Siemens Outboard Motor S120 Users Manual

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SINAMICS S120 Drive Technology 1FW6 Built-in torque motors
SINAMICS
Configuration Manual · 05/2009
1FW6 built-in torque motors
SINAMICS S120
s
Preface
1
General safety guidelines
2
Description of the motor
SINAMICS S120
Motor components of the
built-in motor and options 3
Drive Technology 4
1FW6 Built-in torque motors Coupled motors
5
Configuring the motor
Configuration Manual
Motor assembly
6
System integration
7
Interfaces
8
Commissioning
9
Operation
10
Maintenance and repairs
11
12
Storage and transport
Environmental compatibility
13
Technical data and
characteristics 14
Installation
drawings/Dimension
drawings
15
A
05/2009 Appendix
6SN1197-0AE00-0BP3
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation for the specific task, in particular its warning notices and
safety instructions. Qualified personnel are those who, based on their training and experience, are capable of
identifying risks and avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be adhered to. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG Ordernumber: 6SN1197-0AE00-0BP3 Copyright © Siemens AG 2009.
Industry Sector Ⓟ 05/2009 Technical data subject to change
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface
Information on the documentation
At http://www.siemens.com/motioncontrol/docu information is available on the following
topics:
● Ordering documentation
Here you can find an up-to-date overview of publications
● Downloading documentation
Links to more information for downloading files from Service & Support.
● Researching documentation online
Information on DOConCD and direct access to the publications in DOConWeb.
● Compiling documentation individually on the basis of Siemens content with the My
Documentation Manager (MDM), see http://www.siemens.com/mdm
The My Documentation Manager offers you a range of features for creating your own
machine documentation.
● Training and FAQs
Information on the range of training courses and FAQs (frequently asked questions) are
available via the page navigation.
Target group
This manual is aimed at planning, project, and design engineers as well as electricians,
fitters, and service personnel.
Benefits
This configuration manual enables the target group to comply with the rules and guidelines
that apply when torque motors are configured. It helps you select products and functions.
Standard scope
This documentation describes the functionality of the standard version. Extensions or
changes made by the machine manufacturer are documented by the machine manufacturer.
Other functions not described in this documentation might be able to be executed in the drive
system. This does not, however, represent an obligation to supply such functions with a new
delivery or when servicing.
For reasons of clarity, this documentation does not contain all the detailed information about
all types of the product and cannot cover every conceivable case of installation, operation or
maintenance.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 5
Preface
Technical Support
If you have any technical questions, please contact our hotline:
Europe / Africa
Phone +49 180 5050 222
Fax +49 180 5050 223
0.14 €/min. from German landlines (mobile call charges may differ)
Internet http://www.siemens.com/automation/support-request
America
Telephone +1 423 262 2522
Fax +1 423 262 2200
E-mail mailto:techsupport.sea@siemens.com
Asia / Pacific
Telephone +86 1064 757 575
Fax +86 1064 747 474
E-Mail mailto:support.asia.automation@siemens.com
Note
For technical support telephone numbers for different countries, go to:
http://www.automation.siemens.com/partner
Questions about this documentation
Please send any questions about the technical documentation (e.g. suggestions,
corrections) to the following fax number or E-Mail address:
Fax +49 (0) 9131 / 98-2176
E-mail E-mail to: docu.motioncontrol@siemens.com
A fax form is available in the appendix of this document.
Internet address for products
http://www.siemens.com/motioncontrol
1FW6 Built-in torque motors
6 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Preface
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 7
EC Declaration of Conformity
The EC Declaration of Conformity (to Low-Voltage Directive 2006/95/EC) is available at the
following Internet address in the folder "Drive Technology":
http://support.automation.siemens.com/WW/llisapi.dll?func=cslib.csinfo&lang=de&siteid=csiu
s&objid=19183574
If you do not have access to the Internet, contact your local Siemens office to obtain a copy
of the EC Declaration of Conformity.
Table of contents
Preface ...................................................................................................................................................... 5
1 General safety guidelines ........................................................................................................................ 13
1.1 Observing and complying with safety guidelines.........................................................................14
1.2 Handling direct drives and components.......................................................................................15
1.3 Use for the intended purpose.......................................................................................................16
1.4 Danger from strong magnetic fields.............................................................................................17
1.5 Electrical shock hazard! ...............................................................................................................20
1.6 Attaching warning signs ...............................................................................................................20
1.7 Pictograms supplied for 1FW6.....................................................................................................21
2 Description of the motor........................................................................................................................... 23
2.1 Properties.....................................................................................................................................23
2.1.1 Overview ......................................................................................................................................23
2.1.2 Benefits ........................................................................................................................................24
2.1.3 Applications..................................................................................................................................25
2.2 Technical features........................................................................................................................25
2.3 Selection and ordering data.........................................................................................................29
2.4 Order designation ........................................................................................................................34
2.4.1 Structure of the order designations..............................................................................................34
2.4.2 Standard 1FW6 built-in torque motor...........................................................................................35
2.4.3 Stator as individual component....................................................................................................36
2.4.4 Rotor as individual component.....................................................................................................37
2.4.5 Round sealing ring (O ring)..........................................................................................................37
2.4.6 Cooling connection adapter .........................................................................................................38
2.4.7 Plug connector .............................................................................................................................38
2.4.8 Ordering notes .............................................................................................................................38
2.4.9 Ordering examples.......................................................................................................................39
2.5 Motor rating plate .........................................................................................................................40
3 Motor components of the built-in motor and options ................................................................................ 41
3.1 Overview of the motor construction .............................................................................................41
3.2 Thermal motor protection.............................................................................................................44
3.2.1 Description of the temperature sensors.......................................................................................44
3.2.2 Evaluation of the temperature sensors for motor protection........................................................48
3.3 Cooling.........................................................................................................................................48
3.3.1 Cooling circuits.............................................................................................................................50
3.3.2 Coolant.........................................................................................................................................52
4 Coupled motors ....................................................................................................................................... 55
4.1 Parallel operation of several motors ............................................................................................55
4.1.1 Power connection for parallel operation ......................................................................................56
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 9
Table of contents
4.1.2 Janus arrangement ..................................................................................................................... 59
5 Configuring the motor .............................................................................................................................. 61
5.1 Procedure.................................................................................................................................... 61
5.1.1 General mechanical conditions................................................................................................... 63
5.1.2 Specification of the duty cycle..................................................................................................... 63
5.1.3 Torque-time diagram................................................................................................................... 64
5.1.4 Selecting the motors ................................................................................................................... 66
5.1.5 Uneven current load.................................................................................................................... 67
5.1.6 Motor torque-speed diagram....................................................................................................... 67
5.1.7 Torque-speed requirements........................................................................................................ 68
5.1.8 More than one torque motor on one axes...................................................................................69
5.1.9 Checking the moments of inertia ................................................................................................ 69
5.1.10 Selecting the drive system components for the power connection............................................. 70
5.1.11 Calculating the required infeed power ........................................................................................ 70
5.2 Example(s) .................................................................................................................................. 71
5.3 Short-time duty S2 and intermittent duty S3 ............................................................................... 76
6 Motor assembly ....................................................................................................................................... 79
6.1 Motor assembly........................................................................................................................... 79
6.1.1 Procedure for installing the motor ............................................................................................... 84
6.1.2 Cooler connection ....................................................................................................................... 88
6.1.3 Information on routing cables...................................................................................................... 90
6.1.4 Checking the work carried out .................................................................................................... 91
6.1.5 Installation examples................................................................................................................... 92
6.2 Protecting the motor components ............................................................................................. 100
7 System integration................................................................................................................................. 101
7.1 System requirements ................................................................................................................ 101
7.2 Encoders ................................................................................................................................... 106
7.3 Bearings .................................................................................................................................... 109
7.4 Braking concepts....................................................................................................................... 109
8 Interfaces............................................................................................................................................... 113
8.1 Overview ................................................................................................................................... 113
8.2 Electrical connections ............................................................................................................... 142
8.2.1 Power connection...................................................................................................................... 143
8.2.2 Signal connection...................................................................................................................... 143
8.2.3 Shielding, grounding, and equipotential bonding...................................................................... 145
8.2.4 Requirements for the motor supply cables ............................................................................... 146
8.3 Cooler connection ..................................................................................................................... 146
9 Commissioning ...................................................................................................................................... 159
9.1 Safety guidelines for commissioning......................................................................................... 159
9.2 Procedure.................................................................................................................................. 162
10 Operation............................................................................................................................................... 165
10.1 Safety guidelines for operation ................................................................................................. 165
10.2 Dealing with faults..................................................................................................................... 165
1FW6 Built-in torque motors
10 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Table of contents
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 11
11 Maintenance and repairs ....................................................................................................................... 167
11.1 Safety information for maintenance and repairs........................................................................167
11.2 Safety guidelines for high-voltage test.......................................................................................169
11.3 Maintenance...............................................................................................................................169
11.4 Test and replacement intervals of the cooling medium .............................................................170
12 Storage and transport............................................................................................................................ 171
12.1 Packaging, storage, and transport guidelines............................................................................171
12.2 Safety note regarding lifting devices..........................................................................................172
13 Environmental compatibility ................................................................................................................... 173
13.1 Environmental compatibility during production ..........................................................................173
13.2 Disposal .....................................................................................................................................173
13.2.1 Guidelines for disposal...............................................................................................................173
13.2.2 Disposing of 1FW6 rotors ..........................................................................................................174
13.2.3 Disposal of packaging................................................................................................................174
14 Technical data and characteristics......................................................................................................... 175
14.1 Explanations of the formula abbreviations.................................................................................175
14.2 Data sheets and diagrams.........................................................................................................182
14.2.1 1FW6090-xxxxx-xxxx.................................................................................................................182
14.2.2 1FW6130-xxxxx-xxxx.................................................................................................................190
14.2.3 1FW6150-xxxxx-xxxx.................................................................................................................198
14.2.4 1FW6160-xxxxx-xxxx.................................................................................................................206
14.2.5 1FW6190-xxxxx-xxxx.................................................................................................................227
14.2.6 1FW6230-xxxxx-xxxx.................................................................................................................248
14.2.7 1FW6290-xxxxx-xxxx.................................................................................................................268
15 Installation drawings/Dimension drawings ............................................................................................. 279
15.1 Installation situation for motors with a cooling jacket.................................................................279
15.2 Explanation of installation drawings...........................................................................................280
15.3 Installation drawings/Dimension drawings.................................................................................282
A Appendix................................................................................................................................................ 291
A.1 Recommended manufacturers...................................................................................................291
A.1.1 Supply sources for connection components and accessories for heat-exchanger units...........291
A.1.2 Supply sources for cooling systems...........................................................................................292
A.1.3 Supply sources for anti-corrosion agents ..................................................................................293
A.1.4 Supply sources for braking elements.........................................................................................294
A.2 Fax form for suggestions/corrections (copy template)...............................................................295
A.3 List of abbreviations ...................................................................................................................296
Index...................................................................................................................................................... 299
General safety guidelines 1
Please observe all the relevant safety instructions to avoid personal and/or material damage.
In particular, you must observe the safety instructions and notes regarding the powerful
permanent magnets installed in the rotor of the built-in torque motor.
The rotor is secured in the stator by means of transportation locks and a spacer film. The
original packaging for the built-in torque motor and the transportation locks (incl. the screws)
are required for storage/transport purposes and should, therefore, be kept in a safe place.
This documentation should also be kept in a safe place and made available to the personnel
responsible.
Residual risks of power drive systems
When carrying out a risk assessment of the machine in accordance with the EU Machinery
Directive, the machine manufacturer must consider the following residual risks associated
with the control and drive components of a power drive system (PDS).
1. Unintentional movements of driven machine components during commissioning,
operation, maintenance, and repairs caused by, for example:
– Hardware defects and/or software errors in the sensors, controllers, actuators, and
connection technology
– Response times of the controller and drive
– Operating and/or ambient conditions not within the scope of the specification
– Parameterization, programming, cabling, and installation errors
– Use of radio devices / cellular phones in the immediate vicinity of the controller
– External influences / damage
2. Exceptional temperatures as well as emissions of light, noise, particles, or gas caused by,
for example:
– Component malfunctions
– Software errors
– Operating and/or ambient conditions not within the scope of the specification
– External influences / damage
3. Hazardous shock voltages caused by, for example:
– Component malfunctions
– Influence of electrostatic charging
– Induction of voltages in moving motors
– Operating and/or ambient conditions not within the scope of the specification
– Condensation / conductive contamination
– External influences / damage
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 13
General safety guidelines
1.1 Observing and complying with safety guidelines
4. Operational electrical, magnetic, and electromagnetic fields that can pose a risk to people
with a pacemaker and/or implants or metallic objects if they are too close.
5. Release of environmentally hazardous materials and emissions during improper
operation and / or improper disposal of components.
For more information about residual risks of the power drive system components, see the
relevant chapters in the technical user documentation.
DANGER
It may be dangerous for people to remain in the immediate proximity of the product –
especially for those with pacemakers, implants or similar – due to electric, magnetic and
electromagnetic fields (EMF) occurring as a consequence of operation.
The machine/system operator and the people present near the product must observe the
relevant guidelines and standards! These are, for example, in the European Economic Area
(EEA) the Electromagnetic Fields Directive 2004/40/EC and the standards EN 12198-1 to
12198-3 and in the Federal Republic of Germany the Employer's Liability Insurance
A
ssociation Regulations for the Prevention of Industrial Accidents BGV 11, with the relevant
rule BGR 11 "Electromagnetic Fields".
Then a risk assessment must be carried out for every workplace, activities for reducing
dangers and exposure for people decided upon and implemented, as well as determining
and observing exposure and danger areas.
1.1 Observing and complying with safety guidelines
DANGER
There is a danger of death, severe physical injury, and/or damage to property if the safety
instructions are not observed and complied with.
It is essential that you observe the safety instructions in this documentation. This includes
the special safety instructions in the individual sections.
Observe all warning and information plates.
Make sure that your end product satisfies all relevant standards and legal specifications.
The applicable national, local, and machine-specific safety regulations and requirements
must also be taken into account.
In addition to the safety instructions included in this documentation, the detailed
specifications in the catalogs and offers also apply to the special motor versions.
Also observe the relevant operating instructions when working on the drive system.
1FW6 Built-in torque motors
14 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
General safety guidelines
1.2 Handling direct drives and components
1.2 Handling direct drives and components
DANGER
There is danger of death, serious bodily injury and/or property damage when untrained
personnel is allowed to handle direct drives and/or their components.
Only personnel who are familiar with and who observe the safety guidelines are allowed to
handle direct drives and their components.
Installation, commissioning, operation and maintenance may only be performed by
qualified, trained and instructed personnel. The personnel must be thoroughly familiar with
the content of this guide.
All work must be performed by at least two persons.
Note
Make sure that the information about the sources of danger and the safety measures is
available at all times! Keep all the descriptions and safety guidelines concerning direct drives
and their components if possible!
All descriptions and safety guidelines can also be requested from your local Siemens office.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 15
General safety guidelines
1.3 Use for the intended purpose
1.3 Use for the intended purpose
DANGER
There is a risk of death, serious personal injury and/or serious material damage when direct
drives or their components are used for a purpose for which they were not intended.
The motors are designed for industrial or commercial machines. It is prohibited to use them
in areas where there is a risk of explosion (Ex-zone) unless they are designed expressly for
this purpose (observe the separately enclosed additional instructions where applicable). If
increased demands (e.g. touch protection) are made in special cases – for use in non-
commercial systems – these conditions must be ensured on the machine side during
installation.
Direct drives and their components may only be used for the applications specified by the
manufacturer. Please contact your Siemens branch responsible if you have any questions
on this matter.
The motors must be protected from dirt and contact with aggressive substances.
Special versions and design variants whose specifications vary from the motors described
herein are subject to consultation with your Siemens branch.
The motors are designed for an ambient temperature range of -5 °C to +40 °C. Any
alternative requirements specified on the rating plate must be noted! The on-site conditions
must comply with the rating plate specifications and the condition specifications contained
in this documentation. Any differences regarding approvals or country-specific guidelines
must be taken into account separately.
DANGER
The products included in the scope of delivery are exclusively designed for installation in a
machine. Commissioning is prohibited until it has been established that the end product
conforms with Directive 98/37/EC. All safety instructions must be observed and given to the
end user for his/her information.
DANGER
Risk of electric shock if a hazardous voltage is present on the stator when operated as a
single component.
To ensure that the components have sufficient shock-hazard protection, voltage must only
be applied to the motors once they have been installed.
1FW6 Built-in torque motors
16 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
General safety guidelines
1.4 Danger from strong magnetic fields
1.4 Danger from strong magnetic fields
Occurrence of magnetic fields
Strong magnetic fields occur in the components of the motor that contain permanent
magnets. The magnetic field strength of the motors results exclusively from the magnetic
fields of the components with permanent magnets in the de-energized state. Electromagnetic
fields also occur during operation.
Components with permanent magnets
CAUTION
The permanent magnets of the 1FW6 torque motors are located in the rotor.
DSSUR[
DSSUR[
0DJQHWLFIOX[GHQVLW\LQP7
'LVWDQFHLQPP
Figure 1-1 Schematic representation of the static magnetic field of a rotor, as a function of distance
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 17
General safety guidelines
1.4 Danger from strong magnetic fields
Danger from strong magnetic fields
DANGER
Strong magnetic fields can pose a risk to personnel and cause damage.
With regard to the effect of strong magnetic fields on people, the work guideline BGV B 11
"Electromagnetic Fields" applies in Germany. This specifies all the requirements that must
be observed in the workplace. In other countries, the relevant applicable national and local
regulations and requirements must be taken into account.
People with active electrical component implants (e.g. pacemakers, insulin pumps), metal
implants and magnetic or electrically conducting foreign bodies are urgently advised to
avoid direct contact with components containing permanent magnets. This applies to, e.g.,
any work connected with assembly, maintenance or storage.
BGV B 11 specifies a limit value of 212 mT for static magnetic fields. This must be observed
for distances greater than 20 mm from a rotor.
The requirements of BGV B 11 must also be taken into account with regard to strong
magnetic fields (BGV B11 §14).
DANGER
Personnel who are exposed to magnetic fields in their daily work must maintain a distance
of at least 50 mm from a rotor.
Personnel with pacemakers must maintain a distance of at least 500 mm from a rotor.
Humans have no sensory organs for picking up strong magnetic fields and have no
experience with them as a rule. Therefore, the magnetic forces of attraction emanating from
strong magnetic fields are often underestimated.
The magnetic forces of attraction may be several kN in the vicinity of the motor components
containing permanent magnets (within a distance of less than 100 mm). – Example:
Magnetic attractive forces are equivalent to a mass of several hundred kilos, which can trap
a part of the body (hands, fingers, feet etc.)!
1FW6 Built-in torque motors
18 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
General safety guidelines
1.4 Danger from strong magnetic fields
DANGER
Strong attractive forces on magnetizable materials lead to a great danger of crushing in the
vicinity of components with permanent magnets (distance less than 100 mm).
Do not underestimate the strength of the attractive forces!
Do not carry any objects made of magnetizable materials (e. g. watches, steel or iron tools)
and/or permanent magnets close to the motor or close to a component with permanent
magnets.
For the event of accidents when working with permanent magnets, the following objects
must be on hand to free clamped body parts (hands, fingers, feet etc.):
a hammer (about 3 kg) made of solid, non-magnetizable material
two pointed wedges (wedge angle approx. 10° to 15°) made of solid, non-magnetizable
material (e.g. hard wood)
First aid in the case of accidents involving permanent magnets
● Stay calm.
● Press the emergency stop switch and, where necessary, switch off the main switch if the
machine is live.
● Administer FIRST AID. Call for further help if required.
● To free jammed body parts (e.g., hands, fingers, feet), pull apart components that are
clamped together.
– To do this, use a hammer to drive a wedge into the separating rift
– Release the jammed body parts.
● If necessary, call for an EMERGENCY DOCTOR.
CAUTION
Magnetic fields can lead to a loss of data on magnetic or electronic data media and
damage watches.
Keep all magnetic or electronic data media (e.g. credit cards, disks, etc.) and watches away
from the rotor (< 100 mm).
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 19
General safety guidelines
1.5 Electrical shock hazard!
1.5 Electrical shock hazard!
DANGER
Electrical shock hazard! When an installed torque motor rotates, potentially dangerous
voltages are induced at the cable ends of the motor.
Insulate terminals and leads in open cable ends or take measures to prevent torque motors
that have been installed from rotating.
There is also a risk of compression.
DANGER
Danger due to high leakage currents
If high leakage currents are present, more stringent requirements may apply to the PE
conductor. Warning signs may also be required on the PDS. You can find more detailed
information in the standard EN 61800-5-1.
Protective measures against residual voltages
DANGER
There is a shock hazard danger due to the residual voltages at the motor terminals!
When the power supply voltage is switched-out, active parts of the motor can have a
charge of more than 60 μC. In addition, at open-circuit cable ends - e.g. when a connector
is withdrawn - even after the power has been disconnected, a voltage or more than 60 V
can be present for 1 s. This is the reason that you must apply the appropriate measures to
provide protection against residual voltages!
1.6 Attaching warning signs
All danger areas must be identified by well visible warning and prohibiting signs (pictograms)
in the immediate vicinity of the danger. The associated texts must be available in the
language of the country in which the product is used.
1FW6 Built-in torque motors
20 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
General safety guidelines
1.7 Pictograms supplied for 1FW6
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 21
1.7 Pictograms supplied for 1FW6
To indicate dangers, the following durable adhesive stickers are supplied:
Table 1- 1 Warning signs to BGV A8 / DIN 4844-2 and what they indicate
Sign Meaning Sign Meaning
Warning: strong
magnetic field
(D-W013)
Warning: hand injuries
(D-W027)
Warning: hazardous
electric voltage
(D-W008)
Warning: hot surfaces
(D-W026)
Table 1- 2 Prohibiting signs to BGV A8 / DIN 4844-2 and what they indicate
Sign Meaning Sign Meaning
No pacemakers
(D-P011)
No metal implants
(D-P016)
No metal objects or
watches
(D-P020)
No magnetic or
electronic data media
(D-P021)
Description of the motor 2
1FW6 built-in torque motor
2.1 Properties
2.1.1 Overview
1FW6 torque motors are designed as built-in motors for use in low-speed direct drives with a
high torque output.
Built-in torque motors are liquid-cooled, permanent-magnet-excited, (high pole number)
three-phase synchronous motors with hollow-shaft rotors. The motors are provided as built-
in components which, on delivery, are secured together by means of transportation locks
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 23
Description of the motor
2.1 Properties
and spacer film. For a complete drive unit, an additional bearing and rotary transducer are
required.
The product range includes 7 frame sizes (or external diameters), each with at least 4
different axis lengths. Each motor is available for at least two different speed ranges. The
stator and rotor are equipped with flanges at both ends with centering surfaces and tapped
holes, which allow them to be integrated in a machine.
Standards and regulations
The product complies with the standards relating to the Low-Voltage Directive stated in the
EC Declaration of Conformity.
2.1.2 Benefits
Features of the motors:
● Extremely high power density
● High torque with a compact design and low unit volume
● Wide range of types
● High overload capability (factor 1.6 to 2.2); the current input of the windings is adjusted in
line with the Motor Modules in the SINAMICS S120 drive system.
● Low moment of inertia
● High degree of availability as there are no gearbox components in the mechanical drive
transmission line which are subject to wear
● Water cooling to increase the rated power
● Directly flanged to the machine
● Cable outlet, axial, radial towards the outside or tangential for all frame sizes
As a result of water cooling, they fulfill high requirements regarding the thermal behavior
within the machine assembly.
1FW6 Built-in torque motors
24 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Description of the motor
2.2 Technical features
2.1.3 Applications
In conjunction with the SINAMICS S120 drive system (booksize or blocksize format), the
built-in torque motors can be used as a direct drive for the following machine applications:
● Rotary indexing machines, rotary tables, swivel axes
● Rotary axes (A, B, C axes in 5-axes machine tools)
● Rotary tables, rotary indexing machines, sub-machine assemblies
● Turret indexing and drum indexing for single-spindle and multi-spindle machines
● Dynamic tool magazines
● Rotating spindles in milling machines
● Roller and cylinder drives
● Infeed and handling axes
WARNING
The motors cannot be operated directly on the supply system, but may only be operated
with a suitable drive system.
Note
Note that when 1FW6 direct motors (torque motors) are used in fork heads for machine tools
or robots, a license for US patent US5584621 and the associated international patent
protection may be required.
2.2 Technical features
Note
The values specified in the following table only apply in conjunction with the system
prerequisites described in "System integration".
Table 2- 1 Standardversion of the 1FW6 torque motor
Technical feature Version
Motor type Synchronous motor with permanent magnet rotor, multi-pole (no.
of rotor poles: 44 to 98)
Design Individual components: stator, rotor
Degree of protection to EN
60034-5 and EN 60529
Motor: IP23
The final degree of protection (minimum degree of protection:
IP54) of the built-in motor must be realized by the machine
manufacturer.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 25
Description of the motor
2.2 Technical features
Technical feature Version
Cooling method Water cooling:
Jacket cooling, size 1FW609, 1FW613, 1FW615
Integrated cooling, size 1FW616, 1FW619, 1FW623, 1FW629
Pressure in the cooling circuit Max. 10 bar (static)
Cooler connection Motors with a cooling jacket:
Must be connected by customer
Motors with integrated cooling:
Connection with/without cooling connection adapter (see
"Installing the motor")
Temperature sensor 2 x PTC thermistor triplet with response threshold +130 /150 °C
(to DIN 44081/44082) and 1 x KTY84 thermistor (to EN 60034-
11) in the stator.
Insulation of stator winding
according to EN 60034-1
Temperature class 155 (F)
Magnet material Rare earth material
Connection, electrical Cable outlet:
Axial
radial outward
tangential (not in the case of motors with single cores)
Connection type:
Permanently connected power and signal cables with open core
ends
Length: 2 m
Permanently connected power cables with single cores and
signal cables with open core ends
Length: 1 m
Permanently connected power and signal cables pre-assembled
with connectors (not in the case of motors with single cores)
Length: 0.5 m
Motor supply cables For the specifications of the motor supply cables, see
"Interfaces".
Torque ripple ≤ 1.5% M0
Ambient conditions for long-term storage, transport, and use in fixed locations
Based on DIN EN 60721-3-1 (for long-term storage), DIN EN 60721-3-2 (for transport), and
DIN EN 60721-3-3 (for use in fixed, weather-protected locations)
Table 2- 2 Climatic ambient conditions
Lower air temperature limit: - 5 °C
Upper air temperature limit: + 40 °C (deviates from 3K5)
Lower relative humidity limit: 5 %
Upper relative humidity limit: 85 %
Rate of temperature fluctuations: < 0.5 K/min
Condensation: Not permissible
Formation of ice: Not permissible
1FW6 Built-in torque motors
26 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Description of the motor
2.2 Technical features
Long-term storage: Class 1K3 and class 1Z1 have a different upper relative humidity
Transport: Class 2K2
Fixed location: Class 3K3
Storage, transport and operation permissible only in locations that are fully protected against the weather
(in halls or rooms).
Table 2- 3 Biological ambient conditions
Long-term storage: Class 1B1
Transport: Class 2B1
Fixed location: Class 3B1
Table 2- 4 Chemical ambient conditions
Long-term storage: Class 1C1
Transport: Class 2C1
Fixed location: Class 3C2
Operating site in the immediate vicinity of industrial plants with chemical emissions
Table 2- 5 Mechanically active ambient conditions
Long-term storage: Class 1S2
Transport: Class 2S2
Fixed location: Class 3S1
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 27
Description of the motor
2.2 Technical features
Table 2- 6 Mechanical ambient conditions
Long-term storage: Class 1M2
Transport: Class 2M2
Fixed location: Class 3M3
UL approval
The torque motors described in this documentation have been approved by Underwriters
Laboratories Inc. (USA) (UL).
Validity
Generally the approvals for the motor are listed on the rating plate. As a rule, these
approvals are valid for the operating mode specified in the data sheets. More detailed
information on the conditions for the validity of an approval can be obtained from your local
Siemens office.
The installation conditions according to Underwriters Laboratories Inc. (USA) - UL for short -
can be taken from the Conditons of Acceptability.
Direction of rotation
The rotor for the built-in torque motor rotates clockwise if the built-in torque motor is
connected to phase sequence U, V, W. You can see this when you look at the A flange of
the motor.
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Figure 2-1 Line of sight for determining the direction of rotation
1FW6 Built-in torque motors
28 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Description of the motor
2.3 Selection and ordering data
2.3 Selection and ordering data
Table 2- 7 Built-in torque motors: overview (part 1 of 2)
Order desig. /
Size
Rated torque1)
MN
in Nm
Max. torque
MMAX
in Nm
Rated
current1) IN
in A
Max. current
IMAX
in A
Max. speed at
rated torque2)
nMAX,MN
in rpm
Max. speed at
max. torque2)
nMAX,MMAX
in rpm
1FW6090-xxB05-0Fxx 113 179 5.6 9.5 140 46
1FW6090-xxB05-0Kxx 109 179 7.4 13 250 140
1FW6090-xxB07-0Kxx 154 251 9.5 16 220 120
1FW6090-xxB07-1Jxx 142 251 13 26 430 270
1FW6090-xxB10-0Kxx 231 358 7.9 13 82 8.7
1FW6090-xxB10-1Jxx 216 358 14 26 270 170
1FW6090-xxB15-1Jxx 338 537 15 26 150 78
1FW6090-xxB15-2Jxx 319 537 23 43 310 200
1FW6130-xxB05-0Kxx 241 439 9 18 130 47
1FW6130-xxB05-1Jxx 217 439 14 32 310 180
1FW6130-xxB07-0Kxx 344 614 10 20 96 21
1FW6130-xxB07-1Jxx 324 614 15 32 200 110
1FW6130-xxB10-1Jxx 484 878 16 32 120 50
1FW6130-xxB10-2Jxx 450 878 24 53 250 150
1FW6130-xxB15-1Jxx 744 1320 18 36 78 14
1FW6130-xxB15-2Jxx 714 1320 26 54 150 77
1FW6150-xxB05-1Jxx 338 710 17 44 230 110
1FW6150-xxB05-4Fxx 298 710 36 100 650 330
1FW6150-xxB07-2Jxx 470 994 25 66 260 130
1FW6150-xxB07-4Fxx 445 994 38 100 450 230
1FW6150-xxB10-2Jxx 688 1420 26 66 170 76
1FW6150-xxB10-4Fxx 664 1420 40 100 300 150
1FW6150-xxB15-2Jxx 1050 2130 26 66 100 32
1FW6150-xxB15-4Fxx 1030 2130 41 100 190 89
1FW6160-xxB05-1Jxx 431 716 16 31 140 84
1FW6160-xxB05-2Jxx 404 716 24 49 250 150
1FW6160-xxB05-5Gxx 314 716 36 98 590 320
1FW6160-xxB07-1Jxx 620 1000 16 31 96 53
1FW6160-xxB07-2Jxx 594 1000 25 49 170 100
1FW6160-xxB07-5Gxx 514 1000 43 98 390 230
1FW6160-xxB07-8Fxx 432 1000 51 140 610 330
1FW6160-xxB10-1Jxx 903 1430 17 31 60 29
1FW6160-xxB10-2Jxx 878 1430 26 49 110 65
1FW6160-xxB10-5Gxx 804 1430 47 98 260 160
1FW6160-xxB10-8Fxx 732 1430 61 140 390 230
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 29
Description of the motor
2.3 Selection and ordering data
Order desig. /
Size
Rated torque1)
MN
in Nm
Max. torque
MMAX
in Nm
Rated
current1) IN
in A
Max. current
IMAX
in A
Max. speed at
rated torque2)
nMAX,MN
in rpm
Max. speed at
max. torque2)
nMAX,MMAX
in rpm
1FW6160-xxB10-2Pxx 622 1430 73 190 600 330
1FW6160-xxB15-2Jxx 1350 2150 26 49 66 34
1FW6160-xxB15-5Gxx 1280 2150 50 98 160 97
1FW6160-xxB15-8Fxx 1220 2150 68 140 240 150
1FW6160-xxB15-2Pxx 1120 2150 88 190 360 220
1FW6160-xxB15-0Wxx 961 2150 100 280 560 320
1FW6160-xxB20-5Gxx 1750 2860 52 98 110 68
1FW6160-xxB20-8Fxx 1690 2860 72 140 170 110
1FW6160-xxB20-2Pxx 1600 2860 95 190 260 160
1FW6160-xxB20-0Wxx 1460 2860 120 280 400 240
1FW6190-xxB05-1Jxx 633 990 17 31 97 54
1FW6190-xxB05-2Jxx 605 990 24 47 160 96
1FW6190-xxB05-5Gxx 509 990 40 95 380 210
1FW6190-xxB07-1Jxx 905 1390 17 31 63 33
1FW6190-xxB07-2Jxx 879 1390 25 47 110 64
1FW6190-xxB07-5Gxx 791 1390 44 95 250 150
1FW6190-xxB07-8Fxx 704 1390 56 130 390 220
1FW6190-xxB10-1Jxx 1310 1980 17 31 38 14
1FW6190-xxB10-2Jxx 1290 1980 26 47 70 39
1FW6190-xxB10-5Gxx 1210 1980 48 95 170 100
1FW6190-xxB10-8Fxx 1130 1980 64 130 260 150
1FW6190-xxB10-2Pxx 955 1980 84 210 450 250
1FW6190-xxB15-2Jxx 1970 2970 26 47 40 17
1FW6190-xxB15-5Gxx 1890 2970 50 95 100 62
1FW6190-xxB15-8Fxx 1820 2970 69 130 160 97
1FW6190-xxB15-2Pxx 1670 2970 99 210 270 160
1FW6190-xxB15-0Wxx 1540 2970 110 270 370 210
1FW6190-xxB20-5Gxx 2570 3960 51 95 73 42
1FW6190-xxB20-8Fxx 2500 3960 71 130 110 68
1FW6190-xxB20-2Pxx 2360 3960 100 210 200 120
1FW6190-xxB20-0Wxx 2250 3960 120 270 260 160
1FW6230-xxB05-1Jxx 799 1320 15 31 69 34
1FW6230-xxB05-2Jxx 774 1320 22 45 110 59
1FW6230-xxB05-5Gxx 660 1320 40 100 290 160
1FW6230-xxB07-1Jxx 1140 1840 16 31 45 19
1FW6230-xxB07-2Jxx 1120 1840 22 45 73 38
1FW6230-xxB07-5Gxx 1010 1840 44 100 190 110
1FW6230-xxB07-8Fxx 923 1840 56 130 290 160
1FW6 Built-in torque motors
30 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Description of the motor
2.3 Selection and ordering data
Order desig. /
Size
Rated torque1)
MN
in Nm
Max. torque
MMAX
in Nm
Rated
current1) IN
in A
Max. current
IMAX
in A
Max. speed at
rated torque2)
nMAX,MN
in rpm
Max. speed at
max. torque2)
nMAX,MMAX
in rpm
1FW6230-xxB10-2Jxx 1630 2630 23 45 46 21
1FW6230-xxB10-5Gxx 1520 2630 48 100 130 74
1FW6230-xxB10-8Fxx 1450 2630 62 130 190 110
1FW6230-xxB10-2Pxx 1320 2630 80 190 290 160
1FW6230-xxB15-4Cxx 2440 3950 32 63 43 19
1FW6230-xxB15-5Gxx 2380 3950 49 100 80 44
1FW6230-xxB15-8Fxx 2310 3950 66 130 120 67
1FW6230-xxB15-2Pxx 2190 3950 90 190 180 100
1FW6230-xxB15-0Wxx 2020 3950 110 270 270 150
1FW6230-xxB20-5Gxx 3230 5260 51 100 56 29
1FW6230-xxB20-8Fxx 3160 5260 69 130 84 47
1FW6230-xxB20-2Pxx 3050 5260 94 190 130 74
1FW6230-xxB20-0Wxx 2890 5260 120 270 190 110
1FW6290-xxB07-5Gxx 2060 4000 52 110 110 59
1FW6290-xxB07-0Lxx 1910 4000 86 210 210 110
1FW6290-xxB07-2Pxx 1810 4000 100 270 270 150
1FW6290-xxB11-7Axx 3320 6280 59 130 73 40
1FW6290-xxB11-0Lxx 3200 6280 91 210 130 71
1FW6290-xxB11-2Pxx 3100 6280 110 270 170 93
1FW6290-xxB15-7Axx 4590 8570 61 130 53 28
1FW6290-xxB15-0Lxx 4480 8570 94 210 89 50
1FW6290-xxB15-2Pxx 4390 8570 110 270 120 67
1FW6290-xxB20-0Lxx 5760 10900 95 210 68 38
1FW6290-xxB20-2Pxx 5670 10900 120 270 91 51
1) Water cooling with 35 °C intake temperature; 2) Speed and current values at converter DC link voltage UZK = 600 V
(regulated)/converter output voltage (rms value) Uamax = 425 V (regulated)
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 31
Description of the motor
2.3 Selection and ordering data
Table 2- 8 Built-in torque motors: overview (part 2 of 2)
Order desig. / size Rated power
loss1) PV,N
in kW
External
diameter of
stators
in mm
Internal
diameter of
rotors
in mm
Length of
stator
in mm
Motor mass3)
in kg
Moment of
inertia of rotor
JL
in 10-2kgm2
1FW6090-xxB05-0Fxx 2.19 230 140 90 9.2 1.52
1FW6090-xxB05-0Kxx 2.12 230 140 90 9.2 1.52
1FW6090-xxB07-0Kxx 2.69 230 140 110 12.2 2.2
1FW6090-xxB07-1Jxx 2.67 230 140 110 12.2 2.2
1FW6090-xxB10-0Kxx 3.5 230 140 140 17.2 3.09
1FW6090-xxB10-1Jxx 3.5 230 140 140 17.2 3.09
1FW6090-xxB15-1Jxx 4.87 230 140 190 27.2 4.65
1FW6090-xxB15-2Jxx 4.96 230 140 190 27.2 4.65
1FW6130-xxB05-0Kxx 2.93 310 220 90 13.2 6.37
1FW6130-xxB05-1Jxx 2.93 310 220 90 13.2 6.37
1FW6130-xxB07-0Kxx 3.73 310 220 110 18.2 8.92
1FW6130-xxB07-1Jxx 3.71 310 220 110 18.2 8.92
1FW6130-xxB10-1Jxx 4.88 310 220 140 25.2 12.7
1FW6130-xxB10-2Jxx 4.98 310 220 140 25.2 12.7
1FW6130-xxB15-1Jxx 6.81 310 220 190 38.2 19.1
1FW6130-xxB15-2Jxx 6.81 310 220 190 38.2 19.1
1FW6150-xxB05-1Jxx 2.57 385 265 110 21.7 10.1
1FW6150-xxB05-4Fxx 2.52 385 265 110 21.7 10.1
1FW6150-xxB07-2Jxx 3.28 385 265 130 33.5 14.2
1FW6150-xxB07-4Fxx 3.23 385 265 130 33.5 14.2
1FW6150-xxB10-2Jxx 4.36 385 265 160 47.5 20.9
1FW6150-xxB10-4Fxx 4.28 385 265 160 47.5 20.9
1FW6150-xxB15-2Jxx 6.14 385 265 210 70.8 31.3
1FW6150-xxB15-4Fxx 6.04 385 265 210 70.8 31.3
1FW6160-xxB05-1Jxx 2.84 440 280 110 36.3 19
1FW6160-xxB05-2Jxx 2.85 440 280 110 36.3 19
1FW6160-xxB05-5Gxx 2.88 440 280 110 36.3 19
1FW6160-xxB07-1Jxx 3.59 440 280 130 48.3 25.8
1FW6160-xxB07-2Jxx 3.61 440 280 130 48.3 25.8
1FW6160-xxB07-5Gxx 3.64 440 280 130 48.3 25.8
1FW6160-xxB07-8Fxx 3.73 440 280 130 48.3 25.8
1FW6160-xxB10-1Jxx 4.72 440 280 160 66.3 36
1FW6160-xxB10-2Jxx 4.74 440 280 160 66.3 36
1FW6160-xxB10-5Gxx 4.77 440 280 160 66.3 36
1FW6160-xxB10-8Fxx 4.9 440 280 160 66.3 36
1FW6160-xxB10-2Pxx 4.77 440 280 170 67.4 36
1FW6160-xxB15-2Jxx 6.62 440 280 210 95.3 53.1
1FW6 Built-in torque motors
32 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Description of the motor
2.3 Selection and ordering data
Order desig. / size Rated power
loss1) PV,N
in kW
External
diameter of
stators
in mm
Internal
diameter of
rotors
in mm
Length of
stator
in mm
Motor mass3)
in kg
Moment of
inertia of rotor
JL
in 10-2kgm2
1FW6160-xxB15-5Gxx 6.67 440 280 210 95.3 53.1
1FW6160-xxB15-8Fxx 6.84 440 280 210 95.3 53.1
1FW6160-xxB15-2Pxx 6.67 440 280 220 96.4 53.1
1FW6160-xxB15-0Wxx 6.84 440 280 220 96.4 53.1
1FW6160-xxB20-5Gxx 8.57 440 280 260 124.3 70.1
1FW6160-xxB20-8Fxx 8.79 440 280 260 124.3 70.1
1FW6160-xxB20-2Pxx 8.57 440 280 270 125.4 70.1
1FW6160-xxB20-0Wxx 8.79 440 280 270 125.4 70.1
1FW6190-xxB05-1Jxx 3.51 502 342 110 42.8 35.8
1FW6190-xxB05-2Jxx 3.51 502 342 110 42.8 35.8
1FW6190-xxB05-5Gxx 3.51 502 342 110 42.8 35.8
1FW6190-xxB07-1Jxx 4.44 502 342 130 55.8 48.6
1FW6190-xxB07-2Jxx 4.44 502 342 130 55.8 48.6
1FW6190-xxB07-5Gxx 4.44 502 342 130 55.8 48.6
1FW6190-xxB07-8Fxx 4.57 502 342 130 55.8 48.6
1FW6190-xxB10-1Jxx 5.83 502 342 160 75.8 67.8
1FW6190-xxB10-2Jxx 5.83 502 342 160 75.8 67.8
1FW6190-xxB10-5Gxx 5.83 502 342 160 75.8 67.8
1FW6190-xxB10-8Fxx 6 502 342 160 75.8 67.8
1FW6190-xxB10-2Pxx 5.87 502 342 170 77.1 67.8
1FW6190-xxB15-2Jxx 8.14 502 342 210 107.8 99.8
1FW6190-xxB15-5Gxx 8.14 502 342 210 107.8 99.8
1FW6190-xxB15-8Fxx 8.39 502 342 210 107.8 99.8
1FW6190-xxB15-2Pxx 8.21 502 342 220 109.1 99.8
1FW6190-xxB15-0Wxx 8.39 502 342 220 109.1 99.8
1FW6190-xxB20-5Gxx 10.5 502 342 260 136.2 132
1FW6190-xxB20-8Fxx 10.8 502 342 260 136.2 132
1FW6190-xxB20-2Pxx 10.5 502 342 270 137.5 132
1FW6190-xxB20-0Wxx 10.8 502 342 270 137.5 132
1FW6230-xxB05-1Jxx 3.54 576 416 110 44.8 62.2
1FW6230-xxB05-2Jxx 3.65 576 416 110 44.8 62.2
1FW6230-xxB05-5Gxx 3.58 576 416 110 44.8 62.2
1FW6230-xxB07-1Jxx 4.47 576 416 130 58.8 84.3
1FW6230-xxB07-2Jxx 4.61 576 416 130 58.8 84.3
1FW6230-xxB07-5Gxx 4.52 576 416 130 58.8 84.3
1FW6230-xxB07-8Fxx 4.53 576 416 130 58.8 84.3
1FW6230-xxB10-2Jxx 6.05 576 416 160 81.8 118
1FW6230-xxB10-5Gxx 6.09 576 416 160 81.8 118
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 33
Description of the motor
2.4 Order designation
Order desig. / size Rated power
loss1) PV,N
in kW
External
diameter of
stators
in mm
Internal
diameter of
rotors
in mm
Length of
stator
in mm
Motor mass3)
in kg
Moment of
inertia of rotor
JL
in 10-2kgm2
1FW6230-xxB10-8Fxx 5.95 576 416 160 81.8 118
1FW6230-xxB10-2Pxx 6.1 576 416 160 81.8 118
1FW6230-xxB15-4Cxx 8.51 576 416 210 117.8 173
1FW6230-xxB15-5Gxx 8.29 576 416 210 117.8 173
1FW6230-xxB15-8Fxx 8.31 576 416 210 117.8 173
1FW6230-xxB15-2Pxx 8.53 576 416 210 117.8 173
1FW6230-xxB15-0Wxx 8.31 576 416 220 119.4 173
1FW6230-xxB20-5Gxx 10.7 576 416 260 153.8 228
1FW6230-xxB20-8Fxx 10.7 576 416 260 153.8 228
1FW6230-xxB20-2Pxx 11 576 416 260 153.8 228
1FW6230-xxB20-0Wxx 10.7 576 416 270 155.4 228
1FW6290-xxB07-5Gxx 5.19 730 520 140 103.6 228
1FW6290-xxB07-0Lxx 5.19 730 520 140 103.6 228
1FW6290-xxB07-2Pxx 5.2 730 520 160 108.8 228
1FW6290-xxB11-7Axx 7.13 730 520 180 159 334
1FW6290-xxB11-0Lxx 7.14 730 520 180 159 334
1FW6290-xxB11-2Pxx 7.16 730 520 200 164.2 334
1FW6290-xxB15-7Axx 9.08 730 520 220 214.6 440
1FW6290-xxB15-0Lxx 9.09 730 520 220 214.6 440
1FW6290-xxB15-2Pxx 9.12 730 520 240 219.8 440
1FW6290-xxB20-0Lxx 11 730 520 260 260.6 546
1FW6290-xxB20-2Pxx 11.1 730 520 280 265.8 546
1) Water cooling with 35 °C intake temperature; 3) Motor mass not including mass of transportation locks
2.4 Order designation
2.4.1 Structure of the order designations
The order designation (MLFB) comprises a combination of digits and letters. It is divided into
three hyphenated blocks. Also refer to the following diagrams.
The first block has 7 positions and designates the motor type (1FW6) and the stator size (in
mm). Additional features are coded in the second and third blocks.
Please note that not every theoretical combination is possible.
1FW6 Built-in torque motors
34 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Description of the motor
2.4 Order designation
2.4.2 Standard 1FW6 built-in torque motor
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 35
Description of the motor
2.4 Order designation
2.4.3 Stator as individual component
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1FW6 Built-in torque motors
36 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Description of the motor
2.4 Order designation
2.4.4 Rotor as individual component
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 37
Description of the motor
2.4 Order designation
2.4.6 Cooling connection adapter
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2.4.7 Plug connector
Connector type Connector size MLFB
Power connection 1.5 6FX2003-0LA10
Power connection 1 6FX2003-0LA00
Signal connection M17 6FX2003-0SU07
2.4.8 Ordering notes
The complete built-in motor (stator, rotor with transportation locks) can be obtained with just
one order designation (MLFB). Spare parts and accessories can be ordered by stating
separate order designations (see order examples).
Note
Since the cable outlet cannot be changed retrospectively, you must ensure that you state the
correct order designation (MLFB).
The cooling connection adapter is not included in the standard built-in torque motor and has
a separate MLFB (see "Order designation, cooling connection adapter").
When selecting a motor, refer to the "Specifications of the motor supply cables" tables in
"Interfaces".
1FW6 Built-in torque motors
38 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Description of the motor
2.4 Order designation
Note
If, for design reasons, only individual components can be installed (stator and rotor
separately), these can be ordered and shipped separately.
DANGER
Due to the risk of compression caused by the attractive forces of the rotor, an installation
device must be provided by the customer when the stator and rotor are installed separately.
2.4.9 Ordering examples
Example 1:
Stator and rotor preassembled with transportation locks; cooling jacket; axial cable outlet for
SINAMICS S120 drive system, Motor Modules 18 A / 36 A:
MLFB 1FW6090–0PB15–1JC2
Example 2:
Stator and rotor preassembled with transportation locks; integrated cooling; radial cable
outlet towards the outside for SINAMICS S120 drive system, Motor Modules 18 A / 36 A:
MLFB 1FW6190–0VB07–1JC2
Example 3:
Cooling connection adapter (axial/radial) for sizes 1FW616, 1FW619, and 1FW623:
MLFB 1FW6160–1BA00–0AA0
Example 4:
Individual component/stator as spare part: MLFB 1FW6190–8VB07–1JD2
Individual component/rotor as spare part: MLFB 1FW6190–8RA07–0AA0
Individual component/round sealing ring as spare part MLFB 1FW6090–1EA00–0AA0
(for size 1FW609)
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 39
Description of the motor
2.5 Motor rating plate
1FW6 Built-in torque motors
40 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
2.5 Motor rating plate
Note
A motor rating plate is attached to each stator. A second rating plate, which the customer
can attach to the machine in which the motor is installed, is also included in the delivery. The
motor rating plates must be used for their intended purpose only. When a motor rating plate
is removed from the motor or machine, it must be rendered unusable.
If stators and rotors are separated, you must ensure that they can be correctly assigned to
each other at a later stage.
Data on the motor rating plate
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Note
The data on the motor rating plate only applies in conjunction with the corresponding rotor.
Motor components of the built-in motor and options 3
3.1 Overview of the motor construction
Motor components
The built-in torque motor contains the following components:
● Stator:
this comprises an iron core and a 3-phase winding.
The winding is encapsulated to ensure that the heat loss can be dissipated more
effectively. The motor is designed for water cooling (main cooler). The cooler has a
different design for each of the different sizes (external diameter).
● Rotor:
this is the reaction part of the motor. It comprises a cylindrical hollow steel shaft with
permanent magnets around its circumference.
● Cooling connection adapter (optional):
this can be ordered for motors with integrated cooling whereby the main and precision
cooler are operated in parallel on one heat-exchanger unit.
Motors with a cooling jacket
The cooling jacket surface of the motor contains circular grooves which, in conjunction with a
surrounding construction provided by the machine manufacturer, create a closed liquid
cooling circuit.
The coolant inlet/return flow circuit must be provided by the machine manufacturer in the
surrounding construction.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 41
Motor components of the built-in motor and options
3.1 Overview of the motor construction
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Figure 3-1 1FW6 motor components with a cooling jacket
Scope of delivery of the built-in torque motor with a cooling jacket
● The rotor is secured in the stator by means of transportation locks and a spacer film
● Stator with a cooling jacket; one cable for the power connection and one cable for the
signal connection with connector or open core ends
● Transportation locks with spacers and screws
● O-rings (x 2) 2)
● Motor rating plate (attached); additional motor rating plate (not attached)
● Safety information
Motors with integrated cooling
These motors are equipped with a ready-to-connect, integrated dual-circuit cooling system,
which provides considerable thermal insulation vis-à-vis the mechanical axes construction.
The dual-circuit cooling system comprises a main and precision cooler
(thermo-sandwich® principle).
An internal cooling circuit (main cooler) dissipates most of the winding losses Pv of the stator.
A thermal insulation layer between the stator and the mounting flanges of the stator prevents
heat from flowing from the motor winding to the machine construction.
Any heat that does flow through the insulation layer is captured, for the most part, by a
second heat sink (precision cooler) on the flange surfaces and dissipated. This ensures that
the temperature on the mounting surfaces of the stator remains suitably low under all
permissible operating conditions.
1FW6 Built-in torque motors
42 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor components of the built-in motor and options
3.1 Overview of the motor construction
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Figure 3-2 1FW6 motor components with integrated cooling
Scope of delivery of the built-in torque motor with integrated cooling
● The rotor is secured in the stator by means of transportation locks and a spacer film
● Stator with ready-to-connect dual cooling circuit; one cable for the power connection and
one cable for the signal connection with connector or open core ends
● Transportation locks with spacers and screws
● Motor rating plate (attached); additional motor rating plate (not attached)
● Safety information
Cooling method
The stator in the built-in torque motors is equipped with a liquid cooler for dissipating heat
loss.
The cooling method used depends on the size (external diameter) of the motor (see table
below).
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 43
Motor components of the built-in motor and options
3.2 Thermal motor protection
Table 3- 1 Cooling method
Size Cooling jacket Integrated cooling
1FW609 X
1FW613 X
1FW615 X
1FW616 X
1FW619 X
1FW623 X
1FW629 X
3.2 Thermal motor protection
3.2.1 Description of the temperature sensors
Temperature sensor
1FW6 stators are equipped with the two temperature monitoring circuits described below
(Temp-S and Temp-F) in order to protect the stator against excessive thermal stress and to
monitor the temperature during commissioning and operation.
Temp–S
There are two temperature shutdown circuits, consisting of PTC temperature sensors (PTC
elements), for monitoring the motor winding:
● 1 x PTC 130 °C element for each phase winding (U, V, and W), i.e. switching threshold at
130 °C, and
● 1 x PTC 150 °C element for each phase winding (U, V, and W), i.e. switching threshold at
150 °C.
The PTC elements for the two temperature shutdown circuits are connected in series, with
each element connected to a triplet.
The characteristics of the PTC elements comply with DIN VDE 0660 Part 303, DIN 44081,
and DIN 44082 (see also the table below).
The cable connection is also monitored with PTCs 80 °C on the housing. A PTC 80 °C is
connected to the PTC 130 °C triplet and a PTC 80 °C is connected to the PTC 150 °C triplet
in series.
Function:
Each PTC element has a "quasi-switching" characteristic, that is, a sudden increase in
resistance occurs at the rated response temperature ϑNAT (switching threshold). As a result
of the low thermal capacity and the good thermal contact between the PTC element and the
motor winding, the sensors - and therefore also the system - quickly respond to inadmissibly
high stator temperatures.
1FW6 Built-in torque motors
44 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor components of the built-in motor and options
3.2 Thermal motor protection
Table 3- 2 Technical data for the PTC thermistor triplet (PTC triplet)
Name Description
Type PTC triplet (acc. to DIN 44082- M180)
Response temperature
(rated response temperature ϑNAT)
130 °C ± 5 K
150 °C ± 5 K
PTC resistance (20 °C) at the triplet
from - 20 °C up to ϑNAT - 20K
≤ 3 · 250 Ω (750 Ω), refer to the characteristic
Minimum triplet resistance when hot
at T = ϑNAT – 5 K
at T = ϑNAT + 5 K
at T = ϑNAT + 15 K
≤ 3 · 550 Ω (1650 Ω), refer to the characteristic
≥ 3 · 1330 Ω (3990 Ω), refer to the characteristic
≥ 3 · 4000 Ω (12000 Ω), refer to the characteristic
Connection Connect signal cable with connector to SME12x
module.
Application It is mandatory that a PTC triplet is connected in
order to protect the motor
against overtemperature. At the very least, the
Temp-S must be connected with the rated
response temperature of 130°C.
Typical characteristic R(ϑ) of a PTC temperature
sensor
Temp-S comprises 3 PTC temperature sensors
connected in series!
37&
Note
As a result of the additional PTC to monitor the power connection, the values for the PTC
resistance and the minimum resistance change when warm. Factor "4" must be used instead
of factor "3".
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 45
Motor components of the built-in motor and options
3.2 Thermal motor protection
Note
The PTC thermistors do not have a linear characteristic and are, therefore, not suitable to
determine the instantaneous temperature.
Temp–F
The temperature sensor circuit comprises a temperature sensor (KTY 84). For torque motors
with integrated cooling, there is a KTY 84 temperature sensor between two phase windings.
For torque motors with cooling jacket, there is a KTY 84 temperature sensor in a phase
winding.
Function:
The KTY 84 has a progressive characteristic that is approximately linear (temperature
resistance). Like the PTC elements in the Temp–S circuit, it also has a low thermal capacity
and good thermal contact with the motor winding.
Temp–F is used to monitor the temperature.
WARNING
It is not permissible to evaluate the Temp–F to protect the motor.
The temperature is measured using Temp–F only between two phase windings or in one
phase winding. If an overtemperature occurs in a phase winding that is not monitored, then
this cannot be immediately displayed or evaluated. Further, the Temp–F has a slow
characteristic and is not sufficient for fast tripping.
The individual phase windings have different current load levels and therefore different
thermal loads if the motor is stationary or only slowly rotates but at the same time is
generating a torque.
1FW6 Built-in torque motors
46 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor components of the built-in motor and options
3.2 Thermal motor protection
Table 3- 3 Technical data of the KTY 84 PTC thermistor
Name Description
Type KTY 84
Transfer range - 40 °C ... + 300 °C
Resistance when cold (20 °C) approx. 580 Ω
Resistance when hot (100 °C) approx. 1000 Ω
Connection Connect signal cable with connector to SME12x module.
Application Temperature monitoring to determine the motor utilization.
Temperature characteristic
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DANGER
Electrical shock hazard!
To fulfill the requirements of electrical separation in accordance with EN 61800-5-1, it is not
enough to connect the signal cable (cores ws and br) to the SMC20 Sensor Module. The
temperature monitoring circuits must be connected to the drive control via the SME12x
module.
NOTICE
When connecting temperature sensors with open cable ends, please pay attention to how
the core colors are assigned (described in the section dealing with connections).
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 47
Motor components of the built-in motor and options
3.3 Cooling
3.2.2 Evaluation of the temperature sensors for motor protection
Temp–S
Temp–S is used to reliably protect the motor against overheating. If Temp–S responds, then
the drive must be quickly shut down in order to prevent the drive converter from continuing to
supply current to the stator (= additional thermal load). The current load level setpoint(s),
requested from the closed-loop control, causes this thermal load and this can destroy the
stator.
Temp-S is evaluated by the SME12x module. The PTC 130°C is used for issuing a warning.
If the temperature continues to rise, the PTC 150°C responds when its response
temperature is reached at which point the stator must be immediately disconnected from the
power supply.
Temp–F
Temp–F supplies an analog signal that is proportional to the temperature and for a
symmetrical current load of the three-phase windings provides information about the average
motor temperature.
Note
The temperature sensor (Temp–F) only senses the winding temperature between two
phases or in one phase in the stator. However, the phases in the synchronous motor are
loaded to different degrees depending on the particular operating mode, so that in the worst
case, the phases that have not been measured have the higher temperatures.
3.3 Cooling
The heat loss generated by the stator winding must be dissipated by a water-cooling system.
For this purpose, the machine manufacturer must connect the cooling duct to a cooling
circuit in a heat-exchanger unit. For characteristic curves indicating a rise in temperature and
drop in pressure of the cooling medium between the inlet and return flow circuit in the cooler
as a function of the volume flow rate, see "Technical data and characteristics".
In certain operating statuses (e.g. at high speeds or in S1 mode), the rotor can heat up
further due to iron loss. The rated motor torques specified in the data sheets (see "Technical
data and characteristics") are valid during operation with water cooling with an inlet
temperature of 35 °C and a rotor flange temperature of max. 60 °C. To ensure that these
conditions are maintained, additional measures may have to be taken to cool the rotor.
1FW6 Built-in torque motors
48 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor components of the built-in motor and options
3.3 Cooling
NOTICE
If the heat from the rotor cannot be sufficiently dissipated via the flange, this can cause the
rotor to heat up excessively in the upper speed range in S1 mode, which could
demagnetize the magnets.
Note
Depending on the load and operating mode, the average temperature in the stator and rotor
can reach 120°C. Different temperature conditions in the stator and rotor can cause the
motor components to expand. The amount of heat transferred into the machine construction
as well as the radial and axial thermal expansion of the motor must be taken into account in
the design.
Effects when water cooling is not used
If water cooling is not used, the motor can only be loaded in continuous operation
(depending on the size, power loss, emissions area, convection, and installation conditions
in the machine) with a significantly reduced continuous torque (M << MN). The max. torque
MMAX of the motor can be fully utilized here.
WARNING
Without water cooling:
Significant reduction of continuous torque (depending on the thermal connection to the
surrounding construction) and considerable rise in the temperature of the machine
construction.
This is why a water-cooling system is essential.
In the case of axes that are to be operated without water cooling, the reduction of the
continuous motor torque and the thermoelastic deformation of the machine construction
(warping through expansion) must be taken into account in the drive configuration and
design.
Note
Motors with integrated cooling should not be operated without water cooling.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 49
Motor components of the built-in motor and options
3.3 Cooling
3.3.1 Cooling circuits
Cooling circuit requirements
We recommend that the cooling circuits be designed as closed systems, to prevent the
growth of algae. The maximum permissible pressure is 10 bar.
Note
We do not recommend that the cooling circuits of machines are also used to cool the motors:
Due to accumulated dirt and long-term deposits, blockage may result! This especially applies
to cooling-lubricating medium circuits.
If the cooling circuits of the machines are also used to cool the motors, then they must fulfill
all of the requirements listed here. Also note the demands on the cooling medium as well as
the maximum standstill times of cooling circuits according to the specifications of the cooling
medium manufacturer!
Materials used in the cooling circuits of torque motors
Table 3- 4 Materials in the cooling circuits of torque motors (not including the material used for the connections)
Cooling jacket
for
1FW609, 1FW613 and
1FW615
Integrated cooling (main
cooler) for
1FW616 to 1FW629
Integrated cooling (precision
cooler) for
1FW616 to 1FW629
Cooling connection adapter
for
1FW616 to 1FW629
1FW609, 1FW613:
EN AW-5083
(EN 573-3)
Viton® (FPM) gasket
1FW615:
S355J2G3
(EN 10025)
Viton® (FPM) gasket
X6CrNiTi18-10
(EN 10088)
SF-Cu
(DIN 17671)
CW617N
(DIN EN 12165)
Viton® (FPM) gasket
Silicon hose
Ag 102
(EN 1045) +
welding flux EN 1045-
FH10
X6CrNiTi18-10
(EN 10088)
SF-Cu
(DIN 17671)
CW617N
(DIN EN 12165)
Viton® (FPM) gasket
Silicon hose
CW617N
(DIN EN 12165)
Viton® (FPM) gasket
Calculating the thermal power that can be dissipated by the cooler
Average density of the coolant: ρ in kg/m3
Average specific heat capacity of the coolant: cp in J/(kg K)
Temperature deviation vis-à-vis the inlet temperature: ΔT in K
Volume flow rate: in m3/s
1FW6 Built-in torque motors
50 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor components of the built-in motor and options
3.3 Cooling
Coolant intake temperature
The intake temperatures must be selected in such a way that no condensation forms on the
surface of the motor. Condensation can lead to corrosion in the machine.
Tkühl ≥ TUmgeb - 2 K
The motors are designed in accordance with DIN EN 60034–1 for operation at coolant
temperatures of up to 35°C (rated value of the coolant intake temperature). If the intake
temperature is different, the continuous motor current changes as shown below:
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Figure 3-3 Principal dependency of the continuous motor current on the intake temperature of water
cooling in the main cooler when the rotor losses are disregarded
Heat-exchanger unit
A heat-exchanger unit must be used to ensure a coolant inlet temperature of 35°C. More
than one motor can be operated on a single heat-exchanger unit. The heat-exchanger units
are not included in the scope of supply.
The cooling power is calculated from the sum of the power losses of the connected motors.
The pump power must be adjusted in accordance with the specified flow and pressure loss
of the cooling circuit.
For a list of companies and addresses from whom you can obtain heat-exchanger units, see
the appendix.
Dimensioning the heat-exchanger unit
The power loss generated in the motor during continuous operation causes a heat flow, most
of which is dissipated via the coolant in the cooling system. A smaller proportion of it is
dissipated via the surrounding machine construction. The cooling power of the heat-
exchanger unit in the cooling system must be designed in such a way that it can dissipate at
least 85 - 90% of the generated power loss. If several motors are operated simultaneously
on one cooling system, this value applies to the combined total power loss.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 51
Motor components of the built-in motor and options
3.3 Cooling
During continuous operation, the motor can only be loaded to the extent that the effective
continuous torque Meff does not exceed the rated torque MN. As a result, therefore, the
effective power loss cannot exceed the rated power loss PV,N.
⎟⎜
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If the actual effective loss is impossible to predict or too complex to calculate, the total
combined continuous power loss (table values) of all the motors deployed can be used
instead to calculate the required cooling power.
In this case, the resulting discrepancy vis-à-vis the actual effective power loss may mean
that the cooling system is overdimensioned.
The cooling system must be sufficiently powerful to ensure the required coolant pressure
even at the maximum volume flow rate.
3.3.2 Coolant
Provision of the cooling medium
The customer must provide the cooling medium. Only water with anti-corrosion agent should
be used as the cooling medium.
WARNING
Oil must not be used as a coolant because it is incompatible with materials used in motors
with a cooling jacket and may cause O-rings to corrode. In motors with integrated cooling,
oil can corrode the hoses of the cooling system inside the motor.
Reason for the use of water with an anti-corrosion agent
The use of untreated water may lead to considerable damage and malfunctions due to water
hardness deposits, the formation of algae and slime, as well as corrosion, for example:
● Worsening of the heat transfer
● Higher pressure losses due to reductions in cross-sectional area
● Blockage of nozzles, valves, heat exchangers and cooling ducts
For this reason, water as a cooling medium must contain an anti-corrosion agent that reliably
prevents deposits and corrosion even under extreme conditions.
1FW6 Built-in torque motors
52 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor components of the built-in motor and options
3.3 Cooling
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 53
General requirements placed on the cooling medium
The cooling medium must be pre-cleaned or filtered in order to prevent the cooling circuit
from becoming blocked. The formation of ice is not permitted!
Note
The maximum permissible size for particles in the cooling medium is 100 μm.
Requirements placed on the water
The water used as the basis of the cooling medium must fulfill the following minimum
requirements:
● Concentration of chloride: c < 100 mg/l
● Concentration of sulfate: c < 100 mg/l
● 6.5 ≤ pH value ≤ 9.5
Please check further requirements with the manufacturer of the anti-corrosion agent!
Requirements placed on the anti-corrosion agent
The anti-corrosion agent must fulfill the following requirements:
● The basis is ethylene glycol (also called ethanediol)
● The water and anti-corrosion agent do not segregate
● The freezing point of the water used is reduced to at least -5° C
● The anti-corrosion agent used must be compatible with the fittings and cooling system
hoses used as well as the materials of the motor cooler
Check these requirements, especially in regard to material compatibility, with the cooling unit
manufacturer and the manufacturer of the anti-corrosion agent!
Suitable mixture
● 25 % - 30 % ethylene glycol (= ethanediol)
● The water used contains a maximum of 2 g/l dissolved mineral salt and is largely free
from nitrates and phosphates
Manufacturer recommendations: see appendix
Coupled motors 4
4.1 Parallel operation of several motors
Parallel operation of several motors on one axes
Provided that certain prerequisites are fulfilled, built-in torque motors can be operated in
parallel on a single axis and supplied by a joint power unit. Drawings: see the end of this
section
Note
Only torque motors that are the same size and have the same current requirements (same
winding design) can be connected in parallel. The order designations (MLFB) of the motors
must only differ with regard to the "component (position of the interfaces)" and "connection
type". The direction of the cable outlets and the length of the cables are irrelevant in the case
of an electrical parallel configuration. To illustrate this, a dummy MLFB is shown below in
which the wildcards indicated by boxes represent the positions that can vary between the
MLFBs; the wildcards indicated by "x" represent the positions that must be the same in the
MLFBs:
1FW6xxx-x□xxx-xx□x
If you have any questions about configuring/designing drive systems with torque motors in
parallel operation, contact your local Siemens office.
When more than one motor is operated in parallel on a single power unit, the relevant
national regulations must be observed. In particular, special precautions must be taken in
North America (special motor protection).
Requirements
The following must be taken into account when motors are operated in parallel on one axes:
● Only identical motors are suitable for parallel operation.
● The phase angles of the EMFs of the parallel motors must be the same, and the
commutation angle must be set precisely.
● The markings (notch and/or locating hole) on the stator/rotor in the motor must be
aligned. The motors can be positioned in relation to each other as required here.
The machine manufacturer must attach a mechanical angular position adjustment device in
the surrounding construction (e.g. via an adapter flange with oblong holes) for this purpose
either on a stator or rotor. An adjustment angle of +/-0.5% must be set (mechanically) to
ensure that the phase angles of the parallel motors can be set accordingly.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 55
Coupled motors
4.1 Parallel operation of several motors
CAUTION
If the angular position is set incorrectly, this can result in a thermal overload of one of the
two parallel motors during continuous operation at the rated load.
For this reason, it may be necessary to reduce the torque depending on the load to prevent
shutdown triggered by the PTCs.
Mechanical fine-tuning should always be carried out.
Motor arrangements
When two motors are operated in parallel, they can be arranged as follows:
Tandem arrangement
or
The cable outlets of the motors are located on the same side. When standard motors are
used, they both rotate in the same direction.
Janus arrangement
The cable outlets of the motors are located on opposite sides. When standard motors are
used, the stoker must be connected (as described below) in such a way that both motors
rotate in the same direction.
Master and stoker
The "stoker" refers to the second motor on an axes, which does not rotate in the same
direction as the first motor ("master") with respect to the U V W phases. To ensure that the
stoker rotates in the same direction, the V and W phases must be swapped when the stoker
is connected.
4.1.1 Power connection for parallel operation
Table 4- 1 Power connection when two torque motors are operated in parallel
Converter Master Stoker
Tandem arrangement
Stoker
Janus arrangement
U2 U U U
V2 V V W
W2 W W V
1FW6 Built-in torque motors
56 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Coupled motors
4.1 Parallel operation of several motors
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PTC 130°C and PTC 150°C connected via SME12x
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 57
Coupled motors
4.1 Parallel operation of several motors
DANGER
Risk of electric shock!
Signal conductors left unassigned must be insulated. The insulation must be able to
withstand the rated voltage of the motor.
Note
When connecting torque motors in parallel, the power cables should be of equal length in
order to ensure even current distribution.
1FW6 Built-in torque motors
58 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Coupled motors
4.1 Parallel operation of several motors
4.1.2 Janus arrangement
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 59
Coupled motors
4.1 Parallel operation of several motors
1FW6 Built-in torque motors
60 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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Configuring the motor 5
5.1 Procedure
Requirements
Your choice of torque motor depends on the following factors:
● The peak and continuous torque required for the application
● The required speed and angular acceleration
● The installation space available
● The required/possible drive arrangement
(single/parallel operation)
● The required cooling method
Procedure
Selecting the motors is generally an iterative process because - in particular with highly-
dynamic direct drives - the moment of inertia of the motor type is a factor in determining the
required torques.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 61
Configuring the motor
5.1 Procedure
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1FW6 Built-in torque motors
62 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Configuring the motor
5.1 Procedure
5.1.1 General mechanical conditions
Moment of inertia
The kinetic energy generated by a rotating body is directly proportional to its moment of
inertia J in kgm2. The moment of inertia takes into account the rotating mass and its spatial
distribution across the entire volume of the body with respect to the rotary axes. The rotating
mass comprises the mass of the rotating mechanical structure (e.g. tool and holder) and the
mass of the rotor.
Frictional torque
The frictional torque Mr is in opposition to the direction in which the rotor rotates. It can be
approximately calculated from a combination of the constant "adhesion component" MRH and
"sliding friction component" MRG. Both components also depend on the bearing used and its
load.
Depending on the mechanical design, loads here generally include axial forces and clamping
forces between the bearing components.
Further procedure
The moment of inertia of a suitable motor type can be used here initially.
If it transpires that the discrepancy between the assumed and actual moment of inertia is too
great when further calculations are made, you then have to carry out a further iterative step
when selecting the motor. To calculate the frictional torque, use the relevant specifications
issued by the bearing manufacturer.
5.1.2 Specification of the duty cycle
Significance of the duty cycle
In addition to the frictional torque, you must also take into account the duty cycle when
selecting the motor. The duty cycle contains information regarding the sequence of motion of
the drive axes and the machining forces that occur in the process.
Motional sequence
The motional sequence can be specified as a rotation angle-time diagram, angular velocity-
time diagram, speed-time diagram, or angular acceleration-time diagram. The torques
resulting from the motional sequence (accelerating torque Ma) are proportional with respect
to the angular acceleration α and moment of inertia J, and are in opposition to the
acceleration.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 63
Configuring the motor
5.1 Procedure
Angle-time diagrams and speed-time diagrams can be converted to angular acceleration-
time diagrams α (t) in accordance with the following correlations:
Example

Figure 5-1 Example of a duty cycle with a speed-time diagram n(t), the resulting angular
acceleration-time diagram α(t), and a machining torque-time diagram Mb(t)
5.1.3 Torque-time diagram
Required motor torque
The required motor torque Mm is always the sum of the individual torques. The sign in front
of the torque specifications must always be taken into account.
Mm = Ma + Mb + Mr
Ma : Accelerating torque
Mb: Machining torque
Mr: Frictional torque
1FW6 Built-in torque motors
64 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Configuring the motor
5.1 Procedure
Determining the required motor torque
The frictional torque characteristic can be determined on the basis of the speed
characteristic. The totals formula can then be used to create the motor torque-time diagram
(see diagram below) from which the required peak torque MmMAX can be read directly.
0
U
0
P0$;
0
P
0
E
0
D
W
W
W
W
Figure 5-2 Characteristic for individual torques and the resulting required motor torque Mm in a torque drive
In addition to the peak torque MmMAX, the required continuous torque Meff of the motor is also
a crucial factor in determining how the motor is dimensioned. The continuous torque Meff
responsible for the temperature rise in the motor can be derived from the motor torque-time
diagram by means of quadratic averaging and must not exceed the rated torque MN.
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Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 65
Configuring the motor
5.1 Procedure
0HII
If the individual torques are stable in each section, the integral can be simplified to create a
totals formula (see also the following diagram).
0
HII
0
HII
Figure 5-3 Motor torque-time diagram
5.1.4 Selecting the motors
You can choose a suitable torque motor using the values determined for the peak torque
MmMAX and continuous torque Meff.
You must take the following factors into account when selecting motors:
● Regarding the maximum torque MMAX, the motor should have a control reserve of approx.
10% vis-à-vis the required value MmMAX to prevent unwanted limiting effects if the control
loops are overshot.
● The rated motor torque MN must be at least as high as the continuous torque value Meff
determined for the duty cycle.
● If certain general conditions (e.g. machining torque or frictional torque) are not known,
you are advised to plan for even larger reserves.
● In addition to the requirements resulting from the duty cycle, mechanical installation
conditions may influence your choice of motor. For instance, the same motor torque can
often be generated in a long motor with a smaller diameter as well as in a short motor
with a larger diameter.
● If more than one torque motor generates torque on one axes, the values of the peak and
continuous torques of the individual motors must be added together.
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Configuring the motor
5.1 Procedure
5.1.5 Uneven current load
If the load is uneven over a long period of time, the motor must only be operated at no more
than 70% of the rated torque (see also M0* in "Technical data").
For exact configurations, contact your local Siemens office.
NOTICE
Not all of the three phases are necessarily evenly loaded in all motor operating modes.
Examples of uneven current load:
Standstill with current feed of the motor, e.g. for:
– Compensation of a weight force
– Start-up against a brake system (damping and impact absorption elements)
Low speeds over a long period (n << 1 [rpm])
Cyclic rotation (path on rotor circumference < pole width)
5.1.6 Motor torque-speed diagram
Checking the torques and speeds
At high speeds, the maximum available motor torque is limited by the available DC link
voltage. If the speeds that occur in the motional sequence are greater than the maximum
speed nMAX,MMAX specified for the motor type at the maximum torque MMAX, you may have to
check the torques and speeds using the motor torque-speed diagram. This diagram is
included with the motor specifications.
Figure 5-4 Motor torque-speed diagram
1FW6 Built-in torque motors
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Configuring the motor
5.1 Procedure
Determining the motor torque-speed diagram
If a motor torque-speed diagram is not available, the relevant values can be determined with
sufficient accuracy using the specifications for the maximum torque MMAX, the rated torque
MN, and the associated speeds nMAX,MMAX and nMAX,MN as shown in "Motor torque-speed
diagram".
This diagram must be compared with the motor torque-time diagram and the speed-time
diagram (see diagram below). To do so, it is normally sufficient to locate the critical points in
the torque-time diagram at which the maximum speed nMAX,MMAX is exceeded at the peak
torque. For these points, the motor torque (in this example: M1) can be read from the motor
torque-time diagram and checked to determine whether it lies below the characteristic in the
motor torque-speed diagram.
Figure 5-5 Motor torque-time diagram and associated speed-time diagram
5.1.7 Torque-speed requirements
Fulfilling the torque-speed requirements
If the selected torque motor cannot fulfill the torque-speed requirements, the following
solutions are available:
● Override:
Provided that no special requirements regarding precision have been specified for the
high speed range (e.g. rapid traverse without machining), the maximum speed can be
overridden. In this case, the converter output voltages and, in turn, the motor currents are
1FW6 Built-in torque motors
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Configuring the motor
5.1 Procedure
no longer purely sinusoidal. As a result, the torque generated by the motor is no longer
uniform but instead has a ripple. The extent to which the maximum speed can be
overridden depends on the permissible following error and positioning error in the
controller as well as the motor type.
● Motor with different winding
Several winding variants are available for some motor sizes. Windings with lower
inductance allow higher speeds with the same motor size and maximum torque. One
drawback here, however, is the higher motor current.
● Larger motor type
If the first two solutions are not feasible, a motor with a higher peak torque must be used
to ensure that sufficient torque reserves are available for the required torque M1 in the
upper speed range (see figure below).
0RWRUZLWKVXIILFLHQWWRUTXH
0RWRUZLWKLQVXIILFLHQWWRUTXH
Figure 5-6 Motor torque-speed diagram with the required operating point M1
5.1.8 More than one torque motor on one axes
If the torque motors on the same axes are operated on separate drive systems with separate
angular position measuring systems, the rotation-angle-related alignment of the individual
stators with respect to each other and the individual rotors with respect to each other is
irrelevant.
Electrical parallel connection
If the motors are operated on the same drive system (electrical parallel connection), the
individual rotors must be precisely aligned with each other when they are mounted on the
axes. The individual stators must also be precisely aligned with each other when they are
installed (see "Parallel operation of more than one motor").
5.1.9 Checking the moments of inertia
Once a suitable motor has been selected, the moment of inertia of the rotating mass on the
axis has been determined. This value can be used to check the assumptions made
regarding the duty cycle.
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Configuring the motor
5.1 Procedure
Recalculating the duty cycle
If the moment of inertia initially assumed deviates significantly from the actual moment of
inertia, the duty cycle may have to be recalculated.
5.1.10 Selecting the drive system components for the power connection
The drive system components for the power connection are selected on the basis of the
peak and continuous currents that occur in the duty cycle. If more than one motor is
operated in parallel on a single power unit, the total values of the peak and continuous
currents must be taken into account.
Note
In systems where direct drives are used on controlled infeeds, electrical oscillations can
occur with respect to ground potential. These oscillations are, among other things, influenced
by:
The lengths of the cables
The rating of the infeed/regenerative feedback module
The number of axes
The size of the motor
The winding design of the motor
The type of line supply
The place of installation
The oscillations lead to increased voltage loads and may damage the main insulation! We
thus recommend using an HFD commutating reactor with damping resistance for damping
the oscillations. For specific details, refer to the documentation of the drive system being
used or contact your local Siemens office.
5.1.11 Calculating the required infeed power
Infeed power
The electrical infeed power of the motors can be determined from the mechanical power
delivered and the resulting electrical losses.
,
With
, 
Here, M represents the motor torque in Nm, ω represents the angular velocity in 1/s, and kT
represents the torque constant of the motor in Nm/A (see also "Explanations of the formula
abbreviations)".
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Configuring the motor
5.2 Example(s)
The speed n in rpm can be converted to the angular velocity as follows:
Example: converting the speed n = 80 rpm to the angular velocity ω
The value for the rated temperature of the motor winding must be applied for the phase
resistance RSTR (T) (see also "Explanations of the formula abbreviations").
This equation can be used for every point in time in the duty cycle.
Selecting an infeed unit
When you select an infeed unit for the DC link for highly-dynamic direct drives, it is generally
sufficient to determine the peak infeed power that occurs in the duty cycle because the
continuous power is usually much lower. The peak infeed power is normally required when
the motor accelerates to the maximum speed (see operating point M1 in "Motor torque-speed
diagram with the required operating point M1").
If more than one axes is operated, the infeed powers of the individual axes must be added
together with the corresponding simultaneity conditions for the purpose of selecting the
infeed unit.
5.2 Example(s)
Note
The data used here may deviate from the values specified in "Technical data". This does not
affect the configuration procedure, however.
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Configuring the motor
5.2 Example(s)
General conditions for positioning within a defined period
● Moment of inertia in kgm2: J = 5.1 kg m2;
moving cylindrical mass m = 30 kg with substitute radius r = 0.583 m; rotary axes of
moving mass and motor are identical;
calculated from:
Figure 5-7 Moments of inertia of moving cylindrical mass and torque motor
● Rotation angle in ° or rad: φ = 120° = 2/3 π
● Traversing time in s: t1 = 0.4 s
● Constant frictional torque in Nm: Mr = 100
The following must be determined:
● Suitable torque motor
● Angular velocity ω in rad/s or speed n in rpm
● Angular acceleration α in rad/s2 or acceleration in rev/s2
The shape of the traversing profile is not stipulated, but the angle to be traversed and the
duration are specified for this.
Provided that no restrictive requirements regarding angular acceleration and/or angular
velocity have been specified, the most straightforward suitable traversing operation simply
involves acceleration followed by deceleration.
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Configuring the motor
5.2 Example(s)
Figure 5-8 Ideal traversing profile with angular acceleration α (t), angular velocity ω (t), and
angle φ (t)
Table 5- 1 Functions of the individual sections in the traversing profile
Section I Section II
αI (t) = α αII (t) = - α
ωI (t) = α t ωII (t) = - α t + α t1
φI (t) = ½ α t2 φ
II (t) = - ½ α t2 + α t1 t + φMAX
The angular acceleration α (t) is constant across all sections. The angular velocity ω (t)
increases to the maximum value (linear) and then decreases to standstill in the second
section (linear).
In sections I and II, the rotation angle φ (t) traversed increases in accordance with parabolic
functions. This type of traversing profile allows the shortest positioning times.
The required constant angular acceleration or angular delay can be calculated from the
defined end angle φMAX and the corresponding time t1. For the sake of simplicity, momentary
1FW6 Built-in torque motors
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Configuring the motor
5.2 Example(s)
transitional phases between acceleration/deceleration and the resulting angle changes are
not taken into account.
Since the areas below the curves for ω (t) are the same in both sections, the following
applies:
LQRULQ LQ
The angular velocity ωMAX achieved at t1/2 can be determined from the calculated angular
acceleration:
LQ
The speed n can be calculated from n = ωMAX/2π.
Note
1 rad = 180°/π = 57.296 °
1 rotation U = 360° or 2 π rad
The following can be calculated with the values specified:
Angular acceleration α = 52.36 rad/s2
Angular velocity ωMAX = 10.47 rad/s
Speed n = 100 rpm
The following applies for the required acceleration torque:
Ma = (J + Jm) • α
Since the moment of inertia Jm for the 1FW6 motor is not known at this stage of the
configuration process, Jm = 0 kgm2 must be assumed for the time being.
Ma = 5.1 kgm2 • 52.36 rad/s2 = 267 Nm
To accelerate the specified mass, a torque Ma of 267 Nm is required.
Mm = Mr + Ma
Mm = 100 Nm + 267 Nm = 367 Nm
In conjunction with the constant frictional torque Mr, therefore, the motor torque
Mm = 367 Nm.
A suitable motor can be selected from the "Built-in torque motors: overview" table in
accordance with the following criteria:
Max. torque: at least 367 Nm
Max. speed (at max. torque): at least 100 rpm
Suitable motors:
1FW6090-0PA15-2JC2 (diameter: 230 mm; length: 190 mm)
1FW6130-0PA05-1JC2 (diameter: 310 mm; length: 90 mm)
Moment of inertia of motor 1FW6090-0PA15-2JC2: J = 0.0465 kgm2
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Configuring the motor
5.2 Example(s)
The accelerating torque Ma can now be corrected as follows:
Ma = (5.1 kgm2 + 0.0465 kgm2) • 52.36 rad/s2 = 269 Nm
As a result, the total required motor torque Mm = Mr + Ma increases to 369 Nm.
Moment of inertia of motor 1FW6130-0PA05-1JC2: J = 0.0637 kgm2
The accelerating torque Ma can now be corrected as follows:
Ma = (5.1 kgm2 + 0.0637 kgm2) • 52.36 rad/s2 = 270 Nm
As a result, the total required motor torque Mm = Mr + Ma increases to 370 Nm.
Evaluation
Both motors are suitable for this positioning task. The installation requirements govern which
motor is better suited. During positioning, the motor generates a torque that far exceeds the
rated torque MN and the resulting power loss is much greater than the permissible
continuous power loss. Provided that positioning only takes a short time and the winding
temperature remains below the shutdown limit, this high load is permissible. See "Periodic
duty S3".
Periodic duty cycle (S3 mode)
The motor can repeat a drive operation (e.g. positioning) where M is occasionally > MN for as
long as necessary provided that sufficient zero-current pauses for the windings exist
between the load phases. See also "Periodic duty S3".
The "duty cycle" comprises the load phase and the zero-current (cooling) phase. The cooling
phases are crucial here: during the pauses, the effective torque of the duty cycle is reduced
to the value of the rated torque MN of the motor.
If the future duty cycle is either not known or cannot be estimated, the motor can only be
selected on the basis of the required maximum speed and peak torque. This is why the
maximum permissible continuous torque is also defined for the duty cycle. This results in a
very short cooling phase, the length of which must not be undershot.
As an example, let us take a highly simplified duty cycle comprising three time periods of
lengths Δt1, Δt2, and Δt3. The following torques are generated in these periods: M1, M2, M3.
Each of these torques can be any value between + MMAX and – MMAX. The effective torque
Meff of this duty cycle (in Nm) can be calculated using the following formula:
0HII
The cycle duration here (Δt1 + Δt2 + Δt3) should not exceed 10% of the thermal time constant
tTH.
The duty cycle is permissible provided that Meff is ≤ MN.
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Configuring the motor
5.3 Short-time duty S2 and intermittent duty S3
5.3 Short-time duty S2 and intermittent duty S3
Short-time duty S2
In the case of short-time duty S2, the load time is so short that the final thermal state is not
reached. The subsequent zero-current break is so long that the motor practically cools down
completely.
CAUTION
An excessive load can lead to the destruction of the motor.
The load may not exceed the value IMAX specified in the data sheets!
The motor may only be operated for a limited time t < tMAX with a current IN < IM ≤ IMAX. The
time tMAX can be calculated using the following logarithmic formula:
W
0$;
 W
7+
yOQ Y
Y

with ν = (IM / IN)2 and the thermal time constant tTH.
The thermal time constants, the maximum currents and the rated currents of the motors can
be taken from the data sheets.
Note
The above equation applies with the prerequisite that the starting temperature of the motor is
the same as the intake temperature of the water cooling system TVORL in accordance with the
data sheet.
Example
Motor 1FW6190-xxx15-2Jxx is to be operated from a cold state at maximum current.
● IMAX = 47 A, IN = 26 A; this results in ν = 3.268
● tTH = 180 s
The motor can be operated for a maximum of 66 s at maximum current.
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Configuring the motor
5.3 Short-time duty S2 and intermittent duty S3
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Intermittent duty S3
With intermittent duty S3, periods of load time ΔtB with constant current alternate with
periods of downtime ΔtS with no current feed. The motor heats up during the load time and
then cools down again while at standstill. After a sufficient number of duty cycles with cycle
duration ΔtSpiel = ΔtB + ΔtS, the temperature characteristic oscillates between a constant
maximum value To and a constant minimum value Tu; see figure below.

7LPHW
7LPHW
7HPSHUDWXUH7 &XUUHQW,
ෙW
%
ෙW
6
ෙW
6SLHO
7
X
7
R
ื7
1
,
0
,
0$;
Figure 5-9 Current and temperature characteristic for intermittent duty S3
For currents IN < IM ≤ IMAX, the rms continuous current may not exceed the rated current:
,HII 
˂W6SLHO
,0
y˂W% ,0
˂W%
˂W6SLHO
,1
In this respect, the cycle duration should not exceed 10% of the thermal time constant tTH. If
a longer cycle duration is necessary, please contact your local Siemens office.
Example
When the thermal time constant tTH = 180 s, this results in the following maximum
permissible cycle duration:
tSpiel = 0.1 · 180 s = 18 s
Motor assembly 6
6.1 Motor assembly
Important information about motor assembly
Before assembling the motor, the assembly instructions provided in this documentation must
be read carefully.
DANGER
Installing torque motors involves carrying out work in the vicinity of unpacked rotors. The
resulting danger from strong magnetic fields is, therefore, particularly high.
You must read the "Safety information" section along with the safety information provided in
this section.
Only remove the packaging for the built-in torque motor when you are ready to assemble it.
At least two people are required to install the motor.
Use the installation equipment provided.
Never place metal on magnetic surfaces (and vice versa).
Keep magnetizable objects and/or permanent magnets away from magnetic surfaces.
Never use magnetizable tools. If such tools are required, however, they must be held firmly
with both hands and moved slowly toward the built-in torque motor.
The motor must only be installed when it is disconnected from the power supply.
When installing individual components, you must use special equipment and follow specific
procedures.
WARNING
The transportation locks must not be removed until the torque motor has been installed in
the axes construction. You must carry out the steps in the specified sequence (see
"Procedure for installing the motor").
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Motor assembly
6.1 Motor assembly
WARNING
The machine construction must be designed in such a way that both the rotor and the stator
are each secured on one side only. See "Installation examples". If they are secured on both
sides, this can result in significant material deformation in the machine construction due to
thermal expansion, which could destroy the motor.
DANGER
Defective connecting cables can cause an electric shock and/or material damage (e.g. by
fire).
When installing the motor, make sure that the connection cables...
are not damaged
are not under tension
cannot come into contact with any rotating parts
Note the permissible bending radii (see "Interfaces").
The motor must not be held or pulled by the cables.
DANGER
Electrical shock hazard! When an installed torque motor rotates, potentially dangerous
voltages are induced at the cable ends of the motor.
Insulate terminals and leads in open cable ends or take measures to prevent torque motors
that have been installed from rotating.
There is also a risk of compression.
WARNING
Sharp edges can cause cuts and falling objects can injure feet.
Always wear work gloves and safety shoes.
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Motor assembly
6.1 Motor assembly
Radial and axial forces
)D
)U
1 Rotor with permanent magnets
2 Stator
Fa Axial attractive force
Fr Radial attractive force
Figure 6-1 Active forces when stators and rotors are installed
Radial forces between the stator and rotor
The following table shows the active radial forces (in N per 0.1 mm centering error) between
the stator and rotor. The longer the active component, the greater the radial force.
Table 6- 1 Radial forces in N/0.1 mm with radial centering errors during installation
Length of active
component:
50 mm
Length of active
component:
70 mm
Length of active
component:
100 mm
Length of active
component
110 mm
Length of active
component:
150 mm
Length of active
component
200 mm
1FW609 240 330 470 - 710 -
1FW613 360 500 710 - 1070 -
1FW615 330 460 660 - 990 -
1FW616 290 410 590 - 880 1180
1FW619 350 490 710 - 1060 1410
1FW623 420 590 840 - 1260 1680
1FW629 - 600 - 940 1280 1630
Note
You must note the radial forces between the stator and rotor as well as the maximum
permissible concentricity error specified in the dimension drawings.
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Motor assembly
6.1 Motor assembly
Example
With torque motor 1FW6090-0Px010-xxxx (active component length: 100 mm), the
eccentricity is 0.2 mm, for example.
The active radial force as a result of this centering error is, therefore:
PP 1
PP 1
Axial forces between the stator and rotor
Table 6- 2 Axial forces (in N) between the stator and rotor during installation
1FW609 1FW613 1FW615 1FW616 1FW619 1FW623 1FW629
Axial forces (in
N)
80 120 150 210 250 300 450
NOTICE
The attractive forces between the stator and rotor are approximately four to five times
greater when the rotor is about to be inserted in the stator.
Requirements of the installation device
The installation device is designed to ensure that the stator and rotor are aligned centrically
during the entire installation procedure. The active axial forces must be taken into account
during installation.
The installation device must be adapted by the customer in line with the machine
construction. It must be sufficiently rigid so that it is not warped by the strong attractive
forces between the stator and rotor. Radial forces must be taken into account when the
installation device is dimensioned.
The installation device must not have any loose parts.
WARNING
The stator and rotor must not come into contact with each other during centering and
installation.
The stator and rotor cannot be separated. The motor can no longer be used. This is why an
installation device must be used.
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Motor assembly
6.1 Motor assembly
Mounting system
The following must be taken into account when the torque motor is mounted:
● Only use new (unused) fixing screws.
● The mounting surfaces must be free of oil and grease.
● Note the maximum permissible depth of engagement of the fixing screws in the stator
and rotor (refer to the relevant installation drawing).
● Minimum depth of engagement of the fixing screws in the stator:
1.3 x d (for 1FW609 to 1FW613);
1.0 x d (for 1FW615 and larger)
● Minimum depth of engagement of the fixing screws in the rotor flange: 1.0 x d (in steel)
● To secure the screws, choose long clamping lengths lk, lk / d > 5 if possible; alternatively
(if lk / d > 5 is not possible), check pretensioning of the screws at regular intervals (tighten
with calibrated torque wrench).
● Note the tightening torques specified in the table below.
● Tighten the screws in such a way that the angle of rotation is controlled. Using a
calibrated torque wrench with the shortest possible bit insert, however, ensure that they
are tightened in diagonally opposite (180°) pairs.
● Tighten all the screws to minimize the risk of them penetrating other materials.
● Do not use any liquids for securing the screws.
Explanations:
Ik = Clamping length of the screw in mm
d = Nominal diameter of the screw in mm (e.g. M8 screw: d = 8 mm)
Screw material and tightening torques
Screws of varying strength classes are required to secure the motor to the machine
structure. The table below shows the required strength classes and tightening torques for the
stator and rotor fixing screws.
Table 6- 3 Required strength classes and tightening torques for the stator and rotor
Type series Screw
(strength class)
Tightening torque
MA in Nm
1FW6090-xxB05-xxxx to
1FW6090-xxB15-xxxx
M5 (8.8) 4.5
1FW6130-xxB05-xxxx to
1FW6130-xxB15-xxxx
M5 (8.8) 5.2
1FW6150-xxB05-xxxx to
1FW6150-xxB15-xxxx
M6 (8.8) 9
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Motor assembly
6.1 Motor assembly
Type series Screw
(strength class)
Tightening torque
MA in Nm
1FW6160-xxB05-xxxx to
1FW6160-xxB15-xxxx
M8 (8.8) 21.6
1FW6160-xxB20-xxxx M8 (10.9) 31.8
1FW6190-xxB05-xxxx to
1FW6190-xxB15-xxxx
M8 (8.8) 21.6
1FW6190-xxB20-xxxx M8 (10.9) 31.8
1FW6230-xxB05-xxxx to
1FW6230-xxB15-xxxx
M8 (8.8) 21.6
1FW6230-xxB20-xxxx M8 (10.9) 31.8
1FW6290-xxB07-xxxx to
1FW6290-xxB15-xxxx
M10 (8.8) 43
1FW6290-xxB20-xxxx M10 (10.9) 61.8
Note
Underlying friction factor µges = 0.1
With lower friction factors, the tightening torques may have to be reduced.
Also note the maximum tightening torques of the screws used. These may be lower than the
values specified in the table above.
6.1.1 Procedure for installing the motor
Sequence for installing the motor
DANGER
If the components are installed in a different sequence, this can endanger personnel and/or
destroy motor components.
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Motor assembly
6.1 Motor assembly
1. Preparing and cleaning the mounting surfaces for motor parts and the machine.
– Deburr and round off the holes (e.g. cooling inlet/outlet holes) inside the
machine housing.
– Carefully remove any machining residue (e.g. chippings, dirt, foreign bodies, etc.).
– Grease or oil the components.
– For motors with cooling jacket:
grease the O-rings and components. Take into account compatibility with the O-ring
material (fluoric rubber, Viton®). Do not use any lubricants containing solid particles
(e.g. molybdenum disulfide or zinc sulfide).
2. This point only applies to motors with cooling jacket:
Guide both O–rings over the cooling jacket surface of the motor into the grooves
provided.
– Do not overstretch the O-rings (O-rings maximum of up to 10% during installation,
otherwise installation and leak tightness problems may occur).
– Do not twist the O-rings.
– Do not use any sharp objects.
– Use special tools to help you position the components correctly.
– Use installation devices whenever possible.
3. If necessary, insulate the power connections properly (to prevent risk of induced voltage
and ripple in the event of a phase short-circuit when the motor rotates).
4. The stator and rotor are installed via transportation locks at flange B (flange with cable
outlet) with the delivery of the motor.
If this is the side to be secured, remove the transportation locks here.
If the side to be secured is flange A (flange without cable outlet), loosen the
transportation locks at flange B.
If transportation locks have been removed or loosened, the motor must only be moved
with caution.
Keep transportation locks safe, as they may be needed for future maintenance work or in
the event of removing the motor.
Do not center and install the stator and rotor as individual components by hand due to a
risk of crushing.
Use a special installation device for this purpose. Please refer to the description of the
installation device in this chapter.
5. This point only applies to motors with cooling jacket:
Insert the motor with the free flange face forwards into the prepared locating hole of the
machine housing.
In this case, the O–rings must not be forced out of the slot and damaged.
Ensure that the motor does not become canted in the installation space during the
installation procedure. If the motor does however become slightly canted, this can be
corrected by gently hitting the flange with a rubber mallet.
6. Screw the flange face of the stator to the machine housing and the flange face of the
rotor to the adjustable axle. In this case, observe the specified torques and the mounting
technology specifications listed in this chapter.
If the stator and rotor on opposite flange faces are screwed to the machine construction,
a special mounting device is required.
7. This point no longer applies to stators and rotors as individual components.
Fully remove existing transportation locks.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 85
Motor assembly
6.1 Motor assembly
8. Remove the spacer film. When the stator and rotor are correctly centered, the spacer film
can be easily removed by hand. Keep spacer film safe for subsequent transport,
packaging and storage of the motor.
9. Make sure that the rotor can move without hindrance. Make sure that the spacer film and
all other foreign bodies are removed from the air gap.
10. Connect the coolant ducts.
11. Connect the power and signal cables.
If the motors are delivered as separate components, a special installation device must be
used.
DANGER
Danger of compression when the stator and rotor are centered and installed.
Do not install or center the stator and rotor manually.
Example: centering and installing motors with a cooling jacket
1. Insert the spacer film in the stator in such a way that approx. 1/4 of the spacer film is still
visible.
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2. Carefully lower the rotor using the top part of the installation device and fit it into the lower
part of the installation device in such a way that the rotor can be aligned centrically over
the sleeve bearing and shaft in the stator.
1FW6 Built-in torque motors
86 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor assembly
6.1 Motor assembly
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DANGER
Risk of compression when the rotor is lowered.
Take extreme care.
3. Using the top part of the installation device, lower the rotor as far as it will go into the
lower part of the installation device.
4. Install and secure the stator and rotor. Tighten the screws to the specified torque.
5. Remove the spacer film. When the stator and rotor are correctly centered, the spacer film
can be easily removed by hand.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 87
Motor assembly
6.1 Motor assembly
6.1.2 Cooler connection
For more information about connecting the cooler, see "Interfaces".
Installing the cooling connection adapter
The components required for connecting the cooler for motors with integrated cooling can
usually be installed with standard tools.
The cooling connection adapter is installed using three cylinder-head screws. The cooling
ducts are sealed by means of O-rings (see the following diagrams). The cylinderhead screws
and O-rings are supplied with the cooling connection adapter.
1FW6 Built-in torque motors
88 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor assembly
6.1 Motor assembly
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 89
Motor assembly
6.1 Motor assembly
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6.1.3 Information on routing cables
The cables must be appropriately selected corresponding to the mechanical forces caused
by higher rates of acceleration and higher speeds. Further, they must be suitable for the
bending stresses that occur.
1FW6 Built-in torque motors
90 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor assembly
6.1 Motor assembly
The following should be observed when routing and connecting up motor supply cables:
● The minimum bending radii (see "Electrical connections") for moving power cables must
be observed (see catalog NC 61).
● The cables may not chafe anywhere.
● The cables must be permanently routed and clamped at 200 mm intervals.
● When connecting PELV cables with open cable ends, electrical separation specifications
(according to EN 61800-5-1) must be taken into account.
6.1.4 Checking the work carried out
Checking the installation work
Once installation has been carried out, make sure that the rotor can move without hindrance.
Before doing so, remove all tools and objects from the area of the rotor and air gap.
DANGER
Electrical shock hazard!
Before the motor is rotated, the power connections must be properly connected and
insulated.
● The mounted rotary axes must always be able to move without hindrance.
Examples of axes that cannot necessarily be checked by hand:
– Large axes with a high friction torque
– Blocking in a current-free state
– Uneven weight forces
DANGER
Risk if axes moves in an uncontrolled manner.
Take care when removing a block or releasing a brake when the motor when is
disconnected from the power supply and in an uncontrolled state.
● All supply cables must be routed and secured in such a way that they cannot be bent,
damaged, or pressed against rotating parts.
● Coolant supply ducts must be easily accessible and the coolant must be allowed to flow
freely.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 91
Motor assembly
6.1 Motor assembly
6.1.5 Installation examples
Note
The examples provided below are not necessarily complete nor are they suitable for all
applications.
Note that the rotor and stator are secured on one side on the machine construction.
Depending on the machine construction, the stator can be secured on the same side as the
rotor or on the opposite side.
Table 6- 4 Explanations for the following installation examples
Image title Description
Rotary table with torque motor
with integrated cooling
The construction shown is ideal for precision applications and
tilting tables with strong machining forces. The phase-angle
encoder is integrated in the bearing.
Rotary table with torque motor
with cooling jacket
The construction shown is ideal for precision applications,
dividing units, applications with holding operation, and tilting
tables with an integrated brake. It is compact and, therefore,
easy to integrate.
Part-turn actuator with torque
motor with integrated cooling
The construction shown is ideal for robots, robot systems, and
tool changers. The phase-angle encoder is sufficiently decoupled
from the heat source (motor winding).
Installing a torque motor with
integrated cooling on the shaft
extension of a part-turn actuator
1.:
The stator and rotor are installed via transportation locks on
flange B (flange with cable outlet) with the delivery of the motor.
The spacer film can be found between the stator and rotor.
The transportation locks are loosened and the rotor is attached
to the shaft extension with its mount. In this case, observe the
specified torques and mounting technology specifications.
2.:
The stator is positioned and screwed into its mount. In this case,
observe the specified torques and mounting technology
specifications. At this point, the transportation locks and spacer
film can be removed.
1FW6 Built-in torque motors
92 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor assembly
6.1 Motor assembly
Image title Description
Part-turn actuator with torque
motor with cooling jacket The construction shown is ideal for moderate load forces and
medium precision requirements (e.g. woodworking, packaging
systems, tool changers). For roller drives, this construction is
only suitable for short axes with low deflection.
Roller drive with low shaft
deflection with torque motor with
integrated cooling
The construction shown is ideal for roller drives with high
concentricity requirements and low positioning accuracy. A rotary
encoder with a moderate angular resolution is sufficient here.
The encoder must be decoupled from the thermal expansion of
the shaft by means of a suitable interface.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 93
Motor assembly
6.1 Motor assembly
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1FW6 Built-in torque motors
94 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor assembly
6.1 Motor assembly
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Figure 6-5 Rotary table with torque motor with cooling jacket
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 95
Motor assembly
6.1 Motor assembly
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Figure 6-6 Part-turn actuator with torque motor with integrated cooling
1FW6 Built-in torque motors
96 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor assembly
6.1 Motor assembly
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Figure 6-7 Installing a torque motor with integrated cooling on the shaft extension of a part-turn
actuator
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 97
Motor assembly
6.1 Motor assembly
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Figure 6-8 Part-turn actuator with torque motor with cooling jacket
1FW6 Built-in torque motors
98 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Motor assembly
6.1 Motor assembly
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Figure 6-9 Roller drive with low shaft deflection with torque motor with integrated cooling
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 99
Motor assembly
6.2 Protecting the motor components
1FW6 Built-in torque motors
100 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
6.2 Protecting the motor components
Degree of protection
The machine construction surrounding the motor must fulfill at least degree of protection
IP54 (to EN 60529).
The degree of protection for built-in motors is governed by the surrounding machine
construction. The better the motor installation space is protected against the ingress of
foreign particles (ferromagnetic particles), the longer the service life.
In particular, foreign particles in the air gap between the stator and rotor can destroy the
motor during operation.
This also applies to corrosive chemicals (e.g. coolants, oil) that could penetrate the motor
compartment. Corrosive chemicals can damage the magnetic bonds of the rotor.
Liquids can compromise the insulation resistance of the stator.
The thermal properties of the motor are influenced by the ingress of liquids and foreign
particles.
WARNING
Contamination in the motor compartment can cause the motor to stop functioning or cause
wear and tear.
System integration 7
7.1 System requirements
Components
The drive system that feeds a motor comprises an infeed module, a power module and a
control module. For the SINAMICS S120 drive system, these modules are called "Line
Modules", "Motor Modules" and "Control Units". The Line Module is either regulated with
feedback (ALM, Active Line Module), unregulated with feedback (SLM, Smart Line Module),
or unregulated without feedback (BLM, Basic Line Module).
To operate several motors simultaneously on a single drive system, either one Motor Module
per motor or one Motor Module for several motors can be provided, depending on the
application. The appropriate Line Module is determined by the power consumption of the
motors used.
Note
The order designations for the power cables in the figures below do not apply to motors with
single cores.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 101
System integration
7.1 System requirements
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1FW6 Built-in torque motors
102 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
System integration
7.1 System requirements
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Figure 7-2 System integration with connection of PTC 150 °C, PTC 130 °C, and KTY 84 via SME120; WMS: Incremental
Note
For the connector sizes, refer to the table "Data of the power cable at the stator" in the
Chapter "Interfaces".
Note
For more information about the SME12x, see the Equipment Manual "SINAMICS S120
Control Units and Additional System Components", which can be obtained from your local
Siemens office.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 103
System integration
7.1 System requirements
Permissible voltages
The following table shows the permissible line voltages of TN line supply systems for the
motors.
Table 7- 1 Permissible line voltages of TN line supply systems, resulting DC link voltages and
converter output voltages
Permissible line
supply voltage
Resulting DC link voltage UZK Drive output voltage (rms value)
Uamax
400 V 600 V (controlled)
528 V (uncontrolled)
425 V (controlled)
380 V (uncontrolled)
480 V 634 V (uncontrolled) 460 V (uncontrolled)
In combination with the drive system SINAMICS S120, the motors are generally approved for
operation on TN and TT networks with grounded neutral and for IT networks. Protective
equipment which will shut down the drive system in the event of a ground fault must be
provided for motors operated on IT systems.
In operation with a grounded external conductor, an isolating transformer with grounded
neutral (secondary side) must be connected between the supply and the drive system to
protect the motor insulation from excessive stress.
Requirements
● The power unit is selected depending on the motor current at torque M0 and a speed 1
[rev/min] or according to the maximum motor current.
● The encoder system used must be harmonized with the particular application.
Drive system
Table 7- 2 Open-loop and closed-loop control systems for the SINAMICS S120 drive system
Closed-loop control Open-loop control
-- CU-320
SINUMERIK 840D sl NCU-7x0 / NX1x
SINUMERIK 840Di sl CU-320
SIMATIC CU-320
SIMOTION D4x0 /CX32
Note
Read the corresponding documentation about open-loop and closed-loop control systems.
1FW6 Built-in torque motors
104 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
System integration
7.1 System requirements
Note
In systems where direct drives are used on controlled infeeds, electrical oscillations can
occur with respect to ground potential. These oscillations are, among other things, influenced
by:
The lengths of the cables
The rating of the infeed/regenerative feedback module
The number of axes
The size of the motor
The winding design of the motor
The type of line supply
The place of installation
The oscillations lead to increased voltage loads and may damage the main insulation! We
thus recommend using an HFD commutating reactor with damping resistance for damping
the oscillations. For specific details, refer to the documentation of the drive system being
used or contact your local Siemens office.
Accuracy
The accuracy of a direct drive with torque motor is governed by the:
● Mechanical design of the machine
● Control technology used
● Resolution and measuring accuracy of the encoder
Mechanics
The potential machining accuracy of a drive system with torque motor is influenced by the:
● Mechanical rigidity and noise immunity of the drive system
● Running smoothness
The running smoothness in the axial and radial direction depends on the bearing version and
its accuracy. The requirements here can be fulfilled by means of a suitable axes design.
Control quality
The control quality of a direct drive with torque motor is governed by the:
● Rigidity of the drive system (dynamic quality of the housing and machine construction,
bearing, encoder installation)
● The precision when mounting and adjusting the encoder system
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 105
System integration
7.2 Encoders
● Quantification of the angular signal and speed signal (the number of encoder lines and
their multiplication in the encoder evaluation of the converter for each axes rotation and
the measuring accuracy of the encoder are crucial here).
● Sampling time of the current, speed, and position controller.
7.2 Encoders
Encoder system
The encoder system has a range of different functions:
● Actual speed value encoder for closed-loop speed control
● Position encoder for closed-loop position control
● Rotor position encoder (commutation)
The encoder system is not included in the scope of supply. Due to the wide range of different
applications, it is impossible to provide a comprehensive list of suitable encoders.
Example of absolute phase-angle encoder with EnDat: RCN series (Heidenhain)
Examples of incremental single-phase encoders (1 Vpp): RON, ERA, ROD series
(Heidenhain)
NOTICE
We cannot guarantee the composition, nature, state, or quality of non-Siemens products.
Read the detailed text in "Manufacturer recommendations" in the appendix.
Requirements regarding the encoder
Your choice of encoder depends on the general application and converter-specific
conditions. The encoder resolution depends on requirements regarding accuracy and noise
immunity. Refer also to the documentation for the drive system used.
WARNING
Incorrect commutation can result in uncontrolled motor movements.
When the encoder is replaced, make sure that the commutation setting is correct. The
procedures involved here must only be carried out by trained personnel.
1FW6 Built-in torque motors
106 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
System integration
7.2 Encoders
Note
To ensure a high control loop dynamic response (high kV factor), rapid, overshoot-free
positioning, and smooth running, measuring systems that emit a minimum of approx. 10,000
pulses/revolution are recommended.
Note
To protect against contamination, the housing for the encoder on the axes construction of
the built-in torque motor must fulfill degree of protection IP54 to EN 60529.
The permissible mechanical speed and limit frequency of the encoder and Control Unit must
be taken into account. Refer to the appropriate documentation issued by the manufacturer
when configuring, installing, and adjusting the encoder
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 107
System integration
7.2 Encoders
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Note
For more installation examples, see "Motor assembly".
1FW6 Built-in torque motors
108 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
System integration
7.3 Bearings
7.3 Bearings
Selecting the bearing
1FW6 torque motors are built-in motors for direct rotary or swivel axes. To set up a complete
drive unit, a bearing between the stator and rotor is required in addition to the phase-angle
encoder system.
Your choice of bearing is governed by the following factors:
● Geometric requirements (internal and external diameter)
● Speed
● Load (magnitude, direction)
● Rigidity (accuracy, pretension)
● Service life
The bearing is not included in the scope of supply.
WARNING
Bearing currents and static charging of the rotor:
Depending on the design and properties of the bearing, the rotor may become statically
charged.
Measures must be taken to prevent this (e.g. insulated bearing design or grounding).
Note
Radial forces are generated between the stator and rotor. These must be taken into account
when you select the bearing (see also "Motor assembly)".
7.4 Braking concepts
WARNING
Malfunctions on a rotating machine axes can lead to the drive coasting to a stop in an
uncontrolled manner.
Measures must be taken to brake the drive at its maximum possible kinetic energy in the
event of a fault.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 109
System integration
7.4 Braking concepts
The design of mechanical braking systems depends on the maximum kinetic energy, that is,
the maximum moment of inertia of the rotating mass and its maximum speed.
Possible malfunctions
Malfunctions can occur e.g. for:
● Power failure
● Encoder failure, encoder monitoring responds
● Higher-level control failure (e.g., NCU); bus failure
● Control Unit failure
● Drive fault
● NC fault
Below are a number of options showing how rotating masses can be braked in the event of a
malfunction.
Braking concepts
In the case of rotating axes that are restricted to a rotation angle of < 360°, damping and
impact absorption elements at the limits of the rotation range offer reliable protection.
To dissipate the kinetic energy of the rotating mass before it comes into contact with the
damping elements, the following measures should be taken to support mechanical braking
systems:
1. Electrical braking via the energy in the DC link:
The DC link must be equipped with capacitor modules that store sufficient energy to
reliably brake the rotating masses in the event of a power failure. Braking resistors that
prevent the voltage in the DC link from exceeding the maximum permissible value must
also be installed.
Drawback:
This measure is ineffective if the Control Unit fails. It may also be ineffective if
the encoder system fails. See also the documentation for the drive system.
2. Electrical braking via armature short-circuiting of the stator:
If the drive system does not feature a suitable function, the motor connection terminals
are disconnected from the drive system and short-circuited in the event of a fault with a
contactor that closes automatically. See also the documentation for the drive system.
Drawback:
The braking torque depends on the speed and may not be sufficient to bring
the rotating masses to a standstill.
Note
If armature short-circuiting braking is used without braking resistors, special contactors
are required because the currents can be very high. - The release timing for the drive
system must be taken into account.
1FW6 Built-in torque motors
110 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
System integration
7.4 Braking concepts
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 111
3. Mechanical braking via braking elements:
The braking capacity must be dimensioned as highly as possible so that the rotating
masses can be reliably braked at maximum kinetic energy.
Drawback:
Depending on the speed, the relatively long response time of the brake
controller may mean that the rotating mass continues to rotate for a while without being
braked.
We recommend that all three measures be implemented together. Measures (2) and (3) are
used as an additional protection here in case measure (1) fails: The short-circuiting of the
stator works at high speeds to begin with and then the mechanical brake takes effect at
lower speeds.
A list of recommended braking element manufacturers is provided in the appendix.
Deploying a holding brake
Due to cogging torques, torque motors can be pulled into a preferable magnetic operating
position if the motor is no longer supplied with power from the drive. If the drive is already at
a standstill, this can cause unexpected movements in up to a half magnetic pole pitch in both
directions. To prevent any damage to the workpiece and/or tool, it may be advisable to use a
holding brake.
Due to the lack of a mechanical self-locking system, a holding brake should be installed for
inclined or horizontal drives without weight compensation so that the drive can be shut down
and de-energized in any position.
WARNING
For inclined and horizontal axes, the load may be reduced in an uncontrolled manner if the
center of gravity is outside the rotary axes when the system is disconnected from the power
supply.
A holding brake may also be required if:
● The bearing friction does not compensate or exceed the cogging torques and unexpected
movements result.
● Unexpected movements of the drive can lead to damage (e.g. a motor with a large mass
also generates strong kinetic energy).
● Weight-loaded drives must be shut down and de-energized in any position.
To prevent movements when the drive is switched on or off, the holding brake response
must be synchronized with the drive.
During commissioning, refer to the documentation for the drive system being used.
Interfaces 8
8.1 Overview
Electrical connection components
Table 8- 1 Overview of available motor types with respect to the position of the electrical connection
MLFB Outgoing feeder Strain relief
1FW6090-0PBxx-xxxx Axial Sleeve
1FW6090-0QBxx-xxxx Radial (outward) Sleeve
1FW6090-0NBxx-xxxx Tangential Sleeve
1FW6130-0PBxx-xxxx Axial Sleeve
1FW6130-0QBxx-xxxx Radial (outward) Sleeve
1FW6130-0NBxx-xxxx Tangential Sleeve
1FW6150-0PBxx-xxxx Axial Sleeve
1FW6150-0QBxx-xxxx Radial (outward) Sleeve
1FW6150-0NBxx-xxxx Tangential Sleeve
1FW6160-0WBxx-xxxx Axial Sleeve
1FW6160-0VBxx-xxxx Radial (outward) Sleeve
1FW6160-0TBxx-xxxx Tangential Sleeve
1FW6190-0WBxx-xxxx Axial Sleeve
1FW6190-0VBxx-xxxx Radial (outward) Sleeve
1FW6190-0TBxx-xxxx Tangential Sleeve
1FW6230-0WBxx-xxxx Axial Sleeve
1FW6230-0VBxx-xxxx Radial (outward) Sleeve
1FW6230-0TBxx-xxxx Tangential Sleeve
1FW6290-0WBxx-xxxx Axial Sleeve
1FW6290-0VBxx-xxxx Radial (outward) Sleeve
1FW6290-0TBxx-xxxx Tangential Sleeve
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 113
Interfaces
8.1 Overview
Dimensions of the electrical connections
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Figure 8-1 Electrical connection (axial) with sleeve for 1FW609
1FW6 Built-in torque motors
114 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.1 Overview
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Figure 8-2 Electrical connection (radial, outward) with sleeve for 1FW609
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 115
Interfaces
8.1 Overview
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Figure 8-4 Electrical connection (axial) with sleeve for 1FW613
1FW6 Built-in torque motors
116 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.1 Overview
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 117
Interfaces
8.1 Overview
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1FW6 Built-in torque motors
118 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.1 Overview
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 119
Interfaces
8.1 Overview
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1FW6 Built-in torque motors
120 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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1FW623, 25 mm2 core cross-section
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 121
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122 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 123
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1FW623, 70 mm2 core cross-section
1FW6 Built-in torque motors
124 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.1 Overview
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Figure 8-16 Electrical connection (radial, outward) with sleeve for 1FW616, 1FW619, and 1FW623 as of 10 mm2 core
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Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 125
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1FW6 Built-in torque motors
126 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 127
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128 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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70 mm2 core cross-section
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 129
Interfaces
8.1 Overview
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130 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 131
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132 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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8.1 Overview
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 133
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134 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 135
Interfaces
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Table 8- 2 Specifications for the power cable on the stator
Motor type Max. diameter
"d1" in mm 1)
No. of cores x
crosssection in
mm2
Min. bending
radius "R1" in
mm 1)
Height of sleeve
"C1" in mm
Connector size 2)
1FW6090-xxB05-0Fxx 12.1 4x2.5 73 18 1
1FW6090-xxB05-0Kxx 12.1 4x2.5 73 18 1
1FW6090-xxB07-0Kxx 12.1 4x2.5 73 18 1
1FW6090-xxB07-1Jxx 12.1 4x2.5 73 18 1
1FW6090-xxB10-0Kxx 12.1 4x2.5 73 18 1
1FW6090-xxB10-1Jxx 12.1 4x2.5 73 18 1
1FW6090-xxB15-1Jxx 12.1 4x2.5 73 18 1
1FW6090-xxB15-2Jxx 13.2 4x4.0 79 23 1.5
1FW6130-xxB05-0Kxx 12.1 4x2.5 73 18 1
1FW6130-xxB05-1Jxx 12.1 4x2.5 73 18 1
1FW6130-xxB07-0Kxx 12.1 4x2.5 73 18 1
1FW6130-xxB07-1Jxx 12.1 4x2.5 73 18 1
1FW6130-xxB10-1Jxx 12.1 4x2.5 73 18 1
1FW6 Built-in torque motors
136 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.1 Overview
Motor type Max. diameter
"d1" in mm 1)
No. of cores x
crosssection in
mm2
Min. bending
radius "R1" in
mm 1)
Height of sleeve
"C1" in mm
Connector size 2)
1FW6130-xxB10-2Jxx 13.2 4x4.0 79 23 1.5
1FW6130-xxB15-1Jxx 12.1 4x2.5 73 18 1
1FW6130-xxB15-2Jxx 13.2 4x4.0 79 23 1.5
1FW6150-xxB05-1Jxx 12.1 4x2.5 73 25 1
1FW6150-xxB05-4Fxx 19.4 4x10.0 116 27 1.5
1FW6150-xxB07-2Jxx 13.2 4x4.0 79 26 1.5
1FW6150-xxB07-4Fxx 19.4 4x10.0 116 27 1.5
1FW6150-xxB10-2Jxx 13.2 4x4.0 79 26 1.5
1FW6150-xxB10-4Fxx 19.4 4x10.0 116 27 1.5
1FW6150-xxB15-2Jxx 13.2 4x4.0 79 26 1.5
1FW6150-xxB15-4Fxx 19.4 4x10.0 116 27 1.5
1FW6160-xxB05-1Jxx 12.1 4x2.5 73 28.5 1
1FW6160-xxB05-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6160-xxB05-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6160-xxB07-1Jxx 12.1 4x2.5 73 28.5 1
1FW6160-xxB07-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6160-xxB07-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6160-xxB07-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6160-xxB10-1Jxx 12.1 4x2.5 73 28.5 1
1FW6160-xxB10-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6160-xxB10-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6160-xxB10-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6160-xxB10-2Pxx 17.7 3x(1x50) + M10 f.
PE (1x25)*)
133 29 -
1FW6160-xxB15-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6160-xxB15-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6160-xxB15-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6160-xxB15-2Pxx 17.7 3x(1x50) + M10 f.
PE (1x25)*)
133 29 -
1FW6160-xxB15-0Wxx 20.0
3x(1x70) + M10 f.
PE (1x35)*)
150.0 29 -
1FW6160-xxB20-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6160-xxB20-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6160-xxB20-2Pxx 17.7 3x(1x50) + M10 f.
PE (1x25)*)
133 29 -
1FW6160-xxB20-0Wxx 20.0 3x(1x70) + M10 f.
PE (1x35)*)
150.0 29 -
1FW6190-xxB05-1Jxx 12.1 4x2.5 73 28.5 1
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 137
Interfaces
8.1 Overview
Motor type Max. diameter
"d1" in mm 1)
No. of cores x
crosssection in
mm2
Min. bending
radius "R1" in
mm 1)
Height of sleeve
"C1" in mm
Connector size 2)
1FW6190-xxB05-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6190-xxB05-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6190-xxB07-1Jxx 12.1 4x2.5 73 28.5 1
1FW6190-xxB07-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6190-xxB07-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6190-xxB07-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6190-xxB10-1Jxx 12.1 4x2.5 73 28.5 1
1FW6190-xxB10-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6190-xxB10-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6190-xxB10-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6190-xxB10-2Pxx 17.7 3x(1x50) + M10 f.
PE (1x25)*)
133 29 -
1FW6190-xxB15-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6190-xxB15-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6190-xxB15-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6190-xxB15-2Pxx 17.7 3x(1x50) + M10 f.
PE (1x25)*)
133 29 -
1FW6190-xxB15-0Wxx 20.0 3x(1x70) + M10 f.
PE (1x35)*)
150.0 29 -
1FW6190-xxB20-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6190-xxB20-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6190-xxB20-2Pxx 17.7 3x(1x50) + M10 f.
PE (1x25)*)
133 29 -
1FW6190-xxB20-0Wxx 20.0 3x(1x70) + M10 f.
PE (1x35)*)
150.0 29 -
1FW6230-xxB05-1Jxx 12.1 4x2.5 73 28.5 1
1FW6230-xxB05-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6230-xxB05-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6230-xxB07-1Jxx 12.1 4x2.5 73 28.5 1
1FW6230-xxB07-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6230-xxB07-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6230-xxB07-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6230-xxB10-2Jxx 13.2 4x4.0 79 29.5 1.5
1FW6230-xxB10-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6230-xxB10-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6230-xxB10-2Pxx 15.6 3x(1x35) + M10 f.
PE (1x25)*)
117.0 26 -
1FW6 Built-in torque motors
138 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.1 Overview
Motor type Max. diameter
"d1" in mm 1)
No. of cores x
crosssection in
mm2
Min. bending
radius "R1" in
mm 1)
Height of sleeve
"C1" in mm
Connector size 2)
1FW6230-xxB15-4Cxx 16.0 4x6.0 96 31.5 1.5
1FW6230-xxB15-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6230-xxB15-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6230-xxB15-2Pxx 15.6 3x(1x35) + M10 f.
PE (1x25)*)
117.0 26 -
1FW6230-xxB15-0Wxx 20.0 3x(1x70) + M10 f.
PE (1x35)*)
150.0 29 -
1FW6230-xxB20-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6230-xxB20-8Fxx 13.0 3x(1x25) + M10 f.
PE (1x25)*)
97.5 23 -
1FW6230-xxB20-2Pxx 15.6 3x(1x35) + M10 f.
PE (1x25)*)
117.0 26 -
1FW6230-xxB20-0Wxx 20.0 3x(1x70) + M10 f.
PE (1x35)*)
150.0 29 -
1FW6290-xxB07-5Gxx 23.6 4x16.0 142 35.5 1.5
1FW6290-xxB07-0Lxx d(35) = 15.6
d(25) = 13.0
3x(1x35)+1x25 R(35) = 133
R(25) = 97.5
26 -
1FW6290-xxB07-2Pxx d(70) = 20.0
d(35) = 15.6
3x(1x70)+1x35 R(70) = 150.0
R(35) = 132.5
29 -
1FW6290-xxB11-7Axx 23.6 4x16.0 142 35.5 1.5
1FW6290-xxB11-0Lxx d(35) = 15.6
d(25) = 13.0
3x(1x35)+1x25 R(35) = 133
R(25) = 97.5
26 -
1FW6290-xxB11-2Pxx d(70) = 20.0
d(35) = 15.6
3x(1x70)+1x35 R(70) = 150.0
R(35) = 132.5
29 -
1FW6290-xxB15-7Axx 23.6 4x16.0 142 35.5 1.5
1FW6290-xxB15-0Lxx d(35) = 15.6
d(25) = 13.0
3x(1x35)+1x25 R(35) = 133
R(25) = 97.5
26 -
1FW6290-xxB15-2Pxx d(70) = 20.0
d(35) = 15.6
3x(1x70)+1x35 R(70) = 150.0
R(35) = 132.5
29 -
1FW6290-xxB20-0Lxx d(35) = 15.6
d(25) = 13.0
3x(1x35)+1x25 R(35) = 133
R(25) = 97.5
26 -
1FW6290-xxB20-2Pxx d(70) = 20
d(35) = 15.6
3x(1x70)+1x35 R(70) = 150.0
R(35) = 132.5
29 -
1) Power cable fixed; 2) Applies to motors with connector
*) PE cable to be connected separately; not included in scope of delivery
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 139
Interfaces
8.1 Overview
Table 8- 3 Specifications for the signal cable on the stator
Motor type Diameter "d2"
in mm 1)
No. of cores (signal cores) x
crosssection + no. of cores
(PE) x cross-section in mm2
Min. bending
radius "R2"
in mm 1)
Height of
sleeve "C2"
in mm
Connector
size 2)
1FW6xxx-xxxxx-xxxx 12 6 x 0.5 + 1 x 1.0 48 18 M17
1) Signal cable fixed; 2) Applies to motors with connector
1FW6 Built-in torque motors
140 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.1 Overview
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 141
Interfaces
8.2 Electrical connections
8.2 Electrical connections
DANGER
Risk of death, serious personal injury (electrical shock), and/or material damage if direct
drives are connected incorrectly.
Motors must be connected in accordance with the circuit diagram provided in this
documentation and require a sinusoidal current injection. They must not be connected
directly to the three-phase supply because this will damage them.
The motors are designed to be operated on drive systems that are supplied via power
supply networks grounded with low resistance (TN systems).
See also the documentation for the drive system.
DANGER
Components in electrical devices may be under hazardous voltage. There is an electrical
shock hazard!
When the rotor is rotating, a voltage is present at the motor terminals that increases
proportionally with the speed. At no-load speed, the amplitude value of the voltage at the
motor terminals is the same as the voltage value of the converter DC link voltage.
All work involving the electrics must only be carried out by skilled personnel when the
device is disconnected from the power supply and the motor is at a standstill.
Note the regulations for working on electrical installations.
In particular, the following safety rules for working on electrical installations in accordance
with EN 50110-1/BGV A3 must be observed:
Disconnect the system.
Protect against reconnection.
Make sure that the equipment is de-energized.
Ground and short-circuit.
Cover or enclose adjacent components that are still live.
Only work on electrical devices when they are de-energized. The protective conductor
should be the first thing to be connected and the last to be disconnected.
All PELV circuits must meet the requirements of electrical separation in accordance with
EN 61800-5-1.
WARNING
The connection block on the motor for the motor supply cables (power and signal cables)
must never be removed.
This could destroy the motor.
1FW6 Built-in torque motors
142 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.2 Electrical connections
The cables for the power connection are brought out at the front of the stator (B side). The
open cable ends must be connected in a terminal box, which must be provided by the
machine manufacturer. Sufficient installation space must be provided in the axes
construction. Standard MOTION–CONNECT cables, which are available with the standard
range of accessories for the drive system, can be used from this EMC-compliant terminal
box (minimum degree of protection: IP54).
8.2.1 Power connection
Connection assignment
Table 8- 4 Power connection for torque motor
Converter Torque motor/stator
U2 U
V2 V
W2 W
For information on connecting the power, please also refer to the figures relating to system
integration in the section titled "System requirements". The rotor rotates clockwise if the
torque motor is connected to phase sequence U, V, W. Also refer to "Direction of rotation" in
Chapter "Technical features".
8.2.2 Signal connection
The temperature monitoring circuits must not be connected without a protection module.
DANGER
Electrical shock hazard!
The circuits of Temp–S and Temp–F do not have safety isolation with respect to the power
circuits according to the specifications for safety isolation in compliance with EN 61800-5-1
(previously, safety isolation according to EN 50178 (VDE 0160)).
Connecting the temperature monitoring circuits to the SMC20 Sensor Module does not fulfill
the requirements of protective separation to EN 61800-5-1. The temperature monitoring
circuits must be connected via the SME12x.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 143
Interfaces
8.2 Electrical connections
Temperature sensor connection
A connector is used to connect the signal cable to the SME12x (Sensor Module External)
whose output is connected to the converter. Refer to the figures relating to system
integration in the section titled "System requirements", as well as the connection overview
below.
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SME12x
Direct measuring systems outside the cabinet can be connected to the Sensor Module
External 12x (SME12x). The SME12x evaluates these measuring systems and converts the
calculated values to DRIVE-CLiQ.
For more information about the SME12x, see the Equipment Manual "SINAMICS S120
Control Units and Additional System Components", which can be obtained from your local
Siemens office.
1FW6 Built-in torque motors
144 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.2 Electrical connections
8.2.3 Shielding, grounding, and equipotential bonding
Rules
Correct installation and connection of the cable shields and protective conductors is very
important, not only for personal safety but also for the effect on emissivity and noise
immunity. Therefore, the following must be carefully observed:
● All cable shields must be connected to the respective housing using clamps or suitable
terminal or screwed connectors
● Connecting only a few shield conductors or combining shield conductors in one cable is
not permitted
● We recommend that the shield connections of the drive system are used to connect the
shield of the power cable to the power module.
● Refer to the EMC installation guidelinelines (order number 6FC5297-□AD30-0AP□)
issued by the converter manufacturer.
DANGER
Risk of electric shock!
Open cables lead to voltages due to capacitive coupling.
Open or unused cables, especially electric cables which can be touched, must be insulated.
The insulation must be able to withstand the rated voltage.
NOTICE
Unshielded or incorrectly shielded cables can lead to faults in the drive – particularly the
encoder – or in external devices.
Note the topics mentioned above!
NOTICE
High leakage currents may damage other devices if the motor PE is not directly connected
to the power unit.
Connect the motor PE to the power unit over a large surface area and without taking a
circuitous route.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 145
Interfaces
8.3 Cooler connection
NOTICE
With 1FW6 built-in torque motors featuring single-core power cables without a PE cable, a
connection point is provided for the PE. A separate PE cable must be connected to this to
ensure a direct connection to the power unit.
8.2.4 Requirements for the motor supply cables
Motor supply cables
The length of the power and signal cables from the motor to the converter must not exceed
50 m.
NOTICE
The permissible acceleration rates of the cables must be carefully taken into consideration.
In particular, this applies when the cables are routed via a tow chain.
To prevent wear and tear, the cables fixed permanently to the motor should not be routed
via a tow chain because they cannot be replaced if they are damaged.
Also refer to integrating into the system. Data for the motor supply cables: see "Overview"
and catalog NC 61.
MOTION-CONNECT cables from the terminal box provided by the customer or extensions
for the power and signal connection: see catalog NC 61.
Specification of the motor supply cables
The built-in torque motors are shipped with MOTION-CONNECT cables in accordance with
catalog NC 61, which contains the technical specifications:
Power cable: MOTION-CONNECT 800, type 6FX8
Signal cable: MOTION-CONNECT 700, type 6FX7
8.3 Cooler connection
Cooler connection for motors with a cooling jacket
The cooler for motors with a cooling jacket is connected via the built-in construction. The
cooling water cable cross-sections depend on the cross-sections of the cooling slots in the
jacket. These slots are sealed by means of the housing provided by the customer and the O-
rings.
1FW6 Built-in torque motors
146 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.3 Cooler connection
In the case a built-in torque motor with a cooling jacket, the coolant must be
supplied/discharged via two holes (cut by the user) in the axes construction (see following
diagrams). For information on the installation hole fit, refer to the section titled "Installation
drawings/Dimension drawings".
To ensure optimized, uniform cooling across all cooling slots, the coolant infeed for torque
motors 1FW609 and 1FW613 must be offset by 90° vis-à-vis the cable outlet for the
electrical supply. If a different location is selected for the coolant inlet/outlet, the coolant is
not distributed evenly in the cooling slots. The least favorable position for the coolant
inlet/outlet is at an angle of 90° counter-clockwise because, in this case, the coolant can
barely flow through the foremost or rearmost cooling slots.
The coolant infeed must be positioned directly above the exit point of the electrical cable
outlets on 1FW615 torque motors.
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Figure 8-31 Cooler connection for 1FW609 and 1FW613 (example)
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 147
Interfaces
8.3 Cooler connection
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Figure 8-32 Cooler connection for 1FW615 (example)
Cooler connection for motors with integrated cooling
For built-in torque motors with integrated cooling, no alterations need to be made on the
machine construction for connecting the cooler. Precision and main coolers can be
connected directly via fittings (1/8" pipe thread DIN 2999), whereby each cooling circuit can
be supplied and switched separately.
Note
In a series connection, the coolant must flow through the precision cooler first and then the
main cooler.
Suitable connectors are required for connecting the hoses. The connectors can generally be
installed using standard tools.
A cooling connection adapter is available for connecting precision and main coolers in
parallel in a single heat-exchanger unit. This needs to be ordered separately as it is not
included in the scope of delivery. To minimize pressure loss, you are advised to connect the
precision and main cooler in parallel immediately upstream of the cooler connections.
The cooling connection adapter can be connected via a 1/4" pipe thread (DIN 2999) either
axially or radially (outward).
The pressure losses of the individual cooling components and the piping must be checked
beforehand and compared with the capacity of the heat-exchanger unit.
1FW6 Built-in torque motors
148 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.3 Cooler connection
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Figure 8-33 Cooling connection plate for 1FW616, 1FW619, and 1FW623
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 149
Interfaces
8.3 Cooler connection
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Figure 8-34 Cooling connection plate for 1FW629
WARNING
The cooling connection plate is permanently mounted. The motor may be destroyed if the
cooling connection plate is removed.
1FW6 Built-in torque motors
150 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.3 Cooler connection
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 151
Interfaces
8.3 Cooler connection
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1FW6 Built-in torque motors
152 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.3 Cooler connection
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 153
Interfaces
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1FW6 Built-in torque motors
154 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.3 Cooler connection
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Figure 8-39 Cooling connection adapter for parallel connection of main cooler and precision cooler for 1FW616, 1FW619,
1FW623, and 1FW629
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 155
Interfaces
8.3 Cooler connection
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1FW6 Built-in torque motors
156 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Interfaces
8.3 Cooler connection
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Figure 8-41 Cooling connection adapter 1FW629
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 157
Interfaces
8.3 Cooler connection
1FW6 Built-in torque motors
158 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Hoses for the cooling system
The hoses for the cooling system must be highly resistant to the coolant, flexible, and
abrasion proof. The hoses for the cooling system should not be chosen until all the materials
used in the cooling system and the applicable boundary conditions are known.
When using a cooling connection adapter with motors featuring integrated cooling, overly
thin hoses should not be used directly following the cooling connection adapter in order to
prevent pressure drops.
For a list of companies and addresses from whom you can obtain connectors and
accessories for cooling systems, see the appendix.
NOTICE
We cannot guarantee the composition, nature, state, or quality of non-Siemens products.
Read the detailed text in "Manufacturer recommendations" in the appendix.
Commissioning 9
9.1 Safety guidelines for commissioning
DANGER
Risk of death, serious personal injury, and/or material damage if a machine that does not
fulfill the recognized safety requirements is commissioned.
Plants and machines with converter-fed low-voltage three-phase motors must fulfill the
protection requirements of the EMC Directive 2004/108/EC. The plant engineer is
responsible for ensuring that installation is carried out in an EMC-compliant manner. The
signal and power cables must be shielded. Refer to the EMC installation guideline (order
designation 6FC5297-□AD30-0AP□) issued by the converter manufacturer.
DANGER
Unexpected movements of the motor may result in a risk of death, serious personal, and/or
material damage.
Danger from rotating rotor. Never carry out work in the vicinity of rotating parts when the
machine is switched on.
Keep persons away from rotating parts and areas where there is a danger of crushing.
Ensure that the rotors can rotate without hindrance.
Check the commutation setting before switching on the machine. Note also the
commissioning instructions issued for the drive system.
Limit the motor currents.
Set low values for speed limiting.
Monitor limit positions.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 159
Commissioning
9.1 Safety guidelines for commissioning
WARNING
The surface temperature of the motors may be more than 100 °C (212 °F). Risk of burns
Make sure that the cooling system (if available) is working properly.
Do not touch the motor during/directly after use.
Display the "Hot Surface Do Not Touch" (D-W026) warning sign clearly in the vicinity of the
motor.
Temperature-sensitive parts (electric cables, electronic components) may not be placed on
hot surfaces.
CAUTION
The motor may overheat without temperature protection and be destroyed.
Before(!) switching on for the first time (for testing), check whether the temperature
protection is effective!
WARNING
During torque motor operation, the rotor must not exceed a temperature of 120°C otherwise
the permanent magnet may become demagnetized.
This must be ensured during initial commissioning by carrying out the appropriate checks.
Special attention should be paid here to non-uniform current loads during standstill or
operation with short, cyclic rotation because this can generate extremely high, localized
temperatures.
Commutation setting
DANGER
Risk of death, serious personal injury and/or material damage if the safety guidelines and
instructions are not observed.
Note the safety information provided in this documentation.
For 1FW6 torque motors, the commutation setting required for synchronous motors can be
made via the software-based automatic rotor position identification procedure.
1FW6 Built-in torque motors
160 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Commissioning
9.1 Safety guidelines for commissioning
The following two methods can be used for all 1FW6 torque motor sizes:
● Movement-based procedure
● Inductance-based procedure
Motion-based technique
The movement-based procedure of the SINAMICS S120 drive system can be used as of
software version 2.4.
This technique can also be used as commissioning support when determining the angular
commutation offset for the first time or checking the angular commutation offset, in
conjunction with an absolute measuring system (e.g. RCN 727 from Heidenhain).
The procedure can be applied for vertical and horizontal axes whose load cannot be reduced
in an uncontrolled manner when the machine is disconnected from the power supply. In this
case, the axes must be able to be freely moved and not be braked. (static friction < 10% of
the rated motor torque).
In the worst-case scenario, the rotor can move in the range of ± 5 degrees when this
procedure is used.
WARNING
For inclined and horizontal axes, the load may be reduced in an uncontrolled manner if the
center of gravity is outside the rotary axes when the system is disconnected from the power
supply. At certain times the axes angle cannot be monitored.
Inductance-based technique
The inductance-based technique of the SINAMICS S120 drive system can be used as of
software version 2.4.
This technique does not require the rotor to move, which means that it can also be used for
axes that are locked (e.g. using a brake). Axes that are not locked can rotate, however.
Depending on the actual mechanical design, this technique can result in a higher noise level
when the axes is powered up during the identification routine.
Note
The inductance-based technique requires fine synchronization for precise operation; i.e.
either a measuring system with zero mark that can be evaluated or an absolute measuring
system is required.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 161
Commissioning
9.2 Procedure
Commissioning the cooling circuits
Before the cooling circuits are charged, they must be rinsed with the cooling medium.
NOTICE
The maximum permissible pressure in the cooling circuit (see "Technical features") must
not be exceeded.
9.2 Procedure
Checks for commissioning in a current-free state
Cooling circuit
Make sure that the cooling circuit and the coolant meet the requirements outlined in the
"Cooling" section of the 1FW6 Configuration Manual (1FW6 CM) for built-in torque motors,
and that the cooling circuit is functioning correctly.
Mechanical components
● The axis must be able to rotate freely throughout the entire rotating range.
● In the case of motors connected in parallel, motor installation and the installation
positions of the stator and rotor must comply with the installation drawings and
specifications in the 1FW6 CM.
● A "vertical axis (large imbalance)" requires a fully functional counterweight (this may or
may not be provided).
● If a brake is provided, it must be controlled correctly.
● If there is a limit on the travel range, mechanical limit stops must be present and
permanently attached at both ends of the rotating range.
● Moving cables must be correctly laid in a tow chain.
Measuring system
● Incremental measuring system:
Grid spacing _ _ _ _ _ _ _inc./rotation
Number of zero marks _ _ _ _ _ _
OR
● Absolute (EnDat) measuring system:
Grid spacing _ _ _ _ _ _ _ inc./rotation
● Determine positive drive direction of rotation:
The positive counting direction of the measuring system must be determined.
It may be necessary to invert the direction of rotation.
1FW6 Built-in torque motors
162 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Commissioning
9.2 Procedure
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 163
Wiring
● The connection to the phase sequence U, V, W (clockwise rotating field) must be
correctly configured on the power unit.
● The PE must be connected.
● The shielding must be installed.
● The temperature sensors should be evaluated as outlined in the section titled "Thermal
motor protection" in the1FW6 CM. The signal connection is shown in the sections titled
"System integration" and "Interfaces".
Measuring system cable
Make sure that the measuring system cable is correctly connected; refer to the section titled
"System integration" in the1FW6 CM.
Additional checks to be carried out for commissioning purposes
● Make sure that the temperature sensor evaluation function is working properly.
● Determining the control direction:
The control direction of an axis is correct if the positive direction of the drive (clockwise
rotating field with phase sequence U, V, W) matches the positive counting direction of the
measuring system.
Note
The data used to determine the drive direction is only valid for 1FW6 motors.
If the positive direction of the drive and positive counting direction of the measuring
system
do not match
, the actual speed value must be inverted when carrying out
commissioning using the software.
The control sense can also be checked by first parameterizing the drive and then
manually moving it, with the enable signals inhibited.
If the axis rotates in the positive direction, the actual speed value must also count in the
positive direction.
● Determining the drive direction:
For the defined direction of rotation of the 1FW6 motor, refer to the section titled
"Technical features" in the 1FW6 CM. The direction of the 1FW6 motor is positive if the
rotor is rotating clockwise when you look in the direction of the arrow.
● Determining the counting direction of the measuring system:
The counting direction of the measuring system can be determined by means of manual
motion (with enable signals inhibited). In doing this you must observe any inversion
parameters that have been set.
Entering the motor data
Select the MLFB of the motor you are using from the commissioning tool list. The motor data
will be accepted automatically. Data for motors that are not in the list must be entered
manually. For Siemens motors, you can request a data sheet containing converter set values
from your relevant Siemens office.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 165
Operation 10
10.1 Safety guidelines for operation
DANGER
Due to the high speeds and acceleration as well as the friction and self-locking, machine
parts that are driven with torque motors pose a considerable risk of injury (e.g crushing).
Keep persons away from moving parts and areas where there is a danger of crushing.
WARNING
Improper operation can lead to serious material damage.
Operation is allowed only in locations with full weather protection: The environment must be
dry and protected against heat and cold.
Keep the motor compartment free from foreign bodies (chips, particles, liquids, oils, screws,
tools, etc.).
Make sure that the cooling system for the torque motor functions properly.
10.2 Dealing with faults
Listen for noise. If you hear anything unusual, contact your local Siemens office.
If you experience any problems regarding accuracy with the workpiece, make sure that the
rotor can move without hindrance and check the current consumption of the motor. Problems
with accuracy may also have other causes (e.g. machine design).
Maintenance and repairs 11
11.1 Safety information for maintenance and repairs
DANGER
Risk of death, serious personal injury and/or material damage if maintenance and repair
work is carried out by inexperienced personnel.
Make sure that maintenance personnel possess the knowledge, ability, and experience
required to carry out their work safely.
All repairs to the motor must be carried out at one of the Siemens service centers. For
addresses of Siemens service centers, see:
http://www.automation.siemens.com/partner/index.asp.
DANGER
Risk of death, serious personal injury and/or material damage if work is carried out when
the machine is switched on. Before carrying out work in the vicinity of rotating parts, switch
off the machine (disconnect it from the power supply).
Before carrying out work in the vicinity of rotating parts, disconnect the machine from the
power supply to prevent accidental rotation.
DANGER
If work is carried out on the motor immediately after it has been in operation, there is a risk
of burns if you come into contact with hot surfaces. The cooling water temperature can also
increase after the motor has already been switched off.
To cool the motor down to the level of the inlet temperature TVORL, the cooler must remain
in operation for at least 30 minutes after the motor has been switched off. If the cooler is
switched off, however, it takes significantly longer for the motor to cool down. This depends
to a large extent on the installation situation.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 167
Maintenance and repairs
11.1 Safety information for maintenance and repairs
DANGER
Risk of burns
Risk of pressure surges: Do not switch the cooler on if the motor was operated without a
cooler beforehand. The major build-up of steam can cause burns or destroy the motor.
When you open the cooling circuit, you risk burning yourself when the hot cooling water and
steam escapes. If the motor is operated with the cooler, the cooling water in the cooling
system heats up.
Do not open the motor cooling circuit until the motor has cooled down.
DANGER
Risk of death, serious personal injury and/or material damage during dismantling work.
When dismantling the motor, refer to the notes provided in "Procedure for installing the
motor".
WARNING
Sharp edges can cause cuts and falling objects can injure feet.
Always wear work gloves and safety shoes.
1FW6 Built-in torque motors
168 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Maintenance and repairs
11.2 Safety guidelines for high-voltage test
11.2 Safety guidelines for high-voltage test
Guidelines for inspecting the insulation resistance (high-voltage test)
WARNING
An insulation resistance inspection under high-voltage conditions can damage the motor
insulation!
If insulation resistance inspections need to be carried out on a machine/plant with direct
drives or directly on the motors (e.g. installation inspection, preventative maintenance,
troubleshooting), only inspection devices that comply with EN 61557-1, EN 61557-2, and
EN 61010-1 (or the relevant IEC standards) can be used.
The inspection may only be carried out with a maximum direct voltage of 1000 V for a
maximum time of 60 s! The test voltage should be measured with respect to ground or the
motor enclosure. If a higher DC or AC voltage is necessary for the purposes of inspecting
the machine/system, you must arrange the inspection with your local Siemens office.
Please follow the operating instructions for the test device!
Inspections of the insulation resistance on individual motors must always be carried out as
follows:
1. Connect all winding and temperature sensor connectors with each other; inspection
voltage not to exceed 1000 VDC, 60 s against PE connection.
2. Connect all temperature sensor connectors to the PE connector and all winding
connectors with each other; the inspection voltage must not exceed 1000 VDC, 60 s,
winding against PE connector.
Each insulation resistance must be at least 10 MΩ, otherwise the motor insulation is
defective.
11.3 Maintenance
Performing maintenance work on the motor
WARNING
Note the safety information provided in this documentation.
Due to their principle of operation, torque motors are free of wear. To ensure that the motor
functions properly and remains free of wear, the following maintenance work needs to be
carried out:
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 169
Maintenance and repairs
11.4 Test and replacement intervals of the cooling medium
1FW6 Built-in torque motors
170 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
● Regularly check that the rotary axes can move without hindrance.
● Keep the air gap free of chippings and particles.
● Regularly check the condition of the motor components.
● Check the current consumption in the test cycle defined beforehand.
Ensure that the motor compartment remains free of contamination (e.g. chippings, oil, etc.).
Depending on the local level of contamination, clean the machine to ensure that it functions
properly and that heat loss is properly dissipated.
Check the cables to ensure that they are not damaged and are free of wear and tear. Do not
use electrical devices with damaged cables.
Make sure that the cable glands are secure.
Intervals between maintenance
Since operating conditions differ greatly, it is not possible to specify intervals between
maintenance work.
Indications that maintenance work is required
● Dirt in the motor cabinet
● Distinctive changes in the behavior of the machine
● Unusual sounds emitted by the machine
● Problems with positioning accuracy
● Higher current consumption
11.4 Test and replacement intervals of the cooling medium
Test and replacement intervals of the cooling medium
The test and replacement intervals for the cooling medium should be agreed with the
manufacturers of the anti-corrosion agent and the cooling system.
Storage and transport 12
12.1 Packaging, storage, and transport guidelines
When packing/unpacking and transporting torque motors or rotors, take measures to
minimize risks posed by strong magnetic fields from the rotors (see also "Danger from strong
magnetic fields").
DANGER
Risk of death, injury and/or material damage if the devices are packed, stored, or
transported incorrectly.
Personnel must be familiar with and observe the safety precautions regarding storage and
transport.
When transporting machines or machine parts, take measures to ensure that the rotary
axes (axes) cannot move unintentionally (no self-locking).
Hazards during lifting and transport!
Devices and tools that are badly designed, unsuitable, or damaged can result in personal
injury and/or material damage.
Lifting devices, industrial trucks, and load bearing equipment must comply with
requirements.
IATA regulations must be observed when components are transported by air.
Storage areas for rotors must be specially identified with pictograms (see "Attaching
warning and prohibiting signs").
Keep storage areas dry and ensure that they are not subject to heat or cold.
Note the warnings on the packaging.
Wear safety shoes and work gloves.
Take into account the maximum loads that personnel can lift and carry. The motors and
their components can weigh more than 13 kg.
Never store or transport built-in torque motors or rotors when they are unpacked.
Only use undamaged original packaging.
Damaged packaging must be replaced immediately. If rotors are not packaged properly,
they are not sufficiently protected against the sudden attractive forces that can occur in
their immediate vicinity. Dangerous movements of the rotor can also occur when it is stored
or shifted.
Note
If possible, make sure that you retain the packaging for torque motors and rotors. Original
packaging can also be requested from your local Siemens office.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 171
Storage and transport
12.2 Safety note regarding lifting devices
1FW6 Built-in torque motors
172 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
DANGER
Danger of tilting Motors, stators, and rotors must not be stacked too high – risk of death,
personal injury and/or material damage.
Motors, stators, and rotors must not be stacked excessively (packed or unpacked).
Motors and rotors must only be stored and transported horizontally.
Read the warnings and handling instructions on the packaging.
12.2 Safety note regarding lifting devices
WARNING
Improper use of lifting devices can cause plastic deformation of the motor.
To lift the motor (or stator/rotor), at least three lifting eyebolts are required. These must be
screwed into the tapped holes on the flat motor (or stator/rotor) so that they are symmetrical
with each other.
Motors (or stators/rotors) must only be lifted horizontally. The lifting ropes must be the
same length. The tightened lifting ropes must form an angle of at least 50° between the
lifting rope and motor (or stator/rotor).
Environmental compatibility 13
13.1 Environmental compatibility during production
● There is no need to transport hazardous materials.
● The packaging material is made primarily from cardboard.
● Energy consumption during production was optimized.
● Production has low emission levels.
13.2 Disposal
The product must be disposed of in the normal recycling process in compliance with national
and local regulations.
13.2.1 Guidelines for disposal
DANGER
Death, serious bodily injury and/or property damage may result from improper disposal of
direct drives or their components (especially components with permanent magnets).
Direct drives or their components must be disposed of properly.
Main constituents of a proper disposal procedure
● Complete demagnetization of the components that contain permanent magnets
● Components that are to be recycled should be separated into:
– Electronics scrap (e.g. encoder electronics, sensor modules)
– Electrical scrap (e.g. laminated cores, motor windings, cables)
– Iron to be recycled
– Aluminum
– Insulating materials
● No mixing with solvents, cold cleaning agents, or remains of paint, for example
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 173
Environmental compatibility
13.2 Disposal
1FW6 Built-in torque motors
174 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
13.2.2 Disposing of 1FW6 rotors
Disposing of and demagnetizing 1FW6 rotors
The magnetized rotors must be subject to a special thermal disposal procedure so that they
do not pose any risk during or after disposal. For this reason, they must be disposed of by a
specialist disposal company.
Once the motor has been dismantled, the rotors must be packaged individually in the
undamaged original packaging in accordance with the relevant guidelines.
DANGER
Due to the strong magnetic fields, unpacked rotors can cause personal and/or material
damage.
Read the safety information provided in this documentation.
Demagnetizing the rotors
Disposal companies who specialize in demagnetization use special disposal furnaces. The
interior of the disposal furnace is made of non-magnetic material.
The secondary sections are placed inside a solid, heat-resistant container (such as a
skeleton container), which is made of non-magnetic material and left in the furnace during
the entire demagnetization procedure. The temperature in the furnace must be at least
300°C over a holding time of at least 30 minutes.
Escaping gases must be collected and decontaminated without damaging the environment.
13.2.3 Disposal of packaging
The packaging and packing aids we use contain no problematic materials. With the
exception of wooden materials, they can all be recycled and should always be disposed of
for reuse. Wooden materials should be burned.
Only recyclable plastics are used as packing aids:
● Code 02 PE-HD (polyethylene)
● Code 04 PE-LD (polyethylene)
● Code 05 PP (polypropylene)
● Code 04 PS (polystyrene)
Technical data and characteristics 14
The technical data and characteristics for the 1FW6 Built-in torque motors are specified in
this Chapter. This data collection provides the motor data required for configuration and
contains a number of additional data for more detailed calculations for detailed analyses and
problem analyses. Technical data subject to change.
Note
System-specific data refer to the combination of built-in torque motors 1FW6 with
SINAMICS S120 drive systems.
Unless otherwise specified, the following boundary conditions apply here:
The DC link voltage UZK is 600 V, while the converter output voltage Uamax is 425 V.
The motor is water-cooled with the recommended minimum flow rate according to the
data sheet and a water intake temperature TVORL of 35 °C
The rated temperature of the motor winding TN is 130 °C
Voltages and currents are specified as rms values.
Installation altitude of the motors up to 4000 m above sea level.
For motors with integrated cooling, the performance data has been determined with the
use of a cooling connection adapter.
14.1 Explanations of the formula abbreviations
Content of the data sheet
The data specified on the data sheets is explained in the following section. It is categorized
as follows:
● Boundary conditions
● Rated data
● Limit data
● Physical constants
● Data for the motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 175
Technical data and characteristics
14.1 Explanations of the formula abbreviations
Boundary conditions
UZK Converter DC link voltage (direct voltage value).
Comment: For converter output voltages Uamax: see "System requirements".
TVORL Maximum intake temperature of the water cooler for the main cooler and
precision cooler if the motor is to be utilized up to its rated torque MN. For
details of the dependency of the continuous motor current on intake
temperature of the water cooler, see the characteristic curve in "Cooling".
TN Rated temperature of the motor winding.
Rated data
MN Rated torque of the motor.
IN Rated motor current at the rated torque MN
nMAX,MN Maximum speed up to which the motor can deliver the rated torque MN.
PV,N Power loss of the motor at the rated point (MN,nMAX,MN) at the rated temperature
TN.
Limit data
MMAX Maximum motor torque.
IMAX Maximum motor current at maximum torque MMAX. Maximum possible load
duration: see "Short-time duty S2".
PEL,MAX Electric power input of the motor at point (MMAX,nMAX,MMAX) at rated temperature
TN.
Note
The sum of the mechanical output Pmech and the power loss PV equals the electric power
input of the motor PEL.
See also "Calculating the required infeed power".
The electrical rated power of the motor at the rated point with M = MN and n = nMAX,MN can be
calculated as follows:
PEL,N = Pmech,N + PV,N = 2π ∙ MN ∙ nMAX,MN + 3 ∙ R130 ∙ I02
Frictional and eddy current losses are taken into account by using the larger current I0 in the
calculation instead of IN.
1FW6 Built-in torque motors
176 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.1 Explanations of the formula abbreviations
nMAX,MMAX Maximum speed up to which the motor can deliver the maximum torque MMAX.
nMAX,0 No-load speed; max. speed without load.
M0 Torque for speed n = 1 [rpm] at which the load and power loss are still evenly
distributed across all three motor lines.
I0 Current (rms value) of the motor at torque M0 and speed n = 1 [rpm].
M0* Thermal static torque when the current is unevenly distributed across the three
motor lines. An uneven current load occurs in the following operating modes:
Standstill
Operation with short cyclic rotations (< 1 pole pitch)
For n << 1 [rpm]
Since the saturation effect can be disregarded for the rated current, the
following applies (approximately):
I0* Thermal stall current (rms value) of the motor at M0*. The following applies:
Physical constants
kT,20 Motor torque constants at a rotor temperature of 20 °C (refers to the lower linear
range of the torque–current characteristic).
kE Voltage constants for calculating the mutually induced line-to-line voltage.
kM,20 Motor constant at a winding temperature of T = 20 °C.
The motor constant kM(T) may be calculated for other temperatures:
kM(T) = kM,20 ∙ [1 + α(T – 20 °C)]
with temperature coefficient α = − 0.001 1/K for magnets
kM(T) = kM,20 ∙ [1 - 0.001 ∙ (T – 20 °C)]
tTH Thermal time constant of the motor winding. This is derived from the temperature
characteristic in the winding with a sudden load and constant current. See
diagram below. When the time tTH has elapsed, the motor winding reaches
approximately 63% of its final temperature TGRENZ if thermal protection was not
active prior to this.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 177
Technical data and characteristics
14.1 Explanations of the formula abbreviations
7LPHW
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Figure 14-1 Thermal time constant
P Number of pole pairs of the motor.
MCOG Cogging torque. This is the torque generated by the interaction between the
laminated core and permanent magnets at the air gap in stators that have been
disconnected from the power supply.
ms Mass of the stator without fixing screws, connectors, connection cables, and
coolant.
mL Mass of the rotor without fixing screws.
JL Rotor moment of inertia
RSTR,20 Phase resistance of the winding at a winding temperature of 20 °C.
The value of the phase resistance is required for calculating the power loss,
among other things. You can convert R20 to other phase resistances using the
following formula:
RSTR(T) = RSTR,20 ∙ [1 + α(T – 20°C)]
with temperature coefficient α = 0.00393 ∙ 1/K for copper.
For RSTR,130, the following applies: RSTR,130 = RSTR,20 ∙ 1.4323.
LSTR Phase inductance of the stator winding with integrated fan.
1FW6 Built-in torque motors
178 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.1 Explanations of the formula abbreviations
Data, main motor cooler
QH,MAX Maximum heat loss dissipated via the main cooler when the motor is utilized up
to the rated torque MN and at the rated temperature TN.
H,MIN Recommended minimum volume flow rate in the main cooler to achieve the rated
torque MN.
ΔTH The temperature increase of the coolant between the inlet and return flow circuit
of the main cooler at operating point QH,MAX and H,MIN can be estimated using
the following formu
la:
Average water density: ρ = 1000 kg/m3
Average specific thermal capacity of water: cp = 4.18 · 103 J/(kg K)
Temperature deviation from intake temperature: ΔTH in K
Volume flow: in m3/s
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&RROLQJPHGLXPWHPSHUDWXUHLQFUHDVHDWUHFRPPHQGHG
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9LQOPLQ
Figure 14-2 Sample characteristic "Temperature increase of the coolant between the inlet and return
flow circuit of the main cooler"
ΔpH Coolant pressure drop between the inlet and return flow circuit of the main cooler
with volume flow H,MIN.
The main and precision coolers for motors with integrated cooling are connected
in parallel. The volume flow rates of the main and precision coolers are combined
to create the total volume flow rate; the pressure drop in the main cooler ΔpH is
the same as that in the precision cooler ΔpP.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 179
Technical data and characteristics
14.1 Explanations of the formula abbreviations
3UHVVXUHGURSDWUHFRPPHQGHGPLQLPXP
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˂SLQEDU
9LQOPLQ
Figure 14-3 Sample characteristic: "Pressure losses in the main cooler over volume flow rate"
Data, precision motor cooler
QP,MAX Maximum heat loss dissipated via the precision cooler when the motor is utilized
up to the rated torque MN and at the rated temperature TN.
P,MIN Recommended minimum volume flow rate in the precision cooler to achieve a
minimum temperature increase on the mounting surface of the stator vis-à-vis
TVORL.
ΔTp The temperature increase of the coolant between the intake and return flow
circuit of the precision cooler at operating point QP,MAX and P,MIN can be
estimated using the following formula:
Average water density: ρ = 1000 kg/m3
Average specific thermal capacity of water: cp = 4.18 · 103 J/(kg K)
Temperature deviation from intake temperature: ΔTP in K
Volume flow: in m3/s
˂7LQ.
&RROLQJPHGLXPWHPSHUDWXUHLQFUHDVHDWUHFRPPHQGHG
PLQLPXPYROXPHIORZUDWHDFFRUGLQJWRGDWDVKHHW
9LQOPLQ
Figure 14-4 Sample characteristic "Temperature increase of the coolant between the inlet and return
flow circuit of the precision cooler"
1FW6 Built-in torque motors
180 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.1 Explanations of the formula abbreviations
Speed-torque diagram
The circle on the torque axes shown in the following diagram represents M*0.
The motors described are multi-pin and have a sufficiently large thermal time constant. This
means that the torque M0 can be generated even at very low speeds.
The torque-speed diagrams for the motors can be found in "Technical data and
characteristics".
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Figure 14-5 Description of a torque–speed diagram (example)
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 181
Technical data and characteristics
14.2 Data sheets and diagrams
14.2 Data sheets and diagrams
14.2.1 1FW6090-xxxxx-xxxx
Data sheet 1FW6090-xxB05-xxxx
Table 14- 1 1FW6090-xxB05-0Fxx, 1FW6090-xxB05-0Kxx
Technical data
1FW6090
Symbol Unit -xxB05-0Fxx -xxB05-0Kxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling intake temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 113 109
Rated current IN A 5.6 7.4
Maximum speed at rated torque nMAX,MN rpm 140 250
Rated power loss PV,N kW 2.19 2.12
Limit data
Maximum torque MMAX Nm 179 179
Maximum current IMAX A 9.5 13
Electric power of motor at MMAX P
EL,MAX kW 6.55 8.12
Maximum speed at maximum torque nMAX,MMAX rpm 46 140
No-load speed nMAX,0 rpm 310 430
Torque at n = 1 [rpm] M0 Nm 119 119
Current at M0 and n = 1 [rpm] I0 A 5.9 8.2
Thermal static torque M0* Nm 84.1 84.1
Thermal stall current I0* A 4.1 5.6
Physical constants
Torque constant at 20 °C kT,20 Nm/A 20.8 15
Voltage constant kE V/(1000/min) 1258 906.2
Motor constant at 20 °C kM,20 Nm/(W)0.5 2.64 2.68
Thermal time constant tTH s 60 60
No. of pole pairs p - 22 22
Cogging torque MCOG Nm 1.2 1.2
Stator mass mS kg 6.6 6.6
Rotor mass mL kg 2.6 2.6
Rotor moment of inertia JL 10
-2 kgm2 1.52 1.52
Phase resistance of winding at 20 °C RSTR, 20 Ω 14.9 7.5
Phase inductance of winding LSTR mH 47.1 24.4
1FW6 Built-in torque motors
182 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6090
Symbol Unit -xxB05-0Fxx -xxB05-0Kxx
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 1.82 1.76
Recommended minimum volume flow rate H,MIN l/min 3.4 3.4
Temperature increase of the coolant ΔTH K 7.7 7.5
Pressure drop ΔpH bar 0.2 0.2
Characteristics for 1FW6090-xxx05-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 183
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6090-xxB07-xxxx
Table 14- 2 1FW6090-xxB07-0Kxx, 1FW6090-xxB07-1Jxx
Technical data
1FW6090
Symbol Unit -xxB07-0Kxx -xxB07-1Jxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 154 142
Rated current IN A 9.5 13
Maximum speed at rated torque nMAX,MN rpm 220 430
Rated power dissipation PV,N kW 2.69 2.67
Limit data
Maximum torque MMAX Nm 251 251
Maximum current IMAX A 16 26
Electric power of motor at MMAX P
EL,MAX kW 10.3 14.1
Maximum speed at maximum torque nMAX,MMAX rpm 120 270
No-load speed nMAX,0 rpm 390 620
Torque at n = 1 [rpm] M0 Nm 166 166
Current at M0 and n = 1 [rpm] I0 A 10 16
Thermal static torque M0* Nm 118 118
Thermal stall current I0* A 7.1 11
Physical constants
Torque constant at 20 °C kT,20 Nm/A 16.6 10.5
Voltage constant kE V/(1000/min) 1007 634.3
Motor constant at 20 °C kM,20 Nm/(W)0.5 3.33 3.34
Thermal time constant tTH s 60 60
No. of pole pairs p - 22 22
Cogging torque MCOG Nm 1.7 1.7
Stator mass mS kg 8.6 8.6
Rotor mass mL kg 3.6 3.6
Rotor moment of inertia JL 10
-2 kgm2 2.2 2.2
Phase resistance of winding at 20 °C RSTR, 20 Ω 5.98 2.36
Phase inductance of winding LSTR mH 21.2 8.4
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 2.24 2.22
Recommended minimum volume flow rate H,MIN l/min 4.1 4.1
Temperature increase of the coolant ΔTH K 7.8 7.8
Pressure drop ΔpH bar 0.2 0.2
1FW6 Built-in torque motors
184 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6090-xxx07-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 185
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6090-xxB10-xxxx
Table 14- 3 1FW6090-xxB10-0Kxx, 1FW6090-xxB10-1Jxx
Technical data
1FW6090
Symbol Unit -xxB10-0Kxx -xxB10-1Jxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 231 216
Rated current IN A 7.9 14
Maximum speed at rated torque nMAX,MN rpm 82 270
Rated power dissipation PV,N kW 3.5 3.5
Limit data
Maximum torque MMAX Nm 358 358
Maximum current IMAX A 13 26
Electric power of motor at MMAX P
EL,MAX kW 9.43 15.3
Maximum speed at maximum torque nMAX,MMAX rpm 8.7 170
No-load speed nMAX,0 rpm 220 430
Torque at n = 1 [rpm] M0 Nm 238 238
Current at M0 and n = 1 [rpm] I0 A 8.2 16
Thermal static torque M0* Nm 168 168
Thermal stall current I0* A 5.6 11
Physical constants
Torque constant at 20 °C kT,20 Nm/A 30 15
Voltage constant kE V/(1000/min) 1812 906.2
Motor constant at 20 °C kM,20 Nm/(W)0.5 4.17 4.17
Thermal time constant tTH s 60 60
No. of pole pairs p - 22 22
Cogging torque MCOG Nm 2.4 2.4
Stator mass mS kg 12.1 12.1
Rotor mass mL kg 5.1 5.1
Rotor moment of inertia JL 10
-2 kgm2 3.09 3.09
Phase resistance of winding at 20 °C RSTR, 20 Ω 12.4 3.09
Phase inductance of winding LSTR mH 47.5 11.9
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 2.91 2.91
Recommended minimum volume flow rate H,MIN l/min 5.4 5.4
Temperature increase of the coolant ΔTH K 7.7 7.7
Pressure drop ΔpH bar 0.4 0.4
1FW6 Built-in torque motors
186 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6090-xxx10-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 187
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6090-xxB15-xxxx
Table 14- 4 1FW6090-xxB15-1Jxx, 1FW6090-xxB15-2Jxx
Technical data
1FW6090
Symbol Unit -xxB15-1Jxx -xxB15-2Jxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 338 319
Rated current IN A 15 23
Maximum speed at rated torque nMAX,MN rpm 150 310
Rated power dissipation PV,N kW 4.87 4.96
Limit data
Maximum torque MMAX Nm 537 537
Maximum current IMAX A 26 43
Electric power of motor at MMAX P
EL,MAX kW 17.1 24.1
Maximum speed at maximum torque nMAX,MMAX rpm 78 200
No-load speed nMAX,0 rpm 290 470
Torque at n = 1 [rpm] M0 Nm 357 357
Current at M0 and n = 1 [rpm] I0 A 16 26
Thermal static torque M0* Nm 252 252
Thermal stall current I0* A 11 18
Physical constants
Torque constant at 20 °C kT,20 Nm/A 22.5 13.7
Voltage constant kE V/(1000/min) 1359 831.3
Motor constant at 20 °C kM,20 Nm/(W)0.5 5.3 5.25
Thermal time constant tTH s 60 60
No. of pole pairs p - 22 22
Cogging torque MCOG Nm 3.6 3.6
Stator mass mS kg 19.5 19.5
Rotor mass mL kg 7.7 7.7
Rotor moment of inertia JL 10
-2 kgm2 4.65 4.65
Phase resistance of winding at 20 °C RSTR, 20 Ω 4.3 1.64
Phase inductance of winding LSTR mH 17.7 6.6
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 4.05 4.13
Recommended minimum volume flow rate H,MIN l/min 7 7
Temperature increase of the coolant ΔTH K 8.3 8.5
Pressure drop ΔpH bar 0.6 0.6
1FW6 Built-in torque motors
188 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6090-xxx15-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 189
Technical data and characteristics
14.2 Data sheets and diagrams
14.2.2 1FW6130-xxxxx-xxxx
Data sheet 1FW6130-xxB05-xxxx
Table 14- 5 1FW6130-xxB05-0Kxx, 1FW6130-xxB05-1Jxx
Technical data
1FW6130
Symbol Unit -xxB05-0Kxx -xxB05-1Jxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 241 217
Rated current IN A 9 14
Maximum speed at rated torque nMAX,MN rpm 130 310
Rated power dissipation PV,N kW 2.93 2.93
Limit data
Maximum torque MMAX Nm 439 439
Maximum current IMAX A 18 32
Electric power of motor at MMAX P
EL,MAX kW 12.2 18.3
Maximum speed at maximum torque nMAX,MMAX rpm 47 180
No-load speed nMAX,0 rpm 240 420
Torque at n = 1 [rpm] M0 Nm 258 258
Current at M0 and n = 1 [rpm] I0 A 9.7 17
Thermal static torque M0* Nm 183 183
Thermal stall current I0* A 6.7 12
Physical constants
Torque constant at 20 °C kT,20 Nm/A 27.3 15.3
Voltage constant kE V/(1000/min) 1650 924.9
Motor constant at 20 °C kM,20 Nm/(W)0.5 4.93 4.92
Thermal time constant tTH s 60 60
No. of pole pairs p - 33 33
Cogging torque MCOG Nm 1.3 1.3
Stator mass mS kg 8.7 8.7
Rotor mass mL kg 4.5 4.5
Rotor moment of inertia JL 10
-2 kgm2 6.37 6.37
Phase resistance of winding at 20 °C RSTR, 20 Ω 7.34 2.31
Phase inductance of winding LSTR mH 19.2 6
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 2.43 2.44
Recommended minimum volume flow rate H,MIN l/min 4.1 4.1
1FW6 Built-in torque motors
190 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6130
Symbol Unit -xxB05-0Kxx -xxB05-1Jxx
Temperature increase of the coolant ΔTH K 8.5 8.6
Pressure drop ΔpH bar 0.1 0.1
Characteristics for 1FW6130-xxx05-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 191
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6130-xxB07-xxxx
Table 14- 6 1FW6130-xxB07-0Kxx, 1FW6130-xxB07-1Jxx
Technical data
1FW6130
Symbol Unit -xxB07-0Kxx -xxB07-1Jxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 344 324
Rated current IN A 10 15
Maximum speed at rated torque nMAX,MN rpm 96 200
Rated power dissipation PV,N kW 3.73 3.71
Limit data
Maximum torque MMAX Nm 614 614
Maximum current IMAX A 20 32
Electric power of motor at MMAX P
EL,MAX kW 14.2 19.7
Maximum speed at maximum torque nMAX,MMAX rpm 21 110
No-load speed nMAX,0 rpm 190 300
Torque at n = 1 [rpm] M0 Nm 361 361
Current at M0 and n = 1 [rpm] I0 A 10 17
Thermal static torque M0* Nm 256 256
Thermal stall current I0* A 7.6 12
Physical constants
Torque constant at 20 °C kT,20 Nm/A 34 21.4
Voltage constant kE V/(1000/min) 2056 1295
Motor constant at 20 °C kM,20 Nm/(W)0.5 6.11 6.13
Thermal time constant tTH s 60 60
No. of pole pairs p - 33 33
Cogging torque MCOG Nm 1.8 1.8
Stator mass mS kg 11.9 11.9
Rotor mass mL kg 6.3 6.3
Rotor moment of inertia JL 10
-2 kgm2 8.92 8.92
Phase resistance of winding at 20 °C RSTR, 20 Ω 7.41 2.92
Phase inductance of winding LSTR mH 21 8.3
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 3.1 3.09
Recommended minimum volume flow rate H,MIN l/min 5.2 5.2
Temperature increase of the coolant ΔTH K 8.6 8.5
Pressure drop ΔpH bar 0.2 0.2
1FW6 Built-in torque motors
192 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6130-xxx07-xxxx
6KRUWFLUFXLWEUDNLQJWRUTXHRYHUVSHHG
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6SHHGQLQUHYPLQ
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 193
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6130-xxB10-xxxx
Table 14- 7 1FW6130-xxB10-1Jxx, 1FW6130-xxB10-2Jxx
Technical data
1FW6130
Symbol Unit -xxB10-1Jxx -xxB10-2Jxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling intake temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 484 450
Rated current IN A 16 24
Maximum speed at rated torque nMAX,MN rpm 120 250
Rated power loss PV,N kW 4.88 4.98
Limit data
Maximum torque MMAX Nm 878 878
Maximum current IMAX A 32 53
Electric power of motor at MMAX P
EL,MAX kW 21.4 30.6
Maximum speed at maximum torque nMAX,MMAX rpm 50 150
No-load speed nMAX,0 rpm 210 350
Torque at n = 1 [rpm] M0 Nm 516 516
Current at M0 and n = 1 [rpm] I0 A 17 28
Thermal static torque M0* Nm 365 365
Thermal stall current I0* A 12 19
Physical constants
Torque constant at 20 °C kT,20 Nm/A 30.6 18.6
Voltage constant kE V/(1000/min) 1850 1124
Motor constant at 20 °C kM,20 Nm/(W)0.5 7.63 7.55
Thermal time constant tTH s 60 60
No. of pole pairs p - 33 33
Cogging torque MCOG Nm 2.6 2.6
Stator mass mS kg 16.2 16.2
Rotor mass mL kg 9 9
Rotor moment of inertia JL 10
-2 kgm2 12.7 12.7
Phase resistance of winding at 20 °C RSTR, 20 Ω 3.84 1.45
Phase inductance of winding LSTR mH 11.7 4.3
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 4.06 4.15
Recommended minimum volume flow rate H,MIN l/min 7 7
Temperature increase of the coolant ΔTH K 8.3 8.5
Pressure drop ΔpH bar 0.4 0.4
1FW6 Built-in torque motors
194 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6130-xxx10-xxxx
6KRUWFLUFXLWEUDNLQJWRUTXHRYHUVSHHG
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 195
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6130-xxB15-xxxx
Table 14- 8 1FW6130-xxB15-1Jxx, 1FW6130-xxB15-2Jxx
Technical data
1FW6130
Symbol Unit -xxB15-1Jxx -xxB15-2Jxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 744 714
Rated current IN A 18 26
Maximum speed at rated torque nMAX,MN rpm 78 150
Rated power dissipation PV,N kW 6.81 6.81
Limit data
Maximum torque MMAX Nm 1320 1320
Maximum current IMAX A 36 54
Electric power of motor at MMAX P
EL,MAX kW 25.4 34.1
Maximum speed at maximum torque nMAX,MMAX rpm 14 77
No-load speed nMAX,0 rpm 160 240
Torque at n = 1 [rpm] M0 Nm 775 775
Current at M0 and n = 1 [rpm] I0 A 19 29
Thermal static torque M0* Nm 548 548
Thermal stall current I0* A 13 20
Physical constants
Torque constant at 20 °C kT,20 Nm/A 40.9 27.3
Voltage constant kE V/(1000/min) 2475 1650
Motor constant at 20 °C kM,20 Nm/(W)0.5 9.69 9.69
Thermal time constant tTH s 60 60
No. of pole pairs p - 33 33
Cogging torque MCOG Nm 3.9 3.9
Stator mass mS kg 24.7 24.7
Rotor mass mL kg 13.5 13.5
Rotor moment of inertia JL 10
-2 kgm2 19.1 19.1
Phase resistance of winding at 20 °C RSTR, 20 Ω 4.27 1.9
Phase inductance of winding LSTR mH 13.9 6.2
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 5.67 5.67
Recommended minimum volume flow rate H,MIN l/min 9.8 9.8
Temperature increase of the coolant ΔTH K 8.3 8.3
Pressure drop ΔpH bar 0.6 0.6
1FW6 Built-in torque motors
196 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6130-xxx15-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 197
Technical data and characteristics
14.2 Data sheets and diagrams
14.2.3 1FW6150-xxxxx-xxxx
Data sheet 1FW6150-xxB05-xxxx
Table 14- 9 1FW6150-xxB05-1Jxx, 1FW6150-xxB05-4Fxx
Technical data
1FW6150
Symbol Unit -xxB05-1Jxx -xxB05-4Fxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 338 298
Rated current IN A 17 36
Maximum speed at rated torque nMAX,MN rpm 230 650
Rated power dissipation PV,N kW 2.57 2.52
Limit data
Maximum torque MMAX Nm 710 710
Maximum current IMAX A 44 100
Electric power of motor at MMAX P
EL,MAX kW 22.8 39.4
Maximum speed at maximum torque nMAX,MMAX rpm 110 330
No-load speed nMAX,0 rpm 350 830
Torque at n = 1 [rpm] M0 Nm 360 360
Current at M0 and n = 1 [rpm] I0 A 18 44
Thermal static torque M0* Nm 255 255
Thermal stall current I0* A 12 30
Physical constants
Torque constant at 20 °C kT,20 Nm/A 19.8 8.26
Voltage constant kE V/(1000/min) 1199 499.6
Motor constant at 20 °C kM,20 Nm/(W)0.5 7.2 7.26
Thermal time constant tTH s 60 60
No. of pole pairs p - 33 33
Cogging torque MCOG Nm 1.8 1.8
Stator mass mS kg 17.9 17.9
Rotor mass mL kg 3.8 3.8
Rotor moment of inertia JL 10
-2 kgm2 10.1 10.1
Phase resistance of winding at 20 °C RSTR, 20 Ω 1.82 0.31
Phase inductance of winding LSTR mH 9.4 1.6
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 2.13 2.1
Recommended minimum volume flow rate H,MIN l/min 4.5 4.5
1FW6 Built-in torque motors
198 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6150
Symbol Unit -xxB05-1Jxx -xxB05-4Fxx
Temperature increase of the coolant ΔTH K 6.8 6.7
Pressure drop ΔpH bar 0.2 0.2
Characteristics for 1FW6150-xxx05-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 199
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6150-xxB07-xxxx
Table 14- 10 1FW6150-xxB07-2Jxx, 1FW6150-xxB07-4Fxx
Technical data
1FW6150
Symbol Unit -xxB07-2Jxx -xxB07-4Fxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 470 445
Rated current IN A 25 38
Maximum speed at rated torque nMAX,MN rpm 260 450
Rated power dissipation PV,N kW 3.28 3.23
Limit data
Maximum torque MMAX Nm 994 994
Maximum current IMAX A 66 100
Electric power of motor at MMAX P
EL,MAX kW 32 42.7
Maximum speed at maximum torque nMAX,MMAX rpm 130 230
No-load speed nMAX,0 rpm 370 600
Torque at n = 1 [rpm] M0 Nm 504 504
Current at M0 and n = 1 [rpm] I0 A 27 44
Thermal static torque M0* Nm 356 356
Thermal stall current I0* A 19 30
Physical constants
Torque constant at 20 °C kT,20 Nm/A 18.5 11.6
Voltage constant kE V/(1000/min) 1119 699.4
Motor constant at 20 °C kM,20 Nm/(W)0.5 8.91 8.99
Thermal time constant tTH s 60 60
No. of pole pairs p - 33 33
Cogging torque MCOG Nm 2.5 2.5
Stator mass mS kg 24.7 24.7
Rotor mass mL kg 8.8 8.8
Rotor moment of inertia JL 10
-2 kgm2 14.2 14.2
Phase resistance of winding at 20 °C RSTR, 20 Ω 1.03 0.396
Phase inductance of winding LSTR mH 5.8 2.3
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 2.73 2.68
Recommended minimum volume flow rate H,MIN l/min 6.5 6.5
Temperature increase of the coolant ΔTH K 6 5.9
Pressure drop ΔpH bar 0.4 0.4
1FW6 Built-in torque motors
200 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6150-xxx07-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 201
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6150-xxB10-xxxx
Table 14- 11 1FW6150-xxB10-2Jxx, 1FW6150-xxB10-4Fxx
Technical data
1FW6150
Symbol Unit -xxB10-2Jxx -xxB10-4Fxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 688 664
Rated current IN A 26 40
Maximum speed at rated torque nMAX,MN rpm 170 300
Rated power dissipation PV,N kW 4.36 4.28
Limit data
Maximum torque MMAX Nm 1420 1420
Maximum current IMAX A 66 100
Electric power of motor at MMAX P
EL,MAX kW 36.2 47.3
Maximum speed at maximum torque nMAX,MMAX rpm 76 150
No-load speed nMAX,0 rpm 260 420
Torque at n = 1 [rpm] M0 Nm 720 720
Current at M0 and n = 1 [rpm] I0 A 27 44
Thermal static torque M0* Nm 509 509
Thermal stall current I0* A 19 30
Physical constants
Torque constant at 20 °C kT,20 Nm/A 26.4 16.5
Voltage constant kE V/(1000/min) 1599 999.1
Motor constant at 20 °C kM,20 Nm/(W)0.5 11.1 11.1
Thermal time constant tTH s 60 60
No. of pole pairs p - 33 33
Cogging torque MCOG Nm 3.6 3.6
Stator mass mS kg 34.9 34.9
Rotor mass mL kg 12.6 12.6
Rotor moment of inertia JL 10
-2 kgm2 20.9 20.9
Phase resistance of winding at 20 °C RSTR, 20 Ω 1.37 0.526
Phase inductance of winding LSTR mH 8.2 3.2
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 3.62 3.56
Recommended minimum volume flow rate H,MIN l/min 7.5 7.5
Temperature increase of the coolant ΔTH K 6.9 6.8
Pressure drop ΔpH bar 0.5 0.5
1FW6 Built-in torque motors
202 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6150-xxx10-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 203
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6150-xxB15-xxxx
Table 14- 12 1FW6150-xxB15-2Jxx, 1FW6150-xxB15-4Fxx
Technical data
1FW6150
Symbol Unit -xxB15-2Jxx -xxB15-4Fxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 1050 1030
Rated current IN A 26 41
Maximum speed at rated torque nMAX,MN rpm 100 190
Rated power dissipation PV,N kW 6.14 6.04
Limit data
Maximum torque MMAX Nm 2130 2130
Maximum current IMAX A 66 100
Electric power of motor at MMAX P
EL,MAX kW 42.4 54.5
Maximum speed at maximum torque nMAX,MMAX rpm 32 89
No-load speed nMAX,0 rpm 170 280
Torque at n = 1 [rpm] M0 Nm 1080 1080
Current at M0 and n = 1 [rpm] I0 A 27 44
Thermal static torque M0* Nm 764 764
Thermal stall current I0* A 19 30
Physical constants
Torque constant at 20 °C kT,20 Nm/A 39.7 24.8
Voltage constant kE V/(1000/min) 2398 1499
Motor constant at 20 °C kM,20 Nm/(W)0.5 14 14.1
Thermal time constant tTH s 60 60
No. of pole pairs p - 33 33
Cogging torque MCOG Nm 5.4 5.4
Stator mass mS kg 51.9 51.9
Rotor mass mL kg 18.9 18.9
Rotor moment of inertia JL 10
-2 kgm2 31.3 31.3
Phase resistance of winding at 20 °C RSTR, 20 Ω 1.93 0.742
Phase inductance of winding LSTR mH 12.3 4.8
Data, main motor cooler
Maximum dissipated thermal power QH,MAX kW 5.11 5.03
Recommended minimum volume flow rate H,MIN l/min 9.5 9.5
Temperature increase of the coolant ΔTH K 7.7 7.6
Pressure drop ΔpH bar 0.8 0.8
1FW6 Built-in torque motors
204 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6150-xxx15-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 205
Technical data and characteristics
14.2 Data sheets and diagrams
14.2.4 1FW6160-xxxxx-xxxx
Data sheet 1FW6160-xxB05-xxxx
Table 14- 13 1FW6160-xxB05-1Jxx, 1FW6160-xxB05-2Jxx, 1FW6160-xxB05-5Gxx
Technical data
1FW6160
Symbol Unit -xxB05-1Jxx -xxB05-2Jxx -xxB05-5Gxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 431 404 314
Rated current IN A 16 24 36
Maximum speed at rated torque nMAX,MN rpm 140 250 590
Rated power dissipation PV,N kW 2.84 2.85 2.88
Limit data
Maximum torque MMAX Nm 716 716 716
Maximum current IMAX A 31 49 98
Electric power of motor at MMAX P
EL,MAX kW 15.1 20 33.1
Maximum speed at maximum torque nMAX,MMAX rpm 84 150 320
No-load speed nMAX,0 rpm 240 380 750
Torque at n = 1 [rpm] M0 Nm 467 467 467
Current at M0 and n = 1 [rpm] I0 A 17 28 56
Thermal static torque M0* Nm 330 330 330
Thermal stall current I0* A 12 19 38
Physical constants
Torque constant at 20 °C kT,20 Nm/A 26.6 17 8.51
Voltage constant kE V/(1000/min) 1608 1029 514.5
Motor constant at 20 °C kM,20 Nm/(W)0.5 8.96 8.95 8.91
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 35 35 35
Cogging torque MCOG Nm 2.3 2.3 2.3
Stator mass mS kg 27.2 27.2 27.2
Rotor mass mL kg 9.1 9.1 9.1
Rotor moment of inertia JL 10
-2 kgm2 19 19 19
Phase resistance of winding at 20 °C RSTR, 20 Ω 2.11 0.866 0.218
Phase inductance of winding LSTR mH 18.1 7.4 1.9
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 2.13 2.14 2.16
Recommended minimum volume flow rate H,MIN l/min 3.8 3.8 3.8
1FW6 Built-in torque motors
206 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB05-1Jxx -xxB05-2Jxx -xxB05-5Gxx
Temperature increase of the coolant ΔTH K 8 8 8.1
Pressure drop ΔpH bar 0.3 0.3 0.3
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.23 0.231 0.233
Recommended minimum volume flow rate P,MIN l/min 1.5 1.5 1.5
Temperature increase of the coolant ΔTP K 2.3 2.3 2.3
Pressure drop ΔpP bar 0.3 0.3 0.3
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 207
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6160-xxx05-xxxx
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1FW6 Built-in torque motors
208 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6160-xxB07-xxxx
Table 14- 14 1FW6160 xxB07-1Jxx, 1FW6160-xxB07-2Jxx, 1FW6160-xxB07-5Gxx
Technical data
1FW6160
Symbol Unit -xxB07-1Jxx -xxB07-2Jxx -xxB07-5Gxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 620 594 514
Rated current IN A 16 25 43
Maximum speed at rated torque nMAX,MN rpm 96 170 390
Rated power dissipation PV,N kW 3.59 3.61 3.64
Limit data
Maximum torque MMAX Nm 1000 1000 1000
Maximum current IMAX A 31 49 98
Electric power of motor at MMAX P
EL,MAX kW 16.7 21.8 35.2
Maximum speed at maximum torque nMAX,MMAX rpm 53 100 230
No-load speed nMAX,0 rpm 170 270 540
Torque at n = 1 [rpm] M0 Nm 653 653 653
Current at M0 and n = 1 [rpm] I0 A 17 28 56
Thermal static torque M0* Nm 462 462 462
Thermal stall current I0* A 12 19 38
Physical constants
Torque constant at 20 °C kT,20 Nm/A 37.2 23.8 11.9
Voltage constant kE V/(1000/min) 2251 1441 720.4
Motor constant at 20 °C kM,20 Nm/(W)0.5 11.2 11.1 11.1
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 35 35 35
Cogging torque MCOG Nm 3.3 3.3 3.3
Stator mass mS kg 36.2 36.2 36.2
Rotor mass mL kg 12.1 12.1 12.1
Rotor moment of inertia JL 10
-2 kgm2 25.8 25.8 25.8
Phase resistance of winding at 20 °C RSTR, 20 Ω 2.66 1.09 0.276
Phase inductance of winding LSTR mH 25.1 10.3 2.6
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 2.7 2.71 2.73
Recommended minimum volume flow rate H,MIN l/min 4.8 4.8 4.8
Temperature increase of the coolant ΔTH K 8.2 8.2 8.3
Pressure drop ΔpH bar 0.4 0.4 0.4
Data for precision motor cooler *)
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 209
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB07-1Jxx -xxB07-2Jxx -xxB07-5Gxx
Maximum dissipated thermal power QP,MAX kW 0.291 0.292 0.294
Recommended minimum volume flow P,MIN l/min 1.8 1.8 1.8
Temperature increase of the coolant ΔTP K 2.3 2.3 2.3
Pressure drop ΔpH bar 0.4 0.4 0.4
*) Parallel connection of main and precision motor cooler
Table 14- 15 1FW6160-xxB07-8Fxx
Technical data
1FW6160
Symbol Unit -xxB07-8Fxx
Boundary conditions
DC link voltages UZK V 600
Water cooling inlet temperature TVORL °C 35
Rated temperature of winding TN °C 130
Rated data
Rated torque MN Nm 432
Rated current IN A 51
Maximum speed at rated torque nMAX,MN rpm 610
Rated power dissipation PV,N kW 3.73
Limit data
Maximum torque MMAX Nm 1000
Maximum current IMAX A 140
Electric power of motor at MMAX P
EL,MAX kW 46.7
Maximum speed at maximum torque nMAX,MMAX rpm 330
No-load speed nMAX,0 rpm 770
Torque at n = 1 [rpm] M0 Nm 653
Current at M0 and n = 1 [rpm] I0 A 80
Thermal static torque M0* Nm 462
Thermal stall current I0* A 55
Physical constants
Torque constant at 20 °C kT,20 Nm/A 8.34
Voltage constant kE V/(1000/min) 504.3
Motor constant at 20 °C kM,20 Nm/(W)0.5 11
Thermal time constant tTH s 180
No. of pole pairs p - 35
Cogging torque MCOG Nm 3.3
Stator mass mS kg 36.2
Rotor mass mL kg 12.1
Rotor moment of inertia JL 10
-2 kgm2 25.8
1FW6 Built-in torque motors
210 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB07-8Fxx
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.139
Phase inductance of winding LSTR mH 1.3
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 2.8
Recommended minimum volume flow H,MIN l/min 4.8
Temperature increase of the coolant ΔTH K 8.5
Pressure drop ΔpH bar 0.4
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.302
Recommended minimum volume flow P,MIN l/min 1.8
Temperature increase of the coolant ΔTP K 2.4
Pressure drop ΔpH bar 0.4
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 211
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6160-xxx07-xxxx
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1FW6 Built-in torque motors
212 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6160-xxB10-xxxx
Table 14- 16 1FW6160-xxB10-1Jxx, 1FW6160-xxB10-2Jxx, 1FW6160-xxB10-5Gxx
Technical data
1FW6160
Symbol Unit -xxB10-1Jxx -xxB10-2Jxx -xxB10-5Gxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 903 878 804
Rated current IN A 17 26 47
Maximum speed at rated torque nMAX,MN rpm 60 110 260
Rated power dissipation PV,N kW 4.72 4.74 4.77
Limit data
Maximum torque MMAX Nm 1430 1430 1430
Maximum current IMAX A 31 49 98
Electric power of motor at MMAX P
EL,MAX kW 19 24.4 38.1
Maximum speed at maximum torque nMAX,MMAX rpm 29 65 160
No-load speed nMAX,0 rpm 120 190 380
Torque at n = 1 [rpm] M0 Nm 933 933 933
Current at M0 and n = 1 [rpm] I0 A 17 28 56
Thermal static torque M0* Nm 660 660 660
Thermal stall current I0* A 12 19 38
Physical constants
Torque constant at 20 °C kT,20 Nm/A 53.2 34 17
Voltage constant kE V/(1000/min) 3216 2058 1029
Motor constant at 20 °C kM,20 Nm/(W)0.5 13.9 13.9 13.8
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 35 35 35
Cogging torque MCOG Nm 4.7 4.7 4.7
Stator mass mS kg 49 49 49
Rotor mass mL kg 17.3 17.3 17.3
Rotor moment of inertia JL 10
-2 kgm2 36 36 36
Phase resistance of winding at 20 °C RSTR, 20 Ω 3.49 1.44 0.362
Phase inductance of winding LSTR mH 35.5 14.5 3.6
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 3.54 3.56 3.59
Recommended minimum volume flow H,MIN l/min 6.4 6.4 6.4
Temperature increase of the coolant ΔTH K 8 8 8.1
Pressure drop ΔpH bar 0.8 0.8 0.8
Data for precision motor cooler *)
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 213
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB10-1Jxx -xxB10-2Jxx -xxB10-5Gxx
Maximum dissipated thermal power QP,MAX kW 0.382 0.384 0.387
Recommended minimum volume flow P,MIN l/min 2.5 2.5 2.5
Temperature increase of the coolant ΔTP K 2.2 2.2 2.2
Pressure drop ΔpH bar 0.8 0.8 0.8
*) Parallel connection of main and precision motor cooler
Table 14- 17 1FW6160-xxB10-8Fxx, 1FW6160-xxB10-2Pxx
Technical data
1FW6160
Symbol Unit -xxB10-8Fxx -xxB10-2Pxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 732 622
Rated current IN A 61 73
Maximum speed at rated torque nMAX,MN rpm 390 600
Rated power dissipation PV,N kW 4.9 4.77
Limit data
Maximum torque MMAX Nm 1430 1430
Maximum current IMAX A 140 190
Electric power of motor at MMAX P
EL,MAX kW 49.8 64.6
Maximum speed at maximum torque nMAX,MMAX rpm 230 330
No-load speed nMAX,0 rpm 540 750
Torque at n = 1 [rpm] M0 Nm 933 933
Current at M0 and n = 1 [rpm] I0 A 80 110
Thermal static torque M0* Nm 660 660
Thermal stall current I0* A 55 77
Physical constants
Torque constant at 20 °C kT,20 Nm/A 11.9 8.51
Voltage constant kE V/(1000/min) 720.4 514.5
Motor constant at 20 °C kM,20 Nm/(W)0.5 13.7 13.8
Thermal time constant tTH s 180 180
No. of pole pairs p - 35 35
Cogging torque MCOG Nm 4.7 4.7
Stator mass mS kg 49 50.1
Rotor mass mL kg 17.3 17.3
Rotor moment of inertia JL 10
-2 kgm2 36 36
1FW6 Built-in torque motors
214 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB10-8Fxx -xxB10-2Pxx
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.182 0.0906
Phase inductance of winding LSTR mH 1.8 0.9
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 3.68 3.59
Recommended minimum volume flow H,MIN l/min 6.4 6.4
Temperature increase of the coolant ΔTH K 8.3 8.1
Pressure drop ΔpH bar 0.8 0.8
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.397 0.387
Recommended minimum volume flow P,MIN l/min 2.5 2.5
Temperature increase of the coolant ΔTP K 2.3 2.2
Pressure drop ΔpH bar 0.8 0.8
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 215
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6160-xxx10-xxxx
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1FW6 Built-in torque motors
216 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 217
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6160-xxB15-xxxx
Table 14- 18 1FW6160-xxB15-2Jxx, 1FW6160-xxB15-5Gxx, 1FW6160-xxB15-8Fxx
Technical data
1FW6160
Symbol Unit -xxB15-2Jxx -xxB15-5Gxx -xxB15-8Fxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 1350 1280 1220
Rated current IN A 26 50 68
Maximum speed at rated torque nMAX,MN rpm 66 160 240
Rated power dissipation PV,N kW 6.62 6.67 6.84
Limit data
Maximum torque MMAX Nm 2150 2150 2150
Maximum current IMAX A 49 98 140
Electric power of motor at MMAX P
EL,MAX kW 28.2 42.6 54.6
Maximum speed at maximum torque nMAX,MMAX rpm 34 97 150
No-load speed nMAX,0 rpm 130 250 360
Torque at n = 1 [rpm] M0 Nm 1400 1400 1400
Current at M0 and n = 1 [rpm] I0 A 28 56 80
Thermal static torque M0* Nm 990 990 990
Thermal stall current I0* A 19 38 55
Physical constants
Torque constant at 20 °C kT,20 Nm/A 51.1 25.5 17.9
Voltage constant kE V/(1000/min) 3087 1544 1081
Motor constant at 20 °C kM,20 Nm/(W)0.5 17.6 17.6 17.3
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 35 35 35
Cogging torque MCOG Nm 7 7 7
Stator mass mS kg 69.8 69.8 69.8
Rotor mass mL kg 25.5 25.5 25.5
Rotor moment of inertia JL 10
-2 kgm2 53.1 53.1 53.1
Phase resistance of winding at 20 °C RSTR, 20 Ω 2.01 0.506 0.254
Phase inductance of winding LSTR mH 21.7 5.4 2.7
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 4.97 5.01 5.14
Recommended minimum volume flow H,MIN l/min 8.9 8.9 8.9
Temperature increase of the coolant ΔTH K 8.1 8.1 8.3
Pressure drop ΔpH bar 1.4 1.4 1.4
1FW6 Built-in torque motors
218 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB15-2Jxx -xxB15-5Gxx -xxB15-8Fxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.536 0.54 0.554
Recommended minimum volume flow P,MIN l/min 3.6 3.6 3.6
Temperature increase of the coolant ΔTP K 2.1 2.2 2.2
Pressure drop ΔpH bar 1.4 1.4 1.4
*) Parallel connection of main and precision motor cooler
Table 14- 19 1FW6160-xxB15-2Pxx, 1FW6160-xxB15-0Wxx
Technical data
1FW6160
Symbol Unit -xxB15-2Pxx -xxB15-0Wxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 1120 961
Rated current IN A 88 100
Maximum speed at rated torque nMAX,MN rpm 360 560
Rated power dissipation PV,N kW 6.67 6.84
Limit data
Maximum torque MMAX Nm 2150 2150
Maximum current IMAX A 190 280
Electric power of motor at MMAX P
EL,MAX kW 69.5 92.8
Maximum speed at maximum torque nMAX,MMAX rpm 220 320
No-load speed nMAX,0 rpm 500 720
Torque at n = 1 [rpm] M0 Nm 1400 1400
Current at M0 and n = 1 [rpm] I0 A 110 160
Thermal static torque M0* Nm 990 990
Thermal stall current I0* A 77 110
Physical constants
Torque constant at 20 °C kT,20 Nm/A 12.8 8.94
Voltage constant kE V/(1000/min) 771.8 540.3
Motor constant at 20 °C kM,20 Nm/(W)0.5 17.6 17.3
Thermal time constant tTH s 180 180
No. of pole pairs p - 35 35
Cogging torque MCOG Nm 7 7
Stator mass mS kg 70.9 70.9
Rotor mass mL kg 25.5 25.5
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 219
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB15-2Pxx -xxB15-0Wxx
Rotor moment of inertia JL 10
-2 kgm2 53.1 53.1
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.127 0.0636
Phase inductance of winding LSTR mH 1.4 0.7
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 5.01 5.14
Recommended minimum volume flow H,MIN l/min 8.9 8.9
Temperature increase of the coolant ΔTH K 8.1 8.3
Pressure drop ΔpH bar 1.4 1.4
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.54 0.554
Recommended minimum volume flow P,MIN l/min 3.6 3.6
Temperature increase of the coolant ΔTP K 2.2 2.2
Pressure drop ΔpH bar 1.4 1.4
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
220 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6160-xxx15-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 221
Technical data and characteristics
14.2 Data sheets and diagrams
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1FW6 Built-in torque motors
222 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6160-xxB20-xxxx
Table 14- 20 1FW6160-xxB20-5Gxx, 1FW6160-xxB20-8Fxx, 1FW6160-xxB20-2Pxx
Technical data
1FW6160
Symbol Unit -xxB20-5Gxx -xxB20-8Fxx -xxB20-2Pxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 1750 1690 1600
Rated current IN A 52 72 95
Maximum speed at rated torque nMAX,MN rpm 110 170 260
Rated power dissipation PV,N kW 8.57 8.79 8.57
Limit data
Maximum torque MMAX Nm 2860 2860 2860
Maximum current IMAX A 98 140 190
Electric power of motor at MMAX P
EL,MAX kW 46.9 59.2 74.2
Maximum speed at maximum torque nMAX,MMAX rpm 68 110 160
No-load speed nMAX,0 rpm 190 270 380
Torque at n = 1 [rpm] M0 Nm 1870 1870 1870
Current at M0 and n = 1 [rpm] I0 A 56 80 110
Thermal static torque M0* Nm 1320 1320 1320
Thermal stall current I0* A 38 55 77
Physical constants
Torque constant at 20 °C kT,20 Nm/A 34 23.8 17
Voltage constant kE V/(1000/min) 2058 1441 1029
Motor constant at 20 °C kM,20 Nm/(W)0.5 20.6 20.4 20.6
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 35 35 35
Cogging torque MCOG Nm 9.3 9.3 9.3
Stator mass mS kg 90.6 90.6 91.7
Rotor mass mL kg 33.7 33.7 33.7
Rotor moment of inertia JL 10
-2 kgm2 70.1 70.1 70.1
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.65 0.327 0.163
Phase inductance of winding LSTR mH 7.2 3.5 1.8
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 6.43 6.6 6.43
Recommended minimum volume flow H,MIN l/min 11.4 11.4 11.4
Temperature increase of the coolant ΔTH K 8.1 8.4 8.1
Pressure drop ΔpH bar 2.3 2.3 2.3
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 223
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB20-5Gxx -xxB20-8Fxx -xxB20-2Pxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.694 0.712 0.694
Recommended minimum volume flow P,MIN l/min 4.7 4.7 4.7
Temperature increase of the coolant ΔTP K 2.1 2.2 2.1
Pressure drop ΔpH bar 2.3 2.3 2.3
*) Parallel connection of main and precision motor cooler
Table 14- 21 1FW6160-xxB20-0Wxx
Technical data
1FW6160
Symbol Unit -xxB20-0Wxx
Boundary conditions
DC link voltages UZK V 600
Water cooling inlet temperature TVORL °C 35
Rated temperature of winding TN °C 130
Rated data
Rated torque MN Nm 1460
Rated current IN A 120
Maximum speed at rated torque nMAX,MN rpm 400
Rated power dissipation PV,N kW 8.79
Limit data
Maximum torque MMAX Nm 2860
Maximum current IMAX A 280
Electric power of motor at MMAX P
EL,MAX kW 97.7
Maximum speed at maximum torque nMAX,MMAX rpm 240
No-load speed nMAX,0 rpm 540
Torque at n = 1 [rpm] M0 Nm 1870
Current at M0 and n = 1 [rpm] I0 A 160
Thermal static torque M0* Nm 1320
Thermal stall current I0* A 110
Physical constants
Torque constant at 20 °C kT,20 Nm/A 11.9
Voltage constant kE V/(1000/min) 720.4
Motor constant at 20 °C kM,20 Nm/(W)0.5 20.4
Thermal time constant tTH s 180
No. of pole pairs p - 35
Cogging torque MCOG Nm 9.3
Stator mass mS kg 91.7
Rotor mass mL kg 33.7
1FW6 Built-in torque motors
224 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6160
Symbol Unit -xxB20-0Wxx
Rotor moment of inertia JL 10
-2 kgm2 70.1
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.0817
Phase inductance of winding LSTR mH 0.9
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 6.6
Recommended minimum volume flow H,MIN l/min 11.4
Temperature increase of the coolant ΔTH K 8.4
Pressure drop ΔpH bar 2.3
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.712
Recommended minimum volume flow P,MIN l/min 4.7
Temperature increase of the coolant ΔTP K 2.2
Pressure drop ΔpH bar 2.3
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 225
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6160-xxx20-xxxx
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1FW6 Built-in torque motors
226 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
14.2.5 1FW6190-xxxxx-xxxx
Data sheet 1FW6190-xxB05-xxxx
Table 14- 22 1FW6190-xxB05-1Jxx, 1FW6190-xxB05-2Jxx, 1FW6190-xxB05-5Gxx
Technical data
1FW6190
Symbol Unit -xxB05-1Jxx -xxB05-2Jxx -xxB05-5Gxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 633 605 509
Rated current IN A 17 24 40
Maximum speed at rated torque nMAX,MN rpm 97 160 380
Rated power dissipation PV,N kW 3.51 3.51 3.51
Limit data
Maximum torque MMAX Nm 990 990 990
Maximum current IMAX A 31 47 95
Electric power of motor at MMAX P
EL,MAX kW 16.3 20.6 32.9
Maximum speed at maximum torque nMAX,MMAX rpm 54 96 210
No-load speed nMAX,0 rpm 180 260 530
Torque at n = 1 [rpm] M0 Nm 672 672 672
Current at M0 and n = 1 [rpm] I0 A 18 27 54
Thermal static torque M0* Nm 475 475 475
Thermal stall current I0* A 12 18 37
Physical constants
Torque constant at 20 °C kT,20 Nm/A 38.7 25.8 12.9
Voltage constant kE V/(1000/min) 2338 1559 779.4
Motor constant at 20 °C kM,20 Nm/(W)0.5 11.9 11.9 11.9
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 42 42 42
Cogging torque MCOG Nm 3.4 3.4 3.4
Stator mass mS kg 32.1 32.1 32.1
Rotor mass mL kg 10.7 10.7 10.7
Rotor moment of inertia JL 10
-2 kgm2 35.8 35.8 35.8
Phase resistance of winding at 20 °C RSTR, 20 Ω 2.53 1.12 0.281
Phase inductance of winding LSTR mH 21.5 9.6 2.4
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 2.64 2.64 2.64
Recommended minimum volume flow rate H,MIN l/min 5.2 5.2 5.2
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 227
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB05-1Jxx -xxB05-2Jxx -xxB05-5Gxx
Temperature increase of the coolant ΔTH K 7.3 7.3 7.3
Pressure drop ΔpH bar 0.5 0.5 0.5
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.284 0.284 0.284
Recommended minimum volume flow rate P,MIN l/min 1.8 1.8 1.8
Temperature increase of the coolant ΔTP K 2.3 2.3 2.3
Pressure drop ΔpH bar 0.5 0.5 0.5
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
228 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6190-xxx05-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 229
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6190-xxB07-xxxx
Table 14- 23 1FW6190-xxB07-1Jxx, 1FW6190-xxB07-2Jxx, 1FW6190-xxB07-5Gxx
Technical data
1FW6190
Symbol Unit -xxB07-1Jxx -xxB07-2Jxx -xxB07-5Gxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 905 879 791
Rated current IN A 17 25 44
Maximum speed at rated torque nMAX,MN rpm 63 110 250
Rated power dissipation PV,N kW 4.44 4.44 4.44
Limit data
Maximum torque MMAX Nm 1390 1390 1390
Maximum current IMAX A 31 47 95
Electric power of motor at MMAX P
EL,MAX kW 18.2 22.7 35.4
Maximum speed at maximum torque nMAX,MMAX rpm 33 64 150
No-load speed nMAX,0 rpm 130 190 380
Torque at n = 1 [rpm] M0 Nm 941 941 941
Current at M0 and n = 1 [rpm] I0 A 18 27 54
Thermal static torque M0* Nm 666 666 666
Thermal stall current I0* A 12 18 37
Physical constants
Torque constant at 20 °C kT,20 Nm/A 54.1 36.1 18
Voltage constant kE V/(1000/min) 3274 2182 1091
Motor constant at 20 °C kM,20 Nm/(W)0.5 14.8 14.8 14.8
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 42 42 42
Cogging torque MCOG Nm 4.7 4.7 4.7
Stator mass mS kg 41.2 41.2 41.2
Rotor mass mL kg 14.6 14.6 14.6
Rotor moment of inertia JL 10
-2 kgm2 48.6 48.6 48.6
Phase resistance of winding at 20 °C RSTR, 20 Ω 3.19 1.42 0.355
Phase inductance of winding LSTR mH 29.8 13.2 3.3
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 3.33 3.33 3.33
Recommended minimum volume flow H,MIN l/min 5.9 5.9 5.9
Temperature increase of the coolant ΔTH K 8.1 8.1 8.1
Pressure drop ΔpH bar 0.6 0.6 0.6
1FW6 Built-in torque motors
230 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB07-1Jxx -xxB07-2Jxx -xxB07-5Gxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.359 0.359 0.359
Recommended minimum volume flow P,MIN l/min 2 2 2
Temperature increase of the coolant ΔTP K 2.5 2.5 2.5
Pressure drop ΔpH bar 0.6 0.6 0.6
*) Parallel connection of main and precision motor cooler
Table 14- 24 1FW6190-xxB07-8Fxx
Technical data
1FW6190
Symbol Unit -xxB07-8Fxx
Boundary conditions
DC link voltages UZK V 600
Water cooling inlet temperature TVORL °C 35
Rated temperature of winding TN °C 130
Rated data
Rated torque MN Nm 704
Rated current IN A 56
Maximum speed at rated torque nMAX,MN rpm 390
Rated power dissipation PV,N kW 4.57
Limit data
Maximum torque MMAX Nm 1390
Maximum current IMAX A 130
Electric power of motor at MMAX P
EL,MAX kW 46.3
Maximum speed at maximum torque nMAX,MMAX rpm 220
No-load speed nMAX,0 rpm 540
Torque at n = 1 [rpm] M0 Nm 941
Current at M0 and n = 1 [rpm] I0 A 78
Thermal static torque M0* Nm 666
Thermal stall current I0* A 53
Physical constants
Torque constant at 20 °C kT,20 Nm/A 12.6
Voltage constant kE V/(1000/min) 763.8
Motor constant at 20 °C kM,20 Nm/(W)0.5 14.6
Thermal time constant tTH s 180
No. of pole pairs p - 42
Cogging torque MCOG Nm 4.7
Stator mass mS kg 41.2
Rotor mass mL kg 14.6
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 231
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB07-8Fxx
Rotor moment of inertia JL 10
-2 kgm2 48.6
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.179
Phase inductance of winding LSTR mH 1.6
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 3.43
Recommended minimum volume flow H,MIN l/min 5.9
Temperature increase of the coolant ΔTH K 8.3
Pressure drop ΔpH bar 0.6
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.370
Recommended minimum volume flow P,MIN l/min 2
Temperature increase of the coolant ΔTP K 2.6
Pressure drop ΔpH bar 0.6
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
232 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6190-xxx07-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 233
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6190-xxB10-xxxx
Table 14- 25 1FW6190-xxB10-1Jxx, 1FW6190-xxB10-2Jxx, 1FW6190-xxB10-5Gxx
Technical data
1FW6190
Symbol Unit -xxB10-1Jxx -xxB10-2Jxx -xxB10-5Gxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 1310 1290 1210
Rated current IN A 17 26 48
Maximum speed at rated torque nMAX,MN rpm 38 70 170
Rated power dissipation PV,N kW 5.83 5.83 5.83
Limit data
Maximum torque MMAX Nm 1980 1980 1980
Maximum current IMAX A 31 47 95
Electric power of motor at MMAX P
EL,MAX kW 20.7 25.7 38.7
Maximum speed at maximum torque nMAX,MMAX rpm 14 39 100
No-load speed nMAX,0 rpm 88 130 260
Torque at n = 1 [rpm] M0 Nm 1340 1340 1340
Current at M0 and n = 1 [rpm] I0 A 18 27 54
Thermal static torque M0* Nm 951 951 951
Thermal stall current I0* A 12 18 37
Physical constants
Torque constant at 20 °C kT,20 Nm/A 77.3 51.6 25.8
Voltage constant kE V/(1000/min) 4676 3118 1559
Motor constant at 20 °C kM,20 Nm/(W)0.5 18.5 18.5 18.5
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 42 42 42
Cogging torque MCOG Nm 6.7 6.7 6.7
Stator mass mS kg 55.5 55.5 55.5
Rotor mass mL kg 20.3 20.3 20.3
Rotor moment of inertia JL 10
-2 kgm2 67.8 67.8 67.8
Phase resistance of winding at 20 °C RSTR, 20 Ω 4.19 1.86 0.466
Phase inductance of winding LSTR mH 42.2 18.8 4.7
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 4.38 4.38 4.38
Recommended minimum volume flow H,MIN l/min 6.7 6.7 6.7
Temperature increase of the coolant ΔTH K 9.4 9.4 9.4
Pressure drop ΔpH bar 0.8 0.8 0.8
1FW6 Built-in torque motors
234 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB10-1Jxx -xxB10-2Jxx -xxB10-5Gxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.472 0.472 0.472
Recommended minimum volume flow P,MIN l/min 2.3 2.3 2.3
Temperature increase of the coolant ΔTP K 2.9 2.9 2.9
Pressure drop ΔpH bar 0.8 0.8 0.8
*) Parallel connection of main and precision motor cooler
Table 14- 26 1FW6190-xxB10-8Fxx, 1FW6190-xxB10-2Pxx
Technical data
1FW6190
Symbol Unit -xxB10-8Fxx -xxB10-2Pxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 1130 955
Rated current IN A 64 84
Maximum speed at rated torque nMAX,MN rpm 260 450
Rated power dissipation PV,N kW 6 5.87
Limit data
Maximum torque MMAX Nm 1980 1980
Maximum current IMAX A 130 210
Electric power of motor at MMAX P
EL,MAX kW 49.9 69.9
Maximum speed at maximum torque nMAX,MMAX rpm 150 250
No-load speed nMAX,0 rpm 380 590
Torque at n = 1 [rpm] M0 Nm 1340 1340
Current at M0 and n = 1 [rpm] I0 A 78 120
Thermal static torque M0* Nm 951 951
Thermal stall current I0* A 53 83
Physical constants
Torque constant at 20 °C kT,20 Nm/A 18 11.5
Voltage constant kE V/(1000/min) 1091 693.7
Motor constant at 20 °C kM,20 Nm/(W)0.5 18.2 18.4
Thermal time constant tTH s 180 180
No. of pole pairs p - 42 42
Cogging torque MCOG Nm 6.7 6.7
Stator mass mS kg 55.5 56.8
Rotor mass mL kg 20.3 20.3
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 235
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB10-8Fxx -xxB10-2Pxx
Rotor moment of inertia JL 10
-2 kgm2 67.8 67.8
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.235 0.093
Phase inductance of winding LSTR mH 2.3 0.9
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 4.51 4.41
Recommended minimum volume flow H,MIN l/min 6.7 6.7
Temperature increase of the coolant ΔTH K 9.7 9.5
Pressure drop ΔpH bar 0.8 0.8
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.486 0.476
Recommended minimum volume flow P,MIN l/min 2.3 2.3
Temperature increase of the coolant ΔTP K 3 2.9
Pressure drop ΔpH bar 0.8 0.8
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
236 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6190-xxx10-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 237
Technical data and characteristics
14.2 Data sheets and diagrams
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1FW6 Built-in torque motors
238 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6190-xxB15-xxxx
Table 14- 27 1FW6190-xxB15-2Jxx, 1FW6190-xxB15-5Gxx, 1FW6190-xxB15-8Fxx
Technical data
1FW6190
Symbol Unit -xxB15-2Jxx -xxB15-5Gxx -xxB15-8Fxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 1970 1890 1820
Rated current IN A 26 50 69
Maximum speed at rated torque nMAX,MN rpm 40 100 160
Rated power dissipation PV,N kW 8.14 8.14 8.39
Limit data
Maximum torque MMAX Nm 2970 2970 2970
Maximum current IMAX A 47 95 130
Electric power of motor at MMAX P
EL,MAX kW 30.1 44.1 55.6
Maximum speed at maximum torque nMAX,MMAX rpm 17 62 97
No-load speed nMAX,0 rpm 88 180 250
Torque at n = 1 [rpm] M0 Nm 2020 2020 2020
Current at M0 and n = 1 [rpm] I0 A 27 54 78
Thermal static torque M0* Nm 1430 1430 1430
Thermal stall current I0* A 18 37 53
Physical constants
Torque constant at 20 °C kT,20 Nm/A 77.3 38.7 27.1
Voltage constant kE V/(1000/min) 4676 2338 1637
Motor constant at 20 °C kM,20 Nm/(W)0.5 23.4 23.4 23.1
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 42 42 42
Cogging torque MCOG Nm 10 10 10
Stator mass mS kg 77.8 77.8 77.8
Rotor mass mL kg 30 30 30
Rotor moment of inertia JL 10
-2 kgm2 99.8 99.8 99.8
Phase resistance of winding at 20 °C RSTR, 20 Ω 2.6 0.651 0.329
Phase inductance of winding LSTR mH 28 7 3.4
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 6.11 6.11 6.3
Recommended minimum volume flow H,MIN l/min 8.8 8.8 8.8
Temperature increase of the coolant ΔTH K 9.9 9.9 10.2
Pressure drop ΔpH bar 1.4 1.4 1.4
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 239
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB15-2Jxx -xxB15-5Gxx -xxB15-8Fxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.659 0.659 0.679
Recommended minimum volume flow P,MIN l/min 3.2 3.2 3.2
Temperature increase of the coolant ΔTP K 3 3 3.1
Pressure drop ΔpH bar 1.4 1.4 1.4
*) Parallel connection of main and precision motor cooler
Table 14- 28 1FW6190-xxB15-2Pxx, 1FW6190-xxB15-0Wxx
Technical data
1FW6190
Symbol Unit -xxB15-2Pxx -xxB15-0Wxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 1670 1540
Rated current IN A 99 110
Maximum speed at rated torque nMAX,MN rpm 270 370
Rated power dissipation PV,N kW 8.21 8.39
Limit data
Maximum torque MMAX Nm 2970 2970
Maximum current IMAX A 210 270
Electric power of motor at MMAX P
EL,MAX kW 75.8 91.5
Maximum speed at maximum torque nMAX,MMAX rpm 160 210
No-load speed nMAX,0 rpm 390 500
Torque at n = 1 [rpm] M0 Nm 2020 2020
Current at M0 and n = 1 [rpm] I0 A 120 150
Thermal static torque M0* Nm 1430 1430
Thermal stall current I0* A 83 100
Physical constants
Torque constant at 20 °C kT,20 Nm/A 17.2 13.5
Voltage constant kE V/(1000/min) 1041 818.4
Motor constant at 20 °C kM,20 Nm/(W)0.5 23.3 23.1
Thermal time constant tTH s 180 180
No. of pole pairs p - 42 42
Cogging torque MCOG Nm 10 10
Stator mass mS kg 79.1 79.1
Rotor mass mL kg 30 30
1FW6 Built-in torque motors
240 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB15-2Pxx -xxB15-0Wxx
Rotor moment of inertia JL 10
-2 kgm2 99.8 99.8
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.13 0.0822
Phase inductance of winding LSTR mH 1.4 0.9
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 6.17 6.3
Recommended minimum volume flow H,MIN l/min 8.8 8.8
Temperature increase of the coolant ΔTH K 10 10.2
Pressure drop ΔpH bar 1.4 1.4
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.665 0.679
Recommended minimum volume flow P,MIN l/min 3.2 3.2
Temperature increase of the coolant ΔTP K 3 3.1
Pressure drop ΔpH bar 1.4 1.4
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 241
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6190-xxx15-xxxx
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1FW6 Built-in torque motors
242 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
6KRUWFLUFXLWEUDNLQJWRUTXHRYHUVSHHG
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 243
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6190-xxB20-xxxx
Table 14- 29 1FW6190-xxB20-5Gxx, 1FW6190-xxB20-8Fxx, 1FW6190-xxB20-2Pxx
Technical data
1FW6190
Symbol Unit -xxB20-5Gxx -xxB20-8Fxx -xxB20-2Pxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 2570 2500 2360
Rated current IN A 51 71 100
Maximum speed at rated torque nMAX,MN rpm 73 110 200
Rated power dissipation PV,N kW 10.5 10.8 10.5
Limit data
Maximum torque MMAX Nm 3960 3960 3960
Maximum current IMAX A 95 130 210
Electric power of motor at MMAX P
EL,MAX kW 49 61.1 81.5
Maximum speed at maximum torque nMAX,MMAX rpm 42 68 120
No-load speed nMAX,0 rpm 130 190 300
Torque at n = 1 [rpm] M0 Nm 2690 2690 2690
Current at M0 and n = 1 [rpm] I0 A 54 78 120
Thermal static torque M0* Nm 1900 1900 1900
Thermal stall current I0* A 37 53 83
Physical constants
Torque constant at 20 °C kT,20 Nm/A 51.6 36.1 22.9
Voltage constant kE V/(1000/min) 3118 2182 1387
Motor constant at 20 °C kM,20 Nm/(W)0.5 27.6 27.2 27.5
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 42 42 42
Cogging torque MCOG Nm 13 13 13
Stator mass mS kg 96.6 96.6 97.9
Rotor mass mL kg 39.6 39.6 39.6
Rotor moment of inertia JL 10
-2 kgm2 132 132 132
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.836 0.422 0.167
Phase inductance of winding LSTR mH 9.3 4.6 1.8
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 7.85 8.09 7.92
Recommended minimum volume flow H,MIN l/min 12.8 12.8 12.8
Temperature increase of the coolant ΔTH K 8.9 9.1 8.9
Pressure drop ΔpH bar 2.8 2.8 2.8
1FW6 Built-in torque motors
244 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB20-5Gxx -xxB20-8Fxx -xxB20-2Pxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.847 0.873 0.854
Recommended minimum volume flow P,MIN l/min 4.7 4.7 4.7
Temperature increase of the coolant ΔTP K 2.6 2.6 2.6
Pressure drop ΔpH bar 2.8 2.8 2.8
*) Parallel connection of main and precision motor cooler
Table 14- 30 1FW6190-xxB20-0Wxx
Technical data
1FW6190
Symbol Unit -xxB20-0Wxx
Boundary conditions
DC link voltages UZK V 600
Water cooling inlet temperature TVORL °C 35
Rated temperature of winding TN °C 130
Rated data
Rated torque MN Nm 2250
Rated current IN A 120
Maximum speed at rated torque nMAX,MN rpm 260
Rated power dissipation PV,N kW 10.8
Limit data
Maximum torque MMAX Nm 3960
Maximum current IMAX A 270
Electric power of motor at MMAX P
EL,MAX kW 97.4
Maximum speed at maximum torque nMAX,MMAX rpm 160
No-load speed nMAX,0 rpm 380
Torque at n = 1 [rpm] M0 Nm 2690
Current at M0 and n = 1 [rpm] I0 A 150
Thermal static torque M0* Nm 1900
Thermal stall current I0* A 100
Physical constants
Torque constant at 20 °C kT,20 Nm/A 18
Voltage constant kE V/(1000/min) 1091
Motor constant at 20 °C kM,20 Nm/(W)0.5 27.2
Thermal time constant tTH s 180
No. of pole pairs p - 42
Cogging torque MCOG Nm 13
Stator mass mS kg 97.9
Rotor mass mL kg 39.6
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 245
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6190
Symbol Unit -xxB20-0Wxx
Rotor moment of inertia JL 10
-2 kgm2 132
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.106
Phase inductance of winding LSTR mH 1.1
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 8.09
Recommended minimum volume flow H,MIN l/min 12.8
Temperature increase of the coolant ΔTH K 9.1
Pressure drop ΔpH bar 2.8
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.873
Recommended minimum volume flow P,MIN l/min 4.7
Temperature increase of the coolant ΔTP K 2.6
Pressure drop ΔpH bar 2.8
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
246 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6190-xxx20-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 247
Technical data and characteristics
14.2 Data sheets and diagrams
14.2.6 1FW6230-xxxxx-xxxx
Data sheet 1FW6230-xxB05-xxxx
Table 14- 31 1FW6230-xxB05-1Jxx, 1FW6230-xxB05-2Jxx, 1FW6230-xxB05-5Gxx
Technical data
1FW6230
Symbol Unit -xxB05-1Jxx -xxB05-2Jxx -xxB05-5Gxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 799 774 660
Rated current IN A 15 22 40
Maximum speed at rated torque nMAX,MN rpm 69 110 290
Rated power dissipation PV,N kW 3.54 3.65 3.58
Limit data
Maximum torque MMAX Nm 1320 1320 1320
Maximum current IMAX A 31 45 100
Electric power of motor at MMAX P
EL,MAX kW 17.3 21 34.1
Maximum speed at maximum torque nMAX,MMAX rpm 34 59 160
No-load speed nMAX,0 rpm 130 190 410
Torque at n = 1 [rpm] M0 Nm 841 841 841
Current at M0 and n = 1 [rpm] I0 A 16 24 53
Thermal static torque M0* Nm 594 594 594
Thermal stall current I0* A 11 16 36
Physical constants
Torque constant at 20 °C kT,20 Nm/A 52.7 36.9 16.7
Voltage constant kE V/(1000/min) 3188 2231 1011
Motor constant at 20 °C kM,20 Nm/(W)0.5 15 14.8 14.9
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 49 49 49
Cogging torque MCOG Nm 4.2 4.2 4.2
Stator mass mS kg 31.9 31.9 31.9
Rotor mass mL kg 12.9 12.9 12.9
Rotor moment of inertia JL 10
-2 kgm2 62.2 62.2 62.2
Phase resistance of winding at 20 °C RSTR, 20 Ω 2.95 1.49 0.299
Phase inductance of winding LSTR mH 26.9 13.2 2.7
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 2.66 2.74 2.68
Recommended minimum volume flow rate H,MIN l/min 4.8 4.8 4.8
1FW6 Built-in torque motors
248 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB05-1Jxx -xxB05-2Jxx -xxB05-5Gxx
Temperature increase of the coolant ΔTH K 8 8.2 8.1
Pressure drop ΔpH bar 0.5 0.5 0.5
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.287 0.295 0.29
Recommended minimum volume flow rate P,MIN l/min 1.6 1.6 1.6
Temperature increase of the coolant ΔTP K 2.6 2.6 2.6
Pressure drop ΔpH bar 0.5 0.5 0.5
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 249
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6230-xxx05-xxxx
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1FW6 Built-in torque motors
250 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6230-xxB07-xxxx
Table 14- 32 1FW6230-xxB07-1Jxx, 1FW6230-xxB07-2Jxx, 1FW6230-xxB07-5Gxx
Technical data
1FW6230
Symbol Unit -xxB07-1Jxx -xxB07-2Jxx -xxB07-5Gxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 1140 1120 1010
Rated current IN A 16 22 44
Maximum speed at rated torque nMAX,MN rpm 45 73 190
Rated power dissipation PV,N kW 4.47 4.61 4.52
Limit data
Maximum torque MMAX Nm 1840 1840 1840
Maximum current IMAX A 31 45 100
Electric power of motor at MMAX P
EL,MAX kW 19.4 23.6 36.9
Maximum speed at maximum torque nMAX,MMAX rpm 19 38 110
No-load speed nMAX,0 rpm 93 130 290
Torque at n = 1 [rpm] M0 Nm 1180 1180 1180
Current at M0 and n = 1 [rpm] I0 A 16 24 53
Thermal static torque M0* Nm 832 832 832
Thermal stall current I0* A 11 16 36
Physical constants
Torque constant at 20 °C kT,20 Nm/A 73.8 51.7 23.4
Voltage constant kE V/(1000/min) 4463 3124 1415
Motor constant at 20 °C kM,20 Nm/(W)0.5 18.7 18.4 18.6
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 49 49 49
Cogging torque MCOG Nm 5.9 5.9 5.9
Stator mass mS kg 41.4 41.4 41.4
Rotor mass mL kg 17.4 17.4 17.4
Rotor moment of inertia JL 10
-2 kgm2 84.3 84.3 84.3
Phase resistance of winding at 20 °C RSTR, 20 Ω 3.73 1.88 0.379
Phase inductance of winding LSTR mH 37.3 18.3 3.7
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 3.36 3.46 3.39
Recommended minimum volume flow H,MIN l/min 6.1 6.1 6.1
Temperature increase of the coolant ΔTH K 7.9 8.1 7.9
Pressure drop ΔpH bar 0.8 0.8 0.8
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 251
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB07-1Jxx -xxB07-2Jxx -xxB07-5Gxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.362 0.373 0.366
Recommended minimum volume flow P,MIN l/min 2.1 2.1 2.1
Temperature increase of the coolant ΔTP K 2.4 2.5 2.5
Pressure drop ΔpH bar 0.8 0.8 0.8
*) Parallel connection of main and precision motor cooler
Table 14- 33 1FW6230-xxB07-8Fxx
Technical data
1FW6230
Symbol Unit -xxB07-8Fxx
Boundary conditions
DC link voltages UZK V 600
Water cooling inlet temperature TVORL °C 35
Rated temperature of winding TN °C 130
Rated data
Rated torque MN Nm 923
Rated current IN A 56
Maximum speed at rated torque nMAX,MN rpm 290
Rated power dissipation PV,N kW 4.53
Limit data
Maximum torque MMAX Nm 1840
Maximum current IMAX A 130
Electric power of motor at MMAX P
EL,MAX kW 46.3
Maximum speed at maximum torque nMAX,MMAX rpm 160
No-load speed nMAX,0 rpm 410
Torque at n = 1 [rpm] M0 Nm 1180
Current at M0 and n = 1 [rpm] I0 A 74
Thermal static torque M0* Nm 832
Thermal stall current I0* A 50
Physical constants
Torque constant at 20 °C kT,20 Nm/A 16.9
Voltage constant kE V/(1000/min) 1020
Motor constant at 20 °C kM,20 Nm/(W)0.5 18.6
Thermal time constant tTH s 180
No. of pole pairs p - 49
Cogging torque MCOG Nm 5.9
Stator mass mS kg 41.4
Rotor mass mL kg 17.4
1FW6 Built-in torque motors
252 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB07-8Fxx
Rotor moment of inertia JL 10
-2 kgm2 84.3
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.197
Phase inductance of winding LSTR mH 1.9
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 3.4
Recommended minimum volume flow H,MIN l/min 6.1
Temperature increase of the coolant ΔTH K 8
Pressure drop ΔpH bar 0.8
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.367
Recommended minimum volume flow P,MIN l/min 2.1
Temperature increase of the coolant ΔTP K 2.5
Pressure drop ΔpH bar 0.8
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 253
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6230-xxx07-xxxx
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1FW6 Built-in torque motors
254 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6230-xxB10-xxxx
Table 14- 34 1FW6230-xxB10-2Jxx, 1FW6230-xxB10-5Gxx, 1FW6230-xxB10-8Fxx
Technical data
1FW6230
Symbol Unit -xxB10-2Jxx -xxB10-5Gxx -xxB10-8Fxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 1630 1520 1450
Rated current IN A 23 48 62
Maximum speed at rated torque nMAX,MN rpm 46 130 190
Rated power dissipation PV,N kW 6.05 6.09 5.95
Limit data
Maximum torque MMAX Nm 2630 2630 2630
Maximum current IMAX A 45 100 130
Electric power of motor at MMAX P
EL,MAX kW 27.1 42 50.6
Maximum speed at maximum torque nMAX,MMAX rpm 21 74 110
No-load speed nMAX,0 rpm 93 210 290
Torque at n = 1 [rpm] M0 Nm 1680 1680 1680
Current at M0 and n = 1 [rpm] I0 A 24 54 74
Thermal static torque M0* Nm 1190 1190 1190
Thermal stall current I0* A 16 37 50
Physical constants
Torque constant at 20 °C kT,20 Nm/A 73.8 32.7 24.1
Voltage constant kE V/(1000/min) 4463 1976 1457
Motor constant at 20 °C kM,20 Nm/(W)0.5 23 22.9 23.2
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 49 49 49
Cogging torque MCOG Nm 8.4 8.4 8.4
Stator mass mS kg 57.5 57.5 57.5
Rotor mass mL kg 24.3 24.3 24.3
Rotor moment of inertia JL 10
-2 kgm2 118 118 118
Phase resistance of winding at 20 °C RSTR, 20 Ω 2.47 0.488 0.259
Phase inductance of winding LSTR mH 25.9 5.1 2.8
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 4.54 4.58 4.47
Recommended minimum volume flow H,MIN l/min 8 8 8
Temperature increase of the coolant ΔTH K 8.2 8.2 8.1
Pressure drop ΔpH bar 1.3 1.3 1.3
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 255
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB10-2Jxx -xxB10-5Gxx -xxB10-8Fxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.490 0.493 0.482
Recommended minimum volume flow P,MIN l/min 2.9 2.9 2.9
Temperature increase of the coolant ΔTP K 2.4 2.4 2.4
Pressure drop ΔpH bar 1.3 1.3 1.3
*) Parallel connection of main and precision motor cooler
Table 14- 35 1FW6230-xxB10-2Pxx
Technical data
1FW6230
Symbol Unit -xxB10-2Pxx
Boundary conditions
DC link voltages UZK V 600
Water cooling inlet temperature TVORL °C 35
Rated temperature of winding TN °C 130
Rated data
Rated torque MN Nm 1320
Rated current IN A 80
Maximum speed at rated torque nMAX,MN rpm 290
Rated power dissipation PV,N kW 6.1
Limit data
Maximum torque MMAX Nm 2630
Maximum current IMAX A 190
Electric power of motor at MMAX P
EL,MAX kW 65.4
Maximum speed at maximum torque nMAX,MMAX rpm 160
No-load speed nMAX,0 rpm 410
Torque at n = 1 [rpm] M0 Nm 1680
Current at M0 and n = 1 [rpm] I0 A 100
Thermal static torque M0* Nm 1190
Thermal stall current I0* A 72
Physical constants
Torque constant at 20 °C kT,20 Nm/A 16.9
Voltage constant kE V/(1000/min) 1020
Motor constant at 20 °C kM,20 Nm/(W)0.5 22.9
Thermal time constant tTH s 180
No. of pole pairs p - 49
Cogging torque MCOG Nm 8.4
Stator mass mS kg 57.5
Rotor mass mL kg 24.3
1FW6 Built-in torque motors
256 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB10-2Pxx
Rotor moment of inertia JL 10
-2 kgm2 118
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.13
Phase inductance of winding LSTR mH 1.4
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 4.58
Recommended minimum volume flow H,MIN l/min 8
Temperature increase of the coolant ΔTH K 8.3
Pressure drop ΔpH bar 1.3
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.494
Recommended minimum volume flow P,MIN l/min 2.9
Temperature increase of the coolant ΔTP K 2.5
Pressure drop ΔpH bar 1.3
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 257
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6230-xxx10-xxxx
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1FW6 Built-in torque motors
258 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6230-xxB15-xxxx
Table 14- 36 1FW6230-xxB15-4Cxx, 1FW6230-xxB15-5Gxx, 1FW6230-xxB15-8Fxx
Technical data
1FW6230
Symbol Unit -xxB15-4Cxx -xxB15-5Gxx -xxB15-8Fxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 2440 2380 2310
Rated current IN A 32 49 66
Maximum speed at rated torque nMAX,MN rpm 43 80 120
Rated power dissipation PV,N kW 8.51 8.29 8.31
Limit data
Maximum torque MMAX Nm 3950 3950 3950
Maximum current IMAX A 63 100 130
Electric power of motor at MMAX P
EL,MAX kW 38 47.4 57.3
Maximum speed at maximum torque nMAX,MMAX rpm 19 44 67
No-load speed nMAX,0 rpm 87 140 190
Torque at n = 1 [rpm] M0 Nm 2520 2520 2520
Current at M0 and n = 1 [rpm] I0 A 33 53 74
Thermal static torque M0* Nm 1780 1780 1780
Thermal stall current I0* A 23 36 50
Physical constants
Torque constant at 20 °C kT,20 Nm/A 79.1 50.2 36.2
Voltage constant kE V/(1000/min) 4782 3033 2186
Motor constant at 20 °C kM,20 Nm/(W)0.5 29.1 29.4 29.4
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 49 49 49
Cogging torque MCOG Nm 13 13 13
Stator mass mS kg 82.1 82.1 82.1
Rotor mass mL kg 35.7 35.7 35.7
Rotor moment of inertia JL 10
-2 kgm2 173 173 173
Phase resistance of winding at 20 °C RSTR, 20 Ω 1.77 0.695 0.362
Phase inductance of winding LSTR mH 19.7 7.9 4.1
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 6.39 6.23 6.24
Recommended minimum volume flow H,MIN l/min 10.5 10.5 10.5
Temperature increase of the coolant ΔTH K 8.7 8.5 8.5
Pressure drop ΔpH bar 2.2 2.2 2.2
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 259
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB15-4Cxx -xxB15-5Gxx -xxB15-8Fxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.69 0.672 0.673
Recommended minimum volume flow P,MIN l/min 4 4 4
Temperature increase of the coolant ΔTP K 2.5 2.4 2.4
Pressure drop ΔpH bar 2.2 2.2 2.2
*) Parallel connection of main and precision motor cooler
Table 14- 37 1FW6230-xxB15-2Pxx, 1FW6230-xxB15-0Wxx
Technical data
1FW6230
Symbol Unit -xxB15-2Pxx -xxB15-0Wxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 2190 2020
Rated current IN A 90 110
Maximum speed at rated torque nMAX,MN rpm 180 270
Rated power dissipation PV,N kW 8.53 8.31
Limit data
Maximum torque MMAX Nm 3950 3950
Maximum current IMAX A 190 270
Electric power of motor at MMAX P
EL,MAX kW 72.5 91.2
Maximum speed at maximum torque nMAX,MMAX rpm 100 150
No-load speed nMAX,0 rpm 270 380
Torque at n = 1 [rpm] M0 Nm 2520 2520
Current at M0 and n = 1 [rpm] I0 A 100 140
Thermal static torque M0* Nm 1780 1780
Thermal stall current I0* A 72 100
Physical constants
Torque constant at 20 °C kT,20 Nm/A 25.3 18.1
Voltage constant kE V/(1000/min) 1530 1093
Motor constant at 20 °C kM,20 Nm/(W)0.5 29 29.4
Thermal time constant tTH s 180 180
No. of pole pairs p - 49 49
Cogging torque MCOG Nm 13 13
Stator mass mS kg 82.1 83.7
Rotor mass mL kg 35.7 35.7
1FW6 Built-in torque motors
260 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB15-2Pxx -xxB15-0Wxx
Rotor moment of inertia JL 10
-2 kgm2 173 173
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.182 0.0904
Phase inductance of winding LSTR mH 2 1
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 6.4 6.24
Recommended minimum volume flow H,MIN l/min 10.5 10.5
Temperature increase of the coolant ΔTH K 8.8 8.5
Pressure drop ΔpH bar 2.2 2.2
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.691 0.673
Recommended minimum volume flow P,MIN l/min 4 4
Temperature increase of the coolant ΔTP K 2.5 2.4
Pressure drop ΔpH bar 2.2 2.2
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 261
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6230-xxx15-xxxx
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1FW6 Built-in torque motors
262 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 263
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6230-xxB20-xxxx
Table 14- 38 1FW6230-xxB20-5Gxx, 1FW6230-xxB20-8Fxx, 1FW6230-xxB20-2Pxx
Technical data
1FW6230
Symbol Unit -xxB20-5Gxx -xxB20-8Fxx -xxB20-2Pxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 3230 3160 3050
Rated current IN A 51 69 94
Maximum speed at rated torque nMAX,MN rpm 56 84 130
Rated power dissipation PV,N kW 10.7 10.7 11
Limit data
Maximum torque MMAX Nm 5260 5260 5260
Maximum current IMAX A 100 130 190
Electric power of motor at MMAX P
EL,MAX kW 53.5 63.7 79.4
Maximum speed at maximum torque nMAX,MMAX rpm 29 47 74
No-load speed nMAX,0 rpm 100 140 200
Torque at n = 1 [rpm] M0 Nm 3360 3360 3360
Current at M0 and n = 1 [rpm] I0 A 53 74 100
Thermal static torque M0* Nm 2380 2380 2380
Thermal stall current I0* A 36 50 72
Physical constants
Torque constant at 20 °C kT,20 Nm/A 66.9 48.2 33.7
Voltage constant kE V/(1000/min) 4044 2915 2040
Motor constant at 20 °C kM,20 Nm/(W)0.5 34.6 34.6 34.2
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 49 49 49
Cogging torque MCOG Nm 17 17 17
Stator mass mS kg 106.7 106.7 106.7
Rotor mass mL kg 47.1 47.1 47.1
Rotor moment of inertia JL 10
-2 kgm2 228 228 228
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.892 0.465 0.233
Phase inductance of winding LSTR mH 10.5 5.5 2.7
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 8 8.02 8.22
Recommended minimum volume flow H,MIN l/min 13 13 13
Temperature increase of the coolant ΔTH K 8.8 8.9 9.1
Pressure drop ΔpH bar 3.4 3.4 3.4
1FW6 Built-in torque motors
264 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB20-5Gxx -xxB20-8Fxx -xxB20-2Pxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.863 0.865 0.887
Recommended minimum volume flow P,MIN l/min 5.1 5.1 5.1
Temperature increase of the coolant ΔTP K 2.4 2.4 2.5
Pressure drop ΔpH bar 3.4 3.4 3.4
*) Parallel connection of main and precision motor cooler
Table 14- 39 1FW6230-xxB20-0Wxx
Technical data
1FW6230
Symbol Unit -xxB20-0Wxx
Boundary conditions
DC link voltages UZK V 600
Water cooling inlet temperature TVORL °C 35
Rated temperature of winding TN °C 130
Rated data
Rated torque MN Nm 2890
Rated current IN A 120
Maximum speed at rated torque nMAX,MN rpm 190
Rated power dissipation PV,N kW 10.7
Limit data
Maximum torque MMAX Nm 5260
Maximum current IMAX A 270
Electric power of motor at MMAX P
EL,MAX kW 98.1
Maximum speed at maximum torque nMAX,MMAX rpm 110
No-load speed nMAX,0 rpm 290
Torque at n = 1 [rpm] M0 Nm 3360
Current at M0 and n = 1 [rpm] I0 A 140
Thermal static torque M0* Nm 2380
Thermal stall current I0* A 100
Physical constants
Torque constant at 20 °C kT,20 Nm/A 24.1
Voltage constant kE V/(1000/min) 1457
Motor constant at 20 °C kM,20 Nm/(W)0.5 34.6
Thermal time constant tTH s 180
No. of pole pairs p - 49
Cogging torque MCOG Nm 17
Stator mass mS kg 108.3
Rotor mass mL kg 47.1
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 265
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6230
Symbol Unit -xxB20-0Wxx
Rotor moment of inertia JL 10
-2 kgm2 228
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.116
Phase inductance of winding LSTR mH 1.4
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 8.02
Recommended minimum volume flow H,MIN l/min 13
Temperature increase of the coolant ΔTH K 8.9
Pressure drop ΔpH bar 3.4
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.865
Recommended minimum volume flow P,MIN l/min 5.1
Temperature increase of the coolant ΔTP K 2.4
Pressure drop ΔpH bar 3.4
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
266 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6230-xxx20-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 267
Technical data and characteristics
14.2 Data sheets and diagrams
14.2.7 1FW6290-xxxxx-xxxx
Data sheet 1FW6290-xxB07-xxxx
Table 14- 40 1FW6290-xxB07-5Gxx, 1FW6290-xxB07-0Lxx, 1FW6290-xxB07-2Pxx
Technical data
1FW6290
Symbol Unit -xxB07-5Gxx -xxB07-0Lxx -xxB07-2Pxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 2060 1910 1810
Rated current IN A 52 86 100
Maximum speed at rated torque nMAX,MN rpm 110 210 270
Rated power dissipation PV,N kW 5.19 5.19 5.2
Limit data
Maximum torque MMAX Nm 4000 4000 4000
Maximum current IMAX A 110 210 270
Electric power of motor at MMAX P
EL,MAX kW 47.7 70.6 85.4
Maximum speed at maximum torque nMAX,MMAX rpm 59 110 150
No-load speed nMAX,0 rpm 160 280 360
Torque at n = 1 [rpm] M0 Nm 2220 2220 2220
Current at M0 and n = 1 [rpm] I0 A 56 100 120
Thermal static torque M0* Nm 1570 1570 1570
Thermal stall current I0* A 39 70 90
Physical constants
Torque constant at 20 °C kT,20 Nm/A 39.8 22.4 17.4
Voltage constant kE V/(1000/min) 2405 1352 1053
Motor constant at 20 °C kM,20 Nm/(W)0.5 31.2 31.2 31.2
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 42 42 42
Cogging torque MCOG Nm 11 11 11
Stator mass mS kg 72.6 72.6 77.8
Rotor mass mL kg 31 31 31
Rotor moment of inertia JL 10
-2 kgm2 228 228 228
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.389 0.123 0.0747
Phase inductance of winding LSTR mH 6.4 2 1.2
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 3.9 3.9 3.91
Recommended minimum volume flow H,MIN l/min 5.8 5.8 5.8
1FW6 Built-in torque motors
268 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6290
Symbol Unit -xxB07-5Gxx -xxB07-0Lxx -xxB07-2Pxx
Temperature increase of the coolant ΔTH K 9.7 9.7 9.7
Pressure drop ΔpH bar 0.4 0.4 0.4
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.42 0.42 0.421
Recommended minimum volume flow P,MIN l/min 2.2 2.2 2.2
Temperature increase of the coolant ΔTP K 2.7 2.7 2.7
Pressure drop ΔpH bar 0.4 0.4 0.4
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 269
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6290-xxx07-xxxx
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1FW6 Built-in torque motors
270 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6290-xxB11-xxxx
Table 14- 41 1FW6290-xxB11-7Axx, 1FW6290-xxB11-0Lxx, 1FW6290-xxB11-2Pxx
Technical data
1FW6290
Symbol Unit -xxB11-7Axx -xxB11-0Lxx -xxB11-2Pxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 3320 3200 3100
Rated current IN A 59 91 110
Maximum speed at rated torque nMAX,MN rpm 73 130 170
Rated power dissipation PV,N kW 7.13 7.14 7.16
Limit data
Maximum torque MMAX Nm 6280 6280 6280
Maximum current IMAX A 130 210 270
Electric power of motor at MMAX P
EL,MAX kW 58 78.2 93.2
Maximum speed at maximum torque nMAX,MMAX rpm 40 71 93
No-load speed nMAX,0 rpm 110 180 230
Torque at n = 1 [rpm] M0 Nm 3490 3490 3490
Current at M0 and n = 1 [rpm] I0 A 62 100 120
Thermal static torque M0* Nm 2470 2470 2470
Thermal stall current I0* A 44 70 90
Physical constants
Torque constant at 20 °C kT,20 Nm/A 56.1 35.1 27.4
Voltage constant kE V/(1000/min) 3393 2124 1655
Motor constant at 20 °C kM,20 Nm/(W)0.5 41.9 41.8 41.8
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 42 42 42
Cogging torque MCOG Nm 17 17 17
Stator mass mS kg 114 114 119.2
Rotor mass mL kg 45 45 45
Rotor moment of inertia JL 10
-2 kgm2 334 334 334
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.43 0.169 0.103
Phase inductance of winding LSTR mH 8 3.1 1.9
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 5.35 5.36 5.38
Recommended minimum volume flow H,MIN l/min 8.6 8.6 8.6
Temperature increase of the coolant ΔTH K 9 9 9
Pressure drop ΔpH bar 0.8 0.8 0.8
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 271
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6290
Symbol Unit -xxB11-7Axx -xxB11-0Lxx -xxB11-2Pxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.577 0.578 0.58
Recommended minimum volume flow P,MIN l/min 3.4 3.4 3.4
Temperature increase of the coolant ΔTP K 2.4 2.4 2.4
Pressure drop ΔpH bar 0.8 0.8 0.8
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
272 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6290-xxx11-xxxx
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 273
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6290-xxB15-xxxx
Table 14- 42 1FW6290-xxB15-7Axx, 1FW6290-xxB15-0Lxx, 1FW6290-xxB15-2Pxx
Technical data
1FW6290
Symbol Unit -xxB15-7Axx -xxB15-0Lxx -xxB15-2Pxx
Boundary conditions
DC link voltages UZK V 600 600 600
Water cooling inlet temperature TVORL °C 35 35 35
Rated temperature of winding TN °C 130 130 130
Rated data
Rated torque MN Nm 4590 4480 4390
Rated current IN A 61 94 110
Maximum speed at rated torque nMAX,MN rpm 53 89 120
Rated power dissipation PV,N kW 9.08 9.09 9.12
Limit data
Maximum torque MMAX Nm 8570 8570 8570
Maximum current IMAX A 130 210 270
Electric power of motor at MMAX P
EL,MAX kW 65.2 85.2 101
Maximum speed at maximum torque nMAX,MMAX rpm 28 50 67
No-load speed nMAX,0 rpm 85 130 170
Torque at n = 1 [rpm] M0 Nm 4760 4760 4760
Current at M0 and n = 1 [rpm] I0 A 64 100 120
Thermal static torque M0* Nm 3370 3370 3370
Thermal stall current I0* A 44 70 90
Physical constants
Torque constant at 20 °C kT,20 Nm/A 75 47.9 37.3
Voltage constant kE V/(1000/min) 4533 2896 2257
Motor constant at 20 °C kM,20 Nm/(W)0.5 50.6 50.5 50.5
Thermal time constant tTH s 180 180 180
No. of pole pairs p - 42 42 42
Cogging torque MCOG Nm 24 24 24
Stator mass mS kg 155.6 155.6 160.8
Rotor mass mL kg 59 59 59
Rotor moment of inertia JL 10
-2 kgm2 440 440 440
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.526 0.215 0.131
Phase inductance of winding LSTR mH 10.4 4.2 2.6
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 6.82 6.83 6.85
Recommended minimum volume flow H,MIN l/min 12.8 12.8 12.8
Temperature increase of the coolant ΔTH K 7.7 7.7 7.7
Pressure drop ΔpH bar 1.8 1.8 1.8
1FW6 Built-in torque motors
274 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Technical data
1FW6290
Symbol Unit -xxB15-7Axx -xxB15-0Lxx -xxB15-2Pxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.736 0.737 0.739
Recommended minimum volume flow P,MIN l/min 5.2 5.2 5.2
Temperature increase of the coolant ΔTP K 2 2 2
Pressure drop ΔpH bar 1.8 1.8 1.8
*) Parallel connection of main and precision motor cooler
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 275
Technical data and characteristics
14.2 Data sheets and diagrams
Characteristics for 1FW6290-xxx15-xxxx
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1FW6 Built-in torque motors
276 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data and characteristics
14.2 Data sheets and diagrams
Data sheet 1FW6290-xxB20-xxxx
Table 14- 43 1FW6290-xxB20-0Lxx, 1FW6290-xxB20-2Pxx
Technical data
1FW6290
Symbol Unit -xxB20-0Lxx -xxB20-2Pxx
Boundary conditions
DC link voltages UZK V 600 600
Water cooling inlet temperature TVORL °C 35 35
Rated temperature of winding TN °C 130 130
Rated data
Rated torque MN Nm 5760 5670
Rated current IN A 95 120
Maximum speed at rated torque nMAX,MN rpm 68 91
Rated power dissipation PV,N kW 11 11.1
Limit data
Maximum torque MMAX Nm 10900 10900
Maximum current IMAX A 210 270
Electric power of motor at MMAX P
EL,MAX kW 91.9 10.7
Maximum speed at maximum torque nMAX,MMAX rpm 38 51
No-load speed nMAX,0 rpm 100 130
Torque at n = 1 [rpm] M0 Nm 6030 6030
Current at M0 and n = 1 [rpm] I0 A 100 120
Thermal static torque M0* Nm 4260 4260
Thermal stall current I0* A 70 90
Physical constants
Torque constant at 20 °C kT,20 Nm/A 60.7 47.3
Voltage constant kE V/(1000/min) 3669 2859
Motor constant at 20 °C kM,20 Nm/(W)0.5 58.1 58
Thermal time constant tTH s 180 180
No. of pole pairs p - 42 42
Cogging torque MCOG Nm 30 30
Stator mass mS kg 187.6 192.8
Rotor mass mL kg 73 73
Rotor moment of inertia JL 10
-2 kgm2 546 546
Phase resistance of winding at 20 °C RSTR, 20 Ω 0.261 0.159
Phase inductance of winding LSTR mH 5.4 3.2
Data for main motor cooler *)
Maximum dissipated thermal power QH,MAX kW 8.3 8.32
Recommended minimum volume flow H,MIN l/min 14.1 14.1
Temperature increase of the coolant ΔTH K 8.4 8.5
Pressure drop ΔpH bar 2.2 2.2
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 277
Technical data and characteristics
14.2 Data sheets and diagrams
1FW6 Built-in torque motors
278 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Technical data
1FW6290
Symbol Unit -xxB20-0Lxx -xxB20-2Pxx
Data for precision motor cooler *)
Maximum dissipated thermal power QP,MAX kW 0.895 0.897
Recommended minimum volume flow P,MIN l/min 5.9 5.9
Temperature increase of the coolant ΔTP K 2.2 2.2
Pressure drop ΔpH bar 2.2 2.2
*) Parallel connection of main and precision motor cooler
Characteristics for 1FW6290-xxx20-xxxx
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Installation drawings/Dimension drawings 15
15.1 Installation situation for motors with a cooling jacket
Design information for installation hole and O ring
● Provide insertion inclines: Minimum length Z at 15°: 3 mm, at 20°: 2 mm, edges rounded
and polished
Debur and round inside holes (cooling water connections)
● Surface quality of the opposite sealing surfaces: Rmax ≤ 16 µm, Rz ≤ 10 µm, Ra ≤ 1.6 µm
● Note the installation hole fit (H8). If the play is too great, the O-ring does not provide
sufficient sealing or the permissible gap is too large.
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Figure 15-1 Design information for installation hole and O ring
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 279
Installation drawings/Dimension drawings
15.2 Explanation of installation drawings
15.2 Explanation of installation drawings
Installation dimensions
The following design-related dimensions must be taken into account.
Figure 15-2 Geometry data for 1FW6 Built-in torque motors
Explanation of the abbreviations in "Geometry data for 1FW6 Built-in torque motors":
L_St Length of stator
L_Ro Length of rotor
Dz_Sr Diameter of centering hole on stator
Da_Mot External diameter of motor
De_Sm Diameter of hole for fixing screws on rotor
De_KSr Diameter of hole for fixing screws on stator
Di_Be Internal diameter of stator
Dz_Si Diameter of centering hole on rotor
D_Si Internal diameter of rotor
1FW6 Built-in torque motors
280 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Installation drawings/Dimension drawings
15.2 Explanation of installation drawings
Note
Siemens AG reserves the right to change the motor dimensions as part of design
improvements without prior notification. The dimension drawings provided in this
documentation, therefore, may not necessarily be up to date.
Up-to-date dimension drawings can be requested at no charge.
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 281
Installation drawings/Dimension drawings
15.3 Installation drawings/Dimension drawings
15.3 Installation drawings/Dimension drawings
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1FW6 Built-in torque motors
282 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Installation drawings/Dimension drawings
15.3 Installation drawings/Dimension drawings
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15.3 Installation drawings/Dimension drawings
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Installation drawings/Dimension drawings
15.3 Installation drawings/Dimension drawings
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Figure 15-6 1FW6150-xxB (active component lengths 10 and 15)
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Installation drawings/Dimension drawings
15.3 Installation drawings/Dimension drawings
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15.3 Installation drawings/Dimension drawings
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Figure 15-9 1FW6230-xxB
1FW6 Built-in torque motors
288 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Installation drawings/Dimension drawings
15.3 Installation drawings/Dimension drawings
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 289
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Figure 15-10 1FW6290-xxB
Appendix A
A.1 Recommended manufacturers
Information regarding third-party products
NOTICE
This document contains recommendations relating to third-party products. This involves
third-party products whose fundamental suitability is familiar to us. It goes without saying
that equivalent products from other manufacturers may be used. Our recommendations are
to be seen as helpful information, not as requirements or regulations. We cannot accept
any liability for the quality and properties/features of third-party products.
A.1.1 Supply sources for connection components and accessories for heat-exchanger
units
Rectus GmbH
Daimlerstrasse 7
D-71735 EBERDINGEN-NUSSDORF, Germany
Phone: +49 (0) 70 42 - 1 00 - 0
Fax: +49 (0) 70 42 - 1 00 - 147
E-mail: info@rectus.de
www.rectus.de
Festo AG & Co. KG
Ruiter Strasse 82
D-73734 ESSLINGEN-BERKHEIM, Germany
Phone: +49 (0) 1 80 - 3 03 11 11
Fax: +49 (0) 7 11 - 3 47 26 28
E-mail: info_de@festo.com
www.festo.com
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 291
Appendix
A.1 Recommended manufacturers
Serto GmbH
Kasseler Strasse 64
D-34277 FULDABRÜCK, Germany
Phone: +49 (0) 5 61 - 5 80 04 - 0
Fax: +49 (0) 5 61 - 5 80 04 - 44
E-mail: info@serto.de
www.serto.com
SMC Pneumatik GmbH
Boschring 13 - 15
63329 EGELSBACH
Phone: +49 (0) 61 03 - 4 02 - 0
Fax: +49 (0) 61 03 - 4 02 - 1 39
E-mail: info@smc-pneumatik.de
www.smc-pneumatik.de
A.1.2 Supply sources for cooling systems
Pfannenberg GmbH
Werner-Witt-Strasse 1
D-21035 HAMBURG, Germany
Phone: +49 (0) 40 - 7 34 12 - 0
Fax: +49 (0) 40 - 7 34 12 - 1 01
E-mail: sales.support@pfannenberg.com
www.pfannenberg.de
BKW Kälte-Wärme-Versorgungstechnik GmbH
Benzstrasse 2
D-72649 WOLFSCHLUGEN, Germany
Phone: +49 (0) 70 22 - 50 03 - 0
Fax: +49 (0) 70 22 - 50 03 - 30
E-mail: info@bkw-kuema.de
www.bkw-kuema.de
Helmut Schimpke und Team Industriekühlanlagen GmbH + Co. KG
Ginsterweg 25 - 27
42781 Haan, Germany
Phone: 49 (0) 21 29 - 94 38 - 0
Fax: 49 (0) 21 29 - 94 38 - 99
E-mail: info@schimpke.de
www.schimpke.de
1FW6 Built-in torque motors
292 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Appendix
A.1 Recommended manufacturers
Hydac International GmbH
Industriegebiet
66280 Sulzbach/Saar, Germany
Phone: +49 (0) 68 97 - 5 09 - 01
E-mail: info@hydac.com
www.hydac.com
Rittal GmbH & Co. KG
Auf dem Stützelberg
35745 Herborn, Germany
Phone: +49 (0) 27 72 - 5 05 - 0
Fax: +49 (0) 27 72 - 5 05 - 23 19
E-mail: info@rittal.de
www.rittal.de
A.1.3 Supply sources for anti-corrosion agents
TYFOROP CHEMIE GmbH
Anton-Rée-Weg 7
D-20537 HAMBURG, Germany
Phone: +49 (0) 40 - 61 21 69
Fax: +49 (0) 40 - 61 52 99
E-mail: info@tyfo.de
www.tyfo.de
Clariant Produkte (Deutschland) GmbH
Werk Gendorf
Industrieparkstrasse 1
84508 Burgkirchen, Germany
Phone: +49 (0) 8679 - 7 - 0
Fax: +49 (0) 8679 - 7 - 4545
www.clariant.de
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 293
Appendix
A.1 Recommended manufacturers
A.1.4 Supply sources for braking elements
HEMA Maschinen und Apparateschutz GmbH
Seligenstädter Straße 82
63500 SELIGENSTADT
Phone: +49 (0) 61 82 - 7 73 - 0
Fax: +49 (0) 61 82 - 7 73 - 35
E-mail: info@hema-schutz.de
www.hema-schutz.de
Chr. Mayr GmbH + Co. KG
Eichenstraße 1
87665 MAUERSTETTEN
Phone: +49 (0) 83 41 - 8 04 - 0
Fax: +49 (0) 83 41 - 8 04 - 4 21
E-mail: info@mayr.de
www.mayr.de
1FW6 Built-in torque motors
294 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Appendix
A.2 Fax form for suggestions/corrections (copy template)
A.2 Fax form for suggestions/corrections (copy template)
Should you come across any printing errors when reading this publication, please notify us
on this sheet. We would also be grateful for any suggestions and recommendations for
improvement.
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1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 295
Appendix
A.3 List of abbreviations
A.3 List of abbreviations
abs.
WMS
Absolute angular position measuring system, absolute encoder
BGR Health and safety at work regulations (in Germany)
BGV Binding national health and safety at work regulations (in Germany)
CE Communauté Européenne (European Community)
DAC Digital-to-analog converter
DIN Deutsches Institut für Normung (German standards organization)
DQ DRIVE-CLiQ
EU European Union
EMF Electromotive force
EMC Electromagnetic compatibility
EN Europäische Norm (European standard)
EEC European Economic Community
FAQ Frequently asked questions
HFD High-frequency damping
HW Hardware
IATA International Air Transport Association
IEC International Electrotechnical Commission
Incr.
WMS
Incremental angular position measuring system, incremental encoder
IP International Protection
KV factor Proportional gain
KTY Temperature sensor with progressive, almost linear characteristic
MLFB Maschinenlesbare Fabrikatebezeichnung (order designation)
LI Line infeed
NC Numerical control
NCK Numerical control kernel: NC kernel with block preparation, travel range, etc.
PE Protective earth
PELV Protective extra low voltage
PDS Power drive system
ph value Concentration of hydrogen ions in a liquid
PLC Programmable logic controller
PTC Temperature sensor with positive temperature coefficients and "quasi-switching"
characteristic
RLI Rotor position identification ("pole position identification"); procedure for
determining the commutation angle offset
S1 "Continuous operation" mode
S2 "Short-time operation" mode
S3 "Intermittent operation" mode
SME Sensor Module External
1FW6 Built-in torque motors
296 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Appendix
A.3 List of abbreviations
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 297
SW Software
Temp-F Circuit for monitoring the temperature the motor winding
Temp-S Temperature monitoring circuit for shutting down the drive in the event of
overtemperature
TN Terre Neutral
TM Torque motor
UL Underwriters Laboratories
VDE Association of Electrical Engineering, Electronics and Information Technology (in
Germany)
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 299
Index
A
Abbreviations, 297
Accidents
First aid, 19
Anti-corrosion protection, 53
Approvals, 28
Axial forces, 82
B
Bearings, 109
Braking, 109
Braking concepts, 110
C
Characteristics for 1FW6090-xxx05-xxxx, 183
Characteristics for 1FW6090-xxx07-xxxx, 185
Characteristics for 1FW6090-xxx10-xxxx, 187
Characteristics for 1FW6090-xxx15-xxxx, 189
Characteristics for 1FW6130-xxx05-xxxx, 191
Characteristics for 1FW6130-xxx07-xxxx, 193
Characteristics for 1FW6130-xxx10-xxxx, 195
Characteristics for 1FW6130-xxx15-xxxx, 197
Characteristics for 1FW6150-xxx05-xxxx, 199
Characteristics for 1FW6150-xxx07-xxxx, 201
Characteristics for 1FW6150-xxx10-xxxx, 203
Characteristics for 1FW6150-xxx15-xxxx, 205
Characteristics for 1FW6160-xxx05-xxxx, 208
Characteristics for 1FW6160-xxx07-xxxx, 212
Characteristics for 1FW6160-xxx10-xxxx, 216
Characteristics for 1FW6160-xxx15-xxxx, 221
Characteristics for 1FW6160-xxx20-xxxx, 226
Characteristics for 1FW6190-xxx05-xxxx, 229
Characteristics for 1FW6190-xxx07-xxxx, 233
Characteristics for 1FW6190-xxx10-xxxx, 237
Characteristics for 1FW6190-xxx15-xxxx, 242
Characteristics for 1FW6190-xxx20-xxxx, 247
Characteristics for 1FW6230-xxx05-xxxx, 250
Characteristics for 1FW6230-xxx07-xxxx, 254
Characteristics for 1FW6230-xxx10-xxxx, 258
Characteristics for 1FW6230-xxx15-xxxx, 262
Characteristics for 1FW6230-xxx20-xxxx, 267
Characteristics for 1FW6290-xxx07-xxxx, 270
Characteristics for 1FW6290-xxx11-xxxx, 273
Characteristics for 1FW6290-xxx15-xxxx, 276
Characteristics for 1FW6290-xxx20-xxxx, 278
Coolant intake temperature, 51
Cooler connection method, 146
Cooling, 26, 48
Cooling circuits, 50
Maintenance, 170
Cooling medium
Anti-corrosion agent properties, 53
General properties, 53
Provision, 52
Water properties, 53
Cooling method, 26
D
Degree of protection, 25, 100
Design, 25
Dimension drawing 1FW6090-xxB (general), 282
Dimension drawing 1FW6130-xxB (general), 283
Dimension drawing 1FW6150-xxB (general), 284
Dimension drawing 1FW6160-xxB (general), 286
Dimension drawing 1FW6190-xxB (general), 287
Dimension drawing 1FW6230-xxB (general), 288
Dimension drawing 1FW6290-xxB (general), 289
Disposal, 173
Documentation
Storage, 15
Drive system, 104
E
EC Declaration of Conformity, 7
Encoder system, 106
Environmental compatibility, 173
Evaluation
Temp-F, Temp-S, 48
F
Form of operation
Intermittent duty, 77
Short-time duty, 76
Formula abbreviations, 176
Index
G
Grounding, 145
H
Heat-exchanger unit, 51
High-voltage test, 169
Hoses for the cooling system, 158
Hotline, 6
I
Incorrect commutation, 106
Inlet temperature, 51
Intermittent duty, 77
J
Janus arrangement, 59
K
KTY 84, 46
M
Magnetic fields
First aid in the case of accidents, 19
Occurrence, 17
Strength, 18
Malfunctions
Braking, 109
Motor
Disposal, 173
Motor assembly, 79
Degree of protection, 100
Mounting system, 83
Precautions, 79
Routing cables, 91
Screw material, 83
Tightening torques, 83
Motor type, 25
Mounting system, 83
O
Order designation, 34
P
Packaging, 171, 174
Parallel operation, 55
Power connection, 143
PTC elements, 44
PTC temperature resistance, 45
R
Radial forces, 81
Residual risks, 13
S
Safety guidelines for disposal, 174
Safety guidelines for installing the motor, 79
Safety guidelines for operation, 165
Safety guidelines regarding transport, storage, and
packaging, 171
Safety information, 13
General, 13
Safety information for maintenance and repairs, 167
Safety instruction
Disposal, 173
Safety instructions
Storage, 15
Safety instructions for commissioning, 159
Safety instructions for installing the motor, 79
Safety notes for electrical connections, 142
Service & Support, 6
Shielding, 145
Short-time duty, 76
Storage, 171
System integration, 102, 104
System requirements, 104
T
Technical data
1FW609, 182
1FW613, 190
1FW615, 198
1FW616, 206
1FW619, 227
1FW623, 248
1FW629, 268
Technical Support, 6
Temperature sensor, 26
Temp–F
Evaluation, 48
1FW6 Built-in torque motors
300 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
Index
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3 301
Temp–S
Evaluation, 48
Third-party products, 291
Tightening torques, 83
Torque ripple, 26
Transport, 171
W
Winding insulation, 26
www.siemens.com/motioncontrol
Subject to change
© Siemens AG 2009
Siemens AG
Industry Sector
Drive Technologies
Motion Control Systems
Postfach 3180
91050 ERLANGEN
GERMANY

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