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1、SSD Parvex SAS 8, avenue du Lac - B.P. 249 F-21007 Dijon Cedex SPINDLE SERVOMOTORS HW User and commissioning manual PVD 3496 GB 10/2008 PRODUCT RANGE PRODUCT RANGE 1 - BRUSHLESS SERVODRIVES TORQUE OR POWER RANGES TORQUE OR POWER RANGES BRUSHLESS SERVOMOTORSBRUSHLESS SERVOMOTORS, LOW INERTIA, WITH R
2、ESOLVER Very high torque/inertia ratio (high dynamic performance machinery): NX -HX - HXA 0,9 to 320 N.m NX - LX 0,3 to 54 N.m High rotor inertia for better inertia load matching: HS - LS 3,3 to 31 N.m Varied geometrical choice : short motors range HS - LS 3,3 to 31 N.m or small diameter motors : HD
3、, LD 9 to 100 N.m Voltages to suit different mains supplies : 230V three-phase for srie L - NX 400V, 460V three-phase for srie H - NX “DIGIVEX Drive“ DIGITAL SERVOAMPLIFIERS“DIGIVEX Drive“ DIGITAL SERVOAMPLIFIERS SINGLE-AXIS DSD COMPACT SINGLE-AXIS DLD POWER SINGLE-AXIS DPD MULTIPLE-AXIS DMD “PARVEX
4、 Motion Explorer“ ADJUSTING SOFTWARE 2 - SPINDLE DRIVES SPINDLE SYNCHRONOUS MOTORSSPINDLE SYNCHRONOUS MOTORS “HV“ COMPACT SERIES From 5 to 110 kW “HW“ ELECTROSPINDLE,frameless, water-cooled motor up to 50,000 rpm “DIGIVEX“ DIGITAL SERVOAMPLIFIERS“DIGIVEX“ DIGITAL SERVOAMPLIFIERS 3 - DC SERVODRIVES “
5、AXEM“, “RS“ SERIES SERVOMOTORS“AXEM“, “RS“ SERIES SERVOMOTORS 0.08 to 13 N.m “RTS“ SERVOAMPLIFIERS“RTS“ SERVOAMPLIFIERS “RTE“ SERVOAMPLIFIERS “RTE“ SERVOAMPLIFIERS for DC motors + resolver giving position measurement 4 - SPECIAL ADAPTATION SERVODRIVES “XD“ SERVOMOTORS“XD“ SERVOMOTORS for explosive a
6、tmosphere 0.7 to 20 N.m “AXL“ COMPACT SERIES SERVOREDUCERSAXL“ COMPACT SERIES SERVOREDUCERS 5 to 700 N.m 5 - POSITIONING SYSTEMS Numerical Controls CYBER 4000 1 to 4 axes “CYBER 2000“ NC 1 to 2 axes SINGLE-AXIS DSM POWER SINGLE-AXIS DPM MULTIPLE-AXIS DMM ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX Mo
7、tion Explorer Spindle servomotors HW SUMMARY 1. HW BUILT IN SPINDLE MOTOR : A NEW CONCEPT FOR BETTER PERFORMANCE! 2 2. GENERAL FEATURES 3 2.1 Motor 3 2.2 Resolver 5 3. MECHANICAL INTEGRATION 6 3.1 Motor 6 3.1.1 Stator integration 7 3.1.2 Rotor integration 8 3.1.3 Motor cooling 11 3.2 Resolver mounti
8、ng and setting 12 3.2.1 Mounting 12 3.2.2 Setting of the resolver 16 ANNEX I : HW CHARACTERISTICS 17 ANNEX II 69 HW Motors drawings 69 ANNEX III 82 Resolver drawings 82 ANNEX IV 91 Recommended mechanical interfaces for HW motor assembly drawings 91 Characteristics and dimensions subject to change wi
9、thout notice. YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac / B.P 249 / F-21007 Dijon Cedex Tl. : +33 (0)3 80 42 41 40 / Fax : +33 (0)3 80 42 41 23 1 PVD 3496 GB 03/2005 Spindle servomotors HW 1. HW BUILT IN SPINDLE MOTOR : A NEW CONCEPT FOR BETTER PERFORMANCE! The HW motors are synchrono
10、us DC brushless motors based on an original, patented technique whereby the machine is defluxed by means of correctly phased stator currents. This new motor principle allows very high torques at low speed and a constant power from a given basic speed up to the maximum speed. With this advanced techn
11、ology, there are no currents in the rotor and no iron losses in the laminations of the rotor. The result is a rotor temperature rise that is very low and as a matter of fact, is mainly due to the bearings losses. Other advantages are: very compact construction and high acceleration capability. The H
12、W motors are delivered as individual components: a rotor, a stator and a position sensor (resolver). These components are typically assembled according to Figure 1 to make a complete motor spindle unit. The stator is water cooled to allow a higher torque density and a lower stator temperature rise.
13、The motor is designed to have a large shaft diameter to increase the mechanical rigidity. 1 Stator housing 3 O-Ring 5 Resolvers rotor 7 Nut 2 Rotor 4 O-Ring 6 Resolvers stator Figure 1: Typical HW motor assembly. The HW motors have been successfully used in machine tool applications in place of the
14、traditional induction motors. For the end user the main improvements provided by the HW motors are : better accuracy due to the low shaft thermal expansion (no heat generation in the rotor), reduced tool changing time due to higher acceleration capability, better surface finishing due to the low mot
15、or vibrations, lower maintenance (bearing lifetime increase due to the lower temperature rise). 2 PVD 3496 GB 03/2005 Spindle servomotors HW 2. GENERAL FEATURES 2.1 Motor Electrical features: No losses in the rotor. The full torque is available at standstill. The electrospindle can deliver a constan
16、t torque up to the basic speed. The power is constant from the basic speed up to the maximum speed. The constant power range can be very wide: up to 1:20. Construction (standard) : Wound stator with a cooling envelope. Plastic-coated winding for better heat discharge and mechanical protection of win
17、dings. Corrosion-proofed aluminium frame (except HWB) Permanent magnets embedded inside the rotor. Oil proof rotor to avoid unbalancing Thermal protection switch (switch off temperature = 125C +/- 5C) Insulation: Class F Rotor with oil pressure system to release the core (HW800 HW900, HWA and HWB) R
18、otor prepared to be mounted through tolerance ring. (HW400 and HW600) Rotor with two flanges with threaded holes to balance it on the shaft (except HW400). Figure 2: HW840 The standard spindle servo motor characteristics are given in table 1. More detailed characteristics are given in annex I and II
19、. 3 PVD 3496 GB 03/2005 Spindle servomotors HW Motor DIGIVEX Drive Torque S1/S3 Power S1/S3 Speed basic/Max Motor inertia Motor weight Maximum supply power during motor and brake duty N.m kW rpm kg.m kg kW HW420BU 8/16 4,2 2,3 5230/50000 0,00049 3,9 2,9 HW420BP 16/32 4,2 5 11300/50000 0,00049 3,9 5,
20、7 HW420BK 32/64 4,2 10 23200/50000 0,00049 3,9 11,4 HW430BQ 16/32 6,7 4,7 6700/50000 0,00068 5,2 5,5 HW430BL 32/64 6,7 10 14300/50000 0,00068 5,2 11 HW430BI 50/80 6,7 15,6 22300/50000 0,00068 5,2 17 HW620CN 16/32 8.3/10 4/4.9 4680/30000 0,0017 6,5 5,7 HW620CI 32/64 8.3/10 8.6/10.4 9930/30000 0,0017
21、6,5 11,3 HW635CI 32/64 15/18 8.5/10 5410/30000 0,003 11 11,4 HW635CF 50/80 15/18 13/15.6 8270/30000 0,003 11 16,7 HW820RR 32/64 21.5/26 7.3/8.8 3230/24000 0,007 8 9,5 HW820RP 50/80 21.5/26 11.6/14 5140/24000 0,007 8 14,5 HW820CR 32/64 25.8/31 8.6/10.3 3170/18000 0,007 8 11,5 HW820CP 50/80 25.8/31 13
22、.4/16 4960/18000 0,007 8 17,5 HW840CR 32/64 57.3/66 8.5/10 1420/18000 0,0137 16 11,8 HW840CP 50/80 57.3/66 13.6/16 2270/24000 0,0137 16 18 HW840CH 100/120 57.3/66 28/32 4700/24000 0,0137 16 35,8 HW840CF 150 57.3/70 36/44 6020/24000 0,0137 16 47,4 HW930CI 100/120 102 34 3180/20000 0,034 35 37 HW930CF
23、 150 102 52 4870/20000 0,034 35 56 HW930CC 300 102 100 9500/20000 0,034 35 103 HW930CJ 100/120 112 30 2600/20000 0,034 35 33 HW930CE 200 112 63 5330/20000 0,034 35 70 HW950CI 100/120 170 33 1880/20000 0,055 58 38 HW950CF 150 170 52 2920/20000 0,055 58 57 HW950CC 300 170 105 5900/20000 0,055 58 110 H
24、W950CJ 100/120 186 30 1540/20000 0,055 58 34 HW950CE 200 186 63 3240/20000 0,055 58 74 HWA30DN 50/80 260 15 550/12000 0,142 70 17,9 HWA30DF 100/120 260 32 1190/12000 0,142 70 35,7 HWA30DD 150 260 50 1820/12000 0,142 70 53,4 HWA30DC 200 260 67 2460/12000 0,142 70 71 HWA30DB 300 260 100 3710/12000 0,1
25、42 70 105 HWA50DG 100/120 430/510 22/26 490/12000 0,235 120 30,8 HWA50DF 100/120 430 31 690/12000 0,235 120 35,8 HWA50DD 150 430 49 1080/12000 0,235 120 53,5 HWA50DC 200 430 67 1480/12000 0,235 120 73 HWA50DB 300 430 100 2250/12000 0,235 120 107 HWB20HH 150 575 46 770/8000 0,35 120 54 HWB20HD 300 57
26、5 95 1580/8000 0,35 120 109 HWB20HJ 150 600/710 37 590/8000 0,35 120 44 HWB20HE 300 600/710 77 1220/8000 0,35 120 87 HWB30HH 150 860 45 500/8000 0,49 170 54 HWB30HD 300 860 95 1050/8000 0,49 170 109 HWB30HJ 150 940/1070 35 360/8000 0,49 170 44 HWB30HE 300 940/1070 76 775/8000 0,49 170 87 HWB40HH 150
27、 1150 44 365/8000 0,64 220 54 HWB40HD 300 1150 94 780/8000 0,64 220 109 HWB40HJ 150 1250/1400 34 260/5800 0,64 220 44 HWB40HE 300 1250/1400 75 573/8000 0,64 220 87 HWB40HF 300 1250/1500 62 475/8000 0,64 220 72 Table 1: HW general characteristics. 4 PVD 3496 GB 03/2005 Spindle servomotors HW 2.2 Reso
28、lver A resolver (Figure 3) is an angular position sensor. It is used to determine rotor position. Resolver signals are processed by the servoamplifier to control stator currents and so control motor speed and position. The resolver is a high precision device and must be wired and mounted with care (
29、see resolver mounting section 3.2.1). Four resolver types are available (CB52, CB102, CB152 and CB158) with or without connectors as shown in the dimensional drawing in Appendix III and the characteristics in Table A. Possible combinations drawing in Table B. Resolver Max. speed (rpm) Resolver only
30、precision Resolver + Digivex precision (Parvex L resolver cable 100 m) (min) Pairs of poles CB 52 50 000 6 11 1 CB 102 32 000 10 15 1 CB 152 20 000 10 15 1 CB 158 20 000 1,5 3 4 Table A : Resolver general characteristics HW CB 52 CB 102 CB 152 CB 158 HW 4 x HW 6 x x HW 8 x x HW 9 x x x HW A x x x HW
31、B x x Table B : Possible motor/resolver combinations CB 52, CB102, CB 152 resolvers are single pole pair resolvers: they give absolute position on 1 motor rotation. The CB 158 resolver is a 4 pole pair resolver: it provides information every 1/4 turn. It cannot be used therefore, alone, for absolute
32、 positioning over 1 revolution. It can be used to control the HWA and HWB motors only. For easy spindle integration and electrical checking a connector is recommended for the signals. The standard resolver connector pinout is defined on the resolver drawings in annex III. Figure 3: Resolver CB102 5
33、PVD 3496 GB 03/2005 Spindle servomotors HW 3. MECHANICAL INTEGRATION 3.1 Motor The motor must be connected to the servo amplifier according to the DIGIVEX user manual. The colour code given in the table 2 must be followed : Signal Color U black V white W red Thermal switch yellow Thermal switch yell
34、ow Table 2 : Cable color code The motor is shipped without a ground cable. It is mandatory to connect a (green-yellow) ground cable to the spindle motor chassis. It is best to fasten this cable directly onto the motor frame (Diagram 4). The ground cable cross-section must be the same as the power ca
35、ble cross-section (Table 3). The cross-section of the yellow thermal switch cables is 0.5 mm2. Figure 4 Figure 5 6 PVD 3496 GB 03/2005 Spindle servomotors HW Motor DIGIVEX Drive Power cable cross section mm Motor DIGIVEX Drive Power cable cross section mm HW420BU 8/16 4 HWA30DN50/80 16 HW420BP 16/32
36、 4 HWA30DF100/120 16 HW420BK 32/64 4 HWA30DD150 25 HW430BQ 16/32 4 HWA30DC200 50 HW430BL 32/64 4 HWA30DB300 50 HW430BI 50/80 6 HWA50DG100/120 16 HWA50DF100/120 16 HW620CN 16/32 4 HWA50DD150 25 HW620CI 32/64 4 HWA50DC200 50 HW635CI 32/64 4 HWA50DB300 50 HW635CF 50/80 6 HWB20HH150 25 HW820RR 32/64 6 H
37、WB20HJ150 25 HW820RP 50/80 6 HWB20HD300 50 HW820CR 32/64 6 HWB20HE300 50 HW820CP 50/80 6 HWB30HH150 25 HW840CR 32/64 6 HWB30HJ150 25 HW840CP 50/80 6 HWB30HD300 50 HW840CH 100/120 16 HWB30HE300 50 HW840CF 150 25 HWB40HH150 25 HWB40HJ150 25 HW930CJ 100/120 16 HWB40HD300 50 HW930CI 100/120 16 HWB40HE30
38、0 50 HW930CF 150 25 HWB40HF300 50 HW930CE 200 50 HW930CC 300 50 HW950CJ 100/120 16 HW950CI 100/120 16 Table 3 : Power cable section HW950CF 150 25 HW950CE 200 50 HW950CC 300 50 3.1.1 Stator integration The HW motors must be water cooled (section 3.1.3). A cooling jacket according to annex IV drawing
39、s is necessary for proper operation. The O-rings fitted close to the cooling jacket act as seals. If leakage occurs at these seals, the “second“ O-rings prevent the spindle from being “drowned“. Coolant seeping from the leak detector holes indicates to the user that the O-rings must be changed at th
40、e next. Two types of HW stators mounting are possible: At the motor connection side At the motor connection opposite side Each type of mounting corresponds to a specific reference (see Drawings Annex). 7 PVD 3496 GB 03/2005 Spindle servomotors HW 3.1.2 Rotor integration CAUTION: Magnets are inserted
41、 inside the rotor. The magnetized rotor attracts any ferromagnetic components and is also attracted by them. Health hazard for people with pacemakers, metal implants or hearing aids. These people are not authorized to approach or handle the rotor. Hazards for fingers and hands. The magnetic fields o
42、f the rotor can produce an attractive force strong enough to crush fingers of hands. Hold the rotor firmly with suitable tools. Never handle it directly by hand. Move all ferromagnetic parts away from the rotor (minimum 1 m). Never attempt to insert the rotor into the stator by hand. Hazards for sen
43、sitive objects. Keep watches, credit cards, magnetic cards and any appliances containing metal or magnetic parts away from the rotor. The axial attraction force (Fa) during the rotor insertion in the stator is: Fa Stator Rotor Fa Motor Axial attraction force (N) HW4 40 HW6 60 HW8 150 HW9 200 HWA. 28
44、0 HWB 520 The radial attraction force is proportional to the rotor eccentricity x : Motor Radial attraction force Fr at the maximum rotor eccentricity (N) HW420 240 HW430 360 HW620 580 HW635 1000 HW820 850 HW840 1700 HW930 2400 HW950 4100 HWA30 3500 HWA50 5800 HWB20 5800 HWB30 8700 HWB40 11600 Fr x
45、Stator Rotor Fr 8 PVD 3496 GB 03/2005 Spindle servomotors HW HW400 and HW600 The HW400 and HW600 rotors (see annex II) are mounted by means of tolerance rings (Figure 6 and 7). The torque is transmitted by these tolerance rings (1) which are located in thin grooves (4) machined on the spindle shaft
46、(shaft interface given in annex IV). To mount the rotor: Fit the tolerance rings in the motor shaft grooves with their openings facing in opposite directions. fit the shaft into the rotor by means of a pressing machine. The rotor can be removed but can not be used anymore. The shaft remains safe for
47、 other uses. For mounting and removal operation, always use the rotor end (3 of Figure 7). Never push on laminations or rotor flanges (2). The maximum force required to insert the shaft is : HW4 HW6 Press fitting force 100kN 150kN 4 1 Figure 6: Tolerance ring (1) and groove (4) (2) (2) (3) (1)(1) 1:
48、 tolerance rings 3 : Hub 2: balancing flanges Figure 7: rotor mounting by means of tolerance rings 9 PVD 3496 GB 03/2005 Spindle servomotors HW HW800, HW900 and HWA The HW800, HW900 and HWA. motors are mounted by means of a hydraulic hub (Figure 8). The rotor is shrink-fit on the spindle shaft. The
49、mounting is performed by heating the rotor at 120C and by cooling the shaft (shaft interface given in annex IV) at -40C. CAUTION! : Maximum rotor temperature : 120C. Removal: The rotor can be released by supplying oil pressure into the rotor (inlet (1) in figure 8). The maximum required pressure is 1000 bars. After releasing