Solution in 10 Drives & motors Bus: High performance CANopen DS402 Power supply: 1 or 3 phase 230Vac...
Transcript of Solution in 10 Drives & motors Bus: High performance CANopen DS402 Power supply: 1 or 3 phase 230Vac...
I n t e l l i g e n c e P r o d u c t i o n M o v e m e n t
Harmony of a perfect movement
Solution in
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ITAEN
GESP
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GESP
General Catalogue
Global Solution
Global solution
CMZ se encuentra en disposición de ofrecer una gama completa de productos que se integran con los controles de la serie FCT para la generación de las aplicaciones. La gran gama de productos y de soluciones permite una optimización real de las prestaciones y de los costos a lo que se unen otras ventajas importantes:- Gestión centralizada de la parametrización de los dispositivos CANopen.- Utilización de forma eficiente del CANopen para aplicaciones multiejes.- Sistema flexible y abierto en la programación.- Sistema basado sobre arquitectura con inteligencia distribuida.Además, la experiencia de 30 años de CMZ en sistemas de control de movimiento se suma como garantía para un resultado óptimo.
CMZ è in grado di offrire una gamma completa di prodotti che si integrano con i controllori della serie FCT nella realizzazione delle applicazioni. La completezza di gamma e di soluzioni permette una reale ottimizzazione delle prestazioni e dei costi a cui si aggiungono importanti altri vantaggi:- Gestione centralizzata della parametrizzazione dei dispositivi CANopen. - Utilizzo efficiente del CANopen per applicazioni multi asse.- Sistema flessibile e aperto nella programmazione.- Sistema basato su architettura ad intelligenza distribuita.L'esperienza trentennale di CMZ nel motion control si aggiunge infine come garanzia di ottimi risultati.
CMZ is able to offer a complete range of products that integrates with FCT series in application deve-lopment. The complete range of products and solutions allows a real optimization of the performance, the reduction of costs and further important advantages:- Centralized parametrisation of CANopen devices- Flexible and open programmation system- Architecture based on distributed intelligence The 30-year experience of CMZ in motion control applications is a real guarantee for the best results.
Win
ning
Act
ion
3
Master Controllers
FCT200:FCT241:
Drives & Motors
CD1-K: LBD: MMB: SVM: MM: SDS:
Integrated Servo System
ISD:
CANopen I/O Modules & Devices
CPENCA: axes module
SGACQA: load cell acquisition
CANopen Modules: analog/digital I/O
HMI: Industrial Touch Panels
PV and PT Series: Embedded systemsGD and GX Series: WIN CE Touch computer
Product range
Product range
CP32D0: 32 I/O
CP6V16: vibrator module management
FCT300:
8 axes motion controller40 axes motion controller99 axes motion controller
Brushless driveBrushless driveServo motorsStepless driveStepless motorsStepper drive
Integrated Stepless Drive
MMFL Stepper motors
10 Drives & motors
Bus: High performance CANopen DS402
Power supply: 1 or 3 phase 230Vac or 3 phase 400-480Vac (+10/-15%) with integrated
EMC filter
Logic supply: 24 Vdc
Current: 4,5-10,5A at 230Vac; 2,7-7,2-14-30-45-70-90A at 400Vac
Interfaces: 6 logical IN, 4 logical OUT, Drive OK, RS232, CANopen
Analog input: 2 IN +/- 10V 14 bit resolution
Encoder output: incremental, line driver, programmable resolution from 64 to 16384 p/r
Incremental feedback: 16 bit resolver, Encoder, Sin/Cos
Absoluted feedback Sin/Cos single turn or multiturns, HIPERFACE, ENDAT
Dimensions (mm):
230Vac: 200x199x65
400-480Vac: 2,7-7,2A: 230x230x65 - 14A: 230x258x83 - 30÷90A: 230x288x110
Certifications:
CE integrated EMC filter
UL/CSA only for 400Vac version
PWM: 8KHz
Digital current loop: 62,5μs
Digital speed loop: 500μs
Position loop: 500μs
Auto-phasing: motor phase and resolver
Auto-tuning: 3 bands, 2 filters
Motor cogging torque compensation
Internal positioning, speed profile, homing
Real time mode with linear and cubic interpolation of position
Local setting by a PC program (Visual Drive Setup) by the serial port
Centralized in FCT configurator by CAN bus
Reading of parameters from eeprom
CD1-k drive
Brushless drive with CANopen interface dedicated to the FCT series motion controller
HARDWARE FEATURES CONTROL FEATURES
MOVEMENT FEATURES
SETTING OF PARAMETERS
ORDERING CODE
ort
Type Interface Power Supply Peak current
CD1 K=CANopen x=230V x= 4,5A or 10,5A or 16,5A
CD1 K=CANopen x=400-480V x= 2,7A or 7,2A or 14A or 30A or 45A or 70A or 90A
CD1-k-x/x
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ITAEN
GESP
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Drives & motors
CD1-k drive
Brushless drivewith CANopen interface dedicated to the FCT series motion controller
SYNC n+1
Pn
Pn+1
Pn+2
Position
SYNC n SYNC n+2
drive sampling time
Para poder ofrecer al accionamiento una cierta autonomía en la generación de la trayecto-ria, los accionamientos CANopen normalmente utilizan la interpolación cúbica de la posición.El controlador maestro envía de forma singular a cada accionamiento la posición y la velo-cidad que debe ser alcanzada en el paso sucesivo, por tanto envía un mensaje de anuncio de sincronismo (SYNC) a cuya llegada, todos los accionamiento congelan su propia posición, empezando a elaborar la posición a alcanzar y enviando cada uno de forma singular al master la propia posición y el propio estado. Desde el momento que cada eje, partiendo de la velocidad y posición actual, deben alcanzar una posición y velocidad dadas en el SYNC sucesivo (4 condiciones), la ejecución de la posición seguirá una ley polinomial cúbica.
Per poter fornire al drive una certa autonomia nella generazione della traiettoria, gli aziona-menti CANopen normalmente utilizzano l'interpolazione cubica della posizione. Il master controller invia singolarmente ad ogni azionamento la posizione e la velocità che deve essere raggiunta al passo successivo, quindi invia un messaggio broadcast di sincronismo (SYNC) al cui arrivo tutti gli azionamenti congelano la propria posizione, iniziano ad elaborare la posizione da raggiungere e inviano singolarmente al master la propria posizione e il proprio stato. Dal momento che ogni asse, partendo da velocità e posizione attuale, deve raggiungere una data posizione e velocità al SYNC successivo (4 condizioni), l'andamento della posizione seguirà una legge polinomiale cubica. Il tempo di campionamento utilizzato dal drive in questo processo è di 500 μs. Con tale procedura anche in presenza di intervalli abbastanza lunghi tra un SYNC e il successivo la traiettoria viene generata con accuratezza e regolarità.
CANopen drives normally use the “cubic interpolation” of position to have a certain autonomy during the generation of the trajectory. The master controller sends to each drive the position and the velocity which the axis must reach at the next step, then sends a broadcast SYNC signal to all drives. Each drive at the reception of SYNC memorizes its position, begins to calcu-late the new trajectory and sends its position to the master controller. Each axis, starting from the actual position and speed, must reach the target position and speed at the next SYNC , with these 4 conditions, the position generation from the actual SYNC to the next one is a cubic polynomial. The sampling time of each drive is 500 μs for this process. In this way the accuracy of the trajectory is good also when the interval between two syncs is high.
cubi
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12 Drives & motors
HARDWARE FEATURES
Power supply230Vac single phase
Logic supply24Vdc
Rated current 2,5/5/8 A
Peak current5/11/17 A
FeedbackResolver, TTL incremental encoder, TTL incremental encoder+HES, SinCos incremental, SinCos incremental+HES, Hiperface encoder
Encoder emulationIncremental TTL (differential output)
Limit switch +/-24Vdc optoisolated
Index input24Vdc optoisolated
Capture input24Vdc optoisolated
Analog input 112bits +/-10V
Analog input 212bits +/-10V
Analog output8 bits 2,5V
Digital output3 parametrable 24Vdc max 300mA with dedicated terminal con-nection for motor brake control (external power device required)
Braking resistor30W included. External connections available
STO function2 channels, SIL2 compliant
InterfaceCANopen (2 RJ45 connectors)± 10VPulse/direction
CAN Speed/address selectionby switches
Motor thermal sensorPTC/NTC
EMC filterChoke integrated
Dimensions (mm)H 147 X W 70 X D 140
Weight (Kg)1.4
Available versionsCANopen (DS402), Pulse/direction, ±10V
LBD drive
Brushless drive 230Vac
FUNCTIONAL FEATURES
ORDERING CODE
CANopen DS402including capture + master slave
Analog operation+/-10V
Stepper emulation(pulse+direction using 24Vdc input)
Overload protection
Short circuit protection
Short to ground protection
I2t protection
5 configurable inputs
PC parametrization tool
Type Power supplyXX
Peak currentXX
Interface/XXX
Options.XXX
LBD 23 (230V) 05 (5A) CAN reserved
LBD 23 (230V) 11 (11A) CAN reserved
LBD 23 (230V) 17 (17A) CAN reserved
LBDXXXX/XXX.XXX
FUNCTIONAL FEATURES
13 Drives & motors
ORDERING CODE: After the code ( e.g MMB56G4S_3H) choose the option - The options above are CMZ standard configurations. For other options see Servo Motor Catalogue Entire motor code example: MMB56G4S_3H 7 A 05 0 0 57
TYPEES. MMB56G4S3H
Connection type7 (Swiveling 90°angled connectors)
Brake and shaft extensionA (Without brake, keyed shaft)
Feedback05 (Resolver 2 poles)
Connection Direction0 Standard
Cooling0 (Natural convection)
Internal standard code57
Brushless motors
MMB Series - Technical FeaturesRange: from 0.2 up to 115 NmVoltage: 220/400 Vac Protection: IP65 (except for flange end for B28 series) - IP67 on request
Type Stall torque (Nm)
Speed (rpm)
Peak torque Tp
(Nm)
Inertia Jm (10-4kgm2)
Stall current (Arms)
Torque constant Kt
(Nm/A)
Type Stall torque (Nm)
Speed (rpm)
Peak torque Tp
(Nm)
Inertia Jm (10-4kgm2)
Stall current (Arms)
Torque constant Kt
(Nm/A)
400VMMB28.D4S_3H 0,40 3000 1,4 0,13 0,28 1,45
MMB28.D6S_3H 0,60 3000 2,1 0,18 0,41 1,45
MMB28.D8S_3H 0,80 3000 2,8 0,23 0,55 1,45
MMB28.D2S_6H 0,20 6000 0,7 0,07 0,28 0,73
MMB28.D4S_6H 0,40 6000 1,4 0,13 0,55 0,73
MMB28.D6S_6H 0,60 6000 2,1 0,18 0,83 0,73
MMB28-D8S_6H 0,80 6000 2,8 0,23 1,10 0,73
MMB36.D7P_3H 0,70 3000 3,0 0,38 0,48 1,46
MMB36.E3P_3H 1,30 3000 6,0 0,78 0,89 1,46
MMB36.E8P_3H 1,80 3000 8,0 1,08 1,24 1,46
MMB36.F3P_3H 2,30 3000 11,0 1,43 1,58 1,46
MMB36.D7P_6H 0,70 6000 3,0 0,38 0,96 0,73
MMB36.E3P_6H 1,30 6000 6,0 0,78 1,79 0,73
MMB36.E8P_6H 1,80 6000 8,0 1,08 2,47 0,73
MMB36.F3P_6H 2,30 6000 11,0 1,43 3,16 0,73
MMB56.E2S_3H 1,20 3000 4,2 0,73 0,81 1,48
MMB56.F4S_3H 2,40 3000 8,5 1,40 1,62 1,48
MMB56.G4S_3H 3,40 3000 10,5 1,84 2,30 1,48
MMB56.E2S_DH 1,20 4500 4,2 0,73 1,22 0,99
MMB56.F4S_DH 2,40 4500 8,5 1,40 2,43 0,99
MMB56.G4S_DH 3,40 4500 10,5 1,84 3,44 0,99
MMB63.04J_3H 4,0 3000 10 1,75 2,5 1,63
MMB63.06J_3H 6,0 3000 15 2,51 3,7 1,63
MMB63.08J_3H 8,0 3000 20 3,29 4,9 1,63
MMB63.10J_3H 10,0 3000 25 4,07 6,1 1,63
MMB63.04J_DH 4,0 4500 10 1,75 3,7 1,09
MMB63.06J_DH 6,0 4500 15 2,51 5,5 1,09
MMB63.08J_DH 8,0 4500 20 3,29 7,4 1,09
MMB63.10J_DH 10,0 4500 25 4,07 9,2 1,09
MMB71.04Q_3H 4,5 3000 13,8 3,62 2,8 1,63
MMB71.08Q_3H 9,0 3000 27,6 6,04 5,5 1,63
MMB71.12Q_3H 12,5 3000 41,4 8,20 7,7 1,63
MMB71.16Q_3H 16,0 3000 55,2 10,70 9,8 1,63
MMB71.20Q_3H 20,0 3000 69,0 13,10 12,3 1,63
MMB71.04Q_DH 4,5 4500 13,8 3,62 4,1 1,09
MMB71.08Q_DH 9,0 4500 27,6 6,04 8,3 1,09
MMB71.12Q_DH 12,5 4500 41,4 8,20 11,5 1,09
MMB71.16Q_DH 16,0 4500 55,2 10,70 14,7 1,09
MMB71.20Q_DH 20,0 4500 69,0 13,10 18,4 1,09
MMB10.30I_2H 30 2000 99 170 12,2 2,45
MMB10.43I_2H 43 2000 139 238 17,6 2,45
MMB10.54I_2H 54 2000 163 300 22 2,45
MMB10.66I_2H 66 2000 199 370 26,9 2,45
400VMMB10.24I_3H 24 3000 89 136 14,7 1,63
MMB10.30I_3H 30 3000 99 170 18,4 1,63
MMB10.43I_3H 43 3000 139 238 26,3 1,63
MMB10.54I_3H 54 3000 163 300 33,1 1,63
MMB13.40_AH 40,0 1500 120 65 12,3 3,26
MMB13.69_AH 69,0 1500 204 114 21,2 3,26
MMB13.94_AH 94,0 1500 280 150 27,1 3,46
MMB13.CBI_AH 115,0 1500 345 192 36,8 3,13
MMB13.40_2H 40,0 2000 120 65 16,4 2,44
MMB13.69_2H 69,0 2000 204 114 28,2 2,44
MMB13.94_2H 94,0 2000 280 150 38,5 2,44
220VMMB28.D4S_3M 0,40 3000 1,4 0,13 0,48 0,84
MMB28.D6S_3M 0,60 3000 2,1 0,18 0,72 0,84
MMB28-D8S_3M 0,80 3000 2,8 0,23 0,95 0,84
MMB28.D2S_6M 0,20 6000 0,7 0,07 0,48 0,42
MMB28.D4S_6M 0,40 6000 1,4 0,13 0,95 0,42
MMB28.D6S_6M 0,60 6000 2,1 0,18 1,43 0,42
MMB28-D8S_6M 0,80 6000 2,8 0,23 1,91 0,42
MMB36.D7P_3M 0,70 3000 3,0 0,38 0,83 0,84
MMB36.E3P_3M 1,30 3000 6,0 0,78 1,55 0,84
MMB36.E8P_3M 1,80 3000 8,0 1,08 2,14 0,84
MMB36.F3P_3M 2,30 3000 11,0 1,43 2,74 0,84
MMB36.D7P_6M 0,70 6000 3,0 0,38 1,67 0,42
MMB36.E3P_6M 1,30 6000 6,0 0,78 3,10 0,42
MMB36.E8P_6M 1,80 6000 8,0 1,08 4,29 0,42
MMB36.F3P_6M 2,30 6000 11,0 1,43 5,48 0,42
MMB56.E2S_3M 1,20 3000 4,2 0,73 1,40 0,86
MMB56.F4S_3M 2,40 3000 8,5 1,40 2,81 0,86
MMB56.G4S_3M 3,40 3000 10,5 1,84 3,98 0,86
MMB56.E2S_DM 1,20 4500 4,2 0,73 2,11 0,57
MMB56.F4S_DM 2,40 4500 8,5 1,40 4,21 0,57
MMB56.G4S_DM 3,40 4500 10,5 1,84 5,96 0,57
MMB63.04J_3M 4,0 3000 10 1,75 4,3 0,94
MMB63.06J_3M 6,0 3000 15 2,51 6,4 0,94
MMB63.08J_3M 8,0 3000 20 3,29 8,5 0,94
MMB63.10J_3M 10,0 3000 25 4,07 10,6 0,94
MMB63.04J_DM 4,0 4500 10 1,75 6,4 0,63
MMB63.06J_DM 6,0 4500 15 2,51 9,6 0,63
MMB63.08J_DM 8,0 4500 20 3,29 12,8 0,63
MMB63.10J_DM 10,0 4500 25 4,07 15,9 0,63
TECHNICAL FEATURES
14 Drives & motors
MMB Series - Technical Features
MMB28.D2S 0,20 106 130 Ø9j6x20,00 58,00 Ø40,00j6x2,50 Ø63,00 5,5x7,00 12,00 Ø82,02 1,40 1,60
MMB28.D4S 0,40 121 145 Ø9j6x20,00 58,00 Ø40,00j6x2,50 Ø63,00 5,5x7,00 12,00 Ø82,02 1,60 1,80
MMB28.D6S 0,60 136 160 Ø9j6x20,00 58,00 Ø40,00j6x2,50 Ø63,00 5,5x7,00 12,00 Ø82,02 1,80 2,00
MMB28-D8S 0,80 151 175 Ø9j6x20,00 58,00 Ø40,00j6x2,50 Ø63,00 5,5x7,00 12,00 Ø82,02 2,00 2,20
MMB36.D7P 0,70 116 152 Ø11j6x23,00 70,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 9,00 Ø98,99 1,60 2,20
MMB36.E3P 1,30 141 177 Ø11j6x23,00 70,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 9,00 Ø98,99 2,10 2,70
MMB36.E8P 1,80 166 202 Ø11j6x23,00 70,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 9,00 Ø98,99 2,60 3,20
MMB36.F3P 2,30 191 227 Ø11j6x23,00 70,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 9,00 Ø98,99 3,10 3,70
MMB56.E2S 1,20 127 170 Ø14j6x30,00 91,30 Ø80,00j6x3,00 Ø100,00 Ø6,50 11,00 Ø129,12 3,50 4,10
MMB56.F4S 2,40 152 195 Ø14j6x30,00 91,30 Ø80,00j6x3,00 Ø100,00 Ø6,50 11,00 Ø129,12 4,40 5,00
MMB56.G4S 3,40 177 220 Ø14j6x30,00 91,30 Ø80,00j6x3,00 Ø100,00 Ø6,50 11,00 Ø129,12 5,40 6,00
MMB63.04J 4,0 160 192 Ø19j6x40,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 18,00 Ø141,42 4,50 5,50
MMB63.06J 6,0 180 212 Ø19j6x40,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 18,00 Ø141,42 5,50 6,50
MMB63.08J 8,0 204 236 Ø19j6x40,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 18,00 Ø141,42 6,50 7,50
MMB63.10J 10,0 224 256 Ø19j6x40,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 18,00 Ø141,42 7,50 8,50
MMB63.12J 12,0 244 276 Ø19j6x40,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 18,00 Ø141,42 8,50 10,00
MMB71.04Q 4,5 148 183 Ø24k6x50,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 Ø200,81 7,00 8,50
MMB71.08Q 9,0 173 208 Ø24k6x50,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 Ø200,81 9,00 10,50
MMB71.12Q 12,5 198 228 Ø24k6x50,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 Ø200,81 11,0 12,5
MMB71.16Q 16,0 223 253 Ø24k6x50,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 Ø200,81 13,0 14,5
MMB71.20Q 20,0 248 273 Ø24k6x50,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 Ø200,81 15,0 16,5
MMB10.24I 24 301 365 Ø32k6x58,00 190,00 Ø180,80j6x5,00 Ø215,00 Ø13,00 16,00 Ø268,70 25,00 31,60
MMB10.30I 30 326 390 Ø32k6x58,00 190,00 Ø180,80j6x5,00 Ø215,00 Ø13,00 16,00 Ø268,70 29,00 35,60
MMB10.43I 43 376 440 Ø32k6x58,00 190,00 Ø180,80j6x5,00 Ø215,00 Ø13,00 16,00 Ø268,70 37,00 43,60
MMB10.54I 54 426 490 Ø32k6x58,00 190,00 Ø180,80j6x5,00 Ø215,00 Ø13,00 16,00 Ø268,70 45,00 53,60
MMB10.66I 66 476 540 Ø32k6x58,00 190,00 Ø180,80j6x5,00 Ø215,00 Ø13,00 16,00 Ø268,70 53,00 62,60
MMB13.40 40,0 293 343 Ø38k6x80,00 240,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 Ø339,41 42,00 49,00
MMB13.69 69,0 373 423 Ø38k6x80,00 240,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 Ø339,41 55,00 62,00
MMB13.94 94,0 433 483 Ø42k6x142,00 240,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 Ø339,41 74,00 81,00
MMB13.CBI 115,0 493 543 Ø42k6x142,00 240,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 Ø339,41 92,00 99,00
Type Stall Torque(Nm)
LM LF DXL QF CXS F DF SF G Motor weight
(Kg)
Motor weight with brake
(Kg)
OVERALL DIMENSIONS
LM Motor length/Lunghezza motore/ Longitud cuerpo motor
LF Motor length with brake/Lunghezza motore con freno /longitud cuerpo motor con freno o inercia aumentada
DXL Diameter x length of shaft/Diametro x lunghezza albero/Diámetro x longitud de eje
QF Square flange/Quadro flangia/Cuadrado Brida
CXS Centering x thickness/Centraggio per spessore/Centraje x espesor
F Wheel base fixing holes/Interasse fori/Entré centros de orificios de fijación
DF Diameter fixing holes/Diametro fori di fissaggio/Diámetro de orificios de fijación
SF Thickness flange/Spessore flangia/Espesor de brida
G Dimensione diagonale/Diagonal dimensione Dimensiones en diagonal
øDF
QF
øG
LM/LF
SF S
CøD
L
øF
Brushless motors
RESEARCH LABORATORY SINCE 1992
FACTORY AND HEADQUARTERS
SALES AND ASSISTANCEORGANIZATION
Doc. CD200912 Rev.4-Issued 31/03/2010 - Information in this document is subject to change without notice
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