Afag EPS giga YZ Operating Manual Download | Manualshive

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Subject to change.

18

Vers. 1.1 en 01.01.2019

Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:07422/56003-0
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart

Controller C11x0

Brief overview of the interfaces of the controller C11x0. More detailed information can be found in the
operating instructions of the controller.
The controllers are preconfigured so that software modifications are generally not necessary.

If a

modification is necessary, the LinMot-Talk 1100 software can be downloaded free of charge from
the website

Technical data

C1150-EC-XC

C1150-PN-XC

C1150-GP-XC

Logic power supply

24 VDC

24 VDC

24 VDC

Motor voltage supply

24 - 72 VDC

24 - 72 VDC

24 - 72 VDC

Max. output current motor (at 72 V)

25 A

25 A

25 A

Bus system interfaces

EtherCat
CANopen
DeviceNet
RS485/232
Digitale I/Os

Profinet
CANopen
DeviceNet
RS485/232
Digitale I/Os

CANopen
DeviceNet
RS485/232
Digitale I/Os

Max. power consumption

30 W

30 W

30 W

Protection type

IP 20

IP 20

IP 20

Operating temperature

0 - 40 °C

0 - 40 °C

0 - 40 °C

Mass

1.5 kg

1.5 kg

1.5 kg

Distance between controllers

20 mm left/right
50 mm below/above

20 mm left/right
50 mm below/above

20 mm left/right
50 mm below/above

Fuse 72 V supply

16 AT

16 AT

16 AT

Fuse 24 V supply

3 AT

3 AT

3 AT

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Summary of Contents for EPS giga YZ

Page 1: ...Rotary axis RA 40 Operating manual ...

Page 2: ... RA 40 2F 5E 12 RA 40 4F 5E 14 6 Installation 16 7 Connection 17 Power supplies 17 Controller C11x0 18 Controller C12x0 20 Controller E12x0 22 Controller E11x0 24 Controller B1100 26 Motor connector 28 Plug configuration encoder 29 7 8 1 Round connector on the module 29 7 8 2 Encoder plug configuration on the controller 29 Electrical feed through Proximity switch cable R11 30 Y distributor plug R1...

Page 3: ...dt Managing Director Walter Kunz HRB 480966 Stuttgart Motor cable 35 Encoder 36 Controller 36 12 Disposal instructions 37 13 Installation manual in accordance with Appendix VI EC RL 2006 42 EC 38 14 Installation declaration for partly completed machinery EC RL 2006 42 EC 39 15 Risk assessment EG RL 2006 42 EG 40 16 Support 45 17 Notes 46 ...

Page 4: ...f the fundamental safety standards Every person tasked with the installation commissioning maintenance and operation of the pick and place EPS devices is required to have thoroughly read and understood the entire user manual particularly the safety notes chapter Furthermore the rules and regulations on accident prevention applicable at the place of installation operation must also be observed Impr...

Page 5: ...o effect Explanation of symbols and signs The following warnings and symbols help readers understand this manual quickly and ensure that the EMD modules can be handled safely 3 4 1 Warnings Danger This symbol draws attention to an imminently hazardous situation that will result in serious personal injury or even death if the safety regulations are not observed Warning This symbol draws attention t...

Page 6: ...term of the warranty on Afag handling components and systems is 24 months following commissioning butnot exceeding 27 months following delivery Wear parts e g shock absorbers are excluded from the warranty The guarantee covers the use or repair of defective Afag parts No further claims will be accepted The warranty will be voided in event of the following Use for other than the intended purpose Fa...

Page 7: ... 56003 0 Company headquarters 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart 5 Rotary axis RA 40 Allgemein Operating temperature 0 50 C Bearing temperature 0 50 C Humidity 90 Module stresses Max torque Mr 10Nm Max press in force Fe 800N Max radial force 700N Max pulling force Fz 350N ...

Page 8: ...Type RA 40 2F 50 G RA 40 2F 50 W RA 40 2F 50 G ZE RA 40 2F 50 W ZE Order number 50473185 50473186 50473187 50473188 Net weight 0 69 kg 0 69 kg 0 74 kg 0 74 kg Angle of rotation Max rotational speed 140 rpm 140 rpm 140 rpm 140 rpm Fluid passages 2 2 2 2 Continuous torque 2 Nm 2 Nm 2 Nm 2 Nm Max output torque 4 Nm 4 Nm 4 Nm 4 Nm Ratio 50 1 50 1 50 1 50 1 Repeat accuracy 0 0017 0 0017 0 0017 0 0017 E...

Page 9: ...e 9 Vers 1 1 en 01 01 2019 Afag Hardt GmbH Gewerbestraße 11 78739 Hardt Phone 07422 56003 0 Company headquarters 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart Type RA 40 2F RA 40 2F ZE A 141 mm 159 mm ...

Page 10: ...Type RA 40 4F 50 G RA 40 4F 50 W RA 40 4F 50 G ZE RA 40 4F 50 W ZE Order number 50473193 50473194 50473195 50473196 Net weight 0 74 kg 0 74 kg 0 79 kg 0 79 kg Angle of rotation Max rotational speed 140 rpm 140 rpm 140 rpm 140 rpm Fluid passages 2 2 2 2 Continuous torque 2 Nm 2 Nm 2 Nm 2 Nm Max output torque 4 Nm 4 Nm 4 Nm 4 Nm Ratio 50 1 50 1 50 1 50 1 Repeat accuracy 0 0017 0 0017 0 0017 0 0017 E...

Page 11: ...e 11 Vers 1 1 en 01 01 2019 Afag Hardt GmbH Gewerbestraße 11 78739 Hardt Phone 07422 56003 0 Company headquarters 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart Type RA 40 4F RA 40 4F ZE A 151 mm 169 mm ...

Page 12: ...n Type RA 40 2F 5E 50 G RA 40 2F 5E 50 W RA 40 2F 5E 50 G ZE RA 40 2F 5E 50 W ZE Order number 50473202 50473203 50473204 50473205 Net weight 0 84 kg 0 84 kg 0 89 kg 0 89 kg Angle of rotation Max rotational speed 140 rpm 140 rpm 140 rpm 140 rpm Elektrische Durchführungen 5 x 2 A 5 x 2 A 5 x 2 A 5 x 2 A Fluid passages 2 2 2 2 Continuous torque 2 Nm 2 Nm 2 Nm 2 Nm Max output torque 4 Nm 4 Nm 4 Nm 4 N...

Page 13: ...3 Vers 1 1 en 01 01 2019 Afag Hardt GmbH Gewerbestraße 11 78739 Hardt Phone 07422 56003 0 Company headquarters 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart Type RA 40 2F 5E RA 40 2F 5E ZE A 155 mm 173 mm ...

Page 14: ...n Type RA 40 4F 5E 50 G RA 40 4F 5E 50 W RA 40 4F 5E 50 G ZE RA 40 4F 5E 50 W ZE Order number 50473210 50473211 50473212 50473213 Net weight 0 84 kg 0 84 kg 0 89 kg 0 89 kg Angle of rotation Max rotational speed 140 rpm 140 rpm 140 rpm 140 rpm Elektrische Durchführungen 5 x 2 A 5 x 2 A 5 x 2 A 5 x 2 A Fluid passages 4 4 4 4 Continuous torque 2 Nm 2 Nm 2 Nm 2 Nm Max output torque 4 Nm 4 Nm 4 Nm 4 N...

Page 15: ...5 Vers 1 1 en 01 01 2019 Afag Hardt GmbH Gewerbestraße 11 78739 Hardt Phone 07422 56003 0 Company headquarters 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart Type RA 40 4F 5E RA 40 4F 5E ZE A 165 mm 183 mm ...

Page 16: ...cal unit Therefore you must ensure the necessary care and cleanliness during transportation installation and adjustment Caution Only original LinMot cables may be used for the operation of the electric axes Otherwise damage or faults may occur The installation material is dependent on the module utilised as well as the adaptors and weights Type Recommended installation material RA 40 2 4x O ring 2...

Page 17: ... 90 132 VAC 50 60 Hz oder 180 264 VAC 50 60 Hz automatic switching 3x340 550 VAC 50 60 Hz 3x230 400 480 VAC 50 60 Hz Secondary voltage 54 80 VDC variable 54 80 VDC variable 72 VDC Output power 480 W 960 W 1500 W Power consumtion 600 W 1100 W 1500 W Power loss max 54 W 91 W 110 W Peak output current 0 5 s 10 A 27 A 50 A Nominal current 240 VAC 4 5 A 120 VAC 9 A 380 VAC 3 1 A 3x230 VAC 3 5 A 400 VAC...

Page 18: ...charge from the website www linmot com Technical data C1150 EC XC C1150 PN XC C1150 GP XC Logic power supply 24 VDC 24 VDC 24 VDC Motor voltage supply 24 72 VDC 24 72 VDC 24 72 VDC Max output current motor at 72 V 25 A 25 A 25 A Bus system interfaces EtherCat CANopen DeviceNet RS485 232 Digitale I Os Profinet CANopen DeviceNet RS485 232 Digitale I Os CANopen DeviceNet RS485 232 Digitale I Os Max p...

Page 19: ...ignals X33 Safety relay optional on S1 version X4 8 Quickstop X4 7 Reference sensor optional X4 2 Logic power supply 24 VDC X4 1 Logic power supply GND Danger when the safety door is open The safety relay input X33 on the controller C11xx must be deactivated or the power pack 72 V must be reliably disconnected from the power supply on the primary side 2x RT Ethernet safety relays Quickstop mains G...

Page 20: ...Master Encoder PowerLink CANopen DeviceNet RS485 232 Digitale I Os Master Encoder Profinet CANopen DeviceNet RS485 232 Digitale I Os Master Encoder Max power consumption 30 W 30 W 30 W 30 W Protection type IP 20 IP 20 IP 20 IP 20 Operating temperature 0 40 C 0 40 C 0 40 C 0 40 C Mass 0 7 kg 0 7 kg 0 7 kg 0 7 kg Distance between controllers 20 mm left right 50 mm below above 20 mm left right 50 mm ...

Page 21: ... phases X3 Motor signals X33 Safety relay optional on S1 version X4 8 Quickstop X4 7 Reference sensor optional X4 2 Logic power supply 24 VDC X4 1 Logic power supply GND Danger when the safety door is open The safety relay input X33 on the controller C12xx must be deactivated or the power pack 72 V must be reliably disconnected from the power supply on the primary side mains GND 24VD RS232 mains P...

Page 22: ... Sercos over Ethercat CANopen DeviceNet RS485 232 Digitale I Os Master Encoder Max power consumption 30 W 30 W 30 W 30 W Protection type IP 20 IP 20 IP 20 IP 20 Operating temperature 0 40 C 0 40 C 0 40 C 0 40 C Mass 1 kg 1 kg 1 kg 1 kg Distance between controllers 20 mm left right 50 mm below above 20 mm left right 50 mm below above 20 mm left right 50 mm below above 20 mm left right 50 mm below a...

Page 23: ...Safety Voltage Enable X4 11 Quickstop X4 7 Reference sensor optional X4 2 Logikspannungsversorgung 24 VDC X4 1 Logic power supply GND Danger when the safety door is open For the controller E12xx the power pack must be reliably disconnected from the power supply on the primary side RS232 analogue RT Ethernet Out RT Ethernet In mains PWR PGND mains GND 24VD ID setting of the controller in hex safety...

Page 24: ... E1130 DP Logic power supply 24 VDC 24 VDC Motor voltage supply 24 72 VDC 24 72 VDC Max output current motor at 72 V Standard Ausführung 8 A HC Ausführung 15 A XC Ausführung 25 A Standard Ausführung 8 A HC Ausführung 15 A XC Ausführung 25 A Bussystem Schnittstellen CANopen DeviceNet RS485 232 16 digitale Eingänge 8 digitale Ausgänge 9 digitale Ein Ausgänge Profibus CANopen DeviceNet RS485 232 Digi...

Page 25: ...ignals X6 Digitale IO Schnittstelle nur E1100 GP nicht im Bild X4 12 Safety Voltage Enable nicht bei E1100 GP X4 11 Quickstop X4 7 Reference sensor optional X4 2 Logic power supply 24 VDC X4 1 Logic power supply GND Gefahr bei geöffneter Schutztür Beim Regler E11x0 muss das Leistungsnetzteil 72V primärseitig sicher getrennt werden mains PWR PGND mains GND 24VD RS232 ID setting of the controller in...

Page 26: ...data B1100 PP B1100 GP Logic power supply 24 VDC 24 VDC Motor voltage supply 24 72 VDC 24 72 VDC Max output current motor at 72 V Standard Ausführung 8 A HC Ausführung 15 A XC Ausführung 25 A Standard Ausführung 8 A HC Ausführung 15 A XC Ausführung 25 A Bussystem Schnittstellen 6 digitale Eingänge 6 digitale Ausgänge bis zu 4 Positionen CANopen DeviceNet RS485 232 6 digitale Eingänge 6 digitale Au...

Page 27: ...GND Motor voltage supply GND X2 Motor phases optional bei HC oder XC Reglern X3 Motor signals X14 14 Quickstop X14 2 Reference sensor optional X14 25 Logic power supply 24 VDC X14 13 Logic power supply GND Danger when the safety door is open For the controller B1100 the power pack 72V must be reliably disconnected from the power supply on the primary side RS232 CANopen RS485 24VD C 24VDC GND Quick...

Page 28: ...roller R connector Application Electro slides ES20 Portal axis PEL20 Rotary axis SE20 D connector Application Controller B1100 standard Controller E11xx standard C connector Application Electro slides ES30 Portal axis PEL30 Portal axis PDL30 Portal axis PDL40 Portal axis PDL40 HC Rotary axis SE30 W connector Application Controller B1100 standard HC und XC Controller E11xx standard HC und XC Contro...

Page 29: ... 8 B grey 7 9 B grey 8 10 open 11 open 12 GND grey 3 housing screen screen NC red 1 NC grey4 7 8 2 Encoder plug configuration on the controller Controller E11xx line PIN Function Cable 1 5 V pink 2 A sin yellow 3 B cos grey 4 Z white 5 GND red blue 6 A sin black 7 B cos red 8 Z blue 9 open housing screen screen Controller C1xx0 B1100 und E12x0 line PIN Function Cable 1 5 V pink 2 A sin yellow 3 B ...

Page 30: ...trical feed through Proximity switch cable R11 Socket 5pole M8x1 Connector 5pole M8x1 PIN Cable 1 brown 2 white 3 blue 4 black 5 grey housing screen Y distributor plug R12 PIN C PIN A PIN B Function Cable 1 1 1 24VDC brown 2 4 Signal A white 3 3 3 GND blue 4 4 Signal B black 5 NC grey housing screen Reference sensor Connector 3pole M8x1 PIN A Function Cable 1 24VDC brown 4 Signal white 3 GND blue ...

Page 31: ... CD provided upon delivery or you can download them at https www afag com de service support tools linmot html These travel profiles are stored in the controller when using the B1100 PP or E1100 GP controller with EasyStep firmware Caution An excessively high speed or acceleration can cause damage to the device or the periphery The following tables are intended as references for the parameters spe...

Page 32: ...he power pack 72 V must be reliably disconnected from the power supply on the primary side With controller C1xx0 the safety inputs input X33 must be deactivated or the power pack 72 V reliably disconnected on the primary side Possibility 2 jog mode Add value to or subtract value from current position Can be programmed with relative commands The existing module for absolute positioning can be conve...

Page 33: ...erefore the maintenance instructions for the individual modules must always be followed The service and maintenance intervals must be observed The intervals are based on a normal environment The approval of Afag Hardt GmbH must be obtained in advance if the devices are to be operated in an environment with abrasive dusts or with corrosive or aggressive vapours gases or liquids 10 Repairs Repairs m...

Page 34: ...5 D R 8 Motor cable M21 8m 0 0 1 x x x x x x x X KR05 D R 8 Motor cable M21 8m 0 0 2 x x x x x x x x X K05 W R 8 Motor cable M20 8m 0 2 X x x x x x x x X KS05 W R 8 Motor cable M20 8m 0 2 1 x x x x x x x x X KR05 W R 8 Motor cable M20 8m 0 2 2 x x x x x x x x x X K05 Y R 8 Motor cable M16 8m 0 1 X x x x x x X KS05 Y R 8 Motor cable M16 8m 0 1 1 x x x x x x X KR05 Y R 8 Motor cable M16 8m 0 1 2 x x...

Page 35: ...ion M16 2m 0 0 1 50450944 Extension M16 4m 0 0 1 50427026 Extension M16 6m 0 0 1 50463082 Extension M16 2m 0 0 2 50463081 Motor cable M17 4m 0 1 1 50437170 Motor cable M17 6m 0 1 1 50437169 Motor cable M17 8m 0 1 1 50427021 Extension M17 2m 0 0 1 50463084 Extension M17 4m 0 0 1 50427024 Extension M17 6m 0 0 1 50463087 Extension M17 2m 0 0 2 50463085 Extension M17 4m 0 0 2 50463086 Motor cable M20 ...

Page 36: ...ital IO 50465790 Controller E1100 GP XC für CANopen RS 485 Digital IO 50465791 Controller E1100 RS für RS485 16080016 Controller E1100 RS HC für RS485 16080014 Controller E1100 RS XC für RS485 16080234 Controller E1130 DP für Profibus DP 50465761 Controller E1130 DP HC für Profibus DP 16080021 Controller E1130 DP XC für Profibus DP 50465786 Controller E1250 EC für EtherCAT 16080243 Controller E125...

Page 37: ... modules adaptor plates etc must be disposed of in accordance with the national laws of metal recycling Electronic products controllers etc must be disposed of in accordance with the national laws of electronic scrap Packaging Cardboard paper or PE film are predominantly used as packaging material These are materials that can be used in global recycling processes If the packaging is returned to us...

Page 38: ...in accordance with Appendix VI EC RL 2006 42 EC For the installation of the partly completed machinery RA 40 the following conditions must be satisfied so that it can be assembled together with other parts to form a complete machine correctly and without endangering the health and safety of persons Please observe the safety information in the risk assessment Read understand and observe the whole o...

Page 39: ...le 1 1 2 1 1 3 1 1 5 1 3 2 1 3 4 and 1 5 1 The partly completed machinery also corresponds to all provisions of the electrical equipment 2014 35 EU and electromagnetic compatibility 2014 30 EU directives The incomplete machine must only be put into operation when it has been found that the machine into which the incomplete machine is to be installed corresponds to the provisions of the machinery d...

Page 40: ...s 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart 15 Risk assessment EG RL 2006 42 EG Procedures used for the risk assessment Angewan Diagram utilised for general risk assessment in accordance with ISO TR 1412 2 Diagram utilised in accordance with EN 13849 for the determination of the required performance level PL ...

Page 41: ...tion Qualification impairments Qualified personnel Maintenance commissioning Operation Specialist training Apprentices Operation trained Operators Operation experienced trained 2 Spatial limits Machine system description See system description Energy supply interfaces Electrical energy supply Pneumatic energy supply 3 Time limits Intended application duration 10 years Recommended maintenance inter...

Page 42: ...ical hazard Direct or indirect contact with energised parts when errors occur on electrical components S S2 F F1 O O1 A A1 Erg 3 1 Electrical equipment designed in accordance with EN 60204 2 Installation and maintenance of electrical equipment must only be carried out by specialist personnel 3 Maintenance and repair work must only be carried out in a voltage free and compressed air free state S S2...

Page 43: ...f 0 2 m from the pacemaker must be guaranteed 5 Operation Risks of limb crushing bruising and broken bones due to accessing the travel range of the moving device S S2 F F2 O O2 A A1 Erg 4 Operation of the device behind a safeguard to ensure that access to the travel range is denied S S2 F F1 P P1 PL c 6 Operation Maintenance Repairs Burning of the skin due to surface temperatures of up to 60 C S S...

Page 44: ... The pressurised air supply must be reliably disconnected 2 The safety relay input X33 on the controller C1xxx must be deactivated or the power pack 72 V must be reliably disconnected from the power supply on the primary side 3 The power pack 72 V must be reliably disconnected from the power on the primary side when using the B1100 E12xx or E1xxx controllers 4 For linear motor axes excluding ES40 ...

Page 45: ...ewerbestraße 11 78739 Hardt Phone 07422 56003 0 Company headquarters 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart 16 Support Afag Hardt GmbH Gewerbestraße 11 D 78739 Hardt T 49 0 7422 56003 20 E Mail support hardt afag com Internet www afag com ...

Page 46: ...Subject to change 46 Vers 1 1 en 01 01 2019 Afag Hardt GmbH Gewerbestraße 11 78739 Hardt Phone 07422 56003 0 Company headquarters 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart 17 Notes ...

Page 47: ...ewerbestraße 11 78739 Hardt Phone 07422 56003 0 Company headquarters 78739 Hardt Managing Director Walter Kunz HRB 480966 Stuttgart Afag Hardt GmbH Gewerbestraße 11 D 78739 Hardt T 49 0 7422 56003 0 F 49 0 7422 56003 29 E Mail sales afag com Internet www afag com ...

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