Serad Aw

AC Servo Drives with 2AD Motors
Selection guide
DOK-DIAX01-RAC+2AD****-AUS1-EN-E
About this documentation
Title AC Servo Drives with 2AD Motors
Type of documentation Selection data
Documentation no. 9.567.008.4-03 EN / 05.95
Internal file reference Mappe 7/•2ADServo EN
Replaces 9.567.008.4-02 EN / 07.94
The purpose of this This documentation serves to

documentation • familiarize you with the 2AD servo drive system
• specify the available drive data in the form of a selection list
• depict the technical application of the standard and optional functions for
machine tools
• help select a 2AD servo drive
This document helps to

• determine the power------ requirements of the servo drive
• determine and record the motor and drive controller options required
• quickly and effectively contact our Sales/Customer Service Departments
Copyright © INDRAMAT GmbH, 1992

Copying this document, and giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders are
liable for the payment of damages. All rights are reserved in the event of the
grant of a patent or the registration of a utility model or design (DIN 34-1).
Published by INDRAMAT GmbH, Dept. ENA (MR)
Validity All rights are reserved with respect to the content of this documentation and
the availability of the product.
2 AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 •

About this documentation
Selection guidelines
An AC servo drive
with Pmax > 20 kW
is needed
Selecting the motor

Selecting the types of
drive combination Selecting the drive functions Selecting the motor version electrical connections as
per section 2 needed as per section 3 needed as per section 4 per section 5
Motor size and windings, Drive-related functions Types of electrical

Motor version
drive controller and current are selected connections are selected
is selected
intensity and programming
module are selected
specifying the electrical

protocoling the data specifying the drive specifying the motor connections without codes
determined by the controller options without options without codes
power codes
selection protocol for elec. connections

selection protocol of the motor
selection protocol of the drive controller
Processed by the Sales processed with the help of

Department of INDRAMAT the documentation
7. order 8. available
information versions
KDA 3
AC Main Spindle Drive
Project Planning Manual
Project Planning Documentation
these sections can be supplementary

found in this document documentation
determining the codes

of the motor, drive
controller and elec.
connection options
Servo drive order information

Item 1: 2AD motor type codes
Item 2: drive controller order list
Item 3: order grid for
– power connections
– feedback and NC connections
Putting an offer together Requesting an offer
Offer from
INDRAMAT
Sales Department
AuswBest2ADS
Figure: A schematic depiction of the selection and ordering procedure
Angebot
• AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 3

Table of contents
Table of Contents
1. AC servo drives with 2AD motors 7
1.1. AC servo drive for direct connection to the mains ........................... 7

1.2. Selection criteria .............................................................................. 8
1.3. Selection lists and explanations.................................................... 10
1.4. Continuous torque characteristic curve ......................................... 13
2. Working Modes of 2AD Servo Drives 17
3. Functions and features of the RAC 18
3.1. Functions and features for servo applications ............................... 18

3.2. AS programming module ............................................................... 23
3.3. Cooling the drive controller ............................................................ 23
3.4. Mechanical accessories ................................................................. 25
4. Options of the 2AD motors 26
4.1. Mounting ........................................................................................ 26

4.2. Power terminals ............................................................................. 26
4.3. Type of cooling ............................................................................... 26
4.4. Holding brake ................................................................................. 26
4.5. Output shaft ................................................................................... 26
4.6. Shaft seal ....................................................................................... 26
4.7. Stub shaft ....................................................................................... 27
4.8. Shaft bearing .................................................................................. 27
4.9. Vibration severity grade ................................................................. 27
5. Electrical connections 28
6. Selection protocols 30

Table of contents
7. Order information 33
7.1. 2AD motor ...................................................................................... 34

7.2. Drives ............................................................................................. 34
7.2.1. RAC 2.3 drive ................................................................................. 34
7.2.2. RAC 3.5 drive ................................................................................ 35
7.2.3. RAC 4.3 drive ................................................................................. 35
7.3. Electrical connections .................................................................... 36
8. Available versions 38
8.1. RAC 2............................................................................................. 38

8.2. RAC 3............................................................................................. 39
8.3. RAC 4............................................................................................. 40
8.4. 2AD132 main spindle motor ............................................................. 41
8.5. 2AD160 main spindle motor .......................................................... 42
8.9. AS programming module ............................................................... 46
9. Index 47
10. Supplementary documentation 52

1. AC servo drives with 2AD motors

1.1. AC servo drive for direct connection to the
mains
drive controller
AC+RAC2ADS
mains
RAC 2/RAC 3/RAC 4
2AD motor PACC up to 120 kW
Figure 1.1: AC servo drive with RAC drive controller
Mn = 64 … 140 Nm 2AD 132
Mn = 191 … 236 Nm 2AD 160
Mn = 331 … 400 Nm 2AD 180
Mn = 503 Nm 2AD 200
Mn = 592 Nm 2AD 225
AC+2ADS
Figure 1.2: 2AD motors for AC servo drives

1.2. Selection criteria

Servo drives are generally used for feed or transport motions.
The correct dimensioning will enable the machine to achieve required cyclical
movements.
Dimensioning criteria:
1 Maximum torque for the greatest acceleration demands of the machine at
the axis (see selection guides, section 1.3.).
2 Maximum speed for achieving rapid traverse speeds or RPMs of the
machine at the axis (see selection guides, section 1.3.).
3 Operating the drive within the permissible thermal range to achieve
operational "readiness" of the machine (see keyword "required motor size").
Notes on dimensioning:
Matching the moment About 1 and 2 : Rapid traverse speeds and RPMs as well as the acceleration
of inertia requirements are linked to the motor speed by the feed constant CVoror the
transmission ratio "i". CVor or "i" also affect the moment of inertia of the machine
converted in terms of the motor shaft. The most favorable technical coupling
of the drive is achieved if both the motor and the machine have the same
moment of inertia relative to the motor output shaft!
Jmotor : Jaxis = 1:1
as relates to motor output shaft
Motor size About 3 : 2AD servo drives can carry extreme loads. In order to always keep
the motor temperature within the permissible range, the effective torque
demanded of the motor may not be greater than the continuous torque of the
motor. The continuous torque of the motor determines the size of the motor
and is dependent on the speed.
Mn in Nm
Example of a permissible working point

Mn
Meff
permissible thermal range
thermisch zulässiger
Bereich |n|MW n in min-1
DGMd2ADS
Figure 1.3: A continuous motor torque greater than the 2AD servo drive speed

The 2AD servo drive selected for a specific application must be tested for
operation within the permissible thermal range (permissible working point) as
outlined in Figure 1.3.
The effective torque Meff and the arithmetic absolute mean value of the drive
speed |n|MW must first be determined with the help of a representative
positioning cycle:
acceleration
rapid traverse
deceleration
working
acceleration
rapid traverse
deceleration
speed n
n1
n(t) n MW
n2
t
n(t)
tcycle
-n1
torque M
M1
M(t)
Meff
M2
M3
-M3
t
∆t1 ∆t2 ∆t3 ∆t4 ∆t6 ∆t7 ∆t8
tcycle
-M1 ∆t5
Verfahr2ADS
Figure 1.4: A representative servo drive positioning cycle determining |n|MW and Meff
Mean speed: |n|MW tZykl.

1
n MW = • n(t) • dt
tZykl.
°
1 n1 n -n n n n
≈ ∆t1 + n1∆t2 + 1 2 ∆ t3 + n2∆t4 + 2 ∆t5 + 1 ∆t6 + n1∆t7 + 1 ∆t8
tZykl. 2 2 2 2 2
Effective torque Meff

tZykl.
1 2
Meff = M(t)• dt
tZykl.
°
1 2 2 2 2 2 2 2
≈ [M1∆t1 + M3∆t2 + M1∆t3 + M2∆t4 + M1(∆t5 + ∆t6) + M3∆t7 M1∆t8]
tZykl.
XXVerf2ADS
The size of the motor has been correctly selected if the (|n|MW;Meff) working
point is situated within the range of the continuous torque characteristics curve
(see Figure 1.3).
Continuous torque See section 1.4 for the continuous operating curves of 2AD motors for 2AD
characteristics curve servo drives!

Notes on vertical axes The holding torque of the vertical load of vertical axes may be no greater than
60% of the rated torque Mn. This will prevent the drive from a thermal overload
throughout the entire working cycle (stopping + accel/decel + possible working
loads)!
1.3. Selection lists and explanations
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11)
drive programming
nmax Mn Mmax %ED tb JM PCONT PACC motor controller module
duty cycle
min-1 Nm Nm (15min) ms kgm2 kW kW
2800 64 160 162) 99 0.054 17 47 2AD132B-.-BS.3 RAC3.5-200 AS162/018-000

3000 64 80 64 212 0.054 17 25 2AD132B-.-BS.3 RAC3.5-100 AS162/002-000
3000 64 125 262) 136 0.054 17 39 2AD132B-.-BS.3 RAC3.5-150 AS162/001-000
2700 96 225 18 96 0.076 15 64 2AD132C-.-BS.3 RAC2.3-250 AS152/002-000

3000 96 125 59 191 0.076 15 39 2AD132C-.-BS.3 RAC3.5-150 AS162/005-000
1500 96 330 82) 36 0.076 15 52 2AD132C-.-CS.3 RAC3.5-200 AS162/013-000
1800 96 230 172) 62 0.076 15 43 2AD132C-.-CS.3 RAC3.5-150 AS162/003-000
2500 96 110 76 181 0.076 15 29 2AD132C-.-CS.3 RAC3.5-100 AS162/004-000
1600 140 350 16 56 0.118 22 59 2AD132D-.-AS.3 RAC2.3-250 AS152/004-000

1800 140 280 252) 79 0.118 22 53 2AD132D-.-AS.3 RAC3.5-200 AS162/014-000
2000 140 140 1001) 177 0.118 22 29 2AD132D-.-AS.3 RAC3.5-100 AS162/008-000
2000 140 220 402) 112 0.118 22 46 2AD132D-.-AS.3 RAC3.5-150 AS162/007-000
2200 140 280 252) 97 0.118 22 65 2AD132D-.-BD.3 RAC2.3-250 AS152/005-000
1600 191 430 202) 68 0.174 30 72 2AD160B-.-BS.3 RAC2.3-250 AS152/006-000

1600 191 540 13 54 0.174 30 90 2AD160B-.-BS.3 RAC4.3-300 AS182/001-000
1700 191 330 332) 94 0.174 30 59 2AD160B-.-BS.3 RAC3.5-200 AS162/015-000
1700 236 630 142) 65 0.229 37 112 2AD160C-.-BS.3 RAC4.3-400 AS182/004-000

1800 236 490 23 88 0.229 37 92 2AD160C-.-BS.3 RAC4.3-300 AS182/003-000
2000 236 380 39 126 0.229 37 80 2AD160C-.-BS.3 RAC2.3-250 AS152/007-000
1500 331 610 29 96 0.373 52 96 2AD180C-.-BS.3 RAC4.3-300 AS182/005-000

1500 331 760 192) 77 0.373 52 119 2AD180C-.-BS.3 RAC4.3-400 AS182/006-000
1600 331 400 682) 156 0.373 52 67 2AD180C-.-BS.3 RAC2.3-250 AS152/008-000
1500 400 710 322) 100 0.45 63 112 2AD180D-.-BS.3 RAC4.3-400 AS182/008-000
1600 400 540 55 140 0.45 63 90 2AD180D-.-BS.3 RAC4.3-300 AS182/007-000
1500 503 780 422) 133 0.66 79 123 2AD200C-.-AS.3 RAC4.3-400 AS182/009-000
1) continuous drive output PD=26 kW

The mean output value of a cycle must not exceed continuous drive power PD!
Duty cycle time equals a maximum of ten minutes.
PD
EDRegler = x 100%
Pmax
2) Duty cycle time here only equals two minutes!

Figure 1.5: AC servo drive with a 2AD motor and an RAC drive - selection lists

Explanations regarding
the selection lists
(1) nmax The maximum usable speed n max of a 2AD servo drive in a closed position
Maximum usable control loop of an NC control unit. Maximum torque M max (3) is hereby
NC speed available. This speed is not the maximum speed of a 2AD motor.
(2) Mn The 2AD motor can generate this torque during continuous operation
Basic torque • with a speed of 0 to 1500 min -1 and
• an ambient temperature of up to 45° C.
An overtemperature of 100 K will develop at the motor windings in accordance
with the thermal time constant. The continuous torque for higher speeds is
depicted in the continuous torque characteristics curve in section 1.4!
The motors should only be operated with fans!
(3) Mmax The maximum torque indicated is available with 90% line voltage during
Maximum torque intermittent operations, acceleration and deceleration with the percent ON
time as indicated in column "%ED" (4) (operating mode S6 per DIN 57 530/
VDE 0530).
(4) % ED The torque Mmax (3) indicated in column "%ED" can be used during intermittent
Per cent ON time operations with a per cent of the ON time (operating mode S6 per DIN 57 530/
VDE 0530, duty cycle time 15 min.). ON time can be calculated as follows for
lesser torques MKB:
2
Mn
ED = x 100%
MKB
ED ON time (%)
Mn basic torque (Nm)
MKB short-time operating torque (Nm)
(5) tB Accelerating time of a 2AD motor to n max,or decelerating time of nmax to zero
Accel/decel time speed:
• with stepped speed command values in the speed control loop
• without load moment of inertia and holding brake moment of inertia
• without load torque
(6) JM The values listed apply to motors without holding brakes!

Moment of inertia of
the rotor
MdN

(7) PCONT Output of the 2AD servo drive calculated with basic torque Mn and maximum
speed up to the point where basic torque is available. (See section 1.4.)
This value can be used when dimensioning the mains supply line if no typical
working cycle is known. If the mean output value of the working cycle is smaller,
then smaller dimensions can be used for the mains supply line. (See "Electrical
connections of main spindle drives"; Project Planning Manual, doc. no. 209-
0042-4111, see "RAC mains connection data").
(8) Output of the 2AD servo drive calculated at maxiumum torque Mmax and
maximum usable NC speed nmax.
(9) Motor Type information of the 2AD motor which determines power.
(10) Drive controller Type information of the RAC drive controller which determines power.
(11) Programming The set drive data is made available. The drive controller is adapted to the
module motor with the use of the appropriate programming module.

1.4. Continuous torque characteristic curve

2AD132B -…- BS with
AS 152/… or AS 162/…
80
80
60
Md /Nm 60
40
40
20
20
00
00 500
500 11000
000 1500
1 500 22000
000 22500
500 33000
000
-1
n/min
Figure 1.6: 2AD132B -…- BS with AS 152/… or AS 162/…
2AD132C -…- BS with

AS 152/… or AS 162/…
100
100
80
80
Md /Nm
60
60
40
40
20
20
0
0
00 5500
00 11000
000 11500
500 22000
000 2 52500
00 3 03000
00
-1
n/min
Figure 1.7: 2AD132C -…- BS with AS 152/… or AS 162/…
2AD132C -…- CS with

AS 152/… or AS 162/…
1100
00
880
0
Md /Nm
660
0
440
0
220
0
0
0
00 5500
00 11000
000 11500
500 22000
000 2500
25 00
n/min-1
Figure 1.8: 2AD132C -…- CS with AS 152/… or AS 162/…

2AD132D -…- BD with

AS 152/… or AS 162/…
1160
60
150
1140
40
130
Md /Nm 1 20
120
110
1100
00
90
880
0
70
660
0
50
440
0
30
220
0
10
00
00 500
5 00 11000
000 11500
500 22000
000
n/min-1
Figure 1.9: 2AD132D -…- BD with AS 152/…or AS 162/…
2AD132D -…- AS with

AS 152/… or AS 162/…
1 6160
0
1 4140
0
1 2120
0
Md /Nm
1 0100
0
80
80
60
60
40
40
20
20
00
0
0 5500
00 11000
000 1 1500
500 2000
20 00
n/min-1
Figure 1.10: 2AD132D -…- AS with AS 152/… or AS 162/…
2AD160B -…- BS with

AS 152/…, AS 162/… or 182/...
2 0200
0
175
Md /Nm
1 5150
0
125
1 0100
0
75
5 50
0
25
00
0 500 1000 1500 2000
0 500 1000 1 5 0 0 n/min-1 2000
Figure 1.11: 2AD160B -…- BS with AS 152/… or AS 162/…


AS 152/… or AS 182/…
2 5250
0
2 0200
0
Md /Nm
1 5150
0
1 0100
0
5 50
0
00
0
0 5500
00 11000
000 11500
500 22000
000
-1
n/min
AS 152/… or AS 182/…
40 0
400
350
300
Md /Nm3 0 0
250
200
20 0
150
100
10 0
50
00
0
0 200 400 5 0 0600 800 11000
000 1200 14001 5 0 0
1600
-1
n/min
2AD180D -…- BS with AS 182/…
450
4 0400
0
Md /Nm 350
3 0300
0
250
2 0200
0
150
1 0100
0
50
00
0 200 400 600 800 1000 1200 1400 1600
0 500 1000 n/min -11 5 0 0
Figure 1.15: 2AD180C -…- BS with AS 182/…

2AD200C -…- AS with AS 182/…
5500
00
Md /Nm 4400
00
3300
00
2200
00
1100
00
0
0
0 200 400 600 800 1000 1200 1400 1600
0 500 1000 1500
-1
n/min
Figure 1.15: 2AD200C -…- AS with AS 182/…
2AD225C -…- AS with AS 182/…
6 600
00
Md /Nm
5 500
00
4 400
00
3 300
00
2 200
00
1 100
00
00
0
0 200 4005 0 0 600 800 1 1000
000 1200 1400 1600
1500
-1
n/min
Figure 1.16: 2AD225C -…- AS with AS 182/…

2. Working Modes of the 2AD Servo Drives
2. Working Modes of 2AD Servo Drives
In conjunction with
NC control units
2AD servo drives offer
three working modes
(can be switched during operation)
Mode: Mode: Mode:

position control speed control torque control
single master-slave
drive drive
Figure 2.1: An overview of the working modes
Position control This mode is only possible in conjunction with the drive option "SERCOS
velocity command value interface". The 2AD servo drive with this interface
can, however, also be operated in speed and torque control.
Speed and torque These modes are available with all speed command value options of the drive.
control The master-slave drive can also be implemented in addition to the single servo
drive where torque must be increased. The drives with the "Option: velocity
command value, analogue, ± 10V" offer the necessary functions in this case.
Switching modes The working modes of a 2AD servo drive can be switched during operation by
means of control signals from the NC control unit. This is generally not needed,
although it can be helpful if the drive must generate constant force of pressure
("approaching dead stop") in addition to rapid traverse and feed actions. In this
case, the drive can, for example, be operated either torque or speed controlled.
The relevant working mode is defined by switchable parameter blocks.
INDRAMAT drives are equipped with six parameter blocks. Two of these are
constantly active (parameter blocks A and M). One of the four other switchable
parameter blocks is also always active.
Parameter block A (general parameters)
parameter block parameter block parameter block parameter block

P Q R S
(e.g., speed- (e.g., torque (e.g., unused) (e.g., unused)
controlled operation) controlled operation)
Parameter block M (motor parameters)
Figure 2.2: Use of parameter blocks. Parameter blocks P, Q, R and S are switchable
during operation

3. Functions and features of the RAC
With respect to the range of their functions, the RAC drive controllers have
been designed for main spindle applications. Given their high level of power
and control performance, however, they are also suited for servo applications.
The functions and features relevant to the servo applications are described
only briefly at this point, however. For a detailed description, please see the
document entitled: "AC main spindle drives with 2AD main spindle motors and
1MB frameless spindle motors"; Applications manual, doc. no. 209-0041-
4109.
Note:
If the required function is labelled with "Option", then please record it in the
selection protocol (section 6). The marginal notes on the left will draw your
attention to it!
3.1. Functions and features for servo applications

Speed control Two different speed control unit settings are possible in all of the parameter
unit settings blocks that can be switched during operation. These can be automatically
activated dependent upon the speed of the drive, if different speed control unit
settings are necessary for feed and rapid traverse operations.
Torque limit With the use of a command from the NC control unit, the torque of the 2AD
servo drive can be limited to a per cent value of the maxiumum torque. This
per cent value can be set. This can be advantageous at start-up, or necessary,
depending on the working cycle.
Speed command value With this option, the drive controller is equipped with two differential inputs.
analogue ±10 V The command value is read in a clocked sequence of 1.1 ms.
When working the drive in rapid traverse/feed and "approaching dead stop",
the drive needs both the speed and torque command values. Both command
value lines can be permanently wired into place. The two differential inputs are
switched during operation via the switchable parameter blocks upon command
by the control unit.
Speed command value This option guarantees a high level of command value precision with small
digital, 16 bit parallel command values and large transmission lengths.
SERCOS interface This option offers command value setting with the highest degree of
performance. In addition to transmissing the command value (position, speed
or torque command value), it also transmits the actual value and the diagnostics
of the drive.

High-resolution The drive must be equipped with a speed detection device that permits
motor feedback sufficiently precise speed control, if it necessary to achieve a uniform rotating
evaluation motion of the drive even with very slow speeds.
Standard 2AD motors are equipped with a high-resolution motor feedback.
Given the evaluation of 1/2 000 000th of a revolution, the speed command
values can be precisely adjusted.
Incremental 2AD servo drives can be equipped with an interface which issues position
encoder output information in a fashion similar to that of an incremental encoder. This position
information is picked up off of the high-resolution motor feedback on the 2AD
motor (standard).
The incremental encoder output (option additional interface) operates like a
conventional incremental encoder with the only difference that the number of
lines can be set via parameters.
The incremental encoder is an option. It no longer needs to be

mounted to the drive controller, as previously was the case, if 2AD
servo drives are used!

Functions for If the torque of a 2AD servo drive does not suffice to meet the demands of the
master-slave drive tasks, then it is possible to couple two identical drives together using the
mode master-slave principle.
NC
control unit
speed
command
value
X4 motor supply line
power drive controller
(master) motor feedback
X3
X2
motor (master)
tandem gears
torque Mab
command
value
Pab
motor (slave)
X4
motor feedback
X3
power
drive controller
(slave) motor supply line
FSMS2ADS
Figure 3.1: Coupling two drives using the master-slave principle
Torque output To be able to work as a master-slave drive, the master must transmit the torque
command value to the slave. With 2AD servo drives, this command value can
be output via a switchable analogue output.
Torque control When in master-slave mode, the slave must be operated torque-controlled.
The torque command value is read in via an anlogue input. (Option: speed
command value, analogue ±10 V).
With 2AD servo drives, the switchable parameter blocks are used to determine
whether the drive is operated speed or torque controlled (slave).

Direct mains RAC drive controllers have been designed for direct mains connection to
connection (with RAC) grounded threephase networks. They are equipped with an integral mains
contactor which is switched by the control unit of the machine using a potential
free contact. No other line condition devices are needed if the mains voltage
remains within the range of 3x AC (400 ... 460) V; (50, 60) Hz (option power
supply).
Direct mains connection is possible with ungrounded threephase networks in
the above range, if unacceptable overvoltages occur for only short periods and
these are of low energy content (static loads, a rise in voltage due to lightning
stroke and so on). In this case, the RAC must be protected with an overvoltage
suppressor (option: power line conditions).
E-stop/power failure
function
E-stop power off The E-stop power off is integrated into the RAC. No additional circuitry is
(with RAC) required for the cutoff logic.
In addition, the energy generated during braking is fedback into the mains.
There are two possibilities for bringing the drive to a standstill in an E-stop
situation:
• speed command value internally switched to zero and load is interrupted
with motor standstill, activated by the control input
• the NC control unit externally initiates speed command to zero and power
is switched off with motor standstill
Functions for powering Even if the threephase network supplying the power fails, the 2AD servo drive
down the network can brake because it is guided by the speed command value. The option
"additional bleeder" is required in this case.
There are two methods of braking with servo applications:
• internal speed command value to zero, braking with maxiumum torque
• NC guided braking via speed command value whereby braking is dependent
on the machine process (e.g., separating workpiece and tool in gear cutting
machines)
Mains regeneration

Servo-application
messages
"Direction of force is During master-slave operations, both drives must conduct their energy onto
correct" a mutual shaft. The direction of the force of the slave must be identical to that
of the master. If this should not be the case, then this is signalled to the control
with the overload message. This makes commissioning simpler and safer.
"Temperature pre- As a result of the overload capabilities of 2AD motors it is possible to realize
warning" load cycles during which significantly more than continuous torque is demanded
of the motor for a short period. The correct dimensioning of the drive
guarantees that the temperature of both motor and drive controller always
remains within the permissible temperature range. If, for example, the cooling
system of motor or drive controller should for some reason fail (due to
contamination or something similar), then the drive can be damaged by
overheating.
2AD servo drives are protected against damage from overheating:
• If the temprrature of motor or drive controller should approach the limit of the
permissible temperature range, then the message "temperature pre-warning"
is signalled to the NC control unit.
• If the motor temperature should continue to rise, then the drive independently
switches off upon reaching the maxiumum permissible windings temperature.
This also applies to a steadily rising heatsink temperature.
"Ready" The NC control unit can only begin to process a program when the machine
has been switched on it has ascertained that all connected drives can process
the relevant commands and command values. With 2AD servo drives, this is
signalled to the NC control unit by means of a potential free contact and via a
signal output.
Analogue output 2AD servo drives have two outputs. One is bipolar (-10 V to +10 V), the other
is unipolar (0 to +10 V).
To make commissioning easier, such status variables of the drive as motor
speed (command and actual values), torque command values, rotor position
as well as voltage, current and power of the DC bus and motor windings
temperature can be generated as analogue voltage of 10 V ... +10 V.
The bipolar analogue output can be permanently assigned via parameters
with the speed or torque command value, power or temperature output while
the machine is running. The unipolar analogue output can be assigned with the
torque command value.
Current

3.2. AS programming module

The drive controller is adapted to the 2AD motor by means of the AS
programming module which is simply plugged in. The power data of the 2AD
servo drive are also implemented in this fashion. INDRAMAT offers an
appropriate AS programming module for every 2AD servo drive it supplies
(see selection list).
2AD servo drives are micro-processor controlled.
Rapid The AS programming module makes the servo drive immediately ready for
commissioning of the operation upon commissioning without the need for any adjustment work . The
drive only pre-requisite is professional and competent connection and commissioning.
2AD servo drives can be adapted to meet the conditions of the machine and
the functional demands of the application with the use of parameters.
Advantages The operating software and the parameters are stored in the AS programming
when replacing module. In the event that it should become necessary to replace a machine,
units it is not necessary to re-set the drive. The motor is immediately adapted to the
machine by plugging in the programming module already in use.
Duplication It is easy to duplicate programming modules for other machines or simply to

secure the information. A parameter duplicating adapter (option: accessories)
can be used, or a serial interface (option: additional interface) and a PC or
something similar.
3.3. Cooling the drive controller

The heatsink for the power electronics and the blower are built into the RAC.
The air is conducted in an air duct through the unit.
Two possible cooling RACs can be cooled with the use of air outside or inside the control cabinet.
methods Either possibility can be realized in every RAC. Any changes are simple and
can be made without the use of accessories.

Cooling with air inside The air is drawn off from inside the control cabinet and then blown out again.
the control cabinet
Cooling with air outside The air is taken in from outside the control cabinet through vents in the control
the control cabinet cabinet backwall and then blown out again. The dissipated heat is released to
the air outside the control cabinet.
cooling with air outside cooling with air inside

the control cabinet the control cabinet
air out
air in
air out
air in
RAC 2 RAC 2
RAC3 and RAC 3 and
RAC 4 RAC 4
air in
air out
air in air out

back panel of back panel of
control cabinet control cabinet
Kühl2ADS
Figure 3.2: Possible RAC cooling methods
Hose cooling If for technical reasons it should not be possible to equip the backwall of the
control cabinet with vents, then the RACs can also be cooled with the use of
a hose.
The air is then taken in via a hose mounted outside of the control cabinet and
then blown out again.
air out
L-
X6
L+
DANGER HIGH VOLTAGE

DISCHARGE TIME
Entladezeit 1Min.
Q1
N L L1 L2 L3 A1 A2 A3 X 14
220 V
Steuerspannung Netz/Mains Motor
Aux. Voltage
AC-MAINSPINDLE DRIVE RAC 2
air in
RAC 2
RAC 3 (RAC 4)
X1
AC-MAINSPINDLE DRIVE RAC 3
X13 X4 X5
AS
SWITCH OFF VOLTAGE BEFORE
CHANGING MODULE AS
X2 X3
Prog. Modul AS nicht unter Spannung wechseln
X13 X4 X5
AS
SWITCH OFF VOLTAGE BEFORE
CHANGING MODULE AS
X2 X3
Prog. Modul AS nicht unter Spannung wechseln
air in
air out
Schl2ADS
Figure 3.3: Hose cooling in an RAC
For hose cooling (option: "cooling") extra parts are required. These parts are
supplied as accessories. The hose itself is not included in these accessories,
but can be obtained from INDRAMAT.

3.4. Mechanical accessories

An assembly frame is needed when mounting the RAC 2 and RAC 4 drives.
It braces the backwall of the control cabinet or the assembly panel, bears the
fastening threads and creates a flat mounting surface.
The control cabinet is completely sealed because the sealing elements of the
drive controller fit closely to the flat surface of the assembly frame. The control
cabinet is seal-tight. The heatsinks can even be cleaned with water from the
outside.
The assembly frame including all the fastening threads are a part of the
mechanical accessories that come with the drive controller at delivery.

4.Options of the 2AD motors
4. Options of the 2AD motors

The motors used with 2AD servo drives are designed for main spindle
applications. Due to their high overload capabilities, however, they are also
suited for servo applications. The options of the 2AD motors are only briefly
discussed at this point. A detailed description can be found in the relevant
motor documentation. Each of the following options necessitates a decision,
which should be recorded the selection protocol of the motor.
4.1. Mounting
2AD motors are available for either flange or flange and foot mounting.
4.2. Power terminals

The position of the power terminals and the output direction of the power
terminals can be selected to meet the demands of different mounting options.
4.3. Type of cooling

2AD motors are surface cooled. They are available in a slender design for
mounting either an axial or a radial blower to side B.
The air is conducted from side B to side A of the motor and taken in, in the
opposite direction, if an axial blower is used for cooling.
If a radial blower is used, then the air is always conducted from B to A.
4.4. Holding brake

A holding brake makes it possible to clamp the axis into place once the power
supply to the motor has been switched off.
For servo applications, 2AD motors are available with heavy-duty electrically
released or clamped holding brakes!
4.5. Output shaft

The drive elements (pulley, coupling, pinion) should preferrably be coupled
with a non-positive shaft-hub connection. This is recommended because it
increases running smoothness and offers a backlash-free connection between
shaft and hub. The motors have a cylindrical, smooth shaft for this purpose.
If a non-positive shaft-hub connection cannot be used, then the motors can be
supplied with a keyway.
4.6. Shaft seal

Îf the motor is flange mounted to an oil-bath gearbox, then oil can penetrate
the drive shaft. This means that oil can also penetrate into the motor and cause
problems. The motor must have a shaft seal in this case.

4.Options of the 2AD motors
4.7. Stub shaft

It is sometimes necessary with servo applications to mount an additional
actual position encoder (absolute encoder).
The motors can be equipped with a stub shaft for this purpose (this is only
available in conjunction with radial blowers).
4.8. Shaft bearing

High radial loads of the shaft bearings can occur when using pulleys to
transmit loads. A heavy-duty bearing is available for applications of this kind.
4.9. Vibration severity grade

2AD motors are available with varying vibration severity grades for meeting
special technical demands. Vibration severity grade R generally suffices for
servo applications.

5. Electrical connections
Standard The electrical connections throughout the entire 2AD servo drive program
have been standardized with the aim of focusing the variety of cables.
Categories There are three categories of 2AD servo drive electrical connections:
• Power terminals
– connections of the motor to the drive controller
– RAC drive connections to the threephase network
• Feedback and NC connections
the same connector assignments independent of the drive and type of
motor.
• Connections specific to the drive for contacts of the control circuitry with an
RAC.
Designs The connections of all three categories (with the exception of the drive-specific
connections in RACs) can be purchased as ready-made cables. They guarantee
trouble-free and rapid assembly of both machine and control cabinet.
Electrical connections are also available as individual parts. INDRAMAT
supplies all necessary parts such as cables and connector accesories for
customized assembly.
The choice of design can be recorded without coresponding codes in the
"selection protocol, electrical connections". Such specialties as control cabinet
leadthroughs, intermediate clamps, intermediate couplings and so on, can be
noted. Otherwise, direct connections apply.
Power terminals
Power terminals
ready-made individual parts
no additonal connectors to the motor:

or cable accessories - power connector / ring
required! terminals on the motor
- ferrules / ring terminals on the
drive
- cables
to the threephase network (with
RAC)
- ferrules / ring terminals
- cables
Figure 5.1: Determining the power connections

Feedback
and NC connections
Feedback and NC connections
only ready-made partially individual

ready-made parts exclusively
no additional connector additional connectors and basically:

or cable accessories cables for those - plug-in connector set
required! connections where (on the drive)
ready-made cables are - cables
not used - individual connectors
(on the feedback or
NC)
Figure 5.2: Determining the feedback and NC connections
If only individual parts are used for the feedback and NC connections, then the
accessories kits will guarantee a complete connection to the drive with an
appropriate plug-in connector.
Connections on the
drive
Connections on the drive
not ready-made with

RAC
plug-in connector without

lines to the contacts of
the integrated mains
contactor (is included in
the electrical connecting
accessories of the RAC)
Figure 5.3: Determining the drive-specific connections
The connections on the drive controller are always necessary!

6. Selection protocols
The selection protocols are meant to help determine and record, in an
uncoded fashion, the options of the motor and the drive as well as the types
of electrical connections.
There are three selection protocols:
• the drive controller selection protocol
• the 2AD motor selection protocol
• the electrical connections selection protocol
Completing Record the type information of the drive controller, programming module and
2AD motor, which determine the power, in the selection lists at the underlined
positions!
A decision must be made at every position in the protocol. The decision must
be recorded with a check! There should be only one check per position!
The basis for an offer The completed protocol should be sent to INDRAMAT. It will serve as the basis
for an offer.

RAC drive controller selection protocol

for a servo drive with 2AD _ _ _ _
Power-determining type information

main spindle drive: RAC 2.3 - __ __ __ - • • • - • • • - • •
RAC 3.5 - __ __ __ - • • • - • • • - • •
RAC 4.3 - __ __ __ - • • • - • • • - • •

programming module: AS 152 / __ __ __ - 000
AS 162 / __ __ __ - 000
AS 182 / __ __ __ - 000
Speed command value: analogue (+/- 10 V)

digital, (16 bit parallel)
SERCOS interface
Auxiliary encoder input: X without auxiliary encoder input

(as generally not required with servo
applications!)
Additional interface: incremental encoder output (with 2AD servo drive

no longer required!)
serial interface (RS 232 C)
without additional interface
Mains voltage: 3 x AC 400 V, -15%, +10%, 50 ... 60 Hz

3 x AC 400 V, ±15%, 50 Hz; 3 x AC 460 V ±10%, 60 Hz
other mains voltages, 3 x _____ V, ____ Hz
Mains conditions: grounded mains

ungrounded mains
Auxiliary bleeder: braking at maxiumum torque with power failure

or guided by NC control unit (with auxiliary bleeder)
braking not needed with power failure
(without auxiliary bleeder)
Cooling: hose cooling

no hose cooling
Accessories: parameter duplicating adapter

no parameter duplicating adapter
Figure 6.1: Drive controller selection protocol

2AD motor selection protocol,

for servo drives with drive controller RAC _ . _ – _ _ _
main spindle motor: 2AD __ __ __ __ - B • • • • • - __ __ • 3 - • • • •
Mounting: flange mounting

foot mounting
Power terminals: power terminals on top only with 2AD132!: terminal box
power terminals on right connector
power terminals on left
power terminal output direction to side A

power terminal output direction to side B
power terminal output direction to the right
power terminal output direction to the left
Cooling: axial blower with air flow B ——> A (blowing)

axial blower with air flow A ——> B (taking in)
radial blower
Holding brake: electrically released, heavy-duty

without holding brke
Output shaft without keyway

with keyway
Shaft sealing ring: yes

no
Shaft end on side B: yes

no
Shaft bearing: standard

reinforced bearing
Vibration grade: R (generally sufficient for servo applications)

S
other _______
Figure 6.2: 2AD motor selection protocol
Selection protocol for the electrical connections,

2AD servo drive with RAC drive controller
Power terminals to the motor: ready-made specialties ______________
individual parts no specialties
none
Power terminals to the three- ready-made specialties ______________

phase network (with RAC): individual parts no specialties
keine
Feedback and ready-made specialties ______________

NC connections: ready-made and indiv. no specialties
individual parts1)
none
1)
Drive-specific terminals are Place a check in the grid next to the connector accessories kit option!
always required!
Figure 6.3: Selection protocol for the electrical connections

7. Order information
It is now necessary for placing the order to translate the decisions reached
when filling out the selection protocols into type designations (codes). Use
either the "Available Options" or "Standard Delivery Program" found in section
8 for this purpose.
The following must be ordered to obtain a fully functional 2AD servo drive
which is ready for installation and assembly:
• a 2AD motor
• a drive controller with all necessary additional components and a
programming module
• and the electrical connections.
Section Item The components of a 2AD servo drive
2AD motor
7.1 1. (grid of type designations)
RAC 2 RAC 3 RAC 4

7.2 2. drive drive drive
(order list) (order list) (order list)
7.3 3. electrical connections

(order grid, power connections,
order grid feedback + NC connections)
Figure 7.1: Summary of servo drive items with 2AD motor
Motor Grid of type designations (see section 7.1.) with information about
supplementary documentation.
Drive Order list with grid of type designations for drive, programming module and the
necessary additional components for
• RAC 2.3, (see section 7.2.1.)
with information on supplementary documentation.
Electrical connections There is an order grid for both the power terminals, feedback and NC
connections (see section 7.3) with information on supplementary
documentation.

To simplify the type identification of the electrical connections, and to

unequivocally allocate drive controller and 2AD motor, please note the
respective type designations of the relevant motor and drive in the order grid!
The type codes of the electrical connections can be noted by either placing a
check or the amount required in the order grid!
7.1. 2AD motor

About item 1.0: Conversion selection protocol --> type designation using
"Standard Delivery Program" (sections 8.8. to 8.12.)
Item Article Supplementary documentation
1.0 Motor "2AD main spindle motors;

2AD__ __ __ __-B__ __ __ __ __-__ __ __3-__ __ __ __ Project Planning Manual"
doc. no. 209-0042-4122
Figure 7.2: Type designation grid for 2AD main spindle motors
7.2. Drives
7.2.1. RAC 2.3 drive
About item 2.1: Conversion selection protocol --> type designation using "RAC
2.3 available versions" (section 8.3.)
About item 2.5: see selection protocol
2.1 Drive
RAC 2.3-__ __ __-__ __ __-__ __ __-__1
2.2 Electrical connecting accessories

E1-RAC
2.3 Mechanical accessories

M1-RAC 2 "RAC 2, main spindle drive;
Project Planning Manual",
2.4 Accessories (delete if not applicable) doc. no. 209-0042-4115
• PDA (parameter duplicating adapter)
• hose cooling M2-RAC 2
• hose Ø125, part no.: 238354
2.5 Programming module

AS 152/__ __ __-000
(AS 156/__ __ __-000, if drive has SERCOS interface)
Figure 7.3: Order list for RAC 2.3 drive

"RAC 3.5 available versions" (section 8.4.)
2.1 Drive
RAC 3.5-__ __ __-460-__ __ __-__1-220

E1-RAC
2.3 Accessories (delete if not applicable) "RAC 3, main spindle drive;

• PDA (parameter duplicating adapter) Project Planning Manual",
• hose cooling M1-RAC 3 doc. no. 209-0042-4116
• hose Ø80, part no.: 239312
• hose Ø125, part no.: 238354

AS 162/__ __ __-000
"RAC 4.3 available versions" (section 8.5.)
2.1 Drive
RAC 4.3-__ __ __-460-__ __ __-W__

E1-RAC
2.3 Mechanical accessories

M1-RAC 4 "RAC 4, main spindle drive;
Project Planning Manual",
2.4 Accessories (delete if not applicable doc. no. 209-0042-4113
• PDA (parameter duplicating adapter)
• hose cooling M2-RAC4
• hose Ø125, part no.: 238354

AS 182/__ __ __-000

7.3. Electrical connections
Order grid for power terminals
Motor selected 2AD__ __ __ __-__ __ __ __ __-__ __ __ __-__ __ __ __
Drive controller selected RAC__ __-__ __ __-__ __ __-__ __ __-__ __
Handling When ordering ready-made cables or individual parts for a motor type
place an x or an amount 1 in the left margin of the
relevant field.
comment
ready-made Construction of a ready-made cable for direct connection
Motor cable / (length)
for direct on the drive
connections line / (length) on the motor
Power connector IKL 134/… Ring terminals IN 205/… Connector IN 172

2AD 132B-.-BS.3
Terminal box IKL 136/… Ring terminals IN 205/… Ring terminals
Power connector IKL 150/… Ring terminals IN 206/… Connector IN 172
2AD 132C-.-BS.3
Power connector IKL 134/… Connector IN 172
2AD 132C-.-CS.3
Terminal box IKL 136/… Ferrules IN 205/… Ring terminals
Power connector IKL 150/… Connector IN 172
2AD 132D-.-AS.3
Terminal box IKL 151/… Ferrules IN 206/… Ring terminals
Power connector IKL *) Ring terminals IN 207/… Connector IN 172
2AD 132D-.-BD.3
2AD 160B-.-BS.3 IKL 172/… Ferrules (RAC2) IN 207/… Ring terminals
IKL *) Ring terminals (RAC4)
2AD 160C-.-BS.3 IKL 182/… Ferrules (RAC2) IN 267/… Ring terminals

2AD 180C-.-BS.3 IKL 182/… Ferrules (RAC2) IN 267/… Ring terminals

2AD 180D-.-BS.3 IKL 191/… Ring terminals IN 268/... Ring terminals

2AD 200C-.-BS.3 2x IKL 175/... Ring terminals 2x IN 207/... Ring terminals
2AD 225C-.-BS.3 2x IKL 183/... Ring terminals 2x IN 267/… Ring terminals
Specialties in the electrical construction such as leadthroughs, isolation points, etc. and environmental
conditions not included in the standards as outlined in VDE 0113 should be noted in the "comment" column!
Supplementary documentation: Electrical connections of main spindle drives, Project Plan. Manual, no. 209-0042-4111
*) Available, type designations upon request from INDRAMAT, Dept. ENT
Figure 7.6: Ordering the power connections for a 2AD servo drive

Order grid for feedback and NC connections
2AD_ __ __ __-B__ __ __ __-__ __ __ __-__ __ __ __

Motor selected
Drive controller selected RAC__ __ -__ __ __-__ __ __- -__ __
functional options
• When ordering ready-made cables or individual parts for a motor type

Handling
place an x or an amount 1 in the left margin of the
relevant field.
• If only individual parts are used for the connections, then order
connector accessories kit S • - • • • to expedite processing.
ready-made ready-made cable parts
comment
cable/(length) D-sub plug-in
Drive interfaces connector on the drive
on feedback
KDA/TDA RAC KDA/TDA RAC line/(length) or NC
control input
standard
to the NC signal and IKS 610/ IN 293 IN 271/ ferrules

analogue outputs .... ....
motor feedback IKS 315/ IN 209/

to the feedback connection IN 290
....
IN 401
....
analogue IKS 045/ IN 233/ ferrules

A ....
IN 287
....
digital IKS 612/ 215 896

speed
D 16 bit parallel .... IN 291 ....
ferrules
command
SERCOS IKO 984/
L interface ....
about the functional options
without
add. encoder
O input
add.
encoder
input
O none
incremental IN 209/
add. I encoder output
IKS 620/
....
IKS 618/
....
IN 328 IN 289 ferrules
interface ....
serial
IKS 015/ IKS 016/ IN 234/
S interface RS
.... ....
IN 296 IN 292
....
IN 291
232-C
connector S1- S2-
(as per functional
accesories options)
Specialties in the electrical construction such as leadthroughs, angle connectors, etc. must be noted in column "comments"!
Supplementary documentation: "Electrical connections for main spindle drives; Project Plan. Manual, no. 209-0042-4111
Figure 7.7: Ordering feedback and NC connections for 2AD servo drives

8. Available versions
8.1. RAC 2
abbrev. 1 2
column 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2
Example: R A C 2 . 3 - 1 5 0 - 3 8 0 - AP 0 - W1
1. Product group
1.1 RAC . . . . . . . . = RAC
2. Version
2.1 2 . . . . . . . . . . . . . . . . . . . .= 2
3. Design
3.1 3 . . . . . . . . . . . . . . . . . . . . . . . .= 3
4. Rated current
4.1 150 A . . . . . . . . . . . . . . . . . . . . . . . . = 150
4.2 200 A . . . . . . . . . . . . . . . . . . . . . . . . = 200
4.3 250 A . . . . . . . . . . . . . . . . . . . . . . . . = 250
5. Rated a.c.-side voltage

5.1 3 x AC 400 V, +6%-15 %, 50...60 Hz . . . . . . . . = 380
5.2 3 x AC 400 V, ±15 %, 50 Hz or
3 x AC 460 V, ±10 %, 60 Hz . . . . . . . . . . . . . . .= 460
6. Speed command value

6.1 analogue (± 10 V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = A
6.2 digital (16 bit parallel) . . . . . . . . . . . . . . . . . . . . . . . . . . = D
6.3 SERCOS interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = L
7. Auxiliary encoder input 1

7.1 without auxiliary encoder input . . . . . . . . . . . . . . . . . . . . . = 0
7.2 auxiliary encoder input for spindle or 2nd motor feedback = P
7.3 auxiliary encoder and synchronous input. . . . . . . . . . . . . . = Y
8. Additional interfaces
8.1 without additional interfaces . . . . . . . . . . . . . . . . . . . . . . . . . =0
8.2 position command value, digital (16 bit parallel) . . . . . . . . . . =D
8.3 serial interface (RS 232 C) . . . . . . . . . . . . . . . . . . . . . . =S
8.4 incremental encoder output . . . . . . . . . . . . . . . . . . . . . . . . . . =I
9. Auxiliary bleeder
9.1 without auxiliary bleeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = W
9.2 auxiliary bleeder (for braking with power failure) . . . . . . . . . . . . . = Z
10. Cooling
10.1 with built in fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
Comment:
1 Auxiliary encoder input "Y" only possible with "analogue" speed command value
Figure 8.1: 8. Available versions RAC 2

8.2. RAC 3
abbrev. 1 2
column 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6
Example: R A C 3 . 5 - 1 5 0 - 4 6 0 - A P 0 - W1 - 2 2 0
1. Product group
1.1 RAC. . . . . . . . . = RAC
2. Version
2.1 3 . . . . . . . . . . . . . . . . . . . . . . = 3
3. Version
3.1 5 . . . . . . . . . . . . . . . . . . . . . . . . . . = 5
4. Rated current
4.1 100 A . . . . . . . . . . . . . . . . . . . . . . . . . = 100
4.2 150 A . . . . . . . . . . . . . . . . . . . . . . . . . . = 150
4.3 200 A . . . . . . . . . . . . . . . . . . . . . . . . . . = 200
5. Rated a.c.-side voltage for power electronics

5.1 3 x AC 380...460 V, 50...60 Hz . . . . . . . . . . . . . . = 460

6.1 analogue (± 10 V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = A
6.2 digital (16 bit parallel) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = D
6.3 SERCOS interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = L

7.1 without auxiliary encoder input . . . . . . . . . . . . . . . . . . . . . . = 0
7.3 auxiliary encoder and synchronous input . . . . . . . . . . . . . = Y
8. Additional interface
8.1 without additional interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0
8.2 position command value digital (16 bit parallel) . . . . . . . . . . . = D
8.3 serial interface (RS 232 C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S
8.4 incremental encoder output . . . . . . . . . . . . . . . . . . . . . . . . . . . . = I
9.1 without auxiliary bleeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = W
9.2 with auxiliary bleeder (for braking with power failure) . . . . . . . . . . = Z
10. Cooling
10.1 air (built-in fan) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
10.2 coolant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . =F
11. Rated a.c.-side voltage for control electronics

11.1 AC 230 V, 50...60 Hz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 220
Comment:
1 auxiliary encoder input "Y" only with "analogue" speed command value

8.3. RAC 4
abbrev. 1 2
column 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2
Example: R A C 4 . 3 - 3 0 0 - 4 6 0 - A P 0 - W 1
1. Product group
1.1 RAC . . . . . . . . = RAC
2. Version
2.1 4 . . . . . . . . . . . . . . . . . . . .= 4
3. Design
3.1 3 . . . . . . . . . . . . . . . . . . . . . . . .= 3
4. Rated current
4.1 300 A . . . . . . . . . . . . . . . . . . . . . . . . = 300
4.2 400 A . . . . . . . . . . . . . . . . . . . . . . . . = 400
5. Rated a.c.-side voltage

5.1 3 x AC 400 V, ±15 %, 50 Hz or
3 x AC 460 V, ±10%, 60 Hz . . . . . . . . . . . . . . . = 460

6.1 analogue (± 10 V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .= A
6.2 digital (16 bit parallel) . . . . . . . . . . . . . . . . . . . . . . . . . = D
6.3 SERCOS interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = L

7.1 without auxiliary encoder input . . . . . . . . . . . . . . . . . . . . . . = 0
7.3 auxiliary encoder and synchronous input . . . . . . . . . . . . . = Y
8. Additional interface
8.1 without additional interface . . . . . . . . . . . . . . . . . . . . . . . . . . =0
8.2 position command value, digital (16 bit parallel) . . . . . . . . . . =D
8.3 serial interface (RS 232 C) . . . . . . . . . . . . . . . . . . . . . . . . . . =S
8.4 incremental encoder output . . . . . . . . . . . . . . . . . . . . . . . . . =I
9.1 without auxiliary bleeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = W
10. Cooling
10.1 with built-in fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . =1
Comment:
1 auxiliary encoder input "Y" only with "analogue" speed comand value

8.4. 2AD132 main spindle motor
Type code fields: Example: 2AD132C-B35OB1-BS03-A2N1

1. Name: 2AD
2. Motor size: 132
3. Motor length: B, C, D
4. Mounting:
flange B05
flange and foot B35
5. Power terminal positions:

on top O
to the left L
below R
6. Output direction of the power terminals:

terminal box connections connector
(terminal box on the blower) (conn. on blower)
to side A A C
to side B B -
to the right* R E
to the left * L F
7. Cooling mode
axial blower (air flow B --> A) 1
axial blower (air flow A --> B) 2
radial blower (air flow B --> A), blower above **) 3
radial blower (air flow B --> A), blower right **) 6
radial blower (air flow B --> A), blower below **) 7
radial blower (air flow B --> A), blower left **) 8
8. Windings i.d. letter:

2AD132B BS, DS
2AD132C BS, CS
2AD132D AS, BD
9. Holding brake:
without 0
electrically clamped 1
electrically released 2
electrically released, heavy-duty 3
electrically released, extra heavy-duty 4
10.Motor feedback:
with high-resolution motor feedback 3
11.Output shaft:
with key
balanced balanced
plain shaft with entire with half
key key
without shaft sealing ring A B E
with shaft sealing ring C D H
12.shaft end on side B:

without 2
with (for encoder, incremental, absolute) ***) 3
13.Bearings:
standard N
heavy-duty V
14.Vibration severity grade:

R 1
S 2
S1 ****) 3
*) Looking from front onto motor shaft, direction in terms of power terminals.
**) The position of the blower must not be the same as that of the power terminals.
***) only available with radial blower and motor feedback "3"
****) not available with heavy-duty bearings Quellverweis: INN 6.30 Teil 3
Figure 8.4: Standard available options for the 2AD132


1. Name: 2AD
2. Motor size: 160
3. Motor length: B, C
4. Mounting:
flange B05
flange and foot B35

on top O
to the left L
below R

to side A, terminal box A
to side B, terminal box B
to the right, terminal box *) R
to the left, terminal box *) L
7. Cooling mode

2AD160B BS
2AD160C BS
9. Holding brake:
without 0
electrically clamped 1
electrically released 2
electrically released, heavy-duty 3
10.Motor feedback:
11.Output shaft:
with key
balanced balanced
key key

without 2
13.Bearings:
standard N
heavy-duty V

R 1
S 2
S1 ****) 3
****) not available with heavy-duty bearings
Quellverweis: INN 6.30 Teil 4


1. Name: 2AD
2. Motor size: 180
3. Motor length: B, C, D
4. Mounting:
flange and foot B35

on top O
to the left L
below R

7. Cooling mode

2AD180C BS
2AD180D BS
9. Holding brake:
without 0
electrically clamped *****) 1
electrically released *****) 2
10.Motor feedback:
11.Output shaft:
with key
balanced balanced
key key

without 2
13.Bearings:
standard N
heavy-duty V

R 1
S 2
S1 ****) 3
*****) not available with 2AD180D Quellverweis: INN 6.30 Teil 5

Type code fields: Example: 2AD200C-B35OB1-AS03-A2N1

1. Name: 2AD
2. Motor size: 200
3. Motor length: C
4. Mounting:
flange and foot B35

on top O
to the left L
below R

7. Cooling mode

2AD200C AS
9. Holding brake:
without 0
10.Motor feedback:
11.Output shaft:
with key
balanced balanced
key key

without 2
13.Bearings:
standard N
heavy-duty V

R 1
S 2
S1 ****) 3

Type code fields: Example: 2AD225C-B35OB1-AS03-A2N1

1. Name: 2AD
2. Motor size: 225
3. Motor length: B, C
4. Mounting:
flange and foot B35

on top O
to the left L
below R

7. Cooling mode

2AD225C AS
9. Holding brake:
without 0
10.Motor feedback:
11.Output shaft:
with key
balanced balanced
key key

without 2
13.Bearings:
standard N
heavy-duty V

R 1
S 2
S1 ****) 3

8.9. AS programming module
Type code fields: Example: AS 5 3 / 0 04 - 000
1. Name: AS
2. Main spindle drive
KDA 3.2 3
RAC 2.2 5
RAC 3.1 6
TDA 1.1 7
RAC 4.1 8
KDA 3.3 13
RAC 2.3 15
RAC 3.5 16
TDA 1.3 17
RAC 4.3 18
3. Software i.d.
Main spindle drive (standard) 1

(not all combinations listed below)
Servo drive 2
Main spindle drive with incremental encoder output 3
(not with AS1••/…)
Main spindle drive with SERCOS-interface 4
Servo drive with SERCOS-interface 6
4. Motor feedback
High-resolution motor feedback 0
5. Motor-drive combination i.d.
Determined and documented by INDRAMAT e.g., 04
6. Design
standard 000
customer specific, e.g.,: 003 003
Quellverweis: INN 07.50
Figure 8.9: 8. Available versions of an AS programming module

9. Index
9. Index
Symbole
2AD motor selection protocol 32
2AD servo drive sel. lists 33
2AD132 main spindle motor 41
A
Absolute encoder 27
Accel/decel time 11
Acceleration demands 8
Accessories kits 29
Additional interface 19
Advantages when replacing units 23
Analogue output 22
Applications 18
Approaching dead stop 17
AS programming module 23, 46
Assembly frame 25
B
Basic torque 11
C
Command value precision 18
Connections on the drive 29
Connections specific to the drive 28
Continuous torque 11
Continuous torque characteristic curve 13
Continuous torque characteristics 8
Cooling the drive controller 23
Cooling with air inside the control cabinet 24
Cooling with air outside the control cabinet 24
D
Differential inputs 18
Dimensioning 8
Direct mains connection i 21
Drive controller selection protocol 31
Drive coupling 8
Duplication 23
Duplication (PDA) 23
E
E-stop power off 21
E-stop/power failure function 21
ED 11
Effective torque Meff 9
Electrical connections 28

9. Index
F
Features for servo applications 18
Features of the RAC 18
Feed constant 8
Feed movements 8
Feedback and NC connections 29
Feedback and NC connections 28
Flange mounting 26
Foot mounting 26
Functions 18
G
Grounded threephase networks 21
H
High-resolution motor feedback evaluation 19
Holding brake 26
Holding torque 10
Hose cooling 24
I
Incremental encoder output 19
Introduction 7
J
JM 11
L
Large transmission lengths 18
Limit values 11
Lines 19
M
Machine axis 8
Mains contactor 21
Mains regeneration 21
Mains supply line 12
Master-slave drive 17
Master-slave principle 20
Matching the moment of inertia 8
Maximum usable NC speed 11
MdN 11
Mean speed: |n|MW 9
Mechanical accessories 25
MKB 11
Mmax 11
Moment of inertia 8
Moment of inertia of the rotor 11
Motor 8
Motor size 8
Motor speed 22
Motor winding temperature 22
Movements 8

9. Index
N
nmax 11
O
Offer 3
ON time 11
Operational safety 8
Option 18
Options of the 2AD motors 26
Order grid for feedback and NC connections 37
Order grid for power terminals 36
Order information 33
Order list for RAC 2.3 drive 34
Output shaft 26
Overload 22
Overtemperature 11
Overvoltage 21
Overvoltage suppressor 21
P
Parameter block 17
PCONT 12
Permissible thermal range 8
Position control 17
Positioning cycle 9
Power 22
Power terminals 26, 28
R
RAC 2 38
RAC 3 39
RAC 4 40
RAC drive controller selection protocol 31
Rapid commissioning 23
Rapid commissioning of the drive 23
Rapid traverse speeds 8
Rated torque 10
"Ready" 22
Rotor position 22
S
Selection criteria 8
Selection guidelines 3
Selection lists 10
Selection protocol for the electrical connections 32
SERCOS interface 17
Serial interface 23
Shaft bearing 27
Shaft seal 26
Signal 22
Speed command value 18
Speed command value option 17
Speed control 17

9. Index
Speed control unit settings 18

Stub shaft 27
Switchable parameter blocks 17
T
Temperature pre-warning 22
The basis for an offer 30
Torque command values, 22
Torque limit 18
Transmission ratio 8
Transport movements 8
Type designation grid for 2AD main spindle motors 34
Type of cooling 26
U
Ungrounded threephase networks 21
V
Vertical axes 10
Vertical load 10
Vibration severity grade 27
Voltage 22
W
Working modes 17

10. Supplementary documentation
AC main spindle drive

with regulated
2AD main spindle
asynchronous motor drives with
(details, ordering)
2K gears
2AD
Select
AC main spindle drive AC main spindle drives with

with regulated 2AD main spindle motor controlled 2AD asynchronous motors
and switchable 2K planetary gears
selection data
doc. no.: 9.567.013.4 selection data
doc. no. 9.567.022.4
(construction, assembly, installation of the machine)
RAC4
RAC3
RAC2 Electrical
TDA1 connections for
KDA3 drive main spindle 2AD main
spindle motors
Project planning
drives
Main spindle drives Electrical connections 2AD main spindle motors
Project Planning Project Planning Project Planning

KDA 3, doc. no. 209-0042-4110 doc. no. 209-0042-4111 doc. no. 209-0042-4122
TDA 1, doc. no. 209-0042-4112
RAC 2, doc. no. 209-0042-4115
RAC 3, doc. no. 209-0042-4116
RAC 4, doc. no. 209-0042-4113
(commissioning, using, diagnostics)
Main spindle drive applications
AC main spindle drives

regulated asynchronour
motors/frameless spindle
motors
AC main spindle drives with controlled

asychronous or frameless spindle motors
Applications
doc. no. 209-0041-4109

You have this document ....
(details, ordering)
AC main spindle drive Liquid cooling of
with regulated frameless INDRAMAT drive
AC-Servoantriebe
spindle motor components
mit 2AD Motoren
1MB
Select
AC- main spindle drive with AC servo drive Liquid cooling of
regulated 1MB frameless with 2AD motors INDRAMAT drive components
spindle motor selection data Dimensioning,
selection data doc. no.: 9.567.008.4 selecting
doc. no. 209-0042-4118-00 doc. no. 209-0042-4123
(construction, assembly, installation of the machine)

Absolute
encoder for
2AD
Frameless spindle
High-resolution HGV
motor
1MB main spindle IGS

position encoder
Project planning
1MB frameless spindle motor Supplementary documents:
Project Planning • High-resolution main spindle position encoder

doc. no. 209-0042-4124 - Project Planning/doc. no. 209-0042-4119
• Incremental encoder output - IGS
- Applications/doc. no. 9.568.015.4
• High-resolution encoder junction - HGV
- Project Planning/doc. no. 9.568.010.4
• Built-on absolute encoder for
2AD 132, 2AD 160, 2AD 180
- Applications/doc. no. 9.568.020.4
(commissioning, using, diagnostics)
Main spindle drive applications
Figure 10.1: An overview of the supplementary documentation available

Notes

Notes

DOK-DIAX01-RAC+2AD****-AUS1-EN-P
9.567.008.4
266212
Indramat GmbH • Bgm.-Dr.-Nebel-Straße 2 • 97816 Lohr • Telefon 09352/40-0 • Tx 689421 • Fax 09352/40-4885

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AC Servo Drives with 2AD Motors

Title AC Servo Drives with 2AD Motors

Type of documentation Selection data

Documentation no. 9.567.008.4-03 EN / 05.95

Internal file reference Mappe 7/•2ADServo EN

Replaces 9.567.008.4-02 EN / 07.94

The purpose of this This documentation serves to

This document helps to

Copyright © INDRAMAT GmbH, 1992

Published by INDRAMAT GmbH, Dept. ENA (MR)

2 AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 •

Selecting the motor

Motor size and windings, Drive-related functions Types of electrical

specifying the electrical

selection protocol for elec. connections

Processed by the Sales processed with the help of

Project Planning Manual

Project Planning Documentation

these sections can be supplementary

determining the codes

Servo drive order information

Putting an offer together Requesting an offer

Figure: A schematic depiction of the selection and ordering procedure

• AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 3

1. AC servo drives with 2AD motors 7

1.1. AC servo drive for direct connection to the mains ........................... 7

2. Working Modes of 2AD Servo Drives 17

3. Functions and features of the RAC 18

3.1. Functions and features for servo applications ............................... 18

4. Options of the 2AD motors 26

4.1. Mounting ........................................................................................ 26

• AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 5

7.1. 2AD motor ...................................................................................... 34

8.1. RAC 2............................................................................................. 38

10. Supplementary documentation 52

6 AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 •

1. AC servo drives with 2AD motors

2AD motor PACC up to 120 kW

Figure 1.1: AC servo drive with RAC drive controller

Mn = 64 … 140 Nm 2AD 132

Mn = 191 … 236 Nm 2AD 160

Mn = 331 … 400 Nm 2AD 180

Mn = 503 Nm 2AD 200

Mn = 592 Nm 2AD 225

Figure 1.2: 2AD motors for AC servo drives

• AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 7

1.2. Selection criteria

Jmotor : Jaxis = 1:1

as relates to motor output shaft

Example of a permissible working point

permissible thermal range

8 AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 •

Mean speed: |n|MW tZykl.

Effective torque Meff

• AC servo drives with 2AD motors • 9.567.008.4-03 • 05.95 9

1.3. Selection lists and explanations

2800 64 160 162) 99 0.054 17 47 2AD132B-.-BS.3 RAC3.5-200 AS162/018-000

2700 96 225 18 96 0.076 15 64 2AD132C-.-BS.3 RAC2.3-250 AS152/002-000

1600 140 350 16 56 0.118 22 59 2AD132D-.-AS.3 RAC2.3-250 AS152/004-000

1600 191 430 202) 68 0.174 30 72 2AD160B-.-BS.3 RAC2.3-250 AS152/006-000

1700 236 630 142) 65 0.229 37 112 2AD160C-.-BS.3 RAC4.3-400 AS182/004-000

1500 331 610 29 96 0.373 52 96 2AD180C-.-BS.3 RAC4.3-300 AS182/005-000

1) continuous drive output PD=26 kW