multi-axis controllers, PLC s and host controllers for medium to high power applications requiring absolute feedback. The analog torque or velocity modes can be used with classic position controllers using analog outputs and encoder inputs. The drive can be controlled over a SERCOS or Profidrive digital motion bus with the addition of a SM-SERCOS or SM-Profibus solution module. Drive setup parameters can be easily stored on a credit card sized SmartCard. Simple sequencing logic can be accomplished using the onboard ladder editor. Configuration and diagnostics is done using the free CTSoft software tool. Unidrive SP complete power range 2 x Programmable Analog Inputs -1V or +/-1V -2Ma or 4-2mA Temp input on channel 3 1 x 16 bit High Resolution 25us Analog Input 3 x 24 VDC digital inputs 3 x 24 VDC selectable input/output 1 x Relay Output 1 x Universal Encoder feedback including Stegmann absolute sin/cos with Hiperface Heidenhain absolute sin/cos with Endat SSI Incremental Quadrature Endat Auto-Tune Software Oscilloscope Three Expansion Slots Expandable I/O Secure Disable Flexible Communications Modules (Modbus RTU standard) SM COMMUNICATIONS MODULES MODBUS TCP/IP SM-SERCOS Up to 16Mb transfer rate Class B Fiber Optic SERCOS compliant SM-RESOLVER Transformation ratio 3:1 or 2:1 Input impedance >85 Ohms Excitation frequency SM-UNIVERSAL ENCODER PLUS Supports 14 encoder types Easily add additional reference axis SM-ENCODER PLUS Additional quadrature incremental encoder feedback port SM-I/O PLUS 3 x selectable digital input/output 3 x digital inputs 2 x analog inputs 1 x analog output 2 x relay outputs ADDITIONAL I/O CAPABILITIES SM-I/O Lite, SM-I/O 12V, SM-I/O 24V, SM-I/O Timer, SM-I/O PELV See the Options and Accessories section for details. ISO 91:2 APPROVAL 171

6 Unidrive With SM-Applications and SM-EZMotion Modules SM-Applications/Plus and SM-EZMotion solution modules provide Unidrive with snap-on advanced motion and logic control. The SM-Application module provides multitasking advanced position control capable of sequencing logic, point to point, camming, and electronic gearing motion profiles. Complete machine control and synchronization can be realized by adding CTNet I/O, CTNet HMI and CTSync drive to drive synchronization. The SM-EZMotion coprocessor solution module allows easy integration and supplements the MDS, EN, and Epsilon EP Motion Made Easy servo offering. 172 SM-APPLICATIONS PLUS MODULE 25us, 5us, 1ms, 2ms high speed servo update Deterministic real-time multitasking module Flexible encoder reference capabilities High speed 8us latch inputs Integrated CTNet and CTSync for multi-axis synchronization Four main motion profile generators - Camming, Gearing, Velocity, Position - Run multiple profiles or change on the fly Additional offset profile generator Camming Polynomial functions On the fly point change On the fly offset change Cam recovery capability Use with other profile types Electronic Gearing - Synchronize Follower to Master on the Fly - Add velocity offset on the fly Powerful SyPTPro IEC1131 based Programming - Hardware Configurator - Simple structured text drive programming language - Ladder editor - Free form function block diagram editor - PLC Open motion control blocks - Extensive motion, math, logic functions included SM-EZMOTION APPLICATION MODULE Program multitasking capability Integrates Unidrive SP into Motion Made Easy Adds absolute encoder to Motion Made Easy Onboard digital outputs High speed capture digital inputs Profile Summation Queuing Electronic Gearing Synchronized motion Programmable limit switch Indexing - Chaining - Position Tracker Fieldbus Indexing Programmed with PowerTools Pro - Motion, Logic, and math functions included - Easy setup and programming - Drag and drop commands - Simple basic programming language - Configurable I/O assignments - Simple homing routines

7 Unidrive SM-Applications/Plus and Advanced Position Controller (APC) An Advanced Position Controller with multiple functionality is built into the operating system of the SM-Applications/Plus module. The main features of the position controller are: Position control using linear ramps for the velocity profile Speed control using linear or S-ramps for the velocity profile Rigid or non-rigid digital lock with follower ratio Incremental cam table providing automatic control of follower position, relative to master position Reference and Feedback position sources are fully selectable from any drive or option interface Smooth switching between each reference The Advance Position Controller is a software kernel at the heart of the SM-Applications/Plus module. The SyPT software package is used to interface the kernel to any of the Unidrive SP parameters and feedback devices allowing control in Open Loop, Closed Loop and Servo modes. Using an industry standard ladder and function block programming environment motion programs can be precisely tailored to applications with ease. SM-Application Plus Functionality SyPT Programming Package 173

8 Unidrive CTNet & CTSync for Multi-Axis Motion Control Synchronization ontrolt echni ques.com Besides connecting to almost any fieldbus, the Unidrive SP provides a complete HMI, I/O, and drive machine solution based on CTNet. The CTNet solution can handle even the most complex motion applications while still ensuring components seamlessly work together. The decentralized SM-Applications/Plus modules, with CTNet and CTSync provide the greatest flexibility while optimizing available communication bandwidth. CTNET CTNet is a proven motion network based on the open ARC protocol standard. CTNet is a decentralized peer to peer system requiring no PLC master controller. Each intelligent node takes turns using a proven token ring data link technology. The integration of drive, HMI, and I/O provide customers with a complete CTNet solution. CTNET HMI The CTIU 2 HMI comes with optional CTNet capabilities. The CTIU line is programmed with the free CTIUsoft windows based configuration software. The CTIU2 features 16-line, 4 character display. The SyPTPro programming software includes a hardware configurator which allow for easy drag and drop placement of CTNet drive, HMI, and I/O components. Machine LAN (eg CTNet) HMI Section Master CTNET I/O HMI I/O CTNet LAN Sectional Drives CTNet LAN Sectional Drives & I/O CTNet LAN HMI Sectional CTNet LAN Section Master RS485 Machine Section #1 Machine Section #2 Machine Section #3 The CTNet I/O is a simple and flexible IP2 Din rail mountable I/O. The I/O consist of a CTNet Bus coupler and snap-on I/O terminals. There are a variety of digital and analog snap-on terminals to meet specific application needs. One Bus coupler is capable of 256 digital inputs or outputs and up to 1 analog inputs and outputs. Example of Decentralized Control CTSYNC CTSync is standard on SM-Applications/Plus and provides drive to drive clock synchronization. The combination of CTSync and decentralized SM-Applications/Plus modules, which have CTNet standard, provides true parallel multitasking. Whereas, centralized control systems are inherently preemptive multitasking due to having one processor. Coordinated multi-axis control with < 4µsec jitter. To existing remote PLC Section 1 Section 2 Section 3 Remote I/O NOITUAC REGNAD NOITUAC REGNAD NOITUAC REGNAD toh snur enihcam siht egatlov hgih toh snur enihcam siht egatlov hgih t oh s n u r e n i h ca m s i h T egatlov hgih ESU TON OD GNITFIL ROF REVOC 174 SM-Applications ESU TON OD GNITFIL ROF REVOC ESU TON OD GNITFIL ROF REVOC

9 Unidrive! Motion Applications Multiple interpolations between each coordinate of the master and follower Linear Constant velocity Square Linear ramped velocity Cosine Sine ramped velocity All the above can be from velocity or an offset velocity Single shot or continuous cycling of the CAM modes Dynamic change of CAM segment, e.g. start and finish Master and Follower co-ordinates are entered as array elements, which can be dynamically changed on the fly or fixed in flash memory Flying ShearIntime CAM 1OZ F1 Operator Interface 4GHI F4 7PRS 2ABC 3DEF F2 F3 5JKL 6MNO F5 8TUV Unidrive SP F6 9WXY F7 F8 F9 Space Del F1 +/- Unimotor NOITUAC egatlov hgih REGNAD ES U T ON OD GNITFIL ROF REVOC to h snur enihcam siht CTIU Motion MU ROTOMINU Master Encoder Motion ng CAM-Application: Any synchronous motion applications, flying shear, rotarty knife, etc. r Ba i tt Cu Position Profile Generator Applications: indexing & point to point Linear ramps Acceleration, max speed and Jerk parameters can be dynamically changed on the fly Index Position Profile Generation Feeder Application Extend-retract V a d Speed Profile Generator Applications: jogging, homing Linear or S ramps Acceleration, max speed and Jerk parameters can be dynamically changed on the fly Speed Profile Generation Bridle Control Wire Drawing V Electronic Gear Box (Digital Lock) Applications: Master follower applications, conveyors, etc.. Wide range of Gear ratios, 32bit integer Numerator/Denominator Rigid Lock - ramp to ratio line speed and recover lost position during acceleration, then lock into line position Non-Rigid Lock - ramped to ratio line speed and lock into line position Lock, No ramps, lock into line position, like a true gearbox Digital-LockRigid Lock Non-Rigid Lock Locked (EGB) Shaftless Offset Printing Unidrive Digital Lock Electronic Lineshaft 175

10 Unidrive Motion Made Easy with SM-EZMotion The SM-EZMotion solutions modules integrates the Unidrive SP into the easy to setup and program Motion Made Easy product line. The Unidrive SP complements the MME servo drive offering with absolute feedback and closed loop vector motor control. Motion Made Easy Free PowerTools Pro Software Easy Configuration and Setup No Setting Drive Parameters Absolute Encoder Support Simple Basic Programming Multi-Tasking 1ms Servo Update High Speed Capture Onboard I/O NT Unidrive SP Series Drive Easy Selection Drag and Drop Programming Simple I/O Setup Advanced Indexing Capabilities - Position Tracker Fieldbus Indexing Math Functions Program Logic Functions Electronic Gearing Dual Position Loop Mode Free PowerTools Pro software Follower Tension Transducer Master Encoder Web Tension Control with Analog Transducer Feedback is easy to implement utilizing your own User Units and Analog Inputs Easy Units and Drive Setup Easy drag and drop set-up and programming 176

11 UNIDRIVE SP CURRENT RATINGS Unidrive SP Continuous Output Current Peak Output Current 28/23VAC Heavy Duty Order Code Frame I H (A) Closed loop (A) SP121-XXX SP122-XXX SP123-XXX SP124-XXX SP221-XXX SP222-XXX SP223-XXX SP321-XXX SP322-XXX SP421-XXX SP422-XXX SP423-XXX 8 14 Heavy Duty Suitable for demanding applications, current overload is set at up to 175% for 4 seconds. Where motor rated current is less than the drive rated continuous current, higher overloads (2% or greater) are achieved. Unidrive SP Continuous Output Current Peak Output Current 38/48VAC Heavy Duty Order Code Frame I H (A) Closed loop (A) SP141-XXX SP142-XXX SP143-XXX SP144-XXX SP145-XXX SP146-XXX SP241-XXX SP242-XXX SP243-XXX SP244-XXX SP341-XXX SP342-XXX SP343-XXX SP441-XXX 6 15 SP442-XXX SP443-XXX SP541-XXX SP542-XXX Note: horsepower ratings are based on typical motor current ratings. Actual motor currents should be checked before selecting a particular drive. For some high effi ciency motors, the required full load motor current may allow the selection of a smaller drive than is indicated in the chart. The same consideration would also apply for motors with less common power or voltage ratings. Order String SP NKP Unidrive SP Product Line Size 1 to 6 complete inverter drives Frame Size Wall Mount sizes range from 1 to 6 Voltage Rating 2-2 to 24 VAC 4-38 to 48 VAC VAC 6-69 VAC Configuration - Wall Mount Series Keypad Option NKP - No Keypad LED - LED Keypad LCD - LCD Keypad Plus Current Step Current Rating Step within specified frame size 177

12 Unidrive Positioning Using AC Vector s 178 If you need to accurately position the motor, but don t require the high speed and rapid acceleration dynamics of a servomotor, the Unidrive SP with an encoderequipped AC induction motor may be the optimum performance solution. The flexibility and high performance of the Unidrive SP make it possible to control three phase induction motors on applications that previously demanded higher priced servo motors. Point to point indexing and material handling applications are ideal for utilizing this capability, especially when motors above 5 hp are required. The cost savings is significant due to the lower cost of materials used in the induction rotor design. AC induction motors have rotors with more mass and larger diameters than servo motors of the same torque capacity, and therefore higher inertia. This is helpful for hgh load-to-motor inertia ratios, and in most cases can eliminate the need for inertia matching gear reduction. The higher inertia of these systems also results in greater low-speed stability. Benefits of Vector Positioning Overcomes high load inertia mismatches with use of larger AC motors without the expense of large servomotors and/or gear reducers Provides precise high-speed positioning when rapid accel/decel rates are not required Enables low-cost, error-free closed loop performance in applications that would be cost prohibitive were traditional servo systems used Eliminates environmental and maintenance issues associated with hydraulic and pneumatic systems Plug-and-play fieldbus integration into full-featured control systems Integrated, scalable PLC functionality reduces panel space and wiring costs. Simplified programming, quick startup and advanced diagnostics

13 Choose Your Programming Environment Both Unidrive SP motion programming platforms support closed-loop vector motor positioning applications. Motion Made Easy, PowerTools Pro software and the SM-EZMotion Module can have your vector positioning application up and running in minutes. Alternatively, our IEC compliant ladder logic and function block programming tool, SyPTPro with either the SM- Applications or SM-Applications Lite modules can be used to take advantage of new, industry-standard PLC Open motion functionality. Many applications today can benefit from the advanced control capabilities, energy savings, cleanliness, noise reduction and advanced communications that AC Vector Positioning, and the Unidrive SP can provide. Significant cost and performance advantages are achieved over traditional servo systems, hydraulic and pneumatic solutions. The significant power range of the Unidrive SP provides positioning of closed loop vector motors ranging from 1 to over 2 hp and powered with a wide range of voltages from 2V to 69V. Control Techniques offers a wide selection of Closed Loop Vector motors, which feature an economical incremental encoder and matched cabling. This combination provides users with a Plug and Play solution for hundreds of applications that now can be solved using the latest AC motor and control technology to increase performance while lowering overall costs. CLOSED-LOOP VECTOR MOTORS from 1 to 1 hp high performance 2 to 1 speed range encoder ready with cables To select the correct vector motor for your positioning application, use our freely downloadable sizing software, CTSize. This simple software tool makes it easy to select the proper motor for your motion application. More information is available on page 32 of this catalog. 179

14 SPECIFICATIONS Environment Ambient Operating º to 4ºC (32º to 14ºF) Temperature º to 5ºC (32º to 122ºF) with derating Cooling method Forced convection Humidity 95% maximum non-condensing at 4ºC (14ºF) Storage Temperature -4º to 5ºC (-4º to 122ºF) Altitude to 3m (9,9 ft). Derate 1% per 1m (328 ft) between 1m (328 ft) and 3m (9,9 ft). Vibration Tested in accordance with IEC Mechanical Shock In accordance with IEC Enclosure NEMA 1 (IP 2), NEMA 12 (IP 54) through panel mounting Electromagnetic In compliance with IEC81 and EN582-2, and Immunity complies with EN618-3 with built-in filter Electromagnetic Emissions In compliance with EN581-2 when the recommended RFI filter is used and EMC installation guidelines are followed Overtemperature Trips Short Circuit Trip Ground Fault Trip Thermal Trip DIMENSIONS Size 1 Drive heatsink, control board, and option module(s) monitoring Protects against output phase to phase fault Protects against output phase to ground fault Electronically protects the motor from overheating due to loading conditions Approvals & Listings UL, cul UL File #E17123 IEC Meets IEC Vibration, Mechanical Shock and Electromagnetic Immunity Standards CE Designed for marking NEMA NEMA 1 enclosure type VDE Meets VDE Electromagnetic Emissions Standards ISO 92 Certified Manufacturing Facility W H Size 2 W H AC Supply Requirements Voltage 2 to 24VAC ±1% 38 to 48VAC ±1% 5 to 575VAC ±1% 5 to 69VAC ±1% Phase 3Ø Phase Imbalance 2% negative phase sequence (equivalent to 3% Tolerance voltage imbalance between phases) Frequency 48 to 65Hz Input Displacement.93 Power Factor Size 3 Size 6 D W D W H Size 4 D W D H Control Carrier Frequency 3, 4, 6, 8, 12,16kHz Output Frequency to 3Hz (Open loop) Output Speed to 4, RPM (Closed loop) Frequency Accuracy ±.1% of full scale Frequency Resolution.1Hz Analog Input 1 Bit + sign (Qty 2); 16 Bit + sign (Qty 1) Resolution Serial Communications 2 or 4-wire RS-232 or RS-485. Protocol is ANSI x A4, or Modbus RTU Baud rate 3 to 115,2. Braking DC injection braking (stopping and holding) standard. Dynamic braking transistor standard. Control Power Up to 1 second depending on inertia and Ride Through decel time D H Size 5 W D H 18 DC Bus Undervoltage Trip DC Bus Overvoltage Trip MOV Voltage Transient Protection Drive Overload Trip Instantaneous Overcurrent Trip Phase Loss Trip Protection 175 / 35 / 435VDC (approximately 124 / 247 / 37VAC line voltage) 415 / 83 / 99VDC (approximately 293 / 587 / 7VAC line voltage) 16 Joules, 14VDC clamping (Line to line and line to ground) Current overload value is exceeded. Programmable for Normal Duty or Heavy Duty, Open loop or Closed loop operation 225% of drive rated current DC bus ripple threshold exceeded Frame H W D Weight Size in mm in mm in mm lb kg For through-panel mounting dimensions or dimensions of size 6, 7, 8 and 9 Free Standing Drives, contact your local Drive Center

15 Unidrive With FM s FM FM motors are very smooth, low cogging, medium inertia brushless AC servo motors from Control Techniques. They are 3 phase, 6 or 8 pole, permanent magnet motors exhibiting a sinusoidal back EMF characteristic. Standard options include stack length, parking brake, and cables for motor power and feedback, including incremental, resolver and Sin/Cos Absolute. FM motors can be ordered with smooth shaft or keyed, feedback options, high inertia, and non-standard face plate and shaft diameter options, see the FM motor section for ordering options and details. Standard motors shown are typically stocked. This motor optimizes torque output and reduces cogging torque. The compact design gives increased torsional stiffness. Laminations and coils are optimized both for high efficiency and to provide low harmonic distortion in the airgap flux. PTC Thermistor for thermal monitoring.ip65 Rated and UL recognized. 23V FM /Unidrive SP System Selection Guide Drive Cont. Stall Peak Stall Speed* Rated Power HP kwatts Max. Operating Speed RPM Encoder Resolution lines/rev Inertia -sec 2 kg-cm 2 Ke Vrms/krpm Kt /Arms /Arms SP121 75E2A SP121 75E2B SP121 75E2C SP121 75E2D SP123 95E2B SP124 95E2D SP E2C SP E2E SP E2D SP222 19E2B SP321 19E2D SP322 19E2F *Rated Speed = Maximum Operating Speed Weight lb kg 181

16 UNIDRIVE SP - FM 23V Speed Curves 4 FM 75E2A4-x / SP121 4 FM 75E2B4-x / SP121 4 FM 75E2A4-x / SP FM 75E2D3-x / SP FM 95E2B4-x / SP FM 95E2D4-x / SP FM 115E2C3-x / SP124 3 FM 115E2E3-x / SP222 3 FM 142E2D3-x / SP FM 19B2-x / SP222 2 FM 19D2-x / SP321 2 FM 19F2-x / SP Notes Continuous ratings of the motor are based on 1 C motor case temperature and 4 C ambient with the motor mounted to an aluminum plate. Speed torque curves are based on 24 VAC operation at 1 khz switching frequency. All specifications are ±1% due to motor parameter variations. Optional motors are available to 5 RPM. 182

17 V FM MOTOR SELECTION Order String xxx E 2 x xx x B A CA A BCD* DIA* Feedback Cable - SIBAA Drive Power Cable - PSBAA Power & Brake Cable - PBBAA Inertia: A = Standard Feedback Device**: CA = 496 Incremental Encoder Shaft Key: A = With Key Connection Type: B = 9º Connectors Brake: = None, 1 = 24 VDC Rated Speed: 2 = 2, rpm, 3 = 3, rpm, 4 = 4, rpm, 5 = 5, rpm Stator Length: A, B, C, D, E, F, G, H Peak : 2 = Standard Peak Voltage E = 23V Frame Size: 75, 95, 115, 142, 19 * Bolt Circle & Shaft Diameter are standard dimensions see FM section for additional options. ** For a complete list of optional feedback devices see pages Drive Power Cable (yyy=length in meters) Feedback Cable (yyy=meters) Power/Brake Cable (required w/all brake motors) (yyy=meters) SP121 SP121 SP121 SP121 SP123 SP124 SP124 SP222 SP223 SP222 SP321 SP322 SP244 75E2A4 BACAA E2A41 BA CAA E2B4 BACAA E2B41 BACAA E2C4 BACAA E2C41 BACAA E2D3 BACAA E2D31 BACAA E2B4 BACAA119 95E2B41 BACAA119 95E2D4 BACAA119 95E2D41 BACAA E2C3 BACAA E2C31 BACAA E2E3 BACAA E2E31 BACAA E2D3 BACAA E2D31 BACAA E2B2 BACAA E2B21 BACAA E2D2 BACAA E2D21 BACAA E2F2 BACAA E2F21 BACAA U2H2 BACAA U2H2 BACAA21532 PSBBA-yyy PSBBK-yyy PSBBK-yyy PSBBK-yyy PSBBK-yyy PBBBA-yyy PBBBK-yyy PBBBK-yyy PBBBK-yyy PBBBK-yyy Notes: Drives come with no key pad Standard motor configuration. (22VAC, Standard peak torque, No brake, 9 degree vertical connectors, Keyed shaft, 496 incremental encoder, standard BCD and Shaft Diameter) Standard feedback cable for use with incremental encoder and Unidrive SP drive. 183

18 UNIDRIVE SP - 46V FM Specifications Drive Cont. Stall Peak Stall Speed* Rated Power HP kwatts Max. Operating Speed RPM Encoder Resolution lines/rev Inertia -sec 2 kg-cm 2 Ke Vrms/krpm Kt /Arms /Arms SP141 75U2A SP141 75U2B SP142 75U2C SP142 75U2D SP145 95U2E SP U2D SP U2E SP U2D SP U2E SP243 19U2C SP243 19U2D SP243 19U2F SP244 19U2H * Rated Speed = maximum operating Speed Weight lb kg FM Holding Brake Specifications Frame Size Volt DC Current A Static Mechanical Disengagement Mechanical Engagement Added Inertia Time-Brake Released (ms) Time-Brake Holding (ms) -sec 2 kg-cm 2 75 mm mm mm mm mm (A-B) mm (C-D)

19 UNIDRIVE SP - 46V FM Speed Curves 4 FM 75U2A4-x / SP141 4 FM 75U2B4-x / SP141 4 FM 75E2C4-x / SP FM 75E2D3-x / SP FM 95E2E4-x / SP FM 115E2D3-x / SP FM 115E2E3-x / SP FM 142E2D3-x / SP FM 142E2E3-x / SP FM 19C3-x / SP FM 19F2-x / SP FM 19F2-x / SP FM 19H2-x / SP Notes Continuous ratings of the motor are based on 1 C motor case temperature and 4 C ambient with the motor mounted to an aluminum plate. Speed torque curves are based on 48 VAC operation at 1 khz switching frequency. All specifications are ±1% due to motor parameter variations. Optional motors are available to 5 RPM. 185

20 V FM MOTOR SELECTION Order String Feedback Cable - SIBAA xxx U 2 x xx x B A CA A BCD* DIA* Drive Power Cable - PSBAA Power & Brake Cable - PBBAA Inertia: A = Standard Feedback Device**: CA = 496 Incremental Encoder Shaft Key: A = With Key Connection Type: B = 9º Connectors Brake: = None, 1 = 24 VDC Rated Speed: 2 = 2, rpm, 3 = 3, rpm, 4 = 4, rpm, 5 = 5, rpm Stator Length: A, B, C, D, E, F, G, H Peak : 2 = Standard Peak Voltage U = 46V Frame Size: 75, 95, 115, 142, 19 * Bolt Circle & Shaft Diameter are standard dimensions see FM section for additional options. ** For a complete list of optional feedback devices see pages Drive Power Cable (yyy=length in meters) Feedback Cable (yyy=meters) Power/Brake Cable (required w/all brake motors) (yyy=meters) SP141 75U2A4 BACAA U2A41 BACAA7511 SP142 75U2B4 BACAA U2B41 BACAA7514 SP143 75U2C4 BACAA U2C41 BACAA7514 SP144 75U2D3 BACAA U2D31 BACAA7514 SP145 95U2E4 BACAA119 95U2E41 BACAA119 SP U2D3 BACAA U2D31 BACAA11524 SP U2E3 BACAA U2E31 BACAA11524 SP U2D3 BACAA U2E31 BACAA16524 SP U2E3 BACAA U2E31 BACAA16524 SP243 19U2C3 BACAA21532 PSBBK-yyy 19U2C31 BACAA21532 PBBBK-yyy SP243 19U2D3 BACAA21532 PSBBK-yyy 19U2D31 BACAA21532 PBBBK-yyy SP243 19U2F2 BACAA21532 PSBBK-yyy 19U2F2 BACAA21532 PBBBK-yyy SP244 19U2H2 BACAA21532 PSBBK-yyy 19U2H2 BACAA21532 PBBBK-yyy Notes: Drives come with no key pad Standard motor configuration. (48VAC, Standard peak torque, No brake, 9 degree vertical connectors, Keyed shaft, 496 incremental encoder, standard BCD and Shaft Diameter) Standard feedback cable for use with incremental encoder and Unidrive SP drive.

21 Unidrive with MH and MG s The Magna Series of motors is a range of brushless servo motors offered by Control Techniques. The MH series is a 46 VAC, 3 phase, 6 pole permanent magnet motor with a sinusoidal back EMF. The MG is a 23 VAC, 3 phase, 6 pole permanent magnet motor with sinusoidal back EMF. Options for the Magna Series include brakes and cables for connectorized motor power and feedback. MH The Magna is a proven performer in a compact design, providing very high performance. The Magna employs industry leading performance features to offer higher torque and better overall performance compared to similar size motors. High-energy neodymium magnets give the Magna s high torque output, low rotor inertia, and high torque to motor volume ratio. The low rotor inertia provides superior dynamic performance for point-to-point servo applications. MG 23V MG /Unidrive SP System Selection Guide Drive SP121 SP121 SP121 SP123 SP124 SP221 SP222 MG-25 MG-28 MG-316 MG-34 MG-455 MG-49 MG-412 Cont. Stall Peak Stall * Rated Speed = Maximum Operating Speed Speed* Rated Power HP kwatts Max. Operating Speed RPM Encoder Resolution lines/rev Inertia -sec 2 kg-cm 2 Ke Vrms/krpm Kt /Arms /Arms Weight lb kg

22 UNIDRIVE SP - 23V MG Speed Curves MG-25 with SP121 MG-28 with SP MG-316 with SP MG-34 with SP MG-455 with SP MG-49 with SP MG-412 with SP SPECIFICATIONS Notes Continuous ratings of the motor are based on 1 C motor case temperature and 4 C ambient with the motor mounted to an aluminum plate. Speed torque curves are based on 24 VAC operation at 6 khz switching frequency. All specifications are ±1% due to motor parameter variations. Insulation Class Class F, EN 634-1, IEC Encoder Density 248 line incremental Temperature Thermostat, 155 C switch Monitoring Electrical Connections Connector for power and brake; connector for feedback and thermostat Flange Mounting English and Metric Ingress Protection IP65 MG Holding Brake Specifications Frame Size Volt DC Current A Static Mechanical Disengagement Mechanical Engagement Added Inertia Time-Brake Released (ms) Time-Brake Holding (ms) -sec 2 kg-cm

23 V MG MAGNA MOTOR SELECTION Order String M G x x xx C x N S - Feedback Cable - UFCS Special Options Drive Power Cable - CMxx Brake Cable - CBMS Feedback Type: N = Encoder Feedback Brake: O = No Brake, B = 24 VDC Connector Type: C = MS Style Connectors Approx. Stall : 5, 8, 16, 4, 55, 9, 1, 12 Frame Size: 3 = 3, 4 = 4 Flange: E = English, M = Metric Voltage Rating: G = 23 VAC Magna Note: All torques are not available for each frame size. Drive Power Cable (xxx=feet) Feedback Cable* (xxx=feet) Brake Cable (required w/all brake motors) (xxx=feet) SP121 SP121 SP122 SP123 SP224 SP221 SP222 MGx-25-CONS- CMDS-xxx MGx-25-CBNS- CMDS-xxx CBMS-xxx MGx-28-CONS- CMDS-xxx MGx-28-CBNS- CMDS-xxx CBMS-xxx MGx-316-CONS- CMDS-xxx MGx-316-CBNS- CMDS-xxx CBMS-xxx MGx-34-CONS- CMDS-xxx MGx-34-CBNS- CMDS-xxx CBMS-xxx MGx-455-CONS- CMMS-xxx MGx-455-CBNS- CMMS-xxx CBMS-xxx MGX-49-CONS- CMMS-xxx MGx-49-CBNS- CMMS-xxx CBMS-xxx MGx-412-CONS- CMMS-xxx MGx-412-CBNS- CMMS-xxx CBMS-xxx 189

24 Unidrive SP - 46V MH Specifications Drive SP141 SP143 SP144 SP146 SP146 SP242 SP243 SP243 SP342 SP343 MH-316 MH-34 MH-455 MH-49 MH-612 MH-62 MH-63 MH-825 MH-85 MH-875 Cont. Stall Peak Stall Speed* Rated Power HP kwatts Max. Operating Speed RPM Encoder Resolution lines/rev Inertia -sec 2 kg-cm 2 Ke Vrms/krpm Kt /Arms /Arms Weight lb kg * Rated Speed = Maximum Operating Speed (MH-875 rated speed = 29 RPM) 19

25 UNIDRIVE SP - 46V MH Speed Curves 4 MH-316 with SP141 3 MH-34 with SP143 3 MH-455 with SP MH-49 with SP MH-612 with SP MH-62 with SP MH-63 with SP243 3 MH-825 with SP243 3 MH-85 with SP MH-875 with SP343 SPECIFICATIONS MH Holding Brake Specifications Insulation Class Class F, EN 634-1, IEC Encoder Density 248 line incremental Temperature Thermostat, 155 C switch Monitoring Electrical Connections Connector for power and brake; connector for feedback and thermostat Flange Mounting English and Metric Ingress Protection IP65 Notes Continuous ratings of the motor are based on 1 C motor case temperature and 4 C ambient with the motor mounted to an aluminum plate. Speed torque curves are based on 48 VAC operation at 6 khz switching frequency. All specifications are ±1% due to motor parameter variations. Optional motors are available to 5 RPM. Frame Size Volt DC Current A Static Mechanical Disengagement Mechanical Engagement Added Inertia Time-Brake Released (ms) Time-Brake Holding (ms) -sec 2 kg-cm Consult Factory 191

26 V MH MAGNA MOTOR SELECTION Order String M H E x xx C x N S - Feedback Cable - UFCS Special Options Drive Power Cable - CMxx Brake Cable - CBMS Feedback Type: N = Encoder Feedback Brake: O = No Brake, B = 24 VDC Connector Type: C = MS Style Connectors Approx. Stall : 16, 4, 55, 9, 1, 12, 2, 25, 3, 5, 75 Frame Size: 3 = 3, 4 = 4, 6 = 6, 8 = 8 Flange: E = English, M = Metric Voltage Rating: H = 46 VAC Magna Note: All torques are not available for each frame size. Drive SP141 SP143 SP144 SP146 SP146 SP242 SP243 SP243 SP342 SP343 Power Cable (xxx=feet) Feedback Cable* (xxx=feet) Brake Cable (required w/all brake motors) (xxx=feet) MHx-316-CONS- CMDS-xxx MHx-316-CBNS- CMDS-xxx CBMS-xxx MHx-34-CONS- CMDS-xxx MHx-34-CBNS- CMDS-xxx CBMS-xxx MHx-455-CONS- CMMS-xxx MHx-455-CBNS- CMMS-xxx CBMS-xxx MHx-49-CONS- CMMS-xxx MHx-49-CBNS- CMMS-xxx CBMS-xxx MHM-612-CONS- CMMS-xxx MHM-612-CBNS- CMMS-xxx CBMS-xxx MHM-62-CONS- CMMS-xxx MHM-62-CBNS- CMMS-xxx CBMS-xxx MHM-63-CONS- CMMS-xxx MHM-63-CBNS- CMMS-xxx CBMS-xxx MHM-825-CONS- CMLS-xxx MHM-825-CBNS- CMLS-xxx CBMS-xxx MHM-85-CONS- CMLS-xxx MHM-85-CBNS- CMLS-xxx CBMS-xxx MHM-875-CONS- CMLS-xxx MHM-875-CBNS- CMLS-xxx CBMS-xxx 192

27 Unidrive with NT s The NT Series of motors is a new range of brushless AC servo motors from Control Techniques. The NT series is 23 VAC, 3 phase, 8 pole, permanent magnet motors with a sinusoidal back EMF. Options for the NT Series include brakes and cables for connectorized motor power and feedback. The NT Series s deliver high torque-power to motor-size ratios that were previously impossible. Using the latest motor design and production technology enables maximum motor-slot fill. High-energy neodymium iron born magnets give the NT motor high torque output and low rotor inertia, providing superior dynamic performance for servo applications. The NT motor design delivers up to 46% more torque in 2% less space when compared to standard highperformance motor designs. The NT motors are a natural choice where small size and high performance are needed. NT 23V NT /Unidrive SP System Selection Guide Drive SP121 SP121 SP122 SP123 SP124 SP124 NT-27 NT-212 NT-32 NT-33 NT-345 NT-355 Cont. Stall * Rated Speed = Maximum Operating Speed Peak Stall NT Holding Brake Specifications Frame Size Volt DC Current A Speed* Rated Power HP kwatts Max. Operating Speed RPM Encoder Resolution lines/rev Inertia -sec 2 kg-cm 2 Ke Vrms/krpm Kt /Arms /Arms Weight lb kg Static Mechanical Disengagement Mechanical Engagement Added Inertia Time-Brake Released (ms) Time-Brake Holding (ms) -sec 2 kg-cm

28 UNIDRIVE SP - 23V NT Speed Curves NT-27 with SP121 NT-212 with SP NT-32 with SP NT-33 with SP NT-345 with SP NT-355 with SP SPECIFICATIONS Insulation Class Class F, EN634-1, IEC Encoder Density 248 line incremental Temperature Monitoring Thermostat, 155 C switch temperature Electrical Connections Connector for power and brake; connector for feedback and thermostat Flange Mounting English and Metric Ingress Protection IP65 194

29 V NT MOTOR SELECTION Order String NT x x xx C x x S Drive Feedback Cable - UFCS Power Cable - CMDS Brake Cable - CBMS Special Options: DPXX=DSUB Conn. Inertia: S = Standard Feedback Type: N = Encoder Feedback Brake Option: B = with Brake, O = No Brake Connector Type: C = MS connectors on motor T = MS connectors on one meter leads L = one meter leads without connectors Continuous (): 7, 12, 2, 3, 45, 55 Frame Size (in.): 2 = 2, 3 = 3 Mounting Flange Type: E = English, M = Metric NT Series Drive SP121 SP121 SP122 SP123 SP124 SP124 Power Cable (xxx=feet) Feedback Cable* (xxx=feet) Brake Cable (required w/all brake motors) (xxx=feet) NTx-27-CONS- CMDS-xxx NTx-27-CBNS- CMDS-xxx CBMS-xxx NTx-212-CONS- CMDS-xxx NTx-212-CBNS- CMDS-xxx CBMS-xxx NTx-32-CONS- CMDS-xxx NTx-32-CBNS- CMDS-xxx CBMS-xxx NTx-33-CONS- CMDS-xxx NTx-33-CBNS- CMDS-xxx CBMS-xxx NTx-345-CONS- CMDS-xxx NTx-345-CBNS- CMDS-xxx CBMS-xxx NTx-355-CONS- CMDS-xxx NTx-355-CBNS- CMDS-xxx CBMS-xxx 195