Dynamic Servo Actautors. Dynamic Servo Actuators.

Transcription

1 Dynamic Servo Actautors Dynamic Servo Actuators

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3 Table of Contents Dynamic Servo Actautors Presentation Quick Selection Guide General Information Product Drawings Servo Drive Technical Data Ordering Key

4 Presentation Presentation Danaher Motion are well known for manufacturing both electrical and mechanical motion control products such as servo motors, servo drives, planetary gears and linear actuators sold under famous brand names such as Kollmorgen, Micron and Thomson. Danaher Motion can now offer these state of the art products in one complete, ready-to-use, assembly called Dynamic Servo Actuators. One part number will include everything: a linear actuator, a gear, a flange, necessary couplings, a servo motor and a servo drive. All necessary cables, a set of limit switches and a mounting kit are also included. This will significantly reduce the time spent on engineering, component selection and comissioning for an application. A free user friendly sizing and selection program is available to assist you in the process of getting the ultimate package for your specific application. Digital servo drive with integrated position control Operates directly from mains supply voltage Programmable from PC over RS232 interface Auto tune function for the PID parameters Encoder emulation output Expansion card available making the drive a complete single axis control High performance servo motor Very favourable size to power ratio Low inertia and very low cogging Holding brake optional Temperture sensor Resolver feedback Gear box / flange transmission The unit is equipped with either a direct drive flange, a belt gear or a planetary gear depending on the model Low noise, high accuracy and long life for all of the above transmission types The profile Extruded anodised aluminium profile T-slots along the entire profile for mounting (two brackets included) and sensors High load capacity Load carrying saddle Saddle guided by internal ball bushings Very smooth operation Low noise Cover band Protects the inside of the unit from foreign objects Magnetically sealed Stainless steel, will not pollute environment Replaceable Cover band stretcher Unique function Increases life of the cover band Improves the sealing properties Transmission Ball screw or belt transmission depending on the model Safety nut in ball screw models Ball screw versions feature high accuracy, high load capability and long life Belt drive versions feature high speed, low noise and requires no maintenance Also included in all packages are (not shown in pictures): Cables between motor and servo drive End of stroke limit switches Home position sensor Mounting brackets for limit switches and sensor

5 Presentation Dynamic Servo Actautors Presentation The Dynamic Servo Actuators comes in two basic versions where the moving member is either a saddle (rodless) or an extension tube (with rod). Both types can work horizontally or vertically and handle both pushing and pulling loads equally well. The main advantage of the Dynamic Servo Actuators is the minimal time needed for programming, mounting and commissioning. The unit will be operational very quickly. One of the reasons for this is that the servo drive has a built-in positioning controller that can be programmed from a PC. The servo drive can also be equipped with a single axis controller allowing it to handle complex programs, I/O:s, error handling and interrupts eliminating the need for a PLC or other type of programmable controls in most cases. Suitable applications for the Dynamic Servo Actuators includes: Welding, painting, scanning and glueing Labelling, embossing and engraving Cutting, drilling and other types of machining Valve, hatch and materials flow control Loading, unloading and indexing applications. Digital servo drive with integrated position control Different mounting styles Operates directly from mains supply voltage Threaded pin as standard Programmable from PC over RS232 interface Clevis to clevis option (shown below) Auto tune function for the PID parameters Trunnion as option Encoder emulation output Expansion card available making the drive a complete single axis control High performance servo motor Very favourable size to power ratio Low inertia and very low cogging Holding brake optional Temperture sensor Resolver feedback Extension tube Hard chromed steel IP65 sealed Low noise Transmission Ball screw transmission Safety nut High accuray, high load capability and long life Belt gear / flange transmission The unit is equipped either with a direct drive flange or a belt gear depending on the model Low noise, high accuracy and long life for all above transmission types The profile Extruded anodised aluminium profile T-slots along the entire profile for mounting and sensors High load capacity

6 Presentation Quick Selection Guide Rodless Actuators Max. Force Fx [N] Max. Speed [m/s] Drawing Page D G , D G , D K , D K , D K , D K , D K , D K , D K , Rod Actuators Max. Force Fx [N] Max. Speed [m/s] Drawing Page D K , D K , D K , D K , D K , D N , D N , D N , D N , D N ,00 1O 12 D N , How to use the Quick Selection Guide The Quick Selection Guide will only give you the basic performance data for the different models and guide you to the correct outline drawing. The final selection of a unit should always be done using the Dynamic Servo Actuator Selection Software which can be obtained for free from Danaher Motion. Please contact us on helpdesk.kid@danahermotion.com or visit to obtain a copy of the software. Once you have established which Dynamic Servo Actuator model your application requires you have to define the actuator ordering length (L) and whether you need a brake module (a brake module is used when the energy generated back in to the drive at deceleration is too high for the drive to handle). The software will help you with this. You will also have to choose whether the unit should be equipped with a holding brake and select the length of the two cables (power and feedback cable) between the motor and the drive. Once you know all parameters you can create the correct designation for your system. Also see the ordering key table on page 15 for further assistance.

7 General Information Dynamic Servo Actautors General Information Definition of Forces Please use these definitions in all contacts with Danaher Motion to avoid any confusion. Belt Gear Position All belt gears can be rotated in steps of 90. The drawings however show the default position of the belt gears. Speed and Force Relationship All units are capable of running at the maximum force (Fx) from zero speed to the maximum speed. Force Mounting of the Units Speed Rodless models All rodless models are shipped with an adequate number of mounting feet with respect to the length of the unit. The Dynamic Servo Actuator Selection Software will instruct you where to put these mounting feet in order to keep the deflection (Lf) within the permissible limits. If you should require more mounting feet then these can be ordered from Danaher Motion. Rod models The rod models are as default mounted using the mounting holes in the bottom and the top of the front and the rear housing of the actuator. The rod models can also be mounted using either trunnion mounting or clevis to clevis mounting. Mounting kits for trunnion or clevis to clevis are available from Danaher Motion. For further details, please see the Thomson Linear Units Catalogue.

8 Product Drawings Drawing #1 Models: D G 1, D G 1 Actuator Designation D G 1 D G 1 Actuator model M55 M55 Transmission type belt belt Gear / flange model belt gear BGM08 belt gear BGM08 Motor model AKM44 AKM44 Servo model SR610 SR610 Max. force Fx [N] Max. speed [m/s] 3,2 2,1 Max. stroke [mm] Temperature range [ C] Repeatability [± mm] 0,1 0,1 Resolution [mm] 0,2 0,2 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length [mm] L tot = S max Drawing #2 Models: D K 2, D K 2 Actuator Designation D K 2 D K 2 Actuator model M75 M75 Transmission type belt belt Gear / flange model belt gear BGM40 belt gear BGM40 Motor model AKM54 AKM54 Servo model SR614 SR614 Max. force Fx [N] Max. speed [m/s] 3 2,1 Max. stroke [mm] Temperature range [ C] Repeatability [± mm] 0,1 0,1 Resolution [mm] 0,2 0,2 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length [mm] L tot = S max + 541

9 Product Drawings Dynamic Servo Actautors Drawing #3 Model: D K 2 Actuator Designation D K 2 Actuator model M75 Transmission type ball screw Gear / flange model flange Motor model AKM54 Servo model SR614 Max. force Fx [N] 2000 Max. speed [m/s] 0,99 Max. stroke [mm] 9999 Temperature range [ C] Repeatability [± mm] 0,05 Resolution [mm] 0,1 Drawing #4 Models: D K 2, D K 2 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length without brake [mm] L tot = S max + 743,5 Total length with brake [mm] L tot = S max + 788,5 Actuator Designation D K 2 D K 2 Actuator model M100 M100 Transmission type belt belt Gear / flange model belt gear BGM40 belt gear BGM40 Motor model AKM54 AKM54 Servo model SR614 SR614 Max. force Fx [N] Max. speed [m/s] 4 2,9 Max. stroke [mm] Temperature range [ C] Repeatability [± mm] 0,1 0,1 Resolution [mm] 0,2 0,2 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length [mm] L tot = S max + 629

10 Product Drawings Drawing #5 Model: D K 2 Actuator Designation D K 2 Actuator model M100 Transmission type ball screw Gear / flange model flange Motor model AKM54 Servo model SR614 Max. force Fx [N] 3990 Max. speed [m/s] 0,85 Max. stroke [mm] 9999 Temperature range [ C] Repeatability [± mm] 0,05 Resolution [mm] 0,1 Drawing #6 Model: D K 2 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length without brake [mm] L tot = S max + 783,5 Total length with brake [mm] L tot = S max + 828,5 Actuator Designation D K 2 Actuator model M100 Transmission type ball screw Gear / flange model belt gear BGM40 Motor model AKM54 Servo model SR614 Max. force Fx [N] 5000 Max. speed [m/s] 0,55 Max. stroke [mm] 9999 Temperature range [ C] Repeatability [± mm] 0,05 Resolution [mm] 0,1 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length [mm] L tot = S max + 525,5 10

11 Product Drawings Dynamic Servo Actautors Drawing #7 Model: D K 2 Actuator Designation D K 2 Actuator model T90 Transmission type ball screw Gear / flange model belt gear BGM40 Motor model AKM54 Servo model SR614 Max. force Fx [N] 4720 Max. speed [m/s] 0,33 Max. stroke [mm] 1500 Temperature range [ C] Repeatability [± mm] 0,05 Resolution [mm] 0,1 Drawing #8 Models: D K 2, D K 2 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length [mm] L tot = S max Actuator Designation D K 2 D K 2 Actuator model T90 T90 Transmission type ball screw ball screw Gear / flange model flange flange Motor model AKM54 AKM54 Servo model SR614 SR614 Max. force Fx [N] Max. speed [m/s] 0,9 1,55 Max. stroke [mm] Temperature range [ C] Repeatability [± mm] 0,05 0,05 Resolution [mm] 0,1 0,1 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length without brake [mm] L tot = S max Total length with brake [mm] L tot = S max

12 Product Drawings Drawing #9 Models: D K 2, D K 2 Actuator Designation D K 2 D K 2 Actuator model T90 T90 Transmission type ball screw ball screw Gear / flange model planetary gear DT115SS planetary gear DT115SS Motor model AKM54 AKM54 Servo model SR614 SR614 Max. force Fx [N] Max. speed [m/s] 0,19 0,1 Max. stroke [mm] Temperature range [ C] Repeatability [± mm] 0,05 0,05 Resolution [mm] 0,1 0,1 Drawing #10 Models: D N 3, D N 3 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length without brake [mm] L tot = S max Total length with brake [mm] L tot = S max Actuator Designation D N 3 D N 3 Actuator model T130 T130 Transmission type ball screw ball screw Gear / flange model flange flange Motor model AKM65 AKM65 Servo model SR620 SR620 Max. force Fx [N] Max. speed [m/s] 0,41 1 Max. stroke [mm] Temperature range [ C] Repeatability [± mm] 0,05 0,05 Resolution [mm] 0,1 0,1 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length without brake [mm] L tot = S max Total length with brake [mm] L tot = S max

13 Product Drawings Dynamic Servo Actautors Drawing #11 Models: D N 3, D N 3 Actuator Designation D N 3 D N 3 Actuator model T130 T130 Transmission type ball screw ball screw Gear / flange model belt gear BGM80 belt gear BGM80 Motor model AKM65 AKM65 Servo model SR620 SR620 Max. force Fx [N] Max. speed [m/s] 0,15 0,31 Max. stroke [mm] Temperature range [ C] Repeatability [± mm] 0,05 0,05 Resolution [mm] 0,1 0,1 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length [mm] L tot = S max Drawing #12 Model: D N 3, D N 3 Actuator Designation D N 3 D N 3 Actuator model T130 T130 Transmission type ball screw ball screw Gear / flange model planetary gear DT142SS planetary gear DT142SS Motor model AKM65 AKM65 Servo model SR620 SR620 Max. force Fx [N] Max. speed [m/s] 0,05 0,1 Max. stroke [mm] Temperature range [ C] Repeatability [± mm] 0,05 0,05 Resolution [mm] 0,1 0,1 Ordering length [mm]* L = S max Maximum stroke [mm] S max = L Total length without brake [mm] L tot = S max Total length with brake [mm] L tot = S max

14 Servo Drive Technical Data Servo Drive Technical Data Servo drive dimensions Servo drive model SR610 SR614 SR620 A [mm] B [mm] C [mm] Brake module dimensions The brake module is used when the energy generated back in to the drive at decelerations is too much for the drive to handle. The Selection Software will tell you when you need to use a brake module. The grey area indicates the amount of free space the module needs for its cooling. The module should also be mounted in shown position to ensure correct airflow. Servo drive technical data Servo drive model SR610 SR614 SR620 Supply voltage [Vac] ±10%, 50 Hz ±10%, 50 Hz ±10%, 50 Hz Rated power [kva] Rated output current, rms [A] Peak output current, 5 sec. [A] Encoder emulation output yes, R0D426 or SSI selectable yes, R0D426 or SSI selectable yes, R0D426 or SSI selectable Programming directly on the drive or on PC setup software via RS232 directly on the drive or on PC setup software via RS232 directly on the drive or on PC setup software via RS232 Positioning control built-in built-in built-in Options One of the cards below can be integrated: PROFIBUS DP SERCOS DeviceNet Ethernet Single Axis Controller I/O expansion One of the cards below can be integrated: PROFIBUS DP SERCOS DeviceNet Ethernet Single Axis Controller I/O expansion One of the cards below can be integrated: PROFIBUS DP SERCOS DeviceNet Ethernet Single Axis Controller I/O expansion 14

15 Dynamic Servo Actautors Ordering Key Designation example D N N 2 1 Actuator type See quick selection guide* Ordering length L [cm] Servo motor size See quick selection guide* Holding brake and brake module options No brake Brake Brake module Brake and brake module N Length of cables between motor and drive [m] Servo drive size See quick selection guide* *The Quick Selection Guide on page 6 or the Selection Software will give you the only available combinations of actuator type, motor size and drive size. The other options can be chosen freely. 15

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