Winning Action. Global Solution ITA ENG ESP

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2 Global Solution Winning Action CMZ è in grado di offrire una gamma completa di prodotti che si integrano con i controllori della serie FCT nella realizzazione delle applicazioni. La completezza di gamma e di soluzioni permette una reale ottimizzazione delle prestazioni e dei costi a cui si aggiungono importanti altri vantaggi: - Gestione centralizzata della parametrizzazione dei dispositivi collegati con bus di campo. - Utilizzo efficiente del CANopen/EtherCAT per applicazioni multi asse. - Sistema flessibile e aperto nella programmazione. - Sistema basato su architettura ad intelligenza distribuita. L'esperienza trentennale di CMZ nel motion control si aggiunge infine come garanzia di ottimi risultati. CMZ is able to offer a complete range of products that integrates with FCT series in application devlopment. The complete range of products and solutions allows a real optimization of the performance, the reduction of costs and further important advantages: - Centralized parametrisation of devices connected by fieldbus - Efficient use of CANopen/EtherCAT for multi axis application. - Flexible and open programmation system. - Architecture based on distributed intelligence. The 30-year experience of CMZ in motion control applications is a real guarantee for the best results. CMZ se encuentra en disposición de ofrecer una gama completa de productos que se integran con los controles de la serie FCT para la generación de las aplicaciones. La gran gama de productos y de soluciones permite una optimización real de las prestaciones y de los costos a lo que se unen otras ventajas importantes: - Gestión centralizada de la parametrización de los dispositivos unidos por fieldbus. - Utilización de forma eficiente del CANopen/EtherCAT para aplicaciones multiejes. - Sistema flexible y abierto en la programación. - Sistema basado sobre arquitectura con inteligencia distribuida. Además, la experiencia de 30 años de CMZ en sistemas de control de movimiento se suma como garantía para un resultado óptimo. ITA ENG ESP 2 Global solution General Catalogue

3 Product range Master Controllers - Page 4 FCT200: FCT241: FCT300: 8 axes motion controller 40 axes motion controller 99 axes motion controller Brushless Drives & Motors - Page 10 CD1-K: LBD: MMB: IBD: Brushless drive V Brushless drive V Servo motors Integrated Brushless Drive Stepless Drives & Motors - Page 16 ISD: SVM: MM: Integrated Stepless Drive Stepless drive Stepless motors I/O Modules & Devices - Page 21 CPENCA: axis module CP32D0: 32 I/O SGACQA: load cell acquisition CP6V16: vibrator module management CANopen modules: analog/digital I/O LOCAL IO: digital I/O HMI: Industrial touch panels - Page 22 PK and PT Series: Embedded systems Product range 3

4 FCT series Masters CANopen-EtherCAT ITA ENG ESP I controllori della FCT series sono sistemi in formato black box dotati di un processore PowerPC e programmabili secondo lo standard IEC I sistemi sono Master CANopen e EtherCAT, ciò consente l interfacciamento verso azionamenti e periferiche CMZ o altri dispositivi di commercio. Inoltre sono basati su un sistema operativo standard real-time (Precise MQX) con drivers sviluppati da CMZ. Con l approccio IEC61131 le librerie possono essere sviluppate anche dal cliente/utilizzatore. CMZ ha sviluppato una vasta gamma di librerie garantendo le funzionalità per tutte le applicazioni più comuni: camme elettroniche, interpolazione, taglio al volo, controllo peso, controllo temperatura, librerie dedicate alla realizzazione dell'intera macchina. The controllers of the FCT series are black box motion controllers equipped with a PowerPC microprocessor, and programmable according to the standard IEC The systems are CANopen and EtherCAT master and they are based on a real-time operating system (Precise MQX) with drivers developed by CMZ. CMZ has developed a wide range of libraries for the classic axes movement functions like: electronic cams, interpolation, flying shear, weight and temperature control and libraries dedicated to the realization of whole machine. Los controles de la FCT series son controles de formato black box (sin pantalla) dotados de un procesador PowerPC y programable según los estándares IEC61131 Los sistemas son Maestros CANopen y EtherCAT, lo que permite la conexión entre accionamientos y periféricos de CMZ y otros dispositivos de comercio. Además, están basados sobre un sistema operativo estándar a tiempo real OS (Precise MQX) con drivers desarrollados por CMZ Con el ambiente IEC61131, el cliente/usuario puede desarrollar sus propias librerías. CMZ ha desarrollado una amplia gama de librerías garantizando la funcionalidad de todas las aplicaciones más comunes: leva electrónica, interpolación, corte al vuelo, control de peso y temperatura así como librerías dedicadas a la programación de maquinas. IEC Master controllers

5 FCT series HARDWARE FEATURES Masters CANopen-EtherCAT FCT200: master CANopen 8 axes motion controller Processor PowerPC family Dynamic RAM 16 MByte - SDRAM 132MHz Boot Flash eprom 1 MByte Serial Flash Eprom 32 MByte Ferromagnetic serial FRAM 32 KByte Communication ports CAN, RS232C, Ethernet 10/100 Mbps, serial RS , synchronous communication (SMI port) Standard bus on board CANopen Optional ports 1xAuxiliary CAN, Profibus DP slave Mass memory SD card for user data storage System time clock management Power supply 24Vdc±20% Dimensions (mm) H 170 x W 54 x D 110 Weight (Kg) 0.8 ORDERING CODE FCT200.abcd FCT241: master CANopen 40 axes motion controller Processor PowerPC family Dynamic RAM 32 MByte - SDRAM 128 MHz Boot Flash eprom 1 MByte Serial Flash eprom 32 MByte STATIC Ram battery backuped 128 KByte Communication ports 2xCAN, RS232, Ethernet 10 Mbps Standard bus on board CANopen Optional ports Profibus DP slave, DeviceNet Mass memory Compact Flash for user data storage System time clock management Power supply 18Vac/24Vdc±20% Dimensions (mm) H 220 x W 77 x D 176 Weight (Kg) 1.8 FCT300: master CANopen-EtherCAT 99 axes motion controller Processor PowerPC family Dynamic RAM 512 MByte - DDR2 528MHz Boot Flash eprom 8 MByte Serial Flash eprom 128 MByte Ferromagnetic parallel FRAM 128 KByte Communication ports 2xCAN, RS232, 2xEthernet 10/100/1000 Mbps, serial RS , synchronous communication (SMI port) Standard bus on board CANopen, EtherCAT Optional ports 2xAuxiliary CAN, 2xEthernet 10/100 Mbps, Profibus DP slave, DeviceNet, EtherNet/IP Mass memory 1xSD card for user data storage 1x internal SD card slot System time clock management Power supply 24Vdc±20% Dimensions (mm) H 250 x W 78 x D 165 Weight (Kg) 1.8 SOFTWARE FEATURES a 0 Without any options 1 With profibus-dp slave interface + second CAN port 2 With second CAN port b 1 SDRAM = 16MByte - NAND FLASH = 32MByte - c 0 Future option - - d x Customization bit - for standard systems if a=0 then d=0; if a=1 then d=1; if a=2 then d=6 FCT241.ab a 0 Without any options 1 With Profibus-DP slave interface 2 With Device Net interface b x Customization bit - for CMZ standard systems b=0 a FCT300.abcd 0 Without any options 1 With 2 CAN ports + 2 Ethernet 10/100 ports 2 With profibus-dp slave + 2 CAN ports + 2 Ethernet 10/100 ports 3 With Devicenet + 2 CAN ports + 2 Ethernet 10/100 ports 4 Ethernet IP + 2 CAN ports + 2 Ethernet 10/100 ports b 0 Future option c 0 none internal 1 Internal SD card SD card installed d x Customization bit Profinet IO 2 port + 2 CAN ports + 2 Ethernet 10/100 ports Real Time OS: PRECISE MQX IEC61131 Environment CMZ Motion libraries CMZ Application libraries CMZ Configurator Master Controllers 5

6 The environment IEC61131 Function block diagram ITA L ambiente IEC61131 è oggi una scelta obbligata in un PLC/controllore d assi. Tale ambiente offre infatti cinque linguaggi, tre grafici (FBD, Ladder e SFC) e due testuali (Structured Text e IL), che permettono di affrontare le varie parti di una applicazione in modo efficiente. Ad esempio si può usare : - Ladder o instruction list per gestire I/O - FBD per gli assi - Structured Text per calcoli matematici Oltre a questa varietà di linguaggi, IEC61131 offre un ambiente di debugging intuitivo e protetto nonché vari tools. La possibilità per l utente di costruirsi proprie librerie, permette di ridurre notevolmente gli investimenti sul software. L'ambiente di sviluppo denominato 4CONTROL, lavora in modo particolarmente efficiente in quanto traduce i programmi scritti nei vari linguaggi IEC61131 direttamente nel codice macchina del processore PowerPC. Structured text language ENG IEC61131 is today a natural choice in a PLC/ axes controller. The IEC61131 environment offers you the possibility to use five languages, three of them graphical (ladder, FBD and SFC) and two textual (Structured Text and IL) that allow to manage different parts of an application in the best way. For example, you can use: - Ladder or instruction list for I/O management - FBD for motion control - Structured Text for math calculations Further to all these variety of languages, IEC61131 offers an intuitive and protected debugging environment and a lot of tools. The possibility for the user to make their own libraries, allows to reduce the software investment. The programming environment, called 4CONTROL, works in a very efficient way, because it translates the programs, written in the different IEC61131 languages, directly to the machine code of the PowerPC processor. Ladder language and simulator ESP El ambiente IEC61131 es hoy día una elección obligada en un PLCcontrol de ejes. De echo este ambiente ofrece cinco lenguajes, tres gráficos (FBD, Ladder y SFC) y dos de texto (Texto Estructurado y IL), permitiendo afrontar de la mejor manera posible las diferente partes de una aplicación. Por ejemplo se puede utilizar: - Ladder o lista de instrucciones para gestionar I/O - FBD para los ejes - Texto estructurado para el cálculo matemático Además de esta variedad de lenguajes, el IEC61131 ofrece un ambiente de control y gestión de errores intuitivo y provisto de varias herramientas. La posibilidad para el usuario para construirse sus propias librerías permite de gestionar en modo adecuado las inversiones en el software. El ambiente desarrollo 4CONTROL trabaja en una forma particularmente eficiente en cuanto que traduce los programas escritos en los distintos lenguajes de IEC61131 directamente en el código máquina del procesador PowerPC. 6 Master controllers

7 The configurator Available soon Alongside the environment 4Control will be available CODESYS in the version 3.5 Variables managed with the oscilloscope Il CONFIGURATORE, consente di gestire e parametrizzare le componenti SW e le periferiche HW (locali o remotate sui bus di campo) assegnabili ai controllori del progetto IEC. Si possono configurare le porte di comunicazione e i relativi protocolli, gli assi, i nodi delle reti dei bus di campo e i vari dispositivi. Attraverso gli oggetti dell'albero del configuratore è possibile visualizzare e modificare run time le variabili di processo, monitorare lo stato del bus di campo e dei suoi nodi, analizzare attraverso l'uso della funzione oscilloscopio l'andamento dei movimenti o variabili d'interesse. Il tutto compone un potente strumento di debug. Il risultato della fase di configurazione porta ad ottenere inoltre la creazione automatica di codice IEC di ausilio nella stesura dell applicativo finale. Ogni componente del configuratore ha un versatile help in linea. CANopen network monitoring The CONFIGURATOR allows to manage and parametrize the software components and the hardware peripherals (local or remote, on the fieldbus) used in the IEC project. Communication ports and pertinent protocols, axes, nodes of the fieldbus net and other devices, can all be configured. The process variables can be run time displayed and modified through the objects of the configurator tree. Moreover, the fieldbus and the nodes status can be monitored, the axes movements and the trend of the chosen variables can be analyzed, thanks to the oscilloscope function. All those elements constitute a very powerful debug tool. Moreover, the configurator can automatically create parts of IEC code that help to write the application software. Each component of the configurator has a versatile help on line. Wizard configurator El CONFIGURADOR, permite gestionar y parametrizar los componentes SW y los periféricos HW (locales o remotos en el bus de campo) asignables a los controles del proyecto IEC. El 4CONTROL trabaja de un modo particularmente eficiente ya que traduce los programas escritos en los diversos lenguajes del IEC61131 directamente en el código máquina del procesador PowerPC. Se puede configurar la puerta de comunicación y los distintos protocolos, los ejes y los nodos de las redes de los buses de campo y otros dispositivos. A través de los objetos del árbol del configurador es posible visualizar y modificar en tiempo real las variables de proceso, monitorizar el estado del bus de campo y de sus nodos, analizar mediante el uso de la función osciloscopio la ejecución del movimiento o variables que resulten interesantes. El conjunto forma un potente instrumento para el control y gestión de errores. El resultado de la fase de configuración nos lleva a obtener además la creación automática del código IEC de ayuda en la elaboración del aplicativo final. Cada componente del configurador tiene una versátil herramienta de ayuda en línea. Master controllers 7

8 Electronic cams vel. slave Application library example Cam_1 FB_CamManager Axis Axis Table Table Npoints error Enable ErrorID Dmax Jerko MasterPos MasterOffset MasterVel MasterAcc TimeExt ITA ENG ESP L esecuzione di camme elettroniche, cioè il movimento di un asse slave in funzione di un master (asse fisico o virtuale) è una delle funzionalità più richieste nelle applicazioni di movimentazione. Il pacchetto software camme elettroniche di CMZ mette a disposizione una serie di function block che permettono di generare profili di camma. Sono disponibili funzioni che eseguono il movimento dell asse slave sulla base di una tabella che descrive la camma ma sono disponibili anche i blocchi più elementari, per cui il programmatore può creare leggi di moto particolari: può ad esempio creare traiettorie che si modificano in funzione di eventi esterni, come la variazione dello stato di un ingresso. Una funzione di oscilloscopio permette poi di verificare il reale andamento del movimento. The execution of electronic cam, i.e. the movement of a slave versus a master axis (physical or virtual) is one of the most requested functions in motion applications. The software library electronic cams offers a group of function blocks that permit to generate cam profiles. The library also offers you the basic function blocks which the programmer can utilize to implement special movement functions. You can for example create trajectories which change on the variation of an input. An oscilloscope function allows checking the real movement. m0 m1 m2 m3 m4 m5 t master La ejecución de las levas electrónicas, es decir el movimiento de un eje esclavo en función de uno maestro (eje físico ó virtual) es una de las funcionalidades más requeridas en las aplicaciones de movimiento. El paquete software Leva Electrónica de CMZ ofrece una serie de bloques de función que permiten la generación de perfiles de Leva. Hay funciones disponibles que ejecutan el movimiento del eje esclavo sobre la base de una tabla que describe la leva. También se disponen de bloques más elementales, para que el programador pueda crear leyes de movimiento particulares: como por ejemplo crear trayectorias que se modifican en función de eventos externos, como la variación del estado de una entrada. La función de osciloscopio nos permite conocer y verificar la ejecución real del movimiento. Quando si sceglie di lavorare con rampe di velocità raccordate (o a S ) per ridurre gli shock alla meccanica, spesso si ha l inconveniente che ad un inizio rampa molto dolce (basso valore di jerk) corrisponde una accelerazione nel tratto centrale molto più elevata rispetto all accelerazione media. Il programma Camme Elettroniche utilizza un tipo di rampa raccordata che permette di ridurre tale effetto e definisce il valore del jerk iniziale come percentuale di un valore limite massimo. Nei diagrammi, a lato riportati, di camme temporali, sono evidenziate le accelerazioni massime che si ottengono con una rampa raccordata con jerk = 100% (curva rossa, acc.max =1,25 ) e con jerk = 0% (curva verde, acc.max = 1,875), confrontandole a quella lineare (accelerazione costante = 1). When you choose to work with S-shape ramps to reduce mechanical shocks, you often have the disadvantage, that to a soft beginning of the ramp (low value of the jerk), corresponds an acceleration in the central part much higher than the average acceleration. The electronic cam program utilizes smoothed ramps that permit to choice the value of the initial jerk as percentage of a maximum value. On this side are highlighted the maximum accelerations that you can obtain with a smoothed ramp with jerk=100% (red curve, max acc. =1.25) and jerk=0% (green curve, max acc. =1.875), comparing them with a linear one (constant acceleration=1). Cuando se elige trabajar con rampas de velocidad redondeada o a S para reducir los golpes en la mecánica, a menudo se encuentra el inconveniente de que, a un inicio de rampa muy dulce (bajo valor de jerk) le corresponde una aceleración en el tramo central muy elevada con respeto a la aceleración media. El programa Leva Electrónica utiliza un tipo de rampa redondeada que permite reducir tal efecto y poder elegir el valor de jerk inicial como porcentaje de un valor limite máximo. En los diagramas, mostrados al lado, de levas temporales, se muestran las aceleraciones máximas que se obtienen con una rampa redondeada con jerk=100% (curva roja, acel.max.= 1.25) y con jerk = 0% (curva verde, acel.max= 1.875), confrontándola a la lineal (aceleración constante=1) acc. speed speed target= jerk= jerk=100% 1 linear trampa=1 trampa=1 t t smoothed ramps 8 Master controllers

9 ISO numeric control A classic motion application ISO APPLICATIVE Grazie all'applicativo ISO sviluppato dalla CMZ, un FCT controller può lavorare come un controllo numerico. L'applicativo permette di eseguire un programma ISO generato da un CAD/ CAM o da programma di ottimizzazione e passato al controllore tramite compact flash/sd card o trasmesso tramite protocollo FTP server o altro. Questa applicazione rappresenta una efficiente soluzione a basso costo per sistemi di taglio a tre assi (laser, plasma, water jet ecc,) Il programma è facilmente personalizzabile anche dal cliente in quanto scritto totalmente in IEC61131, in particolare per le funzioni M che sono molto dipendenti dal tipo di applicazione. L'implementazione base prevede interpolazione lineare e circolare. Sono disponibili tools grafici per verificare i movimenti degli assi in modo simulato. Through the applicative ISO controller developed by CMZ, FCT controller can work as a numeric control. It can execute ISO programs generated by a CAD/CAM or an optimizing program and sent to the controller through compact flash/sd card or transferred through a FTP protocol or other one. It is a cheap and efficient solution for three axes cutting system (laser, plasma, water jet etc.). The program is easily customized also by the customer because it is completely written in IEC61131, particularly for the M function that really depends on the application. The simple implementaiton has linear and circular interpolation. Graphic tools are available to verify the movement of the axes in simulated way. Gracias al software ISO controller desarrollado por CMZ, el control FCT puede trabajar como un control numérico. EL software permite de ejecutar un programa ISO generado desde un CAD/ CAM o desde un programa de optimización y pasarlo al control mediante una compact flash, SD card o transmitirlo mediante protocolo FTP server y otro. Esta aplicación representa una solución eficiente a un bajo coste para sistemas de corte con tres ejes (láser, plasma, water jet etc). El cliente puede personalizar fácilmente el programa ya que está escrito totalmente en IEC61131, en particular para las funciones M, que dependen mucho según los casos particulares. La implementación base prevé la interpolación lineal y circular. Hay disponibles herramientas gráficas para verificar el movimiento de los ejes en forma simulada. ITA ENG ESP Master Controllers 9

10 CD1-k drive Brushless drive with CANopen interface dedicated to the FCT series motion controller HARDWARE FEATURES Bus: High performance CANopen DS402 Power supply: 1 or 3 phase 230Vac or 3 phase Vac (+10/-15%) with integrated EMC filter Logic supply: 24 Vdc Current: 4,5-10,5A at 230Vac; 2,7-7, A at 400Vac Interfaces: 6 logical IN, 4 logical OUT, Drive OK, RS232, CANopen Analog input: 2 IN +/- 10V 14 bit resolution Encoder output: incremental, line driver, programmable resolution from 64 to p/r Incremental feedback: 16 bit resolver, Encoder, Sin/Cos Absoluted feedback Sin/Cos single turn or multiturns, HIPERFACE, ENDAT Dimensions (mm): 230Vac: 200x199x Vac: 2,7-7,2A: 230x230x65-14A: 230x258x A: 230x288x110 Certifications: CE integrated EMC filter UL only for 400Vac version CONTROL FEATURES PWM: 8KHz Digital current loop: 62,5µs Digital speed loop: 500µs Digital position loop: 500µs Auto-phasing: motor phase and resolver Auto-tuning: 3 bands, 2 filters Motor cogging torque compensation SETTING OF PARAMETERS Local setting by a PC program (Visual Drive Setup) by the serial port Centralized in FCT configurator by CAN bus Reading of parameters from EEPROM MOVEMENT FEATURES Internal positioning, speed profile, homing Real time mode with linear and cubic interpolation of position ORDERING CODE CD1-k-x/x Type Interface Power Supply Peak current CD1 K=CANopen x=230v x= 4,5A or 10,5A or 16,5A CD1 K=CANopen x= v x= 2,7A or 7,2A or 14A or 30A or 45A or 70A or 90A 10 Brushless drives & motors

11 HARDWARE FEATURES Power supply 230Vac single phase - 400Vac three phase Logic supply 24Vdc Rated current 230Vac: 5,5/8,5 A - 400Vac: 4/10/22,5/35 A Peak current 230Vac: 11/17 A - 400Vac: 8/20/45/100 A Interface CANopen DS402 (2 RJ45 connectors), ethercat ± 10V, Pulse/direction Feedback Resolver, TTL incremental encoder, TTL incremental encoder+hes, SinCos, Hiperface absolute encoder single and multiturn Encoder emulation Incremental TTL (differential output) 2 Analog inputs 12bits +/-10V 1 Analog output 8 bits +/- 2,5V 5 Digital inputs 24Vdc optoisolated: general purpose or configurable as Capture, Index, Limit switch +/-, Enable, STEP/DIR 3 Digital outputs Parametrable 24Vdc max 300mA with dedicated terminal connection for motor brake control (external power device required) Braking resistor 30W included. External connections available STO function 2 channels, SIL2 compliant Motor thermal sensor PTC/NTC EMC filter Choke integrated Certifications: CE, UL OVERALL DIMENSIONS Type LBD23 LBD40 Peak current Standard dimensions (mm) H148XW70XD143 H220XW70XD182 H220XW80XD206 Weight (Kg) 1,5 2,2 2,4 3,3 LBD drive Brushless drive 230Vac-400Vac CONTROL FEATURES PWM: 8KHz Digital current loop: 62,5µs Digital speed loop: 500µs Digital position loop: 500µs Auto-phasing: motor phase and resolver Auto-tuning: 3 bands, 2 filters Motor cogging torque compensation ORDERING CODE 400Vac - LBD40ccc/xxx.abc 230Vac - LBD23cc/xxx.abc Type Power supply Peak current (ccc) Interface (xxx) Option (ab) Option (c) Type Power supply Peak current (cc) Interface (xxx) Option (ab) Option (c) LBD 40(400V) 008 (8 A) CAN or ETC a=0 standard a=1 Push through ver b=reserved customiz. LBD 23(230V) 11 (11 A) CAN or ETC reserved customiz. LBD 23(230V) 17 (17 A) CAN or ETC reserved customiz. LBD 40(400V) 020 (20 A) CAN or ETC LBD 40(400V) 045 (45 A)* CAN or ETC a=0 standard a=1 Push through ver b=reserved a=0 standard a=1 Push through ver b=reserved customiz. customiz. * external power supply unit (code MMGDPS 400 / pp - xx) LBD 40(400V) 100 (100 A)* CAN or ETC a=0 standard a=1 Push through ver b=reserved customiz. Brushless drives & motors 11

12 Brushless motors Range: from 0,2 up to 120Nm Voltage: 220/400 Vac Protection: IP65 - IP67 on request MMB Series - Technical Features TECHNICAL FEATURES Stall torque (Nm) Type Peak torque Tp (Nm) Stall current (Arms) Type Peak torque Tp (Nm) Stall current (Arms) Type Peak torque Tp (Nm) ) Stall current (Arms) Type Peak torque Tp (Nm) ) Stall current (Arms) Nm 400V rpm - kt 1,45 (Nm/A) 400V, 6000 rpm, kt 0,73 (Nm/A) 220V rpm - kt 0,84 (Nm/A) 220V, 6000 rpm, kt 0,42 (Nm/A) 0,20 - MMB28.D2S_6H 0,7 0,28 - MMB28.D2S_6M 0,7 0,48 0,40 MMB28.D4S_3H 1,4 0,28 MMB28.D4S_6H 1,4 0,55 MMB28.D4S_3M 1,4 0,48 MMB28.D4S_6M 1,4 0,95 0,60 MMB28.D6S_3H 2,1 0,41 MMB28.D6S_6H 2,1 0,83 MMB28.D6S_3M 2,1 0,72 MMB28.D6S_6M 2,1 1,43 0,80 MMB28.D8S_3H 2,8 0,55 MMB28-D8S_6H 2,8 1,10 MMB28-D8S_3M 2,8 0,95 MMB28-D8S_6M 2,8 1,91 Nm 400V, 3000 rpm, kt 1,45 (Nm/A) 400V, 6000 rpm, kt 0,73 (Nm/A) 220V, 3000 rpm, kt 0,84 (Nm/A) 220V, 6000 rpm, kt 0,42 (Nm/A) 0,60 MMB36.D6I_3H 2,10 0,41 MMB36.D6I_6H 2,10 0,82 MMB36.D6I_3M 2,10 0,72 MMB36.D6I_6M 2,10 1,43 1,20 MMB36.E2I_3H 4,20 0,82 MMB36.E2I_6H 4,20 1,65 MMB36.E2I_3M 4,20 1,43 MMB36.E2I_6M 4,20 2,86 1,80 MMB36.E8I_3H 6,30 1,24 MMB36.E8I_6H 6,30 2,50 MMB36.E8I_3M 6,30 2,15 MMB36.E8I_6M 6,30 4,29 2,50 MMB36.F5I_3H 8,75 1,72 MMB36.F5I_6H 8,75 3,44 MMB36.F5I_3M 8,75 2,98 MMB36.F5I_6M 8,75 5,96 3,00 MMB36.03I_3H 10,50 2,10 MMB36.03I_6H 10,50 4,10 MMB36.03I_3M 10,50 3,58 MMB36.03I_6M 10,50 7,16 Nm 400V, 3000 rpm, kt 1,63 (Nm/A) 400V, 4500 rpm, kt 1,09 (Nm/A) 220V, 3000 rpm, kt 0,94 (Nm/A) 220V, 4500 rpm, kt 0,63 (Nm/A) 1,35 MMB56.E3S_3H 5 0,80 MMB56.E3S_DH 5 1,22 MMB56.E3S_3M 5 1,40 MMB56.E3S_DM 5 2,2 2,60 MMB56.F6S_3H 10 1,60 MMB56.F6S_DH 10 2,43 MMB56.F6S_3M 10 2,81 MMB56.F6S_DM 10 4,1 3,60 MMB56.G6S_3H 15 2,20 MMB56.G6S_DH 15 3,44 MMB56.G6S_3M 15 3,98 MMB56.G6S_DM 15 5,7 4,50 MMB56.H5S_3H 20 2,80 MMB56.H5S_DH 20 4,10 MMB56.H5S_3M 20 4,8 MMB56.H5S_DM 20 7,2 Nm 400V, 3000 rpm, kt 1,63 (Nm/A) 400V, 4500 rpm, kt 1,09 (Nm/A) 220V, 3000 rpm, kt 0,94 (Nm/A) 220V, 4500 rpm, kt 0,63 (Nm/A) 4,0 MMB63.04Q_3H 12 2,5 MMB63.04Q_DH 12 3,7 MMB63.04Q_3M 12 4,3 MMB63.04Q_DM 12 6,4 6,0 MMB63.06Q_3H 18 3,7 MMB63.06Q_DH 18 5,5 MMB63.06Q_3M 18 6,4 MMB63.06Q_DM 18 9,6 8,0 MMB63.08Q_3H 24 4,9 MMB63.08Q_DH 24 7,4 MMB63.08Q_3M 24 8,5 MMB63.08Q_DM 24 12,8 10,0 MMB63.10Q_3H 30 6,1 MMB63.10Q_DH 30 9,2 MMB63.10Q_3M 30 10,6 MMB63.10Q_DM 30 15,9 Nm 400V, 3000 rpm, kt 1,63 (Nm/A) 400V, 4500 rpm, kt 1,09 (Nm/A) 4,5 MMB71.04Q_3H 13,8 2,8 MMB71.04Q_DH 13,8 4,1 9,0 MMB71.08Q_3H 27,6 5,5 MMB71.08Q_DH 27,6 8,3 12,5 MMB71.12Q_3H 41,4 7,7 MMB71.12Q_DH 41,4 11,5 16,0 MMB71.16Q_3H 55,2 9,8 MMB71.16Q_DH 55,2 14,7 20,0 MMB71.20Q_3H 69,0 12,3 MMB71.20Q_DH 69,0 18,4 26,0 MMB71.26Q_3H 96,6 16,0 MMB71.26Q_3H 96,6 23,9 29,0 MMB71.29Q_3H 110,4 17,8 MMB71.29Q_3H 110,4 26,7 Nm 400V, 2000 rpm, kt 2,45 (Nm/A) 400V, 3000 rpm, kt 1,63 (Nm/A) 20 MMB10.20J_2H 75 8,2 MMB10.20J_3H 75 12,3 28 MMB10.28J_2H ,4 MMB10.28J_3H ,2 36 MMB10.36J_2H ,7 MMB10.36J_3H ,1 42 MMB10.42J_2H ,2 MMB10.42J_3H ,8 56 MMB10.56J_2H ,9 MMB10.56J_3H ,4 68 MMB10.68J_2H ,8 MMB10.68J_3H ,7 80 MMB10.80J_2H ,7 MMB10.80J_3H ,1 Nm 400V, 1500 rpm, kt 3,26 (Nm/A) 400V, 2000 rpm, kt 2,44 (Nm/A) 42,0 MMB13.42I_AH ,9 MMB13.42I_2H ,2 58,0 MMB13.58I_AH ,8 MMB13.58I_2H ,7 73,0 MMB13.73I_AH ,4 MMB13.73I_2H ,9 ORDERING CODE EXAMPLE: MMB56.G6S_3H 7 A The options above are CMZ standard configurations. For other options see Servo Motor Catalogue TYPE MMB56G6S3H B56S: Flange 91,3 G6: stall torque (3,6Nm) 3: speed (3000 rpm) H: voltage (400V) Connection type 7 (Swiveling 90 angled conn.) Brake and shaft extension A (Without brake, keyed shaft) Feedback 05 (Resolver 2 poles) Connection Direction 0 Standard Cooling 0 (Natural convection) Internal code 57 81,0 MMB13.81I_AH ,8 MMB13.81I_2H ,1 98,0 MMB13.98I_AH ,1 MMB13.98I_2H ,1 120,0 MMB13.C2I_AH ,8 MMB13.C2I_2H ,1 12 Brushless drives & motors

13 Brushless motors OVERALL DIMENSIONS MMB Series - Technical Features Type Stall Torque (Nm) LM LF DXL QF HM CXS F DF SF Motor weight (Kg) Motor weight with brake (Kg) MMB28.D2S 0, Ø9j6x20,00 58,00 58,00 Ø40,00j6x2,50 Ø63,00 5,5x7,00 12,00 1,00 1,50 MMB28.D4S 0, Ø9j6x20,00 58,00 58,00 Ø40,00j6x2,50 Ø63,00 5,5x7,00 12,00 1,30 1,80 MMB28.D6S 0, Ø9j6x20,00 58,00 58,00 Ø40,00j6x2,50 Ø63,00 5,5x7,00 12,00 1,60 2,10 MMB28.D8S 0, Ø9j6x20,00 58,00 58,00 Ø40,00j6x2,50 Ø63,00 5,5x7,00 12,00 1,90 2,40 MMB36.D6I 0, Ø11j6x23,00 70,00 77,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 6,00 1,40 2,00 MMB36.E2I 1, Ø11j6x23,00 70,00 77,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 6,00 2,20 2,80 MMB36.E8I 1, Ø11j6x23,00 70,00 77,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 6,00 3,10 3,70 MMB36.F5I 2, Ø11j6x23,00 70,00 77,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 6,00 4,00 4,60 MMB36.03I 3, Ø11j6x23,00 70,00 77,00 Ø60,00j6x2,50 Ø75,00 Ø5,80 6,00 4,90 5,50 MMB56.E3S 1, Ø14j6x30,00 91,30 91,30 Ø80,00j6x3,00 Ø100,00 Ø6,50 11,00 3,50 4,10 MMB56.F6S 2, Ø14j6x30,00 91,30 91,30 Ø80,00j6x3,00 Ø100,00 Ø6,50 11,00 4,40 5,00 MMB56.G6S 3, Ø14j6x30,00 91,30 91,30 Ø80,00j6x3,00 Ø100,00 Ø6,50 11,00 5,40 6,00 MMB56.H5S 4, Ø14j6x30,00 91,30 91,30 Ø80,00j6x3,00 Ø100,00 Ø6,50 11,00 6,40 7,00 MMB63.04Q 4, Ø19j6x40,00 100,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 10,00 4,70 5,60 MMB63.06Q 6, Ø19j6x40,00 100,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 10,00 5,30 6,10 MMB63.08Q 8, Ø19j6x40,00 100,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 10,00 6,20 7,10 MMB63.10Q 10, Ø19j6x40,00 100,00 100,00 Ø95,00j6x3,00 Ø115,00 Ø9,00 10,00 7,20 8,10 MMB71.04Q 4, Ø24k6x50,00 142,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 7,50 9,50 MMB71.08Q 9, Ø24k6x50,00 142,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 9,50 11,50 MMB71.12Q 12, Ø24k6x50,00 142,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 11,5 13,50 MMB71.16Q 16, Ø24k6x50,00 142,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 13,5 15,50 MMB71.20Q 20, Ø24k6x50,00 142,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 15,5 17,50 MMB71.26Q 26, Ø24k6x50,00 142,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 19,5 21,50 MMB71.29Q 29, Ø28k6x58,00 142,00 142,00 Ø130,00j6x3,50 Ø165,00 Ø12,50 12,00 22,5 24,50 MMB10.20J Ø32k6x58,00 190,00 190,00 Ø180j6x4,00 Ø215,00 Ø15,00 16,00 17,00 22,00 MMB10.28J ,5 247,5 Ø32k6x58,00 190,00 190,00 Ø180j6x4,00 Ø215,00 Ø15,00 16,00 21,00 26,00 MMB10.36J Ø32k6x58,00 190,00 190,00 Ø180j6x4,00 Ø215,00 Ø15,00 16,00 25,00 30,00 MMB10.42J ,5 292,5 Ø32k6x58,00 190,00 190,00 Ø180j6x4,00 Ø215,00 Ø15,00 16,00 30,00 35,00 MMB10.56J Ø38k6x80,00 190,00 190,00 Ø180j6x4,00 Ø215,00 Ø15,00 16,00 38,00 43,00 MMB10.68J Ø38k6x80,00 190,00 190,00 Ø180j6x4,00 Ø215,00 Ø15,00 16,00 47,00 52,00 MMB10.80J Ø38k6x80,00 190,00 190,00 Ø180j6x4,00 Ø215,00 Ø15,00 16,00 55,00 60,00 MMB13.42I 42, Ø38k6x80,00 240,00 220,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 48,00 55,00 MMB13.58I 58, Ø38k6x80,00 240,00 220,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 55,00 62,00 MMB13.73I 73, Ø38k6x80,00 240,00 220,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 62,00 69,00 MMB13.81I 81, Ø42k6x110,00 240,00 220,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 67,00 74,00 MMB13.98I 98, Ø42k6x ,00 220,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 76,00 83,00 MMB13.C2I 120, Ø42k6x110,00 240,00 220,00 Ø230,00j6x4,00 Ø265,00 Ø14,50 18,00 92,00 99,00 LM Lunghezza motore/motor length/ Longitud cuerpo motor SF S LF Lunghezza motore con freno /Motor length with brake/longitud cuerpo motor con freno o inercia aumentada øf DXL Diametro x lunghezza albero/diameter x length of shaft/ Diámetro x longitud de eje QF Quadro flangia/square flange/cuadrado Brida QF HM ød C CXS F Centraggio per spessore/centering x thickness/centraje x espesor Interasse fori/wheel base fixing holes/entré centros de orificios de fijación ødf DF Diametro fori di fissaggio/diameter fixing holes/diámetro de orificios de fijación SF Spessore flangia/thickness flange/espesor de brida LM/LF L HM Dimensions of the motor case 13

14 IBD Integrated brushless drive HARDWARE FEATURES Power supply Nominal 560Vdc (min 275Vdc max 740Vdc) Torque range Stall torque 1,5-2,8-4-5, Nm, rated speed 3000 rpm Feedback Sin-Cos absolute encoder On board I/O's 6 digital IN 24Vdc general purpose, configurable as: PSTOP, NSTOP, Enable, Home, Capture, Step/Direction 3 digital OUT 24Vdc 250mA, general purpose 1 digital IN/OUT 24Vdc with configurable function 3 differential I/O s configurable as master incremental encoder FUNCTIONAL FEATURES Integrated movement features: device profile DS402, interpolated mode, positioning, extended gearing function, homing, capture Stand alone programmability according to the standard IEC61131, ST language Capture input PC parametrization tool Protection I2t, Overload, Short circuit, Overtemperature, Overvoltage 1 Analogue IN +/-10V Interface EtherCAT, CANopen Safety STO (safe torque off) Protection IP65 Option Internal brake ORDERING CODE Ordering code with optionals: IBD56 a b c/d.efghi Options IBD 56 a b c /d.e fg hi Flange 80 mm - 1,5 Nm (8 poles) 560Vdc/3000rpm 50 Flange 80 mm - 2,8 Nm (8 poles) 560Vdc/3000rpm 10 Flange 80 mm - 4 Nm (8 poles) 560Vdc/3000rpm 20 a Flange 100 mm - 5,6 Nm (8 poles) 560Vdc/3000rpm 30 Flange 100 mm - 6 Nm (8 poles) 560Vdc/3000rpm 40 Flange 142 mm - 15 Nm (8 poles) 560Vdc/3000rpm F0 Flange 190 mm - 30 Nm (10 poles) 560Vdc/3000rpm G0 Preliminary b Keyed shaft Smooth shaft 0 1 c Mutiturn absolute encoder (128 sin/cos), 4096 turns Singleturn absolute encoder (16 sin/cos) A0 A3 d CAN communication Ethercat communication CAN ETC e No brake With brake 0 1 fg Reserved 00 hi With fan Without fan 30 only for FL142/ only for FL80/100 14

15 IBD Integrated brushless drive IBD Flange 80 mm Key IBD 5650: K=5x5x25 IBD 5610/5620: K=6x6x30 S Shaft IBD 5650: Ø14h6 - LS=30 IBD 5610/5620: Ø19h6 - LS=40 S M T Thread IBD 5650: T=M5 IBD 5610/5620: T=M6 IBD Flange 100 mm Available AC/DC power supply units BDPOW20: 20A BDPOW40: 40A IBD Flange 142 mm 6 4 IBD Flange 190 mm OVERALL DIMENSIONS Type IBD5650-1,5Nm IBD5610-2,8Nm IBD5620-4Nm IBD5630-5,6Nm IBD5640-6Nm IBD56F0-15Nm IBD56G0-30Nm Flange (mm) Lenght LM without brake (mm) ,5 165, ,5 Lenght LM with brake (mm) ,5 TECHNICAL FEATURES Type Stall torque M0 (Nm)* Peak Torque Mpeak (Nm) Power Watt Rotor Inertia Jm (kgcm2) Rated Speed Vn(rpm) Weight (Kg) IBD Weight with brake (Kg) * For details see the torque curves in technical manual **preliminary IBD5650 1,5 4, , ,3 4 IBD5610 2,8 8, , ,1 4,8 IBD , ,1 5,8 IBD5630 5, , , 7 7,9 IBD , ,0 9,2 IBD56F0 15, , ,5 IBD56G0** Brushless drives & motors 15

16 Stepless The new generation of servodrive Torque curve comparison: Stepless versus Brushless Nm The ambition to move the limitis Rpm Torque curves Motore considering stepless- S1 8,7Nm duty - cycle 8A/phase - 120V - Dimensioni meccaniche: quadro flangia 86mm, lunghezza 173mm Motore brushless - 3,4Nm - 2,3A/phase - 400V - Dimensioni meccaniche: quadro flangia 91mm, lunghezza 177mm Stepless motor Stall torque 8,7Nm - 8A/phase - 120V Overall dimensions: square flange 86mm, lenght 173mm Brushless motor Stall torque 3,4Nm - 2,3A/phase - 400V Overall dimensions: square flange 91mm, lenght 177mm Minimum speed and torque ripple Vector control current modulation Low vibration Low noise High torque density Low power consumption High stifness 16 Stepless drives & motors

17 SVM Stepless servodrive Smart servodrive for 2 phases synchronous motor HARDWARE FEATURES Power supply Vdc [Nominal 160Vdc] Logic supply Vdc Rated current C (8,5Arms with external ventilation) Peak current 12Arms Feedback Incremental encoder, multiturn absolute encoder Encoder output Incremental line driver (differential output) Digital input 7 configurable 24Vdc PNP opto isolated (e.g.: limit switch +/-, index, captures or general purpose) Special digital input 2 configurable 24Vdc PNP or line driver optoisolated: settable as master encoder or step/dir or general purpose Analog input 12bits +/-10V Digital output n. 4 parametrable 24Vdc max 200mA n. 1 24Vdc max 1,4A for motor brake control or general purpose (external power device required) Interface Profibus-DP, CANopen, Modbud RS485 Pulse/direction, ±10V CAN Speed/address selection by switches or software settable Dimensions (mm) 51X196X125 Weight (Kg) 0.8 Available versions Profibus-DP, CANopen (DS402), ModBus RS485, Step/dir, ±10V FUNCTIONAL FEATURES Integrated movement features: positioning, extended gearing function, ecams, homing, capture function Overload protection Short circuit protection Short to ground protection I 2 t protection Capture input PC parametrization tool Programmable according to the standard IEC61131, ST language ORDERING CODE SVM1608/a.bcd Type Power supply Rated current Interface /a Motor temperature sensor management b Reserved cd SVM 16 (160V) 08 (8,5Arms) CAN 0=no 1=yes 00 SVM 16 (160V) 08 (8,5Arms) SER (RS485) 0=no 1=yes 00 SVM 16 (160V) 08 (8,5Arms) PRO (Profibus) 0=no 1=yes 00 Stepless drives & motor 17

18 Stepless motors OVERALL DIMENSIONS MM series Ordering Code Options xxx Motor type Connection options description Stall torque (Nm) L total Lenght (mm) QF Flange (mm) C Centering (mm) SF Thickness flange (mm) D Holes distances (mm) Ø Fixing holes (mm) Ø Shaft (mm) K (mm) L Shaft (mm) Weight (kg) 010 Cables output 50cm, AMP connectors MM XXX MM XXX MM XXX MM XXX Usable only up to the speed of 500 rpm 020 Connectors output Circular connectors output 90 with temperature sensor 010 Cables output 50cm, AMP connectors 020 Connectors output Circular connectors output 90 with temperature sensor 010 Cables output 50cm, AMP connectors 020 Connectors output Circular connectors output 90 with temperature sensor 010 Cables output 50cm, AMP connectors 020 Connectors output Circular connectors output 90 with temperature sensor 4, ,02 8,38 69,5 4-Ø5, ,5 30,6 2,8 8, ,02 8,38 69,5 4-Ø5, ,0 30,6 4, ,02 8,38 69,5 4-Ø5, ,0 30,6 5, ,52 12,5 89,00 4-Ø8, ,5 55,37 8,4 New MM ,8Nm, flange 60mm Stepless motor TECHNICAL FEATURES Motor Type MM XXX MM XXX MM XXX MM XXX Stall torque (Nm) 4,6 8, Rotor inertia (gcm²) AMP connectors Connectors output Stepless drives & motors

19 ISD Integrated stepless drive HARDWARE FEATURES FUNCTIONAL FEATURES Power supply Vdc [Nominal 120Vdc] Logic supply Vdc Current Maximum current internally set (depends on motor) Feedback Incremental encoder multiturn absolute encoder Encoder output Incremental encoder output (only APD version) Digital input n. 3 optoisolated PNP digital inputs n. 2 differential (+24V or +5V/Line driver) digital inputs (used as general purpose, encoder input or step-dir input). Analog input 1 Analogue IN +/-10V Digital output 2 optoisolated PNP digital outputs Digital bidiretional I/O 2 bidirectional optoisolated PNP digital IN/OUT Interface Profibus-DP slave CANopen RS232/485 (ModBus) Available versions Profibus-DP CANopen (DS402), ModBus RS485, Step/dir, ±10V with encoder simulated output Speed, position, torque control Gearing and electronic cams Interpolated mode Integrated positioning Programmable according to the standard IEC61131, ST language ISD è un servo sistema integrato ad anello chiuso composto da: motore sincrono a due fasi ad alta densità di coppia, servoazionamento full digital, encoder e bus di campo. Il pilotaggio servo (closed loop real time) a differenza del pilotaggio chopper tradizionale, consente notevoli vantaggi in termini di riduzione del calore, silenziosità, prestazioni e costi contenuti. ISD, is a closed loop integrated system composed by: 2 phases high torque synchronous motor, full digital servodrive, encoder and field bus communication. The servodrive (real time closed loop) technology, unlike the traditional chopping mode, allows to reach big advantages in terms of thermal dissipation, low noise, performances with low cost. ISD es un sistema integrado en lazo cerrado compuesto por: motor sincrono de dos fases de alta densidad de par, servoaccionamiento totalmente digital, encoder y bus de campo. El control servo (lazo cerrado) a diferencia de control chopper tradicional, permite notables ventajas en términos de reducción de calor, ruido, prestaciones a un coste reducido. ITA ENG ESP Drive Encoder Motor Stepless Stepless drive & motors 19

20 ISD Integrated stepless drive D OVERALL DIMENSIONS Drive Holding torque (Nm) Lenght (mm) Shaft Shaft section L motor L total L Shaft D Diameter ISD , ,6 12 Type 0 Keyed shaft Shaft section types type 0 type 3 ISD , ,6 12 or 14 Type 0 or 3 Keyed shaft ISD , ,6 14 Type 3 Keyed shaft TECHNICAL FEATURES Drive Holding torque (Nm) Phase Current (A) Rotor Inertia (gcm²) Phase inductance (mh) Weight (kg) ISD ,6 5, ,0 3,3 ISD ,7 8, ,9 3,8 ISD ,0 9, ,9 6,3 ORDERING CODE Ordering code with optionals: ISD12xx/a.bcd ISD 12 XX (see table above) Com. (a) Conn. (b) Shaft type (c) Option (d) Options Description /a.b c d a CAN Communication RS485 Communication PROFIBUS Communication Analog Pulse Direction CAN SER PRO APD b c d n.3 DSUB connectors + n.1 power supply 3 poles (for CAN, APD) 1 n.3 DSUB + n.1 power supply 4 poles (for CAN, SER, PRO, APD) 3 Shaft dimensions 12 mm keyed shaft 0 Shaft dimensions 14 mm keyed shaft 3 Extruded mechanics (obsoleted) 0 Fuse mechanics (standard) 1 E.g ISD1271/CAN.100 ISD 1271/ ISD 120V, Stepper Motor 8,7Nm CAN. CAN interface 1 DSUB 0 12 mm keyed shaft 1 Fuse mechanics 20 Integrated servo system