XY ROBOTIC ARMS LINEAR SERVO SLIDE

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Junior Parsons
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1 XY ROBOTIC ARMS LINEAR SERVO SLIDE Ultimate Solution for High Throughput Precision Positioning Turn-key solution Modular design Direct linear drive High speed Zero backlash Fast settling time Long stroke Protective seal strip Integrated cable track The Direct Drive Linear System XY Linear Servo Slide Robotic Arm is a direct drive actuator that eliminates wear, friction, backlash and compliances associated with mechanical transmissions, such as ball/lead screws, rack & pinion, belts/pulses and gearboxes IntelLiDrives Linear Motors Benefits Zero maintenance Zero backlash and compliance High stiffness High positional accuracy Compact mechanical assembly Reduced parts count in the machine Smooth velocity Linear Motor Forcer Brushless linear servomotor features non-contact design and low cogging for fast and accurate positioning High Strength Aluminum Body Extruded aluminum housing is precision machined to provide outstanding straightness and flatness for installations in horizontal or vertical orientations. Protective Seals Stainless steel strip provides IP30 protection to interior as well as enhance overall performance Carriage support bearings Double rail bearing system is integrated into the slide to support moving carriage and to provide dynamic stiffness and precise straightness of travel Integral Linear Encoder Precision non-contact linear position feedback with selectable resolution from 0.5 to 10 microns is mounted in the carriage to minimize thermal drift Limit Sensors Stage has limit and home sensors to establish end of travel and home positions Connector Panel Provides plug-in connectivity and quick disconnect for all signal and power requirements Cable Transport Module Cable track with high flex robotic cable is installed and prewired to the connector panel Ease of mounting is achieved using housing T-slots and clamp-down brackets

2 SPECIFICATIONS Parameter Unit RA-XY-LSS120 HS HT Peak force (note1) Fp N 325 Continuous force (note 2) Fc N 115 Cogging force Fc N 4 Bearing friction Fb N 3 Peak current (note 3) Ip Amp Continuous current (note 3) Ic Amp Amplifier supply voltage Uac VAC 110/220 Max speed at Fp and U 220VAC Vp m/sec Max speed at Fc and U 220VAC Vp m/sec Max speed at Fb and U 220VAC Vp m/sec Resolution (note 4) µm Repeatability µm 1 Straightness µm/m 30 Carriage weight Mf Kg 4.5 Max payload weight (note 5) Mp Kg 30 Moment load (note 5) Ml Nm 100 Travel stroke (note 6) S mm X axis Y axis Stage length (single axis) L mm S Stage weight (single axis) M Kg L/100 note 1 duration 1 sec note 2 coil at 120 C note 3 -HS normal speed winding, -HT high speed winding note 4 stage can be equipped with magnetic and optical contact-less linear encoders. Consult the factory note 5 higher capacity robotic arm can be constructed with IntelLiDrives Linear ServoSlide TM model LSS-200 note 6 for longer travel distances contact the factory tel: (215) fax: (215) info@intellidrives.com web:

3 DRAWINGS (stage shown at two extreme positions) RA-XY-LSS120 lower left corner position upper right corner position tel: (215) fax: (215) web:

4 MOUNTING T-SLOT CROSS-SECTION CABLE CHAIN Y CROSS-SECTION CABLE CHAIN X tel: (215) fax: (215) info@intellidrives.com web:

5 TRAVEL STROKE Sx,Sy (mm), STAGE LENGTH Lx,Ly (mm) and WEIGHT Mx, My (Kg): X AXIS Y AXIS Sx Lx Mx 10,2 11,1 12,1 13,0 14,0 15,0 15,9 16,9 17,8 18,8 19,8 20,7 21,7 22,6 Sx Lx Mx 23,6 24,6 25,5 26,5 27,4 28,4 29,4 30,3 31,3 32,2 33,2 34,2 24,6 Sy Ly My 10,2 11,1 12,1 13,0 14,0 15,0 15,9 16,9 Note: TOTAL XY ARM WEIGHT IS A SUM OF WEIGHTS OF TWO AXES CONNECTOR S PANEL Motors X (Y) D-Sub-25 mixed signal plug Thermal contact switch normally closed, 30VDC, 1.6A. Opens at 120 o C motor winding temperature, used for motor overheating protection, when connected to servo amplifier Motor phase U U A1 Motor phase V V A2 Motor phase W W A3 Thermal switch pin 2 TS Motor case, ground GND A4 1 TS1 Thermal switch pin 1 2 Encoder X (Y) D-Sub-9M plug Sin/Cos encoder signals are differential 1Vpp, referenced to 2.5V V Digital encoder signal are differential, quadrature, RS422, +5VDC Twisted pair shielded cable should be used to connect to the servo amplifier 6 Cos+ (B+) BXP 7 Sine+ (A+) AXP 8 Supply voltage +5V +5V BXN Cos- (B-) 3 AXN Sin- (A-) 4 GND Ground 5 SLD Shield Limit switch X(Y) D-Sub-15M plug Over-travel limit switch, normally closed, 30VDC, 0.5A dc max. Open on limit stops VDC power supply Vs ES1 End of travel switch 1 02 ES2 End of travel switch 2 03 RS Reference (home) switch GND Common (Ground) tel: (215) fax: (215) info@intellidrives.com web:

6 Order example RA-XY- LSS HS -P Series Frame width Forcer winding Cable exit X Stroke (mm) Y Stroke (mm) X encoder resolution (µm) Y encoder resolution (µm) HS - normal speed HT high speed P- connectorized panel C cable with wires 3m long standard A sin/cos 1Vpp 10 µm digital 5 µm digital 1 µm digital 0.1 µm digital Consult the factory See stroke chart For longer stroke contact the factory For higher resolution contact the factory Arms and Gantry Systems Common combination of Cartesian Systems supplied as complete pre-configured systems XY Arm with Y moving carriage (side mounted) XY Arm with Y moving slide (side mounted) XY Gantry with parallel beam XZ Arm with poll type Z XZ Arm with Pusher Z Other variations of the XYZ systems are available. Contact the factory

7 I-SERV TM DIGITAL SERVO AMPLIFIER and INDEXER Features: Advanced sine wave commutation technology Accurate force control Stand-alone or CAN distributed drive Step/direction interface Electronic gearing to master encoder ±10V velocity/current command interface Field oriented controls Auto-phasing and auto-tuning of the current loop 115/230VAC operation 24VDC stay-alive control power Operational modes: Force/Torque control from analog to CAN command Velocity control from analog to CAN command Pulse/direction interface Position control indexer or CAN command Motion indexing: Order example Stores up to 8 motion profiles in memory Start motion through CAN or digital I/O Homing function ISRV - A ED R15 - HS Series Version AC voltage Peak current Motor encoder Cable length Regenerative resistor Heatsink A (servoamp) I (indexer) A cont/18a pk 12A cont/36a pk 20A cont/40a pk ED (digital RS422 encoder) EA (analog 1Vpp encoder) 1, 2, 3 m cable set includes motor, encoder, control cables 15 Ω 30 Ω

Alternative Linear Motion Systems. Iron Core Linear Motors

Alternative Linear Motion Systems ME EN 7960 Precision Machine Design Topic 5 ME EN 7960 Precision Machine Design Alternative Linear Motion Systems 5-1 Iron Core Linear Motors Provide actuation forces