A5 BELT-DRIVEN RODLESS ELECTRIC AXIS, SERIES ELEKTRO BK

Transcription

1 BELT-DRIVEN RODLESS ELECTRIC AXIS, SERIES ELEKTRO BK Belt-driven rodless electric axis with a V-Lock interface. The structure features an extremely lightweight yet high-strength anodised aluminium extruded profile. The typical V-Lock dovetail is obtained at the base of the extruded body ensures easy installation using QS elements; at both sides there are grooves for the installation of the fixing bracket of the (optional) proximity switch that detects the position of the slide. The slide is moved by means of the polyurethane toothed belt with steel cables. The parabolic profile of the belt tooth combines with the anti-friction nylon coating to enhance efficiency, reduce the level of noise and vibration from transmission gears. The slide interface is characterised by the V-Lock profile complete with M5 threaded holes, pinholes and key seats, which guarantees numerous fixing options. Two different variants of the in-line guiding system are available: the version Medium uses casters running along hardened and tempered steel guides with double-row ball bearings running along the specific H&T steel rail; the version, high-efficiency, consists of a guiding system with a rail and ball recirculation pads. Different motor drives are available, both BRUSHLESS and STEPPER, with optional motor brake and/or built-in encoder. The versions with a BRUSHLESS motor can be equipped with a speed gearbox. The electric axis is also available without motor drive or, on request, with modules for interfacing with motors from the trade. The motors can be installed on all the four hubs of the heads; the position can be changed at any time without requiring any additional operation. A conversion kit for the installation of the gantry system starting from a single axis is also available. TECHNICAL DATA VERSION Medium Admissible ambient temperature for STEPPER motor C from -10 to +50 BRUSHLESS motor C from 0 to +40 Maximum relative humidity 90% at 40 C; 57% at 50 C (no condensate) Maximum duty cycle for STEPPER motor 50% BRUSHLESS motor 100% Minimum stroke mm 100 Maximum stroke mm Repeatability mm ± 0.05 Positioning accuracy * mm ± 0.4 Uncontrolled impact at the end of stroke NOT ALLOWED (it provides an extra-stroke minimum 5 mm) Homing position sensor Inductive sensors Work position Any Noise level dba <66 Type of belt RPP5 in polyurethane with steel tensioning cables Maximum belt extension 0.1% Pulley travel/rotation mm 110 Pulley pitch diameter mm Maximum axial force** N 800 Maximum number of revs 1/min Maximum speed (without load) m/s 6 6 Maximum acceleration without load m/s 2 50 Maximum driving torque applicable to the pulley Nm 15 * Indicative average data that gets influenced by various factors such as the stroke, the type of motor, the cylinder version, etc... ** Maximum load admissible on the belt: for the sizing, see page A5.96 A5.90

2 WEIGHTS VERSION Medium Weight at stroke 0 (drive excluded) g Additional weight each mm of stroke g Weight of standard motors with flange, joint and bolts and nuts g STEPPER 1560 BRUSHLESS 1750 BRUSHLESS with brake 2150 BRUSHLESS with 1:3 gearbox 2600 BRUSHLESS with brake + 1:3 gearbox 3000 BRUSHLESS with 1:5 gearbox 2600 BRUSHLESS with brake + 1:5 gearbox 3000 MASS AND MOMENT OF INERTIA VERSION Medium Moving mass at stroke 0 (Mx) g Moving mass for each mm of stroke g 0.22 J 0 at stroke 0 kg mm 2 72 J 1 each metre of stroke kgmm 2 /m 68 J 2 each kg of load kgmm 2 /kg 307 Maximum masses that can be moved VERTICALLY with standard motors: kg STEPPER 1 1 BRUSHLESS 3 3 BRUSHLESS with brake 3 3 BRUSHLESS with gearbox BRUSHLESS with brake + gearbox Maximum masses that can be moved HORIZONTALLY with standard motors: kg STEPPER 3 3 BRUSHLESS 3 3 BRUSHLESS with brake 3 3 BRUSHLESS with gearbox BRUSHLESS with brake + gearbox The reduced moment of inertia of total mass at the driving shaft is: J tot = [J 1. Corsa [m] + J 2. (Carico [kg] + Mx [kg]) + J 0 ]. τ 2 + J 3 τ = 1/u u = Gearing ratio J 3 = J gear ratio NOTES A5.91

3 COMPONENTS VERSION Medium (STEEL GUIDE AND STEEL WHEELS) c b g f e j k l n m VERSION (STEEL GUIDE AND PADS BALL-RECIRCULATION) o p r q a d ELECTRIC AXIS WITH MOTOR u25 u20 u26 s u24 u23 u21 u22 a BARREL: anodized aluminium b TOOTHED BELT: polyurethane with steel cables c HEAD: anodized aluminium d HUB COVER: painted aluminium e HEAD SUPPORT: anodized aluminium f BUFFER: polyurethane g SLIDE WITH V-LOCK INTERFACE: anodized aluminium j BELT-LOCKING PLATE: anodized aluminium k DOUBLE-ROW BALL BEARING: hardened steel l SLIDING BEARING SUPPORT: anodized aluminium m GUIDING RAIL FOR STEEL WHEELS: hardened steel n GUIDE-LOCKING INSERT: zinc-plated steel o BALL RECIRCULATION PAD: stainless steel / technopolymer p PAD SUPPORT: anodized aluminium q GUIDING RAIL FOR PADS: hardened stainless steel r GUIDE-LOCKING INSERT: zinc-plated steel s ELASTIC COLLAR-LOCKING SCREWS: zinc-plated steel u 20 ELASTIC COLLAR: anodized aluminium u 21 COG PULLEY: hard-anodised aluminium u 22 BELT FLANGES: zinc-plated steel u 23 SHIELDED BALL BEARING: hardened steel u 24 BEARING-LOCKING SNAP RING: zinc-plated steel u 25 MOTOR-FIXING FLANGE: anodized aluminium u 26 MOTOR A5.92

4 DIAGRAM OF FORCES AND MOMENTS STATIC VERIFICATION When the cylinder is subjected simultaneously to torque and force, keep to the following equations, where the lengths have to be given in metres. VERSION Z [mm] Fy0 max [N] Fz0 max [N] Mx0 max [Nm] My0 max [Nm] Mz0 max [Nm] Medium N.B.: The values in the table relates to the maximum admissible loads beyond which serious damage is likely to occur. Mx = Fz Ly + Fy (Lz + z) My = Fz Lx + Fx (Lz + z) Mz = Fy Lx + Fx Ly (Mx) Mx0 max + (My) My0 max + (Mz) Mz0 max + (Fy) Fy0 max + (Fz) Fz0 max 1 DYNAMIC VERIFICATION When the cylinder is subjected simultaneously to torque and force, keep to the following equations, where the lengths have to be given in metres. VERSION Z [mm] Fy max [N] Fz max [N] Mx max [Nm] My max [Nm] Mz max [Nm] Medium N.B.: The values are calculated on the basis of theoretical useful life of km. Mx = Fz Ly + Fy (Lz + z) My = Fz Lx + Fx (Lz + z) Mz = Fy Lx + Fx Ly (Mx) Mx max + (My) My max + (Mz) Mz max + (Fy) Fy max + (Fz) Fz max 1 A5.93

5 DEFORMATION ACCORDING TO LOAD WITH MISALIGNED LOAD MEDIUM VERSION (guide and wheels) f [mm] F [N] Stroke 200 Stroke 400 Stroke 600 Stroke 800 Stroke 1000 HEAVY VERSION (guide and ball-recirculation pads) f [mm] F [N] Stroke 200 Stroke 400 Stroke 600 Stroke 800 Stroke 1000 A5.94

6 DEFORMATION ACCORDING TO LOAD WITH ALIGNED LOAD MEDIUM VERSION (guide and wheels) fz [mm] Stroke 200 Stroke 400 Stroke 600 Stroke 800 Stroke 1000 Fz [N] HEAVY VERSION (guide and ball-recirculation pads) fz [mm] Stroke 200 Stroke 400 Stroke 600 Stroke 800 Stroke 1000 Fz [N] A5.95

7 VERSIONS RIGHT MOTOR LEFT MOTOR WITHOUT MOTOR AXIAL LOAD CURVES AS A FUNCTION OF SPEED (AXIS COMPELTE WITH MOTOR AND DRIVE) N.B.: Check that the following constraints are met for each cycle phase: - the maximum movable masses and related acceleration values specified in the data sheets; - the values specified in the force and moment calculation diagram (including moment of inertia); - the maximum axial load of the belt. 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 50% to prevent overheating. Consequently, available axial load with the motor stopped is also reduced by 50%. STEPPING motor code 37M Axial load [N] Speed [mm/s] 37M (24VDC) 37M (48VDC) 37M (75VDC) A5.96

8 BRUSHLESS motors code 37M and code 37M (with brake) Direct type Axial load [N] NOMINAL MAXIMUM Speed [mm/s] With 1:3 gearbox Axial load [N] With 1:5 gearbox Axial load [N] Speed [mm/s] Speed [mm/s] NOMINAL MAXIMUM NOMINAL MAXIMUM * = limit of gearbox continuous operation: higher speeds can be reached only for "duty cycle" 60% and for a maximum number of 1000 accelerations per hour. * = limit of gearbox continuous operation: higher speeds can be reached only for "duty cycle" 60% and for a maximum number of 1000 accelerations per hour. A5.97

9 MOTOR-DRIVE COUPLINGS MOTOR CODES DRIVES CODES Metal Work 37D D D Manufacturer RTA CSD 94 RTA NDC 96 RTA PLUS B7 Metal Work Manufacturer (4.4A 24 48VDC) (6A 24 75VDC) (10A 28 62VAC) STEPPING 37M Motor SANYO DENKI 103-H (4A 75V max) Important! Limit current Important! Limit current and voltage Important! AC drive to continuous voltage VDC = VAC 2 MOTOR CODES DRIVES CODES Metal Work 37D Manufacturer DELTA ASD-A M Metal Work Manufacturer (400W) BRUSHLESS 37M Motor DELTA ECMA-C20604RS (400W) BRUSHLESS WITH BRAKE 37M Motor DELTA ECMA-C20604SS (400W) The motor must be controlled in such a way as to avoid sudden changes in speed. V EXAMPLES OF APPLICATION t V t A5.98

10 DIMENSIONS VERSION WITHOUT MOTOR b = Holes for centring pins c = Threaded holes for fixing g = Dovetail for V-Lock fixing. For standard dimensions, see chapter V-Lock adaptors. h = Slot for V-Lock precision key VERSION WITH MOTOR Examples of layout dimensions relating to the version with right motor; the dimensions also apply to versions with left motor. ORDERING CODES STEPPING MOTOR BRUSHLESS MOTOR BRUSHLESS MOTOR WITH BRAK BRUSHLESS MOTOR WITH GEARBOX BRUSHLESS MOTOR WITH GEARBOX + BRAKE Reduction 1:3 Reduction 1: Reduction 1:5 Reduction 1: = Enter the stroke to complete the code. See Key to Codes for an explanation of encoding. A5.99

11 KEY TO CODES AXIS ELECTRIC (WITHOUT MOTOR) CIL T TYPE SIZE INTERFACE STROKE VERSION 37 Electric actuators 0 STD 1 Size 1 1 Axial V-lock Medium From 100 to 3800 mm 2 T 4 Electric axis rodless elektro BK KEY TO CODES AXIS ELECTRIC MOTOR From 100 to 1800 mm 3 Medium (steel guide and steel wheels) (steel guide and pads ball-recirculation) Without motor (plugged outlets) CIL TYPE SIZE INTERFACE STROKE VERSION MOTOR DRIVE POSITION MOTOR FLANGE TORQUE 37 Electric actuators 0 STD 1 Size 1 1 Axial V-lock Right Left Nm Nm 0 Base 4 Electric axis rodless elektro BK Medium From 100 to 3800 mm From 100 to 1800 mm 3 Medium (steel guide and steel wheels) (steel guide and pads ball-recirculation) Stepping Brushless Brushless with BRAKE + Encoder Brushless with 1:3 gearbox Brushless with BRAKE + 1:3 gearbox Brushless with 1:5 gearbox Brushless with BRAKE + 1:5 gearbox 2 NEMA ACCESSORIES FIXING ELEMENTS See V-Lock family. INDUCTION SENSOR Ø 6.5 Code W095K W095K Description PNP Ø 6.5 PNP inductive sensor with LED 2 m NPN Ø 6.5 NPN inductive sensor with LED 2 m A5.100

12 QUICK-FIT INDUCTIVE SENSOR Ø 6.5 Code W095K Description PNP Ø 6.5 inductive sensor with push-in LED CABLE WITH STRAIGHT CONNECTOR FOR Ø 6.5 PUSH-IN INDUCTIVE SENSOR (MOBILE INSTALLATION) Pin Cable color 1 Brown 3 Blue 4 Black Code W095K W095K CABLE WITH 90 CONNECTOR FOR Ø 6.5 PUSH-IN INDUCTIVE SENSOR (MOBILE INSTALLATION) Code W095K W095K Description Push-in cable female straight connector 5 m Push-in cable female straight connector 10 m Description Push-in cable female elbow connector 5 m Push-in cable female elbow connector 10 m Pin Cable color 1 Brown 3 Blue 4 Black BRACKET FOR INDUCTION SENSOR Ø 6.5 Code 095BK1R001 Description Proximity switch support for BK GANTRY ASSEMBLY KIT (see example of application on page A5.98) Code Description L 095BK1R011 Connection joint kit for BK, centre distance 475 mm BK1R012 Connection joint kit for BK, centre distance 675 mm BK1R013 Connection joint kit for BK, centre distance 875 mm BK1R014 Connection joint kit fo BK, centre distance 1075 mm BK1R015 Connection joint kit for BK, centre distance 1275 mm BK1R016 Connection joint kit for BK, centre distance 1475 mm 1475 Max revs: 2000 rpm. Max torque: 25 Nm (hole Ø 12 mm) A5.101

13 SPARE PARTS BK GEARBOXS D7 D6 ±0.05 L5 L6 L4 L1 L2 L3 D8 D9 Code 37R R Description Gearbox MP053 1:3 Gearbox MP053 1:5 C OUT nominal [Nm] D5 D4 N IN nominal [1/min] J reduced to motor shaft [kgmm 2 ] D1 h7 D2 h7 D3 h7 Mass [kg] D1 D2 D3 D4 D5 D6 D7 D8 D9 L1 L2 L3 L4 L5 L6 N M5 70 M4x M5 70 M4x N1 N1 C OUT = rated output torque N IN = nominal input speed J = mass moment of inertia of the gearhead ELECTRIC MOTORS See page A5.104 DRIVES See page A5.127 A5.102