OBARA New SV Gun

X2C Servo Gun




- Specifications -

Standard Specifications



















72 kg~ ~77 kg~ ~84 kg


Small Medium Large


91 kg~ ~92 kg~ ~95 kg
















Type C-type X-type


Force 6000N


Stroke Up to 190mm Up to 170mm


Trans Std: 1000Hz / 100Kva


Max SCC 20,000A


Throat size Up to 450mm x 325mm Up to 420mm x 450mm



Within the size ranges indicated above, all the X2C

guns are capable of producing 6000N force

If 6000N is not required, throat size can be larger

(depending on specified force)



2

Example Model



Standard Medium C-type Gun:











320 495
200









157
96





915



Standard Medium X-type Gun:










240 495










450
157







1050





3

Standard Body Concept



Common Gun Body Assemblies:


Standard body + Conversion kit


One actuator each for C & X


One shunt assembly each for C & X



C-type Gun Body Assy (C)
Conversion Kit



+






Std Body


+
X-type

Conversion Kit

Gun Body Assy (X)










C-type (X-type) Conversion Kit

Conversion Kit •Actuator

•Shunt Assembly

•Point Holder (Hinge Assy)

•Spacer Plates (Fulcrum Assy)










4

Arm Configuration



Std Body Assy+C&X Arm configurations:



Main Chassis

Gun Body Assy (C) Gun Body Assy (X)

Std Body






Various Arm Designs Various Arm Designs













C-type Guns X-type Guns








Small Medium Large Small Medium Large


Max Throat Size with 6000N






Throat Height Max: 450 Throat Height Max: 420










Max: 390 Max: 450


Max Throat Depth Max Throat Depth


* Throat size can be larger than above, if required force is less than 6000N



5

Special X-gun Body



Shorter length by rotating transformer up:


An option when horizontal length needs to be shorter


Shunt assembly will be different from the standard

This option is currently not available for C-type

Stick-out of actuator remains the same














































150

















6

Bracket Configuration



Universal between C & X types:


The same mounting plate used in all directions


 For back & top mounts, the same bracket side plates can
be used

 For side mount, a spacer block needs to be added

 For bottom mount, two spacer plates need to be added


Back Mount Side Mount























Top Mount Bottom Mount

Std mounting Plate & Adapter plate:


Std mount pattern is Ø125 PCD


For other patterns, adapter plate to be supplied





Std Mount Pattern

Ø125 PCD
6-M10 bolts

2-Ø10H7 locators





Adapter Plate

7

Standard Gun Body Assy



Minimum dimensions of Gun Body Assy:





196
Back mount (495)












236 611






236



Top mount 520












196 (520)





196
Bottom mount (570)















236 (520)



8

Special X-Gun Body Assy



Special Gun Body Assy for X-type Gun:





196 458
Back mount 595















236 (520)






196 383

Bottom mount 660
















236 (520)























9

In-line Actuator-1



Basic Specifications of Tamagawa motor:




Motor Spec
Rated Capacity 2 KW

Rated Torque 6.4 N・m
Instantaneous Max Torque 19.1 N・m

Rated Rotating Speed 3000 rpm
Max Rotating Speed 4500 rpm

Insulation Class F Class
Instant Max Elect Current 36 A(rms)

Brake Voltage DC 24 / 90 V

Type C-type X-type







Outlook






Max Stroke 210mm 160mm*

Length 462mm 479mm


Width 100mm (Symmetrical)

Weight 13kg 13kg

* Max stroke of X-type is just from actuator. Actual stroke on
gun will depend on lever ratio of each design.


















10

In-line Actuator-2



Motor brake:


Motor brake is standard with OBARA in-line actuator


For Fanuc robots, need to check if robot is capable of
having brake function for actuator. Also, brake cable

needs to be prepared by either customer or Fanuc







Robot Encoder (Resolver):


Encoder (resolver) type depends on robot supplier

Need to confirm encoder (resolver) type with customer

With Motoman robot, need to confirm if backup-battery

is required






Robot Fanuc Kawasaki (New) / Kawasaki Kuka

Supplier Nachi / Motoman (Old) / ABB


Encoder Fanuc A-format K-format Resolver
(Resolver)


Supplied Fanuc OBARA OBARA OBARA

by (customer)




















11

A-format Encoder



Basic Specifications:


A-format encoder is made by Nikon


Off-the-shelf item

Encoder power backup:

Approximately 3 hours with capacitor on encoder


Recommended external backup battery (if required):

Lithium battery ER6 (3.6V) / capacity-2000mAh


Encoder Connector

Encoder Part Number
Connector Gun side Robot side Maker
Housing XMR-04V XMP-04V
Contact SXM-001GW-P0.6 SXA-001GW-P0.6 JST
Retainer XMS-04V XMS-04V
Pin# Encoder Wire Color Wire size
1 SD+ Blue AWG26
2 SD- Purple AWG26
3 Vcc White AWG26
4 0V Black AWG26

Motor Connector

Item Part Number Maker
Housing 1-179554-3 AMP
Contact (Motor / Earth) 917512-3 AMP
Contact (Brake) 175288-3 AMP
Pin# Motor Wire Color Wire size
B1 U Red AWG16
A2 V White AWG16
B2 W Black AWG16
A1 Earth Green / Yellow AWG16
A3 Brake (+) Yellow AWG20
B3 Brake (-) Yellow AWG20


Example of Conversion cables






12

K-format Encoder



Basic Specifications:


K-format encoder is made by Nikon


Off-the-shelf item

Encoder power backup:

Approximately 3 hours with capacitor on encoder


Recommended external backup battery (if required):

Lithium battery ER6 (3.6V) / capacity-2000mAh

Used only with old series Kawasaki Robot






Encoder Connector

Item Part Number Maker
Housing SMR-12V-N JST
Contact SYM-001T-P0.6 JST
Pin# Encoder Wire Color Wire size
5 ENC-P White AWG26
6 ENC-N White/Black AWG26
9 GND Red/Black AWG26
10 +5B Red AWG26
12 Shield -
Motor Connector

Item Part Number Maker
Housing 1-179554-3 AMP
Contact (Motor / Earth) 917512-3 AMP
Contact (Brake) 175288-3 AMP
Pin# Motor Wire Color Wire size
B1 U Red AWG16
A2 V White AWG16
B2 W Black AWG16
A1 Earth Green / Yellow AWG16
A3 Brake (+) Yellow AWG20
B3 Brake (-) Yellow AWG20





13

Fanuc Encoder



Basic Specifications


Fanuc encoder is made by Fanuc:


Preferred be supplied by Fanuc (or customer)

If OBARA needs to supply, additional price/lead time should
be considered

Besides encoder, three other components are required

Connector spec:

Connectors on OBARA in-line actuator are exactly the same

as what used on original Fanuc motor

Fancu Encoder Set


No. Description P/N ④


1 Pulse Encoder A860-2010-T341 ③
② ①
2 Adapter A290-0371-X503

3 Adapter A290-0501-V535


4 Thermistor A50L-8101-0033/100H



Connector Brake


Connector

Power

connector






Encoder
connector

OBARA In-line Actuator Fanuc SV Motor




14

Resolver



Basic Specifications


Tamagawa Resolver:


For Kuka: TS 2640N714E156

For ABB: TS 2640N141E172

Connector & Wiring Diagram:


Kuka – for Power Kuka – for Resolver

Maker Part Number Maker Part Number

Intercontec B ED C 106 NN 00 00 0200 Intercontec A ED C 052 NN 00 00 0012
Pin# Cable spec Note Pin# Cable spec Pin# Note
1 White – 0.82sq U 1 Yellow – 0.13sq A1 S2
2 Red – 0.82sq V 2 Blue – 0.13sq A2 S4
3 G/Y – 2.0sq CG 3 Green/Yellow – 0.3sq Shield
4 Yellow – 0.82sq BRK (+) 4 Green/Yellow – 0.3sq Shield
5 Yellow – 0.82sq BRK (-) 5 Green/Yellow – 0.3sq Shield
6 Black – 0.82sq W 6 Green/Yellow – 0.3sq Shield
7 Yellow/White – 0.3sq A3 R2
8 Orange – 0.75sq Thermistor
9 Orange – 0.75sq Thermistor
10 Red/White – 0.13sq B1 R1
11 Red – 0.13sq B2 S1
12 Black – 0.13sq B3 S3

ABB – for Power ABB – for Resolver
Maker Part Number Item Part Number
Intercontec B ED C 110 NN 00 00 0200 Connector A ED C 052 MR 04 00 0021
Pin# Cable spec Note Pin# Cable spec Pin# Note
1 White – 0.75sq V 1 Yellow – 0.13sq A1 S2
2 G/Y – 2.0sq CG 2 Blue – 0.13sq A2 S4
3 Red – 0.75sq U 3 Green/Yellow – 1.3sq Earth
4 Black – 0.75sq W 4 Earth
A Yellow – 0.75sq BRK-1 5 Earth
B Yellow – 0.75sq BRK-2 6 Earth
C Blue – 0.75sq Thermo 7 Yellow/White – 0.13sq A3 R2
D Blue – 0.75sq Thermo 8 Earth
9 Earth
10 Red/White – 0.13sq B1 R1
11 Red – 0.13sq B2 S1
12 Black – 0.13sq B3 S3

15

Transformer



Roman MFDC Transformer:


Standard is 100Kva / 650V / 1000Hz


All transformers are interchangeable


Standard is hard-wiring (w/o connector)




P/N TDC-6420 TDC-6594 TDC-6551
Specifications (Standard) (Option-I) (Option-II)


Rated Capacity 100 Kva 150 Kva
(50% duty cycle)


Rated Primary Voltage 650V 800V 650V
(Canada)

Frequency 1000 Hz


Secondary Voltage 9.8 V 9.1 V 13.0 V



Turn Ratio 66 88 50


Weight 20.0 kg 20.0 kg 23.2 kg


Cooling Water 7.5 L / min





Key Dimensions of TDC-6420/ 6594 (TDC-6551)





180 127






330 (350)






16

Cooling Circuit



Standard cooling circuit: 2-3-2































Internal Circuit 1/4 NPT with straight or elbow type fittings


Manifold IN: NPT-1/4 &1/2 OUT: NPT-1/4 & 3/4



Hose (IN) Parker 801-6-GRN ID/9mm (3/8”) Green


Hose (OUT) Parker 801-6-RED ID/9mm (3/8”) Red





Other cooling circuits are also available

 e.g. 1-3-1 / 2-3-3 / 3-3-3


Please specify if there are any preferred hose & fitting
manufacturers to be used
















17

Standard Spare Parts



Common Spares




Std Gun Body Common Spares for All C-Gun



C-type Actuator



C-type Gun Head


C-type
Point Holder





Shunt Assembly for C





X-type Spacer Block





All Guns Common Spares for All X-Gun




X-type Actuator



Standard Body X-type Gun Head





Hinge Assembly
Transformer



Shunt Assembly for X
Robot Bracket


Fulcrum kit & plates
Manifold




18

Check List





No. Description Specifications

1. End User / Project End User: / Project:

2. Force / Stroke Force: N (kgf) / Stroke: (mm)

3. Throat Size H: / D:

4. Bracket Location Back / Top / Bottom / Side (L/R) / Other ( )


5. Robot maker Kawasaki / Fanuc / Motoman / Nachi / Other ( )

6. Robot P/N / Capacity P/N: / Capacity: (kg)

7. Robot mount pattern PCD-92 / PCD-125 / other ( )

8. Encoder Type A-format / Fanuc / K-format

9. Transformer Type Kva: / Voltage:

10. Welding Condition A / cycle / tact / spots

11. Connector Hard-wire / Connector-type ( )

12. Cooling Circuit 2-3-2 / 1-3-1 / 2-3-3 / 3-3-3 / other ( )

13. Consumable Spec Tip: / Shank: / Hex:

14. Special requirement





12

2 9 11
Throat Height 10 4 7





Throat Depth



2 3
8
13








19

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