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Tol-O-Matic System Compatibility - Industrial and Bearing Supplies

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1. e gt lt gt lt gt lt gt 5 sume Q lt o JE lt lt F F F F F CO lt F lt F C Cc lt F lt F 3 c5 ADD 5 5 cC Cc Cc Cc Cc
2. Sl lt lt S lt SIL Sl SSS SS lt lt lt gt 5 5 gt gt gt gt gt gt 5 OD lt lt lt 4 lt lt 4 lt lt 4 CC cc cc cC cc cc cc cc cc gt gt BCS US St
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5. 2 lt gt L2 lt gt 5 5 5 i gt j 2 other M3S Style Metric DRIVE GEARHEAD MOUNTING E gt um C 3 gt n Un en 5 _ SCREW 3410 9203 0 9203 MOUNT KIT Model Pati Pat rate Patt 000 CUT CUT 0055 3420 9041 4420 9200 COUPLER 9 9 ZON 3600 6163 34 005 2 COCS 3600 9213 3410 9203 ZOAS 3600 6163 3410 9203 3600 92 0 00 0 900 0 500 0500 0500 0 00 0 500 0 500 0 500 0 500 0 500 0 500 0 500 3600 6192 3600 6192 3600 6190 3600 6194 3600 6199 3600 6153 3600 6154 3600 6155 30618 300618 3 004 38004 3004 30004 3 004 3004 0807 30618 3004 38004 360048 304 GHK30 HJ30 GHJ31 HJ30 GHJ31 G G c c gt lt gt LO c5 c co c gt gt gt LO 375 25 500 0 500 LO r r lt gt gt lt gt lt lt lt O gt DI gt lt gt lt gt lt gt lt gt LO Em N lt
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8. Lx PIP lt O cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO ec gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt S gt lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt
9. CC r CIE cuum c NOTE These motor mounts are for use with MRS and MRB motors only and are not to be used with gearheads IN LINE MOTOR MOUNT ACTUATOR SLS10 SLS10 ACTUATOR MLS10 MLS10 SLS MLS ACTUATOR MOTOR We FRAME NEMA 23 NEMA 34 NEMA 23 NEMA 34 KIT 0610 9052 0610 9053 86 63 06 C 4140 14 435 48 3810 6057 J 31 75 30 L 6350 6057 1270 32 5410 2070 T 5080 10 24 UNC 2BTHRU 2BTHRU 4 06 61 THRU 05 61 THRU 0953 0953 X550 DPM 7620 4 019 05 THRU 028 58 THRU Y 0938103025 060 0260 12 x 3 05 DP X 305 DP 034 93 THRU 034 93 THRU 073 10 73 20 X 2 19 DP JL A 2BTHRUM 2B THRU 4 0221 THRU 0221 THRU 0375 0375 X2DP 01 5031 506 2 363 2 367 x 12DP x 12 DP 01 375 THRU 01 375 THRU 0287828092 X M0 DP Above dimensions in inches B C D F G H J K L N N P R 9 T V SCREW DRIVE REVERSE PARALLEL MOUNTING B3S10 MOTOR MRV231 MRV232 MRV233 MRV234 MRS231 MRS232 MRS341 MRS342 MRS343 MRB231 ACTUATOR Lc ue 1 80 396 Lc ue a 218 396 21 2m 125 250 396 F 17 18 179 18 1212 EAR E C 0 in inches MRB231N MRB341 MRB341N MRB342 MRB342N B3S15 MOTOR
10. 0 2 3 amp n0 8 9 1 LOAD WEIGHT Ib c lt gt gt 1 FRICTION FORCE Ib FRICTION FORCE kg lt gt Bending Moment M 80 in b Ms 80 inb 125 in b Weights Carrier Weight 1 54 lb 6 05 b A404 Base Weight incl carrier Weight per length of stroke LOAD WEIGHT Ibs LOAD WEIGHT kgs Pre Load Torque ATI Nm Dead Length 2 x 5 din 2344 mm For Dual Carrier option refer to bending moment chart on page 88 DISTANCE BETWEEN SUPPORTS in REFERENCE CAD FILE 51510 SECTION SLOTS WILL ACCOMODATE 50 SQUARE NUT 266 THICK MAX 1 4 20 Dimensions in inches A B C M N Q R S T U V M W Wt X Y Z BB DD HH JJ KK LL MM 00 09 5 EXTENDED SHAFT style only Al Dimensions in millimeters AIB M N QIRI SIT U LL MM 00 09 5 1 EXTENDED SHAFT style only es 4 310 108 25 m2 3 129 98 240 SD 0 PERFORMANCE DATA SPECIFICATIONS DIMENSIONS 44 9H s SERES PECCO U S STANDARD METRIC Max Bending Moment M 269 10 0 11033 n b 11472 11 0 1304 05011 0 859 11662 in lo 128 2 N m 971 1187 8 N m 156 nb 1596 inb 1850 inlo 17
11. p lt p lt SS lt 5 5 5 IPS 80 Ba Beal SS E CE E Be E EA EM Be AM 55 dM dM E e SO O lt o cx lt gt lt gt lt gt lt gt lt gt lt gt lt gt se lt gt SS lt gt so so lt gt gt gt 5 lt gt lt gt lt gt 5 lt gt lt gt lt gt lt gt lt gt 5 lt gt lt gt lt gt lt gt lt gt 5 5 5 lt gt lt gt 5 5 5 lt gt gt 5 lt gt lt gt lt gt lt gt lt gt lt gt lt gt 5 lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt Sj o j o j S S lt lt lt lt S lt S se 5 3 S S 3 lt 5
12. k A i k Y 4 E 16mm DIAMETER BALL SCREW gt c gt LINEAR SPEED 1000 1500 200 STROKE mm 1000 1500 2000 2500 STROKE mm 2900 1500 2000 STROKE mm 2900 PERFORMANCE DATA SPECIFICATIONS DIMENSIONS SEE Is U ES 1 0 5 STANDARD METRIC SPECIFICATION Max Bending Moment M 500 in l 100 in b 11 3 N m 565 N m Ms 55 6 275 11 6 1300 in lb 6 2N m 131 1 90 0 200 10 0 12510 0 34N m 122 6 Max Load 180b 3000 2726 800 196 1kg Weights Carrier Weight 281 Base Weight incl carrier 2 14 59 b Weight per length of stroke 1 176 b n 392 Ibin 1 666 b n 17 0 gimm Dead Length 2 x 5 din K 207 2 520 mm 2988 mm For Dual Carrier option refer to bending moment chart on page 88 BCS10 515 520 MCS10 MCSI5 20 BCS amp MCS SERIES SCREW DRIVE ACTUATORS LOAD WEIGHT kg dei 72 363 464 54 G5 1 6 8 m w dw Ww m LOAD WEIGHT Ib DISTANCE BETWEEN SUPPORTS m 0 03 6 09 1215 18 21 24 27 20 24 37 39a 300 m BCS ior 060 aaa 160 as 272 7 WR WR WEM INCL SRL 12 24 36 48 60 72 84 96 108 12
13. 38008120 MCS20 520 9007 MRV233 3600 6123 MRB341 3600 6146 To order field retrofit switch and hardware kits for all Tol O Matic actuators MRV234 3600 6124 MRB342 3600 6147 SW Then the model and bore size and type of switch needed Motor Mounts 38006005 MRBO1 0548 58706 9 Hardware and Form A Reed switch 5 meter lead for 82515 MRV342 3600 6126 MRB402 3600 6149 IMPORTANT NOTES and Couplers MRV343 3600 6127 MRB291N 3600 6140 1 Mounting hardware is required if replacing switch for any actuator manufactured before 7 1 97 See pages 99 102 and 119 eee 4 MRS231 3600 6130 MRB241N 3600 6141 2 switch on and actuator manufactured before 7 1 97 it will be WIRS232 38006131 MRB242N 3600 6142 necessary to rewire connections See page 130 Gearheads MRS341 38006152 MRBAOIN 3600 6143 3 Contact Tol O Matic regarding magnet requirements for actuators that did not previously have See page 103 111 and 119 switch or if replacing a Reed or Triac switch with Hall effect switch E 4 For field retrofit of SLS and MLS actuators that do not currently have the rail it will be necessary to order the rail and indicate stroke length Controllers Controller SLS10 amp MLS10 Part 0610 9100 Seena ________ Interfaces 586 pages 118 120 550 See 26 Model Part 4 MSC 3600
14. 0 00 co F lt lt lt SS emm qe i ii pem i i w si E e asi e hs i kx mm oy emm kx xem mm emt qmm emm eem qe emm B tsi pem eem pe q emm cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO cO lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt lt gt lt gt lt gt en lt gt lt gt lt gt lt gt lt gt lt lt gt lt gt lt gt lt gt em lt lt 5 5 5
15. e NS M dr pr PP gt MRB231 SPEED TORQUE CURVE TORQUE N m 11 141 177 212 24 20 eee WHR zem m E AE V TP aem MRB401 SPEED TORQUE CURVE TORQUE N m Ji 144 212 282 359 424 494 565 6 36 is 1 EES 100 150 200 TORQUE oz in TORQUE N m i A H 2 20 35 L4 url BRUSHED 100 200 300 400 500 600 00 800 900 1000 1 TORQUE 02 TORQUE N m yy 282 424 565 706 847 989 11 30 Beene p I II 200 300 400 500 600 TORQUE oz in TORQUE N m 141 212 282 35 EET 400 60 0 1000 1200 1400 1600 TORQUE rd E ELLY m kn 200 300 400 500 600 700 TORQUE 2 DIMENSIONS MRB231N 0 70 03 0 195 THRU 4 5 51 06 EQ SPD AS SHOWN ea 02 25 140 0 ON A 2 625 B C 57 2 0 2500 2495 6 3 6 3 2 25 54 5363 gt 4 40 UNC 2B X 20 DEEP 57 2 0 81 2 5 FLAT 015 38 DP X 63 16 0 MIN 2 EQ SPD AS SHOWN 2 91 Max 20 6 ON A 1 812 B C 73 9 03 0 1 500 1 498 ENCODER WITH 38 1 38 0 MRB231 INDEX AND 195 THRU 4 LINE DRIVERS EQ SPD AS SHOWN 2 625 B C 5 51 06 0 82 02 25 1400 57 2 2 25 S ar PIN 9 2 2
16. F alot cN cN F lt cN cN In WM Ue ET asc WM Uv In Oe E ue rm lt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt c gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt 5 5 lt lt lt
17. o f AL NEW CONTROL SYSTEMS j Brushless Servo Sepper 4 Brushed DC a Lr I E ILLUM 1 z d 1 MECHANICAL ACTUATORS mS VGrew drives Belt drives New B3B Series OL MATIE A 7 p M 27 4 po RJ 1 1 E I IN u e tuis COMPLETE FAMILY OF MOTION CONTROL PRODUCTS 277 2 Typical Application lt 1 0 5 4 CONTROLLERS DRIVES AND MOTORS Systems OverieW 2 12 Brushless Servo 9 96 15 14 Syst cete 16 Brushed Systems 18 s 20 gt 21 S 2 27 Controller Drive Combinations 30 MS FN 31 MS cc 34 DMS CO c 37 39 10 MUS 44 DEN om K as 46 n unn 48 50 MRV Brushless Servo Motors 51 MRS Sepper Motors ea SS 55 amp MRBN Brushed Dc Motors Bn MECHANICAL ACTUATORS NEVE 03 Basic 26010002 e e EE 05 69 BCSIMCS MLS 14 MES on La 16 Serge 18 Belt drive Actuators 81
18. 0 3800603 30972 05 2005 oos 3009073 009219 cocss 3600 6148 3410 9074 3600 9218 0006 MY 342 EE 9600 9219 0005 MRB3HN 300600 34109073 30009219 COOS 0005 BELT DRIVE DIRECT DRIVE MOUNTING B3B US Standard amp M3B Metric PLATE FOR THE MRB40x SIDE BOTTOM DIMENSIONS SPECIFICATIONS B3B Dimensions in inches 83810 83815 B3B20 L G L G L G mv S6 50 381 Gat 356 750 MRV34_ 153 55 356 656 35 750 MRB23_ MRB34_ MRB40_ M3B Dimensions in millimeters M3B10 M385 M3B20 O _ MRV23_ MRV34_ MRS34 MRB23_ MRB34_ MRB40_ BCB Dimensions in inches 15 ok _ MRS341 MRS342 MRS343 MRB342 MRB342N STUB SHAFT OPTION A o0in dia x 1 87 in long stub shaft in place of the direct mounted motor is avail able Motor Mounting Kits for stub shaft actuators are treated as a special NOTE All configurations are viewed from motor end of actuator with carrier up e If customer chooses to provide motor items and or reduc tion drive these items must be provided to the factory for assembly BELT DRIVE REDUCTION DRIVE MOUNTING DIMENSIONS SPECIFICATIONS B3B US Standard TOP LEFT SDTL B3B10 MOTOR IN y MRV232 MRV233 MRV234 MRV341 MRV342 MRV343 MRS341 MRS342 MRS343 MRB231
19. cc cc crc cc ICC I CC CC CC CC CC CC CC CC CC CC CC CC CC CC CC CC OC CC CC CC CC gt gt Z gt lt lt RS E 5 lt lt lt lt lt lt o o cO cO cO j Jj E lt LC LD O ic P P P PM SNS AT AP AL QAP AT AP AL AP so lt 2 2 so so RL so so sp ex N lt 5 gt a lt gt co lt lt 854 lt E lt B co ex exu exu ex co eo co d 2422 2229 eo eo oU 5 55 o cie gt gt lt gt lt gt lt 2 lt gt 65 6 YES t t x Irc FES FEO rc re rc rc tc re ce re ie te lt gt lt gt LO LO i lt gt 25 2 2
20. CATION N DM C Open Loop Brushed DC Controller Driver 3 9 rTl Basic Controller Inputs Decel CWICCW Limit switch inputs for accel decel profile CWICCW Starts move after end of move Brake CWICCW Limit switch inputs to provide braking profile Initiates home move after power up or reset 12 Open connection clears faut 05 105 vde analog speed signal input E 4 20mA 4 20 mAdc analog input Basic Controller Outputs 4 EOMCW CCW Defines start and end of end of stroke Fault Out Trip indicator Outputs are open collector for sinking up to 50 mAdc 50 max Basic Controller Outputs to dc Drive AccelDecel to On Off input Brake CWICCW 4 Speed a toReset2 Potentiometer 25 turn potentiometer to set dwell times at each end Max Dwell Time rive Power Current AC line 115 Vac 60 Hz 85 128 Vac range iu d Output Voltage Continuous Current Peak Current 1 Max Power Frequency 20kHz PWM vs Potentiometer 0 1 5 Vde to Voltage Reference 100 PWM 4 1 Auxiliary Speed Control Potentiometer Range w 10K Q range for externally provided potentiometer included with drive Analog input 1 5 to 4 1 Vde cel Deceleration Range 0107 0 seconds Over Curr
21. DIMENSIONS MSD MICROSTEPPING MOTOR DRIVE E 2 3 00 5 45 lt as 138 4 NE 15 25 lt 202 3 613 OVER TEMP e OVER CURRENT Q RESOLUTION 807 8 00 227 8 203 2 MSD 9 25 MicroStepping 234 9 Motor Drive TOL O MATIC INC Hamel MN MOTOR N LIT al _ SS SS X se SS SS SS SS SSS x SS Z SN S SS SS X SS X S SS Y 30 54 6 134 6 7 Dip switch covers included Drives MRS series stepper motors to provide motor drive Two 2 mounting brackets included system performance shown in the MRS motor section see pages 55 56 s i Easily integrated to the SSC multi axis multifunction con Orderi ng Information troller see pages 21 26 When ordering with controller all Configuration Code Includes Tol O Matic Part 4 interconnecting cabling is automatically configured and mm NN Ia included MsD Microstepping Drive 3600 0039 Integral to single axis controller MSS see pages 31 33 User Manual DMCLDC BRUSHED DC SERV MOTOR DRIVER FEATURES SPECIFICATIONS DIMENSIONS ORDERING The DMCLDC driver is the solution for applications that require a servo system but do not justify significantly more expensive brushless motors and digital servo drivers This driver was des
22. Sinking Switch with 5meter lead and quantity desired SNA Solid Nut Standard Rolled Anti backlash TM Halleffect Sourcing Switch with 5meter lead OD and quantity desired BN Ball Nut Precision Rolled Sourcing Switch with 2 meter lead OD and quantity desired BNL Nut Precision Rolled Low backlash Halleffect Sourcing Switch with 5meter lead and quantity desired CM Switch with b meter lead OD and quantity desired Switch with 2 meter lead OD and quantity desired LEAD SCREW PITCH Screw Drive Models Only TRIAC Switch with 5 meter lead and quantity desired STANDARD MODELS METRIC MODELS 01 1 Tumper Inch 02 25mm per Turn EE MOTOR MOUNTING REDUCTIONS 02 2Tums per Inch 05 5mm per Tum BELT DRIVE BCB DIRECT MOUNT SCREW DRIVE ACTUATORS 04 4Tums per Inch 12 12mm per Tum DDR Direct Drive on right IMI Inline mounting 05 5 Tums per Inch 25mm per Tum DDL Direct Drive on left RPL1 1 1 Reverse Parallel mount left 08 8 Tums per Inch RDTL 3 1 Reduction Drive on top left RPR1 1 1 Reverse Parallel mount right 16 16 Tums per Inch RDTR 3 1 Reduction Drive on top right RPB1 1 1 Reverse Parallel mount bottom RDBL 3 1 Reduction Drive on bottom left 1 1 Reverse Parallel mount top BELT MATERIAL AND WIDTH Belt Drive Actuators Only RDBR 3 1 Reduction Drive on bottom right RPL2 2 1 Reverse Parallel mount left BWP05 inch Polyurethane Steel Belt BCB15 RPR2 2 1 Reverse
23. MaSD10 Wx THU J 67s S L0 dii BE DIL UAR CAR GL HE 109015 Mex 1 0THRU Mix 1 0THRU 1346 THRU REIS DUAL 100 CARRIER FOR B3S AND B3B ACTUATORS CLICK ON CAD FILE B3BD10 B3BD15 AND B3BD20 ETT a U TAPPED HOLE DIMENSIONS B3B SERIES ACTUATORS B T DOWEL HOLE 2 A STROKE STROKE 2A B3B Series All dimensions in m MODELS C 0 G H B3BD10 B3BD15 38020 25 252 251 X 25 5500 22955 vcore 3 3 U vV 6463X 64 6463X64 916 18 13970 36 16 FLOATING MOUNT BRACKET FOR BCS AND BCB ACTUATORS Available on BCS and BCB dn EM screw and belt drive actuators 5 I Th CSE bracket E kits compensate guided loads are not parallel to u o for non paral lelism between TES LIRE I Uu His the actuator to eliminate actua tor binding Use of the floating mount bracket option adds 014 0 36 mm to backlash the actuator and an external support guidance A pi E s H N mast BCS and BCB Series All dimensions in inches MODELS PART NO B C 0 G H J K L BIMYCS10 0510 9007 15 05159097 425 212 090 180 175 350 585 292 5648 BIMICS20 0520 9007 231 22 4M 737 38 16 3 02 MODELS PARTNO BINMCS1O 0510 0007 t Te Ta 0515 9007
24. TT NINININI NINI c gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt 2 2 LLI cO cO cO cO cO cO lt l oD OD c OD oo ye oo SO SO LO SPY D gt D LO LQ LQ LQ O OQ O O 7 S lt N lt lt cN ED rO rO gt O O lt lt J co rO S c O c O c O lt TX GO GB cO 62 CO OE CO CO CO CO CO lt gt CO OF c O lt lt lt CO D q lt
25. Co lt gt 2 2 2 2 lt SH lolo cO lt gt lt O lt O cO cO OD OD OD CO OD OD OD OD OD OD nr ML Ue MEN o c Au Aur uu qx MEE Tr MIS rm CNI CNI N NI NI CNI CNI CNI CNI CNI CO CNI CNI CO CNI CNI 2 25 25 25 25 51 25 5 25 51 21 251 21 2I 2i e 2 2 73 gt 9 9 gt 52 lt lt lt lt lt 5 5 lt lt lt lt lt O lt 2 I 2 2 2 EM 2 gt 2 mT 24 gt I 2 2 gt 2 T IS F eae j T T I T BE TIL L SID CD CD CD CD CD SH CD CD CD CD CD CD CD CD CD CD CD CD CD CD CD o ID CD CD CD CD
26. a CO WI cO cO cO gt gt CC c cC cc CC gt gt gt amp S 9 DI 9 gt 9 gt JE Eel o Ee IE lt gt r gt exi Be lt gt BS lt gt SO pai C BENED gt EA lt gt c aa lt gt lt gt lt gt c lt gt lt gt lt gt lt gt lt gt lt gt C gt gt gt NI gt gt gt gt gt gt gt gt gt gt gt cc cc CO cc t t cc cc cc cc CO cc PO 3 i Sl tie Bl G G 0 CO CO CO CO CO CO CO CO
27. 00 IEEE RETRUTIN BID E RN M3S20 1000 349 104 M610 5350 belt drive actuators are available In two different body styles and bear Ing systems for applications requiring longer E strokes and faster speeds i iu k n TU ii ERA ra d i 1 l jP i mW bi 5 1 i n EM IL i m 1 L ug e eu L ECTS n 1 1 LI he _ br wi 7 1 1 l i Er i M 1 AW T A al 1 ai 3 P 1 CLE AL j FEDES Sc m d a 84 Bui l 1 n ET a um rU i 1 Lode i 1 aw T b nn di 1 E pa i a4 1 E k J 1 M i i M i al Me MO NE T g 1 uM i Tif a m k A f n A i 1 LE T oe eum i ks LI T l I i in P m Fu 1 LP Epi Heavy duty recirculating bearing sys Moderate load carrying capacity cylin tem for high load carrying and d
28. co lt gt gt lt gt gt lt gt gt lt gt gt gt gt gt lt gt gt lt gt gt gt lt gt o o o lt gt gt lt gt gt lt gt gt lt gt gt gt gt o gt gt gt gt lt gt gt gt gt lt gt lt gt o LO gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt LON J MR RE lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt LD lt gt lt lt N LO J LO 100 lt
29. h w II 4 WA y Pp Le 3 wu b Pp B E i m A wu p Axidyne controllers are available for brushless microstepping and brushed dc systems Used with Tol O Motion motion control software these controllers solve complex motion control problems with ease Axidynes high perfor mance state of the art motion controller for up to 4 axes of servo or stepper control This motion controller provides the simplest quickest way to get up and running SSC 1 4 SERVO STEPPER CONTROLLER FEATURES SPECIFICATIONS PROGRAMMING DIMENSIONS CONNECTORS ORDERING The SSC is a high performance state of the art motion controller designed for stand alone operation Using a 32 bit specialized microprocessor a custom sub micron gate array and the Tol O Motion SSC visual basic software the controller provides DSP performance without sacrificing ease of use and cost effectiveness The SSC is available with up to 4 axes per unit allowing the user to purchase only the number of axes required The 55 can also be used to control stepper and or servo systems Designed to solve complex motion problems with superior precision SSC can be used for applications requiring jogging vector positioning of 1 4 axis 2 D linear or circular interpolation contour ing and electronic gearing With the Tol O Motion SSC software there is no need to learn another new programming languag
30. lt gt lt gt 5 5 5 5 lt 2 lt gt i gt gt IL ELE C S OL m CD C5 1D CD CD ICD CD CD CD CD o CD CD CD CD OD CD CD gt o o lt gt gt lt gt gt gt gt lt gt gt gt gt lt gt gt gt gt gt gt gt lt gt o o lt gt gt gt gt gt gt gt lt gt gt gt o o o lt gt gt LO Rm F F lt gt lt gt lt lt lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt F F RE lt gt lt gt lt gt lt gt lt gt lt gt lt gt Ir lt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt lt lt gt lt lt gt lt lt gt lt gt lt gt lt lt gt lt gt lt gt lt lt gt lt gt lt gt LO St lt gt xo lt gt
31. lt lt lt lt lt lt lt lt lt lt lt lt lt gt lt lt lt lt lt lt lt lt lt lt lt lt lt lt gt lt 5 lt 5 lt 5 lt gt lt gt lt 5 lt lt lt gt lt gt SIS Sl lt 5 lt gt lt gt lt gt lt gt lt gt lt 5 lt 5 LSI ISIS LS S S S lt gt lt gt lt gt lt lt gt lt 5 lt 5 lt 5 lt 5 lt 5 lt 5 lt lt gt LO LO LO LO r gt LI LI N N LO LO LO LO n C Q Q LO LO CNI N LO5 O O Lo LO LO LO LO LO LO LO LO LCD LO LO LCD LO LO LO LoD LO LO LO LO LO LO LCD LO LO LO LO LO LO LO LO LO AME v jp pur I Lex m nr Ur n rm n qx Uc AMEN D MINE Ur lt lt lt O cO cO cO cO cO lt lt 0 1 1 1 1 1 1 lt lt lt lt gt cO OY lt gt lt gt lt gt lt gt gt lt gt lt gt lt gt lt gt lt gt a lt gt c c lt gt lt gt lt gt lt gt OY lt gt lt gt OY OY lt gt lt gt lt gt LO LO LO LD
32. s 5 meter with PVC jacket m CABLE 2m or 5m Quick Disconnect Data available from manufacturer with PVC jacket 123322 2 1333333334232 i SWITCH UNIVERSAL SWITCHES PERFORMANCE DATA SPECIFICATIONS BCS MCS BCB SWITCH DIMENSIONS SWITCH DIMENSIONS r SENSING SURFACE E MODEL 29 36 12 ss zs 35 1 Dimensions in inches Dimensions in millimeters NOTE The scored face of the switch indicates the sensing Some actuators may require switch mounting on a specific side of the surface and must face toward the magnet assembly Call Tol O Matic 1 800 328 2174 for details B3S M3S B3B M3B SWITCH DIMENSIONS MODEL Le B3S10 B3B10 194 B3S15 B3B15 160 14 3520 20 036 19 Dimensions in millimeters SLS10 MLSLO SWITCH DIMENSIONS SENSING SURFACE TN SYSTEM AXIDYNE ACTUATORS MOTORS AND CONTROLS SELECT THE ACTUATOR REQUIREMENTS BASE MODEL 0000007000 00700 0007000 00900 0 0000 020 000060007 nm MODEL TYPE TUBE SUPPORTS AND MOUNTING PLATES both may be selected BCS Series Standard Electric Screw Cylinder TS_ Tube Supports and the quantity desired MCS 5 Series Metric Electric Screw Cylinder MP Mounting Plates SLS Linear Slide Standard Electric Screw MLS Linear Slide Metric Electric Screw FLOATING MOUNT BRACKET BC
33. gt O5 O5 o o O5 o gt gt gt gt o LO O O 100 o O5 OO oO oD SD WP LA O ILD lt gt OID O5 gt o o cD LO LO OO lt O lt lt O lt O cO lt lt lt lt O lt O lt z lt lt lt lt O lt O lt lt O lt gt lt gt lt gt lt gt lt lt gt lt lt D lt D O LD LD LED LD LE LD LO LO LO FLED LED O LD LOD O LO O O LO LO LO LO LD LO O LO gt lt gt LO LO LO O LED O LO O LO gt O cO so lt lt O lt O lt O lt gt lt O lt O lt O lt O e lt lt gt lt gt lt gt lt gt lt gt ool lt gt lt gt lt gt lt gt lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt lt lt gt lt gt lt gt lt gt lt gt lt SH OS OY o
34. 2 L r For use with Axidyne MRS motors this stand alone unit is the simplest and most cost tive way to provide single axis eee motion to s stepper 27 motor actuator systems LL For use with Axidyne MRB motors this low cost controller drive module is intended for systems that do not require position feedback MSS MICROSTEPPING CONTROLLER DRIVER FEATURES SPECIFICATIONS PROGRAMMING DIMENSIONS ORDERING To O Matic s Mss stand alone ed programming to be achieved by even microstepping controller drive system iS the most novice user through icons absolutely the simplest and most cost arranged in a simple easy to follow for effective way to provide single axis mat Once programmed over the R5232 motion to To O Matic s stepper the PC may be removed and program motor actuator systems The Tol O interaction achieved through or the Motion Mss software allows sophisticat PIT Panel Mount Interface SPECIFICATIONS MSS Microstepping Controller Driver i Power Input Current AC line Varies with motor amp load 6 0A max at 110 Vac Input Voltages AC line 110 or 220 Vac 20 6092 switch selected AC line Input Fuses AC ling 6 34 time lag TRO style Motor Current Output 0 5 5 5 A phase peak Internal Bus Voltage 80 Vdc unregulated Parameter Ranges 110 16 000 000 steps 025 to 50 revolutions
35. gt lt gt lt lt lt gt mS MW lt D O O LO LO gt gt FLED 100 O 1 lt gt gt gt o lt D lt D o o lt gt gt 10 1000 100 gt gt gt gt gt gt gt gt lt cD cD gt cD o o O CO CO CO CO co lt O lt O lt O lt O lt O lt O CO CO lt OO lt O OO CO OO TCO OM CO OH lt O lt gt lt gt lt gt CD gt lt eO lt lt e eo OOOO lt gt c lt gt TST lt gt lt gt c gt gt lt gt LO LO LID LO LO LO LD 10 O WP gt LED LAD O WM gt 100 LAD L D 1 gt L D 1 gt LGD 1 gt LAD gt gt gt LA 10 1 gt 1 gt 1 gt 1 lt gt LAD LAD LD ic 1 gt LD ILD 100 a lt lt
36. sizes Bass 35956 O MPV231 22 293 234 B5 34159057 MRB34 300 33 4042 323 MEV341 942 343 DB 30956 MRBallframe sizes MAValfame sizes MAV all rame sizes B3SDb 50159061 MRS allframesizes sizes MBV all rame sizes MAV all rame sizes MBV all fame sizes MRV all rame sizes _ N MOTOR Na MOUNTING Pc l MOUNTING DIMENSIONS COUPLER AND MOTOR MOUNT KIT SELECTION GEARHEAD DIMENSIONS AND SELECTION Eu me MOTOR MOUNTING KITS Designed for a variety of dc and stepper motors kits include mount ing bracket spacers and mounting bolts ohatt couplers are not included see pages 99 102 for available selections GEARHEAD REDUCTION Used in applications requiring reduction for inertia matching or higher torque at lower speeds When overall length is a design con straint these standard factory assembled configurations allow off set mounting of the motor to either side of or below the actuator The options are available on BCS MCs 35 and 35 screw arive cylinder style actuators They can be select ed with appropriately rated Tol O Matic motors and with 1 1 or 2 1 drive ratio Reverse parallel units use a rugged toothed belt for quiet zero backlash coupling of the motor to the actuator s
37. F F lt F lt F cx Wd E F F F F F F F F F F F E E u I i I I i lt CNI CNI CNI CNI lt Ole ol aol lt gt ea OO OO OO OO OO OO OO OO OO OO OO OO vx x NI ec c c c lt gt LO LO LO LO LO LO LO LO LO LO COO cO cO cO LO LO LO LO LO LO CO 1 F F F F F F F CO CO lt F lt F lt F F lt F CO cO a e N N vb 5 to lt gt 5 Ce te te nol 55 155
38. gt lt gt lt gt lt gt lt ol gt cp gt gt gt c N CNI O NI C F ST c cH cX cO cO cO gt gt cc crc cc cc c ec ec ec ec SLS Style US Standard MLS Style Metric BCS Style US Standard 9 9200 09203 05209203 05209203 05209203 05209200 05209200 05209200 05209203 05209200 34 5 gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt lt gt gt gt gt gt gt gt gt gt lt gt gt gt gt gt gt gt gt lt gt gt lt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt lt gt lt gt lt gt lt gt lt lt lt lt lt lt lt
39. lt lt 5 lt 2 2 x FS FS J S_ C C 5 2 S S J S_ C D CO CO CO CO C lt lt C5 C5 lt lS lt lt OS S S S SEE LO SO SOO S S S OEE IF IF LOO SO SOI SOI SOI SOI SO S ol FE 77 2 Clr i im 2 2 gt 2 gt 2 Ee 2 Se 2 OD eee 9 lime o9 EMI BEBE r 26 ER ERES E E ER T CD CD O CD cD CD CD ICD 5 CD CD CD CD 5 gt gt gt lt gt lt gt gt gt gt lt gt o Io o lt gt gt lt gt o Io lt gt gt gt gt gt gt gt gt lt gt gt lt gt o gt lt gt gt lt gt gt gt gt gt gt gt gt gt gt gt lt gt gt lt gt o lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt r lt gt lt gt IF lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt lt gt F lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt lt LO LO LO LO LO
40. lt lt lt lt lt lt gt gt lt gt eo O O lt gt lt _ a a O O lt gt lt gt IO lt lt gt gt Cw cc gt gt aI a aI a oo CO CO CO CO CO CO ceo CO CO CO CO CO CO CO CO lt O CO cO lt O CO TCO OH lt O CO OD OD OD OD p p NM vv 4 v IT MINE WIN UI Oe c Inm ww uwu luxl CN CN CNI CNI NI lt O2 NI NI NI OD OD TN CNI imm 2 mm 2 2 gt 2 2 m 2 lem gt gt je gt Emm gt e 2 jm O9 je o2 LEE EE EERE ESL EE ZEE ZEE ZEE I ES lt
41. wt inertia Inertia Rotary NOTE Mass inertia A Om ome ew ur wow oe uer ur er gnaw 1 546x107 101 107 O met 27009 885 107 xO wir w 1 asot XIO 1x0 gnam s 946 16 kym ww 0 1 am eet dei 29x05 295 1 29x07 2B Wf ama a sw 1 MO 98x10 6 Angular Velocity Linear Velocity mm ANN iin ommo 1 0 mec o 5s 1 e m m 9 9 m uw ma _ m 32 159 33 3 1000 Abbreviated Terms C Celsius horse power in minute revs per minute cm centimeter in inch millimeter revs per second F Fahrenheit kilogram meter seconds ft foot kg f kilogram force Newton g gravity kw Kilowatt ounce force gm gram Ib f pound force ounce mass gm f gram force Ib m pound mass radians BASIC SELECTION CRITERIA ADVANTAGES OF A Brushless Servo System MAGNETS A Extremely smooth and quiet operation lt A Good for high torques up to 45 in lbs 5 08 continuous S 4 140 imbs 15 82 N m peak A Good for high speeds up to 6 000 RPM A High resolution 4 000 counts per revolution A Provide torque control A Good for short repetitive moves A Maintenance free d A No moving contacts WINDINGS Brushed DC System A Low
42. 20 Bal co 1 gt 1 cO cO gt gt LLI OC FF LLI 1 BOB JSCREW DRIVE 1835 BCS 110 1115 SCREW TYPE ACME Single Anti Backlash Operating Environment Graph your most demanding cycle include accel decel velocity and dwell times You may also want to indicate load variations and I O changes during the cycle Label axes with proper scale and units Motion Profile Actuator ion Yes No Synchronized Feedback Required Move Profile Trapezoidal Constant Speed Distance METHOD MOVE TIME Multiple Incremental Feedback Dwell Time After Move METHOD MAX SPEED Lu LL a c gt 2 Accel Decel Time Move Time Input Functions Output Functions Axes of Mot FAX TO TOL O MATIC INC 612 478 8080 x TERMS CONDITIONS OF SALE 1 ORDER OF ACCEPTANCE All orders or services are subject to acceptance in Minnesota by the written approval of an authorized official of Tol O Matic Incorporated Any such order shall be subject to these Terms and Conditions of Sale and acceptance shall be conditioned on Purchaser s assent to s
43. Dimensions in inches c n5 ed RS gt c Ro Ro e c e co gt c I lt gt 5 C e e T c lt gt gt gt c gt gt gt 1 60 Co Bun C1 S O31 c el e l gt mb OS I A 1 35 2 160 135 BOTTOM LEFT SDBL B3B15 MOTO MRV231 MRV232 MRV233 MRV234 MRV341 MRV342 MRV343 MRS341 MRS342 TOP RIGHT in MRV233 MRV234 MRV341 MRV342 MRV343 MRS342 MRS343 MRB401 B3B20 BOTTOM RIGHT SDBR Dimensions in inches 90 18 160 1000 135 00 Reduction Inertia at Motor Shaft 83810 31 MRV23 84 2 77 oz ir MRV40 3 19 02 1 B3B15 31 MRV34 40 4 85 0241 B3B20 31 MRV34 40 4 85 0741 Weight of Reduction Drive B3B10 4 4 Ib B3B15 481 MRS343 MRB231 MRB231N MRB401N MRB402 B3B20 481 Reduction Efficiency B3B10 0 95 MRB341 MRB3AIN MRB342 MRB342N MRB401 MRBADIN MRB402 MRB402N MRB341 76 7 48 MRB342 MRB342N T MRB401 MRB401N MRB402 MRB402N B3B15 035 B3B20 0 95 BELT DRIVE REDUCTION DRIVE MOUNTING DIMENSIONS SPECIFICAT
44. Es Base Weight incl carrier 8 40 lb 3 81 kg 8 50 lb 3 85 kg Weight per length of stroke 0 33 149 6 0 38 loin 149 6 g mm 2 Belt Weight per inch 0 044 oz 124 g 0 067 oz 1 89 T Inertia Drive Idler Wheel 0 46 02 1 84 13 gcm 0771 ozzin 129 8 5 Dead Length 17 18 4363 17 18 in 436 3 mm For Dual Carrier option refer to bending moment chart on page 88 2 21 3 4 60 72 108 120 132 14 DISTANCE BETWEEN SUPPORTS LOAD WEIGHT kg CLICK ON CAD FILE BCB15 DIMENSIONS All dimensions in inches 1 4 20 X 40 DEEP 516 18 X 37 DEEP 1 4 20 X 50 DEEP amp BELT DRIVE ACTUATORS PERFORMANCE DATA SPECIFICATIONS DIMENSIONS CARRIER LOAD kgs m 90 7 104 2721 328 4939 543 6350 725 7 8164 1 _ E iil 0 600 800 100 1200 1400 1600 1800 2000 CARRIER LOAD Ibs m E FUE IET 0 5 STANDARD METRIC B3B10 B3B15 B3B20 M3B10 M3B15 M3BO 1033 in4b 1472 in b 304 N m 116 7 166 3 859 in lo 1662 17 0 28 2 N m 97 1 596 11 0 95011 0 179 N m 67 3 MAX DISTANCE BETWEEN PLATES mm L c lt gt A WwW 3000 RT 1360 7 co O c OO O O SPECIFICATION Max Bending Moment
45. LO LO 10 N OD OD OD LO LO N LOD LOQ LO LO LO LO LO LO LO N CO LD LOD LOD LO LO LO LO LED LO LO LED LO LO LED LO lt lt gt lt gt lt gt lt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt LS lt gt lt gt lt gt lt gt lt gt lt gt lt gt SI lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt xr lt gt lt gt lt gt 1 gt lt gt lt lt lt 5 lt lt lt SS lt lt gt ha E TM Iq ey TM em TM nuu TM TM ee s gt TM q TM TM c s D
46. NOTES 1 Allow 3 00 76 2 Clearance in Front of Unit for Cables 2 Allow 50 12 7 on Both Sides of Unit Note 24 DIMENSIONS SSD10 SSD20 BRUSHLESS SERVO DRIVE 65 1 150 Los L 13 3 5 08 0 73 129 0 0 25 6 3 186 CLEARANCE ae HOLEFOR 10 M5 SCREWS P roli 7 80 186 7 198 0 ER Lefo P p amd Zu REF AIR m 5 5 Not 800000000000000 1 0000000000 NOTES 97 3 1 Allow 3 00 76 2 Clearance in Front of Unit for Cables 2 Allow 50 12 7 on Both Sides of Unit Note 2 FAN ON SSD20 ONLY FEATURES SPECIFICATIONS DIMENSIONS ORDERING The MsD is a stand alone microstepping drive making it a low cost solution for use with in multi axis stepper applica tions With switch selectable current settings the MSD is the d perfect drive for all of Tol O Matic s MRS high torque step per motors EE x i ql MT NCC across mato Breve qop oA THC HE F Features Motor current from 0 5 to 5 5 amps phase switch selectable 51 settings Built in 80 V power supply accepts 110 or 220 VAC power MOSFET pulse width modulation switching amplifiers 3 state Step direction amplifier enable inputs fault output optically isolated 2 MHz max input frequency 16 swit
47. Not isolated from internal circuitry Pu du STEP amp Dir logic high STEP amp Dir logic low STEP output frequency STEP output duty cycle 1 0 7 ins Inputs M Input impedance IN 1 4 W Jog CCW Jog limits Outputs output current Out 1 3 output voltage Out 1 3 Environment P Ambient Temp Range 2200 Ohms optically isolated sourcing or sinking 100mA max 24Vde max 7 2 0 E i 0 a 3 b 0 25A fast acting TRO style to 16 000 000 steps ES bidirectional optically isolated 5 24 Vdo j 8220 122 F 010 50 C MSC PROGRAMMING POLO MA TIC INC OOO Jog Parameters Speed 3 975 User Units 4l name inch Accel 24 Hev s s steps Inch f Use Jog Cw as Input 5 Use Jog CCW as Input port LINE E Programmable by RS232 connection to IBM compati ble PC running Windows 3 1 Windows 95 or Windows NT Programming software and cable included Programming is very easy to learn and requires no previous programming expe Programs can be up to 100 lines long Instructions are pow erful so 100 lines can provide the user with a sophisticated program For example in one program line the motor can be moved until a sensor changes state then fed a precise dis tance to stop delayed and returned to the
48. cC cr cr CGC CE E lt 3 lt gt SI lt gt SI lt gt lt SI SI lt gt SI SI SI lt lt lt lt gt ec and MOTOR COUPLER KIT BCS US Standard continued Part 0109 09 09 09 09 09 5 9201 5 9201 5 9200 3415 9204 0915 9157 0915 9157 600 9204 600 9204 600 9206 600 9206 600 9206 600 9212 600 9216 600 9216 oD cv lt gt SY SI SY SI SI SI SI SI 5 SI gt lt lt gt Ee gt gt lt gt lt gt Ee lt gt gt gt lt gt I S e o gt gt gt gt gt lt gt mI gt gt lt o Ee e e I o lt gt lt MOUNT KIT odd Part 3600 9204 00 08 002 002 ojj lt p lt gt
49. gt 5 gt r7 x x x x qx x r lt NI cNI CN cNi N 29 5939 2 SS 2 D OS OO 2 TSS D l 2 Je 9 gt lt 5 lt SS ES c2 EI co O co co c5 c5 esi 51 c 52 2 2 esi c eil co 5 5 5 SS ESI S LISIS WET mimi OO lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt So lt gt lt gt lt gt lt gt lt gt lt gt lt gt gt co lt 5 105 5 lt 2 IN 5 5 5 5 5 lt 2 lt 2
50. tered inputs Drive fault output 3 general purpose optically isolated outputs for interfac ing to other equipment USER INTERFACES PIT PANEL CONTROL Control Software allows setup amp programming with intuitive icons Joystick and Mouse teach modes Up to 4 axes per unit up to 4 units can be daisy chained Industrial enclosure Uses 32 bit specialized microcomputer and custom submicron gate array for highest performance and Speed 9 000 000 counts sec encoder feedback allows high speed operation 2 encoders per axis 4M non volatile EEPROM memory for executing cus tom applications pro USER INTERFACES STEPPER DRIVE CONTROLLER MULTI FUNCTION AXIS operation Multitasking feature permits simultaneous execution of four independent applica tions programs Performs any motion task including jogging point to point positioning linear and circular interpolation elec tronic gearing cam and con touring Relative and absolute posi tioning with more than 2 000 000 000 counts per move Dedicated optoisolated inputs for home abort for ward and reverse limits noise immune Ste nt types of user friendly interfaces JS ST JOYSTICK HAND HELD SSC Controller TolO Motion SSC Motion grams permits stand alone 8 uncommitted optoisolat ed inputs and 8 programme ble outputs 7 analog inputs with 12 bit ADC for interface to joy sticks Sensors pressure t
51. 21 Latch Y or Input 2 23 Latch W or Input 4 25 Motor Command X 27 Motor Command Y 29 Motor Command 2 Motor Command W 10 Reverse Limit Y 12 Forward Limit 7 14 Home Z 16 Reverse Limit W 19 Output 1 20 Latch X or Input 1 22 Latch Z or Input 3 24 Abort Inout 26 Amp Enable X 28 Amp Enable Y 30 Amp Enable Z 32 Amp Enable W 23 Input 3 Latch W 25 Input 1 Latch W 93 At X 35 36 3 hA 38 X 39 MY 40 41 B Y 42 B Y 43 Y 44 Y 45 MZ 4 2 47 8 7 48 B Z 49 7 50 rH 51 AW 52 A W 53 B W 54 B W 55 W 56 IW 57 12V 58 12V 59 00 Ground SSC 5 GENERAL 1 0 26 PIN IDC 1 Analog 1 2 Analog 2 3 Analog 3 4 Analog 4 5 Analog 5 6 Analog 6 7 Analog 7 8 Ground 9 5V 10 Output 1 11 Output 12 Output 3 13 Output 4 14 Output 5 15 Output 6 16 Output 7 17 Output 18 Input 8 19 Input 7 20 Input 6 21 Input 5 22 Input 4 Latch W 24 Input 2 Latch W 26 Input Common Isolated 5 V SSC J3 AUXILIARY ENCODER 20 PIN IDC 1 Sample Clock 2 Reserved 3 B Ax W 4 B Aux W 5 A Aux W 6 A Aux W 7 B Aux Z 8 BrAuxZ 9 A Aux Z 10 A Aux Z 11 B AuxY 12 B Aux Y 13 A Ax Y 14 M Aux Y 15 B Aux X 16 B Aux X 17 A Aux X 18 A Aux X 19 5V 20 Ground SSC J4 DRIVER 20 PIN IDC 1 Motor Command X 2 Amp Enable X 3 PWM X Step X 4 Sign X Dir X 5 6 Motor Command Y 7 Amp Enable Y PWMY Steo Y 9 Sign Y Dir Y 10 11 MotorCommandZ 12 Amp Enable Z 13 PWM Z Step Z 14 Sign ZDirZ Motor 16
52. 2691 0 2500 0 W 156 0 Max Load Fy 596 1454 b Fx Mb 840 0 Weights Carrier Weight 85 b Base Weight incl carrier 7540 Weight per length of stroke 386 bin Inertia Drive Idler Wheel 501 oz i TNT 91 6 g cm 185 2 game 19039 g cm 0 0 12 15 18 21 24 27 30 33 36 39 Pre Load Torque 423 N m 635 Nem 1 694 N m DISTANCE BETWEEN PLATES in L Y Breakaway Torque 1607 30 ozin 113N m 212N m 286N m without carrier Dead Length 2 x dim 1356in 1884in 1866 3444 mm 4785 mm 4739 mm 910 8 kg 525 7 kg For Dual Carrier option refer to bending moment chart on page 88 CLICK ON CAD FILE B3B10 B3B15 or B3B20 DIMENSIONS W 000 TAPPED HOLE 4 F rim ERE EM 24 SECTION A A Lx MDP B d er 4 EQ SPACED ON A N B C 4 AS SHOWN STROKE 2A 4 OPPOSITE NOTE All B3B actuators come with stub shafts as standard All Dimensions in inches MODELS A B C D E F G H l J K L M N O P B3B10 9501 954 X 25 3536 82815 2521251 X 25 35 3000 B3B20 2521251 X 25 35 3998 MODELS Q R S T U V W X Y Z AA BB CC DD 83815 83820 TOWELPNS All Dimensions in ek MODELS A fe E H B3B10 m 826 50815 DUAL CARRIER BCS BCB SLS B3S AND B3B ACTUATORS Available on three body styles of Axidyne actuators the Dual C
53. 296b 3093kg 7620kg 10449 DUAL 180 CARRIER WEIGHTS U S STANDARD METRIC E3S 6 10 835815 78356820 3508710 358 20 Base Weight AM of stroke 087 160 26b O4kgs O7kgs 2kgs CLICK ON CAD FILES B3SD10 B3SD15 B3SD20 NUT FOR SLOTS DIN Ic NS SIONS B3S SERIES ACTUATORS GG CENTERED ON HH La ILI ll 0 D DOWEL HOLE OPTIONAL TUB SUPPOR 8 4 AS SHOWN 4 OPPOSITE SECTION OUTLINE ONLY STROKE 2A B3S Series All dimensions in inches MODELS A B C Dt EFG H IJKLM P QORSUVW B3SD10 za a u 22 laa ral en Pe a Pea aahua wana pa melon EE e O fee B3SD15 8500 IIC 1 UE X Y Z M HH NN 00 PP QQ RR 855010 roate s lira eal cfu wens manaa 008 aes 12 1 8 2198 1576 234 34 2188 288 969 94 25 3000 225 375 328 44 5o0THRU 10686 438 062 8330 TEE 288 ou s os MIE ICSE IETS I 016 i Mr 315 8 0mm for models B3SD15 BN02 and BNR0 2 M3S Series All dimensions in ain S K L M R S U V W 19500 714 982 1270 TM zalu os EIE nn m rl E 5 5545 M3SD15 1064 1715 1270 6051602x64 800R 10 0 1 MBx 125THRU M E 16 86 S7 9408 MI 12 00560264 asl oat 8x125 THU xine 12 82010 o 8885 MODELS X Y Z M BB DD EE F
54. 8 DELIVERY Delivery of product s by Tol O Matic Incorporated to a carrier shall constitute delivery to Purchaser and regardless of freight payment title and all risk or loss or dam age In transit shall pass to Purchaser at that time Should shipment be held beyond scheduled date upon request of Purchaser product will be billed and Purchaser agrees to accept any charges for warehousing trucking and other expenses as may be incident to such delay Great care is taken by Tol O Matic Incorporated in crating its product Tol O Matic Incorporated cannot be held responsible for breakage after having received In Good Order receipts from the transporting carrier claims for loss and damage must be made by Purchaser to the carrier within 14 days from receipt of goods Tol O Matic Incorporated will assist insofar as practical in securing satisfactory adjustment of such claims wherever possible Claims for shortages or other errors must be made in writing to Tol O Matic Incorporated and any additional expense of the method or route of shipment specified by Purchaser shall be borne by the Purchaser 9 SHIPPING SCHEDULES quoted shipping schedules are approximate and will depend upon prompt receipt from Purchaser of confirming copy of Purchase Order Dimensional drawings and specifications submitted by Tol O Matic Incorporated to Purchaser for approval must be returned to Tol O Matic Incorporated within 10 working days with app
55. Configuration Tol O Matic Code Pte _ P 3000967 _ PIT 4 90 1 38 3 875 98 4 CENTERED gt lt 2988 me Ni 4 90 124 5 1475 CENTERED 1 975 50 2 0 425 10 8 3 0 J 5 76 2 BLUE Vcc GREEN Ground WHITE Button 2 RED Button 1 BROWN X Axis BLACK Y Axis 4 75 120 7 7 15 196 9 3 00 88 9 EL L JS JOYSTICK SPECIFICATIONS DIMENSIONS For simple setup of the SSC controller the Js joystick provides 2 axis manipulation Used with the Joystick Teach mode of the 0 SSC software moves can be made with velocity control and then stored using a separate button integrated into the joystick housing Ordering Information Configuration Tol O Matic Code Part 15 3600 9162 Ee TONS SPECIFICATIONS JS Joystick Joystick Travel Mechanical Life Cycle Trim Movement Optional Main Ball Pivot Stick Shaft Potentiometers Potentiometer Calibration 27 from design center in all directions 5 million minimum 7 total trim 149 for each axis Precision ground stainless steel 3 16 brass plated Set at center of resistance Thumb tab provides up to 114 of poten tometer calibration Return to Center Repeatability 5 Deflection Force 14 lbs at 27 at 2 7 8 from pivot point Switches 2 elongated pushbutton switches Cable Integrated 7 2 1m cable with strain rel
56. Uses a 32 bit specialized microcomputer and custom submicron gate array for highest performance and speed 4M non volatile EEPROM memory for executing cus tom applications pro grams permits stand alone Operation SIT HAND HELD Up to 4 axes per unit up to 4 units can be daisy chained Multitasking feature permits simultaneous execution of four independent applica tions programs Performs any motion task including jogging point to point positioning linear and circular interpolation elec tronic gearing cam and con touring Relative and absolute posi tioning with more than 2 000 000 000 counts per move Dedicated optoisolated inputs for home abort for ward and reverse limits noise immune MULTI FUNCTION AXIS SSC1 SSC2 SSC3 or SSCA DMCLDC 7 analog inputs with 12 bit ADC for interface to joy sticks sensors pressure transducers potentiometers 16 bit ADC optional 8 uncommitted optoisolated inputs and 8 programmable outputs TolO Matic offers three types of user friendly interfaces PIT panel mount JS joystick or SIT hand held controller A low cost technology to meet basic linear motion needs with smooth quiet motion gt p gt h N P m h diii 1 E 4 WA T T d m k JS x k p N b SM N x 4 b q L wm mn 1
57. dependable and easy to use motion contro D solutions for your application requirements pe WSS Axidyne offers all three types of motion control systems brushless servo stepper and brushed dc available in single or multi axis configurations with performance and cost ranges to fill a wide range of application requirements From lower cost mature brushed dc technologies to higher perfor mance brushless servo systems Axidyne controls and actuator combinations wil get your design up and running APPLICATION DESCRIPTION A manufacturer of surgical tubing winds the tubing on a spool with a constant tension as it is drawn Constant tension is critical so as to not stretch and decrease the opening or wall thickness APPLICATION REQUIREMENTS Constant tension to tubing provided by winding spool Reciprocating tube position guide Tube guide and tensioning must compensate for process speed variations TOL O MATIC SOLUTION For precise tension control the SSD drive operating in torque mode with a MRV brushless servo motor provides an optimal solution The con troller must be able to provide torque adjustment that is inversely pro portional to the spool diameter This adjustment will be made each time the tube position guide changes direction The controller must also be able to provide linear interpolation between the spool motor position and the reciprocating tu
58. from the date issued unless terminated sooner by written notice Verbal quotations expire unless accepted in writing the same day published prices and discounts are subject to change without notice In the event of a net price change the price of product s on order will be the price in effect on the date of order acknowledgment Any addition to an outstanding order will be accepted at prices in effect when the addition is made 4 MINIMUM BILLING Orders amounting to less than 35 00 net will be billed at 35 00 5 TAXES Any Manufacturer s Tax Retailers Occupation Tax Use Tax Sales Tax Excise Tax Duty Customer Inspection or Testing Fee or any other tax fee or charge of any nature whatsoever imposed by any government authority on or measured by any transactions between Tol O Matic Incorporated and Purchaser shall b paid by the Purchaser addi tion to the prices quoted or involved In the event Tol O Matic Incorporated shall be required to pay any such tax fee or charge Purchaser shall re imburse therefore 6 TERMS OF PAYMENT Net invoice amount is due within 30 days from date of invoice sub ject to credit approval A11U2 per month service charge shall apply to all invoices in excess of 30 days All clerical errors are subject to correction All invoices in excess of 60 days will subject that account to an immediate shipping hold 7 0 POINT sales are 0 Hamel Minnesota unless quoted otherwise
59. gt D LC O TN ITN lt gt S lt SI lt lt S ro lt 5 SI SI lt gt N N lt lt gt lt gt So ES lt lt lt gt DAI AF lt lt lt lt lt gt DI SI_ lt lt lt lt lt gt lt gt lt gt o po gt CN NI AINI lt ch lt X M ENT ENS Nm m m rr NS p gt gt ENS med NS I ET NIS c 5 c5 ic5icec5icoioicoi ic
60. gt cD cO r N NI C NI NI N NI i n q a n js SS ve D E q i O gt lt gt oI lt jll lt oI oI gt lt E lt lt gt gt DI gt lt gt lt lt gt lt OY lt cO ces NI S T NI gt NI cv ST NI AI NI NI N ANI cO gt gt gt gt CC CC CC CC CC Cc Cc Cc ec cc ec ec ec S S S lt S gt lt gt lt gt lt gt lt gt lt gt gt RR gt gt gt gt gt DIDI DIDI olol lt gt lt gt lt gt lt gt lt gt lt RE lt F lt cN In MM T IM v c M c7 Www e WD gt gt gt
61. motor driver MRB342 brush motor With 500 line encoder PIT panel mount user Interface B3B20 belt drive actuator Motor couplings motor adapters and cabling _ automatically selected the Tol Motion Sizing and selection E iguration generator APPLICATION DESCRIPTION An industrial racking manufacturer requires a method of boring numerous inline holes into stands up to 10 feet in length Hole locations and spacings change from lot to lot therefore it is necessary to provide for quick and easy changes of hole positions APPLICATION REQUIREMENTS Singleaxis system Controller output to initiate plunge and drilling operation input on completion 101006 stroke Kasy to use operator panel interface TOL O MATIC SOLUTION This customer was very concerned about minimizing noise therefore more interested in dc rather than stepper systems Torque and speed requirements could be satisfied with either brush or brushless systems Since their shop was currently using a number of brush motors and they were accustomed to brush replacement the MRB brush motors with the MSCLDC controller brushed servo motor driver was the perfect low cost solution The PIT panel mount interface was set up to prompt the user for the first hole index hole spacing and number of holes providing an operable system for even the most unexperienced users In order to provide the long strokes and support the moment load generated whe
62. or 343 MRV Brushless Servo Motor then add frame size 231 232 233 234 341 342 or 349 FOR OPEN LOOP DC ONLY MRB___N Dc Brush Motor then add motor frame size 231 341 342 401 or 402 and N for no encoder Open Loop Dc Drive 32 101 15 Amp DM6 Open Loop Dc Drive 48 volt 10 Amp NO MOTOR DRIVE MOTOR OPTION X Add if motor Drive is NOT required XY Motor s supplied by customer TolO Matic to mount using standard hardware and couplers XJ Motor s supplied and mounted by customer Tol O Matic to furnish standard hardware and couplers Once type and frame size is selected the configurator picks the appropriate adapter and couplers required If X is selected the configuration string is complete If X is NOT selected the configurator determines compatible drive selections based on motor choice If no controller is selected in 13 below it will choose the DMCLDC for MRB motor MSD for MRS motor or SSD for MRV motor and configuration string is complete NOTE For XY and XJ options customer must provide full endface and shaft dimensions prior to ordering actuator Customer motors must be directly interchangeable with Tol O Matic motors CONTROLLER DRIVE SINGLE AXIS APPLICATIONS MS Code used to order the following MSCLDC controller drive if MRB motor is selected MSS controller drive if MRS motor is selected MSC controller and SSD drive if MRV motor is selected S9C10 Stepper Servo Controll
63. p re re ARS S Cle O A A G HEH H H s s O eo O als wb G Ej Es E mou E St amp fe a CDD CO 7 dc NE PER 2 dm e GM GD IDEM 45 ES gt db 8 PN PN PE Eq EE 3 HUE lt amp H HERRAR Sl Eo 0 D cde c s EE 22 2222 E Z Em c Ee or x E f f f f f B oe ae 5 S SE ae Se o SUD gt SMS Gs als Sele EEG 0 aia wq ue d o E 5 6 2 SEE d m s ers SEO S1 OC Lm ud 3 FO eid gt 4 ffe D f c TEES 85 255 BOr lt MOUNT KIT gt 92 lt lt lt gt lt lt lt gt gt gt gt ZT lt lt cO cO cO cO cO cO
64. page 124 FOR SETTING FEED TO LENGTH INSTRUCTIONS Faai PF Move the Motor a Food Distance iura es M sm ba 2000 Steps ME E Anapun 77 lipa mon gases 0 LL i 1 E nm rp cem af T dii Pirnici rer Cece al gl EH T mH ac ote THE COMMAND BUTTON FEATURES INCLUDE DOWNLOAD PROGRAM TO DRIVE UPLOAD PROGRAM FROM DRIVE EXECUTE PROGRAM SAVE PROGRAM TO DISK LOAD PROGRAM FROM DISK PRINT PROGRAM QUIT THE PROGRAMMING SOFTWARE DIMENSIONS MSC MICROSTEPPING CONTROLLER N C1 9 CD D a d3MOd OV E lume 4015 2SIN 9NI 5Of M99 MO WO9 Lno 8110 LIWIT LIWIT MO WO9 LINT 1 1nO LLnO LLNO ald 914 4315 YNI 4315 20 S QN9 Ave 1 250 31 8 ll J49 O13uO J 4030 193 7 8 000 203 2 98 0 0 06 1 5 E E Ordering Information Configuration Provides control for SSD Brushless Servo Drive MSC 36000040 Panel Mount User Interface Tft 6237 Cable User Manual To O Motion MSC Software For use with Axidyne motors for applications that require a servo system without the expense of brushless motors puit I 4
65. the program is automatically executed starting on 1 The MSCLDC also allows program interaction to take place using the PIT user inter face page 124 FOR SETTING FEED TO LENGTH INSTRUCTIONS OB Hove tha Motor a Distance i m a tn 2000 Heeps Arp speed nem Basic g aj Mem Fe 7 Nu f ED AIT di rac 4 EE wace THE COMMAND BUTTON FEATURES INCLUDE DOWNLOAD PROGRAM TO DRIVE LOAD PROGRAM FROM DISK UPLOAD PROGRAM FROM DRIVE PRINT PROGRAM EXECUTE PROGRAM QUIT THE PROGRAMMING SOFTWARE SAVE PROGRAM TO DISK DIMENSIONS MSCLDC MICROSTEPPING CONTROLLER BRUSHED _ DC SERVO MOTOR DRIVER i gt 0 500 12 70 1 500 2 500 63 50 0 242 4 38 10 63 50 Ah 0 850 Not Required When Used with SMK 100 Mounting Bracket 10 250 9 500 260 35 241 30 0 750 2 19 05 0 375 2 000 1 500 95 25 50 80 38 10 270 9 900 139 70 Ordering Information Configuration Drives series brushed DC Servo Motors to provide MSCLDC Microstepping Controller 3600 0037 motor drive system performance shown in the MRB brushed DC Servo Motor Driver motor section see pages 57 62 PIT Panel Mount User Interface 7 RS232 Cable User Manual To O Motion MSCLDC Software
66. 47 56 764 t 784 116 973 23 poza 075 666 362 38 182 955 226 162 45 58 56 764 t 784 116 1373 638 024 075 606 382 381 762 355 226 162 4 58 061 47 54 5 61 5 164 116 373 898 1024 075 605 1382 38 T2 365 226 162 46 58 47 56 15 764 116 373 662 poza 075 606 362 26 762 355 226 162 158 6 784 t 784 116 373 774 1024 075 666 982 381 762 955 726 102 6 55 1 47 56 764 15 Above dimensions in millimeters SCREW DRIVE IN LINE MOTOR MOUNTS DIMENSIONS MOTOR MOUNT BCS MCS id me mounts are for use with MRS and MRB motors only and are not to be used ACTUATOR MOTOR NEMA a KIT DRAWING A BTR THRU 2BTHRUM 2BTHRUM THRU 09 THRU 2ITHRU O344THRU 0375 CBOREG3 0437 0497 0551 0531 X3 DP4 X34DP 1506 1508 02 3630 367 1 506 1 503 0236923607 01 5061 503 02 363 2 367 x 070 DP X 12 DP THRU x 12 DP X 12 DP 12 DEEP Q1 063THRU O1 063THRU O500THRU O063THRU 02 000 THRU OGOTHRU O6HOTHRU OGMOTHRU 0 640 THRU WALLONLY 1WALLONLY 1WALLONLY 1 WALL ONLY 02 8782 882 0287812802 02570282 X 080 DP X 080 DP X 080 DEEP
67. 5 Acceleration 4 n DISPLAY ar lt g o gt Dr num Deceleration E 2 KRE Teach Play Back TERMINAL Joy Stick 6 Enable Disable Replay mode disabled PROGRAM 28 Number of data recorded 3 SCOPE DONE RESET nal Gea WAIT ERASE LAST CON T 5 EXIT Dr Lil Wende iri pamm n r z BES s I m NW NON HEU c E u 5 LE a 2 4 1 Used to control any combination of brushless servo sys tems SSD drives motors stepper systems MSD drives MRS motors or Brushed servo systems DMCLDC drives MRB motors Hand held SIT or joystick JS user interfaces DIMENSIONS SSC 1 4 MULTI AXIS MULTI FUNCTION SERVO STEPPER CONTROLLER R 0 10 2 5 0 175 R 0 18 4 45 46 PHONE 2 Places POWER ERROR 0 35 RESET 8 9 F u lt 13 00 Y SS SS SS SS SS SS SS e 1 1 JE un NW TOL O MATIC 5 1 n 012 1452 p 040 4 Places 1 25 132 1 18 1 35 34 3 SSC ORDERING INFORMATION AND CONNECTORS Connectors SSC J2 MAIN 60 PIN IDC 1 Ground 2 j Error 4 Reset 5 Switch Common 6 Forward Limit X 7 Reverse Limit X 8 Home X 9 Forward Limit Y 11 Home Y 19 Reverse Limit Z 15 Forward Limit W 17 Home W 19 Input Common
68. 94 7 96 Actuator Accessories essen 88 BC seat ae aco m 88 VS ae 00 03 m ed Mm 04 Standard Mounting and Mounting Plates 05 MOTOR MOUNTING AND SYSTEM ACCESSORIES Motor Mounting 57 08 Couplers and Motor Mount Kits for In line Mounting 99 In line Gearhead Mounting 103 In line Motor Gearhead Combination Mount Dimensions 109 In line Motor Mounting Dimensions 112 Reverse Parallel 0 114 Motor Mounting Bel Drves 118 Direct Drive Mounting Kits Couplers and Gearheads 119 Direct Drive Mounting Dimenslons 120 Reduction Drive Mounting ibl 124 125 Hand held Interface eee 120 a 222 22 12 2 7 109 ORDERING Actuator Requirements 0 ccc ee ees 134 Motor and Control 135 Field ROTEN 136 ENGINEERING RESOURCES 130 Conversor pus maa 140 Selecting a Motor Drive 0100 14 143 Szing and Selection Limiting Factors 148 Application Data Guidelines 150 Terms and Conditions of 86 152 Copyright 1997 Tol O Matic Inc All rights reserved part of this publication
69. 9605 mel Cabl es Jo 3600 0162 SIT 3600 9161 See page 127 128 ae as C cos TAN coe ven ENTER mu ETA T 8 EEX urat 1 a 5 6 T wA Tn wii 2 3 GLOSSARY OF TERMS Absolute Move move with reference to a fixed absolute zero location AC Servo Motor Drive that generates sinusoidal motor currents and sinu back in a brushless motor Accuracy Measure of the difference between ideal predicted position and actual position of a motor or mechanical system Acme Screw Nut Threaded screw and nut design which utilizes sliding surfaces between the two Typical efficiencies are between 60 70 Back EMF Voltage produced across a motor winding due to the winding turns being cut by a magnetic field This voltage is directly pro portional to rotor velocity and is opposite in polarity to the applied voltage Backlash Linear distance which is lost in positioning the nut or carrier when the screw direction of rotation changes Screw Nut ocrew and nut design utilizing a nut that contains one or more circuits of recirculating steel balls which roll between the screw and nut Baud Rate Number of binary bits transmitted per second in a serial com munication system Breakaway Torque Torque required to start an actuator in motion In an electric actuator this consists primarily of th
70. Dist Y los or kgs Dist Y los or kgs Dist Z los or kgs DistZ los or kgs Precision Position Control Duty Cycle Life Required Repeatability in or mm POSITION CONTROL Manual Jog Absolute Accuracy or mm External Control Signal Analog Position ia Wd I 1 Number of Operating Cycles ih _ Complete Extend Retract Motion Total Cycle Time Based on worst case 10 minute cycle 2 Max continuous ON Time HOLD POSITION Analog Torque Digital Step amp Direction After Move During Power Loss VG PRSE Genere Programmable 500 Min Maintenance Interval ON Time lt Time in Motion of motor FAX TO TOL O MATIC INC 612 478 8080 Computer PLC SIT Hand held Programmer STAND ALONE PIT Panel Control HOST Brushless Servo JS Joystick Stepper Brushed DC Motor Interface OPERATOR METHOD TYPE Time or Distance inormm Center to Center Distance MOTOR MOUNTING ORIENTATION Reverse Parallel Reduction Single 1 Dual BELT DRIVE In Line In Line CARRIER Low Backlash LLL LL LL LLL eT TE A SI S EE S Sa o l e LLLLLCLLLLLLLLLLLLELCCLLLCL LLL LL LL j CELL LL j Tl EL LLL 2 4
71. Ibs Oz in Oz in Oz in rad sec Belt Drive Torque cont x 16 oz 1 lt gt Oz In B Ib me Friction Table in Actuator Sections OR Ibs T _ See Preload Torque in aT oz in Actuator Sections Wi gap gt WorHER r sin 0 16 oz m 02 11 e MIS pour unm NM oz in e Ib me Belt Drive Thrust m lt gt Thrust gt p 8 oao Ibs Belt Reflected Inertia s oz in Symbols e lead screw or belt EFFICIENCY e efficiency Single Nut JAL Nut reduction efficiency Acme 00 059 Bal 09 08 is Antibacklash Acme L is Low Backlash Ball F total friction force Ibs force to do external work Ji load inertia oz in7 J lt lead screw inertia oz in7 motor inertia oz in reduction device inertia 021 JwHEELS bolt drive amp idler wheel inertia 02 1 angle of load from horizontal degrees input _ motor rpm output screw shaft rpm m reduction ratio D pitch of screw rev in r radius of belt drive wheel in t acceleration time sec T acc required torque to accelerate the load oz in breakaway torque 02 1 Text require
72. Lead Lower pitch higher lead provides higher linear speed yet requires more drive torque AND Body Size Larger bodies provide more load support capability and accommodate larger diameter screws Larger screw diam eters permit higher rotational speeds more thrust capability and allow the use of longer screw lengths SCREW SPEED STANDARD MODELS Conversion Screw Revolutions Minute to Carrier Inches Second for Various Screw Pitches turns inch Conversion Screw Revolutions Minute to Carrier Inches Second for Various Screw Pitches turns millimeters 600 CARRIER SPEED in sec Figure 2 BAIC SELECTION C Confirm Selection BELT SPEED Refer to the reference section in this catalog for detailed calcu lations of thrust and torque requirement to confirm actuator Conversion Motor Revolutions Minute to Carrier selection and to help select motor drive Inches Second for 1 1 and 3 1 Drive Ratios CARRIER SPEED mm sec 208 1016 1504 2032 D 835 Deflection Considerations In applications where substantial Ms moments come into play deflection of the cylinder tube carrier and supports must be considered The deflection factors shown in the chart below are based on a cylinder mounted with tube supports at mini mum recommended spacing Refer to Figure 3 If more rigidity is desired refer to Dual Carrier option on pages 90 92 B3S B3B CYLINDER LOAD DEFLECTION M
73. MOUNT 15 SERIES B3S M3S BCS MCS NOTE kits corresponding to MRS and MRB motors in the following table are only for motors attached to the same frame size gearhead CTHRU 4 EQ SPACED ON 0 D BOLT CIRCLE KxLDP 4 EQ SPACED ON 0 M BOLT CIRCLE KIT SERIES MOTORGEARHED C D E F G H J K L M N P R S T U V W 0187 3 i 15 024 0 75 2625 1 504 0 15 263 1 40 089 0 640 45 02 5 147 28 mom EI Above dimensions in inches KIT SERIE MOTORGEARHEAD AT 5 G KJL M N P R S T U VW 44159204 VRB 4 32 47 Above dimensions in millimeters These one piece mounts are for use with the MRV brushless servo motors or with gearheads combined with the indicated MRS or MRB motors MOTOR GEARHEAD MOUNT 20 SERIES B3S M3S BCS MCS NOTE kits corresponding to MRS and MRB motors in the following table are only for motors attached to the same frame size gearhead K x L DP 4 EQ SPACED B xW DP 2 CTHRU 4 EQ SPACED ON ON 0 M BOLT CIRCLE D BOLT CIRCLE KIT SERIES MOTOR GEARHEAD CD G H J P R S T U V W F K L M N 339 0187 339 fo 339 0 39 0 afo 339 0 339 T 339 339 Above dimensions in inches KIT SRES MOTOR GEARHEAD A B C D E F G H J K L MIN 6 5204001 47 56 784 t6 784 116 373 688 024 075 666 362 81 762 355 26 162 46 58 061
74. MRV231 MRV232 MRV233 MRV234 MRV341 MRV342 MRV343 MRS231 MRS232 MRS341 MRS342 MRS343 MRB231 F G TERR Dimensions in inches JI 16 16 LEE M9 109 Gi 096 10 109 we 09 10 M9 109 0 1 02 18 E 104 104 104 104 MRB231N 1 04 MRB341 1 10 MRB341N 1 10 MRB342 1 10 MRB342N 1 10 MRB401 073 MRB401N 073 402 073 MRBAO2N 073 MRV342 MRV343 MRS341 MRS342 MRS343 MRB341 DIMENSIONS SPECIFICATIONS B3S US Standard ver i BOTTOM MOUNT SIDE MOUNT Reduction Inertia at Motor Shaft 80510 1 1 0280741 BCS10 j 0 78 02411 BCS15 0 28 02417 0515 0 78 02417 80520 0 50 oz ir BCS20 561 074 Reduction Dimensions in inches MRB341N MRB342 MRB342N MRB401 MRB4OIN MRB402 MRB4O2N M3S Style Metric BOTTOM MOUNT SIDE MOUNT Right Shown SPECIFICATIONS Reduction Inertia at Motor Shaft MCS10 1 1 512gm MCS10 2 143 1 MCS15 51 2 gram MCS15 143 1 gren 920 915 gn 1520 1025 6 rome Reduction e ACTUATOR D Loup n eat 59 006 Lo e 2014 1222 ee 304 651006 3515 MOTOR M3S10 MOTOR Dimensions in millimeters Dimensions in millimeters Dimensions in millimeters M3S20 MOTOR TT k MRV231 MRV232 MRV233 MRV234 MR
75. MRV342 SSD20 SPEED TORQUE CURVE EELEE EEIE WEN Y C REX 4 1 TEPEFENF 533293993 299399294 DIMENSIONS MRV231 232 233 234 ow 1 8 3 2 SQ x e 1 00 25 4 6 Long Key 5000 4995 12 700 12 687 e 2 34 REF 2 59 4 MRV 231 4 75 120 7 06 MRV 232 5 75 146 1 06 MRV 233 6 75 171 5 06 MRV 234 7 75 196 9 06 1 38 10 38 05 225 SQ 1 50 4 03 57 2 38 1 MRV341 342 343 Motor Connector Sensor Feedback 218 5 54 MS3112E 14 8P Connector Thru 4 EQ Spaced MS3112E 14 19P as Shown on a 0 3 875 98 43 B C o go 1 8 3 2 sax i 1 00 25 4 Long Key 500 499 12 70 12 67 cpa ES 3 19 REF 2 81 0 0 2 875 2 873 MRV 341 6 11 155 2 5 06 730377297 125 03 MRV 342736 188 9 06 3 54 SQ 31 8 MRV 343 8 61 218 7 5 06 89 9 Cables Ordering MOUNTING INFO Motor cable and encoder cable Configuration Tol O Matic Configuration Tol O Matic SCREW DRIVES are included when ordering Code Part 4 Code Part e X SSD drives see page 141 MRV231 3600 6120 MRV341 36006125 800730 Rye 36006126 Reverse Parallel Mountings Page 114 MRV233 3600 6123 MRV343 3600 6127 en Reduction Drive Mounting 12
76. Oc Cc C Oc C C cc C cc tb BCS Style US Standard continued SCREW DRIVE IN LINE MOTOR GEARHEAD COMBINATION MOUNTS DIMENSIONS These one piece mounts are for use with the MRV brushless servo motors or with gearheads combined with the indicated MRS or MRB motors MOTOR GEARHEAD MOUNT 10 SERIES B3S M3S BCS MCS DIMENSION IS SLIGHTLY NOTE kits corresponding to MRS and MRB motors in the following table are only for motors attached to the same frame size gearhead LARGER DUE TO DRAFT ONxPDP K x L DP 4 EQ SPACED M BOLT CIRCLE SERIES MOTORGEARHUD B C D F G H J K L N M 075 305 2879 0 206 080 1870 1870 C6 KIT SERIES MOTOR GEARHEAD U V W X YET 023 Above dimensions in inches KT Sz MOTOR GEARHEAD C D E JJ kK NI P R m 03 76 91 c e c c c c e e SIZE MOTOR GEARHEAD U V W X Y Z D m 3 4 D m 36 Above dimensions in millimeters JANE W DRIVE IN LINE MOTOR GEARHEAD COMBINATION MOUNTS DIMENSIONS These one piece mounts are for use with the MRV brushless servo motors or with gearheads combined with the indicated MRS or MRB motors MOTOR GEARHEAD
77. RETROFIT KITS Mounting Plates Controller Drives Switches See page 96 1 See page 30 38 peur 1 76 for part number and motor compatibility oik DD eel ConfigNo Patio OMS OD eiS fon See FSD Tube Supports Meu 3600 0037 Reed Switch Form A 2 meter lead with quick disconnect RU 3600 9083 See page 94 pO AM o NAR cum WEE C LO UEL 3600 0106 Reed Switch Form 5 meter lead RT 3600 9082 3600 0107 Reed Switch Form C 5 meter lead with quick disconnect BM 3600 9085 BOS10 MCS10 4510 1010 a ____ 80515 515 0815 4515 1010 AW PORTUS ATE ea MOTOS AY 30820 MCS 4520 1010 Drives Reed Switch Form C Smeterlead 8T 3090 33810 MES Emm e ee MN CT m 05 058 Part 2 meter 33820 18820 EL E LD UL L Ka OT Ha Sung Sich Smeer ELS rib E Bracket JE E TD she IND TC in Sete gt uu o igs A w a 0 P DD M t r Connector Female 2 meter lead 2503 1021 wow Ors BCS15 515 9007 See pages 50 62 da cuo dua chu el O call MCS15 0515 9007 Model Part Part 4 Sensor 6 from male coupler on Quick disconnect units 38006120 V nu
78. The motor must provide the torque and speed necessary for the actuator to meet the application requirements The drive must convert the local power source to the power input required by the motor The motor and the drive power ratings watts must match the peak and the RMS requirements of the application The controller allows inputs from the operator or supervisory sys tem PLC or computer to properly control the motor and achieve the required motion profile s Axidyne Motion Control Systems Axidyne systems include brushless servos brushed dc servos microsteppers and open loop Brushless Servo System A Extremely smooth and quiet operation A Good for high torques up to 45 in lbs 5 08 continuous 140 imbs 15 82 N m peak A Good for high speeds up to 6 000 RPM A High resolution 4 000 counts per revolution A Provide torque control A Good for short repetitive moves A Maintenance free Brushed DC System A Low to medium cost A omooth and quiet operation A Good for speeds generally less than 2500 RPM Good for torques up to 32 indbs 3 62 N m continuous 48 in lbs 5 42 peak A Good for resolutions of 1 000 counts per revolution A Servo or open loop Microstepping System A Lowest cost for precise positioning A Highest resolution up to 50 800 steps rev without feedback device A Good for speeds less than 2 000 RPM A Good for torque requirements less than 35 3 95 N
79. Vc 200A d 150 Gau 40 Gauss minimum OPERATING 0 18 C to 150 66 C 0 182 C to 150 66 C TEMP Red LED lit when sensor is Red LED lit when sensor is 5 meter with PVC jacket 5 meter with PVC jacket CABLE 2m or 5m Quick Disconnect with 2m or 5m Quick Disconnect with PVC jacket PVC jacket HALL EFFECT SOURCING SWITCH WIRING DIAGRAM BROWN SWITCH f BLUE AW JJ HALL EFFECT SINKING SWITCH WIRING DIAGRAM BROWN s z HALL EFFECT Sal po SAO BLUE LOAD AC Triac Reed Switches E TRIAC REED SWITCH SPECIFICATIONS en See next pages for mounting ff SPECIFICATIONS ___TRIAC SWITCH dimensions ingle pole single throw NOTE Cable is UNSHIELDED operate relays and solenoids if a protection circuit is used and if TEMPERATURE vs CURRENT current wattage and voltage CONTINUOUS 1 Amp at 86 30 limits are observed Call the CURRENT 0 5 Amp at 140 F 60 C factory for more information wisa PEAK SURGE CURRENT m 11 OPERATING 40 F 40 C to 158 TEMP 709 C TRIAC REED SWITCH 20 40 60 80 100 120 140 160 E INDICATOR WIRING DIAGRAM Up to 200 000 000 cycles LIFE depending on load EXPECTANCY current duty cycle and environmental conditions i IMM 2
80. d BCB US Standard 3 1 Reduction Drive Configuration SP CAT ON 5 Reduction Inertia at Motor Shaft 085 31 954024 Weight of Reduction Drive BCB15 346 Ib Reduction Efficiency BCB15 0 95 BOTTOM TOP LEFT TOP RIGHT BOTTOM LEFT BOTTOM RIGHT 01 0 NE ua aa XN TOL O MATIC 15 Dimensions in inches MOTOR H MRS341 MRS342 MRS343 MRB342 MRB342N NOTE The reducer box projects below the plane of the idler and drive wheel enclosures If the entire length of a reduction drive actuator is to be mounted on a flat plane surface spacers will be required under the tube supports to provide clearance under the reduction drive box EN PIT PANEL MOUNT USER INTERFACE SPECIFICATIONS DIMENSIONS User interaction with the Mss MSCLDC or the MSC is simple with the PIT panel mount user interface The TolO Motion Ms soft ware allows visual setup of the panel to status the user on a particular action taking place or to prompt the user to make a decision or pro vide information such as move distance move speed repeat count Features Flush or surface mounting Four line by 20 character LCD display RS232 communication to MSC MSCLDC or MSS controllers Uses RS232 cable supplied with MSC MSCLDC or MSS controllers Cables Motor cable and encoder cable are included when ordering MSCLDC or MSS controllers see page 127 Ordering Information
81. gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt lt gt lt gt lt gt lt gt lt gt lt gt lt lt lt lt lt lt lt lt lt lt lt lt lt gt lt lt lt lt lt lt lt lt 5 lt 5 lt lt lt 5 lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt 5 SIS S S lt gt lt gt lt gt S LS ISLS lt 5 lt 5 lt 5 lt lt lt gt lt gt lt gt lt gt lt gt lt 5 lt 5 lt 5 lt 5 lt 5 lt 5 lt 5 lt 5 lt gt LI 2 cc 41 Part oc lt CN CON CNI CNI NN NN LO LO LO LO CN N N LO LO LO LO LO CN CNI LO LO LO 10 LO O LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO lt WD T ue uu IT WE ur Ur uM cd lt DW I WM lt lt lt gt lt gt lt I lt lt gt lt lt gt lt lt lt lt
82. i NFI TION BCS10 1 1 0280 0510 2 1 0 78 oz BCS15 1 1 0 28 02 515 2 1 0 78074 BCS20 1 1 050021 80520 2 1 5 610 Reduction Efficiency ACTUNOR A B Lc 18 793 POE ie ag 26 39 120 2m 1025 250 396 0 95 510 Dimensions in inches BCS15 Dimensions in inches BCS20 Dimensions in inches MOTOR MOTOR MRV231 MRV341 MRV232 MRV342 MRV233 MRV343 MRV234 MRS341 MRV341 1 87 196 376 168 1 MRV342 MRS343 134 MRV343 MRB341 580 175 141 MRS231 MRB341N 24 126 376 097 0 MRS232 MRB342 231 181 189 551 194 1 MRS341 MRB342N MRB231N 8 5 154 1 MRS342 MRB401 8 108 1 MRS343 MRB4O1N MRB341N 3 580 103 1 MRB231 1 MRB402 130 132 700 1 03 MRB231N i MRB402N MRB342N 700 1 MRB341 MRB341N 135 119 13 MRB342N 119 13 401 09 082 09 082 09 082 098 mi gt co gt TT gt gt c co gt gt gt gt 5 5 lt gt lt gt gt u gt 5 gt c co gt 6 gt gt gt cn RS o RS s c RS gt gt gt RS gt
83. in poly kevlar Belt width for actuators is 5 1 and 1 18 with 5mm tooth pitch Belt width for BCB actuators is 3 4 with 5mm tooth pitch The HTD belt is selected for higher speed higher load appli cations Heavy duty drive and idler pulley bearings are used PITCH circular pitch 50 80 LINEAR SPEED in sec SERIES BELT DRIVE ACTUATORS PERFORMANCE DATA SPECIFICATIONS DIMENSIONS Model is shown with direct drive motor mount ing See page 119 in the Motor Mounting and System Accessories section for more information on mounting configurations CARRIER FRICTION FORCE LOAD WEIGHT kg 0 91 181 272 363 44 954 095 726 81 6 113 68 SEET eee 20 U S STANDARD H SPECIFICATION BCBISBWOS BCBISBWO FRICTION FORCE kg ta aS ec Qi ec LL 5 Max Bending Moment 4 500 in lo 584 500 56 4 0 20 0 100 120 140 160 180 200 Ms 275 inb 31 0 Nm 275 inb 31 0 N m LOAD WEIGHT Ib 200 in lo 22 5 200 inb 22 5 Nm TUBE SUPPORT REQUIREMENTS Max Load Weights 03 06 09 12 15 18 21 24 27 20 24 37 39 300 136 1 Cartier Weight 194 1b 87k 194 b 87k Sr S 2 mamapa 7 T gt E
84. lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt LO LD LO LO LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI LI 94 19 22 22 3600 9164 3600 9164 3600 9164 3600 9164 3600 6184 3600 6184 3600 6 3600 9 4520 2102 4520 2102 4520 2102 4520 9 4520 9 MD m LO LO O o LD LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO LO o LO LO LO LO LO LO LO LO LO LO LO Y Y IL Ue Uc INNEN Ur Ur ae j cc omm TI AMEN Uv v n Dmm cc lt gt cO lt lt LO LO Lo lt gt 5 lt gt lt gt lt gt lt gt lt gt lt gt S 5 lt gt L Lo Lo lt 5 5 5 Lo L Lo co EB co ES c c c lt c c c c lt lt c AA lt c gt oD lt gt lt gt cO
85. m A omoothness better than full or half step but not as good as Servos A Good for short repetitive moves A Maintenance free pu A 4a amp SIZING AND SELECTION SOFTWARE Tol O Matic is your one source solution Complete electric motion solutions from Tol O Matic elimi nate the time and hassle of mixing matching and integrating components Use the Free Tol O Motion Sizing amp Selection Software to select the exact system you need Or call your Tol O Matic distributor or the factory Use our expertise to help you select the best sys tem for your application 2 24 y r wy WE MOTION CONTROL SOFTWARE Set up is easy too Controllers use the absolute easiest to program Tol O Motion Motion Control Software Plain English com mands mean no more difficult to remember commands and the shortest possible startup time MRV231 MRV232 MRV342 MRV233 MRV343 MRV234 Brushless Servo Motors MRV Rugged industrial enclosures Large shafts and bearings for longer with high radial axial loads Convenient 5 connectors to simplify motor termina tion and provide excellent noise immunity Common industrial mechan ical flanges NEMA 23 34 Integral Halleffect devices for commutation Integral temperature sensor Integral 1000 TTL encoder with differential line driver outputs Ideally suited for use with SSD drives motor
86. m 8 91010 10 STROKE in METRIC SCREW DRIVE ACTUATORS MODEL AVAILABILITY AND LEADSCREW THRUST SPEED CAPACITY METRIC MODELS MCS CYLINDER STYLE Screw Dia Screw Lead Nut 12mm DIAMETER ACME SCREW Model Number mm Form mmperturn Style MODELS MCS10 4 510 M3S10 MCS10 SND ACME 9010 MCS10 5002 ACME 12 Solid Kh MOO BNW Bal B N 910 BNLO2 Bal Bal MAXIMUM THRUST 1 WN gt 515 50 Solid MCS15 ACME Solid MCS15 BNOS Ball Ball MCS15 BNLOS 520 505 ACME Solid MCS20 SNI2 Solid MCS20 5 Bal Bal 0 290 MCS20 BNLO5 Ball STROKE mm SLS SLIDE STYLE Screw Dia Screw Lead Nut Model Number mm Form turn Style SLS10 SN25 ACME 20 Solid SLS10 SN12 ACME 12 Solid SLS10 2 29 51510 BNL02 25 Ball 35 CYLINDER STYLE Screw Dia Screw Lead Nut Model Number mm Form mmperturn Style STROKE mm 9 25 5 1 9 3915 SN ACME Solid 5 M3S15 BNOS 16 Ball Ball MODELS MCS15 MCS20 M3S15 M3S20 Misi f ys 9 SM 9 AME 5 Sold Mio SN 9 AE Sold Mio BNDS 2 Moon 2 Bal NOTE See page 134 for configurator code descriptions 1000 1500 2000 2500 STROKE mm ini
87. one inch PWM Pulse Width Modulation is a method of controlling current in the windings of a motor by on off switching of transistors to vary the duty cycle Repeatability How accurately a positioning device can return to an exact location This may be defined as unidirectional does not include backlash or bidirectional Resolution The smallest position increment that can be achieved Resolver A feedback device consisting of a stator and rotor that provides position and velocity information to the drive for commutation RMS Torque In an intermittent application this is the torque provided to generate equivalent motor heating to one operating in a steady state X Ti ti Dti where Ti Torque during interval i ti Time of interval i Trms 3 standard for data communication that defines voltages and time requirements for information to be transferred on a single line in sequential format Servo System that compares the output of a device by monitoring position velocity and or torque with the desired outcome and makes corrections to minimize the difference Servo Motor Motor used in closed loop systems where feedback is used to control motor position velocity and or torque usually expect ed to have high torque inertia ratio Sepper Motor Motor which translates electrical pulses into motion where the pulse rate controls velocity and position dew Constant non zero velocity portion of a m
88. pp OHH TAPPED HOLE THRU CENTERED ON HH A dimensions inches 1 For EXTENDED SHAFT Style Only D F G H L M N 0 6 R S 0 V W X Y Z BB CC Q DD EE FF GG QQ PP All dimensions in millimeters t For EXTENDED SHAFT Style Only B C TD 6 H l J K L P Q R S T T V W X Y Z BB CC CC DD EE FF GG HH QQ PP B3S 8 SERIES SREW DRIVE ACTUATORS DIMENSIONS REFERENCE CAD FILE B3S15 or B3S20 DIMENSIONS H TAPPED HOLE 4 VIEW 3515 VIEW B B 3520 00 TAPPED HOLES BOTH ENDS SECTION A A OUTLINE ONLY NUT FOR SLOTS BORE D D CENTER LINE TAPPED HOLE THRU CENTERED ON HH eel EEE All dimensions in inches MODELS F G H Basis 15 675 2156 25250x25 4500 114 20 pe 10 v5 315 2 5 amo iw 568 MODELS S B5 197 18 TT 39 4188 2188 1498 1575 meu 25 sm 5 2608 1969 t 214 T MODELS CC DD EE 00 QQ DOWEL PINS Mm 08 B 28 99 w 14 20 25 1420 8 19 ume EG AE Bj 394 1375 5 16 18 REUS RI dimensions in millimeters MODELS A 2 0 TT 793 TU T 92 es es tog tose 42 m3 MODELS P Q S U V W Z E 05 MS 5 amp 2 CB w7 me GIT soo mb Q2 MODELS BB CC DD OO
89. starting point Distances delays feed and return speeds acceleration and deceleration parameters are all included in the single program MSC Version Download Upload Execute AL Limits Switches will be t Open fe Closed Description MAIN PROGRAMMING SCREEN instruction The same move can take 10 program lines or more on other indexers There are a total of 13 different instructions including input output branch es loops and motion com mands These instructions can be combined to make a nearly infinite variety of programs meeting the demands of a wide range of applications The main programming screen is shown above On the right of the screen are the 100 program lines In the center are command buttons and on the left are global parameters such as microstep resolution and jog Clicking on a program step icon brings up a sequence of dialog boxes making program selec tion and parameter setting easy Once programmed the cable can be removed and the indexer drive will run stand alone Programs and parameters are stored internally in non volatile memory Upon power up the drive automatically sens es the connection to the TYPICAL DIALOG BOX ial xl Clear Windows programming soft ware If no connection is detect ed the program is automatically executed starting on 1 The MSC also allows pro gram interaction to take place using the PIT user interface
90. t t MOTION PROFILE EQUATIONS Triangle Move Profile VELOCITY in sec T time sec X distance in in 2 T t T V AX Ep T Trapezoidal Move Profile a de Ite m X distance in in Assume 1 3 Then 1 5 X M dg T 4 5 X A D T T total move time sec total move distance in acceleration rate in sec D deceleration rate in sec t acceleration time ta deceleration time 5 1 constant velocity time sec V average velocity in sec avg V max maximum velocity in sec APPLICATION DATA Distributor Customer Distributor Name Date MOUNTING ORIENTATION LOAD ORIENTATION Horizontal Up Horizontal Down Sid Ore s UP MOVE los or kgs Up Down DOWN MOVE 05 or kgs Up Down UP MOVE lbs or kgs DOWN MOVE lbs or kgs FORCE LOAD Custom Mounting MOVE FROM MOTOR MOVE TO MOTOR Use Horizontal and Single Mounting chart for force and load weight data W lbs or kgs 1 or kgs A m CEJ eal To Motor From Motor To Motor From Motor FRONT VIEW pr WEIGHT LOAD AND CENTER OF GRAVITY MOVE FROM MOTOR MOVE TO MOTOR Angle o Angle p ACTUATOR Dist X los or kgs Dist X los or kgs
91. to medium cost A omooth and quiet operation STATOR A Good for speeds generally less than 2500 rpm A Good for torques up to 32 in lbs 3 62 N m continuous 48 in Ibs 5 42 Nm peak V A Good for resolutions of 1 000 counts per revolution NJ ROTOR 552 EN BRUSHES COMMUTATOR Microstepping System A Lowest cost for precise positioning A Highest resolution up to 50 800 steps rev without feedback device A Good for speeds less than 2 000 rpm A Good for torque requirements less than 35 indbs 3 95 N m A omoothness better than full or half step but not as good as Servos A Good for short repetitive moves A Maintenance free A No moving contacts STATOR ROTOR BAJC JANG EQUATIONS NOTE USE TOL O MOTION SIZING amp SELECTION SOFTWARE AND AVOID THE NEED FOR THESE EQUATIONS Screw Drive Torque Required By Motor Tacco Teriction PRELOAD oz in 3 OZ in 16 oz 1 oz in 21p lb m reflected for 1 4 3 8 1 2 5 8 and 3 4 Dia Screws Screw Dia Inertia 1 4 0 0017 ozin per inch of screw 0 0087 per inch of screw X oz in m reflected 38 1 2 98 Li 0 0275 ozsin per inch of screw 0 0671 ozsin per inch of screw 0 139 ozein per inch of screw NOTE Be sure to use TOTAL screw length
92. used to continuously supply dye They had a method of detecting the levels of die in a tray and were looking for a method to traverse back and forth across the tray to both detect levels and dispense dye APPLICATION REQUIREMENTS Single axis system Very slow speed less than 1 inch per second Watch for level low detector and evaluate which of three dye dispensers to turn on based on location TOL O MATIC SOLUTION This application was solved with the simplest system to set up and use along with the lowest cost controller drive product offered by To O Matic The MSS microstepping system combines the basic single axis controller with a microstepping drive in one package This controller is capable of being easily programmed to accept the level sensing input and turn on one of three outputs based on its position The drive is capable of driving any of Tol O Matic s MRS stepper motors APPLICATION Parts Transfer Station APPLICATION DESCRIPTION machine shop wanted to automate the removal of parts from a conveyor passing through a cleaning solution to an assembly line conveyor Speed was the primary consideration in this application with cost being a close second MRV232 brushless servo motor APPLICATION REQUIREMENTS 010 digital servo Two axis linear motion drive Method of grasping parts MSC basic controller High speed BCB15 belt drive Low cost actuator Input to controller from sensor
93. 0 192 144 156 DISTANCE BETWEEN SUPPORTS in REFERENCE CAD FILE BCS10 BCS15 AND BCS20 SN ENN rh 90 eS AA STROKE STROKE 25 MODELS C 0 H 80510 BCSt5 0500 09 180 175 350 125 R S U U V V W W X 238 408 2 0250 06 146 055 155 050 2 49 299 O95 025 Of 187 oss 191 085 250 1250 38 se ae o os 23 oe 230 070 3 0 1590 F For 1 2 2 SCREW style only F GG J For EXTENDED SHAFT style only BCS10 1024X043DP 10 32X025DP 1420 0250 10 24 X062 DP t For ye only BCS15 1420X050DP 516 18X037DP 1420X040 DP 1 420 X 062 DP BCS20 56 28 8750 3046X44DP 3816X44DP 1 420X 62 DP NI Dimensions in millimeters MODELS A B C D E 6 H 915 1800 05 4 MCS20 1070 635 635 MODELS R S 2 920 1494 92 11 0 SLS amp MLS SERIES SCREW DRIVE ACTUATORS PERFORMANCE DATA SPECIFICATIONS DIMENSIONS CARRIER FRICTION FORCE LOAD WEIGHT kg 44 91 15 181 227 272 38 33 41 454 MEETS 2 S E ES s e e _ tT LLLI LI engen ESTE ESTEE TESTES ESTEE ES ES m ESSERE RESI
94. 0 4000 CAT NO 1900 4000 Power Block BC4 Series Vane Rotary Actuators Power Block2 CAT NO 6900 4000 CAT NO 1800 0006 Channel Block U Block Full Line CAT NO 5109 4008 To order any of these FREE catalogs call your Tol O Matic distributor or the factory at 1 800 328 2174 3800 County Road 116 Hamel MN 55340 U S A Phone 612 478 8000 Fax 612 478 8080 Toll Free 1 800 328 2174 http www Tolomatic com Email help Tolomatic com
95. 034 Product CAD in dxf file format 2 disks 9900 3035 Product CAD in dwg file format 2 disks 9900 3020 1 Adapter Plate CAD in dxf file format 1 disk 9900 3020 2 Adapter Plate CAD in dwg file format 1 disk For your free disks or CDROM call your local Tol O Matic distributor or the factory at e 1 800 328 2174 4e This and all Tol O Matic catalogs are printed on recycled paper 150 9001 CERTIFICATED FIRM DET NORSKE VERITAS INDUSTRY B V THE NETHERLANDS 50 recycled fiber 10 post consumer waste content Y an 1 utn Minneapolis Minnesot amp TOL O MATIC Tol O Matic makes products for anything that moves 1 AXIDYNE ELECTRIC 2 RODLESS SLIDES POWER TRANSMISSION 6 RODLESS CYLINDERS LINEAR MOTION Linear Slides Caliper Disc Brakes Magnetically Coupled PRODUCTS CAT NO 0600 0001 CAT NO 0700 4000 Cylinders Brushless Servo Systems Magnetically Coupled ADAM Disc plate and Disc CAT NO 2400 4000 Stepper Systems slides Cone Clutches Cable Cylinders Brushed Dc Systems CAT NO 2400 4000 CAT NO 1200 0018 1001 0219 Screw drive Actuators Float A Shaft Gear Drives Band Cylinderse Belt drive Actuators 3 GRIPPERS amp ROTARY CAT NO 0100 0210 BC2 Series CAT NO 3600 4077 ACTUATORS CAT NO 0510 4000 Grippers and Rack and 5 ROD CYLINDER SLIDES BC3 Series Pinion Actuators H Block CAT NO 340
96. 1 MRV234 3600 6124 The MRS series motors provide best cost performance value available in stepper motors Available with NEMA 23 and 34 gt i the MRS series stepper motors TE TOLD OF MSD can be driven from one common amp ker microstepping drive MSD or con Ege 12 16 20 4 2 REVS PER SECOND 32 3 d Features Long life bearings High temperature insulation Exceptional thermal dissipation properties NEMA 23 and 34 mounting High torque to inertia ratio gt E 12 6 20 4 20 REVS PER SECOND eee DER gp m 42 quw o w s o prc M MRS343 Ings fce UE 402G CS at ens inahifiductance ee 22 wil bridge at Lemp E iud eic used uiti wear ico in di DIMENSIONS B A 231 232 a m 25 00 06 xD Motor 0ny 12 0 2 0 0 0 gt THRU EQUALLY H Max with Mating SPACED ON A Connector Plugged In MOTOR LEADS Black Orange Re d ellow NOTE 22 AWG PVC Leads lt L Max 4 0 puede THRU EQUALLY Vrange SPACED Red Yellow NOTE 4 Lead upon ie AWG MRS341 342 343 3 d d 304 8 Plus Green Yellow
97. 29 46 lt 41 28 01 502 x 10 Deep put alt gt 38 15 x 2 54 eng 34 FRAME GEARHEAD 2 60 x 1 68 DP 66 0 x 42 7 0 500 0 221 4 02 875 12 7 581 73 03 2 88 x 15 DP 44 45 _ 73 2 x 3 8 Input Shaft 0 375 82 55 ength 9 53 Square B3S Style US St QU e D MOOR COUPLER MOUNT KIT Shaft Part ls Shaft Model Part 0500 GHJ20 GHJ21 3600 6151 3600 6152 0500 3440 9203 3600 6122 GHJ20 GH 0 500 3410 9203 3600 6123 0500 GHJ20 CHI 0 500 3410 9203 3600 6124 0500 GHJ20 GHJ21 0 500 3410 9203 B3S10 others 0 250 MRV231 3600 6120 0 500 GHJ20 GHJ21 0 500 7045 3410 0203 0500 HJ20 GHZ 0500 3410 9203 0500 HJ20 0507 3410 9203 83910 others 0250 MRV234 3600 6124 0500 GHJ20 GHJ21 0 500 70451 3410 9203 025 0500 3410 9203 0375 0500 3410 9200 3410 9200 MRS343 3600 6134 0375 GHK30 0 500 00051 3410 9200 0500 0500 3410 9200 3410 9200 ci lt 0 315 JJ UJ C C e lt gt lt gt lt gt O31 c 83515 al BNO2 GHK20 3600 6150 0 500 0053 34159049 3415 9203 83515 2 0315 MRS341 3600 6192 0 375 GHK30 3600 6193 0 900 0053 3415 9043 3415 9200 83515 all 2 0315 MRS342 3600 6193 0 375 GHK30 3600 6193 0 00 0053 3415 9043 3415 9200 B3S15 2 0
98. 295 148 148 29 0M 023 108 217 028 295 BMS om 324 163 158 55 om om om TUBE SUPPORTS BCS BCB AND B3S ACTUATORS The number of tube sup port brackets required and their placement depends on the over all length of the cylinder and the load weight being moved and supported see actuator product pages for specific information Tube support brackets for BCs and actuators must be ordered with the cylinder order as they are mounted to the unit Designed to fit into dovetail grooves running the entire lenath of the cylinder tube these black pun anodized bx proper dlearance see page 92 aluminum brack 005 ets are available for intermediate support of the actuator body MODELS ial A B C BIMICS10 gm o2 CH B N CS B 15 B M CS20 375 STANDARD MOUNTING AND MOUNTING PLATES Standard Mounting Configurat T Slot Nuts All SLS 35 and actu ators are provided with T nuts in the base of the cylinder body Four T nuts for the first 24 inches of stroke is standard Two nuts are provided for each additional 20 inches of stroke NOTE 51510 tube and work table accept 1 4 threaded square nuts MLS10 tube and work table accept 6 threaded square nuts Tapped mounting holes All BCS and actuators are provided with mounting holes on the underside of th
99. 30 GHJ31 3415 9200 83915 others 030 0 500 GHJ30 GHJ31 0 500 3415 9200 0500 0507 3415 9200 GHI 3420 9203 MRV232 050 GHJ20 GHJ21 0 500 70855 3420 9208 0500 GHJ20 GHJ21 0500 3420 9203 GHDDGHJI 3420 9203 MRV341 0 500 GHJ30 GHJ31 0 500 70055 3420 9200 3600 6126 0500 GHJ30 GHJ31 0 500 3420 9200 3600 6127 0 500 GHJ30 GHJ31 0 500 3420 9200 3420 9200 0375 0500 3420 9200 0375 0500 3420 9200 3600 6145 GHK2 34204 9203 MRB341 0 500 GHJ30 GHJ31 0 500 005 3420 9200 83920 050 MRB342 0500 GHJ0GHJI 0 500 0055 3420 9041 3420 9200 PARTS ORDERING INFORMATION SCREW DRIVE GEARHEAD MOUNTING NT KIT 0 9203 410 9203 4410 9203 4410 9203 4410 9203 4410 9203 4410 9203 4410 9203 4410 9203 4410 9200 4410 9200 4410 9200 4410 9200 5 9200 9203 0 ke gt 4420 9203 4420 9203 4420 9203 4420 9200 4420 9200 4420 9200 420 9200 4 4 44 lt lt gt lt gt lt gt lt gt lt gt lt gt O DIT lt gt lt gt lt gt lt lt lt gt lt gt gt CN CN CON CON CON CON CN CON CON CON CNI CN CON CN CN CN CON CN CON CNI CNI NI N
100. 315 MRS343 3600 6134 0 375 GHK30 3600 6193 0 900 0053 3415 9043 3415 9200 0500 0507 3415 9200 0500 0507 3415 9200 J20 GHZ 3415 9203 MRV232 3600 6122 0 500 HJ20 GHJ21 0 500 20453 3415 9203 0500 HJ20 GHZ 0507 3415 9203 HJ20 GHJ21 3415 9203 3600 6125 0 500 HJ30 6HJ31 0 500 10453 3415 9200 B3S15 al BNO 0 315 HJ30 GHJ31 3600 6154 3600 6158 0500 ZOAS3 3600 6169 3415 9200 83515 all BNO2 0 315 0 500 HJ30 GHJ31 3600 6154 3600 6158 0 500 ZOAS3 3600 6169 3415 9200 B3915 others 0 394 N2 ao C Ce c c Qe C1 C rN C1 GHK20 3600 6190 0 900 0059 34159044 3415 9203 83915 others 030 0 375 GHK30 0 500 3415 9200 83915 others 030 0 375 GHK30 0 500 3415 9200 3415 9200 MRB341 0 500 HJ30 GHU31 0 500 COD59 3415 9200 0500 0500 3415 9200 83915 others 0204 HJ20 GHJ21 3415 9203 83915 others 0 394 MRV232 0 500 HJ20 GHJ21 0500 70859 3415 9203 B3S15 others 0 394 gt gt gt gt oS gt c c lt HJ20 GHJ21 3600 6151 3600 6152 0500 3000 6170 3415 9203 Co c C 2 c D Od gt lt gt gt lt gt O2 oD gt EE c O31 c lt gt 4 4 83915 others 030 0 500 HJ20 GHJ21 0 500 3415 9203 3515 others 030 GHJ
101. 34 MRV341 MRV342 MRV343 MRS231 fo MRV341 MRV342 MRV343 MRS341 476 494 95 41 MRS343 4 MRB341 pe so ws us s MRB341N MRB342 MRB342N G MRV231 AE 461 466 1485 MRV233 rar 461 466 1975 QOEM 461 46 525 a 461 466 5 9 316 se 67 24 MRS342 ee MRS343 EGERE3E MRS232 MRB231 MRS341 MRB231N MRS342 MRB4OL MRB341 ET MRB34IN MRB231 ND MRB342 MRB231N MRB342N MRB341 MRB34IN MRB342 MRB342N MRB401 MRB4OIN MRB402 MRB402N G 33 4 1 33 474 6 03 474 W 68 308 15 8 308 187 68 308 79 33474 9 0 88 29 6 117 LJ DIMENSIONS SPECIFICATIONS Drive motor is mounted directly to the drive end assembly Motor may be mounted directly on the left or right side B3B GEARHEAD REDUCTION Available on B3B actuators only this mounting is used in appli cations requiring reduction for iner tia matching or higher torque at lower speeds Motor is mounted to the reduction assembly providing a 2 1 speed reduction from the motor to belt drive wheel BELT DRIVE DIRECT DRIVE MOUNTING MOUNTING KITS AND COUPLERS FOR MOTORS WITH GEARHEADS B3B US Standard amp M3B Metric All Sizes GEARHEAD MOTORS MOTOR COUPLER TOM TOM Tol O Matic MNTNG KIT AW SIY Config Part Configuration Part T O M Part 4 COUPLING T
102. 42 Selectable Output 1 13 Hall A 14 Hall B 11 Motor Output Index 12 Motor Output Index 43 Selectable Outout2 4 Selectable Output 3 15 Hall 16 Absolute Position 13 Isolated 24 V Com 14 Auxiliary Channel 45 Selectable Qutput4 46 RSVD 17 RSVD 8 RSVD 15 Auxiliary Channel A 16 Auxiliary Channel B 47 RSVD 48 RSVD 19 Thermal Switch 20 Thermal Switch 17 Auxiliary Channel B 18 Auxiliary Index A 49 Brake Enable 50 Brake Enable 19 Auxiliary Index A 20 Drive Enable J3 SERIAL PORT 21 Fault Reset 22 Analog Cmnd J2 ENCODER 1 ROV RS 405 2 ROV 1599 23 Analog Cmnd 04 Drive Ready 1 Encoder Pwr 2 Encoder Com 3 RS 232 4 RS 485 25 Drive Ready 26 Isolated 24 V DC j Encoder Pwr 4 Encoder Com 5 COM 6 RSVD 27 Positive Current Limit 28 Analog Com 5 Encoder Pwr Sense 6 Encoder Pwr Sense 7 ROV 85 485 RS485 29 Negative Current Limit 30 Analog Output 1 7 Motor Encoder Input Chnl A 9 ROVD Analog Output 2 32 Selectable Input 1 8 Motor Encoder Input Chnl A 7 a saa s a 5 p SSD Brushless Servo Drive SSD5 55010 5520 T5Amps 15Amps 50 Amps 20Amps SAmps 10Amps 0 5 KW 10KW 2 0 kW Amps QAmps l Amps 100 to 240 Vac RMS nominal 47 to 63 Hz Step and Direction 1 MHz maximum frequency Step Up Step Down Differential or single ended line qes Master Encoder Following 1 MHz maximum fre
103. 5 05 05 3lc3 c 3lc3 SD lt lt gt gt gt c 5 c c 5 DO lt gt lt gt lt gt CO CO CO CO CO CO I CD lt gt CO IO OO OO OO O IO JO JOO CO C O C O OO r r r r r rmpr mjrjrjrjrjc ic c co co coj r r r r 1 r r r 4 c 5 c 5 c c c C lt gt gt gt c lt gt lt gt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt lt gt lt gt 5 5 5 lt gt lt gt lt gt lt gt lt gt lt gt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt
104. 600 0047 CO CO CO CO oystems will be preconfigured at factory by using the appropriate oth digit in configurator The unit may be changed by the user at a later time by the insertion or removal of jumper To avoid shipping with DIN rail mount break out terminals add BON to configurator X axis is configured according to drive ordered f DMCLDC or MSD configured for step and direction output df SSD configured for 10 V output 422 Tol O Matic Description Part No 26 pin ribbon cable 5600 1346 60 pin ribbon cable 3600 1347 5052 Cable 3600 1172 Description EK 20 pin breakout 3600 1940 26 breakout 3600 1941 60 breakout 3600 1942 20 pin ribbon cable 5600 1345 MSC MICROSTEPPING CONTROLLER FEATURES SPECIFICATIONS PROGRAMMING DIMENSIONS ORDERING The 5 Microstepping Controller provides the simplest quickest way to get up and running in a single axis application The Tol O Motion software allows sophisti cated programming to be achieved by even the most novice user through icons arranged in a simple easy to fol low format Once programmed over the RS232 the PC may be removed and program interaction achieved through or by using the PIT panel mount interface The 5 Microstepping controller comes as a stand alone controller making it ideal for operatio
105. 91 Max 73 9 03 0 1 500 1 498 38 1 38 0 FLAT 015 38 DP X 63 16 0 DIMENSIONS MRB 341N 342N MOTOR SHAFT DETAIL EU ra 12503 X a 03 MRBN342 778 31 8 430 000 10 92 015 0 10 2 5 25 4 0 92 Max 42 20 8 2 5 10 7 MRB 341 342 MOTOR An uL From Frame MRB342 7 00 31 8 177 8 A 2 5 Encoder Cable 18 1 Long 460 0 218 4 Holes 0 500 02 5 5 12 7 73 0 DIMENSIONS MRB401 402 AND MRBN401 402 Encoder Wire Harness MRB Models Only Motor Wire 16 Red amp Black d 90 24 610 Long Typical aT 5 1 2 NPT Lead Exit 0 512 502 13 00 12 75 0 625 1 63 il 15 88 15 82 04 00 61 l 101 6 1 4 20 UNC 28 0 10 MRB 401 402 10 85 0 Drill Depth EQ 0 187 4 75 0 2 498 2 495 Spacedona Square Key X MRBN 401 402 10 19 06 63 45 63 37 03 250 B C 4 1 00 25 4 Long 250 8 Cables Ordering Info Wire Colors All MRB series motors include a Configuration Tol O Matic PIN CAFUNCTION COLOR 24inch flying lead motor power Code Part VCC Red cable MRB231 3600 6145 2 GND Black Encoder cables 18 inch fly MRB341 E ing lead with the following MRB242 3600 6147 aK iY u lio i 5 CHB Green pinout re ees MRB401 3600 6148 6 CH B Not Blue MRB402 NE TE saa o MN 47 18 m 9 Ind
106. 9N m 167 3 196 0 N m 5010 1454 200810 0815 6595kg 910 8 kg 840b 11596 1547kg 381 0kg 525 7 kg Carrier Weight 85 b Base Weight incl carrier 2 150 Weight per length of stroke 30 SPECIFICATION 116 7 166 3 2 14 b 14 38 b 2 0 in 1 880 b n 5 4 gimm 0 18 gimm 115 73q mm Pre Load Torque 177 N m 212Nm_ 1 353 N m Dead Length 2 x 5 din EXE 1052in 1428 mm 2127 mm 2672 For Dual Carrier option refer to bending moment chart on page 88 FRICTION FORCE 165 LOAD WEIGHT kgs i 22 amp M 726 907 0 200 40 650 90 00 20 10 1600 1800 20 LOAD WEIGHT Ibs MAX DISTANCE BETWEEN SUPPORTS mm L CO N cO c lt N a wo L2 aA lt amp 3000 1360 7 1950 LEE ame E EET dee co O c OO O cO O O 9 12 15 18 21 24 27 30 33 36 MAX DISTANCE BETWEEN SUPPORTS in L Weight i B3S amp M3S RIES SREW DRIVE ACTUATORS FRICTION FORCE kgs REFERENCE CAD FILE B3S10 DIMENSIONS VIEW B G TAPPED HOLE 4 D DOWEL HOLE gl x TAPPED THRU 8 4 AS SHOWN 4 OPPOSITE mM e o ol SECTION OUTLINE ONLY ll NUT FOR SLOTS W
107. Command W 17 Amp Enable W 18 PWM W Step W 19 Sign W Dir W 20 Ground AC POWER INPUTS 4 PIN DETACHABLE SCREW TYPE Hot Connects to 110 or 220 AC NC No Connect Neutral Return for AC Earth Chassis input RS232 MAIN PORT 9 PIN 2 Transmit data 1 CTS output Output j Receive data output 4 RTS input 5 Ground 6 CTS output RTS input 8 CTS output 9 RS232 AUXILIARY PORT 9 PIN 1 CTS input 2 Transmit data Input 3 Receive data output 4 RTS output 5 Ground 6 CTS input RTS output 8 CTS input 9 5V See below Configuration Code Includes ft 2m RS232 Cable 60 pin 18 457mm ribbon cable amp 60 pin breakout 26 pin 18 457mm ribbon cable amp 26 pin breakout If any axis configured w step amp direction output 20 pin 18 457mm ribbon cable amp 20 pin breakout User Manual TolO Motion SSC Software MULTI AXIY MULTI FUNCTION SERVO STEPPER CONTROLLER X Configuration Tol O Matic Code Axis X AxisY Part Ls she sew soar poe 3 7 71 3600 0046 S2 55071 5 5509 509 proe SU 1S pre Sv prie ST ST pe mm gt 18 500 gre ST 500 gre ST 9 50 prie ST 9 506 prie SV S 806 gre 96 ST gre 96 504 s ST STEP AND DIRECTION OUTPUT SV 10V OUTPUT gt lt 3
108. DC Reed Hall etfect and AC Triac switches con tain reverse polarity protection DC Reed Switches are designed for signalling end of stroke position to devices such as programmable controllers They can be used to operate dc relays and solenoids if a protection circuit is used and if current and voltage limits are observed Hall effect switches are available in either sinking type NPN or sourcing type PNP They are designed to signal devices such as programmable controllers dc loads and TTL or CMOS circuits AC Triac Reed Switches are designed for signalling end of stroke position to devices such as programmable controllers They can be used to operate ac relays and solenoids if a protection circuit is used and if current and voltage limits are observed T Reed heed Triac Halk efc Form A DM Quick Disconnect Couplers Quick disconnect couplers are available for all switches in 2m and bm lengths These couplers allow switches to be removed quickly and easily Switch includes one male end coupler hard wired to switch and one female end coupler with addi tional cable for in line splice Replacement switch with hard wired male end connec tor is available as a service part Note Quick disconnect coupler is positioned 6 from the sensor UNIVERSAL SWITCHES PERFORMANCE DATA SPECIFICATIONS see the following pages for mounting dimensions DC REED SWITCH SPECIFICATIONS NO
109. EASUREMENT DISTANCE 13 Figures calculated with the following considerations 1 Tube supports spaced at minimum distances for each bore size Conversion Motor Revolutions Minute to Carrier Inches Second for 1 1 Drive Ratio Ms N m CARRIER SPEED mm sec 0 m 18 08 36 16 5424 7231 90 39 10847 126 55 144 63 162 71 180 78 LN MEC 2000 is gt PES 208 8 1 10 0 30 40 80 1120 190 1520 1680 CARRIER SPEED in sec Ms in Ibs For speeds over 100 in sec consult the factory Figure 3 Figure 5 5 If belt style is selected 6 Select options and accessories A Evaluate the application s load and support requirements Refer to the options and accessories section of this catalog for Consult the performance data and moment load charts for the available options for the actuator selected Axidyne belt drive actuators on page 82 84 Refer to the belt speed charts in Figure 4 and 9 at right to select either BCS or 7 Configure the order body styles When the product selection process is complete proceed to the B B3B Deflection Considerations Ordering Information pages 133 136 Refer to D B39 Deflection Considerations and Figure 3 above Rigid low protile design ideal for space sensitive applications Moderate load carrying capacity cylinders are available in three body sizes Heavy duty recirculating bearing system for high load c
110. Ground 45 2 us H E N L Max 0 5 Lue oum 05 i50 ot 08 OF 0 oa um nm 1 wes oe 920 w om vus us Cona W t Motors B H J 2144 e ee or e ee e e 52 470 1 0508 sw 065 122 46 5i 9 a4 0559 owa mo 0953 M M 46 9 1694 314 MRS 34 Above Dimensions in Millimeters MOUNTING INFO SCREW DRIVES Couplers Motor Mounting Kits Page 99 In line Gearhead Mounting 103 In line Gearhead Mount Dim 109 In line Motor Mounting Dim 112 Reverse Parallel Mounting Page 114 Ordering MR 22072 Tol O Matic Part 3600 6150 3900 6191 3600 6150 3600 6133 3600 6134 Direct Drive Mounting Page 119 G Reduction Drive Mounting 121 amp MRBN BRUSHED DC MOTORS FEATURES SPECIFICATIONS PERFORMANCE DATA DIMENSIONS ORDERING For cost sensitive applications requiring smooth and quiet low Features speed operation Tol O Matic provides the MRB series brushed DC motors Available with a wide range of torque speed characteris Rugged industrial enclosures tics the MRB motors are ideal for operation in an open loop system DMb5 6 or DM5C 6C drive module or in a servo sy
111. I CNI 1 1 Li LI 1 1 1 gt gt lt gt gt lt gt LI LI LI LI LI LI LI LI LI LI LI LI 1 Li FLED LD LO LO LO LO LO LO LO LO LO LO LO LO LO LAD LO LO LO LO LO LO LO LO LO Uu RM wn ovv Ww LN uw Oe x N e r r r cO TN Rm cNi CNI CNI LO lt gt lt gt lt gt lt gt lt gt lt lt gt lt lt lt gt lt gt SCT Cc lt F lt F lt F OO OO OY CO CO CO CO J lt gt lt gt lt gt lt gt o gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt o gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt cc cc cc cc cc lt gt cc lt gt O lt gt lt gt lt gt lt gt lt gt lt lt lt gt lt lt gt lt gt lt gt lt gt Wl lt gt lt gt ODI lt gt lt g
112. IONS M3B Metric TOP LEFT SDTL BOTTOM LEFT SDBL TOP RIGHT SDTR BOTTOM RIGHT SDBR d M3B10 Dimensions in millimeters M3B15 Dimensions in millimeters M3 B20 Dimensions in millimeters MOOR G H J MOOR G H G H J Dn MRV231 MRV231 2286 333 40 gt Er CAT LONS MRV232 MRV232 318 MRV234 Reduction Inertia at Motor Shaft MRV233 MRV233 MRV341 M3BIO 31 MRV23 34 5006 MRV234 MRV234 MRV342 ILES i MRV341 MRV341 MRV343 MRV342 MRV342 M3B20 31 MRV34 40 887 1 MRV343 MRV343 Weight of Reduction Drive MRS341 MRS341 M3B10 1995 8 g MRS342 MRS342 MRS343 198 MRS343 MRB231 MRB231 MRB231N MRB231N MRB341 MRB341 MRB341N MRB341N MRB342 MRB342 MRB342N MRB342N MRB401 MRB401 MRB401N MRB401N MRB402 MRB402 MRB402N MRB402N rN e ce c e Hp c Qo D gt c Ce r gt oo FA 5 MRS342 2 2 2 2 Rho RO O1 o1 N O gt MRS343 MRB401 424 MEUM 4023 1505 426 RO IR M3BI5 217720 NB 21120 Reduction Efficiency M3B10 0 95 M3B15 035 M3B20 0 95 342 342 342 342 20 8 20 8 20 8 19 8 198 11 11 11 9 13 2 98 6 24 0 494 12 3 44 158 183 49 6 48 3 V gt L w Lm i gt iss 18 2 c
113. N CNI CNI E E El El F PS Eq P PD E PS PE W lt co eS lt co 8 53 53 3 3 53 3 S S S S SIS sss sss 0 0 0 0 N01 SNI other other other 0510 BCS BCS BCS BCS 0 BCS 5 9200 9203 05209200 05209200 05209200 05209200 0 4520 9203 4520 9203 4520 9203 4520 9200 4520 9200 4520 9200 4520 9203 4520 9200 4520 9200 4520 9200 4520 9200 4520 9200 44 45 Fez lt gt lt gt lt gt lt gt CO CO CO CO CO lt gt lt gt lt gt lt lt gt lt gt lt gt lt gt Of CO gt O OOO O gt gt gt gt gt Oo CN CON CON OIN ON CIN CIN CON CON CON CNI CNI x OOO x N e F EE PF F F F F F F F F F lt F F F
114. O M Part COUPLING GHO 3600 6151 M02322 340305 3806177 205 GHJ21 3600 6162 MRV231 232 233 234 340305 380607 2045 GHJ30 3600 6154 MRV 341 342 343 3410 9076 3420 9041 00055 3600 6174 20055 341 342 341N 342N GHJ31 3600 6155 MRV 341 342 343 3410 9076 3420 9041 00055 3600 6174 100 341 342 341N 342N GHK30 3600 6453 MRS 341 amp 342 310976 3600 9236 coos GHKO 3600 6150 MRS 231 232 231 231 3410 9075 3809909 coos For Gearhead dimensional information refer to page 109 Pat Fame Gm met SPECIFICATIONS Number Number Ste Ratio ozin Wm Sut Da eo ms sy ie Max Input Speed 4000 RPM MOUNTING KITS AND COUPLERS FOR MOTORS B3B US Standard amp M3B Metric Tol O Matic Tol O Matic MOTOR COUPLERS MOTOR MOTOR MNTNGKIT JAW STYLE FLEX DISC Config Part Part TFOMPat CODE TFO M Part 4 CODE 3600643 34109074 36009218 CODO 3600 6144 3410 9074 3600 9218 CODO 3609646 3109072 300219 COS 3600 6146 3410 9073 3600 9219 COOS EN Tol O Matic Tol O Matic COUPLERS MOTOR MOTOR MNTNGKIT JAW STYLE Config Part Part TOM Part CODE R 3800600 IOS MRVZ 300602
115. Parallel mount right BWN07 inch Neoprene Fiberglass Belt BCB15 BELT DRIVE BCB B3B Stub Shaft Orientation RPB2 2 1 Reverse Parallel mount bottom BWN0b inch NeopRene Fiberglass Belt B3B10 SDL Direct Drive on left RPT2 2 1 Reverse Parallel mount top BWN10 1 Neoprene Fiberglass Belt 3 15 SDR Direct Drive on right BWN1b 1 18 inch Neoprene Fiberglass Belt B3B20 BELT DRIVE ONLY SDTL 3 1 Reduction Drive on top left STROKE LENGTH SDTR 3 1 Reduction Drive on top right SK Stroke then enter desired stroke length in decimal inches SDBL 31 Reduction Drive on bottom left SDBR 3 1 Reduction Drive on bottom right GEARHEADS For Direct Drive or In Line mounting configurations only GHK20 Gearhead for inch shaft 23 frame motor reduction ratio of 5 5 GHK30 Gearhead for einch shaft 34 frame motor reduction ratio of 5 5 GHJ20 Gearhead for inch shaft 23 frame motor reduction ratio of 5 5 GHJ21 Gearhead for inch shaft 23 frame motor reduction ratio of 10 GHJ30 Gearhead for inch shaft frame motor reduction ratio of 5 5 GHJ31 Gearhead for inch shaft 34 frame motor reduction ratio of 10 SELECT THE MOTOR AND CONTROL REQUIREMENTS CONTROLLER CABLING AND INTERFACES 10000099099 00400 toton E gt MOTOR DRIVE TYPE SIZE MRB Dc Brush Motor then add motor frame size 231 341 342 401 or 402 MRS Stepper Motor then add motor frame size 231 232 341 342
116. R OVER TEMP OVER CURRENT OUT 1 8 00 203 2 9 25 234 9 MicroStepping w gt Controller Motor Drive TOL O MATIC INC Hamel MN n E En gt 5 30 7 654 6 1346 Ordering Information Configuration Code Includes Tol O Matic Part 2 Drives MRS series stepper motors to provide motor drive MSS Microstepping Drive amp 2600 9603 system performance shown in the MRS motor section Chania pages 55 56 7ft RS232 Cable User Manual e To O Motion MSS Software PIT Panel Mount User Interface 1 1 E E J xk d 067 h ROLES in a Ld Features 10 Amp power supply Position feedback accomplished via atwo channel A amp B differential incremental encoder Proportional Derivative PD feedback loop for closing the loop around the motor Line fuse protection Final position error of 3 encoder counts The MSCLDC provides a low cost single axis controller and brushed dc servo drive in one package for those applications that do not justify significantly more expensive brushless sys tems Setup and pro gramming is performed with the To O Motion MSCLDC software allow ing sophisticated pro gramming to be achieved by even the most novice user through icons arranged in a simple easy to follow format Once pro grammed over the 5232 the PC may be removed and program intera
117. S and Series Only 35 Series Standard Electric Screw Cylinder FL I Floating Mount Bracket is desired B3SD 835 Series Standard Electric Screw Cylinder with Dual 180 Carrier 35 835 Series Metric Electric Screw Cylinder ED DUAL AUXILIARY CARRIER MSD B3 series Metric Electric Screw Cylinder with Dual 180 Carrier DC__ Dual Carrier then centertocenter spacing desired in decimal inches Center to BOB Series Standard Belt Drive Cylinder Center spacing will add to overall deadlength and will not subtract from the stroke BB Series Standard Belt Drive Cylinder length B3BD B3B Series Standard Belt Drive Cylinder with Dual 180 Carrier B3B Series Metric Belt Drive Cylinder Series Metric Belt Drive Cylinder with Dual 180 Carrier U Cete RU_ Reed Switch Form A with 2xmeter lead OD and quantity desired P TUBE BORE DIAMETER Reed Switch Form A with b meter lead and quantity desired 10 oe 22 mm bore Reed Switch Form C with 5meter lead OD and quantity desired 1o 2inch 40 mm bore BU Reed Switch Form C with 2 meter lead OD and quantity desired 4 2inch 60 mm bore BT Reed Switch Form C with 5meter lead and quantity desired Halleffect Sinking Switch with meter lead OD and quantity desired E NUT SCREW CONFIGURATION Screw Drive Models Only KU Halleffect Sinking Switch with 2meter lead OD and quantity desired SN Nut Standard Rolled KT
118. S231 MRS232 MRS341 MRV231 MRV232 MRV233 MRV234 MRV341 MRV342 MRV343 p C gt C p C Lu lt gt O31 m C N Cc E Cc 1 co O31 Ro O31 n co gt C m ao rN Ro Ss ca 1 nS c co p gt c gt RO DL c RO D c MRV341 MRV342 MRV343 MRS341 MRS342 MRS343 MRB341 54 44 9 6 0 as ws a MRB341N MRB342 MRB342N MRB401 MRBAO1N MRB402 MRB4O2N MRS342 313 326 MRB231 s MRB231N MRB341 MRS231 MRS232 MRS341 MRS342 MRS343 8 26 9 MRB231 MRB231N Ep Cc 4 NH um Cc B gt 5 oo A ceo O5 O1 A D F G 458 469 t 58 469 6 468 469 7 468 469 g 468 899 468 469 82 33 26 6 33 26 EHE E lt MRB341N MRB342 MRB342N MRB341 MRB341N MRB342 MRB342N MRB401 MRB4O1N MRB402 MRB402N SCREW DRIVE REVERSE PARALLEL MOUNTING DIMENSIONS SPECIFICATIONS BCS US Standard BOTTOM MOUNT SIDE MOUNT Right Shown
119. Speed control can be pro vided by a potentiometer or dc analog voltage input Inputs are opti cally isolated for transient voltage pro tection and noise immunity to help simplify integration into almost all con trol environments Choice of two power rating configurations matched to Axidyne dc motor ratings Open chassis configuration Self resetting fuse for dc supply to drive Jumper selectable speed control with potentiometer or 1 5 to 4 1 analog sig nal from PLC or controller modules Optional solid state dynamic braking circuitry accuracy and consistency Lockout fault protection tor dc power supply output under voltage Adjustable current trip level for over current overload condition protection Fault condition lock out output for L ED L E D status indicators for enabled and fault open chassis configuration only Independent acceleration and deceleration adjustment 0 to 7 0 seconds Inhibit drive using Enable input tor immediate dc drive shut down i 2 gt Ae ree SPECIFICATIONS DM Open Loop Brushed DC Drive Module M Power ES Input Current AC line 115 Vac 60 Hz 85 128 Vac range DM5 Output Voltage 32 Vde DMS Continuous Current 15Amp P DMG Output Voltage 4810 DM6 Continuous Current 10 Amp DM5 DM6 Peak Current 30 Amp 5 millisecond rating DM5 DM6 Max Power 480 Watts Frequenc
120. TE Cable is Reed Switches b SPECS REED SWITCH FORM A UNSHIELDED Reed switches DEMNM Single pole single throw Single pole double throw normally open can be used to operate relays normally open normally closed ida i I ir 10 Watts maximum current 500mA not to 3 Watts maximum current 250mA not to and solenoids if a protection cir exceed 10VA Refer to Temperature vs exceed 3VA Refer to Temperature vs cuit is used and if current Current and Voltage Derating charts Current and Voltage Derating charts wattage and voltage limits are 120Vdc ac maximum observed Call the factory for more information 40 F 40 C to 158 F 70 C Red LED lit when 4 min flows through contacts Up to 200 000 000 cycles Up to 200 000 000 cycles depending on load current duty cycle and depending on load current duty cycle and environmental conditions environmental conditions 5 meter with PVC jacket 2m or 5m Quick Disconnect with PVC jacket 2 6V typical 100mA w k Pa Data available from manufacturer un n HI TEMPERATURE VS CURRENT VOLTAGE DERATING 100 20 300 CURRENT D C mA ATUM TT VOLTAGE A C or D C NORMALLY CLOSED O NORMALLY OPEN SIGNAL DC Hall effect A LEN Switches D Refer to next pages for mount a DC HALL ing data NOTE Cable is UNSHIELDED Open collector transistor switch 25
121. UBJECT TO ANY OTHER OBLIGATIONS OR LIABILITIES WHATSOEVER WITH RESPECT TO PRODUCT MANUFACTURED OR SUPPLIED BY TOL O MATIC INCORPORATED OR SERVICE RENDERED BY IT 12 CONSEQUENTIAL DAMAGE Tol O Matic Incorporated shall not under any circum stances be liable for consequential damages 13 SERVICE CHARGES Should the Purchaser request the service of any erector demonstrator or service man except as specifically provided for and included in the price of the prod uct such service will be rendered at the rate outlined in the schedule of field service charges in effect at the date of request AND CAD LIBRARY ath Combine Tol O Matic s NEW sizing and selection software with our FREE CAD Library packages and you will get state of the art software packages to work with existing CAD programs and design sys tems Used in conjunction with Tol O Matic product catalogs you now can have all the important product information necessary to easily turn design into reality NOW AVAILABLE ON CD ROM Tol 0 Matics new CD ROM is now available and contains the new Tol O Motion Sing and Selection Software along with an overview on how to use it All current CAD Library files in both and Oxf formats product overviews of all Tol O Matic Axidyne and pneumatic product offerings PDF files of all Tol O Matic s current product catalogs PLUS a virtual tour of Tol O Matic s facility and more 9900 9073 Tol O Matic CDROM 9900 3
122. al DM6C Open Chassis Brush 3600 0107 Servo Motor Drive User Manual Axidyne drives are available for brushless servo microstepping and brushed dc systems These drives combine flexibility and Superior performance in compact packages HAM t e 4 OL ri For use with Axidyne motors this LE servo drive provides DIng continuous torques up to 44in lbs 4 97 N m For use with Axidyne in a 34 frame 15 6 MRS motors this stand imbs 1 6 Nm in a alone microstepping 23 frame drive is an economical solution for use within multraxis stepper applications For use with Axidyne MRB motors for applications that require a servo system without the For use with Axidyne expense of brushless MRB motors this motors low cost drive module is intended for systems that do not require position feedback SSD BRUSHLESS SERVO DRIVE FEATURES SPECIFICATIONS DIMENSIONS ORDERING The SSD digital brushless servo drive com continuous torques up to 44 indbs 4 97 N m in a 34 bines flexibility and superior performance frame and 15 6 in lbs 1 76 N m in a 23 frame are ina very compact package With three achievable when used in conjunction with the Tol O output power ratings available Matic MEV series brushless servo motors Digital autotuning for quick setup 4 dedicated 1 0 plus 5 user selectable optically isolated dig
123. andard c 9 s SCREW DRIVE COUPLERS amp MOTOR MOUNT KITS SELECTION PARTS ORDERING INFORMATION R R R 25 cS 22 c To er ts a edi a is gt S gt I on 2 c E lt gt 2 pai P lt gt D ES EE ES Ex D EXE EE EE ELE EXE EXE l MOS MCS Style Metric SCREW DRIVE GEARHEAD MOUNTING SELECTION DIMENSIONS ORDERING INFORMATION For those applications requiring reduction for inertia matching or higher torque at lower speeds Tol O Matic offers high efficiency single stage true planetary gearheads Two ratios are available as ideal reduction solutions with most Tol O Matic Nema 23 and 34 face motors and actuators Specifications Efficiency 90 Backlash less than 10 arc minutes Max Input Speed 4000 RPM Reflected cong Part Frame Ger pt Weight Number Number Ratio oz in N m Shaft Dia Lbs Kgs 2 10 1 00 57 00 Reflected Inertia is inertia at motor side of gearhead GEARHEAD DIMENSIONS 23 FRAME 0 375 SE 01 500 0 205 4 GEARHEAD Ada ter Plate 38 10 5 21 02 625 BC 66 68 500 12 70 2 250 57 15 Square 1 48 x 1 16 Deep 625 37 60 x
124. arrier option Increases rigidity load Carrying capacity and bending moments MANT SENDING LOWEN SS BCS M3S AND ACTUATORS U S STANDARD METRIC 1453in b 2430 1 6 3240 164 10 N m 127460 N m 5501190 60011 0 1240N m 6210N m 67 80 287 1 6 110 0 0 087 1 0 1453 1 0 2430 0 3240 164 10 N m 274 60 N m Ms Load 120 b 360 Ib 000 5440kg 163 30 kg Dimension D 510in 65 810n 121mm 165mm Minimum y 1 E J 3 272 00 kg B3S M3S AND B3B M3B ACTUATORS U S STANDARD METRIC 35815 35 2 MBL M38120 Moment 2825 10 0 11 734 indo 16 265 in b 319 2 N m 1325 8 N m 1837 8 Nm 20011 0 17181 0 392411 0 565 1941 375 6 Nm 1630 11 0 6779 10 0 9388 10 0 184 2 765 9 1060 8 1182 29086 4066 5516 13190kg 1821 6 kg 620 1600 28 3093kg 7620kg 10514 kg 1244mm 205 9 205 7 mm SLS MLS ACTUATORS U S STANDARD METRIC S30 177 80 nb 20 09 N m 160 00 11 0 18 08 Nm 277 80 in Ib 31 30 N m Dimension D Minimum DUAL CARRIER LOAD vs DISTANCE B3S M3S AND B3B M3B ACT UATORS DIMENSION D millimeters spuesnou UN 99 n n BE wu aaa 14 6 1 8 1 0 23 2 23 4 DIMENSION D i
125. arrying and moment capacity avail able in three body sizes Axidyne screw drive actuators are available in three body styles each employing a different 0 0 carrying bearing system for the widest number of solutions to your application requirements U S STANDARD SCREW DRIVE ACTUATORS MODEL AVAILABILITY AND LEADSCREW THRUST SPEED CAPACITY BCS CYLINDER STYLE Screw Dia Screw Pitch Nut Model Number Form turns perin Style BCS10 SNI Solid LINEAR SPEED ins sec 10 20 930 4 0 60 70 80 9 100 110 120 STROKE in 5 8 DIAMETER ACME SCREW SLS SLIDE STYLE Screw Dia Screw Pitch Model Number in Form turns perin Style 95510 5501 12 STD Solid MAXIMUM THRUST 1 smua 0 0 2 93 4 50 60 70 80 90 100 110 120 STROKE in B3S CYLINDER STYLE Screw Dia Screw Pitch Nut Model Number in Form turnsperin Style 83510 SNI 1 2 9010 B3S10 02 12 STD Solid MODELS BCS15 BCS20 3515 3520 1000 10 20 93 4 5 6 70 80 90 100 110 120 STROKE in Em U JJ m 3520 BNO5 B3S20 BNLOS 34 PRE NOTE See page 134 for configurator code descriptions MAXIMUM THRUST F en PES ER 0 3 3 4 8 0 7 W 9 1 10 m STROKE in 0 3 3 4 0 0 MO 8 9 HO m STROKE in NIN THRUST H 0707207 3 8 0 3 S HO 00 m STROKE in 3 4 5 9
126. be guide position A low cost solution for the reciprocating guide is a BCS Series screw drive actuator driven by the MSD microstepping drive and a MRS series stepper motor Therefore the controller must be able to provide an analog torque signal for the servo drive as well as a step and direction signal for the microstepping drive Also the controller must be able to supply a correction algorithm for tension control with linear interpolation between the two axis The controller for this application is the 5502 two axis multifunction controller SQ two axis controller Two MSD microstepping drives MRS342 stepper motor MRS343 stepper motor JS two axis joystick 3520 screw drive recir culating ball bearing actuator BCS15 screw drive rod _ bearing actuator Motor couplings motor adapters and cabling automatically selected the Tol O Motion San software Aid MEE 921 APPLICATION DESCRIPTION sheet metal fabricator needed to perform multiple spot welds on lot sizes ranging from 50 to 100 pieces two lots had welds in the same locations therefore setup simplicity was crucial REQUIREMENTS Two axis positioning system Teach mode e Repeatability better than 0 005 Speed 25 inches per second Weld head load 10 lbs TOL O MATIC SOLUTION The SsC2 two axis controller with the Tol O Motion SSC user interface software provides a dedicated joystick teach mode unlik
127. ch selectable microstepping resolutions 200 400 1000 2000 5000 10000 12800 18000 20000 21600 25000 25400 25600 36000 50000 508000 steps rev Over temperature protection Short circuit protection Surge protection Idle current reduction 50 switch selectable Pluggable screw terminal connectors mating connectors included Integral heat sink MSD MICROSTEPPING MOTOR DRIVE a SPECIFICATIONS Power Input Voltages AC line 24 MSD Microstepping Motor Drive B 110 or 220 Vac 60Hz switch selected 400 W max 20 6092 version can be special ordered Input Voltage DC line 75 full load 90 no load Amplifiers Pulse Width Modulated Switching Phase Peak Dual MOSFET H bridge 3 state at 20 kHz 05 55 Amps E Output Current Output Power 400 watts max s Overcurrent and over temperature TA Automatic Idle Current Reduction Step Direction amp Enable Reduces current 10 50 of setting after one second defeatable Optically isolated differential 5 12V logic SS x Mmm ts Minimum Set pTime P Directional Signal 5015 Minimum Hold Time Fault Output Photo Transistor LI 4 L Optically isolated uncommitted open collector open emitter Environment eo Max Case Temperature 158 F 70 C F mi m Ejs Lid 4 a
128. condition 15 Amp 1 sec operating at peak condition 2 Performance System Resolution Repeatability Final Position Accuracy 1000 counts per revolution 1 encoder count 3 encoder counts PWM Frequency 20KHz Over Current Rating 125 of continuous rating ie Inputs Pulse Step and Direction Signal dl E Circuit Optically isolated 1K Ohm input impedance md Input Current 5 mA min Input Voltage Low 5 V max Input Voltage High 25 V max Directional Input Pulse Step Input Direction changes on transition Drive steps on positive going transition I rum Minimum Step Pulse Width 10 microseconds le Max Frequency 20 Khz L x Reset Normally closed momentary contact for resetting faults E Lu Encoder Resolution Jumper connection for selecting quadrature or full encoder pulse count 2 Potentiometer Inputs Current Trip Adjustment of torque fault limit Gain Position error adjustment between commands and actual feedback signals System settling time adjustment between the system natural frequency and Operating frequency EET E E Li Damping Outputs Fault Output Form C solid state relay output for position current trip setting n Fault L E D Output Diagnostic indication of current ipo posit
129. controller O Motion MS motion control SW allows setup and program ming with intuitive icons Position feedback accomplished a two channel A amp B differen tial incremental encoder Proportional Derivative PD feedback loop for closing the loop around the motor Enclosed configuration Final position error of 3 encoder counts and repeatability of 1 encoder count Current trip point potentiometer for setting torque fault limit Fault condition indication via 2 LEDs to indicate current trip and position error faults for field diagnostics Optosolated external power Potentiometer for Damping and Gain adjustment Brushed Dc Servo Drive DMCLDC ine fuse protection Position feedback accomplished via a two channel A amp B differ ential incremental encoder Proportional derivative PD feedback loop for closing the loop around the motor chassis contiguration Final position error of 3 encoder counts Repeatability of 1 encoder count Current trip point potentiometer for setting fault limit Optoisolated inputs 5 30 Pulse Direction Reset Quad Full SERVO DRIVE CONTROLLER USER INTERFACES JS JOYSTICK TolO Motion SSC Motion Control Software allows setup amp programming with intuitive icons Joystick and Mouse teach modes 8 000 000 counts sec encoder feedback allows high speed operation 2 encoders per axis Industrial enclosure
130. crew shatt The 2 1 reduction provides further options in motor selection for torque speed and inertia match considerations SELECTION PARTS ORDERING INFORMATION SCREW DRIVE COUPLERS amp MOTOR MOUNT KITS When selecting an actuator and motor system from Tol O Matic the appropriate coupler and motor mounting kit is automatically selected for the system based on the specific actuator and motor type chosen The following tables summarize the couplings and motor mounting kits associated with TolO Matic screw drive actuators and motors For couplings and motor mounting kits associated with gearheads for screw drive actuators refer to pages 103 108 Dimensional charts follow The stepper and brushed dc type servo system have been devel oped as low cost moderate performance systems For these systems vibration isolation and shock damping low cost and tolerance to paral 50 Lu 2 lel and angular misalignment were the key selection criteria Therefore RP EN um 5 gt EE a EC Hd n 2 op MEE 222 2 gt as gt EH 5 BH BG BH OG EK FE HQH E d o 2 Sle e el s S sisisisisi8Sisisisisisisisisisisisisisisisis 5 E 202 s r a GERO Dn g o a 0 xo 10 10 10 10 10
131. ction achieved through I O or the PIT Panel Mount User Interface Fault conditions via solid state Form C output position error and current trip Fault condition indication via 2 L E D sto indicate current trip and position error faults for field diag nostics Opto isolated external power Vdc Potentiometer for Damping and Gain adjustment Repeatability of 1 encoder count Position error L E D 127 encoder counts and current trip faults Four dedicated optically isolated inputs CW amp CCW jog 2 limits Four general purpose optically isolated inputs Current trip point potentiometer for setting torque fault limit Three general purpose optically isolated outputs SPECIFICATIONS Power Input Voltages Input Frequency Output Voltage DC line x Output Continuous Current Output Peak Current Performance System Resolution Parameter Ranges Distance Deceleration Time Delays Inputs INPUT CURRENT Input 1 4 CW Jog CCW Jog INPUT CURRENT CW N Limit CCW Limit Potentiometer Inputs Current Trip Outputs Outputs 1 3 5V Output Environment Ambient Temp Range MSCLDC MICROSTEPPING CONTROLLER BRUSHED DC SERVO MOTOR DRIVER FEATURES SPECIFICATIONS PROGRAMMING DIMENSIONS ORDERING a MSCLDC Microstepping Controller brushed DC Servo Motor Driver 85 132 Vac European input power available on request as a mo
132. d torque to overcome external force oz in Tepiction quired torque to overcome friction oz in Tc Paviry Tequired torque to overcome gravity 02 motor output torque at desired speed oz in TpRELOAD torque required to overcome loading of carrier bearings and tension on screw or belt T roTAL required torque to move the load oz in U coefficient of static friction linear bearing system V maximum linear velocity in sec angular velocity rad sec W other Weight of carriage or weight of top axis Ibs Wi gap weight of load Ibs 147 SANG AND SELECTION LIMITING FACTORS Torque Margin The following torque margins are recommended Stepper 2 0 Brushless Servo 1 15 Brushed DC Servo 1 15 Inertia Match For best efficiency and dynamic performance 1 lt _ _ lt 10 MOTOR Critical Speed Critical speed for a given length of a given diameter screw in a given bearing system is that rotational speed at which the screw will have a natural frequency of oscillation about its own axis Curves of critical speed versus length are provided for each screw diameter in the screw drive actuator section of this catalog Screw Nut Thrust Capacity ocrew nut thrust capacity is the axial load which the screw and nut can deliver to the carrier This force is limited by the interaction of the screw and nut threads for a solid nut and by the rolling ball thread system of the ball scre
133. dification 60 Hz 7 Amp max 48 Vdc no load condition 10 Amp 15 Amp 1 second operating at peak condition 1000 counts per revolution 1 encoder count 3 encoder counts 20 125 of continuous rating 1 to 16 000 000 steps 025 to 50 rev sec 1 to 3000 rev sec sec 1 to 3000 rev sec sec independent of acceleration 0 1 to 25 5 seconds 5 mA internally pulled up to 5 5 15 mA internal limiting resistor for 5 V logic Adjustment of Torque Fault Limit Position error adjustment between commanded and actual feedback signals System setting time adjustment between the system natural frequency and Operating frequency Optically isolated 24 max 100 mA 5 100 mA max self resetting fuse 32 to 119 010 45 C HSCLDEC Programmer V1 28 08 untitled 1000 Steps revolution Jog Parameters Speed 5 00000 inch sec User Units 4 e name inch Accel 250 Inch s s steps Inch 4 2000 Use Jog Cw as Input 5 Use Jog CCW as Input port Programmable by 5232 connection to IBM compatible PC running Windows 3 1 Windows 95 or Windows NT Programming software and cable included Programming is very easy to learn and requires no previous programming expe Programs can be up to 100 lines long Instructions are pow erful so 100 lines can provide the user with a sophisticated program For e
134. e Complex motion control is made easy with the plain English programming icons that lead you through the entire programming process from setup to execu tion Mouse and joystick teach modes allow the user to setup coordinated motion programs by moving to and clicking on desired locations Features High performance motion control packaged in an industrial enclosure Uses a 32 bit specialized micro computer and custom submicron gate array for highest performance and speed Up to 4 axes per unit up to 4 units can be daisy chained 125 axis servo update rate for high bandwidth Controls servo motors and or step motors Sophisticated PID filter with velocity and acceleration feed forward for optimum precision 16 bit DAC for fine resolution control 8 000 000 counts sec encoder feed back allows high speed operation 2 encoders per axis 4M EEPROM memory for executing custom applications programs per mits stand alone operation Multitasking feature permits simul taneous execution of four indepen dent applications programs Programmable acceleration and deceleration with profile smoothing to eliminate jerk Continuous vector feed of infinite number of linear and arc segments for smooth motion Contour mode for profiling along computer generated paths such as parabolic or spherical profiles Selectable linear scale simplifies linear motion programming Performs any motion task including joggi
135. e the cylinder heads To mount transfer location of holes to the receiving surface Drill mount ing holes 1 32 larger than diameter of the mounting screws and attach securely with appropriate screws Axidyne actuators can 06 base mounted with standard mounting configurations provided or by using base mounting plates STANDARD MOUNTING AND MOUNTING PLATES FOR B3S B3B BCS AND SLS ACTUATORS Mounting Plates NIS DIMENSIONS Mounting Plates provide SLS ACTUATORS clearance height for motors B and motor mounts when d mounting an actuator on a flush surface Designed to mount to either tapped mount ing holes on cylinder heads or to T Nuts these plates provide the means for top mounting access Kits include plates and mounting screws F THRU 2 515 BCS B3S and B3B Series s in inches MODELS TET 6 0 805015 346430 558 63 472 3200 266 0221THRU CBOREO3X22DP 0281 THRU CBORE 044 X 28 DP These plates provide clearance for motors and motor mounts MOUNTING KIT MOTOR COMPATIBILITY MODELS ODELS PART NO BRUSHED DC MOTORS BRUSHED DC MOTORS STEPPER MOTORS BRUSHLESS SERVO SS 0096 o MN21 23 28 24 MPV 341 342 343 MAV all rame sizes 04096 CC MW23L22324 MBV all rame sizes MRV 341 342 343 3410 9056 MBV 231 232 233 234 B SQ 34097 MRB 34434243 3323 1
136. e any other for simplicity of multiple axis point to point programming The flexi ble SSC controller is capable of providing control for any of the TolO Matic drivers brushed dc servo brushless servo or steppers but since speed and torque requirements allowed the use of a low cost stepper system the MSD microstepping drives with the MRS stepper motors provided most cost effective solution A 3520 2 cylinderstyle body 35 Series screw drive was selected for the primary axis actuator due to the large moment load generated by the secondary axis actuator motor and load For the secondary axis a 515 1 2 cylinderstyle body BCs Series screw drive actuator was selected N 0 Furniture Gli 9902 two axis controller Two MSD microstepping drives MRS342 stepper motor MRS233 stepper motor B3S15 screw drive recirculating ball bear Ing rodless actuator BGLO screw drive 00 65 actuator _ 10 pneumatic i rodless actuator 7 Motor couplings motor adapters and cabling j i f automatically s m g L3 MEAT in ation 21 fare APPLICATION DESCRIPTION manufacturer of patio furniture needs to lay a bead of glue in various patterns as one part of a subassembly process to be performed on a single panel as it passes through the machine Pop Set REQUIREMENTS Two axis control with circular and linear interpolation for glue head positioning Ability to quickly and easil
137. e torque to overcome the preload of the lead screw nut assembly and the static friction of the carrier bearings Brushless DC Servo Motor drive that generates trapezoidal motor currents and trapezoidal back EMF in a brushless motor Closed Loop system where the output is measured and compared to the input If this system is capable of making corrections to mini mize the difference it is classified as a Servo Critical Speed Rotational speed of a lead screw at which the screw begins to oscillate or whip This speed is dependent on the screw length and diameter Commutation Switching of drive voltage to the motor windings necessary to provide continuous rotation A brush motor uses mechanical switching through a brush bar contact Brushless motors use separate devices such as Hall Sensors to sense the rotor posi tion This information is then processed by the drive to deter mine the switching sequence Duty Cycle Ratio of on time to total cycle time On Time O YC On Time Off Time Efficiency Ratio of power output to power input Encoder Device used to provide relative position and velocity informa tion to a drive or controller by sensing mechanical motion and providing a corresponding pulse rate as output Flatness When traveling in a straight horizontal line the vertical devia tion above or below the horizontal plane of travel of the carrier Holding Torque Maximum external torque that can be app
138. ed The controller encoder and motor cable are included by ordering CR2 CR4 which selects the encoder cable length Controller Cable J1 to flying leads Encoder Cable J2 to MRV Series Motor Encoder Connector Length Configuration Part No meter CR2 3600 1162 4 meter 3600 1163 6 meter 3600 1164 MRV Series Motor Cable Part Number 3600 1165 RS 232 Cable Part Number 3600 1173 Mating Connectors Reference Cross reference of mating connectors with J1 J2 connectors on drive Jf J Style Connector AMP 2 175677 7 2 175677 2 Solder Backshell AMP 176793 7 176793 2 Connector 10150 6000EC 3M 10120 6000EC Crimp Backshell 3M 10350 A200 00 3M 10320 A200 00 Connector 10150 3000VE 3M 10120 3000VE Crimp Backshell 10350 52F0 008 10320 52F0 008 For use with MDR Hand Press Tool Kit 3M part number 3829 CONTROLLER CABLE 157 5 REF 4M ENCODER CABLE MRV MOTOR CABLE L 236 2 6M Ref This chart is a quick reference to help select the correct Tol O Matic switch to use in your application See the specifi cations for each switch to con firm your choice UNIVERSAL SWITCHES PERFORMANCE DATA SPECIFICATIONS Available for use on all of Tol O Matic s Axidyne actuators these switches are activated by the cylinders internal magnet or on some actuators the carrier mounted magnet
139. ent Trip Setting J Potentiometer 25 turn potentiometer adjustable to 125 of rating 0 2 second delay self adjusting for accel Environment Temperature Range 32 to 122 0 to 50 C Humidity 10 95 non condensing Normally closed momentary reset input E ru Lh A Fault Indicator D on Drive OUTPUT for external L E D Drive Module Optically Isolated Inputs Initiates acceleration or deceleration profle Reversing motor direcion Fault Reset Clears current trip fault voltage supply 5 to 25 Vdc 25 mA max required to power Drive Module opto iso lation when NOT used with Basic Controller Module th amp DM6C OPEN LOOP BRUSHED DC CONTROLLER DRIVER FEATURES SPECIFICATIONS DIMENSIONS ORDERING Consisting of an Axidyne Controller and an Open Loop DC Drive Module DM5C DM6C provides a cost effective means of pro viding continuous reversing motion control End of stroke dwell times are independently adjustable while an external potentiometer included with drive can provide variable speed control Change of direction is achieved through end of E stroke switch inputs compatible switches include reed Hall effect or 24 Vdc proximity 4 Fe rm ESI 2 e DC Drive Features Choice of two power rating config
140. er 1 axis application Configurator will select either the DMCLDC drive if MRB motor SSD drive if MRV motor or MSD if MRS motor is chosen in 12 above FOR OPEN LOOP DC ONLY C Add to 5 or DM6 open loop drive to include controller MULTI AXIS APPLICATIONS 2 Axis Application 2nd Axis 99021 Stepper 99022 Servo 1st Axis Determined by Drive Determined by Drive 3 Axis Application Axis 2nd Axis 1st Axis 99031 Stepper Stepper Determined by Drive 99032 Stepper Servo Determined by Drive 99033 Servo Stepper Determined by Drive SSC34 Servo Servo Determined by Drive 4 Axis Application 4th Axis Axis 2nd Axis 1st Axis SSC41 Stepper Stepper Stepper Determined by Drive 09042 Stepper Stepper Servo Determined by Drive 59043 Stepper Servo Stepper Determined by Drive 09044 Stepper Servo Servo Determined by Drive S9C45 Servo Stepper Stepper Determined by Drive 99046 Servo Stepper Servo Determined by Drive Servo Servo Stepper Determined by Drive 09048 Servo Servo Servo Determined by Drive ED CABLING For MSC MSCLDC MSS DM5C and DM6C drive controllers RS232 cables are automatically included For SSD Drives RS232 cable is included Power Cable 6 meters Controller Cable 4 meters and Encoder Cable are included by specifying the encoder cable length CR2 2 meter encoder cable power cable controller cable 4meter encoder cable power cable controller cable CR6 6 meter encoder cable power cable con
141. er is available in one body size moment capacity available in three body sizes BELT DRIVE ACTUATORS MODEL AVAILABILITY BELT LOAD CAPACITIES BELT CONSTRUCTION U S STANDARD MODELS METRIC MODELS BELT STYLE Drive Belt Belt Model Number Reduction Width Material BCB15 DD BWOS 1 2 P BCB15 BWO 1 2 BELT STYLE Drive Belt Belt Model Number Reduction Width Material BCBIS DO BNO Q4 BCBI5 SD BWOS 1 2 BCB15 50 DUBS BELT STYLE Drive Model Number Reduction Width Material 92810 SD 1 2 N B3B10 oD _ BWO5 1 2 N 3815 SD N 3815 D N 8382 SD BW18 1 18 N NOTE See page 134 for configurator code descriptions A WITIRWME I er i i _ BELT LOAD FOR BCB ACTUATORS LINEAR SPEED mm sec 0 24 5 70 106 1270 154 178 2022 120 44 uow NN TRAPEZOIDAL TOOTH BCB ACTUATORS Offered in polyurethane body with multi strand steel tension members Belt width is 1 2 and tooth pitch is 3 8 The trapezoidal tooth form is well suited for lighter load lower horsepower applications with emphasis on positioning LINEAR SPEED mm sec 0 254 508 762 1016 1270 1524 1778 2032 2286 2540 0 4 6 80 LINEAR SPEED 10 HTD Tooth Profile HTD TOOTH BCB AND B3B ACTUATORS kx ME Offered in neoprene body with C fiberglass tension members or 5 M T
142. er pulse used in Homing sequence or Find Index command Minimum index pulse width is 120 NSEC Optional differential inputs from encoder used for enhanced noise immunity Inputs for additional encoder used when encoders on both the motor and the load are required Stops commanded motion instantly and also aborts applica fion program System reset When active inhibits motion in forward or reverse direction and also causes the limit switch subroutine LIMSWI to execule Input for Homing HM and Find Edge FE instructions Uncommitted inputs can be defined by the user to trigger events or interrupt program High speed position latch to capture axis position within 25 usec bypass optoisolation for 1 usec capture AL command arms latch Input 1 2 3 4 latches X Y Z W respectively Analog inputs that can De connected to external analog sig nals such as force or pressure transducers Can also be used for position feedback 12 bit resolution ADC for 10 V input 10 V range signal for driving servo amplifiers 16 bit resolu tion or 0003 V 3 mA Signal to disable and enable an amplifier Amp enable goes low when motor off condition occurs For step motors this pin provides for reduced current when low Pulses for input to step motor driver The pulses can be either active low or high Upon Reset the output will be low if the SM jumper is on Tristate if off The STEP OUT pi
143. erfaces PIT panel mount JS joystick or SIT hand held controller Stepper Motors MRS Long life bearings High temperature insulation Exceptional thermal dissipa tion properties NEMA 23 and 34 mounting High torque to inertia ratio Microsteppi Drive Motor current from 0 5 to 5 9 peak amps phase switch selectable 51 settings Step direction amplifier enable inputs fault output optically isolated 16 switch selectable microstepping resolutions 200 400 1000 2000 5000 10000 12800 18000 20000 21600 25000 25400 25600 36000 50000 508000 steps Tev Overtemperature protection dle current reduction 50 switch selectable Pluggable screw terminal connectors mating con nectors included Coricrollers for MSS Basic Si ngle Axis MSS Controller Drive Combines basic single axis controller and drive Tol O Motion MS Motion Control Software allows setup amp programming with intuitive icons Software selectable motor current 0 5 to 5 5 peak amps phase Drive Voltage 80 VDC Input Voltage 110 or 220 VAC Microstep Resolution 13 software selectable resolu tions 2000 to 50800 steps revolution Automatic idle current reduc tion 0 2596 50 or 100 software selectable Two dedicated optically 150 lated limit switch inputs 5 24 VDC CW and CCW jog inputs Four general purpose fil
144. ex Not Brown MRB23IN 3000600 waj pan MRB341N 3600 6141 MOUNTING INFO a SCREW DRIVES MRB342N 3600 6142 Couplers Motor Mounting Kits Page 99 ER s In line Gearhead Mounting 103 Nu Inine Motor Mounting Page 112 MRB402N 3600 6144 Reverse Parallel Mountings Page 114 BELT DRIVES Direct Drive Mounting Page 119 Reduction Drive Mounting 121 AT n NN s gt j NN MECHANICAL ACTUAIORS Screw actuators In three load carrying designs for accurate positioning of heavy offset loads Belt actuators in two load carrying designs for higher speeds and longer Strokes PATENTED SEALED RECIRCULATING BEARINGS FOR LONG LIFE For high load and moment load capacity with consistent tracking this series of actuators features a patented heavy duty recirculating bearing system in gothic arch rail guides This sys tem offers wear resis tance with repeated accuracy Bearings are sealed for long wear and extended performance The B3s and B3B Series provide the highest load over 2000 lbs and moment load capacity of all Axidyne actuators with consistent tracking for full actuator life U S Patent 5 555 789 3 body sizes Same envelope size BCS actuators with higher load capacities 20 standard inch models Three body sizes and 20 dif ferent screw nut combina tions 12 metr
145. gt lt gt lt gt lt gt 3600 9204 3600 9206 3600 9206 3600 9206 lt lt gt lt gt gt lt gt gt GG o 5 gt gt gt oj lt gt SI lt gt SI lt gt 5 lt gt SI lt gt SI SI SI lt gt SIS lt EE lt gt EE EE P Bea lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt Sol gt Sol gt gt gt 5 gt gt lt lt lt ep gt 5 c cr CC cc occ WES
146. ic models Three body sizes and 12 screw nut combinations Custom order strokes in any incremental length 3 body sizes Neoprene belt material for higher speeds 3 1 Reduction drive Available for matching motor speed and inertia Custom order stroke lengths Custom strokes up 1018 feet in any incremental length For longer strokes consult the factory BEARINGS ON GROUND STEEL SHAFTS SLS MLS Screw Drives These pre engineered Extruded work table load supporting and fully Fully extruded anodized enclosed slide style actu tan two parallel slots for S 4 5 mounting flexibility and sta tem of recirculating bear bility ings on ground steel shafts providing consis Singlepiece housing tent carrier tracking and Fully extruded anodized long actuator life Using the same patented E dene e Be dac continuous bearing rod sup port along full stroke BCs style actuators SLS actuators are available in 6 standard inch models one body size and offer a One body size and two rigid low profile design ferent screw sizes with anti ideal for space sensitive backlash option applications 4metric models One body size and two screw sizes in ACME or Ball selections Custom order strokes in any incremental length PATENTED ADJUSTABLE CARRIER PATENTED BAND RETENTION SYSTEM SELF LUBRICATING ROD BEARINGS BCS MCSScrew and BCBBelt Drives Th
147. ied The IHC Description Current 060 JN Cunen 50 Uze as Input 5 Use Jog COW COM 429 Cv O JO OM 3 Programmable by 5232 connection to IBM compatible PC running Windows 3 1 Windows 95 or Windows NT Programming software and cable included Programming is very easy to learn and requires no previous programming expe Programs can be up to 100 lines long Instructions are pow erful so 100 lines can provide the user with a sophisticated program For example in one program line the motor can be moved until a sensor changes state then fed a precise dis tance to stop delayed and returned to the starting point Distances delays feed and return speeds acceleration and deceleration parameters are all included in the single program MAIN PROGRAMMING SCREEN instruction The same move can take 10 program lines or more on other indexers There are a total of 13 different instructions including input output branch es loops and motion com mands These instructions can be combined to make a neatly infinite variety of programs meeting the demands of a wide range of applications The main programming screen is shown above On the right of the screen are the 100 program lines In the center are command butto
148. ief E T SPECIFICATIONS DIMENSIONS For user interaction with the SSC 14 multitunction controllers the SIT hand held user interface provides flexibility and setup simplicity The Tol O Motion SS software included with the SSC 14 con trollers has a setup page for use with the SIT to allow the controller to status the user or to prompt the user for information eliminating the need for a PC following setup Features 45 key alpha numeric tactile keypad 4 row by 20 character LCD display Rugged high impact ABS housing 7 foot 2 1m RS232 cable with 9 pin D connector for connection to the SSC 1 4 5 Vdc power supplied from SSC 1 4 controller over RS232 Ordering Information Configuration Tol O Matic Code Part SIT 3600 9161 SIT HAND HELD USER INTERFACE cu ee i TI T SPECIFICATIONS ST Hand Held User Interface Character Set ASCII with upper case transmit upper and lower case receive Case Molded high impact ABS Y with retractable hanger Keypad 15 user programmable function keys Display LCD With 5 by 7 character font Power Requirements 30 mA maximum regulated 5 Vde 5 Received through R 232 cable Speaker Audible key click bell and alert Storage Temperature 4 F 20 C to 158 70 C O
149. igned 0 drive the MRB series brushed DC om Bs motors configured with a 2 chan 500 line encoder to achieve positional accuracy of 3 counts and repeata K _ bility of 1 count SANH Features 10 Amp power supply Line fuse protection Position feedback accomplished via a two channel A amp B differential incremen tal encoder for resolution of 1000 counts per revolution Proportional Derivative PD feedback loop for closing the loop around the motor Final position error of 3 encoder counts Repeatability of 1 encoder count Position error L E D 127 encoder counts and current trip faults Current trip point potentiometer for setting torque fault limit Fault conditions via solid state Form C output position error and current trip Fault condition indication via 2 L E D s to indicate current trip and position error faults for field diagnostics Opto isolated inputs 5 30 Vdc Pulse Direction Reset Normally closed Reset input for clearing faults Pulse Direction input for remote stepper controller Aft DM 34 5 4 B ecce cm SPECIFICATIONS DMCLDC Brushed DC Servo Motor Driver Power Input Current AC ling Fa 7 0 Amp max European Input power available on request as a modification Iput Votages Cine 13260 _ 48 Ve no load
150. including dead length _ See Inertia in Motor Section s This will be an iterative process since the actual motor torque is unknown at 02 In this point es See Inertia for Reduction Device Oz in reflected 21pVM lt gt To rad sec Continues Screw Drive Torque cont 16 oz 1 3 oz in dus e Friction Table in Actuator Sections 3 Ibs T _ See Preload Torque in 1 oz in Actuator Sections Sin 16 2 1 d F pru Hoz oz in 2npe lb me Screw Drive Thrust Delivered by Nut Thrust 2xpe e m x Tom fent Tenguoap Ibs Screw Reflected Inertia 2 A 45 oz in Belt Drive Torque Tace enELOAD Taraviry TEXT oz in m tengo Weiz v Worueg reflected lt See Weight in Actuator Section See Drive amp Idler Wheel Inertia in Actuator Section Ib reflected _ See Inertia in Motor Section This will be an iterative process since the actual motor torque is unknown at this point Inertia for Reduction Device reflected Continues 16 oz m 4 4 Qa Oz in
151. ing Information Configuration Code DMD DMO Includes Tol 0 Matic Part Open Chassis Open Loop 3600 0406 Brushed DC Drive Module User Manual Open Chassis Open Loop 3600 0407 Brushed DC Drive Module User Manual MRB brushed dc motors are the choice for cost sensitive applications requiring smooth and quiet low speed operation Designed for maximum power den sity these motors come with inte gral commutation Hall ettect devices and internally mounted 1000 line encoder MRS stepper motors are the best cost performance value available with high torque to iner tia ratios and exceptional thermal dissipation properties BRUSHLESS SERVO MOTORS FEATURES SPECIFICATIONS PERFORMANCE DATA DIMENSIONS ORDERING MRV series brushless servo motors provide a wide Features range of rated torques and speeds for applications requiring long life under continuous difficult environment operation These motors are Rugged industrial enclosures designed for maximum power density The MRV series motor come with integral commutation Hall effect devices and an internally mounted 1000 line encoder Large shafts and bearings for longer life with high radial axial loads Dual convenient MS connectors to simplify motor termination and provide excellent noise immunity Common industrial mechanical flanges NEMA 23 34 Integral Hall effect devices f
152. ion error 5 Vdc L E D Output Environment Ambient Temp Range Humidity Indicate power to CLDC Drive Module 32 to 122 F 0 to 50 C 10 95 non condensing S wi 1 th I DIMENSIONS DMCLDC BRUSHED DC SERVO MOTOR DRIVER 04 60 Drives MRB series brushed DC servo motors to provide Orderi ng Information motor drive system performance shown in the MRB motor section see pages 57 62 Configuration Code Includes Tol O Matic Part Easily integrated to SSC multi axis multifunction con DMCLDC Open Chassis Brushed 3600 0049 troller see pages 21 26 DC Servo Motor Drive When ordering with Controller all interconnecting cabling is User Manual automatically configured and included Integral to single axis controller MSCLDC see pages 34 36 DM5 amp DM6 OPEN LOOP BRUSHED DCDRIVE FEATURES SPECIFICATIONS DIMENSIONS ORDERING DM open loop brushed DC motor drive modules are available with two different power supply options Available in open chassis configuration DMs can be ordered as part of a complete matched Axidyne Dc Control System with controller motor and actuator or separately for use with customer provided control systems Four inputs On Off Brake Fwd Rev Enable are available for use with a Tol O Matic or customer supplied controller PLC or with manual control from separately mounted switches
153. is group of actuators utilizes a guidance sys tem consisting of a patented adjustable car bracket designed to transmit the load to the cylinder body instead of the screw or belt for true tracking superior load support and controlled minimum friction load The load bearing carrier system uses two self lubricating Delrin bear ing rods to pass force directly to the cylinder tube A patented band retention system uses a T shaped elastomer strip bonded to a stainless steel band inserted directly into the body housing forming a tight metalto metal seal U S Patent 4724744 e U S Patent No 4545290 BCS Screw Drive 20 standard inch models Three body sizes combined with 20 different screw nut combinations 12 models Three body sizes and 9 differ ent screw sizes also with anti backlash option Custom order strokes in any incremental length BCB Belt Drive Higher speeds and longer strokes Two chamber tube extrusion Two choices of belt material Polyurethane for lighter loads or neoprene for higher speeds 3 1 Reduction drive Available for increased thrust or for matching motor inertia Custom order stroke lengths Custom strokes up to 20 feet in any incremental length BAIC SELECTION The procedure for selecting an Axidyne mechanical actuator depends on the complexity of your application A simple but thorough evaluation of the application
154. ital Outputs gt rv Dedicated Relay Inputs Dedicated Relay Outputs Ready Not Faulted Brake Output Analog Inputs 1 external analog current limit 0 to 10 Volt Analog Outputs 1 user programmable 10 Volt 1 MHx maximum line frequency Differential Line Drivers Encoder Output Scalable by 1 1 2 1 4 1 8 Motor Feedback Incremental encoder E o a r g Connectors Serial 9 pin D Shell Control and Feedback 20 and 50 pin high density Mini 0 Screw terminal block a baton 5505 55010 55020 3 7 lbs 447 bs 4405 1 68 kg 20 20k m Environmental Storage Temperature 40 C to 70 A Shock Weight Ordering Information Configuration Code Description Length Tol O Matic Part 5505 0 5 kW Drive 3600 0041 55010 1 0 kW Drive 3600 0042 55000 2 0 KW Drive 3600 0043 CR2 Cable 2m 3600 1162 CRI Cable 4m 3600 1163 CR6 Cable 6m 3600 1164 Controller Cable 4m 3600 1161 MRV Motor Cable 6m 3600 1165 Includes RS232 cable user manual and Tol O Motion SSD Software Choice of one length Encoder Cable with each SSD unit priced separately DIMENSIONS SSD05 BRUSHLESS SERVO DRIVE 2 56 65 1 150 0 50 38 1 13 3 025 10 M5 SCREWS 7 35 186 7 8 5 528 2 lt w 5 i 22 REF 5 5
155. ital inouts and outputs sourcing active high Drive MRV series brushless servo motors Continuous output ratings of 0 5 kW SSD5 1 0 kW SSD10 2 0 kW SSD20 Superior performance and functionality to drives over twice the size Internally shielded output filter for electromag netic compatibility EMC i Accepts either 10V analog or step direction command signal 1 analog input for external current limit 1 analog output for variable monitoring or torque sharing 8 preset positions speeds torques selected via 3 UL cUL listed and CE marked digital input lines Note the use of an external ac line filter and appropri R9232 485 communications ately shielded cables are required for CE compliance Auxiliary master encoder input with electronic gearing i z Point and click software setup and control 5 displays and diagnostics Connectors CONTROLLER CONTROLLER CONT J2 ENCODER 1 Encoder 5 V DC 2 Encoder Com 33 Selectable Input 2 34 Selectable Input 3 9 Motor Encoder Input B j Encoder 5 V DC 4 Encoder Com 35 Selectable Input 4 36 RSVD 10 Motor Encoder Input Chn B 5 Isolated 24 V DC 6 Isolated 24 V Com 97 RSVD 98 RSVD 11 Motor Encoder Input l 7 Motor Output Channel A 8 Motor Output Channel A 39 RSVD 40 RSVD 12 Motor Encoder Input l 9 Motor Output Channel 10 Motor Output Channel B 41 RSVD
156. lied to a stopped energized motor without causing the rotor to rotate Inertia Measure of an object s resistance to change in motion that is a function of the object s mass and shape Inertia Match If the reflected inertia of the load is equal to the rotor inertia of the motor the system will operate optimally for efficiency and dynamic performance Lead Linear travel of a lead screw nut or carriage for every one full rotation of the lead screw Moment Load Rotational forces applied to the carrier equal to the linear force applied weight multiplied by the distance between the location of the force center of gravity and the surface center of the carri er Typically expressed as yaw Mv pitch M and Roll Ms Motion Profile Detinition of an objects position and velocity relationships in time during a move Microstepping Type of drive that proportions the current in a step motor s windings to provide intermediate positions between full steps Advantages over full and half stepping include smoothness of rotation and higher position resolution Open Loop Motion control system where no position or velocity signals are provided for correction Typically stepper systems run as open loop systems Optically Isolated Transmission of a signal from one device to another with a light source and sensor in order to avoid direct electrical contact Pitch Number of revolutions required by a leadscrew to move the nut or carrier
157. may be repro duced transmitted transcribed stored in a retrieval system or translated into any language in any form by any means without the written permission of Tol O Matic Inc Tol O Matic Axidyne and Excellence in Motion are registered trademarks Tol Matic Inc Other product and corporate names may be trademarks of other companies and are used only for explanation and to the owner s benefit without intent to infringe Information furnished in this catalog is believed to be accurate and reliable However Tol 0 Matic assumes no responsibility for its use or for any errors thet may appear in this document Tol 0 Matic reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice Information in this document is subject to change without notice WY 5 70 FAMILY OF MOTION CONTROL PRODUCTS 2 EC AT 1 sd ET PNE ew Five different actuator body types combine with eleven different motion contro configurations for the widest variety of application solutions from one source TOL O MATIC The Tol O Matic Axidyne line of mechanical actuators offers a choice of three load carrier support and guidance systems Any one of the wide variety of models available can be combined with any of the Axidyne Motion Control Systems to create flexi Dle
158. n provides the PWM signal for servo motors Used with the STEP OUT signal to give direction to step motors or servo motors in the sign magnitude mode The signal goes low when the position error on any axis exceeds the limit specified by the error command ER These 8 TTL outputs are uncommitted and can be designat ed by the user to toggle relays and trigger external events The output lines are toggled by Set Bit SB Clear Bit CB Define Bit OB and OP instructions Upon reset these sig nals will be low SSC PROGRAMMING Tol O Motion SS Motion Software Programming is accomplished through 85232 connection to an AN OVE RVI F W IBM compatible PC running Windows 3 1 95 or NT Visual Basic panels start out by guiding the user through the complete setup 0 F 10 E 0 M 0 k process including communications and axis contiguration The user SSC M el 0 N 50 FW then is able to enter into different program options including Display panel Jog Teach Programmer Tune and Data Acquisition 5 ON i TOL O MATICS Y MM Ec h CD ROM v oer Latches CALL YOUR Ee SSS DISTRIBUTOR ERE e C or pnus eet OR TOL 0 MATIC 1 800 328 2174 The Display panel shown above allows the user to identity axis locations and status faults limits and I O The Jog panels allow the user to easily set
159. n drilling at locations up to 5 feet from the carrier the B3B20 was selected ONTROLLERS E s ES A F aw i A AXIDYNE MOTION CONTROL SYSTEMS OVERVIEW MECHANICAL ACTUATORS 835 BCS 95 35 MSC MLS B3B M3B AN ANDINE ELECTRONIC LINEAR MOTION CONTROL SYSTEM lt IS COMPRISED OF SEVERAL ELEMENTS mechanical actuator to convert motor rotary motion to linear motion A motor to initiate motion A drive to respond to signals from the controller and deliver power to move the motor A controller to store and or inter pret high level commands received from a computer or operator inter face and to generate the necessary ks signals to control motor velocity MSCLDC DM5 6C acceleration position and direction based on program and discrete MOTORS Brushless Servo MRS Stepper MRB Brushed DC DRIVES SD MD DM5 6 DMCLDC L 4 2 CONTROLLER DRIVES MSS inputs 1 An operator interface to allow sys tem operators to program or signal CONTROLLERS the controller remotely MSC WC This modular approach provides tlexi bility in control system design and helps provide the most cost effective solution to a range of linear motion control requirements F OPERATOR INTERFACES PIT JS ST General Requirements
160. n with the SSD brushless servo drive or in a similar configura tion integral to the MSD microstep ping drive 55 or the DMCLDC brushed DC motor driver MSCLDO Features Built in power supplies 24 VDC 100mA is provided for sensors and 1 0 circuits 3 general purpose optically iso lated outputs Pluggable screw terminal con nectors for 1 0 motor AC power all mating connectors included Accepts 110 or 220 volt AC power 4 dedicated optically isolated inputs CW and CCW jog 2 limits Selectable linear scale simplifies linear motion programming 4 general purpose optically iso lated inputs Drive fault output SPECIFICATIONS MS Microstepping Controller Inout Voltages AC line 110 or 220 Vac 50 6092 switch selected B Input Current AC line 0 2A max at 110 Vac Input Fuses AC line L1 amp LAIN Parameter Ranges Distance Speed 1025 to 50 revolutions per second in any microstep resolution to 3000 rev sec sec 1 to 3000 rev sec sec set independently from acceleration Acceleration Deceleration 1 Time Delays Output Pulse Widths Iterations per loop Microstep Resolution Outputs a 50 mA used by PIT if connected 15 100 mA max self resetting fuse Not isolated from internal circuttry 45 100 mA max self resetting fuse
161. nches DIMENSION D Meters 013 025 08 0591 004 In Lbs M amp My Ibin Thousands I LLLI 0 J 10 15 20 05 DIMENSION D Inches NOTE Rates shown on charts were calculated with the following assumptions 1 Coupling between carriers is rigid 2 Load is equally distributed between carriers 3 Coupling device applies no misalignment loads to carriers DUAL 100 CARRIER B3S AND B3B ACTUATORS The Dual 180 Carrier option may be used when load or deflection factors exceed those of a single carrier actuator This option allows the load to be rotated 90 from the cylinder s carrier providing an additional load pearing surface NOTE The Dual 180 Carrier option requires its own proprietary tube supports and foot mounts See dimensional information Breakaway torque will increase when using the Dual 180 Carrier option H LUTTO HR S ENDING 10109 a E AE Id 35 35 ACTUATORS U S STANDARD METRI B35 5 10 358 15 B35 8 20 M3S B 10 M3S B 15 IM3S B 20 Moment Mb 91210 0 11902 0 1700 35 3N m 1947 Nm 192 1 N m Msp 05710 0 2468 42704 742Nm 278 9 511 2 Mvo 29811 0 2066in b 294180 60 8N m 233 4N m 332 6 N m 182 298b 4016b 5381kg 19900 18216 Po 682b 10806
162. ng point to point positioning linear and circular interpolation elec tronic gearing cam and contouring Relative and absolute positioning with more than 2 000 000 000 counts per move Dedicated optoisolated inputs for home abort forward and reverse limits noise immune 8 uncommitted optoisolated inputs and 8 programmable outputs 7 analog inputs with 12 bit ADC for interface to joysticks sensors pres sure transducers potentiometers 16 bit ADC optional Position feedback for each axis can be from analog signal or encoder Auxiliary encoder inputs and dual loop damping ideal for backlash compensation Programmable event triggers for monitoring elapsed time position speed and motion complete 1 0 functions timers and logic functions for executing PLC tasks 254 symbolic variables and 8000 element array space for data storage Compact size 13 high x 2 5 wide x 6 6 deep Internal universal switching power supply for direct connection to AC outlet 110V or 220V IDC connectors on front panel con nect to DIN rail mounted screw ter minal breakouts included ul PEO CONS se ae SPECIFICATIONS SSC Multi Axis Multi Function Servo Stepper Controller Performance Servo Loop Cycle Time Block Execution Time Position Accuracy SSC 1 250 usec SSC 2 375 usec SSC 3 500 usec SSC 4 500 usec jectory calculation 1 quadrature count Long
163. ns and on the left are global parameters such as microstep resolution and jog Clicking on a program step icon brings up a sequence of dialog boxes making program selec tion and parameter setting easy Once programmed the cable can be removed and the indexer drive will run stand alone Programs and parameters are stored internally in non volatile memory Upon power up the drive automatically sens es the connection to the TYPICAL DIALOG BOX Windows programming soft ware If no connection is detect ed the program is automatically executed starting on 1 The Mss also allows pro gram interaction to take place using the PIT user interface page 124 FOR SETTING FEED TO LENGTH INSTRUCTIONS rl p Move the Motor Distance M dalar kanan Mid _ Cae 2100 Steps ES E Dar rens men M speed 1 j Hama rad 4 ER 4 gl B 1 Farc THE COMMAND BUTTON FEATURES INCLUDE DOWNLOAD PROGRAM TO DRIVE UPLOAD PROGRAM FROM DRIVE EXECUTE PROGRAM SAVE PROGRAM TO DISK LOAD PROGRAM FROM DISK PRINT PROGRAM QUIT THE PROGRAMMING SOFTWARE DIMENSIONS MSS MICROSTEPPING CONTROLLER DRIVER l 5 45 0 06 1 38 4 15 gt 6 3 51 3 GND POWE
164. o lt gt O COLO O N I N I NI INN EO lt gt I I j NI Nj O lt CO CO CO CO lt gt Model Part Ec gt Qo Qo 3515 M3S15 ot M3S15 ot M3S15 ot M3S Style Metric Continued 5 9201 5 9201 5 9201 5 9201 3600 6170 3600 6170 3600 6170 MOUNT KIT ox 00019 00019 i i 00029 00029 00029 00059 00059 00069 00069 20859 20859 20859 ei N ed ai ei ed ed a ei N ed a ei N ei ed zt e eo eo e eo Bis mh 6 a eo e e ck ask 2 lt gt Ee c je c c me lt gt e c Ne lt gt lt gt lt OEE lt lt lt gt lt gt lt gt lt gt lt gt lt gt Ee c c Ee lt gt c e c em TE mE mE Z ee mE mE mE mE mE SUREW DRIVE COUPLERS amp MOTOR MOUNT KITS SELECTION PARTS ORDERING INFORMATION M3S ins Metric M3S 520 9201 m 52 s 2 gt 2 o lt gt lt gt lt gt CO GS GS D LO c O co co c E NI NI NI NI T 3 3 3 gt
165. ooio ocoio io ioioioioioio oioi io ioi io ioi ioioioicoi ioicoioi io io oioi ioi ioioI ioo io o ce alot olol lt SS oI lt 2 lt lt 2 lt 5 gt lt 2 lt 2 lt 2 lt 2 lt 2 lt lt D lt 2 lt 2 lt 2 G lt 2 lt gt lt 2 lt 2 lt lt 5 lt 2 5 lt 2 lt lt OI 4 OG CO NI NINI NI CN N C CN CN N CN NI lt gt gt
166. or commutation Integral 1000 line TTL encoder with differential line driver outputs Ideally suited for use with SSD drives motor parameters are stored with drive xus i 5 XE 7 2 55 OZPIN OZIN NeM OLTS1000 RPM NeM AMP OHMS 10 AMPS ZN eoe a ms om wb 2 0 18 200 lt lt C JJ Ce JJ Ce 5 3g 2 05 EN Ro All ratings typical and 25 0 unless otherwise Winding temperature at 257 1P 1 r x Lx E k i PA ILE 5 MRV231 SSD5 SPEED TORQUE CURVE L JE Ls d A J k j s 2333 b d 5 3 9 2 rw L3 TECE o et 6 i 6 k k K K K gt 2 ea 1 e Le Je Jede bis 3 13 2 LI 2 L r S rs m MRV343 SSD20 SPEED TORQUE CURVE CONTINUOUS acum SPEED RPM in Thousands m
167. otion profile Static Torque Maximum torque available at zero speed Stiffness System ability to maintain accuracy when subject to distur bance Straightness When traveling in a straight horizontal line the side to side deviation within the horizontal plane of travel of the carrier Thrust Measurement of linear force Torque Measurement of force producing rotation Torque Constant Torque generated in a DC motor per ampere applied to the windings Kt T 0z in A amp Voltage Constant Back EMF generated by a DC motor usually in units of volts per 1000 rpm CONVERSION TABLES TO CONVERT FROM ATO B MULTIPLY BY ENTRY IN TABLE Length Mass NEE ERLE 1 9 28 WA s Mum m5 e e m 1 mm iex 1 Om em UN Mes toa o 1 om 28 35 2835 194x10 0625 as KUK LT Force N on n mn WE G mb mm D 1 1000 3957 toi f 2x10 om 1 ME 235 aw x2 1 00 x0 tB 2 2005x107 0x10 087 o 3x10 152x104 1 53 10 1833107 fot NOTE loff 1 slug x 1 ft s N 1kgx 1 mis dyne gm x 1 Torque Temperature 1095107 Ore 7 TTX m 4 emu 7082002 Sami Gravit y 1019x 10 g 986 9221 9 8 5
168. parame ters are stored within drive Brushless Servo Drive SSD Drive MRV series brushless servo motors Continuous output ratings of 0 5 kW 5505 1 0 kW SSD10 2 0 kW 55020 ouperior performance and functionality to drives over twice the size Auxiliary master encoder input with electronic gearing 8 preset positions speeds torques selected via 3 digital input lines Digital autotuning for quick and easy setup 4 dedicated I O plus 5 user selectable optically isolated digital inputs and outputs sourcing active high Controllers for Brushless Servos MSC Basic Single Axis SSC Multifunction 1 4 Axis M SC Controller Tol O Motion Ms Motion Control Software allows setup amp programming with intuitive icons Built in power supplies 24 VDC 100mA is provided for the user for sensors and Circuits Differential step and direc tion outputs Accepts 110 or 220 volt AC power 4 dedicated optically isolat ed inputs CW and CCW jog 2 limits 4 general purpose optically isolated inputs Drive fault output 3 general purpose optically isolated outputs Pluggable screw terminal connectors for 1 0 motor AC power all mating con nectors included Compact package Microstep resolution from 200 to 50 800 counts per motor revolution SERVO DRIVE CONTROLLER JS ST JOYSTICK HAND HELD o SSC Motion custom application pro 8 uncommitted optoisola
169. per second in any microstep resolution 1 to 3000 rev sec sec J Deceleration 1 to 3000 rev sec sec set independently from acceleration Features Motor Current 0 5 to 5 5 Two dedicated optically isolated amps phase software selectable d limit switch inputs 5 24 VDC Time Delays 0 1 to 25 5 seconds Drive Voltage 80 VDC from inter Microstep Resolution 2000 50800 steps rev hal linear toroidal power supply CW and CCW jog inputs Inputs Input Voltage 110 or 220 VAC Four general purpose filtered Input Current Input 1 4 5 mA internally pulled up to 5 Vat switch selectable Inputs CW Jog CCW Jog Microstep Resolution 13 resolu Drive fault output activated by Input Current CWLimit 5 15mA CE o overcurrent or over temperature CCW Limit internally limiting resistor for Sv logic tion software selectable condition 3 general purpose optically iso pucaly Isolated Vac max UUM Automatic on ii 4 5V Output 5 100mA max self resetting fuse other equipment 50 mA used by PIT if connected 0 25 50 or 100 software lated outputs for interfacing to selectable Environment Connectors pluggable screw ter Uses Tol O Motion MSS Software Maximum Case Temp minal connectors are included Ambient Temp Range 167 F 75 C 32 to 113 F 0 to 45 C 55 bo e ame undit
170. perating Temperature 32 0 C to 122 F 50 C Relative Humidity 1079 to 90 non condensing H PART e Weight 8 007 23 Kg SIT 4 10 0 95 104 1 Jer TOL O MATIC 7 15 181 6 BACKSP space ENTER SHIF 55 Y A B K L HH Q HH V Hii 2 CABLES SPECIFICATIONS DIMENSIONS Cables included for interconnection between motors drives regarding cables and connectors see the respective components sec and controllers are summarized below For more specific information tion of this catalog VFB MRV Cables ordered as part of SSD Drive 1 Controller 19 4m of SSD to Flying Lead Encoder T 2m 3600 1162 550 13 4m J2 of SSD to Motor 3600 1163 or 20 6m or 3600 1164 20 6m MRV Motorto Flying Lead 3800 1165 5052 7 2m J3 of SSD to DB9 Female 3600 1173 CC iT 82 00 Tim e Tem 7 Main Driver Signals J20 SSC to Screw Terminals Ribbon 3600 1347 Breakout 3600 1342 990 0 3 lm J5 of SSC to Screw Terminals Ribbon 3600 1946 Breakout 3600 1341 Step Dir Signals only if using d3 lm Jof SSC to Screw Terminals Ribbon 3600 1345 DMCLOC or MSD Drives Breakout 3600 1340 127 CABLES SPECIFICATIONS DIMENSIONS INTERFACE CABLES When ordering the SSD drives the RS232 cable is automatically includ
171. quency Differential or single ended line drivers Serial Communication Port Type RS232 four wire RS485 Baud Rate 1200 to 19 200 baud Multiple Drive Addressing Control Loops Modes Type Velocity Loop Bandwidth 300 Hz maximum Inputs and Outputs Selectable Digital Inputs SPECIFICATIONS Power Peak Output Current Continuous Output Current Continuous Output Power Continuous Input Current Input Voltage Input Frequency Command Sources Analog Velocity Input Torque velocity and position control E OPTED 3 optically isolated 24 Volt active high User selectable as Drive Mode Select Integrator Inhibit Follower Enable Forward Enable Reverse Enable Preset Select Analog Override P IN x Tol O Matic System C JW 1 2 Y D V 1 i T 4 LIT E SIT ue PM IHR ER a fal YT Up to 32 drives loops digital gt n s m 650 Brushless Servo Drive 2 optically isolated 24 Volt active high User selectable as In Position Within 2 Position Window Zero Speed Within Speed Window At Speed Current Limit Drive Enable Bus Charged various fault indica tions Enable Fault Reset Optically isolated 24 Volt active high or B SPECIFICATIONS Selectable Dig
172. ransducers potentiometers 16 bit ADC optional User ost S Tol O Matic offers three PIT panel mount J joystick or SIT hand held controller PIT JS MICRO STEPPING SYSTEMS LOW cost systems providing high resolution These systems offer ease of set up and stabilization x MRB231 Qa _ MRB231N 4 No encoder version for use with open loop configuration MRB341 MRB341N MRB342 MRB342N MRB401 MRB401N MRB402 MRB402N Brushed DC Motors MRB Rugged industrial enclosures Available with 500 line TTL encoder for servo operation Ideal for operation with DM open loop drives or DMCLDC MSCLDC brushed servo drives Open Loop Drives and Controllers DM5 6 Drive Choice of two power ratings matched to dc motor ratings Self resetting fuse for dc sup ply to drive Lockout fault protection for dc power supply output under voltage DM5 6C Drive Controller Same as DM plus Continuous oscillating cycle single complete cycle or sin gle direction operating modes Predictable first move direc tion for all modes Different profiles can be used for each direction Independent dwell at end of move MSCLDC Controllers for Brushed DC Systems MSCLDC Basic Single Axis SSC Multifunction 1 4 Axis MSCLDC Controller Drive Combines basic single axis and drive
173. resolution 16 bit optional Analog Inputs Dedicated Inputs per Axis Forward and reverse limits high speed position latch home Dedicated Outputs per Axis Analog motor command pulse and direction amplifier enable encoder output compare Available Power to Drive External Devices V 1 5 Amp 42V 750mA 12V 200 E In contour mode up to 1000 blocks moves sec with full tra U ipm il Auxiliary Encoder rq si kah Ph p SPECIFICATIONS SSC Multi Axis Multi Function Environment Operating Temperature Communication Interface Selectable Baud Rate 1 0 Description Inputs Encoder A B Encoder Index Encoder A l Forward and Reverse Limit Switch Home Switch Input 1 Input 8 Analog 1 Analog 7 Analog Motor Command Amp enable Output 1 Output 8 1 0 Description Outputs Direction Error Servo Stepper Controller 32 to 158 F 0910 70 C 300 1200 4800 9600 19200 38400 Handshake mode available Position feedback from incremental encoder with two chan nels in quadrature The encoder can be analog 12 or TTL Note Encoder that produce outputs in th format of pluses and direction can also be used Once per revolution encod
174. roval granted and any exceptions noted in order to avoid delay in manufacturing schedules Orders which include penalty clauses for failure to meet shipping schedules will not be acceptable except in those cases specifically approved in writing by the General Manager of Tol O Matic Incorporated Tol O Matic Incorporated shall not be liable for damage as a result of any delay due to any cause beyond Tol O Matic Incorporated s reasonable control including without lim itation an Act of Nature act of Purchaser embargo or other government act regulation or request fire accident strike slow down war riot flood delay in transportation and inability to obtain necessary labor materials or manufacturing facilities In the event of any such delay the date of delivery shall be extended for a period equal to the time loss by reason of the delay The acceptance of the product when delivered shall constitute a waiver of all claims for damages caused by any such delays 10 RETURN OF PRODUCT No product may b returned without first obtaining a Return Goods Authorization form and confirming memorandum from TolO Matic Incorporated Product if accepted for credit shall be subject to a minimum service charge of 3596 of the invoice price and all transportation charges shall be prepaid by the Purchaser how ever assembled products classified as special such as Cable Cylinders and other ucts which have been modified or built as C
175. s motion require ments is required including the load support system force requirements and limiting factors U se the following selection procedure to help determine the appropriate actuator configura tion appropriate for the application Procedure 1 List Key Requirements Begin the selection process by identifying actuator key require ments shown in the chart at left 2 Determine whether a screw style or belt style actuator is appropriate for your application The maximum operating speed of screw actuators is limited by the critical speed characteristic of the screw Belt drive actuators are used in applications where speed consult factory for applications over 100 inches sec and stroke length requirements exceed screw critical speed limitations Screw actuators provide finer resolution and better repeatability than belt drive units and are preferred for short stroke high move repetition requirements See Limiting Factors in the Comprehensive Product Selection section of this catalog NOTE Belt drive actuators are NOT recommended for vertical applications Please consult the factory for further information 3 Evaluate Load Support System The Axidyne product family provides a selection of three load carrier support and guidance systems Adjustable carrier bracket with selHubricating plastic bearing rods for BCS and series cylinderstyle actuators The BCS series actuators pro
176. stem DMCLDC or MSCLDC Available with 500 line TTL encoder for servo operation Ideal for operation with DM5 6 open loop drives or DMCLDC MSCLDC brushed servo drives d _ o PAS w u BE 2 K e Lus mlm aa s T n E MRB402 ET T Ili FA 1 MRB231 SPEED TORQUE CURVE TORQUE N m A 1 14 177 ES ORD 2 MRB401 SPEED TORQUE CURVE TORQUE N m Ji 141 212 282 3 53 424 494 5 65 6 36 333 10 200 250 30 35 TORQUE 02 i 935 E a e BRUSHED TORQUE N m amp UA 141 2 12 2 02 0 90 L g 100 200 300 400 500 600 700 800 900 1000 TORQUE 02 TORQUE N m 141 282 424 56 706 847 98 1130 40 100 20 40 50 m i TORQUE oz in EU N EE ZZ NEM E TORQUE N m 2100 1214 212 282 353 424 494 m DY BEES J 200 400 600 800 1000 1200 100 1000 SS iat TORQUE oz in il A 100 200 300 400 500 00 70 800 TORQUE 2 322734 WM
177. t lt CD CNI 2 I lt co LO LO LD LO LO LO lt O lt O lt O lt O OH 10 LEO O 10 LO LO cO ICO O OO CO F F lt F S C lt F CO e e c IESU cx lt 6 Raoa c o BB gt lu IS Lc EQ ER 1c rc ED co lt gt vc C 3 C3 3 3 ea ea 63 63 55 55 55 tc tc x J te 1 lt 5 lt gt S aS Is Fi ri j O GO O gt gt gt gt lt gt lt gt gt gt gt gt gt gt gt gt gt gt gt gt lt gt gt gt gt gt gt gt gt gt gt gt gt gt gt
178. ted USER INTERFACES PIT PANEL CONTROL USER INTERFACES 4 ya B Control Software allows setup amp programming with intuitive icons Joystick and Mouse teach modes Industrial enclosure Uses 32 bit specialized microcomputer and custom submicron gate array for highest performance and Speed Up to 4 axes per unit up to 4 units can be daisy chained 9 000 000 counts sec encoder feedback allows high speed operation 2 encoders per axis AM non volatile memory for executing MULTI FUNCTION AXIS grams permits stand alone operation Multitasking feature permits simultaneous execution of four independent applica tions programs Performs any motion task including jogging point to point positioning linear and circular interpolation elec tronic gearing cam and con touring Relative and absolute posi tioning with more than 2 000 000 000 counts per move Dedicated optoisolated inputs for home abort for ward and reverse limits noise immune SSC1 592 55 3 8904 SD BRUSHLESS SERVO SYSTEMS Offering the highest ad J i AS s performance n motion control systems inputs and 8 programmable outputs 7 analog inputs with 12 bit ADC for interface to joy sticks sensors pressure transducers potentiometers 16 bit ADC optional offers three types of user friendly int
179. term phase locked better than 003 Short term system dependent All axes in the same unit are perfectly synchronized and share the same servo cycle All cards sharing synchroniza tion are perfectly synchronized in the same servo cycle 25 usec with optoisolation 1 usec if by pass optoisolation Velocity Accuracy Synchronization Position Capture Accuracy Parameter Ranges Position Range L 2 147483 647 counts move automatic rollover limit in jog or vector modes Velocity Range Up to 8 000 000 counts sec Acceleration deceleration 1 024 to 67 107 840 32 67 counts 1498 Filter Constants 0 1023 875 Kd 0 to 4095 875 Motor Command Resolution Ki 0 to 2047 875 16 bits or 0008 V Full half or microstep 2 000 000 pulse sec Number of Variables 24 8000 elements in up to 30 arrays 1000 lines x 80 characters Mechanical Dimensions 13 high x 2 5 wide x 6 6 deep Inputs Outputs Feedback Two channels of A B quadrature per axis with third channel for index In servo mode includes auxiliary encoder inputs for each axis Single ended or differential Can be configured for quadrature pulse and direction or from analog inputs General Purpose Inputs 8 optoisolated inputs General Purpose Outputs 8 TTL outputs General Purpose 7 10 V 12 bit
180. than 1 second and then indexing along the Y axis over a distance of 72 inches following each X axis scan APPLICATION REQUIREMENTS XY positioning of a 50 Ib scanning head 48 inch X axis move in less than 1 second 2inch Y travel distance Better than 0 010 inch repeatability TOL O MATIC SOLUTION speed and stroke requirements in the X axis do not allow the use of a screw actuator The moment load gen erated by the scanning head and 72 inch Y axis does not allow a single actuator to be used for the X axis Therefore two B3B150 belt drive actuators were used in the gantry configuration shown The speed require ment also do not allow the use of stepper or brushed dc systems MRV brushless servos driven by the 55 drives were used in this system and controlled by a 3 axis SSCS controller The two X axis motors drives were electronically geared together while operating the third axis independently Programming was done E over 55232 from a PC using the user friendly To O Motion SSC programming software MSS microstepping drive controller MRS341 stepper motor B3S150 screw drive rod less actuator Motor couplings motor adapters and cabling automatically selected using the Tol O Motion zing and selection Configuration generation 5 f 4 d E a E pet APPLICATION DESCRIPTION clothing manufacturer needed to maintain constant levels of dye in a tray dis penser that they
181. tion for accuracy backlash smoothness requirements and life then select the appropriate screw form standard Rolled ACME Screw Used with engineered solid plastic nuts this non hardened screw has a pitch accuracy rating of 005 in ft This combination is a cost effective solu tion for most requirements An ACME thread with a solid nut may reduce back driving in vertical applications Precision Rolled Ball Screw Used with ball nuts this hard ened screw has a pitch accuracy rating of 003 in ft This combination provides higher thrust capacity and longer life in continuous duty applications 2 Select Nut Configuration Once the screw form is selected refer to Figure 1 then select the appropriate nut style depending on backlash concerns Backlash in 015 m 18 m Designation SNA Select Screw Pitch Lead and Body Size Evaluate the applications thrust speed and stroke require ments in relation to the screw capability curves Refer to the Performance Data charts of Speed and Thrust vs Stroke for the screws available in each model size The screw speed charts figure 2 and the chart of available models on pages 70 and 72 will help find a starting point for this evaluation If the screw size first selected is not adequate move to the next appropriate body and screw size and reevaluate Repeat this process until the correct screw pitch and body size are identified Pitch
182. to communicate part availability BC220 pneumatic rod les cylinder IPP O TOL O MATIC SOLUTION 11 5 gripper 4 High speed low cost and Fang end of stroke Eos pue iul pneumatics Partnering with Tol O Matic ip Motor couplings motor assures the best system solution of both electric and pneumatic components Therefore the BC220 2 bore T E apters an d cabling BC2 Series Band Cylinder pneumatic actuator was used for the primary axis to limit the dynamic moment automati el ected load generated at the ends of stroke Pneumatics was also used to grasp the parts by using a GPP100 j f T the Tol 0 Nation lel gripper Since the secondary axis required stops in three different positions and a controlled deceleration 1 zing an d re when placing parts onto the conveyor pneumatics was not a good choice for the secondary axis In order ac to achieve the highest possible speed belt drive was selected instead of a screw drive so the actuator crit 22 ical screw speed was not issue The MRV brushless servo motor SSD brushless servo drive were 7 selected for their high speed capability of up to 6000 RPM For basic single axis servo control with available to receive a part availability signal from the proximity sensor and send commands to activate valves for the primary axis and gripper the MSC was a low cost simple to use choice MSCLDC single axis basic controller brush
183. troller cable For SSC Controllers Cables included are RS232 2 foot ribbon cables and DIN rail mount breakout terminals If terminal blocks are not required enter BON No breakout terminals For Motors MRS motors include 123nch leads MRB motors include 24inch power leads and 18inch encoder leads MRV motors do not include cables they are included with drive and are supplied with Ms connectors EED CONTROLLER INTERFACES PIT Panel user interface SIT Hand held user interface JS JoyStick CONFIGURATOR EXAMPLE BASE MODEL AND OPTIONS fo inl bra KT MOTOR DRIVE CONTROLLER CABLING AND INTERFACES 82 Beie lel Bis The following example describes a U S standard B3S10 screw drive actuator with a solid standard rolled nut and a lead screw pitch of 2 turns per inch and a stroke of 30 inches Actuator options include one set of tube supports three Hall effect sinking switches with 5 meter leads and a in line motor mounting configuration Motor selected is an MRV232 brushless servo motor Controller selected is a 55 21 for a two axis application with the 2nd axis requiring a stepper drive Because an MRV brushless servo motor has been selected the configurator will automatically select the SSD drive for this application The SSD drive requires a specified length of the encoder cable and in this a 4 meter cable has been selected along with a joystick operator interface HELD
184. u ee z el gt RS S s u c co gt n c gt gt gt lt gt 5 lt gt co gt n gt gt gt gt 5 z 5 5 lt gt lt gt 1 5 80 1 16 lt gt lt gt ce 5 gt lt gt 5 on a 4 i lt o lt gt gt y lt gt lt gt D O gt Qe lt gt lt gt lt gt GS N OT O1 O1 O1 gt O gt lt cO lt ceo lt u ceo Em IB co MCS Style Metric rer c XL BOTTOM MOUNT pe our Reduction Inertia at Motor Shaft MCS10 1 1 Mago N0910 2 1426 gram MCS15 51 2 gram N0915 1426 gom MCS20 915 gom MCS20 1026 0 Reduction Loup n m4 457 006 Le e zat 8 fis 1 ee 2604 6051006 MCS10 or in millimeters MCS15 Dimensions in millimeters MCS20 Dimensions in millimeters MOTOR MOTOR MOTOR MRV231 MRV232 MRV233 MRV2
185. uch conditions Purchaser s assent shall be deemed given unless Purchaser shall expressly notity Tol O Matic Incorporated in writ ing to the contrary within five 5 days after receipt of acknowledgment to confirmation of an order 2 CANCELLATION AND CHANGES No order accepted by Tol O Matic Incorporated may be modified in any manner by Purchaser unless agreed to in writing by an authorized offi cial of Tol O Matic Incorporated Order cancellations including reductions to order quantities and changes shall be governed by the following a Any standard product order scheduled for shipment within ten 10 working days of your request to cancel or modify will be shipped as previously acknowledged and you agree to accept shipment and payment responsibility in full at the price agreed upon b Customer Special orders scheduled for shipment within twenty 20 working days of your request to cancel or modify will be shipped as previously acknowledged and you agree to accept shipment and payment responsibility in full at the price agreed upon c All work in connection with Customer Special orders not covered under Paragraph B will be stopped immediately upon notification and you agree to re imburse Tol O Matic Incorporated for all work in process and any materials or supplies used or for which com mitments have been made by us in connection therewith 3 QUOTATIONS AND PRICES Written quotations automatically expire 30 calendar days
186. up independent motion or coordinated motion The panels for Jog Setup and Circular Coordinated Motion are shown below Motion Jog Circular Move E Circular Motion Radius Independent Asis Jag Type amp Jog by Position C Jog by Speed AXIS X AXIS Y ARIS Z ARIS W AY Coordinated Motion Linear Move Circular Move DISPLAY TERMINAL PROGRAM SSC PROGRAMMING Two Teach modes are available The easiest way to get up and Program mode allows the user to write programs in plain running is by using the joystick teach mode This allows the user to English commands without having to pull out command listings write a program by using a joystick to move to the desired positions formats The user clicks on a button for a given function and is and pressing a button to record For more complex coordinated guided through the function with various easy to follow panels moves the Mouse Teach mode allows the user to define arcs and Diagnostics and autotune panels are included to help get the vectors on a scaled plot representation of the axis by positioning complete system up and running to optimal performance with ease and clicking the mouse The Joystick Teach and Mouse Teach and confidence modes are shown below Teach By Using Joy Stick File Edit Help E d Motion Parameter MAIN xl IJ za Speed d to SETUP 2
187. urations matched to Axidyne dc motor ratings Self resetting fuse for dc supply to drive Optional solid state dynamic braking circuitrytor accuracy and consistency Lockout fault protection for dc power supply under voltage Adjustable current limit detection for over current overload condition protection Fault condition lock out output for L ED L E D status indicators Independent acceleration and deceleration adjustment Controller Features Operating Modes A Continuous cycle end to end with independently adjustable dwell 0 05 to 5 sec at each end B Single complete cycle both directions in response to start command C Single direction move in response to direction command Predictable first move direction for all modes Hook up of limit switches selects move profile A Accel Decel Accel Brake Accel Decel Brake Different profiles can be used for each direction Homing function after power up or reset Accepts analog speed signal inputs and provides isolation 0 10V 0 5V 4 20mAdc 37 DIMENSIONS DM5C amp DM6C BRUSHED DC CONTROLLER DRIVER 227 6 4 25 0 25 108 0 6 4 Ordering Information Configuration Code Includes Tol O Matic Part motor drive system performance shown in the MRB DM5C Open Chassis Brush 3600 0106 motor section see pages 57 62 oervo Motor Drive Drives MRE series DC brush motors to provide User Manu
188. ustomer Specials are not returnable to Tol O Matic Incorporated 11 WARRANTY TOL O MATIC INCORPORATED WARRANTS PRODUCT MANUFACTURED BY IT TO BE FREE FROM DEFECTS IN MATERIAL AND WORKMANSHIP FOR A PERI OD OF ONE YEAR FROM DATE OF SHIPMENT BY TOL O MATIC INCORPORATED WITHIN SUCH PERIOD ANY SUCH PRODUCT SHALL BE PROVED TO TOL O MATIC INCORPORATED S SATISFACTION TO BE SO DEFECTIVE SUCH PRODUCT SHALL EITHER BE REPAIRED OR REPLACED AT TOL O MATIC S OPTION THIS WARRANTY SHALL NOT APPLY TO PRODUCT NOT MANUFACTURED BY TOL O MATIC INCORPORATED WITH RESPECT TO PRODUCT NOT MANUFACTURED BY TOL O MATIC INCORPORATED THE WARRANTY OBLIGATIONS OF TOL O MATIC INCORPORATED SHALL IN ALL RESPECTS CONFORM AND BE LIMITED TO THE WARRANTY ACTUALLY EXTENDED TO TOL O MATIC INCORPORATED BY ITS SUPPLIER TO PRODUCT WHICH SHALL HAVE BEEN REPAIRED OR ALTERED BY PARTIES OTHER THAN TOL O MATIC INCORPORATED 50 5 IN JUDGMENT TO AFFECT THE SAME ADVERSELY OR TO PRODUCT WHICH SHALL HAVE BEEN SUBJECT TO NEGLIGENCE ACCIDENT OR DAMAGE BY CIRCUMSTANCES BEYOND THE CONTROL OF TOL O MATIC INCORPO RATED OR TO IMPROPER OPERATION MAINTENANCE OR STORAGE OR TO OTHER THAN NORMAL USE AND SERVICE THE FOREGOING WARRANTIES ARE EXCLUSIVE AND IN LIEU OF ALL OTHER EXPRESS AND IMPLIED WARRANTIES WHATSOEVER INCLUDING BUT NOT LIMIT ED TO IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTIC ULAR PURPOSE TOL O MATIC INCORPORATED SHALL NOT S
189. vide good general purpose load capacity and tracking accuracy Periodic carrier adjustment and bearing rod maintenance may be required B Recirculating bearings on ground steel shafts for 51510 Series slide style actuators These actuators provide consistent carrier tracking for full actuator life C Heavy duty enclosed recirculating bearings in gothic arch guide rail for 35 and B3B series actuators This series provides the highest load and moment load capaci ty with consistent tracking and low carrier friction for the full actuator life Review the application requirements and select the appropriate actuator style Then choose either metric or standard inch ver sions 4 screw style is selected Select body style B First evaluate the application s load and support requirements consult performance and moment load charts for each body style see performance data on pages 74 76 and 78 Next determine whether a standard or metric model is appropriate then choose one of the following Cylinder BCS Cost and size effective most moment load and linear accuracy requirements 35 Heavier load capacity with higher accuracy Slide Load supporting housing and bearings provide lower friction high load and moment4oad capacity improved torsion al stability and greater linear path accuracy over the of the actuator select Screw Form and Nut Configuration 1 Select Screw Form Evaluate the applica
190. w nut In the To O Matic actua tor design all axial load is supported by the screw in tension against the thrust bearings For solid nut actuators maximum thrust and speed ratings are shown on the critical speed charts Because of thermal considera tions the axial thrust to be provided by a solid nut at any operating speed must be limited such that Thrust ed Speed TO 1 Thrust Rating Speed Rating Higher ratios can be used if the duty cycle is modest Consult the factory for guidance For ball screw nut actuators the thrust ratings shown on criti cal speed charts represent the thrust at which screw nut life of 10 inches 25 x 10 millimeters can be expected For other loads is given by 10 Rated Thrust gt X 10 inal Lio wF Nut Load Thrust Belt Rating For belt actuators the required thrust must be less than the belt rat ing at the operating speed These limits are shown in the belt actua tor section of this catalog Backlash Defined as the linear distance which is lost in positioning the nut when the screw direction of rotation changes Backlash is directly related to the closeness of fit between the nut and screw dics SOLID gt el AEF 4 s m _ RMS Torque The RMS torque must be less than the motor s continuous torque rating TIME Torques are 1 2 13 T4 T5 Tt t RMS Torque t t t
191. xample in one program line the motor can be moved until a sensor changes state then fed a precise dis tance to stop delayed and returned to the starting point Distances delays feed and return speeds acceleration and deceleration parameters are all included in the single program MSCLDC Version Download Upload Execute AE Limits Switches will be Open f Closed MSCLDC PROGRAMMING MAIN PROGRAMMING SCREEN instruction The same move can take 10 program lines or more on other indexers There are a total of 13 different instructions including input output branch es loops and motion com mands These instructions can be combined to make a nearly infinite variety of programs meeting the demands of a wide range of applications The main programming screen is shown above On the right of the screen are the 100 program lines In the center are command buttons and on the left are global parameters such as microstep resolution and jog Clicking on a program step icon brings up a sequence of dialog boxes making program selec tion and parameter setting easy Once programmed the cable can be removed and the indexer drive will run stand alone Programs and parameters are stored internally in non volatile memory Upon power up the drive automatically sens es the connection to the TYPICAL DIALOG BOX Windows programming soft ware If no connection is detect ed
192. y 20K 7 Pw vsPoteniometer 0 PWM 015100 onn Voltage Reference 100 PWM 4 1 Vdc gt Auxiliary Speed Control Potentiometer Range Q range for externally provided poten ak e tiometer included with drive _ Analog input 151041 Vde Accel Deceleration Range 010 7 0 seconds Over Current Trip Setting Potentiometer 25 turn potentiometer adjustable to 125 of rating Delay 0 2 second delay self adjusting for accel fs 32 to 122 F 0 10 50 C 10 95 non condensing Normally closed momentary reset input a Environment Temperature Range Humidity 399 Fault Indicator LED onDrive OUTPUT for external LED Drive Module Optically Isolated Inputs On Off Initiates acceleration or deceleration profile Brake Stopping of motor with dynamic braking Fwd Rev Reversing motor direction ie Enable Disabling or enabling power to the drive Fault Reset Clears current trip fault B De voltage supply 5 to 25 Vdc 25 mA max required to power Drive Module opto isolation when NOT used with Basic Controller Module Z FO M DIMENSIONS DM OPEN LOOP BRUSHED DC DRIVE MODULE Drives MRB series brushed DC servo motors to provide motor drive system performance shown in the MRB motor section see pages 51 62 Order
193. y define glue pattern Glue head feed Constant move velocity glue bead diameter Communication to PLC TOL O MATIC SOLUTION The 552 two axis controller using the Tol O Motion SSC mouse teach mode allowed the user to define arcs and line segments with the click of a mouse With only moderate to low speed requirements for positioning the gluing head this application was solved most cost effectively with the MDS microstepping drives and MRS stepper motors In this application a positional accuracy better than 0 1 was all that was required Therefore the BCS style actuator was first choice However the moment load generated by the second axis actuator and gluing head drove the application to a 3515 actuator as the primary axis Also by choosing Tol O Matic this customer was able to save additional cost by integrating a rodless pneumatic cylinder as a con stant force glue feed in place of an additional drive motor and electric actuator SC three axis multi function controller Two 55020 digital servo drives Two MRV341 brushless servo motors SD10 digital servo rive B3B15 belt drive actuators 2 83510 screw drive 2 Bp rT Motor couplings motor adapters and cabling automaticaly selected _ using the Ta Motion 43 ection i Sarti aM APPLICATION DESCRIPTION The developer of a new scanning device requires a method of traversing the device 48 inches in the X axis in less

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