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Festo YXCR, Operating Instructions Manual

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Festo — YXCR — 2021-07b

Product overview

15

2

1

Fig. 11: Z-module EHMZ-EGSL

1

Z-Y adapter plate

2

Z-axis

2

1

Fig. 12: Z-module EHMZ-EGC

1

Z-Y adapter plate

2

Z-axis

2

1

Fig. 13: Z-module EHMZ-DGEA, motor position

left

1

Z-Y adapter plate

2

Z-axis

Summary of Contents for YXCR

Page 1: ...YXCR Three dimensional gantry Operating instruc tions 8087868 2021 07b 8087870...

Page 2: ...Translation of the original instructions...

Page 3: ...cks from the moving parts 25 6 Assembly 27 6 1 Preparation 27 6 2 Mounting attachments 28 6 3 Preparing mounting surface 29 6 3 1 Prepare mounting surface for mounting kit 29 6 3 2 Preparing mounting...

Page 4: ...n 94 7 2 3 Installing cables and tubing 97 7 2 4 Earthing 98 8 Commissioning 100 8 1 Safety instructions and requirements 100 8 2 Limit switch 101 8 3 Perform initial commissioning with test run 101 9...

Page 5: ...dent documents These documents form part of the product documentation and can be downloaded as follows 1 Read the order ID product key from the product labelling 2 Download the documents from the Fest...

Page 6: ...ensional gantry Horizontal Horizontal Vertical Tab 2 Permitted mounting position Other mounting positions or overhead mounting of the product are not permitted 2 3 Training of qualified personnel Work...

Page 7: ...ffer from the illustrations The product consists of the following modules The X module moves the Y module along the X axes The Y module moves the Z module along the Y axis The Z module moves customer...

Page 8: ...8 Festo YXCR 2021 07b Product overview 1 2 2 4 3 Fig 2 Product version with ELGC axes example 1 Y module EHMY RP ELGC 2 X module EHMX ELGC 3 Mounting attachment 4 Z module...

Page 9: ...one guide axis The X Y adapter for connection to the Y module is located on the slides of the X axes The motor position is configuration dependent The following components are located on the motor sid...

Page 10: ...1 Connecting shaft 2 Motor optional 3 Multi pin plug sensors optional 4 Energy chain 5 X axis 6 Slide with X Y adapter 1 3 4 3 4 6 5 2 Fig 5 X module EHMX EGC M motor position centre 1 Motor optional...

Page 11: ...1 Product version with ELGC axes 1 2 3 5 6 4 2 2 Fig 6 X module EHMX ELGC motor position left axial example 1 Motor optional 2 Slide with X Y adapter 3 Guide axis 4 Support of the energy chain optiona...

Page 12: ...axis for connection to the Z module The motor position on the Y module is dependent on the motor position of the X module The following components are located on the motor side Energy chain optional f...

Page 13: ...rview 13 Product version with ELGC axis 1 3 4 5 2 Fig 8 Y module EHMY RP ELGC motor position left axial example 1 Energy chain optional 2 Support of the energy chain optional 3 Y axis 4 Slide with Y Z...

Page 14: ...f the Y module The attachment components provided by the customer can be mounted on the adapter for attachment components 1 2 3 4 Fig 9 Z module example 1 Z Y adapter plate 2 Z axis 3 Energy chain con...

Page 15: ...b Product overview 15 2 1 Fig 11 Z module EHMZ EGSL 1 Z Y adapter plate 2 Z axis 2 1 Fig 12 Z module EHMZ EGC 1 Z Y adapter plate 2 Z axis 2 1 Fig 13 Z module EHMZ DGEA motor position left 1 Z Y adapt...

Page 16: ...r position right 1 Z Y adapter plate 2 Z axis Product version with ELGC axis 2 1 Fig 15 Z module DHMZ DGST 1 Drill holes for mounting on the Y module 2 Z axis 2 1 3 Fig 16 Z module EHMZ EGSC axial mot...

Page 17: ...motors is not recommended and is not part of these operating instructions 5 Transport 5 1 Transportation protection CAUTION Risk of injury from falling parts Parts of the product or the transportatio...

Page 18: ...ection 1 Before removing the product remove the marked screws The product can be lifted out of the transportation protection 2 Lift the product out of the transportation protection with the mounted tr...

Page 19: ...sport kit is mounted on the product on delivery 1 2 3 4 5 6 7 Fig 19 Transport kit for EHMX EGC 1 Slot nut 16x 2 Nut 4x 3 Screw 8x 4 Brace 2x 5 Screw 16x 6 Mounting bracket 4x 7 Lifting eye bolt 4x Us...

Page 20: ...Mounting the mounting bracket Attach the mounting bracket to the front sides of the X axes EHMX EGC 50 80 120 185 Screw size M4 x 10 M5 x 12 M8 x 16 M10 x 16 Tightening torque Nm 4 1 8 3 34 47 Mounti...

Page 21: ...kit is mounted on the product on delivery 1 2 3 4 5 6 7 8 9 Fig 23 Transport kit for EHMX ELGC 1 Lifting eye bolt 4x 2 Nut 4x 3 Screw 4x 4 Profile mounting 4x 5 Slot nut 4x 6 Brace 2x 7 Slot nut 8x 8...

Page 22: ...en the lifting eye bolts to the mounting brackets with one nut each EHMX ELGC 60 80 Screw size M12 Tightening torque Nm 24 Mounting braces on X axes Fig 25 Mounting braces For clamping the Y width By...

Page 23: ...with the transport kit Align lifting eye bolts Fig 27 Permissible load direction of the lifting eye bolts 1 Loosen the nuts of the lifting eye bolts 2 Turn the lifting eye bolts to the direction of t...

Page 24: ...e following Use suitable lifting gear for safe handling e g cross brace Take the product weight into account identification on the transportation protection Apply load to lifting eye bolts evenly at a...

Page 25: ...product are secured with transpor tation locks Secure unsecured moving parts with transportation locks Fig 29 Identification of the transportation lock for moving parts After assembly and before the p...

Page 26: ...Z EGC EHMZ DGEA 1 1 2 2 Fig 30 EHMZ EGC 1 1 2 2 Fig 31 EHMZ DGEA 1 Locking module 2 Z axis 1 After assembly and before the product is energised Support the Z axis from below 2 Remove the locking modul...

Page 27: ...CAD model Mounting surface The mounting surface must exhibit the following characteristics torsionally rigid free of stress sufficient strength to absorb the maximum forces sufficient evenness WARNIN...

Page 28: ...ng surface Unevenness in the mounting surface can be compensated Number of required mounting components EHMX EGC 50 80 120 185 Mounting attachments number per X axis Stroke Hx in X direction mm 475 40...

Page 29: ...108 By 182 By 280 By 386 Y2 mm 60 100 160 200 X12 mm Hx 51 Hx 146 Hx 224 Hx 310 X23 mm X1 X3 n 1 X3 mm 50 68 106 106 G1 M3 M5 M8 M8 Thread depth G1 mm 6 8 13 13 1 By width in Y direction Technical dat...

Page 30: ...equired flatness of the mounting surface for mounting kit 1 Determine the values of the dimensions X1 and Y1 2 The required flatness of the mounting surface depends on the size of the product Check th...

Page 31: ...By 395 Y2 mm 62 5 104 5 140 5 209 5 X12 mm Hx 1 Hx 78 Hx 118 Hx 204 X23 mm X1 n 1 G1 M8 Thread depth G1 mm 13 1 By width in Y direction Technical data 2 Hx stroke in X direction Technical data 3 n nu...

Page 32: ...k that the mounting surface has the required evenness and parallelism of 0 6 mm m 3 Prepare the mounting holes on the mounting surface in accordance with the product dimensions With EHMX ELGC The supp...

Page 33: ...th mounting kit dimensions for mounting motor gear unit When mounting the X module with adjusting kit Fig 35 EHMX EGC M with adjusting kit EHMX EGC M 80 120 185 H2 mm 18 5 20 6 39 5 H3 mm 8 3 L mm 70...

Page 34: ...artially mounted delivery status For delivery status completely mounted 6 8 Product assembly with delivery status com pletely assembled 1 2 4 3 Fig 36 Mounting kit for EHMX EGC 1 Screw 4x 2 Profile mo...

Page 35: ...n With EGC axes With ELGC axes Size YXCR 1 4 YXCR 1 B YXCR 2 B X module EHMX EGC EHMX ELGC 60 EHMX ELGC 80 Length offset A mm 0 40 46 5 Tolerance 0 4 By 1000 Tab 12 Dimension of length offset A of the...

Page 36: ...e M3 x 10 M5 x 12 M8 x 20 M8 x 20 Tightening torque Nm 1 2 5 9 20 20 EHMX ELGC 60 80 Screw size M5 x 12 Tightening torque Nm 6 4 Tighten the screws evenly on the profile mountings EHMX EGC 50 80 120 1...

Page 37: ...us completely mounted 6 8 Product assembly with delivery status com pletely assembled 1 2 3 4 5 6 Fig 39 Adjusting kit for EHMX EGC 1 Slot nut 4x 2 Screw 2x 3 Washer 2x 4 Adjusting plate 5 Adjusting b...

Page 38: ...kit A Length offset A of the X axes on the drive side Product version With EGC axes With ELGC axes Size YXCR 1 4 YXCR 1 B YXCR 2 B X module EHMX EGC EHMX ELGC 60 EHMX ELGC 80 Length offset A mm 0 40 4...

Page 39: ...en it EHMX EGC 1 Loosen the screws on the underside Do not unscrew the screws 2 Position the adjusting kits on the prepared mounting surface 3 Tighten the screws on the underside EHMX EGC 50 80 120 18...

Page 40: ...untings Do not unscrew the screws 2 Position the adjusting kits on the prepared mounting surface 3 Tighten the screws on the profile mountings EHMX ELGC 60 80 Screw size M5 x 16 Tightening torque Nm 4...

Page 41: ...ize tightening torque and dimensions Fig 42 Dimensions of adjusting kit 1 Place the washers under the screws 2 Place screws centrally in the slot 3 Lightly secure the adjusting plate to the mounting s...

Page 42: ...alignment screw the adjusting bolts in or out 6 Tighten the screws Hold the adjusting bolts while tightening the screws The adjusting bolt has not twisted The alignment has been maintained The minimu...

Page 43: ...rtially mounted delivery status 1 5 4 2 2 3 Fig 43 Product version with EGC axes example 1 X module connecting shaft 2 X module EHMX EGC 3 Mounting attachment 4 Z module 5 Y module EHMY RP EGC 5 6 Fig...

Page 44: ...44 Festo YXCR 2021 07b Assembly 1 2 2 4 3 Fig 45 Product version with ELGC axes example 1 Y module EHMY RP ELGC 2 X module EHMX ELGC 3 Mounting attachment 4 Z module...

Page 45: ...ct is mounted The moving parts are secured with the transportation locks Product version with EGC axes 1 2 3 Fig 46 X module EHMX EGC L motor position left 1 Connecting shaft with motor 2 X axis with...

Page 46: ...axial example 1 Drive axis 2 Guide axis When mounting with mounting kits the mounting surface must have the required flatness When mounting with adjusting kits unevenness of the mounting surface can b...

Page 47: ...nting component used Tab 16 Requirements for alignment evenness EHMX EGC 50 80 120 185 Y11 mm By 108 By 182 By 280 By 386 X12 mm Hx 51 Hx 146 Hx 224 Hx 310 1 By width in Y direction Technical data 2 H...

Page 48: ...eck Evenness 0 1 mm Hx 1000 Lateral tilt 0 1 mm By 1000 5 Fasten the X axis with energy chain to the mounting surface 6 Align the second X axis with the mounted X axis Check length offset Tab 15 Dimen...

Page 49: ...in increased wear and distortion Align the slides with each other EHMX EGC only push both slides into the centre of the X axes Check slide offset 0 1 mm By 1000 13 EHMX EGC only fasten the open coupl...

Page 50: ...e EHMY RP EGC Requirements The X module is mounted The moving parts are secured with the transportation locks 1 2 2 Fig 51 Y module EHMY RP EGC motor position left 1 Y axis 2 Y X adapter plate 1 2 2 F...

Page 51: ...The Y X adapter plates are loosened slightly at the profile of the Y axis 2 For parallel and torsion free alignment of the X axes Slacken the screws for fastening to the mounting surface on an X axis...

Page 52: ...e 2 Y X adapters insert 2 centring sleeves 6 5 Fasten the Y module with the 12 screws 5 to the X module Tighten the screws evenly EHMX EGC 50 80 120 185 EHMY RP EGC 50 80 125 120 160 185 220 Screw siz...

Page 53: ...X EGC 50 80 120 185 EHMY RP EGC 50 80 125 120 160 185 220 Screw size M3 x 8 M5 x 12 M6 x 16 M6 x 16 Tightening torque Nm 1 7 8 3 14 14 3 8 Push the Y module back and forth once by hand over the comple...

Page 54: ...ing kit screw size and tightening torque EHMX EGC 50 80 120 185 Screw size M5 x 30 M8 x 40 Tightening torque Nm 5 9 34 Tab 22 EHMX EGC with adjusting kit screw size and tightening torque Tighten all s...

Page 55: ...tional 2 Support of the energy chain optional 3 Y axis 4 Slide with Y Z adapter plate 5 Motor optional 1 For parallel and torsion free alignment of the X axes On an X axis preferably on the guide axis...

Page 56: ...021 07b Assembly 2 Place the Y module on the X Y adapters of the X module 3 Fasten the Y module with the 4 profile mountings 8 screws and slot nut to the 2 X Y adapters of the X module Do not tighten...

Page 57: ...le of the X Y adapter Maintain clearances A and B EHMX ELGC 60 80 EHMY RP ELGC 45 60 60 80 Screw size M5 x 12 Tightening torque Nm 5 Clearances A B between the angle profile of the XY adapter up to th...

Page 58: ...ters Check The upper profile mountings are in contact with the stop edges of the X Y adapters Clearances A and B are maintained 6 Move the Y module by hand over the complete stroke length of the X mod...

Page 59: ...rque EHMX ELGC 60 80 Screw size M8 x 40 Tightening torque Nm 25 For mounting in steel Tab 24 EHMX ELGC with adjusting kit screw size and tightening torque Tighten all screws for mounting the X axes on...

Page 60: ...le is mounted The moving parts are secured with the transportation locks Z module EHMZ EGC or EMHZ DGEA the Z axis is secured with the locking module 2 1 Fig 54 Z module DHMZ DGSL 1 Z axis 2 Z Y adapt...

Page 61: ...61 2 1 Fig 57 Z module EHMZ DGEA motor position left 1 Z axis 2 Z Y adapter plate 2 1 Fig 58 Z module EHMZ DGEA motor position right 1 Z axis 2 Z Y adapter plate 3 4 Fig 59 Enclosed components exampl...

Page 62: ...r s material safety data sheet 4 Fasten the Z module to the Y Z adapter plate of the Y module with the screws EHMY EGC 50 80 125 120 160 185 220 Screw size M4 x 10 M6 x 16 M8 x 14 M8 x 14 Tightening t...

Page 63: ...2 Place the Z module on the Y Z adapter plate of the Y module 3 Fasten the Z module to the Y Z adapter plate with at least 2 screws through the housing Secure the screws with an adhesive for locking...

Page 64: ...ce the Z module on the Y Z adapter plate of the Y module 2 Fasten the Z module to the Y Z adapter plate with the 2 profile mountings and the 4 screws EHMZ EGSC 32 45 60 EHMY RP ELGC 45 60 80 Screw siz...

Page 65: ...of motor position EHMX EGC M Requirements The X module is mounted Align the hollow shafts on the X axes 1 2 3 4 5 6 7 Fig 66 Motor position middle 1 Shaft journal 2x 2 Clamping screw 2x 3 Coupling 4x...

Page 66: ...ndition Check no kinks dents or bending Clean the contact surfaces of the following components Connecting tubes Couplings Shaft journal exception leave the expanding mandrel cone greased on the inside...

Page 67: ...coverings on the hollow shafts The connecting shaft may only be mounted on the drive sides of the X axes Mounting at the opposite ends of the X axes is not permissible and would cause collisions 4 Pu...

Page 68: ...n the clamping screws EHMX EGC 50 80 120 185 Screw size M3 M5 M8 M10 Tightening torque Nm 1 7 14 60 7 If the expanding mandrel cone is stuck the unit cannot be assembled The shaft journal contains the...

Page 69: ...o YXCR 2021 07b Assembly 69 8 Unscrew the screws on the half shells 9 Remove the half shells 10 Push the couplings onto the shaft journals to the stop 11 Tighten the screw lightly The couplings are fi...

Page 70: ...tive direction of rotation When the gear shaft is viewed from the left the gear shaft rotates clockwise 14 Fasten the gear housing to the bottom with screws on the mounting surface Observe the dimensi...

Page 71: ...k the couplings are fixed on both sides 18 Place the connecting tubes in the coupling 19 Loosen the screws of the couplings slightly 20 Align the couplings centrally 21 Observe push in depth B of the...

Page 72: ...8 M10 x 30 M12 x 40 Tightening torque Nm 4 8 50 120 23 Position the half shells Screw in the screws slightly 24 Clamp the connecting tube to the half shell evenly and symmetrically 25 Tighten the scre...

Page 73: ...at motor position left right EHMX EGC L R Requirements The X module is mounted Align the hollow shafts on the X axes 5 6 2 1 3 4 Fig 68 Motor position left right 1 Shaft journal 2x 2 Clamping screw 2x...

Page 74: ...ndition Check no kinks dents or bending Clean the contact surfaces of the following components Connecting tube Couplings Shaft journal exception leave the expanding mandrel cone greased on the inside...

Page 75: ...coverings on the hollow shafts The connecting shaft may only be mounted on the drive sides of the X axes Mounting at the opposite ends of the X axes is not permissible and would cause collisions 4 Pu...

Page 76: ...s EHMX EGC 50 80 120 185 Screw size M3 M5 M8 M10 Tightening torque Nm 1 7 14 60 7 If the expanding mandrel cone is stuck the unit cannot be assembled The shaft journal contains the extrusion thread G1...

Page 77: ...Festo YXCR 2021 07b Assembly 77 9 Remove the half shells 10 Push the couplings onto the shaft journals to the stop 11 Tighten the screw lightly The couplings are fixed...

Page 78: ...he plugs into the connection tube 13 Place the connecting tube in the couplings 14 Loosen the screws of the couplings slightly 15 Align the couplings centrally 16 Observe push in depth B of the shaft...

Page 79: ...8 M10 x 30 M12 x 40 Tightening torque Nm 4 8 50 120 18 Position the half shells Screw in the screws slightly 19 Clamp the connecting tube to the half shell evenly and symmetrically 20 Tighten the scre...

Page 80: ...nting components is pre assembled on the X axes Use only the supplied mounting components The transportation kit for lifting the product is mounted The moving parts are secured with the transportation...

Page 81: ...axes example 1 Y module EHMY RP ELGC 2 X module EHMX ELGC 3 Mounting attachment 4 Z module Mounting When mounting with mounting kits the mounting surface must have the required flatness When mounting...

Page 82: ...ELGC 80 Length offset A mm 0 40 46 5 Tolerance 0 4 By 1000 Tab 25 Dimension of length offset A of the X axes on the drive side Dimension X11 mm Dimension Y11 mm 1000 1001 2000 2001 3000 1000 0 1 0 2...

Page 83: ...11 mm By 165 By 205 X12 mm Hx 69 5 Hx 81 5 1 By width in Y direction Technical data 2 Hx stroke in X direction Technical data Tab 30 Dimensions for adjusting kit for EHMX ELGC 1 The slides of the X mo...

Page 84: ...xes connection between X module and Y module 2 Y X adapter plate 3 Screws 4 Bolts The premounted bolts 4 define the position of the Y module in the Z direction Do not loosen the bolts On the left and...

Page 85: ...energy chain at the top of the guide Check Evenness 0 1 mm Hx 1000 Lateral tilt 0 1 mm By 1000 2 Fasten the X axis with energy chain to the mounting surface 3 Align the second X axis with the mounted...

Page 86: ...s 3 Fig 75 Product version with EGC axes connection between X module and Y module Tighten the screws 3 on the left and right Y module on the Y X adapter plates EHMX EGC 50 80 120 185 EHMY RP EGC 50 80...

Page 87: ...Mounting Y module on X module product version with ELGC axes 1 2 3 Fig 76 Product version with ELGC axes connection between X module and Y module 1 Stop edge on the profile XY adapter 2 Profile mounti...

Page 88: ...ning torque Nm 5 Clearances A B between the angle profile of the XY adapter up to the cover of the Y axis Clearance A on drive axis of the X module motor side mm 50 30 50 42 7 Clearance B on guide axi...

Page 89: ...cient backlash in the mounting components of the detached X axis for parallel alignment 2 Push the Y module back and forth once by hand over the complete stroke length of the X module The detached X a...

Page 90: ...ion with ELGC axes EHMX ELGC 60 80 Screw size M5 x 12 Tightening torque Nm 6 Tab 33 EHMX ELGC with mounting kit screw size and tightening torque EHMX ELGC 60 80 Screw size M8 x 40 Tightening torque Nm...

Page 91: ...Fig 77 Product structure example 1 Move the Y module by hand over the entire stroke length of the X axis Move the Z module back and forth by hand over the entire stroke length of the Y axis The modul...

Page 92: ...le 1 Push the motor onto the X axis Check correct relative position of the coupling hubs 2 Connect the motor flange with the screws Tightening torque see accompanying documentation for motor mounting...

Page 93: ...s 7 2 1 General Delivery status Delivery status partially assembled the cables and hoses are enclosed Delivery status completely mounted the cables and hoses are installed in the energy chains The cab...

Page 94: ...N H Tubing colour Function Black Extend pneumatic drive Silver Retract pneumatic drive Blue Customer specific application Tab 37 Classification of tubing colours Tubing size Bending radius min imum DH...

Page 95: ...cables 2 Motor cables 3 Motor cables sensor cables or tubing 4 Sensor cables plug sockets with cable optional earthing cable included 5 Tubing optional Tab 41 Chamber allocation energy chain X module...

Page 96: ...customer specific Tab 43 Chamber allocation energy chain Y module EHMY RP ELGC Energy chain Z module Energy chain chambers Allocation 1 Customer specific 2 Encoder cables plug sockets with cable 3 Mot...

Page 97: ...e cables or tubing of the Z module into the designated chambers of the energy chain of the Y module 3 Place the customer specific cables or hoses of the attachment component in the designated chambers...

Page 98: ...ropri ately 1 Connect the earthing points of the modules to suitable earthing cables The earthing cables are included in the scope of delivery depending on the configuration Product version with EGC a...

Page 99: ...3 3 1 1 1 Fig 81 Connection for earthing points example 1 Earthing point 2 Serrated washer 3 Washer 1 Position serrated washer 2 Place the cable lugs of the earthing cables between the serrated washer...

Page 100: ...of the product move unpredictably and at high speed within the range of motion Before entering the movement range switch off the power supply or if necessary move at low speed DANGER Risk of injury f...

Page 101: ...tions proximity switch Adjust the slot covers if necessary Check the product for freedom from collisions Check that the proximity switches are correctly positioned with a test run 8 3 Perform initial...

Page 102: ...ck it to prevent reconnection WARNING Risk of injury from moving parts When the power supply or compressed air supply is switched off moving parts can travel uncontrol lably into the lower end positio...

Page 103: ...NOTICE Trouble free operation and a long service life require regular relubrication Lubricate the axes at the specified lubrication interval Observe the specifications for relubrication Use appropria...

Page 104: ...ad is too low Reinforce the axis mounting Change the payload geometry Vibrations on the carriage Operation at the resonance point of the axis Change the travel velocity Change the acceleration Motor d...

Page 105: ...upply move the vertical or tilted moving parts to the lower end position and secure them 1 To prevent uncontrolled movements when the power supply is switched off move the moving parts to the lower en...

Page 106: ...KF 1200 642 e g Hx stroke in X direction 1200 mm e g By width in Y direction 642 mm Feature Storage conditions Dry Solid and flat base In original transportation protection Materials Profiles of the a...

Page 107: ......

Page 108: ...2021 all rights reserved to Festo SE Co KG Copyright Festo SE Co KG 73734 Esslingen Ruiter Stra e 82 Deutschland Phone 49 711 347 0 Internet www festo com...

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