Rack and pinion axis EHMH

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2 Features At a glance Right-angle gear unit with a reduction ratio of i = 5 High-grade bearing guide Comprehensive accessories for individual adaptation to specific requirements Use of time-tested motorcontroller packages Mounting options adapted to the new multi-axis modular system Max. working stroke [mm] Max. payload [kg] Max. speed [m/s] Max. feed force [N] Available options Noise package for quietest possible operation Drive cover as protection against accidental contact with the drive pinion Lubricating pinion set for lubricating the drive unit s gear rack / pinion Wiper package on the front and sides of the guide carriage Sensor rail for end-position sensing Central lubrication point for rapid and convenient lubrication processes Pneumatic clamping unit comprising two stopper cylinders for locking during service and maintenance Clamping components on the guide clamping with springs, release via compressed air External displacement encoder for dual-channel position evaluation End position buffer for lower end position Energy chain by Igus, bending radius: 75 mm 2 Internet: Subject to change 2017/07

3 Features Complete system with cantilever axis, kit, motor, motor controller and lines Cantilever axis -H- Note A range of specially adapted complete solutions, including basic projects for rapid commissioning, is available for cantilever axis EHMH and the motors. Motor attachment set Kit comprising: Motor flange Coupling housing Coupling Screws 13 Motor Servo motor EMMS-AS 13 Motor controller Internet: motor controller Servo motor controller CMMP-AS 2017/07 subject to change Internet: 3

4 Type code EHMH RP - XXX Type EHMH Size Electric Z module 80 Profile width [mm], part number Profile width [mm], part number Stroke Drive function RP Options GP ABA SRT SP SL C EPN HPN M2 ED EK [250; 500; 750; 1000; 1250; 1500; 1750; 2000; 2250; 2500] [mm] Rack and pinion Noise package Drive cover Lubricating pinion set Wiper package Sensor rail Central lubrication point Pneumatic clamping unit Clamping on guide rail Incremental displacement encoder Top end-position buffer for lower end position Energy chain 4 Internet: Subject to change 2017/07

5 Peripherals overview Accessories Type Brief description Basic variant Optional Accessories Top cover cap Gear units Gear unit motor attachment Noise package Drive cover Lubricating pinion Sensor bracket Measuring unit Magnetic strip End cap [10 mm] Angled lubrication nipple Pneumatic clamping unit Clamping component Guide rails Wiper seal Parabolic spring Energy chain Motor Cables Controller Sensor (NC contact) Sensor (NO contact) Connecting cable (straight socket) Connecting cable (angled socket) For closing the profile and protection against contamination Ratio 1:5, helical gear kit Flange pattern for electric cylinder ESBF-80 Noise-dampening mat in the profile barrel of the axis Sheet metal hood over the dive pinion or lubricating pinion if selected Lubrication of the pinion during operation Fixture for end-position switches (3 ea. M8 and M12) ELGO LMIX22, 10 µm resolution Incremental displacement encoder (external) End cap for sealing the magnetic strip Conical lubrication nipple, DIN 71412, type H1 Festo stopper cylinder for locking during service and maintenance (DFSP PS-PA, #576102) Room clamping component for holding the axis in emergency stop (MBPS2502DS1) INA cylinder roller guide Wiper seals for protection against contamination at the side and the front of the guide carriage Damper at the top end of the axis By Igus, bending radius: 75 mm, type E without separators, with connecting components, type E , for laying all lines to/from the front unit Motors matched to the axis Cables for electrical supply and data transmission Motor control unit End-position switch or reference sensor if applicable End-position switch or reference sensor if applicable GP - - ABA - - SRT - - SL - - M2 - - M2 - - M2 - - C - - EPN - HPN - - SP - - SP - - ED - - EK /07 subject to change Internet: 5

6 General technical data Design Cantilever axis with gear rack and pinion, helical toothing Guide Recirculating roller guide with cylindrical rollers Mounting position Preferably vertical, horizontal on request Working stroke [mm] 250, 500, 750, 1000, 1250, 1500, 1750, 2000, 2250, 2500 Max. payload at max. stroke [kg] Max. feed force Fx [N] Max. speed [m/s] 1.5 Max. acceleration 1) [m/s 2 ] 6.0 Max. emergency stop [m/s 2 ] Repetition l i accuracy [mm] < ±0.1 Basic variant Max. driving torque [Nm] Max. no-load torque [Nm] Maximum drive speed [rpm] ) Acceleration may have to be reduced in order to achieve optimum positioning times. Maximum load relative to stroke length Load [kg] Stroke length [mm] EHMH-80 EHMH-140 Operating and environmental conditions Ambient temperature [ C] Degree of protection IP20 6 Internet: Subject to change 2017/07

7 1 Rack and pinion axis EHMH Relubrication cycles Size Initial lubrication Upon shipment the axis is only lubricated for commissioning and must be lubricated before use. Lubrication nipple version for guide cassettes and lubricating Conventional conical lubrication nipple per DIN 71412, type H1 pinions Number of lubrication nipples Relubrication interval (normal ambient conditions: industrial installation environment, reduce if necessary for demanding ambient conditions) 2 for lubrication cassettes 1 for lubrication of lubricating pinion 1000 km 1000 km 4 for lubrication cassettes 1 for lubrication of lubricating pinion Roller bearing grease LUB-KC1, see accessories Weight [kg] Total weight [kg] With 0 mm stroke Moving mass [kg] Additional weight per mm stroke With 0 mm stroke Without motor, coupling, coupling housing and accessories Mass moment of inertia J O [kgcm 2 ] J H per metre stroke [kgcm 2 /m] J L per kg payload [kgcm 2 /Kg] J G right-angle gear unit [kgcm 2 /m] Mass moment of inertia JA for the entire axis is calculated as follows: Basic variant J A = J 0 + J H l working stroke [m] + J L m payload [kg] Gear rack Indexing [mm] Module 2 2 Effective radius, effective diameter Feed constant Ratio [mm] [mm/rev] /02 subject to change Internet: 7

8 Materials Sectional view Axis Slide unit/plate Aluminium 2 Drive unit lubricating pinion PU 3 Drive unit gear Case-hardened steel 4 Drive unit, gear unit / housing Cast 5 Gear rack Tempered steel Guide rail Hardened steel, ground on all sides Guide carriage Hardened steel Carrier tube Steel, painted RAL 9007 (aluminium grey) 8 Internet: Subject to change 2017/07

9 General technical data Ambient temperature [ C] Storage temperature [ C] Degree of protection IP20 Note on materials RoHS-compliant Corrosion resistance class (CRC) 1 PWIS criterion PWIS-free per FN Max. sound pressure level LpA 1 [db A] ) Energy-equivalent A-weighted sound pressure level displacement encoder Resolution [µm] Encoder signal 5V TTL; A/A, B/B without zero pulse Signal output Line driver, alternating, resistant to sustained short circuit Electrical connection M12 8-pin plug connector, round Cable length [mm] 160 Operating and environmental conditions displacement encoder Degree of protection IP64 CE marking Per EU EMC guideline 1 1) For range of use refer to the EC declaration of conformity: User documentation If the component is subject to usage restrictions in residential, office or commercial locations, or in small businesses, further measures for the reduction of interference emission may be necessary. clamping unit Pneumatic connection M5 M5 Clamp type Clamping via spring force, release via compressed air Clamping units 2 4 Static holding force per unit [N] Static holding force, overall [N] Static clamping cycles [million] 5 5 Dynamic braking cycles Operating and environmental conditions clamping unit Operating pressure bar] Closing pressure bar] Unpressurised 2017/02 subject to change Internet: 9

10 Sketch for load values The indicated forces and torques refer to the midpoint of the guide axis. The point of application of force is the point where the centre of the guide and the longitudinal centre of the slide intersect. These values must not be exceeded during dynamic operation. Special attention must be paid to the cushioning phase. Please observe the plus or minus signs preceding the individual values (active direction) when calculating torque load. Reference system for the guides Flange reference point / symmetrical Customer application of force with regard to flange reference point [xfl, yfl, zfl] Centre of gravity of the load mass ml [xml, yml, zml] Max. permissible forces and torques for a service life of 5000 km Fy,max [N] Fz,max [N] Mx,max [Nm] My,max [Nm] Mz,max [Nm] L+ [mm] H1 [mm] H3 [mm] 0 40 H4 [mm] Calculating drive force F a and taking the stroke of the axis into account k = selected stroke / 250 mm Fa [N] Fa=[23kg + (7.75kg k)+ml] (ax 9.81 m/s²) FxL Fa =[40 kg + (13 kg k)+ml] (ax 9.81 m/s²) FxL L [mm] L = L+ + stroke Calculating loads in all directions for any given load case Description Fy [N] Fz [N] Mx [Nm] My [Nm] Mz [Nm] Acceleration ax Moving mass mb of the axis Acceleration ax load mass ml Customer forces and torques Drive force acceleration Total mb (ax 9.81 m/s²) H m/mm ml (9.81 m/s² ax) (zml + H4) m/mm FyL FzL MxL + [FzL yfl FyL (zfl + MyL + [FxL (zfl + H4) FzL (xfl +L )] H4)] m/mm m/mm Fa ml ax yml m/mm MzL + [ FyL (xfl +L ) - FxL yfl ] m/mm 0 Fa m Fa 0.07 m Fa (0.355 H3 - H1 ) m/mm H- Note For a guide system service life of 5000 km, the load comparison factor must have a value of fv < 1 based on maximum permissible f v < 1forces and torques. If the axis is subjected to two or the following equation must be more of the aforementioned satisfied in addition to the indicated forces and torques maximum loads: simultaneously, F y F z f v F y,max Fz z,max Mx x,max My y,max M z,max M x M y M z 10 Internet: Subject to change 2017/07

11 Deflection of the profile with a maximum stroke of 2500 mm X Y Deflection in the X direction Size: 80 Size: 140 Auslenkung f in [mm] Auslenkung f in [mm] 2 1,5 1 0, Kraft F in [N] Kraft F in [N] Deflection in the Y direction Size: 80 Size: 140 Auslenkung f in [mm] Auslenkung f in [mm] 1,5 1 0, Kraft F in [N] Kraft F in [N] 2017/02 subject to change Internet: 11

12 Dimensions Axis Size B1 B2 B3 B4 H1 H2 H3 H4 H5 H Size L1 L2 L3 L4 L5 L Flange Size B1 B2 D1 D2 D3 H1 H2 T1 T2 T3 80/ M Internet: Subject to change 2017/07

13 End plate L1 L2 L3 L4 B1 B B3 B4 H1 D1 Ø H M M6 12 D4 Ø T1 T2 D2 D3 Ø H7 2017/02 subject to change Internet: 13

14 Mounting plate Size B1 B2 B3 B4 B5 L1 L2 L3 L Size L5 L6 L7 D1 D2 D3 H1 T1 T2 Ø H Internet: Subject to change 2017/07

15 Mounting plate Size B1 B2 B3 B4 L1 L2 L3 L4 L Size L6 L7 D1 D2 D3 H1 T1 T2 Ø H M /02 subject to change Internet: 15

16 SL = sensor rail Size L1 L2 D1 D2 H1 B1 80/ Optional M8 M M2 - incremental displacement encoder Size L1 L2 L3 H1 B Internet: Subject to change 2017/07

17 C - central lubrication point Size B1 D1 D2 L1 L2 L3 L4 L5 H1 80/ M6 M EPN pneumatic clamping unit Size B1 D1 L1 H1 H2 T1 80/ M /02 subject to change Internet: 17

18 ED - end-position buffer Size B1 L1 H1 80/ EK - energy chain Size L1 L2 L3 L4 L5 B1 B2 B3 B4 H Internet: Subject to change 2017/07

19 Cantilever axes EHMH with gear rack Accessories Permissible combinations with axial kit basic design with gear unit Internet: EAMM-A Motor Axial kit Axial kit comprises: Motor flange Coupling Coupling housing Type Part no., type Part no., type Part no., type Part no., type EHMH-80 With servo motor EMMS-AS EAMM-A-D90-100A EMMS-AS EAMM-A-D80-140A EAMF-A-77A-100A EAMF-A-77A-140A EAMC EAMC EAMK-A-D80-77A EAMK-A-D80-77A EHMH-140 With servo motor EMMS-AS EAMM-A-D80-140A EMMS-AS-190- Project EAMM-A-ESBF EAMF-A-77A-140A EAMF-A-95A-190A EAMC EAMC EAMK-A-D80-77A EAMK-A-D80-77A Corresponding components Internet: CMMP-AS Corresponding braking resistor For sizes PE 1 Control systems CMMP-AS-C15-11A-P3-M3 CACR-KL2-40-W , CMMP-AS-C20-11A-P3 CACR-KL2-33-W , Packaging unit quantity in pieces 2017/02 subject to change Internet: 19

20 Cantilever axes EHMH with gear rack Accessories Ordering data Proximity sensors for stopper cylinder, magneto-resistive NO contact NC contact Type of mounting Can be inserted into the slot from above, flush with the cylinder profile, short design Can be inserted into the slot from above, flush with the cylinder profile, short design Switchin g output Electrical connection Cable length [m] Part no. Internet: SMT Type PNP Cable, 3-wire SMT-8M-A-PS-24V-E-0E M8x1 3-pin plug SMT-8M-A-PS-24V-E-M8D M12x1 t 3-pin plug SMT-8M-A-PS-24V-E-M12 NPN Cable, 3-wire t SMT-8M-A-NS-24V-E-0E M8x1 3-pin plug t SMT-8M-A-NS-24V-E-M8D PNP Cable, 3-wire SMT-8M-A-P0-24V-E-7.5-0E Ordering data inductive proximity sensors M8 + M12 Electrical connection Switching M8 plug M12 plug output t NO contact 3-pin - PNP LED Cable length [m] Part no. Internet: SIEN Type SIEN-M8B-PS-S-L - 3-pin PNP SIEN-M12B-PS-S-L N/C 3-pin - PNP SIEN-M8B-PO-S-L - 3-pin PNP SIEN-M12B-PO-S-L 1 Packaging unit quantity in pieces Ordering data connecting cables Internet: NEBU Electrical connection, left Electrical connection, right Cable Part no. Type length [m] M8x1 3-pin straight socket Cable, open end, 3-wire NEBU-M8G3-K-2.5-LE NEBU-M8G3-K-5-LE3 M8x1 3-pin angled socket Cable, open end, 3-wire NEBU-M8W3-K-2.5-LE NEBU-M8W3-K-5-LE3 Ordering data encoder cable for displacement encoder, EHMH-...-M2 Internet: NEBM Electrical connection, left Electrical connection, right Cable length Part no. Type [m] Displacement encoder EHMH- Motor controller CMMP-AS NEBM-M12G8-E-5-S1G9-V3...-M NEBM-M12G8-E-10-S1G V3 NEBM-M12G8-E-15-S1G9- X NEBM-M12G8-E- -S1G9-V3 1) Max. cable length: 25 m Ordering data lubrication Designation Use Part no. Type Lubricating grease LUB-KC1, silicone free, 20 ml Safety data sheet: Support Portal Roller bearing grease LUB-KC 1 20 Internet: Subject to change 2017/07

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