Product Information. Miniature rotary unit ERD

Transcription

1 Product Informaton ERD

2 ERD Fast. Compact. Flexble. ERD torque motor Powerful torque motor wth absolute encoder and electrc and pneumatc rotary feed-through Feld of applcaton For all applcatons wth exceptonal requrements n terms of achevable repeatablty, rotary speed, acceleraton and tool lfe. Advantages Your benefts Wth absolute poston measurement system Less programmng effort and tme savng when commssonng and n operaton Hgh dynamcs for shorter cycle tmes therefore a hgh productvty s acheved Integrated ar and electrc feed-through for secure energy supply of the grppng modules Almost no wear parts For long servce lfe and relablty of the system No mechancal play between the drve components for flexble response behavor and hgh postonng accuracy Szes Quantty: 3 Weght kg Axal force 2

3 ERD Functonal descrpton The unt s drven by a 3-phase brushless synchronous motor wth permanent exctaton. As t s a drect drve, t no longer needs mechancal transmsson elements such as gears, elmnatng the resultng naccuraces. ERD 1 Motor plug Standard M17 connector for comfortable connecton of motor phases and temperature sensor 2 Absolute encoder plug Easy connecton of encoder cable by default M12 connectors 3 Fxed prmary part Stator wth 3-phase ferromagnetc core col 4 Secondary component Iron grder wth ntegrated permanent magnets as rotor 5 Energy feed-through Integrated 2-fold ar feed-through and optonal 2-fold electrc feed-through 6 Housng Weght-optmzed due to the use of hgh-strength alumnum alloy CAD data, operatng manuals and other current product documents can be found onlne. 3

4 ERD General notes about the seres Housng materal: Alumnum alloy, coated Drve: Torque motor, 3-phase Stroke measurng system: Motor Feedback System for absolute measurement, multturn verson (up to 4,096 revolutons), wth HIPERFACE nterface Drve controller: BOSCH Rexroth IndraDrve Cs control unt s supported as standard; matchng parameters suppled on DVD, other manufacturers avalable on request. Scope of delvery: Enclosed accessory pack contanng centerng sleeve, assembly and operatng manual, commssonng DVD for SCHUNK motors Warranty: 24 months Swvelng tmes: The swvelng tmes are purely the tmes when the module moves from rest poston to rest poston. Delays caused by the PLC or the drve controller are not ncluded and to be taken nto consderaton when determnng cycle tmes. Load-dependent rest perods may have to be ncluded n the cycle tme. Layout or control calculaton: Verfyng the szng of the selected unt s necessary, snce otherwse overloadng can result. Please contact us for assstance. Repeat accuracy: The repeat accuracy s defned as the spread of the target poston after 100 consecutve postonng cycles. Ambent condtons: The modules are partcularly desgned for the use n clean to slghtly contamnated ambent condtons. Please note that the lfe tme of the modules can shorten f they are used n harsh ambent condtons, and that SCHUNK cannot assume lablty n such cases. Safety notes: Cauton: Magnetc feld! Ths partcularly apples for persons wth mplanted medcal devces, such as pacemakers, hearng ads, etc. Nomnal Currents: The rated currents can be permanently actuated. Wth regard to all the currents whch are rangng above the nomnal current up to the maxmum current, the notes of the ndvdual product documentaton has to be respected. Applcaton example Lnear grpper rotary unt for dynamc movement of small components. 1 ERD mnature rotary module 2 Stroke module LDK 3 MPG-plus 2-fnger parallel grpper 4

5 ERD SCHUNK offers more... The followng components make the product ERD even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Power and encoder cables KS Controller MV mcro valves Centerng sleeves Sensor system Lnear drect drve Adapter plates Room gantry electrc Pck & Place Unt Electrc Parallel Grpper EGP PGN-plus 2-fnger parallel grpper MPG-plus 2-fnger parallel grpper Addtonal nformaton regardng the products can be found on the followng product pages or at Please contact us for further nformaton: SCHUNK techncal hotlne Optons and specal nformaton Pneumatc rotary feed-through: The ERD rotary module comes wth two pneumatc feed-throughs by default The pneumatc hoses can be connected radally to the rotary table on the output sde. Alternatvely, hose-free drect connectons are also avalable n the center of the rotary table. Electrcal rotary feed-through: For versons wth electrcal feed-through, a feed-through wth up to four electrcal sgnals s possble n addton to the ntegrated pneumatc feed-through. Connected on the drve sde usng an M8 connector (4-pn). The rotary table has a radally algned M8 socket (4-pn) on the output sde. Connecton of power and sensor cables: The rotary module s connected to the drve controller va separate power and sensor cables. The rotary module ncludes an M17 plug connector for connectng the power cable and an M12 plug connector for connectng the sensor cable. See the accessory secton of the catalog chapter for sutable connectng cables. Specal lengths or cable extensons are avalable on request. 5

6 ERD 04 Swvel tme dagram Forces and moments Mass moment of nerta Pause tme Swvelng tme Swvel and pause tmes apply for motons wthout restrcted speeds at max. current. Reducng the max. current ncreases swvel perods and reduces rest perods. Hgher mass moments of nerta are possble. Dagrams only apply for suffcently rgd desgns. Please contact us for assstance wth the desgn of your applcaton. F x max. 150 N F z max. 150 N Moments and forces may occur smultaneously. M y max. 2.5 Nm Techncal data Descrpton ERD D-H-N ERD N-H-N ID General operatng data Rated/maxmum torque [Nm] 0.4/ /1.2 Max. RPM [1/mn] Max. permssble mass moment of nerta [kgmm²] Repeat accuracy [ ] Weght [kg] Mn./max. ambent temperature [ C] 10/40 10/40 Protecton class IP Electrcal operatng data Intermedate crcut voltage [V] Rated/maxmum current [A] 0.43/ /1.29 Encoder system Encoder (absolute) Encoder (absolute) Output sgnal Hperface Hperface SIL certfcaton not certfed not certfed Operatng data of the rotary feed-through Number of pneumatc feed-throughs 2 2 Max. operatng pressure [bar] 6 6 Number of electrcal feed-throughs 2 Max. voltage (DC) [V] 60 Max. current [A] 1 The peak torques serve as short-term drve reserves when acceleratng and delayng. 6

7 ERD 04 Man vew The drawng shows the rotary module wth pneumatc and electrcal rotary feed-throughs n IP protecton class 40. S Ar purge connecton ( bar) 1 Connecton swvel unt 2 Attachment connecton BN Bolt crcle BO Flud feed-through DL Motor plug FR Shaft encoder connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT Ft for centerng IK Input for 4 pole sensor feed-through IL Output for a 4-pn sensor feed-through 7

8 ERD 04 Hose-free drect connecton M5 Wthout an electrcal rotary feed-through 3 Adapter 4 Rotary unt In ths opton, no sensor sgnals can be transmtted. The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. Power cable Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. 6 Connecton module sde AO Socket IT Prefabrcated to connect to the hgher-level components Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Power cable for BOSCH Rexroth IndraDrve Cs - cable track-compatble KA GLT1706-LK M17 KA GLT1706-LK M17 KA GLT1706-LK M17 KA GLT1706-LK M17 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 8

9 ERD 04 Encoder cable KA G... KA W... encoder cable wth straght plug encoder cable wth angeled plug 6 Connecton module sde AO Socket IT Prefabrcated for connecton to the drve controller KA G...DS... Sub D encoder cable Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. Descrpton ID L1 D1 L2 D2 L3 D3 [m] [mm] [mm] [mm] [mm] Encoder cable for BOSCH IndraDrve A/B/Cs and Hperface encoder nterface KA WWN1208-GK K M12 KA WWN1208-GK K M12 KA WWN1208-GK K M12 KA WWN1208-GK K M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. BOSCH Rexroth IndraDrve Cs Drve controller IT Controller IK ERS Rotary unt IL ERD Rotary unt IM ELB Compact lnear module The controller can be used to operate the ERS 560 V and ERD rotary modules for SCHUNK lnear motor axes. It s avalable wth the PROFIBUS or mult-ethernet (Sercos III, PROFINET, EtherCAT, EtherNet/IP) communcaton nterfaces. Descrpton Nomnal current Maxmum current [A] [A] Controller HCS01.1E-W We wll be happy to help you select the rght controller. Please contact us for assstance. 9

10 ERD 08 Swvel tme dagram Forces and moments Mass moment of nerta Pause tme Swvelng tme Swvel and pause tmes apply for motons wthout restrcted speeds at max. current. Reducng the max. current ncreases swvel perods and reduces rest perods. Hgher mass moments of nerta are possble. Dagrams only apply for suffcently rgd desgns. Please contact us for assstance wth the desgn of your applcaton. F x max. 150 N F z max. 150 N Moments and forces may occur smultaneously. M y max. 2.5 Nm Techncal data Descrpton ERD D-H-N ERD N-H-N ID General operatng data Rated/maxmum torque [Nm] 0.8/ /2.4 Max. RPM [1/mn] Max. permssble mass moment of nerta [kgmm²] Repeat accuracy [ ] Weght [kg] Mn./max. ambent temperature [ C] 10/40 10/40 Protecton class IP Electrcal operatng data Intermedate crcut voltage [V] Rated/maxmum current [A] 1.3/ /3.8 Encoder system Encoder (absolute) Encoder (absolute) Output sgnal Hperface Hperface SIL certfcaton not certfed not certfed Operatng data of the rotary feed-through Number of pneumatc feed-throughs 2 2 Max. operatng pressure [bar] 6 6 Number of electrcal feed-throughs 2 Max. voltage (DC) [V] 60 Max. current [A] 1 Optons and ther characterstcs Descrpton ERD D-H-N ERD N-H-N ID Protecton class IP Weght [kg] Nomnal torque [Nm] The peak torques serve as short-term drve reserves when acceleratng and delayng. 10

11 ERD 08 Man vew The drawng shows the rotary module wth pneumatc and electrcal rotary feed-throughs n IP protecton class 40. S Ar purge connecton ( bar) 1 Connecton swvel unt 2 Attachment connecton BN Bolt crcle BO Flud feed-through DL Motor plug FR Shaft encoder connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT Ft for centerng IK Input for 4 pole sensor feed-through IL Output for a 4-pn sensor feed-through 11

12 ERD 08 Hose-free drect connecton M5 Protecton class IP54 3 Adapter 4 Rotary unt The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. IT M3/6 ar purge connecton The protecton class specfed s mplemented va an addtonal set of seals n the module and ar purge. Wthout an electrcal rotary feed-through In ths opton, no sensor sgnals can be transmtted. 12

13 ERD 08 Power cable Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. 6 Connecton module sde AO Socket IT Prefabrcated to connect to the hgher-level components Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Power cable for BOSCH Rexroth IndraDrve Cs - cable track-compatble KA GLT1706-LK M17 KA GLT1706-LK M17 KA GLT1706-LK M17 KA GLT1706-LK M17 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. Encoder cable KA G... KA W... KA G...DS... encoder cable wth straght plug encoder cable wth angeled plug Sub D encoder cable 6 Connecton module sde AO Socket IT Prefabrcated for connecton to the drve controller Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. Descrpton ID L1 D1 L2 D2 L3 D3 [m] [mm] [mm] [mm] [mm] Encoder cable for BOSCH IndraDrve A/B/Cs and Hperface encoder nterface KA WWN1208-GK K M12 KA WWN1208-GK K M12 KA WWN1208-GK K M12 KA WWN1208-GK K M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 13

14 ERD 08 BOSCH Rexroth IndraDrve Cs Drve controller IT Controller IK ERS Rotary unt IL ERD Rotary unt IM ELB Compact lnear module The controller can be used to operate the ERS 560 V and ERD rotary modules for SCHUNK lnear motor axes. It s avalable wth the PROFIBUS or mult-ethernet (Sercos III, PROFINET, EtherCAT, EtherNet/IP) communcaton nterfaces. Descrpton Nomnal current Maxmum current [A] [A] Controller HCS01.1E-W We wll be happy to help you select the rght controller. Please contact us for assstance. 14

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16 ERD 12 Swvel tme dagram Forces and moments Mass moment of nerta Pause tme Swvelng tme Swvel and pause tmes apply for motons wthout restrcted speeds at max. current. Reducng the max. current ncreases swvel perods and reduces rest perods. Hgher mass moments of nerta are possble. Dagrams only apply for suffcently rgd desgns. Please contact us for assstance wth the desgn of your applcaton. F x max. 150 N F z max. 150 N Moments and forces may occur smultaneously. M y max. 2.5 Nm Techncal data Descrpton ERD D-H-N ERD N-H-N ID General operatng data Rated/maxmum torque [Nm] 1.2/ /3.6 Max. RPM [1/mn] Max. permssble mass moment of nerta [kgmm²] Repeat accuracy [ ] Weght [kg] Mn./max. ambent temperature [ C] 10/40 10/40 Protecton class IP Electrcal operatng data Intermedate crcut voltage [V] Rated/maxmum current [A] 1.6/ /5.1 Encoder system Encoder (absolute) Encoder (absolute) Output sgnal Hperface Hperface SIL certfcaton not certfed not certfed Operatng data of the rotary feed-through Number of pneumatc feed-throughs 2 2 Max. operatng pressure [bar] 6 6 Number of electrcal feed-throughs 2 Max. voltage (DC) [V] 60 Max. current [A] 1 Optons and ther characterstcs Descrpton ERD D-H-N ERD N-H-N ID Protecton class IP Weght [kg] Nomnal torque [Nm] The peak torques serve as short-term drve reserves when acceleratng and delayng. 16

17 ERD 12 Man vew The drawng shows the rotary module wth pneumatc and electrcal rotary feed-throughs n IP protecton class 40. S Ar purge connecton ( bar) 1 Connecton swvel unt 2 Attachment connecton BN Bolt crcle BO Flud feed-through DL Motor plug FR Shaft encoder connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT Ft for centerng IK Input for 4 pole sensor feed-through IL Output for a 4-pn sensor feed-through 17

18 ERD 12 Hose-free drect connecton M5 Protecton class IP54 3 Adapter 4 Rotary unt The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. IT M3/6 ar purge connecton The protecton class specfed s mplemented va an addtonal set of seals n the module and ar purge. Wthout an electrcal rotary feed-through In ths opton, no sensor sgnals can be transmtted. 18

19 ERD 12 Power cable Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. 6 Connecton module sde AO Socket IT Prefabrcated to connect to the hgher-level components Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Power cable for BOSCH Rexroth IndraDrve Cs - cable track-compatble KA GLT1706-LK M17 KA GLT1706-LK M17 KA GLT1706-LK M17 KA GLT1706-LK M17 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. Encoder cable KA G... KA W... KA G...DS... encoder cable wth straght plug encoder cable wth angeled plug Sub D encoder cable 6 Connecton module sde AO Socket IT Prefabrcated for connecton to the drve controller Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. Descrpton ID L1 D1 L2 D2 L3 D3 [m] [mm] [mm] [mm] [mm] Encoder cable for BOSCH IndraDrve A/B/Cs and Hperface encoder nterface KA WWN1208-GK K M12 KA WWN1208-GK K M12 KA WWN1208-GK K M12 KA WWN1208-GK K M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 19

20 ERD 12 BOSCH Rexroth IndraDrve Cs Drve controller IT Controller IK ERS Rotary unt IL ERD Rotary unt IM ELB Compact lnear module The controller can be used to operate the ERS 560 V and ERD rotary modules for SCHUNK lnear motor axes. It s avalable wth the PROFIBUS or mult-ethernet (Sercos III, PROFINET, EtherCAT, EtherNet/IP) communcaton nterfaces. Descrpton Nomnal current Maxmum current [A] [A] Controller HCS01.1E-W We wll be happy to help you select the rght controller. Please contact us for assstance. 20

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22 SCHUNK GmbH & Co. KG Spann- und Greftechnk Bahnhofstr D Lauffen/Neckar Tel Fax Jens Lehmann, German goalkeeper legend, SCHUNK brand ambassador snce 2012 for safe, precse grppng and holdng. schunk.com/lehmann SCHUNK GmbH & Co. KG