actuators - SPINEA Technologies sro

Transcription

CATALOGUE OF
ACTUATORS
2015
DriveSpin
high precision actuator
The DRIVESPIN Catalogue, as well as other catalogues and publications, are available
on our websites at www.spinea-technologies.com and www.spinea.sk in the
Download sections. You will also find useful information on our multimedia
Spinea CD, which contains a large amount of technical documentation
in the electronic form. Besides that, it contains an interactive presentation
of the principle of TwinSpin and 2D and 3D drawings. To obtain a printed version
of
the
catalogue,
please
contact
the
SPINEA
Sales
Department
or your local sales representative.
©SPINEA, s.r.o. & SPINEA Technologies, s.r.o. 2015.
All rights reserved.
No reproduction is allowed without prior authorisation from SPINEA, s.r.o.
The company does not accept responsibility for possible printing errors.
COMPANY ADDRESS
SPINEA TECHNOLOGIES, s.r.o.
Volgogradská 13
080 01 Prešov
Slovakia, EU
COMPANY ADDRESS
SPINEA, s.r.o.
Okrajová 33
080 05 Prešov
Slovakia, EU
Tel: Fax: Tel: Fax: +421 918 400 941
+421 51 7482080
E-mail: [email protected]
Web : www.spinea-technologies.com
+421 51 7700156
+421 51 7482080
E-mail: [email protected]
Web : www.spinea.sk
The specifications contained in this catalogue are subject of innovation changes
that do not require prior notice.
III/2015 Edition
4
Contents
ICONTENTS
II
ABOUT THE COMPANY
1
GENERAL INFORMATION ABOUT TWINSPIN
8
Advantages 9
2
GENERAL INFORMATION ABOUT ACTUATORS10
Overview of Products10
Advantages12
Use13
Applications14
References15
3
DRIVESPIN DS/DSH/DSM 05016
Product Characteristics18
Drawings20
Ordering Code23
Technical Parameters24
4
Drawings32
Ordering Code35
5
Drawings44
Ordering Code47
6
Drawings55
Ordering Code56
7
IDENTIFICATION LABELS60
8PINOUT
61
9GLOSSARY72
Maximum Continuous Input RPM72
Maximum Acceleration and Braking Torque 72
Tilting Stiffness72
Torsional Stiffness72
Lost Motion73
DS 050 Allowable Radial-Axial Load and Tilting Moment
73
DS 070, DS 110 Allowable Radial-Axial Load and Tilting Moment
73
DS 050 Input Bearing Load Capacity74
DS 050 Output Bearing Equivalent Maximum Radial Load
75
DS 050 Allowable Axial Load75
DS 050 Allowable Tilting Moment 76
DS 050 Allowable Radial Load76 DS 050 Moment of inertia and Weight76 DS 070 Moment of inertia and Weight77 DS 110 Moment of inertia and Weight77
10
CERTIFICATES78
11
NOTES79
5
About the Company
SPINEA Technologies, s.r.o. is a young technological
company involved in the continual development
of innovative ideas and their subsequent application.
SPINEA Technologies s.r.o. started in 2013
with the goal is to bring unique products
and technologies to the commercial market.
6
About the Company
SPINEA, s.r.o. is a modern Slovak mechanical
engineering company involved in the development,
manufacture and sale of high precision reduction
gears
and
actuators
under
the
DriveSpin
trademark. The company was started n 1994
and the impulse for its start was an invention
of a Slovak design engineer. DriveSpin actuators
are manufactured serially on the basis of a granted
international patent.
7
General Information about TwinSpin
The high precision reduction gear offered under the TwinSpin (TS) trademark is based
on a reduction mechanism and a new design solution of the radial-axial output flange.
It represents a new generation of systems for the transfer of energy. The term “TwinSpin”
indicates the full integration of very high precision trochoidal gears with a radial-axial
bearing in a single unit. This new transmission concept allows to use high precision TS
reduction gears in the joints of robots, in rotary tables, and in handling and transport
systems. The high precision TS reduction gears are designed for applications that require
a high reduction ratio, high kinematic precision, low lost motion, high moment capacity, and
high stiffness of a compact structure in a limited installation space, as well as low weight.
Transformation member
Needle rollers
Output flange
Axial ring
Screws
Shaft bearings
Pins
Shaft
Bearings
Input flange
Output sealing
Case
8
Trochoidal gear wheels
Case
Bearings
Output sealing
Input flange
Output flange
Transformation members
Shaft
Needle rollers, trochoidal gear
Advantages
• zero-backlash reduction gears,
• high moment capacity,
• excellent positioning accuracy and repeatability,
• high torsional and tilting stiffness,
• small dimensions and low weight,
• high reduction ratios,
• high efficiency,
• long service life,
• easy installation.
9
Actuators
HIGH PRECISION ACTUATORS
• low lost motion,
• low moment of inertia,
• high reduction ratio,
• high kinematic accuracy,
10
• high moment overload capacity,
• high capacity of the integrated
radial-axial output bearings,
• high dynamic performance.
Actuators
DriveSpin
Is the combination of the high
precision TwinSpin reduction gear,
featuring excellent mechanical properties,
and the AC servomotor in a compact unit.
The excellent parameters are guaranteed
The actuators feature:
by more than 20-year experience
in the manufacture of reduction
• high precision and accuracy,
gears by SPINEA, s.r.o.
• high tilting and torsional stiffness,
• low vibrations,
• small installation dimensions,
• low weight,
• long service life,
• easy installation.
Product portfolio of DS/DSH/DSM actuators
DS
standard
New
U n d e r040
developmen
050
t
070
DSH
hollowshaft
110
DSM
New
140
Coming so
on
modular
11
Advantages
12
Uniquely balanced design
Feedback sensor variability
The DriveSpin electric actuators feature
a unique integration of a high-load-capacity
reduction gear containing a unique
reduction mechanism with an AC servomotor
that meets even the most demanding
requirements for the dynamics.
The DriveSpin electric actuators can
be supplied with a wide range of feedback
systems, such as EnDat®, HIPERFACE®,
and Resolver.
Unique precision and accuracy
Technical support
The DriveSpin electric actuator, using
a patented proprietary design of the bearing
reduction gear, represents the most precise
and accurate solution in its category.
Our
professionally
prepared
team
of specialists is available for you to solve
any issues. The use of first-class materials
and the very process of the manufacturing
of high precision DriveSpin electric actuators
are secured by ISO 9000 certificates.
Voltage variability
High moment capacity
The DriveSpin electric actuator is available
in all standard as well as special voltage
models of the driving part, meeting
all requirements for the dynamics,
robustness, and electric compatibility.
The DriveSpin actuators are outstanding
for their high moment capacity, implemented
in a zero-backlash design with an excellent
power-to-size ratio and load capacity
of the radial-axial bearings integrated
in the DriveSpin actuator.
Use
Robotics
6-axis robots, SCARA robots, gantry robots...
Machine tools
Lathes and milling machines, grinding machines, pipe
benders, cutting tools, magazines, tool changers...
Medical equipment
Medical and rehabilitation devices, scanners,
denture grinders, other medical equipment...
Defence and security industry
Radars, navigation equipment, surveillance and
camera systems, security and defence equipment...
13
Applications
14
References
Spinea and Spinea Technologies References
15
/DSM 050
The high precision DriveSpin DS 050 actuators represent
the smallest serially produced member of the DriveSpin
product range, meeting even the most demanding
requirements of customers from all industries. With their
optimal price/performance ratio, they reliably provide
parameters such as high accuracy and precision, high tilting
and torsional stiffness, low weight, compactness, low
vibrations, and a wide range of suitable technical solutions.
• LOW LOST MOTION,
• HIGH MOMENT OVERLOAD CAPACITY,
• LOW MOMENT OF INERTIA,
• HIGH CAPACITY OF THE INTEGRATED
• HIGH REDUCTION RATIO,
• HIGH KINEMATIC ACCURACY,
16
RADIAL-AXIAL OUTPUT BEARINGS,
• HIGH DYNAMIC PERFORMANCE.
/DSM 050
17
/DSM 050
DS 050
DSH 050
New
DSM 050
18
/DSM 050
DS - DriveSpin Standard
The DriveSpin electric rotary actuators, as the basic type of actuators, provide rotary
motion and the transfer of output torque with a high radial-axial load capacity
and are the most accurate and precise solution in their category. The DS actuators
are characterized by high dynamics, guaranteed by an AC servomotor, and high
robustness and overload capacity of their reduction gears. The voltage and feedback
variability will widely satisfy all of customers’ requirements.
DSH - DriveSpin Hollowshaft
The DSH electric actuators are characterized by the possibility to use a through
hole for routing cables, pipes, and drive shafts while maintaining the radial-axial
and torque load capacity and the characteristic high overload capacity of the reduction
gear and of the AC servomotor, featuring high dynamics. The voltage and feedback
DSM - DriveSpin Modular
The DSM modular rotary positioning modules provide controlled rotary motion and
transfer of torque with a high positioning accuracy and precision. The output flange
of the module allows to capture both radial and axial forces. The modules feature
a special design of the case, which allows versatile connections, also without additional
devices. The good design integration ability and small dimensions allow to create
kinematic assemblies from DSM modules for end effectors, but also for additional
devices and positioners. The selection of a module size depends on the required
load-carrying capacity and the number of degrees of freedom of the motion axis.
19
DS 050
Dimension K
Resolver
HIPERFACE
EnDat(1)
Without brake
99 mm
100.5 mm
109.1 mm
With brake
136 mm
139.1 mm
135.1 mm
DriveSpin DS 050
20
DSH 050
Dimension K
Resolver
Without brake
106.6 mm
With brake
-
DriveSpin DSH 050
21
DSM 050
DriveSpin DSM 050
22
DS/DSH/DSM 050
Ordering code
D S * - 0 5 0 - 0 6 3 - 3 1 B 0 7 6 - 1 2 - X X
Reduction ratio
Type designation
DS - standard
DSH - hollowshaft
DSM - modular
Actuator size
DC bus voltage
1: 24 VDC
2: 36 VDC
3: 320 VDC
4: 560 VDC
S: Special upon request
Brake
0: No
B: Yes
Special modification
Terminal cable length
Wiring diagram
Type of electrical connection
5: With terminal cable (L=1m)
6: Y-tec angular connector, rotable
7: Terminal cable directed towards actuator body
(only for Endat and Sick)
8: Terminal cable directed towards actuator cover
Temperature sensor
1: PTC 111-K13
3: KTY 83-110
4: KTY 84-130
Sensor type
01: Resolver RE 15-1-A14 (2-pole) (LTN) (available for DSH)
05: Resolver RE 15-3-A14 (6-pole) (LTN) (available for DSH)
06: Single-turn absolute encoder HIPERFACE SEK 37 (SICK/STEGMAN)
07: Multi-turn absolute encoder HIPERFACE SEL 37 (SICK/STEGMAN)
15: Single-turn absolute encoder ECI 1118 HEIDENHAIN (only with a terminal cable)
16: Multi-turn absolute encoder EQI 1130 HEIDENHAIN (only with a terminal cable)
23
Technical Parameters
DS Actuator
DS 050/DSH 050/DSM 050
Reduction ratio
Rated output torque
I
Tr
Nm
18
Acceleration/braking output torque
Tmax
Nm
36
Rated input speed of the reduction gear
min
2000
Maximum continuous input speed
nr
ncmax
-1
min
-1
3000
Maximum allowed input speed of the reduction gear
nmax
min
-1
5000
Tilting stiffness
1) 5)
Mt
Nm/arcmin
4
1) 6)
kt
Nm/arcmin
2.5
Maximum lost motion
LM
arcmin
<1.5
Hysteresis
arcmin
<1.5
2) 3)
H
Mc max
Nm
44
FrR
kN
1.44
Fa max
kN
1.9
Allowed temperature range
°C
-10 °C to +40 °C
Reduction gear maximum allowed temperature
°C
65 °C
Torsional stiffness
Maximum tilting moment
Rated radial force
Maximum axial force
2)
2) 4)
63
Servo inverter DC bus voltage
Udc
V
Servomotor rated speed
nn
min
Servomotor rated output torque
Mn
Servomotor rated current
In
Servomotor brake holding torque
Mo
Servomotor brake holding current
Io
Servomotor maximum torque
Mmax
Servomotor maximum current
Servomotor EMF constant
24
36
320
560
4000
4500
4500
4500
Nm
0.24
0.24
0.24
0.24
A
7.8
7.3
0.68
0.68
Nm
0.26
0.26
0.26
0.26
-1
A
7.9
7.5
0.7
0.7
Nm
1
1
1
1
Imax
A
33
31
2.9
2.9
KE
V/1000
2
36
21
21
Servomotor torque constant
KT
Nm/A
0.03
0.03
0.37
0.37
Terminal resistance
R2ph
Ω
0.29
0.37
36.8
35
Terminal inductance
L2ph
mH
0.5
0.6
62
62
Number of poles
pol
6
6
6
6
Electrical time constant
2p
Tel
ms
1.7
1.6
1.7
1.8
Mechanical time constant
Tmech
ms
2.8
3.2
3.2
3
Thermal time constant
Tth
min
Nominal brake voltage
Electromagnetic brake braking torque
Protection class
Lubricant
Paint
Insulation class
13
V
24
Nm
0.4
IP64 as standard
Grease Castrol Optitemp TT1
black RAL 9005
F
SUBJECT TO CHANGES WITHOUT PRIOR NOTICE
1)
Mean statistical value. For further information, see Chapter 9, Tilting Stiffness and Torsional Stiffness.
2)
Load at output speed 15 rpm.
3)
Tilting moment Mc max value at Fa=0. If Fa≠0 see Chapter 9, Tilting Moment, of this document.
4)
Axial force Fa max value at Mc=0. If Mc≠0 see Chapter 9, Tilting Moment, of this document.
5)
The parameter depends on the high precision reduction gear model.
6)
The parameter depends on the high precision reduction gear model, reduction ratio, and lost motion value.
7)
Moment of inertia and Weight. For further information, see Chapter 9, Moment of inertia and Weight, of this document.
24
DS/DSH/DSM 050
Performance Characteristics
DS/DSH/DSM 50 - 63 Performance Characteristics
40,0
Output torque [Nm]
30,0
24 V
36 V
20,0
320 V
560 V
10,0
0,00
continuous duty
0
20
40
60
80
100
Output speed [rpm]
25
DS 050
26
Notes
27
/DSM 070
The high precision DriveSpin DS 070 actuators represent
the medium-size serially produced member of the
DriveSpin product range, meeting even the most demanding
28
/DSM 070
29
/DSM 070
DS 070
DSH 070
New
DSM 070
30
/DSM 070
31
DS 070
Dimension K
Resolver
Sin/Cos
EnDat
HIPERFACE
Without brake
115 mm
148 mm
148 mm
142 mm
With brake
168 mm
195 mm
195 mm
193 mm
DriveSpin DS 070
32
DSH 070
Dimension K
Resolver
HIPERFACE
Without brake
152.2 mm
132.4 mm
With brake
-
DriveSpin DSH 070
33
DSM 070
DriveSpin DSM 070
34
DS/DSH/DSM 070
Ordering code
D S * - 0 7 0 - 0 4 1 - 3 1 B 0 7 6 - 1 2 - X X
Reduction ratio
Type designation
DS - standard
DSH - hollowshaft
DSM - modular
057
075
Actuator size
DC bus voltage
1: 24 VDC
2: 36 VDC
3: 320 VDC
4: 560 VDC
Temperature sensor
1: PTC 111-K13
3: KTY 83-110
4: KTY 84-130
Brake
0: No
B: Yes
Wiring diagram
0: Straight connectors, perpendicular to center line
4: Angled rotable connectors
5: With cables (L=1m)
6: Y-tec angular connector, rotable
7: Terminal cable directed towards actuator body
8: Terminal cable directed towards actuator cover
9: I-tec angled connector
(only for size 070 and HIPERFACE DSL)
Sensor type
01: Resolver RE15-1-A14 (2-pole) LTN
02: Multi-turn absolute encoder EQN 1325 (8192 x 4096) Heidenhain
03: Incremental encoder, ~1Vpp, ERN 1387 (2048) Heidenhain
04: Single-turn absolute encoder ECN 1313 (2048) Heidenhain
08: Resolver (2-pole) (only for Hollowshaft version)
09: Multi-turn absolute encoder Hiperface SRM50 - Sick/Stegman
10: Single-turn absolute encoder Hiperface SRS50 - Sick/Stegman
13: Single-turn absolute encoder HIPERFACE SEK 52HS (only for hollowshaft version)
14: Multi-turn absolute encoder HIPERFACE SEL 52HS (only for hollowshaft version)
21: Multi-turn absolute encoder HIPERFACE DSL
22: Single-turn absolute encoder HIPERFACE DSL
35
DS Actuator
DS 070/DSH 070/DSM 070
Rated output torque
Reduction ratio
I
Tr
Nm
50
Tmax
Nm
100
nr
min
-1
2000
n max
min
-1
5000
Tilting stiffness
1) 5)
Mt
Nm/arcmin
35
Torsional stiffness
1) 6)
kt
Nm/arcmin
7
LM
arcmin
<1.5
H
Mc max
arcmin
<1.5
Nm
142
FrR
kN
2.8
Fa max
kN
4.1
°C
-10 °C to +40 °C
°C
65 °C
Maximum lost motion
Hysteresis
Rated radial force
Maximum axial force
2) 3)
2)
2) 4)
57, 75
Udc
V
24
36
320
560
nn
min-1
2500
3000
4500
4500
Mn
Nm
0.88
0.86
0.76
0.76
In
A
13.5
13.2
1.87
1.04
Mo
Nm
0.95
0.95
0.95
0.95
Io
A
13.7
13.7
2.1
1.18
Mmax
Nm
2.4
2.4
2.4
2.4
Imax
A
50
50
7.8
4.4
KE
V/1000
4.2
4.2
27
48.5
KT
Nm/A
0.07
0.07
0.45
0.8
Terminal resistance
R2ph
Ω
0.12
0.012
4.9
15.6
Terminal inductance
L2ph
mH
0.33
0.35
14.7
46.7
Number of poles
pol
10
10
10
10
2p
Tel
ms
2.8
2.8
3.0
3.0
Tmech
ms
2.8
3.2
3.2
3
Tth
min
25
V
24
Protection class
Lubricant
Paint
Insulation class
Nm
4.5
IP64 as standard
black RAL 9005
F
1)
2)
3)
4)
5)
6)
7)
36
DS/DSH/DSM 070
120
120
100
100
24V
24V
36V
60
320V
560V
40
continuous duty
20
0
80
Output torque [Nm]
Output torque [Nm]
80
36V
320V
60
560V
40
continuous duty
20
0
20
40
60
Output speed [rpm]
80
100
0
0
20
40
60
80
100
Output speed [rpm]
37
DS 070
38
Notes
39
/DSM 110
The high precision DriveSpin DS 110 actuators currently
represent the largest serially produced member of the
DriveSpin product range, meeting even the most demanding
40
/DSM 110
41
/DSM 110
DS 110
DSH 110
New
DSM 110
42
/DSM 110
43
DS 110
Dimension K
Resolver
Sin/Cos
EnDat
HIPERFACE
Without brake
161 mm
201.7 mm
201.7 mm
193 mm
With brake
212.3 mm
241.2 mm
241.2 mm
244.5 mm
DriveSpin DS 110
44
DSH 110
Dimension K
Resolver
Without brake
180.5 mm
With brake
-
DriveSpin DSH 110
45
DSM 110
DriveSpin DSM 110
46
DS/DSH/DSM 110
Ordering code
D S * - 1 1 0 - 0 6 7 - 3 1 B 0 7 6 - 1 2 - X X
Reduction ratio
Type designation
DS - standard
DSH - hollowshaft
DSM - modular
067
089
119
Brake
0: No
B: Yes
Actuator size
DC bus voltage
1: 24 VDC
2: 36 VDC
3: 320 VDC
4: 560 VDC
Wiring diagram
0: Straight connectors, perpendicular to center line
5: With terminal cable (L = 1 m)
Temperature sensor
1: PTC 111-K13
3: KTY 83-110
4: KTY 84-130
Sensor type
01: Resolver RE15-1-A14 (2-pole) LTN
02: Multi-turn absolute encoder EQN 1325 (8192 x 4096) Heidenhain
03: Incremental encoder, ~1Vpp, ERN 1387 (2048) Heidenhain
04: Absolute encoder ECN 1313 (2048) Heidenhain
08: Resolver (2-pole) (only for Hollowshaft version)
09: Multi-turn absolute encoder Hiperface SRM50 - Sick/Stegman
10: Single-turn absolute encoder Hiperface SRS50 - Sick/Stegman
21: Multi-turn absolute encoder HIPERFACE DSL
22: Single-turn absolute encoder HIPERFACE DSL
47
DS Actuator
DS 110/DSH 110/DSM 110
Rated output torque
Reduction ratio
I
Tr
Nm
122
Tmax
Nm
244
nr
min
-1
2000
n max
min
-1
3900/4500*
Tilting stiffness
1) 5)
Mt
Nm/arcmin
150
Torsional stiffness
1) 6)
kt
Nm/arcmin
22
LM
arcmin
<1.0
H
Mc max
arcmin
<1.0
Nm
740
FrR
kN
9.3
Fa max
kN
13.1
°C
-10 °C to +40 °C
°C
65 °C
Maximum lost motion
Hysteresis
Rated radial force
Maximum axial force
2) 3)
2)
2) 4)
67, 89, 119
Udc
V
24
36
320
560
nn
min-1
2500
3000
3000
3000
Mn
Nm
3.4
3.2
3.2
3.2
In
A
38.5
40.1
5
2.8
Mo
Nm
4.1
4.1
4.1
4.1
Io
A
44.9
48.6
6
3.4
Mmax
Nm
11.1
11.1
11.1
11.1
Imax
A
179
194
24.1
13.6
KE
V/1000
5.5
5
40.5
72
KT
Nm/A
0.09
0.08
0.67
1.19
Terminal resistance
R2ph
Ω
0.02
0.02
1.24
4.0
Terminal inductance
L2ph
mH
0.20
0.17
10.6
34.0
Number of poles
pol
10
10
10
10
2p
Tel
ms
10
8.5
8.5
8.5
Tmech
ms
0.71
0.86
0.81
0.83
Tth
min
29
V
24
Nm
Protection class
4.5
IP64 as standard
Lubricant
Paint
black RAL 9005
Insulation class
F
*3900 min for reduction ratio 67, 4500 min for reduction ratio 89 and 119.
-1
-1
1)
2)
3)
4)
5)
6)
7)
48
DS/DSH/DSM 110
275
275
250
250
225
225
200
200
175
24V
150
36V
125
320V
100
560V
75
continuous duty
50
24V
175
36V
150
125
320V
100
560V
75
50
continuous duty
25
25
0
Output torque [Nm]
Output torque [Nm]
0
0
5
10 15 20 25 30 35 40 45 50 55 60 65
0
5
10 15 20 25 30 35 40 45 50 55 60 65
Output speed [rpm]
Output speed [rpm]
275
250
225
Output torque [Nm]
200
175
24V
150
36V
125
320V
100
560V
75
continuous duty
50
25
0
0
5
10
15
20 25 30 35 40
Output speed [rpm]
45
50
55
60
65
49
DS 110
50
Notes
51
/DSM 140
The high precision DriveSpin DS 140 actuators represent the
new largest member of the DriveSpin product range, meeting
even the most demanding requirements of customers from
all industries. With their optimal price/performance ratio, they
reliably provide parameters such as high accuracy and precision,
high tilting and torsional stiffness, low weight, compactness,
low vibrations, and a wide range of suitable technical solutions
52
/DSM 140
53
/DSM 140
New
DS 140
54
DS 140
DriveSpin DS 140
55
DS 140
Ordering code
D S * - 1 4 0 - 0 6 7 - 3 1 B 0 7 6 - 1 2 - X X
Type designation
DS
- standard
Reduction ratio
033
069
115
Actuator size
DC bus voltage
1: 24 VDC
2: 36 VDC
3: 320 VDC
4: 560 VDC
Temperature sensor
1: PTC 111-K13
3: KTY 83-110
4: KTY 84-130
56
Brake
0: No
B: Yes
Wiring diagram
0: Straight connectors,
perpendicular to the to centre line
5: With terminal cable (L = 1 m)
Sensor type
Resolver, Endat®, HIPERFACE©
DS 140 MAIN PARAMETERS
DS Actuator
Reduction ratio
I
Rated output torque
Tr
Tmax
nr
n max
Tilting stiffness
1) 5)
Mt
Torsional stiffness
1) 6)
kt
Maximum lost motion
LM
Hysteresis
H
Rated radial force
Maximum axial force
2) 3)
2)
2) 4)
Mc max
FrR
Fa max
Protection class
Lubricant
Paint
Insulation class
Udc
Nm
Nm
min-1
min-1
Nm/arcmin
Nm/arcmin
arcmin
arcmin
Nm
kN
kN
°C
°C
V
DS 140/DSH 140/DSM 140
69, 115
268
670
2000
3000/4500
380
62
<1.0
<1.0
1160
11.5
17
-10 °C to +40 °C
65 °C
24
36
320
560
IP64 as standard
Grease Castrol
Optitemp TT1, PDO
black RAL 9005
F
1)
2)
3)
4)
5)
6)
57
DS 140
58
Notes
59
DS/DSH/DSM
Identification Labels
DS/DSH/DSM 050 Identification Labels
Ordering code
Serial number
Motor brake holding torque
Motor nominal speed
DS-050-063-31B076-12
908127
395052D016
0,26 Nm
320 V
4500 r/min
Article number
Motor rated current
0,68 A
Made in EU
DC bus voltage
DS/DSH/DSM 070 and DS/DSH/DSM 110 Identification Labels
8
Ordering code
Serial number
Motor brake holding torque
Motor nominal speed
Typ
SN
Mo
Nn
DS 070-075-41B096-12
856150
0,95 Nm
4500 r/min
5
6
1
5
0
43/11
Art.Nr 395072-D008
Uoc
560 V
1,04 A
In
Article number
Iso. - KI. F
IP64
DC bus voltage
Motor rated current
60
Week/Month
Insulation class
Protection class
Pinout
Wiring Diagrams
Resolver
Resolver
DriveSpin
DS-070/DSH-070/DSM-070
DS-110/DSH-110/DSM-110
Power connector
PE
PE
U
1
V
4
W
3
Br+
A
Br-
B
M
3f
Brake (optional)
PTC temperature
sensor
PE
C
1
4
2
3
2
V
2
W
6
Br+
4
Br-
5
Therm +
8
Brake (optional)
C
N/C
D
Therm +
2
Therm -
6
Therm -
9
R1
R2
S1
S2
S3
S4
10
N/C
N/C
N/C
N/C
3
4
5
6
PTC temperature
sensor
5
8
7
SC
4
3
1
10
11
12
-
9
7
11
1
12
2
Signal connector
Wiring diagram No. 4
9
1
D
1
3f
B
U
M
Signal connector
A
Power connector
PE
N/C
R1
R2
S1
S2
S3
S4
N/C
N/C
N/C
N/C
SC
2
DriveSpin
DS-070/DSH-070/DSM-070
DS-110/DSH-110/DSM-110
10
8
12
11
3
4
7
6
5
4
8
1
5
6
9
2
1
10
2
7
12
6
11
5
3
4
61
Pinout
Wiring Diagrams
Resolver
Resolver
DriveSpin
DS-050/DSH-050/DSM-050
DS-070/DSH-070/DSM-070
Power connector
PE
PE
U
A
V
B
W
C
Br+
1
Br-
2
N/C
3
4
M
3f
Brake (optional)
N/C
N/C
PTC temperature
sensor
Therm +
2
Therm S1
S2
6
8
7
4
1
10
11
12
Signal connector
4
B
1
5
3
62
12
1
2
2
3
10
4
9
5
8
7
6
PE
green-yellow
1
V
2
W
3
Br+
5
Br-
6
Brake (optional)
shielding
PTC temperature
sensor
SC
shielding
Therm +
red
Therm -
blue
R1
R2
S1
S2
S3
S4
white
black
gray
green
pink
yellow
11
Power connector
U
Signal connector
C
3f
3
9
5
N/C
N/C
N/C
N/C
A
M
5
S3
S4
R1
R2
SC
DriveSpin
DS-070/DSH-070/DSM-070
DS-110/DSH-110/DSM-110
PE
Pinout
Wiring Diagrams
Resolver
DriveSpin
DS-050/DSH-050/DSM-050
PE
M
3f
Power connector
PE
green-yellow
U
1
V
2
W
3
Br+
4
Br-
5
Brake (optional)
shielding
PTC temperature
sensor
SC
shielding
Therm +
red
Therm -
blue
R1
R2
S1
S2
S3
S4
white
black
gray
green
pink
yellow
Signal connector
63
Pinout
Wiring Diagrams
Absolute encoder (EnDat)
DriveSpin
DS-070/DSM-070
DS-110/DSM-110
Power connector
PE
PE
2
U
1
V
4
W
3
Br+
A
Br-
B
M
3f
Brake (optional)
Absolute encoder (EnDat)
N/C
C
N/C
D
PTC temperature
sensor
Therm +
Therm -
14
A+
A-
11
3
9
1
Clock +
Clock +5V
5V Sense
15
4
12
0V
0V Sense
2
10
N/C
6
16
17
N/C
N/C
3f
Brake (optional)
PTC temperature
sensor
1
4
11
2
64
3
16
9
8
V
2
W
6
Br+
4
Br-
5
Therm +
8
Therm -
9
A+
A-
1
2
11
12
3
13
5
Clock +
Clock +5V
5V Sense
SC
14
10
16
7
15
0V
0V Sense
N/C
4
6
17
N/C
N/C
Signal connector
10
D
1
Data -
C
U
B+
BData- +
Signal connector
B
PE
PE
M
5
13
8
Data -
A
Power connector
7
B+
BData- +
SC
DriveSpin
DS-070/DSM-070
DS-110/DSM-110
12
14
3
6
5
4
1
5
2
17
15
7
1
13
4
6
11
10
2
16
9
8
12
2
3
17
14
15
7
1
13
6
5
4
Pinout
Wiring Diagrams
Absolute encoder (Endat)
DriveSpin
DS-070/DSM-070
DS-110/DSM-110
M
3f
Brake (optional)
PTC temperature
sensor
SC
EQI/ECI Absolute encoder (EnDat)
Power connector
PE
PE
green-yellow
U
1
V
2
W
3
Br+
5
Br-
6
Therm +
white-green
Therm A+
AB+
BClock+
Clock+5V
5V Sense
brown-green
yellow
green
brown
white
blue
red
pink-grey
black
red-blue
violet
grey
pink
0V
0V Sense
Data+
Data-
Signal connector
DriveSpin
DS-050/DSM-050
M
3f
Brake (optional)
PTC temperature
sensor
SC
Power connector
PE
PE
green-yellow
U
1
V
2
W
3
Br+
4
Br-
5
Therm+
white-green
Therm A+
A-
brown-green
yellow
green
brown
white
blue
red
pink-grey
black
red-blue
violet
grey
pink
B+
BClock+
Clock+5V
5V Sense
0V
0V Sense
Data+
Data-
Signal connector
65
Pinout
Wiring Diagrams
Incremental encoder (sin/cos) ERN1387
DriveSpin
DS-070/DSM-070
DS-110/DSM-110
Incremental encoder (sin/cos) ERN1387
Power connector
PE
PE
M
3f
Brake (optional)
PTC temperature
sensor
2
U
1
V
4
W
3
Br+
A
Br-
B
N/C
C
N/C
D
Therm +
8
Therm -
9
A+
A-
1
2
11
12
3
13
5
B+
BR+
RC+
C+5V
5V Sense
SC
DriveSpin
DS-070/DSM-070
DS-110/DSM-110
7
15
14
D-
4
N/C
17
3f
Brake (optional)
PTC temperature
sensor
C
11
1
4
2
66
10
D
3
16
9
8
V
2
W
6
Br+
4
Br-
5
Therm +
8
Therm A+
A-
9
1
2
11
12
3
13
5
6
10
16
7
15
14
4
D-
17
N/C
Signal connector
12
1
13
3
14
6
5
4
4
11
1
5
2
17
15
7
1
C+
C+5V
5V Sense
0V
0V Sense
D+
SC
B
U
B+
BR+
R-
Signal connector
A
PE
PE
M
6
10
16
0V
0V Sense
D+
Power connector
6
10
2
16
9
8
12
2
3
17
14
15
7
1
13
6
5
4
Pinout
Wiring Diagrams
Encoder (sin/cos) ERN1387
DriveSpin
DS-070/DSM-070
DS-110/DSM-110
Power connector
PE
PE
U
1
V
2
W
3
Br+
5
Br-
6
M
3f
Brake (optional)
PTC temperature
sensor
SC
green-yellow
Therm +
white-green
Therm A+
AB+
BClock+
Clock+5V
5V Sense
brown-green
yellow
green
brown
white
blue
red
pink-grey
black
red-blue
violet
grey
pink
0V
0V Sense
Data+
DataSignal connector
4
11
1
5
6
10
2
16
9
8
12
2
3
17
14
15
7
1
13
6
4
5
67
Pinout
Wiring Diagrams
Encoder (HIPERFACE)
Encoder (HIPERFACE)
DriveSpin
DS-050/DSM-050
DS-070/DSH-070/DSM-070
PE
M
3f
Brake (optional)
PTC temperature
sensor
Power connector
PE
U
A
V
B
W
C
Br+
1
Brake (optional)
3
68
A
Br-
B
C
7
Therm +
7
14
Therm -
8
6
3
Therm Us
GND
PTC temperature
sensor
4
2
1
3
SIN
COS
Data +
Data -
SC
4
5
1
2
9
10
5
13
9
REFSIN
REFCOS
11
N/C
N/C
6
8
10
12
15
16
17
N/C
N/C
N/C
11
12
N/C
N/C
Signal connector
1
B
2
10
4
9
5
7
6
C
11
A
3
8
Br+
Therm +
12
2
3
D
11
1
W
N/C
4
5
5
4
3
Signal connector
4
V
N/C
N/C
N/C
N/C
B
1
2
REFSIN
Us
GND
DATA+
DATA-
C
2
Br-
N/C
A
PE
U
M
3f
Power connector
N/C
+SIN
+
+COS
+
REFCOS
SC
DriveSpin
DS-070/DSH-070/DSM-070
DS-110/DSM-110
PE
10
D
1
4
2
3
16
9
8
12
2
3
17
14
15
7
1
13
6
5
4
Pinout
Wiring Diagrams
HIPERFACE Encoder SRM/SRS 50
DriveSpin
DS-070/DSH-070/DSM-070
DS-110/DSM-110
PE
PE
V
2
W
3
Br+
4
Br-
5
PTC temperature
sensor
Therm +
Therm +Uv
GND
SIN+
COS+
Data +
Data REFSIN
REFCOS
Signal connector
DriveSpin
DS-050/DSM-050
Power connector
PE
PE
green-yellow
green-yellow
1
3f
SC
Power connector
U
M
Brake (optional)
HIPERFACE Encoder SEK/SEL 37
1
V
2
W
3
Br+
4
Br-
5
Therm +
white-green
Therm +Uv
GND
brown-green
red
blue
white
yellow
grey
pink
brown
green
M
3f
Brake (optional)
PTC temperature
sensor
white-green
brown
red
blue
white
yellow
grey
pink
brown
green
U
SC
SIN+
COS+
Data +
Data REFSIN
REFCOS
Signal connector
69
Pinout
Wiring Diagrams
Encoder (HIPERFACE) DSL EKM/EKS36
DriveSpin
DS-070/DSM-070
DS-110/DSM-110
Connector
3f
Brake (optional)
PE
U
1
U
A
V
2
V
B
W
3
W
C
Br+
5
Br+
1
Br-
6
Br-
2
brown
white
M
3f
Brake (optional)
+Us/DSL+
GND/DSLN/C
SC
A
4
C
B
1
5
3
70
Connector
PE
+Us/DSL+
GND/DSL-
PE
DriveSpin
DS-070/DSM-070
green-yellow
PE
M
SC
2
3
4
5
Pinout
Wiring Diagrams
DriveSpin
DS-070/DSM-070
DS-110/DSM-110
Connector
PE
U
1
V
4
W
3
Br+
A
Br-
B
+Us/DSL+
GND/DSL-
D
C
M
3f
Brake (optional)
SC
2
B
C
A
D
1
4
3
2
71
Glossary
General Information
Maximum Continuous Input Speed ncmax [rpm]
The maximum continuous input speed represents a limit rotational speed value in continuous duty mode S1.
Maximum Acceleration and Braking Torque Tmax [Nm]
Maximum allowable torque acting during the acceleration and braking due to the inertial load of the drive.
Tilting Stiffness Mt [Nm/arcmin]
Tilting stiffness Mt is a tilting moment at which the output flange deviates by an angle φ =1‘.
Torsional Stiffness kt
If the output shaft and the case are secured against turning and a torque acts on the output flange, then
the load diagram has the form of a hysteresis curve, where the torsional stiffness is defined as follows:
kt = d/c
Hysteresis loss
Torsional angle
c
d
-3%
100%
Rated torque
+3%
Lost motion
Fig. 1 Hysteresis curve
72
Glosár
Všeobecné informácie
Lost Motion
It is the angle of turn of the output flange at ±3 % of the rated torque, measured at the centre line of the
hysteresis curve. See Fig. 1.
DS 070, DS 110 Allowable Radial-Axial Load and Tilting Moment
Radial and axial loads act mutually independently thanks to the integrated axial-radial bearings.
The allowable load of DS 070 and DS 110 at a tilting moment (Mc) and an axial force (Fa) is shown
in Fig. 2. A point with co-ordinates (Mc, Fa) located in the area below the line of the selected actuator,
e.g. in the case of the DS 110 size with an output speed of 15 rpm, service life L10 = 6000 hours,
and a tilting moment Mc = 200 Nm, the maximum axial force may be 9.6 kN (see the example in Fig. 2).
For more detailed calculations please contact the Technical Department or your own sales representative.
14
13,1
12
10
9,6
Example
8
Fa [kN]
6
4,1
4
2
0
0
200
142
400
Mc [Nm]
600
800
740
Fig. 2 Relation between the tilting moment and the axial force
DS 050 Allowable Radial-Axial Load and Tilting Moment
The output flange of the TwinSpin reduction gear is able to transfer effects of radial forces Fr, axial forces
Fa, and tilting moments Mc. The tilting moment is expressed by the formula:
Mc = Fr.a + Fa.b
Mc- tilting moment [Nm]
Fr - radial load [N]
Fa - axial load [N]
A, B – marking of the bearings (A/B is the bearing from the output/input side of the reduction gear)
73
Glossary
General Information
RAx, RAy, RBx, RBy – marking of reactions in bearings A/B along axis x (axial direction)
and y (radial direction)
a1 - distance between the centre between the output bearings and the output flange face [m]
a2 - distance between the point of action of force Fr and the output flange face [m]
a3 - distance between the centre of output bearing A and the output flange face [m]
a = a1+ a2 - arm of the action of force Fr in respect to the centre between the output bearings [m]
b - arm of the acting force Fa [m]
L1 - mutual distance between the centres of the output bearings [m]
L2 = a2+a3 – mutual distance between the centres of the output bearings [m]
Fig. 3 Loading of the DS 050 actuator and the angle of tilt
Tab. 4 Distance values a1, a3, and L1
Value a1 [m]
0.02
Value a3 [m]
Value L1 [m]
0.0095
0.021
DS 050 Input Bearing Load Capacity
Table 5 shows the basic dynamic and static load capacity of the bearings.
Tab. 5 Load capacity of the output deep groove ball bearing of the reduction gear in DS 050
Basic dynamic load capacity Cr [kN]
Basic static load capacity Cor [kN]
74
4.75
3.85
Glossary
General Information
Tab. 6 Calculation of the equivalent static load of an output deep groove ball bearing
of the reduction gear in DS 050
Equivalent dynamic radial
load
Pr = X.Ry + Y.Rx
Equivalent radial load
Values X and Y are
contained in the table on the
right
Equivalent static
radial load
Por = 0,6.Ry + 0,5.Rx
Rx /Co
e
Rx/Ry<=e
X
Rx/Ry>=e
Y
X
Y
0.014
0.028
0.056
0.19
0.22
0.26
2.30
1.99
1.71
0.084
0.11
0.17
0.28
0.30
0.34
1.55
1.45
1.31
0.28
0.42
0.56
0.38
0.42
0.44
1
0
0.56
1.15
1.04
1.00
Where Rx, Ry are reactions in bearings A, B, i.e. marked as RAx, RAy, RBx, RBy according to Fig. 3.
DS 050 Output Bearing Equivalent Maximum Radial Load
The equivalent radial load of the output bearing shown in Tab. 6 for the rated service life L10 = k and
the rated rotational speed n = nr out is determined according to the formula below.
Tab. 7 Equivalent maximum radial load of an output bearing of DS 050
DS 050 (L10 = k, n = nr out)
Reduction ratio i
63
Equivalent radial load of an output bearing Pr max [N]
2100
DS 050 Allowable Axial Load Fa max
The maximum allowable axial load Fa max , for b=0, Fr=0 and Mc=0 is shown in Tab. 8 below.
Tab. 8 DS 050 Allowable Axial Load Fa max
DS 050 (L10 = k, n = nr out)
Reduction ratio i
Equivalent radial load of an output bearing Pr max [N]
63
1900
75
Glossary
General Information
DS 050 Allowable Tilting Moment Mc max
Tab. 9 Allowable tilting moment acting on the output flange of DS 050
DS 050 (L10 = k, n = nr out)
Allowable tilting moment Mc max
44
DS 050 Allowable Radial Load Fr max
Tab. 10 Allowable radial load on the output flange of DS 050
DS 050 (L10 = k, n = nr out , Fa = 0)
Allowable radial load Fr max
44/a2 + 0.0305
Allowable radial load Fr max at a2 = 0
1400 N
DS 050 Moment of inertia and Weight
Tab. 11 Moment of inertia and Weight of DS 050
Moment of inertia without brake
10-4 kg.m2
Moment of inertia with brake
10-4 kg.m2
Weight without brake
kg
Weight with brake
kg
76
0,052 (EQI/ECI)
0,057 (Hiperface)
0,07 (Resolver)
0,087 (with resolver)
0,078 (with Hiperface encoder)
0,067 (with EQI/ECI)
1,06 kg (with EQI/ECI encoder)
1,1 kg (with Hiperface encoder)
1,15kg (with resolver)
1,37 kg (with EQI130, ECI 1118 and cables L=1m)
1,35 kg (with resolver and Y-tec)
1,24 kg (with Hiperface encoder and Y-tec)
Glossary
General Information
10-4 kg.m2
10-4 kg.m2
kg
Weight with brake
kg
0,588 (with encoder Endat)
0,588 (with encoder Sin/Cos)
0,583 (with Hiperface)
0,49 (DSH 70 with Hiperface)
0,63 (DSH 70 with resolver)
0,725 (with encoder Hiperface)
2,4 (with resolver)
2,9 (with resolver)
10-4 kg.m2
10-4 kg.m2
kg
Weight with brake
kg
1,881 (with Endat)
1,881 (with Sin/Cos)
1,68 (DSH110 with resolver)
2,021 (with Endat)
2,021 (with Sin/Cos)
7,2 (with resolver)
7,44 (DSH110 with resolver)
8,2 (with resolver)
77
Certificates
Directives and Regulations
REACH (Registration, Evaluation, Authorisation and Restriction of Chemicals)
Regulation (EC) No. 1907/2006 of the European Parliament and of the Council
concerning the registration, evaluation, authorisation and restriction of chemicals.
RoHS (Restriction of the use of certain Hazardous
Substances in electrical and electronic equipment)
Directive 2011/65/EU of the European Parliament and of the Council
on the restriction of the use of certain hazardous substances in electrical
and electronic equipment.
CE (Conformité Européenne)
The product is in conformity with the relevant basic European technical
standards applicable to the product.
78
Notes
79
š
ká
Lu áš
m
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k To
aš
Bl ký
r: soc
e
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sig r : V
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Cr sua
Vi

actuators - SPINEA Technologies sro

Transcription

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