motor - myostat
TRANSCRIPT
MOTOR REVOLUTION
Stunning Power DensityIoT Function Implemented
MotorStepper Motor
I/O interface6 Inputs / 4 Outputs*
Communication interfaceRS232C / RS485*
Status LEDStatus display with blinking patterns
ControllerBuilt-in CPU
PLC Function*Arithmetic / Logical operation
DriverMUSCLE’s own precise drive technology /Tuningless
High-precision absolute*Multi-rotation location retention
* CM3+ only
Motor performance drives you to a new dimensionThe basic performance of the torque/speed and positioning accuracy of the stepper motor has been improved, making it easier to obtain the performance equivalent to servo motors.
New Generation
3
Perform Like a Servo, Simple Like a Stepper M
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PriceTorque (low speed range)Torque (high speed range)
High Speed
Positioning Accuracy
Responsiveness
No step-out
Smoothness
Vibration/QuietnessTemperature/Energy SavingMonitoring/Maintenance
TuninglessWire-saving/Space-saving
Performance Comparison of COOL MUSCLE 3 with Existing Motors
Stepping motor(Semi closed-loop control)
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AC servo motor (Closed-loop control)
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(Closed-loop control)Stepping motor(Open-loop control)
Open-loop control : Without encoder, no position feedbackSemi closed-loop control : Equipped with encoder, there is position feedback, and position correction is performed only when de-tone.Closed-loop control : Equipped with encoder, there is position feedback, always performs position correction and no step out .
solves problems such as
To Increase production
Faster / Stronger
Power up in the same size
Torque
Error
4
otor.
Improve positioning accuracy
Precisely / Smoothly
Smoother motion Simple mechanical configuration
Simple / Safe
IoT function implemented
Torque
ErrorDriver Motor
COOL MUSCLE
Torque[N・m]
Rotation speed [min-1]30000 5000
Stepping motor(Open-loop control)
Stepping motor (Semi closed-loop control)
AC servo motor (Closed-loop control):Rated torque
Remarkable Torque
(Closed-loop control)
* According to our research (Comparison with motors of the same class)
For Servo Motor UsersGet servo motor performance at a more economical price
PriceRealize AC servo motor performance at lower price
Minimized total cost by using affordable stepper motor and integrating control devices.Equivalent performance as AC servo motor is realized by improving torque at high speed range that was a weakness of stepper motor and realizing Max. 5,000rpm high speed control without step-out.
Size Space saving / Wiring saving
An encoder, driver, and controller are integrated in a motor. The total volume can be significantly reduced by wiring saving. Ideal for desktop type devices, mobile devices, and small products where a controller board cannot be installed.
■Size Comparison
■Price comparison by motor type*According to our research
Cost
Performance
Stepping motor(Semi closed-loop control)
Stepping motor(Open-loop control)
AC servo motor (Closed-loop control)
(Closed-loop control)
*According to our researchComparison by equivalent torque, driver + total size of motor
5
AC servo motor (Closed-loop control)
15
Cubic Sizedownsize Max.
(Closed-loop control)
Adjustment No need to adjust servo parameters.(Tuningless)
Torque Higher rated torque (mid to low speed range)
Pursuing the output efficiency of stepper motor, COOL MUSCLE 3 maintains higher output at high speed range and produces equivalent torque as 100W AC servo motor.AC servo motor is used with gearbox in applications that require high torque at low speed range. For COOL MUSCLE 3, the gearbox can be omitted.
Max. Speed 5,000rpm. COOL MUSCLE 3 can used in an application that requires high speed control.
■Torque comparison with AC servo motor (100W)*According to our research
Speed Max. Speed 5,000rpm
When the motor accelerates and decelerates from the stop state, the torque of the low speed range is used.COOL MUSCLE 3 provides high torque output at low speeds, enabling high responsiveness.
Modern control theory, the H∞ lets you use COOL MUSCLE 3 without gain adjustment in specific load condition.
Normal servo control
Vibration is high and operation is not stable Stable operation without vibration
COOL MUSCLE 3 control (tuningless)
Responsiveness Responsiveness just as servo motor.
1000 2000 3000 4000 5000
Torque [N・m]
0
0.400
0.800
1.400
1.600
0
AC servo motorRated torque
Rotation speed [min-1]
Remarkable Torque
6
For Stepper Motor UsersTo improve the functional value of your product
Basicperformance Improves all major performance
Performance comparison of stepper motor (open-loop control/semi closed-loop control) and COOL MUSCLE 3.*According to our research
Temperature Low heat generation allows long-term continuous use
Responsiveness High acceleration and deceleration control reduces repetitive operation time greatly
Low Speed Torque High torque output is possible even at low speeds without risk of step-out
Reduced motor sizeSuitable for products that require precise motion in limited space.
■Application Example
Torque [N・m]
Rotation speed [min-1] 5000
0.600
0
*Motor temperature at continuous speed (500rpm) without load
Continuous operationSuitable for products with high speed continuous operation with a duty ratio of over 50%.
■Application Example
Temperature [℃]
Time [min]
*Repetitive operation time (1 cycle)
Improvement of throughputSuitable for products that require higher throughput by where short time & short distance positioning are necessary.
■Application Example
Time
Desktop type analyzerDesktop type analyzer
IC handlingIC handling
Semiconductor equipmentSemiconductor equipment
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Stepping motor(Semi closed-loop control)
Stepping motor(Open-loop control) (Closed-loop control)
*Each comparison item varies depending on the operating conditions and load situation. The motor to be compared depends on our research. The results on this page may not apply to all motors.*All photos are sample images.
*Speed stability at continuous speed (500rpm) without load
Maximum Speed High speed control equivalent to servo motor
Improved high-speed controllabilityIdeal for products that require quick and accurate positioning.
■Application Example
Rotation speed [min-1]
0
5000
Speed Stability Speed ripple is small at continuous speed.
Improvement of measurement accuracySuitable for equipment that require to rotate precisely at a constant speed against command speed.
■Application Example
Speed
Time
Current Level The current is controlled according to the load situation. It keeps current consumption at minimum level.
Energy SavingSuitable for AGVs, which are battery-powered and require energy savings.
■Application Example
Current Level [A]
*Current value at continuous speed (500rpm) without load
Loudness Smooth motion by vector control makes it quieter
Quiet operationSuitable for equipment used in environments where quiet operation is required.
■Application Example
Loudness [dB]
* Motor operating sound at continuous speed (100rpm) without load
FAFA
Medical devicesMedical devices
Inspection deviceInspection device
Appearance inspection deviceAppearance inspection device
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Motion Control Technology
Collaboration of Three Control Technologies
Closed-loop Control
High positioning accuracy and no step-outThe closed-loop control maintains the deviation between the encoder feedback and commanded position within the specific range. Position, speed and torque are always controlled not to go out of the range by accelerating when deviation becomes bigger and decelerating when it becomes smaller.
■Control under external load
Features of Closed-loop control
1. Improved positioning reliability2. No step-out occurs unlike the stepper motor with open loop control.3. Overload alarm can be output by detecting deviation from feedback information.
Vector Control
Smooth・QuietDue to the structure of the stepping motor, torque pulsation occurs at each step angle. On the other hand, the CM3 adopts vector control which allows smooth motion without stopping between angular steps, so vibration and noise can be reduced.
■ Driving principle
Features of vector control
1. Energy saving and precise torque control2. Efficiently controls motor from low speed to high speed3. Improved stability of speed
Stepping motor COOL MUSCLE 3
COOL MUSCLE 3COOL MUSCLE 3+
: Max. resolution 12,000 ppr : Max. resolution 12,000 ppr
COOL MUSCLE 3 The deviation becomes bigger when goes over allowable torque and it stabilizes the speed when the deviation is small .
1000 pulse
Speed
Time
Immediately correct the deviationAccelerate to recover the delay
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COOL DRIVE Control
Power up・High responsivenessDrastic torque up is achieved by reviewing the motor structure and optimizing the control while maintaining the existing product size.
■Comparison of torque with existing product line up
[Instantaneous acceleration / deceleration control]
Stepper motor must be controlled with appx. 50% safety margin against its torque curve due to the risk of step-out. COOL MUSCLE 3 produces high torque at low speed range without step-out. It realizes quick acceleration and deceleration control.
Stepping motor(Open-loop control)
COOL MUSCLE 3
Torque [N・m]
Rotation speed [min-1]
Torque [N・m]
Rotation speed [min-1]
Safety margin 50%torque curve
COOL MUSCLE3 Torque Curve
Torque Curve
Closed-loop ControlPosition correction and No step-out by constant position monitoring
Vector ControlNo stop at each step.Smooth and quiet
COOL DRIVE ControlNew drive system to produce power while reducing heat generation
CM1-17L30 CM3-17L50A 1000 2000 3000 4000 5000
Torque [N・m]
0
0.100
0.200
0.300
0
Rotation speed [min -1]
CM1-17L
CM3-17L
10
Wiring Configuration
Less wirings in a control panel by direct connection to PLC・PC・I/O
The concept is “EASY"COOL MUSCLE 3 can be controlled directly from PLC. Space can be saved by eliminating external driver.
PLCController
To power supply
COOL MUSCLE 3
To power supply
To power supply
Servo motor
To power supply
Servo driver
PLCController
I/O
PC
COOL MUSCLE 3
COOL MUSCLE 3
Easier system construction
For All Customers
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From wiring the motor and starting the software, the motor can be operated in 3 minutes.
View "Easy Setup"
DedicatedPC software
ProgramLanguage
COOL MUSCLE Language(CML)
Easy parameter settingParameters can be set just by following the display.
Positioning data settingPoint data can be set by simply entering a value in the blank.
Graph windowThe position and speed of the motor can be monitored in a graph in real time.
You can create a variety of programs using predefined data commands. (Programing is available only on CM3+)
1. Data command P1 .1=3000
P2 .1=5000
S 1 .1= 100
S 2 .1= 200
A1 .1= 200
T1 .1= 100
2. Program command B1.1
S1.1 , A1.1 , P 1 .1
S2 .1 , A1.1 , P2 .1
END
COOL WORKS QUICK
Programless operability is realized by using an easy human interface. It helps you to change the settings from machine development stage to change in operation field.
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Control method
Introduction of functions
Number of pointsControl method RS232 communication(settings and monitoring)
RS232 Communication control I/O control
Direct 32
8
0Pulse
I/O
250
There are 3 types of direct control, I/O control, and pulse control, which can be directly connected from PLC or PC. AC servo motor control can be realized at low cost by simple function settings.
Simpler
RS232 Communication control
RS232 Communication control I/O control
From PC or HMIWhen controlling by serial communication
When controlling from a PLC
PC
HMI PLC
Direct control I/O control
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Pulse control Program control Daisy chain Cyclic Logic Operation
OptionABS
Option RS485
Higher functionality
The built-in high-performance controller allows programming and system construction. Simultaneous control of multiple axes and Cyclic Logic Operation Program can be used to maximize the performance of COOL MUSCLE.
RS232 Communication control
RS485 Communication controlPulse control
C When controlling by RS485 communication
When controlling a daisy chain
PC
PLC
HMI
PC
PLC
HMI
Pulse control
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Control method selection
Direct control, I/O control, pulse control can be selected and changed from the dedicated software.
Supports various operations
The operation pattern can be selected from PTP operation, incremental operation, and pressing operation.
1-turn absolute (soft)
It is possible to retain the position information within one rotation.For applications such as cam mechanics and turntables, the origin sensor and machine origin are not required, contributing to wiring savings.
[Type of control]
Recommended for replacing the air cylinder For press fitting, hand, tightening, etc.
① To the pressing position at high speed
② Push control ③ High speed to the initial position
1. Positioning control . . . Target position, speed, acceleration, deceleration, incremental operation, continuous operation, etc.2. Speed control · · · · · · · · · · · Speed and acceleration can be changed during operation3. Torque control · · · · · · · · · · Torque control and torque limit are possible
Point Data number Operation type Position Speed Acceleration Deceleration Torque limit Push zone+ zone-
0
1
31
PTP
PTP Push
PTP
1000
3000
2000
100
100
300
100
100
200
100
50
200
100
100
30
30 2000
… … … … … … … … … …
3000
PositionPush
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1-turn absolute (standard) + multi-turn absolute (option)
COOL MUSCLE 3+ Option
It is possible to retain multi-rotation position information. Since it has a built-in battery type absolute encoder, It is not necessary and contributes to shortening the equipment startup time. It can be used for single-axis actuators and robot arms.
Modbus RS485
A network that implements Modbus Protocol as a communication protocol, RS485 is used.
Program control
Acceleration/deceleration can be set freely. Speed and acceleration without pausing at the passing point. Various PTP operations such as changing (merge operation) is possible.
S1
S3
Time
Speed
P1P2
P3
A1
A1
A2A2S2
A1
T1 Time
Speed
P1 P2P3A1 A1 A1
A1 A1
T1
S1
S2
PTP with different acceleration and deceleration
P1 P2
Time
Speed
A1 A2S1
Merge Motion
Standard PTP
Cyclic Logic Operation Program
Motor drive control, I/O control, periodic logic operation, etc. Since it is possible to process various tasks in parallel, COOL MUSCLE 3+ mastered system you can build it.
Variable
Mathematicaloperation
Logicaloperation
Comparisonoperation
Input branch
Current position, current speed, current torque, current status, Position deviation, target position, target speed
Addition, subtraction, multiplier, divisor, Sin, Cos, square root
AND, OR, NOT
=, Not=, >, <, ≧, ≦
Conditional branch depending on the state of the input signal
Daisy chain
Each can execute the program independently, Linked with the operating status and I/O status of other CM3+ It is possible to operate.
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・Function for
Since the motor can control the output torque, it can be used in various applications such as gripping, pressing objects, and limiting force.Push motion: Motor can limit the torque with the specified push force.Torque limiting motion: The maximum torque during positioning operation can be limited.
Motion
Torque Limit01
Since the movable range can be set to the motor, the limit sensor can be omitted.
Soft Limit02
Closed-loop control if there is no operation command for a certain period after positioning is completed. From this, it is a function that automatically switches to open-loop control. Hunting unique to the AC servo motor during open holding. It is possible to suppress minute vibrations due to this. The difference between the current position and the target position due to external force is less than the set value (0.1 to 3.6 degrees) When it gets bigger, it returns to the closed-loop again and returns to the previous position.
Open holding function03
The resolution can be set freely by parameters.The default setting is 1,000, and one rotation is divided into 1,000 (0.36°).
Resolution setting04
Origin Search05
[Parameters]
[Parameter set tings]
Open loop control range
Motor shaft
0123456789
Stopper DetectionStopper Detection (Auto)Origin SensorOrigin Sensor (Auto)Stopper Detection & Z PhaseStopper Detection & Z Phase (Auto) Origin Sensor & Z PhaseOrigin Sensor & Z Phase (Auto)Z Phase SignalZ Phase Signal (Auto)
Settings Contents
As an origin search method, a combination of pressing, origin sensor, and Z-phase is available.
0 : 300
1 : 600
2 : 1000
3 : 1200
4 : 2000
5 : 3000
6 : 5000
7 : 6000
8 : 10000
9 : 12000
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The signal can be output within the specified range.
Individual ZONE output:
The signal is output only within the range set by each point data.
ZONE output:
The signal is always output within the range set by the parameter regardless of the point data.
ZONE output function07
Point 0 Zone settings
Speed
Position
Point 1 Zone settings
Zone setting range
[ZONE output range]
The size of the main body is kept compact and I/O port is equipped as standard.COOL MUSCLE 3 : Input 6 ports, Output 4 portsCOOL MUSCLE 3+ : Input 4 ports, Output 4 ports
【Functions by type】COOL MUSCLE 3
COOL MUSCLE 3+
: General, in-position, warning, individual zone, zone, move, busy, end, servo on/off, torque limit, origin search completed
COOL MUSCLE 3+
・ Common to each type ・・・ Limit sensor, Hardware limit・ Direct type ・・・・・・・・・・・・・ Origin sensor, Manual mode, Inching, Jog, Servo on/off, Stop・ I/O type ・・・・・・・・・・・・・・・・ Origin sensor, Point data specification, Point data excution/stop・ Pulse type ・・・・・・・・・・・・・・ Torque limit on/off, Position reset
・・・・・・・・・・・・ Origin sensor, Limit sensor, Hardware limit, Manual mode, Inching, Jog, Servo on/off, Origin sensor, Stop
■Input Function Example
: General, in-position, warning, individual zone, zone, move, busy, end, servo on/off, torque limit, origin search completed, ABZ encoder
COOL MUSCLE 3
■Output Function Example
I/O function
Digital I/O06
18
19
Motor status, such as position, speed, torque, alarm, and temperature, can be acquired.
[Status Check by Communication]For example, if you want to check the motor status when the motor stops in an alarm, you can send a command to the motor to check the motor status.
[Status LED]The 7-color LED displays the motor status such as power ON/OFF and alarm contents.
Preventive maintenance / safety measures
Motor Status08
If the motor temperature or load factor exceeds a set value, a warning can be output before the motor stops in the alarm. Detecting device malfunctions in advance helps reduce downtime.
Warning function09
Safe Torque Off (STO) built into CM3 is defined in IEC61800-5-2 and is a safety function to shut off the motor drive power and stop the motor by the input signal from the safety controller.
STO function10
Position deviation overflow alarmOvervoltage alarm
Overload alarm
In-position
Servo-offPush motionOvercurrent alarmAbnormal temperature alarmMotion warningLow voltage alarm
STOStatus warning
Position deviation exceeds the set valueMain power supply exceeded the set valueLoad factor 100% exceeded the set time of overload detection timeIn the in-position range while the motion is stoppedServo off by command/input signalPush motion (torque limit)Excessive current flowedThe internal temperature has exceeded the specified valueOperation warning occurredThe power supply voltage has dropped below the specified valueSTO function is enabledStatus warning occurre
Name Description
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Up to four sorts of motor data can be cyclically streamed at once. By comparing the target and current, setup time can be reduced.
[Streaming data]0: Disable1: Target Position2: Current Position3: Target speed4: Current speed
5: Target current Level6: Current current Level7: Load factor8: Voltage9: Temperature
10: Input status11: Output status
Streaming Data Output function12
COOL WORKS QUICK is a support software exclusively for COOL MUSCLE 3 / 3+. Easy parameter set ting and positioning data setting is available.
COOL WORKS QUICK13
Muscle's original tuning-less function enables large inertia drive and belt mechanism drive without gain adjustment. You can stabilize. In addition, if you select PPI control that can be set in detail , you can operate under more severe load conditions.
Setup Time Reduction
Tuning-less function11
By using the graph window, you can check the motor position, speed, and torque data with the command value and the waveform of the actual operation, which can greatly reduce the adjustment time.
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Specifications
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0 1000 2000 3000 4000 5000
Speed [min-1]
Torque [N・m]
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0 1000 2000 3000 4000 5000
Torque [N・m]
Speed [min-1]
Input supply Voltage
Rated Current / Peak Current
Motor Output
Max. Speed
Rated Torque
Max. Torque
Rotor Inertia Moment
Allowable Inertia Moment of Load
Allowable Radial Load
Allowable Thrust Load
Encoder
Resolution
Control Method
I/O
Communication Port
Mass
Operating/Storage Temperature
Operating/Storage Humidity
+24V dc
5000 [min-1]
Less than 10 times of Rotor Inertia
High-precision incremental magnetic rotation angle sensor
From 300~12,000 [ppr] set by parameter
Closed Loop Vector Control
Digital Output:4 (Includes 1 error output)
1
-10℃~50℃ (non-freezing)/-20℃~65℃ (non-freezing)
5~95%RH/20~90%RH
3.5 [A] / 4.8 [A]
60 [W]
0.25 [N・m]
0.32 [N・m]
0.036 × 10-4 [kg・m2]
37 [N]
10 [N]
295 [g]
4 [A] / 5 [A]
60 [W]
0.42 [N・m]
0.65 [N・m]
0.074 × 10-4 [kg・m2]
32 [N]
10 [N]
435 [g]
Control Input
Control Output
STO Input
CM3-17S50A
RS-232C
CM3+-17S50A
RS-232C 2port
CM3-17L50A
RS-232C
CM3+-17L50A
RS-232C 2port
Digital Input:6(Includes 2 pulse inputs ) Digital Input:4 Digital Input:6
(Includes 2 pulse inputs ) Digital Input:4
CM3CM3+
CM3CM3+
22
Speed [min-1]
0.00
0.10
0.20
0.30
0.40
0.50
0 1000 2000 3000 4000 5000
Torque [N・m]
Speed [min-1]
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
0 1000 2000 3000 4000 5000
Torque [N・m]
Model Name
Motor Size17…42□23…56□
ModelCM3CM3+
Motor LengthS…ShortL…Long
Max. Speed50…5000rpm
Hardware RevisionA
OptionA…Absolute encoderM…RS485
CM3+ - 17L50A(-A)
Input supply Voltage
Rated Current / Peak Current
Motor Output
Max. Speed
Rated Torque
Max. Torque
Rotor Inertia Moment
Allowable Inertia Moment of Load
Allowable Radial Load
Allowable Thrust Load
Encoder
Resolution
Control Method
I/O
Communication Port
Mass
Operating/Storage Temperature
Operating/Storage Humidity
+24V dc
5000 [min-1]
Less than 10 times of Rotor Inertia
High-precision incremental magnetic rotation angle sensor
From 300~12,000 [ppr] set by parameter
Closed Loop Vector Control
Digital Output:4 (Includes 1 error output)
1
-10℃~50℃(non-freezing) / -20℃~65℃ (non-freezing)
5~95%RH / 20~90%RH
4[A] / 5[A]
80 [W]
0.36 [N・m]
0.45 [N・m]
0.1×10-4 [kg・m2]
77[N]
15[N]
525 [g]
5[A] / 6[A]
100 [W]
1.20 [N・m]
1.50 [N・m]
0.36×10-4 [kg・m2]
70[N]
15[N]
1050 [g]
Control Input
Control Output
STO Input
Digital Input:6(Includes 2 pulse inputs ) Digital Input:4 Digital Input:6
(Includes 2 pulse inputs ) Digital Input:4
CM3-23S50A
RS-232C
CM3+-23S50A
RS-232C 2port
CM3-23L50A
RS-232C
CM3+-23L50A
RS-232C 2port
CM3CM3+
CM3CM3+
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Dimension
27.4 (33.52)
(63.75)
15±0.24-M3×0.5
31±0.25
42±0.251.5
1±0.3
42±0.25
4.5±0.1
1±0.3
31±0.25
18±0.5
36.4±0.5 20.5
(56.9)
φ5±
0.013
0
22±0.050
27.4 (33.52)
(63.75)
15±0.24-M3×0.5
31±0.25
42±0.251.5
1±0.3
42±0.25
4.5±0.1
1±0.3
31±0.25
18±0.5
51.3±0.5 20.5
(71.8)φ5±
0.013
0
22±0.050
(34.2)14.4
4-φ4.5± 00.5
27.4
(41.7)
47.14±0.13
56±0.5
5±0.25
47.14±0.13
56±0.5
(70.75)
38.1±0.025
5.8±0.2 13.5
40.1
42.75
28
20.6±0.5 (62.3)
1.5±0.25 41.8±0.8 20.5
6.35±0.013
0
15± 01
4-φ4.5±
00.527.4
(41.7)
47.14±0.13
56±0.5
47.14±0.13
56±0.5
(70.75)
38.1±0.025
5.8±0.2
20.6±0.5
1.5
6.35±0.013
0
15± 01
40.1
42.75
28
(34.2)14.4
5±0.25
13.5
(96.3)
75.8±0.8 20.5
CM3-23LCM3+-23L
CM3-23SCM3+-23S
CM3-17LCM3+-17L
CM3-17SCM3+-17S
24
ConnectionThe wiring of COOL MUSCLE 3 is as follows.
Main ConnectorFeatures a 24-pin connector at the top of the COOL MUSCLE 3.The pins are arranged and named as follows:
*The cables and pinouts used depend on the series. For more information, please refer to the user's guide.
COOL MUSCLE 3・3+Interface Cable
COOL MUSCLE 3+ Daisy Chain Cable
COOL MUSCLE 3 Power Supply Cable
COOL MUSCLE 3 Communication Cable
COOL MUSCLE 3・3+ I/O Cable
COOL MUSCLE 3+
I/O Module
Control equipment
+24Vdc Power Supply
Pin NoNAME
2
4
6
8
10
12
14
16
18
20
22
24
GND
ERROR
OUT3 / Z Phase
OUT2 / B Phase
OUT1 / A Phase
STO_IN+
INPUT4
INPUT2
P-GND
POWER
Pin No NAME
1
3
5
7
9
11
13
15
17
19
21
23
FG
GND
RXD0
TXD0
STO_IN-
IN_COM
INPUT3
INPUT1
P-GND
POWER
Pin NoNAME
2
4
6
8
10
12
14
16
18
20
22
24
+5Vdc
D_GND
RXD1
TXD1
OUT3
OUT1
D_GND
STO_IN+
INPUT3
INPUT1
P-GND
POWER
Pin No NAME
1
3
5
7
9
11
13
15
17
19
21
23
FG
D_GND
RXD0
TXD0
ERROR
OUT2
STO_IN-
INPUT4
INPUT2
IN_COM
P-GND
POWER
INPUT6- / PULSE B-INPUT5- / PULSE A-
INPUT6+ / PULSE B+INPUT5+ / PULSE A+
■CM3 Main Connector ■CM3+ Main Connector
Molex 55959-2430 Molex 55959-2430
PC
PLC
HMI
25
Accessories
For
For
・ Common
Interface Cable ACMIFA1-0400WRCMIFA1-1000WRCMIFA1-2000WR
I/O Cable ACMIOA1-1000SCMIOA1-3000S
Interface Cable BCMIFB1-0400WRCMIFB1-1000WRCMIFB1-2000WR
Daisy Chain Cable ACMDCA1-0500WCMDCA1-1000W
I/O Cable BCMIOB1-1000SCMIOB1-3000S
Communication Cable ACMRSA1-1000WCMRSA1-3000W
Power Supply Cable ACMPWA1-1000SCMPWA1-3000S
26
Other Series
Driver, Controller, Encoder Integrated Servo System
COOL MUSCLE Gear Series
28□ Series
Output:9WMax. Speed:3000rpmRated Continuous Torque:0.027[N・m]
Output:18WMax. Speed:3000rpmRated Continuous Torque:0.055[N・m]
CM1-□-11S30 CM1-□-11L30
GearboxA wide range of high quality gearboxes are available to suit your application needsLow backlash, zero maintenance, durable gearbox with a COOL MUSCLE to maximize performance.
More detail
2 Driver, Controller, Encoder, Power Supply, PLC function Integrated Servo System
0.2
0.4
0.6
0.8
Torque[N・m]
00 3000rpm20001000
6.00
4.00
2.00
Torque[N・m]
00 3000rpm20001000
14.0
10.0
6.0
2.0
Torque[N・m]
00 3000rpm20001000
42□ Series
Output:18WMax. Speed:3000rpmRated Continuous Torque:0.082[N・m]
Output:18WMax. Speed:3000rpmRated Continuous Torque:0.36[N・m]
CM1-□-17S30 CM1-□-17L30
56□ Series
Output:100WMax. Speed:8000rpmRated Continuous Torque:0.19[N・m]
Output:100WMax. Speed:8000rpmRated Continuous Torque:0.32[N・m]
CM2-□-56B10 CM2-□-56B20
60□ Series
Output:100WMax. Speed:5000rpmRated Continuous Torque:0.32[N・m]
Output:200WMax. Speed:5000rpmRated Continuous Torque:0.64[N・m]
Output:400WMax. Speed:5000rpmRated Continuous Torque:1.09[N・m]
※Input Voltage is AC200-240V
CM2-□-60A10 CM2-□-60A20 CM2-□-60A40
56□ Series
Output:45WMax. Speed:3000rpmRated Continuous Torque:0.294[N・m]
Output:30WMax. Speed:2000rpmRated Continuous Torque:0.87[N・m]
CM1-□-23S30 CM1-□-23L20
AC200V
Rated
2.0
1.6
1.2
0.8
0.4
00 10000800060004000
Speed (min-1)2000
Torque[N・m]
AC200V
AC100V
Rated
0 600050004000300020001000Speed (min-1)
1.0
0.8
0.6
0.4
0.2
0
Torque[N・m]
AC200V
Rated
0 600050004000300020001000Speed (min-1)
5.0
4.0
3.0
2.0
1.0
0
Torque[N・m]
COOL MUSCLE Actuator SeriesServo ActuatorIntegrated actuator with COOL MUSCLE.It allows you to build a low cost and very precise network system with Max.15-axis over daisy chain.
EtherCAT COOL MUSCLE Bridge that adapts / connects COOL MUSCLE to EtherCAT network. * Separately CM* communication cable, power cable and LAN cable required.
EtherCAT COOL MUSCLE BridgeEB01(CM1)/EB02(CM2)/EB12(CM1-2)
CM1-□-11S30CM1-□-11L30 CM1-□-17S30
CM1-□-17L30CM1-□-23S30CM1-□-23L20
CM2-□-56B10CCM2-□-56B20C
100W(200W)
CM2-□-60A10C(100W)
CM2-□-60A20CCM2-□-60A40C
(200W)※
(400W)※
1
ble
6F TRADEPIA YODOYABASHI, 2-5-8 IMABASHI, CHUO-KU, OSAKA, 541-0042, JAPANTel.06-6229-9550 [email protected]
*Specifications subject to change without notice.