Afag RA-40-2F Series Assembly And Operating Instructions Manual Download Page 37

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Installation, assembly and setting

Assembly instructions



RA-40-2F - RA-40-4F



Date 30.10.2021



Version 2.0

37–56

Fig. 12

Axis controller E12x0

Connection

Description

X1 PWR+

Motor power 72VDC

X1 PGND

Motor power supply GND

Motor phases

Motor Signals

X4.12

Safety voltage enable

X4.11

Quickstop

X4.7

Reference sensor (optional)

X14.2

Logic power supply 24VDC

X14.1

Logic voltage supply GND

DANGER

Danger from electric shock when the safety door is open!

Work on the electrical system carried out unprofessionally can cause serious

or fatal injuries.



Safely disconnect the power supply unit (72V) on the primary side at the

E12x0 controller.

RS232

Analogue

RT Ethernet Out

RT Ethernet In

Net

72V

PWR+

PGND

Net

24V

GND

+24VD

ID-Setting

of controller in

hex

Safety voltage

enable

Motor

Quickstop

CANopen

RS485

Profibus DP

(E1130DP

only)

Master

Encoder

Ethernet

Ext.

Measuring

system

(optional)

Summary of Contents for RA-40-2F Series

Page 1: ...ssembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 1 56 Assembly and operating instructions Rotational axis RA 40 Translation of the Original Assembly Instructions EN RA 40 2F RA 40 4F ...

Page 2: ... the art Due to the constant technical development and improvement of our products we reserve the right to make technical changes at any time Updates of our documentations Unlike the printed documents our digital instructions manuals product data sheets and catalogues are being continuously updated on our website Please keep in mind that the digital documents on our website are always the latest v...

Page 3: ...ion 11 2 6 Personal protective equipment PPE 12 2 7 Changes and modifications 12 2 8 General hazards residual risks 13 2 8 1 General hazards at the workplace 13 2 8 2 Danger due to electricity 14 2 8 3 Danger due to strong magnetic fields 14 2 8 4 Danger due to high temperatures 14 2 8 5 Mechanical hazards 15 3 Technical data 16 3 1 Rotational axis RA 40 2F 16 3 1 1 Dimensional drawing RA 40 2F 16...

Page 4: ...encoder 39 6 4 1 Round plug on the module 39 6 4 2 SUB D connector on the controller 39 6 4 3 Electrical feedthrough initiator cable extension R11 40 6 4 4 Y distribution connector R12 40 6 4 5 Reference sensor 40 6 5 Programming 41 6 6 Settings 41 6 6 1 Speed electric axes 41 6 6 2 Switching distance reference sensor for electric axes 42 7 Commissioning 43 7 1 Safety instructions for commissionin...

Page 5: ...roller 47 9 4 2 Encoder 47 9 4 3 Overview motor cable axis controller application 48 9 4 4 Motor cable 49 9 5 Repair and overhaul 50 10 Decommissioning disassembly disposal 51 10 1 Safety instructions for decommissioning and disposal 51 10 2 Decommissioning 51 10 3 Disposal 51 11 Declaration of incorporation 52 ...

Page 6: ...e The illustrations in this manual shall provide you with a basic understanding of the module and may vary from the actual design of your module 1 2 Explanation of symbols The safety notes are marked by a pictogram and a signal word The safety notes describe the extent of the hazard DANGER Danger This safety note indicates an imminently hazardous situation which if not avoided will result in death...

Page 7: ...risks Warning Dangerous electrical voltage Warning Risk of injury from contact with hot surfaces Warning Risk of hand and finger injury due to uncontrolled movements of components Warning Magnetic field Warning back injury due to heavy lifting Warning Risk of injury as a result of parts being flung out Warning high noise levels 1 3 Additional symbols In these assembly instructions the following sy...

Page 8: ...epair of defective Afag parts Further claims are excluded The warranty shall expire in the following cases Improper use of the module Non observance of the instructions regarding assembly commissioning operation and maintenance of the module Improper assembly commissioning operation and maintenance Repairs and design changes carried out without prior technical instructions of Afag Removing the ser...

Page 9: ...e directions and safety instructions given in this instructions manual may result in serious hazards 2 2 Intended use The rotary axes are used in automation systems and are used to move workpieces in non hazardous environments and in the ambient and operating conditions defined for these modules Chapter 3 Technical data The rotational axes are designed exclusively for gripping payloads that do not...

Page 10: ...nnel who have the necessary professional qualifications and experience are familiar with the basic rules regarding occupational safety and accident prevention have been instructed in the correct handling of the rotational axis have read and understood these assembly instructions The operating company is also required to monitor on an ongoing basis that the personnel work safely considering any pot...

Page 11: ...nel may be permitted to carry out the described activities on the rotational axis Persons whose ability to react is restricted due to the intake of medication or the like must not interact with the rotational axis These installation instructions are intended for skilled personnel installers system integrators maintenance personnel technicians electricians and operating personnel The following is a...

Page 12: ...tive equipment and the respective mandatory signs Protective clothing is a close fitting clothing specifically designed to protect personnel from hazards during work Protective gloves are specifically designed to protect the personnel against hand injuries such as cuts abrasion burns Safety shoes are specifically designed to protect the personnel against foot injuries from crushing falling objects...

Page 13: ...mage Always keep the assembly instructions ready at hand at the workplace Furthermore the following apply the general and local regulations on accident prevention and environmental protection the safety information sheet for the rotational axis WARNING Danger Do not use in unsuitable environment The rotational axes are designed for use in non explosive atmospheres Do not use the modules in potenti...

Page 14: ... s electrical equipment may only be performed by skilled electrician or trained personnel under the supervision of a skilled electrician in accordance with all relevant electrical regulations Only work on electrical systems when they are de energised DANGER Danger due to strong magnetic fields Due to the strong magnetic fields electronic devices such as pacemakers can be disturbed or their functio...

Page 15: ...anical hazards CAUTION Danger of injury by moving components Limbs can be injured by moving components bruises contusions broken bones Work on and with the rotational axis may only be carried out by qualified personnel Never reach into the system during normal operation Provide suitable protective enclosure ...

Page 16: ...ata 16 56 Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 3 Technical data 3 1 Rotational axis RA 40 2F 3 1 1 Dimensional drawing RA 40 2F Fig 1 Dimensional drawing rotational axis RA 40 2F ...

Page 17: ...Technical data Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 17 56 3 1 2 Technical data RA 40 2F ...

Page 18: ...Technical data 18 56 Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 3 1 3 Dimensional drawing RA 40 2F 5E Fig 2 Dimensional drawing rotational axis RA 40 2F 5F ...

Page 19: ...Technical data Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 19 56 3 1 4 Technical data RA 40 2F 5F ...

Page 20: ...chnical data 20 56 Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 3 2 Rotational axis RA 40 4F 3 2 1 Dimensional drawing RA 40 4F Fig 3 Dimensional drawing rotational axis RA 40 4F ...

Page 21: ...Technical data Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 21 56 3 2 2 Technical data RA 40 4F ...

Page 22: ...Technical data 22 56 Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 3 2 3 Dimensional drawing RA 40 4F 5E Fig 4 Dimensional drawing rotational axis RA 40 4F 5F ...

Page 23: ...Technical data Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 23 56 3 2 4 Technical data RA 40 4F 5F ...

Page 24: ...Technical data 24 56 Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 3 3 Module stresses ...

Page 25: ...is enclosed with each rotational axis This information sheet must be read by every person who carries out work with and on the rotational axis Fig 5 Scope of delivery rotational axis Unt RA 40 1 x Rotational axis RA 40 2 x Centering bushing ø 7x3 mm 4 x O Ring 2 5x0 62 mm 1 x Assembly operating instructions CAUTION Risk of injury when unpacking the rotational axis The rotational axes are packed in...

Page 26: ... and paper or PE film 4 5 Storage If the rotational axis is stored for an extended period observe the following Store the rotational axis in the transport packaging Do not store the rotational axis outdoors or expose it to weather conditions The storage space must be dry and dust free Room temperature of the storage space 0 50 C Relative air humidity 90 non condensing Clean the rotational axis and...

Page 27: ...s Fig 6 Dimensional drawing rotational axis RA 40 4F 5 2 Product description The rotational axis RA is a precision engineered highly compact electric axis for rotating payloads Further technical information can be found in the chapter 3 Technical data in these installation instructions In vacuum applications grease may possibly occur when blowing off 1 ...

Page 28: ...in a system No warranty will be granted for damage caused by improper installation on the part of the operating company 6 1 Safety instructions for installation and assembly Also observe the safety instructions in chapter 2 Safety instructions in this manual 6 2 Assembly and attachment 6 2 1 Mounting material The accessories depend on the rotational axis used as well as the adapter and weight Fig ...

Page 29: ...Version 2 0 29 56 6 2 2 Tightening torques For assembling use screws with the following minimum specifications Standard VDI 2230 Screw strength Category 8 8 Surface Galvanized blue oiled or greased Thread Tightening torque M3 1 1 1 4 Nm M4 2 6 3 3 Nm M5 5 2 6 5 Nm M6 9 0 11 3 Nm M8 21 6 27 3 Nm ...

Page 30: ... 1500Multi Type primary switched power supply primary switched power supply primary switched power supply Primary voltage 90 132VAC 50 60Hz or 180 264VAC 50 60Hz automatic switching 3x340 550 VAC 50 60 Hz 3x230 400 480 VAC 50 60 Hz Secondary voltage 54 80 VDC adjustable 54 80 VDC adjustable DC 72 V Output power 480 W 960 W 1140 W Peak output current 0 5 s 10 A 27 A 50 A Efficiency 88 91 5 85 at no...

Page 31: ...Installation assembly and setting Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 31 56 6 3 2 Servo controller Fig 9 Overview servo controller ...

Page 32: ...e following is an overview of the controller s interfaces For more information on the C11x0 controller please refer to the data sheet The controllers are pre configured so that as a rule no software adjustments are necessary If adjustments are to be made the software LinMot Talk can be obtained free of charge from the website www linmot com ...

Page 33: ...4 8 Quickstop X4 7 Reference sensor optional X4 2 Logic power supply 24VDC X4 1 Logic voltage supply GND DANGER Danger from electric shock when the safety door is open Work on the electrical system carried out unprofessionally can cause serious or fatal injuries Safely disconnect the power supply unit 72V on the primary side at the controller C11x0 or switch off the input Safety Relay X33 2x RT Et...

Page 34: ...e following is an overview of the controller s interfaces For more information on the C12x0 controller please refer to the data sheet The controllers are pre configured so that as a rule no software adjustments are necessary If adjustments are to be made the software LinMot Talk can be obtained free of charge from the website www linmot com ...

Page 35: ...ickstop X4 7 Reference sensor optional X4 2 Logic power supply 24VDC X4 1 Logic voltage supply GND DANGER Danger from electric shock when the safety door is open Work on the electrical system carried out unprofessionally can cause serious or fatal injuries Safely disconnect the power supply unit 72V on the primary side at the controller C11x0 or switch off the input Safety Relay X33 Net 24V DC GND...

Page 36: ...Os Master Encoder Max power consumption 30 W 30 W 30 W 30 W Protect class IP 20 IP 20 IP 20 IP 20 Operating temperature 0 40 C 0 40 C 0 40 C 0 40 C Ground 1 5 kg 1 5 kg 1 5 kg 1 5 kg Distance between controllers 20mm left right 50mm bottom top 20mm left right 50mm bottom top 20mm left right 50mm bottom top 20mm left right 50mm bottom top Fuse protection 72 V supply 20 AT 20 AT 20 AT 20 AT Fuse pro...

Page 37: ...power supply 24VDC X14 1 Logic voltage supply GND DANGER Danger from electric shock when the safety door is open Work on the electrical system carried out unprofessionally can cause serious or fatal injuries Safely disconnect the power supply unit 72V on the primary side at the E12x0 controller RS232 Analogue In RT Ethernet Out RT Ethernet In Net 72V DC PWR PGND Net 24V DC GND 24VD ID Setting of c...

Page 38: ...ntroller R connector Insert Electric slide ES20 Portal axis PEL20 Rotational axis SE20 D connector Insert Controller E11x0 Standard C connector Insert Electric slide ES30 Portal axis PEL30 Portal axis PDL30 Portal axis PDL40 Portal axis PDL40 HP Rotational axis SE30 W connector Insert Controller E11x0 Standard HC and XC Controller E12x0 UC Y Stecker Einsatz Regler C11x0 XC Regler C1210 XC ...

Page 39: ...rey 5 7 A Grey 6 8 B Grey 7 9 B Grey 8 10 Free 11 Free 12 GND Grey 3 Housing Screen outer screen NC Red 1 NC Grey 4 6 4 2 SUB D connector on the controller PIN Function Colour 1 5V Pink 2 A sin Yellow 3 B cos Grey 4 Z data White 5 GND Red blue violet 6 Free 7 Free 8 Clock Green 9 A sin Black 10 B cos Red 11 Z Data Blue 12 Free 13 Free 14 Free 15 Clock Grey pink Housing Screen Outer screen Controll...

Page 40: ...rown 2 White 3 Blue 4 Black 5 Grey Housing Outer screen 6 4 4 Y distribution connector R12 6 4 5 Reference sensor PIN on A Function Colour 1 24VDC Brown 2 Signal White 3 GND Blue PIN on C PIN on A PIN on B Function Colour 1 1 1 24VDC Brown 2 4 Signal A White 3 3 3 GND Blue 4 4 Signal B Black 5 NC Grey Housing Outer screen Socket 5 pin M8x1 Connector 5 pole M8x1 Connector 3 pole M8x1e ...

Page 41: ... of your application The parameters depend on the load mass and the mechanical structure of the system CAUTION Risk of injuries due to uncontrolled parts movements Incorrect programming can cause the rotational axis to make rapid or uncontrolled movements or to drive into the stop without braking and cause serious injuries or damage to property Ensure that the enclosure is closed and that there ar...

Page 42: ...existing module for absolute positioning can be converted into a module for relative positioning by changing a variable Possibility 3 Set up with safely reduced speed Please observe the associated instructions for safely reduced speed Type Max speed m s Max Accel m s2 Max Delay m s2 Std Speed m s Std Accel m s2 Std Delay m s2 Max Item mm Max Item mm RA 40 x 50 x 0 84 30 30 0 84 20 20 RA 40 x 30 x ...

Page 43: ...tch off the control and use a lockout device to make sure that the control cannot be started up again 2 Connect the encoder cable 3 Connect the motor cable 4 Connect the reference switch cable 5 Switch on the controller unit and check the correct function of the encoder and the reference switch 6 Perform test run Start with slow movements Subsequently under normal operating conditions Commissionin...

Page 44: ...ced by Afag WARNING Danger of injury due to faulty troubleshooting Poorly performed troubleshooting work can lead to serious injuries and damage to property Only use trained specialist personnel for troubleshooting All work on the modules must be carried out with the power supply cut off WARNING Risk of injuries due to uncontrolled parts movements Signals from the control system can trigger uninte...

Page 45: ... to be operated in an environment with abrasive dusts or corrosive or aggressive vapours gases or liquids the approval of Afag must be obtained in advance WARNING Danger of injury due to improper maintenance Improperly carried out maintenance activities can cause considerable damage to property and serious injury Only use trained specialist personnel to carry out the activities Always wear persona...

Page 46: ...evelopment in case of unusual displacement movements or hard knocks eliminate malfunction immediately 3 Lubrication points Lubricating Every year Off Chap 9 3 2 Lubrication At all lubrication points if necessary press in grease of type Klübersynth UH1 14 31 with a grease gun 9 3 2 Lubrication 9 3 3 Further maintenance Further maintenance is not required if the ambient conditions listed below are c...

Page 47: ...C 1S for Profidrivet 16080763 Controller C1250 LU XC 1S for LinUDP 16080741 Controller C1250 IP XC 1S for Ethernet IP 16080411 Controller C1250 EC XC 1S for EtherCat 16080405 Controller C1200 GP XC 1S for General Purpose 16080407 Controller C1150 SE XC 1S For Sercos over EtherCAT 16080768 Controller C1150 PN XC 1S for Profinet 16080429 Controller C1150 EC XC 1S for EtherCat 16080434 Controller C11...

Page 48: ... 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 x x x x x X K15 W C 8 Motor cable M24 8m 0 2 X x x x x x x x x X KS10 W C 8 Motor cable M22 8m 0 2 1 x x x x x x x x x X KR10 W C 8 Motor cable M22 8m 0 2 2 x x x x x x x x x x X K15 Y C 8 Motor cable M23 8m 0 1 X x x x x x x X KS10 Y C...

Page 49: ... 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 4m 0 2 X 50463088 Motor cable M20 6m 0 2 X 50463090 Motor cable M20 8m 0 2 X 50463092 Motor cable M20 4m 0 2 1 50463089 Motor cable M20 6m 0 2 1 50463091 Motor cable M20 8m 0 2 1 50463093 Motor cable M21 4m 0 0 X 50463094 Motor cable M21 6m 0 0 X...

Page 50: ...ce or repair defective modules or wear parts himself or send them to the Afag repair service Please note that Afag does not assume any warranty for modules that have not been replaced or repaired by Afag CAUTION Risk of injuries due to uncontrolled parts movements Risk of injury when removing the rotational axis due to uncontrolled movements of the modules Only remove the module when the control u...

Page 51: ...ts according to type of material and dispose of them properly Scrap metals such as axles modules adapter plates Hand over plastic parts for recycling Sort the rest of the components by their material properties and dispose of them accordingly WARNING Risk of injury due to improper decommissioning and disposal Improperly carried out activities can result in considerable material damage and serious ...

Page 52: ... 2014 35 EU Low Voltage Directive LVD EN ISO 12100 2010 Safety of machinery General design principles Risk assessment and risk reduction DIN EN 60204 1 2018 Safety of machinery Electrical equipment of machines Part 1 General requirements Note The partly completed machinery must not be put into service until the machinery into which it is to be incorporated has been declared in conformity with the ...

Page 53: ... abbreviations 8 I Instructions 7 O Obligations and liability 10 Obligations of the operating company 10 Obligations of the personnel 11 Operation 44 Operator 11 P Packaging 26 Personal protective equipment PPE 12 Personnel qualifications 11 Personnel requirements 11 Protective clothing 12 Protective gloves 12 Q Qualified electrician 11 Qualified personnel 11 R Residual risks 13 S Safety instructi...

Page 54: ... axis RA 40 4F 20 Fig 4 Dimensional drawing rotational axis RA 40 4F 5F 22 Fig 5 Scope of delivery rotational axis 25 Fig 6 Dimensional drawing rotational axis RA 40 4F 27 Fig 7 Accessories mounting material 28 Fig 8 Overview of power supply units 30 Fig 9 Overview servo controller 31 Fig 10 Axis controller C11x0 33 Fig 11 Axis controller C12x0 35 Fig 12 Axis controller E12x0 37 Fig 13 Maintenance...

Page 55: ...Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 55 56 ...

Page 56: ...56 56 Assembly instructions EN RA 40 2F RA 40 4F Date 30 10 2021 Version 2 0 ...

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