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1、NEMA ICS 16NEMA ICS 16 INDUSTRIALCONTROL ANDSYSTEMS MOTION/POSITION CONTROLMOTORS, CONTROLS,AND FEEDBACKDEVICES NEMA Standards Publication ICS 16 Motion/Position Control Motors, Controls, and Feedback Devices Published by National Electrical Manufacturers Association 1300 N. 17th Street Rosslyn, Vir
2、ginia 22209 1998, 1999, 2000, 2001 by National Electrical Manufacturers Association. All rights including translation into other languages, reserved under the Universal Copyright Convention, the Berne Convention for the Protection of Literary and Artistic Works, and the International and Pan America
3、n Copyright Conventions. ICS 16-2001 Page i Contents Foreword v 1 Scope1 2 Normative references1 3 Definitions .3 3.1 Terms common to motion control3 3.1.1 Acceleration definitions3 3.1.2 Current definitions .3 3.1.3 Dielectric strength4 3.1.4 Direction of rotation .4 3.1.5 Duty cycle4 3.1.6 Efficie
4、ncy.4 3.1.7 Electrical noise5 3.1.8 Electrical noise immunity.5 3.1.9 Electromagnetic interference.5 3.1.10 Input impedance5 3.1.11 Lead5 3.1.12 Moment of intertia5 3.1.13 Motion control system5 3.1.14 Pitch6 3.1.15 Power dissipation 6 3.1.16 Thermal resistance6 3.1.17 Rotor .6 3.1.18 Temperature de
5、finitions.6 3.1.19 Time constant definitions.7 3.1.20 Torque definitions7 3.1.21 Torsional resonance9 3.1.22 Velocity definitions.9 3.2 Terms common to control motors9 3.2.1 General terms.9 3.2.2 Terms specific to servo motors.13 3.2.3 Terms specific to stepping motors17 3.3 Terms common to feedback
6、 devices25 3.3.1 General terms.25 3.3.2 Terms specific to encoders.32 3.3.3 Terms specific to resolvers.36 3.4 Terms common to control systems38 3.4.1 General terms.38 3.4.2 Terms specific to servo motor controls .39 3.4.3 Terms specific to stepping motor controls.41 4 Control motors.47 4.1 Requirem
7、ents common to all control motors.47 4.1.1 Ratings47 ICS 16-2001 Page ii 4.1.2 Dimensions, tolerances, mounting, and measurement techniques 48 4.1.3 Enclosures 59 4.1.4 Functional tests and performance66 4.2 Requirements common to all servo motors.78 4.2.1 Nameplate markings78 4.2.2 Maximum allowabl
8、e winding temperature rating 79 4.2.3 Functional tests and performance80 4.3 Requirements common to all stepping motors84 4.3.1 Nameplate markings84 4.3.2 Maximum allowable winding temperature rating 85 4.3.3 Functional tests and performance86 4.3.4 Alternative test method for stepping motors.98 4.4
9、 Requirements for brush type servo motors only106 4.4.1 Functional tests and performance.106 4.5 Requirements for brushless servo motors only109 4.5.1 Functional tests and performance.109 5 Controls .113 5.1 Ratings 113 5.1.1 Ambient temperature.113 5.1.2 Basis of rating113 5.1.3 Input voltage and f
10、requency rating.113 5.1.4 Range of operating voltage and frequency113 5.1.5 Input current ratings 114 5.2 Enclosures114 5.3 Spacings.114 5.4 Nameplate markings.114 5.5 Application information114 5.5.1 Stepping motor-drive configurations.114 5.5.2 Electronically commutated (brushless) motor-drive con
11、figurations117 6 Position and velocity feedback devices120 6.1 Rotary encoders.120 6.1.1 Common requirements.120 6.1.2 Requirements specific to bearing type encoders 144 6.1.3 Requirements specific to bearingless type encoders155 6.2 Resolvers158 6.2.1 Space and mounting requirements.158 6.2.2 Conne
12、ctions and terminations160 6.2.3 Markings and data sheets 160 6.2.4 Application information .161 6.2.5 Tests and performance.161 7 Safety requirements for construction, and guide for selection, installation, and operation of motion control systems164 ICS 16-2001 Page iii 7.1 General considerations.1
13、64 7.2 Motion control system.164 7.3 Construction164 7.3.1 Rating and identification plates.164 7.3.2 Operating and maintenance data164 7.3.3 Supply circuit disconnecting devices 165 7.3.4 Protection.165 Annex A Symbols for quantities and their units.167 Annex B Index of defined terms171 ICS 16-2001
14、 Page iv ICS 16-2001 Page v Foreword This standards publication covers servo and stepping motors, feedback devices, and controls for use in a motion/position control system. The primary purpose of this standard is to assist users in the proper selection and application of the components of a motion/
15、position control system, and to eliminate misunderstandings between manufacturers and users. This standards publication provides technical information and specifications concerning performance, safety, tests, construction, and manufacture for products within the scope of this publication. The inform
16、ation and specifications are based on sound engineering principles, research, and records of test and field experience. This standards publication was prepared by the Programmable Motion Control Technical Committee of the NEMA Industrial Automation Control Products and Systems Section. User needs an
17、d safety considerations were addressed during the preparation of this standard. This standards publication will be regularly reviewed by the Programmable Motion Control Technical Committee for any revisions necessary to keep it up-to-date with technological and market changes. Comments or recommende
18、d revisions are welcome and should be submitted to: Vice President, Engineering National Electrical Manufacturers Association 1300 North 17th Street, Suite 1847 Rosslyn, VA 22209 To facilitate consideration by international standards groups, this standards publication has been developed according to
19、 the Directives of the International Electrotechnical Commission and the International Organization for Standardization for the drafting and presentation of international standards. This standards publication was approved by the NEMA Industrial Automation Control Products and Systems Section. Sectio
20、n approval of this standard, however, does not necessarily imply that all section members voted for its approval or participated in its development. At the time this standard was approved, the Industrial Automation Control Products and Systems Section consisted of the following members: ABB Control,
21、 Inc. Wichita Falls, TX Alstom Drives and Controls, Inc. Pittsburgh, PA Automatic Switch Company Florham Park, NJ Balluff, Inc. Florence, KY Carlo Gavazzi, Inc. Buffalo Grove, IL CMC Torque Systems Billerica, MA Control Concepts Corporation Beaver, PA Cooper Bussman St. Louis, MO Cummins, Inc. Minne
22、apolis, MN Cyberex Mentor, OH Eaton Corporation Milwaukee, WI Echelon Corporation Palo Alto, CA Electro Switch Corporation Weymouth, MA Elliott Control Company Hollister, CA ICS 16-2001 Page vi Entrelec, Inc. Irving, TX Firetrol, Inc. Cary, NC Fisher-Rosemount Systems, Inc. Austin, TX GE Fanuc Autom
23、ation Charlottesville, VA GE Industrial Systems Plainville, CT Hubbell Incorporated Madison, OH Joslyn Clark Controls, Inc. Lancaster, SC Lexington Switch tiis the time period i. ICS 162001 Page 4 3.1.2.2 rms current root mean square current Irms current calculated by the formula = i i 2 i rms t t)F
24、F()I( I where FFis the form factor (see 3.1.2.1); Iiis the current at period I; tiis the time period i. 3.1.3 dielectric strength ability of insulation to withstand a voltage with a specified maximum leakage current 3.1.4 direction of rotation direction observed when facing the shaft extension assoc
25、iated with the motor mounting surface NOTE All measurements used in this standard are based on a clockwise direction of shaft rotation. 3.1.5 duty cycle relation between the on time and the off time of a device NOTE Duty cycle is calculated by the formula %100 TimeOffTimeOn TimeOn CycleDuty + = 3.1.
26、6 efficiency ratio of power output to power input of a machine, expressed as a percentage NOTE Efficiency is calculated by the formula %100 P P in out = ICS 162001 Page 5 where Pinis the input power; Poutis the output power. 3.1.7 electrical noise unwanted electrical energy that has the possibility
27、of producing undesirable effects in the motion control system NOTE Electrical noise includes electromagnetic interference (EMI) and radio frequency interference (RFI). 3.1.8 electrical noise immunity extent to which the motion control system prevents an electrical noise from producing undesirable ef
28、fects in the system 3.1.9 electromagnetic interference EMI electromagnetic energy disturbance that manifests itself in performance degradation, malfunction, or failure of electronic equipment 3.1.10 input impedance complex quantity including the capacitive reactance and inductive reactance as well a
29、s resistance expressed in ohms measured at a specified frequency and level at the input terminals of the device 3.1.11 lead l distance that a translating load will travel in reaction to exactly one revolution of its ballscrew or leadscrew 3.1.12 moment of inertia J property of matter that causes the
30、 mass to resist any change in its motion 3.1.13 motion control system all rotational and linear electric servo and stepping motors and their feedback devices and controls intended for use in a system that provides precise positioning, or speed control, or torque control, or in any combination thereo
31、f ICS 162001 Page 6 3.1.14 pitch p number of revolutions that a ballscrew or leadscrew must turn to move its translating load exactly one unit of distance NOTE For single start screws, the pitch is typically the inverse of the lead (i.e. l1p =). 3.1.15 power dissipation Pd power loss in any device d
32、ue to energy expended NOTE Power dissipation is calculated by the formula outind PPP-= where Pinis the input power; Poutis the output power. 3.1.16 thermal resistance Rth opposition to the flow of heat between adjoining surfaces 3.1.17 rotor rotating component of a device 3.1.18 Temperature definiti
33、ons 3.1.18.1 ambient temperature temperature of the cooling medium, usually air, immediately surrounding the device 3.1.18.2 case temperature temperature of the surface of a device 3.1.18.3 maximum allowable winding temperature maximum temperature of the winding permitted by the temperature class of
34、 the insulation system used 3.1.18.4 temperature rise increase in temperature (in oC) of a device above ambient temperature at designated conditions ICS 162001 Page 7 3.1.19 Time constant definitions 3.1.19.1 electrical time constant e time required for the current to reach 63.2% of its steady state
35、 value when a step input voltage is applied NOTE Electrical time constant is calculated by the formula R L e= where Lis the winding inductance; Ris the winding resistance. 3.1.19.2 mechanical time constant m time required for a device to reach 63.2% of its steady state velocity after a zero source i
36、mpedance step voltage input is applied NOTE Mechanical time constant is calculated at a specified temperature using the following formula: where Jis the rotor inertia; KEis the counter emf constant; KTis the torque constant; Rmtis the motor terminal resistance. 3.1.19.3 thermal time constant th time
37、 required for a device to reach 63.2% of steady state temperature rise with constant power dissipation 3.1.20 Torque definitions NOTE The following definitions are derived from torque the property which produces, or tends to produce, rotation and is equal to the product of the radius of motion and t
38、he perpendicular force. ( )() ()() ET mt KK RJ m= ICS 162001 Page 8 3.1.20.1 breakaway torque starting torque static friction torque mechanical resistance that a device must overcome before motion can occur NOTE Breakaway torque is usually specified at a particular temperature, e.g. 0.1 lb-in at 25
39、C. 3.1.20.2 coulomb friction torque resistance to motion that is independent of velocity NOTE See Figure 1. Figure 1 Friction torque 3.1.20.3 rms torque Trms root mean square torque torque expressed mathematically by the formula Trms = i i 2 i t tT where Tiis the torque applied at period I; tiis the
40、 time period i. 3.1.20.4 stiffness ratio of applied force or torque to change in position Torque Velocity 0 Breakaway or Static Friction Torque Coulomb Friction Torque ICS 162001 Page 9 3.1.20.5 torque ripple variation of torque within one shaft revolution under specified test conditions, expressed
41、as the ratio of peak-to-peak torque amplitude to average torque (not including cogging torque) 3.1.21 torsional resonance rotational oscillation that occurs in any rotating system when it is being excited at or near its natural frequency 3.1.22 Velocity definitions NOTE In industry, velocity is comm
42、only referred to as speed and is expressed in rpm. 3.1.22.1 angular velocity time rate of change of angular position ( ) NOTE Angular velocity is expressed mathematically as dt d . 3.1.22.2 linear velocity v time rate of change of linear position (x) NOTE Linear velocity is expressed mathematically
43、as dt dx . 3.1.22.3 maximum speed highest speed at which the shaft can be rotated without mechanical damage 3.2 Terms common to control motors 3.2.1 General terms 3.2.1.1 brush conducting material which passes current from the d.c. motor terminals to the rotating commutator 3.2.1.2 commutation mecha
44、nical or electronic process of sequentially exciting the windings of a motor such that the relative angle between the magnetic fields of the stator and rotor is maintained within specified limits ICS 162001 Page 10 3.2.1.3 commutation angle angle in electrical degrees that a coil or group of coils o
45、n an armature rotate while being commutated angular difference in electrical degrees between the rotor and stator poles when the current is reversed in the windings 3.2.1.4 Current definitions 3.2.1.4.1 continuous current current required to develop rated torque without exceeding the temperature rat
46、ing 3.2.1.4.2 continuous stall current Ics maximum rms current that can be continuously applied to a stalled motor without exceeding the temperature rating of the motor 3.2.1.4.3 peak current acceleration current maximum intermittent current that does not cause motor damage or irreversible degradati
47、on of motor performance 3.2.1.4.4 rated current current developed at rated voltage and rated speed without exceeding the temperature rating NOTE See 4.3.3.1 for the rated current test procedure for stepping motors. 3.2.1.5 damping coefficient KD zero source impedance of a motor coefficient calculate
48、d at a specified temperature that describes the braking effect in a motor NOTE Damping coefficient can be defined by the mathematical expression where KEis the back EMF constant; KTis the torque constant. ()() ResistanceTerminalMotor KK K TE D= ICS 162001 Page 11 3.2.1.6 EMF definitions 3.2.1.6.1 ba
49、ck EMF counter EMF Eg internally generated voltage produced by the relative movement between the magnetic field and the armature winding when measured on an open circuit 3.2.1.6.2 voltage constant back EMF per unit of speed at a specified temperature 3.2.1.7 End play definitions 3.2.1.7.1 axial end play shaft displacement along the shaft axis 3.2.1.7.2 radial end play shaft displacement perpendicular to the shaft axis 3.2.1.8 horsepower HP a measure of motor output po