電動アクティエータユニサーボは、トルク制御に特化した 新しいモーションコントロール用アクチュエータです。

電動アクティエータユニサーボは、トルク制御に特化した 新しいモーションコントロール用アクチュエータです。





About UNISERVO



UNISERVO is the first actuator with motion control & built-in torque control function.
Feedback control is performed based on measured torque to achieve desired value.
Adopting a reduction gear, it is overwhelmingly smaller & lighter than direct drive motor (DDM) normally used for torque control.
In addition, the torque resolution reaches 1/10000, even large torques can be controlled delicately.
The response speed of the torque sensor is 3kHz, the sampling speed is 20kHz.
Since the moment of inertia of the torque generation mechanism is in the
torque feedback loop, it can be made extremely small along with feedback control.

What can be done by measuring the output torque?

Toqrque limit
Torque output level can be controlled so that it does not go above the preset limit. ⇒ Prevent to get caught in a machine
Zero torque control
By controlling the output toque to be zero (or nearly-equal to zero), the output shaft can be easily rotated by an operator. ⇒ Direct teaching
Compliance control
Spring motion can be simulated. ⇒ Characteristics similar to that of humans when applying force can be obtained.


Application of torque control for human machine interface

Robots and operators have been separated by safety fences as robots cannot detect when their arms hit objects.

Robots can be safer for humans if they can detect force and torque caused by human interaction. The efficiency of an operation can be greatly improved, and space can be saved as lot as safety fences can be removed so that humans and robots can work together.

Normally, power of motors used in care devices must be limited for safety, and thus, the response time is extremely slow.

If the output torque can be precisely controlled, motor with larger power can be used, and the response time can be improved a lot.
トルク制御のヒューマンマシンインターフェイスへの応用

Bilateral control

The rotation angle of two motors are synchronized, and the motion is controlled that torques are balanced.
The ratio of torques can be changed as well.

・Remote control of robot hands
・Where the transmission of force sensation is required for remote

Control so that… θ1=θ2 and T1+T2=0
バイラテラル制御

Angle-torque characteristics


Macro function

・ A macro can be created by recording communication command strings.
・ 15 macros can be created.
・ Maximum of 1MByte data can be stored on the flash ROM.
・ The size of the temporary memory RAM to write macros is 32kByte.
・ A macro can be created in a hierarchical structure as well.
・ A macro can refer to the second level macro in the hierarchy.


Safety Functions

UNISERVO is equipped with safety functions for safeguard.
When following conditions are met, the servo is turned OFF, and UNISERVO stops operating.

Over torque load (fixed system) When output torque exceeds the preset limit….
Over current load (fixed system) When the current load of the motor goes above the preset limit….
Over voltage load (fixed system) When the volage of the motor coil exceeds the preset limit….
Actuator error When the actuator fault and abnormal operation is detected….
Overspeed fixed system) When the rotation speed exceeds the preset limit….
Power device temperature error When the temperature of the power device exceeds the preset limit….
Encoder error When an issue is found with the rotary encoder….
Torque meter error When an issue is found with the torque meter….
Motor error When an issue is found with the motor….





Speed & rotation angle control are also possible

Speed control The rotation speed is maintained to a pre-set target level.
The limit for torque can be added as well.
Rotation angle control The rotation angle is maintained to a defined angle.
Torque and compliance control can be applied as well

NEW!! UNISERVO (Direct Drive Type)

Introducing gearless direct drive motor SVDM from UNISERVO series.
Torque feedback can be done with UNISERVO, which was a bottleneck for applications in high rotational speed.

No reduction gear, thus no blacklash & high rigidity

Compared to normal UNISERVO, SVDM does not have a reduction gear. Therefore it is possible to measure torque directly and perform feedback.
In addition, higher rigidity makes it more responsive.

When you need high revolutions with UNISERVO

Although UNISERVO can control torque, there were cases where the maximum rotational speed became bottleneck in tension control.
The new lineup of UNISERVO direct drive enables feedback control of tension. In general, when controlling tension as shown in the illustration below, it is necessary to first provide a separate setup for tension measurement. UNISERVO direct drive has a very simple structure because the motor itself detects torque and provides feedback.


UNISERVO torque & angle monitor USV-EC30

Easy control of UNISERVO with EC30! It is easier to make test system.
Waveform display, useful judgment functions & data is recordable!
The video above is an example of screw test. You can observe displayed waveform & hold points.

Control of UNISERVO can be set differently for each work. Changes are possible through touch panel.




Judgment can be done on each Work No. It is possible with various hold functions & waveform comparison.




Measured waveform data & hold points can be saved automatically into SD card. Furthermore, setting values of main unit, screenshot can also be saved.



NEW!! UNISERVO dedicated monitor USV-EC70

EC70 allows complex control by branching out the sequence based on conditions!
Connecting the sequences, continuous tests under different conditions can be performed without PLC.


The display mode can be shown differently according to the application.


image2

Control can be selected from speed control, position control, torque control, spring control, and friction control.Limits of the control can be set at the same time.




Position control can be absolute position control and relative position control.




Torque control and speed control can be step control.




Two analog outputs (± 10V voltage output) are equipped as standard
EtherNet / IP, CC-Link, Devicenet can be selected as option.



UNISERVO model configuration table

・UNISERVO
 New motion control actuator specializing in torque control

・UNISERVO(Direct drive type)
  There is no deceleration mechanism, thus backlash-less and highly rigid, achieving high-speed torque feedback!

・UNISERVO(with brake)
 Equipped with a battery-less multi-turn absolute encoder
Even if the power is turned off unexpectedly, operation continues without returning to the origin position!
  Safety is also improved as output shaft is automatically locked when the power is turned off.

・UNISERVO(Field network type)
 Supports CC-Link. Control mode can be changed and each monitor data can be read from the PLC!
 The control mode can be selected from position control, speed control, and torque control operation.

Specifications

Spec. of the actuator


Model
SVM-15 SVM-40 SVM-80 SVM-200 SVM-750 SVM-1500
Rated output 15W 40W 80W 200W 750W 1500W
Gear ratio 30 50 100 30 50 100 30 50 100 30 50 100 30 50 100 50 100
Rated torque 0.9Nm 1.5Nm 3Nm 2.4Nm 4Nm 8Nm 4.5Nm 8.5Nm 16Nm 13Nm 23Nm 45Nm 51Nm 87Nm 174Nm 171Nm 348Nm
Momentary maximum torque 1.8Nm 3.3Nm 4.8Nm 4.5Nm 8.3Nm 11Nm 9Nm 23Nm 36Nm 27Nm 70Nm 107Nm 100Nm 261Nm 433Nm 515Nm 982Nm
Rated rotation speed 100rpm 60rpm 30rpm 100rpm 60rpm 30rpm 100rpm 60rpm 30rpm 100rpm 60rpm 30rpm 100rpm 60rpm 30rpm 60rpm 30rpm
Maximum rotation speed 200rpm 120rpm 60rpm 200rpm 120rpm 60rpm 200rpm 120rpm 60rpm 200rpm 120rpm 60rpm 160rpm 96rpm 48rpm 76rpm 38rpm
Load limits Radial load limit 100N 200N 400N 1000N 1500N 3000N
Thrust load limit 100N 200N 500N 2500N 4000N 7000N
Temperature & humidity Use condition 0 to 40℃、20 to 80%RH(no condensation allowed)
Storage condition -20 to 60℃、20 to 80%RH(no condensation allowed)
Dimensions(W×H×D) 40×51.6×100.5 mm
(excluding protruding parts)
68.9×65.5×140.0 mm
(excluding protruding parts)
Gear ratio 30
74×73.3×194.5 mm
Gear ratio 50、100
74×71×180.5 mm
(excluding protruding parts)
100.5×98.5×214.7 mm
(excluding protruding parts)
135.9×132.5×312.5 mm
(excluding protruding parts)
215.75×184×378.25 mm
(excluding protruding parts)
Weight Approx.0.35kg Approx.0.9kg Gear ratio 30
Approx.1.5kg
Gear ratio 50、100
Approx. 1.3kg
Approx.3.4kg Approx.11kg Approx.27kg
Correspondence controller SVC-15 SVC-80 SVC-200 SVC-750 SVC-1500




Spec. of the controller

 

Model SVC-15 SVC-80 SVC-200 SVC-750 SVC-1500
Power 15W 80W 200W 750W 1500W
Operating power Main circuit Single-phase AC100 to 115V
50/60Hz
Single-phase AC200 to 240V
50/60Hz
Three-phase AC200 to 240V
50/60Hz
Control circuit Single-phase AC100 to 115V
50/60Hz
Single-phase AC200 to 240V
50/60Hz
Control modes Torque control, compliance control, speed control,
position control, Q-axis current control
I/O signals Digital I/O 8ch inputs & 8ch outputs
Analogu input & output 2ch inputs & 2ch outputs
Line driver I/O 2ch inputs & 3ch outputs
Display Code display 7-segment 2-digits red LED
Status display Three red LED
Charge display One red LED for checking the power charging status on the main circuit
Operation buttons Push button 2 buttons
Communication function USB Communication specification USB Ver2.0
Communication speed full speed
Class Virtual COM port
Supported OS Windows7(32/64bit)、Windows10(32/64bit)
Temperature & humidity Use condition 0 to 40℃、20 to 80%RH(no condensation allowed)
Storage condition -20 to 60℃、20 to 80%RH(no condensation allowed)
Dimensions

(W×H×D)
45×195×134 mm
(excluding protruding parts)
45×195×174 mm
(excluding protruding parts)
60×195×252 mm
(excluding protruding parts)
68×245×293 mm
(excluding protruding parts)
Weight Approx.0.8kg Approx.1.0kg Approx.2.0kg Approx.4.3kg
Other functions Inrush current reduction & dynamic brake
Correspondence motor SVM-15 SVM-40/SVM-80 SVM-200 SVM-750 SVM-1500
Software option Virtual rotation load control and remote bidirectional control




Spec. of the actuator part of the UNISERVO (Direct drive type)

               

Model SVDM-200 SVDM-400 SVDM-750
Rated output 200W 400W 750W
Rated torque 0.64Nm 1.27Nm 2.39Nm
Momentary maximum torque 1.9Nm 3.8Nm 7.2Nm
Rated rotation speed 3000rpm
Maximum rotation speed 6000rpm
Temperature & humidity Use condition 0 to 40℃、20 to 80%RH(no condensation allowed)
Storage condition -20 to 60℃、20 to 80%RH(no condensation allowed)
Correspondence controller SVC-200
SVCI-200
SVC-750
SVCI-750




Spec. of the actuator part of the UNISERVO (with brake)

Model SVM-80R SVM-200R
Rated output 80W 200W
Dimensions(W×H×D) 74×73.3×250mm
(excluding protruding parts)
100×99×271mm
(excluding protruding parts)
Weight Approx.1.8kg Approx.4.1kg
Other spec. Refer to the specifications of the SVM-80. Refer to the specifications of the SVM-200.
Correspondence controller SVC-80R SVC-200R




Spec. of the actuator part of the UNISERVO (with brake)

Model SVC-80R SVC-200R
Power 80W 200W
Dimensions(W×H×D) 45×195×154mm
(excluding protruding parts)
45×195×194mm
(excluding protruding parts)
Weight Approx.0.8kg Approx.1.0kg
Other features Inrush current reduction function,
Non-excitation actuated brake control function,
Multi-turn absolute encoder control function
Other spec. Refer to the specifications of the SVC-80. Refer to the specifications of the SVC-200.
Correspondence actuator SVM-80R SVM-200R




Spec. of the controller part of the UNISERVO (Field network type)

Model SVCI-80 SVCI-200 SVCI-750
Power 80W 200W 750W
I/O signal digital I/O input 8ch, output 8ch
analog I/O input 2ch, output 2ch
line driver I/O input 2ch, output 3ch
PLC I/O CC-Link supported
Dimensions(W×H×D) 65×195×133mm
(excluding protruding parts)
65×195×174mm
(excluding protruding parts)
79×195×247mm
(excluding protruding parts)
Weight Approx.0.9kg Approx.1.3kg Approx.2.7kg
Other spec. Refer to the specifications of the SVC-80. Refer to the specifications of the SVC-200. Refer to the specifications of the SVC-750.
Correspondence actuator SVM-80 SVM-200 SVM-750

Connection & communication

PC and the controller for UNISERVO can be connected with a communication cable.
Using terminal software, setting parameters can be read and overwritten via USB.

電動トルクアクチュエータ ユニサーボ専用コントローラとPCを通信用ケーブルで接続します。

Specification USB Ver2.0 (full speed)
Class Communication class
Supported device AT compatible device with a USB port
Supported OS Windows Vista, Windows 7, Windows 10
Connector miniB type