Page 101 - Kollmorgen Automation and Motion Control
P. 101

Housed Direct Drive Rotary (DDR) Motor





            Housed DDR Performance Data and Dimensions

            240 Vac Performance Data
                                                                                                    Inertia (Jm)
              Housed DDR               Frame Size  Continuous Torque  Peak Torque  Maximum Speed  Weight  2
                                                                                                      cm
                Motor    AKD Servo Drive  mm [in]   Nm [lb-in]  Nm [lb-in]   [RPM]       kg [lb]   [lb-in-s  x10- ] 3
                                                                                                       2
 Housed DDR motors are multi-pole (16 to 32) hollow shaft motors with   D061  AKD-X00606  175 [6.90]  5.3 [46.9]  16.9 [150]  500  9.4 [20.7]  61 [54.0]
 their own bearings and high-resolution encoder system. They are   D062  AKD-X00606  175 [6.90]  9.8 [86.7]  33.5 [296]  500  11.3 [24.9]  71 [62.8]
 coupled directly to the load and enable very precise and repeatable   D063  AKD-X00606  175 [6.90]  17.7 [157]  64.4 [570]  500  13.8 [30.4]  86 [76.1]  SER
 systems. Housed DDR motors are maintenance free and run more   D081  AKD-X00606  217 [8.55]  15.9 [141]  45.0 [398]  500  17.9 [39.4]  144 [127]  V
 quietly and with better dynamics than systems that use gears, belts,   D082  AKD-X00606  217 [8.55]  25.9 [229]  92.2 [816]  300  21.5 [47.3]  194 [172]  O MO
 cams or other mechanical transmission components.  D083  AKD-X00606  217 [8.55]  50.4 [446]  160 [1420]  250  28.8 [63.4]  301 [266]  T

                 D101      AKD-X00606   280 [11.0]  34.6 [306]  129 [1140]    300       31.5 [69.3]  693 [613]          ORS
                 D102      AKD-X00606   280 [11.0]  63.4 [561]  227 [2010]    200       43.8 [96.4]  992 [878]
 Realized Housed DDR Motor Benefits  D103  AKD-X01206  280 [11.0]  115 [1020]  501 [4430]  120  60.8 [134]  1750 [1550]
 The Direct Drive Advantage  D141  AKD-X01206  362 [14.2]  108 [956]  367 [3250]  200   59.4 [131]  1630 [1440]
                 D142      AKD-X01206   362 [14.2]  183 [1620]  519 [4590]    120       86.6 [191]  2740 [2430]
 The following improvements were
 observed compared to the previous design   D143  AKD-X02406  362 [14.2]  339 [3000]  1340 [11,900]  60  146 [321]  5420 [4800]
 Housed DDR Features  that used a mechanical indexer:
            400/480 Vac Performance Data
 •  4 frame sizes                                                                                                       HOUSED DIRECT DRIVE RO
 Improved Repeatability    Housed DDR   Frame Size  Continuous Torque  Peak Torque  Maximum Speed  Weight  Inertia (Jm)
                                                                                                      cm
 •  Robust cross-roller bearing  Motor  AKD Servo Drive  mm [in]  Nm [lb-in]  Nm [lb-in]  RPM  kg [lb]  [lb-in-s  x10- ] 3
                                                                                                        2
                                                                                                       2
 •  Dual bearing option  The Housed DDR motor demonstrated a repeatability better than 1 arc-
 second which was substantially better than the mechanical indexer.  DH061  AKD-X00607  175 [6.90]  5.3 [46.9]  16.9 [150]  800  9.4 [20.7]  61 [54.0]
 •  IP67 option  DH062     AKD-X00607   175 [6.90]  9.8 [86.7]  33.5 [296]    800       11.3 [24.9]  71 [62.8]
 •  Continuous torque range: 5.8 Nm (4.3 lb-ft) to 339 Nm (250 lb-ft)  No Degradation   DH063  AKD-X00607  175 [6.90]  17.7 [157]  64.4 [570]  800  13.8 [30.4]  86 [76.1]
 •  Optimized torque output with high-pole count efficient   Direct drive system performance, accuracy and repeatability do   DH081  AKD-X00607  217 [8.55]  15.9 [141]  45.0 [398]  500  17.9 [39.4]  144 [127]
   electromagnetic design  not degrade over time as they do with a mechanical indexer. With   DH082  AKD-X00607  217 [8.55]  25.9 [229]  92.2 [816]  500  21.5 [47.3]  194 [172]  T
 •  Integrated high-resolution sine-encoder  a mechanical indexer, as parts wear over time, the accuracy and            AR
 repeatability degrade.  DH083  AKD-X00607  217 [8.55]  50.4 [446]  160 [1420]  500     28.8 [63.4]  301 [266]
 •  134,217,728 counts per rev resolution, 27 bits
                DH101      AKD-X00607   280 [11.0]  34.6 [306]  129 [1140]    300       31.5 [69.3]  693 [613]
 •  Feedback accuracy: +/- 26 arc-sec    Immediate Stop    DH102  AKD-X00607  280 [11.0]  63.4 [561]  227 [2010]  300  43.8 [96.4]  992 [878]
 •  Repeatability better than 1 arc second  The direct drive system can immediately stop if there is a process error.   DH103  AKD-X01207  280 [11.0]  115 [1020]  501 [4430]  250  60.8 [134]  1750 [1550]  Y (DDR) MO
 The mechanical indexer required several cycles to stop which could cause   DH141  AKD-X01207  362 [14.2]  108 [956]  367 [3250]  300  59.4 [131]  1630 [1440]
 Housed DDR Motor Advantage  tooling and machine damage.                                                                T
 Consider how a Housed DDR motor improved a medical   DH142  AKD-X01207  362 [14.2]  183 [1620]  519 [4590]  300  86.6 [191]  2740 [2430]  OR
                                                                              120
 manufacturing machine.  Greatly Reduced Audible Noise    DH143  AKD-X02407  362 [14.2]  339 [3000]  1340 [11,900]  Dimensions  146.0 [321]  5420 [4800]
 Product is located at the steel pins on the outside of the machine’s   With the mechanical indexer, the noise was at a level such that   A  B  C  D
 turret as shown. The 115 kg load wheel has an inertia of 20 kg-m .   two people would have to yell to hear each other. By contrast, if   Flange Mount  Face Mount  DDR  mm [in]  mm [in]  mm [in]  mm [in]
 2
 you turned your back to the Housed DDR motor, you could barely detect
 There are 96 steel pins for an index angle of 3.5 degrees to move.  that it was running.  D[H]061  130 [5.12]  175 [6.90]  220 [8.66]  126 [4.95]
 The move is accomplished in less than 100 ms.                  D          D[H]062  140 [5.55]  175 [6.90]  220 [8.66]  126 [4.95]
 Easy Profile Change                                                       D[H]063  164 [6.46]  175 [6.90]  220 [8.66]  126 [4.95]
 Housed DDR Benefits                                                       D[H]081  145 [5.71]  217 [8.55]  260 [10.2]  147 [5.80]
 Motion parameters such as index angle, speed, acceleration, and dwell are   C  B  D[H]082  165 [6.50]  217 [8.55]  260 [10.2]  147 [5.80]
 •  Transmission elements such as couplings, toothed belts,  very simple to change with the Housed DDR motor. The mechanical indexer   D[H]083  206 [8.11]  217 [8.55]  260 [10.2]  147 [5.80]
   spindles, and other fitted components can be eliminated  does not support flexible motion profiles.  D[H]101  153 [6.02]  280 [11.0]  330 [13.0]  181 [7.11]
                                                                           D[H]102  185 [7.28]  280 [11.0]  330 [13.0]  181 [7.11]
 •  Mechanical design is made much simpler  Better Value    A              D[H]103  248 [9.76]  280 [11.0]  330 [13.0]  181 [7.11]
 •  Power transmission without backlash         Ø 42.9 (1.69) Thru Bore    D[H]141  153 [6.02]  362 [14.2]  406 [16.0]  218 [8.59]
 The Housed DDR motor is attractively priced compared to the mechanical   (Sine Encoder)
 •  More compact machinery assemblies  indexer it replaced. When the other advantages listed above are also   D[H]142  217 [8.52]  362 [14.2]  406 [16.0]  218 [8.59]
 •  Increased performance for the entire system  considered, the Housed DDR motor was the obvious choice.  Note 1: Refer to page 166 for matching cables.  D[H]143  344 [13.50]  362 [14.2]  406 [16.0]  218 [8.59]
            Note 2: For complete AKD and Housed DDR motor model nomenclature, refer to pages 178 and 184 respectively.




                                                                                                                TM
            www.kollmorgen.com                                                                                        101
   96   97   98   99   100   101   102   103   104   105   106