IB series P2 type Planetary gear drive for servo motor

Transcription

1 Worldwide Locations U.S.A Sumitomo Machinery Corporation of America (SMA) 400 Holland Blvd. Chesapeake, VA 333, U.S.A. TEL () FAX () Canada SM Cyclo of Canada, Ltd. (SMC) 453 Cornwall Road, Oakville, Canada ON L6J 7T5 TEL () FAX () Mexico SM Cyclo de Mexico, S.A. de C.V. (SMME) Av. Desarrollo 54, Col. Finsa, Guadalupe, Nuevo León, México, CP673 TEL (5) FAX (5) Brazil Sumitomo Industrias Pesadas do Brasil Ltda. (SHIB) Rodovia do Acucar (SP-075) Km 6 Itu, Sao Paulo, Brasil TEL (55) FAX (55) Chile SM-Cyclo de Chile Ltda. (SMCH) San Pablo 3507, Quinta Normal, Santiago, Chile TEL (56) FAX (56) Argentina SM-Cyclo de Argentina S.A. (SMAR) Ing. Delpini, 36 Area de Promocion el Triangulo, Partido Malvinas Argentinas Grand Bourg, Buenos Aires, Argentina B65KGB TEL (54) FAX (54) Guatemala SM Cyclo de Guatemala Ensambladora, Ltda. (SMGT) Parque Industrial Unisur, 0 Calle B 9-50 Zona 3, Bodega D- Delta Bárcenas en Villa Nueva, Guatemala TEL (50) FAX (50) Colombia SM Cyclo Colombia, S.A.S. (SMCO) Carrera, No.93A-53, Office 03, Bogotá, Colombia TEL (57) Germany Sumitomo (SHI) Cyclo Drive Germany GmbH (SCG) Cyclostraße 9, 859 Markt Indersdorf, Germany TEL (49) FAX (49) Austria Sumitomo (SHI) Cyclo Drive Germany GmbH (SCG) SCG Branch Austria Office Gruentalerstraße 30A, 400 Linz, Austria TEL (43) FAX (43) Belgium Sumitomo (SHI) Cyclo Drive Germany GmbH (SCG) SCG Branch Benelux Office Heikneuterlaan 3, 300 Kessel-Lo, Leuven, Belgium TEL (3) FAX (3) France SM-Cyclo France SAS (SMFR) 8 Avenue Christian Doppler, Serris, France TEL (33)64777 FAX (33)64778 Italy SM-Cyclo Italy Srl (SMIT) Via dell' Artigianato 3, 000 Cornaredo (MI), Italy TEL (39) FAX (39) Spain SM-Cyclo Iberia, S.L.U. (SMIB) C/Landabarri No. 3, 6 B, Leioa, Vizcaya, Spain TEL (34) FAX (34) Sweden SM-Cyclo Scandinavia AB (SMSC) Industrigatan B, Lomma, Sweden TEL (46) United Kingdom SM-Cyclo UK Ltd. (SMUK) Unit 9, Bergen Way, Sutton Fields Industrial Estate, Kingston upon Hull, HU7 0YQ, East Yorkshire, United Kingdom TEL (44) FAX (44) Turkey SM Cyclo Turkey Güç Aktarım Sis. Tic. Ltd. Sti. (SMTR) Büyükdere Çayırbaşı Cd. Dede Yusuf Sk. No:, Sarıyer Istanbul, Turkey TEL (90) FAX (90) China Sumitomo (SHI) Cyclo Drive China, Ltd. (SCT) F, SMEG Plaza, No. 386 Hongqiao Road, Changning District, Shanghai, China (P.C ) TEL (86) FAX (86) Hong Kong SM-Cyclo of Hong Kong Co., Ltd. (SMHK) Rm 30, CEO Tower, 77 Wing Hong Street, Cheung Sha Wan, Kowloon, Hong Kong TEL (85) FAX (85) Korea Sumitomo (SHI) Cyclo Drive Korea, Ltd. (SCK) Royal Bldg. 9F Rm. 93, 5 Danju-Dong, Chongro-Ku, Seoul, Korea 0-7 TEL (8) FAX (8) Taiwan Tatung SM-Cyclo Co., Ltd. (TSC) Chungshan N. Road 3rd., Sec. Taipei, Taiwan 04, R.O.C. TEL (886) FAX (886) Singapore Sumitomo (SHI) Cyclo Drive Asia Pacific Pte. Ltd. (SCA) 5 Kwong Min Road, Singapore 6878 TEL (65) FAX (65) Philippines Sumitomo (SHI) Cyclo Drive Asia Pacific Pte. Ltd. (SCA) Philippines Branch Office BB Granville Industrial Complex, Carmona, Cavite 46, Philippines TEL (63) FAX (63) TEL (63) TEL (63) Vietnam SM-Cyclo (Vietnam) Co., Ltd. (SMVN) Factory B, Lot K--5, Road No. -3-5A, Le Minh Xuan Industrial Park, Binh Chanh Dist., HCMC, Vietnam TEL (84) FAX (84) Malaysia SM-Cyclo (Malaysia) Sdn. Bhd. (SMMA) No.7C, Jalan Anggerik Mokara 3/56, Kota Kemuning, Seksyen 3, Shah Alam, Selangor Darul Ehsan, Malaysia TEL (60) FAX (60) Indonesia PT. SM-Cyclo Indonesia (SMID) Jalan Sungkai Blok F 5 No. 09 K, Delta Silicon 5, Lippo Cikarang, Bekasi 7530, Indonesia TEL (6) FAX (6)-96- Thailand SM-Cyclo (Thailand) Co., Ltd. (SMTH) Empire Tower, Unit 03-4, st Floor, South Sathorn Road, Yannawa, Sathorn, Bangkok 00, Thailand TEL (66) FAX (66) Australia Sumitomo (SHI) Hansen Australia Pty. Ltd. (SHAU) 8 Power St, Glendenning, NSW 76, Australia TEL (6) FAX (6) India Sumi-Cyclo Drive India Private Limited (SMIN) Survey No. 30, Hissa No. 0, Jeevan Nagar, Off Mumbai-Bangalore Bypass, Tathawade, Pune , India TEL (9) FAX (9) Japan Sumitomo Heavy Industries, Ltd. (SHI) ThinkPark Tower, - Osaki -chome, Shinagawa-ku, Tokyo 4-605, Japan TEL (8) FAX (8) IB Series PK Planetary Gear Reducer for Right Angle IB series P type Planetary gear drive for servo motor Specifications, dimensions, and other items are subject to change without prior notice. Power Transmission & Controls Group Headquarter ThinkPark Tower, - Osaki -chome, Shinagawa-ku, Tokyo 4-605, Japan No.Z008E-.0 EA04 Printed No.Z008E-

2 Table of Contents Structure Features 3 Nomenclature, Standard specification 4 Selection Table Frame size combination table for ( each motor rated speed ) 5 No load running torque 5 Selection Table Frame size combination table for ( each servo motor manufactures ). Fanuc Corporation 6. Mitsubishi Electric Corporation 8 3. Yaskawa Electric Corporation 0 4. Sanyo Denki Co.,Ltd. 5. Panasonic Corporation Selection Table 3 (Rating table) 4 Allowable radial & axial load on ( the output flange ) 6 Selection procedure 8 Dimension drawings 0 Nominal life calculation of main bearing 4 Mechanical accuracy of output part of the reducer 6 Tightening torque and allowable transmitted torque for output flange bolts 6 design 6 Motor installation procedure 7 Moment of inertia, GD (at motor shaft) 8 Formula for calculation of Moment of inertia, Load torque and Acceleration torque 9 Formula for calculation of Moment of inertia, GD 30 Motor accuracy 3 Warranty and safety precautions 3

3 Structure Main Bearing (Angular ball bearing) Input Shaft & Coupling Sun Gear Output Shaft () Planetary Gear Number Part Name Output Shaft Oil seal 3 Main Bearing 4 Sun Gear of Output 5 Planetary Gear of Output 6 Casing with Internal Gear 7 Sun Gear of Input 8 Planetary Gear of Input 9 Internal Gear of Input 0 Adapter (Casing) Oil seal Input Shaft Bearing 3 Coupling 4 Adapter Plate Motor (Provided by 5 Customers) Structure (-stage unit)

4 Specifications - Backlash Initial backlash setting is 3minutes - Rated torque N m - Allowable peak torque N m - Allowable maximum input speed 6000r/min (Frame size P40 Reduction ratio 6-00) - Reduction system Planetary gear mechanism Features - No. Compactness in the industry Large diameter precision angular bearing, supporting output shaft, allows large radial load with compact casing. - Responsiveness to Newest s for Simpler Applications! - Low noise using helical gear. Motion Control Drive of Sumitomo Drive Technologies are available for various areas requiring precision control. Application Examples Recommended models F IB SV CYCLO DRIVE F Series IB Series CYCLO DRIVE for servo motors Peripheral Equipment for Machine Tool Loader, Unloader IB SV Industrial Robot Axis Driving, Robot slider F IB Machine Tool Turret Lathe IB Pipe Bender IB Machine Tool Magazine Drive F IB Machine Tool Auto Pallet Changer F IB SV Packaging Machine (Pillow-Shape Wrapping Machine) IB Liquid Crystal Transfer Robot Axis Driving, Robot Slider F IB Press Machine IB 3

5 Nomenclature, Standard Specification Nomenclature A N F X ー P40 F ー T L3 ー 0 and Frame Size 40 P 50 Standard: Blank Special specification: S Reduction Ratio Backlash Symbol L3: 3 min specification Input Method Mounting ( Attachment ) Output Shaft Direction (Unlimited Mounting Direction) MC Drive IB Series Motor Output Shaft Shaft Solid Shaft (Keyless) Solid Shaft (with Key) * The solid shaft is optional. Symbol F N W Ratio (= exact ratio) -stage -stage Standard Specification Backlash Initial backlash setting is 3-minutes Efficiency (Note ) 90% or more at rated output torque (with reduction ratio 4, 5, 7, 0) Noise Level (Note ) 70dB(A) 0.5m Lubrication system Reduction system Output shaft rotation direction Material Mounting location Ambient temperature Ambient humidity Altitude Ambient atmosphere Mounting angle Paint Actual reduction ratio Surface temperature of the reducer Grease lubrication The units are filled with grease at the time of shipping. It is ready for immediate use. Planetary gear mechanism Single stage type (Reduction Ratio: 4, 5, 7, 0) Double stage type (Reduction Ratio: 6, 0, 5, 8, 35, 40, 50, 70, 00) Same direction as the rotation direction of input gear. Case with internal gear and gear : Chrome-Molybdenum Steel Output and input shaft : S45C Indoor (without dust and water) 0 ~ 40 Consult us when the operation condition exceeds the above and when special grease is necessary such as food manufacturing machine. 85% or less. There should be no condensation. 000m or below There should be no corrosive gases, explosive gases, vapor, or dust. All angles possible (no limitation) Black oxide coating for housing with internal gear Output shaft comes with rustproof treatment at the time of shipping. Please refer ratio table above. 80 or below. Consult us for continuous operation. Note). The efficiency depends on input speed, load torque, grease temperature, reduction ratio, etc.. This is a reference value. It depends on the type and mounting condition. 4

6 Selection Table (Frame Size Combination Table for Each Motor ) Rated Motor Speed 000 [r/min] Rated Motor Speed 500 [r/min] Reduction Ratio Reduction Ratio Capacity Capacity (kw) (kw) P P Rated Motor Speed 000 [r/min] Rated Motor Speed 3000 [r/min] Reduction Ratio Reduction Ratio Capacity Capacity (kw) (kw) P P Note). Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E).. Refer to Selection Table 3 (on pages 4, 5) for rated torque, allowable acceleration or deceleration peak torque, allowable maximum momentary torque, allowable maximum input speed, and allowable mean input speed for each frame size. 3. Refer to Selection Table 3 (on pages 4, 5) for %ED and allowable continuous operation period of each speed. 4. Refer to Selection Table 3 (on pages 4, 5) for allowable acceleration or deceleration peak torque for combinations marked. 5. Note the no load running torque (below table) when using combination with. Please choose smaller units (P type) or larger motor when no load running torque is too large for your application. No Load Running Torque (N m) Frame Size Reduction Ratio P Note). Torque necessary at the input side to rotate the reducer at no load condition.. This is the representative value when the ambient temperature is 0. 5

7 Selection Table (Frame Size Combination Table for Each Manufactures). Fanuc Corporation βis Series (Rated speed: 000 ~ 500r/min) * is available to be driven by rated torque. Nomenclature of Reduction Ratio Motor βis/ P40 P40 P40 P40 P40 P βis/3000 (HV) 000 P40 P40 P40 P40 P40 P40 P βis/000 (HV) 000 P40 P40 P40 P βis/3000 (HV) 000 P40 P40 P40 P βis30/000 (HV) 000 P40 P40 P βis40/000 (HV) 500 P40 αis Series (Rated speed: 6000 ~ 000r/min) DA DA 0X - 0X - 0X - 0X Nomenclature of Reduction Ratio Motor αis/4000hv 3000 P40 P40 P αis/ P40 P40 P αis/ P αis/4000hv 3000 P40 P αis/6000 (HV) P40 P αis50/3000 (HV) 000 P40 P40 P αis30/4000 (HV) 3000 P40 P40 P αis40/4000 (HV) 3000 P40 P40 P αis50/3000 (HV) with fan 3000 P40 βisc Series (Rated speed: 000r/min) DA DA - 0X - 0X - - 0X - 0X - 0X - 0X X Nomenclature of Reduction Ratio Motor βisc/ P40 P40 P40 P40 P40 P40 DA βif Series (Rated speed: 000 ~ 500r/min) Nomenclature of Reduction Ratio Motor βif/ P40 P40 P40 P40 P βif/ P40 P40 P40 P βif30/ P40 0X 0X - 0X Refer Note 3 "-" N/A Note). Refer to Selection Table 3 (on pages 4-7) for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial and axial load for each frame size.. Refer to Selection Table 3 (on pages 4-5) for allowable acceleration or deceleration peak torque for combinations marked. 3. Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E). 6

8 Selection Table (Frame Size Combination Table for Each Manufactures) αif Series (Rated speed: 3000 ~ 000r/min) Nomenclature of Reduction Ratio Motor [r/min] 3000 αif/3000 (HV) 3000 P40 P40 P40 P40 P αif/3000 (HV) 3000 P40 P40 P αif40/ P40 P40 P αif30/ P40 P40 P αif40/3000 with fan 0X - 0X - - 0X - 0X 000 P40 P40 P X Refer Note 3 "-" N/A Note). Refer to Selection Table 3 (on pages 4-7) for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial and axial load for each frame size.. Refer to Selection Table 3 (on pages 4-5) for allowable acceleration or deceleration peak torque for combinations marked. 3. Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E). 7

9 Selection Table (Frame Size Combination Table for Each Manufactures). Mitsubishi Electric Corporation MELSERV0-J4 HG-JR Series (Rated speed: 500r/min, 00V&400V class) * is available to be driven by rated torque. Nomenclature of Reduction Ratio Motor HG-JRKM (B) HG-JRKM4 (B) HG-JR5KM (B) HG-JR5KM4 (B) 500 P MELSERV0-J4 HG-JR Series (Rated speed: 3000r/min, 00V&400V class) DL DL Nomenclature of Reduction Ratio Motor HG-JR353 (B) HG-JR3534 (B) HG-JR503 (B) HG-JR5034 (B) HG-JR703 (B) HG-JR7034 (B) HG-JR903 (B) HG-JR9034 (B) 3000 P40 P40 P40 P40 P P40 P40 P40 P P40 P40 P40 P40 P P40 P40 P40 MELSERV0-J4 HG-RR Series (Rated speed: 3000r/min) T - T - 0X - - 0X Nomenclature of Reduction Ratio Motor HG-RR03 (B) 3000 P40 P40 P40 P40 P40 P40 P40 7Y 500 HG-RR53 (B) 3000 P40 P40 P40 P40 P40 P40 7Y 000 HG-RR03 (B) 3000 P40 P40 P40 P40 P40 P HG-RR353 (B) 3000 P40 P40 P40 P40 P40 P HG-RR503 (B) 3000 P40 P40 P40 P40 P40 MELSERV0-J4 HG-SR Series (Rated speed: 000r/min) 7Y T - T Nomenclature of Reduction Ratio Motor HG-SR5 (B) 000 P40 P40 P40 P40 P40 P40 DA 850 HG-SR8 (B) 000 P40 P40 P40 P40 P40 P40 00 HG-SR (B) 000 P40 P40 P40 P40 P HG-SR0 (B) 000 P40 P40 P HG-SR30 (B) 000 P40 P40 P40 DA 0X - 0X - - 0X 400 HG-SR4 (B) 000 P40 P40 P X Refer Note 3 "-" N/A Note). Refer to Selection Table 3 (on pages 4-7) for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial and axial load for each frame size.. Refer to Selection Table 3 (on pages 4-5) for allowable acceleration or deceleration peak torque for combinations marked. 3. Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E). 4. Confirm no-load running torque when models is selected. If it has large no-load running torque, consider to use IB-P type. 8

10 Selection Table (Frame Size Combination Table for Each Manufactures) MELSERV0-J4 HG-SR Series (Rated speed: 000r/min, 00V&400V class) Nomenclature of Reduction Ratio Motor HG-SR5 (B) HG-SR54 (B) 000 P40 P40 P40 P40 DA HG-SR0 (B) HG-SR04 (B) 000 P40 P40 P40 P40 P40 P40 DA HG-SR5 (B) 000 P40 P40 P40 P40 P40 P40 HG-SR54 (B) DA HG-SR0 (B) HG-SR04 (B) HG-SR35 (B) HG-SR354 (B) HG-SR50 (B) HG-SR504 (B) HG-SR70 (B) HG-SR704 (B) 000 P40 P40 P40 P40 P40 P P40 P40 P40 P P40 P40 P40 P P40 P40 P40 MELSERV0-J4 HG-UR Series (Rated speed: 000r/min) 0X - 0X - 0X - - 0X Nomenclature of Reduction Ratio Motor HG-UR5 (B) 000 P40 P40 P40 P40 P40 P40 DC 000 HG-UR0 (B) 000 P40 P40 P40 P40 P40 P HG-UR35 (B) 000 P40 P40 P40 P HG-UR50 (B) 000 P40 P40 P40 P40 DD - DD - DD Refer Note 3 "-" N/A Note). Refer to Selection Table 3 (on pages 4-7) for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial and axial load for each frame size.. Refer to Selection Table 3 (on pages 4-5) for allowable acceleration or deceleration peak torque for combinations marked. 3. Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E). 4. Confirm no-load running torque when models is selected. If it has large no-load running torque, consider to use IB-P type. 9

11 Selection Table (Frame Size Combination Table for Each Manufactures) 3. Yaskawa Electric Corporation Σ-7 Series SGM7A model (Rated speed: 3000r/min) Nomenclature of Reduction Ratio Motor SGM7A-5A 3000 P40 P40 P40 P40 P40 P40 L 000 SGM7A-0A 3000 P40 P40 P40 P40 P40 P SGM7A-5A 3000 P40 P40 P40 P40 P40 P40 P SGM7A-30A 3000 P40 P40 P40 P40 P40 P40 Σ-7 Series SGM7G model (Rated speed: 500r/min) L L T Nomenclature of Reduction Ratio Motor SGM7G-09A SGM7G-3A SGM7G-0A 500 P40 P40 P40 P40 P40 P40-7Z DA P40 P40 P40 P40 P40-7Z DA P40 P40 P40 P40 P40 P40 P Z DA Refer Note 3 "-" N/A Note). Refer to Selection Table 3 (on pages 4-7) for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial and axial load for each frame size.. Refer to Selection Table 3 (on pages 4-5) for allowable acceleration or deceleration peak torque for combinations marked. 3. Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E). 0

12 Selection Table (Frame Size Combination Table for Each Manufactures) 4. Sanyo Denki Co., Ltd. SANMOTION R Series R Series (Rated speed: 000/500/000r/min) Nomenclature of Reduction Ratio Motor RAA300L 000 P40 P40 P40 P40 P40 P40 P40 T RAA300D 000 P40 P40 P40 P40 P40 P40 RAA8350L 000 P40 P40 P40 P40 RAA350L 000 P40 P40 P40 P40 RAA8350D 000 P40 P40 P RAA8450H 000 P40 P40 P RAA500L 000 P40 P40 P40 RAA8550R 500 P40 P40 P RAA8550H 500 P40 P40 P RAA700S 000 P40 P40 T - 0X - DD - 0X - 0X - DD - - DE - - DE DK 7500 RAA8750H 500 P40 P40 P DE RAA8KR 500 P40 P DE 000 RAAKB 500 P40 P DK 5000 RAA5KB 500 P DK 0000 RAA0KB DK 5000 RAA5KB DK SANMOTION R Series R Series (Rated speed: 500r/min) Nomenclature of Reduction Ratio Motor RAA8550H 500 P40 P40 P DE 7500 RAA8750H 500 P40 P40 P DE 000 RAA8KR 500 P40 P DE 5000 RAA85KB 500 P DJ 0000 RAA0KB DK Refer Note 3 "-" N/A Note). Refer to Selection Table 3 (on pages 4-7) for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial and axial load for each frame size.. Refer to Selection Table 3 (on pages 4-5) for allowable acceleration or deceleration peak torque for combinations marked. 3. Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E).

13 Selection Table (Frame Size Combination Table for Each Manufactures) 5. Panasonic Corporation MDME (Rated speed: 000r/min) *The reduction ratios with are possible at rated torque Nomenclature of Reduction Ratio Motor MDME 000 P40 P40 P40 P40 P MDME 000 P40 P40 P MDME 000 P40 P40 P40 P40 - DA - 0X - 0X MDME (Rated speed: 500r/min) Nomenclature of Reduction Ratio Motor MDME 500 P40 P40 P DE 000 MDME 500 P40 P DL 5000 MDME 500 P DL MFME (Rated speed: 000r/min) Nomenclature of Reduction Ratio Motor MFME 000 P40 P40 P40 P40 P40 P40 0X 500 MFME 000 P40 P40 P40 P40 P40 P40 P MFME 000 P40 P40 P40 P40 P40 P40 MGME (Rated speed: 000r/min) DD - DD Nomenclature of Reduction Ratio Motor MGME 000 P40 P40 P40 P MGME 000 P40 P40 P40 P40-0X - - 0X 4500 MGME 000 P40 P40 P DE 6000 MGME 000 P40 P40 MHME (Rated speed: 000r/min) DE Nomenclature of Reduction Ratio Motor MHME 000 P40 P40 P40 P40 P40 P MHME 000 P40 P40 P40 P40 P MHME 000 P40 P40 P MHME 000 P40 P40 P40 P40 0X - 0X - 0X - 0X Refer Note 3 "-" N/A Note). Refer to Selection Table 3 (on pages 4-7) for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial and axial load for each frame size.. Refer to Selection Table 3 (on pages 4-5) for allowable acceleration or deceleration peak torque for combinations marked. 3. Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E).

14 Selection Table (Frame Size Combination Table for Each Manufactures) MHME (Rated speed: 500r/min) Nomenclature of Reduction Ratio Motor MHME 500 P40 P40 P DE MSME (Rated speed: 3000r/min) Nomenclature of Reduction Ratio Motor MSME (middle capacity) MSME (middle power) 3000 P40 P40 P40 P40 P40 P P40 P40 P40 P40 - DA - DA Refer Note 3 "-" N/A Note). Refer to Selection Table 3 (on pages 4-7) for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial and axial load for each frame size.. Refer to Selection Table 3 (on pages 4-5) for allowable acceleration or deceleration peak torque for combinations marked. 3. Smaller frame size (P series) is recommended when using combination with, please refer the catalog for IB series P type (catalog no. Z004E). 3

15 Selection Table 3 (Rating Table) Input Speed Frame Size P40 Reduction Ratio Rated torque Allowable input power Rated torque Allowable input power Rated torque Allowable input power Rated torque Allowable input power Rated torque Allowable input power (N m) (kw) (N m) (kw) (N m) (kw) (N m) (kw) (N m) (kw) :Allowable continuous operation period: maximum 5min., 30%ED :Allowable continuous operation period: maximum 0min., 50%ED Note). Rated output torque Rated output torque implies allowable mean load torque at each input speed. Rated output torque for below 500r/min input speed is the same as 500r/min. Allowable input power is the value converted from rated output torque, when it is 00%. This value is in consideration of efficiency.. Allowable maximum input speed and allowable mean input speed Reducer may be used within maximum input speed indicated in the Table above, however, allowable mean input speed is limited by operation rate (%ED). 3. Allowable acceleration or deceleration peak torque Allowable peak torque at normal start and stop. 4. Allowable maximum momentary torque Allowable maximum momentary torque at emergency stop or heavy shock, when loading 000 times in overall lifetime. 5. Rated torque which is not shown in the rating table can be calculated by using below formula. T : Calculated rated torque (N m) N : Average input speed T 0 : Rated torque from rating table at input speed which is close to N (N m) N 0 : Input speed related to T 0 from rating table Rated torque under allowable mean input speed is same as the torque at allowable mean input speed. 4

16 Selection Table 3 (Rating Table) Rated torque Allowable acceleration Allowable Allowable Allowable Rated Rated or deceleration peak input input input torque torque power power power torque Allowable maximum momentary torque Allowable maximum input speed Allowable mean input speed Reduction Ratio (N m) (kw) (N m) (kw) (N m) (kw) (N m) (N m) :Allowable continuous operation period: maximum 0min., 60%ED Frame Size P40 :Allowable continuous operation period: maximum 30min., 80%ED 5

17 Selection Table 3 (Allowable External Rating) Input Speed Reduction Radial Load Note) Axial Load Note) Radial Load Note) Axial Load Note) Radial Load Note) Axial Load Note) Radial Load Note) Axial Load Note) Frame Size Ratio (N) (N) (N) (N) (N) (N) (N) (N) P Note). Radial load is the value applied to the position 30mm from the end face of output shaft flange. (with no axial load) Multiply radial load locating factor to the value in the above table when the radial load is applied to locations other than the position 30mm from the end face of the output shaft flange.. Axial load is the value applied to the center of the output flange. (with no radial load) Output flange end face 6

18 Selection Table 3 (Allowable External Rating) Input Speed Radial Load Note) Axial Load Note) Radial Load Note) Axial Load Note) Radial Load Note) Axial Load Note) Radial Load Note) Axial Load Note) Reduction (N) (N) (N) (N) (N) (N) (N) (N) Ratio Frame Size P When a gear or sheave is mounted on the output shaft, radial load and axial load should be equal to or less than allowable value. Check radial & axial load by following the next formulas ( to 3). () Radial load Pr Pr = Tl R Pro Lf Cf Fs () Axial load Pa Pa Pao Cf Fs [N] [N] (3) When radial and axial load co-exist Pr ( Pro Lf + Pa Pao ) Cf Fs Pr : Actual radial load [N] Tl : Equivalent torque on output shaft [N m] R : Pitch circle radius of sprocket, gear, or sheave [m] Pro : Allowable radial load [N] (Selection Table 3 P.6, 7) Pa : Actual axial load [N] Pao : Allowable axial load [N] (Selection Table 3 P.6, 7) Lf : Radial Load Location factor (Fig. P.6) Cf : Load location factor (Table ) Fs : Shock factor (Table ) Table Load location factor Cf Table Shock factor Fs Connection method Cf Shock classification Fs General purpose chain.00 Uniform load (no shock) Machine gear or pinion.5 Moderate shocks -. Belt.50 Heavy shocks

19 Selection Procedure Flow Chart and Formula of Selection Fig. Load Pattern n Input speed n t t to T t3 n3 tp Time Evaluate load characteristic Calculate of average input speed ( ne ) Calculate of average output torque ( TE ) Output torque T T n: Average Input speed at acceleration e.g. Fig.: n: Input speed at normal operation n3: Average input speed at deceleration e.g. Fig.: n= n=n3= n n T3 Time t : Acceleration time [s] t : Steady operation time [s] t3 : Deceleration time [s] to : Operation time [s] tp : Stop time [s] T : Operation cycle [s] T : Starting peak torque [N m] T : Steady operation torque [N m] T3 : Stopping peak torque [N m] Calculate of allowable rated torque at the average input speed T OE Selection Table 3 (Rating Table) P. 4-5 T E T OE Select tentative frame size NO Selection Table 3 (Rating Table) P. 4-5 (If there is no speed in the rating table, determine the speed by the interpolation method.) Raise frame size Or reduce the average output torque TE Output shaft radial load Output shaft axial load Moment load Check Check input speed Check peak torque acceleration and deceleration Reduce the maximum speed NO Maximum input speed Allowable maximum input speed Peak torque at Allowable peak NO acceleration torque at acceleration and deceleration and deceleration Raise frame size NO Actual radial and axial load Allowable radial and axial load Selection Table 3 (Rating Table) P. 5 Selection Table 3 (Rating Table) P. 5 Selection Table 3 (Allowable radial & axial load on the output flange) P. 6-7 Calculation of %ED Check shock torque Make stop time longer or reduce speed NO %ED at certain speed %ED (Calculate value by interpolation when there is no speed indicated in Selection Table 3 (Rating Table) Allowable Shock maximum torque emergency torque Selection Table 3 (Rating Table) P. 5 NO Raise frame size Selection Table 3 (Rating Table) P. 4-5 NO Raise the frame size Check output part, P. 4-5 Calculated main bearing lifetime Requested lifetime *Theoretical calculation. Select frame size Check dimension of the servo motor attachment part Check motor flange code Determine nomenclature Complete 8

20 Selection Procedure Calculation in Load Pattern of Fig. Average input speed ne = t n + t n + t3 n3 tn nn Formula to n=4,5,6 Average output torque TE= t n T 0/3 + t n T 0/3 + t3 n3 T3 0/3 + tn nn Tn 0/3 to ne 0.3 Fs Formula n=4,5,6 (Table 3) %ED to % ED= T 00 Formula 3 %ED Calculation at Average Input Speed %ED(x)= %ED(x) x x i y i x i+ y i+ yi(x-xi+)-yi+(x-xi) x i-x i+ Example of Selection Interpolation method : Calculated %ED : Average input speed : Speed lower than the average input speed on the rating table : Allowable %ED at the above speed : Speed higher than the average input speed on the rating table : Allowable %ED at the above-mentioned speed Table 3 Fs Load factor Load condition Uniform load (no shock) Moderate shocks Heavy shocks Fs Evaluate ANFX-P40F-0XL3-6 for following specification. (Specifications) TA : Acceleration peak time 800N m TR : Normal running torque 300N m TB : Peak torque at breaking to the position 60mm from the flange surface 600N m Shock torque: 000N m (700 times during overall lifetime) na : Average Input speed during acceleration 500r/min nr : Input speed with normal running 3000r/min nb : Average Input speed during deceleration 500r/min ta : Acceleration time 0.s tr : Normal running time 5.0s tb : Deceleration time 0.s tp : Standstill timee 4.0s to : Running time 5.4s T : Single cycle time 9.4s Output shaft radial load: Belt drive, Small impact There shall be almost no shock in application 3500N (Calculation) Average input speed ne = = Average output torque TE = / / /3 0.3 = 349.3N m Allowable rating output torque at average input speed Select ANFX-P40F-0XL3-6 temporarily. Since the allowable average input speed is 3000, the allowable average output torque is 475N m. - Check Average output torque < OK Calculate %ED % ED= 00 = 57.4% Continuous running time 0min=600s > 5.4s... OK 80 ( ) - 60 ( ) % > 57.4%... OK - Check Maximum input speed 3000r/min < 6000r/min - Check allowable acceleration or deceleration peak torque 800N m < 900N m - Check shock torque 000N m < 500N m (000 times during overall lifetime) - Allowable output shaft radial load considering factors Selection Table 3 (Rating Table) P. 5 Pro = 5495N, Lf = 0.84, CF =.5, Fs =. Pro Lf Cf Fs = = 3,634 3,500 < 3,634 ANFX-P40F-0XL3-6 is selected by the process above. 9

21 Dimension Drawings P40F Single stage type (Reduction Ratio: 4-0) Adapter plate shape A (Square flange) 5-M0 Depth h7 0 h7 7 7 L LE LF Note) 4, 5 S H7 LB H7 M Hexagon socket head bolt 45 4-LZ LA 54 3 H7 LRmax Note) 3 LG LRmin LD LC Adapter plate shape B (Round flange) L LE LF S H7 M Hexagon socket head bolt 4*LZ 45 LA 37 h7 0 h7 3 H7 7 LRmax Note) 3 LG LRmin LB H7 LC 0 Dimension Motor flange LG Adapter LR Reduction Mass ratio code L LA LB LC LD LE LF plate LZ S M Shape (kg) shape max min 0X Note) A M M T M M0 0 0 B DA M M0 0 0 DD Note) Through hole M M DE M M DJ A M M DK Through hole M M DL Note) Through hole M M Note). Dimensions and mass shown in the above figures are subject to change without prior notification.. The reduction ratios in this table are based on motor combinations shown in Selection Table. Contact us for any combinations not shown above. 3. The shape of tapping hole for motor mounting is Through Hole or Useful Thread Length. 4. The tolerance of S for motor flange code 0X and DD is "+0.00 to ". 5. The tolerance of S for motor flange code DL is F7 ( to ).

22 Dimension Drawings P40F Double stage type (Reduction Ratio: 6-00) Adapter plate shape A (Square flange) 5-M0 Depth h7 0 h L LE LF S H7 Note) 5 LB H7 M Hexagon socket head bolt 45 4-LZ LA 54 3 H7 LRmax LG LRmin LD LC Adapter plate shape B (Round flange) Adapter plate shape C (with flange plate) 5-M0 Depth L L LE LF S H7 LE S H7 LB H7 Note) 3 LF LRmin LRmax M Hexagon socket head bolt 45 M Hexagon socket head bolt 4-LZ LA 45 4-LZ LA LC h7 0 h7 3 H7 7 LRmax LB H7 Note) 4 LRmin LD LC Note) 4 Shape with flange plate for motor Motor flange code L LA LB LC LD LE LF L Y DA Z T Dimension LG Adapter LR Reduction Mass plate LZ S M ratio Shape (kg) shape max min M M B M M A M M C Note) 4 M M M M DC Through hole M M X Note) Through hole A M M DD Note) Through hole M M DE M M0 6 Note). Dimensions and mass shown in the above figures are subject to change without prior notification.. The reduction ratios in this table are based on motor combinations shown in Selection Table. Contact us for any combinations not shown above. 3. The shape of tapping hole for motor mounting is Through Hole or Useful Thread Length. 4. This is equipped with flange plate. plate is sent as assembly parts and needs to be set by customer. (Installation method is shown at p.7) 5. The tolerance of S for motor flange code 0X and DD is "+0.00 to ".

23 Dimension Drawings F Single stage type (Reduction Ratio: 4-0) Adapter plate shape A (Square flange) h7 55 h7 47 H M0 Depth 5 9-M Depth L LRmax LE LF S H7 LB H7 Note) 4, 5 Note) 3 LG LRmin M Hexagon socket head bolt LD 45 4-LZ LA LC Motor flange code L LA LB LC LD LE LF 0X Note) DE DJ Dimension LG Adapter LR Reduction Mass plate LZ S M ratio Shape (kg) shape max min M M 36 0 M M 35 0 A M M DK Through hole M M DL Note) Through hole M M Note). Dimensions and mass shown in the above figures are subject to change without prior notification.. The reduction ratios in this table are based on motor combinations shown in Selection Table. Contact us for any combinations not shown above. 3. The shape of tapping hole for motor mounting is Through Hole or Useful Thread Length. 4. The tolerance of S for motor flange code DD is "+0.00 to ". 5. The tolerance of S for motor flange code DL is F7 ( to ).

24 Dimension Drawings F Double stage type (Reduction Ratio: 6-00) Adapter plate shape A (Square flange) H L LE LF S H7 Note) 4, 5 M Hexagon socket head bolt 45 4-LZ LA h7 55 h7 7 8-M0 Depth 5 9-M Depth 8 LRmax LB H7 Note) 3 LG LRmin LD LC Adapter plate shape B (Round flange) 88 h7 55 h H L S H7 LE LF LB H7 Note) 3 M Hexagon socket head bolt 4*LZ 45 LA LC LRmax LG LRmin Dimension Motor flange LG Adapter LR Reduction Mass ratio code L LA LB LC LD LE LF plate LZ S M Shape (kg) shape max min 0X Note) A M M L M M T M M B 7Y M M DA M M DC M M DD Note) Through hole M M DE A M M DJ M M 48 6 DK Through hole M M DL Note) Through hole M M Note). Dimensions and mass shown in the above figures are subject to change without prior notification.. The reduction ratios in this table are based on motor combinations shown in Selection Table. Contact us for any combinations not shown above. 3. The shape of tapping hole for motor mounting is Through Hole or Useful Thread Length. 4. The tolerance of S for motor flange code 0X and DD is "+0.00 to ". 5. The tolerance of S for motor flange code DL is F7 ( to ). 3

25 Nominal life calculation of Main Bearing The main bearing of P of IB Series uses angular bearing to allow high radial load moment. Check the lifetime of the main bearing through the following calculation. Check Procedure [] Calculation of the equivalent radial load and equivalent axial load (Formulas (3), (4)) [] Calculation of the bearing reaction force R A and R B (Formulas (), ()) [3] Calculation of the dynamic equivalent load (Table 6) [4] Calculation of the equivalent output speed (Formula (5)) [5] Calculation of the bearing lifetime (Formula (6)) Bearing A Bearing B Fre : Equivalent radial load (N) Fae : Equivalent axial load (N) Fre RB R A Fre (Lr+LC)+Fae La = LB Formula () Fae La Lr+LC-LB Lr RA LB LC R B Fre (Lr+LC-LB)+Fae La = Formula () LB Table 4 Span between Load Points (mm) Frame Size Span between Load Points LB (mm) LC (mm) P Figure 3 External Load Interaction Diagram Table 5 Main Bearing Specifications Dynamic rated Frame Size load C (N) P Load factor X Y F aa/r A e F aa/r A > e F aa/r A e F aa/r A > e F ab/r B e F ab/r B > e F ab/r B e F ab/r B > e e Calculation of equivalent load If the radial load and axial load fluctuate, confirm the lifetime converting to equivalent load. Fre = Equivalent radial load 3 3 n t Equivalent axial load 3 3 ( Fr ) + n t ( Fr ) + nntn( Fr n ) n t + n t + + n t 3 3 ( Fa ) + n t ( Fa ) + nn tn ( Fa n ) n t Fae = n t + n t + + nn tn Equivalent output speed Neo n t + nt + + nntn Neo = t + t + t Fre Fae n n n 3 Formula (3) 3 Formula (4) Formula (5) + Radial load Axial load Output speed + + Fr Fa n t Fr Fa n t Fr3 Fa3 n3 t3 t4 Time Time Time 4 Figure 4 Example of Load Fluctuation

26 Nominal life calculation of Main Bearing Table 6 Axial Load Direction and Dynamic Equivalent Load Formula Axial Load Direction Load Condition Bearing Category Axial Load Dynamic Equivalent Load R R + Fae Y Y B A Bearing A F R B P A= X R A + Y F aa = Fa e Y Note: When P A<R A, use P A=R A aa + Bearing B P B = R B (Applied to motor side) R R Y Y B A + Fae < Bearing A P A = R A Bearing B F R Y A ab = Fa e P = X R + Y F B B ab Note: When P B<R B, use P B=R B. (Applied to output side) R R A Y Y R Y B + R A > Y B + Fae Fae Bearing A P A = R A Bearing B Bearing A F F R = Y ab A + R B Y aa = Fa e Fa e Bearing B P B = R B P = X R + Y F B B ab Note: When P B<R A, use P B=R A. P = X R + Y F A A aa Note: When P A<R A, use P A=R A. Table 7 Symbols in Table 5 & 6 P Dynamic equivalent load (Either the larger one of dynamic equivalent load P A or P B, each influencing bearing A and B) N R A, R B Support reaction applied to each bearing A and B calculated from equivalent external load Fre and Fae N - X Radial load factor Y Axial load factor - Y Axial load factor Y=0.57 when Fa* / R* > e F aa, F ab Axial load exerted on each of bearing A and B N - Refer to Table 6 Refer to Table 5 Calculated lifetime L 0h 0 6 C L 0h = Formula (6) 60Neo CfFsP 3 Table 8 Load location factor Cf Table 9 Shock factor Fs Connection method Cf Shock classification Fs General purpose chain.00 Uniform load (no shock).0 Machine gear or pinion.5 Moderate shocks.0 -. Belt.50 Heavy shocks Table 0 Symbols in Formula (6) Neo Equivalent output speed r/min Refer to formula (5) P Dynamic equivalent load N Refer to Table 6 C Dynamic rated load N Refer to Table 5 Cf Load location factor - Refer to Table 8 Fs Shock factor - Refer to Table 9 5

27 Specifications of Output Part of the Reducer Mechanical Accuracy of Output Part of the Reducer Mechanical position accuracy of flange shaft is indicated below. Output Shaft Shaft Figure 5 Mechanical Position Accuracy of Shaft Tightening Torque and Allowable Transmitted Torque for Output Bolts The following table shows the number of bolts, size, tightening torque, and allowable transmitted torque when tightening the output flange of the reducer with bolts. Frame Size P40 Bolt Number-Size Bolt PCD mm Bolt tightening torque Allowable transmitted torque by bolts (for each pitch) Allowable transmitted torque by bolts (total) N m kgf cm N m kgf m N m kgf m 6-M M M M Bolt: Use hexagon socket bolts whose JIS B76 Strength Class is Locking measure: Use adhesive (Loctite 6, etc.) or conical spring washer (JIS B 5 Class ). - Coefficient of friction: 0.5 Solid Shaft Design (keyless) dimensions P (with key) dimensions P40 6 Shaftend key and keyway dimensions conform to JIS B (ISO) Keys and Their Corresponding Keyways: Parallel keys (Tightening ) ). Figure 6 Dimension Drawing of Solid Shaft (Keyless/With Key)

28 Motor Installation Procedure Strait with/without key type of motor shaft should be connected to reducer. (Remove the key from straight motor shaft with key for assembly.) Follow the precess below from () through (8) for assembly. () Wipe off the antirust agent oil on the plane surfaces of the motor and reducer. () Place reducer on an appropriate worktable with output shaft on the bottom side. (3) Remove the plug of the setting hole ([] in figure below) from the Adapter plate. (4) Turn the coupling ([3] in figure below) and align the coupling tightening bolt head to the setting hole. (5) a) Assemble without flange plate Insert motor shaft into the center hole of the coupling, press in vertically and fit the spigot of the motor and the adapter plate. b) Assemble with flange plate Set the flange ([5] in figure below) between motor and adapter plate ([4] in figure below). After fitting the spigot of the flange plate and adapter plate, insert motor shaft into the center hole of the coupling, press in vertically and fit the spigot of the motor and the flange plate. (6) Tighten motor mounting bolts ([4] in figure below) and fix the motor and adapter plate. (7) Tighten the coupling tightening bolt through the setting hole using a torque wrench. Refer to Table for necessary tightening torque. (8) Mount plug in the setting hole of the adapter plate. Make sure that the selected unit can allow a maximum emergency torque in your operation cycle by using following formula. Table Bolt Tightening Torque Coupling hole diameter Tightening bolt Tightening torque Allowable transmission torque mm N m N m 4 M8 35 M M M M M M M M M 0 78 Figure 7 Make sure that the selected unit can allow maximum emergency torque in your operation cycle. Maximum emergency torque Allowable transmission torque Reduction ratio Coupling tightening bolt [] Motor Motor mounting bolt [4] Motor Motor mounting bolt [4] Fitting (for setting hole) [] Coupling [3] plate [5] Torque wrench Torque wrench Adapter plate Fitting (for setting hole) [] Fitting (for setting hole) [] Without plate With plate Figure 8 Assembly Diagram 7

29 Moment of Inertia/GD (at Motor Shaft) - Moment of Inertia (at Motor Shaft) Unit: x0-4 kg m Frame Size P40 Frame Size P40 Frame Size P40 Reduction ratio (single stage) Input shaft Motor hollow flange [mm] code 4 DA T X,DD DE h6 DJ,DK m6 DL X DE h6 DJ,DK m6 DL Reduction ratio (double stage) Input shaft Motor hollow flange [mm] code 4 L,7Y,7Z,DA T,DC X,DD DE L,7Y,DA T,DC X,DD DE h6 DJ,DK m6 DL Reduction ratio (double stage) Input shaft Motor hollow flange [mm] code 4 L,7Y,7Z,DA T,DC X,DD DE L,7Y,DA T,DC X,DD DE h6 DJ,DK m6 DL GD (at Motor Shaft) Unit: x0-4 kgf m Frame Size P40 Frame Size P40 Frame Size P40 Reduction ratio (single stage) Input shaft Motor hollow flange [mm] code 4 DA T X,DD DE h6 DJ,DK m6 DL X DE h6 DJ,DK m6 DL Reduction ratio (double stage) Input shaft Motor hollow flange [mm] code 4 L,7Y,7Z,DA T,DC X,DD DE L,7Y,DA T,DC X,DD DE h6 DJ,DK m6 DL Reduction ratio (double stage) Input shaft Motor hollow flange [mm] code 4 L,7Y,7Z,DA T,DC X,DD DE L,7Y,DA T,DC X,DD DE h6 DJ,DK m6 DL