RoHS MODELS XTR SERVOTUBE HIGH RIGIDITY UNIT. Force. Peak: N. Continuous: N. Maximum Velocity. Up to 5.6 m/s.

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1 Force Peak: N Continuous: 6-9N Maximum Velocity Up to 5.6 m/s Feedback uilt-in position sensor V pk-pk sin/cos 2 micron repeatability Range of motion 28~3 mm Dimensions W x H: x 86mm Rod diameter: 25mm pplications Packaging Material Handling utomated ssembly io-medical The OEM advantage Ready-to-use actuator requires no bearing support Flexible position control High speed and acceleration Clean, quiet operation No maintenance or adjustment The ServoTube ctuator high rigidity actuator with integrated outriggerbearings is an ideal solution for applications with high side-loading. ball-bushing option with steel bearing rails provides maximum side-loading support. Polymer bushings use aluminium rails for reduced weight and are ideal for vertical loads. Iron-sleeve design produces up to 2% more force than standard ServoTube actuator. Four models deliver a continuous force range of 6~9N (4~27lb) with peak forces up to 86N (93lb). Twelve stroke lengths are available from 28~3mm. The patented magnetic design of ServoTube generates 2 micron (.47 mil) repeatability and 35 micron (4 mil) accuracy from a non-contact, integral position sensor. No external encoder is required. Position output is industry standard V pk-pk sin/cos signals. ServoTube is an ideal OEM solution for easy integration into pick-andplace gantries and general purpose material handling machines. The load is mounted directly to the industry standard mounting plate. ServoTube has superior thermal efficiency, radiating heat uniformly. High duty cycles are possible without the need for forced-air or water cooling. ServoTube is complimented by a range of matched, self-tuning servoamplifiers and indexers complete with plug-and-play cabling. mplifiers interface easily to PLC s and feature CNopen and DeviceNet connectivity. RoHS Page

2 ELECTRICL SPECIFICTIONS FORCER TYPE S () P () S () P () S () P () S () P () Peak 25 o C ambient for sec N Peak 25 o C ambient for sec pk units With 25 x 25 x2.5cm heatsink plate Continuous stall 25 o C ambient (2) N Continuous stall 25 o C ambient rms pk Without heatsink plate Continuous stall 25 o C ambient (2) N Continuous stall 25 o C ambient rms pk Force constant (sine commutation) N/rms N/pk ack EMF constant (phase to phase) Vpk/m/s Fundamental forcer constant N/ W Eddy current loss N/m/s Sleeve cogging force /-N 25 o C (phase to phase) Ohm o C (phase to phase) Ohm khz (phase to phase) mh Electrical time constant ms Maximum working voltage V d.c. Pole pitch (one electrical cycle) mm Peak acceleration (3,5) m/s 2 Maximum speed (4,5) m/s Peak acceleration (3,6) m/s 2 Maximum speed (4,6) m/s Notes: - () S=series forcer phases, P=parallel forcer phases (2) Reduce continuous stall force to 89% at 4 o C ambient (3) ased on a moving thrust rod with 28mm stroke and no payload (4) ased on a moving thrust rod with triangular move over maximum stroke and no payload (5) - bush bearing option (6) -P polymer bearing option THERML SPECIFICTIONS FORCER TYPE units Maximum phase temperature o C Thermal resistance Rth phase-housing o C/Watt With 25 x 25 x2.5cm heatsink plate Power 25 o C ambient Watt Thermal resistance Rth housing-ambient o C/Watt Without heatsink plate Power 25 o C ambient Watt Thermal resistance Rth housing-ambient o C/Watt Thermal time constant s Page 2

3 MECHNICL SPECIFICTIONS FORCER TYPE units Maximum stroke mm Forcer mass kg Moving mass (- bush bearing option) +(overall length (m) x 5.24) kg Moving mass (-P polymer bearing option) +(overall length (m) x 4.) kg MECHNICL RIGIDITY EXTENSION DEFLECTION kg 2kg 5kg kg KG XTR254 (- bush bearing) XTR256 (- bush bearing) XTR258 (- bush bearing) XTR25 (- bush bearing) XTR254 (-P polymer bearing) XTR256 (-P polymer bearing) XTR258 (-P polymer bearing) XTR25 (-P polymer bearing) Page 3

4 PYLOD VERSUS EXTENSION FOR,KM LIFE XTR25xx (- bush bearing) XTR25xx (-P polymer bearing) 8 6 Payload (kg) XTR254 XTR256 XTR258 XTR25 Paload (kg) XTR254 XTR256 XTR258 XTR25 OUTLINE DRWINGS. SYSTEM LENGTH ( ) 6.4 STROKE (- / +2.) FORCER LENGTH T - SLOT FOR M5 T-NUTS HOLE TLE TG SIZE QTY C/ 6.6 THRU M6 4 SECTION Minimum stroke (mm) System length (mm) XTR254 XTR256 XTR258 XTR Forcer Forcer length (mm) XTR254 8 XTR XTR XTR Page 4

5 POSITION SENSOR 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. Phase U Phase V Phase W ack EMF (phase to neutral) Neutral -SIN +SIN +2.75V +2.5V Sensor signals -COS +COS +2.25V +2.75V +2.5V +2.25V electrical degrees SPECIFICTION VLUE units Output signal period 5.2 mm Signal amplitude (between +/- signals) Vpk-pk Output current ± m Supply voltage 5 ± Vd.c. Supply current (output current=) 5 ± 5 m Resolution () 2 micron Position repeatability (2) ± 2 micron bsolute accuracy (3) ± 35 micron Notes: - () Dependent on amplifier (2) Dependent on amplifier. Under constant operating conditions. Self-heating of 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 o C) a metre thrust rod will expand typically by 25 microns. (3) Maximum error over metre under constant operating conditions. Page 5

6 FORCER OVER TEMPERTURE 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. s the forcer phase temperature approaches o C, the PTC thermistors exhibits 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. SPECIFICTION VLUE units Resistance in the temperature range -2 o C to + 7 o C 6 to 75 Ohms Resistance at 85 o C <65 Ohms Resistance at 95 o C >399 Ohms Resistance at 5 o C >2 Ohms Maximum continuous voltage 3 Vd.c. FORCER ELECTRICL CONNECTIONS Connections are made within the termination box. PIN NUMER FUNCTION +SIN 2 -SIN 3 +COS 4 -COS 5 +5Vd.c. 6 V 7 +TH (Thermistor) 8 -TH (Thermistor) PIN NUMER FUNCTION Phase U 2 Phase V 3 Phase W Chassis Earth/Screen T CLE TYPE The XTR has two separate cables providing connections for forcer power and position sensor. There are two cable types available with option S being supplied as standard. oth cable types are available in 3 metre or 5 metre lengths. Option S cables are flexible but are not intended for continuous flex or energy chain applications. OPTION S SPECIFICTION 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 mm 2 (6 WG).4mm 2 (26WG) Screened / Unscreened Screened Screened Minimum bending radius - fixed routing 4mm 4mm Operating temperature - flxed routing -4 o C to +9 o C -4 o C to +7 o C Page 6

7 Option R cables are suitable for continuous flex or energy chain applications. OPTION R SPECIFICTION 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 mm 2 (22 WG).4mm 2 (26WG) Screened / Unscreened Screened Screened 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 Operating temperature - flxed routing -4 o C to +8 o C -4 o C to +7 o C CLE TERMINTION The XTR cable is available with five termination options. Option F has the wire ends stripped and solder tinned ready for termination. ll other options are terminated with connectors that plug directly into the desired amplifier. The connections for all options are shown below: - SENSOR FUNCTION D-(XTL-S) M-(XSJ-S) X-(XSL) F-Flying leads P-(Compax 3) +SIN 4 6 lue 8 -SIN 3 7 lack/lue 7 +COS White 2 -COS 2 9 lack/white +5Vd.c Red 2, 4 V lack/red, 5 +TH (Thermistor) 2 4 Green 5 -TH (Thermistor) lack/green SCREEN + shell + shell + shell SCREEN shell Connector type 5-way high 2-way 2.54mm 2-way.27mm 5-way high - density D Mini Mate mini D ribbon density D mplifier connection J8 J6 J8 - X3 POWER FUNCTION Forcer phase U lack Forcer phase V lack 2 2 Forcer phase W lack 3 3 Earth (forcer body) Green/Yellow 4 SCREEN SCREEN mplifier case Connector type 4-way 5mm pluggable terminal 4-way 5mm pluggable terminal 4-way 5mm pluggable terminal - 6-way 7.62mm pluggable terminal mplifier connection J2 J2 J2 - X3 ENVIRONMENT The XTR is intended for use in an environment within the following conditions: - SPECIFICTION VLUE Operating temperature o C to +4 o C Storage temperature -25 o C to +7 o C Ingress protection IP67 ltitude (above mean sea level) m Overvoltage category II Pollution degree 2 EMC light industrial DS96/G Page

8 In addition, the XTR is available with two environmental coating options. Option S has the forcer body coated with a 25 micron layer of black anodise that is suitable for general use. Option H has the forcer body coated with a 9 micron layer of hard natural anodise that is suitable for harsher environments. ORDER CODES ctuator XTR Forcer 4, 6, 8, Winding S - Series P - Parallel Stroke 28, 54, 79, 5, 3, 56 82, 27, 233, 259, 284, 3 Stroke in mm earing - ush P - Polymer Environment S - Standard H - Harsh rake blank - no brake R - rake Cable Termination D - Copley Xenus (XTL-S) M - Copley Xenus Micro Panel (XSJ-S) X - Copley Xenus (XSL) F - Flying leads P - Parker Compax 3 Cable Length 3-3 metre 5-5 metre Cable Type S - Non-Robotic R - Robotic Page 8