Electric Actuator

100 Pages·2013·24.38 MB·English

Electric Actuator ®
RoHS
LEM
Series
Low Profile/Slider Type
Step Motor (Servo/24 VDC)
CCoommppaacctt LLooww PPrrooffiillee
Table height reduced by using
belt drive and offset guide.
Mounting interchangeable
with the E-MY series
28
Table ∗
height mm
Belt drive unit
∗ For LEMC/H/HT, Size 25
Guide unit
GGuuiiddee mmeecchhaanniissmm
ccaann bbee sseelleecctteedd.. Page 170
Basic type Cam follower guide type Linear guide single axis type Linear guide double axis type
LEMB Series LEMC Series LEMH Series LEMHT Series
· Light load transfer · Workpiece direct mounting · Workpiece direct mounting · Workpiece direct mounting
· Combining with external guide · Long stroke · Provides more moment resistance · Provides more moment resistance
· Long stroke than the cam follower guide type. than the linear guide single axis type.
· High speed transfer · High speed transfer
Size Work load [kg] Size Work load [kg] Size Work load [kg] Size Work load [kg]
25 6 25 10 25 10 25 10
32 11 32 20 32 20 32 20
Size Size Size Size
25 32 25 32 25 32 25 32
Stroke [mm] 2000 2000 Stroke [mm] 2000 2000 Stroke [mm] 1000 1500 Stroke [mm] 1000 1500
Table height [mm] 40 40 Table height [mm] 28 37 Table height [mm] 28 37 Table height [mm] 28 37
Speed [mm/s] 1000 1000 Speed [mm/s] 1000 1000 Speed [mm/s] 2000 2000 Speed [mm/s] 2000 2000
SSeelleeccttaabbllee ccoonnttrroollllaabbiilliittyy ¡End to end operation similar to an air cylinder
(12 intermediate stop positions)
(Controller) ¡Easy position setting using numerical inputs
Step Motor (Servo/24 VDC)
Programless type Programless Step data input type
(With stroke study) type LECP6 Series
LECP2 Series LECP1 Series · 64 points positioning
· Esinmdi ltaor eton da no paeirr actyiolinnder ·· 1C4o nptoroinl tpsa pnoesl itsioenttiinngg CLECC-LPinMkJ dSierreiecst∗ input type
· 2 stroke end points + EtherCAT®/EtherNet/IP™/
12 intermediate points positioning PROFINET/DeviceNet™/
· Control panel setting IO-Link direct input type
· Wire-saving design Specialized for LEM Series Page 547 JXCE1/∗9 N1/oPt 1a/pDpl1ic/aLb1le S teor iCesE.
165B
LEM
Series
• Mounting interchangeable with LEM LEM25 E-MY E-MY16
the former E-MY series series LEM32 series E-MY25
Basic type/ Cam follower guide type/ Linear guide single axis type/ Linear guide double axis type/
LEMB LEMC LEMH LEMHT
• Can be connected to various types of guide. (LEMB Series)
Floating bracket (Option)
Easy connection to
an external guide.
Two mounting
directions are
available.
Side support (Option)
The body can be fixed from
upward or downward.
Stroke adjustment unit (Option)
To adjust the stroke
end like an air cylinder,
ucsotsreno tktreho elale dLrj EuaCsntdPm 2teh net unit. aStdrjoukste m ent
∗ The movable length of the LEM is the stroke + 6 mm of table movement, at the time of shipment.
• Easy maintenance (LEMC/H/HT Series) Slider
Drive unit
The drive unit and the Dcarpiv es curneiwt retaining
guide unit are
separable.
Easy attachment/
detachment Slide table
Guide unit
166
Electric Actuator
• Motor placement: Mounting position of the • Solid state auto switch can be
motor is user selectable and can either be mounted for checking the limit and
on the top, bottom, left, or right of the actuator. intermediate signal.
L Nil
Symmetric, Top mounting Top mounting
Slot for auto switch
2-color indicator solid state auto switch
LU U
Appropriate setting of the mounting position can be
Symmetric, Bottom mounting Bottom mounting performed without mistakes.
A green light lights up at the optimum operating range.
Motor mounting position Operating ON
Nil Top mounting range OFF
U Bottom mounting
Red Green Red
L∗ Symmetric, Top mounting
LU∗ Symmetric, Bottom mounting Optimum operating range
∗ Can be selected only for the LEMC, LEMH, LEMHT.
Application Examples
Variations
Belt Drive Note) Cannot be used for vertical transfer.
Series Size Equi[vmalemnt] lead Stroke [mm]∗ Work loa[dk:g H]orizontal [Smpmee/sd] Page
LEMB 25 50, 100, 150, 200, 250, 300, 350, 400, 450, 500, 550, 600, 700, 800, 900, 1000, 6 (10)∗∗ 1000 Page 170
Basic type 32 48 (1100), 1200, (1300), (1400), 1500, (1600), (1700), (1800), (1900), 2000 11 (20)∗∗ 1000 Page 170
CamL EfoMllCower 25 48 50, 100, 150, 200, 250, 300, 350, 400, 450, 500, 550, 600, 700, 800, 900, 1000, 10 1000 Page 170
guide type 32 (1100), 1200, (1300), (1400), 1500, (1600), (1700), (1800), (1900), 2000 20 1000 Page 170
50, 100, 150, 200, 250, 300, 350, 400, 450,
LEMH 25 500, 550, 600, (700), (800), (900), (1000) 10 2000 Page 170
Linear guide 48
single axis type 32 50, 100, 150, 200, 250, 300, 350, 400, 450, 500, 550, 600, (700), 20 2000 Page 170
(800), (900), (1000), (1100), (1200), (1300), (1400), (1500)
25 50, 100, 150, 200, 250, 300, 350, 400, 450, 10 2000 Page 170
LEMHT 500, 550, 600, (700), (800), (900), (1000)
Linear guide 48
double axis type 32 50, 100, 150, 200, 250, 300, 350, 400, 450, 500, 550, 600, (700), 20 2000 Page 170
(800), (900), (1000), (1100), (1200), (1300), (1400), (1500)
∗ Strokes shown in ( ) are produced upon receipt of order. Please consult with SMC as all non-standard and non-made-to-order strokes are produced as special orders.
∗∗ ( ): Using an external guide (Provided by customer).
167
INDEX
Model Selection Page 170
Step Motor (Servo/24 VDC)
Electric Actuator/Low Profile Slider Type: Basic Type LEMB Series
How to Order Page 178
Specifications Page 180
Construction Page 181
Dimensions Page 182
Step Motor (Servo/24 VDC)
Electric Actuator/Low Profile Slider Type: Cam Follower Guide Type LEMC Series
How to Order Page 186
Specifications Page 188
Construction Page 189
Dimensions Page 190
Step Motor (Servo/24 VDC)
Electric Actuator/Low Profile Slider Type: Linear Guide Type LEMH/HT Series
How to Order Page 196
Specifications Page 198
Construction Page 199
Dimensions Page 201
Auto Switch Page 210
Specific Product Precautions Page 213
Step Motor (Servo/24 VDC)
Controller
Programless Controller (With Stroke Study)/
LECP2 Series …………………………………………………Page 583
Programless Controller/LECP1 Series …………………Page 576
Step Data Input Type/LECP6 Series ……………………Page 560
Controller Setting Kit/LEC-W2 …………………………Page 569
Teaching Box/LEC-T1 ……………………………………Page 570
CC-Link Direct Input Type/LECPMJ Series …………Page 600
Controller Setting Kit/LEC-W2 …………………………Page 603-2
Teaching Box/LEC-T1 ……………………………………Page 603-3
EtherCAT®/EtherNet/IP™/PROFINET/DeviceNet™/IO-Link
Direct Input Type/JXCE1/91/P1/D1/L1 Series ……Page 603-5
Controller Setting Kit/LEC-W2 …………………………Page 603-10
Teaching Box/LEC-T1 ……………………………………Page 605
Gateway Unit/LEC-G Series …………………………………Page 572
C168
Electric Actuators
Low Profile Slider Type
Basic Type LEMB Series Cam Follower Guide Type LEMC Series
Step Motor (Servo/24 VDC) Step Motor (Servo/24 VDC)
Linear Guide Single Axis Type LEMH Series Linear Guide Double Axis Type LEMHT Series
Step Motor (Servo/24 VDC) Step Motor (Servo/24 VDC)
169
Step Motor (Servo/24 VDC)
Electric Actuator/Low Profile Slider Type
LEM Series
Model Selection
LEMB SeriessPages 178, 179-1 LEMC SeriessPages 186, 187-1 LEMH/HT SeriessPages 196, 197-1
Selection Procedure
Tentative Selection of Guide Mecha-
Step 1 Step 2 Check the dynamic allowable moment. Step 3 Check the cycle time.
nism. Check the speed–work load,
work load–acceleration/deceleration.
Selection Example
Operating conditions
¡Work load: 10 [kg] ¡Workpiece mounting condition
¡Speed: 1000 [mm/s]
100
¡Acceleration/Deceleration: 2500 [mm/s2]
¡Stroke: 600 [mm] W
¡Mounting orientation: Horizontal upward
Step 1 Tentative Selection of Guide Mechanism
Guideline for tentative model selection
Series Type Use of Direct loaded Table Direct mount Moment Max. stroke Max. speed Note
external guide (Horizontal) accuracy Note) (Wall mounting) resistance [mm] [mm/s]
¡Light load transfer
LEMB Basic type 2000 1000 ¡Combining with external guide
¡Long stroke
LEMC Cam follower 2000 1000 ¡Workpiece direct mounting
guide type ¡Long stroke
¡Workpiece direct mounting
LEMH Linear guide Size 25: 1000 2000 ¡Provides more moment resistance than
single axis type Size 32: 1500 the cam follower guide type.
¡High speed transfer
¡Workpiece direct mounting
LEMHT Linear guide Size 25: 1000 2000 ¡Provides more moment resistance than
double axis type Size 32: 1500 the linear guide single axis type.
¡High speed transfer
: Most suitable : Suitable : Usable : Not recommended
Note) The table accuracy means the amount of table deflection when a moment is applied.
In conditions where a moment is generated, tentatively select the LEMH series.
<Speed−Work Load Graph> <Work Load–Acceleration/Deceleration Graph>
Select the target model based on the workpiece Check that the set acceleration/deceleration of the
mass and speed with reference to the <Speed–Work work load is within the allowable range, with reference
Load Graph>. to the <Work Load–Acceleration/Deceleration Graph>.
LEMH32 LEMH32
22 20000
1280 2mm/s]
Work load [kg] 1111024680246 Acceleration/Deceleration [ 115050000000000 S10tr0o10k2 1em050m0 0m o mmr mless
0 500 1000 1500 2000 0 5 10 15 20
Speed [mm/s] Work load [kg]
A170
Model Selection LEM Series
Step Motor (Servo/24 VDC)
Selection Procedure
Step 2 Check the dynamic allowable 500
moment. 10000 mm/s2
5000 mm/s2
400
2500 mm/s2
L2 m] 300
m
m L2 [ 200
20000 mm/s2
100
0
0 5 10 15 20
Based on the above calculation result, Work load [kg]
the LEMH32T-500 is selected.
Step 3 Check the cycle time.
Refer to method 1 for a rough estimate, and method 2 for a more precise value.
Method 1: Check the cycle time graph. (Page 172) m/s] L
Method 2: Calculation V [m a1 a2
Cfoalllocwuliantge ctahlceu lcayticolne mtiemtheo du.sing the CT1a ltcou lTa4ti ocna ne xbaem cpallec)ulated as follows. Speed: T[ims]e
Cycle time:
T can be found from the following T1 = V/a1 = 1000/2500 = 0.4 [s], T1 T2 T3 T4
equation. T3 = V/a2 = 1000/2500 = 0.4 [s]
L: Stroke [mm]…(Operating condition)
T = T1 + T2 + T3 + T4 [s] T2 = L − 0.5·V·(T1 + T3) V: Speed [mm/s]…(Operating condition)
¡T1: Acceleration time and T3: V a1: Acceleration [mm/s2]…(Operating condition)
Deceleration time can be obtained 600 − 0.5·1000·(0.4 + 0.4) a2: Deceleration [mm/s2]…(Operating condition)
=
by the following equation. 1000
T1 = V/a1 [s] T3 = V/a2 [s] = 0.2 [s] T1: ATccimelee ruantitoil nr etiamceh in[sg] the set speed
T4 = 0.3 [s]
T2: Constant speed time [s]
¡T2: Constant speed time can be
Time while the actuator is
found from the following equation. Therefore, the cycle time can be
operating at a constant speed
obtained as follows.
L − 0.5·V·(T1 + T3) T3: Deceleration time [s]
T2 = V [s] T = T1 + T2 + T3 + T4 Time from the beginning of the
= 0.4 + 0.2 + 0.4 + 0.3 constant speed operation to stop
¡T4: Settling time varies depending = 1.3 [s] T4: Settling time [s]
on the conditions such as motor Time until positioning is completed
types, load and in position of the
step data. Therefore, calculate
the settling time with reference
to the following value.
T4 = 0.3 [s]
171
LEM Series
Step Motor (Servo/24 VDC)
Speed–Work Load Graph (Guide)
Step Motor (Servo/24 VDC) ∗ The following graph shows the values when moving force is 100%.
LEMB25 LEMB32
12 22
20
10 18 Combining with external guide
Work load [kg] 468 External guCidoem ubninuisnegd with external guide Work load [kg] 111180246 External guide unused
6
2 4
2
0 0
0 500 1000 0 500 1000
Speed [mm/s] Speed [mm/s]
LEMC25 LEMC32
12 22
20
10 18
Work load [kg] 468 Work load [kg] 111180246
6
2 4
2
0 0
0 500 1000 0 500 1000
Speed [mm/s] Speed [mm/s]
LEMH/HT25 LEMH/HT32
12 22
20
10 18
Work load [kg] 468 Work load [kg] 111180246
6
2 4
2
0 0
0 500 1000 1500 2000 0 500 1000 1500 2000
Speed [mm/s] Speed [mm/s]
Cycle Time Graph (Guide)
LEMB/LEMC (Speed: 1000 mm/s) LEMH/LEMHT (Speed: 2000 mm/s)
3.0 2.0
Acceleration/Deceleration: 2500 mm/s2 Acceleration/Deceleration: 2500 mm/s2
2.5 Acceleration/Deceleration: 5000 mm/s2
Acceleration/Deceleration: 5000 mm/s2 1.5
me [s]2.0 me [s]
Cycle ti11..05 Cycle ti1.0
Acceleration/Deceleration: 10000 mm/s2 0.5 Acceleration/Deceleration: 10000 mm/s2
0.5
Acceleration/Deceleration: 20000 mm/s2 Acceleration/Deceleration: 20000 mm/s2
0.0 0.0
0 500 1000 1500 2000 0 500 1000 1500
Stroke [mm] Stroke [mm]
172
Model Selection LEM Series
Step Motor (Servo/24 VDC)
The following shows the allowable values of
set acceleration to the work loads.
Work Load–Acceleration/Deceleration Graph (Guide) Set the acceleration within the allowable range.
LEMB25 LEMB32
20000 20000
2m/s] 2m/s] Stroke
m Stroke m 1000 mm or less
Set acceleration/deceleration [ 11505000000000 1010200 0m1 5mm0m 0o rm 2lme0s0s0 mm Set acceleration/deceleration [ 11505000000000 12001 5m0m0 m2m000 mm
0 0
0 5 10 0 5 10 15 20
Work load [kg] Work load [kg]
LEMB25 (Combining with external guide)/LEMC25 LEMB32 (Combining with external guide)/LEMC32
20000 20000
2m/s] 2m/s]
m Stroke m
Set acceleration/deceleration [ 11505000000000 110200001 m 5m0mm0 om2r m0le0s0s mm Set acceleration/deceleration [ 11505000000000 S10t1r02o00k 0me 1mm50m o0r m le2ms0s00 mm
0 0
0 5 10 0 5 10 15 20
Work load [kg] Work load [kg]
* Friction coefficient for combining with external guide is 0.1 or less. * Friction coefficient for combining with external guide is 0.1 or less.
LEMH25/LEMHT25 LEMH32/LEMHT32
20000 20000
2m/s] Stroke 2m/s] Stroke
Set acceleration/deceleration [m 11505000000000 1000 mm or less Set acceleration/deceleration [m 11505000000000 1000 m12m00 o mr1 5lme0s0s mm
0 0
0 3 5 8 10 0 5 10 15 20
Work load [kg] Work load [kg]
173
LEM Series
Step Motor (Servo/24 VDC)
* This graph shows the amount of allowable overhang (guide unit) when the
Dynamic Allowable Moment (LEMB Series) ctheen toevre orfh garnagv,i trye foefr tthoe “ wCaolrckupliaetcioen o ovfe Grhuaindges L iona odn Fea dcitroerc”t ifoonr .c Wonhfiermn asetiolenc.ting
Acceleration/Deceleration 2500 mm/s2 5000 mm/s2 10000 mm/s2 20000 mm/s2
ationLmo a: Wd oorvk elorahda n[mgmin]g direction Model: LEMB25/LEMB32
OrientML e :: DOvyenrhaanmg itco tahell owowrka lobalde c mentoerm ofe gnratv [itNy [·mmm]] Speed: 300 mm/s or less Speed: 500 mm/s Speed: 800 mm/s Speed: 1000 mm/s
300 300 300 300
L1 m] 200 m] 200 m] 200 m] 200
m X [mL1 100 [mL1 100 [mL1 100 [mL1 100
0 0 0 0
0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
g Work load [kg] Work load [kg] Work load [kg] Work load [kg]
n
nti 300 300 300 300
u
o
m m L2 m] 200 m] 200 m] 200 m] 200
otto m Y [mL2 100 [mL2 100 [mL2 100 [mL2 100
B
al/
nt 0 0 0 0
zo 0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
ori Work load [kg] Work load [kg] Work load [kg] Work load [kg]
H 500 500 500 500
m 400 400 400 400
m] 300 m] 300 m] 300 m] 300
L3 Z [mL3 200 [mL3 200 [mL3 200 [mL3 200
100 100 100 100
0 0 0 0
0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
Work load [kg] Work load [kg] Work load [kg] Work load [kg]
300 300 300 300
L4 m] 200 m] 200 m] 200 m] 200
m X [mL4 100 [mL4 100 [mL4 100 [mL4 100
0 0 0 0
0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
Work load [kg] Work load [kg] Work load [kg] Work load [kg]
500 500 500 500
m
g 400 400 400 400
n
mounti L5 Y [mm]L5 320000 [mm]L5 320000 [mm]L5 320000 [mm]L5 320000
all 100 100 100 100
W
0 0 0 0
0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
Work load [kg] Work load [kg] Work load [kg] Work load [kg]
300 300 300 300
L6 m] 200 m] 200 m] 200 m] 200
m m m m m
Z [L6 100 [L6 100 [L6 100 [L6 100
0 0 0 0
0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
Work load [kg] Work load [kg] Work load [kg] Work load [kg]
* Vertical mounting is not available.
174