LinMot PR02-52 series Installation Manual Download Page 2

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Installation Guide Linear Rotary Motors

ENG

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PR02-52

NTI AG / LinMot

Content

General information ................................................................................................................................. 4

1.1

Introduction ........................................................................................................................................ 4

1.2

Explanation of symbols ...................................................................................................................... 4

1.3

Qualified personnel ............................................................................................................................ 4

1.4

Liability ............................................................................................................................................... 4

1.5

Copyright............................................................................................................................................ 4

Safety instructions ................................................................................................................................... 5

Installation instructions ........................................................................................................................... 7

3.1

Operating conditions .......................................................................................................................... 7

3.2

Installation options ............................................................................................................................. 7

3.2.1

Horizontal installation ..................................................................................................................... 7

3.2.2

Vertical installation ......................................................................................................................... 7

3.3

Mounting the load on the shaft .......................................................................................................... 8

3.4

Connection of air ................................................................................................................................ 8

Electrical connection ............................................................................................................................... 9

4.1

Motor cable ........................................................................................................................................ 9

4.2

Wiring Linear Rotary Motor .............................................................................................................. 10

4.3

Connector Wiring Linear Rotary Motor ............................................................................................ 11

4.4

Connector wiring torque measuring shaft ........................................................................................ 11

Start-up .................................................................................................................................................... 12

5.1

Linear motor and rotary motor ......................................................................................................... 12

5.2

Torque measuring shaft ................................................................................................................... 12

5.2.1

Torque operating direction ........................................................................................................... 12

5.2.2

Software package „Technology Function Force Control“ ............................................................ 12

5.2.3

Setting the parameters ................................................................................................................ 13

Appropriate application of the torque measuring shaft ..................................................................... 13

Accessories ............................................................................................................................................ 14

7.1

Motor cable ...................................................................................................................................... 14

7.2

Sensor Cable ................................................................................................................................... 15

7.3

Pneumatic Brake ............................................................................................................................. 15

7.3.1

Dimensions .................................................................................................................................. 16

7.3.2

Material data ................................................................................................................................ 16

7.3.3

Operating conditions .................................................................................................................... 16

7.3.4

Mounting ...................................................................................................................................... 16

7.4

Shaft-Hub Clamping ........................................................................................................................ 18

7.4.1

Dimensions and technical data .................................................................................................... 19

7.4.2

Mounting ...................................................................................................................................... 19

Maintenance and test instructions ....................................................................................................... 20

8.1

Stator checking ................................................................................................................................ 20

8.1.1

Linear Motor PS01-37x120F-HP-R.............................................................................................. 20

8.1.2

Rotary Motor Stator RS01-52x60-R ............................................................................................ 20

8.2

Maintenance .................................................................................................................................... 20

Summary of Contents for PR02-52 series

Page 1: ...NTI AG LinMot Dok Nr 0185 0021 E_1V2_IG_Linear_Rotary_Motors_PR02 Installation Guide Linear Rotary Motors ENG PR02 52 ...

Page 2: ...ar Rotary Motor 11 4 4 Connector wiring torque measuring shaft 11 5 Start up 12 5 1 Linear motor and rotary motor 12 5 2 Torque measuring shaft 12 5 2 1 Torque operating direction 12 5 2 2 Software package Technology Function Force Control 12 5 2 3 Setting the parameters 13 6 Appropriate application of the torque measuring shaft 13 7 Accessories 14 7 1 Motor cable 14 7 2 Sensor Cable 15 7 3 Pneuma...

Page 3: ...ot PR02 52 Page 3 24 8 2 1 Preventive inspection every 6 000h 21 8 2 2 Inspection after each 12 000h 21 8 3 Calibration of torque measuring shaft 21 9 Storage transport installation altitude 21 10 Dimensions 22 11 Declaration of Conformity and CE marking 23 ...

Page 4: ...cts excludes 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 sole responsibility of the user to check the information and information provided by NTI AG regarding their safety relevant correctness In ad...

Page 5: ...ng 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 electronic disconne...

Page 6: ...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 7: ...ns The detailed mounting dimensions can be found in the chapter Dimensions 3 2 1 Horizontal installation The PR02 linear rotary motor can be mounted horizontally using the T slots at the bottom T nuts M4 M5 M6 can be used for fastening Ordering information Item Description Item No Nut N8 M4 Nut for 8 mm T slots with M4 thread 0150 2189 Nut N8 M6 Nut for 8 mm T slots with M6 thread 0150 2558 3 2 2 ...

Page 8: ...ructions and ordering information can be found in the Accessories chapter 3 4 Connection of air The PR02 52 is optionally equipped with an air connection At the rear of the motor above the electrical connectors there is a pneumatic push in fitting external hexagon M5 for a Ø 4 mm hose Inside the motor a Ø 4 mm air hose is laid along the rotating shaft which has a continuous hole diameter of Ø 2 5 ...

Page 9: ... the robot cable are used for moving cable applications Wiring Linear Rotory Motor Wiring torque measuring shaft 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 mm Min bending radius moving Not suitable for applications with moving motor cable 60 mm No torsion 8...

Page 10: ... Guide Linear Rotary Motors ENG Page 10 24 PR02 52 NTI AG LinMot 4 2 Wiring Linear Rotary Motor The following schema shows the connection of the linear actuator and the torque measuring shaft with the LinMot Drive ...

Page 11: ...eld 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 4 4 Connector wiring torque measuring shaft View Motor connector plug side Connector wiring Torque Sensor M12 Connector A coded Wire color Sensor cable Supply GND 1 white Supply 24V approx 80 mA 24VDC 2 brown Do not connect 3 green Torque 4 yellow Torque ...

Page 12: ...ng speed must not exceed 0 01 m s 5 2 Torque measuring shaft Stroke rotary modules of the LinMot PR02 motor family can optionally have a torque measuring shaft built into the module Please make sure that the option Torque measuring shaft is selected during the ordering process Fitting of the torque measuring shaft afterwards is not possible 5 2 1 Torque operating direction Looking into the shaft t...

Page 13: ...oop are set here A PID controller a few pilot parameters FF parameters and a parameter for limiting the maximum control current Force Ctrl Max Current are available for this purpose Recommendation To begin with work with a pure I controller to prevent the motor from oscillating during torque control Limit the maximum control current in order to avoid damage if incorrect handling occurs during comm...

Page 14: ... m 0150 2422 K05 Y R 6 Motor Cable Y R 6 m 0150 2423 K05 Y R 8 Motor Cable Y R 8 m 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 ...

Page 15: ...cription Item No KSS02 08 M12A8 10 Sensor Cable for PR02 10m open cable end 0150 2959 7 3 Pneumatic Brake As an option a brake can be mounted on the motor shaft The pneumatic brake is controlled by the servo drive To open and close the brake a valve is also required The brake acts on the shaft and is released by compressed air The brake has only a holding function and is not designed to slow or st...

Page 16: ...D4 mm F mm G H1 mm H2 mm H3 mm HB01 37 600 20 25 17 G 1 8 76 45 5 25 5 7 3 2 Material data Component Material Housing Anodized aluminium Clamp jaws High quality brass Piston POM Spring Spring steel Seals NBR Ultrathan 7 3 3 Operating conditions Medium Filtered compressed air 40 µm unoiled or oiled Operating pressure 4 6 bar Ambient temperature 10 C 80 C 7 3 4 Mounting Please attend to the safety i...

Page 17: ...ange base and shaft seal First insert the shaft seal into the groove of the flange and then screw the flange firmly to the front 3 Insert the brake Push the brake into the opening of the brake flange 4 Fasten the brake flange The brake flange with the applied brake can be rotated 360 and positioned as required Then fasten with 4 hexagonal screws Tightening torque 10 Nm 360 ...

Page 18: ...he LinMot servo drives and a valve Attention Before the motor is moved make sure that the brake is completely vented The brake may only be applied when the motor is at a standstill 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 ...

Page 19: ...m For shaft T Nm Fax kN TA Nm D mm Weight g RS01 SS20x38 20 mm 179 17 10 38H9 100 T transmittable torque at Fax 0 Fax transmittable axial force at T 0 TA fastening torque of the screws D external exposure tolerance 7 4 2 Mounting The shaft hub clamping has to sit inside the bore by at least the clamp lenght 13 mm resp 21 mm Slightly oil the shaft hub clamping before mounting do not use molybdenum ...

Page 20: ...e 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 Temp Sensor GND Pin E Pin B 10 k Phase GND Pin 1 2 3 4 Pin B 20 M All Pin Sheild Housing 20 M 8 2 Maintenance The linear rotary motors are provided with initial lubrication at the factory Maintenance cleaning is only necessary if the motors are h...

Page 21: ...urs of operation or every two years When inspecting the motors the following points must be checked a Visual inspection of all wearing parts replace if necessary b Replacement of seals and wipers c Preventive replacement of coupling Linear Rotary d Cleaning of mechanically moving parts e Replacement and maintenance of ball bearings plain bearings f Calibration of torque measuring shaft if necessar...

Page 22: ...Installation Guide Linear Rotary Motors ENG Page 22 24 PR02 52 NTI AG LinMot 10 Dimensions ...

Page 23: ...R 100 L_MS01_TS00 0150 3742 PR02 52x60 R_37x120F HP R 100 L_MS04_TS00 0150 3758 PR02 52x60 R_37x120F HP R 100_MS00_TS01 0150 3726 PR02 52x60 R_37x120F HP R 100_MS01_TS01 0150 3743 PR02 52x60 R_37x120F HP R 100_MS04_TS01 0150 2884 PR02 52x60 R_37x120F HP R 100 L_MS00_TS01 0150 3727 PR02 52x60 R_37x120F HP R 100 L_MS01_TS01 0150 3744 PR02 52x60 R_37x120F HP R 100 L_MS04_TS01 0150 2707 konform ist mi...

Page 24: ... 8957 Spreitenbach Sales Administration 41 0 56 419 91 91 office linmot com Tech Support 41 0 56 544 71 00 support linmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com LinMot USA LinMot USA Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales Administration 262 743 2555 Tech Support 262 743 1284 Fax 262 723 6688 E Mail usasales linmot com Web http www linmot us...

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