Download - AC SERVO DRIVES DIRECT DRIVE DYNASERV
DYNASERVDIRECT DRIVEAC SERVO DRIVES
Certified forISO9001 andISO14001
JQA-EM0202JQA-0422
Proposing positioning solutions to support the latest manufacturing equipment
10 N∙m and 20 N∙m models with a thickness of 42 mm40 N∙m model with a thickness of 62 mm
Built-in absolute encoder
Flat Profile Models: DR5H00
Absolute Model: DB5C
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High absolute accuracy of ±15 arc seconds (DM1A,DM1B*)
High resolution of 4,096,000 pulses/rev (DM1A)
Large center aperture of 150 mm (DR1A, DR5A)High speed (DR5 )High torque up to max. 500 N∙m (DR5A)
ϕ
Large Center Aperture, High-speed, and High-torque Models: DR1 , DR5
High-accuracy and High-resolution Models: DM1
*: Except the DM1B-006
Direct Drive DYNASERV
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High accuracy
Why use a direct-drive motor? (Comparison with a conventional AC servomotor)
The load is mounted directly to the motor, so the motor accuracy becomes the equipment accuracy, which
contributes greatly to increasing the equipment accuracy.
Furthermore, there is no drop in efficiency due to the presence of a reduction gear or other parts, which helps to
save energy.
The motor’s compact size also enables reducing the equipment size, which helps to reduce both the design
process time and maintenance costs.
The desired operation angle and number of divisions can easily be set, simply by changing the command values.
Example) Index table
DYNASERV
DR5H00
Index table
Reduction gear + encoder
Coupling
AC servomotor
Encoder
Compact equipment
size saves space
Direct-drive motor Conventional AC servomotor
High accuracy
Maintenance-free
Reduced design process time
No backlash or play
f
Energy saving
DM1A
Outer RotorOuter RotorOuteOuter RotoRotorThe outside of
the motor rotates.
High resolution of up to 4,096,000 divisions per revolution.
This is equivalent to 1.5 µm at the tip of a 1,000 mm arm. Absolute
accuracy of ±15 arc seconds, repeatable accuracy of ±1 arc second.
The magnetic circuit uses the hybrid method (magnetic bias method).
This allows achievement of powerful torque at low current and reduces
unnecessary heat generation, which contributes greatly to energy savings.
Low Heat Generation and
Energy Saving
Employs I-PD control that is ideal for direct-drive motors.
High servo stiffness enables remaining motionless even when
subjected to external force.
Resistant to External
Force
Accurate Positioning
Direct DriveDirect Drive DYNASERV
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DYNASERV’s high accuracy becomes the equipment accuracy.The motor force can be directly transmit-ted, and there is no drop in efficiency due to the presence of a reduction gear or other parts.
When a machining accuracy of less than 5 µm is required, please contact your Yaskawa representative.
Direct Drive
Rotation is supported by cross roller bearings, so minimal dust is produced, enabling achievement of Class 10 cleanliness (10 or fewer dust particles of diameter 0.5 µm per 1 cubic feet).
Clean Structure
The hybrid method (magnetic bias method) magnetic circuit achieves powerful torque at low current.In addition, low heat generation is also a major feature of DYNASERV, which suppresses drops in efficiency due to heat generation and other factors.
High Energy Efficiency
Models can be selected with an accuracy of up to 5 µm for axial and radial run-out of the load-mounting surface.
Precision Machining Accuracy
Large center apertureThis is a very convenient structure that enables passing of wiring, a shaft, a laser or other items through the center of the motor.
Convenient Large Center Aperture
Load-mounting surface
Absolute accuracy: ±15 arc secondsRepeatable accuracy: ±1 arc secondResolution: 4,096,000 pulses/revPositioning can be performed in pulse units.
Large center aperture: 150 mmϕ
0.30
10
30
50
00.5 0.8
Particle diameter ( m)
Qua
ntity
(P
artic
les/
ft3
・min
ute)
μ
Permanent magnet flux
Electromagnet flux
Winding
Permanent magnet
Stator
Rotor
Teeth
Axial run-out
Radial run-out
Measurement standard for run-out (axial and radial) accuracy
DM1A
DM1A
DR1ADR5A
The inside of the motor is maintenance-free.
Cross roller bearing
RotorThe outside rotates.
Direct Drive
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The highly-efficient magnetic circuit (hybrid method) reduces motor heat generation and has a high duty, enabling continuous operation. For this reason, DYNASERV is widely used in semiconductor-related equipment. Feed-forward adjustment also enables adjustment time to be shortened and shot yield increased, which helps to greatly improve takt time.
Reasons why customers around the world choose DYNASERV
DM1A
DB5C-005 DB5C-010 DB5C-015
High Accuracy, High Resolution and High Stiffness
Contributes to energy saving
Low Heat Generation and Improved Takt Time Save Energy
Flexible Response to Design Changes
The working range such as the number of divisions or arms can be changed, simply by adjusting the command values.
Easier-to-use Motors
Built-in absolute encoderMotors equipped with an absolute position detection function are also available.
Dedicated Drivers
Dedicated intelligent drivers for DYNASERVThese intelligent drivers aim to enhance control perfor-mance and operability. The built-in auto tuning function enables automatic setting of the optimum servo param-eters according to the load inertia, and various field networks are also supported.
High accuracy
Absolute accuracy: ±15 arc secondsRepeatable accuracy: ±1 arc second
High resolution
Encoder resolution: 4,096,000 pulse/rev
High stiffness
I-PD control
The high-resolution encoder enables highly accurate positioning. In addition, high holding force when stopped makes DYNASERV ideal for applications that require positioning accuracy when stopped.
The motor directly supports the load.
Intelligent Driver DrvG /DrvP
4 kW Class2 kW Class500 W ClassDB5C
DM1A
DR5ADR5E
DR1ADR1E
The use of special high-stiffness bearings (cross roller bearings) increases the resistance to dis-placement and provides excellent load capacity. The motor can also directly support the load.
High Displacement Stiffness and Superior Load Capacity
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DM1A(100 N·m)
DM1B(15 N·m)
DM1C(4 N·m)
DR5H00(20 N·m)
DR5H00(40 N·m)
DR1A(50 N·m)
DR5A(500 N·m)
DB5C(15 N·m)
Convenient ToolA convenient support tool is provided for startup, servo adjustment and maintenance.
Extensive Product InformationNumerous technical materials and other information required for motor and driver operation are available.
Contact SupportContact your Yaskawa representative for inquiries ranging from estimates to troubleshooting.
Extensive Lineup of Over 45 Models
With compact models, slim-type models and large high-output models, the DYNASERV series offers choices well suited to the user’s intended applications.For details, refer to the lineup on page 10.
Conscientious Service and Support
Support for Various Field Networks
Supports high-speed pulse interfaces, MECHATROLINK- , CC-Link and PROFIBUS-DP.
Support for Overseas Standards
UL, CE and KC can also be supported.For more information, contact your Yaskawa sales representative or sales agent.
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Ready!
ConnectionDYNASERV is connected to a computer in which the support tool is installed.
Auto-tuningThe auto-tuning function is used to oscillate the motor, measure the load inertia and load mass, and automatically set the parameters.
Auto filterThe auto filter function measures the frequency response characteristics (FFT measurement), monitors the servo adjustment status, and automatically sets the mechanical resonance suppression filter.
Other useful and convenient functions are also provided.Other useful and convenient functions are also provided.
To further increase the servo stiffnessThe servo stiffness can be set by setting the servo adjustment parameters.This enables adjustment while checking the actual motor status.
To shorten the adjustment timeManual fine adjustment of the feed-forward amount helps to shorten the adjustment time.
A wizard-format support tool helps users navigate through motor startup.This allows even novice users to perform motor adjustment tasks.
Start of operation
The servo stiffness can be adjusted and set by cursor operations.
The feed-forward amount can be finely adjusted manually.
Startup and Servo Adjustment
When More Detailed Servo Adjustment is RequiredWhen More Detailed Servo Adjustment is Required
This tool helps to shorten equipment startup and adjustment times.
Dedicated DYNASERV Support Tool
A convenient support tool is provided for startup, servo adjustment and maintenance.
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For more information, contact your Yaskawa sales representative or sales agent.For a list of sales offices in each district, check the “Contact” page at
http://www.e-mechatronics.com/en/index.html
Oscilloscope function capable of simultaneously measuring 4 channelsA 4-channel oscilloscope function is provided that can monitor all parameters.This enables complete comprehension of the motor operation.The acquired waveforms can be stored in files for use in analysis.
Motor-less operation functionOperation simulations can be performed using only the support tool and driver.This is convenient for debugging control operation with upper equipment, such as during device startup.
Multiple language supportJapanese, English and Chinese (both simplified and traditional Chinese characters) are supported.The display language can easily be changed.
Downloading of user dataParameters can be downloaded and copied.This eliminates the need to adjust each unit separately when manufacturing multiple devices with the same structure.
Error log displayAn error log with up to 16 errors can be displayed.In addition, selecting a displayed error number shows a detailed explanation of that error.
Even More Detailed and Convenient
Maintenance and Troubleshooting
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Extensive Lineup
DM1A
DM1B
DM1C
DR5H00
DR1A
DR1E
DR1B
DR5A
DR5E
DR5B
DR5C
DB5C
264
158160
116
224
264
205
145150
264
205
150
107
107
58
25
25
50
150
76
56
150
76
56
26
26
Moto
r Model
4 5 6 8 10 15 20 30 40 45 50 60 70 100Diamet
er
(mm)Cen
ter Apert
ure D
iamete
r
(mm)
Maximum Output Torque (N・m)
High-accuracy and High-resolution Models
Absolute Models
Large Center Aperture, High-speed, and High-torque Models
Flat Profile Models
An extensive lineup supports selection of
the ideal motor for the user’s equipment.
DM1A-050 DM1A-100
DM1B-006 DM1B-015 DM1B-030 DM1B-045 DM1B-060
DM1C-004
DR1A-050
DR1A-100DR5H00-010 DR5H00-020 DR5H00-040
DR1E-030 DR1E-070 DR1E-100
DR5E-100
DB5C-005 DB5C-010 DB5C-015
DR1B-008 DR1B-015 DR1B-030 DR1B-045 DR1B-060
DR5B-030 DR5B-050 DR5B-070
DR5C-005 DR5C-010 DR5C-015
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High accuracy and high resolution
Built-in optical encoder
Excellent torque-to-weight ratio
Aluminum chassis type
Large center aperture: DR1A, DR5A (Max. 150 mm)
High-speed type: DR5
High-torque type: DR5A (Max. 500 N∙m)
Built-in magnetic encoder
Wide output torque range: DR1A (50 N∙m to 400 N∙m)
Wide variety of models: DR1E (7 models)
Slim shape with low height
Built-in magnetic encoder
Built-in absolute encoder
High-speed type
1.2
2.42.5
2.5
3.6
0.8/1.01.2/1.8
1.22.4
2.4
2.0
4.0
5.0
6.0
6.0
±1
±1±3
±3
±0.4
±3
±3
±3
±3
±4
±5
±5
±5
Max
imum
Spee
d
(rps)
Repea
table
Accur
acy
(arc
sec)
4,096,000
2,621,440
2,621,440
3,407,872
1,638,400
1,228,800
1,015,808
851,968
638,976
557,056
425,984
425,984
Encoder
Res
olutio
n
(puls
e/re
v)
Features
±15
±15±20±60
±20±60
±80
±30
±45
±45
±45
±90
±90
±150
±150
Absolut
e Acc
urac
y
(Typ
.) (a
rc se
c)
130 150 160 200 220 250 300 400 500
Direct Drive
DYNASERV
ϕ
DM1A-150 DM1A-200
DR1A-150 DR1A-200 DR1A-300 DR1A-400
DR1E-130 DR1E-160 DR1E-220 DR1E-250
DR5A-300 DR5A-400 DR5A-500
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μ
Examples of Applications
Roll to Roll
DYNASERV supports the latest manufacturing equipment.
High-accuracy positioning increases equipment performance
High-accuracy feed on the order of several mNo backlash, and reduced torsion and response delaySpace-saving, simple configurationReduced design process time and maintenance costs
High-function Film
Increased bonding accuracyCan be used in clean environmentsImproved takt time and design process time
Smartphones
LED inspection equipment
Secondary Batteries
Handler for IC test system
Supports variable indexing and design changesHigh-accuracy positioning and higher inspection levelsImproved takt time Achieves faster test process times and high-speed transportation.
Semiconductors
LED
DYNASERV directly drives the roll.
Positioning accuracy ±6 m
Crystalline solar cell electrode forming equipment
Touch panel glass bonding equipment
Reduced shadow loss (increased printing accuracy)Easy setup changes (cell size changes)Improved takt time and simple configuration
Photovoltaic Solar Cells
Improved takt time and accuracyReduced effects of temperature and dust
Camera
Electrode forming (Al)
Electrode forming (Ag)
Electrode forming (solder)Firing furnace
(fire-through)
800mm
μ
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Reduced size (space saving) and cost Concentrates the transport functions of two units into a single unit
Improved takt timeExample of improvement: 180° operating time shortened from 0.35 s to 0.25 s
Cycle time 1.8 s (improvement of 10%)
Enables improved takt time and saving of space
DYNASERV also plays an active role in the following fields
Recording Media
Large-scale astronomical telescopes
Low heat generation and high stiffnessHigh-accuracy rotational positioningEnvironmental resistance and optimization of wiring
Science
Space savingSupports design changesReduced equipment design process timeImproved takt time
Electronic component transportation equipment and robots
Electronic ComponentsDVD spattering equipment
Disk import from manufacturing line
Transportation of imported disks to vacuum chamber
Machine tool transportation
Transportation from previous process
Dynamic steering tester
Increased reproducibility of evaluation results
Automotive
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DVD bonding equipment
DYNASERV’s high servo stiffness is ideal for applications needing to remain motionless after stopping.
Variable indexingReduced design process timeImproved takt timeIncreased bonding accuracy
Highly reliable automated linesImproved takt timeReduced equipment design process timeSupports design changes
Assembly lines
Increased cutting accuracy and higher yieldImproved takt timeClamp or brake mechanism not required
High stiffness and high torqueSpace saving
Clean applications
Recording Media
Wafer dicing equipment
Machine Tools
SemiconductorsServo press
Machine Tools
Examples of Applications
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μ
DYNASERV reduces costs
CVD and PVD spattering equipmentIncreased accuracy
Reduced mechanical interference with
vacuum chambers during transportation
Shorter cycle timesSimultaneous transportation of multiple
high-load panels
Cost reductionReduced number of parts
Vacuum chamber
High-speed transport and high-accuracy positioning
Electrode forming equipmentLCD Scriber
LCD
High stiffnessIncreased yieldReduced number of parts
Semiconductors
Increased machining accuracy and higher yieldImproved takt time
Variable indexingReduced design process timeSupports larger indexing table sizesImproved takt time Increased printing accuracy and higher yield
Semiconductors
Offset CD and DVD printers
Recording Media
Scribing linearity: within 20 µm/1,000 mm
Turning: 90°/s
1 pixel
Alignment and repeating motion between 0 and 90°
90° operating time: 0.4 s or lessRepeatable accuracy: ±6 m (±3 arc seconds) or less at a distance of 400 mm from the rotation center
Printing table
Wafer
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DIRECT DRIVEDYNASERV
LITERATURE NO. CHEP S800001 51A
14-7-11Published in Japan September 2014 14-5 0 -1
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2014 YASKAWA ELECTRIC CORPORATION. All rights reserved.
YASKAWA ELECTRIC CORPORATION
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