ST25 Installation Guide
Contents
1. 4 MTG HOLES M6 x 7 0 DEEP 188 5 28 5 133 0 Actuator Envelope 46 2 2 x stroke 239 3 18 5 aq See Note 1 i Lo _ A 2 ATA i nit STA2504 we l A THRUST ROD E EA MTG HOLE M8 X 12 1995 290 4 MTG HOLES A MTG HOLES M4 X 8 DEEP Sag EITHER SIDE 28 5 133 0 174 Jl 18 5 Actuator Envelope A A 2 x stroke 290 3 ni TT TJ L See Note 1 STA2506 o a o 8 9 29 0 PITCH TYP m a 66 0 177 0 8 MTG HOLES M4 X 8 DEEP 290 5 28 5 1350 Actuator Envelope 18 5 ies 2x stroke 341 3 MOTOR m ear TH See Note 1 oo A a STROKE STA2508 p o S gs Se 29 0 PITCH TYP m 5 72 0 222 0 8 MTG HOLES M4 X 8 DEEP 341 5 28 5 133 0 A 2 1 Actuator Envelope T SLOT DETAIL 18 5 a 2 x stroke 392 3 5 lege as AS See Note 1 or P sta2s10 3 3 8 MTG HOLES 29 0 PITCH TYP M4 X 8 DEEP mi ALL DIMENSIONS IN MM 72 0 Note 1 Actuator is double acting 273 0 Tolerance 2 mm Figure 2 1 STA Outline drawings and mounting details Page 4 ServoTube 25 Installation Guide Chapter 2 Installation Mechanical STB The STB comprises the forcer and the thrust rod With the addition of thrust rod supports and a linear bearing a moving forcer solution can be implemented The STB forcer can be mounted by two methods T slots are available in the top o2. 7 8mm Outer jacket material PVC Number of conductors 4 4 x twisted pair Size of conductors 1 5mm 16 AWG 0 14mm 26 AWG Screened Unscreened Screened Screened Operating voltage 600 Vims 300 Vims Minimum bending radius fixed routing 41 mm 40 mm Operating temperature fixed routing 40 C to 90 C 40 C to 70 C UL style 2586 105 C 600 V 21083 90 C 300 V As an option flexible cables are available that are suitable for continuous flex or energy chain applications These cables are standard on the STB Page 20 SPECIFICATION SENSOR Overall diameter nominal 7 8mm Outer jacket material PVC Number of conductors 4 4 x twisted pair Size of conductors 1 5mm 16 AWG 0 14mm 26 AWG Screened Unscreened Screened Screened Operating voltage 300 Vims 300 Vims Minimum bending radius flexible routing 38 mm 58 mm Operating temperature flexible routing 40 C to 80 C 5 C to 70 C UL style 20233 80 C 300V 21083 90 C 300 V ServoTube 25 Installation Guide CONNECTIONS Connections within the forcer termination box are as follows FUNCTION CONDUCTOR DESIGNATION Motor phase U Black 1 Motor phase V Black 2 Motor phase W Black 3 Chassis Protective earth both cable screens Green Y
3. G Cople C Controls Corp Copley Motion Systems LLC ServoTube 25 INSTALLATION GUIDE Publication Ref UM03011 B Copley Motion Systems LLC Luckyn Lane Pipps Hill Basildon Essex SS14 3BW England Tel 44 0 1268 287070 Fax 44 0 1268 293344 Prelims ServoTube 25 Installation Guide WARRANTY Copley Motion Systems guarantees its equipment against faulty components for a period of twelve months from delivery Replacement components will be free of charge Copley Motion Systems shall not in any event be liable for consequential damage or loss Copley Motion Systems operates a customer care facility and all requests for repair and replacement should be directed to the Customer Care Department The serial number of the equipment should be quoted in any communications The right to change specification and price is reserved by Copley Motion Systems DISCLAIMER Copley Motion Systems makes no guarantees of any kind with regard to this manual Copley Motion Systems shall not be liable for errors contained herein or for consequential or incidental damages incurred as a result of acting on information contained in the manual CUSTOMER CARE For enquiries relating to the operation and use of the ServoTube 25 described in this Manual please contact the Customer Care Helpdesk Telephone 44 0 1268 287070 Copley Motion Systems LLC Luckyn Lane Pipps Hill Basildon Essex SS14 3BW England Tel 44 0 1268 287070 Fax 44 0 1268 2
4. Amplifiers interface easily to PLCs and feature CANopen network connectivity for distributed control applications Page 2 ServoTube 25 Installation Guide ServoTube 25 Installation Guide Chapter 2 Installation Chapter 2 Installation A A UNPACKING e Check packaging for signs of damage e Metal surfaces may be hot or below 0 C following prolonged storage e Remove packaging Do not discard In the event of items requiring return it is recommended that the original packaging be used e Ensure that the delivery note correctly reflects your order and the items delivered e Check equipment for signs of damage Never use the equipment if it appears damaged in any way e Readthe User Guide before installing and using this equipment INSTALLATION Intended operating environment This equipment is intended for use in an environment within the following conditions Operating temperature 0 to 40 C Storage temperature 25 to 70 C Humidity relative 0 to 95 non condensing Altitude above mean sea level 1000 m Overvoltage category Il Pollution degree 2 EMC light industrial Ingress protection IP67 Mechanical STA The STA comprises the forcer with an integrated plastic sleeve bearing and the thrust rod The integrated bearing acts as a guide for the moving thrust rod It is not intended to withstand side loading If side loading is expected then it is advised that an external bearing is fitted
5. The STA forcer can be mounted by two methods Using the T slots in the top of the forcer Using M6 fixings 4 off on the end flange See NOTE on page 4 Page 3 Chapter 2 ServoTube 25 Installation Guide Installation IMPORTANT When using the end flange fixing method the fixings and mounting plate must be of a non ferrous material such as aluminum stainless steel and plastic for example Dimensional details for both are given in Figure 2 1 The recommended tightening torque for the fixings are M6 end flange 9Nm M5 T nut 7 Nm both non lubicated i e no thread lock The thrust rod has optional male and female threaded connections at each end These are intended to interface to a number of standard accessories The thrust rod has an external circlip at each end to restrain the thrust rod within the forcer These are not intended as hard stops to prevent over travel and it is the responsibility of the User to prevent the thrust rod from being ejected from the forcer
6. Warning symbols and meanings In this User Manual warning symbols are used These are intended to alert you to the potential hazards to personnel which are associated with the equipment described in all aspects of use including handling installation operation and maintenance Heart pacemakers Personnel fitted with pacemakers must not handle or work on this equipment Strong magnets The thrust rod contains powerful magnets and will strongly attract ferrous objects Damage can occur to computer disks and credit cards Electric shock Potentially lethal voltages may be present during the commissioning and servicing of this equipment Isolate and disconnect all sources of electrical supply before working on the equipment Particular care needs to be taken when working on or around motor phase connections Hot surface Surface temperatures of up to 80 C can be present during the commissioning and servicing of this equipment Allow the forcer and thrust rod to cool before working on the equipment Heavy object May need two people to lift Crush hazard The forcer may move unexpectedly Always isolate all sources of electrical supply before working on the equipment General hazard Follow the advice given PPP PEP Electrical safety This equipment must be earthed using the green yellow conductor EMC precautions This equipment is intended for use in a light industrial environment It is recommended that the following preca
7. HOLES M4 x 8 DEEP Figure 2 2 STB Outline drawings and mounting details Page 5 Chapter 2 ServoTube 25 Installation Guide Installation As the STB has a moving forcer it is supplied with highly flexible cables suitable for continuous flexing operation In order to achieve the best reliability and life from these cables it is advised that some form of cable management system is used Typically this will be an energy chain mounted parallel to the direction of motion Always follow the manufacturers recommendations when installing cables into energy chains In particular e Observe cable minimum bend radius requirements see Appendices e Never allow the cable to be under tension within the energy chain e Physically separate cables within the energy chain to prevent premature failure due to abrasion e Never cross cables within the energy chain e Be careful to prevent the cable from twisting or becoming kinked during installation into the energy chain Electrical All electrical connections to the STAand STB are made via two cables 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 simply plug the cables into the relevant connectors on the drive Forcer Power Posion sensor Amplifier Connector reference connector reference J2 J8 Copley Xenus
8. ServoTube 25 Installation Guide Page 24
9. X3 Parker Compax 3 For cable reference numbers refer to Chapter 4 Service WARNING THE THRUST ROD ON BOTH STA AND STB MUST BE EARTHED THIS CAN BE ACHIEVED BY EARTHING THE CONNECTED MECHANICAL PARTS ON THE USER S MACHINE XENUS AMPLIFER SENSOR CABLE p Pep o T08 Y ARO HW Se bin na o POWER CABLE T J8 PARKER COMPAX 3 AMPLIFIER BOD SENSOR CABLE Y e ZZZ TOX13 2 o rss x3 _ a ia A 5 A TO X3 LJ POWER CABLE X13 Figure 2 3 Schematic showing connection of STA STB to the Xenus Amplifier and Parker Compax 3 Amplifier Page 6 ServoTube 25 Installation Guide Chapter 3 Maintenance Chapter 3 Maintenance AAA STA The STA is low maintenance and as such requires only minimal periodic inspection The integral bearing is dry running requiring no lubrication Periodically e Checkthat the thrust rod can move freely over the entire stroke e Clean any accumulated debris from the thrust rod surface ferrous material in particular can be attracted to the thrust rod surface e Check all fixings are tight and secure STB The STB is low maintenance and as suc
10. cable 3m 450 476 123 450 476 203 450 476 163 STA power cable 5m 450 476 105A 450 476 185A 450 476 145A STA sensor cable 5m 450 476 125 450 476 205 450 476 165 Flexing cables STB power cable 3m 450 476 103 450 476 183 450 476 143 STB sensor cable 3m 450 476 123 450 476 203 450 476 163 STB power cable 5m 450 476 105 450 476 185 450 476 145 STB sensor cable 5m 450 476 125 Table 4 2 Hardware Description Order Code M4 T nut 044 205 005 M5 T nut 045 205 007 Circlip stainless steel 400 870 126 450 476 205 450 476 165 To place an order for spare parts please telephone or fax your order to the Sales co ordinator Tel 44 0 1268 287070 Fax 44 0 1268 293344 Page 9 Chapter 4 ServoTube 25 Installation GuideService Page 10 ServoTube 25 Installation Guide Appendices Appendices CONTENTS APPENDIX A GLOSSARY OF TERMS amp ABBREVIATIONS APPENDIX B TROUBLE SHOOTING APPENDIX C TECHNICAL SPECIFICATION Page 11 Appendices ServoTube 25 Installation Guide Page 12 ServoTube 25 Installation Guide Appendices TERM Appendix A Glossary of Terms amp Abbreviations GLOSSARY OF TERMS DESCRIPTION OF TERM Peak force Peak force is the force produced when the peak current is applied to the motor It is the product of Force constant N Apx and Peak current Apk The motor
11. reliability of a linear motor at a price unprecedented in the industry Familiar form factor integral position feedback and large air gap make installation simple Figure 1 2 ServoTube The ServoTube 25 motor components comprise an IP67 rated forcer and a sealed stainless steel thrust rod enclosing rare earth magnets Four models deliver a continuous force range of 51 102 N 11 23 Ib with peak forces up to 780 N 175 Ib A range of Thrust Rods are available for travel lengths up to 1200mm The patented magnetic design of ServoTube 25 generates 12 micron 0 47 mil repeatability and 250 micron 10 mil accuracy from a non contact integral position sensor No external encoder is required Position output is industry standard 1V pk pk sin cos signals Easy Integration ServoTube 25 is an ideal OEM solution for easy integration into pick and place gantries and general purpose material handling machines The load is mounted directly to the Forcer typically supported by a single bearing rail The Thrust Rod is mounted at both Page 1 Chapter 1 Overview ends similar to a ballscrew A large air gap reduces alignment constraints The tubular motor has superior thermal efficiency radiating heat uniformly High duty cycles are possible without the need for forced air or water cooling Amplifiers ServoTube 25 is complemented by a range of matched self tuning servo amplifiers and indexers complete with plug and play cabling
12. time constant Thermal time constant is the time taken for the motor phases to cool to 36 8 of the difference between motor phase and ambient temperatures when there is no current flowing the motor is not moving there is no forced cooling and no additional heatsinking ABBREVIATIONS The abbreviations used in this Guide are listed in the following table Page 14 Ampere peak Printed circuit board Ampere root mean square Polyurethane American Wire Gauge Poly Vinyl Chloride cosine second direct current sine Electro Magnetic Compatibility Typical Electro Motive Force Underwriters Laboratory kilogramme Volt metre Volt peak milliampere Volt peak to peak millihenry Volt root mean square millimetre Watt Mounting degrees Celsius Newton micrometre micron Positive Temperature Coefficient ServoTube 25 Installation Guide Appendices 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 department Forcer thrust rod fails to 1 Drive not powered 1 Apply power to drive move and produces no Racca 2 Forcer phase connections not made 2 Check forcer phase connections on drive 3 Forcer over temperature sensor not 3 Check forcer over temperature sen
13. 0 2 3 4 5 o 2 3 Velocity m s Velocity m s Force N STA2510S force velocity 2 3 4 5 Velocity m s Force N STA2510P force velocity 0 2 3 Velocity m s Page 22 Figure C 6 STA force velocity profiles ServoTube 25 Installation Guide STB FORCE VELOCITY PROFILES WITH AN OPERATING VOLTAGE OF 325 VD C S series motor phases P parallel motor phases Appendices STB2504P force velocity 3 4 Velocity m s STB2506P force velocity Velocity m s STB2508P force velocity Velocity m s STB2504S force velocity 320 160 280 240 120 200 z z g 160 g 80 5 S ir 120 80 40 40 O O 0 0 0 1 2 3 4 5 6 7 8 9 0 1 Velocity m s STB2506S force velocity 500 250 200 150 z z O o ad 100 50 0 0 1 2 3 4 5 6 ri 0 1 Velocity m s STB2508S force velocity 700 350 600 300 500 250 400 200 300 150 200 100 100 50 O O 0 0 0 1 2 3 4 5 6 0 1 Velocity m s STB2510S force velocity STB2510P force velocity o 2 3 Velocity m s 3 4 Velocity m s Figure C 7 STB force velocity profiles Page 23 Appendices
14. 2 65 3 05 including bearings Thrust rod 3 5 3 5 3 5 3 5 3 5 3 5 3 5 3 5 mass metre Page 18 ServoTube 25 Installation Guide POSITION SENSOR Appendices The position sensor outputs analogue differential sine and cosine signals for providing position feedback Figure C 1 shows the relationships between motor phase back EMF and position sensor outputs 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 with motor phase U For the motion shown SIN is in phase with motor phase U For motion in the opposing direction SIN is in phase with motor phase U Back EMF Phase To Neutral gt Jenn Phase U etti Tee RI Phase V mmm Phase W nun ni enna Rankat A Pizia mano e 2 5V Seen 4 9 95V Figure C 1 The relationships between motor phase back EMF and position sensor outputs SPECIFICATION Output signal period Signal amplitude between signals Output current Supply voltage Supply current output current 0 Resolution 1 Position Repeatability 2 Absolute Accuracy 3 Notes 1 Dependent on amplifier 2 Dependent on amplifier Under constant operating conditions Self heating of the thrust rod by the motor will cause expansion in the thrust rod during the initial warm up period In high duty applications correspond
15. 93344 Copley Motion Systems 2005 INTERNATIONAL CONTACT DETAILS Copley World Headquarters USA European Headquarters CC Controls Copley Controls Corp Copley Motion Systems LLC Corp 20 Dan Road Luckyn Lane Copley Motion Systems LLC Canton ___ Pipps Hill MA 02021 Basildon Essex SS14 3BW USA England website http www copleycontrols com Tel 1 781 828 8090 Tel 44 0 1268 287070 Fax 1 781 828 1750 Fax 44 0 1268 293344 Page ii ServoTube 25 Installation Guide Prelims ServoTube 25 INSTALLATION GUIDE Contents Preliminary pages Title page ae ea a eR a Oe E a we a we A ew A ae A i Copyright notice disclaimer LL ii Contents list this page z eaa au ee eae iii WAMINOS 9 4 4 4 do die ke a On o OG Gh alee pa iv CANONS 2 2 4 a laine ee a Po a Beh ee oe AE Oe hs v Reader s Notes 3 242404 4 0044 ee ba eb ad ee bee e vi Abbreviations 2 424 2588 gene ae eee She ah oo Ree ee Bae eh a i vii Chapters 1 OVEIVIEW e gb a PA Pea eee we ee A ee 1 2 Installation 2 3 2 4 4 28 ee a Dae ARA A Bae Goes ae a 3 3 Maintenances ui Li see a Pere dak Fae RE Po Ra a eRe 7 4 SENICE 6 E A Ws ee Ae AE A ee A a 9 Appendices A Glossary of terms amp Abbreviations 2 2 ee 2 o 13 B Trouble Shooting 32 462 i ae eee ws e toda hee Gah Ee Go RAE e E 15 C Technical Specification sa s saue d a aen a a aL ae ee 17 Page iii Prelims ServoTube 25 Installation Guide WARNINGS
16. Tube 25 Actuator incorporates an IP67 rated forcer and a sealed stainless steel thrust rod enclosing rare earth magnets Four models deliver a continuous force range of 51 102 N 11 23 Ib with peak forces up to 780 N 175 Ib Twelve stroke lengths are available from 27 309 mm The patented magnetic design of ServoTube 25 generates 12 micron 0 47 mil repeatability and 250 micron 10 mil accuracy from a non contact integral position sensor No external encoder is required Position output is industry standard 1V pk pk sin cos signals Figure 1 1 ServoTube 25 Actuator Maintenance free The STA has an internal dry bearing which provides a clean quiet maintenance free performance Life expectancy far exceeds typical ballscrew solutions The ServoTube 25 Actuator is ideal for push pull lift material handling packaging and automated assembly applications Mounting is compatible with pneumatic actuators ServoTube 25 accepts a range of industry standard accessories for simple mechanical integration Plug and Play Flexible mid stroke position control is simple with Xenus a matched self tuning indexer complete with plug and play cabling Simply select your ServoTube 25 model number and the system comes up tuned and ready to run Clear diagnostics make system commissioning easy Fill in the blanks to define position velocity and acceleration SERVOTUBE ServoTube 25 delivers the speed of a belt drive system with the clean
17. ellow TOP VIEW OF POD WITH LID REMOVED Figure C 4 Power cable connection at TB1 PL1 SENSOR PCB FUNCTION CONDUCTOR DESIGNATION 1 SIN Blue SIN Black paired with Blue COS White COS Black paired with White 5Vd c Red ov Black paired with Red Factory use Do not connect TH Thermistor Green Ool INI oO a AJ OIN TH Thermistor Black paired with Green oaks o Factory use Do not connect ak Factory use Do not connect CABLE GLAND ONDOAN gt ooooo0oo000000 r no SIDE VIEW OF POD WITH LID REMOVED Figure C 5 Sensor cable connection at PL1 on the Sensor PCB Appendices Page 21 Appendices STA FORCE VELOCITY PROFILES WITH AN OPERATING VOLTAGE OF 325 VD C S series motor phases P parallel motor phases ServoTube 25 Installation Guide STA2504S force velocity o 2 3 4 5 Velocity m s o 160 80 Force N 40 STA2504P force velocity o 2 3 Velocity m s Force N 500 STA2506S force velocity 250 Force N STA2506P force velocity 0 2 3 4 5 6 0 2 3 Velocity m s Velocity m s STA2508S force velocity STA2508P force velocity 700 350 600 300 500 250 E 400 E 200 g E 2 300 150 200 100 100 50 O O o o o 0
18. f the forcer but more normally the forcer is mounted to bearing carriages to allow the use of a linear bearing Dimensional details for both are shown in Figure 2 2 The recommended tightening torque for the fixings are M4 bearing to forcer 4 Nm M5 T nut 7 Nm The thrust rod can be mounted using thrust rod supports part number 400 885 279 The thrust rod support comprises a split clamp with two M10 pinch bolts All torque figures are non lubricated i e no thread lock 160 0 31 5 133 0 46 2 f U Fau STB2504 N 3 sto CI o NY OTT THRUST ROD e 60 0 29 0 4 MTG HOLES 4 MTG HOLES M4 x 8 DEEP M4 x 8 DEEP 211 0 EITHER SIDE 133 0 TI CA E STB2506 o S 29 0 PITCH TYP o 56 0 gt 167 0 8 MTG HOLES M4 x 8 DEEP LENGTH OF di THRUST ROD 133 0 ATTI E STB2508 S co 29 0 PITCH TYP 62 0 212 0 8 MTG HOLES o M4 x 8 DEEP 313 0 133 0 A 2 1 i BASI T SLOT DETAIL Ly rE HE STB2510 ee SI 25 o 29 0 PITCH TYP 2 ALL DIMENSIONS IN MM 0 8 MTG
19. h requires only minimal periodic inspection Where an external linear bearing is used please consult the bearing manufacturer for recommendations on lubrication types and lubrication intervals Periodically e Check that the forcer can move freely over the entire stroke e Clean any accumulated debris from the thrust rod surface ferrous material in particular can be attracted to the thrust rod surface e Check all fixings are tight and secure e Check all flexing cables for signs of wear or damage WARNING ISOLATE AND DISCONNECT ALL SOURCES OF ELECTRICAL SUPPLY BEFORE WORKING ON THE EQUIPMENT CABLE REPLACEMENT If a cable needs to be replaced it will be necessary to gain access to the termination box inside the pod see Figure 3 1 Removal e Unscrew the four M3 pod cover fixings Note that the fixings are of different lengths Make a record from where each fixing is removed so they can be correctly replaced later e Remove the pod cover from the termination box e Unscrew the pressure nut from the cable gland e Disconnect the power cable from the screw terminal connector TB1 and the earth terminal and or unplug the sensor cable from the PCB at connector PL1 Page 7 Chapter 3 Maintenance 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 inc
20. ing to an internal motor temperature of 80 C a 1 metre thrust rod will expand typically by 250 um 3 Maximum error over 1metre Page 19 Appendices ServoTube 25 Installation Guide MOTOR OVER TEMPERATURE SENSOR It is strongly recommended that the motor over temperature 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 excessive temperatures Protection is provided by three positive temperature coefficient PTC thermistors embedded in the motor phases As the motor phase temperature approaches 100 C the PTC thermistors exhibit a sharp increase in electrical resistance This change in resistance can be detected by circuitry within the drive amplifier or servo controller and used to reduce or disable the output of the drive amplifier in order to protect the motor CABLE SPECIFICATION VALUE Resistance in the temperature range 60 to 750 20 C to 70 C Resistance at 85 C 1650 Resistance at 95 C lt 3990 Resistance at 105 C lt 12000 Response time for a 20 C to 100 C 3 temperature step to register a trip Maximum continuous voltage 30 The STA has two separate cables providing connections for motor power and position sensor The standard cables supplied are flexible but are not intended for continuous flex or energy chain applications SPECIFICATION SENSOR Overall diameter nominal
21. is not moving there is no forced cooling and no additional heat sinking The duration of the peak force is thermally limited and is therefore only allowable for a period of 1 second Continuous stall force Continuous stall force is the force produced when the continuous current is applied to the motor It is the product Force constant N Apx x Continuous stall current Apk or Force constant N A ms x Continuous stall current Arms The motor is not moving and there is no forced cooling It is quoted with and without the addition of a 25 x 25 x 2 5 cm heatsink plate mounted with thermal grease to the mounting surface of the motor Peak current Peak current is the current required to heat the motor phases to their maximum operating temperature when the ambient temperature is 25 C the motor is not moving there is no forced cooling and no additional heat sinking It is the maximum allowable current before demagnetisation of the magnets occurs when the magnet temperature is 100 C The duration of the peak current is thermally limited and is therefore only allowable for a period of 1 second Continuous stall current Continuous stall current is the current required to heat the motor phases to their maximum operating temperature when the ambient temperature is 25 C the motor is not moving and there is no forced cooling It is quoted with and without the addition of a 25 x 25 x 2 5 cm heatsink plate mounted with therma
22. k EMF constant phase to phase Vom s Fundamental motor constant NW Eddy current loss N m s Resistance 25 C phase to phase Ohm Resistance 100 C phase to phase Ohm Inductance 1kHz phase to phase Electrical time constant Continuous working voltage Pole pitch one electrical cycle STA Peak acceleration 3 STA Maximum speed 4 STB Peak acceleration 5 STB Maximum speed 4 Notes 1 S series motor phases P parallel motor phases 2 Reduce continuous stall force to 89 at 40 C ambient 3 Based on a 27mm stroke 4 Based on triangular move over maximum stroke and no payload 5 Based on a moving forcer and no payload Page 17 Appendices ServoTube 25 Installation Guide THERMAL SPECIFICATIONS MOTOR TYPE Maximum phase temperature Thermal resistance Rinphase housing With 25 x 25 x 2 5 cm heatsink plate Power dissipation 25 C ambient Thermal resistance Rinhousing ambient Without heatsink plate Power dissipation 25 C ambient Thermal resistance Rinhousing ambient Thermal time constant MECHANICAL SPECIFICATIONS MOTOR TYPE STA 2504 STA 2506 STA 2508 STA 2510 STB 2504 STB 2506 STB 2508 STB 2510 Maximum stroke 309 309 309 309 1180 1129 1078 1027 Forcer mass 1 25 1 70 2 25 2 65 1 15 1 60 2 15 2 55 Forcer mass 1 40 2 10
23. l grease to the mounting surface of the motor Force constant Force constant is the peak force produced when 1 ampere peak flows into one phase and 0 5 ampere peak flows out of the remaining two phases as in sinusoidal commutation quoted in N Apx Alternatively it is the peak force produced when 0 707 ampere rms flows into one phase and 0 353 ampere rms flows out of the remaining two phases again as in sinusoidal commutation quoted in N Arms Back EMF Back EMF constant is the peak phase to phase voltage generated when the motor is travelling at a velocity of 1m s Fundamental motor constant Fundamental motor constant is the continuous stall force divided by the square root of the power dissipated in the motor at that continuous stall force Eddy current loss Eddy current loss is the amount of opposing force produced by the motor when it is travelling at a velocity of 1m s Resistance Resistance is measured phase to phase at temperatures of 25 C and 100 C Inductance Inductance is measured phase to phase at a frequency of 1 kHz The actual value of inductance varies as the motor position varies so it is the minimum value that is quoted Electrical time constant Electrical time constant is the time taken for a step current input to the motor to reach 63 2 of its value Continuous working voltage Continuous working voltage is the maximum allowable continuous voltage between any tw
24. luding the earth lead Tighten the cable retaining clamp Take care not to damage the sealing gasket on the termination box when replacing the cover Replace the fixings according to the record made when they were removed Tighten the four M3 fixings to a torque of 0 7 Nm Page 8 ServoTube 25 Installation Guide M3 FIXING SCREWS 4 OFF POD LID MICRO CONNECTOR ON PCB PL1 NOD SENSOR CABLE SENSOR CABLE as e o o SCREW TERMINAL CONNECTOR TB1 CABLE GLAND POWER CABLE Figure 3 1 Power and Sensor cable connection details in the pod ServoTube 25 Installation Guide Chapter 4 Service Chapter 4 Service SERVICE Should you need to return any items to Copley Motion 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 RMAnumber should then be quoted on all items returned and quoted for all enquiries Please note that when returning items it is recommended that the original packaging be used SPARES The available spares for the STA and STB are listed in Tables 4 1 and 4 2 Table 4 1 Cables avaialable terminated for Xenus Parker Compax 3 and with flying leads Description Parker Compax 3 Flying leads Non flexing cables STA power cable 3m 450 476 103A 450 476 183A 450 476 143A STA sensor
25. o motor phases or between any motor phase and the motor safety earth Page 13 Appendices ServoTube 25 Installation Guide TERM DESCRIPTION OF TERM Pole pitch Pole pitch is the distance in millimetres for one complete electrical cycle between like magnetic poles Power dissipation Power dissipation is the maximum power that can be dissipated by the motor when the motor phases are at their maximum operating temperature the ambient temperature is 25 C the motor is not moving and there is no forced cooling It is quoted with and without the addition of a 25 x 25 x 2 5cm heatsink plate mounted with thermal grease to the mounting surface of the motor Maximum phase temperature Maximum phase temperature is the maximum operating temperature for the motor phases It is limited to provide a safe operating temperature for the magnets Rinphase housing IS the temperature rise from the motor housing to the motor phases for an input power of 1 watt to the motor The motor is not moving there is no forced cooling and no additional heatsinking Rinphase housing Rinhousing ambient iS the temperature rise from ambient temperature to the motor housing for an input power of 1 watt to the motor The motor is not moving and there is no forced cooling It is quoted with and without the addition of a 25 x 25 x 2 5cm heatsink plate mounted with thermal grease to the mounting surface of the motor Rthhousing ambient Thermal
26. sor connected connections on drive 4 Forcer over temperature 4 Allow forcer to cool Forcer thrust rod fails to 1 One or more motor phase connections not 1 Check forcer phase connections on move but does produce made or made incorrectly drive force 2 One or more position sensor connections 2 Check position sensor connections on not made or made incorrectly drive 3 Forcer thrust rod mechanically blocked 3 Check forcer thrust rod is free to move Forcer thrust rod moves Incorrect pole pitch set up or phase offset Check drive or controller set up but is jerky in motion between position sensor and forcer back emf Forcer thrust rod moves One or more position sensor and forcer Check position sensor and forcer phase in wrong direction phase connections made incorrectly connections on drive Page 15 Appendices ServoTube 25 Installation Guide Page 16 ServoTube 25 Installation Guide Appendix C Technical Datasheet ELECTRICAL SPECIFICATIONS MOTOR TYPE Appendices Peak force 25 C ambient for 1 sec Peak current 25 C ambient for 1 sec With 25 x 25 x 2 5 cm heatsink plate Continuous stall force 25 C ambient 2 Continuous stall current 25 C ambient Without heatsink plate Continuous stall force 25 C ambient 2 Continuous stall current 25 C ambient Force constant sine commutation N A ms N Apx Bac
27. utions be observed during installation e Keep all cable lengths to a minimum e Provide as much physical separation as possible between power and signal cables In particular avoid long parallel runs of cables e Maintain screen continuity throughout the cable run e Use 360 degree screen terminations where possible Pig tail terminations are not recommended It is the responsibility of the User to ensure compliance with any local electrical and EMC regulations in force at the time of installation Page iv ServoTube 25 Installation Guide READER S NOTES GENERAL This manual describes the Installation Maintenance and Spares of the ServoTube 25 linear motor ASSOCIATED PUBLICATIONS The following publications are associated with the ServoTube 25 User Manual Title Reference Number ServoTube 25 Applications Guide STA Data sheet STB Data sheet Xenus User Guide Xenus Data Sheet UM03012 DS01088 DS01089 Prelims Page v Prelims ServoTube 25 Installation Guide Page vi ServoTube 25 Installation Guide Chapter 1 Overview Chapter 1 Product Overview SERVOTUBE 25 ACTUATOR The ServoTube 25 Actuator is an optimal solution for industrial position control Faster than a ballscrew with the clean reliability of a linear motor ServoTube 25 is a cost effective alternative to air cylinders in applications requiring greater flexibility and control Four models The Servo
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