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SCHUNK STM 560V Series Assembly And Operating Manual

Electrical rotary module. torque motor
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Electrical Rotary Module
SCHUNK Torque Motor
Type STM 560V
Assembly and Operating manual
04 V01-A/STM-560V/en/2010-12-10/SW
Document last updated: 2010-12-03

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Summary of Contents for SCHUNK STM 560V Series

  • Page 1 Electrical Rotary Module SCHUNK Torque Motor Type STM 560V Assembly and Operating manual 04 V01-A/STM-560V/en/2010-12-10/SW Document last updated: 2010-12-03...
  • Page 2 04/STM-560V/en/2010-12-10/SW...
  • Page 3 Dear Customer, Congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for the highest precision, top quality and best service. You are going to increase the process reliability of your production and achieve best machining results – to the customer’s complete satisfaction.

  • Page 4: Table Of Contents

    Table of contents Table of contents About this manual ....................7 Purpose/validity ..................7 Target groups ..................... 7 Applicable documents ................7 Symbols in this manual ................8 Terms used in this manual ................. 8 Basic safety notes ....................9 Intended use ....................
  • Page 5 Bosch IndraDrive C - HCS02 series ............56 Siemens Sinamics S120 series ..............57 Troubleshooting....................60 10.1 SCHUNK torque motor STM ..............60 10.1.1 STM is not turning ............... 60 10.1.2 STM overspeed ................61 10.1.3 STM oscillates ................61 10.1.4 Bearing noise................
  • Page 6 Table of contents 12.2 Packaging ....................65 12.3 Storage..................... 66 12.4 Disposal ....................66 Drawing ........................ 67 13.1 STM 135....................67 13.2 STM 170....................68 13.3 STM 210....................69 Translation of the EC declaration of conformity ..........70 Contact ........................ 71 04/STM-560V/en/2010-12-10/SW...

  • Page 7: About This Manual

    Contains further information on the converter firmware. This utilized converter information is required for the control and parameterization of the STM torque motor. (Consult the homepage of the respective manufacturer) General terms of business Including notes on the warranty. (see www.schunk.com) Table 2 04/STM-560V/en/2010-12-10/SW...

  • Page 8: Symbols In This Manual

    About this manual Symbols in this manual To give you quick access to information, the following symbols will be used in this guide: Symbol Meaning Dangers for persons. DANGER Nonobservance causes death or serious injuries. Dangers for persons. WARNING Nonobservance can cause death or serious injuries. Information on avoiding material damage.

  • Page 9: Basic Safety Notes

    Basic safety notes Basic safety notes Intended use The STM was designed to rotate loads, workpieces and objects. The STM may only be operated in combination with a controller. The module is intended for installation in a machine. The requirements of the applicable guidelines must be observed and complied with.

  • Page 10: Controlled Production

    2.3.2 Constructional changes, attachments, or modifications Additional drill holes, threads, or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK. Non-authorized modifications results in the exclusion from product liability.

  • Page 11: Obligations Of The Manufacturer/Operator

    Basic safety notes Obligations of the manufacturer/operator 2.4.1 Choice of personnel and personnel qualifications Work on the module may be carried out by authorized personnel only. The legal minimum age must be observed. The assembly, commissioning and repair of the module may be performed only by trained specialist personnel who have been instructed how to perform the said work activities.

  • Page 12: Personnel Qualification

    Basic safety notes Personnel qualification 2.5.1 Safety-conscious working  Avoid any manner of working that may interfere with the function and operational safety of the module.  Observe the safety and accident-prevention regulations valid at the usage site.  Wear protective equipment. 2.5.2 Safety measures during transport ...

  • Page 13: Notes On Particular Risks

    Basic safety notes 2.5.5 Notes on particular risks Risk of injury from objects falling and being ejected!  Provide protective equipment to prevent objects from falling or being ejected, such as processed workpieces, tools, chips, fragments, rejects.  Adapt the operating conditions, e.g. reduce the velocity. Risk of injury when the machine/system moves unexpectedly! ...
  • Page 14 Basic safety notes WARNING Risk of burns due to contact with hot surfaces! During operation, the surface temperature of the STM may exceed 85°C (185°F).  Allow the module to cool down to at least 40°C (104°F) before working on the module. ...

  • Page 15: Warranty

    The following accessories are required for the module: • Cable set (power/sensor cables) The following accessories are available for the module: • Converter (Bosch IndraDrive C - HSC02 or Siemens Sinamics S120 CU310-DP)  Order accessories separately.  For additional accessories, see catalog or www.schunk.com. 04/STM-560V/en/2010-12-10/SW...

  • Page 16: Description Of The Module

    Description of the module Description of the module STM torque motor 5.1.1 Design and description of the STM 1 Basic carrier (fixed) 5 Plug connection 2 Rotor (moving) 6 Plug (sensor cable) 3 Bearing flange 7 Plug (power cable) 4 Sealing flange Figure 1 Components Overview The STM is a completely mounted, permanently excited...

  • Page 17: Mechanical Interfaces

    Description of the module 5.1.2 Mechanical interfaces Maintenance-free The STM is mounted on a single Franke bearing. This bearing is lubrication lubricated via one-time grease lubrication. Under normal operating conditions lubrication for 20.000 operating hours is sufficient (see Maintenance in chapter 11 page 63). The mechanical interfaces are shown on the drawing in chapter 13 page 67.

  • Page 18: Type Key And Nameplate

    IP protection class 40 = IP40 protection class The nameplate is attached to one of the broad sides of the module. Designation Specification manufacturer SCHUNK GmbH & Co. KG type / model - protection STM210-560-S-N-40 class 03068xx rated torque (M 10 Nm...

  • Page 19: Technical Data

    Technical Data Technical Data Technical Data des STM Further technical data can be found in our catalog. The most recent version applies. 6.1.1 Technical Data STM135 Note All the technical data shown in the chart refer to the indicated heat conducting surface. Type STM135 560V 03068xx...

  • Page 20: Technical Data Stm170

    Technical Data Type STM135 560V temperature sensor (type) KTY84 max. permissible operating temperature [°C(°F)] +85(+185) insulation class class F DIN 57530 output shaft power P [kw] 0,14 intermediate circuit voltage U rated torque M [Nm] rated current I peak current I torque constant K [Nm/A] rated speed n [rpm]...
  • Page 21 Technical Data Type STM170 560V mass moment of inertia of rotating parts [kg m²] 0,003859 max. mass moment of inertia [kg m²] 0,14 rotation range [°] >360 (turning endlessly) positioning accuracy * [°] 0,02 Distribution of the end positions of 100 successive motions. When approaching from the same direction. Incremental measuring system IP rating...

  • Page 22: Technical Data Stm210

    Technical Data 6.1.3 Technical Data STM210 Note All the technical data shown in the chart refer to the indicated heat conducting surface. Type STM210 560V 03068xx 37363 Heat conducting surface [mm²] Mechanical operating data deadweight [kg] 210 x 77 dimension (Ø x L) [mm] center bore (Ø) [mm] ambient temperature [°C(°F)] min.

  • Page 23: Requirements For The Power And Sensor Cables

    Technical Data Type STM210 560V rated torque M [Nm] rated current I peak current I torque constant K [Nm/A] rated speed n [rpm] 1000 max. speed n [rpm] 16,6 winding resistance (phase-phase) R [Ohm] 58,12 winding inductivity (phase-phase) L [mH] electrical time constant T [ms] numbers of pole pairings N Specifications for the integrated measuring system...

  • Page 24: Brake

    Technical Data Brake NOTICE This is not a service brake. Its use as a safety component is not permitted. The brake merely serves to support the standstill torque. Figure 3 Brake design Pos. Contact surface between brake pad and rotor Pre-loaded brake piston with brake pad Table 10 Legend to Figure 4 6.3.1...

  • Page 25: Connection To Bosch Indradrive

    Technical Data  The additional technical data presented in the data sheet for valve MV15 must also be observed. Note If there is a low level signal from the controller pending on the valve, the electropneumatic brake valve is closed. In this state, the brake is active.

  • Page 26: Assembly

    Assembly Assembly Mechanical connection WARNING Risk of injury when the machine/system moves unexpectedly!  Switch off power supply. NOTICE Malfunctions due to mechanical stress in the housing possible  Observe the requirements for the evenness of the mounting surface. Check the The values relate to the entire bolting surface.
  • Page 27 Assembly  Select the position of the STM in the machine so that the zero pulse is in the middle of the moving range. Figure 5 Zero pulse alignment Item Description Zero point markings on rotor and base body Maximum possible moving range Table 1 ...
  • Page 28 Assembly 1 - Fastening screws M10 3 - Centering pin D5/H7 2 - Centering pin D12/H7 4 - Fastening screws M12 Figure 6 View of the assembly of the adapter plates on rotor and basic 04/STM-560V/en/2010-12-10/SW...

  • Page 29: Electrical Connection

    Assembly Electrical connection DANGER Risk of fatal injuries due to electric shock!  Switch off power supply.  Disconnect the controller from the power supply. The intermediate circuit capacitors must be discharged.  Observe the sequence when connecting the cables (grounding cable first, then conductors) ...
  • Page 30 Assembly The cable colors and designations in the following tables apply to the SCHUNK connection cable.  Observe the cable assignment. Function Signal Cable designation black U black V Power black W green/yellow Temperature sensor blue Table 16 Connection pin assignment of the red power cable for Bosch...
  • Page 31 Assembly Function Signal Pin allocation - Siemens 12-pin circular plug Pin 12 Pin 10/11 Pin 5 Pin 6 Encoder Pin 8 Pin 1 Pin 3 Pin 4 Pin allocation - Siemens 6+1-pin circular plug Temperature sensor -Temp +Temp Table 19 Connection assignment of the encoder cable for Siemens SME120 04/STM-560V/en/2010-12-10/SW...

  • Page 32: Start-Up

    Start-up Start-up NOTICE Malfunction in the event of an overload!  Avoid impact loads.  Do not exceed the bearing load limits. NOTICE Malfunction in the event of overheating!  Observe the motor’s technical data. (see chapter 6.1, page 19) WARNING Risk of injury and material damage when the machine/system moves unexpectedly...

  • Page 33: Start-Up Of The Bosch Indradrive C

    Start-up 2. Select the communication interface, establish communication with the module and configure the converter. 3. Check the encoder signal and the signal of the temperature sensor. 4. Control the STM and optimize the parameters. 5. Check the bearing noise at regular intervals. (see chapter 11.3, page 64) Note If the unit is referenced via the encoder's zero pulse, free motion...
  • Page 34 Start-up necessary if the mains voltage Trafo > 240 V necessary Mains contactor optional Inductor Figure 7 connection des STM an IndraDrive C Setting up the 1. Connect the RS232 interface of the computer to the serial converter interface X2 of the converter using the serial cable. 2.
  • Page 35 Start-up 4. Search for a new device: Figure 9 "Search devices“ 5. Select the interface on the converter. Figure 10 Selecting the interface 6. Select the interface on the computer. 04/STM-560V/en/2010-12-10/SW...
  • Page 36 Start-up Figure 11 7. When the desired device has been found, click on "Finish". Figure 12 8. A new project is created automatically in the project explorer: 04/STM-560V/en/2010-12-10/SW...
  • Page 37 Start-up Figure 13 9. Import the parameter file supplied on the SCHUNK DVD: Figure 14 10. Open and start the Easy Start Up mode: Figure 15 04/STM-560V/en/2010-12-10/SW...
  • Page 38 Start-up 11. Enable the drive (STM) (this is only possible when the power unit is switched on). Figure 16 12. Read the warning attentively and acknowledge it by clicking "OK": Note In the case of the Bosch IndraDrive C converter, it can occur that the commutation current is too low or too high following enablement.
  • Page 39 Start-up Figure 17 13. Establish the new commutation offset: Figure 18 Note When the drive is enabled, a field appears in the foreground of the screen that can be used to switch off the drive (STM) in an emergency: Figure 19 04/STM-560V/en/2010-12-10/SW...
  • Page 40 Start-up 14. It is now possible to choose between the various options: Referencing – Velocity movement – Positioning movement – Referencing 1. Go to the following location: "Motor"  "Motor encoder"  "Motor encoder dimensional reference": Figure 20 2. Select the referencing type. Select the "Drive-guided referencing"...
  • Page 41 Start-up Figure 21 Velocity movement 1. Select the "Reference value box" under the "Optimization/Start-up" folder: Figure 22 2. Select the velocity movement type under "Operating mode". To start the movement, click on "Start": 04/STM-560V/en/2010-12-10/SW...
  • Page 42 Start-up Figure 23 Positioning 1. Select a "position-controlled" positioning movement under movement "Operating mode": Figure 24 Note With respect to the use of other functions:  Refer to the manual pertaining to the IndraDrive C or contact the Bosch support team. 04/STM-560V/en/2010-12-10/SW...

  • Page 43: Start-Up Of The Siemens Sinamics S120

    Start-up Start-up of the Siemens Sinamics S120 This description is valid for the firmware version MPH-05V12-D5 and the Drive ES - Starter version V4.1.2.0. Note With the Siemens Sinamics, it is possible to change the voltage supply on the encoder interface from 5V to 24V using a parameter.
  • Page 44 Start-up Figure 27 6. Select the checkbox (see black arrow) and adopt the settings by clicking on "Accept". Creating a new 1. Start a new project using the wizard project Figure 28 2. Assemble the drive control unit offline: 04/STM-560V/en/2010-12-10/SW...
  • Page 45 Start-up Figure 29 3. Assign the project a name, e.g. "Start-up" Figure 30 4. The PG/PC interface has already been set to the Profibus adapter: 04/STM-560V/en/2010-12-10/SW...
  • Page 46 Start-up Figure 31 5. Select and integrate the drive unit. The bus address is dependent on the converter. Figure 32 6. Finish project: Figure 33 04/STM-560V/en/2010-12-10/SW...
  • Page 47 Start-up Parameterizing the 1. Configure the drive unit (double click on "Configure drive drive unit") Figure 34 2. Select the control mode (simple positioner and speed control with encoder) Figure 35 Select the power unit (6SL3210-1SE14-1Uxx) 04/STM-560V/en/2010-12-10/SW...
  • Page 48 Start-up Figure 36 4. Select the drive (CU310DP): Figure 37 5. Enter the motor name, e.g. STM135 and select the DRIVE- CLiQ interface: 04/STM-560V/en/2010-12-10/SW...
  • Page 49 Start-up Figure 38 6. Do not set up a motor holding brake: Figure 39 04/STM-560V/en/2010-12-10/SW...
  • Page 50 Start-up 7. Encoder 1 is preset: Figure 40 8. Adopt free telegram configuration with BICO: Figure 41 04/STM-560V/en/2010-12-10/SW...
  • Page 51 Start-up 9. Finish: click Figure 42 10. Using the mouse, right-click on the drive and select the experts list. Figure 43 11. Important: Set parameter P340 to "no calculation". 12. Select "Open user-defined value list". Figure 44 13. Load the parameter file (e.g. STM135) from the relevant drive. 04/STM-560V/en/2010-12-10/SW...
  • Page 52 Start-up Figure 45 14. Adopt the values and then close the window. click Figure 46 15. Double click on the drive and select "Configure DDS". Figure 47 16. Perform the settings described in steps 2 and 3 again. 17. At step 4, select "Enter motor data". Proceed by confirming each window without making any adjustments.
  • Page 53 Start-up Figure 48 Connecting with the 1. Copy the data from the PC (PG) to the converter (target controller (going device): online) Figure 49 2. Copy the data from RAM to ROM (see arrows): 04/STM-560V/en/2010-12-10/SW...
  • Page 54 Start-up Figure 50 3. Following the copy procedure, select "Control panel" under "Start-up": Figure 51 4. Accept the safety note: click Figure 52 04/STM-560V/en/2010-12-10/SW...
  • Page 55 Start-up 5. Enable the drive (STM): Select the checkbox next to "Enable". 6. The speed movement (n-reference setting) can be carried out: Figure 53 Note With respect to the use of other functions:  Refer to the manual pertaining to the Siemens Sinamics S120 series or contact the Siemens support team.

  • Page 56: Control Parameters

    Control parameters Control parameters Bosch IndraDrive C - HCS02 series Basic setting 1. Set position controller to  Kp = 0.5 2. Set velocity controller to  Kp = 1; Tn = 0 3. Set current control to  Kp = 30; Tn = 3 4.

  • Page 57: Siemens Sinamics S120 Series

    Control parameters Siemens Sinamics S120 series Siemens provides the "Automatic controller settings" function for the purpose of establishing the control parameters. Figure 54 Select this function by clicking on the icon shown below... Figure 55 ...and accept the safety note: Figure 56 04/STM-560V/en/2010-12-10/SW...
  • Page 58 Control parameters Enable the drive: Figure 57 The individual steps required for determining the parameters can now be carried out. Parameter determination Figure 58 1. Ensure that no-one is positioned in the danger zone and that there is no potential for material damage. 2.
  • Page 59 Control parameters 4. Click on "Accept". Figure 61 5. Finally, acknowledge this acceptance so that the new parameters can be transmitted to the converter: Figure 62 The motor can now be operated with the new parameters. Note The Siemens auto tuning process selects a fairly hard converter setting, which can result in high noise emissions.

  • Page 60: Troubleshooting

    7.1, page 26)  Check shaft encoder and its connection. If a defect is Shaft encoder defective detected, the STM must be sent to SCHUNK with a repair order.  Check the difference of the winding resistance values. Do not exceed the difference.

  • Page 61: Stm Overspeed

     Check the evenness at the mounting surface (see chapter 7.1, page 26) Configuration incorrect  Check the parameters and setting values (see manual pertaining to the converter) Bearing defective due to overload  Send the module to SCHUNK with a repair order. Table 23 04/STM-560V/en/2010-12-10/SW...

  • Page 62: Error Message For The Winding Temperature

    Temperature sensor defective  Check the resistance of the temperature sensor.  If the resistance exceeds 630 Ohms at room temperature, the STM must be sent to SCHUNK with a repair order. Thermal motor overload  Reduce the load.  Mount the motor on heat-conducting materials to dissipate excess motor heat.

  • Page 63: Maintenance And Care

    60° C, the lubricants will harden faster.  Lubrication and maintenance works have to be carried out more often. We recommend that maintenance and seal replacement is done by SCHUNK because the rotor must be aligned and assembled with an assembly device. Maintenance Type...

  • Page 64: Module Servicing

    (see chapter 7.1, page 26) or bearings defective:  Consult your SCHUNK contact and send the STM to SCHUNK along with a repair order. Table 26 Cleaning Clean the STM dry at regular intervals to remove all dirt.

  • Page 65: Transport, Storage And Disposal

    Transport, storage and disposal Transport, storage and disposal 12.1 Transport • The packaging must protect the drive from all external effects (such as mechanical shocks and humidity). • Protect the module from shocks. • Package the module in such a way that the electrical supply lines do not obstruct transport and are not damaged themselves.

  • Page 66: Storage

    12.4 Disposal • Observe the locally valid legal disposal regulations. • Environmentally sound disposal via the corresponding recycling or workshop centers. • SCHUNK GmbH & Co. KG accepts no liability for the consequences of incorrect disposal by the customer. 04/STM-560V/en/2010-12-10/SW...

  • Page 67: Drawing

    Drawing Drawing 13.1 STM 135 Figure 63 Dimensions of the STM torque motor 04/STM-560V/en/2010-12-10/SW...

  • Page 68: Stm 170

    Drawing 13.2 STM 170 Figure 64 Dimensions of the STM torque motor 04/STM-560V/en/2010-12-10/SW...

  • Page 69: Stm 210

    Drawing 13.3 STM 210 Figure 65 Dimensions of the STM torque motor 04/STM-560V/en/2010-12-10/SW...

  • Page 70: Translation Of The Ec Declaration Of Conformity

    Translation of the EC declaration of conformity Translation of the EC declaration of conformity In terms of the EC Low Voltage Directive 2006/95/EC, annex III B Manufacturer/ SCHUNK GmbH & Co. KG. distributor Spann- und Greiftechnik Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar, Germany...

  • Page 71: Contact

    Contact Contact GERMANY – HEAD OFFICE CANADA DENMARK HUNGARY SCHUNK GmbH & Co. KG SCHUNK Intec Corp. SCHUNK Intec A/S SCHUNK Intec Kft. Spann- und Greiftechnik 190 Britannia Road East, Storhaven 7 Széchenyi út. 70. Bahnhofstrasse 106 – 134 Units 23-24...
  • Page 72 Fax +82-31-7376142 www.ch.schunk.com info@kr.schunk.com www.kr.schunk.com MEXICO, VENEZUELA RUSSIA SPAIN, PORTUGAL TURKEY SCHUNK Intec S.A. de C.V. OOO SCHUNK Intec SCHUNK Intec S.L.U. SCHUNK Intec Calle Pirineos # 513 Nave 6 ul. Samojlovoj, 5, lit. C Foneria, 27 Bağlama Sistemleri ve Zona Industrial Benito Juárez...

This manual is also suitable for:

Stm210-560-s-n-40Stm210-560-s-b-40Stm170-560-s-b-40Stm135-560-s-b-40Stm135-560-s-n-40Stm170-560-s-n-40

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