ERD LINEAR SOLUTIONS MADE EASY. Actuator Control Solutions PATENT PENDING. & motors

Transcription

1 ERD Electric Rod-Style Actuator PATENT PENDING ACS Actuator Control Solutions SteppER Drive/ controller & motors LINEAR SOLUTIONS MADE EASY

2 What is the ERD? The ERD is an economical rod-style electric actuator designed as an alternate to pneumatic cylinders and an option for automating manual processes. Combined with Tolomatic s ACS stepper drive/controller, an extremely easy-to-use and cost effective actuator control solution is created. The ERD, with two different stainless steel options, is the industry s first ever cataloged all stainless-steel electric actuator family intended for washdown environments. ERD with GD2 Guide Option Actuator Control Solution First Ever Catalog All Stainless- Steel Electric Actuators Tolomatic s ELECTRIC Rod-Style actuators ERD ICR SmartActuator RSA GSA IMA Rod-Style Actuator Integrated Control Rod-Style Actuator Rod-Style Actuator Guided Rod-Style Actuator Integrated Motor Rod-Style Actuator Thrust up to: 2 lbf [89 N] 72 lbf [322.7 N] 7, lbf [31,138 N] 2,7 lbf [12, N] 3,3 lbf [14,679 N] Speed up to: 4 in/sec [16 mm/sec] in/sec [635 mm/sec] 123 in/sec [3,124 mm/sec] 123 in/sec [3,124 mm/sec] 23 in/sec [584 mm/sec] Stroke Length up to: 12 in [35 mm] 24 in [69 mm] 6 in [1,524 mm] 36 in [914 mm] 18 in [457 mm] Screw/Nut Type Solid & Ball Ball Solid, Ball & Roller Solid & Ball Ball & Roller For complete information see or literature number: Literature Number: (Not all models deliver maximum values listed, i.e.: Maximum thrust may not be available with maximum speed) erd_

3 ERD Applications Press Fit, Pick & Place, Assembly Gating, Sorting, Diverting Aligning Product Change Over Optional all stainlesssteel design for washdown environments Heat Staking, Sonic Welding CONTENTS What is the ERD......erd_2 Rod-Style Actuators...erd_2 Applications erd_3 FEATURES ERD erd_4 ERD SS erd_6 ACS erd_8 SPECIFICATIONS ERD erd_ Motors erd_11 ACS erd_11 Performance ERD erd_12 GD erd_14 ACS & ERD erd_15 DIMENSIONS ERD erd_16 IP67 Option erd_16 FM2, TRR, FFG......erd_17 GD2, SS erd_18 Tolomatic Motors....erd_19 Alternative Motors...erd_2 ACS Dimensions.....erd_21 Switches erd_22 Appl. Data Worksheet erd_24 Selection Guidelines..erd_ Service Parts erd_26 Ordering erd_27 Other Applications: Aligning Animation Assembly Automatic tool changers Automotive Converting Conveyors Diverting Fillers Formers Gating Heat staking Laser positioning Material handling systems Medical equipment Motion simulators Open / close doors Packaging equipment Parts clamping Patient lifts Pick & place Plate positioning change Press fit Product changeover Product test simulations Robot manipulator arms Sonic welding Sorting Table positioning Tension control Test stands Volumetric pumps Web guidance Wire winding erd_3

4 Endurance Technology features are designed for maximum durability to provide extended service life. The ERD is an economical rod-style electric actuator designed as an alternate to pneumatic cylinders and an option for automating manual processes. The ERD is compatible with many NEMA & metric mount stepper and servo motors to create a flexible, powerful electric actuator solution. Built-to-order in stroke lengths up to 12 inches. MULTIPLE SCREW TECHNOLOGIES You can choose: Solid nuts of engineered resins offer quiet performance at the lowest cost StaINLESS-STEEL MaIN TUBE Stainless-steel main tube provides high rigidity and corrosion resistance MAXIMUM DURABILITY Nema MOTOR MOUNT ERD6: NEMA11 ERD: NEMA17 ERD15: NEMA23 METRIC MOTOR MOUNT (option) ERD: 4mm Frame ERD15: 6mm Frame Made of aluminum PaTENT PendING Ball nuts offer positioning accuracy and repeatability with longer life OvERSIzed MaIN BeaRING Oversized for long life Accommodates high thrust load MaLE THREaded Rod End Standard metric threads Compatible with many commercially available metric rod end accessories THREadEd NOSE MOUNT WITH JaM NUT Metric threads Convenient mounting for many applications StaINLESS-STEEL thrust tube Stainless-steel thrust tube provides high rigidity and corrosion resistance NOSE BEARING Engineered resins for smooth operation Provides critical support of thrust rod INTEGRal Guide Rods and BeaRINGS Stainless-steel guide rods provide high rigidity and low deflection Four composite bearings support the load for smooth consistent motion INTERNal MaGNET This standard feature accommodates reed and solid state switches anywhere on the main tube Guide (GD2 option) Load guidance, tooling plate and anti-rotate Options TRR trunnion mount For applications that require pivoting, 34 stainless steel construction FM2 Foot mount* For applications that require bottom mounting, 34 stainless steel construction FFG front Flange mount* For front mounting applications, 34 stainless steel construction Switches* Choose from: Reed, Solid State PNP or NPN, all available in normally open IP67 IP67 An IP67 upgrade (static rating) for protection against water and dust ingress (see page erd_6) SS1 Stainless steel Same ERD actuator made of all 34 stainless steel for corrosion resistance SS2 Stainless steel SS1 option plus IP67 and protective motor enclosure (see page erd_6) GD2 Guide For applications that require anti-rotation, or guidance and load bearing. Made of lightweight aluminum *NOTE: Foot Mount, Front Flange Mount and Switches are shipped together with the actuator but are not installed by Tolomatic. erd_ erd_5

5 SS2 All 34 STAINless Steel, IP67, Motor Protection MAXIMUM DURABILITY Endurance Technology features are designed for maximum durability to provide extended service life. The all 34 stainless-steel ERD has an IP67 rating (static) that includes a protective enclosure for the standard Tolomatic motor. Built-to-order in stroke lengths up to 12 inches. MOTOR PROTECTION Motor enclosure made of 34SS designed to protect motor with IP67 rating (static) *NOTE: Only Tolomatic motors are available with the SS2 option. PaTENT PendING viton Seals For ingress protection and resistance to chemicals, water and dust Used throughout actuator MULTIPLE SCREW TECHNOLOGIES You can choose: Solid nuts of engineered resins offer quiet performance at the lowest cost Ball nuts offer positioning accuracy and repeatability with longer life all 34 STaINLESS STEEL construction Corrosion resistant 34 stainless steel is ideal for washdown environments OvERSIzed MaIN BeaRING Oversized for long life Accommodates high thrust load FlexIBLE CONNECTION Choice of cord grips or industry standard conduit threads SS23 1 or 2 cord grips determined if encoder is selected (polymide plastic) SS21 NPT 1/2" conduit thread & SS22 M2x1.5 conduit thread MaLE THREaded Rod End Standard metric threads Compatible with many commercially available metric rod end accessories IP67 (static rating) Solids, first digit: 6 Dust tight No ingress of dust; complete protection against solid object intrusion Liquids, second digit 7 Immersion up to 1 m Ingress of water in harmful quantity shall not be possible when the enclosure is immersed in water under defined conditions of pressure and time (up to 1 m of submersion). (See page erd_11 for a complete definition of these IP codes) NOSE BEARING Engineered resins for smooth operation Provides critical support of thrust rod INTERNal MaGNET This standard feature accommodates reed and solid state switches anywhere on the main tube Options FM2 Foot mount* For applications that require bottom mounting, 34 stainless steel construction FFG front Flange mount* For front mounting applications, 34 stainless steel construction Switches* Choose from: Reed, Solid State PNP or NPN, all available in normally open. (not corrosion resistant) *NOTE: Foot Mount, Front Flange Mount and Switches are shipped together with the actuator but are not installed by Tolomatic. erd_ erd_7

6 ACS Actuator Control Solutions What is the ACS? The ACS is an extremely easy-to-use stepper drive & controller developed specifically to be used with electric actuators. Simply select the configured Tolomatic actuator in the software to automatically set-up most of the necessary parameters to create motion in the desired linear units (mm or inch). Capabilities: Index move (4, 8, or 16) modes (absolute, incremental, jog and home moves) provide infinite positioning capability Analog position mode with optional analog output that echoes position of actuator from encoder (- Vdc or 4-2 ma) Adjustable motion profile parameters (velocity, accel/decel, force). Parameters are independently configurable for each move Ability to reduce holding current for energy savings End point correction Zone output based on position Force limiting capability Configurable digital I/O (24 Vdc Opto-Isolated)(NPN or PNP) Compatible with most 24 Vdc stepper motors Capabilities Coming Soon! Operating Modes Stepper mode (pulse/direction) Pneumatic modes Networking capabilities (Optional) Ethernet protocols Ethernet/IP Modbus TCP Ethernet TCP/IP Dual ethernet ports with internal switch for daisy chaining Modbus RTU over RS-485 Ethernet/IP for integration with Allen Bradley PLCs Modbus TCP/RTU for integration with most other PLCs & HMIs erd_

7 ACS Actuator Control Solutions dual ETHERNET PORTS (OPTIONAL) Coming Soon! Internal switch for daisy chaining up to 5 ACS axes Protocols: Ethernet/IP Modbus TCP Ethernet TCP/IP dual PURPOSE HEAT SINk Removes heat from drive for optimal performance Panel mounting digital I/ 8 Digital Inputs 4 Digital Outputs 24 Vdc Opto-Isolated NPN or PNP Configurable ANALOG I/ (OPTIONAL) - Vdc or 4-2mA 1 Analog Input 1 Analog Output FEEdBACk For Digital Encoder MOTOR POWER 24Vdc Stepper Motors LEd INdICATORS Power & Fault indicators RS232 COM PORT Drive Configuration Port POWER CONNECTION 24Vdc RS485 COM PORT Coming Soon! Networking Port Easy to use configuration software Windows compliant erd_9

8 SIZE: ALL SPECIFICATIONS (US standard measurement) sizing software available at www. tolomatic.com ERD SIZE SCREW DIA. MAXIMUM STROKE* SCREW CODE LEAD LEAD Accu RAcy BACKLASH MAXIMUM THRUST WEIGHT WEIGHT INERTIA WEIGHT (GD2 adder) (SS2 adder) Base Per Inch Base Per Inch Base Per Inch Base Per Inch in in in/rev in/ft in lbf lb-in 2 lb-in 2 lb lb lb lb lb lb SN SN SN16.63 SN SN SN BNM SN SN SN BNM5.197 BNM SPECIFICATIONS (metric measurement) ERD SIZE SCREW DIA. MAXIMUM STROKE* SCREW CODE LEAD LEAD Accu RACY BACKLASH MAXIMUM THRUST INERTIA WEIGHT WEIGHT (GD2 adder) WEIGHT (SS2 adder) Base Per mm Base Per mm Base Per mm Base Per mm mm mm mm/rev mm/ 3mm mm N kg-m 2 x -6 kg-m 2 x -6 kg kg kg kg kg kg SN SN SN SN SN SN BNM SN SN SN BNM5 5. BNM Temperature range IP rating 4 to 13 F (4.4 to 54.4 C) 4 (static) *Longer stroke length modification available upon request. SiDE LoAD ConsiDERAtions The standard ERD rod-style actuator is not meant to be used in applications where side loading occurs. If side loading exists in the application consider the GD2 guided option. Loads must be guided and supported. Loads should be aligned with the line of motion of the thrust rod. Side loading will affect the life of the actuator. erd_

9 SIZE: ALL MOTOR SPECIFICATIONS Specifications NEMA 11 NEMA 17 NEMA 23 Motor Type Bipolar Stepper, 1.8 per Step Encoder Differential; 5 line (2 count post quad) Resistance 3.5 Ω 2.4 Ω 1.5 Ω Inductance 2.3 mh 4.5 mh 3.7 mh Rated Current 1 Arms 1.5 Arms 2 Arms Maximum Torque.813 in-lbs.92 N-m 4.4 in-lbs.497 N-m 6. in-lbs.76 N-m Maximum RPM 15 RPM 9 RPM 5 RPM Degree per Step Rotor Inertia.6 lb-in g-cm 2.28 lb-in g-cm 2.75 lb-in g-cm 2 ACS Drive/Controller SPECIFICATIONS Drive power Current - Max 4A Voltage Nominal 2-28V Over Voltage 3V Under Voltage 18V Absolute Maximum Voltage 35V Logic Current Draw (24V) ma See ACS Hardware and Installation Guide # for more details. Operating conditions Ambient Temperature 77 F, C Nominal Operating Temperature 32-4 F, - 4 C Storage Temperature F, -7 C Humidity - 9% non-condensing What Does IP67 mean? The IP Code (or International Protection Rating) consists of the letters IP followed by two digits and an optional letter. As defined in international standard IEC 6529, it classifies the degrees of protection provided against the intrusion of solid objects (including body parts like hands and fingers), dust, accidental contact, and water in electrical enclosures. SOLIDS, first DIgIT: 4 >1 mm Most wires, screws, etc. 6 Dust tight No ingress of dust; complete protection against solid object intrusion LiqUIDS, SEcOND DIgIT (static rating) Not protected 7 Immersion up to 1 m Ingress of water in harmful quantity shall not be possible when the enclosure is immersed in water under defined conditions of pressure and time (up to 1 m of submersion). The first digit indicates the level of protection that the enclosure provides against access to hazardous parts (e.g., electrical conductors, moving parts) and the ingress of solid foreign objects. The second digit indicates the level of protection that the enclosure provides against harmful ingress of water erd_11

10 SIZE: ALL ACME & BALL SCREW/NUT CRITICAL SPEED CAPACITIES STROKE (mm) SN1 1,16 SN1 SN1 PERFORMANCE 3 SN5 SN5 BNM5 SN2 SN2 762 SPEED (in/sec) 2 6 SN2 6 SN4 15 SN2 15BNM 15BNM5 15 SN SPEED (mm/sec) 6 SN STROKE (in) 12 MAXIMUM THRUST vs STROKE STROKE (mm) BN THRUST (lbf) BN SN 15 SN THRUST (N) 2 6 SN SN STROKE (in) erd_

11 SIZE: ALL PERFORMANCE sizing software available at www. tolomatic.com PV LIMITS (Pressure Velocity of Acme Nut) SPEED (mm/sec) , SN5 15 SN2 15 SN1 267 THRUST (lbf) 4 SN5 SN5 SN2 SN1 THRUST (N) 2 6 SN16 6 SN4 6 SN SPEED (in/sec) PV LIMITS: Any material which carries a sliding load is limited by heat buildup. The factors that affect heat generation rate in an application are the pressure on the nut in pounds per square inch and the surface velocity in feet per minute. The product of these factors provides a measure of the severity of an application. 4 P x V.1 ( Thrust Speed ((Max. Thrust Rating)) x ((Max. Speed Rating)).1 BALL SCREW LIFE THRUST (N) , 2,54,, 4, LIFE (million in) 1,,4 2,54 LIFE (million mm) BN5 15BN 15BN5 4 1 NOTE: The L expected life of a ball screw linear actuator is expressed as the linear travel distance that 9% of properly maintained ball screw manufactured are expected to meet or exceed. This is not a guarantee and this graph should be used for estimation purposes only THRUST (lbf) The underlying formula that defines this value is: L = ( C ) 3 l F Travel life in millions of inches, where: C = Dynamic load rating (lbf) F = Equivalent load (lbf) l = Screw lead (in/rev) 2 Use the "Equivalent Load" calculation below, when the load is not constant throughout the entire stroke. In cases where there is only minor variation in loading, use greatest load for life calculations. P e = 3 %(P 1) 3 +%(P 2 ) 3 +%(P 3 ) 3 +%(P n ) 3 Where: P e = Equivalent load (lbs) P n = Each increment at different load (lbs) % n = Percentage of stroke at load increment erd_13

12 OPTION: GD2 GUIDED ERD Load vs extended length PERFORMANCE sizing software available at www. tolomatic.com 6 15 Xs STROKE LENGTH (mm.) Xs STROKE LENGTH (mm.) Xs STROKE LENGTH (mm.) W LOAD WEIGHT (lbs.) W LOAD WEIGHT (kgs.) W LOAD WEIGHT (lbs.) W LOAD WEIGHT (kgs.) W LOAD WEIGHT (lbs.) W LOAD WEIGHT (kgs.) Xs STROKE LENGTH (in.) Xs STROKE LENGTH (in.) W Xs STROKE LENGTH (in.) 4 Bending Moments 6 15 Xs STROKE LENGTH (mm.) Xs STROKE LENGTH (mm.) Xs STROKE LENGTH (mm.) Mx Xs Mx MOMENT (in-lbs) Mx MOMENT (N-m) Mx MOMENT (in-lbs) Mx MOMENT (N-m) Mx MOMENT (in-lbs) Mx MOMENT (N-m) Xs STROKE LENGTH (in.) Xs STROKE LENGTH (in.) Xs STROKE LENGTH (in.) DEFLECTION (in) Guide Rod Deflection 6 15 Xs STROKE LENGTH (mm.) Xs STROKE LENGTH (mm.) Xs STROKE LENGTH (mm.) lbs (5.4 kg) 9 lbs (4.1 kg) 6 lbs (2.7 kg) 3 lbs (1.4 kg) 12 lbs 9 lbs 6 lbs 3 lbs DEFLECTION (mm) DEFLECTION (in) lbs (7.3 kg) 12 lbs (5.4 kg) 8 lbs (3.6 kg) 4 lbs (1.8 kg) 16 lbs 12 lbs 8 lbs 4 lbs DEFLECTION (mm) DEFLECTION (in) NOTE: Deflection is measured at the tooling plate. Excessive deflection may impact actuator life. Contact Tolomatic for assistance lbs (9.1 kg) 15 lbs (6.8 kg) lbs (4.5 kg) 5 lbs (2.3 kg) lbs 15 lbs 2.54 lbs 5 lbs 1.27 DEFLECTION (mm) Xs STROKE LENGTH (in.) Xs STROKE LENGTH (in.) Xs STROKE LENGTH (in.) erd_

13 PERFORMANCE DATA WITH ACS Drive/Controller SPEED vs THRUST - ERD6 actuator with nema11 motor sizing software available at www. tolomatic.com THRUST (lbf) SN16 SPEED(mm/sec) SN4 SN SPEED(in/sec) 8 SN2 71 SN4 SN THRUST (N) SS2 Option is not available for the 6 size THRUST (lbf) SPEED vs THRUST - ERD actuator with nema17 motor SN5 SN5 5 BNM5 SPEED(mm/sec) SN2 SN1 SN2 SN5 BNM5 SN SPEED(in/sec) THRUST (N) THRUST (lbf) SN5 SN5 5 BNM5 SN2 SPEED(mm/sec) SN1 SN2 SN5 BNM5 CONTINUOUS WITH SS2 OPTION (SEE GRAPH AT LEFT FOR PEAK) SN SPEED(in/sec) THRUST (N) THRUST (lbf) SPEED vs THRUST - ERD15 actuator with nema23 motor 5 BNM5 SN BNM SPEED(mm/sec) SN2 SN1 SN2 SN5 BNM5 BNM SPEED(in/sec) SN THRUST (N) THRUST (lbf) SN5 SN5 BNM5 BNM5 SPEED(mm/sec) SN2 BNM SN1 SN2 SN5 BNM5 BNM CONTINUOUS WITH SS2 OPTION (SEE GRAPH AT LEFT FOR PEAK) SPEED(in/sec) SN THRUST (N) erd_15

14 A A B C ERD15 A B ACTUATOR (MOTOR SHAFT INTERFACE) C R O P S MAX E Q N (SHCS) CPLR ERD6 ERD ERD15 in mm in Ø1.287 Ø1.7 Ø2.6 mm Ø32.69 Ø43.82 Ø66.68 in mm - - M4 x.7 F + STROKE M D E F G II DIMENSIONS H I A J L K JAM NUT ERD6 ERD A ERD6 ERD ERD15 in Ø.136 Ø mm Ø3.45 Ø in mm in mm B D 3D CAD available at ERD6 ERD ERD15 G in mm H in mm I in mm J in mm M6 x 1. M8 x 1. M12 x 1.75 K in Ø.443 Ø.686 Ø1.41 mm Ø11. Ø17.42 Ø26.4 L in mm M16 x 1.5 M24 x 1.5 M34 x 1.5 II in mm M in Ø.686 Ø1.4 Ø1.638 mm Ø17.42 Ø26.42 Ø41.61 N in mm O in mm P in mm Q in (2) M4 x (2) M6 x (2) M6 x mm (2) M4 x (2) M6 x (2) M6 x R in Ø.197 Ø.197 Ø. mm Ø5. Ø5. Ø6.35 S in mm IP67 Option DIMENSIONS F + STROKE I G IP67 Option F G I ERD6 ERD ERD15 in mm in mm Surface for mounting options IP67 (static rating) option replaces the Jam Nut (II in table above) erd_

15 N (SHCS) CPLR N (SHCS) CPLR P V + STROKE FM2 - Foot mount DIMENSIONS P V + STROKE P V + STROKE U W W X U W X X T T OPTION T TRR - trunnion mount Z AA Y TRUNNION OPTION Z AA Y TRUNNION OPTION FFG - front flange HH GG 3D CAD available at ERD6 ERD ERD15 P in mm T in mm U in mm V in mm W in mm X in Ø.154 Ø.194 Ø.221 mm Ø3.91 Ø4.93 Ø5.61 Y in...43 mm Z Ø.1878 / Ø.3 / Ø.3753 / in Ø.1876 Ø.1 Ø.3751 mm Ø4.77 / Ø6.358 / Ø9.533 / Ø4.765 Ø6.353 Ø9.528 AA in mm BB in mm CC in mm DD in mm EE in mm FF in Ø.154 Ø.194 Ø.221 mm Ø3.91 Ø4.93 Ø5.61 GG in mm HH in mm II in mm HH CC DD II FRONT FLANGE MOUNT OPTION II JAM NUT FRONT FLANGE MOUNT OPTION JAM NUT CC DD EE BB GG EE BB FF FF erd_17

16 K + STROKE N P M L J + STROKE SS23 G1 GD2 Guided ERD DIMENSIONS SS2 STAINLESS-STEEL BODY WITH PROTECTIVE motor COVER AND IP67 UPGRADE M M D U T A B G H E C F R S C D E F V Guided ERD with IP67 option ERD stroke is reduced by dimension V A + STROKE G + STROKE H B 3D CAD available at ERD6 ERD ERD15 A in mm B in mm C in mm D in mm E Ø in.31 x x x mm x x x F Ø in mm G in mm H in mm J in mm K in mm L in mm M in mm N in mm P in mm R in mm S in mm M4X.7 M5X.8 M6X1. T in mm U in mm V in mm SS23 E1 K J* L A B C D ERD6 ERD ERD15 in mm in mm in mm in mm E F G H J* ERD6 ERD ERD15 in mm in mm in mm in mm in mm M6 x 1. M6 x 1. K L ERD6 ERD ERD15 in mm Surface for mounting options Code Encoder Code Available cable exit options: M SS21 G1,E1 no cord grips 1/2" NPT tapped hole SS22 G1,E1 no cord grips M2 x 1.5 tapped hole SS23 G1 1 cord grip (motor, no encoder) E1 2 cord grips (motor, with encoder) *Unit ships standard with hex bolts in these tapped holes NOTE: IP67 is a static rating erd_

17 TOLOMATIC MOTOR DIMENSIONS NEMA11 (ERD6) DIMENSIONS 1.11 [28.3].96 ±.4 [23.1 ±.].557 [14.15].453 [11.51] M2.5 x.45-6h. [2.5] (4).94 [24.].79 ±.8 ±.2] [2. 3D CAD available at [51.].452 [11.48] 1.11 [28.3].557 [14.15].197 [5.].65 [16.5].453 [11.51].96 ±.4 [23.1 ±.] Ø1.281 [32.54] +. Ø Ø HOUSING: AMP TERMINAL: AMP HOUSING: MOLEX TERMINAL: MOLEX AWG24 UL [15.].37 [9.5] OPTIONAL ENCODER Code Description NEMA11 motor no AMS1A1C1 encoder (ERD6) NEMA11 motor AMS1A1A1 with encoder (ERD6) NEMA17 (ERD) DIMENSIONS 1.67 [42.3] 1.22 [31.].833 [21.15].6 [15.5] Ø1.726 [43.84].94 [24.] 1.9 [48.3] Ø.79 ±.8 [2. ±.2] 1.67 [42.3].833 [21.15].6 [15.5] 1.22 [31.] +. Ø OPTIONAL ENCODER.28 [7.] M3 x.5-6h.177 [4.5] (4) +. Ø HOUSING: JST PHR-6 TERMINAL: JST SPH-2T-PO.55 AWG24 UL3266 HOUSING: AMP TERMINAL: AMP [15.].43 [11.] Code Description AMS1B1C1 NEMA17 motor no AMS1B1G1 encoder (ERD) AMS1B1A1 AMS1B1E1 NEMA17 motor with encoder (ERD) NEMA23 (ERD15) DIMENSIONS 2.3 [58.4] ±.8 [47.15 ±.8] 1.15 [29.2].928 [23.57] Ø2.6 [66.68].811 [2.6].63 ±.8 [1.6 ±.2] 1.97 [5.] 1.15 [29.2].928 [23.57] 2.3 [58.4] ±.8 [47.15 ±.8] Ø1.5 ±.2 [38. ±.5] OPTIONAL ENCODER.2 [5.] JST S68-XH-A-1(LF)(SN) +.8 Ø THRU (4) Ø [4.5] HOUSING: JST XHR-6 TERMINAL: JST SXH-1T-PO.6 AWG24 UL3266 HOUSING: AMP TERMINAL: AMP [6.2] 5.91 [15.] Code Description AMS1C1C1 NEMA23 motor, no AMS1C1G1 encoder (ERD15) AMS1C1A1 AMS1C1E1 NEMA23 motor, with encoder (ERD15) erd_19

18 ALTERNATIVE MOTOR DIMENSIONS Motor DIMENSIONS NEMA Motor Mount The ERD actuator is designed to accommodate NEMA standard stepper and servo motors. MOTOR SHAFT BOLT HOLE MOTOR PILOT Actuator ERD6 ERD ERD15 Size NEMA11 NEMA17 NEMA23 3D CAD available at The only limiting factors are the motor shaft diameter and length. NEMA standard motors from the companies in the table at right have been found to be compatible with the ERD actuator. ( *NOT a complete listing) When any motor has been selected for use with the ERD actuator it is important to confirm the motor is compatible with the dimensions in the table below. ERD6 ERD ERD15 in MIN. mm A in MAX. mm DIAMETER B in mm CIRCLE C in mm SPACING D in mm DIAMETER in E MAX. mm HEIGHT in F MAX. mm LENGTH MOTOR PILOT HEIGHT MOTOR SHAFT A LENGTH F B DIAMETER BOLT HOLES C CIRCLE E MOTOR PILOT DIAMETER D SPACING ERD Compatible NEMA Motor Suppliers* Anaheim Automation Animatics Applied Motion Products Automation Direct Cool Muscle Electrocraft Fastech IMS / Scheider Electric JVL LIN Engineering Nippon Pulse Motor Omega Oriental Motor Parker Sanyo Denki + Others Motor DIMENSIONS Metric Motor Mount Option The ERD actuator with metric motor mount option is designed to accommodate metric standard servo motors. MOTOR SHAFT BOLT HOLE MOTOR pilot Actuator ERD ERD15 Size 4mm 6mm Metric motors from the companies in the table to the right have been found to be compatible with the ERD actuator with the metric motor mount option. ( *NOT a complete listing) When any motor has been selected for use with the ERD actuator it is important to confirm the motor is compatible with the dimensions in the table below. ERD ERD15 LENGTH A in mm. 3. in IEC1 IEC1 IEC2 IEC3 Ø.31 Ø.43 Ø.47 Ø.55 DIAMETER B mm IEC1 IEC1 IEC2 IEC3 Ø8. Ø11. Ø12. Ø14. CIRCLE C in mm SPACING D in mm in DIAMETER E mm MOTOR SHAFT A LENGTH B DIAMETER BOLT HOLES C CIRCLE E MOTOR PILOT DIAMETER D SPACING ERD Compatible Metric Motor Suppliers* Allen Bradley Bosch Rexroth Emerson Lenze Mitsubishi Omron Panasonic Yaskawa + Others erd_

19 ACS Actuator Control Solutions DIMENSIONS 3D CAD available at sizing software available at www. tolomatic.com ACS Drive/Controller ( ) DIMENSIONS 1.38 [34.9].88 [22.2] (2) Ø.17 [4.3] TYP..12 [2.9] TYP [9.2] (2).8 [2.3] (2) PART #: MODEL #: SERIAL #: RoHS COMPLIANT Made in U.S.A [9.] 5.8 [147.3] erd_21

20 SIZE: ALL RoHS COMPLIANT SWITCHES ERD actuators offer a wide range of sensing choices. There are 6 switch choices: reed, solid state PNP (sourcing) or solid state NPN (sinking); normally open; with flying leads or quick-disconnect. Commonly used for end-of-stroke positioning, these switches allow clamp-on installation anywhere along the entire actuator length. The internal magnet, located on the thrust tube, is a standard feature. Switches can be installed in the field at any time. Switches are used to send digital signals to PLC (programmable logic controller), TTL, CMOS circuit or other controller device. Switches contain reverse polarity protection. Solid state QD cables are shielded; shield should be terminated at flying lead end. All switches are CE rated, IP67 rated and are RoHS compliant. Switches feature bright red or green LED signal indicators. Order Code Part Number Lead Switching Logic Power LED Signal LED REED Operating Voltage **Power Rating (Watts) Switching Current (ma max.) SOLID STATE Current Consumption Voltage Drop Leakage Current Temp. Range Shock / Vibration IP Rating R Y m SPST Normally R K QD* Open T Y m T K QD* K Y m K K QD* PNP (Sourcing) Normally Open NPN (Sinking) Normally Open Red Green Red 5-24 AC/DC 5-3 Vdc **. ma **3. 2mA 8 24V 3. V max. 1. V max..1 ma max. 14 to 158 F [- to 7 C] 3 G / 9 G 5 G / 9 G 67 *QD = Quick-disconnect Enclosure classification IEC 529 IP67 (NEMA 6) CABLES: Robotic grade, oil resistant polyurethane jacket, PVC insulation **WARNING: Do not exceed power rating (Watt = Voltage x Amperage). Permanent damage to sensor will occur. Switch installation - Field replacement instructions Step 1: Loosen screw and nut. Step 2: Place sensor and wrap the band around the ERD cylinder. Position the hook with the nearest hole on the band and mark the hole with a permanent marker. Step 3: Remove mounting assembly. Cut the band at the nearest edge of the next hole. (The one that's furthest away from the mounting head.) Step 4: Replace the sensor and mounting assembly. Wrap the band and put the chosen hole on the hook. Position the switch and tighten. Tighten nut for steadying. erd_

21 SIZE: ALL Wiring diagrams SWITCHES REED NORMALLY OPEN # & # NORMALLY OPEN or NORMALLY OPEN BRN BLU BRN BLU LOAD LOAD SOLID STATE NORMALLY OPEN PNP # & # NORMALLY OPEN PNP (SOURCING) BRN BLK BLU + SIGNAL LOAD - SOLID STATE NORMALLY OPEN NPN # & # NORMALLY OPEN NPN (SINKING) BRN BLK BLU + LOAD SIGNAL - QUICK DISCONNECT MALE PLUG PINOUT BLACK (SIGNAL) BROWN (+) BLUE (-) #8-98 QUICK DISCONNECT FEMALE SOCKET PINOUT BLACK (SIGNAL) BROWN (+) BLUE (-) Switch DIMENSIONS.291 [7.4] _ Y - direct connect.276 [7.].138 [3.5].354 [9.].945 [24.] DETECTION POINT, SOLID STATE DETECTION POINT, REED 197 [5] _ K - QD (Quick-disconnect) switch 6 [15] M8x1 Ø.35 [9] QD Cable 1.26 [32.1] Ø.28 [7].95 [24.1] 197 [5] SWITCH CLAMP [14.5].53 [13.4].46 [11.8] erd_23

22 Application Data WorkshEEt Orientation SIZE: ALL Horizontal Fill in known data. Not all information is required for all applications Incline a SPECIFICATIONS sizing software available at www. tolomatic.com Vertical Load supported by actuator OR Move profile Extend Move Distance inch millimeters (US Standard) (Metric) Move Time sec Max. Speed in/sec mm/sec Dwell Time After Move sec RetRAct Move Distance inch millimeters Move Time sec Max. Speed in/sec mm/sec Dwell Time After Move sec No. of CyclES per minute per hour Hold Position? Required Not Required After Move During Power Loss NOTE: If load or force changes during cycle use the highest numbers for calculations Load supported by other mechanism Stroke length inch millimeters (US Standard) Motion profile + Speed ( ) (Metric) Precision Repeatability inch millimeters OpERAting environment Temperature, Contamination, Water, etc. FREE - Windows compatible software, download at Or Call for Excellent Customer Service & Technical Support Time or Distance ( ) Graph your most demanding cycle, including accel/decel, velocity and dwell times. You may also want to indicate load variations and I/O changes during the cycle. Label axes with proper scale and units. Extend LoAD lb. kg. (U.S. Standard) (Metric) Force lb. kg. (U.S. Standard) (Metric) RetRAct LoAD lb. kg. (U.S. Standard) (Metric) Force lb. kg. (U.S. Standard) (Metric) - Contact Information Name, Phone, Co. Name, Etc. USE the tolomatic sizing and SElection software available on-line at or... call tolomatic at We will provide any assistance needed to determine the proper actuator for the job. FAX help@tolomatic.com erd_

23 Selection Guidelines 1EstABlish Motion profile Using the application stroke length, desired cycle time, loads and forces, establish the motion profile details including linear velocity and thrust in each of its segments. 2Select Actuator size and screw type Based on the required velocities and thrust select a size and screw type and lead of the ERD actuator. 6 sizing software available sizing at software www. tolomatic.com available www. tolomatic.com Verify pv value (if AcmE) Verify that the PV value does not exceed the PV value for the size of the screw selected. THRUST (lbf) SPEED (mm/sec) SN5 SN5 15 SN5 15 SN2 SN2 15 SN1 SN1 1, THRUST (N) 3VERIFY CRiticAL SPEED OF the SCREW Verify that the application s peak linear velocity does not exceed the critical speed value for the size and lead of the screw selected SN5 SN5 STROKE (mm) BNM SN1 1,16 SN2 SN2 SN1 SN SN16 6 SN4 6 SN2 2 3 SPEED (in/sec) Calculate LiFE (if Ball ScREW) Determine the practical load of the system to calculate the L estimated life. 4 THRUST (N) , 2,54, 89 SPEED (in/sec) SN2 6 SN4 6 SN STROKE (in) 15 SN2 15BNM 15BNM5 15 SN SPEED (mm/sec) 4VERIFY AXIAL BucklinG STRENGth OF the SCREW Verify that the peak thrust does not exceed the critical buckling force for the size of the screw selected. THRUST (lbf) STROKE (mm) SN SN2 BN SN STROKE (in) 15 BN 15 SN THRUST (N) 5ESTABliSH total torque REQuiREMEntS Calculate total system inertia. The peak and RMS torque required from the motor to overcome internal friction, external forces and accelerate/decelerate the load. LIFE (million in), 1, 1 BN5 15BN 15BN THRUST (lbf) 4,,4 2, DetERmine if load guidance is needed If application requires carrying a load, anti-rotate, a tooling plate or there is risk of side loading the rod, choose the guided option. (GD2) 9DetERmine if ingress protection AGAinst dust and WAtER is needed. If actuator is in contact with dust particulate, water or washdown environment choose the IP67 option. (IP67) DetERmine if environment is corrosive or WASh down If corrosion resistance is required, choose from two options of stainless steel components (SS1) ERD with all stainless steel components (SS2) ERD with all stainless steel components and protective motor enclosure. 11 Select mounting and SEnsor choices Mounting options include: TRN trunnion mount, FFG front flange mount, FM2 foot mount. 6 sensor choices include: reed, solid state PNP or NPN, all in normally open, with flying leads or quick-disconnect couplers. 12combination to power the actuator. Select Actuator Control Solution Add an extremely easy to use drive and motor LIFE (million mm) erd_

24 Service Parts Ordering ERD SIZE Description 6 15 FFG Front Flange Mount Kit Code ERD Actuator Replacement Kits FM2 Foot Mount Kit TRR Trunnion Mount (order 2) 6-44 (order 2) 6-5 (order 2) GD2 *Guide Kit / / / IP67 **IP67 Kit * Specify stroke length ** REPLACEMENT ONLY: If used on an actuator that was not originally built with the IP67 option the thrust rod will retract below the Cap/Seal and may damage the seal sizing software available at www. tolomatic.com erd Switches To order switch kits use configuration code for switch preceded by SW and actuator code. EXAMPLE: SWERD15KK KIT ACTUATOR SIZE SWITCH CODE The example is for 3 Solid State NPN, Normally Open Switches with Quick-disconnect couplers. Each switch is complete with Bracket, Set Screw, Switch and mating QD cable. To order switch ONLY see part number in table Code Switch ONLY Part No. Lead Normally Sensor Type R Y m (197 in) R K Quick-disconnect Open Reed T Y m (197 in) T K Quick-disconnect Open Solid State PNP K Y m (197 in) K K Quick-disconnect Open Solid State NPN Also order clamp assembly # Also order mating QD cable #8-98 ACS drive/controller, cables & Motor Replacement Parts Part No. Description ACS Stepper Drive/Controller ACS Stepper Drive/Controller with Analog Option Motor Power Cable (3 m) Motor Power Cable (5 m) Encoder Cable (3 meter length) Encoder Cable (5 meter length) I/O Cable (3 meter length) I/O Cable (5 meter length) Input Power Connector Starter Kit (includes RJ 12 cable; D-Sub to RJ converter; USB to RS232 Converter and Tolomatic Motion Interface CD) Code Part No. Description AMS1A1C NEMA11 motor no encoder (ERD6) AMS1A1A NEMA11 motor with encoder (ERD6) AMS1B1C1 AMS1B1G NEMA17 motor no encoder (ERD) AMS1B1A1 AMS1B1E NEMA17 motor with encoder (ERD) AMS1C1C1 AMS1C1G NEMA23 motor, no encoder (ERD15) AMS1C1A1 AMS1C1E NEMA23 motor, with encoder (ERD15) Tolomatic Motion Interface CD USB to RS232 Converter RJ cable and D-Sub to RJ Converter Combo erd_

25 ERD ORDERING BASE MODEL OPTIONS MOTOR ORDERING E R D 1 S N 2 S M L M I S S 2 I P 6 7 F F G K K 2 A M S 1 B 1 E 1 ERD Model Rod-Style Actuator Size 6 15 Nut/screw combinations Turns/in Size Code (TPI) 6 SN 2, 4, 16 SN 1, 2, 5 BNM 5 mm lead 15 SN 1, 2, 5 15 BNM 5, mm lead Stroke Length SM._ Enter desired stroke length in millimeters (.4mm = 1 inch) Maximum Stroke ERD Size mm in Contact Tolomatic with requests for longer strokes Motor Mounting LMI In-line motor mount Metric Motor Mount Option 6 size (not available) IEC1 size (4mm B.C., 7mm shaft dia.) IEC1 15 size (6mm B.C., 11mm shaft dia.) IEC2 15 size (6mm B.C., 12mm shaft dia.) IEC3 15 size (6mm B.C., 14mm shaft dia.) (see page erd_2) Actuator Guide GD2 Guided unit with 2 guide shafts & tooling plate Environmental Protection SS1 Stainless steel actuator SS2_* Stainless steel actuator with protective motor enclosure SS21 NPT 1/2" conduit thread SS22 M2x1.5 conduit thread SS23 Cord grip(s), 1 or 2 grips determined by encoder choice IP67 Ingress protection rating (static), dust protection, temporary immersion in water *NOTE: Only Tolomatic motors are available with the SS2 option SS2 requires IP67 option *SS2 is not available for the 6 size IEC is not available in stainless steel GD2 is always aluminum even when ordered with SS1 Actuator Mounting FFG ** Front Flange Mount TRR Trunnion Mounting, Rear FM2 ** Foot Mount **NOTE: Foot Mount, Front Flange Mount and Switches are shipped together with the actuator but are not installed by Tolomatic. Type LOGIC Reed SPST Solid State NORMALLY Open PNP Open NPN Open Motor order Code AM Tolomatic Motor S1 A1 B1 C1 Switches ** Quick- Disconnect Code No Yes No Yes No Yes RY RK TY TK KY KK QUANTITY motor type Stepper Motor After code enter quantity desired frame size 11 Frame Motor (ERD6) 17 Frame Motor (ERD) 23 Frame Motor (ERD15) Motor Options A1 Encoder C1 No Encoder E1 Encoder with SS2 option G1 No Encoder SS2 option Lead Length 5 m (16.4 feet) 6 in (152mm) to QD connector w/ 5m lead **NOTE: Foot Mount, Front Flange Mount and Switches are shipped together with the actuator but are not installed by Tolomatic. NOTE: Each ERD size has only one motor size choice Not all codes listed are compatible with all options. Contact Tolomatic with any questions. ACS drive/controller & cables Ordering Item No. Part No. Description ACS Stepper Drive/Controller (Model ST324SD) ACS Stepper Drive/Controller w/ Analog Option Motor Power Cable (3 m) Motor Power Cable (5 m) Encoder Cable (3 meter length) Encoder Cable (5 meter length) I/O Cable (3 meter length) I/O Cable (5 meter length) Starter Kit (includes RJ 12 cable; D-Sub to RJ converter; USB to RS232 Converter and Tolomatic Motion Interface CD) NOTE: All 5 items from table at left are recommended for complete ACS system. Order items 1-5 by part numbers sizing software available at www. tolomatic.com erd_27

26 the tolomatic DiFFereNCe What you expect from the industry leader: excellent CuStOmer SerViCe & technical SuPPOrt Our people make the difference! Expect prompt, courteous replies to all of your application and product questions. industry LeaDiNG DeLiVerieS Standard catalog products are built to order and ready-to-ship in 5 days or less. Modified and custom products ship weeks ahead of the competition. innovative PrODuCtS From standard catalog products... to modified products... to completely unique custom products, Tolomatic designs and builds the best solutions for your challenging applications. SiZiNG & SeLeCtiON SOFtWare Windows compatible, downloadable from our website FREE the best tool of its kind on the market! Product selection has never been easier. 3D models & 2D DraWiNGS available ON the Web Easy to access CAD files are available in many popular formats. also CONSiDer these OtHer tolomatic PrODuCtS: PNEUMATIC PRODUCTS ELECTRIC PRODUCTS RODLESS CYLINDERS: Band Cylinders, Cable Cylinders, MAGNETICALLY COUPLED CYLINDERS/SLIDES; GUIDED ROD CYLINDER SLIDES FOLDOUT BROCHURE # PRODUCTS BROCHURE # POWER TRANSMISSION PRODUCTS GEARBOXES: Float-A-Shaft, Slide-Rite ; DISC CONE CLUTCH; CALIPER DISC BRAKES FOLDOUT BROCHURE # PRODUCTS BROCHURE # ROD & GUIDED ROD STYLE ACTUATORS, HIGH THRUST ACTUATORS, SCREW & BELT DRIVE RODLESS ACTUATORS, MOTORS, DRIVES AND CONTROLLERS FOLDOUT BROCHURE # PRODUCTS BROCHURE # County road 116 Hamel, mn 5534 u.s.a. Phone: (763) Fax: (763) toll-free: help@tolomatic.com All brand and product names are trademarks or registered trademarks of their respective owners. Information in this document is believed accurate at time of printing. However, Tolomatic assumes no responsibility for its use or for any errors that may appear in this document. Tolomatic reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Information in this document is subject to change without notice. Visit for the most up-to-date technical information tolomatic JL Literature Number: 219-4_1.4