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Summary of Contents for THK SKR Series
- Page 1 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru THK Electrical Actuator Compact Series SKR/KR INSTRUCTION MANUAL No.2060-2(0) E...
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Page 2: Table Of Contents
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Table of Contents Introduction Acknowledgment About this manual How to use this product About product support About related instruction manuals Product and company information Safety precautions Warning indications on safety Safety precautions Checking warning labels... - Page 3 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Table of Contents Usage conditions (range) 7-10 Warranty scope 7-11 Exclusion of warranty liability 7-10 7-12 Delivery conditions 7-10 Appendix Permissible input torque Permissible rotational speed Introduction of the grease Introduction of the grease gun unit...
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Page 4: Introduction
Drawings throughout this manual are only intended as typical examples, and may differ from your product. z Note that THK shall not be liable for any result incurred by applying this manual, regardless of the reason. z This manual is also applied to custom products. However, the descriptions provided in the de- livery specification drawings or delivery specification documents of those custom products take precedence over this manual. -
Page 5: How To Use This Product
We have made all possible efforts to make the content of this manual accurate. However, if you find any mistake or uncertainty in this manual, please contact our Sales Division, and Customer Support, or IMT Operation Division. For the following information, please contact THK. z Technical support for this product About related instruction manuals z When you use the actuator SKR/KR, read the following instruction manuals as necessary. -
Page 6: Product And Company Information
· Technical materials for MELSERVO-J3 SSCNET III (by Mitsubishi Electric Corporation) compliant MR-J3-£B servo amps Product and company information To find the latest product and company information, we recommend you to periodically access our website. z Website URL: https://www.thk.com z Technical support website URL: http://www.tech.thk.com/ SKR/KR... -
Page 7: Safety Precautions
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 2. Safety Precautions Safety precautions Warning indications on safety This manual uses the following warning indications according to safety matters. The descriptions next to warning indications on safety are important messages. Be sure to observe those descriptions. - Page 8 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 2. Safety Precautions Caution „ Maintenance z Turn off the machine (turning power off) before conducting any maintenance. Otherwise, it may cause electric shocks, or cause malfunction that could lead to injury. z If two or more people are involved in the operation, confirm the procedures such as sequences, signs, and abnormalities in advance, and appoint another person for monitoring the operation.
- Page 9 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 2. Safety Precautions z When carrying this product, hold the bottom face of the product. SKR55/65 and KR55/65 are heavy articles (20 kg or heavier). Two or more people should hold the product as necessary.
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Page 10: Safety Precautions
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 2. Safety Precautions Safety precautions Checking warning labels This product is affixed with warning labels. Identify them when unpacking the product. Fig.1 shows the affixing position. Warning label Applicable model number Af xed to rail surface... -
Page 11: Specifications
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Specifications Specifications Basic specification The basic specification of SKR/KR is shown as follows. Do not exceed the following basic specification when using the product. Otherwise, it may cause fault or damage, or cause abnormal operation that could lead to injury. - Page 12 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Specifications 3 Maximum speed at each stroke [mm/s] Motor Rated Lead Stroke Stroke [mm] Model capacity Accuracy speed [mm] [mm] 1 900 1000 1100 1200 1300 1400 1500 2 [mm/s] High accuracy / precision...
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Page 13: Structure And Model Numbers
Outer rail Motor Fig. 2 The structure and part names of SKR/KR * For details such as the dimensions and accuracy, see the delivery specification drawings or general catalog of linear motion systems. If you have any question, contact THK. SKR/KR... -
Page 14: Model Configuration
(without motor) 1 R3 : Bottom side motor wrap (without motor) 1 : Direct connecting (Customer specified motor purchased/mounted by THK) R4 : Non-standard side motor wrap 1 (Customer specified motor purchased/mounted by THK) 1 R5 : Standard side motor wrap... - Page 15 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. Structure and Model Numbers (8) Sensor 0 : Not included 1 : With sensor rail 2 : Photo sensor [3 pcs] (EE-SX671) (OMRON Co., Ltd.) 6 : Photo sensor [3 pcs] (EE-SX674) (OMRON Co., Ltd.) 7 : Proximity sensor - N.O.
- Page 16 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. Structure and Model Numbers (12) Motor rated output M05 : 50 W M10 : 100 W M20 : 200 W M40 : 450 W M75 : 750 W M05B : 50 W with brake...
- Page 17 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. Structure and Model Numbers 1 Motor wrap direction R2, R5 R1, R4 Standard side Non-standard side (motor left wrap) (motor right wrap) R3, R6 Bottom side (motor down wrap) Motor wrap direction (As seen from side A) 2...
- Page 18 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. Structure and Model Numbers 3 Origin system : sensor rail, : external origin sensor) Origin sensor type Left side Motor side origin S02 (standard) Right side Reverse motor side origin Pressed origin type Left side...
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Page 19: Storage And Transportation
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Storage and Transportation Storage and Transportation Precautions to be observed for safe use Caution z Do not drop or hit this product. Otherwise, it may cause injury or fracture, or a functional loss. z When transporting this product, do not hold any moving parts, the cover or the bellows. -
Page 20: Precautions To Be Observed For Prevention Of Product Fault Or Fracture
This product is provided with antirust treatment and sealed before being packed. When storing the product, enclose it in a package designated by THK and store it in a horizontal orientation while avoiding high temperature, low temperature and high humidity. -
Page 21: Installation And Operation
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation Installation and Operation Precautions to be observed for safe use Warning z If any moving part may fall by its own weight in vertical application or the like, provide a safeguard for preventing the part from falling. -
Page 22: Precautions To Be Observed For Prevention Of Product Fault Or Fracture
Certain types of coolants may cause trouble to the function of the product. If using the product in an environment where the coolant may enter into the product, contact THK. z Prevent foreign materials such as dust or metallic powder from entering into the product since it may cause abnormal wear or shorten the service life. - Page 23 · SKR20/26, KR20/26 : THK AFA grease · SKR33 to 65, KR30H to 65 : THK AFB-LF grease z The photo sensors do not have the water-proof or dust-proof structure. Do not use it in a place where much dust or oil mist is present, or where water, oil or chemical directly or indirectly flies.
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Page 24: Other Precautions
For data required to select a motor, see the general catalog of the electric actuators. If you have any question, contact THK. z For selection, handling and mounting of a coupling, see the respective catalog issued by the coupling manufacturer. -
Page 25: Motor Mounting Method
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation Motor mounting method We have an intermediate flange to mount various motors in SKR/KR. For SKR20/26 and KR20/26 For through-hole motor mounting holes Model... - Page 26 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 3. Mount the motor to the actuator. Make sure that the bolts used are not so long as to protrude from surface A. F + 1D ≤ Bolt Length < T + F...
- Page 27 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation For tapped motor mounting holes Model Applicable intermediate flange KR15 N, S SKR20/26 N, R, S KR20/26 1. Mount the intermediate flange to the motor. Use the bolt with the most appropriate length.
- Page 28 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 2. Tighten the coupling to the motor shaft. Coupling 3. Mount the motor to the actuator. Bolt Model Intermediate flange fixing bolt size Tightening torque [N·cm]...
- Page 29 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation For SKR33/46/55/65 and KR30H/33/45H/46/55/65 For through-hole motor mounting holes Model Applicable intermediate flange SKR33 P,Q,T,U KR30H/33 SKR46 U,V,Y KR45H SKR55 Z,5,6 KR55 SKR65 V,Z,5,6 KR65 1.
- Page 30 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 2. Mount the motor to the actuator. Make sure that the bolts used are not so long as to protrude from surface A. F + 1D ≤ Bolt Length < T + F...
- Page 31 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation When not using an intermediate flange Model Applicable housing A KR45H KR46 10, 30, 40 SKR55 KR55 1. Tighten the coupling to the motor shaft.
- Page 32 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation When tightening both the motor and intermediate flange Applicable housing A, Model intermediate flange SKR65 KR65 1. Tighten the coupling to the motor shaft.
- Page 33 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation For tapped motor mounting holes Model Applicable intermediate flange SKR33 KR30H/33 1. Loosen the bolts and remove the intermediate flange temporarily installed in housing A.
- Page 34 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 3. Tighten the coupling onto the motor shaft. Coupling 4. Mount the motor to the actuator. Hexagonal-socket-head type bolts Model Tightening torque [N·cm] for securing intermediate flange...
- Page 35 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation For SKR20/26 and KR15/20/26 1. Remove the bolts for securing the pulley cover and pull off in the direction. Pulley cover Bolts for securing pulley cover...
- Page 36 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 2. Install the servo motor to the included intermediate flange. Pay attention to which way the motor connector faces. Make sure that the bolts used are not so long as to protrude from surface A.
- Page 37 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 3. Adjust the position of pulley B to the L dimension and mount the servo motor. Pulley B Intermediate ange Pulley B Adjust the position of pulley B such that the ends of pulley A and pulley B are the same.
- Page 38 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation · For tightening type D When mounting, take care to align the position of the flat face of the motor shaft with the hex- socket set screw such that the point of contact of the two objects is as close to perpendicular as possible.
- Page 39 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 4. Temporarily tighten the bolts for fixing the intermediate flange and adjust the tension of the timing belt. Timing belt Intermediate ange Bolts for securing to...
- Page 40 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation (2) How to use a sonic belt tensimeter Use a belt tensimeter for the measurement. Flip the belt at the measurement position by your finger and the like, measure the frequency (of vibration), and check that the tension is correct.
- Page 41 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 5. After adjusting the tension, conduct final tightening of the bolts for securing the intermediate flange. Check the tension after final tightening and verify it is within (1) or (2).
- Page 42 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation For SKR33 to 65 and KR30H to 65 1. Remove the bolts for securing the pulley cover and pull off in the direction. Bolts for securing pulley cover...
- Page 43 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 2. Mount the servo motor. Pay attention to which way the motor connector faces. Make sure that the bolts used are not so long as to protrude from surface A.
- Page 44 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 3. Mount the pulley to the motor. Adjust the position of pulley B to the L dimension to mount pulley B. Pulley A Pulley B Intermediate flange...
- Page 45 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation · For tightening type D When mounting, take care to align the position of the flat face of the motor shaft with the hex- socket set screw such that the point of contact of the two objects is as close to perpendicular as possible.
- Page 46 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation · For tightening type M Mount the timing pulley and friction bushing that come with the product. Friction bushing Timing pulley B Friction bushing...
- Page 47 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 4. Loosen the bolts securing the intermediate flange and adjust the timing belt tension with the tension adjusting bolt. Timing belt Tension adjusting bolt Bolts for securing to intermediate flange...
- Page 48 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation (1) Simple measurement method Mount the motor so that the deflection of the belt is d by pressing the center of the belt by pressing force Td.
- Page 49 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation (2) How to use a sonic belt tensimeter Use a belt tensimeter for the measurement. Flip the belt at the measurement position by your finger and the like, measure the frequency (of vibration), and check that the tension is correct.
- Page 50 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 5. After adjusting the tension, conduct final tightening of the bolts for securing the intermediate flange. Check the tension after final tightening and verify it is within (1) or (2).
- Page 51 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation 6. Use pulley cover fixing bolts to secure the pulley cover. Pulley cover Bolts for securing pulley cover Small hexagonal-socket-head Model thin head screws Tightening torque [N·cm]...
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Page 52: Outer Rail Mounting Method
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Installation and Operation 6. Installation and Operation Installation and Operation Outer rail mounting method Use the countersunk holes in the outer rail and hexagonal-socket-head type bolts to secure to the mounting surface. See Fig. 4. -
Page 53: Maintenance
* For other information on handling grease, see the precautions indicated on the grease package or catalog. We have “Safety Data Sheets” for THK original greases. Contact THK for details. Precautions to be observed for prevention of product fault or fracture z To have this product fully exert its functions, it is essential to lubricate the product. -
Page 54: Daily Inspection
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Maintenance Maintenance Daily inspection z Before operating the product, visually check any exterior damage or stain. z Check the grease state (stain, etc.). If the grease is significantly stained, wipe off the grease, and then supply new grease. (Supply the new grease until it comes out from the inner block, and exhaust the stained grease.) -
Page 55: Lubrication
• KR15: THK AFF grease • SKR20/26 KR20/26: THK AFA grease • SKR33 to 65 KR30H to 65: THK AFB-LF grease See the appendix for details of the greases. z For the normal use of the grease, replenish it approximately every 100 km travel distance. -
Page 56: Method For Supplying Grease
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Maintenance Maintenance Method for supplying grease [SKR/KR] The following figure shows a SKR/KR representative greasing method for your reference. Procedure 1. Wipe off the old grease or stains using a clean waste cloth. 2. Supply grease using a grease gun as indicated in the figure below: (Move the inner block or ball screw by hand to permeate the grease throughout.) -
Page 57: Belt Replacement Method For Motor Wrap Type
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Maintenance Maintenance Belt replacement method for motor wrap type The following figure shows the belt replacement method for SKR20 to 33 and KR15 to 33 for your reference. 1. Remove the bolts for securing the pulley cover and pull off in the direction. - Page 58 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Maintenance Maintenance 3. Remove housing C and remove the old timing belt. Housing C Hexagonal-socket-head type Model Tightening torque [N·cm] bolts for securing housing C KR15 M2.5 x 10L 4 pcs 56 (SUS) SKR20/26...
- Page 59 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Maintenance Maintenance 5. Mount housing C. Housing C 6. Adjust the tension of the belt. * For the method to adjust the belt, see "Motor mounting method". 7. Temporarily tighten the bolts for securing intermediate flange and adjust the tension. After adjusting the tension, conduct final tightening of the bolts for securing the intermediate flange.
- Page 60 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Maintenance Maintenance 8. Use pulley cover fixing bolts to secure the pulley cover. Pulley cover Bolts for securing pulley cover Small hexagonal-socket-head Tightening torque Model thin head screws [N·cm] for securing pulley cover SKR20/26 M2.6 x 5L 3 pcs...
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Page 61: Free Warranty Period
7-10-1 Failure diagnosis Please inform THK of the trouble description, content, and model and serial number indicated on the product label. Then we will perform the initial diagnosis of the product failure. When we recognize that the failure occurred within the free warranty period set forth above and the responsibility of the cause rests on us, the warranty is applied without charge. -
Page 62: Exclusion Of Warranty Liability
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Maintenance Maintenance 7-10-3 Repair We will perform free repair works or replacement for any failure occurred within the free warranty period set forth above. However, it is our discretion whether we provide repair or replacement. -
Page 63: Appendix
⇒ Direct motor coupled specification: 8 mm, wrapped motor specification: 10 mm Additionally, for the direct motor coupled specification, a 10 mm ball screw shaft end diameter is also available. For details, please contact THK. SKR/KR... -
Page 64: Permissible Rotational Speed
Note) The upper limit of the permissible rotation speed is set at 6000 min 6000 min : The maximum rotation speed of the AC servomotor that is assumed to be used in SKR/KR. Note) If using the product at rotation speed exceeding the permissible value in the table above, contact THK. SKR/KR... - Page 65 : The maximum rotation speed of the AC servomotor that is assumed to be used in SKR/KR. Note) If using the product at rotation speed exceeding the permissible value in the table above, contact THK. Note) The permissible rotational speed for SKR does not vary with precision grade.
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Page 66: Introduction Of The Grease
8. Appendix Appendix Introduction of the grease THK original grease AFA Grease It is high-class grease with a long service life using a urea-based consistency enhancer with high- class synthetic oil as the base oil. z Characteristics • Unlike ordinary metal soap based grease, it excels in antioxidation stability and can be used for a long period. - Page 67 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Appendix Appendix AFB-LF Grease It is universal grease using a lithium-based consistency enhancer with refined mineral oil as the base oil. z Characteristics • Excels in abrasion resistance and extreme pressure resistance in comparison to off-the-shelf universal lithium-based grease due to the action of a special additive.
- Page 68 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Appendix Appendix AFF Grease Using high-class synthetic oil and lithium-based consistency enhancer and additive, this grease has a stable rolling resistance that has not been achieved with conventional vacuum grease or low dust- generation grease.
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Page 69: Introduction Of The Grease Gun Unit
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Appendix Appendix Introduction of the grease gun unit Grease Gun Unit MG70 The grease gun unit MG70 is capable of supplying grease for SKR/KR by replacing the dedicated nozzle. The grease gun has a slit window that allows you to visually check the remaining amount of grease. - Page 70 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Appendix Appendix Fig. 9 Appearance of the grease gun Fig. 10 shows the shapes of the nozzles and attachment for the grease gun used for lubrication. * It allows you to supply grease to a part difficult to lubricate (by dropping grease onto the raceway) by using the P type attachment.
- Page 71 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Appendix Revision history The instruction manual No. is described on the back cover. Date of issue Instruction manual No. Details May 2016 No.2060-1(0) E First edition November 2017 No.2060-2(0) E · Errata corrected (permissible input torque, etc.) ·...
- Page 72 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru THK Electric Actuator Compact Series SKR/KR INSTRUCTION MANUAL 201711 No.2060-2 (0) E...
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