camoline Cartesian Motion Building System R310EN 2605 ( )

Transcription

1 camoline Cartesian Motion Building System R310EN 2605 ( ) The Drive & Control Company

2 Modularity for best effectiveness Efficient Handling Solutions more than just a system Bosch Rexroth AG 2 Our innovative product system comprises three different standardization levels, all in high quality to meet the rising scale of requirements across the applications spectrum. Our proven 3-level system is optimally designed to span the extremes between full standardization and customization in handling applications. You decide the best fit for you: as standardized as possible as customized as necessary. Our flexible CMS and camoline product systems, based on the extensive Efficient Handling Solutions range, offer you an outstanding variety of modular opportunities. camoline and CMS are also ideal for individual auxiliary applications. If you wish, we can also provide expert assistance in planning and designing the automation solution for your specific application. Standardization level A solution for every application Select the best fit with the least effort and the greatest level of standardization. CMS offers the highest level of standardization and thus the least implementation effort. You can choose between 17 tailor-made, plug-and-play versions. CMS If desired, these can be supplied complete with user-friendly IndraMotion for Handling controls: easy to use! camoline This modular building system and the Easy-2-Combine interface covers a broad range of applications, allowing you to build handling systems to your own specific requirements. It considerably simplifies the design, installation and start-up process. Compared to CMS, it offers a more extensive range of actuators. If desired, systems can also be delivered completely pre-assembled. Efficient Handling Solutions The complete Bosch Rexroth portfolio for handling and automation comprises flexibly configurable electric, mechanical and pneumatic solutions with a multitude of combination options. Full design freedom with the Bosch Rexroth range. Our technical support team will of course be happy to provide comprehensive and competent advice at any time.

3 3 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) camoline Cartesian Motion Building System Sizing and Design Calculations 6 System Overview 6 Selection Guide 7 Calculations 12 Inquiry 14 Linear Axes 16 Product Overview 16 Compact Module CKK 18 Compact Module CKR 22 eline Compact Modules eckk 26 eline Compact Modules eckr 30 Compact Modules CKP 34 Linear Modules MKK 38 Linear Modules MKR 42 Feed Modules VKK 46 Mini Slide MSC 50 Rotary Compact Modules and Grippers 56 Product Overview 56 Rotary Compact Module RCM 57 Gripper GSP-P 61 Gripper GSP-A 64 Gripper GSP-R 67 Drive & Control Elements 70 Motor Attachment to Linear Axes with Ball Screw Drive 70 Motor attachment with motor mount and coupling 70 Motor attachment with timing belt side drive 72 Motor Attachment to Linear Axes with Toothed Belt Drive 74 Direct motor attachment with i = 1 74 Motor attachment with gear reducer 75 CKR / eckr with second shaft end 76 MKR with second shaft end 76 Connecting Shafts for CKR / eckr / MKR 77 Motors 79 Mounting orientation of motor to linear motion system 79 Servo motor MSK (IndraDyn S) 80 Servo motor MSM (ECODRIVE Cs) 82 3-phase stepping motor VRDM 84 Compact Servo Converters IndraDrive C for MSK motors 87 Compact Servo Converters ECODRIVE Cs for MSM motors 89 Switch Mounting Arrangements on the Linear Axis 90 Sensor mount 91 Cable holder 91 Switch Mounting Arrangements on the Feed Module 92 Switch Mounting Arrangements on Pneumatic Axes 93 Connection Elements 94 Product Overview 94 Linear axis linear axis: Direct connection 98 Linear axis linear axis: Connection via angle brackets 102 X-Y axes 102 X-Y axes (reinforced version) 104 X-Z axes 106 Linear axis linear axis: End-face connection 110 Linear axis Rotary Compact Module: Direct connection 117 Linear axis Rotary Compact Module: End-face connection 118 Linear axis Gripper: End-face connection 120 Rotary Compact Module Gripper 123 Accessories 124 Clamping Fixtures 124 Sliding Blocks and Springs 125 Centering Rings 126 Shock Absorbers 127 Cable Drag Chains 128 Ordering examples 138 Base Frame 141 Product Overview 141 Strut Profile 142 Foot 143 Connection of Linear Axis to Strut Profile 144 Connection of Linear Axis to MGE 147 Maintenance 148 Linear Axes 148 MSC Slides, Rotary Compact Modules, Grippers 150 Ordering Data 151 Notes 152

4 4 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Contents of this catalog camoline Perfectly matched building system camoline can be supplied either pre-assembled or as an assembly kit (with all components) Tools Provided in this catalog: Selection guide Accessible on Selection tool camoselect Easy-2-Combine sizing and calculation tool camoline CAD Configurator Mechanical system Linear axes in several sizes Different types of drive units for the same size (e.g. ball screw, toothed belt, pneumatic) Optimally matched rotary and gripper components Proverbial Rexroth Quality Drives Selection of matching motors (servo or stepping motor designs) Matching controllers and commonly used interface modules

5 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 5 Connection technology Direct connection without adapter plates results in high structural integrity, minimal space requirement, minimal weight and high dynamics Standardized, positive-locking connection elements Easy assembly Easy reproducibility Standardization through fixed dimensional increments Reduced parts complexity thanks to multiple combination options using the same connection kit Many combination possibilities Accessories Strut profiles in two sizes for constructing frames Cable management chains available in six different sizes including guide channels and all necessary fastening elements Virtually limitless attachment options for designers Ordering Data Maintenance Base Frame Accessories Connection Drive & Control Rotary Compact Linear Axes Sizing & Design Elements Elements Modules & Grippers Calculations

6 6 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Sizing and Design Calculations System Overview Below is an overview of the general conditions for the most common combinations. Our quick project engineering tool camoselect can be accessed at In addition to the examples shown here, our linear axes can be combined in many more variations. Pick & Place Z X Drive type Pneumatic/Pneumatic Pneumatic/Electric Electric/Electric Stroke range (mm) x-direction (recommended) (recommended) (recommended) z-direction (recommended) (recommended) Moved masses Recommended max. payload (kg) Linear gantry/x-y table X Z X Y Drive type Pneumatic/Pneumatic Pneumatic/Electric Electric/Electric Stroke range (mm) x-direction z-direction (recommended) (recommended) (recommended) Moved masses Recommended max. payload (kg) Area gantry Z X Y Design type Boom-type H-type Stroke range (mm) x-direction y-direction (recommended) z-direction (recommended) (recommended) Moved masses Recommended max. payload (kg) On the following pages, we have provided a selection guide that will help you to put together a multi-axis system to fit your specific application.

7 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 7 Selection Guide Selection and sizing of a multi-axis system What you need to know before starting: Number of axes, structure of the system, required strokes, mass to be moved The selection guide will help you to generate a proposed solution for the single-axis or multi-axis system you need. If the result does not meet all of your requirements, simply contact us. We will be glad to assist you. cc The selection guide is not a substitute for detailed design and engineering calculations! Sizing & Design Calculations Selection steps 1. Select the structure that best meets your needs. (pick & place, linear gantry, area gantry, etc.) 2. Select suitable Grippers and Rotary Compact Modules as appropriate for your workpiece. 3. Select a suitable Z-axis based on the external load to be moved and the required stroke. 4. Calculate the overall mass of the Z-axis incl. motor mount and motor. 5. Select a suitable Y-axis based on the external load to be moved. (external load + Z-axis) and stroke 6. Calculate the overall mass of the Y-axis incl. motor mount, motor and connecting elements. 7. Select a suitable X-axis based on the external load to be moved. (external load + Z-axis + Y-axis) and the required stroke. 8. Select the desired accessories for your multiaxis system, such as switches, cable management chains, adaptors for connection to the base frame, etc. And this is how your multi-axis system could look: Boom-type area gantry with gripper; Workpiece weight = 1.3 kg Strokes: X = 500, Y = 300, Z = 100 Servo motors as drives for X and Y Z-axis pneumatic Example Refer to table for gripper pre-selection: e.g.: Parallel Gripper GSP-P 25, component weight 0.48 kg External load = workpiece + gripper = 1.78 kg Required stroke = 100 mm Refer to table for area gantry (boom-type) Z-axis: e.g.: MSC 12 with 100 mm stroke Refer to table for connection elements for Mini Slide to Gripper: Switch to MSC 16, as there are no available elements for connecting MSC 12 to Gripper. Mass MSC 16 = drive unit weight + moved mass at stroke 100 = 1.94 kg kg = 2.59 kg (from section on MSC) Mass of connection element = 0.07 kg (from table) Overall mass of Z-axis = 2.66 kg External load = 1.78 kg kg = 4.44 kg Required stroke = 300 mm Refer to table for area gantry (boom-type) Y-axis: e.g.: CKK 90, stroke 400 mm (longer stroke as reserve for possible interference due to X-axis contours) Refer to table for connection elements for Compact Module to Mini Slide: Connection possible. Mass of CKK 90, 400 stroke = 4.65 kg + mass of motor attachment kit (timing belt side drive for MSM) = 0.53 kg + mass of motor MSM 030C w/o brake = 1.50 kg Overall mass = 6.68 kg External load = 6.68 kg kg = kg Required stroke = 500 mm Refer to table for area gantry (boom-type) X-axis: e.g.: CKK 110, 520 stroke Refer to table for connection via brackets: Connection of CKK 90 to CKK 110 with extended angle brackets Motor attachment for X-axis = mount + coupling Motor = MSM 040B

8 8 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Sizing and Design Calculations Selection Guide Gripper pre-selection For precise calculations, we recommend our online calculation tool at: Recommended workpiece weights for frictional engagement The recommended workpiece weight for frictional engagement is calculated for force closure with a static friction coefficient of 0.1 and a safety factor of 2 against slipping of the workpiece under the force of gravity g. Recommended workpiece weights for positive engagement The permissible weights are significantly higher for positive engagement, since the calculation is performed using a static friction coefficient of 0.3. cc Consider the direction of motion! Gripper type Gripper size ) /50 1) Parallel gripper GSP-P 0.29 kg 0.60 kg 1.20 kg 1.90 kg 4.20 kg Angular gripper GSP-A 0.08 kg 0.19 kg 0.50 kg 0.70 kg 0.85 kg Radial gripper GSP-R 0.19 kg 0.58 kg 0.93 kg 1.15 kg Centric gripper GSP-Z 1) 0.60 kg 2.25 kg 5.70 kg Gripper type Gripper size ) /50 1) Parallel gripper GSP-P 0.90 kg 1.80 kg 3.60 kg 5.70 kg kg Angular gripper GSP-A 0.24 kg 0.57 kg 1.50 kg 2.10 kg 2.55 kg Radial gripper GSP-R 0.24 kg 0.51 kg 1.44 kg 2.28 kg 3.45 kg Centric gripper GSP-Z 1) 1.80 kg 6.75 kg kg 1) Not included in the camoline catalog. For more information, refer to the catalog R or visit Pick & Place The assumed masses are recommended values. Leverage or other additional forces have not been taken into consideration. For sizing, please remember: If the module frame travels, its weight has to be included in the moved mass. Z-axis Stroke (mm) up to 2 kg MSC 12 VKK 50 CKK 70 up to 5 kg MSC 20 VKK 50 CKK 70 Possible combinations Moved mass up to up to 10 kg 15 kg MSC 25 VKK 70 CKK 90 VKK 70 CKK 90 up to 20 kg VKK 100 CKK 110 up to 30 kg CKK 110 VKK CKK VKK 50 VKK 100 CKK 90 VKK 70 CKK VKK 70 CKK 90 CKK CKK 110 X-axis Stroke up to 3 kg up to 8 kg Moved mass up to up to 15 kg 25 kg up to 30 kg up to 50 kg (mm) 50 MSC MSC 20 MSC 25 CKx 70 CKx CKx 90 CKx 90 CKx MSC CKx 70 CKx CKx 110 CKx CKx 110 CKx 145 Pick & Place (e)ckx MSC X-axis (e)ckk x MSC Z-axis x x VKK x CKx 145

9 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 9 Linear gantry / X-Y table The assumed masses are recommended values. Leverage or other additional forces have not been taken into consideration. For sizing, please remember: If the module frame travels, its weight has to be included in the moved mass. Sizing & Design Calculations Z-axis Stroke (mm) up to 1 kg MSC 8 VKK 50 CKK 70 VKK 50 CKK 70 eckk 90 up to 2 kg MSC 12 VKK 50 CKK 70 VKK 70 CKK 90 eckk 90 up to 5 kg MSC 20 VKK 50 CKK 70 eckk 90 VKK 50 CKK 70 eckk 90 Moved mass up to 10 kg MSC 25 VKK 70 CKK 90 eckk 90 VKK 70 CKK 90 eckk 90 up to 20 kg VKK 100 CKK 90 eckk 110 up to 30 kg (VKK 100) CKK 110 CKK 110 up to 50 kg CKK CKK 110 CKK 145 > 600 CKK 145 X-axis / Y-axis for X-Y table Stroke Moved mass (mm) up to 5 kg up to 10 kg up to 20 kg up to 30 kg up to 50 kg up to 75 kg CKx 70 CKx eckx 90 eckx 110 CKx 110 CKR 90 CKx 110 CKx eckx 110 eckx CKR 90 CKR CKR 145 Possible combinations (e)ckk MSC VKK Linear gantry Z-axis (e)ckx X-axis x x x

10 10 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Sizing and Design Calculations Selection Guide Area gantry (boom-type) The assumed masses are recommended values. Leverage or other additional forces have not been taken into consideration. For sizing, please remember: If the module frame travels, its weight has to be included in the moved mass. Z-axis Stroke Moved mass (mm) up to 1 kg up to 2 kg up to 5 kg up to 10 kg up to 20 kg up to 30 kg MSC 8 VKK 50 CKK 70 eckk 90 VKK 50 CKK 70 eckk 90 MSC 12 VKK 50 CKK 70 eckk 90 MSC 20 VKK 50 CKK 70 eckk 90 VKK 50 CKK 70 eckk 90 MSC 25 VKK 70 CKK 90 eckk 90 VKK 70 CKK 90 eckk 90 VKK 100 CKK 90 eckk 110 (VKK 100) CKK 110 CKK 110 VKK CKK 90 eckk CKK 110 CKK 145 Y-axis Stroke Moved mass (mm) up to 5 kg up to 10 kg up to 15 kg up to 25 kg up to 50 kg 50 MSC CKx 90 MSC 25 CKx eckx 110 CKx 110 CKx CKx eckx 110 CKx 110 CKx X-axis Possible combinations Stoke Moved mass (mm) up to 10 kg up to 20 kg up to 30 kg up to 50 kg up to 75 kg up to 520 CKx 110 up to 1240 CKx 145 up to 1520 CKR 110 up to 1720 CKR 145 Boom-type gantry (e)ckx MSC Y-axis (e)ckk x MSC Z-axis x x VKK x CKx X-axis x x

11 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 11 Area gantry (H-type) The assumed masses are recommended values. Leverage or other additional forces have not been taken into consideration. For sizing, please remember: If the module frame travels, its weight has to be included in the moved mass. Sizing & Design Calculations Z-axis Stroke Moved mass (mm) up to 1 kg up to 2 kg up to 5 kg up to 10 kg up to 20 kg up to 30 kg MSC 8 VKK 50 CKK 90 eckk 90 VKK 50 CKK 70 eckk 90 MSC 12 VKK 50 CKK 90 eckk 90 MSC 20 VKK 50 CKK 70 eckk 90 VKK 50 CKK 70 eckk 90 MSC 25 VKK 70 CKK 90 eckk 90 VKK 70 CKK 90 eckk 90 VKK 100 CKK 90 eckk 110 (VKK 100) CKK 110 CKK VKK CKK 110 CKK 145 Y-axis Stroke Moved mass (mm) up to 5 kg up to 10 kg up to 15 kg up to 25 kg up to 50 kg 1000 CKx 90 CKx 110 eckx 110 CKx CKx 110 CKx 145 X-axis Stroke Moved mass (mm) up to 10 kg up to 20 kg up to 30 kg up to 50 kg up to 75 kg 520 CKx MKx 40 CKx CKx MKR 40 CKR 145 Possible combinations H-type gantry (e)ckk MSC VKK CKx MKx Z-axis X-axis (e)ckx Y-axis x x x x x

12 12 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Sizing and Design Calculations Calculations for linear axes Combined equivalent load on bearing of the linear guide Nominal life Meters Hours Frictional torque 1) with motor attachment via motor mount and coupling 1) with motor attachment via timing belt side drive, i = 1 2) with direct motor attachment 2) with motor attachment via reducer gear, i = 1 Mass moment of inertia Mass moment of inertia of additional load 1) Mass moment of inertia of additional load 2) Mass moment of inertia of additional load 1) with motor attachment via motor mount and coupling 1) with motor attachment via timing belt side drive 2) with motor attachment with or without reducer gear Total mass moment of inertia Travel speed Linear axis with ball screw drive Linear axis with toothed belt drive i = 1 Permissible travel speed Drive torque Permissible drive torque 1) Linear Axis with ball screw drive 2) Linear Axis with toothed belt drive F comb = F y + F z + C + C + C C 3 L = 10 5 L h = L 3600 v m M R = M Rs M R = M Rs i M R = M Rs M R = + M Rsd 2 P ( ) J t = m ex π J dc = J s + J t + J c + J br J dc = ( ) F comb M Rs i J s + J t i 2 + M Rge d 2 ( 0 2 ) J t = m ex 10 6 J dc = J s + J t i 2 J tot = J dc + J m n P v = i n d 0 π v = i M x M t + J sd + J br + J ge + J br M y M L Minimum of the maximum values of the components used (linear motion system, gear reducer, motor, etc.) Minimum of the maximum values of the components used (linear motion system, gear reducer, motor, timing belt side drive, coupling, etc.) M z M L C = dynamic load capacity (N) d 0 = drive diameter (mm) F comb = kcombined equivalent load on bearing (N) F y = force in y-direction (N) F z = force in z-direction (N) i = gear ratio J c = mass moment of inertia of coupling J br = mass moment of inertia of brake J dc = mass moment of inertia, drive train J ge = mass moment of inertia of gear J t = translatory mass moment of inertia referred to the drive journal J m = mass moment of inertia of motor J s = mass moment of inertia of system J sd = mass moment of inertia of timing belt side drive = total mass moment of inertia J tot (all mass moments of inertia in kgm 2 ) L = nominal life in meters (m) L h = nominal life in hours (h) m ex = moved external load (kg) M L = dynamic longitudinal moment load capacity (Nm) M x = torsional moment (about the x-axis) (Nm) M y = torsional moment (about the y-axis) (Nm) M z = torsional moment (about the z-axis) (Nm) M R = frictional torque at motor journal (Nm) M Rge = frictional torque of gear at motor journal (Nm) M Rs = frictional torque of system (Nm) M Rsd = frictional torque of timing belt side drive at motor journal (Nm) M t = dynamic torsional moment load capacity (Nm) n = rotary speed (1/min) P = ball screw lead (mm) v = travel speed (m/s) v m = average speed (m/s)

13 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 13 Calculations for MSC Horizontal applications D F F G M B M 2 ; M 02 M C M 3 ; M 03 F G F M A M 1 ; M 01 B Sizing & Design Calculations A B stat. M B0 = F G A + F D stat. M C0 = F G B stat. M A0 = F B dyn. M B = F G A dyn. M C = F G B dyn. M A = 0 Checking the permissible total load M A0 M 01 M B0 M 02 M C0 stat dyn M 03 M A M 1 M B M 2 M C M 3 Vertical applications D B F G, F F G ; F M B M 2; M 02 M A M 1 ; M 01 stat. M B0 = (F G + F) B stat. M B0 = (F G + F) B dyn. M B = F G D dyn. M A = F G B Checking the permissible total load M A0 M 01 M B0 M A M 1 M B M 2 stat. + 1 dyn. + 1 M 02 F = m a = deceleration force (N) F G = m g = force due to weight (N) The decelerations (a) occurring in the stroke end position depend on the traversing speed of the moving mass and the type of cushioning.

14 14 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Inquiry Inquiry form for multi-axis system Name: Date: Page 1/ General customer data Customer: Contact person: Location: Tel.: Customer project name: Please attach: Drawing or sketch with dimensions indicating center of gravity and possibly processing forces/torques (showing at least 2 different side views or as a 3D representation). Alternatively, detailed description of application. Please specify whether the module frame or the carriage travels! Workpiece: Moved external load: kg Dimensions: Description or sketch of workpiece shape: x: mm Z y: mm z: mm Y X Pneumatic add-on components Workpiece Is a processing force involved (magnitude, direction)? Pneumatic add-on components: Gripper, Bosch Rexroth: Gripper, other make: with gripping force retention Type: Angular gripper: Parallel gripper Radial gripper Vacuum gripper: Rotary Compact Module: Rotary angle: With intermediate position: at: Structure of /requirements on multi-axis system: 1-axis: 2-axis: H-type gantry: Mechanical connecting shaft: 3-axis: Electrical connecting shaft: Axes move simultaneously: Operating hours per day: h System completely assembled: Axes X-axis: Stroke: mm Cycle time: s Electric drive: Number of target positions: Alternatively v max : m/s Pneum. drive: Repeatability: mm a max : m/s 2 with cushioning: Y-axis: Stroke: mm Cycle time: s Electric drive: Number of target positions: Alternatively v max : m/s Pneum. drive: Repeatability: mm a max : m/s 2 with cushioning: Z-axis: Stroke: mm Cycle time: s Electric drive: Number of target positions: Alternatively v max : m/s Pneum. drive: Repeatability: mm a max : m/s 2 with cushioning:

15 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 15 Inquiry form for multi-axis system Name: Date: Page 2/ Sizing & Design Calculations Electrics: With Bosch Rexroth motor: with brake: Electrics With controller: With control unit: Interface: Profibus: Sercos: Other: Axes with cable management chains: Axes with switches: Switch type: mechanical proximity magnetic field sensor Application description and/or comments Sketch of application and/or travel-time graph Comments

16 16 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Product Overview Compact Modules CKK / CKR / eckk / eckr / CKP Rexroth Compact Modules are available in three different series: Electric Compact Modules CKK / CKR These are precise, ready-to-install Linear Motion Systems for high-performance applications. Electric eline Compact Modules eckk / eckr These models have been developed to provide an especially economical price-performance ratio. The axes are designed for use in secondary applications with significantly lower demands on performance. Pneumatic Compact Modules CKP The rodless cylinder, with oval piston design, yields high moment and load capability. The small cylinder dimensions and robust construction also result in more compact and streamlined machine designs. Electric Linear Modules MKK / MKR: These are precise, space-saving, ready-to-install Linear Motion Systems for high-performance applications. They are especially suitable for handling tasks requiring high precision within restricted spaces. Rexroth offers favorable price/performance ratios and fast delivery. Pneumatic Mini Slides MSC: Suitable for applications in handling technology Versatile mounting options to further handling components Electric Feed Modules VKK: These modules are especially suitable for handling tasks requiring high precision as well as high thrust and torque transfer capabilities. Because of their low moved mass, Feed Modules are ideal for vertical motion in handling systems. Identical module frame sizes: CKK/CKR, eckk/ eckr, CKP Frame size MKK/MKR Frame size VKK B C A A A CKK/CKR CKP eckk/eckr Frame size (mm) A B Frame size MSC MKK/MKR Frame size (mm) A B C Dimensions (mm) A B MSC MSC MSC MSC MSC VKK Frame size (mm) A

17 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 17 Compact Modules CKK with ball rail systems and ball screw drive eline Compact Modules eckk with ball rail systems and ball screw drive Compact Modules CKR with ball rail systems and toothed belt drive eline Compact Modules eckr with ball rail systems and toothed belt drive Linear Axes Mini Slides MSC Pneumatic Feed Modules VKK with ball rail systems and ball screw drive Linear Modules MKK with ball rail system and ball screw drive Compact Modules CKP with ball rail system and pneumatic drive Linear Modules MKR with ball rail system and toothed belt drive Motor attachment to modules with ball screw drive (see section on Drive and Control Elements) with motor mount and coupling with timing belt side drive Motor attachment to modules with toothed belt drive (see section on Drive and Control Elements) with motor mount (i = 1) with gear reducer second shaft end

18 18 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Compact Module CKK Technical data CKK size Ball screw Dynamic load capacity C (N) Dynamic moments (Nm) Modulus of elasticity E = 70,000 N/mm 2 Planar moment of inertia Moved mass Frictional torque Max. stroke Guide- Ball screw Fixed z way bearing M t M L l y l z m ca M RS d 0 x P (cm 4 ) (cm 4 ) (kg) (Nm) (mm) x x x x y z y Maximum permissible loads z F z M L/ M z max F x y M t / M x x ma M L / M x y ma F y x CKK size Maximum permissible forces (N) Maximum permissible moments (Nm) F z1 max F z2 max F y max M t max M L max Suitable loads 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.

19 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 19 CKK size Stroke (mm) M p (Nm) v (m/s) m tot (kg) J S (10 6 kgm 2 ) M p (Nm) v (m/s) m tot (kg) J S (10 6 kgm 2 ) M p (Nm) v (m/s) m tot (kg) J S (10 6 kgm 2 ) M p (Nm) v (m/s) m tot (kg) J S (10 6 kgm 2 ) M p = permissible drive torque at drive journal v = permissible speed m tot = mass of the axis J S = reduced mass moment of inertia at drive journal Linear Axes Ordering data Stroke (mm) Part number CKK 9-70 CKK CKK CKK R R R R R R R R R R R R R R R R R R R R R R R R R Available on request: Linear systems with intermediate strokes (length increments of 40 mm) and other ball screw leads.

20 20 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Compact Module CKK Dimensions Stroke/2 Stroke/2 Funnel-type lube nipple DIN 3405 Depth: H 2 Depth: H 1 P 4 P 4 P 5 CKK size Dimensions (mm) A 1) B 1 B 2 C1 C 2 C 3 D 1 ØD 2 ØD 3 D 4 E 1 E 2 E 3 F 1 F 2 ØG 1 ØG 2 H 1 H 2 K 1 h7 H7 ±0.01 ±0.01 ±0.01 ±0.01 ±0.01 H7 H M M M M6 CKK size Dimensions (mm) K 2 K 3 K 4 K 5 K 6 L 1 L 2 L 3 M 1 M 2 M 3 M 4 N 1 N 2 N 3 N 4 N 5 P 1 P 2 P 3 P 4 P 5 U M M M M ) Frame size

21 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 21 Thread K 1 Depth: K 2 CKK ,5 CKK CKK CKK Linear Axes 4,5 2,8 CKK 9-70 CKK to CKK CKK size Dimensions Stroke (mm) (mm) L T T L T T L T T L T T

22 22 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Compact Module CKR Technical data CKR size Dynamic load capacity Dynamic moments Max. drive torque Drive diameter Lead constant Belt transmission force Max. travel speed Planar moment of inertia y z z y Moved mass Frictional torque Max. stroke C M t M L M p d 0 u F v max l y l z m ca M RS (N) (Nm) (Nm) (Nm) (Nm) (mm/rev) (N) (m/s) (cm 4 ) (cm 4 ) (kg) (Nm) (mm) Modulus of elasticity E = 70,000 N/mm 2 Maximum permissible loads z F z M L/ M z max F x y M t / M x x ma M L / M x y ma F y x CKR size Maximum permissible forces (N) Maximum permissible moments (Nm) F z1 max F z2 max F y max M t max M L max Suitable loads 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.

23 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 23 CKR size Stroke (mm) m tot (kg) J S (10 6 kgm 2 ) m tot (kg) J S (10 6 kgm 2 ) m tot (kg) J S (10 6 kgm 2 ) m tot (kg) J S (10 6 kgm 2 ) m tot = mass of the axis J S = reduced mass moment of inertia at drive journal Linear Axes Versions Motor attachment on right-hand side: MA05 Motor attachment on left-hand side: MA06 MA05 MA06 Ordering data Stroke (mm) Part number CKR CKR CKR MA 05 MA 06 MA 05 MA 06 MA 05 MA R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R Available on request: Linear systems with intermediate strokes (length increments of 40 mm).

24 24 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Compact Module CKR Dimensions Thread K 1 Depth: K 2 Stroke/2 Stroke/2 Funnel-type lube nipple DIN 3405 Depth: D 4 ØG 2 Depth: H 2 ØG 1 Depth: H 1 M A 2) P 4 P 4 P 5 MA06 Depth: D 4 MA05 CKR size 1) Frame size Dimensions (mm) A 1) B 1 B 2 C 1 C 2 C 3 C 4 D 1 ØD 2 ØD 3 D 4 D 5 D 6 D 7 E 1 E 2 E 3 F 1 F 2 ØG 1 ØG 2 H7 H7 ±0.01 ±0.01 ±0.01 ±0.01 ±0.01 H7 H CKR size Dimensions (mm) H 1 H 2 K 1 K 2 K 3 K 4 L 1 L 2 L 3 M 1 M 2 M 3 M 4 N 1 N 2 N 3 N 4 N 5 P 1 P 2 P 3 P 4 P 5 U (6x) M M M M M M M M

25 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 25 A-A CKR ,5 CKR CKR CKR Linear Axes Depth: H 1 4,5 2,8 CKR 9-70 CKR up to CKR CKR size Dimensions (mm) Stroke (mm) M 2) a (Nm) 9-70 L T T L T T L T T L T T ) Tightening torque of the clamping screws (at friction factor 0.125)

26 26 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes eline Compact Modules eckk Technical data Size Ball Dynamic load capacity C Dynamic load moments (Nm) Frictional torque Mass of the linear system screw Torsional Longitudinal (Nm) without connection plate and (mm) Guideway Ball Fixed load moment load moment without motor (kg) d 0 x P screw bearing M t M L M RS m s eckk x ,00408 L eckk x ,00674 L Modulus of elasticity E = N/mm 2 Size Maximum permissible forces (N) Maximum permissible moments (Nm) Planar moment of inertia (cm 4 ) F x max F y max, F z max M x max M y max, M z max I y I z Moved mass of system (kg) m ca Maximum payload (kg) m ex max Repeatability (mm) eckk ± 0.05 eckk ± 0.05 Maximum permissible loads z F z M L/ M z max F x y M t / M x x ma M L / M x y ma F y x Suitable loads 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.

27 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 27 eckk size Stroke (mm) M mech (Nm) v mech (m/s) m tot (kg) J S (10 6 kgm 2 ) M mech (Nm) v mech (m/s) m tot (kg) J S (10 6 kgm 2 ) M mech = maximum permissible drive torque for mechanical system v mech = maximum permissible linear speed of mechanical system m tot = mass of the axis J S = reduced mass moment of inertia at drive journal Linear Axes Ordering data Stroke Part number (mm) eckk 90 eckk R R R R R R R R R R R Available on request: Linear systems with intermediate strokes (length increments of 40 mm).

28 28 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes eline Compact Modules eckk Dimensions U Stroke/2 C 1 Stroke/2 U D 1 (20) 40 ± L 2 L 1 T 2 x 40 = T 3 L 3 L ØG 2 Depth: H 2 F 1 F 1 ØG 1 Depth: H 1 A D 4 ØD 2 ØD 3 F 2 E 2 E 2 E 1 E 1 E 2 E A eckk size Dimensions (mm) A 1) B 1 B 2 C1 D 1 ØD 2 ØD 3 D 4 E 1 E 2 F 1 F 2 ØG 1 ØG 2 H 1 H 2 K 1 K 2 h7 H7 ±0.01 ±0.01 ±0.01 ±0.01 H7 H M M6 12 1) Frame size eckk size Dimensions (mm) K 3 K 4 K 5 L 1 L 2 L 3 M 1 M 2 M 3 M 4 N 1 N 2 N 3 N 4 N 5 P 1 P 2 P 3 U M M

29 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 29 X 3,2 K3 Thread K 1 Depth: K 2 4,8 3,2 Y eckk ,3 5,2 8,2 5,2 Linear Axes 1,8 K 4 4,2 K 5 A-A Z Y eckk ,8 N1 X Y B1 B2 2,5 N1 P3 Z H1 ØG 1 P 2 P 1 A eckk size Dimensions (mm) Stroke (mm) L T T L T T

30 30 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes eline Compact Modules eckr Technical data Size Dynamic load Dynamic load moments (Nm) Planar moment Frictional Max. stroke Specific spring rate of capacity (N) Guideway Torsional load moment Longitudinal load moment of inertia (cm 4 ) torque (Nm) (mm) toothed belt (25HTD3) (N/mm m) C M t M L I y I z M RS c spec eckr eckr Elasticity modulus E = 70,000 N/mm 2 Size Maximum permissible forces (N) Maximum permissible moments (Nm) F y max, F z max M x max M y max, Mass of linear system without connection plate (kg) Moved mass of system (kg) Maximum payload (kg) Repeatability (mm) Additional mass of gear reducer (kg) m 2) s m ca m ex max m ge M z max eckr L ± eckr L ± Maximum permissible loads z F z M L/ M z max F x y M t / M x x ma M L / M x y ma F y x Suitable loads 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.

31 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 31 eckr size Stroke (mm) m tot (kg) J S (10 6 kgm 2 ) m tot (kg) J S (10 6 kgm 2 ) m tot = mass of the axis J S = reduced mass moment of inertia at drive journal Drive data without motor Linear Axes Size Gear ratio i Maximum drive torque 1) M mech Travel speed v mech (Nm) (m/s) eckr eckr ) Maximum 1,000 cycles/hour (only when using gear reducer) Versions Motor attachment on right-hand side: MA05 Motor attachment on left-hand side: MA06 MA05 MA06 Ordering data Stroke (mm) Part number eckr 90 eckr 110 MA 05 MA 06 MA 05 MA R R R R R R R R R R R R R R R R R R R R R R R R R R R R Available on request: Linear systems with intermediate strokes (length increments of 40 mm).

32 32 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes eline Compact Modules eckr Dimensions K 4 U Stroke/2 C 1 Stroke/2 U D 1 K 3 L 1 L 2 (20) T 2 x 40 = T 3 40 ± ØD 3 ØD 2 ØG 2 ØG 1 Depth: D 4 Depth: H 2 Depth: H 1 M a 1) D 5 D 7 F 1 F 1 A D 6 F 2 MA06 D 7 D 6 M a 1) ØD 2 ØD Depth: D 4 3 MA05 D 5 C A W W E 2 E 2 E 1 E 1 E 2 E 2 eckr size Dimensions (mm) A 1) B1 B2 C1 C4 D1 ØD2 ØD3 D4 D5 ØD6 D7 E1 E2 F1 F2 ØG1 ØG2 h6 H7 H7 ±0.01 ±0.01 ±0.01 ±0.01 H7 H ) Frame size eckr size Dimensions (mm) H1 H2 K1 K2 K3 K4 L1 L2 L3 M1 M2 M3 M4 N1 N2 N3 N4 N5 P1 P2 P3 U (6x) M M M M

33 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 33 A-A X 3,2 N X Z 4,8 3,2 1,8 Linear Axes X Y N 1 P 3 B 1 B 2 Y eckr ,2 4,2 1,3 H 1 ØG 1 P 2 P 1 A 8,2 5,2 2 Y eckr 110 4,8 2,5 Z eckr size Dimensions (mm) Stroke (mm) M 2) a (Nm) 90 L T T L T T ) Tightening torque of the clamping screws (at friction factor 0.125)

34 34 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Compact Modules CKP Technical data CKP size Piston Ø Dynamic load capacity Guideway Dynamic moments Piston force Cushioning Moved mass Frictional torque Max. linear speed Max. stroke C M t M L F Length Energy m ca F R v mech (mm) (N) (Nm) (Nm) (N) (mm) (J) (kg) (N) (m/s) (mm) Modulus of elasticity E = 70,000 N/mm 2 Operating mode Double-acting Operating temperature range 0 C to +60 C Cushioning Pneumatic end position cushioning (integrated) Medium Compressed air, ISO , class 6, 4, 3 or lower 1) 1) Particle size 5.m, pressure dew point 3 C, oil content 1 mg/m 3 Maximum permissible loads z F z M L/ M z max F x y M t / M x x ma M L / M x y ma F y x CKP size 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 Suitable loads 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.

35 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 35 Weight Stroke (mm) Weight (kg) CKP 16 CKP 25 CKP Linear Axes Cushionable mass (integrated pneumatic cushioning; for external shock absorbers, see Accessories section.) Horizontal v 5,0 4,0 3,0 2,0 1,5 1,0 0,5 0,4 0,3 0,2 0,1 Ø16 Ø25 Ø32 0, m Vertical v 5,0 4,0 3,0 2,0 1,5 1,0 v = piston speed (m/s) m = cushionable mass (kg) 0,5 0,4 0,3 0,2 0,1 Ø16 Ø25 Ø32 0, m Ordering data Part number Stroke (mm) CKP 16 CKP 25 CKP 32 Ports M7 G 1/8 G 1/8 200 R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R

36 36 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Compact Modules CKP Dimensions B U Q 1 Q 2 Q 3 15 R Q R S t = T R S L P P Q 5 E E P O S U P L P M C C M C Z D + S G E G F G L G K G J R G t = 9,5 RR t = 10 G I 35 G M 32,5 R P t = 2,1 G N G U CKP size Dimensions (mm) B 1) E B U C C E E F H G A G B G C G D G N G E G F G I G J G K G L G M G T G U G W M G 1/ G 1/ CKP size Dimensions (mm) G X M 1 M 2 M 3 M 4 N 1 N 2 N 3 N 4 N 5 M C P L P M P O P P P S P T P U P W Q 1 Q 2 Q CKP size Dimensions (mm) R G ØR P R Q T R ØR R ØR S R T ØR U ØR W R X T RX S G S L S U SW T T 1 M 1 W 1 W 2 Z D 16 M5 9 F7 M F7 9 F7 M6 12 F7 9 H7 M M5 9 F7 M F7 12 F7 M6 12 F7 9 H7 M M5 12 F7 M F7 12 F7 M6 12 F7 12 H7 M ) Frame size

37 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 37 F H S W G A G B G C G D R U t = 2,1 R T t = 11,5 Y X Z T 1 S G E X CKP 16 5,2 4 4,2 2 X CKP 25 CKP 32 6,7 4,8 5,2 2,5 Linear Axes N 1 P U P S G T P T P W Y CKP16 5 2,5 B W 2 W R X t = T RX B G X R W t=2,1 Y CKP 25 CKP , ,2 7,2 3 Z 20 T 2 x 40 = T 3 L Dimensions (mm) Stroke (mm) CKP 16 L T T CKP 25 L T T CKP 32 L T T For more information on CKP, refer to the catalog R or visit

38 38 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Linear Modules MKK Technical data MKK size Ball screw Dynamic load capacity C (N) Dynamic moments (Nm) Planar moment of inertia Moved mass Frictional torque Max. stroke y z y d o x P Guide- Ball Fixed M t M L I y I z m ca M RS (mm) way screw bearing (cm 4 ) (cm 4 ) (kg) (Nm) (mm) x Modulus of elasticity E = 70,000 N/mm 2 z Maximum permissible loads z F z M L/M z max F x y M t /M x max M L /M y max F y x MKK size Maximum permissible forces (N) Maximum permissible moments (Nm) F z1 max F z2 max F ymax M t max M L max Suitable loads 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.

39 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 39 MKK size Stroke (mm) M p (Nm) v max (m/s) m tot (kg) J S (10 6 kgm 2 ) M p = permissible drive torque at drive journal v max = permissible speed m tot = mass of the axis = reduced mass moment of inertia at drive journal J S Linear Axes Ordering data Stroke (mm) Part number MKK R R R R R R Available on request: Linear systems with intermediate strokes (length increments of 40 mm) and other ball screw leads.

40 40 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Linear Modules MKK Dimensions All dimensions in mm. Drawings not to scale Max. travel /2 Max. travel /2 Effective stroke /2 135 Effective stroke /2 20 6,5 M2.5-5 deep ,5 20 (2x per side) Ø28 H7 3,7 Ø6 h7 48 2,5 (20) T 2 x 40 = T 3 40 ±0, L 17 A M4-9 deep (8x) One-point lubrication (grease): via funnel-type lube nipples DIN 3405-D3 on both sides A Ø7 H7-1.6 deep (6x) Ø0,02

41 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG Linear Axes 39,5 A 3,3 1,8 B ,9 3,3 2,5 33 A - A M4-8 deep (4x) A For mounting duct For clamping fixtures 4,5 1,6 B 1,3 2,8 Ø7 H7 40 MKK size Dimensions (mm) Stroke (mm) L T T

42 42 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Linear Modules MKR Technical data MKR size Dynamic load capacity Dynamic moments Max. drive torque Drive diameter Lead constant Belt transmission force Max. travel speed Planar moment of inertia y z z y Planar moment of inertia Frictional torque Max. stroke C M t M L M p d 0 u F v max l y l z m ca M RS (N) (Nm) (Nm) (Nm) (Nm) (mm/u) (N) (m/s) (cm 4 ) (cm 4 ) (kg) (Nm) (mm) Modulus of elasticity E = 70,000 N/mm 2 Maximum permissible loads z F z M L/M z max F x y M t /M x max M L /M y max F y x MKR size Maximum permissible forces (N) Maximum permissible moments (Nm) F z1 max F z2 max F y max M t max M L max Suitable loads 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.

43 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 43 MKR size Stroke (mm) m tot (kg) J S (10 6 kgm 2 ) m tot = mass of the axis J S = reduced mass moment of inertia at drive journal Versions Motor attachment on right-hand side: MA05 Motor attachment on left-hand side: MA06 MA05 MA06 Linear Axes Ordering data Stroke (mm) Part number MKR MA 05 MA R R R R R R R R R R R R R R R R R R R R Available on request: Linear systems with intermediate strokes (length increments of 40 mm).

44 44 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Linear Modules MKR Dimensions All dimensions in mm. Drawings not to scale Max. travel /2 Effective stroke /2 135 Max. travel /2 Effective stroke /2 M4-8 deep (on both sides) 47,5 6,5 M2.5-5 deep ,5 (2x per side) 3,7 47, (20) T 2 x 40 = T 3 40 ±0, L 50 One-point lubrication (grease): via funnel-type lube nipples DIN 3405-D3 on both sides A M4-9 deep (8x) 20,5 1, Ø14 H7 Ø29 Ø34 H7 A Ø7 H7-1.6 deep (6x) Ø0,02 Version MA05 Version MA Ø34 H7 Ø10 h7 1,6 M4-8 deep (on both sides) 12,5 A second shaft end can be accessed by removing the cover.

45 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 45 39,5 A For mounting duct A 3,3 1,8 For clamping fixtures B Linear Axes 40 4,9 3,3 2,5 B 4,5 1,6 1,3 2,8 40 Ø7 H7 MKR size Dimensions (mm) Stroke (mm) L T T

46 46 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Feed Modules VKK Technical data VKK size Ball screw Dynamic load capacity C (N) Modulus of elasticity E = 70,000 N/mm 2 Dynamic moments (Nm) Planar moment of inertia Thrust rod z y y Moved mass Frictional torque Max. stroke Guideway Ball Fixed z d o x P screw bearing M t M L I y I z m b max M RS (mm) (cm 4 ) (cm 4 ) (kg) (Nm) (mm) x x x Maximum permissible loads F y m x a M x Lma C C M m L ax F z m x M a a t m x M x F z m x a F y m x a M z F M y VKK size Maximum permissible forces (N) Maximum permissible moments (Nm) F z1 max F z2 max F ymax M x max M y max Suitable loads As far as the desired service life is concerned. loads of up to approximately 20% of the dynamic load and moment values (C, M x, M y ) have proved acceptable.

47 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 47 VKK size Stroke (mm) M p (Nm) v mech (m/s) m tot (kg) m ca (kg) J S (10 6 kgm 2 ) M p (Nm) v mech (m/s) m tot (kg) m ca (kg) J S (10 6 kgm 2 ) M p (Nm) v mech (m/s) m tot (kg) m ca (kg) J S (10 6 kgm 2 ) M p = permissible drive torque at drive journal v mech = permissible speed m tot = mass of the axis m ca = Weight of moved parts = reduced mass moment of inertia at drive journal J S Linear Axes Ordering data Stroke (mm) Part number VKK VKK VKK R R R R R R R R R R R R R R Available on request: Linear systems with other ball screw leads.

48 48 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Feed Modules VKK Dimensions U Stroke C 2 C 1 U L 2 L 1 (20) 40 ±0.01 L 3 T 2 x 40 = T 3 20 L A D 4 ØD 3 ØD 2 A Ø12 H7 M6 2.1 deep 15 M4 Ø7 H7 Ø50 Ø20 H7 Ø75 M5 Ø9 H7 30 ØE 2 ØE deep Centering holes for centering rings ISO 4026 M10 x 12 VKK size Dimensions (mm) A 1) C 1 C 2 C 3 ØD 2 ØD 3 D 4 ØE 1 ØE 2 ØG 1 H 1 K 1 K 2 L 1 L 2 L 3 M 1 M 2 M 3 M 4 N 1 U h7 H7 ±0.01 ±0.01 H M M M ) Frame size

49 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 49 A-A Z Y C 3 W X VKK Y VKK ,5 6 X, Y 9,5 8,2 VKK VKK N 1 4,5 2,8 4,8 3,2 1,3 3,2 2,5 4,8 X A N 1 H 1 A G 1 Z W 1) 1) 1) ,5 5,2 6,8 3 5,2 Linear Axes T-slot for switches 3,5 1) Thread K 1 Depth: K VKK VKK VKK VKK size Dimensions (mm) Stroke (mm) L T T L T T L T T

50 50 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Mini Slide MSC Technical data Type Double-acting with two drive cylinders Operating temperature range 0 C to +60 C Cushioning Elastomer (MSC SE) Hydraulic (MSC SH) Medium Compressed air, ISO , class 6, 4, 3 or lower* *) Particle size 5 µm, pressure dew point 3 C, oil content 1 mg/m 3 MSC 8 MSC 12 MSC 16 MSC 20 MSC 25 Piston diameter (mm) 2 x 8 2 x 12 2 x 16 2 x 20 2 x 25 Equivalent piston diameter (mm) Connection thread M5 M5 M5 G 1/8 G 1/8 Operating pressure (bar) Theoretical useful force (6 bar) Thrust (N) Retraction force (N) Speed Outward stroke (m/s) Retraction stroke (m/s) End cushioning Elastomer (Nm) Hydraulic (Nm) Hydraulic (Nm/h) Maximum additional moving mass Elastomer (kg) Hydraulic (kg) Stroke-limiting range per end position up to 100 (mm/stroke) from 100 (mm/stroke) Part number for MSC SE with elastic cushioning Stroke MSC 8 MSC 12 MSC 16 MSC 20 MSC Part number for MSC SH with hydraulic cushioning Stroke MSC 8 MSC 12 MSC 16 MSC 20 MSC

51 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 51 Technical data Drive unit weight and moved mass for nominal stroke Stroke Drive unit weight for nominal stroke (g) Moved mass for nominal stroke (g) (mm) MSC-8 MSC-12 MSC-16 MSC-20 MSC-25 MSC-8 MSC-12 MSC-16 MSC-20 MSC Linear Axes Maximal additional moving mass with elastic end position cushioning (min. stroke, max. stroke) MSC 8... SE MSC SE MSC SE MSC SE MSC SE For more information on this product, refer to the flyer Mini Slides Compact, Series MSC, order number

52 52 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Mini Slide MSC Maximum additional moving mass with hydraulic end position cushioning (min. stroke, max. stroke) Horizontal MSC 8... SH MSC SH MSC SH MSC SH MSC SH Vertical MSC 8... SH MSC SH MSC SH MSC SH MSC SH

53 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 53 Technical data Permissible loads D s d Correction factor (a, d) Type Stroke Correction factor (mm) Maximum permissible torque (Nm) static dynamic (mm) a d M 01 M 02 M 03 M 1 M 2 M 3 MSC MSC MSC MSC MSC A a Linear Axes

54 54 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Linear Axes Mini Slide MSC Dimensions x = 4 centering rings incl. in scope of delivery (2x front plate/slide, 2x housing) Dimensions (mm) D 1 D 2 H 1 H 2 H 3 H 4 H 5 H 6 H 7 H 8 L 3 max. L 4 L 5 L 6 L 7 MSC-SH MSC-SE MSC-8 M5 M10x MSC-12 M5 M12x MSC-16 M5 M12x MSC-20 G1/8 M16x MSC-25 G1/8 M18x Dimensions (mm) R 1 R 2 W 1 W 2 W 3 W 4 W 5 C 1 C 2 C 3 C 4 WAF* MD (Nm) WAF* WAF* MD (Nm) WAF* MD (Nm) MSC MSC MSC MSC MSC * WAF = width across flats For more information on this product, refer to the flyer Mini Slides Compact, Series MSC, order number

55 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 55 Linear Axes Dimensions (mm) A 1 A 2 A 3 B 1 B 2 C 5 C 6 C 7 C 8 ØD 3 ØD 4 E 1 F 1 F 2 F 3 T 3 T 4 ±0.1 ±0.1 H7 H MSC MSC MSC MSC MSC Dimensions (mm) M 1 xs 1 M 2 xs 2 M 3 xs 3 M 4 xs 4 M 5 xs 5 MSC-8 M3x6 M5x9 M3x4.4 M3x6 M3x5 MSC-12 M4x8 M6x12 M4x6.4 M4x8 M4x6.4 MSC-16 M5x7 M6x17.5 M5x8 M5x10 M5x5.5 MSC-20 M5x9 M8x16 M5x8 M5x10 M5x8 MSC-25 M6x12 M8x16 M6x10 M6x12 M6x10 Stroke Dimensions (mm) (mm) MSC-08 MSC-12 MSC-16 MSC-20 MSC-25 N 1 N 2 N 3 L 1 L 2 N 1 N 2 N 3 L 1 L 2 N 1 N 2 N 3 L 1 L 2 N 1 N 2 N 3 L 1 L 2 N 1 N 2 N 3 L 1 L

56 56 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Rotary Compact Modules and Grippers Product Overview Rotary Compact Module RCM: Suitable for handling technology applications where maximum torque combined with minimum construction size is required The drives feature especially accurate and high-load rotary flange bearings. Sensor slots integrated on both sides permit versatile inquiry options. Integrated air duct Energy loss in the rotary table Centering elements included in scope of delivery Rotary Compact Module RCM Grippers Broad range of grippers for all standard applications, with different gripper designs in many sizes and Easy-2-Combine capability. With up to six sizes for each design, these grippers meet the needs of virtually all standard applications. With precise and robust guidance of the gripper jaws, the pneumatic grippers provide high accuracy and reliability in continuous operation. Durable, robust kinematics Compact design with high gripping force Excellent accuracy and precision Grippers For more information on Rotary Compact Modules and Grippers, refer to the catalog R or visit

57 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 57 Rotary Compact Module RCM Rotary compact module RCM with elastic/hydraulic shock absorbers and air channel, Ø 8 25 mm Technical data Type Double-acting with two drive cylinders Power transmission and synchronization through rack and pinion Rotation angle 90 / 180 Working pressure, 4 to 8 bar max. Temperature range +5 C to +60 C Medium Compressed air, ISO , class 6, 4, 3 or lower 1), oil-free (10 µm) Mounting orientation Any 1) Particle size 5 µm, pressure dew point 3 C, oil content 1 mg/m 3 Rotary Compact Modules & Grippers RCM 8 RCM 12 RCM 16 RCM 20 RCM 25 Piston diameter (mm) Connection thread M 3 M 5 M 5 M 5 M 5 Air feed-through Theoretical torque 2) (6 bar) (Nm) Setting range per end position 0 ( ) -6 / 45-6 / 45-6 / 45-6 / 45-6 / ( ) 45 / / / / / ( ) 135 / / / / /186 Repeatability elastic ( ) hydraulic ( ) Max. perm. torque moment of elastic (kg cm 2 ) inertia hydraulic (kg cm 2 ) Min. swivel time (1x180 ) elastic (s) hydraulic (s) Max. perm. axial bearing load (N) Max. perm. radial bearing load (N) Weight of RCM elastic (kg) hydraulic (kg) ) Due to the design principle, the theoretical torque is reduced at the end position.

58 58 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Rotary Compact Modules and Grippers Rotary Compact Module RCM Part number for RCM... SE-AP with elastic cushioning Rotation angle ( ) RCM 8 RCM 12 RCM 16 RCM 20 RCM R R R R R R R R R R Part number for RCM... SH-AP with hydraulic cushioning Rotation angle ( ) RCM 8 RCM 12 RCM 16 RCM 20 RCM R R R R R R R R Setting range for end position 0 / 90 / 180 Movement into end position 90 / 180 Movement into end position 0 Max. permissible radial force F y (N) as a function of v (mm): RCM 8 12 RCM v F y Max. permissible axial force F x (N) as a function of u (mm): RCM 8 12 RCM F x u

59 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 59 Technical data Mounting and assembly RCM 12 RCM 8 / 16 / 20 / 25 Rotary Compact Modules & Grippers 1 Centering rings, included in scope of delivery 2 Centering rings, not included in scope of delivery Type Dimensions (mm) Ø D 6 Ø D 7 Ø D 8 Ø D 9 Ø D 10 Ø D 11 Ø D 12 Ø D 13 H 13 H 14 L 9 L 10 T 5 T 6 ± 0.02 k6 k ± 0.02 RCM M M RCM M M RCM M M RCM M M RCM M M

60 60 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Rotary Compact Modules and Grippers Rotary Compact Module RCM Dimensions RCM 8 / 12 * * * RCM 16 / 20 / 25 * * * Type Dimensions (mm) B 1 B 2 B 3 Ø D 1 Ø D 2 Ø D 3 Ø D 4 Ø D 5 H 1 H 2 H 3 H 4 H 5 H 6 H 9 H 10 RCM M M RCM M M RCM M M RCM M M RCM M M Type Dimensions (mm) W 1 W 2 H 11 H 12 L 1 L 2 L 3 L 4 L 5 L 6 L 8 WAF 1 * WAF 2 * T 1 T 2 T 3 ±0.2 ±0.2 RCM RCM RCM RCM RCM * SW = WAF (width across flats)

61 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 61 Gripper GSP-P Technical data Type 2-finger, parallel gripper Operating pressure range, double-acting 2 8 bar (GSP-P-...) With gripper force safety, pressureless open bar (GSP-P-...-NO) With gripper force safety, pressureless closed bar (GSP-P-...-NC) Repeatability 1) ± 0.02 mm Lubrication Endurance lubrication Ambient temperature range Medium; compressed air +5 C to +60 C ISO , class 6, 4, 3 or lower 2) Materials Housing Aluminum, anodized Guide housing Aluminum, hard anodized Function parts Steel, hardened Seals NBR+PU (polyurethane) 1) In the direction of movement of the gripper jaws under constant operating conditions after 100 consecutive strokes. 2) Particle size 5 µm, pressure dew point 3 C, oil content 1 mg/m 3 Symbol Type Eff. gripping force min. (6 bar) (N) Gripping force secured by spring Stroke/ finger Weight Part number O.D. gripping I.D. gripping (N) (mm) (kg) GSP-P R GSP-P R GSP-P R GSP-P R GSP-P-10-NC R GSP-P-16-NC R GSP-P-20-NC R GSP-P-25-NC R GSP-P-10-NO R GSP-P-16-NO R GSP-P-20-NO R GSP-P-25-NO R Rotary Compact Modules & Grippers Type Mass moment of inertia 3) Max. perm. finger length 4) (mm) Rec. workpiece weight Closing time (6 bar) (s) GSP-P-... GSP-P -...-NO GSP-P -...-NC without pressure Opening time (6 bar) (s) GSP-P-... GSP-P -...-NO GSP-P -...-NC without pressure (kgcm 2 ) (kg) GSP-P GSP-P GSP-P GSP-P ) referring to centerline of gripper 4) measured from top edge of housing Max. permissible forces and torques on gripper Type F Z M X M Y M Z Z (N) (Nm) (Nm) (Nm) (mm) GSP-P GSP-P GSP-P GSP-P Centering elements included in scope of delivery.

62 62 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Rotary Compact Modules and Grippers Gripper GSP-P Technical data Permissible gripping range X = clamping height Y = clamping width F [N] GSP-P-10 Gripping force 8 bar 6 bar 4 bar X [mm] GSP-P-10 Gripping range X [mm] Y [mm] F [N] GSP-P-16 Gripping force bar 6 bar 4 bar X [mm] X [mm] GSP-P-16 Gripping range Y [mm] F [N] GSP-P-20 Gripping force 8 bar 6 bar 4 bar X [mm] GSP-P-20 Gripping range X [mm] Y [mm] F [N] GSP-P-25 Gripping force 8 bar 6 bar 4 bar X [mm] GSP-P-25 Gripping range X [mm] Y [mm]

63 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 63 Dimensions Rotary Compact Modules & Grippers L1 = gripper open L2 = gripper closed EE1 = close gripper air connection EE2 = open gripper air connection Type Dimensions (mm) A B C ØD k6 E EE1 EE2 F G H I J K L1 GSP-P Ø5 41 M3 M GSP-P Ø5 47 M5 M GSP-P Ø M5 M GSP-P Ø7 63 M5 M Type Dimensions (mm) L2 M N O P Q R S T T1 U V W X GSP-P M GSP-P M GSP-P M GSP-P M

64 64 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Rotary Compact Modules and Grippers Gripper GSP-A Technical data Type 2-finger, angular gripper Operating pressure range, double-acting 2 8 bar (GSP-A-...) Opening angle 40 (20 per finger) Repeatability 1) ± 0.02 mm Lubrication Endurance lubrication Ambient temperature range Medium; compressed air +5 C to +60 C ISO , class 6, 4, 3 or lower 2) Materials Housing Aluminum, anodized Function parts Aluminum, hard anodized Seals NBR+PU (polyurethane) 1) In the direction of movement of the gripper jaws under constant operating conditions after 100 consecutive strokes. 2) Particle size 5 µm, pressure dew point 3 C, oil content 1 mg/m 3 Symbol Type Eff. gripping moment Weight Part number min. (6 bar) (Nm) (kg) GSP-A R GSP-A R GSP-A R GSP-A R Type Mass moment of inertia 3) Max. perm. finger length 4) Recommended workpiece weight Max. perm. block attachment weight Max. perm. mass moment of inertia/block attachment 5) Closing time (6 bar) Opening time (6 bar) (kgcm 2 ) (mm) (kg) (kg) (kgcm 2 ) (s) (s) GSP-A GSP-A GSP-A GSP-A ) referring to longitudinal axis of gripper 4) measured from top edge of housing 5) referring to center of swivel pin Max. permissible forces and torques on gripper Type F Z M X M Y M Z Z (N) (Nm) (Nm) (Nm) (mm) GSP-A GSP-A GSP-A GSP-A Centering elements included in scope of delivery.

65 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 65 Permissible gripping range X = clamping height Y = clamping width F [N] GSP-A-10 Gripping force bar 15 6 bar 10 4 bar 5 X [mm] GSP-A-10 Gripping range F [N] X [mm] GSP-A-16 Gripping force bar 40 6 bar 30 4 bar X [mm] Y [mm] GSP-A-16 Gripping range Rotary Compact Modules & Grippers X [mm] Y [mm] F [N] GSP-A-25 Gripping force bar bar 80 4 bar X [mm] GSP-A-25 Gripping range X [mm] Y [mm] F [N] GSP-A-32 Gripping force bar 6 bar 4 bar X [mm] GSP-A-32 Gripping range X [mm] Y [mm]

66 66 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Rotary Compact Modules and Grippers Gripper GSP-A Dimensions EE1 = close gripper air connection EE2 = open gripper air connection Type Dimensions (mm) A B C ØD k6 E EE1 EE2 F G H I J K L GSP-A Ø5 12 M5 M GSP-A Ø5 16 M5 M GSP-A Ø7 25 M5 M GSP-A Ø9 32 G1/8 G1/ Type Dimensions (mm) M N O P Q R S T T1 U V GSP-A-10 M GSP-A-16 M GSP-A-25 M GSP-A-32 M

67 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 67 Gripper GSP-R Technical data Type 2-finger, radial gripper Operating pressure range, double-acting 2 8 bar (GSP-R-...) Opening angle 180 (90 per finger) Repeatability 1) ± 0.05 mm Lubrication Endurance lubrication Ambient temperature range Medium; compressed air +5 C to +60 C ISO , class 6, 4, 3 or lower 2) Materials Housing Aluminum, anodized Function parts Steel, hardened Seals NBR+PU (polyurethane) 1) In the direction of movement of the gripper jaws under constant operating conditions after 100 consecutive strokes. 2) Particle size 5 µm, pressure dew point 3 C, oil content 1 mg/m 3 Symbol Type Eff. gripping moment Weight Part number min. (6 bar) (Nm) (kg) GSP-R R GSP-R R GSP-R R GSP-R R Rotary Compact Modules & Grippers Type Mass moment of inertia 3) Max. perm. finger length 4) Recommended workpiece weight Max. perm. block attachment weight Max. perm. mass moment of inertia/ block attachment 5) Closing time (6 bar) Opening time (6 bar) (kgcm 2 ) (mm) (kg) (kg) (kgcm 2 ) (s) (s) GSP-R GSP-R GSP-R GSP-R ) referring to centerline of gripper 4) measured from top edge of housing 5) referring to center of swivel pin Max. permissible forces and torques on gripper Type F Z M X M Y M Z Z (N) (Nm) (Nm) (Nm) (mm) GSP-R GSP-R GSP-R GSP-R Centering elements included in scope of delivery.

68 68 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Rotary Compact Modules and Grippers Gripper GSP-R Technical data Permissible gripping range X = clamping height Y = clamping width F [N] GSP-R-10 Gripping force bar 6 bar 4 bar X [mm] X [mm] GSP-R-10 Gripping range Y [mm] F [N] GSP-R-16 Gripping force bar 6 bar 4 bar X [mm] X [mm] GSP-R-16 Gripping range Y [mm] F [N] GSP-R-25 Gripping force bar 6 bar 4 bar X [mm] X [mm] GSP-R-25 Gripping range Y [mm] F [N] GSP-R-32 Gripping force bar 6 bar 4 bar X [mm] X [mm] GSP-R-32 Gripping range Y [mm]

69 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 69 Dimensions Rotary Compact Modules & Grippers EE1 = close gripper air connection EE2 = open gripper air connection Type Dimensions (mm) A B C ØD k6 E EE1 EE2 F G H I J K L GSP-R Ø5 12 M5 M GSP-R Ø5 16 M5 M GSP-R Ø7 25 M5 M GSP-R Ø9 32 G1/8 G1/ Type Dimensions (mm) M N O P Q R S T T1 U V GSP-R-10 M GSP-R-16 M GSP-R-25 M GSP-R-32 M

70 70 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Motor Attachment to Linear Axes with Ball Screw Drive Motor attachment with motor mount and coupling The motor mount serves to fasten the motor to the linear axes and acts as a closed housing for the coupling. The coupling transmits the motor drive torque free of stresses to the drive shaft of the linear axis. Motor mount assembly (kit) consisting of: 1 Motor mount 2 Coupling 3 Mounting screws 1 3 2

71 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 71 Motor Linear axis D L F Linear axis Size for motor Part number Motor mount kit (without motor) M CN = rated torque of coupling = mass moment of inertia of coupling J C Dimensions (mm) Coupling Weight D L F M CN J C (Nm) (10 6 kgm 2 ) (kg) CKK 9-70 VRDM 368 R MSM 020B R MSM 030B R MSK 030C R VRDM 397 R VRDM 3910 MSM 030C R MSK 030C R VRDM 397 R VRDM 3910 MSM 030C R MSK 040C R VRDM 3913 R MSM 040B R MSK 040C R MSK 050C R eckk 90 VRDM 397 R VRDM 3910 MSM 030C R MSK 030C R VRDM 397 R VRDM 3910 MSM 030C R MSK 030C R MKK VRDM 368 R MSM 020B R MSM 030B R MSK 030C R VKK VRDM 368 R MSM 020B R MSM 030B R MSK 030C R VRDM 3910 R VRDM 3913 R MSM 030C R MSK 030C R VRDM R MSM 040B R MSK 050C R Drive & Control Elements

72 72 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Motor Attachment to Linear Axes with Ball Screw Drive Motor attachment with timing belt side drive On the linear axes the motor can be attached via a side drive with timing belt. 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. Timing belt side drive assembly (kit) consisting of: 1 Belt pulley housing (Al) 2 Toothed belt 3 Belt pulleys with tensioning units 4 Cover plate 5 End covers with screws 6 Mounting screws The timing belt side drive can be mounted in four different directions: bottom: RV01 top: RV02 left: RV03 right: RV04 Please state the mounting direction when ordering. RV01 RV02 RV03 RV04

73 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 73 Gear ratio: i = 1 : 1 Pre-tensioning of the toothed belt: Apply pre-tensioning force F pr to the motor (F pr will be indicated on delivery) Linear axis D Note: Gear ratios i = 1 : 1.5 or i = 1 : 2 available on request. Fpr G K E L sd F Linear axis Size for motor Part number Timing belt side drive kit (without motor) J sd = reduced mass moment of inertia of timing belt side drive at drive journal M sd = permissible torque at motor journal M Rsd = frictional torque of timing belt side drive at motor journal K D F L sd Dimensions (mm) J SD M sd M Rsd Weight E G (10 6 kgm 2 ) (Nm) (Nm) (kg) CKK 9-70 MSM 030B R MSK 030C R VRDM 3910 R MSM 030C R MSK 030C R VRDM 3913 R MSK 040C R MSM 030C R MSM 040B R VRDM R MSK 040C R MSM 040B R eckk 90 VRDM 3910 R MSM 030C R MSK 030C R VRDM 3913 R MSK 030C R MSM 030C R MKK MSM 030B R MSK 030C R VKK MSM 030B R MSK 030C R VRDM 3913 R MSM 030C R MSK 030C R VRDM R MSK 050C R MSM 040B R Drive & Control Elements

74 74 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Motor Attachment to Linear Axes with Toothed Belt Drive Direct motor attachment with i = 1 The motor is mounted directly to the drive end of the linear axis using a motor mount (flange). Motor mount assembly (kit) consisting of: 1 Flange 2 Mounting screws 3 Reducer sleeve (if required) 4 Mounting hole plugs For MA05 and MA06 Linear axis L F D Motor Linear axis Size for motor Part number Dimensions (mm) Weight (without motor) L F D Assembly kit (kg) CKR VRDM 3910 R VRDM 3913 R MSK 040C R VRDM 3913 R VRDM R MSK 050C R VRDM R VRDM MSK 060C R eckr 90 VRDM 3910 R VRDM 3913 R MSK 040C R VRDM 3913 R MSK 050C R MKR VRDM 3910 R VRDM 3913 R MSK 040C R

75 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 75 Motor attachment with gear reducer Gear reducer assembly (kit) consisting of: Gear reducer Flange Mounting screws for attachment to the linear axis and for fixing the motor Can be mounted in any orientation For MA05 and MA06 Linear axis D Motor Linear axis Size for motor Gear ratio Part number Dimensions (mm) Max. torque 1) M p Max. rotary speed 1) L F Lead constant at system Mass moment of inertia Weight Frictional torque i D L F n max J ge M Rge (Nm) (min 1 ) (mm/rev) (kgcm 2 ) (kg) (Nm) CKR 9-70 MSM 020B 5 R R MSK 030C 5 R R MSM 030C 5 R R MSK 030C 5 R R MSM 030C 5 R R MSK 030C 5 R R MSM 040B 3 R R R MSK 040C 3 R R R eckr 90 MSK 030C 5 R MSM 030B 5 R R MSM 020B 8 R MSM 030B 5 R R MSK 030C 5 R R MKR MSM 030B 5 R R MSM 030C 5 R R MSK 030C 5 R R ) Maximum values at motor journal Drive & Control Elements

76 76 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Motor Attachment to Linear Axes with Toothed Belt Drive CKR / eckr with second shaft end The belt driven modules also offer a second shaft end. which can be accessed by removing the screws (1) and the cover (2). Thread K 1 Depth: K 2 K3 K D4 ØD 2 ØD 1 D3 CKR/eCKR Dimensions (mm) Frame size ØD 1 ØD 2 D 3 D 4 K 1 K 2 K 3 K 4 h7 H M M M M MKR with second shaft end M4-8 deep (on both sides) Ø10 h7 Ø34 H7 12,5 1,

77 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 77 Connecting Shafts for CKR / eckr / MKR Compensate alignment errors 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 L M Ordering data Please state the part number and length L cs. E.g.: R , L cs = 550 mm Screw M Linear axis Size Part number Dimensions (mm) M A A D M L csmin L csmax L cs (Nm) CKR 9-70 R M L M R M L M R M L M R M L M eckr 90 R M L M R M L M 93 5 MKR R M L M 55 4 L cs Drive & Control Elements Part number M S M cs Mass moment of inertia Weight (Nm) (Nm (10 6 kgm 2 ) (kg) R (L cs (mm) + 80) (L cs (mm) 100) R (L cs (mm) + 80) (L cs (mm) 100) R (L cs (mm) + 250) (L cs (mm) 140) R L cs (mm) L cs (mm) R L cs (mm) L cs (mm) M A = tightening torque of screws L M = centerline-to-centerline distance between linear axes M S = peak torque of connecting shaft M cs = rated torque of connecting shaft Torsional stiffness c T (10 3 Nm/rad) L cs (mm) CKR / CKR / eckr 90 / eckr 110 CKR MKR / CKR 9-70 Recommended rotary speed: maximum rotary speed 0.8 Maximum rotary speed n L cs (mm) (min 1 )

78 78 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Connecting Shafts for CKR / eckr / MKR End closer for connecting shaft The end closer covers the open end of the drive and thus eliminates any risk of injury from the rotating motor mounting socket. A Frame size Dimension (mm) Part number CKR, eckr MKR A R R R R

79 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 79 Motors Mounting orientation of motor to linear motion system Definition: Linear motion system (CKK, CKR, MKK, MKR, eckk, eckr and VKK) in horizontal mounting orientation Viewed end-on, looking at the drive journal Orientation of motor connector (power) relative to linear motion system R (right) L (left) O (top) U (bottom) Please state the mounting orientation when ordering. Motor connector L CKK /eckk and MKK in horizontal mounting orientation U O R End-face view on drive journal Centering holes VKK in horizontal mounting orientation CKR/eCKR and MKR in horizontal mounting orientation Drive & Control Elements Motor connector O R End-face view on drive journal L U Mounting examples O (top) L (left) R (right) R (right) L (left)

80 80 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Motors Servo motor MSK (IndraDyn S) The particularly outstanding features of the MSK range of IndraDyn S motors are its wide power spectrum and narrow size increments. The high torque density of these synchronous servo motors allows a particularly compact design with high torques. Specifications: Plain shaft with shaft sealing ring Multiturn absolute encoder (Hiperface) Cooling system: natural convection Protection class IP 65 With or without holding brake Motor Part number Version Holding brake Type designation without with MSK 030C R X MSK030C-0900-NN-M1-UG0-NNNN R X MSK030C-0900-NN-M1-UG1-NNNN MSK 040C R X MSK040C-0600-NN-M1-UG0-NNNN R X MSK040C-0600-NN-M1-UG1-NNNN MSK 050C R X MSK050C-0600-NN-M1-UG0-NNNN R X MSK050C-0600-NN-M1-UG1-NNNN MSK 060C R X MSK060C-0600-NN-M1-UG0-NNNN R X MSK060C-0600-NN-M1-UG1-NNNN Description Symbol Unit MSK030C MSK040C MSK050C MSK060C Continuous torque at standstill 60K M 0_60 (Nm) Continuous current at standstill 60K I 0_60(eff) (A) Continuous torque at standstill 100K M 0_100 (Nm) 0.9 in prep. in prep. 8.8 Continuous current at standstill 100K I 0_100(eff) (A) 1.7 in prep. in prep Maximum torque M max (Nm) Maximum current I max(eff) (A) Torque constant at 20 C K M_N (Nm/A) Voltage constant at 20 C K EMK_1000 (V/min 1 ) Winding resistance at 20 C R 12 (Ohm) Winding inductance L 12 (mh) Dissipation capacitance C diss (nf) No. of pole pairs P Rotor moment of inertia w/o brake J rot (kgm 2 ) Thermal time constant T th (min) Maximum speed n max (min 1 ) Mass w/o brake m (kg) Mean acoustic pressure L P (db(a)) < 75 < 75 < 75 < 75 Ambient temperature (in service) T amb ( C) 0 to 40 Protection class IP 65 Insulation class F (as per EN ) Holding brake Holding torque M Br (Nm) Rated voltage (+/- 10%) U N (V) Rated current I N (A) Release reaction time t 1 (ms) Brake reaction time t 2 (ms) Moment of inertia of brake J Br (kgm 2 ) Mass of brake m Br (kg) Further information for project planning:

81 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 81 Torque/speed characteristics MSK 030C MSK 040C M (Nm) 4,5 4,0 3, M (Nm) 4,5 8,0 7, ,0 2,5 6,0 5,0 S3 (25%ED) * 2,0 1,5 S3 (26%ED) * 4,0 3,0 1,0 S1 (100K) 2,0 S1 (60K) 0,5 0,0 0 * ED = duty cycle S1 (60K) n (min 1 ) MSK 050C 1,0 0, n (min 1 ) MSK 060C M (Nm) 16,0 14,0 12,0 10,0 8,0 S3 (25%ED) * M (Nm) 30,0 25,0 20,0 15,0 S3 (25%ED) * Drive & Control Elements 6,0 4,0 2,0 S1 (60K) 10,0 5,0 S1 (100K) S1 (60K) 0, n (min 1 ) 0, n (min 1 ) [1] M max IndraDrive, controlled power supply 3 x AC 400 V [2] M max IndraDrive, non-controlled power supply 3 x AC 480 V [3] M max IndraDrive, non-controlled power supply 3 x AC 440 V [4] M max IndraDrive, non-controlled power supply 3 x AC 400 V Dimensions (mm) A B 1 B 2 B 3 ØD ØE ØF ØG H 1 H 2 H 3 L w/o L with L 1 R k6 j6 brake brake MSK 030C R5 MSK 040C R8 MSK 050C R8 MSK 060C R9

82 82 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Motors Servo motor MSM (ECODRIVE Cs) The maintenance-free ECODRIVE Cs servo motors MSM expand the digital drive technology portfolio in the lower power range. Offering high power density in a compact design with minimized flange dimensions. this range of motors is ideal for machine concepts for high dynamic processes. Specifications: Plain shaft Plain shaft with shaft sealing ring Multiturn absolute encoder (Hiperface) Protection class IP 65 (casing) With or without holding brake Motor Part number Version Holding brake Type designation without with MSM 020B R X MSM020B-0300-NN-M0-CG0 R X MSM020B-0300-NN-M0-CG1 MSM 030B R X MSM030B-0300-NN-M0-CG0 R X MSM030B-0300-NN-M0-CG1 MSM 030C R X MSM030C-0300-NN-M0-CG0 R X MSM030C-0300-NN-M0-CG1 MSM 040B R X MSM040B-0300-NN-M0-CG0 R X MSM040B-0300-NN-M0-CG1 Description Symbol Unit MSM 020B MSM 030B MSM 030C MSM 040B Continuous torque at standstill M dn (Nm) Continuous current at standstill I dn (A) Peak current I max (A) Maximum torque M max (Nm) Torque constant at 20 C K m (Nm/A) 0.33 ± 10% 0.42 ± 10% 0.54 ± 10% 0.61 ± 10% Voltage constant at 20 C K E(eff) (V/1000min 1 ) 20.3 ± 10% 25.6 ± 10% 32.6 ± 10% 37.3 ± 10% Winding resistance at 20 C R 12 (Ohm) 17.8 ± 10% 6.3 ± 7% 4.3 ± 7% 1.5 ± 7% Winding inductance L 12 (mh) 15.3 ± 8% 21.5 ± 8% 17.0 ± 10% 10.7 ± 10% No. of pole pairs P Rated speed n N (min 1 ) Rated torque M N (Nm) Rated current I N (A) Rated power P N (W) Rated voltage U N (V) Rated frequency f N (Hz) Rotor moment of inertia w/o brake J rot (kgm 2 ) x x x x 10 4 Thermal time constant T th (s) Maximum speed n max (min 1 ) Mass w/o brake m (kg) Ambient temperature (in service) T amb ( C) Protection class IP 65 (casing); IP 40 (drive shaft) Insulation class B (as per DIN VDE 0530 part 1) Holding brake Holding torque M Br (Nm) Rated voltage (+/- 10%) U N (V) 24 ±10% 24 ±10% 24 ±10% 24 ±10% Rated current I N (A) Release reaction time t 1 (ms) Brake reaction time t 2 (ms) Moment of inertia of brake J Br (kgm 2 ) x x x x 10 4 Mass of brake m Br (kg) Further information: ECODRIVE Cs project planning manual R and ECODRIVE Cs control units R

83 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 83 Torque/speed characteristics MSM 020B (ambient temperature 30 C) M (Nm) 1,0 0,9 M max (AC200V 15%) 0,8 0,7 0,6 0,5 0,4 Md 0,3 0,2 0,1 0, n (min 1 ) MSM 030B (ambient temperature 30 C) M (Nm) 2,5 2,0 M max (AC240V+10%) 1,5 M max (AC200V 15%) 1,0 Md 0,5 0, n (min 1 ) MSM 030C (ambient temperature 30 C) MSM 040B (ambient temperature 40 C) M (Nm) 4,0 3,5 3,0 2,5 2,0 1,5 1,0 Md M max (AC200V 15%) Mmax (AC240V+10%) M (Nm) 8,0 7,0 6,0 5,0 4,0 3,0 2,0 Md M max (AC240V+10%) Mmax (AC200V 15%) Drive & Control Elements 5,0 1,0 0,0 0, n (min 1 ) n (min 1 ) Dimensions (mm) A B 1 B 2 B 3 ØD ØE ØF ØG H 1 H 2 H 3 L w/o L with h6 h7 brake brake MSM 020B MSM 030B MSM 030C MSM 040B

84 84 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Motors 3-phase stepping motor VRDM Thanks to the optimized internal geometry, these motors offer high power density, with up to 50% more torque than conventional stepping motors of comparable size. The sinusoidal commutation of the Twin Line power electronics and the special structural design combine to give a stepping motor that runs very quietly and almost totally resonance-free. Encoder for rotation monitoring incl. integrated temperature sensor for monitoring the motor temperature. Versions: With or without holding brake Encoder Cooling system: natural convection Protection class IP 56 (casing) Plain shaft or key DIN 6885 Motor Part number Version Holding brake Type designation without with VRDM 368 R X VRDM 368 L W C E O R X VRDM 368 L W C E B VRDM 397 R X VRDM 397 L W C E O R X VRDM 397 L W C E B VRDM 3910 R X VRDM 3910 L W C E O R X VRDM 3910 L W C E B VRDM 3913 R X VRDM 3913 L W C E O R X VRDM 3913 L W C E B VRDM R X VRDM L W C E O R X VRDM L W C E B VRDM R X VRDM L W C E O R X VRDM L W C E B Description Symbol Unit VRDM 368 VRDM 397 VRDM 3910 VRDM 3913 VRDM VRDM Maximum torque M max (Nm) Holding torque M H (Nm) Winding resistance R (Ohm) Rated current/supply I (A) Maximum start frequency F A (khz) Current rise-time constant t (ms) Rotor moment of inertia w/o brake J rot (kgm 2 ) 0.38 x x x x x x 10 4 Permissible dyn. shaft load, axial F a (N) 100/ /30 175/30 175/30 330/60 330/60 (tensile/compressive) Permissible dyn. shaft load, radial F r (N) Mass w/o brake m (kg) Ambient temperature (in service) T amb ( C) Protection class IP 56 (casing); IP 41 (drive shaft) Rated voltage of link circuit U (V) 325 Step count z 200/400/500/1000/2000/4000/5000/10000 Stepping angle per step a ( ) 1.8/0.9/0.72/0.36/0.18/0.09/0.072/0.036 Encoder Resolution 1000 increments/revolutions Supply voltage (V) 5 ±5% Supply current (A) 0.15 Holding brake Holding torque M Br (Nm) Rated voltage U N (V) 24 24±10% 24±10% Electrical pickup power P E (W) Energize time (ms) De-energize time (ms) Moment of inertia of brake J Br (kgm 2 ) x x x 10 4 Mass of brake m Br (kg)

85 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 85 Motor characteristics The measurements were recorded at 1000 steps/revolution, rated voltage, link circuit U N and rated motor current I N. VRDM 397 with SD3 VRDM 3910 with SD3 VRDM 3913 with SD3 M (Nm) J (kg cm 2 ) f s [khz] f (100 min 1 ) M (Nm) J (kg cm 2 ) f s [khz] f (100 min 1 ) J (kg cm 2 ) M (Nm) fs [khz] f (100 min 1 ) Drive & Control Elements VRDM with SD3 VRDM with SD3 VRDM with SD3 J (kg cm 2 ) M (Nm) f s [khz] f (100 min 1 ) J (kg cm 2 ) M (Nm) f s [khz] f (100 min 1 ) J (kg cm 2 ) M (Nm) f s [khz] f (100 min 1 ) Operating-limit torque Start-stop curve Maximum load inertia

86 86 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Motors VRDM 368 Ø38,1 ±0,02 5 d -0, L ±0, , Ø8 ( - 0,0 1 3 ) R5 VRDM 397, 3910, L Ø 6.5 ØD h8 Ød h Ø15 Ø R VRDM 31117, ±1 L ± Ø9 110 ± Ø56 h7 Ø19 j6 Ø ,2 47,2 Ø5,1 1,6 ~ ) Motor connector 2) Brake 3) Brake connector 4) Key 5) Encoder connector R10.5 Motor Shaft diameter Shaft design Length Centering collar d (mm) L (mm) D (mm) VRDM Plain shaft 79 38,1 VRDM Plain shaft ,0 VRDM Plain shaft ,0 VRDM Plain shaft ,0 VRDM Washer/feather key A6 x 6 x 25 DIN ,0 VRDM Washer/feather key A6 x 6 x 25 DIN ,0

87 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 87 Compact Servo Converters IndraDrive C for MSK motors Specifications for power section HCS02 Thanks to their broad power range IndraDrive C Servo Converters can be used in all kinds of applications. Their compact design makes them ideal for single-axis solutions. They can be con nected directly to mains supply voltages of 200 to 500 V. Power section HCS02.1E-W0012 HCS02.1E-W0028 Part number R R Continuous current (A) Maximum current (A) Mains supply voltage (V) 3 x AC ( ) ± 10% Dimensions Width W (mm) Height H (mm) Depth D (incl. plug) (mm) Specifications for control section CSB01.1N Overload capability factor 2.5 Internal braking chopper and braking resistor Protection class IP 20 Control section Part number Guideway communication Profibus Sercos CSB01.1N-SE-ENS-NNN-NN-S-NN-FW R X FWA-INDRV*-MPB-04VRS-D5-1-NNN-NN R CSB01.1N-PB-ENS-NNN-NN-S-NN-FW R X FWA-INDRV*-MPB-04VRS-D5-1-NNN-NN R Drive & Control Elements Easy integration into matching power section HCS02 For Profibus or Sercos guideway communication Encoder interface for IndraDyn motors 5 digital inputs plus 3 freely settable inputs/outputs and 1 relay output Description Part number Type designation Start-up software R SWA-IWORKS-D**-04VRS-D0-CD650-COPY Interface cable R IKB0041/005.0 Basic accessories for R HAS NNN-CN compact units Shield connection R HAS NNN-NN Mains filter R NFD Mains filter R NFE Motor Cable Sets Power cable pre-assembled, 5 m Encoder cable pre-assembled, 5 m Part number R R Type designation RKL4302/005,0 RKG4200/005,0 Diameter (mm) Minimum bending radius (mm) - for fixed installation for flexing installation ) 66 Nominal life in bending cycles 5 million 1 million 1) 5 million Spec. cable weight (kg/m) ) Values for cable management chain MP3000 If a higher bending fatigue strength is required, special cables will be required. Please ask. Chemical properties: Resistant to most mineral oils and greases, resistant to hydrolysis, siliconfree, halogen-free. Cable surface: Low-adhesion, prevents sticking in cable drag chains. Protection class, when properly installed: IP65 Permissible ambient temperature in operation: 20 C to +40 C Maximum cable length: 75 m

88 88 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Compact Servo Converters IndraDrive C for MSK motors Speed/torque characteristics Servo package With motor MSK030C-0900-NN- and power section HCS02.1E-W ms acceleration time (Nm) 4,5 4,0 3,5 3,0 2,5 2,0 1,5 1,0 0, n (min 1 ) Servo package With motor MSK040C and power section HCS02.1E-W ms acceleration time (Nm) n (min 1 ) Servo package With motor MSK050C and power section HCS02.1E-W ms acceleration time (Nm) n (min 1 ) Servo package With motor MSK060C and power section HCS02.1E-W ms acceleration time (Nm) n (min 1 ) M dn : M kb : M max : Standstill torque Short-time operation torque Maximum torque

89 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 89 Compact Servo Converters ECODRIVE Cs for MSM motors Efficient ECODRIVE Cs servo converters are available for low-power applications from 100 to 750 W. They are of compact design and can be connected directly to 230 V mains supply networks. Specifications for complete unit DKC**.3: Overload capability factor 3 Internal brake chopper and brake resistor The power sections are individually matched to the corresponding motor. Protection class IP 20 For Sercos or Profibus guideway communication (optional) Encoder interface for MSM servo motors 7 digital inputs plus 3 digital outputs 1 Ready relay, 1 relay for brake piloting Complete unit Model code DKC**.3l Part number, Sercos R R R R Part number, Profibus R R R R Interface card R R R R Continuous current (A) Maximum current (A) Mains supply voltage (V) ; +10%, 15% Dimensions Width W (mm) 1) Height H (mm) Depth D (w/o plug) (mm) ) For units with Profibus interface, the width increases by 24 mm. Drive & Control Elements Accessories Motor Cable Sets Description Part number Type designation Start-up software R SWA-IWORKS-D**-04VRS-D0-CD650-COPY Interface cable R IKB0041/005.0 Battery R SUP-E03-DKC*CS-BATTRY Connector set (green) R SUP-E01-DKC*CS-CONSIG Signal cables Mains filter R NFE Power cable pre-assembled, 5 m Encoder cable pre-assembled, 5 m Part number R R Type designation IKG0331/005,0 IKS0230/005,0 Diameter (mm) 10.0 max. 7.6 Minimum bending radius (mm) - for fixed installation for flexing installation Nominal life in bending cycles 5 million 5 million Spec. cable weight (kg/m) For connections between the drive controllers and motors, please use the appropriate motor power cables from Rexroth. Power cable, cable length The maximum cable length is 40 m under the following conditions: pre-assembled cable from Rexroth ambient temperature of 40 C as per EN maximum switching frequency of 8 khz Further information for project planning: Encoder cable, cable length The shield is grounded via a shielding plate in the connector. Maximum length of encoder cable: 40 m.

90 90 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Switch Mounting Arrangements on the Linear Axis As magnetic field sensors, the sensors are activated directly (without any switching cam). The switch activation points can be positioned anywhere along the stroke. Sensors may only be mounted on one side (left or right) of the linear axis and should not be installed until the linear axis has been screwed down on its base. Compact Module a Linear Module Switch activation points: 1 Limitation at stroke end (recommended: Reed or Hall sensor) 2 Reference point at middle of stroke (recommended: Hall sensor) 5 3 Sensor mounting kit consisting of: 3 Sensor (Hall or Reed) 4 Sensor mount incl. set screws (loose) and square nut 4a 5 Cable holder (3 pcs) incl. set screw (loose) Sensor mounting direction: The location of the sensor depends on how the drive unit is mounted to the linear axis and is defined by R (right) or L (left). Please state the mounting direction when ordering. Version Part number Sensor mounting kit with Reed sensor R Sensor mounting kit with Hall sensor R Drive unit CKK / eckk / MKK L (left) R (right) Drive unit CKR / eckr / MKR L (left) R (right) Sensor design: Set screw M3 Pin assignment Hall sensor 1: +3.8 to 30 V DC 4: Output 3: 0 V ground Activation point Hall sensor (PNP NC) 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 Enclosure IP 66 Short-circuit protection No Perm. travel speed 2 m/s Enclosure material Ultramid Reed sensor Part number R Dimension X 9 mm Contact type changeover Switching voltage max. 100 V DC Switching current max. 500 ma Enclosure IP 66 Perm. travel speed 2 m/s Enclosure material Ultramid Caution: 2 switching points Reed sensor Reed sensor (changeover) 1 4 3

91 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 91 Sensor mount A sensor mount (1) is required to fix the sensors in place. It is inserted into the upper T-slot of the linear axis frame and secured with set screws (2). The sensors are pushed into the respective slots of the sensor mount and fixed with a set screw. The square nut with set screw (3) serves as a fixed stop for the sensor (locating position when replacing a sensor). The required parts are included in the sensor mounting kit a Frame size 70, 90 and 110 CKK MKK/MKR b CKR Cable holder The cable holder (1) is inserted in the upper T-slot of the linear axis and secured with a set screw (2). It serves to fix the sensor cables along the length of the linear axis. Once the cable holder has been secured to the linear axis, clip the sensor cables (3) into the cable holder and connect them up. Close the cover of the cable holder for additional retention. The required parts are included in the sensor mounting kit Drive & Control Elements 1 2 (hidden) 3 Extension cable for sensor (Reed/Hall) for all linear axes The extension cable (approx. 5 m) is supplied complete with a female connector M8x1 for connection to the sensor ~35 M8x1 Extension cable Part number Connector contact Protection class Weight (kg/m) Cable Ø (mm) R to core brown blue black IP 66 when connected Pin assignment VDC 0V ground Output

92 92 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Drive & Control Elements Switch Mounting Arrangements on the Feed Module Overview of switching system Switching system 1 Switch (magnetic field sensor) 2 T-slot for switch 3 Cable The switch activator is a magnet integrated in the thrust rod. cc For short-stroke applications: Consider the length of the switch! Magnetic field sensors with potted cables can be used in the Feed Module. 1 2 Type Hall sensor (PNP NC) or Reed sensor (changeover) Mounting instructions The magnetic field sensors (MFS) are pushed into the T-slot and fixed with set screws. The MFS cables are routed along the side of the T-slot (3). For details regarding the switching position, see mounting instructions Part number Reed Sensor Hall Sensor R R The protective profile serves to close the slot and hold the sensor cable. It can be cut to the required length and clipped into the slot. Module Size Part number L Weight (mm) (g/m) VKK R

93 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 93 Switch Mounting Arrangements on Pneumatic Axes Series ST4 electrical (Reed contact) and electronic (contactless) BN = brown, BK = black, BU = blue * Note on the protective circuit in the case of an inductive load: DC voltage = diode or Z diode; AC voltage = resistor and capacitor or varistor III BN 1 BU 3 BK 4 R L * +/ /~ /+/~ V BN 1 BU 3 BK 4 R L * + Part number R R Contact type Reed Contactless Symbol III (3-wire) V (3-wire) Material PUR PUR Connector M8 x 1 M8 x 1 Ambient temperature range 25 C to +75 C 25 C to +75 C Operating voltage AC/DC V AC/DC V Switching current I max 100 ma 70 ma Switching capacity max. 3 W / 5 VA 3 W / 5 VA R s 15 Ω Voltage drop U at I max I x R s < 2.5 V Operating current (w/o load) not switched < 8 ma Operating current (w/o load) switched < 5 ma < 20 ma Switching frequency max. 0.5 khz 1.0 khz Short-circuit protection No Yes Polarity safe Yes Yes Drive & Control Elements 1* Sensor element 2* Clamping screw 3* LED X PNP approx. 6 mm Reed approx. 11 mm General characteristics: Degree of protection: IP 67 IEC (DIN VDE 0470) Switching point accuracy (at constant temperature): ± 0.1 mm Indicator: LED (yellow = operating status: switched) Material of body: polyamide Reed: R s = protective resistor for Reed contact Shock resistance max.: 30 g / 11 ms (contact closes) Vibration resistance: Hz, 1 mm Switching response times ON / OFF: ~ 0.5 ms / ~ 0.1 ms

94 94 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Product Overview Rexroth connection elements have been designed for easy connection of linear axes to one another. The connection elements are supplied as kits with all necessary parts. Combination options: Linear axes linear axes Linear axes Rotary Compact Modules Linear axes Grippers Rotary Compact Modules Grippers Advantages: Defined node points minimize design and installation effort Positive-locking connection (centering rings) ensure good reproducibility Direct mounting possible! no intermediate plate needed Reduced parts complexity thanks to multiple combination options using the same connection kit Angle bracket connection kit Clamping fixture connection kit Sliding block connection kit Rotary compact module connection kit

95 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 95 Connection Elements CKK CKR

96 96 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Product Overview Linear axis linear axis: Direct connection Direct connection of Compact Module to Compact Module (X-Y axes) Direct connection of Compact Module to Feed Module (X-Z axes) Connection of Compact Module to Mini Slide Connection of Mini Slide to Mini Slide, slide mounting Linear axis linear axis: Connection via angle brackets Connection of Compact Module to Compact Module (X-Y axes) Connection of Linear Module to Compact Module (X-Y axes) Connection of Compact Module to Compact Module (X-Y axes), reinforced version Connection of Compact Module to Compact Module (X-Z axes) Connection of Compact Module to Feed Module (X-Z axes)

97 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 97 Linear axis linear axis: End-face connection Compact Module to Compact Module Compact Module to Feed Module Compact Module to Mini Slide Mini Slide to Mini Slide, end-face mounting Linear axis Rotary Compact Module Connection of Compact Module to Mini Slide / to Rotary Compact Module End-face connection of Compact Module to Rotary Compact Module / Gripper Connection of Feed Module to Gripper / to Rotary Compact Module Connection of Mini Slide to Rotary Compact Module Connection Elements Linear axis Gripper End-face connection of Compact Module to Rotary Compact Module / Gripper Connection of Feed Module to Gripper Connection of Mini Slide to Gripper Rotary Compact Module Gripper Connection of Rotary Compact Module to Gripper

98 98 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: Direct connection Compact Module Compact Module The connection kit is designed for direct connection of Compact Modules to one another. Connection kit consisting of: Clamping fixtures (material: Al) Sliding blocks Screws Centering rings Y-axis connected by the frame. (carriage travels along the Y-axis) Y-axis connected by the carriage. (frame travels along the Y-axis) Y-axis Y-axis X-axis X-axis X-axis (CKK, CKR, eckk, eckr) Y-axis (CKK, CKR, eckk, eckr) Frame size Part number R Weight (kg) Part number R R Weight (kg) Part number R R R Weight (kg) Part number R R R Weight (kg)

99 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 99 Compact Module Feed Module The connection kit is designed for direct connection of Compact Modules to Feed Modules. Connection kit consisting of: Clamping fixtures (material: Al) Sliding blocks Screws Centering rings Z-axis connected by the frame. (thrust rod travels along the Z-axis) Z-axis Connection Elements Y-axis X-axis (CKK, CKR, eckk, eckr) Z-axis (VKK) Frame size Part number R Weight (kg) Part number R R Weight (kg) Part number R R Weight (kg) Part number R R Weight (kg)

100 100 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: Direct connection Connection of Compact Module to Mini Slide Connection kit consisting of: Sliding blocks Screws Centering rings Y-axis X-axis Part numbers X-axis (CKK, CKR, eckk, eckr) Y-axis (Mini Slide MSC) Frame size MSC - 08 MSC - 12 MSC - 16 MSC - 20 MSC R R R R R R R R R R R R

101 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 101 Connection of Mini Slide to Mini Slide End-face mounting X-axis X-axis Slide mounting X-axis X-axis Connection elements X-axis Socket head cap screw ISO 4762 Quantity: 2 MSC - 08 MSC - 12 MSC - 16 MSC - 20 MSC - 12 M4 x 18 MSC - 16 M5 x 20 MSC - 20 M5 x 30 MSC - 25 M6 x 35 Connection Elements

102 102 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: Connection via angle brackets Compact/Linear Module Compact Module X-Y axes Connection kit consisting of: Angle bracket (material: Al) Clamping fixtures (material: Al) Sliding blocks Screws Centering rings Y-axis connected by the frame. (carriage travels along the Y-axis) Y-axis connected by the carriage. (frame travels along the Y-axis) Y-axis Y-axis X-axis X-axis Y-axis X-axis X-axis

103 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 103 D X B A C D X A B C View X (shown without Compact Module) End-face threads M6 (2x) 20 D E 25 F min. 8 X-axis (CKK, CKR, eckk, eckr, MKK, MKR) Y-axis (CKK, CKR, eckk, eckr) Frame size Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R A (mm) B (mm) C (mm) 55.5 D (mm) E (mm) 40.0 F (mm) 4.0 Weight (kg) Part number R R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Connection Elements

104 104 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: Connection via angle brackets Compact Module Compact Module X-Y axes (reinforced version) Connection kit consisting of: Angle bracket (material: Al) Clamping fixtures (material: Al) Sliding blocks Screws Centering rings Y-axis connected by the frame. (carriage travels along the Y-axis) Right-hand version Y-axis Left-hand version Y-axis X-axis X-axis

105 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 105 Right-hand version D 20E F 20 View X (shown without Compact Module) D 25 G M6 X C Left-hand version D 20 F E 20 M6 D 25 G X B A B A C X-axis (CKK, CKR, eckk, eckr) Frame size Y-axis (CKK, CKR, eckk, eckr) Part number R R Version right-hand left-hand A (mm) B (mm) C (mm) 55.5 D (mm) E (mm) 10.0 F (mm) 90.0 G (mm) 1.0 (Thread M5) Weight (kg) Part number R R R R Version right-hand left-hand right-hand left-hand A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) G (mm) Weight (kg) Part number R R R R Version right-hand left-hand right-hand left-hand A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) G (mm) Weight (kg) Part number R R R R Version right-hand left-hand right-hand left-hand A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) G (mm) Weight (kg) Connection Elements

106 106 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: Connection via angle brackets Compact Module Compact Module X-Z axes Connection kit consisting of: Angle bracket (material: Al) Clamping fixtures (material: Al) Sliding blocks Screws Centering rings Z-axis connected by the frame. (carriage travels along the Z-axis) Z-axis connected by the carriage. (frame travels along the Z-axis) X-axis X-axis Z-axis Z-axis

107 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 107 F A F A D E D E B Section view of angle bracket (without Compact Module) C D 20 B X-axis (CKK, CKR, eckk, eckr) Z-axis (CKK, CKR, eckk, eckr) Frame size Part number R A (mm) B (mm) C (mm) 40.0 D (mm) 95.0 E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Connection Elements

108 108 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: Connection via angle brackets Connection of Compact Module to Feed Module X-Z axes Connection kit consisting of: Angle bracket (material: Al) Clamping fixtures (material: Al) Sliding blocks Screws Centering rings Z-axis connected by the frame. (thrust rod travels along the Z-axis) X-axis Z-axis

109 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 109 F A B Section view of angle bracket (without Feed Module) Connection Elements E X-axis (CKK, CKR, eckk, eckr) D C D 20 Z-axis (VKK) Frame size Part number R A (mm) B (mm) 92.5 C (mm) 40.0 D (mm) 95.0 E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg)

110 110 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: End-face connection End-face connection of Compact Module to Compact Module Connection kit consisting of: Connection plate (material: Al) Clamping fixtures (material: Al) Screws Centering rings Z-axis connected by the frame. (carriage travels along the Z-axis) Z-axis connected by the carriage. (frame travels along the Z-axis) X-axis X-axis Z-axis Z-axis

111 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 111 Z C Z-Z (shown without Compact Module) F 20 E Z B A D X-axis (CKK, CKR, eckk, eckr) Frame size Z-axis (CKK, CKR, eckk, eckr) CKK, CKR eckk, eckr Part number R A (mm) B (mm) C (mm) D (mm) 89.0 E (mm) 20.0 F (mm) 40.0 Weight (kg) Part number R A (mm) B (mm) C (mm) D (mm) E (mm) 40.0 F (mm) 40.0 Weight (kg) Part number R A (mm) B (mm) C (mm) D (mm) E (mm) 80.0 F (mm) 50.0 Weight (kg) Part number R A (mm) 63.0 B (mm) C (mm) D (mm) 89.0 E (mm) 20.0 F (mm) 40.0 Weight (kg) Part number R A (mm) 80.0 B (mm) C (mm) D (mm) E (mm) 40.0 F (mm) 40.0 Weight (kg) 1.6 Connection Elements

112 112 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: End-face connection End-face connection of Compact Module to Feed Module Connection kit consisting of: Connection plate (material: Al) Clamping fixtures (material: Al) Screws Centering rings Z-axis connected by the frame. (thrust rod travels along the Z-axis) X-axis Z-axis

113 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 113 Z B A C Z-Z (shown without Feed Module) F 20 E D Z X-axis (CKK, CKR, eckk, eckr) Frame size Z-axis (VKK) CKK, CKR eckk, eckr Part number R A (mm) 83.0 B (mm) C (mm) 69.0 D (mm) 69.5 E (mm) 20.0 F (mm) 15.0 Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R A (mm) B (mm) C (mm) D (mm) E (mm) 80.0 F (mm) 50.0 Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) D (mm) E (mm) F (mm) Weight (kg) Connection Elements

114 114 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: End-face connection End-face connection of Compact Module to Mini Slide MSC Connection kit consisting of: Connection plate (material: Al) Screws Centering rings Z-axis X-axis

115 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 115 Z C Z B A Z-Z (shown without MSC) For X-axis frame size: , X-axis (CKK, CKR, eckk, eckr) Frame size Z-axis (Mini Slide MSC) CKK, CKR eckk, eckr MSC 08 MSC 12 MSC 16 MSC 20 MSC Part number R R R A (mm) B (mm) C (mm) Weight (kg) Part number R R R R A (mm) B (mm) C (mm) Weight (kg) Part number R R R R A (mm) B (mm) C (mm) Weight (kg) Part number R R A (mm) B (mm) C (mm) Weight (kg) Part number R R R R A (mm) B (mm) C (mm) Weight (kg) Part number R R R R A (mm) B (mm) C (mm) Weight (kg) Connection Elements

116 116 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis linear axis: End-face connection End-face connection of Mini Slide to Mini Slide End-face mounting X-axis X-axis Slide mounting X-axis X-axis Connection elements X-axis Socket head cap screw ISO 4762 Quantity: 2 MSC - 08 MSC - 12 MSC - 16 MSC - 20 MSC - 12 M4 x 18 MSC - 16 M5 x 20 MSC - 20 M5 x 30 MSC - 25 M6 x 35

117 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 117 Linear axis Rotary Compact Module: Direct connection Direct connection of Compact Module to Rotary Compact Module RCM Connection kit for RCM 12 and RCM 16 consisting of: Sliding blocks Screws Centering rings (included with RCM) Connection kit for RCM 20 and RCM 25 consisting of: Plate (thickness: 12 mm) Screws Threaded anchor strips Centering rings (for connection to CKx) X-axis Part numbers X-axis (CKK, CKR, eckk, eckr) Rotary Compact Module Frame size RCM 08 RCM 12 RCM 16 RCM 20 RCM R R R R R R R Connection Elements

118 118 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis Rotary Compact Module: End-face connection End-face connection of Compact Module to Rotary Compact Module RCM Connection kit consisting of: Centering rings Base plate (material: Al) End-face plate (material: Al) Screws Straight pins E B A C D Frame size Dimensions (mm) Weight CKK, CKR eckk, eckr A B C D E (kg) Part numbers CKK, CKR, eckk, eckr Frame size Rotary Compact Module RCM 12 RCM 20 RCM R R R R R R R R R R R

119 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 119 End-face connection of Feed Module to Rotary Compact Module Connection kit consisting of: Screws VKK Socket head cap screw ISO 4762 Rotary Compact Module Quantity: 2 piece RCM 8 RCM 12 RCM 16 RCM 20 RCM M4 x 25 M5 x 30 M5 x 40 M6 x 45 M6 x Connection of Mini Slide to Rotary Compact Module X-axis Connection Elements Rotary Compact Module Connection elements X-axis (Mini Slide) Socket head cap screw ISO 4762 Quantity: 2 piece Rotary Compact Module RCM 8 RCM 12 RCM 16 RCM 20 RCM 25 MSC - 12 M4 x 18 MSC - 16 M5 x 30 M5 x 35 MSC - 20 M5 x 35 MSC - 25 M6 x 40 M6 x 40

120 120 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis Gripper: End-face connection End-face connection of Compact Module to Gripper Connection kit consisting of: Centering rings Base plate (material: Al) End-face plate (material: Al) Screws Straight pins The gripper can be mounted in two orientations. E B A C D Frame size Dimensions (mm) Weight CKK, CKR eckk, eckr A B C D E (kg) Part numbers CKK, CKR, eckk, eckr Frame size Gripper Rexroth (GSP) GSP-A-10, GSP-A-16 GSP-A-25 GSP-A-32 GSP-P-10, GSP-P-16 GSP-P-25 GSP-R-10, GSP-R-16 GSP-R-25 GSP-R R R R R R R R R R R R R R R Schunk (PGN-plus) 50-1 AS 64-1 AS 80-1 AS

121 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 121 End-face connection of Feed Module to Gripper Connection kit consisting of: Connection plate (material: Al) Screws Centering rings 15 Ø75 Connection Elements Frame size Weight VKK (kg) Part numbers Frame size Gripper Rexroth (GSP) Schunk (PGN-plus) GSP-A-10 GSP-A-16 GSP-A-25 GSP-A AS GSP-P-10 GSP-P-16 GSP-P-20 GSP-P AS GSP-R-10 GSP-R-16 GSP-R-25 GSP-R AS 50 R R R R R R VKK

122 B 122 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Connection Elements Linear axis Gripper: End-face connection End-face connection of Mini Slide to Gripper Connection kit consisting of: Plate (material: Al) Screws Centering rings A Dimension B = centerline of gripper to top edge of mini slide Mini Slide Mini Slide for attachment to Gripper Type GSP GSP-A-10 GSP-A-16 GSP-A-25 GSP-A-32 Rexroth GSP-P-10 GSP-P-16 GSP-P-20 GSP-P-25 GSP-R-10 GSP-R-16 GSP-R-25 GSP-R-32 MSC-08 Part number R A (mm) 6 B (mm) 9.3 Weight (kg) 002 MSC-12 Part number R R A (mm) 6 6 B (mm) Weight (kg) MSC-16 Part number R R R R A (mm) B (mm) Weight (kg) MSC-20 Part number R R R R A (mm) B (mm) Weight (kg) MSC-25 Part number R R R A (mm) B (mm) Weight (kg) for attachment to Gripper Type PGN-plus Schunk PGN-plus 50-1 AS PGN-plus 64-1 AS PGN-plus 80-1 AS MSC-16 Part number R A (mm) 19 B (mm) 23.5 Weight (kg) 0.08 MSC-20 Part number R R A (mm) B (mm) Weight (kg) MSC-25 Part number R R A (mm) B (mm) Weight (kg)

123 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 123 Rotary Compact Module Gripper Connection kit consisting of: Plate (material: Al) Screws Centering rings Set screws Thread: M The connection of Rotary Compact Module RCM-...-AP to Grippers allows air feed-through. Note: Check the position of the air feed-through ports on the rotary flange of the RCM. Tubes/hoses and fittings are not included in the connection kit. A ØD Rotary Compact Module for attachment to Gripper Type GSP Rexroth GSP-A-10 GSP-A-16 GSP-A-25 GSP-A-32 GSP-P-10 GSP-P-16 GSP-P-20 GSP-P-25 GSP-R-10 GSP-R-16 GSP-R-25 GSP-R-32 RCM-08 Part number R A ØD M M3 Weight (kg) 0.04 RCM-12 Part number R R A ØD M M M3 Weight (kg) RCM-16 Part number R R R A ØD M M M M3 Weight (kg) RCM-20 Part number R R R A ØD M M M M5 Weight (kg) RCM-25 Part number R A ØD M M5 Weight (kg) 0.10 Connection Elements Rotary Compact Module for attachment to Gripper Type PGN-plus Schunk PGN-plus 50-1 AS PGN-plus 64-1 AS PGN-plus 80-1 AS RCM-16 Part number R A ØD M M4 Weight (kg) 0.12 RCM-20 Part number R R A ØD M M M4 Weight (kg) RCM-25 Part number R R A ØD M M M4 Weight (kg)

124 124 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Clamping Fixtures General Notes cc The linear axes are fixed to the customer s mounting base using clamping fixtures. Do not mount or support the linear axes by the end blocks or end enclosures! The frame is the main stress-bearing structure! Clamping fixture CKK,CKR eckk, eckr, CKP A ±0.1 B M VKK A ±0,1 B MKK/ MKK MKR A ±0,1 B Frame size Dimensions (mm) CKx/eCKx VKK MKx A B M M M M5, M M M M5, M M5, M M5, M6 CKK,CKR eckk, eckr, CKP Fixing via the carriage Fixing via the frame Clamping fixtures VKK Clamping fixtures Recommended number of clamping fixtures: Type 1: 6 per meter and side Type 2: 4 per meter and side Type 3: 3 per meter and side G F H E D Countersink for thread M ISO 4762 Number N A B C C C A B C A Type 1 Type 2 Type 3 Frame size for Type No. of Dimensions (mm) Part number CKx/eCKx VKK MKx thread holes N A B C D E F G H M R M R R R M R R R R R R M R R M R R R R R

125 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 125 Sliding Blocks and Springs For fastening of attachments to the connection plate or to the module frame. The spring serves as an assembly and positioning aid. D A C B Tightening torques of the fastening screws at friction factor Strength class M4 M5 M6 M8 M E M F 1 E Nm Frame size For thread Dimensions (mm) Part number CKx/ VKK eckx A B C D E F 1 Sliding block Spring 70 M R M R M R R M R M5 12 R R M R R M5 16 R R M6 16 R R M R M8 16 R R Accessories

126 126 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Centering Rings 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 2 Installation ØA ØB H 1 ØA H 2 E a) Customer attachment b) Centering ring c) Carriage Ø size Dimensions (mm) Part number ØA ØB C D E ØF H 1 H 2 (mm) H7/k6 H7/k6 ± R R R R R R R R R R R Extraction tool The tool is used to grip the centering ring through the cross-holes for easy extraction. Part number R

127 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 127 Shock Absorbers Type Part number For mass MSC - 8 R MSC - 12 R MSC - 16 R MSC - 20 R MSC - 25 R CKP 16 R < 4 kg R > 4 kg CKP 25, CKP 32 R < 8 kg R > 8 kg Accessories

128 128 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Cable Drag Chains Cable drag chains in 2 types with 3 sizes each Pre-tensioned Suitable for self-supporting installation Generally ESD-compatible Clamping profiles Extensive range of fastening accessories allows a variety of different combinations. Clamping profiles Guide channels for cable drag chains Cable drag chains

129 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 129 System MP18.2 Radius 78 mm Pitch 33 mm Separators are installed at every second link. L L = multiple of 33 mm pitch Cable drag chain Width Inside dimensions Part number No. of separators Type W (mm) w x h (mm) Every 2nd link Ordering data: R , ESD-MP x 18 R mm (25 links of 33 mm each) ESD-MP x 18 R ESD-MP x 18 R Dimensions of chain link b B Technical specifications Travel distance, gliding L g not recommended Travel distance, self-supporting L f see diagram Travel distance, vertical, hanging L vh 8 m Travel distance, vertical, upright L vs 3 m Rotated 90, unsupported L 90f 0.5 m Speed, unsupported V f 5 m/s Acceleration, unsupported a f 5 m/s 2 Loading side: inside flexure curve Separator Type T I (mm) TR14/ Accessories T I Installation dimensions Dimensions (mm) Radius R 78 Height of chain link H G 23 Height of bend H 179 Height of moving end connection H MA 156 Safety margin S 30 Installation height H S 209 Arc projection M L 123 Bend length L B 314 H MA H G F L R L B S H H S M L

130 130 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Cable Drag Chains System MP3000 Radius 70 mm Pitch 45 mm Separators are installed at every second link. L L = multiple of 45 mm pitch Cable drag chain Width Inside dimensions Part number No. of separators Type W (mm) w x h (mm) Every 2nd link Ordering data: R , ESD-MP x 26 R mm (22 links of 45 mm each) ESD-MP x 26 R ESD-MP x 26 R Dimensions of chain link Separator b B Technical specifications Travel distance, gliding L g 60 m Travel distance, self-supporting L f see diagram Travel distance, vertical, hanging L vh 40 m Travel distance, vertical, upright L vs 3 m Rotated 90, unsupported L 90f 0.7 m Speed, gliding V g 3 m/s Speed, unsupported V f 6 m/s Acceleration, gliding a g 10 m/s 2 Acceleration, unsupported a f 15 m/s 2 Loading side: inside flexure curve Dimensions (mm) H 2 H 1 T I Type T I H H 1 H 2 TR H Installation dimensions Dimensions (mm) Radius R 70 Height of chain link H G 35 Height of bend H 175 Height of moving end connection H MA 140 Safety margin with bias S V 45 Installation height with bias H SV 220 Safety margin without bias S K 10 Installation height without bias H SK 185 Arc projection M L 133 Bend length L B 320 H MA H G F L R M L L B S K, S V H H SV, H SK

131 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 131 Chain bracket (delivered along with the cable drag chain) Consisting of: 1 piece with hole 1 piece with pin Screws and sliding blocks The chain brackets must be fastened using the delivered screws. The cables or hoses must be fixed to the chain bracket s integrated strain relief using cable binders. MP18025 MP18050/18070 MP3000 Chain type Chain bracket Dimensions (mm) type A B D F G H I MP18025 KA/Z Ø 5.5 MP18050 KA/Z Ø 5.5 MP18070 KA/Z Ø 5.5 MP3002 KA/Z Ø MP3003 KA/Z Ø MP3005 KA/Z Ø Accessories

132 132 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Cable Drag Chains Technical data Unsupported length MP18.2 Load (kg/m) ,1 F Lg : Ideal installation situation for high stresses at the limit of the max. travel parameters. In this range the chain upper run is still biased, straight or has a max. sag of mm depending on the type of chain. F Lb : Satisfactory installation position for many applications working in the lower to middle range of the max. travel parameters. Depending on the chain type, the sag of the chain upper run is > mm but less than the max. sag. If the sag is greater than F Lb, the arrangement is unsuitable and should be avoided. Please choose a more stable cable drag chain. MP3000 Load (kg/m) 0 0 0,5 1,0 1,5 2,0 2,5 3,0 Self-supporting length (m) , ,5 1,0 1,5 2,0 2,5 3,0 Self-supporting length (m) F Lg F Lb Determining the chain length The fixed point of the cable drag chain should be connected in the middle of the travel distance. This arrangement gives the shortest connection between the fixed point and the moving consumer and thus the most efficient chain length. L L/2 L/2 T E R L K = L 2 + p R + 2 T + E L K = chain length (mm) L = travel distance (mm) R = radius (mm) T = pitch (mm) E = distance between entry point and middle of travel distance (mm) MP18.2: ~ 1 m chain: 30 x 33 mm links MP3000: ~ 1 m chain: 22 x 45 mm links

133 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 133 Guide channels for cable drag chains The guide channels are matched to the cable drag chains. For short travel distances they serve as a support for stacking the links and for long travel distances they also serves as guides. To minimize chain wear, stainless steel sheet was chosen as the material for the guide channels. The mounting holes for the chain bracket are already integrated in the guide channel. The guide channel has holes drilled at 500 mm intervals along the centerline for M5 countersunk screws. It comes complete with the necessary countersunk screws and sliding blocks. Dimensions 1 ØF 1, N x 500 E D D A 90 Ø10,4 ØF E Version for chain type: 1) MP ) MP18050 MP18070 MP3002 MP3003 MP3005 L (max. 4000) B C Accessories Chain type Guide channel Dimensions (mm) Part number A B C D E F Variable length MP18025 Chain guide for MP Ø 5.5 R MP18050 Chain guide for MP Ø 5.5 R MP18070 Chain guide for MP Ø 5.5 R MP3002 Chain guide for MP Ø 6.6 R MP3003 Chain guide for MP Ø 6.6 R MP3005 Chain guide for MP Ø 6.6 R

134 134 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Cable Drag Chains Attachment of cable drag chains The following standardized interfaces were designed to facilitate connection of the cable drag chain or guide channel in a variety of ways. By combining these standard elements, it is possible to accommodate almost any desired connection configuration. Attachment of cable drag chain Attachment of cable drag chain with guide channel Cable drag chain node point Consisting of: Profile (1x) M6 socket head cap screws (2x) M6 sliding block (2x) Screw DIN 7500 M5x25 (2x) ,5 ±0, ±0,15 Profile (mm) Length (mm) Part number 12x R Variable R a L Ø6,6 H13 a) For self-tapping screws M5 Examples c b Any standard small parts not used should be disposed of appropriately! b) Screws M6x20, sliding blocks N8M6 c) Screws DIN7500 M5x25

135 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 135 Linear axis node point Consisting of: Clamping profile (1x) M5 countersunk screws per DIN 7500 (2x) Set screws (4x) a b a) Attachment to the connection plate b) Attachment to the frame Frame size Part number CKx/eCKx VKK MKx R R R Examples Accessories

136 136 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Cable Drag Chains VKK node point Consisting of: Split clamp Screws (2x) Part number R Examples Strut node point Consisting of: Clamping profile (1x) Socket head cap screws (2x) Sliding blocks (2x) Countersunk screws per DIN 7500 M5 (2x) Strut Part number 60 R R Examples

137 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 137 Angle bracket node point The threads in the end face are spaced so that the profile can be attached using the screws provided without any further preparation. Bracket node point Consisting of: Bracket (1x) M5 countersunk screws (2x) Part number R Mini-slide MSC node point The options for connecting the cable drag chain to the pneumatic axis were restricted to chain types MP18025 and MP Consisting of: Interface plate (1x) Socket head cap screws (2x) Washers (2x), if required Accessories Any standard small parts not used should be disposed of appropriately! Pneumatic axis Part number Standard small parts included with delivery ISO 4762 screw ISO 7089 washer (mm) MSC-8 R pcs M3x10 Ø 3.2 MSC-12 2 pcs M4x12 MSC-16 2 pcs M5x10 MSC-20 2 pcs M5x12 Ø 5.3 MSC-25 2 pcs M6x14

138 138 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Cable Drag Chains Ordering examples 1x guide channel R , 385 mm 2x profile R x clamping profile R x profile R x cable drag chain R , 792 mm 2x profile R x clamping profile R x profile R , 250 mm 1x clamping profile R x bracket R x guide channel R , 380 mm 1x cable drag chain R , 990 mm

139 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 139 3x profile R x clamping profile R x screw DIN 7500 M5x20 1x cable drag chain R , 495 mm Accessories 1x interface plate R x cable drag chain R , 495 mm 1x profile R x clamping profile R

140 140 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Accessories Cable Drag Chains Ordering examples 1x cable drag chain R , 1170 mm 1x guide channel R , 600 mm 2x profile R x profile R x clamping profile R x profile R x clamping profile R x profile R , 250 mm 1x profile R x clamping profile R x cable drag chain R , 1440 mm 1x guide channel R , 1150 mm

141 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 141 Base Frame Product Overview Rexroth offers multiple options for fastening axis systems to a base frame. Strut profiles for constructing all kinds of frames Feet for simple fastening to the base frame End-face attachment of linear axes is also possible. Base Frame Strut profile: Compact and rigid design Positive-locking connection (centering rings) Compatible with Basic Mechanical Elements (MGE) from Rexroth, profile size PB 30 and PB 45 Connection kit: Direct mounting Positive-locking connection (centering rings) No alignment necessary Minimizes installation effort Foot: Simple connection of strut profile to base frame Positive-locking connection (centering rings) Compatible with Basic Mechanical Elements (MGE) from Rexroth, profile size PB 30, PB 40 and PB 45

142 142 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Base Frame Strut Profile Profile size 60 x 60 Al profile, clear anodized Compact and rigid design Standardized modular dimensions/ spacing Positive-locking connection (centering rings) Compatible with Basic Mechanical Elements (MGE) from Rexroth, profile size PB 30 Maximum length L: 4 m For 6 mm sliding block 40 ±0,01 6 A A 40 Part number R R Length (mm) 4000 (= L max ) L = variable Weight 15.6 kg 3.9 kg/m Planar moment of inertia l x = l y (cm 4 ) N x ±0,01 35 A A L ±1 40 ±0, ,1 Ø9 H Profile size 90 x 90 Al profile, clear anodized Compact and rigid design Standardized modular dimensions/ spacing Positive-locking connection (centering rings) Compatible with Basic Mechanical Elements (MGE) from Rexroth, profile size PB 45 Maximum length L: 4 m Part number R R Length (mm) 4000 (= L max ) L = variable Weight 31.2 kg 7.8 kg/m Planar moment of inertia l x = l y (cm 4 ) ) 1) 1) 1) 2) 2) 1 for 10 mm sliding block 2 for 8 mm sliding block 1) 1) A A N x 40 A A L ±1 40 ±0, ,1 Ø12 H

143 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 143 Connection to base frame Foot Foot for profile size 60 x 60 Simple connection of strut profile to base frame Positive-locking connection (centering rings) Compatible with Basic Mechanical Elements (MGE) from Rexroth, profile size PB 20 and PB 40 Material of foot angle bracket: Al Kit consisting of: Foot angle bracket Sliding blocks Screws Centering rings Standard attachment (with centering rings) 2 Additional attachment possibilities Ø5,5 2 Ø9 Part number Weight (kg) R ±0,01 9 Ø12 H7 7, ±0,01 Ø12 H Ø5,5 Ø9 H7 40 ± Foot for profile size 90 x 90 Simple connection of strut profile to base frame Positive-locking connection (centering rings) Compatible with Basic Mechanical Elements (MGE) from Rexroth, profile size PB 40 and PB 45 Material of foot angle bracket: Al Kit consisting of: Foot angle bracket Sliding blocks Screws Washers Centering rings Part number Weight (kg) R Standard attachment 2 (with centering rings) 2 Additional attachment possibilities ±0,01 Base Frame

144 144 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Base Frame Connection of Linear Axis to Strut Profile Side mounting of Modules Direct mounting Positive-locking connection (centering rings) No alignment necessary Minimizes installation effort Connection kit consisting of: Clamping fixtures Sliding blocks Screws Centering rings Feed Module Compact Modules Linear Modules Fixing via the frame Fixing via the frame Fixing via the carriage Fixing via the frame Frame size of linear axis Connection kit for attachment to CKx, eckx VKK MKx 40 Strut profile size 60 x 60 Part number R R Weight (kg) Strut profile size 90 x 90 Part number R R R Weight (kg)

145 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 145 Side mounting of Mini Slides MSC Direct mounting Positive-locking connection (centering rings) No alignment necessary Minimizes installation effort Connection kit consisting of: Sliding blocks Screws Centering rings Connection kit for attachment to Mini Slide MSC 8 MSC 12 MSC 16 MSC 20 MSC 25 Strut profile size 60 x 60 From stroke (mm) Part number R R Weight (kg) Strut profile size 90 x 90 From stroke (mm) Part number R R R R Weight (kg) Base Frame

146 C 146 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Base Frame Connection of Linear Axis to Strut Profile End-face mounting of linear axes Positive-locking connection (centering rings) No alignment necessary Minimizes installation effort Material of plate: Al B Connection kit consisting of: Plate Wedge bracket Clamping fixtures Sliding blocks Screws Centering rings A A B Fixing via the frame Fixing via the carriage Dimension to be remembered when ordering the strut profile. C D Frame size of linear axis Connection kit CKx, eckx for attachment to VKK MKx 40 Strut profile size 60 x 60 Part number R R R Weight (kg) Dimension A (mm) Dimension B (mm) Dimension C (mm) Dimension D (mm) min. 7 / max. 12 min. 7 / max. 12 min. 7 / max. 12 Strut profile size 90 x 90 Part number R R R R Weight (kg) Dimension A (mm) Dimension B (mm) Dimension C (mm) Dimension D (mm) min. 9 / max. 22 min. 9 / max. 22 min. 9 / max. 22 min. 9 / max. 22

147 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 147 Connection to base frame Connection of Linear Axis to MGE (Basic Mechanical Elements) Linear axis to MGE using clamping fixtures Designed for aluminum profiles from the MGE range with a standard width of 40 and 50 mm and a 10 mm T-slot. Fixing via the frame Fixing via the carriage Connection kit consisting of: Clamping fixtures (material: Al) Screws Sliding blocks Width of MGE profile Frame size of linear axis CKx, eckx VKK MKx Part number R R R R Weight (kg) Part number R R R Weight (kg) Linear axis to MGE via plate Designed for aluminum profiles from the MGE range with a standard width of 40, 45 and 50 mm and a 10 mm T-slot. Connection kit consisting of: Plate (material: Al) Clamping fixtures (material: Al) Screws Sliding blocks Centering rings B A C Fixing via the frame Fixing via the carriage Base Frame Frame size of linear axis CKx, eckx VKK MKx 40 Part number R R R R A (mm) B (mm) C (mm) Weight (kg)

148 148 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Maintenance Linear Axes Compact Module CKK / CKR Basic lubrication is carried out by the manufacturer. Compact Modules are designed for grease lubrication (using a manual grease gun). The only maintenance required is relubrication of the ball rail systems and the ball screw drive via the lube nipples on the end faces of the carriage. Applying lubricant to one of the two lube nipples is sufficient. Type: Funnel-type lube nipple per DIN 3405 eline Compact Module eckk / eckr The axes are lubed for life. Basic lubrication is carried out by the manufacturer. Compact Module CKP The axes are lubed for life. Basic lubrication is carried out by the manufacturer. To lengthen the service life, the Ball Rail Systems can be relubricated. Feed Modules VKK 2 Basic lubrication is applied in-factory before shipment. Feed Modules are designed for grease lubrication (using a manual grease gun with an extension tube and nozzle). The only maintenance required is lubrication of the guideway and the ball screw via the two lube ports. Lubricant must be applied to both of the lube ports. The thrust rod must be fully extended before applying lubricant. 1 Lube ports for: 1 Runner blocks 2 Ball screw

149 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 149 Linear Module MKK / MKR Lubrication notes Basic lubrication is applied in-factory before shipment. Linear Modules have been designed for lubrication with grease using a grease gun. The only maintenance required is re-lubrication of the guideway and the ball screw via one of the two funnel-type lube nipples (1). 1 Lubrication points 1 Funnel-type lube nipple DIN 3405-D3 for the runner blocks and the ball screw (on both sides, either side can be used). Recommended lubricants Please be sure to read the lubrication notes in the corresponding mounting instructions. cc Do not use greases with solid lubricant components (e.g. graphite or MoS 2 ). cc For lubrication in applications with strokes 60 mm and for special operating conditions, please consult us. Lubrication intervals: Normal operating conditions: Every 500 operating hours or after the specified travel, whichever is reached first. Grease Grease DIN Consistency class DIN Part number (400 g cartridge) Dynalub 520 KP00K NLGI 00 R Dynalub 510 KP2K NLGI 2 R Size Grease Travel Relubrication quantity of grease (km) (cm 3 ) CKK 9-70 Dynalub CKK CKK Dynalub CKK CKR 9-70 Dynalub CKR CKR Dynalub CKR eckk 90 Dynalub eckk eckr eckr CKP 16 Dynalub CKP 25 Dynalub 510 CKP 32 VKK Dynalub VKK VKK MKK Dynalub MKR Maintenance

150 150 Bosch Rexroth AG camoline Cartesian Motion Building System R310EN 2605 ( ) Maintenance MSC Slides, Rotary Compact Modules, Grippers MSC Slides The axes are lubed for life. Basic lubrication is carried out by the manufacturer. To lengthen the service life, the Ball Rail Systems can be relubricated. Steps for cleaning: Exhaust the mini-slides. Secure slides against uncontrolled movement. Clean the mini-slide only with benzene. Lubricate the piston rod/ball bearing guide (see table). Short lubricating intervals are required in the following cases: exposure to high temperatures exposure to heavy contamination proximity to grease-dissolving fluids or vapors Component Degreased piston rod surfaces Slide ball bearing guideway Lubricating interval After cleaning, otherwise maintenance-free After cleaning, otherwise maintenance-free Reason for lubrication Protection against moisture and for sliding performance Sliding performance Lubricating point Piston rod Guide rail Lubricating procedure Move slide back and forth manually when lubricating (uniform distribution of grease) Lubricating grease MSC-8/-16/-20/-25: Centoplex; MSC-12: Polylub Stroke mm: Paralique P460; Stroke mm: Dynalub 520 Rotary Compact Modules Maintenance work Versions Interval Changing the sealing rings RCM After every 10th tightening cycle Checking the hydraulic shock absorbers RCM-...-SH Recommendation: After 3 million rotary movements Lubrication RCM The bearings are maintenance-free. Note: Repairs to the RCM rotary compact module that go beyond those listed in the table are not permissible. Contact your Bosch Rexroth service department if you have any technical problems. Grippers Note: The basic jaws and guides in the housing are adapted to each other and cannot be disassembled. To replace these parts, please send the complete gripper, along with a repair order, to Bosch Rexroth. Observe the following to maintain the function of the unit: 1. The compressed air used must be filtered (10 μm), dry, and oil-free. 2. Uncoated exterior steel parts must be oiled or greased.

151 R310EN 2605 ( ) camoline Cartesian Motion Building System Bosch Rexroth AG 151 Ordering Data Ordering data Quantity (units) Description Part number Mounting orientation Linear motion system R Motor attachment R Motor R Stroke limitation sensor R Reference point sensor R Mounting: YES / NO Examples Ordering example: A) Quantity Description Part number Mounting Comments: (units) orientation 1 Linear motion system R MA06 Compact Module CKR stroke = 800 mm. motor attachment left 1 Motor attachment R Motor mount kit for direct attachment of motor MSK 060C 1 Motor R right Motor MSK 060C with holding brake. mounting orientation: motor connector at right 2 Stroke limitation sensor R right 2 x sensor mounting kit with Reed sensor. mounted with limit positions. right-hand side 1 Reference point sensor R right Sensor mounting kit with Hall sensor. mounted at middle of stroke. right-hand side Mounting: YES Completely assembled Ordering example: B) Quantity Description Part number Mounting Comments: (units) orientation 1 Linear motion system R Compact Module CKK stroke = 400 mm 1 Motor attachment R RV04 Timing belt side drive kit for MSM 040B. mounting orientation: right 1 Motor R bottom Motor MSM 040B without holding brake. mounting orientation: motor connector at bottom Stroke limitation sensor No sensor Reference point sensor No sensor Mounting: YES Completely assembled Ordering Data

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165 Bosch Rexroth AG This catalog groups together products from the following business units: Pneumatics Electric Drives and Controls Linear Motion and Assembly Technologies Rexroth linear guide units may only be used for their intended purpose. Compliance with accident prevention regulations, the Equipment Safety Act and safety regulations for working with power systems must be assured. If necessary, install additional customer-mounted safety devices and guards. Mounting, start-up and maintenance may only be performed by fully qualified personnel. Further information on these products can be obtained from your local Bosch Rexroth sales partner, or on the internet at: