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Rexroth IndraDyn SSynchronous Motors MSKfor Potentially Explosive Areas

Project Planning Manual

DOK-MOTOR*-MSK*EXGIIK3-PR04-EN-P

RS-5273f36bbb6626d20a6846a001f327ac-3-en-US-7

Edition Release Date Notes

120-1500-B332-01/EN 09/2005 First edition120-1500-B332-02/EN 11/2005 Amendment of the CE

document120-1500-B332-03/DE 02/2008 Revision / supplement120-1500-B332-04/EN 09/2008 Revision / supplement

© 2008 Bosch Rexroth AGCopying this document, giving it to others and the use or communication of thecontents thereof without express authority, are forbidden. Offenders are liablefor the payment of damages. All rights are reserved in the event of the grant ofa patent or the registration of a utility model or design (DIN 34-1).The specified data is for product description purposes only and may not bedeemed to be guaranteed unless expressly confirmed in the contract. All rightsare reserved with respect to the content of this documentation and the availa‐bility of the product.Bosch Rexroth AGBgm.-Dr.-Nebel-Str. 2 ■ 97816 Lohr a. Main, GermanyPhone +49 (0)93 52 / 40-0 ■ Fax +49 (0)93 52 / 40-48 85http://www.boschrexroth.com/Dept. BRC/EDM2 (JW) This document has been printed on chlorine-free bleached paper.

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Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraDyn S | Project Planning Manual

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Table of ContentsPage

1 Introduction.................................................................................................................... 11.1 Introduction to the IndraDyn S for the Use in Potentially Explosive Areas according to ATEX Directives

................................................................................................................................................................ 11.2 About this Documentation....................................................................................................................... 21.2.1 Structure of this Document Edition...................................................................................................... 2

2 Important Instructions on Use........................................................................................ 52.1 Intended Use ......................................................................................................................................... 52.2 Non-Intended Use................................................................................................................................... 6

3 Safety Instructions for Electric Drives and Controls....................................................... 73.1 Safety Instructions - General Information............................................................................................... 73.1.1 Using the Safety Instructions and Passing them on to Others............................................................ 73.1.2 How to Employ the Safety Instructions................................................................................................ 73.1.3 Explanation of Warning Symbols and Degrees of Hazard Seriousness.............................................. 83.1.4 Hazards by Improper Use.................................................................................................................... 93.2 Instructions with Regard to Specific Dangers....................................................................................... 103.2.1 Protection Against Contact with Electrical Parts and Housings......................................................... 103.2.2 Protection Against Electric Shock by Protective Extra-Low Voltage................................................. 113.2.3 Protection Against Dangerous Movements....................................................................................... 113.2.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting.............. 143.2.5 Protection Against Contact with Hot Parts......................................................................................... 143.2.6 Protection During Handling and Mounting......................................................................................... 143.2.7 Battery Safety.................................................................................................................................... 153.2.8 Protection Against Pressurized Systems........................................................................................... 15

4 Explosion Protection for MSK Motors.......................................................................... 174.1 Labeling................................................................................................................................................ 174.2 Overview of Connections...................................................................................................................... 194.3 Characteristic Features of ATEX Motors and Standard Motors............................................................ 194.4 Conditions on Use of Motors according to ATEX Classification, Equipment Group II, Category 3...... 204.4.1 Safety................................................................................................................................................ 204.4.2 Equipment Category II ...................................................................................................................... 204.4.3 Holding Brakes.................................................................................................................................. 224.5 Acceptance Test................................................................................................................................... 224.6 Register of Applied Standards.............................................................................................................. 234.7 Residual Risks...................................................................................................................................... 23

5 Technical Data MSK (ATEX)....................................................................................... 255.1 Definition of Parameters ...................................................................................................................... 255.1.1 Parameters on the Data Sheet.......................................................................................................... 255.1.2 60 K and 100 K Parameters.............................................................................................................. 275.1.3 Operating Modes .............................................................................................................................. 28

Project Planning Manual | Rexroth IndraDyn S Electric Drivesand Controls

| Bosch Rexroth AG I/V

Table of Contents

1.4 Duty Cycle......................................................................................................................................... 285.1.5 Example of a Characteristic Curve of a Motor................................................................................... 295.2 MSK030B - Technical Data ................................................................................................................. 305.3 MSK030C - Technical Data ................................................................................................................. 325.4 MSK040B - Technical Data.................................................................................................................. 345.5 MSK040C - Technical Data.................................................................................................................. 365.6 MSK050C - Technical Data.................................................................................................................. 395.7 MSK050C - Technical Data.................................................................................................................. 425.8 MSK060B - Technical Data.................................................................................................................. 455.9 MSK060C - Technical Data.................................................................................................................. 485.10 MSK061C - Technical Data.................................................................................................................. 515.11 MSK070C - Technical Data.................................................................................................................. 545.12 MSK070D - Technical Data.................................................................................................................. 575.13 MSK070E - Technical Data.................................................................................................................. 605.14 MSK071C - Technical Data ................................................................................................................. 635.15 MSK071D - Technical Data.................................................................................................................. 665.16 MSK071E - Technical Data.................................................................................................................. 695.17 MSK076C - Technical Data ................................................................................................................. 725.18 MSK100A - Technical Data ................................................................................................................. 755.19 MSK100B - Technical Data.................................................................................................................. 785.20 MSK100C - Technical Data.................................................................................................................. 815.21 MSK100D - Technical Data ................................................................................................................. 845.22 MSK101C - Technical Data.................................................................................................................. 875.23 MSK101D - Technical Data.................................................................................................................. 90

6 Dimensional Data MSK (ATEX)................................................................................... 936.1 Technical Design ................................................................................................................................. 936.2 Frame Size - MSK030.......................................................................................................................... 946.3 Frame Size - MSK040.......................................................................................................................... 956.4 Frame Size - MSK050.......................................................................................................................... 966.5 Frame Size - MSK060.......................................................................................................................... 976.6 Frame Size - MSK061.......................................................................................................................... 986.7 Frame Size - MSK070.......................................................................................................................... 996.8 Frame Size - MSK071........................................................................................................................ 1006.9 Frame Size - MSK076........................................................................................................................ 1016.10 Frame Size - MSK100........................................................................................................................ 1026.11 Frame Size - MSK101........................................................................................................................ 103

7 Type Codes................................................................................................................ 1057.1 MSK Type Code - Structure and Description...................................................................................... 1057.2 MSK030 Type Code........................................................................................................................... 1087.3 MSK040 Type Code........................................................................................................................... 1107.4 MSK050 Type Code........................................................................................................................... 1127.5 MSK060 Type Code........................................................................................................................... 1147.6 MSK061 Type Code........................................................................................................................... 116

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7 MSK070 Type Code........................................................................................................................... 1187.8 MSK071 Type Code........................................................................................................................... 1207.9 MSK076 Type Code........................................................................................................................... 1227.10 MSK100 Type Code........................................................................................................................... 1247.11 MSK101 Type Code........................................................................................................................... 126

8 Accessories and Options........................................................................................... 1298.1 Motor Encoder.................................................................................................................................... 1298.1.1 General Information......................................................................................................................... 1298.1.2 Technical Data of the Motor Encoder.............................................................................................. 1298.2 Holding Brakes................................................................................................................................... 1308.3 Gearboxes.......................................................................................................................................... 130

9 Connection Technique............................................................................................... 1319.1 Electric Connection Technique Overview........................................................................................... 1319.2 Power Connector Size 1..................................................................................................................... 1329.3 Power Connector Size 1.5.................................................................................................................. 1339.4 Power Connector Size 2..................................................................................................................... 1349.5 Encoder Connector............................................................................................................................. 1369.6 Connecting an Additional PE.............................................................................................................. 1389.7 Connecting Cables............................................................................................................................. 1389.7.1 Ready-Made Connection Cables..................................................................................................... 138

10 Conditions on Use and Application Notes MSK (ATEX)............................................ 13910.1 Ambient Conditions ............................................................................................................................ 13910.1.1 Setup Elevation and Ambient Temperature..................................................................................... 13910.1.2 Humidity / Temperature .................................................................................................................. 13910.1.3 Vibration.......................................................................................................................................... 14010.2 Shock.................................................................................................................................................. 14010.3 Degree of Protection........................................................................................................................... 14110.4 Compatibility with Foreign Materials................................................................................................... 14210.5 Design and Installation Positions........................................................................................................ 14210.6 Housing Varnish................................................................................................................................. 14310.7 Output Shaft........................................................................................................................................ 14310.7.1 Plain Shaft....................................................................................................................................... 14310.7.2 Output Shaft with Key...................................................................................................................... 14310.7.3 Output Shaft with Shaft Sealing Ring.............................................................................................. 14410.8 Bearing and Shaft Load...................................................................................................................... 14510.8.1 Radial Load, Axial Load................................................................................................................... 14510.8.2 Shaft Load MSK Motors.................................................................................................................. 14710.9 Bearing Lifetime.................................................................................................................................. 14910.10 Attachment of Drive Elements............................................................................................................ 15010.11 Holding Brakes .................................................................................................................................. 15110.11.1 Holding Brake Electrically-Released............................................................................................... 15110.11.2 Notes Regarding Safety for Holding Brakes ................................................................................... 152


| Bosch Rexroth AG III/V

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11.3 Holding Brakes - Notes Regarding Safety....................................................................................... 15210.11.4 Layout of Holding Brakes................................................................................................................ 15310.11.5 Holding Brake Commissioning and Maintenance............................................................................ 15410.12 Acceptances and Authorizations........................................................................................................ 15510.12.1 CE Symbol....................................................................................................................................... 15510.12.2 UR, cUR Listing............................................................................................................................... 15510.12.3 CCC (China Compulsory Certification)............................................................................................ 15610.13 Motor Cooling System........................................................................................................................ 15610.13.1 Natural Convection.......................................................................................................................... 15610.14 Motor Temperature Monitoring........................................................................................................... 15610.14.1 General Information......................................................................................................................... 15610.14.2 Temperature Sensor........................................................................................................................ 156

11 Handling, Transport and Storage............................................................................... 15911.1 State of Delivery................................................................................................................................. 15911.1.1 General Information......................................................................................................................... 15911.1.2 Inspection at the Factory................................................................................................................. 15911.1.3 Test Realized by the Customer....................................................................................................... 15911.2 Identification and Check of the Supplied Goods................................................................................. 15911.2.1 Shipping Documents and Delivery Note.......................................................................................... 15911.2.2 Type Plate....................................................................................................................................... 16011.3 Handling of the Equipment................................................................................................................. 16011.4 Transport of the Equipment................................................................................................................ 16111.5 Storage of the Equipment................................................................................................................... 162

12 Installation.................................................................................................................. 16312.1 Safety.................................................................................................................................................. 16312.2 Skilled Personnel................................................................................................................................ 16312.3 Mechanical Attachment...................................................................................................................... 16312.3.1 Flange Assembly............................................................................................................................. 16312.3.2 Assembly Preparation..................................................................................................................... 16412.3.3 Motor Assembly .............................................................................................................................. 16512.4 Electrical Connection – Connecting the Motor.................................................................................... 16512.4.1 General Information......................................................................................................................... 16512.4.2 Attaching the Connectors................................................................................................................ 16512.4.3 Adjusting the Output Direction......................................................................................................... 166

13 Commissioning, Operation and Maintenance ........................................................... 16713.1 Commissioning................................................................................................................................... 16713.2 Operation............................................................................................................................................ 16713.3 Deactivation........................................................................................................................................ 16713.4 Maintenance....................................................................................................................................... 16813.4.1 General Information......................................................................................................................... 16813.4.2 Cleaning.......................................................................................................................................... 16813.4.3 Bearings.......................................................................................................................................... 168

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4.4 Connecting Cables.......................................................................................................................... 16913.5 Troubleshooting.................................................................................................................................. 16913.6 Dismantling......................................................................................................................................... 169

14 Environmental Protection and Disposal .................................................................... 17114.1 Environmental Protection.................................................................................................................... 17114.2 Disposal.............................................................................................................................................. 171

15 Appendix.................................................................................................................... 17315.1 Conformity.......................................................................................................................................... 17315.2 Discharging of Capacitors................................................................................................................... 17415.2.1 Discharging of DC Bus Capacitors.................................................................................................. 17415.2.2 Discharging Device.......................................................................................................................... 174

Operating Principle....................................................................................................................... 174Dimensioning................................................................................................................................ 174How to Proceed for Discharging................................................................................................... 175

16 Service and Support.................................................................................................. 177

Index.......................................................................................................................... 179


| Bosch Rexroth AG V/V

Table of Contents

1 Introduction1.1 Introduction to the IndraDyn S for the Use in Potentially Ex‐

plosive Areas according to ATEX DirectivesThe cost-efficient solution for the use in potentially explosive areas of the gen‐eral automation technology. The motors are equipped with optical encodersystems. If requested, the motors can be supplied with a holding brake or key‐way.IndraDyn S servomotors are characterized by● dynamics● a compact construction● a high torque density● an extremely high degree of precision due to new optical encoder systemsIndraDyn S motors are available in the following power spectrum:

The contents and descriptions of this documentation refer to motorswhich are manufactured specifically for the use in potentially ex‐plosive areas according to the ATEX directives.

Fig.1-1: MSK power graduation


| Bosch Rexroth AG 1/181

Introduction

1.2 About this Documentation1.2.1 Structure of this Document Edition

This documentation contains safety regulations, technical data and operatinginstructions for IndraDyn S motors. The individual chapters can be subdividedinto the following focal points:

Chapter Title Contents

1 Introduction General Information

2 Important Instructions on Use

Safety3 Notes Regarding Safety

4 Explosion Protection

5 Technical DataProduct Description

(for planners and designers)6 Specifications

7 Type Codes

8 Accessories

9 Connection Technique

10 Operating Conditions and Application Notes

11 Handling, Transport and Storage Practice(for operating and mainte‐

nance personnel)12 Installation

13 Commissioning, Operation and Mainte‐nance

14 Service & SupportGeneral Information

15 Index

Fig.1-2: Document structure As the case may be, you might need additional documentation referring to theused devices to project the drive systems of the MSK-ATEX motor unit. Rexrothprovides the entire product documentation in the Bosch Rexroth media direc‐tory (in PDF format) under http://www.boschrexroth.com/various/utilities/me‐diadirectory/index.jsp. This documentation refers to German, European and international technicalstandards. Documents and sheets on standards are subject to copyright pro‐tection and may not be passed on to third parties by Rexroth. If need be, pleasecontact the authorized sales outlets or, in Germany, directly:BEUTH Verlag GmbHBurggrafenstrasse 610787 Berlin, GermanyPhone +49-(0)30-26 01-22 60, Fax +49-(0)30-26 01-12 60Internet: http://www.din.de/beuthEmail: [email protected]

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Introduction

Additional Documentation

Standards

http://www.din.de/beuth

Documentation for external systems which are connected to Rexroth compo‐nents are not included in the scope of delivery and must be ordered directlyfrom the respective manufacturers. Your experiences are an essential part of the process of improving both theproduct and the documentation.Please do not hesitate to inform us of any mistakes you detect in this docu‐mentation or of any modifications you might desire. We would appreciate yourfeedback.Please send your remarks to:Bosch Rexroth AGDep. BRC/EDM2Buergermeister-Dr.-Nebel-Strasse 297816 Lohr, GermanyFax +49 (0) 93 52 / 40-43 80



Introduction

External Systems

Your Feedback

2 Important Instructions on Use2.1 Intended Use

Rexroth products are developed and manufactured according to the state ofthe art. Before they are delivered, they are inspected to ensure that they operatesafely.The products must only be used as intended. If they are not used as intended,situations may arise that result in personal injuries or damage to property.

Rexroth, as the manufacturer, does not provide any warranty, as‐sume any liability, or pay any damages for damage caused byproducts not being used as intended. Any risks resulting from theproducts not being used as intended are the sole responsibility ofthe user.

Before you can use Bosch Rexroth products, the following requirements mustbe fulfilled so as to ensure that they are used as intended:● Everyone who in any way whatsoever handles one of our products must

read and understand the corresponding notes regarding safety and re‐garding the intended use.

● If the products are hardware, they must be kept in their original state, i.e.no constructional modifications must be made. Software products mustnot be decompiled; their source codes must not be modified.

● Damaged or improperly working products must not be installed or put intooperation.

● It must be ensured that the products are installed, operated and servicedaccording to the regulations and environmental conditions specified in thedocumentation.

IndraDyn S - Motors are intended to be used as servo- and main drive motors.Note:

● The motors described here may only be operated with RexrothIndraDrive control devices (converter operation).

● The motors are not suited for the direct connection to rotarycurrent or monophase circuits.

The following are typical fields of application:● Machine tools● Printing and paper-processing machines,● Packaging and food-processing machines and● Automation and handling.Device types with different driving powers and different interfaces are availablefor an application-specific use of the motors.Controlling and monitoring of the motors may require connection of additionalsensors and actuators.



Important Instructions on Use

General Information on IntendedUse

Areas of Use and Application

The motors must only be used with the accessories specified in thisdocumentation. Components that are not explicitly mentioned mustneither be attached nor connected. The same is true for cables andlines.The operation must only be carried out in the explicitly mentionedconfigurations and combinations of the component and with thesoftware and firmware specified in the corresponding functional de‐scription.

Any connected drive control device must be programmed before startup in or‐der to ensure that the motor executes the functions specifically to the particularapplication.The motors may only be operated under the assembly, mounting and installa‐tion conditions, in the normal position, and under the environmental conditions(temperature, degree of protection, humidity, EMC etc.) specified in this docu‐mentation.

2.2 Non-Intended UseAny use of motors outside of the fields of application mentioned above or underoperating conditions and technical data other than those specified in this doc‐umentation is considered as "non-intended use".IndraDyn S motors must not be used if:● Ambient conditions at the installation location require a higher explosion

protection than indicated on the motors' type plate.● They are subject to operating conditions which do not comply with the

ambient conditions described above. E.g. operation under water, underextreme variations in temperature or extreme maximum temperatures isnot permitted.

● The intended fields of application have not been expressly validated forthe motors. Please make absolutely sure that the instructions given in thegeneral safety notes are also complied with!



Important Instructions on Use

3 Safety Instructions for Electric Drives and Controls3.1 Safety Instructions - General Information3.1.1 Using the Safety Instructions and Passing them on to Others

Do not attempt to install or commission this device without first reading all doc‐umentation provided with the product. Read and understand these safetyinstructions and all user documentation prior to working with the device. If youdo not have the user documentation for the device, contact your responsibleBosch Rexroth sales representative. Ask for these documents to be sent im‐mediately to the person or persons responsible for the safe operation of thedevice.If the device is resold, rented and/or passed on to others in any other form,these safety instructions must be delivered with the device in the official lan‐guage of the user's country.

WARNING

Improper use of these devices, failure to follow the safety instructions inthis document or tampering with the product, including disabling of safe‐ty devices, may result in material damage, bodily harm, electric shockor even death!Observe the safety instructions!

3.1.2 How to Employ the Safety InstructionsRead these instructions before initial commissioning of the equipment in orderto eliminate the risk of bodily harm and/or material damage. Follow these safetyinstructions at all times.● Bosch Rexroth AG is not liable for damages resulting from failure to ob‐

serve the warnings provided in this documentation.● Read the operating, maintenance and safety instructions in your language

before commissioning the machine. If you find that you cannot completelyunderstand the documentation for your product, please ask your supplierto clarify.

● Proper and correct transport, storage, assembly and installation, as wellas care in operation and maintenance, are prerequisites for optimal andsafe operation of this device.

● Only assign trained and qualified persons to work with electrical installa‐tions:– Only persons who are trained and qualified for the use and operation

of the device may work on this device or within its proximity. Thepersons are qualified if they have sufficient knowledge of the assem‐bly, installation and operation of the product, as well as an under‐standing of all warnings and precautionary measures noted in theseinstructions.

– Furthermore, they must be trained, instructed and qualified to switchelectrical circuits and devices on and off in accordance with technicalsafety regulations, to ground them and to mark them according to therequirements of safe work practices. They must have adequate safe‐ty equipment and be trained in first aid.

● Only use spare parts and accessories approved by the manufacturer.



Safety Instructions for Electric Drives and Controls

● Follow all safety regulations and requirements for the specific applicationas practiced in the country of use.

● The devices have been designed for installation in industrial machinery.● The ambient conditions given in the product documentation must be ob‐

served.● Only use safety-relevant applications that are clearly and explicitly ap‐

proved in the Project Planning Manual. If this is not the case, they areexcluded. Safety-relevant are all such applications which can cause dan‐ger to persons and material damage.

● The information given in the documentation of the product with regard tothe use of the delivered components contains only examples of applica‐tions and suggestions.The machine and installation manufacturer must– make sure that the delivered components are suited for his individual

application and check the information given in this documentationwith regard to the use of the components,

– make sure that his application complies with the applicable safetyregulations and standards and carry out the required measures,modifications and complements.

● Commissioning of the delivered components is only permitted once it issure that the machine or installation in which they are installed complieswith the national regulations, safety specifications and standards of theapplication.

● Operation is only permitted if the national EMC regulations for the appli‐cation are met.

● The instructions for installation in accordance with EMC requirements canbe found in the section on EMC in the respective documentation (ProjectPlanning Manuals of components and system).The machine or installation manufacturer is responsible for compliancewith the limiting values as prescribed in the national regulations.

● Technical data, connection and installation conditions are specified in theproduct documentation and must be followed at all times.

National regulations which the user must take into account● European countries: according to European EN standards● United States of America (USA):

– National Electrical Code (NEC)– National Electrical Manufacturers Association (NEMA), as well as

local engineering regulations– regulations of the National Fire Protection Association (NFPA)

● Canada: Canadian Standards Association (CSA)● Other countries:

– International Organization for Standardization (ISO)– International Electrotechnical Commission (IEC)

3.1.3 Explanation of Warning Symbols and Degrees of Hazard SeriousnessThe safety instructions describe the following degrees of hazard seriousness.The degree of hazard seriousness informs about the consequences resultingfrom non-compliance with the safety instructions:




Warning symbol Signal wordDegree of hazard serious‐ness acc. to ANSI Z535.4-2002

Danger Death or severe bodily harmwill occur.

Warning Death or severe bodily harmmay occur.

CautionMinor or moderate bodilyharm or material damagemay occur.

Fig.3-1: Hazard classification (according to ANSI Z 535)

3.1.4 Hazards by Improper Use

DANGER

High electric voltage and high working current! Risk of death or severebodily injury by electric shock!Observe the safety instructions!

DANGER

Dangerous movements! Danger to life, severe bodily harm or materialdamage by unintentional motor movements!Observe the safety instructions!

WARNING

High electric voltage because of incorrect connection! Risk of death orbodily injury by electric shock!Observe the safety instructions!

WARNING

Health hazard for persons with heart pacemakers, metal implants andhearing aids in proximity to electrical equipment!Observe the safety instructions!

CAUTION

Hot surfaces on device housing! Danger of injury! Danger of burns!Observe the safety instructions!

CAUTION

Risk of injury by improper handling! Risk of bodily injury by bruising,shearing, cutting, hitting or improper handling of pressurized lines!Observe the safety instructions!




CAUTION

Risk of injury by improper handling of batteries!Observe the safety instructions!

3.2 Instructions with Regard to Specific Dangers3.2.1 Protection Against Contact with Electrical Parts and Housings

This section concerns devices and drive components with voltagesof more than 50 Volt.

Contact with parts conducting voltages above 50 Volts can cause personaldanger and electric shock. When operating electrical equipment, it is unavoid‐able that some parts of the devices conduct dangerous voltage.

DANGER

High electrical voltage! Danger to life, electric shock and severe bodilyinjury!● Only those trained and qualified to work with or on electrical equipment

are permitted to operate, maintain and repair this equipment.● Follow general construction and safety regulations when working on pow‐

er installations.● Before switching on the device, the equipment grounding conductor must

have been non-detachably connected to all electrical equipment in ac‐cordance with the connection diagram.

● Do not operate electrical equipment at any time, even for brief measure‐ments or tests, if the equipment grounding conductor is not permanentlyconnected to the mounting points of the components provided for thispurpose.

● Before working with electrical parts with voltage potentials higher than50 V, the device must be disconnected from the mains voltage or powersupply unit. Provide a safeguard to prevent reconnection.

● With electrical drive and filter components, observe the following:Wait 30 minutes after switching off power to allow capacitors to dischargebefore beginning to work. Measure the electric voltage on the capacitorsbefore beginning to work to make sure that the equipment is safe to touch.

● Never touch the electrical connection points of a component while poweris turned on. Do not remove or plug in connectors when the componenthas been powered.

● Install the covers and guards provided with the equipment properly beforeswitching the device on. Before switching the equipment on, cover andsafeguard live parts safely to prevent contact with those parts.

● A residual-current-operated circuit-breaker or r.c.d. cannot be used forelectric drives! Indirect contact must be prevented by other means, forexample, by an overcurrent protective device according to the relevantstandards.

● Secure built-in devices from direct touching of electrical parts by providingan external housing, for example a control cabinet.




For electrical drive and filter components with voltages of more than50 volts, observe the following additional safety instructions.

DANGER

High housing voltage and high leakage current! Risk of death or bodilyinjury by electric shock!● Before switching on, the housings of all electrical equipment and motors

must be connected or grounded with the equipment grounding conductorto the grounding points. This is also applicable before short tests.

● The equipment grounding conductor of the electrical equipment and thedevices must be non-detachably and permanently connected to the powersupply unit at all times. The leakage current is greater than 3.5 mA.

● Over the total length, use copper wire of a cross section of a minimum of10 mm2 for this equipment grounding connection!

● Before commissioning, also in trial runs, always attach the equipmentgrounding conductor or connect to the ground wire. Otherwise, high vol‐tages may occur at the housing causing electric shock.

3.2.2 Protection Against Electric Shock by Protective Extra-Low VoltageProtective extra-low voltage is used to allow connecting devices with basic in‐sulation to extra-low voltage circuits.All connections and terminals with voltages between 5 and 50 volts at Rexrothproducts are PELV systems. 1) It is therefore allowed to connect devicesequipped with basic insulation (such as programming devices, PCs, notebooks,display units) to these connections and terminals.

WARNING

High electric voltage by incorrect connection! Risk of death or bodilyinjury by electric shock!If extra-low voltage circuits of devices containing voltages and circuits of morethan 50 volts (e.g. the mains connection) are connected to Rexroth products,the connected extra-low voltage circuits must comply with the requirements forPELV. 2)

3.2.3 Protection Against Dangerous MovementsDangerous movements can be caused by faulty control of connected motors.Some common examples are:● improper or wrong wiring of cable connections● incorrect operation of the equipment components● wrong input of parameters before operation● malfunction of sensors, encoders and monitoring devices● defective components● software or firmware errorsDangerous movements can occur immediately after equipment is switched onor even after an unspecified time of trouble-free operation.

1) "Protective Extra-Low Voltage"2) "Protective Extra-Low Voltage"




The monitoring in the drive components will normally be sufficient to avoid faultyoperation in the connected drives. Regarding personal safety, especially thedanger of bodily harm and material damage, this alone cannot be relied uponto ensure complete safety. Until the integrated monitoring functions becomeeffective, it must be assumed in any case that faulty drive movements will occur.The extent of faulty drive movements depends upon the type of control and thestate of operation.




DANGER

Dangerous movements! Danger to life, risk of injury, severe bodily harmor material damage!● Ensure personal safety by means of qualified and tested higher-level

monitoring devices or measures integrated in the installation.These measures have to be provided for by the user according to thespecific conditions within the installation and a hazard and fault analysis.The safety regulations applicable for the installation have to be taken intoconsideration. Unintended machine motion or other malfunction is possi‐ble if safety devices are disabled, bypassed or not activated.

To avoid accidents, bodily harm and/or material damage:● Keep free and clear of the machine’s range of motion and moving parts.

Possible measures to prevent people from accidentally entering the ma‐chine’s range of motion:– use safety fences– use safety guards– use protective coverings– install light curtains or light barriers

● Fences and coverings must be strong enough to resist maximum possiblemomentum.

● Mount the emergency stop switch in the immediate reach of the operator.Verify that the emergency stop works before startup. Don’t operate thedevice if the emergency stop is not working.

● Isolate the drive power connection by means of an emergency stop circuitor use a safety related starting lockout to prevent unintentional start.

● Make sure that the drives are brought to a safe standstill before accessingor entering the danger zone.

● Additionally secure vertical axes against falling or dropping after switchingoff the motor power by, for example:– mechanically securing the vertical axes,– adding an external braking/ arrester/ clamping mechanism or– ensuring sufficient equilibration of the vertical axes.

● The standard equipment motor brake or an external brake controlled di‐rectly by the drive controller are not sufficient to guarantee personalsafety!

● Disconnect electrical power to the equipment using a master switch andsecure the switch against reconnection for:– maintenance and repair work– cleaning of equipment– long periods of discontinued equipment use

● Prevent the operation of high-frequency, remote control and radio equip‐ment near electronics circuits and supply leads. If the use of such devicescannot be avoided, verify the system and the installation for possible mal‐functions in all possible positions of normal use before initial startup. Ifnecessary, perform a special electromagnetic compatibility (EMC) test onthe installation.




3.2.4 Protection Against Magnetic and Electromagnetic Fields During Oper‐ation and Mounting

Magnetic and electromagnetic fields generated by current-carrying conductorsand permanent magnets in motors represent a serious personal danger tothose with heart pacemakers, metal implants and hearing aids.

WARNING

Health hazard for persons with heart pacemakers, metal implants andhearing aids in proximity to electrical equipment!● Persons with heart pacemakers and metal implants are not permitted to

enter following areas:– Areas in which electrical equipment and parts are mounted, being

operated or commissioned.– Areas in which parts of motors with permanent magnets are being

stored, repaired or mounted.● If it is necessary for somebody with a pacemaker to enter such an area,

a doctor must be consulted prior to doing so. The noise immunity of pres‐ent or future implanted heart pacemakers differs greatly so that no generalrules can be given.

● Those with metal implants or metal pieces, as well as with hearing aids,must consult a doctor before they enter the areas described above. Oth‐erwise health hazards may occur.

3.2.5 Protection Against Contact with Hot Parts

CAUTION

Hot surfaces at motor housings, on drive controllers or chokes! Dangerof injury! Danger of burns!● Do not touch surfaces of device housings and chokes in the proximity of

heat sources! Danger of burns!● Do not touch housing surfaces of motors! Danger of burns!● According to the operating conditions, temperatures can be higher than

60 °C, 140°F during or after operation.● Before accessing motors after having switched them off, let them cool

down for a sufficiently long time. Cooling down can require up to 140 mi‐nutes! Roughly estimated, the time required for cooling down is five timesthe thermal time constant specified in the Technical Data.

● After switching drive controllers or chokes off, wait 15 minutes to allowthem to cool down before touching them.

● Wear safety gloves or do not work at hot surfaces.● For certain applications, the manufacturer of the end product, machine or

installation, according to the respective safety regulations, has to takemeasures to avoid injuries caused by burns in the end application. Thesemeasures can be, for example: warnings, guards (shielding or barrier),technical documentation.

3.2.6 Protection During Handling and MountingIn unfavorable conditions, handling and mounting certain parts and compo‐nents in an improper way can cause injuries.




CAUTION

Risk of injury by improper handling! Bodily injury by bruising, shearing,cutting, hitting!● Observe the general construction and safety regulations on handling and

mounting.● Use suitable devices for mounting and transport.● Avoid jamming and bruising by appropriate measures.● Always use suitable tools. Use special tools if specified.● Use lifting equipment and tools in the correct manner.● If necessary, use suitable protective equipment (for example safety gog‐

gles, safety shoes, safety gloves).● Do not stand under hanging loads.● Immediately clean up any spilled liquids because of the danger of skidding.

3.2.7 Battery SafetyBatteries consist of active chemicals enclosed in a solid housing. Therefore,improper handling can cause injury or material damage.

CAUTION

Risk of injury by improper handling!● Do not attempt to reactivate low batteries by heating or other methods (risk

of explosion and cauterization).● Do not recharge the batteries as this may cause leakage or explosion.● Do not throw batteries into open flames.● Do not dismantle batteries.● When replacing the battery/batteries do not damage electrical parts in‐

stalled in the devices.● Only use the battery types specified by the manufacturer.

Environmental protection and disposal! The batteries contained inthe product are considered dangerous goods during land, air, andsea transport (risk of explosion) in the sense of the legal regulations.Dispose of used batteries separate from other waste. Observe thelocal regulations in the country of assembly.

3.2.8 Protection Against Pressurized SystemsAccording to the information given in the Project Planning Manuals, motorscooled with liquid and compressed air, as well as drive controllers, can be par‐tially supplied with externally fed, pressurized media, such as compressed air,hydraulics oil, cooling liquids and cooling lubricating agents. Improper handlingof the connected supply systems, supply lines or connections can cause injuriesor material damage.




CAUTION

Risk of injury by improper handling of pressurized lines!● Do not attempt to disconnect, open or cut pressurized lines (risk of explo‐

sion).● Observe the respective manufacturer's operating instructions.● Before dismounting lines, relieve pressure and empty medium.● Use suitable protective equipment (for example safety goggles, safety

shoes, safety gloves).● Immediately clean up any spilled liquids from the floor.

Environmental protection and disposal! The agents used to operatethe product might not be economically friendly. Dispose of ecolog‐ically harmful agents separately from other waste. Observe the localregulations in the country of assembly.




4 Explosion Protection for MSK Motors4.1 Labeling

Rexroth MSK motors in ATEX design are suitable for the use in explosive at‐mospheres of the zones 2 and 22. The motors comply with device group II,category 3 according to European Directive ATEX 94/9/EC. The labeling ofmotors is made with an "S" on the 25th place of the type code.

Fig.4-1: ATEX type code labelingThe motors are qualified and certified according to this certification:

Labeling

II 3 G EEx nA II T155°CII 3 D T155°C IP65

Code Meaning:

II Equipment group II which is suitable for all potentially explosive areasother than firedamp-endangered excavations

3 Category 3, i.e. units suitable for potentially explosive atmospheres dueto gas or dust, which occur only rarely and for a short period of time.

G,D G = Gas, D = Dust.

EEx The European standard for explosion protection has been applied.

n Type of protection n means that requirements of EN 60079-15 for rareand temporary occurrence of an explosive atmosphere are fulfilled.

A Non-sparking apparatus

T 155 °C Maximum surface temperature inside and outside the housing, whereexplosive gas or dust can occur.

IP65 Degree of protection according to IEC 60529

Fig.4-2: ATEX labelingIn addition to this, motors are equipped with an inlet and outlet for a flush andfor the installation into a system in order to allow the type of protection pres‐surization Ex pz or Ex px according to ATEX.The motor can be flushed via the screwed connections. For the flushing, onlya passive gas may be used (e.g. air or inert gas without any explosive particles).The flushing gas must be free of particles, such as water, oil, dust, chemicalsor other conductive or aggressive substances in order to guarantee the type ofprotection.For the flushing of the motors, equipment is required that was authorized forthis type of protection. The qualification, examination and certification for thistype of protection must be carried out by the system planner, the installationbuilder or the machine builder. The latter shall examine the suitability of com‐ponents delivered for their personal application and coordinate them with thesafety instructions and standards applicable for their application and realize therequired measures, modifications and amendments. A modification of the com‐



Explosion Protection for MSK Motors

ponent and its use are the sole responsibility of the user and not of BoschRexroth.The commissioning of the delivered components is only permitted once it issure that the entire system in which the machine or installation is installed com‐plies with the national regulations, safety specifications and applicable stand‐ards of the application.

Equipmentcategory

Usable inzone

Also usa‐ble in zone

Basic requirements

1 0 12

Equipment designed to be operated in conformity with the operational parameters es‐tablished by the manufacturer and ensuring a very high level of protection. Equipmentof this category is intended for use in areas in which explosive atmospheres caused bymixtures of air and gases, vapors or mists or by air/dust mixtures are present continu‐ously, for long periods or frequently. Equipment of this category must ensure therequired level of protection, even if there are only rare incidents, and is characterizedby means of protection, meaning that● in the event of failure of one means of protection, at least an independent second

means of protection provides the required level of protection; or● in the event of two faults occurring independently of each other, the required pro‐

tection is guaranteed.

20 2122

2 1 2 Equipment designed to be operated in conformity with the operational parameters es‐tablished by the manufacturer and ensuring a high level of protection. Equipment of thiscategory is intended for use in areas, in which it can be expected that an explosiveatmosphere of dust / air mixture can occur occasionally. The means of protection re‐lating to equipment in this category ensure the required level of protection, even in caseof frequently occurring disturbances which normally have to be taken into account.

21 22

3 2 - Equipment designed to be operated in conformity with the operational parameters es‐tablished by the manufacturer and ensuring a normal level of protection. Equipment ofthis category is intended for use in areas in which explosive atmospheres caused bydust whirled up are unlikely to occur or, if they do occur, are likely to do so only rarelyand for a short period of time. Equipment of this category ensures the required level ofprotection during normal operation.

22 -

Fig.4-3: Explosion hazard category and zones according to ATEX (meaning)




4.2 Overview of Connections

Fig.4-4: Overview of connections of MSK ATEX motors for equipment group II,category 3

4.3 Characteristic Features of ATEX Motors and Standard MotorsMSK-ATEX motors differ from standard MSK motors in the following ways:● Flushing connection on the housing (with blind plug)● Additional grounding connection● Type plate with indication of the explosion protection classification ac‐

cording to ATEXThe differences between ATEX motors and standard MSK motors are descri‐bed in the following chapters.




4.4 Conditions on Use of Motors according to ATEX Classification,Equipment Group II, Category 3.

4.4.1 Safety

DANGER

Danger of life or high damage to property; explosion hazard due to in‐appropriate use! Heed the following in order to prevent danger due toignitable gases or explosive dust-air mixtures in the vicinity of the mo‐tors:⇒ Only the components and accessories described in this documentation areallowed to be used for these motors.⇒ The conditions on use described in this documentation have to be observedfor the project planning and operation of the motors within the machine orequipment.

4.4.2 Equipment Category IIThe motors described here (components for equipment group II, category 3)may only be used in an area (ATEX directive 94/9EC, appendix II, chap‐ter 1.5.1),● where no explosive atmosphere can occur during normal operation, as

this is avoided by ventilation and monitoring.● where explosive atmosphere can occasionally occur in an event of fault

and this atmosphere can be eliminated and intercepted by the user im‐mediately after occurrence. Thus the explosive atmosphere appears rare‐ly and for a short period of time.

Therefore, the machine and the components have to be designed by the userso as to avoid that inflammable gas or dust may occur in the environment ofthe motor during normal operation.If nevertheless, in an event of fault, ignitable gases or dusts occur, these haveto be recognized immediately and the fault has to be remedied. The continua‐tion of operation after the occurrence of such gases or dusts is not permitted.The fault, i.e. the occurrence of ignitable gas or air/dust mixtures, must not occurfrequently. If it occurs frequently, measures are to be taken immediately in orderto reduce the probability of occurrence. (ATEX directive 94/9/EC, appendix II,chapter 1.2.3) When the motors described here (components for equipment group II, catego‐ry 3) are used in areas with dust and air/dust mixtures, the constructionregulations of EN 50281-1-2; 1999 for● normal operation and● event of faultshave to be observed.The installation or attachment of motors has to be planned so as to avoid thatdust deposit on the motors can inflame and so as to not affect the explosionprotection.Dust deposits have to be avoided because of the motor cooling on the motorhousing. If dust deposits are unavoidable, the requirements ofEN 50281‑1‑2:1999 are to be complied with. The layer thickness of dust depositis to be restricted because of the danger of heat accumulation (cf. chapter13.4.2 "Cleaning" on page 168).




Gas, Vapors – G (Gas) and Dusts –D (Dust)

Dust (D)

The smoldering temperature of the dust must clearly exceed the max. motortemperature. (ATEX directive 94/9/EC, appendix II, chapters 1.2.3 and 2.3.2.3) The admissible ambient temperature is beyond the usual framework (cf.EN 61241-0; 2006). For this reason, the admissible ambient temperature rangeis indicated on the type plates (see chapter 11.2.2 "Type Plate" on page160).The machine or installation area is to be marked by the user, if the ambienttemperature exceeds the usual framework. The ignition temperature of ignitable gases, the smoldering temperature of ex‐plosive dusts or the ignition temperature of ignitable air/dust mixtures must beclearly above the maximum motor temperature (155 °C). (For further informa‐tion, see ATEX directive 94/9/EC, appendix II, chapters 2.3.1.2 and 2.3.2.2.)The maximum operating temperature at an ambient temperature of 40 °Camounts to● 155 °C within the motor,● outside of the motor housing: 115 °C. The motors must only be operated with Rexroth IndraDrive drive control devi‐ces. Drive control devices of other manufacturers are not permitted.

DANGER

Explosion hazard due to inadmissible temperature increase!⇒ The evaluation of temperature sensors must be made by Rexroth IndraDrivedrive control devices.

Ignition sparks can occur, when motor connectors are disconnected or con‐nected under load.

DANGER

Explosion hazard due to sparking!⇒ Do never connect or disconnect connectors under load!⇒ Before operating connectors, switch off the load and secure it against re-starting.

Speed-controlled drive systems contain unavoidable discharge currents flow‐ing through the earth. For this reason, the motors have to be grounded over themotor cable and over an additional separate grounding wire with a cross-sec‐tion of at least 4 mm2. Check that the grounding wire connections are tightenedbefore commissioning the motor (cf. chapter 9.6 "Connecting an AdditionalPE" on page 138).

Include the regular control of the protective conductor connectionsinto the machine's maintenance schedule.

If the protective conductor in the motor cable and the second separate protec‐tive conductor on the motor housing are not connected or are interrupted bycorrosion or other defects during their lifetime, the discharge current flows (asleakage current) over conductive housing parts. This has to be prevented withthe above-mentioned measures. (ATEX directive 94/9/EC, appendix II, chap‐ters 1.2.3 and 1.3.3, 1.4)




Ambient Temperature - AdditionalMarking

Temperatures

Connecting Conditions

Connectors

Grounding

The corrosion of the motor housing due to aggressive substances (such ascertain coolants, lubricants, cutting oils or salt mists) is to be prevented. Energies stored in the intermediate circuit have to be reduced or insulated assoon as possible through the activation of the emergency stop device, so thatin the case of a failure the risk of an effect into the danger zone is reduced.(ATEX directive 94/9/EC, appendix II, chapter 1.6.2)The following options exist for the activation of the emergency stop device:● Reduction of energies via an intermediate short circuit (cf. chapter 15.2

"Discharging of Capacitors" on page 174).● Insulation of energies before the transition to the potentially explosive area

through disconnection of cables and motors situated in the potentially ex‐plosive areas.

The operation of motors in the ATEX design is only admissible without a fan. Heed the following regarding dangers caused by other disturbances:● Operation only inside the specified ambient conditions,● Do not exceed the maximum vibration and shock loads.

4.4.3 Holding BrakesIn normal operation, the brake located within the motor must only be used atstandstill and for the realization of the drive-internal brake check. In these ca‐ses, only low temperatures (T < 100 °C) exist and no sparks are generatedbecause critical sliding of the brake linings does not occur. The holding brakeserves to hold the axis, when the machine is in the de-energized state.The brake’s control mechanism must ensure this function in normal operation.Particularly under the least favorable installation conditions for the power supplycables to the brake and under the least favorable load condition for the powersupply, a supply voltage of 24 V +/- 10 % must still be applied to the motor. Ifa voltage divergence occurs due to a failure during operation, this failure mustbe identified and corrected immediately. The failure can be identified, for ex‐ample, using a monitoring device for undervoltage.Only in an event of fault, i.e. in the case of a fault in the system, may the brakebe activated when the motor is turning, e.g. in order to prevent a dangerouslowering of vertical axes. In this case, sparks may be generated in the brakeand increased temperatures may occur within the motor. When a fault occurs,the operator must eliminate it immediately.When using holding brakes, observe the additional information in chapter10.11 "Holding Brakes " on page 151 .

For technical data and the availability of holding brakes, see chap‐ters "Technical Data" and "Type Codes".

4.5 Acceptance TestBefore the initial commissioning of the system or after the replacement of amotor, you must carry out an acceptance inspection, including an acceptancelog in which the notes and conditions for application specified here are con‐firmed. After repairs and disassembly in the course of the maintenance of




Risks of Corrosion

Emergency Stop

Fan

Other Environmental Influences

Brake Control

Event of fault

safety-relevant motor parts, the motor must be tested individually again ac‐cording to EN 60079-15 if the explosion protection characteristics werechanged due to the repairs or disassembly (section 26 in EN 60079-0).

4.6 Register of Applied StandardsStandard Title Version

EN 60079-0 Electrical apparatus for potentially explosive gas - Part 0: General Require‐mentsElectrical apparatus for explosive gas atmospheres Part 0: General require‐ments

2006

EN 60079-15 Electrical apparatus for potentially explosive gas - Part 15: Construction, test‐ing and marking of electrical apparatus of the type of protection "n"

2005

EN 60241-0 Electrical apparatus for the use in the presence of combustible dust - Part 0:General Requirements

2006

UL 1004 Electric Motors 2001-02

C22.2 No. 100-95 Motors and Generators 2001-04

Fig.4-5: Applied standards

4.7 Residual RisksThe existing residual risks are to be observed by the user, when the installationis designed.

WARNING

Explosion hazard!Due to the residual risks mentioned here, the motors are not allowed for theuse in areas in which explosive atmospheres or explosive materials● permanently occur or occur over a longer period or● may occur in case of frequent device malfunctions or typical error states(EU directive ATEX 94/9/EC (appendix I), EN 60079‑0; 2004).

When a brake is used, error states producing high temperatures or sparks witha consequential explosion hazard can occur under the following conditions:● An explosive atmosphere develops in the area.● Explosive materials penetrate the motor during their contact time – for

example, due to aged seals.● The brake is operated improperly meaning that temperatures that are

higher than permitted occur in the motor interior.● The brake is controlled via a single channel with the help of the software

functionality (a cyclic brake test, in a regular interval to be stipulated bythe manufacturer, is to be carried out in order to check the functionalityand to detect any errors in good time (cf. chapter 10.11 "Holding Brakes" on page 151).

When the motor is operated with too high a load, including cases where errorsin the mechanical or electrical equipment of the machine cause such overload‐




Brake

Overloading

ing, high temperatures may occur that under the following conditions result inexplosion hazards:● An explosive atmosphere develops in the area.● Explosive materials penetrate the motor during their contact time – for

example, due to aged seals.● The shaft of the motor is overloaded or is insufficiently cooled according

to the project planning instructions.● The single-channel temperature monitor via the software functions fails as

a result of an error in the drive control device, meaning that higher tem‐peratures occur on and in the motor housing.

In case of operation in explosive dust atmospheres:● The operation in a dust atmosphere leads by and by to a thick dust layer

on the motor, which does no longer ensure a sufficient motor cooling.● The dust layer has an insufficient heat conductivity.● Due to the insulating dust layer, the motor is loaded in such a way that it

is heated beyond the allowed temperature limit.● The single-channel temperature monitor via the software functions fails as

a result of an error in the drive control device, meaning that higher tem‐peratures occur on and in the motor housing.

Variable-speed drive systems cause unavoidable discharge currents. If thegrounding connector in the motor cable and the second separate groundingconnector on the motor housing are not connected as specified or are inter‐rupted due to corrosion or other defects during their lifetime, the dischargecurrent flows as leakage current over conducting housing parts, resulting in therisks of sparking at transfer points and, if explosive materials are present, ex‐plosions. The periods of action and penetration of explosive materials depend on theapplication. They depend on the aging of the seals, the mechanical design ofthe motor, the characteristics of the explosive materials and the average tem‐perature that occurs during the operating time as a consequence of the loadcycles. As the result of an error, the single-channel temperature monitor in the drivesystem can fail during its lifetime, said failure not being detected, even if themotor is operated within the normal temperature range and load cycle.




Dust Atmosphere

Grounding and Discharge Currents

Material Aging

Temperature Monitoring

5 Technical Data MSK (ATEX)5.1 Definition of Parameters5.1.1 Parameters on the Data Sheet

Data sheet - Motor

Designation Symbol Unit Description

UL Files (UL) UL File number

Continuous torque at standstill 60 K M0_60 Nm Continuous torque that can be applied to the motor output shaft ata speed of n ≥ 0.1 Hz.

Continuous current at standstill60 K

I0_60(rms) APhase current (crest value) of the motor MdN required for the con‐tinuous torque at standstill at a speed of n ≥ 0.1 Hz.

Continuous torque at standstill100 K

M0_100 Nm Continuous torque that can be applied to the motor output shaft ata speed of n ≥ 0.1 Hz.


I0_100(rms) APhase current (crest value) of the motor M0_100 required for thecontinuous torque at standstill at a speed of n ≥ 0.1 Hz.

Maximum torque Mmax Nm

The maximum torque that can be output for approx. 400 ms at amaximum current of Imax (guaranteed value which may be up to 20%higher). The maximum torque that can be attained depends on thedrive control device used. Only the specified maximum torque inthe selection lists is binding.

Maximum current Imax(rms) AMaximum, briefly permissible phase current of the motor windingwithout adverse affect on the permanent magnet circuit of the mo‐tor.

Torque constant at 20 °C1) KM_N Nm/ARatio of the created torque to the motor phase current at a motortemperature of 20°C. Unit: (Nm/A). Applicable up to approx. i = 2xIdN .

Voltage constant at 20 °C2) KEMK_1000 V/min-1 Root-mean-square value of the induced motor voltage at a motortemperature of 20 °C and 1,000 revolutions per minute.

Winding resistance at 20 °C R12 ohms Winding resistance measured between two winding ends in ohms(Ω).

Winding inductivity L12 mH Inductivity measured between two phases in (mH).

Discharge capacity of the compo‐nent

Cdis nF Discharge capacity

Number of pole pairs p - Number of pole pairs

Moment of inertia of the rotor Jrot kg*m2 Moment of inertia of the rotor without the optional holding brake.Unit = kgm².



Technical Data MSK (ATEX)

Designation Symbol Unit Description

Thermal time constant Tth min

Time of the temperature increase to 63 % of the maximum tem‐perature of the motor housing with the motor loaded with thepermissible S1 continuous torque. The thermal time constant isdefined by the cooling mode used.

① : Chronological course of the motor housing temperatureΘmax : Highest temperature (motor housing)

Tth : Thermal time constant

Maximum speed nmax min-1Maximum permissible speed of the motor. Limiting factors can havemechanical (centrifugal forces, bearing stress) or electrical (DC linkvoltage) causes.

Sound pressure level LP dB(A) Value of sound emission

Weight3) m kg Mass of the motor

Ambient temperature in operation Tamb °C Ambient temperature in operation

Type of protection according toIEC 60529 - Degree of protection

Insulation class according toDIN EN 60034-1 - Insulation class

Holding brake (optional)

Holding torque M4 Nm Transferable holding torque

Rated voltage (+/-10 %) UN V Input voltage of the holding brake

Rated current IN A Current input of the holding brake

Connection time t1 ms Response delay during connection

Disconnection time t2 ms Disconnection time

Moment of inertia of the brake JBr kgm2 Moment of inertia of the holding brake.

1) 2) Manufacturing tolerance ±5 %3) (...) Values for motors with holding brake, sorted (holding brake 1, hold‐

ing brake 2 ...)Fig.5-1: MSK - Technical data (standard)




5.1.2 60 K and 100 K ParametersThe speed-torque curves and technical data are specified for two different tem‐perature models.● 60 K temperature increase on the housing and● 100 K temperature increase on the winding

When selecting the technical data, observe the temperatures speci‐fied! The appropriate parameters are marked with 100 K and60 K, respectively.

The motor data and characteristic curves for IndraDyn S motors are determinedunder the following conditions:● Ambient temperature about 40 °C● Setup isolated● Permissible temperature increase on the housing ΔT = 60 K● In case of motors with the optional holding brake, the data are always

specified for motors with a holding brake.● Motors with radial shaft sealing ringThe motor data and characteristic curves for IndraDyn S motors are determinedunder the following conditions:● Ambient temperature about 40 °C● Structure not insulated (attachment to steel flange, L×W×H = 450×30×350

or 120×40×100)● Permissible temperature increase on the winding ΔT = 100 K● In case of motors with the optional holding brake, the data are always

specified for motors with a holding brake.● Motors with radial shaft sealing ring

The machine accuracy can be negatively affected by an increasedlinear expansion during 100 K operation. We recommend using60 K data for the planning of systems.




Setup and Measurement of the60 K Characteristic Curve

Setup and Measurement of the100 K Characteristic Curve

5.1.3 Operating ModesIndraDyn S motors are documented according to the inspection criteria andmeasurement procedures of EN 60034-1. The specified characteristic curvescorrespond to operating mode S1 or S3.

P LoadPV Electric lossesΘ TemperatureΘmax Highest temperature (motor housing)t TimeTC Cycle timeΔtP Operating time with constant loadΔtV Idle timeFig.5-2: Operating modes according to EN 60034-1:1998

5.1.4 Duty CycleOperating mode S3 is supplemented by the specification of the duty cycle (DC)in %. The duty cycle is calculated as follows:

DC Relative duty cycle in %ΔtP Operating time with constant loadFig.5-3: Relative duty cycleThe values specified in the documentation have been determined on the basisof the following parameters:Cycle time: 10 minDuty cycle (DC): 25 %




5.1.5 Example of a Characteristic Curve of a Motor

S1 (60 K) Continuous operation curve S1 of the motor (according to EN 60034-1;1998), natural convection

S1 (100 K) Continuous operation curve S1 of the motor (according to EN 60034-1;1998), natural convection

S1 (surface) Continuous operation curve S1 of the motor (according to EN 60034-1;1998), surface cooling.

S3 (25 % DC) Intermittent operation curve at 25 % DC of the motor (according to EN60034-1; 1998) and max. cycle time of 10 min.

① - ④ Characteristic voltage limit curves. When a speed at the safe commu‐tation limit is reached, the voltage limit curve limits the available maxi‐mum torque Mmax. The maximum motor speed is determined by theDC link voltage used. There are separate characteristic curves for thevarious drive control devices in connection with the power supply unitand the supply voltage used.

① Mmax for IndraDrive, controlled feed, 3 × AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 × AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 × AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 × AC 400 VFig.5-4: Example of a characteristic curve of a motor

MSK motors in ATEX design are not available with extended coolingmodes (fan units or liquid cooling). The characteristic curves indi‐cated serve to compare S1surface and S1liquid.




5.2 MSK030B - Technical Data Designation Symbol Unit MSK030B-0900-NN

UL Files (UL) E163211

Continuous torque at standstill 60 K M0_60 Nm 0.4


I0_60(rms) A 1.5


M0_100 Nm 0.4


I0_100(rms) A 1.7

Maximum torque Mmax Nm 1.8

Maximum current Imax(rms) A 6.8

Torque constant at 20 °C1) KM_N Nm/A 0.29

Voltage constant at 20 °C2) KEMK_1000 V/min-1 17.9

Winding resistance at 20 °C R12 ohms 7.20

Winding inductivity L12 mH 8,100


Cdis nF 0.7

Number of pole pairs p - 3

Moment of inertia of the rotor Jrot kg*m2 0.00001

Thermal time constant Tth min 19.0

Maximum speed nmax min-1 9,000

Sound pressure level LP dB[A] <75

Weight 3) m kg 1.3 (1.6)

Ambient temperature in operation Tamb °C 0 ... 40

Type of protection according toIEC 60529 --- - IP65

Insulation class according toDIN EN 60034-1 --- - 155

Latest amendment: 2008-01-29


ing brake 2 ...)Fig.5-5: Technical data

Designation Symbol Unit Holding brake 1

Holding torque M4 Nm 1.0

Rated voltage UN V 24






Rated current IN A 0.40

Connection time t1 ms 3

Disconnection time t2 ms 4

Moment of inertia of the holdingbrake

Jrot kg*m2 0.000007


Fig.5-6: Holding brakes MSK030 - Technical data (optional)

① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-7: Characteristic curves of an MSK030B-0900 motor




Characteristic Motor Curves

5.3 MSK030C - Technical Data Designation Symbol Unit MSK030C-0900-NN




I0_60(rms) A 1.5


M0_100 Nm 0.9


I0_100(rms) A 1.7


Maximum current Imax(rms) A 6.8

Torque constant at 20 °C1) KM_N Nm/A 0.58

Voltage constant at 20 °C2) KEMK_1000 V/min-1 35.6

Winding resistance at 20 °C R12 ohms 9.80

Winding inductivity L12 mH 14.100


Cdis nF 1.3




Maximum speed nmax min-1 9,000


Weight 3) m kg 1.9 (2.1)



















Jrot kg*m2 0.000007



① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-10: Characteristic curves of an MSK030C-0900 motor





5.4 MSK040B - Technical DataDesignation Symbol Unit MSK040B-0450-NN MSK040B-0600-NN




I0_60(rms) A 1.5 2.0


M0_100 Nm 1.9


I0_100(rms) A 1.7 2.2


Maximum current Imax(rms) A 6.0 8.0

Torque constant at 20 °C1) KM_N Nm/A 1.26 0.92

Voltage constant at 20 °C2) KEMK_1000 V/min-1 77.8 58.5

Winding resistance at 20 °C R12 ohms 14.70 8.40

Winding inductivity L12 mH 64.700 35.400


Cdis nF 1.3 1.5




Maximum speed nmax min-1 6,000 7,500


Weight 3) m kg 2.8 (3.1)






ing brake 2 ...)Fig.5-11: MSK - Technical data (standard cooling)













Jrot kg*m2 0.000023









5.5 MSK040C - Technical DataDesignation Symbol Unit MSK040C-0450-NN MSK040C-0600-NN




I0_60(rms) A 2.4 3.1


M0_100 Nm 3.1


I0_100(rms) A 3.1 4.7








Cdis nF 2.0







Designation Symbol Unit MSK040C-0450-NN MSK040C-0600-NN




Weight 3) m kg 3.6 (3.9)














Jrot kg*m2 0.000023






5.6 MSK050C - Technical DataDesignation Symbol Unit MSK050B-0300-NN MSK050B-0450-NN MSK050B-0600-NN




I0_60(rms) A 1.8 2.8 3.7


M0_100 Nm 3.4


I0_100(rms) A 2.0 3.2 4.2


Maximum current Imax(rms) A 7.2 11.2 14.8

Torque constant at 20 °C1) KM_N Nm/A 1.80 1.20 0.90

Voltage constant at 20 °C2) KEMK_1000 V/min-1 111.0 73.5 55.0

Winding resistance at 20 °C R12 ohms 13.10 5.70 3.30

Winding inductivity L12 mH 76.400 33.600 19.900


Cdis nF 2.1 1.4 2.1






Weight 3) m kg 4.0 (4.9)



















Jrot kg*m2 0.000107



① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-21: Characteristic curves of a MSK050B-0300 motor





5.7 MSK050C - Technical DataDesignation Symbol Unit MSK050C-0300-NN MSK050C-0450-NN MSK050C-0600-NN




I0_60(rms) A 3.1 4.7 6.2


M0_100 Nm 5.5


I0_100(rms) A 3.4 5.2 6.8








Cdis nF 2.6 2.4 2.6










Designation Symbol Unit MSK050C-0300-NN MSK050C-0450-NN MSK050C-0600-NN

Weight 3) m kg 5.4 (6.3)














Jrot kg*m2 0.000107








5.8 MSK060B - Technical DataDesignation Symbol Unit MSK060B-0300-NN MSK060B-0600-NN




I0_60(rms) A 3.0 6.1


M0_100 Nm 5.5


I0_100(rms) A 3.3 6.7








Cdis nF 2.1










Designation Symbol Unit MSK060B-0300-NN MSK060B-0600-NN

Weight 3) m kg 5.7 (6.4)














Jrot kg*m2 0.000059












I0_60(rms) A 4.8 9.5


M0_100 Nm 8.8


I0_100(rms) A 5.3 10.5








Cdis nF 2.1 2.2






Weight 3) m kg 8.4 (9.2)



















Jrot kg*m2 0.000059












I0_60(rms) A 3.2 4.3 7.7


M0_100 Nm 9.0


I0_100(rms) A 3.6 4.8 8.7








Cdis nF 2.7 2.4 2.1



Thermal time constant Tth min 18.0 15.0

Maximum speed nmax min-1 3,100 4,200 6,000


Weight 3) m kg 8.3 (8.8)



















Jrot kg*m2 0.000059













I0_60(rms) A 4.1 8.2 12.3


M0_100 Nm 14.5


I0_100(rms) A 4.6 9.2 13.7




Voltage constant at 20 °C2) KEMK_1000 V/min-1 213,2 107.0 71.3




Cdis nF 3.8 4.0 3.1









Maximum speed nmax min-1 2500 5500 6000


Weight 3) m kg 11.7 (13.2)














Jrot kg*m2 0.000300









5.12 MSK070D - Technical DataDesignation Symbol Unit MSK070D-0150-NN MSK070D-0300-NN MSK070D-0450-NN




I0_60(rms) A 6.2 11.0 16.6


M0_100 Nm 20.0


I0_100(rms) A 7.1 12.6 22.0








Cdis nF 5.0 4.5







Designation Symbol Unit MSK070D-0150-NN MSK070D-0300-NN MSK070D-0450-NN




Weight 3) m kg 14.0 (15.6)





1) 2) Manufacturing tolerance ±5 %3) (...) Values for motors with holding brake. sorted (holding brake 1, hold‐









Jrot kg*m2 0.000300








① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-49: Characteristic curves of a MSK070D-0150 motor






5.13 MSK070E - Technical DataDesignation Symbol Unit MSK070E-0150-NN MSK070E-0300-NN MSK070E-0450-NN




I0_60(rms) A 6.4 15.4 19.3


M0_100 Nm 25.0


I0_100(rms) A 7.0 16.7 21.0

Maximum torque Mmax Nm 70.0 65.0 60.0







Cdis nF 6.3 3.5 6.7







Designation Symbol Unit MSK070E-0150-NN MSK070E-0300-NN MSK070E-0450-NN




Weight 3) m kg 16.2 (17.8)














Jrot kg*m2 0.000300








① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-54: Characteristic curves of a MSK070E-0150 motor






5.14 MSK071C - Technical Data Designation Symbol Unit MSK071C-0200-NN MSK071C-0300-NN MSK071C-0450-NN




I0_60(rms) A 5.2 7.3 8.9


M0_100 Nm 14.0


I0_100(rms) A 6.1 8.5 10.4








Cdis nF 4.6 4.2











Weight 3) m kg 13.9 (15.8)







Designation Symbol Unit Holding brake 1 Holding brake 2

Holding torque M4 Nm 23.0 30.0

Rated voltage ±10 % UN V 24

Rated current IN A 0.79 0.94

Connection time t1 ms 130 35

Disconnection time t2 ms 180 125


Jrot kg*m2 0.000300








5.15 MSK071D - Technical DataDesignation Symbol Unit MSK071D-0200-NN MSK071D-0300-NN MSK071D-0450-NN




I0_60(rms) A 7.3 9.1 15.4


M0_100 Nm 20.0


I0_100(rms) A 8.6 10.7 17.6











Designation Symbol Unit MSK071D-0200-NN MSK071D-0300-NN MSK071D-0450-NN


Cdis nF 6.9 7.2 7.8






Weight 3) m kg 18.0 (19.6)














Jrot kg*m2 0.000300







① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-64: Characteristic curves of an MSK071D-0200 motor






5.16 MSK071E - Technical DataDesignation Symbol Unit MSK071E-0200-NN MSK071E-0300-NN MSK071E-0450-NN




I0_60(rms) A 10.1 12.5 20.0


M0_100 Nm 28.0


I0_100(rms) A 12.6 15.2 24.4











Designation Symbol Unit MSK071E-0200-NN MSK071E-0300-NN MSK071E-0450-NN


Cdis nF 8.9 9.3 9.5






Weight 3) m kg 23.5 (25.1)














Jrot kg*m2 0.000300







① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-69: Characteristic curves of an MSK071E-0200 motor






5.17 MSK076C - Technical Data Designation Symbol Unit MSK076C-0300-NN MSK076C-0450-NN




I0_60(rms) A 7.2 12.2


M0_100 Nm 13.5


I0_100(rms) A 8.1 13.7













Cdis nF 6.5 6.0





Sound pressure level LP dB[A] < 75

Weight 3) m kg 13.8 (14.9)














Jrot kg*m2 0.000360







5.18 MSK100A - Technical Data Designation Symbol Unit MSK100A-0200-NN MSK100A-0300-NN




I0_60(rms) A 9.2 10.2


M0_100 Nm 17.0


I0_100(rms) A 10.4 11.6








Cdis nF 4.8 4.6





Sound pressure level LP <75

Weight 3) m kg 23.0 (25.4)





Designation Symbol Unit MSK100A-0200-NN MSK100A-0300-NN














Jrot kg*m2 0.001242



① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-78: Characteristic curve of an MSK100A-0200 motor





① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-79: Characteristic curve of an MSK100A-0300 motor




5.19 MSK100B - Technical DataDesignation Symbol Unit MSK100B-0200-NN MSK100B-0300-NN MSK100B-0400-NN




I0_60(rms) A 14.7 17.4 23.7


M0_100 Nm 33.0


I0_100(rms) A 17.3 20.5 27.9








Cdis nF 10.3 9.3 10.3






Weight 3) m kg 34.0 (36.5) (37.8)


















Jrot kg*m2 0.003000 0.001242



① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-82: Characteristic curve of an MSK100B-0200 motor









I0_60(rms) A 17.7 21.6


M0_100 Nm 43.5


I0_100(rms) A 20.3 27.0








Cdis nF 12.8






Weight 3) m kg 45.1 (48.9)


















Jrot kg*m2 0.003000

Fig.5-86: Holding brakes - Technical data (optional)


① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-87: Characteristic curve of an MSK100C-0200 motor





5.21 MSK100D - Technical Data Designation Symbol Unit MSK100D-0200-NN MSK100D-0300-NN MSK100D-0350-NN




I0_60(rms) A 13.0 20.7 29.9


M0_100 Nm 57.0


I0_100(rms) A 15.4 24.8 35.5

Maximum torque Mmax Nm 187.0 185.0







Cdis nF 17.6 16.0 18.0






Weight 3) m kg 56.0 (59.8)


















Jrot kg*m2 0.003000



① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-91: Characteristic curve of an MSK100D-0200 motor









I0_60(rms) A 14.9 18.7


M0_100 Nm 36.5


I0_100(rms) A 17.0 21.3








Cdis nF 6.2






Weight 3) m kg 28.3 (32.1)


















Jrot kg*m2 0.003000








① Mmax for IndraDrive, controlled feed, 3 x AC 400 V② Mmax for IndraDrive, uncontrolled feed, 3 x AC 480 V③ Mmax for IndraDrive, uncontrolled feed, 3 x AC 440 V④ Mmax for IndraDrive, uncontrolled feed, 3 x AC 400 VFig.5-97: Characteristic curve of an MSK101C-0301 curve




5.23 MSK101D - Technical DataDesignation Symbol Unit MSK101D-0200-NN MSK101D-0301-NN




I0_60(rms) A 22.2 30.6


M0_100 Nm 57.0


I0_100(rms) A 26.8 34.9








Cdis nF 13.2 9.1






Weight 3) m kg 40.0 (43.8) (46.2)


















Jrot kg*m2 0.003000








6 Dimensional Data MSK (ATEX)6.1 Technical Design

Motor frame size B5 acc. to EN60034-7 (for additional information see chapter10.5 "Design and Installation Positions" on page 142)Black (RAL 9005)Level A, acc. to EN 60034-14:2004according to DIN 42955, Edition 12.81 (IEC 60072-1)

Encoder Concentricity tolerance Run-out and alignment tolerance

S1, M1 N --- N ---

S2, M2 --- R --- R

Fig.6-1: Tolerance for concentricity, run-out and alignment dependend from theencoder option

according to DIN 42948, ed. 11.65.All motors with keyway are balanced with complete key. The machine elementto be driven must be balanced without a key.Shaft end cylindrical according to DIN 748, Part 3, ed. 07.75. IEC 60072 (-1).Centering hole, according to DIN 332 Part 2, Edition 05.83

Motor

Corresponding key accord‐ing to DIN 6885-A (does notbelong to scope of deliveryof the motors)

Centering hole, accordingto DIN 332 Part 2, Edition05.83

MSK030 3×3×16 DS M3

MSK040 5×5 ×20 DS M5

MSK050 6×6×32 DS M6

MSK060 8×7×40 DS M8

MSK061 6×6×32 DS M6

MSK070 10×8×45 DS M10

MSK071 10×8×45 DS M10

MSK075 1) 10×8×45 DS M10

MSK076 8×7×40 DS M8

MSK100 10×8×45 DS M10

MSK101 10×8×70 DS M12

MSK103 1) - DS M12

MSK131 1) 14×10×80 DS M161) Motor not availabe in ATEX designFig.6-2: Key and centering hole



Dimensional Data MSK (ATEX)

Motor design

Housing paintingVibration Severity Grade (Quality of

Vibration)Concentricity, run-out and align‐

ment

FlangeOutput shaft, shaft end and center‐

ing hole

6.2 Frame Size - MSK030

Fig.6-3: MSK030 specification (ATEX design)




7 Type Codes7.1 MSK Type Code - Structure and Description

Each order of a Rexroth product must be based on the type code. All availablemotor variants are uniquely described by their type code. The individual char‐acters of the type code (abbrev. column) and their meaning are describedbelow.

● The sections below are numbered according to the numberingof the individual type codes.

● Before ordering, please check the availability of the separateoptions with your Bosch Rexroth sales partner.

MSK three-digit Rexroth-specific designation of a servomotor series. The motor frame size determines important mechanical motor specificationsand is proportional to the performance variables. Within a series, the graduation of the increasing motor frame length is indicatedby ID letters in alphabetic order. Frame lengths are, for example, B, C, D andE.The four-digit sequence of figures identifies the rated speed applicable for therespective type of winding.

Option Design Detail

NN Natural Convection Fan mounting possible 1)

FN Liquid cooling Standard connection for coolant ducts 1/8",fan mounting not possible

1) Not admissible for ATEX versionFig.7-1: Cooling modes for IndraDyn S motorsIndraDyn S motors are equipped with an integrated encoder system. To controlthe motor speed and / or to position the motor, the drive control device mustknow the current motor position.

Fig.7-2: IndraDyn S motor encoders



Type Codes

General Information

ProductFrame Size

Frame Length

Winding

Cooling Mode

Encoder

Option Description

U1) Rotating power and encoder connector

A2) Power connector, side A

B2) Power connector, side B

L2) Power connector, to the left

R2) Power connector, to the right

1) for MSK030, -040, -050, -060, -070, -071, -076, -103 motors2) for MSK100, -101, -131 motorsFig.7-3: IndraDyn S connectors with fixed output directionIn order to connect the machine elements to be driven to the motor drive shafts,the following options are available for all IndraDyn S motors:

Option Design Detail

G Plain shaft With frontal centering hole with "DS" threadaccording to DIN 332, Part 2, Edition 05.83P Shaft with keyway 1)

1) Keyway according to DIN 6885, sheet 1, ed. 08.68. For details, refer to the dimensionsheets.

Fig.7-4: IndraDyn S output shafts

IndraDyn S motors are balanced with a key. The related key is notincluded in the scope of delivery.

As an option, IndraDyn S motors are available with electrically releasing holdingbrakes with various holding torques.

Option Holding Brakes

0 Without holding brake

1, 2, 3 With holding brake The holding torques are indicated in the motortype code.

Fig.7-5: IndraDyn S holding brakes

The holding brake is not suitable for the protection of personnel oras a service brake! Please also observe the installation and safetyinstructions on the motor holding brakes in the chapter entitled "Ap‐plication Notes".

NNNN = standard designNSNN = standard and explosion protection design according to equipmentgroup II, categories 3G and 3D according to DIN EN 60079 et seqq.RNNN = design with increased concentricity



Type Codes

Electrical Connection

Drive Shaft

Holding Brake

Design

RSNN = design with increased concentricity and explosion protection designaccording to equipment group II, categories 3G and 3D according to DINEN 60079 et seqq.The item "Reference to Standards" indicates standards referred to in the typecode (e.g. DIN, EN, ISO, etc.) or factory standards (RNC ...) that are also ap‐plicable. The version listed is always that valid at the time the type code isissued.Please refer to this item for additionally required information concerning thehandling of the type code. This includes, for example, descriptions on footnotesor notes on availability.



Type Codes

Reference to Standards

Comment

7.2 MSK030 Type Code

Fig.7-6: MSK030 type code (page 1)



Type Codes




Type Codes

8 Accessories and Options8.1 Motor Encoder8.1.1 General Information

To control the motor speed and/or to position the motor, the drive controllerrequires information on the current rotor position.To achieve this, the integrated encoder unit makes the appropriate signalsavailable to the drive control device. The drive control devices can transfer theposition value determined in this manner to a superordinate controller.The encoder electronics are equipped with a data memory where the motortype name, the control loop parameters and the motor parameters are filed.Rexroth drive control devices read out this data. This ensures● quick and easy startup,● adaptation between the motor and the drive control device without the risk

of damage to the motor.

8.1.2 Technical Data of the Motor EncoderOption Encoder type Measuring

principleSystem accuracy Positioning acquisition

modePosition resolution onthe motor

S1Singleturn Hiper‐face optical en‐coder

Optical ±80 angular seconds

Absolute (more than 1 mo‐tor revolution)

128 x 213 = 1,048,576bits of information / mo‐

tor revolutionM1

Optical encoder:Multiturn absoluteHiperface

Absolute (more than 4,096motor revolutions)

S2Optical encoder:Singleturn EnDat2.1

Optical ±20 angular seconds

Absolute (more than 1 mo‐tor revolution)

2048 x 213 = 16,777,216bits of information / mo‐

tor revolutionM2

Optical encoder:Multiturn absoluteEnDat 2.1

Absolute (more than 4,096motor revolutions)

Fig.8-1: Technical data of the motor encoderThese encoders permit absolute, indirect position recording within one me‐chanical motor rotation. The encoders replace separate incremental encoderson the motor.

After a power failure or after the first POWER ON, the axis mustalways at first be moved to its home position.Exception: Applications in which the maximum working path is with‐in one mechanical rotation of the motor.

These encoders permit absolute, indirect position recording within 4,096 me‐chanical motor rotations. The encoders replace a separate absolute valueencoder on the motor. With this encoder version, the absolute position of theaxis is preserved even after a switch-off.



Accessories and Options

Optical Encoder: Singleturn OptionS1, S2

Optical Encoder: Multiturn Abso‐lute

Option M1, M2

8.2 Holding BrakesIn normal operation, use the brake only when at a standstill and when perform‐ing the drive-internal brake check. The holding brake serves to hold the axis,when the machine is in the de-energized state.When using holding brakes, observe the additional information in chapter10.11 "Holding Brakes " on page 151 .

For technical data and the availability of holding brakes, see chap‐ters "Technical Data" and "Type Codes".

8.3 Gearboxes

DANGER

Explosion hazard! Fatal injuries, damage to the building and installation.⇒ A motor-gearbox combination must comply with the explosion protection re‐quirements according to the ATEX directive 94/9/EC.

Rexroth does not offer or supply servo-planetary gears according to ATEX forthe attachment to MSK-ATEX motors, neither separately nor attached to mo‐tors.

Renowned gearbox manufacturers have explosion-protected gear‐boxes in their scope of delivery.

Please contact the following supplier recommended by Rexroth, if need be:Neugart GmbHKeltenstr. 1677971 Kippenheim, GermanyPhone: +49 (0)7825 –847-0Fax: +49 (0)7825 –847-102Internet: http://www.neugart.de



Accessories and Options

http://www.neugart.de

9 Connection Technique9.1 Electric Connection Technique Overview

The electrical connections of IndraDyn S motors are standardized over all framesizes. IndraDyn S motors are provided with● a power connector, incl. connection for temperature sensor and holding

brake,● an encoder connection.Both connectors are designed as plug-in connectors. When ready-made cablesof Rexroth are used, a simple, fast and error-free assembly and commissioningis ensured.The connection diagram applies to all IndraDyn S motors.

① Power connection with temperature sensor and holding brake② Encoder connection③ optional fan connection (operation with a fan unit is not permitted for

motors in ATEX design!)Fig.9-1: Overview of IndraDyn S connections IMotor Power connector Encoder connectorMSK030 RLS1100 RGS1000MSK040 RLS1100 RGS1000MSK050 RLS1100 RGS1000MSK060 RLS1100 RGS1000MSK061 RLS1100 RGS1000MSK070 RLS1200 RGS1000MSK071 RLS1200 RGS1000MSK075 1) RLS1200 RGS1000MSK076 RLS1100 RGS1000MSK100 RLS1300 RGS1003MSK101 RLS1300 RGS1003MSK103 1) RLS1300 RGS1003MSK131 1) RLS1300 RGS10031) Motor not availabe in ATEX designFig.9-2: Connector on MSK motors



Connection Technique

9.2 Power Connector Size 1Technical data - RLS1100 Contact assignment

U1, V1, W1PE567 (optional)8 (optional)9

PowerGrounding conductorTemperature sensor KTY84 (T1 TM+)Temperature sensor KTY84 (T2 TM-)Holding brake (Br+ / +24 V)Holding brake (Br- / 0 V)n.c.

Degree of protection IP66 / IP67 Temperature range -40 °C to +125 °C Ambient temperature in operation 40 °C Contact type Pins Rated voltage 630 V / 125 V Degree of pollution 3

Overvoltage categoryIII (according to DIN VDE 0110)

Fig.9-3: Technical data - RLS1100

Technical data - RLS1101

Contact assignment


PowerGrounding conductorTemperature sensor KTY84 (T1 TM+)Temperature sensor KTY84 (T2 TM-)Holding brake (Br+ / +24 V)Holding brake (Br- / 0 V)Shield

Degree of protection IP66 / IP67 Temperature range -40 °C to +125 °C Ambient temperature in operation 40 °C Contact type Socket Rated voltage 630 V / 125 V Rated current max. 16 A (observe the current rating of the connected cables)Degree of pollution 3





Ordering type Conductor's cross-section [mm²] Terminal area, outer cable diameter [mm]

RLS1101/C02 1,0 /1,5 11,0 - 14,0


9.3 Power Connector Size 1.5Technical data - RLS1200

Contact assignment



Degree of protection IP66 / IP67 Temperature range -40 °C to +125 °C Ambient temperature in operation 40 °C Contact type Pins Rated voltage 630 V / 125 V Rated current 57.0 A Degree of pollution 3




Contact assignment



Degree of protection IP66 / IP67 Temperature range -40 °C to +125 °C Ambient temperature in operation 40 °C Contact type Socket Rated voltage 630 V / 125 V Rated current max. 57 A (observe the current rating of the connected cables)Degree of pollution 3






RLS1201/C02 1,5 9,0 - 12,7RLS1201/C04 2,5 / 4,0 13,0 - 17,3RLS1201/C06 6,0 17,5 - 21,5RLS1201/C10 10,0 21,5 - 26,0


9.4 Power Connector Size 2Technical data - RLS1300

Contact assignment



Degree of protection IP66 / IP67 Temperature range -40 °C to +125 °C Ambient temperature in operation 40 °C Contact type Pins Rated voltage 700V Rated current 100 A (acc. to VDE and UL); 87 A (acc. to CSA)Degree of pollution 3







Contact assignment



Degree of protection IP66 / IP67 Temperature range -40 °C to +125 °C Ambient temperature in operation 40 °C Contact type Socket Rated voltage 700 V 100 A (acc. to VDE and UL);Rated current 87 A (acc. to CSA) (observe the current rating of the connected cables)Degree of pollution 3


Ordering type Conductor's cross-section [mm²]

Terminal area, outer cable diameter [mm]1)

RLS1301/C03 1.5 / 2.5 Cable gland requirements:● Thread 40 x 1.5● Adapt terminal area to outer cable di‐

ameterFor further information, please refer toDOK-CONEC-CABLE*STAND-AU□□-EN-P

RLS1301/C06 4.0 / 6.0RLS1301/C10 10.0RLS1301/C16 16.0RLS1301/C25 25.0

1) Terminal area depends on cable gland used; cable gland not in thescope of delivery





9.5 Encoder ConnectorTechnical data - RGS1000 / RGS1003

Assignment of encoder contacts S1, M1 (Hiperface) S2, M2 (EnDat2.1)12345678910

VCC_EncoderGND_EncoderA +A -B +B -EncData +EncData -n.c.n.c.

VCC_EncoderGND_EncoderA +A -B +B -EncData +EncData -EncCLK +EncCLK -

Degree of protection IP66 / IP67 Temperature range -40 °C to +125 °C Ambient temperature in operation 40 °C Contact type Pins Rated voltage 125 V Rated current 0.5 A Degree of pollution 3


Fig.9-9: Technical data - RGS1000/RGS1003




Technical data - RGS1001

Contact assignment Rexroth INK0448 wire colors12345678910

BN 0.5 mm²WH 0.5 mm²GN 0.25 mm²BN 0.25 mm²PK 0.25 mm²GY 0.25 mm²BU 0.25 mm²VT 0.25 mm²BK 0.25 mm²RD 0.25 mm²

Total shield across connector housing Degree of protection IP66 / IP67 Temperature range -40 °C to +125 °C Ambient temperature in operation 40 °C Contact type Socket Rated voltage 125 V Rated current 0.5 ADegree of pollution 3



RGS1001/C01 1,0 7,5 - 9,0

Fig.9-10: Technical data - RGS1001




9.6 Connecting an Additional PE

WARNING

Explosion hazard due to improper handling during the connection of themotor!⇒ A separate potential equalization line with a cross-section of at least 4 mm²must be connected to the motor, in addition to the grounding conductor.⇒ It is only allowed to connect the motor in the de-energized state.

The motors for potentially explosive areas have an additional ground lug on themotor flange for this purpose. Use the potential equalization on the motor overthe cable to the potential equalization of the machine or installation and tightenthe screwed connections.

Protective conductor terminal (1) Nominalcross-section

Terminal area

4 mm² 4 mm² (finely stranded)6 mm² (single-wire)

Fig.9-11: Terminal for additional protective conductor

9.7 Connecting Cables9.7.1 Ready-Made Connection Cables

Rexroth provides ready-made power and encoder cables. The following docu‐mentation is available to help select cables.

You can find additional information ...● in the documentation “Rexroth Connection Cables IndraDrive and Indra‐

Dyn”; DOK-CONNEC-CABLE*INDRV-AUxx-EN-P"see MSK selectionlist".. All available power and encoder cables, as well as the combinationsfor IndraDyn S motors, are described there.




Connection cable

10 Conditions on Use and Application Notes MSK (ATEX)10.1 Ambient Conditions10.1.1 Setup Elevation and Ambient Temperature

According to DIN EN 60034-1, the motor performance data specified below arevalid for:● Ambient temperatures 0 … 40 °C● Setup elevation 0 … 1,000 m above sea levelWhen exceeding the given limits, the performance data of the motors must bereduced.

① Utilization depending on the ambient temperature② Utilization depending on the setup elevationfT Temperature utilization factortA Ambient temperature in degrees CelsiusfH Height utilization factorh Setup elevation in metersFig.10-1: Derating of ambient temperature, setup elevation (in operation)Calculation of performance data in case the limits specified are exceeded:Ambient temperature > 40 °CM0_red = M0×fT Setup elevation > 1,000 mM0_red = M0×fH Ambient temperature > 40 °C and setup elevation > 1,000 mM0_red = M0×fT×fH

10.1.2 Humidity / Temperature Ambient climatic conditions are defined in different classes according to DINEN 60721-3-3, Table 1. They are based on observations made over long peri‐ods of time throughout the world and take into account all influencing quantitiesthat could have an effect, such as the air temperature and humidity.Based on this table, Rexroth recommends class 3K4 for continuous use of themotors.This class is excerpted in the following table.



Conditions on Use and Application Notes MSK (ATEX)

Environmental factor Unit Class 3K4

Low air temperature °C +5 1)

High air temperature °C +40

Low rel. air humidity % 5

High rel. air humidity % 95

Low absolute air humidity g/m³ 1

High absolute air humidity g/m³ 29

Speed of temperature change °C/min 0,5

1) Rexroth permits 0 °C as the lowest air temperature.Fig.10-2: Classification of ambient climatic conditions according to

DIN EN 60721-3-3, Table 1

10.1.3 VibrationSinusoidal vibrations occur in stationary use; depending on their intensity, theyhave different effects on the robustness of the motors.The robustness of the overall system is determined by the weakest component.Based on DIN EN 60721-3-3 and DIN EN 60068-2-6, the following values resultfor Rexroth motors:

DirectionMaximum permissible vibration load (10-2,000 Hz)

Encoder S1, M1 Encoder S2, M2

axial 10 m/s² 10 m/s²

radial 30 m/s² 10 m/s²

Fig.10-3: Permissible vibration load for MSK motors

10.2 ShockThe shock load of the motors is indicated by providing the maximum permittedacceleration in non-stationary use, such as during transport.Damage to functions is prevented by maintaining the limit values specified.Based on DIN EN 60721-3-3 and DIN EN 60068-2-6, the following values resultfor Rexroth motors:

Frame sizeMaximum permitted shock load (6 ms)

axial radial

MSK030MSK040MSK050

10 m/s² 1,000 m/s²

MSK060MSK061

10 m/s² 500 m/s²




Sinusoidal Vibrations

Frame sizeMaximum permitted shock load (6 ms)

axial radial

MSK070MSK071

MSK075 1)

MSK076

10 m/s² 300 m/s²

MSK100MSK101

MSK103 1)

MSK131 1)

10 m/s² 200 m/s²

1) Motor not availabe in ATEX designFig.10-4: Permitted shock load for MSK motors

10.3 Degree of ProtectionThe motors are subdivided into corresponding types of protection (IP) regardingtheir applicability for different ambient conditions. These types of protection (IP)are described in DIN EN 60529. The protection of the device is characterizedby a two-digit number. The first digit defines the degree of protection againstcontact and penetration of foreign particles. The second digit defines the degreeof protection against water.

1st digit Degree of protection

6 Protection against penetration of dust (dust-proof);complete contact protection

2nd digit Degree of protection

5 Protection against a water jet from a nozzle directed against thehousing from all directions (jet water)

Fig.10-5: IP types of protection

① Motor housing and output shaft with shaft sealing ring② Connector plugged inFig.10-6: IP degrees of protection for MSK motors in ATEX designThe IndraDyn S motor construction corresponds to the following degrees ofprotection according to DIN VDE 0470, part 1, ed. 11/1992 (EN 60529):




Motor area Degree of pro‐tection Comment

① motor housing, output shaft IP 65 Standard design

② motor connector when properly as‐sembled, plugged in IP 65 Standard design

Fig.10-7: IP type of protection for the motors

The inspections for the second digit are carried out with fresh water. Ifcleaning is effected using high pressure and/or solvents, coolants, or penetrat‐ing oils, it might be necessary to select a higher degree of protection.

10.4 Compatibility with Foreign MaterialsAll Rexroth controls and drives are developed and tested according to the stateof the art.However, since it is impossible to follow the continuing further development ofevery material with which our controls and drives could come into contact (e.g.lubricants on tool machines), reactions with the materials that we use cannotbe ruled out in every case.For this reason, you must execute a compatibility test between new lubricants,cleansers, etc. and our housings and device materials before using these prod‐ucts.

10.5 Design and Installation PositionsMotor design B05

IM B5 IM V1 IM V3

Flange mounting on thedrive side of the flange

Flange mounting on thedrive side of the flange;drive side pointing down

Flange mounting on thedrive side of the flange;drive side pointing up

Fig.10-8: Permissible conditions of installation according to EN 60034-7:1993

CAUTION

Motor damage caused by penetration of fluids!If motors are attached according to IM V3, fluid present at the output shaft overa prolonged time may enter into and cause damage to the motors.⇒ Ensure that fluid cannot be present at the output shaft.




10.6 Housing VarnishThe housing varnish of the motors consists of a black (RAL9005) 2K epoxyresin coating based on epoxy polyamide resin in water.

Chemical resistance against Limited resistance against No resistance against Additional coat of varnish

Standard Ex / Atex

● diluted acids/alkalinesolutions

● water, sea-water, sew‐age

● current mineral oils

● organic solvents● hydraulic oil

● concentrated acids/brines

max. 40 µmpermissible 1)

not permissi‐ble

1) Check the adhesion and resistance of the new paint coat before applyingit.

Fig.10-9: Resistance of paint

10.7 Output Shaft10.7.1 Plain Shaft

The recommended standard model for IndraDyn S motors provides a non-pos‐itive, zero-backlash shaft-hub connection with a high degree of quiet running.Use clamping sets, clamping sleeves or clamping elements to couple the ma‐chine elements to be driven.

10.7.2 Output Shaft with KeyThe optional key according to DIN 6885, sheet 1, version 08-1968, permits theform-fitting transmission of torques with constant direction, with low require‐ments for the shaft-hub connection.

① Key② Keyway③ Motor shaft④ Centering holeFig.10-10: IndraDyn S output shaft with keyThe machine elements to be driven must additionally be secured in the axialdirection via the centering hole on the end face.




CAUTION

Shaft damage! In case of intense reversing operation, the seat of thefitting spring may deflect. Increasing deformations in this area can thenlead to breakage of the shaft!⇒ Preferably, use plain output shafts.

IndraDyn S motors are balanced with the complete key. Hence, the machineelement to be driven must be balanced without a key.

Modifications to the keys may be made only by the user himself and onhis own responsibility. Bosch Rexroth does not assume any warranty for modi‐fied keys or motor shafts.

10.7.3 Output Shaft with Shaft Sealing RingIndraDyn S motors are designed with radial shaft sealing rings according toDIN 3760 – design A.

① Radial shaft sealing ringFig.10-11: IndraDyn S radial shaft sealing ringRadial shaft sealing rings are friction seals. Hence, they are subject to wearand generate frictional heat.Wear of the friction seal can be reduced only if lubrication is adequate and thesealing point is clean. Here, the lubricant also acts as a coolant, supporting thedischarge of frictional heat from the sealing point.● Prevent the sealing point from becoming dry and dirty. Make sure every‐

thing is clean.

Under normal environmental conditions, the shaft seal is greasedfor its lifetime. Under unfavorable environmental conditions (e.g.grinding dust, metal shavings), however, maintenance intervalscould be necessary.

The materials used for the radial shaft sealing rings are highly resistant to oilsand chemicals. The performance test for the particular operating conditions lies,however, within the machine manufacturer’s responsibility.

The complex interactions between the sealing ring, the shaft and the seal‐ing fluid, as well as the particular operating conditions (frictional heat, soiling,etc.), do not allow calculation of the lifetime of the shaft sealing ring.




Balancing with a Complete Key

Wear

Resistance

The degree of protection on the flange side of motors with a shaft sealing ringis IP 65. Hence, tightness is ensured only in case of splashing fluids. Fluidlevels present on the A-side require a higher degree of protection. For verticalinstallation position (shaft at the top) of the motor, please observe the additionalnotes in chapter 10.5 "Design and Installation Positions" on page 142 .

Rexroth recommends that any direct contact of the drive shaft andthe radial shaft sealing ring with the processing medium (coolant,material corrosion) caused by the machine or system constructionbe avoided.

10.8 Bearing and Shaft Load10.8.1 Radial Load, Axial Load

During operation, both radial and axial forces act upon the motor shaft and themotor bearings. The construction of the machine, the selected motor type andthe attachment of driving elements on the shaft side must be adapted to eachother to ensure that the load limits specified are not exceeded.

[1] Shaft, plain[2] Shaft with keywayn Arithmetic average speedx Force application pointFig.10-12: Example of a shaft load diagramThe maximum permissible radial force Fradial_max depends on the following fac‐tors:● Shaft-breaking load● Point of application of force x (see chapter "Technical Data")● Shaft design (plain; with keyway)The permitted radial force Fradial depends on the following factors:● Arithmetic mean speed (nmean)● Point of application of force x (see chapter "Technical Data")● Bearing Lifetime




Vertical Installation Positions IM V3

Maximum Permissible Radial Force

Permissible Radial Force

The maximum permitted axial force Faxial is proportional to the radial force. Themaximum permissible axial force Faxial is indicated in the section on the radialforce.The initialization and deceleration times can be ignored in the calculation if thetime in which the drive is operated at a constant speed is significantly greaterthan the acceleration and deceleration times. In the exact calculation of themean speed according to the following example, the run-up and braking timesare taken into account.

n1m; n2m Mean speed in section xn1; n2 Processing speedtH1; tH1 Run-up timet1; t2 Processing timetB1; tB2 Braking timet11; t22 Standstill timeFig.10-13: Mean speedA complete processing cycle can consist of several sections with differentspeeds. In this case, the average is to be calculated from all the sections.




Permissible Axial Force

Mean Speed

10.8.2 Shaft Load MSK Motors

Admissible axial force Faxial 0 N Admissible axial force Faxial 30 N






[1] Shaft, plain[2] Shaft with keywayn [min-1] Mean speedFig.10-14: MSK shaft load

10.9 Bearing LifetimeThe bearing lifetime is an important criterion for the availability of IndraDyn mo‐tors.If IndraDyn S-motors are operated within the limits specified for radial and axialloads, the bearing lifetime is as follows:L10h = 30,000 operating hours(calculated according to ISO 281, ed. 12/1990)This applies to all IndraDyn motors based on the following:● The permitted loads from the corresponding chapter "Technical Data" are

never exceeded.● The motor is operated under the permitted conditions for use and in the

permitted ambient temperature range of 0 °C to +40 °C.● The "mean speed" driven over the entire operating cycle conforms with

the characteristic curves from the corresponding section "Technical Da‐ta", where:

nm Mean speednm(tf) Mean speed for which a grease lifetime of 30,000 h can be expected.Fig.10-15: Mean speedDiffering loads can have the following effects:● Premature failure of the bearing due to increased wear or mechanical

damage.




Bearing Lifetime

● Reduction of the grease lifetime leads to premature failure of the bear‐ing.

● Avoid exceeding the load limits.In other cases, the bearing lifetime is reduced as follows:

L10h Bearing lifetime (according to ISO 281, ed. 12/1990)Fradial Determined permissible radial force in N (Newtons)Fradial_act Actually acting radial force in N (Newtons)Fig.10-16: Calculation of the bearing service life L10h, if the permissible radial force

Fradial is exceeded

Under no circumstances may the actually acting radial force Fradi‐

al_ist be higher than the maximum permissible radial force Fradi‐

al_max.

10.10 Attachment of Drive ElementsWhenever attaching drive elements to the output shaft, such as● Couplings● Gear pinionsplease be sure to observe the following notes.When drive elements are attached, their suitability and qualification for the ex‐plosion protection is to be checked and observed in accordance with theapplicable standards.Generally, redundant bearings are to be avoided by all means when connectingdrive elements. The tolerances inevitably present in such cases will lead toadditional forces acting on the bearing of the motor shaft and, as the case maybe, to a distinctly reduced service life of the bearing.

If redundant attachment cannot be avoided, it is absolutely neces‐sary to consult Bosch Rexroth.

The machine construction and the drive elements used must be carefully adap‐ted to the motor type so as to make sure that the load limits of the shaft and thebearing are not exceeded.

When extremely stiff couplings are attached, the radial force whichconstantly changes the angular position may cause an impermis‐sibly high load on the shaft and bearing.

Owing to thermal effects, the flange-sided end of the output shaft may shift by0.6 mm in relation to the motor housing. If helical drive pinions or bevel gearpinions directly attached to the output shaft are used, this change in positionwill lead to● a shift in the position of the axis, if the driving pinions are not defined axially

on the machine side,● a thermally dependent component of the axial force, if the driving pinions

are defined axially on the machine side. This causes the risk of exceeding




Mechanical Bearing Lifetime incase of Increased Radial Force

Explosion Protection

Redundant Bearings

Couplings

Bevel Gear Pinion or Helical DrivePinion

the maximum permissible axial force or of the play within the gears in‐creasing to an impermissible degree.

In such cases, drive elements should preferably be used with theirown bearings which are connected to the motor drive shaft via ax‐ially compensating couplings.

10.11 Holding Brakes 10.11.1 Holding Brake Electrically-Released

The holding brake of the IndraDyn S motors works according to the principle"electrically-released". Non-operative closed holding brakes open when apply‐ing the operating voltage.The voltage supply of the holding brake has to be designed so as to guaranteeunder the worst installation and operation conditions that a sufficient voltage isavailable at the motor in order to ventilate the holding brake. (Please also referto Rexroth IndraDrive Drive System DOK-INDRV*-SYSTEM*****-PRxx-EN-P,Chapter"Project Planning of Control Voltage ")

The switching voltage arriving on the motor is influenced by the ca‐ble length and the cable features, e.g. the conductor resistance.● We recommend a minimum voltage of 22.8 V (24 V - 5%) onto

the drive device for Bosch Rexroth ready-made power cablesup to max. 50 m.

● We recommend a minimum voltage of 24.7 V (26 V - 5%) ontothe drive device for Bosch Rexroth ready-made power cableslonger than 50 m.

t1 Connection timet2 Disconnection timeFig.10-17: Holding brake diagramThe electrically releasing holding brake is used to hold the axes at a standstilland when the ”controller enable” signal is off. When the power supply voltageloss and the controller is enabled, the electrically releasing brake will automat‐ically shutdown.

Do not use the holding brake as an operational brake for movingaxes.




If the holding brake is engaged repeatedly on a drive in motion or the ratedbrake torque is exceeded, premature brake wear can occur.

10.11.2 Notes Regarding Safety for Holding Brakes

WARNING

Danger of life or high damage to property, ignition and explosion hazarddue to inappropriate use!In order to prevent danger due to ignitable gases or explosive dust-airmixtures in the vicinity of the motors, the user must make sure that theholding brake does not present a source of ignition in the normal service.For this reason, the holding brake must never be used outside the designparameters and operating conditions (cf. standard EN 13463-1)!⇒ When the motors are delivered, they are to be checked as regards an ATEX-compliant marking subject to the application area, as regards the accordancewith the ordering details as well as for completeness and any transport dam‐ages.⇒ The holding brake integrated in the motor must only be used at standstill andnever as EMERGENCY STOP brake to stop the motor (n < 10 min-1) (intendeduse), see P-0-0119, "Optimal shutdown "(IndraDrive firmware - functional de‐scription).⇒ The holding brake must not be used to brake or stop the motor or coupledloads from higher speeds (n ≥ 10 min-1) or velocities (non-intended use)⇒ The voltage supply of the holding brake has to be designed so as to guaranteeunder the worst installation and operation conditions that a sufficient voltage of24 Volt ±10 % is available at the motor in order to ventilate the holding brake.⇒ The brakes must be designed so as to fulfill their function in normal service,if they are installed and used as intended. During commissioning, this has tobe checked and confirmed by way of a log.⇒ Commissioning and maintenance activities must only be carried out in non-explosive environments.

Malfunctions that occur in the course of the operating period and that maychange the design parameters or the operating conditions must be recognizedand eliminated within an appropriated period of time. For this case, we recom‐mend to check the function and the state of the holding brake at regular timeintervals (see chapter 10.11.5 "Holding Brake Commissioning and Mainte‐nance" on page 154).

10.11.3 Holding Brakes - Notes Regarding SafetyObserve the safety requirements for the system planning and development.

DANGER

Personal injury through hazardous movements caused by falling or de‐scending axes!Secure vertical axes against falling or descending after disconnection:● lock the vertical axes mechanically,● provide an external braking / collecting / clamping device, or● ensure sufficient equilibration of the vertical axes.The serially delivered holding brakes which are driven by the control device arenot suited for personal safety!Personal protection must be realized by superordinate fail-safe measures, suchas e.g. the locking off of the danger zone by means of a protective fence or grill.




Control of the Holding Brake duringOperation (Recommendation)

Observe supplementary standards and recommendations.For European countries:● EN 954 and ISO 13849-1 (2007) and ISO 13849-2 (2003)

Safety-related components of controls● Information sheet no. 005 "Gravity-loaded axes (vertical ax‐

es)" Edition 02/04 (published by: Fachausschuss Maschinen‐bau, Fertigungssysteme, Stahlbau)

For the USA:● See National Electric Code (NEC), National Electrical Manu‐

facturers Association (NEMA) as well as local building regu‐lations.

The following is generally valid: Comply with all applicable nationalregulations!

The permanent magnetic brake is no safety brake. This means, a torque re‐duction by non-influenceable disturbance factors can occur (see EN 954 andISO 13849-1 (2007) and ISO 13849-2 (2003) or the information leaflet No. 005about "Gravity-loaded axes (vertical axes)").Please pay particular attention to the following:● Corrosion on friction surfaces, as well as dust, perspiration and sediments

reduce the braking effect.● Grease must not hit the friction surface.● Overvoltage and too high a temperature can weaken the permanent mag‐

nets and thus the brake.Engaging of the brake is no longer ensured, if the air gap between armatureand pole is improperly increased due to deterioration. In this case, no brakingoccurs.

10.11.4 Layout of Holding BrakesHolding brakes on motors of Rexroth are basically not designed for servicebraking. The effective braking torques are different in static and dynamic op‐eration for physical reasons.

Normal operation and EMERGENCYSTOP

Fault condition

In normal operation, using the holdingbrake for clamping of a standstill axis, the"static holding torque" (M4) - adhesive fric‐tion applies.In case of EMERGENCY STOP for the de‐sactivation of an exis (n < 10 min-1), a"dynamic holding torque" (Mdyn) – slidingfriction is effective.

Under a fault condition, using the holdingbrake for the desactivation of a moving ax‐is (n ≥ 10 min-1), a "dynamic holding tor‐que" (Mdyn) – sliding friction is effective.

M4 > Mdyn

Therefore, note the following description of dynamic sizing.

Fig.10-18: Dynamic sizing




The load torque must be smaller than the minimum dynamic torque Mdynwhichthe holding brake can provide. Otherwise the dynamic holding brake torque isnot sufficient to stop the axes.If a mass is to be decelerated in a defined time or in a defined route, the addi‐tional mass moment of inertia of the whole system must be taken into account.To ensure the system's safety, reduce the required holding torque to 60% ofthe static holding torque (M4) of the holding brake.

10.11.5 Holding Brake Commissioning and Maintenance

WARNING

Danger of life or material damage, danger of explosion due to inappro‐priate use!● Any commissioning and maintenance works must only be carried out in

non-explosive environments. The environment must be free from explo‐sive gas or dust.

● Before commissioning and maintance works are carried out, the roomsare to be ventilated, if applicable, in order to remove any existing explosivegas.

In order to ensure proper functioning of the holding brake, it must be checkedbefore the motors are commissioned. The test as well as the resurfacing maybe carried out "mechanically by hand" or "automatically by means of the soft‐ware function".Measure the holding torque (M4) of the holding brake. If necessary, resurfacethe holding brake.

Measuring the Holding Torque (M4) of the Holding Brake1. De-energize the motor and secure it against re-energization.2. Measure the transferable holding torque of the holding brake with a torque

wrench. For holding torque (M4) refer to the technical data.If the holding torque (M4) is achieved, the motor is ready for assembly.If the holding torque (M4) is not achieved, the subsequent resurfacing-process can be used to reconstitute the holding torque.

Resurfacing the Holding Brake1. At closed holding brake, turn the output shaft by hand, e.g. with the help

of a torque wrench, by about 5 revolutions.2. Measure the holding torque (M4).

If the holding torque (M4) is achieved, the motor is ready for assembly.If the specified holding torque (M4) is not achieved after several resurfac‐ing processes, the holding brake is not operable. Please, contact theRexroth Service.

Checking the Holding Torque (M4) via P-0-0541, C2100 CommandHolding system check

1. The efficiency of the holding brake and the opened state are checked bythe control device by starting the routine "P-0-0541, C2100 CommandHolding system check".If the holding brake is operational, the drive is in an operational state afterthe routine was run through. If the braking torque is too low, the controldevice outputs a corresponding message.




Dynamic sizing

Project planning recommendation

Checking and Resurfacing of Hold‐ing Brakes by Hand

Checking and Resurfacing of Hold‐ing Brakes by means of the Soft‐

ware Function

The brake test can also be carried out cyclically in the frameworkof a preventive maintenance.

Restoring the Holding Torque (M4) by means of the Software FunctionThe following possibilities are available:

1. Realization of the resurfacing routine IndraDrive "Restoring the holdingtorque" (see"P-0-0544, C3900 Command Resurfacing of motor holdingbrake"). A repeated realization of the resurfacing routine is possible.Upon the execution of the command C3900 it is not checked whether theresurfacing of the holding brake was successful. It is recommended toexecute the command C2100 (Command Holding system check) onceagain.

2. Resurfacing routine by superior control. Here, special control programsadapted to the machine and system concepts are required. If necessary,please contact your Bosch Rexroth distribution partner and discuss theresurfacing routine parameters for your application.

For more detailed information about software functions refer to the func‐tional description "Rexroth IndraDrive Firmware for Drive Control Devices MPx-xx, DOK-INDRV*-MP*-xxVRS**-FKxx-EN-P."

10.12 Acceptances and Authorizations10.12.1 CE Symbol

Certificate of conformity confirming the structure of and compliance with thevalid EN standards and EC directives are available for all IndraDyn S motors.If necessary, these certificates of conformity can be requested from the re‐sponsible sales office.The CE symbol is attached to the motor type label of IndraDyn S motors.

Fig.10-19: CE symbol

10.12.2 UR, cUR ListingMSK motors have been presented to the UL authorities "Underwriters Labora‐tories Inc.®" "Underwriters Laboratories Inc.®"The license number of motors (File number ) is indicated in the technical data.Motors approved by the UL authorities are marked with the following sign onthe motor's name plate.

Fig.10-20: cUR symbol




Declaration of Conformity

10.12.3 CCC (China Compulsory Certification)The CCC test symbol is a compulsory safety and quality label for products dis‐tributed in China.IndraDyn S motors are not liable to certification regarding CCC in China (statuswhen this documentation was printed).(CCC = China Compulsory Certification)

10.13 Motor Cooling System10.13.1 Natural Convection

Rexroth motors of the standard design are self-cooling motors. The heat dis‐sipation is realized over the natural convection to the ambient air and heatconduction onto the machine construction.

Pollution of the motors reduces the heat dissipation. Ensure tidi‐ness!

10.14 Motor Temperature Monitoring10.14.1 General Information

The motor temperature is monitored by two systems that are operated inde‐pendently of each other● Temperature sensor● Temperature modeland ensures thus the best protection of motors against irreversible damage bythermal overload.

10.14.2 Temperature SensorThe monitoring of the motor temperature is ensured via the temperature sensorof the KTY84 type, which is built into the stator. The motor temperature meas‐ured is controlled via the following threshold values:● Motor - warning temperature (140 °C)● Motor - switch-off temperature (150 °C)The threshold values are filed within the encoder memory of the MSK motors.




Fig.10-21: Characteristic curve KTY84-130The IndraDrive control devices monitor the functionality of the temperaturesensors.For further information, please refer to the functional description of IndraDrivecontrol devices.




11 Handling, Transport and Storage11.1 State of Delivery11.1.1 General Information

Upon delivery, the IndraDyn S motors are packed in cardboard boxes or crates.Packing units on pallets are secured by means of retaining straps.

WARNING

Injuries due to uncontrolled movement of the retaining straps when cut‐ting!⇒ Maintain sufficient distance and carefully cut the retaining straps.

Upon delivery from the factory, the motor drive shaft and the connectors haveprotective sleeves. Remove the protective sleeves just before assembly.

11.1.2 Inspection at the FactoryAll IndraDyn S motors undergo the following inspections:● High-voltage test according to DIN EN 60034-1 / 02.99● Insulation resistance test according to EN 60204-1/1.92, section 20.3.● Grounding conductor test according to EN 60204-1/1.92, section 20.3.● Test of winding resistance● Concentricity and position tolerances of shaft end and fastening flange

according to DIN 42955/12.81.● Axial eccentricity of the flange face to the shaft according to

DIN 42955/12.81.● Coaxiality of the centering shoulder to the shaft according to

DIN 42955/12.81.● Test of brake holding torque (option)

11.1.3 Test Realized by the CustomerSince all IndraDyn S motors undergo a standardized inspection procedure, thecustomer does not have to carry out any high-voltage tests. Motors and com‐ponents could be damaged if they undergo several high-voltage inspections.

DANGER

Destruction of motor components due to improperly executed high-volt‐age inspection! Invalidation of warranty!⇒ Avoid repeated inspections.⇒ Please observe the target values of the EN 60034-1 (acc. to DIN VDE 0530-1)

11.2 Identification and Check of the Supplied Goods11.2.1 Shipping Documents and Delivery Note

The total scope of a delivery can be seen in the delivery note or waybill. How‐ever, the contents of a delivery may be distributed over several packages.Each individual package can be identified using the shipment label attached tothe outside.



Handling, Transport and Storage

Electrical Test

Mechanical Test

11.2.2 Type PlateEach device has an individual type plate showing the device designation andproviding technical information.● After having received the goods, compare the ordered and the supplied

type. Immediately report any deviations.The motor is delivered with its own separate type plate. This is attached to themotor housing. In addition, a second type plate is attached using two-side tapeonto the original motor name plate. The second type plate can be attachedwhere visible on the machine, if the original type plate of the motor is concealedby parts of the machine.

Fig.11-1: Type plate (example: IndraDyn S ATEX)The type plate is provided for● Identification of the motor● Procurement of spare parts in case of a fault● Service information.

The type designation of the motor is also filed in the encoder datamemory.

11.3 Handling of the Equipment

CAUTION

Damage or injuries and invalidation of the warranty due to improperhandling!⇒ Avoid mechanical stressing, throwing, tipping or dropping of the products.⇒ Use suitable lifting equipment only.⇒ Never lift up the motor on the optional fan housing.⇒ Use suitable protective equipment and protective clothing during transport;wear safety shoes.⇒ Protect the products from dampness and corrosion.

Upon delivery, IndraDyn S motors have protective sleeves and covers on thedrive shaft and the flange sockets. During transport and storage, the protectivesleeves must remain on the motor.● Remove the protective sleeves just before assembly.● Also use the protective sleeves if you return the goods.




Motor

③ Power connector protective sleeve② Encoder connector protective sleeve① Shaft protective sleeveFig.11-2: IndraDyn S protective sleeves● Avoid any damage to the motor flange and drive shaft.● Avoid impacts to the drive shaft.

Fig.11-3: Handling the the shaft endAny impacts to the shaft end damage the encoder and the ball bearings! Driveelements such as pulleys, clutch disks, gears, etc. may be attached or removedonly by uniformly heating the drive elements or using suitable mounting or dis‐mantling equipment.

11.4 Transport of the EquipmentRequirements for transport according to DIN EN 60271-3-2.

Environmental factor Symbol Unit Value

Air temperature Ttransp °C -20 … 80

Maximum relative air hu‐midity φ % 95

Maximum absolute airhumidity ρw g/m³ 60

Keep the shock load limit according to the application notes.Empty liquid-cooled motors at a temperature < 4 °C (damage due to freezing).

Fig.11-4: Conditions for transportThe following conditions must be maintained during transport:● Use suitable means for transport and heed the weight of the components.

You can find indications of weight in the data sheets or on the type plateof the motor.




● Provide appropriate shock absorbers, if strong vibrations may occur dur‐ing transport.

● Transport the motors only in the horizontal position.● Use cranes with lifting sling belts to lift the motors.

Fig.11-5: Lifting and transporting motors by means of lifting sling belts

11.5 Storage of the EquipmentRequirements for storage according to DIN EN 60271-3-1.

Environmental factor Symbol Unit Value

Air temperature Tlager °C -20 … 60

Relative air humidity φ % 5 … 95

Absolute air humidity ρw g/m³ 1 … 29

Dustfree, dry and with low vibration(Veff ≤ 0.2 mm/s).

Empty liquid-cooled motors at a storage temperature < 4 °C (damage due to freezing).

Fig.11-6: Conditions for storage

CAUTION

Damage and invalidation of the warranty due to incorrect storage!⇒ Store the motors horizontally in a dry, vibration-free, dust-free and corrosion-protected location.




12 Installation12.1 Safety

WARNING

Injuries due to live parts! Lifting of heavy loads!● Install the motors only when they are de-energized and not connected

electrically.● Use suitable tackles, protective equipment and protective clothing during

transport.Observe the notes regarding safety given in previous chapters.

Carry out all working steps very carefully. In this way, you minimize the risk ofaccidents and damage.

12.2 Skilled PersonnelAny works on the system and on the drives or in their vicinity must only becarried out by appropriately trained technical personnel.Please make sure that all persons carrying out● installation works● maintenance, or● operating activitieson the system are adequately familiar with the contents of this documentationas well as with all warnings and precautionary measures contained therein.

Qualified technical personnel are those persons who have been trained,instructed or are authorized to activate and deactivate, ground and mark electriccircuits and equipment according to the technical safety regulations. Qualifiedtechnical personnel must possess appropriate safety equipment and have beentrained in first aid.

12.3 Mechanical Attachment12.3.1 Flange Assembly

In order to attach the motors correctly and safely to the machine, Bosch Rexrothrecommends the following screws and washers for motor mounting.

The screwed connections must be able to take up both the forcedue to the weight of the motor and the forces acting during opera‐tion.

For standard cases, use pan-head machine screw DIN 912 - M... x ... - 8.8 andrelated washers according to DIN EN 28738. In case of several motors, theintegration of washers is not required, see table.

If the screws and washers used do not comply with this recommen‐dation, the property class of the screws and the hardness classmust be equivalent in order to transmit the required tightening tor‐ques (see fig. 12-1 "MSK mounting accessories (flange assem‐bly)" on page 164).



Installation

IndraDyn S motors are designed for flange assembly (B05). Details on themounting holes are given in the corresponding dimension sheet. For the fas‐tening, the following general assignment applies:

B05 (flange assembly)

Hole Screw (8.8)Wash‐

er DIN EN 28738

Ø [mm] Type 1) MGA [Nm] Ø [mm]

MSK030 4,5 M4×20 3,1 none

MSK040 6,6 M6×20 10,4 none

MSK050

9,0 M8×20 25 10MSK060

MSK061

MSK070

11,0 M10×30 51 12MSK071

MSK075 2)

MSK076

MSK100

14,0 M12×40 87 14MSK101

MSK103 2)

MSK131 2) 18,0 M16×35 215 none

① Mounting holeMGA Tightening torque in Newton meters1) Minimum screw length for screwing into steel.2) Motor not available in ATEX version.Fig.12-1: MSK mounting accessories (flange assembly)

12.3.2 Assembly Preparation● Log all measures taken in the commissioning log.Prepare motor assembly as follows:1. Check the components for visible damage. Defective components must

not be mounted.2. Ensure that dimensions and tolerances on the system side are suitable

for motor attachment (for details, see the dimension sheet).3. Ensure that mounting can be done in a dry, clean and dust-free environ‐

ment.4. Keep tools and auxiliary material, as well as measuring and testing equip‐

ment, ready at hand.5. Check that all components, mounting surfaces and threads are clean.6. Ensure that the holder for the motor flange on the machine side has no

burrs.7. Remove the protective sleeve of the motor drive shaft. Retain the sleeve

for later use.



Installation

8. Check whether the motor holding brake reaches the holding torque speci‐fied in the data sheet. If the brake does not reach the indicated holdingtorque, proceed as follows chapter 10.11.5 "Holding Brake Commission‐ing and Maintenance" on page 154.

12.3.3 Motor Assembly● Mount the motor.Note:● Avoid clamping or jamming the centering bundle on the motor side.● Avoid damage to the insertion fitting on the system side.● Connect the motor with the machine (observe the tightening torques!).● Check the fit and accuracy of the connection before you proceed.After having mounted the motor mechanically as prescribed, establish the elec‐trical connections.

12.4 Electrical Connection – Connecting the Motor12.4.1 General Information

It is recommended that you use ready-made Rexroth connection cables. Thesecables provide a number of advantages, such as UL/CSA authorization, ex‐treme load capability and resistance as well as a design suitable for EMC.

DANGER

Danger of life due to electrical power! Handling within the range of liveparts is extremely dangerous.● Any work required on the electric system must only be carried by skilled

electricians. It is absolutely necessary to use power tools.● Before the work can be started, the system must be de-energized and the

power switch be secured against unintentional or unauthorized re-starting.● Before the work can be started, an appropriate measuring device must be

used to check whether parts of the system are still under residual voltage(e.g. caused by capacitors, etc.). If yes, wait until these parts have dis‐charged.

WARNING

Injuries to persons or damage to property possible! Interrupting or con‐necting live lines may cause unpredictable dangerous situations or leadto damage to property.● Connect and disconnect connectors only when they are dry and de-ener‐

gized.● During operation of the system, all connectors must be securely tightened.

WARNING

Risk of short-circuit caused by liquid coolant or lubricant! Short-circuitsof live lines may cause unpredictable dangerous situations or lead todamage to property.● Provide open sides of the power connectors with protective caps, when

installing or replacing drive components.

12.4.2 Attaching the ConnectorsWhen fitting the encoder connector with a screwed end fitting, proceed as fol‐lows:

1. Place the power connector in the correct position onto the thread of theconnection housing.



Installation

Power/Encoder Connectors

2. Tighten the union nut of the power connector manually. By leading thecable in further, the power connector can be steadily brought to its finalposition.

3. Completely tighten the union nut.

Only completely tightened union nuts guarantee the indicatedIP65 protection against water and activate the vibration pro‐tection.

12.4.3 Adjusting the Output DirectionThe flange sockets can be turned through 240°.The motor flange socket can be turned if an appropriate connector has beenattached. Owing to the leverage of the attached connector, the flange socketcan be turned manually to the desired position.

1. Connect the motor power cable to the flange socket.2. Do not use any tools (e.g. pliers or screwdrivers) to turn the

motor flange socket. Mechanical damage to the flange socketwhen using tools cannot be excluded.

Move the flange socket to the desired output direction by turning the plug‐ged-in connector.The desired output direction is set.

Whenever the flange socket is turned, the holding torque in the setposition is reduced. To ensure the required holding torque of theflange socket, the output direction should be changed no more than5 times!



Installation

13 Commissioning, Operation and Maintenance13.1 Commissioning

CAUTION

Damage to property due to errors in the controls of motors and movingelements! Unclear operating states and product data!● Do not carry out commissioning if connections, operating states or product

data are unclear or faulty.● Do not carry out commissioning if the safety and monitoring equipment of

the system is damaged or not in operation.● Damaged products must not be put into operation!● Contact Rexroth for missing information or support during commissioning!

The following notes on commissioning refer to IndraDyn S motors as part of adrive system with drive and control devices.Preparation

1. Keep the documentation of all products you are using ready.2. Check the products for damage.3. Check all mechanical and electrical connections.4. Activate the safety and monitoring equipment of the system.5. Make sure that the optional holding brakes are ready for operation (cf.

chapter 10.11.5 "Holding Brake Commissioning and Maintenance" onpage 154).

ExecutionWhen all requirements are met, proceed as follows:

1. Carry out the commissioning of the drive system according to the instruc‐tions provided in the respective documentation. You can find the respec‐tive information in the functional description of the drive control devices.

Commissioning of drive controllers and the control unit may requireadditional steps. The inspection of the functioning and performance of thesystems is not part of the commissioning of the motor; instead, it is carriedout within the framework of the commissioning of the machine as a whole.Observe the instructions and regulations given by the machine manufac‐turer.

13.2 OperationKeep the described ambient conditions during operation (cf. chapter 10 "Con‐ditions on Use and Application Notes MSK (ATEX)" on page 139).

13.3 DeactivationIn the case of malfunctions or maintenance, or to deactivate the motors, pro‐ceed as follows:

1. Observe the instructions of the machine documentation.2. Use the machine-side control commands to bring the drive to a controlled

standstill.3. Switch off the power and control voltage of the drive controller.4. Switch off the main switch of the machine.



Commissioning, Operation and Maintenance

5. Secure the machine against accidental movements and against unau‐thorized operation.

6. Wait for the discharge time of the electrical systems to expire and thendisconnect all electrical connections.

7. Before dismantling, secure the motor against falling or movements beforedisconnecting the mechanical connections.

13.4 Maintenance13.4.1 General Information

Synchronous motors of the IndraDyn S series operate maintenance-free withinthe given operating conditions. However, operation under unfavorable condi‐tions can lead to limitations in availability.● Increase availability with regular preventive maintenance measures. Ob‐

serve the information in the maintenance schedule of the machine man‐ufacturer and the service measures described below.

WARNING

Burns may be caused through hot surfaces with temperatures over100 °C● Do not work on hot surfaces.● Use safety gloves.● Let the motor cool down, before maintenance. The thermal time constant

stated in the technical data is a measure for the cooling time. A coolingtime up to 140 minutes can be necessary!

WARNING

Danger of injury due to moving elements!● Do not carry out any maintenance measures, while the machine is running.● During maintenance work, secure the system against restarting and un‐

authorized use.

13.4.2 CleaningExcessive dirt, dust or chips may adversely affect the functionality of the motorsand, in extreme cases, even cause a failure of the motors. Clean the coolingfins of the motors at regular intervals (after one year at the latest) to reach asufficiently high heat emission surface. If the cooling ribs are partially coveredwith dirt, sufficient heat dissipation via the ambient air is no longer guaranteed.An insufficient heat radiation may have undesired consequences. The bearinglifetime is reduced by operation at impermissibly high temperatures (the bearinggrease is decomposing). Switch-off caused by overtemperature despite oper‐ation on the basis of selected data, because the appropriate cooling is missing.

13.4.3 BearingsThe nominal lifetime of the bearings is L10h = 30,000 h according toDIN ISO 281, ed. 1990, provided the permissible radial and axial forces are notexceeded.The motor bearings should be replaced if● the nominal bearing service life has been reached,● running noises occur.

We recommend that bearings be replaced by the Bosch RexrothService.




13.4.4 Connecting Cables

DANGER

Death by electrocution possible due to live parts with more than 50 V!● Do not repair any connection lines provisionally. If the slightest defect

is detected in the cable sheath, the system must be shut down immedi‐ately. Then the cable must be replaced.

⇒ Check the connecting cables for damage at regular intervalsand replace them, if necessary.

⇒ Check any optional energy management chains (drag chains)for defects.

⇒ Check the protective conductor connection for proper state andtight seat at regular intervals and replace it, if necessary.

13.5 TroubleshootingIn preparation

13.6 Dismantling

DANGER

Fatal injury due to errors during the control of motors or works on movingelements!● Do not work on unsecured and operating machines.● Secure the machine against accidental movements and against unau‐

thorized operation.● Before dismantling, secure the motor and power supply against falling or

movements before disconnecting the mechanical connections.

WARNING

Burns may be caused through hot surfaces with temperatures over100 °C.● Do not work on hot surfaces.● Use safety gloves.● Let the motor cool down, before maintenance. The thermal time constant

stated in the technical data is a measure for the cooling time. A coolingtime up to 140 minutes can be necessary!

● Observe the instructions of the machine documentation.● Please observe the safety notes.● Dismantle the motor from the machine. Store the motor properly!




14 Environmental Protection and Disposal14.1 Environmental Protection

The products are made with energy- and resource-optimized production pro‐cesses which allow re-using and recycling the resulting waste. We regularly tryto replace pollutant-loaded raw materials and supplies by more environment-friendly alternatives.We guarantee that out products include no substances according to the chem‐icals-ban-decree. We furthermore declare that our products are free of mercury,asbestos, PCB and chlorinated hydrocarbons.Our products do not contain any hazardous substances which may be releasedin the case of appropriate use. Normally, our products will not have any negativinfluences on the environment.Basically, out products contain the following components:Electronic devices Motors∙ steel ∙ steel∙ aluminium ∙ aluminium∙ copper ∙ copper∙ synthetic materials ∙ brass∙ electronic components and modules ∙ magnetic materials ∙ electronic components and modules

14.2 DisposalOur products can be returned to our premises free of charge for disposal. It isa precondition, however, that the products are free of oil, grease or other dirt.Furthermore, the products returned for disposal must not contain any undueforeign material or foreign components.Send the products ”free domicile” to the following address: Bosch Rexroth AG Electric Drives and Controls Buergermeister-Dr.-Nebel-Strasse 2 97816 Lohr am Main, Germany

The packaging materials consist of cardboard, wood and polystyrene. Thesematerials can be recycled anywhere without any problem.For ecological reasons, please refrain from returning the empty packages tous.Most of the products can be recycled due to their high content of metal. In orderto recycle the metal in the best possible way, the products must be disassem‐bled into individual modules.Metals contained in electric and electronic modules can also be recycled bymeans of special separation processes. The synthetic materials remaining afterthese processes can be thermally recycled.If the products contain batteries or accumulators, these have to be removedbefore recycling and disposed of.



Environmental Protection and Disposal

Production Processes

Prohibited Substances

No Release of Hazardous Substan‐ces

Significant Components

Return of Products

Packaging

Recycling

15 Appendix15.1 ConformityProduct AC motor

Manufacturer Bosch Rexroth Electric Drives and Controls GmbHBürgermeister-Dr.-Nebel-Strasse 297816 Lohr am Main / Germany

Type MSK030.....-NSNN, MSK040.....-NSNN, MSK050.....-NSNN, MSK060.....-NSNN,MSK061.....-NSNN, MSK070.....-NSNN, MSK071.....-NSNN, MSK076.....-NSNN,MSK100.....-NSNN, MSK101.....-NSNN

Date of manufacture as of 2006-04-01

Applied standards Standard Description Version

EN 60079-0 Electrical apparatus for explosive gas atmos‐pheres – Part 0: General requirements

2004

EN 60079-15 Electrical apparatus for explosive gas atmos‐pheres – Part 15: Construction, test and markingof type of protection "n" electrical apparatus

2005

EN 61241-1 Electrical apparatus for use in the presence ofcombustible dust - Part 1: Protection by enclo‐sures "tD"

2004

EN 61241-0 Electrical apparatus for use in the presence ofcombustible dust - Part 0: General requirements

2006

This product, including the required accessories, complies with the requirements of theEC directive 94/9/EC of 23 March 1994.The products are only meant for the attachment to a machine. Commissioning of theproduct is prohibited until it was confirmed that the machine into which the product willbe installed complies with the requirements of the EC directive.

Explanations The intended use of this product is based upon the provision that the user complies withthe instructions for use and conditions on its use that are indicated in the documentation.Motor labeling:

CE:

II3 G Ex nA II T155°C

II 3 D IP65 T155°C

The evaluation of the electrical and mechanical safety, the environmental influences(foreign bodies, humidity) must be carried out in the assembled state on the final prod‐uct.In the assembled state, the EMC properties of the product may change. For this reason,the examination of said EMC properties of the final product (final device, machine, in‐stallation) by the final product's manufacturer is recommended.

Fig.15-1: Conformity of MSK AC motors of the ATEX design

These commissioning notes must be kept by the user of the motorsfor the entire service live of the latter and be handed over in caseof a sale to third parties.Further documentations are available upon request.



Appendix

15.2 Discharging of Capacitors15.2.1 Discharging of DC Bus Capacitors

In the drive system Rexroth IndraDrive, capacitors are used in the DC bus asenergy stores. In drive controllers and particularly in supply units, such capac‐itors have already been integrated.Energy stores maintain their energy even when the supply voltage has beencut off and have to be discharged before somebody gets in contact with them.Discharging devices have been integrated in the components of the drive sys‐tem Rexroth IndraDrive; within the indicated discharging time these devicesdischarge the voltage below the allowed 50 V.If additional capacitors (such as DC bus capacitor units) are connected, thesecapacitors, too, have to be discharged before somebody gets in contact withthem.Due to the operating principle, the discharging time is the longer● the bigger the energy store (the capacitance value)● the higher the voltage to which the energy store has been charged● the greater the resistance for discharging the capacitorsComponents of the drive system Rexroth IndraDrive have been dimensionedin such a way that after the supply voltage was cut off, the voltage value fallsbelow 50 V within a discharging time of a maximum of 30 minutes.To shorten the waiting time until voltage has fallen below 50 V, you can takethe following measures:● When using HMV01 supply units: activate the function "ZKS" (DC bus

short circuit)● Use the discharging device described below.

15.2.2 Discharging DeviceOperating Principle

A contactor is installed to switch a resistor to the terminals L+ and L- of the DCbus connection to discharge the capacitors. The contactor is activated via acontrol input which is supplied with appropriate control voltage.

R discharging resistorK contactor contactFig.15-2: Operating principle of discharging device

DimensioningThe individual components have to be sufficiently dimensioned:



Appendix

● Value of the discharging resistor: 1000 ohm and at least 1000 W● The discharging resistor and the contactor contact have to withstand the

loads of practical operation (for example in the case of frequent use of thedischarging device of the occurring continuous power).

● The contactor contact has to withstand the occurring direct voltage of aminimum of 1000 V.

● The contactor contact has to withstand the occurring discharge currentaccording to the resistance value that is used, i.e. 1 A with 1000 ohm.

How to Proceed for Discharging

WARNING

Lethal electric shock caused by live parts with more than 50 V!Before working on live parts: De-energize the installation and secure the powerswitch against unintentional or unauthorized re-energization.Wait at least 30 minutes after switching off the supply voltages to allow dis‐charging.Check whether voltages have fallen below 50 V before touching live parts!

1. Install discharging device before switching on supply voltage for the firsttime.

2. Establish safe electrical connection between discharging device and ob‐ject to be discharged.

3. On mains side, switch off supply voltages to drive system before activatingdischarging device.

4. Activate discharging device.



Appendix

16 Service and SupportOur service helpdesk at out headquarters in Lohr, Germany, will assist you withall kinds of enquiries. Out of helpdesk hours please contact our German servicedepartment directly.

Helpdesk Service HotlineGermany

Service HotlineWorldwide

Time 1) Mo-Fr 7:00 am - 6:00 pm CET Mo-Fr 6:00 pm - 7:00 am CETSa-Su 0:00 am - 12:00 pm CET

Outwith Germany please contactour sales/service office in your areafirst.For hotline numbers refer to thesales office addresses on the Inter‐net.

Phone +49 (0) 9352 40 50 60 +49 (0) 171 333 88 26or+49 (0) 172 660 04 06

Fax +49 (0) 9352 40 49 41 –

e-mail [email protected] –

Internet http://www.boschrexroth.comYou will also find additional notes regarding service, maintenance (e.g. delivery addresses) and training.

1) Central European Time (CET) For quick and efficient help please have the following information ready:● detailed description of the fault and the circumstances● information on the type plate of the affected products, especially type co‐

des and serial numbers● your phone, fax numbers and e-mail address so we can contact you in

case of questions.



Service and Support

Preparing Information

mailto:[email protected]

http://www.boschrexroth.com

Index26

AAlignment 93Ambient temperature 21, 139Ambient temperature in operation 26Available motor variants 105Axial load 145

BBalancing 93, 144Bearing

Wear 149Bearing failure 150Bearing lifetime 149Bearing load 145Bevel gear pinion 150Brake

Control 22Brake Fault 22Brake torque 152

CCapacitors

Discharging 174CCC test symbol 156Centering hole 93CE symbol 155Climatic conditions 139Compatibility 142Concentricity 93Conditions of installation 142Connecting cables 169Connecting Conditions 21Connection plan 131Connection time 26Connectors 21Contained substances

see "significant components" 171Continuous current at standstill 100 K 25Continuous current at standstill 60 K 25Continuous torque at standstill 100 K 25Continuous torque at standstill 60 K 25Cooling fins 168Coupling 150Couplings 150cUR, UR Listing 155

DDC bus capacitors

Discharging 174Design 142Discharge capacity of the component 25Discharging

Of DC bus capacitors 174

Discharging device 174Disconnection time 26Drag chains 169Drive shaft 106Duty cycle 28

EEmergency Stop 22Energy management chains 169Equipment category II 20External systems 3

FFan 22Fit 165Flange 93Flange assembly 163, 164Foreign materials 142Frame length 105Frame size 105

GGear pinion 150Grounding 21

HHazardous substances 171Heat dissipation 168Helical teeth 150Holding brake 106

Commissioning 154electrically-released 151

Holding brakes 151Danger warning 152

Holding torque 26Housing painting 93Housing varnish 143Humidity

Absolute air humidity 139Relative air humidity 139

IIdentification 160Installation positions 142Insulation class 26Intended use

Applications 5Introduction 5

Intended UseRequirements 5

IP type of protection 141

KKey 93, 143



Index

MMachine accuracy 27Maximum current 25Maximum speed 26Maximum torque 25Mean speed 146Moment of inertia of the brake 26Moment of inertia of the rotor 25Motor assembly 163, 165Motor encoder 129Motor frame size 93MSK030B 30MSK030C 32MSK040B 34MSK040C 36MSK050C 39, 42MSK060B 45MSK060C 48MSK061C 51MSK070C 54MSK070D 57MSK071C 63MSK071D 66MSK071E 69MSK076C 72MSK100A 75MSK100B 78MSK100C 81MSK100D 84MSK101C 87MSK101D 90

NNon-intended use 6Non-intended Use

Consequences, exclusion of liability 5Number of pole pairs 25

OOperating hours 149Operating modes 28Output shaft 93, 143, 144

Key balancing 106Plain output shaft 143

PPackaging 171Position resolution 129Potential equalization line 138Processing cycle 146Product 105Production processes 171Prohibited substances 171Protective conductor (additional) 138

RRadial load 145

Radial shaft sealing ring 27Radial shaft sealing rings 144Rated current 26Rated voltage 26Redundant bearings 150Residual Risks

Aging 24Brake 23Dust atmosphere 24Overloading 23Temperature monitoring 24

Return of Products 171Risks of Corrosion 22Running noises 168Run-out 93

SSafety instructions for electric drives 7Service Hotline 177Setup elevation 139Shaft

plain 143with key 143

Shaft end 93Shaft load 145Shaft sealing ring 144Shock 140Shock absorber 162Significant components 171Sinusoidal vibrations 140Sling belts 162Sound pressure level 26Standards 2Storage 162Support

see Service Hotline 177Switch-off temperature 156System accuracy 129

TTemperature increase on the housing - 60 K 27Temperature increase on the winding - 100 K 27Temperatures 21Temperature sensor 156Thermal time constant 26Tightness 145Torque constant 25Transport 161Type of protection 141

UUL authorization 155UL Files 25UR, cUR Listing 155Use 5



Index

VVarnish 143Vibration 140Vibration severity grade (quality of vibration) 93Voltage constant 25

WWarning temperature 156

Weight 26Winding 105Winding inductivity 25Winding resistance 25



Index

Notes


| Bosch Rexroth AG

Printed in GermanyDOK-MOTOR*-MSK*EXGIIK3-PR04-EN-PR911312709

Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 (0)93 52-40-50 60Fax +49 (0)93 52-40-49 [email protected]