RUNNING OUT OF AIR? english

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1 RUNNING OUT OF AIR? english

2 2 ELECTRIC HANDLING COMPONENTS BY MONTECH With its electrical handling components, Montech is now offering something new: an electrical alternative to its tried-and-tested pneumatic units. The variety of functions open up a broad range of applications. The KUSE slides are used for linear movements, the DAE-60 rotary drives for rotational movements, and for gripping we recommend the GPE parallel gripper and the GWE angular gripper. All components have built-in brushless, electronically commutated DC motors that require no maintenance. Thanks to the position control, the KUSEs and DAEs offer optimal repeat precision. An optional holding brake is also available in order to set up the device in any position. Several force and speed values can be stored and selected for the torqueregulated GWEs and GPEs. In addition to high product quality, we pay a great deal of attention to design. All devices were awarded the «if design award 2007» for design excellence. The EC motor controller (ECMR) is used for operating the electrical handling components. The commissioning software included in the delivery has a pull-down menu for selecting the components to be operated. That also means interchangeability and minimal stock keeping. And of course the ECMR is pre-configured at the factory only the motion tasks have to be entered and then the equipment is ready for operation. This means fast and easy commissioning. As usual, Montech delivers the complete equipment ready for use. The scope of delivery includes: Mechanical element including 3 m cable for connecting to the ECMR. ECMR pre-configured and with all terminals. Commissioning software for configuring the ECMR. Operating Instructions in four languages on CD-ROM. In addition to high product quality, we pay a great deal of attention to design. All devices were awarded the «if design award 2007» for design excellence.

3 3 CONTENTS PARALLEL GRIPPER GPE PRODUCT DESCRIPTION 4 TECHNICAL DATA 6 TRAVEL TIMES 6 DIMENSIONED DRAWING 7 LOAD CALCULATIONS 8 SCOPE OF DELIVERY 9 ANGULAR GRIPPER GWE PRODUCT DESCRIPTION 10 TECHNICAL DATA 12 TRAVEL TIMES 12 DIMENSIONED DRAWING 13 LOAD CALCULATIONS 14 SCOPE OF DELIVERY 16 ACCESSORIES GPE AND GWE 17 ROTARY UNIT DAE-60 PRODUCT DESCRIPTION 18 TECHNICAL DATA 20 TRAVEL TIMES 21 DIMENSIONED DRAWINGS 22 LOAD CALCULATIONS 24 SCOPE OF DELIVERY 26 ACCESSORIES 27 COMPACT UNIVERSAL SLIDE KUSE PRODUCT DESCRIPTION 28 KUSE-8 30 KUSE LOAD CALCULATIONS 36 SCOPE OF DELIVERY 39 ACCESSORIES 40 EC MOTOR CONTROLLER ECMR PRODUCT DESCRIPTION 42 POSITION CONTROL 43 TECHNICAL DATA 44 TORQUE CONTROL 45 TECHNICAL DATA 46 ACCESSORIES 46 Modification reserved

4 4 ELECTRIC PARALLEL GRIPPER GPE PRODUCT DESCRIPTION The electric parallel gripper GPE is designed for interior and exterior clamping. The home position can be set so that the gripper is open or closed. The GPE is driven by a brushless, electronically commutated DC motor. It is driven by a toothed belt on a ball screw. This enables fast, low-noise opening and closing (a plastic cushion provides end position shock absorption). To protect the gripper against soiling, the mechanism is closed. The GPE has a rugged, low-friction clamping jaw guide which absorbs the main forces of cylinder rolls. The grippers are extremely compact and have two bore holes for inductive proximity switches for end position detection. The fastening elements for the proximity switches are included in the scope of delivery. The supplied cable is 3 m long, internally wired and permanently fastened to the device with a screwed cable gland and strain relief. The cable is attached to the supplied plug-in terminals of the ECMR controller. Default values for force and speed can be stored using commissioning software and selected via digital inputs on the ECMR independently of each other.

5 5 GPE with SLL Drive Compact The specific arrangement of the drive elements has made it possible to achieve a narrow GPE design. This enables it to be manipulated in small places. Practical The closed mechanism permits deployment of the GPE almost anywhere. Precise Direct transmission produces low backlash operation that results in repeat precision of ± 0.05 mm. Installation position The installation position is freely selectable. Fast setup The device can be mounted with our Quick-Set elements. This makes mounting and adjustment fast, easy and flexible. Threaded and positioning bores are available as an alternative. Easy Opening and closing is performed by signal change on a digital input of the ECMR. Position scanning Position scanning can be done by hall sensor evaluation. In contrast to conventional grippers, this means that any position of the clamping jaws can by determined. Alternatively, both endpositions can be monitored by the inductive proximity switches.

6 6 ELECTRIC PARALLEL GRIPPER GPE TECHNICAL DATA Stroke = Total travel of jaws [mm] 12 Opening / closing time [s] see diagram Weight [kg] 0.91 Mass moment of inertia Jz [kgcm 2 ] 5.9 Max. cycles per minute 80 Drive brushless electronic commutated DC motor, toothed belt and ball screw Hall sensor resolution 1) [mm] Rated motor power [W] 25 Protection type IP42 Repeatability 2) [mm] ± 0.05 Check whether end position open/closed 3) inductive proximity switches Supply voltage / current 24 VDC / 1.5A Ambient: Temperature [ C] Rel. humidity [%] 5 85 (without condensation) Purity of the air normal workshop atmosphere Warranty period 2 years from the date of delivery Mounting position any Material aluminum, steel, bronze, plastic 1) Stroke of the jaws per signal combination (with evaluation of the 6 hall sensor signal combinations per motor revolution). 2) Scattering of the clamped end position, measured for 100 successive strokes at constant motor temperature. 3) See accessories. GPE GRIPPING FORCE DIAGRAM AT >50% SPEED Current [%] GPE OPENING AND CLOSING TIMES Speed [%] Current [%] t: Opening/closing times from edge change at the input «Direction» [s] Fs: Gripping force per gripping finger [N] Fs [N] 30 Important: The gripping force is influenced by the deformation of the application-specific gripping fingers! t [s]

7 7 ELECTRIC PARALLEL GRIPPER GPE DIMENSIONAL DRAWING (5.5) 80 (5.5) (3000) Ø 6.5 mm bores for proximity switch Lz Ø f7 Fs Fs 20 ±0.01 Bores (5) (5) 30 ±0.1 Thread M4x8 mm 20 ±0.1 Thread Ø4 H8x6 mm M4x8 mm Ø4 H8x6 mm 30 ±0.01 Bores Ref. No. GPE 57833

8 8 ELECTRIC PARALLEL GRIPPER GPE DEFINITION OF THE LOADS Mox Moy Fs Lx Lz Foy Lx Foz Fs Fs Foy Foz Fs Ly Moz FS: [N] Clamping force per gripper finger Foy, Foz: [N] Static forces Lx, Ly, Lz: [mm] Distances over which force acts Mox, Moy, Moz: [Nmm] Static moments FS [N] see clamping force diagram Foy adm. [N] 75 Foz adm. [N] 80 Lx adm. [mm] 80 Ly adm. [mm] 80 Lz adm. [mm] 100 (Lx + Ly) adm. [mm] 80 (Ly + Lz) adm. [mm] 100 (Lz + Lx) adm. [mm] 100 Mox adm. =. (Foy Lz) +. (Foz Ly) [Nmm] 1500 Moy adm. = (FS. Lz) + (Foz. Lx) [Nmm] 6000 Moz adm. =. (FS Ly) +. (Foy Lx) [Nmm] 4000 When Mox, Moy, and Moz act simultaneously, any moment may reach its permissible maximum.

9 9 ELECTRIC PARALLEL GRIPPER GPE SCOPE OF DELIVERY Order no.: Scope of delivery: 1 Electric parallel gripper GPE with EC motor, and 3 m motor-data cable. The cable is towable, wired on one side and fastened to the GPE with a screwed cable gland. 1 EMCR controller, parameterized and fitted with terminals. 1 CD-ROM with commissioning software for Windows and Operating Instructions in German, English, French and Italian.

10 10 ELECTRIC ANGULAR GRIPPER GWE PRODUCT DESCRIPTION The electric angular gripper GWE is designed for exterior clamping. The GWE is driven by a brushless, electronically commutated DC motor. It is driven by a toothed belt on a ball screw. This enables fast, low-noise opening and closing (a plastic cushion provides end position shock absorption). The special shape of the jaw drive crank generates very high gripping forces for a parallel gripping finger position without a self-locking effect. The opening angle is adjustable. The grippers are extremely compact and have two bore holes for inductive proximity switches for end position detection. The fastening elements for the proximity switches are included in the scope of delivery. The supplied cable is 3 m long, internally wired and permanently fastened to the device with a screwed cable gland and strain relief. The cable is attached to the supplied plug-in terminals of the ECMR controller. Default values for force and speed can be stored using commissioning software and selected via digital inputs on the ECMR independently of each other.

11 11 GWE with SLL Drive Compact The specific arrangement of the drive elements has made it possible to achieve a narrow GWE design. This permits it to be manipulated in small places. Practical The jaw opening position can be infinitely adjusted from 15 to 180 and is cushioned by an elastic stop. In many cases handling movements are made unnecessary thanks to the maximum opening angle. Precise Direct transmission produces low backlash operation that results in repeat precision of ± 0.05 mm. Installation position The installation position is freely selectable. Fast setup The device can be mounted with our Quick-Set elements. This makes mounting and adjustment fast, easy and flexible. As an alternative, threaded and positioning bores are available. Easy Opening and closing is performed by signal change on a digital input of the ECMR. Position scanning End position scanning can be done by hall sensor evaluation, or through two additional inductive proximity switches.

12 12 ELECTRIC ANGULAR GRIPPER GWE TECHNICAL DATA Opening angle infinitely adjustable [ ] Opening / closing time [s] see diagram Weight [kg] 0.95 Mass moment of inertia Jz (closed) [kgcm 2 ] 6.1 Max. cycles per minute 80 Drive brushless electronic commutated DC motor, toothed belt and ball screw Rated motor power [W] 25 Protection type IP42 Repeatability 1) [mm] ±0.05 Check whether end position open/closed 2) inductive proximity switches Supply voltage / current 24VDC / 1.5A Ambient: Temperature [ C] Rel. humidity [%] 5 85 (without condensation) Purity of the air normal workshop atmosphere Warranty period 2 years from the date of delivery Mounting position any Material aluminum, steel, bronze, plastic 1) Scattering of the clamped end position at Lz = 38 mm (end of jaw), measured for 100 successive strokes at constant motor temperature. 2) See accessories. GWE GRIPPING FORCE DIAGRAM AT >50% SPEED GWE OPENING AND CLOSING TIMES Current [%] Speed [%] Ms [Nmm] Ms: Gripping torque per gripper finger with parallel jaw position [Nmm] Current [%] with finger J = 100kgmm 2 with finger J = 500kgmm 2 t: Opening/closing times from edge change at the input «Direction» [s] Important: The gripping torque is influenced by kinetic energy and the deformation of the application-specific gripping finger! t [s]

13 13 ELECTRIC ANGULAR GRIPPER GWE DIMENSIONAL DRAWING Ø6.5 mm bores for proximity switches (7) (3000) f8 Ø 4.5 Lz Fs Fs 20 ±0.01 Bores (5) (5) 30 ±0.1 Thread M4x8 mm 20 ±0.1 Thread Ø4 H8x6 mm M4x8 mm Ø4 H8x6 mm 30 ±0.01 Bores Ref. No. GWE 57834

14 14 ELECTRIC ANGULAR GRIPPER GWE LOAD CALCULATION PERMITTED FINGER MASS m [kg] m: Finger mass [kg] a: Center of gravity distance [mm] J: Resulting finger mass moment of inertia [kgmm 2 ] (J = 100) (J = 300) (J = 500) a [mm] DEFINITION OF CENTER OF GRAVITY DISTANCE a S: Center of gravity of gripping finger a: Distance between fulcrum and center of gravity Lz: Distance between fulcrum and clamping point [mm] FS: Clamping force per gripping finger a Lz Fs S Gripping finger mounting on the inside of the gripper jaw Gripping finger mounting on the outside of the gripper jaw

15 15 ELECTRIC ANGULAR GRIPPER GWE DEFINITION OF THE LOADS Moy Mox Moy Foy Fs Moz Moz Lz Lx Lx Foz Lx Lx Foz Fs Foy Ly FS: [N] Clamping force per gripper finger Foy, Foz: [N] Static forces Lx, Ly, Lz: [mm] Distances over which force acts Mox, Moy, Moz: [Nmm] Static moments FS [N] see clamping force diagram Foy adm. [N] 80 Foz adm. [N] 400 Lx adm. [mm] 60 Ly adm. [mm] 60 Lz adm. [mm] 120 Mox adm. =. (Foy Lz) +. (Foz Ly) [Nmm] 2000 Moy adm. =. Foz Lx [Nmm] 6000 Moz adm. =. (FS Ly) +. (Foy Lx) [Nmm] 3000 When Mox, Moy, and Moz act simultaneously, each moment can reach its permissible maximum. If the action of Foz on the gripper jaw is displaced by Lx the clamping force FS is affected as follows: FS eff = FS ± Foz Lx Lz

16 16 ELECTRIC ANGULAR GRIPPER GWE SCOPE OF DELIVERY Order no.: Scope of delivery: 1 Electric angular gripper GWE with EC motor, and 3 m motor-data cable. The cable is towable, wired on one side and fastened to the GWE with a screwed cable gland. 1 EMCR controller, parameterized and fitted with terminals. 1 CD-ROM with commissioning software for Windows and Operating Instructions in German, English, French and Italian.

17 17 GPE AND GWE ACCESSORIES QUICK-SET ELEMENT FOR MOUNTING SLL GPE GWE Other Quick-Set elements are listed in our «Quick-Set» catalogue. SLL Ref. No N END POSITION MONITORING WITH INDUCTIVE PROXIMITY SWITCHES The inductive proximity switches to be installed must fulfill the following conditions: Switch gap 2 mm Flush-mountable Minimum casing length (Ø 6.5 mm): GPE: 27 mm GWE: 19 mm GPE GWE INDUCTIVE PROXIMITY SWITCHES Ref. No. Ø 6.5 Ø 3.5 PNP Ø 6.5 mm with LED, protection against short circuits and reverse pin connection, switch gap 2 mm, flush mountable, Length L = 2000 mm pluggable M8x L Ø CONNECTING CABLE for 3-pin proximity switch, highly flexible, screwable M8x1 1) L = 5 m, with socket straight on one side L = 5 m, with socket angled on one side L = 10 m, with socket straight on one side L = 10 m, with socket angled on one side Ø5 L ) especially suitable for dynamic stress, for example if installed in energy supply chain. Ø5 L 26.5

18 18 ELECTRICAL ROTARY UNIT DAE-60 PRODUCT DESCRIPTION The electrical rotary unit DAE-60 is designed for rotational movements. Toothed belts and angular gears achieve a high transmission ratio resulting in high output torques. It is driven by a brushless, electronically commutated DC motor with integrated encoder. The built-in inductive proximity switch is for setting the zero point of the drive shaft for the reference run. The standard supplied cables are 3 m long, internally wired and permanently fastened to the device with screwed cable glands and strain relief. The cables are attached to the supplied plug-in terminals of the ECMR controller. Motion tasks can be stored in the controller using the commissioning software and then selected and initiated via digital inputs.

19 19 Drive DAE-60 with holding brake, mounting side DAE-60 with holding brake, driving side Compact The specific arrangement of the drive elements has made it possible to achieve low overall height of the DAE-60. Practical The drive shaft is hollow, enabling cable and hoses to be conducted through it. Precision Gear play is adjustable and permits low backlash operation. This results in repeat precision of ± Installation position The installation position is freely selectable. If the drive shaft is not installed in the vertical position, a holding brake is necessary. Fast setup The device and the load are fastened with Quick-Set elements. This makes mounting and adjustment fast, easy and flexible. Broad operating range Rotation angle of 0 to 3600 (or 10 complete rotations).

20 20 ELECTRICAL ROTARY UNIT DAE-60 TECHNICAL DATA vertical drive shaft horizontal drive shaft 6) Max. rotation angle ϕ max. [ ] 3600 (10 rotations) Max. mass moment of inertia Jmax. 1) [kgcm 2 ] Max. torque (dynamic) MDmax. 2) [Nm] Max. holding moment (static) MHmax 3) [Nm] Max. tilting moment (static) MKmax. 4) [Nm] Max. axial force (static) Famax. [N] ± 450 ± 450 Max. rotational speed ω 1) [ /s] Max. angular acceleration α 1) [ /s 2 ] Weight [kg] 2.20 Drive brushless, electronic commutated DC motor, toothed belt and angular gear Motor rated power [W] 60 Encoder system Encoder Protective class IP40 Repeat precision 5) [ ] ± 0.01 Play [ ] low backlash and adjustable Supply voltage / current 24 VDC / 4 A Reference point proximity switch inductive proximity switches PNP Noise pressure level [dba] <_ 63 Ambient: Temperature [ C] Rel. humidity [%] 5 85 (without condensation) Purity of the air normal workshop atmosphere Maintenance angular gear grease lubrication Warranty period 2 years from the date of delivery Material aluminum, steel, bronze, plastic 1) Measured at max. mass moment of inertia, max. rotational speed, and max. angular acceleration. See «travel time diagram». 2) Torque or movement moment. Corresponds to the moment which is available on the drive shaft in order to move a load. See «load calculation» section. 3) Holding moment or load of the drive due to a load on the drive shaft at standstill without it moving. See «load calculation» section. 4) Tilting moment or load of the drive shaft due to a radial force element. See «load calculation» section. 5) Measured at constant motor temperature, max. mass moment of inertia, max. rotational speed, max. angular acceleration, and 100 successive rotary movements in the same direction. 6) For use with horizontal drive shaft, a holding brake is necessary. See optional holding brake.

21 21 ELECTRICAL ROTARY UNIT DAE-60 INSTALLATION POSITION: VERTICAL DRIVE SHAFT INSTALLATION POSITION: HORIZONTAL DRIVE SHAFT WITH HOLDING BRAKE OPTION: HOLDING BRAKE FOR THE USE HORIZONTAL DRIVE SHAFT With integrated holding brake 0.4 Nm, including housing and fixing screws. The holding brake is recommended when the drive shaft of the DAE-60 is not vertically oriented. Ref. No Weight (without DAE-60) [kg] 0.18 Type permanent magnet single-surface brake for dry run Rated power [W] 6.2 Voltage [VDC] 24 TRAVEL TIME Travel times were determined under the following conditions: Symbol J ϕ ω ±α Unit [kgcm 2 ] [ /1000] [ /s] [ /s 2 ] Position of the drive shaft horizontal vertical horizontal vertical horizontal vertical Value variabel Measurement begins with the «Start motion task» signal on ECMR terminal X5 6. Measurement ends with the «INPOS» (in position) signal on ECMR terminal X7 3. Travel time is measured between the signals «Start motion task» and «INPOS». «In position window» setting (ECMR software) = 250 /1000. [ ] horizontal drive shaft vertical drive shaft t [ms] J [kgcm 2 ] mass moment of inertia of add-ons and/or load t [ms] travel time per rotation angle ϕ ϕ [ ] rotation angle or stroke ω [ /s] rotational speed ±α [ /s 2 ] +α angular acceleration / -α angular decceleration

22 Ø ELECTRICAL ROTARY UNIT DAE-60 DIMENSIONAL DRAWING Direction of rotation from reference point (ϕ = 0 ) (71.4) SW15 Ø Cable length 3 m Ø15H11 Ref. No. DAE

23 Ø ELECTRICAL ROTARY UNIT DAE-60 WITH HOLDING BRAKE DIMENSIONAL DRAWING Direction of rotation from reference point (ϕ = 0 ) (71.4) SW Ø Ø36.5 Cable length 3m Ø15H11 Ref. No. DAE Holding brake 57550

24 24 LOAD CALCULATION DAE-60 Fa Mk MH MD The maximum values are listed in the technical data. They must not be exceeded. Add-ons and load Condition Maximum value Unit Remark MD <_ MDmax [Nm] Torque (dynamic) MH <_ MHmax [Nm] Holding moment (static) MK <_ Mkmax [Nm] Tilting moment (static) I± Fal <_ Famax [N] Max. axial force (static) identical for tractive and compressive CALCULATION OF MASS MOMENTS OF INERTIA OF PARTS Calculation of mass moments of inertia generally d Z m = 1 ρ π d 2 h 4 X JZ = 1 m d 2 8 X h JX = 1 m ( d h ) Z a Z b m = ρ a b h Z h JZ = 1 m (a 2 + b 2 ) 12 JZ [kgcm 2 ] Mass moment of inertia with axis of rotation Z Z JX [kgcm 2 ] Mass moment of inertia with axis of rotation X X m [kg] Mass ρ [kg/cm 3 ] Density a [cm] Length b [cm] Width d [cm] Diameter h [cm] Height

25 25 CALCULATION OF MASS MOMENTS OF INERTIA OF ADD-ON UNITS Total mass moments of inertia Z JGes = JZ1 JZ1 m1 Z Z JZ2, m2 JGes = 2 (JZ1 + m1 a 2 ) + JZ2 JZ1 m1 JZ1 m1 a a Z Z c b c/2 JZ2, m2 JGes = JZ1 + m1 a 2 + JZ2 +m2 b 2 JZ1 m1 a Z Z c d c/2 JZ3, m3 JGes = JZ1 + m1 a 2 + JZ2 +m2 b 2 + JZ3 + m3 d 2 JZ1 m1 JZ2 m2 a Z b a, b, c, d [cm] Length JGes [kgcm 2 ] Total mass moment of inertia of add-on units with axis of rotation Z Z JZ1, JZ2, JZ3, [kgcm 2 ] Mass moment of inertia of the individual parts m1, m2, m3, [kg] Mass of the individual parts Z Z [ ] Axis of rotation

26 26 ELECTRICAL ROTARY UNIT DAE-60 SCOPE OF DELIVERY Order no.: Scope of delivery: 1 Electric rotary drive DAE-60 with EC motor, encoder, inductive proximity switch, and 3 m motor-data cable. Both cables are towable, wired on one side and fastened to the DAE-60 with a screwed cable gland and strain relief. 1 EMCR controller, parameterized, and fitted with terminals. 1 CD-ROM with commissioning software for Windows and Operating Instructions in German, English, French and Italian. ACCESSORIES FOR DAE-60 HOLDING BRAKE Ref. No The holding brake can be retrofitted at any time. Scope of delivery: 1 Holding brake with connecting cable and fastening material. 1 CD-ROM with commissioning software for Windows and Operating Instructions in German, English, French and Italian.

27 27 ELECTRICAL ROTARY UNIT DAE-60 ACCESSORIES QUICK-SET ELEMENTS FOR INSTALLATION Low installation without conducting cables through the hollow shaft. SLL Ref. No N SLL Ref. No N High installation with cables conducted through the hollow shaft. SLL-55/22-40 Ref. No N SLL-20/22-40 Ref. No N QUICK-SET ELEMENT FOR FASTENING THE LOAD SLR Ref. No N TP Ref. No Nxxxx Other Quick-Set elements are listed in our «Quick-Set» catalogue.

28 28 ELECTRICAL COMPACT UNIVERSAL SLIDE KUSE PRODUCT DESCRIPTION KUSE-8-60 Two sizes with two stroke lengths. The electrical compact universal slides KUSE are electrically driven, position-controlled linear units. They are driven by a brushless, electronically commutated DC motor with integrated encoder. Transmission is via a toothed belt on a ball screw. The built-in inductive proximity switch is for setting the zero point of the slide for the reference run. The KUSE is characterized by a rugged construction with a high degree of rigidity and long service life. Each of the two sizes is available in two stroke lengths. The high degree of rigidity is achieved by ball bearing mounted linear guides. A special cage with an integrated lubrication reservoir guarantees guide synchronization. The end stops are secured with rubber buffers. For maximum installation flexibility the slide has Quick-Set dovetail seats as well as thread and positioning bores. The standard supplied cables are 3 m long, internally wired and permanently fastened to the device with screwed cable glands and strain relief. The cables are attached to the supplied plug-in terminals of the ECMR controller. Motion tasks can be stored in the controller using the commissioning software and then selected and initiated via digital inputs.

29 29 KUSE with holding brake KUSE-8-60 Drive Compact The specific arrangement of the drive elements has made it possible to achieve a low KUSE design size. Practical Rugged guidance guarantees extremely long service life. Precision Direct transmission permits low backlash operation. This results in repeat precision of ± 0.01 mm. Installation position The installation position is freely selectable. A holding brake is required for vertical installation. Fast setup The device and the load are fastened with Quick-Set elements. This makes mounting and adjustment fast, easy and flexible. As an alternative, threaded and positioning bores are available.

30 30 ELECTRICAL COMPACT UNIVERSAL SLIDE KUSE-8 TECHNICAL DATA KUSE-8-60 KUSE Stroke (max.) [mm] Perm. mounted weight, horizontal m hmax [kg] 4 4 Perm. mounted weight, vertical m vmax 1) [kg] 3 3 Max. moment (static) M 0xmax 2) [Nm] Max. moment (static) M 0ymax 2) [Nm] Max. moment (static) M 0zmax 2) [Nm] Max. force (static) F xmax 2) [N] Max. force (static) F ymax 2) [N] Max. force (static) F zmax 2) [N] Max. speed hor./vert.. vmax [mm/s] 400 / / 400 Max. acceleration hor./vert. accmax [mm/s 2 ] 4500 / / 4500 Weight [kg] Drive brushless electronic commutated DC motor, toothed belt and ball screw Motor rated power [W] 60 Encoder system Encoder Protective class IP42 Repeat precision 3) [mm] ± 0.01 Supply voltage / current 48 VDC / 4A Auxiliary voltage / current 24 VDC / 1A Reference point initiator inductive proximity switches PNP Noise pressure level [dba] < 66 Ambient: Temperature [ C] Rel. humidity [%] 5 85 (without condensation) Purity of the air normal workshop atmosphere Warranty period 2 years from the date of delivery Installation position 1) horizontal Material aluminum, steel, plastic 1) For vertically use, install a permanent magnet brake (option). 2) See load calculations. 3) At constant motor temperature. Measured with max. load, max speed and load, max speed and load, max speed and 100 successive strokes.

31 31 KUSE-8 TRAVEL TIMES Travel times were determined under the following conditions: Symbol m s v ±a Unit [kg] [µm] [mm/s] [mm/s 2 ] Position horizontal vertical horizontal vertical horizontal vertical Value 4 3 variabel Beginning the measurement with the «Start motion task» signal on the ECMR terminal X5 6. End of the measurement with the «INPOS» signal (in position) on the ECMR terminal X7 3. Travel time is measured between the signals «Start motion task» and «INPOS». «In Position» window setting (ECMR software) = 200 µm. s [mm] 120 horizontal / vertical t [ms] m [kg] Weight of add-ons and/or load t [ms] Travel time per travel distance s s [mm] Travel distance or stroke v [mm/s] Travel speed ±a [mm/s 2 ] +a acceleration / a decceleration OPTION: HOLDING BRAKE FOR VERTICAL USE Holding brake for KUSE-8 and KUSE-10: With integrated holding brake 0.4 Nm, including housing and fixing screws. Ref. No Weight (without KUSE) [kg] 0.1 Type permanent magnet single-surface brake for dry run Rated power [W] 6.2 Supply voltage [VDC] 24

32 32 KUSE-8 DIMENSIONAL DRAWING 4 M4x6 Ø4H8x N x 40 KUSE M4x C 6 A+Stroke 20 N x A 4 A A Ø4H8x7 31+Stroke 30 Cable length 3 m 12 Ø4H8x7 M4x6 B A A B C N Stroke KUSE KUSE Ref. No. KUSE KUSE

33 33 ELECTRICAL COMPACT UNIVERSAL SLIDE KUSE-10 TECHNICAL DATA KUSE KUSE Stroke (max.) [mm] Perm. mounted weight, horizontal m hmax [kg] 6 6 Perm. mounted weight, vertical m vmax 1) [kg] 5 5 Max. moment (static) M 0xmax 2) [Nm] Max. moment (static) M 0ymax 2) [Nm] Max. moment (static) M 0zmax 2) [Nm] Max. force (static) F xmax 2) [N] Max. force (static) F ymax 2) [N] Max. force (static) F zmax 2) [N] Max. speed hor./vert. Vmax [mm/s] 380 / / 350 Max. acceleration hor./vert. accmax [mm/s 2 ] 4000 / / 3500 Weight [kg] Drive brushless electronic commutated DC motor, toothed belt and ball screw Motor rated power [W] 70 Encoder system Encoder Protective class IP42 Repeat precision 3) [mm] ± 0.01 Supply voltage / current 48 VDC / 4A Auxiliary voltage / current 24 VDC / 1A Reference point initiator inductive proximity switches PNP Noise pressure level [dba] < 66 Ambient: Temperature [ C] Rel. humidity [%] 5 85 (without condensation) Purity of the air normal workshop atmosphere Warranty period 2 years from the date of delivery Installation position 1) horizontal Material aluminum, steel, plastic 1) For vertically use, install a permanent magnet brake (option). 2) See load calculations. 3) At constant motor temperature. Measured with max. load, max speed and load, max speed and load, max speed and 100 successive strokes.

34 34 KUSE-10 TRAVEL TIMES Travel times were determined under the following conditions: Symbol m s v ±a Unit [kg] [µm] [mm/s] [mm/s 2 ] Position horizontal vertical horizontal vertical horizontal vertical Value 6 5 variabel Beginning the measurement with the «Start motion task» signal on the ECMR terminal X5 6. End of the measurement with the «INPOS» signal (in position) on the ECMR terminal X7 3. Travel time is measured between the signals «Start motion task» and «INPOS». «In Position» window setting (ECMR software) = 200 µm. s [mm] 160 horizontal 140 vertical t [ms] m [kg] Weight of add-ons and/or load t [ms] Travel time per travel distance s s [mm] Travel distance or stroke v [mm/s] Travel speed ±a [mm/s 2 ] +a acceleration / a decceleration OPTION: HOLDING BRAKE FOR VERTICAL USE Holding brake for KUSE-8 and KUSE-10: With integrated holding brake 0.4 Nm, including housing and fixing screws. Ref. No Weight (without KUSE) [kg] 0.1 Type permanent magnet single-surface brake for dry run Rated power [W] 6.2 Supply voltage [VDC] 24

35 35 KUSE-10 DIMENSIONAL DRAWING 4 M4x6 Ø4H8x N x 50 KUSE Ø4H8x7 M4x7 31+Stroke C 7 30 A+Stroke N x 50 A Cable length 3 m A A Ø4H8x7 M4x6 B A A B C N Stroke KUSE KUSE Ref. No. KUSE KUSE

36 36 ELECTRICAL COMPACT UNIVERSAL SLIDE KUSE LOAD CALCULATIONS The load values specified in the technical data are maximum values for a single load. The following calculations apply to the combined loads encountered in practice: Kx Lx Mz My Lz Mx Fy Fz Ly Fx DEFINITION OF THE LOADS a) Dynamic load for horizontal use M x = m g L y M y = m (g (L x K x) + 2 a L z) M z = m 2 a L y Combined dynamic load for horizontal use: M y M x + M z B = <_ 1 M ymax (M x + M z) max b) Dynamic load for vertical use M y = m (g + 2 a) L z M z = m (g + 2 a) L y Combined dynamic load for vertical use: M y M z B = <_ 1 M y max M z max

37 37 c) Static load M 0x = (F y L z + F z L y) M 0y = (F x L z + F z (L x K x)) M 0z = (F x L y + F y (L x K x)) Combined static load: M 0x M 0y M 0z B 0 = <_ 1 M 0xmax M 0ymax M 0zmax B, B 0: Load factor: Must not exceed the value l! M i, M 0i: [Nm] Existing moments M imax, M 0imax: [Nm] Max. permissible moments (see table) m: [kg] Installation mass L x, L y, L z: [mm] Distance of moving mass from centre of gravity or force application distances F x, F y, F z: [N] Acting forces for max. values see «Technical Data» K x: [mm] Constant according to table g: [m/s 2 ] Acceleration due to gravity (9.81 m/s 2 ) a: [m/s 2 ] Acceleration Horizontal use Vertical use Static KX MYmax (MX+MZ)max MYmax MZmax M0Xmax M0Ymax M0Zmax [mm] [Nm] [Nm] [Nm] [Nm] [Nm] [Nm] [Nm] KUSE KUSE KUSE KUSE

38 38 DEFORMATIONS DEFINITION OF LOADS fz Fz Fy fy KUSE-8 DEFORMATIONS fz [mm] fy [mm] KUSE KUSE KUSE KUSE Fz [N] Fy [N] KUSE-10 DEFORMATIONS fz [mm] fy [mm] KUSE KUSE KUSE KUSE Fz [N] Fy [N]

39 39 ELECTRICAL COMPACT UNIVERSAL SLIDE KUSE SCOPE OF DELIVERY Order no.: 57829, 57830, 57831, Scope of delivery: 1 Electrical compact universal slide KUSE with EC motor, encoder, inductive proximity switch, and 3 m motor-data cable. Both cables are towable, wired on one side and fastened to the KUSE with a screwed cable gland and strain relief. 1 EMCR controller, parameterized and fitted with terminals. 1 CD-ROM with commissioning software for Windows and Operating Instructions in German, English, French and Italian.

40 40 ELECTRICAL COMPACT UNIVERSAL SLIDE KUSE ACCESSORIES HOLDING BRAKE Ref. No The holding brake can be retrofitted at any time. Scope of delivery: 1 Holding brake with connecting cable and fastening material. 1 CD-ROM with commissioning software for Windows and Operating Instructions in German, English, French and Italian. QUICK-SET ELEMENTS FOR INSTALLATION SLL Ref. No N SLL Ref. No N SLL Ref. No N Multiple cable guide KFM-40, 50 mm Ref. No N0050 Other Quick-Set elements are listed in our «Quick-Set» catalogue.

41 41

42 42 EC MOTOR CONTROLLER ECMR PRODUCT DESCRIPTION The EC motor controller ECMR was specially developed for operating electric handling components. It is extremely easy to operate and userfriendly. The mode of operation (position control or moment control) depends on the connected device. Any connected electric handling component can be selected with the supplied commissioning software using a pull-down menu and its factory parameters loaded. Users need only save their desired motion task data or default values and possibly configure the I/Os. This guarantees rapid commissioning of the device. Actuation takes place via digital inputs and outputs through a user-specific PLC. The ECMR controller is protected by a housing cover and is installed in the switch cabinet. Two LEDs on the front panel show the operating state. The necessary coded plug-in terminals are included in the scope of delivery. Easy operation Operation with PC and the Montech software for Microsoft Windows Vista, XP, 2000, NT, ME, 98, 95. Interfaces RS232, digital inputs and outputs PLC compatible. Modes of operation Digital position control is used for the KUSE-8, KUSE-10 and DAE-60. Digital moment control is used for the GPE and GWE.

43 43 POSITION CONTROL FOR DAE AND KUSE The motion tasks stored in the ECMR can be selected and started via the digital inputs. When the target position is reached, it is communicated via a digital output. All important key functions of the position controller can be initiated by the control system of any manufacturer. Properties overview Select connected device; the parameters of all Montech devices are already configured Actuation of the holding brake Saving and loading configurations Reference run, reference offset and jogging mode 31 motion tasks can be stored in the EEPROM Absolute or relative motion tasks and various linkings Teach-in of position values 4 adjustable outputs Adjustable size of «InPos window» and «Following error» Selectable logic level of the digital I/Os

44 44 TECHNICAL DATA OF POSITION CONTROL FOR DAE AND KUSE main voltage supply auxiliary voltage supply Voltage supply for 24 V operation 24 VDC ( %) regulated 1) Voltage supply for 48 V operation 48 VDC regulated 1) 24 VDC ( %) regulated 2) Current consumption (without motor cur.) [ma] 150 Digital inputs high: 22.8 VDC 28.8 VDC, low: 0 VDC 5.7 VDC transient protected Number of digital inputs 14 Digital outputs open source, 24 VDC, max 1A with 24V, short circuit proof Number of digital outputs 8 Number of motion tasks can be stored 31 Control input connections 2 mini Combicons, 7-pin Signal output connections 2 mini Combicons, 5-pin PC interface RS-232 (9-pin male D-Sub) Protective class IP20 Weight [kg] 0.6 Ambient: Temperature [ C] Rel. humidity [%] 5 85 (without condensation) Purity of the air normal workshop atmosphere Installation type of the controller vertical (switch cabinet) Dimensions (H x W x T) without plug [mm] 130 x 40 x 190 Warranty period 2 years from the date of delivery 1) Voltage deviations influence the speed of the motor. 2) Voltage supply for controller and digital I/O

45 45 MOMENT CONTROL FOR GPE AND GWE Movement (open/close) can be initiated via a digital input. The current torque and maximum travel speed can be set with a potentiometer. It is also possible to select from three stored torques and three stored maximum travel speeds via digital inputs. Properties overview Select connected device; the parameters of all Montech devices are already configured Saving and loading configurations 3 torques can be stored in the EEPROM 3 maximum travel speeds can be stored in the EEPROM Torque adjustable with potentiometers Maximum travel speed adjustable with potentiometers Output of hall sensor signals to digital outputs Selectable logic level of the digital I/Os

46 46 TECHNICAL DATA OF MOMENT CONTROL FOR GPE AND GWE 24 V voltage supply 24 VDC ( %); 1.5 A 1) Current consumption (without motor cur.) [ma] 150 Digital inputs high: 22.8 VDC 28.8 VDC, low: 0 VDC 5.7 VDC transient protected Number of digital inputs 7 Digital outputs open source, 24 VDC, max 1A with 24V, short circuit proof Number of digital outputs 4 Control input connections 2 mini Combicons, 7-pin Signal output connections 2 mini Combicons, 5-pin PC interface RS-232 (9-pin male D-Sub) Protective class IP20 Weight [kg] 0.6 Ambient: Temperature [ C] Rel. humidity [%] 5 85 (without condensation) Purity of the air normal workshop atmosphere Installation type of the controller vertical (switch cabinet) Dimensions (H x W x T) without plug [mm] 130 x 40 x 190 Warranty period 2 years from the date of delivery 1) Differences in voltage influence motor rpm. ECMR ACCESSORIES RS232 INTERFACE CABLE Ref. No Length 3 m for connecting the PC to the ECMR controller

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