8DI | c | d | e | . | ff | ggg | h | i | 0 | k | - | 1 | ||||||||||||||||||
Size | ||||||||||||||||||||||||||||||
Length | ||||||||||||||||||||||||||||||
Safety technology | ||||||||||||||||||||||||||||||
Encoder system | ||||||||||||||||||||||||||||||
Nominal speed | ||||||||||||||||||||||||||||||
Electronics options | ||||||||||||||||||||||||||||||
Motor options | ||||||||||||||||||||||||||||||
Special motor options | ||||||||||||||||||||||||||||||
Motor version | ||||||||||||||||||||||||||||||
Size (c)
Size (c)
8DI ACOPOSmotor modules are available in three different sizes (3, 4 and 5). These differ in dimensions (especially flange dimensions) and power data. The different sizes are distinguished by a character (c) in the order number. The larger this digit, the larger the flange dimensions and power data of the respective ACOPOSmotor module.
Length (d)
Length (d)
8DI ACOPOSmotor modules are available in four different lengths. These differ in the power data with identical flange dimensions. The different lengths are differentiated by a digit (d) in the order 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)
Description | Note | Code for order key |
|---|---|---|
Hardwired safety technology | --- | 0 |
SafeMOTION EnDat 2.2 | --- | S |
Encoder system (ff)
Encoder system (ff)
EnDat 2.2 encoder
General information
Digital drive systems and position control loops require fast and highly secure transfer of data obtained from position measuring instruments. In addition, other data such as drive-specific characteristic values, correction tables, etc. should also be available. To ensure a high level of system security, measuring instruments must be integrated in routines for detecting errors and be able to perform diagnostics.
The EnDat interface from HEIDENHAIN is a digital, bidirectional interface for measuring instruments. It is able to output position values from incremental and absolute measuring instruments and can also read and update information on the measuring instrument or store new data there. Because it relies on serial data transfer, only 4 signal lines are needed. The data is transferred synchronous to the clock signal defined by the subsequent electronics. The transfer method (position values, parameters, diagnostics, etc.) is selected with mode commands that the subsequent electronics transmit to the measuring instrument.
As a serial interface, EnDat 2.2 is also suitable for safety-related applications up to SIL 3.
Technical data
Description | ||||
|---|---|---|---|---|
Order code (ff) | S8/D8 | S9/D9 | SA/DA | SB/DB |
Can be used with | Size 3 | Size 3 | Sizes 4 and 5 | 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) | |||
Distinguishable 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 website | Dr. Johannes Heidenhain GmbH www.heidenhain.de | |||
Manufacturer's product ID | ECI 1119 | EQI 1131 | ECI 1319 | EQI 1331 |
| 1) | Valid according to 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 |
Nominal speed (ggg)
Nominal speed (ggg)
ACOPOSmotor 8DI modules are available with up to two different nominal speeds depending on 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 |
Length | 4 | 5 | 6 | 3 | 4 |
Electronics options (h)
Electronics options (h)
8DI ACOPOSmotor modules are available with optional external connections:
- One additional POWERLINK connection
- Two 24 VDC outputs for supplying external components (e.g. X67 modules)
- Two trigger inputs
The respective execution of the module is specified in the form of a 1-digit code (h) as part of the model number.
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 end
The respective combination of motor options is specified in the form of a one-digit code (i) as part of the order number.
Holding brake | Key | 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 ACOPOSmotor 8DI modules are available with a form A oil seal per DIN 3760.
With an oil seal, the ACOPOSmotor 8DI modules meet the requirements for IP65 protection per 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.
The brake is designed as a holding brake. It not permitted to be used for operational braking! Under these conditions, the brake has a service life of approximately 5,000,000 cycles (releasing and engaging 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.
Description | 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% |
On-delay time ton [ms] | 29 | 40 | 50 |
Ventilation delay time toff [ms] | 19 | 7 | 10 |
Moment of inertia JBr [kgcm²] | 0.38 | 0.54 | 1.66 |
Weight 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 with a smooth or keyed shaft end.
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 per 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 per DIN ISO 8821.
The end of the shaft has a threaded center hole that can be used to mount machine actuators with shaft end cover plates.
Special motor options (k)
Special motor options (k)
The respective special motor option is specified as part of the order number in the form of a 1-digit code (k).
For the availability of special motor options, see the following tables.
Order code (k) | Special motor option | No special motor option |
|---|---|---|
Special-purpose shaft 14h6, shaft length 30 mm | ||
0 | --- | Yes |
1 | Yes | --- |
Version
Version
Description | Note | Code for order key |
|---|---|---|
Version | Assigned automatically by the configurator | 1 |
Load capacity of the shaft end and bearings
8DI ACOPOSmotor modules are equipped with grooved ball bearings that are sealed on both sides and lubricated. Radial and axial forces (Fr, Fa) applied to the shaft end during operation and installation must be within the specifications listed below. Bearing elements are not permitted to be subjected to shocks or impacts! Incorrect handling will reduce the service life and result in damage to the bearings.
The permissible axial forces Fa during the installation of pinion gears, couplings, etc. depend on the motor size and are listed in the following table:
Motor size | Permissible axial force Fa [N] |
|---|---|
Standard bearing | |
3 | 1400 |
4 | 2300 |
5 | 2500 |
Radial force
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). Maximum radial force Fr depends on the shaft end variant, 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
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). Maximum axial force Fa depends on the bearing type and the desired service life of the bearings. The fixed bearing is secured on the B-side flange with a retaining ring. The floating bearing on the B-side flange is preloaded with a spring in the direction of the A-side flange. Axial forces in the direction of the B-side 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-side 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 of 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 20000 h (bearing service life calculation based on DIN ISO 281).