Positioning drives DC motor, brushless Absolute multiturn position detection, CANopen® MSIA 68 - planetary gear transmission CANopen Features –– Positioning drive with/without planetary gears –– CANopen® –– Brushless DC motor –– Absolute multiturn position detection –– Nominal power output 80 W –– 4 inputs programmable –– Journey datasets programmable –– Separate communication and power supply Optional Technical data - mechanical design Voltage supply 24 VDC ±10 % Dimensions ø68 mm Current consumption ≤14 A Shaft type Nominal current 5.5 A ø10 mm solid shaft ø14 mm solid shaft Starting current Charging current capacitor 1500 uF Operating speed ≤4200 rpm Nominal speed 3900 rpm Operating current typ. ≤100 mA Nominal power output 92 W Initializing time ≤1000 ms after power on Nominal torque 0.225 Nm Positioning resolution motor 0.02 ° Starting torque ≤0.68 Nm Service life 20000 h (without gear) Protection DIN EN 60529 IP 54 Ambient temperature -15...+40 °C Isolation class B (+130 °C, DIN EN 60034-1) Rotor moment of inertia 588 gcm² Connection Connector Number of stages 1...3 Resistance DIN EN 60068-2-6 Vibration DIN EN 60068-2-27 shock Self-locking in de-energized state <0.02 Nm Shaft surface Smooth and round (without gear transmission); key (with gear transmission) Material Housing: 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 External (see accessories) Controller Integrated position and speed regulator (4Q) Sensing method Magnetic Number of pole pairs 2 = 4 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. –– Holding brake MSIA 68 without gear transmission connection axial Positioning drives DC motor, brushless Absolute multiturn position detection, CANopen® MSIA 68 - planetary gear transmission CANopen Part number Accessories MSIA 68C2P 12-N64 Connectors and cables C 000 007 025 046 169 Gear reducer Without gear transmission 6.75 : 1 25.01 : 1 45.56 : 1 168.84 : 1 Gearing variant K0 Without gear transmission P6 Planetary gear transmission Protection C IP 54 Connecting direction A Axial R Radial 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 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 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 CD-ROM with GSD-/EDS-/XML files and user manuals 11128719 USB-to-CAN V2 adaptor, D-SUB, 9-pin Motor-gearing-combination S3 S1 S3 axial radial 0.23 1.2 4.2 7.7 26.6 0.53 2.8 9.8 17.9 50 3900 578 156 86 23 3500 519 140 77 21 40 70 100 100 150 400 240 360 360 520 Length L (mm) 1.9 2.7 3.1 3.1 3.5 axial radial Gear efficiency approx. S1 Wei ght (kg) Mmax gear (Nm) Admitted shaft load (N) Max. transmission play (°) Rotational speed (rpm) Recordable revolutions 6.75 25.01 45.56 168.84 Torque nominal (Nm) Positioning resolution (°) Gear ratio 144 190 207 207 224 0.022 3.3 x 10-3 8.8 x 10-4 4.8 x 10-4 1.3 x 10-4 262144 38836 10482 5754 1553 0.65 0.70 0.70 0.75 8 25 25 50 0.80 0.75 0.75 0.70 136 186 199 199 216 Further motor - gear combinations upon request. 2 www.baumer.com/motion 27/5/2015 10147362 Subject to modification in technic and design. Errors and omissions excepted. Programming accessories Positioning drives DC motor, brushless Absolute multiturn position detection, CANopen® MSIA 68 - planetary gear transmission CANopen Characteristic load curve motor without gears Q530 6SHHG530 6 0P1P Technical data - communication Terminal assignment 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 and baud rate 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 Temperature control Position error Self-diagnosis 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) Programming software Yes Shield Housing Factory setting 50 kbit/s, Node ID 1 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. 6 27/5/2015 $PSV$ ,$ Positioning drives DC motor, brushless Absolute multiturn position detection, CANopen® MSIA 68 - planetary gear transmission CANopen Dimensions MSIA 68 without gear transmission connection axial %XV,Q0 0[ ¡ I ¡ K ¡ %XV2XW0 ¡ MSIA 68 without gear transmission connection radial %XV,Q0 0[ ¡ K ¡ I ¡ %XV2XW0 ¡ MSIA 68 planetary gear transmission connection axial Bus Out M12 DIN 332-D-M 5x12 Key 5x5x18 DIN6885A 5 9 54 39 ø52 L MSIA 68 planetary gear transmission connection radial ø 40 j7 ø 14 h7 Bus Out M12 Bus In M12 M5 x10 ø 68 ø 62 DIN 332-D- M5x12 Key 5x5x18 DIN6885A 5 9 46 39 L 4 ø 52 75 www.baumer.com/motion Subject to modification in technic and design. Errors and omissions excepted. ø 68 M5x10 27/5/2015 ø 40 j7 ø 14 h7 ø 62 Bus In M12