Positioning drives DC motor, brushless Absolute multiturn position detection, CANopen® MSIA 42 - CANopen Features –– Positioning drive with/without planetary gears –– CANopen® –– Brushless DC motor –– Absolute multiturn position detection –– Nominal power output 36 W –– 4 inputs programmable –– Journey datasets programmable –– Separate communication and power supply Technical data - mechanical design Voltage supply 24 VDC ±10 % Dimensions 42 x 95 mm Current consumption ≤10 A Shaft type Nominal current 2.3 A ø6 mm solid shaft ø8 mm solid shaft Starting current Charging current capacitor 1500 uF Operating speed ≤4800 rpm Nominal speed 4400 rpm Operating current typ. ≤100 mA Nominal power output 36 W Initializing time ≤1000 ms after power on Nominal torque 0.08 Nm Positioning resolution motor 0.02 ° Starting torque ≤0.39 Nm Service life 10000 h (without gear) Protection DIN EN 60529 IP 54 Ambient temperature -15...+40 °C Isolation class B (+130 °C, DIN EN 60034-1) Connection Connector Number of stages 1...3 Resistance DIN EN 60068-2-6 Vibration DIN EN 60068-2-27 shock Shaft surface Smooth and round (without gear transmission); key (with gear transmission) Material Housing: zinc diecast, steel and aluminium S1 continuous operation DIN EN 60034-1 S3 intermittent operation Power-on time 25 %, run time 1 min Instruction Nominal data at +40 °C ambient temperature for gearless motor. Service life at operating factor = 1. Positioning accuracy motor ±1 ° Repeatability motor 0.3 ° Number of turns 262144 / 18 bit Commutation Sine Undervoltage shutdown ≤11.5 V Terminating resistor Manually set by DIP switch Controller Integrated position and speed regulator (4Q) Sensing method Magnetic Number of pole pairs 4 = 8 poles Reverse polarity protection Bus electronics Overheat protection 112 °C (final power output circuit) Interference immunity DIN EN 61000-6-2 Emitted interference DIN EN 61000-6-4 1 www.baumer.com/motion 27/5/2015 Technical data - electrical ratings Subject to modification in technic and design. Errors and omissions excepted. MSIA 42 without gearing Positioning drives DC motor, brushless Absolute multiturn position detection, CANopen® MSIA 42 - CANopen Part number Accessories Gear reducer 000 Without gear transmission 007 6.75 : 1 025 25.01 : 1 046 45.56 : 1 169 168.84 : 1 Gearing variant K0 Without gear transmission P4 Planetary gear transmission Protection C IP 54 10164870 Female connector D-SUB, 9-pin, straight, voltage supply / I/Os, cable 5 m 10153493 Female connector D-SUB, 9-pin, straight, voltage supply and I/Os without cable 10145023 Female connector D-SUB, 9-pin, angled 10163483 Female connector D-SUB Kit, IP 65, 9-pin, straight 11002151 Cable, 10-wire, voltage supply and I/Os 10158249 Cable with male/female M12, 5-pin, angled, A-coded, 2 m 10156842 Cable with male/female M12, 5-pin, angled, A-coded, 5 m 11144301 Cable with male/female M12, 5-pin, straight, A-coded, 0.3 m (stub line) 11144304 Cable with male/female M12, 5-pin, straight, A-coded, 2 m 11144306 Cable with male/female M12, 5-pin, straight, A-coded, 5 m 10158246 Female connector M12, CAN, angled, A-coded, 2 m cable 10153968 Female connector M12, 5-pin, straight, less cable 10145021 Female connector M12, 5-pin, CAN, angled 10153969 Cable connector M12, 5-pin, CAN, straight 10156584 Cable connector M12, 5-pin, CAN, angled 10153972 T-junction M12 CAN (1 male/2 female) 10153974 Terminating resistor CAN 10154968 Female connector D-SUB, 9-pin, CAN, angled, with terminating resistor Programming accessories 10147362 CD-ROM with GSD-/EDS-/XML files and user manuals 11128719 USB-to-CAN V2 adaptor, D-SUB, 9-pin S1 0.08 0.43 1.50 2.73 9.46 S1 4400 652 176 96.6 26.1 axial 20 50 80 80 110 S3 0.16 0.86 3.00 5.47 18.9 S3 3760 557 150 82.5 22.3 radial 50 160 230 230 300 Wei ght (kg) Length L (mm) axial 93±1.5 142±1.5 155±1.5 155±1.5 170±1.5 0.7 1.3 1.5 1.5 1.7 Gear efficiency approx. Admitted shaft load (N) Mmax gear (Nm) Rotational speed (rpm) Max. transmission play (°) 6.75 25.01 45.56 168.84 Torque nominal (Nm) Recordable revolutions Gear ratio Positioning resolution (°) Motor-gearing-combination 0.022 3.3 x 10-3 0.88 x 10-3 0.48 x 10-3 0.13 x 10-3 262144 38836 10482 5754 1553 0.90 0.95 0.95 1.00 3.0 7.5 7.5 15.0 0.80 0.75 0.75 0.70 Further motor - gear combinations upon request. 2 www.baumer.com/motion Subject to modification in technic and design. Errors and omissions excepted. Connectors and cables C 27/5/2015 MSIA 42C2PL12-C43 Positioning drives DC motor, brushless Absolute multiturn position detection, CANopen® MSIA 42 - CANopen Characteristic load curve motor without gears Q530 6SHHG530 $PSV$ 6 6 0P1P Connector – D-Sub, 9-pin Interface CANopen® Connector Signal Description Output stages Pin 1 +VsE +24 VDC voltage supply electronic CAN bus standard ISO / DIS 11898 Pin 2 Input 1 Input programmable Profile conformity Pin 3 Input 2 Input programmable CANopen® CiA DS 301 V4.02, DSP 305 V1.0, DSP 402 V2.0 Pin 4 Input 3 Input programmable Cyclic data transfer PDO Pin 5 Input 4 Input programmable Node Guarding Pin 6 0 VME 0 VDC voltage s. motor / electronic Node Guarding, Life Guarding, Heartbeat Pin 7 0 VME 0 VDC voltage s. motor / electronic Transmission rate 10...1000 kbit/s Pin 8 +VsM +24 VDC voltage supply motor Galvanic isolation bus Yes Pin 9 +VsM +24 VDC voltage supply motor Inputs 4 digitally programmable Shield Housing Switching frequency Inputs <500 Hz Setting switch Manual setting of bus address, baud rate and terminating resistor Potential equalization Separate screw connection Status indicator DUO-LED integrated in housing Operating modes Position-controlled operation, Speed-controlled operation, Referencing, Journey datasets Diagnostic functions Voltage monitoring Temperature control Self-diagnosis Position error Bus communication Programming software Yes Factory setting 50 kbit/s, Node ID 1, terminating resistor OFF 1 9 Connector male / female – M12, 5-pin, A-coded Connector Signal Description Pin 1 n.c. – Pin 2 n.c. – Pin 3 CAN_GND CAN Ground Pin 4 CAN_H Bus (dominant HIGH) Pin 5 CAN_L Bus (dominant LOW) Shield Housing 2 2 1 3 5 4 1 3 5 4 3 www.baumer.com/motion Subject to modification in technic and design. Errors and omissions excepted. Technical data - communication Terminal assignment 27/5/2015 ,$ Positioning drives DC motor, brushless Absolute multiturn position detection, CANopen® MSIA 42 - CANopen Dimensions [¡ ¡MV ø25h9 MSIA 42 without gearing %XV,Q0 %XV2XW0 / [¡0[ %XV,Q0 %XV2XW0 Subject to modification in technic and design. Errors and omissions excepted. .H\[[ ',1$ 0',1' [¡[ 4 www.baumer.com/motion 27/5/2015 ¡ K ¡J MSIA 42 planetary gearing