3-PHASE STEPPING MOTOR. VRDM 39x. Document: Edition: d013,

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3-PHASE STEPPING MOTOR

VRDM 39x

Document: 100000116 Edition: d013, 2005.02

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Data sheet stepping motor Page 1

Features common to all motor types

• Test voltage to DIN EN 60034 part 1 • Insulation class F

• Run-out and perpendicularity to DIN 42955 N • Paint: black RAL 9005

Security

Please observe before installation, set-up, maintenance and repairs of the motors our security tips. Should you not know these sheets, please ask for the data sheet “Security tips of the motors“

Motor specification

The listet data in this table are motor-specified data.

A breakdown of the individual motors is given under the type code on page 10.

Motor type VRDM 397 VRDM 3910 VRDM 3913

Winding H N W H N W H N W

VAC4) 25 92 230 25 92 230 25 92 230

Max. voltage Umax

VDC 5) 35 130 325 35 130 325 35 130 325 Rated torque MN Nm 1.7 2 2 3.7 4 4 5 6 6 Holding torque MH Nm 1.92 2.26 2.26 4.18 4.52 4.52 5.65 6.78 6.78 Rotor inertia JR kgm2 0.11 • 10-3 0.22 • 10-3 0.33 • 10-3 Number of steps 1) z 200 / 400 / 500 / 1000 / 2000 / 4000 / 5000 / 10000 Step angle 1) α ° 1.8 / 0.9 / 0.72 / 0.36 / 0.18 / 0.09 / 0.072 / 0.036 Systematic angle tolerance

per step 2) ∆αs ‘ ±6

Max. starting frequency 1) fAom kHz 5 5.3 5.3 4.8 5.3 5.3 4.5 5.3 5.3

Rated current IN Arms 5.8 4.4 1.75 5.8 5 2 5.8 5 2.25

Resistance / winding RW Ω 0.35 1 6.5 0.55 1.2 5.8 0.63 1.3 6.5

Current rise constant τ ms ~ 7 ~ 9 ~ 10

Weight 3) _m _kg _1.65 _2.7 _3.8

Terms and symbols taken from DIN 42021 part 2 1)_{With suitable power drive}

2)_{Measured at 1000 steps / revolution, units in minutes} 3)_{Weight of the motor with stranded wires}

4)_{maximal possible rms value} 5)_{DC bus voltage}

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Characteristic curves VRDM 397

VRDM 397 / 50L H 2 1,5 1 0,5 0 fs [kHz] n (1/min) [rpm] 10 30 0 20 J [kg cm ]2 M[Nm] 2 1.1 3 VRDM 397 / 50L N VRDM 397 / 50L W 2 1,5 1 0,5 0 fs [kHz] n (1/min) [rpm] 10 30 0 20 J [kg cm ]2 M[Nm] 1.2 2 3 1.3 1.1 Pull-out torque Drive = D 920 UN = 35 VDC IW = 5,8 A 1.2 Pull-out torque Drive = D 900 UN = 130 VDC IW = 4,4 A 1.3 Pull-out torque Drive = WDx3-xx4, TLxx11 UN = 325 VDC IW = 1,75 A 2 Pull-in torque 3 Maximum load inertia

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Characteristic curves VRDM 3910

VRDM 3910 / 50L H n (1/min) [rpm] 10 30 0 20 J [kg cm ]2 4 3 2 1 0 fs [kHz] M[Nm] 2 1.1 3 VRDM 3910 / 50L N VRDM 3910 / 50L W n (1/min) [rpm] 10 30 0 20 J [kg cm ]2 4 3 2 1 0 fs [kHz] M[Nm] 1.2 2 3 1.3 1.1 Pull-out torque Drive = D 920 UN = 35 VDC IW = 5,8 A 1.2 Pull-out torque Drive = D 900 UN = 130 VDC IW = 5 A 1.3 Pull-out torque Drive = WDx3-xx4, TLxx11 UN = 325 VDC IW = 2 A 2 Pull-in torque 3 Maximum load inertia

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Characteristic curves VRDM 3913

VRDM 3913 / 50L H 6 4,5 3 1,5 0 fs [kHz] n (1/min) [rpm] 10 30 0 20 J [kg cm ]2 M[Nm] 2 1.1 3 VRDM 3913 / 50L N VRDM 3913 / 50L W 6 4,5 3 1,5 0 fs [kHz] n (1/min) [rpm] 10 30 0 20 J [kg cm ]2 M[Nm] 2 1.2 3 1.3 1.1 Pull-out torque Drive = D 920 UN = 35 VDC IW = 5,8 A 1.2 Pull-out torque Drive = D 900 UN = 130 VDC IW = 5 A 1.3 Pull-out torque Drive = WDx3-xx4, TLxx11 UN = 325 VDC IW = 2,25 A 2 Pull-in torque 3 Maximum load inertia

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Shaft load

The Motor must not be opened by the customer. If it is opened it will be partially demagnetuized with a consequent loss of power.

In the case of motors with terminal box, the cover can be opened to connect the terminals! Please always observe our saftey information!

Conditions:

• Nominal bearing life 1) _L10h _{= 20.000 hours}

• Speed n = 600 min-1

• Ambient temperature = 40°C

(≈ 80°C bearing temperature) =

• Rated torque = 100 % c.d.f.

• Point of application of forces X = 15 mm

X Y FA1 FA2 FR2 FR1 Y = 15 mm Motor VRDM 397 VRDM 3910 VRDM 3913

Max. radial force

Front

FR1

100 % c.d.f. 100 N 110 N

50 N2)

Max. radial force

2nd shaft end

FR2

100 % c.d.f.

75 N3)

Max. axial force

Pull

FA1

100 % c.d.f. 170 N

Max. axial force

Push

FA2

100 % c.d.f. 30 N

1)_{In operation hours with a 10% probability of failure} 2)_{Motors with terminal box, receptacle or encoder} 3)_{Motors with stranded wires}

- Axial and radial loading must not occur simultaneously.

- The shaft must be supported if components are pressed onto the shaft ends.

Degree of protection

The degree of protection of your motor version is shown in the following diagramm.

Motor front Motor connection Motor back

Gearbox

PLE PLS Shaft exit

Stranded

wires Terminal box,Receptacle 2 nd

shaft end Holding brake,Encoder

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Ambient conditions

Climate:

(with reference to DIN 50019-R14)

Temperature (t): -25°C to +40°C

Atmospheric humidity (U): ≤ 75 % RH annual average / 95 % RH on 30 days / without condensation

Storage and transportation temperature:

-25°C to +70°C

Motor service life

Where motors are operated under technically correct conditions, the service life is largely depend on the service life of the bearing.

The following operating conditions may significantly reduce the service life of the motor: • Installation at altitudes over 1000 m above mean sea level

• Continuous operating temperatures greater than 80°C • Angular travel less than 100°

• Operation with very high rotation accelerations • Operation und vibration loads greater than 20 m/s² • High cyclic frequencies

• Running with dry sealing rings • Wetting seals with aggressive media

Motor versions

Our flexible modular system and the latest version management techniques enable us to supply the following versions. The dimensions and a detailed information are shown in the variants section on page 11.

Pease also see thy type code on page 10.

Schematic representation

Motor type VRDM 3xx Gearbox Shaft version Centring _collar

Size Length Winding

Motor connection Options 3:1 5:1 8:1 Surface-finished Cross-drilled hole Woodruff-key ∅ 9,5 1) ∅ 12 1) ∅ 14 1) ∅ 60 mm ∅ 73 mm 90 7 10 13 H N W Stranded wires Terminal box 2) Receptacle 2nd shaft end 3) Holding brake 3) Encoder 4) 1)_{∅ 9.5 mm and ∅ 12 mm for VRDM 397 and ∅ 14mm for VRDM 3913}

2)_{Terminal strip inside the motor, sealed with a cable gland, EMC-tested}

3)_{Choice between 2nd shaft end or holding brake. Both cannot be fitted simultaneously} 4)_{Motors with receptacle only (2nd shaft end or a holding brake is also possible)}

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Encoder

3-phase stepping motors can optionally be fitted with an encoder. This system of measurement returns the actual position if the power drive is equipped with a rotation monitoring circuit. The rotation monitoring circuit compares the setpoint and actual positions of the motor and signals an error if the difference between the two exceeds a certain limit (contouring error limit). This will detect overloading of the motor, for example.

An Encoder can only be fitted on motors equipped with a receptacle. A second shaft end or a holding brake can also be used.

Technical data Resolution Index pulse Output Signals Pulse waveshape Supply voltage Current 1000 increments / revolution 1 increment / revolution RS 422 A; B; I Square-wave 5V ± 5% up to 0.15 A Timing diagram 90° A L e ve l B A C C B t Invertiert inverted Invertiert inverted Invertiert inverted Notes:

• A Temperature sensor is integrated. • The shield must be connected

to both the motor and the device.

Connection

Motor housing

1 9 ₈ 7 6 12 11 5 4 3 2 10

A

View A

PIN1 2 3 4 5 6 7 8 9 10 11 12 Designation A A (-) B B (-) C, I C (-), I (-) 5 VGND + 5 – SENSE + SENSE Temperature sensor Not asssigned

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Holding brake

The holding brake is an electromagnetic spring-pressure brake which holds the motor shaft in position when there is no current to the motor (e.g. in the event of a power failure or emergency stop). This holding function is needed for applications in which weight on the shaft can cause excessive torque, e.g. the Z axes of handling equipment.

Technical data

Rated voltage Holding torque Power consumption Moment of inertia

ON time (disengage brake) OFF time (engage brake) Weight 24 V 6 Nm 24 W 0.2 kgcm² 40 ms 20 ms Approx. 1.5 kg

VRDM 397 with encoder and brake

For the brake to work reliably on Z axes with a holding brake the static load torque must not exceed 25% of the motor’s holding torque.

Drive circuit

The drive circuit must be electrically excited in order to disengage the brake. To prevent overheating, the excitation current should be reduced as soon as the brake is disengaged. The recommended circuit arrangement is shown in the following diagram.

24 V 1 N 4001 UB 0 V + Bremse/ Brake 4700 µF / 18 V für / for VRDM 39.. 24 min. 6 W für / for VRDM 39..Ω 100% 75% U [V]B 50% t (=24V) Anzugshaltespannung Starting voltage Haltespannung Holding voltage Connection

The plug is supplied with the motor.

Plug designation: Hirschmann type G4 A 5M

The holding torque of the brake is reduced by approximately 50% at an operating temperature of 120°C.

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Gearbox options

The following tables show available combinations of motor and gearbox. Refer to gearbox datasheet for further information.

Gearbox type PLE

Economic precision planetary gearbox (Single-stage gearbox)

Configuration options

Grey highlighted recommended types

Bold highlighted Limiter of torque by gear box or motor x gearbox over or under-sized or uneconomic

3:1 5:1 8:1 MdG 1) MmaxG2) MdG 1) MmaxG2) MdG 1) MmaxG2)

Md0 [Nm] Motor Gearbox [Nm] [Nm] [Nm] [Nm] [Nm] [Nm] 2 VRDM 397 40 6 50 10 50 16 4 VRDM 3910 40 12 50 20 50 32 6 VRDM 3913 with PLE 80 40 18 50 30 50 48

Index G (MxxG ) -> in relation to gearbox output shaft

1) _M

dG continuous gearbox output torque

2) _M

maxG max. output torque with this motor

(theoretical value calculated from: max. motor torque Mmax x gear ratio)

The continuous gearbox output torque MdG may not be continuously exceeded.

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Gearbox type PLS

High-quality, low-backlash, planetary gearbox (Single-stage gearbox)

Configuration options

Grey highlighted recommended types

Bold highlighted Limiter of torque by gear box or motor x gearbox over or under-sized or uneconomic

3:1 5:1 8:1 MdG 1) MmaxG2) MdG 1) MmaxG2) MdG 1) MmaxG2)

Md0 [Nm] Motor Gearbox [Nm] [Nm] [Nm] [Nm] [Nm] [Nm] 2 VRDM 397 75 6 110 10 62 16 4 VRDM 3910 75 12 110 20 62 32 6 VRDM 3913 with PLS 90 75 18 110 30 62 48

Index G (MxxG ) -> in relation to gearbox output shaft

1) _M

dG gearbox output torque (continuous)

2) _M

maxG max. output torque with this motor

(theoretical value calculated from: max. motor torque Mmax x gear ratio)

The continuous gearbox output torque MdG may not be continuously exceeded.

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Type code

Example: VRDM 3 9 13 / 50 L N C E B IP 41 VRDM X X X / 50 L X X X X IP X Number of phases 3 Size (flange) 9 (approx. 85 mm) Length

7 overall approx. 70 mm The motor is approximately 10 overall approx. 100 mm 37 mm longer with a terminal 13 overall approx. 130 mm box or a receptacle.

Number of pairs of poles

50 Laminated rotor L Winding identification H 25 VAC (35 VDC) N 92 VAC (130 VDC) W 230 VAC (325 VDC) S spezial modell Motor connection A stranded wires B terminal box

C receptacle, straight connector T receptacle, right-angled

System of measurement

E with encoder (1000 increments / revolution)

O without encoder

Holding brake

B with holding brake

O without holding brake

Degree of protection

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Variants

Ø 9, 5 : 3 x 5 DIN 68 88 Ø 12 : 4 x 6,5 DI N 6888 Ø 14 : 5 x 6,5 DI N 6888 A R o to r s p ri n g -m o u n te d in a x ia l d ir e c ti o n Ro to r ax ia l ge fe der t Cab le gl a nd M 2 0 *1, 5 for c abl e di am et er 9 to 13 K a bel ver sc h ra ubu ng M 20* 1, 5 fü r K abel ø 9 bi s ø 1 3 20 M ot or m it Kl emmk a st en M o tor w ith te rm in a l bo x M ot or m it Ei nb au do se ge rader A b ga ng Po w e r r e c e p ta c le s tr a ig ht c o nn e c to r Mo to ra n s ch lu s s M o to r c o nn ec ti on M ess s y st em S y st em o f m e asu rem e n t ohne E nc oder W ith ou t e n c o de r mi t Enc ode r Wi th e n co d e r Ei nbaudo se g er ader A bg ang S ign a l r e c e pt ac le s tr a ight c o nn e c to r Einb a udo se 90° abg ewi nk el t S ign a l r e c ept ac le ri gh t-a n g led Op ti o n e n Op ti o n s Get rie b e Ge a rb o x 2. W el len e nde 2 n d s h a ft e n d ohn e G e tr ie be W it h ou t g e ar box 3: 1 M ot or m it Ei nb au do se 90 ° ab ge wi nk el t Po w e r r e c e p ta c le ri g h t-an g led 22 m it G et riebe W it h ge a rbo x 5: 1 8: 1 M oto r m it L itz en M o tor w ith s tr a nd e d w ir e s hi n ten at b a ck se itlich at s id e S tanda rd 40 0 mm S o nd er lä nge < 400 mm ot h e r l e ng th W e ll e na u s fü hr u n g S h a ft k e y Fl äc h e S u rf ac e-fi n is h ed Q uer bohr u ng Cr os s -dr ill ed ho le Sc hei b enf eder DIN 688 8 W o o d ru ff k e y DIN 6 888 o hne Bea rbei tung u n fi ni s hed t o hne 2 . W el le ne nde W ith ou t 2 n d s h a ft e n d mi t 2 . W el lene nde W ith 2 n d s h a ft e n d Zent rier bu nd Ce ntr in g c o lla r Ø 60 h8 Ø 73 h8 W el le ndur ch mes se r S h aft di a m e ter Ø 9, 5 V R DM 397 ode r 3910 Ø 12 V R DM 397 ode r 3910 Ø 1 4 VRDM 3 913 oh ne H al te br ems e W ith o u t h o ld in g b ra k e mi t H al teb re m se W ith ho ld ing b ra k e W elle vorn e S h a ft at fr on t Hal tebr ems e H o ld in g b ra k e na ch hi nt en z e ig en d Po in ti n g t o t h e b a c k n ac h vo rn e ze ig en d P o in ti n g t o t h e fr on t n ac h l ink s ze igend P o in ti ng t o t h e le ft n ac h re ch ts ze ig e nd Po in ti n g t o t h e ri g h t na ch hi nte n z ei gen d P o in ti ng to t h e b a c k na ch v or ne ze ig en d P o in ti ng to t h e f ro n t na ch li nks ze ig en d P o in ti ng to t h e l e ft na ch r ec hts z ei gen d P o in ti ng to t h e r igh t A nsich t A (A nsi ch t v on vo rn e) V ie w A (f ro n t v ie w ) Moto r m it Li tzen M o to r wit h s tr a n d ed wi re s Mot or m it Kl emmk as te n M o tor w ith te rm in a l b o x Mot o r mi t E inba ud os e u nd E n co der M o tor w it h r e c e pt ac le an d en c o de r Mot or mi t Hal tebr ems e M o to r w ith ho ld in g br ak e be i 2. We lle nend e, nu r Li tz e n se itl ich m ögl ic h The w ir e s m u s t ex it at th e b a c k i f the s haf t ex it s at the bac k L L L L 43 30 ±0 .5 43 30 ±0 .5 43 46 ,5 L 67 ,5 97 ,5 V RDM 397 V R D M 3 910 M ot or-T yp Mo to rw ic kl u ng M o tor -ty pe M o to r wi ndi ng VRD M 39 1 3 W H V ar ian te m ö gli ch / V a ri an ts po s s ib le V ar ia nt e in V or ber ei tu ng / V a ri an ts in pr epa ra ti on -Ba ug röße W ic k lu ng S iz e W ind in g v e rs io n 12 7 ,5 N 30± 0. 5 PLE PLS Dear Customer

This page shows the motor variants that can be supplied as standart.

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Variants

Steckerposition der Haltebremse (wenn vorhanden)

brake plug position

1

Vorder- und Rückansichten der Motorvarianten

Views from the motor versions

Motor mit Encoder Motor with encoder

Ansicht A

View A

Motor mit Litzen Motor with stranded wires

Motor mit Klemmkasten Motor with terminal box

Motor mit Einbaudose Motor with receptacle

A B Ansichten Views Ansicht B ohne Haltebremse

View A, without holding brake

Ansicht A View A 1 Ansicht A Einbaudose, 90° abgewinkelt View A Receptacle, right-angled

Einbaudose Motor 6-pol Power receptacle 6-pin

1 Ansicht A

Einbaudose, gerader Abgang

View A Receptacle, straight connector

1

1 Ansicht A

Einbaudose, gerader Abgang

View A Receptacle, straight connector

1 Ansicht A

Einbaudose, 90° abgewinkelt

View A Receptacle, right-angled

Einbaudose Motor 6-pol Power receptacle 6-pin

Einbaudose Encoder 12-pol Signal receptacle 12-pin

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Document: 100000116

Edition: d013, 2005.02

www.berger-lahr.com

Motor connection

Motor with receptacle Pin 1 2 3 Designation U V W PE 1 2 3

Motor with terminal box (symbolic) Cable colours brown blue black green / yellow Designation U V W PE green / yellow* Terminal U (1)(2)VW(3) Shield _{* or shield} tracer

Motor with stranded wires

The wires shown in the figure must be bridged.

Cable colours

black and yellow white and blue orange and red

Designation U V W = Bridges W1 W2 W3 U V W Notes:

• The protective earth (or shield tracer) must be connected to both the motor and the device

• If the cables are connected in a terminal box, simply unscrew the four Phillips screws on the box. Do not remove the brake!

• Outer terminal is the EMC terminal

• Motors with stranded wires must be connected via the front flange with PE potential.

The direction of rotation of the motor shaft can be inverted by swapping over two terminals (e.g. U, V or V, W).