Motion Control Lexium 32: Catalogue August
Motion Control Lexium 32: Catalogue August
Motion Control Lexium 32: Catalogue August
Lexium 32
Catalogue
August 2009
Contents 0
Lexium 32
motion control 1
Lexium 32 offer
b Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 2
b Servo motor/servo drive combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 6
Technical appendice
b Sizing a servo motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 117
10
Presentation Lexium 32 motion control
Presentation
The Lexium 32 range of servo drives includes three servo drive models associated
1 with two servo motor ranges for optimum use which can adapt to demands for high
performance, power and simplicity of use in motion control applications.
It covers power ratings between 0.15 and 7 kW.
The Lexium 32 servo drive offer is designed to simplify the life cycle of machines.
The SoMove setup software, side-by-side mounting and colour-coded plug-in
connectors, easily accessible on the front panel or on top of the servo drives, all
2 make installation, setup and maintenance easier. Maintenance is also quicker and
cheaper thanks to the new duplication and backup tools.
3 The compact size of the servo drives and servo motors provides maximum power in
the minimum space, enabling the machine dimensions and costs to be reduced.
Integrated safety function and access to additional safety functions reduce design
4 times and make it easier to comply with safety standards.
6 Description
LXM 32 servo drive controlling a pick and place robot The Lexium 32 range of servo drives covers motor power ratings between 0.15 kW
and 7 kW with three types of power supply:
b 110…120 V single-phase, 0.15 kW to 0.8 kW (LXM 32ppppM2)
b 200…240 V single-phase, 0.3 kW to 1.6 kW (LXM 32ppppM2)
b 380…480 V three-phase, 0.4 kW to 7 kW (LXM 32ppppN4)
10
Presentation (continued) Lexium 32 motion control
2
Encoder card
2
3
3 Communication
card
4
4
Human-Machine The display can be used to control and configure the servo drive, display states and 5
Interface (HMI) faults, access parameters and modify them in manual mode using the navigation
button.
Remote graphic The Lexium 32 servo drive can be connected to a remote display terminal, available as
display terminal 1 an option. This terminal can be mounted on an enclosure door with IP 54 degree of
protection.
It provides access to the same functions as the Human-Machine interface and some 6
additional functions.
Multi-Loader tool 2 The Multi-Loader tool enables configurations to be copied from a PC or a servo drive
and loaded onto another servo drive.
The servo drives can be powered-down.
SoMove setup The SoMove setup software is used to configure and optimise control loops with the
7
software 3 Oscilloscope function in automatic mode or in manual mode, and also for maintenance
of the Lexium 32 servo drive, like all other Schneider Electric drives and starters.
It can be used with a direct connection or a Bluetooth® wireless connection.
Memory card 4 This stores all the servo drive parameters. When replacing a Lexium 32 servo drive,
this function ensures immediate startup since the programming time has been
eliminated. Maintenance time is optimised, and costs reduced.
8
Auto-tuning Adapted to each user, the three auto-tuning levels, automatic, semi-automatic and
expert, allow your machine to achieve a high level of performance, whatever the
application.
Installation and
maintenance
Several Lexium 32 servo drives can be mounted side by side to save space.
Connecting the servo drives is simplified by colour-coded plug-in connectors, which
9
are easily accessed on the front panel or on top of the drive.
10
Presentation (continued) Lexium 32 motion control
Performance
The Lexium 32 servo drive offer increases machine performance due to the
1 CANopen
machine bus
following characteristics:
b Overload capacity: the high peak current (up to 4 times the direct current)
CANmotion increases the range of movement
b Power density: the compact size of the servo drives offers maximum efficiency in
LMC Lexium controller
a small space
b High bandwidth: better speed stability and faster acceleration improve the quality
of control
2 b Motor control: reduction of vibration, speed observer and additional band-stop
filter enhance the quality of control
Flexibility
Its versatile specifications provide the Lexium 32 range of servo drives with
excellent flexibility for integration in different control system structures.
4
b It can also be connected to the main communication networks and buses using
various communication cards.
The following protocols are available: DeviceNet, EtherNet/IP and PROFIBUS DP V1.
7 manner.
This product offer covers a continuous stall torque range between 1.2 Nm and
84 Nm for nominal speeds between 1200 and 6000 rpm-1.
10
Presentation (continued) Lexium 32 motion control
Main functions
Type of servo drive LXM 32C LXM 32A LXM 32M
Communication Integrated Modbus serial link
Pulse train
Modbus serial link
CANopen, CANmotion
Modbus serial link
Pulse train
1
machine bus
As an option – – CANopen, CANmotion
machine bus,
DeviceNet, EtherNet/IP,
PROFIBUS DP
Operating modes Manual mode (JOG)
Electronic gearbox
Speed control
Homing
Manual mode (JOG)
Speed control
Homing
Manual mode (JOG)
Motion sequence
2
Current control Current control Electronic gearbox
Position control Speed control
Current control
Position control
3
Functions Auto-tuning, monitoring, stopping, conversion
– Stop window Stop window
Rapid entry of position values Rapid entry of position values
Rotary axes
Position register
24 V c logic inputs 6, reassignable 3, reassignable 4, reassignable
(1)
24 V c capture inputs – 1 2
(1) (2)
24 V c logic outputs 5, reassignable 2, reassignable 3, reassignable
4
(1)
Analog inputs 2 –
5
b 5 V or 24 V push-pull
b 5 V or 24 V open collector
Human/Machine Interface Via integrated display terminal: Manual mode (positive/negative, fast/slow), auto-tuning, simple startup, display of information
and errors, homing for Lexium 32A and 32M
Safety functions Integrated “Safe Torque Off” STO
As an option – Safe Stop 1 (SS1) and Safe
Stop 2 (SS2)
6
Safe Operating Stop (SOS)
Safe Limited Speed (SLS)
Lexium 32 offer (continued) Lexium 32 motion control
100…120 V single-phase supply voltage
Servo drive/servo motor combinations
3 BMH
(IP 50 or IP 65)
BSH
(IP 50 or IP 65)
LXM 32pU90M2
Continuous output current: 3 A rms
Nominal operating point Stall torques
4 kgcm2
BSH 0551T
kgcm2
0.06
Nm
0.49
rpm
3000
W
150
Nm/Nm
0.5/1.5
BSH 0552T 0.10 0.77 3000 250 0.8/1.9
BSH 0553T 0.13
BMH 0701T 0.59
BSH 0701T 0.25
6
(1) - M0: Continuous stall torque
- Mmax: Peak stall torque
10
1
LXM 32pD18M2
Continuous output current: 6 A rms
LXM 32pD30M2
Continuous output current: 10 A rms
3
Nominal operating point Stall torques Nominal operating point Stall torques
Nominal torque Nominal speed Nominal power M0/Mmax (1) Nominal torque Nominal speed Nominal power M0/Mmax (1)
10
Lexium 32 offer (continued) Lexium 32 motion control
Supply voltage 200…240 V single phase
Servo drive/servo motor combinations
3 BMH
(IP 50 or IP 65)
BSH
(IP 50 or IP 65)
LXM 32pU45M2
Continuous output current: 1.5 A rms
Nominal operating point Stall torques
6 BMH 1002T
BMH 1003T
6.3
9.4
BMH 1401P 16.5
(1) - M0: Continuous stall torque
- Mmax: Peak stall torque
10
1
LXM 32pU90M2
Continuous output current: 3 A rms
LXM 32pD18M2
Continuous output current: 6 A rms
LXM 32pD30M2
Continuous output current: 10 A rms
3
Nominal operating point Stall Nominal operating point Stall Nominal operating point Stall
torques torques torques
Nominal Nominal Nominal M0/Mmax (1) Nominal Nominal Nominal M0/Mmax (1) Nominal Nominal Nominal M0/Mmax (1)
torque speed power torque speed power torque speed power
Nm rpm W Nm/Nm Nm rpm W Nm/Nm Nm rpm W Nm/Nm
4
0.74 6000 450 0.8/2.5
0.84 6000 550 1.2/3
0.94 5000 500 1.3/3.5
1.1 4000 450 1.4/4
1.8 5000 950 2.2/7.2
2.1
2.1
4000
4000
900
900
2.6/7.4
2.5/7.4
5
2.2 4000 900 2.7/7.5
2.9 3000 900 3.4/10.2
2.8 3000 900 3.4/10.2
3.7 4000 1500 5.8/16.4
4.6
5.6
3000
2500
1450
1450
6/18.4
8.2/22.8
6
6.9 2000 1450 10.3/30.8
10
Lexium 32 offer (continued) Lexium 32 motion control
380…480 V three-phase supply voltage
Servo drive/servo motor combinations
3 BMH
(IP 50 or IP 65)
BSH
(IP 50 or IP 65)
LXM 32pU60N4
Continuous output current: 1.5 A rms
LXM 32pD12N4
Continuous output current: 3 A rms
Nominal operating point Stall Nominal operating point Stall
torques torques
Motor type Rotor Motor type Rotor Nominal Nominal Nominal M0/Mmax Nominal Nominal Nominal M0/Mmax
inertia inertia torque speed power (1) torque speed power (1)
4 kgcm2
BSH 0551P
kgcm2
0.06
Nm
0.48
rpm
6000
W
300
Nm/Nm
0.5/1.5
Nm rpm W Nm/Nm
5 BSH 0701P
BSH 0702P
0.25
0.41
1.32
1.64
5000
5000
700
850
1.4/3.5
2.2/7.6
BMH 1001P 3.2 1.9 4000 800 3.3/10.8
BMH 0702P 1.13 2.2 3000 700 2.5/7.4
BMH 0703P 1.67
BSH 0703P 0.58
6
BSH 1001P 1.40
BMH 1001P 3.2
BMH 1002P 6.3
BSH 1002P 2.31
BMH 1003P 9.4
BSH 1003P 3.2
BMH 1401P 16.5
7 BSH 1004P 4.2
BSH 1401P 7.4
BMH 1402P 32.0
BSH 1402T 12.7
BSH 1403T 17.9
BMH 1403P 47.5
BMH 2052P 129
BMH 2053P 190
(1) - M0: Continuous stall torque
- Mmax: Peak stall torque
10
10
1
LXM 32pD18N4
Continuous output current: 6 A rms
LXM 32pD30N4
Continuous output current: 10 A rms
LXM 32pD72N4 (r)
Continuous output current: 24 A rms
3
Nominal operating point Stall Nominal operating point Stall Nominal operating point Stall
torques torques torques
Nominal Nominal Nominal M0/Mmax Nominal Nominal Nominal M0/Mmax Nominal Nominal Nominal M0/Mmax
torque speed power (1) torque speed power (1) torque speed power (1)
Nm rpm W Nm/Nm Nm rpm W Nm Nm rpm W Nm
4
5
2.4 5000 1300 3.4/10.2
2.44 5000 1300 3.1/11.3
6
2.7 4000 1100 3.3/9.6
3.1 4000 1300 3.4/10.2
3.9 4000 1600 6.2/18.4
4 4000 1700 5.8/18.3
5.2 5000 2700 8.4/25.1
6.3 3000 2000 8/28.3
7.7 3000 2400 10.3/30.8
8.3 2500 2100 10/37.9 7
9.5 2500 2500 11.1/27
11.2 3000 3500 18.5/55.3
12.3 3000 3900 19.5/59.3
12.9 3000 4100 27.8/90.2
14.9 3000 4700 24/75
19
25.8
2500
2000
5000
5400
33.4/103.6
34.4/103.4
8
41.6 1500 6500 62.5/170
52.2 1200 6500 84/232
10
r Available
4th quarter 2009
11
Functions Lexium 32 motion control
Lexium 32 servo drives
Two types of operation are possible, in local mode or via communication buses and
networks.
In local mode:
The servo drive parameters are defined via:
b The user interface
b The remote graphic display terminal
b The SoMove setup software
Movements are then determined by:
b Analog signals (± 10 V)
b PTI signals (pulse/direction (P/D), A/B or CW/CCW signals)
In this mode, limit switches and homing switches are not managed by the servo
drive. It is, however, possible to limit movement by assigning a logic input.
Via communication buses and networks:
All the servo drive parameters and those associated with the operating modes can
be accessed via:
b The communication buses and networks, in addition to access via the user
interface
b The remote display terminal
b The SoMove setup software
The following table indicates the control type and the sources of setpoint values
available for each of the operating modes.
Operating modes Control Setpoint value via
Via Local
communication
buses and
networks
Adjustment modes
Homing Buses and networks or SoMove
(for Lexium 32A and M) setup software
Manual mode (JOG) Buses and networks, SoMove
setup software, user interface or
remote display terminal
Auto-tuning Buses and networks or SoMove
setup software
Operating modes
Point-to-point mode Buses and networks or SoMove
(for Lexium 32A and M) setup software
Motion sequence Buses and networks or SoMove
mode setup software
(for Lexium 32M)
Electronic gearing Pulse/direction (P/D),
mode A/B or CW/CCW signals
(for Lexium 32C and M)
Speed control with Buses and networks or SoMove
ramp setup software
Current control Analog input, buses and networks
or SoMove setup software
Functions available Functions not available
12
Functions (continued) Lexium 32 motion control
Lexium 32 servo drives
Adjustment modes
Homing
Note: Available with Lexium 32A and Lexium 32M servo drives.
These homing movements can be executed with or without taking the “Zero marker”
pulse into account.
LIMN LIMP
3 R-
Homing operating mode: example with limit switch and clearance from sensor edge
Forced homing
Forced homing consists of setting the current motor position as the new reference
point to which all subsequent positioning data refer.
M M M
After power-up, the position value is 0.
1 Start towards the home point: the servo motor is positioned 1
using a relative movement of 2000 increments
2 Forced homing to value 0 by writing the actual position 0 2000 Inc
expressed in user units
“2000”
3 Initiation of a command to move 2400 increments to the 3
absolute position. The target position is 2400 increments
2
(if forced homing (step 2) were not performed, the target “0” 0 2400 Inc
position would be 4400 increments (2000+ 2400)).
Forced homing operating mode
Homing parameters
The homing parameters are transmitted via the communication buses and networks,
or using the SoMove setup software.
13
Functions (continued) Lexium 32 motion control
Lexium 32 servo drives
Adjustment modes
Various parameters are used to configure the manual movement. They are
transmitted via the fieldbus, the SoMove setup software, the servo drive user
interface or the remote display terminal.
JOGn_slow
Actual speed
(n_act) 0
1 JOGstepusr JOGn_fast
2 t < JOGtime
3 JOGtime 1 2 1 3
JOG positive
0
JOG negative 0
JOGn_fast
Actual speed
(n_act) 0
JOGn_fast
14
Functions (continued) Lexium 32 motion control
Lexium 32 servo drives
Adjustment and operating modes
The SoMove setup software also provides access to screens for making servo
control adjustments in each of the three modes.
Point-to-point mode
Note: Available with Lexium 32A and Lexium 32M servo drives.
This mode, also referred to as PTP, is used to move the axis from a position A to a
position B. The movement can be absolute: this consists of expressing position B in
relation to a home position (the axis must have previously been referenced), or
relative position: in this case the movement is performed in relation to the current
axis position (A). The movement is performed according to acceleration,
deceleration and speed parameters.
Setpoint value
The setpoint value is transmitted via the communication buses and networks, or
using the SoMove setup software.
Movement
Software limits
generator
Actual servo
Speed motor speed
Limiting
setpoint
Max. speed
Acceleration
Deceleration
Possible applications
A motion controller for coordinated axes or a PLC can manage several axes
controlled via communication buses and networks.
This mode is often used in:
b Material handling
b Automated inspection
15
Functions (continued) Lexium 32 motion control
Lexium 32 servo drives
Operating modes
A more sophisticated mode than that for the Lexium 05 servo drive, this is used for
programming the parameters required for executing rapid movements. It allows
absolute or relative movement of the axis from a point A to a point B, in accordance
with a predefined movement, and then from point B to a point C, in accordance with
another movement. The motion setpoint can be an relative or absolute movement,
and also a speed setpoint. Up to 128 different movements can be configured.
Homing positions can also be added to the sequences.
The movement is executed according to the selected acceleration, deceleration and
speed parameters.
It is also possible to choose the sequencing type and conditions for the various
movements.
Position
D
C M4
B
M3
M2
A
O M1 O
t (ms)
Speed (rpm)
4000
3000
2000
1500
1000
M1 M2 M3 M4
t (ms)
0
-1000
-2000
500 1000 1200 1500 3300
Note: It is also possible to keep the axis in position (zero speed) between 2 movement stages.
16
Functions (continued) Lexium 32 motion control
Lexium 32 servo drives
Operating modes
This mode is also used for position and speed control via pulse train (pulse/direction
(P/D) or CW/CCW signals, depending on the servo drive) sent by an axis controller
(PLC, motion controller, numerical controller, etc.).
The Lexium 32 servo drive's integrated electronic reduction ratio makes it possible to
adapt the pulse train frequency to the frequency of the servo drive input. This means
that the servo motor's full speed range can be utilised.
This reduction ratio, which can be either fixed or variable, is determined by the
Lexium 32 servo drive's “Gearnum” and “GearDenom” parameters.
The ratio and direction of operation parameters can be accessed dynamically via the
communication buses and networks.
IMAX
NMAX
GEARratio
GearNum
GearDenom Position, speed or
current control
Pulses P/D M
N
CW/CCW M 3a
A/B D
E
IOposInterface GEARdir_enable
Possible applications
b Handling
b Conveying
b Packing
b Cutting to length
b Applications in the fields of plastics and fibres
The position control that is present in the background allows flexible synchronisation
of two axes which are in speed control mode, and enables position control mode to
be entered on the fly.
17
Functions (continued) Lexium 32 motion control
Lexium 32 servo drives
Operating modes
Actual servo
Speed motor speed
setpoint Limiting
Max. speed
Acceleration
Deceleration
Possible applications
This mode is mainly used with infinite axes.
Examples include turntable management, printing, labelling applications, etc.
Setpoint value
The setpoint value is transmitted:
b Via analog input 1 or a parameter for Lexium 32C servo drives
b Via a parameter for the Lexium 32A and 32M servo drive
Instantaneous speed control operating mode with current limiting via analog input 2
Possible applications
b Handling
b Packing
b Cutting to length
b Winding and unwinding applications
18
Functions (continued) Lexium 32 motion control
Lexium 32 servo drives
Operating modes
Current control
Current control is necessary for servo motor torque control. This mode, which can be
added onto the other modes, is used in machine phases where torque control is
crucial.
Setpoint value
The setpoint value is transmitted:
b Via analog input 1 or a parameter for Lexium 32C servo drives
b Via a parameter for the Lexium 32A and 32M servo drive
Speed or current limiting is transmitted:
b Via analog input 2 or a parameter for the Lexium 32C servo drive
b Via a parameter for Lexium 32A and 32M servo drives
The ESIM (Encoder SIMulation) output on the RS 422 interface can be used to
transmit the position and speed of the servo motor to the axis controller (PLC, motion
controller, numerical controller, etc.).
Parameters
(bus or SoMove) M
Current
limiting Selection of limiting
Analog input 2 Scaling type
Speed
(± 10 V)
limiting E
IREF
No limiting
Current control operating mode with speed limiting via analog input 2
Possible applications
b Car assembly applications (tool fixing machine)
b Special machines
Other functions
b Control functions:
v Status monitoring in movement mode
v Monitoring of the axis signals
v Monitoring of the internal signals specific to the servo drive
v Monitoring switching
v Monitoring communication on the communication buses and networks
b Entering the various scaling factors
b Adjusting the movement generator
b Activating the STOP signal
b Triggering the fast stop function (Quick-Stop)
b Activating the motor brake via the HBC (Holding Brake Controller)
b Reversing the direction of rotation of the motor
b Reading the analog input values
b Determining the signal logic
b Possible replacement of the servo motor encoder with an external encoder to
close the position loop
b Rotary axes (rollover)
b Position register for controlling logic outputs
b Controlling third-party motors
19
Characteristics Lexium 32 motion control
Servo drives
Environmental characteristics
Conformity to standards Lexium 32 servo drives have been developed to conform to the strictest levels of
international standards and the recommendations relating to electrical industrial
control equipment (IEC, EN), including:
IEC/EN 61800-5-1 (low voltage) and IEC/EN 61800-3 (conducted and radiated EMC
immunity and emissions)
Relative humidity According to IEC 60721-3-3, category 3K3, 5% to 85%, without condensation
Drive characteristics
Switching frequency kHz 8
20
Characteristics (continued) Lexium 32 motion control
Servo drives
Ripple y 5%
Signalling 1 red LED: LED on indicates the presence of servo drive voltage
Electrical isolation Between power and control (inputs, outputs, power supplies)
Connection characteristics (power supply, braking resistor and servo motor terminals)
Servo drive terminals R/L1, S/L2, T/L3 PA/+, PBI, PBe U/T1, V/T2, W/T3
(power supply) (external braking (servo motor)
resistor)
Maximum wire size and tightening torque for the power 5 mm2 (AWG 10) 3 mm2 (AWG 12) 5 mm2 (AWG 10)
supply, braking resistor and servo motor terminals 0.7 Nm 0.5 Nm 0.7 Nm
See characteristics of
VW3 M5 10p Rppp and
VW3 M5 30p Rpppp
cables on pages 76, 77
and 104, 105
Control signal characteristics
Type of servo drive LXM 32Cppppp LXM 32Appppp LXM 32Mppppp
Protection Inputs Against reverse polarity
Outputs Against short-circuits
24 V c I/O logic Positive logic (Sink input/Source output) or negative logic (Source input/Sink output).
Default setting: positive logic.
Logic inputs
Type 24 V c logic inputs with positive (Sink) or negative (Source) logic
Power supply Vc 24
Debounce filtering ms Configurable between 250 µs and 1.5 ms, in increments of 250 µs
Positive logic (Sink) State 0 if < 5 V or input not wired, state 1 if > 15 V
Logic inputs conforming to standard IEC/EN 61131-2 type 1
Negative logic (Source) State 0 if > 19 V or input not wired, state 1 if < 9 V
(1) Please consult our specialist catalogue "Phaseo power supplies and transformers".
21
Characteristics (continued) Lexium 32 motion control
Servo drives
Safety inputs
Type Inputs for the “Safe Torque Off” (STO) safety function
Number 2 (STO_A, STO_B)
Power supply Vc 24
Response time ms y5
Positive logic (Sink) State 0 if < 5 V or input not wired, state 1 if > 15 V
Logic inputs conforming to standard IEC/EN 61131-2 type 1
Logic outputs
Type 24 V c logic outputs with positive (Source) or negative (Sink) logic.
Number 5, reassignable 2, reassignable 3, reassignable
Output voltage V y 30, conforming to standard IEC/EN 61131-2
Sampling period µs 250
Max. breaking current mA 50
Voltage drop V 1 (at 50 mA load)
Analog inputs
Type ±10 V differential analog inputs
Resolution bit 14
Number 2 (ANA 1+/ANA 1–, –
ANA 2+/ANA 2–)
Input resistance kW u 20
Sampling period µs 250
Absolute error Less than ±0.5%
22
Characteristics (continued) Lexium 32 motion control
Servo drives
Service PDOs (Process Data Objects) Implicit exchange of PDOs: Implicit exchange of PDOs:
b 4 configurable mapping PDOs b 2 PDOs conforming to DSP 402 (position
control mode)
PDO modes Event-triggered, Time-triggered, Remotely- Sync (cyclic)
requested, Sync (cyclic), Sync (acyclic)
Number of SDOs (Service Data Explicit exchange of SDOs: Explicit exchange of SDOs:
Objects) b 2 receive SDOs b 1 receive SDO
b 2 transmit SDOs b 1 transmit SDO
Emergency Yes
Diagnostics Using LEDs 2 LEDs: “RUN” and “ERROR” on integrated display terminal
Display of faults
Full diagnostics with the SoMove setup software
Description file A single eds file for the whole range is available on our website at
“www.schneider-electric.com”. This file contains the description of the servo drive parameters.
Address 1 to 247, configurable via the terminal or the SoMove setup software
23
References Lexium 32 motion control
Servo drives
Continuous Peak
(rms) (rms) (1)
A A kW A A kA kg
Single-phase supply voltage: 115 V a 50/60 Hz, with integrated EMC filter (3)
1.5 3 0.15 2.9 1 LXM 32CU45M2 1.600
LXM 32AU45M2 1.600
LXM 32MU45M2 1.700
Single-phase supply voltage: 230 V a 50/60 Hz, with integrated EMC filter (3)
1.5 4.5 0.3 2.9 1 LXM 32CU45M2 1.600
LXM 32AU45M2 1.600
LXM 32MU45M2 1.700
24
References (continued) Lexium 32 motion control
Servo drives
Continuous Peak
(rms) (rms)(1)
A A kW A A kA kg
Three-phase supply voltage: 380 V a 50/60 Hz, with integrated EMC filter (3)
1.5 6 0.4 1.4 5 LXM 32CU60N4 1.700
LXM 32AU60N4 1.700
LXM 32MU60N4 1.800
24 72 7 18.1 5 LXM 32CD72N4 –
LXM 32AD72N4 –
LXM 32MD72N4 –
Three-phase supply voltage: 480 V a 50/60 Hz, with integrated EMC filter (3)
1.5 6 0.4 1.2 5 LXM 32CU60N4 1.700
LXM 32AU60N4 1.700
LXM 32MU60N4 1.800
10 30 3 7 5 LXM 32CD30N4 2.600
LXM 32AD30N4 2.600
LXM 32MD30N4 2.700
24 72 7 14.6 5 LXM 32CD72N4 –
LXM 32AD72N4 –
LXM 32MD72N4 –
25
References (continued) Lexium 32 motion control
Servo drives
Description
7
1 Graphic display unit:
- 8 lines of 24 characters, 240 x 160 pixels
PF090011
(1) This terminal may require a software upgrade using the VW3 A8 121 Multi-Loader
configuration tool. See page 27.
26
References (continued) Lexium 32 motion control
Servo drives
Documentation
Description Reference Weight
kg
“Description of the Motion & Drives offer” DVD-ROM (1) VW3 A8 200 0.100
comprising:
b Technical documentation (programming manuals, installation manuals,
quick reference guides)
b SoMove Lite setup software
b Catalogues, brochures
Simplified Lexium 32 user's manual Available on our –
website
“www.schneider-
electric.com”
Configuration tools
Description Use Reference Weight
kg
SoMove setup software and associated accessories
SoMove setup software For configuring, adjusting and debugging the See page 50 –
Lexium 32 servo drive. Downloadable from our website
“www.schneider-electric.com” or available on the “Description
of the Motion & Drives Offer” DVD ROM (VW3 A8 200).
SoMove setup software Cordset This is used to connect the Lexium 32 servo drive to the TCS MCNAM 3M002P –
USB port on the PC.
2.5 m cable equipped with:
b 1 RJ45 connector (servo drive end) and
b 1 USB connector (PC end)
Modbus-Bluetooth® adaptor For establishing a Bluetooth® wireless connection between VW3 A8 114 0.155
the Lexium 32 servo drive and a PC equipped with a
Bluetooth® wireless link.
Supplied with:
b 1 Bluetooth® adaptor (range 10 m, class 2) with
. 1 RJ45 connector
VW3 A8 115 b 1 x 0.1 m cordset with 2 x RJ45 connectors
USB-Bluetooth adaptor b Etc. (2)
USB-Bluetooth® adaptor for This is required for a PC that does not have VW3 A8 115 0.200
PC Bluetooth® technology. Connects to the USB port on the PC.
Range of 10 m, class 2.
Memory card recorder Writes data from the Lexium 32 servo drive to the memory See the User's manual –
card.
This recorder is not supplied by Schneider Electric.
VW3 M8 705 memory card
(1) The documentation for the servo drives and servo motors is also available on our website “www.schneider-electric.com”.
(2) Also includes other components for connecting compatible Schneider Electric devices.
27
References (continued) Lexium 32 motion control
Servo drives
Connection accessories
Replacement connectors
Description Used Description Reference Weight
for kg
Connector kit Lexium 32C Comprising: VW3 M2 201 –
b 3 connectors for the line supply
b 1 connector for the DC bus
b 3 connectors for the I/O
b 1 connector for the motor power supply
b 1 connector for the holding brake
Cordsets
Used Description Length Reference Weight
for m kg
Daisy chain connection of the DC bus Equipped with 0.1 VW3 M7 101R01 –
between two Lexium 32 servo drives 2 connectors for
Lexium 32 servo drive
(Sold in lots of 5)
Daisy chain connection or pulse control Equipped with 0.3 VW3 M8 502R03 0.025
for the Lexium 32C and 32M servo drives 2 RJ45 connectors 1.5 VW3 M8 502R15 0.062
Equipped with 3 VW3 M8 223R30 –
1 RJ45 connector and
a free end
28
References (continued) Lexium 32 motion control
Lexium 32A servo drives
M238 PLC
CANopen and CANmotion machine bus for Lexium 32A servo drives
Lexium 32A servo drives can be connected directly to the CANopen machine bus using an RJ45 connector. To
simplify daisy chain connection, each servo drive is equipped with two connectors of this type (marked CN4
and CN5).
5 The communication function provides access to the servo drive’s configuration, adjustment, control and
CANopen
1 monitoring functions.
machine bus Used with a Lexium Controller motion controller, the CANmotion bus can be used to control motion for
applications with up to eight Lexium 32A servo drives.
3
Connection accessories (1)
Description Use Item no. Reference Weight
kg
CANopen IP 20 junction box Tap-off from trunk cable for RJ45 1 VW3 CAN TAP2 0.480
Lexium 32A Lexium 32A 2 RJ45 ports wiring
Example of architecture with
control by M238 PLC Line terminator Connection to the RJ45 2 TCS CAR 013M120 0.009
120 W connector
(equipped with one RJ45
connector)
connectors)
CANopen
3 CANopen cordsets (1) Twido programmable LXM 32A servo drive 4 1 VW3 M3 805R010 –
equipped with controller (CN4 and CN5 3 VW3 M3 805R030 –
2 one 9-way female SUB-D Lexium controller connectors)
connector with integrated line motion controller
terminator and one RJ45 LMC 20,
connector LMC 20A130p
Lexium 32A Lexium 32A
Example of architecture with
control by Twido CANopen cables (1) PLC VW3 CAN TAP2 5 50 TSX CAN CA 50 4.930
programmable controller Standard cables, junction box 100 TSX CAN CA 100 8.800
e marking
Low smoke emission, 300 TSX CAN CA 300 24.560
halogen-free
Flame retardant (IEC 60332-1)
Lexium Controller
LMC 20 or LMC 20A130p
CANopen cables (1) PLC VW3 CAN TAP2 5 50 TSX CAN CB 50 3.580
UL certification, junction box 100 TSX CAN CB 100 7.840
e marking
Flame retardant (IEC 60332-2) 300 TSX CAN CB 300 21.870
4
CANopen cables (1) PLC VW3 CAN TAP2 5 50 TSX CAN CD 50 3.510
machine bus
Cables for harsh environments junction box 100 TSX CAN CD 100 7.770
CANopen
(1) For other CANopen machine bus connection accessories, please consult the “Machines & installations with CANopen”
Lexium 32A Lexium 32A
catalogue.
Example of architecture with (2) Harsh environment:
control by LMC - Resistance to hydrocarbons, industrial oils, detergents, solder splashes
Lexium Controller - Relative humidity up to 100%
- Saline atmosphere
- Significant temperature variations
- Operating temperature between - 10°C and + 70°C
29
Presentation Lexium 32 motion control
Communication buses and networks
CANopen machine bus
Presentation
Lexium 32A servo drives integrate the CANopen communication protocol as
standard (see characteristics on page 23).
The CANopen machine bus is a fieldbus based on the lower layers and components
of CAN. It complies with standard ISO 11898. With its standardized communication
profiles, the CANopen machine bus provides openness and interoperability with
various devices (drives, motor starters, smart sensors, etc.).
A tiered CANopen connectivity solution reduces costs and optimizes the control
system architecture, thanks to:
b Reduced cabling time
b Greater reliability of the load
b Flexibility should you need to add or remove equipment
30
Characteristics Lexium 32 motion control
Communication buses and networks
CANopen machine bus
Service PDOs (Process Data Objects) Implicit exchange of PDOs: Implicit exchange of PDOs:
b 4 configurable mapping PDOs b 2 PDOs conforming to DSP 402
(position control mode)
PDO modes Event-triggered, Time-triggered, Remotely- Sync (cyclic)
requested, Sync (cyclic), Sync (acyclic)
Number of SDOs Explicit exchange of SDOs: Explicit exchange of SDOs:
(Service Data Objects) b 2 receive SDOs b 1 receive SDO
b 2 transmit SDOs b 1 transmit SDO
Emergency Yes
Device profiles CiA 402: CANopen “Device Profile Drives and Motion Control”
Position control, speed profile, Position control mode
torque profile and homing modes
Communication monitoring Node guarding, heartbeat
Description file A single eds file for the whole range is available on our website at
“www.schneider-electric.com”. This file contains the description of the servo drive parameters.
31
References Lexium 32 motion control
Communication buses and networks
CANopen machine bus
Twido or Lexium
programmable Controller
CANopen/CANmotion machine bus connection components
controller Communication cards
Description Type of port Item no. Reference Weight
kg
CANopen/CANmotion cards 2 RJ45 1 VW3 A3 608 –
for connectors
or
Lexium 32M servo drives One 9-way 2 VW3 A3 618 –
6 male SUB-D connector
machine bus
CANopen
Connection accessories
Description Type of port Item no. Reference Weight
5
kg
CANopen IP 20 2 RJ45 ports 3 VW3 CAN TAP2 0.480
1 junction boxes (1) 4 SUB-D ports. 4 TSX CAN TDM4 0.196
Line terminator
Lexium 32 Lexium 32
Example of connecting Line terminator
Lexium 32M with With RJ45 connector – – TCS CAR 013M120 0.009
VW3 A3 608 card
Stripped wires – – TCS CAR 01NM120 –
Cordsets (1)
Description Use Item Length Reference Weight
no.
Twido or Lexium From To m kg
programmable Controller CANopen cordsets equipped with LXM 32A VW3 A3 608 5 0.3 VW3 CAN CARR03 0.320
controller one RJ45 connector at each end servo drive card 1 VW3 CAN CARR1 0.500
VW3 A3 608 card LXM 32A
VW3 CAN TAP2 servo drive
junction box
CANopen IP 20 cordsets equipped LMC 20 VW3 A3 618 7 0.3 TSX CAN CADD 03 0.091
with one 9-way female SUB-D 9 LMC 20A130 card 1 TSX CAN CADD 1 0.143
7 7 connector at each end. Lexium Controller TSX CAN TDM4
Standard cables, e marking TSX CAN TDM4 junction box 3 TSX CAN CADD 3 0.295
Low smoke emission, halogen-free junction box 5 TSX CAN CADD 5 0.440
Flame retardant
(IEC 60332-1)
2
CANopen IP 20 cordsets equipped LMC 20 VW3 A3 618 7 0.3 TSX CAN CBDD 03 0.086
with one 9-way female SUB-D 9 LMC 20A130 card 1 TSX CAN CBDD 1 0.131
Lexium 32 Lexium 32 connector at each end. Lexium Controller TSX CAN TDM4
Standard cables, TSX CAN TDM4 junction box 3 TSX CAN CBDD 3 0.268
Example of connecting
UL certification, e marking junction box 5 TSX CAN CBDD 5 0.400
Lexium 32M with
Flame retardant
VW3 A3 618 card
(IEC 60332-2)
(1) To order other components for connection to the CANopen machine bus, please refer to the “Automation platform Modicon
Premium and Unity - PL7 software” and “Machines & installations with CANopen” catalogues.
32
References (continued) Lexium 32 motion control
Communication buses and networks
CANopen machine bus
M238 programmable
controller CANopen/CANmotion machine bus connection components (continued)
Connection cables (1)
Description Use Item Length Reference Weight
no.
CANopen From To m kg
machine bus CANopen cables (1) TSX CAN KCDF90T TSX CAN KCDF90T 8 50 TSX CAN CA 50 4.930
8 8 4 Standard cables, e marking connector connector 100 TSX CAN CA 100 8.800
Low smoke emission, halogen-free M238 PLC M238 PLC
Flame retardant 300 TSX CAN CA 300 24.560
3 (IEC 60332-1)
5 5 7 7
CANopen cables (1) TSX CAN KCDF90T TSX CAN KCDF90T 8 50 TSX CAN CB 50 3.580
UL certification, e marking connector connector 100 TSX CAN CB 100 7.840
Flame retardant M238 PLC VW3 CAN TAP2
(IEC 60332-2) junction box 300 TSX CAN CB 300 21.870
TSX CAN TDM4
1 2 junction box
Example of connecting CANopen cables (1) TSX CAN KCDF90T TSX CAN KCDF90T 8 50 TSX CAN CD 50 3.510
Lexium 32M with Cable for harsh environment (2) or connector connector
VW3 A3 608 and 100 TSX CAN CD 100 7.770
mobile installation, e marking M238 PLC VW3 CAN TAP2
VW3 A3 618 cards Low smoke emission, halogen-free junction box 300 TSX CAN CD 300 21.700
Flame retardant TSX CAN TDM4
(IEC 60332-1) junction box
(1) To order other CANopen machine bus connection components, please refer to the “Machines & installations with CANopen”
catalogue.
(2) Harsh environment:
- Resistance to hydrocarbons, industrial oils, detergents, solder splashes
- Relative humidity up to 100%
- Saline atmosphere
- Significant temperature variations
- Operating temperature between - 10°C and + 70°C
33
Presentation, Lexium 32 motion control
characteristics, Communication buses and networks
DeviceNet fieldbus
references
DeviceNet fieldbus
Presentation
Magelis XBT
Third-party control
system
DeviceNet fieldbus
Altivar 312
ATV 71
Lexium 32M Lexium 32M
Transmission speed 125 kbps, 250 kbps or 500 kbps, configurable using the graphic display terminal
Address 1 to 63, configurable via the graphic display terminal or using SoMove setup software
Communication monitoring Time out (which can be inhibited) can be set via the DeviceNet bus configurator
Diagnostics Using LEDs 2 LEDs on the card: “MS” (Module Status: green/red) and “NS” (Network Status)
Reference
Description Used Type of port Reference Weight
for kg
DeviceNet card Lexium 32M servo drive 1 removable screw connector VW3 M3 301 –
34
Presentation, Lexium 32 motion control
characteristics, Communication buses and networks
PROFIBUS DP V1 fieldbus
references
PROFIBUS DP V1 fieldbus
Presentation
Quantum (1)
Lexium 32 Lexium 32
PROFIBUS DP V1 fieldbus
Repeaters
(3 max.)
The Lexium 32M servo drive is connected to the PROFIBUS DP V1 fieldbus via the
VW3 A3 607 communication card.
Other devices can be connected to the PROFIBUS DP bus such as PLCs (1),
STB I/O (2), Altivar variable speed drives (3), Osicoder rotary encoders (4), etc.
Transmission speed 9.6 kbps, 19.2 kbps and 93.75 kbps for bus lengths of 1200 m
187.5 kbps for bus lengths of 1000 m
500 kbps for bus lengths of 400 m
1.5 Mbps for bus lengths of 200 m
3 Mbps, 6 Mbps and 12 Mbps for bus lengths of 100 m
Address 1 to 126, configurable via the graphic display terminal or using SoMove setup software
Diagnostics Using LEDs 2 LEDs on the card: “ST” (status) and “DX” (data exchange)
Using the graphic display Fault display
terminal Complete diagnostics with SoMove setup software
Description file A single gsd file for the whole range is available on our website at
“www.schneider-electric.com”. This file does not contain descriptions of the servo drive
parameters.
Reference
Description Used for Type of port Reference Weight
kg
Communication card
PROFIBUS DP V1 card Lexium 32M servo drives One 9-way female SUB-D VW3 A3 607 0.140
connector
(1) Please refer to the “Automation platform Modicon Quantum and Unity software” catalogue.
(2) Please refer to the “Human-Machine interfaces” catalogue.
(3) Please refer to the “Soft starters and variable speed drives” catalogue.
(4) Please refer to the “Global Detection”catalogue.
35
Presentation, Lexium 32 motion control
characteristics Communication buses and networks
EtherNet/IP network
EtherNet/IP network
Presentation
Lexium 32M Lexium 32M
EtherNet/IP network
Altivar 312
ATV 71
Thanks to its high speed, the network no longer restricts the application's
performance. EtherNet/IP, the pre-eminent open protocol, supports all types of
communication:
b Web pages
b File transfers
b Messaging
Transmission speed 10/100 Mbps, half duplex and full duplex, by manual selection or auto-negotiation
Address Manual assignment via the graphic display terminal or SoMove setup software
BOOTP
DHCP
Physical IEEE 802.3
36
Characteristics (continued), Lexium 32 motion control
references Communication buses and networks
EtherNet/IP network
Diagnostics Using LEDs 5 LEDs on the card: “MS” (Module Status), “NS” (Network Status), “Link” (Link Status),
“TX/RX” (Transmit/Receive port 1 and Transmit/Receive port 2)
Using the graphic display Control word received
terminal Reference received
Number of incorrect frames
Via the Web server Via the "Drive monitor", "Drive parameters", "Ethernet statistics", "Message statistics" and
"Net IO monitoring" pages
ConneXium cordsets
(conforming to EIA/TIA-568 standard category 5 and IEC 1180/EN 50173, class D)
Straight shielded twisted pair cables EtherNet/IP card 2 RJ45 connectors 2 490 NTW 000 02 –
5 490 NTW 000 05 –
12 490 NTW 000 12 –
Crossed shielded twisted pair cables EtherNet/IP card 2 RJ45 connectors 5 490 NTC 000 05 –
15 490 NTC 000 15 –
Crossed shielded twisted pair cables EtherNet/IP card 2 RJ45 connectors 5 490 NTC 000 05U –
15 490 NTC 000 15U –
37
Presentation, Lexium 32 motion control
characteristics, Option: Encoder cards for Lexium 32M
references servo drives
Presentation
The Lexium 32M servo drive can take an encoder interface card. This has an input
available for an additional encoder, thus offering the following advantages:
b Possible to connect to third-party motors, which increases the installation's
flexibility
b Possible to improve positioning accuracy by reducing the effect of mechanical
backlash thanks to position measurement directly on the machine, and to satisfy the
requirements of simple applications or very complex systems which need a very
quick response or very accurate path following
Characteristics
VW3 M3 401 resolver interface card
Type of connection 9-way female SUB-D connector
Cordset
Cordset equipped with – 5 VW3 M4 705 –
15-way high density SUB-D
connector
For interface card for digital or
analog output encoder
Connecting cable
Cable [5 x 100 VW3 M8 221R1000 21.000
for creating cordsets (2 x 0.25 mm2)
for encoder interface cards +
(2 x 0.5 mm2)]
38
Presentation, Lexium 32 motion control
references Option: Encoder cards for Lexium 32M
servo drives
The proposed incremental encoder, with its configurable resolution, satisfies most
requirements for machine encoders with A/B/I output signal.
The proposed absolute encoders are among the most commonly used machine
encoders with SSI interface.
For more information about the Osicoder® offer, please refer to the
“Rotary encoders – Osicoder®” catalogue.
Ø 58 mm incremental encoder
Operating on the principle of in-line differential optical reading, XCC incremental
encoders are extremely rugged, thanks to their technology based on photo-
sensitive cells and their triple light source.
The cyclic ratio is maintained even in the event of:
b Failure of one of the sender components
b Reduced efficiency of the sender components (up to 30%)
b Deposit of fine dust on the optical elements
Note: XCC incremental encoders can also be used as a master encoder on Lexium 32C and
Lexium 32M servo drives, when connected to the PTI input.
Ø 58 mm absolute encoders
An absolute encoder continuously delivers a code which is the image of the actual
position of the moving part to be controlled. On the first power-up or on return of the
power after a power failure, the encoder will deliver a data item which can be used
directly by the processing system.
39
Presentation, Lexium 32 motion control
functions Option: Safety card for Lexium 32M
servo drives
Presentation
The eSM safety card allows Lexium 32 servo drives to access additional safety
functions, as well as the “Safety Torque Off” (STO) function, thus putting in place a
complex safety device, while ensuring reliable monitoring of the installation.
The eSM card optimises the overall cost of the installation by avoiding the addition
of external safety products, while conforming to international safety standards. As a
result, wiring is cheaper and quicker.
40
Characteristics, Lexium 32 motion control
references Option: Safety card for Lexium 32M
servo drives
Electrical characteristics
569520
References
Description Cable Reference Weight
length
m kg
eSM safety card – VW3 M3 501 –
for Lexium 32 servo drives
41
Presentation, Lexium 32 motion control
sizing Option: braking resistors for servo drives
Braking resistors
Internal braking resistor
A braking resistor is built into the servo drive to absorb the braking energy. If the
DC bus voltage in the servo drive exceeds a specified value, this braking resistor is
activated. The restored energy is converted into heat by the braking resistor.
n3
D1
n2
n1
0 D2 D3 t
n4
t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 t11 t12
T cycle
M3
M2
M1
0 t
M4
M5
Required torque Mi
42
Sizing (continued) Lexium 32 motion control
Option: braking resistors for servo drives
2π [n3 − n1 ]
2
1
E1 = Jt .
2 60
2
1 2πn1
E2 = Jt .
2 60
2
1 2πn4
E3 = Jt .
2 60
43
Characteristics Lexium 32 motion control
Option: braking resistors for servo drives
Characteristics
Braking resistors used with LXM 32ppppM2 servo drives with 115 V a power supply
Type of servo drive LXM 32pU45M2 LXM 32pU90M2 LXM 32pD18M2 LXM 32pD30M2
Number of phases Single-phase
Load threshold Vc 430
Energy absorption of the Edrive Joules 30 60 89 119
internal capacitors (Ws)
Internal resistor Resistance W 94 47 20 10
Continuous power PPr W 10 20 40 60
Peak energy EPk Joules 82 166 330 550
(Ws)
External resistor Minimum resistance W 68 36 20 12
Maximum resistance W 110 55 27 16
Braking resistors used with LXM 32ppppM2 servo drives with 230 V a power supply
Type of servo drive LXM 32pU45M2 LXM 32pU90M2 LXM 32pD18M2 LXM 32pD30M2
Number of phases Single-phase
Load threshold Vc 430
Energy absorption of the Edrive Joules 9 18 26 35
internal capacitors (Ws)
Internal resistor Resistance W 94 47 20 10
Continuous power PPr W 10 20 40 60
Peak energy EPk Joules 82 166 330 550
(Ws)
External resistor Minimum resistance W 68 36 20 12
Maximum resistance W 110 55 27 16
Braking resistors used with LXM 32ppppN4 servo drives with 230 V a power supply
Type of servo drive LXM 32 LXM 32 LXM 32 LXM 32 LXM 32
pU60N4 pD12N4 pD18N4 pD30N4 pD72N4
Number of phases Three-phase
Load threshold Vc 780
Energy absorption of the Edrive Joules 14 25 50 73 145
internal capacitors (Ws)
Internal resistor Resistance W 132 60 30 30 10
Continuous power PPr W 20 40 60 100 150
Peak energy EPk Joules 200 400 600 1000 2400
(Ws)
External resistor Minimum resistance W 100 47 33 15 8
Maximum resistance W 145 73 50 30 12
Braking resistors used with LXM 32ppppN4 servo drives with 480 V a power supply
Type of servo drive LXM 32 LXM 32 LXM 32 LXM 32 LXM 32
pU60N4 pD12N4 pD18N4 pD30N4 pD72N4
Number of phases Three-phase
Load threshold Vc 780
Energy absorption of the Edrive Joules 3 5 10 14 28
internal capacitors (Ws)
Internal resistor Resistance W 132 60 30 30 10
Continuous power PPr W 20 40 60 100 150
Peak energy EPk Joules 200 400 600 1000 2400
(Ws)
External resistor Minimum resistance W 100 47 33 15 8
Maximum resistance W 145 73 50 30 12
44
Characteristics (continued), Lexium 32 motion control
references Option: braking resistors for servo drives
General characteristics
Type of braking resistor VW3 A7 601 Rpp…608 Rpp VW3 A7 70p
Ambient air temperature Operation °C 0…+ 50
around the device Storage °C - 25…+ 85 - 25…+ 70
Connection characteristics
Maximum wire size For servo drive For temperature-controlled switch
VW3 A7 601 Rpp…608 Rpp Supplied with connection cable –
References
Value Continuous Peak energy EPk Length of Reference Weight
539807
27 100 4200 3800 1900 1700 0.75 VW3 A7 602 R07 0.630
2 VW3 A7 602 R20 0.780
3 VW3 A7 602 R30 0.900
200 9700 7400 4900 4300 0.75 VW3 A7 603 R07 0.930
2 VW3 A7 603 R20 1.080
3 VW3 A7 603 R30 1.200
400 25,500 18,100 11,400 10,500 0.75 VW3 A7 604 R07 1.420
2 VW3 A7 604 R20 1.470
3 VW3 A7 604 R30 1.620
72 100 5500 3700 2500 2300 0.75 VW3 A7 605 R07 0.620
2 VW3 A7 605 R20 0.750
3 VW3 A7 605 R30 0.850
200 14,600 9600 6600 6000 0.75 VW3 A7 606 R07 0.930
2 VW3 A7 606 R20 1.080
3 VW3 A7 606 R30 1.200
400 36,600 24,700 16,200 15,500 0.75 VW3 A7 607 R07 1.420
2 VW3 A7 607 R20 1.470
3 VW3 A7 607 R30 1.620
100 100 4400 4400 2900 2900 0.75 VW3 A7 608 R07 0.410
2 VW3 A7 608 R20 0.560
3 VW3 A7 608 R30 0.760
Note: The total continuous power dissipated in the external braking resistor(s) must be less than or equal to the nominal power of
the Lexium 32 servo drive (see pages 24 and 25).
45
Presentation Lexium 32 motion control
Integrated EMC filters and additional EMC input
filters for servo drives
L1
Integrated EMC filter
M1
L2
3
Function
Lexium 32
L3 Lexium 32 servo drives have integrated radio interference input filters to comply with
the EMC standard for variable speed electrical power drive “products”
IEC/EN 61800-3, edition 2, category C3 in environment 2, and to comply with
Lexium 32 servo drive the European directive on EMC (electromagnetic compatibility).
with integrated EMC filter
For servo drive Maximum servo motor cable length conforming to
EN 55011, class A, Gr2
IEC/EN 61800-3, category C3 in environment 2
Switching frequency: 8 kHz
m
Single-phase supply voltage: 115 V a 50/60 Hz
LXM 32ppppM2 20 (10 metres in category C2, environment 1)
Additional EMC filters are mounted on the side of the device. They have tapped
Lexium 32 servo drive holes for mounting in an enclosure.
with additional EMC filter
46
Characteristics, Lexium 32 motion control
references Option: additional EMC input filters
for servo drives
Degree of protection IP 20
Relative humidity According to IEC 60721-3-3, class 3K3, 5% to 85%, without condensation or
dripping water
Connection characteristics
Maximum wire size 5 mm2 (AWG 10)
References
For servo drive Maximum servo motor cable length conforming to Reference Weight
EN 55011 EN 55011
class A Gr1 class A Gr2
IEC/EN 61800-3 IEC/EN 61800-3
category C2 category C3
in environment 1 in environment 2
Switching frequency 8 kHz Switching frequency 8 kHz
m m kg
Single-phase supply voltage
LXM 32pU45M2 50 100 VW3 A4 420 0.600
LXM 32pU90M2
LXM 32pD18M2 50 100 VW3 A4 421 0.775
LXM 32pD30M2
Presentation: Dimensions:
page 46 page 53
47
Presentation, Lexium 32 motion control
characteristics Option: Line chokes for servo drives
Line chokes
L1
A line choke can be used to provide improved protection against overvoltages on the
line supply and to reduce harmonic distortion of the current produced by the servo
M1
L2
Lexium 32 3 drive.
Line choke
L3
The recommended chokes limit the line current.
They have been developed in line with standard EN 50178 (VDE 0160 level 1 high-
energy overvoltages on the line supply).
The inductance values are defined for a voltage drop between 3% and 5% of the
nominal line voltage. Values higher than this will cause loss of torque.
Applications
The use of line chokes is recommended in particular under the following
circumstances:
b Close connection of several servo drives in parallel
b Line supply with significant disturbance from other equipment (interference,
overvoltages)
b Line supply with voltage unbalance between phases that is more than 1.8% of the
nominal voltage
b Servo drive supplied by a line with very low impedance (in the vicinity of a power
transformer 10 times more powerful than the servo drive rating)
b Installation of a large number of servo drives on the same line
b Reduction of overloads on the cos j correction capacitors, if the installation
includes a power factor correction unit
General characteristics
Type of line choke VZ1 L007UM50 VZ1 L018UM20 VW3 A4 553 VW3 A4 554
Conformity to standards EN 50178 (VDE 0160 level 1 high-energy overvoltages on the line supply)
Voltage drop Between 3% and 5% of the nominal line voltage.
Values higher than this will cause loss of torque.
Degree of protection Choke IP 00
Terminals IP 20 IP 10
Inductance value mH 5 2 2 1
Nominal current A 7 18 16 30
Losses W 20 30 75 90
Dimensions:
page 53
48
References Lexium 32 motion control
Option: Line chokes for servo drives
References
Line chokes
536283
Dimensions:
page 53
49
Presentation, SoMove setup software
functions
Presentation
SoMove is user-friendly setup software for PCs, for setting up the following
1 Schneider Electric motor control devices:
b ATV 12, ATV 312, ATV 31, ATV 61 and ATV 71 variable speed drives
b ATS 22 and ATS 48 starters
b TeSys U starter-controllers
b TeSys T motor management system
b Lexium 32 servo drives
SoMove software incorporates various functions for the device setup phases,
2 such as:
b Configuration preparation
b Setup
b Maintenance
To facilitate setup and maintenance, SoMove software can use a direct USB/RJ45
SoMove start page cable link or a Bluetooth® wireless link. SoMove software is also compatible with the
Multi-Loader configuration tool and SoMove Mobile software for mobile phones.
3 These tools can save a significant amount of time when loading, duplicating or
editing configurations on a device.
SoMove software and all the DTMs (Device Type Managers) associated with the
devices can be downloaded from our website www.schneider-electric.com.
Functions
4
Configuration preparation in disconnected mode
SoMove software has a genuine disconnected mode which provides access to all
the device parameters. This mode can be used to generate the device configuration.
The configuration can be saved, printed and exported to office automation software.
SoMove software checks the consistency of the parameters, validating the
configurations created in disconnected mode.
A large number of functions are available in disconnected mode, in particular:
9
b Faults: displays a list of the faults that may be encountered with the device, the
fault log and current faults or alarms
b Monitoring: provides a dynamic display of the device status, its I/O and all the
monitoring parameters. It is possible to create your own control panel by selecting
your parameters and how they are to be represented
b Oscilloscope: provides a high-speed oscilloscope (recording traces in the device)
or low-speed oscilloscope (recording traces in the software for devices that do not
have an integrated oscilloscope).
10
SoMove software oscilloscope function
50
Functions (continued), SoMove setup software
references
Functions (continued)
Connections
Modbus serial link 1
The PC running SoMove software can be connected directly via the RJ45 connector
on the device and the USB port on the PC with the USB/RJ45 cable.
See references table below.
References
Designation Description Reference Weight
kg
3
SoMove setup Includes: (1) –
software b SoMove setup software for PC in
Chinese, English, French, German,
Italian and Spanish
b DTMs (Device Type Managers) and
technical documentation for variable
speed drives, starters and servo motors
4
USB/RJ45 cable Used to connect a PC to the device TCSM CNAM 3M002P –
This cable is 2.5 m long, and has a USB
connector (PC end) and an RJ45
connector (device end).
5
Modbus-Bluetooth® Enables the device to communicate via VW3 A8 114 0.155
adaptor Bluetooth® serial link.
SoMove setup software Includes:
b 1 Bluetooth® adaptor (range 10 m,
class 2) with an RJ45 connector
b For SoMove: 1 x 0.1 m cable with 2 x
RJ45 connectors
b For TwidoSuite: 1 x 0.1 m cable with
1 RJ45 connector and 1 mini DIN
connector
6
USB-Bluetooth® This adaptor is required for a PC that VW3 A8 115 0.290
adaptor for PC does not have Bluetooth® technology.
It is connected to a USB port on the PC.
Range 10 m (class 2)
PF539785
Environments
SoMove operates in the following PC environments and configurations:
b Microsoft Windows® SP3
7
b Microsoft Windows® Vista
b Pentium IV (or equivalent), 1 GHz, hard disk with 1 GB available space, 512 MB
of RAM (minimum configuration)
VW3 A8 114
(1) Available on the “Description of the Motion & Drives offer” DVD-ROM, VW3 A8 200, or on our
website www.schneider-electric.com.
8
10
51
Dimensions Lexium 32 motion control 0
2xØ5,5
258
270
237 48
4xØ5,5
2xØ5,5
270
258
270
258
237 68 237 68
4xØ5,5
258
270
237 108
Braking resistors
VW3 A7 60p braking resistors
c = 60 =
VW3 b b1 c c1 H
=
H
b
c1 80
Presentation: Functions: Characteristics: References: Schemes:
page 2 page 12 page 20 page 24 page 54
52
Dimensions (continued) Lexium 32 motion control 0
4xØ9
380
484
301 210
VW3 a b c H
4xØ4,5
A4 420 72 195 37 180
A4 421 107 195 35 180
A4 422 107 195 42 180
H
c a
Line chokes
VZ1 L007UM50 and VZ1 L018UM20 single-phase line chokes
VZ1 a b c G H Ø
4xØ L007UM50 60 100 95 50 60 4 x 9
b
H G
c a
VW3 a b c c1 G G1 H Ø
A4 553 130 155 85 90 60 80.5 62 6 x 12
A4 554 155 170 115 135 75 107 90 6 x 12
b
8xØ
H G
c G1
c1 a
53
Schemes Lexium 32 motion control
Servo drives
Safety requirements
The Safe Torque Off function has a redundant electronic architecture (2) which is
monitored continuously by a diagnostic function.
Note: In addition to the mean probability of undetected hazardous failure per hour, other
measures are also necessary in order to achieve the PL (performance level).
Note: Lexium 32 servo drives can be used up to performance level “d” (PL d).
Safety Integrity Levels (SIL) according to IEC/EN 61508
(1) Please refer to the "Safety functions and solutions using Preventa" catalogue.
(2) Redundant: Consists of mitigating the effects of the failure of one component by means of
the correct operation of another, assuming that faults do not occur simultaneously on both.
54
Schemes (continued) Lexium 32 motion control
Servo drives
Safety requirements
The information below takes into account conformity with standard IEC/EN 60204-1,
which defines three stopping categories:
b Category 0: Stopping by immediate removal of the power from the actuators (e.g.
uncontrolled stop)
b Category 1: Controlled stop maintaining the power on the actuators until the
machine stops, then removal of the power when the actuators stop once the
machine has stopped
b Category 2: Controlled stop maintaining the power on the actuators
Applications
Conformity with performance level “d” (PL d) according to ISO 13849-1 and
with SIL2 according to IEC/EN 61508
The examples below describe the Lexium 32 servo drive Safe Torque Off function
combined with a Preventa safety module to monitor emergency stop circuits.
Examples of connection diagrams are available on our website at
“www.schneider-electric.com”.
Machines with short freewheel stopping times (low inertia or high resistive
torque).
When the activation command is given on the STO inputs with the servo motor
controlled, the servo motor power supply is immediately switched off and the motor
stops according to category 0 of standard IEC/EN 60204-1.
Restarting is not permitted even when the activation command is given after the
servo motor has come to a complete stop.
This safe stop is maintained for as long as the STO inputs remain activated.
For hoisting applications it is necessary to add a Preventa XPS AC-type safety
module (1).
On a Safe Torque Off command, the servo drive requires the brake to be engaged,
but a Preventa safety module contact must be inserted in series in the brake control
circuit to engage it safely when a request is made to activate the Safe Torque Off
function.
Machines with long freewheel stopping times (high inertia or low resistive
torque).
When the activation command is given, deceleration of the servo motor controlled by
the servo drive is first requested, then, following a time delay controlled by a
Preventa XPS AV-type safety module (1) which corresponds to the deceleration
time, the Safe Torque Off function is activated by the STO inputs. The servo motor
stops according to category 1 of standard IEC/EN 60204-1 (Safe Stop 1: SS1).
Periodic test
The Safe Torque Off safety input must be activated at least once a year for
preventive maintenance purposes. The servo drive must be switched off before
preventive maintenance takes place, and then powered up again. If the power
supply to the servo motor is not switched off during testing, safety integrity is no
longer assured for the Safe Torque Off function. The servo drive must therefore be
replaced to ensure the operational safety of the machine or the system process.
(1) Please refer to the "Safety functions and solutions using Preventa" catalogue.
55
Combinations Lexium 32 motion control
Motor starters
Applications
The combinations listed below can be used to create a complete motor starter unit
comprising a contactor and a Lexium 32 servo drive.
The contactor turns on and manages any safety features, as well as isolating the
servo motor on stopping.
The servo drive controls the servo motor, provides protection against short-circuits
between the servo drive and the servo motor and protects the motor cable against
overloads. The overload protection is provided by the motor thermal protection of the
servo drive.
56
Combinations (continued) Lexium 32 motion control
Motor starters
Protection using fuses
57
Mounting and installation Lexium 32 motion control
recommendations Servo drives
Mounting recommendations
150 mm
When installing the servo drive in the enclosure, follow the instructions below with
regard to the temperature and protection index:
0
b Provide sufficient cooling of the servo drive
b Do not mount the servo drive near heat sources
b Do not mount the servo drive on flammable materials
b Do not heat the servo drive cooling air by currents of hot air from other equipment
and components, for example from an external braking resistor
100 mm b Mount the servo drive vertically (± 10%)
b If the servo drive is used above its thermal limits, control stops due to
overtemperature
Note: For cables that are connected via the underside of the servo drive, a free space u 200 mm
is required under the unit to comply with the bending radius of the connection cables.
0°C…+ 50°C d u 0 mm –
58
Mounting and installation Lexium 32 motion control
recommendations (continued) Servo drives
1w 1v 1v requirements:
b Protection of personnel
b Adaptation of the supply voltage
Primary
T1
Sizing the three-phase T1 transformer
The size of the transformers is defined using the following formulae:
b Lexium servo drives with independent power supply (one transformer per
Secondary
servo drive):
(
Pu = )
3 × Un × In × K × 1,5
S/L2
T/L3
Lexium 32
b Lexium servo drives with common power supply (one transformer per
Connection of a Lexium 32 servo drive to an n servo drives):
installation with an IT neutral system
Pm = ( ∑ Pu) / 2
If Pm < Pu of the largest servo drive, take Pm = Pu of the largest servo drive.
Where Pm = usable power (kVA) and Pu = servo drive unit power (kVA). Formula not
applicable for continuous operation (S1 mode).
59
Presentation, Lexium 32 motion control
functions BMH servo motors
569427
569428
Presentation
BMH servo motors excel with best-in-class power density to meet the requirements
of most compact machine design. With four flange sizes and three different lengths
per flange size, there is a suitable solution for most applications, covering a
continuous stall torque range from 1.2 to 84 Nm for a maximum speed of 8000 rpm.
Thanks to their medium inertia motor design, the new BMH servo motors enables
higher load inertia per motor frame size and increases the gain for settling, thus
satisfying the requirements for robust load and plug-and-play motion tuning.
BMH servo motor with BMH servo motor with
straight connectors rotatable angled
connectors BMH servo motors are available in four flange sizes: 70, 100, 140 and 205 mm. They
are certified as "Recognized" by the Underwriters Laboratories and conform to
UL 1004 standards as well as to European directives (e marking).
BMH servo motors are available with the following variants:
b IP 50 or IP 65 degree of protection (IP 67 with compressed air connection kit in
option)
b With or without holding brake
b Straight or angled connectors
b Single turn or multiturn SinCos encoder
b Untapped or keyed shaft end
Torque/speed characteristics
Torque in Nm
BMH servo motors provide torque/speed curve profiles similar to the example shown
Mmax 1 on the left with:
1 Peak torque, depending on the servo drive model
2 Continuous torque, depending on the servo drive model
where:
M0 2
b nmax (in rpm) corresponds to the maximum speed of the servo motor
Meq b Mmax (in Nm) represents the peak stall torque value
b M0 (in Nm) represents the continuous stall torque value
navg nmax Principle for determining servo motor size according to the application
Speed in rpm
The torque/speed curves can be used to determine the correct servo motor size.
Work zone
1 Locate the work zone of the application in terms of speed.
2 Verify, using the servo motor cycle timing diagram, that the torques required by the
application during the various phases of the cycle are located within the area
bounded by curve 1 in the work zone.
3 Calculate the average speed navg and the equivalent thermal torque Meq (see
page 116).
4 The point defined by navg and Meq must be located below curve 2 in the work zone.
Functions
General functions
BMH servo motors have been developed to meet the following requirements:
b Functional characteristics, ruggedness, safety, etc. in accordance with
IEC/EN 60034-1
b Ambient operating temperature:
v - 20...40°C according to DIN 50019R14.
v Maximum 55°C with derating from 40°C by 1% of the nominal output power per
additional °C
b Relative humidity: IEC 60721-3-3 category 3K4
b Maximum operating altitude: 1000 m without derating, 2000 m with
k = 0.86, 3000 m with k = 0.8 (1)
b Storage and transport temperature: - 25...70°C
b Winding insulation class: F (threshold temperature for windings 155°C)
in accordance with DIN VDE 0530
b Power and encoder connection via straight or angled connectors
b Thermal protection provided and controlled by the Lexium 32 servo drive via the
motor temperature control algorithm
b Out-of-round, concentricity and perpendicularity between flange and
shaft in accordance with DIN 42955, class N
b Permitted mounting positions: no mounting restrictions for IMB5 - IMV1 and IMV3
in accordance with DIN 42950
b Polyester resin-based paint: opaque black RAL 9005
(1) k: derating factor
60
Functions (continued), Lexium 32 motion control
description BMH servo motors
Functions (continued)
General functions (continued)
b Degree of protection:
v Casing: IP 65 in accordance with IEC/EN 60529 (IP 67 with air compressed
connection kit in option, see page 75)
v Shaft end: IP 50 (1), or IP 65 in accordance with IEC/EN 60529 (IP 67 with air
compressed connection kit in option, see page 75)
b Integrated sensor: SinCos Hiperface® single turn or multiturn, medium or high-
resolution encoder
b Untapped or keyed shaft end.
Holding brake
BMH servo motors can be fitted with a failsafe electro-magnetic holding brake.
d Do not use the holding brake as a dynamic brake for deceleration, as this
will quickly damage the brake.
Integrated encoder
BMH servo motors are equipped as standard with an absolute encoder. Four types
of encoder are available:
b High resolution SinCos Hiperface® encoder:
v monotour (131 072 points/tour) (2) ou
v multitour (131 072 points/tour x 4096 tours) (2),
assurant une précision de position angulaire de l’arbre inférieure à ± 1,3 minutes
d’arc,
b Medium resolution SinCos Hiperface® encoder:
v Single turn (32,768 points/turn) (2) or
v Multiturn (32,768 points/turn x 4096 turns) (2),
ensuring angular precision of the shaft position, accurate to less than ± 4.8 arc
minutes.
61
Characteristics Lexium 32 motion control
BMH servo motors
115 V single-phase supply voltage
Torque/speed curves
BMH 070 1T servo motor BMH 070 2T servo motor BMH 070 3T servo motor
With LXM 32pD18M2 servo drive With LXM 32pD30M2 servo drive With LXM 32pD30M2 servo drive
1 Peak torque
2 Continuous torque
62
Characteristics (continued) Lexium 32 motion control
BMH servo motors
115 V single-phase supply voltage
Torque/speed curves
BMH 100 1T servo motor BMH 100 2T servo motor
With LXM 32pD30M2 servo drive With LXM 32pD30M2 servo drive
Torque in Nm Torque in Nm
9 12
Mmax
8 1 Mmax 1
7
6 8
5 M0 2
4
M0 2
4
2
2
1
0 0
0 1000 2000 3000 0 1000 2000 3000
Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
63
Characteristics (continued) Lexium 32 motion control
BMH servo motors
230 V single-phase supply voltage
Torque/speed curves
BMH 070 1T servo motor BMH 070 2T servo motor BMH 070 3T servo motor
With LXM 32pU90M2 servo drive With LXM 32pD18M2 servo drive With LXM 32pD18M2 servo drive
Torque in Nm Torque in Nm Torque in Nm
4,5 8 12
Mmax 1 Mmax
1
7 1 Mmax
3,5 6
3,0 8
5
2,5
4 6
2,0
2 3 2
M0 M0 M0 2
1,0
2
0,5 1
0 0 0
0 2000 4000 6000 8000 0 2000 4000 6000 8000 0 2000 4000 6000 8000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
64
Characteristics (continued) Lexium 32 motion control
BMH servo motors
230 V single-phase supply voltage
Torque/speed curves
BMH 100 1T servo motor BMH 100 2T servo motor BMH 100 3T servo motor
With LXM 32pD18M2 servo drive With LXM 32pD30M2 servo drive With LXM 32pD30M2 servo drive
25
20
15
M0 2
5
0
0 1000 2000 3000 4000
Speed in rpm
1 Peak torque
2 Continuous torque
65
Characteristics (continued) Lexium 32 motion control
BMH servo motors
400 V 3-phase supply voltage
Torque/speed curves
BMH 070 1P servo motor BMH 070 2P servo motor
With LXM 32pU60N4 servo drive With LXM 32pD12N4 servo drive With LXM 32pD12N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
4,5 4,5 8
Mmax Mmax Mmax
1 1 1
3,5 3,5 6
3,0 3,0 5
2,5 2,5
4
2,0 2,0
1,5 M0
2 M0 2
M0 2 2
1,0
0,5 0,5 1
0 0 0
0 2000 4000 6000 8000 0 2000 4000 6000 8000 0 2000 4000 6000 8000
Speed in rpm Speed in rpm Speed in rpm
M0 2
2
0
0 2000 4000 6000 8000
Speed in rpm
1 Peak torque
2 Continuous torque
66
Characteristics (continued) Lexium 32 motion control
BMH servo motors
400 V 3-phase supply voltage
Torque/speed curves
BMH 100 1P servo motor BMH 100 2P servo motor
With LXM 32pD12N4 servo drive With LXM 32pD18N4 servo drive With LXM 32pD18N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
12 12 20
Mmax 1 Mmax 1 Mmax
10 16
1
8 14
8
12
6 6 10
8
2 M0 2 M0 2
M0
2 4
2
2
0 0 0
0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000
Speed in rpm Speed in rpm Speed in rpm
20
15
M0 2
5
0
0 2000 4000 6000
Speed in rpm
1 Peak torque
2 Continuous torque
67
Characteristics (continued) Lexium 32 motion control
BMH servo motors
400 V 3-phase supply voltage
Torque/speed curves
BMH 140 1P servo motor BMH 140 2P servo motor BMH 140 3P servo motor
With LXM 32pD30N4 servo drive With LXM 32pD72N4 servo drive With LXM 32pD72N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
35 60 80
Mmax 1 Mmax Mmax
50 1 1
25 60
40
50
20
30 40
15
M0 2 M0 2 M0 2
20
5 10
10
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
Speed in rpm Speed in rpm Speed in rpm
BMH 205 1P servo motor BMH 205 2P servo motor BMH 205 3P servo motor
With LXM 32pD72N4 servo drive With LXM 32pD72N4 servo drive With LXM 32pD72N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
120 180 250
Mmax 1 Mmax
1
Mmax
1
140 200
80 120
150
100
60
80 100
40 M0 2 M0 2
M0
2
40 50
20
20
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 0 1000 2000 3000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
68
Characteristics (continued) Lexium 32 motion control
BMH servo motors
480 V 3-phase supply voltage
Torque/speed curves
BMH 070 1P servo motor BMH 070 2P servo motor
With LXM 32pU60N4 servo drive With LXM 32pD12N4 servo drive With LXM 32pD12N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
4,5 4,5 8
Mmax
Mmax Mmax
1 1 1
3,5 3,5 6
3,0 3,0 5
2,5 2,5
4
2,0 2,0
1,5 2 2
M0 2 M0 M0
1,0 2
0,5 0,5 1
0 0 0
0 2000 4000 6000 8000 0 2000 4000 6000 8000 0 2000 4000 6000 8000
Speed in rpm Speed in rpm Speed in rpm
4
M0 2
2
0
0 2000 4000 6000 8000
Speed in rpm
1 Peak torque
2 Continuous torque
69
Characteristics (continued) Lexium 32 motion control
BMH servo motors
480 V 3-phase supply voltage
Torque/speed curves
BMH 100 1P servo motor BMH 100 2P servo motor
With LXM 32pD12N4 servo drive With LXM 32pD18N4 servo drive With LXM 32pD18N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
12 12 20
Mmax 1 1 Mmax
10 Mmax
16 1
8 14
8
12
6 6 10
8
4
M0 2 4 2 M0 2
M0
2 4
2
2
0 0 0
0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000
Speed in rpm Speed in rpm Speed in rpm
20
15
10
M0
2
5
0
0 2000 4000 6000
Speed in rpm
1 Peak torque
2 Continuous torque
70
Characteristics (continued) Lexium 32 motion control
BMH servo motors
480 V 3-phase supply voltage
Torque/speed curves
BMH 140 1P servo motor BMH 140 2P servo motor BMH 140 3P servo motor
With LXM 32pD30N4 servo drive With LXM 32pD72N4 servo drive With LXM 32pD72N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
35 60 80
Mmax 1 Mmax Mmax
50 1 1
25 60
40
50
20
30 40
15
M0 2 M0 2 M0 2
20
5 10
10
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
Speed in rpm Speed in rpm Speed in rpm
BMH 205 1P servo motor BMH 205 2P servo motor BMH 205 3P servo motor
With LXM 32pD72N4 servo drive With LXM 32pD72N4 servo drive With LXM 32pD72N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
120 180 250
Mmax 1 Mmax Mmax
1 1
140 200
80 120
150
100
60
80 100
2 2
M0 2 M0 M0
40 50
20
20
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 0 1000 2000 3000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
71
Characteristics (continued) Lexium 32 motion control
BMH servo motors
Conditions
Nominal service life of bearings (1) L10h = 20,000 hours
Fa
d The following conditions must be adhered to:
b Radial and axial forces must not be applied simultaneously
b Shaft end with IP 50 or IP 65 degree of protection
b The bearings cannot be changed by the user as the built-in position sensor must be realigned
if the unit is dismantled.
72
Characteristics (continued) Lexium 32 motion control
BMH servo motors
(1) For cables longer than 75 m, please consult your customer care center.
73
References Lexium 32 motion control
BMH servo motors
The BMH servo motors shown below are supplied without a gearbox.
For GBX gearboxes see page 82.
Continuous Peak Nominal Nominal Maximum Associated Reference Weight
stall torque stall servo motor speed mechanical servo drive (1) (2)
torque output power speed LXM 32
Nm Nm W rpm rpm kg
1.2 4.2 350 3000 8000 pU60N4 BMH 0701P ppppA 1.600
BMH 070pp ppp1A
1.4 4 450 4000 8000 pU90M2 BMH 0701T ppppA 1.600
4.2 350 2500 8000 pD18M2 BMH 0701T ppppA 1.600
700 5000 8000 pD12N4 BMH 0701P ppppA 1.600
74
References (continued) Lexium 32 motion control
BMH servo motors
Note: The example above is for a BMH 1401P servo motor. For other servo motors, replace BMH 1401P with the relevant
reference.
75
References (continued) Lexium 32 motion control
BMH servo motors
Connection elements
Power cordsets
Description From servo To servo drive Composition Length Reference Weight
motor
m kg
Cables equipped with one BMH 070pp LXM 32pppppp [(4 x 1.5 mm2) 1.5 VW3 M5 101 R15 0.600
M23 industrial connector BMH 100pp depending on + 3 VW3 M5 101 R30 0.810
(servo motor end) BMH 1401P combinations (2 x 1 mm2)]
(see 5 VW3 M5 101 R50 1.210
pages 62 10 VW3 M5 101 R100 2.290
to 71) 15 VW3 M5 101 R150 3.400
20 VW3 M5 101 R200 4.510
25 VW3 M5 101 R250 6.200
50 VW3 M5 101 R500 12.325
VW3 M5 10p Rppp 75 VW3 M5 101 R750 18.450
Cables equipped with one BMH 205pP LXM 32pD72N4 [(4 x 4 mm2) 3 VW3 M5 103 R30 1.330
M40 industrial connector + 5 VW3 M5 103 R50 2.130
(servo motor end) (2 x 1 mm2)]
10 VW3 M5 103 R100 4.130
15 VW3 M5 103 R150 6.120
20 VW3 M5 103 R200 8.090
25 VW3 M5 103 R250 11.625
50 VW3 M5 103 R500 23.175
75 VW3 M5 103 R750 34.725
Control cordsets
Description From servo To servo drive Composition Length Reference Weight
motor
m kg
SinCos Hiperface® encoder BMH ppppp LXM 32pppppp [3 x 1.5 VW3 M8 102 R15 0.400
cables equipped with an M23 depending on (2 x 0.14 mm2) 3 VW3 M8 102 R30 0.500
industrial connector combinations +
(servo motor end) (see (2 x 0.34 mm2)] 5 VW3 M8 102 R50 0.600
and an RJ45 connector pages 62 10 VW3 M8 102 R100 0.900
with 8 + 2 contacts to 71) 15 VW3 M8 102 R150 1.100
(servo drive end)
20 VW3 M8 102 R200 1.400
25 VW3 M8 102 R250 1.700
50 VW3 M8 102 R500 3.100
75 VW3 M8 102 R750 4.500
VW3 M8 102 Rppp
Presentation: Characteristics:
page 60 page 62
76
References (continued) Lexium 32 motion control
BMH servo motors
BMH 1402P LXM 32ppppN4 [(4 x 2.5 mm2) 4 25 VW3 M5 302 R250 7.725
BMH 1403P +
(2 x 1 mm2)] 50 VW3 M5 302 R500 15.450
Cables for creating control BMH ppppp LXM 32pppppp [(3 x 5 25 VW3 M8 222 R250 1.400
cordsets for SinCos Hiperface® depending on (2 x 0.14 mm2)
encoders combinations + 50 VW3 M8 222 R500 2.800
(see (2 x 0.34mm2)]
pages 62
to 71) 100 VW3 M8 222 R1000 5.600
Presentation: Characteristics:
page 60 page 62
77
Dimensions Lexium 32 motion control
BMH servo motors
BMH 070 (example with straight connectors: power supply for servo motor/brake 1 and encoder 2)
Shaft end, keyed slot (optional)
1 2
6
2.5 M4x8
b1
b2
h1
109.5
h
c3 c2
c1 c 70
Straight Rotatable
connectors angled
connectors
b1 b2 b1 b2 c (without c (with c1 c2 c3 h h1 Ø Ø1 for
brake) brake) screws
BMH 0701p 39.5 25.5 39.5 39.5 122 161 23 18 2.5 4 h9 12.5 +0
– 013 11 k6 M4 x 14
BMH 0702p 39.5 25.5 39.5 39.5 154 193 23 18 2.5 4 h9 12.5 +0
– 013 11 k6 M4 x 14
BMH 0703p 39.5 25.5 39.5 39.5 186 225 30 20 5 5 h9 16+0
– 013 14 k6 M5 x 17
BMH 100 (example with straight connectors: power supply for servo motor/brake 1 and encoder 2)
Shaft end, keyed slot (optional)
1 2
8.5
3.5 M4x10
b1
b2
Ø19 k6
0
21.5 - 0.13
6 h9
139.5
Ø95 j6
Ø19 k6
For screw
5 30
M6 x 21
40 c 100
Straight Rotatable
connectors angled
connectors
b1 b2 b1 b2 c (without c (with brake)
brake)
BMH 1001p 39.5 25.5 39.5 39.5 128 170
BMH 1002p 39.5 25.5 39.5 39.5 160 202
BMH 1003p 39.5 25.5 39.5 39.5 192 234
78
Dimensions (continued) Lexium 32 motion control
BMH servo motors
BMH 140 (example with straight connectors: power supply for servo motor/brake 1 and encoder 2)
Shaft end, keyed slot (optional)
1 2
7.5
b1
3.5 M4x10
b2
0
27- 0.29
8 h9
179.5
5 40 For screw
M8 x 25
50 c 140
BMH 205 (example with straight connectors: power supply for servo motor/brake 1 and encoder 2)
Shaft end, keyed slot (optional)
1 2
17
4
M6x12
b1
b2
+ 0.1
5 0
10 N9
b
+0
– 013
5 70 For screw
M12 x 28
80 c 205
a b b1 c
b
79
Presentation, Lexium 32 motion control
characteristics, BMH servo motors
Option: Holding brake integrated in servo motor
references
Holding brake
Presentation
L1 L2 L3 c 24 V The holding brake integrated in the BMH servo motor is an electromagnetic
pressure spring brake that blocks the servo motor axis once the output current has
been switched off.
holding brake controller (HBC) Blocking the servo motor axis is also necessary in cases of torque overload, such
as in the event of vertical axis movement.
Characteristics
Type of servo motor BMH 0701, 1001, 1003 1401, 1403 2051,
0702, 1002 1402 2052,
0703 2053
Holding torque MBr Nm 3 5.5 9 18 23 80
Moment of inertia of rotor(brake only) JBr kgcm2 0.11 0.49 0.93 1.5 2.73 16
Closing time ms 10 30 25 50 40 50
Weight (to be added to the weight of the servo motor without kg 0.3 0.5 0.7 1.1 1.3 3.6
brake, see page 74)
References
For selection of BMH servo motor with or without holding brake, see references on
page 75.
80
Presentation, Lexium 32 motion control
characteristics, BMH servo motors
Option: Encoder integrated in servo motor
references
Characteristics
Type of encoder Single turn SinCos Multiturn SinCos
Sine/cosine periods per turn 16 128 16 128
Number of points (1) 32 768 131,072 32 768 x 4096 turns 131,072 x 4096
turns
Encoder precision arc min ± 4.8 ± 1.3 ± 4.8 ± 1.3
(1) Encoder resolution given for use with a Lexium 32 servo drive.
References
For selection of the SinCos Hiperface® single turn or multiturn encoder integrated in
the BMH servo motor, see references on page 75.
81
Presentation Lexium 32 motion control
BMH servo motors
Option: GBX planetary gearboxes
Presentation
In many cases, motion control requires the use of planetary gearboxes to adapt
speeds and torques, while ensuring the precision demanded by the application.
Schneider Electric has chosen to use GBX gearboxes (made by Neugart) with the
BMH range of servo motors. These gearboxes are lubricated for life and are
designed for applications which are not susceptible to mechanical backlash.
The fact that their use in combination with BMH servo motors has been fully verified
and that they are easily assembled, ensures simple, risk-free operation.
GBX planetary gearbox
The planetary gearboxes are available in 5 sizes (GBX 40...GBX 160) and with
15 reduction ratios (3:1...100:1) (see the table below).
The continuous and peak standstill torques available at the gearbox output are
obtained by multiplying the characteristic values of the servo motor by the reduction
ratio and efficiency of the gearbox (0.96, 0.94 or 0.9 depending on the reduction
ratio).
The table below shows the most suitable servo motor/gearbox combinations. For
other combinations, refer to the servo motor data sheets.
For these combinations, you must check that the application will not exceed the maximum output torque of the gearbox (see the values given on
GBX 60 page 84).
82
Characteristics Lexium 32 motion control
BMH servo motors
Option: GBX planetary gearboxes
Shaft material C 45
Maximum permitted radial force L10h = 10,000 hours N 200 500 950 2000 6000
(2) (3) L10h = 30,000 hours N 160 340 650 1500 4200
Maximum permitted axial force L10h = 10,000 hours N 200 600 1200 2800 8000
(2) L10h = 30,000 hours N 160 450 900 2100 6000
Moment of inertia of gearbox 3:1 kgcm2 0.031 0.135 0.77 2.63 12.14
4:1 kgcm2 0.022 0.093 0.52 1.79 7.78
5:1 kgcm2 0.019 0.078 0.45 1.53 6.07
8:1 kgcm2 0.017 0.065 0.39 1.32 4.63
9:1 kgcm2 0.03 0.131 0.74 2.62 –
12:1 kgcm2 0.029 0.127 0.72 2.56 12.37
15:1 kgcm2 0.023 0.077 0.71 2.53 12.35
16:1 kgcm2 0.022 0.088 0.5 1.75 7.47
20:1 kgcm2 0.019 0.075 0.44 1.5 6.65
25:1 kgcm2 0.019 0.075 0.44 1.49 5.81
32:1 kgcm2 0.017 0.064 0.39 1.3 6.36
40:1 kgcm2 0.016 0.064 0.39 1.3 5.28
60:1 kgcm2 0.029 0.076 0.51 2.57 –
80:1 kgcm2 0.019 0.075 0.5 1.5 –
100:1 kgcm2 0.019 0.075 0.44 1.49 –
(1) Value measured at a distance of 1 m, at no-load for a servo motor speed of 3000 rpm and a reduction ratio of 5:1.
(2) Values given for an output shaft speed of 100 rpm in S1 mode (cyclic ratio = 1) on electrical machines for an ambient temperature of 30°C.
(3) Force applied at mid-point along the output shaft.
83
Characteristics (continued) Lexium 32 motion control
BMH servo motors
Option: GBX planetary gearboxes
(1) Values given for an output shaft speed of 100 rpm in S1 mode (cyclic ratio = 1) on electrical machines for an ambient temperature of 30°C.
84
References Lexium 32 motion control
BMH servo motors
Option: GBX planetary gearboxes
References
Size Reduction ratio Reference Weight
kg
GBX 40 3:1, 4:1, 5:1 and 8:1 GBX 040ppp ppp pF 0.350
9:1, 12:1, 15:1, 16:1 and 20:1 GBX 040ppp ppp pF 0.450
85
Dimensions Lexium 32 motion control
BMH servo motors
Option: GBX planetary gearboxes
Dimensions
Servo motor assembly
a (1)
a1(1) a2 a3
g a4
4xØ4 4xØ6 (1)
a5
Ø5 Ø7 (1)
Ø3
Ø2
Ø1
h
c (1)
GBX a2 a3 a4 a5 hrs g Ø1 Ø2 Ø3 Ø4 Ø5
040 003...008 39 26 23 2.5 11.2 3 40 26 h7 10 h7 M4 x 6 34
060 003...008 47 35 30 2.5 16 5 60 40 h7 14 h7 M5 x 8 52
060 060 72 35 30 2.5 16 5 60 40 h7 14 h7 M5 x 8 52
080 060...100 95 40 36 4 22.5 6 80 60 h7 20 h7 M6 x 10 70
(1) Dimensions a, a1, Uc, Ø6 and Ø7 depend on the planetary gearbox/BMH servo motor combination:
86
Mounting Lexium 32 motion control
BMH servo motors
Option: GBX planetary gearboxes
Mounting
No special tool is required for mounting the GBX planetary gearbox on the BMH
servo motor. The usual rules for mechanical mounting must be followed:
1 Clean the bearing surfaces and seals.
2 Align the shafts that are to be coupled and assemble in vertical position.
3 Uniform adhesive force of the servo motor flange on the gearbox flange,
with tightening of the Phillips screws.
4 Correct tightening torque of the TA ring using a torque wrench (2...40 Nm
depending on the gearbox model).
For more information, refer to the instruction sheets supplied with the products.
1 2 3 4
87
Presentation, Lexium 32 motion control
functions BSH servo motors
Presentation
BSH servo motors are the ideal choice to meet the requirements of dynamics and
precision. With five flange sizes and a variety of lengths, there is a suitable solution
for most applications, covering a continuous stall torque range from 0.5 to 33.4 Nm
for a maximum speed of 9000 rpm.
Thanks to their new winding technology based on salient poles, BSH servo motors
are far more compact and offer a higher power density than conventional servo
motors.
BSH servo motor with BSH servo motor with BSH servo motors are available in four flange sizes: 55, 70, 100 and 140 mm. They
straight connectors rotatable angled
connectors are certified as "Recognized" by the Underwriters Laboratories and conform to
UL 1004 standards as well as to European directives (e marking).
BSH servo motors are available with the following variants:
b IP 50 or IP 65 degree of protection
b With or without holding brake
b Straight or angled connectors
b Single turn or multiturn SinCos encoder
b Untapped or keyed shaft end
Torque/speed characteristics
Torque in Nm
BSH servo motors provide torque/speed curve profiles similar to the example shown
Mmax 1 on the left with:
1 Peak torque, depending on the servo drive model
2 Continuous torque, depending on the servo drive model
2 where:
M0
b nmax (in rpm) corresponds to the maximum speed of the servo motor
Meq
b Mmax (in Nm) represents the peak stall torque value
b M0 (in Nm) represents the continuous stall torque value
navg nmax
Speed in rpm
Principle for determining servo motor size according to the application
Work zone The torque/speed curves can be used to determine the correct servo motor size.
1 Locate the work zone of the application in terms of speed.
2 Verify, using the servo motor cycle timing diagram, that the torques required by the
application during the various phases of the cycle are located within the area
bounded by curve 1 in the work zone.
3 Calculate the average speed navg and the equivalent thermal torque Meq (see
page 116).
4 The point defined by navg and Meq must be located below curve 2 in the work zone.
Functions
General functions
BSH servo motors have been developed to meet the following requirements:
b Functional characteristics, ruggedness, safety, etc. in accordance with
IEC/EN 60034-1
b Ambient operating temperature:
v - 20...40°C according to DIN 50019R14.
v Maximum 55°C with derating from 40°C by 1% of the nominal output power per
additional °C
b Relative humidity: IEC 60721-3-3 category 3K4
b Maximum operating altitude: 1000 m without derating, 2000 m with
k = 0.86, 3000 m with k = 0.8 (1)
b Storage and transport temperature: - 25...70°C
b Winding insulation class: F (threshold temperature for windings 155°C)
in accordance with DIN VDE 0530
b Power and encoder connection via straight or angled connectors
b Built-in PTC thermistor probe
b Out-of-round, concentricity and perpendicularity between flange and shaft in
accordance with DIN 42955, class N
b Permitted mounting positions: no mounting restrictions for IMB5 - IMV1 and IMV3
in accordance with DIN 42950
b Polyester resin-based paint: opaque black RAL 9005
(1) k: derating factor
88
Functions (continued), Lexium 32 motion control
description BSH servo motors
Functions (continued)
General functions (continued)
b Degree of protection:
v Casing: IP 65 in accordance with IEC/EN 60529
v Shaft end: IP 50 (1) or IP 65 in accordance with IEC/EN 60529
b Integrated sensor: SinCos Hiperface® single turn or multiturn high-resolution encoder
b Untapped or keyed shaft end.
Holding brake
BSH servo motors can be fitted with a failsafe electro-magnetic holding brake.
d Do not use the holding brake as a dynamic brake for deceleration, as this
will quickly damage the brake.
Integrated encoder
BSH servo motors are fitted with a SinCos Hiperface® high-resolution single turn
(131,072 points/turn) (2) or multiturn (131,072 points/turn x 4096 turns) (2) encoder
providing angular precision of the shaft position, accurate to less than ± 1.3 arc
minutes.
89
Characteristics Lexium 32 motion control
BSH servo motors
115 V single-phase supply voltage
Torque/speed curves
BSH 055 1T servo motor BSH 055 2T servo motor BSH 055 3T servo motor
With LXM 32pU90M2 servo drive With LXM 32pU90M2 servo drive With LXM 32pD18M2 servo drive
Torque in Nm Torque in Nm Torque in Nm
1,6 2,5 3,5
Mmax Mmax
1,4 1 1 3,0 1
Mmax
1,2
2,5
1,0 1,5 2,0
0,8
1,0 1,5 2
0,6 2 M0
2 M0
M0 1,0
0,5
0,2 0,5
0 0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
90
Characteristics (continued) Lexium 32 motion control
BSH servo motors
115 V single-phase supply voltage
Torque/speed curves
BSH 070 1T servo motor BSH 070 2T servo motor BSH 100 1T servo motor
With LXM 32pD18M2 servo drive With LXM 32pD30M2 servo drive With LXM 32pD30M2 servo drive
Torque in Nm Torque in Nm Torque in Nm
4,0 7 7
Mmax 1 Mmax 1 Mmax
1
3,0 5 5
2,5
4 4
2,0 M0
2
2 3
M0
M0 2
2
1,0
0,5 1 1
0 0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
91
Characteristics (continued) Lexium 32 motion control
BSH servo motors
230 V single-phase supply voltage
Torque/speed curves
BSH 055 1T servo motor BSH 055 2T servo motor BSH 055 3T servo motor
With LXM 32pU45M2 servo drive With LXM 32pU90M2 servo drive With LXM 32pU90M2 servo drive
Torque in Nm Torque in Nm Torque in Nm
1,6 3,0 3.5
1 1
Mmax Mmax 1 Mmax
1,2 2,5
2,0
1,0 2,0
0,8 1,5
0,6 2 M0 2
M0 M0 2 1,0
0,4
0,5 0,5
0,2
0 0 0
0 1000 3000 5000 7000 9000 0 1000 3000 5000 7000 9000 0 1000 3000 5000 7000 9000
Speed in rpm Speed in rpm Speed in rpm
BSH 070 1T servo motor BSH 070 2T servo motor BSH 070 3T servo motor
With LXM 32pU90M2 servo drive With LXM 32pD18M2 servo drive With LXM 32pD18M2 servo drive
Torque in Nm Torque in Nm Torque in Nm
4,0 8 8
Mmax 1 Mmax 1 Mmax
7 1
3,0 6 6
2,5 5 5
2,0 4 4
2 3 M0
2
M0 M0 2
1,0 2
0,5 1 1
0 0 0
0 2000 4000 6000 8000 0 2000 4000 6000 8000 0 2000 4000 6000 8000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
92
Characteristics (continued) Lexium 32 motion control
BSH servo motors
230 V single-phase supply voltage
Torque/speed curves
BSH 100 1T servo motor BSH 100 2T servo motor
With LXM 32pD18M2 servo drive With LXM 32pD30M2 servo drive
Torque in Nm Torque in Nm
8
Mmax 18
Mmax
7 1 1
6 14
12
5
10
4
8
M0
2 M0 2
2 4
1 2
0 0
0 2000 4000 6000 0 2000 4000 6000
Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
93
Characteristics (continued) Lexium 32 motion control
BSH servo motors
400 V 3-phase supply voltage
Torque/speed curves
BSH 055 1P servo motor BSH 055 2P servo motor BSH 055 3P servo motor
With LXM 32pU60N4 servo drive With LXM 32pU60N4 servo drive With LXM 32pU60N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
1,6 3,0 4,0
Mmax
1 Mmax 1
1 Mmax
1,2 3,0
2,0
1,0 2,5
0,8 1,5 2,0
0,6 2 1,5
M0 M0 2 M0 2
0,4
0,5
0,2 0,5
0 0 0
0 1000 3000 5000 7000 9000 0 1000 3000 5000 7000 9000 0 1000 3000 5000 7000 9000
Speed in rpm Speed in rpm Speed in rpm
BSH 070 1P servo motor BSH 070 2P servo motor BSH 070 3P servo motor
With LXM 32pD12N4 servo drive With LXM 32pD12N4 servo drive With LXM 32pD18N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
4,0 8
Mmax M12
1 max
10 1
Mmax 7 1
3,0 6
8
2,5 5
2,0 4 6
M0 2 3 4
M0 2 M0 2
1,0
2
0,5 1
0 0 0
0 2000 4000 6000 8000 0 2000 4000 6000 8000 0 2000 4000 6000 8000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
94
Characteristics (continued) Lexium 32 motion control
BSH servo motors
400 V 3-phase supply voltage
Torque/speed curves
BSH 100 1P servo motor BSH 100 2P servo motor BSH 100 3P servo motor
With LXM 32pD18N4 servo drive With LXM 32pD18N4 servo drive With LXM 32pD30N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
12 20 30
Mmax
Mmax
Mmax 1 16 1 25 1
14 20
8
12
6 10 15
8
2 M0 2 M0 2
M0
4 5
2
2
0 0 0
0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
95
Characteristics (continued) Lexium 32 motion control
BSH servo motors
400 V 3-phase supply voltage
Torque/speed curves
BSH 140 1P servo motor BSH 140 2T servo motor BSH 140 3T servo motor
With LXM 32pD30N4 servo drive With LXM 32pD72N4 servo drive With LXM 32pD72N4 servo drive
Torque in Nm
30 Torque in Nm Torque in Nm
Mmax 70 90
25 1 1 Mmax
Mmax
1
20 70
50
60
15 40 50
M0 2
30 40
M0 2 M0 2
5
20
10 10
0
0 1000 2000 3000 4000 0 0
Speed in rpm 0 1000 2000 3000 4000 0 1000 2000 3000 4000
Speed in rpm Speed in rpm
BSH 140 4P servo motor
With LXM 32pD72N4 servo drive
Torque in Nm
90
Mmax 1
70
60
50
40
M0 2
20
10
0
0 1000 2000 3000 4000
Speed in rpm
1 Peak torque
2 Continuous torque
96
Characteristics (continued) Lexium 32 motion control
BSH servo motors
480 V 3-phase supply voltage
Torque/speed curves
BSH 055 1P servo motor BSH 055 2P servo motor BSH 055 3P servo motor
With LXM 32pU60N4 servo drive With LXM 32pU60N4 servo drive With LXM 32pU60N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
1,6 3,0 4,0
Mmax
1 Mmax 1
1 Mmax
1,2 3,0
2,0
1,0 2,5
0,8 1,5 2,0
M0 2 2
1,5
M0 M0 2
0,4
0,5
0,2 0,5
0 0 0
0 1000 3000 5000 7000 9000 0 1000 3000 5000 7000 9000 0 1000 3000 5000 7000 9000
Speed in rpm Speed in rpm Speed in rpm
BSH 070 1P servo motor BSH 070 2P servo motor BSH 070 3P servo motor
With LXM 32pD12N4 servo drive With LXM 32pD12N4 servo drive With LXM 32pD18N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
4,0 8
Mmax M12
Mmax 1 max
7 1 10 1
3,0 6
8
2,5 5
2,0 4 6
M0 2 3
M0 2 M0 2
1,0
2
0,5 1
0 0 0
0 2000 4000 6000 8000 0 2000 4000 6000 8000 0 2000 4000 6000 8000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
97
Characteristics (continued) Lexium 32 motion control
BSH servo motors
480 V 3-phase supply voltage
Torque/speed curves
BSH 100 1P servo motor BSH 100 2P servo motor BSH 100 3P servo motor
With LXM 32pD18N4 servo drive With LXM 32pD18N4 servo drive With LXM 32pD30N4 servo drive
Torque in Nm Torque in Nm Torque in Nm
12 20 30
Mmax Mmax
Mmax 1 1 25 1
16
14 20
8
12
6 10 15
8
2 M0 2 2
M0 M0
4 5
2
2
0 0 0
0 2000 4000 6000 0 2000 4000 6000 0 2000 4000 6000
Speed in rpm Speed in rpm Speed in rpm
1 Peak torque
2 Continuous torque
98
Characteristics (continued) Lexium 32 motion control
BSH servo motors
480 V 3-phase supply voltage
Torque/speed curves
BSH 140 1P servo motor BSH 140 2T servo motor BSH 140 3T servo motor
With LXM 32pD30N4 servo drive With LXM 32pD72N4 servo drive With LXM 32pD72N4 servo drive
Torque in Nm
30 Torque in Nm Torque in Nm
Mmax
70 90
25 1 1 Mmax
Mmax
1
20 70
50
60
15 40 50
M0
30 40
2 2 M0 2
5 M0
20
10 10
0
0 1000 2000 3000 4000 0
Speed in rpm 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
Speed in rpm Speed in rpm
BSH 140 4P servo motor
With LXM 32pD72N4 servo drive
Torque in Nm
90
Mmax 1
70
60
50
40
M0 2
20
10
0
0 1000 2000 3000 4000
Speed in rpm
1 Peak torque
2 Continuous torque
99
Characteristics (continued) Lexium 32 motion control
BSH servo motors
Conditions
Nominal service life of bearings (1) L10h = 20,000 hours
100
Characteristics (continued) Lexium 32 motion control
BSH servo motors
(1) For cables longer than 75 m, please consult your customer care center.
101
References Lexium 32 motion control
BSH servo motors
The BSH servo motors shown below are supplied without a gearbox.
For GBX gearboxes see page 110.
Continuous Peak Nominal Nominal Maximum Associated Reference Weight
stall torque stall servo motor speed mechanical servo drive (1) (2)
torque output power speed LXM 32
BSH 055pp ppp1A Nm Nm W rpm rpm kg
0.5 1.4 300 6000 9000 pU45M2 BSH 0551T ppppA 1.160
1.05 3.5 400 6000 9000 pU60N4 BSH 0553P ppppA 1.760
1.4 3.5 350 2500 8000 pD18M2 BSH 0701T ppppA 2.200
2.2 6.1 550 2500 8000 pD30M2 BSH 0702T ppppA 2.890
2.6 7.4 900 4000 8000 pD18M2 BSH 0703T ppppA 3.620
2.7 7.5 900 4000 6000 pD18M2 BSH 1001T ppppA 4.200
3.1 11.3 1300 5000 8000 pD18N4 BSH 0703P ppppA 3.620
BSH 100pp ppp1A (1) To complete each reference see the table on page 103.
(2) Weight of servo motor without brake, no packaging. To obtain the weight of the servo motor with holding brake,
see page 108.
102
References (continued) Lexium 32 motion control
BSH servo motors
5.8 16.4 1500 4000 6000 pD30M2 BSH 1002T ppppA 5.900
BSH 1401P ppp1A
18.3 1700 4000 6000 pD18N4 BSH 1002P ppppA 5.900
103
References (continued) Lexium 32 motion control
BSH servo motors
Connection elements
Power cordsets
Description From servo To servo drive Composition Length Reference Weight
motor
m kg
Cables equipped with one BSH 055pp LXM 32pppppp [(4 x 1.5 mm2) 1.5 VW3 M5 101 R15 0.600
M23 industrial connector BSH 070pp depending on + 3 VW3 M5 101 R30 0.810
(servo motor end) BSH 100pp combinations (2 x 1 mm2)]
BSH 1401P (see 5 VW3 M5 101 R50 1.210
pages 90 10 VW3 M5 101 R100 2.290
to 99) 15 VW3 M5 101 R150 3.400
20 VW3 M5 101 R200 4.510
25 VW3 M5 101 R250 6.200
50 VW3 M5 101 R500 12.325
VW3 M5 10p Rppp
75 VW3 M5 101 R750 18.450
Cables equipped with one BSH 1402T LXM 32pD30N4, [(4 x 4 mm2) 3 VW3 M5 103 R30 1.330
M40 industrial connector BSH 1403T pD72N4 + 5 VW3 M5 103 R50 2.130
(servo motor end) BSH 1404P depending on (2 x 1 mm2)]
combinations 10 VW3 M5 103 R100 4.130
(see 15 VW3 M5 103 R150 6.120
pages 90 20 VW3 M5 103 R200 8.090
to 99)
25 VW3 M5 103 R250 11.625
50 VW3 M5 103 R500 23.175
75 VW3 M5 103 R750 34.725
Control cordsets
Description From servo To servo drive Composition Length Reference Weight
motor
m kg
SinCos Hiperface® encoder BSH ppppp LXM 32pppppp [3 x 1.5 VW3 M8 102 R15 0.400
cables equipped with (2 x 0.14 mm2) 3 VW3 M8 102 R30 0.500
an M23 industrial connector +
(servo motor end) (2 x 0.34 mm2)] 5 VW3 M8 102 R50 0.600
and an RJ45 connector 10 VW3 M8 102 R100 0.900
with 8+2 contacts 15 VW3 M8 102 R150 1.100
(servo drive end)
20 VW3 M8 102 R200 1.400
25 VW3 M8 102 R250 1.700
50 VW3 M8 102 R500 3.100
75 VW3 M8 102 R750 4.500
VW3 M8 102 Rppp
Presentation: Characteristics:
page 88 page 90
104
References (continued) Lexium 32 motion control
BSH servo motors
M40 industrial connector BSH 1402T, BSH 1403T and BSH 1404P 1 4 VW3 M8 217 0.850
for creating power cordsets servo motors
(sold in lots of 5)
M23 industrial connector BSH servo motors ppppp 3 – VW3 M8 214 0.350
for creating control cordsets
(sold in lots of 5)
Cables for creating control BSH ppppp LXM 32pppppp [3 x 5 25 VW3 M8 222 R250 1.400
cordsets for SinCos Hiperface® depending on (2 x 0.14 mm2)
encoders combinations + 50 VW3 M8 222 R500 2.800
(see pages 90 to (2 x 0.34 mm2)]
99)
100 VW3 M8 222 R1000 5.600
Presentation: Characteristics:
page 88 page 90
105
Dimensions Lexium 32 motion control
BSH servo motors
BSH 055 (example with straight connectors: power supply for servo motor/brake 1 and encoder 2)
Shaft end, keyed slot (optional)
9 1 2
2 M4 screw
b1
12
b2
+ 0.1
1.8 0
3 N9
94.5
4 12 For M3 x 9 screw
20 c . 55
BSH 070 (example with straight connectors: power supply for servo motor/brake 1 and encoder 2)
Shaft end, keyed slot (optional)
8.5 1 2
2.5 M4 screw
b1
12
b2
h1
111.5
h
c3 c2
c1 c .
70
BSH 100 (example with straight connectors: power supply for servo motor/brake 1 and encoder 2)
Shaft end, keyed slot (optional)
14 1 2
3.5 M4 screw
12
b1
b2
h1
138.5
5 c2
c1 c 100
106
Dimensions (continued) Lexium 32 motion control
BSH servo motors
BSH 140 (example with straight connectors: power supply for servo motor/brake 1 and encoder 2)
Shaft end, keyed slot (optional)
12
1 2
3.5 M4 screw
12
b1
b2
+ 0.1
4 0
8 N9
b
5 40 For screws
M8 x 19
50 c 140
107
Presentation, Lexium 32 motion control
characteristics, BSH servo motors
Option: Holding brake integrated in servo motor
references
Holding brake
Presentation
L1 L2 L3 c 24 V The holding brake integrated in the BSH servo motor is an electromagnetic
pressure spring brake that blocks the servo motor axis once the output current has
been switched off.
holding brake controller (HBC) Blocking the servo motor axis is also necessary in cases of torque overload, such
as in the event of vertical axis movement.
The servo drive Lexium 32 integrates as standard an holding brake controller which
amplifies the braking control signal, so that the brake is deactivated quickly. It then
reduces this control signal so as to decrease the power dissipated by the holding
brake.
Characteristics
Type of servo motor BSH 0551, 0701, 0703 1001, 1004 1401, 1403,
0552, 0702 1002, 1402 1404
0553 1003
Holding torque MBr Nm 0.8 2 3 9 12 23 36
Moment of inertia of rotor (brake only) JBr kgcm2 0.0213 0.072 0.227 0.618 1.025 1.8 5.5
Closing time ms 6 8 15 20 20 40 45
Weight (to be added to the weight of the servo motor without kg 0.170 0.260 0.450 0.800 0.900 1.400 2.400
brake, see page 102)
References
For selection of BSH servo motor with or without holding brake, see references on
page 104.
108
Presentation, Lexium 32 motion control
characteristics, BSH servo motors
Option: Encoder integrated in servo motor
references
Characteristics
Type of encoder Single turn SinCos Multiturn SinCos
Sine/cosine periods per turn 128
Interface Hiperface®
(1) Encoder resolution given for use with a Lexium 32 servo drive.
References
For selection of the SinCos Hiperface® single turn or multiturn encoder integrated in
the BSH servo motor, see references on page 104.
109
Presentation Lexium 32 motion control
BSH servo motors
Option: GBX planetary gearboxes
Presentation
In many cases, motion control requires the use of planetary gearboxes to adapt
speeds and torques, while ensuring the precision demanded by the application.
Schneider Electric has chosen to use GBX gearboxes (made by Neugart) with the
BSH range of servo motors. These gearboxes are lubricated for life and are
designed for applications which are not susceptible to mechanical backlash.
The fact that their use in combination with BSH servo motors has been fully verified
and that they are easily assembled, ensures simple, risk-free operation.
GBX planetary gearbox
The planetary gearboxes are available in 5 sizes (GBX 40...GBX 160) and with
15 reduction ratios (3:1...100:1) (see the table below).
The continuous and peak standstill torques available at the gearbox output are
obtained by multiplying the characteristic values of the servo motor by the reduction
ratio and efficiency of the gearbox (0.96, 0.94 or 0.9 depending on the reduction
ratio).
The table below shows the most suitable servo motor/gearbox combinations. For
other combinations, refer to the servo motor data sheets.
BSH servo motor/GBX gearbox combinations
Reduction ratios from 3:1 to 16:1
Type of servo motor Reduction ratio
3:1 4:1 5:1 8:1 9:1 12:1 15:1 16:1
BSH 0551 GBX 40 GBX 40 GBX 40 GBX 40 GBX 40 GBX 40 GBX 40 GBX 40
BSH 0552 GBX 40 GBX 40 GBX 40 GBX 60 GBX 40 GBX 40 GBX 60 GBX 60
BSH 0553 GBX 40 GBX 40 GBX 40 GBX 60 GBX 40 GBX 40 GBX 60 GBX 60
BSH 0701 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60 GBX 60
BSH 0702 GBX 60 GBX 60 GBX 60 GBX 80 GBX 60 GBX 60 GBX 80 GBX 80
BSH 0703 GBX 60 GBX 60 GBX 60 GBX 80 GBX 60 GBX 80 GBX 80 GBX 80
BSH 1001 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80 GBX 80
BSH 1002 GBX 80 GBX 80 GBX 80 GBX 120 GBX 80 GBX 80 GBX 120 GBX 120
BSH 1003 GBX 80 GBX 80 GBX 80 GBX 120 GBX 80 GBX 120 GBX 120 GBX 120
BSH 1004 GBX 120 GBX 120 GBX 120 GBX 120 GBX 120 GBX 120 GBX 160 GBX 160
BSH 1401 GBX 120 GBX 120 GBX 120 GBX 120 GBX 120 GBX 120 GBX 160 GBX 160
BSH 1402 GBX 120 GBX 120 GBX 120 GBX 160 – GBX 160 GBX 160 GBX 160
BSH 1403 GBX 120 GBX 120 GBX 120 GBX 160 – GBX 160 GBX 160 GBX 160
BSH 1404 GBX 120 GBX 120 GBX 160 GBX 160 – GBX 160 GBX 160 GBX 160
Reduction ratios from 20:1 to 100:1
Type of servo motor Reduction ratio
20:1 25:1 32:1 40:1 60:1 80:1 100:1
BSH 0551 GBX 40 GBX 60 GBX 60 GBX 60 GBX 60 – –
BSH 0552 GBX 60 GBX 60 GBX 60 – – – –
BSH 0553 GBX 60 – – – – – –
BSH 0701 GBX 80 GBX 80 GBX 80 GBX 80 GBX 120 GBX 120 GBX 120
BSH 0702 GBX 80 GBX 80 GBX 120 GBX 120 GBX 120 GBX 120 GBX 120
BSH 0703 GBX 80 GBX 120 GBX 120 GBX 120 GBX 120 GBX 120 GBX 120
BSH 1001 GBX 80 GBX 120 GBX 120 GBX 120 – – –
BSH 1002 GBX 120 GBX 160 GBX 160 GBX 160 – – –
BSH 1003 GBX 120 GBX 160 GBX 160 GBX 160 – – –
BSH 1004 GBX 160 GBX 160 GBX 160 GBX 160 – – –
BSH 1401 GBX 160 GBX 160 GBX 160 GBX 160 – – –
BSH 1402 GBX 160 GBX 160 GBX 160 GBX 160 – – –
BSH 1403 GBX 160 GBX 160 GBX 160 GBX 160 – – –
BSH 1404 GBX 160 – – – – – –
For these combinations, you must check that the application will not exceed the maximum output torque of the gearbox (see the values given on
GBX 60 page 112).
110
Characteristics Lexium 32 motion control
BSH servo motors
Option: GBX planetary gearboxes
Shaft material C 45
Maximum permitted radial force L10h = 10,000 hours N 200 500 950 2000 6000
(2) (3) L10h = 30,000 hours N 160 340 650 1500 4200
Maximum permitted axial force L10h = 10,000 hours N 200 600 1200 2800 8000
(2) L10h = 30,000 hours N 160 450 900 2100 6000
Moment of inertia of gearbox 3:1 kgcm2 0.031 0.135 0.77 2.63 12.14
4:1 kgcm2 0.022 0.093 0.52 1.79 7.78
5:1 kgcm2 0.019 0.078 0.45 1.53 6.07
8:1 kgcm2 0.017 0.065 0.39 1.32 4.63
9:1 kgcm2 0.03 0.131 0.74 2.62 –
12:1 kgcm2 0.029 0.127 0.72 2.56 12.37
15:1 kgcm2 0.023 0.077 0.71 2.53 12.35
16:1 kgcm2 0.022 0.088 0.5 1.75 7.47
20:1 kgcm2 0.019 0.075 0.44 1.5 6.65
25:1 kgcm2 0.019 0.075 0.44 1.49 5.81
32:1 kgcm2 0.017 0.064 0.39 1.3 6.36
40:1 kgcm2 0.016 0.064 0.39 1.3 5.28
60:1 kgcm2 0.029 0.076 0.51 2.57 –
80:1 kgcm2 0.019 0.075 0.5 1.5 –
100:1 kgcm2 0.019 0.075 0.44 1.49 –
(1) Value measured at a distance of 1 m, at no-load for a servo motor speed of 3000 rpm and a reduction ratio of 5:1.
(2) Values given for an output shaft speed of 100 rpm in S1 mode (cyclic ratio = 1) on electrical machines for an ambient temperature of 30°C.
(3) Force applied at mid-point along the output shaft.
111
Characteristics (continued) Lexium 32 motion control
BSH servo motors
Option: GBX planetary gearboxes
(1) Values given for an output shaft speed of 100 rpm in S1 mode (cyclic ratio = 1) on electrical machines for an ambient temperature of 30°C.
112
References Lexium 32 motion control
BSH servo motors
Option: GBX planetary gearboxes
References
Size Reduction ratio Reference Weight
kg
GBX 40 3:1, 4:1, 5:1 and 8:1 GBX 040ppp ppp pF 0.350
9:1, 12:1, 15:1, 16:1 and 20:1 GBX 040ppp ppp pF 0.450
113
Dimensions Lexium 32 motion control
BSH servo motors
Option: GBX planetary gearboxes
Dimensions
Servo motor assembly
a (1)
a1(1) a2 a3
g a4
4xØ4 4xØ6 (1)
a5
Ø5 Ø7 (1)
Ø3
Ø2
Ø1
h
c (1)
GBX a2 a3 a4 a5 hrs g Ø1 Ø2 Ø3 Ø4 Ø5
040 003...008 39 26 23 2.5 11.2 3 40 26 h7 10 h7 M4 x 6 34
060 003...008 47 35 30 2.5 16 5 60 40 h7 14 h7 M5 x 8 52
060 060 72 35 30 2.5 16 5 60 40 h7 14 h7 M5 x 8 52
080 060...100 95 40 36 4 22.5 6 80 60 h7 20 h7 M6 x 10 70
(1) Dimensions a, a1, Uc, Ø6 and Ø7 depend on the planetary gearbox/BSH servo motor combination:
Combinations Reduction ratios
Gearbox Servo motor 3:1 to 8:1 9:1 to 40:1 60:1 to 100:1 3:1 to 100:1 3:1 to 100:1 3:1 to 100:1 3:1 to 100:1
a a a a1 Uc Ø6 Ø7
GBX 040 BSH 055p 89.5 102.5 – 24.5 60 M4 63
GBX 060 BSH 055p 106 118.5 131.5 24 60 M4 63
GBX 060 BSH 0701, 0702 106 118.5 131.5 24 70 M5 75
GBX 060 BSH 0703 113 125.5 138.5 31 70 M5 75
GBX 080 BSH 070p 133.5 151 168.5 33.5 80 M5 82
GBX 080 BSH 1001…1003 143.5 161 178.5 43.5 100 M8 115
GBX 120 BSH 070p – 203.5 231 47.5 115 M5 75
GBX 120 BSH 1001…1003 176.5 203.5 231 47.5 115 M8 115
GBX 120 BSH 1004 186.5 213.5 241 57.5 115 M8 115
GBX 120 BSH 140p 186.5 213.5 – 57.5 140 M10 165
GBX 160 BSH 1002…1004 – 305 – 64.5 140 M8 115
GBX 160 BSH 140p 255.5 305 – 64.5 140 M10 165
114
Mounting Lexium 32 motion control
BSH servo motors
Option: GBX planetary gearboxes
Mounting
No special tool is required for mounting the GBX planetary gearbox on the BSH
servo motor. The usual rules for mechanical mounting must be followed:
1 Clean the bearing surfaces and seals.
2 Align the shafts that are to be coupled and assemble in vertical position.
3 Uniform adhesive force of the servo motor flange on the gearbox flange,
with tightening of the Phillips screws.
4 Correct tightening torque of the TA ring using a torque wrench (2...40 Nm
depending on the gearbox model).
For more information, refer to the instruction sheets supplied with the products.
1 2 3 4
115
Sizing Technical appendices
Sizing a servo motor
To be able to size the servo motor you need to know the equivalent thermal torque
and the average speed required by the mechanism to be used with the servo motor.
Both values are calculated using the motor cycle timing diagram and should be
compared with the speed/torque curves given for each servo motor (see the
characteristics of the servo motor/servo drive combinations).
Speed ni n2 n2 n3 + n2 n3 n3 + n1 n1 n1 0 n4 n4 n4 0
2 2 2 2 2 2
In the timing diagram above, this formula gives the following calculation:
2 2 2 2 2 2 2 2 2 2
M2 ⋅ t1 + M1 ⋅ t 2 + M3 ⋅ t 3 + M1 ⋅ t 4 + M5 ⋅ t 5 + M1 ⋅ t 6 + M5 ⋅ t 7 + M5 ⋅ t 9 + M4 ⋅ t10 + M2 ⋅ t11
Meq =
Tcycle
116
Sizing (continued) Technical appendices
Sizing a servo motor
Torque in Nm
Sizing the servo motor (continued)
Mmax 1 Determining the size of the servo motor
The point defined by the two preceding calculations (average speed and equivalent
thermal torque) where the:
b horizontal axis represents the average speed navg
M0 2 b vertical axis represents the thermal torque Meq
Meq
must be within the area bounded by curve 2 and the work zone.
0 The motor cycle timing diagram should also be used to ensure that all torques Mi
0 Speed in rpm
navg required for the different speeds ni during the various cycle phases are within the
area bounded by curve 1 and the work zone.
Work zone
1 Peak torque
2 Continuous torque
117
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DIA7ED2090405EN
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relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
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