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AC Servo
• Important Notes on exporting this product or equipment containing this product;
If the end-user or application of this product is related to military affairs or weapons, its export may be controlled by “Foreign
Exchange and Foreign Trade Control Law” of Japan where export license will be required before product can be exported from
Japan.
• This product is designed and manufactured for use in General Purpose Industrial Equipment and it is not intended to be used in
equipment or system that may cause personal injury or death.
• All servicing such as installation, wiring, operation, maintenance and etc., should be performed by qualified personnel only.
• Tighten mounting screws with an adequate torque by taking into consideration strength of the screws and the characteristics of
material to which the product will be mounted. Over tightening can damage the screw and/or material; under tightening can
result in loosening.
*Example: apply 2.7 N·m – 3.3 N·m torque when tightening steel screw (M5) to steel surface.
• Install safety equipment to prevent serious accidents or loss that is expected in case of failure of this product.
• Consult us before using this product under such special conditions and environments as nuclear energy control, aerospace,
transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination.
• We have been making the best effort to ensure the highest quality of our products, however, some applications with
exceptionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result
in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending on the condition
of the machine and its mounting environment, and may result in the bearing noise. Checking and verification by customer is
required.
• Failure of this product depending on its content may generate smoke of about one cigarette. Take this into consideration when
the application of the machine is clean room related.
• Please be careful when using the product in an environment with high concentrations of sulfur or sulfuric gases, as sulfuration
can lead to disconnection from the chip resistor or a poor contact connection.
• Do not input a supply voltage which significantly exceeds the rated range to the power supply of this product. Failure to heed
this caution may lead to damage of the internal parts, causing smoke and/or fire and other troubles.
• The user is responsible for matching between machine and components in terms of configuration, dimensions, life expectancy,
characteristics, when installing the machine or changing specification of the machine. The user is also responsible for
complying with applicable laws and regulations.
• Manufacturer’s warranty will be invalid if the product has been used outside its stated specifications.
• Component parts are subject to minor change to improve performance.
• Read and observe the instruction manual to ensure correct use of the product.
Repair
URL
2015/04
Catalog
Network, Linear & Direct Drive Motor Control System
Collaboration
Consult to the dealer from whom you have purchased this product for details of repair work.
When the product is incorporated to the machine you have purchased, consult to the machine manufacturer or its dealer.
Electronic data of this product (Instruction Manual, CAD data) can be downloaded from the following web site;
<http://industrial.panasonic.com/ww/products/motors-compressors/motors-for-fa-and-industrial-application>
Motor Business Unit,
Smart Factory Solutions Business Division,
Automotive & Industrial Systems Company,
Panasonic Corporation
1-1 Morofuku 7-chome, Daito, Osaka 574-0044, Japan
Tel : +81-72-871-1212
Fax: +81-72-870-3151
Motor Business Unit, Smart Factory Solutions Business Division,
Automotive & Industrial Systems Company, Panasonic Corporation
The contents of this catalog apply
to the products as of April 2015.
• This product is for industrial equipment. Don't use this product at general household.
• Printed colors may be slightly different from the actual products.
• Specifications and design of the products are subject to change without notice for the product improvement.
http://industrial.panasonic.com/ww/products/motors-compressors/motors-for-fa-and-industrial-application
<15.04
S
>
Line-up
Servo motor that brings out potential of the machine.
INDEX
[Partner product] (Quality of partner product is guaranteed by the manufacturer and distributor.)
RTEX (Applicable product : A5ⅡN / A5ⅡNL / A5ⅡMN / A5ⅡMNL series)
A5ⅡN
RS485 communication AE-LINK type
A5A
series
series
AE-LINK
Introduction of MINAS A5ⅡN series and RTEX ........................................................................................................................... 3
AJINEXTEK CO., LTD. ............................................................................................................................................................... 5
Asahi Engineering Co., Ltd. ..................................................................................................................................................... 7
Aurotek Corporation ................................................................................................................................................................. 9
Delta Tau Data Systems, inc. ................................................................................................................................................. 11
Panasonic Industrial Devices SUNX Co., Ltd. ...................................................................................................................... 13
Prime Motion Inc. .................................................................................................................................................................... 15
Shanghai Bitpass Automation Technology Development Co., Ltd .................................................................................... 17
SOFT SERVO SYSTEMS, INC. ............................................................................................................................................... 21
TIETECH Co., Ltd. ................................................................................................................................................................... 23
Trio Motion Technology Ltd. .................................................................................................................................................. 27
Vanguard Systems Inc. .......................................................................................................................................................... 31
Anywire Corporation .............................................................................................................................................................. 33
RTEX corresponding table and ASIC information ..................................................................................................................... 34
RTEX
“Realtime Express” model
AE-LINK (Applicable Product : A5A / A5AL series)
Introduction of MINAS A5A series and AE-LINK ....................................................................................................................... 35
Asahi Engineering Co., Ltd .................................................................................................................................................... 37
● Positioning is possible by built-in NC function
● Synchronized motion and precise CP control
● Can connect up to 31 axes
EtherCAT communication type
A5B
Linear and DD motor control type
A5L
series
series
39
41
43
45
47
49
51
53
55
57
59
63
LINEAR MOTOR and DIRECT DRIVE MOTOR (Applicable Product : A5L / A5ⅡNL / A5ⅡMNL / A5AL series)
65
67
71
73
75
77
81
83
FEED BACK SCALE (Applicable Product : All Products)
● Standard Ethernet cable
*1
● Drastically reduced setup time by automatic
using
setup
*1 Shielded twisted pair cable (CAT5e or higher)
85
87
89
90
91
92
93
95
ACTUATOR (Applicable Product : A5Ⅱ, A5ⅡN series)
Harmonic Drive Systems Inc. ................................................................................................................................................ 97
1
2
ACTUATOR
● Position, Speed, Thrust control
● Supports PC-based controller
FAGOR AUTOMATION ............................................................................................................................................................
HEIDENHAIN ...........................................................................................................................................................................
GSI Group Japan Corporation ...............................................................................................................................................
Magnescale Co., Ltd. ..............................................................................................................................................................
Mitutoyo Corporation .............................................................................................................................................................
NIDEC SANKYO CORPORATION ...........................................................................................................................................
Renishaw plc ...........................................................................................................................................................................
Feed back scale selection ........................................................................................................................................................
FEED BACK SCALE
Introduction of MINAS A5L series .............................................................................................................................................
Akribis Systems Pte Ltd .........................................................................................................................................................
Justek Inc. ...............................................................................................................................................................................
Mirae Linear Motor Technology .............................................................................................................................................
NIPPON BEARING CO.,LTD. ..................................................................................................................................................
Nippon Pulse Motor Co., Ltd. ................................................................................................................................................
SINFONIA TECHNOLOGY Co.,LTD. .......................................................................................................................................
Sodick Co., Ltd. .......................................................................................................................................................................
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
up to 32 axes
● Standard Ethernet cable *1 using
Introduction of EtherCAT/ MINAS A5B series ...........................................................................................................................
acontis technologies GmbH ..................................................................................................................................................
ADLINK Technology, Inc. .......................................................................................................................................................
ALGO SYSTEM Co.,Ltd. .........................................................................................................................................................
Beckhoff Automation GmbH & Co. KG .................................................................................................................................
CONTEC CO., LTD. ..................................................................................................................................................................
Hivertec, Inc. ...........................................................................................................................................................................
Micronet Company .................................................................................................................................................................
SOFT SERVO SYSTEMS, INC. ...............................................................................................................................................
TECHNO Co., Ltd. ...................................................................................................................................................................
Trio Motion Technology Ltd. ..................................................................................................................................................
EtherCAT corresponding table ..................................................................................................................................................
EtherCAT
EtherCAT (Applicable Product : A5B series)
Ultra High-Speed Network Servo
MINAS A5ⅡN series
By the two-degree-of-freedom control system
Ball screw
Belt device
settling
time
Ultimate Real-time performance
● Velocity response 2300 Hz
● Com. speed 100 Mbps Full-duplex
Below
● Com. period min. 0.083 ms
0.1 ms!
settling
time
●
4 ms
0 ms
Drive list
Shown to the left, is a
measure based on our
test environment, does
not guarantee.
DC
24 V
Functionality to meet various needs
all modes
● Accurate position latch
● IEC safety I/F model available *1
Drive power supply
● Pos./Vel./Torq.
Simple network
● High-performance
& Low-cost
● Isochronous established by ASIC
● Easy device development
Low-cost Ethernet cable
(CAT5e STP)
Inter-node cable length
of max.100 m
Devices except servo
provided by partners *2
High-efficiency ring
topology
Noise immunity 2.5 kV over
with unique error correction
(IEC61000-4-4 compliant)
Com. Period *2 Max. Nodes *4
A5ⅡN
A5ⅡNL
Rotary
motor
Linear
motor
Stepper
Drive
I/O
Pulse Out
1 ms
32
0.166 ms
10
0.5 ms
0.083 ms*3
32
5
Motor
*1: Special model. IEC61800-5-2 STO, IEC61508 SIL2. *2: The communication period and connection of slave devices depend on the controller specification.
*3: For communication period 0.083 ms, command update period is 0.166ms only. *4: Slave nodes.
• Speed response frequency
2300 Hz
Single/3-phase
200 to 240 VAC
3-phase
200 to 230 VAC
3-phase
380 to 480 VAC
[Typical system configuration]
Controller
Single phase
100 to 120 VAC
• Minimum communication period
• Maximum pulse frequency
400 Mpps
0.5 ms
Driver
Part No.
MMDH
T2C09
ND1
Frame
Driver
Part No.
Frame
1/6
A5ⅡN
A4N
•Realtime Express and RTEX are registered trademark of Panasonic Corporation.
Realtime Express is a high speed synchronous motion network developed by Panasonic Corporation.
10 times
A5ⅡN
3
A
A
MADH
T1107
ND1
MADH
T1505
ND1
Driver
Part No.
B
MCDH
T3120
ND1
MADH
T1507
ND1
MBDH
T2510
ND1
B
C
D
MCDH MDDH
T3520 T5540
ND1
ND1
Frame
Driver
Part No.
D
Frame
D
MDDH MDDH
T2412 T3420
ND1
ND1
Driver
Part No.
4 k to
11 kW to
7.5 kW
5 kW
15 kW
3 kW
C
MBDH
T2110
ND1
A
1 kW to
2 kW
1.5 kW
E
F
F
A4N
H
G
H
MFDH
TA390
ND1
MFDH MGDH MHDH
TB3A2 TC3B4 TC3B4
ND1
ND1
ND1
MEDH
T4430
ND1
MFDH
T5440
ND1
MFDH
TA464
ND1
E
F
F
• Some motors do not match model numbers in the table. Check correct combination in the A5Ⅱ family catalog.
• Trailing ND1 in the part number for product with safety I/F option is replaced with N21,excluding the M-frame.
MGDH MHDH
TB4A2 TB4A2
ND1
ND1
Appearance
LINK LED
Indicates connection/disconnection of RTEX cable.
COM LED
Indicates condition of RTEX.
Front cover
Servo status display 7-seg LED (2-digit)
Node address setting rotary switch (2-digit)
Setting range (00 to 31)
Connector X7 for analog monitor
For monitoring speed, torque, etc.
USB connector X1 for connection to PC
For PANATERM
Connector XA for power input connection
Connector X2A: RX for RTEX
Connection to TX of upstream node
Main circuit charge lamp
Connector X2B: TX for RTEX
Connection to RX of downstream node
Connector X4 for I/O
Connection to sensor inputs and alarm outputs
Connector XB for regenerative resistor and
motor connection
Connector X5 for feedback scale
For full closed control
Earth terminals
Connector X6 for encoder
For Panasonic serial data
Applicable standards
40 Mpps
G
MEDH
T7364
ND1
Dimensions (mm): W40 × H150 × D135 (A-frame)
0.083 ms
A4N
100 W 200 W 400 W 750 W
A
MADH
T1105
ND1
2.3 times
1000 Hz
Motor rated output
10 W to
50 W
30 W
Frame
M
RoHS
A5ⅡN
• Max. frequency is 4 Mpps when A/B phase
feedback scale is used.
4
AJINEXTEK CO., LTD.
Manufacturer/
Distributor:
RTEX
RTEX Master Board
Motion Function Module — RTEX-PM
PCI-R1604
Features
Pulse output
RTEX network Master Board
Network Speed 100 Mbps, Communication Period 0.5 ms
●Support RTEX Standard Servo Profile, Standard I/O Profile ●Basic configuration is 16 axes control
(Can be expanded to 20,24,28, and 32 axes)
●Easy to wire, saving wiring working-hour
●Max. 32 nodes
●Network connection - 100 BASE-TX, STP Cable (above CAT5e)
●Excellent Error correction
●Multi-axes linear / circular interpolation
●Limit setting functions : soft stop, emergency stop, and two positions
●
Encoder input
●
Motion control
Input / Output
Universal input
Universal output
Software
User Agent Software
Operating System
General specification
Dimension (H×D×W)
Weight
Operation temperature
Interpolation
Gantry motion
Item
RTEX-DB32T
Module function
NODE ID setting
Mounting Method
Power supply /
current consumption
RTEX based 1axis of slave motion function module
Decimal number rotary switch × 2 (0 to 31)
Standard 35 mm DIN rail mounting
24 VDC / 200 mA (Connected to TB1 outside the module, without external
I/O power)
Power (Yellow), Live (Green), Error (Red), Com (Yellow)
PULSE+, PULSE−, DIR+, DIR−
LINE TRANSMITTER (5 VDC, MAX. 13MPPS)
ENC-A, /A, B, /B, Z, /Z : High-speed Photo-coupler (5 VDC, MAX. 8 MPPS)
ENCPWR, DGND : 5 VDC output (when using the encoder for step motors)
ALARM, INP, RDY (IN4) : Photo-coupler (24 VDC Level)
SVON, ALMC, DCC, TRG (*) : Dalington Photo-coupler (24 VDC Level)
LIMIT+, LIMIT–, ORG : Photo-coupler (24 VDC Level)
TRG+, TRG– : Line Transmitter (5 VDC Level)
BRK (OUT4) : Photo-coupler + Drive IC (24 VDC Level)
PCOM, NCOM : Digital I/O Positive and Negative Common
Motion Connector : Honda 26 pin X 1 EA
Motion I/O Connector : 3M 26 pin X 1 EA
IN2, IN3 : Photo-coupler (24 VDC Level)
OUT2, OUT3 : Photo-coupler + Drive IC (24 VDC Level)
LED display
Digital input/output
Software
User Agent Software
Operating System
General specification
Dimension (H×D×W)
Weight
Operation temperature
Description
Software
32
200 m
60 m
RJ45 RX/TX, STP (Shielding type)
Item
User Agent Software
Operating System
General specification
Dimension
5 VDC / 1.0 A
Weight
Operation temperature
32-bit (±2147483648)
Description
EzSoftware RM
Windows 7 (32-bit, 64-bit)
Windows XP (32-bit, 64-bit)
Item
RTEX-DI32
Module function
NODE ID setting
Mounting Method
Power supply /
current consumption
LED display
Digital input
174.63 mm × 106.00 mm
120 g (Expend 32axes-161 g)
0 °C to 60 °C
Max. 32 synchronized drive, 2 to 4
axes linear interpolation, and 2 axes
arc interpolation,
Max. 32 slave axes can follow the
master axis to move synchronously
Software
User Agent Software
Operating System
General specification
Dimension (H×D×W)
Weight
Operation temperature
Application Sample
Semiconductor front/back end process field
●Solar Energy/FPD/PCB field
●Processing machine field
●
Please contact the following address for details
URL : http://www.ajinextek.com/ENG/menu04/page01.php
Analog input
System Configuration
RTEX Based Motion Network
Master Board
PCI-RXX04
Motion Module
RTEX-PM
RTEX-DI32
DIO Module
Software
User Agent Software
Operating System
General specification
Dimension (H×D×W)
Weight
Operation temperature
Item
RTEX-DO32T
Module function
NODE ID setting
Mounting Method
Power supply /
current consumption
RTEX based slave 32ch digital input function module
Decimal number rotary switch × 2 (0 to 31)
Standard 35 mm DIN rail mounting
24 VDC / Max. 500 mA (TB1 Connection to Outside Module)
Power (Yellow), Live (Green), Error (Red), Com (Yellow)
IN1 to IN32 (Yellow)
Input 32 channels, 24 VDC Level
IN1 to IN32 : Photo-coupler isolation (More over MIN. 2 mA/ch)
PCOM, NCOM : Digital I/O Positive and Negative Common
Connector : Phoenix 16 X 2 ( MCD 1,5/16-GIF-3,81 )
LED display
Digital input
Software
User Agent Software
Operating System
General specification
Dimension (H×D×W)
Weight
Operation temperature
EzSoftware RM
Windows 7 (32-bit, 64-bit), Windows XP (32-bit, 64-bit)
100 mm × 90 mm × 40 mm
245 g
0 °C to 60 °C
RTEX-AO4H
EzSoftware RM
Windows 7 (32-bit, 64-bit), Windows XP (32-bit, 64-bit)
100 mm × 90 mm × 40 mm
245 g
0 °C to 60 °C
Description
RTEX based slave 32ch digital output function module
Decimal number rotary switch × 2 (0 to 31)
Standard 35 mm DIN rail mounting
24 VDC / Max. 500 mA (TB1 Connection to Outside Module)
Power (Yellow), Live (Green), Error (Red), Com (Yellow)
OUT1 to OUT32 (Red)
Output 32 channels, 24 VDC Level
OUT1 to OUT32 : Photo-coupler isolation (Below MAX. 50 mA/channel)
PCOM, NCOM : Digital I/O Positive and Negative Common
Connector : Phoenix 16 X 2 (MCD 1,5/16-GIF-3,81)
EzSoftware RM
Windows 7 (32-bit, 64-bit), Windows XP (32-bit, 64-bit)
100 mm × 90 mm × 40 mm
245 g
0 °C to 60 °C
Item
RTEX-AO4H
Module function
NODE ID setting
Mounting Method
Power supply /
current consumption
LED display
Number of output
channels
Resolution
RTEX based slave 8ch analog input function module
Decimal number rotary switch × 2 (0 to 31)
Standard 35 mm DIN rail mounting
24 VDC / Max. 500 mA (TB1 Connection to Outside Module)
Power (Yellow), Live (Green), Error (Red), Com (Yellow)
8 channels
16-bit
Input 8 channel
Voltage mode: –10 V to +10 V,
Electric current mode : 4 mA to 20 mA (control the switch)
Resolution: 16-bit
Sampling speed: 100 kHz
Connector: Phoenix 10 X 2 (MCD 1,5/20-G1F-3,81)
Analog output
Software
User Agent Software
Operating System
General specification
Dimension (H×D×W)
Weight
Operation temperature
EzSoftware RM
Windows 7 (32-bit, 64-bit), Windows XP (32-bit, 64-bit)
100 mm × 90 mm × 40 mm
244 g
0 °C to 60 °C
Description
RTEX based slave 4ch analog output function module
Decimal number rotary switch × 2 (0 to 31)
Standard 35 mm DIN rail mounting
24 VDC / Max. 500 mA (TB1 Connection to Outside Module)
Power (Yellow), Live (Green), Error (Red), Com (Yellow)
4 channels
16-bit
Output 4 channel
Voltage mode : –10 V to +10 V
Resolution : 16-bit
Sampling speed :100 kHz
Connector : Phoenix 10 X 1 (MCD 1,5/10-G1F-3,81)
EzSoftware RM
Windows 7 (32-bit, 64-bit), Windows XP (32-bit, 64-bit)
100 mm × 90 mm × 40 mm
246 g
0 °C to 60 °C
Sales area and Language
• Korean
• Chinese
• English
Please contact the following address for details.
For more information
Contact:
5
Power (Yellow), Live (Green), Error (Red), Com (Yellow)
IN1 to IN16 (Yellow)
OUT1 to OUT16 (Red)
32 channels, 24 VDC Level (16ch Input / 16ch Output)
IN1 to IN16 : Photo-coupler isolation (More over MIN. 2 mA/ch)
OUT1 to OUT16 : Photo-coupler isolation (Below MAX. 50 mA/channel)
PCOM, NCOM : Digital I/O Positive and Negative Common
Connector : Phoenix 16 X 2 (MCD 1,5/16-GIF-3,81)
Analog Output Function Module — RTEX-AO4H
Description
RTEX-DO32T
RTEX-AI8H
24 VDC / Max. 500 mA (TB1 Connection to Outside Module)
Digital Output Function Module — RTEX-DO32T
Description
RTEX-DB32T
AIO Module
RTEX based slave 16ch digital input & 16ch digital output function module
Decimal number rotary switch × 2 (0 to 31)
Standard 35 mm DIN rail mounting
120 mm × 110 mm × 25 mm
192 g
0 °C to 60 °C
Analog Input Function Module — RTEX-AI8H
Item
RTEX-AI8H
Module function
NODE ID setting
Mounting Method
Power supply /
current consumption
LED display
Number of input
channels
Resolution
Description
EzSoftware RM
Windows 7 (32-bit, 64-bit), Windows XP (32-bit, 64-bit)
Digital Input Function Module — RTEX-DI32
Specification
Item
RTEX Master Board
Max. number of nodes
Max. ring loop length
Max. node to node length
Connector / cable type
Power supply /
current consumption
Position range
Motion
Digital Input/Output Function Module — RTEX-DB32T
Description
URL : http://www.ajinextek.com/ENG/
AJINEXTEK CO., LTD.
[E-mail: [email protected]]
TEL: +82-53-593-3700 FAX: +82-53-593-3703
9-3, Horim-dong, Dalseo-gu, Daegu-city, Korea
6
RTEX
Item
RTEX-PM
Module function
NODE ID setting
Mounting Method
Power supply /
current consumption
LED display
Asahi Engineering Co., Ltd.
Manufacturer/
Distributor:
RTEX
PLC Direct Access RTEX Motion Controller
Specification
PI-2300
Item
Description
Power supply
Features
● Direct PLC access
The controller runs the motion program installed in PI while accessing PLC data register.
•Preparation of ladder program for communication is not required on PLC.
•No CPU burden on PLC.
Basic step divided by 200 (for 40000 p/r basic step 1.8 deg motor)
Communication specification
Input signal
Output signal
2.55 A/phase
Realtime Express (RTEX)
Sensor input 4 (HOME, EX, CWLS, CCWLS), encoder input and stop input
Brake output and alarm output
Protective function
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Operating vibration
(shock) environment
Outline dimensions (mm)
Mass
Over current, power supply voltage monitoring and step-out detection
0 °C to 50 °C (no freezing), Storage: –20 °C to 60 °C (no freezing)
90 %RH max. (no dewing). Storage: 90 %RH max. (no dewing)
Indoor (no direct sunshine). No corrosive gas, flammable gas, oil mist, dust, etc.
Max. 1000 m above sea level
Max. 2 G (10 Hz to 250 Hz, in X,Y,Z direction 1 hour), max. 10 G (Ones)
160 × 92 × 29
Approx. 300 g
Application Sample
Specification
Item
Micro step resolution
Environment
● Stepping motor can be mixed
•The motion network can contain servo motor and stepping motor.
•Ultra high-speed fully-synchronized motion system can be built.
2.55 A/phase or less 2-phase HB type stepping motor
Driving capacity
Building a leading edge high speed motion network at low cost under PLC
● Simple motion control through data register
Motor can be controlled by operating PLC data register.
•Multiaxial motor can be controlled/monitored by simply operating numeric values on the
data register.
•PLC operator having no knowledge on communication of motion (RTEX) can control the
motor.
Applicable motor
Description
Power supply
24 VDC±10 % 300 mA MAX
Operating temperature and humidity
0 °C to 50 °C, 90 %RH max. (no dewing)
Outline dimensions (mm)
W24.5 × D105 × H160
Communication with PLC
Ethernet 10/100 BASE-T Conforms to MC protocol
Setting tool
PI Assistance (complimentary)
Control signal I/O
Initialization input, system alarm output and node alarm output
Motion network
RTEX command updating period: 1 ms
No. of connection nodes
Max. 16
Motion control
Positioning and synchronized operation
This controller is suitable for semiconductor manufacturing equipment, machine tools, measuring
machines, and other machinery.
System Configuration
AC servo MINAS A5ⅡN series
Ethernet
PLC
Asahi Engineering
Stepping motor drive D4610 etc.
PI-2300
2-phase Microstep Drive
D4610
Features
Leading Edge High Speed Motion Network (RTEX) At Low Cost
● High
(1) Accessing PLC data register from PI-2300 over Ethernet
(2) Based on the contents of data register, the PI sends
command to each axis (motor operation).
(3) The PI writes status information of each axis to data
register.
Sales area and Language
• Japanese
• English
performance CPU enhances drive capability
• Step-out detection
• Triangle drive prevention
• Motor over current protection
• Vibration suppression
• Brake control
• Closed loop control by encoder signal
● RTEX
Only japanese is used for inquiry over the phone.
When making an inquiry in English, please send it to the following address.
For more information
URL : http://www.asahi-engineering.co.jp/english
in motion network
● Network
can connect up to 32 axes (depending on master specification)
● Simultaneous
RTEX
Main power supply: 24 VDC±10 % (4.0 A max.)
Sensor power supply: 24 VDC±10 % (0.1 A)
multiaxial control within 1 ms communication period
7
Contact:
Asahi Engineering Co., Ltd. Kodaira Works
3-3-22, Gakuen-Higashicho, Kodaira-shi, Tokyo 187-0043, Japan
8
[E-mail: [email protected]]
TEL: +81-42-342-4422 FAX: +81-42-342-4423
Aurotek Corporation
Manufacturer/
Distributor:
RTEX
RTEX Network Motion Control board
Application Sample
MCN-8032P
RTEX
Features
RTEX (Real Time Express) servo network
Network Speed 100 Mbps, communication period 0.5 ms
●Easy to wire, saving wiring working-hour
●Up to 32 nodes
●Excellent error correction
●Multi-axis linear / circular interpolation
●Multi-axis synchronous motion (for gentry)
●Up to 16 boards in one PC
●
●
Linear and Circular Interpolations
Gentry Motion
Position Comparing & Triggering
Function
System Configuration
RTEX System
Max 32 Nodes
MINAS
A4N/A5ⅡN
PC-Based
Specification
Item
MCN8032P
Description
Servo Motor
MINAS
A5ⅡNL
Linear Motor
Stepping
Motor
STP
cable
Pulse
Command
Module
MCN9322
Output
Module
MCN9321
Input
Module
RTEX motion control
Module type support
Servo motor drive, Linear motor drive, Stepper drive, I/O module, Pulse module
Max. number of nodes
32 (MCN-8032P)
Max. ring loop length
200 m
Max. node to node length
60 m
Connector / cable type
RJ45 8 pins, STP (Shielding type)
Isolation voltage
1500 Vrms
Noise immunity
Over 2.5 kV
LED loop status
Link / Comm (two elements LED)
Position range
32-bit (±2147483648)
RJ-45
Linear
Motor
Software
MCN-9040
● MCN-9321
● MCN-9322
●
RTEX 4-axis pulse command module
RTEX 32 points input module with terminal block
RTEX 32 points output module with terminal block
DD Motor
Motion
Interpolation
32-axes linear interpolation / 2-axes circular interpolation (max. 16 pairs 2-axes circulator
interpolation)
Gantry motion
Max. 31 slave axes can follow the master axis to move synchronously
Position compare signal
All servo axis, up to 1 kHz
Software
Software utility
MCN80XXP series utility for motion test and diagnosis
Drive/LIB
Drive for Windows 7 (64 / 32 bits ), Windows XP, DLL function for windows applications
Sales area and Language
• English
• Chinese
For more information
URL : http://www.robot.com.tw/EN/Default.aspx
General specification
Certification
CE (applying)
Dimension(L×W×H)
175 mm × 100 mm × 20 mm
Power consumption
5 V @ 500 mA
Operation temperature
0 °C to 60 °C
Contact:
9
Aurotek Corporation
1st. Floor No. 60, Jhou-Zih St. Nei-Hu District, Taipei 114, Taiwan
10
[E-mail: [email protected]]
TEL: +886-2-6600-7574 FAX: +886-2-8752-3347
Delta Tau Data Systems, Inc.
Distributor:
RTEX
Turbo PMAC2 Realtime Express Controller
Turbo-PMAC2-RTEX series
From the Simplest Application, to the Most Complex and EVERYTHING in Between...
System Configuration
High specification motion controller with built-in PLC
alone specification with built-in high-speed DSP (max. 240 MHz)
PLC
Provided with USB 2.0, Ethernet or RS232C as standard port to communicate with host PC.
Memory sharing with DPRAM option is possible.
● Advanced
RTEX
For details, please check out our Video Center for more information.
URL : http://www.deltatau.com/DT_Resources/VideoCenter.aspx
Features
● Stand
Application Sample
PC
Touch Panel
Ethernet or RS232C
trajectory calculations such as inverse kinematics and look ahead
or
Advanced trajectory calculations necessary for linear interpolation, arc interpolation and
spline interpolation, and robot control, and CP control by micro line segment feed are
provided as standard features. All Turbo PMAC functions such as 2D and 3D positional
compensation are available.
● Various
field networks promote multivendor environment (option)
RTEX
By adding CC-Link/DeviceNet/Profibus communication module, different manufacturers’
devices can be connected.
● I/O,
pulse I/O, A/D and D/A function without intervention of network
Turbo-PMAC2-RTEX
CC-Link/DeviceNet/Profibus/CanOpen
To standard accessories such as universal I/O, pulse input and pulse output, optional A/D
and D/A can be added. By using the remote I/O unit ACC-34AA, expansion of 32 inputs, 32
outputs and universal I/O are possible.
Because these can directly access the memory without intervention of a network, they can
be easily handled.
Specification
Hardware specification
Item
Software specification
Description
Processor
DSP56300 series (Freescale)
Standard 80 MHz (option 240 MHz)
Memory
Built-in 128 K × 24-bit SDRAM
(option 512 K × 24-bit)
Backup
Settings and program can be stored to Flash
RAM.
Communication USB 2.0/Ethernet 100 BASE-TX (concurrent
use is not possible), RS232C
interface
Communication
Up to 6 kHz (only for Position command)
Period
Item
Description
No. of control axes
Max. 32 axes/16 coordinate systems
Controlling method
PTP control, trajectory (CP) control
Interpolation
control
2-axis to 9-axis linear interpolation,
2-axis arc interpolation (rotable) 3-axis spiral
interpolation, spline interpolation
Unit of control
Pulse, or other desired industrial metrological unit
Accelerating/
decelerating
method
Trapezoid/ S-curve Optional acceleration/
deceleration pattern (PVT mode)
Accelerating/
decelerating time
Min. 1 ms
Power supply
24 VDC 900 mA Min.
Pulse input
A/B phase rectangular input × 1-ch
(6 MHz before multiplied by 4)
Position
compensation
Ball screw pitch error correction,
orthogonal axis correction, plane correction
Pulse output
Pulse/direction output × 1-ch
(max. 1.31 MHz)
Other correcting
functions
Backlash compensation,
tool diameter compensation
Universal I/O
Input 8 points, output 4 points (sink/source
selectable) Remote I/O expandable (ACC34AA)
PLC function
Interpreter/compile type total: 64 programs
Universal A/D
12-bit × 2-ch (option)
Synchronous
control
Electronic gear, electronic cam,
motion synchronous I/O output (synchronous
M variable)
Universal D/A
±10 V 12-bit × 1-ch (option)
MINAS A5ⅡN
(1∼32axis)
Remote I/O
A/B Pulse counter
Remote I/O
Pulse/Dir output
Remote I/O
Direct DA, AD, DIO input/output
Sales area and Language
• English
• Chinese
• Korean
• Japanese
Positioning range ±235 counts
Advanced trajectory Look ahead,
forward/inverse kinematics operation
calculation
11
Please contact the following URL for details :
URL : http://www.deltatau.com/DT_About/aboutCorporateOffices.aspx
For more information
URL : http://www.deltatau.com
Contact:
Delta Tau Data Systems, Inc. USA West Coast Headquarters
21314 Lassen Street Chatsworth, CA 91311, United States
12
[E-mail: [email protected]]
TEL: +1-818-998-2095 FAX: +1-818-998-7807
Manufacturer/
Distributor:
Panasonic Industrial Devices SUNX Co.,Ltd.
RTEX
PLC Positioning Unit RTEX
Application Sample
Coil winding machine (Synchronized operation)
Lens Polish machine
●Inspection machine for electronic device
●Heavy LCD panel handling (synchronized operation)
●Others
●
AFPG43610, etc.
●
Compact PLC is easier to operate to control network servo MINAS A4N/A5ⅡN. (Units of Ver.1.3 or later will support
A5ⅡN.)
●High speed 100 Mbps communications enable high precision arc/linear/spiral interpolation.
●2-axis, 4-axis and 8-axis units are lined up and can be used to configure system of up to 16 axes with FPΣ and 256
axes with FP2SH.
●User-friendly tool software [Configurator PM] provides strong support for setup, start and monitor.
●Max. No. of position command points is 600/axis and max. position command rate is 32 Mpps, assuring margin of
performance.
●Manual pulser input is provided to enable fine teaching.
●
RTEX
Features
System Configuration
Pulsar
MINAS A5ⅡN
Configurator PM
FPΣ
(RTEX)
FPΣ
No. of control axes
Limit
Switch
AFPG43610/AFP243610
AFPG43620/AFP243620
AFPG43630/AFP243630
2-axis (2 axes × 1 system)
4-axis (4 axes × 1 system)
8-axis (8 axes × 1 system)
Control method
Interpolation control
600 points/axis
Backup
Parameter and data table can be stored to FROM.
Linear acceleration/deceleration and S-curve acceleration/deceleration
Accelerating/
decelerating time
0 to 10000 ms (in unit of 1 ms)
Positioning range
Signed 32-bit (–1073741823 to 1073741823 pulses) increment, absolute designation
With JOG operation (infinite feed operation)
Torque control function
With real time torque limit function
Other
Searching method
Sales area and Language
• Japanese
• English
pulse/ μm/ inch/ degree
Velocity control function
Origin
return
Limit Switch
2-axis, 3-axis linear interpolation, 2-axis arc interpolation, 3-axis spiral interpolation
Positioning data
Accelerating/
decelerating method
DOG
DOG Sensor
PTP control, trajectory (CP) control
Control unit
Position
control
function
FPΣ
(CPU)
FP2SH
Specification
Part No. (FPΣ/FP2SH)
・Axis setting
・Parameter setting
・Data table setting
・Tool operation
・Data monitor and Status monitor
For more information
FPΣ URL : http://www3.panasonic.biz/ac/e/fasys/plc/plc/fpg/index.jsp
FP2SH URL : http://www3.panasonic.biz/ac/e/fasys/plc/plc/fp2sh/index.jsp
URL : http://panasonic.net/id/pidsx/global
Near home (DOG) search, limit search, Z phase search, hit and stop
Creep velocity
Setting is optional
Pulser input operation/ auxiliary output code, auxiliary output contact/
dwell time/ in position contact/ 2-axis synchronization operation
* MINAS A4N and A5ⅡN cannot be mixed in a system.
Contact:
13
Panasonic Industrial Devices SUNX Co.,Ltd.
2431-1, Ushiyama-cho, Kasugai-shi, Aichi, 486-0901, Japan
14
TEL: +81-568-33-7861
FAX: +81-568-33-8591
Prime Motion Inc.
Manufacturer/
Distributor:
RTEX
for RTEX
Multi PLC Direct Connection 16-axis Motion Controller
General Purpose 32/32 Input/Output Board
Features
Features
[InterMotion] Including PLC (Using C-like Language)
RTEX
Directly connectable to Mitsubishi Electric PLC (CPU with Ethernet: e.g. Q03UDECPU)
References CPU D register according to MC protocol.
●Directly connectable to OMRON PLC (CPU with Ethernet: e.g. CJ1M-CPU11-ETN)
●Directly connectable to Keyence PLC KV-5000
●Internal control program of [InterMotion] can be developed in the machine control script
language [MOS language].
Motion, I/O, communication and sequence can be controlled.
●1 ms scan DOUT interlocked trajectory control (coating valve control, spray valve control, etc.)
is possible.
●
InterMotion Series JOY-RIO3232
Single board with 32 IN points and 32 OUT points
10 PIN connector for 8-point IN and 8-point OUT. Can be directly
connected to terminal block PRS-DG10-O8 (TOYOGIKEN Co., Ltd).
●24 V DC supply
●
●
Specification
Specification
Item
Item
Description
No. of control
axes
For max. 8 axes, 10 Mpps pulse train position command can be used as necessary.
(Low cost version is available: RTEX axis only without pulse train output)
Controlling
method
Each axis is independent PTP. Max.8 axes sync PTP.
Linear interpolation, 2-axis arc interpolation, 3-axis spiral interpolation, 32-bit length.
1 ms scan DOUT interlocked trajectory control option (coating valve control, spray valve control)
Internal control
program
development
Control program can be developed by using the C-like multiprocessing machine control language [MOS
language].
Motion, IO, communication and sequence can be controlled. As the development environment, [MOS Bench
AM] is required.
Accessory IO
±CW, ±CCW pulse output, ±A, ±B, ±Z input. Servo on, reset output. ±OT, alarm input, for 8 axes.
Universal IN 8 points. Universal OUT 8 points. Non-insulated RS232 1 ch, Insulated RS485 1 ch. (By adding
remote IO, 192 IN and 192 OUT are available.)
Host controller
Mitsubishi Electric PLC with CPU with Ethernet (reference CPU D register)
Keyence PLC KV-5000 (reference data memory)
OMRON PLC with CPU with Ethernet (reference data memory)
Or, Windows PC with Ethernet
Input
32 points (8 points × 4 ports), 24 VDC, 4.7 kΩ
Output
32 points (8 points × 4 ports), 24 VDC, 100 mA
Max. No. of connectable boards
6 (IN 192 points, OUT 192 points)
System Configuration
Keyence PLC
OMRON PLC
Pulse train input servo,
step (max. 8 axes)
InterMotion
RIO3232
32/32 max. 6 sheets
Pulse train
MINAS A4N/A5ⅡN
(max. 16 axes)
PC
Mitsubishi
PLC
Real-time Windows Software 40-axis Motion Controller
[RT40PR] Including Software PLC (Using C-like Language)
Description
RTEX
Ethernet
Sales area and Language
• Japanese
Features
32-axis RTEX Interface
8-axis 10 MPPS Pulse Train Output
●Synchronization between RTEX-axis and Pulse Output-axis
●Real-time Windows Software PLC Using the C-like MultiProcess machine control script language [MOS language].
●Same as Motion-card,Input,Output,AD,DA,RS232C, and
Counter-card can be controlled under Windows Real-time
Environment using [MOS Language]
●
Please contact the following address directly in Japanese.
Note) Now preparing for a document in English.
●
For more information
URL : http://www.primemotion.com/index.php
Contact:
15
Prime Motion Inc.
(InterMotion - Special site: http://www.intermotion.jp)
1134-12, Akaho, Komagane-shi, Nagano, 399-4117, Japan
16
TEL: +81-265-82-2990
FAX: +81-050-3774-8184
Shanghai Bitpass Automation
Technology Development Co.,Ltd.
Manufacturer/
Distributor:
PCI Bus 32 Block Control Board
PCMC-168N
RTEX
Application Sample
MINAS A5ⅡN
Provided by COSMOTECHS Co.,Ltd.
PCMC-168N
RTEX
Features
Coontrol data up to 32 block in 0.5 msec communication period
Continious Pass control : Up to 16-axis
Point to Point control : Up to 16-block
●Complex movement can be realized by the combination of a linear
interpolation and a circular interpolation
●Change and tune servo-parameters at once via RTEX
communication
●Easy to start-up in synchronization for all axis
●
●
Ball screw/
Linear Slider etc...
Lazer
Controller
CP Control / XY axis
• For continuous pass control like Laser Cutting,
Application
• For Index table, Parts feeder etc.
System Configuration
PCMC-168N
Specification
Item
RTEX
Description
Number of control axis
32 Block (Motor Control:16-axis, Module : 16-block)
Motor Control
Motor Control LSI × 4 (PMC842S : COSMOTECH)
Max.Pulse Frequency
8.191 Mpps
Command Update Period
0.5 ms
Drive Function
Positioning, Continuous, Mech.signal, Synchronized start, linear,
circular and continuous interporation,
AC/DC Mode
Linear and S-Curve, Asymmetricity Linear and S-Curve
Over-ride Function
Change velocity and distance
Counter Function
32-bit Output counter function, Comparator function
Physical Layer
LAN Cable (100BASE-TX)
Size (mm)
174.63 (W) × 106.68 (D)
Other function
Homing, Parameter Setting, Comand reservation, Alarm Clear Command,
Emergency stop function
OTHER
I/O(PP) : MAX16 Block
JES-CI-32N
JES-CO-32N
Motor(CP) : MAX 16 Block
MINAS A5ⅡN or MINAS A5ⅡNL
• Sencor
• Swich
• Actuator
• Sorenoid Valve
• Cylinder
• LED
Sales area and Language
• Japanese
• Chinese
Please contact the following address for details.
For more information
URL : http://www.shhuitong.net/ (Chinese)
URL : http://www.cosmotechs.co.jp/ (Japanese)
Contact:
17
Shanghai Bitpass Automation Technology Development Co.,Ltd.
floor1601 jinyi Mansion.441He Nan N.Rd, Shanghai, China
18
TEL: +86-21-63570803
FAX: +86-21-63570802
Shanghai Bitpass Automation
Technology Development Co.,Ltd.
Manufacturer/
Distributor:
General use Input Board
RTEX
MEMO
General use Output Board
JES-CI-32N
JES-CO-32N
RTEX
Features
Helpful for the reduction of cable cost and man-hour by using JST connector and terminal block.
Easy to check the wiring because each signal has one LED.
●Can control the mixed system with servo driver.
●
●
General use Input Board
JES-CI-32N
General use Output Board
JES-CO-32N
Specification
General use Input Board
JES-CI-32N
Item
General use Output Board
JES-CO-32N
Description
Item
Description
Slave mode
OUT mode (Without CPU)
Input singnal
Isolated input 32-point by PhotoCoupler (equal to PS2801)
Output singnal
Isolated output 32-point by opencollector (equal to TD62083), -COM is
common for each 32-point output
Input current
2 mA to 5 mA
Max. 50 V
Isolation power
supply
Output dielectric
strength voltage
DC12 V to 24 V
Output current
Max.100 mA
Network
RTEX
Isolation power
supply
DC12 V to 24 V
Communication
speed
Network
RTEX
100 Mbps
Communication
speed
100 Mbps
Maximum
number of axis
32 sheets (Input :1024-point)
Maximum
number of axis
32 sheets (Output :1024-point)
Communication
Communication
IN mode (Without CPU)
Output
Input
Slave mode
Sales area and Language
• Chinese
Please contact the following address for details.
For more information
URL : http://www.shhuitong.net/ (Chinese)
Contact:
Shanghai Bitpass Automation Technology Development Co.,Ltd.
floor1601 jinyi Mansion.441He Nan N.Rd, Shanghai, China
19
TEL: +86-21-63570803
FAX: +86-21-63570802
20
Manufacturer/
Distributor:
SOFT SERVO SYSTEMS, INC.
RTEX
Full-Scale CNC Controller for RTEX
Application Sample
Machining Centers
Milling and Engraving Machines
●Plasma and Laser Cutting Machines
●Dental Milling Machines
●EDM Machines
●
ServoWorks CNC Series
●
Complete high-end CNC solution for machining centers, laser, plasma, EDM and grinding machines
FANUC-compatible, full-scale G code and Ladder programing
●High-speed, high-precision milling functions including velocity override control in circular interpolation, corner
deceleration, dual-axis synchronous control, tool center point (TCP) control
●Interpolation rate as fast as 0.5 ms
●ServoWorks Development Kit (SDK) with VB and .NET support
●Various I/O modules available for a hand wheel, digital I/O control and spindle drive control
●Real-time performance on Windows based on industry-proven “Soft Motion” technology
●
●
RTEX
Features
System Configuration
ServoWorks Series
MC-Quad
S-100M
S-120M
S-140M
Max. No. of control axes
4
8
16
32
Maximum Number of Axes
4
4
8
8
Spindle Control
—
○
○
○
Maximum Number of PLC Axes
—
—
3
2
4
4
5
6
Max. Number of
Interpolated Axes
Linear Interpolation
Circular Interpolation
FPA-300
RTEX PC
adapter boad
Panasonic
MINAS A5ⅡN servo driver
1 ms (0.5 ms as an option)
Smoothing Fliters
Linear, Bell-shaped, Exponential
Linear Axis
0.000000001 mm, 0.0000000001 inch
Rotational Axis
Servo
motor
0.000000001 deg
Macro Programming
○
Automatic Corner Deceleration
○
Velocity Limit in Circular Interpolation
○
Lookahead Contour Control
○
○
—
○
○
Tool Center Point Control
—
—
—
○
Normal Direction Control
—
—
—
○
Control Cycle
1 ms
Max. Step Number
Servo
motor
Servo
motor
Sales area and Language
Complete Synchronous Control (Gantry)
I/O Control (PLC)
Industrial
panel PC
or regular PC
(Windows)
2 (Helical Interpolation)
Interpolation Cycles
Minimum Machine Unit
Ethernet cable
Specification
• English
• Japanese
• Korean
Please contact the following address for details.
For more information
URL : http://softservo.com/data_sheets/S-100M_Series_DataSheet.pdf
10000
Max. Control Points
I: 800 / O: 800
Contact:
21
SOFT SERVO SYSTEMS, INC.
272-1 Norieda-cho, Minami-ku, Hamamatsu, 432-8053, Japan
22
[E-mail: [email protected]]
TEL: +81-53-444-5771 FAX: +81-53-444-5773
TIETECH Co.,Ltd.
Manufacturer/
Distributor:
RTEX
PCI Motion Control Board
Application Sample
Semiconductor equipment
Chip-Mounter
●Machine tool
●Industrial Robot
●
169002-MBP-LE01/01, etc.
●
Motion control board best suited to build motion control system
System Configuration
● 32 axes synchronous control
• Servo control of 32 axes in 1 ms period for various applications.
Sample 1 : In case that the customer develops the motion software
● Wide array of external interfaces
• Because the board is provided with such external interfaces as
RS485 communication, 2 external inputs (24 V compatible) and
1 external output, it can be connected to various devices.
• When multiple inputs/outputs are required, it supports remote I/O
function (CUnet).
Max. 32-axis
Motion control board
Operation panel
Motion software by the customer
PC
for upper
control
Motion
software
OS: WindowsXP
developed
by the customer
PC for upper control
RTOS: VxWORKS,
QNX, LINUX, etc.
Specification
No. of control axes
Built-in pulse train
conversion software
Built-in PLC
169002-MBP-LE01/01
32
−
−
169002-MBP-LE01/02
32
○
−
169002-MBP-LE01/11
16
−
−
169002-MBP-LE01/12
16
○
−
169002-MBP-LE01/21
8
−
−
169002-MBP-LE01/22
8
○
−
169002-MBP-LE01/23
8
−
○
Item
Description
CPU
SH4 HD6417750R 200 MHz
Memory
FLASH ROM
SDRAM
SRAM
EEPROM
Shared memory
8 MB
16 MB
128 KB
8 KB
128 KB
Connector
RJ-45 × 2
Interface
Compatible with MINAS A4N/A5ⅡN series
External input
2 PORT (with sink/source switching)
External output
1 PORT (with sink/source switching)
Remote I/O
CUnet
Serial interface
specification
Compatible OS
MINAS A5ⅡN
Display unit
Model
Servo interface
Device driver for Windows
We supply the PCB and
servo communication library
Sample 2 : In case that the customer uses installed software and develops the upper application.
Series list
Architecture
RTEX
Features
Interface
RS-485
Transmission rate
115.2 kbps (Max.)
Remarks
Max. 32-axis
Motion control board
PC for upper control
OS: WindowsXP
Special software :
We prepare the pulse output
command which is equal to LSI.
• Linear and circular interpolation
• Linear or S-curve Acceleration
/Deceleration
• Homing function
etc.
Teaching Pendant
MINAS A5ⅡN
Sales area and Language
• Japanese
• English
with backup function
For data transfer
For more information
URL : http://www.tietech.co.jp/english/index.html (Japan)
URL : http://www.tietech.com.cn (China)
MKY40 (Step Technica Co., Ltd.)
Microsoft Windows XP
If you use a different OS, consult us.
Contact:
23
TIETECH Co.,Ltd.
1-3-4 Shioya-cho, Minami-ku, Nagoya 457-0078, Japan
24
TEL: +81-52-824-7375
FAX: +81-52-811-4737
TIETECH Co.,Ltd.
Manufacturer/
Distributor:
RTEX
PLC Motion Unit
Application Sample
Semiconductor equipment
Chip-Mounter
●Machine tool
●Industrial Robot
●
B3632101-UNT-LE02
●
PLC motion unit best suited to build motion control system
A4N/A5ⅡN series
Servo drive compatible
● 32 axes synchronous control
All servos sync to the host device assuring precise CP control.
Communication period is 1 ms over max. 32 axes allowing various control
settings.
● Software
software
RTEX
Features
System Configuration
Sample 1 : In case that the customer develops the motion software
Max. 32-axis
interface easily transportable from pulse train type
Motion control board
Operation panel
Command functions such as single axis PTP control, linear interpolation, arc
interpolation, origin return and drive parameter change are provided. The unit will
operate as the host controller sets the parameters and calls DLL functions. (DLL
functions will be disclosed.)
Motion software by the customer
Yokogawa Electric
e-RT3 2.0 series
PLC compatible
● Connection of Yokogawa PLC to Panasonic network servo
By connecting the unit to the host PLC via PCI bus and to the driving section
via network interface, various monitoring operations can be performed without
stress.
The combination of the unit and PLC expands functions such as to external
signal interface.
PC
for upper
control
Motion
software
OS: WindowsXP
developed
by the customer
PC for upper control
RTOS: VxWORKS,
QNX, LINUX, etc.
Device driver for Windows
We supply the PCB and
servo communication library
MINAS A5ⅡN
Sample 2 : In case that the customer uses installed software and develops the upper application.
Display unit
Max. 32-axis
Motion control board
Specification
Item
Specification
Max. No. of control
axes
32
Positioning data
quantity
No limit
Computing period
1.0 ms
PLC connection
Interface to servo
drive
Description
SH4 7750R 200 MHz (Renesas)
Peripheral clock 50 MHz
Bus clock 50 MHz
CPU
ROM
Memory
RAM
PCI
MINAS A4N/A5ⅡN series
Emergency stop
input
According to host PLC
specification *1
External signal
interface
According to host PLC
specification *1
Manual signal
pulser interface
According to host PLC
specification *1
Various monitoring
High-speed data
processing via PCI bus
Interpolation
Linear, arc, continuous,
multiplex,
helical pressure control
EEPROM
8 kbyte
SDRAM
8 Mbyte
DPRAM
256 kbyte
Bus
Power
supply
Internal
power
supply
Main power supply
5 V/ 3.3 V
CPU power supply
3.3 V, 1.5 V
FPGA
3.3 V, 2.5 V, 1.2 V
Watchdog
function
WDT
Watching time
1.6 s
Monitor
Communication
Setup
*1
8 Mbyte
Bus width
PCI bus
interface Clock
RTEX 100 Mbps
Continuous servo
drive
Flash ROM
LED
2 points
RS232C
1-ch
RUNGreen
DIPSW
25
MINAS A5ⅡN
Sales area and Language
• Japanese
• English
For more information
Blinks during
operation
URL : http://www.tietech.co.jp/english/index.html (Japan)
URL : http://www.tietech.com.cn (China)
LINKGreen
1-ch
*1 May be separately defined.
Teaching Pendant
33 MHz PCI Rev.2.3
compatible
Universal input
4
For JTAG.ICE connection 1
For FPGA setting
2
VxWorks6.4
PC for upper control
OS: WindowsXP
32-bit
RTEX
OS
Remarks
Special software :
We prepare the pulse output
command which is equal to LSI.
• Linear and circular interpolation
• Linear or S-curve Acceleration
/Deceleration
• Homing function
etc.
Contact:
TIETECH Co.,Ltd.
1-3-4 Shioya-cho, Minami-ku, Nagoya 457-0078, Japan
26
TEL: +81-52-824-7375
FAX: +81-52-811-4737
Trio Motion Technology Ltd.
Manufacturer/
Distributor:
RTEX
Motion Coordinator and RTEX Interface Module
Motion Coordinator MC464 / Panasonic RTEX Interface Module
Application Sample
Features
System Configuration
Supports digital drive systems up to 64 axes using multiple RTEX
●Based on 64-bit 400 MHz MIPS processor
●Anybus-CC Module support allowing flexible factory communication options
●High accuracy double floating point / 64-bit integer resolution
●Multi-tasking BASIC programming
●IEC 61131-3 programming support
●Backlit LCD display
●Ethernet programming interface
●Expansion flexibility with clip on modules allowing quick interchangeability
●Built-in Ethernet-IP connectivity
●
MC464
UNIPLAY HMI
Specification
Item
Description
MC464
System
Flexibility
Programming
Motion Functions
Interfaces
Packaging
Axes Controlled
RTEX Drive Networks
Built-in Synchronization Encoder Input
Multi-Tasking TrioBASIC
Number of Simultaneous Programs
Motion Perfect Windows Software
Stand-Alone operation
Permanent Flash EPROM for program storage
Available memory for user programs
User table memory
Accurate and fast real number mathematics
Program Trace Debugger
Named Constants and variables
Linear, Circular, Helical, Spherical Interpolation
Cams, Gearbox, Clutches
64-bit position storage
Acceleration/Deceleration & S-Ramp Controls
5 Term Control
Max Interpolated Axes
Hardware Position Capture (Registration)
Ethernet port
RS232 Serial Port
RS485 Multi-Drop
Ethernet IP
Modbus TCP
Anybus Module
Opto-Isolated Inputs
Opto-Isolated Outputs with current limit
Max Input / Output Expansion Channels
CAN Analogue Inputs Capability
Real Time Clock
SD Card
Module case style
Module size (H × W × D)
UL and CE marked for EMC
Item
Description
Up to 32 Axes
Panasonic RTEX Interface Module
Up to 64
Up to 7
Yes
Yes
30
Yes
Yes
Yes
8 Mbyte
512000
64-bit Int / Double Floats
Yes
Yes
Yes
Yes
Yes
Yes
Yes
64, Multiple groups
1 μs
10/100 Base-T
128 kbps
Yes
Yes
Yes
Yes
16
8
512
Yes
Yes
Programs and data
DIN Rail / Panel Mount
201 mm × 155 mm × 56 mm
Yes
27
Network
Ethernet based MINAS
A4N / A5ⅡN
Network Speed
100 Mbps 1msec or
500 usec update operation
Topology
Ring
Max Slaves
per Interface Ring
32
Max Interfaces
per MC464
7
Max Axes per
MC464
64
Bus to MC464
32-bit
Registration Inputs
8 × 24 V Inputs + 1 Drive
Registration Input/Axis
Optically Isolated
registration Inputs
Y
Map Any I/O to
Any Axis
Y
Supported Modes
Cyclic Position, Cyclic
Speed, Cyclic Torque
MINAS A5ⅡN
Sales area and Language
• English
Please contact the following address for details.
For more information
URL: Panasonic Expansion Module
http://www.triomotion.com/tmt3/sitefiles/products/exp_mod_panasonic.asp#section=one
URL: The specifications for the MC464
http://www.triomotion.com/tmt3/sitefiles/products/mc464.asp#section=one
Contact:
Trio Motion Technology Ltd.
Shannon Way, Tewkesbury, Gloucestershire, GL20 8ND, United Kingdom
28
TEL: +44-1684-292333
FAX: +44-1684-297929
RTEX
URL : Sample applications
http://www.triomotion.com/tmt3/sitefiles/motion_control/applications.asp#section=overview
Please refer to the sample and typical applications for the MC464 with A5ⅡN as shown above URL.
Trio Motion Technology Ltd.
Manufacturer/
Distributor:
RTEX
Motion Coordinator and RTEX Interface Module
Motion Coordinator MC4N-Mini /Panasonic RTEX Interface Module
Up to 32 RTEX Digital Drive Axes
●Up to 1024 I/O
●Linear, Circular, Helical and Spherical Interpolation
●Flexible CAM shapes, Linked Motion
●Isolated Encoder Port
●EnDAT and SSI Absolute Encoder Supported
●Hardware Linked Output for Camera / Laser Control
●IEC 61131-3 Programming
●Multi-tasking BASIC Programming
●Ethernet-IP / Modbus TCP / Trio ActiveX / Uniplay HMI
/ UDP / Ethernet Interface Built-In
●Precise 64Bit Motion Calculations with 532 MHz ARM
11 Processor
System Configuration
Text File Handling
●Robotic Transformations
●4 High Speed Registration Inputs
●Isolated RS232 and RS485 ports
●SD Memory Card Slot
●CANopen I/O Expansion
●Backlit LCD Display
●RoHS and CE Approved
●
URL : Sample applications
http://www.triomotion.com/tmt3/sitefiles/motion_control/applications.asp#section=overview
Please refer to the sample and typical applications for the MC4N with A5B as shown above URL.
●
MC4N-Mini
UNIPLAY HMI
Specification
Item
Up to 32 Axes
Description
Item
Description
MC4N-Mini RTEX
Configuration
Axes
Axis 0
32
Processor
ARM11
Max virtual axes
Clock frequency
Servo update rate
Encoder input frequency
Stepper output frequency
Perfomance
User memory
Max data table size
Flash data memory
Auxiliary Axis
CANopen
Ethernet (10/100) base-T
Ethernet IP
MODBUS-RTU
8 MByte
512000
±10 V analogue Outputs
Registration input speed
Expansion I/O
No
4
Digital I/O points
1024
12 bit ±10 V analogue outputs
16
12 bit ±10 V analogue inputs
32
# tasks
22
# programs
Programming
Yes
Yes
HPGL
Yes
DXF import
Yes
Software
Yes
Yes
Expansion
Yes
Physical
Yes
Pulse + direction output
Yes
Motion Perfect v3
All Support Software
Memory slot card
Power
Yes
Certification
Yes
29
Yes
Option
Yes
Yes
Yes
Yes
Yes
Mounting
Panel
Supply Voltage dc
Consumption (exc. I/O)
CE approval
RoHS Compliant
• English
Please contact the following address for details.
For more information
URL: MC4N-Mini RETEX Master
http://www.triomotion.com/tmt3/sitefiles/motion_control/applications.asp#section=overview
SD
40 × 157 × 120
Weight
Sales area and Language
32
Width × Height × Depth (mm)
Operating Temp
Yes
No
Kinematic Runtime
G-Code
Yes
Feedback input
IEC61131 Runtime
MINAS A5ⅡN
1 μs
64 bit
No
Incremental (A+B) output
No
8
Yes
Anybus support
Reference input
0-10 V analogue inputs
Bi-directional I/O 24 Vdc
TrioBASIC
Yes
Hostlink
No
32 × 16000
MODBUS-TCP/IP
RS232/RS485
Encoder Ports
2 MHz
8
Outputs 24 Vdc
# registration inputs
6 MHz
Double FP
DeviceNet
Communication
1 ms-500 µs
Maths precision
Panasonic RTEX
Built-in I/O
532 MHz
4096
Real time clock
Inputs 24 Vdc
32
VR
Position register precision
Drive Interfaces
Extended
Max axes
432 g
0 - 45°
24 V
350 mA
Yes
Yes
Contact:
Trio Motion Technology Ltd.
Shannon Way, Tewkesbury, Gloucestershire, GL20 8ND, United Kingdom
30
TEL: +44-1684-292333
FAX: +44-1684-297929
RTEX
Features
Application Sample
Vanguard Systems Inc.
Manufacturer/
Distributor:
RTEX
Motion Master Control Board
Specification
HCRTEXsd (-PCI)
MCRTEX2sd
INRTEX16sd/OTRTEX16sd
ADRTEX2sd
RTEX
Features
● Motion
board.
of up to 32 axes (nodes) can be controlled from the single
The board can control up to 32 nodes of axes and peripheral devices.
● Simple
sequence function reduces the load on host PC.
● Parameters
and status of servo drive and motor can be uniformly
managed from the host.
2-axis pulse output board
Parameter setting and changing of servo drive (MINAS-A5ⅡN), various monitoring
(alarm, limit signal, etc.), diagnosis of condition and troubleshooting can be easily
performed.
● Flexible
HCRTEXsd
expandability by expanding peripheral lineup
In addition to control of MINAS-A5ⅡN, system can be extended
to the desired degree by making use of peripheral boards (DI/
DO board, Stepper drive board and pulse output board).
● Full
software control
Speed (linear, S-curve acceleration/deceleration) and trajectory
(linear and arc interpolation) are fully controlled by software,
precisely at a low cost.
One board can control 2-axis motor
(occupies 2 blocks)
●1 pulse/2 pulse/2-phase pulse output
is possible. Pulse train input type
drive can be connected, regardless of
stepping or servo. (Differential output)
●Up to 8 Mpps pulse can be output,
enabling high speed, high resolution
control.
●Feedback pulse counting is possible.
UP/DOWN, A/B phase (multiplied
by 1/2/4) signals can be used for
counting.
●
HCRTEXsd-PCI
DI board and DO board
2-ch analog input board
INRTEX16sd
No. of input channels: 2
Input configuration
: Differential/single end
●Input range: ±10 V, ±5 V, 0-0 V
●Resolution : 12-bit
●Conversion mode
: Free run/external trigger
●
Input configuration
: Photocoupler isolated
●No. of inputs : 16
●Rated voltage: +24 VDC
●
OTRTEX16sd
Output configuration
: Photocoupler isolated
open collector (sink)
●No. of outputs: 16
●Output rated voltage: +24 VDC
●Output rated current: 100 mA Max.
●
●
System Configuration
Common communication system (RTEX) optimizes control method
and connections, facilitating building of simple system.
Specification
●
Item
Part number
Board specification
Host interface
Power supply
Description
HCRTEXsd
USB2.0 Highspeed(480 Mbps)
PC15 V/3.3 V signal environment compatible
(PCI Spec2.1 Target)
24 VDC±15 % 300 mA MAX
+3.3 VDC, 0.96 A (TYP)
+5 VDC, 0.2 A (TYP)
Operating temperature
and humidity
Outline dimensions (mm)
W167.64 × D64.41 (PCB only)
1 slot, LowProfile compatible
No. of control nodes
32
Board function
Motion control
Motion function
Ring connection requires no HUB
Max. 60 m between nodes
0 °C to 50 °C, 85 %RH max. (no dewing)
W130 × D150 × H30
Positioning control by software
• Positioning, linear and arc (continuous)
• Linear, S-curve acceleration/deceleration (triangle driving avoidance function)
• Software accurately maintains arc circumferential velocity constant
• Simple sequence function
• Setting and reading of servo drive (MINAS-A5ⅡN) parameters
• Other motion functions
Master control board
HCRTEXsd(-PCI)
USB or PCI
HCRTEXsd-PCI
Expandable up to 32 nodes
AD input board
ADRTEX2sd
DI board
INRTEX16sd
DO board
OTRTEX16sd
Pulse output board
MCRTEX2sd
MINAS-A5ⅡN
Analog equipment
(sensor, LC, etc.)
DI equipment
(switch, sensor, etc.)
DO equipment
(cylinder, LED, etc.)
To servo step drive
Motor
actuator
Sales area and Language
• Japanese
• English
Only japanese is used for inquiry over the phone.
When making an inquiry in English, please send it to the following address.
For more information
URL : http://www.hp-vanguard.com/
Contact:
31
Vanguard Systems INC. ME Div. Sales Dept.
[E-mail: [email protected]]
1-27-23, Higashitokorozawa, Tokorozawa-shi, Saitama 359-0021, Japan TEL: +81-4-2951-5381 FAX: +81-4-2951-5383
32
Anywire Corporation
Manufacturer/
Distributor:
RTEX
RTEX/AnyWire Gateway
RTEX corresponding table and ASIC information
RTEX partner products
【Corresponding table】
AG42-R1
PCI
Features
Connect AnyWire Reduced Wiring I/O System to RTEX
AJINTEK CO., LTD.
AnyWire reduced wiring system has Dual-Bus function which transfers
DI/O and AI/O on the same transfer line but independent of each other.
●AnyWire reduced wiring system is cable free specification and uses
general purpose wires
●Layout free, e.g. T branch, multi drop and tree wiring
●Simple one-touch connection, branch and extension by using insulation
displacement connector
●Max. No. of I/O points is 2560 and max. No. of units connected to I/O
terminal is 128
●Max. connecting route length 1000 m
Master
USB
Slave
Stand
Alone
PLC
Digital
I/O
Analog
I/O
Pulse
Output
●
●
●
●
Stepper
Gateway
Driver
●
Aurotek Corporation
RTEX
AnyWire
3 to 11 (depending on No. of points used)
Effective data transmission rate
Transmission scheme
Synchronization system
Data length/frame
Connection topology
Transmission protocol
Error control
Max. No. of connecting Bit-Bus
I/O points*1
Word-Bus
Max. No. of connected units
183 kbps/256 points (@ transfer clock: 62.5 kHz)
Full quadruplex total frame cyclic system
Frame/bit synchronization system
1-bit to 1024-bit
Bus (multi drop, T branch, tree)
Dedicated protocol (AnyWireBus)
Double check
512 points (IN 256 points + OUT 256 points)
2048 points (IN 1024 points + OUT 1024 points) or 128 words (IN 64 words + OUT 64 words)
128 (Total of Bit-Bus terminals and Word-Bus terminals)
[0.85 ms/128 points], [1.4 ms/256 points], [2.4 ms/512 points], [4.4 ms/1024 points]
(transfer clock @62.5 kHz)
Transmission line breakage position detection and transmission line short-circuit detection
Cable free
• General purpose (VCTF) 2-core /0.75 mm2 to 1.25 mm2: transmission only (D, G)
• General purpose (VCTF) 4-core /0.75 mm2 to 1.25 mm2: including power supply (D, G, 24 V, 0 V)
• Other general purpose cables /0.9 mm2 to 1.25 mm2: e.g. parallel
• Special flat cable /0.75 mm2 to 1.25 mm2: including power supply (D, G, 24 V, 0 V)
[1 km/7.8 kHz] [500 m/15.6 kHz] [200 m/31.3 kHz] [100 m/62.5 kHz]
Max. transmission distance*4
SOFT SERVO SYSTEMS, INC.
●
TIETECH Co., Ltd.
●
●
●
●
●
●
DV0P444-9
Power supply voltage
3.3 V
Operating ambient
temperature
Package
33
Specification
Part No. for ordering
Current consumption
For more information
1 Babazusho, Nagaokakyo-city, Kyoto 617-8550, Japan
TEL: +81-75-956-4911(Japanese only) FAX: +81-75-356-1613
* Only Japanese is used for inquiry over the phone. When making an inquiry in English, send it to: [email protected]
●
For developing RTEX product, this ASIC is necessary. (See note)
Only japanese is used for inquiry over the phone.
When making an inquiry in English, please send it to the following address.
[E-mail: [email protected]]
●
Communication ASIC MNM1221
• English
• Japanese
Anywire corporation Headquarters
●
●
Packing quantities
URL: http://www.anywire.jp/
●
●
Trio Motion Technology Ltd.
Sales area and Language
●
●
*1: The number depends on the master. *2: Typical values at the top speed. *3: Diameter varies with transmission distance.
*4: Distance is the cable total length.
Contact:
●
Shanghaai Bitpass Automation
Technology Development Co., Ltd
with Cosmoteck Co.,Ltd.
Vanguard Systems Inc.
●
●
Prime Motion Inc.
No. of exclusive blocks
Transmission cable*3
●
Delta Tau Data Systems, inc.
Description
●
●
Panasonic Industrial Devices
SUNX Co., Ltd
Item
RAS function
●
Asahi Engineering Co., Ltd.
Specification
Max. cycle time*2
●
Anywire Corporation
RoHS
Operation mode
90
Max. approx. 100 mA
(for reference)
−40 ℃ to +85 ℃
LQFP100pin
14 mm × 14 mm
Lead pitch 0.5 mm
Compliant
Master/slave
Note: As long as the target is noncompetitive to Panasonic products. For disclosure of technical data,
nondisclosure agreement (NDA) is required. For details, consult us.
34
RTEX
Partner
RS485 Communication
MINAS A5A series
AE-LINK
Drive list
RS485 open network
Motor rated output
50 W
PTP control by servo built-in positioning function
Drive power supply
Positioning unit is not required
Universal RS485 communication without
using specific IC
Low cost with Ethernet cable
Adopted New Algorithm “Two-degreeof-freedom control” (2DOF) to improve
productivity and machining accuracy. ●
Single/3-phase
200 to 240 VAC
3-phase
200 to 230 VAC
200 W
Ethernet cable
Frame
A
A
B
C
Driver
Part No.
MADH
T1105
A**
MADH
T1107
A**
MBDH
T2110
A**
MCDH
T3120
A**
* Terminating resistor may be
installed on the equipment.
A5A
A5AL
Rotary
motor
Application specific IC
is not required.
Linear
motor
PTP control
Terminating
resistor*
Stepper
drive
Stepper
drive
M
Up to 31 nodes
Cable cost 1/10
●
●
A
A
B
C
D
Driver
Part No.
MADH
T1505
A**
MADH
T1507
A**
MBDH
T2510
A**
MCDH
T3520
A**
MDDH
T5540
A**
1/10
Note: AE-LINK is a registered trade mark of Asahi Engineering.
2 kW
3 kW
E
F
F
Driver
Part No.
MEDH
T7364
A**
MFDH
TA390
A**
MFDH
TB3A2
A**
Some motors do not match model numbers in the table. Check correct combination in the A5 family catalog.
Node address setting rotary switch (2-digit)
Setting range: 00 to 30
Servo status indicator
7-seg LED (2-digit)
USB connector X1
Connect to PC
Monitor connector X7
Power supply connector XA
M
AE-LINK
35
Equipment other than servo
can also be connected to
the same network.
AE-LINK connector X2A
L1
L2
L3
L1C
L2C
AE-LINK connector X2B
Safety function connector X3
Regenerative resistor and
motor connector XB
B1
B3
B2
U
V
W
I/O signal connector X4
Feedback scale connector X5
Earth terminals
Encoder connector X6
Dimensions (mm): W40 × H150 × D135 (A frame)
Description
Communication
rate
38.4/307.2 kbps
Physical layer
RS485 half duplex
Cable
Shielded twisted pair cable
Communication
period
Approx. 1 ms/axis (@307.2 kbps)
Topology
Bus (terminating resistor is required)
Operating
command
Target position
4 kW to
5 kW
Frame
Network specification
Item
1
Panasonic
conventional
product
1 kW to
1.5 kW
Frame
Main circuit charge lamp
●
750 W
Max. cable length (total) 50 m
Host
controller
Positioning unit
is not required
400 W
Appearance
[Typical system configuration]
RS485
Single phase
100 to 120 VAC
100 W
Applicable standards
RoHS
36
Asahi Engineering Co., Ltd.
Manufacturer/
Distributor:
AE-LINK
PLC Direct Access AE-LINK Motion Controller
Specification
PI-1200 (RS-232C) / PI-1300 (Ethernet)
Features
Building a motion network at low cost under PLC
● Simple motion control through data register
Motors can be controlled by operating PLC data register.
•Multiaxial motors can be controlled/monitored by simply operating numeric
values on the data register.
•PLC operator having no knowledge on communication of motion
(AE-LINK) can control the motor.
● Stepping
motor can be mixed
Input power
supply
Applicable
motor
Driving
capacity
D4730S
24 VDC
2-phase
1.5 A/phase
Step-out
detection
Board type micro step drive
D3080S1
24 to 48 VDC
2-phase
2.55 A/phase
○
High precision micro step drive
D3080S2
24 to 48 VDC
2-phase
5.1 A/phase
○
High precision high power micro step drive
D4390S
100 VAC
2-phase
2.55 A/phase
○
AC supply input high precision micro step drive
D4370S
24 VDC
5-phase
1.5 A/phase
Board type half step drive
D4130S
24 VDC
5-phase
1.5 A/phase
High precision micro step drive
Application Sample
This controller is suitable for semiconductor manufacturing equipment, machine tools, measuring
machines, and other machinery.
PI-1200
PI-1300
•The motion network can contain servo motor and stepping motor.
“AE-LINK” is a serial communications protocol published by ASAHIENGINEERING CO.,LTD in 1996 for use with
motor drivers, sensor, actuator.
In actual many equipment manufacturers have adopted a variety of more than 15 years.
System Configuration
Specification
Item
AC servo
MINAS A5A series
Description
Power supply
24 VDC±10 % 300 mA MAX
Operating temperature and humidity
0 °C to 50 °C, 90 %RH max. (no dewing)
Outline dimensions (mm)
W24 × D110 × H150 (PI-1200), W25 × D109 × H184 (PI-1300)
Communication with PLC
Drive outline
PLC
Ethernet
or
RS-232C
PI-1200: RS-232C 115.2 kbps/38.4 kbps Conforms to various corporate protocols.
PI-1300: Ethernet 10/100 BASE-T Conforms to various corporate protocols.
Program loader
RS-232C 38.4 kbps
Control signal I/O
Initialization input, system alarm output and node alarm output
Motion network
AE-LINK 307.2 kbps/38.4 kbps (Selection on DIP switch)
No. of connection nodes
Max. 16
Motion control
PTP (Point to Point)
General purpose communication
board or PCI-AELINK
HOST
AE-LINK Compatible Stepping Motor Drive Series
PI-1200
PI-1300
AE-LINK compatible
Pulse Controller “C1540”
Inexpensive
LAN cable
Asahi Engineering
Stepping motor driver
Other
Actuators
(1) Accessing PLC data register from PI controller over Ethernet or RS-232C
(2) Based on the contents of data register. The PI sends command to each axis (motor operation).
(3) The PI writes status information of each axis to data register.
Sales area and Language
Features
Building servo and step mixed motion network at a low cost
has built-in software NC, requiring no host NC
controller
● High performance CPU enhances drive functionalities
• Japanese
• English
● Drive
• Built-in origin return function
• Triangle driving prevention function
• Step-out detection function
• Motor over current protection function
• Vibration suppression function
Only japanese is used for inquiry over the phone.
When making an inquiry in English, please send it to the following address.
For more information
URL : http://www.asahi-engineering.co.jp/english/
●Up
to 31 axes can be connected to the same
network (Depending on the master specification)
37
Contact:
Asahi Engineering Co., Ltd. Kodaira Works
3-3-22, Gakuen-Higashicho, Kodaira-shi, Tokyo 187-0043, Japan
38
[E-mail: [email protected]]
TEL: +81-42-342-4422 FAX: +81-42-342-4423
AE-LINK
● PLC direct access
The controller runs the motion program installed in PI while accessing PLC
data register.
•Preparation of ladder program for communication is not required on PLC.
•No CPU burden on PLC.
Part No.
EtherCAT communication driver
MINAS A5B series
Highfunctions
HighPerformance
Frequency response: 2300 Hz
● Supports network communication “EtherCAT”.
● High-Speed 100 Mbps
● Real-time auto tuning function,
Anti-vibration filters are available.
●
●
Drive list
Motor rated output
EtherCAT with many supported applications
<7 control modes, 32 hm methods, DC(Synch), SM2(Synch), FreeRUN (Non-synch)>
System-up possible with various slaves.
● Supports PC-based controller.
Drive power supply
●
Single phase
100 to 120 VAC
●
Operability
●
50 W
Smallest EtherCAT drive in market.
Supports pc setup software “PANATERM”
Object value check/
edit function
●
Status monitor
(with playback function)
●
Record/play objects by
waveform function
●
Standards
●
●
3-phase
200 to 230 VAC
3-phase
380 to 480 VAC
●
●
Single/3-phase
200 to 240 VAC
Official EtherCAT Conformance Tested model available.
IEC safety I/F model available.*1
A
Frame
Driver
Part No.
MADH
T1105
B**
Frame
Driver
Part No.
B
400 W
MCDH
T3120
B**
MADH
T1507
B**
MBDH
T2510
B**
A
B
D
Frame
MDDH
T2412
B**
Driver
Part No.
A5MB
(Coming soon)
A5MBL
(Coming soon)
4 kW to
5 kW
3 kW
7.5 kW
D
MDDH
T3420
B**
E
F
F
G
H
MEDH
T7364
B**
MFDH
TA390
B**
MFDH
TB3A2
B**
MGDH
TC3B4
B**
MHDH
TC3B4
B**
MEDH
T4430
B**
MFDH
T5440
B**
MFDH
TA464
B**
MGDH
TB4A2
B**
MHDH
TB4A2
B**
E
F
F
G
H
Trailing ** in the part number is replaced with the following symbol.
D1: For rotary motor (standard)
21: For rotary motor + safety circuit I/F
L1: For linear motor (Coming soon)
91: For linear motor + safety circuit I/F (Coming soon)
LINK LED
Indicates connection/disconnection of EtherCAT cable.
COM LED
Indicates condition of EtherCAT.
Node address setting rotary switch (2-digit)
Setting range (00 to 31)
Pulse out
USB connector X1 for connection to PC
For PANATERM
Connector XA for power input connection
Connector X2A: IN for EtherCAT
Connection to TX of upstream node
Main circuit charge lamp
Connector X2B: OUT for EtherCAT
Connection to RX of downstream node
Linear
motor
Connector X4 for I/O
Connection to sensor inputs and alarm outputs
Connector X5 for feedback scale (not available)
For full closed control
Earth terminals
EtherCAT specification
Connector X6 for encoder
For Panasonic serial data
Dimensions (mm): W40 × H150 × D136 (A frame)
Device profile
CoE (CANOpen over EtherCAT)
Control mode
csp, pp, hm, csv, cst, pv, tq
hm method (homing mode)
1 to 14, 17 to 30, 33, 34, 35, 37
Synchronized mode
DC(Synch.), SM2(Synch.), FreeRun (Non-synch.)
Minimum cycle time
250 μs
39
11 kW to
15 kW
Because there is the case that is different from the part number in the table by the motor, please check the combination in the
catalog of the A5 series always.
Connector XB for regenerative resistor and
motor connection
Linear
motor
Rotary
motor
2 kW
D
MDDH
T5540
B**
Driver
Part No.
Connector X7 for analog monitor
For monitoring speed, torque, etc.
A5BL
C
MCDH
T3520
B**
1 kW to
1.5 kW
Frame
Servo status display 7-seg LED (2-digit)
(Coming soon)
750 W
C
MBDH
T2110
B**
Front cover
Controller
●
A
200 W
Appearance
[System configuration example]
Rotary
motor
A
MADH
T1107
B**
MADH
T1505
B**
*1:Supported by special specification. IEC61800-5-2 STO, IEC61508 SIL2.
A5B
100 W
Applicable standards
RoHS
40
acontis technologies GmbH
Manufacturer/
Distributor:
EtherCAT
EtherCAT® Product Family
Application Sample
On Windows
Features
EtherCAT ® Master Stack software, available for real-time OS as well as Windows
●Ready-to-run implementations for many embedded operating systems
●EC-Win: high performance Windows Real-time extension included to achieve up to 50 μsec cycle time on Windows!
●Use multiple CPU cores on Windows for distributed EtherCAT applications
●CPU architectures: x86, ARM, PowerPC, SH, MIPS
●Reliable and well proven in many customer applications worldwide. Market leading companies in the
Semiconductor, Robotics, PLC/Motion, Measurement and other industries rely on this software.
EC
Engineer
EC
EC
Engineering
System
Industrial Automation
CNC
Test & Measurement
System Configuration
Control
System
TCP/IP
CNC
Win
TCP/IP
Application Wizard
Real-time
Master for
Windows
EtherCAT
Diagnosis
EtherCAT
Configuration
MS Visual Studio
Remote
Gateway
EC-Win
Real-time Debugging
System Manager
HMI and
Control System
EtherCAT
Configuration
and Diagnosis
Semiconductor
On Embedded
Systems
Master
Master for
Embedded OS
Robotics
Remote Diagnosis
and Configuration
Windows
Real-Time
Specification
EC-Master according to ETG.1500 Master Classes Directive
Class A Core
Class B Core
• Compare network configuration
• Cyclic process data exchange
• All mailbox protocols: CoE, SoE, EoE, FoE, AoE, VoE
• Slave to slave communication
• Distributed Clocks with master synchronization
Real-time optimization
• Compare network configuration
• Cyclic process data exchange
• Mailbox protocol CoE
• Mailbox protocol SoE
• Mailbox protocol EoE
• Slave to slave communication
Feature Pack
Cable Redundancy
Feature Pack
Hot Connect
Feature Pack
Remote Access
Feature Pack
Superset ENI
Feature Pack
EoE Endpoint
Feature Pack
Master Obj. Dict.
The ETG (EtherCAT Technology Group) has defined EtherCAT Master Classes (ETG.1500) with a well defined set of
Master functionalities.
2 Master Classes are defined:
●Class A: Standard EtherCAT Master Device
●Class B: Minimum EtherCAT Master Device
Additional functionality is described by Feature Packs. Acontis supports all Feature Packs in industry proven quality.
41
EtherCAT Master
Real-time analyzation
CPU core management
Real-time Debugging
EtherCAT Device
Selection
Real-time Files
Motion Library
Class A/B
Function Blocks
Feature Packs
Single axis movement
Example Apps
Sales area and Language
• English
• Japanese
For more information
URL : http:://www.acontis.com/eng/index.php
Contact:
acontis technologies GmbH
[E-mail: [email protected]]
TEL: +49-751-560-3030
St.-Konrad-Str.51 88250 Weingarten Germany
42
ADLINK Technology, Inc.
Manufacturer/
Distributor:
EtherCAT
Intel® AtomTM Processor E3845 1.9 GHz-based EtherCAT Master Controller Supporting IEC 61131-3
Talos-3012
Software Support
●
IEC-61131-3 compliant Environment
Support 5 different PLC
Programming Languages
Features
Powered by ADLINK Softmotion
●Supports IEC 61131-3-compliant programming environment
●Minimal control cycle time as low as 250 μs
●Motion control of up to 64 axes and up to 10.000 I/O points of control
●Supports EtherCAT COE, FOE as well as EOE protocols
●Code executable when host Windows system crashed
●Built-in SD socket for logging manufacturing data
●3 user-defined indicators for CTR diagnostic
●Rugged, compact construction with fanless design at –20 ℃ to 60 ℃
●
● ADLINK
Softmotion Inside LD
● IL
● FBD
● ST
● SFC
●
IEC61131-3
System Configuration
EtherCAT
Cloud Terminal
EPS System
EtherCAT I/O &
Motion Slaves
Specification
Item
Description
Processor
Intel® Atom™ Processor E3845 1.9 GHz
Controllable Motion Axis
16/32/64
Controllable I/O Points
Up to 10000 points
Control Cycle Time
250 us (min.)
Memory
RAM (Program & Data Memory)
2 GB DDR3
Retain Memory
Configurable on SD card
Storage (Date Usage)
16 GB SSD / SD Card
Field Bus Connectivity
I for EtherCAT
Ethernet Connectivity
I GbE
System Indicators
3 User-defined
Programming Environment
Supply Voltage
EtherCAT Master
IEC 61131-3 Controller
MINAS A5B series
EtherCAT Devices
CoDesys v3
Sales area and Language
• English
• S/T Chinese
IEC 61131-3-Compliant
9-32 VDC wide-range DC input
Vibration: 5 Grms, 5-500 Hz
Environment Certificate
Talos Controller
Shock: 50 G, Half Sine II ms duration
EMC: EN 550111 class A
Operating Temperature
–20 ℃ ~ 60 ℃ (–4 °F to 140 °F)
Dimension
120 (W) × 100 (D) × 55 (H) mm (4.68” × 3.9” × 2.17”)
For more information
URL : Http://www.adlinktech.com
Contact:
43
ADLINK Technology, Inc.
9F, No.166 Jian Yi Road, Zhonghe District, New Taipei City 235, Taiwan
44
[E-mail: [email protected]]
TEL: +886-2-8226-5877 FAX: +886-2-8226-5717
ALGO SYSTEM Co.,Ltd.
Manufacturer/
Distributor:
EtherCAT
EtherCAT master
EtherCAT slaves
Features
Features/ Specification
“All-in-one Controller”, based on the Industrial PC equipped with EtherCAT master stack
All-in-one controller can execute SCADA, synchronous motion control and
image processing just by itself.
International standard (IEC 61131-3) compliant software PLC
●PLCopen compliant positioning/synchronous motion control software
●OpenCV compliant image processing engine (option)
●SCADA-based HMI software
●
Digital input/output (NPN/PNP)
Analog input/output
16-point input unit
● 16-point output unit
● 32-point input unit
● 32-point output unit
● 16-point input/16-point output unit
4ch analog input unit
● 4ch analog output unit
●
●
LAN
LAN3
Motion control
by software
<“Chibimarukun” series>
e-CON connector
● 8-point input unit
● 8-point output unit
● 4-point input/4-point output unit
LAN1
SCADA based HMI
Motor
MINAS A5B
Specification
Intel® high-performance processor, Atom E3845 Quad Core 1.91 GHz
●Real time OS (INtime). High-speed 28000 steps/50 μs processing.
●Windows Embedded Standard 7 allows effective utilization of various software
●Top-class ultra-thin compact design and lower power consumption allow for installation in small or space
for new, expanded use
●Fanless, diskless and completely spindleless Highly reliable design
Free switch off 2 storage (m-SATA) slots
Label printer
Motion controller
●
Up to 4-axis control
Execute from high-order PC, etc.
via restricted EtherCAT connection
Encoder input
●
●
All-in-one Controller
Contract-based Development
Line receiver input
Open collector input
Multi-touch panel Multilingual support
Application Sample
Typical system configuration
* Serially controlled
devices such as
Thermometer, etc. RS-232C and RS-485
devices are converted to
RS232C device
EtherCAT. EtherCAT
can be installed without
putting old assets to
waste.
Relay output (terminal block)
● 4-point relay output unit
controlled by software-PLC
●
Barcode reader
MIL connector terminal block
● 16-point input unit
● 16-point output unit
● 8-point input/8-point output unit
LAN2
By Image Processing Engine
to
Interface board example
Sales area and Language
• Japanese
• English
programmable display
For more information
URL : http://www.algosystem.co.jp/
Data logger
Image Processing unit
PLC
DA
AD
DO
DI
NET
Power
I/O
CPU
Contact:
Monitor
CPU
45
ALGO SYSTEM Co.,Ltd.
656 Kobirao Mihara-ku, Sakai, Osaka, 587-0021 Japan
46
[E-mail: [email protected]]
TEL: +81-72-362-5067 FAX: +81-72-362-4856
EtherCAT
GigE Camera
Ultra-small
Slave
“Chibimarukun”
4ch SIO Gateway
EtherCAT
Manufacturer/
Distributor:
Software PLC/ NC/ CNC
Embedded PC
Features
Features
TwinCAT 3
CX2000 series
Compact design on a DIN rail
●Scalable CPU options from single- to multi-core, for
example Intel® Core™ i7 quad-core
●Compact and scalable system with modular interface
●4 GB DDR3 RAM integrated
●Direct connection of more than 300 types of EtherCAT
Terminals
●Long-term availability
●
PC-based Control
One tool for PLC, Motion and HMI
●Scalable performance
●Support of multi-core CPUs
●Integrated automation and IT technologies
●
Real-time control system in PC-based system
Software PLC/NC/CNC
Integration of Microsoft Visual Studio
supports object-oriented extensions of the 3rd edition
of IEC 61131-3 (IL, ST, FBD, LD, SFC) + CFC
®
2)Development environment
Supports C/C++ and MATLAB®/Simulink® in real-time
environments and .NET/C# in programming
3)Link to MATLAB®/Simulink®
Link to MATLAB®/Simulink® optimizes development
and simulation
4)Multi-core CPU support
Impressive real-time performance and high level
integration by assigning HMI, PLC, NC, CNC tasks to
individual CPU cores.
Technical data
Processor
Internal main memory
CX2020
CX2030
CX2040
Intel Celeron single-core
Intel Core™ i7 dual-core
Intel Core™ i7 quad-core
2 GB DDR3 RAM
2 GB DDR3 RAM
4 GB DDR3 RAM
®
Flash memory
PC-based controller with TwinCAT supports multicore and maximizes EtherCAT performance
●Compact controller on a DIN rail (CX2000 series)
●TwinCAT PLC processes real-time tasks in 50 μs
and controls motion systems in 125 μs
●
TwinCAT CNC
CX2000 Embedded PC
+ EtherCAT Terminals
®
®
4 or 8 GB CFast flash card (optionally extendable)
Persistent memory
128 KB NOVRAM integrated
Interfaces
2 × RJ45, 10/100/1000 Mbit/s, DVI-I, 4 × USB 2.0, 1 × optional interface
Operating system
Microsoft Windows Embedded Compact 7 or Microsoft Windows Embedded Standard 7 P
Control software
TwinCAT 2 PLC runtime, NC PTP runtime, NC I runtime
Power supply
24 V DC (−15 % / +20 %)
Dimensions (W × H × D)
144 mm × 100 mm × 91 mm
Operating/storage
temperature
−25 ℃ ~+60 ℃ / −40 ℃ ~+85 ℃
Protection class
IP 20
Application Sample
Semiconductor manufacturing
●Industrial robotics
●Machine tools
●
System Configuration
®
Forming technology
●Printing machines
●Presses
●
Cutting/welding equipment
Wind turbines
●Stage equipment
●
●
Sales areas and Languages
…
Local support: Japan, China, Korea, Southeast Asia, Europe, the Americas, etc. More than 70 countries
For more information
URL : http://www.beckhoff.com
MINAS A5B
Contact:
47
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20 33415 Verl Germany
48
[E-mail: [email protected]]
TEL: +49 5246 963-0 FAX: +49 5246 963-198
EtherCAT
1)IEC 61131-3 3rd edition
Specification
CONTEC CO., LTD.
Manufacturer/
Distributor:
EtherCAT
PC Based Controller
Applications
SMT placement equipment
Semiconductor manufacturing equipment
●LC/FPD manufacturing equipment
BX-1000 series
Features
Industrial robot
Machine tool
● Processing machine
●
●
●
●
System Configuration
CONTEC BX-1000 Series
CPU: Core i7-3517UE /
Celeron 927UE
Memory: 4 GB
No expansion slot model
Expansion slots: None
Eco-friendly and High-performance CPU
Core i7-3517UE(1.7 GHz) or Celeron 927UE (1.5 GHz)
●Fanless Naturally-cooled Design
●Supports Measurement & Control Board
Contec provides over 200 types of measurement & control boards enable various types of sensor input
and control output. (Only expansion slot models)
●Expansion Slots Models are Available
2x PCI, 3x PCI and 1x PCI Express(x8)
●Two Gigabit LAN Ports
●Campatible with EtherCAT Master Stack and Real-Time OS
CPU: Core i7-3517UE /
Celeron 927UE
Memory: 4 GB
CPU: Core i7-3517UE /
Celeron 927UE
Memory: 4 GB
Expansion slots: Two
Expansion slots: Four
• Motion Library
●
• EtherCAT Master Software
• Real-Time OS
EtherCAT
• Soft-PLC
Master-PC
Specification
BX-1000
CPU
BX-1000P2
Intel Core i7-3517UE 1.70 GHz or Intel Celeron 927UE 1.50 GHz
Chipset
QM77
BIOS
AMI BIOS
Memory
Watchdog timer
BX-1000P4
MINAS A5B
4 GB, 2× 204 pin SO-DIMM Socket
255 level (1 sec to 255 sec), RESET, interrupt is allowed at time expiration
RTC/CMOS
Lithium backup battery life : 10 years or more
The real-time clock is accurate within ± minutes (at 25 ℃) per month
Power management
Power management setup via BIOS, Power On by Ring/Wake On Lan
Video controller
Intel HD Graphics 4000 (Core i7), Intel HD Graphics (Celeron)
Display
1× Analog RGB (HD-SUB), 1× DVI-D, 1× HDMI
Audio
HD audio, 1× LINE OUT, 1× LINE IN, 1× MIC IN
CFast card slots
Sales areas and Languages
Interface
2× Slot-in 2.5 inches SATA hard disk
2× 1000BASE-T/100BASE-TX/10BASE-T (RJ-45 connector),
LAN-A : Intel 82579LM, LAN-B : Intel 82583V
USB
4× USB 3.0-compliant, 2× USB 2.0-compliant
COM
3× RS-232C (9 pin D-SUB connector [male]) 50 bps to 115200 bps
Expansion slots
—
Weight
Rotary motor
• Japanese
• English
LAN
Physical dimensions (mm)
Rotary motor
1× CFast card slot (1× Type I, bootable)
Storage
Input power supply voltage
Rotary motor
2× PCI
URL : http://www.contec.com/bx-1000/
1× PCI Express (x8),
3× PCI
BX-1000 model: 100 VAC to 240 VAC, 0.8 A to 0.4 A
262(W) × 262(D) × 65(H)
262(W) × 262(D) × 120(H)
262(W) × 262(D) × 160(H)
About 3.4 kg
About 4.6 kg
About 4.9 kg
49
For more information
Contact:
CONTEC CO., LTD.
3-9-31 Himesato, Nishiyodogawa-ku, Osaka 555-0025 JAPAN
50
[E-mail: [email protected]]
TEL: +81-42-512-5377 FAX: +81-42-512-5388
URL: http://www.contec.com
Hivertec, Inc.
Manufacturer/
Distributor:
EtherCAT
Motion Control Software, Software Modules
HLS-ECMC/RSI, HLS-ECAT/Win
API Function List for ECAT
● Minimizig
the complexity of the EtherCAT introduction and selection of models
Administrative
Motion
I/O
IO_inp
EtherCAT
EC_ReadVersion
IO_inpw
Features
EC_GetMasterinfo
IO_inpdw
EC_OpenMaster
IO_outp
PC
Real Time OS INtime
The software solution that allows
device control via EtherCAT
communication from PC
HLS-ECMC/RSI, HLS-ECAT/Win
Windows OS
EC_CloseMaster
IO_outpw
EC_InitMaster
IO_outpdw
Same API as the
HLS-ECMC has
been prepared
EC_GetSlaveInfo
EC_InitMaster
EC_ReadSDO
EC_WriteSDO
EC_ResetDiagMessage
EtherCAT
Communication
EC_QueryDiagMessage
Panasonic
MINAS A5B
Drivers
Supported
EtherCAT
EC_SetDiagMessage
Other Various
Drivers Supported
EtherCAT
HLS-ECMC/RSI
EC_GetDiagMessage
I/O
Sensors
EtherCAT motion control software via PC to be started with Windows
● Controller is PC only
● With normal Windows, high reliability can be provided
● To minimize the complexity of the combination of the master or
master stack
● Maximize the convenience of saving wiring network
● The benefits of EtherCAT as FA network can be easily operational
● Programmable motion control in the sense of application
development
● Development environment Visual Studio 2008 or later
(VC ++, VC #, VB)
HLS-ECMC/RSI
●
Hivertec
Hivertec
INtimeSDK
Shared
Memory
Deivrs supportig
EtherCAT
VIOS
Windows
Hivertec
HLS-ECMC
Hivertec
RSI-ECAT
I/O、AD、DA
control
• ADV Series by Hitachi Industrial
Equipment Systems Co.,Ltd
• LS Mecapion L7N Series
• OMRON G5 Series
• Panasonic MINAS A5B
• SANYO DENKI SANMOTION R
...etc.
HLS-ECAT/Win
User Application
HMI
From Windows
Hivertec
INtime
Developed Via
Windows
HLS-ECAT/Win
Motion Control module
Software
Motion Control
API Functions
Specification
Administrative
Motion
MC_InitAxisSetting
MC_ReadStatus
MC_Home
MC_GetAxisSetting
MC_ReadMotionState
MC_MoveAbsolute
MC_SetAxisSetting
MC_ReadAxisInfo
MC_MoveRelative
MC_Power
MC_ReadAxisError
MC_MoveVelocity
MC_SetPosition
MC_MoveAdditive
MC_SetOverride
MC_Stop
Initializes the Axis Settings
Retrieves the Axus Settings
Sets the Axis Settings
Controls switching enable/disable of
the drive
Resets all the internal error regarding to
the axis
Reads the Current Position
Hivertec
Motion Control module
Software
Motion Control
API Functions
(MoveRelative,
MoveAbsolute, ets..)
RSI-ECAT
EtherCAT Master Stack
RSI-ECAT
EtherCAT Master Stack
NIC
Slaves supporting EtherCAT
The CiA402 drive profile is a device profile for drives and motion control prescribed in International Electrotechnical Commission
(IEC61800-7-301 and IEC 61800-7-201).
In the EtherCAT series, it has been applied to the definition part of the controller functional operation.
function is provided in advance for motion control
MC_ReadActualPosition
Hivertec
HLS-ECMC
CiA402 drive profile
API Function List for ECMC
MC_Reset
Motion API
I/O API
Created by the user.
(MoveRelative,
MoveAbsolute, ets..)
EtherCAT
(CiA402)
DLL
User Application
(Windows App.)
* Specifications of the PC is to be conformed to the RTOS INtime
* For versions of the OS required, such as INtime is to be conformed
to the Specification of the RSI-ECAT
● API
Adding function corresponding to the
various operations, such as interpolation
are scheduled sequentially
System Configuration
【EtherCAT Start With Windows】
Software module for motion control on the Real Time OS
● By Using the INtime SDK, writing a program in C language, motion
control with a high degree of performance can be achieved
● Motion can be controlled easily by the API function with the input
and output variables that conforms to international standards
● Up to maximum 64-axis control from minimum 6-axis (Available in a
single-axis units between 6 to 64)
● EtherCAT communication can control the servo driver (CiA402 drive
profile) (There are many connection confirmed drivers)
* Control specifications, such as the control period, depends on the
specifications and capabilities of the PC
Reads the Status of State Machine
Reads the Motion Status
●
Starts the sequence of the origin
search
Moves to specified absolute position
●
By using of this API
function, you can make
a standard motion
control easily.
●
Adding function
corresponding to the
various operations, such
as interpolation are
scheduled sequentially
Moves up to a specified distance
from the actual position
Reads the Axis Information
Feeds continuously at a specified
rate
Reads the Axis Error
Sets any value as the current position
Overrides of Speed
Moves by adding the specified
relative distance
Stop moning
MC_ReadActualVelocity
Reads the Current Speed
51
API functions are offered
with the input and output
variables that conform
to international standard
(IEC61131-3).
●
Compliant with
PLCopen Technical
Specifications
Sales area and Language
• Japanese
• English
(Korean)
For more information
URL : http://www.hivertec.co.jp/
Contact: Hivertec, Inc.
[E-mail: [email protected]]
Mitsuiseimei Shin-ohashi Blog. 1-8-11 Shin-ohashi Koto-ku, Tokyo, 135-0007, Japan
TEL: +81-3-3846-3801 FAX: +81-3-3846-3773
52
EtherCAT
【EtherCAT Multi-axis Positioning Software Module】
●
* 6-axis, 8-axis, 16-axis, 32-axis control are the standard packages
* 6-axis is the minimum number of axes, but consultation is available in a single-axis unit other than standard package.
HLS-ECAT/Win
●
Slave information acquisition
Continuous feed
● Relative positioning
● Absolute positioning
● Speed override, etc. ● Parameter input/output via SDO
communication
● Diagnosis message acquisition
● Acquisition of the current position and speed
● Axis sensor information acquisition
● Data input and output to peripheral IO
devices (such as analog equipment, Digital
input/output devices)etc,
●
Micronet Company
Manufacturer/
Distributor:
EtherCAT
PC Based Controller
PC Based Controller
Features
Features
RT-C Language Controller
INplc
●INplc-Controller with “INplc Runtime License”
INplc-Controller
The most advantageous point of INplc is that it can be
• Real-time sequence control
used with Windows together.
• Network communication function
It is a multifunctional controller equipped with not only
• High functionality human interface
PLC applications but also C language applications /
• Motion Control function
HMI applications.
You can use add-in boards or field buses as I/O
interfaces of INplc.
EtherCAT is also contained in the field
Development Tool INplc-SDK
bus category which INplc supports.
RT-C Language Controller for Windows can give
determinism to ensure predictable behaviors
and can support real-time tasks to standard
Windows platforms.
Though Windows is a global standard on human
machine interfaces (HMI) and on other general
purpose operating system (GPOS) functions,
but only Windows cannot provide deterministic
supports for real-time application needs.
• IEC 61131-3 Conforming
• Motion Function Block
• Supports language mix
RTOS for Windows platforms
RT-C Language Controller is a controller which
can achieve 100 μs period high-speed real time
control.
You can realize both real time instrument control
function and multi-purpose Windows function
on 1 PC platform.
since it can also run on Windows.
●Machine
control by RT-C Language Controler
RT-C Language Controller which makes use of PC
platfrom can offer unmatched performance since it uses
latest Intel CPU.
In developing control program, since it adopts the
integrated development environment "Visual Studio"
which is the most popular all over the world, if you have
the experience Windows programs with C# language,
you can smoothly introduce it to your systems.
System Configuration
You can develop and maintain PLC programs on
standard Windows PC platforms using it. The created
PLC programs can be downloaded to PLC controllers
via network.
•INplc has corresponded to 5 languages in
accordance with IEC61131-3 that IEC (InternationalElectrotechnical ) provides.
•You can code different languages together in INplc‐
SDK environment.
•INplc-SDK also allows you to convert across
languages.
INplc is a real software-PLC in accordance with
IEC61131-3.
INplc adopts MULTIPROG & ProConOS (by KWSoftware,
Germany) which have achieved a lot of satisfactory
results in the world. And INplc-Controller adopts INtime
and a standard Windows computer as its basic structure.
Therefore,
•No specialized hardware is needed.
•Efficient hardware can be selected from among
marketed commodities. From high-end systems
to embedded-systems, you can construct various
systems with a high-flexibility.
Specification
User Application
Priority Scheduling
MINAS A5B
series
Motion Library
0 (highest) - 16 (lowest) 16 levels
Constant Scan Time
More than 0.1 ms
Number of Maximum Tasks
16
Data Area Size
64 MB
Supported OS
Windows10, Windows8.1, Windows8, Windows7 [32 bit/64 bit]
Development languages and Environments
Specification
Sales area and Language
Priority Scheduling
• English
• Japanese
0 (highest) - 16 (lowest) 16 levels
Constant Scan Time
More than 0.1 ms
Number of Maximum Tasks
16
Data Area Size
64 MB
Supported OS
Windows10, Windows8.1, Windows8, Windows7 [32 bit/64 bit]
Development languages and Environments
IEC61131-3 Language (IL, ST, LD, FBD, SFC)
Visual Studio 2008/2010/2013/2015 * More than Professional Edition
For more information
URL : http://www.mnc.co.jp/english/
Contact:
53
Micronet Company
[E-mail: [email protected]]
OXSON Building 1F, 1-2-13, Shintomi, Chuo-ku, Tokyo, 104-0041, Japan TEL: +81-3-6909-3371 FAX: +81-3-6909-3373
54
EtherCAT
● Complete
MINAS A5B
series
Manufacturer/
Distributor:
SOFT SERVO SYSTEMS, INC.
EtherCAT
Versatile Motion Control Library with EtherCAT Master
WMX
Features
Without a special board, control up to 64 axes as an EtherCAT master on a PC with a LAN port.
The user can develop an original high-performance motion controller with the WMX API library. There are more
than 150 API functions and the library supports multiple threads.
●Includes original EtherCAT master and RTX (Real Time Extension) licenses. Our “SoftMotion” technology has
been proven in the field for more than 10 years, providing highly reliable motion control with outstanding cost
effectiveness.
Application Sample
Semiconductor Equipments, Flat Panel Equipments
●SMT Equipments (Chip Mounters), Bonding Machines
●Packaging, Printing, Material Handling
●Injection Molding Machines
●
●
●
System Configuration
Windows Application (GUI)
PC (Panel PC)
Specification
RTX OS
64 axes with 64 independent channels (multi-channel control)
Interpolation Types
Linear (64 axis), Arc (2 axis), Helical (3 axis)
Acceleration, Deceleration Types
Trapezoidal, Bell-shaped, Jerk-Limited, Jerk-Free, Two-Velocity,
(Profiles)
User specified profile, Acceleration and Deceleration are set separately
Motion Control
JOG, Homing, PTP, Buffer Mode, LIST Motion
Override
Change target position, velocity, profile, during motion
Sync Control (Master slave control)
Gantry-axis control with a complete synchronization
1 ms (can be changed depending on the system: 0.5 ms to 8 ms)
Supported Command Methods
Position / Velocity / Torque (Transparent mode is available for Torque and Velocity)
Position Compensation Features
Pitch error compensation, Backlash compensation, Straightness compensation
Max I/O Points
8192 / 8192 (1 KB for each)
I/O Control
Supports many commercial EtherCAT modules
Event Functions
Event-based I/O and motion control
Requirements
IDE
Win32
Kernel
• WMX Engine
• EtherCAT Stack
• NIC Driver
32 pairs max (Multiple slave axes / Changing pairs supported),
Interpolation Cycle
EtherCAT Functions
LAN port
WMX Motion API
EtherCAT
Max number of Axis
Servo MINAS A5B
NIC
EtherCAT Servo (A5B)
WMX System Overall View
Sales area and Language
• English
• Japanese
• Korean
• Chinese
CoE, FoE, DC Mode, Original Configuration Tool for EtherCAT Device and Network,
EtherCAT Network Management APIs, Ring Topology for redundancy, Hot Connect
Windows XP (32-bit) SP3 / Windows 7 (32-bit)
RTX Supported NIC for EtherCAT
(http://www.softservo.com/data_sheets/EtherCAT_NIC.pdf)
VisualStudio 2005 or later, .NET 2.0 or later
For more information
URL : http://www.softservo.co.jp
Contact: SOFT SERVO SYSTEMS, INC.
[E-mail: [email protected]]
Well-Done Muto Bldg. B1F, 3-4-3 Akebono-cho, Tachikawa, Tokyo, 190-0012, Japan
TEL: +81-42-512-5377 FAX: +81-42-512-5388
55
56
TECHNO Co., Ltd.
Manufacturer/
Distributor:
EtherCAT
PC Based Fine Motion
PC Based Motion Library
Features
Features
RTMC-EC
RTPL-EC
● PC Based Fine Motion is a controller software for EtherCAT.
Your PC becomes a high performance motion controller. PC Based Fine Motion whose ability is several hold
higher than that of a general NC or a robot controller controls at most eight precise machines by one PC.
The reliability of your controller can be improved by “INtime” and FAPC(Factory Automation PC).
●
Specification
High-speed
PC Based Fine Motion
0.25 msec / 8 Axis
0.5 msec / 16 Axis
1 msec / 32 Axis
G code / Techno code
Batch control
Simple operating program
Control multiple machines
such as precision cutting,
robot, molding, injection,
deburring.
Reliability
Not depend on Windows
Multi Axis Control
Precision cutting
Coordinate
Measuring Machine
8 task controlled
simultaneously
Abundant motions
Fully equipped motion functions
Operate immediately
PLC/Image processing
Jointed Robot
Servo Press
Easily cooperate with
various software
SCARA Robot
Precision cutting
● Robot
● Laser cutting
・RtplECTInitializeLib()
・RtplECTClearAlarm()
・RtplECTServoON()
・RtplECTLinInterpolate()
・RtplECTCmdActive()
・RtplECTServoOFF()
・RtplECTCloseLib()
Application Sample
●
Example of Function Call Flow
・RtplECTResWait()
• High reliability by INtime, not depending on Windows
• Make user enable to control precise machines without special knowledge
One PC controls 8 machines
Specification
●
Injection Molding
Hopper
Heater
●
Rotation
Cylinder Screw
●
Winding
FAPC
System Configuration
FAPC (Factory Automation PC)
● Synchronous
feed
Synchronous follow
Synchronous
Head Feed
PC applications
C Language
Software PLC
ProConOS
Core i7
Automatic
machine control
Precision cutting・Winding
Rollcontrol・Film control
Robot・Injection Molding
Tuning
Sensor
● Parallel
EtherCAT Master Stack
Follow
Motor
P/V/T
Work Feed
axis control
Parallel
Axes
cam
Configuration of
synchronized pattern
● Oscillation
Ta
Tb
-X
● Thread-cutting
X
Multi axis servo driver/motor
Cutting
I/O DA/AD
Thread
57
Z
command
ACC. Constant DEC.
Traverse
Speed
Work
compensation
Tool diameter
Tool path
● Robot
mechanism
kinematics
l5
W
l4
B
l3
l2
Spindle
● Diameter
Bite
Printing System
Other multi axis control devices
User control software
In-House development
for motion
Techno DLL
C Language IF
PC Based
Motion Library
EtherCAT Master Stack
Windows
Touch
Sensor
Ta+Tc
90° 180° 270° 360°
RtplECTHoldAxis();
RtplECTSetGantryAxis();
RtplECTSetOverride();
RtplECTHomePosition();
RtplECTPositioning();
RtplECTLatchPositioning();
RtplECTLinInterpolate();
RtplECTCirInterpolate();
RtplECTJOGStop();
RtplECTTorqueCtrlStart();
User development
Techno
Purchase separately
Purchase Hardware
separately
Servo Motor
Servo Driver
I/O
Sales area and Language
• No delay
• Precise
Spindle
Speed
+X
Pause
Set Synchronous Axis
Set Override
Return to origin
Positioning
Latch Positioning
Linear Interpolation
Circular arc Interpolation
JOG Stop
Torque control start
position measurement
● Winding
Ta Tc
Synchronized
Axis 2
•••
•••
Tangent
vector
● High-precision
Fine Motion
●
Techno DLL
Win-IF
Techno sample
operation software
Z Cutter
P/V/T
Work
Table
Film
● DNC
F
Main Axis 0°
control
Motor
Tension
Velocity
●
Customized
PC application
XY contour
Buffer
Techno
DLL
Shared
Execute
Memory
Operation
Receive &
program
Execution
Servo
Motor
Synchronized
Axis 1
● Tangent
Winding Role
PC/Windows
Ball
Screw
● Electric
control
Feeding Role
Calculation
Redius/Inertia
Table
Windows
● Roll/Tension
RtplECTInitializeLib();
RtplECTCloseLib();
RtplECTCmdActive();
RtplECTResWait();
RtplECTGetStatus();
RtplECTSetSDO();
RtplECTSetPDO();
RtplECTServoON();
RtplECTServoOFF();
RtplECTClearAlarm();
System Configuration
Spindle
Nozzle
Semiconductor-fabrication equipment
Electronic equipment production line
●
Traverse
Clamp
Injection
Library initialization
Library Close
Execute command
Wait for Response
Monitor Status
SDO Write
PDO Write
Servo ON
Servo OFF
Servo Alarm Clear
Application Sample
Winding machine
Mold
PC Based Motion Library function
V
C
Y
Z
A
l1
Zoff
R
Home position
• Japanese
• English
Please contact the following address for details.
For more information
PC Based Fine Motion URL: http://www.open-mc.com/products/pdt05.html
PC Based Motion Library URL: http://www.open-mc.com/products/pdt06.html
INtimeURL: http://www.mnc.co.jp/INtime/
Contact:
TECHNO Co., Ltd.
1304-5, Shimo-fujisawa, Iruma-shi, Saitama, 358-0011, Japan
58
[E-mail: [email protected]]
TEL: +81-4-2964-3677 FAX: +81-4-2964-3322
EtherCAT
32 Axis / 8 task
Bending Robot
PC Based Motion Library is a motion development software for EtherCAT user. (Function group for carious motion)
In-house development of motion controller by C language with Visual Studio.
●Sample sources are prepared.
●High-speed operation with an efficient CPU. (0.25 msec/8 axis 0.5 msec/16 axis 1 msec/32 axis 2 msec/64 axis)
●High reliability by INtime, not depending on Windows. / High reliability by FAPC(Fanless/SSD)
●Easily operate from an application software on Windows.
●Easily cooperate with software such as image processing.
●
Trio Motion Technology Ltd.
Manufacturer/
Distributor:
EtherCAT
Motion Coordinator and EtherCAT Interface Module
Motion Coordinator MC464 / Panasonic EtherCAT Interface Module
Features
Application Sample
URL : Sample applications
http://www.triomotion.com/tmt3/sitefiles/motion_control/applications.asp#section=overview
Please refer to the sample and typical applications for the MC464 with A5B as shown above URL.
System Configuration
Supports digital drive systems up to 64 axes
●Based on 64-bit 400 MHz MIPS processor
●Anybus-CC Module support allowing flexible factory communication options
●High accuracy double floating point / 64-bit integer resolution
●Multi-tasking BASIC programming
●IEC 61131-3 programming support
●Backlit LCD display
●Ethernet programming interface
●Expansion flexibility with clip on modules allowing quick interchangeability
●Built-in Ethernet-IP connectivity
●
MC464
Specification
UNIPLAY HMI
Description
MC464
Item
Description
EtherCAT Interface
System
Flexibility
Axes Controlled
Up to 64
Built-in Synchronization Encoder Input
Network
Ethernet based MINAS
A5B
Yes
Network Speed
100 Mbps
30
Topology
Chain
Max Slaves
per Interface
64
Yes
Max Interfaces
per MC464
7
Available memory for user programs
8 Mbyte
64
Accurate and fast real number mathematics
512000
Max Axes per
MC464
64-bit Int / Double Floats
Bus to MC464
32-bit
Yes
Registration Inputs
8 × 24 V Inputs
Yes
Optically Isolated
registration Inputs
Y
Cams, Gearbox, Clutches
Yes
Map Any I/O to
Any Axis
Y
Acceleration/Deceleration & S-Ramp Controls
Yes
EtherCAT Drive Networks
Multi-Tasking TrioBASIC
Number of Simultaneous Programs
Programming
Motion Perfect Windows Software
Stand-Alone operation
Up to 7
Yes
Yes
Permanent Flash EPROM for program storage Yes
User table memory
Program Trace Debugger
Named Constants and variables
Motion Functions
Linear, Circular, Helical, Spherical Interpolation Yes
64-bit position storage
5 Term Control
Max Interpolated Axes
Hardware Position Capture (Registration)
Ethernet port
RS232 Serial Port
RS485 Multi-Drop
Ethernet IP
Interfaces
Modbus TCP
Anybus Module
Opto-Isolated Inputs
Opto-Isolated Outputs with current limit
Max Input / Output Expansion Channels
CAN Analogue Inputs Capability
Real Time Clock
SD Card
Packaging
Module case style
Module size (H × W × D)
UL and CE marked for EMC
EtherCAT
Item
Yes
Yes
64, Multiple groups
1 μs
10/100 Base-T
128 kbps
Up to 64 Axes
MINAS A5B
Sales area and Language
• English
Please contact the following address for details.
For more information
URL: MC464 Motion Coordinator
http://www.triomotion.com/tmt3/sitefiles/products/mc464.asp#section=overview
URL: EtherCAT Expansion Module
http://www.triomotion.com/tmt3/sitefiles/products/exp_mod_ethercat.asp#section=overview
Yes
Yes
Yes
Yes
16
8
512
Yes
Yes
Programs and data
DIN Rail / Panel Mount
201 mm × 155 mm × 56 mm
Yes
59
Contact:
Trio Motion Technology Ltd.
Shannon Way, Tewkesbury, Gloucestershire, GL20 8ND, United Kingdom
60
TEL: +44-1684-292333
FAX: +44-1684-297929
Trio Motion Technology Ltd.
Manufacturer/
Distributor:
EtherCAT
Motion Coordinator and EtherCAT Interface Module
Motion Coordinator MC4N-Mini Ethercat Master
Features
Up to 32 EtherCAT Digital Drive Axes
●Up to 1024 EtherCAT I/O
●EtherCAT CoE protocol to CiA402
●Linear, Circular, Helical and Spherical Interpolation
●Flexible CAM shapes, Linked Motion
●Isolated Encoder Port
●EnDAT and SSI Absolute Encoder Supported
●Hardware Linked Output for Camera / Laser Control
●IEC 61131-3 Programming
●Multi-tasking BASIC Programming
●Ethernet-IP / Modbus TCP / Trio ActiveX / Uniplay HMI
/ UDP / Ethernet Interface Built-In
●Precise 64Bit Motion Calculations with 532 MHz ARM
11 Processor
URL : Sample applications
http://www.triomotion.com/tmt3/sitefiles/motion_control/applications.asp#section=overview
Please refer to the sample and typical applications for the MC4N with A5B as shown above URL.
System Configuration
Text File Handling
●Robotic Transformations
●4 High Speed Registration Inputs
●Isolated RS232 and RS485 ports
●SD Memory Card Slot
●CANopen I/O Expansion
●Backlit LCD Display
●RoHS and CE Approved
●
Application Sample
●
MC4N-Mini
UNIPLAY HMI
Item
EtherCAT
Specification
Up to 32 Axes
Description
Item
Description
MC4N-Mini
Configuration
Axes
Axis 0
32
Processor
ARM11
Max virtual axes
Clock frequency
Servo update rate
Encoder input frequency
Stepper output frequency
Perfomance
Built-in I/O
532 MHz
2 ms-125 μs
No
±10 V analogue Outputs
# registration inputs
6 MHz
2 MHz
0-10 V analogue inputs
Bi-directional I/O 24 Vdc
Registration input speed
4
1024
Yes
64 bit
# tasks
22
4096
Maths precision
Double FP
EtherCAT
Auxiliary Axis
CANopen
Ethernet (10/100) base-T
Ethernet IP
MODBUS-RTU
Yes
Expansion
Yes
Physical
Yes
Yes
Motion Perfect v3
All Support Software
Memory slot card
Power
Yes
Certification
Yes
61
32
Yes
Option
Yes
Yes
Yes
Yes
CE approval
RoHS Compliant
For more information
URL: MC4N-Mini Ethercat Master
http://www.triomotion.com/tmt3/sitefiles/products/mc4n.asp#section=overview
SD
Panel
Consumption (exc. I/O)
Please contact the following address for details.
Yes
Mounting
Supply Voltage dc
• English
32
40 × 157 × 120
Weight
Sales area and Language
16
Width × Height × Depth (mm)
Operating Temp
Yes
Pulse + direction output
Incremental (A+B) output
Software
Yes
No
Reference input
DXF import
Yes
Feedback input
Kinematic Runtime
HPGL
Yes
No
IEC61131 Runtime
G-Code
Yes
Anybus support
Hostlink
Programming
Yes
Yes
RS232/RS485
# programs
Yes
MODBUS-TCP/IP
12 bit ±10 V analogue outputs
MINAS A5B
1 μs
TrioBASIC
VR
12 bit ±10 V analogue inputs
No
32 × 16000
512000
Expansion I/O
Digital I/O points
8
Flash data memory
Max data table size
DeviceNet
Encoder Ports
32
8
No
8 MByte
Real time clock
Communication
Inputs 24 Vdc
Outputs 24 Vdc
User memory
Position register precision
Drive Interfaces
Extended
Max axes
432 g
0 - 45°
24 V
350 mA
Yes
Yes
Contact:
Trio Motion Technology Ltd.
Shannon Way, Tewkesbury, Gloucestershire, GL20 8ND, United Kingdom
62
TEL: +44-1684-292333
FAX: +44-1684-297929
MEMO
EtherCAT partner products
Corresponding table
Master
Partner
acontls technologles GmbH
Software
PC Board
IPC
Panel PC
Stand Alone
PLC
●
ADLINK
●
ALGO System Co.,Ltd
●
●
●
●
●
●
●
Beckhoff Automation GmbH & Co.KG
●
●
CONTEC Co., Ltd.
●
Hivertec,Inc.
●
●
SOFT SERVO SYSTEMS, INC.
●
●
TECHNO Co.,Ltd.
●
EtherCAT
Micronet Company
●
Trio Motion Technology Ltd.
63
64
Linear and direct drive (DD) motor control
MINAS A5L,
RTEX type: AE-LINK type:
MINAS A5ⅡNL
MINAS A5AL
A5L
A5ⅡNL
High precision and high speed advancement
of linear and DD control drive
A5AL
RTEX / Linear and DD Control Drive
AE-LINK / Linear and DD Control Drive
Motor
● Various
motors such as 3-phase cored/coreless,
shaft motor and DD motor
Scale
● Serial
communication incremental/absolute and
A/B/Z phase pulse scale
・This product is specific
for customers.
Please contact us about
details.
Magnetic pole detection
● Both
with and without hole sensor signal (automatic detection)
Setup
● Automatic
[Typical system configuration] For linear motor
setup of magnetic pole, scale direction, gain, etc.
[Typical system configuration]
Motor wiring U, V, W, E
Pulse train
(max. 4 Mpps)
Controller
A5L
or
Analog (L01, L04)
Controller
Serial or A/B/Z phase pulse
X6
X6
Feedback scale
When CS signal is not available, the automatic magnetic
pole detection function will detect the magnetic pole
position of the linear motor.
Automatically sets various parameters such as magnetic
pole, scale orientation and gain accordingly to the motor
specification.
Drastically reduced setup time.
Short adjustment time without magenetic pole sensor
Input
specifications
of the linear
motor.
Current gain,
scale installation
conditions,etc.
are automatically
detected.
Driving
parameters
are
automatically
set.
L04
Position,speed and
thrust command
N/A
Capable
Specifications
Instruction
Two-degree-of-freedom control
LA1
Feedback scale
Power supply
Single/3-phase
200 V
LA4
Position command
Capable
Capable
RS232, RS485
N/A
Compliant
Safety function
N/A
Capable
Analog input
N/A
65
X6
Serial
or
A/B/Z phase pulse
CS1 to 3
Linear motor
Feedback scale
Serial
or
A/B/Z phase pulse
A5A
M
Rotary motor
Drive List (Common to A5L and A5ⅡNL)
[Pulse input only]
N/A
X5
M
3-phase 200 V
[Standard]
Linear motor
A5AL
Rotary motor
Single phase
100 V
Simple setup for easy and speedy adjustment
Controller
U, V, W, E
AE-LINK
A5ⅡN
Automatic Magnetic Pole Detection
Automatic Setup
L01
CS1 to 3
* Connection is unnecessary when magnetic pole is automatically detected.
[Setup] • Please ask us to get this software.
[Lineup]
A5ⅡNL
X5
Linear motor
X5
U, V, W, E
RTEX
CS1 to 3*(Magnetic pole position signal)
[Typical system configuration] For linear motor
3-phase 400 V
Drive Part No. (Note)
MADHT1105***
MADHT1107***
MBDHT2110***
MCDHT3120***
MADHT1505***
MADHT1507***
MBDHT2510***
MCDHT3520***
MDDHT3530***
MDDHT5540***
MEDHT7364***
MFDHTA390***
MFDHTB3A2***
MGDHTC3B4***
MHDHTC3B4***
MDDHT2407***
MDDHT2412***
MDDHT3420***
MEDHT4430***
MFDHT5440***
MFDHTA464***
MGDHTB4A2***
MHDHTB4A2***
Motor rated current
[Arms]
1.2
1.7
2.5
4.6
1.2
1.6
2.6
4.1
5.9
9.4
13.4
18.7
33.0
44.0
66.1
1.5
2.9
4.7
6.7
9.4
16.5
22.0
33.1
Motor max. current
[Arms]
3.6
5.1
7.5
13.8
3.6
4.8
7.8
12.3
16.9
28.2
40.2
56.1
84.8
116.6
167.2
4.5
8.7
14.1
19.7
28.2
42.4
58.7
83.7
66
Note:
Trailing *** in the part number is replaced
with the following symbol:
A5L:
L01: Standard
LA1:Pulse control only
L04: Standard (2DOF)†1
LA4:Pulse control only (2DOF)†1
A5ⅡNL:NL1:Standard
N91:With safety function
A5AL: Please consult us.
†1) 2DOF: Two-degree-of-freedom control
Akribis Systems Pte Ltd
Manufacturer/
Distributor:
Linear motor
Ironless Brushless Linear Motor
Application Sample
AUM Series
Features
Ironless technology
Zero cogging force
●Patented technology
●Ironless linear motors with the highest motor constant and
shortest coils lengths
●Large continuous force and peak force
●
●
Single-Axis Module
XY Module
Bellow-Covered Module
Granite Stages
System Configuration
Continuous
Force
Iron Core-ACM
10000 N
7000 N
Specification
Continuous Force, coil
@100 °C
Peak Force
AUM4
Unit
S-S1
P-S2
P-S4
P-S6
S-S1
P-S2
P-S4
P-S6
S-S1
P-S2
P-S4
P-S6
P-S8
N
36.0
72.0
144.0
216.0
56.0
112.0
224.0
336.0
98.0
196.0
392.0
588.0
784.0
50.2
75.4
44.0
87.9
131.9
175.8
22.0
lb
8.1
16.1
32.3
48.4
12.6
25.1
N
144.0
288.0
576.0
864.0
312.0
624.0
1248.0 1872.0
392.0
1414.8 2829.6 4244.4 5659.2
lb
32.3
64.6
129.2
193.8
70.0
139.9
279.9
419.8
87.9
317.3
634.6
951.9
10.24
14.48
17.74
11.19
15.83
22.38
27.41
19.18
27.12
38.35
46.97
54.24
2.30
3.25
3.98
2.51
3.55
5.02
6.15
4.30
6.08
8.60
10.53
12.16
Continuous Power
W
24.7
49.4
98.8
148.3
25.0
50.1
100.2
150.3
26.1
52.2
104.5
156.7
208.9
Peak Power
W
395.4
790.8
1581.6 2372.3
777.4
1554.8 3109.6 4664.4
417.9
60
60
60
60
60
60
60
60
84.0
84.0
84.0
84.0
84.0
in
2.362
2.362
2.362
2.362
2.362
2.362
2.362
2.362
3.31
3.31
3.31
3.31
3.31
Max Bus Voltage
V
330
330
330
330
330
330
330
330
330
330
330
330
330
Max Coil Temperature
°C
125
125
125
125
125
125
125
125
125
125
125
125
125
Thermal Dissipation Constant
W/°C
0.33
0.66
1.32
1.98
0.33
0.67
1.34
2.00
0.35
0.70
1.39
2.09
2.79
Continuous current
A rms
2.3
4.6
4.6
9.2
2.3
4.6
4.6
4.6
2.5
5.0
5.0
5.0
5.0
Peak current
A rms
9.2
18.4
18.4
36.8
13.0
26.0
26.0
26.0
18.0
36.0
36.0
36.0
36.0
N/A
15.7
15.7
31.4
47.1
24.0
24.0
48.0
72.0
39.3
39.3
78.6
117.9
157.2
lb/A
3.5
3.5
7.0
10.6
5.4
5.4
10.8
16.1
8.8
8.8
17.6
26.4
35.3
V/m/s
18.1
18.1
36.3
54.4
27.7
27.7
55.4
83.1
45.4
45.4
90.8
136.1
181.5
V/in/s
0.46
0.46
0.92
1.38
0.70
0.70
1.41
2.11
1.15
1.15
2.31
3.46
4.61
mH
3.13
1.57
3.13
4.70
3.50
1.75
3.50
5.25
6.50
3.25
6.50
9.75
13.00
Terminal Resistance @25 °C
Ω
4.70
2.35
4.70
7.05
4.60
2.30
4.60
6.90
4.20
2.10
4.20
6.30
8.40
Electrical Time Constant
ms
0.67
0.67
0.67
0.67
0.76
0.76
0.76
0.76
1.55
1.55
1.55
1.55
1.55
g
0.22
0.45
0.91
1.37
0.28
0.56
1.19
1.78
0.73
1.45
2.88
4.32
5.76
oz
0.484
0.990
2.002
3.010
0.607
1.24
2.62
3.92
1.60
3.19
6.34
9.50
12.67
Inductance
Mechanical Parameters
Coil Mass
Coil Length
Track Mass (per 63 mm)
mm
61
121
241
361
61
121
241
361
85.0
169.0
337.0
505.0
673.0
in
2.40
4.76
9.49
14.21
2.40
4.76
9.49
14.21
3.3
6.65
13.27
19.88
26.50
g
1.00
1.77
4.26
9.37
oz
2.20
3.89
Magnetic Attraction
N (lb)
0
0
Cont. Current
A rms
Peak Current
A rms
MINAS A5L Model
2.3
4.6
9.2
MCDHT
3520L
AUM4
200 N
ACM1-S100
AUM3
10 N
AUM2
ACM3
ACM1-L50
100 N
ACM1-S50
ACM1-L30
Coil
Size
ACM2
ACM1-S30
AUM1
Recommended Drivers:
MADHT1505***, MADHT1507***, MBDHT2510***, MCDHT3520***, MDDHT3530***,
MDDHT5540***, MEDHT7364***, MFDHTA390***, MFDHTB3A2***
Sales area and Language
• English
• Chinese
• Korean
• Thai
Please contact the following address for details.
For more information
URL: http://www.akribis-sys.com/
0
2.3
4.6
18.4
13
MDDHT5540L
MCDHT
3520L
67
ACM4
ACM1-L100
2721.6 5443.2 8164.8 10886.4
mm
Back EMF Constant
400 N
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
7.24
1.62
Force Constant
AUM5
1269.1
N/SqRt(W)
Electrical Cycle
ACM6
ACM5
AUM5
lb/SqRt(W)
Motor Constant
Compact Iron
Core-ACM1
1000 N
AUM3
Performance Parameters
Ironless-AUM
2.5
5
26
18
36
MDDHT5540L
MDDHT
5540L
MFDHTA464L
Contact:
Akribis Systems Pte Ltd
5012 Techplace II Ang Mo Kio Ave 5 #01-05 Singapore 569876
68
[E-mail: [email protected]]
TEL: +65-6484-3357
FAX: +65-6484-3361
Manufacturer/
Distributor:
Akribis Systems Pte Ltd
Linear motor
Direct Drive Rotary Motor
Application Sample
ADR-A Series
Features
Direct drive, brushless motor fully integrated with encoder and bearing
Low cogging torque
●Low speed and high speed windings
●High Continuous and Peak Torque
●
●
ATR-IronCore Type
Ironless Type
Frameless Type
IronCore Type
System Configuration
Outer stator
Rotor
back iron
Magnets
ADR110
ADR135
ADR175
ADR220
Magnetic circuit
ADR360
Units
P-A75
P-A98
P-A90
P-A115
P-A102
P-A138
P-A120
P-A165
P-A150
P-A215
Table diameter
mm
110
110
135
135
175
175
220
220
360
360
Table height
mm
75
98
90
115
102
138
120
165
150
215
16
16
16
16
16
16
24
24
36
36
Nm
1.9
4.2
5.2
11.0
15.7
32.9
46.0
94.9
184.8
377.9
Number of poles
Continuous torque
Peak torque
5.8
12.6
15.5
32.9
47.2
98.6
137.9
284.6
554.5
1133.8
Nm/A
0.32
0.70
0.86
1.83
1.97
4.11
2.84
5.86
9.24
18.90
Back EMF constant
V/rpm
0.039
0.084
0.104
0.221
0.238
0.497
0.343
0.708
1.118
2.285
Continuous current
A rms
6.0
6.0
6.0
6.0
8.0
8.0
16.20
16.20
20.00
20.00
Peak current
A rms
18.0
18.0
18.0
18.0
24.0
24.0
48.60
48.60
60.00
60.00
Resistance
ohms
0.80
1.21
1.65
2.70
1.30
2.13
0.74
1.20
0.76
1.25
Inductance
mH
4.29
6.49
11.20
18.63
11.27
18.51
6.30
11.90
7.92
13.00
ms
5.36
5.36
6.79
6.90
8.67
8.67
8.51
9.92
10.40
10.40
Nm/SqRt(W)
0.36
0.63
0.67
1.11
1.72
2.81
3.30
5.35
10.59
16.90
3.20
4.60
3.90
5.70
10.0
11.6
15.6
23.4
56.0
71.0
Electrical time constant
Mass
kg
Rotor Inertia
kgm2
Rec. max speed @230V AC
rpm
7278
3299
2599
1137
1131
501
770
341
228
98
Rec. max speed @415V AC
rpm
-
-
-
-
-
-
-
-
484
224
MS-12000 optical SINCOS encoder
MS-12000 optical digital encoder (40X)
0.0003086 0.0004419 0.000992 0.001332 0.005422 0.007621 0.017858 0.025216 0.204636 0.322304
lines
12000
12000
12000
12000
-
-
-
-
-
-
Counts/rev
480000
480000
480000
480000
-
-
-
-
-
-
Accuracy (based on MS-12000, 40X)
arc sec
+/-27
+/-27
+/-27
+/-27
-
-
-
-
-
-
Repeatability (based on MS-12000, 40X)
arc sec
+/-2.7
+/-2.7
+/-2.7
+/-2.7
-
-
-
-
-
-
lines
-
-
-
-
16384
16384
16384
16384
-
-
MS-16384 optical SINCOS encoder
MS-16384 optical digital encoder (40X)
Counts/rev
-
-
-
-
655360
655360
655360
655360
-
-
Accuracy (based on MS-16384, 40X)
arc sec
-
-
-
-
+/-20
+/-20
+/-20
+/-20
-
-
Repeatability (based on MS-16384, 40X)
arc sec
-
-
-
-
+/-2.0
+/-2.0
+/-2.0
+/-2.0
-
-
lines
-
-
-
-
-
-
-
-
23049
23049
Counts/rev
-
-
-
-
-
-
-
-
921960
921960
Accuracy (based on MS-23049, 40X)
arc sec
-
-
-
-
-
-
-
-
+/-15
+/-15
Repeatability (based on MS-23049, 40X)
arc sec
-
-
-
-
-
-
-
-
+/-1.5
MS-23049 optical SINCOS encoder
MS-23049 optical digital encoder (40X)
μm
Axial runout
μm
25
30
35
40
50
N
700
1050
2310
2800
11200
Nm
20
Max axial load
Max moment load
30
35
35
45
53
40
63
72
95
6
8
16.2
20
Peak Current
A rms
18
24
48.6
60
MFDHTA464L
MFDHTB32A2L
69
Pulse & Direction
Command
MINAS A5L
Recommended Drivers:
MCDHT3520***, MDDHT3530***, MDDHT5540***, MEDHT7364***, MFDHTA390***
Sales area and Language
• English
• Chinese
• Korean
• Thai
Please contact the following address for details.
For more information
URL: http://www.akribis-sys.com/
245
A rms
MDDHT5540L
Motion
Controller
or
PLC
ATR Design
50
Cont. Current
MINAS A5L Model
Conventional Design
Outer coils
+/-1.5
Radial runout
25
Magnet
Coils
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
Nm
Torque constant
Motor constant
Magnetic circuit
Inner stator
Specification
Performance Parameters
Inner coils
Stator
Contact:
Akribis Systems Pte Ltd
5012 Techplace II Ang Mo Kio Ave 5 #01-05 Singapore 569876
70
[E-mail: [email protected]]
TEL: +65-6484-3357
FAX: +65-6484-3361
Justek, Inc.
Manufacturer/
Distributor:
Direct Drive motor
Direct Drive Rotary Motor
JTR16 series
JTR24 series
JTR30 series
PERFORMANCES
UNIT
JTR series
Continuous Torque
Peak Torque
Features
Continuous Current
Arms
4.3
9
3.1
4.2
4
4.1
9
9
Peak Current
Arms
12.9
27
9.3
12.6
12
13.6
27.1
28.5
Torque Constant
N·m/Arms
3.1
3
3.3
6.4
11
12.2
11.1
16.7
Back EMF Constant(ph-ph)
Vrms/rad/s
1.8
1.7
1.9
3.7
6.4
6.7
6.7
9.6
Motor Constant
N·m/W1/2
1.3
1.9
1.1
2.2
3.1
3.8
5.4
7.1
High precision indexing rotary table
●Minimal cogging design
●High resolution and high torque
●Flexibility in division of angles and control of rotating direction
and speed
●
Electrical Time Constant
Thermal Resistance
JTR15T
Continuous Torque
N·m
1.4
Peak Torque
N·m
Continuous Current
Arms
Peak Current
JTR11 series
JTR15 series
JTR1106
JTR1112
JTR1118
JTR1501E JTR1503E JTR1505E JTR1508E
2
4
6
4.2
6
12
18
15
30
50
80
1.2
1
1
1
1.8
3.7
3.7
3.7
5
10
18
27
3.5
6.7
7.4
4.7
8.3
9.1
9.4
0.9
0.5
1.1
0.6
0.5
0.54
0.27
0.21
rps
8
9
5
4.5
2.8
2.9
3
2
arcsec
±4
±2
Radial Run-out (no-load)
um
Max. Axial Load
kg
120
120
410
410
410
1100
1100
1100
N·m
15
15
80
80
80
250
250
250
Rotor Inertia
kg·m
0.0031
0.0052
0.0092
0.0143
0.0203
0.1004
0.1288
0.1576
Motor Weight
kg
13.9
22
10.7
14.7
19.7
42.7
54.5
66.2
200 V
MDDHT
3530L**
MDDHT
5540L**
MCDHT3520L**
MDDHT
3530L**
MDDHT5540L**
100 V
□
□
MCDHT3120L**
□
□
Applicable drive
MINAS A5L Model
11.1
11.1
11.1
2.9
4.9
7.8
Back EMF Constant(ph-ph)
Vrms/rad/s
0.7
1.2
2.3
3.5
1.7
1.7
2.8
4.5
●
Motor Constant
N·m/W
0.3
0.4
0.6
0.8
0.8
1.3
1.9
2.5
●
ms
0.8
1.8
2
2.1
5
6.4
8.1
8.2
℃/W
3.3
4
2.3
1.6
2.2
1.4
1.1
0.7
rps
10
10
8
5
5
5
5
4.5
arcsec
±2
±2.5
±2
Axial Run-out (no-load)
μm
20/10/5
Radial Run-out (no-load)
μm
20/10/5
Max. Axial Load
kg
Max. Moment Load
120
90
90
90
530
530
530
N·m
15
12
12
12
96
96
96
96
0.00226
0.0007
0.0012
0.0023
0.012
0.021
0.024
0.029
Motor Weight
kg
4.4
3.9
5.4
6.9
6.4
9.8
12.2
15.6
200 V
MADHT1505L**
100 V
MADHT1105L**
MBDHT
2110L**
2) Possible to get more high resolution.
Application Sample
Alignment and indexing equipment
Semiconductor test handler
●Glass titler
Machine tools
Loader / unloader
●Die bonder, LED handler
●
●
MCDHT3520L**
MCDHT3120L**
• Chinese
• Japanese
• English
• Korean
530
kg·m2
Applicable drive
MINAS A5L Model
2
Sales area and Language
Rotor Inertia
MBDHT
2510L**
20/10/5
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
±30
Repeatability1)
20/10/5
1) Dependent on the encoder resolution.
2.9
655360
±2
um
5.5
±30
450
Axial Run-out (no-load)
6
518400
150
300
Repeatability1)
3
±30
100
±30
4
655360
50
150
864000
3
ppr
44
130
±30
2
arcsec
80
655360
3
Resolution2)
27
30
±30
1.2
Accuracy1)
10
80
JTR3045
327680
3.5
Max. Speed1)
27
40
JTR3030
ppr
Arms
Thermal Resistance
14
N·m
JTR3015
arcsec
N·m/Arms
Electrical Time Constant
N·m
JTR2413
Accuracy1)
Torque Constant
1/2
JTR2408
3.5
Max. Moment Load
UNIT
JTR2403
ms
Resolution2)
PERFORMANCES
JTR1608
℃/W
Max. Speed1)
Specification
JTR1604
For more information
URL: http://www.justek.com
Contact:
Justek, Inc.
630-46 Nambudae-ro, Jinwi-myeon, Pyeongtaek, Gyeonggi-do, Korea
[E-mail: [email protected]]
WBC 6F, Yokohama World Porters, 2-2-1, Shinkou, Naka-ku, Yokohama, 231-0001, Japan
TEL: +81-45-222-2061
FAX: +81-45-222-2061
71
Justek, Inc. Japan Branch
[E-mail: [email protected]]
TEL: +82-31-647-5500
FAX: +82-31-647-5555
72
Mirae Linear Motor Technology
Manufacturer/
Distributor:
Linear motor
Coreless and Core Linear Motor
Application Sample
U-Coreless/T-Core/Platen-Core Type
X-Y Gantry
High Precision
Air-Bearing Stage
Compact X-Y Table
Multi-Mover
Linear Stage
Features
U-Coreless Type
T-Core Type
Platen-Core Type
For Heavy duty Industrial
Equipment
Has enough stroke even in a
small area
Air Bearing is applied for nontouching moving structure
4sets of independent driving
Linear Motor applied in a
single line
Selection Guide
Mover
No Cogging
●No Magnetic Attraction Force
●Fast Setting-time Response
●Easy to install
Cogging Optimization
●High-density Force & Attraction
Force
●No normal Force
●Easy to install
●
Cogging Optimization
●High-density Force & Attraction
Force
●Most economic design solution
●Easy to install
●
Model
ML-ULT-1SA*
Dimension
[mm]
]
21
1.39
63
4.17
5.3
15.3
0
3.3
1.7
0.3
4.29
2.51
140(L)×37(W)×77.5(H)
43
1.39
129
4.17
10.7
30.8
0
6.6
3.4
0.6
6.22
1.25
200(L)×37(W)×77.5(H)
64
1.39
192
4.17
16
46.1
0
9.9
5.1
0.9
7.56
0.84
ML-ULT-2S2PA* 260(L)×37(W)×77.5(H)
86
2.79
258
8.37
10.7
30.8
0
3.3
1.7
1.1
8.76
0.62
15.00
Carrier f : 6KHz
17.3
MADHT1507L01
7.2
MADHT1507L01
3.6
MADHT1507L01
7.2
MCDHT3520L01 MDDHT3530L01
202(L)×38.4(W)×92(H)
97
3.26
292
9.78
10.4
30.0
0
2.0
1.2
0.8
10.86
0.75
7.3
MCDHT3520L01 MDDHT3530L01
262(L)×38.4(W)×92(H)
130
3.26
390
9.78
13.8
39.7
0
2.6
1.7
1.1
12.77
0.58
5.1
MCDHT3520L01 MDDHT3530L01
322(L)×38.4(W)×92(H)
162
3.26
486
9.78
17.3
49.8
0
3.3
2.1
1.4
14.13
0.46
3.7
MCDHT3520L01 MDDHT3530L01
382(L)×38.4(W)×92(H)
195
3.26
585
9.78
20.8
59.9
0
3.9
2.5
1.6
15.64
0.39
2.8
MCDHT3520L01 MDDHT3530L01
442(L)×38.4(W)×92(H)
227
3.26
681
9.78
24.2
69.7
0
4.6
2.9
1.9
16.77
0.33
2.1
MCDHT3520L01 MDDHT3530L01
ML-ULM-1SA(S) 120(L)×47.4(W)×121.5(H)
85
3.00
254
9.00
9.8
28.2
0
0.85
2.05
0.7
15.78
2.09
11.0
MCDHT3520L01 MDDHT3530L01
ML-ULM-2SA(S) 210(L)×47.4(W)×121.5(H)
U-Coreless
300(L)×47.4(W)×121.5(H)
ML-ULM-3SA*
(Medium)
390(L)×47.4(W)×121.5(H)
ML-ULM-4SA*
169
3.00
507
9.00
19.6
56.4
0
1.70
4.10
1.4
22.31
1.05
254
6.00
762 18.00
14.7
42.3
0
1.30
3.10
2.0
19.17
0.34
338
6.00
1014 18.00
19.6
56.4
0
1.70
4.10
2.7
22.31
MCDHT3520L01 MDDHT3530L01
MDDHT5540L01 MEDHT7364L01
0.26
4.6
MDDHT5540L01 MEDHT7364L01
480(L)×47.4(W)×121.5(H)
424
6.00
1272 18.00
24.5
70.6
0
2.10
5.10
3.3
25.18
0.21
3.6
MDDHT5540L01 MEDHT7364L01
ML-ULL-3PA*
397(L)×50.4(W)×152(H)
506
7.16
1518 21.48
24.6
70.7
0
1.3
2.9
3.4
32.01
0.24
2.8
MDDHT3530L01 MDDHT5540L01
517(L)×50.4(W)×152(H)
675
9.55
2025 28.65
24.6
70.7
0
1.0
2.2
4.5
36.50
0.18
2.8
MDDHT5540L01 MEDHT7364L01
637(L)×50.4(W)×152(H)
844
11.94 2531 35.81
24.6
70.7
0
0.8
1.8
5.6
40.81
0.14
2.8
MDDHT5540L01 MEDHT7364L01
336(L)×66.6(W)×224(H)
771
7.40
2313 22.20
36.2
104.2
0
1.4
4.6
5.5
45.47
0.21
2.0
MDDHT5540L01 MEDHT7364L01
486(L)×66.6(W)×224(H)
1157
11.10 3471 33.30
36.2
104.2
0
1.0
3.1
8.3
53.83
0.13
2.0
MEDHT7364L01 MFDHTA390L01
636(L)×66.6(W)×224(H)
1542 14.80 4626 44.40
ML-ULX-2PA*
U-Coreless
ML-ULX-3PA*
(X-large)
ML-ULX-4PA*
T-Core
(Medium)
4.6
6.4
22.50
ML-ULM-5SA*
U-Coreless
ML-ULL-4PA*
(Large)
ML-ULL-5PA*
T-Core
(Tiny)
15.00
30.00
37.50
36.2
104.2
0
0.7
2.3
11.1
64.31
0.10
2.0
MFDHTA390L01 MFDHTB3A2L01
ML-TCT-1P
101(L)×38.7(W)×67.5(H)
118
1.3
354
3.9
30.7
92.1
0
17.3
56.4
2.2
13.61
0.80
2.1
MADHT1507L01
ML-TCT-2P
191(L)×38.7(W)×67.5(H)
236
2.6
708
7.8
30.7
92.1
0
8.7
28.2
4.5
19.25
0.40
2.1
MBDHT2510L01 MCDHT3520L01
ML-TCT-3P
281(L)×38.7(W)×67.5(H)
354
3.9
1062 11.7
30.7
92.1
0
5.8
18.8
6.7
23.57
0.27
2.1
MCDHT3520L01 MDDHT3530L01
22.50
ML-TCT-4P
371(L)×38.7(W)×67.5(H)
472
5.2
1416 15.6
30.7
92.1
0
4.3
14.1
8.9
27.22
0.20
2.1
MDDHT3530L01 MDDHT5540L01
ML-TCM-2P
191(L)×72.3(W)×135H)
550
4.5
1650 13.5
37.76
113.3
0
2.0
17.3
4.5
44.85
0.40
2.0
MDDHT3530L01 MDDHT5540L01
ML-TCM-3P
281(L)×72.3(W)×135H)
825
6.8
2475 20.3
37.76
113.3
0
1.3
11.6
6.7
54.93
0.27
ML-TCM-4P*
371(L)×72.3(W)×135H)
1100
9.0
3300 27.0
37.76
113.3
0
1.0
8.7
8.9
63.43
0.20
ML-TCM-5P
461(L)×72.3(W)×135H)
1375
11
4125
34
37.76
113.3
0
0.8
6.9
11.1
70.92
ML-PCT-1SF*
69(L)×55(W)×45(H)
43
1.44
129
4.32
14.6
29.8
192.0
3.4
17.5
0.7
8.42
129(L)×55(W)×45(H)
86
1.44
258
4.32
29.2
59.5
384.0
6.7
35.1
1.4
189(L)×55(W)×45(H)
129
1.44
387
4.32
43.8
89.3
576.0
10.1
52.6
ML-PCT-2S2PF
249(L)×55(W)×45(H)
172
2.88
516
8.64
29.2
59.5
768.0
3.4
ML-PCS-1SE
69(L)×75(W)×46.3(H)
80
2.30
240
6.90
11.6
34.8
320.0
1.4
129(L)×75(W)×46.3(H)
150
2.25
450
6.75
23.2
69.6
640.0
189(L)×75(W)×46.3(H)
225
2.25
675
6.75
34.8
104.4
960.0
ML-PCS-2S2PE* 249(L)×75(W)×46.3(H)
300
4.5
900 13.50
23.2
69.6
1280.0
Platen Core ML-PCT-2SF*
(Tiny)
ML-PCT-3SF
Platen Core ML-PCS-2SE*
(Small)
ML-PCS-3SE*
Platen Core ML-PCL-2PE*
(Large)
ML-PCL-3PE*
2.0
MDDHT5540L01 MEDHT7364L01
2.0
MDDHT5540L01 MEDHT7364L01
0.16
2.0
MEDHT7364L01 MFDHTA390L01
2.30
7.30
MADHT1507L01
11.91
1.15
3.10
MADHT1507L01
2.1
14.59
0.77
1.60
MADHT1507L01
17.5
2.8
16.85
0.58
3.10
MCDHT3520L01 MDDHT3530L01
11.3
0.8
15.18
2.16
9.00
MBDHT2510L01 MDDHT3520L01
2.8
22.6
1.6
20.57
1.13
3.70
MBDHT2510L01 MDDHT3520L01
4.1
33.9
2.4
25.50
0.77
1.4
11.3
3.2
29.10
0.56
251(L)×133(W)×58(H)
670
6.2
2000 18.60
37
111
3200.0
1.2
5.9
6.8
50.94
0.35
371(L)×133(W)×58(H)
1000
9.29
3000 27.87
37
111
4800.0
0.8
4.0
10.2
62.15
0.23
73
22.50
15.00
15.00
30.00
2.10
MBDHT2510L01 MDDHT3520L01
3.70
MDDHT3530L01 MDDHT5540L01
2.3
MDDHT5540L01 MEDHT7364L01
2.3
MEDHT7364L01 MFDHTA390L01
④
U: U shape
T : T shape
P: Platen
⑥
④ Number of Serial Coil ⑤ Number of Parallel Coil ⑥ Design oder
T : Tiny
S: Small
M: Medium
L : Large
X: X-Large
1S: 1 serial
2S: 2 serial
3S: 3 serial
...
1P: 1parallel
2P: 2parallel
3P: 3parallel
...
A, B, C, D, E, ...
The fixed parts are made up of the Magnet and the Back Ilon
ML - PCL - SE - 540
① ② ③
① Shape
⑤
③ Magnet size
C: Core type
L : Core-less
Carrier f : 12KHz
ML-ULS-4SA*
ML-ULS-7SA
U: U shape
T : T shape
P: Platen
MINAS A5L Model
ML-ULS-3SA*
U-Coreless
ML-ULS-5SA*
(Small)
ML-ULS-6SA*
② Core
② Core
④
⑤
③ Magnet size
C: Core type
L : Core-less
T : Tiny
S: Small
M: Medium
L : Large
④ Startor Desgin Oderl
SA, AB, SC, ...
⑤ Stator Length
270: 270 mm
330: 330 mm
540: 540 mm
Stators Specification
Item
Model
ML-ULT-SA-240
U-Shape Coreless
ML-ULT-SA-360
(Tiny model)
ML-ULT-SA-480
ML-ULS-SA-360
U-Shape Coreless ML-ULS-SA-420
(Small model)
ML-ULS-SA-480
ML-ULS-SA-600
ML-ULM-SA-270
ML-ULM-SA-360
U-Shape Coreless
ML-ULM-SA-450
(Medium model)
ML-ULM-SA-540
ML-ULM-SA-630
ML-ULM(e)-SA-360
U-Shape Coreless
ML-ULM(e)-SA-540
(Medium economic)
ML-ULM(e)-SA-630
Length
[mm]
Item
ML-ULL-SA-180
240
360
480
U-Shape Coreless ML-ULL-SA-300
(Large model)
ML-ULL-SA-480
ML-ULL-SA-600
360
420
480
600
270
360
Model
ML-ULX-SA-150
U-Shape Coreless
ML-ULX-SA-300
(X-large model)
ML-ULX-SA-600
U-Shape Coreless ML-ULX(e)-SA-150
(X-large economic) ML-ULX(e)-SA-300
Length
[mm]
180
300
480
Item
Model
ML-TCT-SA-270
T-Shape Core Type
ML-TCT-SA-360
(Tiny model)
ML-TCT-SA-540
ML-TCM-SA-270
600
ML-TCM-SA-360
150
ML-TCM-SA-450
300
T-Shape Core Type ML-TCM-SA-495
(Medium model) ML-TCM-SA-540
600
150
ML-TCM-SA-630
300
ML-TCM-SA-720
450
ML-TCM-SA-945
540
630
Length
[mm]
Item
ML-PCT-SE-120
270
270
Platen Core Type
(Tiny model)
630
720
945
ML-PCT-SE-300
ML-PCT-SE-420
450
540
ML-PCT-SE-240
ML-PCT-SE-360
360
495
Length
[mm]
ML-PCT-SE-180
360
540
Model
Platen Core Type
(Small model)
Platen Core Type
(Large model)
ML-PCS-SE-270
ML-PCS-SE-540
ML-PCL-SE-120*
ML-PCL-SE-270*
ML-PCL-SE-540
* special
360
540
630
Sales area and Language
• Korea : +82-70-8230-8770
• English : +82-70-8230-8771
• Chinese: +86-138-2520-1988
For more information
URL: http://www. miraelmt.co.kr
Mirae Linear Motor Technology
[E-mail: [email protected]]
Headquarters #714 Baekseok-Dong, Seobuk-Gu, Cheonan-Si, Chungcheongnam-Do, 330-220, Korea
LM Business Team TEL: +82-70-8230-8770
Contact:
74
120
180
240
300
360
420
270
540
120
270
540
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
80(L)×37(W)×77.5(H)
U-Coreless ML-ULT-2SA*
(Tiny)
ML-ULT-3SA*
① ② ③
① Shape
Stator
Continu. Continu. Max. Max. Back EMF Force Magnetic
Motor
Thermal Pole-Pitch Max
Resistance Inductance Weight
Force Current Force Current Vrms/ Constant Attraction
Constant Resistance (N to S) Velocity
[Ohm]
[mH]
[kg]
[N/sqrt(W)] [oC/W]
(mm)
[N] [Arms] [N] [Arms] m/sec [N/Arms] (N)
m/sec
[
ML - PCL - 2S2PE
●
Specification
Item
The moving parts are made up of the coll, Frame, and Epoxy Moid
NIPPON BEARING CO.,LTD.
Linear motor
Coreless Linear Motor Positioning Table
Smart Table DSTN14 Type
Uses High Performance Neodymium Magnets
Low velocity ripple & smooth motion with non-cogging coreless motor
●High accuracy with fully closed optical linear encoder feedback
●Thin and compact design
●Independently controlled multiple slider carriages
●
●
System Configuration
30
3
Peak force
(N)
90
4
Continuous current
(A rms)
1.5
5
Peak current
(A rms)
4.5
7
Max. speed
8
Max. load at 0.5G accel.
9
Max. load at 1.0G accel.
(kg)
(m/s)
(kg)
(kg)
1.7
(46.1)
S /2
2
(36.1)
S /2
8.6
8.6
Encoder cable
3.5
Power cable
Resolution
(μm)
1.0 (Standard) / 0.5 / 0.1
Carriage lock
12
Positioning repeatability
(μm)
±1
13
Positioning accuracy
(μm)
20
14
Standard stroke option
(mm)
40, 100, 160, 220, 280, 340, 400, 460, 520, 580, 640, 700,
760, 820, 940, 1060, 1180, 1300, 1420, 1540, 1660, 1780
15
Ambient temperature
16
Ambient humidity
17
Standard driver
11
Sensor cable
E
PORG sensor
20 % to 80 % (Avoid condensation)
E
S /2
(46.1)
S /2
(36.1)
L
L
N
5
6
6
7
8
9
9
10
11
12
13
80
35
65
50
35
20
80
65
50
35
20
8.6
M×P
143.5
N
128
15.5
P (=150)
2.5
2 × (M+1) – ø6.6 THRU
ø11C.BORE DEPTH7
(for table mount)
O.T sensor: 2
50 50
17.5
135
17.5
(Carriage length)
Panasonic Corp. MINAS A5L (MADHT1107L01)
6-M4 DEPTH8
(for work mount)
26
80
Sales area and Language
• Japanese
• English
Please contact the following address for details.
For more information
URL: http://www.nb-linear.co.jp/
Contact:
75
(135)
L
O.T sensor: 1
0 ℃ to 40 ℃
※Specifications No.2, No.3, No.4, No.5 under following conditions: Ambient temperature at 20 °C, average coil
temperature up to 100 °C.
※No.7 max. speed can vary depending on specifications such as stroke and resolution.
※No.12 is the resolution when 1 μm resolution encoder is used.
※No.13 is the accuracy value of 640 mm stroke model.
※Custom stroke models can be manufactured.
※Standard stroke is the distance between limit sensors. Physical stroke limit between mechanical stoppers is std
stroke+20 mm.
※Conditions for No.8 to 10: cycle = [accel. → max. speed → decel. → rest],
max. speed = 2 m/s, accel. time = decel. time, max. speed time = 2x accel. time, rest time = max. speed time.
910
970
1030
1150
1270
1390
1510
1630
1750
1870
1990
Table
Mass
(kg)
22.5
23.5
25.0
27.5
30.0
32.0
35.0
37.0
40.0
42.0
45.0
Cable carrier
0.9
Max. load at 2.0G accel.
N
(mm)
Linear scale
(kg)
10
M
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
Table moving mass
50
80
35
65
20
50
80
35
65
20
50
L
(mm)
220
(N)
1
1
2
2
3
3
3
4
4
5
5
Physlcal
Stroke
SL (mm)
720
780
840
960
1080
1200
1320
1440
1560
1680
1800
69
Continuous force
250
310
370
430
490
550
610
670
730
790
850
Standard
Stroke
SE (mm)
700
760
820
940
1060
1180
1300
1420
1540
1660
1780
Table
Mass
(kg)
8.5
10.0
11.0
12.5
13.5
15.0
16.0
17.5
18.5
20.0
21.0
136
2
Coreless Synchronous Motor
N
(mm)
15
Motor Type
M
12
1
L
(mm)
12
Specifications
Physlcal
Stroke
SL (mm)
60
120
180
240
300
360
420
480
540
600
660
90
Item
Standard
Stroke
SE (mm)
40
100
160
220
280
340
400
460
520
580
640
164
Specification
6
Laser application machine
Semiconductor equipment
●Industrial robot
●Automatic fabricating machine
●Motion picture camera
●Various electronic parts manufacturing machine in chamber
●Measuring instrument
●
●
Features
No.
Application Sample
150
Manufacturer/
Distributor:
NIPPON BEARING CO.,LTD.
2833 Chiya,Ojiya-city, Niigata-pref, 947-8503, Japan
76
[E-mail: [email protected]]
TEL: +81-258-82-0011
FAX: +81-258-81-1135
Nippon Pulse Motor Co., Ltd.
Manufacturer/
Distributor:
Linear motor
Linear Shaft Motor
Application Sample
Single
S series/L series
Multi
Tandem
Parallel
Features
Coreless Technology
Zero Cogging
●High Force and High Precision
●Energy Efficient
●Simple Design and Easy Integration
●
●
Constuction
Simple
High Precision
●Non Contact
●
Specification
●
S080 series
S120 series
S160 series
S200 series
S250 series
Units
S080D
S080T
S080Q
S120D
S120T
S120Q
S160D
S160T
S160Q
S200D
S200T
S200Q
S250D
S250T
S250Q
Shaft Diameter
mm
8
8
8
12
12
12
16
16
16
20
20
20
25
25
25
Stroke Length Range
mm
25~300
25~300
25~300
N
1.8
2.7
3.5
4.5
6.6
8.9
10
15
20
18
28
38
40
60
75
A rms
0.84
0.84
0.84
0.4
0.4
0.4
0.62
0.62
0.62
0.59
0.59
0.59
1.28
1.28
1.28
N
7.2
10.7
14
18
27
36
40
60
81
72
112
152
160
240
300
A rms
3.4
3.4
3.4
1.6
1.6
1.6
2.5
2.5
2.5
2.4
2.4
2.4
5.1
5.1
5.1
Continuous Force
Continuous Current
Peak Force
Peak Current
50~1750 50~1750 50~1750 100~1750 100~1750 100~1750 100~2700 100~2700 100~2700 100~2550 100~2550 100~2550
mm
30
30
30
48
48
48
60
60
60
72
72
72
90
90
90
mm
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.75
0.75
0.75
0.75
0.75
0.75
MINAS A5L Model
200 V
MADHT1505LXX
MADHT1507LXX
100 V
MADHT1105LXX
MADHT1107LXX
S320 series
S350 series
S427 series
S435 series
Sales area and Language
S500 series
Units
S320D
S320T
S320Q
S350D
S350T
S350Q
S427D
S427T
S427Q
S435D
S435T
S435Q
S500D
S500T
S500Q
Shaft Diameter
mm
32
32
32
35
35
35
42.7
42.7
42.7
43.5
43.5
43.5
50
50
50
Stroke Length Range
mm
Continuous Force
Continuous Current
Peak Force
100~2700 100~2700 100~2700 100~2500 100~2500 100~2500 100~3600 100~3600 100~3600 100~2600 100~2600 100~2600 100~3850 100~3850 100~3850
N
56
85
113
104
148
190
100
150
200
116
175
233
289
440
585
A rms
1.22
1.17
1.15
1.5
1.5
2.7
3
3
3
3
3
3
3.8
5.8
7.7
N
226
338
451
416
592
760
400
600
800
464
700
932
1156
1760
2340
A rms
5
5
5
6
6
10.8
12
12
12
12
12
12
15.2
23.2
30.8
Magnet Pitch N-N
mm
120
120
120
120
120
120
180
180
180
180
180
180
180
180
180
Gap
mm
1.0
1.0
1.0
1.0
1.0
1.0
1.65
1.65
1.65
1.25
1.25
1.25
1.75
1.75
1.75
Peak Current
MINAS A5L Model
200 V
MADHT1507LXX
MADHT1507LXX
MCDHT
3520LXX
100 V
MADHT1107LXX
MADHT1107XX
MCDHT
3120LXX
S605 series
L250 series
Units
S605T
S605Q
L250D
L250T
L250Q
L320D
L320T
L320Q
Shaft Diameter
mm
60.5
60.5
25
25
25
32
32
32
Stroke Length Range
mm
Continuous Force
Peak Force
Peak Current
Magnet Pitch N-N
Gap
MINAS A5L Model
MDDHT5540LXX
MCDHT3120LXX
—
For more information
URL: http://nipponpulse.com/products/overview/linear-shaft-servomotors/
100~3850 100~3850 100~3650 100~3650 100~3650 100~3600 100~3600 100~3600
N
610
780
34
52
69
55
82
109
A rms
8.6
8.4
1.3
1.3
1.3
1.25
1.25
1.25
436
N
2400
3100
138
207
276
218
327
A rms
34
34
5.2
5.2
5.2
5
5
5
mm
240
240
90
90
90
120
120
120
1.75
1.75
2
2
2
2.5
2.5
2.5
mm
MCDHT3520LXX
Please contact the following address for details.
L350 series
Model Number
Continuous Current
• English
• Japanese
• Chinese
200 V
MDDHT5540LXX
MADHT1507KXX
100 V
—
MADHT1107LXX
77
Contact:
Nippon Pulse America., Inc.
[E-mail: [email protected]]
TEL: +1-540-633-1677 / +1-540-633-1674
4 Corporate Drive, Radford, Virginia 24141 U.S.A.
78
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
Magnet Pitch N-N
Gap
Nippon Pulse Motor Co., Ltd.
Manufacturer/
Distributor:
Linear motor
Linear Shaft Motor Stage
Application Sample
SLP series / SCR series
Features
SLP-series
●
●
SCR-series
High Force
High Speed
High Precision
Low Ripple at Low Speed
●High Repeatability
●
●
Customized SCR stage
Construction
Slider
Coil Unit
Specification
SLP series
Units
μm
SLP25
SCR series
SLP35
SLR075
SCR100
Stroke/Single Slider
mm
100 to 1300
(100 interval)
Strike/ Double Slider
mm
100 to 1200
(100 interval)
200 to 1000
(100 invertval)
300 to 900
(100 interval)
-
-
N
17
80
185
3.5
3.5
A rms
0.51
1.2
2.7
0.84
0.84
N
90
340
970
14
14
Peak Current
A rms
2.7
5.1
14.4
3.4
3.4
Max. Velocity
m/sec
3.0
3.0
3.0
1.1 to 1.5 (depends)
0.9 to 1.3 (depends)
Resistance
Ω
56
22
22
9.0
9.0
Inductance
mH
24
31
12
1.3
1.3
Magnet Pitch N-N
mm
60
90
120
30
30
kg
3
15
30
45.5
45.5
200 V
MADHT1505LXX
MADHT1507KXX
MCDHT3520LXX
MADHT1505LXX
MADHT1505LXX
100 V
MADHT1105LXX
MADHT1107LXX
MCADHT3120LXX
MADHT1105LXX
MADHT1105LXX
Continuous Force
Continuous Current
Peak Force
Load Capacity
Panasonic
MINAS A5L
Linear Encoder
1
1
1
1, 0.5, 0.1, 0.05, 0.01 1, 0.5, 0.1, 0.05, 0.01
(Hidenhain LIDA279) (Hidenhain LIDA279) (Hidenhain LIDA279)
(Renishaw Tonic)
(Renishaw Tonic)
200 to 1200
(100 interval)
200 to 1200
(100 interval)
50, 100, 150
50 to 300
(50 interval)
Linear Guide
Forcer
Sales area and Language
• English
• Japanese
• Chinese
Please contact the following address for details.
For more information
<SLP series>
URL: http://nipponpulse.com/products/overview/slp-stage/
<SCR series>
URL: http://nipponpulse.com/products/overview/linear-shaft-stages
Contact:
79
Cross-Roller Guide
Nippon Pulse America., Inc.
[E-mail: [email protected]]
TEL: +1-540-633-1677 / +1-540-633-1674
4 Corporate Drive, Radford, Virginia 24141 U.S.A.
80
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
Resolution
SLP15
shaft
Moving Stage
Shaft
SINFONIA TECHNOLOGY CO., LTD.
Manufacturer/
Distributor:
DIRECT DRIEVE MOTOR
Servo actuator
Application Sample
The installation of the DD Motor enables more efficient operations and it doesn't require any maintenance
DD Motor (ZMD series)
Roller-drive application e.g.
conventional
products
Features
Indexing rotation application e.g.
conventional
products
DD Motor
DD Motor
Realizing outstanding high speed and precision performances
thanks to its small and compact design
● Outer rotor mechanism
The outer diameter's compact design enables to drive directly
the roller, making it suitable for indexing rotation
■ Space-saving design for a more compac structure
■ Thanks to the outer motor, it's possible to build the motor
ZMD-1010
● Low price
Model's size reduction leads to a more competitive price matching
today's markets needs
■ As no reduction device is needed, it's possibile to avoid
complex installations, improving its efficiency and reliability
with no back-lash
■ I works smoothly, avoiding uneven operations or movements
<Other possible applications>
equipment ● Coating machines
● Film-manufacturing machinery ● Roll-feeders
<Other possible applications>
making equipment
● Devices for manufacturing ● liquid crystal display panels
● Assembling robots ● All kind of indexing applications
● Printing
ZMD-1007
● Semiconductor
ZMD-1003
● Short lead time/ quick delivery
The reduction of the components and a smarter stock arrangement critically reduce the production lead time
Dimensional out drawing
●What is a Direct Drive Motor?
L
6-M6 Depth12
PCD 137
6-M6Depth8
PCD 104
Specification
Model
ZMD-1003
ZMD-1007
ZMD-1010
Maximum torque
N·m
30
65
100
Continuos torque
N·m
10
21
33
Maximum current
Arms
3.5
7.1
8.8
Rated current
Arms
1.2
2.4
2.9
Maximum rotation speed
s−1
5
4.5
4
Sensor resolution
ppr
62
0
0
φ150 h7(−0.040)
High efficiency Low noise Outstandig precision High reliability Maintenance-free +50
0
Unit: mm
Model
ZMD-1003
External diameter of the motor
mm
Total length(L)
mm
ZMD-1007
ZMD-1010
Φ150
113
143
173
1310720 *1
Repeatability positioning precision
Second
Allowed axial load
N
3500 *2
Allowed moment load
N·m
150 *3
Axial rigidity
mm/N
Moment rigidity
rad/N·m
Rotor inertia
kg·m
Axial run-out/side run-out accuracy
μm
Weight
kg
2
Sales area and Language
±3
• Japanese
• English
2 × 10 −6 *4
2 × 10 −6
0.014
0.017
70
8.2
0.02
*5
11.5
14.5
•If using radial load, axial load and moment load at the same time, please contact us.
•This motor can be used with any type of servo driver. However, when using a servo-driver that differs from the one
suggested, please be sure to use it below the rated current value.
*1 With the use of RD1416SPW (RD converter) *2 Horizontal installation *3 Horizontal installation *4 By using cross-roller bearings *5 As option, it is also possible to improve the accuracy of surface deflection. For further details, please contact us.
81
Please contact the following address for details.
For more information
URL : http://www.sinfo-t.jp/servo
Contact:
SINFONIA TECHNOLOGY CO., LTD.
Motion-Control Products Sales Dept.
Shiba NBF Tower, 1-30, Shibadaimon 1-chome, Minato-ku, Tokyo, 105-8564, Japan
FAX: +81-3-5473-1845
TEL: +81-3-5473-1827
82
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
A DD Motor can transmit the torque of the electric motor directly to the driving objects, without the use of any reductions
such as belts, pulleys or reduction drives.
450
(11)
φ50
● Hollow diameter φ50mm
Wiring and piping can be easily stored in the hollow space
of the motor, reducing the istallation space.
inside the roller, saving space
φ116 h7(−0.035)
● High-resistance bearings
Simple and rigid structure for a higher load resistance
Sodick Co., Ltd.
Manufacturer/
Distributor:
Linear motor
Coreless Linaer Motor, Ironcore Linear Motor, Special
Sodick V series
Specification
● Coreless
Motor Type
Features
In linear motors that will be assembled at the internal of machine tools, the generated heat must not influence the
machine. Sodick linear motors have special cooling structure internal. And, In servo motors that will be assembled at
the side of machine tools, the generated heat influence the machine a little.
Coreless Linear Motors
Ironcore Linear Motors
CA SERIES 144N-576N
CB SERIES 1200N-2133N
CG SERIES 3432N-4800N
CM SERIES 190N-1172N
CE (M) 800N-1600N
CE (L) 1600N-6400N
CE (W) 4800N-7200N CE (W2) 6400N-9600N
Linear Motor CA Series
Name
Cooling
Driver [12 kHz]
Cont. FORCE
N
Max. FORCE
N
Rated SPEED
m/sec
Max. SPEED
m/sec
SIZE (D × W × L)
mm
WEIGHT
kg
● Coreless
Name
Cooling
Driver [6 kHz]
Cont. FORCE
N
Max. FORCE
N
Rated SPEED
m/sec
Max. SPEED
m/sec
SIZE (D × W × L)
mm
WEIGHT
kg
CG300
None
Water
MFDHTB3A2L
520
1000
3432
1.5
2.4
62 × 240 × 478
13.3
CG400
None
Water
MGDHTC3B4L
700
1300
4800
1.5
2.4
62 × 240 × 595
17.3
Linear Motor CG Series
Linear Motor CM Series
● Ironcore
Name
Cooling
Driver [6 kHz]
Cont. FORCE
N
Max. FORCE
N
Rated SPEED
m/sec
Max. SPEED
m/sec
SIZE (D × W × L)
mm
WEIGHT
kg
● Ironcore
The configuration example of a linear motor system
Network Servo System by Panasonic MINAS A5ⅡNL
Serial & Analog I/F by MINAS A5L
Linear motor
CM007(V)
None
Fin
MDDHT3530L
58
86
390
2.2
5
41 × 75 × 115
1.3
CE033
None
Water
MDDHT5540L
400
200
500
800
4
6
60 × 81 × 244 (75 × 125 × 247)
7.5
Oil
Linear Motor CE(L) Series
Name
Cooling
Driver [6 kHz]
Cont. FORCE
N
Max. FORCE
N
Rated SPEED
m/sec
Max. SPEED
m/sec
SIZE (D × W × L)
mm
WEIGHT
kg
Motor Type
CM003(V)
None
Fin
MBDHT2510L
28
41
160
2.2
5
41 × 50 × 115
0.9
Linear Motor CE(M) Series
Motor Type
Ultra Vacuum Linear Motors →
The linear motor corresponding to
the vacuum of Sodick is equipped
with the system which can be
efficiently cooled also in a vacuum. CA020*(V)
B
D
None
Water
MDDHT5540L
36
120
288
7
7
30 × 110 × 202
0.8
1.1
CA030*(V)
B
D
None
Water
MEDHT7364L
134.4
55.2
168
432
7
7
30 × 110 × 274
1.1
1.1
1.4
A
Oil
CE066
None
Water
MEDHT7364L
870
390
900
1600
2
3
63 × 150 × 244 (78 × 160 × 247)
12
Oil
CB160i
None
Water
MEDHT7364L
188
536
1600
2.7
3
50 × 165 × 303
3.9
CB200i
None
Water
MFDHTA390L
251
744
2133
2.7
3
50 × 165 × 375
5.0
Linear scale
1.4
W
L
CM010(V)
None
Fin
MDDHT5540L
89
132
600
2.2
5
41 × 100 × 115
1.7
CM020(V)
None
Fin
MEDHT7364L
178
264
1200
2.2
5
41 × 100 × 211
3.4
CE066L
None
Water
MFDHTB3A2L
800
400
1000
1600
4
6
60 × 81 × 433 (75 × 125 × 436)
13.8
Oil
CE133
None
Water
MFDHTB3A2L
1740
780
2000
3200
2
3
63 × 150 × 465 (78 × 160 × 471)
24
Oil
(D)
(W)
L
D
W
CE200
None
Water
MGDHTC3B4L
2610
1170
3000
4800
2
3
63 × 150 × 641 (78 × 160 × 647)
33
Oil
CE266
None
Water
MHDHTC3B4L
3480
1560
4000
6400
2
3
63 × 150 × 854 (83 × 160 × 860)
42
Oil
Sales area and Language
• English
• Chinese
• Japanese
Please contact the following address for details.
For more information
Linear motor
Contact:
83
176
CA040*(V)
B
D
None
Water
MEDHT7364L
72
220
576
7
7
30 × 110 × 346
1.4
1.8
D
A/B/Z RS422 4 MHz
MINAS A4NL, A5ⅡNL
A
Oil
URL: http://www.sodick.jp/
Sodick Co., Ltd. 3-12-1 Nakamachidai,Tsuzuki-ku,Yokohama-city, Kanagawa-Pref. 224-8522, Japan
84
TEL: +81-45-948-1403 FAX: +81-45-941-5271
LINEAR MOTOR and
DIRECT DRIEVE MOTOR
Name
Cooling
Driver [6 kHz]
Cont. FORCE
N
Max. FORCE
N
Rated SPEED
m/sec
Max. SPEED
m/sec
SIZE (D × W × L)
mm
WEIGHT
kg
Motor Type
DD motor and the circlar arc motor
of ironcore and coreless motors are
designed by Sodick.
0.8
CB110
None
Water
MDDHT5540L
139
406
1392
1.8
3.6
50 × 165 × 303
3.6
● Ironcore
← Circular Arc Motors
96
CB100
None
Water
MDDHT5540L
135
350
1200
2.5
4
50 × 165 × 303
3.5
Motor Type
Sodick performs the design of a special motor according to a customer's demand.
0.5
A
Oil
Name
Cooling
Driver [6 kHz]
Cont. FORCE
N
Max. FORCE
N
Rated SPEED
m/sec
Max. SPEED
m/sec
SIZE (D × W × L)
mm
WEIGHT
kg
● Coreless
Special Motors
48
CA010*(V)
B
D
None
Water
MCDHT3520L
16.8
60
144
7
7
30 × 110 × 130
0.5
0.8
Linear Motor CB Series
Motor Type
Internal cooling structure * Patented in JAPAN, USA, CHINA
A
Oil
FAGOR AUTOMATION
Manufacturer/
Distributor:
FEED BACK SCALE
Linear Encoder
Application Sample
Milling machines
Machining centres
●Turning machines
●Grinding machines
●Gear hobbing machines
●Special purpose machines
●
SAP/GAP series/ LAP series
●
Features
Extremely robust optoelectronic linear encoders.
Connectivity to MINAS series drives.
●Great accuracy at high speeds.
●Longest absolute measuring length available up to 60 m.
●Enclosed and exposed families available.
●Advanced diagnosis tool, via PC connection.
●
●
System Configuration
ABS glass
ABS steel tape
SAP and GAP series
(MINAS A4, A5Ⅱ and A5L)
LAP series
(MINAS A4, A5Ⅱ and A5L)
Scale
Controller
MINAS A5Ⅱ
Encoder
Sales area and Language
Specification
Item
Measuring standard
Glass scale with absolute and
incremental track *
Steel tape scale with absolute and
incremental track *
SVAP
GAP
LAP
0.05 μm or 0.01 μm
1240 mm
Max. Travel speed
10 G/ 30 G
Coef. Linear expansion
2040 mm
3040 mm
60 m
±3 μm / ±5 μm
±5 μm
3 m/s
2 m/s
20 G/ 30 G
20 G/ 30 G
(8±0.5) × 10−6/℃
Operating / storage temperature
Protection
0.05 μm
For more information
FEED BACK SCALE
SAP
Accuracy
Vibration / shock
Please contact the following address for details.
A5Ⅱ, A5L
Resolution
Max. Length
• Japanese
• English
• Chinese
• Spanish
Description
Valid for Panasonic models
Linear scale model
Motor
URL: http://www.fagorautomation.com/en/
10 G/ 30 G
(11±0.5) × 10−6/℃
0 ℃ to 50 ℃/ −20 ℃ to 70 ℃
IP 53 as standard. When using air purge system IP 64
Power supply
DC 5 V ± 10 %
Current consumption
250 mA
* For incremental, A/B phase type is only available.
Contact:
85
Fagor Automation, S. Coop.
Bo San Andrés No19 E-20500 – Arrasate/Mondragón, Spain
86
[E-mail: [email protected]]
TEL: +34-943-719200 FAX: +34-943-791712
FEED BACK SCALE
Manufacturer/
Distributor:
Absolute Exposed Linear Encoder
Absolute Exposed Linear Encoder
Features
Features
LIC 2100 Series
Measuring length up to 3 m (6 m upon request)
Compact and light design (Weight of head: < 20 g*)
●High speed and high resolution (10 m/sec, 50 nm)
●High robustness against contamination
●Large mounting tolerance
LIC 4100 Series
●
●
●
●
* Without connecting cable
High interpolation accuracy
Measuring length up to 28 m
Compact and light design (Weight of head: <20 g*) * Without connecting cable
High speed and high resolution (10 nm @ 4 m/sec, 5 nm @ 2 m/sec, 1 nm @ 0.4 m/sec)
●High robustness against contamination
●Glass and glass ceramic scales are available
●
●
LIC 2197:
The steel scale is pulled into an aluminum scale-tape carrier
and fixed at center with the fastener kit.
LIC 4195:
Steel tape is drawn into aluminum extrusions and tensioned
LIC 4197:
Steel scale-tape is drawn into aluminum extrusions and fixed
at center
LIC 2199:
The steel scale tape is glued onto the mounting surfaces by
means of an adhesive film.
Specification
Specification
LIC 2197P
Scale
CTE
Steel scale tape with absolute track
≈ 10 ppm/K
–10 ℃ ~ 70 ℃
Protection
Mounting
3040
28440
6040
Adhesive film
1020
Panasonic serial interface (Pana01)
Voltage supply
DC 3.6 V ~ 14 V
Operating temperature
–10 ℃ ~ 70 ℃
Protection
IP67
Scale tape is drawn into aluminum extrusions
and fixed at center
1 nm, 5 nm, 10 nm
Interface
Mounting
Steel
≈ 10 ppm/K
IP67
Adhesive film
Scale is drawn into
aluminum extrusions
and tensioned
Scale is drawn into
aluminum extrusions
and fixed at center
Adhesive film
Sales area and Language
• English
• German
• Japanese
Please contact the following address for details.
For more information
URL : http://www.heidenhain.de
Contact:
87
DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 5 83301 Traunreut, Germany
88
[E-mail: [email protected]]
TEL: +49 8669 31-0 FAX: +49 8669 5061
FEED BACK SCALE
Operating temperature
Steel
≈ 10 ppm/K
LIC 4199P
Up to ± 3 μm
Max. Measuring length
ML (mm)
Panasonic serial interface (Pana01)
LIC 4197P
Steel
Depends on the
mounting surface
Resolution
120 320 520 770 1020 1220 1520 2020 2420 3020
(Larger ML up to 6020 mm available on request)
DC 3.6 V ~ 14 V
LIC 4195P
Accuracy grade
100 nm, 50 nm
Voltage supply
Glass or glass ceramic
≈ 8 ppm/K
= 0+/–0.1 ppm/K
Scale
CTE
±15 μm
Resolution
Interface
LIC 4193P
LIC 2199P
Accuracy grade
Max. Measuring length
ML (mm)
LIC 4193/4199:
Glass or steel tape scale cemented with adhesive film
GSI Group Japan Encoder group
Manufacturer/
Distributor:
FEED BACK SCALE
Magnescale Co., Ltd.
Manufacturer/
Distributor:
Feedback Scale
Feedback Scale
Features
Features
MⅡ5000si/Pa / MⅡ6000si/Pa
FEED BACK SCALE
SR70/SR80/SL700/BF1 series
Resolution can be multiplied by up to 16384
High speed response with Serial interfaces for MINAS series.
Direct connection with servo drive (Total cost reduction)
●Excellent durability to harsh environment (Dirt, Oil and Vibration except BF1)
●Absolute scales (SR77/SR87) up to 10 nm resolution with 200 m/min response speed.
●
●
Minimal size
Tape scale compatible (for linear, long axis)
●Glass linear scale compatible (high precision, for X/Y/Z axis)
●Glass rotary scale compatible (for θ axis)
●
●
Open Type
(DIGIRULER)
SL700 + PL101RP/RHP
(A4NL/A5 family)
SL710 + PL101RP/RHP
(A4NL/A5 family)
Slim Type
Sealed Scale
Robust Type
Sealed Scale
SR77 Series
(A4/A4N/A4NL/A5 family)
SR75 Series
(A4NL/A5 family)
High-resolution Reflective
Type (LASERSCALE)
SR87 Series
(A4/A4N/A4NL/A5 family)
SR85 Series
(A4NL/A5 family)
BF1 Series
(A5 family)
Specification
Item
Description
Type
Specification
SL700
SL710
SL700
SL710
+
+
+
+
PL101RP PL101RP PL101RHP PL101RHP
Part No.
Item
Description
MⅡ5000si/Pa
MⅡ6000si/Pa
H: 11.03 mm L: 38.50 mm W: 13.50 mm
Power supply
5 VDC±5 % @ 172 mA
Temperature resistance
During operation: 0 °C to 70 °C During storage: –20 °C to 85 °C
Cable
Double shielding
20 × 106 cycles @ 20 mm
Signal period
20 μs
Short range Accuracy
30 nm, with tape scale
20 nm, with glass scale
Longe range Accuracy
±1.5 μm up to 130 mm
H: 8.23 mm L: 22.61 mm W: 12.70 mm
Compatible servo
drive
A4NL/A5 family
Effective length
50 mm to 100000 mm
Resolution
SR85
3+3L/1000 μmp-p or 5+5L/1000 μmp-p
* L= Effective length (mm)
A5 family: 0.01 μm to 1 μm
A4/A4N/A4NL: 0.05 μm to 1 μm
BF1
A5 family
30 mm to 1400 mm
±0.5
±1
±3
±5
±10
μm(30 to 170 mm)/
μm(220 to 370 mm)/
μm(420 to 520 mm)/
μm(570 to 970 mm)/
μm(1070 to 1400 mm)
0.001/0.01 μm
Absolute Incremental Absolute Incremental
Incremental
10 m/s
3.3 m/s
0.4/1.8 m/s
Output signal
Degree of protection
High-resolution Reflective Type
(LASERSCALE)
Incremental
Response speed
Origin signal
SR87
A4/A4N/
A4/A4N/
A4NL/
A4NL/
A4NL/
A4NL/
A5 family
A5 family
A5 family
A5 family
0.1 μm
Type
SR75
70 mm to 2040 mm 140 mm to 3040 mm
±10 Lμm (integral number in unit of 1 m when
effective length is 3 m or shorter)
* When longer than 3 m, consult us.
Accuracy
SR77
Robust Type
Sealed Scale
Specific to MINAS series. Serial output
None
1 point
IP50 equivalent
None
1 point
IP67 equivalent
−
1 point
−
1 point
IP54 (without air purge)/IP65 (with air purge)
1 point
−
* High speed, quick response and high reliability are secured through serial communications.
* Conversion cable CK-T185 is required for A5Ⅱ connection.
Sales area and Language
• English
• Japanese
For more information
Sales area and Language
• Japanese
• German
• English
Please contact the following address for details.
URL: http://www.gsig.co.jp/microe/ (Japanese)
For more information
GSI Group Japan Corporation Encoder Group [E-mail: [email protected]]
East Square Omori, 6-20-14 Minamioi, Shinagawa-ku, Tokyo 140-0013, Japan Sales Account Manager: Nakada
TEL: +81-3-5753-2464 FAX: +81-3-5753-2467
Contact:
89
Contact:
URL : http://www.magnescale.com/mgs/language/english/
Magnescale Co., Ltd.
[E-mail: [email protected]]
To identify local distributors, please contact Magnescale Co., Ltd. International Sales Division Isehara Headquarters
45 Suzukawa, Isehara, Kanagawa 259-1146, Japan
TEL: +81-463-92-7971 FAX: +81-463-92-7978
90
FEED BACK SCALE
Sensor size
Slim Type
Sealed Scale
Open Type (DIGIRULER)
Mitutoyo Corporation
Manufacturer/
Distributor:
FEED BACK SCALE
NIDEC SANKYO CORPORATION
Manufacturer/
Distributor:
FEED BACK SCALE
Linear Scale
The incremental linear encoder of a magnetic type
Features
Features
ABS AT500 series/ST700 series
SENSOR / PSLH Series, SCALE / PSLG Series
Encoders of various types, assembly type, separate type, absolute linear support various applications
Directly connectable to MINAS series servo drive.
●Provide high resolution and high precision. Assembly configuration is best suited to mechanical processing (AT500 series).
●Electromagnetic induction type is resistant to dirt and its separate construction is best suited to semiconductor and
liquid crystal devices (ST700 series).
●
●
ABS AT500 series (assembly type)
ABS ST700 series (separate type)
SC type
ST778A
This encoder has achieved an excellent total performance.
It is high-speed serial communications corresponding to the
MINAS series.
●This encoder is strong in the environment of the magnetic
noise, oil, and dust.
●A miniaturization and an excellent cost performance are
achieved by the internal manufacturing of the MR element.
●Accuracy is improved by an original magnetization pattern.
●It is a tough encoder structure in the extrinsic noise.
●
Small size head
H type
Conventional product
Specification
Specification
Item
Description
(Ripple + spike noise components should be 100 mV or below.)
Max. current consumption
Head cable length
Signal cable length
Max. cable length
Detection head mount
270 mA (MAX)
2 m (Detection head to interface BOX)
1m
3m
—
29 m (Including length of head cable)
—
1 on the top and 1 on one side
L: Effective range (mm)
Sales area and Language
Description
Model number
sensor PSLH040 + scale PSLG040
Output signals
MINAS series serial output
Resolution (R)
0.1 μm
Power supply voltage
4.6 VDC to 5.5 VDC
Power consumption
250 mA max
Gap of detection
0.25 mm ±0.1 mm
Maximum response speed
6 m/sec
IP code
Correspond to IP50
Detection of reference
Correspond up to three places
Position accuracy
±(5+5×L/1000) μm L=Measuring length (mm) at 20 ℃
Measuring length (L)
2400 mm MAX
Thermal expansion coefficient
11.0×10–6 / ℃
Operating temperature range
0 ℃ to 50 ℃
Preservation temperature range
–15 ℃ to 70 ℃
Another specifications of resolution, the size of the detection head, and the ABZ output, etc. can correspond.
Sales area and Language
North America area: Mitutoyo America Corporation
965 Corporate Blvd., Aurora, IL 60502, U.S.A.
TEL: +1-630-820-9666 Toll Free No.: +1-888-648-8869
Europe area: Mitutoyo Europe GmbH
Borsigstrasse 8-10, 41469 Neuss, GERMANY TEL: +49-2137-102-0
Other area: Please contact the following address for details. Or Please contact Mitutoyo JAPAN.
For more information
For more information
URL: http://www.nidec-sankyo.co.jp/
URL: http://www.mitutoyo.co.jp/eng/
Contact:
Please contact the following address for details.
Mitutoyo Corporation
20-1, Sakado 1-Chome, Takatsu-ku, Kawasaki-shi, Kanagawa 213-8533, Japan
91
TEL: +81-44-813-8234
Contact: NIDEC SANKYO CORPORATION
[E-mail: [email protected]]
Tokyo Office, Nidec Tokyo Bldg., 1-20-13, Osaki, Shinagawa-ku, Tokyo 141-0032, Japan
TEL: +81-3-5740-3006 FAX: +81-3-6843-3123
92
FEED BACK SCALE
ABS AT5000 series
ABS ST7000 series (compact specification)
Assembly type absolute scale Combined electroElectromagnetic induction type
Detection system
static capacity and optical ABS linear encoder
ABS linear encoder
ST778A(L)
AT573A-SC
AT573A-HC AT573A-HR/HL
Part No.
0.05 µm
0.1 µm
Resolution
100 to 2200 mm 100 to 1000 mm 100 to 350 mm 6000 mm (3200 mm and longer: L series)
Max. effective range
—
50 × 28 × 11
Detection head size (mm)
3 + 3 L/1000 *
2 + 2 L/1000 *
5 + 5 L/1000 *
Accuracy (μm): 20 °C
2.5 m/s
5 m/s
Max. response rate
20 G/35 G
15 G/20 G
—
Vibration resistance/shock resistance
(12±1.5) ×10−6/℃
(8.5±0.5) × 10−6/℃
Linear expansivity
Operating temperature/storage temperature range
0 ℃ to 45 ℃/−20 ℃ to 70 ℃
0 ℃ to 50 ℃/−20 ℃ to 70 ℃
20 % to 80 %RH (No dewing)
Operating humidity/storage humidity range
5 VDC ± 10 %
5 VDC ± 5 %
Power supply
Item
Renishaw plc
Manufacturer/
Distributor:
FEED BACK SCALE
Optical Absolute Linear Encoder
Optical Incremental linear/Ring(Rotary) Encoder
Features
Features
series
True absolute encoder
●Resolution (velocity)
: 0.1 μm (40 m/s)
: 50 nm (20 m/s)
: 1 nm (0.4 m/s)
●Unique single-track scale eliminates yaw de-phasing
problems
TONiC ATOM series (Digital output signal)
TM
Determines absolute position upon power up
●Range of scales for a variety of applications
●Low SDE for smooth velocity control
●Worldwide subsidiary support network
●
●
TM
The unique filtering optics withstand a variety of
contaminants such as dirt, dust and scratches..
●Resolution: 5 μm to 1 nm (TONiC)
10 μm to 1 nm (ATOM)
●Velocity
: 6.48 m/sec @ 1 μm
0.648 m/sec @ 0.1 μm
(Clocked input frequency is 8 MHz)
Range of linear and ring (Disc) scales for a variety of
applications
●Easy installation and diagnostics using set-up LED
●Low Sub-Divisinal Error (SDE) and Jitter.
●IN-TRAC optical reference mark
●
●
RTLA-S
RELA, RSLA
TONIC Series
FASTRACK/ RTLA
Application Sample
Specification
Series
Scale material
Our encoder are suitable to use in a variety of applications that require high positioning accuracy and speed stability.
RELA
RSLA
FASTRACK/RTLA
RTLA-S
Fine precision and
low thermal expansion
The world's most accurate
long-length scales
Quick and easy scale
replacement
Easiest installation
ZeroMet
Stainless steel
Stainless steel tape
Stainless steel tape
10.8 ppm/℃
10.6 ppm/℃
10.6 ppm/℃
±1 μm
±1.5 μm/m
±5 μm/m
±5 μm/m
80 mm to 1130 mm
80 mm to 5000 mm
100 mm to 10000 mm
100 mm to 5000 mm
Bonding or
Clip/Clamp
Bonding or
Clip/Clamp
Track (carrier) mounting
Self-adhesive
Thermal expansion ~0.6 ppm/℃ (0 ℃ to 30 ℃)
<1.4 ppm/℃ (30 ℃ to 100 ℃)
coefficient
Scale accuracy
Scale length
Scale mounting
options
Read head size
H×L×W
Scale size
H×W
18 mm × 36 mm × 16.5 mm
1.5 mm × 15 mm
1.5 mm × 15 mm
93
0.4 mm × 18 mm
0.2 mm × 8 mm
SEMICONDUCTOR
Manufacturing / Inspection Machine
Linear Motor / Motion Stage
DDR motor
FPD
Manufacturing / Inspection Machine
Laser Scanner
CMM arms and Microscope stage
Sales area and Language
Please contact the following address for details.
For more information
URL:http://www.renishaw.jp/ (Japanese)
http://www.renishaw.com/ (English)
Contact:
Renishaw plc
New Mills Wotton-under-Edge Gloucestershire GL12 8JR, United Kingdom
94
[E-mail: [email protected]]
TEL:+44-1453-524524
FEED BACK SCALE
Feature
ATOM Series
MEMO
Feed back scale selection
Feedback scale table for serial communication
Scale Type
Partner
Series
Parallel Type
(A/B/Z phase)
General
—
FAGOR AUTOMATION
HEIDENHAIN
Serial
communication
(Absolute)
Max. rate*
[m/s]
Maximum speed after4× multiplication :
4 Mpps *3
SAP / SVAP / GAP
0.05
2.5
LAP
0.1
2
SAP10/SVAP10/GAP10
0.01
3
LAP10
0.01
2
LIC 2197P/LIC 2199P
0.05/0.1
10
LIC 4193P/LIC 4195P
LIC 4197P/LIC 4199P
0.01
4
0.005
2
0.001
0.4
SR77
0.01 to 1
3.3
SR87
0.01 to 1
3.3
AT573A
0.05
2.5
ST778A(L)
0.1
5
0.001
0.4
0.05
20
0.1
40
0.1
−
(Variable)
5
− 0.1 μm)
(Resolution
0.1
10
SL710 + PL101RP/RHP
0.1
10
SR75
0.01 to 1
3.3
SR85
0.01 to 1
3.3
BF1
0.001/0.01
0.4/1.8
PSLH
0.1
6
Magnescale Co., Ltd.
Mitutoyo Corporation
Renishaw plc
RESOLUTE
MⅡ5000si/Pa
−
MⅡ6000si/Pa
GSI Group Japan
− Corporation.
SL700 + PL101RP/RHP
Serial
communication
(Incremental)
Resolution*
[μm]
Magnescale Co., Ltd.
Nidec Sankyo Corporation
FEED BACK SCALE
*Figures under Resolution and maximum rate indicate values specified for A5 family drivers.
These values will be different from those in the feedback scale due to drive maximum pulse frequency limit.
Driver and corresponding feedback scale table
For Linear Motor control
A5ⅡNL *4
For Rotary Motor Control
A5ⅡMNL *4
A5/A5Ⅱ
A5ⅡN *4
A5A *4
MINAS series No.
A5L
Maximum Pulse Frequency *1
400 Mpps
400 Mpps
400 Mpps
400 Mpps
400 Mpps
400 Mpps
Absolute
○
○
○
○
○
○
Incremental
○
○
○
○
○
○
Incremental
○
○
○
○
○
○
Serial
communication *2
A/B/Z phase *3
*1 The value of resolution and maximum velocity of feedback scale are limited by maximu pulse frequency of each driver.
*2 For A4 family (A4N, A4NL and A4AL), some feedback scales of serial type cannot be connected. Please contact us
for details. For A5 family, all partner's feedback scale of serial type can be connected.
*3 Maximum pulse frequency is up to 4 Mpps (After A/B phase multiplied by 4).
In case of 50 % duty being fine, the value of maximum pulse frequency is available up to 8 Mpps.
*4 Network servo (A5ⅡN, A5ⅡNL, A5A, A5ⅡMNL) has no function to output the A/B/Z regeneration pulse.
95
96
Harmonic Drive Systems Inc.
Manufacturer/
Distributor:
Actuator
AC Servo Actuator SHA-P Series
Specification
SHA25P/SHA32P/SHA40P/SHA58P/SHA65P
Item
Features
Associated
drive
MINAS A5ⅡN series *5*6
The AC servo actuator incorporates the precise control speed reducer (Harmonic Drive® reducer) to the flat AC
servo motor.
●The design of the actuator is flat and has hollow shaft structure. Piping, wiring, laser light, etc., can be passed
through the through-hole in the center.
●Excellent one way positioning accuracy : 50 sec (0.0139°) with reduction ratio 1/51, and 40 sec (0.0111°) with
reduction 1/81 or higher ratio.
●Torque-volume ratio is 5 times or more that of direct drive motor.
●
Max. torque mapping
Type Mass
(kg)
25P 2.95
32P
5.9
40P
9.9
127
229
277
200 Nm
Type Mass
(kg)
29.5
65P
37.5
484
523
0
58P
Precise control speed reducer
(Harmonic Drive® reducer )
400 Nm
1924
841
600 Nm
500 Nm
1500 Nm
Magnetic
absolute encoder
(17-bit)
Hollow Shaft
800 Nm
2392
2743
0
Holding brake
(option)
2000 Nm
2500 Nm
3419
Flat hollow shaft
AC servo motor
3000 Nm
Precise high load support cross roll bearing
Specification
*1: Values in the table above represent typical values at output shaft.
*2: Typical values obtained when above associated drives are used (driving with ideal sine wave).
*3: Values obtained at temperature rise saturated with the actuator mounted on the aluminum heatsink shown below.
SHA25P: 350 mm × 350 mm × 18 mm SHA32P: 400 mm × 400 mm × 20 mm
*4: M*DKT****
: Applicable to the speed, position, torque, full-close controls and safety standard.
M*DKT****E : The position-control-only type, non-applicable for the safety standard.
*5: M*DHT****N21: Applicable to the safety standard.
M*DHT****ND1: Non-applicable to the safety standard.
*6: The A5ⅡN series require system parameter setting changes at the initial setting.
For details, please contact Harmonic Drive Systems Inc. (The A5Ⅱ series do not require setting changes.)
97
MINAS A5Ⅱ series *4
51
81
SHA40P
101
121
161
MDDKT5540/MDDKT5540E
MDDHT5540N21/
MDDHT5540ND1
81
SHA58P
101
121
161
MFDKTA390/MFDKTA390E
MFDHTA390N21/
MFDHTA390ND1
81
SHA65P
101
121
161
MFDKTB3A2/MFDKTB3A2E
MFDHTB3A2N21/
MFDHTB3A2ND1
Nm
523
675
738
802
841 1924 2067 2236 2392 2743 2990 3263 3419
Max. torque *2
Allowable continuous torque *2,*3 Nm
160
263
330
382
382
714
905
969
969
921 1149 1236 1236
r/min 78.4 49.4 39.6 33.1 24.8 37.0 29.7 24.8 18.6 34.6 27.7 23.1 17.4
Max. revolution speed
A
26.7 21.8 19.4 17.9 14.6 45.0 39.0 36.0 30.0 62.0 55.0 51.0 41.0
Max. current *2
Allowable continuous current *2,*3
A
9.0
9.0
9.0
8.8
7.2
17.7 17.8 16.4 13.4 22.0 21.9 20.1 16.3
Moment of Inertia
2
2
5
13
20
28
50
96
149
214
379
110
171
245
433
GD /4 kg・m
(without brake)
Moment of Inertia
15
24
34
61
106
165
237
420
120
187
268
475
GD2/4 kg・m2 6.1
(with brake)
1:51
1:81 1:101 1:121 1:161 1:81 1:101 1:121 1:161 1:81 1:101 1:121 1:161
Reduction ratio
Nm
849
2180
2740
Allowable moment load
531 × 104
741 × 104
Nm/rad
179 × 104
Moment rigidity
One way positioning accuracy
sec
50
40
40
40
40
40
40
40
40
40
40
40
40
Magnetic absolute encoder
Encoder
Pulses/ 6684672 10616832 13238272 15859712 21102592 10616832 13238272 15859712 21102592 10616832 13238272 15859712 21102592
Output resolution
Rev.
9.9
29.5
37.5
kg
Mass (without brake)
10.7
32
40
kg
Mass (with brake)
Can be installed in any direction.
Mounting direction
*1: Values in the table above represent typical values at output shaft.
*2: Typical values obtained when standard drives are used (driving with ideal sine wave).
*3: Values obtained at temperature rise saturated with the actuator mounted on the aluminum heatsink shown below.
SHA40P: 500 mm × 500 mm × 25 mm SHA58P/SHA65P: 650 mm × 650 mm × 30 mm
*4: M*DKT****
: Applicable to the speed, position, torque, full-close controls and safety standard.
M*DKT****E : The position-control-only type, non-applicable for the safety standard.
*5: M*DHT****N21: Applicable to the safety standard.
M*DHT****ND1: Non-applicable to the safety standard.
*6: The A5ⅡN series require system parameter setting changes at the initial setting.
For details, please contact Harmonic Drive Systems Inc. (The A5Ⅱ series do not require setting changes.)
Application Sample
URL : Sample applications
http://www.hds.co.jp/english/products/application/
Please refer to the sample and typical applications for the SHA-P Series with Panasonic Servo as shown
above URL.
Sales area and Language
• English
• Japanese
Please contact the following address for details.
For more information
ACTUATOR
SHA25P
SHA32P
Model
Item
51
81
101
121
161
51
81
101
121
161
MCDKT3520/MCDKT3520E
MDDKT3530/MDDKT3530E
Associated MINAS A5Ⅱ series *4
drive
MINAS A5ⅡN series *5*6
MCDHT3520N21/MCDHT3520ND1
MDDHT3530N21/MDDHT3530ND1
*2
Nm
127
178
204
217
229
277
395
433
459
484
Max. torque
Allowable continuous torque *2,*3
Nm
41
67
81
81
81
92
153
178
178
178
r/min
109.8
69.1
55.4
46.3
34.8
94.1
59.3
47.5
39.7
29.8
Max. revolution speed
A
8.6
7.5
7.0
6.3
5.2
17.1
15.2
13.5
12.2
9.9
Max. current *2
Allowable continuous current *2,*3
A
3.0
3.0
2.9
2.6
2.1
6.0
6.0
5.7
5.0
4.1
Moment of Inertia
2
2
0.56
1.42
2.2
3.2
5.6
2.0
5.1
8.0
11
20
kg・m
GD /4
(without brake)
Moment of Inertia
0.66
1.66
2.6
3.7
6.6
2.3
5.9
9.2
13
23
kg・m2
GD2/4
(with brake)
1:51
1:81
1:101
1:121
1:161
1:51
1:81
1:101
1:121
1:161
Reduction ratio
Nm
258
580
Allowable moment load
100×104
Nm/rad
39.2×104
Moment rigidity
One way positioning accuracy
sec
50
40
40
40
40
50
40
40
40
40
Magnetic absolute encoder
Encoder
Pulses/Rev. 6684672 10616832 13238272 15859712 21102592 6684672 10616832 13238272 15859712 21102592
Output resolution
2.95
5.9
kg
Mass (without brake)
3.1
6.2
kg
Mass (with brake)
Can be installed in any direction.
Mounting direction
Model
Product URL: http://www.hds.co.jp/english/
Contact URL: https://www.hds.co.jp/english/contact/index.php
Contact:
Harmonic Drive Systems Inc. Overseas Division
1856-1 Hotakamaki, Azumino-shi, Nagano, 399-8305, Japan
98
TEL: +81-263-83-6935
FAX: +82-0236-83-6901