documentation synchronous servomotors am8000 & am8500 · pdf file ·...

Documentation

Synchronous Servomotors AM8000 &AM8500

3.42017-11-27

Version:Date:

Table of contents


3Version: 3.4

Table of contents1 Foreword .................................................................................................................................................... 7

1.1 Notes on the documentation........................................................................................................... 71.2 Documentation Issue Status........................................................................................................... 81.3 Appropriate use .............................................................................................................................. 9

2 Guidelines and Standards ...................................................................................................................... 102.1 EC declaration of conformity......................................................................................................... 10

3 Safety........................................................................................................................................................ 113.1 Safety instructions ........................................................................................................................ 113.2 Special safety instructions for AM8000 and AM8500 ................................................................... 12

4 Handling ................................................................................................................................................... 134.1 Transport ...................................................................................................................................... 134.2 Packaging ..................................................................................................................................... 134.3 Storage ......................................................................................................................................... 134.4 Maintenance / Cleaning ................................................................................................................ 144.5 Disposal ........................................................................................................................................ 14

5 Product identification.............................................................................................................................. 155.1 AM8000 and AM8500, scope of supply ........................................................................................ 155.2 AM8000 and AM8500 nameplate ................................................................................................. 155.3 Type key AM8000 and AM8500 ................................................................................................... 16

6 Technical description.............................................................................................................................. 176.1 Design of the motors..................................................................................................................... 176.2 General technical data.................................................................................................................. 176.3 Power derating.............................................................................................................................. 186.4 Standard features ......................................................................................................................... 19

6.4.1 Style ................................................................................................................................. 196.4.2 Shaft end, A-side ............................................................................................................. 196.4.3 Flange .............................................................................................................................. 196.4.4 Protection class................................................................................................................ 206.4.5 Overtemperature protection ............................................................................................. 206.4.6 Insulation material class................................................................................................... 206.4.7 Vibration class.................................................................................................................. 206.4.8 Vibrations and shocks...................................................................................................... 206.4.9 Connection technology .................................................................................................... 206.4.10 Feedback System ............................................................................................................ 216.4.11 Holding brake................................................................................................................... 216.4.12 Pole number..................................................................................................................... 21

6.5 Options ......................................................................................................................................... 226.6 Selection criteria ........................................................................................................................... 226.7 Transport, assembly and disassembly ......................................................................................... 23

7 Mechanical installation ........................................................................................................................... 247.1 Important notes............................................................................................................................. 247.2 Flange mounts .............................................................................................................................. 25

8 Electrical installation............................................................................................................................... 268.1 Important notes............................................................................................................................. 26

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4 Version: 3.4

8.2 Connection of motors with preassembled cables ......................................................................... 278.3 AX5000 connection diagram for motors with OCT and iTec-plug................................................. 308.4 AX5000 connection diagram for motors with OCT-Feedback ...................................................... 318.5 AX5000 connection diagram for motors with OCT-Feedback ...................................................... 328.6 AX5000 connection diagram for motors with OCT-Feedback ...................................................... 338.7 AX5000 connection diagram for motors with OCT-Feedback ...................................................... 348.8 AX5000 connection diagram for motors with resolver and yTec-plug .......................................... 358.9 AX5000 connection diagram for motors with resolver .................................................................. 368.10 AX5000 connection diagram for motors with resolver .................................................................. 378.11 AX5000 connection diagram for motors with resolver .................................................................. 388.12 AX5000 connection diagram for motors with resolver .................................................................. 398.13 AX5000 connection diagram for motors with resolver .................................................................. 408.14 AX5000 connection diagram for motors with Hiperface................................................................ 41

9 Comissioning........................................................................................................................................... 429.2 Guide for commissioning .............................................................................................................. 429.3 Troubleshooting ............................................................................................................................ 43

10 Technical data.......................................................................................................................................... 4410.1 AM801x......................................................................................................................................... 45

10.1.1 Dimensional drawing AM801x ......................................................................................... 4610.1.2 Radial / axial forces at the shaft end................................................................................ 4610.1.3 Characteristic torque / speed curves ............................................................................... 46

10.2 AM802x......................................................................................................................................... 4710.2.1 Dimensional drawing AM802x ......................................................................................... 4810.2.2 Radial / axial forces at the shaft end................................................................................ 4810.2.3 Characteristic torque / speed curves ............................................................................... 48

10.3 AM803x and AM853x ................................................................................................................... 4910.3.1 Dimensional drawing AM803x and AM853x .................................................................... 5010.3.2 Radial / axial forces at the shaft end................................................................................ 5010.3.3 Characteristic torque / speed curves ............................................................................... 50

10.4 AM804x and AM854x ................................................................................................................... 5110.4.1 Dimensional drawing AM804x and AM854x .................................................................... 5210.4.2 Radial / axial forces at the shaft end................................................................................ 5210.4.3 Characteristic torque / speed curves ............................................................................... 52

10.5 AM805x and AM855x ................................................................................................................... 5310.5.1 Dimensional drawing AM805x and AM855x .................................................................... 5410.5.2 Dimensional drawing AM805x-9000 and AM855x-9000.................................................. 5510.5.3 Radial / axial forces at the shaft end................................................................................ 5510.5.4 Characteristic torque / speed curves ............................................................................... 55

10.6 AM806x and AM856x ................................................................................................................... 5610.6.1 Dimensional drawing AM806x and AM856x .................................................................... 5710.6.2 Dimensional drawing AM8063 and AM8563 with R winding............................................ 5810.6.3 Radial / axial forces at the shaft end................................................................................ 5810.6.4 Characteristic torque / speed curves ............................................................................... 58

10.7 AM807x......................................................................................................................................... 5910.7.1 Dimensional drawing AM807x ......................................................................................... 6010.7.2 Dimensional drawing AM807x (OCT)............................................................................... 6010.7.3 Dimensional drawing AM8074 (Terminal box) ................................................................. 6110.7.4 Radial / axial forces at the shaft end................................................................................ 6210.7.5 Characteristic torque / speed curves ............................................................................... 62

11 Appendix .................................................................................................................................................. 63

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5Version: 3.4

11.1 Support and Service ..................................................................................................................... 63

Table of contents


6 Version: 3.4

Foreword


7Version: 3.4

1 Foreword

1.1 Notes on the documentationThis description is only intended for the use of trained specialists in control and automation engineering whoare familiar with the applicable national standards.It is essential that the documentation and the following notes and explanations are followed when installingand commissioning the components. It is the duty of the technical personnel to use the documentation published at the respective time of eachinstallation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all therequirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly underdevelopment.We reserve the right to revise and change the documentation at any time and without prior announcement.No claims for the modification of products that have already been supplied may be made on the basis of thedata, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registeredtrademarks of and licensed by Beckhoff Automation GmbH.Other designations used in this publication may be trademarks whose use by third parties for their ownpurposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications andpatents:EP1590927, EP1789857, DE102004044764, DE102007017835with corresponding applications or registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications andpatents:EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,Germany

Copyright

© Beckhoff Automation GmbH & Co. KG, Germany.The reproduction, distribution and utilization of this document as well as the communication of its contents toothers without express authorization are prohibited.Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of apatent, utility model or design.

Foreword


8 Version: 3.4

1.2 Documentation Issue StatusIssue Notice3.4 Chapter update:

EC declaration of conformity 2.1; Technical drawing AM806x and AM856x 10.6.13.3 Chapter update:

1.0; 2.1; 3.0; 4.5; 5.3; 6.4.11; 8.3 – 8.14; 10.1 - 10.7; 10.7.1New chapter:8.5; 8.10; 10.7.3.1Deleted chapter:Documented motors

3.2 Chapter update:5.2; 5.3

3.1 Chapter update:5.3; 6.4.10

3.0 Chapter update:10.1 – 10.7; 10.1.1 – 10.7.1

2.9 Chapter update8.3; 8.4; 8.5; 8.6; 8.7; 8.8; 8.9; 8.10; 8.11; 8.12; 10.1; 10.2; 10.3; 10.4; 10.5; 10.6; 10.7

2.8 Chapter update2.1; 5.3; 6.4.10; 7.1

2.7 Chapter update8.2; 10.1; 10.2; 10.3; 10.4; 10.5; 10.6; 10.7

2.6 Chapter update10.1.1; 10.2.1; 10.3.1; 10.4.1; 10.5.1; 10.6.1; 10.7.1

2.5 Chapter updateDocumented motors – AM8000 and AM8500; 3.2; 8.1; 9.1; 6.3.10; 10; 10.1; 10.2; 10.3;10.4; 10.5; 10.6; 10.7New chapter6.2.1

2.4 Graphic resolution adjusted2.3 Chapter update

2.1; 3.2; 4.2; 4.4; 5.2; 5.3; 6.3.2; 6.3.3; 6.3.4; 6.3.5; 6.3.12; 8.6; 10.2; 10.3; 10.4; 10.5; 10.6;10.7New chapter10.1; 10.1.1; 10.1.2

2.2 Chapter update6.3.5; 6.3.11; 10.5.1; 10.6; 10.7New chapter6.6

2.1 Chapter update8.4; 10.2 – 10.7

2.0 General update (Series AM8500 added)1.2 Chapter update

10.7.1New chapter6.3.8

1.1 Chapter update8.2.1.1; 8.3; 8.4; 8.5; 8.6

1.0 First issue

Foreword


9Version: 3.4

1.3 Appropriate useSynchronous servomotors of the AM8000 and AM8500 series are designed as drives for handlingequipment, textile machines, machine tools, packaging machines and similar machines with demandingrequirements in terms of dynamics. The motors of the AM8000 and AM8500 series are exclusively intendedfor speed- and/or torque-controlled operation via digital servo drives from Beckhoff Automation GmbH & Co.KG.

The thermal protection contact incorporated in the motor windings must be analysed and monitored.

CAUTION

Danger for persons, the environment or equipmentThe motors are operated in the drive system in conjunction with Beckhoff servo drives.Please observe the entire documentation which consists of:

• AM8000 and AM8500 documentation (this manual)• Complete documentation (online and paper) for Beckhoff servo drives available at

www.beckhoff.com.• Complete machine documentation (provided by the machine manufactor)

WARNING

Caution – Risk of injury!Electronic equipment is not fail-safe. The machine manufacturer is responsible for ensuringthat the connected motors and the machine are brought into a safe state in the event of afault in the drive system.

Note

Special safety instructions for AM8000 and AM8500!The general safety instructions [ 11] and the special safety instructions for AM8000 andAM8500 [ 12] sections are also essential. Read carefully!

The servomotors from the AM8000 and AM8500 series are exclusively designed for installation ascomponents in electrical systems or machines and may only be operated as integrated components of thesystem or machine.The motors may only be operated under the ambient conditions defined in this documentation.

http://www.beckhoff.com

Guidelines and Standards


10 Version: 3.4

2 Guidelines and Standards

CAUTION

Danger for personsServomotors of the AM8000 and AM8500 series are not classified as products within themeaning of the EC Machinery Directive. Operation of the servomotors in machines or sys-tems is only permitted once the machine or system manufacturers has provided evidenceof EC conformity of the complete machine or system.

2.1 EC declaration of conformityWe,

Beckhoff Automation GmbH & Co. KGHülshorstweg 2033415 VerlGermany

Hereby declare, under our sole responsibility, that the product range

Motor series AM8000(Types AM801x, AM802x, AM803x, AM804x, AM805x, AM806x, AM807x)

Motor series AM8500(Types AM853x, AM854x, AM855x, AM856x)

The components mentioned herein have been developed, designed and manufactured in accordance withthe Low Voltage Directive 2006/95/EC (until 19.04.2016) and 2014/35/EU (from 20.04.2016) as well as EMCDirective 2004/108/EC (until 19.04.2016) and 2014/30/EU (from 20.04.2016).

The following standards have been used:

Product Standard:EN 61800-3:2004+A1:2012Adjustable speed electrical power drive systems – EMC requirements and specific test methods

Product Standard:EN 60034-1:2010+Corr.:2010Rotating electrical machines – Rating and performance

Attachment of the CE mark: 2016

Issued by:ManagementH. BeckhoffVerl, 21.07.2016

Safety


11Version: 3.4

3 Safety

3.1 Safety instructions

Safety regulations

Please note the following safety instructions and explanations!Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for theapplication. Modifications to hardware or software configurations other than those described in thedocumentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who arefamiliar with the applicable national standards.

Description of symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. Thesafety instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!Failure to follow the safety instructions associated with this symbol directly endangers thelife and health of persons.

WARNING

Risk of injury!Failure to follow the safety instructions associated with this symbol endangers the life andhealth of persons.

CAUTION

Personal injuries!Failure to follow the safety instructions associated with this symbol can lead to injuries topersons.

Attention

Damage to the environment or devicesFailure to follow the instructions associated with this symbol can lead to damage to the en-vironment or equipment.

Note

Tip or pointerThis symbol indicates information that contributes to better understanding.

UL pointerThis symbol indicates important information about the UL-compliant.

Safety


12 Version: 3.4

3.2 Special safety instructions for AM8000 and AM8500The safety instructions are designed to avert danger and must be followed during installation,commissioning, production, troubleshooting, maintenance and trial or test assemblies.The servomotors of the AM8000 and AM8500 series are not designed for stand-alone operation and arealways installed in a machine or system. After installation the additional documentation and safetyinstructions provided by the machine manufacturer must be read and followed.

WARNING

Serious risk of injury through high electrical voltage!• Never open the servomotor when it is live. The measured voltage between terminals U,

V and W must have dropped below 50 V. Opening the devices would invalidate anywarranty and liability claims against Beckhoff Automation GmbH.

• Negligent, improper handling of the servomotor and bypassing of the safety devicescan lead to personal injury or death through electric shock.

• Ensure that the protective conductor is connected properly.• The machine manufacturer must prepare a hazard analysis for the machine, and must

take appropriate measures to ensure that unexpected movements cannot lead to injuryto persons or to material damage.

• Power leads may be live, even if the motor is not running. Never undo the electricalconnections to the motor when it is live. Under unfavourable conditions arcing may oc-cur, resulting in injury and damage to contacts.

• Disconnect the servomotor from the servo drive and secure it against reconnection be-fore working on electrical parts with a voltage > 50 V.

• Due to the DC link capacitors dangerous voltage (> 890VDC) may persist at the DC linkcontacts “ZK+ and ZK- (DC+ and DC-)“ and “RB+ and RB-“ after the servo drive hasbeen disconnected from the mains supply. After disconnecting the servo drive wait atAX5101 - AX5125 and AX520x; 5 minutes, at AX5140/AX5160/AX5172; 15 minutes, atAX5190/AX5191; 30 minutes and at AX5192/AX5193; 45 minutes and measure thevoltage at the DC link contacts ZK+ and ZK- (DC+ and DC-). The device is safe oncethe voltage has fallen below 50 V.

WARNING

Serious risk of injury through hot surfaces!• The surface temperature may exceed 100°C, resulting in a risk of burns.• Avoid touching the housing during or shortly after operation.• Leave the servomotor to cool down for at least 15 minutes after it is switched off.• Use a thermometer to check whether the surface has cooled down sufficiently.

Attention

Danger for persons• Carefully read this manual before using the servomotor thoroughly, paying particular at-

tention to the safety instructions. In the event of any uncertainties please notify yoursales office immediately and refrain from working on the servomotor.

• Only well trained, qualified electricians with sound knowledge of drive equipment maywork on the device.

• During installation it is essential to ensure that the specified ventilation clearances andclimatic conditions are adhered to. Further information can be found in the “Technicaldata” and “Mechanical installation” sections.

• If a servomotor is installed in a machine it must not be commissioned until proof of com-pliance of the machine with the latest version of the EC Machinery Directive has beenprovided. This includes all relevant harmonised standards and regulations required forimplementation of this Directive in national legislation.

Handling


13Version: 3.4

4 Handling

4.1 Transport• Climate category: 2K3 according to EN 60721• Transport temperature: -25 °C - +70 °C, max. fluctuation 20 K/hour• Transport humidity: relative humidity 5% - 95%, non-condensing• The servomotor may only be transported by qualified personnel and in the manufaturer´s original

recyclable packaging.• Avoid hard impacts, particularly at the shaft end.• If the packaging is damaged, check the motor for visible damage. Inform the transport company and, if

necessary, the manufacturer.

4.2 Packaging• Cardboard packaging

Motor type Max. stacking heightAM801x 10AM802x 10AM803x / AM853x 6AM804x / AM854x 6AM805x / AM855x 5AM806x / AM856x 2AM807x 1

4.3 Storage• Climate category: 2K3 according to EN 60721• Storage temperature: -25 °C - +70 °C, max. fluctuation 20 K/hour• Air humidity: relative humidity 5% - 95%, non-condensing• Max. stacking height: see table Packaging• Storage time: without limitation• Store only in the manufacturer’s original recyclable packaging.

Handling


14 Version: 3.4

4.4 Maintenance / Cleaning• Maintenance and cleaning only by qualified personnel.• The ball bearings have a grease filling with a service life of 30,000 hours under normal operating

conditions. The bearings should be replaced after 30,000 hours of operation under rated conditions.• Check the motor for bearing noise every 2,500 operating hours or once per year. If any noises are

heard, stop the operation of the motor. The bearings must be replaced.• In motors with optional shaft seal ring the ring must be lubricated every 5,000 hours. We recommend

„MobilgreaseTM FM 222“ from Mobil.• Opening the motor invalidates the warranty.• Clean the housing with isopropanol or similar.

Attention

Destruction of the servomotorNever immerse or spray the servomotor.

4.5 DisposalIn accordance with the WEEE 2012/19/EU Directives we take old devices and accessories back forprofessional disposal, provided the transport costs are taken over by the sender.

Send the devices with the note “For disposal” to:

Beckhoff Automation GmbH & Co. KGHuelshorstweg 20D-33415 Verl

Product identification


15Version: 3.4

5 Product identification

5.1 AM8000 and AM8500, scope of supplyPlease check that the delivery includes the following items:

• Motor from the AM8000 or AM8500 series• Leaflet (short info)

5.2 AM8000 and AM8500 nameplate

Item number Explanation1 Servomotor type2 Protection class3 Thermo contact type4 Country of manufacture5 Serial number6 Brake type7 UL certification for USA / CAN8 Insulation class9 Rated output10 Nominal speed11 Rated voltage12 Standstill current13 Standstill torque

Product identification


16 Version: 3.4

5.3 Type key AM8000 and AM8500

This matrix should explain the motor flange sizes related to a gearbox mounting.

Motor sizes, named in the same line use the same adapter unit for a gearbox coupling.

Beckhoff Flange size AM3000 AM3100 AM3500 AM8000 AM8100 AM8500F1 AM301x AM311x - AM801x AM811x -F2 AM302x - - AM802x AM812x -Exception - AM312x - - - -F3 AM303x - - AM803x AM813x AM853xF4 AM304x - AM354x AM804x - AM854xF5 - - - AM805x - AM855xException AM305x - AM355x AM805x-xxxx-9 - -F6 AM306x - AM356x AM806x - AM856xF7 AM307x - - AM807x - -Exception AM308x - - - - -

Technical description


17Version: 3.4

6 Technical description

6.1 Design of the motorsThe synchronous servomotors of the AM8000 and AM8500 series are brushless three-phase motors fordemanding servo-applications. In conjunction with our digital servo drives they are particularly suitable forpositioning tasks in industrial robots, machine tools, transfer lines etc. with demanding requirements in termsof dynamics and stability.

The servomotors are equipped with permanent magnets in the rotor. This advanced neodymium magneticmaterial makes a significant contribution to the motors´ exceptional dynamic properties. A three-phasewinding is housed in the stator, and this is powered by the servo drive. The motor has no brushes, thecommutation being implemented electronically in the servo drive.

The winding temperature is measured with a KTY 84.130 PTC silicon sensor and monitored in the servodrive.

The motors are available with or without built-in holding brake. The brake cannot be retrofitted.

The motors have a matt black powder coating (RAL 7016). The finish is not resistant against solvents (e.g.trichloroethylene, thinners or similar).

6.2 General technical dataClimate category 3K3 according to EN 60721Ambient temperature (at rated values) +5 - +40 °C for site altitudes up to 1000 m amsl

It is vital to consult our applications department forambient temperatures above 40 °C and encapsulatedinstallation of the motors.

Permissible humidity (at rated values) 95% relative humidity, non-condensingPower derating (currents and torques) For site altitudes above 1000 m amsl and 40 °C

6% at 2000m amsl17% at 3000m amsl30% at 4000m amsl55% at 5000m amslNo derating for site altitudes above 1000m amsl withtemperature reduction of 10K / 1000m

Ball bearing service life ≥ 30.000 operating hoursTechnical data → see Section 10Storage and transport data → see Section 4



18 Version: 3.4

6.3 Power deratingAmbient temperature

fT = Temperature utilisation factortA = Ambient temperature in °CCalculation of the power data when exceeding thespecified temperature limit > 40 °C up to 55 °C:M0_red = M0 x fT

Installation altitude

fH = Altitude utilisation factorh = Altitude in metresCalculation of the power data when exceeding thespecified installation altitude > 1000 m up to 3000 m:M0_red = M0 x fH

Ambient temperature and installation altitudeCalculation of the power data when exceeding the specified limits:Ambient temperature > 40°C and installation altitude > 1000 m.M0_red = M0 x fT x fH



19Version: 3.4

6.4 Standard features

6.4.1 StyleThe basic style for the AM8000 and AM8500 synchronous servomotors is IM B5 according to DIN EN60034-7.

The permitted mounting positions are specified in the technical data.

Attention

Motor damageTo avoid liquid entry damaging the motor, fluids (i.e. used for cleaning purposes) must beremoved from shaft when motor is mounted according to IM V3.

6.4.2 Shaft end, A-sideLoad transmission occurs force locked (zero-play) with a clutch on the cylindric end of the shaft A oroptionally by keyed connection with feather key groove according to DIN 6885. The lifecycle of the bearingsis 30.000 operating hours.

Radial force If the motor drive via pinions or toothed belts, then high radial forces will occur. The permissible values at theshaft end, depending on the speed, may be read from the diagrams in the Section 10. Please use the forcecalculation program “Beckhoff AM8000-Motors Radial forces, life cycle” available from our website for exactcalculation of the radial forces.

Axial force Axial forces arise when assembling pinions or pulleys on the shaft and using angular gearheads, forexample. Please use the force calculation program “Beckhoff AM8000-Motors Radial forces, life cycle”available from our website for exact calculation of the radial forces.

Coupling Double-coned collets, possibly in association with metal bellows couplings, have proven themselves asexcellent, zero backlash coupling elements.

6.4.3 FlangeFlange dimensions according to IEC standard, fit j6 (h7 at AM801x ), accuracy according to DIN 42955.

Tolerance class : N



20 Version: 3.4

6.4.4 Protection classStandard version - housing IP65 (IP54 at AM801x )Standard version – shaft feedthrough IP54Shaft feedthrough with shaft sealing ring IP65

6.4.5 Overtemperature protectionThe standard version of each motor (not AM801x) is fitted with a KTY 84.130. Provided our preassembledmotor cable is used, the KTY is integrated into the monitoring system of the digital servo amplifiers. Pleaseconfigure the servo drive such that a motor temperature warning is issued at 100°C and the motor isswitched off at 140°C.

6.4.6 Insulation material classThe motors conform to insulation material class F according to IEC 60085 (UL 1446 class F).

6.4.7 Vibration classThe motors are made to vibration class A according to DIN EN 60034-14. For a speed range of 600-3600rpm and a shaft centre height between 54 - 97 mm, this means that the actual value of the permittedvibration severity is 1.6 mm/s.

Speed [rpm] Max. rel. vibration displacement[µm]

Max. run-out [µm]

<= 1800 90 23> 1800 65 16

6.4.8 Vibrations and shocksOCT and Multiturn:Vibration according to EN 60068-2-6 50 g / 10…2000 HzShocks according to EN 60068-2-27 100 g / 6 ms

6.4.9 Connection technologyThe motors are fitted with rotatable, angular connectors for the power supply and the feedback signals (onlyresolver).The mating connectors are not included in the scope of supply. We can supply preassembled feedback (onlyresolver + Hiperface at AM807x) and power cables.



21Version: 3.4

6.4.10 Feedback SystemFeedbacksystem Resolution System accuracy CommentOCT, SingleturnOCT, Multiturn

18 Bit ± 120 Angle sec. Ca. 0,03° Standard:AM801x – AM8x6x

Hiperface 18 Bit ± 120 Angle sec. ca. 0,03° Standard:AM807x

OCT, SingleturnOCT, Multiturn

23 Bit ± 30 Angle sec. ca. 0,005° From Firmware v2.10

Resolver 14 Bit ± 600 Angle sec. ca. 0,17° Option

Note

Feedback exchangeThe feedback system installed can only be replaced with an identical system. Retrofitting adifferent system is not possible.

6.4.11 Holding brake

WARNING

Serious risk of injury!The holding brake is not personal safety. If the brake is released then the rotor can bemoved without a remanent torque!

The motors are optionally available with an in built holding brake. The permanent magnet brake blocks therotor in de-energised state. The holding brakes are designed as standstill brakes and are not suited forrepeated operational braking.

The holding brakes can be controlled directly by the servo drive (no personal safety!). The brake voltage isthen switched off in the servo drive – no additional wiring is required. If the holding brake is not controlleddirectly by the servo drive , additional circuitry (e.g. R/C or diode) is required. Consult our applicationsdepartment beforehand.

The maximum number of brake cycles is 10 million.

Note

Motor lengthThe motor length depends on the built-in holding brake, among other factors. It is not possi-ble to fit one at a later date.

6.4.12 Pole numberMotor Poles Motor PolesAM801x 6 AM805x, AM855x 8AM802x 6 AM806x, AM856x 10AM803x, AM853x 8 AM807x 10AM804x, AM854x 8



22 Version: 3.4

6.5 OptionsHolding brake The holding brake is integrated in the motor. It increases the motor length and the rotor moment of inertia.

Radial shaft-sealing ringRadial shaft-sealing ring (FKM) for sealing against splash water. This increases the protection class of theshaft busching to IP65.

Father keyThe motors are available with feather key groove and fitted feather key according to DIN 6885. The rotor isbalanced with half a feather key.

Resolver

This model features a different feedback system in place of the OCT or the hiperface.

Note

Installation options and reduction of rated values• With the exception of the sealing ring, the options cannot be retrofitted.• The option sealing ring can lead to a reduction oft he rated data.

6.6 Selection criteriaThe three-phase servomotors are designed for operation with the servo drive. Both together form a speed ortorque control loop.

The main selection criteria are:

• Standstill torque M0 [Nm]• Maximal torque Mmax [Nm]• Rated speed at rated supply voltage nn [min-1]• Moment of inertia of motor and load J [kgcm²]• Effective torque (calculated) Mrms [Nm]

The static load and the dynamic load (acceleration/braking) must be taken into account in the calculation ofthe required motors and the servo drive. Formulas and calculation example are available from ourapplications department on request.



23Version: 3.4

6.7 Transport, assembly and disassembly

CAUTION

Personal injuries!Protective clothing, protective gloves and safety boots must be worn at all times duringtransport, assembly and disassembly. Do not step under suspended motors.

The motors of the AM8x1x to AM8x5x series can be moved without auxiliary equipment.

The motors of the AM8x6x series can be moved with loopbelts.

The motors of the AM807x series are equipped with eyebolts as standard. These eyebolts are suitable forcrane hooks.

Mechanical installation


24 Version: 3.4

7 Mechanical installation

7.1 Important notes

Attention

Motor damage• Take care, especially during transport and handling that components are not bent and

that insulation clearances are not altered.• The site must be free of conductive and aggressive material. For V3-mounting (shaft

end upwards), make sure that no liquids can enter the bearings. If an encapsulated as-sembly is required, please consult our applications department beforehand.

• Ensure unhindered ventilation of the motors and observe the permissible ambient andflange temperatures. For ambient temperatures above 40 °C please consult our appli-cations department beforehand.

• Servomotors are precision devices.The flange and shaft are especially vulnerable dur-ing storage and assembly.It is important to use the locking thread which is provided totighten up couplings, gear wheels or pulleys and warm up the drive components, wherepossible.Blows or the use of force will lead to damage to the ball bearings, shaft, hold-ing brake and feedback System.

• Wherever possible, use only backlash-free, frictionally-locking collets or couplings. En-sure correct alignment of the couplings. A displacement will cause unacceptable vibra-tion and the destruction of the ball bearings and the coupling.

• For toothed belts, it is vital to observe the permissible radial forces. An excessive radialload on the shaft will significantly shorten the life of the Motor.

• Avoid axial loads on the motor shaft, as far as possible. Axial loading significantly short-ens the life of the Motor. Furthermore, it must be ensured that when using a collet, themotor shaft is degreased.

• In any case, avoid creating a mechanically constrained motor shaft mounting by using arigid coupling with additional external bearings (e.g. in a gearbox).

• Take note of the no. of motor poles and the no. of resolver poles and ensure that thecorrect setting is made in the used servo terminals. An incorrect setting can lead to thedestruction of the motor, especially with small Motors.

• Check compliance the permitted radial and axial loads FR and FA.When using a toothedbelt drive, the minimum permitted diameter of the pinion follows from the equation:

Mechanical installation


25Version: 3.4

7.2 Flange mountsMotor Bore diameter

[mm]Cheese head screwDIN EN ISO 4762(8.8)

Tightening torque[Nm]

Plain washer DINEN ISO 7089

AM801x 4,3 M4x16 3 4,3AM802x 5,5 M5x16 5,5 5,3AM8x3x 6,0 M5x16 5,5 5,3AM8x4x 7,0 M6x20 10,0 6,4AM8x5x 9,0 M8x25 25,0 8,3AM8x6x 11,0 M10x30 50,0 10,5AM807x 13,5 M12x40 85,0 13,0

Electrical installation


26 Version: 3.4

8 Electrical installation

8.1 Important notes

DANGER

Serious risk of injury through electric shock!• Only staffs qualified and trained in electrical engineering are allowed to wire up the mo-

tor.• Check the assignment of the servo drive and the motor. Compare the rated voltage and

the rated current of the devices.• Always make sure that the motors are de-energised during assembly and wiring, i.e. no

voltage may be switched on for any piece of equipment which is to be connected. En-sure that the control cabinet remains turned off (barrier, warning signs etc.). The individ-ual voltages will only be turned on again during commissioning.

• Due to the DC link capacitors dangerous voltage (> 890VDC) may persist at the DC linkcontacts “ZK+ and ZK- (DC+ and DC-)“ and “RB+ and RB-“ after the servo drive hasbeen disconnected from the mains supply. After disconnecting the servo drive wait atAX5101 - AX5125 and AX520x; 5 minutes, at AX5140/AX5160/AX5172; 15 minutes, atAX5190/AX5191 30; minutes and at AX5192/AX5193; 45 minutes and measure thevoltage at the DC link contacts ZK+ and ZK- (DC+ and DC-). The device is safe oncethe voltage has fallen below 50 V.

Attention

Failure-free operation• Ensure that the servo drive and the motor are earthed properly. See below for further

information regarding EMC shielding and earthing. Earth the mounting plate and motorhousing. Further details of connection types can be found in section 8.2.

• Only use cables approved by Beckhoff for operating the AM8000 and AM8500 with the„one-cable technology“ (OCT).

• Route the power and control cables as separately as possible from one another (sepa-ration > 20 cm). This will improve the immunity of the system to electromagnetic inter-ference. If a motor power cable is used which includes integral brake control leads, thenthese brake control leads must be shielded. The shielding must be connected at bothends (see Section 8.3 – 8.6).

• Install all cables carrying a heavy current with an adequate cross-section, as per EN60204. The recommended cross-section can be found in the technical data of the ca-bles.

• Wiring:

ð Connect the feedback cable

ð Connect the motor cables

ð Connect shields to shield terminals or EMC connectors at both ends

ð Connect the motor holding brake

Attention

HF interference• The ground symbol, which you will find in the wiring diagrams, indicates that you must

provide an electrical connection, with as large a surface area as possible, between theunit indicated and the mounting plate in the control cabinet. This connection is to sup-press HF interference and must not be confused with the PE (protective earth) symbol(protective measure according to EN 60204). Follow the instructions in the circuit dia-grams in Sections 8.3 to 8.6.



27Version: 3.4

Note

Motor cable length at servo drives up to 25 AMotors with max. 400 V rated voltage:If the length of the motor cable is ≥ 25 m, then a motor choke is required for each motor.Motors with max. 480 V rated voltage:If the length of the motor cable is > 20 m, then a motor choke is required for each motor.The control cabinet should then have adequate space for motor chokes. In exceptionalcases (sensitive sensors etc.) it can be necessary to use a motor choke even for motor ca-ble lengths < 25 / 20 m. The motor choke is supplied with a connection cable. Do not alterthe configuration (cable length, cross-section etc.).

8.2 Connection of motors with preassembled cablesBeckhoff offers preassembled motor and feedback cables for safe, faster and flawless installation of themotors. Beckhoff cables have been tested with regard to the materials, shielding and connectors used. Theyensure proper functioning and compliance with statutory regulations such as EMC, UL etc. The use of othercables may lead to unexpected interference and invalidate the warranty.

• Carry out the wiring in accordance with the valid standards and regulations.• Only use our preassembled shielded cables for the power and feedback connections.• Connect up the shielding according to the wiring diagrams in sections 8.3 to 8.12. Incorrectly installed

shielding inevitably leads to EMC interference.

Detailed specifications of the cables can be found on our homepage underDownload→ Documentation→ Drive Technology→ Cables.



28 Version: 3.4

Power box of the servomotor with iTec connector

Align the iTec connector (item 1) with the power boxof the servomotor (item 2). The iTec connector (item1) should fully enclose the silver-colored housing ofthe power box (item 2).Note!:Avoid contamination of or damage to the poles andthe interior of the box and the connector!

When connecting the two components, make surethat both marking points (item 3) (white marking pointon the iTec connector, recessed grey marking pointon the power box) face each other.

Now push the iTec connector onto the power box ofthe servomotor. This procedure causes the iTecconnector to turn. After the rotary motion the iTecconnector engages on the power box of theservomotor.Note!:When the connector engages on the power box, a“click” sound can be heard. This indicates that thecomponents were installed correctly.

If the iTec connector cannot easily be pushed ontothe power box and made to engage, manually turnthe white marking point into the correct position (seeFig. 2 and 3).



29Version: 3.4

iTec extension cable

Connecting the plug connection

Align the two plug connector (1) and (2)such that the white marking point (3) and thearea (4) line up. Push the two plugconnectors together in the direction of thearrow. Ensure that the black locking ring (5)can turn freely. Press the two plugconnectors together until the locking point isreached.Note!:When the connector engages, a “click”sound can be heard. This indicates that thecomponents were installed correctly.If the connector does not engageautomatically, manually turn the whitemarking point into the correct position.

To disconnect the plug connection

Hold the plug connector (2), turn the blacklocking ring (1) downwards in the direction ofthe arrow and hold it in this position. Nowpull the plug connector (2) apart to the left inthe direction of the arrow.



30 Version: 3.4

8.3 AX5000 connection diagram for motors with OCT andiTec-plug

Servo drives: AX5101 – AX5112 and AX52xxMotors: AM801x – AM803x and AM853x



31Version: 3.4

8.4 AX5000 connection diagram for motors with OCT-Feedback

Servo drives: AX5101 – AX5112 and AX52xxMotors: AM804x – AM806x and AM854x – AM856x (until P winding)



32 Version: 3.4


Servo drives: AX5118 - AX5125Motors: AM804x – AM806x and AM854x – AM856x (until P winding)



33Version: 3.4


Servo drive: AX5125Motors: AM806x, AM856x (from Q-winding) and AM807x



34 Version: 3.4


Servo drive: AX5140Motors: AM806x, AM856x (from Q-winding) and AM807x



35Version: 3.4

8.8 AX5000 connection diagram for motors with resolverand yTec-plug

Servo drives: AX5101 – AX5112 and AX52xxMotors: AM802x – AM803x and AM853x



36 Version: 3.4

8.9 AX5000 connection diagram for motors with resolverServo drives: AX5101 – AX5112 and AX52xxMotors: AM804x – AM806x and AM854x – AM856x (until P-winding)



37Version: 3.4

8.10 AX5000 connection diagram for motors with resolverServo drives: AX5118 – AX5125Motors: AM804x – AM806x and AM854x – AM856x (until P-winding)



38 Version: 3.4

8.11 AX5000 connection diagram for motors with resolverServo drive: AX5125Motors: AM806x, AM856x (from Q-winding) and AM807x



39Version: 3.4

8.12 AX5000 connection diagram for motors with resolverServo drive: AX5140Motors: AM806x, AM856x (from Q-Winding) and AM807x



40 Version: 3.4

8.13 AX5000 connection diagram for motors with resolverServo drives: AX5160 and AX5172Motors: AM806x, AM856x (from Q-winding) and AM807x



41Version: 3.4

8.14 AX5000 connection diagram for motors with HiperfaceServo drives: AX5160 and AX5172Motors: AM806x, AM856x (from Q-winding) and AM807x

Comissioning


42 Version: 3.4

9 Comissioning

9.1 Important notes

DANGER

Serious risk of injury!• Only specialist personnel with extensive knowledge in the areas of electrical engineer-

ing / drive technology are allowed to install and commission the equipment.• Check that all live connection points are protected against accidental contact. Danger-

ous voltages can occur, up to 890 VDC.• Due to the DC link capacitors dangerous voltage (> 890 VDC) may persist at the DC link

contacts “ZK+ and ZK- (DC+ and DC-)“ and “RB+ and RB-“ after the servo drive hasbeen disconnected from the mains supply. After disconnecting the servo drive wait atAX5101 - AX5125 and AX520x; 5 minutes, at AX5140/AX5160/AX5172; 15 minutes, atAX5190/AX5191; 30 minutes and at AX5192/AX5193; 45 minutes and measure thevoltage at the DC link contacts ZK+ and ZK- (DC+ and DC-). The device is safe oncethe voltage has fallen below 50 V.

• The surface temperature of the motor can exceed 100 °C in operation. Check (mea-sure) the temperature of the motor. Wait until the motor has cooled down below 40 °Cbefore touching it.

• Make sure that, even if the drive starts to move unintentionally, no danger can result forpersonnel or machinery.

9.2 Guide for commissioningThe procedure for commissioning is describe as an example.A different method may be appropriate or necessary, depending on the application of the equipment.

• Check the assembly and orientation of the motor.• Check the drive components (coupling, gear unit, pulley) for the correct seating and setting (observe

the permissible radial and axial forces).• Check the writing and connections to the motor and the servo drive. Check that the earthing is correct.• Test the function of the holding brake, if used (apply 24VDC. the brake must be released).• Check whether the rotor of the motor revolves freely (release the brake, if necessary). Listen out for

grinding noises.• Check that all the required measures against accidental contact with live and moving parts have been

carried out.• Carry out any further tests which are specifically required for your system.• Now commission the drive according to the commissioning instructions for the servo drive.• In multi-axis systems, individually commission each drive unit (servo drive/motor(s)).

Comissioning


43Version: 3.4

9.3 TroubleshootingThe following table is to be seen as a “First Aid” box. There can be a large number of different reasons for afault, depending on the particular conditions in your system. The fault causes described below are mostlythose which, directly influence the motor. Peculiarities which show up in the control behaviour can usually betraced back to an error in the parameterization of the servo drive. The documentation for the servo drive andthe commissioning software provides information of these matters.

For multi-axis systems there may be further hidden reasons for faults.

Our application department can give you further help with your problems.

Fault Possible cause Measures to remove the causeof the fault

Motor doesn´t rotate Servo drive not enabledBreak in setpoint leadMotor phases in wrong sequenceBrake not releasedDrive is mechanically blocked

Supply ENABLE signalCheck setpoint leadCorrect the phase sequence

Check brake controlCheck mechanism

Motor runs away Motor phases in wrong sequence Correct the phase sequenceMotor oscillates Break in the shielding of the

feedback cableAmplification to high

Replace feedback cable

Use motor default valuesError message: brake Short-circuit in the supply voltage

lead to the motor holding brakeFaulty motor holding brake

Remove the short circuit

Replace motorError message: output stage fault Motor cable has short circuit or

earth leakageMotor has short circuit or earthleakage

Replace motor cable

Replace motor

Error-message: feedback Connector is not properly pluggedin Break in cable, cable crushed orsimilar

Check connector

Check cables

Error-message: motor temperature Motor thermostat has switchedLoose connector or break in cable

Wait until the motor has cooleddown. Then investigate why themotor becomes so hot.Check connector, replace cable ifnecessary

Brake does not grip Required holding torque too highBrake faulty

Check the dimensioningReplace motor

Technical data


44 Version: 3.4

10 Technical dataAll data, excluding the voltage constant, valid for 40 °C ambient temperature and 100 K overtemperature ofthe winding. The data can have a tolerance of +/- 10%.If a gear unit is attached the power may be reduced by up to 20%. This loss in performance has thermalreasons, since a gear unit that is subject to warming is installed at the motor flange intended for heatdissipation.

Term definitions

Standstill torque M0 [Nm]The standstill torque can be maintained indefinitely at a speed n < 100 rpm and rated ambient conditions.

Rated torque Mn [Nm]The rated torque is produced when the motor is drawing the rated current at the rated speed. The ratedtorque can be produced indefinitely at the rated speed in continuous operation (S1).

Standstill current I0rms [A]The standstill current ist he effective sinusoidal current which the motor draws at n < 100 rpm to produce thestandstill torque.

Peak current (pulse current) I0max [A]The peak current (effective sinusoidal value) is approximately equivalent to 5-times the rated standstillcurrent (3-times at AM806x, AM807x and AM856x). The configured peak current of the servo drive usedmust be smaller.

Torque constant KTrms [Nm/A]The torque constant defines how much torque in Nm is produced by the motor with standstill current. Therelationship is M0=I0 x KT.

Voltage constant KErms [mVmin]The voltage constant defines the induced motor EMF, as an effective sinusoidal value between twoterminals, at 20 °C per 1000 rpm.

Rotor moment of inertia J [kgcm²]The constant J is a measure of the acceleration capability of the motor. For instance, at l0 the accelerationtime tb from 0 to 3000 rpm is given as:

with M0 in Nm and J in kgcm2

Thermal time constant tTH [min]The constant tTH defines the time for the cold motor, under a load of l0 to heat up to an overtemperature of0,63 x 100 Kelvin.This temperature rise happens in a much shorter time when the motor is loaded with the peak current.

Release delay time tBRH [ms] / Application delay time tBRL [ms] of the brakeThese constants define the response times of the holding brake when operated with the rated voltage fromthe servo drive.

Winding inductance L [mH]The winding inductance is an specification of the motor inductance. This is get as an average value on twoenergized phases at 1 KHz. The saturation of the motor must be take into account.

Technical data


45Version: 3.4

10.1 AM801xTechnical data Symbol [Unit] AM80xx

11B 12C 13DElectrical data

Standstill torque* M0 [Nm] 0,20 0,38 0,52Standstill current Iorms [A] 0,76 1,30 1,65Max. mechanical speed Nmax [min-1] 10.000Max. rated mains voltage UN [VAC] 250

UN= 115V Rated speed Nn [min-1] 3500 4000 3500Rated torque* Mn [Nm] 0,19 0,35 0,49Rated output Pn [kW] 0,07 0,15 0,18

UN= 230V Rated speed Nn [min-1] 8000 8000 8000Rated torque* Mn [Nm] 0,18 0,33 0,45Rated output Pn [kW] 0,15 0,28 0,38Peak current I0max [A] 2,30 4,55 5,90Peak torque M0max [Nm] 0,68 1,37 2,04Torque constant KTrms [Nm/A] 0,263 0,292 0,315Voltage constant KErms [mVmin] 19 19,2 22,7Winding resistancePh-Ph

R20 [Ω] 34,50 15,00 11,50

Winding inductancePh-Ph**

L [mH] 21,00 10,50 9,00

Connector plug iTec

*reference flange aluminium 130 mm x 230 mm x 10 mm.**measured at 1kHz.The installation of a shaft seal ring leads to a reduction of the rated values.

Mechanical data AM8011 AM8012 AM8013Rotor moment of inertia (without brake) J [kgcm2] 0,0339 0,0527 0,0715Rotor moment of inertia (with brake) J [kgcm2] 0,0566 0,0754 0,0942Pole number 6 6 6Static friction torque MR [Nm] 0,0009 0,0018 0,0027Thermal time constant tTH [min] 9 9 10Weight (without brake) G [kg] 0,55 0,64 0,79Weight (with brake) G [kg] 0,74 0,86 0,98

Permitted radial force at shaft end FR [N] see 10.1.2Permitted axial force FA [N]

Data for optional brake

Data Symbol [Unit] AM801xHolding torque at 120°C MBR [Nm] 0,6Supply voltage UBR [VDC] 24 +6 -10%Electrical power PBR [W] 10Current Ion [A] 0,3Release delay time tBRH [ms] 14Application delay time tBRL [ms] 8

Technical data


46 Version: 3.4

10.1.1 Dimensional drawing AM801x

10.1.2 Radial / axial forces at the shaft end

10.1.3 Characteristic torque / speed curvesCharacteristic torque / speed curves can be found on the Beckhoff-website under Motion

http://www.beckhoff.de/german/download/drives.htm?id=34712042472

Technical data


47Version: 3.4

10.2 AM802xTechnical data Symbol

[Unit]AM80xx

21B 21D 22D 22E 23E 23FElectrical data

Standstill torque* M0 [Nm] 0,50 0,50 0,80 0,80 1,20 1,20Standstill current Iorms [A] 0,85 1,60 1,50 2,44 2,20 3,40Max. mechanical speed Nmax [min-1] 12000Max. rated mains voltage UN [VAC] 480

UN= 115V Rated speed Nn [min-1] 1500 3500 2000 4000 2000 3500Rated torque* Mn [Nm] 0,50 0,50 0,78 0,76 1,15 1,16Rated output Pn [kW] 0,08 0,18 0,16 0,32 0,24 0,43



UN= 480V Rated speed Nn [min-1] 9000 9000 9000 9000 9000 9000Rated torque* Mn [Nm] 0,50 0,50 0,65 0,65 0,90 0,90Rated output Pn [kW] 0,47 0,47 0,61 0,61 0,85 0,85Peak current I0max [A] 4,90 8,60 7,70 12,60 11,40 17,70Peak torque M0max [Nm] 2,68 2,67 4,18 4,18 6,36 6,37Torque constant KTrms [Nm/A] 0,588 0,313 0,533 0,328 0,545 0,353Voltage constant KErms [mVmin] 42 23 41 25 43 25Winding resistance

Ph-Ph

R20 [Ω] 39,40 12,80 13,20 5,10 8,50 3,60

Winding inductance

Ph-Ph**

L [mH] 67,0 21,6 30,1 11,2 20,8 8,7

Connector plug iTec


Mechanical data AM8021 AM8022 AM8023Rotor moment of inertia (without brake) J [kgcm2] 0,139 0,258 0,378Rotor moment of inertia (with brake) J [kgcm2] 0,208 0,328 0,448Pole number 6 6 6Static friction torque MR [Nm] 0,002 0,004 0,006Thermal time constant tTH [min] 10 13 16Weight (without brake) G [kg] 1,00 1,30 1,70Weight (with brake) G [kg] 1,16 1,66 1,96



Data Symbol [Unit] AM802xHolding torque at 120°C MBR [Nm] 2,0Supply voltage UBR [VDC] 24 +6 -10%Electrical power PBR [W] 10Current Ion [A] 0,3Release delay time tBRH [ms] 25Application delay time tBRL [ms] 8

Technical data


48 Version: 3.4




http://www.beckhoff.de/german/download/drives.htm?id=34712042472

Technical data


49Version: 3.4

10.3 AM803x and AM853xTechnical data Symbol

[Unit]AM80xx / AM85xx

31C 31D 31F 32D 32E 32H 33E 33F 33JElectrical data

Standstill torque* M0 [Nm] 1,37 1,38 1,40 2,38 2,37 2,37 3,20 3,22 3,22Standstill current Iorms [A] 1,00 1,95 3,20 1,70 2,95 5,10 2,10 4,10 6,80Max. mechanical speed Nmax [min-1] 10000Max. rated mains voltage UN [VAC] 480

UN= 115V Rated speed Nn [min-1] 400 1400 2700 600 1400 2700 600 1400 2700Rated torque* Mn [Nm] 1,36 1,38 1,37 2,37 2,34 2,29 3,15 3,10 3,05Rated output Pn [kW] 0,06 0,20 0,39 0,15 0,34 0,65 0,20 0,45 0,86



UN= 480V Rated speed Nn [min-1] 3400 6800 9000 3400 6800 9000 3400 6800 9000Rated torque* Mn [Nm] 1,33 1,32 1,30 2,26 2,10 1,85 2,95 2,60 2,30Rated output Pn [kW] 0,47 0,94 1,23 0,80 1,50 1,74 1,05 1,85 2,17Peak current I0max [A] 5,50 10,70 17,60 9,60 17,20 29,50 12,90 24,60 39,80Peak torque M0max [Nm] 6,10 6,07 6,07 11,66 11,66 11,65 17,19 17,71 17,22Torque constant KTrms [Nm/A] 1,37 0,71 0,44 1,40 0,80 0,46 1,52 0,78 0,47Voltage constant KErms [mVmin] 99 50 30 100 56 32 106 57 34Winding resistance

Ph-Ph

R20 [Ω] 51,00 12,60 5,0 21,00 6,50 2,20 13,20 3,90 1,35

Winding inductance

Ph-Ph**

L [mH] 134 36,0 13,3 71,9 22,6 7,7 46,3 14,0 4,9

Connector plug iTec


Mechanical data AM8031 AM8531 AM8032 AM8532 AM8033 AM8533Rotor moment of inertia (without brake) J [kgcm2] 0,467 1,67 0,847 2,05 1,23 2,44Rotor moment of inertia (with brake) J [kgcm2] 0,546 1,76 0,926 2,15 1,46 ---Pole number 8 8 8 8 8 8Static friction torque MR [Nm] 0,009 0,009 0,015 0,015 0,020 0,020Thermal time constant tTH [min] 24 24 26 26 28 28Weight (without brake) G [kg] 1,80 2,40 2,40 3,00 3,00 3,60Weight (with brake) G [kg] 2,20 2,60 2,80 3,30 3,60 ---Permitted radial force at shaft end FR [N] siehe 10.3.2Permitted axial force FA [N]


Data Symbol [Unit] AM8031 / AM8032AM8531 / AM8532

AM8033

Holding torque at 120°C MBR [Nm] 2,0 3,5Supply voltage UBR [VDC] 24 +6 -10% 24 +6 -10%Electrical power PBR [W] 11 12Current Ion [A] 0,33 0,36Release delay time tBRH [ms] 25 35Application delay time tBRL [ms] 8 15

Technical data


50 Version: 3.4

10.3.1 Dimensional drawing AM803x and AM853x

Optional: Feather keyMotor type Y Z (brake)

A 8031M 129 168

A 8032M 154 194

A 8033M 180 229

A 8531M 168 194

A 8532M 194 229

A 8533M 229 ---

24,4

72

Ø75

Ø60 j6

23,5

2,5

7

30 Y (Z) ±1

Ø14

k6

4x Ø6

2055

N9

16

25

19

M5 x 12,5



Technical data


51Version: 3.4



41D 41E 41H 42E 42F 42J 43E 43H 43KElectrical data





UN= 480V Rated speed Nn [min-1] 3400 6800 8000 2800 5700 8000 2800 5700 8000Rated torque* Mn [Nm] 2,29 2,27 2,10 3,87 3,64 3,10 5,30 4,88 4,10Rated output Pn [kW] 0,82 1,62 1,76 1,13 2,17 2,60 1,55 2,91 3,43Peak current I0max [A] 8,30 13,6 23,30 11,80 22,70 37,60 16,60 31,00 53,90Peak torque M0max [Nm] 9,67 9,14 9,14 18,94 18,90 18,89 29,33 29,25 29,25Torque constant KTrms [Nm/A] 1,43 0,81 0,45 1,90 1,00 0,59 1,94 1,04 0,60Voltage constant KErms [mVmin] 101,0 56,00 33,00 128,0 68,00 41,00 131,0 73,00 42,00Winding resistance

Ph-Ph

R20 [Ω] 22,50 6,10 2,21 14,20 3,70 1,40 8,90 2,40 0,83

Winding inductance

Ph-Ph**

L [mH] 83,1 25,0 8,5 64,9 17,4 6,3 42,0 11,7 3,9

Connector plug M23-speedtec®


Mechanical data AM8041 AM8541 AM8042 AM8542 AM8043 AM8543Rotor moment of inertia (without brake) J [kgcm2] 1,09 4,62 1,98 5,51 2,87 6,41Rotor moment of inertia (with brake) J [kgcm2] 1,73 5,27 2,63 6,17 3,52 ---Pole number 8 8 8 8 8 8Static friction torque MR [Nm] 0,020 0,020 0,027 0,027 0,035 0,035Thermal time constant tTH [min] 30 30 33 33 36 36Weight (without brake) G [kg] 2,80 3,80 3,80 4,90 4,90 6,00Weight (with brake) G [kg] 3,60 4,50 4,70 5,70 5,80 ---Permitted radial force at shaft end FR [N] see 10.4.2Permitted axial force FA [N]


Daten Symbol [Einheit] AM804x / AM854xHolding torque at 120°C MBR [Nm] 9Supply voltage UBR [VDC] 24 +6 -10%Electrical power PBR [W] 18Current Ion [A] 0,54Release delay time tBRH [ms] 40Application delay time tBRL [ms] 20

Technical data


52 Version: 3.4




Technical data


53Version: 3.4



51E 51G 51K 52F 52J 52L 53G 53K 53NElectrical data






Ph-Ph

R20 [Ω] 11,40 3,60 1,14 8,50 2,30 0,70 5,10 1,40 0,45

Winding inductance

Ph-Ph**

L [mH] 42,7 14,4 4,6 36,9 10,5 3,2 23,7 6,6 2,1

Connector plug M23-speedtec®

*reference flange aluminium 305 mm x 305 mm x 12,7 mm.**measured at 1kHz.The installation of a shaft seal ring leads to a reduction of the rated values.

Mechanical data AM8051 AM8551 AM8052 AM8552 AM8053 AM8553Rotor moment of inertia (without brake) J [kgcm2] 2,25 8,75 4,09 10,60 5,93 12,40Rotor moment of inertia (with brake) J [kgcm2] 2,91 9,41 4,75 11,30 7,04 ---Pole number 8 8 8 8 8 8Static friction torque MR [Nm] 0,021 0,021 0,036 0,036 0,050 0,050Thermal time constant tTH [min] 31 31 38 38 40 40Weight (without brake) G [kg] 4,10 5,50 5,70 7,00 7,40 8,80Weight (with brake) G [kg] 4,90 6,30 6,60 7,90 8,40 ---




AM8053

Holding torque at 120°C MBR [Nm] 9 13Supply voltage UBR [VDC] 24 +6 -10% 24 +6 -10%Electrical power PBR [W] 18 17Current Ion [A] 0,54 0,51Release delay time tBRH [ms] 40 45Application delay time tBRL [ms] 20 20

Technical data


54 Version: 3.4


Technical data


55Version: 3.4

10.5.2 Dimensional drawing AM805x-9000 and AM855x-9000The flange is compatible for Beckhoff servo motors AM3000.



Technical data


56 Version: 3.4



61G 61J 61M 62J 62L 62P 63K 63N 63RElectrical data






Ph-Ph

R20 [Ω] 7,00 1,85 0,66 2,95 0,75 0,28 1,95 0,45 0,18

Winding resistance

Ph-Ph**

L [mH] 53,7 14,2 5,1 27,0 6,8 2,5 18,0 4,2 1,6

Connector plug M23-speedtec® M40-speedt

ec®


Mechanical data AM8061 AM8561 AM8062 AM8562 AM8063 AM8563Rotor moment of inertia (without brake) J [kgcm2] 11,10 48,20 20,00 57,10 29,00 66,10Rotor moment of inertia (with brake) J [kgcm2] 13,40 50,60 22,30 59,60 34,90 ---Pole number 10 10 10 10 10 10Static friction torque MR [Nm] 0,045 0,045 0,102 0,102 0,150 0,150Thermal time constant tTH [min] 35 35 38 38 41 41Weight (without brake) G [kg] 9,80 13,20 13,60 17,00 17,40 20,90Weight (with brake) G [kg] 11,60 14,80 15,40 18,70 20,10 ---Permitted radial force at shaft end FR [N] see 10.6.2Permitted axial force FA [N]



AM8063

Holding torque at 120°C MBR [Nm] 20 36Supply voltage UBR [VDC] 24 +6 -10% 24 +6 -10%Electrical power PBR [W] 24 26Current Ion [A] 0,72 0,79Release delay time tBRH [ms] 60 120Application delay time tBRL [ms] 40 45

Technical data


57Version: 3.4


Technical data


58 Version: 3.4

10.6.2 Dimensional drawing AM8063 and AM8563 with R winding



Technical data


59Version: 3.4

10.7 AM807xTechnical data Symbol

[Unit]AM80xx

71K 71N 71R 72L 72P 72T 73N 73Q 73T 74N 74R 74TElectrical data

Standstill torque* M0 [Nm] 31.8 31.8 29.0 54.6 54.6 50.0 72.6 72.6 70.0 92.0 92.0 92.0Standstill current Iorms [A] 9.6 17.8 28.2 11.1 20.6 39.0 14.7 27.9 45.6 17.9 34.9 49.8Max. mechanical speed Nmax [min-1] 5000Max. rated mains voltage UN [VAC] 480

UN= 115V Rated speed Nn [min-1] 350 700 1400 200 400 1000 200 500 1000 250 500 750Rated torque* Mn [Nm] 30.6 29.2 22.5 54.5 53.5 41.0 70.5 66.5 48.0 85,0 82,5 75,0Rated output Pn [kW] 1.12 2.14 3.30 1.14 2.24 4.29 1.48 3.48 5.03 2,30 4,32 5,89



UN= 480V Rated speed Nn [min-1] 1700 3300 4500 1100 2200 3300 1100 2200 3300 1200 2300 2800Rated torque* Mn [Nm] 25.7 18.2 5.0 47.6 35.9 8.0 57.0 35.4 6.2 61,0 24,0 9,80Rated output Pn [kW] 4.58 6.29 2.36 5.48 8.27 2.76 6.57 8.16 2.14 7,65 5,78 2,9Peak current I0max [A] 25.9 49.0 81.8 36.3 66.1 120 51.3 97.4 180 66.7 129 180Peak torque M0max [Nm] 80.00 79.91 78.0 172.5 172.5 169.0 275.0 275.3 268.0 355 356 355Torque constant KTrms [Nm/A] 3.31 1.78 1.02 4.91 2.65 1.28 4.93 2.60 1.53 5.1 2.6 1.85Voltage constant KErms

[mVmin]231 122 70 328 180 100 347 183 104 343 177 127

Winding resistance

Ph-Ph

R20 [Ω] 1.60 0.45 0.16 1.22 0.39 0.12 0.85 0.25 0.07 0.65 0.17 0.08

Winding resistance

Ph-Ph**

L [mH] 23.4 6.5 2.2 21.4 6.45 1.85 14.6 4.07 1.11 10.8 2.9 1.48

Connector plug M40-speedtec® T***

*reference flange aluminium 375 mm x 601 mm x 10 mm.**measured at 1kHz.***T = Terminal boxThe installation of a shaft seal ring leads to a reduction of the rated values.

Mechanical data AM8071 AM8072 AM8073 AM8074Rotor moment of inertia (without brake) J [kgcm2] 49.600 92.200 135.000Rotor moment of inertia (with brake) J [kgcm2] 68.300 110.900 153.600Pole number 10 10 10Static friction torque MR [Nm] 0.14 0.22 0.30Thermal time constant tTH [min] 70 80 90Weight (without brake) G [kg] 23.80 33.20 44.80Weight (with brake) G [kg] 29.30 38.70 50.30



Data Symbol [Unit] AM807xHolding torque at 120°C MBR [Nm] 70Supply voltage UBR [VDC] 24 +6 -10%Electrical power PBR [W] 40Current Ion [A] 1.21Release delay time tBRH [ms] 200Application delay time tBRL [ms] 50

Technical data


60 Version: 3.4


10.7.2 Dimensional drawing AM807x (OCT)

Technical data


61Version: 3.4

10.7.3 Dimensional drawing AM8074 (Terminal box)

10.7.3.1 Assignment planning of the Terminal box

Assignment planning Terminal CableB- 6B+ 5T- 8T+ 7PE Green/YellowW 3V 2U 1

Technical data


62 Version: 3.4



Appendix


63Version: 3.4

11 Appendix

11.1 Support and ServiceBeckhoff and their partners around the world offer comprehensive support and service, making available fastand competent assistance with all questions related to Beckhoff products and system solutions.

Beckhoff's branch offices and representatives

Please contact your Beckhoff branch office or representative for local support and service on Beckhoffproducts!

The addresses of Beckhoff's branch offices and representatives round the world can be found on her internetpages:http://www.beckhoff.com

You will also find further documentation for Beckhoff components there.

Beckhoff Headquarters

Beckhoff Automation GmbH & Co. KG

Huelshorstweg 2033415 VerlGermany

Phone: +49(0)5246/963-0Fax: +49(0)5246/963-198e-mail: [email protected]

Beckhoff Support

Support offers you comprehensive technical assistance, helping you not only with the application ofindividual Beckhoff products, but also with other, wide-ranging services:

• support• design, programming and commissioning of complex automation systems• and extensive training program for Beckhoff system components

Hotline: +49(0)5246/963-157Fax: +49(0)5246/963-9157e-mail: [email protected]

Beckhoff Service

The Beckhoff Service Center supports you in all matters of after-sales service:

• on-site service• repair service• spare parts service• hotline service

Hotline: +49(0)5246/963-460Fax: +49(0)5246/963-479e-mail: [email protected]

http://www.beckhoff.de/english/support/default.htm

http://www.beckhoff.com

http://www.beckhoff.com/english/download/default.htm

documentation synchronous servomotors am8000 & am8500 · pdf file ·...

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