Related Manuals for LinMot PR02-52x60-R 37x120F-HP-R-100 MS00 TS00
Summary of Contents for LinMot PR02-52x60-R 37x120F-HP-R-100 MS00 TS00
- Page 1 Installation Guide Linear Rotary Motors PR02-52 NTI AG / LinMot Dok-Nr. 0185-0021-E_1V6_IG_Linear_Rotary_Motors_PR02-52...
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Page 2: Table Of Contents
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 Page 2 / 48 PR02-52 NTI AG / LinMot... - Page 3 Stator Checking ..........................38 8.2.1 Linear Motor PS01-37x120F-HP-R....................38 8.2.2 Rotary Motor Stator RS01-52x60-R .................... 38 Calibration of Torque Measuring Shaft and Force Sensor .............. 38 Transport and Storage ........................... 39 Dimensions............................40 NTI AG / LinMot PR02-52 Page 3 / 48...
- Page 4 Option Force Sensor ........................41 10.3 Option Flange Bearing ........................42 10.4 Option angled Connector ......................... 43 10.5 Connection of the Motor Cable ......................44 Declaration of Conformity and CE-marking ..................45 Page 4 / 48 PR02-52 NTI AG / LinMot...
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Page 5: General Information
1.4 Liability NTI AG (as manufacturer of LinMot and MagSpring products) 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. -
Page 6: Safety Instructions
• For non-anti-magnetic watches, keep the double minimum distance. Burn Hazard The shaft of LinMot linear rotary motors can reach temperatures of 80 °C, which may cause burns upon contact. Grounding All metal parts that are exposed to contact during any user operation or servicing and likely to become energized shall be reliably connected to the means for grounding. - Page 7 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. NTI AG / LinMot PR02-52 Page 7 / 48...
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Page 8: Intended Use
MagSpring Linear 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. -
Page 9: Internal Mechanical Stops
By combining linear and rotary motion, highly complex motion patterns, such as those required in sealing and assembly applications, can be easily realized using LinMot linear rotary motors. In addition to the two motors, further options such as an air feed-through, a magnetic spring "MagSpring", a torque sensor and a force sensor can be integrated in the housing. -
Page 10: Option Force Sensor
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 torque sensors are always carried out in the installed state. This has the advantage that the influences of the mechanics and the linear rotary motor are included. -
Page 11: Option Stainless Steel Front Flange (Ssc)
PR02-52 motor. To open and close the brake, an additional electric solenoid valve is required which is controlled by the LinMot Servo Drive. The spring return is released by compressed air and guarantees the braked state even in the event of a pressure drop. -
Page 12: Installation Instructions
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 Page 12 / 48 PR02-52 NTI AG / LinMot... -
Page 13: Vertical Installation
For the first mounting variant, a feather key slot is incorporated at the end of the shaft. Feather key slot Ordering Information Item Description Item-No. Parallel keys deep face side domed / DIN 6885 A / ISO R773 0230-0269 pattern 4x4x10, steel C 45 K, plain NTI AG / LinMot PR02-52 Page 13 / 48... -
Page 14: Shaft-Hub Clamping
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 Connection of Air... -
Page 15: Stainless Steel Design Ssch (Pr02-52X60-R
Only connect or disconnect the motor connector and sensor cable if no voltage is applied to the servo drive! Only original LinMot cables may be used for wiring the motor and sensor! Self-assembled cables must be checked carefully before commissioning! Incorrect motor wiring can damage the motor and/or the servo drive! 5.1 Motor Cable... -
Page 16: Wiring Linear Rotary Motor
Installation Guide Linear Rotary Motors 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 16 / 48 PR02-52 NTI AG / LinMot... -
Page 17: Connector Wiring Linear Rotary Motor
AGND / reference ground for the torque pink sensor signal (isolated from supply GND; connect to reference GND of the analogue input on the servo drive). Do not connect blue Do not connect NTI AG / LinMot PR02-52 Page 17 / 48... -
Page 18: Connector Wiring Force Sensor
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. -
Page 19: Start-Up
Installation Guide Linear Rotary Motors 6 Start-up Please note that linear rotary motors of the PR02 product family need at least LinMot-Talk Version 6.7. It’s not recommended to use older LinMot-Talk versions. 6.1 Linear Motor and Rotary Motor Linear motor and rotary motor are electrically independent units. The linear rotary motor can therefore be commissioned sequentially. -
Page 20: Torque Measuring Shaft
6.3.1 Torque Operating Direction Looking into the shaft, the anti-clockwise direction is defined as positive. The direction of rotation can be changed 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. -
Page 21: Magnetic Spring Magspring
The various parameters for the linear motor and the rotary motor are set via the corresponding motor wizard in the LinMot Talk configuration program. To open the wizard, select the "Motor Wizard" icon in the task bar. 6.7.1 Selection of the Motor Data Files If the connected motor is a module with plug and play functionality, the following step can be skipped. -
Page 22: Application-Specific Parameters
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 = 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. - Page 23 Installation Guide Linear Rotary Motors Figure: Selection of the positive counting direction (rotary motor) Figure: Selection of the positive direction of movement (linear motor) NTI AG / LinMot PR02-52 Page 23 / 48...
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Page 24: Selection Of The Linear And Rotary Unit System
6.7.4 Selection of the Linear and Rotary Unit System In step 4 of the Motor Wizard the GUI (Graphical User Interface) of the LinMot-Talk software can be set. This setting only affects the display of the LinMot-Talk software. The resolution and scaling of the transmission data (raw data) to the higher-level PLC are retained. -
Page 25: Referencing The Rotary Motor
“TF Force Control” software package cannot be used. If the signal of the torque measuring shaft / force sensor is only evaluated (PLC or LinMot Drive), the software package is not necessary. - Page 26 = Positive max. value (e.g. 2.5Nm) • 10V Force (UPID 1502h) = Negative max. value (e.g. -2.5Nm) • Speed Filter Time (UPID 150Ah) = 1000us • Acceleration Filter Time (UPID 150Dh) = 1000us Page 26 / 48 PR02-52 NTI AG / LinMot...
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Page 27: Initial Test Of A Torque Measuring Shaft / Force Sensor
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 control panel. - Page 28 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 FORCE CONTROL MODE! Page 28 / 48 PR02-52 NTI AG / LinMot...
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Page 29: Accessories
Installation Guide Linear Rotary Motors 7 Accessories 7.1 Overview 1. Linear Rotary Motor PR02 2. Motor Cable 3. Sensor Cable 4. Shaft-Hub Clamping 5. Brake Kit NTI AG / LinMot PR02-52 Page 29 / 48... -
Page 30: Motor Cable
Trailing Chain Cable Y/R, 8 m 0150-2435 KS05-Y-Fe/R- Trailing Chain Cable KS05-Y-Fe/R, Custom 0150-3507 length Robot Cable Item Description Item-No. KR05-W/R- Robot Cable KR05-W/R, Custom length 0150-3336 KR05-Y-Fe/R- Robot Cable KR05-Y-Fe/R, Custom length 0150-3512 Page 30 / 48 PR02-52 NTI AG / LinMot... -
Page 31: Sensor Cable
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 12mm shaft 0230-0101 NTI AG / LinMot PR02-52 Page 31 / 48... -
Page 32: Dimensions And Technical Data
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, LinMot offers a complete brake kit consisting of a base flange, brake flange and pneumatic holding brake. -
Page 33: Dimensions
The 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 NTI AG / LinMot PR02-52 Page 33 / 48... -
Page 34: Technical Data Pneumatic Holding Brake
Ambient temperature: 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 Page 34 / 48 PR02-52 NTI AG / LinMot... - Page 35 When pressure is applied, the brake is released and the shaft can be moved again. The air pressure for the brake can be controlled using the LinMot servo drives and a valve. Attention! Before the motor is moved, make sure that the brake is completely vented!
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Page 36: Material Data
EN 1.4305 Ball Bearing Steel Seal Clamp Cylinder Housing (Holding Brake) Anodized aluminium Clamp jaws (Holding Brake) High quality brass Piston (Holding Brake) Spring (Holding Brake) Spring steel Seals (Holding Brake) NBR/Ultrathan Page 36 / 48 PR02-52 NTI AG / LinMot... -
Page 37: Maintenance And Test Instructions
Replacement and maintenance of ball bearings / plain bearings, if necessary e) Calibration of torque measuring shaft, if necessary (The calibration of built-in torque measuring shafts is carried out at the NTI AG / LinMot factory.) 8.1.2 Inspection after each 12'000h Maintenance is recommended every 12,000 hours of operation or every two years. -
Page 38: Stator Checking
SKF Aluminium Lubricant LU02* Lubricant for linear motors* * LinMot LU02 Lubricant corresponds to KLÜBERSYNTH UH1 14-31 which was developed for the food processing industry. Both lubricants are food grade and NSF H1 approved. Safety data sheets are available on request at support@linmot.com. -
Page 39: Transport And Storage
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. NTI AG / LinMot PR02-52 Page 39 / 48... -
Page 40: Dimensions
Installation Guide Linear Rotary Motors 10 Dimensions 10.1 Option Torque Sensor in mm Page 40 / 48 PR02-52 NTI AG / LinMot... -
Page 41: Option Force Sensor
Installation Guide Linear Rotary Motors 10.2 Option Force Sensor in mm NTI AG / LinMot PR02-52 Page 41 / 48... -
Page 42: Option Flange Bearing
Installation Guide Linear Rotary Motors 10.3 Option Flange Bearing in mm Page 42 / 48 PR02-52 NTI AG / LinMot... -
Page 43: Option Angled Connector
Installation Guide Linear Rotary Motors 10.4 Option angled Connector in mm NTI AG / LinMot PR02-52 Page 43 / 48... -
Page 44: 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 44 / 48 PR02-52 NTI AG / LinMot... -
Page 45: Declaration Of Conformity And Ce-Marking
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 0150-4312 PR02-52x60-R_37x120F-HP-R-100-L_MS01_TS00_FS02 0150-4534 PR02-52x60-R_37x120F-HP-R-100-L_MS01_TS01_R01 0150-4533 PR02-52x60-R_37x120F-HP-R-100_MS51_TS00 0150-3967 PR02-52x60-R_37x120F-HP-R-100-L_MS51_TS00 0150-3968 PR02-52x60-R_37x120F-HP-R-100_MS51_TS01 0150-3969 PR02-52x60-R_37x120F-HP-R-100-L_MS51_TS01 0150-3970 PR02-52x60-R_37x120F-HP-R-100-L_MS51_TS00_FS01 0150-4467 PR02-52x60-R_37x120F-HP-R-100-L_MS51_TS01_FS01 0150-4468 PR02-52x60-R_37x120F-HP-R-100-L_MS51_TS01_FS02 0150-4469 PR02-52x60-SSC-R_37x120F-HP-R-100_MS00_TS01 0150-3746 PR02-52x60-SSC-R_37x120F-HP-R-100_MS01_TS01 0150-3748 PR02-52x60-SSC-R_37x120F-HP-R-100_MS01_TS00 0150-3747 PR02-52x60-SSC-R_37x120F-HP-R-100-L_MS00_TS01 0150-3750 NTI AG / LinMot PR02-52 Page 45 / 48... - Page 46 EN61000-6-2:2005 EN61000-6-4:2007 Jahr der CE-Kennzeichnung: Year of CE marking: Annee du marquage CE: 2018 Spreitenbach, 16.02.2021 Dr.-Ing. Ronald Rohner CEO NTI AG Page 46 / 48 PR02-52 NTI AG / LinMot...
- Page 47 Installation Guide Linear Rotary Motors Notes NTI AG / LinMot PR02-52 Page 47 / 48...
- Page 48 ALL LINEAR MOTION FROM A SINGLE SOURCE Europe / Asia Headquarters North / South America Headquarters NTI AG - LinMot & MagSpring LinMot USA Inc. Bodenaeckerstrasse 2 N1922 State Road 120, Unit 1 CH-8957 Spreitenbach Lake Geneva, WI 53147 Switzerland Sales / Administration: +41 56 419 91 91 Sales / Administration: 262.743.2555...