Electromechanical Cylinders EMC R310EN 3308 ( )

Transcription

1 Electromechanical Cylinders EMC R310EN 3308 ( )

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3 Electromechanical Cylinders EMC 3 Electromechanical Cylinders EMC Standards and Safety 4 A Solution to Many Problems 8 Product Overview 10 Structural Design 14 Technical Data and Dimensions EMC 15 EMC with Motor Mount and Coupling 18 EMC with Belt Side Drive 20 Permissible Speeds 22 Permissible Drive Torque M P 24 Maximum Axial Loading of Mechanical Cylinder System F max 26 Calculations 28 Switch Mounting Arrangements, Magnetic Field Sensor 30 Mounting Elements 32 For EMC with belt side drive and motor 32 For EMC with motor mount and motor 33 Part numbers 34 Dimensions 35 Lubrication 44 Motors 46 Overview 46 AC servo motors MSK 47 AC servo motors MSM 48 Configuration and Ordering 50 Inquiry / Order Form 56 Technical Inquiry Sheet for Electromechanical Cylinders 57 R310A 3306/ , Bosch Rexroth Corporation

4 4 Electromechanical Cylinders EMC Standards and Safety Standards and Safety New standards with new requirements no problem, thanks to Rexroth Whether the task involves machine tools, packaging and printing machines, assembly, handling or robot applications, the pro tection of personnel, machines and tools is absolutely paramount. Safety is therefore a topic of prime concern to users and manufacturers alike, and one which demands intensive cooperation between the automation partner and the machine manufacturer. As an all-around automation partner, Rexroth provides access to unique know-how across all drive and control technologies and complying with requirements such as safe motion, safe processing of peripheral signals and safe communication. As a technology leader, Rexroth offers consistent functional safety on all automation levels: from components through to system solutions including software, Rexroth provides machine manufacturers and end users with high-quality products based on the newest safety engineering. Every manufacturer of plant and machinery is responsible for ensuring that his products meet basic safety requirements. The new European Machinery Directive 2006/42/EC and the Machinery Safety Standards EN ISO in the latest revision and EN provide the framework: In an extensive evaluation with statistical parameters, machine manufacturers must proof protection of personnel under consideration of all components and systems installed into the machine or production system. The goal is to identify and reduce risks. Intrinsically safe designs therefore always have higher priority over protective safeguards and warning notices in the documentation. If hazards are to be minimized by the use of safety-critical control components, the EN ISO comes to bear. The machine manufacturer must specify the required performance level, i.e. the reliability, of the safety functions. Your tasks... In order to comply with the standards, machine manufacturers and their sup pliers must perform the following tasks: As per European Machinery Directive 2006/42/EC: Risk assessment and reduction of risks. As per ISO 13849: Estimation of the reliability of safety functions dependent upon, e.g. the hardware-oriented structure the mean time to dangerous failure (MTTFd) the diagnostic coverage (DC) of a safety function. Machine manufacturer Control system and drive manufacturer European Machinery Directive 98/37/EC EN Applicable standard EN ISO EN EN IEC January 2006 Transitional period 3 years November 2006 November /42/EC January 2010 Applicable standard November 2009 Applicable standard Applicable standard Applicable standard Bosch Rexroth Corporation, R310A 3306/

5 Standards and Safety Electromechanical Cylinders EMC 5 Motion Linear axes Drive Drive unit and servo motor...our solutions Rexroth provides perfectly matched certified control systems, controllers and motors with integrated functional safety, thereby making work easier for designers and machine manufacturers. The benefits for you are: reduced development effort to comply with the new standards, e.g. through automation products with certified safety functions, certified components and tested circuits; simplified design process for safe machinery through singlesource drive and control technologies; effective protection of personnel through safe movements in all drive technologies and the fast reaction of monitoring functions. Conventional safety solution involving external relays IndraDrive drive-integrated safety technology Drive Additional enable External monitoring unit (standstill, I Channel 1 Safe pulse inhibit M encoder E I I Channel 1 Channel 2 Safe pulse inhibit M speed, etc.) R310A 3306/ , Bosch Rexroth Corporation

6 6 Electromechanical Cylinders EMC Standards and Safety Standards and Safety Our drives and controls your safety The safety technology is exclusively available for linear axes with MSK motors and IndraDrive. The appropriate products carry a SAFETY ON BOARD label. Safety on Board merges drive-based and controllerbased safety solutions to form a smart comprehensive safety concept. These safety solutions in our drive systems (IndraDrive) and controllers assure a high level of diagnostic coverage and hence a high availability of the safety functions. Your advantages: Maximum protection for personnel Maximum safety and reliability Safety components tested and certified in accordance with the latest safety standards Functional and legal assurance Reduced downtime Increased availability Simplified start-up and validation Minimized cost and effort for validation Easy upgrading of standard components to full-fledged safety components Flexible use as stand-alone safety components or as part of a system solution SafeMotion The drive-integrated safety technology in IndraDrive from Rexroth monitors movements where they are generated. The results are very rapid response times of just 2 milliseconds upon triggering of the internal monitors. Even in the case of a power failure, a hydraulic feed axis with mechanical clamping can come to a safe stop within milliseconds. Rexroth provides these intelligent drive solutions as certified safety components with all the necessary proofs. SafeMotion is thus the first step in the realization of safe machine concepts. Your advantages: Effective protection of personnel High reliability thanks to certified and integrated solution Maximum assurance against tampering through drive-integrated monitoring system Reduced design effort through savings on time and money spent on certification Increased availability through reduced downtimes Increased machine productivity as a result of shorter special mode times No unnecessary idle times because the line circuit breaker does not have to be opened when undertaking work on the machine No need for re-synchronization of coupled axes after intervention work on the machine Savings on limit switches, measurement and analysis units and control cabinet size Fault detection without the need for any periodic machine shutdown Can be integrated into any kind of system architecture Easy start-up Easy to service For more information, refer to the brochure Safety on Board Functional Safety in Automation Technology, R Bosch Rexroth Corporation, R310A 3306/

7 Standards and Safety Electromechanical Cylinders EMC 7 SafeMotion Certified safety functions t Safe Torque Off (STO) Stop category 0 in accordance with EN : Safe drive torque cut off V Max t Safe Maximum Speed (SMS) The maximum speed is safely monitored irrespective of the mode of operation t Safe Stop 1 (Emergency Stop) (SS1) Stop category 1 in accordance with EN : Safely monitored stop, control or drive controlled with safe drive torque cut off Safe Braking and Holding System (SBS) The safe braking and holding system controls and monitors two independent brakes t Safe Stop 2 (SS2) Safe Operating Stop (SOS) Stop category 2 in accordance with EN : Safely monitored stop with safely monitored standstill at controlled torque Safe Door Locking (SDL) When all the drives in one protection zone are in safe status, the safety door lock is released t Safely Limited Speed (SLS) If enable signal is given, a safely limited speed is monitored in special operating mode V S t Safely Limited Increment (SLI) If enable signal is given, a safely limited increment is monitored in special operating mode t Safe Direction (SDI) A safe direction (clockwise, counterclockwise) is also monitored in addition to safe motion V Safely Monitored Deceleration (SMD) Safely monitored deceleration ramp when stopping Safely Monitored Position (SMP) A safe absolute position range is also monitored in addition to safe motion S Safely Limited Position (SLP) Monitoring of safe software limit switches Safe Inputs/Outputs (SIO) Dual-channel safety peripherals can be connected to the drive and made available to the controller via the safety bus Safe Communication (SCO) Selection/deselection of safety functions and transfer of process data (e.g. actual position values) via safety bus All safety functions are certified as compliant with standards ISO :2006 1), IEC :2007 1), IEC 61508: ), IEC ), ISO :1999, EN 954-1:1996, ISO :2003, IEC :1997, EN :1997, IEC :2004, UL 508C R7.03, C22.2 No. 0.8-M86 (R2003), CAN/CSA C22.2 No , NFPA 79:2007 ER1 through TÜV Rheinland, TÜV Rheinland North America Inc. and SIBE Switzerland. 1) In preparation R310A 3306/ , Bosch Rexroth Corporation

8 8 Electromechanical Cylinders EMC A Solution to Many Problems A Solution to Many Problems Maximum travel Load ratings The tasks Maximum load Driving Actuating Positioning Travel speed Pressing / Joining Forming System complete with drive unit Dispensing Switch mounting arrangements Accessories Bosch Rexroth Corporation, R310A 3306/

9 A Solution to Many Problems Electromechanical Cylinders EMC 9 Up to 1,500 mm Load capacity C up to 29,000 N Up to 29,000 N The solution Up to 1.6 m/s Rexroth Electromechanical Cylinders AC servo motor with motor mount, coupling or timing belt side drive; complete with controller and control system Electronical switches adjustable over the entire travel range Mounting elements R310A 3306/ , Bosch Rexroth Corporation

10 10 Electromechanical Cylinders EMC Product Overview Product Overview Electromechanical Cylinders EMC Because of the actuator choices that electromechanical drive solutions offer, they are becoming more and more widespread as an alternative to fluid driven technology. The Electromechan ical Cylinder EMC from Rexroth is a powerful alternative to pneumatic cylinders while providing significant benefits in terms of energy efficiency, a prime goal in engineering today. It also offers clear conceptual advantages, allowing travel to any intermediate target position as well as creating greater flexibility through higher thrust and variable speeds. Combinations of the various technologies can also result in new application possibilities. The mechanics are based on established rolled precision ball screw drives available in all current diameter and lead combinations. Performance characteristics such as positioning accuracy, thrust or speed can be optimized to meet the requirements of each specific application. Through the use of generously sized angular-contact thrust ball bearings LAN, the load rating of the ball screw drive is used to its maximum potential. There are also many choices and possibilities when it comes to drive configurations and mounting elements. System advantages Many sizes to choose from Integrated ball screw drive ensures exact positioning and powerful thrust capability Motor attachment via motor mount and coupling or via belt side drive Compact construction Dynamic drive Extensive series of attachments to match every application area Quick assembly Compatible with other products from Bosch Rexroth Stainless steel piston rod Optional attachment of Rexroth standard components Particularly efficient in applications with a small number of axes Preferred stroke lengths: 100, 200, 320 and 400 mm with shorter delivery times Low maintenance High mechanical efficiency Ball screw drives used EMC size Ball screw Lead P d Application examples There are many application areas where an EMC can be used, either as a replacement for, or in conjunction with pneumatic and hydraulic technology. Joining and pressing Application of contact pressure Machine tools or woodworking machines Adjustable mechanical stop for a saw Dispensing systems Valve timing Bosch Rexroth Corporation, R310A 3306/

11 Product Overview Electromechanical Cylinders EMC 11 Further application areas: Material handling and feed systems Test rigs and laboratory applications Actuator drives (brush rollers / sensor units / grinding wheels, etc.) Welding, bonding, thermoforming Volumetric filling At you can use the online configurator to select and order your EMC and generate CAD models. R310A 3306/ , Bosch Rexroth Corporation

12 12 Electromechanical Cylinders EMC Product Overview Product Overview Motor Selection Based on drive controllers and control system A choice can be made between several different motor/controller combinations to achieve the most cost-effective solution for each customer application.when sizing the drive, always consider the motor-controller combination. For more detailed information on motors and control systems, please refer to the catalogs IndraDrive Cs for Linear Motion Systems and IndraDrive C for Linear Motion Systems. Digital AC Servo Motor MSK Digital AC Servo Motor MSM Bosch Rexroth Corporation, R310A 3306/

13 Product Overview Electromechanical Cylinders EMC 13 Digital controller IndraDrive C Power unit HCS 02 Control unit CSH Digital controller IndraDrive Cs HCS 01 Compact and dynamic solution for lower power ranges Digital controller IndraDrive Cs HCS 01 Compact and dynamic solution for lower power ranges The Electromechanical Cylinders can be supplied complete with motor, controller and control unit. R310A 3306/ , Bosch Rexroth Corporation

14 14 Electromechanical Cylinders EMC Structural Design Structural Design 1 Hex nut 2 Piston rod (stainless steel) 3 Round-neck nut (for attachment of mounting elements and motor attachments) 4 Magnet 5 Anti-twist feature 6 Ball screw 7 Angular-contact thrust ball bearing 8 Drive journal 9 T-slot for switches 10 Protective profile Attachments 11 Motor 12 Motor mount and coupling 13 Timing belt side drive Bosch Rexroth Corporation, R310A 3306/

15 Technical Data Electromechanical Cylinders EMC 15 Technical Data and Dimensions EMC Sizes 32 to 100 follow the standard cylinder series according to ISO Built-in ball screw drives have a diameter of 12 mm to 40 mm. The EMC size is selected according to: Thrust Stroke Linear speed The actual values must be smaller than the maximum permissible values. C EMC d 0 = dynamic load rating of the EMC = nominal diameter of ball screw F max EMC = maximum load M P P = max. drive torque at drive journal = ball screw lead s max perm. = maximum permissible travel distance v max = max. permissible linear peed Maximum travel distance s max per customer specifications (minimum 100 mm) EMC size Ball screw d 0 P C 1) EMC F 2) max EMC M 2) p v 3) max s max perm. (mm) (mm) (N) (N) (Nm) (m/s) (mm) ) Acceptable loads (recommended from experience): With respect to the desired service life, loads up to about 20% of the load rating have proved acceptable. 2) The achievable values may vary depending on the version, mounting orientation and maximum travel range s max! Charts page 24. 3) Depends on s max! Charts page 22. Operating conditions Normal operating conditions Ambient temperature 0 C C Load See Technical Data Duty cycle 100% R310A 3306/ , Bosch Rexroth Corporation

16 16 Electromechanical Cylinders EMC Technical Data Technical Data and Dimensions EMC Constants 2) EMC size Ball screw Weight Total axial backlash 1) for Frictional torque d 0 P Ball nut with reduced backlash Ball nut with 2% preload M RS k j fix k j var k j m (mm) (mm) (kg) (mm) (mm) (Nm) s max s max s max s max s max s max s max s max s max s max s max s max s max s max s max s max s max s max s max ) Total axial backlash of EMC when new 2) For calculation of the mass moment of inertia M RS = frictional torque of system k j fix = constant for fixed-length portion of mass moment of inertia k j m = constant for mass-specific portion of mass moment of inertia k j var = constant for variable-length portion of mass moment of inertia EMC with Rexroth mounting elements For more information please refer to page The permissible axial forces for the mechanical cylinder system are reduced when the Rexroth mounting elements are used. The actual load must not exceed the values in the table. F < F max EMC with Rexroth mounting elements The maximum attainable forces of the EMC/motor combination can be determined by referring to the Calculations section. EMC size Ball screw Max. axial force (N) d 0 xp (mm) F 1) max EMC F max EMC with Rexroth mounting elements 32 12x x x x x x x x x x x x x x x x x x x ) F max EMC = maximum load Bosch Rexroth Corporation, R310A 3306/

17 Technical Data Electromechanical Cylinders EMC 17 Shown in a retracted position K X L Z V A V FB X V FD V D W H A M SW E TG ØBA ØMM ØB ØKK ØDZ T G E W A K W L K = V B +S max V G L S max K X = width across flats of the nut s max = maximum travel SW = width across flats of the bolt X RT R L B G EMC size Dimensions (mm) B B A B G D Z E K K K W K X L Z M M R T R L SW T G V A V D V FB V FD V G W A d11 d11 h7 ± 0.1 f8 ± 0.1 ± M10x M ± M12x M ± M16x M ± M16x M ± M20x M ± M20x M ± EMC length EMC size Ball screw size Dimensions (mm) A M V B W H x 5R x x 10R x x 5R x x 10R x x 16R x x 5R x x 10R x x 20R x x 5R x x 10R x x 25R x x 5R x x 10R x x 20R x x 32R x x 5R x x 10R x x 20R x x 40R x L K = V B + s max L = L K + A M + W H s max = maximum travel Maximum travel = effective stroke + 2 excess travel Excess travel Maximum travel s max Effective stroke For safe operation, the excess travel must be longer than the braking distance. The acceleration travel can be taken as a guideline value for the braking distance. In most cases, this will be sufficient: Excess travel = 2 screw lead (P) Example: Ball screw (d 0 x P) 12 x 5: Excess travel = 2 5 mm = 10 mm Maximum travel distance s max per customer specifications (minimum 100 mm) Excess travel (mm) R310A 3306/ , Bosch Rexroth Corporation

18 18 Electromechanical Cylinders EMC EMC with Motor Mount and Coupling EMC with Motor Mount and Coupling The motor mount serves to fasten the motor to the EMC and acts as a closed housing for the coupling. The coupling transmits the motor drive torque free of distortive stresses to the EMC s ball screw journal. When an EMC is ordered with motor mount, motor and foot mounting, this will be delivered pre- assembled. If the foot mounting is to be retrofitted to the cylinder end cap, the motor mount has to be removed first. For more information, see Mounting Instructions for EMC, R Mounting orientation of motor mount and coupling 1 Lube fitting on EMC 2 T-slots for switches on EMC 3 Motor connector Bosch Rexroth Corporation, R310A 3306/

19 EMC with Motor Mount and Coupling Electromechanical Cylinders EMC 19 Shown in a retracted position L m L f D s max s max = maximum travel EMC size Motor Coupling Dimensions (mm) Mass moment of inertia Rated torque Mass of motor mount and coupling J c M cn m D L f L m (x10 6 kgm 2 ) (Nm) (kg) without brake with brake 32 MSM 019B MSM 031B MSK 030C MSM 019B MSM 031B MSK 030C MSM 031B MSK 030C MSK 040C MSM 041B MSK 040C MSK 050C MSK 040C MSK 050C MSK 060C MSK 076C MSK 060C MSK 076C R310A 3306/ , Bosch Rexroth Corporation

20 20 Electromechanical Cylinders EMC EMC with Belt Side Drive EMC with Belt Side Drive This configuration of the EMC results in the shortest possible installation length. The compact, closed housing protects the belt, secures the motor and serves as a base for fastening mounting elements. The following gear ratios are available: i=1:1 i = 1 : 1.5 i=1:2 The timing belt side drive can be mounted in three different directions (RV01 to RV03). Mounting elements are attached at the rear end of the belt drive. The screws are included in the delivery of the mounting elements. Before attaching the mounting elements, remove the set screws from the timing belt side drive. Mounting orientations for the timing belt RV01 RV02 side drive 1 Lube fitting on EMC 2 Motor connector RV Bosch Rexroth Corporation, R310A 3306/

21 EMC with Belt Side Drive Electromechanical Cylinders EMC 21 Shown in a retracted position L m K E L sd T G D G s max T G F G 1 s max = maximum travel EMC Motor Re- Timing belt side drive Dimensions (mm) size duc- Type 1) E L sd F G G 1 K T G M T M D L m tion J sd M R sd m sd Brake i ( 10 6 kgm 2 ) (Nm) (kg) w/o with 32 MSM 019B 1 A MSM 031B 1 B M MSK 030C 1 B MSM 031C 1 A A MSK 030C 1 A M A MSK 040C 1 B B MSM 031C 1 A A MSM 041B 1 A A M MSK 040C 1 A A MSK 050C 1 B MSM 041B 1 A A MSK 040C 1 A A M8 16 MSK 050C 1 B B MSK 060C 1 B MSK 050C 1 A A MSK 060C 1 B M B MSK 076C 1 B MSK 060C 1 A A M10 16 MSK 076C 1 B B J sd Mass moment of inertia of timing belt side drive (at motor journal) M R sd Frictional torque of timing belt side drive Mass of the timing belt side drive m sd M sd Maximum permissible drive torque of the timing belt side drive! Table page 25 1) See page 25, Table for drive torque according to lead and SD type R310A 3306/ , Bosch Rexroth Corporation

22 22 Electromechanical Cylinders EMC Permissible Speeds Permissible Speeds EMC 32 v mech (m/s) 1,2 1,0 12x10 12x5 0,8 0,6 0,4 0,2 0, s max (mm) EMC 40 v mech (m/s) 1,4 1,2 1,0 16x16 16x10 16x5 0,8 0,6 0,4 0,2 0, s max (mm) EMC 50 v mech (m/s) 1,4 1,2 1,0 20x20 20x10 20x5 0,8 0,6 0,4 0,2 0, s max (mm) Bosch Rexroth Corporation, R310A 3306/

23 Permissible Speeds Electromechanical Cylinders EMC 23 EMC 63 v mech (m/s) 1,6 1,4 1,2 25x25 25x10 25x5 1,0 0,8 0,6 0,4 0,2 0, s max (mm) EMC 80 v mech (m/s) 1,8 1,6 1,4 1,2 32x32 32x20 32x10 32x5 1,0 0,8 0,6 0,4 0,2 0, s max (mm) EMC 100 v mech (m/s) 1,6 1,4 1,2 1,0 0,8 40x40 40x20 40x10 40x5 0,6 0,4 0,2 0, s max (mm) R310A 3306/ , Bosch Rexroth Corporation

24 24 Electromechanical Cylinders EMC Permissible Drive Torque Permissible Drive Torque M P Travel F EMC 32 III 0,40 Drive torque M p (Nm) 0,35 0,30 0,25 0,20 II 0,568 0,497 0,426 0,355 0,284 I 0,8 0,7 0,6 0,5 0,4 0,15 0,10 0,213 0,142 0,3 0,2 12x10 12x5 Drive torque M p (Nm) 0,05 0,071 0,1 The attainable torques may vary according to the EMC version and the type of mounting. 0, s max (mm) Case I Fixed mounting to head and end cap (flange or foot mounting). Case II Fixed mounting to head cap or end cap (flange or foot mounting). EMC 40 Drive torque M p (Nm) III 2,50 II 3,550 2,25 3,195 2,00 2,840 1,75 1,50 1,130 1,25 1,00 1,420 0,75 0,50 0,710 0,25 0,355 0,00 2,485 1,775 1,065 I 5,0 4,5 4,0 3,5 3,0 2,5 2,0 1,5 1,0 0,5 16x16 16x10 16x s max (mm) EMC 50 Case III All types of articulated mounting. Pivotable or swivel mountings. Drive torque M p (Nm) III 6,0 5,0 4,0 3,0 II 8,52 7,10 5,68 4,26 I 12,0 10,0 8,0 6,0 2,0 2,84 4,0 1,0 0,0 1,42 2,0 20x20 20x10 20x s max (mm) Bosch Rexroth Corporation, R310A 3306/

25 Permissible Drive Torque Electromechanical Cylinders EMC 25 Motor attachment with timing belt side drive: For motor attachment with timing belt side drive (SD), the drive torque at the EMC journal may be limited depending on the version: EMC Type Ball screw lead P (mm) RV A B 40 A B 50 A 8.2 B 63 A B A B A B When comparing the chart and table, the permissible drive torque is always the lower of the two values. EMC 63 Drive torque M p (Nm) III II I 30,0 42,60 60,0 27,5 39,05 55,0 25,0 35,50 50,0 22,5 31,95 45,0 20,0 28,40 40,0 17,5 24,85 35,0 15,0 21,30 30,0 12,5 17,75 10,65 7,10 3,55 25,0 10,0 14,20 20,0 7,5 5,0 2,5 0,0 EMC 80 Drive torque M p (Nm) III 30,0 27,5 25,0 22,5 20,0 17,5 15,0 12,5 10,0 7,5 5,0 2,5 0,0 II 42,60 39,05 35,50 31,95 28,40 24,85 21,30 17,75 14,20 10,65 7,10 3,55 15,0 10,0 5,0 I 25x25 25x10 25x ,0 55,0 50,0 45,0 40,0 35,0 30,0 25,0 20,0 15,0 10,0 5,0 32x5 32x10 32x20 32x32 s max (mm) s max (mm) Example: EMC 100, ball screw 40x20, s max = 700 mm, motor attachment with timing belt side drive Type B: From chart M p = 102 Nm From table M p = 80 Nm! permissible drive torque at EMC journal: M p = 80 Nm EMC 100 Drive torque M p (Nm) III 90,0 II 127,8 80,0 113,6 70,0 60,0 50,0 40,0 30,0 20,0 10,0 0,0 99,4 85,2 71,0 56,8 42,6 28,4 14,2 I 180,0 40x40 160,0 140,0 120,0 40x20 100,0 80,0 60,0 40x10 40,0 20,0 40x s max (mm) R310A 3306/ , Bosch Rexroth Corporation

26 26 Electromechanical Cylinders EMC Maximum Axial Loading Maximum Axial Loading of Mechanical Cylinder System F max Travel F EMC 32 F max (N) III II I Drive torque M p (Nm) x5 12x10 The attainable forces may vary according to the type of mounting. Case I Fixed mounting to head and end cap (flange or foot mounting). 0 EMC 40 III II F max (N) s max (mm) I Case II Fixed mounting to head cap or end cap (flange or foot mounting) x10 16x16 16x s max (mm) Case III All types of articulated mounting. Pivotable or swivel mountings. EMC 50 F max (N) III II I x5 20x10 20x s max (mm) Bosch Rexroth Corporation, R310A 3306/

27 Maximum Axial Loading Electromechanical Cylinders EMC 27 EMC 63 III II I F max (N) x5 25x10 25X s max (mm) EMC 80 F max (N) III II I x5 32x10 32x20 32x s max (mm) EMC 100 F max (N) III II I x5, 40x10, 40x20 40x s max (mm) R310A 3306/ , Bosch Rexroth Corporation

28 28 Electromechanical Cylinders EMC Calculations Calculations After pre-selection of the mechanical cylinder system, the mounting elements and the cylinder/motor combination, the calculations can now be performed. The actual loads must be smaller than the maximum permissible loads for the mechanical cylinder system and the mounting elements. Average speed and average load where the speed fluctuates, the average speed n m is calculated as follows Where the operating conditions (speed and load) vary, the service life must be q n 1 q m n + 2 q 1 n n nn calculated using the average values for F m, ax and n m. where the load fluctuates and the speed is constant, the equivalent dynamic axial load F m, ax is calculated as follows where both the load and speed fluctuate, the equivalent dynamic axial load F m, ax is calculated as follows F m, ax 3 F m, ax 3 q q 2 q 3 n F F F n 100 F 1 3 n 1 q 1 3 n F 2 q 2 3 n q n n F n 100 n m n m n m 100 F m, ax = equivalent dynamic axial load (N) n m = average rotary speed (min 1 ) q = discrete time step for phases 1... n (%) Nominal life Service life in revolutions L 3 C 3 L = L 10 6 C = F C F m, ax F m, ax = m, ax L 10 6 C = dynamic load capacity (N) F m, ax = equivalent dynamic axial load (N) Service life in hours L h L h = service life (h) L L h L = service life (revolutions) ( ) n m 60 n m = average rotary speed (min 1 ) Machine operating hours = L h Machine duty cycle Screw duty cycle Drive torque and drive power Drive torque M p Conversion of rotary to linear motion: F P M p = 2000 π η F = operating load (N) M p = drive torque (Nm) P = lead (mm) η = mechanical efficiency ( 0.9) The dynamic drag torque must be taken into account for preloaded ball nut units. M Drive power P p = drive torque (Nm) a M p n n = rotary speed (min P a = 1 ) 9550 P a = drive power (kw) Bosch Rexroth Corporation, R310A 3306/

29 Calculations Electromechanical Cylinders EMC 29 Frictional torque M R for motor attachment via motor mount and coupling: for motor attachment via timing belt side: drive: Mass moment of inertia J s of the EMC referred to the drive journal Mass moment of inertia J ex of the mechanical system referred to the motor journal Motor attachment via motor mount and coupling Motor attachment via timing belt side drive Translatory mass moment of inertia of external load J t referred to the drive journal Mass moment of inertia J dc of the drive train referred to the motor journal Mass moment of inertia ratio V Total mass moment of inertia J tot referred to the motor journal Maximum permissible rotary speed n mech of mechanical system Effective stroke M R = M RS M R = J ex = J s + J t + J c J ex = J s + J t i 2 + J sd J t = m ex k J m 10 6 J dc = J ex + J br V = M RS i J dc J m + M R sd J s = (k J fix + k J var s max ) 10 6 Application area V Handling 6.0 Processing 1.5 J tot = J dc + J m n mech = v mech i P n mech < n m max Effective stroke = s max 2 x excess travel i = gear ratio J s = mass moment of inertia of EMC (without external load) (kgm 2 ) k J fix = constant for fixed-length portion of mass moment of inertia (10 6 kgm 2 ) k J var = constant for variable-length portion of mass moment of inertia M R = frictional torque at motor journal M RS = frictional torque of the system M R sd = frictional torque of timing belt side drive at motor journal s max = maximum travel (10 9 kgm) (Nm) (Nm) (Nm) (mm) J br = mass moment of inertia, motor brake (kgm 2 ) J c = mass moment of inertia, coupling (kgm 2 ) J dc = mass moment of inertia, drive train (kgm 2 ) J ex = mass moment of inertia of mechanical system (kgm 2 ) J m = mass moment of inertia, motor (kgm 2 ) J s = mass moment of inertia of EMC (without external load) (kgm 2 ) J sd = mass moment of inertia of timing belt side drive at motor journal (kgm 2 ) J t = translatory mass moment of inertia of external load referred to the drive journal (kgm 2 ) J tot = total mass moment of inertia (kgm 2 ) i = gear ratio of timing belt side drive ( ) k J m = constant for mass-specific portion of mass moment of inertia (10 6 m 2 ) m ex = moved external load (kg) n m max = maximum permissible rotary speed of motor with controller (min 1 ) n mech = maximum permissible rotary speed of mechanical system (min 1 ) P = screw lead (mm) V = ratio of mass moments of inertia of drive train and motor ( ) v mech = maximum permissible linear speed of mechanical system (m/s) R310A 3306/ , Bosch Rexroth Corporation

30 30 Electromechanical Cylinders EMC Switch Mounting Arrangements, Magnetic Field Sensor Switch Mounting Arrangements, Magnetic Field Sensor Overview of the switching system 1 Switch (magnetic field sensor) 2 T-slot for switch 3 Magnet Switching system 1 2 For short-stroke applications: Consider the length of the switch! Magnetic field sensors with potted cables can be used with the EMC. Version Sensor (PNP NC) Notes for mounting The magnetic field sensors (MFS) are pushed into the T-slot and fixed with set screws. For more details on switch activation points and switch mounting arrange ments, see the Instructions for Electromechanical Cylinders EMC, R L 0 1Mag L smax 1Mag 3 L 0 2Mag L smax 2Mag Switch position The dimensions in the table indicate the position of the magnet as a function of the travel. The unit must not travel beyond these positions! If it does, there is a risk that the ball nut may collide with the housing. EMC size Ball screw Dimensions (mm) size At travel 0 mm At travel s max mm d 0 x P (mm) L 0 1Mag L smax 1Mag L 0 2Mag L smax 2Mag 32 12x s max 55+s max 12x s max 55+s max 40 16x s max 61+s max 16x s max 61+s max 16x s max 61+s max 50 20x s max 76+s max 20x s max 76+s max 20x s max 76+s max 63 25x s max 76+s max 25x s max 76+s max 25x s max 76+s max 80 32x s max 94+s max 32x s max 94+s max 32x s max 94+s max 32x s max 94+s max x s max 99+s max 40x s max 99+s max 40x s max 99+s max 40x s max 99+s max Bosch Rexroth Corporation, R310A 3306/

31 Switch Mounting Arrangements, Magnetic Field Sensor Electromechanical Cylinders EMC 31 Technical data ~40 4,6 Ø1,8 brn = brown blk = black blu = blue 6,1 9,7 1) 2) 3) 31,5 1 Position of sensor element 2 Fixing screw 3 LED indicator ~37 M8 x brn blk blu L+ NC function M Part number R R Type Sensor (electronic) Sensor (elektronic) Electrical design DC 3-wire DC 3-wire Power supply voltage U v DC V DC V Sensitivity 2.6 mt 2.6 mt Residual ripple U pp 10% 10% Power consumption 10 ma 1) 10 ma 1) Continuous current I a 200 ma 200 ma Hysteresis H typ. > 0.5 mt > 0.5 mt Repeatability R 0.1 mt (U v and T a constant) 0.1 mt (U v and T a constant) EMC as per EN as per EN Switching output PNP PNP Output function NC function NC function Connection type PVC, 10 m Cable with M8 connector, 3-pin, knurled screw, PUR, 0.3 m Enclosure type IP68, IP69K 2) IP68 Contact type contactless PNP NC contactless PNP NC Switching frequency max. 1.0 khz 1.0 khz Wire break protection yes yes Short-circuit protection yes 3) yes 3) Polarity safe yes yes Power-up pulse suppression yes yes Shock/vibration stress 30g, 11 ms/ Hz, 1 mm 30g, 11 ms/ Hz, 1 mm Ambient temperature T a C C Housing material Plastic Plastic 1) at rest 2) as per DIN 40050, Part 9 3) (clocked) Extension cable for sensor The extension cable (approx. 5 m) is supplied complete with a female connector M8x1 for connection to the sensor ~35 M8x1 Part number Connector contact Protection class R to core brown blue black IP 66 when connected Pin assignment VDC 0V ground Output R310A 3306/ , Bosch Rexroth Corporation

32 32 Electromechanical Cylinders EMC Mounting Elements Mounting Elements For EMC with belt side drive and motor Group ) 1) Nut is included in the scope of delivery. Can be ordered as an accessory. Attaching the mounting elements Mounting elements are attached at the rear end of the belt drive. The screws are included in the delivery of the mounting elements. Bosch Rexroth Corporation, R310A 3306/

33 Mounting Elements Electromechanical Cylinders EMC 33 For EMC with motor mount and motor Group ) 1) Nut is included in the scope of delivery. Can be ordered as an accessory. R310A 3306/ , Bosch Rexroth Corporation

34 34 Electromechanical Cylinders EMC Mounting Elements Mounting Elements Part numbers for re-ordering single parts Group Description Size Part number 2 Nut 32 R021U Female spherical rod end bearing 40 R021U R021U R021U R021U R021U R021U R021U Female clevis 32 R021U Flexible coupling with mounting plate 40 R021U R021U R021U R021U R021U R021U R021U Flexible coupling 32 R021U R021U R021U R021U Flange mount 32 R021U Trunnion for rod end cover 3 Bearing for trunnion, metal 40 R021U R021U R021U R1561 5A R1561 6A R021U R021U R021U R021U R1561 5A R1561 6A R021U R021U R021U R021U90034 Group Description Size Part number 3, 5 Foot mount 32 R1561 1B1 01 For mounting to 40 R1561 2B1 01 EMC head and end cap for motor attachment via timing belt 63 R1561 4B R1561 3B1 01 side drive (RV01) 80 R1561 5B R1561 6B Foot mount 32 R1561 1B1 02 For mounting to 40 R1561 2B1 02 EMC end cap for motor attachment 50 R1561 3B1 02 via motor mount and 63 R1561 4B1 02 coupling (MF01) 80 R1561 5B R1561 6B Clevis mount, 32 R021U90045 Delivery incl. pivot 40 R021U90046 pin 50 R021U R021U R021U R021U Bearing block 32 R021U R021U R021U R021U R021U R021U Swivel mount 32 R021U R021U R021U R021U R021U R021U Clevis mount, 32 R021U90069 for swivel bearing 40 R021U90070 Delivery incl. pivot 50 R021U90071 pin 63 R021U R021U R021U Swivel bearing, 32 R021U90075 high 40 R021U R021U R021U R021U R021U Swivel bearing 32 R021U R021U R021U R021U R021U R021U90086 Bosch Rexroth Corporation, R310A 3306/

35 Mounting Elements Electromechanical Cylinders EMC 35 Dimensions Nut K K K Y K X K X K Y Material: galvanized steel EMC Part number Order quantity Dimensions (mm) Weight size K K (kg) 32 R021U M10x R021U M12x R021U M16x R021U M20x (One unit provided in delivery scope of EMC.) Female spherical rod end bearing C E E R E N E U K K A A ØC N SW z z L F A V Material: galvanized steel EMC Part number Dimensions (mm) Weight size A A A V CE ØC N E N E R E U K K L F SW Z min. H7 0.1 max. ( ) (kg) 32 R021U M10x R021U M12x R021U M16x R021U M20x SW = width across flats R310A 3306/ , Bosch Rexroth Corporation

36 36 Electromechanical Cylinders EMC Mounting Elements Mounting Elements Female clevis ØC K L 1 B L C M K K L E E R C E C L ØD 1 Material: galvanized steel EMC Part number Dimensions (mm) Weight size B L C E ØC K C L C M ØD 1 E R K K L 1 L E e11 (kg) 32 R021U M10x R021U M12x R021U M16x R021U M20x Flexible coupling with mounting plate ØD 1 SW K K H 1 H ØD 7 A 1 E 1 ØD 6 E 2 T 2 A 2 Material: galvanized steel EMC Part number Dimensions (mm) Weight size A 1 A 2 ØD 1 ØD 6 ØD 7 E 1 E 2 H 1 H K K T 2 SW H11 H13 H13 H13 (kg) 32 R021U ± ± M10x R021U ± ± M12x R021U ± ± M16x R021U ± ± M20x Axial backlash of 0.4 to 0.8 mm Radial clearance 2 ±0.13 mm Bosch Rexroth Corporation, R310A 3306/ SW = width across flats

37 Mounting Elements Electromechanical Cylinders EMC 37 Flexible coupling * SW 3 B 1 SW 2 F SW 1 D R V ØD3 K K K K ØD 1 L 2 L 3 SW 4 ** L * Angular compensation ** Radial compensation Material: galvanized steel EMC Part number Dimensions (mm) Weight size B 1 ØD 1 D 2 ØD 3 F K K L L 2 L 3 SW 1 SW 2 SW 3 SW 4 R V ±2 ±1 (kg) 32 R021U M10x R021U M12x R021U M16x R021U M20x SW = width across flats For mounting to the piston rod end: self-aligning increases mounting tolerances simplifies cylinder mounting Flange mount U F T F T G1 ØD 2 ØD 1 ØD ØF B M F L 4 R T G1 E Material: galvanized steel EMC Part number Dimensions (mm) Weight size ØD ØD 1 ØD 2 E ØF B L 4 M F R T F T G1 U F H11 H13 H13 max. ±0.2 (kg) 32 R021U R021U R021U R021U R1561 5A R1561 6A Fastening screws included in scope of delivery R310A 3306/ , Bosch Rexroth Corporation

38 38 Electromechanical Cylinders EMC Mounting Elements Mounting Elements Trunnion for head end (For vertical EMC orientations only) T M T G T L L 1 T K U W ØD 3 ØD 2 F x 45 B 4 T 3 C H 2 B2 H 1 ØD 1 T G U W ØD 1 ØD 2 T D ØD Material: galvanized spheroidal graphite cast iron EMC Part number Dimensions (mm) Weight size ØD ØD 1 ØD 2 L 1 T D T G T K T L T M U W H11 e9 ±0.2 h14 h14 (kg) 32 R021U R021U R021U R021U R1561 5A R1561 6A Fastening screws included in scope of delivery Bearing for trunnion, metal A B 1 Material: galvanized steel, with sintered bronze bushings, delivered in pairs EMC Part number Dimensions (mm) size A B 1 B 2 B 4 C ØD 1 ØD 2 ØD 3 F x 45 H 1 H 2 T 3 ±0.2 f8 H7 H12 H13 ± R021U R021U R021U R021U Bosch Rexroth Corporation, R310A 3306/

39 Mounting Elements Electromechanical Cylinders EMC 39 Foot mount, for attachment to head cap or timing belt side drive T G A T E 1 ØD T G A T R L 1 E Material: galvanized steel For mounting to EMC head and end cap for motor attachment via timing belt side drive (RV01) Fastening screws included in scope of delivery EMC size Part number Dimensions (mm) Weight A A T ØD E E 1 L 1 T G T R ±0.2 ±0.2 H13 ±0.2 ±0.2 ±0.2 (kg) 32 R1561 1B R1561 2B R1561 3B R1561 4B R1561 5B R1561 6B Foot mount with centering ring for attachment to end cap, between EMC and motor mount For dimensions, see drawing at top Material: galvanized steel For mounting to EMC end cap for motor attachment via motor mount and coupling (MF01) EMC Part number Dimensions (mm) Weight 1) size A A T ØD E E 1 L 1 T G T R ±0.2 ±0.2 H13 ±0.2 ±0.2 ±0.2 (kg) 32 R1561 1B R1561 2B R1561 3B R1561 4B R1561 5B R1561 6B ) Including weight of the ring Fastening screws included in scope of delivery R310A 3306/ , Bosch Rexroth Corporation

40 40 Electromechanical Cylinders EMC Mounting Elements Mounting Elements Clevis mount E ØC D E T G C B U B V B F L L M R Material: anodized die-cast aluminum EMC Part number Dimensions (mm) Weight size C B ØC D E F L L M R T G U B V B H14 H9 max. ±0.2 min. ±0.2 h14 (kg) 32 R021U R021U R021U R021U R021U R021U Pivot pin and fastening screws included in scope of delivery Swivel mount (mating piece for clevis mount, p. 40) M R I ØD 1 E W C D ØD T G E L F L L 1 T G E Material: aluminum EMC Part number Dimensions (mm) size C D ØD D 1 E E W F L I L L 1 M R T G DIN 912 H9 H11 H13 0.2/ 0.6 ±0.2 ±0.5 min. min. max. ± R021U M6x18 40 R021U M6x18 50 R021U M8x20 63 R021U M8x20 80 R021U M10x R021U M10x20 Fastening screws included in scope of delivery Bosch Rexroth Corporation, R310A 3306/

41 Mounting Elements Electromechanical Cylinders EMC 41 Bearing block (mating piece for clevis mount, p. 40) G L E M ØC K L 3 ØE B R A U R B T HB TE UL C P C G L 4 R 4 E T G ØD B 3 C F P H T Material: galvanized spheroidal graphite cast iron EMC Part number Dimensions (mm) Weight size B R B T ØC K ØE B E M G L ØH B L 3 P H R A T T E U L U R H9 H13 0.2/ 0.6 H13 JS15 JS14 JS14 (kg) 32 R021U R021U R021U R021U R021U R021U Without fastening screws Clevis mount, for swivel bearing ØD 3 ØD 4 S R T L 1 L 11 F M Material: aluminum EMC Part number Dimensions (mm) Weight size B 3 C F C G C P Ød 3 Ød 4 ØD E F M L 1 L 4 L 11 R 4 S R T T G DIN 912 ±0.2 F7 D10 d12 ±0.2 ±0.5 ± ±0.2 ±0.2 (kg) 32 R021U M6x R021U M6x R021U M8x R021U M8x R021U M10x R021U M10x Pivot pin and fastening screws included in scope of delivery R310A 3306/ , Bosch Rexroth Corporation

42 H 2 H 1 42 Electromechanical Cylinders EMC Mounting Elements Mounting Elements Swivel bearing (mating piece for clevis mount, p. 41) C N E R ØD 1 E T G E N G 1 E U C N E R 4 E T G I 3 E N E U F L H I R ØD 1 Material: aluminum EMC Part number Dimensions (mm) Weight size ØC N ØD 1 E E N E R E U F L H l 2 l 3 R T G DIN 912 H7 H min. ±0.2 (kg) 32 R021U M6x R021U M6x R021U M8x R021U M8x R021U M10x R021U M10x Fastening screws included in scope of delivery Swivel bearing high (mating piece for clevis mount, p. 41) 4 ØS K 1 K 2 C H G 2 G 3 Material: galvanized spheroidal graphite cast iron EMC Part number Dimensions (mm) size C H C N E N E R E U G 1 G 2 G 3 H 1 H 2 K 1 K 2 ØS JS15 H7 1.0 max. JS14 JS14 max. JS14 max. H13 32 R021U ± R021U ± R021U ± R021U ± R021U ± R021U ± Without fastening screws Bosch Rexroth Corporation, R310A 3306/

43 Mounting Elements Electromechanical Cylinders EMC 43 Guide unit GH1 with plain bearing Guide unit GH2 with linear ball bearing Note: If required, guide units can be used for EMC sizes 32 to 63. For more information, please refer to R310A 3306/ , Bosch Rexroth Corporation

44 44 Electromechanical Cylinders EMC Lubrication Lubrication Grease lubrication Standard lubrication practices for ball bearings also apply to the ball screws used in the EMC. The advantage of grease lubrication is that the ball screw can run long distances on one supply of grease. As a result, a lubricating system is not required in many cases. All commercially available high-quality ball bearing lubricating greases may be used. Read the lubricant manufacturer s specifications carefully! Never use greases with solid lubricant components (e.g. graphite or MoS 2 ). Greases in accordance with DIN K2K and, for higher loads, KP2K of NLGI Class 2 in accordance with DIN are recommended for the longest possible lubrication intervals. Tests have shown that greases of NLGI Class 00 achieve only about 50% of the running performance of Class 2 at higher loads. The relubrication interval depends on many factors such as the degree of contamination, operating temperature, load, etc. The following values can thus serve only as a guide. Lubrication notes Basic lubrication is applied in-factory before shipment. The EMC is designed for grease lubrication (using a manual grease gun with extension tube and nozzle). The only maintenance required is lubrication of the ball screw assembly via the lube port. For lubrication, retract the piston to the position S. For more information, see Mounting Instructions for EMC, R Bosch Rexroth Corporation, R310A 3306/

45 Lubrication Electromechanical Cylinders EMC 45 Relubrication intervals for NLGI-2 greases L Lub S Limit conditions: Load = 0.2 C n min = 100 min 1 Orientation: any Operating mode: no short strokes (s max < 100 mm) Sealing: standard EMC size Ball screw lead P (mm) Revolutions U Stroke Grease relubricating quantity (mill.) (km) (g) (mm) (mm) L Lub S Recommended lubricants Do not use greases containing solid particles (e.g. graphite or MoS2)! EMC Grease Consistency class size DIN DIN KP2K NLGI 2 R310A 3306/ , Bosch Rexroth Corporation

46 46 Electromechanical Cylinders EMC Motors Motors Overview The motor is selected after determining the main application data (geometry, drive type, required thrust, speed, and stroke). Type MSK The MSK range of servo motors has a wide power spectrum and narrow size increments. The high torque density of these synchronous servo motors allows a particularly compact design with high torques. Specification: Smooth shaft with shaft seal ring Multi-turn absolute encoder (Hiperface), increments with 4096 revolutions. With this encoder type, the absolute axis position is saved even after the power is switched off. Cooling system: Natural convection Protection class IP65 With or without holding brake Product advantages: High operational reliability Compact construction High-performance and dynamic High torque density High protection rating IP65 Maximum precision through optical encoder MSM The maintenance-free servo motors MSM expand the digital drive technology portfolio in the lower power range. Offering high power density in a compact design with minimized flange dimensions, this range of motors is ideal for machine concepts for high dynamic processes. Specification: Smooth shaft Multi-turn absolute encoder (Hiperface) Cooling system: Natural convection Protection class IP54 With or without holding brake Product advantages: High operational reliability Maintenance-free operation (through brushless design and the use of long-lasting grease-lubricated bearings) High performance data High dynamics (through favorable torque-inertia mass ratio) Simple cable management and quick start-up Bosch Rexroth Corporation, R310A 3306/