Compact Modules CKK/CKR 9-70

Transcription

1 Compact Modules CKK/CKR 9-70 (with Ball Rail System, Ball Screw Drive or Toothed Belt Drive) R310EN 2624 ( ) The Drive & Control Company

2 Bosch Rexroth AG Linear Motion and Assembly Technologies Ball Rail Systems Roller Rail Systems Linear Bushings and Shafts Ball Screw Drives Linear Motion Systems Basic Mechanical Elements Manual Production Systems Transfer Systems

3 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 3 Compact Modules Overview of types with load capacities 4 Product overview of motors and controllers 6 Compact Modules with ball screw drive (CKK) 8 Product Overview 8 Structural design 10 Technical data 12 CKK Compact Modules with toothed belt drive (CKR) 18 Product Overview 18 Structural design 20 Technical data 22 CKR Performance data 28 Switch mounting arrangements 30 Overview of switching systems 30 Magnetic field sensor with plug 32 Mounting 34 Mounting, clamping fixtures, centering ring 34 Connecting shafts for Compact Modules CKR 35 Connection plates for CKK/CKR Connection of Compact Modules via cross-plate 38 Maintenance 39 Lubrication 39 Motors 40 Servo motors 40 Three-phase stepping motors 41 Documentation 42 Inquiry / Order form 43

4 4 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Overview of types with load capacities Type designation (size) Compact Modules are identified by the type designation and size. The type designations are also assigned to the design styles with the same external features but without drive unit. Typ e Size Compact Module (example) = C K K 9-70 System = Compact Module (C) Guideway = Ball rail system (K) Drive unit = Ball screw drive (K) or Toothed belt drive (R) Guideway dimension = ca. (mm) Frame dimension = A Type Guideway Drive unit Compact Module Compact Modules CKK Ball rail system Ball screw drive CKR Ball rail system Toothed belt drive

5 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG H H1 A CKK A CKR Dynamic load capacity C (N) Compact Module Dimensions A x H (mm) H 1 (mm) L max (mm) Short carriage Long carriage CKK x CKR x Note: All Compact Modules are also available without a drive unit.

6 6 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Product overview of motors and controllers Motor selection based on drive controllers and control system Digital AC servo motor MSK Several motor-controller combinations are available in order to provide the most cost-effective solution for every customer application. When dimensioning the drive unit, always consider the motor-controller combination. For more detailed information on motors and control systems, please refer to the catalogs ECODRIVE Cs and IndraDrive for Linear Motion Systems. Digital AC servo motor MSM Three-phase stepping motor VRDM

7 Hand RS232 Auto R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 7 Digital controllers IndraDrive Digital controllers ECODRIVE Cs A complete solution Power electronics SD326 SD328 Compact Modules are available as complete solutions with motor, controller unit, and control system. Twin Line Profi Step control unit

8 8 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKK Product Overview Compact Modules are precision, ready-to-install linear motion systems characterized by their high performance and compact design. Favorable price/performance ratio and fast delivery times. Structural design Extremely compact precision aluminum profile (frame) with two integrated ball rail systems Precision ball screw drive according to tolerance grade 7 with backlashfree nut system Fixed bearing end block made of aluminum with two-row, preloaded angular-contact thrust ball bearing Floating bearing end block with double ball bearings Short or long carriage made of aluminum with integrated runner blocks Attachments Maintenance-free digital AC servo drives with integrated brake and attached feedback or stepping motors Motor mount and coupling or timing belt side drive for motor attachment Switches Socket with mating plug for the switches Mounting duct made of profiled aluminum Other distinguishing features Economical maintenance thanks to one-point lubrication feature (grease lubrication) of ball rail systems and ball screw drive at both sides Easy motor attachment by means of locating feature and fastening threads Precise alignment and secure fastening of attachments through threads and pin holes and through short or long carriage Internal components protected by rigid aluminum cover and two gap-type seals made of PU strip reinforced with integrated steel cords Adjustable switches over the entire travel range, switch activation without switching cam Two integrated zero-clearance ball rail systems provide optimized travel performance, high load capacities, and high rigidity Exceptionally low profile due to centrally located ball screw High positioning accuracy and repeatability provided by ball screw drive with zero-backlash nut system High travel speeds with simultaneous high precision over great lengths through ball rail systems, large screw diameters and screw leads, and double floating bearings Drive controllers and control systems For mounting and maintenance, see Instructions for Compact Modules CKK R310D4 2671

9 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 9 Connection plate for easy installation

10 10 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKK Structural design Structural design CKK 1 Ball screw drive with zero-backlash, cylindrical single nut 2 Floating bearing end block 3 Short carriage with two integrated runner blocks 3a Long carriage with four integrated runner blocks 4 Aluminum cover 5 Gap-type seal made of PU strip (recirculating) 6 Fixed bearing end block 7 Frame Attachments: 8 Magnetic field sensor 9 Mounting duct 10 Socket/plug 11 Connection plate 2 1 3a a Motor 13 Motor mount and coupling 14 Timing belt side drive

11 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 11 Structural design of motor mount and coupling A motor can be attached to all Compact Modules with ball screw drive by means of a motor mount and coupling. The motor mount serves to fasten the motor to the Compact Module and acts as a closed housing for the coupling. The motor s drive torque is transmitted stress-free through the coupling to the Compact Module s drive shaft. Our standard couplings compensate the system s thermal expansion. If installing third-party couplings, thermal expansion must be considered. 1 Motor 2 Motor mount 3 Coupling 4 Compact Module Structural design of timing belt side drive All Compact Modules offer the option of attaching the motor via a timing belt side drive. This makes the overall length shorter than when attaching the motor with a motor mount and coupling. The compact, closed housing serves as protection for the belt and as a motor bracket. Various gear ratios are also available: i = 1 : 1 i = 1 : 1.5 F pr The timing belt side drive can be installed in four directions: below, above (RV01 and RV02) left, right (RV03 and RV04) 1 Compact Module 2 Drawn, anodized aluminum profile 3 Toothed belt 4 AC servo motor 5 Pre-tensioning the toothed belt: Apply pretensioning force F pr to motor (F pr is provided upon delivery) 6 Fastening of belt pulleys with tensioning units 7 Cover plate 8 Cover

12 12 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKK Technical data General technical data Size Carriage Ball screw Dynamic load capacity C (N) Dynamic moments Planar moment of inertia y z y Maximum length Moved mass of system m ca (kg) z Connection plate Guideway Ball Fixed M t M L l y l z L max without with d 0 x P screw bearing (Nm) (Nm) (cm 4 ) (cm 4 ) (mm) CKK 9-70 short 8 x long Size Carriage Maximum permissible forces (N) Maximum permissible moments (Nm) Weight with ball screw (kg) F z1 max F z2 max F y max M x max M y max, M z max CKK 9-70 short L long L Acceptable loads (recommended from experience) Modulus of elasticity E With respect to the desired service life, loads up to about 20% of the characteristic dynamic values (C, M t, M L ) have proven to be acceptable. E = 70,000 N/mm 2 At the same time, the following may not be exceeded: maximum permissible loads, permissible drive torque, permissible travel speed. Weight Weight calculation without motor and switches. Weight formula: Weight factor (kg/mm) length L (mm) + weight of all parts of fixed length (carriage, end blocks, etc.) (kg) Note on dynamic load capacities and moments Determination of the dynamic load capacities and moments is based on a travel life of 100,000 m. Often only 50,000 m are actually stipulated. For comparison: Multiply values C, M t and M L from the table by F y max F z1 max M t /M x max F z2 max F y max M L /M y max M L /M z max M L /M z max Short carriage Long carriage

13 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 13 Maximum permissible drive torque for mechanical system M mech The values shown for M mech are applicable under the following conditions: Horizontal operation Ball screw journal without keyway No radial loads on ball screw journal Consider the coupling s rated torque! 0,8 0,7 0,6 0,5 0,4 0,3 0,2 0,1 0,0 M mech (Nm) L (mm) Maximum permissible linear speed of mechanical system v mech Consider motor speed! 0,30 0,25 v mech (m/s) 0,20 0,15 0, L (mm) Specifications of timing belt side drive, floating bearing end for motor attachment via timing belt side drive Motor MSM 030B/MSK 030C Frictional torque M Rsd (Nm) 0.15 Permissible torque up to length L 1) = at Reduced mass moment of inertia at Gear ratio i = i = 1 i = 1.5 i = 1 i = 1.5 Size Ball screw d 0 x P L (mm) M sd (Nm) M sd (Nm) J sd (10 6 kgm 2 ) J sd (10 6 kgm 2 ) CKK x M sd = maximum permissible drive torque of the timing belt side drive (consider the maximum torque of the motor M max ) M Rsd = frictional torque of timing belt side drive at motor journal J sd = Mass moment of inertia of timing belt side drive i = timing belt side drive reduction 1) Permissible torque for greater lengths available upon request Constants k j fix, k j var, k Size Ball Constants Frictional torque M Rs j m Frictional torque M screw k j fix k j var k j m (Nm) Rsd d 0 x P short carriage long carriage short carriage/long carriage CKK x Coupling data Size Motor attachment Coupling data Rated torque Mass moment of inertia Weight For calculation and calculation example, see catalog Compact Modules R310EN 2602 (Nm) (10 6 kgm 2 ) (kg) CKK 9-70 MSM 020B MSM 030B MSK 030C VRDM M cn J c m c

14 14 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKK CKK 9-70 Components and Ordering Part number, length Type Guideway Drive unit Carriage R ,... mm Without motor mount Screw journal Ball screw size d 0 x P 8 x 2.5 Short carriage (32 mm) Long carriage (73 mm) Connection plate Connection plate without with without with OF01 01 Ø With motor mount MF01 01 Ø With timing belt side drive RV01- RV04 01 Ø ) Attachment kit also available without motor (when ordering: enter 00 for motor) 2) Including mounting accessories Order example: see Inquiry / Order form section. Please make sure that the selected combination is a permissible one (load capacities, moments, max. speeds, motor data, etc.)! Switch mounting arrangements A mounting duct is needed to fasten the switches. Switches may be mounted only on one side of the Compact Module (left or right). Refer to Switch mounting arrangements for more information on switch types and switch mounting.

15 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 15 Motor attachment Motor Cover Switch Socket, plug Mounting duct Documentation Gear ratio i = Attachment kit 1) for motor Motor type Gap-type seals without with made of PU strip brake brake without with Standard report Measurement report MSK 030C VRDM MSM 030B MSM 020B MSK 030C MSM 030B MSK 030C MSM 030B Without switch Without mounting duct Magnetic field sensor Reed sensor Hall sensor 21 Mounting duct 25 PNP - NC 22 Length = L contact Magnetic field sensor with plug 2) Reed sensor 58 Hall sensor PNP - NC contact Socket Plug Frictional torque 03 Lead deviation 05 Positioning accuracy Calculating the length of the Compact Module (example) L = (stroke + 2 excess travel) + L ca + 30 mm Stroke = Maximum distance from carriage center to the outermost switch activation points. Stroke = 200 mm L ca = 73 mm L = (( ) ) mm L = 308 mm In most cases, the recommended limit for excess travel (braking distance) is: Excess travel = 2 screw lead P Example: Ball screw 8 x 2.5 (d 0 x P), Excess travel = = 5 mm

16 16 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKK CKK 9-70 Dimensions All dimensions in mm Drawings not to cale Max. travel / 2 L ca 73 (long carriage) Max. travel / 2 Ø6 h7 Excess travel Effective stroke / 2 L ca 32 (short carriage) Effective stroke / 2 Excess travel L/2 L One-point lubrication on both sides (grease lubrication): Funnel-type lube nipple DIN 3405-D3 Long carriage M3-5 deep (8x) Ø3 H7-5 deep (8x) Lube ports for grease lubrication; ports closed with set screw M OF01 RV01-RV04 D MF01 F Lsd H E K G L m D L m L f

17 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG For connection plate, see section on Mounting Ø28 2,5 deep M4-8 deep (4x) B 31, ,5 Short carriage 5 Ø3 H7-5 deep (2x) (Frame dimension) A A 45 B 3,2 1,3 40 2,8 4,5 2,5 For fastening with clamping fixtures 4,8 3,2 1,8 For mounting duct, socket M3-5 deep (4x) Lube ports for grease lubrication; ports closed with set screw M3. Type Motor Dimensions (mm) D E F G H K L f L m L sd i=1 i=1.5 without brake with brake RV01/RV02 MSM 030B RV03/RV04 MSK 030C MF01 MSM 020B MSM 030B MSK 030C VRDM

18 18 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKR Product Overview Compact Modules are precision, ready-to-install linear motion systems offering high performance, compact design, and good price/performance ratio with fast delivery time. Structural design Extremely compact precision aluminum profile with two integrated ball rail systems for optimal travel performance and movement of heavy loads at high travel speeds Ready-to-install Compact Modules in selectable lengths up to L max Short or long carriage made of aluminum with integrated runner blocks Driven by a pre-tensioned toothed belt Attachments Maintenance-free digital servo drives with integrated brake and attached feedback Gear reducer Reed or Hall sensors Socket with mating plug for the switches Aluminum profile mounting duct Other distinguishing features Precise alignment and secure fastening of attachments with threads and pin holes and through short or long carriage Idler (non-drive) end enclosure with integrated belt-tensioning system. Pulley ball bearings are lubricated for life Economical maintenance thanks to one-point lubrication feature (grease lubrication) for ball rail systems at sides or through the carriage Easy motor attachment by means of locating feature and fastening threads on drive end enclosure Two integrated zero-clearance ball rail systems provide optimized travel performance, high load capacities, and high rigidity High travel speed with high precision and smooth operation over long lengths Gap-type sealings and side-mounted aluminum rails for guiding the toothed belt Adjustable switches over the entire travel range, switch activation without switching cam

19 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 19 Connection plate for easy installation Gear reducer: A variety of gear ratios allow an optimal match between the load and the drive motor inertia.

20 20 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKR Structural design Structural design CKR 1 Toothed belt 2 Drive end enclosure 3 Carriage versions Short carriage with two runner blocks Long carriage with four runner blocks 4 Frame 5 Idler (non-drive) end enclosure Attachments: 6 Magnetic field sensor 7 Mounting duct 8 Socket/plug 9 Motor 10 Gear reducer 11 Connection plate

21 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 21 Structural design of gear reducer For all Compact Modules CKR, a planetary gearbox can be installed via a flange. The flange serves as a mounting point for the gearbox to the Compact Module. This direct connection eliminates the need for a coupling, thereby minimizing torsional deflection. Several different gear ratios are available: i = 5 i = 10 1 Motor 2 Gear reducer 3 Flange 4 Drive end enclosure 5 Compact Module

22 22 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact-Module CKR Technical data General technical data Size Carriage Belt type Dynamic load capacity of guideway Dynamic moments Planar moment of inertia y z y Moved mass m B (kg) Connection plate Maximum length Specific spring rate C (N) M t (Nm) M L (Nm) I y (cm 4 ) I z (cm 4 ) without with L max (mm) c spec (N/mm m) CKR 9-70 short AT long AT z Toothed belt stretch L = (F L)/c spec Maximum permissible loads Size Carriage Maximum permissible forces (N) Maximum permissible moments (Nm) F z1 max F z2 max F y max M x max M y max, M z max CKR 9-70 short long Modulus of elasticity E E = 70,000 N/mm 2 Size Carriage Drive type Weight Additional weight of gear reducer (mm) (kg) (kg) CKR 9-70 short Without drive L Drive i = L long Without drive L Drive i = L Weight Weight calculation without motor, switches and sensors. Weight formula: Weight factor (kg/mm) length L (mm) + weight of all parts of fixed length (carriage, drive and idler end enclosures, etc.) (kg) + additional mass (kg) Note on dynamic load capacities and moments Determination of the dynamic load capacities and moments is based on a travel life of 100,000 m. Often only 50,000 m are actually stipulated. For comparison: Multiply values C, M t and M L from the table by F y max F z1 max M t /M x max F z2 max F y max M L /M y max M L /M z max M L /M z max Long carriage Short carriage

23 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 23 Drive data Size Drive type Gear reducer ratio i 1) Maximum 1,000 cycles/hour Max. drive torque 1) M a (Nm) Lead constant u (mm/rev) Belt type Width b (mm) Tooth pitch T (mm) Max. belt drive Belt elasticity transmission force limit F F perm (N) (N) CKR 9-70 i = AT Gear reducer Drive data without motor (i = 1) Size Drive unit diameter (mm) Lead constant u (mm/rev) Travel speed v mech (m/s) Belt type CKR up to 3 AT 3 Width 25 mm Reduced mass moment of inertia at motor journal short carriage (kgm 2 ) long carriage (kgm 2 ) Frictional torque data Size Motor Gear unit type i M RS (Nm) (Nm) CKR 9-70 MSM020B Gear reducer 5, MSK030C M RLP For calculation and calculation example, see catalog Compact Modules R310EN 2602

24 24 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKR CKR 9-70 Components and Ordering Part number, length Type Guideway Drive unit Carriage R ,... mm Without drive OA01 Shaft for motor Without keyway i = 1 without 50 Gear reducer i = 5, 10 Short (80 mm) Long (108 mm) Connection plate Connection plate without with without with With drive MA01 right 01 MA02 left MA05 right 06 MA06 left 07 With gear reducer MG 10 MG10 MG10 01 with gear reducer, right 08 With gear reducer MG MG11 MG11 01 with gear reducer, left 09 1) Attachment kit also available without motor (when ordering: enter 00 for motor) 2) Including mounting accessories Note: For gear unit performance data, see Performance data section. CKR with second shaft end In types MA05, MA06, MG10 and MG11 a second drive shaft end can be made available by removing the screws and cover.

25 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 25 Motor attachment 1) Motor Switch Socket, plug Mounting duct Documentation Direct drive i = 5 i = 10 without brake with brake Standard report Measurement report Without switch Without mounting duct Magnetic field sensor Frictional torque Reed sensor 21 Mounting duct Hall sensor PNP - NC contact Length = L Magnetic field sensor with plug 2) Socket Plug Positioning accuracy MSK 030C Reed sensor 58 Hall sensor PNP - NC contact MSM 020B Length of the Compact Module L = (stroke + 2 excess travel) + L T + 10 mm Stroke = Maximum distance from carriage center to the outermost switch activation points. Stroke = 400 mm L T = 108 mm L = (( ) ) mm L = 738 mm The excess travel must be greater than the braking distance. You can use acceleration travel s as a recommended value for the braking distance (see Performance data tables). Example CKR 9-70: Horizontal operation with motor MSK 030C, i = 5, m = 2 kg, s = 105 mm Excess travel > 105 mm (110 mm assumed) A mounting duct is needed to fasten the switches. Switches may be mounted only on one side of the Compact Module (left or right). Refer to Switch mounting arrangements for more information on switch types and switch mounting.

26 26 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules CKR CKR 9-70 Dimensions All dimensions in mm Drawings not to cale Max. travel / 2 Effective stroke / 2 Max. travel / 2 Effective stroke / Excess travel L ca 108 (long carriage) L ca 80 (short carriage) Excess travel 42 X ,3 16,3 12 M3-6 deep (8x) 18 Ø26,5 H7 3 deep Ø3 H7-6 deep (4x) L/2 L Long carriage 12,5 12, ,5 12,5 One-point lubrication on both sides (grease lubrication): Funnel-type lube nipple DIN 3405-D3 M3-6 deep (8x) 13,5 14,5 Ø8 h7 108 Lube ports for grease lubrication; ports closed with set screw M4. OA01 MA01 / MA02 MA05 / MA06 X Ø8 h7 Ø26,5 H Ø 26,5 H7 14,5 14,5 H7 Ø10 12 deep Ø 8 h7

27 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG For connection plate, see section on Mounting B L m L f 32 44,5 70 A A 45 B 3,2 1,3 4,5 2,5 4,8 3,2 1,8 13,5 31,3 (Frame dimension) Short carriage M3-6 deep (4x) 12,5 12,5 2,8 For fastening with clamping fixtures For mounting duct, socket Lube ports for grease lubrication; ports closed with set screw M4. M3-6 deep (2x) MG10 / MG11 Motor Dimensions (mm) X D L f L m without brake with brake MSM 020B MSK 030C D

28 28 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Compact Modules Performance data CKR 9-70: with long carriage without connection plate with gear reducer for motors with brake in horizontal operation c The data below apply only to the combination described here. For other combinations the performance data must be recalculated. Servomotor MSK 030C and IndraDrive controller 1) Connection voltage: 3 x 400 V Gear reducer ratio i = 5 i = 10 Mass (kg) Acceleration time t (ms) Acceleration distance s (mm) Acceleration a (m/s 2 ) Speed v (m/s) Repeatability (mm) Servomotor MSM 020B and Regler ECODRIVE Cs controller 1) Connection voltage: 1 x 230 V Gear reducer ratio i = 5 i = 10 Mass (kg) Acceleration time t (ms) Acceleration distance s (mm) Acceleration a (m/s 2 ) Speed v (m/s) Repeatability (mm) ) For additional information, refer to the ECODRIVE Cs and IndraDrive for Linear Motion Systems catalogs.

29 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 29

30 30 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Switch mounting arrangements Overview of switching systems Magnetic field sensor Magnetic field sensor with plug The following switch categories can be used with the Compact Module: Magnetic field sensor (Hall and Reed sensors) The entire switching system must be mounted on one side of the Compact Module! Magnetic field sensor Hall and Reed sensor 1 Socket and plug 2 Switch 3 Mounting duct (aluminum alloy, black anodized) 2 c The magnetic field sensors are suitable for travel speeds up to 2 m/s. Short stroke: Take the length of the switch and socket into consideration! Set screw for fixing in place 6,5 35 Active surface Magnetic field sensors with potted cable. Version: Hall sensor (normally closed) or Reed sensor (change-over) Mounting instructions: Switches may be mounted only on one side of the Compact Module (left or right) and only after installing the Compact Module to the mounting base. A mounting duct is needed to fasten the switches. Hall sensor Contact type PNP - NC / NO Operating voltage V DC Power consumption max. 10 ma Output current max. 20 ma Cable length 2 m (10 m upon request) Housing protection class IP 66 Short-circuit protection No Maximum travel speed 2 m/s Reed sensor Contact type Change-over Switching voltage max. 100 V DC Switching current max. 0.5 ma Cable length 2 m (10 m upon request) Housing protection class IP 66 Maximum travel speed 2 m/s Important: 2 switching points! Pin assignment Hall sensor White: VDC Green: Output Reed sensor Brown White Brown: 0 V ground Green

31 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 31 Mounting duct Function: To attach and secure magnetic field sensors Cable routing 3,5 12 Mounting instructions: The mounting duct is hooked into the T-slots of the module frame and secured with set screws. Set screws are included The switches are slid into the T-slot of the mounting duct and secured with set screws. Socket and plug Attach the socket on the side with the magnetic field sensor , ,5 The socket and plug have 16 pins. Socket and plug are not wired. This allows optimal assignment of switch positions during start-up. One plug is included. The plug can be installed in three directions. Ø26 28,5 PG pin plug Part numbers of the magnetic field sensors and accessories Item Part numbers 1 Socket-plug R Magnetic field sensor Reed sensor R Hall sensor (PNP - NC) R Mounting duct R

32 32 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Switch mounting arrangements Magnetic field sensor with plug With magnetic field sensors, switch activation is direct (without switching cam). The switch positions can be adjusted freely over the entire travel range. Sensors may be mounted only on one side of the Compact Module (left or right) and only after installing the Compact Module to the mounting base a Switch positions: 1 Limitation at end of stroke (recommendation: Reed or Hall sensor) 2 Reference point in middle of stroke (recommendation: Hall sensor) Sensor mounting assembly consists of: 3 Sensor (Hall or Reed) 4 Sensor mount incl. set screws (loose) and square nut 4a Cable holder (3 units) incl. set screw (loose) 1 5 Version Part number Sensor mounting assembly with Reed sensor R Sensor mounting assembly with Hall sensor R Sensor configuration: Set screw M3 Activation point Sensor mount A sensor mount (1) is required to attach the sensors. It is hooked into the upper slot on the Compact Module and secured with set screws (2). The sensors are pushed into the upper slot of the sensor mount and fixed with a set screw. The square nut with set screw (3) serves as a positive stop for the sensor (switch position when changing sensors). Parts are included with the sensor mounting assembly. 7,9 26,4

33 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 33 Technical data and ordering Hall sensor Part number R Dimension X mm Contact type PNP - NC Operating voltage 3.8 to 30 V DC Power consumption max. 10 ma Output current max. 20 ma Housing protection class IP 66 Short-circuit protection No Permissible travel speed 2 m/s Housing material Ultramid Reed sensor Part number R Dimension X 9 mm Contact type Change-over Switching voltage max. 100 V DC Switching current max. 500 ma Housing protection class IP 66 Permissible travel speed 2 m/s Housing material Ultramid Important: 2 switching points Pin assignment Hall sensor 1: +3.8 to 30 VDC 4: Output Reed sensor 1 4 3: 0 V ground 3 Hall sensor (PNP - NC contact) Reed sensor (change-over) Extension cable for sensor (Reed/Hall) The extension cable (approx. 5 m) is supplied complete with a female connector M8x1 for connection to the sensor ~35 Extension cable Part number Connector contact Protection class R to core brown blue black IP 66 when connected M8x1

34 34 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Mounting Mounting, clamping fixtures, centering ring Compact Modules are mounted using clamping fixtures. c Do not secure or support the Compact Module at the end enclosures! The frame is the load-bearing part! When mounting Compact Modules, please note the maximum tightening torques listed in the table. Mounting with clamping fixtures Clamping fixtures D Recommended number of clamping fixtures: 3 pieces per 500 mm and side C E F Countersink for thread M 5 (ISO 4762) G Frame size 70 mm Part number Dimensions (mm) Clamping fixtures C D E F G R Tightening torques of fastening screws with friction factor strength class (Nm) max. M5 5.5 Centering ring The centering ring serves as a positioning aid and for positive locking when mounting customer attachments to the carriage. It creates a positive-locking connection with good reproducibility. Material: steel (stainless) D ØF ØC ØA ØB D ØF ØC ØA H 1 Installation ØA H7 a b c ØB H7 ØA H7 H 1 H 2 E Ø Size Dimensions (mm) Part number a) Customer attachment b) Centering ring c) Carriage A B C D E ØF H 1 H 2 (mm) k6 k6 ± R R R R R R R R R R

35 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 35 Connecting shafts for Compact Modules CKR Connecting shafts Compensate for misalignments Are backlash-free and torsionally stiff Bridge large distances between axes Can be mounted radially using split clamping hubs (installation and removal without shifting pre-aligned axes) Dynamically balanced Material Bellows: highly flexible stainless steel Connecting tube and clamping hub: aluminum Screw M Ordering data Please state the part number and length L W. For example: R , L W = 550 mm Size Part number Dimensions (mm) M A (Nm) M S M cs Mass moment of inertia Weight A D M L Wmin L Wmax L W (Nm) (Nm) (10 6 kgm 2 ) (kg) CKR 9-70 R M L M L W (mm) L W (mm) L M = centerline-to-centerline distance between Compact Modules M A = tightening torque of screws Torsional stiffness c T M cs = rated torque of connecting shaft M S = peak torque of connecting shaft Maximum rotary speed n (10 3 Nm/rad) 1,0 0,5 0, L cs (mm) (min 1 ) L cs (mm) Recommended rotary speed: 80% of maximum rotary speed

36 60 32,5 36 Bosch Rexroth AG 12,5 32,5 32,5 60 Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) 10 Mounting Connection plates for CKK/CKR 9-70 Connection plate for CKK Function: Fastening of attachments (with sliding blocks) Lubrication possible from two sides (designed for one-point lubrication through only one of the two sides) Assembly consists of: Connection plate Mounting accessories for fastening to the carriages Sliding blocks are not included with delivery Short carriage A 95 b) a) Detail A Frame size 70 5,7 ±0,2 4,2 +0,2 1x45 B 12, ,5 32, ,3 2 +0,2 Long carriage 4,5 Detail B 70 a) ,3 95 2,2 4 b) a) Funnel-type lube nipple DIN 3405-D4 b) Ø 7 H7, 1,6 +0,2 deep Frame size Part number for assembly Short carriage Long carriage 70 R R

37 60 60 R310EN 2624 ( ) Compact Modules CKK/CKR Bosch Rexroth AG Connection plate for CKR 70 Function: Fastening of attachments (with sliding blocks) Lubrication possible from two sides (designed for one-point lubrication through only one of the two sides) Assembly consists of: Connection plate Mounting accessories for fastening to the carriages Sliding blocks are not included with delivery. 95 Short carriage 95 b) A a) Detail A Frame size 70 5,7 ±0,2 B 12,5 32, ,5 4,2 +0,2 Long carriage 1x ,3 2 +0,2 4 4,5 Detail B 70 a) ,3 95 2,2 4 b) a) Funnel-type lube nipple DIN 3405-D4 b) Ø 7 H7, 1,6 +0,2 deep Frame size Part number for assembly Short carriage Long carriage 70 R R

38 38 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Mounting Connection of Compact Modules via cross-plate Y-axis connected by the frame (carriage travels) Y-axis connected by the carriage (frame travels) Y-axis Y-axis X-axis X-axis Versions: X-axis Select carriages and long connection plate according to table Components and ordering (option number 41). Y-axis The number of carriages and the connection plate can be freely selected according to table Components and ordering. Versions: Select X-axis and Y-axis with long connection plate according to table Components and ordering (option number 41). Connection kit consisting of: Clamping fixtures Sliding blocks Screws Centering rings X-axis (Compact Module with connection plate option no. 41) A Y-axis (any carriage version) Frame size R A (mm) 76.5 Weight (kg) R A (mm) 88.0 Weight (kg) 0.20

39 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 39 Maintenance Lubrication Lube nipple in frame On each side of the frame of the Compact Modules there are holes through which the lube nipples in the carriage can be accessed. Lubrication from one side only is sufficient. The lube nipples are not always located centrally in the carriage. Move the carriage as specified in the table. Carriage x (mm) Lube nipples CKK CKR short long 0 0 DIN 3405-D3 Schematic representation Lube ports for carriage attachments The lube ports are sealed with a set screw in the factory before shipment. To use, install according to the specified connection dimensions and use O-rings to seal the interface. a ØE ØD F = = b c M d a) Customer-built attachment b) Carriage c) O-ring d) Frame Compact Module Carriage Dimensions (mm) O-ring for DIN3771 A B ØD ØE F M Part number CKR M 3 3 x 1.0 R CKK short 40 5 CKK long 40 0 Lube nipples in connection plates for CKK/CKR Each connection plate has two funnel type lube nipples (1) according to DIN 3405-D4 located on its end faces. Lubrication through only one of the two lube nipples is sufficient. 1 Short stroke for CKK/CKR For short-stroke applications (stroke < 40 mm), please consult with us about lubrication.

40 40 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Motors Servo motors AC servo motors MSK Motor data/dimensions Description Symbol Unit MSK030C-0900 Maximum usable speed n max (min 1 ) 9000 Maximum torque M max (Nm) 4 Rated torque M N (Nm) 0.8 Rotor mass moment of J rot (10 6 kgm 2 ) 30 inertia Mass without brake m (kg) 2.1 Holding brake Holding torque M Br (Nm) 1.0 Brake mass moment of J Br (10 6 kgm 2 ) 7 inertia Mass of brake m Br (kg) 0.25 Motor Dimensions (mm) A B 1 B 2 B 3 ØD ØE ØF ØG H 1 H 2 H 3 L without L with L 1 R k6 j6 brake brake MSK 030C R5 AC-Servo motors Motor data/dimensions Motor Dimensions (mm) A B 1 B 2 B 3 ØD ØE ØF ØG H 1 H 2 H 3 L without L with h6 h7 brake brake MSM 020B MSM 030B Description Symbol Unit MSM 020B MSM 030B Maximum usable speed n max (min 1 ) Maximum torque M max (Nm) Rated torque M N (Nm) Rotor mass moment of inertia J rot (10 6 kgm 2 ) Mass without brake m (kg) Holding brake Holding torque M Br (Nm) Brake mass moment of inertia J Br (10 6 kgm 2 ) Mass of brake m Br (kg) Notes All servo motors have an absolute multiturn encoder. The motors can be supplied complete with control system. For additional information, refer to the ECODRIVE Cs and IndraDrive for Linear Motion Systems catalogs.

41 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 41 Three-phase stepping motors 3hree-phase stepping motors VRDM Notes All VRDM motors are equipped with an encoder for rotation monitoring. VRDM 368 B 1 L ± 0,5 41 Ø E Ø D B 2 14 Ø15 Ø51 A Ø G Key to illustration 1 Motor connector 2 Brake 3 Encoder connector 4 Brake connector B Ø F 31 Dimensions Motor Dimensions (mm) A B 1 B 2 B 3 ØD ØE ØF ØG L L without brake with brake VRDM ± Motor data Motor Unit VRDM 368 Maximum permissible torque M max (Nm) 1.50 Motor mass moment of inertia J m (10 6 kgm 2 ) 38 Motor holding torque M m (Nm) 1.74 Mass without brake m m (kg) 1.1 Step count z ( ) 200 / 400 / 500 / 1000 / 2000 / / / Stepping angle per step a ( ) 1.8 / 0.9 / 0.72 / 0.36 / 0.18 / 0.09 / / Encoder resolution 1000 increments/revolution Holding brake Brake holding torque M br (Nm) 1 Brake mass moment of inertia J br (10 6 kgm 2) 1.6 Mass of brake m br (kg) 0.5 Notes The motors can be supplied complete with control system. For additional information, refer to the ECODRIVE Cs and IndraDrive for Linear Motion Systems catalogs.

42 42 Bosch Rexroth AG Compact Modules CKK/CKR 9-70 R310EN 2624 ( ) Documentation Standard report Option no. 01 The standard report serves to confirm that the checks listed in the report have been carried out and that the measured values lie within the permissible tolerances. Frictional torque of complete system Option no. 02 The moment of friction is measured over the entire travel range. Advance Return Lead deviation of ball screw drive for Compact Module CKK Option no. 03 A measurement report in table form is provided in addition to the graph (see illustration). Positioning accuracy to VDI/DGQ 3441 Option no. 05 Measurement points are selected at irregular intervals along the travel range. This allows even periodical deviations to be detected during positioning. Each measurement point is approached several times from both sides. This gives the following parameters: Deviation (µm) Example Deviation (mm) Measured travel (mm) Set position (mm) Positioning accuracy P The positioning accuracy corresponds to the total deviation. It encompasses all the systematic and random deviations during positioning. The positioning accuracy takes the following characteristic values into consideration: position deviation, reversal range, position variation range Position deviation P a The position deviation corresponds to the maximum difference arising in the mean values of all the measurement points. It describes systematic deviations. Reversal range U The reversal range corresponds to the difference in mean values of the two approach directions. The reversal range is determined at every measurement point. It describes systematic deviations. Position variation range P S The position variation range describes the effects of random deviations. It is determined at every measurement point.

43 R310EN 2624 ( ) Compact Modules CKK/CKR 9-70 Bosch Rexroth AG 43 Inquiry / Order form Bosch Rexroth AG Linear Motion and Assembly Technologies D Schweinfurt, Germany Telephone Fax (direct) Rexroth Compact Modules Order example Order data Explanation Compact Module (part number): R , 738 mm Compact Module CKR 9-70, length = 738 mm Type = MG10 With gear reducer according to illustration MG10 Guideway = 01 Ball Rail System Drive unit = 08 Drive end enclosure for attaching gear reducer at right Carriage = 02 Carriage with length L T = 108 mm Motor attachment = 11 for motor MSK 030C, i = 5 Motor = 85 Motor MSK 030C with brake 1st switch = 21 Reed sensor 2nd switch = 22 Hall sensor, PNP - NC 3rd switch = 21 Reed sensor Mounting duct / cable duct = 25 Mounting duct, delivered as separate part Socket-plug = 17 Socket-plug, delivered as separate part Documentation = 02 Measurement report: Frictional torque To be completed by customer: Inquiry / Order Compact Module (Part number): R, Length mm Type = Guideway = Drive unit = Carriage = Cover (for CKK) = Motor attachment = Motor = 1st switch = 2nd switch = 3rd switch = Mounting duct / cable duct =, mm Socket-plug = Documentation = Individual parts: (Part number): R R R R Quantity Comments: Order of: pcs, per month, per year, per order, or Sender Company: Address: Name: Department: Telephone: Fax:

44 Bosch Rexroth AG Linear Motion and Assembly Technologies Ernst-Sachs-Straße Schweinfurt, Germany Tel Fax Australia Bosch Rexroth Pty. Ltd. 3 Valediction Road Kings Park, NSW 2148, Sydney Tel Fax Great Britain Bosch Rexroth Limited Cromwell Road St. Neots, Huntingdon Cambs. PE19 2ES Tel Fax Canada Bosch Rexroth Canada Corp Mainway Drive Burlington, Ontario L7M 1A8 Tel Fax USA Bosch Rexroth Corporation South Lakes Drive Charlotte, NC Tel REXROTH Fax Singapore Bosch Rexroth Pte. Ltd. 15D Tuas Road Singapore Tel Fax Your sales partner Subject to technical modifications Bosch Rexroth AG 2006 Printed in Germany R310EN 2624 ( ) EN BRL/MKT2