I C E

V
R U E A L
E
S AN ANG RS
M D/HR ROMOTO
H RV 2
E
S ISSUE
OF

WARNING
Servomotors contain magnetic
material which will attract metal
particles. Care should be taken
when dismantling motors to
avoid this.
All D.C. servomotors
manufactured by SEM contain
magnets which are air stable
and can be dismantled without
demagnetisation
HD/HR55
screws.
4.2 Fit the resolver to the N.D.E. cover with 3 screws and clamping
washers (metal shield outwards), feed both resolver and thermal
overload leads through the hole on the left of the N.D.E. cover.
4.3 Fit 2 connector elbows with cap screws and gaskets, bringing out the
leads at the same time. Press the pins firmly into the back of the
connectors until they click into place. Position the connectors and
gaskets and tighten down with screws and washers.
servicing instructions 4.4 Fit O-ring, bearing and circlip to D.E. cover, slide rotor into
cover/bearing assembly. Slide bearing onto N.D.E. of shaft.
4.5 Supporting the inner race of the bearing, press both bearings into
1 GENERAL place. Fit spacer and tolerance ring to N.D.E. Fit circlip at D.E.
4.6 Carefully stand motor upright (with N.D.E. down). Locate the wave
1.1 Before starting work on the motor, these servicing instructions should washer in the N.D.E. housing, lower the rotor/cover assembly very
be read and fully understood. carefully into the body and screw the D.E. cover to the body.
1.2 Servicing of SEM motors must be done only by suitably trained and 4.7 Support and press into position (resolver rotor). Fit a new tolerance
qualified personnel, and only after such motors have been electrically ring (2).
isolated and removed from their mechanical drives. 4.8 Fit brake, carefully press rotor into brake (ensuring that teeth line up
1.3 The jaws of any vice or clamp must be suitably protected when used to correctly). Fit rotor to body as above, but connect and isolate 2 brake
grip any part of the motor. leads before pushing into place.
1.4 When separating the motor end covers from the motor body, care must
be taken to avoid damage to their mating surfaces.
5 RESETTING THE RESOLVER.
1.5 NOTE. There are strong magnetic forces between the stator and
the rotor of all SEM servomotors. Fingers should be kept clear of 5.1 This only applies to a standard resolver supplied by SEM with the
the gaps between the stator and end covers during assembly and standard setting. For any other resolver, refer to the drive
disassembly of the rotor. manufacturer.
1.6 Dismantled components awaiting reassembly should be kept in a safe, 5.2 For these procedures it is necessary to make connections and links to
clean and dry location. feedback connector pins. To avoid damage to these pins, it is
Various types of encoder are used, involving different procedures advisable to make such connections and links via a suitable separate
for dismantling, reassembly, connection, setting up and testing. test socket which mates with the feedback connector multi-pin plug
Contact SEM with regard to relevant servicing procedures for the (27) and which has short leads connected to its sockets. Alternatively
particular type of encoder involved. appropriate pins can be made available for connections and links by
withdrawing them from plug (27) as in Section 3.6 “Disconnection”.
2 MARKING 5.3 If a brake is used, it must be temporarily held off during this operation
by applying a 24V dc supply across the brake terminals.
2.1 The following relationships must be marked with a marker pen or other 5.4 Undo 4 screws (20) and pull back the enclosing cover (18) to give
suitable method before dismantling. access to the resolver. With the above test plug connected to the
2.2 Drive end (DE) cover (A) to motor body (B). feedback connector, link pins R1 to S3 & pins R2 to S2. Connect a
signal generator (approx 5V 6kHz) between pins R1 and R2. Connect
2.3 Non-drive end cover (D) to motor body (C). an AC voltmeter between pins S1 and R2.
2.4 Enclosing Cover (18) to non-drive end (NDE) cover (17). 5.5 At the power connector, link motor phase pins V and W and then
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator connect a low voltage dc supply to motor phases at power connector
(4) and resolver rotor (3) pins U (+ve) and V+W (-ve). Adjust this voltage to give between 25%
and 100% of motor rated current thereby causing the motor to turn to a
preferred position.
3 DISMANTLING THE MOTOR
5.6 Slacken the 3 screws holding the resolver stator and then rotate it until
the voltmeter gives a maximum reading. Reconnect the AC voltmeter
3.1 Remove 4 M4 socket screws from N.D.E. enclosing cover (18), remove
to pins S4 and R2. Make a small final adjustment of the resolver stator
the end cover and the gasket.
to get a minimum reading. Retighten the screws, disconnect the test
3.2 Remove 8 screws (21) from D.E. cover (12). socket, the supplies, the voltmeter and links, let the brake (if used) be
3.3 For Sagem resolver this must be removed prior to dismantling of the re-applied.
motor, proceed as per instructions for tacho removal, for any other 5.7 Attach the protective shield (if fitted) to the resolver and fix the
manufacturer check with SEM for instructions. enclosing cover (18) to the NDE cover in accordance with marks made
3.4 Withdraw D.E. cover with complete attached assembly of rotor (1), in operation 2.3.
bearings (10 & 8), resolver rotor (3) and spacer (5). Remove circlip
(11) and press out rotor shaft to separate from D.E. housing. Remove
circlip (9) and remove bearing from D.E. housing. To remove resolver 6 ELECTRICAL TESTS NECESSARY BEFORE
rotor (3) use bearing extractor tool behind the shoulder on spacer (5); CONNECTING MOTOR TO AMPLIFIER.
the bearing can then be withdrawn. Handle the resolver assembly with
great care at all times. 6.1 Measure motor stator winding resistances U-V, V-W, W-U. These
3.5 Before removing N.D.E., go through the disconnection sequence: must be equal to within 3%.
3.6 Disconnection sequence. PIN REMOVAL TOOL REQUIRED – 6.2 Check dielectric strength by flash test at 1000 Vac from:
available from SEM Ltd. Both connectors (23 & 27) must be removed a Phase U (power connector pin) U to motor body.
before N.D.E. cover can be removed. Take out 4 screws, pull the
socket forward to allow access to connector pins. Withdraw the b Phase U to thermal sensor (feedback connector pins Thermal
connector pins using the pin removal tool. Pull wires through from Sensor + and Thermal Sensor -).
feedback connector (23) to clear screw access; remove 4 screws (20) c Phase U to brake connections (power connector pins B+ & B-).
from N.D.E. cover. Withdraw the cover carefully to avoid damage to If flash test is not possible then check that insulation resistance is
wiring. greater than 1megaohm.
3.7 Removal of resolver. Important: At all stages of removal and 6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc
reassembly, the resolver unit must be handled with care. Unscrew (36) supply from motor body to:
and release resolver body (4) complete. At this point the resolver rotor d Brake connections (power connector pins B+ and B-)
(3) is free and will drop out of the resolver body unless held in place by
hand. Remove the resolver and store in a safe place until re-assembly. e Thermal sensor (feedback connector pins Thermal Sensor + and
Thermal Sensor -)
3.8 Removal of D.E. cover – Brake Models. Remove 8 cover screws (21)
then 3 screws (19) holding brake assembly. This allows cover to be f Resolver (feedback connector pins R2 and S1.
removed, leaving the brake and bearing on the shaft and exposing the If flash test is not possible then check that insulation resistance is
leads to the brake. Disconnect these leads and remove complete rotor greater than 1megaohm.
assembly as Section 3.4. Pull the bearing off the shaft, leaving brake
free to be removed. When this sequence is complete, continue as
Section 3.4 above.

4 RE-ASSEMBLY OF THE MOTOR

To fit N.D.E. cover to body. Note: new circlips, oil seals and
bearings must be fitted on the re-assembly as standard
procedure.
4.1 Feed the thermal overload leads through the hole in the N.D.E. cover,
feed the earth lead through the hole in the body and fit 4 cap head

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884
E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
 HD/HR55 parts list
ITEM NO. DESCRIPTION

1 Rotor Assembly
2 Tolerance Ring
3 Resolver Rotor
4 Resolver Body
5 Spacer (Non tacho motors only)
6 Tachogenerator Rotor Assembly
7 P.C.B. Assembly
8 N.D.E. Bearing
9 Bearing Retaining Circlip
10 D.E. Bearing
11 Bearing Retaining Circlip
12 D.E. Cover
13 D.E. ‘O’ Ring
14 Motor Body
14a Long Motor Body for Brake Motor
15 N.D.E. ‘O’ Ring
16 Wave Washer
17 Non Drive Encl Housing
18 N.D.E. Enclosing Cover
19 N.D.E. Housing Fixing Screw
20 N.D.E. Cover Fixing Screw
21 D.E. Cover Fixing Screw
22 Fixing Screw: Brake
23 M.S. Connector: Power
24 Gasket
25 Connector Housing
26 Gasket
27 MS Connector: Feedback
28 Gasket
29 Connector Housing
30 Gasket
31 Fixing Screw: Cap-head
32 Fixing Screw: Cheese-head

E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk

33 Plain Washer M4

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884

34 Plain Washer M3

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

35 Single-turn Coil Spring Washer
36 Fixing Screw
37 Brake Key (Optional)
38 Brake (Optional)
HD/HR70
feed the earth lead through the hole in the body and fit 4 cap head
screws.
4.2 Fit the resolver to the N.D.E. cover with 3 screws and clamping
washers (metal shield outwards), feed both resolver and thermal
overload leads through the hole on the left of the N.D.E. cover.
4.3 Fit 2 connector elbows with cap screws and gaskets, bringing out The
leads at the same time. Press the pins firmly into the back of the
connectors until they click into place. Position the connectors and
servicing instructions gaskets and tighten down with screws and washers.
4.4 Fit O-ring, bearing and circlip to D.E. cover, slide rotor into
cover/bearing assembly. Slide bearing onto N.D.E. of shaft.
1 GENERAL 4.5 Supporting the inner race of the bearing, press both bearings into
place. Fit spacer and tolerance ring to N.D.E. Fit circlip at D.E.
1.1 Before starting work on the motor, these servicing instructions should 4.6 Carefully stand motor upright (with N.D.E. down). Locate the wave
be read and fully understood. washer in the N.D.E. housing, lower the rotor/cover assembly very
1.2 Servicing of SEM motors must be done only by suitably trained and carefully into the body and screw the D.E. cover to the body.
qualified personnel, and only after such motors have been electrically 4.7 Support and press into position (resolver rotor). Fit a new tolerance
isolated and removed from their mechanical drives. ring (2). Fit brake, carefully press rotor into brake (ensuring that teeth
1.3 The jaws of any vice or clamp must be suitably protected when used to line up correctly). Fit rotor to body as above, but connect and isolate 2
grip any part of the motor. brake leads before pushing into place.
1.4 When separating the motor end covers from the motor body, care must
be taken to avoid damage to their mating surfaces. 5 RESETTING THE RESOLVER.
1.5 NOTE. There are strong magnetic forces between the stator and
the rotor of all SEM servomotors. Fingers should be kept clear of 5.1 This only applies to a standard resolver supplied by SEM with the
the gaps between the stator and end covers during assembly and standard setting. For any other resolver, refer to the drive
disassembly of the rotor. manufacturer.
1.6 Dismantled components awaiting reassembly, should be kept in a safe, 5.2 For these procedures it is necessary to make connections and links to
clean and dry location. feedback connector pins. To avoid damage to these pins, it is
Various types of encoder are used, involving different procedures advisable to make such connections and links via a suitable separate
for dismantling, reassembly, connection, setting up and testing. test socket which mates with the feedback connector multi-pin plug
Contact SEM with regard to relevant servicing procedures for the (27) and which has short leads connected to its sockets. Alternatively
particular type of encoder involved. appropriate pins can be made available for connections and links by
withdrawing them from plug (27) as in Section 3.6 “Disconnection”.

2 MARKING 5.3 If a brake is used, it must be temporarily held off during this operation
by applying a 24V dc supply across the brake terminals.
5.4 Undo 4 screws (20) and pull back the enclosing cover (18) to give
2.1 The following relationships must be marked with a marker pen or other
access to the resolver. With the above test plug connected to the
suitable method before dismantling.
feedback connector, link pins R1 to S3 & pins R2 to S2. Connect a
2.2 Drive end (DE) cover (A) to motor body (B). signal generator (approx 5V 6kHz) between pins R1 and R2. Connect
2.3 Non-drive end cover (D) to motor body (C). an AC voltmeter between pins S1 and R2.
2.4 Enclosing Cover (18) to non-drive end (NDE) cover (17). 5.5 At the power connector, link motor phase pins V and W and then
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator connect a low voltage dc supply to motor phases at power connector
(4) and resolver rotor (3) pins U (+ve) and V+W (-ve). Adjust this voltage to give between 25%
and 100% of motor rated current thereby causing the motor to turn to a
preferred position.
3 DISMANTLING THE MOTOR 5.6 Slacken the 3 screws holding the resolver stator and then rotate it until
the voltmeter gives a maximum reading. Reconnect the AC voltmeter
3.1 Remove 4 M4 socket screws from N.D.E. enclosing cover (18), remove to pins S4 and R2. Make a small final adjustment of the resolver stator
the end cover and the gasket. to get a minimum reading. Retighten the screws, disconnect the test
3.2 Remove 8 screws (21) from D.E. cover (12). socket, the supplies, the voltmeter and links, let the brake (if used) be
3.3 For Sagem resolver this must be removed prior to dismantling of the re-applied.
motor, proceed as per instructions for tacho removal, for any other 5.7 Attach the protective shield (if fitted) to the resolver and fix the
manufacturer check with SEM for instructions. enclosing cover (18) to the NDE cover in accordance with marks made
3.4 Withdraw D.E. cover with complete attached assembly of rotor (1), in operation 2.2.
bearings (10 & 8), resolver rotor (3) and spacer (5). Remove circlip
(11) and press out rotor shaft to separate from D.E. housing. Remove 6 ELECTRICAL TESTS NECESSARY
circlip (9) and remove bearing from D.E. housing. To remove resolver
rotor (3) use bearing extractor tool behind the shoulder on spacer (5); BEFORE CONNECTING MOTOR TO
the bearing can then be withdrawn. Handle the resolver assembly with
great care at all times. AMPLIFIER.
3.5 Before removing N.D.E., go through the disconnection sequence:
6.1 Measure motor stator winding resistances U-V, V-W, W-U. These
3.6 Disconnection sequence. PIN REMOVAL TOOL REQUIRED – must be equal to within 3%.
available from SEM Ltd. Both connectors (23 & 27) must be removed
before N.D.E. cover can be removed. Take out 4 screws, pull the 6.2 Check dielectric strength by flash test at 1000 Vac from:
socket forward to allow access to connector pins. Withdraw the a Phase U (power connector pin) U to motor body.
connector pins using the pin removal tool. Pull wires through from b Phase U to thermal sensor (feedback connector pins Thermal
feedback connector (23) to clear screw access, remove 4 screws (20) Sensor + and Thermal Sensor -).
from N.D.E. cover. Withdraw the cover carefully to avoid damage to c Phase U to brake connections (power connector pins B+ & B-).
wiring.
If flash test is not possible then check that insulation resistance is
3.7 Removal of resolver. Important: At all stages of removal and greater than 1megaohm.
reassembly, the resolver unit must be handled with care. Unscrew (36)
and release resolver body (4) complete. At this point the resolver rotor 6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc
(3) is free and will drop out of the resolver body unless held in place by supply from motor body to:
hand. Remove the resolver and store in a safe place until re-assembly. d Brake connections (power connector pins B+ and B-)
3.8 Removal of D.E. cover – Brake Models. Remove 8 cover screws (21) e Thermal sensor (feedback connector pins Thermal Sensor + and
then 3 screws (19) holding brake assembly. This allows cover to be Thermal Sensor -)
removed, leaving the brake and bearing on the shaft and exposing the f Resolver (feedback connector pins R2 and S1.
leads to the brake. Disconnect these leads and remove complete rotor
6.4 If flash test is not possible then check that insulation resistance is
assembly as Section 3.4. Pull the bearing off the shaft, leaving brake
greater than 1megaohm.
free to be removed. When this sequence is complete, continue as
Section 3.4 above.

4 RE-ASSEMBLY OF THE MOTOR

To fit N.D.E. cover to body. Note: new circlips, oil seals and
bearings must be fitted on the re-assembly as standard
procedure.
4.1 Feed the thermal overload leads through the hole in the N.D.E. cover,

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884
E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
 HD/HR70 parts list
ITEM NO. DESCRIPTION

1 Rotor Assembly
2 Tolerance Ring
3 Resolver Rotor
4 Resolver Body
5 Spacer (Non tacho motors only)
6 Tachogenerator Rotor Assembly
7 P.C. B. Assembly
8 N.D.E. Bearing
9 Bearing Retaining Circlip
10 D.E. Bearing
11 Bearing Retaining Circlip
12 D.E. Cover
13 D.E. ‘O’ Ring
14 Motor Body
14a Long Motor Body for Brake Motor
15 N.D.E. ‘O’ Ring
16 Wave Washer
17 Non Drive End Housing
18 N.D.E. Enclosing Cover
19 N.D.E. Housing Fixing Screw
20 N.D.E. Cover Fixing Screw
21 D.E. Cover Fixing Screw
22 Fixing Screw: Brake
23 M.S. Connector: Power
24 Gasket
25 Connector Housing
26 Gasket
27 MS Connector: Feedback
28 Gasket
29 Connector Housing
30 Gasket
31 Fixing Screw: Cap-head
32 Fixing Screw: Cheese-head

E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk

33 Plain Washer M4

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884

34 Plain Washer M3

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

35 Single-turn Coil Spring Washer
36 Fixing Screw
37 Brake Key (Optional)
38 Brake (Optional)
HD/HR92
After removing circlip (41) the bearing itself can only be removed by
use of a suitable tool. This will leave the brake assembly free to be
removed from the rotor shaft after disconnection of the relevant ‘spade’
connectors. Then follow instructions as applicable to nonbrake motor
(section 3.9).

4 RE-ASSEMBLY OF MOTOR

servicing instructions 4.1 Note: New circlips, bearings oil seals and O-ring must be fitted on
reassembly as standard procedure. Also ensure that all marks made in
section 2 are in alignment as applicable. Fit bearing (6) into N.D.E.
housing. Fit D.E. Bearing (15) onto rotor (1). Supporting inner race of
1 GENERAL N.D.E. bearing, press rotor assembly back into N.D.E. housing, fit
1.1 Before starting work on the motor, these servicing instructions should circlip (40). Fit new O-ring (13).
be read and fully understood. 4.2 Carefully re-insert assembled rotor and N.D.E. housing through the
1.2 Servicing of SEM motors must be done only by suitably trained and motor body at the same time feeding connection wires through the
qualified personnel, and only after such motors have been electrically crescent shape hole in the N.D.E. housing, taking care not to trap
isolated and removed from their mechanical drives. wires or to damage the protective tape on the rotor when completing
this assembly. Tighten screws, using correct torque (see torque table).
1.3 The jaws of any vice or clamp must be suitably protected when used to Refit brake when fitted and fit bearing (15) (reconnect ‘spade’
grip any part of the motor. connectors). Refit drive end housing (12) with wave washer 2, (16) and
1.4 When separating the motor end covers from the motor body, care must O-ring (13) in position. Refit screws and tighten to correct torque (see
be taken to avoid damage to their mating surfaces. torque table). Fit oil seal (19).
1.5 NOTE. There are strong magnetic forces between the stator and 4.3 Refit Resolver. Slide Resolver body into non drive end of rotor shaft
the rotor of all SEM servomotors. Fingers should be kept clear of and screw into N.D. E. housing using screw (7) and clamps (8). Refit
the gaps between the stator and end covers during assembly and resolver rotor (3), fit new nut (2) and tighten to correct torque (see
disassembly of the rotor. torque table), gripping drive end of rotor shah in a suitably protected
1.6 Dismantled components awaiting reassembly, should be kept in a safe, vice (as para 3). Re-assemble M.S. connectors or terminal box
clean and dry location. assembly as applicable, in reverse sequence to paras 3.3 & 3.4.
Various types of encoder are used, involving different procedures
for dismantling, reassembly, connection, setting up and testing. 5 RESETTING THE RESOLVER.
Contact SEM with regard to relevant servicing procedures for the
particular type of encoder involved. 5.1 This only applies to a standard resolver supplied by SEM with the
standard setting. For any other resolver, refer to the drive
manufacturer.
2 MARKING
5.2 For these procedures it is necessary to make connections and links to
2.1 The following relationships must be marked with a marker pen or other feedback connector pins. To avoid damage to these pins, it is
suitable method before dismantling. advisable to make such connections and links via a suitable separate
test socket which mates with the feedback connector multi-pin plug
2.2 Drive end (DE) cover (A) to motor body (B).
(30) and which has short leads connected to its sockets. Alternatively
2.3 Non-drive end cover (D) to motor body (C). appropriate pins can be made available for connections and links by
2.4 Enclosing Cover (17) to non-drive end (NDE) cover (11). withdrawing them from plug (30) as in Section 3.3 and 3.4
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator “Disconnection”.
(4) and resolver rotor (3) 5.3 If a brake is used, it must be temporarily held off during this operation
by applying a 24V dc supply across the brake terminals.
3 DISMANTLING THE MOTOR 5.4 Undo 4 screws (37) and pull back the enclosing cover (17) to give
access to the resolver. With the above test plug connected to the
3.1 Remove 4 M4 socket screws from NDE enclosing cover (17), remove feedback connector, link pins R1 to S3 & pins R2 to S2. Connect a
the end cover and the O Ring. signal generator (approx 5V 6kHz) between pins R1 and R2. Connect
3.2 Grip the drive end of the rotor shaft (1) in a suitably protected vice and an AC voltmeter between pins S1 and R2.
loosen the nut (2). Leave this nut finger tight until the resolver is 5.5 At the power connector, link motor phase pins V and W and then
required to be removed. (Note that a special tool is required, contact connect a low voltage dc supply to motor phases at power connector
SEM for details). Remove the unit from the vice at this point. pins U (+ve) and V+W (-ve). Adjust this voltage to give between 25%
3.3 Disconnection sequence, (MS Connectors option). Remove 8 fixing and 100% of motor rated current thereby causing the motor to turn to a
screws and pull M.S. plugs (29 & 30) clear of non drive end housing preferred position.
sufficiently to allow access to wires for unsoldering of existing 5.6 Slacken the 3 screws (7) holding the resolver stator and then rotate it
connectors. When the wires are unsoldered the M.S. connectors can until the voltmeter gives a maximum reading. Reconnect the AC
be removed. (It is important to note all connections prior to voltmeter to pins S4 and R2. Make a small final adjustment of the
unsoldering). resolver stator to get a minimum reading. Retighten the screws,
3.4 Disconnection sequence, (Terminal Box assembly option). disconnect the test socket, the supplies, the voltmeter and links, let the
Remove terminal box screws (27) lid, (21) and gasket (28). Unsolder brake (if used) be re-applied.
all connections from M.S. Connector (30) and release 3 motor leads 5.7 Attach the protective shield (if fitted) to the resolver and fix the
and 2 brake leads from terminal block (23). To remove the terminal box enclosing cover (17) to the NDE cover in accordance with marks made
(20) from the non drive end housing, remove screw and nut (25 & 26). in operation 2.4.
3.5 Removal of Resolver. Important. At all stages of removal and
reassembly, the resolver unit must be handled with care. (See Para 6 ELECTRICAL TESTS NECESSARY
14). Unscrew (7 & 8) and release resolver body (4) complete. Remove
nut (2), noting that at this point the resolver rotor (3) is free, and will BEFORE CONNECTING MOTOR TO
drop out of the resolver body unless held in place by hand. Remove
the resolver and store in a safe place until re-assembly.
AMPLIFIER.
3.6 Removal of Drive End Cover, (Non Brake models). (do not lever 6.1 Measure motor stator winding resistances U-V, V-W, W-U. These
between body and end covers under any circumstance) Remove 4, M5 must be equal to within 3%.
screws (36). Do not attempt to separate the N.D.E. housing from the 6.2 Check dielectric strength by flash test at 1000 Vac from:
motor body at this stage. Remove 4 screws (35) and separate the drive
end cover from the motor body (10) and rotor shaft (1). Remove and a Phase U (power connector pin) U to motor body.
discard the oil seal (19) and the O-ring (13) (note that the oil seal must b Phase U to thermal sensor (feedback connector pins Thermal
be pressed out using a suitable tool. The rotor assembly is now free to Sensor + and Thermal Sensor -).
be removed, via the non-drive end, but it is still attached to the N.D.E. c Phase U to brake connections (power connector pins B+ & B-).
cover by N.D.E. bearing (6).
If flash test is not possible then check that insulation resistance is
3.7 Removal of N.D.E. Housing. TAKE CARE! The rotor itself is covered greater than 1megaohm.
by a protective tape, and before any attempt is made at further
6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc
withdrawal, the rotor must be properly supported and eased through
supply from motor body to:
the motor body so that the tape is not damaged in any way. This is
most important. To remove rotor from N.D.E. cover, remove circlips d Brake connections (power connector pins B+ and B-)
(14) from N.D.E. cover to release N.D.E. bearing (6). Support the e Thermal sensor (feedback connector pins Thermal Sensor + and
N.D.E. cover and rotor assembly in such a way as to allow the rotor to Thermal Sensor -)
be gently tapped or pushed out of the housing. (Only use a hide mallet f Resolver (feedback connector pins R2 and S1.
it tapping out is necessary).
6.4 If flash test is not possible then check that insulation resistance is
3.8 Removal of D.E. Cover (Brake Models). Remove 3 screws which greater than 1megaohm.
hold brake assembly to D.E. housing, then follow instructions as for
non-brake model, (section 3.8). When drive end cover is removed, the
brake assembly (38) and bearing (15) are left on the rotor shaft (1).

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884
E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
 HD/HR92 parts list
ITEM NO. DESCRIPTION

1 Rotor Assembly
2 Clamp Nut
3 Resolver Rotor
4 Resolver Body
5 Spacer (Resolver only)
6 Bearing Non Drive End
7 Resolver Body Fixing Screws
8 Resolver Body Synchro Clamp
10 Motor Body
11 Non Drive End Housing
12 Drive End Cover
13 ‘O’ Ring
14 Bearing Retaining Circlip
15 Bearing Drive End
16 Wave Washer
17 Non Drive End Enclosing Cover
18 ‘O’ Ring
19 Oilseal
20 Terminal Box
21 Terminal Box Lid
22 Key
23 Terminal Block Assembly
24 Blanking Plug
25 Conduit Nipple and ‘O’ Ring
26 Earth Lead Screw and Clamp
27 Terminal Box Lid Fixing Screws
28 Terminal Box Lid Gasket
29 Motor M.S. Connector 7 Pin (Optional)
30 M.S. Connector Feedback 17 Pin
31 ‘O’ Ring
32 ‘O’ Ring
34 Spacer Plate Gasket (Optional)
35 Fixing Screw Drive End Cover

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36 Fixing Screw Non Drive End Housing

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37 Fixing Screw Non D.E. Enclosing Cover

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

38 Brake (Optional)
39 Circlip (Brake) (Optional)
40 Circlip (Non Drive End)
41 Circlip (Drive End) (Optional)
42 Brake Key (Optional)
43 Tacho Stator and P.C.B. Assy (Optional)
44 Tacho Rotor Assy (Optional)
HD/HR115
brake assembly (38) and bearing (15) are left on the rotor shaft (1).
3.9 After removing circlip (41) the bearing itself can only be removed by
use of a suitable tool. This will leave the brake assembly free to be
removed from the rotor shaft after disconnection of the relevant ‘spade’
connectors. Then follow instructions as applicable to nonbrake motor
(section 3.7).

4 RE-ASSEMBLY OF MOTOR
servicing instructions
4.1 Note: New circlips, bearings, oil seals and O-ring must be fitted on
reassembly as standard procedure. Also ensure that all marks made in
1 GENERAL section 2 are in alignment as applicable. Fit bearing (6) into N.D.E.
housing. Fit D.E. Bearing (15) onto rotor (1). Supporting inner race of
1.1 Before starting work on the motor, these servicing instructions should N.D.E. bearing, press rotor assembly back into N.D.E. housing, fit
be read and fully understood. circlip (40). Fit new O-ring (13).
1.2 Servicing of SEM motors must be done only by suitably trained and 4.2 Carefully re-insert assembled rotor and N.D.E. housing through the
qualified personnel, and only after such motors have been electrically motor body at the same time feeding connection wires through the
isolated and removed from their mechanical drives. crescent shape hole in the N.D.E. housing, taking care not to trap
1.3 The jaws of any vice or clamp must be suitably protected when used to wires or to damage the protective tape on the rotor when completing
grip any part of the motor. this assembly. Tighten screws, using correct torque (see torque table).
Refit brake when fitted and fit bearing (15) (reconnect ‘spade’
1.4 When separating the motor end covers from the motor body, care must connectors). Refit drive end housing (12) with wave washer (16) and
be taken to avoid damage to their mating surfaces. O-ring (13) in position. Refit screws and tighten to correct torque (see
1.5 NOTE. There are strong magnetic forces between the stator and torque table). Fit oil seal (19).
the rotor of all SEM servomotors. Fingers should be kept clear of 4.3 Refit Resolver. Slide Resolver body into non drive end of rotor shah
the gaps between the stator and end covers during assembly and and screw into N.D. E. housing using screw (7) and clamps (8).
disassembly of the rotor.
4.4 Refit resolver rotor (3), refit nut (2) and tighten to correct torque (see
1.6 Dismantled components awaiting reassembly, should be kept in a safe, torque table), gripping drive end of rotor shaft in a suitably protected
clean and dry location. vice (as section 3.2). Re-assemble M.S. connectors or terminal box
Various types of encoder are used, involving different procedures assembly as applicable, in reverse sequence to sections 3.3 & 3.4.
for dismantling, reassembly, connection, setting up and testing.
Contact SEM with regard to relevant servicing procedures for the
particular type of encoder involved. 5 RESETTING THE RESOLVER.
5.1 This only applies to a standard resolver supplied by SEM with the
2 MARKING standard setting. For any other resolver, refer to the drive
manufacturer.
2.1 The following relationships must be marked with a marker pen or other 5.2 For these procedures it is necessary to make connections and links to
suitable method before dismantling. feedback connector pins. To avoid damage to these pins, it is
2.2 Drive end (DE) cover (A) to motor body (B). advisable to make such connections and links via a suitable separate
2.3 Non-drive end cover (D) to motor body (C). test socket which mates with the feedback connector multi-pin plug
(30) and which has short leads connected to its sockets. Alternatively
2.4 Enclosing Cover (17) to non-drive end (NDE) cover (11).
appropriate pins can be made available for connections and links by
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator withdrawing them from plug (30) as in Section 3.3 & 3.4
(4) and resolver rotor (3) “Disconnection”.
5.3 If a brake is used, it must be temporarily held off during this operation
3 DISMANTLING THE MOTOR by applying a 24V dc supply across the brake terminals.
5.4 Undo 4 screws (37) and pull back the enclosing cover (17) to give
3.1 Remove M5 socket screws from NDE enclosing cover (17), remove the access to the resolver. With the above test plug connected to the
end cover and the O Ring. feedback connector, link pins R1 to S3 & pins R2 to S2. Connect a
3.2 Grip the drive end of the rotor shaft (11) in a suitably protected vice signal generator (approx 5V 6kHz) between pins R1 and R2. Connect
and loosen the nut (12). Leave this nut finger tight until the resolver is an AC voltmeter between pins S1 and R2.
required to be removed. (Note that a special tool is required, available 5.5 At the power connector, link motor phase pins V and W and then
from SEM). Remove the unit from the vice at this point. connect a low voltage dc supply to motor phases at power connector
3.3 Disconnection sequence, (MS Connectors option). Remove 8 fixing pins U (+ve) and V+W (-ve). Adjust this voltage to give between 25%
screws and pull M.S. plugs (29 & 30) clear of non drive end housing and 100% of motor rated current thereby causing the motor to turn to a
sufficiently to allow access to wires for unsoldering of existing preferred position.
connectors. When the wires are unsoldered the M.S. connectors can 5.6 Slacken the 3 screws holding the resolver stator and then rotate it until
be removed. (It is important to note all connections prior to the voltmeter gives a maximum reading. Reconnect the AC voltmeter
unsoldering). to pins S4 and R2. Make a small final adjustment of the resolver stator
3.4 Disconnection sequence, (Terminal Box assembly option). to get a minimum reading. Retighten the screws, disconnect the test
Remove terminal box screws (27) lid, (21) and gasket (28). Unsolder socket, the supplies, the voltmeter and links, let the brake (if used) be
all connections from M.S. Connector (30) and release 3 motor leads re-applied.
and 2 brake leads from terminal block (23). To remove the terminal box 5.7 Attach the protective shield (if fitted) to the resolver and fix the
(20) from the non drive end housing, remove screw and nut (25 & 26). enclosing cover (17) to the NDE cover in accordance with marks made
3.5 Removal of Resolver. Important. At all stages of removal and re- in operation 2.4.
assembly, the resolver unit must be handled with care. (See Para 14).
Unscrew (7 & 8) and release resolver body (4) complete. Remove nut 6 ELECTRICAL TESTS NECESSARY
(2), noting that at this point the resolver rotor (3) is free, and will drop
out of the resolver body unless held in place by hand. Remove the BEFORE CONNECTING MOTOR TO
resolver and store in a safe place until re-assembly.
3.6 Removal of Drive End Cover, (Non Brake models). (Do not lever
AMPLIFIER.
between body and end covers under any circumstance). Remove 4,
M5 socket screws (36). Do not attempt to separate the N.D.E. housing 6.1 Measure motor stator winding resistances U-V, V-W, W-U. These
from the motor body at this stage. Remove 4 screws (35) and separate must be equal to within 3%.
the drive end cover from the motor body (10) and rotor shaft (1). 6.2 Check dielectric strength by flash test at 1000 Vac from:
Remove and discard the oil seal (19) and the O-ring (13) (note that the a Phase U (power connector pin) U to motor body.
oil seal must be pressed out using a suitable tool. The rotor assembly
b Phase U to thermal sensor (feedback connector pins Thermal
is now free to be removed, via the non-drive end, but it is still attached
Sensor + and Thermal Sensor -).
to the N.D.E. cover by N.D.E. bearing (6).
c Phase U to brake connections (power connector pins B+ & B-).
3.7 Removal of N.D.E. Housing. TAKE CARE! The rotor itself is covered
by a protective tape, and before any attempt is made at further If flash test is not possible then check that insulation resistance is
withdrawal, the rotor must be properly supported and eased through greater than 1megaohm.
the motor body so that the tape is not damaged in any way. This is 6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc
most important. To remove rotor from N.D.E. cover, remove circlips supply from motor body to:
(14) from N.D.E. cover to release N.D.E. bearing (6). Support the d Brake connections (power connector pins B+ and B-)
N.D.E. cover and rotor assembly in such a way as to allow the rotor to
e Thermal sensor (feedback connector pins Thermal Sensor + and
be gently tapped or pushed out of the housing. (Only use a hide mallet
Thermal Sensor -)
if tapping out is necessary).
f Resolver (feedback connector pins R2 and S1.
3.8 Removal of D.E. Cover (Brake Models). Remove 6 screws which
hold brake assembly to D.E. housing, then follow instructions as for g If flash test is not possible then check that insulation resistance is
non-brake model, (section 3.7). When drive end cover is removed, the greater than 1megaohm.

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884
E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
 HD/HR115 parts list
ITEM NO. DESCRIPTION

1 Rotor Assembly
2 Clamp Nut
3 Resolver Rotor
4 Resolver Body
5 Spacer {Resolver only)
6 Bearing Non Drive End
7 Resolver Body Fixing Screws
8 Resolver Body Synchro Clamp
9 Spacer (Optional)
10 Motor Body
11 Non Drive End Housing
12 Drive End Cover
13 ‘O’ Ring
14 Circlip
15 Bearing Drive End
16 Wave Washer
17 Non Drive End Enclosing Cover
18 ‘O’ Ring
19 Oilseal
20 Terminal Box
21 Terminal Box Lid
22 Key
23 Terminal Block Assembly
24 Blanking Plug
25 Conduit Nipple and ‘O’ Ring
26 Earth Lead Screw and Clamp
27 Terminal Box Lid Fixing Screw
28 Terminal Box Lid Gasket
29 Motor M.S. Connector 7 Pin (Optional)
30 Feedback M.S. Connector 17 Pin
31 ‘O’Ring
32 ‘O’Ring
34 Spacer Plate Gasket (Optional)

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35 Fixing Screw (Drive End)

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884

36 Fixing Screw (Non Drive End Housing)

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

37 Fixing Screw (Non Drive End Enclosing
Cover)
38 Brake (Optional)
40 Circlip (Non Drive End)
41 Circlip (Drive End)
42 Brake Key (Optional)
43 Tacho Stator and P.C.B. Assembly
(Optional)
44 Tacho Rotor Assy (Optional)
45 Brake Circlip (Optional)
HD/HR142
brake model, (section 3.6). When drive end cover is removed, the
brake assembly (38) and bearing (15) are left on the rotor shaft (l).
After removing circlip (41) the bearing itself can only be removed by
use of a suitable tool. This will leave the brake assembly free to be
removed from the rotor shaft after disconnection of the relevant ‘spade’
connectors. Then follow instructions as applicable to nonbrake motor
(section 3.7).

servicing instructions 4 RE-ASSEMBLY OF MOTOR

4.1 Note: New circlips, bearings, oil seals and O-ring must be fitted on
1 GENERAL reassembly as standard procedure. Also ensure that all marks made
under Para. 1 (a,b,c,) are in alignment as applicable. Fit bearing 16)
1.1 Before starting work on the motor, these servicing instructions should into N.D.E. housing. Fit D.E. Bearing 115) onto rotor (1). Supporting
be read and fully understood. inner race of N.D.E. bearing, press rotor assembly back into N.D.E.
housing, fit circlip (40). Fit new O-ring l13). 11. Carefully re-insert
1.2 Servicing of SEM motors must be done only by suitably trained and assembled rotor and N.D.E. housing through the motor body at the
qualified personnel, and only after such motors have been electrically same time feeding connection wires through the crescent shape hole
isolated and removed from their mechanical drives. in the N.D.E. housing, taking care not to trap wires or to damage the
1.3 The jaws of any vice or clamp must be suitably protected when used to protective tape on the rotor when completing this assembly. Tighten
grip any part of the motor. screws, using correct torque (see torque table). Refit brake when fitted
1.4 When separating the motor end covers from the motor body, care must and fit bearing (15) (reconnect ‘spade’ connectors). Refit drive end
be taken to avoid damage to their mating surfaces. housing (12) with wave washer (16) and O-ring (13) in position. Refit
screws and tighten to correct torque (see torque table). Fit oil seal (19).
1.5 NOTE. There are strong magnetic forces between the stator and
the rotor of all SEM servomotors. Fingers should be kept clear of 4.2 Refit Resolver. Slide Resolver body into non drive end of rotor shaft
the gaps between the stator and end covers during assembly and and screw into N.D. E. housing using screw (7) and clamps (8). Refit
disassembly of the rotor. resolver rotor (3), refit nut (2) and tighten to correct torque (see torque
table), gripping drive end of rotor shaft in a suitably protected vice (as
1.6 Dismantled components awaiting reassembly, should be kept in a safe,
para 3). Re-assemble M.S. connectors or terminal box assembly as
clean and dry location.
applicable, in reverse sequence to paras 4 & 5.
Various types of encoder are used, involving different procedures
for dismantling, reassembly, connection, setting up and testing.
Contact SEM with regard to relevant servicing procedures for the 5 RESETTING THE RESOLVER.
particular type of encoder involved.
5.1 This only applies to a standard resolver supplied by SEM with the
2 MARKING standard setting. For any other resolver, refer to the drive
manufacturer.
5.2 For these procedures it is necessary to make connections and links to
2.1 The following relationships must be marked with a marker pen or other
feedback connector pins. To avoid damage to these pins, it is
suitable method before dismantling.
advisable to make such connections and links via a suitable separate
2.2 Drive end (DE) cover (A) to motor body (B). test socket which mates with the feedback connector multi-pin plug
2.3 Non-drive end cover (D) to motor body (C). (30) and which has short leads connected to its sockets. Alternatively
2.4 Enclosing Cover to non-drive end (NDE) cover. appropriate pins can be made available for connections and links by
withdrawing them from plug (30) as in Section 3.2 & 3.3
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator
“Disconnection”.
(4) and resolver rotor (3)
5.3 If a brake is used, it must be temporarily held off during this operation
by applying a 24V dc supply across the brake terminals.
3 DISMANTLING THE MOTOR 5.4 Undo 4 screws (37) and pull back the enclosing cover (17) to give
access to the resolver. With the above test plug connected to the
3.1 Remove M5 socket screws from NDE enclosing cover (17), remove the feedback connector, link pins R1 to S3 & pins R2 to S2. Connect a
end cover and the O-ring. signal generator (approx 5V 6kHz) between pins R1 and R2. Connect
3.2 Grip the drive end of the rotor shaft (1) in a suitably protected vice and an AC voltmeter between pins S1 and R2.
loosen the nut (2). Leave this nut finger tight until the resolver is 5.5 At the power connector, link motor phase pins V and W and then
required to be removed. (Note that a special tool is required, available connect a low voltage dc supply to motor phases at power connector
from SEM). Remove the unit from the vice at this point. pins U (+ve) and V+W (-ve). Adjust this voltage to give between 25%
3.3 Disconnection sequence, (MS Connectors option). Remove 8 fixing and 100% of motor rated current thereby causing the motor to turn to a
screws and pull M.S. plugs (29 & 30) clear of non drive end housing preferred position.
sufficiently to allow access to wires for unsoldering of existing 5.6 Slacken the 3 screws (7) holding the resolver stator and then rotate it
connectors. When the wires are unsoldered, the M.S. connectors can until the voltmeter gives a maximum reading. Reconnect the AC
be removed. (It is important to note all connections prior to voltmeter to pins S4 and R2. Make a small final adjustment of the
unsoldering). resolver stator to get a minimum reading. Retighten the screws,
3.4 Disconnection sequence, (Terminal Box assembly option). disconnect the test socket, the supplies, the voltmeter and links, let the
Remove terminal box screws (27) lid, (21) and gasket (28). Unsolder brake (if used) be re-applied.
all connections from M.S. Connector (30) and release 3 motor leads 5.7 Attach the protective shield (if itted) to the resolver and fix the
and 2 brake leads from terminal block (23). To remove the terminal box enclosing cover (17) to the NDE cover in accordance with marks made
(20) from the non drive end housing, remove screw and nut (25 & 26). in operation 2.4.
3.5 Removal of Resolver. Important. At all stages of removal and
reassembly, the resolver unit must be handled with care. (See Para
14). Unscrew (7 & 8) and release resolver body (4) complete. Remove
6 ELECTRICAL TESTS NECESSARY
nut (2), noting that at this point the resolver rotor (3) is free, and will BEFORE CONNECTING MOTOR TO
drop out of the resolver body unless held in place by hand. Remove
the resolver and store in a safe place until re-assembly. AMPLIFIER.
3.6 Removal of Drive End Cover, (Non Brake models). (do not lever
between body and end covers under any circumstance). Remove 4, 6.1 Measure motor stator winding resistances U-V, V-W, W-U. These
M8 socket screws (36). Do not attempt to separate the N.D.E. housing must be equal to within 3%.
from the motor body at this stage. Remove 4 screws (35) and separate 6.2 Check dielectric strength by flash test at 1000 Vac from:
the drive end cover from the motor body (10) and rotor shaft (1). a Phase U (power connector pin) U to motor body.
Remove and discard the oil seal (19) and the O-ring (13) (note that the
oil seal must be pressed out using a suitable tool. The rotor assembly b Phase U to thermal sensor (feedback connector pins Thermal
is now free to be removed, via the non-drive end, but it is still attached Sensor + and Thermal Sensor -).
to the N.D.E. cover by N.D.E. bearing (6). c Phase U to brake connections (power connector pins B+ & B-).
3.7 Removal of N.D.E. Housing. TAKE CARE! The rotor itself is covered If flash test is not possible then check that insulation resistance is
by a protective tape, and before any attempt is made at further greater than 1megaohm.
withdrawal, the rotor must be properly supported and eased through 6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc
the motor body so that the tape is not damaged in any way. This is supply from motor body to:
most important. To remove rotor from N.D.E. cover, remove circlips
d Brake connections (power connector pins B+ and B-)
(14) from N.D.E. cover to release N.D.E. bearing (6). Support the
N.D.E. cover and rotor assembly in such a way as to allow the rotor to e Thermal sensor (feedback connector pins Thermal Sensor + and
be gently tapped or pushed out of the housing. (Only use a hide mallet Thermal Sensor -)
if tapping out is necessary). f Resolver (feedback connector pins R2 and S1.
3.8 Removal of D.E. Cover (Brake Models). Remove 6 screws which 6.4 If flash test is not possible then check that insulation resistance is
hold brake assembly to D.E. housing, then follow instructions as for nn- greater than 1megaohm.

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884
E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
 HD/HR142 parts list
ITEM NO. DESCRIPTION

1 Rotor Assembly
2 Clamp Nut
3 Resolver Rotor
4 Resolver Body
5 Spacer 1Resolver only)
6 Bearing Non Drive End
7 Resolver Body Fixing Screws
8 Resolver Body Synchro Clamp
10 Motor Body
11 Non Drive End Housing
12 Drive End Cover
13 ‘O’ Ring
14 Circlip
15 Bearing Drive End
16 Wave Washer
17 Non Drive End Enclosing Cover
18 ‘O’ Ring
19 Oilseal
20 Terminal Box
21 Terminal Box Lid
22 Key
23 Terminal Block Assembly
24 Blanking Plug
25 Conduit Nipple and ‘O’ Ring
26 Earth Lead Screw and Clamp
27 Terminal Box Lid Fixing Screw
28 Terminal Box Lid Gasket
29 Motor M.S. Connector 7 Pin (Optional)
30 Feedback M.S. Connector 17 Pin
31 ‘O’ Ring
32 ‘O’ Ring
35 Fixing Screw (Drive End)
36 Fixing Screw (Non Drive End Housing)

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37 Fixing Screw (Non Drive End Enclosing

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884

Cover)

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

38 Brake (Optional)
40 Circlip (Non Drive End)
41 Circlip (Drive End)
42 Brake Key (Optional)
43 Tacho Stator and P.C.B. Assembly
(Optional)
44 Tacho Rotor Assy (Optional)
45 Tacho Fixing Adaptor
46 Brake Circlip (Optional)
BMR/HD/HR190
the brake assembly free to be removed from the rotor shaft after
disconnection of the relevant ‘spade’ connectors. Then follow instructions as
applicable to nonbrake motor (section 3.7).

4 RE-ASSEMBLY OF MOTOR

servicing instructions 4.1 Note: New circlips, bearings, oil seals and O-ring must be fitted on re-
assembly as standard procedure. Also ensure that all marks made under
section 2 are in alignment as applicable. Fit bearing (6) into N.D.E. housing.
Fit D.E. Bearing (15) onto rotor (1). Supporting inner race of N.D.E. bearing,
1 GENERAL press rotor assembly back into N.D.E. housing, fit circlip (40). Fit new O-ring
(13).

1.1 Before starting work on the motor, these servicing instructions should be 4.2 Carefully re-insert assembled rotor and N.D.E. housing through the motor
read and fully understood. body at the same time feeding connection wires through the crescent shape
hole in the N.D.E. housing, taking care not to trap wires or to damage the
1.2 Servicing of SEM motors must be done only by suitably trained and qualified protective tape on the rotor when completing this assembly. Tighten screws,
personnel, and only after such motors have been electrically isolated and using correct torque (see torque table). Refit brake when fitted and fit bearing
removed from their mechanical drives. (15) (reconnect ‘spade’ connectors). Refit drive end housing (12) with wave
1.3 The jaws of any vice or clamp must be suitably protected when used to grip washer (16) and O-ring (13) in position. Refit screws and tighten to correct
any part of the motor. torque (see torque table). Fit oil seal (19).

1.4 When separating the motor end covers from the motor body, care must be 4.3 Refit Resolver. Slide Resolver body into non drive end of rotor shaft and
taken to avoid damage to their mating surfaces. screw into N.D. E. housing using screw (7) and clamps (8). Refit resolver
rotor (3), refit nut (2) and tighten to correct torque (see torque table), gripping
1.5 NOTE. There are strong magnetic forces between the stator and the drive end of rotor shaft in a suitably protected vice (as section 3.2). Re-
rotor of all SEM servomotors. Fingers should be kept clear of the gaps assemble M.S. connectors or terminal box assembly as applicable, in
between the stator and end covers during assembly and disassembly reverse sequence to sections 3.3 & 3.4.
of the rotor.
1.6 Dismantled components awaiting reassembly, should be kept in a safe, clean
and dry location.
5 RESETTING THE RESOLVER.
Various types of encoder are used, involving different procedures for
5.1 This only applies to a standard resolver supplied by SEM with the standard
dismantling, reassembly, connection, setting up and testing. Contact
setting. For any other resolver, refer to the drive manufacturer.
SEM with regard to relevant servicing procedures for the particular type
of encoder involved. 5.2 For these procedures it is necessary to make connections and links to
feedback connector pins. To avoid damage to these pins, it is advisable to
make such connections and links via a suitable separate test socket which
2 MARKING mates with the feedback connector multi-pin plug (30) and which has short
leads connected to its sockets. Alternatively appropriate pins can be made
available for connections and links by withdrawing them from plug (30) as in
2.1 The following relationships must be marked with a marker pen or other Section 3.3 and 3.4 “Disconnection”.
suitable method before dismantling.
5.3 If a brake is used, it must be temporarily held off during this operation by
2.2 Drive end (DE) cover (A) to motor body (B).
applying a 24V dc supply across the brake terminals.
2.3 Non-drive end cover (D) to motor body (C).
5.4 Undo 4 screws (37) and pull back the enclosing cover (17) to give access to
2.4 Enclosing Cover (17) to non-drive end (NDE) cover (11). the resolver. With the above test plug connected to the feedback connector,
link pins R1 to S3 & pins R2 to S2. Connect a signal generator (approx 5V
2.5 Prior to resolver dismantling, mark outside end faces of resolver stator (4) 6kHz) between pins R1 and R2. Connect an AC voltmeter between pins S1
and resolver rotor (3) and R2.
5.5 At the power connector, link motor phase pins V and W and then connect a
3 DISMANTLING THE MOTOR low voltage dc supply to motor phases at power connector pins U (+ve) and
V+W (-ve). Adjust this voltage to give between 25% and 100% of motor rated
current thereby causing the motor to turn to a preferred position.
3.1 Remove M5 socket screws from NDE enclosing cover (17), remove the end
cover and the O Ring. 5.6 Slacken the 3 screws (7) holding the resolver stator and then rotate it until
the voltmeter gives a maximum reading. Reconnect the AC voltmeter to pins
3.2 Grip the drive end of the rotor shaft (1) in a suitably protected vice and S4 and R2. Make a small final adjustment of the resolver stator to get a
loosen the nut (2). Leave this nut finger tight until the resolver is required to minimum reading. Retighten the screws, disconnect the test socket, the
be removed. (Note that a special tool is required, available from SEM). supplies, the voltmeter and links, let the brake (if used) be re-applied.
Remove the unit from the vice at this point.
5.7 Attach the protective shield (if fitted) to the resolver and fix the enclosing
3.3 Disconnection sequence, (MS Connectors option). Remove 8 fixing cover (17) to the NDE cover in accordance with marks made in operation
screws and pull M.S. plugs (29 & 30) clear of non drive end housing 2.4.
sufficiently to allow access to wires for unsoldering of existing connectors.
When the wires are unsoldered, the M.S. connectors can be removed. (It is
important to note all connections prior to unsoldering). 6 ELECTRICAL TESTS NECESSARY
3.4 Disconnection sequence, (Terminal Box assembly option). Remove
terminal box screws (27) lid, (21) and gasket (28). Unsolder all connections
BEFORE CONNECTING MOTOR TO
from M.S. Connector (30) and release 3 motor leads and 2 brake leads from
terminal block (23). To remove the terminal box (20) from the non drive end
AMPLIFIER.
housing, remove screw and nut (25 & 26).
6.1 Measure motor stator winding resistances U-V, V-W, W-U. These must be
3.5 Removal of Resolver. Important. At all stages of removal and reassembly,
equal to within 3%.
the resolver unit must be handled with care. (See Para 14). Unscrew (7 & 8)
and release resolver body (4) complete. Remove nut (2), noting that at this 6.2 Check dielectric strength by flash test at 1000 Vac from:
point the resolver rotor (3) is free, and will drop out of the resolver body
unless held in place by hand. Remove the resolver and store in a safe place a Phase U (power connector pin) U to motor body.
until re-assembly. b Phase U to thermal sensor (feedback connector pins Thermal Sensor +
3.6 Removal of Drive End Cover, (Non Brake models). (Do not lever between and Thermal Sensor -).
body and end covers under any circumstance). Remove 4, M8 socket screws c Phase U to brake connections (power connector pins B+ & B-).
(36). Do not attempt to separate the N.D.E. housing from the motor body at
this stage. Remove 4 screws (35) and separate the drive end cover from the If flash test is not possible then check that insulation resistance is greater
motor body (10) and rotor shaft (1). Remove and discard the oil seal (19) and than 1megaohm.
the O-ring (13) (note that the oil seal must be pressed out using a suitable
6.3 Check dielectric strength by flash test at 500Vac or with a 500Vdc supply
tool. The rotor assembly is now free to be removed, via the non-drive end,
from motor body to:
but it is still attached to the N.D.E. cover by N.D.E. bearing (6).
d Brake connections (power connector pins B+ and B-)
3.7 Removal of N.D.E. Housing. TAKE CARE! The rotor itself is covered by a
protective tape, and before any attempt is made at further withdrawal, the e Thermal sensor (feedback connector pins Thermal Sensor + and
rotor must be properly supported and eased through the motor body so that Thermal Sensor -)
the tape is not damaged in any way. This is most important. To remove rotor
from N.D.E. cover, remove circlips (14) from N.D.E. cover to release N.D.E. 6.4 Resolver (feedback connector pins R2 and S1.f flash test is not possible then
bearing (6). Support the N.D.E. cover and rotor assembly in such a way as to check that insulation resistance is greater than 1megaohm.
allow the rotor to be gently tapped or pushed out of the housing. (Only use a
hide mallet if tapping out is necessary).
3.8 Removal of D.E. Cover (Brake Models) Remove 6 screws which hold
brake assembly to D.E. housing, then follow instructions as for non-brake
model, (Para.7). When drive end cover is removed, the brake assembly (38)
and bearing (15) are left on the rotor shaft (1). After removing circlip (41) the
bearing itself can only be removed by use of a suitable tool. This will leave

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884
E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk
 BMR/HD/HR190
parts list
ITEM NO. DESCRIPTION

1 Rotor Assembly
2 Clamp Nut
3 Resolver Rotor
4 Resolver Body
5 Spacer (Resolver only)
6 Bearing Non Drive End
7 Resolver Body Fixing Screws
8 Resolver Body Synchro Clamp
10 Motor Body
11 Non Drive End Housing
12 Drive End Cover
13 ‘O’ Ring
14 Circlip
15 Bearing Drive End
16 Wave Washer
17 Non Drive End Enclosing Cover
18 ‘O’ Ring
19 Oilseal
20 Terminal Box
21 Terminal Box Lid
22 Key
23 Terminal Block Assembly
24 Blanking Plug
25 Conduit Nipple and ‘O’ Ring
26 Earth Lead Screw and Clamp
27 Terminal Box Lid Fixing Screw
28 Terminal Box Lid Gasket
29 Motor M.S. Connector 7 Pin (Optional)
30 Feedback M.S. Connector 17 Pin
31 ‘O’ Ring
32 ‘O’Ring

E-mail: info@sem.co.uk ● Internet http://www.sem.co.uk

35 Fixing Screw (Drive End)

Telephone: +44 (0)1689 884700 ● Fax: +44 (0) 1689 884884

36 Fixing Screw {Non Drive End Housing)

SEM Limited, Faraday Way, Orpington, Kent BR5 3QT England

37 Fixing Screw (Non Drive End Enclosing
Cover)
38 Brake (Optional)
40 Circlip (Non Drive End)
41 Circlip (Drive End)
42 Brake Key (Optional)
43 Tacho Stator and P.C.B. Assembly
(Optional)
44 Tacho Rotor Assy (Optional)
45 Tacho Fixing Adaptor
46 Brake Circlip (Optional)
REMOVAL OF REMOVAL OF
AC TACHO AC TACHO
Instructions common to Instructions common to
HD 55, HD 70, HD 92, HR 92 HD 92, HR 92, HD 115, HR 115 HD 142,
HR 142, BMR 190/HD 190
Extreme care to be taken during the removal and re-
assembly of the Tacho. When stripping Tacho Motor, Tacho
parts must be removed first. Extreme care to be taken during the removal and re-
assembly of the Tacho.

1. Disconnect leads at feedback connector

1. Mark the relationship of PCB to the end housing (11). Insert a strip
2. Undo screws holding PCB board and lift off or tube of non-magnetic material (e.g. card or plastic) in the air gap
between stator and rotor to prevent demagnetising the rotor and
3. Undo screws holding Tacho stator in N.D.E. cover and lift out. damaging the windings. (ROTOR MUST BE PROTECTED FROM
4. With suitable extractor, pull out the Tacho rotor, taking care not to CONTACT WITH ANY FERROUS METAL TO PREVENT
damage these components. DEMAGNETISATION).

5. Continue with dismantling of the motor. 2. Unplug cables from the PCB and remove the 3 screws holding the
PCD to the end housing. Carefully remove the PCB and stator
assembly.
Re-assembly 3. To mark the position of rotor, connect a D.C. power supply to motor
terminals U(+ve) and V(-ve), adjust the voltage to give a current
6. Replace the stator, fit tacho rotor and PCB in the correct position. between 25% and 100% of the motor rated current. The rotor will
The screws that clamp the stator to PCB must not be move to a preferred position. If motor has a brake, it must be
over tightened – this causes the PCB to distort. Use a suitable released to allow this to happen. Then mark position of tacho rotor
Loctite or similar screw lock adhesive, to prevent screws from relative to the end housing.
loosening.
4. WE STRONGLY RECOMMEND THAT CUSTOMERS DO NOT
7. Refit rotor noting original position and using a power supply to REMOVE THE STATOR FROM THE PCB. However, if the Stator
position motor rotor as during removal. Lock rotor with clamp nut has to be removed, proceed as follows: To remove the stator from
and tighten using correct torque. (See torque tables). the PCB – mark position of stator relative to PCB, unscrew the
8. Refit stator, rotor and PCB Assembly. Refit screw aligning position screws holding the PCB to stator and separate.
of PCB relative to the end housing. Reset tacho using appropriate NOTE: IT IS RECOMMENDED THAT IF ANY PARTS OF THE
electrical device. TACHO ARE TO BE REPLACED, THE COMPLETE MOTOR BE
RETURNED TO SEM FOR IN-HOUSE REPAIR.

REMOVAL OF DC TACHO
Re-assembly
(1) Remove cable from processing PCB
5. Replace the stator on PCB (if it was removed) in the correct
(2) Remove processing PCB by pulling it off the 3 connectors which position. The screws that clamp the stator to PCB must not be over
support it. Then proceed as AC tacho. tightened – this causes the PCB to distort. Use a suitable Loctite or
similar screw lock adhesive, to prevent screws from loosening.
6. Refit rotor noting original position and using a power supply (as
para. 3) to position motor rotor as during removal. Lock rotor with
clamp nut and tighten using correct torque. (See torque tables).
7. Refit stator and PCB assembly protecting rotor from contact with
stator as during removal. Refit screw aligning position of PCB
relative to the end housing.

REMOVAL OF DC TACHO
(1 ) Remove cable from processing PCB
(2) Remove processing PCB by pulling it off the 3 connectors which
support it. Then proceed as AC tacho.

WARNING
Servomotors contain magnetic material which will attract metal particles. Care should be
taken when dismantling motors to avoid this.
All D.C. servomotors manufactured by SEM contain magnets which are air stable and can
be dismantled without demagnetisation

SEM Limited, Faraday Way,

Orpington, Kent BR5 3QT England
Telephone: +44 (0) 1689 884700
Fax: +44 (0) 1689 884884
E-mail: info@sem.co.uk UL VERSIONS
Internet: http://www.sem.co.uk AVAILABLE