IB Series PK1 Type Planetary Gear Reducer for Servo Motor Right Angle Type

Transcription

1 Worldwide Locations U.S. Sumitomo Machinery Corporation of merica (SM 400 olland Blvd. Chesapeake, V 333, U.S.. TEL ( FX ( Canada SM Cyclo of Canada, Ltd. (SMC 143 Cornwall Road, Oakville, Canada ON L6J 7T TEL ( FX ( Mexico SM Cyclo de Mexico, S.. de C.V. (SMME v. Desarrollo 41, Col. Finsa, Guadalupe, Nuevo León, México, CP6713 TEL ( FX ( Brazil Sumitomo Industrias Pesadas do Brasil Ltda. (SIB Rodovia do cucar (SP-07 Km 6 Itu, Sao Paulo, Brasil TEL ( FX ( Chile SM-Cyclo de Chile Ltda. (SMC San Pablo 307, Quinta Normal, Santiago, Chile TEL ( FX ( rgentina SM-Cyclo de rgentina S.. (SMR Ing. Delpini, 36 rea de Promocion el Triangulo, Partido Malvinas rgentinas Grand Bourg, Buenos ires, rgentina B161KGB TEL ( FX ( Guatemala SM Cyclo de Guatemala Ensambladora, Ltda. (SMGT Parque Industrial Unisur, 0 Calle B 19-0 Zona 3, Bodega D-1 Delta Bárcenas en Villa Nueva, Guatemala TEL ( FX ( Colombia SM Cyclo Colombia, S..S. (SMCO Carrera 11, No.93-3, Office 03, Bogotá, Colombia TEL ( Germany Sumitomo (SI Cyclo Drive Germany Gmb (SCG Cyclostraße 9, 89 Markt Indersdorf, Germany TEL ( FX ( ustria Sumitomo (SI Cyclo Drive Germany Gmb (SCG SCG Branch ustria Office Gruentalerstraße 30, 400 Linz, ustria TEL ( FX ( Belgium Sumitomo (SI Cyclo Drive Germany Gmb (SCG SCG Branch Benelux Office eikneuterlaan 3, 3010 Kessel-Lo, Leuven, Belgium TEL ( FX ( France SM-Cyclo France SS (SMFR 8 venue Christian Doppler, Serris, France TEL ( FX ( Italy SM-Cyclo Italy Srl (SMIT Via dell' rtigianato 3, 0010 Cornaredo (MI, Italy TEL ( FX ( Spain SM-Cyclo Iberia, S.L.U. (SMIB C/Landabarri No. 3, 6 B, Leioa, Vizcaya, Spain TEL ( FX ( Sweden Sumitomo (SI Cyclo Drive Germany Gmb Sales Office Nordic BRO (SCG Dagsverkarvägen 14, BRO, Sweden TEL ( United Kingdom SM-Cyclo UK Ltd. (SMUK Unit 9, Bergen Way, Sutton Fields Industrial Estate, Kingston upon ull, U7 0YQ, East Yorkshire, United Kingdom TEL ( FX ( Turkey SM Cyclo Turkey Güç ktarım Sis. Tic. Ltd. Sti. (SMTR Büyükdere Çayırbaşı Cd. Dede Yusuf Sk. No: 11, 3443 Sarıyer Istanbul, Turkey TEL ( FX ( China Sumitomo (SI Cyclo Drive China, Ltd. (SCT 11F, SMEG Plaza, No ongqiao Road, Changning District, Shanghai, China P.C TEL ( FX ( ong Kong SM-Cyclo of ong Kong Co., Ltd. (SMK Rm 1301, CEO Tower, 77 Wing ong Street, Cheung Sha Wan, Kowloon, ong Kong TEL ( FX ( Korea Sumitomo (SI Cyclo Drive Korea, Ltd. (SCK Royal Bldg. 9F Rm. 913, Dangju-Dong, Chongno-Ku, Seoul, Korea TEL ( FX ( Taiwan Tatung SM-Cyclo Co., Ltd. (TSC Chungshan N. Road 3rd., Sec. Taipei, Taiwan 104, R.O.C. TEL ( FX ( Singapore Sumitomo (SI Cyclo Drive sia Pacific Pte. Ltd. (SC 1 Kwong Min Road, Singapore TEL ( FX ( Philippines Sumitomo (SI Cyclo Drive sia Pacific Pte. Ltd. (SC Philippines Branch Office BB Granville Industrial Complex, Carmona, Cavite 4116, Philippines TEL ( FX ( TEL ( TEL ( Vietnam SM-Cyclo (Vietnam Co., Ltd. (SMVN Factory B, Lot K1--, Road No. -3-, Le Minh Xuan Industrial Park, Binh Chanh Dist., CMC, Vietnam TEL ( FX ( Malaysia SM-Cyclo (Malaysia Sdn. Bhd. (SMM No.7C, Jalan nggerik Mokara 31/6, Kota Kemuning,Seksyen 31, Shah lam, Selangor Darul Ehsan, Malaysia TEL ( FX ( Indonesia PT. SM-Cyclo Indonesia (SMID Jalan Sungkai Blok F No. 09 K, Delta Silicon III, Lippo Cikarang, Bekasi 1730, Indonesia TEL ( FX ( Thailand SM-Cyclo (Thailand Co., Ltd. (SMT 19 Empire Tower, Unit 103-4, 1st Floor, South Sathorn Road, Yannawa, Sathorn, Bangkok 1010, Thailand TEL ( FX ( ustralia Sumitomo (SI ansen ustralia Pty. Ltd. (SU 181 Power St, Glendenning, NSW 761, ustralia TEL ( FX ( India Sumi-Cyclo Drive India Private Limited (SMIN Survey No. 130, issa No. 0, Jeevan Nagar, Off Mumbai-Bangalore Bypass, Tathawade, Pune , India TEL ( FX ( Japan Sumitomo eavy Industries, Ltd. (SI ThinkPark Tower, 1-1 Osaki -chome, Shinagawa-ku, Tokyo , Japan TEL ( FX ( IB Series PK1 Type Planetary Gear Reducer for Servo Right ngle Type IB Series PK1 Type Planetary Gear Reducer for Servo Right ngle Type Specifications, dimensions, and other items are subject to change without prior notice. Power Transmission & Controls Group eadquarter ThinkPark Tower, 1-1 Osaki -chome, Shinagawa-ku, Tokyo , Japan No.Z007E-.1 E06 Printed No.Z007E-

2 Table of Contents Structure Features Standard Specification, Construction, and Mechanism Selection Table 1 (Frame Size Combination Table for Each Rated Speed Selection Table (Frame Size Combination Table for Each Servo Manufacturers 1. FNUC Ltd.. Yaskawa Electric Corporation 3. Mitsubishi Electric Corporation Selection Table 3 (Rating Table (llowable External Rating Selection Procedure Solid Shaft Shaft Durability Check of Output Shaft Part Formula for Calculation of Moment of Inertia and GD Formula for Calculation of Moment of Inertia, Load Torque, and cceleration Torque Moment of Inertia (at Shaft GD (at Shaft Mechanical Precision of Output Part of the Reducer ttachment Procedure Precision Warranty and Safety Precautions

3 Structure Coupling Bearing of output (ngular contact ball bearings Sun gear of output Planetary gear of output Output Pinion Gear Spiral Bevel Gear Fig Number Part Name 1 Output Shaft Oil Seal 3 Bearing of Output 4 Sun Gear of Output Planetary Gear of Output 6 Casing with Internal Gear 7 Sun Gear of Input 8 Planetary Gear of Input 9 Internal Gear of Input 10 daptor (Casing 11 Oil Seal 1 O-ring 13 Bearing 14 Casing 1 Bearing 16 Intermediate Shaft 17 Spiral Bevel Gear 18 Bevel Pinion Shaft 19 Bearing 0 Cover (Casing 1 Oil Seal Input Shaft Bearing 3 Coupling 4 daptor Plate (Provided by Customers

4 Features Compactness Large diameter precision angular bearing, supporting output, allows large radial load with compact casing. Spiral Bevel gear concept allows compact design ( L -dimmension Sumitomo -type B-type L PK10 L L L Weight (kg Sumitomo type B-type Comparison with similar ratio and ratings.. Our survey estimate. Output Variation Three variations available to match customers' needs. Optimal selection possible for your application. Keyless solid type type Solid type with keyway ssembly Fitting (for setting hole Simple assembly. Directly connect servo motor and reducer with bolt (provided by customer after delivery. Tighten motor with hexagon wrench. Ready for immediate use. Torque Wrench Coupling tightening bolt Reducer unit attatchment bolt 3

5 , Standard Specification N F X PK10 F 7 1 Input Method Special Mounting ( ttachment Type Type and Frame Size 110 PK Code Reduction Ratio Backlash Symbol 6 min specification: LB 1 min specification: MC Drive IB Series Output Shaft Direction (Unlimited Mounting Direction Output Shaft Type Solid Shaft (Keyless Solid Shaft (with Key Shaft Symbol N W F Ratio Ratio ctual reduction ratio Standard Specification Backlash Initial backlash setting is 6 or 1-minute. Efficiency 86% or more at rated output torque (with reduction ratio 6, 8, 11, 1, 7 Noise Level Lubrication system Reduction system Output rotation direction Material Mounting location mbient temperature mbient humidity ltitude mbient atmosphere Mounting angle Paint ctual reduction ratio Surface temperature of the reducer 70dB.m *Varies depending on models and mounting condition. Grease lubrication The unit is filled with grease at the time of shipping. It is ready for immediate use. Planetary gear mechanism (nd-stage Bevel gear mechanism (1st-stage Double stage type (Reduction Ratio: 6, 8, 11, 1, 7 Triple stage type (Reduction Ratio: 3, 33, 4, 0, 63, 68, 99, 1, 13, 43 Oposite direction as the rotation direction of input gear. Case with internal gear and gear: Chrome-Molybdenum Steel Joint cover, dapter prate, daptor (Casing, Casing, Cover (Casing: luminum alloy Output and input : S4C Indoor (without dust and water 0~40 C Consult us when the operation condition exceeds the above and when special grease is necessary such as food manufacturing machine. 8% or less. There should be no condensation. 1000m or below There should be no corrosive gases, explosive gases, vapor, or dust. ll angles possible (no limitation Black oxide coating for housing with internal gear Output comes with rustproof treatment at the time of shipping. Please refer ratio table above. 80 C or below. Consult us when operating continuously. 4

6 Selection Table 1 (Frame Size Combination Table for Each Rated Speed Rated Speed 1000 [r/min] Servo Moto Reduction Ratio Capacity [W] Rated Speed 100 [r/min] Servo Moto Reduction Ratio Capacity [W] PK1 Type Rated Speed 000 [r/min] Servo Moto Reduction Ratio Capacity [W] Rated Speed 3000 [r/min] Servo Moto Reduction Ratio Capacity [W] Rated Speed 4000 [r/min] Servo Moto Reduction Ratio Capacity [W] PK110 PK10 PK130 *Refer to Selection Table (on pages 7-10 for frame size combination for each servo motor manufacturer. *Refer to Selection Table 3 (on pages 11, 13 for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial load for each frame size. *Refer to Selection Table 3 (on page 1 for %ED of each speed. *Refer to Selection Table 3 (on page 11 for allowable peak torque at startup for combinations marked. *Combination in must be used that the avarage load torque is limited to be less than rated torque in the rating table (Table 1-1, P.11.

7 Selection Table 1 (Frame Size Combination Table for Each Rated Speed No Load Running Torque [SI Unit] Frame Size PK110 Unit 6 (. 8 (7. 11 (11 1 (1 3 (. 7 (7 33 (33 Reduction Ratio 4 (4 0 ( (63 68 ( (99 1 ( PK10 N m PK (13 43 (43 *Torque necessary at the input side to rotate the reducer at no load condition. *This is the representative value when the ambient temperature is 0 0 C. 6

8 Selection Table (Frame Size Combination Table for Each Servo Manufacturers 1. FNUC Ltd. is Series (Rated speed: 6000~100r/min pplies to torque at rated speed Servo motor Capacity [W] of Servo Reduction Ratio Type Rated Speed [r/min] Code 00 is/ PK110 PK110 PK110 PK10 PK10 PK10 PK10 PK10 J 70 is4/ PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 0V 100 is8/ PK10 PK10 PK130 PK130 PK X 1400 is1/ PK10 PK10 PK130 PK Z 1800 is1/ PK10 PK Z 00 is/ PK130 PK X 3000 is/ PK130 PK X 3000 is30/ PK130 PK X 3000 is40/ PK X PK1 Type Servo motor Capacity [W] of Servo Reduction Ratio Type Rated Speed [r/min] Code 00 is/ PK10 PK10 PK10 PK10 PK10 PK10 - J 70 is4/ PK130 PK130 PK V isc Series (Rated speed: 4000~000r/min pplies to torque at rated speed of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 isc/ PK110 PK110 PK110 PK10 PK10 PK10 PK10 PK10 J 70 isc4/ PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 0V 100 isc8/ PK10 PK10 PK130 PK130 PK X 1400 isc1/ PK10 PK10 PK130 PK Z of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 isc/ PK10 PK10 PK10 PK10 PK10 PK10 - J 70 isc4/ PK130 PK130 PK V 100 isc8/ X 1400 isc1/ Z if Series (Rated speed: 3000~100r/min pplies to torque at rated speed of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 70 if4/ PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 7X 100 if8/ PK10 PK10 PK130 PK130 PK Z 1400 if1/ PK130 PK130 PK130 PK X 00 if/ PK130 PK X 3000 if30/ PK X of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 70 if4/ PK130 PK130 PK X 100 if8/ Z 1400 if1/ X 00 if/ X 3000 if30/ X Note 1: Refer to Selection Table 3 (on pages for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial load for each frame size. : Refer to Selection Table 3 (on page 11 for allowable peak torque at startup for combinations marked. 3: Combination in must be used that the avarage load torque is limited to be less than rated torque in the rating table (Table 1-1, P.11. 7

9 Selection Table (Frame Size Combination Table for Each Servo Manufacturers. Yaskawa Electric Corporation -7 Series SGM7J model (Rated speed: 3000r/min of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 SGM7J PK110 PK110 PK110 PK110 PK110 PK110 PK110 PK110 R 400 SGM7J PK110 PK110 PK110 PK110 PK10 PK10 PK10 PK10 R 600 SGM7J PK110 PK10 PK10 PK10 PK10 PK10 PK130 PK130 R 70 SGM7J PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 1G of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 SGM7J PK110 PK110 PK110 PK110 PK110 PK110 PK110 R 400 SGM7J PK10 PK10 PK10 PK10 PK10 PK10 - R 600 SGM7J PK130 PK130 PK R 70 SGM7J PK130 PK130 PK G -7 Series SGM7 model (Rated speed: 3000r/min of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 SGM PK110 PK110 PK110 PK110 PK110 PK110 PK110 PK110 R 400 SGM PK110 PK110 PK110 PK110 PK10 PK10 PK10 PK10 R 600 SGM PK110 PK10 PK10 PK10 PK10 PK10 PK130 PK130 R 70 SGM PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 1G 1000 SGM PK10 PK10 PK10 PK10 PK130 PK130 PK130 PK130 1G 100 SGM PK10 PK10 PK130 PK130 PK130 PK L 000 SGM PK10 PK10 PK130 PK L 00 SGM PK10 PK130 PK130 PK L 3000 SGM PK130 PK130 PK T 4000 SGM PK130 PK T 000 SGM PK T of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 SGM PK110 PK110 PK110 PK110 PK110 PK110 PK110 R 400 SGM PK10 PK10 PK10 PK10 PK10 PK10 - R 600 SGM PK130 PK130 PK R 70 SGM PK130 PK130 PK G 1000 SGM G 100 SGM L 000 SGM L 00 SGM L 3000 SGM T 4000 SGM T 000 SGM T Note 1: Refer to Selection Table 3 (on pages for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial load for each frame size. : Refer to Selection Table 3 (on page 11 for allowable peak torque at startup for combinations marked. 3: Combination in must be used that the avarage load torque is limited to be less than rated torque in the rating table (Table 1-1, P.11. 8

10 Selection Table (Frame Size Combination Table for Each Servo Manufacturers Yaskawa Electric Corporation -7 Series SGM7P model (Rated speed: 3000r/min of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 SGM7P PK110 PK110 PK110 PK110 PK110 PK110 PK110 PK110 T 400 SGM7P PK110 PK110 PK110 PK110 PK10 PK10 PK10 PK10 T 70 SGM7P PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 7X 100 SGM7P PK10 PK10 PK130 PK130 PK130 PK X PK1 Type of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 SGM7P PK110 PK110 PK110 PK110 PK110 PK110 PK110 T 400 SGM7P PK10 PK10 PK10 PK10 PK10 PK10 - T 70 SGM7P PK130 PK130 PK X 100 SGM7P X -7 Series SGM7G model (Rated speed: 100r/min of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 300 SGM7G PK110 PK110 PK10 PK10 PK10 PK10 PK130 PK130 8E 40 SGM7G PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 8E 80 SGM7G PK10 PK10 PK130 PK130 PK Z 1300 SGM7G PK10 PK10 PK130 PK Z 1800 SGM7G PK130 PK Z 900 SGM7G PK X of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 300 SGM7G PK130 PK130 PK130 PK130 PK130 PK130 PK130 8E 40 SGM7G PK E 80 SGM7G Z 1300 SGM7G Z 1800 SGM7G Z 900 SGM7G X Note 1: Refer to Selection Table 3 (on pages for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial load for each frame size. : Refer to Selection Table 3 (on page 11 for allowable peak torque at startup for combinations marked. 3: Combination in must be used that the avarage load torque is limited to be less than rated torque in the rating table (Table 1-1, P.11. 9

11 Selection Table (Frame Size Combination Table for Each Servo Manufacturers 3. Mitsubishi Electric Corporation MELSERV0-J4 G-KR Series (Rated speed: 3000r/min of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 G-KR3(B 3000 PK110 PK110 PK110 PK110 PK110 PK110 PK110 PK110 R 400 G-KR43(B 3000 PK110 PK110 PK110 PK110 PK10 PK10 PK10 PK10 R 70 G-KR73(B 3000 PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 1G of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 G-KR3(B 3000 PK110 PK110 PK110 PK110 PK110 PK110 PK110 R 400 G-KR43(B 3000 PK10 PK10 PK10 PK10 PK10 PK10 - R 70 G-KR73(B 3000 PK130 PK130 PK G MELSERV0-J4 G-MR Series (Rated speed: 3000r/min of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 G-MR3(B 3000 PK110 PK110 PK110 PK110 PK110 PK110 PK110 PK110 R 400 G-MR43(B 3000 PK110 PK110 PK110 PK110 PK10 PK10 PK10 PK10 R 70 G-MR73(B 3000 PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 1G Servo motor Capacity [W] of Servo Reduction Ratio Type Rated Speed [r/min] Code 00 G-MR3(B 3000 PK110 PK110 PK110 PK110 PK110 PK110 PK110 R 400 G-MR43(B 3000 PK10 PK10 PK10 PK10 PK10 PK10 - R 70 G-MR73(B 3000 PK130 PK130 PK G MELSERV0-J4 G-SR Series (Rated speed: 000r/min of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 G-SR(B 000 PK10 PK10 PK10 PK10 PK10 PK130 PK130 PK130 7Z 1000 G-SR10(B 000 PK10 PK10 PK130 PK130 PK130 PK Z 100 G-SR1(B 000 PK10 PK10 PK130 PK Z 000 G-SR0(B 000 PK130 PK X 300 G-SR3(B 000 PK X of Servo Reduction Ratio Servo motor Capacity [W] Type Rated Speed [r/min] Code 00 G-SR(B 000 PK130 PK130 PK Z 1000 G-SR10(B Z 100 G-SR1(B Z 000 G-SR0(B X 300 G-SR3(B X Note 1: Refer to Selection Table 3 (on pages for rated torque, allowable maximum input speed, allowable peak torque, and allowable radial load for each frame size. : Refer to Selection Table 3 (on page 11 for allowable peak torque at startup for combinations marked. 3: Combination in must be used that the avarage load torque is limited to be less than rated torque in the rating table (Table 1-1, P

12 Selection Table 3 (Rating Table Table1-1 Rating Table (SI Unit Frame Size PK110 PK10 PK130 Reduction Ratio Exact Ratio Rated Torque *1 Input Speed (r/min *, * llowable Peak Torque at Startup and Stop (Nm *3 Maximum Torque at Emergency (Nm *4 llowable Maximum Input Speed (r/min 6 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( *1: Rated torque is the allowable value of the average load torque at the output. The rated torque for the input speed of 1000 r/min or less is the same as the rated torque of 1000 r/min. *: Maximum allowable torque when startup and stop during operation cycle. *3: Maximum allowable value of the shock torque at emergency stop or external shock torque. Should be less than 1,000 times in one lifetime. *4: Maximum allowable input speed when not under constant operation condition. *: Some values are not allowable depending on the input diameter. Make sure to follow the method of motor attachment in page PK1 Type 11

13 Selection Table 3 (Rating Table Table1- llowable Operation Cycle Input Speed (r/min llowable llowable llowable llowable llowable llowable llowable continuous llowable continuous llowable continuous llowable continuous llowable continuous llowable continuous llowable continuous Reduction Exact operation % ED operation % ED operation % ED operation % ED operation % ED operation % ED operation Ratio Ratio period period period period period period period Frame Size PK110 PK10 PK130 6 (. 8 (7. 11 (11 1 (1 3 (. 7 (7 33 (33 4 (4 0 ( (63 68 ( (99 1 ( (13 43 (43 6 (. 8 (7. 11 (11 1 (1 3 (. 7 (7 33 (33 4 (4 0 ( (63 68 ( (99 1 ( (13 43 (43 6 (. 8 (7. 11 (11 1 (1 3 (. 7 (7 33 (33 4 (4 0 ( (63 68 ( (99 1 ( (13 43 (43 min % min % min % min % min % min % min % llowable % ED Note: *llowable constant operation hours for intermittent operation condition (Consult us when exceeding or when continuously operating. 1

14 Selection Table 3 (llowable External Rating Table External Load (SI Unit Speed (r/min Radial xial Radial xial Radial xial Radial xial Radial xial Radial xial Radial Reduction Exact Load Load Load Load Load Load Load Load Load Load Load Load Load Ratio Ratio *1 * *1 * *1 * *1 * *1 * *1 * *1 Frame Size xial Load * N N N N N N N N N N N N N N N m 6 ( ( ( ( ( ( ( PK110 4 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( PK10 4 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( PK130 4 ( ( ( ( ( ( ( ( *1: Radial load is the value applied to the middle of the output (at axial load. *: xial load is the value applied to the center of the output (at radial load. llowable Moment PK1 Type Multiply radial load locating factor to the value in the above table when the radial load is applied to locations other than the middle of the output. Radial Load Location Factor L X 1. 0 F PK110 PK10 PK130 Output Shaft Output S Fig. Radial Load Location Factor Location of Load (X mm Fig. 3 13

15 Selection Procedure Flow Chart and Formula of Selection Fig. 4 Load Pattern n Evaluate load characteristic n1 n3 Input speed t1 t to T t3 tp Time Calculate of average input speed (ne Calculate of average output torque (TE T1 Output torque T Calculate of allowable rating output torque at average input speed TOE n1: verage input speed at acceleration when as in n Fig 4: n1= [r/min] n: Input speed at normal operation n3: verage input speed at deceleration when as in n Fig 4: n1=n3= [r/min] T3 Time t1: cceleration time [s] t: Steady operation time [s] t3: Deceleration time [s] to: Operation time [s] tp: Stop time [s] T: Operation cycle [s] T1: Starting peak torque [Nm] T: Steady operation torque [Nm] T3: Stopping peak torque [Nm] Selection Table 3 (Rating Table Page 11-1 TE < TE TE and < = TOE Select tentative frame size NO Select larger size or ( lower average output torque. TE Radial load at output xial load at output Moment load Check Check input speed Check peak torque acceleration and deceleration NO ctual radial load, axial load, or moment < = Lower maximum speed llowable radial load, axial load,or moment NO Maximum llowable input < = maximum speed input speed Selection Table 3 (Rating Table Page 11 Peak torque at acceleration and deceleration < = llowable peak torque at acceleration and deceleration Selection Table 3 (Rating Table Page 11 NO Raise frame size Selection Table 3 (llowable External Rating Page 13 Calculation of %ED Check shock torque Make stop time longer or reduce speed NO %ED %ED at certain speed. < (Caculate value by interpolation = when there is no speed indicated in Selection Table 3 (Rating Table Selection Table 3 (Rating Table Page 1 Shock torque < = llowable peak torque for emergency stop Selection Table 3 (Rating Table Page 11 NO Raise frame size NO Determine output following page 8 ctual load moment < = allowable moment Calculated main bearing lifetime < = requested lifetime *Calculation is theoretical. Select frame size Check dimension of servo motor attachment part Raise frame size Check motor Determine nomenclature Complete 14

16 Selection Procedure Calculation in Load Condition of Fig. 4 - verage input speed ne = t1 n1 + t n + t3 n3 tn nn Formula 1 n =4,, 6 to - verage output torque TE= t1 n1 T1 10/3 + t n T 10/3 + t3 n3 T3 10/3 + tn nn Tn 10/3 to ne 0.3 x Fs Formula n =4,, 6 (Table llowable rating output TOE = x To Formula 3 ne torque at average To: Rated output torque at input input speed speed 3000 r/min - %ED Selection Table 3 (Rating Table to % ED= x 100 Formula 4 Page 11 T PK1 Type %ED Calculation at verage Input Speed Interpolation method %ED(x= yi(x - xi+1 - yi+1(x - xi xi - xi+1 %ED(x: Calculated %ED x: verage input speed xi: Speed lower than the average input speed on the rating table yi: llowable %ED at the above speed xi+1: Speed higher than the average input speed on the rating table yi+1: llowable %ED at the above speed Table 3 Fs Load factor Loading condition Uniform load Moderate shock eavy shock Fs Example of Selection Evaluate NFX-PK10F-7Z-1 for following specification. Specification: T: cceleration peak torque 100 Nm TR: Normal running torque 30 Nm TB: Peak torque at breaking 80 Nm Shock torque: 00 Nm (700 times during overall lifetime n: verage input speed during acceleration 100 r/min nr: Input speed with normal running 3000 r/min nb: verage input speed during deceleration 100 r/min pplication is assumed to have almost no load. t: cceleration time 0.s tr: Normal running time.0s tb: Deceleration time 0.s tp: Total running time 3.0s to: Standstill time.4s T: Single cycle time 8.4s Calculation: verage input speed ne = 0. x x x 100 = 889 [r/min].4 verage output TE = torque - llowable rating output torque at average input speed 0. x 100 x /3 +.0 x 3000 x 30 10/ x 100 x 80 10/3 0.3 x 1= 39.6 [Nm].4 x 889 TOE = 7. > = Check verage output torque 39.6 < OK Select NFX-PK10F-7Z-1 temporarily..4 - Calculate %ED %ED = x 100= 64.3% Cheak verage output torque 10 [min]= 600 [s] >.4 [s]...ok 80( ( = % > 64.3%...OK - Evaluate maximum input speed 3000 [r/min] < 6000 [r/min] - Evaluate peak torque at acceleration and deceleration 100 [Nm] < 14 [Nm] - Evaluate shock torque 00 [Nm] < 40 [Nm] (1000 times during entire lifetime Selection Table 3 (Rating Table Page 11 NFX-PK10F-7Z-1 is selected by the process above. 1

17 Frame Size: PK110 Reduction Ratio: 1/6, 1/8 Solid Shaft Output Shaft Keyless max min LF ØS 6 ØLB Ø16 h7 Ø6 h7 ( Ø70 daptor plate shape: 30 Ø80 Ø Ø Output Shaft with Key M4 8 daptor plate shape: B ~ 3 Blind Blind hole hole Through hole With flan Ø16h Keyless: N With key: W NFX-PK110 Output type - Backlash Reduction ratio (6, 8 1 min: Thread hole daptor L LB LC LF Shape for motor plate LZ S M attachment shape max min C Blind hole M M C 7J Blind hole B M M J D Blind hole M M D E Blind hole M M E K Blind hole M M K F Through hole M M F L Through hole M M L P Through hole M M P G Through hole M M G Through hole M M R Through hole M M R Through hole M M B Through hole M M B T Through hole M M T J Through hole M M J 8E Through hole M M E Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : s and mass shown in the above figures are subject to change without prior notification. Effective thread Effective length thread length 16

18 Frame Size: PK110 Reduction Ratio: 1/11, 1/1, 1/7 Solid Shaft Output Shaft Keyless max min LF ØS 6 ØLB 7 PK1 Type daptor plate shape: ( Ø16 h7 Ø6 h7 Ø70 30 Ø80 Ø Ø Output Shaft with Key M4 8 daptor plate shape: B ~ 3 Blind hole Through hole With flan Ø16h Keyless: N With key: W NFX-PK110 Output type - Backlash Reduction ratio (11, 1, 7 Thread hole daptor L LB LC LF Shape for motor plate attachment shape C Blind hole LZ max min S M 7J Blind hole B M M J M M C D Blind hole M M D E Blind hole 1 min: M M E K Blind hole M M K F Through hole M M F L Through hole M M L G Through hole M M G Through hole M M R Through hole M M R Through hole M M B Through hole M M B T Through hole M M T J Through hole M M J 8E Through hole M M E Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : s and mass shown in the above figures are subject to change without prior notification. 17

19 Frame Size: PK110 Reduction Ratio: 1/3 Solid Shaft Output Shaft Keyless max min LF ØS 6 ØLB 7 Ø16 h7 ( ( Ø6 h7 Ø70 daptor plate shape: 30 Ø80 Ø Ø Output Shaft with Key M4 8 daptor plate shape: B ~ 3 Blind hole Through hole Ø16 h Keyless: N With key: W NFX-PK110 Output type - Backlash Reduction ratio (3 1 min: Thread hole daptor L LB LC LF Shape for motor plate LZ S M attachment shape max min C Blind hole M M C 7J Blind hole B M M J D Blind hole M M D E Blind hole M M E K Blind hole M M K F Through hole M M F L Through hole M M L G Through hole M M G Through hole M M R Through hole M M R Through hole M M B Through hole M M B T Through hole M M T Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : s and mass shown in the above figures are subject to change without prior notification. 18

20 Frame Size: PK110 Reduction Ratio: 1/33 Solid Shaft Output Shaft Keyless ( max min ( LF ØS 6 ØLB 7 PK1 Type Ø16 h7 8 Ø6 h7 Ø70 daptor plate shape: 30 Ø80 Ø Ø Output Shaft with Key M4 8 daptor plate shape: B ~ 3 Blind hole Through hole Ø16 h Keyless: N With key: W NFX-PK110 Output type - Backlash Reduction ratio (33 1 min: Thread hole daptor L LB LC LF Shape for motor plate LZ S M attachment shape max min C Blind hole M M C 7J Blind hole B M M J D Blind hole M M D E Blind hole M M E K Blind hole M M K F Through hole M M F L Through hole M M L G Through hole M M G Through hole M M R Through hole M M R Through hole M M T Through hole M M T Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : s and mass shown in the above figures are subject to change without prior notification. 19

21 Frame Size: PK110 Reduction Ratio: 1/4, 1/0, 1/63, 1/68 Solid Shaft Output Shaft Keyless max min LF ØS 6 ØLB 7 Ø16 h7 8 Ø6 h Ø70 daptor plate shape: 30 Ø80 Ø Ø Output Shaft with Key M4 8 daptor plate shape: B ~ 3 Ø16h Blind hole Through hole Keyless: N With key: W NFX-PK110 Output type - Backlash Reduction ratio (4, 0, 63, 68 L LB LC LF Thread hole Shape for motor attachment C Blind hole daptor plate shape LZ max min S M 7J Blind hole B M M J M M C D Blind hole M M D E Blind hole 1 min: M M E F Through hole M M F G Through hole M M G Through hole M M R Through hole M M R T Through hole M M T Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : s and mass shown in the above figures are subject to change without prior notification. 0

22 Frame Size: PK110 Reduction Ratio: 1/99, 1/1, 1/13, 1/43 Solid Shaft Output Shaft Keyless max min LF ØS 6 ØLB 7 PK1 Type Ø16 h7 8 Ø6 h7 Ø70 daptor plate shape: 30 Ø80 Ø Ø Output Shaft with Key M4 8 daptor plate shape: B ~ 3 Ø16h Blind hole Through hole Keyless: N With key: W NFX-PK110 Output type - Backlash Reduction ratio (99, 1, 13, 43 1 min: Thread hole daptor L LB LC LF Shape for motor plate LZ S M attachment shape max min C Blind hole M M C 7J Blind hole B M M J D Blind hole M M D E Blind hole M M E Through hole M M R Through hole M M R T Through hole M M T Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : s and mass shown in the above figures are subject to change without prior notification. 1

23 Frame Size: PK10 Reduction Ratio: 1/6 Solid Shaft Output Shaft Keyless 4 max min ØS 6 ØLB 7 Ø10 4-Ø9 Ø10 Ø h7 4 Ø8 h M ( ( Output Shaft with Key 4 3 daptor plate shape: ~ Ø h Through hole Keyless: N NFX-PK10 With key: W Output type - Backlash Reduction ratio (6 1 min: Thread hole daptor L LB LC LF Shape for motor plate LZ S M attachment shape max min 0U Through hole M M U 7S Through hole M M S 7P Through hole M M P 1G Through hole M M G 0V * Through hole M M V * 8E Through hole M M E 7V Through hole M M V 1L Through hole M M L Through hole M M B Through hole M M B 0W Through hole M M W 7Y Through hole M M Y 0Y Through hole M M Y 7R Through hole M M R 7X Through hole M M X 1S Through hole M M S 7Z Through hole M M Z Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : of coupling of motor (0V includes tolerance (+0.01 ~ : s and mass shown in the above figures are subject to change without prior notification.

24 Frame Size: PK10 Reduction Ratio: 1/8 Solid Shaft Output Shaft Keyless max min ØS 6 ØLB 7 ( PK1 Type Ø10 4-Ø9 Ø10 ( Ø h7 4 Ø8 h7 daptor plate shape: Output Shaft with Key 8 7 M6 4 3 daptor plate shape: B ~ 4 Blind Blind hole hole Through Through hole hole With With flang Ø h Keyless: N With key: W NFX-PK10 Output type - Backlash Reduction ratio (8 L LB LC LF 1 min: Thread hole Shape for motor attachment R Blind hole B M M R 0U Through hole M M U 7S Through hole M M S 7P Through hole M M P 1G Through hole M M G J Through hole M M J 0V * Through hole M M V * 8E Through hole M M E 7V Through hole M M V 1L Through hole M M L Through hole M M B Through hole M M B 0W Through hole M M W 7Y Through hole M M Y 0Y Through hole M M Y 7R Through hole M M R 7X Through hole M M X 1S Through hole M M S 7Z Through hole M M Z Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : of coupling of motor (0V includes tolerance (+0.01 ~ : s and mass shown in the above figures are subject to change without prior notification. daptor plate shape LZ Effective thread Effective length thread length max min S M Effective thread Effective length thread le 3

25 Frame Size: PK10 Reduction Ratio: 1/11, 1/1 Solid Shaft Output Shaft Keyless max min ØS 6 ØLB 7 ( Ø10 4-Ø9 Ø10 ( Ø h7 4 Ø8 h7 daptor plate shape: Output Shaft with Key 8 7 M6 4 3 daptor plate shape: B ~ 4 Ø h Blind Blind hole hole Through Through hole hole With With flan pl 4 Keyless: N With key: W NFX-PK10 Output type - Backlash Reduction ratio (11, 1 L LB LC LF 1 min: Thread hole Shape for motor attachment P Blind hole M M P B R Blind hole M M R 8B Through hole M M B 0U Through hole M M U 7S Through hole M M S T Through hole M M T 7P Through hole M M P 1G Through hole M M G J Through hole M M J 0V * Through hole M M V * 8E Through hole M M E 7V Through hole M M V 1L Through hole M M L Through hole M M W Through hole M M W 7Y Through hole M M Y 0Y Through hole M M Y 7R Through hole M M R 7X Through hole M M X 7Z Through hole M M Z Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : of coupling of motor (0V includes tolerance (+0.01 ~ : s and mass shown in the above figures are subject to change without prior notification. daptor plate shape LZ Effective thread Effective length thread length max min S M Effective thread Effective length thread length

26 Frame Size: PK10 Reduction Ratio: 1/3 Solid Shaft Output Shaft Keyless max min ØS 6 ØLB 7 Ø10 4-Ø9 Ø10 ( Ø h7 4 ( Ø8 h7 daptor plate shape: PK1 Type Ø Output Shaft with Key 8 M daptor plate shape: B ~ Ø h Blind Blind hole hole Through hole With flan Keyless: N With key: W NFX-PK10 Output type - Backlash Reduction ratio (3 L LB LC LF 1 min: Thread hole Shape for motor attachment P Blind hole M M P Blind hole B M M R Blind hole M M R 8B Through hole M M B 0U Through hole M M U 7S Through hole M M S T Through hole M M T 7P Through hole M M P 1G Through hole M M G J Through hole M M J 0V * Through hole M M V * 8E Through hole M M E Through hole M M R Through hole M M R 7X Through hole M M X 7Z Through hole M M Z Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : of coupling of motor (0V includes tolerance (+0.01 ~ : s and mass shown in the above figures are subject to change without prior notification. daptor plate shape LZ Effective thread Effective length thread length max min S M

27 Frame Size: PK10 Reduction Ratio: 1/7 Solid Shaft Output Shaft Keyless max min ØS 6 ØLB 7 ( Ø10 4-Ø9 Ø10 ( Ø h7 4 Ø8 h7 daptor plate shape: Output Shaft with Key 8 7 M6 4 3 daptor plate shape: B ~ 4 Blind Blind hole hole Through hole With flan Ø h Keyless: N With key: W NFX-PK10 Output type - Backlash Reduction ratio (7 L LB LC LF 1 min: Thread hole Shape for motor attachment P Blind hole M M P Blind hole B M M R Blind hole M M R 8B Through hole M M B 0U Through hole M M U 7S Through hole M M S T Through hole M M T 7P Through hole M M P 1G Through hole M M G J Through hole M M J 0V * Through hole M M V * 8E Through hole M M E Through hole M M R Through hole M M R 7X Through hole M M X 7Z Through hole M M Z Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : of coupling of motor (0V includes tolerance (+0.01 ~ : s and mass shown in the above figures are subject to change without prior notification. daptor plate shape LZ Effective thread Effective length thread length max min S M 6

28 Frame Size: PK10 Reduction Ratio: 1/33 Solid Shaft Output Shaft Keyless max min ØS 6 ØLB 7 Ø10 4-Ø9 Ø10 ( Ø h7 4 ( Ø8 h7 daptor plate shape: PK1 Type Ø Output Shaft with Key M6 4 3 Blind hole daptor plate shape: B ~ Through hole Ø h Keyless: N With key: W NFX-PK10 Output type - Backlash Reduction ratio (33 L LB LC LF Thread hole Shape for motor attachment P Blind hole 1 min: daptor plate shape LZ max min S M Blind hole B M M M M P R Blind hole M M R 8B Through hole M M B T Through hole M M T J Through hole M M J Note 1: of end key: tolerance conforms to JIS B "Parallel Key." : s and mass shown in the above figures are subject to change without prior notification. 7