Catalog 8000-4/USA

Intro d u ctio n DYNASERV

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The torque/speed curve of the various Dynaserv models is very
Position control – up to 4,096,000 steps/rev flat. This results in high acceleration at high speeds (4.0 rps)
Speed control – ±10V Velocity command input
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with good controllability.
Torque control – stable response at ±8V input
This type of flexibility combined with a high torque/weight
The very low velocity and torque ripple of the Dynaserv
ratio, high accuracy, faster settling times, high torque at high
contribute to its excellent speed controllability.
speed, smooth rotation, optimum tuning and clean operation all
add up to cost effective high performance alternative to the Speed Ripple Torque Ripple
(DM1150A) (DM1015A)

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traditional motor and speed reducer combinations.
20

Conditions
• Load 30 x Rotor Inertia
The Dynaserv motors are designed with a permanent magnet 15
• Rotation: CW
• Speed Mode
constructed of rare-earth materials located at the center of the 15.3
15
stator core. 14.7

Ripple (%)
10 5%

Torque (N • m)
5
Torque (Power)/Weight Comparison
5000
5
Power (W)

3
2000

0
0.2 0.4 0.6 0.8 1.0 1.2 0° 90° 180°
++ 270° 360°
1000
+ Revolution (rps)
ER
V
) Rotational Angle (deg.)

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Max. Torque x Rated Speed

th
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at
200 tu
Ac
er
vo Dynaserv systems offer the user a tuning mode that simplifies
S
100 / AC the setting of optimum parameters for the actual load. Turning
DC
on the "test" switch on the front panel of the drive produces a
50
test signal. Utilizing an oscilloscope the gain settings are quickly
optimized by adjusting the digital switches and potentiometers

MON P- J '#1#"*-

20
on the front panel.

10
2 4 10 20 42 108 216 The Dynaserv system is brushless and gearless which results in
Weight (lbs) a maintenance-free operation. W ith preparation, the DM Series
can operate in Class 10 environments.
ghPUG- Power/W eight Comparison

Measured by: LPC-101 Particle Counter

Dynaserv motors eliminate the backlash or hysteresis inevitable Made by: PMS Corp.
in using any speed reducer. Absolute positioning of 30 arc-sec Source: He-Ne Lazor Light
is typical with a repeatability of ±1 arc-sec.
iPUL"*%T">" N - !Q)! Min. Resolution:
Sampling:
0.1 micro meter (Particle Diameter)
0.1 Cubic feet/min.
The Dynaserv system reduces machine cycle times by de-
creasing settling times. This result is realized because of the
"gearless" design and sophisticated "I-PD" control algorithm.
COUNT (Count/ft3 • min)

VERTICAL 5 AXES ROBOT 50

(µm)
Using Traditional Motors/Reducers
100

50
Distance

0 30
-20 Time (sec.)
-50

-100

0.25 0.8 Settling Time

Travel Time 10
(µm)
SCARA 4 AXES ROBOT
100
Using “DYNASERV”
0
50
0 0.3 0.5 0.8

Diameter (µm)
Distance

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0
Time (sec.)
-20
-50 0.2 0.2

Settling Time
-100

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Travel Time


   154 Parker Hannifin Corporation

Compumotor Division
[Link]
Catalog 8000-4/USA
Introduction DYNASERV
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‰š‘P• •—–›P‘#ˆ*–‰‹’\’G˜ ›P‘P’Gœ The Dynaserv has high accelerations lending itself to high
¤¥¦¥¦§[¨ª©G« ¬ ¶ ´G¥¦µG§[·¡°C¸ ®´™³[´G¹™ºª§[³[¥¦»¯²8¸ ´G¼ speed point-to-point positioning applications requiring low
cycle time. In scanning and inspection applications the
• Base machine • Three dimensional
outstanding low speed performance will be of merit.
• Pick and place measuring
• Inserter/mounter • Goniometer Tool turret

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• Non-destructive x-ray

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• Handling
• Clean room • Machining center work
• Universal table
• Press roll feed
±*² ³[´G¥¦µG®²8° • Grinder table
• Turn table ¿ ®¨ª¨ª§[² ·¡¸ ³[«
• Belt conveyor
• Three-dimensional • Printing machines
warehouse • Medical equipment

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• Follow-up equipment

By attaching a small arm or linkage to the Dynaserv, very high

Rotary table for assembly
velocities can be attained. This type of design has been used
on a wide variety of equipment, such as a chip mounting ,‰ ‰#ˆ>–›#’
machine. On this machine accuracies of 30 arc-sec are
Dynaserv direct drive motors were first developed to drive
maintained with very high arm speed.
SCARA (Selective Compliance Assembly Robot Arm) in
Dynaserv motor for arm
Dynaserv motor applications requiring repetitive and physically taxing

B
for X axis
operations.

Printed
circuit board

Feeder

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The Dynaserv system eliminates the need for gear reduction
and allows for direct control of the nip roll in most feed-to-
length applications. The ability to effectively control loads up to
100 times its own rotor inertia allows the Dynaserv to be
applied in a variety of machines. The net result of specifying a
Dynaserv system is increased repeatability of the feed material. SCARA robot
for assembly

Peripherals for robot

Roll Feeder

Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.

{m|}~€  } ‚ ~ƒ 155 Parker Hannifin Corporation

Compumotor Division
[Link]
Catalog 8000-4/USA
Introduction DYNASERV

Motor Construction and Operation

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The torque is proportional to the square of the sum of the bias
magnetic flux Øm, due to the permanent magnet and the
çè éªê φ ë ì
excitation magnetic flux of windings.
φ
é¡íî Rotor Φm
Φm
High torque is generated due to the following factors. First, Φc

the motor diameter is large. The tangential forces between

rotor and stator act at a large radius, resulting in higher torque.
Secondly, a large number of small rotor and stator teeth create
many magnetic cycles per motor revolution. More working Excitation
cycles means increased torque. coil T

Direct drive systems couple the load of the system directly to Permanent
the motor without the use of belts or gears. Most servo motors, Stator A magnet
brushed or brushlesss, often lack adequate torque or resolution Stator B
to satisfy application needs. Therefore, mechanical means,
such as gear reduction systems are implemented to meet
system requirements. The Dynaserv can provide very high
torque in a modest package size and solve many of the ËPÌ ÍÎÏÐÑÐÓÒÕÔÑ[ÖKÏ×Ø>ÙÑ!ÚÛÜ ÝPÞLÑ#ßCàá!ÏØ>Ï#ßá!ÏÐ ÑÎÚOá
performance issues of the gear reducer. All this in a system that
is as easy to use as a stepping motor. PDA kit
Encoder plate
The figure below shows the construction of the Dynaserv DM
LED kit
Series direct drive motor compared to a conventional motor
Clamp ring
with a gear reducer. As shown in the figure, the gear reducer Housing kit
relies on frictional contact to reduce the speed of the load. This Retaining
gearing effectively increases torque and resolution but sacri- ring
Encoder
fices speed and accuracy. The direct drive motor is brushless Stator core

and gearless so it eliminates friction from its power transmis- Rotor core
sion. Since the feedback element is coupled directly to the Housing

load, system accuracy and repeatability are greatly increased Hub

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and backlash is eliminated.

Core
Gear reducer DC/AC motor Bearing Rotating
element
Encoder PCB
Slit plate • Friction introduces inaccuracies and non-linearities
Stator • Gearing reduces stiffness at the load
element The motor contains precision bearings, magnetic components
and integral feedback in a compact motor package. The motor
is an outer rotor type, providing direct motion of the outside
housing of the motor and thus the load. The cross roller
bearings which support the rotor have high stiffness, to allow
Encoder the motor to be connected directly to the load. In most cases is
Rotor core Stator core
is not necessary to use additional bearings or connecting
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• Backlash limits positional accuracy
• Gearing causes a trade-off between speed and resolution
• Inefficiently transfers torque

ÃÄÅÆÇ È Å É ÆÊ 156 Parker Hannifin Corporation

Compumotor Division
[Link]
Catalog 8000-4/USA
Introduction DYNASERV

Selecting your Dynaserv

The normal principals of servo motor sizing apply to the
Dynaserv, but there are a few special considerations to keep in
mind.

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lb-ft (N-m)
296 (400)
The speed torque curves in this section represent the peak DR1400A
available torque. Continuous torques are approximately 2/3 of 259 (350)
the peak value. Use one-half of peak torque for the DM1004.
222 (300)

185 (250)
DR1300A

Torque
DR1200A
148 (200)

111 (150)

74 (100)
DR1100A

37 (50)

0 0
0 0.5 1.0 1.5 2.0
Speed-RPS

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When selecting the right Dynaserv for your application, the
inertia match between the motor and load is a critical factor. M ^ ™cš O ^ ` V Y
[ iCi f V \ ^ ` V YCg ›C_ iCT œ Qž Ÿ¡ ¢KQ£“Ÿ ¤ ŸK¥ ¦

B
The specifications listed in this section are for a 30:1 load to
rotor inertia ratio. The following table lists the recommended
ratios for specific application types. Actual results will depend High throughput applications 5-10
highly on the usage, so these values are just for reference (printing machines, chip mounting)
purposes. It is always a good idea to add 30-50% safety
margin in sizing calculations. General high speed applications 20-30
(SCARA robot, transfer arms)

High speed but balanced load 50-100

applications
(Rotary Index, Rotary Tables)

High accuracy, slow speed 100-200

applications
(Measuring E quipment)

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When selecting the motor type, the decision comes down to a
trade-off of resolution, accuracy, speed, and cost. Please use LNM LO LOQPR RR
this table to match your specific application requirements to the S#TU:V T W S#TU:V T W S#TU:V T W
correct direct drive motor. Keep in mind that these ratings are
speculative and based only on the features of these three X YCZ T U
[+\\ ] U:^ \ _ Lowest Medium Highest
models. The lowest accuracy Dynaserv is still very accurate by
MGYC`aY U!bcTV dCe ` Highest Medium Lowest
normal motor standards.
O T W YQf ]
` V YCg Lowest Medium Highest
h Y W ` Highest Medium Lowest
S#iQT Tj Medium Lowest Highest
Lowest Medium Highest

Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.

157 Parker Hannifin Corporation

  Compumotor Division
[Link]
Catalog 8000-4/USA
Introduction DYNASERV

Application Considerations for using the

Dynaserv Direct-Drive Brushless Servo Systems
°±‚²
± ³+´„µr³+¶·°¸!¹‚¸!ºr»2± ¼!³¾½¼!³+¿C± ¶¸rÀpµ#»€±‚¼!³¿ ½.µrÐ+¹ ± ³+´„½.¼!³¿C± ¶+¸!Àpµ#»€±‚¼!³¿
• All Speed vs. Torque curves shown in Compumotor’s • The Dynaserv is not shipped with a power cable. This
Catalog and ÁN“ÃÄ ÅÇÆ ÈÉËÊQÅoÆ ÈrÌÍÎ Ï
Æ show peak torque. cable must be provided by the end user. The Dynaserv is
Use two-thirds of peak torque to calculate the available shipped with a 50-pin Honda connector. Use this connec-
continuous torque. Use one-half for DM1004. tor to construct a cable between the Indexer, Servo
• If you require more than two-thirds of peak torque for short controller, or other input/output devices. Prefabricated
periods of time (low duty cycle applications), calculate cables for Compumotor indexers and servo controllers are
RMS (room mean square) torque. make sure RMS torque available.
is less than 2/3 of peak torque. • The motor and feedback cables cannot exceed 30 meters
• Friction torque should not exceed 30% of a motor’s peak in length.
torque.
• Dynaservs operate most efficiently with a balanced load. Ñ ¼!Ò³+»2± ³´„µ#³¶¾ÓÔ³Õ±‚À)¼!³+Ö¾¸!³+»2µr¹!½.¼!³+¿Q±‚¶¸!À~µr»2± ¼!³+¿
Overhung loads cannot exceed 148 ft-lbs for the DR-B
• Do not drill holes into the Dynaserv motor.
and DM-B series motors. Overhung loads cannot eceed
15 ft-lbs for DR5000C series, 24 ft-lbs for the DM1004C • The Dynaserv is an outer rotor motor. The rotating load
and 20 ft-lbs for the DM1004B. These values should be must be mounted to the upper mounting surface (the
derated by 33% for constant loads and 80–90% for rotor). The lower stator surface must be mounted to the
intermittent loads (fatigue) to incoroprate a safety margin. rigid and stationary machine base.
• Always calculate the load-to-rotor inertia ratio before • Install the motor in an appropriate location as the motor is
selecting a motor. The acceptable ratio is application- not dust proof, watertight, or oil proof.
and motor-dependent. Applications requiring low cycle
times and high accelerations need a lower ratio than slow-
speed, continuous velocity applications. Refer to the
acceptable inertia values for different application types on
the previous page.

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ÈÆÅoÅoÎ Ã ÛCÆÃ
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×
ÁÜQÝÞ ÞÞ 1124 lbs 67 4 lbs
ÁÜ7ß?à á#ÆÈ:Î ÆÅ 67 44 lbs 2248 lbs

ÁÜ7ß?âoã!ÁÜ7ß ä 8992 lbs 4496 lbs

ÁNå„æ)ÞÞ çrà 440 lbs 154 lbs

×
ÁNå„æ)ÞÞ ç 7 7 0 lbs 7 7 0 lbs

ÁNå„ß?à 6600 lbs 2200 lbs

ÁNå„ß ä 8800 lbs 4400 lbs

These limits should be derated to incorporate a safety

margin. If the load is intermittent and repetitive, derate these
values by 80–90%.
• If the motor is used with oscillating rotation movements
with a small angle (50º or less), then perform a running-in
operation with back-and-forth movements about 10 times,
each move exceeding an angle of at least 90º. The
running-in operation must be carried out every 10,000
times of back-and-forth oscillation movements in order to
ensure proper lubrication of the bearings.

158 Parker Hannifin Corporation

§©¨ª «¬­ª® «¯ Compumotor Division
[Link]