LinMot 0150-4445, Installation Manual

Page 1: ...NTI AG LinMot Dok Nr 0185 0170 E_1V0_IG_Linear_Rotary_Motors_PR02 70 Installation Guide Linear Rotary Motors ENG PR02 70 ...

Page 2: ...nt Flange SSC 10 4 Installation instructions 11 4 1 Operating Conditions 11 4 2 Assembly of the Linear Rotary Motor 11 4 3 Mounting the Load on the Shaft 12 4 4 Material Data 12 4 4 1 Standard Design 12 4 4 2 Stainless Steel Front SSC 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 Connector Wiring ...

Page 3: ...e Measuring Shaft Force Sensor 25 7 Accessories 27 7 1 Motor Cable 27 7 2 Sensor Cable 28 7 3 Mounting Flange 29 7 4 Shaft Hub Clamping 30 7 4 1 Dimensions and Technical Data 30 7 4 2 Mounting 30 8 Maintenance and Test Instructions 31 8 1 Stator Checking 31 8 1 1 Linear Motor PS01 48x240F HP C 31 8 1 2 Rotary Motor Stator RS02 70x100 C 31 8 2 Maintenance 31 8 2 1 Preventive Inspection every 6 000h...

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: ...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 system The optimization of the internal moving load mass as well as the moment of inertia enables a dynamic...

Page 8: ...t 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 reduced 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...

Page 9: ...sor may show a small hysteresis This may cause the sensor to exceed the specified accuracy at the changeover point Simultaneously turning and measuring the force can falsify the measurement e g due to increased friction of the linear rotary shaft The operating temperature range of the sensors is 5 45 C Above or below the limits there is a measurement error which influences the measurement results ...

Page 10: ...etween 0 80 C For continuously precise measurement results it is recommended to calibrate the force sensor annually according to section 8 3 Recalibration is also strongly recommended after improper handling of the force sensors e g impacts on the stroke rotating shaft or large overload 3 10 Option Stainless Steel Front Flange SSC The stainless steel front flange option offers the user hygiene at ...

Page 11: ...e supplemented by another support For reasons of vibration a support as far back as possible is preferable PR02 70 linear rotary motors do not have T slots for horizontal mounting The main mounting orientation of this motor family is intended to be vertical Option A Option B There are 2 mounting options for stable vertical mounting of the linear rotary motor Option A The threaded holes on the side...

Page 12: ...ering information can be found in the Accessories chapter 4 4 Material Data Different materials are used depending on the design of the linear rotary motor 4 4 1 Standard Design Component Material Linear Rotary Shaft Quenched and tempered steel 1 0601 C60 Front Flange Stainless Steel 1 4305 Linear Ball Bearing Steel Wiper NBR Housing Linear Rotary Motor Hard anodized aluminium 3 3206 4 4 2 Stainle...

Page 13: ...obot cable are used for moving cable applications Wiring Linear Rotory Motor Wiring torque measuring shaft force sensor 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...

Page 14: ...tary Motors ENG Page 14 41 PR02 70 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 ...

Page 15: ...or Rotary Motor C Connector Wire color Motor cable Ph 1 Ph A A A red Ph 1 Ph B B B pink Ph 2 Ph C C C blue Ph 2 D D not connected grey 5VDC E E white GND F F Inner shield Sin G G yellow Cos H H green Temp L L 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 ...

Page 16: ...ormat 0123 456 789 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 ...

Page 17: ...M5 for a Ø 4 mm hose at the rear of the motor above the electrical plug connections Inside the motor a Ø 4 mm air hose is routed along the rotary shaft This enables the user to realise pneumatic applications with an operating pressure of max 6 bar Depending on the order situation option hollow shaft or option pneumatic pusher 1 or 2 push in connections are pre assembled The user also has the optio...

Page 18: ...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 homing speed must not exceed 0 01 m s 6...

Page 19: ...nged from LinMot Talk version 6 8 onwards This has an influence on the parameterization of the torque measuring shaft 6 4 Force Sensor Linear rotary 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 Operat...

Page 20: ...pecific 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 motor wiza...

Page 21: ...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 22: ...allation Guide Linear Rotary Motors ENG Page 22 41 PR02 70 NTI AG LinMot Figure Selection of the positive counting direction rotary motor Figure Selection of the positive direction of movement linear motor ...

Page 23: ...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 24: ... 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 ...

Page 25: ...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 26: ... 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 27: ... C 8 m 0150 2432 K15 Y Fe C Motor Cable K15 Y Fe C Custom length 0150 3506 Trailing Chain Cables 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 ...

Page 28: ...02 70 NTI AG LinMot 7 2 Sensor Cable Ordering informationen Item Description Item No KSS02 08 M12A8 10 Sensor Cable for PR02 10m open cable end 0150 2959 KSS02 08 M12A8 Special cable with freely selectable length sensor cable for PR02 open cable end 0150 4614 ...

Page 29: ...ing flange as an accessory that makes vertical assembly easy The mounting flange is attached to the motor using the threaded holes Then an external support can be mounted with the flange according to options A or B Ordering information Item Description Item No RS02 70 BF1 Mounting flange set including screws 0150 4840 ...

Page 30: ...RS01 SS20x38 Shaft hub clamping for 20mm shaft 0230 0100 7 4 1 Dimensions and Technical Data Item 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 le...

Page 31: ...A Pin C 2 4 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 Europea...

Page 32: ...ement 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 installed in the linear rotary motor torque measur...

Page 33: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 70 Page 33 41 10 Dimensions 10 1 PR02 70x100 SSC C_48x240F HP C 150 L01 MSxx TSxx FSxx ...

Page 34: ...Installation Guide Linear Rotary Motors ENG Page 34 41 PR02 70 NTI AG LinMot 10 2PR02 70x100 SSC C_48x240F HP C 150 L05 MSxx TSxx FSxx ...

Page 35: ...Installation Guide Linear Rotary Motors ENG NTI AG LinMot PR02 70 Page 35 41 10 3 PR02 70x100 SSC C_48x240F HP C 150 L15 MSxx TSxx FSxx ...

Page 36: ...Installation Guide Linear Rotary Motors ENG Page 36 41 PR02 70 NTI AG LinMot 10 4 PR02 70x100 SSC C_48x240F HP C 240 L01 MSxx TSxx FSxx ...

Page 37: ...ary Motors ENG NTI AG LinMot PR02 70 Page 37 41 11 International Certificates Europe See chapter EU Declaration of Conformity CE Marking UK See chapter UK Declaration of Conformity UKCA Marking IECEE CB SCHEME Ref Certif Nr CH 8521 ...

Page 38: ...Installation Guide Linear Rotary Motors ENG Page 38 41 PR02 70 NTI AG LinMot ...

Page 39: ...ts EN 61000 6 4 2007 Emission for industrial environments According to the EMC directive the listed devices are not independently operable products Compliance of the directive requires the correct installation of the product the observance of specific installation guides and product documentation This was tested on specific system configurations The safety instructions of the manuals are to be con...

Page 40: ...ments EN 61000 6 4 2007 Emission for industrial environments According to the EMC regulation the listed devices are not independently operable products Compliance of the regulation requires the correct installation of the product the observance of specific installation guides and product documentation This was tested on specific system configurations The safety instructions of the manuals are to b...

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