SK Series. Industrial Robot. 2.1 Features

Transcription

1 CRD Devices Ltd All Saints Industrial Estate, Shildon, Co, Durham, DL RD Tel: + (0) Fax: + (0) E: sales@crd-devices.co.uk W: Industrial Robot SK Series The quiet industrial robot with SynchMotionTM Technology offers quieter operation, smooth movement, low particle emitting rate, longer service life and superior lubrication. With the SynchMotionTM Technology, SK industrial robots will be more suitable for industries which need higher speed and quiet performance..1 Features 0 Lownoise 0 Low particle emitting rate 0 Longer service life 0 Superior lubrication 0 Easy installation and maintenance Motor housing Ball screw Stopp per Top seal

2 .1.1 SynchMotion Technology With Synch Motion TM Technology, rolling elements are interposed between the partitions of SynchMotionTM to provide improved circulation. Due to the elimination of contact between the rolling elements, collision noise and sound levels are efficiently reduced. BLOCK RAIL.1. Tangent Circulation Technology Balls enter circulation system by following spiral pathway. It can diminish the impact while balls are entering the circulation system, improve the speed, acceleration, smoothness of traditional external circulation, and reduce the noise while balls are entering the circulation system. Through the advantages above, high speed and low noise performance of SK are therefore achieved..1. Noise Test With the application of SynchMotionTM Technology and Tangent Circulation Technology, noise about -5 db during operation is experimentally subsided f ,f--- f ,f f ,f---...,..0p Speed [mm/s)

3 . Model Number of SK Series SK I SK Robot Nominal Width: 60, 86 Ballscrew Lead Width : : 5, 10 : 10, 0 I Accuracy Grade:-- P: Precision, C: Normal p E: Ballscrew Special Order None: Normal Type Rail Length [unit : mm ) : 1,00,00,00,0,600 :0,0, 50,60,70,90 E 90 E A E FO C so M:Supply With Motor None:Without Motor Sensor SO: Sensor Rail Only S1 : Omron SX671 S: Omron SX67 S: SUNX GX-F1A S: SUNX GX-F1A -P None : No Sensor and Rail C: Cover B: Bellows None: Normal Type Motor Adaptor Flange ref. catalog [P.-P.5) E: Block Special Order None: Normal Type E: Rail Special Order None: Normal Type Number of Blocks: 1 or Block Type: A: Normal. Specifications M y MR MP!¾?Jr k' I ; a r: + ) -$- + -$ $- + -$- Ballscrew Guideway Nominal Lead Basic Basic Model No. Diameter [mm) Dynamic Static [mm) Load Load [NI [NI Basic Dynamic Load Rating [NI Block Precision Normal Precision Normal 107 Precision Normal Precision Normal A Basic Static Load Rating [NI Block A Static Rated Moment Allowable Static Allowable Static Allowable Static Moment M, [N-m) Moment Mv [N-m) Moment M.[N-m) [pitching) [yawing) [rolling) Block Block Block Block Block Block Al A Al A Al A

4 . Accuracy Grade Unit: mm Model Rail Repeatability Length Precision Normal Accuracy Precision Normal Running Parallelism Starting Torque(N-cm) Precision Normal Precision Normal ±0.00 ± ±0.00 ± ±0.00 ± ±0.01 ± ± Maximum Speed Limit Model Ballscrew Lead (mm) Rail Length (mm) Speed (mm/sec) Precision Normal

5 .6 Life Calculations.6.1 Service Life Under repeated stress between raceway and rolling elements, pitting and flaking occurs while reaching fatigue failure. Service life of KK industrial robot is defined as the distance traveled before any failure of raceway and rolling elements appears..6. Nominal Life (L) The service life varies greatly even when the KK units are manufactured in the same way or operated under the same conditions. For this reason, nominal life is used as the criteria for predicting the service life of a KK unit..6. Nominal Life Calculation of KK Unit The calulating formulas is divided into two parts, including guideway and ball screw which will obtain two different values. The smaller value would be suitable for the nominal life of KK unit. Formulas of guideway and ball screw nominal life depend on several parameters and are shown as follow: Guideway J; C L : Life Rating [km) L = (-- -- ) X km Ji : Contact Coefficient [ref. Table 1 l fw Pn l,v : Loading Coefficient [ref. Table ) C : Basic Dynamic Load Rating (NI P n : Calculated Loading (NI Table 1 Block type Contact Coefficient Ji Al 1.0 A 0.81 Table Operating Condition Loading Thrust and Vibration Velocity!VI Coefficient l,v No Thrust V<15m/min Low Vibration 15m/min< V< 60m/min High Vibration V>60m/min Ballscrew and Bearing I C -r Jw : Loading Coefficient ref. Table P p a, n : Axial Loading N ( Jw L : Life Rating [rev.) Ca : Basic Dynamic Load Rating (NI L = - _a ) x 10 6 rev r [ l ( l a,n

6 . 7 Lubrication Insufficient lubricating of guideway would lead to reduction of service life. The lubricant provide functions including: Reducing rolling friction and avoiding abrasion Providing lubricating film and extending service life Anti-rusting.7.1 Lubricating grease Re-lubricating KK industrial robot every km is recommened. Generally, lubricating grease is applied for speed under 60 m/min. For operating speed over 60 m/min, grease with higher viscosity could be used. T = looxlooo V e x60 T : Lubricating frequncy (hrs) Ve : Speed (m/min).7. Grease nipple 1 block - Grease nipple blocks Grease nipple Grease nipple

7 .8 Dimension.8.1 Without cover xm-m.6x0.5px DP x-mx0.5px8 DP -M5x0.8Px8 DP xn-05.5 THRU 09.5x.7 DP SECTION A-A 7 (m-1)xk L L1 G 6 A VIEWS A ( n -1)x Rail Length Total Length Maximum Stroke (mm) L (mm) L1 (mm) A1 Block A Block G(mm) 5 K(mm) n 5 6 m 6 Mass A1 Block A Block SECTION A-A (m-1)x00 -M5x0.8Px10 DP PCD.5 0 "'j VIEWS VIEWS 0 1 l lṉ- _ 1_lo o: _: _ :, L Rail Length Total Length Maximum Stroke (mm) L (mm) L1 (mm) A1 Block A Block H(mm) 0 0 n m 5 Mass A1 Block A Block

8 .8. With cover 86 xm-m.6x0.5px DP -M5x0.8Px8 DP xn-05.5 THRU,09.5x.7 DP SECTION A-A [m-1)xk L Rail Length Total Length L(mm) L1 (mm) Maximum Stroke (mm) A1 Block A Block G(mm) 5 K(mm) n m Mass A1 Block A Block xm-m.6x0.5px DP -M6x1Px1 DP xn-06.6 THRU 011x6 DP ;:; SECTION A-A [m-1)x00 1 :8 cij VIEWB Rail Length Total Length L(mm) L1 (mm) Maximum Stroke (mm) A1 Block A Block H(mm) 0 0 c A I [n-1)x L L1 : I : 1 n m Mass A1 Block A Block

9 .9 Motor housing and Motor Adaptor Flange.9.1 Motor Selection HIWIN Mikrosystem Servo Motor Motor Output Motor W 00W 00W 7W FRAC1010 FRAC FRAC100 FRAC Flange Selection F F FD FD +Brake Driver MD-6-S 1.5 Remarks 0V 0V 0V 0V Mitsubishi Servo Motor Motor Output Motor W W 00W 00W 7W HF-KP05 HF-KP1 HF-KP HF-KP HF-KP Flange Selection F1 F F1 F FD FD +Brake Driver 0.75 MR-JS-10A 0.89 MR-JS-10A 1.6 MR-JS-0A.1 MR-JS-0A MR-JS-A Remarks 0.8 0V 0.8 0V 0.8 0V 0V 1. 0V Panasonic Servo Motor Motor Output Motor W W W W 00W 00W 00W 00W 7W MSMD5AZP1 MSMD5AZP1 MSMD011P1 MSMD01P1 MSMD01P1 MSMD0P1 MSMD01P1 MSMD0P1 MSMD08S Flange Selection F F F F F F F F F1 F1 F1 F1 F +Brake Driver 0.5 MADDT MADDT MADDT MADDT MADDT MADDT MADDT MADDT10.1 MADDT50 Remarks V 0.8 0V V 0.8 0V V 0.8 0V V 1.1 0V 1.5 0V Yasukawa Servo Motor Motor Output Motor W W W W 00W 00W SGMAV-A5ADA61 SGMAV-A5ADAC SGMAV-A5ADA1 SGMAV-01ADA6 SGMAV-0ADA65 SGMAV-0ADA Flange Selection F1 F F1 F F1 F F1 F FD FD +Brake Driver SGDV-RA01 A SGDV-RA01A 0.75 SGDV-RA01A 0.89 SGDV-R90A01A 1.6 SGDV-1R6A01A.1 SGDV-R8A01 A Remarks 0.9 with key 0.9 no key 0.9 Mid inertia

10 HIWIN Mikosystem Step Motor Series Model ST0 FRST0110 FRST010 FRST00 FRST00 ST55 FRST110 FRST10 FRST10 Flange Selection Built in Motor Remarks 0. single axis single axis 1.18 STD-A axis of 0.8 symmetry 0.1 Oriental Step Motor Series Model CSK-AP CSK-AP CSK phase CSK5-AP CSK6-AP F CSK66-AP F CSK68-AP F CFK5AP CFK5AP CFK55AP CFKII 5 phase micro CFK56AP stepping CFK566AP CFK569AP CFK566HAP CK69HAP UMKA UMKA UMK phase UMK5A UMK6A F UMK66A F UMK68A F RK5AA RK5AA RK 5 phase RK55AA RK566AA RK569AA Flange Selection F6 F6 F6 F6 F6 F6 Built in Motor Built in Driver PK-01A 0.1 CSD109-P 0.1 PK-01A 0.7 CSD11-P 0.1 PK5-01A 0.5 CSD11-P 0.1 PK6-0A 0.5 CSD10-P 0.1 PK66-0A 0.7 CSD10-P 0.1 PK68-0A CSD10-P 0.1 PK5NAW 0.1 DFC5107P 0. PK5NAW 0.7 DFC5107P 0. PK55NAW 0.5 DFC5107P 0. PK56NAW 0.6 DFC511P 0. PK566NAW 0.8 DFC511P 0. PK569NAW 1. DFC511P 0. PK566HNAW 0.8 DFC518P 0. PK569HNAW 1. DFC518P 0. PK UDK PK UDK PK UDK PK UDK PK UDK PK68-0 UDK PK5W 0.5 RKD7-A 0. PK5W 0. RKD7-A 0. PK55W 0. RKD7-A 0. PK566W 0.8 RKD51L-A 0.85 PK569W 1. RKD51L-A 0.85

11 .9. Motor housing and Motor Adaptor Flange Motor housing FO 1;1rr1 Motor adaptor Flange F M5xO.8Px10DP 'q t; Motor adaptor Flange F1 Motor adaptor Flange F -<> -Mx.7Px1ODP W 'q t; Motor adaptor Flange F -<> -Mx.5Px1ODP " "' Ii-. Motor adaptor Flange 59-0.Thru, 06xDP c----m t; Mount Housing HO Mount Housing H , Motor housing FO Motor adaptor Flange F 1 0 m D Motor adaptor Flange F1 Motor adaptor Flange N D Mx:7Px8DP ;;; - Motor adaptor Flange F Motor adaptor Flange F6 85 I 7.1 I N D -Mx:. 7Px8DP M - Motor adaptor Flange F Mount Housing HO

12 .10 Switch Switch rail co 0 I ' " I ' " 8 ",. I,. I Nominal Width a b C d e Switch 1 : Omron EE-SX Nominal Width a b C d e Switch : Omron EE-SX67 Nominal Width g.5 57 Switch, : SUNX GX-F1A, GX-F1A-P h