Related Manuals for LinMot PR02-70 Series
Summary of Contents for LinMot PR02-70 Series
- Page 1 Installation Guide Linear Rotary Motors PR02-70 NTI AG / LinMot Dok-Nr. 0185-0170-E_1V0_IG_Linear_Rotary_Motors_PR02-70...
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Page 2: Table Of Contents
Default Values of the Coordinate System ..................18 6.2.1 Angle of Rotation ......................... 18 6.2.2 Position ............................18 Torque Measuring Shaft ........................19 6.3.1 Torque Operating Direction ......................19 Force Sensor ........................... 19 Page 2 / 41 PR02-70 NTI AG / LinMot... - Page 3 PR02-70x100(-SSC)-C_48x240F-HP-C-150((-L01)-MSxx-TSxx-FSxx) ......... 33 10.2 PR02-70x100(-SSC)-C_48x240F-HP-C-150-L05(-MSxx-TSxx-FSxx) ..........34 10.3 PR02-70x100(-SSC)-C_48x240F-HP-C-150-L15(-MSxx-TSxx-FSxx) ..........35 10.4 PR02-70x100(-SSC)-C_48x240F-HP-C-240((-L01)-MSxx-TSxx-FSxx) ......... 36 International Certificates ........................37 EU Declaration of Conformity CE-Marking ..................39 UK Declaration of Conformity UKCA-Marking ................40 NTI AG / LinMot PR02-70 Page 3 / 41...
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Page 4: General Information
1.4 Liability NTI AG (as manufacturer of LinMot linear motors 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 5: 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 6 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 6 / 41 PR02-70 NTI AG / LinMot...
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Page 7: Intended Use
Linear Motor Pn. / El. Pusher 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... -
Page 8: 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 and a force sensor as well as a pusher (electric or pneumatic telescopic movement) can be integrated in the housing. -
Page 9: Option Torque 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 10: Option Stainless Steel Front Flange (Ssc)
Any parts that do not belong to the zone of the stainless steel front flange may not be corrosion-resistant and can therefore only be cleaned to a limited extent. They have a reduced IP degree of protection. • The specified IP degree of protection is achieved at standstill. Page 10 / 41 PR02-70 NTI AG / LinMot... -
Page 11: Installation Instructions
In addition, the front of the motor should be fixed using the 4 threaded holes. The positions of the threaded holes can be found in the "Dimensions" section. Option A) Option B) NTI AG / LinMot PR02-70 Page 11 / 41... -
Page 12: Mounting The Load On The Shaft
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. -
Page 13: Connections
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! Even assembled cables may only be manufactured from the original LinMot accessories and must be... -
Page 14: Wiring Linear Rotary Motor
Installation Guide Linear Rotary Motors 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 14 / 41 PR02-70 NTI AG / LinMot... -
Page 15: Overview Of The Connectors
GROUND and must be connected to GROUND*; only the outer shield must be connected to SHIELD* of the connector. NTI AG / LinMot PR02-70 Page 15 / 41... -
Page 16: Connector Wiring Torque Measuring Shaft / 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 17: Connector Wiring Electric Pusher
Ø 4 mm. 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 generate small losses. NTI AG / LinMot PR02-70 Page 17 / 41... -
Page 18: Start-Up
Installation Guide Linear Rotary Motors 6 Start-up Please note that motors of the PR02-70 family are only fully supported from LinMot-Talk version 6.10 onwards. It is therefore strongly recommended not to use an older LinMot-Talk version. 6.1 Linear Motor and Rotary Motor Linear motor and rotary motor are electrically independent units. -
Page 19: 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 20: 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 21: 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 22 Installation Guide Linear Rotary Motors Figure: Selection of the positive counting direction (rotary motor) Figure: Selection of the positive direction of movement (linear motor) Page 22 / 41 PR02-70 NTI AG / LinMot...
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Page 23: 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 24: 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 25: 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 26 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 26 / 41 PR02-70 NTI AG / LinMot...
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Page 27: Accessories
Trailing Chain Cable Y/C, 8 m 0150-2441 KS10-Y-Fe/C- Trailing Chain Cable KS10-Y-Fe/C, Custom length 0150-3511 Robot Cables Item Description Item-No. KR10-W/C- Robot Cable KR10-W/C, Custom length 0150-3199 KR10-Y-Fe/C- Robot Cable KR10-Y-Fe/C, Custom length 0150-3515 NTI AG / LinMot PR02-70 Page 27 / 41... -
Page 28: Sensor Cable
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: 0150-4614 sensor cable for PR02, open cable end Page 28 / 41 PR02-70 NTI AG / LinMot... -
Page 29: Mounting Flange
Installation Guide Linear Rotary Motors 7.3 Mounting Flange LinMot offers a mounting 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. -
Page 30: Shaft-Hub Clamping
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 T (see above for details). Page 30 / 41 PR02-70 NTI AG / LinMot... -
Page 31: Maintenance And Test Instructions
Maintenance or disassembly of the linear rotary motors may only be carried out by trained companies: • LinMot • Companies qualified by LinMot If the linear rotary motor is not opened by one of the above-mentioned companies, the warranty claim expires. NTI AG / LinMot... -
Page 32: Preventive Inspection Every 6'000H
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.) 8.2.2 Inspection after each 12'000h Maintenance is recommended every 12,000 hours of operation or every two years. -
Page 33: Dimensions
Installation Guide Linear Rotary Motors 10 Dimensions 10.1 PR02-70x100(-SSC)-C_48x240F-HP-C-150((-L01)-MSxx-TSxx-FSxx) NTI AG / LinMot PR02-70 Page 33 / 41... -
Page 34: Pr02-70X100(-Ssc)-C_48X240F-Hp-C-150-L05(-Msxx-Tsxx-Fsxx)
Installation Guide Linear Rotary Motors 10.2 PR02-70x100(-SSC)-C_48x240F-HP-C-150-L05(-MSxx-TSxx-FSxx) Page 34 / 41 PR02-70 NTI AG / LinMot... -
Page 35: Pr02-70X100(-Ssc)-C_48X240F-Hp-C-150-L15(-Msxx-Tsxx-Fsxx)
Installation Guide Linear Rotary Motors PR02-70x100(-SSC)-C_48x240F-HP-C-150-L15(-MSxx-TSxx-FSxx) 10.3 NTI AG / LinMot PR02-70 Page 35 / 41... -
Page 36: Pr02-70X100(-Ssc)-C_48X240F-Hp-C-240((-L01)-Msxx-Tsxx-Fsxx)
Installation Guide Linear Rotary Motors 10.4 PR02-70x100(-SSC)-C_48x240F-HP-C-240((-L01)-MSxx-TSxx-FSxx) Page 36 / 41 PR02-70 NTI AG / LinMot... -
Page 37: International Certificates
Installation Guide Linear Rotary Motors 11 International Certificates Europe See chapter “EU Declaration of Conformity CE-Marking” See chapter “UK Declaration of Conformity UKCA-Marking” IECEE Ref. Certif. Nr. CH-8521 CB SCHEME NTI AG / LinMot PR02-70 Page 37 / 41... - Page 38 Installation Guide Linear Rotary Motors Page 38 / 41 PR02-70 NTI AG / LinMot...
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Page 39: Eu Declaration Of Conformity Ce-Marking
Installation Guide Linear Rotary Motors 12 EU Declaration of Conformity CE-Marking NTI AG / LinMot ® Bodenaeckerstrasse 2 8957 Spreitenbach Switzerland Tel.: +41 (0)56 419 91 91 Fax: +41 (0)56 419 91 92 declares under sole responsibility the compliance of the products: •... -
Page 40: Declaration Of Conformity Ukca-Marking
Installation Guide Linear Rotary Motors 13 UK Declaration of Conformity UKCA-Marking NTI AG / LinMot ® Bodenaeckerstrasse 2 8957 Spreitenbach Switzerland Tel.: +41 (0)56 419 91 91 Fax: +41 (0)56 419 91 92 declares under sole responsibility the compliance of the products: •... - Page 41 Tech. Support: +41-(0)56-544 71 00 Tech. Support: usasupport@linmot.com support@linmot.com Tech. Support (Skype): skype:support.linmot E-Mail: usasales@linmot.com Web: http://www.linmot-usa.com/ Fax: +41-(0)56-419 91 92 Web: http://www.linmot.com/ Visit http://www.linmot.com/ to find a distributor next to you. © 2022 NTI AG / LinMot Subject to alterations...
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