TRANSERVO SG Type New Product information

TRANSERVO SG Type New Product information
TRANSERVO Series
New product
TS-SH
New product information
Absolute robot positioner.
Robot positioner dedicated to TRANSERVO
Applicable to absolute
Features
NEW
New functions
Easy operation only by specifying a point number
Direct positioning command
Built-in gateway function
Positioning operation can be performed by directly
specifying position data or speed data for the remote
commend prepared for the field network.
● Data registration or positioning can be made only
with one step operation.
● Data can be managed directly from the PLC.
● Current position can always be monitored.
The gateway function is built-into this robot positioner.
When connecting multiple robot positioners, up to four
units can be made applicable to the field network only by
installing the network board in only one positioner and
making the dedicated daisy-chain connections. This
reduces the total cost.
Basic specifications
Controllable robot
TRANSERVO series
Consumption current
Rating 3.5A (Max. 6.5A)
Dimensions
W30 x H162 x D123mm
Main unit weight
Approx. 0.3kg
Control power supply
DC24V ±10%
Input
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK),
return-to-origin (ORG), manual mode (MANUAL), jig movement - (JOG-),
jog movement + (JOG+), point number selection (PIN0 to PIN7)
Output
Servo state (SRV-S), alarm (/ALM), operation end (END), operation executing (BUSY),
control output (OUT0 to 3), point number output 0 to 7 (POUT0 to POUT7)
Main power supply
DC24V ±10%
Control method
Closed loop vector control method
Communication
Emergency stop circuit
Position detection method
Resolver with multi-turn absolute function (resolution: 20480 P/r) *1
Operation method
Positioning operation by specifying point number, direct positioning command
Protection function
Operation type
Number of points
Point type setting
Point teaching method
I/O interface
Positioning operation, positioning linked operation, pushing operation, jog operation
Operating ambient
temperature and humidity
Storage ambient
① Standard setting: Set a ratio (%) to the maximum level for the speed or acceleration.
temperature and humidity
② Custom setting: Set the speed or acceleration in the SI unit sy stem.
Atmosphere
Manual data input (coordinate value input), teaching, direct teaching
Vibration resistance
Select a desired interface from NPN, PNP, CC-Link, DeviceNet, and EtherNet/IP.
255 points
*1. This value may vary depending on the model.
30
(70)
SG TYPE
0 to 40 , 35 to 85%RH (No dew condensation allowed.)
-10 to 65 , 10 to 85%RH (No dew condensation allowed.)
Indoor place where the positioner is not exposed to the direct sunlight.
There shall be no corrosive and flammable gas, oil mist, and dust.
In each of X, Y, and Z directions 10 to 57Hz, half amplitude 0.075mm,
57 to 150Hz, 9.8m/s2
Lithium battery
Approx. 1 year (non-energizing state)
123
25
4.5
(12)
(4)
152
5
162
80.7: DIN rail center position
4
4.5
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, Japan
Tel 81-53-460-6103 Fax 81-53-460-6811
Specifications and appearance are subject to change without prior notice.
201407-BE
http://global.yamaha-motor.com/business/robot/
URL
E-mail robotn@yamaha-motor.co.jp
NEW
SG07
35.2: DIN rail width, 35mm
External view
Absolute backup battery
Absolute backup period
RS-232C 1CH
Emergency stop input, emergency stop contact output (1 system: HT1 is used.)
Position detection error, temperature error, overload, overvoltage,
low voltage, excessive position deviation, overcurrent, motor current error,
motor faulty wiring, excitation power failure error
Closed loop stepping motor single-axis robot
Absol ute robot pos i ti oner
T S-SH
SG07
New product
TYPE
High lead: Lead 20
CE compliance
Origin on the non-motor side is selectable.
Ordering method
SG07
Closed loop stepping motor
single-axis robot
SH
Model
Lead
20: 20mm
12: 12mm
06: 6mm
Model
S: Straight model
Brake
N: With no brake
B: With brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Clean room grease
Stroke
50 to 800
(50mm pitch)
Note 1. 7KHURERWFDEOHLVÀH[LEOHDQGUHVLVWVEHQGLQJ
Basic specifications
Maximum payload
12 kg
1200 mm/sec.
■ Comparison of maximum speed
The speed is increased to a level 1.2 times faster than that of the
existing model SS05H.
Existing
model
Maximum speed
1000 mm/sec.
SS05H
SG07
4
NEW
Improved maintenance ability.
The motor unit can be removed or the motor can be replaced easily. Therefore, even if
the motor replacement is needed, a period of time to restore the production line can
be shortened.
Maximum speed
1.2 times
faster when compared
to existing model
Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. It is necessary to change the maximum speed according to the
payload. For details, see the “Speed vs. payload” graph shown below.
Note. Position detectors (resolvers) are common to incremental and
DEVROXWHVSHFL¿FDWLRQV
If the controller has a backup function then it will be absolute
VSHFL¿FDWLRQV
Maximum speed 1200mm/sec.
■ Improvement of maintenance ability
No homing is needed to shorten the startup time.
Absolute positioner TS-SH eliminates homing (origin) process.
Motor unit
The motor unit can be detached easily by removing
o n l y t w o b o l t s .T h i s e n s u r e s e a s y m o t o r
replacement.
50
45
40
35
30
25
20
15
10
5
0
Lead 20
Payload Speed
Lead 12
(kg )
Lead 20
Lead 6
0
200
400
600
800 1000 1200 1400
Speed (mm/s)
10kg
25kg
36kg
15kg
30kg
43kg
15kg
30kg
46kg
(Unit: mm)
A
B
450
117
98
351
134
68
353
134
58
402
155
85
307
117
59
307
117
50
C
3261
2943
2520
3403
1663
1070
3541
1752
1100
MR
MP
Vertical installation (Unit: mm)
(Unit: N.m)
A
C
2kg 2303 2303
MY
101
4kg 1147 1147
4kg 1386 1386
12kg 442 442
7kg
20kg
781
252
781
252
MP
114
MR
101
Controller
Controller Operation method
I/O point trace /
TS-SH
Remote command
Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 600mm stroke models).
Note. Calculated by the speed corresponding to the payload.
36
30
25
20
15
10
9
8
7
6
5
4
3
2
1
(mm / sec )
320
400
480
560
720
800
900
950
1000
1020
1035
1055
1075
1100
1200
(kg )
43
40
35
30
25
20
15
10
9
8
7
6
5
4
3
Quick reference
Vertical
Lead 12
Payload Speed
(mm / sec )
240
255
295
340
380
420
500
600
615
635
655
675
700
750
800
Lead 06
Payload Speed
(kg )
46
42
40
35
30
25
20
15
10
9
8
7
6
Lead 20
Payload Speed
25
(mm / sec )
(kg )
20
140
155
165
190
200
245
270
300
325
330
335
340
350
4
3
2
1
Lead 6
15
10
560
680
800
1000
Lead 12
5
0
(mm / sec )
Lead 20
0
200
400
600
Speed (mm/s)
800
1000
Lead 12
Payload Speed
(kg )
12
10
9
8
7
6
5
4
3
2
(mm / sec )
200
240
260
280
310
345
380
435
500
600
Lead 06
Payload Speed
(kg )
20
15
12
10
9
8
7
6
5
4
3
(mm / sec )
100
150
180
200
210
225
235
250
270
295
320
SG07 Straight model
Approx. 200 (Cable length) 201+/-3: When origin is on motor side
(Approx. 160: with brake)
(201:When origin is on non-motor side)
45
30+/-0.02
Cable securing position
140+/-1 (Note 1)
(31)
Effective stroke
26+/-1 (Note 1)
Ser vomotor
Stepping motor
Merits
Simple and low cost
No vibration during
stopping
Demerits
The stepping motor provides features that its price is less expensive and hunting (minute
vibration) does not occur during stopping. However, this motor has disadvantages that the
positional deviation due to step-out occurs (in the open loop mode), the torque decreases
greatly in the high speed area, and the power consumption is large during stopping. As
YAMAHA’s TRANSERVO uses the closed loop control, this ensures complete “no step-out”.
Furthermore, use of a newly developed vector control method ensures less torque decrease
in the high speed area, energy saving, and low noise.
The function and performance equivalent to the servomotor are achieved at a low cost even
using the stepping motor.
(40)
(24)
(Note 2)
(87: When origin is on motor side)
87+/-3: When origin is on non-motor side
High-pitched operation sound
Large torque decrease in high
speed area
Large power consumption
during stopping
(15)
241+/-3 (with brake):
When origin is on motor side
Smooth movement
Constant torque at
any time
Energy saving
4-M5×0.8 Depth 10
180+/-1 (with brake) (Note 1)
+ 0.010
2-ǐ3 H7 ( 0
65
Micro vibration during stopping
High cost
) Depth 6
(116)
60
70.5
72
New control method combining the advantages of both the servomotor and stepping motor
As the basic control is the same as the servom o t o r, w a s t e p o w e r c o n s u m p t i o n i s
suppressed. This greatly contributes to the
energy saving and CO2 reduction.
1962
1430
3853
2105
1500
Wall installation
Quick reference
Features of TRANSERVO series
Energy saving
30kg
43kg
15kg
30kg
46kg
C
486
245
160
406
196
131
414
197
122
C
A
Speed vs. payload
Horizontal
Bolt, 2 pcs.
25kg 2971
36kg 3150
15kg 3703
B
458
220
140
363
172
114
363
172
106
C
L
175 (with brake)
135
(58.2)
48
32
L+40 (with brake)
A×100
B-M6×1.0 Depth 8
100
No hunting during stopping
Stop mode without hunting can be set in the
same manner as the general stepping motor.
So, select this mode as required.
Closed loop control using excellent environment resistant resolver
A resolver with excellent reliability is used to detect the motor position
in the same manner as YAMAHA’ s upper model. The stable position
detection can be made even in a poor environment where fine particle dusts or oil mists exist.
TRANSERVO combines the merits of both motors!
Optical encoder
Resolver
● Sensitive to vibration, and harsh environment
like oil mist.
●M agnet ic ●Sim ple st r uct ure o n ly wit h iro n
core and winding. Less p o t e n t ia l f a ilu re
f act or s
●I m m une t o im pact or electric n o is e .
High reliability
+ 0.012
ǐ4H7 0
Depth 6
145
185 (with brake)
(R)
C
2
+ 0.05
3
46kg
Payload
About 4-times
increase!
Horizontal installation (Unit: mm)
A
10kg 3572
B
A
C
B
4 0
Depth 6
2
Maximum payload
MY
64 (Slider top face)
Use of a rigid table slide and 56 motor makes it possible to greatly
increase the payload. A maximum payload of 46kg is achieved.
Up to 20kg can be transferred even with the vertical specifications.
Maximum speed
SG07
Battery
B: With battery (Absolute)
N: None (Incremental)
Static loading moment
40
(between
knocks +/-0.02)
SS05H
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
EP: EtherNet/IP
A
Lead 6 Lead 12 Lead 20
■ Comparison between TRANSERVO series SS05H and SG07
Motor
56 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw ǐ12 (Class C10)
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 Note 3 (mm/sec) 1200
800
350
Maximum
Horizontal
36
43
46
Vertical
4
12
20
payload (kg)
Max. pressing force (N)
60
100
225
Stroke (mm)
50 to 800 (50pitch)
Overall length Horizontal
Stroke+288
Vertical
Stroke+328
(mm)
Maximum outside dimension
W65×H64
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Payload (kg)
1
Maximum payload 46kg
20 kg can be supported even
with the vertical specifications.
Controller
SH: TS-SH
Allowable overhang Note
Payload (kg)
New performance of SG type
Lead 6 Lead 12 Lead 20
NEW
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
50.4
SG07
TRANSERVO series can be selected even
for heavy object transfer.
SG
Slider type
Lead 6 Lead 12 Lead 20
TRANSERVO Series
Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
338 388 438 488 538 588 638 688 738 788 838 888 938 988 1038 1088
A
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
9
B
2
3
3
4
4
5
5
6
6
7
7
8
8
9
9
10
C
100 100 100 100 100 100 400 400 400 400 400 400 700 700 700 700
Weight (kg) Note 4
2.9 3.2 3.4 3.6 3.9 4.1 4.3 4.6 4.8 5.0 5.3 5.5 5.7 5.9 6.1 6.3
1020
Lead20 (Horizontal)
1200
900 780 720
Lead20
(Vertical)
1000
1000
Maximum
Lead12 (Horizontal)
800
speed for each
578 510 442 408
Lead12 (Vertical)
600
stroke Note 5
Lead6 (Horizontal)
350
298 263 228 210
(mm/sec)
Lead6 (Vertical)
320
Speed setting
–
85% 75% 65% 60%
Note 1. Stop positions are determined by the
mechanical stoppers at both ends.
Note 2. Secure the cable with a tie-band 100mm or less
from unit’s end face to prevent the cable from
being subjected to excessive loads.
Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The
weights are 0.7kg heavier when equipped with
a brake.
Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur
depending on the operation conditions (critical
speed). In this case, reduce the speed setting
on the program by referring to the maximum
speeds shown in the table at the below.
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