Solution in Motion

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Solution in Motion
Harmony of a perfect movement
Intelligence Production Movement
2013
Motion
Solution in
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 unidos por fieldbus.
- Utilización de forma eficiente del CANopen/EtherCAT 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.
ESP
Global solution
CMZ is able to offer a complete range of products that integrates with FCT series in application
devlopment. 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 devices connected by fieldbus
- Efficient use of CANopen/EtherCAT for multi axis application.
- 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.
ENG
2
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 collegati con bus di campo.
- Utilizzo efficiente del CANopen/EtherCAT 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.
ITA
Winning Action
Global Solution
General Catalogue
Product range
Master Controllers - Page 4
FCT200: 8 axes motion controller
FCT241: 40 axes motion controller
FCT300: 99 axes motion controller
Brushless Drives & Motors - Page 10
CD1-K:
LBD:
MMB:
IBD:
Brushless drive 230-400V
Brushless drive 230-400V
Servo motors
Integrated Brushless Drive
Stepless Drives & Motors - Page 16
ISD:
SVM:
MM:
Integrated Stepless Drive
Stepless drive
Stepless motors
I/O Modules & Devices - Page 21
CPENCA: axis module
CP32D0: 32 I/O
SGACQA: load cell acquisition
CP6V16: vibrator module management
CANopen modules: analog/digital I/O
LOCAL IO: digital I/O
HMI: Industrial touch panels - Page 22
PV and PT Series: Embedded systems
GD and GX Series: WIN CE touch computer
Product range
3
FCT series
ITA
ENG
The controllers of the FCT series are black box motion controllers equipped with a PowerPC
microprocessor, and programmable according to the standard IEC61131.
The systems are CANopen and EtherCAT master and they are based on a real-time operating system
(Precise MQX) with drivers developed by CMZ.
CMZ has developed a wide range of libraries for the classic axes movement functions like: electronic
cams, interpolation, flying shear, weight and temperature control and libraries dedicated to the
realization of whole machine.
Los controles de la FCT series son controles de formato “black box” (sin pantalla) dotados de un
procesador PowerPC y programable según los estándares IEC61131
Los sistemas son Maestros CANopen y EtherCAT, lo que permite la conexión entre accionamientos
y periféricos de CMZ y otros dispositivos de comercio. Además, están basados sobre un sistema
operativo estándar a tiempo real OS (Precise MQX) con drivers desarrollados por CMZ
Con el ambiente IEC61131, el cliente/usuario puede desarrollar sus propias librerías.
CMZ ha desarrollado una amplia gama de librerías garantizando la funcionalidad de todas las
aplicaciones más comunes: leva electrónica, interpolación, corte al vuelo, control de peso y
temperatura así como librerías dedicadas a la programación de maquinas.
Master controllers
IEC61131
4
I controllori della FCT series sono sistemi in formato black box dotati di un processore PowerPC e
programmabili secondo lo standard IEC61131.
I sistemi sono Master CANopen e EtherCAT, ciò consente l’interfacciamento verso azionamenti e
periferiche CMZ o altri dispositivi di commercio. Inoltre sono basati su un sistema operativo standard
real-time (Precise MQX) con drivers sviluppati da CMZ.
Con l’approccio IEC61131 le librerie possono essere sviluppate anche dal cliente/utilizzatore.
CMZ ha sviluppato una vasta gamma di librerie garantendo le funzionalità per tutte le applicazioni
più comuni: camme elettroniche, interpolazione, taglio al volo, controllo peso, controllo temperatura,
librerie dedicate alla realizzazione dell'intera macchina.
ESP
Masters CANopen-EtherCAT
FCT series
Masters CANopen-EtherCAT
HARDWARE FEATURES
FCT200: master CANopen
FCT241: master CANopen
FCT300: master CANopen-EtherCAT
Processor
PowerPC family
Processor
PowerPC family
Processor
PowerPC family
Dynamic RAM
16 MByte - SDRAM 132MHz
Dynamic RAM
32 MByte - SDRAM 128 MHz
Dynamic RAM
512 MByte - DDR2 528MHz
Boot Flash eprom
1 MByte
Boot Flash eprom
1 MByte
Boot Flash eprom
8 MByte
Serial Flash Eprom
32 MByte
Serial Flash eprom
32 MByte
Serial Flash eprom
128 MByte
Ferromagnetic serial FRAM
32 KByte
STATIC Ram battery backuped
128 KByte
Ferromagnetic parallel FRAM
128 KByte
Communication ports
RS232C, Ethernet 10/100 Mbps, serial
RS422-485, synchronous communication (SMI port)
Communication ports
RS232, Ethernet 10 Mbps
Communication ports
RS232, 2xEthernet 10/100/1000 Mbps,
serial RS422-485, synchronous communication (SMI port)
Standard bus on board
1xCANopen port
Standard bus on board
2xCANopen ports
Standard bus on board
2xCANopen ports, 1xEtherCAT
Optional bus
1xAuxiliary CANopen, Profibus DP
slave
Optional bus
Profibus DP slave, DeviceNet
Optional bus
2xAuxiliary CANopen, 2xEthernet
10/100 Mbps, Profibus DP slave,
DeviceNet, EtherNet/IP
Mass memory
SD card for user data storage
Mass memory
Compact Flash for user data storage
Mass memory
1xSD card for user data storage
1x internal SD card slot
System time clock management
System time clock management
System time clock management
Power supply 24Vdc±20%
Power supply 18Vac/24Vdc±20%
Power supply 24Vdc±20%
Dimensions (mm)
H 170 x W 54 x D 110
Dimensions (mm)
H 220 x W 77 x D 176
Dimensions (mm)
H 250 x W 78 x D 165
Weight (Kg)
0.8
Weight (Kg)
1.8
Weight (Kg)
1.8
8 axes motion controller
40 axes motion controller
99 axes motion controller
ORDERING CODE
SOFTWARE FEATURES
FCT200.abcd
a
0 Without any options
b
1 SDRAM = 16MByte - NAND FLASH = 32MByte
-
c
0 Future option
-
d
x Customization bit - for standard systems if a=0 then d=0; if a=1 then d=1; if a=2 then d=6
IEC61131 Environment
FCT241.ab
CMZ Motion libraries
1 With profibus-DP slave interface + second CAN port
-
a
0 Without any options
b
x Customization bit - for CMZ standard systems b=0
1 With Profibus-DP slave interface
2 With second CAN port
Real Time OS:
PRECISE MQX
CMZ Application libraries
2 With Device Net interface
CMZ Configurator
FCT300.abcd
a
0 Without any
options
1 With 2 CAN ports
+ 2 Ethernet 10/100
ports
2 With profibus-DP
slave + 2 CAN ports
+ 2 Ethernet 10/100
ports
3 With Devicenet
+ 2 CAN ports + 2
Ethernet 10/100
ports
4 Ethernet IP +
2 CAN ports + 2
Ethernet 10/100
ports
5 Profinet IO 2 port
+ 2 CAN ports + 2
Ethernet 10/100
ports
b
0 Future option
-
-
-
-
-
c
0 none internal
SD card
1 Internal SD card
installed
-
-
-
-
d
x Customization bit
-
-
-
-
-
Master Controllers
5
The environment
IEC61131
Function block diagram
ITA
L‘ambiente IEC61131 è oggi una scelta obbligata in un PLC/controllore
d’assi. Tale ambiente offre infatti cinque linguaggi, tre grafici (FBD,
Ladder e SFC) e due testuali (Structured Text e IL), che permettono
di affrontare le varie parti di una applicazione in modo efficiente. Ad
esempio si può usare :
- Ladder o instruction list per gestire I/O
- FBD per gli assi
- Structured Text per calcoli matematici
Oltre a questa varietà di linguaggi, IEC61131 offre un ambiente di
debugging intuitivo e protetto nonché vari tools.
La possibilità per l’utente di costruirsi proprie librerie, permette di ridurre
notevolmente gli investimenti sul software. L'ambiente di sviluppo denominato 4CONTROL, lavora in modo particolarmente efficiente in quanto
traduce i programmi scritti nei vari linguaggi IEC61131 direttamente nel
codice macchina del processore PowerPC.
Structured text language
ENG
IEC61131 is today a natural choice in a PLC/ axes controller. The IEC61131
environment offers you the possibility to use five languages, three of them
graphical (ladder, FBD and SFC) and two textual (Structured Text and IL)
that allow to manage different parts of an application in the best way.
For example, you can use:
- Ladder or instruction list for I/O management
- FBD for motion control
- Structured Text for math calculations
Further to all these variety of languages, IEC61131 offers an intuitive and
protected debugging environment and a lot of tools. The possibility
for the user to make their own libraries, allows to reduce the software
investment.
The programming environment, called 4CONTROL, works in a very efficient way, because it translates the programs, written in the different
IEC61131 languages, directly to the machine code of the PowerPC
processor.
Ladder language and simulator
ESP
El ambiente IEC61131 es hoy día una elección obligada en un PLCcontrol de ejes. De echo este ambiente ofrece cinco lenguajes, tres
gráficos (FBD, Ladder y SFC) y dos de texto (Texto Estructurado y IL),
permitiendo afrontar de la mejor manera posible las diferente partes de
una aplicación.
Por ejemplo se puede utilizar:
- Ladder o lista de instrucciones para gestionar I/O
- FBD para los ejes
- Texto estructurado para el cálculo matemático
Además de esta variedad de lenguajes, el IEC61131 ofrece un ambiente
de control y gestión de errores intuitivo y provisto de varias herramientas.
La posibilidad para el usuario para construirse sus propias librerías permite
de gestionar en modo adecuado las inversiones en el software. El
ambiente desarrollo 4CONTROL trabaja en una forma particularmente
eficiente en cuanto que traduce los programas escritos en los distintos
lenguajes de IEC61131 directamente en el código máquina del
procesador PowerPC.
6
Master controllers
The configurator
Variables managed with the oscilloscope
Il Configuratore, consente di gestire e parametrizzare le componenti SW e le periferiche HW (locali o remotate sui bus di campo) assegnabili ai controllori del progetto IEC.
Si possono configurare le porte di comunicazione e i relativi protocolli,
gli assi, i nodi delle reti dei bus di campo e i vari dispositivi.
Attraverso gli oggetti dell'albero del configuratore è possibile visualizzare e modificare run time le variabili di processo, monitorare lo stato
del bus di campo e dei suoi nodi, analizzare attraverso l'uso della funzione oscilloscopio l'andamento dei movimenti o variabili d'interesse.
Il tutto compone un potente strumento di debug.
Il risultato della fase di configurazione porta ad ottenere inoltre la
creazione automatica di codice IEC di ausilio nella stesura dell’applicativo finale.
Ogni componente del configuratore ha un versatile help in linea.
CANopen network monitoring
The configurator allows to manage and parametrize the software
components and the hardware peripherals (local or remote, on the
fieldbus) used in the IEC project.
Communication ports and pertinent protocols, axes, nodes of the fieldbus net and other devices, can all be configured.
The process variables can be run time displayed and modified through
the objects of the configurator tree. Moreover, the fieldbus and the
nodes status can be monitored, the axes movements and the trend of
the chosen variables can be analyzed, thanks to the oscilloscope
function. All those elements constitute a very powerful debug tool.
Moreover, the configurator can automatically create parts of IEC code
that help to write the application software.
Each component of the configurator has a versatile help on line.
Wizard configurator
El CONFIGURADOR, permite gestionar y parametrizar los componentes
SW y los periféricos HW (locales o remotos en el bus de campo) asignables a los controles del proyecto IEC. El 4CONTROL trabaja de un modo
particularmente eficiente ya que traduce los programas escritos en los
diversos lenguajes del IEC61131 directamente en el código máquina
del procesador PowerPC. Se puede configurar la puerta de comunicación y los distintos protocolos, los ejes y los nodos de las redes de los
buses de campo y otros dispositivos. A través de los objetos del árbol
del configurador es posible visualizar y modificar en tiempo real las
variables de proceso, monitorizar el estado del bus de campo y de sus
nodos, analizar mediante el uso de la función osciloscopio la ejecución
del movimiento o variables que resulten interesantes. El conjunto forma
un potente instrumento para el control y gestión de errores.
El resultado de la fase de configuración nos lleva a obtener además la
creación automática del código IEC de ayuda en la elaboración del
aplicativo final. Cada componente del configurador tiene una versátil
herramienta de ayuda en línea.
Master controllers
7
Electronic cams
Application library example
ENG
ITA
ESP
L’esecuzione di camme elettroniche, cioè il movimento di un asse slave in funzione di un master
(asse fisico o virtuale) è una delle funzionalità più richieste nelle applicazioni di movimentazione.
Il pacchetto software camme elettroniche di CMZ mette a disposizione una serie di function
block che permettono di generare profili di camma. Sono disponibili funzioni che eseguono
il movimento dell’asse slave sulla base di una tabella che descrive la camma ma sono
Cam_1
disponibili anche i blocchi più elementari, per cui il programmatore può creare leggi di moto
particolari: può ad esempio creare traiettorie che si modificano in funzione di eventi esterni,
FB_CamManager
Axis
Axis
Table
Table
Npoints
Enable
come la variazione dello stato di un ingresso. Una funzione di oscilloscopio permette poi di
error
ErrorID
verificare il reale andamento del movimento.
Dmax
Jerko
MasterPos
MasterOffset
The execution of electronic cam, i.e. the movement of a slave versus a master axis (physical or
MasterVel
MasterAcc
virtual) is one of the most requested functions in motion applications. The software library elec-
TimeExt
tronic cams offers a group of function blocks that permit to generate cam profiles.
The library also offers you the basic function blocks which the programmer can utilize to implement special movement functions. You can for example create trajectories which change on
the variation of an input. An oscilloscope function allows checking the real movement.
vel. slave
m3
m0
m1 m2
m4
m5
t
master
La ejecución de las levas electrónicas, es decir el movimiento de un eje esclavo en función de
uno maestro (eje físico ó virtual) es una de las funcionalidades más requeridas en las aplicaciones de movimiento. El paquete software Leva Electrónica de CMZ ofrece una serie de bloques
de función que permiten la generación de perfiles de Leva. Hay funciones disponibles que ejecutan el movimiento del eje esclavo sobre la base de una tabla que describe la leva. También
se disponen de bloques más elementales, para que el programador pueda crear leyes de
movimiento particulares: como por ejemplo crear trayectorias que se modifican en función de
eventos externos, como la variación del estado de una entrada. La función de osciloscopio nos
permite conocer y verificar la ejecución real del movimiento.
acc.
1.875
jerk=0
1.25
1
jerk=100%
linear
When you choose to work with “S-shape” ramps to reduce mechanical shocks, you often have
the disadvantage, that to a soft beginning of the ramp (low value of the jerk), corresponds an
acceleration in the central part much higher than the average acceleration.
The electronic cam program utilizes smoothed ramps that permit to choice the value of the
initial jerk as percentage of a maximum value. On this side are highlighted the maximum
accelerations that you can obtain with a smoothed ramp with jerk=100% (red curve, max acc.
=1.25) and jerk=0% (green curve, max acc. =1.875), comparing them with a linear one (constant
acceleration=1).
trampa=1
speed
speed target=1
Cuando se elige trabajar con rampas de velocidad redondeada o a “S” para reducir los golpes en la mecánica, a menudo se encuentra el inconveniente de que, a un inicio de rampa
muy dulce (bajo valor de jerk) le corresponde una aceleración en el tramo central muy elevada con respeto a la aceleración media. El programa Leva Electrónica utiliza un tipo de
rampa redondeada que permite reducir tal efecto y poder elegir el valor de jerk inicial como
porcentaje de un valor limite máximo. En los diagramas, mostrados al lado, de levas temporales, se muestran las aceleraciones máximas que se obtienen con una rampa redondeada
con jerk=100% (curva roja, acel.max.= 1.25) y con jerk = 0% (curva verde, acel.max= 1.875),
confrontándola a la lineal (aceleración constante=1)
8 Master controllers
smoothed ramps
Quando si sceglie di lavorare con rampe di velocità raccordate (o a ”S”) per ridurre gli shock
alla meccanica, spesso si ha l’inconveniente che ad un inizio rampa molto dolce (basso valore
di jerk) corrisponde una accelerazione nel tratto centrale molto più elevata rispetto all’accelerazione media. Il programma Camme Elettroniche utilizza un tipo di rampa raccordata che
permette di ridurre tale effetto e definisce il valore del jerk iniziale come percentuale di un
valore limite massimo. Nei diagrammi, a lato riportati, di camme temporali, sono evidenziate
le accelerazioni massime che si ottengono con una rampa raccordata con jerk = 100% (curva
rossa, acc.max =1,25 ) e con jerk = 0% (curva verde, acc.max = 1,875), confrontandole a quella
lineare (accelerazione costante = 1).
t
t
trampa=1
An ISO numeric control
A classic motion application
CAD/CAM o da programma di ottimizzazione e passato al controllore tramite compact flash/
SD card o trasmesso tramite protocollo FTP server o altro.
Questa applicazione rappresenta una efficiente soluzione a basso costo per sistemi di taglio a
tre assi (laser, plasma, water jet ecc,)
Il programma è facilmente personalizzabile anche dal cliente in quanto scritto totalmente in
IEC61131, in particolare per le funzioni M che sono molto dipendenti dal tipo di applicazione.
ITA
L'implementazione base prevede interpolazione lineare e circolare. Sono disponibili tools grafici
per verificare i movimenti degli assi in modo simulato.
Through the applicative ISO controller developed by CMZ, FCT controller can work as a numeric
control. It can execute ISO programs generated by a CAD/CAM or an optimizing program and
sent to the controller through compact flash/SD card or transferred through a FTP protocol or
other one. It is a cheap and efficient solution for three axes cutting system (laser, plasma, water
jet etc.). The program is easily customized also by the customer because it is completely written
in IEC61131, particularly for the M function that really depends on the application. The simple
implementaiton has linear and circular interpolation. Graphic tools are available to verify the
movement of the axes in simulated way.
ENG
Gracias al software ISO controller desarrollado por CMZ, el control FCT puede trabajar como un
control numérico. EL software permite de ejecutar un programa ISO generado desde un CAD/
CAM o desde un programa de optimización y pasarlo al control mediante una “compact flash”,
“SD card” o transmitirlo mediante protocolo FTP server y otro.
Esta aplicación representa una solución eficiente a un bajo coste para sistemas de corte con
tres ejes (láser, plasma, water jet etc).
El cliente puede personalizar fácilmente el programa ya que está escrito totalmente en
IEC61131, en particular para las funciones M, que dependen mucho según los casos particulares.
La implementación base prevé la interpolación lineal y circular. Hay disponibles herramientas
gráficas para verificar el movimiento de los ejes en forma simulada.
ESP
ISO APPLICATIVE
Grazie all'applicativo ISO controller sviluppato dalla CMZ, un FCT controller può lavorare come
un controllo numerico. L'applicativo permette di eseguire un programma ISO generato da un
Master Controllers
9
CD1-k drive
Brushless drive
with CANopen interface dedicated to the FCT series motion controller
HARDWARE FEATURES
CONTROL FEATURES
Bus: High performance CANopen DS402
PWM: 8KHz
Power supply: 1 or 3 phase 230Vac or 3 phase 400-480Vac (+10/-15%) with integrated
Digital current loop: 62,5µs
EMC filter
Digital speed loop: 500µs
Logic supply: 24 Vdc
Position loop: 500µs
Current: 4,5-10,5A at 230Vac; 2,7-7,2-14-30-45-70-90A at 400Vac
Auto-phasing: motor phase and resolver
Interfaces: 6 logical IN, 4 logical OUT, Drive OK, RS232, CANopen
Auto-tuning: 3 bands, 2 filters
Analog input: 2 IN +/- 10V 14 bit resolution
Motor cogging torque compensation
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 only for 400Vac version
SETTING OF PARAMETERS
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
MOVEMENT FEATURES
Internal positioning, speed profile, homing
Real time mode with linear and cubic interpolation of
position
ORDERING CODE
CD1-k-x/x
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
10 Brushless drives & motors
LBD drive
HARDWARE FEATURES
Brushless drive 230Vac-400Vac
Power supply
230Vac single phase - 400Vac three phase
Logic supply
24Vdc
Rated current
230Vac: 2,5/5/8 A - 400Vac: 4/10/22,5/35 A
Peak current
230Vac: 5/11/17 A - 400Vac: 8/20/45/100 A
Interface
CANopen DS402 (2 RJ45 connectors), etherCAT
± 10V, Pulse/direction
Feedback
Resolver, TTL incremental encoder, TTL incremental encoder+HES,
SinCos, Hiperface absolute encoder single and multiturn
Encoder emulation
Incremental TTL (differential output)
2 Analog inputs
12bits +/-10V
1 Analog output
8 bits +/- 2,5V
5 Digital inputs
24Vdc optoisolated: general purpose or configurable as Capture,
Index, Limit switch +/-, Enable, STEP/DIR
3 Digital outputs
Parametrable 24Vdc max 300mA with dedicated terminal connection
for motor brake control (external power device required)
Braking resistor
30W included. External connections available
STO function
2 channels, SIL2 compliant
Motor thermal sensor
PTC/NTC
EMC filter
Choke integrated
Certifications: CE, UL
PWM: 8KHz
Digital current loop: 62,5µs
Digital speed loop: 500µs
Position loop: 500µs
OVERALL DIMENSIONS
Type
LBD23
Peak current
CONTROL FEATURES
05
11
17
H148XW70XD143
Weight (Kg)
1,5
008
020
045
H220XW70XD182
2,2
Auto-tuning: 3 bands, 2 filters
Motor cogging torque compensation
LBD40
Standard dimensions (mm)
Auto-phasing: motor phase and resolver
100
H220XW80XD206
2,4
3,3
ORDERING CODE
230Vac - LBD23cc/xxx.abc
400Vac - LBD40ccc/xxx.abc
Type
Power supply
LBD
40(400V)
LBD
40(400V)
Peak current
(ccc)
008 (8 A)
020 (20 A)
Option (ab)
Option
(c)
Type
Power supply
a=0 standard
a=1 Push
through ver
b=reserved
customiz.
LBD
23(230V)
05 (5 A)
CAN or ETC
reserved
customiz.
LBD
23(230V)
11 (11 A)
CAN or ETC
reserved
customiz.
LBD
23(230V)
17 (17 A)
CAN or ETC
reserved
customiz.
a=0 standard
a=1 Push
through ver
b=reserved
customiz.
CAN or ETC
customiz.
customiz.
Interface
(xxx)
CAN or ETC
LBD
40(400V)
045 (45 A)*
CAN or ETC
a=0 standard
a=1 Push
through ver
b=reserved
LBD
40(400V)
100 (100 A)*
CAN or ETC
a=0 standard
a=1 Push
through ver
b=reserved
Peak current
(cc)
Interface
(xxx)
Option (ab)
Option (c)
* external power supply unit (code MMGDPS – 400 / pp - xx)
Brushless drives & motors
11
Brushless motors
MMB Series - Technical Features
Range: from 0,2 up to 115 Nm
Voltage: 220/400 Vac
Protection: IP65 - IP67 on request
Stall
torque
(Nm)
Nm
Type
Stall
current
(Arms)
400V - 3000 rpm - kt 1,45 (Nm/A)
0,20
-
Type
Peak
torque Tp
(Nm)
Stall
current
(Arms)
400V, 6000 rpm, kt 0,73 (Nm/A)
MMB28.D2S_6H
0,7
0,28
Type
Peak
torque Tp
(Nm) )
Stall
current
(Arms)
Type
220V - 3000 rpm - kt 0,84 (Nm/A)
-
Peak
torque Tp
(Nm) )
Stall
current
(Arms)
220V, 6000 rpm, kt 0,42 (Nm/A)
MMB28.D2S_6M
0,7
0,48
0,40
MMB28.D4S_3H
1,4
0,28
MMB28.D4S_6H
1,4
0,55
MMB28.D4S_3M
1,4
0,48
MMB28.D4S_6M
1,4
0,95
0,60
MMB28.D6S_3H
2,1
0,41
MMB28.D6S_6H
2,1
0,83
MMB28.D6S_3M
2,1
0,72
MMB28.D6S_6M
2,1
1,43
MMB28.D8S_3H
2,8
0,55
MMB28-D8S_6H
2,8
1,10
MMB28-D8S_3M
2,8
0,95
MMB28-D8S_6M
2,8
1,91
0,80
Nm
400V, 3000 rpm, kt 1,45 (Nm/A)
400V, 6000 rpm, kt 0,73 (Nm/A)
220V, 3000 rpm, kt 0,84 (Nm/A)
220V, 6000 rpm, kt 0,42 (Nm/A)
0,60
MMB36.D6I_3H
2,10
0,41
MMB36.D6I_6H
2,10
0,82
MMB36.D6I_3M
2,10
0,72
MMB36.D6I_6M
2,10
1,43
1,20
MMB36.E2I_3H
4,20
0,82
MMB36.E2I_6H
4,20
1,65
MMB36.E2I_3M
4,20
1,43
MMB36.E2I_6M
4,20
2,86
1,80
MMB36.E8I_3H
6,30
1,24
MMB36.E8I_6H
6,30
2,50
MMB36.E8I_3M
6,30
2,15
MMB36.E8I_6M
6,30
4,29
2,50
MMB36.F5I_3H
8,75
1,72
MMB36.F5I_6H
8,75
3,44
MMB36.F5I_3M
8,75
2,98
MMB36.F5I_6M
8,75
5,96
3,00
MMB36.03I_3H
10,50
2,10
MMB36.03I_6H
10,50
4,10
MMB36.03I_3M
10,50
3,58
MMB36.03I_6M
10,50
7,16
Nm
400V, 3000 rpm, kt 1,63 (Nm/A)
400V, 4500 rpm, kt 1,09 (Nm/A)
220V, 3000 rpm, kt 0,94 (Nm/A)
220V, 4500 rpm, kt 0,63 (Nm/A)
1,35
MMB56.E3S_3H
5
0,80
MMB56.E3S_DH
5
1,22
MMB56.E3S_3M
5
1,40
MMB56.E3S_DM
5
2,2
2,60
MMB56.F6S_3H
10
1,60
MMB56.F6S_DH
10
2,43
MMB56.F6S_3M
10
2,81
MMB56.F6S_DM
10
4,1
3,60
MMB56.G6S_3H
15
2,20
MMB56.G6S_DH
15
3,44
MMB56.G6S_3M
15
3,98
MMB56.G6S_DM
15
5,7
4,50
MMB56.H5S_3H
20
2,80
MMB56.H5S_DH
20
4,10
MMB56.H5S_3M
20
4,8
MMB56.H5S_DM
20
7,2
Nm
400V, 3000 rpm, kt 1,63 (Nm/A)
400V, 4500 rpm, kt 1,09 (Nm/A)
220V, 3000 rpm, kt 0,94 (Nm/A)
220V, 4500 rpm, kt 0,63 (Nm/A)
4,0
MMB63.04Q_3H
12
2,5
MMB63.04Q_DH
12
3,7
MMB63.04Q_3M
12
4,3
MMB63.04Q_DM
12
6,0
MMB63.06Q_3H
18
3,7
MMB63.06Q_DH
18
5,5
MMB63.06Q_3M
18
6,4
MMB63.06Q_DM
18
9,6
8,0
MMB63.08Q_3H
24
4,9
MMB63.08Q_DH
24
7,4
MMB63.08Q_3M
24
8,5
MMB63.08Q_DM
24
12,8
MMB63.10Q_3H
30
6,1
MMB63.10Q_DH
30
9,2
MMB63.10Q_3M
30
10,6
MMB63.10Q_DM
30
15,9
10,0
Nm
400V, 3000 rpm, kt 1,63 (Nm/A)
400V, 4500 rpm, kt 1,09 (Nm/A)
4,5
MMB71.04Q_3H
13,8
2,8
MMB71.04Q_DH
13,8
4,1
9,0
MMB71.08Q_3H
27,6
5,5
MMB71.08Q_DH
27,6
8,3
12,5
MMB71.12Q_3H
41,4
7,7
MMB71.12Q_DH
41,4
11,5
16,0
MMB71.16Q_3H
55,2
9,8
MMB71.16Q_DH
55,2
14,7
20,0
MMB71.20Q_3H
69,0
12,3
MMB71.20Q_DH
69,0
18,4
26,0
MMB71.26Q_3H
96,6
16,0
MMB71.26Q_3H
96,6
23,9
TYPE
MMB56G6S3H
29,0
MMB71.29Q_3H
110,4
17,8
MMB71.29Q_3H
110,4
26,7
B56S: Flange 91,3
Nm
400V, 2000 rpm, kt 2,45 (Nm/A)
MMB10.20J_2H
75
8,2
MMB10.20J_2H
75
12,3
28
MMB10.28J_2H
108
11,4
MMB10.28J_2H
108
17,2
36
MMB10.36J_2H
144
14,7
MMB10.36J_2H
144
22,1
42
MMB10.42J_2H
180
17,2
MMB10.42J_2H
180
25,8
56
MMB10.56J_2H
230
22,9
MMB10.56J_2H
230
34,4
68
MMB10.68J_2H
322
27,8
MMB10.68J_2H
322
41,7
80
MMB10.80J_2H
396
32,7
MMB10.80J_2H
396
49,1
400V, 1500 rpm, kt 3,26 (Nm/A)
400V, 2000 rpm, kt 2,44 (Nm/A)
42,0
MMB13.42I_AH
120
12,9
MMB13.42I_2H
120
17,2
58,0
MMB13.58I_AH
162
17,8
MMB13.58I_2H
162
23,7
73,0
MMB13.73I_AH
204
22,4
MMB13.73I_2H
204
29,9
81,0
MMB13.81I_AH
231
24,8
MMB13.81I_2H
231
33,1
98,0
MMB13.98I_AH
280
30,1
MMB13.98I_2H
280
40,1
120,0
MMB13.C2I_AH
345
36,8
MMB13.C2I_2H
345
49,1
Brushless drives & motors
ORDERING CODE
EXAMPLE: MMB56.G6S_3H 7 A 05 0 0 57
The options above are CMZ standard configurations.
For other options see Servo Motor Catalogue
G6: stall torque (3,6Nm)
400V, 3000 rpm, kt 1,63 (Nm/A)
20
Nm
12
Peak
torque Tp
(Nm)
TECHNICAL FEATURES
3: speed (3000 rpm)
H: voltage (400V)
Connection type
7 (Swiveling 90°angled conn.)
Brake and shaft extension
A (Without brake, keyed shaft)
Feedback
05 (Resolver 2 poles)
Connection Direction
0 Standard
Cooling
0 (Natural convection)
Internal code
57
6,4
Brushless motors
Errata corrige page 13
MMB Series - Technical Features
OVERALL DIMENSIONS
Type
Stall
Torque
(Nm)
LM
LF
DXL
QF
HM
CXS
F
DF
SF
Motor
weight
(Kg)
Motor weight
with brake
(Kg)
MMB28.D2S
0,20
106
130
Ø9j6x20,00
58,00
58,00
Ø40,00j6x2,50
Ø63,00
5,5x7,00
12,00
1,00
1,50
MMB28.D4S
0,40
121
145
Ø9j6x20,00
58,00
58,00
Ø40,00j6x2,50
Ø63,00
5,5x7,00
12,00
1,30
1,80
MMB28.D6S
0,60
136
160
Ø9j6x20,00
58,00
58,00
Ø40,00j6x2,50
Ø63,00
5,5x7,00
12,00
1,60
2,10
MMB28.D8S
0,80
151
175
Ø9j6x20,00
58,00
58,00
Ø40,00j6x2,50
Ø63,00
5,5x7,00
12,00
1,90
2,40
MMB36.D6I
0,60
126
173
Ø11j6x23,00
70,00
77,00
Ø60,00j6x2,50
Ø75,00
Ø5,80
6,00
1,40
2,00
MMB36.E2I
1,20
151
198
Ø11j6x23,00
70,00
77,00
Ø60,00j6x2,50
Ø75,00
Ø5,80
6,00
2,20
2,80
MMB36.E8I
1,80
176
223
Ø11j6x23,00
70,00
77,00
Ø60,00j6x2,50
Ø75,00
Ø5,80
6,00
3,10
3,70
MMB36.F5I
2,50
201
248
Ø11j6x23,00
70,00
77,00
Ø60,00j6x2,50
Ø75,00
Ø5,80
6,00
4,00
4,60
MMB36.03I
3,00
226
273
Ø11j6x23,00
70,00
77,00
Ø60,00j6x2,50
Ø75,00
Ø5,80
6,00
4,90
5,50
MMB56.E3S
1,35
127
170
Ø14j6x30,00
91,30
91,30
Ø80,00j6x3,00
Ø100,00
Ø6,50
11,00
3,50
4,10
MMB56.F6S
2,60
152
195
Ø14j6x30,00
91,30
91,30
Ø80,00j6x3,00
Ø100,00
Ø6,50
11,00
4,40
5,00
6,00
MMB56.G6S
3,60
177
220
Ø14j6x30,00
91,30
91,30
Ø80,00j6x3,00
Ø100,00
Ø6,50
11,00
5,40
MMB56.H5S
4,50
202
245
Ø14j6x30,00
91,30
91,30
Ø80,00j6x3,00
Ø100,00
Ø6,50
11,00
6,40
7,00
MMB63.04Q
4,0
150
182
Ø19j6x40,00
100,00
100,00
Ø95,00j6x3,00
Ø115,00
Ø9,00
18,00
4,70
5,60
MMB63.06Q
6,0
170
202
Ø19j6x40,00
100,00
100,00
Ø95,00j6x3,00
Ø115,00
Ø9,00
18,00
5,30
6,10
MMB63.08Q
8,0
194
226
Ø19j6x40,00
100,00
100,00
Ø95,00j6x3,00
Ø115,00
Ø9,00
18,00
6,20
7,10
MMB63.10Q
10,0
214
246
Ø19j6x40,00
100,00
100,00
Ø95,00j6x3,00
Ø115,00
Ø9,00
18,00
7,20
8,10
MMB71.04Q
4,5
148
183
Ø24k6x50,00
142,00
142,00
Ø130,00j6x3,50
Ø165,00
Ø12,50
12,00
7,50
9,50
MMB71.08Q
9,0
173
208
Ø24k6x50,00
142,00
142,00
Ø130,00j6x3,50
Ø165,00
Ø12,50
12,00
9,50
11,50
MMB71.12Q
12,5
198
228
Ø24k6x50,00
142,00
142,00
Ø130,00j6x3,50
Ø165,00
Ø12,50
12,00
11,5
13,50
MMB71.16Q
16,0
223
253
Ø24k6x50,00
142,00
142,00
Ø130,00j6x3,50
Ø165,00
Ø12,50
12,00
13,5
15,50
MMB71.20Q
20,0
248
273
Ø24k6x50,00
142,00
142,00
Ø130,00j6x3,50
Ø165,00
Ø12,50
12,00
15,5
17,50
21,50
MMB71.26Q
26,0
298
318
Ø24k6x50,00
142,00
142,00
Ø130,00j6x3,50
Ø165,00
Ø12,50
12,00
19,5
MMB71.29Q
29,0
338
373
Ø28k6x58,00
142,00
142,00
Ø130,00j6x3,50
Ø165,00
Ø12,50
12,00
22,5
24,50
MMB10.20J
20
195
225
Ø32k6x58,00
190,00
190,00
Ø180j6x4,00
Ø215,00
Ø15,00
16,00
17,00
22,00
MMB10.28J
28
Ø32k6x58,00
190,00
190,00
Ø180j6x4,00
Ø215,00
Ø15,00
16,00
21,00
26,00
MMB10.36J
36
Ø32k6x58,00
190,00
190,00
Ø180j6x4,00
Ø215,00
Ø15,00
16,00
25,00
30,00
MMB10.42J
42
Ø32k6x58,00
190,00
190,00
Ø180j6x4,00
Ø215,00
Ø15,00
16,00
30,00
35,00
MMB10.56J
56
308
338
Ø38k6x80,00
190,00
190,00
Ø180j6x4,00
Ø215,00
Ø15,00
16,00
38,00
43,00
MMB10.68J
68
353
383
Ø38k6x80,00
190,00
190,00
Ø180j6x4,00
Ø215,00
Ø15,00
16,00
47,00
52,00
MMB10.80J
80
398
428
Ø38k6x80,00
190,00
190,00
Ø180j6x4,00
Ø215,00
Ø15,00
16,00
55,00
60,00
217,5 247,5
240
270
262,5 292,5
MMB13.42I
42,0
303
353
Ø38k6x80,00
240,00
220,00
Ø230,00j6x4,00
Ø265,00
Ø14,50
18,00
48,00
55,00
MMB13.58I
58,0
343
393
Ø38k6x80,00
240,00
220,00
Ø230,00j6x4,00
Ø265,00
Ø14,50
18,00
55,00
62,00
69,00
MMB13.73I
73,0
383
433
Ø38k6x80,00
240,00
220,00
Ø230,00j6x4,00
Ø265,00
Ø14,50
18,00
62,00
MMB13.81I
81,0
403
453
Ø42k6x110,00
240,00
220,00
Ø230,00j6x4,00
Ø265,00
Ø14,50
18,00
67,00
74,00
MMB13.98I
98,0
443
493
Ø42k6x11000
240,00
220,00
Ø230,00j6x4,00
Ø265,00
Ø14,50
18,00
76,00
83,00
MMB13.C2I
120,0
503
553
Ø42k6x110,00
240,00
220,00
Ø230,00j6x4,00
Ø265,00
Ø14,50
18,00
92,00
99,00
SF
øF
S
LM
Lunghezza motore/Motor length/ Longitud cuerpo motor
LF
Lunghezza motore con freno /Motor length with brake/longitud
cuerpo motor con freno o inercia aumentada
DXL
Diametro x lunghezza albero/Diameter x length of shaft/
Diámetro x longitud de eje
QF
Quadro flangia/Square flange/Cuadrado Brida
øD
QF
HM
CXS
øDF
LM/LF
L
C
F
Centraggio per spessore/Centering x thickness/Centraje x
espesor
Interasse fori/Wheel base fixing holes/Entré centros de orificios
de fijación
DF
Diametro fori di fissaggio/Diameter fixing holes/Diámetro de
orificios de fijación
SF
Spessore flangia/Thickness flange/Espesor de brida
HM
Dimensions of the motor case
13
IBD
Integrated brushless drive
HARDWARE FEATURES
FUNCTIONAL FEATURES
Power supply
Nominal 560Vdc (min 275Vdc max 740Vdc)
Integrated movement features:
device profile DS402, interpolated mode,
positioning, extended gearing function,
homing, capture
Torque range
Holding torque 2,8-4-5,6-6-8-15-35 Nm, nominal speed
3000 rpm
Stand alone programmability
Feedback
Incremental encoder, Sin-Cos absolute encoder
according to the standard IEC61131,
ST language
On board I/O's
Capture input
6 digital IN 24Vdc general purpose, configurable as:
PSTOP, NSTOP, Enable, Home, Capture, Step/Direction
3 digital OUT 24Vdc 250mA, general purpose
1 digital IN/OUT 24Vdc with configurable function
PC parametrization tool
Protection
I2t, Overload, Short circuit,
Overtemperature, Overvoltage
3 differential I/O’s configurable as master incremental
encoder
1 Analogue IN +/-10V
Interface
EtherCAT, CANopen, Profibus-DP
Safety
STO (safe torque off)
Protection
IP65
Option
Internal brake
ORDERING CODE
IBD56 a b c/d.efghi
Ordering code with optionals:
Options
IBD
a
Flange
Flange
Flange
Flange
Flange
Flange
Flange
b
Keyed shaft
Smooth shaft
Key unmounted (only flange 142/190)
56
80 mm - 2 ,8 Nm (8 poles) 560Vdc/3000rpm
80 mm - 4 Nm (8 poles) 560Vdc/3000rpm
100 mm - 5,6 Nm (8 poles) 560Vdc/3000rpm
100 mm - 8 Nm (8 poles) 560Vdc/3000rpm
100 mm - 6 Nm (8 poles) 560Vdc/3000rpm
142 mm - 15 Nm (8 poles) 560Vdc/3000rpm
190 mm - 35 Nm (10 poles) 560Vdc/3000rpm
Incremental encoder 2000 pulses/turn
c
14
a
b
c
A1
Multiturn absolute encoder (16 sin/cos), 4096 turns
A2
Single turn absolute encoder (16 sin/cos)
A3
No brake
With brake
fg
Reserved
hi
With fan
Without fan
hi
E1(FL 80)
E2(FL100)
E3 (FL142)
A0
e
fg
0
1
2
Mutiturn absolute encoder (128 sin/cos), 4096 turns
d
.e
10
20
30
40
A0
F0
G0 (Preliminary)
Single turn absolute encoder (128 sin/cos)
CAN communication
RS485 communication (Not yet available)
Profibus communication (Not yet available)
Ethercat communication
/d
CAN
SER
PRO
ETC
0
1
00
30 only for FL142/190
00 only for FL80/100
IBD
Integrated brushless drive
IBD Flange 80 mm
IBD Flange 100 mm
Available AC/DC
power supply units
6
IBD Flange 142 mm
4
BDPOW20: 20A
BDPOW40: 40A
IBD Flange 190 mm
OVERALL DIMENSIONS
TECHNICAL FEATURES
Type
IBD5610
IBD5620
IBD5630
IBD5640
IBD56A0
IBD56F0
IBD56G0
Flange (mm)
80
80
100
100
100
142
190
Lenght L without brake(mm)
115
140
135,5
165,5
165,5
238
324 (preliminary)
Lenght L with brake(mm)
157
182
186
216
216
268
TBD
Type
Stall torque
M0 (Nm)*
Peak Torque
Mpeak (Nm)
Rotor Inertia
Jm (kgcm2)
Nominal Speed
Vn(rpm)
Weight
(Kg)
IBD Weight
with brake
(Kg)
IBD5610
2,8
8,4
1,16
3000
4,1
4,5
IBD5620
4
12
1,58
3000
5,1
6,5
IBD5630
5,6
22
2,91
3000
6, 7
7,3
IBD5640
8
33
4,1
3000
8,4
9,0
IBD56A0
6
22
2,91
3000
6,7
7,3
IBD56F0
15
45
11,5
3000
17
18,5
IBD56G0
35
70
60 (preliminary)
3000
25 (preliminary)
27
Brushless drives & motors
* For details see the torque curves in technical manual
15
Stepless
The new generation of servodrive
Torque curve comparison: Stepless versus Brushless
Nm
The ambition
to move
the limitis
9
8
7
6
5
4
3
2
1
0
500
1000
1500
2000
2500
3000 Rpm
Torque curvesMotore
considering
duty- cycle
stepless-S1
8,7Nm
8A/phase - 120V - Dimensioni meccaniche: quadro flangia 86mm, lunghezza 173mm
Motore brushless - 3,4Nm - 2,3A/phase - 400V - Dimensioni meccaniche: quadro flangia 91mm, lunghezza 177mm
Stepless motor
Stall torque 8,7Nm - 8A/phase - 120V
Overall dimensions: square flange 86mm, lenght 173mm
Brushless motor
Stall torque 3,4Nm - 2,3A/phase - 400V
Overall dimensions: square flange 91mm, lenght 177mm
Vector control current modulation
Minimum speed and torque ripple
Low vibration
Low noise
High torque density
Low power consumption
High stifness
16
Stepless drives & motors
SVM
Stepless servodrive
Smart servodrive for 2 phases synchronous motor
HARDWARE FEATURES
FUNCTIONAL FEATURES
Power supply
65-180Vdc [Nominal 160Vdc]
Integrated movement features:
positioning, extended gearing function,
ecams, homing, capture function
Logic supply
20-180Vdc
Overload protection
Rated current
4Arms @40°C (8,5Arms with external ventilation)
Short circuit protection
Peak current
12Arms
Short to ground protection
I2t protection
Feedback
Incremental encoder, multiturn absolute encoder
Capture input
Encoder output
Incremental line driver (differential output)
PC parametrization tool
Digital input
7 configurable 24Vdc PNP opto isolated (e.g.: limit switch
+/-, index, captures or general purpose)
Programmable according to the
standard IEC61131, ST language
Special digital input
2 configurable 24Vdc PNP or line driver optoisolated:
settable as master encoder or step/dir or general purpose
Analog input
12bits +/-10V
Digital output
n. 4 parametrable 24Vdc max 200mA
n. 1 24Vdc max 1,4A
for motor brake control or general purpose (external
power device required)
Interface
Profibus-DP, CANopen, Modbud RS485
Pulse/direction, ±10V
CAN Speed/address selection
by switches or software settable
Dimensions (mm)
51X196X125
Weight (Kg)
0.8
Available versions
Profibus-DP, CANopen (DS402),
ModBus RS485, Step/dir, ±10V
ORDERING CODE
SVM1608/a.bcd
Type
Power supply
Rated current
Interface
/a
Motor temperature
sensor management
b
Reserved
cd
SVM
16 (160V)
08 (8,5Arms)
CAN
0=no
1=yes
00
SVM
16 (160V)
08 (8,5Arms)
SER (RS485)
0=no
1=yes
00
SVM
16 (160V)
08 (8,5Arms)
PRO (Profibus)
0=no
1=yes
00
Stepless drives & motor
17
Stepless motors
MM series
OVERALL DIMENSIONS
Motor type
Ordering Code
MM868055.0XXX
MM8611880.1XXX
MM8615699.1XXX
MM11015065.2XXX
Usable only up to
the speed of 500
rpm
Options
xxx
Connection options description
010
Cables output 50cm, AMP connectors
020
Connectors output 90˚
320
Circular connectors output 90◦ with
temperature sensor
010
Cables output 50cm, AMP connectors
020
Connectors output 90˚
320
Circular connectors output 90◦ with
temperature sensor
010
Cables output 50cm, AMP connectors
020
Connectors output 90˚
320
Circular connectors output 90◦ with
temperature sensor
010
Cables output 50cm, AMP connectors
020
Connectors output 90˚
320
Circular connectors output 90◦ with
temperature sensor
Stall
torque
(Nm)
L total
Lenght
(mm)
QF
Flange
(mm)
C
Centering
(mm)
SF
Thickness
flange
(mm)
D
Holes
distances
(mm)
Ø
Fixing
holes
(mm)
Ø
Shaft
(mm)
K
(mm)
L Shaft
(mm)
Weight
(kg)
4,6
135
86
73,02
8,38
69,5
4-Ø5,5
12
13,5
30,6
2,8
8,7
173
86
73,02
8,38
69,5
4-Ø5,5
14
16,0
30,6
4,3
12
211
86
73,02
8,38
69,5
4-Ø5,5
14
16,0
30,6
5,8
21
205
110
55,52
12,5
89,00
4-Ø8,5
19
21,5
55,37
8,4
TECHNICAL FEATURES
Motor Type
MM868055.0XXX
Stall torque (Nm)
Rotor inertia (gcm²)
AMP connectors
Connectors output 90˚
18
Stepless drives & motors
MM8611880.1XXX
MM8615699.1XXX
MM11015065.2XXX
4,6
8,7
12
21
1400
2700
4000
10900
ISD
Integrated stepless drive
HARDWARE FEATURES
Power supply
65-130Vdc [Nominal 120Vdc]
Logic supply
20-130Vdc
Current
Maximum current internally set
(depends on motor)
Feedback
Incremental encoder
multiturn absolute encoder
FUNCTIONAL FEATURES
Speed, position, torque control
Gearing and electronic cams
Interpolated mode
Integrated positioning
Programmable according to
the standard IEC61131, ST language
Encoder output
Incremental encoder output (only APD version)
Analog input
1 Analogue IN +/-10V
Digital output
2 optoisolated PNP digital outputs
Available versions
Profibus-DP
CANopen (DS402),
ModBus RS485,
Step/dir, ±10V with encoder simulated output
Drive
ISD es un sistema integrado en lazo cerrado compuesto por:
motor sincrono de dos fases de alta densidad de par, servoaccionamiento totalmente digital, encoder y bus de campo.
El control servo (lazo cerrado) a diferencia de control chopper
tradicional, permite notables ventajas en términos de reducción
de calor, ruido, prestaciones a un coste reducido.
ESP
Interface
Profibus-DP slave
CANopen
RS232/485 (ModBus)
ISD, is a closed loop integrated system composed by: 2 phases
high torque synchronous motor, full digital servodrive, encoder
and field bus communication.
The servodrive (real time closed loop) technology, unlike the traditional chopping mode, allows to reach big advantages in terms of
thermal dissipation, low noise, performances with low cost.
ENG
Digital bidiretional I/O
2 bidirectional optoisolated PNP digital IN/OUT
ISD è un servo sistema integrato ad anello chiuso composto da:
motore sincrono a due fasi ad alta densità di coppia, servoazionamento full digital, encoder e bus di campo.
Il pilotaggio servo (closed loop real time) a differenza del pilotaggio chopper tradizionale, consente notevoli vantaggi in termini di
riduzione del calore, silenziosità, prestazioni e costi contenuti.
ITA
Digital input
n. 3 optoisolated PNP digital inputs
n. 2 differential (+24V or +5V/Line driver) digital inputs
(used as general purpose, encoder input or step-dir
input).
Encoder
Motor
Stepless
Stepless drive & motors
19
ISD
D
Integrated stepless drive
OVERALL DIMENSIONS
Drive
Holding torque
(Nm)
Lenght
Shaft
Shaft section
L motor
L total
L Shaft
D Diameter
4,6
80
186
30,6
12
ISD 1271
8,7
118
224
30,6
12 or 14
ISD 1261
12,0
156
262
30,6
14
ISD 1281
Type 0 Keyed shaft
Shaft section types
type 0
type 3
Type 0 or 3 Keyed shaft
Type 3 Keyed shaft
TECHNICAL FEATURES
Drive
Holding torque
(Nm)
Phase
Current
(A)
Rotor
Inertia
(gcm²)
Phase
inductance
(mH)
Weight
(kg)
ISD 1281
4,6
5,5
1400
4,0
3,3
ISD 1271
8,7
8,0
2700
2,9
3,8
ISD 1261
12,0
9,9
4000
2,9
6,3
ORDERING CODE
ISD12xx/a.bcd
Ordering code with optionals:
ISD
12
Options
a
b
c
d
E.g
20
XX (see table above)
Description
Com. (a)
Conn. (b)
Shaft type (c)
Option (d)
/a
.b
c
d
CAN Communication
CAN
RS485 Communication
SER
PROFIBUS Communication
PRO
Analog Pulse Direction
APD
n.3 DSUB connectors + n.1 power supply 3 poles (for CAN, APD)
1
n.3 DSUB + n.1 power supply 4 poles (for CAN, SER, PRO, APD)
3
Shaft dimensions 12 mm keyed shaft
0
Shaft dimensions 14 mm keyed shaft
3
Extruded mechanics (obsoleted)
0
Fuse mechanics (standard)
ISD1271/CAN.100
Integrated servo system
1
ISD 1271/
ISD 120V, Stepper Motor 8,7Nm
CAN.
CAN interface
1
DSUB
0
12 mm keyed shaft
1
Fuse mechanics
I/O Device
COMPACT MODULES
CPENCA - CANopen
Axis module: device profile DS406/DS402
1 incremental encoder input
1 analog output +/- 10 Volt 12 bit + sign
6 optoisolated protected inputs 24 Vdc PNP
4 optoisolated protected outputs 24 Vdc PNP 200 mA
CP32D0 - CANopen
Device profile DS401 version 2.0
16 optoisolated protected inputs 24 Vdc PNP
16 optoisolated protected outputs 24 Vdc PNP 200 mA
Serial port RS232C (optional)
CP6V16 - CANopen
8 optoisolated protected inputs 24 Vdc PNP
8 optoisolated protected outputs 24 Vdc PNP 200 mA
port RS232C (optional)
6 opto-isolated triac outputs for vibrators management
2 analog outputs +/- 10 Vdc 11 bit + sign
SGACQA - CANopen
load cell acquisition
nominal resolution 24 bit
unipolar input range
LOCAL IO - SMI port (of FCT200/FCT300)
Version 20: 12 digital input 24V PNP / 8 digital output
24V 200 mA PNP
Version 40: 24 digital input 24V PNP /16 digital output
24V 200 mA PNP
COMPONIBLE MODULES
MM750-347 or MM750-337
Fieldbus coupler, able to manage
I/O modules for overall 256 inputs
bits and 256 outputs bits
It is available a big variety
of I/O modules for the
management of analog and
digital I/O, thermo-resistors,
thermocouples ecc.
I/O modules & devices
21
HMI systems
From 3,5” to 12.1” SVGA TFT WIN CE and embedded touch computer
ITA
ENG
ESP
Le serie GX e GD sono costituite da touch
computer compatti. Dispongono del sistema operativo Windows® CE e si configurano dunque come una soluzione HMI
aperta.
The GX and GD series are constituted by
compact-size touch computers. GX and
GD series are bundled with Windows® CE
which forms a bridge that lets the series be
an open HMI solution.
Le serie PV e PT sono costituite da una vasta gamma di terminali touch screen, dalle
versioni più economiche ma dotate di tutte le necessarie funzioni base, alle versioni
più evolute, con un costo comunque ragionevole. Sono concepiti per interfacciarsi in modo efficiente con i controllori CMZ e
possono comunicare con i più comuni PLC
di mercato tramite protocolli standard o
dedicati. Le serie PV e PT sono multi lingue
e supportano formati grafici come i formati BMP e JPG e animazioni come i formati
GIF.
The PV and PT series are constituted by a
wide range of touch screen terminals that
meets both low budget versions for simple
applications and more advanced ones,
keeping a reasonable cost. They are
designed to be connected in efficient way
with CMZ controllers and they can comunicate with the most popular programmable
controllers thanks to standard or dedicated
protocols. They support multi-languages,
BMP an JPG graphics anf GIF animations.
Las series GX y GD compuestas de un
ordenador con pantalla táctil compacto. Al disponer como sistema operativo
Windows® CE. configurables como una
solución HMI abierta para la integración
de sistemas.
En las series PV y PT se dispone de una
amplia gama de terminales táctiles, en
todas las versiones actuales disponen de
todas las funciones básicas necesarias,
con unos costes muy razonables. Su desarrollo permite una gran conectibilidad no
solo con los controles y dispositivos de
CMZ sino con la gran mayoría de PLCs del
mercado de forma eficiente. Su potencia
permite alberga funciones multilengua así
como soportar diferente y diversos soportes gráficos del mercado como BMP, JPG
y animaciones en GIF.
MMGD-GX series
FEATURES
MMGD70WAT
MMGX084TFT
MMGX121TFT
Display/Input device
SVGA WIN CE touch Panel 7.0"
(800x480) 65535 colors TFT LCD
SVGA WIN CE touch Panel 8.4"
(800x600) 65535 colors TFT LCD
SVGA WIN CE touch Panel 12.1"
(800x600) 65535 colors TFT LCD
Interface
2 Serial Ports, 10/100Mb/s Ethernet
Port, 1 USB 1.1 host
2 Serial Ports, 10/100Mb/s Ethernet Port, 1 USB 1.1 client, 1 USB 1.1
host, VGA output, Compact Flash,
PS/2 port
2 Serial Ports, 10/100Mb/s Ethernet Port, 1 USB 1.1 client, 1 USB 1.1
host, VGA output, Compact Flash,
PS/2 port
CPU
RISC 32 bit
RISC 32 bit 400Mhz
RISC 32 bit 400Mhz
Storage
16 MB flash memory
32 MB flash memory on board
extension 32/64 MB flash memory
module (options)
32 MB flash memory on board
extension 32/64 MB flash memory
module (options)
System working memory
64 MB (Max.128 MB)
128 MB on board
128 MB on board
Battery backup memory
128 KB (Up to 1MB Optional)
1 MB on board
1 MB on board
Input power
DC 24V +/-10%
DC 24V/1.2A
DC 24V/1.2A
Power consumption
35W
30W
30W
Operating system
Windows CE 5.0/6.0
Windows CE 5.0
Windows CE 5.0
Outlet dimension (mm)
186.43Wx145.42Hx45.0 T
232WX177.4MX63T
315WX241MX56T
Cutout dimension (mm)
174.5Wx 132.5H
221WX164H
302WX228H
Weight (Kg)
1.0
1.0
2.6
22
HMI
HMI systems
MMPT series
Type
MMPT043WST-WNT
MMPT056-AST1B
MMPT070-WNT
MMPT100-WST
Display/Input
Device
TFT LED LCD, 65536
colors, 4,3˝ (480x272)
Touch panel
TFT LED LCD, 65536 colors 5.6˝(320x234)
Touch panel
TFT LED LCD, 65535
colors, 7.0˝ (800x480)
Touch panel
TFT Color LCD LED,
65536 colors, 10,1"
(1024x600) Touch panel
Interface
WST: 3 serial ports
WNT: 3 serial ports,
10/100 Mb/s Ethernet
port
3 serial ports, 1xUSB host,
1xUSB client
3 serial port, 10/100
Mb/s
Ethernet port, 1xUSB
host, 1xUSB client
3 serial port, 10/100M
Ethernet Port, 2 USB ,
1micro SD
CPU
RISC 32 bit
RISC 32 bit
RISC 32 bit
RISC 32 bit
System working
memory
32MB
32MB
64MB
64 MB
Flash memory
8MB
8MB
8MB
8M
Input power
24Vdc
24Vdc
24Vdc
24Vdc
Power consumpion
13W
13W
15W
20W
Outlet dimension (mm)
130W106.2Hx34,2D
188WX143,3HX29D
188WX143.3HX29D
270.5WX212.5Hx40D
Cutout dimension (mm)
118.5W x 92.5H
174,5WX132,5H
174.5WX132.5H
259,5WX201,5H
Weight (Kg)
0.35
0.59
0,6
1,25
MMPV series
Type
MMPV035-TST/TNT
MMPV058-TST
MMPV080-TNT
MMPV121-TNT
Display/Input
Device
TFT LCD, 256 colors, 3.5˝
(320X240) Touch panel
TFT LCD, 256 colors
5.7˝(320x240) Touch
panel
TFT LCD, 65535 colors, 8˝
(800X600) Touch panel
TFT LCD 65535 colors,
12.1”, (800x600)
Touch panel
Interface
TST: 2 serial ports
TNT: 2 serial ports,
10/100 Mb/s Ethernet
port
TST: 2 serial ports TNT: 2
serial ports
3 Serial Ports,
10/100Mb/s Ethernet
Port, 2xUSB 2.0 Host
3 serial ports,
10/100Mb/s Ethernet
port, 2xUSB 2.0 Host
CPU
RISC 32 bit
RISC 32 bit
RISC 32 bit
RISC 32 bit
System working
memory
1MB TST
2MB TNT
1MB
64 MB
64 MB
Flash memory
4MB
4MB
16MB
16MB
(Maximum 64MB)
Input power
24Vdc
24Vdc
24Vdc
24Vdc
Power consumption
6W
10W
12W
18W
Outlet dimension (mm)
130WX106.2Hx34D
186WX145,4HX36D
232.5WX175.8HX49D
315WX241HX54.5D
Cut-out dimension
(mm)
118.5W x 92.5H
174.5WX132,.5H
221.5WX164H
301.5WX228H
Weight (Kg)
0.45
0.65
1,15
2.2
HMI
23
FACTORY AND
HEADQUARTERS
CMZ Sistemi Elettronici S.r.l
Via dell' Artigianato, 21
31050 Vascon (TV) - Italy
Phone +39 0422 447411
Fax +39 0422 447444
e-mail: [email protected]
web site: www.cmz.it
RESEARCH LABORATORY SINCE 1992
SALES AND ASSISTANCE
ORGANIZATION
Belgium
BEDELEC
Kruishoek 24
B-8710 Ooigem
Tel: +32 56 67 10 50
Fax: +32 56 66 57 24
web: www.bedelec.be
email: [email protected]
Brazil
THEMA - AMPDRIVE
Rua Manoel Alves Garcia,130
Jd. São Luiz
CEP 06618-010
Jandira - SP
Tel: +55 11 4789.8299
web: www.thema-motores.com.br
email: [email protected]
France
A2V s.a.
19 rue de Clairefontaine
78120 RAMBOUILLET
Tel: +33 01 61 08 62 10
Fax: +33 01 34 83 97 38
web: www.a2v.fr
email: [email protected]
India
INTEGRATED DRIVE SYSTEMS PVT. LTD.
170, Raja Industrial Estate,
P.K. Marg, Mulund (W),
Mumbai - 400 080, India
Tel: +91 22 67974757 / 67974758
Fax: +91 22 25684975
web: www.integratedindia.com
email: [email protected]
Singapore
NETWELL SYSTEMS PTE LTD
No. 60, Kaki Bukit Place, #07-03, Eunos
Techpark
Singapore 415979
Tel. : +65 65 47 82 87
Fax.: +65 47 82 86
web: www.netwell-systems.com
email:[email protected]
Sweden
SERVOTRONIC AB
BOX 175
S-73124 KÖPING
Tel: +46 221 13760
Fax: +46 221 19542
web: www.servotronic.se
email: [email protected]
Turkey
SANPA Endüstriyel Otomasyon
Yukari Dudullu Mah. Beyan Sok.
Köroglu Is Merkezi Kat: 4 No: 61
Ümraniye / ISTANBUL
Tel: +90 216 313 31 13 (Pbx)
Fax: +90 216 313 31 12
web: www.sanpaotomasyon.com
web: www.sanpaltd.com.tr
email: [email protected]npaotomasyon.com
Spain
INTRA AUTOMATION S.L.
c/. Alabau, 20 (Horno Alcedo)
46026 VALENCIA
Tel: +34 96 3961008
Fax: +34 96 3961018
web: www.intraautomationsl.com
email: [email protected]
Delegaciónes CATALUNYA:
Sr. Oriol Casoliva Ollé
[email protected]
Tel: +34 670 282 349
Delegaciónes EUSKADI:
Sr. Jesús Benito Gonzalez
[email protected]
Tel: +34 659 709 084
United kingdom
ADBRO CONTROL LIMITED
Unit 42 Centerprise House
New Greenham Park
Newbury, Berkshire
RG19 6H
England
Tel: +44 1635 582126
Fax: +44 870 0525539
web: www.adbro.co.uk
email: [email protected]
Turkey
ARGETA YAZILIM ENDÜSTRİYEL OTOMASYON
Yenişehir Mah. Barajyolu Cad. Tem Yanyolu
No: 21/3
ATAŞEHİR, ISTANBUL
Tel: +90-216-548 1137-38-39
Fax: +90-216-548 1139
web: www.argeta.net
email: [email protected]
Doc. CD200912 Rev.7.1 - Issued 29/07/2013 - Information in this document is subject to change without notice

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