Precision Worm Gearboxes for Servomotors

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Lynette Baker
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1 Precision Worm Gearboxes for Servomotors

2 2 ZF-Duoplan 2K Two-speed Gearboxes ZF-Servoplan PG Servogearboxes ZF-Servoplan CG Compact Gearboxes ZF-Tiratron Hysteresis Brakes ZF-Ecolift Elevator Gearboxes ZF-Servoplan PGE Servogearboxes Economy Customer specific Gearboxes ZF-Servoplan WT Right Angle Gearboxes

3 Precision in movement Our group has offered it s customers a wide range of high quality power transmission components for a long period of time.

Servoplan SWG Servogearboxes Our geared products include: in-line servo gearboxes (ZF-Servoplan PG and PGE), right angle servo gearboxes (ZF-Servoplan WT

3 3 Precision in movement Our group has offered it s customers a wide range of high quality power transmission components for a long period of time. Our extensive product portfolio includes gearboxes, brakes and clutches serving a variety of industries. Servoplan SWG Servogearboxes Our geared products include: in-line servo gearboxes (ZF-Servoplan PG and PGE), right angle servo gearboxes (ZF-Servoplan WT and Servoplan SWG) and compact servo gearboxes (ZF-Servoplan CG) serving, among others, the general automation, packaging, material handling, machine tool and robotics industries. Our innovative two-speed gearbox (ZF-Duoplan) was developed for main spindle drives in machine tools, and a high efficiency planetary gearbox was developed for elevators (ZF-Ecolift). The innovative line of hysteresis brakes and clutches (ZF-Tiratron) offer non-contact, speed independent torque transmission for web control. Our electromagnetic brakes and clutches have set the standard in a variety of industries for multi disc, friction and toothed versions. We also offer customer specific gearboxes for a variety of industries including printing and converting, as well as brakes and clutches for industries including exercise equipment, power tool and automotive.

A new step in servogears: SERVOPLAN SWG 4 3 Precision Levels: High Precision: backlash 1 arcmin Precision: backlash 3 arcmin Standard:

output (sizes 80-800 only) 1. Computer optimized gear contact pattern: less stress, longer life. 2.

Servo Adaptation: including high torsional stiffness coupling with steel bellows coupling + flange available for all existing servomotors. 4.

Constant input bearings preload design: 2 taper roller bearings + 1 floating ball bearing allowing temperature variations with same preload :

4 A new step in servogears: SERVOPLAN SWG 4 3 Precision Levels: High Precision: backlash 1 arcmin Precision: backlash 3 arcmin Standard: backlash 10 arcmin Hollow shaft + servo kit Dual output shaft + servo kit (sizes only) Single output shaft + servo kit Robot flange output (sizes only) 1. Computer optimized gear contact pattern: less stress, longer life. 2. Keyless connection: reliable and backlash free connection with shrink disc. 3. Servo Adaptation: including high torsional stiffness coupling with steel bellows coupling + flange available for all existing servomotors. 4. Oversized taper roller bearings: provide very high permissible loads. 5. Constant input bearings preload design: 2 taper roller bearings + 1 floating ball bearing allowing temperature variations with same preload : higher input permissible speeds, longer life. 6. Pinned and bound wheel ring: 100 % stiff and reliable keyless connection, sizes Centrifugally cast wheel ring sizes Compact design, hardened aluminium-magnesium alloy: lower weight, higher loads, sizes Cast iron sizes Life time: hours.

5 SWG benefits Low backlash Space saving configuration: the right-angle design, more compact, is favorable in most cases. Wormgear: low noise level (<55 db), more important permissible overloads, higher torsional stiffness. Maintenance free: life-lubricated unit with high performance polyglycol lubricant. Unbeatable ratio of price to performance

6 Technical Specifications (designation see legend page 22) SWG 30 N i S5 S S5 S1 S5 S1 S5 5.2: X : X : X : X : X : X : X : X : X S1 S5 E-stop Self C1f ig Et Locking Fr Fa 6 SWG 80 SWG 120 SWG 190 SWG 260 SWG 500 SWG : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X : X Denotes self locking feature. However, this feature may be overcome. Therefore, it does not replace a brake.

N1 6000 4000 3000 2000 1000 i S5 S1 S5 S1 S5 S1 S5 S1 S5 Self E-stop ig Fr Fa C1f Locking 5.125:1 792 97 609 1005 96 716 1181 96 884 1459 95 1217 2008 94 3767 50 X10-4 13600 12000 2.5 7.

25:1 726 94 542 894 93 625 1031 92 759 1252 91 972 1604 89 3342 25 X10-4 18900 22000 20.5:1 1026 93 759 1252 92 877 1447 91 1043 1721 89 1320 2178 87 3767 23.4 X10-4 20600 22000 2.5 2.5 1.3 29.

3 60:1 980 82 713 1176 79 815 1345 77 929 1533 74 1150 1898 69 2937 20 X10-4 28000 22000 1 90:1 825 74 598 987 71 680 1122 68 779 1285 64 960 1584 58 2502 19 X10-4 32000 22000 1 5.

7 N i S5 S1 S5 S1 S5 S1 S5 S1 S5 Self E-stop ig Fr Fa C1f Locking 5.125: X : X SWG : X : X : X : X : X : X : X : X : X : X SWG : X : X : X : X : X : X : X : X : X SWG : X : X : X : X : X : X Denotes self locking feature. However, this feature may be overcome. Therefore, it does not replace a brake. Notes Concerning Efficiency Efficiency values may be achieved after a minimum of 24 hours at full load operation (running-in-period). Efficiency values are achieved only when gearbox operates at nominal torque. For gearbox operating below nominal torque, efficiency is lower.

8 SWG - Hollow Shaft SMOOTH SHAFT FOR SHRINK DISC (AVAILABLE FROM STOCK) L P T2 R Q T Y H C X B V U3 U N G (x4)s on M A (x4) O thru holes F INPUT SHAFT VERSION Servo coupling (Optional) (Standard) Shrink disc (Optional) I 8 Shims for backlash adjustment (High Precision version only) K Z E J D (x4) W + (x4) W on opposite side KEYWAYED HOLLOW SHAFT (NOT STOCKED) U1 U2 U 4 T1

SWG 30 80 120 190 260 500 800 A 86 108 120 134 172

5 53 61 66 82 91 108 D 62 81 90 98 136 141 175 E

17 20 22 24 28 30 36 L see page 19 M 65 85 100 115

11 11 13 13 P (max) 70 83.5 91 101 124 136.

5 74 85 91 S M6 M8 M8 M10 M10 M12 M12 (x8) T 45 52

30 35 40 50 60 U1 18.3 28.3 33.3 38.3 43.3 53.8 64.

50 60 72 80 90 115 138 W M6 M8 M8 M10 M10 M12 M12

9 SWG A B C D E F G H I (max) I (min) J (h6) K L see page 19 M N (j7) O P (max) Q R S M6 M8 M8 M10 M10 M12 M12 (x8) T T T U (h7) U U U U V W M6 M8 M8 M10 M10 M12 M12 X Y Z Weight (kg) Mounting Positions: H V F

10 SWG - Hollow Shaft SMOOTH SHAFT FOR SHRINK DISC 10 INPUT SHAFT VERSION (Standard)

11 SWG A B C D E F F G H I J K L see page 21 M N O P Q R R S S1 M16 M20 M20 T T U U V W M16 M20 M20 X Y Z Weight (kg) Mounting Positions: Note : Positions F are shown with shrink disc on back side.

12 SWG - Output Shaft 12 (Standard)

SWG 30 80 120 190 260 500 800 A 86 108 120 134

K 17 20 22 24 28 30 36 L see page 19 M 65 85 100

7 9 9 11 11 13 13 P (max) 70 83.5 91 101 124 136.

13 SWG A B C D E F G H I (max) I (min) J (h6) K L see page 19 M N (j7) O P (max) Q R S M6 M8 M8 M10 M10 M12 M12 (x8) T T T U (h6) U U U3 M10 M12 M16 M16 M16 M20 M20 W M6 M8 M8 M10 M10 M12 M12 X Y Z WEIGHT (kg) Mounting Positions: H V F

14 SWG - Output Shaft 14 (Standard)

15 SWG A B C D E F F G H I J K L see page 21 M N O P Q r R R S S1 M16 M20 M20 T T U U U U4 M20 M24 M24 W M16 M20 M20 X Y Z WEIGHT (kg) Mounting Positions: H V F

16 SWG - Robot Flange High precision version only 16 (Standard) SIZES and 190 SIZES 260 and 500 SIZE 800

17 SWG Robot A B C D E F G H I (max) I (min) J (h6) K L see page 19 M (h7) N (h7) O P (max) Q R R R R R S (h7) T U (h7) V M6 M6 M6 M8 M8 M10 V V W M8 M8 M10 M10 M12 M12 X Y M5 M5 M5 M6 M8 M8 Y Y Z Weight ca. (kg) Max. tilting torque (Nm) Tiling rigidity (Nm/armin) Mounting Positions:

18 SWG Servo Motor Mounting Servo Coupling L D 18 Coupling reference Max. servo shaft and SWG shaft mm Servo nominal torque Nm Servo peak torque Nm D mm L mm Moment of inertia 10-3 kgm Torsional stiffness Nm/arcmin Tightening torque of campling screws Nm Specify the coupling reference and the motor shaft when ordering. Example: To calculate the total input inertia, add the coupling inertia to the gearbox inertia (page 6). Servo Flange Select the required flange on page 19. If no flange can be found in the list, supply the dimensions from A to Z, or supply the servo reference when ordering. L C (x4)e on D A B Z

19 SWG Reference A B C min* 1 D E L* 1 Z AA M AB M AC M AD M AE M AF M AG M AH M AI M AJ M AA M AB M AC M AD M AE M AF M AG M AH M AI M AJ M AK M AA M AB M AC M AD M AE M AF M AG M AH M AI M AJ M AK M AA M AB M AC M AD M AE M AF M AG M AH M AI M AJ M AK M AL M AM M AA M AB M AC M AD M AE M AF M AG M AH M AI M AJ M AK M AL M AM M AA M AB M AC M AD M AE M AF M AG M AH M AI M AJ M AK M AA M AB M AC M AD M AE M AF M AG M AH M AI M AJ M AK M * 1 If length of motorshaft is longer than C min, a intermediale ring according to order number system (page 23) has to be defined to compensale the overlength. In this case L will be longer accordingly.

20 SWG Servo Motor Mounting Servo Coupling L 18 D 20 Coupling reference Max. servo shaft and SWG shaft mm Servo nominal torque Nm Servo peak torque Nm D mm L mm Moment of inertia 10-3 kgm Torsional stiffness Nm/arcmin Tightening torque of clamping screws Nm Specify the coupling reference and the motor shaft when ordering. Example: To calculate the total input inertia, add the coupling inertia to the gearbox inertia (page 7). Servo Flange Select the required flange on page 21. (x4)e on D

21 SWG Reference A B C min* 1 D E L* 1 Z 1500 AA M AB M AC M AD M AE M AF M AG M AH M AI M AJ M AK M AL M AA M AB M AC M AD M AE M AF M AG M AA M AB M AC M AD M AE M AF M AG M AH M * 1 If length of motorshaft is longer than C min, a intermediale ring according to order number system (page 23) has to be defined to compensale the overlength. In this case L will be longer accordingly.

22 SWG - Gearbox Selection Start/Stop Service S5 - Calculate acceleration torque on gearbox output : C2acc = C1accxix xf1xf2 Continuous Service S1 - Calculate nominal torque on gearbox output C2nom = C1nomxix F1 and F2 : correction factors as per following chart. GEARBOX RUNNING TIME DURING 1 FULL CYCLE 10 % 30 % 50 % 70 % 90 % F NUMBER OF STARTS PER HOUR 1000 to to to to F 2 1 to to to to 1.9 Intermediates values To be interpolated - Select the gearbox size in the column S5 : - Select the gearbox size in the column S1 : S5 > C2acc S1 > C2nom 22 LEGEND C1acc (Nm) : motor acceleration torque C1nom (Nm) : nominal motor torque C2acc (Nm) : gearbox output acceleration torque C2nom (Nm) : Gearbox output nominal torque E-stop (Nm) : gearbox output emergency torque (2 seconds duration maximum, applied a maximum of times over the gearbox life) C1f (Nm) : starting input friction torque (without any load on output) N1 : maximum input RPM to be achieved during a full cycle (S5 service) or input nominal RPM (S1 service) i : exact gear ratio Et (Nm/arcmin) : Torsional stiffness on output ig (kgm 2 ) : moment of inertia on input (to be added to coupling inertia, see page 10) (%) : gearbox efficiency at considered input RPM Fr (N) : permissible radial load on output shaft (applied at the middle of the shaft) Fa (N) : permissible axial load on output shaft

Quotation Request: Kindly fill out below questionnaire for speedy processing and send to: Fax: ++49/(0)40 53540024 E-Mail: marzahl@marzahl.

diameter e1 [mm]: Fixing hole diameter s1 [mm]: Flange square f [mm]: Motor nominal torque [Nm]: Motor maximum torque [Nm]: Gearbox data: Servoplan size: SWG- Servoplan ratio [i]: Keyed output shaft

23 Quotation Request: Kindly fill out below questionnaire for speedy processing and send to: Fax: ++49/(0) B E D Z d1 23 b2 b1 Motor data: Motor manufacturer: Type: Motor shaft diameter d1 [mm]: Flange face distance b1 [mm]: Motor shaft length b2 [mm]: Centering diameter z1 [mm]: Fixing hole circle diameter e1 [mm]: Fixing hole diameter s1 [mm]: Flange square f [mm]: Motor nominal torque [Nm]: Motor maximum torque [Nm]: Gearbox data: Servoplan size: SWG- Servoplan ratio [i]: Keyed output shaft (yes/no): Backlash specification (high Precision, Precision or Standard): Ordering number (see below): Basis of quotation (batch size): Projected annual volume: A Subject to technical change without notice. For studies, please request installation drawings; only the data contained therein is binding. S W G A 9 0 H 1 H 1 A E Output Options N R H K S D Coupling reference (page 18/20) Motor flange code (page 19/21) Motor shaft mm Installation (page 9,11.13,15 and 17) Size intermediale Ring for extendet motorshaft Hollow shaft, no shrink disc Robot flange Hollow shaft including shrink disc Hollow shaft with keyway Single output shaft Dual output shaft Code Ratio Backlash A High precision 1 arcmin B Precision 3 arcmin C Standard 10 arcimn Example Code Size S W G A 9 0 H 1 H 1 A E

24 Marzahl Vertrieb GmbH Ulzburger Straße 528 D Norderstedt Telefon: +49(0) Telefax: +49(0) Internet: Subject to technical change without notice. For studies, please request installation drawings; only the data contained therein is binding.

RIGHT ANGLE SERVO GEARHEADS PRECISION GEARHEADS

RIGHT ANGLE SERVO GEARHEADS PRECISION GEARHEADS July 2005 Provides : TABLE OF CONTENTS RIGHT ANGLE SERVO GEARHEADS : To machine designers a convenient option of turning servomotor drive systems through