XHA38 - Servotube Hygienic Actuator Datasheet

MODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 1The Hygienic ServoTube is a stainless steel, water-cooled, 600V version of the XTA38 actuator. Two models are available, delivering peak force up to 1860 N. With smooth surfaces and IP69K high-pressure wash-down rating. ServoTube is ideal for material handling applications in the Packaging, Food & Beverage and Pharmaceutical industries.The ruggedness and mechanical simplicity of Hygienic ServoTube can bring significant cost savings to sterile environment applications. Simply mount the forcer directly to the machine. The food-safe dry bearings of the moving-rod actuator deliver quiet, long life and are conveniently field replaceable.The IP69K rating of Hygienic ServoTube facilitates high-pressure wash-down techniques which use significantly less water and cleansing agents than typical low-pressure hose-down. The cleaning process itself is easier and quicker. Cost is reduced and there is less environmental impact.Hygienic ServoTube features a standard incremental encoder output and digital Halls. The encoder delivers 10 micron resolution with 25 micron repeatability. The drive power interface is three phase and can operate at 600V making it compatible with many third party drives.Force• Peak: 744-1860 N• Continuous: 215-434 NMaximum Velocity• Up to 4.5 m/sFeedback• Built-in position sensor• Incremental encoder output• Digital Halls output• 10 micron resolution• 25 micron repeatabilityRange of motion• Stroke 55~340 mmDimensions• W x H: 108 x 72mm• Rod diameter: 38mmApplications• Packaging• Food & Beverage• PharmaceuticalThe OEM advantage• Reliable and cost-effective• Flexible position control• High speed and acceleration• Clean, quiet operation• No maintenance or adjustmentMODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 2ELECTRICAL SPECIFICATIONSNotes: -(1) S=series forcer phases, P=parallel forcer phases(2) Water at 25oC and a flow rate of 80 litres/hour. Maximum pressure 5 bar.(3) Reduce continuous stall force to 89% at 40oC ambient(4) Based on a moving thrust rod with 55mm stroke and no payload(5) Based on a moving thrust rod with triangular move over maximum stroke and no payloadTHERMAL SPECIFICATIONSFORCER TYPE 3804 3810 unitsMaximum phase temperature 100 oCWith water cooling optionPower dissipation @ 25oC ambient 220 357 WattThermal resistance Rthhousing-ambient 0.06 0.07 oC/WattThermal resistance Rthphase-housing 0.28 0.14 oC/WattWithout water cooling optionPower dissipation @ 25oC ambient 47.8 69.4 WattThermal resistance Rthhousing-ambient 1.22 0.88 oC/WattThermal resistance Rthphase-housing 0.35 0.20 oC/WattMECHANICAL SPECIFICATIONSFORCER TYPE 3804 3810 unitsMaximum stroke 340 mmForcer mass (excluding thrust rod and cable) 6.5 11.7 kgThrust rod mass/metre 8.3 kg/mFORCER TYPE 3804 3810 unitsS(1) P(1) S(1) P(1Peak force @ 25oC ambient for 1 sec 744 372 1860 930 NPeak current @ 25oC ambient for 1 sec 20 ApkWith water cooling option (2)Continuous stall force @ 25oC ambient (3) 215 434 NContinuous stall current @ 25oC ambient 4.10 8.20 3.30 6.61 Arms5.80 11.60 4.67 9.34 ApkWithout water cooling optionContinuous stall force @ 25oC ambient (3) 100.5 190.6 NContinuous stall current @ 25oC ambient 1.91 3.82 1.45 4.91 Arms2.70 5.41 2.05 6.94 ApkForce constant (sine commutation) 52.6 26.3 131.5 65.7 N/Arms37.2 18.6 93.0 46.5 N/ApkBack EMF constant (phase to phase) 43.0 21.5 107.4 53.7 Vpk/m/sFundamental forcer constant 14.5 22.9 N/vWEddy current loss 3.7 N/m/sSleeve cogging force 7.3 5.6 +/-NResistance @ 25oC (phase to phase) 6.77 1.69 16.93 4.23 OhmResistance @ 100oC (phase to phase) 8.73 2.18 21.82 5.45 OhmInductance @ 1kHz (phase to phase) 8.52 2.13 21.30 5.32 mHElectrical time constant 1.26 msMaximum working voltage 650 V d.c.Pole pitch (one electrical cycle) 71.2 mmPeak acceleration (4) 212 106 352 176 m/s2Maximum speed (5) 4.3 4.5 2.5 4.1 m/sMODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 3OUTLINE DRAWINGSMODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 3OUTLINE DRAWINGS??????????????? ???????? ???? ??????????????????????????????????????????? ??????????? ?????????????? ????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????? ??????? ???????????????????????? ??????????????????????????????????????????????????????????????????????????????????????????????????????????????????????? ?????????????????? ???? ????????????? ????????? ???????????????????????????? ??????????????????????????????????????????????? ??????????????????????????????? ???? ????????? ????????????????????????? ??????????? ??????????????????????????????????????????????????????????????????????????????????????????? ???????? ???????????????????????????? ?????????????????????????????? ????????? ???????????????????????????????????????? ???????? ???????? ??????????????? ? ??? ????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????? ???????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????MODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 4POSITION SENSORThe position sensor comprises Hall effect sensors and incremental encoder. The Hall sensors output signals providing coarse position feedback for commutatation. Shown below are the relationships between forcer phase back EMF and Hall sensor outputs for one direction of motion (as shown by arrows). It should be noted each Hall output is always in phase with its respective forcer phase back EMF for the motion shown. For motion in the opposing direction each Hall output is inverted with relation to its respective forcer phase back EMF.MODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 4POSITION SENSORThe position sensor comprises Hall effect sensors and incremental encoder. The Hall sensors output signals providing coarse position feedback for commutatation. Shown below are the relationships between forcer phase back EMF and Hall sensor outputs for one direction of motion (as shown by arrows). It should be noted each Hall output is always in phase with its respective forcer phase back EMF for the motion shown. For motion in the opposing direction each Hall output is inverted with relation to its respective forcer phase back EMF.0 30 60 90 120 150 180 210 240 270 300 330 360electrical degrees 0V+5V+5V+5VNeutralHall VPhase U Phase V Phase WBack EMF(phase to neutral)Hall signals 0VHall UHall W 0VThe Hall sensor outputs use 74AHCT125 line drivers.Stroke(mm)3804 3810OVERALL ACTIVE OVERALL ACTIVE55 421 362 635 57591 457 398 671 611127 493 434 706 646162 528 469 742 681198 564 505 778 718233 599 540 813 753269 636 576 849 789305 671 612 885 825340 706 647 920 860THRUST ROD TABLEThe Hall sensor outputs use 74AHCT125 line drivers.Stroke(mm)3804 3810OVERALL ACTIVE OVERALL ACTIVE55 421 362 635 57591 457 398 671 611127 493 434 706 646162 528 469 742 681198 564 505 778 718233 599 540 813 753269 636 576 849 789305 671 612 885 825340 706 647 920 860THRUST ROD TABLEMODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 5SPECIFICATION VALUE unitsSupply voltage 5 ± 0.25 Vd.c.Supply current (output current=0) 110 ± 20 mAResolution 10 micronPosition repeatability(1) ± 20 micronAbsolute accuracy(2) ± 400 micronNotes:(1) Dependent on amplifier. Under constant operating conditions. Self-heating of the forcer will cause expansion in the thrust rod during the initial warm up period. In high duty applications (corresponding to an internal forcer temperature of 80oC) a 1 metre thrust rod will expand typically by 250 microns.(2) Maximum error over 1 metre under constant operating conditions.MODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 5SPECIFICATION VALUE unitsSupply voltage 5 ± 0.25 Vd.c.Supply current (output current=0) 110 ± 20 mAResolution 10 micronPosition repeatability(1) ± 20 micronAbsolute accuracy(2) ± 400 micronNotes: -((1) Dependent on amplifier. Under constant operating conditions. Self-heating of the forcer will cause expansion in the thrust rod during the initial warm up period. In high duty applications (corresponding to an internal forcer temperature of 80oC) a 1 metre thrust rod will expand typically by 250 microns.(2) Maximum error over 1 metre under constant operating conditions.0 0.01 0.02 0.03 0.04mmSensor signalsA/AB/BThe incremental encoder outputs signals providing fine position feedback for forcer control. It is in the form of phase quadrature as shown below. The outputs use RS422/485 compatible line drivers.FORCER OVER TEMPERATURE SENSORIt is strongly recommended that the forcer over-temperature sensor is connected to the drive amplifier or servo controller at all times in order to reduce the risk of damage to the forcer due to excessive temperatures.Protection is provided by three positive temperature coefficient (PTC) thermistors embedded in the forcer phases. As the forcer phase temperature approaches 100oC, the PTC thermistors exhibits a sharp increase in electrical resistance. This change in resistance can be detected by circuitry within the drive amplifier or servo controller and used to reduce or disable the output of the drive amplifier in order to protect the forcer.SPECIFICATION VALUE unitsResistance in the temperature range -20oC to + 70oC 60 to 750 OhmsResistance at 85oC <1650 OhmsResistance at 95oC >3990 OhmsResistance at 105oC >12000 OhmsMaximum continuous voltage 30 Vd.c.The incremental encoder outputs signals providing fine position feedback for forcer control. It is in the form of phase quadrature as shown below. The outputs use RS422/485 compatible line drivers.FORCER OVER TEMPERATURE SENSORIt is strongly recommended that the forcer over-temperature sensor is connected to the drive amplifier or servo controller at all times in order to reduce the risk of damage to the forcer due to excessive temperatures.Protection is provided by three positive temperature coefficient (PTC) thermistors embedded in the forcer phases. As the forcer phase temperature approaches 100oC, the PTC thermistors exhibits a sharp increase in electrical resistance. This change in resistance can be detected by circuitry within the drive amplifier or servo controller and used to reduce or disable the output of the drive amplifier in order to protect the forcer.SPECIFICATION VALUE unitsResistance in the temperature range -20oC to + 70oC 60 to 750 OhmsResistance at 85oC <1650 OhmsResistance at 95oC >3990 OhmsResistance at 105oC >12000 OhmsMaximum continuous voltage 30 Vd.c.MODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 6OPTION S SPECIFICATION POWER SENSOROverall diameter (nominal) 8.2mm 7.2mmOuter jacket material PVC PVCNumber of conductors 4 6 x twisted pairSize of conductors 1.5mm2 (16 AWG) 0.14mm2 (26AWG)Screened / Unscreened Screened ScreenedMinimum bending radius - fixed routing 41mm 36mmOperating temperature - flxed routing -40oC to +90oC -30oC to +70oCThe XHA has two separate cables providing connections for forcer power and position sensor. There are two options available with option S being supplied as standard. Both cable types are available in 3 metre or 5 metre lengths.Option S cables are flexible but are not intended for continuous flex or drag chain applications.CABLE TYPEOption R cables are suitable for continuous flex or drag chain applications.OPTION R SPECIFICATION POWER SENSOROverall diameter (nominal) 7.6mm 6.7mmOuter jacket material PUR PURNumber of conductors 4 7 x twisted pairSize of conductors 1.5mm2 (16 AWG) 0.14mm2 (26AWG)Screened / Unscreened Screened ScreenedMinimum bending radius - flexible routing 38mm 51mmOperating temperature - flexible routing -40oC to +80oC -40oC to +90oCOperating temperature - flxed routing -40oC to +80oC -50oC to +90oCFORCER ELECTRICAL CONNECTIONSConnections are made within the termination box. PIN NUMBER FUNCTION1 A2 /A3 B4 /B5 +5Vd.c.6 0V7 +TH (Thermistor)8 -TH (Thermistor)9 Do not use10 Do not use11 Hall U12 Hall V13 Hall W14 No connectionPIN NUMBER FUNCTION1 Phase U2 Phase V3 Phase WChassis Earth/ScreenMODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 7CABLE TERMINATIONThe XHA cable is available with four termination options. Option F has the wire ends stripped and solder tinned ready for termination. All other options are terminated with connectors that plug directly into the desired amplifier. The connections for all options are shown below: -SENSOR FUNCTION U-(XEL, XML, XPL) T-(XTL) J-(XSJ) F-Flying leadsA 13 14 4 Blue/A 12 13 14 RedB 11 12 5 White/B 10 11 15 Brown+5Vd.c. 6 4 17 Yellow0V 5 5 7 Green+TH (Thermistor) 7 10 20 Pink-TH (Thermistor) 16 15 19 GreyHALL U 2 3 18 BlackHALL V 3 6 8 VioletHALL W 4 9 9 Red/BlueSCREEN 1+ shell 1+ shell 1+ shell SCREENConnector type 26-way high density D15-way high density D20-way 2.54mm Mini Mate -Amplifier connection J10 J8 J6 -POWER FUNCTIONForcer phase U 4 4 4 Black 1Forcer phase V 3 3 3 Black 2Forcer phase W 2 2 2 Black 3Earth (forcer body) 1 1 1 Green/YellowSCREEN 1 1 1 SCREENConnector type 4-way 5mm pluggable terminal4-way 5mm pluggable terminal4-way 5mm pluggable terminal -Amplifier connection J2 J2 J2 -ENVIRONMENTThe XHA is intended for use in an environment within the following conditions: -SPECIFICATION VALUEOperating temperature 0oC to +40oCStorage temperature -25oC to +70oCIngress protection IP69KAltitude (above mean sea level) 1000mOvervoltage category IIPollution degree 2EMC light industrialMODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 8 Forcer Cooling Stroke ORDER CODESActuatorXHA38 04, 10N - Non-water cooledW - Water cooling055, 091, 127, 162, 198,233, 269, 305, 340Stroke in mm WindingS - SeriesP - Parallel Cable Termination Cable Length Cable Type U- XenusPLUS (XEL, XMP, XPL)T - Xenus (XTL)J - Xenus Micro Panel (XSJ)F - Flying leads03 - 3 metre05 - 5 metreS - Non-RoboticR - RoboticSpare forcer only (with cable)XHS38 Forcer 04, 10 CoolingN - Non-water cooledW - Water cooling WindingS - SeriesP - Parallel Cable Termination Cable Length Cable Type U- XenusPLUS (XEL, XMP, XPL)T - Xenus (XTL)J - Xenus Micro Panel (XSJ)F - Flying leads03 - 3 metre05 - 5 metreS - Non-RoboticR - RoboticMATERIALSThe XHA contains the following materials that could be exposed to the outside environment: -All metal parts including fixings are stainless steel 316 apart from: -Thrust rod tube and water push in fittings (if fitted) - stainless steel 316L.All gaskets and o-ring seals are red silicone apart from: -water push in fitting o-ring (if fitted) - FKM fluoroelastomer.Cable jackets are PVC for option S and PUR for option R. Cable gland grommets are PVC.Bearings are polymer.Spare thrust rod onlyTHS38 Forcer 04, 10 Stroke 055, 091, 127, 162, 198,233, 269, 305, 340Stroke in mm MODELS XHA3804 AND XHA3810 HYGIENIC SERVOTUBE ACTUATORDunkermotoren Linear Systems LimitedWollaston Way • Basildon • Essex • SS13 1DJ • UKwww.dunkermotoren.com • Phone +44 (0)1268 287070 • Fax +44 (0)1268 928372DS01102/D© 07/2011Page 9Spare thrust rod onlyTHS38 Forcer 04, 10 Stroke 055, 091, 127, 162, 198,233, 269, 305, 340Stroke in mm Spare thrust rod onlyTHS38