rotary motor components and table user manual · 2019-07-04 · am weichselgarten 19a t: +49 (0)...

Rotary Motor Components and Table

User Manual

-[1] Akribis Systems GmbH Am Weichselgarten 19a T: +49 (0) 9131 811 79-0 E: [email protected] D-91058 Erlangen F: +49 (0) 9131 811 79-99 W: www.akribis-sys.de

Important Information

This instruction manual contains general procedures that applies to Rotary motor components and table. Before installing and using the Rotary motor components and table, read this instruction manual carefully. It provides the information required for installation, configuration and basic operation of the Rotary motor components and table. The manufacturer declines all responsibility for damage caused by improper use and installation of the Rotary motor components and table. This manual is not intended to include a comprehensive listing for all procedures required for installation, operation and maintenance. It only describes general guidelines that apply to the Rotary motor components and table. It is intended for persons who are qualified to transport, assemble, commission, and maintain the equipment described herein. For further enquiries, please do not hesitate to contact Akribis for more clarification.

Revision Notes

Document Revision Date Remarks

00 July 2018 General Release

Customer Service

Akribis is committed to delivering quality customer service and support for all our products. Our goal is to provide our customers with the information and resources so that they are available, without delay, if and when they are needed. In order to serve in the most effective way, we recommend that you contact your local sales representative for order status and delivery information, product information and literature, and application and field technical assistance. If you are unable to contact your local sales representative for any reason, please use the most relevant of the contact details below: [email protected]

Contact Information

Akribis will not share any responsibility for damage caused by Customer attempt to repair or conduct any modifications. For further assistance, please contact the offices that is nearest to your location.

mailto:[email protected]

http://www.akribis-sys.de/


Technical support

If you need assistance with the installation of rotary motor, contact Akribis Technical Support through the following email or via the Telephone list. [email protected]

Warranty The warranty is valid for 12 months from the date of shipment and applies only if

material or workmanship is found to be defective. The warranty will be Invalid if the

customer attempt to repair or fails to install, operate, and maintain the product in

accordance with the instructions in this user manual.

During the warranty period, the owner must pay the cost of shipping the product to the

factory for repair, and Akribis will pay for shipping the repaired product to the customer.

After the warranty period has expired, all shipping costs will be the responsibility of the

customer.

Before returning the product, the customer must first request a Return Materials

Authorization (RMA) number from Akribis by email to: [email protected]






Akribis Worldwide Offices

Akribis Systems (Germany)

Am Weichselgarten 19a

D-91058 Erlangen, Germany

Tel: +49 9131 81179-0

Akribis Systems HQ (Singapore)

5012 Techplace II Ang Mo Kio Ave 5

#01-05 Singapore 569876

Tel: +65 6484 3357

Akribis Systems (China)

A2, No.6999, Chuan Sha Rd,

Pudong New Area, Shanghai, 201202

Tel: +86 21 5859 5800

Akribis Systems (Israel)

6 Yad-Harutsim St., Industrial Zone, Kfar-Saba

4464103, Israel

Tel: +972 5459 0958 9

Akribis Systems (Japan)

Okura Building 601 1-4-10 Shiba Daimon,

Minato-ku Tokyo 105-0012 Japan

Tel: +81 3 6450 1146

Akribis Systems (Korea)

4th floor, 81, Bupyeongbuk-ro, Bupyeong-gu,

Incheon, 21302, Rep. of KOREA

Tel: +82 32 710 5033

Akribis Systems (US East)

100 Cummings Center Suite 212-D

Beverly, MA 01915, USA

Tel: +1 508 934 7480

Akribis Systems (US West)

780 Montague Expressway Suite 508

San Jose, CA 95131, USA

Tel: +1 408 913 1300

Akribis Systems (Taiwan)

9/f, 985-8, Chunri Road,

Taoyuan District, Taoyuan, Taiwan

Tel: + 886 3 3461 082

Akribis Systems (Thailand)

No. 56/2 Chanothai, Khlong3, Khlong Luang Rd,

Khlong Luan, Pathum thani, 12120, Thailand

Tel: +66 8515 10088




Table of Contents

Chapter 1 - Introduction .............................................................................................. 1

1.1 About These Assembly Instructions ............................................................... 1

1.2 Rotary motor components and table .............................................................. 1

1.2.1 ADR-A Series ............................................................................................ 1

1.2.2 ADR-B Series ............................................................................................ 1

1.2.3 ADR-P Series ............................................................................................ 2

1.2.4 ACD Series ................................................................................................ 2

1.2.5 ACW Series ............................................................................................... 2

1.2.6 AXD Series ................................................................................................ 2

1.3 Design of the Rotary Motor ............................................................................ 3

1.3.1 ADR-A Design ........................................................................................... 3

1.3.2 ADR-B Design ........................................................................................... 3

1.3.3 ADR-P Design ........................................................................................... 4

1.3.4 ACD Design ............................................................................................... 4

1.3.5 ACW Design .............................................................................................. 5

1.3.6 AXD Design ............................................................................................... 5

1.4 Protection Classes ......................................................................................... 5

1.5 Safety Precautions ......................................................................................... 6

Chapter 2 - Safety ...................................................................................................... 7

2.1 Safety Information .......................................................................................... 7

2.2 Before Unpacking .......................................................................................... 7

2.3 Installation Environment ................................................................................. 7

2.4 Upon Unpacking ............................................................................................ 8

2.5 Rotor Handling ............................................................................................... 8

2.6 Safety Precautionary Notes ........................................................................... 8

2.7 Label ............................................................................................................ 10




Chapter 3 - Transport, Handling and Storage ........................................................... 11

3.1 Transport and Handling ............................................................................... 11

3.2 Storage and Transport Conditions ............................................................... 11

Chapter 4 - Assembly and Connection ..................................................................... 12

4.1 Unpacking .................................................................................................... 13

4.2 Assembling rotary motor component (ADR-P) ............................................. 14

4.2.1 Motor Structure ........................................................................................ 14

4.2.2 User Interface .......................................................................................... 14

4.2.3 Stator Mounting ....................................................................................... 15

4.2.4 Rotor Mounting ........................................................................................ 16

4.2.5 Rotor to Stator Assembly ......................................................................... 18

4.3 Assembling rotary table ............................................................................... 20

4.4 Temperature Sensor .................................................................................... 21

4.4.1 PT100 Temperature Sensor .................................................................... 22

4.4.2 Thermal Protector .................................................................................... 23

4.4.3 PT1000 .................................................................................................... 23

4.4.4 PTC (SNM100) ........................................................................................ 25

4.5 Hall Sensor .................................................................................................. 26

4.6 Cable Specifications .................................................................................... 28

4.6.1 Motor Cable ............................................................................................. 28

4.6.2 Hall Cable ................................................................................................ 28

4.6.3 Extension Cable ....................................................................................... 29

4.7 Motor Encoder Specifications ...................................................................... 30

Chapter 5 - Commissioning ...................................................................................... 31

5.1 Measures Prior to Commissioning ............................................................... 31

5.1.1 Mechanical Connection ........................................................................... 31

5.1.2 Electrical Connection ............................................................................... 31

5.1.3 Monitoring Equipment .............................................................................. 32

5.2 Servo On ...................................................................................................... 32




Chapter 6 - Inspection and Maintenance .................................................................. 33

6.1 Safety Instructions ....................................................................................... 33

6.2 Clean ........................................................................................................... 33

Chapter 7 - Troubleshooting ..................................................................................... 35

Chapter 8 - Disposal ................................................................................................. 36

Chapter 9 - Appendix1 - Datasheet and Drawing ..................................................... 37

9.1 ADR-P Series............................................................................................... 37

9.2 ADR-B Series............................................................................................... 48

9.3 ADR-P Series............................................................................................... 55

9.4 ACD Series .................................................................................................. 61

9.5 ACW Series ................................................................................................. 66

9.6 AXD Series .................................................................................................. 70

Chapter 10 - Appendix2 – Cable Wiring ................................................................... 73

Chapter 11 - CE Declaration .................................................................................... 77



1 Akribis Systems GmbH Am Weichselgarten 19a T: +49 (0) 9131 811 79-0 E: [email protected] D-91058 Erlangen F: +49 (0) 9131 811 79-99 W: www.akribis-sys.de

Chapter 1 - Introduction

1.1 About These Assembly Instructions

These assembly instructions describe the motor and explain how to assemble the

motor from the delivery up to disposal.

Before you start to assemble the motor, you must read these assembly instructions to

ensure safe, Problem-free operation and to maximize the service life.

Akribis continually strives to improve the quality of information provided in these

operating instructions. If you find any mistakes or would like to offer suggestions how

this document could be improved, please contact the Akribis Service.

1.2 Rotary motor components and table

1.2.1 ADR-A Series

• Direct drive, brushless motor

• Low cogging torque

• Low speed and high speed windings

• Maximum Permissible Terminal Voltage

330VDC

• 230VAC 1ph (to the driver)

1.2.2 ADR-B Series




• Large centre hole


330VDC





1.2.3 ADR-P Series

• Direct drive, brushless motor component




330VDC


1.2.4 ACD Series


• Zero cogging torque

• Fast response and settling

• Smooth motion even at low speeds (low

velocity ripple)


330VDC


1.2.5 ACW Series


• Zero cogging torque

• Large centre hole

• Low profile


330VDC


1.2.6 AXD Series

• Iron core technology

• Low cogging force

• High force and stiffness

• Air and water cooling options


330VDC





1.3 Design of the Rotary Motor

A Rotary motor is an electric motor and consists of two components, rotor and stator.

The rotor carrying alternating current to generate a force in magnetic field. Stator

consists of permanent magnets and provide a steady magnetic field.

A Rotary table consists of rotary motor, position feedback and bearing.

1.3.1 ADR-A Design

Fig. 1 ADR-A design

1.3.2 ADR-B Design




Fig. 2 ADR-B design

1.3.3 ADR-P Design

Fig. 3 ADR-P design

1.3.4 ACD Design

Fig. 4 ACD design




1.3.5 ACW Design

Fig. 5 ACW design

1.3.6 AXD Design

Fig. 6 AXD design

1.4 Protection Classes

The motor coils meet the requirements of the protection class according to EN 60529

and 60034-5.




Table 1: Table 1 Protection classes of the rotary motor

Part No. Protection class

ADR-A IP41

ADR-B IP40

ADR-P IP30

ACD IP40

ACW IP40

AXD IP42

1.5 Safety Precautions

Warnings and Important Safety Instructions in this instruction manual do not cover all

possible conditions and situations that may occur. Be sure to read and understand the

instructions in this manual. Only qualified personnel should attempt installation,

operation and maintenance of electrical equipment. Failure to follow the safety

instructions may result in personal injury or equipment damage.

The safety precautions in this instruction manual are ranked as per below mentioned.

DANGER

This indicates an imminently hazardous situation which, if

not avoided, will result in death or serious injury.

WARNING This indicates a potentially hazardous situation which, if

not avoided, could result in serious injury or major damage

to the equipment.

CAUTION This indicates a possible dangerous situation which, if not

avoided, could lead to minor physical injury or damage to

equipment.

WARNING This indicates a potentially hazardous situation which, if

not avoided, could result in serious injury or major damage

to the equipment.




Chapter 2 - Safety

2.1 Safety Information

The following section describes the safety issues encountered while installing a rotary motor and the precautions you can take to minimize risk.

2.2 Before Unpacking

The package contains only Rotary motor. Each Rotary motor is carefully packaged for shipment. When you receive your motor, there are several things you should do immediately.

• Observe the condition of the shipping container and report any damage immediately to the carrier that delivered your motor.

• Verify that the part number of the motor received is the same as the part number

listed on your purchase order.

2.3 Installation Environment

The Motor should be installed in an area that is protected from direct sunlight,

corrosives, harmful gases or liquids and metallic particles. Exposure to these can

reduce the operating life and thus degrade performance. Ventilation is extremely

crucial. Be sure that the area for ventilation is not obstructed, as this will limit the air

flow.

Motors will get warm and the heat must be dissipated to prevent damage. Be sure to

allow clearance and access for cleaning, repair, service and inspections. These

motors are water resistant, not water proof. Avoid submersion and contact with

petroleum-based solvents. Do not use these motors in the presence of flammable

atmospheric environment.

Danger from heavy loads!

Lifting heavy load may damage your health

Use a host of an appropriate size when positioning heavy loads!

Observe applicable occupational health and safety regulations

when handling suspended loads!

CAUTION




2.4 Upon Unpacking

Each Akribis rotary motor is packaged for ease of handling and to prevent entry of contaminants.

• To avoid condensation inside the motor, do not unpack until the motor has reached ambient room temperature.

• When the motor has reached ambient room temperature, remove all protective wrapping material from the motor. Handle all components with care, especially magnet plates which are sensitive to shocks.

• Always unpack and work on only one motor track at a time.

2.5 Rotor Handling

The magnets are exposed and the magnetic flux is very strong. These magnets are extremely powerful and special precautions need to be taken. Only qualified personnel should attempt installation, operation and maintenance of electrical equipment.

2.6 Safety Precautionary Notes

• Before installing the motor, make sure that the supply mains are

grounded and operate with the safety regulations enforced. Do not touch electrical connections before you first ensure that power has been disconnected. Electrical shock can cause serious or fatal injury.

• Before carrying out checks or doing any maintenance works, disconnect the supply mains voltage. Be sure that there is no possibility of accidental events.

• Ensure that there is an effective protective earth. Make sure that there is no voltage at the terminals before connecting.

Be careful when sliding the motor from its shipping container. Slide

the motor from the box onto a flat, firm surface to prevent bending.

Bending can damage the windings.

CAUTION

DANGER




• Any person with metal or electronic medical implants such as

heart pacemaker should refrain from installing or working near the rotary motors.

• Use extreme caution when handling the motor tracks as the magnetic flux is very strong. These large attraction forces are very strong and cannot be controlled by hands. Hands or fingers may be severely injured. Restrain other body parts from these objects to avoid injury by this magnetic attraction.

• Rotary motors contain powerful permanent magnets which require extreme caution during handling. When handling multiple magnet tracks, do not allow the tracks to come in contact.

• The surface temperature may exceed 50°C, resulting in a series of burns. Avoid touching the carriage housing during or shortly after operation.

• Any person installing or working near the rotary motor should

not have any items such as watch, credit cards, keys, etc. that could be damaged by the magnetic field.

• Always keep the vicinity around the rotary motor clear of metal objects during installation and use non-magnetic tools for installation.

• Use proper care and procedures that are safe during handling, lifting, installing, operating and maintaining operations. Improper methods may cause muscle strain or other bodily harm.

• Always unpack and work on only one motor track at a time. Do not try to work on two or more loose magnet tracks.

• The rotary motor is powered by an amplifier. In case of a power disruption, this may automatically result in a free run out of the motor. Ensure precautions to prevent damage on the motor in the case of such an event.

• The magnets shall never be exposed to temperatures above 80°C. They can become demagnetized at temperatures exceeding 80°C.

• Wiring, maintenance and inspection work must be done by a qualified technician.

• If at any time and any situation that there is any doubt about the safety of rotary motor, do not use it and contact Akribis immediately.

WARNING

CAUTION




2.7 Label

Fig. 7 Motor Label




Chapter 3 - Transport, Handling and Storage

3.1 Transport and Handling

3.2 Storage and Transport Conditions

Table 2 Temperature for storage and Transport

Parameters Rotary Motor

Storage Temperature 5°C to 40°C

Transport Temperature -20°C to 60°C

Humidity (Non-Condensing) 5% to 85% RH

Keep clear of ferro-magnetic objects, and magnetic part of the motor to be separated

in non-magnetic protection.

The Rotary motor must be transported flat and it is recommended

to shipped in its original packaging.

Keep clear of ferro-magnetic objects during transport.

During transport, do not transport any additional loads on the rotary

motor.

Secure the rotary motor components against tilting.

CAUTION

Any person installing or working near the rotary motor should not

have any items such as watch, credit card, keys etc. that could be

damaged by the magnetic field.

Warning

Must be handled by qualified staff wearing personal protective

equipment (gloves, safety shoes, etc.)

Never pull or hold the motor by its cable

The motor must not suffer any kind of shock or stress during

handling

Warning




Chapter 4 - Assembly and Connection

The Rotary motor may only be assembled by specialist personnel. Prior to installation,

screws are required for positioning and connecting the coil unit to the bearing as well

as connecting the motor rotor and stator to the mounting frame. In addition, the

following tools are necessary for the installation such as:

• Allen key set

• Protective gloves

Ambient conditions

Ambient temperature: +5°C to 40°C

Installation site: flat, dry, vibration-free

Atmosphere: not corrosive, not explosive

Safety equipment to be provided by the operator

Possible safety equipment/measures:

• Personal protective equipment in accordance with UW (German accident

prevention regulations)

• Zero-contact protective equipment

• Mechanical protective equipment

Be sure to understand and follow the instructions in this manual.

A different method of installation may cause a dangerous

situation and injuries due to the uncontrolled magnetic attraction

forces.

.

Warning

Use extreme caution when handling the motor tracks as the

magnetic flux is very strong. These large attraction forces cannot

be controlled by hands.

Severe Hands or Fingers Injury may occur.

Strongly advised that personnel with heart pacer or medical

device that could be interfered by the strong magnetic field be

prohibited from handling these magnet tracks.

Warning




4.1 Unpacking

The package contains only rotary motor. Each rotary motor is carefully packaged for shipment. Before you unpack, there are several things you should do immediately.

• Observe the condition of the shipping container and report any damage immediately to the carrier that delivered your motor.

• Verify that the part number of the motor received is the same as the part number

listed on your purchase order.

Each Akribis rotary motor is packaged for ease of handling and to prevent entry of contaminants.

• To avoid condensation inside the motor, do not unpack until the motor has reached ambient room temperature.

• When the motor has reached ambient room temperature, remove all protective wrapping material from the motor. Handle all components with care, especially magnet plates which are sensitive to shocks.

• Always unpack and work on only one motor track at a time.

Use extreme caution when handling the motor rotor as the magnetic

flux is very strong. These large attraction forces cannot be

controlled by hands.

Do not place Hands or Fingers between the motor rotors, Severe

Hands or Fingers Injury may occur.

Warning




Strongly advised that personnel with heart pacer or medical device

that could be interfered by the strong magnetic field be prohibited

from handling these magnet tracks.

Warning




CAUTION




4.2 Assembling rotary motor component (ADR-P)

4.2.1 Motor

Structure

The motor comprises of 2 major components, which are the Stator and Rotor. The

Stator consists of coil windings and forms the stationary part of the motor’s

electromagnetic circuit. The Rotor is the moving part that turns the shaft to deliver the

mechanical power and is constructed from cold rolled steel with permanent magnets

attached onto it.

The motor size, outline dimensions and the standard mounting holes dimension are

shown in the dimension drawings.

Fig. 8 Structure of ADR-P motor

4.2.2 User Interface

The user is responsible for the design of the rotor shaft, stator enclosure/ housing

details, bearing system, feedback system, driver system, material selection, fit

calculations and tolerance analysis based on the needs of the intended application.

Danger from electrical voltage

Before and during assembly, disassembly and repair work,

dangerous currents may flow

Work may only be carried out by a qualified electrician and with the

power supply disconnected!

Before carrying out work on the rotary motor, disconnect the power

supply and protect it from being switched back on!

Danger




4.2.3 Stator Mounting

The stator can be mounted to any metallic housing/ clamp structure and the material

selected should possess good thermal conductivity for heat sinking purpose and offers

sufficient structural rigidity for the stator to mount securely onto it. Aluminium alloys

are the commonly used material due to their excellent thermal conductivity and the

light density with sufficient structural strength for mounting of the stator.

Stator Mounting Method

Akribis recommends the fasteners mounting/ bolting method for ADR-P stator, and all

ADR-P stators are provided with tapped holes on both front and rear side of the stator

(see below Fig. and Table). Dimension details of the mounting tapped holes are shown

in the Dimension Drawings.

Fig. 9 Example of ADR-P Stator Mounting Method






CAUTION




CAUTION




Table 3 Tapped Holes Dimension on ADR-P Stators

Motor Size Holes PCD (mm) Hole Size (mm) Hole Quantity

ADR110-P 102.0 M4x0.7 6(Each Side)





4.2.4 Rotor Mounting

The rotor can be mounted to any metallic shaft that is strong and hard enough for the

intended use, and carbon steel and stainless steel are the most commonly used

materials for the motor shaft. Torque requirement and operating temperature range of

the intended use should be taken into consideration if aluminium alloys are selected

for the shaft design.

Use extreme caution when handling the motor rotor as the magnetic

flux is very strong. These large attraction forces cannot be

controlled by hands.



Warning







Warning



Bending can damage the magnets.

CAUTION




Rotor Mounting Method

Akribis recommends the fasteners mounting/ bolting method for ADR-P rotor, and all

ADR-P rotors are provided with tapped holes on both front and rear side of the rotor

(see Fig. and Table). Dimension details of the mounting tapped holes are shown in the

Dimension Drawings.

Fig. 10 Example of Rotor Mounting Method

Table 4 Tapped Holes Dimension on ADR-P Rotors

Motor Size Holes PCD (mm) Hole Size (mm) Hole Quantity











CAUTION




4.2.5 Rotor to Stator Assembly

Safety Precaution

Pre-preparation: Secure the Stator and Running Gap Surfaces Protection

The user to ensure that the stator is securely mounted before the attempt to install the

rotor. It is advised to tie and place the power and hall sensor signal cables aside in a

safe position to avoid damage to the cables during the installation.

During the attempts to install the rotor inside the stator, the rotor will be attracted and

stick to the nearest point on the inner bore of the stator due to the magnetic attraction

forces. This may result in damage of the rotor band, magnets or stator bore surfaces

as the outer surface of the rotor contacts and slides along the inner bore of the stator.

In order to prevent the potential damage, Akribis recommends to place a thin layer of

shim material (soft shim material e.g. thermoplastic or copper shim is recommended,

as shown in Fig. 11) in the inner bore of the stator.

Please refer to the running gap detail of ADR-P motors (Table 5) for selection of

suitable shim thickness.

Use extreme caution when handling the motor rotor as the

magnetic flux is very strong. These large attraction forces cannot

be controlled by hands.



Warning







Warning

Put the rotor and stator onto a flat, firm surface to prevent bending.

Bending can damage the magnets and windings.

CAUTION




Fig. 11 Shim to Protect the Running Gap Surfaces

Rotor Installation

Tapped holes are provided on the ADR-P rotors top surface (refer to the Dimension

Drawings for the detail of the tapped holes) for the user to attach eye bolts to hoist and

lift the rotor safely into the stator.

Running Gap Inspection

Remove the shim material after the rotor is installed and secured properly. Inspect

the running gap for any debris or particles that might obstruct the rotor rotation, and

the running gap should fall within the following clearance range, as shown below.

Table 5 Running Gap Range for ADR-P motors

Motor Size Running Gap Range (mm)

ADR110-P 0.70 – 0.85

ADR135-P 0.50 – 0.70

ADR175-P 0.70 – 0.95

ADR220-P 0.60 – 1.05

ADR360-P 0.80 – 1.10

Lastly, spin the rotor by hand to confirm that it rotates freely.

For safety reason, it is not recommended to lift the rotor by hand as

the attraction force can be too strong to control by hand when the

rotor enters the stator. Akribis recommends a lifting device to be

used to lift the rotor into position and stabilize it for insertion into the

stator.

Warning




Technical Assistance

Customers may contact the nearest Akribis office for any application and installation

assistance.

4.3 Assembling rotary table







Warning






CAUTION



Bending can damage the magnets.

CAUTION




Work may only be carried out by a qualified electrician and with the

power supply disconnected!

Before carrying out work on the rotary motor, disconnect the power

supply and protect it from being switched back on!

Danger




The rotary table is secured as standard from below.

• Mounting holes in the mounting surface in accordance with dimensional

drawing (see Chapter 9)

• Clean mounting surface

• Position the rotary table on the mounting holes.

• Insert the mounting bolts in the mounting holes, and tighten them a crosswise

fashion, noting the maximum torque.

4.4 Temperature Sensor

Temperature sensor is provided in each motor forcer coil and the type of temperature

sensors used is as follows:

Table 6 Types of Temperature Sensor

Description Functions

Normally Closed Thermostat

Included as standard in all motor rotor

Contact normally closed. Opened when

motor forcer coil temperature reaches

90°C.

PT100 (RPT – Platinum Resistance

Sensor)

PT1000 (RPT – Platinum Resistance

Sensor)

Optional in replacement of Thermostat

Thermal Protector

Connects to a temperature controller

for continuous real time temperature

feedback.

To ensure that the power supply to an

electrical device is reliably interrupted

in the event of exceeding an assigned

temperature.

Please consult factory if in doubt with the selection of temperature

sensor or the desired sensor type is not available.

Note




4.4.1 PT100 Temperature Sensor

The PT100 temperature sensor is used because it exhibits a sharp rise in temperature

when the temperature is close to a certain critical value, and therefore operates as a

digital indicator.

Comprising a pure platinum wire wound into a miniature spiral and located within axial

holes in a high purity alumina rod. The freedom of movement of the platinum wire gives

good longterm stability and a wide operating temperature range.

Akribis utilizes such temperature sensor depending on the selected option. Below is

the specifications of the sensor used.

Table 7 PT100 Specifications

Nominal Resistance R0 100 Ohm at 0°C

Specification DIN EN 60751 (according to IEC 751)

Temperature range Tolerance Class B: -70°C to +500°C

Temperature Coefficient TC = 3850 ppm/K

Longterm stability max. R0-drift 0.04% after 1000hr at 500 °C

Vibration resistance at least 40g acceleration at 10 to 2000 Hz,

depends on installation

Shock resistance at least 100g acceleration with 8ms half sine

wave, depends on installation

Environmental conditions unhoused for dry environments only

Measuring current 100 Ohm: 0.3 to 1.0mA

Fig. 12 Temperature VS. Resistance for PT100

0

20

40

60

80

100

120

140

160

180

-20 0 20 40 60 80 100 120 140

Tem

per

atu

re [

°C]

Resistance [Ω]




4.4.2 Thermal Protector

Thermal protectors are single or multi-pole contactors. They are also called thermal

cutoffs, which ensure that the power supply to an electrical device is reliably

interrupted when a predefined temperature has been reached. (Default defined

temperature: 90 oC)

Table 8 Thermal Protector Specifications

4.4.3 PT1000

The PT1000 temperature sensor is used because it exhibits a sharp rise in

temperature when the temperature is close to a certain critical value, and therefore

operates as a digital indicator.

Comprising a pure platinum wire wound into a miniature spiral and located within axial

holes in a high purity alumina rod. The freedom of movement of the platinum wire gives

good longterm stability and a wide operating temperature range.

Akribis utilizes such temperature sensor depending on the selected option. Below is

the specifications of the sensor used.

Nominal Switching Temperature (NIST)

in 5°C increment 60°C ~ 200°C

Tolerance ±2.5K / ±5K

Operational Voltage range AC/DC Up till 500V AC / 14V DC

Rated Voltage AC 250V (VDE) 277V (UL)

Rated Voltage DC 12V

Rated Current AC cos ᵠ = 1.0/cycles 2.5A / 10000

Max Switching Current DC/cycle 40.0A / 10000

Total bounce time < 1ms

Vibration resistance @ 10-60Hz 100m/s2

Contact Resistance ≤ 50 mΩ




Table 9 PT1000 Specifications

Nominal Resistance R0 1000 Ohm at 0°C

Specification DIN EN 60751 (according to IEC 751)

Temperature range Tolerance Class B: -70°C to +500°C

Temperature Coefficient TC = 3850 ppm/K

Longterm stability max. R0-drift 0.04% after 1000hr at 500 °C

Vibration resistance at least 40g acceleration at 10 to 2000 Hz,

depends on installation

Shock resistance at least 100g acceleration with 8ms half sine

wave, depends on installation

Environmental conditions unhoused for dry environments only

Measuring current 1000 Ohm: 0.1 to 0.3mA

Fig. 13 PT1000 Temperature VS. Resistance

0

200

400

600

800

1000

1200

1400

1600

1800

-20 0 20 40 60 80 100 120 140

Tem

per

atu

re [

°C]

Resistance [Ω]




4.4.4 PTC (SNM100)

SNM100 thermistors correspond to DIN 44081 and/or 44082, IEC60034-11:2004 and

are characterized by high resistance to temperatures. Resistance increases greatly in

the range of the rated response temperature. Via a trigger device, this change can be

used to shut down the load current circuit. Electronic evaluations in are also possible

in different applications

Fig. 14 Temperature VS. Resistance for SNM

Temperature resistance diagram in accordance with IEC60034-11:2004, DIN 44081

(single), DIN 44082 (triplet). Advantageous values: Rated response temperature TREF

60 °C to 190 °C, in each case in increments of 10K.

Table 10 General characteristics

Temperature range Resistance Measured voltage [Vdc]

-20 °C to TREF -20 K 20 Ω to 250 Ω ≤ 2,5 V

Temperature range 90 °C - 160 °C

TREF -5 K ≤ 550 Ω ≤ 2,5 V

≥ 1.330 Ω ≤ 2,5 V

≥ 4.000 Ω ≤ 7,5 V pulsed




4.5 Hall Sensor

Hall sensor is a small, versatile, digital Hall-effect device that are operated by the

magnetic field from a permanent magnet or an electromagnet and are designed to

respond to alternating North and South poles or to a particular pole only. It has a

thermally balanced integrated circuit over full temperature range. Band gap regulation

provides extremely stable operation over 3.8 to 30 VDC supply voltage range. It is

capable of continuous 20 mA sinking output.

Table 11 Hall Sensor Specifications

Fig. 15 Hall Sensor Specifications

Fig. 16 TTL Interface Fig. 17 CMOS Interface

Magnetic Type Latching

Supply Voltage (VCC) 3.8 to 30

Supply Current (Max) 10 mA

Output Type Sink

Output Voltage (Max) 40 V

Output Current (Max) 20 mA

Output Leakage Current (Max) 10 µA




Each motor forcer coil is provided with a set of digital Hall effect sensor by default.

Below is the graph showing how the individual Hall sensor is switched according to

the position of the generated EMF waveform.

Fig. 18 Back EMF wave form Cable Specifications




4.6 Cable Specifications

4.6.1 Motor Cable

All ADR and AXD cables made of PUR (Polyurethane) insulation jacket.

All ACD and ACW cables made of FEP (fluorinated ethylene propylene) insulation

jacket, PUR material for outer sheath.

Table 12 Rotary motor cable size

ACD

ACW

ADR110

ADR135

AXD120

AXD160

ADR175

AXD200

ADR220

ADR3609,5 4 x 2.5 12X Outer Diameter 6X Outer Diameter

8,0 4 x 1.5 12X Outer Diameter 6X Outer Diameter

6,0 2 x 0.14 + 7 x 0.25 10X Outer diameter 5X Outer diameter

7,0 4 x 1.0 12X Outer Diameter 6X Outer Diameter

Min. bending radius

(Fixed Laying) Motor Type

Outer diameter

(mm)

No of cores*

(mm²)

Min. bending radius

(Flexible Use)

4.6.2 Hall Cable

All ADR and AXD hall cables made of PUR (Polyurethane) insulation jacket.

All ACD and ACW hall cables made of FEP (fluorinated ethylene propylene) insulation

jacket, PUR material for outer sheath. Table 13 Hall cable size

ACD

ACW

ADR

AXDRemark:

* All cables are shielded.

Min. bending radius

(Fixed Laying) Motor Type

Outer diameter

(mm)

No of cores*

(mm²)

Min. bending radius

(Flexible Use)

3,8 5 x 0.08 10X Outer diameter 5X Outer diameter

5,2 7 x 0.14 12X Outer diameter 6X Outer diameter




4.6.3 Extension Cable

Fig. 19 Example for motor extension cable

Fig. 20 Example for hall extension cable




4.7 Motor Encoder Specifications

Table 14 LPR of Motor

Motor Line per Revolution (LPR)

ADR110-A75 / ADR110-A98

ADR110-B113 / ADR110-B136

ADR135-A90 / ADR135-A115

ADR135-B121 / ADR135-B136

3005

ADR175-A102 / ADR175-A138

ADR175-B143 / ADR175-B180

ADR220-A120 / ADR220-A165

ADR220-B167 / ADR220-B217

4103

ADR360-A150 / ADR360-A215

ACW220 / AXD400-115 7500

ACD62-60 / ACD62-84 1620

ACD120-80 / ACD120-175

AXD160-55 2868

ACW120 / AXD200-65 3934

ACW170 / AXD280-90 5560

AXD80-50 1062

AXD120-55 2052

About more Information you can find in Capital 10.




Chapter 5 - Commissioning

5.1 Measures Prior to Commissioning

Before commissioning the Rotary motor, check that it is properly installed and

connected. The operator should provide a controller pursuant to DIN EN ISO 12100

that prevents the machine from being started up unintentionally after power is

restored, troubleshooting or the machine is stopped.

5.1.1 Mechanical Connection

Make sure that:

• Touch protection measures are in place for moving and live parts.

• The motor has been correctly installed and aligned.

• The moving part can rotary without coming into contact with other parts and

components.

• The operating conditions correspond to the data specified on the rating plate.

• All fixing screws, connecting elements, and electrical connections are tight

and have been attached properly.

5.1.2 Electrical Connection

Make sure that:

• The grounding and equipotential bonding connections have been established

correctly.

• The brake is perfectly.

• The specified speed, current and max. position error limit and is not exceeded

when operated from a controller.

Make sure that the equipment is de-energized and in a

no-voltage condition

Danger




5.1.3 Monitoring Equipment

Make sure that:

• Appropriately configured control and speed monitoring functions are being

used to ensure that the motor cannot exceed the permissible speeds specified

on the rating plate.

• Any supplementary motor monitoring devices and equipment have been

correctly connected and are fully functional.

5.2 Servo On

Before you servo on the motor, ensure that the parameters of drive and controller

have been assigned correctly.

Uneven running or abnormal noises

The motor can be damaged by improper handling during transport,

storage or installation. If a damaged motor is operated, this can

damage the winding or bearings and could even destroy the

systems.

If the motor is not running smoothly or is making abnormal noises,

CAUTION




Chapter 6 - Inspection and Maintenance

6.1 Safety Instructions

If you are unclear about anything, consult the manufacturer, specifying the motor type

and seral number, or arrange for the maintenance work to be carried out by one of

Akribis Systems.

Before you start maintenance work und you must check below:

• Disconnect the systems

• Disconnect the power supply of the Rotary motor

• Ensure that permissible ambient conditions, voltage and current load are

observed

• Protect against reconnection

• Cover or enclose adjacent components that are still live

6.2 Clean

Blow show how can the customer cleaning the rotary motor component. For rotary

motor table can just cleaning the surface. If you want to full Clean, please contact

with Akribis Systems.




Work may only be carried out by a qualified electrician and with

the power supply disconnected!

Before carrying out work on the rotary motor, disconnect the

power supply and protect it from being switched back on!

Danger




Work may only be carried out by a qualified electrician and with

the power supply disconnected!

Before carrying out work on the torque motor, disconnect the

power supply and protect it from being switched back on!

Danger




Dirt can settle and accumulate over time on the rotary motor components.

The rotary motor components must therefore be regularly checked for dirt. Dirt can

affect heat dissipation and block.

Clean dirt if necessary, e.g. using isopropyl alcohol. Using aggressive media for

cleaning creates the risk of injury and of damaging the rotary motor components.




Chapter 7 - Troubleshooting

There can be a large number of different reasons for a fault, depending on the

particular conditions in your system. The fault causes described below are mostly

those which directly influence the motor. The information contained in the report files

will enable Technical Support to troubleshoot your problem and provide assistance.

Table 15 Error analyze

Error Possible Causes Rectify Actions

Motor will not move

Servo drive not enabled Apply signal to servo drive

Usually Power line trouble Check power source

Under Voltage Check voltage at motor terminals

Regular clicking Foreign matter in air gap. Remove foreign matter.

Vibration

Mis-Alignment in guide rails and motor tracks

Realign motor and driven equipment

Excessive load Reduce load and verify for vibration. Eliminate source

Motor overheating (Check temperature with thermocouple, do not depend on touch)

Over / Under voltage Check voltage and eliminate source

Dirt in motor Check flow of air. Clean motor

Improper electrical connections Recheck electrical connections

Air Recirculation Check air intake and exhaust for obstructions. Check air inlet temperature.

Motor turns in the wrong direction

Encoder setting wrong Check setting

Input phase fault Change over two phases on the motor

Communication fault Motor phase connected incorrectly

Check drive amplifier, check nominal value

Motor hums and has a high current consumption

Motor rotor is jammed Check motor rotor

Brake is jammed Check air pressure and power supply

Fault in encoder cable Check encoder cable

Problem with motor insulation Check resistance values ＞50MΩ (phase/earth and phase/sensor)




Chapter 8 - Disposal

Table 16 Disposal

Fluids

Lubricants Dispose of as hazardous waste in an

environmentally friendly way

Soiled cleaning cloths Dispose of as hazardous waste in an

environmentally friendly way

Rotary Motor

Cabling, electrical components Dispose of as electrical waste

Polypropylene (PP) components Dispose of separately

Aluminum components (housing) Dispose of separately

Iron components Dispose of separately

Copper components Dispose of separately

Brass, nickel-plated components (plug

connector materials)

Dispose of separately

Nitrile butadiene rubber (NBR)

components (seals)

Dispose of separately

Stainless steel components (bolts) Dispose of separately




Chapter 9 - Appendix1 - Datasheet and Drawing

9.1 ADR-P Series

Model Units S P S P

Table diameter mm

Table height mm

Number of poles

Continuous torque Nm 1.9 1.9 4.2 4.2

Peak torque Nm 5.8 5.8 12.6 12.6

Max. cogging torque (peak to peak) Nm 0.0024 0.0024 0.0049 0.0049

Torque constant Nm/Arms 0.65 0.32 1.40 0.70

Back EMF constant Vpeak/rpm 0.055 0.028 0.119 0.060

Continuous current Arms 3.0 6.0 3.0 6.0

Peak current Arms 9.0 18.0 9.0 18.0

Continuous thermal power W 28.8 28.8 44.1 43.6

Peak thermal power W 259.2 259.2 396.9 392.0

Max bus voltage Vdc 550.0 550.0 550.0 550.0

Resistance① ohms 3.20 0.80 4.90 1.21

Inductance① mH 17.15 4.29 26.26 6.49

Electrical time constant ms 5.36 5.36 5.36 5.36

Motor constant Nm/Sqrt(W) 0.36 0.36 0.63 0.63

Mass kg 3.20 3.20 4.60 4.60

Rotor Inertia kg·m2 0.0003086 0.0003086 0.0004419 0.0004419

Rec. max speed @230V AC② (DIGITAL) rpm 1200 1200 1200 1200

Rec. max speed @230V AC② (SINCOS) rpm 2,000 2,000 1,600 2,000

AB-3005 optical SINCOS encoder lines 3,005 3,005 3,005 3,005

DIGITAL Resolution (at 64 X interpolation) Counts/rev 192,320 192,320 192,320 192,320

SINCOS Resolution (at 512 X interpolation) Counts/rev 1,538,560 1,538,560 1,538,560 1,538,560


Accuracy (based on AB-3005) arc sec +/-20 +/-20 +/-20 +/-20

Repeatability (based on AB-3005) arc sec +/-2.7 +/-2.7 +/-2.7 +/-2.7

Axial runout um

Radial runout um

Max axial load ③ N

Max moment load ③ Nm

15 (10,5) ②

700 700

15 (10,5) ②

20 20

ADR110 Specifications

16 16

ADR110-A75 ADR110-A98

110 110

75 98

Model Units S P S P

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 15.5 15.5 32.9 32.9









Resistance① ohms 6.60 1.65 10.70 2.70

Inductance① mH 45.30 11.20 72.76 18.63



Mass kg 4.80 4.80 4.90 4.90


Rec. max speed @230V AC② (DIGITAL) rpm 1,190 1,200 580 1,190

Rec. max speed @230V AC② (SINCOS) rpm 1,190 2,000 580 1,190







Axial runout um

Radial runout um



15 (10,5) ②

1,050 1,050

15 (10,5) ②

35 35

ADR135 Specifications

16 16

ADR135-A90 ADR135-A115

135 135

90 115

① Terminal to terminal, at 25 Deg C.

② Limit by Bus Voltage and Encoder Output Frequency.

③ Please contact our sales representative for inverted mount application.




Model Units S P S P

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 47.2 47.2 98.6 98.6









Resistance① ohms 5.27 1.30 8.30 2.13

Inductance① mH 45.72 11.27 72.00 18.51



Mass kg 8.5 8.5 12.7 12.7


Rec. max speed @230V AC② (DIGITAL) rpm 540 1,080 310 558

Rec. max speed @230V AC② (SINCOS) rpm 540 1,080 310 558






Repeatability (based on AB-4103) arc sec +/-2 +/-2 +/-2 +/-2

Axial runout um

Radial runout um



102 138

16 16

ADR175 Specifications ADR175-A102 ADR175-A138

175 175

20 (15,10) ②

20 (15,10) ②

2,310 2,310

53 53

Model Units S P S P

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 47.2 47.2 98.6 98.6









Resistance① ohms 5.27 1.30 8.30 2.13

Inductance① mH 45.72 11.27 72.00 18.51



Mass kg 8.5 8.5 12.7 12.7










Axial runout um

Radial runout um



102 138

16 16


175 175

20 (15,10) ②

20 (15,10) ②

2,310 2,310

53 53 ①Terminal to terminal, at 25 Deg C. ② Limit by Bus Voltage and Encoder Output Frequency. ③Please contact our sales representative for inverted mount application.




Model Units S P S PTable diameter mm

Table height mm

Number of poles


Peak torque Nm 554.5 554.5 1133.8 1133.8









Resistance① ohms 3.05 0.76 5.26 1.25

Inductance① mH 31.70 7.92 54.74 13.00



Mass kg 56.0 56.0 71.0 71.0



Rec. max speed @230V AC② (SINCOS) rpm 115 230 57 115

AB-7500 optical SINCOS encoder lines 7500 7500 7500 7500

DIGITAL Resolution (at 64 X interpolation) Counts/rev 480000 480000 480000 480000





Axial runout um

Radial runout um



40 (15) ②


360 360

150 215

32 32

40 (15) ②

11,200 11,200

245 245 ①Terminal to terminal, at 25 Deg C.

②Limit by Bus Voltage and Encoder Output Frequency.





ADR110-A75

ADR110-A98




ADR135-A90

ADR135-A115




ADR175-A102

ADR175-A138




ADR360-A150

ADR360-A215




Torque-Speed-Curve




Part Numbering

Motor Model WindingThermal

SensorCable Length Encoder Option

Interpolation

OptionRunout

ADR110 A75/A98

ADR135 A90/A115

ADR175 A102/A138 P20/P15/P10

ADR220 A120/A165 P25/P10

ADR360 A150/A215 AB-7500 P40/P15

P15/P10/P5

S/P J/K 3.0

AB-3005

AB-4103SINCOS/64X

P40 = Axial Runout 40um, Radial Runout is 40um






J = Thermostat (standard)

K = PT100 (RTD)

Example: ADR175-A138-S-J-3.0-AB-4103-SINCOS-P10 ADR110-A98-S-J-3.0-AB-3005-SINCOS-P15




9.2 ADR-B Series

Model Units S P S P

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 5.8 5.8 12.6 12.6









Resistance① ohms 3.20 0.80 4.90 1.21

Inductance① mH 17.15 4.29 26.26 6.49



Mass kg 3.20 3.20 4.60 4.60










Axial runout um

Radial runout um

Max axial load③ N

Max moment load③ Nm

113 136

16 16

ADR110 Specifications ADR110-B113 ADR110-B136

110 110

15

15

439 439

25 25

Model Units S P S P

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 5.8 5.8 12.6 12.6









Resistance① ohms 3.20 0.80 4.90 1.21

Inductance① mH 17.15 4.29 26.26 6.49



Mass kg 3.20 3.20 4.60 4.60










Axial runout um

Radial runout um

Max axial load③ N

Max moment load③ Nm

113 136

16 16


110 110

15

15

439 439

25 25 ①Terminal to terminal, at 25 Deg C.

②Limit by Bus Voltage and Encoder Output Frequency.

③Please contact our sales representative for inverted mount application.




Model Units S P S P

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 47.2 47.2 98.6 98.6









Resistance ① ohms 5.27 1.30 8.30 2.13

Inductance ① mH 45.72 11.27 72.00 18.51



Mass kg 10.0 10.0 11.6 11.6










Axial runout um

Radial runout um



20

20

1,256 1,256

65 65

143 180

16 16


175 175

Model Units S P S P

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 137.9 137.9 284.6 284.6









Resistance ① ohms 5.87 0.74 10.32 1.20

Inductance ① mH 53.60 6.30 106.70 11.90



Mass kg 15.6 15.6 23.4 23.4



Rec. max speed @230V AC② (SINCOS) rpm 282 846 130 395







Axial runout um

Radial runout um



167 217

24 24


220 220

25

25

1,669 1,669

85 85 ① Terminal to terminal, at 25 Deg C.

② Limit by Bus Voltage and Encoder Output Frequency.





ADR110-B113

ADR110-B136




ADR135-B121

ADR135-B148




ADR175-B143

ADR175-B180




ADR220-B167

ADR220-B217




Part Numbering





K = PT100 (RTD)

Example: ADR135-B121-S-J-3.0-AB-4103-SINCOS-P15

ADR175-B180-P-J-3.0-AB-5071-SINCOS-P20

Motor Model WindingThermal

sensorCable length Encoder Option

Interpolation

OptionRunout

ADR110 B113 / B136 AB-3005 P15

ADR135 B121 / B148 AB-4103 P15

ADR175 B143 / B180 AB-5071 P20

ADR220 B167 / B217 AB-5071 P25

S/P J/K 3.0 SINCOS/64X




9.3 ADR-P Series

Model Units S P S P

Number of poles


Peak torque Nm 5.8 5.8 12.6 12.6









Resistance① ohms 3.20 0.80 4.90 1.21

Inductance① mH 17.15 4.29 26.26 6.49



Rotor inertia kg·m2 0.0001463 0.0001463 0.0002990 0.0002990

Rotor mass kg 0.25 0.25 0.40 0.40

Stator mass kg 0.88 0.88 1.80 1.80

16 16

ADR110-P Specifications ADR110-P-22 ADR110-P-45

Model Units S P S P

Number of poles


Peak torque Nm 13.6 13.6 31.0 31.0









Resistance①

ohms 5.81 1.45 9.31 2.33

Inductance①

mH 39.51 9.88 63.31 15.83




Rotor mass kg 0.45 0.45 0.90 0.90

Stator mass kg 1.45 1.45 3.00 3.00

16 16


Model Units S P S P

Number of poles


Peak torque Nm 42.9 42.9 94.4 94.4









Resistance①

ohms 4.91 1.23 8.18 2.05

Inductance①

mH 42.57 10.64 70.92 17.73




Rotor mass kg 1.10 1.10 2.10 2.10

Stator mass kg 3.50 3.50 5.90 5.90

16 16






Model Units S P S P

Number of poles


Peak torque Nm 129.1 129.1 275.8 275.8









Resistance①

ohms 5.81 0.65 9.83 1.09

Inductance①

mH 57.62 6.40 97.48 10.83




Rotor mass kg 2.30 2.30 4.50 4.50

Stator mass kg 7.50 7.50 15.00 15.00

24 24


Model Units S P S P

Number of poles


Peak torque Nm 513.0 513.0 1074.0 1074.0









Resistance①

ohms 2.92 0.73 5.14 1.29

Inductance①

mH 30.37 7.59 53.46 13.36




Rotor mass kg 7.30 7.30 13.80 13.80

Stator mass kg 17.50 17.50 33.00 33.00

32 32






ADR110-P-22

ADR110-P-45

ADR135-P-27




ADR135-P-54

ADR175-P-36

ADR175-P-72




ADR220-P-50

ADR220-P-100

ADR360-P-70




ADR360-P-140

Part Numbering

Motor Model Winding Thermal Sensor Cable Length

ADR110-P 22/45

ADR135-P 27/54

ADR175-P 36/72

ADR220-P 50/100

ADR360-P 70/140

J/KS/P 3.0


K = PT100 (RTD)

Example: ADR175-P-36-S-J-3.0




9.4 ACD Series

Model Units D Y D Y

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 0.40 0.40 1.19 1.19

Cogging torque Nm 0 0 0 0








Resistance① ohms 0.73 1.51 1.01 2.21

Inductance① mH 0.073 0.195 0.144 0.316



Mass kg 0.50 0.50 0.80 0.80


Rec. max speed @48V DC (DIGITAL/SINCOS) rpm 1,200 1,200 1,200 1,200



SINCOS Resolution (at 512 X interpolation) Counts/rev 829,440 829,440 829,440 829,440


Accuracy arc sec +/- 30 +/- 30 +/- 30 +/- 30

Repeatability arc sec +/- 3 +/- 3 +/- 3 +/- 3

Axial runout ② um 12 12 12 12

Radial runout ② um 10 10 10 10



62 62

60 84

8 8

0.3 0.3

ACD62 Specifications ACD62-60 ACD62-84

50 50

Model Units D Y D Y

Table diameter mm

Table height mm

Number of poles


Peak torque Nm 6.46 6.46 32.25 32.25

Cogging torque Nm 0 0 0 0








Resistance①

ohms 1.80 4.64 4.02 12.07

Inductance①

mH 0.628 1.900 1.873 5.619



Mass kg 3.20 3.20 7.00 7.00


Rec. Max speed @230V AC (DIGITAL/SINCOS) rpm 952 952 220 220





Accuracy arc sec +/- 30 +/- 30 +/- 30 +/- 30

Repeatability arc sec +/- 3 +/- 3 +/- 3 +/- 3

Axial runout ②

um 15.00 15.00 15.00 15.00

Radial runout ②

um 10.00 10.00 10.00 10.00

Max axial load ③

N 150 150

Max moment load ③

Nm 10 10

80 175

12 12

ACD120 Specifications ACD120-80 ACD120-175

120 120

①Terminal to terminal, at 25 Deg C.

②Values are based on axis of rotation (bearings) runout only. Surface or tabletop runout is not part of the specification.





ACD62-60

ACD62-84-MS




ACD120-80

ACD120-175




Part Numbering

Motor Model Connection Thermal Sensor Cable length Encoder Option Interpolation Option

ACD62 60/84 D/Y K 3.0 AB-1620

80 D/Y K 3.0 AB-2868

175 D/Y K 3.0 AB-2868

SINCOS / 64XACD120

K = PT100 (RTD)

Example: ACD120-80-Y-K-3.0-AB-2868-SINCOS




Torque-Speed-Curve




9.5 ACW Series

ACW 120 ACW 170 ACW 220

Model Units

Table diameter mm 120 170 220

Table height mm 37 37 42

Number of poles 16 16 16

Continuous torque Nm 0.6 3.4 10.3

Peak torque Nm 2.1 11.9 35.9

Cogging torque Nm 0 0 0

Torque constant Nm/Arms 0.12 0.68 2.05

Back EMF constant V/rpm 0.015 0.082 0.248

Continuous current Arms 5.0 5.0 5.0

Peak current Arms 17.5 17.5 17.5

Continuous thermal power W 35.8 69.0 126.5

Peak thermal power W 437.9 845.3 1549.6

Max bus voltage Vdc 330.0 330.0 330.0

Resistance① ohms 1.43 2.76 5.06

Inductance① mH 0.47 1.65 4.72

Motor constant Nm/Sqrt(W) 0.10 0.41 0.91

Mass kg 2.0 3.7 7.0

Rotor Inertia kg·m2 0.000658 0.002020 0.008354

Rec. max speed ③@230V AC (DIGITAL/SINCOS) rpm 400 350 300

AB optical SINCOS encoder Lines/rev 3934 5560 7500

DIGITAL Resolution (at 64 X interpolation) Counts/rev 251776 355840 480000

SINCOS Resolution (at 512 X interpolation) Counts/rev 2,014,208 2,846,720 3,840,000

SINCOS Resolution (at 4096 X interpolation) Counts/rev 16,113,664 22,773,760 30,720,000

Accuracy arc sec +/-30 +/-30 +/-30

Repeatability arc sec +/-3 +/-3 +/-3

Radial runout @ Max speed um 15 18 18

Radial runout @ 120rpm um (10,5)② (10,5)② (10,5)②

Axial runout @ Max speed um 15 18 18

Axial runout @ 120rpm um (10,5)② (10,5)② (10,5)②

Axial load rating N 150.0 230.0 300.0

Moment load rating Nm 14.7 31.7 55.2

ACW Specifications

① Optional runout

② Terminal to terminal, at 25 Deg C

③Max speed applicable to standard radial and axial runout




ACW120

ACW170




ACW220

Part Numbering

Motor Height Winding Thermal

Sensor

Cable

Length

Encoder

Option

Interpolatio

n Option

Run-out

Option

ACW 120 37

P K/J7 3.0

AB-3934

SINCOS /

64X

P15/P10/P5

ACW 170 37 AB-5560 P18/P10/P5

ACW 220 42 AB-7500 P18/P10/P5

K = PT100 (RTD)

J7= Thermostat




Example: ACW170-37-P-K-3.0-AB-5560-SINCOS-P18




Torque-Speed-Curve




9.6 AXD Series

Model Units Series Parallel Series Parallel Series Parallel

Table diameter mm 120 120 160 160 200 200

Table height mm 50 50 55 55 65 65

Continuous torque Nm 3.40 3.40 6.36 6.36 14.26 14.26

Peak torque Nm 10.20 10.20 19.07 19.07 42.78 42.78

Max cogging torque (peak to peak) Nm 0.05 0.05 0.11 0.11 0.30 0.30

Torque constant Nm/A 2.72 1.36 3.74 1.87 6.20 3.10

Back EMF constant V/rpm 0.250 0.130 0.500 0.250 0.805 0.403

Continuous current A 1.25 2.50 1.70 3.40 2.30 4.60

Peak current A 3.75 7.50 5.10 10.20 6.90 13.80

Continuous thermal power W 24.28 24.28 43.93 43.93 71.94 71.94

Peak thermal power W 218.53 218.53 395.35 395.35 647.50 647.50

Max bus voltage Vdc 550.0 550.0 550.0 550.0 550.0 550.0

Resistance① ohms 15.54 3.89 15.20 3.80 13.60 3.40

Inductance① mH 53.50 13.38 96.00 24.00 130.80 21.00

Electrical time constant ms 3.44 3.44 6.32 6.32 9.62 6.18

Motor constant Nm/SqRt(W) 0.690 0.690 0.959 0.959 1.681 1.681

Mass kg 2.35 2.35 4.80 4.80 9.80 9.80

Rotor Inertia kg·m20.00102 0.00102 0.00372 0.00372 0.01002 0.01002

Rec. max speed @230②VAC (DIGITAL) rpm 750 1500 500 1000 350 700

Rec. max speed @230②VAC (SINCOS) rpm 750 1500 500 1000 350 700

Optical SINCOS encoder lines 2052 2052 2868 2868 3934 3934

Optical digital encoder (64X) Counts/rev 131328 131328 183552 183552 251776 251776

Accuracy arc sec +/-40 +/-40 +/-40 +/-40 +/-40 +/-40

Repeatability arc sec +/-2 +/-2 +/-2 +/-2 +/-2 +/-2

Axial runout③ um 20 20 30 30 40 40

Radial runout③ um 20 20 30 30 40 40

Max axial load N 500 500 750 750 1000 1000

Max moment load Nm 30 30 40 40 50 50

AXD120-50 AXD160-55 AXD200-65

①Terminal to terminal, at 25 Deg C.

②Limit by Bus Voltage and Encoder Output Frequency





AXD120-50

AXD160-55




AXD200-65

Part Numbering

Motor Model Winding Thermal Sensor Cable Length Encoder Option

Interpolatio

n Option Runout

AXD120 50 AB-2052 P20

AXD160 55 AB-2868 P30

AXD200 65 AB-3934 P40

S / P J / K 3,0 64X / SINCOS

J= Thermostat (standard)

K= PT100 (RTD)

Example: AXD120-50-S-J-3.0-AB-2052-64X-P20




Chapter 10 - Appendix2 – Cable Wiring

ADR-A, ADR-B

ADR-P




ACD

ACW




AXD

ACD, ACW




ADR, AXD




Chapter 11 - CE Declaration

According to IEC 60034-1:2010 (Edition.12)

Rotating electrical machines – Part 1: Rating and performance

Manufacturer

Akribis Systems Pte Ltd.

5012 Techplace II Ang Mo Kio Ave 5 #01-05

569876 Singapore

This declaration relates exclusively to the following product in the state in which it

was placed on the market and excludes components which are added and/or

operations carried out subsequently by the final user. The declaration is no more

valid, if the Product is modified without agreement.

Product denomination: Rotary motors

Model/type: ADR-P, ADR-A, ADR-B, ACD, ACW, AXD

Year of manufacture: from 2018



rotary motor components and table user manual · 2019-07-04 · am weichselgarten 19a t: +49 (0)...

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