acs actuator control solutions - Tolomatic
ACS ACTUATOR CONTROL SOLUTIONS SERVO DRIVE AND MOTORS STEPPER DRIVE AND MOTORS
LINEAR LINEAR SOLUTIONS SOLUTIONS MADE MADE EASY EASY
ACS – Actuator Control Solutions WHAT IS THE ACS? The ACS is an extremely easy-to-use servo or stepper drive & controller developed specifically to be used with electric actuators. Simply select the configured Tolomatic actuator in the software to automatically set-up most of the necessary parameters to create motion in the desired linear units (mm or inch).
BASIC CAPABILITIES: • Operation Modes
» 4, 8, or 16 configurable move commands (absolute, incremental, jog, or home move types) with motion commanded via digital inputs. » Analog input positioning mode (0-10Vdc or 4-20mA) » Pneumatic mode replaces pneumatic valve operation for simple motion » Modbus RTU over RS485 provides infinite positioning
ETHERNET/IP OPTION
• Adjustable motion profile parameters. Position, velocity, accel, decel, force parameters are independently configurable for up to 16 moves. • Force limiting • Zone output based on position • Configurable digital I/O (24Vdc Opto-isolated, sourcing or sinking) • Ability to reduce holding current for energy savings [Stepper] • Compatible with most 24Vdc 2-phase stepper motors [Stepper] • Brake output
• Infinite positioning with EtherNet/IP CIP I/O commands • Dual port with internal switch for daisy chaining • Analog output echoing actuator position • ODVA Conformant
MODBUS TCP OPTION
• Infinite positioning with Modbus TCP commands • Dual port with internal switch for daisy chaining • Analog output echoing actuator position
Motors SERVO
• NEMA23 & NEMA34
STEPPER
• NEMA11, NEMA17, NEMA23 & NEMA34 acs _2 1-800-328-2174
www.tolomatic.com
ACS – Features ETHERNET (OPTION)
DUAL PURPOSE HEAT SINK
Protocols: • EtherNet/IP • Modbus TCP
• Removes heat from drive for optimal performance • Panel mounting
DIGITAL I/0
• 8 Digital Inputs • 4 Digital Outputs •24 VDC Opto-Isolated • Sourcing or Sinking • Configurable Inputs
ANALOG I/0 • 0-10 VDC or 4-20mA • 1 Analog Input • 1 Analog Output (optional)
&
FEEDBACK
•For Digital Encoder
MOTOR POWER Servo Drive
• 10-60VDC Servo Motors • 10 A Continuous / 20 A Peak
Stepper Drive
•10-52 VDC Stepper Motors
ACS POWER BRAKE OUTPUT
•10 - 52 VDC Keep-alive Power •24 VDC Brake Power
•Active high/low
LED COM PORT INDICATORS • USB Com Port •Motor Power & Fault indicators RS485 COM PORT
Servo Drive • 10-60VDC
Stepper Drive
•10-52 VDC
• Modbus RTU (Base Model)
EASY TO USE CONFIGURATION SOFTWARE
• Windows® compliant
1-800-328-2174
www.tolomatic.com
acs _3
ACS – Actuator Control Solutions
sizeit.tolomatic.com for fast, accurate actuator selection
SPECIFICATIONS
3D CAD available at www.tolomatic.com
Always use configurated CAD solid model to determine critical dimensions
ACTUATOR SIZING
ACS SERVO & STEPPER DRIVE/CONTROLLER DIMENSIONS
3.55 [90.2] (2)
0.80 [20.3] (2)
1.38 [34.9]
PART #: MODEL #:
www.tolomatic.com
5.80 [147.3]
RoHS
COMPLIANT
Made in U.S.A.
Ø.17 [4.3] TYP. 0.12 [2.9] TYP.
4.29 [109.0]
0.88 [22.2] (2)
ACS Specifications SERVO
STEPPER OPERATING CONDITIONS
DRIVE POWER Current - Continuous (Max) Current - Peak (Max) Voltage Nominal Over Voltage Under Voltage Absolute Maximum Voltage Logic Current Draw (24V)
10A 20A 10V - 60V 65V 9V 70V 200 mA
See ACS Hardware and Installation Guide (Servo #3604-4181) for more details.
acs _4 1-800-328-2174
Ambient Temperature Operating Temperature Storage Temperature Humidity Weight
77°F, 25°C Nominal 32 - 104°F, (0 - 40°C) 32-158°F, (0-70°C) 0 - 90% non-condensing 0.6 lb (0.27 kg)
DRIVE POWER Current - Max Voltage Nominal Over Voltage Under Voltage Absolute Maximum Voltage Logic Current Draw (24V)
10 Amps 10 - 52V 55V 9V 60V 200 mA
See ACS Hardware and Installation Guide (Stepper #3604-4183) for more details.
www.tolomatic.com
Servo Motors MOTOR SPECIFICATIONS Continuous Torque Peak Torque Resistance Inductance Torque Constant (Kt) Back EMF Constant (Ke) Max. Continuous Current Max. RPM Rotor Inertia Motor Weight Motor Poles Max Case Temp Encoder
Units in-lbs N-m in-lbs N-m Ohms mH in-lbs/A N-m/A V/kRPM Amps RPM 2 lb-in kg-mm2 lb kg
AMV2C1A1
NEMA 23 AMV2C2A1
2.613 0.30 5.225 0.59 0.23 0.244 0.3 0.034 3.570 10 6,000 0.024 7.02 1.38 0.63
4.43 0.50 8.86 1.00 0.205 0.305 0.511 0.058 6.06 10 6,000 0.048 14.05 2.05 0.93
AMV2C3A1
NEMA 34 AMV2D1A1 AMV2D2A1
7.156 0.81 5.988 0.68 15.3 1.73 12.0 1.36 0.616 0.25 0.915 0.325 0.886 0.100 0.692 0.078 10.5 8.190 9.32 10 6,000 5,000 0.048 14.05 0.241 70.53 2.05 0.93 3.10 1.41 8 185°F (85°C) Differential 500 lines/rev (2000 counts per rev)
9.875 1.12 19.75 2.23 0.208 0.399 1.14 0.129 13.5 10 5,000 0.507 148.37 4.60 2.09
PERFORMANCE DATA WITH ACS DRIVE/CONTROLLER SPEED vs TORQUE - NEMA23 MOTOR, AMV2C1A1 48V Peak
5
TORQUE (in-lb)
0.68
24V Peak
0.56
4 3
0.45
24V Continuous 48V C
2 1
0.34
E 24V Continuous
ontinu
0.23
ous
0.11
E 48V Continuou
s
0
0 1,000 2,000 E refers to E1 motor option (ERDSS2, enclosed motor) see ordering page ACS_13
3,000
4,000
5,000
TORQUE (N-m)
6
6,000
RPM
SPEED vs TORQUE - NEMA23 MOTOR, AMV2C2A1 8
1.13
48V Peak
24V Peak
0.90
6
0.78
4
24V Continuous
48V Co
2
E 24V Continuous
E 48V Co
0
0 1,000 2,000 E refers to E1 motor option (ERDSS2, enclosed motor) see ordering page ACS_13
1-800-328-2174
0.45
ntinuou
s
0.23
ntinuous
3,000
RPM
4,000
5,000
6,000
TORQUE (N-m)
TORQUE (in-lb)
10
0
www.tolomatic.com
acs _5
Servo Motors
sizeit.tolomatic.com for fast, accurate actuator selection
ACTUATOR SIZING
PERFORMANCE DATA WITH ACS DRIVE/CONTROLLER SPEED vs TORQUE - NEMA23 MOTOR, AMV2C3A1 14
1.58
24V Peak
1.36
10
48V
8 6 4 2
TORQUE (N-m)
TORQUE (in-lb)
12
1.12
Pea k
0.90 0.68
24V Continuous
48V Continuous
E 24V Continuous
E 48V Continuous
0
0 1,000 E refers to E1 motor option (ERDSS2, enclosed motor) see ordering page ACS_13
2,000
0.45 0.23 3,000
4,000
RPM
SPEED vs TORQUE - NEMA34 MOTOR, AMV2D1A1 14
1.58 1.36
24V Peak
10
48V Peak
1.12
8
0.90
6
0.68
24V Continuous
4
48V Continuous
0.45
2 0
TORQUE (N-m)
TORQUE (in-lb)
12
0.23 0
1,000
2,000
3,000
4,000
5,000
RPM
SPEED vs TORQUE - NEMA34 MOTOR, AMV2D2A1 25
2.82
TORQUE (in-lb)
20
2.26
48V Peak
15
1.69
10
24V Continuous
1.13
48V Continuous
5 0
0.56
0
acs _6 1-800-328-2174
500
1,000
1,500
RPM
2,000
2,500
TORQUE (N-m)
24V Peak
3,000
www.tolomatic.com
Servo Motors 3D CAD available at www.tolomatic.com
Always use configurated CAD solid model to determine critical dimensions
DIMENSIONS
NEMA23 DIMENSIONS Ø1.500 ±.002 [38.10 ±.05]
.900 ±.030 [22.86 ±.76] .075 ±.004 [1.91 ±.10]
45°
A
2.337 ±.030 [59.36 ±.76]
[
6.358 Ø.2503 .2497 6.342
Ø2.625 B.C. [66.68]
Ø.205 [5.21] THRU (4)
]
.190 [4.82]
A 2.790" [70.87mm] ± 0.100" [2.54mm] – AMV2C1A1 3.540" [89.92mm] ± 0.100" [2.54mm] – AMV2C2A1 3.540" [89.92mm] ± 0.100" [2.54mm] – AMV2C3A1
NEMA34 DIMENSIONS 1.250 [31.75]
45°
.197 [5.00]
Ø2.875 ±.004 [73.03 ±.10]
B .080 [2.03]
A
A
.118 [3.00] 3.420 ±.030 [86.87 ±.76]
[
Ø.500 12.70 .499 12.67
Ø3.875 B.C. [98.43]
Ø.220 [5.59] THRU (4)
]
.250 [6.35]
.197 [5.00]
.787 [20.00] SECTION A-A
B 2.770" [70.36mm] ± 0.100" [2.54mm] – AMV2D1A1 3.510" [89.15mm] ± 0.100" [2.54mm] – AMV2D2A1
1-800-328-2174
www.tolomatic.com
acs _7
Stepper Motors
sizeit.tolomatic.com for fast, accurate actuator selection
ACTUATOR SIZING
MOTOR SPECIFICATIONS Specifications Resistance Inductance Rated Current Max. Torque
Rotor Inertia Motor Weight
Units Ohms mH
NEMA 11 NEMA 17 3.5 2.4 2.3 4.5 Amps-Peak/Phase 1 1.5 in-lbs N-m 1.85 0.21 5.26 0.59 Maximum RPM 1800 2000 Degree per Step 1.8° 1.8° 2 2 lb-in kg-mm 0.006 1.76 0.028 8.19 lb kg 0.44 0.20 0.79 0.36
NEMA 23 1STK NEMA 23 2STK NEMA 34 1STK NEMA 34 2STK 1.5 0.39 0.138 0.188 3.7 1.53 1.13 2 2 5 10 10 7.53 0.85 13.4 1.51 24.3 2.75 53.0 6.0 1200 2000 2000 1850 1.8° 1.8° 1.8° 1.8° 0.075 21.95 0.133 38.92 0.324 94.82 0.546 159.78 1.21 0.55 2.20 1.00 3.53 1.60 5.95 2.70 Bipolar Stepper, 1.8° per Step Differential; 500 line/rev (2000 count post quad)/rev
Motor Type Encoder
PERFORMANCE DATA WITH ACS DRIVE/CONTROLLER SPEED vs TORQUE - NEMA11 MOTOR - AMS1A1C1 0.23
1.6
0.18
24V
1.2
0.14
48V
0.8
0.09
0.4 0
0.05 0
200
400
600
800
1000
1200
1400
1600
TORQUE (N-m)
TORQUE (in-lb)
2.0
1800
RPM 6.0
0.68
4.0
0.45
48V
2.0
0
0.23
TORQUE (N-m)
TORQUE (in-lb)
SPEED vs TORQUE - NEMA17 MOTOR - AMS1BIC1
24V 0
400
800
1200
1600
2000
2400
RPM
SPEED vs TORQUE - NEMA23 1 STACK MOTOR - AMS1C1C1 0.90
6.0
0.68
48V 4.0
0.45
24V
2.0 0
0
200
400
0.23 600
800
1000
1200
TORQUE (N-m)
TORQUE (in-lb)
8.0
NOTE: E1 & G1 Motor Options (SS2) are limited to 24V operation.
RPM acs _8 1-800-328-2174
www.tolomatic.com
Stepper Motors
sizeit.tolomatic.com for fast, accurate actuator selection
ACTUATOR SIZING
PERFORMANCE DATA WITH ACS DRIVE/CONTROLLER SPEED vs TORQUE - NEMA23 2 STACK MOTOR - AMS1C2C1
TORQUE (in-lb)
8.0 4.0 0
0.90
48V
0.45
24V 0
300
600
900
1200
1500
1800
2100
2400
TORQUE (N-m)
1.36
12.0
NOTE: E1 & G1 Motor Options (SS2) are limited to 24V operation.
2700
RPM
25
2.8
20
2.3
48V
15 10
1.7 1.1
24V
5
0.6
0
TORQUE (N-m)
TORQUE (in-lb)
SPEED vs TORQUE - NEMA34 1 STACK MOTOR - AMS1D1C1
0 0
400
800
1200
1600
2000
RPM
60
6.8
50
5.6
40
4.5
30
3.4
48V
20 10
2.3 1.1
24V
0 0
400
800
1200
1600
TORQUE (N-m)
TORQUE (in-lb)
SPEED vs TORQUE - NEMA34 2 STACK MOTOR - AMS1D2C1
0 2000
RPM
1-800-328-2174
www.tolomatic.com
acs _9
Stepper Motors DIMENSIONS
3D CAD available at www.tolomatic.com
Always use configurated CAD solid model to determine critical dimensions
NEMA11 DIMENSIONS 1.11 [28.3] 0.906 ±0.004 [23.01 ±0.10] 0.557 [14.15] 0.453 [11.51]
0.94 [24.0]
0.079 ±0.008 [2.00 ±0.20]
M2.5 x 0.45-6H 0.10 [2.5] (4)
+0.000
0.906 ±0.004 Ø.8661 -0.020 [23.01 ±0.10] +0.000 21.999 -0.052
1.11 [28.3]
+0.0000 -0.0005 +0.000 5.000 -0.012
Ø.1969
0.453 [11.51]
OPTIONAL ENCODER
0.557 [14.15]
0.452 [11.48]
2.01 [51.0]
Ø1.281 [32.54]
0.197 [5.00] 0.65 [16.5]
HOUSING: MOLEX 51065-0600 TERMINAL: MOLEX 50212-8000 AWG24 UL3266
HOUSING: AMP 794954-6 TERMINAL: AMP 794958-1
Code AMS1A1A1
Description Motor, 1 Stack, Encoder
AMS1A1C1
Motor, 1 Stack, No Encoder
0.37 [9.5]
5.91 [150.0]
NEMA17 DIMENSIONS 1.67 [42.3] 1.220 [31.00] 0.833 [21.15]
0.833 [21.15]
0.94 [24.0] Ø1.726 [43.84] 0.610 [15.50]
1.67 [42.3]
1.220 [31.00]
Ø.079 ±0.008 [2.00 ±0.20]
1.90 [48.3]
+0.000 -0.052 +0.000 22.000 -0.020
Ø.8661
+0.0000 -0.0005 +0.000 5.000 -0.012
MC2 CABLE OPTION
Ø.1969 M3 x 0.5-6H 0.177 [4.50] (4)
0.28 [7.0]
0.80 [20.3]
0.452 [11.48]
OPTIONAL ENCODER
0.610 [15.50]
0.43 [11.0] HOUSING: JST PHR-6 TERMINAL: JST SPH-002T-PO.55 AWG24 UL3266 HOUSING: AMP 794954-6 TERMINAL: AMP 794958-1
5.91 [150.0]
CORD GRIP 2 CORD GRIP 1
1.46 [37.2]
2.41 [61.2]
Supplied cables for MC option are 16' (5m) length
Code AMS1B1A1 AMS1B1E1 AMS1B1C1 AMS1B1G1
Description Motor, 1 Stack, Encoder Motor, 1 Stack, No Encoder
acs _10 1-800-328-2174
www.tolomatic.com
Stepper Motors DIMENSIONS
3D CAD available at www.tolomatic.com
Always use configurated CAD solid model to determine critical dimensions
NEMA23 DIMENSIONS 2.30 [58.4] 1.856 ±0.008 [47.15 ±0.08] 1.150 0.928 [29.20] [23.57]
Ø2.625 [66.68] 0.928 [23.57]
2.30 [58.4]
1.856 ±0.008 [47.15 ±0.08]
JST S68-XH-A-1(LF)(SN)
A
0.452 0.374 (4) [11.48] [9.50]
Ø1.500 ±0.002 [38.10 ±0.05]
+0.008 Ø.201 -0.000 THRU (4) +0.20 5.10 -0.00
0.20 [5.0]
0.063 ±0.008 [1.60 ±0.20]
A + 0.80 [20.3]
OPTIONAL ENCODER
1.150 [29.20]
0.811 [20.60]
MC2 CABLE OPTION
2.90 [73.7]
Ø.2500 +0.0000 -0.0005 6.350
0.24 [6.2]
+0.000 -0.012
0.177 [4.5] HOUSING: JST XHR-6 TERMINAL: JST SXH-001T-PO.6
[M5 x 0.8 (4)]
5.91 [150.0]
3.71 [94.3]
AWG24 UL3266
Code AMS1C1A1 AMS1C1E1
Description
A
Motor, 1 Stack, Encoder
AMS1C1C1 AMS1C1G1
Motor, 1 Stack, No Encoder
AMS1C2A1 AMS1C2E1
Motor, 2 Stack, Encoder
AMS1C2C1 AMS1C2G1
Motor, 2 Stack, No Encoder
Supplied cables for MC option are 16' (5m) length
HOUSING: AMP 794954-6 TERMINAL: AMP 794958-1
1.97 [50.0]
3.03 [77.0]
NEMA34 DIMENSIONS Ø.26 ±0.004 [6.5 ±0.1] (4)
+0.000 0.125 -0.002 +0.000 3.175 -0.051
+0.000 -0.017 +0.000 14.097 -0.432
0.555
B
1.25 ±0.02 [31.75 ±0.5] +0.0000 -0.0005 +0.000 12.70 -0.012
0.452 [11.48]
Ø.500 Ø2.875 ±0.001 [73.02 ±0.025]
OPTIONAL ENCODER
3.39 [86.0] 2.74 [69.6]
0.867 ±0.01 [22.0 ±0.25]
12 ±0.4 [300 ±10]
1-800-328-2174
Code AMS1D1A1
Description Motor, 1 Stack, Encoder
AMS1D1C1
Motor, 1 Stack, No Encoder
AMS1D2A1
Motor, 2 Stack, Encoder
AMS1D2C1
Motor, 2 Stack, No Encoder
B 3.82 [97.0] 4.96 [126.0]
www.tolomatic.com
acs _11
Electronic Motor Brake
sizeit.tolomatic.com for fast, accurate actuator selection
SPECIFICATIONS
ACTUATOR SIZING
The electronic motor brake is available in NEMA 23 & 34 frame sizes. It fits on 23 & 34 frame stepper and servo motors see dimensional drawings to confirm shaft size and other dimensions. The brake is recommended for vertical or inclined applications where there can be no backdrive during power off. When 24 VDC is connected, the brake will be deactivated and the motor can turn freely. It is recommended to use the brake only as a holding brake and not as an emergency brake. The Electronic Motor Brake comes with a 5m cable with M8 connector.
NEMA FRAME SIZE 23 34
HOLDING TORQUE
INPUT SHAFT DIA.
OUTPUT SHAFT DIA.
in-lbs [Nm] 13.28 [1.5] 15.05 [1.7]
inch [mm] 0.250 [6.35] 0.500 [12.7]
inch [mm] 0.250 [6.35] 0.500 [12.7]
CONNECTION
CURRENT @24VDC Amp
M8
0.45 Amp
M8
0.23 Amp
WEIGHT (W/0 CABLE) lb [kg] 0.99 [0.45] 3.13 [1.42]
IP RATING
IP55 IP55
Recommended torque clamping Screw 2.5 ft-lbs [3.4 Nm]
Electronic Motor Brakes are primarily sold as part of a complete assembly including actuator and motor. Tolomatic will install and test the completed actuator, Electronic Motor Brake, and motor assembly before shipping. Call Tolomatic if you wish to install an Electronic Motor Brake on an existing actuator. Contact Tolomatic for other motor mounting options.
( Tolomatic assumes no responsibility that an electronic motor brake will fit or perform with your motor or actuator if sold separately.)
acs _12 1-800-328-2174
www.tolomatic.com
Electronic Motor Brake SIZE:
DIMENSIONS
3D CAD available at www.tolomatic.com
ALL
Always use configurated CAD solid model to determine critical dimensions
NEMA23 DIMENSIONS 2.067 [52.51]
0.630 [16.00]
0.276 [7.00]
3(NC)
4(NC)
DETAIL C
SCALE 4 : 1 M8 SOCKET 1(ØV) FRONT VIEW 2(+24V)
C
+ .250 - .000 .015
COLLAR CLAMP ACCESS
2.625 [66.68] B.C. M5 x .8 EQUALLY SPACED ON B.C. SHOWN (4)
A
+.015 1.500 .000 0.102 + 0.38 [2.60] 38.10 0.00
0.00 6.35 + - 0.38
1.162 [29.51]
0.980 [24.89]
+ 1.500 - .000 .015 38.10- 0.00 0.38
0.783±.039 [19.90±0.99] 0.083 [2.10]
2.625 [66.68] B.C.
0.58 [14.8]
2.232 [56.70]
0.224 [5.70] +.015 .250 .000 + 0.38 6.35 0.00
A
.217 [5.50] EQUALLY SPACED ON B.C. SHOWN (4)
SECTION A-A
NEMA34 DIMENSIONS 3.20 [81.4] 1.35 [34.4]
1.20 [30.6]
B 1.205 [30.60]
3.874±.008 [98.40±0.20]
COLLAR CLAMP ACCESS .28 [7.0]
A
M5X.8 .35[9.0] EQUALLY SPACED ON B.C. SHOWN(4)
1.110 [28.20]
1.457 [37.00]
1.433 [36.40]
.500 [12.70]
1 (ØV)
0.394 [10.00] 0.10 [2.5]
.000 .500 + - .001 0.00 12.70 - 0.03
2(+24)
3 (NC)
4 (NC)
DETAIL B
SCALE 6 : 1 M8 SOCKET FRONT VIEW
1.244±.039 [31.60±0.99]
.000 2.874 +- .030 0.00 73.00 - 0.76
3.874±.008 [98.40±0.20] B.C.
.001 2.874 + - .000 + 0.03 73.00 0.00
SECTION A-A
A
.220 [5.60] EQUALLY SPACED ON B.C. SHOWN (4)
3.252 [82.60]
1-800-328-2174
www.tolomatic.com
acs _13
ACS – Service Parts Ordering ACS DRIVE/CONTROLLER, CABLES & MOTOR REPLACEMENT PARTS STEPPER MOTORS Frame Code Part No. Size Description AMS1A1A1 3604-1780 Nema 11 Motor, 1 Stack, Encoder
AMV2C2A1 3604-1847 Nema 23
Motor, 2 Stack, Encoder, Winding B
AMS1A1C1 3604-1779 Nema 11
Motor, 1 Stack, No Encoder
AMV2C3A1 3604-1846 Nema 23
Motor, 2 Stack, Encoder, Winding A
AMV2D1A1 3604-1849 Nema 34
Motor, 1 Stack, Encoder, Winding B
AMS1B1A1 3604-1776 Nema 17 AMS1B1E1
Motor, 1 Stack, Encoder
AMV2D2A1 3604-1851 Nema 34
Motor, 2 Stack, Encoder, Winding B
AMS1B1C1 3604-1775 Nema 17 AMS1B1G1
Motor, 1 Stack, No Encoder
AMS1C1A1 3604-1778 Nema 23 AMS1C1E1
Motor, 1 Stack, Encoder
AMS1C1C1 3604-1777 Nema 23 AMS1C1G1
Motor, 1 Stack, No Encoder
AMS1C2A1 3604-1955 Nema 23 AMS1C2E1
Motor, 2 Stack, Encoder
AMS1C2C1 3604-1954 Nema 23 AMS1C2G1
Motor, 2 Stack, No Encoder
Stepper
Servo
SERVO MOTORS Frame Code Part No. Size Description AMV2C1A1 3604-1845 Nema 23 Motor, 1 Stack, Encoder, Winding B
1.
1.
2. 2. 2.
Servo-NOTE: Items 1,2,4,5 & 6 from table below are recommended for complete ACS system. Order items 1,2,4,5 & 6 by part numbers
Part No. Description 2190-1304 Input Power Connector
Stepper-NOTE: All 6 items from table below are recommended for complete ACS system. Order items 1-6 by part numbers
ACCESSORIES Part No. Description 3604-9661 ACS Servo Drive/Controller (basic) ACS Servo Drive/Controller, EtherNet/IP (Analog 3604-9662 Output) ACS Servo Drive/Controller, Modbus TCP (Analog 3604-9663 Output) 3604-9665 ACS Stepper Drive/Controller ACS Stepper Drive/Controller, EtherNet/IP (Analog 3604-9666 Output) ACS Stepper Drive/Controller, Modbus TCP (Analog 3604-9667 Output) 3604-1842 Servo - Motor Power / Encoder Cable (3 m) 3604-1843 Servo - Motor Power / Encoder Cable (5 m) 3604-1943 Servo - Motor Power / Encoder Cable (10 m) 3604-1708 Stepper - Motor Power Cable (3 m) 3604-1709 Stepper - Motor Power Cable (5 m) 3604-1710 Stepper - Motor Power Cable (10 m) 3604-2228 34 Stepper - Motor Power Cable (3 m) 3604-2229 34 Stepper - Motor Power Cable (5 m) 3604-2230 34 Stepper - Motor Power Cable (10 m)
acs _14 1-800-328-2174
AMS1D1A1 3604-1957 Nema 34, Motor, 1 Stack, Encoder AMS1D1C1 3604-1956 Nema 34, Motor, 1 Stack, No Encoder AMS1D2A1 3604-1962 Nema 34
Motor, 2 Stack, Encoder
AMS1D2C1 3604-1961 Nema 34
Motor, 2 Stack, No Encoder
Part No. 3604-1768 3604-1769 3604-1969 3. 3604-1971 3604-1972 3604-1973 3604-1770 3604-1771 4. 3604-1965 3604-1949 3604-1966 3604-9526 5. 3604-1852
ACCESSORIES Description 11,17,23 Stepper - Encoder Cable (3 meter length) 11,17,23 Stepper - Encoder Cable (5 meter length) 11,17,23 Stepper - Encoder Cable (10 meter length) 34 Stepper - Encoder Cable (3 meter length) 34 Stepper - Encoder Cable (5 meter length) 34 Stepper - Encoder Cable (10 meter length) I/O Cable (3 meter length) I/O Cable (5 meter length) Replacement Brake Cable (3 meter length) Replacement Brake Cable (5 meter length) Replacement Brake Cable (10 meter length) Tolomatic Motion Interface CD Servo - USB Type B Cable
6. 2180-1163 Shunt Regulator 50W, 24-80 VDC
www.tolomatic.com
Servo Ordering
sizeit.tolomatic.com for fast, accurate actuator selection
ACTUATOR SIZING
DRIVE ACSV 20 48 UD CR53 SERVO ORDER CODE
DRIVE ORDER CODE
CURRENT VOLTAGE
CR3[ _ ] CR5[ _ ] CR10[ _ ] [ 2 ] [ 3 ] [ 5 ]
48 48 / 24 Volts
Cable(s) of 3m Length Cable(s) of 5m Length Cable(s) of 10m Length Motor and Encoder Cables Motor, Encoder and I/O Cables* I/O Cables*
*I/O Cables are 3 meter length - for 5 meter I/O cable order via part number (3604-1771)
MOTOR AM V2 C1 A1
Code
Encoder
Gearhead
Brake
SS2
MOTOR OPTIONS SS2
MOTOR TYPE
V2 Servo Motor
FRAME SIZE 23 Frame Motor, 1 stack 23 Frame Motor, 2 stack 23 Frame Motor, 2 stack 34 Frame Motor, 1 stack 34 Frame Motor, 2 stack
Brake
C1 C2 C3 D1 D2
Code
MOTOR ORDER CODE
AM Tolomatic Motor
Gearhead
20 20 Amp
CABLE(S) ORDER CODE
UD Standard/Basic Drive with ModBus RTU over RS485 ED Standard/Basic Drive with EtherNet /IP MD Standard/Basic Drive with Modbus TCP
Tolomatic ACS Servo Drive
Encoder
SV
– – –
B1 B2 B3 E1
Yes Yes Yes Yes
– 5:1 10:1 –
Yes Yes Yes –
Yes Yes Yes Yes
A1 Yes – – A2 Yes 5:1 – A3 Yes 10:1 –
Stepper Ordering DRIVE ACST 10 48 UD CR53 STEPPER ORDER CODE
DRIVE ORDER CODE
ST Tolomatic ACS Stepper Drive 10 Current 48 Voltage
CABLE(S) ORDER CODE
UD Standard/Basic Drive with ModBus RTU over RS485 ED Standard/Basic Drive with EtherNet /IP MD Standard/Basic Drive with Modbus TCP
CURRENT VOLTAGE
1-800-328-2174
SS2
Code
Encoder
Gearhead
Brake
SS2
available for 17 & 23 frame 1 stack motors ONLY
Brake
†NOTE: MC Cable Option
Gearhead
S1 Stepper Motor
FRAME SIZE 11 Frame Motor 17 Frame Motor 23 Frame 1 Stack Motor 23 Frame 2 Stack Motor 34 Frame 1 Stack Motor 34 Frame 2 Stack Motor
MOTOR COVER ENCODER PROTECTION OPT.
Encoder
MOTOR TYPE
A1 B1† C1† C2 D1 D2
MOTOR OPTIONS Code
MOTOR ORDER CODE
Cable(s) of 3m Length Cable(s) of 5m Length Cable(s) of 10m Length Motor Cable Motor and Encoder Cables Motor, Encoder and I/O Cables* Motor and I/O Cables* I/O Cables*
*I/O Cables are 3 meter length - for 5 meter I/O cable order via part number (3604-1771)
MOTOR AM S1 C1 E1 MC2 AM Tolomatic Motor
CR3[ _ ] CR5[ _ ] CR10[ _ ] [ 1 ] [ 2 ] [ 3 ] [ 4 ] [ 5 ]
A1 A2 A3 B1 B2 B3 C1
Yes Yes Yes Yes Yes Yes –
– 5:1 10:1 – 5:1 10:1 –
– – – Yes Yes Yes –
– – – – – – –
C2 C3 D1 D2 D3 E1 G1
– – – – – Yes –
5:1 10:1 – 5:1 10:1 – –
– – Yes Yes Yes – –
– – – – – Yes Yes
†MC_
Cord/Cable Grips 0 0 No Cord Grips 1 1 Cord Grips 2 2 Cord Grips
Supplied cables for MC option are 16' (5m) length NOTE: Gearhead and Brake available for 23 & 34 frame motors ONLY
www.tolomatic.com
acs _15
The Tolomatic Difference Expect More From the Industry Leader: INNOVATIVE PRODUCTS
FAST DELIVERY
ACTUATOR SIZING
YOUR MOTOR HERE
LIBRARY
SUPERIOR SERVICE
Tolomatic designs and builds the best standard products, modified products & unique custom products for your challenging applications.
The fastest delivery of catalog products... Electric products are built-to-order in 15 or 20 days; Pneumatic & Power Transmission products in 5 days.
Online sizing that is easy to use, accurate and always up-to-date. Find a Tolomatic electric actuator to meet your requirements.
Match your motor with compatible mounting plates that ship with any Tolomatic electric actuator.
Easy to access CAD files available in the most popular formats to place directly into your assembly.
Our people make the difference! Expect prompt, courteous replies to all of your application and product questions.
Also Consider These Other Tolomatic Products: Electric Products Rod & Guided Rod Style Actuators, High Thrust Actuators, Screw & Belt Drive Rodless Actuators, Motors, Drives and Controllers “Foldout” Brochure #9900-9074
Pneumatic Products Rodless Cylinders: Band Cylinders, Cable Cylinders, Magnetically Coupled Cylinders/Slides; Guided Rod Cylinder Slides “Foldout” Brochure #9900-9075
3800 County Road 116 • Hamel, MN 55340, USA Phone: (763) 478-8000 • Fax: (763) 478-8080 Toll-Free: 1-800-328-2174 [email protected] • www.tolomatic.com
EUROPEAN OFFICE Tolomatic Europe GmbH Herriotstraße 1 D-60528 Frankfurt am Main Germany Phone: +49 69-2045-7837 [email protected]
8
All brand and product names are trademarks or registered trademarks of their respective owners. Information in this document is believed accurate at time of printing. However, Tolomatic assumes no responsibility for its use or for any errors that may appear in
Power Transmission Products Gearboxes: Float-A-Shaft®, Slide-Rite®; Disc Cone Clutch; Caliper Disc Brakes “Foldout” Brochure #9900-9076
CHINA FACILITY Tolomatic Automation Products (Suzhou) Co. Ltd. (ServoWeld® inquiries only) No. 60 Chuangye Street, Building 2 Huqiu District, SND Suzhou Jiangsu 215011 - P.R. China Phone: +86 (512) 6750-8506 Fax: +86 (512) 6750-8507 [email protected]
this document. Tolomatic 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.
Visit www.tolomatic.com for the most up-to-date technical information © 2016 TOLOMATIC
201612071143
LITERATURE NUMBER:
3600-4185_04.02
LINEAR LINEAR SOLUTIONS SOLUTIONS MADE MADE EASY EASY
ACS – Actuator Control Solutions WHAT IS THE ACS? The ACS is an extremely easy-to-use servo or stepper drive & controller developed specifically to be used with electric actuators. Simply select the configured Tolomatic actuator in the software to automatically set-up most of the necessary parameters to create motion in the desired linear units (mm or inch).
BASIC CAPABILITIES: • Operation Modes
» 4, 8, or 16 configurable move commands (absolute, incremental, jog, or home move types) with motion commanded via digital inputs. » Analog input positioning mode (0-10Vdc or 4-20mA) » Pneumatic mode replaces pneumatic valve operation for simple motion » Modbus RTU over RS485 provides infinite positioning
ETHERNET/IP OPTION
• Adjustable motion profile parameters. Position, velocity, accel, decel, force parameters are independently configurable for up to 16 moves. • Force limiting • Zone output based on position • Configurable digital I/O (24Vdc Opto-isolated, sourcing or sinking) • Ability to reduce holding current for energy savings [Stepper] • Compatible with most 24Vdc 2-phase stepper motors [Stepper] • Brake output
• Infinite positioning with EtherNet/IP CIP I/O commands • Dual port with internal switch for daisy chaining • Analog output echoing actuator position • ODVA Conformant
MODBUS TCP OPTION
• Infinite positioning with Modbus TCP commands • Dual port with internal switch for daisy chaining • Analog output echoing actuator position
Motors SERVO
• NEMA23 & NEMA34
STEPPER
• NEMA11, NEMA17, NEMA23 & NEMA34 acs _2 1-800-328-2174
www.tolomatic.com
ACS – Features ETHERNET (OPTION)
DUAL PURPOSE HEAT SINK
Protocols: • EtherNet/IP • Modbus TCP
• Removes heat from drive for optimal performance • Panel mounting
DIGITAL I/0
• 8 Digital Inputs • 4 Digital Outputs •24 VDC Opto-Isolated • Sourcing or Sinking • Configurable Inputs
ANALOG I/0 • 0-10 VDC or 4-20mA • 1 Analog Input • 1 Analog Output (optional)
&
FEEDBACK
•For Digital Encoder
MOTOR POWER Servo Drive
• 10-60VDC Servo Motors • 10 A Continuous / 20 A Peak
Stepper Drive
•10-52 VDC Stepper Motors
ACS POWER BRAKE OUTPUT
•10 - 52 VDC Keep-alive Power •24 VDC Brake Power
•Active high/low
LED COM PORT INDICATORS • USB Com Port •Motor Power & Fault indicators RS485 COM PORT
Servo Drive • 10-60VDC
Stepper Drive
•10-52 VDC
• Modbus RTU (Base Model)
EASY TO USE CONFIGURATION SOFTWARE
• Windows® compliant
1-800-328-2174
www.tolomatic.com
acs _3
ACS – Actuator Control Solutions
sizeit.tolomatic.com for fast, accurate actuator selection
SPECIFICATIONS
3D CAD available at www.tolomatic.com
Always use configurated CAD solid model to determine critical dimensions
ACTUATOR SIZING
ACS SERVO & STEPPER DRIVE/CONTROLLER DIMENSIONS
3.55 [90.2] (2)
0.80 [20.3] (2)
1.38 [34.9]
PART #: MODEL #:
www.tolomatic.com
5.80 [147.3]
RoHS
COMPLIANT
Made in U.S.A.
Ø.17 [4.3] TYP. 0.12 [2.9] TYP.
4.29 [109.0]
0.88 [22.2] (2)
ACS Specifications SERVO
STEPPER OPERATING CONDITIONS
DRIVE POWER Current - Continuous (Max) Current - Peak (Max) Voltage Nominal Over Voltage Under Voltage Absolute Maximum Voltage Logic Current Draw (24V)
10A 20A 10V - 60V 65V 9V 70V 200 mA
See ACS Hardware and Installation Guide (Servo #3604-4181) for more details.
acs _4 1-800-328-2174
Ambient Temperature Operating Temperature Storage Temperature Humidity Weight
77°F, 25°C Nominal 32 - 104°F, (0 - 40°C) 32-158°F, (0-70°C) 0 - 90% non-condensing 0.6 lb (0.27 kg)
DRIVE POWER Current - Max Voltage Nominal Over Voltage Under Voltage Absolute Maximum Voltage Logic Current Draw (24V)
10 Amps 10 - 52V 55V 9V 60V 200 mA
See ACS Hardware and Installation Guide (Stepper #3604-4183) for more details.
www.tolomatic.com
Servo Motors MOTOR SPECIFICATIONS Continuous Torque Peak Torque Resistance Inductance Torque Constant (Kt) Back EMF Constant (Ke) Max. Continuous Current Max. RPM Rotor Inertia Motor Weight Motor Poles Max Case Temp Encoder
Units in-lbs N-m in-lbs N-m Ohms mH in-lbs/A N-m/A V/kRPM Amps RPM 2 lb-in kg-mm2 lb kg
AMV2C1A1
NEMA 23 AMV2C2A1
2.613 0.30 5.225 0.59 0.23 0.244 0.3 0.034 3.570 10 6,000 0.024 7.02 1.38 0.63
4.43 0.50 8.86 1.00 0.205 0.305 0.511 0.058 6.06 10 6,000 0.048 14.05 2.05 0.93
AMV2C3A1
NEMA 34 AMV2D1A1 AMV2D2A1
7.156 0.81 5.988 0.68 15.3 1.73 12.0 1.36 0.616 0.25 0.915 0.325 0.886 0.100 0.692 0.078 10.5 8.190 9.32 10 6,000 5,000 0.048 14.05 0.241 70.53 2.05 0.93 3.10 1.41 8 185°F (85°C) Differential 500 lines/rev (2000 counts per rev)
9.875 1.12 19.75 2.23 0.208 0.399 1.14 0.129 13.5 10 5,000 0.507 148.37 4.60 2.09
PERFORMANCE DATA WITH ACS DRIVE/CONTROLLER SPEED vs TORQUE - NEMA23 MOTOR, AMV2C1A1 48V Peak
5
TORQUE (in-lb)
0.68
24V Peak
0.56
4 3
0.45
24V Continuous 48V C
2 1
0.34
E 24V Continuous
ontinu
0.23
ous
0.11
E 48V Continuou
s
0
0 1,000 2,000 E refers to E1 motor option (ERDSS2, enclosed motor) see ordering page ACS_13
3,000
4,000
5,000
TORQUE (N-m)
6
6,000
RPM
SPEED vs TORQUE - NEMA23 MOTOR, AMV2C2A1 8
1.13
48V Peak
24V Peak
0.90
6
0.78
4
24V Continuous
48V Co
2
E 24V Continuous
E 48V Co
0
0 1,000 2,000 E refers to E1 motor option (ERDSS2, enclosed motor) see ordering page ACS_13
1-800-328-2174
0.45
ntinuou
s
0.23
ntinuous
3,000
RPM
4,000
5,000
6,000
TORQUE (N-m)
TORQUE (in-lb)
10
0
www.tolomatic.com
acs _5
Servo Motors
sizeit.tolomatic.com for fast, accurate actuator selection
ACTUATOR SIZING
PERFORMANCE DATA WITH ACS DRIVE/CONTROLLER SPEED vs TORQUE - NEMA23 MOTOR, AMV2C3A1 14
1.58
24V Peak
1.36
10
48V
8 6 4 2
TORQUE (N-m)
TORQUE (in-lb)
12
1.12
Pea k
0.90 0.68
24V Continuous
48V Continuous
E 24V Continuous
E 48V Continuous
0
0 1,000 E refers to E1 motor option (ERDSS2, enclosed motor) see ordering page ACS_13
2,000
0.45 0.23 3,000
4,000
RPM
SPEED vs TORQUE - NEMA34 MOTOR, AMV2D1A1 14
1.58 1.36
24V Peak
10
48V Peak
1.12
8
0.90
6
0.68
24V Continuous
4
48V Continuous
0.45
2 0
TORQUE (N-m)
TORQUE (in-lb)
12
0.23 0
1,000
2,000
3,000
4,000
5,000
RPM
SPEED vs TORQUE - NEMA34 MOTOR, AMV2D2A1 25
2.82
TORQUE (in-lb)
20
2.26
48V Peak
15
1.69
10
24V Continuous
1.13
48V Continuous
5 0
0.56
0
acs _6 1-800-328-2174
500
1,000
1,500
RPM
2,000
2,500
TORQUE (N-m)
24V Peak
3,000
www.tolomatic.com
Servo Motors 3D CAD available at www.tolomatic.com
Always use configurated CAD solid model to determine critical dimensions
DIMENSIONS
NEMA23 DIMENSIONS Ø1.500 ±.002 [38.10 ±.05]
.900 ±.030 [22.86 ±.76] .075 ±.004 [1.91 ±.10]
45°
A
2.337 ±.030 [59.36 ±.76]
[
6.358 Ø.2503 .2497 6.342
Ø2.625 B.C. [66.68]
Ø.205 [5.21] THRU (4)
]
.190 [4.82]
A 2.790" [70.87mm] ± 0.100" [2.54mm] – AMV2C1A1 3.540" [89.92mm] ± 0.100" [2.54mm] – AMV2C2A1 3.540" [89.92mm] ± 0.100" [2.54mm] – AMV2C3A1
NEMA34 DIMENSIONS 1.250 [31.75]
45°
.197 [5.00]
Ø2.875 ±.004 [73.03 ±.10]
B .080 [2.03]
A
A
.118 [3.00] 3.420 ±.030 [86.87 ±.76]
[
Ø.500 12.70 .499 12.67
Ø3.875 B.C. [98.43]
Ø.220 [5.59] THRU (4)
]
.250 [6.35]
.197 [5.00]
.787 [20.00] SECTION A-A
B 2.770" [70.36mm] ± 0.100" [2.54mm] – AMV2D1A1 3.510" [89.15mm] ± 0.100" [2.54mm] – AMV2D2A1
1-800-328-2174
www.tolomatic.com
acs _7
Stepper Motors
sizeit.tolomatic.com for fast, accurate actuator selection
ACTUATOR SIZING
MOTOR SPECIFICATIONS Specifications Resistance Inductance Rated Current Max. Torque
Rotor Inertia Motor Weight
Units Ohms mH
NEMA 11 NEMA 17 3.5 2.4 2.3 4.5 Amps-Peak/Phase 1 1.5 in-lbs N-m 1.85 0.21 5.26 0.59 Maximum RPM 1800 2000 Degree per Step 1.8° 1.8° 2 2 lb-in kg-mm 0.006 1.76 0.028 8.19 lb kg 0.44 0.20 0.79 0.36
NEMA 23 1STK NEMA 23 2STK NEMA 34 1STK NEMA 34 2STK 1.5 0.39 0.138 0.188 3.7 1.53 1.13 2 2 5 10 10 7.53 0.85 13.4 1.51 24.3 2.75 53.0 6.0 1200 2000 2000 1850 1.8° 1.8° 1.8° 1.8° 0.075 21.95 0.133 38.92 0.324 94.82 0.546 159.78 1.21 0.55 2.20 1.00 3.53 1.60 5.95 2.70 Bipolar Stepper, 1.8° per Step Differential; 500 line/rev (2000 count post quad)/rev
Motor Type Encoder
PERFORMANCE DATA WITH ACS DRIVE/CONTROLLER SPEED vs TORQUE - NEMA11 MOTOR - AMS1A1C1 0.23
1.6
0.18
24V
1.2
0.14
48V
0.8
0.09
0.4 0
0.05 0
200
400
600
800
1000
1200
1400
1600
TORQUE (N-m)
TORQUE (in-lb)
2.0
1800
RPM 6.0
0.68
4.0
0.45
48V
2.0
0
0.23
TORQUE (N-m)
TORQUE (in-lb)
SPEED vs TORQUE - NEMA17 MOTOR - AMS1BIC1
24V 0
400
800
1200
1600
2000
2400
RPM
SPEED vs TORQUE - NEMA23 1 STACK MOTOR - AMS1C1C1 0.90
6.0
0.68
48V 4.0
0.45
24V
2.0 0
0
200
400
0.23 600
800
1000
1200
TORQUE (N-m)
TORQUE (in-lb)
8.0
NOTE: E1 & G1 Motor Options (SS2) are limited to 24V operation.
RPM acs _8 1-800-328-2174
www.tolomatic.com
Stepper Motors
sizeit.tolomatic.com for fast, accurate actuator selection
ACTUATOR SIZING
PERFORMANCE DATA WITH ACS DRIVE/CONTROLLER SPEED vs TORQUE - NEMA23 2 STACK MOTOR - AMS1C2C1
TORQUE (in-lb)
8.0 4.0 0
0.90
48V
0.45
24V 0
300
600
900
1200
1500
1800
2100
2400
TORQUE (N-m)
1.36
12.0
NOTE: E1 & G1 Motor Options (SS2) are limited to 24V operation.
2700
RPM
25
2.8
20
2.3
48V
15 10
1.7 1.1
24V
5
0.6
0
TORQUE (N-m)
TORQUE (in-lb)
SPEED vs TORQUE - NEMA34 1 STACK MOTOR - AMS1D1C1
0 0
400
800
1200
1600
2000
RPM
60
6.8
50
5.6
40
4.5
30
3.4
48V
20 10
2.3 1.1
24V
0 0
400
800
1200
1600
TORQUE (N-m)
TORQUE (in-lb)
SPEED vs TORQUE - NEMA34 2 STACK MOTOR - AMS1D2C1
0 2000
RPM
1-800-328-2174
www.tolomatic.com
acs _9
Stepper Motors DIMENSIONS
3D CAD available at www.tolomatic.com
Always use configurated CAD solid model to determine critical dimensions
NEMA11 DIMENSIONS 1.11 [28.3] 0.906 ±0.004 [23.01 ±0.10] 0.557 [14.15] 0.453 [11.51]
0.94 [24.0]
0.079 ±0.008 [2.00 ±0.20]
M2.5 x 0.45-6H 0.10 [2.5] (4)
+0.000
0.906 ±0.004 Ø.8661 -0.020 [23.01 ±0.10] +0.000 21.999 -0.052
1.11 [28.3]
+0.0000 -0.0005 +0.000 5.000 -0.012
Ø.1969
0.453 [11.51]
OPTIONAL ENCODER
0.557 [14.15]
0.452 [11.48]
2.01 [51.0]
Ø1.281 [32.54]
0.197 [5.00] 0.65 [16.5]
HOUSING: MOLEX 51065-0600 TERMINAL: MOLEX 50212-8000 AWG24 UL3266
HOUSING: AMP 794954-6 TERMINAL: AMP 794958-1
Code AMS1A1A1
Description Motor, 1 Stack, Encoder
AMS1A1C1
Motor, 1 Stack, No Encoder
0.37 [9.5]
5.91 [150.0]
NEMA17 DIMENSIONS 1.67 [42.3] 1.220 [31.00] 0.833 [21.15]
0.833 [21.15]
0.94 [24.0] Ø1.726 [43.84] 0.610 [15.50]
1.67 [42.3]
1.220 [31.00]
Ø.079 ±0.008 [2.00 ±0.20]
1.90 [48.3]
+0.000 -0.052 +0.000 22.000 -0.020
Ø.8661
+0.0000 -0.0005 +0.000 5.000 -0.012
MC2 CABLE OPTION
Ø.1969 M3 x 0.5-6H 0.177 [4.50] (4)
0.28 [7.0]
0.80 [20.3]
0.452 [11.48]
OPTIONAL ENCODER
0.610 [15.50]
0.43 [11.0] HOUSING: JST PHR-6 TERMINAL: JST SPH-002T-PO.55 AWG24 UL3266 HOUSING: AMP 794954-6 TERMINAL: AMP 794958-1
5.91 [150.0]
CORD GRIP 2 CORD GRIP 1
1.46 [37.2]
2.41 [61.2]
Supplied cables for MC option are 16' (5m) length
Code AMS1B1A1 AMS1B1E1 AMS1B1C1 AMS1B1G1
Description Motor, 1 Stack, Encoder Motor, 1 Stack, No Encoder
acs _10 1-800-328-2174
www.tolomatic.com
Stepper Motors DIMENSIONS
3D CAD available at www.tolomatic.com
Always use configurated CAD solid model to determine critical dimensions
NEMA23 DIMENSIONS 2.30 [58.4] 1.856 ±0.008 [47.15 ±0.08] 1.150 0.928 [29.20] [23.57]
Ø2.625 [66.68] 0.928 [23.57]
2.30 [58.4]
1.856 ±0.008 [47.15 ±0.08]
JST S68-XH-A-1(LF)(SN)
A
0.452 0.374 (4) [11.48] [9.50]
Ø1.500 ±0.002 [38.10 ±0.05]
+0.008 Ø.201 -0.000 THRU (4) +0.20 5.10 -0.00
0.20 [5.0]
0.063 ±0.008 [1.60 ±0.20]
A + 0.80 [20.3]
OPTIONAL ENCODER
1.150 [29.20]
0.811 [20.60]
MC2 CABLE OPTION
2.90 [73.7]
Ø.2500 +0.0000 -0.0005 6.350
0.24 [6.2]
+0.000 -0.012
0.177 [4.5] HOUSING: JST XHR-6 TERMINAL: JST SXH-001T-PO.6
[M5 x 0.8 (4)]
5.91 [150.0]
3.71 [94.3]
AWG24 UL3266
Code AMS1C1A1 AMS1C1E1
Description
A
Motor, 1 Stack, Encoder
AMS1C1C1 AMS1C1G1
Motor, 1 Stack, No Encoder
AMS1C2A1 AMS1C2E1
Motor, 2 Stack, Encoder
AMS1C2C1 AMS1C2G1
Motor, 2 Stack, No Encoder
Supplied cables for MC option are 16' (5m) length
HOUSING: AMP 794954-6 TERMINAL: AMP 794958-1
1.97 [50.0]
3.03 [77.0]
NEMA34 DIMENSIONS Ø.26 ±0.004 [6.5 ±0.1] (4)
+0.000 0.125 -0.002 +0.000 3.175 -0.051
+0.000 -0.017 +0.000 14.097 -0.432
0.555
B
1.25 ±0.02 [31.75 ±0.5] +0.0000 -0.0005 +0.000 12.70 -0.012
0.452 [11.48]
Ø.500 Ø2.875 ±0.001 [73.02 ±0.025]
OPTIONAL ENCODER
3.39 [86.0] 2.74 [69.6]
0.867 ±0.01 [22.0 ±0.25]
12 ±0.4 [300 ±10]
1-800-328-2174
Code AMS1D1A1
Description Motor, 1 Stack, Encoder
AMS1D1C1
Motor, 1 Stack, No Encoder
AMS1D2A1
Motor, 2 Stack, Encoder
AMS1D2C1
Motor, 2 Stack, No Encoder
B 3.82 [97.0] 4.96 [126.0]
www.tolomatic.com
acs _11
Electronic Motor Brake
sizeit.tolomatic.com for fast, accurate actuator selection
SPECIFICATIONS
ACTUATOR SIZING
The electronic motor brake is available in NEMA 23 & 34 frame sizes. It fits on 23 & 34 frame stepper and servo motors see dimensional drawings to confirm shaft size and other dimensions. The brake is recommended for vertical or inclined applications where there can be no backdrive during power off. When 24 VDC is connected, the brake will be deactivated and the motor can turn freely. It is recommended to use the brake only as a holding brake and not as an emergency brake. The Electronic Motor Brake comes with a 5m cable with M8 connector.
NEMA FRAME SIZE 23 34
HOLDING TORQUE
INPUT SHAFT DIA.
OUTPUT SHAFT DIA.
in-lbs [Nm] 13.28 [1.5] 15.05 [1.7]
inch [mm] 0.250 [6.35] 0.500 [12.7]
inch [mm] 0.250 [6.35] 0.500 [12.7]
CONNECTION
CURRENT @24VDC Amp
M8
0.45 Amp
M8
0.23 Amp
WEIGHT (W/0 CABLE) lb [kg] 0.99 [0.45] 3.13 [1.42]
IP RATING
IP55 IP55
Recommended torque clamping Screw 2.5 ft-lbs [3.4 Nm]
Electronic Motor Brakes are primarily sold as part of a complete assembly including actuator and motor. Tolomatic will install and test the completed actuator, Electronic Motor Brake, and motor assembly before shipping. Call Tolomatic if you wish to install an Electronic Motor Brake on an existing actuator. Contact Tolomatic for other motor mounting options.
( Tolomatic assumes no responsibility that an electronic motor brake will fit or perform with your motor or actuator if sold separately.)
acs _12 1-800-328-2174
www.tolomatic.com
Electronic Motor Brake SIZE:
DIMENSIONS
3D CAD available at www.tolomatic.com
ALL
Always use configurated CAD solid model to determine critical dimensions
NEMA23 DIMENSIONS 2.067 [52.51]
0.630 [16.00]
0.276 [7.00]
3(NC)
4(NC)
DETAIL C
SCALE 4 : 1 M8 SOCKET 1(ØV) FRONT VIEW 2(+24V)
C
+ .250 - .000 .015
COLLAR CLAMP ACCESS
2.625 [66.68] B.C. M5 x .8 EQUALLY SPACED ON B.C. SHOWN (4)
A
+.015 1.500 .000 0.102 + 0.38 [2.60] 38.10 0.00
0.00 6.35 + - 0.38
1.162 [29.51]
0.980 [24.89]
+ 1.500 - .000 .015 38.10- 0.00 0.38
0.783±.039 [19.90±0.99] 0.083 [2.10]
2.625 [66.68] B.C.
0.58 [14.8]
2.232 [56.70]
0.224 [5.70] +.015 .250 .000 + 0.38 6.35 0.00
A
.217 [5.50] EQUALLY SPACED ON B.C. SHOWN (4)
SECTION A-A
NEMA34 DIMENSIONS 3.20 [81.4] 1.35 [34.4]
1.20 [30.6]
B 1.205 [30.60]
3.874±.008 [98.40±0.20]
COLLAR CLAMP ACCESS .28 [7.0]
A
M5X.8 .35[9.0] EQUALLY SPACED ON B.C. SHOWN(4)
1.110 [28.20]
1.457 [37.00]
1.433 [36.40]
.500 [12.70]
1 (ØV)
0.394 [10.00] 0.10 [2.5]
.000 .500 + - .001 0.00 12.70 - 0.03
2(+24)
3 (NC)
4 (NC)
DETAIL B
SCALE 6 : 1 M8 SOCKET FRONT VIEW
1.244±.039 [31.60±0.99]
.000 2.874 +- .030 0.00 73.00 - 0.76
3.874±.008 [98.40±0.20] B.C.
.001 2.874 + - .000 + 0.03 73.00 0.00
SECTION A-A
A
.220 [5.60] EQUALLY SPACED ON B.C. SHOWN (4)
3.252 [82.60]
1-800-328-2174
www.tolomatic.com
acs _13
ACS – Service Parts Ordering ACS DRIVE/CONTROLLER, CABLES & MOTOR REPLACEMENT PARTS STEPPER MOTORS Frame Code Part No. Size Description AMS1A1A1 3604-1780 Nema 11 Motor, 1 Stack, Encoder
AMV2C2A1 3604-1847 Nema 23
Motor, 2 Stack, Encoder, Winding B
AMS1A1C1 3604-1779 Nema 11
Motor, 1 Stack, No Encoder
AMV2C3A1 3604-1846 Nema 23
Motor, 2 Stack, Encoder, Winding A
AMV2D1A1 3604-1849 Nema 34
Motor, 1 Stack, Encoder, Winding B
AMS1B1A1 3604-1776 Nema 17 AMS1B1E1
Motor, 1 Stack, Encoder
AMV2D2A1 3604-1851 Nema 34
Motor, 2 Stack, Encoder, Winding B
AMS1B1C1 3604-1775 Nema 17 AMS1B1G1
Motor, 1 Stack, No Encoder
AMS1C1A1 3604-1778 Nema 23 AMS1C1E1
Motor, 1 Stack, Encoder
AMS1C1C1 3604-1777 Nema 23 AMS1C1G1
Motor, 1 Stack, No Encoder
AMS1C2A1 3604-1955 Nema 23 AMS1C2E1
Motor, 2 Stack, Encoder
AMS1C2C1 3604-1954 Nema 23 AMS1C2G1
Motor, 2 Stack, No Encoder
Stepper
Servo
SERVO MOTORS Frame Code Part No. Size Description AMV2C1A1 3604-1845 Nema 23 Motor, 1 Stack, Encoder, Winding B
1.
1.
2. 2. 2.
Servo-NOTE: Items 1,2,4,5 & 6 from table below are recommended for complete ACS system. Order items 1,2,4,5 & 6 by part numbers
Part No. Description 2190-1304 Input Power Connector
Stepper-NOTE: All 6 items from table below are recommended for complete ACS system. Order items 1-6 by part numbers
ACCESSORIES Part No. Description 3604-9661 ACS Servo Drive/Controller (basic) ACS Servo Drive/Controller, EtherNet/IP (Analog 3604-9662 Output) ACS Servo Drive/Controller, Modbus TCP (Analog 3604-9663 Output) 3604-9665 ACS Stepper Drive/Controller ACS Stepper Drive/Controller, EtherNet/IP (Analog 3604-9666 Output) ACS Stepper Drive/Controller, Modbus TCP (Analog 3604-9667 Output) 3604-1842 Servo - Motor Power / Encoder Cable (3 m) 3604-1843 Servo - Motor Power / Encoder Cable (5 m) 3604-1943 Servo - Motor Power / Encoder Cable (10 m) 3604-1708 Stepper - Motor Power Cable (3 m) 3604-1709 Stepper - Motor Power Cable (5 m) 3604-1710 Stepper - Motor Power Cable (10 m) 3604-2228 34 Stepper - Motor Power Cable (3 m) 3604-2229 34 Stepper - Motor Power Cable (5 m) 3604-2230 34 Stepper - Motor Power Cable (10 m)
acs _14 1-800-328-2174
AMS1D1A1 3604-1957 Nema 34, Motor, 1 Stack, Encoder AMS1D1C1 3604-1956 Nema 34, Motor, 1 Stack, No Encoder AMS1D2A1 3604-1962 Nema 34
Motor, 2 Stack, Encoder
AMS1D2C1 3604-1961 Nema 34
Motor, 2 Stack, No Encoder
Part No. 3604-1768 3604-1769 3604-1969 3. 3604-1971 3604-1972 3604-1973 3604-1770 3604-1771 4. 3604-1965 3604-1949 3604-1966 3604-9526 5. 3604-1852
ACCESSORIES Description 11,17,23 Stepper - Encoder Cable (3 meter length) 11,17,23 Stepper - Encoder Cable (5 meter length) 11,17,23 Stepper - Encoder Cable (10 meter length) 34 Stepper - Encoder Cable (3 meter length) 34 Stepper - Encoder Cable (5 meter length) 34 Stepper - Encoder Cable (10 meter length) I/O Cable (3 meter length) I/O Cable (5 meter length) Replacement Brake Cable (3 meter length) Replacement Brake Cable (5 meter length) Replacement Brake Cable (10 meter length) Tolomatic Motion Interface CD Servo - USB Type B Cable
6. 2180-1163 Shunt Regulator 50W, 24-80 VDC
www.tolomatic.com
Servo Ordering
sizeit.tolomatic.com for fast, accurate actuator selection
ACTUATOR SIZING
DRIVE ACSV 20 48 UD CR53 SERVO ORDER CODE
DRIVE ORDER CODE
CURRENT VOLTAGE
CR3[ _ ] CR5[ _ ] CR10[ _ ] [ 2 ] [ 3 ] [ 5 ]
48 48 / 24 Volts
Cable(s) of 3m Length Cable(s) of 5m Length Cable(s) of 10m Length Motor and Encoder Cables Motor, Encoder and I/O Cables* I/O Cables*
*I/O Cables are 3 meter length - for 5 meter I/O cable order via part number (3604-1771)
MOTOR AM V2 C1 A1
Code
Encoder
Gearhead
Brake
SS2
MOTOR OPTIONS SS2
MOTOR TYPE
V2 Servo Motor
FRAME SIZE 23 Frame Motor, 1 stack 23 Frame Motor, 2 stack 23 Frame Motor, 2 stack 34 Frame Motor, 1 stack 34 Frame Motor, 2 stack
Brake
C1 C2 C3 D1 D2
Code
MOTOR ORDER CODE
AM Tolomatic Motor
Gearhead
20 20 Amp
CABLE(S) ORDER CODE
UD Standard/Basic Drive with ModBus RTU over RS485 ED Standard/Basic Drive with EtherNet /IP MD Standard/Basic Drive with Modbus TCP
Tolomatic ACS Servo Drive
Encoder
SV
– – –
B1 B2 B3 E1
Yes Yes Yes Yes
– 5:1 10:1 –
Yes Yes Yes –
Yes Yes Yes Yes
A1 Yes – – A2 Yes 5:1 – A3 Yes 10:1 –
Stepper Ordering DRIVE ACST 10 48 UD CR53 STEPPER ORDER CODE
DRIVE ORDER CODE
ST Tolomatic ACS Stepper Drive 10 Current 48 Voltage
CABLE(S) ORDER CODE
UD Standard/Basic Drive with ModBus RTU over RS485 ED Standard/Basic Drive with EtherNet /IP MD Standard/Basic Drive with Modbus TCP
CURRENT VOLTAGE
1-800-328-2174
SS2
Code
Encoder
Gearhead
Brake
SS2
available for 17 & 23 frame 1 stack motors ONLY
Brake
†NOTE: MC Cable Option
Gearhead
S1 Stepper Motor
FRAME SIZE 11 Frame Motor 17 Frame Motor 23 Frame 1 Stack Motor 23 Frame 2 Stack Motor 34 Frame 1 Stack Motor 34 Frame 2 Stack Motor
MOTOR COVER ENCODER PROTECTION OPT.
Encoder
MOTOR TYPE
A1 B1† C1† C2 D1 D2
MOTOR OPTIONS Code
MOTOR ORDER CODE
Cable(s) of 3m Length Cable(s) of 5m Length Cable(s) of 10m Length Motor Cable Motor and Encoder Cables Motor, Encoder and I/O Cables* Motor and I/O Cables* I/O Cables*
*I/O Cables are 3 meter length - for 5 meter I/O cable order via part number (3604-1771)
MOTOR AM S1 C1 E1 MC2 AM Tolomatic Motor
CR3[ _ ] CR5[ _ ] CR10[ _ ] [ 1 ] [ 2 ] [ 3 ] [ 4 ] [ 5 ]
A1 A2 A3 B1 B2 B3 C1
Yes Yes Yes Yes Yes Yes –
– 5:1 10:1 – 5:1 10:1 –
– – – Yes Yes Yes –
– – – – – – –
C2 C3 D1 D2 D3 E1 G1
– – – – – Yes –
5:1 10:1 – 5:1 10:1 – –
– – Yes Yes Yes – –
– – – – – Yes Yes
†MC_
Cord/Cable Grips 0 0 No Cord Grips 1 1 Cord Grips 2 2 Cord Grips
Supplied cables for MC option are 16' (5m) length NOTE: Gearhead and Brake available for 23 & 34 frame motors ONLY
www.tolomatic.com
acs _15
The Tolomatic Difference Expect More From the Industry Leader: INNOVATIVE PRODUCTS
FAST DELIVERY
ACTUATOR SIZING
YOUR MOTOR HERE
LIBRARY
SUPERIOR SERVICE
Tolomatic designs and builds the best standard products, modified products & unique custom products for your challenging applications.
The fastest delivery of catalog products... Electric products are built-to-order in 15 or 20 days; Pneumatic & Power Transmission products in 5 days.
Online sizing that is easy to use, accurate and always up-to-date. Find a Tolomatic electric actuator to meet your requirements.
Match your motor with compatible mounting plates that ship with any Tolomatic electric actuator.
Easy to access CAD files available in the most popular formats to place directly into your assembly.
Our people make the difference! Expect prompt, courteous replies to all of your application and product questions.
Also Consider These Other Tolomatic Products: Electric Products Rod & Guided Rod Style Actuators, High Thrust Actuators, Screw & Belt Drive Rodless Actuators, Motors, Drives and Controllers “Foldout” Brochure #9900-9074
Pneumatic Products Rodless Cylinders: Band Cylinders, Cable Cylinders, Magnetically Coupled Cylinders/Slides; Guided Rod Cylinder Slides “Foldout” Brochure #9900-9075
3800 County Road 116 • Hamel, MN 55340, USA Phone: (763) 478-8000 • Fax: (763) 478-8080 Toll-Free: 1-800-328-2174 [email protected] • www.tolomatic.com
EUROPEAN OFFICE Tolomatic Europe GmbH Herriotstraße 1 D-60528 Frankfurt am Main Germany Phone: +49 69-2045-7837 [email protected]
8
All brand and product names are trademarks or registered trademarks of their respective owners. Information in this document is believed accurate at time of printing. However, Tolomatic assumes no responsibility for its use or for any errors that may appear in
Power Transmission Products Gearboxes: Float-A-Shaft®, Slide-Rite®; Disc Cone Clutch; Caliper Disc Brakes “Foldout” Brochure #9900-9076
CHINA FACILITY Tolomatic Automation Products (Suzhou) Co. Ltd. (ServoWeld® inquiries only) No. 60 Chuangye Street, Building 2 Huqiu District, SND Suzhou Jiangsu 215011 - P.R. China Phone: +86 (512) 6750-8506 Fax: +86 (512) 6750-8507 [email protected]
this document. Tolomatic 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.
Visit www.tolomatic.com for the most up-to-date technical information © 2016 TOLOMATIC
201612071143
LITERATURE NUMBER:
3600-4185_04.02
