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
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 6.0 10.5 Continuous current (note 3) Ic Amp 2.0 3.5 Amplifier supply voltage Uac VAC 110/220 Max speed at Fp and U 220VAC Vp m/sec 1.7 3.2 Max speed at Fc and U 220VAC Vp m/sec 3.2 4.6 Max speed at Fb and U 220VAC Vp m/sec 4.1 7.2 Resolution (note 4) µm 0.5-10 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 110 2510 Y axis 110 782 Stage length (single axis) L mm S + 346 Stage weight (single axis) M Kg 4.6 + 1 + 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) 728-6804 fax: (215) 745-9459 email: info@intellidrives.com web: www.intellidrives.com
DRAWINGS (stage shown at two extreme positions) RA-XY-LSS120 lower left corner position upper right corner position tel: (215) 728-6804 fax: (215) 745-9459 email: info@intellidrives.com web: www.intellidrives.com
MOUNTING T-SLOT CROSS-SECTION CABLE CHAIN Y CROSS-SECTION CABLE CHAIN X tel: (215) 728-6804 fax: (215) 745-9459 email: info@intellidrives.com web: www.intellidrives.com
TRAVEL STROKE Sx,Sy (mm), STAGE LENGTH Lx,Ly (mm) and WEIGHT Mx, My (Kg): X AXIS Y AXIS Sx 110 206 302 398 494 590 686 782 878 974 1070 1166 1262 1358 Lx 456 552 648 744 840 936 1032 1128 1224 1320 1416 1512 1608 1704 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 1454 1550 1646 1742 1838 1934 2030 2126 2222 2318 2414 2510 1550 Lx 1800 1896 1992 2088 2184 2280 2376 2472 2568 2664 2760 2856 1896 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 110 206 302 398 494 590 686 782 Ly 456 552 648 744 840 936 1032 1128 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 TS2 3 4 5 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 +- 0.5V 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 9 1 2 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. 09 10 11 12 13 +5 +24VDC power supply Vs 14 15 01 ES1 End of travel switch 1 02 ES2 End of travel switch 2 03 RS Reference (home) switch 04 05 06 07 08 GND Common (Ground) tel: (215) 728-6804 fax: (215) 745-9459 email: info@intellidrives.com web: www.intellidrives.com
Order example RA-XY- LSS -120 - HS -P - 292-292 -1-5 Series Frame width Forcer winding Cable exit X Stroke (mm) Y Stroke (mm) X encoder resolution (µm) Y encoder resolution (µm) 120 220 HS - normal speed HT high speed P- connectorized panel C cable with wires 3m long standard 110 2510 110 782 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
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 -110-18 - ED - 3 - R15 - HS Series Version AC voltage Peak current Motor encoder Cable length Regenerative resistor Heatsink A (servoamp) I (indexer) 115 230 6A 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