TamagawaHighly Accurate High Speed Servo System (Optical encoder Type)
TBL-iⅡSeries (AC Servomotor / Driver)
Highly Accurate High Speed Servo System (Optical encoder Type)
Specification list
TS4601, TS4602, TS4603, TS460
TS4606, TS4607, TS4609, TS4610
TS4611, TS4612, TS4613, TS4614
AC Servo Driver TA8110Series
The smallest and lightest in the industry
Super-compact design achieved by downsizing our existing motors by 25% (in case of 750W motors).
-
Equipped with a 17bit high resolution (130thousand pulse) Absolute / Incremental encoder
-
High speed setting
-
Fewer wires
-
Compliant with IP65 (excluding the connector and the shaft through hole)
-
Robot cables are employed as standard motor cables
Features
-
Super-Compact Size 25% downsizing of 750W motors compared with our conventional motors.
-
Comes with 17bit encoder as standard equipment. (17bit ABS, 17bit INC)
*Models with built-in encoder (2000C/T, 2048C/T, 14cores, fewer wires) as an option are also available.
-
Satisfies overseas industrial standards.
Possible to conform with UL, CE standards.
Specifications
|
Mounting Flange [mm]
|
□40
|
|
Model
|
TS4601
|
TS4602
|
TS4603
|
TS4604
|
|
Voltage [V]
|
100/200
|
|
Output [W]
|
30
|
50
|
100
|
150
|
|
Rated Torque [N･m]
(kgf･cm)
|
0.095
(0.97)
|
0.159
(1.62)
|
0.318
(3.25)
|
0.477
(4.87)
|
|
Maximum Torque [N･m]
(kgf･cm)
|
0.29
(2.9)
|
0.48
(4.9)
|
0.95
(9.7)
|
1.43
(14.6)
|
|
Rated Current [Arms]
(AC100V/AC200V)
|
0.7/0.4
|
1.1/0.6
|
1.8/1.1
|
3.0/1.5
|
|
Rated Rotation Speed [min-1]
|
3,000
|
|
Maximum Rotation Speed [min-1]
|
5,000
|
|
Rotor Inertia
[GD2/4]
[×10-4kg･m2]
(gf･cm･s2)
|
Standard
|
0.012
(0.013)
|
0.019
(0.019)
|
0.035
(0.035)
|
0.051
(0.052)
|
|
With brake
|
0.023
(0.023)
|
0.029
(0.030)
|
0.045
(0.046)
|
0.059
(0.06)
|
|
Approximate Mass [kg]
|
Standard
|
0.3
|
0.4
|
0.5
|
0.6
|
|
With brake
|
0.5
|
0.6
|
0.7
|
0.8
|
|
Mounting Flange [mm]
|
□60
|
|
Model
|
TS4606
|
TS4607
|
TS4609
|
TS4610
|
|
Voltage [V]
|
100/200
|
200
|
|
Output [W]
|
100
|
200
|
400
|
600
|
|
Rated Torque [N･m]
(kgf･cm)
|
0.318
(3.25)
|
0.64
(6.5)
|
1.27
(13)
|
1.91
(19.5)
|
|
Maximum Torque [N･m]
(kgf･cm)
|
0.95
(9.7)
|
1.91
(19.5)
|
3.82
(39)
|
5.73
(58.5)
|
|
Rated Current [Arms]
(AC100V/AC200V)
|
1.8/0.9
|
3.5/1.7
|
5.6/3.3
|
5.1
|
|
Rated Rotation Speed [min-1]
|
3,000
|
|
Maximum Rotation Speed [min-1]
|
5,000
|
|
Rotor Inertia
[GD2/4]
[×10-4kg･m2]
(gf･cm･s2)
|
Standard
|
0.086
(0.088)
|
0.18
(0.19)
|
0.34
(0.35)
|
0.52
(0.53)
|
|
With brake
|
0.18
(0.18)
|
0.28
(0.28)
|
0.44
(0.45)
|
0.61
(0.6)
|
|
Approximate Mass [kg]
|
Standard
|
0.6
|
0.9
|
1.3
|
1.7
|
|
With brake
|
0.9
|
1.4
|
1.8
|
2.2
|
|
Mounting Flange [mm]
|
□80
|
|
Model
|
TS4611
|
TS4612
|
TS4613
|
TS4614
|
|
Voltage [V]
|
100/200
|
200
|
|
Output [W]
|
200
|
400
|
600
|
750
|
|
Rated Torque [N･m]
(kgf･cm)
|
0.64
(6.5)
|
1.27
(13)
|
1.91
(19.5)
|
2.39
(24.4)
|
|
Maximum Torque [N･m]
(kgf･cm)
|
1.91
(19.5)
|
3.82
(39)
|
5.73
(58.5)
|
7.16
(73)
|
|
Rated Current [Arms]
(AC100V/AC200V)
|
3.0/1.5
|
2.8
|
4.4
|
5.0
|
|
Rated Rotation Speed [min-1]
|
3,000
|
|
Maximum Rotation Speed [min-1]
|
5,000
|
|
Rotor Inertia
[GD2/4]
[×10-4kg･m2]
(gf･cm･s2)
|
Standard
|
0.29
(0.29)
|
0.55
(0.56)
|
0.87
(0.89)
|
1.07
(1.09)
|
|
With brake
|
0.51
(0.52)
|
0.77
(0.79)
|
1.10
(1.12)
|
1.29
(1.32)
|
|
Approximate Mass [kg]
|
Standard
|
1.1
|
1.6
|
2.2
|
2.5
|
|
With brake
|
1.9
|
2.4
|
3.1
|
3.4
|
AC Servo Driver TA8110Series
Out of production (Max 750W)
Utilizing high speed DSP and software, this digital control driver can be used in combination with the TBL-iⅡSeries.
Click here to EU6651 : Software for Setting Parameters of TA8110
Features
Features
-
Servo driver utilizing high speed DSP
-
A broad line up
･A wide variety of motors from 30W to 750W, conforming to 17bit incremental (or absolute) encoder.
-
Allows setting of different parameters
･Setting made by using push button switches on the panel
-
Comes with a restore circuit and a dynamic brake as standard equipment.
-
Supports many functions
･Low oscillation control is possible even for low rigidity mechanisms by using a control filter function.
･A function of easily dividing encoder signals
･An electronic gear function
･A feed forward function, etc.
-
Comes with an external encoder input circuit for position control as standard equipment.
-
A 17bit encoder makes this unit well suited for control system requiring high response.
-
Conforms with overseas industrial standards.
･CE marking.
|
Basic Specifications
|
|
Driver Model
|
TA8110N***
|
|
Control Model
|
Position, Speed or Current control (by selecting parameter)
|
|
Motor Driver System
|
Transistor PWM, sine wave drive
|
|
Angle Sensor
|
17bit absolute / incremental encoder (line driver output)
|
|
Operating Temperature
and Humidity
|
0∼50°C 90%RHmax. (No condensation)
|
|
Construction
|
Base mount type
|
|
Model-Specific Specifications (classified by N number)
[I/F Voltage:5V Sensor:17bit encoder]
|
|
N Number Models
|
N311
|
N312
|
N313
|
N314
|
N321
|
N322
|
N323
|
N324
|
|
AC Power Input
|
AC100/115V±10% 50/60Hz
|
AC200/230V±10% 50/60Hz
(Single phase/3phase)
|
|
Rated Output Current (Arms)
|
1
|
2
|
4
|
6
|
1
|
2
|
4
|
6
|
|
Instantaneous Maximum Current (Arms)
|
3.39
|
5.66
|
11.3
|
17.0
|
3.39
|
5.66
|
11.3
|
17.0
|
|
Motor Output
(reference)
|
(50W)
|
(100W)
|
(200W)
|
(400W)
|
(100W)
|
(200W)
|
(400W)
|
(750W)
|
|
Model-Specific Specifications(classified by N number)
[I/F Voltage:24V(5V command pulse) Sensor:17bit encoder]
|
|
N Number Models
|
N331
|
N332
|
N333
|
N334
|
N341
|
N342
|
N343
|
N344
|
|
AC Power Input
|
AC100/115V±10% 50/60Hz
|
AC200/230V±10% 50/60Hz
(Single phase/3phase)
|
|
Rated Output Current(Arms)
|
1
|
2
|
4
|
6
|
1
|
2
|
4
|
6
|
|
Instantaneous Maximum Current (Arms)
|
3.39
|
5.66
|
11.3
|
17.0
|
3.39
|
5.66
|
11.3
|
17.0
|
|
Motor Output (reference)
|
(50W)
|
(100W)
|
(200W)
|
(400W)
|
(100W)
|
(200W)
|
(400W)
|
(750W)
|
|
Functions and Features
|
|
FUNCTIONS
|
Protective functions
|
Hardware Error
|
Excess-speed, power element error(excess current), Sensor error, drive power supply error, EEPROM error, CPU error, etc.
|
|
Software Error
|
Overload, differential counter overflow, etc.
|
|
Display and Setting
|
4-digit LED display, 6 setting buttons, Display control mode, alarm and control signal input status.
|
|
Parameter Settings
|
The following parameters can be set on the front setting board.
|
･Control mode
|
･Speed limit
|
･Acceleration limit
|
|
･Position loop gain
|
･Current limit
|
･Encoder division setting
|
|
･Speed loop gain
|
･In-position range
|
･Electronic gear ratio
|
|
･Speed loop integral gain
|
･Analog command scale
|
･Excess speed alarm bell
|
|
･Feed forward amount
|
･Analog command scale offset
|
･Overload alarm bell
|
|
･Resonance filter
|
･Zero clamp voltage
|
|
|
|
Positioning Accuracy
|
±1 pulse or less (command standard)
|
|
Analog Command resolution
|
±11bit
|
|
Auto-Tuning
|
Built in. Performed by changing modes
|
|
Electronic Gear
|
Position control is performed by comparing the command pulse multiplied by N/M with the sensor resolution.
N,M=1 to 9999
|
|
Gain-switch Function
|
Possible to switch control gain by position deviation and speed deviation.
Switching by signal input is also possible.
|
|
External Resolver Input
|
Full closed position control is possible by feeding back a load shaft resolver.
|
|
Acceleration Limit
|
Controls acceleration/deceleration below setting value when speed control mode is on.
|
|
Zero clamp Function
|
Speed/Current command is set to"0" when analog command is below setting value.
|
|
Recommended Load Inertia
|
JL=≦30LM
|
|
Rotation Direction
|
Both directions. CCW rotation viewed from a motor shaft end is standard.
|
|
Regeneration Function
|
Regeneration circuit is built in. External resistor(option)
|
|
Dynamic Brake
|
Built in. Operating conditions are set by parameters.
|
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Real time output (High tracking rate: 240,000min-1 for 10 bit resolution)
Single power supply of DC5V (Integrated oscillator for exciting resolver: 10/20kHz)
Small size and light weight (10×10mm,Pin interval : 0.65mm, 52pins TQFP, Mass.0.3gram)
Built-in test (Abnormality detection) function
Pulse / Parallel / Bus serial (Selectable)
Resolution of 10/12 bit (Selectable)
Single power supply of DC5V (Integrated oscillator for exciting resolver: 10/20 kHz)
Capable to set the number of poles for UVW (Selectable from X1, 2, 3, 4)
Clock input (20MHz) : External CLK input / Crystal resonator / Ceramic resonator (Selectable)
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