Simple Actuator - THK · 2020. 9. 24. · : Connectors by J.S.T.MFG.: Connectors by Phoenix...
Transcript of Simple Actuator - THK · 2020. 9. 24. · : Connectors by J.S.T.MFG.: Connectors by Phoenix...
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New Product
Compact sizeMinimal WiringNo control boxSimple operation
CAT. NO. 394
Simple Actuator
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The RT (Robot Technology) achieves compact size, minimal wiring, no control-box driving, and simple operation.
PCS9SShort slider type
PCS9RDRod type
PCS9SLSlider type
PCS9GPGripper type
PCS9DLong slider type
Belt drive
Small COM controller drivers are dispersively arranged.
No control box required
Only a single cablebetween each axis
Minimal WiringSimple and compact units
Compact size
SEED Editor is easy to use even for beginners.
Simple operation
Sliding screw drive
Simple actuatorwith multi-axis controller
Actuator
SolutionDesign concept
Actuator lineupLineup
No control box required
PC
Compact modularmotor controller driver
SEED DriverSEED Driver is a motor controlling unit invented during the joint development with JAXA. Although JAXA and THK had been aiming to develop a compact and high power robot hand, it was impossible to achieve by relying on conventional motors and control devices. After much difficulty and effort, the "palm-sized" and "wire-saving" SEED Driver has been developed.
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2. Wire-savingEmploying CAN communication allows for a daisy-chain connection (up to 14 axes), eliminating complicated wiring. Only a single cable (ultrathin 4-core cable) is required.
SEED Editor allows for the control of the setting/scripts via PC.
Features
SEED
3. No control box requiredWith dispersively-arranged small COM controller drivers and multi-master system*, operation is achieved without the use of a control box. * A system controlled by mutually sending/receiving commands among all connected SEED Drivers, with no master unit defined
SEED
4. Simple operationSEED Editor (PC software) enables easy configuration. The scripts internally saved in SEED Driver allow for stand-alone control of the actuators.
SEED
1. Compact sizePicsel employs the LM guide to achieve high rigidity and high precision. Compact size with 25 mm width increases the arrangement and design flexibility. Stepping motor with encoder is also employed.
Picsel
[SEED connection] [Conventional unit connection]
Unit configuration without control box
Wire-saving
Driver
Motor:1
PLCController
Power cable
Encoder cable
Cable between controller and driver
Power supply cable
Control box
Driver
Motor:2
Driver
Motor:3
Driver
Motor:4
PCS9S/D PCS9RD PCS9SL/GP
SEED Driver
LM Guide (SRS9)
Timing belt
Sliding screw
2525
25Sliding screw
Powersupply
Powersupply
ID:1 ID:2 ID:3 ID:14
Daisy-chain connection(CAN Com.)
SEED Editor
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SEED+Picsel Configuration
SEED+Picsel Connection Examples
SEED Editer
I/O connection with PLC
SEED Editor
・Rewriting scripts・Setting parameters・Editing functions
・Rewriting scripts・Setting parameters・Editing functions
After writing settings, stand-alone control is possible.
After writing settings, run the operation via the I/O interface.
USB CAN
11EH-DC jack
❷SW-HUB
❷SW-HUB
❹EH terminating connector
❽EH-EH 4P cable
❽EH-EH 4P cable
PLC
❶CAN-MS
❶CAN-MS
ID:01
ID:02
On PC
On PC
USB CAN
❾PH-PH 4P cable
❻IO16BOX
10EH-PH 4P cable
ID:01
ID:02
12EH cable (discrete)
❺PH terminating connector
Power supply
AC adapter24VDC, 3A max
Power supply
Switching power supply 24VDC, 3A max
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Options -Model No. Coding
ID:01
ID:02
■SEED options
■SEED cables
Protocol conversion
SEED-SDK/SEED Editor
・SEED-MS3A (small protocol controller) converts to SEED commands.
・SEED-MS3A is used as a gateway.
Connectable to various protocols
USB CAN
❼Relay
・RS232C・RS485・UART・SPI
SEED-MS3A
❶CAN-MS
Other protocols
Load
・I2C・Bluetooth・ZigBee
Name SOPTOptions
❶CAN-MS
❷SW-HUB
❸4P-HUB
❹EH terminating connector
❺PH terminating connector
❻IO16BOX
❼Relay
SOPT
CMSUModel No.
: Protocol converter at USB-CAN
: Enables parallel connection up to 3 ports, with the power controlled via a switch.
: Enables parallel connection up to 4 ports.
: Terminating connector that supports PCS9S, PCS9D
: Terminating connector that supports PCS9RD, PCS9SL, PCS9GP
: Converts 16 input/16 output signals to CAN. A terminal-block-type I/O connector is also available.
: Small circuit board in 25mm×25mm
AB
: With USB cable: Without USB cable
: Connectors by J.S.T.MFG.: Connectors by Phoenix Contact: Connectors by Wago, Co. of Japan
CMSU
SWHB
4PHB
ETRM
PTRM
IO16
RLYS-A50
AOthers
ABC
Name
❽EH-EH 4P cable
❾PH-PH 4P cable
10EH-PH 4P cable
11EH-DC jack
12EH cable (discrete)
: Power supply/CAN COM cable that supports PCS9S, PCS9D
: Power supply/CAN COM cable that supports PCS9RD, PCS9SL, PCS9GP
: Power supply/CAN COM cable
: AC adapter connection cable
: EH cable (discrete on power side)
0100:100mm, 0200:200mm, 0300:300mm, 0400:400mm, 0500:500mm
0100:100mm, 0200:200mm, 0300:300mm, 0400:400mm, 0500:500mm
0100:100mm, 0200:200mm, 0300:300mm, 0400:400mm, 0500:500mm
0150:150mm0500:500mm, 1000:1000mm
SCBLOptions
SCBL
EE4P-AModel No.
EE4P-A
PP4P-A
EP4P-A
EHDC-A
EHNN-A
**** (indicates cable length)Cable length
❸4P-HUB
❷SW-HUB
❽EH-EH 4P cable
❽EH-EH 4P cable
11EH-DC jack
For SEED-SDK and SEED-MS3A, contact THK.Note
Power supply
AC adapter24VDC, 3A max
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SEED Editor
・Multi-axis operation can be easily set and executed.・14 axes are edited/monitored/controlled on the same window.・Up to 255 steps×8 scripts and 255 point data can be edited for each axis.
Main Window
Point Data Window
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❶ Connect/disconnect CANConnects to/disconnects from SEED Driver.
❷ Switching axis (ID)Allows for switching the SEED Driver (up to 14 axes) connected in a daisy chain manner. The IDs where CAN connection is confirmed are indicated in light blue, and are activated when selected. The activated ID is marked with a blue underline, indicating that the axis can be controlled and the setting can be edited.
❸ Forced Outage/Release Forced OutageForced termination and its cancellation can be performed via the window. * A stop command is submitted via communication.
❹ Script operationAllows for selecting script number, as well as for writing, reading, executing, and pausing the script.
❺ Monitoring executed scriptsDisplays the number of executed scripts and the step number.
❻ Editing operation scriptsSimply selecting operation type and the parameters achieves multi-axis control up to 14 axes.255 steps × 8 scripts can be registered to each axis.Various controls, such as startup of the other axis scripts, point specification, as well as control with internal variables are available.
❼ Motor ON/Motor OFFTurns the motor ON/OFF.
❽ Monitoring motor statusDisplays the motor information of the active SEED Driver.
❾ Manual operationThe unit movement can be controlled by specifying a relative/absolute value or speed manually.
10 Monitoring I/ODisplays the I/O information of the active SEED Driver.
11 Editing and executing point dataMultiple axes can be edited/driven simultaneously. The reach time and the target absolute position can be specified up to 255 points for each axis. Operation via scripts is also available. The target absolute position can be specified via POS SET, a teaching function registering the current position as point data.
Various settings including motor parameters, error detection, etc.The user can set the motor parameters such as the maximum current and velocity, as well as the error detection parameters.
Switching languagesJapanese and English are available.
CAN-MS is required for using SEED Editor.Note 1
For the operation procedure of SEED Editor, refer to "SEED Editor Operation Manual".Note 2
Others
Others
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Picsel Short slider type (Belt drive)
PCS9S
Model No.
130230330
Stroke[mm]
400
Maxspeed[mm/s]
12.73
Pulley pitchdiameter
[mm]
1(0.3G)
Max loadcapacity
[kg]
±0.1
Positioningrepeatability
[mm]
±0.1
Origin pos.repeatability
[mm]
12.5(1/16 step)
Min feed[μm]
231.1331.1431.1
L0[mm]
490600670
Weight[g]
225325425
L1[mm]
100200300
L2[mm]
150250350
L3[mm]
468
n[number]
130230330
Stroke[mm]
(2.9)
(56)(8.5)
□35
38
32
27
25
A-A cross section
2718
.3
(4.3
)
(8.6
)
(7.3
)
(4.3
)
(51)
(81.
5)
(11.
3)(4
6)(1
7.7)
(40) 30 Stroke
(1.6)
(Origin)
(Reamer pitch: 32±0.05)
1.5(Mech-stopper pos)
18
2-Ø3H7 depth 5
2 x n-M3 through, Ø5 counterbore depth as shown
2-Ø3H7 through
(30)
4.5
16
(n-1)×50=L345
50
L2504
20
20.5
3H7
(Slotte
d hole
thr
ough)
2-(R
)
4-M3 through
1.5(Mech-stopper pos)
(1.6)
(10)
A
A
(L0)
L1
From the opposite side
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Picsel Long slider type (Belt drive)
PCS9D
Model No.
100200300
Stroke[mm]
400
Maxspeed[mm/s]
12.73
Pulley pitchdiameter
[mm]
1(0.3G)
Max loadcapacity
[kg]
±0.1
Positioningrepeatability
[mm]
±0.1
Origin pos.repeatability
[mm]
12.5(1/16 step)
Min feed[μm]
231.1331.1431.1
L0[mm]
520730700
Weight[g]
225325425
L1[mm]
100200300
L2[mm]
150250350
L3[mm]
468
n[number]
100200300
Stroke[mm]
(2.9)
(56)(8.5)
□35
38
32
27
25
A-A cross section
2718
.3
(7.3
)
(4.3
)
(8.6
)
(4.3
)
(51)
(81.
5)
(11.
3)(4
6)(1
7.7)
(40) 60 Stroke
(1.6)
1.5(Origin)
(Reamer pitch: 32±0.05)
1.5(Mech-stopper pos)
18 18 18
2-Ø3H7 depth 5
2 x n-M3 through, Ø5 counterbore depth as shown
2-Ø3H7 through
(30)
4.5
16
(n-1)×50=L345
50
L2504
20
3H7
20.5
(Slotte
d hole
thr
ough)
2-(R
)
8-M3 through
(Mech-stopper pos)
(1.6)
(10)
A
A
(L0)
L1
From the opposite side
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Picsel Rod Rod type (Sliding screw drive)
Stroke code: 050
Bottom mounting face dimensions
Stroke code: 100
18
3-φ3H7 through (eff depth 5)
6-M2.5 through (eff depth 5)43232
±0.02 ±0.02 43232
18
8-M2.5 through (eff depth 5)
4-φ3H7 through (eff depth 5)
4323232
4323232 ±0.02 ±0.02 ±0.02
25 (0.6)(0.6)
30.5
9.5
5.5
(1)
(25)
10M
AX
L 20.8
0.6
(1)
25(1) (1)
2510
35
7
15
Stroke
L16(53)(0.6)
7 4
9
2-M3 through
(L0)
Origin
PCS9RD
Model No.
50100
Stroke[mm]
80
Max speed[mm/s]
4
Lead[mm]
0.5(0.08G)
Max load capacity[kg]
±0.1
Positioning repeatability[mm]
±0.1
Origin pos. repeatability[mm]
1.25(1/16 step)
Min feed[μm]
155.6205.6
L0[mm]
86.2136.2
L2[mm]
81131
L1[mm]
260290
Weight[g]
50100
Stroke[mm]
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Picsel Slider Slider type (Sliding screw drive)
Stroke code: 120
Stroke code: 080Stroke code: 040
Bottom mounting face dimensions
(eff depth 5.5)
(eff depth 5.5)
12.5 16 16 16 32 16 16 16
20.5 56 56 3-Ø3H7 through
8-M2.5 through
±0.02 ±0.02
(eff depth 5.5)
(eff depth 5.5)
8.5 16 16 32 16 16
16.5
6-M2.5 through
3-Ø3H7 through40 ±0.02 40 ±0.02
(eff depth 5.5)
(eff depth 5.5) 20.5 32 2-M2.5 through
3-Ø3H7 through12.5 24 24±0.02 ±0.02
PCS9SL
Model No.
4080120
Stroke[mm]
80
Max speed[mm/s]
4
Lead[mm]
1(0.08G)
Max load capacity[kg]
±0.1
Positioning repeatability[mm]
±0.1
Origin pos. repeatability[mm]
1.25(1/16 step)
Min feed[μm]
126.6166.6206.6
L0[mm]
185210235
Weight[g]
73113153
L1[mm]
4080120
Stroke[mm]
25(1
)(3
.5)
(29.
5)
4L1(53)(0.6)
(L 0)
5.5
26
250.6 0.6
(Dowe
l hole p
itch:
16±
0. 05
)
6 14
Origin
Stroke
3.5
1016
(25)
10M
AX
(1)
4-M3 through (eff depth 4)
2-Ø3H7 through (eff depth 4)
6
3.5
10
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Picsel Gripper Gripper type (R/L sliding screw drive)
Bottom mounting face dimensions
Stroke code: 100
Stroke code: 060 Stroke code: 020
(eff depth 5.5)
(eff depth 5.5)
12.5 16 16 16 32 16 16 16
20.5 56 56 3-Ø3H7 through
8-M2.5 through
±0.02 ±0.02
(eff depth 5.5)
(eff depth 5.5)
8.5 16 16 32 16 16
16.5 40 40
6-M2.5 through
3-Ø3H7 through±0.02 ±0.02
(eff depth 5.5)
(eff depth 5.5)
20.5 32 2-M2.5 through
12.5 24±0.02 24±0.02 3-Ø3H7 through
25(3
.5)
(1)
(29.
5)
5.5
26
250.6 0.6
(Dowe
l hole p
itch:
16±0.
05)
R-screw L-screw
6
4-M3 through (eff depth 4)
6 14
Origin 3.5
10
16
(25)
10M
AX
(1)
2-Ø3H7 through (eff depth 4)
14Stroke/2Stroke/2 6
4L1(53)(0.6)
(L0 )
3.5
PCS9GP
Model No.
2060100
Stroke[mm]
80
Max speed[mm/s]
4
Lead[mm]
20
Max holding force[N]
±0.1
Positioning repeatability[mm]
±0.1
Origin pos. repeatability[mm]
1.25(1/16 step)
Min feed[μm]
126.6166.6206.6
L0[mm]
200225250
Weight[g]
73113153
L1[mm]
2060100
Stroke[mm]
11
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Detailed Specifications of Options
Model Number Coding
S330
SEED Driver Model No.
S310: SEED-MC1A-S30for sliding screw drive
S330: SEED-MC3A-S30for belt drive
3
330
Stroke code
020: 20mm
330: 330mm
2
Refer to Table 1 List of Stroke Codes.
Table 1 List of Stroke Codes
Stroke code
PCS9S
PCS9D
PCS9RD
PCS9SL
PCS9GP
130:
100:
050:
040:
020:
130mm
100mm
50mm
40mm
20mm
230:
200:
100:
080:
060:
230mm
200mm
100mm
80mm
60mm
330:
300:
120:
100:
330mm
300mm
120mm
100mm
1
PCS9S
Model No.
PCS9S Belt drivenshort slider type
PCS9D Belt drivenlong slider type
PCS9RD Sliding screw driveRod type
PCS9SL Sliding screw driveSlider type
PCS9GP Sliding screw driveGripper type
:
:
:
:
:
■RelaySOPT-RLYS-A50
AC125V 3A DC30 5A
AWG #30-#20
Model No.
Contact rating
Recommended cable
■CAN-MSSOPT-CMSU-A
Supplied (1 m length)
USB connector: TYPE A
SOPT-CMSU-B
Not supplied
CAN-MS connector: Micro BPrepare a cable between CAN-MS and PC separately.
115200bps
Model No.
USB cable
Baud rate
Connector
■IO16BOXSOPT-IO16-A
Connectors by J.S.T.Mfg.
XAP-10V (by J.S.T.Mfg.)
XA-001 (by J.S.T.Mfg.)
AWG #22 / #20
Parallel IO output interface(Sink/Source)
Parallel IO input interface(shared by positive common/ negative common)
SOPT-IO16-B
Connectors by Phoenix Contact
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AWG #30-#20
100mA max.
60V max.
SOPT-IO16-C
Connectors by Wago, Co. of Japan
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AWG #28-#20
Model No.
Connector
Housing
Pin contact
Recommended cable
Interface
Output current
Applied voltage
3.3V
CPU
GND
Bidirectionalphotocoupler
CN3/CN41-4pin, 6-9pin
CN3/CN45pin, 10pin (common)
200Ω LED
PhotoMOS relay
CPU
GND
CN1/CN21-4pin、6-9pin
CN1/CN25pin,10pin (common)
■EH-DC JackSCBL-EHDC-A-0150
Ø5.5×2.1
24VDC, 3A max
Model No.
DC jackspecification
AC adapter
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SEED+Picsel Combination Unit
Application Examples
Picsel Clamper/Chuck
Gantry typei-Picsel 100/200
Cantilever type3-axis Picsel 100/200/300
Glue dispenser
・Simple supplementary operation (14 axes max.)・Combination of 255 points at each axis・Wide settings via scripts
Vacuum pick &place machine
・No air piping required・Suction pressure monitored
Compact multi-axismanufacturing unit
・Up to 14 axes can be freely combined.・Compact type・No control box required
Electric chuck hand
PCS-CLS25 PCS-CLV25 PCS-2F05
PCS-CLS25
PCS-CLV25
PCS−2F05
20
20
10
Stroke[mm]Model No.
10
10
5
Holdingforce[N]
0.25
0.25
1.00
Open/closetime[s]
±0.1
±0.1
±0.1
Positioningrepeatability
[mm]
Contact THK for combined units, Picsel Clamper/Chuck, and application examples.Note
Compact and lightweight. Completely new RT equipment with no control box.
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Precautions on Use
●Safety Precautions・Be careful not to drop or strike this product. Doing so may cause injury to the user or damage the unit. If
the product is dropped or impacted, functionality may be reduced even if there is no surface damage.
・Do not rework or disassemble this product. Doing so may allow foreign materials to enter or lose product functionality. Reworking the driver will cause the risk of electric shock.
・Before performing installation, adjustment, verification, or services regarding the SEED+Picsel and the relevant connected equipment, make sure to remove all power plugs from the outlet and apply locking or safety plugs so that nobody else can turn on the power. When using this unit mounted vertically, take appropriate measures to ensure safety and prevent damage to the device caused by the slider falling.
・Since the SEED includes a communication system in its configuration, there is a risk that it cannot be forcefully stopped in case of system failure, etc. Make sure, therefore, to install a circuit to immediately stop the operation and shut down the power in case of an emergency.
・Driver and motor surfaces may become very hot. Whether the power is on or off, ensure that the driver and motor are sufficiently cooled before performing any work.
・Do not use the Picsel and the SEED Driver in any combination other than specified. Doing so may lead to loss of functionality.
・Read the manual carefully, understand the contents fully, and strictly follow the safety precautions.
●Environment・The power supply voltage is DC 24V. Use the product while using a noise filter and taking other measures
to prevent the effects of noise.
・Do not connect the ground line to an earth ground shared with a strong electric system.
・When performing wiring work, pay extra attention to the radiation noise from other equipment.
・Extreme environmental conditions can cause the SEED+Picsel to fall. The best place to use the product is as follows:
An indoor location and ambient temperatures from 5 to 35˚C, and humidity of 80%RH or below (no freezing or condensation).
A place free from corrosive gas and flammable gas.
A place free from dielectric powder (such as iron powder), dust, oil mist, cutting fluid, moisture, salt, and organic solvent.
A place free from any device generating strong noise.
A place free from direct sunlight and radiant heat.
A place free from strong electric and magnetic fields.
A place where vibration or impact is not transmitted to the unit.
A place that is easily accessible for service and cleaning purposes.
・Read the manual carefully, understand the contents fully, and strictly follow the instructions on installation and use environment.
●Storage・When storing the unit, enclose it in a package designated by THK and store it in a horizontal orientation
with the power off in a place without condensation while avoiding high temperature, low temperature and high humidity.
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All rights reserved.
●LM Guide, SEED, and Picsel are registered trademarks of THK CO., LTD.●The actual products may differ from the pictures and photographs in this catalog.●Outward appearances and specifications are subject to change without notification for the purpose of improvement.●Although great care has been taken in the production of this catalog, THK will not take any responsibility for damage resulting from typographical errors or
omissions.●In exporting our products and technology, or selling them for the purpose of export, THK has a basic policy of observing laws relating to foreign exchange, trade
and other laws.For export of THK products as single items, please contact THK in advance.
CATALOG NO.394 ©THK CO., LTD. 201511010 E27 Printed in Japan
NORTH AMERICATHK America,Inc.
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