About UNISERVO
UNISERVO is the first actuator with motion control & built-in torque control function.
Feedback control is performed based on measured torque to achieve desired value.
Adopting a reduction gear, it is overwhelmingly smaller & lighter than direct drive motor (DDM) normally used for torque control.
In addition, the torque resolution reaches 1/10000, even large torques can be controlled delicately.
The response speed of the torque sensor is 3kHz, the sampling speed is 20kHz.
Since the moment of inertia of the torque generation mechanism is in the
torque feedback loop, it can be made extremely small along with feedback control.
What can be done by measuring the output torque?
Toqrque limit
Torque output level can be controlled so that it does not go above the preset limit. ⇒ Prevent to get caught in a machine
Zero torque control
By controlling the output toque to be zero (or nearly-equal to zero), the output shaft can be easily rotated by an operator. ⇒ Direct teaching
Compliance control
Spring motion can be simulated. ⇒ Characteristics similar to that of humans when applying force can be obtained.
Application of torque control for human machine interface
Robots and operators have been separated by safety fences as robots cannot detect when their arms hit objects.
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Robots can be safer for humans if they can detect force and torque caused by human interaction. The efficiency of an operation can be greatly improved, and space can be saved as lot as safety fences can be removed so that humans and robots can work together.
Normally, power of motors used in care devices must be limited for safety, and thus, the response time is extremely slow.
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If the output torque can be precisely controlled, motor with larger power can be used, and the response time can be improved a lot.
Bilateral control
The rotation angle of two motors are synchronized, and the motion is controlled that torques are balanced.
The ratio of torques can be changed as well.
・Remote control of robot hands
・Where the transmission of force sensation is required for remote
Control so that… θ１=θ2 and T1+T2＝0
Angle-torque characteristics
Macro function
・ A macro can be created by recording communication command strings.
・ 15 macros can be created.
・ Maximum of 1MByte data can be stored on the flash ROM.
・ The size of the temporary memory RAM to write macros is 32kByte.
・ A macro can be created in a hierarchical structure as well.
・ A macro can refer to the second level macro in the hierarchy.
Safety Functions
UNISERVO is equipped with safety functions for safeguard.
When following conditions are met, the servo is turned OFF, and UNISERVO stops operating.
| Over torque load (fixed system) | When output torque exceeds the preset limit…. |
| Over current load (fixed system) | When the current load of the motor goes above the preset limit…. |
| Over voltage load (fixed system) | When the volage of the motor coil exceeds the preset limit…. |
| Actuator error | When the actuator fault and abnormal operation is detected…. |
| Overspeed fixed system） | When the rotation speed exceeds the preset limit…. |
| Power device temperature error | When the temperature of the power device exceeds the preset limit…. |
| Encoder error | When an issue is found with the rotary encoder…. |
| Torque meter error | When an issue is found with the torque meter…. |
| Motor error | When an issue is found with the motor…. |
Speed & rotation angle control are also possible
| Speed control | The rotation speed is maintained to a pre-set target level. The limit for torque can be added as well. |
| Rotation angle control | The rotation angle is maintained to a defined angle. Torque and compliance control can be applied as well |
NEW!! UNISERVO (Direct Drive Type)
Introducing gearless direct drive motor SVDM from UNISERVO series.
Torque feedback can be done with UNISERVO, which was a bottleneck for applications in high rotational speed.
No reduction gear, thus no backlash & high rigidity
Compared to normal UNISERVO, SVDM does not have a reduction gear. Therefore it is possible to measure torque directly and perform feedback.
In addition, higher rigidity makes it more responsive.
When you need high revolutions with UNISERVO
Although UNISERVO can control torque, there were cases where the maximum rotational speed became bottleneck in tension control.
The new lineup of UNISERVO direct drive enables feedback control of tension. In general, when controlling tension as shown in the illustration below, it is necessary to first provide a separate setup for tension measurement. UNISERVO direct drive has a very simple structure because the motor itself detects torque and provides feedback.
UNISERVO torque & angle monitor USV-EC30
Easy control of UNISERVO with EC30! It is easier to make test system.
Waveform display, useful judgment functions & data is recordable!
The video above is an example of screw test. You can observe displayed waveform & hold points.
Control of UNISERVO can be set differently for each work. Changes are possible through touch panel.
Judgment can be done on each Work No. It is possible with various hold functions & waveform comparison.
Measured waveform data & hold points can be saved automatically into SD card. Furthermore, setting values of main unit, screenshot can also be saved.
NEW!! UNISERVO dedicated monitor ‹Complicated control made easier› USV-EC70
EC70 allows complex control by branching out the sequence based on conditions!
Connecting the sequences, continuous tests under different conditions can be performed without PLC.
The display mode can be shown differently according to the application.
Control can be selected from speed control, position control, torque control, spring control, and friction control.Limits of the control can be set at the same time.
Position control can be absolute position control and relative position control.
Torque control and speed control can be step control.
Two analog outputs (± 10V voltage output) are equipped as standard
EtherNet / IP, CC-Link, Devicenet can be selected as option.
UNISERVO model configuration table
・UNISERVO
New motion control actuator specializing in torque control
・UNISERVO(Direct drive type)
There is no deceleration mechanism, thus backlash-less and highly rigid, achieving high-speed torque feedback!
・UNISERVO(with brake)
Equipped with a battery-less multi-turn absolute encoder
Even if the power is turned off unexpectedly, operation continues without returning to the origin position!
Safety is also improved as output shaft is automatically locked when the power is turned off.
・UNISERVO(Field network type)
Supports CC-Link. Control mode can be changed and each monitor data can be read from the PLC!
The control mode can be selected from position control, speed control, and torque control operation.
Specifications
Spec. of the actuator
Model |
SVM-15 | SVM-40 | SVM-80 | SVM-200 | SVM-750 | SVM-1500 | ||||||||||||
| Rated output | 15W | 40W | 80W | 200W | 750W | 1500W | ||||||||||||
| Gear ratio | 30 | 50 | 100 | 30 | 50 | 100 | 30 | 50 | 100 | 30 | 50 | 100 | 30 | 50 | 100 | 50 | 100 | |
| Rated torque | 0.9Nm | 1.5Nm | 3Nm | 2.4Nm | 4Nm | 8Nm | 4.5Nm | 8.5Nm | 16Nm | 13Nm | 23Nm | 45Nm | 51Nm | 87Nm | 174Nm | 171Nm | 348Nm | |
| Momentary maximum torque | 1.8Nm | 3.3Nm | 4.8Nm | 4.5Nm | 8.3Nm | 11Nm | 9Nm | 23Nm | 36Nm | 27Nm | 70Nm | 107Nm | 100Nm | 261Nm | 433Nm | 515Nm | 982Nm | |
| Rated rotation speed | 100rpm | 60rpm | 30rpm | 100rpm | 60rpm | 30rpm | 100rpm | 60rpm | 30rpm | 100rpm | 60rpm | 30rpm | 100rpm | 60rpm | 30rpm | 60rpm | 30rpm | |
| Maximum rotation speed | 200rpm | 120rpm | 60rpm | 200rpm | 120rpm | 60rpm | 200rpm | 120rpm | 60rpm | 200rpm | 120rpm | 60rpm | 160rpm | 96rpm | 48rpm | 76rpm | 38rpm | |
| Load limits | Radial load limit | 100N | 200N | 400N | 1000N | 1500N | 3000N | |||||||||||
| Thrust load limit | 100N | 200N | 500N | 2500N | 4000N | 7000N | ||||||||||||
| Temperature & humidity | Use condition | 0 to 40℃、20 to 80％RH（no condensation allowed） | ||||||||||||||||
| Storage condition | -20 to 60℃、20 to 80％RH（no condensation allowed） | |||||||||||||||||
| Dimensions(W×H×D） | 40×51.6×109 mm （excluding protruding parts） |
68.9×65.5×140.0 mm （excluding protruding parts） |
74×73.3×194.5 mm （excluding protruding parts） |
100×99×222 mm （excluding protruding parts） |
135.9×132.5×312.5 mm （excluding protruding parts） |
215.75×184×378.25 mm （excluding protruding parts） |
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| Weight | Approx.0.35kg | Approx.0.9kg | Approx.1.5kg | Approx.3.4kg | Approx.11kg | Approx.27kg | ||||||||||||
| Correspondence controller | SVC-15 | SVC-80 | SVC-200 | SVC-750 | SVC-1500 | |||||||||||||
Spec. of the controller
| Model | SVC-15 | SVC-80 | SVC-200 | SVC-750 | SVC-1500 | |||||||
| Power | 15W | 80W | 200W | 750W | 1500W | |||||||
| Operating power | Main circuit | Single-phase AC100 to 115V 50/60Hz |
Single-phase AC200 to 240V 50/60Hz |
Three-phase AC200 to 240V 50/60Hz |
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| Control circuit | Single-phase AC100 to 115V 50/60Hz |
Single-phase AC200 to 240V 50/60Hz |
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| Control modes | Torque control, compliance control, speed control, position control, Q-axis current control |
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| I/O signals | Digital I/O | 8ch inputs & 8ch outputs | ||||||||||
| Analogu input & output | 2ch inputs & 2ch outputs | |||||||||||
| Line driver I/O | 2ch inputs & 3ch outputs | |||||||||||
| Display | Code display | 7-segment 2-digits red LED | ||||||||||
| Status display | Three red LED | |||||||||||
| Charge display | One red LED for checking the power charging status on the main circuit | |||||||||||
| Operation buttons | Push button | 2 buttons | ||||||||||
| Communication function | USB | Communication specification | USB Ver2.0 | |||||||||
| Communication speed | full speed | |||||||||||
| Class | Virtual COM port | |||||||||||
| Supported OS | Windows7(32/64bit)、Windows10(32/64bit) | |||||||||||
| Temperature & humidity | Use condition | 0 to 40℃、20 to 80%RH（no condensation allowed） | ||||||||||
| Storage condition | -20 to 60℃、20 to 80%RH（no condensation allowed） | |||||||||||
| Dimensions (W×H×D) |
45×195×134 mm （excluding protruding parts） |
45×195×174 mm （excluding protruding parts） |
60×195×252 mm （excluding protruding parts） |
68×245×293 mm （excluding protruding parts） |
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| Weight | Approx.0.8kg | Approx.1.0kg | Approx.2.0kg | Approx.4.3kg | ||||||||
| Other functions | Inrush current reduction | |||||||||||
| Correspondence motor | SVM-15 | SVM-40/SVM-80 | SVM-200 | SVM-750 | SVM-1500 | |||||||
| Software option | Virtual rotation load control and remote bidirectional control | |||||||||||
Spec. of the actuator part of the UNISERVO (Direct drive type)
| Model | SVDM-200 | SVDM-400 | SVDM-750 | |
| Rated output | 200W | 400W | 750W | |
| Rated torque | 0.64Nm | 1.27Nm | 2.39Nm | |
| Momentary maximum torque | 1.9Nm | 3.8Nm | 7.2Nm | |
| Rated rotation speed | 3000rpm | |||
| Maximum rotation speed | 6000rpm | |||
| Temperature & humidity | Use condition | 0 to 40℃、20 to 80％RH(no condensation allowed) | ||
| Storage condition | -20 to 60℃、20 to 80％RH(no condensation allowed) | |||
| Correspondence controller | SVC-200 SVCI-200 |
SVC-750 SVCI-750 |
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Spec. of the actuator part of the UNISERVO (with brake)
| Model | SVM-80R | SVM-200R |
| Rated output | 80W | 200W |
| Dimensions(W×H×D) | 74×73.3×250mm (excluding protruding parts) |
100×99×271mm (excluding protruding parts) |
| Weight | Approx.1.8kg | Approx.4.1kg |
| Other spec. | Refer to the specifications of the SVM-80. | Refer to the specifications of the SVM-200. |
| Correspondence controller | SVC-80R | SVC-200R |
Spec. of the actuator part of the UNISERVO (with brake)
| Model | SVC-80R | SVC-200R |
| Power | 80W | 200W |
| Dimensions(W×H×D) | 45×195×154mm (excluding protruding parts) |
45×195×194mm (excluding protruding parts) |
| Weight | Approx.0.8kg | Approx.1.0kg |
| Other features | Inrush current reduction function, Non-excitation actuated brake control function, Multi-turn absolute encoder control function |
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| Other spec. | Refer to the specifications of the SVC-80. | Refer to the specifications of the SVC-200. |
| Correspondence actuator | SVM-80R | SVM-200R |
Spec. of the controller part of the UNISERVO (Field network type)
| Model | SVCI-80 | SVCI-200 | SVCI-750 | |
| Power | 80W | 200W | 750W | |
| I/O signal | digital I/O | input 8ch, output 8ch | ||
| analog I/O | input 2ch, output 2ch | |||
| line driver I/O | input 2ch, output 3ch | |||
| PLC I/O | CC-Link supported | |||
| Dimensions(W×H×D) | 65×195×133mm (excluding protruding parts) |
65×195×174mm (excluding protruding parts) |
79×195×247mm (excluding protruding parts) |
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| Weight | Approx.0.9kg | Approx.1.3kg | Approx.2.7kg | |
| Other spec. | Refer to the specifications of the SVC-80. | Refer to the specifications of the SVC-200. | Refer to the specifications of the SVC-750. | |
| Correspondence actuator | SVM-80 | SVM-200 | SVM-750 | |
Connection & communication
PC and the controller for UNISERVO can be connected with a communication cable.
Using terminal software, setting parameters can be read and overwritten via USB.
| Specification | USB Ver2.0 (full speed) |
| Class | Communication class |
| Supported device | AT compatible device with a USB port |
| Supported OS | Windows Vista, Windows 7, Windows 10 |
| Connector | miniB type |
