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一体型ACサーボシステム クールマッスル1 モータ・エンコーダ・ドライバ・コントローラ内蔵

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◆一体型ACサーボシステム
クールマッスルはドライバ・コントローラ・エンコーダ一体型ACサーボシステムです。モータの後ろには磁気ポジションセンサと32ビットのRISCCPUを搭載したインテリジェントドライバ基板が内蔵されており驚異的なコンパクト化に成功しました。

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ドキュメント名 一体型ACサーボシステム クールマッスル1 モータ・エンコーダ・ドライバ・コントローラ内蔵
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Do you need help? ス ス ス ース .... Maintenance Man-hour Cost Space Bad environment Noise Complex programming Design Development cost .... There are various problems in the site. 1
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Solution is COOL MUSCLE クールマッスルという解決法 ー ー ク ー ルー ク ル RS-232C port, multi-axis Closed-loop vector control network with the daisy chain 4 / 2 4 Inputs / 2 Outputs Proprietary OS ス ッ ー ー 解 Stepping Mot o1r Magnetic encoder, 50,000ppr クールマッスル ー ー ー AC ー ス ス ース ス と ー ール い COOL MUSCLE is an All in One design AC servo system with built-in motor, encoder, driver and controller.It contributes to the space-saving, conserve wiring, and cost reduction. You will experience a state-of-the-art motion control. 2
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Concept クールマッスル コンセプト 一体型ACサーボシステム Integrated AC Servo System クールマッスル ー ー AC ー COOL MUSCLE is the integrated AC servo system ス ー と32 ッ RISC combining a drive,controller and encoder. COOL MUSCLE realized its compactification by CPU embedded magnetic encoder and intelligent ク       driver with 32-bit RISC CPU on the back of motor. ー ーシ All in One Solution *Driver ー *Controller ー *Encoder COOL MUSCLE is an all in one solution for your motion control needs. Integrated Driver An intelligent driver mounted on the back of motor テ eliminates an external driver box. Also the intelligent driver allows only necessary current drawn to produce its torque by its power management functionality.That restricts motor’s temperature raise and power consumption. Integrated Controller Based upon a 32-bit RISC CPU, the integrated ー controller offers a wide range of hardware and software features. Motion programs can be stored 32 CPU within the motor, eliminating the need for driver and controller boxes. An added feature of networking capabilities allows communication between motors increasing efficiencies and capabilities whiles decreasing the need for additional hardware. ー High Resolution Magnetic Encoder 50,000 COOL MUSCLE’s high resolution magnetic encoder AC realizes the 50,000 resolution perrotation.It allows a very smooth motion at low speed by its own drive method,the same as AC Servo Drive and also the 3 closed-loop control eliminates mis-steps.
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All in One Solution い ル ス COOL MUSCLE allows you to save space, to と ス ース ス reduce wiring and cost, also to shorten development time. ス Conventional system A typical conventional slider system requires a driver, controller, origin sensor, limit sensor and so on, making the entire system bulky and complicated. Very hard to differentiate your product Bulk wiring Bulky and complicated system High cost Need development and maintenance time クールマッスル ス COOL MUSCLE system COOL MUSCLE eliminates the need for an external driver box, controller and sensors making your system compact and simple. Leave your competition behind with COOL MUSCLE! Wiring reduction Compact and simple system Cost reduction ク ル Shorten development and maintenance time 4
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Types クールマッスル  プ COOL MUSCLE supports three different interfaces; C type for Computer, P type for Pulse control and V type for Analog control. Choose a system that best fits for your needs. C 3 < C type > C type is the most functionable COOL MUSCLE PLC among three choices. A repetitive motion can be executed from PC or PLC by pre-programming it. An arbitrary motion can be executed by sending commands from PC or PLC anytime required. Programs and arbitrary motions can be combined and also an affordable multiple motor control can be realized by a daisy chain network. 1. 1. Pre-program An external controller can be eliminated by PLC pre-programming repetitive motions and store them in the motor. The stored programs can be executed by switches,PC or PLC. Pre-programmed slider system using a C type COOL MUSCLE system 2. ク マ 2. Direct Command If your application requires complex or arbitrary motion, you can send commands directly to the COOL MUSCLE via PC or embedded computer. A slider system with COOL MUSCLE controlled by direct command via PC 3. ッ ーク 3. Network C The development of more simple and affordable multiple motor application by using multiple C type COOL MUSCLE in a daisy chain network. X-Y system using C type COOL MUSCLE in a daisy chain network system XY 5
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P < P type > Replacing your current pulse driven system with P type COOL MUSCLE system will save space and remove problems associated with an open loop stepper. P type COOL MUSCLE system supports both CW/CCW and Pulse/Direction. P P type COOL MUSCLE usage example V (0 +5V) < V type > V type COOL MUSCLE can vary speeds or positions in proportion to voltage input level. Set maximum speed or travel distance with ease by selecting the parameters making it an ideal solution for constant feed systems, and valve applications. Slider system with V type COOL MUSCLE V controlled by a joy stick Cool Muscle Type selection? for a repetitive motion system to perfom complicated motion from PC or dedicated controller to run a multi-axis machine to replace in pulse driver system to improve machine performance to remove problems associated with an open loop stepper to save space and reduce cost to control speed or position with an analog input to save space and reduce cost a simple solution 6
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Features クールマッスル  COOL MUSCLE is packed with features that help you to reduce the size and cost, and also shortening development time of your machines. 01 シ 32 RISC CPU 01. Simple and Compact An intelligent driver with a 32 bit RISC CPU, Magnetic encoder, and motor are all built in right on the motor. No more driver boxes Space saving ALL IN ONE Reduce wiring Shorten development time Motor Encoder Driver Controller 02. Full Closed Loop System COOL MUSCLE is a full closed loop system. The high resolution magnetic encoder and the 02 ー システム intelligent driver board mounted on the back constantly monitors its position and eliminates any miss-step. COOL MUSCLE's power management allows only the optimum current based on load drawn and keeps the motor cool. In addition, COOL MUSCLE generates high torque at low speed by a stepping motor feature. Higher repeatability, stability, and accuracy. Longer motor life Increased power efficiency Reduced need for gear boxes ー ー Closed Loop ー ー コント ー セット ント Controller Input Error ー ック By receiving position input from Open Loop SystemFeedback the sensor COOL MUSCLE Not knowing its position, often know its position and can Target Position resulting in problems such as correct itself. miss-steps and targets. 7
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03 03. Smooth and Accurate Movements The COOL MUSCLE’s high resolution encoder realizes 50,000 resolution per rotation.The vector loop control enables a smooth motion at low speed and it helps reducing the noise in your machinery. AC Provide the same level of performance as AC Servo motor at an affordable pricing Not affected across the ages クトル Speed and Direction Vector Position 1 Vector Drive Control Vector Drive is a servo motor control technique that is different from micro-stepping control and produces smooth movements. Position 2 04 ー 04. User Definable Parameters Set the parameters of your COOL MUSCLE to PID 40 suit your needs. COOL MUSCLE gives you over CML 40 parameters. The parameters can easily be set by using CML. Flexibly change your motor characteristic   Easy Parameter Setting Example K46.1=1 Baseline position is automatically set upon motor initialization using the mechanical stopper. K28.1=7000 4 Set Origin Search to Input4 K34.1=21 2 1 Set Alarm to Output2, Inposition to Output1 K60.1=50 50 Set the torque to 50% in Push Mode ットセン セン コスト No more the Origin / Limit Sensor, saved the cost Software Origin Search COOL MUSCLE can complete an origin search by pushing a mechanical stopper until it reaches specified current level.Then an origin sensor can be eliminated. CW / CCW Software Limit Software Limits can be set at the both CW/CCW sides by parameters. It eliminates the need for limit sensors. 8
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Features クールマッスル  05 CML 05. Easy Programming Language CML COOL MUSCLE Language クールマッスル CML( COOL MUSCLE Language) is a programming CML ス ー マ と language designed for COOL MUSCLE. Programs クール ークス ー ー ル can be easily created by ASC commands on the と free software COOLWORKS LITE or any standard terminal program. Easy programming Shorten development time ー Available the free open software 06 06. Easy to Use [ クト ー ] RS-232C いCML マ ー と <Direct Mode> COOL MUSCLE can be directly operated by just entering the CML commands via RS-232C communication. ク ー Direct mode example ク S.1 = 250 速度設定 Direct operation Set speed by PC <Program Mode> (C type only) A.1 = 100 加速度設定 Programs can be downloaded to COOL MUSCLE Set acceleration so that various motions can be executed by PC P.1 = 10000 目標位置設定 or simple switches. Programmable Max.500 Set target position steps. ^ .1 実行 Execute Great solution for repetitive motion Possible to design more simple and プ ー compact machines クールマッスル ー ー と ス ッ ス ッ 1. Define motion P1.1 = 1000 S A P2.1 = 3000 P マ- T P3.1 = -1000 S1.1 = 100 S2.1 = 300 Speed(S), acceleration(A), A1.1 = 50 position(P) and timer(T)are the motion definition. T1.1 = 100 2. Program ス ッ B1.1 Execute programs A1.1 , S1.1 , P1.1 by switches A1.1 , S2.1 , P2.1 マ- T1.1 S1.1 , P3.1 Define motion programs using the motion profiles defined above. 9
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07 07. Assignment I/O Configure and assign multiple functions to I/Os on COOL MUSCLE. COOL MUSCLE comes / / / ( ) standard with 4 Inputs and 2 outputs that can be used either digital, analog I/O, serial or pulse counters (input only). COOL MUSCLE allows you to assign a function to each signal point. Multiple functions can be assigned to each I/O ports. User flexible applications of these powerfully built in features   Input Function Example Origin search Origin sensor Manual jog Execute Bank1 Motor free Enable motor Execute next step Execute previous step   Output Function Example Alarm In-position Analog output for monitoring 08 ー 08. Virtual Input Signal I/O ports can be used more efficiently by using 2 a unique virtual signal technique. COOL MUSCLE creates the 2nd signal after the set time interval 1 from an original signal. Multiple functions can be assigned to an input by the virtual signal technique that can be set by parameters. I/O Eliminates the external I/O board Cost reduction Real Signal Target Voltage Level Rising Edge Quick Response Signal Falling Edge Stop Target Voltage Level Falling Edge Slow Response Signal Rising Edge Motor free Motor enable Time delay 10
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Features クールマッスル  09 (C 09. Push Motion (C type only) Push Motion can be activated for a given time at a given current level which realizes to push a rod to a work just as a typical pneumatic cylinder. Speed S3 A1 A1 S1 P1 P2 0 Time Torque Torque limit set by Parameter ルク ー Pushing 0 Time Time duration set by Parameter ー Push Motion 10. Advanced Motion 10 COOL MUSCLE supports standard PTP motion サ ー control, as well as wide variety of custom programmed movement. Speed or acceleration PTP can be changed real-time during the motion. COOL MUSCLE supports advanced functions such as continuous PTP motion (Merge Motion) PTP with different acceleration and deceleration. PTP Standard PTP Speed S2 A1 A1 S1 A1 A1 A1 A1 P3 P1 P2 T1 T1 Time マー Merge Motion Speed S3 A2 A2 S2 A1 P3 S1 A1 P2 P1 Time PTP PTP with different acceleration and deceleration Speed S1 A1 A2 P1 P2 Time 11
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11 ー 11. Network COOL MUSCLE system provides a low cost networking solution. Multiple COOL MUSCLEs D- can easily be daisy chained by adding network cards. Standard D-sub 9 pin cable can be used SUB for network cables that provides a cost reduction. CML Visual Basic C++ Simple and low cost network solutions 15 Available the Multi-axis control up to 15 axes ー ッ ーク  Daisy Chain Network PC or PLC マス ー ー ス ー ー ス ー ー Master Motor Slave Motor Slave Motor 12 ー 12. Gain Tuning PID COOL MUSCLE systems can be tuned with three simple parameters. PID Simple tuning solution Shorten mechanical development time Positioning P + Torque Positioning PComImand 1DVelocity PositionCommand I x Integral Integral Output- InertiaD Position Loop Position Feed Back Simple 12
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Software ト ー ー ス  COOLWORKS LITE COOLWORKS LITE クール ークス と クールマッスル ー クールマッスル い ス う ー とい クールマッスル い マッスル ー ー ー いい www.musclecorp.com COOLWORKS LITE is our free open software for COOL MUSCLE motors for ease of use and to shorten development time. ー ー COOLWORKS LITE includes all the basic function that are required for parameter setting, program creation, jogging and status MotorData / Information monitoring. Confirmation of the speed data COOLWORKS LITE is available for free at the MUSCLE's web site. and parameters www.musclecorp.com ム クール ークス ProgramExecution FunctionalDescr Execution / Pause of program, etc.iption ー クールマッスル Sent Data Display data sent to Cool Muscle ー クールマッスル Motor Response Display the data received from Cool Muscle CML ー マ ー CMLEditor Edit and send マ Parameters and commands Command Line Enter commands in a single line and send ー Set the parameter Draw the graph ーシ Calculate the motion 13
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Accessories クセ /     C A B L E ー ー ル Motor Cable RS232C ー ル RS232C Cable スト ート ー ル Straight Cable CM1C1-400S (400mm) CM1C2-2000A (2000mm) CM1DC1-SSC-1800 (1800mm) ー ル ル ー ー ル D-SUB9 ル ー ル ー Standard Motor Cable. ー ッ ーク ー RS232C Cable is required to connect Cool Muscle Straight Cable is required for daisy chain to a serial port of PC. You would need it for various networking using an interface card. of setting. NETWORK CARD POWER SUPPLY EtherCAT CM1DC1-MBSC CM1DC1-SBSC CM1DC1-CASE CMPS-XMUS-150 CMPS-XMUS-240 EtherCATクールマッスル ッ ス ー EtherCAT COOL MUSCLE Bridgeス ー ース 150W/6A 240W/10A Master Card Set Slave Card Set Network Card Case  EB01(CM1)  EB12(CM1-CM2) ー ッ ーク ー ク クールマッスル ッ ーク 1 マス ー ッ 2 ス ー ッ い クールマッスル ッ い い ー ル ー ル ー ル ス ー ー ル Designed specifically for Cool Muscle, EtherCAT COOL MUSCLE Bridge that adapts / Daisy chain Cool Muscle systems using Network cards. our power supply is built to withstand connects COOL MUSCLE to EtherCAT network. *Separately Straight Cable for Network required. current draw spikes that hard stops or * Separately CM* communication cable, power cable starts often require. and LAN cable required. マス ー ー ス ー ー Master Card Slave Card Conformance tested A C T U A T O R   G E A R   サーボ ー Servo Actuator Gearbox クールマッスル Integrated actuator with COOL と A wide range of high quality ー ー ク MUSCLE embedded with a driver, ー い gearboxes are available to suit your ー ー controller and encoder. It allows you application needs. ー ス ッ ーク ス to build a low cost and very precise ック ッ ス Combine a high precision, low と network system with Max.15-axis ー クールマッスル backlash, zero maintenance, ー ク ー over daisy chain. Many different と durable gearbox with a Cool Muscle い kinds of servo actuators can be ー と い to maximize performance. easily combined to form ideal servo systems. 14
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Specifications 型 Model Name CM1 - C - 17L 30C ール ー Control Type Motor Size Length Max. Speed C… ー Computer Type 11…28 L… Long 30…3000 rpm P… ルス Pulse Type 17…42 S… ー Short 20…2000 rpm EMC RoHS V… Analog Type 23…56 *COOL MUSCLE is the products that meet the EMC & RoHS. CM1- -11L / S MODEL CM1- -11L30A CM1- -11S30A [ ] Motor Output [W] 18 9 Max. Speed [rpm] 3000 3000 [Kgfcm](Nm) Rated Continuous Torque [Kgfcm] (Nm) 0.56 (0.055) 0.28 (0.027) [Kgfcm](Nm) Peak Torque [Kgfcm] (Nm) 0.8 (0.078) 0.4 (0.039) [g cm 2] Load Inertia [g cm 2 ] 180 80 18 8 [g cm 2] Motor Inertia [g cm 2 ] Depending on the load inertia, servo gain needs to be adjusted within the above range : adjustable by parameters Encoder Incremental Magnetic Encoder (50,000 pulses / Rotation) Control Method Closed Loop Vector Control Input Supply Voltage DC24V± 10% 1.2 / 1.5 A 0.8 / 1.0 A Input Supply Current Rated / / ( Continuous Torque / Rated Peak Torque ) ( Continuous Torque / Rated Peak Torque ) / Resolution ( Pulse / Rotation ) From 200 to 50,000 Set by parameter [g] Mass [g] 300 240 / 0 40 / -20 60     Operating/Storage Temperature 0 +40 / -20 +60 No Condensation condition) 90 RH  Environment Operating Humidity Less Than 90% RH / 10G / 1G Impact / Vibration Less than 10G / Less than 1G ー Torque Curve CM1- -11L30A CM1- -11S30A 0.9 0.45 0.8 0.40 0.7 0.35 0.6 0.30 0.5 0.25 0.4 0.20 0.3 0.15 0.2 0.10 0.1 0.05 15 0 0500 1000 1500 2000 2500 3000 RPM 500 1000 1500 2000 2500 3000 RPM Torque (Kgfcm) Torque (Kgfcm)
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CM1- -17L / S MODEL CM1- -17L30C CM1- -17S30C [ ] Motor Output [W] 18 18 Max. Speed [rpm] 3000 3000 [Kgfcm](Nm) Rated Continuous Torque [Kgfcm] (Nm) 3.7 (0.36) 0.84 (0.082) [Kgfcm](Nm) Peak Torque [Kgfcm] (Nm) 5.3 (0.518) 1.2 (0.117) [g cm 2] Load Inertia [g cm 2 ] 760 380 74 36 [g cm 2] Motor Inertia [g cm 2 ] Depending on the load inertia, servo gain needs to be adjusted within the above range : adjustable by parameters Encoder Incremental Magnetic Encoder (50,000 pulses / Rotation) Control Method Closed Loop Vector Control Input Supply Voltage DC24V± 10% 1.5 / 1.8 A 0.8 / 1.0 A Input Supply Current Rated / / ( Continuous Torque / Rated Peak Torque ) ( Continuous Torque / Rated Peak Torque ) / Resolution ( Pulse / Rotation ) From 200 to 50,000 Set by parameter [g] Mass [g] 480 330 / 0 40 / -20 60     Operating/Storage Temperature 0 +40 / -20 +60 No Condensation condition) 90 RH  Environment Operating Humidity Less Than 90% RH / 10G / 1G Impact / Vibration Less than 10G / Less than 1G ー Torque Curve CM1- -17L30C CM1- -17S30C 6.00 1.4 5.00 1.2 4.00 1.0 3.00 0.8 2.00 0.6 1.00 0.4 0.00 0.00 0 500 1000 1500 2000 2500 3000RPM 0 500 1000 1500 2000 2500 3000RPM 16 Torque (Kgfcm) Torque (Kgfcm)
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Specifications CM1- -23L / S MODEL CM1- -23L20C CM1- -23S30C [ ] Motor Output [W] 30 45 Max. Speed [rpm] 2000 3000 [Kgfcm](Nm) Rated Continuous Torque [Kgfcm] (Nm) 8.9 (0.87) 3.0 (0.294) [Kgfcm](Nm) Peak Torque [Kgfcm] (Nm) 12.7 (1.24) 4.3 (0.42) [g cm 2] Load Inertia [g cm 2 ] 4600 1400 360 100 [g cm 2] Motor Inertia [g cm 2 ] Depending on the load inertia, servo gain needs to be adjusted within the above range : adjustable by parameters Encoder Incremental Magnetic Encoder (50,000 pulses / Rotation) Control Method Closed Loop Vector Control Input Supply Voltage DC24V± 10% 2.6 / 3.4 A 3.9 / 5.1 A Input Supply Current Rated / / ( Continuous Torque / Rated Peak Torque ) ( Continuous Torque / Rated Peak Torque ) / Resolution ( Pulse / Rotation ) From 200 to 50,000 Set by parameter [g] Mass [g] 1100 550 / 0 40 / -20 60     Operating/Storage Temperature 0 +40 / -20 +60 No Condensation condition) 90 RH  Environment Operating Humidity Less Than 90% RH / 10G / 1G Impact / Vibration Less than 10G / Less than 1G ー Torque Curve CM1- -23L20C CM1- -23S30C 14.0 4.5 12.0 4.0 10.0 3.5 8.0 3.0 6.0 2.5 4.0 2.0 2.0 1.5 0.00 1.00 0 500 1000 1500 2000 RPM 0 500 1000 1500 2000 2500 3000RPM 17 Torque (Kgfcm) Torque (Kgfcm)
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CM1- -11L/S Dimension (UNIT : mm) 38.6 4-M2.6 Dep 3MIN D-cut 10±0.5 ±0.2 23 ±0.2 1.5 28 ±0.3 15±0.5 18.6 19 L Model Name L CM1- -11L30A 85 CM1- -11S30A 71 CM1- -17L/S Dimension (UNIT : mm) Model Name L1 L CM1- -17L30C 51.5 75.5 CM1- -17S30C 36.5 60.5 18 28 ±0.3 23 ±0.2 53 0 22 -0.025 5 0-0.012 4.5±0.2 53
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Specifications CM1- -23L/S Dimension (UNIT : mm) Model Name L1 L CM1- -23L20C 76 100 CM1- -23S30C 42 66 Connection Example COOL MUSCLE Controller Connector DC+24V IN) DC+24V1 External Power GND1 2 Supply Source DC+24V 10mA INPUT1+ Current Limiter10 1k INPUT1- 8 10mA INPUT2+ Current Limiter 9 1k INPUT2- 3 DC+5V INPUT3 4.7k 4707 DC+5V 470pF DC+24V INPUT4 6 4.7k 470 470pF *R OUTPUT1 5 6mA MAX) *R OUTPUT2 4 6mA MAX) DC+5V(OUT) DC+5V12 10mA MAX) GND2 11 *R=4.7k (DC24V (An example of using with the power DC24V) 1-12 *Number of 1-12 is PIN No. 19