Servo Gun Actuators - New Motors

Summary:

Servo actuators are popular for spot guns because they combine the motor and ball screw drive into a single unit.  The robot controller has parameters in software to properly run these motors when they are selected from a list during set-up.  New motor series were recently added (2025) from Exlar (Curtiss-Wright) (GTW-80, GTW-100) and Tolomatic (CSW and SWA).  These motors are added to the list which already supports their legacy motors as well as motors from Obara, Diakont, ARO, and Honda.  With the motor list it is easy for integrators to set-up a GUN-x axis for the actuator on the servo gun.  The Maintenance mode SET-UP procedure establishes detailed control parameters (SVMxG) for the motor and then the pressure calibration and other gun operation characteristics are entered by integrator or end users in the GUN CONDITION FILE.

One of the key elements of controlling the motor is the encoder mounted to its shaft.  Yaskawa has changed encoder types over the years and the Sigma 7 is the newest model introduced on the YRC1000 controller.  It has the advantage of not requiring a battery to back up its position when powered down.  Tolomatic and Exlar have incorporated the Sigma 7 encoders on their recent motor models.  They also use older encoders for using the motors on the older DX200 controllers.  The controller needs the following software versions or later to have the motors appear in the motor selection list:

*A few additional Tolomatic motors were added in second release

New Exlar and Tolomatic Motors:

The new Sigma 7 encoders have a stand-alone housing mounted to the end of the motor and marked with UTTAH-B24RU on the end.  These are for the YRC1000 controller and the motor selections in the list will end with -Y18.  Some motors may have a protective housing on the end obscuring the encoder model # and one may have to refer to the manufacturer for type.  Tolomatic uses an older encoder type which is denoted with -Y4 on DX200 and YRC1000 controllers.

*Denotes motors added in PRM ver 4.62 (YRC) and 3.16 (DX2)

**It should be possible to use Sigma 7 encoders on DX200 (select -YE18 motor).

See attached file for expanded information on this topic.