Rexroth Linear Motion Technology

Transcription

1 Linear Modules Robotic Erector System for Linear Modules RE / The Drive & Control Company 1 RE /

2 Rexroth Linear Motion Technology Ball Rail Systems Roller Rail Systems Standard Ball Rail Systems Super Ball Rail Systems Ball Rail Systems with Aluminum Runner Blocks High Speed Ball Rail Systems Corrosion-resistant Ball Rail Systems Wide Ball Rail Systems Ball Rail Systems with Integrated Measuring System Braking and Clamping Units for Ball Rail Systems Rack and Pinion for Ball Rail Systems Miniature Ball Rail Systems Cam Roller Guides Standard Roller Rail Systems Wide Roller Rail Systems Heavy Duty Roller Rail Systems Roller Rail Systems with Integrated Measuring System Braking and Clamping Units for Roller Rail Systems Rack and Pinion for Roller Rail Systems Linear Bushings and Shafts Linear Bushings, Linear Sets Shafts, Shaft Support Rails, Shaft Support Blocks Ball Transfer Units Traditional Engineering Components Screw Drives Linear Motion Systems Linear Motion Slides Ball Screw Drive Toothed Belt Drive Linear Modules Compact Modules Precision Modules Ball Rail Tables Ball Screw Drive Toothed Belt Drive Rack and Pinion Drive Pneumatic Drive Linear Motor Ball Screw Drive Toothed Belt Drive Linear Motor Ball Screw Drive Ball Screw Drive Linear Motor Controllers, Motors, Electrical Accessories Linear Actuators RE /

3 Rexroth Linear Modules A Solution to Many Problems 4 Product Overview MKK 6 Product Overview MKR, MLR 8 Product Overview MKR / MKZ Product Overview MKP 12 Product Overview LKL, MKL 13 Product Overview Motors and Control Systems 14 Types Available and Load Capacity 16 Linear Modules MKK with Ball Rail System and Precision Ball Screw Assembly 18 Structure and Technical Data 18 MKK with Sealing Strip 32 MKK with Sealing Strip 36 MKK with Sealing Strip and Screw Support 40 MKK Linear Modules MKR with Ball Rail System and Toothed Belt Drive 50 Structure and Technical Data 50 MKR with Sealing Strip 56 MKR with Sealing Strip 62 MKR with Sealing Strip 68 MKR Linear Modules MLR with Cam Roller Guide and Toothed Belt Drive 80 Structure and Technical Data 80 MLR MLR Switch Mounting Arrangements MKK, MKR, MLR 96 Linear Modules MKR / MKZ with two Ball Rail Systems and Toothed Belt Drive / Rack and Pinion 100 MKR MKZ H for Horizontal Operation 108 MKZ V for Vertical Operation 116 Switch Mounting Arrangements and Accessories MKR / MKZ Motors for MKK, MKR, MLR, MKZ 130 Linear Modules MKP with Ball Rail Systems and Pneumatic Drive 132 Structure and Technical Data 132 MKP MKP Switch Mounting Arrangements 148 Shock Absorbers 150 Shock Absorber Holder, Duct Adapter 151 Robotic Erector System for Linear Modules / Profiles 152 Overview 152 Assemblies 154 Robotic Erector System for Linear Modules / Linear Modules 158 Configuration Options 160 Component Overview 162 Mounting of Linear Modules using Mounting Components 164 Dimension Drawings 171 Mounting Accessories 178 Mounting of Linear Modules 180 Documentation 184 Inquiry / Order Form 186 MKK MKR MLR MKR MKZ MKP 3 RE /

4 Rexroth Linear Modules A Solution to Many Problems Length Load capacities and moments Static load The problems Speed Driving Precision Transporting Positioning System complete with drive unit Switch mounting arrangements Multiple axis unit Accessories Documentation RE /

5 bis Up zu to 12 meters Meter Tragzahl Load capacity C bis C up to N49700 N Längsmoment Longitudinal moment M L bis M2900 L up Nm to 2900 Nm Torsional Torsionsmoment M t bis t up 1040 to 1040 Nm Nm bis Up zu to 1000 kg bis Up zu to 10 m/s The solution Wiederholgenauigkeit Repeatability up to bis zu mm0,005 mm Positioniergenauigkeit Positioning accuracy up bis to zu 0. 0, mm mm AC-Servomotor servo oder or stepping Schrittmotor mit with Flansch, motor mount, Kupplung coupling oder or side drive Riemenvorgelege with timing belt (plus control Steuerung) unit) Rexroth Linear Modules mechanische Mechanical and und proximity induktive switches Schalter Kombinationsmöglichkeit Combination option durch provided Verbindungselemente by connectors Spannstücke, Clamping fixtures, Flansche, motor mounts, Nutensteine T-nuts, etc. Reibmomentmessung Moment of friction measurement Steigungsabweichung Lead deviation Positionierunsicherheit Positioning accuracy 5 RE /

6 Rexroth Linear Modules Product Overview MKK Rexroth Linear Modules are precise, ready-to-mount linear motion systems that combine high performance with compact dimensions. Excellent price / performance ratio. Short delivery times. Structural design Ready-to-mount linear modules in any specified length Extremely compact aluminum profile with integral Rexroth Ball Rail Systems Driven by Rexroth Precision Ball Screw Assembly Attachments AC servo motor or stepping motor with control units Gear reducer with various gearing reductions Switches (proximity and mechanical) Socket and plug Aluminum profile cable duct For mounting and maintenance, see MKK Instructions. Linear Modules with Ball Rail System and Precision Ball Screw Assembly For high load capacities, high positioning accuracy and repeatability. Rexroth Precision Ball Screw Assembly in rolled quality with clearancefree, cylindrical single nut, tolerance class 7, lead up to 40 mm MKK For MKK 15-65: Sealing by means of a special plastic strip For MKK and MKK : Sealing by means of a corrosionresistant steel strip ; ; ;;;;;; ;; ;; End block with centering bore and mounting holes for drive units One-point, in-service lubrication of the Rexroth Ball Rail System and Rexroth Precision Ball Screw Assembly from either side; suitable for grease only. MLR: one-point oil lubrication For MKK : Sealed bellows-type protective cover of polyester fabric, coated with polyurethane inside and out. Oil- and moisture-resistant. RE /

7 Screw Support for MKK The new screw support SPU offers the following benefits: Screw lengths up to 4,900 mm; for special applications, lengths up to 10,000 mm Low weight thanks to aluminum runner block and aluminum connecting rail Up to 2 screw supports can be integrated per module Runner block of screw support lubricated for life (no in-service lubrication required) Screw support protected by sealing strip of Linear Module Screw support selectable as a standard option by specification of option number Structural design Plastic screw support Aluminum connecting rail guided within the frame by integrated plastic profiles Elastomer buffer and rings as shock absorbers Elastomer buffer as shock absorber Screw support (connected by connecting rail) Guiding of connecting rail allows 90 offset installation of Linear Module with screw support Longer service life Maximum drive torque for all lengths High speed over long travel distances 1 Elastomer ring 2 Plastic profiles 3 Aluminum connecting rail 4 Frame 7 RE /

8 Rexroth Linear Modules Product Overview MKR Rexroth Linear Modules are precise, ready-tomount linear motion systems that combine high performance with compact dimensions. Excellent price / performance ratio. Short delivery times. Structural design Ready-to-mount linear modules in any specified length Extremely compact aluminum profile with integral Rexroth Ball Rail Systems Driven by toothed belt drive for travel speeds up to 5 m/s Attachments AC servo motor or stepping motor with control units Gear reducer with various gearing reductions Switches (proximity and mechanical) Socket and plug Aluminum profile cable duct For mounting, startup and maintenance, see MKR / MLR Instructions. Linear Modules with Ball Rail System and Toothed Belt Drive High load capacities and optimum running enable the integral, clearance-free Rexroth Ball Rail System to move large loads at high speed. New type of sealing for MKR and MKR by means of a corrosion-resistant steel strip (also available without sealing strip). Mounting of structures: with the aid of T-slots or tapped holes in the carriage Gap-type sealing and guiding of the belt by the aluminum frame. This sealing system is maintenance-free. MKR Tension end enclosure with integral belt tensioning system. Belt pulley system with ball bearings lubricated for life. One-point, in-service lubrication of the Rexroth Ball Rail System from either side; suitable for grease only. Gear unit or integral gear reducer: Variable gearing ratios to optimally match the carried mass to the drive motor inertia. Maintenance-free digital AC servo motor with integral brake and attached feedback Variable gearing ratios to optimally match the carried mass to the drive motor inertia constant. Planetary gearing can be integrated in the belt drive sprocket or mounted as a separate gear unit for high-dynamic drive performance. RE /

9 Product Overview MLR Rexroth Linear Modules are precise, ready-tomount linear motion systems that combine high performance with compact dimensions. Excellent price / performance ratio. Short delivery times. Structural design Ready-to-mount linear modules in any specified length Extremely compact aluminum profile with integral Rexroth Cam Roller Guides Driven by toothed belt drive for travel speeds up to 10 m/s Attachments AC servo motor or stepping motor with control units Gear reducer with various gearing reductions Switches (proximity and mechanical) Socket and plug Aluminum profile cable duct For mounting, startup and maintenance, see MKR / MLR Instructions. Sealed by means of the toothed belt. Mounting of structures: with the aid of T-slots or tapped holes in the carriage Linear Modules with Cam Roller Guide and Toothed Belt Drive The special design of the integral, clearance-free Rexroth Cam Roller Guide makes it ideal for very high speeds (up to 10 m/s). Gap-type sealing and guiding of the belt by the aluminum frame. This sealing system is maintenance-free. MLR Tension end enclosure with integral belt tensioning system. Belt pulley system with ball bearings lubricated for life. One-point, in-service lubrication of the Rexroth Cam Roller Guide from either side; suitable for oil only. Gear unit or integral gear reducer: Variable gearing ratios to optimally match the carried mass to the drive motor inertia. Maintenance-free digital AC servo motor with integral brake and attached feedback Variable gearing ratios to optimally match the carried mass to the drive motor inertia constant. Planetary gearing can be integrated in the belt drive sprocket or mounted as a separate gear unit for high-dynamic drive performance. 9 RE /

10 Rexroth Linear Modules Product Overview MKR Rexroth Linear Modules are precise, ready-tomount linear motion systems that combine high performance with compact dimensions. Excellent price / performance ratio. Short delivery times. MKR : Linear Module with two Ball Rail Systems and Toothed Belt Drive For high moment capacity and high speeds. Structural design Anodized aluminum frame of high inherent rigidity MKR Two Rexroth Ball Rail Systems with sealing strips and two long runner blocks each Profiled aluminum carriage Pre-tensioned toothed belt Integral planetary gearing in the drive sprocket Attachments Motor mount, coupling with or without gear reducer for attachment of the motor AC servo motor (other motor types on request) Switches (proximity and mechanical) Control units One-point, in-service lubrication of the Rexroth Ball Rail System from either side; suitable for grease only. For maintenance, see Maintenance Instructions Linear Module MKR RE /

11 Product Overview MKZ H / V Structural design Anodized aluminum frame of high inherent rigidity Two Rexroth Ball Rail Systems with sealing strips and two long runner blocks each Profiled aluminum carriage Rack and pinion drive (hardened and ground), with helical gearing ensuring low operating noise levels Low-backlash worm gear with motor mount and coupling for attachment of the motor Attachments AC servo motor Switches (proximity and mechanical) Control units MKZ H for horizontal operation: Linear Module with 2 Ball Rail Systems and Rack and Pinion Drive For high moment capacity and for carrying large loads at high speed over long travel ranges. MKZ H For maintenance, see Maintenance Instructions Linear Module MKZ MKZ V for vertical operation: Linear Module with 2 Ball Rail Systems and Rack and Pinion Drive For high moment capacity and safe lifting of heavy weights with moving frame (stationary carriage with gear reducer, motor and multi-position switch). MKZ V 11 RE /

12 Rexroth Linear Modules Product Overview MKP Rexroth Linear Modules are precise, ready-tomount linear motion systems that combine high performance with compact dimensions. Excellent price / performance ratio. Short delivery times. Structural design Extremely compact precision aluminum frame with integral Rexroth Ball Rail System Pneumatic drive by means of integral belt cylinder End closure blocks with belt guide pulleys running on ball bearings Aluminum carriage with two integral runner blocks Attachments Shock absorbers Switches Socket and plug for switches Sealing hose for T-slots Linear Modules with integral Ball Rail System and Pneumatic Drive Optimum running, high load capacities and high stiffness due to integral, clearance-free Rexroth Ball Rail System and sealed cylinder chamber. MKP Compact height due to oval piston design, highly flexible patented tension belt (EP B1) Connection of compressed air supply at one or both linear module ends is possible due to internal air ducts Low leakage due to sealed cylinder chamber High travel speeds combined with high precision over long travel ranges due to operating pressure up to 10 bar Sealing by means of a polyurethane or steel strip; side sealing strip in carriage For mounting, startup and maintenance, see MKP Instructions. Adjustable switches over the entire travel range. Switches activated by integral permanent magnets. One-point lubrication of the Rexroth Ball Rail System, with access from either side High durability and low friction due to: belt pulleys with maintenance-free precision ball bearings centered belt guiding system highly wear-resistant materials for the tension belt, belt seal and piston seal Problem-free alignment and mounting of attachments due to T -slots on the carriage and main structure and internally threaded screws in the end enclosure blocks Jolt-free braking even at high speeds due to adjustable, pneumatic end-damping or externally mounted shock absorbers RE /

13 Product Overview LKL, MKL Rexroth Linear Modules LKL See catalog Linear Modules LKL For constant thrust over the entire speed range. Extremely simple mechanical design without conventional motors and gears. Rapid implementation Structural design Ready-to-mount linear modules in any specified length Extremely compact aluminum frame with integral Rexroth Ball Rail System Carriage with one-point lubrication Linear motor drive Integral position sensing Bellows as option Convenient DriveTop start-up software Thrust generated directly at the payload High speed range, high dynamic response Controller Standard servo controller DKC**.3 Silent operation XX 0-XX LS10 Cost savings through shorter cycle times High positional repeatability Supplied as a complete plug in and go linear module with matching servo amplifier Ball rail system unaffected by magnetic forces Rexroth Linear Modules MKL See catalog Linear Modules MKL For constant thrust over the entire speed range. Simple mechanical design without conventional motors and gears. Structural design Rapid implementation Ready-to-mount linear modules in any specified length Extremely compact aluminum frame with integral Rexroth Ball Rail System Carriage with one-point lubrication Linear motor drive Integral position sensing Sealing strip Fan for motor cooling Controller Standard servo controller DKC**.3 Convenient DriveTop start-up software Thrust generated directly at the payload High speed range, high dynamic response Silent operation Cost savings through shorter cycle times High positional repeatability Supplied as a complete plug in and go linear module with matching servo amplifier Ball rail system unaffected by magnetic forces 13 RE /

14 Rexroth Linear Modules Product Overview Motors and Control Systems Motor Selection in accordance with controllers and control systems Digital AC servo motor* A choice can be made between several different motor / controller combinations to achieve the most cost-efficient solution for each customer application. The motor / controller combination must always be taken into account when sizing the drive. For more detailed information on motors and control systems, please refer to catalog Controllers, Motors, Electrical Accessories. MKD MHD MKD Servo motor MSM MSM 3-phase stepping motor VRDM * Analog AC servo motor type MAC and analog controllers type TDM are also available. RE /

15 STAR step Hand RS232 Auto engineering Deutsche Star DKC Digital controller The low-cost solution for single- and multi-axis systems DKS Digital positioning module and DLC controls The universal solution for one axis DDS Digital controllers and CLM analog positioning module The convenient solution for multi-axis systems DKC Digital controller ECODRIVE Cs WD3 Power output section for control cabinet installation PC PC controller board Stepping motor controller Linear Modules can be supplied complete with motor, controller and control system. mannesmann Rexroth ECO step Single- and multiple-axis positioning controls with power output section The complete solution 15 RE /

16 STAR STAR STAR STAR STAR STAR Rexroth Linear Modules Types Available Type designation (size) The linear modules are designated according to type and size. Types also cover the equivalent designs without drive units. Linear Module (example) = System Guideway Drive unit = Linear Module, closed type (M) Linear Module, open type (L) = Ball Rail System (K) Cam Roller Guide (L) = Toothed Belt (R) Precision Ball Screw Assembly (K) Linear Motor (L) Pneumatic Drive (P) Rack and Pinion Drive (Z) Type Size M K R Dimensions of guideway = approx. Ball Rail System Cam Roller Guide Frame dimensions = Note: All linear modules are also available without drive unit. Type Guideway Drive unit Linear Module MKK Ball Rail System Precision Ball Screw Assembly MKR Ball Rail System Toothed Belt Drive Rexroth Linear Modules MLR MKP Cam Roller Guide Ball Rail System Toothed Belt Drive Pneumatic Drive MKL Ball Rail System Linear Motor MKR MKZ two Ball Rail Systems Toothed Belt Drive Rack and Pinion Drive LKL Ball Rail System Linear Motor RE /

17 Overview of Linear Modules with Permissible Loads Suitable load (recommended value on the basis of past experience) C Y C Y C X C X As far as the desired service life is concerned, loads of up to approximately 20% of the dynamic load and moment values (C, M t, M L ) have proved acceptable. A The following values may not be exceeded: H the maximum permissible deflection the permissible drive torque the maximum permissible forces for type MLR the permissible speed. A Dimensions A x H (mm) 65 x x x x 195 Linear Module Dynamic Linear Module Maximum dyn. Linear Module Maximum dyn. Linear Module Dynamic load capacity load capacity load capacity load capacity C x (N) C y (N) C x (N) C y (N) C x (N) C y (N) C x (N) C y (N) MKK MKK MKK MKK MKR MKR MKR MKR MLR MLR MKP MKP MKL x x x 215 MKR MKZ H MKZ V LKL LKL RE /

18 Rexroth Linear Modules MKK Structure and Technical Data MKK...: Linear Modules with Ball Rail System and Precision Ball Screw Assembly for high feed forces, accurate positioning and repeatability. Greater travel distance with special sealing strip MKK with bellows The MKK... Linear Modules comprise: a compact, anodized aluminum frame the integral Rexroth Ball Rail System a carriage with one-point lubrication the clearance-free adjusted Rexroth Ball Screw Assembly (also available in MKK... design without drive unit) mountable switches an AC servo drive or a stepping motor (other motor types on request) motor mount, coupling or side drive with timing belt for attachment of the motor cover provided by plastic strip on MKK corrosion-resistant steel strip to DIN EN on MKK and MKK bellows on MKK a screw support for MKK control units For mounting and maintenance, see MKK Instructions. RE /

19 General technical data All the carriages are fitted with two runner blocks. Linear Ball Carriage Dynamic load capacity C Dynamic Moved Minimum Maximum Planar moment Module screw length Guide- Ball Fixed moment mass length length of inertia way screw bearing M t M L L 1) min L max I x I y d 0 x P (mm) (N) (N) (N) (Nm) (Nm) (kg) (mm) (mm) (cm 4 ) (cm 4 ) without MKK x x x without x MKK x x x without x MKK x x x without x MKK x x x MKK Modulus of elasticity E E = 70,000 N/mm 2 1) with sealing strip, for a theoretical stroke of 100 mm Lengths in excess of L max Lengths in excess of L max are available upon request. Note on dynamic load capacities and moments The dynamic load capacities and moments are based on 100,000 m travel. However, a travel of just 50,000 m is often taken as a basis. If this is the case, for comparison purposes: Multiply values C, M t and M L from the table by Load capacities for the ball screw comply with DIN C x M t C y C x M L M L Mass Mass calculation does not include motor, switches or side drive with timing belt. Mass formula: Mass (kg/mm) x length L (mm) + mass of all parts of fixed length (carriage, end blocks etc.) (kg) Linear Module Ball screw Carriage length Mass (mm) (kg) MKK without L with L MKK without L with L MKK without L with L MKK without L with L RE /

20 Rexroth Linear Modules MKK Structure Structural design 5 1 Precision ball screw assembly with clearance-free cylindrical single nut 2 End block fixed bearing 3 Sealing strip on MKK 15-65, MKK 20-80, MKK Carriage with runner block 5 Strip fixing 6 End plate 7 Frame 13 Bellows cover on MKK Attachments: 8 Switching cam 9 Proximity switch 10 Mechanical switch 11 Cable duct 12 Socket / plug Stepping motor 15 Motor mount 16 Servo motor 17 Side drive with timing belt RE /

21 Motor attachment with mount and coupling A motor can be attached via a mount and coupling to all Linear Modules equipped with a ball screw drive. The motor mount serves both to attach the motor to the Linear Module and as an enclosed housing for the coupling. The coupling transmits the motor drive torque free of stresses to the Linear Module drive shaft. MKK 1 Motor 2 Motor mount 3 Coupling 4 Linear Module Motor attachment via side drive with timing belt On all Linear Modules with ball screw drive the motor can be attached via a side drive with timing belt. This results in a shorter overall length compared to a motor attachment with motor mount and coupling. The compact enclosed housing provides belt protection and secures the motor. In addition, different gear ratios are available (4). The side drive with timing belt can be mounted in four directions: bottom (RV) top (RV02) left, right (RV03 and RV04) 1 Compact enclosed housing provides belt protection and secures motor 2 On MKK and MKK with i = 1.5 or i = 2: Ball screw journal with support bearing. 3 Linear Module 4 Timing belt drive with reduction: i = 1 : 1 i = 1 : 1.5 i = 1 : 2 5 AC servo motor 6 Pre-tensioning of the toothed belt: Apply pre-tensioning force F V to motor. F V is marked in the housing. 7 Cover 8 Drawn, anodized aluminum frame 9 Attachment of belt pulleys with clamping fixtures 10 Cover plate RE /

22 Rexroth Linear Modules MKK Technical Data Deflection A special feature of linear modules is their suitability for cantilever installation. If the modules are installed in this manner, however, the deflection must be observed. The deflection restricts the possible load. If the maximum permissible deflection is exceeded, additional support must be provided. δmax L/2 L F Maximum permissible deflection δ max The maximum permissible deflection δ max is dependent on the length L and the load F. δ max may not be exceeded! For applications requiring high system dynamics, support should be provided at every 300 to 600 mm. Example Linear Module MKK 20-80: L = 2500 mm F = 1500 N From graph MKK 20-80: δ = 1.1 mm δ max = 3.1 mm The deflection δ is clearly below the maximum permissible deflection δ max therefore no additional support is necessary. The graph applies in the following conditions: MKK ends firmly clamped (200 to 250 mm on each side) 6 to 8 screws on each side fixed base δ (mm) δmax F = 2000 N F = 1500 N F = 1250 N F = 1000 N F = 750 N F = 500 N F = 250 N F = 0 N L (mm) RE /

23 The graphs apply in the following conditions: ends firmly clamped (200 to 250 mm on each side) 6 to 8 screws on each side fixed base δ (mm) δmax F = 2500 N F = 2000 N F = 1500 N F = 1000 N F = 500 N F = 250 N F = 100 N F = 0 N MKK MKK L (mm) MKK δ (mm) δmax F = 3000 N F = 2500 N F = 2000 N F = 1500 N F = 1000 N F = 500 N F = 250 N F = 100 N F = 0 N L (mm) MKK δ (mm) F = 5000 N F = 4000 N F = 3000 N F = 2000 N F = 1000 N F = 500 N F = 250 N F = 0 N δmax L (mm) 23 RE /

24 Rexroth Linear Modules MKK Technical Data Permissible drive torque M per The M per values shown apply in the following conditions: horizontal operation ball screw journal without keyway no radial load on ball screw journal Observe rated torque of coupling used! M (Nm) 16x16 16x10 16x 5 MKK L (mm) Ball screw journal with keyway Due to notch effect and the reduction of the effective diameter, observe the following maximum values for the drive torque! Linear Module M per max (Nm) MKK MKK MKK MKK When comparing the graph and table, the lower value applies in each case! Example: MKK 15-65, ball screw drive 16x5, length 1000 mm. Drive torque M per from graph: 3.2 Nm Maximum permissible drive torque according to table: 4.5 Nm Drive torque for sizing: 3.2 Nm M (Nm) 8 20x x x x 5 MKK L (mm) M (Nm) MKK x32 32x20 32x10 32x M (Nm) L (mm) MKK x40 40x x10 40x L (mm) RE /

25 Permissible speed v Observe motor speed! 80 v (m/min) MKK x x x L (mm) MKK v (m/min) 20x20 16x16 16x10 20x 5 MKK L (mm) 100 v (m/min) 32x32 MKK x x10 32x L (mm) v (m/min) 40x40 40x20 40x10 40x 5 MKK L (mm) 25 RE /

26 Rexroth Linear Modules MKK Technical Data Drive data of the timing belt side drive, Fixed bearing end for motor attachment via timing belt side drive Motor type Overall dimensions (mm) Friction moment M RRv (Nm) MKD 41B / MHD 41B 51 x MKD 71B / MHD 71B 66 x Permissible torque up to length L = at 1) Reduced mass moment of inertia at Permissible torque up to length L = at 1) Reduced mass moment of inertia at Reduction i = i = 1 i = 1.5 i = 1 i = 1.5 i = 1 i = 2 i = 1 i = 2 Belt type 16 AT5 16 AT5 16 AT5 16 AT5 25 AT5 25 AT5 32 AT5 25 AT5 25 AT5 32 AT5 Linear Module Ball screw L M Rv M Rv J Rv J Rv L M Rv M Rv J Rv J Rv d 0 x P (mm) (Nm) (Nm) (10 6 kgm 2 ) (10 6 kgm 2 ) (mm) (Nm) (Nm) (10-6 kgm 2 ) (10 6 kgm 2 ) 16 x MKK x x x MKK x x x x MKK x x x x MKK x x x M Rv Permissible system torque with timing belt side drive on the motor journal M RRv Friction moment, timing belt side drive on the motor journal J Rv Reduced mass moment of inertia, timing belt side drive i Reduction, timing belt side drive 1) Please ask if you wish to know the permissible torque for longer lengths. Technical data AC servo motors Motor type MKD 41B-144-KG1 MHD 41B-144-NG1 MKD 71B-061-KG1 MHD 71B-061-NG1 Maximum effective rotary speed n M (1/rpm) Rated torque M MN (Nm) Maximum torque M Mmax (Nm) Mass moment of inertia J M + J Br (10 6 kgm 2 ) Braking torque M Br (Nm) Load with brake m Br (kg) RE /

27 MKD 90B / MHD 90B 90 x MSM 040B 51 x Permissible torque up to length L = at 1) Reduced mass moment of inertia at Permissible torque up to length L = at 1) Reduced mass moment of inertia at i = 1 i = 2 i = 1 i = 2 i = 1 i = 1.5 i = 1 i = AT10 50 AT10 50 AT10 50 AT10 16 AT5 16 AT5 16 AT5 16 AT5 MKK L M Rv M Rv J Rv J Rv L M Rv M Rv J Rv J Rv (mm) (Nm) (Nm) (10 6 kgm 2 ) (10 6 kgm 2 ) (mm) (Nm) (Nm) (10 6 kgm 2 ) (10 6 kgm 2 ) See catalogs Controllers, Motors, Electrical Accessories For data on stepping motors, see Motors MKD 90B-047-KG MHD 90B-047-NG MSM 040B RE /

28 Rexroth Linear Modules MKK Technical Data, Calculations Formulas Nominal service life Nominal service life in meters: C L 10 = ( ) F m Nominal service life in hours: L L 10 10h = 60 v m L 10 = Nominal service life in meters (m) L 10h = Nominal service life in hours (h) C = Dynamic load capacity (N) F m = Mean equivalent dynamic load (N) v m = middle speed (m/min) Friction moment for motor attachment via motor mount and coupling: M R = M RS M R = Friction moment at the drive journal M RS = Friction moment, system M RRv = Friction moment, timing belt side drive at motor journal i = Reduction (Nm) (Nm) (Nm) for motor attachment via timing belt side drive: M R = M RS i + M RRv Constants k 1, k 2, k 3 Friction moment M R at motor journal Linear Module Ball screw Constant Friction moment d 0 x P k 1 k 2 k 3 M R (Nm) MKK x x x x x MKK x x MKK MKK x x x x x x x x RE /

29 Mass moment of inertia for handling: 6 J M J fr for processing: 1.5 J M J fr J fr J M = External mass moment of inertia (kgm 2 ) = Mass moment of inertia of motor (kgm 2 ) for motor attachment via motor mount and coupling: for motor attachment via timing belt side drive: J fr J tot = J S + J K + J Br J S = ( k 1 + k 2 L + k 3 m fr ) 10 6 = J fr + J M = J S + J K + J Br + J M J S i 2 J fr = + J Rv + J Br J S = ( k 1 + k 2 L + k 3 m fr ) 10 6 J S i 2 J tot = J fr + J M = + J Rv + J M + J Br J tot = Total mass moment of inertia (kgm 2 ) J fr = External mass moment of inertia (kgm 2 ) J S = Mass moment of inertia of system with additional load (kgm 2 ) J K = Mass moment of inertia of coupling (kgm 2 ) J Br = Mass moment of inertia, motor brake (kgm 2 ) J M = Mass moment of inertia of motor (kgm 2 ) J Rv = Reduced mass moment of inertia, timing belt side drive at motor journal (kgm 2 ) m fr = External load (kg) L = Length of linear module (mm) i = Reduction k 1,k 2,k 3 = Constants. See Calculation constants MKK Rotary speed If a geared motor is fitted, the moment of inertia of the gear and the gear transmission ratios must additionally be taken into account in the calculation. i v 1000 n 1 = P n 1 < n Mmax v < See graph for permissible speed v = Permissible speed (m/min) n 1 = Rotary speed (1/min) n Mmax = Maximum effective rotary speed of motor (1/min) P = Ball screw lead (mm) i = Reduction Coupling data Couplings according to the table are used for linear modules MKK... with standard servo motors. Linear Module Rated torque Mass Coupling of coupling M K moment mass of inertia J K (Nm) (kgm 2 ) (kg) MKK MKK MKK MKK RE /

30 Rexroth Linear Modules MKK Calculation Example When dimensioning the drive, always take the motor / controller combination into consideration as the motor type and performance data (e.g. maximum effective speed and maximum torque) depend on the controller or control system used. (See also Product Overview Motors and Controllers.) Starting data A mass of 100 kg is to be moved 500 mm at a maximum velocity of 40 m/min. 2 P (+225) 500 mm 2 P (+225) The following unit is selected on the basis of its technical data and mounting connection dimensions: m = 100 kg F = 0 N m = 100 kg Linear Module MKK Carriage length L T = 310 mm 2% preload with sealing strip with size 71 AC servo motor, connected via motor mount and coupling L L Estimation of the Linear Module length L Excess travel = 2 P = 2 32 mm = 64 mm Max. travel = Stroke effective + 2 excess travel = 500 mm = 628 mm Length L of the Linear Module = 628 mm mm (to formula in Components and Ordering for MKK ) = 1078 mm Selection of the ball screw drive See Technical Data section for graphs. General recommendation: Wherever possible, always select the smallest lead (resolution, braking path, length). According to the graph for permissible speed, the permissible ball screw drives for v = 40 m/min and L = 1078 mm are: ball screw 32 x 20 and ball screw 32 x 32 Selected ball screw drive (smaller lead) for L = 1078 mm: ball screw 32 x 20 with a maximum permissible drive torque of 35 Nm as per permissible drive torque graph Calculating the Linear Module length L Excess travel = 2 P = 2 20 mm = 40 mm Max. travel = Stroke effective + 2 excess travel = 500 mm mm = 580 mm Length L of the Linear Module = 580 mm mm = 1030 mm Friction moment M R M R = M RS (see Technical Data ) M R = 1.1 Nm RE /

31 Mass moment of inertia J J S = (k 1 + k 2 L + k 3 m fr ) 10-6 kgm 2 = ( mm ) 10-6 kgm 2 = kgm 2 (k 1, k 2, k 3 see table Constants ) J K = kgm 2 (see Technical Data ) J Br = kgm 2 J fr = J S + J K + J Br = kgm 2 for handling: J J M > fr = -6 kgm J M > kgm 2 MKK Rotary speed n at v = 40 m/min n i v m/min = = = 2000 min -1 < n P 20 mm Mmax v = 40 m/min Result Linear Module MKK Length L = 1030 mm Ball screw drive: Diameter 32 mm Lead 20 mm Carriage length: L T = 310 mm Preload: 2% Motor attached via motor mount and coupling Motor with: maximum effective speed n Mmax > 2000 min -1 mass moment of inertia J M > kgm 2 maximum permissible drive torque M per < 35 Nm Take account of rated coupling torque M k and friction moment M R (M K = 50 Nm; R R = 1.21 Nm) These conditions are satisfied by all the permissible AC servo motors listed in the Components and Ordering table for MKK The specific motor is selected: according to the selection criteria in the AC servo motor data table and by cross checking the drive unit calculation using the performance data given in the catalogs Controllers, Motors, Electrical Accessories. 31 RE /

32 Rexroth Linear Modules MKK with Sealing Strip Components and Ordering Part number, length Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) L T ,... mm Journal Ball screw size L T = 190 mm for motor 16 x 5 16 x x 16 without drive unit (OA) OA (11.06.) with ball screw without motor mount (OF) with ball screw and motor mount (MF) dia. 10 OF ( ) dia. 10 with keyway MF ( dia ) with ball screw and side drive with timing belt (RV) RV02 i = 1 dia RV RV03 RV04 RV to RV04 ( ) i = 1.5* dia. 10 i = 2* dia * with support bearing Order example Ordering data Linear Module (Part number): , 1320 mm Type = MF Guideway = Drive unit = 02 Carriage = Motor attachment = 02 Motor = 10 Cover = 02 1st switch = 15 - R mm 2nd switch = 11 - R 400 mm 3rd switch = 15 - R 500 mm Cable duct = 20, 1500 mm Socket-plug = 17 Switching cam = 16 Documentation = 03 Description Linear Module MKK 15-65, length = 1320 mm with motor mount, mounted as in diagram MF ball rail system ball screw 16 x 10 (d 0 x P) carriage with length L T = 190 mm with mount for motor MKD 41B motor MKD 41B plastic strip with side sealing mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 400 mm mechanical switch, switch activation point: right 500 mm cable duct 1200 mm long (loose) socket-plug supplied loose with switching cam for switch activation lead deviation chart for ball screw RE /

33 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. Cover =.. 1st, 2nd + 3rd switch =... ±... mm Documentation =.. Reduction Mount 1) for w/o with Cable duct =..,... mm (i) motor sealing Socket-plug =.. strip Switching cam =.. Standard report Measurement report without switch without cable duct 00 MKK i = 1 i = 1.5 i = MKD 41B 10 MSM 040B ) VRDM VRDM VRDM MKD 71B 11 MKD 41B 10 MSM 040B ) MKD 41B 10 MSM 040B ) MKD 71B 11 MHD 71B without side sealing 02 with side sealing External switch: PNP NC PNP NO 11. ±... mm 13. ±... mm Mechanical 15. ±... mm Switch Switch type activation Mounting side Travel direction point Switching distance Cable duct (loose) Length External socket-plug (loose) 20,... mm 17 External switching cam Friction moment 03 Lead deviation 05 Positioning accuracy 1) Attachment can also be supplied without motor (enter 00 for motor on order). 2) Motor without brake Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. Calculating the Linear Module length L = (stroke + 2 x excess travel) mm Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +500 mm Switch activation point 3rd switch = 500 mm Stroke = 1000 mm Mounting side of switches: left (L) right (R) TM In most cases the recommended limit for excess travel (braking path) is: excess travel = 2 x screw lead P Example: Ball screw 16 x 10 (d 0 x P), Excess travel = 2 10 = 20 mm Travel direction 0 Stroke L + L/2 TM 33 RE /

34 Rexroth Linear Modules MKK with Sealing Strip Dimension Drawings All dimensions in mm Diagrams to different scales Max. travel L/2 10 Max. travel funnel-type lube nipples M4 8 deep DIN 3405-AM6 Effective stroke 4 per side Effective stroke 20 Excess 2 2 Excess 20 travel travel dia dia.10 H L ) without brake 2) with brake h = 1.8 Type OF Type MF Motor MKD 41B or MSM 040B with mount and coupling 3 P MSM 040B 82 MKD 041B 243 MKD 41B 157,5 1) 040B) 191,5 2)(MSM Type OA MKD 90 MSM 040B Type MF Motors VRDM 39- with mount and coupling (VRDM 397) 140 (VRDM 3910) 170 (VRDM 3913) 90 RE /

35 M8 18 deep MKK A A C 29.2 B 2.5 C Type RV Motors M side drive with timing belt (dimensions also apply to RV02 = top, RV03 = left, RV04 = right) Type RV Motor MKD 41B or MSM 040B side drive with timing belt (dimensions also apply to RV02 = top, RV03 = left, RV04 = right) Support bearing only i = 2 Support bearing only i = X One-point lubrication: at either of the two funnel-type lube nipples DIN 3405-AM6 46 for nut DIN 557-M5 A B side sealing in carriage for fastening of the cable duct For more information, see section on Motors X 56 View X View X ( i = 1 ) 152 ( i = 2 ) RE /

36 Rexroth Linear Modules MKK with Sealing Strip Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) L T ,... mm Journal Ball screw size L T = 260 mm for motor 16 x x x 5 20 x 20 without drive unit (OA) OA ( ) with ball screw without motor mount (OF) dia. 10 OF ( ) dia. 10 with keyway with ball screw and motor mount (MF) MF ( dia ) with ball screw and side drive with timing belt (RV) RV RV03 RV02 RV to RV04 ( ) i = 1 dia. 10 i = 1.5* dia RV04 i = 2* dia * with support bearing Order example Ordering data Linear Module (Part number): , 1400 mm Type = RV04 Guideway = Drive unit = 03 Carriage = Motor attachment = 23 Motor = 61 Cover = 20 1st switch = 15-R mm 2nd switch = 11-R 400 mm 3rd switch = 15-R 500 mm Cable duct = 20, 1300 mm Socket-plug = 17 Switching cam = 16 Documentation = 03 Description Linear Module MKK 20-80, length = 1400 mm side drive with timing belt, mounted as in diagram RV04 ball rail system ball screw 20 x 5 (d 0 x P), i = 1 carriage with length L T = 260 mm with side drive with timing belt for motor MDD 71A, i = 1 motor MHD 71A with corrosion-resistant steel sealing strip mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 400 mm mechanical switch, switch activation point: right 500 mm cable duct 1300 mm long (loose) socket-plug on switch side with switching cam for switch activation lead deviation chart for ball screw RE /

37 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. Cover =.. 1st, 2nd + 3rd switch =... ±... mm Documentation =.. Reduction Mount 1) for w/o with Cable duct =..,... mm (i) motor sealing Socket-plug =.. strip 2) Switching cam =.. Standard report Measurement report without switch without cable duct 00 MKK i = 1 30 MKD 41B 10 i = 1.5 i = MKD 41B VRDM 3910 VRDM 3913 MKD 41B 1) Attachment can also be supplied without motor (enter 00 for motor on order). 2) Sealing strip permissible up to L = 3500 mm Calculating the Linear Module length Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. 00 VRDM MKD 71B MSM 040B MSM 040B MKD 71B ) ) 11 MHD 71B L = (stroke + 2 x excess travel) mm Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +500 mm Switch activation point 3rd switch = 500 mm Stroke = 1000 mm Mounting side of switches: left (L) right (R) 20 without side sealing 21 with side sealing External switch: PNP NC PNP NO Mechanical Switch activation point Switch type Mounting side Travel direction Switching distance Cable duct (loose) Length External socket-plug (loose) TM In most cases the recommended limit for excess travel (braking path) is: excess travel = 2 x screw lead P Example: Ball screw 20 x 5 (d 0 x P), Excess travel = 2 5 = 10 mm Travel direction 0 Stroke L 11. ±... mm 13. ±... mm 15. ±... mm 20,... mm 17 External switching cam 16 3) Motor without brake + L/2 TM 02 Friction moment 03 Lead deviation 05 Positioning accuracy 37 RE /

38 Rexroth Linear Modules MKK with Sealing Strip Dimension Drawings All dimensions in mm Diagrams to different scales Max. travel 2 L/ Max. travel 2 M4 8 deep 2 funnel-type lube nipples Effective stroke 4 per side DIN 3405-AM6 Effective stroke 20 Excess 2 2 Excess 20 travel travel dia dia. 22 dia.10 h L ) without brake 2) with brake Type OF Type MF Motor MKD 41B or MSM 040B with mount and coupling 3 P9 2.5 h = MSM 040B 82 MKD 041B 243 MKD 41B 157,5 1) (MSM 040B) 191,5 2) 95 MKD 90 MSM 040B Type OA Type MF Motors VRDM 39- with mount and coupling (VRDM 397) 140 (VRDM 3910) 170 (VRDM 3913) 90 RE /

39 M8 18 deep (4x) 66 MKK A B C X ( i = 1 ) 152 ( i = 2 ) One-point lubrication: at either of the two funnel-type lube nipples DIN 3405-AM6 C A for nut DIN 557-M5 A B for cable duct side sealing in carriage 4.8 For more information, see section on Motors. Support bearing only i = Type RV Motors M side drive with timing belt (dimensions also apply to RV02 = top, RV03 = left, RV04 = right) Type RV Motor MKD 41B or MSM 040B side drive with timing belt (dimensions also apply to RV02 = top, RV03 = left, RV04 = right) Support bearing only i = X 47.5 View X View X RE /

40 Rexroth Linear Modules MKK with Sealing Strip Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) L T ,... mm Journal Ball screw size L T = 310 mm for without with 1 with 2 motor 32 x 5 32 x x x 32 SPU 1) SPU 1) SPU 1) without drive unit (OA) OA ( ) with ball screw without motor mount (OF) OF ( ) dia. 16 dia. 16 with keyway with ball screw and motor mount (MF) MF ( ) dia with ball screw and side drive with timing belt (RV) RV02 RV RV03 RV to RV04 ( ) dia RV04 1) SPU = screw support Order example Ordering data Linear Module (Part number): , 1310 mm Type = MF Guideway = Drive unit = 03 Carriage = Motor attachment = Motor = 11 Cover = 20 1st switch = 15-R mm 2nd switch = 11-R 290 mm 3rd switch = 15-R 390 mm Cable duct = 20, 1200 mm Socket-plug = 17 Switching cam = 16 Documentation = 03 Description Linear Module MKK , length = 1310 mm with mount and motor, mounted as in diagram MF ball rail system ball screw 32 x 20 (d 0 x P) carriage with length L T = 310 mm with mount for motor MKD 71B motor MKD 71B with corrosion-resistant steel sealing strip mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 290 mm mechanical switch, switch activation point: right 390 mm cable duct 1200 mm long (loose) socket-plug on switch side with switching cam for switch activation lead deviation chart for ball screw RE /

41 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. Cover =.. 1st, 2nd + 3rd switch =... ±... mm Documentation =.. Reduction Mount 2) for w/o with Cable duct =..,... mm (i) motor sealing Socket-plug =.. strip 3) Switching cam =.. Standard report Measurement report without switch without cable duct 00 MKK i = MKD 71B MHD 71B 62 MKD 90B MHD 90B 63 MKD 71B MHD 71B without side sealing 21 with side sealing External switch: PNP NC PNP NO Mechanical Switch activation point Switch type Mounting side Travel direction Switching distance Cable duct (loose) Length External socket-plug (loose) 11. ±... mm 13. ±... mm 15. ±... mm 20,... mm Friction moment 03 Lead deviation 05 Positioning accuracy i = 2 22 MKD 71B 11 MHD 71B 62 External switching cam 16 2) Attachment can also be supplied without motor (enter 00 for motor on order). 3) Sealing strip permissible up to L = 3500 mm Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. Calculating the Linear Module length (without screw support) L = (stroke + 2 x excess travel) mm Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +390 mm Switch activation point 3rd switch = 390 mm Stroke = 780 mm Mounting side of switches: left (L) right (R) TM In most cases the recommended limit for excess travel (braking path) is: excess travel = 2 x screw lead P Example: Ball screw 32 x 20 (d 0 x P), Excess travel = 2 20 = 40 mm Travel direction 0 Stroke L + L/2 TM 41 RE /

42 Rexroth Linear Modules MKK with Sealing Strip Dimension Drawings All dimensions in mm Diagrams to different scales Max. travel 2 L/ Max. travel 2 Effective stroke M4 8 deep 2 funnel-type lube nipples Effective stroke 20 Excess 2 4 per side DIN 3405-AM6 2 Excess 20 travel travel dia dia. 32 dia. 16 h L Type OF Type MF Motor M with mount and coupling P9 5 h = Type OA Length depending on motor RE /

43 M8 18 deep (4x) 46 MKK for nut DIN 508-M A for cable duct B C side sealing in carriage For more information, see section on Motors Type MF Motors M with mount and coupling Type RV Motors M side drive with timing belt (dimensions also apply to RV02 = top, RV03 = left, RV04 = right) 66 X 59 View X ( i = 1 ) 162 ( i = 2 ) One-point lubrication: at either of the two funnel-type lube nipples DIN 3405-AM6 85 A C A B Length depending on motor RE /

44 Screw Support for Rexroth Linear Modules MKK Product Overview The new screw support SPU offers the following benefits: Low weight thanks to aluminum runner block and aluminum connecting rail Connecting rail guided within the frame. Integrated plastic profiles ensure optimal sliding of the connecting rail in the frame. Elastomer buffer as shock absorber between carriage and screw support. Additional damping provided by elastomer ring between connecting rail and screw support. Up to 2 screw supports can be integrated per module on either side of the carriage. Runner block of screw support lubricated for life (no in-service lubrication required) Screw support protected by sealing strip of Linear Module Screw support selectable as a standard option by specification of option number Screw support (connected by connecting rail) Lengths up to 4,900 mm Lenghts up to 10,000 mm available on request RE /

45 Technical Data Ball screw d 0 x P 32 x 5 32 x x x 32 Friction moment M R (Nm) without SPU with 1 SPU with 2 SPU Permissible drive torque M per with screw support (SPU) without screw support (SPU) M (Nm) x32 32x x x L (mm) MKK Permissible speed v Observe motor speed! with 2 SPU with 1 SPU without SPU in front of or behind the carriage 32x32 32x20 32x10 32x v (m/min) L (mm) Type Mass (kg) Length max (mm) Length calculation without screw support x L L = stroke + 2 x excess travel with one screw support x L L = stroke + 2 x excess travel with two screw supports x L L = stroke + 2 x excess travel RE /

46 Rexroth Linear Modules MKK Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) L T ,... mm Journal Ball screw size L T = 400 mm for motor 40 x 5 40 x x x 40 without drive unit (OA) OA (11.36.) with ball screw without motor mount (OF) dia. 25 OF ( ) dia. 25 with keyway with ball screw and motor mount (MF) MF ( ) dia with ball screw and side drive with timing belt (RV) RV02 RV RV03 RV to RV04 ( ) dia RV04 Order example Ordering data Linear Module (Part number): , 2420 mm Type = MF Guideway = Drive unit = 03 Carriage = Motor attachment = 02 Motor = 63 Cover = 1st switch = 15-R mm 2nd switch = 11-R 700 mm 3rd switch = 15-R 800 mm Cable duct Socket-plug = 17 Switching cam = 16 Documentation = 02 Description Linear Module MKK , length = 2420 mm with mount, mounted as in diagram MF ball rail system ball screw 40 x 20 (d 0 x P) carriage with length L T = 400 mm with mount for motor MHD 90B motor MHD 90B polyurethane bellows mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 700 mm mechanical switch, switch activation point: right 800 mm without cable duct socket-plug on switch side with switching cam for switch activation measurement report: friction moment RE /

47 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. Cover =.. 1st, 2nd + 3rd switch =... ±... mm Documentation =.. Reduction Mount* for w/o PU Cable duct =..,... mm (i) motor bellows Socket-plug =.. Switching cam =.. Standard report Measurement report without switch without cable duct 00 MKK External switch: PNP NC PNP NO 11. ±... mm 13. ±... mm 02 Friction moment i = MKD 90B MHD 90B MKD 71B Mechanical Switch activation point Switch type Mounting side Travel direction Switching distance Cable duct (loose) Length 15. ±... mm 20,... mm 03 Lead deviation 05 Positioning accuracy i = 2 22 MHD 71B 62 External socket-plug (loose) 17 i = 1 23 MKD 90B 13 External switching cam 16 i = 2 24 MHD 90B 63 * Attachment can also be supplied without motor (enter 00 for motor on order). Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. Calculating the Linear Module length L = (stroke + 2 x excess travel) x mm Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +800 mm Switch activation point 3rd switch = 800 mm Stroke = 1600 mm Mounting side of switches: left (L) right (R) In most cases the recommended limit for excess travel (braking path) is: excess travel = 2 x screw lead P Example: Ball screw 40 x 20 (d 0 x P), Excess travel = 2 20 = 40 mm Travel direction TM 0 Stroke L TM + L/2 47 RE /

48 Rexroth Linear Modules MKK Dimension Drawings All dimensions in mm Diagrams to different scales dia dia.45 dia.25 h7 50 Excess travel L / 2 Max. travel 2 Effective stroke 2 Lube ports M4 8 deep (4 per side) L Type OF Type MF Motors M with mount and coupling Type OA Max. travel 2 Effective stroke 2 Excess travel h = 4 8 P Length depending on motor RE /

49 M10 20 deep 100 MKK for nut DIN 508-M8 and nut DIN 557-M A B Type RV Motors M side drive with timing belt (dimensions also apply to RV02 = top, RV03 = left, RV04 = right) Type RV Motors M side drive with timing belt (dimensions also apply to RV02 = top, RV03 = left, RV04 = right) X View X X 18 View X ( i = 2 ) 240 ( i = 1 ) ( i = 2 ) 212 ( i = 1 ) One-point lubrication: at any of the three funnel-type lube nipples DIN 3405-AM A B For more information, see section on Motors. 90 Length depending on motor 66 Length depending on motor 49 RE /

50 Rexroth Linear Modules MKR Structure and Technical Data MKR...: Linear Modules with Ball Rail System and Toothed Belt Drive for demanding speed and load requirements The MKR... Linear Modules comprise: a compact, anodized aluminum frame the integral Rexroth Ball Rail System a carriage with one-point lubrication the pre-tensioned toothed belt (also available without drive unit) cover provided by plastic strip on MKR corrosion-resistant steel strip to DIN EN on MKR and MKR the toothed belt on MKR mountable switches an AC servo motor a gear unit for attachment of the motor control units For mounting, startup and maintenance, see MKR / MLR Instructions. RE /

51 General technical data Linear Carriage Dynamic load Dynamic moment Moved Minimum Maximum Planar moment of inertia Module length capacity C M t M L mass length L 1) min length L max l x l y (mm) (N) (Nm) (Nm) (kg) (mm) (mm) (cm 4 ) (cm 4 ) MKR MKR MKR MKR Modulus of elasticity E E = 70,000 N/mm 2 1) for a theoretical stroke of 100 mm and an excess travel of 30 mm per end Lengths in excess of L max Lengths in excess of L max are available upon request. MKR Note on dynamic load capacities and moments The dynamic load capacities and moments are based on 100,000 m travel. However, a travel of just 50,000 m is often taken as a basis. If this is the case, for comparison purposes: Multiply values C, M t and M L from the table by C x M t C y C x M L M L Drive data Extension of the toothed belt l = (F L)/c spec Linear Gearing Maximum Lead Belt data Module reduction drive constant Belt type Width Tooth Maximum Limit of belt Specific torque pitch force trans- elasticity spring i M a mitted by belt constant c spec (Nm) (mm/rev) (mm) (mm) (N) (N) (N) MKR with keyway AT MKR with keyway ATL with keyway MKR AT MKR with keyway AT RE /

52 Rexroth Linear Modules MKR Structure and Technical Data Mass Mass calculation does not include motor or switch attachments. Mass formula: Mass (kg/mm) x length L (mm) + mass of all parts of fixed length (carriage, end blocks etc.) (kg) Linear Module Carriage length Drive units Mass (mm) (kg) without drive unit L MKR drive i = L with gear reducer L without drive unit L drive i = L with LP gear reducer L with LPB gear reducer L MKR without drive unit L drive i = L with LP 70 gear reducer L with LPB gear reducer L without drive unit 0.58 L drive i = L with LP 90 gear reducer 0.58 L with LPB gear reducer 0.58 L MKR without drive unit 0.58 L drive i = L with LP 90 gear reducer 0.58 L with LPB gear reducer 0.58 L MKR drive i = L with gear reducer L RE /

53 Structural design 1 End block, drive side 2 Toothed belt (under sealing strip) 3 Carriage with runner block 4 Sealing strip 5 Strip clamp 6 Tension end enclosure 7 Frame Attachments: 8 Cable duct 9 Switching cam 10 Proximity switch 11 Mechanical switch 12 Socket / plug MKR Versions MA and MA02 With drive unit (MA), without gear reducer, i = 1, journal for motor attachment right or left. MA03 MA and MA02 As MA and MA02, journal for motor attachment on both sides. MA03 MG and MG02 With gear reducer, motor attachment via motor mount and socket. MG03 and MG04 With integral gear reducer, motor attachment via motor mount and socket. MG and MG02 MG03 and MG04 Carriage variants For MKR and MKR Carriage with T-slots with tapped holes short long short long 53 RE /

54 Rexroth Linear Modules MKR Technical Data Deflection A special feature of linear modules is their suitability for cantilever installation. If the modules are installed in this manner, however, the deflection must be observed. The deflection restricts the possible load. L/2 L If the maximum permissible deflection is exceeded, additional support must be provided. δmax F Maximum permissible deflection δ max The maximum permissible deflection δ max is dependent on the length L and the load F. δ max may not be exceeded! For applications requiring high system dynamics, support should be provided at every 300 to 600 mm. Example Linear Module MKR 20-80: L = 3000 mm F = 500 N From graph 20-80: δ = 0.9 mm δ max = 3.4 mm The deflection δ is clearly below the maximum permissible deflection δ max, therefore no additional support is necessary. The graphs applies in the following conditions: ends firmly clamped (200 to 250 mm on each side) 6 to 8 screws on each side fixed base δ (mm) δmax F = 1000 N F = 750 N F = 500 N F =300 N F = 200 N F = 100 N F = 0 N MKR L (mm) RE /

55 MKR δ (mm) δmax F = 2500 N F = 2000 N F = 1750 N F = 1500 N F = 1250 N F = 1000 N F = 750 N F = 500 N F = 250 N L (mm) F = 0 N MKR MKR δ (mm) F = 2500 N F = 2000 N F = 1500 N F = 1000 N F = 500 N F = 250 N F = 100 N F = 0 N 3.0 δmax L (mm) MKR δ (mm) F = 5000 N F = 4000 N F = 3000 N F = 2000 N F = 1000 N F = 500 N F = 250 N F = 0 N δmax L (mm) 55 RE /

56 Rexroth Linear Modules MKR with Sealing Strip Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) ,... mm L T Journal Reduction L T = 190 mm for motor i = 1 1) i = 1 2) i = 3 i = 7 i = 3 MSM 040B without drive unit (OA) OA ( ) with drive unit (MA), w/o gear reducer i = 1 MA ( ) right 03 MA02 ( ) left 03 MA03 ( ) both sides with gear reducer (MG) MG MG02 MG and MG02 ( ) ( ) ( ) ( ) ( ) Gear reducer with socket Order example Ordering data Linear Module (Part number): , 1330 mm Type = MG Guideway = Drive unit = 10 Carriage = Motor attachment = Motor = 10 Cover = 1st switch = 15-R mm 2nd switch = 11-R 300 mm 3rd switch = 15-R 400 mm Cable duct = 20, 1200 mm Socket-plug = 17 Switching cam = 16 Documentation = 1) : without keyway 2) : with keyway Description Linear Module MKR 15-65, length = 1650 mm with gear reducer, mounted as in diagram MG (gear reducer right) ball rail system gear reducer with reduction i = 3 carriage with length L T = 190 mm for motor MKD 41B motor MKD 41B with plastic sealing strip mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 300 mm mechanical switch, switch activation point: right 400 mm cable duct 1200 mm long (loose) socket-plug on switch side with switching cam for switch activation standard report RE /

57 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. Cover =.. 1st, 2nd + 3rd switch =... ±... mm Documentation =.. Reduction Mount 3) for w/o with Cable duct =..,... mm (i) motor sealing Socket-plug =.. strip Switching cam =.. Standard report Measurement report without switch without cable duct 00 External switch: without side sealing PNP NC PNP NO Mechanical 11. ±... mm 13. ±... mm 15. ±... mm 02 Friction moment MKR 00 Switch activation point Switch type Mounting side Travel direction Switching distance i = 3 i = 7 i = 3 i = MKD 41B MSM 040B MSM 030C ) ) 02 with side sealing Cable duct (loose) 20,... mm Length External socket-plug (loose) Positioning accuracy i = 3 i = 7 03 VRDM VRDM Switching cam on one side 16 Switching cam on both sides 26 3) Attachment can also be supplied without motor (enter 00 for motor on order). 4) Motor without brake Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. Calculating the Linear Module length L = (stroke + 2 x excess travel) + L T + 40 mm Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +400 mm Switch activation point 3rd switch = 400 mm Stroke = 800 mm Mounting side of switches: left (L) right (R) Travel direction Stroke L + 0 L T L/2 TM The excess travel must be greater than the braking distance. The acceleration distance s h (see Performance Data tables) may be taken as a guideline for the braking distance. Example: Horizontal operation with motor MKD 41B, i = 3, m = 6 kg: s h = 309 mm Excess travel > 309 (310 mm assumed) TM 57 RE /

58 Rexroth Linear Modules MKR with Sealing Strip Dimension Drawings All dimensions in mm Diagrams to different scales M6 12 deep Centering bore dia. 42 H7 4 deep Max. travel 2 Effective stroke Excess 2 travel M4 9 deep 4 per side L/ funnel-type lube nipples DIN 3405-AM6 Max. travel 2 Effective stroke 2 Excess travel L dia.16 h Type OA Type MA and MA02 Type MA03 Type MG and MG02 Centering bore dia 50 H7 dia. 14H7 32 deep 4 deep M6 for motor journal h = P9 25 dia. 16 h Mount geometry and mounting thread altered on request. h = P9 h = P9 dia. 16 h RE /

59 One-point lubrication: at either of the two funnel-type lube nipples DIN 3405-AM6 A for nut DIN 557-M C 46 A A B 9 B C side sealing in carriage MKR for fastening of the cable duct For more information, see section on Motors Type MG and MG02 Motors MKD 41B, MSM 040B Type MG and MG02 Stepping motor VRDM 3910 Type MG and MG02 Stepping motor VRDM Type MG and MG02 Motor MSM 030C ) without brake 2) with brake , , (MKD 41B) ) (MSM 040B) ) ,5 1) 171,5 2) (MSM 040B) 82 (MKD 41B) 59 RE /

60 Rexroth Linear Modules MKR with Sealing Strip Performance Data Horizontal operation, performance data with servo motor MKD 41B-144 and controller DKC * ) Supply voltage: 3 x 400 V The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. Gearing reduction i = 3 Masse (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) 3 Reproducibility ± (mm) 0.1 with servo motor MSM 040B and servo controller DKCxx.3-8 1) Supply voltage: 1 x 230 V Gearing reduction i = 3 Masse (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) 1.8 Reproducibility ± (mm) 0.1 with servo motor MSM 030C and servo controller DKCxx.3-2 1) Supply voltage: 1 x 230 V Gearing reduction i = 7 Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) 0.75 Reproducibility ± (mm) 0.1 Vertical operation, performance data with servo motor MKD 41B-144 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction i = 3 Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) 3 Reproducibility ± (mm) 0.1 1) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. RE /

61 Horizontal operation, performance data with stepping motor VRDM 3910/50 LWB or VRDM 397/50 LWB and power output stage D 9* Gearing reduction i = 3 (VRDM 3910)** i = 7 (VRDM 397) Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) * For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. ** Values for the VRDM 3910 apply to short time operation MKR Drive data without motor (i = 1) Drive wheel diameter mm Lead constant 110 mm / rev. Speed up to 5 m/s Mass moment of inertia ( L ) 10-4 kgm 2 61 RE /

62 Rexroth Linear Modules MKR with Sealing Strip Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) L T ,... mm Reduction L T = 190 mm L T = 260 mm i = 1 1) i = 1 2) i = 3 i = 5 i = 10 with T-slot with thread with T-slot with thread without drive unit (OA) OA ( ) without 50 with drive unit (MA), w/o gear reducer, i = 1 MA ( ) MA02 ( ) Journal right Journal left MG MG02 with gear reducer (MG), gear unit MA03 ( ) MG and MG02 ( ) ( ) ( ) Journal on both sides Gear reducer right Gear reducer left Gear reducer with 2nd journal with gear reducer (MG), MG03 integral gear reducer LPB MG04 MG03 and MG04 ( ) Gear reducer right 20 Gear reducer left Order example 1) without keyway 2) with keyway Ordering data Linear Module (Part number): , 2250 mm Type = MG Guideway = Drive unit = 10 Carriage = 11 Motor attachment = 10 Motor = 10 Cover = 15 1st switch = 15-R mm 2nd switch = 11-R 650 mm 3rd switch = 15-R 750 mm Cable duct = 20, 1500 mm Socket-plug = 17 Switching cam = 16 Documentation = 02 Description Linear Module MKR 20-80, length 2250 mm with gear reducer, mounted as in diagram MG (gear reducer right) ball rail system end block for attachment of gear unit carriage with length L T = 260 mm, with T-slots for motor MKD 41B, i = 5 motor MKD 41B sealing strip with side sealing lips mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 650 mm mechanical switch, switch activation point: right 750 mm cable duct 1500 mm long (loose) socket-plug on switch side with switching cam for switch activation on right side measurement report: friction moment RE /

63 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. 4) Cover =.. 5) 1st, 2nd + 3rd switch =...±... mm Documentation =.. Mount 3) Gear reducer w/o with for sealing strip motor i = 3 i = 5 i = 10 Cable duct =..,... mm Socket-plug =.. Switching cam =.. Standard report Measurement report without switch without cable duct 00 External switch: 00 M.D 41B MSM 040B M.D 71B M.D 41B MSM 040B M.D 71B ) Attachment can also be supplied without motor (enter 00 for motor on order). 4) Stepping motors on request Calculating the Linear Module length L = (stroke + 2 x excess travel) + L T + 20 mm Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. 00 without 00 MKD 41B 10 without 00 MSM 040B MKD 71B 11 MHD 71B 62 without MKD 41B without 00 MSM 040B ) ) MKD 71B 11 MHD 71B 62 Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +750 mm Switch activation point 3rd switch = 750 mm Stroke = 1500 mm Mounting side of switches: left (L) right (R) without sealing lip 15 with sealing lip PNP NC PNP NO Mechanical Switch activation point Switch type Mounting side Travel direction Switching distance Cable duct (loose) Length External socket-plug (loose) Switching cam on one side 16 Switching cam on both sides 26 5) Sealing strip permissible up to L = 3500 mm, v = 2.5 m/s 6) Motor without brake The excess travel must be greater than the braking distance. The acceleration distance s h (see Performance Data tables) may be taken as a guideline for the braking distance. Example: Horizontal operation with motor MKD 71B, i = 5, m = 20 kg: s h = 267 mm Excess travel > 267 (270 mm assumed) Travel direction L T 0 TM Stroke L 11. ±... mm 13. ±... mm 15. ±... mm 20,... mm 17 + TM L/2 02 Friction moment 05 Positioning accuracy MKR 63 RE /

64 Rexroth Linear Modules MKR with Sealing Strip Dimension Drawings All dimensions in mm Diagrams to different scales M6 10 deep Excess travel Max. travel 2 Effective stroke M4 8 deep 4 per side 260 (190) 13 Max. travel 2 Effective stroke 2 Excess travel dia.66 h L/2 L Funnel-type lube nipples DIN 3405-AM6 107 long carriage with T-slots for switching cams (M4) 43 dia.18 h dia.66 h for switching cams (M4) 60 short carriage with T-slots Type OA Type MA and MA02 Type MA ) ) 1) without sealing strip 2) with sealing strip 6 P9 h = h = 3.5 dia.18 h7 dia.18 h7 6 P9 dia.66 h7 6 P9 dia.66 h h = RE /

65 A B 42.5 One-point lubrication: at either of the two funnel-type lube nipples DIN 3405-AM6 80 A 9 A B for nut DIN 557-M sealing lip in carriage long carriage with tapped holes M8 14 deep (8x) for switching cams (M4) for switching cams (M4) MKR for fastening of the cable duct short carriage with tapped holes M8 14 deep (6x) For more information, see section on Motors Type MG and MG02 Servo motor MKD 41B dia. 66 h7 10 Type MG and MG02 MiniDrive motor MSM 040B Ø66 h Type MG and MG02 Servo motors M.D 71B dia. 66 h Type MG03 and MG04 Motors MKD 41B, MSM 040B, MKD 71B, MHD 71B Ø66 h ,5 1) 191,5 2) (MHD 71B) 264 (MKD 71B) 41 (MKD 41B) 46 (MSM 040B) 51 (M.D 71B) 243 (MKD 41B) 264 (M.D 71B) 82 (MKD 41B) 80 (MSM 040B) 115 (M.D 71B) 1) without brake 2) with brake 65 RE /

66 Rexroth Linear Modules MKR with Sealing Strip Performance Data Horizontal operation, performance data with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MKD 41B-144 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MSM 040B und servo controller DKCxx.3-8 1) Supply voltage: 1 x 230 V Gearing reduction Masse (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 5 i = ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. RE /

67 Vertical operation, performance data (frame stationary, traveling carriage) with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MKD 41B-144 and controller DKC * ) Supply voltage: 3 x 400 V MKR Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. Drive data without motor (i = 1) Drive wheel diameter mm Speed with sealing strip up to 5 m/s Mass moment of inertia (short carriage) ( L (mm) ) 10 4 kgm 2 Mass moment of inertia (long carriage ( L (mm) ) 10 4 kgm 2 67 RE /

68 Rexroth Linear Modules MKR with Sealing Strip Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) ,... mm L T Reduction L T = 210 mm L T = 305 mm i = 1 1) i = 1 2) i = 3 i = 5 i = 10 with T-slot with thread with T-slot with thread without drive unit (OA) OA ( ) without 50 with drive unit (MA), w/o gear reducer, i = 1 MA ( ) MA02 ( ) Journal right Journal left MG02 MG with gear reducer (MG), gear unit MA03 ( ) MG and MG02 ( ) ( ) Journal on both sides Gear reducer right Gear reducer left Gear reducer with 2nd journal with gear reducer (MG), MG03 integral gear reducer LPB MG04 MG03 and MG04 ( ) Gear reducer right 20 Gear reducer left Order example Ordering data Linear Module (Part number): , 1525 mm Type = MG Guideway = Drive unit = 10 Carriage = 12 Motor attachment = Motor = 11 Cover = 15 1st switch = 15-R mm 2nd switch = 11-R 300 mm 3rd switch = 15-R 400 mm Cable duct = 20, 1200 mm Socket-plug = 17 Switching cam = 16 Documentation = 02 1) : without keyway 2) : with keyway Description Linear Module MKR , length 1525 mm with gear unit, mounted as in diagram MG ball rail system end block for attachment of gear unit carriage with length L T = 305 mm, with tapped holes for motor M. D 71., i = 3 motor MKD 71B-061 sealing strip with side sealing lips mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 300 mm mechanical switch, switch activation point: right 400 mm cable duct 1200 mm long (loose) socket-plug on switch side with switching cam for switch activation on right side measurement report: friction moment RE /

69 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. 4) Cover =.. 5) 1st, 2nd + 3rd switch =...±... mm Documentation =.. for motor Mount 3) Gear reducer i = 3 i = 5 i = 10 w/o with sealing strip Cable duct =..,... mm Socket-plug =.. Switching cam =.. Standard report Measurement report without switch without cable duct 00 External switch: 00 M.D 71B M.D 90B M.D 71B M.D 90B without 00 MKD 71B 11 MHD 71B 62 without 00 MKD 90B 13 MHD 90B 63 without 00 MKD 71B 11 MHD 71B 62 without 00 MKD 90B 13 MHD 90B 63 Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements without sealing lip 15 with sealing lip PNP NC NPN NC PNP NO NPN NO Mechanical Cable duct (loose) Length External socket-plug (loose) Calculating the Linear Module length L = (stroke + 2 x excess travel) + L T + 20 mm Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +400 mm Switch activation point 3rd switch = 400 mm Stroke = 800 mm 11. ±... mm 12. ±... mm 13. ±... mm 14. ±... mm 15. ±... mm 20,... mm 17 Switching cam on one side 16 Switching cam on both sides 26 3) Attachment can also be supplied without motor (enter 00 for motor on order). 4) Stepping motors on request 5) Sealing strip permissible up to L = 3500 mm, v = 2.5 m/s Mounting side of switches: left (L) right (R) Switch activation point Switch type Mounting side Travel direction Switching distance 02 Friction moment 05 Positioning accuracy The excess travel must be greater than the braking distance. The acceleration distance s h (see Performance Data tables) may be taken as a guideline for the braking distance. Example: Horizontal operation with motor MKD 71B-061, i = 5, m = 24 kg: s h = 336 mm Excess travel > 336 (340 mm assumed) Travel direction L T 0 TM Stroke L + TM L/2 MKR 69 RE /

70 Rexroth Linear Modules MKR with Sealing Strip Dimension Drawings All dimensions in mm Diagrams to different scales M8 18 deep Max. travel 2 Effective stroke Excess travel (210) M4 6 deep (4 per side) 15.5 Max. travel 2 Effective stroke 2 Excess travel long carriage with T-slots L/2 L Funnel-type lube nipples DIN 3405-AM6 150 for switching cams (M4) dia.18 h dia.66 h for switching cams (M4) 85 short carriage with T-slots Type OA Type MA and MA02 Type MA ) 150 1) without sealing strip 2) with sealing strip ) h = P9 2 h = dia. 18 h7 dia. 18 h7 6 P9 6 P9 dia. 66 h7 dia. 66 h7 h = 3.5 RE /

71 85 A A B One-point lubrication: at either of the two funnel-type lube nipples DIN 3405-AM A for nut DIN 508-M sealing lip in carriage long carriage with tapped holes for switching cams (M4) M10 12 deep (8x) MKR B for switching cams (M4) for fastening of the cable duct short carriage with tapped holes 85 M10 12 deep (6x) For more information, see section on Motors Type MG and MG02 Servo motors M.D 71B Type MG and MG02 Servo motors M.D 90B Type MG03 and MG04 Servo motors M.D 71B, M.D 90B (M.D 71B) 60 (M.D 90B) 264 (M.D 71B) 312 (M.D 90B) (M.D 71B) 140 (M.D 90B) 71 RE /

72 Rexroth Linear Modules MKR with Sealing Strip Performance Data Horizontal operation, performance data with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MKD 90B-047 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. RE /

73 Vertical operation, performance data (frame stationary, traveling carriage) with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MKD 90B-047 and controller DKC * ) Supply voltage: 3 x 400 V MKR Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. Drive data without motor (i = 1) Drive wheel diameter 92.2 mm Speed with sealing strip up to 5 m/s Mass moment of inertia (short carriage) ( L (mm) 0.23) 10 4 kgm 2 Mass moment of inertia (long carriage) ( L (mm) 0.23) 10 4 kgm 2 73 RE /

74 Rexroth Linear Modules MKR Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) ,... mm L T Journal Reduction L T = 400 mm for motor i = 1 1) i = 1 2) i = 6 i = 12 without drive unit (OA) OA ( ) 50 with drive unit (MA), w/o gear reducer, i = 1 MA ( ) right 03 MA02 ( ) left MA03 ( ) both sides with gear reducer (MG) MG MG02 MG and MG02 ( ) Gear reducer with socket Order example Ordering data Linear Module (Part number): , 2360 mm Type = MG Guideway = Drive unit = 11 Carriage = 05 Motor attachment = 02 Motor = 13 1st switch = 15-R mm 2nd switch = 11-R 700 mm 3rd switch = 15-R 800 mm Cable duct = 20, 1500 mm Socket-plug = 17 Switching cam = 16 Documentation = 1) without keyway 2) with keyway Description Linear Module MKR , length = 2360 mm with gear reducer, mounted as in diagram MG (gear reducer right) ball rail system gear reducer with reduction i = 12 carriage with length L T = 400 mm for motor MKD 90B-047, i = 12 motor MKD 90B-047 mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 700 mm mechanical switch, switch activation point: right 800 mm cable duct 1500 mm long (loose) socket-plug on switch side with switching cam for switch activation standard report RE /

75 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. 1st, 2nd + 3rd switch =...±... mm Documentation =.. Reduction Mount 3) for Cable duct =..,... mm (i) motor Socket-plug =.. Switching cam =.. Standard report Measurement report without switch without cable duct 00 External switch: PNP NC PNP NO Mechanical 11. ±... mm 13. ±... mm 15. ±... mm 02 Friction moment MKR Switch activation point Switch type Mounting side Travel direction Switching distance i = 6 MKD 90B 13 Cable duct (loose) Length 20,... mm 05 Positioning accuracy MHD 90B 63 External socket-plug (loose) 17 i = MKD 90B MHD 90B Switching cam on one side 16 Switching cam on both sides 26 3) Attachment can also be supplied without motor (enter 00 for motor on order). Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. Calculating the Linear Module length L = (stroke + 2 x excess travel) + L T + 40 mm Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +800 mm Switch activation point 3rd switch = 800 mm Stroke = 1600 mm Mounting side of switches: left (L) right (R) Travel direction L + 0 L T L/2 TM The excess travel must be greater than the braking distance. The acceleration distance s h (see Performance Data tables) may be taken as a guideline for the braking distance. Example: Horizontal operation with motor MKD 90B, i = 12, m = 300 kg: s h = 248 mm Excess travel > 248 (250 mm assumed) Stroke TM 75 RE /

76 Rexroth Linear Modules MKR Dimension Drawings All dimensions in mm Diagrams to different scales M12 20 deep L/2 20 Max. travel Max. travel Lube ports Effective stroke Excess 2 travel L M4 8 deep 4 per side Effective stroke 2 Excess travel h7 116 h Type OA Type MA and MA02 Type MA P9 h = dia. 116 h7 dia. 35 h7 h = 5 10 P RE /

77 One-point lubrication: at any of the three funnel-type lube nipples DIN 3405-AM6 A for nut DIN 557-M10 and DIN 508-M8 MKR A B 165 for fastening of the cable duct Type MG and MG02 with servo motors M (i = 6) 78 (i = 12) B Length depending on motor 4.8 For more information, see section on Motors RE /

78 Rexroth Linear Modules MKR Performance Data Horizontal operation, performance data with servo motor MKD 90B-047 and controller DKC * ) Supply voltage: 3 x 400 V The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. Gearing reduction i = 6 i = 12 Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. RE /

79 Vertical operation, performance data with servo motor MKD 90B-047 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction i = 12 Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) 1.53 Reproducibility ± (mm) 0.1 1) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. MKR Drive data without motor (i = 1) Drive wheel diameter mm Speed up to 5 m/s Mass moment of inertia (743 + L ) 10 4 kgm 2 79 RE /

80 Rexroth Linear Modules MLR Structure and Technical Data MLR...: Linear Modules with Cam Roller Guide and Toothed Belt Drive for high speed applications (up to 10 m/s) Linear Modules with Cam Roller Guide to be lubricated with oil only! The MLR... Linear Modules comprise: a compact, anodized aluminum frame the integral Rexroth Cam Roller Guide system with internal cam rollers cam rollers, clearance-free adjusted via eccentric shafts a carriage with one-point oil lubrication for all cam rollers the pre-tensioned toothed belt mountable switches an AC servo motor with control units gear unit a cover provided by the toothed belt For mounting, startup and maintenance, see MKR / MLR Instructions. General technical data Linear Car- Dynamic load Dynamic Maximum permissible loads Moved Minimum Maximum Planar moment Module riage capacities* moments* Forces Moments mass length length of inertia length C x C y M t M L F x.max F y.max M t.max M l.max L min L max l x l y (mm) (N) (N) (Nm) (Nm) (N) (N) (Nm) (Nm) (kg) (mm) (mm) (cm 4 ) (cm 4 ) MLR MLR * Dynamic load capacities and moments for calculating the service life Modulus of elasticity E Lengths in excess of L max Mass Mass calculation does not include motor or switch attachments. Mass formula: Mass (kg/mm) x length L (mm) + mass of all parts of fixed length (carriage, end blocks etc.) (kg) E = 70,000 N/mm 2 Lengths in excess of L max are available upon request. Linear Module Carriage length Drive units Mass (mm) (kg) without drive unit L MLR drive i = L with LP gear reducer L without drive unit 0.41 L MLR drive i = L with LP gear reducer 0.41 L RE /

81 Drive data Linear Gearing Maximum Lead Belt data Module reduction drive constant Belt type Width Tooth Max. force Limit of belt Specific torque pitch transmitted elasticity spring i M a by belt constant (Nm) (mm/rev) (mm) (mm) (N) (N) (N) MLR with keyway ATL with keyway MLR AT Note on dynamic load capacities and moments The dynamic load capacities and moments are based on 100,000 m travel. However, a travel of just 50,000 m is often taken as a basis. If this is the case, for comparison purposes: Multiply values C, M t and M L from the table by C x M t C y Cx M L M L MLR Maximum permissible loads M t, max M L, max F y, max F x, max F x, max M L, max 81 RE /

82 Rexroth Linear Modules MLR Technical Data Deflection A special feature of linear modules is their suitability for cantilever installation. If the modules are installed in this manner, however, the deflection must be observed. The deflection restricts the possible load. L/2 L If the maximum permissible deflection is exceeded, additional support must be provided. δmax F Maximum permissible deflection δ max The maximum permissible deflection δ max is dependent on the length L and the load F. δ max may not be exceeded! For applications requiring high system dynamics, support should be provided at every 300 to 600 mm. Example Linear Module MLR 10-80: From graph 10-80: L = 3000 mm F = 500 N δ = 0.9 mm δ max = 3.4 mm The deflection δ is clearly below the maximum permissible deflection δ max, therefore no additional support is necessary. RE /

83 The graph applies in the following conditions: MLR ends firmly clamped (200 to 250 mm on each side) 6 to 8 screws on each side fixed base δ (mm) δmax F = 1500 N F = 1250 N F = 1000 N F = 750 N F = 500 N F = 250 N F = 100 N F = 0 N L (mm) MLR δ (mm) δmax F = 2500 N F = 2000 N F = 1500 N F = 1000 N F = 500 N F = 250 N F = 100 N F = 0 N MLR L (mm) 83 RE /

84 Rexroth Linear Modules MLR Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) ,... mm L T Journal Reduction L T = 190 mm for motor i = 1 1) i = 1 2) i = 3 i = 5 i = 10 without drive unit (OA) OA ( ) without 50 with drive unit (MA), w/o gear reducer, i = 1 MA ( ) right 03 MA02 ( ) left 03 MA03 ( ) both sides with gear unit (MG) 2nd journal MG02 MG 2nd journal MG and MG02 ( ) ( ) ( ) Gear unit with 2nd journal w/o 2nd journal Order example 1) without keyway 2) with keyway Ordering data Linear Module (Part number): , 2250 mm Type = MG Guideway = Drive unit = 10 Carriage = Motor attachment = 10 Motor = 10 1st switch = 15-R mm 2nd switch = 11-R 650 mm 3rd switch = 15-R 750 mm Cable duct = 20, 1500 mm Socket-plug = 17 Switching cam = 16 Documentation = 02 Description Linear Module MLR 10-80, length 2250 mm with gear reducer, mounted as in diagram MG (gear reducer right) cam roller guide end block for attachment of gear unit, without 2nd journal carriage with length L T = 190 mm for motor MKD 41B, i = 5 motor MKD 41B mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 650 mm mechanical switch, switch activation point: right 750 mm cable duct 1500 mm long (loose) socket-plug on switch side with switching cam for switch activation on right side measurement report: friction moment RE /

85 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. 4) 1st, 2nd + 3rd switch =...±... mm Documentation =.. for motor Mount 3) i = 3 Gear unit i = 5 i = 10 Cable duct =..,... mm Socket-plug =.. Switching cam =.. Standard report Measurement report without switch without cable duct 00 External switch: PNP NC 11. ±... mm 00 MKD 41B MSM 040B without 00 MKD 41B 10 without 00 MSM 040B ) PNP NO Mechanical Switch activation point Switch type Mounting side Travel direction Switching distance Cable duct (loose) Length External socket-plug (loose) 13. ±... mm 15. ±... mm 20,... mm Friction moment 05 Positioning accuracy MLR without 00 Switching cam on one side 16 M.D 71B MKD 71B 11 Switching cam on both sides 26 MHD 71B 62 3) Attachment can also be supplied without motor (enter 00 for motor on order). 4) Stepping motors on request Calculating the Linear Module length L = (stroke + 2 x excess travel) + L T mm Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +750 mm Switch activation point 3rd switch = 750 mm Stroke = 1500 mm Mounting side of switches: left (L) right (R) L T 0 TM 5) Motor without brake The excess travel must be greater than the braking distance. The acceleration distance s h (see Performance Data tables) may be taken as a guideline for the braking distance. Example: Horizontal operation with motor MKD 71B, i = 3, m = 12 kg: s h = 430 mm Excess travel > 430 (440 mm assumed) Travel direction Stroke L + TM L/2 85 RE /

86 Rexroth Linear Modules MLR Dimension Drawings All dimensions in mm Diagrams to different scales M6 10 deep 75 L/2 Max. travel Max. travel Effective stroke M4 8 deep Effective stroke Excess travel 2 2 Excess travel 4 per side L Funnel-type lube nipples DIN 3405-AM6 107 dia.66 h dia.18 h dia.66 h Type OA Type MA and MA02 Type MA h = h = P9 dia.66 h7 dia.18 h7 h = P9 dia.66 h7 dia.18 h7 RE /

87 One-point lubrication at one of the two funnel-type lube nipples DV1-M6, use oil with a viscosity of 500 mm 2 /s at 40 C! 60 A A B B for nut DIN 557-M5 MLR 80 A for fastening of the cable duct 4.8 For more information, see section on Motors Type MG and MG02 Servo motor MKD 41 Type MG and MG02 Motor MSM 040B Type MG and MG02 Servo motors M dia. 66 h7 Ø66 h7 dia. 66 h7 10 1) 10 1) 10 1) ) For dimensions of 2nd journal, see dimension drawing ) For dimensions of 2nd journal, see dimension drawing ) ) 2) without brake 3) with brake 1) For dimensions of 2nd journal, see dimension drawing (MHD 71A) 264 (MHD 71B) 264 (MKD 71B) 87 RE /

88 Rexroth Linear Modules MLR Performance Data Horizontal operation, performance data with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MKD 41B-144 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MSM 040B and servo controller DKC xx.3-8 1) Supply voltage: 1 x 230 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 5 i = ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. RE /

89 Vertical operation, performance data (frame stationary, traveling carriage) with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MKD 41B-144 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = MLR 1) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. Drive data without motor (i = 1) Drive wheel diameter mm Max. speed up to 10 m/s Belt type ATL 5, 50 mm wide, steel reinforced Mass moment of inertia (carriage) ( L (mm) ) 10 4 kgm 2 89 RE /

90 Rexroth Linear Modules MLR Components and Ordering Part number Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) L T ,... mm Journal Reduction L T = 305 mm for motor i = 1 1) i = 1 2) i = 3 i = 5 i = 10 without drive unit (OA) OA ( ) without with drive unit (MA), w/o gear reducer, i = 1 MA ( ) right 03 MA02 ( ) left MA03 ( ) both sides with gear unit (MG) 2nd journal MG02 MG 2nd journal MG and MG02 ( ) ( ) Gear unit with 2nd journal w/o 2nd journal Order example 1) without keyway 2) with keyway Ordering data Linear Module (Part number): , 1525 mm Type = MG Guideway = Drive unit = 10 Carriage = 05 Motor attachment = Motor = 11 1st switch = 15-R mm 2nd switch = 11-R 300 mm 3rd switch = 15-R 400 mm Cable duct = 20, 1200 mm Socket-plug = 17 Switching cam = 16 Documentation = 02 Description Linear Module MLR , length 1525 mm with gear unit, mounted as in diagram MG cam roller guide end block for attachment of gear unit, without 2nd journal carriage with length L T = 305 mm for motor M. D 71., i = 3 motor MKD 71B-061 mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 300 mm mechanical switch, switch activation point: right 400 mm cable duct 1200 mm long (loose) socket-plug on switch side with switching cam for switch activation on right side measurement report: friction moment RE /

91 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speeds, motor data, etc.)! Motor attachment =.. Motor =.. 4) 1st, 2nd + 3rd switch =...±... mm Documentation =.. for motor Mount 3) i = 3 Gear unit i = 5 i = 10 Cable duct =..,... mm Socket-plug =.. Switching cam =.. Standard report Measurement report without switch without cable duct 00 External switch: PNP NC 11. ±... mm 00 without PNP NO Mechanical Switch activation point Switch type Mounting side Travel direction Switching distance Cable duct (loose) Length 13. ±... mm 15. ±... mm 20,... mm 02 Friction moment 05 Positioning accuracy MLR M.D 71B MKD 71B MHD 71B External socket-plug (loose) 17 without 00 Switching cam on one side 16 M.D 90B MKD 90B 13 Switching cam on both sides 26 MHD 90B 63 3) Attachment can also be supplied without motor (enter 00 for motor on order). 4) Stepping motors on request Determining the switch activation point The switch activation point is to be taken from the data given on mounting side, travel direction and switching distance (see table above and order example on left). Mounting side: The switches can be fitted on the left (L) or right (R) side of the module. Travel direction: The switches can be fitted on the minus ( ) or plus (+) side of zero. Switching distance: The switching distance is the distance between the carriage center (TM) and the zero point (0) when a switch is activated (given in mm). For more details on switch mounting and switch types, see Switch Mounting Arrangements. Calculating the Linear Module length L = (stroke + 2 x excess travel) + L T + 70 mm Stroke = maximum distance from carriage center to the outermost switch activation points. Example: Switch activation point 1st switch = +400 mm Switch activation point 3rd switch = 400 mm Stroke = 800 mm Mounting side of switches: left (L) right (R) L T 0 TM The excess travel must be greater than the braking distance. The acceleration distance s h (see Performance Data tables) may be taken as a guideline for the braking distance. Example: Horizontal operation with motor MKD 71B, i = 3, m = 7 kg: s h = 284 mm Excess travel > 284 (290 mm assumed) Travel direction Stroke L + TM L/2 91 RE /

92 Rexroth Linear Modules MLR Dimension Drawings All dimensions in mm Diagrams to different scales M8 18 deep Excess travel L/2 Max. travel 2 Effective stroke M4 6 deep 35 (4 per side) Max. travel 2 Effective stroke 2 Excess travel L Funnel-type lube nipples DIN 3405-AM for switching cams (M4) dia.18 h dia.66 h Type OA Type MA and MA02 Type MA h = h = P9 dia.18 h7 dia.18 h7 6 P9 6 P9 dia.66 h7 dia.66 h7 h = 3.5 RE /

93 One-point lubrication at one of the two funnel-type lube nipples DV1-M6 (behind T-slots), use oil with a viscosity of 500 mm 2 /s at 40 C! dia C A C A B B for nut DIN 508-M for nut DIN 508-M6 Funnel-type lube nipples DV1-M6 MLR For more information, see section on Motors Type MG and MG02 Servo motors M ) Type MG03 and MG04 Servo motor MKD 90 1) A for fastening of the cable duct ) For dimensions of 2nd journal, see dimension drawing (MHD 71B) 264 (MKD 71B) 1) For dimensions of 2nd journal, see dimension drawing (MKD 90B) 93 RE /

94 Rexroth Linear Modules MLR Performance Data Horizontal operation, performance data with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = with servo motor MKD 90B-047 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. RE /

95 Vertical operation, performance data (frame stationary, traveling carriage) with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = Note limited running time where v > 3 m/s. with servo motor MKD 90B-047 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = MLR Note limited running time where v > 3 m/s. 1) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. Drive data without motor (i = 1) Drive wheel diameter 92.2 mm Max. speed up to 10 m/s Belt type AT 10, 50 mm wide, steel reinforced Mass moment of inertia (carriage) ( L (mm) 0.23) 10 4 kgm 2 95 RE /

96 Rexroth Linear Modules Switch Mounting Arrangements MKK, MKR, MLR Overview of the switching system 1 Socket and plug 2 Mechanical switch (with mounting components) 3 Proximity switch (with mounting components) 4 Switching cam 5 Cable duct (aluminum alloy) Mechanical switch (technical data) Reproducibility = ± 0.05 mm Permissible ambient temperature = 5ºC to +80ºC Enclosure = DIN IP 67 Contact time = < 2 ms Insulation = group C to VDE 10 Rated voltage = 250 V AC Continuous current = 5 A Switching capacity at 220 V, Hz = cosϕ = 0.8 at 2 A Contact resistance when new = < 240 mω Connection = screw connection Contact system = single-pole changeover Switch system = snap action Mechanically operated switch with mounting component See following pages for more mounting dimensions Proximity switch (technical data) Miniature circuit breakers with potted cable (3 x 0.14 mm 2 Unitronic) Housing form = NO Minisensor = form A DIN Voltage = 10 to 30 V DC Residual ripple = 10% Load = 200 ma No-load current = 20 ma Switching frequency = max Hz Temperature-related shift in make point = 4 µm/k Output signal steepness = 1 V/µs Reproducibility of make point to EN = 0.1 mm Proximity switch with mounting component for frame dimensions -65, -80, Cable length: 3 m Proximity switch with mounting component for frame dimension Cable length: 3 m See following pages for more mounting dimensions RE /

97 Socket and plug Fit the socket to the side with the most switches (see example on next page). Socket and switch are not wired. The switch activation points can thus be optimized during start-up. A plug is provided. The plug can be mounted in three directions (see figure) PG 16 Ordering the switches and mounting components The part numbers are listed in the table below. Mounting components can also be ordered individually. Frame dimension Item Socket-plug Mech. switch with mounting components Mech. switch without mounting components Proximity switch Mounting components without switch PNP NC NPN NC PNP NO NPN NO Switching cam Cable duct Cable duct The cable ducts are mounted in the lateral slots of the frame. Mounting screws widen the profile and secure the cable duct. For the location of the slot side, see Components and Ordering table and Dimension Drawings. The cable duct takes a maximum of two cables for mechanical switches and three cables for proximity switches. Mounting screws and grommets are provided RE /

98 Rexroth Linear Modules Switch Mounting Arrangements MKK, MKR, MLR Mounting example Switching distance: The switching distance is the distance between the table plate center (TM) and the zero point (0) when a switch is activated (given in mm). Example for a mechanical limit switch (given that zero point is L/2): Maximum switching distance = 0.5 x (travel max.) excess travel = 0.5 x stroke For safe operation of the linear module the excess travel must be longer than the braking distance. For MKR... and MLR...: The acceleration distance s h may be taken as a guideline for the braking distance. For MKK...: In most cases the guideline value for excess travel (braking distance) can be taken to be: Excess travel = 2 x screw lead P. left right Recommended standard switch fittings: 2 mechanical switches 1 proximity switch Slide mounting plates with switches into slot and secure with two set screws x stroke + L/2 0.5 x max. travel Excess travel Observe the minimum possible distance between switches (determined by mounting components: mechanical-mechanical = 60 mm mechanical-proximity = 45 mm proximity-proximity = 28 mm MKK MKR MKK MKR MLR RE /

99 MKK MKR MLR MKK MKR RE /

100 Rexroth Linear Modules MKR Structure and Technical Data MKR : Linear Module with two Ball Rail Systems for high load moment capacity and Toothed Belt Drive for high speeds The Linear Module MKR comprises: an anodized aluminum frame of high inherent rigidity two Rexroth Ball Rail Systems with sealing strips and two long runner blocks each a profiled aluminum carriage a pre-tensioned toothed belt integral planetary gearing in the drive sprocket motor mount, coupling with or without gear reducer for attachment of the motor an AC servo motor (other motor types on request) For maintenance, see Maintenance Instructions Linear Module MKR mountable switches control units General technical data Linear Module Carriage length (mm) Dynamic load capacity C (N) MKR Dynamic moment Mt ML (Nm) (Nm) Moved mass (kg) Min. length Max. length Lmin Lmax (mm) (mm) 760 * * for a theoretical stroke of 100 mm Modulus of elasticity E E = 70,000 N/mm2 Note on dynamic load capacities and moments The dynamic load capacities and moments are based on 100,000 m travel. However, a travel of just 50,000 m is often taken as a basis. If this is the case, for comparison purposes: Multiply values C, Mt and ML from the table by RE / Planar moment of inertia lx ly (cm4) (cm4) 100 Mt ML C ;; ;;;;;

101 Drive data Linear Gearing Maximum Lead Drive Belt data Module reduction drive constant wheel Belt Width Tooth Max. force Limit of belt Specific torque diameter type pitch transmitted elasticity spring i M a by belt constant (Nm) (mm/rev) (mm) (mm) (mm) (N) (N) (N) MKR * with keyway * AT Nominal service life of the ball rail systems Nominal service life in meters: C L 10 = 10 5 ( ) 3 F m Nominal service life in hours: L 10h = L v L 10 = Nominal service life in meters (m) L 10h = Nominal service life in hours (h) C = Dynamic load capacity (N) F m = Mean equivalent dynamic load (N) v = Speed (from graph Permissible speed ) (m/min) MKR MKZ Mass moment of inertia at i = 1 J S = (250 + L m fr ) 10-4 J s = Mass moment of inertia System with external load (kgm 2 ) m fr = External load (kg) L = Linear module length (mm) Mass Mass calculation does not include motor or switch attachments. Mass formula: Mass (kg/mm) x length L (mm) + mass of all parts of fixed length (carriage, end blocks etc.) (kg) Linear Module Carriage length Drive unit Mass (mm) (kg) without drive unit L MKR drive i= L with gear reducer L RE /

102 Rexroth Linear Modules MKR Technical Data Deflection A special feature of linear modules is their suitability for cantilever installation. If the modules are installed in this manner, however, the deflection must be observed. The deflection restricts the possible load. If the maximum permissible deflection is exceeded, additional support must be provided. δmax L/2 L F Maximum permissible deflection δ max The maximum permissible deflection δ max is dependent on the length L and the load F. The load F is based on the total moved mass. δ max may not be exceeded! Example Linear Module MKR : From graph: L = 4000 mm F = 2000 N δ = 0.47 mm δ max = 2.9 mm The deflection δ is clearly below the maximum permissible deflection δ max, therefore no additional support is necessary. The graph applies in the following conditions: ends firmly clamped (approx. 350 mm on each side) 6 to 8 screws on each side fixed base δ (mm) F = 6000 N F = 5000 N δmax F = 4000 N F = 3000 N F = 2000 N F = 1000 N F = 500 N F = 0 N L (mm) RE /

103 Performance Data Horizontal operation, performance data with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 5 i = with servo motor MKD 90B-047 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = Vertical operation, performance data (frame stationary, traveling carriage) Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V i = 5 i = MKR MKZ with servo motor MKD 90B-047 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction Mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) Reproducibility ± (mm) i = 3 i = 5 i = ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. Drive data without motor (i = 1) Drive wheel diameter 92.2 mm Max. speed up to 5 m/s Belt type AT 10, 50 mm wide, steel reinforced Mass moment of inertia (250 + L (mm) 0.23) 10 4 kgm RE /

104 Rexroth Linear Modules MKR Components and Ordering Part number, length Type =... Guide- Drive unit =.. Carriage =.. (and dimension way =.. drawing) L T ,... mm Slots for cable duct, left (L) OA ;;;; without drive unit (OA) ;;;; Slots for cable duct, right (R) OA Journal Reduction L T = 400 mm for motor i = 1 1) i = 1 2) i = 3 i = 5 i = 10 without with drive unit (MA), w/o gear reducer, i = 1 MA MA04 MA / MA04 ( ) right 03 MA02 MA05 MA02 / MA05 ( ) left MA03 MA06 MA03 / MA06 both ( ) sides MG with gear unit (MG) MG02 MG03 MG04 MG / MG02 MG03 / MG04 ( ) ( ) gear unit with 2nd journal with integrated gear unit LPB (MG) MG05 MG06 MG07 MG08 MG05 / MG06 MG07 / MG08 ( ) integrated gear unit 20 Order example Ordering data Linear Module (Part number): , 2450 mm Type = MG Guideway = Drive unit = 10 Carriage = 05 Motor attachment = 11 Motor = 13 1st switch = 15-R mm 2nd switch = 11-R 300 mm 3rd switch = 15-R 900 mm Cable duct = 20, 2200 mm Socket-plug = 17 Switching cam = 16 Documentation = 02 1) without keyway 2) with keyway Description Linear Module MKR , length 2450 mm with gear unit, mounted as in diagram MG two ball rail systems gear reducer with gear unit carriage with length L T = 400 mm for motor series...m.d 90, reduction i = 5 motor MKD 90 B-047 mechanical switch, switch activation point: right mm PNP NC, switch activation point: right 300 mm mechanical switch, switch activation point: right 900 mm cable duct 2200 mm long (loose) socket-plug on switch side with switching cam for switch activation measurement report: friction moment RE /

105 Motor attachment =.. Motor =.. 1st, 2nd + 3rd switch =...±... mm Documentation =.. for motor Mount Gear unit i = 3 i = 5 i = 10 Cable duct =..,... mm Socket-plug =.. Switching cam =.. Standard report Measurement report without switch without cable duct 00 External switch: 00 Calculating the Linear Module length L = (eff. stroke + 2 x excess travel) + L T + 40 mm For effective stroke, excess travel, carriage length L T, see dimension drawings. The excess travel must be greater than the braking distance. The acceleration distance may be taken as a guideline for the braking distance. 00 Mounting side of switches: left (L) PNP NC PNP NO Mechanical Switch mounting The switches and socket-plug are mounted in the upper T-slots of the frame and activated by a switching cam on the carriage. Switching distance: The switching distance 11. ±... mm 13. ±... mm 15. ±... mm Travel direction TM + 02 Friction moment Switch activation Switch type Mounting side without 00 Travel direction point Switching distance M.D 71B MKD 71B MHD 71B 62 Cable duct (loose) 20,... mm Positioning without 00 Length accuracy M.D 90B MKD 90B 13 MHD 90B 63 External without 00 socket-plug (loose) 17 M.D 71B MKD 71B 11 External switching cam 16 MHD 71B 62 without 00 M.D 90B MKD 90B 13 MHD 90B 63 The technically permissible combination (load capacities, moments, max. speeds, motor data, etc.) must be established in each individual case. is the distance between the carriage center (TM) and zero point (0) when a switch is activated (given in mm). For more information on switch type, switching distances and dimensions, see Switch Mounting Arrangements. MKR MKZ right (R) L/2 L/ RE /

106 Rexroth Linear Modules MKR Dimension Drawings All dimensions in mm Diagrams to different scales M8 18 deep L/2 Max. travel Max. travel 20 2 L T = Effective stroke One-point lubrication of the four runner blocks Effective stroke 2 via funnel-type lube nipples DIN 3405-AM 8x1 2 on both sides Excess travel Excess travel L dia.18 h7 dia.66 h7 * Mounting hole pattern 80 x 80: only on the end block side shown here. For the opposite side, only 90 x 90 is permissible Type OA (without end block) Type MA and MA02 MA04 and MA05 Type MA03 and MA06 M8 18 deep 90 80* M8 18 deep (12x) 90 80* 80* 46 L 110 h = * 46 6 P dia.66 h7 dia.18 h h = P dia. 18 h7 dia. 66 h7 h = P dia. 8 h7 dia. 66 h7 RE /

107 A for nut DIN 508-M8 and DIN 557-M10 12 for fastening of the cable duct 20 B 128 C A B dia C MKR MKZ Type MG to MG04 Servo motors M.. 71./M Type MG to MG04 Servo motors M.. 71./M.. 90 (with 2nd journal) Type MG05 to MG08 Servo motors M.. 71./M (with integrated gear unit LPG) (M.D 71B) 312 (M.D 90B) (M.D 71B) 312 (M.D 90B) 112 (M.D 71B) 122 (M.D 90B) 264 (M.D 71B) 312 (M.D 90B) (M.D 71B) 140 (M.D 90B) 50 (M.D 71B) 60 (M.D 90B) 120 (M.D 71B) 140 (M.D 90B) 112 (M.D 71B) 122 (M.D 90B) 120 (M.D 71B) 140 (M.D 90B) RE /

108 Rexroth Linear Modules MKZ H for Horizontal Operation Structure and Technical Data MKZ H: Linear Module with two Ball Rail Systems for high load moment capacity and Rack and Pinion Drive for moving heavy weights over long distances at demanding speeds The MKZ H Linear Module comprises: an anodized aluminum frame of high inherent rigidity two Rexroth Ball Rail Systems with sealing strips and two long runner blocks each a profiled aluminum carriage rack and pinion drive (hardened and ground), with helical gearing ensuring low operating noise levels low-backlash worm gear with motor mount and coupling for attachment of the motor For maintenance, see Maintenance Instructions Linear Module MKZ an AC servo motor with control units mountable switches (proximity and mechanical) General technical data Linear Module Carriage length (mm) Dynamic load capacity C (N) MKZ H Dynamic moment Mt ML (Nm) (Nm) Min. length Lmin (mm) Max. length Lmax (mm) 860* * for a theoretical stroke of 100 mm Modulus of elasticity E E = 70,000 N/mm2 Note on dynamic load capacities and moments The dynamic load capacities and moments are based on 100,000 m travel. However, a travel of just 50,000 m is often taken as a basis. If this is the case, for comparison purposes: Multiply values C, Mt and ML from the table by Note the maximum side load for standard installation of the ball rail systems. Planar moment of inertia lx ly (cm4) (cm4) Mt ML C ;; ;;;;; Mass Linear Module Mass calculation does not include motor or switch attachments. Mass (kg) MKZ H kg/mm linear module length L (mm) kg RE /

109 Deflection A special feature of linear modules is their suitability for cantilever installation. If the modules are installed in this manner, however, the deflection must be observed. The deflection restricts the possible load. If the maximum permissible deflection is exceeded, additional support must be provided. δmax L/2 L F Maximum permissible deflection δ max The maximum permissible deflection δ max is dependent on the length L and the load F. The load F is based on the total moved mass. δ max may not be exceeded! The graph applies in the following conditions: ends firmly clamped (approx. 350 mm on each side) 6 to 8 screws on each side fixed base Example Linear Module MKZ H: L = 4000 mm F = 2000 N From graph: δ = 0.47 mm δ max = 2.9 mm The deflection δ is clearly below the maximum permissible deflection δ max, therefore no additional support is necessary δ (mm) δmax F = 6000 N F = 5000 N F = 4000 N F = 3000 N F = 2000 N F = 1000 N F = 500 N F = 0 N L (mm) MKR MKZ Characteristic data, rack and pinion Linear Reciprocal Pinion Number Permissible Lead constant for reduction i Module diametral diameter of teeth input torque (mm/rev) pitch on pinion on pinion * m (mm) d (mm) M 2per (Nm) i = 4.75 i = 6.75 i = 9.25 i = 14.5 MKZ H * The permissible input torque on the pinion is based on the tooth breakage and flank stress with lubrication at two-week intervals, low impacts and a speed v = 1.5 m/s in servo operation. For calculation, see Output torque of gearing M 2 under Performance Data. Mass moment of inertia, gear unit with pinion and shrink disc Gearing reduction Mass moment of inertia J gear (10 4 kgm 2 ) i = i = i = i = RE /

110 Rexroth Linear Modules MKZ H for Horizontal Operation Technical Data, Performance Data Mass moment of inertia, motor coupling for motor series M.. 71 J K = kgm 2 Motor data A number of motor-controller combinations are available in order to ensure the most cost-efficient solution for each customer s application. The motor-controller combination concerned must always be taken into account when dimensioning the drive unit. For more information, see catalogs Controllers, Motors, Electrical Accessories. Motor MKD 71B-061 MHD 71B-061 Maximum eff. rotary speed Rated torque (min 1 ) (Nm) Maximum torque (Nm) Mass moment J M / J Br of inertia (10 4 kgm 2 ) Braking torque (Nm) see catalogs Controllers, Motors, Electrical Accessories 8 8 see catalogs Controllers, Motors, Electrical Accessories 8.7 / / Mass with brake (kg) Value base Nominal service life of the ball rail systems The values are based on the wear or flank limit performance for 12,000 h at full load, with minor impacts as additional external forces in 8-hour servo operation. Nominal service life in meters: C L 10 = 10 5 ( ) 3 F m Nominal service life in hours: L 10h = L v The temperature limit performance of the gearing may also have to be taken into account for continuous duty at full load. The maximum oil sump temperature of 80 C must not be exceeded. L 10 = Nominal service life in meters (m) L 10h = Nominal service life in hours (h) C = Dynamic load capacity (N) F m = Mean equivalent dynamic load (N) v = Speed (from graph Permissible speed ) (m/min) Permissible torque M 1per on the motor journal Motor torque M 1 (Nm) i = 4.75 i = 6.75 i = 9.25 i = Speed n (min 1 ) Output torque of gearing M 2 Conditions: M 1 M M 1per 2 = M 1 η i M 2 M 2per RE /

111 Gear efficiency η Efficiency η i = 4.75 i = 6.75 i = 9.25 i = Speed n (min 1 ) Mass moment of inertia for handling: 6 J M J fr ( ) m J fr = B J gear + J K 10-4 i 2 J fr J M J gear J K J S i = External mass moment of inertia (kgm 2 ) = Mass moment of inertia of motor (kgm 2 ) = Mass moment of inertia of gear reducer with pinion and shrink disc, reduced (kgm 2 ) = Mass moment of inertia of coupling (kgm 2 ) = Mass moment of inertia of system with additional load (kgm 2 ) = Reduction MKR MKZ Calculation of moved mass m B Moved mass (kg) = 24.5 kg + motor (kg) + trailing cables (kg) + payload (kg) Linear module is stationary, carriage travels horizontally. Performance data for gear reducer, motor and controller combinations (examples) Performance data for horizontal operation The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. with servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x 400 V Gearing reduction i = 4.75 i = 6.75 Moved mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) ) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. 111 RE /

112 Rexroth Linear Modules MKZ H for Horizontal Operation Components and Ordering Part number, length Type =... Guide- Drive unit =.. Carriage =.. way = ,... mm L T Slots for cable duct ;;;; with rack L T = 400 mm without drive unit (OA) OA MA 05 MA02 Order example Ordering data Linear Module (Part number): , 2450 mm Type = MA Guideway = Drive unit = Carriage = 05 Motor attachment = 03 Motor = 11 End dampers = 02 1st switch = 15-A mm 2nd switch = 11-A 300 mm 3rd switch = 15-A 900 mm Cable duct = 20, 2200 mm Socket-plug = 17 Switching cam = 16 Documentation = 02 Description Linear Module MKZ H, length 2450 mm with gear reducer, mounted as in diagram MA two ball rail systems with rack carriage with length L T = 400 mm with gear reducer i = 4.75 and mount for motor series M.. 71 motor MKD 71B-061 end block and rubber buffer at both ends mechanical switch, switch activation point: external mm PNP NC, switch activation point: external 300 mm mechanical switch, switch activation point: external 900 mm cable duct 2200 mm long (loose) socket-plug on switch side with switching cam for switch activation measurement report: friction moment RE /

113 Motor attachment =.. Motor =.. End 1st, 2nd + 3rd switch =... ±... mm Documentation =.. dampers =.. (end block with rubber buffers) Reduc- Mount for Cable duct =..,... mm tion motor Socket-plug =.. (i) Switching cam =.. on motor side only at both ends Standard report Measurement report 00 without motor 00 without switch without cable duct 00 External switch: i = without motor 00 PNP NC PNP NO 11. ±... mm 13. ±... mm i = 6.75 i = 9.25 for motor series M MKD 71B Mechanical Switch activation point Switch type Mounting side Travel direction Switching distance Cable duct (loose) Length External socket-plug (loose) 15. ±... mm 20,... mm Friction moment 05 Positioning accuracy MKR MKZ i = MHD 71B 62 External switching cam 16 The technically permissible combination (load capacities, moments, max. speeds, motor data, etc.) must be established in each individual case. Calculating the Linear Module length L = (eff. stroke + 2 x excess travel) + L T mm For effective stroke, excess travel, carriage length L T, see dimension drawings. The excess travel must be greater than the braking distance. The acceleration distance may be taken as a guideline for the braking distance. Switch mounting The switches and socket-plug are mounted in the upper T-slots of the frame and activated by a switching cam on the carriage. Switching distance: The switching distance is the distance between the carriage center Mounting side of switches (TM) and zero point (0) when a switch is activated (given in mm). For more information on switch type, switching distances and dimensions, see Switch Mounting Arrangements. Travel direction TM + L/2 L/ RE /

114 Rexroth Linear Modules MKZ H for Horizontal Operation Dimension Drawings Max. travel Max. travel L T = Excess travel Effective stroke 2 One-point lubrication of the four runner blocks via funnel-type lube nipples DIN 3405-AM 8x1 on both sides Effective stroke 2 Excess travel mkz145h_lmt2.eps L All dimensions in mm Diagrams to different scales (MKD 71B) 264 (MHD 71B) Cable outlet One-point lubrication: For grease lubrication only! RE /

115 A C B for fastening of the cable duct for nut DIN 508-M8 and DIN 557-M M8 15 deep (12x) (45) MKR MKZ 50 approx Position of rubber buffers (see Accessories for ordering data and dimensions) Face-end mounting hole pattern at both ends of the frame for customer s attachments if end dampers are not fitted M12 (8x), min. 27 deep B C A dia RE /

116 Rexroth Linear Modules MKZ V for Vertical Operation Structure and Technical Data MKZ V: Linear Module with two Ball Rail Systems for high load moment capacity and Rack and Pinion Drive for safe lifting of heavy weights with moving supporting profile (stationary carriage with gear reducer, motor and multiposition switch). The MKZ V Linear Module comprises: an anodized aluminum frame of high inherent rigidity two Rexroth Ball Rail Systems with sealing strips and two long runner blocks each a profiled aluminum carriage rack and pinion drive (hardened and ground), with helical gearing ensuring low operating noise levels low-backlash worm gear with motor mount and coupling for attachment of the motor an AC servo motor mountable multi-position switch (to DIN and VDE 13) control units For maintenance, see Maintenance Instructions Linear Modules MKZ General technical data Linear Module Carriage length (mm) Dynamic load capacity C (N) MKZ V Dynamic moment Mt ML (Nm) (Nm) Min. length Lmin (mm) Max. length Lmax (mm) 800* Modulus of elasticity E E = 70,000 N/mm2 Note on dynamic load capacities and moments The dynamic load capacities and moments are based on 100,000 m travel. However, a travel of just 50,000 m is often taken as a basis. If this is the case, for comparison purposes: Multiply values C, Mt and ML from the table by Note the maximum side load for standard installation of the ball rail systems. RE / Planar moment of inertia lx ly (cm4) (cm4) * for a theoretical stroke of 100 mm 116 Mt ML C ;; ;;;;;

117 Mass Mass calculation does not include motor or switch attachments. (Switch attachment approx. 2 kg) Linear Module MKZ V Mass (kg) kg/mm linear module length L (mm) kg Characteristic data, rack and pinion Linear Reciprocal Pinion Number Permissible Lead constant for reduction i Module diametral diameter of teeth input torque (mm/rev) pitch on pinion on pinion* m (mm) d (mm) M 2per (Nm) i = 6.75 i = 9.25 i = 14.5 i = 19.5 MKZ V * The permissible input torque on the pinion is based on the tooth breakage and flank stress with lubrication at two-week intervals, low impacts and a speed v = 1.5 m/s in servo operation. For calculation, see Output torque of gearing M 2 under Performance Data. Mass moment of inertia, gear unit with pinion and shrink disc Mass moment of inertia, motor coupling Gearing reduction Mass moment of inertia J gear (10 4 kgm 2 ) i = i = i = i = for motor series M.. 71 for motor series M.. 90/93 J K = kgm 2 J K = kgm 2 MKR MKZ Motor data A number of motor-controller combinations are available in order to ensure the most cost-efficient solution for each customer s application. Motor MKD 71B- MHD 71B- MKD 90B- MHD 90B- MHD 93C The motor-controller combination concerned must always be taken into account when dimensioning the drive unit. For more information, see catalogs Controllers, Motors, Electrical Accessories. Maximum eff. rotary speed (min 1 ) see catalogs Controllers, Motors, Electrical Accessories Rated torque Maximum torque Mass moment of inertia Braking torque (Nm) (Nm) J M / J Br (10 4 kgm 2 ) (Nm) see catalogs Controllers, Motors, Electrical Accessories 8.7 / / / / / Mass with brake (kg) RE /

118 Rexroth Linear Modules MKZ V for Vertical Operation Technical Data, Performance Data Value base The values are based on the wear or flank limit performance for 12,000 h at full load, with minor impacts as additional external forces in 8-hour servo operation. The temperature limit performance of the gearing may also have to be taken into account for continuous duty at full load. The maximum oil sump temperature of 80 C must not be exceeded. Nominal service life of the ball rail systems See Structure and Technical Data MKR Permissible torque M 1per on the motor journal Motor torque M 1 (Nm) i = 6.75 i = 9.25 i = 14.5 i = Speed n (min 1 ) Gear efficiency η 0.95 Efficiency η i = i = 14.5 i = 9.25 i = Speed n (min 1 ) Output torque of gearing M 2 M 2 = M 1 η i Conditions: M 1 M 1per M 2 M 2per RE /

119 Mass moment of inertia J fr = External mass moment for handling: of inertia (kgm 2 ) 6 J M J fr J M = Mass moment of inertia of motor (kgm 2 ) J gear = Mass moment of inertia of gear reducer with pinion and shrink disc, reduced (kgm 2 ) J K = Mass moment of inertia m of coupling (kgm 2 ) J fr = B ( + J gear + J K ) 10-4 i 2 J S = Mass moment of inertia of system with additional load (kgm 2 ) i = Reduction L = Linear module length (mm) Calculation of moved mass m B Moved mass (kg) = kg/mm L (mm) kg + payload (kg) Carriage is stationary, linear module travels vertically. Performance data for gear reducer, motor and controller combinations (examples) Performance data for vertical operation with gear reducer i = 14.5, servo motor MKD 71B-061 and controller DKC * ) Supply voltage: 3 x V The tables contain performance data examples for gear-motor-controller combinations. They are intended as a rough guide for selection. The precise performance data must be calculated for each application case. MKR MKZ Gearing reduction i = 14.5 Moved mass (kg) Acceleration time t h (ms) Acceleration distance s h (mm) Acceleration a (m/s 2 ) Speed v (m/s) 1.1 1) For more information on the control systems, see catalogs Controllers, Motors, Electrical Accessories. The data given here does not include any assessment of the effective moments for the motor and controller. 119 RE /

120 Rexroth Linear Modules MKZ V for Vertical Operation Components and Ordering Part number, length Type =... Guide- Drive unit =.. Carriage =.. way =.. L T ,... mm Slots for cable duct and switching cams ;;;; with rack L T = 400 mm MA 05 MA02 Order example Ordering data Linear Module (Part number): , 2450 mm Type = MA Guideway = Drive unit = Carriage = 05 Motor attachment = 04 Motor = 64 End dampers = 1st switch = 30-A Documentation = 02 Description Linear Module MKZ V, length 2450 mm with gear reducer, mounted as in diagram MA two ball rail systems with rack carriage with length L T = 400 mm with gear reducer i = 6.75 and mount for motor series M.. 90/93 motor MHD 93C-058 end block and rubber buffers on motor side only four-tier multi-position switch to DIN measurement report: friction moment RE /

121 Motor attachment =.. Motor =.. End 1st, 2nd + 3rd switch =... ±... mm Documentation =.. dampers =.. (end block with rubber buffers) Reduc- Mount for tion motor (i) on motor side only at both ends Standard report Measurement report i = 6.75 i = 9.25 i = 14.5 i = 19.5 for motor series M.. 71 for motor series M.. 90/ without motor MKD 90B MHD 90B MHD 93C without motor MKD 71B MHD 71B without switch without cable duct Multi-position switch with four-tiers, external: Emergency OFF 02 Changeover contact 30-A Changeover contact Changeover contact Switching cams: see Accessories Friction moment 05 Positioning accuracy MKR MKZ The technically permissible combination (load capacities, moments, max. speeds, motor data, etc.) must be established in each individual case. Calculating the Linear Module length L = (eff. stroke + 2 x excess travel) + L T mm Switch mounting The multi-position switch is supplied already mounted on the carriage side without motor. For effective stroke, excess travel, carriage length L T, see dimension drawings. The excess travel must be greater than the braking distance. The braking distance and braking torque must be carefully dimensioned! For mounting and adjustment of the switching cams, see Switch Mounting Arrangements. + Travel direction TM L/2 L/2 0 Mounting side of switches and switching cams 121 RE /

122 Rexroth Linear Modules MKZ V for Vertical Operation Dimension Drawings Max. travel Max. travel L T = Effective stroke One-point lubrication of the four runner blocks Effective stroke Excess 2 via funnel-type lube nipples DIN 3405-AM 8x1 2 Excess travel on both sides travel 225 L Cable outlet All dimensions in mm D 1 Diagrams to different scales F E One-point lubrication: For grease lubrication only! Motor Motor dimensions (mm) D 1 /D 2 E F G MKD 71B MHD 71B MKD 90B MHD 90B MHD 93C For more information, see section on Motors. RE /

123 A B C for fastening of the cable duct for nut DIN 508-M8 and DIN 557-M D2 35 M10 16 deep (12x) 105 (52) 34 dia G MKR MKZ approx B C A approx approx Position of rubber buffers (see Accessories for ordering data and dimensions) Face-end mounting hole pattern at both ends of the frame for customer s attachments if end dampers are not fitted M12 (8x), min. 27 deep RE /

124 STAR STAR STAR Rexroth Linear Modules MKR and MKZ H Switch Mounting Arrangements Overview of the switching system MKR , MKZ H 1 Socket and plug 2 Mechanical switch (with mounting components) 3 Proximity switch (with mounting components) 4 Switching cam 5 Cable duct (aluminum alloy) Mechanical switch (technical data) Reproducibility = ± 0.05 mm Permissible ambient temperature = 5ºC to +80ºC Enclosure = DIN IP 67 Contact time = < 2 ms Insulation = group C to VDE 10 Rated voltage = 250 V AC Continuous current = 5 A Switching capacity at 220 V, Hz = cosϕ = 0.8 at 2 A Contact resistance when new = < 240 mω Connection = screw connection Contact system = single-pole changeover Switch system = snap-action 20 Mechanical switch for MKR and MKZ H Proximity switch (technical data) Miniature circuit breakers with potted cable (3 x 0.14 mm 2 Unitronic) Housing form = NO Minisensor = form A DIN Voltage = 10 to 30 V DC Residual ripple = 10% Load = 200 ma No-load current = 20 ma Switching frequency = max Hz Temperature-related shift in make point = 4 µm/k Output signal steepness = 1 V/µs Reproducibility of make point to EN = 0.1 mm 10.5 Proximity switch for MKR and MKZ H Cable length: 3 m RE /

125 Socket and plug Fit the socket to the side with the most switches. dia The socket and plug are of the 16-pin type. Socket and switch are not wired. The switch activation points can thus be optimized during start-up. A plug is provided. 16-pin plug The plug can be mounted in three directions (see figure). 60 Cable duct The cable ducts are mounted in the lateral slots of the frame. Mounting screws widen the profile and secure the cable duct. For the location of the slot side, see Components and Ordering table and Dimension Drawings. The cable duct takes a maximum of two cables for mechanical switches and three cables for proximity switches. 17 MKR MKZ Mounting screws and grommets are provided. 20 Ordering the switches and mounting components The part numbers are listed in the table below. Mounting components can also be ordered individually. Frame dimension Item Socket-plug Mech. switch with mounting components Mech. switch without mounting components Proximity switch Mounting components without switch PNP NC NPN NC PNP NO NPN NO Switching cam Cable duct RE /

126 Rexroth Linear Modules MKR and MKZ H Switch Mounting Arrangements Switch mounting for MKR and MKZ H Mechanical and proximity switches Switching distance: The switching distance is the distance between the carriage center (TM) and zero point (0) when a switch is activated (given in mm). Mounting side of the switches: left (L) TM Travel direction 0 + L/2 TM Mounting example Example for a mechanical limit switch (given that zero point is L/2): Maximum switching distance = 0.5 x (max. travel) excess travel = 0.5 x effective stroke right (R) Excess travel 0.5 x effective stroke 0.5 x max. travel L 0.5 x effective stroke 0.5 x max. travel Excess travel For safe operation of the linear module the excess travel must be longer than the braking distance. Recommended standard switch fittings: 2 mechanical switches 1 proximity switch Slide mounting plates with switches into slot and fasten with two hexagon socket head cap screws. Observe minimum possible distance between switches (determined by mounting plates): mechanical-mechanical = 62 mm mechanical-proximity = 49 mm proximity-proximity = 35 mm The switches and socket-plug are fastened in the upper T-slots of the frame and activated by means of a switching cam on the carriage ± Socket and plug Mechanical switch Proximity switch Switching cam RE /

127 STAR STAR STAR Rexroth Linear Modules MKZ V Switch Mounting Arrangements Overview of the switching system MKZ V 1 Switching cams 2 Switch mounting bracket 3 Multi-position switch Shown in horizontal orientation Switching cam For activation of the multi-position switch to DIN Material: Steel, hardened with black oxide finish Note for mounting: When the clamping screws are tightened, the switching cam is wedged firmly in place in the slot of the frame Part number MKR MKZ Part number Switch mounting bracket For mounting of the multi-position switch Material: Anodized aluminum RE /

128 Rexroth Linear Modules MKZ V Switch Mounting Arrangements Multi-position switch R Type Type dia.6 dia. 6.6 dia Part number Shown in horizontal orientation Technical data Multi-position switch Switches Type 1 Type 2 Reproducibility ± 0. mm Permissible ambient temperature 5ºC to +80ºC Enclosure DIN IP 67 Contact time 1.5 ms at 10 m/min Insulation group C to VDE 10 Rated voltage 250 V AC Continuous current 6 A Contact resistance when new < 40 mω Connection screw connection M3 Contact system NC, dual-circuit double-gap break contact changeover contact slow-action with Switch system positive opening snap-action to VDE 13 Function display without LED 6 to 60 V RE /

129 Switch mounting for MKZ V Multi-position switch Travel direction + Shown in horizontal orientation Multi-position switch The multi-position switch is supplied ready-mounted. The switching cams are available as accessories and have to be fitted and positioned by the customer. TM TM Excess travel 0.5 x effective stroke 0.5 x effective stroke Excess travel 0.5 x max. travel 0.5 x max. travel L/2 L/ ±0.3 (17.1) MKR MKZ Switching cams Multi-position switch MKR , MKZ H and MKZ V: Accessories Rubber buffers Use: As end dampers in customers systems if no end block with rubber buffers is mounted. Note for mounting: To mount the rubber buffers it is necessary to tap holes with the dimensions as shown in the drawing. M Part number dia RE /

130 Rexroth Linear Modules Motors for MKK, MKR, MLR, MKZ AC servo motor dimensions MKD 41B-144 KG1 Part number For the data of the AC servo motors, see Technical Data MKK and catalog Controllers, Motors, Electrical Accessories. MHD 71B-061-NG1-UN Part number dia.50 j6 dia.14 k MKD 71B-N-061 KG1 Part number MHD 90B-047-NG1-UN Part number dia.95 j6 dia.19 k MKD 90B-047 KG1 Part number dia.110j6 dia.24k6 dia.110 j6 dia.24 k6 dia.95 j6 dia.19 k MHD 93C-058-NG1-AN Part number dia.130j6 dia.32k MSM servo motor dimensions MSM 030C-0300-NN-M0-CG1 with holding brake Part number MSM 030C-0300-NN-M0-CG0 without holding brake dia. 50h7 dia. 14h6 3 Part number dia. 70 dia. 70h7 dia. 19h6 MSM 040B-0300-NN-M0-CG1 with holding brake Part number MSM 040B-0300-NN-M0-CG0 without holding brake Part number dia with brake without brake dia with brake without brake dia Motor MSM 030C MSM 040B Maximum effective rotary speed n max (min 1 ) Rated torque M N (Nm) Maximum torque M max (Nm) Mass moment of inertia J M + J Br (10 6 kgm 2 ) Braking torque M Br (Nm) Mass with brake m (kg) (1.9) (3.8) RE /

131 Three-phase stepping motor dimensions VRDM 368/50 LWB, VRDM 368/50 LNB VRDM 397/50 LWB, VRDM 397/50 LNB VRDM 3910/50 LWB, VRDM 3910/50 LNB VRDM 3913/50 LWB, VRDM 3913/50 LNB dia.38.1 ±0.025 dia dia dia.60 h8 d L dia Motor L d h6 VRDM VRDM VRDM Ordering data Part number Motor for use with VRDM 368/50 LWB VRDM 397/50 LWB VRDM 3910/50 LWB VRDM 3913/50 LWB VRDM 368/50 LNB VRDM 397/50 LNB VRDM 3910/50 LNB VRDM 3913/50 LNB power output controls Twin Line STAR step Three-phase stepping motor data Motor VRDM 368 VRDM 397 VRDM 3910 VRDM LWB 50 LWB 50 LWB 50 LWB Number of steps 200 / 400 / 500 / 1000 Step angle ( ) 1.8 / 0.9 / 0.72 / 0.36 Maximum torque (Nm) Mass moment of inertia (kgcm 2 ) Braking torque (Nm) Mass (kg) Note The motors can be supplied as complete units with control system. For more information on motors and control systems, see catalogs Controllers, Motors, Electrical Accessories. Diagrams to different scales. 131 RE /

132 Rexroth Linear Modules MKP Structure and Technical Data MKP...: Linear Modules with integral Ball Rail System and integral Pneumatic Drive for motorless operation with compressed air. Structural design Extremely compact precision aluminum frame (main structure) with integral Rexroth Ball Rail System Pneumatic drive by means of integral belt cylinder End blocks with belt guide pulleys running on ball bearings Aluminum carriage with two integral runner blocks Attachments Shock absorbers Switches Socket and plug for switches For mounting, start-up Sealing hose for T-slots and maintenance, see MKP Instructions. General technical data Linear Carriage Dynamic load Dynamic Maximum permissible load Moved Min. Max. Planar moment Module length capacity 1) moment 1) Forces Moments mass length length of inertia C M t M L F x.max F y.max M t.max M l.max L min L max l x l y (mm) (N) (Nm) (Nm) (N) (N) (Nm) (Nm) (kg) (mm) (mm) (cm 4 ) (cm 4 ) MKP MKP Modulus of elasticity E Lengths in excess of L max E = 70,000 N/mm 2 Lengths in excess of L max are available upon request. Mass MKP 15-65: Mass (kg) = L MKP 20-80: Mass (kg) = L RE / ) The dynamic load capacity ratings and dynamic moments are required in order to calculate the service life.

133 Drive data Linear Maximum Piston Piston Piston force Damping Damping Operating Module permissible dia. surface area (theoretical 3) ) distance energy pressure speed 2) A at operating pressure of E max range 6 bar 10 bar at 6 bar (m/s) (mm) (cm 2 ) (N) (N) (mm) (Nm) (bar) MKP MKP ) Higher speeds available on request. 3) Force that can reasonably be used in practice: approx. 70% of the theoretical piston force (with 30% reserve for variable friction of the system). Configuration and calculation The following parameters must be taken into account when determining the dimensions of pneumatic modules: 1. Load on the ball rail system 2. End damping of the mass to be braked 3. Maximum centroid distance 4. Deflection of the linear module 1. Load on the ball rail system Nominal service life Please refer to the Ball Rail Systems catalog for further calculations. Nominal service life in meters: ( ) L C 10 = 10 5 F m Nominal service life in hours: L L 10h = v 3 L 10 = Nominal service life in meters (m) L 10h = Nominal service life in hours (h) C = Dynamic load capacity (N) F m = Mean equivalent dynamic load (N) v = Speed (m/min) MKP Note on dynamic load capacities and moments The dynamic load capacities and moments are based on 100,000 m travel. However, a travel of just 50,000 m is often taken as a basis. If this is the case, for comparison purposes: Multiply values C, M t and M L from the table by Suitable load As far as the desired service life is concerned, loads of up to approximately 20% of the dynamic load and moment values (C, M t, M L ) have proved to be acceptable estimates. The following values may not be exceeded: the maximum permissible forces, the maximum permissible deflection, the permissible speed. F x max M t C M t max F y max F x max M L (max) M L (max) 133 RE /

134 Rexroth Linear Modules MKP Technical Data, Configuration, Calculations 2. End damping of the mass to be braked Approximate configuration of the end damping based on graphs Damping selection depends greatly on the moved mass and its speed when approaching the end position. If the maximum speed is unknown, it can be determined approximately from the graph given alongside. Maximum speed The graph applies to: horizontal operation operating pressure of 6 bar operation without any additional external forces To approximately determine the maximum speed, it is necessary to calculate the mean speed from the stroke and cycle time. Maximum speed V max (m/s) Maximum speed Mean speed V m (m/s) V m (m/s) = stroke (m) / cycle time (s) Dampable mass MKP Integral damping 2 Shock absorber type 2 3 Shock absorber type 3 The graph applies to: horizontal operation operating pressure of 6 bar feed force of 470 N (without any additional external forces) Note: For any other operating pressure, additional external force or vertical operation, the mass to be braked should be verified by calculation. Dampable mass MKP Integral damping 1 Shock absorber type 1 2 Shock absorber type 2 3 Shock absorber type 3 The graph applies to: horizontal operation operating pressure of 6 bar feed force of 720 N (without any additional external forces) Note: For any other operating pressure, additional external force or vertical operation, the mass to be braked should be verified by calculation. Speed V min max (m/s) Speed V min max (m/s) Dampable mass MKP Moved mass (kg) Dampable mass MKP Moved mass (kg) RE /

135 Calculation of the integral end damping Even at high speeds, it must be possible to bring the carriage and moved mass to a smooth stop in the end positions. The damping pressure p x and the speed v are of particular importance in this respect. Conditions for damping pressure p x (2) (1) E = m v 2 2 f x E per Note: For approximate configuration based on graphs, see previous page. E = Kinetic energy (Nm) m = Mass to be braked (kg) v = Speed (m/s) f x = Pressure coefficient E per = Per. damping energy (Nm) To stop mass m smoothly, the damping pressure must conform to the following conditions: 1 E per (Nm) p x = p B F A A 12 bar V F A P X P B P B V 2 F A P X p x = Damping pressure at the start of damping (bar) p B = Operating pressure (bar) F A = External force (N) A = Piston surface area (cm 2 ) (see table) (3) p x = p B 0.1 F A A 12 bar V F A 3 P B P X 4 V F A P B 0.1 = Conversion factor ( ) cm 2 bar N Note: In the load examples illustrated in Figures (2) and (4), if inertia is the only active force, then F A = 0 and therefore p x = p B P X Pressure coefficient f x for equation (1) 3.0 f x MKP Damping pressure p x at the start of damping from equation (2) or (3) p x (bar) Result If the damping pressure is less than 12 bar and the conditions of equation (1) are satisfied, the cylinder can brake mass m smoothly with its integral damping system. If the maximum permissible damping pressure is exceeded, there are several possible solutions: a Select a larger cylinder, or b Change the operating pressure, or c Provide external damping, or sensible combination of a, b and / or c. 135 RE /

136 2.0 m/s 1.75 m/s 1.5 m/s 1.25 m/s 1.0 m/s 0.75 m/s Rexroth Linear Modules MKP Technical Data, Configuration, Calculations 3. Maximum centroid distance Maximum centroid distances from the carriage surface are derived from the permissible moment load of the ball rail system as a function of the: x Center of mass x moved mass, maximum speed S for the approach to the end position. Maximum centroid distance with integral damping S = Centroid distance Guideway center H 1 H 2 x B H Size B H H 1 H 2 MKP MKP Maximum centroid distance MKP The graph applies to: horizontal operation operating pressure of 6 bar feed force of 470 N (without any additional external forces) optimum damping adjustment centric mass arrangement on the carriage Centroid distance (mm) Maximum centroid distance MKP with integral damping Moved mass (kg) 1.5 m/s 1.25 m/s 1.0 m/s 0.75 m/s 0.5 m/s Maximum centroid distance MKP The graph applies to: horizontal operation operating pressure of 6 bar feed force of 720 N (without any additional external forces) optimum damping adjustment centric mass arrangement on the carriage Centroid distance (mm) Maximum centroid distance MKP with integral damping 0.5 m/s Moved mass (kg) RE /

137 Maximum centroid distance with external shock absorbers Center of mass x x H 2 H 1 S x H H 5 S = Centroid distance Guideway center B Maximum centroid distance MKP The graph applies to: horizontal operation operating pressure of 6 bar feed force of 470 N (without any additional external forces) optimum damping adjustment centric mass arrangement on the carriage Maximum centroid distance MKP The graph applies to: horizontal operation operating pressure of 6 bar feed force of 720 N (without any additional external forces) optimum damping adjustment centric mass arrangement on the carriage Size B H H 1 H 2 H 5 MKP MKP Centroid distance (mm) Centroid distance mm) Maximum centroid distance MKP with external shock absorbers m/s 2.0 m/s 1.75 m/s 1.5 m/s 1.25 m/s 1.0 m/s 0.75 m/s Maximum centroid distance MKP with external shock absorbers 1.75 m/s 1.5 m/s 1.25 m/s 1.0 m/s Moved mass (kg) 0.75 m/s 0.5 m/s 0.5 m/s Moved mass (kg) MKP 137 RE /

138 Rexroth Linear Modules MKP Technical Data, Configuration, Calculations 4. Deflection of the Linear Modules A special feature of linear modules is their suitability for cantilever installation. If the modules are installed in this manner, however, the deflection must be observed. The deflection restricts the possible load. If the maximum permissible deflection is exceeded, additional support must be provided. Maximum permissible deflection δ max The maximum permissible deflection δ max is dependent on the length L and the load F. δ max L/2 F L δ max may not be exceeded! The graph applies to: ends firmly clamped (approx. 200 mm on each side) 6 to 8 screws on each side fixed base Example: Linear Module MKP 15-65: L = 2500 mm F = 250 N From graph: δ = 0.6 mm δ max = 1.2 mm The deflection δ is clearly below the maximum permissible deflection δ max, therefore no additional support is necessary δ (mm) δmax MKP F = 1500 N F = 1250 N F = 1000 N F = 750 N F = 500 N F = 400 N F = 300 N F = 200 N F = 100 N L (mm) F = 0 N The graph applies to: ends firmly clamped (approx. 200 mm on each side) 6 to 8 screws on each side fixed base Example: Linear Module MKP 20-80: L = 3000 mm F = 500 N From graph: δ = 0.87 mm δ max = 1.25 mm The deflection δ is clearly below the maximum permissible deflection δ max, therefore no additional support is necessary δ (mm) δmax MKP F = 1750 N F = 1500 N F = 1250 N F = 1000 N F = 750 N F = 500 N F = 400 N F = 300 N F = 200 N F = 100 N L (mm) F = 0 N RE /

139 Selection example A useful payload of 10 kg is to be moved horizontally over a distance of 1,500 mm in 2 seconds. The centroid of the moved mass is some 70 mm above the top edge of the carriage mm F m = 10 kg m = 10 kg 70 mm L Calculating the mean speed Maximum speed For graphs, see 2. End damping of the mass to be braked. v m = travel (m) / cycle time (s) = 1.5 m / 2 s = 0.75 m/s v max = 1.2 m/s ( Maximum speed graph) Moved mass m mov = useful payload (kg) + carriage (kg) = 10 kg kg (MKP 15-65) = kg Size and type of damping For graphs, see 2. End damping of the mass to be braked. Maximum centroid distance Verifying the deflection Possible combinations from Dampable mass graphs: MKP with shock absorber type 3 MKP with integral damping (external shock absorbers unnecessary) MKP with shock absorber type 3: Centroid distance S = 70 mm mm (H 2 ) = mm Approx. 120 mm permissible (from graph Maximum centroid distance MKP with external shock absorbers ) MKP with integral damping: Centroid distance S = 70 mm mm (H 2 ) = mm Approx. 230 mm permissible (from graph Maximum centroid distance MKP with integral damping ) MKP at L = 1650 mm: δ = 0.08 mm δ max = 1.05 mm MKP at L = 1688 mm: δ = 0.05 mm δ max = 1.07 mm Both sizes can be applied in regard to the maximum permissible deflection. MKP Result Selected: MKP with integral damping Reason: Both module sizes are able to meet the requirements. MKP 15-65, however, requires the attachment of shock absorbers, which MKP does not need. MKP 20-80, moreover, has much higher reserves in terms of feed force, load capacities and moments. 139 RE /

140 Rexroth Linear Modules MKP Components and Ordering Part number, length Guideway =.. Drive unit =.. Carriage =.. Cover =.. L T PictoMKR65Abd.eps L T = 115 mm with PU strip with extra side sealing ,... mm Order example Ordering data Description Linear Module (Part number): , 2450 mm Linear Module MKP 15-65, length 2450 mm Guideway = ball rail system Drive unit = pneumatic drive Carriage = 05 carriage with two runner blocks, length L T = 115 mm Cover = PU sealing strip End damping = 22 with 2 shock absorbers, type 2 1st switch = 21 Reed contact with 2.5 m cable 2nd switch = 23 Reed contact with 10 m cable 3rd switch = 22 PNP NO with 2.5 m cable Socket-plug = 17 socket-plug supplied loose Documentation = standard report RE /

141 End damping =.. 1st, 2nd, 3rd switch =.. Socket-plug =.. Documentation =.. with integral pneumatic end damping with 2 shock absorbers Type 2 1) Type 3 2) without switch Reed contact PNP NO without with Standard report m cable 2.5 m cable m cable 10 m cable 1) Type 2 for smaller moved masses (see graphs in Technical Data, Configuration, Calculations ) 2) Type 3 for larger moved masses (see graphs in Technical Data, Configuration, Calculations ) Note Switches and shock absorbers are supplied loose. Calculating the linear module length L = travel mm The linear module MKP is normally supplied in multiples of 5 mm. Minimum length: 300 mm Maximum length: 3000 mm Possibilities for compressed air connection MKP At both end blocks At one end block only with duct adapter (see Mounting / Duct Adapter ) 141 RE /

142 Rexroth Linear Modules MKP Dimension Drawings All dimensions in mm Diagrams to different One-point lubrication of the ball rail system via funnel-type lube nipples DIN 3405-AM6 at either side scales L/2 Max. travel Max. travel G 1/4 9 deep Damping distance Damping distance G 1/4 9 deep Throttle screw for end damping L Two-piece carriage. Distribute load uniformly over both carriage halves! 9 One-point lubrication of the ball rail system: for grease lubrication only! Magnet for switch activation MKP with shock absorbers (example of mounting on end block) Max. travel M20 x L RE /

143 M6 15 deep 65 C 7.5 D A B A A B for anchor strip (1 per slot) 26 9 C for switches and square nut DIN 557-M5 D for clamping fixtures 2.5 for socket-plug side sealing in carriage MKP mm A/F RE /

144 Rexroth Linear Modules MKP Components and Ordering Part number, length Guideway =.. Drive unit =.. Carriage =.. Cover =.. L T PictoMKR65Abd.eps L T = 175 mm with sealing strip with extra side sealing ,... mm Order example Ordering data Description Linear Module (Part number): , 2488 mm Linear Module MKP 20-80, length 2488 mm Guideway = ball rail system Drive unit = pneumatic drive Carriage = 05 carriage with two runner blocks, length L T = 175 mm Cover = 02 steel sealing strip with side sealing End damping = 22 with 2 shock absorbers, type 2 1st switch = 21 Reed contact with 2.5 m cable 2nd switch = 23 Reed contact with 10 m cable 3rd switch = 22 PNP NO with 2.5 m cable Socket-plug = 17 socket-plug supplied loose Documentation = standard report RE /

145 End damping =.. 1st, 2nd, 3rd switch =.. Socket-plug =.. Documentation =.. with integral pneumatic end damping with 2 shock absorbers Type 1 * Type 2 * Type 3 * without switch Reed contact PNP NO without with Standard report m cable 2.5 m cable m cable 10 m cable * For differences between shock absorber type 1, 2 and 3, see graphs in Technical Data, Configuration, Calculations. Note Switches and shock absorbers are supplied loose. Calculating the linear module length L = travel mm The linear module MKP is normally supplied in multiples of 5 mm. Minimum length: 363 mm Maximum length: 5600 mm Possibilities for compressed air connection MKP At both end blocks At one end block only with duct adapter (see Mounting / Duct Adapter ) 145 RE /

146 Rexroth Linear Modules MKP Dimension Drawings All dimensions in mm Diagrams to different scales G 3/8 12 deep 36 L/2 36 Max. travel 2 One-point lubrication of the ball rail system via funnel-type lube nipples DIN 3405-AM6 at either side Max. travel 2 Damping Damping distance distance G 3/8 12 deep Throttle screw for end damping L Two-piece carriage. Distribute load uniformly over both carriage halves! One-point lubrication of the ball rail system: for grease lubrication only! Magnet for switch activation MKP with shock absorbers (example of mounting on end block) Max. travel M25 x L RE /

147 M6 15 deep A 8 B (20.5) for anchor strips (2 per slot) C B A 9 for clamping fixtures, square nut DIN 557-M5 and for socket-plug for socket-plug C for switches and square nut DIN 557-M5 5.2 for clamping fixtures side sealing in carriage MKP mm A/F RE /

148 Rexroth Linear Modules MKP Switch Mounting Arrangements Overview of the switching system 1 Socket and plug 2 Sealing hose for T-slots 3 Switches Socket and plug Fit the socket to the side with the most switches. Socket and switch are not wired. The switch activation points can thus be optimized during start-up. A plug is provided. The plug can be mounted in three directions (see figure). PG 16 Part number: Mounting the socket and plug: Insert the socket into the T-slot provided in the frame and fasten it with two set screws. Sealing hose for T-slots Plastic hose sold by the meter. Sealing the T-slots protects the slots against dirt and prevents the switch cable from falling out. Part number: ,... mm dia. 8.4 RE /

149 Switches Miniature switches with potted cable. Type: Reed contact Magnetic field proximity switch Installation instructions: The switches are supplied loose. dia. 3 Active point 8.5 Switch positions can be chosen by customers themselves to suit their own requirements Insert the switches into the T-slots of the frame and fasten them with set screws. Set screw for fastening LED Part numbers, switches Cable length Part number 2.5 m m Reed Contact (technical data) Designation = magnetic field switch Contact type = normally open ( make ) Housing material = plastic Connecting cable = 2 x 0.14 mm 2 Cable length = 2.5 m / 10 m Installation position = any Ambient temperature = 25 to +75 C Operating voltage = 3 30 V DC/ 220 V AC Continuous current rating = max. 100 ma Switched current = up to 24 V DC: max. 40 ma = up to 220 V AC: max. 25 ma Enclosure protection class = IP 67 Part numbers, switches Cable length Part number 2.5 m m Magnetic field proximity switch (technical data) Designation = magnetic field proximity switch Contact type = PNP normally open ( make ) Housing material = plastic Connecting cable = 3 x 0.14 mm 2 Cable length = 2.5 m / 10 m Installation position = any Ambient temperature = 25 to +75 C Operating voltage = 3 30 V DC Continuous current rating = max. 150 ma Enclosure protection class = IP 67 MKP 149 RE /

150 Rexroth Linear Modules MKP Shock absorbers Shock absorbers for MKP M20x1.5 dia mm A/F 24 mm A/F dia. 4.8 dia Part number Size Type 2 Type Eff. mass soft contact (kg) Eff. mass self-compensating (kg) Total energy / stroke (Nm) Total energy / hour (Nm/h) Spring force (N) Piston return time (s) Max. axial deviation ( ) 5 5 Shock absorbers for MKP M25x1.5 dia mm A/F 30 mm A/F dia. 6.3 dia Part number Size Type 1 Type 2 Type Eff. mass soft contact (kg) Eff. mass self-compensating (kg) Total energy / stroke (Nm) Total energy / hour (Nm/h) Spring force (N) Piston return time (s) Max. axial deviation ( ) RE /

151 Shock Absorber Holder, Duct Adapter Shock absorber holder for MKP Part number: Set screws and cylindrical pins are provided M20x Shock absorber holder for MKP Part number: Set screws and cylindrical pins are provided M25x MKP Duct adapter For completion of the compressed air circuit at the other end block of the linear module if the compressed air supply is connected to one end block only. For connection possibilities, see Components and Ordering. MKP / MKP L 2 L 1 G L 3 B Size Dimensions (mm) Part number G A/F L 1 L 2 L 3 B /4" /8" RE /

152 Rexroth Robotic Erector System for Linear Modules / Profiles Connectors for Linear Modules have been designed for easy and rapid adaption of the modules to profiles and frames from Rexroth s Basic Mechanical Elements range. The connectors are supplied as complete kits with all parts required to mount the Linear Modules to the Profile System structures. These lightweight connectors made from high-strength aluminum alloys constitute only a slight additional load on the structure. Linear Modules are available with toothed belt drive, screw drive, pneumatic drive, and rack and pinion drive. There is also a series of connectors available for mounting Linear Modules to each other. For more information, see the Basic Mechanical Elements catalog. Do not mount the linear module by the end blocks! The frame is the main stress-bearing structure! With motor attachments the motor may possibly extend into the work zone of adjacent axes. Make sure it will not obstruct any motion! Connection using clamping fixtures Linear Module mounted transversally on profile (Y axis) fixed by the frame Carriage travels Connection using connection plates Linear Module mounted longitudinally on profile (X axis) fixed by the frame Carriage travels RE /

153 Connection using angle brackets Carriage travels / frame stationary Carriage stationary / frame travels Linear module mounted transversally on profile (Y axis) Linear module mounted transversally on profile (Y axis) Only Linear Module sizes ; ; Linear module mounted longitudinally on profile (X axis) Linear module mounted longitudinally on profile (X axis) Only Linear Module sizes ; ; Linear module mounted perpendicular to profile (Z axis) Linear module mounted perpendicular to profile (Z axis) Only Linear Module sizes 15-65; 10-80; 20-80; ; ; RE /

154 Rexroth Robotic Erector System for Linear Modules / Profiles Clamping Fixture Kits Linear Module in the Y axis carriage travels Material Clamping fixture aluminum alloy T-nut steel Finish / color Clamping fixture black, anodized Screw black, Tuflok coated T-nut galvanized Clamping fixture kits have been designed to fit basic profile section sizes 50 and 40. The Linear Module must be mounted by the frame. Mounting instructions Align the supporting structure. Preassemble the mounting kits. Position the Linear Module. When mounting the Linear Modules, observe the maximum tightening torques as indicated in the table. Recommended number of clamping fixtures: 3 per meter and side Take account of this when designing the supporting structure! Recess for M6 -ISO 4762 Recess for M8 -ISO 4762 Linear Module ; ; Dimensions in mm A B Tightening torques of the mounting screws with friction factor (Nm) Scope of supply 2.7 Clamping fixture mounting kit 2 pcs. clamping fixture 4 pcs. socket head screw 4 pcs. T-nut M4 M6 M Linear Section Dimensions (mm) Mass Part number Module size C D K H T L (kg) mounting kit 15-65, and and RE /

155 Connection Plate Mounting Kits Linear Module in the X axis carriage travels frame travels (only possible with size ) Material Connection plate Clamping fixture T-nut Finish / color Connection plate Clamping fixture Screws Anchor strip aluminum alloy aluminum alloy steel black, anodized black, anodized black, Tuflok coated galvanized or oxide finish Connection plate kits have been designed to fit basic profile section sizes 50 and 40. The Linear Module is usually mounted by the frame using clamping fixtures. With the size module it is also possible to fix the frame or the carriage to the connection plate using strips (fig. B). In this case, make sure before mounting that the supporting profile has a maximum width of 100 mm (see sketch). B A B C Mounting instructions Align the supporting structure. Mount the connection plates to the supporting structure. Position the Linear Module. Observe the maximum tightening torques as indicated in the table. A Tightening torques of the mounting screws with friction factor (Nm) Scope of supply M4 M6 M Connection plate mounting kit Connection plate complete with accessories for mounting the Linear Module to the aluminum profile 23 Fig. Linear Section Dimensions (mm) Mass Part number Module size A B C (kg) mounting kit A 15-65, and A and A A B RE /

156 Rexroth Robotic Erector System for Linear Modules / Profiles Angle Bracket Kits Linear Module in the X or Y axis carriage travels (only possible with sizes / / ) frame travels Material Bracket AlMgSi 0.5 F25 T-nut steel Anchor strip steel Finish / color Bracket anodized, neutral Screws black, Tuflok coated T-nut oxide finish Anchor strip galvanized or oxide finish Angle bracket kits have been designed to fit basic profile section size 50. The Linear Module must be mounted by the carriage using strips or T-nuts. With sizes , and it is also possible to mount the Linear Module by the frame using the same mounting kit. Mounting instructions B F Align the supporting structure. Mount the bracket to the supporting structure. Mount the Linear Module to the bracket. Observe the maximum tightening torques as indicated in the table. A F G Tightening torques of the mounting screws with friction factor (Nm) M5 M6 M C E H Scope of supply Angle bracket mounting kit Bracket complete with accessories for mounting the Linear Module to the aluminum profile Linear Dimensions (mm) Mass Part number Module A B C E F G H (kg) mounting kit , , RE /

157 Angle Bracket Kits Linear Module in the Z axis frame travels carriage travels (not possible with size ) Material Bracket AlMgSi 0.5 F25 Clamping fixture aluminum alloy T-nut steel Anchor strip steel Finish / color Bracket anodized, neutral Clamping fixture anodized, black Screws black, Tuflok coated T-nut oxide finish Anchor strip galvanized or oxide finish A Angle bracket kits have been designed to fit basic profile section size 50. The Linear Module can be mounted by the carriage or the frame. Size can only be mounted by the carriage. B Mounting instructions Align the supporting structure. Mount the bracket to the Linear Module. Mount the bracket with the Linear Module to the supporting structure. Observe the maximum tightening torques as indicated in the table. Tightening torques of the mounting screws with friction factor M4 M5 M6 M8 (Nm) Scope of supply Angle bracket mounting kit Bracket complete with accessories for mounting the Linear Module to the aluminum profile Fig. Linear Mounted Dimensions (mm) Mass Part number Module by A B C E F G H (kg) mounting kit A carriage A carriage A carriage or frame A carriage A carriage or frame B 15-65/10-80 frame RE /

158 Rexroth Robotic Erector System for Linear Modules / Linear Modules In the past, machine manufacturers themselves have had to devise, design and fabricate systems to install or mount and connect linear modules with precision ball screw assemblies or toothed belt drives. The Robotic Erector System for linear modules facilitates these tasks and brings savings for the user, since the system comprises mass-produced standardized components. As a result, the manufacturer can react flexibly to the varied requirements and uses of linear motion technology. The system presents various possibilities to construct two or three axes from linear modules and connectors. The basic elements (plates and connection brackets) are designed to enable linear modules of the same and the next larger or smaller size to be connected to one another. Connecting shafts meet the high requirements for parallel operation of two linear modules with toothed belt drive. The system also includes purpose-designed mounting accessories. The linear modules and the connectors combine to form the Robotic Erector System. RE /

159 159 RE /

160 Rexroth Robotic Erector System for Linear Modules / Linear Modules Configuration Options 2 axes Connectors: 2 connection plates 2X - Y z y x Linear module traverses in the Z axis. Connectors: 1 angle bracket X - Z y z x Carriage traverses in the Z axis. Connectors: 2 connection plates 2X - Z z y x RE /

161 3 axes Connectors: 2 connection plates 1 angle bracket 2X - Y - Z z y x Torque support for the Y axis Parallel drive, external motor Connectors: 4 connection plates 1 angle bracket for 3 linear modules 1 connecting shaft 2X - 2Y - Z z y x 161 RE /

162 Rexroth Robotic Erector System for Linear Modules / Linear Modules Connectors The connectors are mass-produced from a high-strength but light weight aluminum alloy material that minimizes additional weight and the cost of a system. The connecting shafts are made of steel. Carriages with T-slots are required to mount the plates and connection brackets. Plates Connection plate right-angled joint between two linear modules frame to carriage mounting aluminum alloy Connection brackets Angle bracket to connect 3 linear modules parallel connection between two linear modules mounting to carriages mounting of Z axes possible strengthened by additional ribs Angle bracket to connect 2 linear modules right-angled joint between two linear modules carriage to carriage mounting carriage to frame mounting mounts directly to carriages Connecting shafts parallel drive for linear modules connecting shafts high stiffness high precision For dimension drawings of the individual connectors, see Dimension Drawings. RE /

163 System Features Easy mounting to adjacent structures or connection plate by means of clamping fixtures Simply screw down linear modules. Clamping fixtures engage in the T-slots of the frame. Equalizes tolerances in longitudinal and transverse direction. Anchor strips permit rapid and easy assembly using T-slots Insert and adjust the anchor strip. Fix in place with set screws, if necessary (i.e., if in vertical position). Assemble structure. Connection of identical / different module sizes MK MK MK MLR MK MK MK MLR MLR MK MLR MK MK MK MK MLR With types MKR and MLR, allows removal of the toothed belt without dismantling the plates or angle brackets. Mounting / removal of connecting shafts to / from installed linear modules Easy adjustment for synchronous parallel operation, as connecting shafts can be turned steplessly into any position. 163 RE /

164 Rexroth Robotic Erector System for Linear Modules / Linear Modules Mounting of Linear Modules using Rexroth Mounting Components Identification system for part numbers Example: Connection plate Part number of individual component Complete assembly: Part number of the complete assembly including mounting accessories (in this case: including anchor strips and screws to DIN) Connection from linear module to linear module MKK MKK MKR MKR Connection plate Complete assembly: Mounting using anchor strips. Connection plate Complete assembly: Anchor strips (1) fixable with set screws. Mounting using clamping fixtures (2). 2 1 In preparation: Angle bracket / on carriage with anchor strips Complete assembly: Anchor strips (1) + (2) fixable with set screws. on frame with clamping fixtures Complete assembly: Angle bracket Complete assembly: Anchor strips (1) + T-nuts (2) fixable with set screws. 1 2 Symbols Anchor strip or T-nut Clamping fixture RE /

165 Connection from linear module to linear module MKK MKR MKR MKZ Connection plate Complete assembly: Mounting using clamping fixtures (1). Mounting using anchor strips (2). 1 2 Angle bracket Complete assembly: Anchor strips (1) + T-nuts (2) fixable with set screws. 1 2 Note For precise details of the Rexroth mounting accessories, see Mounting Accessories and Mounting. 165 RE /

166 Rexroth Robotic Erector System for Linear Modules / Linear Modules Mounting of Linear Modules using Rexroth Mounting Components Connection from linear module to linear module MKK MKK MKR MKR MLR Connection plate Complete assembly: Mounting using clamping fixtures (1). 1 Complete assembly: Mounting using anchor strips (2). 2 In preparation: Angle bracket / on carriage with anchor strips Complete assembly: Anchor strips (1) + (2) fixable. on frame with clamping fixtures Complete assembly: Angle bracket Complete assembly: Anchor strips (1) + T-nuts (2) fixable with set screws. 1 2 Symbols Anchor strip or T-nut Clamping fixture RE /

167 STAR STAR STAR STAR STAR STAR Connection from linear module to linear module MKR MKK MKR MKZ MLR Connection plate Complete assembly: Mounting using anchor strips (1). 1 1 Angle bracket on carriage with anchor strips Complete assembly: Anchor strips (1) + T-nuts (2) fixable with set screws. 1 2 Note For precise details of the Rexroth mounting accessories, see Mounting Accessories and Mounting. 167 RE /

168 Rexroth Robotic Erector System for Linear Modules / Linear Modules Mounting of Linear Modules using Rexroth Mounting Components Identification system for part numbers Example: Connection plate Part number of individual component Complete assembly: Part number of the complete assembly including mounting accessories (in this case: including anchor strips and screws to DIN) Connection from linear module to linear module MKK MKK MKR MKR MLR MLR Connection plate Complete assembly: Mounting using anchor strips. In preparation: Angle bracket on carriage with anchor strips Complete assembly: Anchor strips (1) + (2) fixable. on frame with clamping fixtures Complete assembly: Anchor strips (1) fixable. / 1 2 Angle bracket on carriage with anchor strips Complete assembly: Anchor strips (1) + T-nuts (2) fixable with set screws. Symbols Anchor strip or T-nut Clamping fixture RE /

169 Connection from linear module to linear module MKK MKK MKR MKR MLR MLR Connection plate Complete assembly: Mounting using clamping fixtures (1). Mounting using anchor strips (2). 1 2 In preparation: Angle bracket Mounting for frame dimension -80: on carriage with anchor strips Complete assembly: Anchor strips (1) + (2) fixable. on frame with clamping fixtures Complete assembly: Anchor strips (2) fixable. / 1 2 Angle bracket Mounting for frame dimension -80: on carriage with anchor strips Complete assembly: Anchor strips (1) fixable. on frame with clamping fixtures Complete assembly: Note For precise details of the Rexroth mounting accessories, see Mounting Accessories and Mounting. 169 RE /

170 Rexroth Robotic Erector System for Linear Modules / Linear Modules Mounting of Linear Modules using Rexroth Mounting Components Identification system for part numbers Example: Connection plate Part number of individual component Complete assembly: Part number of the complete assembly including mounting accessories (in this case: including anchor strips and screws to DIN) Connection plate Complete assembly: Mounting using clamping fixtures (1). Mounting using anchor strips (2). Connection from linear module MKK MKR MLR to linear module MKK MKR MLR MKK MKR MKP Angle bracket Z axis (size -65) with anchor strips on carriage Complete assembly: Anchor strips (1) + T-nuts (2) fixable with set screws. Z axis (size -80) with anchor strips on carriage Complete assembly: Anchor strips (1) + T-nuts (2) fixable with set screws. Z axis on frame with clamping fixtures (size -65 and -80) Complete assembly: Z axis mounted using anchor strips (1) and fixable with set screws. Connection plate Complete assembly: Mounting using clamping fixtures (1). Mounting using anchor strips (2). Connection from linear module to linear module MKK MKK MKR MKR MKP MKP Symbols Anchor strip or T-nut 1 Note Clamping fixture For precise details of the Rexroth mounting accessories, see Mounting Accessories and Mounting. 2 RE /

171 Dimension Drawings of Connection Plates Connection plate for connection of linear modules with frame dimensions -110 and -165 Aluminum alloy, anodized Weight: approx. 3.5 kg 20 ±0.2 Section A A A A Connection plate for connection of linear modules with frame dimensions -110 and -80 Aluminum alloy, anodized Weight: approx. 1.5 kg A 18 ±0.2 A Section A A 171 RE /

172 Rexroth Robotic Erector System for Linear Modules / Linear Modules Dimension Drawings of Connection Plates Connection plate for connection of linear modules with frame dimension -65 Aluminum alloy, anodized Weight: approx. 1.2 kg 18 ±0.2 Section A A A A Connection plate for connection of linear modules with frame dimensions -80 and -65 Aluminum alloy, anodized Weight: approx kg 18 ±0.2 Section A A A A RE /

173 Connection plate for connection of linear modules with frame dimensions -145 and -110 Aluminum alloy, anodized Weight: approx. 5.6 kg A 25 ± Section A A Connection plate for connection of linear modules with frame dimensions -145 and -165 Aluminum alloy, anodized Weight: approx. 6.7 kg A 25 ± Section A A A A A 173 RE /

174 Rexroth Robotic Erector System for Linear Modules / Linear Modules Dimension Drawings of Angle Brackets Angle bracket for connecting 3 linear modules with frame dimensions -110 and Fabricated aluminum alloy Angle bracket for connecting 3 linear modules with frame dimensions 2x -165 and 1x -110 or 2x -165 and 1x Fabricated aluminum alloy RE /

175 Angle bracket for all linear modules with frame dimensions -110, -80 and -65 Fabricated aluminum alloy, anodized Weight: approx. 2.5 kg for for -110 Angle bracket for all linear modules with frame dimensions -165, -145 and -110 Fabricated aluminum alloy, anodized Weight: approx. 5.8 kg for RE /