Accurax linear motor axis

Transcription

1 ADR Accurax linear motor axis Advanced linear motor axis High-efficiency iron-core linear motors and magnet tracks in a wide range of over 00 standard linear motor axis. ow moving mass to ensure a high degree of dynamism Optimized stroke/product length ratio Up to m/s maximum speed with µm repeatability Compact and efficiency oriented design Highly versatile and ready-to-use Ratings 0/00 VAC to 0 N (000 N peak force) System configuration (Refer to servo drive chapter) Accurax G servo drive EtherCAT model Servo drive options Serial converter cable Serial converter unit (optional) inear encoder cable extension (optional) Power inear encoder Hall & temperature sensors extension cable (optional) Hall & temperature sensors Accurax linear motor axis Accurax linear motor axis

2 inear motor/servo drive combination inear axis inear servo drive Accurax G EtherCAT Type Voltage Rated force Peak force Model 0 V 00 V R-EA-AF-@ inear motor axis 0/ 00 V N 0 N R-EA-AF-00-@ RD-KN0H-ECT- RD-KN0F-ECT- N 0 N R-EA-AF-00-@ RD-KN0H-ECT- RD-KN0F-ECT- 0 N 00 N R-EA-AF-00-@ RD-KN0H-ECT- RD-KNF-ECT- 0 N 00 N R-EA-AF-00-@ RD-KN0H-ECT- RD-KN0F-ECT- 0 N 00 N R-EA-AF-0-@ RD-KNH-ECT- RD-KN0F-ECT- 0 N 00 N R-EA-AF--@ RD-KNH-ECT- RD-KN0F-ECT- 0 N 000 N R-EA-AF--@ RD-KNH-ECT- RD-KN0F-ECT- Type designation inear motor axis R - EA - AF Accurax linear motor axis Iron-core linear motor model Code Specifications 00 0 mm active magnet width, coil 00 0 mm active magnet width, coil 00 0 mm active magnet width, coil 00 0 mm active magnet width, coil 0 0 mm active magnet width, coil 0 mm active magnet width, coil 0 mm active magnet width, coil Customised versions Stroke lenght (for effective stroke distances available see dimensions section) Note: The standard linear motor axis includes Vpp SinCos encoder. For another encoder options or customized versions of linear axis please contact your OMRON representative. Robot

3 inear servomotor specifications inear motor axis (0/00 VAC) Voltage 0/00 VAC inear axis model inear servo motor coil used R-EC-FW Peak force * N Other specifications Feedback Mechanics Motor specifications Peak current * A rms Continuous force * N Continuous current * A rms Motor force constant N/A rms...0 BEMF V/m/s Motor constant N/ W Phase resistance Phase Inductance mh Electrical time constant ms.. Pole pitch mm Weight of moving part kg Recommended horizontal payload * kg Uni-directional repeatability * µm ± Max. allowable speed m/s Min./max. standard stroke mm 0/ /0 0/ /0 0/00 0/ / Stroke increment mm Encoder type Vptp SIN/COS & Reference mark, metalcase, optical, incremental Encoder resolution 0 µm Accuracy class ± µm/m Hall sensor Digital, TT signals Protection methods * Temperature sensors (-/ & 0C), self cooling Hall-Sensor supply to VDC, ma Encoder reading head supply VDC, max. 0 ma Insulation class Class B Max. bus voltage 0 VDC Insulation resistance 00 VDC, min. 0 M Ambient humidity 0 to 0% (non-condensing) Altitude 000 m Max. allowable magnet temperature 0 C * Coil temperature rising by K/s. * Values at 00 C coil temperature and magnets at C. An airstream of. m/s ( C) has to be applied. * Referring to the center of gravity, for higher payload or different position of payload please contact your OMRON representative. * I t has to be set properly for high current applications. All other values at C (±0%). Centre of gravity 00 side view top view Accurax linear motor axis

4 Acceleration-payload characteristics (m/s²) (m/s²) R-EA-AF-00- R-EA-AF Peak operation Continuous operation Continuous operation Peak operation 0.0 0,, 0,, (Kg) 0.0 0,, 0,, (Kg) (m/s²) (m/s²) R-EA-AF-00- R-EA-AF Continuous operation Peak operation Continuous operation Peak operation ,, 0,, 0,, 0, (Kg) 0.0 0,, 0,, 0,, 0, (Kg) (m/s²) (m/s²) R-EA-AF-0- R-EA-AF Peak operation Peak operation Continuous operation ,, 0,, 0,, 0, (Kg) Continuous operation (Kg) (m/s²) R-EA-AF Peak operation Continuous operation (Kg) Note: The values on the above curves are calculated based on the below formula and with horizontal orientation: Acceleration = Force ForceFriction Weigth Total Robot

5 Dimensions (0/00 VAC) inear axis model Effective stroke n Nº of mounting holes Weight of moving table including motor coil (kg) Weight of the complete axis (kg) R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF n mm 0. Mounting hole 0 0 imit switch Omron sensor EE-SX-P-R Reference mark ubrication holes 0 0 M ( deep) Hall sensor & temperature cable Encoder cable Connector D-Sub pins (male) Pin No. Name V Connector D-Sub pins (male) SDA* SC* Not used /Ref signal (U0 ) /Cos signal (U ) /Sin signal (U ) Not used V 0 V 0 Not used Not used Ref signal (U0) Cos signal (U) Sin signal (U) Inner shield (IS) Pin No. Name Connector Hypertac Phase U RRA0AMRPN (male) Pin article code: Phase V Ground Phase W Not used Not used Mating connector: Plug type: PRA0BFRBN0 Accurax linear motor axis

6 (0/00 VAC) inear axis model Effective stroke n Nº of mounting holes Weight of moving table including motor coil (kg) Weight of the complete axis (kg) R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF n mm Mounting hole imit switch Omron sensor EE-SX-P-R Reference mark ubrication holes 0 0 M ( deep) Hall sensor & temperature cable 0 Encoder cable Connector D-Sub pins (male) Pin No. Name V Connector D-Sub pins (male) SDA* SC* Not used /Ref signal (U0 ) /Cos signal (U ) /Sin signal (U ) Not used V 0 V 0 Not used Not used Ref signal (U0) Cos signal (U) Sin signal (U) Inner shield (IS) Connector Hypertac RRA0AMRPN (male) Pin article code: Mating connector: Plug type: PRA0BFRBN0 Pin No. Name Phase U Phase V Ground Phase W Not used Not used Robot

7 (0/00 VAC) inear axis model Effective stroke n Nº of mounting holes Weight of moving table including motor coil (kg) Weight of the complete axis (kg) R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF n mm Mounting hole 0 imit switch OMRON Sensor EE-SX-P-R Reference mark ubrication holes M ( deep) Hall sensor & temperature cable Encoder cable Connector D-Sub pins (male) Pin No. Name V Connector D-Sub pins (male) SDA* SC* Not used /Ref signal (U0 ) /Cos signal (U ) /Sin signal (U ) Not used V 0 V 0 Not used Not used Ref signal (U0) Cos signal (U) Sin signal (U) Inner shield (IS) Connector Hypertac RRA0AMRPN (male) Pin article code: Mating connector: Plug type: PRA0BFRBN0 Pin No. Name Phase U Phase V Ground Phase W Not used Not used Accurax linear motor axis

8 (0/00 VAC) inear axis model Effective stroke n Nº of mounting holes Weight of moving table including motor coil (kg) Weight of the complete axis (kg) R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF n mm. Mounting hole 0 0 imit swith OMRON Sensor EE-SX-P-R Reference mark ubrication holes 0 0 M ( deep) 0 0 Hall sensor & temperature cable Encoder cable Connector D-Sub pins (male) Pin No. Name V Connector D-Sub pins (male) SDA* SC* Not used /Ref signal (U0 ) /Cos signal (U ) /Sin signal (U ) Not used V 0 V 0 Not used Not used Ref signal (U0) Cos signal (U) Sin signal (U) Inner shield (IS) Connector Hypertac RRA0AMRPN (male) Pin article code: Mating connector: Plug type: PRA0BFRBN0 Pin No. Name Phase U Phase V Ground Phase W Not used Not used Robot

9 (0/00 VAC) inear axis model Effective stroke n Nº of mounting holes Weight of moving table including motor coil (kg) Weight of the complete axis (kg) R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF-0-.. R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF-0-.. R-EA-AF R-EA-AF n mm. Mounting hole imit switch OMRON Sensor EE-SX-P-R Reference mark ubrication holes 0 0 M ( deep) Hall sensor & temperature cable Encoder cable Connector D-Sub pins (male) Pin No. Name V Connector D-Sub pins (male) SDA* SC* Not used /Ref signal (U0 ) /Cos signal (U ) /Sin signal (U ) Not used V 0 V 0 Not used Not used Ref signal (U0) Cos signal (U) Sin signal (U) Inner shield (IS) Connector Hypertac RRA0AMRPN (male) Pin article code: Mating connector: Plug type: PRA0BFRBN0 Pin No. Name Phase U Phase V Ground Phase W Not used Not used Accurax linear motor axis

10 (0/00 VAC) inear axis model Effective stroke n Nº of mounting holes Weight of moving table including motor coil (kg) Weight of the complete axis (kg) R-EA-AF R-EA-AF R-EA-AF R-EA-AF--0.. R-EA-AF R-EA-AF R-EA-AF R-EA-AF--0.. R-EA-AF--0.. R-EA-AF R-EA-AF R-EA-AF--.. R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF n mm imit switch OMRON Sensor EE-SX-P-R Reference mark ubrication holes M (0 deep) Hall sensor & temperature cable Encoder cable Connector D-Sub pins (male) Pin No. Name V Connector D-Sub pins (male) SDA* SC* Not used /Ref signal (U0 ) /Cos signal (U ) /Sin signal (U ) Not used V 0 V 0 Not used Not used Ref signal (U0) Cos signal (U) Sin signal (U) Inner shield (IS) Pin No. Name Connector Hypertac Phase U RRA0AMRPN (male) Pin article code: Phase V Ground Phase W Not used Not used Mating connector: Plug type: PRA0BFRBN0 0 Robot

11 (0/00 VAC) inear axis model Effective stroke n Nº of mounting holes Weight of moving table including motor coil (kg) Weight of the complete axis (kg) R-EA-AF--0.. R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF R-EA-AF n mm 0 0 imit switch OMRON Sensor EE-SX-P-R Reference mark ubrication holes M (0 deep) Hall sensor & temperature cable Encoder cable Connector D-Sub pins (male) Pin No. Name V Connector D-Sub pins (male) SDA* SC* Not used /Ref signal (U0 ) /Cos signal (U ) /Sin signal (U ) Not used V 0 V 0 Not used Not used Ref signal (U0) Cos signal (U) Sin signal (U) Inner shield (IS) Connector Hypertac RRA0AMRPN (male) Pin article code: Mating connector: Plug type: PRA0BFRBN0 Pin No. Name Phase U Phase V Ground Phase W Not used Not used Accurax linear motor axis

12 R. Optional serial converter unit Specifications Serial converter model RA- SC0K-E SC0K-E Description Serial converter from Vpp to G serial data transmission and with hall sensor input Temperature sensor sensor detection of iron-core motor coil NTC sensor detection of ironless motor coil Electrical Power supply voltage VDC, max. 0 ma supplied by the drive characteristics Standard resolution Interpolation factor 00 plus quadrature count Max. input frequency 00 khz Vpp Analog input signals (cos, sin, Ref) Differential input amplitude: 0. V to. V Input signal level:. V to. V Output signals Position data, hall & temperature sensor information, and alarms Output method Serial data transmission Transmission cycle < µs Mechanical Vibration resistance m/s max. ( to 00 Hz) in three directions characteristics Shock resistance 0 m/s, ( ms) two times in three directions Environmental Operating temperature 0 to C conditions Storage temperature 0 to 0 C Humidity 0% to 0% relative humidity (without condensation) CN Serial data output to linear servo drive Connector D-Sub -pin (male) PS /PS Not used Not used Not used Not used Not used V 0 V 0 Not used Not used Not used Not used Not used Inner shield CN Temperature sensor interface without h all sensor Connector D-Sub -pin (female) Not used Not used Not used Not used Not used / NTC /NTC CN Encoder input Vpp with programmable lines NUMERIK JENA standard Connector D-Sub -pin (female) SDA* SC* Not used /Ref signal (U0 ) /Cos signal (U ) /Sin signal (U ) Not used V 0 V 0 Not used Not used Ref signal (U0) Cos signal (U) Sin signal (U) Inner shield (IS) Hall & temperature sensors interface V / NTC / NTC Note: As the,,, pins in the CN and CN connectors are internally wired, the temperature sensor can be connected to both connectors. When the hall sensor is also required, use the same cable for hall & temperature signals and the CN connector. CN Connector D-Sub -pin (female) Robot

13 ADR Ordering information (Refer to servo drive chapter) B Servo drive options Accurax G servo drive EtherCAT model D Serial converter cable E C Serial converter unit (optional) F inear encoder cable extension (optional) Power inear encoder G Hall & temperature sensors extension cable (optional) Hall & temperature sensors Note: The symbols ABC... show the recommended sequence to select the servomotor, cables and serial converter for a linear motors system. inear motor axis R-EA-AF-@ 0 VAC single phase/00 VAC three phase Note: For effective stroke distances available see dimensions section. A Accurax linear motor axis Symbol Specifications A inear motor axis model B inear servo drive Rated force Peak force Accurax G EtherCAT 0 V 00 V AB N 0 N R-EA-AF-00-@ RD-KN0H-ECT- RD-KN0F-ECT- N 0 N R-EA-AF-00-@ RD-KN0H-ECT- RD-KN0F-ECT- 0 N 0 N R-EA-AF-00-@ RD-KN0H-ECT- RD-KNF-ECT- 0 N N R-EA-AF-00-@ RD-KN0H-ECT- RD-KN0F-ECT- 0 N 00 N R-EA-AF-0-@ RD-KNH-ECT- RD-KN0F-ECT- 0 N 00 N R-EA-AF--@ RD-KNH-ECT- RD-KN0F-ECT- 0 N 0 N R-EA-AF--@ RD-KNH-ECT- RD-KN0F-ECT- Accurax linear motor axis

14 Servo drive B Refer to Accurax G servo drive chapter for detailed drive specifications and selection of drive accessories. Serial converter unit Symbol Specifications Model C Serial converter unit from Vpp to G serial data transmission (with sensor detection of iron-core motor coil) RA-SC0K-E Serial converter unit from Vpp to G serial data transmission (with NTC sensor detection of ironless motor coil) RA-SC0K-E Note: If no temperature sensor is needed, then it does not matter which converter you use. Serial converter cable to servo drive Symbol Specifications Model Appearance D Accurax G drive to serial converter. m RA-CRKN00-CR-E cable. m RA-CRKN00CR-E (Connectors RA-CNK and DB-) m RA-CRKN00CR-E 0 m RA-CRKN00CR-E m RA-CRKN0CR-E 0 m RA-CRKN00CR-E Symbol Specifications Model Appearance E For linear motor axis. m RA-CAWK00-S-DE R-EA-AF-00-@ m RA-CAWK00S-DE R-EA-AF-00-@ m RA-CAWK00S-DE 0 m RA-CAWK00S-DE m RA-CAWK0S-DE 0 m RA-CAWK00S-DE For linear motor axis R-EA-AF-00-@ R-EA-AF-00-@ R-EA-AF-0-@ R-EA-AF--@ R-EA-AF--@ inear encoder cable to serial converter. m RA-CAW00-S-DE m RA-CAW00S-DE m RA-CAW00S-DE 0 m RA-CAW00S-DE m RA-CAW0S-DE 0 m RA-CAW00S-DE Symbol Specifications Model Appearance Extension cable from linear encoder to. m RA-CFKA00-CR-E H serial converter. m RA-CFKA00CR-E (Connector DB-) m RA-CFKA00CR-E (This extension cable is optional) 0 m RA-CFKA00CR-E m RA-CFKA0CR-E Hall and temperature sensors cable to serial converter Symbol Specifications Model Appearance G Extension cable from hall and temperature sensors to serial converter. m RA-CFKB00CR-E. m RA-CFKB00-CR-E (Connector DB-) m RA-CFKB00CR-E (This extension cable is optional) 0 m RA-CFKB00CR-E m RA-CFKB0CR-E Connectors Specification Accurax G servo drive encoder connector (for CN) Hypertac power cable connector IP Model RA-CNK PRA-0B-FRBN0 A DIMENSIONS SHOWN ARE IN MIIMETERS. To convert millimeters into inches, multiply by 0.0. To convert grams into ounces, multiply by 0.0. Cat. No. SysCat_IE-EN-0 In the interest of product improvement, specifications are subject to change without notice. Robot