Page 3
Calibration of Torque Measuring Shaft and Force Sensor .............. 34 Transport and Storage ........................... 35 Dimensions............................36 10.1 Linear Rotary Motor PR02-38x51-R_23x80F-HP-R-70-L_MS0x_TS0x_FS0x ....... 36 10.2 Connection of the Motor Cable ......................37 Declaration of Conformity and CE-marking ..................38 NTI AG / LinMot PR02-38 Page 3 / 39...
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.
• 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 / 39 PR02-38 NTI AG / LinMot...
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.
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.
+-10 VDC suitable for the LinMot drive. Factory calibrations of integrated force 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.
3.9 Option angled Motor Connector (R01) In order to offer the user an even shorter installation length, linear rotary motors of the PR02-38 family are optionally available with a motor angle connector. Since this option is only a mechanical variant, the function of the motor remains the same.
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 0230-0602 pattern 3x3x10, steel C 45 K, plain NTI AG / LinMot PR02-38 Page 11 / 39...
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...
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! 5.1.1 Motor Cable...
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 / 39 PR02-38 NTI AG / LinMot...
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.
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.
External hexagon M5 The PR02-38 is optionally equipped with an air connection. At the rear of the motor, above the electrical connectors, there is a pneumatic push-in fitting (external hexagon M5) for a Ø 4 mm hose. Inside the motor, a Ø...
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.
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.
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.
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 PR02-38 Page 23 / 39...
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.
“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 / 39 PR02-38 NTI AG / LinMot...
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 / 39 PR02-38 NTI AG / LinMot...
A friction-locked connection is created with the aid of a shaft-hub clamping. Ordering information Item Description Item-No. RS01-SS10x20 Shaft-hub clamping for 10mm shaft 0150-4531 NTI AG / LinMot PR02-38 Page 31 / 39...
T (see above for details). • By tightening the screws, the inner diameter is reduced and the outer diameter is increased. This ensures a stable clamping of the outer receptacle. Page 32 / 39 PR02-38 NTI AG / LinMot...
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.
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.
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 PR02-38 Page 35 / 39...
Installation Guide Linear Rotary Motors 10 Dimensions 10.1 Linear Rotary Motor PR02-38x51-R_23x80F-HP-R-70-L_MS0x_TS0x_FS0x in mm Page 36 / 39 PR02-38 NTI AG / LinMot...
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 NTI AG / LinMot PR02-38 Page 37 / 39...
Normen / based on the following standards / base aux normes suivants, EN61000-6-2:2005 EN61000-6-4:2007 Jahr der CE-Kennzeichnung / Year of CE marking / Annee du marquage CE: 2021 Spreitenbach, 07.12.2021 Dr.-Ing. Ronald Rohner / CEO NTI AG Page 38 / 39 PR02-38 NTI AG / LinMot...
Page 39
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...
Need help?
Do you have a question about the PR02-38 and is the answer not in the manual?
Questions and answers