MODELS STB SERVOTUBE MOTOR COMPONENTS

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1 MODELS STB FEATURES 51~12 N (11~23 lb) continuous force 312~78 N (7~175 lb) peak force 12 µm (.47 mil) resolution Speeds up to 8.7 m/s Acceleration up to 256 m/s 2 Built-in position feedback -- no encoder required Standard 1V pk-pk sin/cos position output Travel lengths up to 12 mm IP67 rating Plug-and-play with a range of matched servo amplifiers and indexers APPLICATIONS Packaging Material Handling Automated Assembly THE OEM ADVANTAGE Reliable and cost-effective Ballscrew form factor and large air gap for easy mechanical integration Mount load directly to rugged forcer No maintenance or adjustment ServoTube delivers the speed of a belt-drive system with the clean reliability of a linear forcer at a price unprecedented in the industry. Familiar form factor, integral position feedback and large air gap make installation simple. The ServoTube forcer components consist of an IP67 rated forcer and a sealed stainless steel thrust rod enclosing rare-earth magnets. Four models deliver a continuous force range of 51~12 N (11~23 lb) with peak forces up to 78 N (175 lb). A range of Thrust Rods are available for travel lengths up to 12mm. The patented magnetic design of ServoTube generates 12 micron (.47 mil) repeatability and 25 micron (1 mil) accuracy from a non-contact, integral position sensor. No external encoder is required. Position output is industry standard 1V pk-pk sin/cos signals. ServoTube is an ideal OEM solution for easy integration into pick-and-place gantries and general purpose material handling machines. The load is mounted directly to the Forcer typically supported by a single bearing rail. The Thrust Rod is mounted at both ends, similar to a ballscrew. A large air gap reduces alignment constraints. The tubular forcer has superior thermal efficiency, radiating heat uniformly. High duty cycles are possible without the need for forced-air or water cooling. ServoTube is complemented by a range of matched, self-tuning servo-amplifiers and indexers complete with plug-and-play cabling. Amplifiers interface easily to PLCs and feature CANopen network connectivity for distributed control applications DS189_E Page 1 of 8

2 ELECTRICAL SPECIFICATIONS MODELS STB FORCER TYPE units S (1) P (1) S (1) P (1) S (1) P (1) S (1) P (1) Peak 25 o C ambient for 1 sec N Peak 25 o C ambient for 1 sec A pk With 25x25x2.5cm heatsink plate Continuous stall 25 o C ambient (2) N Continuous stall 25 o C ambient A rms A pk Without heatsink plate Continuous stall 25 o C ambient (2) N Continuous stall 25 o C ambient A rms A pk Force constant (sine commutation) N/A rms N/A pk Back EMF constant (phase to phase) V pk /m/s Fundamental forcer constant N/ W Eddy current loss N/m/s 25 o C (phase to phase) Ohm 1 o C (phase to phase) Ohm 1kHz (phase to phase) mh Electrical time constant ms Continuous working voltage V d.c. Pole pitch (one electrical cycle) mm Peak acceleration (3) m/s 2 Maximum speed (4) m/s Notes: - (1) S=series forcer phases, P=parallel forcer phases (2) Reduce continuous stall force to 89% at 4 o C ambient (3) Based on a moving forcer and no payload (4) Based on triangular move over maximum stroke and no payload THERMAL SPECIFICATIONS FORCER TYPE units Maximum phase temperature o C Thermal resistance Rth phase-housing o C/W With 25x25x2.5cm heatsink plate Power 25 o C ambient Watt Thermal resistance Rth housing-ambient o C/W Without heatsink plate Power 25 o C ambient Watt Thermal resistance Rth housing-ambient o C/W Thermal time constant s MECHANICAL SPECIFICATIONS FORCER TYPE units Maximum stroke mm Forcer mass (including bearing(s)) kg Forcer mass (excluding bearing(s)) kg Thrust rod mass/metre kg/m DS189_E Page 2 of 8

3 MODELS STB OUTLINE DRAWINGS DS189_E Page 3 of 8

4 POSITION SENSOR MODELS STB The position sensor outputs analogue, differential sine and cosine signals for providing position feedback. Shown below are the relationships between forcer phase back EMF and position sensor outputs for one direction of motion (as shown by arrows). It should be noted that +SIN or -SIN is always in phase with forcer phase U. For the motion shown, -SIN is in phase with forcer phase U. For motion in the opposing direction +SIN is in phase with forcer phase U. Specification value units Output signal period 51.2 mm Signal amplitude (between +/- signals) 1 Vpk-pk Output current ±1 ma Supply voltage 5 ±.25 Vd.c. Supply current (output current =) 15 ± 5 ma Resolution (1) 12 µm Position Repeatability (2) ±12 µm Absolute Accuracy (3) ±25 µm/m Notes: - (1) Dependent on amplifier. (2) Dependent on amplifier. Under constant operating conditions. Self-heating of the thrust rod by the forcer will cause expansion in the thrust rod during the initial warm up period. In high duty applications (corresponding to an internal forcer temperature of 8 C) a 1 metre thrust rod will expand typically by 25µm. (3) Maximum error over 1metre. FORCER OVER TEMPERATURE SENSOR It is strongly recommended that the forcer over-temperature sensor is connected to the drive amplifier or servo controller at all times in order to reduce the risk of damage to the forcer due to excessive temperatures. Protection is provided by three, positive temperature coefficient (PTC) thermistors embedded in the forcer phases. As the forcer phase temperature approaches 1 o C, the PTC thermistors exhibit a sharp increase in electrical resistance. This change in resistance can be detected by circuitry within the drive amplifier or servo controller and used to reduce or disable the output of the drive amplifier in order to protect the forcer. DS189_E Page 4 of 8

5 MODELS STB Specification value units Resistance in the temperature range -2 o C to +7 o C 6 to 75 Ohms Resistance at 85 o C 165 Ohms Resistance at 95 o C 399 Ohms Resistance at 15 o C 12 Ohms Maximum continuous voltage 3 Vd.c. CABLE The STB has two separate cables providing connections for forcer power and position sensor. There are two options available with option R being supplied as standard. Option S cables are flexible but are not intended for continuous flex or energy chain applications. Option S specification Power Sensor Overall diameter (nominal) 8.2mm 7.8mm Outer jacket material PVC PVC Number of conductors 4 4 x twisted pair Size of conductors 1.5mm 2 (16 AWG).14mm 2 (26 AWG) Screened / Unscreened Screened Screened Operating voltage 6Vrms 3Vrms Minimum bending radius-fixed routing 41mm 4mm Operating temperature-fixed routing -4 o C to + 9 o C -4 o C to +7 o C UL style o C 6V o C 3V Option R cables are suitable for continuous flex or energy chain applications. Option R specification Power Sensor Overall diameter (nominal) 7.6mm 7.8mm Outer jacket material PUR PVC Number of conductors 4 4 x twisted pair Size of conductors 1.5mm 2 (16 AWG).14mm 2 (26 AWG) Screened / Unscreened Screened Screened Operating voltage 3Vrms 3Vrms Minimum bending radius-flexible routing 38mm 58mm Operating temperature- flexible routing -4 o C to + 8 o C +5 o C to +7 o C UL style o C 3V o C 3V CONNECTIONS Connections within the forcer termination box are as follows: - TB1 Function Conductor designation 1 Forcer phase U Black 1 2 Forcer phase V Black 2 3 Forcer phase W Black 3 Chassis Protective earth + both cable screens Green/Yellow DS189_E Page 5 of 8

6 MODELS STB ENVIRONMENT PL1 Sensor PCB Function Conductor designation 1 +SIN Blue 2 -SIN Black paired with Blue 3 +COS White 4 -COS Black paired with White 5 +5Vd.c. Red 6 V Black paired with Red 7 Factory use. Do not connect - 8 +TH (Thermistor) Green 9 -TH (Thermistor) Black paired with Green 1 Factory use. Do not connect - 11 Factory use. Do not connect - The STB is intended for use in an environment within the following conditions: - to +4 o C -25 to +7 o C to 95% non-condensing 1m Operating temperature Storage temperature Humidity (relative) Altitude (above mean sea level) Overvoltage category II Pollution degree 2 EMC Ingress protection light industrial IP67 FORCE/VELOCITY PROFILES (WITH AN OPERATING VOLTAGE OF 325VD.C. AND NO PAYLOAD) S=series forcer phases P=parallel forcer phases STB254S force/velocity STB254P force/velocity STB256S force/velocity STB256P force/velocity DS189_E Page 6 of 8

7 MODELS STB STB258S force/velocity STB258P force/velocity STB251S force/velocity STB251P force/velocity ORDER CODES Forcer STB Forcer- -Cable Termination- 4, 6, 8, 1 X-Xenus F-Flying leads -Winding- P-Parker S-Series P-Parallel -Cable Length- 3-3m -Environment- 5-5m S-Standard F-Food grade Thrust Rod TRB25- -Cable Type- S-Non-Robotic R-Robotic -Thrust rod length DS189_E Page 7 of 8

8 MODELS STB Length in mm DS189_E Page 8 of 8