Digital AC Servo Systems AC Servo Systems ProNet Series (V11.1011) MOTION CONTROL PRODUCTS LTD. ... EMJ-08A 191 156 35 3 9 80 90 70 6 19 M6x15L 22 4 6 6 3.5

Digital AC Servo Systems

ProNet Series

(V11.1011)

MOTION CONTROL PRODUCTS LTD.

Motion Control Products Ltd., 11-15 Francis Ave. Bournemouth, Dorset, UK BH11 8NX

Tel.: +44 (0)1202 599922 [email protected] www.motioncontrolproducts.com P a g e | 1

INTRODUCTION

EMJ SERVO MOTORS

EMG SERVO MOTORS

EML SERVO MOTORS

EMB SERVO MOTORS

PRONET SERVO DRIVES

The ProNet series servo system add functions of current feed-forward

control, acceleration feed-forward control, speed viewer and inertia viewer

which, in turn, enable the ProNet series servo drive to improve

response performance more than three times than previous products.

Furthermore, it is available to on-line real time workload inertia check and

adjustment of gain at any time to achieve the best control effect.

The ProNet series servo drive is able to match 17-bits serial encoder which

in turn enhances position precision and low speed stability &

responsiveness performance. Expansion module interface and Profibus-DP

bus communication module are also available.

The ProNet series servo drive completely pursues the simplicity of utilization to automatically determine mechanical characteristic and set needed servo gain. Besides, it achieves ‘on-line automatic adjustment function’. Automatic adjustment of servo system to meet mechanical characteristic enables less debugging time and simpler operation. Even for the first time to use it, it can finish the best optimized setting in a short time.

The ProNet series servo drive is designed with expansion module interface. At present, Profibus-DP bus communication module is available. In future, it will also support single axis control and assistant PLC expansion module etc. In order to make the servo system flexible to use for users, the ProNet series servo drive take the lead in providing expansibility, soft and open design. It can be expanded with various communication and feedback interface through selective modules.

Expansibility

Simple & Convenient Setting

Applications:

SMM (Surface Mounting Machine)

PCB puncher machine

Robot arm

Handling machine

Textile machine

Machine tools

Food processing machine

And more… 14

05

01

07

09

11



The ProNet series servo drives provide RS485 and CAN communication interface. Besides, it is able to support MODBUS, CANopen and PROFIBUS communication protocol.

Main Features

• Bus transmitting baud rate automatic identification (9.6 Kbps~12Mbps)

• The on-card power and isolator can match demand of different net regulations

• Distribute module address freely, make data transmitted to any servo drives

• Periodic data (PZD) exchange is available by DPV0 channel

• Reading and writing no-periodic data are available by DPV1 channel

• Support DPV2, isochronous, each servo drive can sampling control isochronously, the isochronous precision can reach 1µs

• The module support motion control-oriented PROFIBUS PROFIDRIVE regulation

• Pass the coherence test and authentication of PROFIBUS

There are many applications based on profibus communication in industrial automation market. The DP100 module is a PROFIBUS DP module, which can connect the other PROFIBUS products with ProNet servo drive and provide profibus project at low cost.

Communication Functions

DP100 Module



ProNet – 10 A M A

Servo drive Rated Power Voltage Control Mode Option

10: 1KW A: 200VAC M: Position, speed, torque control

A: 17-bit serial encoder 15: 1.5KW D: 400VAC

20: 2KW 30: 3KW E: Speed, torque &

position control (Support extended module)

B: Resolver

50: 5KW 75: 7.5KW

1A: 10KW

1E: 15KW

EMG – 10 A D A 1 1

Servo motor Rated Power Voltage Encoder Version Code Shaft End Options

EMJ, EMG, 02: 200W A: 200VAC D: Incrementalencoder 131072 P/R

1: Flat, without key

1: None

EML, EMB 04: 400W D: 400VAC 2: with oil seal

08: 750W 2: Flat, with key, with screw thread

10: 1KW S: Absolute encoder 131072 P/R

3: with brake (24VDC) 15: 1.5KW

20: 2KW 4: with oil seal, with brake (24VDC)

30: 3KW R: Resolver

50: 5KW

75: 7.5KW

1A: 10KW

1E: 15KW

Model Configuration



Functions

Models Control Mode RS232 RS485 CANopen Profibus

Auto gain setting

PG dividing frequency

Encoder Frequency

with workload

EDC series Position control √ × √ × × √ 2500P/R 250Hz

EDB series Position control √ √ × × × √ 2500P/R 250Hz

EDB series ‘M’ type

Position, torque & speed control

√ √ × × × √ 2500P/R 250Hz

ProNet series Position, torque &

speed control × √ √ √ √ √

17 bits 131072 P/R

450Hz

Notes:

1. Please inform us if the drive is used in frequent start-stop movement applications e.g. packing or textile machines

2. ProNet & EDB series are also available with single phase power supply for motor power range from 750W to 1.5kW. Please

short terminal L1, L3 & L2C as one phase and L2, L1C as another phase. Short terminal B1 & B2 is prohibited. For power

more than 1.5KW, it is not recommended to use single phase power supply.

3. Phase voltage: Three phase 200VAC input voltage refers to phase to phase voltage, not phase to neutral.

Servo Motors ProNet Servo Drives Continuous

Output Current

(A)

Max. Output

Current (A)

Input Voltage

(V) Series Capacity Model 200VAC 400VAC

Med

ium

Iner

tia

Smal

l Cap

acit

y

EMJ

3000rpm

200W EMJ-02A□A PRONET-02A□A - 1.3 3.9 0.5

400W EMJ-04A□A PRONET-04A□A - 2.7 8.1 0.9

750W EMJ-08A□A PRONET-08A□A 4.0 12.0 1.3

1.0kW EMJ-10A□A PRONET-10A□A 6.0 18.0 1.8

Med

ium

Cap

acit

y

EMG

2000rpm

1.0kW EMG-10A□A PRONET-10A□A 6.0 18.0 1.8





EML

1000rpm

1.0kW EML-10A□A PRONET-10A□A 6.0 18.0 1.8




Larg

e Ca

paci

ty

EMB 1500rpm

7.5kW EMB-75D□A PRONET-75D□A 18.0 56.0 12.0

11kW EMB-1AD□A PRONET-1AD□A 28.0 70.0 18.0

15kW EMB-1ED□A PRONET-1ED□A 38.0 84.0 22.0

System Selection Table

Summary Table



EM SERIES BRUSHLESS SERVO MOTORS

EMJ Technical Specifications

Model Unit EMJ-02A EMJ-04A EMJ-08A EMJ-10A

Matched Drives 200Vac Three-phase ProNet-02A ProNet-04A ProNet-08A ProNet-10A

Rated power kW 0.2 0.4 0.75 1.0Rated torque Nm 0.64 1.27 2.4 3.2Maximum torque Nm 1.92 3.81 7.2 9.6Rated speed rpm 3000 Max. speed rpm 4500 Rated current A 1.3 2.6 4 6Instantaneous Max. current A 3.9 7.8 12 18Rotor moment of Inertia (without brake) kg∙m2×10-4 0.188 0.313 1.35 1.74 Rotor moment of Inertia (with brake) kg∙m2×10-4 0.228 0.354 1.47 1.87 Electric time constant-TE ms 2.391 2.979 11 9.938Mechanical time constant- TM ms 1.203 0.864 1.183 1.239electromotive force constant- KE V/krpm 31.91 31.63 39 38.4Torque constant- KT Nm/A 0.564 0.564 0.613 0.613Resistance between motor windings Ω 11 4.7 2 1.6Inductance between motor windings mH 24.7~26.3 13.32~14 16.5~22 11.9~15.9

Feedback unit Standard 17 bit Incremental Encoder: 131072P/R

Optional * 17 bit Absolute Encoder: 131072P/R;

* Resolver Insulation level FEnvironment temperature 0℃ ~ +40℃ Environment humidity 20-80% RH

IP level All-closed , self-cool , IP65

(Except output shaft and connector)

Anti-vibration performance 49m /s2 Speed-Torque Curve



Dimensions (mm)

Model L LL Flange

S Tap × DepthKey

LR LE LF LC LA LB LZ QK QL W T U

EMJ-02A 153 123 30 3 6 60 70 50 5.5 14 M5x10L 16 4 5 5 3

EMJ-04A 173 143 30 3 6 60 70 50 5.5 14 M5x10L 16 4 5 5 3

EMJ-08A 191 156 35 3 9 80 90 70 6 19 M6x15L 22 4 6 6 3.5

EMJ-10A 211 176 35 3 9 80 90 70 6 19 M6x15L 22 4 6 6 3.5

Cables

Motor Connector Encoder Connector Brake Connector

Plug: CGRSB-4BFMA-SL8001

Plug: CGRSD-7BFMA-SL8001

Plug: CGRSB-2BFMA-SL8001

Pin No. Signal Colour Incremental / Absolute encoder Pin No. Signal Colour

1 U phase Red Pin No. Signal Colour 1 B1 Blue

2 V phase Blue 1 S+ 2 B2 White

3 W phase White 2 S- Blue / Black

4 FG Green / Yellow 3* BAT+ Brown

4* BAT- Brown / Black

5 PG5V Red

6 PG0V Black

7 FG Shield

* Notes: 1) There are no BAT+/BAT- signals in incremental encoder 2) There is no brake in EMJ-_ _ADA_ _ servo motor



EM SERIES BRUSHLESS SERVO MOTORS

EMG Technical Specifications

Model Unit EMG-10A EMG-15A EMG-20A EMG-30A EMG-50A

Matched Drives (200Vac) Three-phase ProNet-10A ProNet-15A ProNet-20A ProNet-30A ProNet-50A

Rated power kW 1 1.5 2 3 5Rated torque Nm 4.78 7.16 9.55 14.3 23.9Maximum torque Nm 14.34 21.48 28.65 42.9 71.7Rated speed rpm 2000 Max. speed rpm 3000 Rated current A 6 9 12 18 30Instantaneous Max. current A 18 27 36 54 90Rotor moment of Inertia (withoutbrake)

kg∙m2×10-4 10.0324 14.5124 18.9952 41.2788 71.7524

Rotor moment of Inertia (with brake) kg∙m2×10-4 10.6446 15.1236 19.6064 44.4788 74.9524 Electric time constant-TE ms 11.57 12.75 13 12.31 16Mechanical time constant- TM ms 1.39 1.16 1.07 2.4 1.57electromotive force constant- KE V/krpm 60.9 60 61 57.54 56.2Torque constant- KT Nm/A 0.8691 0.8732 0.9183 0.9093 0.852Resistance among motor windings Ω 0.7 0.4 0.3 0.29 0.1Inductance among motor windings mH 7.9~8.1 4.9~5.1 3.7~3.9 2.02~3.57 0.87~1.6

Insulation level F

Feedback unit Standard 17-bit Incremental Encoder: 131072P/R

Optional * 17-bit Absolute Encoder: 131072P/R; * Resolver

Ambient temperature 0℃ ~ +40℃ Ambient humidity 20-80% RH

Anti-vibration performance 24.5m /s2



Speed-Torque Curve

A: Continuous working area B: Repeatable working area



Dimensions (mm)

Model L LL KB1 KB2 KL1 KL2 Flange face

S Tap×Depth Key


EMG-10A 215 160 84 135 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4

EMG-15A 240 185 109 160 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4

EMG-20A 265 210 134 185 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4

EMG-30A 307 228 143 203 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5

EMG-50A 347 268 183 243 140 79 79 3.2 18 180 200 114.3 13.5 35 M8x16L 55 6 10 8 5 Cables


Plug: MS3108B20-4S(LC=130) MS3108B22-22S (LC=180)

Plug: MS3108B20-29S

Plug: MS3106A10SL-3S

Receptacle： MS3102A20-4P (LC=130) MS3102A22-22P (LC=180)

Receptacle： MS3102A20-29P

Receptacle: MS3102A10SL-3P

Cable Clamp: MS3057-12A



Pin No. Signal Incremental/Absolute

encoder Resolver Pin No. Signal

A U phase Pin No.

Signal Colour Pin No.

Signal Colour A B1

B V phase K S+ Blue K SIN+ Yellow B B2

C W phase L S - Blue/Black L SIN- Blue C -

D FG *T BAT+ Brown T COS+ Red

*S B AT- Brown/Black S COS- Black

H PG5V Red H R1 Red/ White

G PG0V Black G R2 Yellow / White

J FG Shield J FG Shield

* Notes: there are no BAT+, BAT- signal in incremental encoder



EML Technical Specifications

Model Unit EML-10A EML-20A EML-30A EML-40A

Matched Drives (200Vac) Three-phase PRONET-10A PRONET-20A PRONET-30A PRONET-40A

Rated power kW 1.0 2.0 3.0 4.0

Rated torque Nm 9.55 19.1 28.7 38.2

Maximum torque Nm 28.65 57.3 86.1 114.6

Rated speed rpm 1000

Max. speed rpm 1500

Rated current A 6 12 18 24

Instantaneous Max. current A 18 36 54 72

Rotor moment of Inertia (without brake) kg∙m2×10-4 19.0 53.5 77.8 102.2

Rotor moment of Inertia (with brake) kg∙m2×10-4 19.6 56.7 81.0 105.4

Feedback unit Standard 17 bit Incremental Encoder: 131072P/R

Optional * 17 bit Absolute Encoder: 131072P/R;

* Resolver Insulation level F

Anti-vibration performance 24.5m /s 2 Environment temperature 0℃ ~ +40℃

Environment humidity 20-80% RH



Speed-Torque Curve




Dimensions (mm)

Model L LL KB1 KB2 KL1 KL2 Flange face

S Tap×Depth key


EML-10A 265(319.5) 210 134 185 118 79 55 4 12 130 145 110 9 22 M6x20L 40 5 8 7 4

EML-20A 332(401) 253 168 228 140 79 79 3.2 18 180 200 114 13.5 35 M8x16L 55 6 10 8 5

EML-30A 372(443) 293 208 268 140 79 79 3.2 18 180 200 114 13.5 35 M8x16L 55 6 10 8 5

EML-40A 412(478) 333 248 308 140 79 79 3.2 18 180 200 114 13.5 35 M8x16L 55 6 10 8 5

Notes: the dimension in the () is the length of the motor with holding brakes.

Cables



Plug: MS3108B20-29S


Receptacle： MS3102A20-4P(LC=130) MS3102A22-22P (LC=180)


Receptacle： MS3102A10SL-3P




Pin No. Signal Incremental/Absolute Encoder Resolver Pin No. Signal

A U phase Pin No. Signal Colour Pin No. Signal Colour A B1


C W phase L S - Blue / Black

L SIN- Blue C -

D FG T* BAT+ Brown T COS+ Red

S* BAT-

Brown / Black

S COS- Black

H PG5V Red H R1 Red/

White



* Notes: there are no BAT+, BAT- signal in incremental encoder



EMB Technical Specifications

Model Unit EMB-75D EMB-1AD EMB-1ED

Matched Drives 400Vac Three-phase PRONET-75D PRONET-1AD PRONET-1ED

Rated power kW 7.5 11.0 15.0

Rated torque Nm 47.8 70.0 95.5

Maximum torque Nm 119.4 175 191

Rated speed rpm 1500

Max. speed rpm 2000

Rated current A 18.0 28.0 38.0

Instantaneous Max. current A 56.0 70.0 84.0

Rotor moment of Inertia (without brake) kg∙m2×10-4 186.2 217.6 338.8

Rotor moment of Inertia (with brake) kg∙m2×10-4 193.6 278.9 346.1

Feedback unit standard 17-bit absolute encoder; 131072P/R option Resolver

Brake rated voltage V DC24V±10%

Brake rated power W 90

Brake holding torque Nm 100

Insulation level F Vibration 24.5m/s2 Ambient Temperature 0 to +40� (non freezing) Ambient Humidity 20 to 80% RH (non condensing)

IP level Totally enclosed, self-cooled, IP55

(except for shaft opening and connectors)

Speed-Torque Curve




Dimensions (mm)

Model L LL KB1 KB2 KL1 Flange face

S Tap×Depth key


EMB-75D 530 (625) 414 366 302 184 116 4 18 220 235 200 14 42 M16×32L 90 6 12 8 5

EMB-1AD 580 (675) 464 416 352 184 116 4 18 220 235 200 14 42 M16×32L 90 6 12 8 5

EMB-1ED 615 (710) 499 451 387 184 116 4 18 220 235 200 14 55 M20×40L 90 6 12 10 6

Notes: the dimension in the () is the length of the motor with holding brakes.

Cables



Plug: MS3108B20-29S


Receptacle： MS3102A20-4P(LC=130) MS3102A22-22P (LC=180)


Receptacle： MS3102A10SL-3P




Pin No. Signal Incremental/Absolute Encoder Rosolver Pin No. Signal

A U phase Pin No. Signal Colour Pin No. Signal Colour A B1


C W phase L S - Blue / Black

L SIN- Blue C -

D FG T BAT+ Brown T COS+ Red

S BAT-

Brown / Black

S COS- Black

H PG5V Red H R1 Red/

White





Regenerative Resistor Externally mount the regenerative resistor for 7.5KW to 15KW Servo Drives.



PRONET BRUSHLESS SERVO DRIVES

Technical Specifications

Items Specifications

Inpu

t Vol

tage

Main Circuit 200V Three-phase 200 to 230VAC 50/60Hz (1.0kW-5.0kW)

400V Three-phase 380 to 440VAC 50/60Hz (1.0kW-5.0kW)

Control Circuit 200V single-phase 200 to 230VAC 50/60Hz (1.0kW-5.0kW)

400V single-phase 380 to 440VAC 50/60Hz (1.0kW-5.0kW)

Control Method SVPWM Control

Feedback Serial encoder:13072P/R

Resolver

Ope

rati

ng

Cond

itio

ns

Ambient/Storage Temperature Ambient temperature: 0 to +55°C

Storage Temperature: -20°C to +85°C

Ambient/Storage Humidity 90% RH or less (no condensation)

Elevation 1000m or less

Vibration/Impact Resistance Vibration Resistance:4.9m/s2, Impact Resistance: 19.6m/s2

Configuration Base-mounted

Perf

orm

ance

Speed Control Range 1:5000

Speed Regulation

Load Regulation 0 to 100% load: ±0.01% max

Voltage Regulation Rated voltage ±10%: 0% (at rated speed)

Temperature Regulation 25±25°C: ±0.1% max. (at rated speed)

Torq

ue C

ontr

ol

Analogue Input

Reference Voltage ±10VDC at rated torque (variable setting range: ±1to 10VDC)

Max. input voltage: ±12V

Input Impedance About 10MΩ min.

Circuit Time Constant 10μs

Spee

d Co

ntro

l Analogue Input

Reference Voltage ±10VDC at rated torque (variable setting range: ±1to 10VDC)

Max. input voltage: ±12V

Input Impedance About 10MΩ min.

Circuit Time Constant 10μs

Set Speed Reference

Rotation Direction Selection

Switches the direction by /P-CON

Speed Selection Speed 1 to 3 selection

Function Soft Start Setting 0 to 10s (can be set individually for acceleration and deceleration)



Posi

tion

Con

trol

Reference Pulse

Type Sign + pulse train, CCW+CW pulse train, or 90°phase difference 2-phase pulse (phase A + phase B)

Form Non-insulated line driver(+5V level),open collector

Frequency

x1 multiplier:4Mpps

x2 multiplier:2Mpps

x4 multiplier:1Mpps

Open collector:200kpps

Frequencies drop when the duties have errors

Set Position Reference

Position Setting Can set 16 position reference

I/O

Sig

nals

Encoder Output Pulses Phase A, Phase B, Phase C: line driver output

The number of dividing pulse: Any setting ratio is available

Sequence Input

Number of Channels B channels

Function

Signal allocations and positive/negative logics can be modified:Servo On(/S-ON),P control(/P-CON),alarm reset(/ALM-RST),clear error pulse(/CLR),forward run prohibited (P-OT),reverse run prohibited(N-OT),forward torque limit(/P-CL),reverse torque limit(/N-CL)

Sequence Output

Number of Channels 4 channels

Function

Servo alarm (ALM) Signal allocations and positive/negative logics can be modified: Positioning completion (/COIN), speed agree detection (/V-CMP), motor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), brake interlock (/BK), encoder C pulse (/PGC)

Built

-in F

unct

ion

Dynamic Brake(DB) Functions Operate during main power OFF, servo alarm, servo OFF or over-travel

Regenerative Processing Functions 750W to 5.0KW: built-in regenerative resistor; 7.5kW to 15kW: External regenerative resistor (optional)

Protective Functions Over-current, over-voltage, low voltage. Over-load, regeneration error, over-speed etc.

Utility Functions Alarm trace back, JOG operation, Inertia detections etc.

Display Functions CHARGE (red), POWER (green), 7-segment 5-digit LED (Built-in digital operator function)

Communications RS485 communication port, use MODBUS protocol. CAN communcation port, use CANOpen protocol.



Dimensions (mm)

• ProNet 02/04A

• ProNet 08/10A



• ProNet 15A

• ProNet 20/30/50A



• ProNet 75D/1AD/1ED



Typical Connection

• Three Phase 200VAC ProNet10A-50A



• Three Phase 400VAC ProNet75D-1ED

Copyright © 2011 Motion Control Products Ltd. All rights reserved. All data subject to change without notice in advance

Documents

Digital AC Servo Systems AC Servo Systems ProNet Series (V11.1011) MOTION CONTROL PRODUCTS LTD. ... EMJ-08A 191 156 35 3 9 80 90 70 6 19 M6x15L 22 4 6 6 3.5