Catalogue. Portal Axes PAS

Transcription

1 Catalogue Portal xes PS

2

3 Portal xes PS Table of Content Product Description Ballscrew axes Product description Drives and motors PS2S Technical data Dimensional drawings PS3S Technical data Dimensional drawings PSS Technical data Dimensional drawings Type code Toothed-belt axes Product description Drives and gearings PSB Technical data Dimensional drawings PS2B Technical data Dimensional drawings PS3B Technical data Dimensional drawings PSB Technical data Dimensional drawings Type code ccessories ppendix Definitions and technical terms Conversion tables Berger Lahr Catalogue Portal xes PS

4 Product Description Portal xes PS Product Description Berger Lahr has added the PS portal axes to the well-known linear range. PS portal axes are available in ballscrew and toothed-belt models to meet different requirements. Toothed Belt xis PS2B The portal axes are designed to be extremely user-friendly and can be supplied with various Berger Lahr drives and controllers. The maximum power of the axis can be reached only if axis, motor and electronics are optimally matched. Our field sales representatives will be pleased to advise you. Flexible drive interface Drive The coupling modules make it easy to attach motors and gearing. The drive and end blocks are identical on the toothed-belt axes. dditional drive and output components can be attached with one coupling or a shaft journal at both ends. Consistency Toothed Belt xis PS2SB with motor The sizes of the axes are optimally matched to customer requirements. xes of the same size are compatible regardless of axis type (ballscrew or toothed belt). ll carriages are fitted with lubrication adapters on both sides for optimum lubrication. Flexible adapters There are side and bottom ITEM-compatible T-slots for flexible attachment of the axis on the axial sections. The limit stop sensors can be moved along a T-slot. The carriage holes are prepared to accept the centring rings. Ballscrew xis PS2S Motion Controller Fieldbus Wide variety of options xes are available with a metal cover strip to protect the interior against dirt. ll axes can be fitted with up to three carriages and any desired carriage separation. Toothedbelt axes are available as ball guide or roller guide version, ballscrew axes as ball guide version. Corrosion-resistant and antistatic versions of the toothed-belt axes are also available. pplications Ballscrew xis PS2S with Compact Drive Icl Ballscrew axes are recommended for precise positioning of loads at low speeds and high feed forces. Toothed-belt axes are preferred when dynamic response, high positioning speed and long strokes are required. The following table shows a comparison of the most important technical data of the two types of axis. 2 Catalogue Portal xes PS Berger Lahr

5 Portal xes PS Product Description Product offer Portal axes Ballscrew axes Toothed-belt axes Size Type designation PS2SB PS3SB PSSB PSBR PS2BR PS2BB PS3BR PS3BB PSBB Type of guides Ball guide Roller Roller Ball guide Roller Ball guide Ball guide Typical payload ) kg Max. feed force N Max. speed m/s Max. acceleration m/s Max. stroke length mm Repeat accuracy mm ±.2 ±.2 ±.2 ±. ±. ±. ±. ±. ±. Section cross-section mm x mm 6 x 6 8 x 8 x x 6 x 6 6 x 6 8 x 8 8 x 8 x ) The typical payload is the load for which the axis is normally used. This payload may be considerably exceeded if the corresponding prerequisites are given or considered. Refer to the influence of the forces and torques on the service life of the axis in km in the section Technical data, Calculations, Calculation of service life. Guide types Ballscrew axis with ball guide Toothed-belt axis with roller guide Toothed-belt axis with ball guide Berger Lahr Catalogue Portal xes PS 3

6 Ballscrew axes Portal xes PS Ballscrew axes Product Description Drives PS2S Technical Data Characteristic curves Dimensional drawings Motor attachment dimensions PS3S Characteristic curves Dimensional drawings Motor attachment dimensions PSS Technical Data Characteristic curves Dimensional drawings Motor attachment dimensions Type code Catalogue Portal xes PS Berger Lahr

7 Portal xes PS Ballscrew xes Product Description Product Description Structure Components of a ballscrew axis () xis body (2) T-slot fastening (3) Sensor damper plate () Lubrication nipple () Sensor retainer (6) Sensor with connector cable (7) T-slot for fastening the sensor retainer (8) Flange for drive mount (9) Drive shaft () Drive block () Metal cover strip fastening (2) Metal cover strip (3) Buffer () Metal cover strip deflector () Threaded holes for mounting the load (6) Carriage (7) End block with ballscrew bearing Berger Lahr Catalogue Portal xes PS

8 Ballscrew xes Product Description Portal xes PS Introduction The ballscrew axes are based on specially developed and particularly distortion-resistant aluminium sections. special feature is their ability to position heavy loads with a ballscrew drive and ball guides accurately and repeatedly with high feed force. The ballscrew axes can be fitted with up to three carriages for moving large loads and higher torques. support axis running parallel can also be installed by the customer. Features and options High positioning accuracy High feed force High stiffness User-friendly structure Easy system integration with section technology (ITEM-compatible T-section slots) Carriage with holes and locating dowels for easy load mounting Lubrication at lubrication nipples on both carriage sides Easy motor attachment with quick-coupling system Stroke length available with millimetre accuracy Sensors can be moved anywhere in T-section slots Many options: Various ballscrew pitches Cover strip Sensor limit switches in various designs Carriage (type, number, distance) Ballscrew support running parallel (ballscrew stabilisation at high speeds and strokes) Property-related application examples ccurate and backlash-free advance movements, even under variable loads and torques, for cutting, separating, labelling and precise positioning of loads in workstations High feed forces for joining, cutting and machining processes Exact and repeatable positioning of parts, vision and measurement systems Product offer Size 2 3 Type designation PS2SB PS3SB PSSB Type of guide Ball guide Typical payload ) kg 2 6 Max. feed force N Max. speed m/s.8..2 Max. acceleration m/s 2 Max. stroke length mm 3 3 Repeat accuracy mm ±.2 ±.2 ±.2 Section cross-section mm x mm 6 x 6 8 x 8 x Ballscrew diameter mm Ballscrew pitch mm/rev / / 6 / / 2 / / 2 ) The typical payload is the load for which the axis is normally used. This payload may be considerably exceeded if the corresponding prerequisites are given or considered. Refer to the influence of the forces and torques on the service life of the axis in km in the section Technical data, Calculations, Calculation of service life. 6 Catalogue Portal xes PS Berger Lahr

9 Portal xes PS Ballscrew xes Motors and drives Motors and drives We offer complete solutions from our comprehensive range of products comprising: axis, motor, gearing, drive and motion controller. Depending on the requirements for forces, torques and dynamic response for the application, the ballscrew axes are fitted with Berger Lahr three-phase stepper motors, C servomotors or compact drives. Other motors are also available as specified by the customer. The following table shows the standard motorisation recommended by Berger Lahr. Recommended motors and drives Ballscrew axes Type Size Max. torque (Nm) PS2SB PS3SB PSSB VRDM three-phase stepper motors VRDM x VRDM 368. x VRDM x x x VRDM 39 x x x VRDM x x x VRDM 37 2 x x x VRDM x x x Intelligent compact drives Icl IFS/IDS with stepper motors Intelligent compact drives Icl IFE with brushless DC motors (with gearing) I S 62.9 x I S 63. x I S 9 2 x x x I S 92 x x x I S 93 6 x x x IFE7 V-8 3. x IFE7 V-38 6 x IFE7 V- x IFE7 V- x SER servomotors SER x SER 397 x x SER 39 8 x x SER 393. x x x SER 396. x x x SER x x SER 37 2 x x SER x x SER x x RIG servomotors I = : RIG 379. x x x RIG x x x RIG x x x RIG 32 7 x RIG x RIG x BSH servomotors BSH 7 3. x BSH x BSH 73.3 x BSH 9.6 x x x BSH x x x BSH x x x BSH. x x Planetary gears, single-stage (Neugart) PLE / WPLE x PLE 6 / WPLE 6 x x x PLE 8 / WPLE 8 x x PLS 7 x x x PLS 9 22 x x Berger Lahr Catalogue Portal xes PS 7

10 Ballscreen xes Motors and drives Portal xes PS Motors and gearings Depending on the requirements, different gearings can be attached to the Berger Lahr motors. The following table shows the standard motor-gearing combinations recommended by Berger Lahr: Recommended motors and gearings Type Size PLE / WPLE PLE 6 / WPLE 6 PLE 8 / WPLE 8 PLE 2 / WPLE 2 PLE 7 PLE 9 VRDM three-phase stepper motors VRDM 366 x x x VRDM 368 x x x VRDM 397 x x VRDM 39 x x VRDM 393 x x VRDM 37 x x x VRDM 322 x x x Intelligent compact drives Icl IFS/IDS with stepper motors I S 62 x x x I S 63 x x x I S 9 x x I S 92 x x I S 93 x x SER servomotors SER 36 x x x x SER 397 x x x x SER 39 x x x x SER 393 x x x x SER 396 x x x x SER 32 x x x SER 37 x x x SER 322 x x x SER 327 x x x BSH servomotors BSH 7 x x x BSH x x Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For detailed information on the various motors and drives see the catalogues below: Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl Catalogue Portal xes PS Berger Lahr

11 Portal xes PS Ballscrew xes PS2S PS2S Technical Data Ballscrew pitch mm 6 Type designation PS2SB Guide type Ball guide SHS Typical payload kg 2 Max. stroke length ) 2) mm Min. stroke length 3) mm 9 Max. speed ) m/s.2..8 Max. acceleration ) m/s 2 Max. drive force Fx ) N Max. force Fy ) dynmax N 33 Max. force Fz ) dynmax N 33 Load ratings guide system C /C dyn N 22 / 2 ) Max. torque Mx dynmax Nm 2 ) Max. initialising driving torque M max Nm No-load torque -stroke axis (without carriage) 6) Nm. Moment of inertia -stroke axis (without carriage) kgcm 2. Moment of inertia per m stroke kgcm 2 /m.3.. Moment of inertia per kg payload kgcm 2 /kg Moment of inertia of motor attachment kgcm 2.3 Mass -stroke axis (without carriage) kg.8 Mass of stroke per m stroke (incl. ballscrew and profile) kg/m 6.9 Mass of motor attachment kg. Repeat accuracy ) mm ±.2 Internal diameter of clutch mm External diameter of driveshaft mm 6 g6 Profile cross section (W x H) mm 6 x 6 xial planar moment of inertia ly/lz mm 6963 / Elasticity module (aluminium) N/mm 2.72 x Max. ambient temperature C... Ballscrew Ballscrew diameter mm 6 Ballscrew accuracy P7 in accordance with DIN 69 Part 3 Max. ballscrew speed /min 3 Ballscrew axial play mm. Carriage Type Type Ballscrew pitch 6 6 ) Max. torque of carriage My dynmax Nm 26 8 ) Max. torque of carriage Mz dynmax Nm 26 8 No-load torque of carriage 6) Nm Moment of inertia of carriage with/without strip redirection kgcm 2. /,.2 /..2 /.2.2 /,2.3 /.2.3 /.3 (incl. ballscrew component) Mass of carriage with/without stripstrip redirection kg 3.7 / 3,. /.7 (incl. ballscrew and profile component) Moving mass of carriage with/without strip redirection kg. /.3.9 /.8 Max. stroke length with/without cover stripstrip 7) mm 78 / 88 6 / 7 ) Greater stroke length on request 2) Carriage-dependent 3) Guaranteed lubrication of guide and drive elements, shorter stroke length on request ) Load and stroke-dependent ) The maximum permissible dynamic forces and torques decrease with increasing speed, see characteristic curves on the next page 6) Measured at. m/s 7) Stroke greater than mm with reduced ballscrew speed is available on request Note: The listed torques and forces are based on an operational life of km. Berger Lahr Catalogue Portal xes PS 9

12 Ballscrew xes PS2S Portal xes PS Characteristic curves Max. feed force Fx Max. driving torque M max Fx [N] 2 M [Nm] 8 C 3 B C 2 6 B n [/min] n [/min] Max. force Fy dynmax Max. torque Mx dynmax Fy [N] Mx [Nm] v v2 v v v2 v Max. force Fz dynmax Max. torque My dynmax Fz [N] 37 v v2 My [Nm] v3 6 v v2 v Max. torque Mz dynmax Mz [Nm] 8 6 v v2 v () Carriage type () Carriage type () Ballscrew pitch mm (B) Ballscrew pitch mm (C) Ballscrew pitch 6 mm (v ) Max. speed for ballscrew pitch mm (v 2 ) Max. speed for ballscrew pitch mm (v 3 ) Max. speed for ballscrew pitch 6 mm Catalogue Portal xes PS Berger Lahr

13 Portal xes PS Ballscrew xes PS2S Deflection In order to limit deflection of the linear axis with long strokes, the axis must have additional support. The diagram below shows the deflection f (mm) of the linear axis with respect to the support distance S (mm) and the acting force F (N). The maximum deflection of f = mm should not be exceeded. Excessive deflection reduces the service life of the linear axis. F f [mm] N N N 3 N 2 N N N 3 N f 2 N S 2 3 s [mm] Ballscrew critical speed Up to two optional, sliding ballscrew supports can be integrated in PS ballscrew axes. This allows for high ballscrew speeds even with large strokes. The diagram shows the permissible working strokes with respect to the total axis length and the ballscrew speed with and without sliding ballscrew supports. n[/min] () without ballscrew support (2) one ballscrew support (3) two ballscrew supports () working stroke not permissible 3 Lges [mm] Buckling load nother limiting factor to be considered in ballscrew axis applications is the buckling load of the ballscrew to pressure loads. The diagram shows the permissible buckling load F (N) with respect to the carriage position P (mm). P F [N] k Berger Lahr Catalogue Portal xes PS

14 Ballscrew xes PS2S Portal xes PS Fz Mz My Fy Mx Fx Calculations Calculation of service life The service life of the linear axes is a function of the mean forces and torques that act in the system. If multiple forces and torques act simultaneously, use the following formula to calculate the load factor k. Fy Fz Mx My Mz = k = Loadfactor Fy dynmax Fz dynmax Mx dynmax My dynmax Mz dynmax The service life of the axis (in km) can be approximated using the load factor and the service life - load characteristic curve. Please note that the maximum permissible dynamic forces and torques (in the denominator) decrease with increasing speed. Refer to the characteristic curves on the previous page. The application-specific load values appear in the numerator. Service life load curve PS SB (ball guide) L [Km] k No-load torque of ballscrew axis [Nm] No-load torque -stroke axis (without carriage). + No-load torque per carriage x number of carriages = No-load torque of ballscrew axis Total moment of inertia of ballscrew axis without drive [kgcm 2 ] Moment of inertia of -stroke axis. + Moment of inertia m stroke x m stroke + Moment of inertia per kg payload x kg payload + Moment of inertia motor attachment.3 + Moment of inertia per carriage with/without cover strip x number of carriages = Total moment of inertia of ballscrew axis without drive Total mass of ballscrew axis [kg] Mass of -stroke axis.8 + Mass per m stroke x m stroke cccccccccccccccccccccccccc (6.9 kg/m) + Mass motor attachment. + Mass per carriage (with/without strip diverter) x number of carriages + Mass of motor/gearing (see motor catalogue) + Mass of payload = Total mass of ballscrew axis 2 Catalogue Portal xes PS Berger Lahr

15 Portal xes PS Ballscrew xes PS2S Dimensional drawings L ges. L2 c = d 8 d c = X C E E L ges. L c =. 8. c = X C 2 98 E2 x9 (= 36 ) C ø H7. 7 ø6g d = ø62 M / G = 2 mm L = 323; L2 = 226 (L- 2*D) L = 3; L2 = 6(L- 2*D) D = 8. 9 D = D = D = Dimensional drawing PS 2S 7 M / G = 2 mm ø8 H7 / G = 2, mm () xis without cover strip Lges Without cover strip without ballscrew support = 3 + L2 + X (add L2 + m for each additional carriage) (2) xis with cover strip one ballscrew support --- = 73 + L2 + X (add L2 + m for each additional carriage) (3) Cross section two ballscrew supports --- = 23 + L2 + X (add L2 + m for each additional carriage) () Carriage type With cover strip,,2 ballscrew supports c=3 + L + X (add L + m for each additional carriage) () Carriage type L Carriage length with cover strip (G) Thread depth (G) Countersink depth ) 7 L2 Carriage length without cover strip X Working stroke m ) Minimum distance between two carriages: without cover strip 3 mm with cover strip 9 mm C Limit switch safety distance to mechanical stop. CUTION: Depending on the payload, the acceleration and the positioning velocity, a greater distance is required. This is obtained by moving the limit switch position. The total axis length changes by this value. D Cover strip turning block d without cover strip. mm one ballscrew support 26. mm two ballscrew supports. mm E Carriage type /: without ballscrew support mm one ballscrew support 6 mm two ballscrew supports 8 mm E Carriage type : without ballscrew support mm one ballscrew support 6. mm two ballscrew supports 8 mm Carriage type : without ballscrew support 23 mm one ballscrew support 2. mm two ballscrew supports 26 mm E2 Carriage type : Carriage type : Maximum of two carriages of the same type on request support-independent 98 mm support-independent 278 mm Berger Lahr Catalogue Portal xes PS 3

16 Ballscrew xes PS2S Portal xes PS Motor attachment dimensions B () xial section (2) Coupling (3) Motor adapter plate () Motor or gearing C D 2 3 Note: The motor adapter plate or the motor may protrude over the axial section and may act as an obstruction if elements are above the carriage. Drive type Size Shaft diameter Length B C D mm mm mm mm mm VRDM stepper motors VRDM VRDM 368 VRDM VRDM 39 VRDM 393 VRDM VRDM 322 Intelligent compact drives I S Icl IDS/IFS with stepper motor I S 63 8 I S I S 92 I S 93 Intelligent compact drives Icl IFE IFE7 V /66 with brushless DC motors (with gearing) IFE7 V-38 IFE7 V- IFE7 V- SER servomotors SER SER SER 39 SER 393 SER 396 RIG servomotorsi =: RIG RIG 39 RIG 393 BSH servomotors BSH BSH 72 BSH 73 BSH 9 38 BSH 2 BSH 3 Planetary gears, single-stage (Neugart) PLE / WPLE PLE 6 / WPLE 6 3. PLS Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For dimensional drawings of the motors and drives see the catalogues below. Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl 9922 Catalogue Portal xes PS Berger Lahr

17 Portal xes PS Ballscrew xes PS3S PS3S Technical Data Ballscrew pitch mm 2 Type designation PS3SB Guide type Ball guide SHS 2 Typical payload kg 6 Max. stroke length ) 2) mm 3 Min. stroke length 3) mm Max. speed ) m/s.2.. Max. acceleration ) m/s 2 Max. drive force Fx ) N Max. force Fy ) dynmax N Max. force Fz ) dynmax N Load ratings guide system C /C dyn N 38 / 223 ) Max. torque Mx dynmax Nm 2 ) Max. initialising driving torque M max Nm No-load torque -stroke axis (without carriage) 6) Nm.6 Moment of inertia -stroke axis (without carriage) kgcm Moment of inertia per m stroke kgcm 2 /m.9.. Moment of inertia per kg payload kgcm 2 /kg.6.2. Moment of inertia of motor attachment kgcm 2. Mass -stroke axis (without carriage) kg 3.3 Mass of stroke per m stroke (incl. ballscrew and profile) kg/m.7 Mass of motor attachment kg. Repeat accuracy ) mm ±.2 Internal diameter of clutch mm External diameter of driveshaft mm 2 g6 Profile cross section (W x H) mm 8 x 8 xial planar moment of inertia ly/lz mm 868 / 866 Elasticity module (aluminium) N/mm 2.72 x Max. ambient temperature C... Ballscrew Ballscrew diameter mm 2 Ballscrew accuracy P7 in accordance with DIN 69 Part 3 Max. ballscrew speed /min 3 Ballscrew axial play mm. Carriage Type Type Ballscrew pitch 2 2 ) Max. torque of carriage My dynmax Nm 8 7 ) Max. torque of carriage Mz dynmax Nm 8 7 No-load torque of carriage 6) Nm Moment of inertia of carriage with/without strip redirection kgcm 2. /.3. /..7 /..7 /.6.8 /.6. /.9 (incl. ballscrew component) Mass of carriage with/without strip redirection kg 7. / 6. / (incl. ballscrew and profile component) Moving mass of carriage with/without strip redirection kg 3 / / 3. Max. total stroke with/without cover strip 7) mm 37 / / 298 ) Greater stroke length on request 2) Carriage-dependent 3) Guaranteed lubrication of guide and drive elements, shorter stroke length on request ) Load and stroke-dependent ) The maximum permissible dynamic forces and torques decrease with increasing speed, see characteristic curves on the next page 6) Measured at. m/s 7) Stroke greater than 3 mm with reduced ballscrew speed is available on request Note: The listed torques and forces are based on an operational life of km. Berger Lahr Catalogue Portal xes PS

18 Ballscrew xes PS3S Portal xes PS Characteristic curves Max. feed force Fx Max. driving torque M max Fx [N] M [Nm] C B 6 C 2 B n [/min] n [/min] Max. force Fy dynmax Max. torque Mx dynmax Fy [N] Mx [Nm] 6 v v2 v v2 v3 v Max. force Fz dynmax Max. torque My dynmax Fz [N] My [Nm] 6 2 v v2 9 v v2 v3 v Max. torque Mz dynmax Mz [Nm] 2 9 v v2 v3 6 3 () Carriage type () Carriage type () Ballscrew pitch mm (B) Ballscrew pitch mm (C) Ballscrew pitch 2 mm (v ) Max. speed for ballscrew pitch mm (v 2 ) Max. speed for ballscrew pitch mm (v 3 ) Max. speed for ballscrew pitch 2 mm 6 Catalogue Portal xes PS Berger Lahr

19 Portal xes PS Ballscrew xes PS3S Deflection In order to limit deflection of the linear axis with long strokes, the axis must have additional support. The diagram below shows the deflection f (mm) of the linear axis with respect to the support distance S (mm) and the acting force F (N). The maximum deflection of f = mm should not be exceeded. Excessive deflection reduces the service life of the linear axis. F f [mm] 2 N N N 6 N N 3 N 2 N N f 3 S 2 N s [mm] Ballscrew critical speed Up to two optional, sliding ballscrew supports can be integrated in PS ballscrew axes. This allows for high ballscrew speeds even with large strokes. The diagram shows the permissible work strokes with respect to the total axis length and the ballscrew speed with and without sliding ballscrew supports. n[/min] Lges [mm] () without ballscrew support (2) one ballscrew support (3) two ballscrew supports () working stroke not permissible Buckling load nother limiting factor to be considered in ballscrew axis applications is the Buckling load of the ballscrew to pressure loads. The diagram shows the permissible buckling load F (N) with respect to the carriage position P (mm). P F [N] k Berger Lahr Catalogue Portal xes PS 7

20 Ballscrew xes PS3S Portal xes PS Fz Mz My Fy Mx Fx Calculations Calculation of service life The service life of the linear axes is a function of the mean forces and torques that act in the system. If multiple forces and torques act simultaneously, use the following formula to calculate the load factor k. Fy Fz Mx My Mz = k = Loadfactor Fy dynmax Fz dynmax Mx dynmax My dynmax Mz dynmax The service life of the axis (in km) can be approximated using the load factor and the service life - load characteristic curve. Please note that the maximum permissible dynamic forces and torques (in the denominator) decrease with increasing speed. Refer to the characteristic curves on the previous page. The application-specific load values appear in the numerator. Service life load curve PS SB (ball guide) L [Km] k No-load torque of ballscrew axis [Nm] No-load torque -stroke axis (without carriage).6 + No-load torque per carriage x number of carriages = No-load torque of ballscrew axis Total moment of inertia of ballscrew axis without drive [kgcm 2 ] Moment of inertia of -stroke axis (without carriage) Moment of inertia m stroke x m stroke + Moment of inertia per kg payload x kg payload + Moment of inertia motor attachment. + Moment of inertia per carriage (with/without strip diversion) x number of carriages = Total moment of inertia of ballscrew axis without drive Total mass of ballscrew axis [kg] Mass of -stroke axis Mass per m stroke x m stroke (.7 kg/m) + Mass motor attachment. + Mass per carriage (with/without strip diversion) x number of carriages + Mass of motor/gearing (see motor catalogue) + Mass of payload = Total mass of ballscrew axis 8 Catalogue Portal xes PS Berger Lahr

21 Portal xes PS Ballscrew xes PS3S Dimensional drawings 9 d c= L2 L ge. X c = d 2 C E E L ges. L c = 2 9 c= X C 2 x9 (=36 ) C E2 2 M6 / G = 2 mm d = ø L = 39; L2 = 27 (L - 2*D) L = 6; L2 = 8 (L - 2*D) D = 6 23 D = 6 D = 6 D = ø2g6 ø7h M6 / G = mm øh7 / G = 2, mm Dimensional drawing PS 3 S () xis without cover strip Lges Without cover strip without ballscrew support cccc = 7 + L2 + X (add L2 + m for each additional carriage) (2) xis with cover strip one ballscrew support ccccccc = 2 + L2 + X (add L2 + m for each additional carriage) (3) Cross section two ballscrew supports cccccc = 2 + L2 + X (add L2 + m for each additional carriage) () Carriage type With cover strip,, 2 two ballscrew supports = 7 + L + X (add L + m for each additional carriage) () Carriage type L Carriage length with cover strip L2 Carriage length without cover strip X Working stroke m ) Minimum distance between two carriages: without cover strip 3 mm with cover strip 9 mm C Limit switch safety distance to mechanical stop. CUTION: Depending on the payload, the acceleration and the positioning velocity, a greater distance is required. This is obtained by moving the limit switch position. The total axis length changes by this value. D Cover strip turning block d without ballscrew support mm one ballscrew support 3 mm two ballscrew supports mm E Carriage type /: without ballscrew support 83 mm one ballscrew support 3 mm two ballscrew supports 23 mm (G) Thread depth (G) Countersink depth E Carriage type : Carriage type : E2 Carriage type : Carriage type : without ballscrew support 83 mm one ballscrew support 3 mm two ballscrew supports 23 mm without ballscrew support 293 mm one ballscrew support 33 mm two ballscrew supports 33 mm support-independent 3 mm support-independent 33 mm ) Maximum of two carriages of the same type on request Berger Lahr Catalogue Portal xes PS 9

22 Ballscrew xes PS3S Portal xes PS Motor attachment dimensions B () xial section (2) Coupling (3) Motor adapter plate () Motor or gearing C D 2 3 Note: Depending on C, the motor adapter plate or the motor may protrude over the axial section and may act as an obstruction if elements are above the carriage. Drive type Size Shaft diameter Length B C D mm mm mm mm mm VRDM stepper motors VRDM VRDM 39 VRDM 393 VRDM VRDM 322 Intelligent compact drives I S Icl IDS/IFS with stepper motor I S 92 I S 93 SER servomotors SER 397 SER 39 SER 393 SER 396 SER SER 37 SER 322 SER 327 RIG servomotors I = : RIG RIG 39 RIG 393 BSH servomotors BSH 9 26 BSH 2 BSH 3 BSH 2 Planetary gears, single-stage (Neugart) PLE 6 / WPLE PLE 8 / WPLE PLS PLS Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For dimensional drawings of the motors and drives see the catalogues below. Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl Catalogue Portal xes PS Berger Lahr

23 Portal xes PS Ballscrew xes PSS PSS Technical Data Ballscrew pitch mm 2 Type designation PSSB Guide type Ball guide SHS 2 Typical payload kg Max. stroke length ) 2) mm 3 Min. stroke length 3) mm 3 Max. speed ) m/s.2..2 Max. acceleration m/s 2 Max. drive force Fx ) N Max. force Fy ) dynmax N 789 Max. force Fz ) dynmax N 789 Load ratings guide system C /C dyn N 2 / 37 ) Max. torque Mx dynmax Nm 8 Max. initialising driving torque M max Nm No-load torque -stroke axis (without carriage) 6) Nm.8 Moment of inertia -stroke axis (without carriage) kgcm 2.6 Moment of inertia per m stroke kgcm 2 /m Moment of inertia per kg payload kgcm 2 /kg Moment of inertia of motor attachment kgcm 2 2. Mass -stroke axis (without carriage) kg 7. Mass of stroke per m stroke (incl. ballscrew and profile) kg/m 9 Mass of motor attachment kg 2. Repeat accuracy ) mm ±.2 Internal diameter of clutch mm External diameter of driveshaft mm 2 g6 Profile cross section (W x H) mm x xial planar moment of inertia ly/lz mm 28 / 6377 Elasticity module (aluminium) N/mm 2.72 x Max. ambient temperature C... Ballscrew Ballscrew diameter mm 2 Ballscrew accuracy P7 in accordance with DIN 69 Part 3 Max. ballscrew speed /min 3 Ballscrew axial play mm. Carriage-dependent values Type Type Ballscrew pitch 2 2 ) Max. torque of carriage My dynmax Nm ) Max. torque of carriage Mz dynmax Nm No-load torque of carriage 6) Nm Moment of inertia of carriage with/without strip redirection kgcm 2.2 /.8.2 /.9 2. /.6.9 /. 2 /.6 2 / 2. (incl. ballscrew component) Mass of carriage with/without strip redirection kg / 2 22 / 9 (incl. ballscrew and profile component) Moving mass of carriage with/without strip redirection kg.7 /, 7.8 / 7, Max. total stroke with/without cover strip 7) mm 29 / / 28 ) Greater stroke length on request 2) Carriage-dependent 3) Guaranteed lubrication of guide and drive elements, shorter stroke length on request ) Load and stroke-dependent ) The maximum permissible dynamic forces and torques decrease with increasing speed, see characteristic curves on the next page 6) Measured at. m/s 7) Stroke greater than 3 mm with reduced ballscrew speed is available on request Note: The listed torques and forces are based on an operational life of km. Berger Lahr Catalogue Portal xes PS 2

24 Ballscrew axes PSS Portal xes PS Characteristic curves Max. feed force Fx Fx [N] Max. driving torque M max M [Nm] 8 3 B 2 C 2 C 9 6 B n [/min] n [/min] Max. force Fy dynmax Fy [N] Max. torque Mx dynmax Mx [Nm] 9 9 v v2 8 8 v v2 7 7 v3 v Max. force Fz dynmax Fz [N] 9 Max. torque My dynmax My [Nm] 2 8 v v v2 v3 v2 7 v Max. torque Mz dynmax Mz [Nm] 2 v v2 v () Carriage type () Carriage type () Ballscrew pitch mm (B) Ballscrew pitch mm (C) Ballscrew pitch 2 mm (v ) Max. speed for ballscrew pitch mm (v 2 ) Max. speed for ballscrew pitch mm (v 3 ) Max. speed for ballscrew pitch 2 mm 22 Catalogue Portal xes PS Berger Lahr

25 Portal xes PS Ballscrew xes PSS Deflection In order to limit deflection of the linear axis with long strokes, the axis must have additional support. The diagram below shows the deflection f (mm) of the linear axis with respect to the support distance S (mm) and the acting force F (N). The maximum deflection of f = mm should not be exceeded. Excessive deflection reduces the service life of the linear axis. F f [mm] 3 N 2 N N N 7 N f 3 N S 2 2 N N N s [mm] Ballscrew critical speed Up to two optional, sliding ballscrew supports can be integrated in PS ballscrew axes. This allows for high ballscrew speeds even with large strokes. The diagram shows the permissible working strokes with respect to the total axis length and the ballscrew speed with and without sliding ballscrew supports. n[/min] () without ballscrew support (2) one ballscrew support (3) two ballscrew supports () working stroke not permissible Buckling load 3 Lges [mm] nother limiting factor to be considered in ballscrew axis applications is the buckling load of the ballscrew to pressure loads. The diagram shows the permissible buckling load F (N) with respect to the carriage position P (mm). P F [N] k Berger Lahr Catalogue Portal xes PS 23

26 Ballscrew axes PSS Portal xes PS Fz Mz My Fy Mx Fx Calculations Calculation of service life The service life of the linear axes is a function of the mean forces and torques that act in the system. If multiple forces and torques act simultaneously, use the following formula to calculate the load factor k. Fy Fz Mx My Mz = k = Loadfactor Fy dynmax Fz dynmax Mx dynmax My dynmax Mz dynmax The service life of the axis (in km) can be approximated using the load factor and the service life - load characteristic curve. Please note that the maximum permissible dynamic forces and torques (in the denominator) decrease with increasing speed. Refer to the characteristic curves on the previous page. The application-specific load values appear in the numerator. Service life load curve PS SB (ball guide) L [Km] k No-load torque of ballscrew axis [Nm] No-load torque -stroke axis (without carriage).8 + No-load torque per carriage x number of carriages = No-load torque of ballscrew axis Total moment of inertia of ballscrew axis without drive [kgcm2] Moment of inertia of -stroke axis (without carriage).6 + Moment of inertia m stroke x m stroke + Moment of inertia per kg payload x kg payload + Moment of inertia motor attachment 2. + Moment of inertia per carriage (with/without strip diversion x) number of carriages = Total moment of inertia of ballscrew axis without drive Total mass of ballscrew axis [kg] Mass of -stroke axis 7. + Mass per m stroke x m stroke (9 kg/m) + Mass motor attachment 2. + Mass per carriage (with/without strip diversion) x number of carriages + Mass of motor/gearing (see motor catalogue) + Mass of payload = Total mass of ballscrew axis 2 Catalogue Portal xes PS Berger Lahr

27 X Portal xes PS Ballscrew xes PSS Dimensional drawings L ges. d c = 2 L2 X c = 2 d 2 C E E L ges. L c = c = 2 C 32 2 x9 (=36 ) C E ø2g6 ø9h M8 / G = 6 mm d = ø 7, 2, L = 9; L2 = 33 (L - 2*D) L = 76; L2 = 6 (L - 2*D) D = 8 27 D = 8 D = 8 D = Dimensional drawing PSS M8 / G = 8 mm ø2h7 / G = 2. mm () xis without cover strip Lges Without cover strip without ballscrew support cccc = 2 + L2 + X (add L2 + m for each additional carriage) (2) xis with cover strip one ballscrew support cccccccc= 26 + L2 + X (add L2 + m for each additional carriage) (3) Cross section two ballscrew supports ccccccc= 3 + L2 + X (add L2 + m for each additional carriage) () Carriage type With cover strip,, 2 two ballscrew supports = 2 + L + X (add L + m for each additional carriage) () Carriage type L Carriage length with cover strip L2 Carriage length without cover strip X Working stroke m ) Minimum distance between two carriages: without cover strip 3 mm with cover strip 9 mm C Limit switch safety distance to mechanical stop. CUTION: Depending on the payload, the acceleration and the positioning velocity, a greater distance is required. This is obtained by moving the limit switch position. The total axis length changes by this value. D Cover strip turning block d without ballscrew support 2 mm one ballscrew support mm two ballscrew supports 7 mm E Carriage type /: without ballscrew support 2 mm one ballscrew support mm two ballscrew supports 7 mm (G) Thread depth (G) Countersink depth E Carriage type : Carriage type : E2 Carriage type : Carriage type : ) Maximum of two carriages of the same type on request without ballscrew support 2 mm without ballscrew support 39 mm support-independent 2 mm support-independent 7 mm one ballscrew support mm two ballscrew supports 7 mm one ballscrew support mm two ballscrew supports mm Berger Lahr Catalogue Portal xes PS 2

28 Ballscrew axes PSS Portal xes PS Motor attachment dimensions B () xial section (2) Coupling (3) Motor adapter plate () Motor or gearing C D 2 3 Note: Depending on C, the motor adapter plate or the motor may protrude over the axial section and may act as an obstruction if elements are above the carriage. Drive type Size Shaft diameter Length B C D mm mm mm mm mm VRDM stepper motors VRDM VRDM 39 VRDM 393 VRDM 37 9 VRDM 322 Intelligent compact drives I S 9 2 Icl IDS/IFS with stepper motor I S 92 I S 93 SER servomotors SER SER 396 SER SER 37 SER 322 SER 327 RIG servomotors I = : RIG RIG 39 RIG 393 RIG RIG 37 RIG 322 BSH servomotors BSH 9 BSH 2 BSH 3 BSH 2 Planetary gears, single-stage (Neugart) PLE 6 / WPLE PLE 8 / WPLE PLS PLS Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For dimensional drawings of the motors and drives see the catalogues below. Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl Catalogue Portal xes PS Berger Lahr

29 Portal xes PS Ballscrew axes Type code Type code Example (continued next page): PS 2 S B D 2 C B xxx S N / I6 Product PS = portal axis Product family = basic line Size (cross-section of section) 2 = 6; (6 x 6 mm) 3 = 8; (8 x 8 mm) = ; ( x mm) Carriage drive element S = ballscrew = support axis (without ballscrew, guide element only) Type of guide B = Ball guide Feed per revolution B = mm (sizes 6, 8 and ) D = mm (sizes 6, 8 and ) F = 6 mm (size 6) G = 2 mm (size 8) H = 2 mm (size ) N = support axis Stroke length XXXX = in mm Limit switch ) = 2 x PNP sensors as normally closed contacts, not wired ) B = 2 x PNP sensors as normally closed contacts, plugged into Icl C = 2 x PNP sensors as normally open contacts, not wired ) D = 2 x PNP sensors as normally open contacts, plugged into Icl E = 2 x NPN sensors as normally closed contacts, not wired ) F = 2 x NPN sensors as normally closed contacts, plugged into Icl G = 2 x NPN sensors as normally open contacts, not wired ) H = 2 x NPN sensors as normally open contacts, plugged into Icl N = no sensors Carriage = type = type Options 2) B = with cover strip / without ballscrew support N = without cover strip / without ballscrew support C = with cover strip / one ballscrew support D = without cover strip / one ballscrew support E = with cover strip / two ballscrew supports F = without cover strip / two ballscrew supports Number of carriages 3) = one B = two (on request) C = three (on request) Distance between carriages ) = distance in mm xxx = with only one carriage xis drive interface S = with motor or motor adapter attachment D = with shaft journal Toothed-belt drive gear N = without toothed-belt drive gear PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 PS 2 S B D 2 C B xxx S N / I6 ) With mm cable with plug wired at one end, additional versions as accessories,extension cable as accessories 2) See dimensional drawings and the dependence on "total axis length" 3) Only carriages of the same type are possible. The carriage closest to the motor is driven. ) Minimum distance between two carriages: see dimensional drawings Berger Lahr Catalogue Portal xes PS 27

30 Ballscrew axes Type code Portal xes PS Example (continued from previous page): PS 2 S B D 2 C B xxx S N / I6 Motor/gearing interface ) V6 = stepper motors VRDM 36 / VRDM 366 V8 = stepper motors VRDM 368 V9 = stepper motors VRDM 397 / VRDM 39 V = stepper motors VRDM 393 V = stepper motors VRDM 3 I6 = Icl IFS/IDS 6 / IFS/IDS 62 with stepper motor I7 = Icl IFS/IDS 63 with stepper motor I9 = IFS/IDS 9 / IFS/IDS 92 with stepper motor I8 = Icl IFS/IDS 93 with stepper motor S6 = servomotors SER 36 S9 = servomotors SER 39 S = servomotors SER 3 6 = Icl IF 6 with servomotor G9 = servomotors RIG 39 G = servomotors RIG 3 H = servomotors BSH H7 = servomotors BSH 7 / BSH 72 H8 = servomotors BSH 73 H = servomotors BSH / BSH 2 / BSH 3 H = servomotors BSH XX = third-party motor / third-party gearing without attachment cccc by Berger Lahr (drawing required) XY = third-party motor / third-party gearing with attachment cccccby Berger Lahr (drawing required; provide motor/gearing) PS 2 S B D 2 C N B xxx S N / I6 ) ttachment of motor coupling assembly and motor adapter plate: In case of selection V6 to XX, the corresponding motor coupling with coupling housing as well as the motor plate without motor are attached to the axis. Motor attachment: If the axis is to be delivered with attached motor, specify the complete motor identification (see type codes in the motor catalogues) instead of the motor/gearing interface or select XY. The type codes for the motors are in the following catalogues. Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl Catalogue Portal xes PS Berger Lahr

31 Portal xes PS Toothed-belt axes Toothed-belt axes Product Description Drives PSBB Technical Data Characteristic curves Dimensional drawings Motor attachment dimensions PS2B Technical Data Characteristic curves Dimensional drawings Motor attachment dimensions PS3B Technical Data Characteristic curves Dimensional drawings Motor attachment dimensions PSBR Technical Data Characteristic curves Dimensional drawings Motor attachment dimensions Type code Berger Lahr Catalogue Portal xes PS 29

32 Toothed-belt axes Product Description Portal xes PS Product Description Structure Components of a toothed-belt axis () End block (2) Carriage (3) Sensor damper plate () Lubrication nipple () Threaded holes for mounting the load (6) Metal cover strip (7) Sensor with connector cable (8) Sensor retainer (9) T-slot for fastening the sensor retainer () xis body () T-slot fastening (2) Hollow shaft for motor coupling or shaft journal (3) Metal cover strip fastening () Buffer () Coverstrip deflector 3 Catalogue Portal xes PS Berger Lahr

33 Portal xes PS Toothed-belt axes Product Description Introduction The new toothed-belt portal axes are available with roller guides and ball guides for positioning heavy loads. Toothed-belt axes are characterised by long strokes, high dynamic response and high positioning speed. The toothed-belt axes can be fitted with up to three carriages for moving large loads and higher torques. support axis running parallel can also be used. Special features and options High positioning speed High dynamic response Large stroke lengths User-friendly structure: Easy system integration with section technology (ITEM-compatible T-section slots) Carriage with holes and locating dowels for easy support of the load Lubrication at lubrication nipples on both carriage sides Easy motor attachment with quick-coupling system Stroke length available to millimetre accuracy Sensors can be moved anywhere in T-section slots Many options: Roller or ball guidance Corrosion-resistant Cover strip Sensors in various designs Carriage (type, number, distance) ntistatic toothed belts Property-related application examples Positioning over long distances, e.g. pick&place applications Positioning of parts, vision and measurement systems with high speed Product offer Size 2 3 Type designation PSBR PS2BR PS2BB PS3BR PS3BB PSBB Type of guide Roller Roller Ball guide Roller Ball guide Ball guide Typical payload ) kg Max. feed force N Max. speed m/s Max. acceleration m/s Max. stroke length mm 3 Repeat accuracy mm ±. ±. ±. ±. ±. ±. Section cross-section mm x mm x 6 x 6 6 x 6 8 x 8 8 x 8 x ) The typical payload is the load for which the axis is normally used. This payload may be considerably exceeded if the corresponding prerequisites are given or considered. Refer to the influence of the forces and torques on the service life of the axis in km in the section Technical data, Calculations, Calculation of service life. Berger Lahr Catalogue Portal xes PS 3

34 Toothed-belted axes Motors and gearings Portal xes PS Motors and gearings We offer complete solutions from our comprehensive range of products including: axis, motor, drive amplifier and motion controller. Depending on the requirements for forces, torques and dynamic response for the application, the toothed-belt axes are fitted with Berger Lahr three-phase stepper motors, C servomotors or compact drives. Other motors are also available as specified by the customer. selection of motors and drives recommended by Berger Lahr is listed below: Recommended motors and drives Toothed-belt axis Type Size Max. torque (Nm) PSB PS2B PS3B PSB VRDM three-phase stepper motors VRDM x VRDM 368. x VRDM x x VRDM 39 x x x VRDM x x x VRDM 37 2 x x x VRDM x x x Icl IFS/IDS intelligent compact drives I S 62.9 x with stepper motors I S 63. x I S 9 2 x x I S 92 x x x I S 93 6 x x x Icl IFE intelligent compact drives IFE V-8 3. x x with brushless DC motors and spur wheel gear IFE V-38 6 x x IFE V- x x IFE V- x x SER servomotors SER x SER x SER 397 x SER 39 8 x x SER 393. x x SER 396. x x SER x x SER 37 2 x x SER x x SER x RIG servomotors with integrated gearing I = : RIG 397. x x x RIG x x x RIG x x x RIG 32 7 x x RIG x x RIG x x BSH servomotors BSH 7 3. x BSH x BSH x BSH 9.6 x BSH x BSH x BSH. Planetary gears, single-stage (Neugart) PLE / WPLE x x PLE 6 / WPLE 6 x x x PLE 8 / WPLE 8 x x x PLE 2 / WPLE 2 2 x x PLS 7 x x x PLS 9 22 x x 32 Catalogue Portal xes PS Berger Lahr

35 Portal xes PS Toothed-belt axes Motors and gearings Recommended motors and gearings Type Size PLE / WPLE PLE 6 / WPLE 6 PLE 8 / WPLE 8 PLE 2 / WPLE 2 PLE 7 PLE 9 VRDM three-phase stepper motors VRDM 366 x x x VRDM 368 x x x VRDM 397 x x VRDM 39 x x VRDM 393 x x VRDM 37 x x x VRDM 322 x x x Intelligent compact drives Icl IFS/IDS with stepper motors I S 62 x x x I S 63 x x x I S 9 x x I S 92 x x I S 93 x x SER servomotors SER 36 x x x x SER 397 x x x x x SER 39 x x x x SER 393 x x x x SER 396 x x x x SER 32 x x x SER 37 x x x SER 322 x x x SER 327 x x x BSH servomotors BSH 7 x x x BSH x x Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For detailed information on the various motors and drives see the catalogues below: Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl 9922 Motor attachment types R L F E (R) Motor right (L) Motor left (F) Motor right, shaft journal left (E) Motor left, shaft journal right (H) Hollow shaft with bearings at both ends. Prepared for flexible layout of drive and output components (N) Support axis without drive interface (B) Shaft journal right () Shaft journal left (C) Shaft journal left and right H N B C Berger Lahr Catalogue Portal xes PS 33

36 Toothed-belt xes PSB Portal xes PS PSB Technical Data Type designation PSBR Guide type Roller W6 Typical payload kg 6 Max. stroke length ) 2) mm 3 Min. stroke length 3) mm 2 Max. speed ) m/s 8 Max. acceleration ) m/s 2 2 Max. drive force Fx ) N 3 ) Max. force Fy dynmax N 8 Max. force Fz ) dynmax N 2 Max. torque Mx ) dynmax Nm 6 Load ratings guide system C /C dyn N 223 / 39 ) Max. driving torque M max Nm No-load torque -stroke axis (without carriage) 6) Nm. Moment of inertia -stroke axis (without carriage) kgcm 2.2 Moment of inertia per m stroke kgcm 2 /m. Moment of inertia per kg payload kgcm 2 /kg.79 Moment of inertia of motor attachment kgcm 2.3 Moment of inertia of shaft extension kgcm 2.2 Mass of -stroke axis (without motor, without carriage) kg. Mass stroke per m stroke kg/m 2.2 Mass of motor attachment kg.2 Mass of shaft extension kg.3 Repeat accuracy ) mm ±. Internal diameter of clutch mm... Profile cross section (W x H) mm x Diameter of shaft extension mm 2 h7 xial planar moment of inertia ly/lz mm 7667 / 8936 Elasticity module (aluminium) N/mm 2.72 x Max. ambient temperature C... + Toothed belt / toothed belt pulley Drive constant mm/rotat. 8 Toothed belt width/pitch / HTD3 Effective diameter toothed belt wheel (both sides equal) mm Width toothed belt wheel mm 3 Material density toothed belt wheel kg/cm 3.3 Moment of inertia toothed belt wheel kgcm 2.2 Carriage Type 2 Type ) Max. torque of carriage My dynmax Nm 3 Max. torque of carriage Mz ) dynmax Nm 2 No-load torque of carriage 6) Nm.. Moment of inertia of carriage (with/without strip redirection) kgcm 2.9 /.8.2 /. Mass of carriage with/without strip turning block kg.2 /.. /.3 (incl. toothed belt and profile section) Moving mass of carriage with/without strip redirection kg.3 /..6 /.6 Max. total stroke with/without cover strip mm 29 / / 292 ) Greater stroke length on request 2) Carriage-dependent 3) Guaranteed lubrication of guide elements, shorter stroke length on request ) Load and stroke-dependent ) The maximum permissible dynamic forces and torques decrease with increasing speed, see characteristic curves on the next page 6) Measured at. m/s Note: The listed torques and forces refer to a service life of 2 km. 3 Catalogue Portal xes PS Berger Lahr

37 Portal xes PS Toothed-belt xes PSB PSBR characteristic curves (Ball guides) Max. feed force Fx Fx [N] 3 2 Max. driving torque M max M [Nm] Max. force Fy dynmax Fy [N] Max. torque of carriage Mx dynmax Mx [Nm] Max. force Fz dynmax Deflection Fz [N] Max. torque of carriage My dynmax My [Nm] Max. torque of carriage Mz dynmax In order to limit deflection of the linear axis in case of long strokes, the axis must have additional support. Mz [Nm] 6 The diagram below shows the deflection f (mm) of the linear axis with respect to the support distance S (mm) and the acting force F (N). The maximum deflection of f = mm should not be exceeded. Excessive deflection reduces the service life of the linear axis f [mm] N 2 N N 3 2 N N 3 N 2 N N N F f S s [mm] (2) Carriage type 2 () Carriage type Berger Lahr Catalogue Portal xes PS 3

38 Toothed-belt xes PSB Portal xes PS Fz Mz My Fy Mx Fx Calculations Calculation of service life The service life of the linear axes is a function of the mean forces and torques that act in the system. If multiple forces and torques act simultaneously, use the following formula to calculate the load factor k. Fy Fz Mx My Mz = k = Loadfactor Fy dynmax Fz dynmax Mx dynmax My dynmax Mz dynmax The service life of the axis (in km) can be approximated using the load factor and the service life - load characteristic curve. Please note that the maximum permissible dynamic forces and torques (in the denominator) decrease with increasing speeds. Refer to the characteristic curves on the previous page. The application-specific load values appear in the numerator. Service life load curve PS BR (roller guides) L [Km] k No-load torque of toothed belt axis [Nm] No-load torque -stroke axis (without carriage). + No-load torque per carriage x number of carriages = No-load torque of toothed belt axis Total moment of inertia of toothed belt axis without drive [kgcm 2 ] Moment of inertia of -stroke axis (without carriage) + Moment of inertia per m stroke x m stroke ccccccccccc (.) kgcm 2 /m) + Moment of inertia per kg payload x kg payloadccccccccc(.79 kgcm 2 /kg) + Moment of inertia motor attachment.3 + Moment of inertia per carriage (with/without strip diversion) x number of carriages = Total moment of inertia of toothed belt axis without drive Total mass of toothed belt axis [kg] Mass of -stroke axis. + Mass per m stroke x m stroke (2.2 kg/m) + Mass motor attachment.2 + Mass shaft journal.3 + Mass per carriage (with/without strip diversion) x number of carriages + Mass of motor/gearing (see motor catalogue) + Mass of payload = Total mass of toothed belt axis 36 Catalogue Portal xes PS Berger Lahr

39 Portal xes PS Toothed-belt xes PSB Dimensional drawings L ges. 3. c = L2 c = 3. X 2 L ges. E 3. 9 c = L c = 9 3. X 2 82 E2 x9 B B - B ø 3H7 B M / G = mm,7 2.8 d = ø L = 297; L2 = 2 (L - 2*D) D = 8. D = ø 7 ø 2 2 ø H L = 377; L2 = 28 (L - 2*D) D = 8. 2 D = M / G = 2 mm ø8 H7 / G = 2. mm Dimensional drawings PSB () = axis without cover strip Lges Total length without cover strip = 27 + L2 + X (add L2 + m for each additional carriage) (2) = axis with cover strip Total length with cover strip c c = + L + X (add L + m for each additional carriage) (3) = cross section () = carriage type 2 L Carriage length with cover strip () = carriage type L2 Carriage length without cover strip (B-B) shaft journal as option X Working stroke m ) Minimum distance between two carriages: with cover strip 9 mm, without cover strip 3 mm C Limit switch safety distance to mechanical stop. CUTION: Depending on the payload, the acceleration and the positioning velocity, a greater distance is required. This is obtained by moving the limit switch position. The total axis length changes by this value. D Cover strip turning block G = thread depth E 2) Carriage: type 2 = 2 mm; type = mm G = countertsink depth E2 2) Carriage: type 2 = 82 mm; type = 62 mm ) Maximum of two carriages of the same type on request 2) E/E2: limit switch position opposite drive side Berger Lahr Catalogue Portal xes PS 37

40 Toothed-belt xes PSB Portal xes PS Motor attachment dimensions E B () xial section (2) Coupling (3) Motor adapter plate () Motor or gearing D C 2 3 Note: Depending on C, the motor adapter plate or the motor may protrude over the axial section and may act as an obstruction if elements are above the carriage. Drive type Size Shaft diameter Length B C D E mm mm mm mm mm mm VRDM stepper motors VRDM VRDM VRDM VRDM 39 VRDM 393 Intelligent compact drives I S Icl IDS/IFS with stepper motor I S 63 8 I S I S 92 I S 93 Intelligent compact drives IFE 7 V /68 Icl IFE with brushless DC motors (with gearing) IFE 7 V-38 IFE 7 V- IFE 7 V- BSH servomotors BSH BSH 72 BSH SER servomotors SER SER 36 SER SER 39 SER 393 SER 396 Planetary gears, single-stage (Neugart) PLE PLE Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For dimensional drawings of the motors and drives see the catalogues below. Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl Catalogue Portal xes PS Berger Lahr

41 Portal xes PS Toothed-belt axes PS2B PS2B Technical Data Type designation PS2BR PS2BB Guide type Roller W6 Ball guide SHS Typical payload kg 2 2 Max. stroke length ) 2) mm Min. stroke length 3) mm 3 9 Max. speed ) m/s 8 Max. acceleration ) m/s Max. drive force Fx ) N 8 8 ) Max. force Fy dynmax N 8 28 Max. force Fz ) dynmax N 2 28 Max. torque Mx ) dynmax Nm 9 Load ratings guide system C /C dyn N 223 / / 2 ) Max. driving torque M max Nm 2 2 No-load torque -stroke axis (without carriage) 6) Nm.6.6 Moment of inertia -stroke axis (without carriage) kgcm Moment of inertia per m stroke kgcm 2 /m.2.2 Moment of inertia per kg payload kgcm 2 /kg Moment of inertia of motor attachment kgcm Moment of inertia of shaft extension kgcm 2.. Mass of -stroke axis (without motor, without carriage) kg.7.7 Mass stroke per m stroke kg/m..6 Mass of motor attachment kg.. Mass of shaft extension kg.7.7 Repeat accuracy ) mm ±. ±. Internal diameter of clutch mm Profile cross section (W x H) mm 6 x 6 6 x 6 Diameter of shaft extension mm 2 h7 2 h7 Elasticity module (aluminium) N/mm 2.72 x.72 x xial planar moment of inertia ly/lz mm 339 / / 662 Max. ambient temperature C Toothed belt / toothed belt pulley Drive constant mm/rotat. Toothed belt width/pitch 2 / HTD 2 / HTD Effective diameter toothed belt wheel (both sides equal) mm Width toothed belt wheel mm 2 2 Material density toothed belt wheel kg/cm Moment of inertia toothed belt wheel kgcm 2.. Carriage Type Type Type Type ) Max. torque of carriage My dynmax Nm Max. torque of carriage Mz ) dynmax Nm No-load torque of carriage 6) Nm Moment of inertia of carriage (with/without strip redirection) kgcm 2 6. /.. / / / 9. Mass of carriage with/without strip redirection kg 2. / / / / 3.8 (incl. toothed belt and profile component) Moving mass of carriage with/without strip redirection kg. /.9.7 /.6.2 /..7 /.6 Max. total stroke with/without cover strip mm 38 / 2 / / 2 / 32 ) Greater stroke length on request 2) Carriage-dependent 3) Guaranteed lubrication of guide elements, shorter stroke length on request ) Load and stroke-dependent ) The maximum permissible dynamic forces and torques decrease with increasing speed, see characteristic curves on the next page 6) Measured at. m/s Note: the listed forces and torques refer to a service life of 2 km with ball guide guides and 3 km with roller guides Berger Lahr Catalogue Portal xes PS 39

42 Toothed-belt axes PS2B Portal xes PS PS2BR characteristic curves (Ball guides) Max. feed force Fx Fx [N] 8 Max. driving torque M max M [Nm] Max. force Fy dynmax Fy [N] Max. torque of carriage Mx dynmax Mx [Nm] Max. force Fz dynmax Max. torque of carriage My dynmax Fz [N] 6 My [Nm] Deflection PS2BR and PS2BB Max. torque of carriage Mz dynmax In order to limit the deflection of the linear axis in case of long strokes, the axis must have additional support. The diagram below shows the deflection f (mm) of the linear axis with respect to the support distance S (mm) and the acting force F (N). The maximum deflection of f = mm should not be exceeded. Excessive deflection reduces the service life of the linear axis. Mz [Nm] f [mm] 3 N N N 3 N 2 N N N N F 2 N f 2 3 S s [mm] () Carriage type () Carriage type Catalogue Portal xes PS Berger Lahr

43 Portal xes PS Toothed-belt axes PS2B PS2BB characteristic curves (Ball guides) Max. feed force Fx Max. driving torque M max Fx [N] 8 6 M [N] Max. force Fy dynmax Max. torque of carriage Mx dynmax Fy [N] 3 2 Mx [Nm] Max. force Fz dynmax Max. torque of carriage My dynmax Fy [N] My [Nm] Max. torque of carriage Mz dynmax Mz [Nm] () Carriage type () Carriage type Berger Lahr Catalogue Portal xes PS

44 Toothed-belt axes PS2B Portal xes PS Fz Mz My Fy Mx Fx Calculations Calculation of service life The service life of the linear axes is a function of the mean forces and torques that act in the system. If multiple forces and torques act simultaneously, use the following formula to calculate the load factor k. Fy Fz Mx My Mz = k = Loadfactor Fy dynmax Fz dynmax Mx dynmax My dynmax Mz dynmax The service life of the axis (in km) can be approximated using the load factor and the service life - load characteristic curve. Please note that the maximum permissible dynamic forces and torques (in the denominator) decrease with increasing speeds. Refer to the characteristic curves on the previous page. The application-specific load values appear in the numerator. Service life load curve PS BR (roller guides) L [Km] k Service life load curve PS BB (ball guide) L [Km] k No-load torque of toothed belt axis [Nm] No-load torque -stroke axis (without carriage).6 + No-load torque per carriage x number of carriages = No-load torque of toothed belt axis Total moment of inertia of toothed belt axis without drive [kgcm 2 ] Moment of inertia of -stroke axis (without carriage) + Moment of inertia per m stroke x m stroke (.2 kgcm 2 /m) + Moment of inertia per kg payload x kg payload (6. kgcm 2 /kg) + Moment of inertia motor attachment.2 + Moment of inertia per carriage (with/without strip diversion) x number of carriages = Total moment of inertia of toothed belt axis without drive Total mass of toothed belt axis [kg] Mass of -stroke axis + Mass per m stroke x m stroke + Mass motor attachment. + Mass shaft journal.2 + Mass per carriage (with/without strip diversion) x number of carriages + Mass of motor/gearing (see motor catalogue) + Mass of payload = Total mass of toothed belt axis 2 Catalogue Portal xes PS Berger Lahr

45 Portal xes PS Toothed-belt axes PS2B Dimensional drawings L ges. 8 c = L c = 8 X 33 E L ges. 8 L. c = 8. c = X 2 93 E2 x9 B B - B - ø 3 ø 2 ø2 H7 ø H B d = ø6 M / G = 2 mm L = 33; L2 = 26 (L- 2*D) D = 8. 7 D = L = 83; L2 = 386 (L - 2*D) D = 8. 3 D = M / G = 2 mm 6 ø8 H7 / G = 2, mm 7 Dimensional drawings PS2B () = axis without cover strip Lges Total length without cover strip = 9 + L2 + X (add L2 + m for each additional carriage) (2) = axis with cover strip Total length with cover strip cc = 23 + L + X (add L + m for each additional carriage) (3) = cross section with roller guide () = cross section with ball guide L Carriage length with cover strip () = carriage type L2 Carriage length without cover strip (6) = carriage type X Working stroke (B-B) = shaft journal as option m ) Minimum distance between two carriages: with cover strip: 9 mm, without cover strip: mm C Limit switch safety distance to mechanical stop. CUTION: Depending on the payload, the acceleration and the positioning velocity, a greater distance is required. This is obtained by moving the limit switch position. The total axis length changes by this value. D Cover strip turning block G = thread depth E 2) Carriage: type = 33 mm; type = 23 mm G = countersink depth E2 Carriage: type = 93 mm; type = 273 mm ) Maximum of two carriages of the same type on request 2) E/E2: limit switch position opposite drive side Berger Lahr Catalogue Portal xes PS 3

46 Toothed-belt axes PS2B Portal xes PS Motor attachment dimensions E B () xial section (2) Coupling (3) Motor adapter plate () Motor or gearing D C 2 3 Note: Depending on C, the motor adapter plate or the motor may protrude over the axial section and may act as an obstruction if elements are above the carriage. Drive type Size Shaft diameter Length B C D E mm mm mm mm mm mm VRDM stepper motors VRDM VRDM 39 VRDM 393 VRDM VRDM 322 Intelligent compact drives I S Icl IDS/IFS with stepper motor I S 92 I S 93 Intelligent compact drives IFE 7 V /66 Icl IFE with brushless DC motors (with gearing) IFE 7 V-38 IFE 7 V- IFE 7 V- SER servomotors SER SER 393 SER 396 SER SER 37 SER 322 SER 327 RIG servomotors I = : RIG RIG 39 RIG 393 BSH servomotors BSH 9 BSH 2 BSH 3 Planetary gears, single-stage (Neugart) PLE / WPLE PLE 6 / WPLE 6 3. PLE 8 / WPLE PLS Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For dimensional drawings of the motors and drives see the catalogues below. Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl 9922 Catalogue Portal xes PS Berger Lahr

47 Portal xes PS Toothed-belt axes PS3B PS3B Technical Data Type designation PS3BR PS3BB Guide type Roller W Ball guide SHS2 Typical payload kg 3 6 Max. stroke length ) 2) mm Min. stroke length 3) mm 7 Max. speed ) m/s 8 Max. acceleration ) m/s Max. drive force Fx ) N ) Max. force Fy dynmax N 23 Max. force Fz ) dynmax N 2 Load ratings guide system C /C dyn N 8 / 8 38 / 223 ) Max. torque Mx dynmax Nm 36 2 ) Max. driving torque M max Nm No-load torque -stroke axis (without carriage) 6) Nm.7.7 Moment of inertia -stroke axis (without carriage) kgcm Moment of inertia per m stroke kgcm 2 /m Moment of inertia per kg payload kgcm 2 /kg.6.6 Moment of inertia of motor attachment kgcm Moment of inertia of shaft extension kgcm Mass of -stroke axis (without motor, without carriage) kg.. Mass stroke per m stroke kg/m Mass of motor attachment kg.. Mass of shaft extension kg.. Repeat accuracy ) mm ±. ±. Internal diameter of clutch mm Profile cross section (W x H) mm 8 x 8 8 x 8 Diameter of shaft extension mm 2 h7 2 h7 xial planar moment of inertia ly/lz mm / / Elasticity module (aluminium) N/mm 2.72 x.72 x Max. ambient temperature C Toothed belt / toothed belt pulley Drive constant mm/rotat. 2 2 Toothed belt width/pitch 3 / HTD 3 / HTD Effective diameter toothed belt wheel (both sides equal) mm Width toothed belt wheel mm 7 7 Material density toothed belt wheel kg/cm Moment of inertia toothed belt wheel kgcm Carriage Type Type Type Type ) Max. torque of carriage My dynmax Nm Max. torque of carriage Mz ) dynmax Nm No-load torque of carriage 6) Nm Moment of inertia of carriage (with/without strip redirection) kgcm / / / / 3.2 Mass of carriage with/without strip redirection kg. /. 8.2 / 7..8 / / 7.8 (incl. toothed belt and profile component) Moving mass of carriage with/without strip redirection kg 2.2 /.9 3. / / / 3.3 Max. total stroke with/without cover strip mm 3 / / 29 3 / / 29 ) Greater stroke length on request 2) Carriage-dependent 3) Guaranteed lubrication of guide elements, shorter stroke length on request ) Load and stroke-dependent ) The maximum permissible dynamic forces and torques decrease with increasing speed, see characteristic curves on the next page 6) Measured at. m/s Note: the listed forces and torques refer to a service life of 2 km with ball guide guides and 3 km with roller guides Berger Lahr Catalogue Portal xes PS

48 Toothed-belt axes PS3B Portal xes PS PS3BR characteristic curves (Ball guides) Max. feed force Fx Fx [N] Max. driving torque M max M [Nm] Max. force Fy Fy [N] Max. torque of carriage Mx dynmax Mx [Nm] Max. force Fz dynmax Fz [N] Max. torque of carriage My dynmax My [Nm] Deflection PS3BR and PS3BB In order to limit deflection of the linear axis in case of long strokes, the axis must have additional support Max. torque of carriage Mz dynmax Mz [Nm] 8 The diagram below shows the deflection f (mm) of the linear axis with respect to the support distance S (mm) and the acting force F (N). The maximum deflection of f = mm should not be exceeded. Excessive deflection reduces the service life of the linear axis f [mm] 2 N N N 6 N N 3 N 2 N N F 3 N 2 f S s [mm] () Carriage type () Carriage type 6 Catalogue Portal xes PS Berger Lahr

49 Portal xes PS Toothed-belt axes PS3B PS3BB characteristic curves (Ball guides) Max. feed force Fx Max. driving torque M max Fx [N] M [Nm] v [m /s] 2 3 Max. force Fy dynmax Max. torque of carriage Mx dynmax Fy [N] Mx [Nm] Max. force Fz dynmax Max. torque of carriage My dynmax Fz [N] My [Nm] Max. torque of carriage Mz dynmax Mz [Nm] () Carriage type () Carriage type Berger Lahr Catalogue Portal xes PS 7

50 Toothed-belt axes PS3B Portal xes PS Fz Mz My Fy Mx Fx Calculations Calculation of service life The service life of the linear axes is a function of the mean forces and torques that act in the system. If multiple forces and torques act simultaneously, use the following formula to calculate the load factor k. Fy Fz Mx My Mz = k = Loadfactor Fy dynmax Fz dynmax Mx dynmax My dynmax Mz dynmax The service life of the axis (in km) can be approximated using the load factor and the service life - load characteristic curve. Please note that the maximum permissible dynamic forces and torques (in the denominator) decrease with increasing speeds. Refer to the characteristic curves on the previous page. The application-specific load values appear in the numerator. Service life load curve PS BR (roller guides) L [Km] k Service life load curve PS BB (ball guide) L [Km] k No-load torque of toothed belt axis [Nm] No-load torque -stroke axis (without carriage).7 + No-load torque per carriage x number of carriages = No-load torque of toothed belt axis Total moment of inertia of toothed belt axis without drive [kgcm 2 ] Moment of inertia of -stroke axis (without carriage) + Moment of inertia per m stroke x m stroke (2. kgcm 2 /m) + Moment of inertia per kg payload x kg payload (.6 kgcm 2 /kg) + Moment of inertia motor attachment.9 + Moment of inertia per carriage (with/without strip diversion) x number of carriages = Total moment of inertia of toothed belt axis without drive Total mass of toothed belt axis [kg] Mass of -stroke axis. + Mass per m stroke x m stroke + Mass motor attachment. + Mass shaft journal. + Mass per carriage (with/without strip diversion) x number of carriages + Mass of motor/gearing (see motor catalogue) + Mass of payload = Total mass of toothed belt axis 8 Catalogue Portal xes PS Berger Lahr

51 Portal xes PS Toothed-belt axes PS3B Dimensional drawings c = 2 L ge s. L2 c = 2 X 62 E L ge s. c = 2 L c = 2 X 2 38 E2 x9 (36 ) B B - B B d = ø9 ø ø 2 M / G = mm 3 33 ø2h7 ø7h , L= 36 ; L2 = 2 (L - 2*D) L= 7 ; L2 = (L - 2*D) D = 6 2 D = 6 D = 6 D = M6 / G = mm 6 ø H7 / G = 2. mm 7 Dimensional drawings PS3B () = axis without cover strip Lges Total length without cover strip = 27 + L2 + X (add L2 + m for each additional carriage) (2) = axis with cover strip Total length with cover strip: ---= 3 + L + X (add L + m for each additional carriage) (3) = cross section with roller guide () = cross section with ball guide L Carriage length with cover strip () = carriage type L2 D Carriage length without cover strip (6) = carriage type X Working stroke (B-B) = shaft journal as option m ) Minimum distance between two carriages: with cover strip: mm, without cover strip: mm) C Limit switch safety distance to mechanical stop. CUTION: Depending on the payload, the acceleration and the positioning velocity, a greater distance is required. This is obtained by moving the limit switch position. The total axis length changes by this value. D Cover strip turning block G = thread depth E 2) Carriage: type = 62 mm; type = 272 mm G = countersink depth E2 2) Carriage: type = 38 mm; type = 38 mm ) Maximum of two carriages of the same type on request 2) E/E2: limit switch position opposite drive side Berger Lahr Catalogue Portal xes PS 9

52 Toothed-belt axes PS3B Portal xes PS Motor attachment dimensions E B () xial section (2) Coupling (3) Motor adapter plate () Motor or gearing D C 2 3 Note: Depending on C, the motor adapter plate or the motor may protrude over the axial section and may act as an obstruction if elements are above the carriage. Drive type Size Shaft diameter Length B C D E mm mm mm mm mm mm VRDM stepper motors VRDM VRDM 393 VRDM VRDM 322 Intelligent compact drives I S Icl IDS/IFS with stepper motor I S 93 SER servomotors SER SER 37 SER 322 SER 327 RIG servomotors RIG RIG 39 RIG 393 RIG 32 2 RIG 37 RIG 322 Planetary gears, single-stage (Neugart) PLE 6 / WPLE PLE 8 / WPLE PLE2/WPLE 2 2 PLS PLS Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For dimensional drawings of the motors and drives see the catalogues below. Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl 9922 Catalogue Portal xes PS Berger Lahr

53 Portal xes PS Toothed-belt xes PSB PSB Technical Data Type designation PSBB Guide type Ball guide SHS2 Typical payload kg Max. stroke length ) 2) mm Min. stroke length 3) mm 3 Max. speed ) m/s Max. acceleration m/s 2 2 Max. drive force Fx ) N 26 ) Max. force Fy dynmax N 62 Max. force Fz ) dynmax N 62 Max. torque Mx ) dynmax Nm 67 Load ratings guide system C /C dyn N 2 / 37 ) Max. driving torque M max Nm No-load torque -stroke axis (without carriage) 6) Nm 2. Moment of inertia -stroke axis (without carriage) kgcm / 2.8 Moment of inertia per m stroke kgcm 2 /m. Moment of inertia per kg payload kgcm 2 /kg 7.7 Moment of inertia of motor attachment kgcm 2 2. Moment of inertia of shaft extension kgcm 2. Mass of -stroke axis (without motor, without carriage) kg. Mass stroke per m stroke kg/m 6.8 Mass of motor attachment kg 2. Mass of shaft extension kg.323 Repeat accuracy ) mm ±. Internal diameter of clutch mm Profile cross section (W x H) mm x Diameter of shaft extension mm 32 h7 xial planar moment of inertia ly/lz mm 7399 / Elasticity module (aluminium) N/mm 2.72 x Max. ambient temperature C... + Toothed belt / toothed belt pulley Drive constant mm/rotat. 26 Toothed belt width/pitch / HTD8 Effective diameter toothed belt wheel (both sides equal) mm 8.3 Width toothed belt wheel mm 98 Material density toothed belt wheel kg/cm 3.3 Moment of inertia toothed belt wheel kgcm Carriage Type Type ) Max. torque of carriage My dynmax Nm 26 2 Max. torque of carriage Mz ) dynmax Nm 26 2 No-load torque of carriage 6) Nm.3.3 Moment of inertia of carriage (with/without strip redirection) kgcm / / 2. Mass of carriage with/without strip redirection kg 2.7 /. 2. / 7. (incl. toothed belt and profile component) Moving mass of carriage with/without strip redirection kg. /.2 7. / 7. Max. total stroke with/without cover strip mm 3 / 3 / 23 ) Greater stroke length on request 2) Carriage-dependent 3) Guaranteed lubrication of guide elements, shorter stroke length on request ) Load and stroke-dependent ) The maximum permissible dynamic forces and torques decrease with increasing speed, see characteristic curves on the next page 6) Measured at. m/s Note: The listed torques and forces refer to a service life of 2 km. Berger Lahr Catalogue Portal xes PS

54 Tooth-belt axes PSB Portal xes PS PSBB characteristic curves (Ball guides) Max. feed force Fx dynmax Fx [N] 3 2 Max. torque Mx dynmax Mx [Nm] Max. force Fy dynmax Fy [N] Max. torque of carriage My dynmax My [Nm] Max. force Fz dynmax Fz [N] Max. torque of carriage Mz dynmax Mz [Nm] Deflection PSBB In order to limit deflection of the linear axis in case of long strokes, the axis must have additional support. The diagram below shows the deflection f (mm) of the linear axis with respect to the support distance S (mm) and the acting force F (N). The maximum deflection of f = mm should not be exceeded. Excessive deflection reduces the service life of the linear axis. Max. torque of carriage Mz dynmax M [N] f [mm] 2 N N N 6 N N 3 N 2 N N F 3 N 2 f S s [mm] () Carriage type () Carriage type 2 Catalogue Portal xes PS Berger Lahr

55 Portal xes PS Toothed-belt xes PSB Fz Mz My Fy Mx Fx Calculations Calculation of service life The service life of the linear axes is a function of the mean forces and torques that act in the system. If multiple forces and torques act simultaneously, use the following formula to calculate the load factor k. Fy Fz Mx My Mz = k = Loadfactor Fy dynmax Fz dynmax Mx dynmax My dynmax Mz dynmax The service life of the axis (in km) can be approximated using the load factor and the service life - load characteristic curve. Please note that the maximum permissible dynamic forces and torques (in the denominator) decrease with increasing speeds. Refer to the characteristic curves on the previous page. The application-specific load values appear in the numerator. Service life load curve PS BB (ball guide) L [Km] k No-load torque of toothed belt axis [Nm] No-load torque -stroke axis (without carriage) 2. + No-load torque per carriage x number of carriages = No-load torque of toothed belt axis Total moment of inertia of toothed belt axis without drive [kgcm 2 ] Moment of inertia of -stroke axis (without carriage) + Moment of inertia per m stroke x m stroke (. kgcm 2 /m) + Moment of inertia per kg payload x kg payload (7.7 kgcm 2 /kg) + Moment of inertia motor attachment 2. + Moment of inertia per carriage (with/without strip diversion) x number of carriages = Total moment of inertia of toothed belt axis without drive Total mass of toothed belt axis [kg] Mass of -stroke axis. + Mass per m stroke x m stroke Mass motor attachment 2. + Mass shaft journal.32 + Mass per carriage (with/without strip diversion) x number of carriages + Mass of motor/gearing (see motor catalogue) + Mass of payload = Total mass of toothed belt axis Berger Lahr Catalogue Portal xes PS 3

56 Tooth-belt axes PSB Portal xes PS Dimensional drawings L ges. L2 c = 6 6 c = X E L ges. L c = c = X 2 x9 (=36 ) B 2 2 E2 9 B -B - 6 ø ø 32 ø3h7 ø9h B d = ø M8 / G = 2 mm L = 7; L2 = 3 (L - 2*D) L = 7; L2 = 8 (L - 2*D) D = 8 2 D = 8 D = 8 2 D = 8 8 Dimensional drawings PSB 7 M8 / G = 8 mm ø2h7 / G = 2, mm 7 () = axis without cover strip Lges Total length without cover strip = L2 + X (add L2 + m for each additional carriage) (2) = axis with cover strip Total length with cover strip cc = 2 + L + X (add L + m for each additional carriage) (3) = cross section with ball guide () = carriage type L Carriage length with cover strip () = carriage type L2 Carriage length without cover strip (B-B) = shaft journal as option X Working stroke m ) Minimum distance between two carriages: with cover strip: 3 mm, without cover strip: mm) C Limit switch safety distance to mechanical stop. CUTION: Depending on the payload, the acceleration and the positioning velocity, a greater distance is required. This is obtained by moving the limit switch position. The total axis length changes by this value. D Cover strip turning block G = thread depth E 2) Carriage: type = mm; type = 38 mm G = countersink depth E2 2 ) Carriage: type = 2 mm; type = 8 mm ) Maximum of two carriages of the same type on request 2) E/E2: limit switch position opposite drive side Catalogue Portal xes PS Berger Lahr

57 Portal xes PS Toothed-belt xes PSB Motor attachment dimensions E B () xial section (2) Coupling (3) Motor adapter plate () Motor or gearing D C 2 3 Note: Depending on C, the motor adapter plate or the motor may protrude over the axial section and may act as an obstruction if elements are above the carriage. Drive type Size Shaft diameter Length B C D E mm mm mm mm mm mm VRDM stepper motors VRDM VRDM 322 RIG servomotors RIG RIG 39 RIG 393 RIG RIG 37 RIG 322 Planetary gears, single-stage (Neugart) PLE 8 / WPLE PLE2/WPLE 2 2 PLS PLS Note: The maximum driving torque of the motors / gearings must not exceed the maximum permissible driving torque of the axis. For detailed information on the various motors and drives see the catalogues below: Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl 9922 Berger Lahr Catalogue Portal xes PS

58 Toothed-belt xes Type code Portal xes PS Type code Example (continued next page): PS 2 B R M 2 C N B R N / V9 Product PS = portal axis Product family = basic line Size(cross-section of section) = ; ( x mm) 2 = 6; (6 x 6 mm) 3 = 8; (8 x 8 mm) = ; ( x mm) Carriage drive B = toothed belt H = support axis (without drive, guide element only) Guide type R = roller guide B = ball guide Feed per revolution M = 8 mm with size ; mm with size 6; 2 mm with size 8; 26 mm with size N = support axis Stroke length XXXX = in mm Limit switch ) = 2 x PNP sensors as normally closed contacts, not wired ) B = 2 x PNP sensors as normally closed contacts, plugged into Icl C = 2 x PNP sensors as normally open contacts, not wired ) D = 2 x PNP sensors as normally open contacts, plugged into Icl E = 2 x NPN sensors as normally closed contacts, not wired ) F = 2 x NPN sensors as normally closed contacts, plugged into Icl G = 2 x NPN sensors as normally open contacts, not wired ) H = 2 x NPN sensors as normally open contacts, plugged into Icl N = no sensors Carriage (all carriages driven) = type (size 6, 8, ) 2 = type 2 (size ) = type (size, 6, 8, ) Options N = without options B = with cover strip C = corrosion-resistant, without cover strip = antistatic toothed belt, without cover strip E = corrosion-resistant, antistatic toothed belt, without cover strip L = antistatic toothed belt, with cover strip Number of carriages 2) = one B = two C = three Distance between carriages 3) = distance in mm xxx with only one carriage xis drive interface R L F H = without (hollow shaft both sides) L = with motor, attachment left R = with motor, attachment right = with shaft journal, attachment left B = with shaft journal, attachment right C = with shaft journal, attachment both sides E = with motor, attachment left; shaft journal, attachment right F = with motor, attachment right; shaft journal, attachment left N = support axis E PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 PS 2 B R M 2 C N B R N / V9 H N B C Toothed belt drive gear N = without PS 2 B R M 2 C N B R N / V9 ) 2) 3) With mm cable with plug wired at one end, additional versions as accessories,extension cable as accessories Only carriages of the same type can be used, all carriages are driven. Minimum distance between two carriages: see dimensional drawings 6 Katalog Portal xes PS Berger Lahr

59 Portal xes PS Toothed-belt xes Type code Example (continued from previous page): PS 2 B R M 2 C N B R N / XX Motor/gearing interface ) V6 = stepper motors VRDM 36 / VRDM 366 V8 = stepper motors VRDM 368 V9 = stepper motors VRDM 397 / VRDM 39 V = stepper motors VRDM 393 V = stepper motors VRDM 3 I6 = Icl IFS/IDS 6 / IFS/IDS 62 with stepper motor I7 = Icl IFS/IDS 63 with stepper motor I9 = IFS/IDS 9 / IFS/IDS 92 with stepper motor I8 = Icl IFS/IDS 93 with stepper motor S6 = servomotors SER 36 S9 = servomotors SER 39 S = servomotors SER 3 6 = Icl IF 6 with servomotor G9 = servomotors RIG 39 G = servomotors RIG 3 H = servomotors BSH H7 = servomotors BSH 7 / BSH 72 H8 = servomotors BSH 73 H = servomotors BSH / BSH 2 / BSH 3 H = servomotors BSH G = planetary gear (Neugart) - PLE G = planetary gear (Neugart) - PLE/WPLE 6 3G = planetary gear (Neugart) - PLE/WPLE 8 G = planetary gear (Neugart) - PLE/WPLE 2 7G = planetary gear (Neugart) - PLS 7 8G = planetary gear (Neugart) - PLS 9 XX = third-party motor / third-party gearing without attachment cccc by Berger Lahr (drawing required) XY = third-party motor / third-party gearing with attachment by Berger Lahr (drawing required; provide motor/gearing) PS 2 B R M 2 C N B R N / V9 ) ttachment of motor coupling assembly and motor adapter plate:in case of selection V6 to XX, the corresponding motor coupling with coupling housing as well as the motor adapter are attached to the axis. Not the motor.motor attachment:if the axis is to be delivered with attached motor, specify the complete motor identification (see type codes in the motor catalogues) instead of the motor/gearing interface or select XY. The type codes for the motors are in the following catalogues. Catalogue Order number VRDM stepper motors 9922 SER/RIG servomotors Lexium amplifier and BSH servomotors Intelligent compact drive Icl 9922 Berger Lahr Catalogue Portal xes PS 7

60 Toothed-belt axes Portal xes PS 8 Catalogue Portal xes PS Berger Lahr

61 Portal xes PS ccessories ccessories Clamping claws for linear axes T-slot nuts T-slot covers Sensors Grease guns Locating dowels Coupling modules Expanding hubs Clamping hubs Ring gear Shaft journal Documentation and catalogues Berger Lahr Catalogue Portal xes PS 9

62 ccessories Clamping claws for linear axes Portal xes PS ccessories Clamping claws for linear axes Order data Description For mounting the linear axes on a fastening base. Contents: units For linear axis... PS PS2 PS3 PS Order number MN3MF// MN3MF//2 MN3MF/6/3 MN3MF/8/ Dimensional drawings Ø D B H H L L For linear axis... B B B2 D D2 H H L L PS PS PS PS Ø D2 B B2 T-slot nuts Order data Description T-slot nut type Order number The T-slot nuts are swivelled into the T-slots of the axial section to fasten the axis or parts of the axis. Contents: units For linear axis... PS / PS2 x M MN3MFTN PS3 6 x M6 MN3MFT6N6 PS 8 x M6 MN3MFT8N6 8 x M8 MN3MFT8N8 Dimensional drawings L L Linear axis... T-slot nut type B D H L L PS / PS2 x M 8. PS3 6 x M PS 8 x M x M B H D 6 Catalogue Portal xes PS Berger Lahr

63 Portal xes PS ccessories T-slot covers T-slot covers Order data Description length 2 m Contents: units Order number For linear axis... T-slot size PS MN3MC PS2 MN3MCB PS3 6 MN3MC6 PS 8 MN3MC8 Sensors Order data Designation Description Order number Sensor BN/ PNP BU/3 BN/ NPN BU/3 BK/ BK/ With signal display, mm cable and 3-pin M8 circular plug-in connector; fits all linear axes PNP, normally closed contact PNP, normally open contact NPN, normally closed contact NPN, normally open contact units XS8BPBPM8 units XS8BPPM8 units XS8BNBPM8 units XS8BNPM8 3 BK = Black BN = Brown BU = Blue Sensor extension cable 3 Fits trailing cable; sensor side with 3-pin M8 circular plug-in connector socket, second cable end open Contents: units m MN2SBCBG m MN2SBCBG 2 m MN2SBCBG2 Sensor retainer To take a standard limit switch with 8 mm diameter; movable; fits all linear axes units MN3MFM8 Sensor damper plate For attachment to the carriage of the PS axes. Contents: Sensor damper plate and screw kit units MN3MSP Berger Lahr Catalogue Portal xes PS 6

64 ccessories Grease guns Portal xes PS Grease guns Order data Designation Description Order number Single-hand high-pressure oil gun With nozzle for the lubrication of the linear axes with roller guides. This takes type D nozzles. Volume: 2 cm³; delivery:. cm³/stroke MN3MP Single-hand high-pressure grease gun With nozzle for the lubrication of the linear axes with guide. This takes type D nozzles. Volume: 2 cm³; delivery:. cm³/stroke MN3MP2 Nozzle type D6 9 For type D6 lubrication nipple; nipple 9, Ø 6 mm; length 2 mm; with M pointed end 9 to side MN3MT Nozzle type D6 2 For type D6 lubrication nipple; nipple 2, Ø 6 mm; length 2 mm; with M pointed end 2 angled MN3MT2 Locating dowels Order data Description For exact and reproducible load bearing the locating dowels are inserted into the holes provided in the carriages. Contents: 2 units Order number For carriages of linear axes... PS / PS2 PS3 PS MN3MF2LD MN3MF2LD2 MN3MF2LD3 Dimensional drawings Ø D2 Ø D For carriages of linear axis... D D2 PS / PS2. 8 h6 PS3 6.6 h6 PS 9 2 h6 3,8 62 Catalogue Portal xes PS Berger Lahr

65 Portal xes PS ccessories Coupling modules Coupling modules Coupling modules are required to attach motors. 3 3 coupling module for ballscrew axes has the following components: 2 clamping hubs, one each for ballscrew end and motor end ring gear, as a decoupling component between the hubs 2 screws Coupling module for ballscrew axes () Clamping hub (2) Ring gear (3) Clamping hub 2 Coupling module for toothed-belt axes () Clamping hub (2) Ring gear (3) Expanding hub 2 coupling module for toothed-belt axes has the following components: expanding hub for the axis end clamping hub for the motor end ring gear, as a decoupling component between the hubs 2 screws Expanding hubs Order data Description Coupling components for mounting the coupling module to the toothedbelt axis. Contents: unit For toothed-belt axis... PSB PS2B PS3B PSB Order number MN3MFSC MN3MFSC22 MN3MFSC23 MN3MFSC336 Dimensional drawings B E (ISO 762) C F For toothed belt axis... Rotationmoment of inertia Retainingscrew Wrench size Tightening torque Ø D H9 Ø D2 H9 J E B C D D2 F kgcm² mm Nm mm PSB.9 M PS2B.9 M PS3B.32 M PSB.77 M Berger Lahr Catalogue Portal xes PS 63

66 ccessories Coupling modules Portal xes PS Clamping hubs Order data Description Order number Motor end clamping hub for toothed-belt axes, axis and motor end clamping hub for ballscrew axes. Contents: unit For axis... D (mm) M Rmax (Nm) dditional diameters on enquiry Max. transferable torque PS MN3MFCC MN3MFCC MN3MFCC MN3MFCC6.7 MN3MFCC6 2.6 MN3MFCC MN3MFCC6 PS MN3MFCC MN3MFCC MN3MFCC97 MN3MFCC7 MN3MFCC7 2 MN3MFCC27 3 MN3MFCC7 6 MN3MFCC MN3MFCC MN3MFCC27 PS3 2 9 MN3MFCC28 MN3MFCC8 9 7 MN3MFCC MN3MFCC MN3MFCC MN3MFCC MN3MFCC28 PS 2 8 MN3MFCC29 MN3MFCC MN3MFCC MN3MFCC29 22 MN3MFCC MN3MFCC MN3MFCC29 E (ISO 762) CF - B C Ø D2 Rotationmoment of inertia Retainingscrew Wrench size Tightening torque Centre distance Hub length Fit length Inside diameter External diameter J E B C F D D2 Dk D For linear axis... kgcm² mm Nm mm DK PS. M PS2. M PS3. M PS.22 M see order data 6 Catalogue Portal xes PS Berger Lahr

67 Portal xes PS ccessories Ring Gear Ring gear Order data Description The elastomer ring gear is a decoupling component between the hubs of a coupling module. Contents: unit For axis... PS PS2 PS3 PS Order number MN3MFR98 MN3MFR3 MN3MFR22 MN3MFR232 Dimensional drawings Ø DZ Shore hardness Max. torque Nominal torque Rotationmoment of inertia Diameter M max M N J DZ For axis... Nm Nm kgcm² mm PS 98 Sh PS2 98 Sh PS3 98 Sh PS 98 Sh Shaft journal Order data Description The shaft journal can be mounted at both ends of the toothed-belt axis end blocks. Contents: unit For toothed-belt axis... PSB PS2B PS3B PSB Order number MN3MFS22 MN3MFS272 MN3MFS322 MN3MFS3732 Dimensional drawings Ø D3 B C - E (ISO 762) Ø D Ø D2 Max. radial force Rotationmoment of inertia Retainingscrew Wrench size Tightening torque Fit length Joining length Installed length Journal diameter Diameter Expanding hub F R J E B C D D2 D3 For toothedbelt axis... N kgcm² mm Nm mm PSB 23.2 M PS2B. M PS3B 7.6 M PSB 3. M Berger Lahr Catalogue Portal xes PS 6

68 ppendix Definitions and technical terms Portal xes PS Definitions and technical terms xial section Ballscrew drive Bending-critical ballscrew speed Drive constant Dynamic load rating C dyn Limit switch safety distance Modulus of elasticity Mounting position Positioning accuracy Repeat accuracy Ball guide Self-locking Sequence accuracy Sensors The linear axis is based on a high-rigidity precision aluminium section. The ballscrew drive converts a rotary movement into a linear movement. It consists of the ballscrew, the nut system with circulating ball components and the balls as roller components. The ballscrew drive has a very high efficiency. This enables it to execute precise and rigid advance movements and apply high feed forces with high positioning and repeat accuracy. If the bending-critical ballscrew speed is exceeded, ballscrew deviations will occur with resulting oscillations. This will seriously affect the service life of the ballscrew drive. ballscrew supports are installed with longer ballscrew axes to increase the bending-critical ballscrew speed and the output. The drive constant shows the path of the carriage that is covered by one revolution of the axis drive. The dynamic load rating C dyn (in accordance with DIN ISO 28) is the constant equivalent dynamic load P at which a larger number of equivalent rolling bearings or roller guides have 9% probability of reaching the following calculated or nominal service life under standard operating conditions: 6 revolutions with deep-groove ball bearings, profile running blocks, ballscrew drives km with profile rail guideways If the load in operation is less than the dynamic load rating C dyn, the nominal service life L is correspondingly greater. The service life for ball roller bodies can be calculated as follows: L = (C dyn /P)3 x 6 revolutions for deep-groove ball bearings, profile running blocks, ball-screw drives L = (C dyn /P)3 x km profile rail guideways The service life of rolling bearings or roller guides also depends on the ambient conditions as well as the equivalent dynamic load P. Shock loads, increased component temperatures (t > C) and the penetration of dirt particles will reduce the calculated service life. The influence of ambient conditions can be taken into account with various factors when calculating the service life. The limit switch safety distance is the distance between the limit switches and the mechanical end stop. The modulus of elasticity is a material quantity that describes the connection between tension and extension during deformation. The higher the values the stiffer the material. The linear axes can be installed in any desired position. However, note that all forces and torques must be below the maximum values of the axes. Positioning accuracy is the tolerance between a specified position and actual end position. The positioning accuracy is influenced by changes in temperature, load and speed and the accuracy of the switching point of the reference sensors. The repeat accuracy is the capacity to reach a previously reached position again under the same conditions. The repeat accuracy is influenced by changes in temperature, load and speed and the accuracy of the switching point of the reference sensors. The axial section receives the forces and torques applied to the carriage via the ball guide. High forces and torques can be received with section rail guides. The axes are not self-locking. This means that motors with a holding brake, a separate holding brake or suitable weight compensation for the linear axis is required, particularly when axes are vertically mounted. The aluminium sections are extruded sections that have deviations in straightness and torsion because of the manufacturing process. The tolerance of this variation is specified in EN The linear unit must be tensioned on an appropriately accurately machined base to achieve the desired guideway accuracy. Inductive proximity switches are used as sensors for limit switches or reference switches. These switches are small safety limit switches as specified by EN Catalogue Portal xes PS Berger Lahr

69 Portal xes PS ppendix Definitions and technical terms Service life Ballscrew axial play Static load rating C Stiffness Stroke The service life is the path travelled by a linear axis before the first signs of material fatigue can be seen on the guideways, the drive components and the bearings. Service life specifications (kilometres covered) are based on the nominal values in the data sheet. If these nominal values are exceeded, the service life will be reduced according to the service life curve. xial play between ballscrew nut and ballscrew. The static load rating of rolling bearings, rolling guides and ballscrew drives is the static load that causes a lasting deformation at the point of contact with the contact surface but which does not yet degrade the function. Practical experience has shown that the static load rating C (according to DIN ISO 76) may amount to a value that causes the roller diameter to deform by a factor of.. Greater loads cause increased noise and lead to premature failure. The stiffness shows information on the capacity of part that is to be positioned to move and stop at the correct position, even under load variations. The stroke is the path covered by the carriage between the switching points of the limit switches. Berger Lahr Catalogue Portal xes PS 67

70 ppendix Conversion tables Portal xes PS Conversion tables Rotor inertia lb in 2 lb ft 2 lb in s 2 lb ft s 2 slug ft 2 kg cm kg cm s g cm g cm s oz in oz in s lb in x x x x x x -2 lb ft x x lb in s x x x 6.2 x x 3 6 lb ft s 2.63 x x x 7.38 x 7. x 92 slug ft 2 kg cm x x x -6.9 x x -2 kg cm s x x.36 x g cm x x x x -8 x -3. x -6. x -3.6 x -3. x -6 g cm s x x x x x -2 oz in x -.6 x -6.3 x x x -3 oz in s x -2.2 x x x Torque lb in lb ft oz in Nm kg m kg cm g cm dyne cm lb in x x x 3.29 x 6 lb ft x.3 x 7 oz in 6.2 x x x x x x Nm x x 7 kg m x x 9.86 x 7 kg cm x x x g cm x x x x - x - x dyne cm 8.8 x x -8.6 x x x -6.9 x -6 Power Length H.P. W in ft yd m cm mm H.P. 7.7 in W.3 x -3 ft yd m cm x -2. mm x -3.. Speed Mass /min (rpm) rad/sec deg./sec lb oz slug kg g /min (rpm). 6. lb rad/sec oz 6.3 x x deg./sec.67.7 x -2 slug x kg g 2.2 x x x -. Temperature Force F C lb oz gf dyne N F (ϑ - 32) x / 9 lb x.82 C ϑ ¾ 9 / + 32 oz x.278 gf 2.2 x N.. dyne 2.28 x x -6.2 x -3. N N.., Example for conversion: Conversion of inches to metres. Search for "in" (inches) in the left column of the "length" table and "m" (metres) in the header row. The table cell at the intersection of column and row shows the conversion factor: ".2". Multiply inches by.2 and the answer is the value in metres: in x.2 =.2 m. 68 Catalogue Portal xes PS Berger Lahr

71

72 Berger Lahr offers you the positioning and automation solutions you need, based on our technology and proven series of products. Our comprehensive engineering and consulting service is ready to support and advise you every step of the way. Berger Lahr is a member company of the Schneider Electric Group. With its Merlin Gerlin, Square D and Telemecanique brands, Schneider Electric is one of the leading providers of electrical and automationengineering solutions. Berger Lahr GmbH & Co. KG Breslauer Str. 7, D Lahr GB.7 reinisch G Technische Änderungen vorbehalten Printed in Germany