Direct Drive Brushless Servo Systems

Transcription

1 Dynaserv direct drive servo Direct Drive Brushless Servo Systems Each Dynaserv system consists of a brushless servo motor, microprocessor based drive, power supply and a brushless resolver or encoder for position feedback. The primary benefit of the Dynaserv System is high accuracy and torque without speed reducers. dditional advantages include: Faster settling time than a traditional servo motor and speed reducer system Smooth rotation at slow speeds flat speed/torque curve for high controllability bility to operate in a position, speed or torque control mode Built-in test mode simplifies optimum tuning Can be prepared to operate in class 1 clean room applications DR Series Brushless resolver feedback 13 models; 15, 2 or 25mm diameter Resolutions to 819,2 steps/rev s to 4Nm Repeatability of ±5 arc seconds Speeds to 2 rps DR5 Series Brushless resolver feedback 4 models, 15 or 25mm diameter Resolutions to 425,984 steps/rev s to 5 Nm Repeatability of ±5 arc seconds Speeds to 4 rps DM Series Incremental encoder feedback 7 models; 15 or 25mm diameter Resolutions to 1,24, steps/rev s to 2 Nm Repeatability of ±2 arc seconds Speeds to 2 rps Multiple control modes The Dynaserv System allows the user to operate in one of three modes of control: Position control up to 1,24, steps/rev Speed control ±1 velocity command input control stable response at ±8 input This type of flexibility combined with a high torque/weight ratio, high accuracy, faster settling times, high torque at high speed, smooth rotation, optimum tuning and clean operation all add up to a cost effective high-performance alternative to traditional motor and speed reducer combinations. Model Types When selecting the model type, the decision comes down to a trade-off between resolution, accuracy, speed and cost. This table can be used to match specific application requirements to the correct direct drive motor. Bear in mind that these ratings are relative, i.e. the lowest accuracy Dynaserv is still very accurate by normal motor standards. DM DR DR5 Series Series Series Power Lowest Medium Highest ccuracy Highest Medium Lowest Motor Weight Lowest Medium Highest Resolution Highest Medium Lowest Cost Medium Lowest Highest Speed Lowest Medium Highest Inertia Matching When selecting the right Dynaserv for your application, the inertia match between the motor and load is the critical factor. The specifications listed in this section are for a 3:1 load to rotor inertia ratio. The following table lists the maximum recommended ratios for specific application types. Max inertia ratio pplication Type (J load /J motor ) High throughput applications 5-1 (printing machines, chip mounting) General high speed applications 2-3 (SCR robot, transfer arms) High speed but balanced load 5-1 applications (Rotary Index, Rotary Tables) High accuracy, slow speed 1-2 applications (measuring equipment) utomation 48

2 Dynaserv direct drive servo Dynaserv applications ssembly Base machine Pick and place Inserter/mounter Robots Handling Clean room Universal Transport Turn table Belt conveyor Three dimensional warehouse Inspection and Measuring 3Dmeasuring Goniometer Non-destructive x-ray Work Machining centre work table Press roll feed Grinder table Commercial Printing machines Medical equipment Follow-up equipment Indexing/Rotary Positioning The Dynaserv has high accelerations lending itself to high speed point-to-point positioning applications requiring low cycle time. In scanning and inspection applications the outstanding low speed performance will be of merit. Tool turret Material Handling By attaching a small arm or linkage to the Dynaserv, very high velocities an be attained. This type of design has been used on a wide variety of equipment, such as a chip mounting machine. On this machine accuracies of 3 arcsec are maintained with very high arm speed. Dynaserv motor for arm Dynaserv motor for X axis Rotary table for assembly Robotics Dynaserv direct drive motors were first developed to drive SCR (Selective Compliance ssembly Robot rm) in applications requiring repetitive and physically taxing operations. Printed circuit board Feeder Feed-to-Length The Dynaserv system eliminates the need for gear reduction and allows for direct control of the nip roll in most feed-tolength applications. The ability to effectively control loads up to 1 times its own rotor inertia allows the Dynaserv to be applied in a variety of machines. The net result of specifying a Dynaserv system is increased repeatability of the feed material. SCR robot for assembly Roll Feeder Peripherals for robot utomation 49

3 DR Direct Drive Brushless Servo System The Dynaserv DR Series provides the user with a high performance direct drive servo system with resolver feedback. Each model includes a direct drive motor, integral resolver, microprocessor based drive and a 3 metre motorto-drive cable. The DR Series motor is brushless and without gears allowing for long, maintenance-free operation. The cross roller bearing design can support up to 4 tonnes of compression load and 4 Nm of overhung load. The centre hole in the motor is up to 15mm in diameter and can be used to simplify system wiring. The user can elect to operate the DR Series in either a position, velocity or torque mode. In the position mode, the drive accepts step and direction input from a Compumotor Indexer or user supplied pulse source. Operating in the velocity or torque mode requires a ±1 volt input. High performance closed loop operation is obtained with a sophisticated I-PD digital and analogue control algorithm. The analogue velocity loop provides high bandwidth for excellent system response. The digital position loop simplifies position control and optimizes system accuracy. built-in test mode and position/velocity monitors allow for convenient and efficient tuning. The DR Drive is fully protected against open and short circuits, overcurrent, overvoltage and overtemperature. seven segment LED indicator provide the user with the status and diagnostic information from the front panel. Features Brushless direct drive motor with 3 metre cable 13 models available in 15 or 25mm diameters Resolver feedback s to 4 Nm Resolutions to 819,2 steps/rev Supports 4 tonnes of compression load Microprocessor control of I-PD control algorithm nalogue velocity loop/digital position loop Built-in test mode for easy tuning Diagnostic LED display Step and direction input/position control ±1 input/torque or velocity control Gain settings can be changed on the fly Easily prepared for class 1 clean room standards Configurable position accuracy to reduce system settling time Complete system, ready for operation Dynaserv DR direct drive servo ccessories Parker Compumotor Controllers The Dynaserv is compatible with all Compumotor Indexers and Servo Controllers. Bases Mounting bases to simplify mounting to a flat surface (DR-B Series only except DR18B). Dynamic Braking 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.1 mm. Mechanical Braking Most motors can be ordered with mechanical brakes for power down or emergency use. 7 ±.5 25 ±1 239 ±.5 11 ±1 9 ±.5 Compumotor LINE (CONT)~ 115 C LINE (MN)~ 115 C GND MOTOR B C GND DYNSER TB1 POSW CN1 fc LIM ON TEST OFF C GIN DC GIN EL POSN GND TORQ 18 ±1 CN ±1 DR series drive 215 ±1 utomation 5

4 Dynaserv DR specifications Parameter alue Performance Repeatability ±5 arc-sec (.139 ) ccuracy ±3 arc-sec (.83 ) DR Series, ±45 arc-sec (.125 ) DRB DRE Series Max stepping rate 1,6, steps/sec Power olts 23C 1-phase, or 115C 1-phase Range +1% to -15% Current 2 amps max Inputs Command interface Step input Direction nalogue input Outputs Encoder output Low going low, 15 nanoseconds minimum pulse width Logic high = CW rotation Logic low = CCW rotation ±1 command signal /B encoder output 75 khz max Environmental Driver Motor Weight 6 kg See Table Below Operating to 5 C to 45 C Storage -2 to 85 C -2 to 85 C Humidity 2 to 9% noncondensing 2 to 85% noncondensing No corrosive gases. Dust free atmosphere. The Dynaserv is not waterproof, oil proof or dust proof. DR Series Model Model Model Model Model Model Model Model Model Motor Data 18B 115B 13B 145B 16B 17E 11E 113E 116E Peak torque Nm Rated speed (23/115C) rps 2./2. 2./2. 2./1.5 2./1. 1.5/1. 2./ /1. 1./.5 1./.5 Maximum power (23/115C) consumption k.8/.4 1.2/.6 2./1. 2./1. 2./1. 2.4/ / / /1.6 inertia kg-m 2 x Max resolution 57,94 57,94 57,94 57,94 57,94 614,4 614,4 614,4 614,4 Motor weight* kg Maximum axial load** Compression kn Tension kn Maximum overhung load** Nm DR Series Model Model Model Model Motor Data Peak torque Nm Rated speed (23/115C) rps 1./1. 1./.5.5/.25.5/.25 Maximum power consumption k (23/115C) 2.9/ / / /1.8 inertia kg-m 2 x Maximum resolution 819,2 819,2 819,2 819,2 Motor weight* kg Maximum axial load** Compression kn Tension kn Maximum overhung load** Nm * Drive weight is 6 kg ** For alternating loads, multiply these values by.3 utomation 51

5 Dynaserv DR performance data /Speed Curves The torque/speed curves represent peak torque available, continuous torques are approximately two thirds of the peak value. 4 DR- Series DR- Series DR14 3 DR DR13 DR DR13 DR DR11 5 DR Speed-RPS Speed-RPS DR16B DR145B DR13B DR-B Series DR115B 1 DR18B Speed-RPS 6 DR16B 5 DR145B 4 DR13B 3 2 DR115B 1 DR-B Series 23 DR18B Speed-RPS 3 DR-E Series DR-E Series DR116E 15 DR113E 1 DR11E 5 DR17E Speed-RPS DR116E DR113E DR11E DR17E Speed-RPS utomation 52

6 Dynaserv DR motor dimensions DR Series Motor Dimensions DR- Series tapped M8 x 12 deep 252 +/-.3 5± /- Motor cable tapped M8 x 12 deep 23 ± / / ± /-.3 DR-B Series / Resolver Model DR ± 1 DR12 25 ± 1 DR13 34 ± 1 DR ± 1 tapped M6 x 9 for all but DR18B tapped M5 x 5 for DR189B For all but DR18B: 4 ±.2 DR18B only: 3 ± /- for all but DR18B /- for DR18B Motor cable tapped M6 x 12 deep 72 ± / / / / / ± Resolver Model DR18B 85 ± 1 DR115B 123 ± 1 DR13B 151 ± 1 DR145B 179 ± 1 DR16B 27 ± 1 DR-E Series tapped M8 x 12 deep 174 ±.2 5 ± /- tapped M8 x 12 deep Motor cable 19 +/ ±.2 8 +/ / / / Resolver Model DR17E 183 ± 1 DR11E 21 ± 1 DR113E 243 ± 1 DR116E 271 ± 1 utomation 53

7 DR5 Direct Drive Brushless Servo System The Dynaserv DR5 Series is a high power direct drive system that is based on the design of the DR Series. The DR5 Series is capable of approximately 2-3 times the speed of the DR series while delivering comparable torque. Each DR5 System comes complete with motor, integral resolver, and a microprocessor based drive. The DR5 Series can be operated in position, velocity or torque mode. In position mode the DR5 accepts Step and Direction Input, making it compatible with Compumotor Indexers. For operation with a servo controller the drive accepts a ±1 signal representing velocity or torque. pseudo-encoder output is available from the drive, eliminating the need for additional feedback devices. The DR5 series motor is brushless and gearless, allowing for a long, maintenance free life. The cross roller bearing design can support up to 4 tonnes of compression load and 4Nm of overhung load. The hole in motor centre is up to 15mm in diameter, simplifying system cabling. The DR5 incorporates an I-PD algorithm that delivers high performance closed loop control. The velocity loop is analogue for a very high bandwidth. The digital position loop simplifies position control and maximizes system accuracy. built-in test mode is available for convenient and efficient tuning. The DR5 drive is fully protected against open and short circuits, overcurrent, overvoltage, and overtemperature. single character front panel display puts status and diagnostic information at your fingertips. Features Brushless direct drive motor Up to 3 kw output 4 models available in 15 or 25mm diameter Resolver feedback s to 5Nm Resolutions to 425,984 steps/rev Supports 4 tonnes compression load Microprocessor control of I-PD lgorithm nalogue velocity loop/digital position loop Built-in test mode for easy tuning Dynaserv DR5 direct drive servo Diagnostic display Step and direction input for position control ±1 input for velocity control Gain settings can be changed on the fly Can be prepared for Class 1 clean room operation ccessories Compumotor Controllers - the Dynaserv is compatible with all Compumotor Indexers and Servo Controllers. Bases - mounting bases to simplify mounting to a flat surface (DR-B Series only). Dynamic Braking - capacitor type or Speedswitching type for each motor size. Precision Machining - axial 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 Braking - most motors can be ordered with mechanical brakes for power down, or emergency use ±.5 11 ±1 9 ±.5 Compumotor 297 ±1 DYNSER 8 POSW CN1 239 ± ±1 239 ±.5 LINE (CONT)~ 115 C LINE (MN)~ 115 C GND MOTOR fc LIM ON TEST OFF C GIN DC GIN 215 ±1 25 ± 1.2 B C GND EL POSN GND TORQ TB1 CN DR5 drive 18 ±1 DR5B drive utomation 54

8 Dynaserv DR5 specifications Parameter alue Performance DR5 25mm DR5 B 15mm Repeatability ±5 arc-sec ±1 arc-sec ccuracy ±45 arc-sec ±9 arc-sec Power Max stepping rate 1,6, steps/sec 1,4, steps/sec olts 2 C, 3 Phase, 5/6 Hz 23 C, 1 Phase, 5/6 Hz Range +5% to -15% +5% to -15% Current 2 mps 2 mps Inputs (all models) Command interface Step and direction Position control ±1 DC elocity control Step input low going pulse, 15 nanosecond minimum pulse width Direction Logic high = CW rotation Logic low = CCW rotation nalogue input ±1 DC max Other inputs 5 to 24 volts pullup (gain selection, servo on, etc.) Outputs (all models) Encoder output, B Quadrature signal (4kHz max) Z Channel "": 14 pulses/rev "B": 68 pulses/rev Other outputs (in position, alarm, etc.) TTL Environmental Driver Motor Weight DR5 11 kg See Table below DR5B 6 kg See Table below Operating Temperature to 5 C to 45 C Humidity 2 to 9% Non-condensing 2 to 85% Non-condensing Storage Temperature -2 to 85 C -2 to 85 C Humidity 2 to 9% Non-condensing 2 to 85% Non-condensing Environment No corrosive gases. Dust free atmosphere. The Dynaserv is not waterproof, oil proof or dust proof. DR5 Series Motor Data 53B 57B Peak torque Nm Rated speed rps inertia (kgm 2 )x Resolution Steps/rev 278, , , ,984 Motor weight kg Maximum axial load* Compression kn Tension kn Maximum overhung load* Nm Maximum power consumption k * For alternating loads, multiply these values by.3 utomation 55

9 Dynaserv DR5 specifications /Speed Curves The torque/speed curves represent peak torque available, continuous torques are approximately two-thirds of the peak value. 8 DR5 Series-2 C 8 DR5B Series-23 C DR55 DR DR57B DR53B Speed, rps Speed, rps 5. DR5 Motor Dimensions DR5- Series tapped M8 x 12 deep 5 13 Motor cable tapped M8 x 12 deep DR5-B Series 348 Resolver Model DR53 39 ± 1 DR ± 1 tapped M6 x 9 deep 4 8 Motor cable tapped M6 x 12 deep Resolver Model DR53B 184 ± 1 DR57B 24 ± 1 utomation 56

10 Dynaserv DM direct drive servo DM Direct Drive Brushless Servo System The Dynaserv DM Series 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 3 metre motorto-drive cable. The DM Series 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 or torque mode requires a ±1 volt input. Dynaserv systems are compatible with Compumotor indexers and servo controllers. The DM Series motor is brushless and without gears, allowing for long maintenance-free operation. The cross roller bearing design can support up to 4 tonnes of compression load and 4 Nm of overhung load. The centre hole in the motor is up to 58mm 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 analogue control algorithm. The analogue velocity loop provides high bandwidth for excellent system response. The digital position loop simplifies position control and optimizes system accuracy. built-in test mode and position/velocity monitors allow for convenient and efficient tuning. 7 ±.5 25 ±1 239 ±.5 11 ±1 9 ±.5 Compumotor DYNSER LINE (CONT)~ 115 C LINE (MN)~ 115 C GND MOTOR B C GND TB1 POSW CN1 fc LIM ON TEST OFF C GIN DC GIN EL POSN GND TORQ CN2 18 ± ±1 DM series drive 215 ±1 Features Brushless direct drive motor with 3 metre cable 7 models available in 15 or 25mm diameters Incremental encoder feedback s to 2 Nm Resolutions to 1,24, steps/rev Supports 4 tonnes of compression load Microprocessor control of I-PD control algorithm nalogue velocity loop/digital position loop Built-in test mode for easy tuning Diagnostic LED display Step and direction input/position control ±1 input/torque or velocity control Gain settings can be changed "on the fly" Easily prepared for class 1 clean room standards Configurable position accuracy to reduce system settling time Complete system, ready for operation ccessories Compumotor Controllers - the Dynaserv is compatible with all Compumotor Indexers and Servo Controllers. Precision Machining - axial 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 Braking - most motors can be ordered with mechanical brakes for power down or emergency use. Dynamic Braking - capacitor type or speedswitching type for each motor size. utomation 57

11 Dynaserv DM specifications Parameter alue Performance Repeatability ±2 arc-sec (.56 ) ccuracy ±25 arc-sec (.69 ) Max stepping rate 1,6, steps/sec Power olts 23 C, 1 phase or 115 C, 1 phase Range +1% to -15% Current 2 mps max Inputs Command interface Step input low going low pulse, 15 nanosecond minimum pulse width Direction Logic high = CW rotation, Logic low = CCW rotation nalogue input ±1 command signal Outputs Encoder output /B encoder output 393 khz max Environmental Driver Motor Weight 6kg See motor data Operating to 5 C to 45 C Storage -2 to 85 C -2 to 85 C Humidity 2 to 9% Non-condensing 2 to 85% Non-condensing Environment No corrosive gases. Dust free atmosphere. The Dynaserv is not water proof, oil proof or dust proof. /Speed Curves The torque/speed curves represent peak torque available, continuous torques are approximately two-thirds of the peak value. 3 DM- Series 115 C DM- Series 23 C DM12 2 DM DM115 DM DM115 DM11 5 DM15 5 DM Speed, rps Speed, rps 8 DM-B Series 115 C 8 DM-B Series 23 C DM145B DM13B DM115B DM145B DM13B DM115B Speed, rps Speed, rps 2.5 utomation 58

12 Dynaserv DM motor specifications DM Series Motor Data Model Model Model Model Model Model Model 115B 13B 145B Peak torque(nm) Rated speed rps - 23C C inertia kgm 2 x Maximum steps/rev 655,36 655,36 655,36 1,24, 1,24, 1,24, 1,24, Motor weight kg Maximum axial load* Compression kn Tension kn Maximum overhung load* Nm Power Consumption load Max 23/115C, k 1.8/.9 2.3/ / / / / /1.7 * For alternating loads, multiply these values by.3 DM Series Motor Dimensions DM- Series tapped M8 x 1 deep 5 1 tapped M8 x 15 deep DM-B Series Model DM ± 1 DM ± 1 DM ± 1 DM ± 1 tapped M6 x 8 deep 3 11 tapped M6 x 8 deep Model DM115B 92 ± 1 DM113B 118 ± 1 DM145B 143 ± 1 utomation 59