AC SERVO DRIVES DIRECT DRIVE DYNASERV. Certified for ISO9001 and ISO14001

Transcription

1 AC SERVO DRIVES DIRECT DRIVE DYNASERV Certified for ISO9001 and ISO14001 JQA-0422 JQA-EM0202

2 Proposing positioning solutions to support the latest manufacturing equipment Flat Profile Models: DR5H00 10 N m and 20 N m models with a thickness of 42 mm 40 N m model with a thickness of 62 mm Absolute Model: DB5C Built-in absolute encoder 2

3 Direct Drive DYNASERV High-accuracy and High-resolution Models: DM1 High absolute accuracy of ±15 arc seconds (DM1A,DM1B*) High resolution of 4,096,000 pulses/rev (DM1A) : Except the DM1B-006 * Large Center Aperture, High-speed, and High-torque Models: DR1, DR5 Large center aperture of ϕ150 mm (DR1A, DR5A) High speed (DR5 ) High torque up to max. 500 N m (DR5A) 3

4 DYNASERV Direct Drive Accurate Positioning High resolution of up to 4,096,000 divisions per revolution. This is equivalent to 1.5 µm at the tip of a 1,000 mm arm. Absolute accuracy of ±15 arc seconds, repeatable accuracy of ±1 arc second. Low Heat Generation and Energy Saving The magnetic circuit uses the hybrid method (magnetic bias method). This allows achievement of powerful torque at low current and reduces unnecessary heat generation, which contributes greatly to energy savings. Resistant to External Force Employs I-PD control that is ideal for direct-drive motors. High servo stiffness enables remaining motionless even when subjected to external force. High accuracy DM1A Why use a direct-drive motor? (Comparison with a conventional AC servomotor) The load is mounted directly to the motor, so the motor accuracy becomes the equipment accuracy, which contributes greatly to increasing the equipment accuracy. Furthermore, there is no drop in efficiency due to the presence of a reduction gear or other parts, which helps to save energy. The motor s compact size also enables reducing the equipment size, which helps to reduce both the design process time and maintenance costs. The desired operation angle and number of divisions can easily be set, simply by changing the command values. Example) Index table Index table DYNASERV DR5H00 Outer Rotor The outside of the motor rotates. Compact equipment size saves space Direct-drive motor High accuracy Energy saving Maintenance-free Reduced design process time No backlash or play Reduction gear + encoder Coupling AC servomotor Encoder Conventional AC servomotor 4

5 Direct Drive DYNASERV s high accuracy becomes the equipment accuracy. The motor force can be directly transmitted, and there is no drop in efficiency due to the presence of a reduction gear or other parts. Rotor The outside rotates. DM1A Load-mounting surface Absolute accuracy: ±15 arc seconds Repeatable accuracy: ±1 arc second Resolution: 4,096,000 pulses/rev Positioning can be performed in pulse units. Convenient Large Center Aperture Large center aperture This is a very convenient structure that enables passing of wiring, a shaft, a laser or other items through the center of the motor. DR1A DR5A Large center aperture: 150 ϕ mm Clean Structure Rotation is supported by cross roller bearings, so minimal dust is produced, enabling achievement of Class 10 cleanliness (10 or fewer dust particles of diameter 0.5 µm per 1 cubic feet). The inside of the motor is maintenance-free. Cross roller bearing minute) Quantity (Particles/ft 3 DM1A Particle diameter ( μm) High Energy Efficiency The hybrid method (magnetic bias method) magnetic circuit achieves powerful torque at low current. In addition, low heat generation is also a major feature of DYNASERV, which suppresses drops in efficiency due to heat generation and other factors. Stator Winding Permanent magnet flux Permanent magnet Teeth Electromagnet flux Rotor Precision Machining Accuracy Models can be selected with an accuracy of up to 5 µm for axial and radial run-out of the load-mounting surface. When a machining accuracy of less than 5 µm is required, please contact your Yaskawa representative. Axial run-out Radial run-out Measurement standard for run-out (axial and radial) accuracy 5

6 Reasons why customers around the world choose DYNASERV High Accuracy, High Resolution and High Stiffness High resolution Encoder resolution: 4,096,000 pulse/rev High accuracy Absolute accuracy: ±15 arc seconds Repeatable accuracy: ±1 arc second High stiffness I-PD control The high-resolution encoder enables highly accurate positioning. In addition, high holding force when stopped makes DYNASERV ideal for applications that require positioning accuracy when stopped. DM1A Low Heat Generation and Improved Takt Time Save Energy The highly-efficient magnetic circuit (hybrid method) reduces motor heat generation and has a high duty, enabling continuous operation. Contributes to energy saving High Displacement Stiffness and Superior Load Capacity The motor directly supports the load. Flexible Response to Design Changes The working range such as the number of divisions or arms can be changed, simply by adjusting the command values. DM1A DR1A DR1E DR5A DR5E Easier-to-use Motors Dedicated Drivers Built-in absolute encoder Motors equipped with an absolute position detection function are also available. Dedicated intelligent drivers for DYNASERV These intelligent drivers aim to enhance control performance and operability. The built-in auto tuning function enables automatic setting of the optimum servo parameters according to the load inertia, and various field networks are also supported. Intelligent Driver DrvG /DrvP DB5C-005 DB5C-010 DB5C-015 DB5C 500 W Class 2 kw Class 4 kw Class 6

7 Extensive Lineup of Over 45 Models With compact models, slim-type models and large high-output models, the DYNASERV series offers choices well suited to the user s intended applications. For details, refer to the lineup on page 10. DM1A (100 N m) DM1B (15 N m) DM1C (4 N m) DR5H00 (20 N m) DR5H00 (40 N m) DR1A (50 N m) DR5A (500 N m) DB5C (15 N m) Conscientious Service and Support Convenient Tool A convenient support tool is provided for startup, servo adjustment and maintenance. Extensive Product Information Numerous technical materials and other information required for motor and driver operation are available. Contact Support Contact your Yaskawa representative for inquiries ranging from estimates to troubleshooting. Support for Various Field Networks Supports high-speed pulse interfaces, MECHATROLINK-, CC-Link and PROFIBUS-DP. Support for Overseas Standards UL, CE and KC can also be supported. For more information, contact your Yaskawa sales representative or sales agent. 7

8 Dedicated DYNASERV Support Tool A convenient support tool is provided for startup, servo adjustment and maintenance. Startup and Servo Adjustment A wizard-format support tool helps users navigate through motor startup. This allows even novice users to perform motor adjustment tasks. Connection DYNASERV is connected to a computer in which the support tool is installed. Auto-tuning The auto-tuning function is used to oscillate the motor, measure the load inertia and load mass, and automatically set the parameters. Auto filter The auto filter function measures the frequency response characteristics (FFT measurement), monitors the servo adjustment status, and automatically sets the mechanical resonance suppression filter. Ready! Start of operation When More Detailed Servo Adjustment is Required To further increase the servo stiffness The servo stiffness can be set by setting the servo adjustment parameters. This enables adjustment while checking the actual motor status. To shorten the adjustment time Manual fine adjustment of the feed-forward amount helps to shorten the adjustment time. The servo stiffness can be adjusted and set by cursor operations. The feed-forward amount can be finely adjusted manually. Other useful and convenient functions are also provided. 8

9 Even More Detailed and Convenient Oscilloscope function capable of simultaneously measuring 4 channels A 4-channel oscilloscope function is provided that can monitor all parameters. This enables complete comprehension of the motor operation. The acquired waveforms can be stored in files for use in analysis. Motor-less operation function Operation simulations can be performed using only the support tool and driver. This is convenient for debugging control operation with upper equipment, such as during device startup. Multiple language support Japanese, English and Chinese (both simplified and traditional Chinese characters) are supported. The display language can easily be changed. Downloading of user data Parameters can be downloaded and copied. This eliminates the need to adjust each unit separately when manufacturing multiple devices with the same structure. Error log display An error log with up to 16 errors can be displayed. In addition, selecting a displayed error number shows a detailed explanation of that error. Maintenance and Troubleshooting For more information, contact your Yaskawa sales representative or sales agent. For a list of sales offices in each district, check the Contact page at 9

10 Extensive Lineup Motor Model DM1A 264 Diameter mm Center Aperture Diameter (mm) 58 Maximum Output Torque (N m) High-accuracy and High-resolution Models DM1A-050 DM1A-100 DM1B DM1B-006 DM1B-015 DM1B-030 DM1B-045 DM1B-060 DM1C DM1C-004 Flat Profile Models DR5H DR5H DR5H DR5H DR1A-100 Large Center Aperture, High-speed, and High-torque Models DR1A DR1A-050 DR1E DR1E-030 DR1E-070 DR1E-100 DR1B DR1B-008 DR1B-015 DR1B-030 DR1B-045 DR1B-060 DR5A DR5E DR5E-100 DR5B DR5B-030 DR5B-050 DR5B-070 DR5C DR5C-005 DR5C-010 DR5C-015 Absolute Models DB5C DB5C-005 DB5C-010 DB5C-015 An extensive lineup supports selection of the ideal motor for the user s equipment. 10

11 Encoder Resolution (pulse/rev) Absolute Accuracy (Typ.) (arc sec) Repeatable Accuracy (arc sec) Maximum Speed (rps) Features DM1A-150 DM1A-200 4,096,000 2,621,440 ±15 ±15 ±20 ±60 ±1 ±1 ± High accuracy and high resolution Built-in optical encoder Excellent torque-to-weight ratio 2,621,440 ±20 ±60 ±3 2.5 Aluminum chassis type 3,407,872 ±80 ± Slim shape with low height Built-in magnetic encoder DR1A-150 DR1A-200 DR1A-300 DR1A-400 1,638,400 ±30 ±3 0.8/ /1.8 DR1E-130 DR1E-160 DR1E-220 DR1E-250 1,228,800 1,015,808 ±45 ±45 ±3 ± Large center aperture: DR1A, DR5A (Max. ϕ150 mm) High-speed type: DR5 DR5A-300 DR5A-400 DR5A , ,976 ±45 ±90 ±3 ± High-torque type: DR5A (Max. 500 N m) Built-in magnetic encoder Wide output torque range: DR1A (50 N m to 400 N m) Wide variety of models: DR1E (7 models) 557,056 ±90 ± ,984 ±150 ± ,984 ±150 ±5 6.0 Built-in absolute encoder High-speed type Direct Drive DYNASERV 11

12 Examples of Applications DYNASERV supports the latest manufacturing equipment. High-function Film Secondary Batteries Roll to Roll DYNASERV directly drives the roll. LED LED inspection equipment Improved takt time and accuracy Reduced effects of temperature and dust High-accuracy feed on the order of several μm No backlash, and reduced torsion and response delay Space-saving, simple configuration Reduced design process time and maintenance costs Smartphones Touch panel glass bonding equipment Photovoltaic Solar Cells Crystalline solar cell electrode forming equipment Camera Electrode forming (Al) Positioning accuracy ±6 μm 800mm Electrode forming (Ag) Increased bonding accuracy Can be used in clean environments Improved takt time and design process time Firing furnace (fire-through) Electrode forming (solder) Reduced shadow loss (increased printing accuracy) Easy setup changes (cell size changes) Improved takt time and simple configuration High-accuracy positioning increases equipment performance Semiconductors Handler for IC test system Supports variable indexing and design changes High-accuracy positioning and higher inspection levels Improved takt time Achieves faster test process times and high-speed transportation. 12

13 Enables improved takt time and saving of space Recording Media DVD spattering equipment Electronic Components Electronic component transportation equipment and robots Transportation from previous process Machine tool transportation Disk import from manufacturing line Transportation of imported disks to vacuum chamber Reduced size (space saving) and cost Concentrates the transport functions of two units into a single unit Improved takt time Example of improvement: 180 operating time shortened from 0.35 s to 0.25 s Cycle time 1.8 s (improvement of 10%) Space saving Supports design changes Reduced equipment design process time Improved takt time DYNASERV also plays an active role in the following fields Science Large-scale astronomical telescopes Automotive Dynamic steering tester Low heat generation and high stiffness High-accuracy rotational positioning Environmental resistance and optimization of wiring Increased reproducibility of evaluation results 13

14 Examples of Applications Clean applications Recording Media DVD bonding equipment Machine Tools Assembly lines Variable indexing Reduced design process time Improved takt time Increased bonding accuracy Highly reliable automated lines Improved takt time Reduced equipment design process time Supports design changes DYNASERV s high servo stiffness is ideal for applications needing to remain motionless after stopping. Semiconductors Wafer dicing equipment Machine Tools Servo press Increased cutting accuracy and higher yield Improved takt time Clamp or brake mechanism not required High stiffness and high torque Space saving 14

15 LCD LCD Scriber High-speed transport and high-accuracy positioning Semiconductors Electrode forming equipment Scribing linearity: within 20 µm/1,000 mm Wafer 1 pixel Alignment and repeating motion between 0 and 90 Turning: 90 /s 90 operating time: 0.4 s or less Repeatable accuracy: ±6 μm (±3 arc seconds) or less at a distance of 400 mm from the rotation center Increased machining accuracy and higher yield Improved takt time High stiffness Increased yield Reduced number of parts Recording Media Offset CD and DVD printers DYNASERV reduces costs Semiconductors CVD and PVD spattering equipment Increased accuracy Reduced mechanical interference with vacuum chambers during transportation Shorter cycle times Simultaneous transportation of multiple high-load panels Cost reduction Reduced number of parts Printing table Vacuum chamber Variable indexing Reduced design process time Supports larger indexing table sizes Improved takt time Increased printing accuracy and higher yield 15

16 DIRECT DRIVE DYNASERV IRUMA BUSINESS CENTER (SOLUTION CENTER) 480, Kamifujisawa, Iruma, Saitama , Japan Phone Fax YASKAWA AMERICA, INC Norman Drive South, Waukegan, IL 60085, U.S.A. Phone YASKAWA ( ) or Fax YASKAWA ELÉTRICO DO BRASIL LTDA. Avenida Piraporinha 777, Diadema, São Paulo, , Brazil Phone Fax YASKAWA EUROPE GmbH Hauptstrasse 185, Eschborn 65760, Germany Phone Fax YASKAWA ELECTRIC KOREA CORPORATION 9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, , Korea Phone Fax YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-02A, New Tech Park , Singapore Phone Fax YASKAWA ELECTRIC (THAILAND) CO., LTD. 252/ th Floor,Tower B Muang Thai-Phatra Complex Building, Rachadaphisek Road, Huaykwang, Bangkok 10310, Thailand Phone Fax YASKAWA ELECTRIC (CHINA) CO., LTD. 22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai , China Phone Fax YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing , China Phone Fax YASKAWA ELECTRIC TAIWAN CORPORATION 9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan Phone Fax YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply. Specifications are subject to change without notice for ongoing product modifications and improvements YASKAWA ELECTRIC CORPORATION. All rights reserved. LITERATURE NO. CHEP S A Published in Japan September