PRECISION RING DRIVE SYSTEMS

Transcription

1 Application & Selection Guide Features & Benefits Selection Process PRECISION RING DRIVE SYSTEMS Based on Nexen s innovative Roller Pinion technology, Nexen Ring Drive Systems come complete with a precision grade, high capacity bearing and drive mechanism in a rigid housing. With options for high speed, high torque and zero backlash, Nexen Ring Drives can be optimized for every application. With accelerations up to twice as high as other indexing technologies, Nexen Ring Drive systems provide more productivity while boasting low maintenance, high efficiency and long life. PRECISION RING DRIVE TECHNOLOGY (CRD) Compact Precision Ring Drive 7 (PRD) Precision Ring Drive PATENTED The most advanced technology in rotary motion control. 3

2 The Nexen Ring Drive Advantage Based on Nexen s innovative Roller Pinion technology, Nexen Ring Drive (CRD & PRD) systems come complete with a precision grade bearing and drive mechanism in a rigid housing to simplify the selection process. With all the great features of our other advanced RPS technology, the Ring Drives open up new design possibilities to next generation machines. High Indexing Precision With an indexing precision up to ± 11 ArcSec and repeatability up to ± 1. ArcSec, Nexen s Ring Drives offer unmatched mechanical system capabilities. Zero Backlash Unlike other mechanical drive systems, the CRD offers zero backlash options from the motor through the driven load. High Capacity With the precision grade, high load capacity cross-roller bearing, Nexen Ring Drives can handle loads up to 1575 kn. High Speed Nexen Ring Drives can handle speeds up to 3 RPM. Unlike traditional cam driven systems, Nexen Ring Drives can handle peak torque inputs at any time. This allows for indexing times up to x faster than the competition. Smooth in Motion Combining Nexen's RPS technology with a preloaded cross-roller bearing and an integrated motor/precision gearhead gives a rigid, smooth system. High Torque Holding With the optional zero backlash holding brake, the CRD can hold loads up to (available on CRD5, other sizes pending) while still maintaining an open center. DEPENDABLE. VERSATILE. OPTIONS THAT DELIVER. Robot Indexer Welding Trunnion Positioning Semiconductors Medical Products Robotics

3 CRD: A DRIVE STATION FOR EVERY APPLICATION low backlash zero backlash Output Plate Bolt Circle Diameters 15 mm, 5 mm, 35 mm, 55 mm High Precision Planetary (PL) Flexible Gearhead Ratio Motor Ready Sealed (S) Ready to Accept Motor/Gearhead Peak Output Torque 119 to 11 zero backlash zero backlash Positional Accuracy ± to ± 59 ArcSec Harmonic Gearhead (HG) High Ratio Gearhead zero backlash Motor Ready Guarded (G) Ready to Accept Motor/Gearhead zero backlash Max Backlash to.3 ArcSec Input to Output Ratio.:1 to :1 Direct Drive Pinion (DD) Integrated Motor, No Gearhead Motor Ready Open (O) Ready to Accept Motor/Gearhead Sealed Housing Available IP 5 Rated PRD: CAPACITY EVEN FOR THE MOST DEMANDING low backlash High Precision Planetary Flexible Gearhead Ratio Output Plate Bolt Circle Diameters mm, 75 mm, 11 mm, 15 mm Peak Output Torque 3 to Positional Accuracy ± 11 to ± 35 ArcSec Max Backlash 3 to 1 ArcSec Input to Output Ratio 5.:1 to :1 Positioning Indexer Indexer DEPENDABLE. RELIABLE. PERFORMANCE 3 Material Fabrication Automotive Aerospace Welding

4 Ring Drive Selection Process Nexen will work with you to select the perfect Ring Drive for your application needs. Please fill in the application data below and perform the calculations on the following page. With this information, Nexen will select a Ring Drive system to meet all your application requirements. F axial F radial STEP 1: GATHER APPLICATION DATA Before you begin calculations, there are key measurements that you will need from your application. Collect the data and record it in the chart below. With this data available you can proceed on to the calculations on the following page. (Refer to the diagram to the right when completing the table below.) T M T O Measurements Required for Selection Customer Data (record your values below) Sample Data Inertia (I) kgm 7 kgm Index Time (t I ) seconds.9 seconds Move Distance (θ) 5 Maximum Dynamic Axial (F Amax ) kn 5 kn Maximum Dynamic Radial (F Rmax ) kn kn Maximum Dynamic Moment (M max ) k 1 k Maximum Static Axial (F A ) kn kn Maximum Static Radial (F R ) kn kn Maximum Static Moment (M ) k.5 k Drag Torque & Other Applied Torque s (T O ) May include table support friction, cutting or clamping forces, etc. Shock Factor (K) Circle the value that best reflects the smoothness of your application. Shockless Operation Normal Operation Operation with Impact Operation with High Impact Other Key Application Information Application Description: Environmental Conditions: c Typical Industrial c High Humidity c High Temperature c High Dust Positional Accuracy Requirements: Mounting Orientation: c Vertical (Radial ) c Horizontal (Applied ) c Horizontal (Suspended )

5 STEP : CALCULATING RING DRIVE REQUIREMENTS FOR SIMPLE INDEXING APPLICATIONS Ring Drive selection is based on the torque requirements of your application. Using the information gathered on the preceding page, perform the following calculations. If your application movement is more complex than basic indexing, evaluate each stage of movement independently and perform separate calculations for each stage. Acceleration Time Acceleration Time: t A = t I Sample: t A =.9 seconds =.5 seconds t A = sec t A = sec Max Angular Speed: w = (q t I ) ( 9) w = Sample: w = (5º.9 seconds) ( 9) = 1.75 rad/sec sec 9 Max Angular Speed w = rad/sec Angular Acceleration Angular Acceleration: a = w t A a = rad/sec sec a = rad/s Sample: a = 1.75 rad/sec.5 sec = 3.9 rad/s Application Torque: T gear = (I a) + T O T gear = Sample: T gear = (7 kgm 3.9 rad/s ) + 1 =.3 Application Torque with Shock Factor: T T = T gear K Sample: T T =.3 1. = 339 kgm T T = rad/s + Application Output Torque T gear = T T = Application Output Torque w/ Shock Factor STEP 3: ADD DRAG TORQUE TO APPLICATION TORQUE Drag Torque varies based on the load placed on the bearing. Use Page 1-19 (CRD) or Page 3 (PRD) to calculate Total Drag Torque (T BD ) for the chosen product & application. Add Total Drag Torque (T BD ) to Total Output Torque w/ Shock Factor (T T ) and re-compare to specifications of chosen Ring Drive. This will ensure that your Ring Drive Unit has enough Output Torque Capacity to move your load & overcome any drag torque. T T Tgear = T T + T Tgear = + T Tgear = BD Sample: T Tgear = = 7 Sample data is for a CRD * Total Required Gear Torque: Total Drag Torque Total Output Torque STEP : EVALUATE LOAD CARRYING CAPACITY Use the data for Maximum Axial, Maximum Radial, Maximum Moment, and Mounting Orientation to evaluate your load carrying needs against the load diagrams on the following pages. To do this, find the set of charts that represents your mounting orientation, then graph your data in the appropriate charts(s) to ensure that your requirements fall into the shaded area representing load capacity available in that CRD or PRD size and orientation. (NOTE: The weight of the CRD or PRD is already factored into the load charts.) T BD = STEP 5: CHOOSE YOUR RING DRIVE SIZE Use the Total Output Torque (T Tgear ) calculated in Step 3 and the load evaluation from Step to select the Ring Drive size that best fits your application. Review CRD and PRD Specifications to ensure the selected size meets all of your application requirements. 5 Selected CRD or PRD Size

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7 Compact Precision Ring Drive (CRD) Based on innovative Roller Pinion technology, the CRD system comes complete with a precision grade bearing and drive mechanism in a sealed housing. Freely programmable, the drive design configurations allow the CRD to be optimized for high speed, high torque or both depending on the application. With a 15, 5, 35 or 55 mm output bolt circle diameter and a large open center, users can optimize performance in a small space. Product Descriptions... Specifications... Direct Drive Motor... 9 Dimensions... 1 Timing Diagrams Diagrams Drag Torque Calculations... 1 System Life... Accessories: Brake, Dial Plates

8 CRD Product Descriptions Output Bolt Circle Diameter Compact Ring Drive CRD 5 P, PL, 15.:1,., 5., 11. Premium or Non-Hardened Gear Drive Station Type: Gearboxes: PL=Planetary, HG=Harmonic Gearhead Other Drive Stations: DD=Direct Drive Motor, S=Motor/Gearbox Ready-Sealed, G= Motor/Gearbox Ready-Guarded, O=Motor/Gearbox Ready-Open Input/Output Ratio Customer Motor Shaft Diameter Customer Motor Pilot Diameter Customer Motor Shaft Length CRD Specifications Performance Specifications RPM RPM ±ArcSec ±ArcSec ArcSec kgm kgm kgm Maximum Velocity Max Continuous Velocity One-Way Positional Accuracy (3) One Way Repeatability (3) Max Backlash Max Acceleration Torque Continuous Stall Torque Nominal Torque Gear/Pinion Ratio Input to Output Ratio Sealed Housing, IP5 Rated Unloaded Drag Torque (ULdrag) Max Inertia Output Inertia Total Reflected Inertia to Gearbox Output CRD5P-PL () 59 (1) (1) :1 15.:1 () yes PL CRD35P-PL () 3 (1) (1) 7 N/A 5.:1.:1 () yes N/A.7.31 CRD55P-PL 1 7 () 7 (1) (1) 1 97.:1 3.:1 () yes CRD5P-HG 5 () 1 () :1 19:1 () yes HG CRD35P-HG 1 () 13 () N/A 5 5.:1 :1 () yes N/A.7.9 CRD55P-HG 11 () () :1 1:1 () yes DD CRD5P-DD :1.:1 yes () CRD35P-DD See See s s N/A.:1.:1 yes () CRD55P-DD :1 13:1 yes () CRD15P-S :1 9:1 yes S CRD5P-S N/A 1.5 1:5 yes 3 N/A CRD35P-S :1 17:1 yes.9.3 CRD15P-G :1 9:1 no G CRD5P-G N/A no 1 N/A CRD35P-G :1 17:1 no O CRD15N-O :1 9:1 no CRD5N-O N/A :1 1.5:1 no 1 N/A CRD35N-O :1 17:1 no (1) Includes Gearbox Backlash () Assumes Planetary Gearbox Ratio of :1 and Harmonic Gearhead Ratio of 5:1 (other ratio options available) (3) Contact Nexen for higher precision options () Total Reflected Rotary Inertia, including Motor Inertia

9 CRD Direct Drive Specifications Peak Speed Torque Curves at Output CRD5-DD CRD35-DD Output Torque () Motor Winding D C Supply Voltage VAC VAC 3 VAC 3 VAC Output Torque () Motor Winding D C Supply Voltage VAC VAC 3 VAC 3 VAC Output RPM Output RPM Output Torque () Motor Winding D C CRD55-DD Supply Voltage 3 1 VAC VAC 3 VAC 3 VAC 1 1 Output RPM For non-cyclic continuous operation, contact Nexen. * Other winding options available, contact Nexen. * CRD Direct Drive Motor Specifications CRD Direct Drive Motor Specifications Direct Drive Motor Specifications Specifications CRD5-DD CRD35-DD CRD55-DD Motor Winding Selection C D C D C D Peak Current (lp) (1) Arms Continuous Stall Current (lc) () Arms Torque Sensitivity (Kt) (3) /Arms Back EMF Constant (Kb) (3) Vrms/kRPM Resistance (Line to Line) (Rm) Ohms Inductance (Lm) mh Motor Poles C winding temperature () Winding temperature = 15 continuous stall, 5 C ambient (3) System Equivalent Values Motor Feedback Output Interface CRD Feedback Specifications ENDAT1 Endat.1 Multi-turn Device Resolution Cycles or Lines/Rev Resolution after AKD Interpolation Counts 13, 17, 7 Input Voltage VDC ±5% 5 Current Consumption ma Max 5 Plug and Play Motor ID * *These feedback devices include electronic motor nameplate data allowing plug-and-play commissioning, eliminating the need for drive parameter set-up and servo loop tuning in most applications. 9 Yes

10 CRD Dimensions Not Shown: Air Inlet Fitting for.17" I.D. Hose. (Used on Optional Brake ONLY.) A C E STATIONARY HOLES: CRD15: M X 1.5 (qty ) CRD5: M X 1.5 (qty 1) CRD35: M1 X 1.5 (qty 1) CRD55: M1 X 1.75 (qty ) F M N K G H I GREASE FITTING OUTPUT HOLES: CRD15: M X 1.5 (qty 1) CRD5: M X 1.5 (qty 1) CRD35: M1 X 1.5 (qty ) CRD55: M1 X 1.75 (qty ) D AT 1 (1 ACCESS HOLE ON UNITS WITH OPTIONAL BRAKE) BASE HOLES FOR CUSTOMER SUPPLIED SCREWS: CRD15: M (qty ) CRD5: M (qty 1 ) CRD35: M1 (qty 1 ) CRD55: M1 1 ) J.5 L NOTE: Basic dimensions shown for selection purposes only and subject to change. Visit for detailed drawings and CAD models before designing into your system. * CRD15 CRD5 CRD35 CRD55 A Drive Station Envelope to Center Distance mm B Drive Station Envelope Width mm C Outer Diameter mm D Stationary Bolt Circle Diameter* mm E Output Bolt Circle Diameter mm F Base Mounting Hole Circle Diameter mm G Output Outer Diameter mm H Output Inner Diameter (H7) mm 1 7 I Inner Diameter without Brake mm with Brake mm N/A 31.7 N/A N/A J Depth to Stationary Ring mm K Overall Length mm L Unit Height mm M N O Drive Station Center to CRD Center Drive Station & Adapter Width Drive Station Depth PL, HG mm N/A DD mm N/A 17 3 S, G, O mm N/A PL, HG mm N/A DD mm N/A S, G, O mm N/A PL mm N/A HG mm N/A DD mm N/A S, G, O mm N/A Not present on units with optional brake. 1

11 CRD15 Timing Diagrams CRD15P- (S, G, O) Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m CRD15N- (S, G, O) Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m NOTES: Curves assume no external forces such as additional table support friction, cutting forces, etc. Timing diagrams are developed assuming minimum drag torque, use for reference only. Assumes Planetary Gearbox Ratio of :1 and Harmonic Gearhead Ratio of 5:1 (other ratio options available) * 11

12 CRD5 Timing Diagrams CRD5P-PL Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m * CRD5P- (S, G, O) Timing Diagram CRD5- Timing Diagram. Output Inertia 1. 1 kg m 1. 5 kg m 1. 1 kg m 5 kg m 1. 5 kg m CRD5P-HG Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m * CRD5N- (S, G, O) Timing Diagram CRD5N- Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m CRD5P-DD Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m NOTES: Curves assume no external forces such as additional table support friction, cutting forces, etc. Timing diagrams are developed assuming minimum drag torque, use for reference only. Assumes Planetary Gearbox Ratio of :1 and Harmonic Gearhead Ratio of 5:1 (other ratio options available) * 1

13 T CRD35 Timing Index Diagrams (deg) Output Output Inertia Inertia.5 1 kg m1 kg m. 5 kg m5 kg m kg m 1 kg m 5 kg m 5 kg m 3. 5 kg m 5 kg m CRD35P-PL Timing Diagram CRD5- Timing Diagram Index (deg) * T CRD35P- (S, G, O) Timing Diagram CRD35- Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m T CRD35P-HG Timing Diagram CRD5N- Timing Diagram. Output Output Inertia Inertia 1 kg m 5. 1 kg m 5 kg m5 kg m 1 kg m 1 kg m. 5 kg m 5 kg m 5 kg m 5 kg m Index (deg) * CRD35N- (S, G, O) Timing Diagram CRD35N- Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m CRD35P-DD Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m NOTES: Curves assume no external forces such as additional table support friction, cutting forces, etc. Timing diagrams are developed assuming minimum drag torque, use for reference only. Assumes Planetary Gearbox Ratio of :1 and Harmonic Gearhead Ratio of 5:1 (other ratio options available) * 13

14 CRD55 Timing Diagrams CRD55P-PL Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m * CRD55P-HG Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m * CRD55P-DD Timing Diagram Output Inertia 1 kg m 5 kg m 1 kg m 5 kg m 5 kg m NOTES: Curves assume no external forces such as additional table support friction, cutting forces, etc. Timing diagrams are developed assuming minimum drag torque, use for reference only. Assumes Planetary Gearbox Ratio of :1 and Harmonic Gearhead Ratio of 5:1 (other ratio options available) * 1

15 M 1 1 CRD Diagrams (Applied ) CRD15 Applied 5 LOAD 3 Static Limit Bearing Capacity BearingJoint Capacity Bolted Capacity Bolted Joint Capacity Non-Hardened Gears no load limit Non-Hardened Gears Current Appled 1.5 Current Suspended DD Pinion) 1 1 Dynamic Limit Dynamic LimitApplied/Suspended by Drag CRD5 Torque by Drag Torque Premium Gears Premium Gears HG HG no load limit PL DDPL no load limit DD Non-Hardened Gears Non-Hardened Gears HG Pinion) PL 51 Pinion).5 CRD5P Pinion) CRD5N Pinion) Applied (kn) AXIAL 15LOAD 3 35 (kn) 5 CRD55 Applied CRD55 Applied CRD35 Applied MOMENTLOAD LOAD(k) (k) MOMENT 3 Dynamic Limit Dynamic Limit by Drag Torque by Drag Torque Premium Gears Premium Gears HG HG no load limit PL DDPL no load limit DD Non-Hardened Gears Non-Hardened Gears Drive Station Drive Station Static Limit Static Limit Bearing Capacity Bearing Capacity Bolted Joint Capacity Bolted Joint Capacity Static Limit Static Limit Bearing Capacity Bearing Capacity Bolted Joint Capacity Bolted Joint Capacity CRD35 Applied CRD35 Applied CRD5 Applied Drive Station Drive Station AXIAL 15 LOAD 3 35 (kn) Static Limit Static Limit Bearing Capacity Bearing Capacity Bolted Joint Capacity Bolted Joint Capacity Dynamic Dynamic Limit Limit by Drag CRD35 Applied/Suspended by Drag Torque Applied/Suspended CRD5 Torque PremiumGears Gears Premium HGHG PL PL DDDD Non-Hardened Gears Drive Station Drive Station 3 MOMENT LOAD (k) MOMENT LOAD (k) Dynamic Limit by Drag Torque Dynamic Limit Gears by Premium Drag Torque HG no load limit Premium Gears PL no load limit DD no load limit Non-Hardened Gears no load limit Non-Hardened Gears Drive Station Drive Station Static Limit Static Limit Bearing Capacity BearingJoint Capacity Bolted Capacity Bolted Joint Capacity CRD35 Applied CRD5 Applied CRD5 Applied CRD15 Applied 5 5 Moment (k) 1 Moment (k) Moment (k) CRD15 Applied CRD5 MOMENTLOAD LOAD(k) (k) MOMENT All AppliedDynamic Limit s Assume by Drag Torque Dynamic Limit CRD BasebyPremium is Fully Gears Drag Torque HG Supported byno load limit Premium load limit PL nogears no load limit Machine Frame DD 1 CUSTOMER MACHINE FRAME MOMENT LOAD (k) MOMENT LOAD (k) Axial Static Limit Drive Station Drive Station Ring Drive 1 Premium Gears no load limit Non-Hardened Gears no load limit MOMENTLOAD LOAD(k) (k) MOMENT Static Limit Bearing Capacity Compact Bolted Joint Capacity Moment Dynamic Limit by Drag Torque Drive Station MOMENT LOAD (k) CRD15 Applied CRD5 Current Appled Current Suspended DD Pinion) HG Pinion) PL 51 Pinion) CRD5P Pinion) CRD5N Pinion) Applied (kn) 5 5 Applied (kn) Contact Nexen for bearing life in this orientation Static Limit Bearing Capacity Bolted Joint Capacity Dynamic Limit by Drag Torque Premium Gears HG PL DD CRD35 Applied/Suspended Drive Station Dynamic Dynamic Limit Limit by Drag by Drag Torque Torque PremiumGears Gears Premium HGHG PL PL DDDD Non-Hardened Gears 7 CRD15 Suspended 5 Moment (k) Static Limit Static Limit Bearing Capacity Bearing Capacity Bolted Joint Capacity Bolted Joint Capacity CRD55 Applied CENTER MOMENT LOAD (k) Drive Station Drive Station MOMENT MOMENTLOAD LOAD(k) (k) CRD55 CRD35 Applied Applied Applied (kn) 5

16 DIST Applied (kn) 1 1 CRD5 Suspended CRD15 Suspended CRD15 Suspended Dynamic Suspended 1 AXIAL LOAD Axial (kn) LOAD FRAME 3 Ring Drive 1 CENTER CENTER Static Limit Limit by Drag 35 Bearing Capacity Torque Bolted Joint Capacity 3 Premium Gears 5 HG 5 PL DD 15 1 CUSTOMER MACHINE AXIAL LOAD (kn) Compact Drive Station CENTERLOAD (k) MOMENT CRD Diagrams (Suspended CRD55 Applied ) (kn) AXIAL LOAD AXIAL LOAD (kn) (kn) AXIAL LOAD Center 1 1 CRD35 Suspended CRD5 Suspended CRD5 Suspended (upside-down orientation) CRD35 Suspended CRD35 Suspended (upside-down orientation) CRD5 Suspended 5 1 CENTER CENTER (upside-down orientation) 5 CENTER CENTER CENTER CENTER CENTER CENTER Distance from CRD5 Suspended CRD15 Suspended CRD15 Suspended All Suspended s Assume CRD Base is Fully Supported by Machine Frame 1 1 AXIAL LOAD (kn) CRD55 Suspended CRD55 Suspended (upside-down orientation) CRD35 Suspended CRD55 Suspended CRD35 Suspended 5 CRD55 Suspended CRD15 Radial 3 1 CENTER CE MACHINE TING SURFACE CENTER CENTER NOTE: There are no Dynamic Limits by Drag Torque, for Suspended s AXIAL LOAD (kn)

17 RADIAL LOAD (kn) LOAD (kn) CRD15RADIAL Radial CRD5 Radial 5 1 RADIAL LOAD (kn) CRD5 Radial 3 5 RADIAL LOAD (kn) CRD5 Radial RADIAL LOAD (kn) 1 RADIAL LOAD (kn) LOAD (kn) CRD5RADIAL Radial CRD35 Radial CRD35 Radial RADIAL LOAD (kn) CRD35 Radial LOAD (kn) CRD35RADIAL Radial RADIAL LOAD (kn) CRD55 Radial RADIAL LOAD (kn) 5 CRD55 Radial RADIAL LOAD (kn) 5 CRD55 Radial LOAD (kn) CRD55RADIAL Radial are no Dynamic Limits by Drag Torque, for Radial s NOTE: There RADIAL LOAD (kn) 7 CRD55 Radial CRD35 Radial All Radial s Assume CRD Base is Fully Supported by Machine Frame CRD15 Radial CRD5 Radial Radial CUSTOMER MACHINE FRAME LOAD Distance from Machine Frame CRD15 Radial Compact Ring Drive MACHINE MACHINE MACHINE MACHINE MACHINE MACHINE MACHINE FR MACHINE MACHINE MACHINE MACHINE MACHINE MACHINE MACHINE MACHINE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE SURFACE S CRD Diagrams (Radial ) 5

18 CRD Drag Torque Calculations Drag Torque varies based on the load placed on the bearing. Use the calculations below to find the Drag Torque for your application. STEP 1: GATHER APPLICATION DATA Before you begin calculations, there are several key measurements that you will need from your application in order to calculate drag torque. Collect the data and record it in the space provided. Measurements for Bearing Calculations Maximum Dynamic Gear Torque of Application (T maxapp ) Customer Data (record your values below) Sample Data* 339 Maximum Dynamic Radial (F Rmax ) N N Maximum Dynamic Axial (F Amax ) N, N Maximum Dynamic Moment (M max ) 5 Unloaded Drag Torque of CRD (U Ldrag ) From CRD Specs 135 *Sample data is for a CRD55-PL (load data was based on a specific application) F Rmax T maxapp M max F Amax Bearing Race Specific Data RPS Generated Factor (K rps ) Bearing Size CRD15 CRD5 CRD35 CRD55 Basic Dynamic Rating (C) N 31,,3 151,, Basic Static Rating (C ) N 5,3 135, 5, 7, Rolling Diameter of Cross Roller (dp) m RPS1 [CRD-DD] m -1 N/A RPS5 [CRD-PL & CRD-HG] m -1 N/A RPS13 [CRD-S, CRD-G & CRD-O] m N/A STEP : CALCULATE THE MAXIMUM DYNAMIC EQUIVALENT RADIAL LOAD Perform the following calculations using the data from the Table above and your application data from STEP 1. ing Distribution IF: X THEN: Y K 1.5 K.7.7 Maximum Dynamic Equivalent Radial : Maximum Dynamic Equivalent Radial P Cmax = N Sample: , 1 = 13,9 N

19 CRD Drag Torque Calculations STEP 3: DETERMINE BEARING DRAG TORQUE The bearing drag torque can be estimated based on the dynamic equivalent radial load. Use the following charts to determine your approximate bearing drag torque. MAXIMUM DYNAMIC EQUIVALENT RADIAL LOAD VS. DRAG TORQUE ( Tdynamic ) Drag Torque () Bearing Number CRD15 CRD5 CRD35 CRD55 Sample 13.3 kn Maximum Dynamic Equivalent Radial (kn) ( P Cmax ) CRD Total Drag Torque: T BD = T Dynamic + U Ldrag CRD Total Drag Torque T BD = + T BD = Sample: T BD = = 5 STEP : COMPLETE OUTPUT TORQUE CALCULATIONS Refer to the worksheet on Page 5 of Ring Drive Selection Process to calculate the Total Output Torque required for your application. 19

20 CRD System Life CRD life is based on average output torque and drive station options. Average Output Torque () CRD15 Life Drive Station Output Revolutions (Million) Premium Gears Non-Hardened Gears Average Output Torque () CRD5 Life Drive Station Output Revolutions (Million) Premium Gears HG PL DD Non-Hardened Gears 1 Average Output Torque () CRD35 Life 1 1 Drive Station Output Revolutions (Million) Premium Gears HG PL DD Non-Hardened Gears Average Output Torque () 1 1 CRD55 Life Drive Station Output Revolutions (Million) HG PL DD Assumes Planetary Gearbox Ratio of :1 and Harmonic Gearhead Ratio of 5:1 (other ratio options available)

21 CRD Accessories: Brake Optional Holding Brake Nexen offers an optional holding brake that acts directly on the CRD driven output. (Available on CRD5, other sizes pending.) With spring engaged / air released braking action, the brake s compact design does not increase the CRD footprint and maintains an open center. For brake E-Stop capabilities, contact Nexen. Brake Specifications CRD5, BRAKE Holding Torque Release Pressure psi Brake Life Cycles 1 million Brake Torsional Rigidity / Radian.5 million Note: Brake can be manually released by inserting screws into holes on its bottom side. Note: Brake is fully sealed and IP 5 rated. Actuates Radially to Hold on Output Installed Inside CRD CRD Optional Holding Brake Operation CRD Brake CRD Accessories: Dial Plates Optional Dial Plates Nexen offers customizable dial plates that precisely pilot on the output of Nexen Ring Drives. Contact Nexen to customize these plates for your application. * Features shown shaded orange, are examples of customization. Standard Dial Plate Thickness Standard Dial Plate Outer Diameter 55mm [1.5"] 9mm [35.3"] 135mm [53.15"] CRD N/A CRD5 19.5mm CRD35 [.75"] CRD55 N/A Contact Nexen to customize dial plate. Visit Common Customizations: Open Center Hole Patterns Pilots Cutouts Plate Diameter 1

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23 Precision Ring Drive (PRD): The PRD system offers all the great features of our other advanced RPS technology and opens up new design possibilities to next generation machines. PRD table is supported by a high capacity crossroller bearing rated for loads up to 1575 kn. Peak torque inputs at any time allows for indexing times up to x faster than the competition. Product Descriptions... Specifications... Dimensional Drawing... 5 Timing Diagrams... Diagrams... 7 Bearing Drag Torque Calculations... 3 Accessories: Dial Plates, Guarding

24 PRD Product Descriptions Approximate Output Bolt Circle Diameter Precision Ring Drive Input/Output Ratio PRD, :1, 19., 55., 11. Customer Motor Shaft Diameter Customer Motor Shaft Length Customer Motor Pilot Diameter (All PRD's Have Premium Gears, and Planetary Gearboxes) PRD Specifications Performance Specifications PRD PRD75 PRD11 PRD15 Maximum Velocity RPM Positional Accuracy ±ArcSec 35 (1) 1 (1) 13 (1) 11 (1) One Way Repeatability ±ArcSec Max Backlash ArcSec 1 (1) 7 (1) (1) 3 (1) Max Acceleration Torque Nominal Torque Gear/Pinion Ratio.:1 11:1 17:1 :1 Input to Output Ratio 5.:1 () :1 () :1 () :1 () Min Drag Torque (no load) (U Ldrag ) 1 15 Output Inertia kgm Total Reflected Inertia to Gearbox Output kgm (1) Includes Gearbox Backlash () Assumes Planetary Gearbox Ratio of :1

25 PRD Dimensions 5. C 9.5 Dial Plate Mounting Holes M1 x 1.75 (Hole Circle Ø E) I A ø11. Gearbox Input configured to fit customer motor Base Mounting Holes for customer supplied M1 screws (Hole Circle Ø F) Dial Plate not supplied with system Dial Plate Mounting Bolts M1 x 1.75 (customer supplied) (Hole Circle Ø E) G 19.5 mm dowel pin hole pattern for dial plate pilot (customer supplied) (Hole Circle Ø P) min. thickness of customer supplied dial plate Q R (11) NOTE: Basic dimensions shown for selection purposes only and subject to change. Visit for detailed drawings and CAD models before designing into your system. (All dimensions shown in mm.) PRD PRD75 PRD11 PRD15 A Drive Station Envelope to Center Distance mm C Minimum Outer Diameter mm E Output Bolt Pattern Circle Diameter mm F Base Mounting Hole Circle Diameter mm G Ring Drive Pilot Diameter mm I Inner Diameter mm P Dowel Pin Hole Circle For mm Pins mm Q Minimum Depth to Dial Plate Pilot mm R Maximum Depth to Dial Plate Pilot mm

26 PRD Timing Diagrams PRD Timing Diagram kg m 5 kg m 1 kg m 5 kg m 5 kg m PRD75 Timing Diagram kg m 5 kg m 1 kg m 5 kg m 5 kg m PRD11 Timing Diagram kg m 5 kg m 1 kg m 5 kg m 5 kg m PRD15 Timing Diagram kg m 5 kg m 1 kg m 5 kg m 5 kg m NOTE: Curves assume no external forces such as additional table support friction, cutting forces, etc.

27 PRD Diagrams (Applied ) Moment LOAD Axial All Applied s Assume PRD Base is Fully Supported by Machine Frame Precision Ring Drive CUSTOMER MACHINE FRAME PRD Applied MOMENT LOAD (k) Dynamic Limit by Drag Torque no load limit Static Limit Bearing Capacity Bolted Joint Capacity PRD75 Applied MOMENT LOAD (k) Dynamic Limit by Drag Torque Static Limit Bearing Capacity Bolted Joint Capacity PRD11 Applied MOMENT LOAD (k) Dynamic Limit by Drag Torque Static Limit Bearing Capacity Bolted Joint Capacity PRD15 Applied MOMENT LOAD (k) Dynamic Limit by Drag Torque Static Limit Bearing Capacity Bolted Joint Capacity

28 PRD Diagrams (Suspended ) CUSTOMER MACHINE FRAME Precision Ring Drive Suspended Axial LOAD Distance from Center All Suspended s Assume PRD Base is Fully Supported by Machine Frame PRD Suspended (upside-down orientation) PRD75 Suspended (upside-down orientation) CENTER CENTER SUSPENDED SUSPENDED PRD11 Suspended (upside-down orientation) PRD15 Suspended (upside-down orientation) CENTER CENTER SUSPENDED SUSPENDED NOTE: The weight of the PRD is already factored into these charts. NOTE: There are no "Dynamic Limits by Drag Torque" for Suspended s.

29 PRD Diagrams (Radial ) Precision Ring Drive Distance from Machine Frame Radial LOAD All Radial s Assume PRD Base is Fully Supported by Machine Frame CUSTOMER MACHINE FRAME NOTE: The weight of the PRD is already factored into charts. NOTE: There are no "Dynamic Limits by Drag Torque" for Radial s. MACHINE SURFACE MACHINE SURFACE MACHINE SURFACE MACHINE SURFACE RADIAL LOAD (kn) RADIAL LOAD (kn) RADIAL LOAD (kn) RADIAL LOAD (kn) PRD Radial PRD75 Radial PRD11 Radial PRD15 Radial 9

30 PRD Bearing Drag Torque Calculations Bearing Drag Torque varies based on the load placed on the bearing. Use the calculations below to find the Bearing Drag Torque for your application. STEP 1: GATHER APPLICATION DATA Before you begin calculations, there are several key measurements that you will need from your application in order to calculate drag torque. Collect the data and record it in the space provided. From PRD Specs Measurements for Bearing Calculations Customer Data (record your values below) Sample Data Unloaded Drag Torque of PRD (U Ldrag ) Maximum Dynamic Radial (F Rmax ) N N Maximum Dynamic Axial (F Amax ) N 5,3 N Maximum Dynamic Moment (M max ) 5 Note: The application's output torque (T maxapp ) applies a reaction force and moment to the bearing. Those forces create a negligible amount of drag and are therefore omitted from these calculations. F Amax PRD Size Bearing Rotation Diameters (dp) F Rmax PRD PRD75 PRD11 PRD15.35 m.7 m 1.5 m 1. m M max T maxapp STEP : DETERMINE TOTAL DRAG TORQUE 15.3 M max T BD =( dp * ( * F Amax + (.19 F * Rmax 15.3 T BD =( * + ( * ( * Sample: T BD =( , ( ( * * ( ( ( * (( (( dp * * 1-3 * * 1-3 (( + + U Ldrag PRD Total Drag Torque T BD =.35 * * = 119 STEP 3: COMPLETE OUTPUT TORQUE CALCULATIONS Refer to the worksheet on Page 5 of Ring Drive Selection Process to calculate the Total Output Torque required for your application. 3

31 PRD Accessories: Dial Plates Optional Dial Plates Nexen offers customizable dial plates that precisely pilot on the output of Nexen Ring Drives. Contact Nexen to customize these plates for your application. * Features shown shaded orange, are examples of customization. Standard Dial Plate Thickness Standard Dial Plate Outer Diameter 55mm [1.5"] 9mm [35.3"] 135mm [53.15"] PRD PRD mm N/A PRD11 [.75"] N/A N/A 9791 PRD15 N/A N/A N/A Contact Nexen to customize dial plate. Visit Common Customizations: Open Center Hole Patterns Pilots Cutouts Plate Diameter PRD Accessories: Guarding Options Guard Customization Options When sizing a dial plate for Precision Ring Drives, it is important to note that the outer diameter of the dial plate will necessitate use of different guarding options. Listed below is the maximum dial plate diameter that can used with the standard Full Guard. If a larger dial plate is desired, request a Partial Guard, or no Guard at all. Maximum Dial Plate Outer Diameter for Standard Guard Contact Nexen to specify which guard is needed. Visit No Guard Optional PRD PRD75 PRD11 PRD15 55mm [1.5"] 9mm [35.3"] 135mm [53.15"] 175mm [.9"] Full Guard Standard Partial Guard (Open Pinion) Optional 31

32 INDUSTRIES & APPLICATIONS CUTTING SYSTEMS GANTRY SYSTEMS MEDICAL PRODUCTS ROBOTICS AEROSPACE MACHINE TOOL SEMICONDUCTOR MATERIAL HANDLING In accordance with Nexen s established policy of constant product improvement, the specifications contained in this document are subject to change without notice. Technical data listed in this document are based on the latest information available at the time of printing and are also subject to change without notice. For current information, please consult or contact Nexen s Technical Support Group at the location to the right. Nexen Group, Inc. 5 Oak Grove Parkway Vadnais Heights, MN 5517 () 3-75 Fax: (51) Nexen has sales offices throughout the United States, Europe, Japan, and Australia. ISO 91 Certified 1 Nexen Group, Inc. FORM NO. L-13-E-51 3