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Installation Guide Linear Rotary Motors

ENG

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PR02-52

NTI AG / LinMot

Content

General Information ................................................................................................................................. 5

Introduction ........................................................................................................................................ 5

Explanation of Symbols ..................................................................................................................... 5

Qualified Personnel ........................................................................................................................... 5

Liability ............................................................................................................................................... 5

Copyright............................................................................................................................................ 5

Safety Instructions ................................................................................................................................... 6

Intended Use ............................................................................................................................................. 8

Designation Code PR02 Linear Rotary Motors ................................................................................. 8

PR02-52 Linear Rotary Motor ............................................................................................................ 8

Internal Mechanical Stops ................................................................................................................. 9

Max. Speed ........................................................................................................................................ 9

Option Load Compensation MagSpring® .......................................................................................... 9

Option Hollow Shaft ........................................................................................................................... 9

Option Torque Sensor ....................................................................................................................... 9

Option Force Sensor ........................................................................................................................ 10

Option Stainless Steel Front Flange (SSC) ..................................................................................... 11

Option Stainless Steel Housing (SSCH) .......................................................................................... 11

Option Pneumatic Holding Brake .................................................................................................... 11

Option angled Motor Connector (R01) ............................................................................................ 11

Installation Instructions ......................................................................................................................... 12

Operating Conditions ....................................................................................................................... 12

Installation Options .......................................................................................................................... 12

Horizontal Installation .................................................................................................................. 12

Vertical Installation ....................................................................................................................... 13

Mounting the Load on the Shaft ...................................................................................................... 13

Feather Key ................................................................................................................................. 13

Shaft-Hub Clamping .................................................................................................................... 14

Connection of Air ............................................................................................................................. 14

Material Data ................................................................................................................................... 14

Standard Design .......................................................................................................................... 14

Stainless Steel Front SSC (PR02-52x60-R-

SSC…) .................................................................... 14

Stainless Steel Design SSCH (PR02-52x60-R-

…-SSCH) .......................................................... 15

Electrical Connection ............................................................................................................................. 15

Motor Cable ..................................................................................................................................... 15

Wiring Linear Rotary Motor .............................................................................................................. 16

Connector Wiring Linear Rotary Motor ............................................................................................ 17

Connector Wiring Torque Measuring Shaft ..................................................................................... 17

Connector Wiring Force Sensor ...................................................................................................... 18

Start-up .................................................................................................................................................... 19

Linear Motor and Rotary Motor ........................................................................................................ 19

Default Values of the Coordinate System ........................................................................................ 19

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Summary of Contents for 0150-2707

Page 1: ...NTI AG LinMot Dok Nr 0185 0021 E_1V6_IG_Linear_Rotary_Motors_PR02 52 Installation Guide Linear Rotary Motors ENG PR02 52 ...

Page 2: ... 11 Option Pneumatic Holding Brake 11 3 12 Option angled Motor Connector R01 11 4 Installation Instructions 12 4 1 Operating Conditions 12 4 2 Installation Options 12 4 2 1 Horizontal Installation 12 4 2 2 Vertical Installation 13 4 3 Mounting the Load on the Shaft 13 4 3 1 Feather Key 13 4 3 2 Shaft Hub Clamping 14 4 4 Connection of Air 14 4 5 Material Data 14 4 5 1 Standard Design 14 4 5 2 Stain...

Page 3: ...suring Shaft and Force Sensor 25 6 8 1 Software Package Technology Function Force Control 25 6 8 2 Setting Parameters for Torque Force Control 25 6 8 3 Initial Test of a Torque Measuring Shaft Force Sensor 27 7 Accessories 29 7 1 Overview 29 7 2 Motor Cable 30 7 3 Sensor Cable 31 7 4 Shaft Hub Clamping 31 7 4 1 Dimensions and Technical Data 32 7 4 2 Mounting 32 7 5 Brake Kit 32 7 5 1 Dimensions 33...

Page 4: ... ENG Page 4 48 PR02 52 NTI AG LinMot 10 1 Option Torque Sensor 40 10 2 Option Force Sensor 41 10 3 Option Flange Bearing 42 10 4 Option angled Connector 43 10 5 Connection of the Motor Cable 44 11 Declaration of Conformity and CE marking 45 ...

Page 5: ...cludes all liability for damages and expenses caused by incorrect use of the products This also applies to false applications which are caused by NTI AG s own data and notes for example in the course of sales support or application activities It is the responsibility of the user to check the data and information provided by NTI AG for correct applicability in terms of safety In addition the entire...

Page 6: ...n against entering the hazardous area or a suitable safe electronic disconnection must be provided Risk of Injury due to a Defect or Fault For areas where a defect or fault can result in substantial property damage or even serious personal injury additional external precautions must be taken or devices must be installed to ensure safe operation even if a defect or fault occurs eg suitable safe ele...

Page 7: ...e a measurable positive or negative effect on people It is unlikely that permanent magnets constitute a health risk but it cannot be ruled out entirely For your own safety avoid constant contact with magnets Store large magnets at least one meter away from your body Temperature Resistance Keep motors away from unshielded flame or heat Temperature above 120 C will cause demagnetization ...

Page 8: ...ar Motor type Connector type Rotary Motor Option stainless steel front flange Rotary Motor type Motor family 3 2 PR02 52 Linear Rotary Motor LinMot linear rotary motors are direct electric drives for use in industrial and commercial installations For correct handling observe the warnings listed in chap 2 The PR02 motor series is characterized by a slim design in which a linear and a rotary motor i...

Page 9: ...available in various force levels and can either push or pull the linear rotary shaft The MagSpring option can be used to compensate the load mass With the correct design the motor current and thus its power loss can be reduced by using a MagSpring This makes higher cycle rates possible If the MagSpring is sized properly it can move the linear rotary shaft including the load mass into a collision ...

Page 10: ...urate reproducible and recordable pressing and assembly processes in accordance with Industry 4 0 requirements with an accuracy of 1 Force sensors are based on the measuring principle of strain gauges They are designed to withstand multiple mechanical overloads and still precisely detect the smallest forces With this option a suitable galvanically isolated measuring amplifier is automatically inte...

Page 11: ... the entire reciprocating rotary motor with a stainless steel housing As a result such motors have a uniformly high IP protection rating IP69s and can withstand in place cleaning processes such as CIP and SIP They are specially designed for the food or pharmaceutical medical industry 3 11 Option Pneumatic Holding Brake Linear rotary motors are electromagnetic direct drives and therefore do not hav...

Page 12: ...sufficient vibrations transverse load and must be supplemented by another support For reasons of vibration a support as far back as possible is preferable See the installation examples in the following chapter To ensure that the motor is not installed in the machine with tension tolerance compensation see next chapter must be provided The detailed mounting dimensions can be found in chapter 10 Dim...

Page 13: ...have a minimum clearance This compensates for any tolerances in the linear rotary motor 4 3 Mounting the Load on the Shaft The assembly and disassembly of the load mass must not take place in the mechanical end stops of the linear movement An external support must be used 4 3 1 Feather Key The load mass is mounted either by means of a feather key or a shaft hub clamping For the first mounting vari...

Page 14: ...nuous hole diameter of Ø 2 5 mm This enables the user to implement pneumatic applications with an operating pressure of max 6 bar In the case of vacuum application it is recommended to use a unit with sufficient power as experience has shown that all air coupling points generate small losses 4 5 Material Data Different materials are used depending on the design of the PR02 52 linear rotary motor 4...

Page 15: ...s intended for stationary installation The High Flex cable suitable for cable tracks and the robot cable are used for moving cable applications Wiring Linear Rotary Motor Wiring torque measuring shaft force sensor Standard cable High flex cable Robot cable High flex cable Cable type K05 04 05 KS05 04 05 KR05 04 05 KSS02 08 Min bending radius stationary 25 mm 0 98 in 30 mm 1 18 in 40 mm 1 57 in 35 ...

Page 16: ...otary Motors ENG Page 16 48 PR02 52 NTI AG LinMot 5 2 Wiring Linear Rotary Motor The following diagram shows the connection of the linear rotary motor and the options torque measuring shaft and force sensor with the LinMot drive ...

Page 17: ...elds of the extension cables must not be connected together the inner shield of the extension cables is used as GROUND and must be connected to GROUND only the outer shield must be connected to SHIELD of the connector 5 4 Connector Wiring Torque Measuring Shaft View Motor connector plug side Connector wiring Torque Sensor M12 Connector A coded Wire colour Sensor cable Supply GND 1 white Supply 24V...

Page 18: ...apacitor 100nF 50V can optionally be soldered between pin 4 and pin 5 on the evaluation electronics to reduce conducted interference 5 5 Connector Wiring Force Sensor View Motor connector plug side Connector wiring Torque Sensor M12 Connector A coded Wire colour Sensor cable Supply GND 1 white Supply 24V approx 50 mA 24VDC 2 brown Do not connect 3 green Force 4 yellow Force 5 grey AGND Reference g...

Page 19: ...otary motor are set on the drive side using the corresponding wizard in the LinMot Talk configuration program Do not drive into the internal mechanical stops It must always be ensured that the linear motor never moves into the lower or upper internal stop during operation as otherwise the linear rotary motor and the force sensor may be damaged The inner stops may be used for homing purposes the ho...

Page 20: ...motors of the LinMot PR02 motor family can optionally have a force sensor built into the module Please make sure that the option Force sensor is selected during the ordering process Fitting of force sensor afterwards is not possible 6 4 1 Force Operating Direction 101 mm Looking to the motor the positive stroke force direction is defined by retracting the linear rotary shaft The direction of strok...

Page 21: ...cation specific parameters such as cable length load mass PID control settings etc can be entered by the user using the Motor Wizard To do this click on the Motor Wizard symbol in the task bar of the LinMot Talk software Then follow the sequence of steps from chapter 6 7 2 6 7 Setting Motor Parameters The various parameters for the linear motor and the rotary motor are set via the corresponding mo...

Page 22: ...selected according to the previous chapter the Motor Wizard guides you through the menu step by step Application parameters should be entered as accurately as possible to ensure the best possible motor control 6 7 3 Inverting the Coordinate System Starting with LinMot Talk version 6 8 the direction of the coordinate system can be selected Default value for rotary motors Positive counting direction...

Page 23: ...allation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 52 Page 23 48 Figure Selection of the positive counting direction rotary motor Figure Selection of the positive direction of movement linear motor ...

Page 24: ...solution and scaling of the transmission data raw data to the higher level PLC are retained Figure Selection of the units to be displayed in the LinMot Talk software 6 7 5 Referencing the Linear Motor The built in linear motor has a position detection system which must be referenced Various modes are available to the user for this purpose Depending on the selected mode the linear motor searches fo...

Page 25: ...handling of the measuring equipment may damage sensors It s strongly recommended to follow the steps for initial setup carefully and test the correct function of measuring equipment before using in real application 6 8 1 Software Package Technology Function Force Control If a closed torque force control loop is implemented via an internal sensor torque or force control of the rotary linear motor v...

Page 26: ...at for parameter 0V 10V Force the positive maximum value and for parameter 10V Force the negative maximum value of the torque measuring shaft force sensor is set By changing the direction of rotation stroke the setting of parameters 0V 10V Force and 10V Force need to be changed as well 0V 10V Force UPID 1501h Positive max value e g 2 5Nm 10V Force UPID 1502h Negative max value e g 2 5Nm Speed Filt...

Page 27: ...tor from oscillating during torque control Limit the maximum control current in order to avoid damage if incorrect handling occurs during commissioning 6 8 3 Initial Test of a Torque Measuring Shaft Force Sensor It s recommended to proceed an initial test of a sensor using the LinMot Talk Variable before entering operational state 1 Log into the drive using LinMot Talk software and open the contro...

Page 28: ... variable measured force should increase or decrease corresponding to the variable Motor Current If there is no change within variable Measured Force detectable check the wiring of the sensor If the value of variable Measured Force is changing its value within different direction as variable Motor Current shows please check wiring or parameter setting Analog Force Feedback Setting DON T ENTER FORC...

Page 29: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 52 Page 29 48 7 Accessories 7 1 Overview 1 Linear Rotary Motor PR02 2 Motor Cable 3 Sensor Cable 4 Shaft Hub Clamping 5 Brake Kit ...

Page 30: ...0150 2424 K05 Y Fe R Motor Cable K05 Y Fe R Custom length 0150 3501 Trailing Chain Cable Item Description Item No KS05 W R 4 Trailing Chain Cable W R 4 m 0150 2106 KS05 W R 6 Trailing Chain Cable W R 6 m 0150 2131 KS05 W R 8 Trailing Chain Cable W R 8 m 0150 2107 KS05 W R Trailing Chain Cable KS05 W R Custom length 0150 3256 Item Description Item No KS05 Y R 4 Trailing Chain Cable Y R 4 m 0150 243...

Page 31: ...e for PR02 0150 4610 7 4 Shaft Hub Clamping Since both rotary and linear movements are carried out with linear motors a type of shaft load attachment must be selected which can absorb both torques and forces in the longitudinal direction A friction locked connection is created with the aid of a shaft hub clamping Ordering information Item Description Item No RS01 SS12x22 Shaft hub clamping for 12m...

Page 32: ... mounting do not use molybdenum disulphide or fat Tighten screws opposite each other 180 degrees offset in several steps to tightening torque TA see above for details By tightening the screws the inner diameter is reduced and the outer diameter is increased This ensures a stable clamping of the outer receptacle 7 5 Brake Kit As an option a brake can be mounted on the motor shaft For this purpose L...

Page 33: ...he brake has only a holding function and is not designed to slow or stop dynamic movements No use for safety devices Not approved as safety element Ordering Information Item Description Item No RS02 BK52 Holding Brake Kit for PR02 52 Linear Rotary Motor 0150 2987 7 5 1 Dimensions ...

Page 34: ...G H1 mm H2 mm H3 mm HB01 37 600 20 25 17 G 1 8 76 45 5 25 5 Operating Conditions Medium Filtered compressed air 40 µm unoiled or oiled Operating pressure 4 6 bar Ambient temperature 10 C 80 C 7 5 3 Mounting Please attend to the safety instructions in chapter 2 during the assembling 1 Remove the flange bearing The flange bearing is dismantled using a fork wrench SW 36 ...

Page 35: ...Then fasten with 4 hexagonal screws Tightening torque 10 Nm 5 Remove the mounting screw for the air connection If the motor shaft can be moved easily the mounting screw can be removed The shaft is then clamped Instead of the mounting screw a compressed air connection is now made When pressure is applied the brake is released and the shaft can be moved again The air pressure for the brake can be co...

Page 36: ...l Data Component Material Base Flange EN 1 4305 Brake Flange EN 1 4305 Ball Bearing Steel Seal NBR Clamp Cylinder Housing Holding Brake Anodized aluminium Clamp jaws Holding Brake High quality brass Piston Holding Brake POM Spring Holding Brake Spring steel Seals Holding Brake NBR Ultrathan ...

Page 37: ...ary Motors r156 8 1 1 Preventive Inspection every 6 000h To ensure trouble free operation a preventive inspection is recommended every 6 000 hours of operation or every year When inspecting the motors the following points must be checked a Visual inspection of all wearing parts replace if necessary b Preventive replacement of seals and wipers c Cleaning of mechanically moving parts d Replacement a...

Page 38: ...5 Ω Sensor Sine GND Pin C Pin B 33 kΩ Sensor Cosine GND Pin D Pin B 33 kΩ Temp Sensor GND Pin E Pin B 10 kΩ Phase GND Pin 1 2 3 4 Pin B 20 MΩ All Pin Shield Pin 1 E Housing 20 MΩ 8 2 2 Rotary Motor Stator RS01 52x60 R Configuration Pins Resistance Phase A Phase B Pin 1 Pin 2 3 Phase A Phase C Pin 1 Pin 3 3 5V GND Pin A Pin B 155 Sensor Sinus GND Pin C Pin B 33 k Sensor Cosine GND Pin D Pin B 33 k ...

Page 39: ...ge The storage area must be dry dust free frost free and vibration free The relative humidity must be less than 60 non condescending Prescribed storage temperature 15 C 70 C The motor must be protected against extreme weather conditions The air in the storage area must not contain any harmful gases ...

Page 40: ...Installation Guide Linear Rotary Motors ENG Page 40 48 PR02 52 NTI AG LinMot 10 Dimensions 10 1 Option Torque Sensor in mm ...

Page 41: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 52 Page 41 48 10 2 Option Force Sensor in mm ...

Page 42: ...Installation Guide Linear Rotary Motors ENG Page 42 48 PR02 52 NTI AG LinMot 10 3 Option Flange Bearing in mm ...

Page 43: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 52 Page 43 48 10 4 Option angled Connector in mm ...

Page 44: ...nMot 10 5 Connection of the Motor Cable When using a KS05 04 05 High Flex cable a minimum bending radius of 60 mm must be maintained when the application is in motion In this case the following drawing shows the corresponding dimensions of the PR02 linear rotary motor in mm ...

Page 45: ...S01 0150 3744 PR02 52x60 R_37x120F HP R 100 L_MS04_TS01 0150 2707 PR02 52x60 R_37x120F HP R 100_MS01_TS00_FS01 0150 3792 PR02 52x60 R_37x120F HP R 100_MS00_TS00_FS02 0150 4043 PR02 52x60 R_37x120F HP R 100 L_MS01_TS01_FS01 0150 3852 PR02 52x60 R_37x120F HP R 100 L_MS01_TS01_FS02 0150 3909 PR02 52x60 R_37x120F HP R 100 L_MS00_TS00_FS01 0150 4221 PR02 52x60 R_37x120F HP R 100 L_MS01_TS00_FS01 0150 4...

Page 46: ..._MS00_TS00 0150 3745 PR02 52x60 SSC R_37x120F HP R 100 L_MS51_TS00 0150 4470 konform ist mit den Anforderungen der Richtlinien is conform to the provisions of directives est conformé aux exigences des directives 2014 30 EU EMC gestützt auf die folgenden Normen based on the following standards base aux normes suivants EN61000 6 2 2005 EN61000 6 4 2007 Jahr der CE Kennzeichnung Year of CE marking An...

Page 47: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 52 Page 47 48 Notes ...

Page 48: ...ion 41 56 419 91 91 office linmot com Tech Support 41 56 544 71 00 support linmot com Web https www linmot com North South America Headquarters LinMot USA Inc N1922 State Road 120 Unit 1 Lake Geneva WI 53147 USA Sales Administration 262 743 2555 usasales linmot com Tech Support 262 743 2555 usasupport linmot com Web https www linmot usa com Visit https linmot com contact to find a distributor near...

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