NEMA ICS 16-2001 Industrial Control and Systems Motion Position Control Motors Controls and Feedback Devices (Revised and Republished from MG 7-1993 Errata 6 13 2002)《工业控制装置及系统运动 位.pdf

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1、NEMA Standards PublicationNational Electrical Manufacturers AssociationNEMA ICS 16-2001Industrial Control and Systems: Motion/Position Control Motors, Controls, and Feedback DevicesTo: Current Holders of NEMA ICS 16-2001 From: NEMA Communications Department Date: June 13, 2002 Subject: Errata for NE

2、MA ICS 16-2001 The present publication of NEMA ICS 16-2001, Industrial Control and Systems: Motion/Position Control Motors, Controls, and Feedback Devices, has the following errata page: Table 4 Dimensions for mounting flanges for inch dimension motors, page 51. Table 4 in the present publication is

3、 missing, M, the title of column two. Please insert the attached errata page into your standard. Thank you for your attention in this matter. Errata for the present publication of NEMA Standards Publication ICS 16-2001 Industrial Control and Systems: Motion/Position Control Motors, Controls, and Fee

4、dback Devices Published by: National Electrical Manufacturers Association 1300 North 17th Street, Suite 1847 Rosslyn, Virginia 22209 www.nema.org Copyright 2003 by the National Electrical Manufacturers Association. All rights including translation into other languages, reserved under the Universal C

5、opyright Convention, the Berne Convention for the Protection of Literary and Artistic Works, and the International and Pan American Copyright Conventions. NOTICE AND DISCLAIMER The information in this publication was considered technically sound by the consensus of persons engaged in the development

6、 and approval of the document at the time it was developed. Consensus does not necessarily mean that there is unanimous agreement among every person participating in the development of this document. The National Electrical Manufacturers Association (NEMA) standards and guideline publications, of wh

7、ich the document contained herein is one, are developed through a voluntary consensus standards development process. This process brings together volunteers and/or seeks out the views of persons who have an interest in the topic covered by this publication. While NEMA administers the process and est

8、ablishes rules to promote fairness in the development of consensus, it does not write the document and it does not independently test, evaluate, or verify the accuracy or completeness of any information or the soundness of any judgments contained in its standards and guideline publications. NEMA dis

9、claims liability for any personal injury, property, or other damages of any nature whatsoever, whether special, indirect, consequential, or compensatory, directly or indirectly resulting from the publication, use of, application, or reliance on this document. NEMA disclaims and makes no guaranty or

10、warranty, expressed or implied, as to the accuracy or completeness of any information published herein, and disclaims and makes no warranty that the information in this document will fulfill any of your particular purposes or needs. NEMA does not undertake to guarantee the performance of any individ

11、ual manufacturer or sellers products or services by virtue of this standard or guide. In publishing and making this document available, NEMA is not undertaking to render professional or other services for or on behalf of any person or entity, nor is NEMA undertaking to perform any duty owed by any p

12、erson or entity to someone else. Anyone using this document should rely on his or her own independent judgment or, as appropriate, seek the advice of a competent professional in determining the exercise of reasonable care in any given circumstances. Information and other standards on the topic cover

13、ed by this publication may be available from other sources, which the user may wish to consult for additional views or information not covered by this publication. NEMA has no power, nor does it undertake to police or enforce compliance with the contents of this document. NEMA does not certify, test

14、, or inspect products, designs, or installations for safety or health purposes. Any certification or other statement of compliance with any health or safetyrelated information in this document shall not be attributable to NEMA and is solely the responsibility of the certifier or maker of the stateme

15、nt. Table 4 Dimensions for mounting flanges for inch dimension motors Mini- mum inches 0.03 0.06 0.06 0.06 0.10 0.10 T Maxi- mum inches 0.09 0.13 0.13 0.13 0.16 0.16 Tapped holes (for C flange) thread 4-40 8-32 10-320.250-20 0.250-20 0.375-16 inches -0.010 -0.010 -0.010 -0.010 -0.010 -0.010 Toleranc

16、e inches +0.010 +0.010 +0.010 +0.010 +0.010 +0.010 S Free holes (for D flange) Nominal inches 0.150 0.205 0.220 0.280 0.280 0.400 Number of holes 4 4 4 4 4 4 BDcinches 1.7 2.3 3.4 4.2 P Maxi- mum inches 2.36 3.21 3.58 6.19 5.63 8.00 b inches -0.0020 -0.0020 -0.0020 -0.0020 -0.0030 -0.0030 Tolerance

17、inches 0 0 0 0 0 0 N Nominal inches 0.8661 1.5000 2.8750 2.1875 3.0000 4.5000 M inches 1.725 a 2.625 3.875 4.950 3.750 5.875 Flange number 17 23 34 42 48 56 a 1.725 applies to C flange (threaded holes).For D flange (free holes), dimension is 2.000. b The standardnominal P dimension is 6.50inches for

18、 flangenumber 56. cBD dimensions shown (for non-circular flanges) are approximate valuesfor reference only. An actual BD value is determined by themanufacturer. For square flanges, the BD value chosen by the manufacturer may require roundingof thesquare flangecorners to fit within theP maximum diame

19、ter values shown. Errata for ICS 16-2001Page 51 Copyright 2003 by the National Electrical Manufacturers Association NEMA Standards Publication ICS 16 Motion/Position Control Motors, Controls, and Feedback Devices Published by National Electrical Manufacturers Association 1300 N. 17th Street Rosslyn,

20、 Virginia 22209 1998, 1999, 2000, 2 001 by National Electrical Manufacturers Association. All rights including translation into other languages, reserved under the Universal Copyright Convention, the Berne Convention for the Protection of Literary and Artistic Works, and the International and Pan Am

21、erican Copyright Conventions.ICS 16- 2001 Page i Contents Foreword v 1 Scope 1 2 Normative references 1 3 Definitions . 3 3.1 Terms common to motion control 3 3.1.1 Acceleration definitions 3 3.1.2 Current definitions . 3 3.1.3 Dielectric strength 4 3.1.4 Direction of rotation . 4 3.1.5 Duty cycle 4

22、 3.1.6 Efficiency . 4 3.1.7 Electrical noise 5 3.1.8 Electrical noise immunity . 5 3.1.9 Electromagnetic interference . 5 3.1.10 Input impedance 5 3.1.11 Lead 5 3.1.12 Moment of intertia 5 3.1.13 Motion cont rol system 5 3.1.14 Pitch 6 3.1.15 Power dissipation 6 3.1.16 Thermal resistance 6 3.1.17 Ro

23、tor . 6 3.1.18 Temperature definitions . 6 3.1.19 Time constant definitions . 7 3.1.20 Torque definitions 7 3.1.21 Torsional resonance 9 3.1.22 Velocity definitions . 9 3.2 Terms common to control motors 9 3.2.1 General terms. 9 3.2.2 Terms specific to servo motors . 13 3.2.3 Terms specific to stepp

24、ing motors 17 3.3 Terms common to feedback devices 25 3.3.1 General terms. 25 3.3.2 Terms specific to encoders . 32 3.3.3 Terms specific to resolvers . 36 3.4 Terms common to control systems 38 3.4.1 General terms. 38 3.4.2 Terms specific to servo motor controls . 39 3.4.3 Terms specific to stepping

25、 motor controls . 41 4 Control motors . 47 4.1 Requirements common to all control mot ors . 47 4.1.1 Ratings 47 ICS 16- 2001 Page ii 4.1.2 Dimensions, tolerances, mounting, and measurement techniques 48 4.1.3 Enclosures 59 4.1.4 Functional tests and performance 66 4.2 Requirements common to all serv

26、o motors . 78 4.2.1 Nameplate markings 78 4.2.2 Maxi mum allowable winding temperature rating 79 4.2.3 Functional tests and performance 80 4.3 Requirements common to all stepping motors 84 4.3.1 Nameplate markings 84 4.3.2 Maximum allowable winding temperature rating 85 4.3.3 Functional tests and pe

27、rformance 86 4.3.4 Alternative test method for stepping motors . 98 4.4 Requirements for brush type servo motors only 106 4.4.1 Functional tests and performance . 106 4.5 Requirements for brushless servo motors only 109 4.5.1 Functional tests and perfo rmance . 109 5 Controls . 113 5.1 Ratings 113 5

28、.1.1 Ambient temperature . 113 5.1.2 Basis of rating 113 5.1.3 Input voltage and frequency rating . 113 5.1.4 Range of operating voltage and frequency 113 5.1.5 Input current ratings 114 5.2 Enclosures 114 5.3 Spacings . 114 5.4 Nameplate markings . 114 5.5 Application information 114 5.5.1 Stepping

29、 motor- drive configurations . 114 5.5.2 Electronically commutated (brushless) motor- drive configurations 117 6 Position and velocity feedback devices 120 6.1 Rotar y encoders . 120 6.1.1 Common requirements . 120 6.1.2 Requirements specific to bearing type encoders 144 6.1.3 Requirements specific

30、to bearingless type encoders 155 6.2 Resolvers 158 6.2.1 Space and mounting requirements . 158 6.2.2 Connections and termi nations 160 6.2.3 Markings and data sheets 160 6.2.4 Application information . 161 6.2.5 Tests and performance . 161 7 Safety requirements for construction, and guide for select

31、ion, installation, and operation of motion control systems 164 ICS 16- 2001 Page iii 7.1 Gen eral considerations . 164 7.2 Motion control system . 164 7.3 Construction 164 7.3.1 Rating and identification plates . 164 7.3.2 Operating and maintenance data 164 7.3.3 Supply circuit disconnecting devices

32、 165 7.3.4 Protection . 165 Annex A Symbols for q uantities and their units . 167 Annex B Index of defined terms 171 ICS 16- 2001 Page iv ICS 16- 2001 Page v Foreword This standards publication covers servo and stepping motors, feedback devices, and controls for use in a motion/position control syst

33、em. The primary purpose of this standard is to assist users in the proper selection and application of the components of a motion/position control system, and to eliminate misunderstandings between manufacturers and users. This standards publication provides technical information and specifications

34、concerning performance, safety, tests, construction, and manufacture for products within the scope of this publication. The information and specifications are based on sound engineering principles, research, and records of test and field experience. This standards publication was prepared by the Pro

35、grammable Motion Control Technical Committee of the NEMA Industrial Automation Control Products and Systems Section. User needs and safety considerations were addressed during the preparation of this standard. This standards publication will be regularly reviewed by the Programmable Motion Control T

36、echnical Committee for any revisions necessary to keep it up-to- date with technological and market changes. Comments or recommended revisions are welcome and should be submitted to: Vice President, Engineering National Electrical Manufacturers Association 1300 North 17th Street, Suite 1847 Rosslyn,

37、 VA 22209 To facilitate consideration by international standards groups, this standards publication has been developed according to the Directives of the International Electrotechnical Commission and the International Organization for Standardization for the drafting and presentation of internationa

38、l standards. This standards publication was approved by the NEMA Industrial Automation Control Products and Systems Section. Section approval of this standard, however, does not necessarily imply that all section members voted for its approval or participated in its development. At the time this sta

39、ndard was approved, the Ind ustrial Automation Control Products and Systems Section consisted of the following members: ABB Control, Inc. Wichita Falls, TX Alstom Drives and Controls, Inc. Pittsburgh, PA Automatic Switch Company Florham Park, NJ Balluff, Inc. Florence, KY Carlo Gavazzi, Inc. Buffalo

40、 Grove, IL CMC Torque Systems Billerica, MA Control Concepts Corporation Beaver, PA Cooper Bussman St. Louis, MO Cummins, Inc. Minneapolis, MN Cyberex Mentor, OH Eaton Corporation Milwaukee, WI Echelon Corporation Palo Alto, CA Electro Switch Corporation Weymouth, MA Elliott Control Company Holliste

41、r, CA ICS 16- 2001 Page vi Entrelec, Inc. Irving, TX Firetrol, Inc. Cary, NC Fisher-Rosemount Systems, Inc. Austin, TX GE Fanuc Automation Charlottesville, VA GE Industrial Systems Plainville, CT Hubbell Incorporated Madison, OH Joslyn Clark Controls, Inc. Lancaster, SC Lexington Switch t i is the t

42、ime period i. ICS 16 2001 Page 4 3.1.2.2 rms current root mean square current I rms current calculated by the formula =ii2irmstt)FF()I(I where FF is the form factor (see 3.1.2.1); I i is the current at period I; t i is the time period i. 3.1.3 dielectric strength ability of insulation to withstand a

43、 voltage with a specified maximum leakage current 3.1.4 direction of rotation direction observed when facing the shaft extension associated with the motor mounting surface NOTE All measurements used in this standard are based on a clockwise direction of shaft rotation. 3.1.5 d uty cycle relation bet

44、ween the on time and the off time of a device NOTE Duty cycle is calculated by the formula %100TimeOffTimeOnTimeOnCycleDuty+= 3.1.6 efficiency h ratio of power output to power input of a machine, expressed as a percentage NOTE Efficiency is calculated by the formula %100PPinout =h ICS 16 2001 Page 5

45、 where P in is the input power; P out is the output power. 3.1.7 electrical noise unwanted electrical energy that has the possibility of producing undesirable effects in the motion control system NOTE Electrical noise includes electromagnetic interference (EMI) and radio frequency interference (RFI)

46、. 3.1.8 electrical noise immunity extent to which the motion control system prevents an electrical noise from producing undesirable effects in the system 3.1.9 electromagnetic interference EMI electromagnetic energy disturbance that manifests itself in performance degradat ion, malfunction, or failu

47、re of electronic equipment 3.1.10 input impedance complex quantity including the capacitive reactance and inductive reactance as well as resistance expressed in ohms measured at a specified frequency and level at the input termin als of the device 3.1.11 lead l distance that a translating load will

48、travel in reaction to exactly one revolution of its ballscrew or leadscrew 3.1.12 moment of inertia J property of matter that causes the mass to resist any change in its motion 3.1.13 motion control system all rotational and linear electric servo and stepping motors and their feedback devices and co

49、ntrols intended for use in a system that provides precise positioning, or speed control, or torque control, or in any combination thereof ICS 16 2001 Page 6 3.1.14 pitch p number of revolutions that a ballscrew or leadscrew must turn to move its translating load exactly one unit of distance NOTE For single start screws, the pitch is typically the inverse of the lead (i.e. l1p = ). 3.1.15 power dissipation P d power loss in any device due to energy expended NOTE Power dissipation is c