ELECTRIC CYLINDER SERIES ELEKTRO ISO 15552

Transcription

1 ELECTRIC CYLINDER SERIES ELEKTRO ISO 15552

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3 ELECTRIC CYLINDER SERIES ELEKTRO ISO

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5 SUMMARY P ELECTRIC CYLINDER SERIES ELEKTRO ISO PAGE 4 P ELECTRIC MOTORS PAGE 15 P DRIVES FOR STEPPING MOTORS PAGE 37 SUMMARY P DRIVES FOR BRUSHLESS MOTORS PAGE 41 P KEY TO CODES FOR ELECTRIC CYLINDER SERIE ELEKTRO ISO PAGE 45 P ACCESSORIES FOR ELECTRIC CYLINDER SERIES ELEKTRO ISO PAGE 46 P CALCULATIONS FOR CHOOSING AN ELECTRIC CYLINDER PAGE 52 3

6 ELECTRIC CYLINDER SERIES ELEKTRO ISO ELECTRIC CYLINDER SERIES ELEKTRO ISO An electric cylinder with a connection interface in accordance with ISO The piston rod extension is controlled by a system with a hardened screw and recirculating ball screw. The piston has a guide strip calibrated to reduce to a minimum play with the barrel and hence vibration during ball screw rotation. The cylinder can be equipped with a built-in non-rotating system featuring two opposing slides that run in separate longitudinal slots in the barrel. The piston comes with magnets and the barrel has longitudinal slots for housing sensors. The piston rod has increased outside diameter and thickness to make it extra rigid and more resistant to radial and peak loads. A system for greasing the screws is included. Numerous standard accessories for pneumatic cylinders, including intermediate hinge, can be used for mounting the cylinder. The motor can be selected from an optimised range, which encompasses both STEPPING and BRUSHLESS motors. There is a version with a brake mounted on the motor. With stepping motors, the brake version also comes with an encoder (all brushless motors comes with an encoder). It is important to remember that the brake is the static type, so the motor must be stopped before the brake is engaged. There is a version for in-line assembly, where the drive shaft is jointed directly onto the screw. There is also a geared motor version, where transmission is provided by pulleys and a cog belt with a transmission ratio of 1:1. Suitable motor drives are provided. Special adaptor flanges and joints can be provided if the customer wishes to use a particular make of motor. in-line version geared version TECHNICAL DATA Piston rod thread Environmental temperature range for STEPPING motors C BRUSHLESS motors C Electrical protection rating with STEPPING motors BRUSHLESS motors Maximum relative humidity of the air for IP55 STEPPING motor IP65 BRUSHLESS motor Minimum stroke for version with non-rotating Minimum stroke for version without non-rotating mm Maximum stroke mm Positioning repeatability mm Overall radial oscillation of the piston rod (without load) for 1 mm of stroke mm Versions Uncontrolled impact at the end of stroke Sensor magnet Maximum angle of twist of the piston rod for non-rotating version Work position HD M1x1.25 M16x1.5 M16x1.5 from -1 to +5 from to +4 IP4 or IP55 (see key to codes on page 45) IP4 or IP65 (see key to codes on page 45) 9% con 4 C; 57% con 5 C (no condensate) 9% (no condensate) Twice the screw pitch (to guarantee ball lubrication) 8 (in order to re-grease the screw) 15 ±.2.4 With or without piston rod non-rotating NOT ALLOWED (it provides an extra-stroke minimum 5 mm) YES Any MECHANICAL FEATURES HD Worm screw pitch (p) Worm screw diameter Static axial load (F o )* Dynamic axial load (F) Maximum number of revs Maximum speed (V max ) mm mm N N 1/min mm/s Calculate mean axial load and the calculate life (see graphs on page 8) * N.B. Static loads bearable without damage. Useful loads are shown in the diagrams on page 26 onwards. 4

7 WEIGHTS Worm screw pitch (p) Weight at stroke Additional weight each mm of stroke Moving mass at stroke (non-rotating version) Additional moving mass each mm of stroke MASS MOMENTS OF INERTIA HD Worm screw pitch mm J at stroke kgmm 2 J1 each metre of stroke kgmm 2 /m J2 each kg of load kgmm 2 /kg Total mass moment o inertia Jtot = J + J1. stroke [m] + J2. load [kg] CALCULATION OF MEAN AXIAL LOAD F m AND VERIFICATION Peak axial load in a work cycle must not exceed the static axial load F o. The peak value is usually achieved during upward acceleration in vertical installation. Exceeding this value leads to greater wear and hence shorter life of the recirculating ball screw. Mean axial load F m S V X V m q 3 3 F m = F x x x = 1 mm g g g g HD F x1 F x3 F o F m ELECTRIC CYLINDER SERIES ELEKTRO ISO V X1 q 3 3 F m = F x1 x x 1 q F x2 x + + F x3 x x V m 1 1 V m 1 V X2 V m q 2 V X3 F x [N] F x2 F x = Axial load at stage x F m = Mean axial load during extension F o = Static axial load q = Time segment V x = Speed in the phase x V m = Average speed The mean axial load must not exceed the dynamic axial load: F m F The graphs on page 8 show screw life as a function of F m q 1 q 2 q 3 q [1%] BARREL CROSS SECTION a Slots for sensors b Slots for anti-rotation 5

8 COMPONENTS ELECTRIC CYLINDER SERIES ELEKTRO ISO a FRONT CYLINDER HEAD: anodised aluminium b BARREL: extruded and anodised aluminium alloy c PISTON ROD: ground chrome steel d WORM SCREW: hardened steel e BALL SCREW: steel f REAR CYLINDER HEAD: anodised aluminium g WIPER RING: polyurethane h PISTON ROD GASKET: NBR (IP55/ IP65 version only) i GUIDE BUSHING: steel strip with bronze and PTFE insert j BUFFER: technopolymer k MAGNET: plastoferrite l GUIDE STRIP: self-lubricated calibrated technopolymer m PISTON: alumunium n BEARING: oblique with two ball rings o BEARING LOCKING RING: anodised aluminium p BELL: extruded and anodised aluminium alloy q COUPLING r ADAPTOR PLATE: anodised aluminium s ELECTRIC MOTOR u2 ELECTRIC MOTOR u21 TRANSMISSION PLATE: anodised aluminium u22 DRIVE BELT u23 PULLEY: steel u24 SHRINK DISC u25 COVER: anodised aluminium CYLINDER CYLINDER WITH IN-LINE MOTOR CYLINDER WITH GEARED MOTOR CRITICAL VELOCITY PEAK LOADS The two variables (stroke and motor revs) must meet the conditions in the graph below, otherwise resonance could be generated and affect the system. With vertical installations, the following load conditions applied to the piston rod must be met. Motor revs [1/min] Stroke [mm] Stroke [mm] 6

9 MAXIMUM RADIAL LOADS ON PISTON ROD Radial loads [N] Radial loads can be applied to the piston rod. They must not exceed the values in the table above, otherwise the guides on the piston rod and piston will be subjected to excessive wear. Stroke [mm] PISTON ROD SPEED AS A FUNCTION OF rpm rpm [1/min] The graph shows the direct correspondence between the number of turns (1/min) and the translation speed of the stem (mm/s). In any case all the other conditions and limitations of each specific cylinder will have to be complied. ELECTRIC CYLINDER SERIES ELEKTRO ISO Speed [mm/s] screw pitch 4 screw pitch 5 screw pitch 1 screw pitch 12 screw pitch 16 screw pitch 2 DRIVE TORQUE AS A FUNCTION OF THE AXIAL LOAD APPLIED TO THE PISTON ROD The friction generated in the mechanical system is taken into account. Ø 32 Ø 5 Ø 63 - Ø 63 HD Motor torque [Nm] screw pitch 4 screw pitch 12 Motor torque [Nm] screw pitch 5 screw pitch 1 Motor torque [Nm] screw pitch 16 screw pitch 5 screw pitch 1 screw pitch 2 7

10 LIFE CHARACTERISTICS AS A FUNCTION OF THE MEAN AXIAL LOAD Ø 32 Mean axial load [N] screw pitch 4 screw pitch 12 ELECTRIC CYLINDER SERIES ELEKTRO ISO Ø 5 Mean axial load [N] Cylinder life [km] screw pitch 5 screw pitch 1 screw pitch Cylinder life [km] Ø 63 - Ø 63 HD Mean axial load [N] screw pitch 5 screw pitch 1 screw pitch 2 screw pitch 5 HD screw pitch 1 HD Cylinder life [km] Life characteristics can vary considerably from those indicated in the graphs due to different operating conditions (radial loads, temperature, lubrication status, etc.). 8

11 LUBRICATION DIAGRAMS LUBRICATION OF VERSION WITH NON-ROTATING PISTON ROD LUBRICATION OF VERSION WITHOUT NON-ROTATING PISTON ROD Retract the piston rod towards the rear head. The piston rod/piston ball screw/system must rest against the buffer of the rear head Unscrew the cap on the lubricator port (see note 1 to the drawing on page 1) Screw the lubricating pin (see accessory on page 48) into the thread. Make sure you enter the corresponding hole in the piston below Pump grease (code 99156) in 4-5 times using a suitable lubricator Unscrew the lubricating pin and make the piston rod perform four complete strokes. The piston rod should end up in the initial (retracted) position Repeat the last two operations The operation of re-greasing will have to be repeated every 2 km, approximately. Extend the piston rod completely. The piston rod/piston/ball screw system must rest against the buffer of the front head Unscrew the cap on the lubricator port (see note 1 to the drawing on page 1) Screw the lubricating pin (see accessory on page 48) into the thread Make sure you enter the corresponding hole in the piston below. Pump grease (code 99156) in 4-5 times using a suitable lubricator Unscrew the lubricating pin and make the piston rod perform four complete strokes. The piston rod should end up in the initial (extended) position Repeat the last two operations The operation of re-greasing will have to be repeated every 2 km, approximately. ELECTRIC CYLINDER SERIES ELEKTRO ISO NOTES 9

12 DIMENSIONS CYLINDER DIMENSIONS (WITHOUT MOTOR) ELECTRIC CYLINDER SERIES ELEKTRO ISO a = lubricator port (*) = for Ø 63 only + = add the stroke Ø ØB (d11) B1 B2 BG C1 CH1 CH2 CH3 ØD (f7) ØD1 (h7) ØD2 ØD4 (h7) E F G G1 H KK L L M1x M16x M16x HD M16x Ø L1 L2 L3 ØMM N RT TG VA VD WH M M M HD M MOTOR-DRIVE COUPLINGS FOR VARIOUS CYLINDER BORES MOTOR CODES DRIVES CODES Metal Work 37D D D D1552 Manufacturer RTA CSD 94 RTA NDC 96 RTA PLUS A4 RTA PLUS B7 Metal Work Manufacturer (4.4A 24 48VDC) (6A 24 75VDC) (6A 77 14VDC) (1A 28 62VAC) STEPPING 37M111 Motor SANYO DENKY 13-H (4A 75V max) Ø 32 Ø 32 - Ø 32 37M112 Motor SANYO DENKY 13-H (4A 75V max) Ø 32 Ø 32 - Ø 32 37M1121 Motor SANYO DENKY 13-H (5.6A 75V max) - Ø 32 - Ø 32 37M143 Motor SANYO DENKY 13-H (6A 14V max) - Ø 5 Ø 5 Ø 5 37M144 Motor SANYO DENKY 13-H (6A 14V max) - Ø 5 Ø 5 Ø 5 37M145 Motor SANYO DENKY SM (6A 14V max) - Ø 63 - Ø 63 HD Ø 63 - Ø 63 HD Ø 63 - Ø 63 HD 37M147 Motor B&R 8MPH6.11S-1 (1A 8V max) Ø 63 HD STEPPING WITH BRAKE + ENCODER 37M322 Motor B&R 8MPF3.5D114-1 (5A 8V max) - Ø 32 Ø 32 Ø 32 37M323 Motor B&R 8MPF5.5D114-1 (5A 8V max) - Ø 32 Ø 32 Ø 32 37M343 Motor B&R 8MPH1.6D114-1 (6A 8V max) - Ø 5 Ø 5 Ø 5 37M346 Motor B&R 8MPH3.6D114-1 (6A 8V max) - Ø 5 - Ø 63 - Ø 63 HD Ø 5 - Ø 63 - Ø 63 HD Ø 5 - Ø 63 - Ø 63 HD 37M345 Motor B&R 8MPH4.11D114-1 (1A 8V max) Ø 63 - Ø 63 HD 37M347 Motor B&R 8MPH6.11D114-1 (1A 8V max) Ø 63 HD MOTOR CODES DRIVES CODES Metal Work 37D22 37D24 Manufacturer SANYO DENKY RS1A1 SANYO DENKY RS1A3 Metal Work Manufacturer (15A 2W) (3A W) BRUSHLESS 37M22 Motor SANYO DENKY R2AA62FXH11M (2W) Ø 32-37M222 Motor SANYO DENKY R2AA64FXH11M (4W) - Ø 32 - Ø 5 37M233 Motor SANYO DENKY R2AA875FXH11M (75W) - Ø 5 - Ø 63 - Ø 63 HD 37M254 Motor SANYO DENKY R2AAB81HXH29M (1W) - Ø 63 HD BRUSHLESS WITH BRAKE 37M42 Motor SANYO DENKY R2AA62FCH11M (2W) Ø 32-37M422 Motor SANYO DENKY R2AA64FCH11M (4W) - Ø 32 - Ø 5 37M433 Motor SANYO DENKY R2AA875FCH11M (75W) - Ø 5 - Ø 63 - Ø 63 HD 37M454 Motor SANYO DENKY R2AAB81HCH29M (1W) - Ø 63 HD Important! Limit current Important! Limit current and voltage Important! Limit voltage Important! AC drive to continuous voltage VDC = VAC 2 1

13 DIMENSIONS OF CYLINDERS WITH IN-LINE MOTOR VERSION WITH MOTOR Size Motor type Code for cylinder Code for motor Motor torque Coupling B L1 L2 L3 complete with motor mounted on the cylinder [Nm] flange BRUSHLESS M M STEPPING M111.8 NEMA M NEMA M NEMA BRUSHLESS M STEPPING M NEMA HD STEPPING 371H M NEMA H M NEMA ELECTRIC CYLINDER SERIES ELEKTRO ISO VERSION WITH MOTOR AND BRAKE Size Motor type Code for cylinder Code for motor Motor torque Coupling B L1 L2 L3 complete with motor mounted on the cylinder [Nm] flange BRUSHLESS M M STEPPING M M BRUSHLESS M STEPPING M NEMA M NEMA STEPPING M NEMA M NEMA H M NEMA HD STEPPING 371H M NEMA H M NEMA VERSION WITH MOTOR Size Motor type Code for cylinder Code for motor Motor torque Coupling B Ø B1 L1 L2 L3 complete with motor mounted on the cylinder [Nm] flange 5 STEPPING M NEMA M NEMA

14 ELECTRIC CYLINDER SERIES ELEKTRO ISO VERSION WITH MOTOR Size Motor type Code for cylinder Code for motor Motor torque Coupling B B1 L1 L2 L3 complete with motor mounted on the cylinder [Nm] flange 5 BRUSHLESS M BRUSHLESS M HD BRUSHLESS 371H M H M VERSION WITH MOTOR AND BRAKE Size Motor type Code for cylinder Code for motor Motor torque Coupling B B1 L1 L2 L3 complete with motor mounted on the cylinder [Nm] flange 5 BRUSHLESS M BRUSHLESS M HD BRUSHLESS 371H M H M DIMENSIONS OF CYLINDERS WITH GEARED MOTOR VERSION WITH MOTOR Size Motor type Code for cylinder complete with motor Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 BG E L1 L2 L3 L4 TG RT VA STEPPING M111.8 NEMA M M NEMA M M NEMA M STEPPING M NEMA M HD STEPPING 371H M NEMA M8 4 VERSION WITH MOTOR AND BRAKE Size Motor type Code for cylinder complete with motor 32 Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 BG E L1 L2 L3 L4 TG RT VA STEPPING M M M M6 4 12

15 VERSION WITH MOTOR Size Motor type Code for cylinder complete with motor Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 ØB6 BG E L1 L2 L3 TG RT VA 5 STEPPING M NEMA M M NEMA M8 4 ELECTRIC CYLINDER SERIES ELEKTRO ISO VERSION WITH MOTOR AND BRAKE Size Motor type Code for cylinder complete with motor Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 BG E L1 L2 L3 TG RT VA 5 STEPPING M NEMA M M NEMA M8 4 VERSION WITH MOTOR Size Motor type Code for cylinder complete with motor Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 BG E L1 L2 L3 L4 TG RT VA 32 BRUSHLESS M M M M6 4 13

16 ELECTRIC CYLINDER SERIES ELEKTRO ISO VERSION WITH MOTOR Size Motor type Code for cylinder complete with motor Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 BG E L1 L2 L3 TG RT VA 5 BRUSHLESS M M BRUSHLESS M M8 4 BRUSHLESS 371H M M HD 371H M M8 4 STEPPING 371H M NEMA M8 4 VERSION WITH MOTOR AND BRAKE Size Motor type Code for cylinder complete with motor Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 BG E L1 L2 L3 TG RT VA 5 BRUSHLESS M M8 4 BRUSHLESS M M STEPPING M NEMA M M NEMA M8 4 BRUSHLESS 371H M M H M M HD STEPPING 371H M NEMA M H M NEMA M H M NEMA M8 4 VERSION WITH MOTOR Size Motor type Code for cylinder complete with motor Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 BG E L1 L2 L3 L4 TG RT VA 5 BRUSHLESS M M8 4 VERSION WITH MOTOR AND BRAKE Size Motor type Code for cylinder complete with motor Code for motor mounted on the cylinder Motor torque [Nm] Coupling flange ØB (d11) B1 B2 B3 B4 B5 BG E L1 L2 L3 L4 TG RT VA BRUSHLESS M M M M BRUSHLESS M M8 4 14

17 ELECTRIC MOTORS STEPPING MOTORS ELECTRIC MOTORS N.B.: With motor off, the drive current is automatically reduced by 5% to prevent overheating. Consequently, available torque with the motor stopped is also reduced by 5%. TORQUE CURVES / TECHNICAL FEATURES OF ELECTRIC STEPPING MOTORS STEPPING motor code 37M111 TECHNICAL DATA MOTOR 37M111 Motor type STEPPING Motor torque [Nm] Nominal torque Nm.8.9 Coupling flange NEMA 23.8 Base step angle 1.8 ±.9 Bipolar current A 4.7 Resistance Ω.41.6 Inductance mh Bipolar holding torque Nm Rotor inertia kgmm 2 21 Theoretical acceleration rad. s Back E.M.F. V/krpm 2.2 Mass kg.65.1 Degree of protection IP Motor revs. [1/min] 37M111 (24VDC) 37M111 (75VDC) 37M111 (48VDC) STEPPING motor code 37M112 TECHNICAL DATA MOTOR 37M112 Motor type STEPPING Motor torque [Nm] Nominal torque Nm Coupling flange NEMA 23 Base step angle 1.8 ± Bipolar current A 4 1. Resistance Ω.48 Inductance mh Bipolar holding torque Nm 1.65 Rotor inertia kgmm Theoretical acceleration rad. s Back E.M.F. V/krpm 31 Mass kg 1.2 Degree of protection IP Motor revs. [1/min] 37M112 (24VDC) 37M112 (48VDC) 37M112 (75VDC) 15

18 ELECTRIC MOTORS STEPPING motor code 37M1121 TECHNICAL DATA MOTOR 37M1121 Motor type STEPPING Motor torque [Nm] Nominal torque Nm Coupling flange NEMA 23 Base step angle 1.8 ± Bipolar current A Resistance Ω.3 Inductance mh.85.8 Bipolar holding torque Nm 1.65 Rotor inertia kgmm Theoretical acceleration rad. s Back E.M.F. V/krpm 23 Mass kg 1.2 Degree of protection IP Motor revs. [1/min] 37M1121 (24VDC) 37M1121 (48VDC) 37M1121 (75VDC) STEPPING motor code 37M143 Motor torque [Nm] TECHNICAL DATA MOTOR 37M143 Motor type STEPPING Nominal torque Nm 2.4 Coupling flange NEMA 34 Base step angle 1.8 ±.9 Bipolar current A 6 Resistance Ω.3 Inductance mh 1.65 Bipolar holding torque Nm 3 Rotor inertia kgmm Theoretical acceleration rad. s Back E.M.F. V/krpm 5 Mass kg 1.5 Degree of protection IP Motor revs. [1/min] 37M143 (48VDC) 37M143 (75VDC) 37M143 (14VDC) STEPPING motor code 37M144 Motor torque [Nm] TECHNICAL DATA MOTOR 37M144 Motor type STEPPING Nominal torque Nm 4.2 Coupling flange NEMA 34 Base step angle 1.8 ±.9 Bipolar current A 6 Resistance Ω.35 Inductance mh 2.7 Bipolar holding torque Nm 5.6 Rotor inertia kgmm 2 29 Theoretical acceleration rad. s Back E.M.F. V/krpm 93 Mass kg 2.5 Degree of protection IP Motor revs. [1/min] 37M144 (48VDC) 37M144 (75VDC) 37M144 (14VDC) 16

19 STEPPING motor code 37M145 TECHNICAL DATA MOTOR 37M145 Motor type STEPPING Motor torque [Nm] Nominal torque Nm Coupling flange NEMA 34 Base step angle 1.8 ±.9 6. Bipolar current parallel A 6 5. Resistance Ω.46 Inductance mh Bipolar holding torque Nm 9.2 Rotor inertia kgmm Theoretical acceleration rad. s Back E.M.F. V/krpm 161 Mass kg 4 1. Certifications UL, CSA, CE, RoHS Tension d isolement 25VAC (35VDC) Degree of protection IP43 - F Motor revs. [1/min] ELECTRIC MOTORS 37M145 (48VDC) 37M145 (75VDC) 37M145 (14VDC) STEPPING motor code 37M147 TECHNICAL DATA MOTOR 37M147 Motor type STEPPING Motor torque [Nm] Nominal torque Nm Coupling flange NEMA Base step angle Bipolar current A 1 Resistance Ω Inductance mh Bipolar holding torque Nm Rotor inertia kgmm Mass kg Degree of protection IP4 2. Power cable for stepping motors with brake, 37C Power cable for stepping motors with brake, 37C Motor revs. [1/min] 37M147 (24VDC) 37M147 (48VDC) 37M147 (75VDC) NOTES 17

20 STEPPING MOTORS WITH BRAKE + ENCODER ELECTRIC MOTORS STEPPING motor with BRAKE + ENCODER code 37M322 TECHNICAL DATA MOTOR 37M322 Motor type STEPPING with BRAKE + ENCODER Motor torque [Nm] Nominal torque Nm Coupling flange 6 Base step angle Current A 5 Resistance Ω Inductance mh Bipolar holding torque Nm 1.7 Rotor inertia kgmm Mass kg Degree of protection IP65 Encoder cable for stepping motors with brake, 37C123 Power cable for stepping motors with brake, 37C Encoder cable for stepping motors with brake, 37C125 Motor revs. [1/min] 37M322 (24VDC) 37M322 (48VDC) Power cable for stepping motors with brake, 37C135 ENCODER 37M322 (75VDC) Number of outputs 3 A / B / R Resolution positions per rev 124 Supply voltage VDC 18-3 BRAKE Supply voltage VDC 24 +6% / -1% Braking torque Nm 2 Power consumption W 11 Connecting time ms 6 Delay time ms 2 Disconnection time ms 25 STEPPING motor with BRAKE + ENCODER code 37M323 TECHNICAL DATA MOTOR 37M323 Motor type STEPPING with BRAKE + ENCODER Motor torque [Nm] Nominal torque Nm Coupling flange 6 Base step angle Bipolar current A 5 Resistance Ω.6 2. Inductance mh 2.8 Bipolar holding torque Nm Rotor inertia kgmm 2 92 Mass kg Degree of protection IP65 Encoder cable for stepping motors with brake, 37C123.5 Power cable for stepping motors with brake, 37C Encoder cable for stepping motors with brake, 37C125 Motor revs. [1/min] 37M323 (24VDC) 37M323 (48VDC) Power cable for stepping motors with brake, 37C135 ENCODER 37M323 (75VDC) Number of outputs 3 A / B / R Resolution positions per rev 124 Supply voltage VDC 18-3 BRAKE Supply voltage VDC 24 +6% / -1% Braking torque Nm 2 Power consumption W 11 Connecting time ms 6 Delay time ms 2 Disconnection time ms 25 18

21 STEPPING motor with BRAKE + ENCODER code 37M343 TECHNICAL DATA MOTOR 37M343 Motor type STEPPING with BRAKE + ENCODER Motor torque [Nm] Nominal torque Nm Coupling flange NEMA 34 Base step angle Bipolar current A 6 Resistance Ω.4 2. Inductance mh 3.2 Bipolar holding torque Nm Rotor inertia kgmm Mass kg Degree of protection IP65 Encoder cable for stepping motors with brake, 37C123.5 Power cable for stepping motors with brake, 37C Encoder cable for stepping motors with brake, 37C125 Motor revs. [1/min] 37M343 (24VDC) 37M343 (48VDC) Power cable for stepping motors with brake, 37C135 ENCODER 37M343 (75VDC) Number of outputs 3 A / B / R Resolution positions per rev 124 Supply voltage VDC 18-3 BRAKE Supply voltage VDC 24 +6% / -1% Braking torque Nm 9 Power consumption W 18 Connecting time ms 7 Delay time ms 2 Disconnection time ms 4 ELECTRIC MOTORS STEPPING motor with BRAKE + ENCODER code 37M345 TECHNICAL DATA MOTOR 37M345 Motor type STEPPING with BRAKE + ENCODER Motor torque [Nm] Nominal torque Nm Coupling flange NEMA Base step angle Bipolar current A 1 5. Resistance Ω Inductance mh Bipolar holding torque Nm Rotor inertia kgmm Mass kg Degree of protection IP Encoder cable for stepping motors with brake, 37C Power cable for stepping motors with brake, 37C Encoder cable for stepping motors with brake, 37C125 Motor revs. [1/min] 37M345 (24VDC) 37M345 (48VDC) Power cable for stepping motors with brake, 37C135 ENCODER 37M345 (75VDC) Number of outputs 3 A / B / R Resolution positions per rev 124 Supply voltage VDC 18-3 BRAKE Supply voltage VDC 24 +6% / -1% Braking torque Nm 9 Power consumption W 18 Connecting time ms 7 Delay time ms 2 Disconnection time ms 4 19

22 ELECTRIC MOTORS STEPPING motor with BRAKE + ENCODER code 37M346 TECHNICAL DATA MOTOR 37M346 Motor type STEPPING with BRAKE + ENCODER Motor torque [Nm] Nominal torque Nm Coupling flange NEMA Base step angle Bipolar current A Resistance Ω.6 4. Inductance mh Bipolar holding torque Nm Rotor inertia kgmm Mass kg Degree of protection IP Encoder cable for stepping motors with brake, 37C Power cable for stepping motors with brake, 37C Encoder cable for stepping motors with brake, 37C125 Motor revs. [1/min] 37M346 (24VDC) 37M346 (48VDC) Power cable for stepping motors with brake, 37C135 ENCODER 37M346 (75VDC) Number of outputs 3 A / B / R Resolution positions per rev 124 Supply voltage VDC 18-3 BRAKE Supply voltage VDC 24 +6% / -1% Braking torque Nm 9 Power consumption W 18 Connecting time ms 7 Delay time ms 2 Disconnection time ms 4 STEPPING motor with BRAKE + ENCODER code 37M347 TECHNICAL DATA MOTOR 37M347 Motor type STEPPING with BRAKE + ENCODER Motor torque [Nm] Nominal torque Nm Coupling flange NEMA Base step angle Bipolar current A 1 Resistance Ω Inductance mh Bipolar holding torque Nm Rotor inertia kgmm Mass kg Degree of protection IP65 Encoder cable for stepping motors with brake, 37C Power cable for stepping motors with brake, 37C Encoder cable for stepping motors with brake, 37C125 Motor revs. [1/min] 37M347 (24VDC) Power cable for stepping motors with brake, 37C135 37M347 (48VDC) 37M347 (75VDC) ENCODER Number of outputs 3 A / B / R Resolution positions per rev 124 Supply voltage VDC 18-3 BRAKE Supply voltage VDC 24 +6% / -1% Braking torque Nm 9 Power consumption W 18 Connecting time ms 7 Delay time ms 2 Disconnection time ms 4 2

23 BRUSHLESS MOTORS OVERLOAD CURVES FOR ELECTRIC BRUSHLESS MOTORS The torque used can exceed the nominal torque within the time limits shown in the diagram. Never exceed the maximum torque. mpo (s) Time (s) CURVE TORQUE DI CURVES COPPIA / TECHNICAL CARATTERISTICHE FEATURES TECNICHE OF ELECTRIC MOTORI BRUSHLESS ELETTRICI MOTORS BRUSHLESS Rapporto coppia / coppia nominale Torque / nominal torque ratio ELECTRIC MOTORS The following diagrams show the torque delivered by the motor with changing speed (rpm). Each diagram shows two separate curves: NOMINAL TORQUE curve: the nominal torque delivered by the motor with a duty cycle of 1% MAXIMUM TORQUE curve: the torque delivered by the motor with a duty cycle of less than 1% BRUSHLESS motor code 37M22 + drive code 37D22 (2W) TECHNICAL DATA MOTOR 37M22 Motor type BRUSHLESS Motor torque [Nm] Nominal torque Nm Coupling flange (square) mm 6 Nominal power W 2 2. Nominal speed rpm 3 Maximum speed rpm 6 Stall torque Nm Maximum torque Nm 2.2 Rotor inertia kgmm Mass kg.84 Encoder pulse/rev (17 bit).5 Degree of protection IP65 Drive code 37D22 Brushless motor-drive connecting cable 37C Brushless motor-drive-encoder connecting cable 37C223 Motor revs. [1/min] Nominal torque 37M D22 (2W) Brushless motor-drive connecting cable 37C215 Max torque 37M D22 (2W) Brushless motor-drive-encoder connecting cable 37C225 BRUSHLESS motor code 37M222 + drive code 37D24 (4W) Motor torque [Nm] Motor revs. [1/min] Nominal torque 37M D24 (4W) Max torque 37M D24 (4W) TECHNICAL DATA MOTOR 37M222 Motor type BRUSHLESS Nominal torque Nm 1.27 Coupling flange (square) mm 6 Nominal power W 4 Nominal speed rpm 3 Maximum speed rpm 6 Stall torque Nm 1.37 Maximum torque Nm 4.8 Rotor inertia kgmm Mass kg 1.3 Encoder pulse/rev (17 bit) Degree of protection IP65 Drive code 37D24 Brushless motor-drive connecting cable 37C213 Brushless motor-drive-encoder connecting cable 37C223 Brushless motor-drive connecting cable 37C215 Brushless motor-drive-encoder connecting cable 37C225 21

24 ELECTRIC MOTORS BRUSHLESS motor code 37M233 + drive code 37D24 (75W) TECHNICAL DATA MOTOR 37M233 Motor type BRUSHLESS Motor torque [Nm] Nominal torque Nm Coupling flange (square) mm 8 Nominal power W Nominal speed rpm 3 6. Maximum speed rpm 6 Stall torque Nm Maximum torque Nm Rotor inertia kgmm Mass kg 2.6 Encoder pulse/rev (17 bit) 2. Degree of protection IP65 1. Drive code 37D24 Brushless motor-drive connecting cable 37C Brushless motor-drive-encoder connecting cable 37C223 Motor revs. [1/min] Nominal torque 37M D24 (75W) Brushless motor-drive connecting cable 37C215 Max torque 37M D24 (75W) Brushless motor-drive-encoder connecting cable 37C225 BRUSHLESS motor code 37M254 + drive code 37D24 (1W) TECHNICAL DATA MOTOR 37M254 Motor type BRUSHLESS Motor torque [Nm] Nominal torque Nm Coupling flange (square) mm 86 Nominal power W 1 1. Nominal speed rpm 3 Maximum speed rpm 3 8. Stall torque Nm 3.92 Maximum torque Nm Rotor inertia kgmm Mass kg Encoder pulse/rev (17 bit) Degree of protection IP65 2. Drive code 37D24 Brushless motor-drive connecting cable 37C Brushless motor-drive-encoder connecting cable 37C223 Motor revs. [1/min] Nominal torque 37M D24 (1W) Brushless motor-drive connecting cable 37C215 Max torque 37M D24 (1W) Brushless motor-drive-encoder connecting cable 37C225 NOTES 22

25 BRUSHLESS MOTORS WITH BRAKE OVERLOAD CURVES FOR ELECTRIC BRUSHLESS MOTORS The torque used can exceed the nominal torque within the time limits shown in the diagram. Never exceed the maximum torque. mpo (s) Time (s) Rapporto coppia / coppia nominale Torque / nominal torque ratio ELECTRIC MOTORS CURVE TORQUE DI CURVES COPPIA / TECHNICAL CARATTERISTICHE FEATURES TECNICHE OF ELECTRIC MOTORI BRUSHLESS ELETTRICI MOTORS BRUSHLESS WITH BRAKE BRUSHLESS motor with BRAKE code 37M42 + drive code 37D22 (2W) TECHNICAL DATA MOTOR 37M42 Motor type BRUSHLESS with BRAKE Motor torque [Nm] Nominal torque Nm Coupling flange (square) mm 6 Nominal power W 2 2. Nominal speed rpm 3 Maximum speed rpm 6 Stall torque Nm Maximum torque Nm 2.2 Rotor inertia kgmm Mass kg 1.23 Encoder pulse/rev (17 bit).5 Degree of protection IP65 Drive code 37D22 Brushless motor-drive connecting cable 37C Brushless motor-drive-encoder connecting cable 37C223 Motor revs. [1/min] Nominal torque 37M D22 (2W) Brushless motor-brake connecting cable 37C233 Max torque 37M D22 (2W) Brushless motor-drive connecting cable 37C215 Brushless motor-drive-encoder connecting cable 37C225 Brushless motor-brake connecting cable 37C235 BRAKE Supply voltage VDC 24 ±1% Braking torque static Nm 1.37 min 23

26 ELECTRIC MOTORS BRUSHLESS motor with BRAKE code 37M422 + drive code 37D24 (4W) Motor torque [Nm] ?? Motor revs. [1/min] Nominal torque 37M D24 (4W) Max torque 37M D24 (4W) TECHNICAL DATA MOTOR 37M422 Motor type BRUSHLESS with BRAKE Nominal torque Nm 1.27 Coupling flange (square) mm 6 Nominal power W 4 Nominal speed rpm 3 Maximum speed rpm 6 Stall torque Nm 1.37 Maximum torque Nm 4.8 Rotor inertia kgmm Mass kg 1.69 Encoder pulse/rev (17 bit) Degree of protection IP65 Drive code 37D24 Brushless motor-drive connecting cable 37C213 Brushless motor-drive-encoder connecting cable 37C223 Brushless motor-brake connecting cable 37C233 Brushless motor-drive connecting cable 37C215 Brushless motor-drive-encoder connecting cable 37C225 Brushless motor-brake connecting cable 37C235 BRAKE Supply voltage VDC 24 ±1% Braking torque static Nm 1.37 min BRUSHLESS motor with BRAKE code 37M433 + drive code 37D24 (75W) Motor torque [Nm] Motor revs. [1/min] Nominal torque 37M D24 (75W) Max torque 37M D24 (75W) TECHNICAL DATA MOTOR 37M433 Motor type BRUSHLESS with BRAKE Nominal torque Nm 2.39 Coupling flange (square) mm 8 Nominal power W 75 Nominal speed rpm 3 Maximum speed rpm 6 Stall torque Nm 2.55 Maximum torque Nm 8.5 Rotor inertia kgmm 2 27 Mass kg 2.19 Encoder pulse/rev (17 bit) Degree of protection IP65 Drive code 37D24 Brushless motor-drive connecting cable 37C213 Brushless motor-drive-encoder connecting cable 37C223 Brushless motor-brake connecting cable 37C233 Brushless motor-drive connecting cable 37C215 Brushless motor-drive-encoder connecting cable 37C225 Brushless motor-brake connecting cable 37C235 BRAKE Supply voltage VDC 24 ±1% Braking torque static Nm 2.55 min 24

27 BRUSHLESS motor with BRAKE code 37M454 + drive code 37D24 (1W) Motor torque [Nm] Motor revs. [1/min] Nominal torque 37M D24 (1W) Max torque 37M D24 (1W) TECHNICAL DATA MOTOR 37M454 Motor type BRUSHLESS with BRAKE Nominal torque Nm 3.18 Coupling flange (square) mm 86 Nominal power W 1 Nominal speed rpm 3 Maximum speed rpm 3 Stall torque Nm 3.92 Maximum torque Nm 11.6 Rotor inertia kgmm Mass kg 4.34 Encoder pulse/rev (17 bit) Degree of protection IP65 Drive code 37D24 Brushless motor-drive connecting cable 37C213 Brushless motor-drive-encoder connecting cable 37C223 Brushless motor-brake connecting cable 37C233 Brushless motor-drive connecting cable 37C215 Brushless motor-drive-encoder connecting cable 37C225 Brushless motor-brake connecting cable 37C235 BRAKE Supply voltage VDC 24 ±1% Braking torque static Nm 3.92 min ELECTRIC MOTORS NOTES 25

28 AXIAL LOAD CURVES AS A FUNCTION OF SPEED (CYLINDER COMPELTE WITH MOTOR AND DRIVE) N.B.: The obtainable load values already take the efficiency of the system into account. For STEPPING motors, with the motor off, the drive current is automatically reduced by 5% to prevent overheating. Consequently, available axial load with the motor stopped is also reduced by 5%. Ø 32 with pitch 4 screw, STEPPING motors ELECTRIC MOTORS M111 (24VDC) 37M111 (48VDC) 37M111 (75VDC) 37M112 (24VDC) 37M112 (48VDC) 37M112 (75VDC) 37M1121 (24VDC) 37M1121 (48VDC) 37M1121 (75VDC) Speed [mm/s] Ø 32 with pitch 4 screw, STEPPING motors with BRAKE + ENCODER M322 (24VDC) 37M322 (48VDC) 37M322 (75VDC) 37M323 (24VDC) 37M323 (48VDC) 37M323 (75VDC) Speed [mm/s] Ø 32 with pitch 12 screw, STEPPING motors M111 (24VDC) 37M111 (48VDC) 37M111 (75VDC) 37M112 (24VDC) 37M112 (48VDC) 37M112 (75VDC) 37M1121 (24VDC) 37M1121 (48VDC) 37M1121 (75VDC) Speed [mm/s] 26

29 Ø 32 with pitch 12 screw, STEPPING motors with BRAKE + ENCODER M322 (24VDC) 37M322 (48VDC) 37M322 (75VDC) 37M323 (24VDC) 37M323 (48VDC) 37M323 (75VDC) ELECTRIC MOTORS Speed [mm/s] Ø 5 with pitch 5 screw, STEPPING motors M143 (48VDC) 37M143 (75VDC) 37M143 (14VDC) 37M144 (48VDC) 37M144 (75VDC) 37M144 (14VDC) Speed [mm/s] Ø 5 with pitch 5 screw, STEPPING motors with BRAKE + ENCODER M343 (24VDC) 37M343 (48VDC) 37M343 (75VDC) 37M346 (24VDC) 37M346 (48VDC) 37M346 (75VDC) Speed [mm/s] 27

30 ELECTRIC MOTORS Ø 5 with pitch 1 screw, STEPPING motors M143 (48VDC) 37M143 (75VDC) 37M143 (14VDC) 37M144 (48VDC) 37M144 (75VDC) 37M144 (14VDC) Speed [mm/s] Ø 5 with pitch 1 screw, STEPPING motors with BRAKE + ENCODER M343 (24VDC) 37M343 (48VDC) 37M343 (75VDC) 37M346 (24VDC) 37M346 (48VDC) 37M346 (75VDC) Speed [mm/s] Ø 5 with pitch 16 screw, STEPPING motors M143 (48VDC) 37M143 (75VDC) 37M143 (14VDC) 37M144 (48VDC) 37M144 (75VDC) 37M144 (14VDC) Speed [mm/s] 28

31 Ø 5 with pitch 16 screw, STEPPING motors with BRAKE + ENCODER M343 (24VDC) 37M343 (48VDC) 37M343 (75VDC) 37M346 (24VDC) 37M346 (48VDC) 37M346 (75VDC) ELECTRIC MOTORS Speed [mm/s] Ø 63 with pitch 5 screw, STEPPING motors M145 (48VDC) 37M145 (75VDC) 37M145 (14VDC) 37M147 (24VDC) 37M147 (48VDC) 37M147 (75VDC) Speed [mm/s] Ø 63 with pitch 5 screw, STEPPING motors with BRAKE + ENCODER M345 (24VDC) 37M345 (48VDC) 37M345 (75VDC) 37M346 (24VDC) 37M346 (48VDC) 37M346 (75VDC) 37M347 (24VDC) 37M347 (48VDC) 37M347 (75VDC) Speed [mm/s] 29

32 ELECTRIC MOTORS Ø 63 with pitch 1 screw, STEPPING motors M145 (48VDC) 37M145 (75VDC) 37M145 (14VDC) 37M147 (24VDC) 37M147 (48VDC) 37M147 (75VDC) Speed [mm/s] Ø 63 with pitch 1 screw, STEPPING motors with BRAKE + ENCODER M345 (24VDC) 37M345 (48VDC) 37M345 (75VDC) 37M346 (24VDC) 37M346 (48VDC) 37M346 (75VDC) 37M347 (24VDC) 37M347 (48VDC) 37M347 (75VDC) Speed [mm/s] Ø 63 with pitch 2 screw, STEPPING motors M145 (48VDC) 37M145 (75VDC) 37M145 (14VDC) Speed [mm/s] 3

33 Ø 63 with pitch 2 screw, STEPPING motors with BRAKE + ENCODER M345 (24VDC) 37M345 (48VDC) 37M345 (75VDC) 37M346 (24VDC) 37M346 (48VDC) 37M346 (75VDC) ELECTRIC MOTORS Speed [mm/s] Ø 32 with pitch 4 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE Nominal torque 37M22 or 37M42 (with brake) + 37D22 (2W) Nominal torque 37M222 or 37M422 (with brake) + 37D24 (4W) Max torque 37M22 or 37M42 (with brake) + 37D22 (2W) Max torque 37M222 or 37M422 (with brake) + 37D24 (4W) Speed [mm/s] Ø 32 with pitch 12 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE Nominal torque 37M22 or 37M42 (with brake) + 37D22 (2W) Nominal torque 37M222 or 37M422 (with brake) + 37D24 (4W) Max torque 37M22 or 37M42 (with brake) + 37D22 (2W) Max torque 37M222 or 37M422 (with brake) + 37D24 (4W) Speed [mm/s] 31

34 ELECTRIC MOTORS Ø 5 with pitch 5 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE Nominal torque 37M222 or 37M422 (with brake) + 37D24 (4W) Nominal torque 37M233 or 37M433 (with brake) + 37D24 (75W) Max torque 37M222 or 37M422 (with brake) + 37D24 (4W) Max torque 37M233 or 37M433 (with brake) + 37D24 (75W) Speed [mm/s] Ø 5 with pitch 1 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE Nominal torque 37M222 or 37M422 (with brake) + 37D24 (4W) Nominal torque 37M233 or 37M433 (with brake) + 37D24 (75W) Max torque 37M222 or 37M422 (with brake) + 37D24 (4W) Max torque 37M233 or 37M433 (with brake) + 37D24 (75W) Speed [mm/s] Ø 5 with pitch 16 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE Nominal torque 37M222 or 37M422 (with brake) + 37D24 (4W) Nominal torque 37M233 or 37M433 (with brake) + 37D24 (75W) Max torque 37M222 or 37M422 (with brake) + 37D24 (4W) Max torque 37M233 or 37M433 (with brake) + 37D24 (75W) Speed [mm/s] 32

35 Ø 63 - Ø 63 HD with pitch 5 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE (75 W) Nominal torque 37M233 or 37M433 (with brake) + 37D24 (75W) Max torque 37M233 or 37M433 (with brake) + 37D24 (75W) ELECTRIC MOTORS Speed [mm/s] Ø 63 HD with pitch 5 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE (1 W) Nominal torque 37M254 or 37M454 (with brake) + 37D24 (1W) Max torque 37M254 or 37M454 (with brake) + 37D24 (1W) Speed [mm/s] Ø 63 - Ø 63 HD with pitch 1 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE (75 W) Nominal torque 37M233 or 37M433 (with brake) + 37D24 (75W) Max torque 37M233 or 37M433 (with brake) + 37D24 (75W) Speed [mm/s] 33

36 ELECTRIC MOTORS Ø 63 HD with pitch 1 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE (1 W) Nominal torque 37M254 or 37M454 (with brake) + 37D24 (1W) Max torque 37M254 or 37M454 (with brake) + 37D24 (1W) Speed [mm/s] Ø 63 with pitch 2 screw, BRUSHLESS motors and BRUSHLESS motors with BRAKE Nominal torque 37M233 or 37M433 (with brake) + 37D24 (75W) Max torque 37M233 or 37M433 (with brake) + 37D24 (75W) Speed [mm/s] NOTES 34

37 DIMENSIONS OF ELECTRIC MOTORS WIRING DIAGRAM 1 ORANGE A 2 A BLUE RED YELLOW 3 4 B B ELECTRIC MOTORS Motor type Motor code Motor torque [Nm] Coupling flange ød /-.13 ød ±.25 STEPPING 37M111.8 NEMA M NEMA M NEMA H L min L1 ±.8 L2 ±.5 L3 ±.25 L4 ±.25 RT +.5/ W ±.5 W1 ±.13 W3 max W4 ±.5 WIRING DIAGRAM A 1 ORANGE A 2 BLUE RED 3 4 YELLOW B B Motor type Motor code Motor torque [Nm] Coupling flange ød /-.18 ød ±.25 STEPPING 37M NEMA M NEMA H L min L1 L2 ±.5 L3 ±.5 L4 ±.25 RT +.5/ W ±.5 W1 ±.2 W3 W4 ±.5 WIRING DIAGRAM A 1 ORANGE A 2 BLUE RED 3 4 YELLOW B B Motor type Motor code Motor torque [Nm] Coupling flange ød /-.18 ød ±.25 STEPPING 37M NEMA H max L min L1 ±1 L2 ±.5 L3 ±.5 L4 ±.25 L5 RT +.2 W ±.5 W1 ±.25 W3 max 35

38 WIRING DIAGRAM ELECTRIC MOTORS 1 = access for power cable and brake 2 = access for encoder cable Motor type Motor code Motor torque [Nm] Coupling flange ød /-.13 ød ±.25 L1 L2 ±.51 L3 L4 RT W W1 ±.13 STEPPING 37M NEMA STEPPING 37M , , BRAKE 37M , , ENCODER 37M NEMA M NEMA M NEMA M NEMA = encoder shielded cable, length 28 mm 2 = brake cable, length 28 mm 3 = motor cable, length 28 mm 36 Motor type Motor code Motor torque Coupling ød ød L L1 L2 L3 L4 L5 L6 L7 RT W W1 [Nm] flange /-.11 h7 ±1 ±1 BRUSHLESS 37M M M M BRUSHLESS 37M BRAKE 37M M M

39 DRIVES FOR STEPPING MOTORS 4.4A - 48VDC DRIVE FOR STEPPING MOTORS, CODE 37D1222 This is a ministep bipolar chopper drive made by RTA S.r.l. It comes with a STEP & DIRECTION interface for piloting low/medium-power two-stage STEPPING motors with four, six or eight terminals. It has a supply voltage range up to 48VDC, compact dimensions and considerable operating flexibility. It consists of a board housed in a metal box, which does not require external ventilation, and comes with separate logic and power pull-out screw connectors. It can control STEPPING motors with a nominal current up to 4.4A, the perfect choice for low/medium-power applications using small motors. DRIVE TECHNICAL DATA Drive code 37D1222 Type of STEPPING motor drive Metal box Dimensions mm 9 x 99 x 21 Connectors Screw type, pull-out Onboard power supply NO Control Step and direction Operating voltage range VDC Current range A Current values selected via a dip-switch 8 Pulses per rev values selected by dip-switch pulse/rev 4, 8, 16, 32 Automatic current reduction with motor off YES (5%) Type of inputs Pull-up or Pull-down, settable Protections Maximum and minimum voltage. Motor output short-circuiting. Thermal protection. Electronic damping circuit for maximum control of noise and vibration. Suitable for motors code See table on page 1 DRIVES FOR STEPPING MOTORS OVERALL DIMENSIONS AND WIRING DIAGRAM Stepping motor Shielded motor cable PE PE Schermo Shield Phase Fase B B Phase Fase B -B- Phase Fase A- A- Phase Fase A A GROUND -V DC DC nom +V DC DC nom Connettori Power connectors Potenza (AM1 (AM1 and e AM2 AM2 o C1) or C1) GND Fault Out X4 In Dir. In Step In C. Off In GND Connettore Logic connector Logica (AM3 o or C2) C2) 37

40 6A - 75VDC DRIVE FOR STEPPING MOTORS, CODE 37D1332 DRIVES FOR STEPPING MOTORS This is a ministep bipolar chopper drive made by RTA Srl. It comes with a STEP & DIRECTION interface for piloting medium-low power two-stage STEPPING motors with four, six or eight terminals. It has a supply voltage range up to 75VDC, compact dimensions and considerable operating flexibility. It consists of a board housed in a metal box and comes with separate logic and power pull-out screw connectors. It can control STEPPING motors with a nominal current up to 6A, the perfect choice for medium power applications using small and medium-size motors. DRIVE TECHNICAL DATA Drive code 37D1332 Type of STEPPING motor drive Metal box Dimensions mm 11 x 18 x 34 Connectors Screw type, pull-out Onboard power supply NO Control Step and direction Operating voltage range VDC Current range A Current values selected via a dip-switch 8 Pulses per rev values selected by dip-switch pulse/rev 4, 5, 8, 1, 16, 2, 32, 4 Automatic current reduction with motor off YES (5%) Type of inputs Opto-isolated Protections Maximum and minimum voltage. Motor output short-circuiting. Thermal protection. Electronic damping circuit for maximum control of noise and vibration. Suitable for motors code See table on page 1 Encoder cable for stepping motors with brake, 37C123 Power cable for stepping motors with brake, 37C133 Encoder cable for stepping motors with brake, 37C125 Power cable for stepping motors with brake, 37C135 OVERALL DIMENSIONS AND WIRING DIAGRAM Stepping motor Shielded motor cable C1 Shield Schermo A A- B B- PE -V DC nom +V DC nom C2 1 Fault Out Step In Dir. In C. Off In PE Messa a terra chassis Drive azionamento chassis earth 38

41 6A - 14VDC DRIVE FOR STEPPING MOTORS, CODE 37D1442 1A - 62VAC DRIVE FOR STEPPING MOTORS, CODE 37D1552 These are two ministep bipolar chopper drives made by RTA S.r.l. They come with a STEP & DIRECTION interface for piloting medium/ high-power two-stage STEPPING motors with four, six or eight terminals. They consist of a board housed in a metal box, which does not require external ventilation, and come with separate logic and power pull-out screw connectors. Drive code 37D1442 is characterised by a voltage range up to 14VDC, compact dimensions and considerable operating flexibility. This drive can control STEPPING motors with a nominal current up to 6A, the perfect choice for medium-power applications requiring a DC supply. Drive code 37D1552 is characterised by a voltage range up to 62VDC, compact dimensions and considerable operating flexibility. This drive can control STEPPING motors with a nominal current up to 1A, the perfect choice for medium-power applications requiring an AC supply. DRIVE TECHNICAL DATA Drive code 37D D1552 Type of STEPPING motor drive Metal box Dimensions mm 152 x 129 x 46 Connectors Screw type, pull-out Onboard power supply NO Control Step and direction Operating voltage range VDC VAC Current range A Current values selected via a dip-switch 8 Pulses per rev values selected by dip-switch pulse/rev 4, 5, 8, 1, 16, 2, 32, 4 Automatic current reduction with motor off YES (5%) YES (5%) Type of inputs Opto-isolated Protections Maximum and minimum voltage. Motor output short-circuiting. Thermal protection. Electronic damping circuit for maximum control of noise and vibration. Suitable for motors code See table on page 1 Encoder cable for stepping motors with brake, 37C123 Power cable for stepping motors with brake, 37C133 Encoder cable for stepping motors with brake, 37C125 Power cable for stepping motors with brake, 37C135 DRIVES FOR STEPPING MOTORS OVERALL DIMENSIONS AND WIRING DIAGRAM Stepping Motore motor passo-passo PE Shield Schermo 1 2 B 3 B - Shielded Cavo schermato Motore motor cable A - A - V DC in 8 +V DC in NC Fault - - Step - Dir. - C. Off Aux - GND PE Drive MESSA chassis A TERRA earth CHASSIS AZIONAMENTO 39

42 ACCESSORIES DRIVES FOR STEPPING MOTORS POWER CABLE FOR MOTOR WITH BRAKE To drive MOTOR SIDE 4-pin 2-pin Brake supply For use with stepping motors with brake and stepping motor code 37M147. Code 37C133 37C135 Description Power cable for stepping motor with brake, Power cable for stepping motor with brake, Pin Function Corresponding wire colour 4-pin 1 A\ Gray connector 2 B\ Blue 3 A Black 4 B Brown 2-pin 1 24VDC brake White + red ring connector 2 GND White ENCODER CABLE Code 37C123 37C125 Description Encoder cable for stepping motors with brake, Encoder cable for stepping motors with brake, 8-pin MOTOR SIDE DSUB 9-pin 8-pin Function DSUB 9-pin connector connector (6 pins used) 1 A A 1 2 B B 3 3 R R NC NC VDC Encoder +24 V supply 8 7 COM Encoder V supply 9 8 Temp Temperature 7 Optional Can be used with stepping motor with encoder and brake. REFERENCES FOR THE CONNECTORS NOTES Below you find the codes of Molex to allow the customer to manufacture cables. Code Molex Description x 2 pin plug connector Crimping contacts x 4 pin plug connector 4332 Crimping contacts x 8 pin plug connector 4332 Crimping contacts SPECIAL TOOLS FOR CRIMPING OR PULLING OUT CONTACTS Crimping gripper Contact pull-out tool Codice Molex Description For 8-pin connector For 4-pin and 2-pin connectors For 8-pin connector For 4-pin and 2-pin connectors 4

43 DRIVES FOR BRUSHLESS MOTORS 15A DRIVE FOR BRUSHLESS MOTORS, CODE 37D22 This drive made by SANYO DENKI is suitable for piloting BRUSHLESS motors. It features compact dimensions and considerable operating flexibility. It consists of a board housed in a metal box. It comes with pull-out screw connectors for power and plug connectors for logic. It can control BRUSHLESS motors with a nominal current up to 15A. DRIVE TECHNICAL DATA Drive code 37D22 Type of drive for BRUSHLESS motors Metal box Dimensions mm 45 x 168 x 13 Power connectors and motor power Screw type, pull-out Encoder connectors and signals Plug-type 3M Max output current A 15 Motor output stage IGBT, ontrol, sinusoidal current Power voltage Single-phase or three-phase (user configurable) 2-23VAC (+1%, -15%) 5/6 Hz (± 3 Hz) Logic voltage Single-phase 2-23VAC (+1%, -15%) 5/6 Hz (± 3 Hz) Control With analogue signal (proportional to speed and torque). Pulse-train (clock + direction; forward + backward pulse; 9 phase difference) 8 inputs and 8 outputs, user configurable Auto-tuning Yes Communication interface RS232 for settings and monitoring via a personal computer Protections Integrated against overloads, input extra-voltages, incorporated filters for suppressing the system s own resonance frequencies. Standards CE, UL and CSA. Other features 5-digit display and programming keypad. Integrated closed-loop system with position, speed and torque control modes. Instant changeover option: position + speed; position + torque; speed + torque. Automatic dynamic braking circuit in a alarm and power-off conditions. Connector for external braking resistance (optional). Configuration and control software (optional). Suitable for motors code See table on page 1 Brushless motor-drive connecting cable 37C213 Brushless motor-drive-encoder connecting cable 37C223 Brushless motor-brake connecting cable 37C233 Brushless motor-drive connecting cable 37C215 Brushless motor-drive-encoder connecting cable 37C225 Brushless motor-brake connecting cable 37C235 DRIVES FOR BRUSHLESS MOTORS 41

44 3A DRIVE FOR BRUSHLESS MOTORS, CODE 37D24 This drive made by RTA Srl is suitable for piloting BRUSHLESS motors. It features compact dimensions and considerable operating flexibility. It consists of a board housed in a metal box. It comes with pull-out screw connectors for power and plug connectors for logic. It can control BRUSHLESS motors with a nominal current up to 3A. All the system parameters can be configured and controlled using (optional) R-Set up software. DRIVES FOR BRUSHLESS MOTORS DRIVE TECHNICAL DATA Drive code 37D24 Type of drive for BRUSHLESS motors Metal box Dimensions mm 5 x 168 x 13 Power connectors and motor power Screw type, pull-out Encoder connectors and signals Plug-type 3M Max output current A 3 Motor output stage IGBT, PWM control, sinusoidal current Power voltage Single-phase or three-phase (user configurable) 2-23VAC (+1%, -15%) 5/6 Hz (± 3 Hz) Logic voltage Single-phase 2-23VAC (+1%, -15%) 5/6 Hz (± 3 Hz) Control With analogue signal (proportional to speed and torque). Pulse-train (clock + direction; forward + backward pulse; 9 phase difference) 8 inputs and 8 outputs, user configurable. Auto-tuning YES Communication interface RS232 for settings and monitoring via a personal computer. Protections Integrated against overloads, input extra-voltages, incorporated filters for suppressing the system s own resonance frequencies Standards CE, UL and CSA. Other features 5-digit display and programming keypad. Integrated closed-loop system with position, speed and torque control modes. Instant changeover option: position + speed; position + torque; speed + torque. Automatic dynamic braking circuit in a alarm and power-off conditions. Connector for external braking resistance (optional). Configuration and control software (optional). Suitable for motors code See table on page 1 Brushless motor-drive connecting cable 37C213 Brushless motor-drive-encoder connecting cable 37C223 Brushless motor-brake connecting cable 37C233 Brushless motor-drive connecting cable 37C215 Brushless motor-drive-encoder connecting cable 37C225 Brushless motor-brake connecting cable 37C235 42

45 WIRING DIAGRAM FOR BRUSHLESS MOTOR DRIVES a 5-DIGIT DISPLAY and PROGRAMMING KEYPAD: to display and modify parameters and monitor system operation in real time. b PC CONNECTOR: settings and monitoring by PC via RS232 (supplied with configuration software kit) c POWER CONNECTOR: 23VAC, single-phase and three-phase (user configurable). Included in the supply. Separate supply section for logic/signal and power electronics. Integrated circuits protecting against overloads and input extra-voltages. d SIGNAL CONNECTOR: pulse-train command (clock + direction; forward + backward pulse; 9 phase difference) or with analogue signal (proportional to speed or torque) 8 inputs and 8 outputs, user configurable. Included in the supply. e CONNECTOR: for external braking resistance (optional) f ENCODER CONNECTOR: compatible with any type of Sanyo Denki encorder g MOTOR POWER CONNECTOR h EARTH CONNECTION a a c 23V AC power 23V AC logic e g b d f DRIVES FOR BRUSHLESS MOTORS Log on to to view the instruction manual. h f ENCODER CABLE Code 37C223 37C225 Description BRUSHLESS motor-drive-encoder connecting cable 3m BRUSHLESS motor-drive-encoder connecting cable 5m g MOTOR POWER CABLE Code 37C213 37C215 Description BRUSHLESS motor-drive connecting cable 3m BRUSHLESS motor-drive connecting cable 5m EXTERNAL BRAKING RESISTANCES Code 37C233 37C235 Description BRUSHLESS motor-brake connecting cable 3m BRUSHLESS motor-brake connecting cable 5m EXTERNAL BRAKING RESISTANCES Code 37D2R 37D2R1 Description 22W 5 Ω braking resistance for RS1A3 22W 1 Ω braking resistance for RS1A1 Under certain operating conditions, such as sudden deceleration with high inertial load, it may be necessary to dissipate externally the reverse energy generated by the motor. The drive indicates this requirement via a specific alarm. Excess energy is dissipated externally via a braking resistance. 43

46 CONFIGURATION SOFTWARE + PC CONNECTING CABLE KIT R - SETUP SOFTWARE CODE 37D2S DRIVES FOR BRUSHLESS MOTORS R-Setup communication software is used for parameter setting and complete control of all functions of the system. Access to parameter configuration can take place at three levels: basic level, standard level, advanced level. The software includes a detailed description of each parameter. In addition to parameter setting R-Setup software can accurately analyse operation of the system via the following functions. Monitor Display: real-time display of all details about the system. Trace Operation: a complete oscilloscope with 4 analogue channels and 4 digital channels. Use to save and print traces and settings. System Analysis: used to study the system s frequency response to identify and correct any mechancal resonance phenomena. JOG modes for speed (Jogging Operation) and position (Operation Pulse Feed Jogging) are also available. NB: the software can be used only with drives for brushless motors GRAPHIC MONITOR Thanks to the integrated oscilloscope function, some important system parameters, such as speed and torque, can be displayed on the PC monitor. Data can be downloaded and saved in compatible Excel format. The time setting range is 1 ms to 2 s. Single values acquired and displayed can be read using the cursor. NOTES 44

47 KEY TO CODES FOR ELECTRIC CYLINDER SERIE ELEKTRO ISO KEY TO CODES CYLINDER (WITHOUT MOTOR) CYL TYPE BORE STROKE SCREW PITCH VERSION 37 Electric actuators 1 ISO electric cylinder Only for Ø63 with screw pitch 5 or pitch 1 KEY TO CODES CYLINDER WITH MOTOR STD H Heavy duty Screw pitch 4 2 Screw pitch 5 4 Screw pitch 1 5 Screw pitch 12 6 Screw pitch 16 7 Screw pitch 2 5 Without antirotation IP4 6 With antirotation IP4 7 Without antirotation IP55/IP65 8 With antirotation IP55/IP65 KEY TO CODES FOR ELECTRIC CYLINDER SERIE ELEKTRO ISO CIL TYPE BORE STROKE SCREW PITCH VERSION DRIVE 37 Electric 1 actuators 1 ISO electric cylinder STD H Heavy duty Screw pitch 4 2 Screw pitch 5 4 Screw pitch 1 5 Screw pitch 12 6 Screw pitch 16 7 Screw pitch 2 In-line without antirotation IP4 2 In-line with antirotation IP4 3 In-line without antirotation IP55/IP65 4 In-line with antirotation IP55/IP65 5 Geared without antirotation IP4 6 Geared with antirotation IP4 7 Geared without antirotation IP55/IP65 8 Geared with antirotation IP55/IP65 1 STEPPING motor 2 BRUSHLESS motor 3 STEPPING motor with BRAKE + Encoder 4 BRUSHLESS motor with BRAKE 1 NEMA flange 23 2 Flange 6 3 Flange 8 4 NEMA flange 34 5 Flange 86 Torque.79 Nm 1 Torque Nm 2 Torque Nm 3 Torque Nm 4 Torque Nm 5 Torque Nm 6 Torque Nm 7 Torque >7 Nm Only for Ø63 with screw pitch 5 or pitch 1 version available for all STEPPING and BRUSHLESS motors, all sizes version IP55 available for STEPPING motors, for only the sizes 5 and 63 all the motors, with the exception of motor code 37M147; for Ø 32 only for motor code 37M1121; version IP65 available for BRUSHLESS motors, BRUSHLESS with BRAKE and STEPPING with BRAKE + ENCODER motors (all sizes). Base 1 Greater rpm 45

48 ACCESSORIES FOR ELECTRIC CYLINDER SERIES ELEKTRO ISO FIXINGS FOOT - MODEL A + = ADD THE STROKE Code Ø Ø AB AH AO AT AU TR E XA SA Weight [g] W W W W HD Note: Individually packed with 2 screws ACCESSORIES FOR ELECTRIC CYLINDER SERIES ELEKTRO ISO FEMALE HINGE - MODEL B MALE HINGE - MODEL BA + = ADD THE STROKE + = ADD THE STROKE Code Ø UB CB FL øcd XD MR L Weight [g] W W W W HD Note: Supplied with 4 screws, 4 washers, 2 snap-rings, 1 pin Code Ø EW FL MR øcd L XD Weight [g] W W W W HD Note: Supplied with 4 screws, 4 washers ARTICULATED MALE HINGE - MODEL BAS + = ADD THE STROKE Code Ø DL MS L XD øcx EX Weight [g] W W W W HD Note: Supplied with 4 screws, 4 washers CETOP HINGE FOR MODEL B - MODEL GL Code Ø A B C D E F G H I L M N Weight [g] W W W Note: Supplied with 4 screws, 4 washers 46

49 ISO HINGE FOR MODEL B - MODEL GS Code Ø B C D E G J L M N Weight [g] W W W Note: Supplied with 4 screws, 4 washers ISO HINGE FOR MODEL B - MODEL AB7 FRONT FLANGE - MODEL C Code Ø EM B ØHB ØCK TE RA PH UR UL L BT EA P Q Weight [g] W W W * * Dimensions not to ISO Code Ø TF UF E MF R øfb W Weight [g] W W W ACCESSORIES FOR ELECTRIC CYLINDER SERIES ELEKTRO ISO Note: Supplied with 4 screws ROD NUT - MODEL S Code Ø F H CH Weight [g] M1x M16x M16x Note: Individually packed FORK MODEL GK-M Code Ø øm C B A L F D N Weight [g] W M1x W M16x W M16x Note: Individually packed 47

50 ROD EYE - MODEL GA-M Code Ø øm C B1 B A L F D øg CH øg1 Weight [g] W M1x W M16x W M16x Note: Individually packed ACCESSORIES FOR ELECTRIC CYLINDER SERIES ELEKTRO ISO SELF ALIGNING ROD COUPLER - MODEL GA-K INTERMEDIATE HINGE - MODEL EN + = ADD THE STROKE Code Ø A B C D øf øe SW 1 SW 2 SW 3 SW 4 SW 5 Weight [g] W M1x W M16x W M16x Note: Individually packed X (max) Code Ø X (min) IN LINE GEARED TM TL TD e 9 TK UW Weight [g] * * * * Depending on motor length Note: Supplied with 8 grub screws, 2 pins COUNTER-HINGE FOR MODEL EN - MODEL EL Code Ø A A 1 B C C 1 D 1 D 2 D E H øl Weight [g] W W W Note: Supplied with 4 securing screws GREASING NEEDLE Code Ø X GREASE 1 = GREASE NIPPLE B M8x1 UNI 7662 GALVANIZED Note: Individually packed Code Description Weight [g] Grease pipe RHEOLUBE 363 AX1 4 48

51 GUIDE UNITS Guide units series DH-DM ensure optimal alignment and anti-rotation effect of the pneumatic cylinder connected to it. The guide units can be used separately or combined in order to get complete handling units, in which case the guide units can be coupled using the type A and C anchorage (pin and flange). The guide units can be coupled to electric cylinder serie elektro ISO The following versions are available: H PROFILE*: for high loads (GDH) H PROFILE**: for high speeds (GDM) STANDARD STROKES: NOTE: The guide units must only be used with anti-rotation cylinders. * Bronze guide bushings ** Ball guide bushings COMPONENTS SERIES GDH Body: aluminium alloy Guide bushing: self-lubricating sintered bronze and wiper rings Piston rod: chromed rolled steel SERIES GDM Body: Guide bushing: Piston rod: GRAPH OF GUIDE UNIT LOADS aluminium alloy ball linear bearings and scraper ring tempered stainless steel WEIGHT Ø Weight [g] Stroke = Weight [g] each mm ACCESSORIES FOR ELECTRIC CYLINDER SERIES ELEKTRO ISO S = PROJECTION B = BARYCENTRE P = PAY LOAD 49