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HD/HR70
servicing instructions
1 GENERAL
1.1 Before starting work on the motor, these servicing instructions should
be read and fully understood.
1.2 Servicing of SEM motors must be done only by suitably trained and
qualified personnel, and only after such motors have been electrically
isolated and removed from their mechanical drives.
1.3 The jaws of any vice or clamp must be suitably protected when used to
grip any part of the motor.
1.4 When separating the motor end covers from the motor body, care must
be taken to avoid damage to their mating surfaces.
1.5 NOTE. There are strong magnetic forces between the stator and
the rotor of all SEM servomotors. Fingers should be kept clear of
the gaps between the stator and end covers during assembly and
disassembly of the rotor.
1.6 Dismantled components awaiting reassembly, should be kept in a safe,
clean and dry location.
Various types of encoder are used, involving different procedures
for dismantling, reassembly, connection, setting up and testing.
Contact SEM with regard to relevant servicing procedures for the
particular type of encoder involved.
2 MARKING
2.1 The following relationships must be marked with a marker pen or other
suitable method before dismantling.
2.2 Drive end (DE) cover (A) to motor body (B).
2.3 Non-drive end cover (D) to motor body (C).
2.4 Enclosing Cover (18) to non-drive end (NDE) cover (17).
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator
(4) and resolver rotor (3)
3 DISMANTLING THE MOTOR
3.1 Remove 4 M4 socket screws from N.D.E. enclosing cover (18), remove
the end cover and the gasket.
3.2 Remove 8 screws (21) from D.E. cover (12).
3.3 For Sagem resolver this must be removed prior to dismantling of the
motor, proceed as per instructions for tacho removal, for any other
manufacturer check with SEM for instructions.
3.4 Withdraw D.E. cover with complete attached assembly of rotor (1),
bearings (10 & 8), resolver rotor (3) and spacer (5). Remove circlip
(11) and press out rotor shaft to separate from D.E. housing. Remove
circlip (9) and remove bearing from D.E. housing. To remove resolver
rotor (3) use bearing extractor tool behind the shoulder on spacer (5);
the bearing can then be withdrawn. Handle the resolver assembly with
great care at all times.
3.5 Before removing N.D.E., go through the disconnection sequence:
3.6 Disconnection sequence. PIN REMOVAL TOOL REQUIRED –
available from SEM Ltd. Both connectors (23 & 27) must be removed
before N.D.E. cover can be removed. Take out 4 screws, pull the
socket forward to allow access to connector pins. Withdraw the
connector pins using the pin removal tool. Pull wires through from
feedback connector (23) to clear screw access, remove 4 screws (20)
from N.D.E. cover. Withdraw the cover carefully to avoid damage to
wiring.
3.7 Removal of resolver. Important: At all stages of removal and
reassembly, the resolver unit must be handled with care. Unscrew (36)
and release resolver body (4) complete. At this point the resolver rotor
(3) is free and will drop out of the resolver body unless held in place by
hand. Remove the resolver and store in a safe place until re-assembly.
3.8 Removal of D.E. cover – Brake Models. Remove 8 cover screws (21)
then 3 screws (19) holding brake assembly. This allows cover to be
removed, leaving the brake and bearing on the shaft and exposing the
leads to the brake. Disconnect these leads and remove complete rotor
assembly as Section 3.4. Pull the bearing off the shaft, leaving brake
free to be removed. When this sequence is complete, continue as
Section 3.4 above.
4 RE-ASSEMBLY OF THE MOTOR
To fit N.D.E. cover to body. Note: new circlips, oil seals and
bearings must be fitted on the re-assembly as standard
procedure.
4.1 Feed the thermal overload leads through the hole in the N.D.E. cover,
feed the earth lead through the hole in the body and fit 4 cap head
screws.
4.2 Fit the resolver to the N.D.E. cover with 3 screws and clamping
washers (metal shield outwards), feed both resolver and thermal
overload leads through the hole on the left of the N.D.E. cover.
4.3 Fit 2 connector elbows with cap screws and gaskets, bringing out The
leads at the same time. Press the pins firmly into the back of the
connectors until they click into place. Position the connectors and
gaskets and tighten down with screws and washers.
4.4 Fit O-ring, bearing and circlip to D.E. cover, slide rotor into
cover/bearing assembly. Slide bearing onto N.D.E. of shaft.
4.5 Supporting the inner race of the bearing, press both bearings into
place. Fit spacer and tolerance ring to N.D.E. Fit circlip at D.E.
4.6 Carefully stand motor upright (with N.D.E. down). Locate the wave
washer in the N.D.E. housing, lower the rotor/cover assembly very
carefully into the body and screw the D.E. cover to the body.
4.7 Support and press into position (resolver rotor). Fit a new tolerance
ring (2). Fit brake, carefully press rotor into brake (ensuring that teeth
line up correctly). Fit rotor to body as above, but connect and isolate 2
brake leads before pushing into place.
5 RESETTING THE RESOLVER.
5.1 This only applies to a standard resolver supplied by SEM with the
standard setting. For any other resolver, refer to the drive
manufacturer.
5.2 For these procedures it is necessary to make connections and links to
feedback connector pins. To avoid damage to these pins, it is
advisable to make such connections and links via a suitable separate
test socket which mates with the feedback connector multi-pin plug
(27) and which has short leads connected to its sockets. Alternatively
appropriate pins can be made available for connections and links by
withdrawing them from plug (27) as in Section 3.6 “Disconnection”.
5.3 If a brake is used, it must be temporarily held off during this operation
by applying a 24V dc supply across the brake terminals.
5.4 Undo 4 screws (20) and pull back the enclosing cover (18) to give
access to the resolver. With the above test plug connected to the
feedback connector, link pins R1 to S3 & pins R2 to S2. Connect a
signal generator (approx 5V 6kHz) between pins R1 and R2. Connect
an AC voltmeter between pins S1 and R2.
5.5 At the power connector, link motor phase pins V and W and then
connect a low voltage dc supply to motor phases at power connector
pins U (+ve) and V+W (-ve). Adjust this voltage to give between 25%
and 100% of motor rated current thereby causing the motor to turn to a
preferred position.
5.6 Slacken the 3 screws holding the resolver stator and then rotate it until
the voltmeter gives a maximum reading. Reconnect the AC voltmeter
to pins S4 and R2. Make a small final adjustment of the resolver stator
to get a minimum reading. Retighten the screws, disconnect the test
socket, the supplies, the voltmeter and links, let the brake (if used) be
re-applied.
5.7 Attach the protective shield (if fitted) to the resolver and fix the
enclosing cover (18) to the NDE cover in accordance with marks made
in operation 2.2.
6 ELECTRICAL TESTS NECESSARY
BEFORE CONNECTING MOTOR TO
AMPLIFIER.
6.1 Measure motor stator winding resistances U-V, V-W, W-U. These
must be equal to within 3%.
6.2 Check dielectric strength by flash test at 1000 Vac from:
a Phase U (power connector pin) U to motor body.
b Phase U to thermal sensor (feedback connector pins Thermal
Sensor + and Thermal Sensor -).
c Phase U to brake connections (power connector pins B+ & B-).
If flash test is not possible then check that insulation resistance is
greater than 1megaohm.
6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc
supply from motor body to:
d Brake connections (power connector pins B+ and B-)
e Thermal sensor (feedback connector pins Thermal Sensor + and
Thermal Sensor -)
f Resolver (feedback connector pins R2 and S1.
6.4 If flash test is not possible then check that insulation resistance is
greater than 1megaohm.
SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England
Telephone: +44 (0)1689 884700
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Fax: +44 (0) 1689 884884
E-mail: info@sem.co.uk
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Internet http://www.sem.co.uk