TBL-i mini Series
Miniature AC Servo Motors/Drivers
A miniature AC servo motor, measuring 14.5,19.5,22mm, has been added to our lineup-making possible via densification the size reduction of products such as semiconductor fabrication equipment, chip mounters, and small XY tables. In order to integrate with a variety of sensors, this AC servo motor is available as either an encoder or resolver.
Mounting flange size □14.5mm Servo Motors
- Super small motor size.
- Servo Motor sensors line-up are resolver type and encoder type
- Rated output 3,5,10,15W
Rated speed 3,000min-1
Maximum speed 6,000min-1
Mounting flange size □19.5mm Servo Motors (Under development)
- Small motor size.
- The sensor is an excellent resolver type in the environment-proof of the performance.
- Rated output 10,16,20,30W
Rated speed 3,000min-1
Maximum speed 6,000min-1
Mounting flange size □22mm Servo Motors
- Small motor size.
- Servo Motor sensor line-up are 2,000C/T and 2,048C/T incremental encoder type.
- Rated output 13,26,40W
Rated speed 4,000min-1
Maximum speed 5,000min-1
AC Servo Driver
Features
- SV-NET in daisy chain.
Daisy chain connection minimizes wiring requirement. - Powerful functions.
he functions packed into the small framework facilitate not only network connection,but also easy external signal inputs such as pulse commands or analog commands through the use of an I/O connector.
Functions
- Control commands
Position command input SV-NET or pulse command
Speed command input SV-NET or analog command
Current command input SV-NET or analog command - Parameter setting functions
Control mode,Position loop gain,Speed loop gain,Speed integration gain,Feed forward, Resonance control filter,Analog command scale setting.
Electronic gear setting,Smoothing,Accelerration limit,etc. - Protective functions
Sensor error,Drive power error,Over-heat,Over-speed,Overload.
Excessive deviation,etc. - Input and output signals
Servo ON input,Alarm reset input,Alarm output,In-the-position output,A/B/Z output etc.
Specifications
14.5mm Servo Motors - Sensor:Resolver type
|
Rated Output
|
(W)
|
3
|
5
|
10
|
15
|
|---|---|---|---|---|---|
|
Model
|
–
|
TS4861N4050E500
|
TS4862N4050E500
|
TS4864N4050E500
|
TS4866N4050E500
|
|
Input Voltage
|
(V)
|
DC24V
|
|||
|
Rated torque
|
N･m
(kgf･cm) |
0.0095
(0.097) |
0.0159
(0.162) |
0.032
(0.3265) |
0.0477
(0.4867) |
|
Stoll torque
|
N･m
(kgf･cm) |
0.0095
(0.097) |
0.0159
(0.162) |
0.032
(0.3265) |
0.0477
(0.4867) |
|
Peak torque
|
N･m
(kgf･cm) |
0.0285
(0.29) |
0.0477
(0.486) |
0.096
(0.98) |
0.1431
(1.46) |
|
Rated speed
|
min-1
|
3000
|
3000
|
3000
|
3000
|
|
Maximum speed
|
min-1
|
6000
|
6000
|
6000
|
6000
|
|
Rotor moment
of inertia |
［GD2/4］kg･m2
(gf･cm･s2) |
0.00064×10-4
(0.00063) |
0.00096×10-4
(0.00098) |
0.0017×10-4
(0.00173) |
0.0026×10-4
(0.002653) |
|
Rated power rate
|
kW/s
|
1.46
|
2.6
|
6.1
|
8.75
|
|
Mechanical
time constant |
ms
|
2.63
|
1.83
|
1.32
|
1.17
|
|
Static
friction torque |
N･m
(kgf･cm) |
0.001
(0.01) |
0.001
(0.01) |
0.001
(0.01) |
0.0015
(0.015) |
|
Insulation class
|
–
|
B class
|
B class
|
B class
|
B class
|
|
Insulation resistance
|
MΩ MIN
|
10
|
10
|
10
|
10
|
|
Insulation strength
|
–
|
AC 600V 60s
|
AC 600V 60s
|
AC 600V 60s
|
AC 600V 60s
|
|
Shaft end play
|
mm MAX
|
0.5
|
0.5
|
0.5
|
0.5
|
|
Maximum radial
shaft load |
N(kgf)
|
8(0.8)
|
8(0.8)
|
8(0.8)
|
8(0.8)
|
|
Maximum thrust
shaft load |
N(kgf)
|
4(0.4)
|
4(0.4)
|
4(0.4)
|
4(0.4)
|
|
Direction of rotation
|
–
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
|
Sensor misalignment
|
°e MAX
|
±8
|
±8
|
±8
|
±8
|
|
Rated armature
current of E.D.C.M. |
A(rms)
|
0.68
|
1.0
|
1.573
|
2.14
|
|
Stoll armature
current of E.D.C.M. |
A(rms)
|
0.62
|
0.94
|
1.526
|
2.07
|
|
Noload armature
current of E.D.C.M. |
A(rms)
|
0.06
|
0.06
|
0.047
|
0.07
|
|
Peak armature
current of E.D.C.M. |
A(rms)
|
1.92
|
2.875
|
4.62
|
6.28
|
|
Torque constant
of E.D.C.M. |
N･m/A±10%
(kgf･cm/A) |
0.0154
(0.1566) |
0.0169
(0.1728) |
0.02097
(0.214) |
0.023
(0.235) |
|
Voltage constant
of E.D.C.M. |
V/(r/min) ±10%
|
1.609×10-3
|
1.775×10-3
|
2.198×10-3
|
2.415×10-3
|
|
Armature resistance
of E.D.C.M. |
Ω±10%
|
10.04
|
6.058
|
3.65
|
2.622
|
|
Armature inductance
of E.D.C.M. |
mH±30%
|
0.815
|
0.555
|
0.417
|
0.326
|
|
Electrical time
constant |
ms
|
0.081
|
0.092
|
0.11
|
0.12
|
14.5mm Servo Motors - Sensor:Incremental Encoder type
|
Rated Output
|
(W)
|
3
|
5
|
10
|
15
|
|---|---|---|---|---|---|
|
Model
|
2,048C/T type
|
TS4861N2250E500
|
TS4862N2250E500
|
TS4864N2250E500
|
TS4866N2250E500
|
|
4,096C/T type
|
TS4861N2850E500
|
TS4862N2850E500
|
TS4864N2850E500
|
TS4866N2850E500
|
|
|
Input Voltage
|
(V)
|
DC24V
|
|||
|
Rated torque
|
N･m
(kgf･cm) |
0.0095
(0.097) |
0.0159
(0.162) |
0.032
(0.3265) |
0.0477
(0.4867) |
|
Stoll torque
|
N･m
(kgf･cm) |
0.0095
(0.097) |
0.0159
(0.162) |
0.032
(0.3265) |
0.0477
(0.4867) |
|
Peak torque
|
N･m
(kgf･cm) |
0.0285
(0.29) |
0.0477
(0.486) |
0.096
(0.98) |
0.1431
(1.46) |
|
Rated speed
|
min-1
|
3000
|
3000
|
3000
|
3000
|
|
Maximum speed
|
min-1
|
6000
|
6000
|
6000
|
6000
|
|
3000*
|
3000*
|
3000*
|
3000*
|
||
|
Rotor moment
of inertia |
［GD2/4］kg･m2
(gf･cm･s2) |
0.00064×10-4
(0.00063) |
0.0096×10-4
(0.00098) |
0.0017×10-4
(0.00173) |
0.0026×10-4
(0.002653) |
|
Rated power rate
|
kW/s
|
1.46
|
2.6
|
6.1
|
8.75
|
|
Mechanical
time constant |
ms
|
2.63
|
1.83
|
1.32
|
1.17
|
|
Static
friction torque |
N･m
(kgf･cm) |
0.001
(0.01) |
0.001
(0.01) |
0.001
(0.01) |
0.0015
(0.015) |
|
Insulation class
|
–
|
B class
|
B class
|
B class
|
B class
|
|
Insulation resistance
|
MΩ MIN
|
10
|
10
|
10
|
10
|
|
Insulation strength
|
–
|
AC 600V 60s
|
AC 600V 60s
|
AC 600V 60s
|
AC 600V 60s
|
|
Shaft end play
|
mm MAX
|
0.5
|
0.5
|
0.5
|
0.5
|
|
Maximum radial
shaft load |
N(kgf)
|
8(0.8)
|
8(0.8)
|
8(0.8)
|
8(0.8)
|
|
Maximum thrust
shaft load |
N(kgf)
|
4(0.4)
|
4(0.4)
|
4(0.4)
|
4(0.4)
|
|
Direction of rotation
|
–
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
|
Sensor misalignment
|
°e MAX
|
±8
|
±8
|
±8
|
±8
|
|
Rated armature
current of E.D.C.M. |
A(rms)
|
0.68
|
1.0
|
1.573
|
2.14
|
|
Stoll armature
current of E.D.C.M. |
A(rms)
|
0.62
|
0.94
|
1.526
|
2.07
|
|
Noload armature
current of E.D.C.M. |
A(rms)
|
0.06
|
0.06
|
0.047
|
0.07
|
|
Peak armature
current of E.D.C.M. |
A(rms)
|
1.92
|
2.875
|
4.62
|
6.28
|
|
Torque constant
of E.D.C.M. |
N･m/A±10%
(kgf･cm/A) |
0.0154
(0.1566) |
0.0169
(0.1728) |
0.02097
(0.214) |
0.023
(0.235) |
|
Voltage constant
of E.D.C.M. |
V/(r/min) ±10%
|
1.609×10-3
|
1.775×10-3
|
2.198×10-3
|
2.415×10-3
|
|
Armature resistance
of E.D.C.M. |
Ω±10%
|
10.04
|
6.058
|
3.65
|
2.622
|
|
Armature inductance
of E.D.C.M. |
mH±30%
|
0.815
|
0.555
|
0.147
|
0.326
|
|
Electrical time
constant |
ms
|
0.081
|
0.092
|
0.11
|
0.12
|
22mm Servo Motors - Sensor:Resolver type
|
Rated Output
|
(W)
|
10
|
16
|
20
|
30
|
|---|---|---|---|---|---|
|
Model
|
–
|
TS4871N4050E500
|
TS4872N4050E500
|
TS4873N4050E500
|
TS4875N4050E500
|
|
Input Voltage
|
(V)
|
DC24V
|
|||
|
Rated torque
|
N･m
(kgf･cm) |
0.032
(0.325) |
0.051
(0.52) |
0.064
(0.653) |
0.096
(0.98) |
|
Stoll torque
|
N･m
(kgf･cm) |
0.032
(0.325) |
0.051
(0.52) |
0.064
(0.653) |
0.096
(0.98) |
|
Peak torque
|
N･m
(kgf･cm) |
0.096
(0.975) |
0.153
(1.558) |
0.192
(1.96) |
0.288
(2.94) |
|
Rated speed
|
min-1
|
3000
|
3000
|
3000
|
3000
|
|
Maximum speed
|
min-1
|
6000
|
6000
|
6000
|
6000
|
|
Rotor moment
of inertia |
［GD2/4］kg･m2
(gf･cm･s2) |
0.0031×10-4
(0.003175) |
0.00496×10-4
(0.00506) |
0.00575×10-4
(0.00587) |
0.00945×10-4
(0.00964) |
|
Rated power rate
|
kW/s
|
3.26
|
5.24
|
7.1
|
9.76
|
|
Mechanical
time constant |
ms
|
2.86
|
2.1
|
2.0
|
1.99
|
|
Static
friction torque |
N･m
(kgf･cm) |
0.0015
(0.015) |
0.002
(0.02) |
0.002
(0.02) |
0.002
(0.02) |
|
Insulation class
|
–
|
B class
|
B class
|
B class
|
B class
|
|
Insulation resistance
|
MΩ MIN
|
100
|
10
|
10
|
100
|
|
Insulation strength
|
–
|
AC 600V 60s
|
AC 600V 60s
|
AC 600V 60s
|
AC 600V 60s
|
|
Shaft end play
|
mm MAX
|
0.04
|
0.5
|
0.5
|
0.04
|
|
Maximum radial
shaft load |
N(kgf)
|
24(2.45)
|
24(2.45)
|
24(2.45)
|
24(2.45)
|
|
Maximum thrust
shaft load |
N(kgf)
|
24(2.45)
|
24(2.45)
|
24(2.45)
|
24(2.45)
|
|
Direction of rotation
|
–
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
|
Sensor misalignment
|
°e MAX
|
±8
|
±8
|
±8
|
±8
|
|
Rated armature
current of E.D.C.M. |
A(rms)
|
1.8
|
2.29
|
2.87
|
3.9
|
|
Stoll armature
current of E.D.C.M. |
A(rms)
|
1.72
|
2.2
|
2.78
|
3.82
|
|
Noload armature
current of E.D.C.M. |
A(rms)
|
0.08
|
0.09
|
0.09
|
0.08
|
|
Peak armature
current of E.D.C.M. |
A(rms)
|
5.25
|
6.71
|
8.42
|
11.54
|
|
Torque constant
of E.D.C.M. |
N･m/A±10%
(kgf･cm/A) |
0.01858
(0.1896) |
0.0231
(0.2358) |
0.023
(0.235) |
0.02513
(0.256) |
|
Voltage constant
of E.D.C.M. |
V/(r/min) ±10%
|
1.947×10-3
|
2.422×10-3
|
2.412×10-3
|
2.634×10-3
|
|
Armature resistance
of E.D.C.M. |
Ω±10%
|
3.326
|
2.338
|
1.889
|
1.389
|
|
Armature inductance
of E.D.C.M. |
mH±30%
|
0.735
|
0.6
|
0.51
|
0.332
|
|
Electrical time
constant |
ms
|
0.22
|
0.26
|
0.27
|
0.24
|
22mm Servo Motors - Sensor:Incremental Encoder type
|
Rated Output
|
(W)
|
13
|
26
|
40
|
|---|---|---|---|---|
|
Model
|
2,000C/T type
|
TS4631N2050E510
|
TS4632N2050E510
|
TS4633N2050E510
|
|
2,048C/T type
|
TS4631N2250E510
|
TS4632N2250E510
|
TS4633N2250E510
|
|
|
Input Voltage
|
(V)
|
DC24V
|
||
|
Rated torque
|
N･m
(kgf･cm) |
0.031
(0.32) |
0.062
(0.63) |
0.095
(0.97) |
|
Stoll torque
|
N･m
(kgf･cm) |
0.031
(0.32) |
0.062
(0.63) |
0.095
(0.97) |
|
Peak torque
|
N･m
(kgf･cm) |
0.094
(0.96) |
0.185
(1.89) |
0.285
(2.91) |
|
Rated speed
|
min-1
|
4000
|
4000
|
4000
|
|
Maximum speed
|
min-1
|
5000
|
5000
|
5000
|
|
Rotor moment
of inertia |
［GD2/4］kg･m2
(gf･cm･s2) |
0.003×10-4
(0.003) |
0.004×10-4
(0.004) |
0.006×10-4
(0.006) |
|
Rated power rate
|
kW/s
|
3.4
|
9.7
|
15.4
|
|
Mechanical
time constant |
ms
|
2.2
|
1.2
|
1.2
|
|
Static
friction torque |
N･m
(kgf･cm) |
0.01
(0.1) |
0.01
(0.1) |
0.01
(0.1) |
|
Insulation class
|
–
|
B class
|
B class
|
B class
|
|
Insulation resistance
|
MΩ MIN
|
100
|
100
|
100
|
|
Insulation strength
|
–
|
AC 600V 60s
|
AC 600V 60s
|
AC 600V 60s
|
|
Shaft end play
|
mm MAX
|
0.04
|
0.04
|
0.04
|
|
Maximum radial
shaft load |
N(kgf)
|
22.5(2.3)
|
22.5(2.3)
|
22.5(2.3)
|
|
Maximum thrust
shaft load |
N(kgf)
|
14.7(1.5)
|
14.7(1.5)
|
14.7(1.5)
|
|
Direction of rotation
|
–
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
CCW as viewed from shaft end when energized in sequence of U→V→W
|
|
Sensor misalignment
|
°e MAX
|
±8
|
±8
|
±8
|
|
Rated armature
current of E.D.C.M. |
A(rms)
|
1.44
|
2.92
|
4.0
|
|
Stoll armature
current of E.D.C.M. |
A(rms)
|
1.1
|
2.52
|
3.6
|
|
Noload armature
current of E.D.C.M. |
A(rms)
|
0.34
|
0.4
|
0.4
|
|
Peak armature
current of E.D.C.M. |
A(rms)
|
3.66
|
8.0
|
11.2
|
|
Torque constant
of E.D.C.M. |
N･m/A±10%
(kgf･cm/A) |
0.029
(0.29) |
0.025
(0.25) |
0.026
(0.27) |
|
Voltage constant
of E.D.C.M. |
V/(r/min) ±10%
|
3.0×10-3
|
2.6×10-3
|
2.73×10-3
|
|
Armature resistance
of E.D.C.M. |
Ω±10%
|
6.2
|
2.0
|
1.36
|
|
Armature inductance
of E.D.C.M. |
mH±30%
|
1.4
|
0.51
|
0.30
|
|
Electrical
time constant |
ms
|
0.22
|
0.26
|
0.22
|
Specifications(AC Servo Driver)
|
Item
|
TA8410Series
|
TA8414Series
|
|||
|---|---|---|---|---|---|
|
Control power voltage *1
|
DC24V±10%
|
||||
|
Drive power voltage *1
|
DC24V±10%
|
||||
|
Control power current
|
0.2A *2
|
||||
|
Communication specifications
|
Communication protocol:SV-NET Physical layer:CAN
|
||||
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Sensor
|
Brushless Resolver
|
Min.wiring Incremental Encoder *4
|
Brushless Resolver(Singlsyn,Smartsyn)
|
17bit ABS/INC
|
Min.wiring Incremental Encoder
|
|
Driver internal resolution
|
2048(1/rev)
|
2000(1/rev)
2048(1/rev) 4096(1/rev) |
2048(1/rev)
|
217(1/rev)
|
2048(1/rev)
|
|
Combination motors
|
TBL-i mini Series
|
||||
|
Combination motor output
|
3～40W
|
～50W *5
|
|||
|
Operating temperature range
|
0∼+40°C
|
||||
|
Storage temperature range
|
-10∼+85°C
|
||||
|
Relative humidity
|
90%RH Max.(no condensation)
|
||||
|
Definition rotating direction
|
CW rotation as viewed from motor shaft end Forward rotation *3
|
||||
|
Recommended load inertia
|
30 times the motor inertia Max
|
||||
|
Mass
|
Approx.0.3kg
|
Approx.0.11g
|
|||
|
Correspondence standard
|
Directive
|
||||
Notices
※1…
Do not use the same power supply lore the control power and the drive power(when the drive power is DC24V).
Otherwise,troubies may occur. When the use of the same power supply is inevitable, take procautions,sudh as inserting a diode,so that the voltage variation on the drive power side may not adversely affect the control power side.
※2…
Except current consumption of I/O(CN7 and 8).
※3…
Definition of rotating direction can be changed by parameter.
※4…
This is sensor resolution.Driver resolution is 4times of sensor resolution.
※5…
Any cooling is needed for 30W or higher.
Innovation, quality and efficiency paired with high resistance and durability.
Since its foundation Tamagawa has taken up the challenge of further improving angular precision for control equipment such as high-precision sensors, motors and gyros. We are determined to satisfy your requirements with our high quality products by improving our technologies continuously and also constantly developing and applying new technologies. We can look back on an extensive industry-proven track record in all our fields of application.