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Motion Actuator manual

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Table of contents for the manual

  • Page 1

    ServoTube 38 INSTALLATION GUIDE Publication Ref: UM03013/A Copley Motion Systems LLC Luckyn Lane, Pipps Hill, Basildon, Essex SS14 3BW England Tel: +44 (0)1268 287070 Fax +44 ( 0)1268 293344 Copley Controls Corp. Copley Motion Systems LLC[...]

  • Page 2

    WARRANTY Copley Motion Systems guarantees it s equipment against faulty component s for a period of twelve months from delivery . Replacement components will be free of charge. Copley M otion Systems shall not in any event be li able for consequential damage or loss. Copley Motion Systems operates a customer care facility and all request s for repa[...]

  • Page 3

    ServoTube 38 INSTALLATIO N GUIDE Contents Preliminary p ages T itle page ............................................. (i) Copyright notice / disclaimer .................................. (ii) Contents list (this p age) ..................................... (iii) W arnings ............................................ (iv) Cautions .................[...]

  • Page 4

    WARNINGS W arning symbols and meanings In this User Manual warning symbols are used. These are intended to alert you to the potent ial hazards to personnel which are associated with the equipment described, in all aspects of use, including handling, installation, operation and maintenance. Heart p acemakers. Personnel fitted with p acemakers must n[...]

  • Page 5

    READER’S NOTE S GENERAL This manual describes the Installation, Maintenance and S p ares of the ServoT ube 38 linear motor . ASSOCIATED PUBLICATIONS The following publications are associated with the ServoT ube 38 User Manual. Title Reference Number ServoTube Applicati ons Guide UM03012 XTA Data sheet DS01093 XTB Data sheet DS01094 Xenus User Gui[...]

  • Page 6

    Page ( vi) Prelims ServoTube 38 Installation Guide[...]

  • Page 7

    SERVOTUBE 38 ACTUATOR The ServoT ube 38 Actuator is an optimal solution for industrial position control. Faster than a ballscrew with the clean reliability of a linear motor , the ServoT ube 38 is a cost-effective alternative to air cylinders in applications requiring greater flexibility and control. Four models The ServoT ube 38 Actuator incorpora[...]

  • Page 8

    The tubular motor has superior thermal ef ficiency , radiating heat uniformly . High duty cycles are possible without the need for forced-air or water cooling. Amplifiers ServoT ube 38 is complemented by a range of matched, self-tuning servo-amplifiers and indexers complete with plug-and-play cabling. Amplifiers interface easily to PLCs and feature[...]

  • Page 9

    Chapter 2 Installation UNPACKING • Check packaging for signs of damage. • Metal surfaces may be hot or below 0 o C following prolonged storage. • Remove packaging. Do not discard. In the event of items requiring return, it is recommended that the original packaging be used. • Ensure that the delivery note correctly reflects your order and t[...]

  • Page 10

    Mechanical - XT A The outline drawing of the XT A is shown in Figure 2.1. It comprises the forcer with an integrated plastic sleeve bearing and the thrust rod. The integrated bearing act s as a guide for the moving thrust rod. It is not intended to wit hstand side loading. If side loading is expected then it is advised t hat an external bearing is [...]

  • Page 11

    Page 5 ServoTube 38 Installation Guide ` Chapter 2 Installation XT A3804 XT A3806 XT A3808 XT A3810 ALL DIMENSIONS IN MM THRUST ROD Note: 1. Actuator is double acting T olerance +/- 2mm 33.0 70.0 42.0 40.3 38.2 84.0 38.0 43.0 43.0 4 MTG HOLES M6 X 10 DEEP 141 12.0 29.0 PITCH TYP 60.0 258.0 40.0 27.0 187.0 83.0 46.0 8 MTG HOLES M4 X 8 DEEP 5.5 59.0 [...]

  • Page 12

    Mechanical - XTB The XTB is shown in Figure 2.2. It comprises the forcer and the thrust rod. Wit h the addition of thrust rod supports and a linear bearing a moving forcer solution can be implemented. The XTB forcer can be mounted by two methods. T -slots are available in the t op of the forcer but more normally the forcer is mounted to bearing car[...]

  • Page 13

    Page 7 ServoTube 38 Installation Guide ` Chapter 2 Installation THRUST ROD XTB3804 XTB3806 XTB3808 XTB3810 ALL DIMENSIONS IN MM 40.0 33.0 70.0 42.0 40.3 38.0 84.0 218.0 12.0 70.0 174.0 29.0 PITCH TYP 60.0 8 MTG HOLES M4 X 8 DEEP 5.5 59.0 = 58.0 = = 37.0 = = 60.0 = 4 MTG HOLES M4 X 8 DEEP EITHER SIDE 8.2 14.0 11 . 8 6.8 141 289.0 76.0 239.0 29.0 PIT[...]

  • Page 14

    Electrical All electrical connections to the XT A and XTB are made via two cables, see Figure 2.3. One carries power to the forcer and the other carries signals from the position sensor . These cables are supplied either pre-terminated for a specific drive or with flying leads. Where they are pre-terminated, simpl y plug the cables into the relevan[...]

  • Page 15

    Chapter 3 Maintenance XT A The XT A is low maintenance and as such requires only minimal periodic inspection. The integral bearing is dry running, requiring no lubrication. Periodically: • Check that the thrust rod can move freely over the entire stroke. • Clean any accumulated debris from the thrust rod surface (ferrous material, in particular[...]

  • Page 16

    • Loosen the two fixings on the cable clamp. • Pull the cable out through the cable gland. Replacement Re-fitting is the reverse of the removal procedure. • Feed the new cable(s) through the cable gland. • Connect the cable(s) including the earth lead. • Tighten the cable retaining clamp. • Take care not to damage the sealing gasket on [...]

  • Page 17

    Chapter 4 Service SERVICE Should you need to return any items to Copley Mot ion Systems, before doing so, please call our Sales co-ordinator on +44 (0)1268 287070 or send a fax to +44 (0)1268 293344 in order to obtain an RMA (Returned Materials Authorisation) number . The RMA number should then be quoted on all items returned and quoted for all enq[...]

  • Page 18

    Page 12 Chapter 4 ServoTube 38 Installation GuideService[...]

  • Page 19

    Appendices CONTENTS APPENDIX A - GLOSSARY OF TERMS & ABBREVIATIONS APPENDIX B - TROUBLE SHOOTING APPENDIX C - TECHNICAL SPECIFICATION Page 13 ServoTube 38 Installation Guide Appendices[...]

  • Page 20

    Page 14 Appendices ServoTube 38 Installation Guide[...]

  • Page 21

    Appendix A Glossary of Terms & Abbreviations GLOSSARY OF TERMS TERM DESCRIPTION O F TERM Peak force Peak force is the force produc ed when the peak current is applied to the motor. It is the product of Force constant (N/A pk ) and Peak current (A pk ). The motor is not mov ing, there is no forced cooling and no additional heat -sinking. The dur[...]

  • Page 22

    TERM DESCRIPTION O F TERM Electrical time constant Electrical time constant is the time taken f or a step current input to t he motor to reach 63.2% of its value. Continuous working voltage Continuous working voltage is the maximum allowable continuous voltage between any two motor phases or between any motor phase and the motor safety earth. Pole [...]

  • Page 23

    Appendix B Troubleshooting TROUBLESHOOTING CHART Check to see if the problem you are experiencing is listed in the chart below . If the problem cannot be solved with reference to this chart, contact the customer services dep artment. Fault Possible cause A ction Forcer/thrust rod f ails to move and produces no force. 1. Drive not powered. 2. Forcer[...]

  • Page 24

    Page 18 Appendices ServoTube 38 Installation Guide[...]

  • Page 25

    Appendix C Technical Datasheet ELECTRICAL SPECIFICATIONS MOTOR TYPE 3804 3806 3808 3810 units S (1) P (1) S (1) P (1) S (1) P (1) S (1) P (1) Peak force @ 25 o C ambient for 1 sec 744 372 1116 558 1488 744 1860 930 N Peak current @ 25 o C ambient for 1 sec 20 20 20 20 20 20 20 20 A pk With 25 x 25 x 2.5 cm heatsink plate Continuous stall force @ 25[...]

  • Page 26

    THERMAL SPECIFICATIONS MOTOR TYPE 3804 3806 3808 3810 units Maximum phase temperature 100 100 100 100 o C Thermal resistance R thphase-housing 0.23 0.16 0.13 0.11 o C/W With 25 x 25 x 2.5 cm heatsink plate Power dissipation @ 25 o C ambient 89.3 110.3 127.1 144.2 Watt Thermal resistance R thhousing-ambient 0.61 0.52 0.46 0.41 o C/W Without heatsink[...]

  • Page 27

    POSITION SENSOR The position sensor outputs analogue, dif ferential sine and cosine signals for providing position feedback. Figure C. 1 shows the relationships between motor phase back EMF and position sensor output s for one direction of motion (as shown by arrows in Figures C.1 and C.2). It should be noted that +SIN or -SIN is always in phase wi[...]

  • Page 28

    MOTOR OVER TEMPERATURE SENSOR It is strongly recommended that the motor over-temperat ure sensor is connected to the drive amplifier or servo controller at all times in order to reduce the risk of damage to the motor due to ex cessive temperatures. Protection is provided by three, positive tem perature coefficient (PT C) thermistors embedded in the[...]

  • Page 29

    CONNECTIONS Connections within the forcer termination box are as follows: TB1 FUNCTION CONDUCTOR DESIGNATION 1 Motor phase U Black 1 2 Motor phase V Black 2 3 Motor phase W Black 3 Chassis Protective earth + both cable screens Green/Yellow FUNCTION CONDUCTOR DESIGNATION 1 +SIN Blue 2 -SIN Black paired with Blue 3 +COS White 4 -COS Black paired with[...]

  • Page 30

    XTA FORCE / VELOCITY PROFILES (WITH AN OPERATING VOLTAGE OF 325 VD.C.) S=series motor phases P=parallel motor phases Page 24 Appendices ServoTube 38 Installation Guide XT A3804S force/velocity PEAK CONTINUOUS 0 100 200 300 400 500 600 700 800 0 1 2 3 4 5 Velo city (m/s) Force (N ) XT A3804P force/velocity PEAK CONTINUOUS 0 100 200 300 400 0 1 2 3 4[...]

  • Page 31

    XTB FORCE / VELOCITY PROFILES (WITH AN OPERATING VOLTAGE OF 325 VD. C.) S=series motor phases P=parallel motor phases Page 25 ServoTube 38 Installation Guide Appendices XTB3804S force/velocity PEAK CONTINUOUS 0 100 200 300 400 500 600 700 800 0 1 2 3 4 5 6 7 Velo city (m/s) Force (N ) XTB3804P force/velocity PEAK CONTINUOUS 0 100 200 300 400 0 1 2 [...]

  • Page 32

    Ref: UM03013/A Luckyn Lane, Pipps Hill, Basildon, Essex SS14 3BW England Tel: +44 (0)1268 287070 Fax +44 ( 0)1268 293344 Copley Controls Corp. Copley Motion Systems LLC[...]