This document describes the τ DISC SERVO MOTOR, a product of Nikki Denso Co., Ltd. It provides detailed specifications, installation guidelines, operational precautions, and maintenance instructions.
Function Description
The τ DISC SERVO MOTOR is a high-performance synchronous motor designed for general-purpose industrial applications. It features a multi-pole structure and high magnetic flux density, enabling non-cogging smooth rotating operation even at low speeds. The motor is ideal for applications requiring high mechanical accuracy, such as radial and axial swinging. It is designed to drive large objects with high accuracy and speed.
Important Technical Specifications
The motor model designation follows a structured format, for example, NMR-FADB A2 A-061 A P $$$ (15). Key specifications are derived from this model number:
- Series Classification: Includes D series/HD series/HD-s series (Type D), ND series (Type ND), ND-c series (Type HD), and ND-s series (Type ND).
- Nominal Diameter: Ranges from 40mm to 630mm, with specific actual size ranges (e.g., 110mm for code A/P, 630mm for code G/V).
- Nominal Height: Ranges from 40mm to 225mm, with specific actual size ranges (e.g., 40-59mm for code D/M, 225-249mm for code N).
- Flange Type: Available in Flange (F) and Flange-less (L) types.
- Encoder Type: Options include Incremental encoder (A) and Absolute encoder (C) for DD-s series, and D/HD series Incremental encoder, ND/ND-c series Incremental encoder with an external IPU, ND/ND-c series Absolute encoder with an external IPU, ND-c/ND-s/HD-s series Incremental encoder with a built-in IPU, and ND-s series Absolute encoder with a built-in IPU for NMR series.
- Power Supply: Typically 200/220 VAC, with some driver configurations supporting 100/110 VAC.
- Rated Output: Indicated by a three-digit number, where the first two digits represent the effective numeral and the last digit represents the exponent portion of the power of 10 (e.g., 061 for 60W).
- Brake Availability: Motors can be supplied with (A) or without (Blank) a brake.
- Table Rotation Accuracy (Option): Standard (Blank) or High accuracy (P).
- Motor Construction: Standard (Blank), Rotor/Stator with positioning pin hole (B), Gas cooling structure (G), or Liquid cooling structure (L).
- Cooling Method (DD-s series): Natural cooling (N), Gas cooling (W), or Liquid cooling (L).
- High Accuracy Machining (radial/axial runout) (DD-s series): Standard (None), High accuracy 5µm spec. (-P, P5), or High accuracy 3µm spec. (-P3, P3).
- Parallelism Machining (DD-s series): Standard (None) or Parallelism machining spec. (H).
- Absolute Position Compensation Option (DD-s series): Not provided (None) or with compensation data installed on various drivers (VPH, VCII, VPS) by the customer or Nikki Denso, in Japanese or English versions.
Common General Specifications:
- Temperature: 0 - 40°C
- Humidity: 85% RH or less, non-condensing
- Setting Place: Indoor use, free from corrosive gas, grinding fluid, metal powder, oil, etc.
- Cooling Method: Natural cooling (some models adopt forced air cooling).
- Fixing Direction: With the rotation surface facing upward.
- Insulation Class: Class F
- Insulation Withstand Voltage: 1,500 VAC, for 1 minute
- Insulation Resistance: 500 VDC, 100MΩ or greater
- Protection Class: IP40 to IP51 (refer to catalog and outline drawings).
- Altitude: 1,000 m or less
- Vibration Proof: 1G (3-direction, each 2 h)
- Shock Proof: 30G (3-direction, each 2 times)
- Connection Method: Direct connection
Mechanical Accuracy Measurement:
- Output axis rotating table plane vibration (axial swinging): Measured by dial gauge at the outer circumference of the rotating table during one full turn.
- Output axis rotating table axis vibration (radial swinging): Measured by dial gauge at the outer circumference of the rotating table during one full turn.
- Parallelism of the output axis: Measured by height gauge at four points (0, 90, 180, 270 degrees) on the rotating table when stopped at zero point.
Positioning Accuracy:
- Absolute positioning accuracy: Half of the difference between maximum and minimum actual values compared to theoretical values over one full turn.
- Repeated positioning accuracy: Half of the difference between maximum and minimum measured values from seven repeated movements to a target position from an optional point.
Usage Features
- Low Profile & Hollow Shaft: The motor features a thin design (from 44.5 mm) and a hollow shaft, allowing for simple and innovative mechanical designs by utilizing the opening.
- Large Capacity: With a maximum torque of 5,800Nm, it can drive large objects with high accuracy and speed. High-speed rotation (over 60 rpm) is achieved with ultra-high resolution (up to 18,430,000 ppr) when combined with an in-house interpolator.
- High Response: High-response types offer resolutions up to 3,360,000 ppr and high-speed rotation up to 360 rpm.
- Magnetic Pole Detection: For motors with incremental encoders, magnetic pole detection requires a minimum movement (rotation) angle during power-on, ranging from 1.8° to 9° depending on the motor type. Automatic magnetic pole detection is performed for a short time during the first servo-on after power-on, potentially causing the rotor to swing up to ±36°. Motors with absolute encoders do not require rotor movement for magnetic pole detection.
- Installation: Requires a rigid installation surface with wide dispersion for full contact and good heat dissipation. Motor fixing bolts (strength class 10.9 or larger) must be securely tightened to specified torques (e.g., 4Nm for M5, 190Nm for M16). Bolt screwing depth must not exceed the specified depth in the outline drawing.
- EMC Compliance: The motor and driver combination must comply with EMC Directives.
- Load Application: Axial and moment loads should be well within catalog specifications. Excessive unbalanced loads can cause deformation and bearing damage.
- Safety: Requires overcurrent, ground fault, overtemperature, and emergency stop devices. Proper wiring, grounding, and cable management are crucial to prevent electric shock, noise interference, and damage.
Maintenance Features
- Periodic Inspection: Regular inspections are recommended to prevent breakdowns due to changes in use conditions. Disassembly or repair should only be performed by Nikki Denso or designated contractors.
- Daily Inspection: Before and after operation, check for normal motor function, environmental anomalies (power, temperature, humidity, dust), cooling system anomalies, loose terminals/connectors, abnormal sound/vibration, and abnormal heating/discoloration.
- Periodic Inspection Items: At designated operating times or fixed intervals (e.g., half-yearly or yearly), check for loose connections with other devices, abnormal motor bearing sounds, environmental anomalies, cooling system anomalies, loose terminals/connectors, abnormal sound/vibration, abnormal heating/discoloration, cable scratches/wear.
- Greasing: Motors with a greasing mechanism require greasing according to the specific greasing procedure manual.
- Insulation Measurement: When measuring motor insulation, ensure the wire connection (U, V, W) between the motor and driver is completely cut off.
- Troubleshooting: If an alarm occurs, eliminate the cause, reset the alarm, and then restart.
- Power Cycle: After powering off, wait 15 seconds or more before powering on the motor again to prevent abnormal operation.
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