PIAB WITHROBOT.

Transcription

1 PIAB WITHROBOT LIEAR SERVO MOTOR ACTUATOR IRO CORE

2 PART UMBERIG SYSTEM LIEAR ACTUATOR Coil Assembly PIAB P1 S TM 1.0 FC HC E1.0 O 1060 A1 DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT MOTOR MODEL P1 PIX P2 PIX P3 PIX COECTIO TYPE S Series P Parallel THERMAL PROTECTIO TC * PT 100 Sensor Thermostat TM ** CABLE LEGTH *** m m m m m m POWER CABLE OPTIOS F o Ferrite Core (Flying Leads) FC Ferrite Core (Recoended) * ** *** 9F CF o Ferrite Core, D Sub 9 pins Female Connector o Ferrite Core, Circular Quick Lock 6 pins Male Connector TC Sensor output to temperature controller TM On/Off switch, triggers at 100 o C Encoder, power & hall cable EFFECTIVE STROKE () Open Type Covered Type Bellow Type O C B COVER Open Covered Bellow ECODER RESOLUTIO EA Analog E E HALL SESOR AD COECTOR OPTIOS H H HC CHC ROBOT Delta Scara S1 S2 Delta Articulated A1 A2 Universal Robot U1 U2 U3 DRS40L DRS60L DRV70L DRV90L UR3 UR5 UR10 (o Connector) Hall Sensor with 5 pins Circular Quick Lock Male Connector 142

3 MAKES A DIFFERECE PIAB-P1 Iron Core Actuator Peak force to 542, Continuous force to 108 PIAB SERIES Iron Core Actuator LIEAR ACTUATOR SPECIFICATIO Motor Parameters Peak Force Continuous 105ºC* Continuous Stall 105ºC* Peak 105ºC Continuous 105ºC* Peak Current Continuous 105ºC* Continuous Stall 105ºC* Force Constant Back EMF Constant Coil Resistance 25ºC Coil Resistance 120ºC* Inductance 1kHz Motor 25ºC* Motor 120ºC* Max Terminal Voltage Accuracy Repeatability ** Accuracy *** Straightness *** Flatness *** Model Code Block Quantity Maxim bearing load Pitch moment Yaw moment Roll moment Unit W W A pk A pk Arms /A pk V pk /m/s Ohm Ohm mh / W / W Vdc Linear Guide Rated Load and Static Moment k m m m otes: 1. A pk = * Arms; V pk = * Vrms. 2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached. 3. ** Depend on encoder resolution. 4. Peak force and current - 1 second duration. 5. *** Specific accuracy, straightness and flatness requirement, contact PBA for more information. 6. For customized stroke length, contact PBA. 7. For different motor models, contact PBA. S MODEL PIAB-P ± 2 ± 20 / 300 ± 8 / 300 ± 8 / 300 LM Guide YAW MOMET P ROLL MOMET PITCH MOMET DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT 143

4 LIEAR ACTUATOR PIAB-P2 Iron Core Actuator Peak force to 893, Continuous force to 179 PIAB SERIES Iron Core Actuator DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT SPECIFICATIO Motor Parameters Peak Force Continuous 105ºC* Continuous Stall 105ºC* Peak 105ºC Continuous 105ºC* Peak Current Continuous 105ºC* Continuous Stall 105ºC* Force Constant Back EMF Constant Coil Resistance 25ºC Coil Resistance 120ºC* Inductance 1kHz Motor 25ºC* Motor 120ºC* Max Terminal Voltage Accuracy Repeatability ** Accuracy *** Straightness *** Flatness *** Model Code Block Quantity Maxim bearing load Pitch moment Yaw moment Roll moment Unit W W A pk A pk Arms /A pk V pk /m/s Ohm Ohm mh / W / W Vdc Linear Guide Rated Load and Static Moment k m m m otes: 1. A pk = * Arms; V pk = * Vrms. 2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached. 3. ** Depend on encoder resolution. 4. Peak force and current - 1 second duration. 5. *** Specific accuracy, straightness and flatness requirement, contact PBA for more information. 6. For customized stroke length, contact PBA. 7. For different motor models, contact PBA. S MODEL PIAB-P ± 2 ± 20 / 300 ± 8 / 300 ± 8 / 300 LM Guide YAW MOMET P ROLL MOMET PITCH MOMET 144

5 PIAB-P3 Iron Core Actuator Peak force to 943, Continuous force to 189 PIAB SERIES Iron Core Actuator LIEAR ACTUATOR SPECIFICATIO Motor Parameters Peak Force Continuous 105ºC* Continuous Stall 105ºC* Peak 105ºC Continuous 105ºC* Peak Current Continuous 105ºC* Continuous Stall 105ºC* Force Constant Back EMF Constant Coil Resistance 25ºC Coil Resistance 105ºC* Inductance 1kHz Motor 25ºC* Motor 120ºC* Max Terminal Voltage Accuracy Repeatability ** Accuracy *** Straightness *** Flatness *** Model Code Block Quantity Maxim bearing load Pitch moment Yaw moment Roll moment Unit W W A pk A pk Arms /A pk V pk /m/s Ohm Ohm mh / W / W Vdc Linear Guide Rated Load and Static Moment k m m m otes: 1. A pk = * Arms; V pk = * Vrms. 2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached. 3. ** Depend on encoder resolution. 4. Peak force and current - 1 second duration. 5. *** Specific accuracy, straightness and flatness requirement, contact PBA for more information. 6. For customized stroke length, contact PBA. 7. For different motor models, contact PBA. S MODEL PIAB-P ± 2 ± 20 / 300 ± 8 / 300 ± 8 / 300 LM Guide YAW MOMET P ROLL MOMET PITCH MOMET DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT 145

6 PIAB - OPE TYPE LIEAR ACTUATOR A DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT MOTOR MODEL B (REAR SIDE) PIX PIX PIX HEIGHT (H) otes: 1. Slider Mass = Coil Mass + Carriage Mass 2. Module mass increment of 1.2kg per 64 STROKE (S) MI:100 MAX:1700 LEGTH (L) ACTUATOR (L) MI:380 MAX:1980 HOMIG STROKE/ACTUATOR LEGTH (S) / (L) S=100+(Multiple of 64) L=S+220+(60) C SLIDER MASS kg DETAIL B MI : 8.6 MAX: 40.5 MI : 9.8 MAX: 41.8 MI : 11.0 MAX: 42.9 DETAIL A H MODULE MASS (W) kg DETAIL C W=8.6 + (Multiple of 1.2kg) W=9.8 + (Multiple of 1.2kg) W= (Multiple of 1.2kg) 146

7 PIAB - COVERED TYPE LIEAR ACTUATOR A B (REAR SIDE) MOTOR MODEL PIX PIX PIX HEIGHT (H) otes: 1. Slider Mass = Coil Mass + Carriage Mass 2. Module mass increment of 1.4kg per 64 STROKE (S) MI:100 MAX:1700 LEGTH (L) ACTUATOR (L) MI:396 MAX:1996 HOMIG STROKE/ACTUATOR LEGTH (S) / (L) S=100+(Multiple of 64) L=S+220+(76) C SLIDER MASS kg DETAIL B DETAIL A MI : 11.2 MAX: 46.2 MI : 12.5 MAX: 47.5 MI : 13.6 MAX: 48.6 H MODULE MASS (W) kg DETAIL C W= (Multiple of 1.4kg) W= (Multiple of 1.4kg) W= (Multiple of 1.4kg) DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT 147

8 PIAB - BELLOW TYPE LIEAR ACTUATOR A DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT MOTOR MODEL B PIX PIX PIX (REAR SIDE) HEIGHT (H) otes: 1. Slider Mass = Coil Mass + Carriage Mass 2. Module mass increment of 1.3kg per 64 STROKE (S) MI:100 MAX:1060 LEGTH (L) ACTUATOR (L) MI:428 MAX:1868 HOMIG STROKE/ACTUATOR LEGTH (S) / (L) S=100+(Multiple of 64) L=S+220+(200) C SLIDER MASS kg DETAIL B DETAIL A MI : 10.5 MAX: 30.0 MI : 11.7 MAX: 31.2 MI : 12.9 MAX: 32.4 H MODULE MASS (W) kg DETAIL C W= (Multiple of 1.3kg) W= (Multiple of 1.3kg) W= (Multiple of 1.3kg) 148

9 PDAB-DELTA ROBOT MOUTIG Robot Mounting Details ROBOT TYPE ROBOT MODEL ROBOT WEIGHT ROBOT PAY LOAD ROBOT BASE PLATE (kg) (kg) (kg) SCARA DRS40L DRS60L ARTICULATED DRV70L DRV90L otes: ROBOT SLIDER MASS = ACTUATOR SLIDER MASS + ROBOT BASE PLATE MASS + ROBOT WEIGHT

10 PDAB-UR ROBOT MOUTIG Robot Mounting Details ROBOT TYPE ROBOT MODEL ROBOT WEIGHT ROBOT PAY LOAD ROBOT BASE PLATE (kg) (kg) (kg) UR Collaborative UR UR otes: ROBOT SLIDER MASS = ACTUATOR SLIDER MASS + ROBOT BASE PLATE MASS + ROBOT WEIGHT

11 CABLE OPTIO COIL Power Hall Power extension Hall extension DRIVE LIEAR ACTUATOR F FC 9F CF STAGE 1 ECODER Encoder Encoder extension STAGE 1 STAGE 2 (Optional) STAGE 3 POWER CABLE OPTIOS POWER AD HALL CABLE OPTIO PIAB-P1-S-TM-1.0-FC-HC-E1.0-O Pin D-sub Female Push Pull 6 Pin Male M1 M2 M3 PE M1 M2 M3 PE M1 M2 M3 PE Temp sensor 1 Temp sensor 2 P1 P2 P3 P4 P5 P6 P7 P8 P9 P1 P2 P3 P4 P5 P6 M1 M1 M3 M3 M2 M2 Temp sensor 1 Temp sensor 2 PE M1 M2 M3 Temp sensor 1 Temp sensor 2 PE Grey Brown Yellow Orange / Orange Grey Grey (Jp) Brown Brown (Jp) (Jp) Red Yellow & Green Grey Brown Red Yellow & Green H HC CHC 9 Pin D-sub Male Push Pull 5 Pin Male 4 5 HALL SESOR OPTIOS Hall A Hall B Hall C 5V 0V P1 P2 P3 P4 P5 P1 P2 P3 P4 P5 Hall A Hall B Hall C 5V 0V Hall A Hall B Hall C 5V 0V Hall A Hall B Hall C 5V 0V White Green Blue Red White Green Blue Red White Green Blue Red DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT 149

12 PIAB CABLE PI OUT LIEAR ACTUATOR DX B / BT PIX / PIXA PSM / PSME CVC CVCA RVCA PDDR PCA PLA PDAB PIAB OCTO PRG LIEAR ECODER MAXTUE DELTA MITSUBISHI TECHOSOFT ECODER COECTOR - 9 PI D-SUB MALE STAGE 2 PIAB EXTESIO CABLE Connection example: PIAB-P1-S-TM-1.0-FC-HC-E1.0-O Power Extension Cable Hall Sensor Extension Cable Encoder Extension Cable 9 Pin D-sub Male 01 01B P1 P2 P3 P4 P5 P6 P7 P8 P9 Casing otes: 1. X.X is the length of the cable in meters RH200X / RH200Z 0V DC A+ Z+ B+ +5V DC A- Z- B- Inner Outer Extension Cable CABLE RH200 Digital RH200 Analog RH200B 0V DC Sine+ Z+ Cosine+ +5V DC Sine- Z- Cosine- Inner Outer CABLE LEGTH (X.X) meter meter meter meter meter meter 2. For customized cable length, contact PBA OPTICAL LIMIT SWITCH (PM-L24) +5V dc GD LIGHT-O DARK-O Power extension Hall extension Part ber CBL_EXT_PWR_PIXA_X.X CBL_EXT_PWR_PIXA_CC_X.X CBL_EXT_HALL_PIXA_X.X CBL_EXT_HALL_PIXA_CC_X.X CBL_EXT_RE01_X.X CBL_EXT_RE01B_X.X Brown Blue White 150