ServoWeld System
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SERVOWELD® SYSTEM ENDURANCE TECHNOLOGY INTEGRAL MOTOR HIGH THRUST ACTUATOR

What is the GSWA? The GSWA is a compact, durable, high force rod-style actuator designed specifically for resistance spot welding as well as other welding applications. The GSWA integrates a hollow core servo motor with a proven mechanical design to provide efficient, repeatable high force in a compact lightweight design envelope. Tolomatic has over 50 years of experience manufacturing rodless and rod-style electric and pneumatic actuators. The GSWA combines this experience and the power of servo motor technology into one actuator. The result: reliable, affordable power in a compact...

The GSWA in a Typical Robotic ServoWeld Installation ROBOT MANUFACTURER 7TH AXIS FEEDBACK DEVICE ENCLOSED WITHIN PROTECTIVE HOUSING (EXAMPLE: RESOLVER, ENCODER: INCREMENTAL/ ABSOLUTE) ROBOT CABLE ELECTRICAL DRESS PACKAGE CONNECTORS FOR MOTOR POWER & FEEDBACK DEVICE TEACH PENDANT ROBOT CONTROLLER TRANSFORMER GSWA SERVOWELD® ACTUATOR ACTUATOR ROBOT WELD CONTROLLER This illustration shows a typical robot carried weld installation utilizing a Tolomatic GSWA actuator with a 7th axis feedback device enclosed within the actuator. In this pinch-gun application the GSWA33 provides accurate,...

Resistance Spot Welding (RSW) With ServoWeld® Gswa Tolomatic’s ServoWeld® Products Offer RSW Users a Higher Level of Performance complete manufacturing flexibility • Using weld or robot controls, the GSWA can be easily programmed to accommodate model or tool changes. • Existing 6-axis robots can be retrofitted with multiple GSWA actuators to achieve all the advantages that servo welding offers. • Operation can be coordinated with robot axis movement. HIGHER QUALITY WELDS • Force repeatability for consistent welds • “Soft-touch” position and speed control for high repeatability and...

Superior Quality Welds with GSWA The ServoWeld GSWA Integrated Motor Actuator Design Offers Superior Quality Welds in a Compact Package GSWA integrated motor actuator uses an 8 pole, hollow core rotor with skewed stator laminations. This allows the magnets to remain over multiple windings throughout the weld cycle for maximum torque efficiency and consistent force output at any location along the actuator stroke. The result: • Low cogging torque for better repeatability • Better repeatability independent of position Skewed Stators • Higher quality welds The GSWA has skewed stator...

GSWA - Screw Selection Roller Screw Roller Screw and Ball Screw Performance Comparisons Capable of handling heavy loads. Force is transmitted via multithreaded helical roller assemblies engaged with a fine threaded roller screw. Roller screws have exceptional loading capability based on many points of contact. Roller Screw Load ratings Very High Ball Screw High Very long, • ± 3% force repeatability • Up to 3,300 lbf. (14,680 N) • Speeds to 11.5” (292 mm) per sec. Helical Roller Screw Speed Moderate Accel. Very high Stiffness Very high • 10+ million welds at high force repeatability many...

Improved Technology, Better Performance Air cylinders, and competing servo actuator designs can’t compare to ServoWeld® SERVO: Reverse-parallel motor configuration, belt driven SERVO: - Integrated motor segmented laminations • Poor repeatability, reduced weld quality • Size and weight create payload challenge (increase of 10% to 30% compared with an integrated design) • Segmented stator design does not offer the performance of skewed windings • “Bang-bang” welds - greater tooling wear • Mechanical linkage of belt is not as responsive as direct drive • Limited adaptability • Transmission...

GSWA - Integrated Motor Actuator GSWA33 integrated motor Actuator Endurance Technology features are designed for maximum durability to provide extended service life. MULTIPLE SCREW TECHNOLOGIES • Ball nuts offer positioning accuracy and repeatability • Roller nuts provide the highest thrust and life ratings available    internal bumpers  • Bumpers protect the screw and nut assembly from damage at end of stroke  INTEGRAL MOUNTING  •Four threaded holes on front face are available for direct mounting or addition of customized options    Rod Wiper with Scraper  • Prevents contaminants from...

GSWA - Integrated Motor Actuator … MAXIMUM DURABILITY Connectors YouR choice: •  For integration with many robot / drive manufacturers • Staggered connectors for more convenient installation •  Connectors and feedback manufacturers include: + ABB + Motoman/Yaskawa + Fanuc + Allen Bradley + Kawasaki + Bosch-Rexroth + Kuka + WTC-Medar + Nachi +Comau & more    HIGH RESOLUTION  FEEDBACK You can choose:    high thrust bearing  • Digital encoder • Multi-turn absolute encoder • Resolver • Customer specified • Provides complete support of screw and protects the feedback device from linear forces...

GSWA - Integrated Motor Actuator GSWA33, Guided integrated motor Actuator Endurance Technology features are designed for maximum durability to provide extended service life. •Large bushings provide additional side loading support for the thrust tube protecting the screw assembly • Eliminates external guide on RSW chassis • Protects guided mechanism in RSW environment • Steel thrust tube supports extremely high force capabilities • Salt bath nitride treatment provides excellent corrosion resistance, surface hardness and is very resistant to adherence of weld slag, water and other potential...

GSWA - Integrated Motor Actuator … MAXIMUM DURABILITY    Connectors  MULTIPLE MOTOR WINDINGS •  Connectors and feedback manufacturers include: + ABB + Fanuc + Kawasaki + Kuka + Motoman/Yaskawa + Nachi + Allen Bradley + Bosch-Rexroth + WTC-Medar +Comau & more YouR choice: YOU CAN CHOOSE: • 230V or 460V rated windings potted directly into actuator housing • Skewed motor windings provide minimal torque ripple for force repeatability and smooth linear motion • Integral thermal switch for over temperature protection •  For integration with many robot / drive manufacturers    HIGH RESOLUTION ...