MODELS STB1104-1116 SERVOTUBE COMPONENTS

Force

Peak: 46 - 92 N Continuous: 6 - 19N

Maximum Velocity Up to 5.2 m/s

Feedback Built-in position sensor 1V pk-pk sin/cos 12 micron repeatability ServoTube delivers the speed of a belt-drive system with the clean reliability of a linear forcer at a price unprecedented in the industry. Familiar form factor, integral position feedback and large air gap make installation simple. The ServoTube forcer components consist of an IP67 rated forcer and a sealed stainless steel thrust rod enclosing rare-earth magnets. Four models deliver a continuous force range of 9~27 N (2~6 lb) with peak forces up to 92 N (21 lb). A range of Thrust Rods are available for travel lengths up to 372mm. The patented magnetic design of ServoTube generates 12 micron (0.47 mil) repeatability and 350 micron (14 mil) accuracy from a noncontact, integral position sensor. No external encoder is required. Position output is industry standard 1V pk-pk sin/cos signals. ServoTube is an ideal OEM solution for easy integration into pick-andplace gantries and general purpose material handling machines. The load is mounted directly to the Forcer typically supported by a single bearing rail. The Thrust Rod is mounted at both ends, similar to a ballscrew. A large air gap reduces alignment constraints. The tubular forcer has superior thermal efficiency, radiating heat uniformly. High duty cycles are possible without the need for forcerair or water coling.

Range of motion Up to 372 mm

Dimensions W x H: 28 x 61mm Rod diameter: 11mm

Applications Packaging Material Handling Automated Assembly Bio-medical

The OEM advantage Reliable and cost-effective Ballscrew form factor Large air gap Mount load directly to forcer No maintenance or adjustment

07/2011

DS01098/C

Dunkermotoren Linear Systems Limited Wollaston Way Basildon Essex SS13 1DJ UK www.dunkermotoren.com Phone +44 (0)1268 287070 Fax +44 (0)1268 928372

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MODELS STB1104-1116 SERVOTUBE COMPONENTS

ELECTRICAL SPECIFICATIONS
FORCER TYPE
Peak force @ 25oC ambient for 1 sec Peak current @ 25oC ambient for 1 sec With 25 x 25 x2.5cm heatsink plate Continuous stall force @ 25oC ambient (1) Continuous stall current @ 25oC ambient

1104 46.0 12

1108 53.0 12

1112 68.9 12

1116 91.9 12

units
N Apk

9.27 1.71 2.41

15.78 2.52 3.56

21.44 2.64 3.74

26.75 2.47 3.50

N Arms Apk

Without heatsink plate Continuous stall force @ 25oC ambient (1) Continuous stall current @ 25oC ambient

6.02 1.11 1.58 5.42 3.83 4.42 1.75 0.14 4.90 6.32 1.15 0.23 75 25.6 155 5.2

10.83 1.73 2.45 6.26 4.42 5.10 2.49 0.25 3.27 4.29 0.99 0.23 75 25.6 119 5.2

15.18 1.87 2.64 8.12 5.74 6.63 3.05 0.36 3.68 4.74 0.87 0.23 75 25.6 109 3.9

19.28 1.78 2.52 10.83 7.66 8.84 3.52 0.47 4.91 6.31 1.15 0.23 75 25.6 120 3.1

N Arms Apk N/Arms N/Apk Vpk/m/s N/W N/m/s Ohm Ohm mH ms V d.c. mm m/s2 m/s

Force constant (sine commutation) Back EMF constant (phase to phase) Fundamental forcer constant Eddy current loss Resistance @ 25oC (phase to phase) Resistance @ 100oC (phase to phase) Inductance @ 1kHz (phase to phase) Electrical time constant Maximum working voltage Pole pitch (one electrical cycle) Peak acceleration (2) Maximum speed (3)

Notes:
(1) (2)

Reduce continuous stall force to 89% at 40oC ambient Based on a moving forcer and no payload (3) Based on a moving forcer with triangular move over maximum stroke and no payload

THERMAL SPECIFICATIONS
FORCER TYPE
Maximum phase temperature Thermal resistance Rthphase-housing With 25 x 25 x2.5cm heatsink plate Power dissipation @ 25oC ambient Thermal resistance Rthhousing-ambient Without heatsink plate Power dissipation @ 25oC ambient Thermal resistance Rthhousing-ambient Thermal time constant

1104 100 1.48 27.6 1.24 11.8 4.88 142

1108 100 0.72 40.1 1.15 18.9 3.24 176

1112 100 0.47 49.7 1.04 24.8 2.55 202

1116 100 0.35 58.0 0.94 30.0 2.15 223

units
o o

C/Watt Watt

C/Watt Watt

C/Watt s

MECHANICAL SPECIFICATIONS
FORCER TYPE
Maximum stroke Forcer mass (excluding thrust rod and cable) Thrust rod mass/metre

1104 372 240 0.68

1108 321 390 0.68

1112 269 520 0.68

1116 218 650 0.68

units
mm gram kg/m

07/2011

DS01098/C

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MODELS STB1104-1116 MODELS STB1104-1116 SERVOTUBE COMPONENTS SERVOTUBE COMPONENTS

OUTLINE DRAWINGS OUTLINE DRAWINGS
15.0 1.5 MIN 35 124.0

M20x1.5p THREAD STB1104 58.5 61 = 35.0 40.8

11.6 0.3mm NOMINAL AIR GAP

20.5

= 28.0

M20x1.5p PLASTIC NUT

68.4

18.0

M4 TAPPED HOLE, THRU (OR 3.3, M3 CLEARANCE) 4 POSN

175.2 15.0 1.5 MIN 35

M20x1.5p THREAD

STB1108 = 35.0

M20x1.5p PLASTIC NUT

86.9

18.0

M4 TAPPED HOLE, THRU (OR 3.3, M3 CLEARANCE) 4 POSN

LENGTH OF THRUST ROD

226.4 15.0 1.5 MIN 35

M20x1.5p THREAD

STB1112 = 35.0

M20x1.5p PLASTIC NUT

86.9 170.8

18.0 18.0

M4 TAPPED HOLE, THRU (OR 3.3, M3 CLEARANCE) 8 POSN

11.0 - 0.043 277.3 15.0 THRUST ROD M20x1.5p THREAD 1.5 MIN 35

0.000

STB1116 = 35.0

M20x1.5p PLASTIC NUT ALL DIMENSIONS IN mm

86.9

18.0 221.7

M4 TAPPED HOLE, THRU (OR 3.3, M3 CLEARANCE) 8 POSN 18.0

ST(B)11 DATASHEET DWG (14.02.07)

07/2011 DS01098/C 07/2011

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Dunkermotoren Linear Systems Limited Dunkermotoren Linear Systems Limited Wollaston Way Basildon Essex SS13 1DJ UK Wollaston Way Basildon Essex SS13 1DJ UK 928372 www.dunkermotoren.com Phone +44 (0)1268 287070 Fax +44 (0)1268 www.dunkermotoren.com Phone +44 (0)1268 287070 Fax +44 (0)1268 928372

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MODELS STB1104-1116 MODELS XTB3804-3810 SERVOTUBE COMPONENTS SERVOTUBE COMPONENTS

POSITION SENSOR
The position sensor outputs analogue, differential sine and cosine cosine signals signals for for providing providing position position feedback. feedback. Shown Shown below are the relationships between forcer phase back EMF and and position position sensor sensor outputs outputs for for one one direction direction of of motion motion (as shown by arrows). It should be noted that +SIN or -SIN is always in phase with forcer phase U. For the motion shown, -SIN is in phase with forcer phase U. For motion in the opposing direction +SIN is in phase with forcer phase U.

Phase U Back EMF (phase to neutral)

Phase V

Phase W

Neutral

-SIN

+SIN

+2.75V +2.50V +2.25V

Sensor signals

-COS

+COS

+2.75V +2.50V +2.25V

30

60

90

120

150

180

210

240

270

300

330

360

electrical degrees

Output Output signal signal period period Output Output current current Supply Supply voltage voltage

SPECIFICATION

Signal Signal amplitude amplitude (between (between +/+/- signals) signals)

Supply Supply current current (output (output current=0) current=0)

(1) Resolution Resolution(1) (2) Position Position repeatability repeatability(2) (3) Absolute Absolute accuracy accuracy(3)

VALUE VALUE 25.6 71.2 1 1 10 10 5 5 0.25 0.25 32 15 5 5 8 20 12 25 350 400

units units
mm mm mA mA Vd.c. Vd.c. mA mA micron micron micron micron micron micron Vpk-pk Vpk-pk

Dependent Dependent on on amplifier amplifier Dependent Dependent on on amplifier. amplifier. Under Under constant constant operating operating conditions. conditions. Self-heating Self-heating of of the the forcer forcer will will cause cause expansion expansion in in the the thrust thrust rod rod during during the the initial initial warm warm up up period. period. In In high high duty duty applications applications (corresponding (corresponding to to an an internal internal forcer forcer oC) a 0.5 metre thrust rod will expand typically by 125 microns. temperature temperature of of 80 80o C) a 1 metre thrust rod will expand typically by 250 microns. (3) (3) Maximum error over 0.5 metre under constant operating conditions. Maximum error over 1 metre under constant operating conditions.
(1) (1) (2) (2)

Notes: -

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MODELS STB1104-1116 SERVOTUBE COMPONENTS

FORCER OVER TEMPERATURE SENSOR
It 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 a positive temperature coefficient (PTC) thermistor embedded in the forcer phases. As the forcer phase temperature approaches 100oC, the PTC thermistor 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 235 to 705 4700 10000 32 units
Ohms Ohms Ohms Vd.c.

Resistance at 25oC Resistance at 95oC

Resistance at 100oC Maximum continuous voltage

FORCER ELECTRICAL CONNECTIONS

Connections on the forcer are available via a 15-way high density D-sub male connector. Connections are as follows: PIN NUMBER
1 2 3 4 5 6* 7 8 9* 10* 11 12 13

* Pins 6,9 and 10 must be connected together in user cable connector.

14 15 Connector body

FUNCTION +SIN -SIN +COS -COS +5Vd.c. 0V +TH (Thermistor) -TH (Thermistor) Factory use only Factory use only No connection Earth (forcer body) Forcer phase U Forcer phase V Forcer phase W SCREEN

CABLE TYPE

The STB has a cable assembly that comprises power and sensor cables with a 15 way high density D-sub female connector for direct connection to the forcer. There are two cable types available with option R 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 energy chain applications.
Overall diameter (nominal) Outer jacket material Number of conductors Size of conductors Screened / Unscreened Minimum bending radius - fixed routing Operating temperature - flxed routing

OPTION S SPECIFICATION

POWER 5.3mm PVC 4 0.34mm2 (22 AWG) Screened 27mm -30oC to +70oC

SENSOR 6.5mm PVC 4 x twisted pair 0.14mm2 (26AWG) Screened 33mm -30oC to +70oC

07/2011

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MODELS STB1104-1116 SERVOTUBE COMPONENTS

Option R cables are suitable for continuous flex or energy chain applications.
Overall diameter (nominal) Outer jacket material Number of conductors Size of conductors Screened / Unscreened Minimum bending radius - flexible routing Operating temperature - flexible routing Operating temperature - flxed routing

OPTION R SPECIFICATION

POWER 4.7mm PUR 4 0.34mm2 (22 AWG) Screened 36mm o -40 C to +90oC -50oC to +90oC

SENSOR 5.8mm PUR 4 x twisted pair 0.14mm2 (26AWG) Screened 44mm o -40 C to +90oC -50oC to +90oC

CABLE TERMINATION
The STB cable is available with two termination options. Option F has the wire ends stripped and solder tinned ready for termination. Option C is terminated with connectors that plug directly into a Copley Accelnet Micro Panel amplifier (ACJ-S). The connections for both options are shown below: SENSOR FUNCTION +SIN -SIN +COS -COS +5Vd.c. 0V +TH (Thermistor) -TH (Thermistor) SCREEN Connector type Amplifier connection POWER FUNCTION Forcer phase U Forcer phase V Forcer phase W Earth (forcer body) SCREEN Connector type Amplifier connection F-FLYING LEADS Blue Red White Brown Yellow Green Pink Grey SCREEN Yellow White Brown Green SCREEN C-ACCELNET MICRO PANEL 8 1 9 2 4 11 7 6 14 Samtec IPD1-07-D J4 4 3 2 1 1 Molex 39-01-4051 J2

ENVIRONMENT

The STB is intended for use in an environment within the following conditions: Operating temperature Storage temperature Ingress protection Altitude (above mean sea level) Overvoltage category Pollution degree EMC

SPECIFICATION

VALUE 0 C to +40oC -25oC to +70oC IP67 1000m II 2 light industrial

o

In addition, the STB is available with two environmental coating options. Option S has the forcer body coated with a 25 micron layer of black anodise that is suitable for general use. Option H has the forcer body coated with a 90 micron layer of hard natural anodise that is suitable for harsher environments.

07/2011

DS01098/C

Dunkermotoren Linear Systems Limited Wollaston Way Basildon Essex SS13 1DJ UK www.dunkermotoren.com Phone +44 (0)1268 287070 Fax +44 (0)1268 928372

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MODELS STB1104-1116 SERVOTUBE COMPONENTS

ORDER CODES
Forcer

STB11
Forcer 04, 08, 12, 16 Environment S - Standard H - Harsh

Cable Termination C - Accelnet Micro Panel (ACJ-S) F - Flying leads Cable Length 03 - 3 metre 05 - 5 metre Cable Type S - Non-Robotic R - Robotic

Thrust rod

TRB11Length 144, 169, 195, 221, 246, 272, 298, 324, 349, 375, 401, 426, 452, 478, 503, 529 Length in mm

07/2011

DS01098/C

Dunkermotoren Linear Systems Limited Wollaston Way Basildon Essex SS13 1DJ UK www.dunkermotoren.com Phone +44 (0)1268 287070 Fax +44 (0)1268 928372

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