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Sumitomo Drive Technologies TUAKA ACTIVE Operating Manual

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TUAKA ACTUATORS
Operating manual

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Summary of Contents for Sumitomo Drive Technologies TUAKA ACTIVE

  • Page 1 TUAKA ACTUATORS Operating manual...
  • Page 2 Legal notice Manufacturer: Sumitomo (SHI) Cyclo Drive Germany GmbH Cyclostrasse 92 85229 Markt Indersdorf Germany Telephone: Tel. +49 8136 66-0 Email: SCG.service@shi-g.com www.sumitomodrive.com Copyright © 2024 Sumitomo (SHI) Cyclo Drive Germany GmbH Copying, including of extracts, is only permissible with the express approval of Sumitomo (SHI) Cyclo Drive Germany GmbH.

  • Page 3: Table Of Contents

    3.3.1. Lifetime ........................20 3.3.2. Permissible operating environment ................20 3.3.3. Dimensions and technical data of TUAKA ACTIVE ............ 21 3.3.4. Dimensions and technical data of TUAKA SERVO ............ 22 3.3.5. Dimensions and technical data of TUAKA DRIVE ............24 Transport and storage .............
  • Page 4 Testing and checking the safety system ..............41 5.6. Brake configuration ....................42 5.6.1. Configuring the brake on the TUAKA ACTIVE and TUAKA SERVO ......42 5.6.2. Configuring the brake on the TUAKA DRIVE ............. 42 5.7. Checking the installation ..................43 5.8.
  • Page 5 Operation ................... 47 7.1. Operating modes ...................... 47 7.2. Switching the machine on and off ................48 7.3. Process or sequence of operations ................ 48 7.4. Technical performance data ..................48 Inspection, maintenance and cleaning ........49 8.1. Inspection ........................50 8.2.

  • Page 6: User Instructions

    1.1 Notes on the operating manual 1.1.1 Validity of the operating manual This operating manual contains information and instructions about safe handling and faultless operation as well as maintenance of the following actuators: • TUAKA ACTIVE • TUAKA SERVO • TUAKA DRIVE Refer to the nameplate for the exact type.

  • Page 7: Product Identification And Nameplate

    USER INSTRUCTIONS 1.2 Product identification and nameplate A nameplate containing the following product identification information is attached to the housing: Figure 1.1 Nameplate Type Peak torque Serial number Rated torque QR code Year of manufacture Nameplate number Maximum power Rated voltage Ratio Protection class Manufacturer...

  • Page 8: Text Markings And Symbols

    USER INSTRUCTIONS 1.3 Text markings and symbols Different markings and symbols are used in the text in this manual. These are explained below. Warning symbols are used in warnings and categorised according to the level of danger. Please note the instructions and explanations in the Safety section. ...

  • Page 9: Safety

    SAFETY Safety This operating manual contains instructions and information about safety and maintenance as well as safe and correct operation of the actuator. The following chapters also contain additional information, in particular warnings, which must also be observed. Follow all instructions to avoid personal injury, environmental damage and material damage. ...

  • Page 10: Personnel Requirements And Qualifications

    SAFETY 2.4 Personnel requirements and qualifications The manual draws a distinction between the following personnel: • Operator • Qualified staff The listed groups of people must have read and understood the operating manual and must have reached the legal minimum age. The actuators contain dangerous, live and rotating parts.

  • Page 11: Basic Safety Instructions

    SAFETY 2.6 Basic safety instructions The basic safety instructions summarise all safety measures pertaining to the same subject and apply at all times to any activity related to the actuator. They also function as warnings in the appropriate places in this manual. Mechanical hazards The rotation of exposed mechanical parts, such as motor and hollow shafts, may result in injuries to limbs.
  • Page 12 SAFETY Magnetic hazards Persons with passive or active implants such as pacemakers, defibrillators, insulin pumps, etc., who remain in the immediate vicinity of the actuator are at risk of death. People who could potentially be affected by strong magnetic fields should be instructed to vacate ...
  • Page 13 SAFETY Electrostatic hazards Electrostatic discharge (ESD) can damage the sensitive electronics of the actuators and the system. To protect the electronics, only perform work on the actuators at ESD-protected workstations as  stipulated in DIN EN 61340-5-1. Do not use plastic bags, plastic containers or other non-antistatic or non-conductive materials ...
  • Page 14 SAFETY Dangers from overloading Overloading can result in complete failure of the actuator. In the worst case scenario, serious personal injury is possible, depending on the specific application. Observe the maximum permissible moments that can be transferred according to the product ...

  • Page 15: Danger Areas

    SAFETY 2.7 Danger areas Remaining within the swivel range of moving robot arms and machine parts poses a risk of death. Install a protective grille or barriers around the overall system at a sufficient safety distance.  Do not remain in the danger area unless the overall system has been switched off. ...

  • Page 16: Product Overview

    PRODUCT OVERVIEW Product overview 3.1 Product description TUAKA actuators are robust, compact motor-gearbox units that offer a high degree of precision. They can also be extended to include rotary encoders on the input side and the gearbox output side as well as a torque sensor, and can be equipped with a functional safety feature as an option. TUAKA actuators are specially designed for use in robotics applications.

  • Page 17: Structure And Function Of Tuaka Active

    Gearbox Output flange The TUAKA ACTIVE is a fully integrated actuator consisting of a gearbox and motor. The TUAKA ACTIVE can be upgraded to the TUAKA SERVO with an additional encoder.  Chap. 3.1.2 "Structure and function of TUAKA SERVO" page 18...

  • Page 18: Structure And Function Of Tuaka Servo

    Brake cable Output flange The TUAKA SERVO is a fully integrated actuator consisting of a gearbox, motor and encoder. The TUAKA SERVO completes the TUAKA ACTIVE actuator with the additional encoder. The following encoders are available: • RLS: BiSS-C (SSI and SPI available, on request) •...

  • Page 19: Structure And Function Of Tuaka Drive

    PRODUCT OVERVIEW 3.1.3 Structure and function of TUAKA DRIVE Figure 3.3 Main assemblies of the TUAKA DRIVE (example illustration) Driver/controller Machine housing flange, input side (including encoder/connection board) Input shaft Cable for brake or torque sensor (optional) Output flange Motor Power supply Gearbox The TUAKA DRIVE is a fully integrated actuator that incorporates a powerful driver.

  • Page 20: Designated Use

    PRODUCT OVERVIEW 3.2 Designated use TUAKA actuators ACTIV, SERVO and DRIVE are designed and manufactured by Sumitomo for industrial and commercial systems in the field of robotics, precision machine tools, automation technology and medical applications. The permitted speeds and performances specified in the technical data and on the nameplate must be observed.

  • Page 21: Dimensions And Technical Data Of Tuaka Active

    Figure 3.4 Dimensions of TUAKA ACTIVE Length Diameter of output, main diameter Diameter, hollow shaft diameter Diameter, housing diameter The dimensions relate to the TUAKA ACTIVE without any optional modules. Size Length L (mm) Ø G (mm) Ø D (mm) Ø d1 (mm) Weight (g) 89.2...

  • Page 22: Dimensions And Technical Data Of Tuaka Servo

    PRODUCT OVERVIEW 3.3.4 Dimensions and technical data of TUAKA SERVO Figure 3.5 Dimensions of TUAKA SERVO Length (depending on encoder) Diameter of output, main diameter Diameter, hollow shaft diameter Diameter, housing diameter The dimensions relate to the TUAKA SERVO without any optional modules. Size Length L (mm) Ø...
  • Page 23 PRODUCT OVERVIEW Technical data Mechanical backlash not applicable Lost Motion < 1 arcmin Sizes Reduction ratio 50:1 / 80:1 / 100:1 Nominal output torque 21-67 Nm (if n1 = 2000 rpm) Peak output torque 44-157 Nm Max. output speed Up to 123 rpm Rated power consumption 107: up to 391 W 103: up to 388 W...

  • Page 24: Dimensions And Technical Data Of Tuaka Drive

    PRODUCT OVERVIEW 3.3.5 Dimensions and technical data of TUAKA DRIVE Figure 3.6 Dimensions of TUAKA DRIVE Length Diameter, housing diameter D1 Diameter of output, main diameter D2 Diameter of output, centering Hollow shaft diameter The dimensions relate to the TUAKA DRIVE without any optional modules. Size Length L Ø...
  • Page 25 PRODUCT OVERVIEW Technical data Lost Motion < 1 arcmin Sizes Reduction ratio 50:1 / 80:1 / 100:1 Nominal output torque 21-67 Nm (if n1 = 2000 rpm) Peak output torque 44-157 Nm Max. output speed Up to 123 rpm Rated power consumption 107: up to 391 W 103: up to 388 W Max.

  • Page 26: Transport And Storage

    TRANSPORT AND STORAGE Transport and storage 4.1 Transport CAUTION Risk of injury from falling! The different actuators may fall and cause injury to limbs. Actuators that are still in their transport packaging and weigh more than 20 kg in total must ...

  • Page 27: Storage

    TRANSPORT AND STORAGE 4.2 Storage NOTE Material damage due to improper storage! The actuators must be stored under specific storage conditions. Failing to store the device under the conditions specified may damage components on the actuator. Actuators that are still in their transport packaging and weigh more than 20 kg in total must ...

  • Page 28: Assembly, Installation And Commissioning

    ASSEMBLY, INSTALLATION AND COMMISSIONING Assembly, installation and commissioning WARNING Risk of death and material damage resulting from insufficient qualification! Assembly, installation and commissioning require specialist knowledge and must be performed in compliance with applicable regulations. Inadequate qualifications can result in serious or even life-threatening injuries or damage to the actuator or the overall system.

  • Page 29: Necessary Tools And Auxiliary Equipment

    ASSEMBLY, INSTALLATION AND COMMISSIONING 5.1.1 Necessary tools and auxiliary equipment Prepare the tools listed below for installation.  • Suitable wrench • Measuring torque wrench 5.1.2 Preparatory tasks Prepare tools and auxiliary equipment.  Chap. 5.2 "Mechanical installation" page 29 Unpack the actuator.

  • Page 30: Specified Screws And Tightening Torques

    ASSEMBLY, INSTALLATION AND COMMISSIONING 5.2.2 Specified screws and tightening torques Screw assembly data according to VDI 2230 EDITION 2015  Prepare the prescribed screws and a torque wrench set to the tightening torque specified in the  table below. Select screws made from a material capable of withstanding humidity to avoid excessive ...
  • Page 31 ASSEMBLY, INSTALLATION AND COMMISSIONING Customer load at pitch circle 2 Ø 48 mm: Load: Torsional moment 71 Nm Customer flange material AlCuMg1 AlCuMg1 Terminal width B 5 mm 41 mm 26.5 mm Cylinder screw M3x14 M3x50 M3x35 Thread length 14 mm 18 mm 18 mm Insertion depth D (max.

  • Page 32: Fitting The Actuator

    ASSEMBLY, INSTALLATION AND COMMISSIONING 5.2.3 Fitting the actuator Figure 5.2 Screw connection on housing parts A and B (example illustration) Actuator screw connection on housing section A Actuator shaft Output flange screw connection Housing section A Housing section B Prepare the prescribed screws and a measuring torque wrench set to the tightening torque specified in the table below.

  • Page 33: Installing The Mechanical Cooling Unit

    ASSEMBLY, INSTALLATION AND COMMISSIONING 5.2.4 Installing the mechanical cooling unit NOTE Material damage resulting from overheating! Inadequate cooling can irreparably damage the actuator. Ensure proper cooling.  An additional heat sink can be used to ensure that the actuators are cooled sufficiently. The installation of heat sinks is not the responsibility of Sumitomo (SHI) Cyclo Drive Germany GmbH.

  • Page 34: Electrical Installation

    ASSEMBLY, INSTALLATION AND COMMISSIONING 5.3 Electrical installation WARNING Electric shock from live components! Unsecured voltages on live components can result in life-threatening electric shocks. Only use a protected safety extra-low voltage with electrically safe isolation.  Before starting the electrical installation, disconnect the system correctly according to ...

  • Page 35: Connections On The Tuaka Active

    ASSEMBLY, INSTALLATION AND COMMISSIONING 5.3.1 Connections on the TUAKA ACTIVE 15 14 12 11 Figure 5.4 Overview of soldering pads on the TUAKA ACTIVE connection board (example illustration) Phase A Temperature sensor 1 signal SP1-1 Notch Temperature sensor 2 signal SP2-1...

  • Page 36: Connections On The Tuaka Servo

    ASSEMBLY, INSTALLATION AND COMMISSIONING 5.3.2 Connections on the TUAKA SERVO Figure 5.5 Connections on the TUAKA SERVO (example illustration) Phase A Temperature cable Phase B Brake cable Phase C Board connection Attach the board connections according to the designation below. ...
  • Page 37 ASSEMBLY, INSTALLATION AND COMMISSIONING Signal Description Supply voltage not used Sensor: The sensor cable is connected to the relevant power supply in the measuring device. Note the earthing requirements stipulated in the manufacturer’s specifications.  Leave unused pins or wires unassigned. ...
  • Page 38 ASSEMBLY, INSTALLATION AND COMMISSIONING Pin assignment for RLS encoder – AksIM-2 1 2 3 4 5 6 Pin 1 Figure 5.8 Pin assignment for RLS encoder – AksIM-2 – view from above 8-pin plug connection Soldering points Soldering point BISS C SLO+ SLO- Leave unused pins or wires unassigned.

  • Page 39: Connections On The Tuaka Drive

    ASSEMBLY, INSTALLATION AND COMMISSIONING 5.3.3 Connections on the TUAKA DRIVE WARNING Risk of death and material damage resulting from incorrect attachment of connections! Attaching the connectors incorrectly can trigger uncontrolled actuator movements and cause serious or even life-threatening injuries or damage to the actuator and the overall system. Always attach all connections to the board according to the designation.
  • Page 40 ASSEMBLY, INSTALLATION AND COMMISSIONING Figure 5.11 Connections on the TUAKA DRIVE (example illustration) Phase C EtherCat/STO-SBC OUT Phase B EtherCat/STO-SBC IN Phase A Brake Temperature sensor Digital I/O 24 - 55 V power supply Analogue IN/torque sensor Attach all connections to the board according to the designation. ...

  • Page 41: Connecting The Communication Interfaces

    Refer to the operating instructions of the master controller (not included in delivery) for information on operation. 5.4.1 Connecting the communication interfaces – TUAKA ACTIVE Only motor cables are connected to the TUAKA Active. There are no communication interfaces. 5.4.2 Connecting communication interfaces – TUAKA SERVO Establishing connections to the TUAKA SERVO.

  • Page 42: Brake Configuration

    Protect the brake cable from damage.  Inspect the brake cable regularly for damage.  5.6.1 Configuring the brake on the TUAKA ACTIVE and TUAKA SERVO Symbol Unit Rated current 0.42 0.56...

  • Page 43: Checking The Installation

    During commissioning, observe the currents consumed when the motor is loaded by its working  machine. (Any potential overloading and network asymmetries can be identified immediately.) Commissioning of the TUAKA ACTIVE and TUAKA SERVO is complete.  5.8.2 Commissioning the TUAKA DRIVE The supply voltage should preferably be 48 V DC.
  • Page 44 ASSEMBLY, INSTALLATION AND COMMISSIONING During commissioning, observe the currents consumed when the motor is loaded by its working  machine. (Any potential overloading and network asymmetries can be identified immediately.) Refer to Synapticon’s instructions for commissioning. " " https://doc.synapticon.com/hardware/circulo/index.html  Fine tune the torque sensor.

  • Page 45: Manufacturer Settings

    6.3 Software and electrical settings 6.3.1 TUAKA ACTIVE and TUAKA SERVO settings There are no software settings available for TUAKA ACTIVE and TUAKA SERVO. 6.3.2 TUAKA DRIVE settings The current software settings are only provided by the manufacturer on request.

  • Page 46: Thermal Protection Parameters

    MANUFACTURER SETTINGS 6.4.3 Thermal protection parameters The temperature limits and i2t parameters are already preconfigured in DRIVE. We recommend keeping the i2t configuration, apart for the Enabled option code. This code can be selected to either limit the current to the motor's rated value when i2t is activated and to allow the motor to cool down, or to trigger an error and stop the drive.

  • Page 47: Operation

    OPERATION Operation WARNING Risk of death and material damage resulting from brake failure! Excessive braking can cause a thermal overload of the brake and therefore lead to brake failure, which can result in serious or even life-threatening injuries, or damage to the actuator or overall system.

  • Page 48: Switching The Machine On And Off

    OPERATION Operating mode Description Homing mode Homing mode can be used to centre an axle in its current position or to move the axle to an encoder index pulse. Diagnostics mode Diagnostics mode is used to execute diagnostic OS commands. For more details and information on operating modes: "...

  • Page 49: Inspection, Maintenance And Cleaning

    INSPECTION, MAINTENANCE AND CLEANING Inspection, maintenance and cleaning DANGER Risk of death from moving robot arms and machine parts! When the system is switched on, robot arms and machine parts in the area around the system can move at any time and cause serious or even life-threatening injuries to personnel in the immediate vicinity.

  • Page 50: Inspection

    INSPECTION, MAINTENANCE AND CLEANING 8.1 Inspection In order to ensure the proper operating condition of the actuator, carry out the defined  inspections at the specified intervals. Inspection work Intervals Clean the housing and cooling elements of the actuators if they are dirty. weekly Check the actuator for damage.

  • Page 51: Troubleshooting, Fault Elimination And Repair

    TROUBLESHOOTING, FAULT ELIMINATION AND REPAIR Troubleshooting, fault elimination and repair WARNING Risk of death and material damage resulting from insufficient qualification! Troubleshooting and fault elimination must be performed in compliance with the applicable regulations for the overall system and in accordance with the operating manual. Inadequate qualifications can result in serious or even life-threatening injuries and damage to the TUAKA product or the overall system.
  • Page 52 TROUBLESHOOTING, FAULT ELIMINATION AND REPAIR In the DRIVE variant, the Error Report Object provides further information about the error or warning indicated by error code object 0x603F. For further details and information about Error Report Objects: " " https://doc.synapticon.com/circulo/sw5.0/errors_warnings/error_report_object.html  Operating manual: Actuators | TUAKA | 991553 | Rev.: 1.0 | 10/2024 | EN...

  • Page 53: Decommissioning, Disassembly And Disposal

    DECOMMISSIONING, DISASSEMBLY AND DISPOSAL 10 Decommissioning, disassembly and disposal 10.1 Decommissioning WARNING Risk of death from uncontrolled movements! The overall system can move in all directions at any time during operation. As a result, there is the possibility of life-threatening injuries. Switch off the overall system before starting work on the actuators.

  • Page 54: Disposal

    DECOMMISSIONING, DISASSEMBLY AND DISPOSAL 10.3 Disposal WARNING Risk of injury and illness from chemicals! Lubricants coming into contact with the skin, eyes or lungs can cause injury and illness. When handling lubricants, observe the personal and environmental safety regulations included ...

  • Page 55: Spare Parts And Customer Service

    SPARE PARTS AND CUSTOMER SERVICE 11 Spare parts and customer service 11.1 Ordering spare parts NOTE Material damage resulting from lack of expertise! The use of non-approved spare parts may compromise safety. Original spare parts are required to ensure proper operation and an adequate level of safety. The use of other parts can invalidate liability for any subsequent consequences.

  • Page 56: Index

    Danger areas ......15 TUAKA ACTIVE ....17 Decommissioning .
  • Page 58 Find your closest Sumitomo Drive Technologies facility here. Sumitomo (SHI) Cyclo Drive Germany GmbH | Cyclostraße 92 | 85229 Markt Indersdorf | Germany Tel. +49 8136 66-0 | E-Mail: SCG.info@shi-g.com | www.sumitomodrive.com Hansen Industrial Transmissions NV | Leonardo da Vincilaan 1-3 | 2650 Edegem | Belgium...

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