LinMot 0150-3775, Installation Manual

Page 1: ...NTI AG LinMot Dok Nr 0185 0100 E_1V6_IG_Linear_Rotary_Motors_PR02 88 Installation Guide Linear Rotary Motors ENG PR02 88 ...

Page 2: ... 2 Installation Options 10 4 2 1 Horizontal Installation 10 4 2 2 Vertical Installation 10 4 3 Mounting the Load on the Shaft 11 4 4 Material Data 11 5 Connections 12 5 1 Electrical Connection 12 5 1 1 Motor Cable 12 5 1 2 Wiring Linear Rotary Motor 13 5 1 3 Overview of the Connectors 13 5 1 4 Connector Wiring Linear Rotary Motor 14 5 1 5 Connector Wiring Torque Measuring Shaft 14 5 2 Connection o...

Page 3: ...que Force Control 21 6 7 3 Initial Test of a Torque Measuring Shaft Force Sensor 22 7 Accessories 24 7 1 Motor Cable 24 7 2 Sensor Cable 25 7 3 Shaft Hub Clamping 25 7 3 1 Dimensions and Technical Data 26 7 3 2 Mounting 26 8 Maintenance and Test Instructions 27 8 1 Stator Checking 27 8 1 1 Linear Motor PS01 48x240F HP 27 8 1 2 Rotary Motor Stator RS02 88x76 27 8 2 Maintenance 27 8 2 1 Preventive I...

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: ...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 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: ...ar 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 including additional components are integrated in a common housing OptionThis features a high precision and complex mechanical...

Page 8: ...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 free zone in the event of current loss Close to the stroke limit idle state the MagSpring has a redu...

Page 9: ... right hand and left hand loads The measured variable is suitable for control regulation and monitoring tasks Torque peaks exceeding the permissible overload see specifications in the PR02 data sheet can lead to destruction of the torque measuring shaft Where such peaks cannot be safely excluded they must be mitigated When changing between right and left load the torque sensor may show a small hys...

Page 10: ...f the rotary axis is possible The following sketches show examples of different installation options The detailed mounting dimensions can be found in the chapter Dimensions 4 2 1 Horizontal Installation The PR02 linear rotary motor can be mounted horizontally using the T slots at the bottom T nuts M6 can be used for fastening Ordering information Item Description Item No Nut N8 M6 Nut for 8 mm T s...

Page 11: ...rings The use of drivers or the production 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 Stainless Steel 1 4305 Linear Ball Bearing Steel Wiper NBR Ho...

Page 12: ...d 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 K15 04 05 KS10 04 05 KR05 04 05 KSS02 08 Min bending radius stationary 50 mm 1 97 in 50 mm 1 97 in 50 mm 1 97 in 35 mm Min bending radius moving Not suitable for applications with moving motor cable 100 mm 3 94 in No...

Page 13: ...PR02 88 Page 13 34 5 1 2 Wiring Linear Rotary Motor The following schema shows the connection of the linear actuator and the torque measuring shaft with the LinMot Drive 5 1 3 Overview of the Connectors Pos 1 Torque sensor Pos 2 Rotary motor Pos 3 Linear motor ...

Page 14: ...ner 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 1 5 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 yello...

Page 15: ...r to implement pneumatic applications with an operating pressure of max 6 bar Depending on the ordering situation pneumatic connection or pusher application 1 or 2 plug in connections can be pre assembled The user also has the option of mounting a pneumatic push in fitting at the front of the shaft A G1 4 10 mm deep and a M5 4 mm deep are available to the user in axial direction The through bore h...

Page 16: ...e linear motor and the rotary 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 may be damaged The inner stops may be used for homing purposes the...

Page 17: ...lease ensure that the MagSpring option is selected during the ordering process The MagSpring cannot be retrofitted 6 4 1 Force Direction Extended Stroke The built in MagSpring is offered in 2 operating directions With the positive acting MagSpring the linear rotary shaft is pulled in and with the negative acting MagSpring the shaft is ejected The order suffix is given in the following table Positi...

Page 18: ...otor data file corresponding to the module adf or adp must be selected in the first step of the Motor Wizard The linear rotary motors are located in the installation directory of the LinMot Talk software download at www linmot com in the folder Motors LinMot Linear Rotary Motors Please contact support if the motor data files are not available If the motor data files are not available they can be d...

Page 19: ...tion counterclockwise see figure chapter 6 2 1 Default value for linear motors Positive direction of movement Regular see figure in chapter 6 2 2 If the coordinate system is reversed this has an influence on the current and the force torque of the motor In case of any uncertainties the LinMot support should definitely be contacted Figure Selection of the positive counting direction rotary motor Fi...

Page 20: ...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 6 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 21: ... 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 7 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 ...

Page 22: ...Control Parameters The parameters for the torque force control loop are set here A PID controller a few feed forward 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 cu...

Page 23: ... 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 24: ... C 8 m 0150 2432 K15 Y Fe C Motor Cable K15 Y Fe C Custom length 0150 3506 Trailing Chain Cable Item Description Item No KS10 W C 4 Trailing Chain Cable W C 4 m 0150 1807 KS10 W C 6 Trailing Chain Cable W C 6 m 0150 1858 KS10 W C 8 Trailing Chain Cable W C 8 m 0150 1808 KS10 W C Trailing Chain Cable KS10 W C Custom length 0150 3139 Item Description Item No KS10 Y C 4 Trailing Chain Cable Y C 4 m 0...

Page 25: ...nd 0150 2959 7 3 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 Item Item RS02 SS25x47 Shaft hub clamping for 25mm shaft 0230 0516 ...

Page 26: ...ue at Fax 0 Fax transmittable axial force at T 0 TA fastening torque of the screws D external exposure tolerance 7 3 2 Mounting The shaft hub clamping has to sit inside the bore by at least the clamp lenght 26 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 ...

Page 27: ...Pin C 1 7 5V GND Pin E Pin F 155 Sensor Sine GND Pin G Pin F 33 k Sensor Cosine GND Pin H Pin F 33 k Temp Sensor GND Pin L Pin F 10 k Phase GND Pin A B C Pin F 20 M All Pin Shield 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 heavily soiled Under normal industrial Central European ...

Page 28: ...placement 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 necessary The calibration of built in torque measuring shafts is carried out at the NTI AG LinMot factory 8 3 Calibration of Torque Measuring Shaft and Force Sensor Sensors i...

Page 29: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 88 Page 29 34 10 Dimensions 10 1 PR02 88x76 C_48x240F HP C 150 ...

Page 30: ...Installation Guide Linear Rotary Motors ENG Page 30 34 PR02 88 NTI AG LinMot 10 2 PR02 88x76 C_48x240F HP C 300 ...

Page 31: ...2 0150 3782 PR02 88x76 C_48x240F HP C 150 L05_MS08_TS02 0150 3784 PR02 88x76 C_48x240F HP C 300 L00_MS04_TS02 0150 3766 PR02 88x76 C_48x240F HP C 300 L00_MS08_TS02 0150 3768 PR02 88x76 C_48x240F HP C 300 L01_MS04_TS02 0150 3770 PR02 88x76 C_48x240F HP C 300 L01_MS08_TS02 0150 3772 PR02 88x76 C_48x240F HP C 300 L00_MS08_TS00 0150 3767 PR02 88x76 C_48x240F HP C 300 L00_MS08_TS02 0150 3768 PR02 88x76...

Page 32: ...S58_TS00 0150 3979 PR02 88x76 C_48x240F HP C 150 L00_MS58_TS02 0150 3980 PR02 88x76 C_48x240F HP C 150 L01_MS58_TS00 0150 3981 PR02 88x76 C_48x240F HP C 150 L01_MS58_TS02 0150 3982 PR02 88x76 C_48x240F HP C 300 L00_MS58_TS00 0150 3983 PR02 88x76 C_48x240F HP C 300 L01_MS58_TS00 0150 3984 PR02 88x76 C_48x240F HP C 300 L00_MS58_TS02 0150 3985 PR02 88x76 C_48x240F HP C 300 L01_MS58_TS02 0150 3986 kon...

Page 33: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 88 Page 33 34 Notes ...

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