Technical Manual

Servomotors
NX Series
Technical Manual
PVD 3663
1 - PVD 3663_GB_NX_July 2014.Docx
DECLARATION CE OF CONFORMITY
We,
Parker Hannifin Manufacturing France SAS
Etablissement de Dijon
8 Avenue du Lac CS 30749
21007 DIJON CEDEX
Certify that the product
SERVOMOTORS TYPE NX
Satisfy the arrangements of the directives:
Directive 2006/95/EC: “Low Voltage Directive”
Directive 2011/65/EU: “Restriction of hazardous substances”
and meet standards or normative document according to :
EN 60034-1:2010 : “rotating electrical machines”: part 1 : Rating and performance.
EN 60034-5:2001/A1:2007 : “rotating electrical machines”: part 5 : Degrees of
protection provided by the integral design of rotating electrical machine.
Further information:
SERVOMOTORS shall be mounted on a mechanical support providing good heat
conduction and not exceeding 40° C in the vicinity of the motor flange.
The instructions and recommendations of the user manual supplied with the product,
together with the servo amplifier commissioning manual instructions must be applied.
NX1 C.E. Marking in : October 2004
NX2 C.E. Marking in : November 2004
NX3 C.E. Marking in : September 27th 2001
NX4 C.E. Marking in : march 15 th 2000
NX6 C.E. Marking in : march 27th 2000
NX8 C.E. Marking in : December 23th 2003
DIJON, July 1st 2014
QUALITY MANAGER
S. POIZOT
2 - PVD 3663_GB_NX_July 2014.Docx
Compliance with «UL» standards
A part of the NX servomotors Series complies with the UL standards UL1004-1.
The UL standards compliance is only possible:
For NX1 and NX2:
In class A according to IEC 60034-1
AND
with connector (option code 7)
AND
with correct torque / speed choice (see performances tab)
nota: high speed version avoid UL certification.
For NX3, NX4 and NX6
with connector (option code 7)
AND
with correct torque / speed choice (see performances tab)
nota: high speed version avoid UL certification.
For NX8
with connector (option code 7) or fan cooled with thermal box (option code 5)
AND
with correct torque / speed choice (see performances tab)
nota: high speed version avoid UL certification.
Compliance with these standards requires servomotors to be mounted in accordance with
the recommendations given in this commissioning and user manual.
Equipment shall furthermore be mounted on a mechanical support that conducts heat
effectively and does not exceed 40°C in the vicinity of the motor flange.
PARKER HANNIFIN MANUFACTURING FRANCE SAS
8, avenue du Lac – BP30749
F-21007 DIJON CEDEX
Tel : +33 (0)3 80 42 41 40
Fax : +33 (0)3 80 42 41 23
www.parker.com
3 - PVD 3663_GB_NX_July 2014.Docx
Table of Content
1.
INTRODUCTION .......................................................................................................................................6
1.1.
Purpose and intended audience .......................................................................................................6
1.2.
Safety ................................................................................................................................................6
1.2.1.
Principle .................................................................................................................................... 6
1.2.2.
General Safety Rules ............................................................................................................... 7
2.
PRODUCT DESCRIPTION .......................................................................................................................8
2.1.
Quick URL .........................................................................................................................................8
2.2.
Overview ...........................................................................................................................................8
2.3.
Applications .......................................................................................................................................8
2.4.
General Technical Data ....................................................................................................................9
2.5.
Product Code ..................................................................................................................................10
3.
TECHNICAL DATA .................................................................................................................................11
3.1.
Motor selection ................................................................................................................................11
3.1.1.
Altitude derating ......................................................................................................................11
3.1.2.
Temperature derating .............................................................................................................11
3.1.3.
Thermal equivalent torque (rms torque) .................................................................................13
3.1.4.
Drive selection ........................................................................................................................15
3.1.5.
Current limitation at stall conditions (i.e. speed < 3 rpm) .......................................................18
3.1.6.
Peak current limitations ..........................................................................................................18
3.2.
NX Characteristics: Torque, speed, current, power… ....................................................................19
3.2.1.
Efficiency curves .....................................................................................................................22
3.2.2.
Electromagnetic losses...........................................................................................................30
3.2.3.
Time constants of the motor ...................................................................................................31
3.2.4.
Speed ripple ...........................................................................................................................33
3.2.5.
Rated data according to rated voltage variation .....................................................................34
3.2.6.
Voltage withstand characteristics of NX series ......................................................................36
3.3.
Dimension drawings ........................................................................................................................37
3.3.1.
NX1 .........................................................................................................................................37
3.3.2.
NX1 UL version ......................................................................................................................40
3.3.3.
NX2 .........................................................................................................................................44
3.3.4.
NX2 UL version ......................................................................................................................48
3.3.5.
NX3 .........................................................................................................................................52
3.3.6.
NX4 .........................................................................................................................................55
3.3.7.
NX6 .........................................................................................................................................59
3.3.8.
NX8 .........................................................................................................................................62
3.3.9.
NX8 water cooled ...................................................................................................................66
3.4.
Motor Mounting ...............................................................................................................................67
3.4.1.
Motor mounting .......................................................................................................................67
3.4.2.
Frame recommendation .........................................................................................................68
3.5.
Shaft Loads .....................................................................................................................................69
3.5.1.
Vibration resistance to shaft end ............................................................................................69
3.5.2.
Motors life time for horizontal mounting .................................................................................69
3.6.
Cooling ............................................................................................................................................75
3.6.1.
Natural and fan cooled motor .................................................................................................75
3.6.2.
Water cooled motor ................................................................................................................75
3.6.3.
Additives for water as cooling media ......................................................................................76
3.6.4.
Motor cooling circuit drop pressure ........................................................................................77
3.6.5.
Chiller selection ......................................................................................................................77
3.6.6.
Flow derating according to glycol concentration ....................................................................78
3.6.7.
Water cooling diagram............................................................................................................80
3.7.
Thermal Protection ..........................................................................................................................82
3.7.1.
Alarm tripping with PTC thermistors : .....................................................................................82
3.7.2.
Temperature measurement with KTY sensors: ......................................................................83
3.8.
Power Electrical Connections .........................................................................................................84
3.8.1.
Wires sizes .............................................................................................................................84
3.8.2.
Conversion Awg/kcmil/mm²: ...................................................................................................85
3.8.3.
Motor cable length ..................................................................................................................86
4 - PVD 3663_GB_NX_July 2014.Docx
3.8.4.
Mains supply connection diagrams ........................................................................................87
3.9.
Feedback system ............................................................................................................................94
3.9.1.
Resolver 2 poles transformation ratio = 0.5 – code A ............................................................94
3.9.2.
Hiperface encoder singleturn SKS36 (128pulses) – code R ..................................................94
3.9.3.
Hiperface encoder multiturn SKM36 (128pulses) – code S ...................................................95
3.9.4.
Hiperface encoder singleturn SRS50 (1024pulses) – code T ................................................95
3.9.5.
Hiperface encoder multiturn SRM50 (1024pulses) – code U .................................................96
3.9.6.
Endat encoder singleturn ECN1113 – code V .......................................................................96
3.9.7.
Endat encoder multiturn ECN1125 – code W ........................................................................97
3.9.8.
Incremental encoder - Commuted lines 10 poles – 2048pulses – code X (On request) .......99
3.9.9.
Cables...................................................................................................................................100
3.10. Brake option ..................................................................................................................................102
4.
COMMISSIONING, USE AND MAINTENANCE ...................................................................................103
4.1.
Instructions for commissioning, use and maintenance .................................................................103
4.1.1.
Equipment delivery ...............................................................................................................103
4.1.2.
Handling ...............................................................................................................................103
4.1.3.
Storage .................................................................................................................................104
4.2.
Installation .....................................................................................................................................104
4.2.1.
Mounting ...............................................................................................................................104
4.2.2.
Preparation ...........................................................................................................................105
4.2.3.
Mechanical installation .........................................................................................................105
4.3.
Electrical connections ...................................................................................................................106
4.3.1.
Cable connection ..................................................................................................................107
4.3.2.
Encoder cable handling ........................................................................................................107
4.4.
Maintenance Operations ...............................................................................................................108
4.4.1.
Summary maintenance operations .......................................................................................108
4.5.
Troubleshooting ............................................................................................................................109
5 - PVD 3663_GB_NX_July 2014.Docx
1. INTRODUCTION
1.1. Purpose and intended audience
This manual contains information that must be observed to select, install, operate and
maintain PARKER NX servomotors.
Installation, operation and maintenance of the equipment should be carried out by qualified
personnel. A qualified person is someone who is technically competent and familiar with all
safety information and established safety practices; with the installation process, operation
and maintenance of this equipment; and with all the hazards involved.
Reading and understanding the information described in this document is mandatory
before carrying out any operation on the motors. If any malfunction or technical problem
occurs, that has not been dealt with in this manual, please contact PARKER for technical
assistance. In case of missing information or doubts regarding the installation procedures,
safety instructions or any other issue tackled in this manual, please contact PARKER as
well.
PARKER’s responsibility is limited to its servomotors and does not encompass the whole
user’s system. Data provided in this manual are for product description only and may not
be guaranteed, unless expressly mentioned in a contract.
DANGER: PARKER declines responsibility for any industrial accident or
material damage that may arise, if the procedures and safety instructions
described in this manual are not scrupulously followed.
1.2. Safety
1.2.1.
Principle
To operate safely, this equipment must be transported, stored, handled, installed and
serviced correctly. Following the safety instructions described in each section of this
document is mandatory. Servomotors usage must also comply with all applicable
standards, national directives and factory instructions in force.
DANGER: Non-compliance with safety instructions, legal and technical
regulations in force may lead to physical injuries or death, as well as
damages to the property and the environment.
6 - PVD 3663_GB_NX_July 2014.Docx
1.2.2.
General Safety Rules
Generality
DANGER: The installation, commission and operation must be performed by
qualified personnel, in conjunction with this documentation.
The qualified personnel must know the safety (C18510 authorization,
standard VDE 0105 or IEC 0364) and local regulations.
They must be authorized to install, commission and operate in accordance
with established practices and standards.
Electrical hazard
Servo drives may contain non-insulated live AC or DC components. Respect
the drives commissioning manual. Users are advised to guard against
access to live parts before installing the equipment.
Some parts of the motor or installation elements can be subjected to
dangerous voltages, when the motor is driven by the inverter , when the
motor rotor is manually rotated, when the motor is driven by its load, when
the motor is at standstill or stopped.
For measurements use only a meter to IEC 61010 (CAT III or higher).
Always begin using the highest range. CAT I and CAT II meters must not be
used on this product.
Allow at least 5 minutes for the drive's capacitors to discharge to safe
voltage levels (<50V). Use the specified meter capable of measuring up to
1000V dc & ac rms to confirm that less than 50V is present between all
power terminals and between power terminals and earth.
Check the drive recommendations.
The motor must be permanently connected to an appropriate safety earth.
To prevent any accidental contact with live components, it is necessary to
check that cables are not damaged, stripped or not in contact with a rotating
part of the machine. The work place must be clean, dry.
General recommendations :
- Check the wiring circuit
- Lock the electrical cabinets
- Use standardized equipment
Mechanical hazard
Servomotors can accelerate in milliseconds. Running the motor can lead to
other sections of the machine moving dangerously. Moving parts must be
screened off to prevent operators coming into contact with them. The
working procedure must allow the operator to keep well clear of the danger
area.
Burning Hazard
Always bear in mind that some parts of the surface of the motor can reach
temperatures exceeding 100°C.
7 - PVD 3663_GB_NX_July 2014.Docx
2. PRODUCT DESCRIPTION
2.1. Quick URL
All informations and datas are avaible on :
http://www.parker.com/eme/nx
2.2. Overview
NX servomotors Series from PARKER is an innovative direct drive solution designed
for industrial applications. NX Series brushless servomotors from Parker SSD Parvex
combine exceptional precision and motion quality, high dynamic performances and
very compact dimensions.
A large set of torque / speed characteristics, options and customization possibilities
are available, making NX Series servomotors the ideal solution for most
servosystems applications.
Advantages
- High precision
- High motion quality
- High dynamic performances
- Compact dimensions and robustness
- Large set of options and customization possibilities
- CE and UL marking certification available.
2.3. Applications
Medical: Blood pumps, air pump, radiology tables,…
Machine tools: Ancillary axis, spindle, axis…
Semiconductor
Hand tool: screwdriver,…
Packaging machinery
Robot applications
Special machines
Pumps
8 - PVD 3663_GB_NX_July 2014.Docx
2.4. General Technical Data
NX1
Motor type
Magnets material
Number of poles
Type of
construction
Degree of
protection
Cooling
Rated voltage
Insulation of the
stator winding
Altitude
Ambiant
temperature
NX2
NX3, NX4,NX6
Permanent-magnet synchronous motor
Neodymium Iron Boron
10
IMB5 – IMV1 – IMV3 (EN60034-7)
NX8
 IP64,
 IP65 in option
 IP64,
 IP65 in option
 IP44 in fan
cooled version
 Natural cooling
 Natural cooling,
 Fan cooled
 Water cooled
230VAC
230VAC, 400 VAC and 480 VAC
Class F according to IEC
Class F according Class F according
60034-1 with potting
to IEC 60034-1
to IEC 60034-1
with potting
Up to 1000m (IEC 60034-1) (for higher altitude see §3.1.1 for derating)
 -15°C to +40°C (IEC 60034-1)
 -40°C on request
 0°C to 40°C for water cooled version (IEC 60034-1)
to avoid condensation see §3.5
Storage
temperature
Vibration severity
Shaft
Connection
Marking
Paint finish
Sensor
Hiperface - SKS36
Hiperface - SKM36
Hiperface – SRS50
Hiperface – SRM50
Endat ECN1113
Endat ECN1125
Incremental 2048line
Sensorless
Brake
Thermal protection
Remark
-20… +60°C
Grade A according to IEC 60034-14
Plain shaft as standard – key on shaft in option
 Connector,
 Connectors
 Cable (Not UL)
 Terminal box
 Flying wires (Not UL)
 CE,
 CE,
 CE,
 UL in class A in option
 UL in option
 UL in option
Raw in standard, Black RAL 9005 in option
Resolver transformation ratio = 0.5 as standard
N/A
Option
Option
N/A
Option
Option
N/A
N/A
Option
N/A
N/A
Option
N/A
N/A
Option
N/A
N/A
Option
N/A
On request
On request
N/A
Option
Option
Parking brake in option
PTC, Thermoswitch or KTY as an option
Numerous customization are possible on request (special shaft,
connection, encoder, …)
9 - PVD 3663_GB_NX_July 2014.Docx
2.5. Product Code
Code
N
X
3
1
0
E
A
K
R
1
0
Product Series
Motor size
1, 2, 3, 4, 6 or 8 in relation with the
motor diameter
Motor length
up to 60 depend on size
Windings variant
A: serial windings class A
(only for NX1 & 2 in UL version)
E: standard serial windings class F
V: serial windings class F fan cooled
W: serial windings class F water cooled
Feedback Sensor
A: resolver 2 poles transformation ratio = 0.5
K: without sensor
R: Hiperface encoder singleturn SKS36 (128pulses)
S: Hiperface encoder mutiturn SKM36 (128pulses)
T: Hiperface encoder singleturn SRS50 (1024pulses)
U: Hiperface encoder mutiturn SRM50 (1024pulses)
V: Endat encoder singleturn ECN1113
W: Endat encoder multiturn ECN1125
X: Commuted lines 10 poles – 2048pulses, on request
Y: sensorless series for 650S drive
Z : Special encoder
Torque / Speed Characteristics
See motor data
Painting
R: no painting
B: Black RAL9005
Electric connection
1: 1m cable shielded for NX3, 4, 6 & 8 (Not UL)
1m cable not shielded for NX1 & 2 (Not UL)
4: 1m flying wires inside PVC sheath-only for NX1 & 2 (Not UL)
5: terminal box – motor with fan cooling in UL version
6: terminal box (Not UL)
7: connector
8: connector – motor with fan cooling (Not UL)
9: terminal box – motor with fan cooling (Not UL)
Break and thermal sensor option
Sensor on power connector
0: No break, no thermal sensor
Sensor on signal connector
1: PTC sensor
A: PTC sensor
2: Thermo switch
B: Thermo switch
3: with brake
C: KTY sensor
4: with brake and PTC sensor
D: with brake and PTC sensor
5: with brake and thermo switch
E: with brake and thermo switch
6: KTY84-130 sensor
F: with brake and KTY sensor
7: with brake and KTY sensor
Mechanical Interface
00: plain shaft
10: IP65 with plain shaft
01: key on shaft
11: IP65 with key on shaft
Other: custom code
Note: All assossiations are not possible – Contact Parker for checking.
10 - PVD 3663_GB_NX_July 2014.Docx
0
0
3. TECHNICAL DATA
3.1. Motor selection
3.1.1.
Altitude derating
From 0 to 1000 m : no derating
1000 to 4000 m:
torque derating of 5% for each step of 1000 m for water cooled
1000 to 4000 m:
torque derating of 10% for each step of 1000 m for air cooled
3.1.2.
Temperature derating
3.1.2.1. Natural cooled motor
The maximal temperature for natural cooling is 40°C. But, it is possible to increase a
little bit the ambient temperature above 40°C, with a torque reduction. The following
formula gives an indicative about the torque derating at low speed. But in any case
refer to PARKER technical department to know the exact values
At low speed the torque derating is given by the following formula for an ambient
temperature > 40°C.
Torque _ derating[%]  100 *
(145C  Ambient _ temperatureC )
105C
At high speed, the calculation is more complex, and the derating is
much more important.
Please refer to PARKER to know the precise data of Torque derating
according to ambient temperature at high speed for a specific motor.
Illustration:
Only for example given for the NX620EAR :
105
Torque derating at low speed [%]
Torque Derating vs. ambient temperature
Torque derating at high speed [%]
Torque derating [%]
100
95
90
85
80
Ambient temperature [°C]
75
25
30
35
40
45
11 - PVD 3663_GB_NX_July 2014.Docx
50
55
60
3.1.2.2. Water cooled motor
Typical values are given with a water inlet temperature of 25°C and a temperature
gradient Inlet-Outlet of 10°C. These references lead to a winding overheating of 95°C
corresponding to a winding temperature of 120°C. Recommendations regarding
condensation issues are given at § 3.5
It is possible to increase a little bit the Inlet temperature up to 40°C, but the torque
must be reduced. The following formula gives an indicative of the torque derating at
low speed. But in any case refer to PARKER technical department to know the exact
values
At low speed the torque derating is given by the following formula for an water Inlet
temperature > 25°C.
(120C  Inlet _ temperatur eC )
Torque _ derating [%]  100 *
95C
At high speed, the calculation is more complex, and the derating is
much more important.
Please refer to PARKER to know the precise data of Torque derating
according to water inlet temperature at high speed for a specific motor.
Illustration:
Only for example given for the NX860WAF
102
Torque
Derating
vs.vs
ambiente
Torque
Derating
coolingtemperature
temperature
Torque derating at low speed [%]
Torque derating at high speed [%]
Torque derating [%]
100
98
96
94
92
Ambient
temperature [°C]
Cooling
temperature
90
25
30
35
12 - PVD 3663_GB_NX_July 2014.Docx
40
3.1.3.
Thermal equivalent torque (rms torque)
The selection of the right motor can be made through the calculation of the rms
torque Mrms (i.e. root mean squared torque) (sometimes called equivalent torque).
This calculation does not take into account the thermal time constant. It can be used
only if the overload time is much shorter than the copper thermal time constant.
The rms torque Mrms reflects the heating of the motor during its duty cycle.
Let us consider:
- the period of the cycle T [s],
- the successively samples of movements i characterized each ones by the maximal
torque Mi [Nm] reached during the duration ti [s].
So, the rms torque Mrms can be calculated through the following basic formula:
M rms 
1 n
*  M i2 ti
T i 1
Example:
For a cycle of 2s at 0 Nm and 2s at 10Nm and a period of 4 s, the rms torque is
M rms 
1
*10 2 * 2  7,07 Nm
4
20
4000
15
3000
10
2000
5
1000
Time [s]
0
0
0.0
0.2
0.4
0.6
0.8
1.0
1.2
-5
-1000
-10
-2000
-15
Speed [rpm]
Torque [Nm]
Illustration :
Acceleration-deceleration torque:10 Nm during 0.1 s. Resistant torque: 1 Nm during
the movement.
Max-min speed:  2800 rpm during 0.2 s. Max torque provided by the motor 11 Nm.
rms torque: 6 Nm.
-3000
motor torque [Nm]
rms average torque [Nm]
speed [rpm]
rms average speed [rpm]
-20
-4000
The maximal torque Mi delivered by the motor at each segment i of movement is
obtained by the algebric sum of the acceleration-deceleration torque and the
resistant torque. Therefore, Mmax corresponds to the maximal value of Mi.
13 - PVD 3663_GB_NX_July 2014.Docx
Selection of the motor :
The motor adapted to the duty cycle has to provide the rms torque Mrms at the rms
speed(*) without extra heating. This means that the permanent torque Mn available at
the average speed presents a sufficient margin regarding the rms torque Mrms.
 rms
1 n 2

*   i t i
T i 1
(*) rms speed is calculated thanks to the same formula as that used for the rms
torque. The mean speed cannot be used (in general mean speed is equal to zero).
Only use the rms speed.
Furthermore, each Mi and speed associated Ωi of the duty cycle has to be located in
the operational area of the torque vs speed curve.
Torque
Mk
Mrms.
Mn
Mi
Ωi
Ωk
Ωrms
Ωn
14 - PVD 3663_GB_NX_July 2014.Docx
Speed
3.1.4.
Drive selection
Drive selection depends on its rated power and its mode selection which leads to the
maximal current duration.
Please refer to the drive technical documentation for any further
information and to select the best motor and drive association.
AC890 PARKER drive example:
The rated current provided by the AC890 drive depends on its rated power and its
mode selection. “Vector mode” is used for induction motors while “Servo mode” is
used for brushless AC motors. With NX motors the power is usually < 37 kW, the
rated current corresponds to 100 %.
Power of Drive AC890 [kW]
< 37 kW
Mode
Overload capability [%]
Vector mode
Servo mode
150 % during 60 s
200 % during 4 s
Illustration:
25
Torque [Nm]
20
200% during 4 s
15
10
100% permanent
5
Speed [rpm]
0
0
500
1000
1500
2000
2500
3000
15 - PVD 3663_GB_NX_July 2014.Docx
3500
4000
BRUSHLESS MOTORS
NX620EAR
ELECTRONIC DRIVE (1)
DIGIVEX 7.5/15 et DIGIVEX 8/16
(230V)
(400V)
(480V)
Torque at low speed
Mo
Permanent current at low speed
Io
Mp
Peak torque
Example n°1 :
Current for the peak torque
The application needs:
Back emf constant at 1000 rpm (25°C)*
Torque sensitivity
- a rms torque of 7 Nm at the rms speed of 2000 rpm,
Winding resistance (25°C)*
- an acceleration torque of 12 Nm,
Winding inductance*
Rotor inertia
- a maximal speed of 2800 rpm.
Thermal time constant
Motor mass
Voltage of the mains
Selection of the motor:
Rated speed
Rated torque
The selected motor is the type NX620EAR.
Rated current
The nominal speed is equals to 3900 rpm.
Rated power
All data are given in typical values under standard conditions
The maximal speed is equals to 3900 rpm.
* Phase to phase
The torque sensitivity is equals to 1.47 Nm/Arms. Voltages and currents are given in rms values
BRUSHLESS MOTORS
Nm
A rms
Nm
A rms
26.7
Ip
Ke
V rms
95.7
Kt
Nm/A rms
1.51
Rb
L
J
Tth
M

mH
kgm²x10 -5
min
kg
V rms
230
2.24
19.2
98
27
7
400
In1 In2 In3
rpm
Nm
A rms
2200
7.42
4.99
3900
6.17
4.25
Pn1 Pn2 Pn3
W
1710
2520
UR1 UR2 UR3
Nn1 Nn2 Nn3
Mn1 Mn2 Mn3
(1) Please check the availability of this drive with 480 V
NX620EAR
ELECTRONIC DRIVE (1)
STEUERELEKTRONIK (1)
DIGIVEX 7.5/15 et DIGIVEX 8/16
DIGIVEX 7.5/15 et DIGIVEX 8/16
18
(480V)
Torque at low speed
Mo
Permanent current at low speed
Io
Peak torque
Mp
Current for the peak torque
Ip
Back emf constant at 1000 rpm (25°C)*
Torque sensitivity
Winding resistance (25°C)*
Winding inductance*
Rotor inertia
Thermal time constant
Motor mass
Voltage of the mains
Nm
A rms
8
5.31
Nm
A rms
26.7
--
21.2
--
Ke
V rms
95.7
Kt
Nm/A rms
1.51
Rb
L
J
Tth
M

mH
kgm²x10 -5
min
kg
V rms
230
2.24
19.2
98
27
7
400
480
2200
7.42
4.99
3900
6.17
4.25
4500
5.57
3.89
1710
2520
2620
UR1 UR2 UR3
Rated speed
Rated torque
Rated current
Mn1 Mn2 Mn3
In1 In2 In3
rpm
Nm
A rms
Rated power
Pn1 Pn2 Pn3
W
Nn1 Nn2 Nn3
Torque in N.m
(400V)
16
14
12
10
8
6
4
2
0
0
1000
2000
3000
4000
Speed in rpm
All data are given in typical values under standard conditions
The permanent current I0 of the motor is 5.31 Arms for M0=8 Nm at low speed.
Characteristics are given for an optimal drive of the motor
The nominal current In of the motor is 4.25 Arms for
M avr=6.17
NmEdition:
at the nominal
speed.
Création: 04n
2000
31/mars/2011
* Phase to phase
21.2
BÜRSTENLOSE SERVOMOTOREN
NX620EAR
(230V)
8
5.31
(1) Please check the availability of this drive with 480 V
Voltages and currents are given in rms values
Selection of the drive:
The drive has to provide at least a permanent current equals to I0 (5.31 Arms).
In order to obtain an acceleration torque of 12 Nm, the current will be about 8 Arms
(the motor data sheet shows 17 Nm with 11.3 Arms). This means that the drive has to
provide at least 8 Arms as transient current.
18
Torque in N.m
NX620EAR
16
14
12
10
8
 Therefore, we can select the drive AC890SD-53 2100 B which delivers under 400 VAC:
6 Arms as permanent current and
6*200%=12 Arms as maximal transient current during 4 s.
The drive is set with “Servo Mode”.
6
4
2
0
0
1000
2000
3000
4000
5000
in rpm 8/16 Â which delivers under 400 VAC:
 We also can select the drive Speed
DIGIVEX
5.6 Arms as permanent current and
Characteristics are given for an optimal drive of the motor
NX620EAR
.a
5.6*200%=11.3 Arms as maximal
transient current during
2 s.
FICHE-009
Création: 04 avr 2000
Edition:
31/mars/2011
16 - PVD 3663_GB_NX_July 2014.Docx
5000
Example n°2 :
This times; the application needs :
- a permanent torque of 5.8 Nm at low speed,
- a rms torque of 5.8 Nm at the rms speed of 1890 rpm,
- an acceleration torque of 8.8 Nm,
- a maximal speed of 2800 rpm.
Selection of the motor:
The selected motor is the type NX620EAR.
The nominal speed is equals to 3900 rpm.
The maximal speed is equals to 3900 rpm.
The torque sensitivity is equals to 1.47 Nm/Arms.
Selection of the drive:
The drive has to provide a permanent current equals to 4 Arms to obtain 5.8 Nm.
In order to obtain an acceleration torque of 8.8 Nm, the current will be of about 6 Arms
This means that the drive has to provide at less 6 Arms as transient current.
Compared to the previous example n°1, it is now possible to decrease the size of drive.
 Therefore, we can select the drive AC890SD-53 1600 B which delivers under 400 VAC:
4 Arms as permanent current and
4*200%=8 Arms as maximal transient current during 4 s.
The drive is set with “Servo Mode”.
17 - PVD 3663_GB_NX_July 2014.Docx
3.1.5.
Current limitation at stall conditions (i.e. speed < 3 rpm)
Recommended reduced current at speed < 3 rpm:
1
I reduced 
* I 0  0.7 * I 0
2
Warning: The current must be limited to the prescribed values. If the
nominal torque has to be maintained at stop or low speed (< 3 rpm),
imperatively limit the current to 70% of I0 (permanent current at low
speed), in order to avoid an excessive overheating of the motor.
Please refer to the drive technical documentation for any further
information and to choose functions to program the drive.
Peak current/Low speed
current
3.1.6.
Peak current limitations
4
I/Io
3
tp
2
tc
1
Time
0
0
5
10
15
20
25
It is possible to use the NX motor with a current higher than the permanent current.
But, to avoid any overheating, the following rules must be respected.
1) The peak currents and peak torques given in the data sheet must never be
exceeded
2) The thermal equivalent torque must be respected (§3.1.3)
3) If 1) and 2) are respected (it can limit the peak current value or duration), the
peak current duration (tp) must be limited, in addition, accordingly to the
following table (Io is the permanent current at low speed):
Ip/Io =2
Ip/Io = 3
Ip/Io =4
Ip/Io >5
Ipeak/In
NX110
NX210
NX310
NX420
NX430
NX620
NX630
NX820
NX840
NX860
NX860V
NX860W
tp<0.8 s
tp<0.3s
tp<0.15s
tp<0.1s
tp<1.5s
tp<0.6s
tp<0.3s
tp<0.2s
tp<3s
tp<1.5s
not allowed
The peak current duration is calculated for a temperature rise of 3°C
Consult us for more demanding applications.
18 - PVD 3663_GB_NX_July 2014.Docx
3.2. NX Characteristics: Torque, speed, current, power…
The torque vs speed graph below explains different intrinsic values of the next tables.
Torque
Peak Torque
Permanent
torque at low
speed
Nominal
Power
Nominal
torque
Stall torque
3 rpm
Nominal
speed
Max
speed
19 - PVD 3663_GB_NX_July 2014.Docx
Speed
Current
at low
speed
Peak
Torque
Peak
current
Back emf
constant
at
1000rpm
Torque
sensitivity
Winding
resistance
Winding
inductance
Rotor
inertia
Rb ()
L (mH)
(10-5.kg.m²)
Motor
Electronic Drive
Torque
at low
speed
Name
Type
Mo
(Nm)
Io
(Arms)
Mp
(Nm)
Ip
(Arms)
Ke (V)
Kt (Nm/A)
J
Rated
Voltage
speed
of the
and max
mains
speed
Nn
UR (V)
(rpm)
Rated
torque
Rated
current
Rated
power
UL
version
Mn
(Nm)
In
(Arms)
Pn (W)
-
NX110AAJ
DRIVE 1 / 6 Arms
0,31
0,973
1,72
5,74
22,4
0,318
12
14,9
1,3
230
5000
0,09
0,34
50
Yes
NX110AAT
DRIVE 1 / 3 Arms
0,31
0,515
1,72
3,04
42,3
0,602
44,6
53,2
1,3
230
4000
0,15
0,27
60
Yes
NX110EAP
DRIVE 1 / 4 Arms
0,45
0,989
1,72
3,96
29,9
0,46
22,6
26,5
1,3
230
6000
0,33
0,78
210
NO
NX205AAV
DRIVE 1 / 5.5 Arms
0,4
0,908
2
5,5
30,2
0,44
17,6
46,4
2,1
400
6600
0,11
0,32
80
Yes
NX205EAV
DRIVE 1.5 / 6 Arms
0,45
1,01
2
5,08
30,2
0,44
17,6
46,4
2,1
400
7500
0,29
0,69
230
NO
NX205EAS
DRIVE 1.5 / 7.5 Arms
0,45
1,4
2
7,01
21,9
0,32
8,9
24,3
2,1
400
8900
0,23
0,80
210
NO
NX210AAT
DRIVE 1 / 6 Arms
0,7
1
3,4
5,58
48,6
0,7
16,3
35,0
3,8
400
6000
0,15
0,27
100
Yes
NX210EAT
DRIVE 1.5 / 6 Arms
1
1,33
3,4
5,35
48,6
0,75
16,3
35,0
3,8
400
6000
0,61
0,89
390
NO
NX210EAP
DRIVE 2 / 8 Arms
1
1,99
3,4
7,96
32,6
0,50
7,7
15,8
3,8
400
7000
0,50
1,11
370
NO
NX210EAG
DRIVE 3 / 11 Arms
1
2,75
3,4
11
23,6
0,36
3,9
8,3
3,8
400
7000
0,50
1,53
370
NO
NX310EAP
DRIVE 1.5 / 6 Arms
2
1,39
6,6
5,56
88,9
1,44
20,7
62,0
7,9
400
4000
1,65
1,18
690
Yes
NX310EAI
DRIVE 3.5 / 14 Arms
2
3,38
6,6
13,5
36,5
0,59
3,4
10,5
7,9
230
5600
1,48
2,61
870
NO
NX310EAK
DRIVE 2.5 / 10 Arms
2
2,43
6,6
9,71
50,9
0,82
6,6
20,3
7,9
400
7000
1,36
1,76
1000
Yes
NX310EAX
DRIVE 4 / 16 Arms
2
3,85
6,6
15,4
32,1
0,52
2,7
8,1
7,9
230
6600
1,32
2,71
910
Yes
NX420EAP
DRIVE 3 / 11 Arms
4
2,71
13,4
10,9
89,9
1,48
7,2
33,0
29
400
4000
3,14
2,16
1310
Yes
NX420EAV
DRIVE 1.5 / 6 Arms
4
1,36
13,4
5,47
179
2,94
28,4
131,0
29
400
2000
3,60
1,23
750
Yes
NX420EAX
DRIVE 6 / 22 Arms
4
5,42
13,4
21,8
44,9
0,74
1,8
8,2
29
400
7500
1,89
2,72
1490
NO
NX420EAJ
DRIVE 5 / 20 Arms
4
4,69
13,4
18,8
51,9
0,85
2,3
11,0
29
400
6000
2,62
3,17
1650
Yes
NX430EAV
DRIVE 1.5 / 6 Arms
5,5
1,41
18,8
5,64
244
3,90
29,0
151,0
42,6
400
1000
5,38
1,38
560
Yes
NX430EAP
DRIVE 3 / 12 Arms
5,5
2,82
18,8
11,3
122
1,95
7,3
37,8
42,6
400
3000
4,77
2,48
1500
Yes
NX430EAL
DRIVE 4 / 16 Arms
5,5
3,78
18,8
15,1
90,9
1,45
4,2
21,0
42,6
400
4000
4,29
3,01
1800
Yes
NX430EAF
DRIVE 7 / 27 Arms
5,5
6,64
18,8
26,5
51,8
0,83
1,4
6,8
42,6
400
6000
2,98
3,76
1870
Yes
NX430EAJ
DRIVE 6 / 22 Arms
5,5
5,24
18,8
21
65,6
1,05
2,2
10,9
42,6
400
5500
3,35
3,31
1930
Yes
NX430EAH
DRIVE 6 / 23 Arms
5,5
5,64
18,8
22,5
61
0,98
1,8
9,4
42,6
400
6000
2,98
3,19
1870
Yes
20 - PVD 3663_GB_NX_July 2014.Docx
Motor
Electronic Drive
Torque
at low
speed
Current
at low
speed
Peak
Torque
Peak
current
Back emf
constant
at
1000rpm
Torque
sensitivity
Winding
resistance
Winding
inductance
Rotor
inertia
Name
Type
Mo
(Nm)
Io
(Arms)
Mp
(Nm)
Ip
(Arms)
Ke (V)
Kt (Nm/A)
Rb ()
L (mH)
(10-5.kg.m²)
NX620EAR
DRIVE 6 / 22 Arms
8
5,31
26,7
21,2
95,7
1,51
2,2
19,2
98
400
NX620EAJ
DRIVE 10 / 40 Arms
8
9,89
26,7
39,5
51,3
0,81
0,6
5,5
98
J
Rated
Voltage
speed
of the
and max
mains
speed
Nn
UR (V)
(rpm)
Rated
torque
Rated
current
Rated
power
UL
version
Mn
(Nm)
In
(Arms)
Pn (W)
-
3900
6,17
4,25
2520
Yes
400
5700
4,10
5,56
2450
Yes
NX620EAV
DRIVE 3 / 12 Arms
8
2,83
26,7
11,3
180
2,83
7,9
67,6
98
400
2000
7,52
2,69
1570
Yes
NX620EAD
DRIVE 13 / 50 Arms
8
12,1
26,7
48,3
42
0,66
0,4
3,7
98
400
6000
3,68
6,19
2310
NO
NX630EAR
DRIVE 6 / 22 Arms
12
5,25
40
21
138
2,29
2,4
24,9
147
400
2700
9,34
4,20
2640
Yes
NX630EAN
DRIVE 8 / 32 Arms
12
7,93
40
31,6
91,6
1,51
1,1
10,9
147
400
4000
7,60
5,30
3180
Yes
NX630EAV
DRIVE 3 / 11 Arms
12
2,62
40
10,5
277
4,57
9,2
99,6
147
400
1350
10,83
2,40
1530
Yes
NX630EAK
DRIVE 10 / 40 Arms
12
9,86
40
39,4
73,6
1,22
0,7
7,1
147
400
4900
6,23
5,53
3190
Yes
NX630EAG
DRIVE 14 / 56 Arms
12
13,9
40
55,6
52,1
0,86
0,3
3,5
147
230
4000
8,31
10,1
3480
NO
NX820EAX
DRIVE 6 / 21 Arms
16
5,16
50
20,3
193
3,10
4,5
38,7
320
400
1900
14,72
4,79
2930
Yes
NX820EAR
DRIVE 12 / 44 Arms
16
11
50
43,2
91
1,46
1,0
8,6
320
400
3900
12,94
9,07
5290
Yes
NX820EAL
DRIVE 18 / 70 Arms
16
17,6
50
69,1
56,9
0,91
0,4
3,4
320
400
6200
10,35
11,90
6720
NO
NX840EAQ
DRIVE 11 / 40 Arms
28
10,1
92
39,9
174
2,78
1,4
15,1
620
400
2100
23,17
8,47
5090
Yes
NX840EAL
DRIVE 16 / 60 Arms
28
15,1
92
59,8
116
1,85
0,6
6,7
620
400
3100
19,99
11,09
6490
Yes
NX840EAK
DRIVE 17 / 67 Arms
28
16,8
92
66,5
104
1,67
0,5
5,4
620
400
3500
18,56
11,51
6800
Yes
NX840EAJ
DRIVE 20 / 75 Arms
28
18,9
92
74,8
92,8
1,48
0,4
4,3
620
400
3900
17,04
11,99
6960
NO
NX860EAJ
DRIVE 20 / 75 Arms
41
18,5
137
74
140
2,21
0,5
6,4
920
400
2600
27,47
12,66
7480
Yes
NX860EAD
DRIVE 35 / 135 Arms
41
33
137
132
78,7
1,24
0,2
2,0
920
400
3200
21,89
18,19
7340
NO
NX860EAF
DRIVE 28 / 110 Arms
41
27
137
108
96,1
1,52
0,2
3,0
920
400
3200
21,89
14,88
7340
NO
NX860VAJ
DRIVE 30 / 75 Arms
64
29,3
137
74
140
2,18
0,5
6,4
920
400
2600
52,57
24,06
14310
Yes
NX860VAF
DRIVE 45 / 110 Arms
64
42,7
137
108
96,1
1,50
0,2
3,0
920
400
3750
43,38
28,93
17030
NO
NX860WAF
Drive 73 / 110 Arms
90
62,6
137
108
96,1
1,44
0,2
3,0
920
400
3750
85,1
59,1
33420
NO
21 - PVD 3663_GB_NX_July 2014.Docx
3.2.1.
Efficiency curves
Caution: The efficiency curves are typical values. They may vary from
one motor to an other
Caution: The efficiency curves are given for an optimal motor control
(no voltage saturation and optimal phase between current and EMF)
Caution: The efficiency curves do not include the losses due to the
switching frequency.
22 - PVD 3663_GB_NX_July 2014.Docx
3.2.1.1. Series NX110E
Constant efficiency curves of the motor
NX110EAP
0.9
50
70
Efficiency [%]
74
54
62
72
52
0.8
66
60
58
56
76
68
64
0.7
74
70
0.6
72
78
80
62
50
66
60
52
54
0.5
5
58 6
0.4
64
Torque [Nm]
76
74
68
70
80
78
82
76
72
84
0.3
82
62
66
80
55652
64 8
5 50
60 4
68
70
72
0.2
0.1
84
78
74
76
84
84
0
1000
80
78
74
80
78
74
80
78
76
74
68 7072
66
62
58 64
50 54 605256
0
82
82
82
76
72
68 70
62 66 50 54 605256
58 64
76
72
68 70
62 66 50 54 605256
58 64
2000
3000
Speed [rpm]
4000
5000
6000
3.2.1.2. Series NX205E
Constant efficiency curves of the motor
NX205E
0.9
80
82
78
74
76
60
56
50
54
66
0.8
70
64
68
72
58
52
62
Efficiency [%]
0.7
80
84
0.6
82
78
70
68
74
76
86
84
66
64
52
58
62
72
80
50
56 54
60
0.4
82
86
78
0.3
88
72
84
82
86
86
86
66
5
582
64
80
62
68
70
74
76
88
0.2
84
78
74 76
72 62 70
685258
66
64
56
0
0
84
84
0.1
50 54
60
Torque [Nm]
0.5
1000
2000
80
82
80
78
72
5460
50 56
3000
74 76
70
66
64
62 685258
4000
Speed [rpm]
80
82
78
72
5460
50 56
5000
23 - PVD 3663_GB_NX_July 2014.Docx
6000
74
70
68 64
62
5258
76
66
5460
50 56
7000
3.2.1.3. Series NX210E
Constant efficiency curves of the motor
NX210E
2
72
80
78
76
84
1.6
74
66
68
62
64
56 54
5
60 8
50
52
1.8
86
82
70
Efficiency [%]
88
86
82
1.4
80
72
88
70
78
86
74
82
0.8
84
76
1
50 5
2
6058 56 54
62
66
64
68
Torque [Nm]
1.2
88
0.6
86
84
80
72
88
88
70
78
0.4
88
5262
66
656
87 54
4 64
76
0.2
82
84
80
5850
0
86
84
86
82
1000
2000
3.2.1.4.
80
78 7674
70 64
68
66 60
62
54 56
52 58
50
72
60
0
86
84
72
3000
4000
82
80
78
70
7674
6866
64 56
62 5860
54
52 50
5000
Speed [rpm]
6000
72
7000
8000
78
7674
6866
64
62 60
54 5652 58
50
70
9000
10000
Series NX310E
Constant efficiency curves of the motor
NX310E
4
80
76
74
72
82
66
88
78
5
520
3.5
56
58
60
62
64
54
68
70
Efficiency [%]
84
86
82
3
2.5
80
70
72
74
76
68
66
78
54
84
56
5
608
6462
86
5520
90
88
82
1.5
86
80
90
0.5
84
88
88
82
50
52
0
0
90
90
78
54 56
646658
20
6
72 8 7
74
0
76
1
66
Torque [Nm]
2
88
1000
86
84
88
80
74
70 687672
64 54
6062
58
56
86
84
78
66 50
52
2000
86
84
82
80
76 74
70 68 72
64 54
58
6062
56
3000
Speed [rpm]
4000
82
78
66 50
52
5000
24 - PVD 3663_GB_NX_July 2014.Docx
80
76 74
70 68 72 6264
6056 54
58
6000
78
66 50
52
3.2.1.5. Series NX420E
Constant efficiency curves of the motor
NX420E
8
84
80
82
78
74
86
70
72
7
60
62
54
50
52
56
58
76
64
66
68
Efficiency [%]
88
90
84
6
80
78
86
88
82
76
64
66
68
74
4
90
70
72
54 50
6602 56 552
8
Torque [Nm]
5
90
3
84
90
0
50 58
60
54
62
52
70
72 56
64
66
74
68
78
76
1
90
88
86
8
820
88
2
0
84
82
80
76
68
66
64
82
8076
78
74 70
72
68
66
64 52
62
60
58 56
50 54
1000
2000
84
86
88
86
84
86
88
90
3000
78
74 72
70
62
60
58 56
52
50 54
4000
Speed [rpm]
82
80
76
68
66
64
5000
78
74 72
70
62
60
58
52 56
50 54
6000
7000
3.2.1.6. Series NX430E
Constant efficiency curves of the motor
NX430E
11
76
82
78
84
80
86
88
74
68
9
72
60
62
6
66 4
5452
50
10
70
56
58
Efficiency [%]
90
8
86
80
84
82
76
78
88
90
74
72 70
56
58
5452
5
60
6
68 66264
50
6
90
88
4
90
1
8
84 2
2
80 7678
86
3
90
88
90
0
0
86
88
2000
82
84
80
86
84
82
80
78
74
76 72
70 6450
6660 5268
62
58
54
56
1000
84
86
88
74
54
52 6066
5064 56
62
68
58
72 70
Torque [Nm]
7
80
78
76
74
70 72 66
646260 68
58
56
5254
50
82
78
76 72
74
70
68
66
62
60 5254
58
56 6450
3000
Speed [rpm]
4000
25 - PVD 3663_GB_NX_July 2014.Docx
5000
6000
3.2.1.7. Series NX620E
Constant efficiency curves of the motor
NX620E
92
86
88
84
74
80
82
78
72
52
54
606258
66 64
14
76
50
56
68
70
Efficiency [%]
90
16
92
12
8078
82
86
68
70
76 74
50
56
8
52
60 54
58
66 6264
72
Torque [Nm]
84
88
90
10
94
90
92
6
2
92
86 84
52
54
62
58
64
72 5056 70
68
8078 76 74
82
88
4
92
90
90
88
84
74 76
70
68 5650
6066
0
90
92
0
1000
88
84
86
82
80
78
72 66
64
6260
58
54
52
74
70 76
68
5650
2000
3000
Speed [rpm]
88
84
86
82
78 80
72 66
64
6260
58
54
52
76
74
70
68
5650
4000
5000
86
82
78 80
72
64626066
58
54
52
6000
3.2.1.8. Series NX630E
90
88
84
86
94
92
20
82
52
50
54
5660
58
6462
66
68
70
72
74
76
78
80
Efficiency [%]
92
Constant efficiency curves of the motor
NX630E
10
94
88
84
86
82
Torque [Nm]
5660
54
50
5852
66 68 6462
70
72
76
74
80 78
90
15
92
94
94
90
94
5
5268766470
62
7250 74
807882
84
86
88
92
92
0
90
88
90
88
84
86
84
82 80
78
76
74 72
70
68
66
64
6056
5258
54
50 62
66
58
54
6056
0
90
92
1000
2000
88
86
84
86
82 80
78
76
74 72
70
66
6264 68
60
56
54
5258
50
82 80
78
76
74 72
70
66
64 68
6056
54
5258
50 62
3000
Speed [rpm]
4000
5000
26 - PVD 3663_GB_NX_July 2014.Docx
6000
3.2.1.9. Series NX820E
Constant efficiency curves of the motor
NX820E
88
86
84
82
80
92
78
76
74
62
68 66
70
90
58
60
64
56
30
72
52 50
54
Efficiency [%]
90
25
88
92
84
82
86
15
80
58 56 525450
60
64
62
68 66
70
74
72
78 76
Torque [Nm]
20
92
88
90
82
84
86
10
92
5668
525450
66
62
70
74
78
76 72
80
5
92
90
90
90
88
0
88
88
64
5680
0
92
86
84
82
80
78
76
72 62
7068
6674
56
5054 52
86
64
58
60
1000
2000
84
82
80 78
7674
72 62
667068
56
5054 52
64
60
58
3000
Speed [rpm]
4000
86
84
82 80
767478
72 62
7068
5054 5266 56
64
60
58
5000
6000
3.2.1.10. Series NX840E
Constant efficiency curves of the motor
NX840E
90
88
86
82
78
80
84
70
68
72
74
52
54
58
50
92
76
56
60
66
62
64
50
Efficiency [%]
94
86
88
84
50
58
56
62 60
68 64
72
66
74
70
78 76
82 80
94
92
54
52
30
20
94
90
94
92
10
58
64
62 5060
56
74
76 6670
78 80
84
86
88
Torque [Nm]
90
92
40
92
90
88
86
84
82
76 80747872
70
6650 62
64 5868 52
60
56
54
82
90
88
86
84
80 7882
76
74
72
70
6650 62
64 5868 52
60
56
54
6872
5524
0
0
90
92
500
1000
1500
2000
2500
3000
88
86
84
82
80
76 7478
7066 64 68 72
6050 62 58 52
56
54
3500
Speed [rpm]
27 - PVD 3663_GB_NX_July 2014.Docx
4000
4500
3.2.1.11. Series NX860E
Constant efficiency curves of the motor
NX860E
80
80
86
88
90
82
92
84
76
72
68
70
74
70
62
64
66
54 52
58
60
78
50
56
Efficiency [%]
60
90
92
40
84
86
88
82
54 52
50
62
5860 56
6664
70 68
74 72
76
80
78
94
92
90
94
30
94
88
20
10
52
5860 56
50
70 68
72
74
76
80
78
84 82
86
Torque [Nm]
50
92
90
0
90
90
500
1000
88
86
84
82
78
76 80
7270 74 66
68
56 60 58
52 546462
50
88
86
84
82
80
78
76 74
7252
7054
68
66
64
62
56 60 58
50
88
86
84
82
78 7276 7480
68
70
66
62
56 60 58 52 5464
50
6662
54
64
0
92
92
1500
Speed [rpm]
2000
2500
28 - PVD 3663_GB_NX_July 2014.Docx
3000
3.2.1.12. Series NX860V
Constant efficiency curves of the motor
NX860V
Efficiency [%]
86
72
90
74
70
80
76
66
68
50
5542
56
60
88
84
78
64
82
62
58
120
100
88
86
90
82
84
92
78
72
6258
64
88
92
90
94
86
60
80
76 74
70
52 50
54
60 56
66
68
Torque [Nm]
80
84
94
82
40
86
90
88
78 6458
8060
7262
707450 76
68
56
5466
52
84 82
0
500
92
92
92
6660
0
94
94
54
52
56
6850 70
58
76 74627264
80
20
90
78
88
92
88
86
1000
84 82
1500
90
90
86
8060
78 6458
7262
707450 76
68
56
52
5466
2000
Speed [rpm]
88
84 82
2500
80
78 6458
7262
7074 76
60
56
5466
52
50 68
3000
3500
3.2.1.13. Series NX860W
Constant efficiency curves of the motor
NX860W
180
Efficiency [%]
68
6
62 0
72
74
140
84
78
86
70
64
66
50
52
56 54
58
160
82
80
76
84
82
88
80
90
86
74
76
88
90
84
92
88
86
80
80
70
56 554502
58
6664
82
78
68
62 60
100
92
90
94
94
20
0
94
84
90
88
94
84
76
72
500
88
78 68
7482
60 62
1000
92
92
92
5465466
0
94
86
62
6860
40
92
74
78
82
72
76
60
50
52 58
80 70
Torque [Nm]
72
120
90
86 80
66
58 70
56
54 64
52
50
1500
84
76
72
2000
78 68 88
7482
60 62
2500
Speed [rpm]
90
86 80
66
58 70
56
52
54 64
50
3000
84
76
72
3500
29 - PVD 3663_GB_NX_July 2014.Docx
78 68
7482
60 62
4000
88
90
86 80
66
58 70
56
54 64
52
50
4500
3.2.2.
Electromagnetic losses
Caution: Following data result from our best estimations but are
indicative. They can vary from one motor to another and with
temperature. No responsibility will be accepted for direct or indirect
losses or damages due to the use of these data.
(Following data are indicative)
Type
Tf [Nm]
Kd [Nm/1000rpm]
NX110EAP
0.010
0.004
NX205EAV
0.028
0.002
NX210EAP
0.013
0.007
NX310EAP
0.024
0.012
NX420EAP
0.045
0.013
NX430EAP
0.059
0.020
NX620EAR
0.080
0.034
NX630EAR
0.120
0.040
NX820EAR
0.104
0.083
NX840EAK
0.208
0.166
NX860EAJ
0.485
0.160
NX860VAJ
0.485
0.160
Torque losses = Tf + Kd x speed/1000
30 - PVD 3663_GB_NX_July 2014.Docx
3.2.3. Time constants of the motor
3.2.3.1. Electric time constant:
 elec 
L ph _ ph
R ph _ ph
With following values given in the motor data sheet
Lph_ph inductance of the motor phase to phase [H],
Rph_ph resistance of the motor phase to phase at 25°C [Ohm].
Example:
Motor series NX620EAR
Lph_ph = 19.2 mH or 19.2.10-3 H
Rph_ph at 25°C = 2.24 Ohm
 elec = 19.2.10-3/2.24=8.6 ms
An overall summary of motor time constants is given a little further.
 mech
3.2.3.2. Mechanical time constant:
R ph _ n * J
0.5 * R ph _ ph * J


Ke
Ke
Kt * Ke ph _ n
(3 * ph _ ph ) * ph _ ph
3
3
 mech 
0.5 * Rph _ ph * J
( Ke ph _ ph )2
With following values obtained from the motor data sheet:
Rph_ph
resistance of the motor phase to phase at 25°C [Ohm],
J
inertia of the rotor [kgm²],
Keph_ph back emf coefficient phase to phase [Vrms/rad/s].
The coefficient Keph_ph in the formula above is given in [Vrms/rad/s]
To calculate this coefficient from the datasheet, use the following relation:
Ke ph _ ph[V / 1000rpm]
rms
Ke ph _ ph[V / rad / s ] 
rms
2 *  *1000
60
Example:
Motor series NX620EAR
Rph_ph at 25°C = 2.24 Ohm
J = 98.10-5 kgm²
Keph_ph [Vrms/1000rpm] = 95.7 [Vrms/1000rpm]
 Keph_ph [Vrms/rad/s] = 95.7/(2**1000/60) = 0.9139 [Vrms/rad/s]
 mech=0.5*2.24*98.10-5 /(0.9139²) = 1.2 ms
31 - PVD 3663_GB_NX_July 2014.Docx
Remarks:
For a DC motor, the mechanical time constant mech represents the duration needed
to reach 63% of the final speed when applying a voltage step without any resistant
torque. However this value makes sense only if the electric time constant elec is
much smaller than the mechanical time constant mech (for the motor NX620EAR
taken as illustration, it is not the case because we obtain mech<elec.).
An overall summary of motor time constants is given a little further.
3.2.3.3. Thermal time constant of the copper:
 therm  Rthcopper_ iron * Cthcopper
Cthcopper[ J /  K ]  Masscopper[ Kg ] * 389[ J / kg  K ]
With:
Rthcopper_iron thermal resistance between copper and iron [°K/W]
Cthcopper
thermal capacity of the copper [J/°K]
Masscopper
mass of the copper (winding) [kg]
Hereunder is given an overall summary of motor time constants:
Type
Electric time
constant [ms]
Mechanical time
constant [ms]
NX110EAP
NX205EAV
NX210EAP
NX310EAP
NX420EAP
NX430EAP
NX620EAR
NX630EAR
NX820EAR
NX840EAK
NX860EAJ
NX860VAJ
1.2
2.6
2.0
3.0
4.6
5.2
8.6
10.2
8.5
11.0
12.9
12.9
0.5
0.6
0.5
1.0
1.2
1.3
1.2
1.3
1.9
1.5
1.7
1.7
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Thermal time
constant of copper
[s]
3.0
7.9
5.6
11.6
31.1
32.6
59.5
53.9
67.3
29.9
28.1
28.1
3.2.4. Speed ripple
The typical speed ripple for a NX motor with a resolver at 4000rpm is 3% peak to
peak.
This value is given as indicative data because depending on the settings of the drive
(gains of both speed and current regulation loops, presence of filtering or not, load
inertia, resistant torque and type of sensor in use), without external load (neither
external inertia nor resistant torque).
33 - PVD 3663_GB_NX_July 2014.Docx
3.2.5. Rated data according to rated voltage variation
The nominal characteristics and especially the rated speed, maximal speed, rated
power, rated torque, depend on the nominal voltage supplying the motor considered
as the rated voltage. The rated data mentioned in the data sheet are given for each
association of motor and drive. Therefore, if the supply voltage changes, the rated
values will also change. As long as the variation of the rated voltage remains limited,
for instance 10% of the nominal value, it is possible to correctly evaluate the new
rated values as illustrated below.
Example:
Extract of NX620EAR datasheet
If we suppose that the rated voltage Un=400 Vrms decreases of 10% ; this means
that the new rated voltage becomes Un2=360 Vrms.

Rated speed:
The former rated speed Nn=3900 rpm obtained with a rated voltage Un=400 Vrms and
an efficiency of =92% leads to the new rated speed Nn2 given as follows:
U n2
360
1
 1  0.92
Un
400
N n2  N n *
N n 2  3900 *
 3476rpm

0.92
34 - PVD 3663_GB_NX_July 2014.Docx
Maximum speed:
The former maximum speed Nmax = 3900 rpm obtained with Un =400 Vrms and Nn
=3900 rpm leads to the new maximum speed Nmax2 given as follows:
N
3476
N max 2  3900 *
 3476rpm
N max 2  N max * n 2
Nn
3900
N.B.
If the rated voltage increases (Un2 > Un), the new rated speed Nn2 and the new
maximum speed Nmax2 will be greater than the former ones Nn and Nmax. Moreover
you will have to check that the drive still shows able to deal with the new maximum
electric frequency.

Warning: If the main supply decreases, you must reduce the maximum
speed accordingly in order not damage the motor.
In case of doubt, consult us.
Rated power:
The former rated power Pn=2520 W obtained with Un =400 Vrms leads to the new
rated power Pn2 given as follows:
U
360
Pn 2  2520 *
 2268W
Pn 2  Pn * n 2
Un
400
Rated torque:
The former rated torque Mn = 6.17 Nm obtained with Un =400 Vrms leads to the new
rated torque Mn2 given as follows:
2268
Pn 2
M n2 
 6.23Nm
M n2 
2 *  * 3476
2 *  * N n2
60
60
35 - PVD 3663_GB_NX_July 2014.Docx
3.2.6.
Voltage withstand characteristics of NX series
The motors fed by converters are subject to higher stresses than in case of
sinusoidal power supply. The combination of fast switching inverters with cables will
cause overvoltage due to the transmission line effects. The peak voltage is
determined by the voltage supply, the length of the cables and the voltage rise time.
As an example, with a rise time of 200 ns and a 30 m (100 ft) cable, the voltage at
the motor terminals is twice the inverter voltage.
The insulation system of the servomotors NX is designed to withstand high repetitive
pulse voltages and largely exceeds the recommendations of the IEC/TS 60034-25 ed
2.0 2007-03-12 for motors without filters up to 500V AC (See figure 1).
MOTOR PULSE WITHSTAND
CHARACTERISTIC CURVES
2.6
2.4
2.2
Peak Voltage (kV)
2
1.8
1.6
1.4
1.2
1
Curve NX motors
0.8
Curve IEC 60034-25: <690V AC
0.6
Curve IEC 60034-25: <500V AC
0.4
Curve IEC 60034-17: <500V AC
0.2
0
0
0.2
0.4
0.6
0.8
Voltage Pulse Rise Time (µs)
1
1.2
Figure 1: Minimum Voltage withstands characteristics for motors insulations
according to IEC standards. At the top are the typical capabilities for the NX motors.
Note: The pulse rise times are defined in accordance with the IEC/TS 60034-17
ed4.0 2006-05-09.
The NX motors can be used with a supply voltage up to 500 V under the following
conditions:
 The pulse rise times must be longer than 50 ns.
 The repetitive pulse voltages must not exceed the values given in figure 1,
“Curve NX motors” in dark blue.
36 - PVD 3663_GB_NX_July 2014.Docx
3.3. Dimension drawings
3.3.1.
NX1
37 - PVD 3663_GB_NX_July 2014.Docx
38 - PVD 3663_GB_NX_July 2014.Docx
39 - PVD 3663_GB_NX_July 2014.Docx
3.3.2.
NX1 UL version
40 - PVD 3663_GB_NX_July 2014.Docx
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3.3.3.
NX2
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3.3.4.
NX2 UL version
48 - PVD 3663_GB_NX_July 2014.Docx
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3.3.5.
NX3
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3.3.6.
NX4
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3.3.7.
NX6
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3.3.8.
NX8
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3.3.9.
NX8 water cooled
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3.4. Motor Mounting
3.4.1.
Motor mounting
By flange in any direction
Warning : For NX8 with fan cooling, the air inlet of the fan has to be at
100mm mini from a wall.
100mm
Air flow direction
67 - PVD 3663_GB_NX_July 2014.Docx
3.4.2.
Frame recommendation
Warning : The user has the entire responsibility to design and prepare
the support, the coupling device, shaft line alignment, and shaft line
balancing.
Foundation must be even, sufficiently rigid and shall be dimensioned in order to avoid
vibrations due to resonances.
The servomotors need a rigid support, machined and of good quality.
The maximum flatness of the support has to be lower than 0.05mm.
The motor vibration magnitudes in rms value are in accordance with IEC 60034-14 –
grade A:
 maximum rms vibration velocity for NX is 1.3mm/s for rigid mounting
Warning : A grade A motor (according to IEC 60034-14) well-balanced,
may exhibit large vibrations when installed in-situ arising from various
causes, such as unsuitable foundations, reaction of the driven motor,
current ripple from the power supply, etc.
Vibration may also be caused by driving elements with a natural
oscillation frequency very close to the excitation due to the small
residual unbalance of the rotating masses of the motor.
In such cases, checks should be carried out not only on the machine,
but also on each element of the installation. (See ISO 10816-3).
68 - PVD 3663_GB_NX_July 2014.Docx
3.5. Shaft Loads
3.5.1.
Vibration resistance to shaft end
Frequency domain :10 to 55 Hz according to EN 60068 -2-6
Vibration resistance to the shaft end :
- radial 3 g
- axial 1 g
3.5.2.
Motors life time for horizontal mounting
Notice: Curves below are valid only for horizontal mounting and a life
time L10 of 20 000h at constant speed in accordance with ISO281.
Notice: Radial and Axial Loads are not additive
3.5.2.1. NX110
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3.5.2.2. NX205
3.5.2.3. NX210
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3.5.2.4. NX310
3.5.2.5. NX420
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3.5.2.6. NX430
3.5.2.7. NX620
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3.5.2.8. NX630
3.5.2.9. NX820
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3.5.2.10. NX840
3.5.2.11. NX860
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3.6. Cooling
In compliance with the IEC 60034-1 standards:
3.6.1.
Natural and fan cooled motor
The ambient air temperature shall not be less than -15°C and more than 40°C.
3.6.2.
Water cooled motor
Danger: The cooling system has to be operational when the motor is
running or energized.
Danger: The Inlet temperature and the water flow have to be monitored
to avoid any exceeding values.
Caution: When motor is not running, the cooling system has to be
stopped 10 minutes after motor shut down.
Caution: Condensation and risk of rust may occur when the
temperature gradient between the air and the water becomes
significant. Condensation is also linked to hygrometry rate.
To avoid any issue, we recommend: Twater > Tair - 2°C.
The motor can be used with an ambient temperature between 27°C to
40°C with a high water temperature but with derating.
If inlet water temperature becomes higher than 25°C, derating factor
must be applied according to §3.1.2 Temperature Derating
Caution: the ambient air temperature shall not exceed 40°C in the
vicinity of the motor flange
Danger: If the water flow stops, the motor can be damaged or
destroyed causing accidents.
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3.6.3.
Additives for water as cooling media
Please refer to motor technical data for coolant flow rates.
The water inlet temperature must not exceed 25°C without torque derating.
The water inlet temperature must not be below 5°C.
The inner pressure of the cooling liquid must not exceed 5 bars.
Caution: To avoid the appearance of corrosion of the motor cooling
system, the water must have anti-corrosion additive.
The servomotors are water cooled. Corrosion inhibitors must be added to the water
to avoid the corrosion. The complete cooling system must be taken into account to
choose the right additive, this includes: the different materials in the cooling circuit,
the chiller manufacturer recommendations, the quality of the water…
The right additive solution is under the responsibility of the user. Some additives like
TYFOCOR or GLYSANTIN G48 correctly used have demonstrated their ability to
prevent corrosion in a closed cooling circuit.
For example: Glysantin G48 recommendations are :
- Water hardness: 0 to 20°dH (0 – 3.6 mmol/l)
- Chloride content: max. 100ppm
- Sulphate content: max. 100ppm
Caution: The water quality is very important and must comply with
supplier recommendations. The additive quantity and periodic
replacement must respect the same supplier recommendations.
Caution: The additive choice must take into account the global cooling
system (chiller or water exchanger recommendations…).
Select carefully the materials of all the cooling system parts (chiller,
exchanger, hoses, adapters and fittings) because the difference
between material galvanic potential can make corrosion.
76 - PVD 3663_GB_NX_July 2014.Docx
3.6.4.
Motor cooling circuit drop pressure
The tab below describes the drop pressure at the water flow rate from the motor data:
Motor type
Drop pressure @ nominal water flow
NX860W
0.3 bar @ 5 l/min
Note : all motors drop pressure are checked before shipping.
3.6.5.
Chiller selection
This section describes how to choose the chiller. The chiller is able to evacuate the
heat from the motor losses with the water circulation.
The motor losses (= power to evacuate by the chiller) depend on the efficiency and
motor power:
1 
Pc    1.Pn
ρ 
With Pc : Power to evacuate by the chiller (kW)
Pn : Nominal motor power (kW)
 : motor efficiency at nominal power (%)
Refer to the respective motor data sheet for nominal power, efficiency and water flow.
Chiller pump must provide water flow through motor and pipe pressure drop.
Inlet temperature must be inferior to 25°C.
Example
Motor : NX860W
For a torque of 80 N.m @ 2500 rpm, the efficiency is 92%.
Water flow = 5 l/min
Pn = 80 x 2500 x  /30
Pn = 20.9 kW
 1

Pc  
 1.20.9 = 1.8 kW
 0.92 
So, the chiller must evacuate 1.8 kW and has a water flow of 5 l/min for this point of
running.
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3.6.6.
Flow derating according to glycol concentration
Glycol concentration [% ]
----------------------------------------------------Flow rate [l/min]----------------------------------------------------
10
0
10
20
30
40
50
5
5.1
5.3
5.6
5.9
6.2
10
10.2
10.6
11.1
11.8
12.4
15
15.3
15.9
16.7
17.6
18.7
20
20.4
21.2
22.2
23.5
24.9
25
25.5
26.5
27.8
29.4
31.1
30
30.6
31.8
33.4
35.3
37.3
35
35.7
37.1
38.9
41.1
43.6
40
40.8
42.4
44.5
47.0
49.8
45
45.9
47.7
50.0
52.9
56.0
50
51.0
53.0
55.6
58.8
62.2
55
56.1
58.3
61.2
64.7
68.4
60
61.2
63.5
66.7
70.5
74.7
65
66.4
68.8
72.3
76.4
80.9
70
71.5
74.1
77.8
82.3
87.1
75
76.6
79.4
83.4
88.2
93.3
80
81.7
84.7
89.0
94.1
99.5
85
86.8
90.0
94.5
99.9
105.8
90
91.9
95.3
100.1
105.8
112.0
95
97.0
100.6
105.6
111.7
118.2
100
102.1
105.9
111.2
117.6
124.4
110
112.3
116.5
122.3
129.3
136.9
120
122.5
127.1
133.4
141.1
149.3
130
132.7
137.7
144.6
152.8
161.8
140
142.9
148.3
155.7
164.6
174.2
150
153.1
158.9
166.8
176.3
186.6
160
163.3
169.5
177.9
188.1
199.1
170
173.5
180.1
189.0
199.9
211.5
180
183.7
190.6
200.2
211.6
224.0
190
194.0
201.2
211.3
223.4
236.4
200
204.2
211.8
222.4
235.1
248.9
Use of the table above - Example
If the motor needs 25 l/min with 0% glycol,
If application needs 20% glycol, the water flow must be 26.5 l/min,
If application needs 40% glycol, the water flow must be 29.4 l/min.
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Main formulas
Flow _ rate 
With:
Power _ dissipation * 60
  * C p
Flow rate [l/min]
Power_dissipation [W]
° Gradient inlet-outlet [°C]
Cp thermal specific capacity of the water as coolant [J/kg°K]
(Cp depends on the % glycol concentration please see below)
Thermal specific capacity Cp according to % glycol concentration and
temperature
We have considered an average temperature of the coolant of 30°C.
Glycol concentration
[%]
0
30
40
50
Average temperature of the water as
coolant [°C]
30
30
30
30
Thermal specific capacity of the water
Cp [J/kg°K]
4176
3755
3551
3354
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3.6.7.
Water cooling diagram
Recommendation: The use of a filter allows to reduce the presence of
impurities or chips in the water circuit in order to prevent its obstruction.
We recommend 0.1mm filter.
This section shows typical water cooling diagram :
There is no
recommendation
on water inlet and
outlet position
Chiller or Exchanger
Pump
Recommendations:
- Check water flow at this point
- Check inlet temperature
Servomotor
Recommendations:
- Check inlet temperature
Water flow
meter
Chiller or Exchanger Pump
Water flow
regulators
Water flow
meter
Servomotors
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No Parallel Circuit
without flow control
Chiller or Exchanger
Pump
Servomotor
To other(s) device(s)
No Serial Circuit
Pump
Servomotors
81 - PVD 3663_GB_NX_July 2014.Docx
3.7. Thermal Protection
Different protections against thermal overloading of the motor are proposed as an
option: Thermoswitch, PTC thermistors or KTY temperature built into the stator
winding. No thermal protection are available for the NX1 motor
The thermal sensors, due to their thermal inertia, are unable to follow very fast
winding temperature variations. They acheive their thermal steady state after a few
minutes.
Warning: To protect correctly the motor against very fast overload,
please refer to 3.1.6. Peak current limitations
3.7.1.
Alarm tripping with PTC thermistors :
One thermal probe (PTC thermistors) fitted in the NX servomotor winding trip the
electronic system at 150°  5° C for class F version. When the rated tripping
temperature is reached, the PTC thermistor undergoes a step change in resistance.
This means that a limit can be easily and reliably detected by the drive.
The graph and tab below
shows
PTC
sensor
resistance as a function of
temperature
(TN is nominal temperature)
Resistance (Ω)
R4
R3
R2
Temperature
-20°C up to TN-20°C
TNF-5°C
TNF+5°C
TNF+15°C
Resistance value for
NX2, NX6 and NX8
R1≤500Ω
R2≤1100Ω
R3≥2660Ω
R4≥8000Ω
TN +15°C
TN +5°C
TN -5°C
TN -20°C
-20°C
R1
Resistance value for
NX3 and NX4
R1≤750Ω
R2≤1650Ω
R3≥3990Ω
R4≥12000Ω
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Temperature (°C)
3.7.2.
Temperature measurement with KTY sensors:
Motor temperature can also be continuously monitored by the drive using a KTY 84130 thermal sensor built in to the stator winding. KTY sensors are semiconductor
sensors that change their resistance according to an approximately linear
characteristic. The required temperature limits for alarm and tripping can be set in the
drive.
The graph below shows KTY sensor resistance vs temperature, for a measuring
current of 2 mA:
Warning: KTY sensor is sensitive to electrostatic discharge. So,
always wear an antistatic wrist strap during KTY handling.
Warning: KTY sensor is polarized. Do not invert the wires.
Warning: KTY sensor is sensitive. Do not check it with an Ohmmeter or
any measuring or testing device.
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3.8. Power Electrical Connections
3.8.1.
Wires sizes
In every country, you must respect all the local electrical installation
regulations and standards.
Not limiting example in France: NFC 15-100 or IEC 60364 as well in Europe.
Cable selection depends on the cable construction, so refer to the
cable technical documentation to choose wire sizes
Some drives have cable limitations or recommendations; please refer
to the drive technical documentation for any further information.
Cable selection
At standstill, the current must be limited at 80% of the low speed
current Io and cable has to support peak current for a long period. So, if
the motor works at standstill, the current to select wire size is
2 x 0.8 Io  1,13 x Io.
Sizes for H07 RN-F cable, for a 3 cores in a cable tray at 30°C max
Section
Imax
[mm²]
[Arms]
1.5
17
2.5
23
4
31
6
42
10
55
16
74
25
97
35
120
50
146
70
185
95
224
120
260
150
299
185
341
240
401
300
461
84 - PVD 3663_GB_NX_July 2014.Docx
Example of sizes for H07 RN-F cable :
Conditions of use:
Case of 3 conductors type H07 RN-F: 60°C maximum
Ambient temperature: 30°C
Cable runs on dedicated cables ways
Current limited to 80%*I0 at low speed or at motor stall.
Example:
Io=100 Arms
Permanent current at standstill : 80 Arms
Max permanent current in the cable = 113 Arms
Cable section selection = 35mm² for a 3 cores in a cable tray at 30°C max.
You also have to respect the Drive commissioning manual and the cables current
densities or voltage specifications
3.8.2.
Conversion Awg/kcmil/mm²:
Awg
0000 (4/0)
000 (3/0)
00 (2/0)
0 (1/0)
1
2
3
4
5
6
7
8
9
10
11
12
14
16
18
20
22
24
26
kcmil
500
400
350
300
250
212
168
133
106
83.7
66.4
52.6
41.7
33.1
26.3
20.8
16.5
13.1
10.4
8.23
6.53
4.10
2.58
1.62
1.03
0.63
0.39
0.26
mm²
253
203
177
152
127
107
85
67.4
53.5
42.4
33.6
26.7
21.2
16.8
13.3
10.5
8.37
6.63
5.26
4.17
3.31
2.08
1.31
0.82
0.52
0.32
0.20
0.13
85 - PVD 3663_GB_NX_July 2014.Docx
3.8.3.
Motor cable length
For motors windings which present low inductance values or low resistance values,
the own cable inductance, respectively own resistance, in case of large cable length
can greatly reduce the maximum speed of the motor. Please contact PARKER for
further information.
Caution: It might be necessary to fit a filter at the servo-drive output if
the length of the cable exceeds 25 m. Consult us.
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3.8.4.
Mains supply connection diagrams
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3.9. Feedback system
3.9.1.
Resolver 2 poles transformation ratio = 0.5 – code A
NX1
220005P1000
Parker part number
Electrical specification
Polarity
Input voltage
Input current
Zero voltage
Encoder accuracy
Ratio
Output impedance
(primary in short circuit
whatever the position of
the rotor)
Dielectric rigidity
(50 – 60 Hz)
Insulation resistance
Rotor inertia
Operating temperature
range
3.9.2.
70mA maximum
NX2 & NX3
NX4, NX6 & NX8
220005P1001
220005P1002
Values @ 8 kHz
2 poles
7 Vrms
86mA maximum
20mV maximum
± 10’ maxi
0,5 ± 5 %
Typical 120 + 200j Ω
500 V – 1 min
≥ 10MΩ
~6 g.cm²
≥ 100MΩ
~30 g.cm²
-55 to +155 °C
Hiperface encoder singleturn SKS36 (128pulses) – code R
NX1
Model
Type
Parker part number
Line count
Electrical interface
Position values per
revolution
Error limits for the digital
absolute value
Integral non-linearity
Differential non-linearity
Perating speed
Power Supply
Current consumption
(without load)
Output frequency
Operating temperature
range
NX2, NX3, NX4, NX6 & NX8
SKS36 (Sick)
Absolute single turn encoder
220174P0003
128 sine/cosine periods per
revolution
Hiperface
4096
± 320’’(via RS485)
N/A
± 80’’(Error limits for evaluating
sine/cosine period)
± 40’’ (Non-linearity within a
sine/cosine period)
12 000 rpm
7VDC to 12VDC
60mA
0kHz – 65kHz
-20°C to +110 °C
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3.9.3.
Hiperface encoder multiturn SKM36 (128pulses) – code S
NX1
Model
Type
Parker part number
Line count
Electrical interface
Position values per
revolution
Revolutions
Error limits for the digital
absolute value
4 096
4 096
± 320’’(via RS485)
N/A
Integral non-linearity
Differential non-linearity
Perating speed
Power Supply
Current consumption
(without load)
Output frequency
Operating temperature
range
3.9.4.
NX2, NX3, NX4, NX6 & NX8
SKM36 (Sick)
Absolute multi turn encoder
220174P0004
128 sine/cosine periods per
revolution
Hiperface
± 80’’(Error limits for evaluating
sine/cosine period)
± 40’’ (Non-linearity within a
sine/cosine period)
9000 rpm
7VDC to 12VDC
60mA
0kHz – 65kHz
-20°C to +110 °C
Hiperface encoder singleturn SRS50 (1024pulses) – code T
NX1 & NX2
Model
Type
Parker part number
Line count
Electrical interface
Position values per
revolution
Integral non-linearity
Differential non-linearity
Perating speed
Power Supply
Current consumption
(without load)
Output frequency
Operating temperature
range
NX3, NX4, NX6 & NX8
SRS50 (Sick)
Absolute single turn encoder
220174P0002
1024 sine/cosine periods per
revolution
Hiperface
32 768
N/A
± 45’’(Error limits for evaluating
sine/cosine period)
± 7’’ (Non-linearity within a
sine/cosine period)
6 000 rpm
7VDC to 12VDC
80mA
0kHz – 200kHz
-30°C to +115 °C
95 - PVD 3663_GB_NX_July 2014.Docx
3.9.5.
Hiperface encoder multiturn SRM50 (1024pulses) – code U
NX1 & NX2
Model
Type
Parker part number
Line count
Electrical interface
Position values per
revolution
Revolutions
Integral non-linearity
32 768
N/A
Differential non-linearity
Perating speed
Power Supply
Current consumption
(without load)
Output frequency
Operating temperature
range
3.9.6.
NX3, NX4, NX6 & NX8
SRM50 (Sick)
Absolute multi turn encoder
220174P0001
1024 sine/cosine periods per
revolution
Hiperface
4 096
± 45’’(Error limits for evaluating
sine/cosine period)
± 7’’ (Non-linearity within a
sine/cosine period)
6 000 rpm
7VDC to 12VDC
80mA
0kHz – 200kHz
-30°C to +115 °C
Endat encoder singleturn ECN1113 – code V
NX1 & NX2
Model
Type
Parker part number
Line count
Electrical interface
Position values per
revolution
System accuracy
Perating speed
Power Supply
Current consumption
(without load)
Cutoff frequency – 3 dB
Operating temperature
range
NX3, NX4, NX6 & NX8
ECN 1113 (Heidenhain)
Absolute single turn encoder
220165P0002
512 sine/cosine periods per
revolution
Endat2.2
8 192 (13 bits)
N/A
± 60”
12 000 rpm
3.6VDC to 14VDC
85mA @ 5VDC
≥ 190kHz typical
-40°C to +115 °C
96 - PVD 3663_GB_NX_July 2014.Docx
3.9.7.
Endat encoder multiturn ECN1125 – code W
NX1 & NX2
Model
Type
Parker part number
Line count
Electrical interface
Position values per
revolution
Revolutions
System accuracy
Perating speed
Power Supply
Current consumption
(without load)
Cutoff frequency – 3 dB
Operating temperature
range
NX3, NX4, NX6 & NX8
ECN 1125 (Heidenhain)
Absolute multi turn encoder
220165P0001
512 sine/cosine periods per
revolution
Endat2.2
8 192 (13 bits)
N/A
4 096
± 60”
12 000 rpm
3.6VDC to 14VDC
105mA @ 5VDC
≥ 190kHz typical
-40°C to +115 °C
With unregulated power supply (AC890 PARKER drive for instance),
the max cable length is 65m with 0.25mm² power supply wire due to
the voltage drop into the cable itself.
97 - PVD 3663_GB_NX_July 2014.Docx
Maximum Endat cable length
Please refer to the following curve to calculate the max cable length depending on
the clock frequency
AC890 PARKER Wiring – EnDat encoder
From Heidenhain
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3.9.8.
Incremental encoder - Commuted lines 10 poles – 2048pulses
– code X (On request)
Model
Type
Parker part number
Line count
Electrical interface
System accuracy
Perating speed
Power Supply
Current consumption
(without load)
Max pulse frequency
Operating temperature
range
NX1, NX2, NX3, NX4, NX6 & NX8
F10 (Hengstler)
Incremental encoder with 10 pole commutation signals
220167P0003
2048 pulses per revolution
Line driver 26LS31
Incremental signals ± 2.5'
commutation signals ± 6'
5 000 rpm
5VDC ± 10%
100mA
300 kHz
0°C to +120 °C
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3.9.9.
Cables
To connect NX motor in connector version to PARKER drive : AC890, COMPAX3 or
SLVD, you can use complete cable with part number on the tabs below.
The "xxx" in the part number must be replaced by the length in meter.
Ex : for 20m cable, "xxx" = 020.
3.9.9.1. Signal cable
Feedback
Sensor
Cable reference
for AC890
Resolver for NX1
CS4UA1F4R0xxx CC3UA1F4R0xxx CS5UA1F4R0xxx CS2UA1F4R0xxx
Resolver for NX2
to NX8
Hiperface
encoder
EnDat Encoder
Cable reference
for COMPAX3
Cable reference
for SLVD
Cable reference
for 637/638
CS4UA1F1R0xxx CC3UA1F1R0xxx CS5UA1F1R0xxx CS1UA1F1R0xxx
N/A
CC3UR1F1R0xxx CS5UR1F1R0xxx CS2UR1F1R0xxx
CS4UV1F3R0xxx CC3UV1F3R0xxx CS5UV1F3R0xxx
N/A
For other drive, you can assembly cable and plug by soldering with part number on
the tab below:
Feedback Sensor
Cable reference
Plug reference
Resolver for NX1
6537P0047
220132R6620
Resolver for NX2 to
NX8
6537P0047
220065R4621
Hiperface Encoder
6537P0048
220065R4621
EnDat Encoder
6537P0055
220132R4641
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3.9.9.2. Power cable with or without brake
Cable reference
for AC890
Motor size
Cable reference
for COMPAX3
Cable reference
for SLVD
Cable reference
for 637/638
NX1
CS4UP0F4R0xxx CC3UP0F4R0xxx CS5UP0F4R0xxx CS2UP0F4R0xxx
Current ≤ 12Amps
CS4UP1F1R0xxx CC3UP1F1R0xxx CS5UP1F1R0xxx CS2UP1F1R0xxx
Current ≤ 30Amps
CS4UP2F1R0xxx CC3UP2F1R0xxx CS5UP2F1R0xxx CS2UP2F1R0xxx
For other drive, you can assembly cable and plug by soldering with part number on
the tab below:
Feedback Sensor
Cable reference
Plug reference
NX1
6537P0054
220132R6610
Current ≤ 12Amps
6537P0049
220065R1610
Current ≤ 30Amps
6537P0050
220065R1610
3.9.9.1.
Motor size
Power cable with or without brake and thermal sensor
Cable reference
for AC890
Cable reference
for COMPAX3
Cable reference
for SLVD
Cable reference
for 637/638
Current ≤ 12Amps CS4UQ1F1R0xxx CC3UQ1F1R0xxx CS5UQ1F1R0xxx CS2UQ1F1R0xxx
Current ≤ 30Amps CS4UQ2F1R0xxx CC3UQ2F1R0xxx CS5UQ2F1R0xxx CS2UQ2F1R0xxx
For other drive, you can assembly cable and plug by soldering with part number on
the tab below:
Feedback Sensor
Cable reference
Plug reference
Current ≤ 12Amps
6537P0043
220065R1610
Current ≤ 30Amps
6537P0046
220065R1610
101 - PVD 3663_GB_NX_July 2014.Docx
3.10. Brake option
Caution: The holding brake is used to completely immobilize the
servomotor under load. It is not designed to be used for repeated
dynamic braking ; dynamic braking must only be used in the case of an
emergency stop and with a limited occurance depending on the load
inertia and speed.
The standard brake power supply is 24 Vcc DC ± 10%.
Follow the polarity and the permissible voltage, and use shielded cables.
A 220 µF capacitor avoids untimely braking if the 24 V voltage is disturbed by the
external relay. Check the voltage value once this capacitor has been fitted. The RC
network (220 Ω, 0.1 µF) is needed to eliminate interference produced by the brake
coil.
Position the contactor in the DC circuit to reduce brake response times. Follow the
connection instructions taking the brake polarisation into account.
Motor
Static
torque
@20°C
(N.m)
Static
torque
@100°C
(N.m)
Disengaging
time
(Unbraking)
(ms)
Extra
Inertia
Angular
backlash
(W)
Engaging
time
(braking)
(ms)
(Kg.m².10-5)
(°)
Power
NX1
0.4
6
27
13
0.1
0
NX2
1
8
14
28
1.2
0
NX3
2
1.8
11
13
25
0.68
0
NX4
5.5
4
12
17
35
1.8
0
NX6
12
8
18
28
40
5.4
0
NX8
36
32
26
45
100
55.6
0
Table with typical values
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4. COMMISSIONING, USE AND MAINTENANCE
4.1. Instructions for commissioning, use and maintenance
4.1.1.
Equipment delivery
All servomotors are strictly controlled during manufacturing, before shipping.
While receiving it, it is necessary to verify motor condition and if it has not been
damaged in transit. Remove it carefully from its packaging. Verify that the data
written on the label are the same as the ones on the acknowledgement of order, and
that all documents or needed accessories for user are present in the packaging.
Warning: In case of damaged material during the transport, the
recipient must immediately make reservations to the carrier through
a registered mail within 24 h..
4.1.2.
Handling
Servomotors are equipped with two lifting rings intended for handling.
Caution: Use only servomotors lifting rings, if present, or slings to
handle the motor. Do not handle the motor with the help of electrical
cables, connectors and water inputs/outputs, or use any other
inappropriate method.
The drawings below show the correct handling procedure.
50°mini
DANGER: Choose the correct slings for the motor weight. The two
slings must the same length and a minimum angle of 50° has to be
respected between the motor axis and the slings.
103 - PVD 3663_GB_NX_July 2014.Docx
4.1.3.
Storage
Before being mounted, the motor has to be stored in a dry place, without rapid or
important temperature variations in order to avoid condensation.
During storage, the ambient temperature must be kept between -20 and +60°C.
If the torque motor has to be stored for a long time, verify that the shaft end, feet and
the flange are coated with corrosion proof product.
After a long storage duration (more than 3 month), run the motor at low speed in both
directions, in order to blend the bearing grease spreading.
The motor is delivered with caps for the water inlet and outlet to protect the cooling
circuit. Keep them on place until the motor commissioning.
4.2. Installation
4.2.1.
Mounting
Foundation must be even, sufficiently rigid and shall be dimensioned in order to avoid
vibrations due to resonance. Before bolting the motor, the foundation surface must
be cleaned and checked in order to detect any excessive height difference between
the motor locations. The surface variation shall not exceed 0,1 mm.
Caution: The user bears the entire responsibility for the preparation of
the foundation.
The table below gives the average tightening torques required regarding the fixing
screw diameter. These values are valid for both motor’s feet and flange bolting.
Screw diameter
M2 x 0.35
M2.5 x 0.4
M3 x 0.5
M3.5 x 0.6
M4 x 0.7
M5 x 0.8
M6 x1
M7 x 1
M8 x 1.25
Tightening torque
0.35 N.m
0.6 N.m
1.1 N.m
1.7 N.m
2.5 N.m
5 N.m
8.5 N.m
14 N.m
20 N.m
Screw diameter
M9 x 1.25
M10 x 1.5
M11 x 1.5
M12 x 1.75
M14 x 2
M16 x 2
M18 x 2.5
M20 x 2.5
M22 x 2.5
M24 x 3
Tightening torque
31 N.m
40 N.m
56 N.m
70 N.m
111 N.m
167 N.m
228 N.m
329 N.m
437 N.m
564 N.m
Warning: After 15 days, check all tightening torques on all screw and
nuts.
104 - PVD 3663_GB_NX_July 2014.Docx
4.2.2.
Preparation
Once the motor is installed, it must be possible to access the wiring, and read the
manufacturer’s plate. Air must be able to circulate around the motor for cooling
purposes.
Clean the shaft using a cloth soaked in white spirit or alcohol. Pay attention that the
cleaning solution does not get on to the bearings.
The motor must be in a horizontal position during cleaning or running.
Caution: Do not step on the motor, the connector or the terminal box
Caution: Always bear in mind that some parts of the surface of the
motor can reach temperatures exceeding 100°C
4.2.3.
Mechanical installation
The operational life of torque motor bearings largely depends
on the care and attention given to this operation.
 Carefully check the alignment of the motor shaft with that of
the machine to be driven thus avoiding vibration, irregular
rotation or putting too much strain on the shaft.
 Prohibit any impact on the shaft and avoid press fittings
which could mark the bearing tracks. If press fitting cannot be
avoided, it is advisable to immobilize the shaft in motion; this
solution is nevertheless dangerous as it puts the encoder at
risk.
 In the event that the front bearing block is sealed by a lip
seal which rubs on the rotating section, we recommend that
you lubricate the seal with grease thus prolonging its
operational life.
We cannot be held responsible for wear on the drive shaft resulting
from excessive strain.
105 - PVD 3663_GB_NX_July 2014.Docx
4.3. Electrical connections
Danger: Check that the power to the electrical cabinet is off prior to
making any connections.
Caution: The wiring must comply with the drive commissioning manual
and with recommended cables.
Danger: The motor must be earthed by connecting to an unpainted
section of the motor.
Caution: After 15 days, check all tightening torques on cable
connection.
106 - PVD 3663_GB_NX_July 2014.Docx
4.3.1.
Cable connection
Please, read §3.7 "Electrical connection" to have information about cable
connection
A lot of information are already available in the drive documentations.
4.3.2.
Encoder cable handling
Danger: before any intervention the drive must be stopped in
accordance with the procedure.
Caution: It is forbidden to disconnect the Encoder cable under voltage
(high risk of damage and sensor destruction).
Warning: Always wear an antistatic wrist strap during encoder
handling.
Warning: Do not touch encoder contacts (risk of damage due to
electrostatic discharges ESD.
107 - PVD 3663_GB_NX_July 2014.Docx
4.4. Maintenance Operations
4.4.1.
Summary maintenance operations
Generality
DANGER: The installation, commission and maintenance operations must
be performed by qualified personnel, in conjunction with this documentation.
The qualified personnel must know the safety (C18510 authorization,
standard VDE 0105 or IEC 0364) and local regulations.
They must be authorized to install, commission and operate in accordance
with established practices and standards.
Please contact PARKER for technical assistance.
Danger: before any intervention the motor must be disconnected from
te power supply.
Due to the permanent magnets, a voltage is generated at the terminals
when the motor shaft is turned
Operation
Periodicity
Clean the motor
Every year
Motor inspection (vibration changes,
temperature changes, tightening
torques on all scews)
Every year
Bearing replacement
Every 20 000h
No water condensation checking for
water cooling version
Cooling water quality inspection for
water cooling version
Every year
Every year
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4.5. Troubleshooting
Some symptoms and their possible causes are listed below. This list is not
comprehensive. Whenever an operating incident occurs, consult the relevant servo
drive installation instructions (the troubleshooting display indications will help you in
your investigation) or contact us at: http://www.parker.com/eme/repairservice.
You note that the motor
does not turn by hand
when the motor is not
connected to the drive.
You have difficulty
starting the motor or
making it run
You find that the motor
speed is drifting
You notice that the
motor is racing

Check there is no mechanical blockage or if the motor
terminals are not short-circuited.

If there is a thermal protector, check it and its connection
and how it is set in the drive.
 Check the servomotor insulation (in doubt, measure when
the motor is hot and cold.
The minimum insulation resistance measured under 50VDC
max is 50 MΩ :
- Between phase wire and housing,
- Between thermal protector and housing,
- Between resolver winding and housing.
 Adjust the offset of the servo drive.


You notice vibrations
You think the motor is
becoming unusually hot
You find that the motor
is too noisy
The motor is warmer on
its top
Check the speed set-point of the servo drive.
Check you are well and truly in speed regulation (and not in
torque regulation).
 Check the encoder setting
 Check the encoder and tachometer connections, the earth
connections (carefully) and the earthing of the earth wire,
the setting of the servo drive speed loop, tachometer
screening and filtering.
 Check the stability of the secondary voltages.
 Check the rigidity of the frame and motor support.
 It may be overloaded or the rotation speed is too low :
check the current and the operating cycle of the torque
motor
 Friction in the machine may be too high :
- Test the motor current with and without a load.
- Check the motor does not have thermal insulation.
 Check the cooling circuit
Several possible explanations :
 Unsatisfactory mechanical balancing
 Defective coupling
 Loosening of several pieces
 Poor adjustment of the servo drive or the position loop :
check rotation with the loop open.
Air bubbles can be stocked in the water cooling circuit. You
need to purge the circuit or to double the water flow rate during
10 minutes to remove the air bubbles.
109 - PVD 3663_GB_NX_July 2014.Docx
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