Pilz PMCtendo SZ Manuel utilisateur

PMCtendo SZ

OperatingManual1002405EN03

Pilz Motion Control

Preface

Thisdocumentisatranslationoftheoriginaldocument.

AllrightstothisdocumentationarereservedbyPilzGmbH&Co.KG.Copiesmaybemade

forinternalpurposes.Suggestionsandcommentsforimprovingthisdocumentationwillbe

gratefullyreceived.

Pilz®,PIT®,PMI®,PNOZ®,Primo®,PSEN®,PSS®,PVIS®,SafetyBUSp®,

SafetyEYE®,SafetyNETp®,thespiritofsafety®areregisteredandprotectedtrademarks

ofPilzGmbH&Co.KGinsomecountries.

SDmeansSecureDigital

Operating Manual PMCtendo SZ

1002405-EN-03 3

Table of contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.1 Purpose of the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.2 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.3 Modifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Notes on Safety . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1 Warranty and liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 Operation in accordance with its intended use . . . . . . . . . . . 7

2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.6 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.7 Directives and norms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.8 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . . 9

3 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.1 PMCtendo SZ servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.1.1 Type label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.1.2 Order reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.2 Drive controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.3 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.4 Dynamic performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.5 Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.6 Thermal winding protection . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.7 Cooling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.8 Holding brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.8.1 Motor holding brake . . . . . . . . . . . . . . . . . . . . . . . . 15

3.8.2 Brake test and grinding . . . . . . . . . . . . . . . . . . . . . . 16

3.9 Motor shaft and bearings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

4 Transportation and storage. . . . . . . . . . . . . . . . . 17

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Table of contents

4.1 Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.2 Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

5 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5.1 Installation Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5.2 Install motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

6 Electrical installation . . . . . . . . . . . . . . . . . . . . . . 21

6.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.1.1 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.1.2 Earthing, shielding and EMC. . . . . . . . . . . . . . . . . . 22

6.1.3 Selecting the cables . . . . . . . . . . . . . . . . . . . . . . . . 23

6.1.4 speedtec® and springtec® plug connector . . . . . . . 23

6.2 Servo motor and motor brake . . . . . . . . . . . . . . . . . . . . . . . . 26

6.2.1 Power cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.2.2 Assignment: Motor and power cable . . . . . . . . . . . . 28

6.3 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6.4 External fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

6.5 Water cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

7 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . 32

7.1 Check installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

7.2 Check connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

7.3 Put into operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

8 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

8.1 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

8.2 In the event of disruptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

8.3 Replace motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

9 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

9.1 Ambient conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

9.2 Device Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

9.3 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

9.4 Cooling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

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Table of contents

9.4.1 Convection cooling . . . . . . . . . . . . . . . . . . . . . . . . . 40

9.4.2 External fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

9.4.3 Water cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

9.5 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

9.6 Holding brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

9.7 Thermal winding protection . . . . . . . . . . . . . . . . . . . . . . . . . . 46

9.8 Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

9.8.1 Installation altitude . . . . . . . . . . . . . . . . . . . . . . . . . 47

9.8.2 Ambient temperature. . . . . . . . . . . . . . . . . . . . . . . . 48

9.9 Type-specific data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

9.9.1 Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

9.9.2 Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

9.9.3 Permitted shaft load . . . . . . . . . . . . . . . . . . . . . . . . 64

9.9.4 Voltage limit curves . . . . . . . . . . . . . . . . . . . . . . . . . 70

9.9.5 Key safety-related indicators. . . . . . . . . . . . . . . . . . 79

10 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Operating Manual PMCtendo SZ

1002405-EN-03 6

1 Introduction

1Introduction

1.1 Purpose of the manual

This operating manual describes the servo motors PMCtendo SZ. It includes information

about, transport, storage, installation, connection, commissioning, service and disposal.

Please also refer to the documentation for the servo amplifier.

1.2 Further support

If you have any queries that are not covered in this document, you can find more infor-

mation at www.pilz.com

1.3 Modifications

No. Version Date Change

1002504 01 0

7/2012

First edition

1002504 02 09/2012 Update: Feedback system

1002504 03 03/2014 • Additions:

Motor types SZ3x and SZ8x

Type keys

Directives and standards

springtec® plug connector 

Type-specific data

Characteristic safety values

• Updates:

Rating plate

Power cable

Feedback connection

External fan

Thermal winding protection

Electrical installation

Brake data, brake moment of inertia val-

ues

Number of motor poles

Formula symbols

Operating Manual PMCtendo SZ

1002405-EN-03 7

2 Notes on Safety

2.1 Warranty and liability

The devices can represent a source of danger. Therefore observe

• the safety guidelines, technical rules and regulations given in the following sections

•andpoints.

Warranty and liability claims will be void if

• the product has not been used for its intended purpose,

• the damage is attributable to a failure to observe the operation instruction,

• the operating personnel has not been properly trained, or

• modifications of any kind have been made.

2.2 Component part of the product

The technical documentation is a component part of a product.

• Since the technical documentation contains important information, always keep it

handy in the vicinity of the device until the machine is disposed of.

• If the product is sold, disposed of, or rented out, always include the technical docu-

mentation with the product.

2.3 Operation in accordance with its intended use

The servo motors are intended for installation in machines or systems or for assembly

with other components in a machine They must be operated in conjunction with suitable

and correctly configured servo amplifiers (e.g. PMCtendo DD4, PMCtendo DD5 or

PMCprotego D).

The thermal motor protection integrated in the motor winding must be monitored and

evaluated.

The following is deemed improper use:

• direct connection to the mains power supply,

• any component, technical or electrical modification,

• use outside the areas described in this manual,

• use outside the documented technical details.

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1002405-EN-03 8

2 Notes on Safety

2.4 Qualified personnel

Devices may cause residual risks. For this reason, all work on the devices as well as op-

eration and disposal must only be performed by qualified personnel who are aware of the

possible dangers.

Qualified personnel are persons who have acquired the authorisation to perform these

activities by

• Training from specialists and/or

• Instruction from specialists

In addition, they must have

• read,

• understood and

• observed the applicable regulations, legal provisions, rules and standards and exist-

ing technical documentation including the safety information contained in it.

2.5 Working on the machine

Apply the 5 safety rules in the order stated before working on the machine:

1. Activate. Make sure the auxiliary circuits are activated.

2. Secure against unintentional restart.

3. Make sure no voltage is present.

4. Ground and short-circuit.

5. Cover or enclose adjacent live parts.

2.6 Disposal

Please comply with the latest national and regional regulations! Dispose of the individual

parts separately depending on their nature and currently valid regulations such as, for

example:

• Electronic scrap (PCBs)

• Plastic

• Sheet metal

• Copper

•Aluminum

2.7 Directives and norms

The servo motors meet the following guidelines and norms

• Directive 2006/95/EC (Low Voltage Directive)

• Directive 2004/108/EC (Directive on Electromagnetic Compatibility)

• DIN EN 60204-1 version 2007

• DIN EN 60034-1 version 2011

Operating Manual PMCtendo SZ

1002405-EN-03 9

2 Notes on Safety

• DIN EN 60034-5 version 2007

• DIN EN 60034-6 version 1996

• DIN EN 60034-9 version 2008

• DIN EN 60034-14 version 2008

• UL and CSA approval 

All motors are supplied with certifications as "Recognized Component Class 155 (F)

motor insulation system". 

UL approval is registered with Underwriters Laboratories USA under UL File Number

E182088 (N), Classes OBJY2 and OBJY8, Component-Systems, Electrical Insula-

tion. UL certification is needed mainly for the use of motors and geared motors on

the US market. But, also in many countries UL approval is considered a special mark

of quality.

2.8 Presentation of notes on safety

IMPORTANT

This means that material damage may occur

if the safety precautions stated are not observed.

NOTICE!

CAUTION

This means that a minor injury may occur.

if the safety precautions stated are not observed.

WARNING!

Warning

means that there may be a serious danger of death

if the stated precautionary measures are not taken.

Operating Manual PMCtendo SZ

1002405-EN-03 10

2 Notes on Safety

DANGER!

Danger

means that serious danger of death exists

if the stated precautionary measures are not taken.

INFO

refers to important information about the product or serves to emphasize a

section in the documentation to which the reader should pay special atten-

tion.

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