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Installation Guide Linear Rotary Motors

ENG

NTI AG / LinMot

PR02-38

Page 17 / 39

5.1.6 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 ground for force sensor
signal (Isolated from PGND, connect to
reference GND of analog input on servo
drive.)

6

pink

Do not connect

7

blue

Do not connect

8

red

•

The 24VDC supply must be protected with a 1AT fuse.

•

The +24V supply must not be connected / disconnected when voltage is present. The
DC supply must not be switched on the secondary side of the power supply unit.

•

It is recommended to connect pin 6 (AGND) to the reference ground of the analogue
input of the drive - in case of LinMot drives pin X4.1. realise connection as close to the
drive as possible to avoid potential differences compared to the drive GND.

•

External EMC circuitry: a ceramic capacitor 100nF / 50V can optionally be soldered
between pin 4 and pin 5 on the evaluation electronics to reduce conducted interference.

Bridges from Supply Ground and Signal Ground

•

PIN 4 (power -) and PIN 1 (supply GND) are internally galvanically isolated and must
not be connected to each other.

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Содержание 0150-2988

Страница 1: ...NTI AG LinMot Dok Nr 0185 0095 E_1V0_IG_Linear_Rotary_Motors_PR02 38 Installation Guide Linear Rotary Motors ENG PR02 38 ...

Страница 2: ...lation Instructions 10 4 1 Operating Conditions 10 4 2 Installation Options 10 4 2 1 Horizontal Installation 10 4 2 2 Vertical Installation 11 4 3 Mounting the Load on the Shaft 11 4 3 1 Feather Key 11 4 3 2 Shaft Hub Clamping 12 4 4 Material Data 12 5 Connections 13 5 1 Electrical Connection 13 5 1 1 Motor Cable 13 5 1 2 Wiring Linear Rotary Motor 14 5 1 3 Overview of the Connectors 15 5 1 4 Conn...

Страница 3: ...ction 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 8 Maintenance and Test Instructions 33 8 1 Maintenance 33 8 1 1 Preventive Inspection every 6 000h 33 8 1 ...

Страница 4: ...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...

Страница 5: ...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...

Страница 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 ...

Страница 7: ...esign in which a linear and a rotary motor including additional components are integrated in a common housing This features a high precision and complex mechanical system The optimization of the internal moving load mass as well as the moment of inertia enables a dynamic movement of linear and rotating motion The PR02 linear rotary motor is designed for the simultaneous execution of linear and rot...

Страница 8: ...duced force to protect the linear rotary motor from mechanical shocks in case of malfunction control self acceleration into mechanical stop If the maximum defined stroke see data sheet is exceeded the MagSpring function can no longer be guaranteed 3 6 Option Hollow Shaft Linear rotary motors can optionally be equipped with a pneumatic connection This allows pneumatic compressed air or vacuum to be...

Страница 9: ...s 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 integrated in the linear rotary motor and provides a measuring signal of 10 VDC suitable for the LinMot drive Factory calibrations of integrated force sensors are always carried out in the installed stat...

Страница 10: ...ered for air cooling 4 2 Installation Options The PR02 linear motors have a centric fit technical data in the chapter Dimensions on the front so that an exact alignment of the rotary axis is possible Mounting only via the front screws is generally not sufficient vibrations transverse load and must be supplemented by another support For reasons of vibration a support as far back as possible is pref...

Страница 11: ...ort must 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 moun...

Страница 12: ...roduction of grooves is completely eliminated The suitable shaft hub clamping type can be ordered from LinMot Mounting instructions and ordering information can be found in the Accessories chapter 4 4 Material Data Component Material Linear Rotary Shaft Quenched and tempered steel 1 0601 C60 Front Flange Hard anodized aluminium 3 3206 Linear Ball Bearing Steel Wiper NBR Housing Linear Rotary Motor...

Страница 13: ...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 mm Min bending radius moving Not suitable for applications with moving motor cable 60 mm No torsion 80 mm Max torsion ...

Страница 14: ...tary Motors ENG Page 14 39 PR02 38 NTI AG LinMot 5 1 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 ...

Страница 15: ... Connector Wire colour Motor cable Ph 1 Ph A 1 1 red Ph 1 Ph B 2 2 pink Ph 2 Ph C 3 3 blue Ph 2 4 4 not connected grey 5VDC A A white GND B B Inner shield Sin C C yellow Cos D D green Temp E E black Shield Housing Housing Outer shield Extension cables are double shielded The two shields of the extension cables must not be connected together the inner shield of the extension cables is used as GROUN...

Страница 16: ...56 789 For torque sensors with 9 digit serial number format 123456789 PIN 4 torque and PIN 1 supply GND may be bridged at the supply source not at the transducer if necessary because the galvanic isolation is not present there Make the connection as close as possible to the drive to avoid potential differences with respect to the drive GND The 24VDC supply must be protected with a 1AT fuse The 24V...

Страница 17: ... with a 1AT fuse The 24V supply must not be connected disconnected when voltage is present The DC supply must not be switched on the secondary side of the power supply unit It is recommended to connect pin 6 AGND to the reference ground of the analogue input of the drive in case of LinMot drives pin X4 1 realise connection as close to the drive as possible to avoid potential differences compared t...

Страница 18: ... 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 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 gener...

Страница 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...

Страница 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 70 mm Looking to the motor the positive stroke force direction is defined by retracting the linear rotary shaft The direction of strok...

Страница 21: ...ration Application 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 corr...

Страница 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...

Страница 23: ...allation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 38 Page 23 39 Figure Selection of the positive counting direction rotary motor Figure Selection of the positive direction of movement linear motor ...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 29: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 38 Page 29 39 7 Accessories 7 1 Overview 1 Linear Rotary Motor PR02 2 Shaft Hub Clamping 3 Motor Cable 4 Sensor Cable ...

Страница 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...

Страница 31: ...02 open cable end 0150 4614 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 SS10x20 Shaft hub clamping ...

Страница 32: ... 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 length 13 mm Slightly oil the shaft hub clamping before 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...

Страница 33: ...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...

Страница 34: ...Sensor Sine GND Pin C Pin B 37 5 kΩ Sensor Cosine GND Pin D Pin B 37 5 kΩ Temp Sensor GND Pin E Pin B 10 5 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 38x51 Configuration Pins Resistance Phase A Phase B Pin 1 Pin 2 2 2 Phase A Phase C Pin 1 Pin 3 2 2 5V GND Pin A Pin B 155 Sensor Sinus GND Pin C Pin B 33 k Sensor Cosine GND Pin D Pin B 3...

Страница 35: ...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 ...

Страница 36: ...Installation Guide Linear Rotary Motors ENG Page 36 39 PR02 38 NTI AG LinMot 10 Dimensions 10 1 Linear Rotary Motor PR02 38x51 R_23x80F HP R 70 L_MS0x_TS0x_FS0x in mm ...

Страница 37: ...7 39 10 2 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 ...

Страница 38: ...1 PR02 38x51 R_23x80F HP R 70_MS13_TS00 0150 4162 PR02 38x51 R_23x80F HP R 70 L_MS00_TS00 0150 4159 PR02 38x51 R_23x80F HP R 70 L_MS11_TS00 0150 2988 PR02 38x51 R_23x80F HP R 70 L_MS12_TS00 0150 4232 PR02 38x51 R_23x80F HP R 70 L_MS13_TS00 0150 4158 PR02 38x51 R_23x80F HP R 70_MS00_TS00 R01 0150 4677 konform ist mit den Anforderungen der Richtlinien is conform to the provisions of directives est c...

Страница 39: ...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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