Precision Modules PSK

Transcription

1 Precision Modules PSK The Drive & Control Company

2 Rexroth Linear Motion Technology Ball Rail Systems Roller Rail Systems Standard Ball Rail Systems Super Ball Rail Systems Ball Rail Systems with Aluminum Runner Blocks High-Speed Ball Rail Systems Corrosion-Resistant Ball Rail Systems Wide Ball Rail Systems Ball Rail Systems with Integrated Measuring System Clamping and Braking Units for Ball Rail Systems Rack and Pinion for Ball Rail Systems Miniature Ball Rail Systems ECO Ball Rail Systems Cam Roller Guides Standard Roller Rail Systems Wide Roller Rail Systems Heavy Duty Roller Rail Systems Roller Rail Systems with Integrated Measuring System Clamping and Braking Units for Roller Rail Systems Rack and Pinion for Roller Rail Systems Linear Bushings and Shafts Linear Bushings, Linear Sets Shafts, Shaft Support Rails, Shaft Support Blocks Ball Transfer Units Traditional Engineering Components Screw Drives Linear Motion Systems Linear Motion Slides Ball Screw Drive Toothed Belt Drive Linear Modules Compact Modules Precision Modules Ball Rail Tables Ball Screw Drive Toothed Belt Drive Rack and Pinion Drive Pneumatic Drive Linear Motor Ball Screw Drive Toothed Belt Drive Linear Motor Ball Screw Drive Ball Screw Drive Linear Motor Controllers, Motors, Electrical Accessories Linear Actuators 2

3 Precision Modules PSK A Solution to Many Problems 4 Product Overview 6 Types Available, Load Capacities 10 Precision Modules PSK (with Rail System and Ball Screw Assembly) 12 Structure 12 Technical Data 16 Technical Data, Calculation 22 Precision 24 PSK 50 Components and Ordering Data 26 Lengths and Hole Spacing 28 Dimension Drawings 29 PSK 60 Components and Ordering Data 34 Lengths and Hole Spacing 36 Dimension Drawings 37 PSK 90 Components and Ordering Data 42 Lengths and Hole Spacing 44 Dimension Drawings 45 Attachments and Mounting 50 Switch Mounting Arrangements 50 Motors 52 Mounting 56 Lubrication ports 57 Documentation 58 Inquiry/Order Form 59 3

4 Rexroth Precision Modules PSK A Solution to Many Problems Total height, basic unit Total length Load capacities and moments Static load The tasks Speed Driving Transporting Precision Positioning System complete with drive unit Switch mounting arrangements Cover options Accessories Documentation 4

5 26 mm to 46 mm Up to 940 mm, or any intermediate length Load capacity C up to N Longitudinal moment M L up to 1557 Nm Torsional moment M t up to 1478 Nm Up to 8 kg Up to 96 m/min The solution Repeatability up to 0.5 mm Positioning accuracy up to 0.01 mm Straightness accuracy up to 0.5 mm Rexroth Precision Modules AC servomotor or stepping motor with mount, coupling or timing belt side drive; complete with controller and control system Switches over total travel range Without Cover plate Sealing strip Clamping fixtures, motor mounts Moment of friction measurement, lead deviation Running accuracy, positioning accuracy 5

6 Rexroth Precision Modules PSK Product Overview Rexroth Precision Modules are ready-to-mount precision guide systems offering outstanding performance within a compact envelope. Excellent price/performance ratio. Available at short notice. Structure Extremely compact and rigid precision steel profile (frame) with reference edge and integrated Rexroth rail system geometry Rexroth Precision Ball Screw Assemblies to tolerance grade 7 with zero-clearance nut systems Aluminum fixed bearing end block with preloaded bearing Floating bearing end block with double bearings Carriages in various designs: Steel (St) or aluminum (Al), standard length or long, one or two carriages Attachments Maintenance-free digital AC servo drives with integrated brake and attached feedback, or stepping motors Motor mount and coupling or side drive with timing belt Switches Aluminum profile cable duct Drive Controllers and Control Systems Rapid mounting and easy axis alignment thanks to machined reference edge on the frame One or two steel or aluminum carriages in standard length or long Extremely stiff and precise miniature drive unit PSK without High positioning accuracy and repeatability due to Precision Ball Screw Assembly with zero-clearance nut system Fixed bearing end block with ball screw journal High travel speeds combined with high precision due to Ball Rail Systems, large screw diameters and leads, and double floating bearing Simple motor attachment due to locating feature and tapped mounting hole For mounting, maintenance and start-up, see Instructions for PSK Precision Modules RDEFI Fixed bearing end block with integrated motor mount 6

7 Optimum running properties, high load capacities, high precision and high rigidity due to integrated Rexroth Ball Rail System Length: Preferred lengths for even shorter delivery times Customer specific (variable length, no standard length increments) Precise alignment and secure mounting of attachments thanks to tapped bores and pin holes in the carriage Adjustable switches over the entire travel range Low-cost maintenance provided by one-point lubrication (grease) for Ball Rail System and Precision Ball Screw Assembly Internal elements protected by Cover plate Sealing strip (stainless steel strip) One or two steel or aluminum carriages in standard length or long Aluminum carriage in standard length or long 7

8 Hand RS232 Auto Rexroth Precision Modules PSK Product Overview Motor selection in accordance with controllers and control systems A choice can be made between several different motor/controller combinations to achieve the most cost-efficient solution for each customer application. The motor/controller combination must always be taken into account when sizing the drive. For more detailed information about motors and controllers, see the following catalogs: Servomotors: Stepping motors: Servomotor MKD MKD 25B-144-KG1 MKD 41B-144 KG1 Servomotor MSI Digital controllers ECODRIVE DKC Digital controllers DSC DSC MSI 032 MSI 040 MSI 055 Servomotor MSM Digital controllers ECODRIVE Cs MSM 020B MSM 030B MSM 030C MSM 040B 3-phase stepping motor DKC Power electronics Twin Line VRDM 368 VRDM 397 VRDM 3910 STAR step control system 8

9 Precision Modules PSK can be supplied complete with motor, controller and control system. 9

10 Rexroth Precision Modules PSK Types Available, Load Capacities Type designation (size) Precision Modules are designated according to type and size. Precision Module (example) = Type Size P S K 90 Types also the equivalent designs without drive systems. System Guideway = Precision Module (P) = Rail System (S) Drive unit = Precision Ball Screw Assembly (K) Frame dimensions = approx. (mm) Type Guideway Drive Unit Precision Module Rexroth Precision PSK Modules Rail System Precision Ball Screw Assembly 10

11 Overview of Precision Modules with permissible loads A Suitable Loads (recommended value on the basis of past experience) As far as the desired service life is concerned, loads of up to approximately 20% of the dynamic load and moment values (C, M t, M L ) have proved acceptable. The following values may not be exceeded: L C C C C the maximum permissible loads the maximum permissible drive torque the maximum permissible speed. H Available lengths Preferred lengths with reduced delivery times PSK 50 PSK 60 PSK 90 L (mm) L (mm) L (mm) Variable length (customer specific) Any desired length up to L max can still be supplied on request. The L max dimensions for the individual types are given in the appropriate sections. Precision Dimensions Dynamic load capacity C (N) Module A x H (mm) Carriage Standard length Long 1 carr.* 2 carr. 1 carr. 2 carr. PSK x PSK x PSK x Note: All Precision Modules can also be supplied without drive unit. * carr. = carriage 11

12 Rexroth Precision Modules PSK Structure PSK without 1 Fixed bearing end block 2 Precision ball screw assembly with zero-clearance cylindrical single nut 3 One or two carriages in standard length or long, in steel or aluminum 4 Floating bearing end block 5 Frame with reference edge and integrated guideway running tracks PSK with plate 9 Cover plate 10 One or two carriages in standard length or long 10a Carriage plate, aluminum 10b Carriage plate guide unit, in steel or aluminum 4 1 carriage, standard length 1 carriage, standard length b 10a 2 carriages, standard length 2 carriages, standard length 1 carriage, long 1 carriage, long 2 carriages, long 2 carriages, long 12

13 PSK with sealing strip 11 Sealing strip, stainless steel 12 Carriage, standard length or long 12a Carriage plate, aluminum 12b Carriage plate guide unit, aluminum Attachments for all PSK modules 6 Switch 7 Cable duct 8 Switching cam Carriage, standard length a 6 12b 8 7 Carriage, long 13

14 Rexroth Precision Modules PSK Structure Fixed bearing end block Version with ball screw journal (A) 1 1 End block with preloaded bearing 2 Tapped mounting hole 3 Centering feature A 2 Version with integrated motor mount (B) 3 1 End block with integrated motor mount and preloaded bearing 2 Tapped mounting hole 3 Centering feature 4 Mount type D, for motor attachment in accordance with NEMA B Motor attachment Motor attachment with mount and coupling A motor can be attached with a mount and coupling to all Precision Modules equipped with Precision Ball Screw Assemblies. 1 2 The motor mount serves both to attach the motor to the Precision Module and as an enclosed housing for the coupling. The coupling transmits the motor drive torque free of stresses to the Precision Module s ball screw journal. Fixed bearing end block with integrated motor mount and coupling 1 Motor 2 Fixed bearing end block with integrated motor mount 3 Coupling 5 Precision module Fixed bearing end block with attached motor mount and coupling 1 Motor 2 Motor mount 3 Coupling 4 Fixed bearing end block 5 Precision module

15 Motor attachment with timing belt As an alternative, the motor (4) can be attached to the Precision Modules PSK 60 and PSK 90 as a side drive with timing belt (2). 2 In this case, the overall length is shorter than when a mount and coupling are used to attach the motor. The compact enclosed housing provides belt protection and secures the motor. The following gear ratios are available: i = 1 : 1 i = 1 : The timing belt side drive can be mounted in four directions: top, bottom left, right 1 Precision module 2 Extruded anodized aluminum profile 3 Toothed belt 4 AC servomotor 5 Pre-tensioning of the toothed belt: Apply pre-tensioning force F v to the motor (F v will be specified on delivery). 6 Pulleys 7 Cover plate 8 Cover 9 Ball screw journal with support bearing F v

16 Rexroth Precision Modules PSK Technical Data Dynamic characteristics Precision Type of Carriage No. of Guideway Ball screw Fixed bearing module length carriages Dynamic load Dynamic moments capacity M t M L d 0 x P Dynamic load Dynamic load C (N) (Nm) (Nm) capacity C (N) capacity C (N) PSK 50 w/o and 1 carr.* standard plate 2 carr l m standard 1 carr strip long 1 carr x w/o and standard 1 carr carr l m 12 x PSK 60 plate 1 carr long 2 carr l m 12 x strip standard 1 carr long 1 carr x carr standard w/o and 2 carr l m 16 x PSK 90 plate 1 carr long 2 carr l m 16 x strip standard 1 carr * carr. = carriage l m = center-to-center distance between carriages in mm long 1 carr x General technical data Precision Planar moment Max. Min. c-to-c distance Mass (kg) module of inertia length l m min (mm) l x l y L max standard long without without with with sealing (cm 4 ) (cm 4 ) (mm) length without motor with motor plate strip PSK L + m b 0.38 L m b 0.41 L m b 0.42 L m b PSK L + m b 0.69 L m b 0.72 L m b 0.73 L m b PSK L + m b L m b L m b L m b x y x Mass Mass calculation does not include motor or switches. Mass formula: y Mass (kg/mm) x length L (mm) + mass of all parts of fixed length (kg) + moved mass m b (kg) Modulus of elasticity E E = 210,0 N/mm 2 16

17 M t C C C C M L M L I m with one carriage Notes on dynamic load capacities and moments The dynamic load capacities and moments are based on 1,0 m travel. However, a travel of just 50,0 m is often taken as a basis. If this is the case, for comparison purposes: Multiply value C, M t and M L from the Rexroth table by Maximum permissible loads The maximum permissible forces and moments are equal to half the dynamic characteristics (C, M t, M L ). with two carriages l m = center-to-center distance between carriages Moved mass m b * carr. = carriage Precision module PSK 50 PSK 60 PSK 90 Moved mass m b (kg) Carriage version Carriage without without with plate with sealing strip length without motor with motor 1 carr.* 2 carr. 1 carr. 2 carr. 1 carr. 2 carr. 1 carr. Steel version standard Al version Steel version Al version Steel version Al version standard long standard long standard long standard long standard long

18 Rexroth Precision Modules PSK Technical Data Maximum permissible drive torque M per The M per values shown apply in the following conditions: horizontal operation ball screw journal without keyway no radial load on ball screw journal Observe the rated torque of coupling used! M (Nm) 8x2.5 PSK L (mm) M (Nm) 12x10 12x5 PSK x L (mm) M (Nm) 16x16 16x10 PSK x L (mm) Ball screw journal with keyway Due to the notch effect and the reduction of the effective diameter, observe the maximum values for the drive torque given in the graphs! For PSK 90: If a keyway is used, the applicable value will be the lower figure when comparing the graph and the table! Precision Module M per (Nm) PSK

19 Permissible velocity v Observe the motor speed! 20 v (m/min) PSK x L (mm) 80 v (m/min) PSK x x5 12x L (mm) v (m/min) 16x16 16x10 16x5 PSK L (mm) 19

20 Rexroth Precision Modules PSK Technical data Drive data of side drive with timing belt, fixed bearing end for motor attachment via timing belt side drive Motor type MKD 25B / MSM 030B / MSM 030C MKD 41B / MSM 040B Friction moment M RRV (Nm) Permissible torque up to length L =... at Reduced mass moment of inertia at Permissible torque up to length L =... at Reduced mass moment of inertia at Reduction i =... i = 1 i = 1.5 i = 1 i = 1.5 i = 1 i = 1.5 i = 1 i = 1.5 Precision module Ball screw d 0 x P L (mm) M Rv (Nm) M Rv (Nm) J Rv (10-6 kgm 2 ) J Rv (10-6 kgm 2 ) L (mm) M Rv (Nm) M Rv (Nm) J Rv (10-6 kgm 2 ) J Rv (10-6 kgm 2 ) 12 x PSK x x PSK x x x M Rv = Permissible system torque for side drive with timing belt on the motor journal (observe max. motor torque M max ) M RRv = Friction moment, side drive with timing belt on motor journal J Rv = Reduced mass moment of inertia, side drive with timing belt i = Reduction, side drive with timing belt Technical data, AC servomotors Motor type MKD 25B-144 KG1 MKD 41B-144 KG1 Maximum effective speed n max (min -1 ) Rated torque M N (Nm) 0.9 Maximum torque M max (Nm) Mass moment of inertia J M + J Br Braking torque M Br Mass with brake m Br (10-6 kgm 2 ) (Nm) (kg) See catalog Controllers, Motors, Electrical Accessories, Servomotors Technical data, ECODRIVE Cs motors Motor type MSM 030 B MSM 030 C MSM 040 B Maximum effective speed n max (min -1 ) Rated torque M N (Nm) Maximum torque M max (Nm) Mass moment of inertia J M + J Br (10-6 kgm 2 ) Braking torque M Br (Nm) Mass, motor + brake m M + m Br (kg)

21 Friction moment M R at motor journal Precision module Ball screw Friction moment M R (Nm) for carriage version d 0 x P without or with plate 1 or 2 carriages with sealing strip 1 carriage Standard length Long Standard length Long PSK 50 PSK 60 PSK 90 8 x x x x x x x Mass moment of inertia J S for system with external load J s = [k 1 + k 2. L + k 3 (m b + m fr )] J s... mass moment of inertia for system with external load (kgm 2 ) k 1, k 2, k 3... Constants, (see table) m b... Moved mass (kg) (see Technical Data ) m fr... External load (kg) L... Length of PSK module (mm) Precision module Ball screw Constants d 0 x P k 1 k 2 k 3 PSK 50 8 x x PSK x x x PSK x x Coupling data Precision module for Coupling data motor Rated torque Mass moment Weight PSK 50 PSK 60 PSK 90 attach- M K of inertia J k ment (Nm) (10-6 kgm 2 ) (kg) MSM 030B MSI 032 MSM 020B MSM 030B MKD 25 MSI 040 MKD MSM 040B MKD MSM 030C MSI

22 Rexroth Precision Modules PSK Technical Data, Design Calculations Nominal service life Nominal service life in meters: ( ) 3 C L 10 = 10 5 L 10h = F m Nominal service life in hours: L v L 10 = Nominal service life in meters (m) L 10h = Nominal service life in hours (h) C = Dynamic load capacity (N) F m = Mean equivalent dynamic load (N) v = Velocity (from Permissible velocity graph) (m/min) Friction moment Motor attachment via mount and coupling Motor attachment via side drive with timing belt M R = M R = M RS M RS i + M RRv M R = Friction moment at motor journal (Nm) M RS = Friction moment, system (Nm) M RRv = Friction moment, side drive with timing belt at motor journal (Nm) i = Reduction Mass moment of inertia For handling: 6 J M J fr For processing: J fr J M = External mass moment of inertia (kgm 2 ) = Mass moment of inertia of motor (kgm 2 ) 1.5 J M J fr Motor attachment via mount and coupling Motor attachment via side drive with timing belt Speed If a geared motor is attached, the moment of inertia of the gears and the gear transmission ratio must be included in the design calculation. J fr = J S + J K + J Br J tot = J fr + J M = J S + J K + J Br + J M J fr = J S i 2 J tot = J fr + J M = + J Rv + J Br J S i 2 n 1 = i v 10 P n 1 < n max + J Rv + J M + J Br v < permissible velocity from graph J tot = Total mass moment of inertia (kgm 2 ) J fr = External mass moment of inertia (kgm 2 ) J S = Mass moment of inertia of system with external load (kgm 2 ) J K = Mass moment of inertia of coupling (kgm 2 ) J Br = Mass moment of inertia of motor brake (kgm 2 ) J M = Mass moment of inertia of motor (kgm 2 ) J Rv = Reduced mass moment of inertia of side drive with timing belt at motor journal (kgm 2 ) L = Length of PSK module (mm) i = Reduction v = Permissible velocity (m/min) n 1 = Speed (1/min) n max = Maximum effective motor speed (1/min) P = Screw lead (mm) i = Reduction 22

23 Rexroth Precision Modules PSK Calculation Example Starting data A mass of 20 kg is to be moved 390 mm at a maximum velocity of 40 m/min. Module selected on the basis of the technical data and mounting dimensions: PSK 90 without and with a standard length steel carriage; motor attachment via integrated mount and coupling; motor type MSI 055 with brake. 390 mm m=20kg F = 0 N L m=20kg When dimensioning the drive, the motor-controller combination must always be considered, because the motor type and the performance data (e.g. max. effective speed and maximum torque) depend on the controller or the control system used. Estimation of PSK module length L: Excess travel = 2. P = mm = 32 mm (in accordance with the formula given in PSK 90 Components and Ordering Data ) Selection of ball screw assembly: Permissible ball screw assemblies according to permissible velocity graph at v = 40 m/min: ball screw 16 x 10 and 16 x 16 Ball screw assembly selected: ball screw 16 x 10 with v max = 60 m/min Generally, the smallest lead should be preferred (resolution, braking path, length). Permissible drive torque of ball screw 16 x 10: M per = 4.1 Nm (according to permissible drive torque graph) Calculating the PSK module length L: Excess travel = 2. P = mm = 20 mm Length L = (stroke + 2. excess travel) + 1 mm = (390 mm mm) + 1 mm = 530 mm Selected: preferred length L = 540 mm; hole spacing in frame: 70 mm / 4 x 1 mm / 70 mm Friction moment M R : M R = M RS = 0.30 Nm (see Technical Data ) Mass moment of inertia J: J fr = J S + J K + J Br J K = kgm 2 ; J Br = kgm 2 (see Technical Data and Motors ) J S = [ k 1 + k. 2 L + k. 3 (m b + m fr ) ] ; m b = 0.77 kg (see Technical Data ) J S = [ mm (0.77 kg + 20 kg) ] = kgm 2 J fr = ( ) kgm 2 = kgm 2 For handling: Speed: J fr J M = 6 n = i. v. 10 P kgm 2 6 = m/min mm = kgm 2 = 40 min -1 Result: PSK 90 without with one steel carriage in standard length: Motor MSI 055, attachment via integrated mount and coupling Preferred length L = 540 mm; hole spacing in frame: 70 mm / 40 x 1 mm / 70 mm Ball screw 16 x 10 with v max = 60 m/min and M per = 4.1 Nm Friction moment M R = 0.30 Nm Motor data: Mass moment of inertia: J M = kgm 2 > kgm 2 Speed: n M = 70 min -1 > 40 min -1 Torque: M M = 3.0 Nm < 4.1 Nm For final motor selection, the drive and performance data have to be recalculated as specified in the catalogs Controls, Motors, Electrical Accessories, and

24 Rexroth Precision Modules PSK Accuracy General Note All accuracy figures apply to the module when screwed down and assume an ideally flat mounting base. The figures do not take account of any shape deviations in the mounting base surface. Accuracy P 1 Measured at the carriage center II P P 1 (µm) L (mm) Accuracy P 3 II P 3 P 3 lengthwise Reference edge P 3 (µm) L (mm) 24

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26 STAR Precision Module PSK 50 Components and Ordering Data Part number, length... Guide- Drive unit =.. Carriage =.. Type way =.. (and ,... mm dimension drawing) Reference edge Screw journal Ball screw size d 0 x P 8 x 2.5 For option Steel Aluminum Standard length Standard length Long 1 carr.* 2 carr. 1 carr. 2 carr. 1 carr. without drive (OA) OA01 OA01 without screw journal 50 without with ball screw, without motor mount (OF) Reference edge Length = L without OF01 OF02 MF01 MF02 MF10 Reference edge with ball screw and motor mount (MF) Reference edge Reference edge with ball screw and integrated motor mount (MF) Reference edge MF11 Reference edge OF01 OF02 (14.26.) MF01 MF02 ( ) ( ) MF10 MF11 ( ) ( ) ( ) 01 L = 150 mm 10 L = 2 mm 11 L = 250 mm 12 L = 3 mm 13 dia. 5 dia. 5 dia plate sealing strip without plate sealing strip without plate sealing strip For order example see Inquiry/Order Form section. * carr. = carriage Switch mounting arrangements A cable duct is required to mount the switches. For more information on switch mounting and switch types, see the section on Switch Mounting Arrangements. 26

27 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speed, motor data, etc.)! Motor attachment =.. Motor =.. Cover =.. 1st, 2nd, 3rd switch =.. Documentation =.. Gear ratio i = Attachment kit 1) for motor Motor type without with plate with sealing strip Cable duct =.. Switching cam =.. Standard report Measurement report without switch and cable duct Switch: Reed contact Hall sensor Friction moment 03 Lead deviation 01 MSM 030B 71 2) 70 Switch type Mounting side Cable duct 26 Running accuracy VRDM 368 NEMA 17-D Switching cam for: - without - with plate Switching cam for sealing strip Positioning accuracy 33 MSI 032 2) MSM 020B 2) ) Attachment kit can also be supplied without motor (enter for motor on order form). 2) Motor without brake Mounting side for switches: Switches may be mounted on the left (L) or right (R) side of the Precision Module. Left (L) Right (R) 27

28 Rexroth Precision Module PSK 50 Lengths and Hole Spacing for ISO 4762 T 1 > 10 T = 80 N x 80 = Z L (T 1 ) Length L without and with plate Number of Carriage version carriages Standard length Long one carriage L = (stroke + 2 excess travel) + 70 mm two L = (stroke + 2 excess travel) + l m + 70 mm carriages l m min = 60 mm with sealing strip one carriage L = (stroke + 2 excess travel) mm L = (stroke + 2 excess travel) mm I m = center-to-center distance between carriages (observe l m min ) Stroke = maximum travel of carriage center between the outermost switch activation points. In most cases the recommended limit for excess travel (braking path) is: Excess travel = 2 screw lead P Example: Ball screw 8 x 2.5 (d 0 x P), Excess travel = = 5 mm Preferred lengths of frame Length T 1 T N Z for ISO 4762 L screws M Variable length Calculating the hole pattern for the frame Applies to all options Precision module length Hole spacing Minimum end space L (mm) T = 80 mm T 1 min = 10 mm N 1 = T 1 = L T = L T N 2 L 80 N = INT (N 1 ) (whole number of N 1 ) T 1 > T 1 min -> N, T 1 = L 80 N 2 T 1 T 1 min -> N = N 1 T 1 = T mm Result: Hole pattern: T 1 / N 80 / T 1 Example: L = 260 mm N 1 = N = 3 T 1 = L T 260 = = = 10 T 1 T 1 min -> N = 3 1 = 2 T 1 = = mm / 2 80 mm / 50 mm 28

29 Rexroth Precision Module PSK 50 Dimension Drawings without Cover All dimensions in mm Diagrams to different scales dia. 5h7 Excess travel L/2 Max. travel / 2 Effective stroke / 2 Max. travel / 2 Effective stroke / 2 Excess travel (T 1 ) T 1 > N x 80 = Z L Version: one or two carriages Lube port for customer-built attachments Funnel-type lube nipple DIN 3405-D3 l m min = 60 dia. 4 H7-5 deep (2x) M4-6 deep (4x) Driving runner block M3-6 deep (4x) A A For mounting with clamping fixtures dia. 4.5 dia Reference edge 29

30 Rexroth Precision Module PSK 50 Dimension Drawings with Cover Plate All dimensions in mm Diagrams to different scales dia. 5h7 Excess travel L/2 Max. travel / 2 One-point lubrication (grease) at the funnel-type lube nipples DIN 3405-D3 on both sides Max. travel / 2 Effective stroke / 2 Effective stroke / Excess travel T 1 > N x 80 = Z L (T 1 ) 22 Version: one or two carriages l m min = 60 dia. 4 H7-5 deep (2x) M4-14 deep (4x) M3-6 deep (4x) 2.5 Driving runner block A A For mounting with clamping fixtures Reference edge dia. 4.5 dia

31 Rexroth Precision Module PSK 50 Dimension Drawings with Sealing Strip All dimensions in mm Diagrams to different scales One-point lubrication (grease) at the funnel-type lube nipples DIN 3405-D3 on both sides dia. 5h7 Excess travel L/2 Max. travel / 2 Max. travel / 2 Effective stroke / 2 Effective stroke / Excess travel 32, T 1 > N x 80 = Z L M3-5 deep (2x on both sides) (T 1 ) 22 Version: carriage, standard length M3-6 deep (4x) M4-10 deep (4x) dia. 4 H7-5 deep (2x) for M Version: carriage, long A M4-10 deep (8x) dia. 4 H7-5 deep (2x) 12.5 for M3 49 A For mounting with clamping fixtures Reference edge dia. 4.5 dia

32 Rexroth Precision Module PSK 50 Dimension Drawings Type OF01 and OF dia. 25 H7 dia. 5h Type MF01 and MF02 Motor VRDM 368 with mount and coupling Type MF01 and MF02 Motor MSM 030B with mount and coupling Cable outlet ) ) For further information and dimensions, see Motors. 1) without brake 2) with brake 32

33 Type MF10 and MF11 Integrated motor mount (NEMA 17 - type D) M3, 8 deep 45 dia. 22 H7 dia.5h dia Type MF10 and MF11 Motor MSM 020B with integrated mount and coupling Type MF10 and MF11 Motor MSI 032 with integrated mount and coupling ) ) 118 1) ) 1) without brake 2) with brake 33

34 Rexroth Precision Module PSK 60 Components and Ordering Data Part number, length ,... mm... Type (and dimension drawing) Guideway =.. Drive unit =.. Carriage =.. Reference edge (RE) OA01 OF01 OF02 MF01 MF02 without drive (OA) with ball screw, without motor mount (OF) Reference edge Reference edge with ball screw and motor mount (MF) Reference edge Reference edge OA01 OF01 OF02 (14.36.) MF01 MF02 ( ) ( ) Length = L 01 L = 150 mm 10 L = 2 mm 11 L = 250 mm 12 L = 3 mm 13 Screw journal without screw journal dia. 6 dia x 2 Ball screw size d 0 x P 12 x 5 12 x For option without without plate sealing strip without plate sealing strip Steel Aluminum Standard Long Standard Long 1 carr.* 2 carr. 1 carr. 2 carr. 1 carr. 2 carr. 1 carr. 2 carr with ball screw and integrated motor mount (MF) with ball screw and timing belt side drive (RV) RE left RE right RV01 RV02 RV03 MF10 Reference edge RV04 MF11 Reference edge MF10 MF11 ( ) ( ) ( ) RV01 L = 4 mm 15 L = 5 mm 17 L = 6 mm 19 L = 7 mm 21 dia for MKD 25 without plate sealing strip without RV05 RV07 RE RE RV06 RV08 RE RE to RV08 ( ) for MSM 030B plate sealing strip For order example see Inquiry/Order Form section. * carr. = carriage Switch mounting arrangements A cable duct is required to mount the switches. 34 For more information on switch mounting and switch types, see the section on Switch Mounting Arrangements.

35 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speed, motor data, etc.)! Motor attachment =.. Motor =.. Cover =.. 1st, 2nd, 3rd switch =.. Documentation =.. Gear ratio i = Attachment kit 1) for motor Motor type without with plate with sealing strip Cable duct =.. Switching cam =.. Standard report Measurement report VRDM 368 MSM 030B NEMA 23-D MKD 25B ) without switch and cable duct Switch: Reed contact Hall sensor Switch type Mounting side Cable duct Switching cam for: - without - with plate Switching cam for sealing strip Friction moment 03 Lead deviation 04 Running accuracy 05 Positioning accuracy 33 MSI ) 02 i=1 11 MKD 25B 50 i= i=1 13 MSM 030B ) i= ) Attachment kit can also be supplied without motor (enter for motor on order form). 2) Motor without brake Mounting side for switches: Switches may be mounted on the left (L) or right (R) side of the Precision Module. Left (L) Right (R) 35

36 Rexroth Precision Module PSK 60 Lengths and Hole Spacing for ISO 4762 T 1 > 15 T = 1 N x 1 = Z L (T 1 ) Length L without and with plate Number of Carriage version carriages Standard length Long one carriage L = (stroke + 2 excess travel) + 70 mm L = (stroke + 2 excess travel) + 85 mm two L = (stroke + 2 excess travel) + l m + 70 mm L = (stroke + 2 excess travel) + l m + 85 mm carriages l m min = 60 mm l m min = 75 mm with sealing strip one carriage L = (stroke + 2 excess travel) mm L = (stroke + 2 excess travel) mm I m = center-to-center distance between carriages (observe l m min ) Stroke = maximum travel of carriage center between the outermost switch activation points. In most cases the recommended limit for excess travel (braking path) is: Excess travel = 2 screw lead P Example: Ball screw 12 x 10 (d 0 x P), Excess travel = 2 10 = 20 mm Preferred lengths of frame Length T 1 T N Z for ISO 4762 L screws M Variable length Calculating the hole pattern for the frame Applies to all options Precision module length Hole spacing Minimum end space L (mm) T = 1 mm T 1 min = 15 mm N 1 = T 1 = L T = L T N 2 L 1 N = INT (N 1 ) (whole number of N 1 ) T 1 > T 1 min -> N, T 1 = L 1 N 2 T 1 T 1 min -> N = N 1 T 1 = T mm Result: Hole pattern: T 1 / N 1 / T 1 Example: L = 430 mm N 1 = N = 4 T 1 = L T 430 = = = 15 T 1 T 1 min -> N = 4 1 = 3 T 1 = = mm / 3 1 mm / 65 mm 36

37 Rexroth Precision Module PSK 60 Dimension Drawings without Cover All dimensions in mm Diagrams to different scales dia. 6h7 Excess travel L/2 Max. travel / 2 Effective stroke / 2 Max. travel / 2 Effective stroke / 2 Excess travel Version: one or two carriages, standard length T 1 > 15 1 Lube port for customer-built attachments Funnel-type lube nipple DIN 3405-D3 16 N x 1 = Z L l m min = 60 M5-8 deep (2x) dia. 5 H7-8 deep (2x) (T 1 ) Driving runner block Lube port for customer-built attachments Funnel-type lube nipple DIN 3405-D3 Version: one or two carriages, long 9 l m min = 75 dia. 5 H7-8 deep (2x) M5-8 deep (4x) M4-8 deep (4x) A A For mounting with clamping fixtures dia Reference edge dia

38 Rexroth Precision Module PSK 60 Dimension Drawings with Cover Plate All dimensions in mm Diagrams to different scales One-point lubrication (grease) at the funnel-type lube nipples DIN 3405-D3 on both sides dia. 6h7 Excess travel L/2 Max. travel / 2 Max. travel / 2 Effective stroke / 2 Effective stroke / Excess travel T 1 > 15 1 N x 1 = Z L l m min = 60 M5-15 deep (2x) dia. 5 H7-8 deep (2x) (T 1 ) Version: one or two carriages, standard length M4-8 deep (4x) 16 Driving runner block 9 40 l m min = 75 dia. 5 H7-8 deep (2x) M5-15 deep (4x) Version: one or two carriages, long A A For mounting with clamping fixtures dia Reference edge dia

39 Rexroth Precision Module PSK 60 Dimension Drawings with Sealing Strip All dimensions in mm Diagrams to different scales dia. 6h7 Excess travel One-point lubrication (grease) at the funnel-type lube nipples DIN 3405-D3 on both sides L/2 Max. travel / 2 Max. travel / 2 Effective stroke / 2 Effective stroke / Excess travel Version: carriage, standard length 30 T 1 > M3-7 deep (2x on both sides) N x 1 = Z L (T 1 ) dia. 5 H7-8 deep (2x) for M3 M5-10 deep (4x) M4-8 deep (4x) Version: carriage, long for M3 dia. 5 H7-8 deep (2x) M5-10 deep (8x) A A For mounting with clamping fixtures Reference edge dia. 5.5 dia

40 Rexroth Precision Module PSK 60 Dimension Drawings Type OF01 and OF dia. 28 H7 dia. 6h Type MF01 and MF02 Motor VRDM 368 with mount and coupling Type MF01 and MF02 Motor MSM 030B with mount and coupling Cable outlet ) 144 2) Type MF10 and MF11 Integrated motor mount (NEMA 23 - type D) M4, 10 deep 45 dia. 6h7 dia H dia dia Type MF10 and MF11 Motor MKD with integrated mount and coupling Type MF10 and MF11 Motor MSI 040 with integrated mount and coupling ) ) For further information and dimensions, see Motors. 1) without brake 2) with brake 40

41 Type RV01 to RV08 Motors MKD 25B and MSM 030B with side drive and timing belt X (i=1.5) (i=1) 78 (i=1.5) 75 (i=1) 54 (MKD 25B) 60 (MSM 030B) X 64.5 Motor not shown in drawing 41

42 Rexroth Precision Module PSK 90 Components and Ordering Data Part number, length ,... mm... Type (and dimension drawing) Guideway =.. Drive unit =.. Carriage =.. Reference edge (RE) OA01 OF01 OF02 MF01 MF02 with ball screw and timing belt side drive (RV) RE left RE right RV01 RV02 RV03 RV05 RV07 without drive (OA) with ball screw, without motor mount (OF) Reference edge Reference edge with ball screw and motor mount (MF) Reference edge Reference edge with ball screw and integrated motor mount (MF) MF10 MF11 Reference edge RE RE Reference edge RV04 RV06 RV08 RE RE OA01 OF01 OF02 (14.46.) MF01 MF02 ( ) ( ) MF10 MF11 ( ) ( ) ( ) RV01 to RV04 ( ) RV05 to RV08 ( ) RV01 to RV04 ( ) RV05 to RV08 ( ) Length = L 01 L = 340 mm 10 L = 440 mm 12 L = 540 mm 14 L = 640 mm 16 L = 740 mm 18 L = 840 mm 20 L = 940 mm For order example see Inquiry/Order Form section. 22 Screw journal without screw journal dia. 9 dia. 9 with keyway dia. 9 dia. 9 for MKD 25, MSM 030C for MKD 25, MSM 030C for MKD 41, MSM 040B for MKD 41, MSM 040B Ball screw size d 0 x P 16 x 5 16 x x For option without without plate sealing strip without plate sealing strip without plate sealing strip without plate sealing strip Steel Aluminum Standard Long Standard Long 1 carr.* 2 carr. 1 carr. 2 carr. 1 carr. 2 carr. 1 carr. 2 carr * carr. = carriage Switch mounting arrangements A cable duct is required to mount the switches. 42 For more information on switch mounting and switch types, see the section on Switch Mounting Arrangements.

43 Please check whether the selected combination is a permissible one (load capacities, moments, maximum speed, motor data, etc.)! Motor attachment =.. Motor =.. Cover =.. 1st, 2nd, 3rd switch =.. Documentation =.. Gear ratio i = Attachment kit 1) for motor Motor type without with plate with sealing strip Cable duct =.. Switching cam =.. Standard report Measurement report without switch and cable duct Switch: Reed contact Hall sensor Friction moment 03 Lead deviation 03 MKD 41B 10 Switch type Mounting side VRDM VRDM Cable duct 25 Running accuracy MSM 40B NEMA 23-D MKD 25B MSM 030C 2) ) Switching cam for: - without - with plate Switching cam for sealing strip Positioning accuracy 34 MSI ) 02 i = 1.0 i = 1.5 i = 1.0 i = 1.5 i = 1.0 i = 1.5 i = 1.0 i = 1.5 i = 1.0 i = 1.5 i = 1.0 i = 1.5 i = 1.0 i = 1.5 i = 1.0 i = MKD 25B MSM 030C MKD 25B MSM 030C MKD 41B MSM 040B MKD 41B MSM 040B ) 72 2) 74 2) 74 2) ) Attachment kit can also be supplied without motor (enter for motor on order form). 2) Motor without brake Mounting side for switches: Switches may be mounted on the left (L) or right (R) side of the Precision Module. Left (L) Right (R) 43

44 Rexroth Precision Module PSK 90 Lengths and Hole Spacing for ISO 4762 T 1 > 20 1 N x 1 = Z L (T 1 ) Length L without and with plate Number of Carriage version carriages Standard length Long one carriage L = (stroke + 2 excess travel) + 1 mm L = (stroke + 2 excess travel) mm two L = (stroke + 2 excess travel) + l m + 1 mm L = (stroke + 2 excess travel) + l m mm carriages l m min = 90 mm l m min = 110 mm with sealing strip one carriage L = (stroke + 2 excess travel) mm L = (stroke + 2 excess travel) mm I m = center-to-center distance between carriages (observe l m min ) Stroke = maximum travel of carriage center between the outermost switch activation points. In most cases the recommended limit for excess travel (braking path) is: Excess travel = 2 screw lead P Example: Ball screw 16 x 10 (d 0 x P), Excess travel = 2 10 = 20 mm Preferred lengths of frame Length T 1 T N Z for ISO 4762 L screws M Variable length Calculating the hole pattern for the frame Applies to all options Precision module length Hole spacing Minimum end space L (mm) T = 1 mm T 1 min = 20 mm N 1 = T 1 = L T = L T N 2 L 1 N = INT (N 1 ) (whole number of N 1 ) T 1 > T 1 min -> N, T 1 = L 1 N 2 T 1 T 1 min -> N = N 1 T 1 = T mm Result: Hole pattern: T 1 / N 1 / T 1 Example: L = 440 mm N 1 = N = 4 T 1 = L T 440 = = = 20 2 T 1 T 1 min -> N = 4 1 = 3 T 1 = = mm / 3 1 mm / 70 mm 44

45 Rexroth Precision Module PSK 90 Dimension Drawings without Cover All dimensions in mm Diagrams to different scales dia. 9h7 Excess travel L/2 Max. travel / 2 Effective stroke / 2 Max. travel / 2 Effective stroke / 2 Excess travel T 1 > 20 Lube port for customer-built attachments Version: Funnel-type lube nipple DIN 3405-D3 one or two carriages, standard length N x 1 = Z L l m min = 90 M6-9 deep (2x) dia. 6 H7-8 deep (2x) (T 1 ) Lube port for customer-built attachments Version: Funnel-type lube nipple DIN 3405-D3 one or two carriages, long Driving runner block 12 l m min = 110 dia. 6 H7-8 deep (2x) M6-9 deep (4x) M6-12 deep (4x) A A For mounting with clamping fixtures Reference edge dia. 6.6 dia

46 Rexroth Precision Module PSK 90 Dimension Drawings with Cover Plate All dimensions in mm Diagrams to different scales One-point lubrication (grease) at the funnel-type lube nipples DIN 3405-D3 on both sides Excess travel 14 L/2 Max. travel / 2 Effective stroke / 2 Max. travel / 2 Effective stroke / 2 Excess travel T 1 > 20 1 N x 1 = Z L (T 1 ) dia. 9h7 Version: one or two carriages, standard length l m min = 90 M6-22 deep (2x) dia. 6 H7-10 deep (2x) Driving runner block l m min = 110 dia. 6 H7-10 deep (2x) M6-22 deep (4x) 68 M6-12 deep (4x) 3 Version: one or two carriages, long A A For mounting with clamping fixtures Reference edge dia. 6.6 dia

47 Rexroth Precision Module PSK 90 Dimension Drawings with Sealing Strip All dimensions in mm Diagrams to different scales dia. 9h7 Excess travel 14 One-point lubrication (grease) at the funnel-type lube nipples DIN 3405-D3 on both sides L/2 Max. travel / 2 Effective stroke / 2 11 Max. travel / 2 Effective stroke / 2 Excess travel T 1 > 20 1 M3-7 deep (2x on both sides) N x 1 = Z L (T 1 ) 32 Version: carriage, standard length dia. 6 H7-10 deep (2x) for M3 M6-15 deep (4x) M6-12 deep (4x) 65 Version: carriage, long for M dia. 6 H7-10 deep (2x) M6-15 deep (8x) A A For mounting with clamping fixtures 6 Reference edge dia. 6.6 dia

48 Rexroth Precision Module PSK 90 Dimension Drawings Type OF01 and OF02 h = P9 2.5 dia. 40 H7 dia. 9h Type MF01 and MF02 Motor VRDM with mount and coupling Type MF01 and MF02 Motor MKD 41B and MSM 040B with mount and coupling (MSM 040B) 82 (MKD 041B) 110 (VRDM 397) 140 (VRDM 3910) (MKD 41B) (MSM 040B) 1) (MSM 040B) 2) 77.5 (MKD 41B) 81 (MSM 040B) Type MF10 and MF11 Integrated motor mount (NEMA 23 - type D) M4, 9 deep dia. 9h7 dia H dia. 66 dia Type MF10 and MF11 Motors MKD 25B and MSM 030C with integrated mount and coupling Type MF01 and MF02 Motor MSI 055 with integrated mount and coupling 54 (MKD 25) 60 (MSM 030C) (MKD 25B) (MSM 030C) 1) (MSM 030C) 2) ) ) For further information and dimensions, see Motors. 1) without brake 2) with brake 48

49 Type RV01 and RV04 Motors MKD 25B and MSM 030C with side drive and timing belt Type RV05 and RV08 Motors MKD 25B and MSM 030C with side drive and timing belt X (i=1.5) (i=1) 89.5 (i=1.5) 78 (i=1) 54 (MKD 25B) 60 (MSM 030C) 180 (i=1) (i=1.5) (i=1) 115 (i=1.5) 54 (MKD 25B) 60 (MSM 030C) X X 64.5 X 64.5 Motor not shown in drawing Motor not shown in drawing Type RV01 and RV04 Motors MKD 41B and MSM 040B with side drive and timing belt X Type RV05 and RV08 Motors MKD 41B and MSM 040C with side drive and timing belt (i=1.5) 199 (i=1) 106 (i=1.5) 90 (i=1) 82 (MKD 41B) 80 (MSM 040B) (i=1, i=1.5) 82 (MKD 41B) 80 (MSM 040B) X X 88 X 88 Motor not shown in drawing Motor not shown in drawing 49

50 Rexroth Precision Modules PSK Switch Mounting Arrangements Overview of the switching system 1 Switch 2 Cable duct (aluminum alloy, black anodized) 3 Switching cam 1 Short stroke: take the length of switch into consideration! For two-carriages versions: switch actuation by the driving runner block on the motor side. 3 2 Mounting side for switches: Left (L) Switches may be mounted on the left (L) or right (R) side of the module. Right (R) Switches Miniature switches with potted cable. 3 Type: Hall sensor PNP NC or Reed contact (changeover) On request: Hall sensor PNP NO Hall sensor NPN NC Hall sensor NPN NO 6.5 Active surface 6 5 Mounting instructions: Switches may only be mounted on one side (left or right) of the Precision Module. A cable duct is required to mount the switches. Insert the switches into the T-slot in the cable duct and fix them in place using set screws. Set screw for fastening 35 Hall sensor Type of contact PNP NC Service voltage V DC Power consumption max. 10 ma Output current max. 20 ma Cable length 20 mm Housing protection IP 66 Short-circuit protection No Reed contact Type of contact changeover Switching voltage max. 1 V DC Switching current max. 0.5 A Cable length 20 mm Housing protection IP 66 Pin allocation Hall sensor white: +3.8 to 30 V DC green: output Reed contact brown white brown: OV GND green 50

51 Rexroth Precision Modules PSK Switch Mounting Arrangements Cable duct Function: to accommodate and secure switches to house cables Mounting instructions: Snap the cable duct into the T-slots on the frame and fix it in place using set screws (supplied along with the duct). M C D PSK 50 PSK 60 PSK 90 (mm) (mm) (mm) A B C D M M2 M2.5 M2.5 A B Installation dimensions for versions without and with plate G PSK 50 PSK 60 PSK 90 (mm) (mm) (mm) E F G H G H H I Install. dim. for version with sealing strip PSK 50 PSK 60 PSK 90 (mm) (mm) (mm) E F E F E F G H I Ordering data for switches and mounting components Without /with plate The part numbers are listed in the table below. Mounting components can also be ordered individually. With sealing strip Part numbers Item 1 Switch Reed contact Hall sensor 2 Cable duct 3 Switching cam for without and with plate for sealing strip PSK 50 PSK 60 PSK

52 Rexroth Precision Modules PSK Motors MKD servomotors Dimensions and part numbers 2.5 MKD 25B-144 KG1 Part number MKD 41B-144 KG1 Part number dia. 40 j6 dia. 9k6 63 dia. 50 j6 dia. 14 k Motor data Motor MKD 25B MKD 41B Maximum effective speed n max (min -1 ) Rated torque M N (Nm) Maximum torque M max Mass moment of inertia J M + J Br (Nm) (10-6 kgm 2 ) Braking torque M Br (Nm) Mass with brake m Br (kg) See Controllers Servomotors and Controllers Stepping Motors catalogs. VRDM three-phase stepping motors Dimensions and part numbers dia. 38.1±0.025 dia Motor data 21 VRDM 368 Part number dia dia. 60 h8 VRDM 397 Part number d L 22.6 VRDM 3910 Part number dia L d h6 VRDM VRDM Motor VRDM 368 VRDM 397 VRDM LWB 50 LWB 50 LWB Number of steps 2 / 4 / 5 / 10 Stepping angle ( ) 1.8 / 0.9 / 0.72 / 0.36 Maximum torque (Nm) Mass moment of inertia (kgcm 2 ) Braking torque (Nm) Mass (kg) Notes The motors are available complete with controllers and control systems. More detailed information about motors, controllers and control systems can be found in the catalogs Controllers Servomotors and Controllers Stepping Motors. 52

53 Rexroth Precision Modules PSK Motors MSM Servomotors Dimensions, motor data and part numbers H dia. F dia. E dia. D dia. G J C B A Dimensions of MSM servomotors Values in parentheses apply to motor with holding brake MSM 020B MSM 030B MSM 030C MSM 040B A [mm] B [mm] (140.5) (144.0) (171.5) (191.5) C [mm] D h6 [mm] E h7 [mm] F [mm] G [mm] H [mm] J [mm] MSM servomotor data Values in parentheses apply to motor with holding brake n max M N M max J M J Br M Br m Maximum effective speed Rated torque Maximum torque Mass moment of inertia, motor Mass moment of inertia, brake Braking torque Motor mass MSM 020B MSM 030B MSM 030C MSM 040B n max [min -1 ] M N [Nm] M max [Nm] J M + J Br [10-6 kgm 2 ] M Br [Nm] m [kg] 0.5 (0.7) 0.96 (1.36) 1.5 (1.9) 3.1 (3.8) Motor types and part numbers MSM servomotors Motor type Part number MSM 020B-03-NN-M0-CG0 without holding brake MSM 020B-03-NN-M0-CG1 with holding brake MSM 030B-03-NN-M0-CG0 without holding brake MSM 030B-03-NN-M0-CG1 with holding brake MSM 030C-03-NN-M0-CG0 without holding brake MSM 030C-03-NN-M0-CG1 with holding brake MSM 040B-03-NN-M0-CG0 without holding brake MSM 040B-03-NN-M0-CG1 with holding brake All motors with absolute rotary encoder 53