EC Electric Motors – G6 Series
Servomotors with integrated electronics
Controlling
G6 Series motors control position, speed or torque similarly as conventional servomotors. The parameter setting, controlling and diagnostics is carried out trough series communication interfaces such as RS232 / RS485 or CAN.
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“ECMotor Control” Programme – Graphic User Interface
Simple open communication protocol
Commands for parameter setting and motion control such as: position control, speed control, torque control, PID constant setting
Commands for parameter reading and motor status detection such as: motor current detection, winding temperature detection, status word detection, etc.
Motion parameters can be changed during motion
User Programme
User programme is a sequence of commands defined by the user and downloaded to the motor through “EC Motor Control” programme. The motor can be then controlled by sequences of commands executed trough the communication link or by changing the input parameters.
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Commands for parameter setting and motion control
Setting and testing of user variables and bits, conditionally branch, sub­programmes, time delay definition, and commands for driving of I/O modules. Up to two command sequences can be applied simultaneously (e.g. logical functions of the motor & trajectory definition).
User programme is stored in EEPROM memory.
The user programme starts automatically after power­up.
Utilising of I/O modules without the need of a communication link.
Complex control of simple mechanical machine.
Example of a User Defined Programme
;###################################################
; Test_PID2 ; PID tunning example ; constant definitions
CONST Pos_xx = 10550[DEG]; target position
CONST Vel_xx = 1000[RPM]; Hi­speed
CONST Vel_yy = 350[RPM]; Lo­speed
;###############################################
; position reset, position control ;­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­
PosTest:
ACC = 100;
acceleration
DEC = 200; decelaration
CLEAR_VEL; stop
WAIT (100);
wait
CLEAR_POS; position is 0
MODE = #POSITION;set position control
WAIT (1000);
wait
VEL = Vel_xx;
;###################################################
; cyclic movement in position +­ Pos_xx
;­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­­
_MovePos:
;loop start
VEL = Vel_xx;
hi­speed movement
POS = ­Pos_xx;
to target ­Pox_xx
WAIT (200);
wait
VEL = Vel_yy;
lo­speed movement
WAIT (650);
wait
;
SCOPE = ExtStart;start scope
VEL = Vel_xx;
hi­speed backward movement
POS = Pos_xx;
to target Pos_xx
WAIT (200);
wait
VEL = Vel_yy;
lo­speed movement
WAIT (650);
wait on the end of cycle
JUMP (_MovePos); repeat
END;
Configuration and diagnostics – “ECMotor Control” programme
The motor configuration and the user programming are carried out on a PC through a user­friendly graphic interface.
Motor control
 Monitoring of operation parameters
 Motor setting – PID, protection, etc.
 Oscilloscope for PID & drive diagnostics setting
 User programming and programme developing
 Command Terminal – command & communication protocol implementation
 Status display and setting of I/O modules  Firmware upgrade for both the motor and I/O modules
All you are looking for is inside!
Control Electronics Manufacturer and Software Provider:
Electric Motor Manufacturer:
PMControl s.r.o.
Krásnohorské 994
547 01 Náchod
Czech Repulic
Tel.: +420 491 424 821
Fax.: +420 491 424 821
e­mail: info@pmcontrol.cz
http:// www.pmcontrol.cz
ATAS elektromotory Náchod a.s.
Bratří Čapků 722
547 30 Náchod
Czech Republic
Tel.: +420 491 446 111
Fax.: +420 491 423 946
e­mail: marketing@atas.cz
http:// www.atas.cz
The design of the G6 Series Electric Motors follows the global trend in motion control. The electrical as well as mechanical elements of the drive are all integrated in one unit comprising of position sensor, control as well as power electronics and if required also a PLC. The advantage of this construction becomes apparent when you focus at the design, implementation, operation, service and maintenance of this electrical drive when compared with conventional drive systems.
Reduced costs when designing a drive system
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The integral unit replaces a number of drive elements and their mutual intercon­
nection.
Complete mechanical solution, integrated I/O modules, and user programme.
Virtually no issues with the EMC as the electronic unit is located in one metal enclosure.
No control element to be built in control cabinets results in reduction of space.
G6 Series Electronically Commutated Servomotors
Gearbox
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Power Electronics
Electric Motor
Standard input flange size: 71frame B14A (shaft Ø14mm)
Worm gear reducer
Range of ratios: 6.75 – 40
Output torque up to 36Nm
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Output up to 600W
Speed up to 6000rpm
Rated torque up to 4Nm
Breakdown torque up to 7Nm
Service factor up to 2.5
Efficiency up to 85%
Insulation class F
TEFC design
Protection class IP54
Increased lifetime
Maintenance­free operation
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Power supply 110–
240V AC
Built­in dynamic braking resistor
Built­in power factor correction (PFC)
Built­in protection for:
overcurrent,
overvoltage, undervoltage, overload, temperature rise, position error
Controlling
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Position sensor
Position control
Speed control
Torque control
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16bit digital servo vector control (sinus PWM, PID position control)
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User programmable
Upgradable firmware
Absolute position sensor
3072 pulses per revolution
Accuracy ±1°
Repeatability ±0,2°
IO Modules
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Maximum speed 10,000rpm.
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Application examples
Swappable modules
Electrically insulated
RS232 / RS485, CAN communication
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PLC logical output – 24V
logical input – 5/24V
analogue input – 5/10V
DC power supply 12V/60mA
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Material advancing and cutting
In­between operation transporting
Warehouse distribution systems
Turntables
Tool holders
Packing machines
Dosing and mixing machines
Label application machines
Printing machines
High precision pumps and fans
Regulation valves actuating
Take­up machines and winding applications
Spraying and welding machines
Reduced costs during installation
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Faster installation and commissioning results in lower installation and commissioning costs.
Increased reliability.
Less connectors or connection cabling required.
Material cutting
x
MOVE
DONE
Reduced costs during operation
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The integral system offers higher efficiency.
Longer life achieved through the less complex system.
Maintenance­free operation throughout the lifetime.
Simple diagnostics utilising PC based software.
Reduced requirement for logistics as the integrated system comprises with only one unit.
Effective fault finding, problem solving and servicing as this all is reduced to just exchanging the unit for the same one.
G6 Series motors are based on totally enclosed flange mounted 6pole permanent magnet electric motors. The permanent magnets (Nd­Fe­B) form part of the rotor. The integrated power as well as control electronics enable the unit to function as vector controlled servo drive. The use of the integrated absolute position sensor guarantees no random rotor movement at power­up. The compact design and the metal enclosure enable good resistance against external interference and minimise self­radiation. There are no further EMC filtering necessary for industrial environment classified as class B (to EN 55022). The use of G6 Series motors is specifically advantageous at applications where the combination of standard squirrel cage motor driven through a frequency inverter does not offer a satisfactory solution and the use of conventional servomotors or indeed stepper motors does not prove not to be the economically viable solution.
FIXED ENDSTOP
Motor type
G62UF311
G62UF314
G62UL306
G62UL327
G66UF3081
Rated speed [rpm]
3500
1500
3500
1500
120
Maximum speed [rpm]
4000
2000
4000
2000
120
Rated torque [Nm]
0,8
1,0
1,6
1,9
15
Breakdown torque [Nm]
3,2
3,7
3,5
7,0
20
Rated output [W]
300
150
600
300
190
Outer Diameter x Length [mm]
120 x 150
120 x 150
120 x 165
120 x 165
120 x 246
Weight [kg]
3,3
3,3
4,0
4,0
5,3
IO module type
EC100 EC110
EC113
EC202
RS232/RS485
1/­
1/­
1/­
1/1
CAN
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1
1
PLC
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8 bit
logical input 5/24V
1
2
2
91
logical output 24V
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1 50mA 1 50mA 4 250mA
Analogue input ±5/10V
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1 10bit
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4 10bit
(1)
(1)
1
Internal power supply 12V/60mA ­
1
1 1) Total number of leads is limited – function selectable by software
1) execution with Worm Gear Reducer 1:30 Precise stopping
MOVE
MATERIAL EDGE
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DONE
Advantages of the use of G6 Motor when compared with combination of standard squirrel cage motor driven through a frequency inverter
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Rotor position feedback (vector control) available.
Full value of the rated torque available throughout the speed range (no torque restriction at speed close to 0rpm).
Higher service factor in relation to torque.
Higher efficiency of the drive.
Rotary carousel
ROTATE
M1
Advantages of the use of G6 Motor when compared with stepper motor
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Greater regulation range.
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Better dynamic properties.
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Loss of step is not an issue.
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Higher efficiency of the drive.
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Minimum stand­still current
Advantages of the use of G6 Motor when compared with servomotor
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Lower cost
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No space requirement in control cabinets
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Better EMC (electromagnetic compatibility)
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Self­cooled unit
STARTING POSITION
DONE
M2
M4
M3
Weight dosing
FILL
DONE
ω=f(m)
ω
G62Uxxx
G66UF308
G6 Series Motors’ working characteristics
WEIGHT
m