Direct-Drive Brushless Servo Systems

Transcription

1 Catalog 8-4/US Direct-Drive rushless Servo Systems The Dynaserv is a high-performance, direct-drive servo system with optical encoder feedback. Each DM Model consists of a brushless direct drive motor, integral encoder, microprocessor-based drive and a 1-foot motor-to-drive cable. The can be operated in either a position, velocity or torque mode. In the position mode the drive accepts step and direction input. Operating in the velocity requires ±1VDC or torque mode requires a ±8VDC input. Dynaserv systems are compatible with Compumotor indexers and servo controllers. The motor is brushless and without gears, allowing for long maintenance-free operation. The cross roller bearing design can support up to 4 tons of compression load and 295 ft-lbs of overhung load. The center hole in the motor is up to 2.3 inches in diameter and can be used to simplify system wiring. The drive is fully protected against open and short circuits, overcurrent, overvoltage and overtemperature. seven segment LED indicator provides the user with status and diagnostic information from the front panel. High performance closed loop operation is obtained with a sophisticated I-PD digital and analog control algorithm. The analog velocity loop provides high bandwidth for excellent system response. The digital position loop simplifies position convenient control and optimizes system accuracy. built-in test mode and position/velocity monitors allow for convenient and efficient tuning. Features rushless direct drive motor with 1 foot cable 9 models available in 4-, 6- or 1-inch diameters Incremental encoder feedback s to 15 ft-lbs (2 Nm) Resolutions to 1,24, steps/rev Supports 4 tons of compression load DM14 has axial and radial run-out of.1 mm Microprocessor control of I-PD control algorithm nalog velocity loop/digital position loop uilt-in test mode for easy tuning Diagnostic LED display Step and direction input/position control ±1V input/velocity control ±8.5V input/torque mode Gain settings can be changed on the fly Can operate in Class 1 clean room applications with proper preparation Configurable position accuracy to reduce system settling time Complete system, ready for operation Compatible with Dynaserv M2 controller/drive ccessories Compumotor Controllers The Dynaserv is compatible with all Compumotor controllers. Dynamic raking Capacitor type or Speed-switching type for each motor size. Precision Machining xial and radial run-out of.1,.2 or.5 mm is available on most Dynaserv models. Standard axial and radial run-out for all motors is.1mm. Mechanical raking Most motors can be ordered with mechanical brakes for power down, or emergency use. Line filters for CE installations.* Interface cables for use with Compumotor's 6K and 6 Series controllers. * EMC with proper filter and intallation procedures. (LVD and EMC*) Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 181 Parker Hannifin Corporation

2 Catalog 8-4/US Motor Data Model Model Model Model Model Model Model Peak torque ft-lbs (Nm) (15) (3) (45) (5) (1) (15) (2) Rated speed 115VC rps 23VC Rotor inertia oz-in 2 x (Kgm 2 ) x 1-3 (12) (15) (19) (96) (119) (142) (167) Maximum steps/rev 655,36 655,36 655,36 1,24, 1,24, 1,24, 1,24, Motor weight* lbs (kg) (5.5) (7.5) (9.5) (14.5) (19) (24) (29) Maximum static axial load** Compression lbs 6,6 6,6 6,6 8,8 8,8 8,8 8,8 Tension lbs 2,2 2,2 2,2 4,4 4,4 4,4 4,4 Max. static overhung load** ft-lb Max. Power Consumption KV * Drive weight is 13.2 lbs (6 kgs) ** When designing a system, de-rate the maximum load to the values shown at right: De-rate pplication Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 DM14 Motor Data Specifications DM14 DM14C Peak torque ft-lbs 3 3 (N-m) (4) (4) Rated speed 115VC rps 23VC Rotor inertia oz-in 2 x (Kgm 2 ) x 1-3 (5.5) (2.5) Maximum step s/rev 655,36 655,36 Motor weight* lbs (kg) (3) (3) Maximum static axial load** Compression lbs (kg) 44 (2) 77 (35) Tension lbs (kg) 154 (7) 77 (35) Maximum static overhung load** ft-lb (kg-m) 2 (2.7) 24.4 (3.3) Maximum power consumption KV.3.3 * Drive weight is 4 lbs (1.8 kgs) ** When designing a system, de-rate the maximum load to the values specified at right: De-rate pplication Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 182 Parker Hannifin Corporation

3 Catalog 8-4/US Specifications Parameter Value Performance Repeatability ±2 arc-sec; DM14: ±5 arc-sec ccuracy ±25 arc-sec; ±6 arc-sec DM14 (std); ±2 arc-sec (optional) Max stepping rate 1,6, steps/sec Power Volts 115VC, 1-phase or 23VC, 1-phase, 5/6Hz Range +1% to -15% Current 2 amps max Inputs Command interface Step input Direction nalog input Low going low pulse, 15 nanoseconds minimum pulse width Logic high = CW rotation Logic low = CCW rotation ±1V command signal Outputs Encoder output / encoder output 4 khz max Environmental Driver Motor Weight 13.2 lb (6 kg), DM14 4 lb (1.8 kg) See page 95 Operating 32 to 122 F ( to 5 C) 32 to 113 F max ( to 45 C) Storage -4 to 185 F (-2 to 85 C) -4 to 185 F (-2 to 85 C) Humidity 2 to 9% noncondensing 2 to 85% noncondensing No corrosive gases. Dust-free atmosphere. The Dynaserv is not water proof, oil proof or dust proof. Motor Speed- Performance Curves The speed-torque curves represent peak torque available, continuous torques are approximately two-thirds of the peak value. (N-m) 222 (3) lb-ft (N-m) 222 (3) lb-ft DMG2/DMM2- Series 115 VC DM- Series 23 VC 185 (25) 185 (25) 148 (2) DM (2) DM (15) 74 (1) DM115 DM (15) 74 (1) DM115 DM11 37 (5) DM15 37 (5) DM15 lb-ft (N-m) 42 (6) DMG2/DMM2- Series 115 VC lb-ft (N-m) (8) DM- Series 23 VC 35 (5) 46 (66) 28 (4) 21 (3) 14 (2) 7 (1) DM115 DM13 DM (53) 28 (4) 19 (27) 9 (13) DM145 DM13 DM Please refer to the ordering information matrix on page 159 Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 183 Parker Hannifin Corporation

4 Catalog 8-4/US Motor Dimensions DM- Series 6 M8 depth (1).2 (5).39 (1) Stator 6 M6 depth (15) 1.89 (48) 1.89 (48) DM- Series ±.8 (246 ±.2) /- (58 +.5/-) ±.4 (264 ±.1) / -.2 (23 -.2/ -.6) Rotor / -.2 (2 -.2/-.5) 12 (348) 1.18 (3) 6.692±.8 (17 ±.2) 1.4 (26.5) Model DM ±.4 (113 ± 1) DM ±.4 (138 ± 1) DM ±.4 (163 ± 1) DM ±.4 (188 ± 1) 6 M6 depth (8).12 (3).43 (11) Stator 6 M6 depth (8) 1.1 (28) 1.1 (28) 4.94 ±.8 (14 ±.2) ±.8 (146 ±.2) /.2 ( / -.5) ±.4 (16 ±.1) /- (25 +.5/-) /-.2 ( /-.5).37 (9.3) 1.4 (26.5) 1.4 (26.5) Model DM ±.4 (92 ± 1) DM ±.4 (118 ± 1) DM ±.4 (143 ± 1) Rotor 12 (348) Drive Dimensions.28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) (297 ±1) Compumotor 8 Please refer to the ordering information matrix 9.84 (25 ±1) 9.41 (239 ±.5) LINE (CONT)~ 115 VC LINE (MN)~ 115 VC GND MOTOR V V V C GND POSW CN1 fc LIM ON TEST OFF C GIN DC GIN VEL POSN GND TORQ 8.46 (215 ±1) T1 CN (18 ±1) 184 Parker Hannifin Corporation

5 Catalog 8-4/US.39 (1) 6.3 (16).39 (1) 5.51 (14) 6.3 (16) 5.51 (14) DM14 & DM14C Motor Dimensions DM (7) Hole 6 - M4 Thread depth.24 (6) ( ) (5) 6.22 (158) 1.77 (45) ( ) -.6).12 (3).295 (7.5).98 (25) DM14C (3) Motor Cable 1.38 (35) 2 - M4 Thread Through Encoder Cable 11.8 (3) 6 - M4 Thread depth.24 (6) (4.5) Hole.32 (8) C'sink Depth.2 (5) ( ).12 (3).39 (1).55 (14) ( ) ( ) 4.57 (116) ( ).6).98 (25) 5.51 (14) Motor Cable 3 Encoder Cable 1 DM14 & DM14C Drive Dimensions Encoder Cable Speed- Curve The speed/torque curves represent peak torque available; continuous torques are approximately 1/2 of the peak value (7) 1.97 (5) 1.38 (35) lb-ft 3.7 N-m 5 DMG2/DMM2-14 Series (25) 9.41 (239) 8.46 (215) (7).67 (17) 5.91 (15) Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 185 Parker Hannifin Corporation

6 Catalog 8-4/US Pinout Lists Indexer 5-pin Honda Power 12 or 23VC Screw Terminal 1 8 Servo stiffness input (FC-FC8) 9 12 Position end pulse width input (POSW1, POSW) 13 + output 14 output 15 Servo ready + output 16 Servo ready output 17 Velocity monitor + output 18 Velocity monitor output 19 Direction input 2 Direction + input 21 Integral capacitor reset + input 22 Integral capacitor reset input 23 Servo on - input 24 Servo on + input Integral/proportional action input 27 In position + output 28 In position output 29 + output 3 output 31 TLIM/TFF (option) 32 GND Gain selection inputs low, medium, high 39 CPU reset + input 4 CPU reset input 41 Counter overflow + output 42 Counter overflow output 43 Z+ output 44 Z output 45 Step + input 46 Step input 47 Overload + output 48 Overload output 49 nalog input (±1V) 5 nalog input GND or 23 line-control or 23 neutral-control or 23 line-main or 23 neutral-main 5 GND Motor Screw Terminal 1 Motor 2 Motor 3 Motor C 4 GND Encoder 16-pin Honda 1 Red 2 lack 3 lue 4 lue/white 5 rown 6 rown/white 7 Green 8 Green/White 9 Orange 1 Orange/White 11 Shield 186 Parker Hannifin Corporation