Table of contents
4.1.2 Janus arrangement ..................................................................................................................... 59
5 Configuring the motor .............................................................................................................................. 61
5.1
Procedure.................................................................................................................................... 61
5.1.1
General mechanical condit
ions................................................................................................... 63
5.1.2 Specification
of the duty cycle..................................................................................................... 63
5.1.3 Torque-time diagram
................................................................................................................... 64
5.1.4 Selecting the motors ....................................................................................................
............... 66
5.1.5 Uneven c
urrent load.................................................................................................................... 67
5.1.6 Motor torque-speed diagram..............................................................................................
......... 67
5.1.7 Torque-speed requirements
........................................................................................................ 68
5.1.8 More than one torque mo
tor on one axes................................................................................... 69
5.1.9 Checking the moment
s of inertia ................................................................................................ 69
5.1.10
Selecting the drive system components for the power con
nection............................................. 70
5.1.11 Calculating the required infeed power ........................................................................................ 70
5.2 Example(s)
.................................................................................................................................. 71
5.3
Short-time duty S2 and intermittent duty S3 ............................................................................... 76
6
Motor assem
b
ly ....................................................................................................................................... 79
6.1
Motor assembly
........................................................................................................................... 79
6.1.1
Procedure for installing the motor ............................................................................................... 84
6.1.2
Cooler connection .......................................................................................................
................ 88
6.1.3 Information on routing cables...................................................................................................... 90
6.1.4
Checking the work carried out
.................................................................................................... 91
6.1.5 Installa
tion examples................................................................................................................... 92
6.2 Protecting the motor components ............................................................................................. 100
7
S
ystem integrat
ion................................................................................................................................. 101
7.1
System
requirements ................................................................................................................ 101
7.2
Encoders ................................................................................................................................... 106
7.3
Bearings .................................................................................................................................... 109
7.4
Braking concepts
..........................................................................................................
............. 109
8
Interfa
ces............................................................................................................................................... 113
8.1
Ov
erview ................................................................................................................................... 113
8.2 Electrical connec
tions ............................................................................................................... 142
8.2.1
Power connection
...................................................................................................................... 143
8.2.2 Signal connection...................................................................................................................... 143
8.2.3
Shielding, grounding, and equipotential bonding...................................................................... 145
8.2.4 Requirements
for the motor su
pply cables ............................................................................... 146
8.3
Cooler connection ..................................................................................................................... 146
9
Commissioning ...................................................................................................................................... 159
9.1 Safety
guidelines for c
ommissioning
......................................................................................... 159
9.2
Procedure.................................................................................................................................. 162
10
Operation..................................................................................................................
............................. 165
10.1
Safety guidelines for operation ................................................................................................. 165
10.2
Dealing with faults......................................................................................................
............... 165
1FW6 Built-in torque motors
10 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3