DriveSpin manual ENG
Contents
1. mA A T radial runout of the mean diameter of output IE flange to the axis face base A and to the input EE face during roation of flange l Z axial runout of the mean diameter of output flange to the axis face base A during rotation of flange TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 12 Tightening torques and permissible transmission torque For ensuring reliable transmission of external load of actuator please use screws class T1 10 9 or 12 9 according to ISO 898 Tightening Class of screw material torque Mounting force N oe specifications ISO 898 T1 10 9 or 12 9 3 2 Electrical installation Before starting electrical work on the device is highly recommended to read the relevant manuals and technical documentation mainly actuator and digital servoamplifier Moreover it should be checked undamage and correct functioning of equipment After long storage it should be measured the insulation resistance of actuator Actuator can not be connected directly to the power supply To connect the actuator is necessary to use the original cables and digital servoamplifier from the supplier Disconnection actuator from the power supply is enabled by servoamplifier please see manual of specific servoamplifier Connection instructions During setting the route of cables please take account of their prevention of p2. 6 CONTACT DETAILS a CONAN E o i oa TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 yee NOTES TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014
3. TG drives DRIVESPIN ROTARY ACTUATORS Installation and service manual 2 2014 Information furnished by TG Drives is believed to be accurate and reliable However no responsibility is assumed by TG Drives for its use TG Drives reserves the right to change the design and operation of the equipment described herein and any associated motion products that may appear in this document Information in this document pertaining to equipment not furnished by TG Drives should be confirmed by that equipment manufacturer TG Drives assumes no responsibility for changes to information by other manufacturers or errors in that information or the description or that information Information in this document is subject to change without notice CONTENTS 1 Introduction 1 1 Description 1 2 Application 1 3 Safety considerations 2 Drawings 2 1 DS50 2 2 DS70 2 3 DS110 3 Installation and operation 3 1 Mechanical installation 3 2 Electrical installation 3 3 Start up 3 4 Troubleshooting 4 Maintenance 5 Technical specifications 5 1 DS50 5 2 DS70 5 3 DS110 5 4 Explanatory notes 6 Contact details O COON N AUU W EPP PP Be BR WN O O Ha Un NP PP e O O MON N N Ha 1 INTRODUCTION 1 1 Description Installation and service manual of DriveSpin rotary actuators contains very important information and instructions for operation maintenance and service This manual is mainly for assembly and service workers Befo
4. Please check position of pins on cable and connector it has to be the same before connecting Connection of wrong cable into the connector or wrong orientation of cable can cause damage of connector Never try to connect or disconnect device under voltage it can cause serious damage of device and injury of operator personnel Many digital servoamplifiers can keep residual voltage after disconnection from power supply that is why is recommended to wait for a few minutes before start to work on device Parameter settings Setting parameters for digital servoamplifier is carried out by qualified personnel only service engineer from manufacturer or operator trained by manufacturer TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 Cable routing If the cables are exposed to various oil or other liquid substances that may pollute the cables and connectors which can be subsequently damaged it is recommended to modify cable routing by loops near connectors Place and type of loop depends on position of connectors please see examples bellow oOo j AN ines E E ps X Se N N E if Note If connectors are placed on the bottom surface of actuator loops are not required ATTENTION Adhere to the recommended bending radius of cables min 7 5 x D Safety brake All actuators can be equipped with an electromagnetic brake which is placed in motor of actuator Brake is no
5. EQN 1325 8192 x 4096 Heidenhain 3 ERN 1387 2048 Heidenhain 4 EQN 1313 2048 Heidenhain 5 Electromagnetic brake 05 P1 KEB TG d rives DRIVESPIN rotary actuators Installation and service manual 2 2014 2 3 DS110 n ter RAL 9005 12xM5x10 202 4 mm 241 8 mm 202 4 mm 241 8 mm 1 Resolver RE15 1 A14 2 poles LTN 2 EnDat EQN 1325 8192 x 4096 Heidenhain 3 ERN 1387 2048 Heidenhain 4 EQN 1313 2048 Heidenhain 5 Electromagnetic brake 05 P1 KEB g TG d rives DRIVESPIN rotary actuators Installation and service manual 2 2014 10 3 INSTALLATION AND OPERATION 3 1 Mechanical installation Before mechanical installation of actuator is recommended to check e data on label of actuator and digital servoamplifier especially output voltage must be the same e mechanical condition of actuator possible damage caused during the transport or storage e ambient temperature if it is not in range of 10 C 40 C without condensation please consult with manufacturer e presence of oils acids vapors etc Preparatory work It is important to clean output and fastening flange of actuator from impurities The manufacturer recommends using of common solvents Avert the contact between solvents and shaft seals it
6. could cause their damage Solvents can not get into the gear Centering of actuator Actuator must be carefully centered it is important to prevent nonpermissible load of output flange In case of assembly of the actuator is recommended centering on the front flange outside diameter of cycloidal reducer which is tolerated for DS70 and DS110 actuators or on tolerated diameter of actuator front flange for DS50 actuator Both cases are illustrated on picture below 47 0 011 DS50 070h7 DS70 110h7 DS110 TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 11 In case of centering of rotating part which is mounted on actuator reducer is recommended to center this part on inner diameter of cycloidal reducer which is tolerated On some types of DriveSpin rotary actuators is an inserted sealing in this diameter which can be moved deeper into the body of reducer by simple tapping 0 018 _ 26H6 DS70 15 5 y DS50 32H7 DS110 Keep permissible load values listed in the table of mechanical parameters of actuator Avoid any impacts or shocks to the surface of the actuator especially to the output flange it may cause damage of device Values of front and peripheral runout of output flange a
7. ation be careful in contact with its surface because of danger of burn Do not touch the actuator especially his moving parts during the operation or during its cooling period after shutdown Before unplugging any connector must be all circuits turned off disconnected from power supply Damaged device must not be installed and putted into operation If the delivery of device is damaged immediately complaint to the transport company Pay attention to information in each manual and follow the instructions e read these manuals or guides supplied as accessories of device e pay attention to warning and safety signs on DriveSpin actuator e abide by regulations and requirements of device e follow the health and safety at work rules TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 Only qualified personnel are authorized to carry out these tasks e installation assembly e plugging in e start up e operation e maintenance Abide by principles of proper and safe storage If DriveSpin actuator will not be installed immediately store it in a dry room with low level of dustiness always in original packaging CAUTION During the operation and after there are some parts of actuator which are under voltage electrically live parts moving parts or hot surfaces on the actuator Connection Connection of actuator according to test report protocol which is included with each delivery of actuator
8. cturer of DriveSpin actuator TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 Drivespin rotary actuators can not operate in e potentially explosive areas e enviroment with electrically conductive acids alkaline solutions oils corrosive gases vapour or enviroment with high dustiness e directly on supply network routes e ona device that does not meet the EC Machinery Directive EMC Directive and Directive Low Voltage European Directives DriveSpin rotary actuators could in some cases be a source of danger to persons and property thats why all assembly and installation work including start up and service have to be done only by qualified personnel Unprofessional manipulation or other actions that are not according to this manual causes a loss of warranty 1 3 Safety instructions Follow safety instructions that are provided in single chapters of this manual ill treatment and tampering with device could cause injury or damage of the machine so please follow the instructions below and in single chapters of manual or guide of every device Only qualified personnel are authorized to carry out the tasks especially the installation adjustment maintenance servicing or transportation of the equipment By qualified personnel is meant expert who has the necessary qualification for particular task In connection with certain use may DriveSpin actuator have increased surface temperature during the oper
9. ed wrapped in indoor areas DriveSpin actuator must be protected from the direct effects of the weather corrosive fumes dust or mechanical shocks TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 16 Transport and storage conditions e store ina dry place with low dust e if itis necessary use suitable sufficiently rated handling equipment e storage climatic category 1K4 according to EN50178 e storage temperature 25 55 C e relative humidity 5 az 95 no condensation e store only in the original package from the manufacturer e protect the product against any violent shocks and vibrations e storage period please consult with manufacturer TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 17 5 TECHNICAL SPECIFICATIONS 5 1 DS50 CO EEUCT C AC AC soreness Mine m oo omita mem MEET oe FI O ames j e O o omms w e E IT mf E n w oao IC fm E IE m rm A OD C a remanran wa C kA wore wT ICA E CCA g TG d rives DRIVESPIN rotary actuators Installation and service manual 2 2014 5 2 DS70 Gear ratio sos sms 57 78 O Nominal torque Man 50 5 Short term torque Mamas Nm 100 100 Nominal speed input mw rpm f 2000 2000 2000 Maximum speed input rem 5000 lt N 3 D x O 105 Ui WW UT 3 Og Roll stiffness kt Nm arcmin 7 Maximum axial force Famax DC link volta
10. ge 00 Nominal motor torque 0 76 Nominal motor speed mw rpm f 3000 4500 4500 _ Nominal motor power Torsional stiffness Maximum backlash 2 Maximum roll torque F O 3 D x LM Fr Maximum radial force 2 E O UI oN O N N O WW Un 00 N W Stall motor torque 0 95 Stall motor current e fo a eee 2 1 Maximum motor current 50 2 35 Resolver Mass without brake l m kg 2 8 EnDat or Hiperface 2 95 Resolver MBR kg 3 4 EnDat or Hiperface IP 64 as standard up to IP 67 as optional R 00 D 48 5 E Mass with brake Y Ww lt TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 5 3 DS110 Joerating data Searrato ft o Nominal torque a Nominal speed input i Torsional stiffness 2 7 Maximum backlash 2 uM arcmin mmm ws Maximum anit Fo cinto tae era m eramos w rememoron P Nena nerrent almacen 19 67 89 119 67 89 119 67 89 119 2000 4500 4500 4500 13 1 13 1 13 1 voc 36 3o om 8 r Oo mm 1000 3000 3000 W 397 1005 A 20 5 Nm 4 1 gt ee aaa 13 6 N 24 1 Torque constant Voltage constant Motor poles Inductance 2 ph ES Mass without brake Mass with brake Brake torque Brake torque TG drives ta a 0 67 0 mH 10 6 Hz 0 84 0 375 0 375 7 23 Resolver kg 7 89 EnDat or Hiperface 8 16 Resolver 8 82 E
11. nDat or Hiperface Loe CI e AC IP 64 as standard up to IP 67 as optional DRIVESPIN rotary actuators Installation and service manual 2 2014 5 4 1 2 3 4 5 6 7 8 9 20 Explanatory notes Central statistical value For further information please contact the supplier Value is valid for 15 rpm Trunnion torque was measured with Fa 0 For further information please contact the supplier Measured axial force for Me max O For further information please contact the supplier a2 distance of radial force tech origin from the front of output flange This parameter depends on the version of cycloidal reducer This parameter depends on the version of cycloidal reducer gear ratio and maximum backlash It is permissible only short term use of N max in duty cycle For further information please contact the supplier The average angular transmission error is 36arcsec 1 For further information please contact the supplier Important notes Values in table are valid for nominal lifetime L10 6000 hours DriveSpin actuators are designed for S3 S8 operation modes Other modes must be consulted with manufacturer Mounting position is optional Cycloidal reducers are filled with Grease Castrol Optitem TT1 grease Maximum operating speed of the cycle please consult with manufacturer TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 aD
12. ossible damage during the operation especially before e mechanical damage caused by moving parts e heat damage caused by overheated surface e other possible destructive effects of the environment Thermal protection of actuator Thermal protection of DriveSpin actuator is provided by temperature sensor thermistor which is integrated in the winding of the servomotor In addition to the temperature sensing is possible also monitoring of current TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 13 3 3 Start up Starting work and using DriveSpin actuator must be in accordance with terms and conditions described in Chapter 1 Before starting work is also necessary to check actuator can not be damaged or blocked after long storage please see Chapter 3 2 all cables and connectors direction of actuator speed must be correct all safety covers must be functional and properly fixed there can not be any elements or sources of potential danger The next step is to set the maximum speed of servomotor in the servoamplifier setup as same or lower as the maximum input speed of the actuator please see technical parameters of actuator For instructions how to do these steps please see manual of specific digital servoamplifier For further information please contact the supplier During operation of actuator should be without overheating without unwanted speed fluctuations and with lo
13. re starting work and using DriveSpin actuator is recommended to read these documents if they are available e DriveSpin installation and service manual this manual e Test report part of DriveSpin actuator delivery e Digital servoamplifier installation and hardware manual e Digital servoamplifier software manual e Installation and use of expansion cards and modules guide e Manual of other accessories 1 2 Application DriveSpin rotary actuators are using mainly in industrial production and automatization DriveSpin actuators can be used as drives of machine tools industrial machines robots and other precise applications with high requirements of positioning accuracy and drive dynamics The main advantages of DriveSpin rotary actuator also include e backlash free e low inertia e high ratio e excellent kinematic accuracy e high torque overload e high dynamic performance e high torsional and heeling rigidity e high capacity of integrated radial axial bearings e long lifetime If the assumed load should be above permissible values declared by manufacturer or if the use of actuators is considered in other field than is specifed then is required to consult it with manufacturer of DriveSpin actuator DriveSpin rotary actuators are controlled strictly by digital servoamplifiers Complete match of declared parameters is guaranteed only if all parts of a drive digital servoamplifier actuator cables etc are supplied by manufa
14. t designed for positioning it is used to mechanical ensure of actuator standstill Length of actuators with brake is higher please see actuator drawings Never try to operate with braked actuator it can cause a serious damage of actuator Do not use brake for securing heavy load during working under them always use another mechanism to ensure the load Brake works as a spring frictional mechanism it doesnt have to provide reliable securing TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 2 DRAWINGS 2 1 DS50 Kdimension withoutbrake brake 1 length of DS50 with y tec connectors 135 1mm length of DS50 with cable bushings 132 6mm TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 2 2 DS70 40 19 31 I o OO SU 2 4x0 Motor Sensor LR ya y TIA SN L E CIAL S S 5 SS P Jo 2 8 i l ry ane a 40 _ 4 T pl K m Po d64 16xM 3x6 S5xXM 3x6 14xM4x 1 Resolver RE15 1 A14 2 poles LTN 2 EnDat
15. tuator setting or set values in the servoamplifier Opposite direction of Actuator is not connected Check the values in the Actuator i Actuator is blocked Actuator is blocked Check the actuator the actuator Actuator hums and has E the integrity of el brake Brake does not release o high current circuit power supply 24V consumption Check the cable and connector of Feedback error feedback eedback sensor Measure the load use more Actuator is overloaded powerful actuator or reduce load check the duty cycle Actuator is getting l Ambient temperature is too Keep the specified temperature excessively hot l high range temperature over Exceeding the specified 65 C l Type of operation of actuator is operating mode S1 S10 EN 60034 for example too large effective torque l Necessary replace of bearings Noisy actuator Bearing damage contact the supplier operation i Actuator damage Contact the supplier necessary to adjust for required operating conditions TG ad rives DRIVESPIN rotary actuators Installation and service manual 2 2014 15 4 MAINTENANCE During maintenance and servicing please follow safety instructions in this manual Intervals The intervals between service inspections depends on many factors The required inspection intervals need to be set individually depending on the total workload of the actuator Along with the actuator must be reg
16. ularly checked also electrical panel including digital servoamplifiers and cables In case of damage of cable insulation DriveSpin actuator must be shutted down there is a danger of electrical shock and all damaged cables must be replaced Cleaning The heavily soiled surfaces splinters or dust may adversely affect the functionality of the overal life of the actuator in extreme cases can lead to their destruction It is recommended by manufacturer to get rid of these impurities in regular intervals according to the conditions up to 2 or 3x in a year The main reason is to prevent the actuator before possible damage and to secure a sufficiently large active areas for heat dissipation Insufficient heat dissipation as well as excessive overloading of the actuator and the excessive heating considerably reduces its life Lubrication Front part of actuator cycloidal reducer is filled with grease type of grease is indicated bellow Replacement and addition of grease is not necessary for the normal operation of the actuator however high load high temperature high speed reduce lifetime of lubricant Grease change intervals please consult with the manufacturer in this case Transport and storage Actuators should be transported in closed transport vehicles or containers secured against movement or overturning Method of transport must conform to mutual agreement between customer and the supplier Actuators should be conserved and stor
17. w level of noise If the operation problems occur please follow instructions in Chapter 3 4 During operation of actuator please ensure following requirements control and protection devices can not be out of service it is valid also during a test run ambient temperature should be in range of 10 40 C no condensation other please consult with manufacturer surface of actuator has to be connected to the PE bus in electrical switchboard equipment electrical safety of device depends on the least resistance of ground connection never disconnect cables during operation danger of injury and property damage never disconnect cables on the side of actuator or servoamplifier with constant AC power it could cause an electrical discharge with people injury or damage of actuator cables parts of actuator and parts of digital servoamplifier may be under residual voltage even if actuator was disconnected a while ago after disconnecting servoamplifier from power supply please wait at least five minutes before touching or disconnecting circuit and live parts of circuit contacts screws etc TG d rives DRIVESPIN rotary actuators Installation and service manual 2 2014 14 3 4 Troubleshooting PROBLEM POSSIBLE CAUSE SOLUTION Cables are not connected Cables are not connected l connection Actuator does not start A blown fuse Replace the fuse does not work Check the correct protection Protection of ac
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