Size (c)
Size (c)
8DI ACOPOSmotor modules are available in three different sizes (3, 4 and 5). They have different dimensions (especially flange dimensions) and power ratings. These different sizes are indicated by a number represented by (c) in the model number. The larger the number, the larger the flange dimensions and power rating for the ACOPOSmotor module.
Length (d)
Length (d)
8DI ACOPOSmotor modules are available in three different sizes. They have different power ratings with identical flange dimensions. The various lengths can be differentiated by a number (d) in the model number.
Length | Available sizes | ||
|---|---|---|---|
3 | 4 | 5 | |
3 | Yes | No | No |
4 | Yes | Yes | Yes |
5 | No | Yes | Yes |
6 | No | Yes | Yes |
Safety technology (e)
Safety technology (e)
Name | Note | Code for order key |
|---|---|---|
Wired safety technology | --- | 0 |
Encoder system (ff)
Encoder system (ff)
EnDat 2.2 encoder
General information
Digital drive systems and position control loops with position measuring devices for determining measurement values require fast and highly secure data transfer from measurement devices. In addition, other data such as drive-specific characteristics, correction tables, etc. should also be available. To ensure a high level of system security, the measurement devices must be integrated in routines for detecting errors and have the ability to perform diagnostics.
The EnDat interface from HEIDENHAIN is a digital, bidirectional interface for measurement devices. It is able to output position values from incremental and absolute measurement devices and can also read and update information on the measurement device or store new data there. Because it relies on serial data transfer, only 4 signal lines are needed. Data is transferred synchronously to the clock signal defined by the subsequent electronics. The type of transfer used (e.g. for position values, parameters, diagnostics, etc.) is selected using mode commands sent to the measurement device by the subsequent electronics.
Technical data
Name | ||||
|---|---|---|---|---|
Order code (ff) | D8 | D9 | DA | DB |
Can be used with | Size 3 | Size 3 | Motor sizes 4 and 5 | Motor sizes 4 and 5 |
Encoder type | EnDat single-turn functional safety | EnDat multi-turn functional safety | EnDat single-turn functional safety | EnDat multi-turn functional safety |
Operating principle | Inductive | |||
EnDat protocol | EnDat 2.2 | |||
Position values per revolution | 524 288 (19-bit) | |||
Recognizable revolutions | --- | 4096 (12-bit) | --- | 4096 (12-bit) |
Precision | ±120" | ±65" | ||
Vibration during operation | Stator: ≤400 m/s², rotor: ≤600 m/s² (EN 60068-2-6) 1) | Stator: ≤200 m/s², rotor: ≤600 m/s² (IEC 60068-2-6) 2) | ||
Shock during operation | ≤2.000 m/s² (EN 60068-2-27) | |||
Manufacturer's Internet address | Dr. Johannes Heidenhain GmbH www.heidenhain.de | |||
Manufacturer's product ID | ECI 1119 | EQI 1131 | ECI 1319 | EQI 1331 |
| 1) | Valid according to the standard at room temperature; 10 to 55 Hz, constant path, 4.9 mm peak to peak 10 to 55 Hz, constant lift, 4.9 mm peak to peak 10 to 55 Hz, constant amplitude, 4.9 mm peak to peak |
| 2) | In accordance with the standard at room temperature; the following values apply at a working temperature up to 100°C: ≤300 m/s², up to 115°C: ≤150 m/s². 10 to 55 Hz, constant path, 4.9 mm peak to peak 10 to 55 Hz, constant lift, 4.9 mm peak to peak 10 to 55 Hz, constant amplitude, 4.9 mm peak to peak |
Rated speed (ggg)
Rated speed (ggg)
8DI ACOPOSmotor modules can be delivered with up to two different rated speeds depending on the size and length.
Size | Available nominal speeds nN [rpm] | ||||
|---|---|---|---|---|---|
2200 (code for order key: 022) | 4500 (code for order key: 045) | ||||
3 | No | No | No | Yes | Yes |
4 | Yes | Yes | Yes | No | No |
5 | Yes | Yes | Yes | No | No |
Size | 4 | 5 | 6 | 3 | 4 |
Electronics options (h)
Electronics options (h)
POWERLINK | 24 VDC outputs (2x) | Trigger inputs (2x) | Code for order key |
|---|---|---|---|
No | No | No | 0 |
Yes | Yes | Yes | 7 |
Motor options (i)
Motor options (i)
8DI ACOPOSmotor modules are available with the following features depending on size and length:
- With or without an oil seal
- With or without a holding brake
- With a smooth or keyed shaft
The respective combination of motor options is listed in the form of a 1-digit code (i) as part of the model number.
Holding brake | Keyed shaft | Oil seal | Code for order key |
|---|---|---|---|
No | No | No | 0 |
Yes | 1 | ||
Yes | No | 2 | |
Yes | 3 | ||
Yes | No | No | 4 |
Yes | 5 | ||
Yes | No | 6 | |
Yes | 7 |
Oil seal
All 8DI ACOPOSmotor modules are available with an optional Form A oil seal in accordance with DIN 3760.
When equipped with an oil seal, 8DI ACOPOSmotor modules have IP65 protection in accordance with EN 60034-5.
Proper lubrication of the oil seal must be ensured throughout the entire service life of the motor.
Holding brake
All 8DI ACOPOSmotor modules can be delivered with a holding brake. It is installed directly behind the A flange on the module and is used to hold the motor shaft when no power is applied to the servo motor.
The holding brake is a spring-loaded brake. Based on principle, this type of holding brake exhibits a minimal amount of backlash.
This brake is designed as a holding brake and is not permitted to be used for operational braking! Under these conditions, the brake has a service life of approximately 5,000,000 cycles (opening and closing the brake is one cycle). Loaded braking during an emergency stop is permitted but reduces its service life. The required brake holding torque is determined based on the actual load torque. If not enough information is known about the load torque, it is recommended to assume a safety factor of 2.
Name | ACOPOSmotor module size | ||
|---|---|---|---|
3 | 4 | 5 | |
Holding torque MBr [Nm] | 3.2 | 9 | 18 |
Connected load Pon [W] | 12 | 15 | 18 |
Supply current Ion [A] | 0.5 | 0.9 | 1.3 |
Supply voltage Uon [V] | 24 VDC +20% / -25% | 24 VDC +20% / -25% | 24 VDC +20% / -25% |
Activation delay ton [ms] | 29 | 40 | 50 |
Release delay toff [ms] | 19 | 7 | 10 |
Moment of inertia JBr [kgcm²] | 0.38 | 0.54 | 1.66 |
Mass mBr [kg] | 0.3 | 0.46 | 0.9 |
Design of the shaft end
8DI ACOPOSmotor module shafts comply with the DIN 748 standard and are available in a smooth or keyed design.
Smooth shaft end
A smooth shaft end is used for a force-fit shaft-hub connection and guarantees a backlash-free connection between the shaft and hub as well as a high degree of operating smoothness. The end of the shaft has a threaded center hole.
Keyed shaft end
A keyed shaft end is used for a form-fit torque transfer with low demands on the shaft-hub connection and for handling torque in a constant direction.
The keyways for 8DI ACOPOSmotor modules conform to keyway form N1 in accordance with DIN 6885-1. Form A keyed shafts that conform to DIN 6885-1 are used. Balancing motors with keyways is done using the shaft and fitment key convention in accordance with DIN ISO 8821.
The end of the shaft has a threaded center hole that can be used to mount drive elements with shaft end plates.
Version
Version
Name | Note | Code for order key |
|---|---|---|
Version | Automatically specified by the configurator | 1 |
Load capacity of the shaft end and bearings
8DI ACOPOSmotor modules are equipped with grooved ball bearings that are sealed and lubricated on both sides. Radial and axial forces (Fr, Fa) applied to the shaft end during operation and installation must be within the specifications listed below. Bearing elements must not be subjected to shocks or impacts! Incorrect handling will reduce the service life and result in damage to the bearings.
The axial forces Fa permitted during the installation of pinion gears, couplings, etc. depend on the motor size and can be found in the following table:
Motor size | Permissible axial force Fa [N] |
|---|---|
Standard bearing | |
3 | 1400 |
4 | 2300 |
5 | 2500 |
Radial force
The radial force Fr on the shaft end is a function of the loads during installation (e.g. belt tension on pulleys) and operation (e.g. load torque on the pinion). The maximum radial force Fr depends on the shaft end type, bearing type, average speed, the position where the radial force is applied and the desired service life of the bearings.
Axial force, shift in shaft position caused by axial force
The axial force Fa on the shaft end is a function of the loads during installation (e.g. stress caused by mounting) and operation (e.g. thrust caused by slanted tooth pinions). The maximum axial force Fa depends on the bearing type and desired service life of the bearings. The fixed bearing is secured on the A flange with a retaining ring. The floating bearing is preloaded on the B flange with a spring in the direction of the A flange. Axial forces in the direction of the B flange can cause the spring bias to be overcome, which shifts the shaft by the amount of axial backlash in the bearing (approx. 0.1 - 0.2 mm). This shift can cause problems on motors with holding brakes or motors with EnDat encoders (D8, D9, DA and DB). As a result, no axial force is permitted in the direction of the B flange when using these motors.
Axial loads are not permitted on shaft ends of motors with holding brakes. It is especially important to prevent axial forces in the direction of the B flange since these forces can cause the brake to fail!
Determining permissible values for Fr and Fa
Information for determining permissible values of Fr and Fa can be found in the motor data for the respective three-phase synchronous motor. Permissible values are based on a bearing service life of 20,000 h (bearing service life calculation based on DIN ISO 281).