Copley Controls Corp.
Prelims ServoTube 38 Installation Guide WARRANTY Copley Motion Systems guarantees its equipment against faulty components for a period of twelve months from delivery. Replacement components will be free of charge. Copley Motion Systems shall not in any event be liable for consequential damage or loss. Copley Motion Systems operates a customer care facility and all requests for repair and replacement should be directed to the Customer Care Department.
ServoTube 38 Installation Guide Prelims ServoTube 38 INSTALLATION GUIDE Contents Preliminary pages Title page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (i) Copyright notice / disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (ii) Contents list (this page) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (iii) Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Prelims ServoTube 38 Installation Guide WARNINGS Warning symbols and meanings In this User Manual warning symbols are used. These are intended to alert you to the potential hazards to personnel which are associated with the equipment described, in all aspects of use, including handling, installation, operation and maintenance. Heart pacemakers. Personnel fitted with pacemakers must not handle or work on this equipment. Strong magnets.
ServoTube 38 Installation Guide Prelims READER’S NOTES GENERAL This manual describes the Installation, Maintenance and Spares of the ServoTube 38 linear motor. ASSOCIATED PUBLICATIONS The following publications are associated with the ServoTube 38 User Manual.
Prelims Page (vi) ServoTube 38 Installation Guide
ServoTube 38 Installation Guide Chapter 1 Overview Chapter 1 Product Overview SERVOTUBE 38 ACTUATOR The ServoTube 38 Actuator is an optimal solution for industrial position control. Faster than a ballscrew with the clean reliability of a linear motor, the ServoTube 38 is a cost-effective alternative to air cylinders in applications requiring greater flexibility and control.
Chapter 1 Overview The tubular motor has superior thermal efficiency, radiating heat uniformly. High duty cycles are possible without the need for forced-air or water cooling. Amplifiers ServoTube 38 is complemented by a range of matched, self-tuning servo-amplifiers and indexers complete with plug-and-play cabling. Amplifiers interface easily to PLCs and feature CANopen network connectivity for distributed control applications.
ServoTube 38 Installation Guide ` Chapter 2 Installation Chapter 2 Installation UNPACKING • Check packaging for signs of damage. • Metal surfaces may be hot or below 0oC following prolonged storage. • Remove packaging. Do not discard. In the event of items requiring return, it is recommended that the original packaging be used. • • • Ensure that the delivery note correctly reflects your order and the items delivered. Check equipment for signs of damage.
Chapter 2 Installation ServoTube 38 Installation Guide Mechanical - XTA The outline drawing of the XTA is shown in Figure 2.1. It comprises the forcer with an integrated plastic sleeve bearing and the thrust rod. The integrated bearing acts as a guide for the moving thrust rod. It is not intended to withstand side loading. If side loading is expected then it is advised that an external bearing is fitted. The XTA forcer can be mounted by two methods. • Using the T -slots in the top of the forcer.
ServoTube 38 Installation Guide ` 4 MTG HOLES M6 X 10 DEEP Chapter 2 Installation ACTUATOR ENVELOPE = (2 X STROKE ) + 319 (See Note 1) 258.0 40.3 141 40.0 5.5 59.0 27.0 43.0 XTA3804 46.0 84.0 60.0 38.0 = 37.0 = = 58.0 = = 60.0 = 29.0 PITCH TYP 42.0 83.0 187.0 43.0 70.0 4 MTG HOLES M4 X 8 DEEP 8 MTG HOLES M4 X 8 DEEP 329.0 THRUST ROD 40.0 11.8 141 6.8 ACTUATOR ENVELOPE = (2 X STROKE ) + 390 (See Note 1) 14.0 27.0 MTG HOLE M10 X 12 DEEP XTA3806 46.0 60.0 23.0 8.2 12.
Chapter 2 Installation ServoTube 38 Installation Guide Mechanical - XTB The XTB is shown in Figure 2.2. It comprises the forcer and the thrust rod. With the addition of thrust rod supports and a linear bearing a moving forcer solution can be implemented. The XTB forcer can be mounted by two methods. T -slots are available in the top of the forcer but more normally the forcer is mounted to bearing carriages to allow the use of a linear bearing. Dimensional details for both are shown in Figure 2.2.
ServoTube 38 Installation Guide ` Chapter 2 Installation 218.0 141 40.3 5.5 59.0 38.0 84.0 40.0 60.0 XTB3804 = 58.0 = = 37.0 = = 60.0 = 29.0 PITCH TYP 33.0 12.0 42.0 4 MTG HOLES M4 X 8 DEEP EITHER SIDE 70.0 8 MTG HOLES M4 X 8 DEEP 174.0 70.0 289.0 11.8 141 6.8 8.2 14.0 THRUST ROD 60.0 XTB3806 29.0 PITCH TYP 12.0 A(2:1) T - SLOT DETAIL 76.0 8 MTG HOLES M4 X 8 DEEP 239.0 LENGTH OF THRUST ROD 360.0 141 12.0 60.0 XTB3808 29.0 PITCH TYP 80.0 8 MTG HOLES M4 X 8 DEEP 38.
Chapter 2 Installation ServoTube 38 Installation Guide Electrical All electrical connections to the XTA and XTB are made via two cables, see Figure 2.3. One carries power to the forcer and the other carries signals from the position sensor. These cables are supplied either pre-terminated for a specific drive or with flying leads.
ServoTube 38 Installation Guide Chapter 3 Maintenance Chapter 3 Maintenance XTA The XTA is low maintenance and as such requires only minimal periodic inspection. The integral bearing is dry running, requiring no lubrication. Periodically: • • Check that the thrust rod can move freely over the entire stroke. • Check all fixings are tight and secure. Clean any accumulated debris from the thrust rod surface (ferrous material, in particular, can be attracted to the thrust rod surface).
Chapter 3 Maintenance • • ServoTube 38 Installation Guide Loosen the two fixings on the cable clamp. M3 FIXING SCREWS (4 OFF) Pull the cable out through the cable gland. SENSOR CABLE Replacement Re-fitting is the reverse of the removal procedure. • Feed the new cable(s) through the cable gland. • Connect the cable(s) including the earth lead. • • Tighten the cable retaining clamp. • Replace the fixings according to the record made when they were removed.
ServoTube 38 Installation Guide Chapter 4 Service Chapter 4 Service SERVICE Should you need to return any items to Copley Motion Systems, before doing so, please call our Sales co-ordinator on +44 (0)1268 287070 or send a fax to +44 (0)1268 293344 in order to obtain an RMA (Returned Materials Authorisation) number. The RMA number should then be quoted on all items returned and quoted for all enquiries. Please note that when returning items it is recommended that the original packaging be used.
Chapter 4 Page 12 ServoTube 38 Installation GuideService
ServoTube 38 Installation Guide Appendices Appendices CONTENTS APPENDIX A - GLOSSARY OF TERMS & ABBREVIATIONS APPENDIX B - TROUBLE SHOOTING APPENDIX C - TECHNICAL SPECIFICATION Page 13
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ServoTube 38 Installation Guide Appendices Appendix A Glossary of Terms & Abbreviations GLOSSARY OF TERMS TERM Peak force DESCRIPTION OF TERM Peak force is the force produced when the peak current is applied to the motor. It is the product of Force constant (N/Apk) and Peak current (Apk). The motor is not moving, there is no forced cooling and no additional heat-sinking. The duration of the peak force is thermally limited and is therefore only allowable for a period of 1 second.
Appendices ServoTube 38 Installation Guide TERM DESCRIPTION OF TERM Electrical time constant Electrical time constant is the time taken for a step current input to the motor to reach 63.2% of its value. Continuous working voltage Continuous working voltage is the maximum allowable continuous voltage between any two motor phases or between any motor phase and the motor safety earth.
ServoTube 38 Installation Guide Appendices Appendix B Troubleshooting TROUBLESHOOTING CHART Check to see if the problem you are experiencing is listed in the chart below. If the problem cannot be solved with reference to this chart, contact the customer services department. Fault Possible cause Action Forcer/thrust rod fails to move and produces no force. 1. Drive not powered. 1. Apply power to drive. 2. Forcer phase connections not made. 2. Check forcer phase connections on drive. 3.
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ServoTube 38 Installation Guide Appendices Appendix C Technical Datasheet ELECTRICAL SPECIFICATIONS MOTOR TYPE 3804 Peak force @ 25oC ambient for 1 sec o Peak current @ 25 C ambient for 1 sec 3806 3808 3810 units S (1) P (1) S (1) P (1) S (1) P (1) S (1) P (1) 744 372 1116 558 1488 744 1860 930 N 20 20 20 20 20 20 20 20 Apk 137.3 137.3 186.9 186.9 232.1 232.1 276.2 276.2 N 2.61 5.23 2.37 4.74 2.20 4.41 2.10 4.20 Arms 3.69 7.39 3.35 6.71 3.12 6.
Appendices ServoTube 38 Installation Guide THERMAL SPECIFICATIONS MOTOR TYPE 3804 3806 3808 3810 units Maximum phase temperature 100 100 100 100 o Thermal resistance Rthphase-housing 0.23 0.16 0.13 0.11 o Power dissipation @ 25oC ambient 89.3 110.3 127.1 144.2 Watt Thermal resistance Rthhousing-ambient 0.61 0.52 0.46 0.41 o Power dissipation @ 25oC ambient 68.2 89.3 107.0 123.0 Watt Thermal resistance Rthhousing-ambient 0.87 0.68 0.57 0.
ServoTube 38 Installation Guide Appendices POSITION SENSOR The position sensor outputs analogue, differential sine and cosine signals for providing position feedback. Figure C.1 shows the relationships between motor phase back EMF and position sensor outputs for one direction of motion (as shown by arrows in Figures C.1 and C.2). It should be noted that +SIN or -SIN is always in phase with motor phase U. For the motion shown, -SIN is in phase with motor phase U.
Appendices ServoTube 38 Installation Guide MOTOR OVER TEMPERATURE SENSOR It is strongly recommended that the motor over-temperature sensor is connected to the drive amplifier or servo controller at all times in order to reduce the risk of damage to the motor due to excessive temperatures. Protection is provided by three, positive temperature coefficient (PTC) thermistors embedded in the motor phases.
ServoTube 38 Installation Guide Appendices CONNECTIONS Connections within the forcer termination box are as follows: TB1 FUNCTION CONDUCTOR DESIGNATION 1 Motor phase U Black 1 2 Motor phase V Black 2 3 Motor phase W Black 3 Protective earth + both cable screens Green/Yellow Chassis TB1 1 2 3 Figure C.4 - Power cable connection at TB1 FUNCTION CONDUCTOR DESIGNATION 1 +SIN Blue 2 -SIN Black paired with Blue 3 +COS White 4 -COS Black paired with White 5 +5Vd.c.
Appendices ServoTube 38 Installation Guide XTA FORCE / VELOCITY PROFILES (WITH AN OPERATING VOLTAGE OF 325 VD.C.
ServoTube 38 Installation Guide Appendices XTB FORCE / VELOCITY PROFILES (WITH AN OPERATING VOLTAGE OF 325 VD.C.
Copley Controls Corp.
