MODELS XTR SERVOTUBE HIGH RIGIDITY UNIT

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MODELS XTR254-25 Force» Peak: 344-86 N» Continuous: 52-9N Maximum Velocity» Up to 5.

1 MODELS XTR Force» Peak: N» Continuous: 52-9N Maximum Velocity» Up to 5.6 m/s Feedback» Built-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 Applications» Packaging» Material Handling» Automated Assembly» Bio-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 Actuator high rigidity actuator with integrated outriggerbearings is an ideal solution for applications with high side-loading. A 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. XTR /26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page

2 MODELS XTR ELECTRICAL SPECIFICATIONS 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 Apk units With 25 x 25 x2.5cm heatsink plate Continuous stall 25 o C ambient (2) N Continuous stall 25 o C ambient Arms Apk Without heatsink plate Continuous stall 25 o C ambient (2) N Continuous stall 25 o C ambient Arms Apk Force constant (sine commutation) N/Arms N/Apk Back 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) Based on a moving thrust rod with 28mm stroke and no payload (4) Based on a moving thrust rod with triangular move over maximum stroke and no payload (5) -B bush bearing option (6) -P polymer bearing option THERMAL SPECIFICATIONS 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 XTR /26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page 2

3 MODELS XTR MECHANICAL SPECIFICATIONS FORCER TYPE units Maximum stroke mm Forcer mass kg Moving mass (-B bush bearing option).25+(overall length (m) x 5.24) kg Moving mass (-P polymer bearing option).25+(overall length (m) x 4.) kg MECHANICAL RIGIDITY EXTENSION DEFLECTION kg 2kg 5kg kg KG XTR254 (-B bush bearing) XTR256 (-B bush bearing) XTR258 (-B bush bearing) XTR25 (-B bush bearing) XTR254 (-P polymer bearing) XTR256 (-P polymer bearing) XTR258 (-P polymer bearing) XTR25 (-P polymer bearing) XTR /26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page 3

4 MODELS XTR PAYLOAD VERSUS EXTENSION FOR.KM LIFE XTR25xx (-B bush bearing) XTR25xx (-P polymer bearing) 8 6 Payload (kg) XTR254 XTR256 XTR258 XTR25 Paload (kg) XTR254 XTR256 XTR258 XTR25 OUTLINE DRAWINGS COMPLETE SYSTEM LENGTH STROKE FORCER LENGTH Forcer Forcer length (mm) XTR XTR XTR XTR Stroke Complete system length (mm) (mm) XTR254 XTR256 XTR258 XTR XTR /26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page 4

5 MODELS XTR 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 Back 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 SPECIFICATION VALUE units Output signal period 5.2 mm Signal amplitude (between +/- signals) Vpk-pk Output current ± ma Supply voltage 5 ±.25 Vd.c. Supply current (output current=) 5 ± 5 ma Resolution () 2 micron Position repeatability (2) ± 2 micron Absolute accuracy (3) ± 35 micron Notes: () Dependent on amplifier (indication with 2 bit resolution) (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. XTR /26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page 5

MODELS XTR254-25 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

6 MODELS XTR 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 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. SPECIFICATION VALUE 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 ELECTRICAL CONNECTIONS Connections are made within the termination box. PIN NUMBER FUNCTION +SIN 2 -SIN 3 +COS 4 -COS 5 +5Vd.c. 6 V 7 +TH (Thermistor) 8 -TH (Thermistor) PIN NUMBER FUNCTION Phase U 2 Phase V 3 Phase W Chassis Earth/Screen TB CABLE TYPE The XTR has two separate cables providing connections for forcer power and position sensor. Cable types are available in 3 metre, 5 metre or metre lengths. Cables are suitable for continuous flex or drag chain applications. POWER SENSOR Overall diameter (nominal) 8.mm 5.8mm Outer jacket material PUR PUR Number of conductors 4 4 x twisted pair Size of conductors.5mm 2 (22 AWG).4mm 2 (26AWG) Screened / Unscreened Screened Screened Minimum bending radius - flexible routing 42mm 42mm Operating temperature - flexible routing -5 o C to +8 o C -5 o C to +8 o C Operating temperature - flxed routing -3 o C to +8 o C -3 o C to +8 o C XTR /26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page 6

7 MODELS XTR CABLE TERMINATION The XTR cable is available with three termination options. Option F has the wire ends stripped and solder tinned ready for termination. All 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) N - (ESR-Pollmeier) F - (Flying leads) +SIN 4 6 Blue -SIN 3 7 Red +COS 2 White -COS 2 Brown +5Vd.c. 4 Yellow V 5 5 Green +TH (Thermistor) 5 Pink -TH (Thermistor) 5 5 Grey SCREEN + shell Shell SCREEN Connector type 5-way high density 5-way high density D D - Amplifier connection J8 X6.2 - POWER FUNCTION Forcer phase U 4 U Black Forcer phase V 3 V Black 2 Forcer phase W 2 W Black 3 Earth (forcer body) PE Green/Yellow SCREEN Shell SCREEN Connector type 4-way 5mm 4-way pluggable pluggable terminal terminal - Amplifier connection J2 X3 - BRAKE INFORMATION (OPTIONAL) When selecting the brake, the stroke is reduced by 6 mm. XTR /26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page 7

8 MODELS XTR ENVIRONMENT The XTR is intended for use in an environment within the following conditions: SPECIFICATION VALUE Operating temperature o C to +4 o C Storage temperature -25 o C to +7 o C Ingress protection IP67 Altitude (above mean sea level) m Overvoltage category II Pollution degree 2 EMC light industrial In addition, the XTR is available with two environmental coating options. The forcer body is coated as standard 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. This option is available at a minimum quantity of 25 pieces per year. ORDER CODES Actuator 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 Bearing B - Bush P - Polymer Environment S - Standard H - Harsh (on request) Brake blank - no brake BR - Brake Cable Termination D - Xenus (XTL-S) F - Flying leads N - ESR Pollmeier Cable Length 3-3 m 5-5 m - m Cable Type R - Robotic XTR /26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page 8

MODEL SBR25 SERVOTUBE ACTUATOR BRAKE Features» Vertical Holding Brake» Holding Force > 2N» 24 Volt DC supply» Fail Safe Operation The OEM advantage» High holding force in small package» Reliable and

The brake is a bolt-on addition to any XTR25 forcer and is IP67 rated. It is a unidirectional self-jamming design, which uses the motor s motion to create the necessary forces for braking the system.

9 MODEL SBR25 SERVOTUBE ACTUATOR BRAKE Features» Vertical Holding Brake» Holding Force > 2N» 24 Volt DC supply» Fail Safe Operation The OEM advantage» High holding force in small package» Reliable and cost-effective» No maintenance or adjustment OVERVIEW The ServoTube brake provides a solution to power down parking of vertical axes and controlled deceleration of axes during power fail conditions. The brake is a bolt-on addition to any XTR25 forcer and is IP67 rated. It is a unidirectional self-jamming design, which uses the motor s motion to create the necessary forces for braking the system. To minimize size, the brake is designed to be reset by the motor itself. Once reset, it is held off by a compact 24V electromagnet. The motor is then free to operate as normal until the release of power to the brake. OPERATION From power-on, the brake must be released before normal operation of the motor. Release:. Apply power to the forcer and drive the thrust rod UP by applying sufficient force to overcome the braking action (7-8N). 2. Continue driving UP until the STOP on the thrust rod activates the BRAKE RELEASE. Activation can be detected by the controller when velocity= or there is no change in position. 3. Apply 24V to brake solenoid. 4. Wait ms. 5. The brake will now hold off and the forcer can operate as normal. Activate:. Remove 24V from the brake solenoid. The thrust rod will fall a very short distance before the brake activates. 2. Wait ms. 3. Disable the servo to remove power from the forcer. SBR25 5/26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page 9

MODEL SBR25 SERVOTUBE ACTUATOR BRAKE SPECIFICATIONS Angabe Wert Environment Operating temperature o C... +4 o C Humidity (relative).

10 MODEL SBR25 SERVOTUBE ACTUATOR BRAKE SPECIFICATIONS Angabe Wert Environment Operating temperature o C o C Humidity (relative)... 95% (non-condensing) Electrical data Power requirement 24VDC +/- % Power dissipation 4 W Brake Holding force >2 N Reset force (using motor) N Mass,26 kg OUTLINE DRAWINGS SBR25 BR25 SBR25 5/26 Phone +49 () Fax +49 () /-22 info@dunkermotoren.de Page

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

RoHS MODELS XTR SERVOTUBE HIGH RIGIDITY UNIT. Force. Peak: N. Continuous: N. Maximum Velocity. Up to 5.6 m/s. Force Peak: 344-86 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: