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Serial No 1: AC Servo Motor System 750 Watt:
Qnty: 4Sets.
Description: The system consists of 1)AC Servo motor with break and encoder , 2)Gear Box, 3)Servo Drive ,associated cables and Software. The detailed specification of the AC servo Motor, Gear Box and Servo Drive are given below. All the associated cable along with the connectors is to be supplied by the supplier.
AC Servo Motor (750W) with brakesSpecification Torque Nominal : 2.5 Nm; Maximal: 7Nm Rated power :750 W (200V); Rated current (rms) : 4 Amp; Max. current : 17 Amp Rated rotational speed : 3000 rpm ; Max. rotational speed 4500 Weight (With holding brake) ~3.5 Kg Encoder Incrimental : Resolution 20 bit ; pulse per revolution : 1,048,576 Moment of inertia of rotor (With holding brake ) : 1.61x10-4 kg · m² Recommended inertia ratio between load and rotor : Max. 20:1 Operating conditions: Temperature 0–40°C; Ambient humidity 20–85% RH (non-condensing); Holding brake specifications : (The holding brake is engaged when the power for the servo driver is shut off.) Static friction torque (Min.) : 2.45 (Nm); Engaging time (Max.): 70ms; Releasing time(Max. ): 20ms Excitation current A(DC): 0.42 Amp: Excitation voltage : 24 ±5%VDC Permissible load and thrust at output shaft Radial load: 392 N; Axial thrust : 147N Physical dimensions:
Gear Box Specification (for 750W motor): Integrated with motor OR should directly fit on the above Motor Face Type: InLine Planatery gearbox; Ratio : 1:9 Load Side Flange size: 80mmx80mm Square, Bolting Hole PCD 90mm Backlash Max: 15Arc-min or better Torque ratings (should match the 750W AC Servo motor specified above). Rated o/p torque : 20nm peak o/p torque : 55Nm Motor Side Flange: To suite the above motor (750W) or adapter plate to be supplied o/p rpm (min) : 333 Servo Drivefor 750w Motor Specification: ( to match above motor) Input Power : Single Phaze 230VAC, 50/60Hz Output Current Max: 30Amp Output Current Rated: 20Amp Environment: Temprature: 0-55C, Humidity, 20%-505 RH Encoder Feedback: 20-bit incremental encoder, (resolution 1,048,576) Interfacing for external encoder (other than fitted with motor ) Pulse input and output : up to 4MHz Real-time autotuning function during operation Control Mode: 1. Position control, Control Inputs: o Clear deviation counter, o Command pulse inhibition, o Electronic gear switching, o Damping control switching Control Output: Position Complete Pulse input : Position /Direction Damping Control 2. Velocity control, Control Input: Pulse input, Selection of predefined velocity, Zero speed Clamp Control O/p: Set velocity has been achieved Analog Input: range+/-10VDC, speed and Direction, limit torque setting 3. Torque control, Control Input: Zero speed clamp, Control O/p: torque has been reached (at predefined velocity) Analog I/P: range +/-10Vdc, Speed Limit Function 4. Full-closed control –With Internal and external encoder Communication : UsB/Lan : For PC connetion Networking Of Multiple Axis Ether Cat: Ether Cat: Real-time communication 100Mbit/s for position /torque/ velocity control Rs232 CanOpen
Serial No 2: AC Servo Motor System 200 W:
Qnty: 2Sets.
Description: The system consists of 1)AC Servo motor with break and encoder , 2)Gear Box, 3)Servo Drive ,associated cables and Software. The detailed specification of the AC servo Motor, Gear Box and Servo Drive are given below. All the associated cable along with the connectors is to be supplied by the supplier.
AC Servo Motor (200W) with brakes Specification Torque Nominal : ~0.6Nm; Maximal: ~2.0 Nm Rated power :200 W; Rated current (rms) : 1.6 Amp; Max. current : 6.9 Amp Rated rotational speed : 3000 rpm ; Max. rotational speed :5000 rpm Weight (With holding brake) ~1.5 Kg Encoder Incrimental : Resolution 20 bit ; pulse per revolution : 1,048,576 Moment of inertia of rotor (With holding brake ) : 0.45 kg · m² (max) Recommended inertia ratio between load and rotor : 10:1 Operating conditions: Temperature 0–40°C; Ambient humidity 20–85% RH (non-condensing); Holding brake specifications : (The holding brake is engaged when the power for the servo driver is shut off.) Static friction torque (Max.) : 1 (Nm); Excitation current A(DC): 0.5 Amp: Excitation voltage : 24VDC Permissible load and thrust at output shaft Radial load: 245 N; Axial thrust : 98N Physical Dimensions:
Gear Box Specification (for 200W motor): Integrated with motor OR should directly fit on the above Motor Face Type: InLine Planatery gearbox; Ratio : 1:12 Motor Side Flange size: 60mmx60mm Square, Bolting Hole PCD 70mm Backlash Max: 15Arc-min or better Torque ratings (should match the 200W AC Servo motor specified above) . O/p Rated Torque: 8Nm O/p Peak Torque: 24Nm O/p rpm : 250(rated) Servo Drivefor 200w Motor Specification: ( to match above motor) Input Power : Single Phaze 230VAC, 50/60Hz Output Current Max: To match Motor of 200W Output Current Rated: To match Motor of 200W Output Voltage : To match Motor of 200W Environment: Temprature: 0-55C, Humidity, 20%-505 RH Encoder Feedback: 20-bit incremental encoder, (resolution 1,048,576) Interfacing for external encoder (other than fitted with motor ) Pulse input and output : up to 4MHz Real-time autotuning function during operation Control Mode: 3. Position control, Control Inputs: o Clear deviation counter, o Command pulse inhibition, o Electronic gear switching, o Damping control switching Control Output: Position Complete Pulse input : Position /Direction Damping Control 4. Velocity control, Control Input: Pulse input, Selection of predefined velocity, Zero speed Clamp Control O/p: Set velocity has been achieved Analog Input: range+/-10VDC, speed and Direction, limit torque setting 3. Torque control, Control Input: Zero speed clamp, Control O/p: torque has been reached (at predefined velocity) Analog I/P: range +/-10Vdc, Speed Limit Function 4. Full-closed control –With Internal and external encoder Communication : UsB/Lan : For PC connetion Networking Of Multiple Axis o Ether Cat: Real-time communication 100Mbit/s for position /torque/ velocity control o RS232/485 o CanOpen
Serial No 3: AC Servo Motor System 50 W:
Qnty: 2Sets.
Description: The system consists of 1)AC Servo motor with break and encoder , 2) Servo Motor Driver and associated cables and Software. The detailed specification of the AC servo Motor and Servo motor Driver are given below. All the associated cable along with the connectors is to be supplied by the supplier. AC Servo Motor (50W) with brakes Specification Quantity Torque Nominal : ~0.16Nm; Maximal: ~0.50 Nm Rated power : 50 W; Rated current (rms) : 1.1 Amp; Max. current : 4.7 Amp Rated rotational speed : 3000 rpm ; Max. rotational speed :5000 rpm Weight (With holding brake): ~300Kg Encoder Incrimental : Resolution 20 bit ; pulse per revolution : 1,048,576 Moment of inertia of rotor (With holding brake ) : 0.027 kg · m² (max) Recommended inertia ratio between load and rotor : 30:1 Operating conditions: Temperature 0–40°C; Ambient humidity 20–85% RH (non-condensing); Holding brake specifications : (The holding brake is engaged when the power for the servo driver is shut off.) Static friction torque (Max.) : 0.3 (Nm); Excitation current A(DC): 0.3 Amp: Excitation voltage : 24VDC Permissible load and thrust at output shaft Radial load: 70 N; Axial thrust : 60N Physical Dimensions:
Servo Drivefor 50w Motor Specification: ( to match above motor)
Input Power : Single Phase 230VAC, 50/60Hz Output Current Max: To match Motor of 50W Output Current Rated: To match Motor of 50W Output Voltage : To match Motor of 50W Environment: Temprature: 0-55C, Humidity, 20%-505 RH Encoder Feedback: 20-bit incremental encoder, (resolution 1,048,576) Interfacing for external encoder (other than fitted with motor ) Pulse input and output : up to 4MHz Real-time autotuning function during operation Control Mode: 5. Position control, Control Inputs: o Clear deviation counter, o Command pulse inhibition, o Electronic gear switching, o Damping control switching Control Output: Position Complete Pulse input : Position /Direction Damping Control 6. Velocity control, Control Input: Pulse input, Selection of predefined velocity, Zero speed Clamp Control O/p: Set velocity has been achieved Analog Input: range+/-10VDC, speed and Direction, limit torque setting 3. Torque control, Control Input: Zero speed clamp, Control O/p: torque has been reached (at predefined velocity) Analog I/P: range +/-10Vdc, Speed Limit Function 4. Full-closed control –With Internal and external encoder Communication : UsB/Lan : For PC connetion Networking Of Multiple Axis o Ether Cat: Real-time communication 100Mbit/s for position /torque/ velocity control o RS232/485 o CanOpen Cable And Connector (Motor and Driver will be 2m apart) 1. Motor Cable, Encoder cable , Power Cable & Brake cable ----- Length 2m 2. Ethercat cable, Cable for communication with PC , Cable for Ethernet connection --- Std Length. Software: All related software for programming and tuning the drive using Windows based PC to be supplied with the servo drive
Serial No 4: PCI based EtherCAT Motion Control Master Card : Quantity 2Nos.
Compatible with PCI express slot Type: PCI-1203 2 Port 6 axis controller Driver for Win XP or Win 7 Motion planning and control API for programming in C++/ C# / VB Motion cycle time: 500Micro Sec I/o cycle time : 200 micro sec Multi axis synchronous motion Trace logger for fast error diagnostics Single motion control features o Jog motion o Position velocity time planning o Position and torque limit Motion trajectory planning o 2/3 axis linear and circular interpolation built in o At least 6 path tables each table of atleat 500 points Master slave synchronized motion
Serial No. 5: PCI bases 4-Axis DSP-Based SoftMotion Controller : Qnty -2 Nos Bus Type : Connector Dimensions Humidity Power Consumption Temperature (Operating) Temperature (Storage) Encoder Interface
Universal PCI V2.2 PCI-1245-AE 1 x 100-pin SCSI Female Connector 175 x 100 mm (6.9" x 3.9") 5 ~ 95% RH, non-condensing (IEC 60068-2-3) Typical: 5 V @ 850 mA; Max.: 5 V@1A 0 ~ 60°C (32 ~ 140°F) -20 ~ 85°C (-4 ~ 185°F) Input Range Input Type
5 ~ 15 V Quadrature (A/B phase) or up/down
Pulse Type Motion Control
Isolation Protection
2,500 VDC
Max. Input Frequency General Digital I/O
10 MHz under 4xAB mode 16-ch DI, 16-ch DO
Interpolation Machine Interfaces Max. Output Speed
2-axis linear LMT+, LMT-, ORG 5 Mbps
Motor Driver Support Number of Axis
Pulse-type servo/stepping 4
Position Counters
Range of command and actual position Pulse/direction (1-pulse, 1-direction type) or CW/CCW (2-pulse type)
Pulse Output Type Servo Driver Interfaces Step Count Range
ALM, INP ±2, 147, 483, 646
Velocity Profiles
T-Curve, S-Curve
Cables and connectors: With all matching cable and connectors and wiring terminal soft motion controller card Software : Driver and API software for this card is to be supplied with the system.
