Home

Linear Actuator catalog 08122008

1. T D 1000 2000 series have push only plungers inde 2 E Q pendent from the rotating leadscrew Hardened Push 2 Pads PP and a protective Boot B for the lead screw are available as options In all versions we lap 5 A 5 D 5 the leadscrew and its mating nut for a long life of 2 315 Srl Een smooth repeatable motions 29 58 6 o e 2 COD 2 To mount simply drill a 3 8 hole in a plate insert 5 5 5 5 the actuator and secure with Nose Nut see Page nll oll 5 49 The shorter travel devices are specifically de SO 5 signed to replace typical micrometer spindles tradi 2 F 5 tionally used in precise alignment of optics and trans 518 Q 5 5 5 5 5 E 9 9 5 lation slides 255 8 25 598 5 2 2 5 25 The actuator s compact package permits a user to nes 2 e 9 tle it into tight places without having to design a com 3 9 S amp plete precision motion For many practical applica 5 t uU 2888 tions they are buried deep inside equipment to pro 5 M O vide remote final alignment in difficult to reach loca tions o o N N T 2100 2200 Series TS Products Inc LINEAR 2
2. 1000 110 a CONTROLS Closed loop OEM board set custom software set up charge Request separate price list Net 30 days to qualified purchasers Arleta CA USA 220P Domestic USA pricing only Ask for export pricing 1200P Ea aa PRICING NOTES QUANTITY DISCOUNTS One price for all motors 1 616 For multiple quantities of any single item group of similar 1 624 171 7E 1 724 gearhead systems per purchase order for deliveries during 12 16 5 16 7 ratios Does not include servo SER3000 series V Vacuum compatible Special Order One price for all gearhead 16 5 16 7 ratios Does not include servo SER3000 series One price for all gearhead 15 5 ratios Quantity Discount TS Products Inc PRICING 53 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SYOLVALIV AYVLOY SHOLWNLOV SYATIOULNOD dOO T N4dO SYUATIOUINOD dOO T GASO IO SWA LSAS WOLSND ONIDIAd WARRANTY Motor Leadscrew driven emm WARRANTY STATEMENT INTRODUCTION All products interfaced to non TS Products con trollers have a limited warranty because faulty con trollers or miss wiring can damage the actuator motor encoder and servo electronics For both DC motor and Stepping motor Actuators the user is fully responsible for correct connection to a properly operat
3. OOLOWd e Jonuo2 9 Jeued 1 ejouea weiBold 10 9 Uolo N xoquews 1 GOWO000L 1 1 1 1 1 1 1 1 i 1 1 1 1 1 1 1 1 1000 Family COMPONENT INTERCONNECT 1 1 1 Ssa3lndWoo 1 LNIOOO 1 1 1 NOILISOd 1 SH31l1ONHINOO LINEAR ACTUATORS ROTARY ACTUATORS 5 aie pou q s 68 10021 eee 3 1 01 10021 dOOT N3dO 9 35 x E i8 1e ul e 5 a OA3M3S 1 4 1 i8 E zu T 5 uod 5 1e soog Ike NS i 31 10001 E 01 10001 S 10001 a l ee umm NS dOOTQd3SO12 91 Wed S318vo 318V2 LOANNOD LOANNOD YILNI YSLNI YOLVNLOV OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING ACCESSORIES 50 ACCESSORIES 2000 Family COMPONENT INTERCONNECT Motor Leadscrew driven SHOLVNLOV SYOLVALDOV AVIONA SYATIOXULNOD dOOT
4. 060 010 Radius uM 000 005 Range of Mounting Plate Thickness 255 to 491 NOMINAL ACTUAL TRAVEL AVERAGE TRAVEL Prior to Cushion WEIGHT Compression 0 569 022 1 069 2 069 022 4 069 02 dS Q 5 5 M a 5 5 gt E i amp i 5 5 0001 SYOLVNLOV HV3NIT SHOLVNLOV AHVLOH SYATIOYLNOOD dOOT N3dO SYATIOYLNOOD dOOT daSOT9 SWALSAS WOLSND 1000 series DC Motor Leadscrew driven MOTOR GEARHEAD SELECTION TABLE 1616 or 1624 Motors amp 16 5 Gearheads with 4X Encoder Multiplier 1000 1100 Series Linear Actuator Leadscrew 52 58855 VELOCITY units sec MAXIMUM LOAD Ibs GEARHEAD i RATIO RESOLUTION 1616 1624 1616 Motor 1624 Motor Motor Motor Servo Stall Stall 6 3 2 04 um 69 14 mm 53 11 mm 56 97 22 3 9 6 39683 80 4 uin 27 550 mils 21 420 mils 25kgm A4kgm 1 1 8kgm 11 8 1 10 37 7 5 29 5 7 1 0 1 8 4 2 7 2 11 86420 43 4 15 290 11 230 45kgm 82kgm 1 9kgm 3 3kgm 22 593 20 4 0 15 3 1 1 7 3 0 7 0 12 22 03351 23 4 7 9 160 6 1 120 77kgm 1 4kgm 3 2kgm 5 5kgm 41 320 11 2 2 08 1 7 3 2 56 13 22 40 86557 12 6 4 3 86 3 3 65 1 5kgm 2 5kgm 5 9kgm 10kgm 76 172 059 1 2 45 900 5 4 9 4 22 38 75 89319 6 78 2 3 46 1 8 35 2 4kgm 4 3kgm 10kgm 17kgm 141 92 9 32 630 um 24 480 um 10 17 40 70 140 75917 3 66 1 2 25 mils 95 19 mils 4 5kgm 7 7kgm 18kgm 32kgm 262 50 0 17
5. Yes under Inaccuracy Yes Yes Brushless DC motors are only available in semi custom 2 OD housings for high thrust applications Open Loop control of a stepping motor requires counting the step commands to control the position If you loose step synchronization the controller will be unaware of this condition unless some expected external event is also missing LINEAR 4 Stepping Bipolar Closed Loop m loop Closed m ES Closed DC lronless core Brushless Brushed Semi Custom 1000 family Polarity Power elon control of a stepping motor means that A QUAD B position encoding device is somewhere in the motion subsystem Although you issue individual step commands you determine the final position by the en coder independent of the number of steps Even with loss of step synchronization the encoder information is accu rate TS Products Inc FOA Motor Leadscrew driven Run away _ In contrast to easily controlled brushed DC motors Introduction Complex Drive Electronics ___ stepping motors and brushless DC motors require com plex switching of current flow through the motor wind ings Therefore failure in a servo amplifier or power supply can falsely move the brushed DC motor caus ing the motor to run away While the DC motor s ten dency is to move the stepping
6. MOUNTING NUT Teflon or rubber donut produces smooth soft stops Stationary phosphor bronze nut for Driveshaft Outer mounting threads 40 UNC Rotating stainless steel hemisphere 200 Dia contacts object being pushed also acts as a Reverse stop Polished hardened by heat treatment Assures metal to metal contact between Nose Button and Driveshaft to insure Nose Button straightness and good dynamics Teflon or rubber depending on Actuator velocity donut produces a soft stop lt 1 black anodized body Vacuum compatible housing is unanodized 1 8 O D cable coil with 7 wires Closes up the actuator and provides strain relief for the cable going to the servo Nut with 0 55 O D secures the actuator onto its mounting surface has 36 40 UNC threads LINEAR 17 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING 8L ONIOIHd SWALSAS WOLSND 593 dOOT G3SO TIO 597 dOOTN3dO SHOLVNLOVAYVLOY SYOLVNLOV HV3NIT S ONPOJd SL 3 641 12 TRAVEL ED 0 25 TRAVEL 010 Typ 3 925 10 TRAVEL 0 5 TRAVEL 4 425 8 TRAVEL 8 1 TRAVEL m 5 750 E 6 TRAVEL 2 TRAVEL 16 5 SERIES Standard AVAILABLE GEAR RATIOS 4 TRAVEL HIGHEST POSSIBLE G
7. 247 42 9206 9 71 160 66 2204 6 29 134 79 3 133 5309 3 12 159 66 4 159 4195 2 61 246 43 0 245 9615 1 69 415 415 4294 592 592 1296 989 10 7 988 8914 421 1526 6 94 1525 7182 273 2608 4 06 160 4365 2 42 95 5 5647 1 87 73 8 RESOLUTION VELOCITY units sec 1717 Motor 86 17 mm 34 680 mils 23 4 6 9 1 180 075 1 5 2 9 59 48 970 um 1 9 38 mils 24 480 94 19 20 400 79 16 13 260 51 10 5 4 110 21243 3 2 65 13 26 2 1 42 083 1 7 1 2 25 um 48 970 yin 78 15 29 580 57 11 22 450 Pseudo resolution due to No Encoder present Typical 20 1 velocity range for continuous style mo tion max velocity 50 No Load Velocity Typical variation of maximum load for 1200 series is 3590 Suggested minimum load is 7 Ibs or 5096 of maxi mum for optimal operation TS Products Inc Leadscrew 40 00000 TPI MAXIMUM LOAD Ibs 1724 1716 Servo 3 11 mm 93 21 3 7 4 5 7 8 21 420 mils 95kgm 1 7kgm 2 kgm 3 5kgm 14 2 9 7 0 12 5 6 110 3 2kgm 5 5kgm 6 m 2kgm 46 920 um 19 70 1 8 36 mils 8 6kgm 5kgm Pod 32kgm 30 590 51 62 108 1 2 23 58 gm 23kgm 28kgm 49kgm 15 290 51 88 108 190 58 12 23kgm 77kgm 49kgm 85kgm 12 250 61 100 130 220 49 9 7 27kgm 48kgm 58kgm 100kgm 8 0 160 93 162 165 300 32 6 3 42kgm 73kgm 200 340 4 7 95 140 250 165 300 66kgm 110kgm 75kgm 140kgm 3 3 67 165 300 13 2 6 210
8. L22 Actuator Related ACTUATORS ROTARY Page Price Item 1400 series Closed loop 2000 05 2000 1 2000 2 2000 4 1400 1313 1400 1616 1400 1624 1400 1717 1400 1724 1400 2233 1400 3540 1400 3557 2100 025 2100 05 2100 1 2100 2 2100 4 1450 series Open loop 1450 1313 1450 1616 1450 1624 1450 1717 1450 1724 1450 2233 1450 3540 1450 3557 2200 025 2200 05 2200 1 2200 2 2200 4 V ANALOG VELOCITY SERVOS SER3000 2 m jm UJ 9 9 2400 SER3010 AM1524 2 Applies to All 2450 AM1524 2 li 5 55 5 Interconnect Cables 20001 10 20001 15 10001 5 10001 10 10001 15 STEPPING MOTOR LINEAR Page Price 2000 series Closed Open loop S S S S 2100 series Closed loop 5 5 5 5 533 2200 series Open loop 34 34 34 5 5 Closed loop Open loop PRICING 52 10001 5 12001 5 12001 10 12001 15 12001 5 20001 5 22001 5 220010 22001 15 22001 5 TS Products Inc 6 e Motor Leadscrew driven PRICING DC MOTOR CONTROLLERS MANUAL CONTROLLED 1200 series Open loop CONTROL Closed loop INT series Integrated 1000022 _ Less Leu EN _ MOD series Modular EN
9. Improved by half or microstepping Stepping motors by their design have detent but DC motors never have de tent Both have friction Because the stepping motor has mov ing magnets it inherently has much higher inertia thus reducing its acceler ation Because current always flows through the stepping motor windings it easily gets hot In DC motors current is only consumed to move the motor At rest no current is used STEPPING 45 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SYOLVNLOV HV3NIT SHOLVNLOV AHVLOH SYATIOYLNOOD dOOT N3dO SYATIOYLNOOD 00 0158012 SWALSAS WOLSND 2000 family Drivers At first it seems more simple to drive stepping motors give it a step and it moves one step However it s not really a STEP and the winding current must be switched in a complex and precise manner to cause movement This switching substitutes for the DC motor s commutation In principle you can run a DC motor by direct connec tion to a battery Stepping Motor Leadscrew driven Switching Accuracy lts extremely important to NOT have clock jitter during switching times Clock jitter will freeze up the motor at higher velocities Phase Switching The tables below show rela tionship between Thruster di rection and motor phase switching sequence Be sure to connect internal sensors in proper Forward Reverse rela ti
10. ane x25 lt Looking directly at the sockets DA15S ELECTRICAL PARAMETERS Phase resistance Phase inductance 1Kz Nominal 2 phase current HALL EFFECT HOME LIMIT SENSORS Open collector Active low TTL CMOS Hysteresis Overtravel Rotor inertia 1 STEPPING MOTOR R2 CONTROLLER 2 phase 4 250mA Running max 100mA Holding FwD REV Open Collector Active Low Limit Sensor Supply 4 5 24 ELECTRICAL CONNECTIONS Looking directly at the sockets of Full Step kgm 10 45 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS Maximum radial load Ibs Maximum axial load Maximum radial play 2 Newtons Maximum axial play 2 Newtons OTHER PARAMETERS Dielectric Tests for 1 minute Resonance frequency 0 35 Nominal single phase current Back EMF amplitude V Ksteps second TORQUE PARAMETERS WITH BIPOLAR DRIVER Nominal holding torque 2 phases ON Holding torque 2x nominal current oz in 1 4 Detent plus friction torque oz in THERMAL PARAMETERS Thermal resistance coil air Electrical time constant us Maximum coil temperature Nominal acceleration krads sec 130 Ambient working temperature C 20 to 45 Weight 0 42 02 Thermal time constant seconds 220 step angle degrees of arc Arsape Factory Donovan Micro Tek
11. 018 1879 1018 Reverse Limit 656 150 010 339 005 Range of Mounting Plate Thickness 258 to 492 550 010 MOUNTING NUT 6 to 12 TRAVEL 018 947 0 Reverse Limit 656 250 010 1 1 180 010 Range of Mounting Plate Thickness 188 to 392 E D 4 M 466 005 9 865 010 MOUNTING NUT ROTARY ACTUATORS LINEAR ACTUATORS 2 591195 0011 SYOLVNLOV HV3NIT SHOLVNLOV AHVLOH SYATIOYLNOOD dOOT N3dO SYATIOYLNOOD 01 35010 SWALSAS WOLSND 1200 series 1200 series Linear Actuators Because these actuators do not have a built in position encoder they are shorter than the equiva lent 1100 series For example the 0 5 travel is 0 8 shorter Although 1200 series construction is similar to the 1100 series the electrical connec tion is through an 18 two conductor cable termi nated in either a mono phone plug MiniDIN8P connector or stripped and tinned wires A op tion While the phone plug adapts to TS Product s line of controllers with built in velocity servos the MiniDIN 8P interfaces to the SER3000 family of Analog Velocity Servos Tinned leads are for connection to your controller servo Unless you incorporate an external A QUAD B position encoding device this actuator series is only for open loop applications We typically find
12. ACCESSORIES PRICING SYOLVNLOV HV3NIT SYOLVALIV AYVLOY SYATIOUINOD dOOT N4dO SYATIOULNOD dOO T GA4SO IO SWA ISAS 5 DNIDINd ACCESSORIES Spherical Radius 0 1 STANDARD NOSE BUTTONS Spherical Motor Leadscrew driven 7 343 001 OD CREE Material Stainless Steet hardened to 58 62 Rockwell polished to 1 2yin to Face of Push Pad Standard reas i Tip of Nose Button 050 Tip of Nose Button PP1 Spherical Radius 375 0 1 to Face of Push Pad Higher load capacity Pa Spherical Radius 375 OD 0 5 NOTE 4 equally spaced mounting holes for 2 56 Cap screws Mounting pattern on 800 005 OD Length varies to fit actuator travel PUSH PADS pp Conical Radius 375 OD 0 1 050 of Nose Button Material Stainless Steel to Face of Push Pa hardened to 58 62 Rockwell polished to 1 2 Flat Sapphire Knoop 1525 2000 Small circumference Ring contact T Conical Radius 375 OD 0 5 i 024 Tip of Nose Button PP5 375 OD to Face of Push Pad Flat pa circumference Ring contact d High load capacity al 100 PP5 S Flat Sapphire Push Pad is 0 080
13. do XEN SSTT PUL SNA S88EZE 9TT 0ro FOST 504969 0S0 TCL8 ASMAATA 0 SWALSAS WOLSND 290460 1 9649 L 1861 L 8901 L Gvc99 L c9c 1 006 98 1 94 0 91 SOILVd ELOLE 9 ATEVIVAV eououdgs 000 70007 Suruno OTO FOSS 010 066 TS Products Inc STEPPING 33 mn Stepping Motor Leadscrew driven 2200 series onea sayBiy 21016 8 S siu 20 LHOI3M ED JS ET 0 0 n 2299 e c6y 0 8ST LINEAR ACTUATORS SSOUYIN 37 W Jo edueqr 010 FOST 1004959 060248 qur ASUAAAA 2 ROTARY ACTUATORS OPEN LOOP CONTROLLERS PUL VESNA 03 646 500 6 9 NOILWNLOW gt 5000 0002 PUL VESNA 08 910 CLOSED LOOP CONTROLLERS 290460 1 006 59289 96 96 EUN 1261861 168901 T SOILVH ATEVIVAV TS Products Inc f mN gupgunoJA b CUSTOM SYSTEMS 0100669 010 F066 PRICING STEPPING 34 e Stepping Motor Leadscrew driven CABLING 2000 and 2100 Series CN2 15 pin Subminiature D Connector A 15 Only 12 circuits
14. 1020 charge of control cable x E 1724 AM1524 stepping B _ Boot e Robust enclosed 6 motor 2000 B05 72 travel Brushless DC 6 3 1670 2100 EA 1 Y ine 1100 e Closed loop 1100 1200 3556 11 8 3101 trave Shorter housing 025 5 40 NB Nose Button Rotating thruster BE SEDIS 22 5752 40 0000 TPI for 1 Short radius std 1200 e 1 1524 77 10683 actuators Shortest housing 76 19813 1100 Rotating thruster 2 141 36796 PPA Push Pull Adaptor 262 68245 PP Push Pad Stepp 2100 all effect Limit of p 485 126741 2200 PP1 ae ee short ra eee 10 dud 9197 PP2 Conical short radius 2000 Closed loop 12 16 7 series for PP3 Hemispherical long ra eee 2 14 ONE DE 1707 PP4 a long radius Robust enclosed or 1724 motors PP5 Flat 2 3 71 415 2100 Closed loop 2020 14 592 S a Custom modification desig Shorter housing 05 nator Rotating thruster 1 43 989 SD Cable Side Discharge E 2 66 1526 Axial Discharge is std Open loo d EA Shortest Reusing 4 2 28 pus V Vacuum Compatibility Rotating thruster ZB Zero Backlash Gearhead ae peu CN Connector SEED WO 025 CN1 MiniDIN8P 1000 1100 3000 Semi custom 05 1200 2200 1 CN2 DA 15P 2000 2100 2 CN3 Mono 2 5mm Phone Plug f E 1200 ontact factory 4 CN4 Tinned 18 Leads TS Products CN5 Ribbon amp Header LINEAR 3 PRICING CUS
15. 3 Automatic current reduction a cer tain time after last step pulse 4 Pulse Width Modulated power de livery for more accurate microstepping 5 Current modification for torque equalization for half steps and microsteps 196 2 C 78 K 269 2 C 4 K STEPPING 44 Stepping Motor Leadscrew driven VACUUM COMPATIBILITY Laboratory testing demonstrates that the Arsape motor operates with expected torque at less than 10 Torr The 2000 family of Linear Actuators is specially prepared to operate in a deep vacuum order option V We use the following components Lubricant Bonding Cable Motor Gearhead Brayco Micronic 815Z Perfluorinated polyether Chemically inert Compatible with rocket propellants and oxidizers Intended for aerospace use Vapor Pressure 38 C 1x10 Torr DuPont KRYTOX 143AB Fluorinated oil per fluoroalkylpolyether specially formulated for aerospace nuclear and chemical process industries Vapor Pressure 38 C is 5x10 Torr 3M Scotch Weld 2216 Epoxy Adhesive Belden 9505 Teflon or equivalent Vented cleaned and relubed Vented cleaned and relubed LOW TEMPERATURE COMPATIBILITY Test Temperature Winding Resistance Heat Dissipation 13 change 6 5 mW 1 9 change 1 mW TS Products Inc Stepping Motor Leadscrew driven 2000 family MOTOR COMPARISON Stepping to Ironless core Units Lifetim
16. Motor Leadscrew driven MOTOR ALTERNATIVES You can choose between the standard stepping brushed ironless core DC and semi custom brushless DC motors to propel the Lin ear Actuators Each motor type has its strengths and weaknesses A Selection Guide included in this section will help you make a choice ANALOG VELOCITY SERVO Although you can drive brushed DC motor actuators from your own electronics we supply the SER3000 Analog Velocity Servo as well as manual and ucomputer based controllers The servo expects a low current 10 velocity steering voltage from external sources such as our 1000INT 1000MOD CONTROL2 or CONTROL3 controllers In spite of load variations the servo drives the motor at a programmable constant velocity by sensing the motors BEMF Additional circuitry senses unusual motor conditions moving too slow and pushing too hard to indicate a limit of travel or stall con ditions A QUAD B ENCODER CLOSED LOOP Both 1000 1100 and 2000 2100 series have a built in rotary encoder directly coupled to the motor shaft With 15PPR Pulses per Revolu tion it provides 60 counts in 4X decode Because the motor drives ORDERING GUIDE Introduction the leadscrew through a gearhead the ratio directly multiplies the 60 counts For example a 262 1 ratio will produce 15 720 encoder counts per revolution of the leadscrew With a 32 TPI leadscrew these counts produce an incremental resolution of 2 uin The 2 ph
17. connectors http www diamondmotion com sales diamondmotion com thefrontdoor diamondmotion com The Micro positioning Specialists
18. oj 199 300 2 40 165 300 078 1 6 75kgm 140kgm 165 300 1 3 26 051 1 0 165 300 165 300 76 15 30 590 165 300 165 300 45 9 0 18 360 165 300 165 300 35 7 0 While still inside a typical velocity servo window velocity 0 STALL Maximum thrust limited to 300 16 to protect gear head teeth from damage Maximum thrust at maxi mum velocity still within Servo Window is 5696 of 1724 Motor Stall Servo Stall STALL thrust Limitation by motor current reduction LINEAR 25 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SHOLVNLOV AYVLOY SHYOLVWNLOV SYATIOYLNOOD dOO T N3dO SHITIOHLNOO dOO T HH3SO IO SWALSAS WOLSND 1000 fa mily DC Motor Leadscrew driven lt mm ENGINEERING NOTES 1000 family ELECTRICAL CONNECTION 1000 1100 1200 series LINEAR ACTUATOR ACTUATOR CABLE NOTE Custom cable aa a lengths available i please Stripped and Tinned Leads ask for a price quotation all series 1200 series only SER3000 Series SERVO a To CONTROLLER or any servo for DC Motor ALTERNATE CONNECTORS 2 5mm Mono Phone Jack 1200 series OPTION ONLY CN3 Header 2x5 with 26AWG Ribbon Cable 1000 1100 series ONLY Alternate Option HES Option Subminiature D DA 15P Subminiature D DE 9P
19. 1525 7182 337 087 1 8 51 1 1 75kgm 140kgm 2608 5 01 1 3 26 80 16 197 051 1 0 32 630 uin E 165 300 4365 2 99 78 16 48 9 6 118 31 610 19 380 5647 2 31 E 12 37 7 4 _ 22 224 233 At 60 A QUAD B encoder counts per revolution Typical 20 1 velocity range for continuous style mo tion max velocity 50 No Load Velocity Typical vari ation of maximum load for 1000 series is 30 1100 Series is 23595 Suggested minimum load is 7 lbs or 50 of maximum for optimal operation TS Products Inc While still inside a typical velocity servo window velocity 0 STALL Maximum thrust limited to 300 lbs to protect gearhead teeth from damage Maximum thrust at maximum velocity still with Servo Window is 56 of STALL thrust Limitation by motor current reduction LINEAR 15 CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SYOLVNLOV HV3NIT SHOLVNLOV AHVLOH SYATIOYLNOOD dOOT N3dO SYATIOYLNOOD 5 SWALSAS WOLSND 1100 series 1100 series Linear Actuators Although these actuators have a built in A QUAD B position encoder for closed loop operation they are much shorter than the 1000 series because the rotating leadscrew is also the thruster A typical length reduction is 2 28 for the 0 5 travel Two guiding slots on opposite sides of the housing prevent the motor from rotating as the leadscrew is rotated Marked keys in
20. 844 dOO TGHSO IO SWA ISAS WOLSQD 2000 es Stepping Motor Leadscrew driven lt mu 4 TRAVEL MOTOR HOUSING AVERAGE 5 TRAVEL WEIGHT oz m m 2 TRAVEL 141 1 PERMITTED MOTOR GEARHEAD COMBINATIONS 1524 HIGHEST POSSIBLE HOUSING GEAR RATIO 485 1 235 067 1 1 TRAVEL MOTOR HOUSING 0 5 TRAVEL 0 5 TO 2 TRAVEL 1 781 005 550 010 OD 656 005 MOUNTING NUT 150 010 1875 0002 OD 110 049 PLUNGER REVERSE LIMI C5 ACTUATION 990 010 OD 2000 0005 Spherical OD PLUNGER TIP 060 010 Radius 110 7559 4 TRAVEL 375 40 UNS 2A Thd REVERSE LIMIT 656 007 620 99 OD 1875 0002 OD I 150 010 PLUNGER Range of Mounting Plate Thickness E 255 to 491 2000 0005 Spherical OD J PLUNGER TIP 375 40 UNS 2A Thd Range of Mounting Plate Thickness 550 010 OD 255 to 489 MOUNTING NUT TS Products Inc STEPPING 32 2100 series Stepping Motor Leadscrew driven SYOLVNLOV HV3NI1 SYOLVNLOV AYVLOY SYHATIOULNOOD 1 0 SYATIOULNOD 5 20 ouvu HV39 E 2 eonuo 020 V 01 862 SSOUYOTY 27214 W Jo Suey PUL VESNA OF S LE 500 6 NOLLV LLOV gt ni
21. Inc Distributor MicroMo Electronics Inc STEPPING MOTOR Representative 50 Vista Lago Drive 642 Second Avenue S TECHNICAL Distributor Simi Valley CA 93065 St Petersburg FL 23701 ASSISTANCE Voice 805 522 4330 Voice 813 822 2529 FAX 805 522 4464 FAX 813 821 6220 TS Products Inc STEPPING 39 PRICING CUSTOM SYSTEMS SYOLVNLOV HV3NIT SHOLVNLOV AHVLOH SYATIOYLNOOD dOOT N3dO SYATIOYLNOOD 00 0185012 SWALSAS WOLSND 2000 family Stepping Motor Leadscrew driven ENGINEERING REFERENCE Home Sensing Accuracy Providing an accurate repeatable HOME point is difficult Although the Linear Actuators can provide an incremental resolution of a few nanoinches traditional mechanical switches for limit of travel home sensing are only accurate to a few mils at best This means the HOME point could be in error by 500 000 resolution elements However the 2000 family uses Hall effect switches for limit of travel and Home sensors While the Hall effect devices are much more accurate than mechanical switches they still exhibit inaccuracies from the following sources Differential thermal expansion in the actuator mechanical structure Hall effect switch temperature sensitivity Losing step synchronism under an excessive load Microstep uncertainty under load Variable biasing from stray magnetic fields Mechanical vibration and distortion 1 Differential thermal expansion of di
22. The 1000 series can be operated from either your controller servo or from our SER3000 series of Analog Velocity Servos In its normal configura tion the 18 cable from this actuator is terminated in a MiniDIN8P connector For vacuum environ ment all lubricants are space qualified Typical Customizing Thruster length variation Omit position encoder Cable length variation Increased thrust capacity Adjustable thrust limit Leadscrew error calibration TS Products Inc DC Motor Leadscrew driven MECHANICAL PARTS DESCRIPTION TS Products Inc MOTOR ENCODER GEARHEAD HUB DOG POINT SET SCREWS DRIVESHAFT BEARINGS BEARING SPACERS OUTER RACE NUT INNER RACE NUT BEARING SEAT MicroMo 1616 1624 1717 or 1724 mo tor with armature voltage ranging from 3 24 volts 17 000 RPM maximum veloc ity MicroMo HE15 Magnetic Encoder with 60 counts at 4X decode provides position information MicroMo 16 5 or 16 7 Gearhead with ra tios from 3 71 1 to 235 067 1 depending on space available see charts Attached to gearhead to prevent rotation Prevents HUB from rotating Stationary precision ground stainless steel with 32 3885 TPI pitch converts rotary motion into linear movement of Drive Nut Bonded to gearhead output shaft with Loctite adhesive rated at 65 F to 300 F temperature range Precision stainless steel bearings pro mote exceptionally smooth motion Locks bearings into positi
23. the accuracy of both motors is equivalent in a closed loop environment SELECTION GUIDE COMPARATIVE FEATURES Stepping Long life due to absence of brushes Vibrates and noisy in full or half step operation 4X maximum microstep recommended Direct open loop control Move another step Less expensive position control Larger size required to assure accurate open loop performance Higher inertia from rotating permanent magnets results in slower Start and Stop performance Numerous but complex low cost controllers available Possible loss of step synchronism causing Stall Runs hot even at rest Unipolar power supply No EMI from arcing nor particulate contamination from brushes Open loop microstep inaccuracy under varying loads Thinks digital Brushed DC 1 Gold and silver brush commutator give 2000 5000 hours lifetime Ultra smooth and quiet in all modes of operatio Indirect control Where are you Position control requires encoder resolver Smaller size since it never looses step synchronization Low inertia from ironless core results in rapid Start and Stop performance Fewer but simple higher cost controllers In closed loop environment always tries to mo without loss of information 9 No electrical power consumption at rest 10 Bipolar power supply 11 Minimal arcing and zero contamination due to arc suppression and fine metal brushes 12 Accuracy independent of load 13 Thi
24. 0 nin 3 2 1 2 2 z PR AS On JOIN O0 oo Nia 534 21 0 Now OR No p om uA My oi 55 oN 53 wo 53 2 N N o sae foun fous wo 301 aO oa ae foo foo fons fou Joa a oogio ooo d 4 ooo n2 e an oo i d mo saa TS Products Inc STEPPING 37 OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SYATIOYLNOOD SYOLVNLOVAYVLOY SHOLVNLOV SHQTIOHLNOO 001 0159010 SWALSAS WOLSND 2000 family Stepping Motor Leadscrew driven PERFORMANCE of 2200 1 1524 41 40 MAXIMUM LOAD for step synchronization as a function of motor winding current for various FULL STEP velocities NOTES 1 MAXIMUM LOAD load causing step error 2 INTERMITTENT MAXIMUM CURRENT ON for less than 10 seconds with 10 seconds OFF minimum 3 For 250 mA values motor operated with 3 125 V4 maximum voltage MAXIMUM LOAD to retain step synchronization as a function of motor winding cur rent for various HALF STEP velocities MAXIMUM LOAD to retain step synchronization as a function of Acceleration for various motor winding curre
25. 3 6 71 1428 56 6 34 1 9 38 250 075 1 5 3 41 1 0 21 um 134 41 810 100 100 100 1 84 73 15 um 56 11 100 29 570 yin 22 440 991 pm 30 6 0 39 0 nin 12 240 534 16 3 2 21 0 6 4 130 288 089 1 7 11 3 3 7 74 100 155 47 940 nm 6 11 1 9 37 83 5 33 660 25 500 3 29 1 3 26 1 0 20 45 0 14 270 1 77 54 11 N A Pseudo resolution compared to 1000 1100 While still inside a typical velocity servo window series Linear Actuato Typical 20 1 velocity tion optimal operation LINEAR 24 rs with 60 count encoders 5 velocity 0 STALL range for continuous mo 8 Maximum thrust at STALL limited to 100 Ibs to protect gearhead from damage Maximum thrust 3 9 max velocity 50 No Load Velocity Typical at maximum velocity still within Servo Window is variation of maximum load is 35 Suggested 56 of STALL thrust Limitation by motor cur minimum load is 7 lbs or 50 of maximum for rent reduction TS Products Inc DC Motor Leadscrew driven 3 1200 series MOTOR GEARHEAD SELECTION TABLE 1717 or 1724 Motors amp 16 7 Gearheads NOTE Contact factory for limitations on particular combinations of motor gearhead ratio and travel 1200 Series Linear Actuator GEARHEAD RATIO 2 85 112 767 13 7959 30 2
26. 30 mils sec 1 21 8 859 nin 3 1 8 2 1 6 41 140 62 261 40989 85 484 83713 900 900 41181 70 01 41 52 68 9 6 2 LB a 101 5 8 4 3 4 6 4 3 8 6 5 25 NN oo 8 7 6 36 1 4 N RIS so 335 53 e 2 5 5 5 1 Ko so gt 15 8 nm 7 83 624 nin 308 NIS A 5 33 1670 1669 99451 1 3101 41837 3101 5752 5 5752 20313 2 10683 3 10682 66295 1 19813 1 6 19813 6 2 8 9 36796 888 pm 36795 83984 35 0 68245 4 68245 27344 126741 258 126741 22210 10 15 235067 140 235067 04688 5 47 Velocity for estimated Maximum Mechanical Power Point You can run the motor faster but with less load capacity All 2000 series have 32 38853 TPI leadscrew 2 2100 can have either 32 38853 or 40 TPI leadscrew All 2200 series have 40 0000 TPI leadscrew V e Factory specified maximum continuous current in one winding only 250 mA User must further limit the motor current to prevent exceeding 100 Ibs of thrust 8 53 40 6 33 0 1 6 1 3 22 9 um sec 18 5 902 730 12 2 9 6 6 5 3 259 210 c 4 gt 29 ooo OOO OOO OOO O00 ooo ooo ooo OOO OOO ooo O00 ooo ooo 6 0 991 pm 2 5 5 4 0 39
27. Connector with backshell onnector with backshell SERVO SER3000 family E 5 SER3000 ENC Version 1 97 03 _ 2 5mm MONO PHONE JACK 1200 series Option Only CN3 CONTROLLER END ACTUATOR END 6 43 02 CIRCUMSCRIBED DIA 000000 E TS Products Inc LINEAR 26 Motor Leadscrew driven 1000 2000 families INTERCONNECT CABLES Use the Interconnect Cables to extend the short actuator cable to join the Servo or Controller Also use them to connect SER3000 series Ser vos to Controllers While some standard lengths are molded construction the custom lengths are hand fabricated TO ACTUATOR OR SERVO CONNECTOR Circular Cable 0 25 Dia 9 Conductor Color coded 26 AWG Shielded 5 10001 5 10 10001 10 TO CONTROLLER CONNECTOR 10001 DE 9P 15 10001 15 CUSTOM 1000I S Circular Coaxial Cable 0 13 Dia 2 5mm PHONE PLUG y 12001 2 5mm PHONE PLUG HEU 12001 5 12001 10 H 15 12001 15 CUSTOM 12001 5 20001 Circular Cable 0 15 Dia 26 AWG Color Coded DA 15S Shielded Motor Conductor
28. active f 146 003 Actuator Cable Connector Mating Surface Line 2200 Series CN1 8 pin MiniDIN Plug f 146 003 Actuator Cable TS Products Inc TOLERANCE unless noted All dimensions in inches 2000 family 18 0 1 4 1 46 06 STEPPING 35 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SYHOLVNLOV AHVLOH SYOLVNLOV 591 01 0 SNWALSAS WOLSND SHQ3TIOHLNOO dOOT GQ3SO IO Stepping Motor Leadscrew driven ORDERING GUIDE Order number example 2100 1 1524 262 32 50 ACTUATOR SERIES 2000 Closed loop Non rotating thruster Robust enclosed 2100 Closed loop Shorter housing Rotating thruster 2200 Open loop Shortest housing Rotating thruster TRAVEL Options 2000 Travel 2100 220 Travel 05 0 Ya 1 1 025 2 05 F 2 2 4 24 Full steps rev Current mode 250mA max GEARHEAD RATIO 15 5 Options 262 1 10683 485 1 19813 900 1 36796 1670 1 68245 3101 1 126741 5752 1 235067 1 1 1 1 STEPPING 36 NOSE BUTTON Options 2000 2100 2200 T Nose Button Push Pad Side Discharge Vacuum T Compatible Zero Backlash T Gearhead PUSH PAD Option
29. lose step synchronization if accel erated or decelerated too fast Taking the next step too early or too late causes this error and results in loss of step synchronism it may even run backwards If the load varies it is difficult to exactly find the correct ac celeration to guaranty faultless stepping One common approach is to accelerate much more slowly to assure not losing synchronism Although you dont lose posi tion when the motor stalls in closed loop environment it is inconvenient to restart the motion Single Polarity Power Supply We use balanced bridge analog velocity servos with our DC motors to achieve a smooth quick response move ment In contrast some pulse width modulated PWM servos may create audio noise mechanical vibration and cogging at low velocities The balanced bridge servo by necessity has a bipolar power source 15vdc On the other hand both the brushed DC motor and stepping motor operate from unipolar supplies TS Products Inc Although brushed DC motors can run from a battery brushless DC and stepping motors require more elabo rate electronic controllers Eventually both motors of ten have complex controllers due to all the collateral events they are controlling limit handling and encoder decoding D Acoustic Noise Excessive Vibration 1 The stepper s action is violent especially for full steps the magnitude of the switched electrical current is independen
30. low TTL CMOS Hysteresis Overtravel Rotor inertia 1 STEPPING MOTOR R2 CONTROLLER 2 phase 4 250mA Running max 100mA Holding Fwo Aa ee REV Open Collector Active Low Limit Sensor Supply 4 5 24 ELECTRICAL CONNECTIONS Looking directly at the sockets of Full Step kgm 10 45 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS Maximum radial load Ibs Maximum axial load Maximum radial play 2 Newtons Maximum axial play 2 Newtons OTHER PARAMETERS Dielectric Tests for 1 minute Resonance frequency 0 35 Nominal single phase current Back EMF amplitude V Ksteps second TORQUE PARAMETERS WITH BIPOLAR DRIVER Nominal holding torque 2 phases ON Holding torque 2x nominal current oz in 1 4 Detent plus friction torque oz in THERMAL PARAMETERS Thermal resistance coil air Electrical time constant us Maximum coil temperature Nominal acceleration krads sec 130 Ambient working temperature C 20 to 45 Weight 0 42 02 Thermal time constant seconds 220 step angle degrees of arc Arsape Factory Donovan Micro Tek Inc Distributor MicroMo Electronics Inc STEPPING MOTOR Representative 50 Vista Lago Drive 642 Second Avenue S TECHNICAL Distributor Simi Valley CA 93065 St Petersburg FL 23701 ASSISTANCE Voice 805 522 4330 Voice 813 822 2529 FAX 805 522 446
31. steps With many microstep subdivisions the torque difference between adjacent microsteps may be smaller than system friction and load and the actuator will not move Without external torque a stepping motor s rotor is in a stable resting position compared to the stator To hold a stepping motor s rotor in place against an external torque the magnets generate a larger opposing torque as the displacement between rotor and stator becomes larger The greater the displace ment the greater the torque If the external torque TS Products Inc Mount to heat conductor Prohibit mechanical vibration No touching of housing with hand No variable pressure on housing 2000 family is higher than the motor s maximum torque the rotor will slip to the next detent position Similarly to move against an external torque the motor must generate a larger torque This torque is a function of both the offset between the rotor and its rest state as well as the relative current differ ences between the poles When microstepping maximum available torque for a fixed current occurs at the normal full step detents At the elect ronically created microsteps between the full steps the number of steps correspondingly reduces the available torque If the external load is high enough the motor may not even move It may even rotate away from its ex pected position until the torque generated by the displacement exceeds the torqu
32. 340 13 260 17 29 568 1008 261 40989 1 97 67 13 51 10 7 7kgm 13kgm 67 120 485 27 0 9 2 180 7 0 140 31 54 56 100 484 83713 1 06 96 7 2 28 5 5 14kgm 24kgm 26kgm 45kgm 900 14 5 qm 4 9 99 3 8 75 52 90 56 100 900 41181 571 nin 19 3 9 15 3 0 24kgm 41kgm 1670 7 83 2 7 53 2 0 41 56 100 56 100 1669 99451 308 10 2 1 080 1 6 96 170 3101 4 21 1 4 29 1 1 22 um 56 100 56 100 3101 41837 166 056 1 1 43 860 26kgm 45kgm 5752 2 27 77 15 59 12 0570 o 109 5 10683 1 22 42 8 3 32 6 4 19813 660 pm 22 4 5 17 3 4 36796 355 12 2 4 092 1 8 14 0 4 8 95 DENEN 5 68245 192 065 1 3 050 1 0 126741 103 35 700 nm 27 540 nm 235067 55 6 19 380 15 290 1 4 At 60 A QUAD B encoder counts per revolution Typical 20 1 velocity range for continuous style mo tion max velocity 50 No Load Velocity Typical vari ation of maximum load for 1000 series is 30 1100 Series is 23595 Suggested minimum load is 7 lbs or 50 of maximum for optimal operation LINEAR 14 While still inside a typical velocity servo window velocity 0 STALL Maximum thrust at STALL limited to 100 105 to pro tect gearhead from damage Maximum thrust at maximum velocity still within Servo Window is 56 of STALL thrust Limitation by motor current reduction TS Products Inc DC Motor Leadscrew driven 1000 series MOTOR GEARHEAD SELECTION TABLE 1717 or 1724 Motors amp 16 7 Gearheads with 4X Encoder Mul
33. 4 FAX 813 821 6220 TS Products Inc STEPPING 39 PRICING CUSTOM SYSTEMS Stepping Motor Leadscrew driven 2000 2100 Series Circuit 78 e e o 9 10 11 12 13 14 15 Subminiature DA 15P 40v Winding Arsape Motor AM1524 A 0 25 12 5 Winding A Mechanical Coupling FORWARD Viewing pins from the front Function Sensor Supply Sensor Return Motor Phase A Motor Phase A Motor Phase B Motor Phase B Encoder Phase A Encoder Phase B Forward Limit Sensor Reverse Limit Sensor Encoder Ratum ncoder Supply NC NC NC NOTE The wiring schematics shown on this page represent e 2000 x AM1524 76 and 2200 1524 262 only Other gearhead ratios and actu ator styles have modified wiring to produce identical thruster movement for the same control ler sequence 2000 family 2200 Series MiniDIN 8 pin Hall effect Switch Allegro A3122 Limit Home Sensor Digital Ground Function Motor Phase A Motor Phase A Motor Phase B Motor Phase B Sensor Supply Sensor Return Forward Limit Sensor Reverse Limit Sensor Circuit Winding Hall effect Switch Allegro A3122 Winding A Hall effect Sensor Supply 4 5vde to 24vde MiniDIN8P STEPPING MOTOR i CONTROLLER with A QUAD B Encoder Handling 250mA running max I 100mA holding max I gt
34. ACITY The specified Load Limit is to protect the individual teeth on the spur gears Because the leadscrew pitch is fixed 32 3885 or 40 the output drive gears see the load independent of ratio Therefore we limit the motor current in the Servo and thus the actu ator s ability to push more than 100 or 300 165 Without the Servo you may elect to push higher loads but you will sacrifice some of our mechanical warranty We specify two load capacity numbers 1 maximum servo and 2 stall limit of travel The maximum servo value represents the maximum load to remain inside a constant velocity servo window such as with our SER3000 Analog Velocity Servo Outside this win dow the motor s velocity is inversely dependent on the load STEPPING MOTOR or DC MOTOR The following table will help you choose between brushed brush less DC motor and a stepping motor Although many facts are pre sented often people choose one motor style over another because of personal experience or familiarity MOTOR PERFORMANCE COMPARISON Category 2000 family ELECTRONIC Open Loop Digital Coordinate Control YES Run away possible No Attitude of being In Control Yes E eR altel Stall Complex Drive Electronics Drive Electronics MECHANICAL Acoustic Noise Excessive Vibration el runs hot Brushes to wear Brushes to wear out High Inaccuracy
35. EARHEAD RATIO 16 5 series PER MOTOR PER TRAVEL 22 1 5752 1 TRAVEL 41 1 10683 1 B 2 76 1 1981311 141 1 36796 1 68245 235067 235067 235067 235067 235067 2 AVERAGE WEIGHT 235067 TRAVEL Le t ea 02 900 1 235067 1 591195 00 1 u2a14p M242spp2qj10109W 2 d 6 oul sjonpoJd 519 216 32 3885 UNS Thd 2155 Max O D EY ce a 990 010 2000 0005 SPH DIA SPHERICAL BUTTON 2155 Max O D lt ACTUATION 550 010 339 005 MOUNTING NUT 2 TO 4 TRAVEL 018 879 020 Reverse Limit 656 250 010 2000 0005 SPH DIA 339 005 500 40 UNS 2A Range of Mounting Plate Thickness 188 to 392 865 010 MOUNTING NUT PRICING CUSTOM SYSTEMS 216 32 3885 UNS Thd 1375 40 UNS 2A CLOSED LOOP CONTROLLERS 0 25 TRAVEL 018 1713 018 Reverse Limit 656 290 150 010 Range of Mounting Plate Thickness 092 to 326 ACTUAL S tm 0 5 0 530 1 030 2 030 NOMINAL 4 030 6 030 8 030 10 030 12 030 OPEN LOOP CONTROLLERS 216 32 3885 UNS Thd 2155 12000 0005 SPH DIA E 375 40 UNS 2A Thd 3125 32 3885 UNS Thd 3075 2000 0005 SPH DIA 500 40 UNS 2A Thd 0 5 TO 1 TRAVEL
36. G3SO IO 593 dOOT N3dO AVAILABLE GEAR RATIOS 10 683 1 SIZE 19 813 1 MOTOR 36 796 1 HOUSING 68 2451 1 126 741 1 2 MOTOR sjonpoJgd SL PERMITTED MOTOR GEARHEAD COMBINATIONS 1616 1624 1717 1724 485 1 11 8 1 19 813 1 141 1 235 067 1 5 752 1 HIGHEST POSSIBLE GEAR RATIO Contact SYOLVNLOV MOTOR HousiING DIM 1 14 303 SHOLVNLOV 2 14 553 020 3 14 803 2 6553 020 LC 6 803 0 2 TRAVEL 1 TRAVEL 5 TRAVEL 5 5 0001 Q 5 3 m 5 gt i a 8 3 1 YVANIT 241 sjonpoJd SL 8 1875 2 0002 PLUNGER 990 2 010 1875 2 0002 PLUNGER 123 3035 T E 0 5 TO 1 TRAVEL 550 2 010 MOUNTING NUT Reverse Limit fan Oe lt ACTUATION 2000 0005 Spherical Diameter PLUNGER TIP 375 40 UNS 2A 4 TRAVEL 656 2 005 150 010 Reverse Limit 990 010 2000 0005 Spherical Diameter PLUNGER TIP 375 40 UNS 2A Thd MOUNTING NUT PRICING CUSTOM SYSTEMS CLOSED LOOP CONTROLLERS OPEN LOOP CONTROLLERS ROTARY ACTUATORS LINEAR ACTUATORS Range of Mounting Plate Thickness 255 to 489 550 010 i 1 781 005 656 005
37. IDC Mlotor Open Loop 1200SC Controls 1 of 4 Linear Rotary Actuators DC motors with DIRECTION VELOCITY LIMIT INDICA TIONS JOG SLEW and MOTOR SELECTION controls Housed in a 4 x6 x3 slope front enclosure it has a conve nient 110 wall mount and 220vac table top power sup ply A built in Analog Velocity Servo with 20 1 speed range provides constant velocity within the servo window Avail able for 1616 through 3557 MicroMo or equivalent motors Unused channels are shorted to themselves to provide BEMF braking Internal Limits of Travel circuitry senses motor conditions with adjustable sensitivity and backs off offending Stall or Limit Computer version SCC permits PC s printer port to control and read most functions 1200 2 axis Joystick controls two Linear Rotary Ac tuators simultaneously with dual built in Analog Velocity Servos together with Stall Limit sensing electronics Housed in a 4 x6 x3 slope front enclosure it has SLOW FAST and LIMIT INDICATORS Computer version JC Hybrid The Hybrid controller combines open loop control with position display from encoder built into 1000 1100 2000 2100 1400 2400 Actuators LOOOINT family This family of controllers integrates separate controller functions into a single unit In contrast 1000MOD se ries is an assembly of modules 1000INT1 Single axis controller housed in 4 x6 x3 slope front enclosure with VELOCITY DIREC TION JOG and POSITION DISPLAY MULTIP
38. LIER and CLEAR functions Produces 10vdc Command Velocity Voltage for an external servo Limit handling senses STALLs and LIMITs OF TRAVEL from Linear Rotary Actuators 110vac wall mount or 220vac table top power supply LOOOINT2 Dual axis controller housed in a slope front 9 x6 x4 enclosure with independent controls and dis plays for 2 axes 1000INT Dual axis Joystick Controller with POSI TION DISPLAY housed in a slope font 9 x6 x4 enclosure 1000MOD family This modular 1000 series controllers mixes SPEED CON TROL POSITION DISPLAY and POSITION ENTRY modules for 1 to 3 axes into a single enclosure In contrast to 1000INT controllers functions can be easily added as requirements change While the basic unit is housed in an 8 x9 x3 enclosure the Position Entry Module adds a 2 x2 x9 module on top The Position Entry modules pro vides an elementary method of stopping motion when a programmable coordinate is reached The power supply is a 110vac wall mount or 220vac table top Order Description 1000M Mainframe 1000S Speed Controller 1000D Position Display 1000R Remote Control 1000EM Position Entry Mainframe 1000JM Joystick Speed Controller Closed Loop CONTROL2 General purpose microcomputer controller for up to 6 axes of DC motors with external servos and A QUAD B encoders An interface between computers and actuators the CONTROL2 has a library of more than 50 motion commands used over RS 232 or IEEE 488 com
39. LINEAR ACTUATORS Control2 Smartbox 1100 05 Linear Actuators Switching Module Vacuum compatible Dual Joysticks Custom Servo and Cabling gt 45 2 2 Nace ry s Custom 24 axis Linear Actuator Motion System IRONLESS CORE DC MOTOR STEPPING MOTOR Wi Diamond Motion Inc P O Box 1225 Port Angeles WA 98362 0227 USA 360 417 9791 Fax 360 417 9794 PRODUCT SUMMARY e ACTUATORS Quintel Corporation CONTROL3 Smartboard LINEAR 1000 family DG Motor 2000 family Stepping Motor 5 3000 family Brushless DC Mptor M ROTARY 1400 family Ironless core DG Motor CONTROLS 2400 family Stepping Motor DC MOTOR LINEAR SERVOS CONTROLLERS CLOSED LOOP HYBRID POSITION DISPLAY 1000INT Integrated 1000MOD Modular OPEN LOOP 1200SC Speed Controller 1200J Joystick TYPICAL USES Wherever you might have used a manual adjustment micrometer spindle you can substitute a motorized Linear Actuator for computer control of movement or precise remote manual control Point 91 sub mirrors in Primary Mirror Point a Photographic Camera Mirror APPARATUS HET Telescope COMPONENT 2200 1 AM1524 485 1100 05 1616 485 1000MOD 1100 05 1624 485 1200 05 1624 76ZB 1200 05 1616 262ZB 1200 1 1616 262ZB Control 1200J 1100 05 1616 1670 V 1000 2 2 1200 1 1724 3 71 Earth Res
40. NddO SYTTIOXYLINOD 4 2 5 3 d s N e E pau I E E E E e 3 E Jojowndwos e 3 E eAuQU E Is 3 E E E S I000c uasT10uUiNoo Z 610002 21 E E E 2 01 10002 4 E lt 10002 2 1epoou3 g qvno v 5371979 318V 5 I93NNOOI3LNI YOLVNLIV SWAISAS WOLSQD sel1es oocc dOOTN3idO 1epoou3 senes oo0lc 591195 0002 001 4 4350719 SYOLVNLIV TS Products Inc ACCESSORIES 51 SYOLVALIV AYVLOY SHOLWNLOV SYATIOULINOD 4001 4 5 o o o SMHATIOMNLNOO 0 5012 SWALISAS WOLSND ONIDIAd PRICING Motor Leadscrew driven emi LINEAR Page Price 1000 series Closed Open loop 1000 05 1000 1 1000 2 1000 4 1000 6 r EP m m 9 lt 1100 series Closed loop L18 L18 L18 L18 L18 L18 L18 L18 L18 3 1100 025 1100 05 1100 1 1100 2 1100 4 1100 6 1100 8 1100 10 1100 12 1200 series 1200 025 1200 05 1200 1 1200 2 1200 4 1200 6 1200 8 1200 10 1200 12 L22 L22 L22 L22 L22 L22 L22
41. TOM SYSTEMS CLOSED LOOP CONTROLLERS OPEN LOOP CONTROLLERS ROTARY ACTUATORS LINEAR ACTUATORS SWALSAS WOLSND SYATIOULNOD dOO T 5010 SYATIOYULNOD dOOT N3dO SHOLVNLOVAYVLOY SYOLVNLOV YVANIT Introduction HOW TO CHOOSE A GEARHEAD RATIO Closed Loop While examining the Motor Gearhead Selection Tables pick a ratio producing less than your desired resolution Check the maximum velocity for that gearhead You may have to compromise your initial specifications to select the best actuator for your application Be cause the motor has a fixed maximum power and encoder frequency you must juggle Velocity against Load Capacity against Resolution Open Loop Pick a ratio producing more than your desired thrust Check the maximum velocity You may have to compromise your original specifications to select the best fit for Velocity and Load Capacity HOW TO CHOOSE A MOTOR SIZE Brushed DC Motor If Load is not a significant problem there is only one reason for se lecting the 1616 motor increased Velocity Because the 1624 mo tor produces 4X torque compared to the 1616 it has 30 lower maximum velocity When Load Capacity is important pick the 1624 motor but expect it to move more slowly For even higher loads Motor Leadscrew driven consider the 1717 and 1724 motors the 16 7 gearhead can push up to 300 Ibs Brushless DC Motor Only one model available Stepping Motor Only one model available LOAD CARRYING CAP
42. UNS 2115 Max O D 339 005 EE of Mounting EE Thickness 092 to 326 NOMINAL 0 25 0 302 0 5 oso 1 1 030 4 030 8 030 12 ETa dS Q 5 5 M a 5 5 gt E i amp 3 i 5 5 00 1 SHOLVNLOV AYVLOY SHYOLVNLOV SYATIOYLNOOD dOOT N3dO SYATIOYLNOOD 01 4350120 SWALSAS WOLSND 1200 series DC Motor Leadscrew driven MOTOR GEARHEAD SELECTION TABLE 1616 or 1624 Motors amp 16 5 Gearheads 1200 Series Linear Actuator Leadscrew 40 00000 GEARHEAD RATIO 6 3 6 39683 11 8 11 86420 22 22 03351 41 40 86557 76 75 89319 141 140 75917 262 261 40989 485 484 83713 900 900 41181 1670 1669 99451 3101 3101 41837 5752 5752 20313 10683 10682 66295 19813 19813 14453 36796 86795 83984 68245 68245 27344 126741 126741 22210 235067 235067 04688 VELOCITY units sec MAXIMUM LOAD Ibs RESOLUTION 1616 Motor 1624 Motor Servo Stall Stall 1 65 65 13 50 10 mm 65 1 26 510 mils 20 390 mils 892 27 5 4 35 1 win 11 210 480 14 2 9 18 6 5 7 110 256 078 1 6 10 2 3 1 61 140 42 840 um 27 1 7 30 mils 12kgm 75 2 30 590 um 23 450 50 2 96 1 2 23 mils 90 18 23kgm 40 5 12 240 565 100 1 59 48 9 6 84 150 21 8 6 6 130 56 100 859 06 5 2 26kgm 45kgm 11 8
43. a 1 OD cylinder Eighteen different gearhead ratios provide a variety of thrusts velocities and resolutions In the 2000 series a non rotating nut moves along the screw and pushes a non rotating plunger In the 2100 2200 series the screw itself mates with a threaded Nosepiece and rotates as it protrudes from the cylinder Travels to 4 Thrusts to 100 lbs Velocities from 22 uin sec to 0 82 sec Resolutions from 2 nanoinches to 0 0002 Internal HOME sensor accurate to 10 End of Travel sensors with overtravel Adjusting Micrometer Replacement 2000 Series Closed loop operation Integral position encoder Non rotating plunger 2100 Series Closed loop operation Integral position encoder Rotating plunger Push Pull capability Short housing 2200 Series Open loop operation Rotating plunger Push Pull capability Shortest housing 2200 series Coordinate control without built in encoder ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS ACTUATOR PHYSICAL PARAMETERS 2100 SERIES Closed loop Nominal Weight Ounces 2200 SERIES Open loop Nominal Length Nominal Weight Operating Temperature Operating Air Pressure Operating Relative Humidity Inches 7 5 Ounces 8 2 0 to 95 Approximate to mounting surface Approximate 2 Order V Option TS Products Inc STEPPING 31 CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SYOLVNLOV HV3NIT SYOLVALIV AYVLOY SYATIOYINOD 4001 4
44. able Rubber 0 25 TRAVEL _ Strain Relief 3 088 025 Typ 060Typ 10 TRAVEL F 11 181 0 5 TRAVEL eee 8 TRAVEL 3 650 9 088 1 TRAVEL 6 TRAVEL 2 TRAVEL 16 5 SERIES Standard AVAILABLE See Ordering Information on Page 28 gt Q 5 3 m 5 gt i a 8 3 GEAR RATIOS TIR a SE 2 oO TRAVEL HIGHEST POSSIBLE GEARHEAD RATIO i 16 5 series PER MOTOR PER TRAVEL U 11 8 1 3101 1 a 221 TRAVEL 10688 s 1 AVERAGE WEIGHT BLUES EUN 262 1 TRAVEL 0 25 485 1 126741 1 02 10 9 c YVANIT SL 0 25 TRAVEL 990 010 2000 0005 SPH DIA SPHERICAL BUTTON 550 010 MOUNTING NUT 0 5 TO 12 TRAVEL 018 I 879 3918 Reverse Limit 656 i 50 010 216 40 UNS Th 2115 2000 0005 SPH DIA 339 005 990 010 a 375 40 0 5 2 LE of Mounting LE Thickness 550 010 258 to 492 MOUNTING NUT PRICING CUSTOM SYSTEMS CLOSED LOOP CONTROLLERS OPEN LOOP CONTROLLERS ROTARY ACTUATORS LINEAR ACTUATORS 375 40 UNS 2A 713 7918 Limit 490 7 1 010 216 40
45. and Pull up No dero Maximum Ve 290nm sec 75um sec Soy Bas Lemmen 5 5mm sec Pricing One price for all gear Variable pricing for OF 2 191 5 Philosophy head variations three velocity varia na 7 Design Detailed Drawings Engineering Dese cus Catalog Information Support tomer service Estimated 2 Probably available 3 Within one style all ratios Not applicable Not enough information to make a comparison H au gt Motor Leadscrew driven Introduction CONTENTS Introduction to Linear Actuators 1 9 1000 6 6 et 10 T20D SeNBS Stes bas bees 20 Stepping Motor 30 2000 series 32 2 100 5 gt onse ed eet etae 33 2200 serieS 34 Accessories urs ur kac eio ao rate b i a d 47 tumors 52 Warranty 54 5 SEY V4 LHA LLA PRICING CUSTOM SYSTEMS CLOSED LOOP CONTROLLERS OPEN LOOP CONTROLLERS ROTARY ACTUATORS LINEAR ACTUATORS TS Products Inc LINEAR 1 SWALSAS WOLSND SHQ3TIOHLNOO dOOT d4aSOTO 59311091409 dOOT N3dO SHOLVNLOVAYVLOY SYOLVNLOV YVANIT Introduction Motor Leadscrew driven INTRODUCTION TO LINEAR ACTUATORS Housed in a tube Linear Actuators produce linear movement by converting an electric motors rotation into translation throug
46. ase outputs from an A QUAD B encoder are for direction and position information Its magnetic construction assures high immu nity to induced EMI current at either TTL or CMOS levels LEADSCREW PITCH Most actuators are available with either 32 3885 or 40 TPI lead screws The first pitch produces an exact resolution of 0 1 um a common optical research standard through the 262 1 gearhead if using 2X encoder decode GEARHEAD RATIO Since the comparatively small motors have extremely high rotary velocity but low torque we gear them down to perform useful work The 15 5 and 16 5 gearheads are available in 18 different ratios pro ducing an incremental resolution from 50pm to at 4X encoder decode The 17 5 gearhead series has 14 different ratios to produce incremental resolutions from 27m to 4um Some gearheads are available in a zero backlash configuration that removes the 4 clear ance between drive gear teeth by preloading All Linear Actuators can be ordered with this number sequence Series Travel Motor Size Gearhead Ratio Leadscrew Pitch Options Example 1000 05 1616 485 32 SD V ACTUATOR TRAVEL rs rds OPTIONS SERIES Brushed DC 1000 Brushed DC 16 5 series for 32 No dash designator for OP Sensing Motor Conditions for 05 1616 bashed De 1816 32 2885 indicatos STANDARD zi 1624 or 1624 motor actuators NossiButtonandiaxialldiss 1000 o Closed loop 2 1717
47. ate and stop one or more stepping motors Its high level functions may include 1 Synchronization of multiple motors 2 Closed loop encoder management 3 Control or sensing of other machine events 4 Operator s console Controllers are available in the following con figurations 1 Stand alone or Computer interface with RS 232 and or IEEE 488 communica tions Examples 1 Centent Company 2 Compumotor 3 Motion Science Inc 2 Bus based IBM PC VME STD Examples 1 AMSI 2 Motion Engineering Inc 3 Motion Science Inc 4 nDrive 5 Precision MicroControl 3 PLC based STEPPING 43 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SHOLVNLOV AYVLOY SHYOLVWNLOV SYATIOYLNOOD dOOT N3dO SYATIOYLNOOD 5 SWALSAS WOLSND 2000 family Driver Drivers deliver electrical power to motor in response to signals from the Controller Typical signals are step pulses and direction level It contains the logic to drive motors in full step half step or microsteps Bipolar Recirculating Chopper Power Dumping not necessary because the motor inductance is small Examples 1 AMSI 2 Compumotor For low current motors controllers combine with drivers Desirable Features 1 Step selection Full Half Micro 2 Adjustable Microstep Current Pro files Sinusoidal Filled out Trimmed
48. ation Seagate Technology Lawrence Livermore Digital Instruments National Laboratory General Motors Power Trans Div Why use Motorized Linear Actuators instead of Manual Micrometers for Adjustment Remote control You just can t easily reach the knob Computer control Unattended simultaneous multi axis motion control e Velocity control Adjust the velocity profile to fit your requirement Total system consolidation Fully computerized instruments Leadscrew Pitch Error Compensation A look up table removes periodic pitch errors What Industries Use Motorized Linear Actuators Since automation is creeping into every industry and personal computers sit on every desk our customers cross many diverse fields e Semiconductor Manufacturing Equipment Medical Research Optical Laser Equipment Photographic camera pointing platform Satellites with optics Anyone adjusting a control arm Why use TS Products Linear Actuators Compared to other Suppliers of In line Motorized Actuators Large selection of 2 374 configurations 640 1000 series Ironless core DC Motor 1536 1100 and 1200 series Stepping Motor 90 2000 2100 2200 series High accuracy Leadscrew Internal limit of travel and HOME 0 5um runout over 4 Hall effect sensors with overtravel Long life mechanics e High thrust up to 300 Ibs with 1724 Dual anti rotation ta
49. b to prevent motor and 16 7 gearhead self induced sideload on the Diminished backlash option leadscrew One price for any gearhead ratio Zero thrust on gearhead output Custom modifications easy to get shaft at limits of travel PULL as well as PUSH with e Internal elastomer cushions at PPA Push Pull Adaptor ends of travel Vacuum compatibility to 10 Torr e Polished Nose Button short Knowledgeable Customer Service by radius long radius flat product designers e Mating Push Pads e Bellows option for leadscrew protection In Line Motor Low Thrust Side Mount Motor TS Products High Thrust Newport Klinger Industrial Devices Oriel Warner Electric Melles Griot Jordan Controls Physik Instrumente COMPARING THE COMPETITION In the table below we compare selected features of our Linear Actuators to five other suppliers Please verify competitors features Instruments FEATURE Newport Oriel ped Burleigh New Focus Klinger li i Similar in line con imilar in li oe Clever Piezo In line Motor Encod Similar in line Probably Ganged piezo Motor rotates struction er Leadscrew inside 1 construction electric washers screw by fric Rectangular PM500 A1 similar OD tube with glass scale in 0 75 tube move on rod tion Basic Construction Standard Micrometer Replacement Internal Limit of Travel Sen So
50. cement TS PRODUCTS INC 5550 2 North McGuire Road Post Falls ID 83854 6506 USA 208 777 2771 FAX 208 777 9307 SYOLVALIV AUVLOY SYOLWNLOV YVANIT 847 4001 4 SYATIOUINOD 5 SWA ISAS WOLSQD 2100 series Stepping Motor Leadscrew driven mum C O AA SECTION CONTENTS Stepping Mechanical Specifications 2000 series 32 2100 series 33 2200 5 34 Cabling 35 Ordering Information 36 Gearhead Selection Guide 37 Performance 38 Electrical Connection 39 Engineering Reference 40 HOME Sensing 40 Application Notes 42 Stepping Motor 42 ACCULAC ix ox idt 42 Resolution 43 Motor Controllers 43 44 Low Temperature 44 Z Vacuum Compatibility 44 Motor Comparison 45 se TS Products Inc 5 STEPPING 30 e Stepping Motor Leadscrew driven 2100 series WHAT IS A STEPPING MOTOR LINEAR ACTUATOR The 2000 family uses an Arsape Stepping Motor and leadscrew nut to convert the motor s rotation into linear movement up to 4 Stepping motors enable open loop coordi nate control without an encoder The 2000 2100 and 2200 series produce a controlled thrusting movement by moving a plunger in and out of one end of
51. ces in the mechanical system have been taken out and the force is again applied to the output Common methods to remove or reduce backlash when using Linear Actuators 1 Relatively high unidirectional load e Spring return of translation stages e Gravity Zero backlash gearheads ZB Option Motion control programming that always ap proaches the final coordinate in the same direc tion 4 Motion control programming that compensates for known backlash every time there s a switch in direction WN ZERO BACKLASH GEARHEAD 80 of backlash in the in line linear actuators is caused by the clearance of the teeth in the 15 5 and 16 5 gearhead s output drive gear The ZB option removes this major contributor The Zero Backlash Gearhead contains two parallel stacks of spur gears in one package with a com mon attachment to both the output and motor drive gear Prior to joining with the motor one gear stack is advanced until all the tooth clearance at the output gear is consumed Now it is joined to the motor s drive gear and the gearhead gener ated backlash is canceled This preloading in creases friction and diminishes lifetime slightly BACKLASH Gearhead Style Zero Backlash 2 1 um LINEAR 7 PRICING CUSTOM SYSTEMS CLOSED LOOP CONTROLLERS OPEN LOOP CONTROLLERS ROTARY ACTUATORS LINEAR ACTUATORS SNWALSAS WOLSND SYATIOULNOD 40010180120 SYATIOYULNOD dOOT N3dO SHOLVNLOVAYVLOY SYOLVNLOV YVANIT Intr
52. controller through DE 9P connectors MicroMo 1016 2233 motors use 1 18v max version with National s uA759 Power Amplifier SER3000 3557 Super motors use the 5 amp 40v max continuous or 10 amp intermittent version SER3010 with Burr Brown s OPA541 Stepping Motor 2000 family of Stepping Motor products can be controlled by standard Stepping Motor Drivers and Controllers We recommend AMSI for low cost entry level or Drive for advanced control CUSTOM MOTION SYSTEMS Imagine for a moment that you need a custom motion subsystem It must handle or assist in a production as sembly alignment task The motion must be compact smooth fast time dependent and high resolution The transport mechanism must fit around existing equip ment and carry your load with a 100 duty cycle In addition to collecting data your existing PC IBM HP MAC must initialize the motion and monitor perfor Hire TS Products to take full responsibility for your motion subsystem Specification Write custom SOFTWARE for our computer Document the final configuration INSTALL Select the best hare and Translation stages RAIN e Rotary tables Motion Controllers We assume the Linear Actuators RESPONSIBILITY Large and small motors DIAMOND MOTION P O Box 1225 Port Angeles WA 98362 0227 USA 360 417 9791 Fax 360 417 9794 Written Motion Wao Cabling
53. e Acceleration No Load Velocit Stall Torque Holding Torque Detent Friction Operating Temperature Rotor Inertia Resonance Conceptual Position Control Actual Position Control Noise Noticeable Smoothness Jerky Apparent Acceleration Loss of Position Package Size Magnetic Material 1 hours Krads sec Maximum No Load 5000 130 266 F maximum 20 C to 45 C 4 F to 113 F Hz 120 Mechanical Power watts 1 55 1 5 2 2 Difficult Difficult Zero cogging STEPPING IRONLESS CORE DC _ 2000 5000 2000 5000 71 6 30 C to 100 C 22 F to 212 F None Silent Silent Zero cogging Possible if open loop 15mm OD 16mm OD 17mm OD 24mm Length 24mm Length 24mm Length Samarium Cobalt Samarium Cobalt 3 12 Limited by bearings 2 Limited by brush life Comparative Comments Smoothness Noise Important for mechanical set ups where external vibration will cause resonance and take time to dampen out Laboratory technicians know that pumping mechanical energy adversely affects microscopes and other high magnification devices In particular RESONANCE would be a disaster if the motor remained at resonance Obvious ramp up and ramp down audio characteristic of stepping mo tors lronless core DC motors have almost no noise The spur gearheads have some noise TS Products Inc 4 Detent Inertia Temperature
54. e required Operating Environment To produce actuator resolution comparable with Hall effect Switch accuracy we make the following practical suggestions Air temperature within 5 Variable Biasing from Stray Magnetic Fields Although the external magnetic fields may not be strong enough to trip the sensor any field will move the trip point 6 Mechanical Vibration and Distortion Although the actuator housing is mechanically robust you can easily experience HOME position errors while the housing flexes under an external driving mechanical vibration Switch Accuracy With all factors being stable the Hall Effect Switch repeats within 10 0 4 other error sources can often be an order of magnitude larger STEPPING 41 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SYOLVNLOV HV3NIT SHOLVNLOV AHVLOH SYATIOYLNOOD dOOT N3dO SYATIOYLNOOD 01 435012 SWALSAS WOLSND 2000 family Stepping Motor Leadscrew driven APPLICATION NOTES STEPPING MOTOR RECOMMENDATIONS Theory of Operation Arsape recommends no more than 4x micro The AM1524 24 A 0 25 12 5 Stepping Motor has two phases and operates best from bipolar drivers Its winding resistance is a low 12 5 ohms for continuous current operation not exceeding 0 25A for both phases ON simultaneously During half stepping the single phase ON can be 0 35A without damag
55. e to the motor under normal conditions MicroStepping In single phase FULL STEP operation an opposing pair of magnetic rotor teeth line up with the ener gized stator electro magnets To control a stepping motor in FULL STEP mode the adjacent pair of electromagnets is energized to attract the rotor teeth stepping Because of the exact mechanical structure of the AM1524 motor you cannot realize the assumed increased positioning accuracy We have tested the motor at Full Step Half Step 2x 4x 8x and 16x micro stepping with satisfactory results POSITIONING ACCURACY Ranked from Most Important Leadscrew Pitch 400 max to anew FULL STEP position In dual phase FULL Irregularity 5um STEP operation all stator poles are active and of The nominal lead the correct magnetic polarity to cause rotation and screw has a peak to maximum torque peak wobble equiva lent to 10um of linear In HALF STEP operation the phases alternate distance between both ON and only one ON To provide constant torque with only one phase ON motor Thermal I5yuin C average drivers often raise the current by 50 Expansion Thruster In microstepping operation the electromagnets are not fully switched Instead the magnetic strength is less than full thus causing the rotor to balance Reverse Limit 25yin C per 1 of ex posed leadscrew 15 C per 1 of travel somewhere between the stator poles The accuracy Forward L
56. for 1100 1200 series Linear Actuators Choosing a MOTOR GEARHEAD Combination for a certain TRAVEL The actuator s housing is a fixed length for a given travel For example a 0 5 travel 1200 series with1624 motor and we often make custom modifications 900 1 gearhead will fit into a 1 housing Motors and gearheads vary in length more powerful motors and higher ratio gearheads have longer length HIGHER GEARHEAD RATIOS No matter what torque is available from the motor gear Space is required for internal cable s service loop Therefore each TRAVEL has a maximum gearhead ratio head combination we limit the permissible maximum thrust to 100 Ibs for the 16 5 gearhead Higher thrust will either damage individual gear teeth the spur gear support rods or severely reduce component lifetime Since higher for a particular motor as shown on pages 12 18 and 22 If you desire a combination beyond the limitation you must use 1 A smaller motor goar ratios easily convert small motor torque into high 2 The next longer housing 3 Cable side discharge SD without internal cable s service loop thrust exceeding 100 Ibs there is no reason to use the more powerful but longer and slower 1624 motor since the 100 Ib threshold has been already exceeded 16 7 gear heads restricted to 300 Ibs TS Products Inc LINEAR 28 PRECISION STEPPING MINIATURE MOTOR LINEAR ACTUATORS 2000 Family Micromg 22 Repla
57. h a precision lead screw and nut Competing technologies similarly housed in a tube include Pneumatic cylinder Voice coil Piezoelectric stack As usual each technology has its own strengths and weaknesses Price Step counting Maximum Thrust lbs MECHANICAL OVERVIEW To produce the linear movement a 2 OD Thruster protrudes on axis from a nominal 1 OD housing in standard actuators Depending on the model the Thruster may be rotating or non rotating and push up to 300 165 Ironless core brushed DC brushless DC or stepping motors power the actuators Brushed DC motors feature Precious metal brushes 3 28 vdc ironless core armature Stepping motors feature 2 phases units sec 29 18 27 17 56nm 21mm 46rim 17mm 5 9 Maximum Velocity Range Pseudo resolution compared to closed loop 24 steps rev Q Maximum 0 25 phase current ios DM These high speed motors rotate a leadscrew through a spur gear or planetary gear reducer In the 1100 5 o 55 5 E 5s 1200 2100 and 2200 series the leadscrew itself is 5 5 2 5 the thruster and protrudes through a threaded Nose pes Mounting They can provide pull and also push with the Push Pull Adaptor PPA option In contrast the o Lu
58. imit 3uin C independent of microstepping is a function of field strength 25 travel repeatability as well as uniformity of the electro magnets Dropping Steps If the external load is too high for either starting velocity acceleration rate motor current or running velocity the motor can fail to take a step After the step failure its new position will be in error by multiple rotor teeth positions or 4 Full Steps for each tooth STEPPING 42 Mechanical Distortion Gear Eccentricity External forces on the actuator housing cause deformations and metal compression a function of force am plitude and direction Unknown but finite eccentricity TS Products Inc Stepping Motor Leadscrew driven POSITIONING RESOLUTION Resolution relates to the number of steps per linear distance It represents the minimum controllable movement and is a function of leadscrew pitch gearhead ratio and the motor steps per revolution It is not a measure of absolute accuracy In the best of conditions the actuator is repeatable within the resolution However thermal drift backlash and load variations influence repeatabil ity Setting Up the Motor Driving Parameters Winding Current 925 Two phases ON simultaneously One phase ON The principal concern with excessive motor current is a temperature rise in the motor wind ings High temperature will burn off insulation causing winding shorts and distort the ro
59. ing Controller functioning within the operating limits of the Actuator When using controllers purchased from TS Products the war ranty is not limited since we warranty the total mo tion system Limit of Travel Actuator products depend on the Controller and or Servo to appropriately stop the motor While the 2000 family has built in Hall effect sensors to detect the limit of travel the 1000 family has no sensors it relies on external electronics to monitor motor current under a feed back arrangement to infer a limit of travel In ther case the Actuator does not stop itself Motor Current Both DC motor and Step ping motor Actuators with relatively high gear ra tios can easily produce high thrusts These thrusts will damage gearhead teeth if the motor current is not deliberately limited In addition both styles of motors will be damaged from high temperatures due to high current flow through the motor wind ings Neither the actuator nor the Analog Velocity Servo are self protecting MODIFICATIONS No modifications are permitted without prior writ ten approval SUMMARY When operating from non TS Products Controllers and Servos both the 1000 and 2000 family of ac tuators are guaranteed against defects in materials and workmanship for one 1 year from delivery only for the following defects WARRANTY 54 1 Bond failure between gearhead out put shaft and leadscrew 2 Minimum travel thrust maximum no load vel
60. ive 235 067 1 depending on space WASHER shaft to insure Nose Button straightness and good dynam ics REVERSE e Teflon or rubber donut depend gearhead from rotating and pre STOP ing on Actuator velocity pro vents choking sideloads created CUSHION duces a soft stop HOUSING lt 1 O D black anodized body unanodized for vacuum compati bility rotary motion into linear move CABLE Thin disk keeps motor cable ment bonded to gearhead out SCRAPER from getting stuck put shaft with Loctite adhesive Ln rated at 65 F to 300 F tempera CABLE 1 8 cable coil with 2 conds o ENDCAP e Closes up the actuator and pro this rotating piece stops forward vides strain relief for the cable going to the servo CABLE Rubber sheath decreases the STRAIN possibility of damaging the Ca RELIEF ble by bending MOUNTING Nut with 0 55 O D secures the NUT actuator onto its mounting sur for Driveshaft Outer mounting threads 40 UNC face I D has 40 UNC threads LINEAR 21 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING YVAN ONIOIHd SWALSAS WOLSND 593 dOOT G3SO IO SYATIOULNOO SHOLVNLOVAYVLOY SYOLVNLOV HV3NIT 990 010 F 15 369 025 Typ ie 060 Typ 020 42 TRAVEL 2 010 7 042 5 5 00 1 Bend
61. leadscrew through a look up table Because of the prohibitive cost of a more accurate Error analysis by laser interferometer shows that our leadscrews have maximum peak to peak pitch errors ranging from 0 5 um to 5 um over 4 travel leadscrew one method for improving absolute accuracy is to use a computer look up table With a look up table you must have a repeatable start ing point a HOME point Fortunately the 2000 family has built in Hall effect sensors for both the Forward and Reverse limit You can use either sensor as the HOME sensor repeatable to at least 10 0 25 Another accuracy improvement method is eral A QUAD B external linear encoder such as a glass scale TS Products will supply leadscrew calibration by laser interferometer as an option RESOLUTION Resolution is the smallest incremental distance represented by one step or encoder count Resolu tion does not relate to absolute accuracy How ever during leadscrew calibration the resolution governs the sample interval of the data TS Products Inc Introduction BACKLASH Backlash is present in most all mechanical sys tems although it might be too small to be per ceived We define backlash as the absence of phy sical movement when the direction is first re versed Clearances between moving internal parts cause the backlash but also permit smooth opera tion There is no resultant motion until all the tol eran
62. ly Diamond Motion Inc P O Box 1225 Port Angeles WA 98362 0227 USA 360 417 9791 Fax 360 417 9794 SYOLVNLOV HV3NIT SHOLVNLOV AHVLOH SYATIOYLNOOD 0 SYATIOYLNOOD 01 435010 SWALSAS WOLSND 1000 series SECTION CONTENTS 1000 family 1000 series 10 1100 series 16 1200 series 20 1000 series Linear Actuators These high quality actuators directly replace micrometer heads in micro motion applications with a typical resolution of 0 05um With built in magnetic A QUAD B position encoder for closed loop positing applications the 1000 series are available in 32 resolution velocity variations 4 travels and 3 load categories Its principal feature is a non rotating thruster that pushes against an external return force Formed in a 1 OD housing this actuator is rug Major Features Non rotating thruster Built in position encoder Travels of 12 1 2 4 Thrusts up to 300 16 Maximum velocity up to 18 mm sec Resolutions down to 2 2 nin 56 pm Expected minimum absolute accuracy 2 um in Internal limit of travel torque sensing through Analog Velocity Servo Vacuum compatibility option Axial or side cable discharge LINEAR 10 DC Motor Leadscrew driven ged enough to withstand an accidental drop on the floor Quiet and sealed from external moisture and dust contamination the 1000 series can perform directly exposed to harsh weather
63. motor s tendency is to not move Although a simple battery will move a brush ed DC motor only complex electronics will move a stepping motor Attitude of Being INCONTROL Each step is the result of a deliberate electronic event In contrast the brushed DC motor only needs a voltage source to run In a closed loop environment instead of thinking GO TO HERE you ask a DC motor WHERE ARE YOU In DC controllers the encoder counts main tain either a hardware or software position counter Stepping controllers issue timed pulses to a driver that produces the complex switching to move the motor Resume Running after Stall 0 20 A stepping motor can lose step synchronism easily if the load increases beyond the operating window for the current velocity or acceleration If the time is long enough the motor will stall until the motion sequence starts again Even if it is operating with an encoder in closed loop fashion the motor will stall The controller must handle this error condition and restart the motion toward the final coordinate In comparison the DC motor brushless or brushed will continue to try to move in the face of adversity Although it may slow down it will resume running nor mally after removing the offending load However closed loop environment with digital velocity servoing the controller may sense a following error and terminate the motion Sensitive to Acceleration Stepping motors will
64. mu nications busses concurrently Fundamental movement is closed loop trapezoidal with automatic backlash compensa tion Housed in an 8 x10 x16 enclosure CONTROL2 has a programmable built in front panel joystick jog slew but tons and activity and limit indicators as well as a built in power supply Motion programs can be executed from inter nal battery backed up memory Extensive I O controls and reads external events 2 10 11 board set designed for OEM environments with multiple quantities CONTROL3 can control system functions as well as provide closed loop posi tion of up to 32 axes A REMOTE PANEL permits operator interface for position display and Menu Tree commands functions Custom programming for each application draws on library of motion control functions Set up programming typically necessary to match environment Servo SER3000 Principally for ironless core DC motors the SER3000 series Velocity Servos are balanced bridge type for fast response dynamic braking low EMI and abso lutely no acoustic noise Sensing the motor s BEMF vides feedback for constant programmable motor velocity independent of load At rest the servo resists external forces Weighing less than 2 oz the 1 7 x3 7 PCB mounts into a 2 x4 x1 Vero box A built in 10 pin ribbon cable connector accepts standard MicroMo connectors for motors with HE encoders Normal connection to motor is made through 8 pin MiniDIN and to
65. ncoder Cable length variation Increased thrust capacity Adjustable thrust limit Leadscrew error calibration Custom Nose Button LINEAR 16 TS Products Inc eo DC Motor Leadscrew driven 1100 series MECHANICAL PARTS DESCRIPTION MOTOR ENCODER GEARHEAD DRIVE SHAFT FORWARD STOP Stop Shaft Extension Ers Products Inc MicroMo 1616 1624 1717 or 1724 motor with armature voltage ranging from 3 24 volts 17 000 RPM maximum velocity MicroMo HE15 Magnetic Encoder with 60 counts at 4X decode provides position information MicroMo 16 5 or 16 7 Gearhead with ratios from 3 71 1 to 235 067 1 depending on space available see charts Double tabbed key holds the gear head from rotating and prevents choking sideloads created by single tabbed designs Precision rolled ground stainless steel with either 32 3885 TPI or 40 0000 TPI pitch converts rotary motion into linear movement bonded onto gearhead output shaft with Loctite adhesive rated at 65 F to 300 F temperature range Rigidly fixed on the Driveshaft this rotating piece stops all forward motion when it touches the Nose Mounting FORWARD CUSHION NOSE MOUNTING NOSE BUTTON BUTTON WASHER REVERSE STOP CUSHION HOUSING CABLE
66. ng Arsape Motor AM1524 A 0 25 12 5 Winding A Mechanical Coupling FORWARD Viewing pins from the front Function Sensor Supply Sensor Return Motor Phase A Motor Phase A Motor Phase B Motor Phase B Encoder Phase A Encoder Phase B Forward Limit Sensor Reverse Limit Sensor Encoder Ratum ncoder Supply NC NC NC NOTE The wiring schematics shown on this page represent e 2000 x AM1524 76 and 2200 1524 262 only Other gearhead ratios and actu ator styles have modified wiring to produce identical thruster movement for the same control ler sequence 2000 family 2200 Series MiniDIN 8 pin Hall effect Switch Allegro A3122 Limit Home Sensor Digital Ground Function Motor Phase A Motor Phase A Motor Phase B Motor Phase B Sensor Supply Sensor Return Forward Limit Sensor Reverse Limit Sensor Circuit Winding Hall effect Switch Allegro A3122 Winding A Hall effect Sensor Supply 4 5vde to 24vde MiniDIN8P STEPPING MOTOR CONTROLLER with A QUAD B Encoder Handling 250mA running max I 100mA holding max I gt staan lt Looking directly at the sockets DA15S ELECTRICAL PARAMETERS Phase resistance Phase inductance 1Kz Nominal 2 phase current HALL EFFECT HOME LIMIT SENSORS Open collector Active
67. nks analog RECOMMENDATIONS Brushed DC Stepping BLDC 1000 family 2000 family 3000 series Condition Equipment sensitive to vibration optics interferometry pattern generation Long life at maximum conditions Vacuum environment Ultra fast starting and stopping response Zero EMI Low thermal emissions Interface to standard board level controllers for table top PCs Low electrical power consumption Low acoustical noise Open loop position control Run away protection from secondary compo nent failure High accuracy under load Repeatable HOME sensor 151551 lt A SS SISS 1 Brushless DC motor only available in semi custom high thrust 2 OD Linear Actuator versio Check availability of built in Hall effect Limit of Travel sensors for 1000 fami LINEAR 6 TS Products Inc Motor Leadscrew driven LEADSCREW ACCURACY A Linear Actuator s absolute accuracy is first a function of the leadscrew s pitch accuracy Even though the gearhead encoder combination may produce a large number of counts per leadscrew revolution absolute position directly relates to pitch accuracy The leadscrew is fabricated by single point cutting on a CNC lathe in a temperature regulated envi ronment It is lapped to produce a fine surface and mated to its Nose Mounting or Nut However this lapping does little to compensate for pitch errors We calibrate the lathe with a laser and control its
68. nts and step sizes MAXIMUM LOAD Supported in Power OFF Condition comparing 2000 family with 1000 family Linear Actuators Only applies during severe multi G vibration Under normal static conditions internal friction always exceeds external force thus preventing all spurious movement for both stepping and DC motors STEPPING 38 FULL STEP SLEWING STEPPING ACTION MAXIMUM LOAD Ibs Continuous Maximum Current Intermiftent Maximum Current Suggested Operating Region 5 Es o o 500 MOTOR CURRENT mA HALF STEP SLEWING STEPPING ACTION a MAXIMUM LOAD Ibs w 100 250 Suggested Operating Region MAXIMUM LOAD Ibs 870 steps sce 2000 steps sec 3000 steps sec 400 0 steps sec 5000 steps sec 500 MOTOR CURRENT mA Full step 500 y Full step 250mA Ny Full step 100 r LN M Half step 500mA Half step 250mA Half step 100mA LOAD SUPPORT Power OFF Comparing DC to Stepping Motor LOAD lbs Maximum Load 6 3 11 8 22 41 76 141 262 485 900 1670 3101 5752 10683 19813 36796 68245 126741 235067 GEARHEAD RATIO NOTE Proportionally scale performance data by gear ratio for other actuators TS Products Inc Stepping Motor Leadscrew driven 2000 2100 Series Circuit 78 e e o 9 10 11 12 13 14 15 Subminiature DA 15P 40v Windi
69. ocity 3 Housing defects 4 Cabling defects and When operating from TS Products Control lers Servos our warranty is almost unlimited ex cept that we do not guarantee that our products will function in the customer s particular system to the customer s expectation or satisfaction We only warranty that our products will function as ex pressly specified in the particular Operator s Man ual in effect at time of delivery TS Products is not liable for any customer assumptions of other per formance specifications except those agreed to in writing by TS Products We do not have a Return for Refund policy due to the custom nature of each product WARRANTY STATEMENT For 1 year after delivery TS Products Will either repair or replace on its option the defective component if returned to the factory in Arleta CA This warranty shall not apply to defects resulting from improper maintenance misuse as des cribed above nor unapproved modifica tions Warranty is limited to cost of the defective component and in no way can it be construed to cover damage to any external subsystem or component pen alties on customer for late delivery or customer supplied components Obtain a Return Material Authorization RMA number from TS Product prior to ship ping defective component to factory No warranty repairs will be made on equip ment if original purchase payment is past due TS Products CONTROLLER SUMMARY
70. oduction BACKLASH CONSTANT While backlash is never a constant because of ec centricities in the individual gears as well as irreg ularities in guidance slots the following table is the expected nominal backlash The best method for determining maximum backlash is to perform a physical experiment Motor Leadscrew driven BACKLASH RESPONSE KNEE At the relatively fine dimensions of linear actua tors with high gear ratios the knee of the response curve is not sharp As the backlash begins to be picked up the physical movement for each resolu tion element is less than expected Eventually the movement matches the resolution and the actuator responds linearly again EXPECTED BACKLASH v 1100 series 60 count Encoder 2200 series 24 full steps rev EQUIVALENT STEPS Vr Hm enm 005 182 Etica OUNTS mu 20pm o an E 11 id 1 262 1 Zero backlash Gearhead Option is only available up through the 3101 1 gear ratio SIDELOAD Sideload on the extended Thruster will increase internal friction and reduce available thrust dra matically When rotating a tangent arm with a lin ear actuator sideload becomes a significant factor influencing the thrusting force As a rule of thumb limit the sideload to a maximum of 5 155 LINEAR 8 TS Products Inc PRECISION lroniess Core MINIATURE DC Motor LINEAR ACTUATORS 1000 Fami
71. of heat the motor itself can pro duce distortions as the actuator temperature ad vances toward equilibrium For example on a 2200 1 Linear Actuator Simply holding an actuator in your hand can cause 1 2 mil change in limit position This can easily be 80 full steps of the motor Quick temperature changes can expand contract housing by 1 2 mils 1 Attaching to a cold plate 2 Holding in a warm hand 3 Contacting a work surface TS Products Inc Stepping Motor Leadscrew driven Typical Experimental Data Initial Conditions Temperature 70 F 10 F 21 5 Actuator style 2200 01 AM1524 41 Microstepping 8x Change 10 F room warm up over 30 minutes Result Moved REVERSE sensors effective position by 700 pin 17 8 um Change Holding in hand Result FORWARD LIMIT 200 pin REVERSE LIMIT 1500 2 Hall effect Switch Temperature Sensitivity The 2000 family Linear Actuators use the Allegro Model 3122 Hall Effect Switch Its operating point can vary 5 3 Losing Step Synchronism under Excessive Load Typical of all stepping mo tors if the external load exceeds the thrust capacity of the Linear Actuator the motor will lose position by 4 step multiples Under these conditions HOME is not repeatable Laminar air flow 4 Microstep Inaccuracy Under Load Microstepping motor drivers vary the magnetic stator pole strengths to balance the rotor teeth somewhere between the cardinal
72. of travel sensing and backing off the limit Typical Customizing Shorter housing Non standard travels such as 0 6 Thruster length variation Cable length variation Increased thrust capacity Adjustable thrust limit Custom Nose Button TS Products Inc sme DC Motor Leadscrew driven T MECHANICAL PARTS DESCRIPTION MOTOR GEARHEAD DRIVESHAFT FORWARD STOP Stop Shaft Extension FORWARD STOP CUSHION NOSE MOUNTING TS Products Inc RPM maximum velocity MicroMo 16 5 16 7 Gearhead with ratios from 3 71 1 to available Double tabbed key holds the by single tabbed designs Precision ground stainless steel with either 32 3885 TPI or 40 0000 TPI pitch converts ture range Rigidly fixed on the Driveshaft motion when it runs into the Nose Mounting e Teflon or rubber donut produces smooth soft stops e Stationary phosphor bronze nut 1200 series mS EY cu ee tee 1 3 d 7t 1 MicroMo 1616 1624 1717 or NOSE e Rotating stainless steel hemi 1724 motor with armature voltage BUTTON sphere 200 Dia contacts ob ranging from 3 24 volts 17 000 ject being pushed also acts as a Reverse stop Polished hard ened by heat treatment o NOSE e Provides metal to metal contact BUTTON between Nose Button and Dr
73. on Supports bearing outer race Supports bearing inner race Contacts outer bearing race and sup ports Reverse Stop Cushion DRIVENUT DOG POINT SET SCREWS REVERSE STOP CUSHION PUSH ROD FORWARD STOP FORWARD STOP CUSHION NOSE BEARING MOUNTING NUT HOUSING COUPLER MOTOR HOUSING END CAP ACTUATOR CABLE 1000 series Phosphor bronze nut moves linearly as Driveshaft rotates to produce motion Rides in mating slot in Drivenut to pre vent rotation during linear motion Rubber O ring provides soft stop for Drivenut at Reverse End of Travel Non rotating stainless steel rod provides linear thrust to object being pushed polished hardened by heat treatment 0 1875 spherical dia tip Force fit onto Push Rod provides For ward Limit of Travel Elastomer cushion provides FORWARD Limit of Travel soft Precision cylinder bearing is force fit to Housing Lapped to Push Rod for smo oth low jitter thrusting movement 0 55 OD secures actuator to mounting plate ID 3 8 40 UNC lt 1 OD black anodized tube Vacuum compatible Housing is unanodized Joins Motor Housing to Housing Covers Motor Gearhead Encoder Closes Motor Housing and provides strain relief for cable 1 8 OD cable with 7 conductors LINEAR 11 OPEN LOOP CONTROLLERS ROTARY ACTUATORS LINEAR ACTUATORS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING YVANIT ONIOIHd SWALSAS WOLSND 593 dOOT
74. on is how long do they last While the motor manufacturer conservatively specifies the brushes for 1000 hours at maximum conditions we anticipate 2000 5000 hours In stepping and brushless DC motors the bearings should last for 50 000 hours High inertia Since they have no moving magnets only brushed ironless core DC motors can exhibit ultra low rotor inertia In contrast both the stepping and brushless DC motors have moving permanent magnets This in creased mass invariably results in slower starts and stops when compared to ironless core DC motors with identical magnetic materials However the effects of higher inertia are effectively negated by high strength samarium cobalt rotor magnets in the stepping motor LINEAR 5 PRICING CUSTOM SYSTEMS CLOSED LOOP CONTROLLERS OPEN LOOP CONTROLLERS ROTARY ACTUATORS LINEAR ACTUATORS SWALSAS WOLSND SYATIOULNOD dOO THHSO TO SYATIOULNOD dOOT N3dO SHOLVNLOVAYVLOY SYOLVNLOV YVANIT Introduction lnaccuracy under load In unloaded condition stepping motor s accuracy is 3 of full step or 27 arc minutes Under load accuracy is further decreased an arc minute for every load change equivalent to 1 of the motor s rated torque Since stepper holds position by balanced magnetic fields addi Motor Leadscrew driven wC tional force always causes position distortion In contrast the closed loop DC motor has no errors introduced by loading variations However
75. onship STEPPING MOTOR DRIVING SEQUENCE Direction PHASE POLARITY through mn Direction Switching MEL Zu FORWARD Protruding Thruster REVERSE Retracting Thruster Conventional current flowing current flowing from Pin1 to Pin2 on 1 to Pin2 MiniDIN8P see page 39 5 Conventional current flowing from Pin3 to Pin4 MiniDIN8P see page A 3 All actuators and gearhead ratios produce identical Thruster movement direction CURRENT LIMITED OPERATION The Arsape motor is designed to operate in CURRENT MODE torque is produced by supplying varying amounts of current at voltages less than 500 vdc Since you control the amount of current to the motor and therefore its output torque there is a danger of causing 15 5 MAX CUR 15 5 MAX MAX mechanical damage to gearheads with high ratios We recommend limiting the current to produce no more than 100 16 of thrust In addition to a maximum current of 250 mA the following table shows the recommended maximum current for each gearhead ratio 15 5GEAR MAX GEARHEAD LOAD RENT GEARHEAD LOAD CURRENT Jen pari LOAD CURRENT RATIO Ibs mA RATIO Ibs mA Ibs 100 169 10683 100 100 2 22 100 1 EIUS 100 0649 100 0 349 Low be 5752 239067 100 oie STEPPING 46 TS Products Inc DC MOTOR amp STEPPING MOTOR LINEAR ACTUATOR
76. ources Satellite Position a Silicon Wafer Q6000 Photomask Aligner Optical Table with Mirror Position a Pressure Proximity Sensor Robotic End Effector Position an Atomic Force Microscope Probe Vertical Slide above sample 1100 05 1616 4857 1000 05 1624 262 1100 2 1624 11 8 Control2 4 1200 025 1616 262 1200JC Position an Optical Fiber in a production environment prior to final potting Stacked X Y Z Slides 05 1624 76 1100 1 1624 22 1100 2 1624 11 8 1100 4 1624 6 3 1100 4 1624 22 1400 1616 262 Control2 4 Control2 6 1100 025 1616 76 Position a Hybrid Memory Module in a prototype assembly laboratory under computer control Translation slides and rotating shaft Rotate a Silicon Wafer Rotate chuck tangent arm Crossed roller slide under a grinding wheel in a wet environment Position a Disk Head Wafer for dicing 1000 1 1616 3101 Control2 2 1100 05 1624 19813ZB Move a Sample Scanning Electron 1100 1 1616 31012B at an ultra slow velocity Microscope 1000INT Tangent arm rotating a Adjust a Valve a Test Motor cantes Shaft 2200 1 AM1524 41 Santa Barbara Research Center 1100 025 1616 141 1100 CUSTOMER Univ of Texas Santa Barbara Research Center Quintel Corporation United Technologies Optical Systems Hobart Laser 3M Corporation Fiber Optics Division Texas Instruments Etec Corpor
77. rs 1000 family custom e 850 860 No e 2000 family std e PM500 A1 Principal Attributes Large selection Custom Modifications e Rugged Open and closed loop OEM quantity discounts e Fast delivery Knowledgeable Customer Support Small package High resolution e Laser mirror positioning Zero backlash High resolution Higher absolute Smaller OD Open and closed loop Open amp closed loop Positive Attributes accuracy Zero backlash Less thrust Weak motor Limited selection Weaker internal con Open loop un certainty Open loop uncer Negative struction Self constrict tainty Low thrust Attributes custom modifis lt ile High acoustic noise Repeatability gle Low thrust Acoustic No OEM or quantity construction noise discounts Variations Variations Available 10 Torr V Option gt 32 3 71 235 067 1 Vacuum Compatibility 10 Torr 10 Torr Three 11 8 262 1670 1 Gear Ratios na Motor Four lronless core Tuc One Styles e Stepping m na e Brushless DC DC Travels 14 12 Ve 4 0 05um std Resolution 79 7 5 0 55um Maximum 300 Ibs 100 Ibs 2 Thrust Limit Push
78. s Hemispherical Short Radius Hemispherical Long Radius Conical Short Radius Conical Long Radius Flat LEADSCREW Options 2000 2100 2200 32 T T 32 3885 40 T T 40 0000 Not all combinations of motor gearhead ratio and travel are possible in the standard unmodified housing Please see selection guidance charts on the pages of mechanical drawings TS Products Inc 5 e Stepping Motor Leadscrew driven 2000 fami ly GEARHEAD RATIO SELECTION TABLE RESOLUTION GEARHEAD RATIO OPEN LOOP CLOSED LOOP 15 5 24 full steps rev 15 count encoder 4X nominal 32 3885 40 0000 TPI 32 3885 40 0000 actual 2000 2100 21003 2200 2000 2100 2100 mA 2000 2100 2100 2200 2000 2100 2100 2200 6 5 11 um 1 65 20 4 20 8 mm sec 16 9 mm sec 6 39683 201 1 1 65 1 uin 500 4 820 mils sec 664 mils sec 100 1 2 7 8 9 0 11 86420 108 4 250 p 500 2 1 4 1 20 593 nm 480 4 40 86557 7 75 89319 141 140 75917 2 4 6 7 MAXIMUM VELOCITY LOAD 4000 fsps 250m lbs 553 dis zmzco o gt 2 04 um in 80 4 Ow 2 23 87 8 ON 437 os ROTARY ACTUATORS LINEAR ACTUATORS A wL 648 320 25 5 12 6 KO ov 2g oio r2 53 A 348 13 7 68 o 2 940 um sec 762 um sec 37 mils sec
79. s 1670 2100 B1 1 travel Shorter housin 79 2 2 travel Rotating 025 11 8 3101 40 x 22 5752 40 0000 TPI for NB Nose Button 1200 05 Stepping actuators NB1 Short radius std Shortest housing 1 1524 41 710683 NB2 Long radius Rotating thruster 2 76 19813 NB3 4 141 36796 Stepp HR effect Limit of 6 262 68245 2100 PPA Push Pull Adaptor Travel Sensors 8 485 126741 2200 PP Push Pad 2000 e Closed loop 10 900 235067 PP1 Hemispherical short ra Non rotating 12 dius thruster 2 14 16 7 series for PP2 Conical short radius Robust enclosed brushed DC 1717 PP3 long 2100 Closed loop 2000 or 1724 motors PP4 Conical long radius Shorter housing 05 3 71 415 PP5 Flat e Rotating thruster 4 14 592 or S200 2 43 989 S a Custom modification desig Open loop d nator Shortest housing 4 66 1526 SD Cable Side Discharge Rotating thruster 134 2608 Axial Discharge is std 2 2 V Vacuum Compatibility Brushless DC 2100 2200 ZB Zero Backlash Gearhead 3000 Semi custom 025 246 05 CN Connector 1 CN1 8 1000 1100 5 1200 2200 2 CN2 DA 15P 2000 2100 4 CN3 Mono 2 5mm Phone Plug 1200 CN4 Tinned 18 Leads CN5 Ribbon amp Header 1000 1100 1 05 represents 0 05 travel Contact factory for additional information 1 represents 1 0 travel RESTRICTION
80. s DA 15P Ee qi 5 20001 5 m 10 20001 10 15 20001 15 CUSTOM 20001 8 Circular Cable 0 15 Dia 22001 26 AWG Color Coded Shielded Motor Conductors MiniDIN8S MiniDIN8P Add A Stripped amp Tinned Leads 22001 5 22001 10 Jacket stripped 3 4 Wire insulation stripped 1 4 5 10 15 22001 15 CUSTOM 2200I S TS Products Inc LINEAR 27 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING SYOLVNLOV HV3NIT SHOLVNLOV AHVLOH SY3ATIOYLNOOD dOOT N3dO SYATIOYLNOOD 00 0158012 SWALSAS WOLSND 1000 2000 families Motor Leadscrew driven ORDERING GUIDE All Linear Actuators can be ordered with this number sequence Series Travel_Motor Size Gearhead Ratio Leadscrew Pitch Options Example 1000 05 1616 485 32 SD V ACTUATOR TRAVEL MOTOR GEARHEAD LEADSCREW OPTIONS SERIES inches SIZE RATIO PITCH Brushed DC 16 5 series for 32 No dash designator for OP Limit of Travel 05 1616 brushed DC 1616 32 3885 TIONS indicates STANDARD CONFIGURATION with NB1 1000 1 1624 or 1624 motor actuators Nose Button and axial dis 2 TEE 2 1717 1000 charge of control cable 4 1724 15 5 series 1100 Robust enclosed 6 AM1524 stepping 2000 B Boot B05 12 travel 1100 e Closed loop 1100 1200 DC ai
81. ssimilar materials In contrast to the stainless steel leadscrew the actuator s housing is aluminum The limit sensors are on the housing and the tripping magnets move with the leadscrew Therefore due to differential thermal expansion of these dissimilar metals the position varies by temperature as a function of actuator travel In the 2000 series structure the housing to leadscrew joint is closest to the Reverse Limit sensor In contrast in the 2100 2200 series struc ture the housing to leadscrew joint is far away from the Reverse Limit sensor We calculated the following information from known coefficients of thermal expansion for the various materials used in the actuators The error STEPPING 40 represents the apparent displacement of the thruster s Nose Button at both the FORWARD and REVERSE HOME sensor as the temperature changes THRUSTER POSITION ERROR in versus C CHANGE in TEMPERATURE 2000 series Reverse Forward Reverse Forward Positive means that when you return to the Home switch the Nose Button will be IN FRONT of where it was prior to the temperature change Negative means that the Nose Button will be BEHIND where it was prior to the temperature change Internal housing temperature increase from run ning motor Since stepping motors continuously consume high current whether running fast or slow they pump heat into the leadscrew and housing Because it is a localized source
82. t of motor velocity This jolt produces both audio noise and mechanical vibration that is especially noticeable at lower velocities However the DC brushed and brushless motors feature seamless transi tions from winding to winding Except for vibration from bearings and air currents these motors are noise and vibration free Fortunately microstepping reduces the current differen tial being switched and the acoustic noise Due to the motor s construction we recommend limiting micro stepping to 4X unfortunately this is still not sufficient to completely illuminate noise and vibration Motor runs hot A stepping motor is often fully powered all the time to retain its maximum holding torque If the system fric tion is high enough holding current can be substantially lowered For example we recommend reducing the current to 100mA from a running 250mA when stop ped In either case this continuous current makes the stepping motor hotter than equivalent DC motors Be cause the motor gets hot the linear actuators should be in contact with a heat conducting element such as a thick metal plate Without adequate heat conduction it is possible to overheat and destroy the motor windings D Brushes to wear out Obviously stepping and brushless DC motors do not have brushes to wear out this is one of their primary strengths In contrast even the precious metal brushes of normal DC motors eventually wear out The only questi
83. these actuators in systems where an operator has visual feedback to move into final position with a joystick Two guiding slots on opposite sides of the hous ing prevent the motor from rotating as the lead Major Features Shortest housing length e Travels of 1 2 1 2 4 6 8 10 12 Custom 14 16 18 Thrusts up to 300 165 Maximum velocity up to 17 mm sec Pseudo resolutions down to 1 8 nin 45 pm Internal limit of travel torque sensing through optional SER3000 Analog Veloc ity Servo Vacuum compatibility option Axial or side cable discharge LINEAR 20 DC Motor Leadscrew driven screw rotates Marked keys in these slots also serve as a coarse indicator of position A shaped and polished Nose Button provides a precise contact point as well as a Reverse me chanical stop The Forward mechanical stop is an elastomer cushion inside the housing connected directly to the leadscrew The tabs in the guiding slots do not provide any ends of travel In this way the gearhead and motor are protected from the severe mechanical forces created by running into the ends of travel For pulling applications a PPA Push Pull Adaptor option replaces the Nose Button For vacuum environment all lubricants are space qualified When controlling the 1200 series through either the 1200SC Speed Controller or 1200J Joystick Controller you have full velocity and direction control with limit
84. these slots also serve as a coarse indicator of position A shaped and polished Nose Button provides a precise contact point as well as a Reverse mechanical stop The Forward mechanical stop is provided by an elastomer cushion inside the housing connected directly to the leadscrew The Major Features Short housing length Built in position encoder e Travels of 1 4 1 2 4 6 8 10 12 Custom 16 18 Thrusts up to 300 16 Maximum velocity up to 18 mm sec Resolutions down to 2 2 nin 56 pm Expected minimum absolute accuracy 2 um in Internal limit of travel torque sensing through optional SER3000 Analog Velocity Servo e Vacuum compatibility option e Axial or side cable discharge DC Motor Leadscrew driven amp m keys in the guiding slots do not provide any ends of travel In this way the severe mechanical forces from running into the ends of travel are prevented from reaching the gearhead and motor For pulling applications a PPA Push Pull Adaptor option replaces the Nose Button The 1100 series can be operated from either your controller servo or from our SER3000 series of Analog Velocity Servos In its normal configuration the 18 cable from this actuator is terminated in a MiniDIN8P connector For vacuum environment all lubricants are space qualified Typical Customizing Shorter housing Non standard travels such as 0 6 Thruster length variation Omit position e
85. thick TOLERANCE 800 003 OD 992 002 OD Unless noted PUSH PULL ATTACHMENT DriveShaft Reverse Stop Cushion 1000 family ONLY el N SES N 7 Bearing 1 04 05 OD 7 i ACCESSORIES 48 TS Products Inc eo Motor Leadscrew driven ACCESSORIES ACTUATOR MOUNTING PUSH PADS PUSH PULL ADAPTOR NOSE BUTTONS NB1 m ACTUATORS Short Radius BOOT Mounting Plate Typically stationary Mounting Nut 3 8 40 UNC Threads Long Radius Boot Collapsable Rubber Driveshaft Covering Spherical Surface Driveshaft Provided by Customer Flat PPA Push Pull Adaptor Expand boot to fit over Push Pull Adaptor Pisurtace Being Pushed EXAMPLE OF ASSEMBLY 5 S 5 TS Products Inc ACCESSORIES 49 ROTARY ACTUATORS LINEAR ACTUATORS OPEN LOOP CONTROLLERS CLOSED LOOP CONTROLLERS CUSTOM SYSTEMS PRICING nm Motor Leadscrew driven ACCESSORIES 55 098 Li Li mummummmmul orooz 205002 n E 2 gt o nnmnnn E E 08 ABojouyoe
86. tiplier NOTE Contact factory for limitations on particular combinations of motor gearhead ratio and travel 1000 1100 Series Linear Actuator Leadscrew 32 38853 VELOCITY units sec MAXIMUM LOAD Ibs RESOLUTION 1717 1724 1716 Motor 1724 Motor LE Motor Motor Motor Servo Stall Servo Servo stans stal 3 52 um 139 yin 92 18 mm 56 11 mm 1 7 29 36 720 mils 22 440 mils 77m 13 dios 947 nm 25 4 9 15 3 0 13 7959 37 3 yin 9 7 194 6 0 120 2 ae 5 den 9 m 305 079 1 6 48 970 um 15 26 32 56 42 9206 12 0 3 1 62 1 9 38 mils 68 12kgm 15kgm 25kgm 66 197 051 1 0 32 630 23 41 50 87 66 2204 7 77 2 0 40 1 2 25 10kgm i9kgm 23 39kgm 134 97 9 25 510 um 16 310 41 70 86 150 133 5309 3 85 1 0 20 mils 62 12 19kgm 32kgm 9 68kgm 159 82 0 21 430 13 260 48 84 100 180 159 4195 3 23 84 17 52 10 22kgm 38kgm 45kgm 82kgm 246 53 1 14 280 8 5 170 75 130 160 280 245 9615 2 09 54 11 33 6 7 34kgm 59kgm 73kgm 130kgm OPEN LOOP CONTROLLERS ROTARY ACTUATORS LINEAR ACTUATORS 1 415 5 0 100 120 200 165 300 415 4294 20 4 0 S4kgm 9tkgm 250 430 592 22 1 5 7 110 3 5 71 160 290 165 300 592 1296 869 nin 28 4 5 14 2 8 73kgm 130kgm 73kgm 140kgm 989 13 2 3 4 69 2 1 42 165 300 165 300 988 8914 520 14 2 7 83 1 7 280 480 1526 8 57 2 2 45 1 4 27 165 300 165 300
87. tor bearings In the Linear Actuator package the heat conduction path is through the Gearhead Housing to Leadscrew to Nose Mounting Housing to mounting plate The heat also radiates from the motor to Housing to air A second conduction path is Motor to internal air to Housing to external air Minimum Velocity There is no minimum velocity Maximum Velocity The motor s electrical time constant limits maximum velocity and depends on the winding inductance By attempting to move the rotor faster and faster the available driving energy decreases less because of the dynamic resistance of the windings While the Maximum Power Point is at 4000 steps per second our recom mended maximum velocity the motor can operate at 10 000 steps per second with reduced maximum output torque TS Products Inc 0 25A 0 35A 2000 family Maximum Starting Velocity is a function of load For a given load this velocity will move the actua tor without dropping rotor steps Please see Perfor mance Graph on Page Stepping 38 Use propor tional scaling for other actuators Acceleration See Performance Graph on Page Stepping 38 Use proportional scaling for other actuators Step Interval Full Half Micro lt 8X MOTOR CONTROLLERS Controller A typical Controller is a dedicated microproces sor based computer with an accurate time base Its low level function is to prepare step and direction signals to start accelerate run decel er

Linear Actuator catalog 08122008

Contents

Download Pdf Manuals

Related Search

Related Contents