Planetary Gearboxes GTS for Mounting to AC Motors 7=78)1. mannesmann Rexroth. Project Planning Manual. Rexroth Indramat

Transcription

1 engineering mannesmann Rexroth Planetary Gearboxes GTS for Mounting to AC Motors Project Planning Manual 7=78)1 Rexroth Indramat

2 About this Documentation Projekt Planning Manual Title Planetary Gearboxes GTS for Mounting to AC Motors Type of Documentation Project Planning Manual Document Typecode Internal File Reference Document Number: B301-06/EN Purpose of Documentation This documentation assists in the selection of a GTS planetary gear box in the clarification of technical data in the mechanical integration of the gearbox into the maschine when organizing order information Record of Revisions Description Release Date Notes st edition MKD motors added DOK-GEAR**-GTS********-PRJ2-EN-P MHD motors added DOK-GEAR**-GTS********-PRJ3-EN-P Availability changes DOK-GEAR**-GTS********-PR04-EN-P New: S1 mode DOK-GEAR**-GTS********-PR05-EN-P Revision Revision Copyright 1999 Rexroth Indramat GmbH Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1). Validity All rights are reserved with respect to the content of this documentation and the availability of the product. Published by Rexroth Indramat GmbH Bgm.-Dr.-Nebel-Str. 2 D Lohr a. Main Telephone 09352/40-0 Tx Fax 09352/ Dept. ECM3, ECM5 (WS,SK) Note This document has been printed on chlorine-free bleached paper..

3 Projekt Planning Manual Contents I Contents 1 Product Introduction Dimensioning and Selecting Dimensioning The Selection Process Technical Data Ambient Conditions Mechanical Features Possible Combinations of GTS Planetary Gearboxes with AC Motors Planetary Gearbox GTS Technical Data Allowed Shaft Loads Sizes Available versions Planetary Gearbox GTS Technical Data Allowed Shaft Loads Sizes Available versions Planetary Gearbox GTS Technical Data Allowed Shaft Loads Sizes Available versions Planetary Gearbox GTS Technical Data Allowed Shaft Loads Sizes Available Versions Planetary Gearbox GTS Technical Data Allowed Shaft Loads

4 II Contents Projekt Planning Manual 8.3 Sizes Available versions Planetary Gearbox GTS Technical Data Allowed Shaft Loads Sizes Available versions Planetary Gearbox GTS Technical Data Allowed Shaft Loads Sizes Available versions Order Designations Service Notes Contacting Customer Service Faulty Report Index Kundenbetreuungsstellen - Sales & Service Facilities 14-1

5 Projekt Planning Manual Product Introduction Product Introduction Applications Planetary gearboxes of the GTS series for mounting to AC motors when used in conjunction with the relevant Rexroth Indramat drive controllers create automation systems that can be used over a wide range of industries. They are especially suited for S5 type operations used in gear racks or toothed belt drives in handling systems that are characterized by high velocity and accelerations (e.g., loaders and robots). They are also suited for S1 type operations generally found in printing machine industries. Gradations max. gearbox output torque GTS240 GTS210 GTS180 Size GTS140 GTS100 GTS075 GTS060 4 Ratio DGGTS Fig. 1-1: GTS planetary gearbox torque Functional principle GTS planetary gearboxes offer coaxial inputs and outputs. A coupling component connects the output shaft of the AC servo motor to the sun wheel of the planetary gearbox. This sun wheel propels three planet pinions which unroll on a hollow shaft wheel. The planet pinions are set into a pinion cage which functions as an output. A balanced load sharing is created by distributing the mesh of the teeth over the three planet pinions, making the construction compact as well. Operating reliability Maintenance-free operation due to the use of service-life lubrication (see Planetary Gearbox GTS Service Guidelines). Can be used unter adverse environmental conditions because of its completely closed housing which has a protection category of IP 65.

6 1-2 Product Introduction Projekt Planning Manual High level performance A gear-tooth system with low backlash due to gear wheel pairs. High torsional strength because the load is distributed over three planet pinions. High degree of efficiency due to the planet pinion principle. High dynamics due to favorable torque/inertia ratio. Compact construction means light weight. Easy mounting to the machine Pinions and belt pulleys can be directly mounted onto the shaft because the bearing assemlby design makes high radial loads possible. The flange design permits drill holes in the flange as per B5 (DIN Sec. 1, ed ) with dril holes in flange. The output elements can be mounted in two different ways: - force-locked shaft-hub connection with a plain output shaft - form-fitting shaft-hub connection with output shaft with keyway.

7 Projekt Planning Manual Dimensioning and Selecting Dimensioning and Selecting 2.1 Dimensioning Applications in which GTS planetary gearboxes are advantageously used can be broken down into the following typical velocity-time diagrams: triangular velocity variation with dead time operation with constant velocity and dead time operation with trapezoidal velocity variation and dead time operation at constant velocity without deadtime (S1) These characteristic velocity-time diagrams primarily determine the layout. Triangular Operation with Dead Time This operating mode is typical of all feed movements with high dynamics such as is generally found in drum feed mechanisms of the tin, paper, synthetics or packaging industries. velocity v time DGdrei Fig. 2-1 Velocity/time diagram for triangular operations This operating mode design is primarily dictated by the required maximum M max and effective torques M eff.

8 2-2 Dimensioning and Selecting Projekt Planning Manual Constant Velocity with Dead Time This mode is typical of all feed movements as commonly seen in winding units, roller drives and dosage devices in machines used in the tin, paper, synthetics or packaging industries. velocity v or speed n time DGkons Fig. 2-2: Velocity/time diagram for operation at constant velocity This design is primarily dictated by the required continuous torque M dn and the mean velocity v mittel or mean speed n mittel. Trapezoidal Operations with Dead Time This mode is typical for most feed movements. It is common in loaders and handling systems in all types of industries. velocity v or speed n time t Fig. 2-3: Velocity/time diagram for trapezoidal modes DGtrap The criteria for this mode are primarily determined by the maximum torque M max in acceleration phases, the rms torque M eff over the entire cycle time and the mean velocity v mittel.

9 Projekt Planning Manual Dimensioning and Selecting 2-3 Constant Velocity without Dead Time (S1) This is characteristic of printing machine drives. velocity v or speed n time t Fig. 2-4: Velocity/time diagram for constant velocity DGkonsGeschw.fh7 This layout is determined by the required continuous torque M dn and the velocity v or speed n.

10 2-4 Dimensioning and Selecting Projekt Planning Manual 2.2 The Selection Process Drive-determining Variables Selecting the drive, i.e., the most suitable motor/gearbox combination operated by a drive controller, means determining the relevant variables such as frictional torque weight torque processing torque acceleration torque rms torque required speed ON time Layout Criteria The motor/gearbox combination operated by a drive controller must be able to meet the following demands: it must achieve the required speed the continuous torque must be greater than the rms torque the short-term operating torque must be greater than the sum of frictional, weight and finishing torques maximum torque must be greater than the sum of frictional, weight and acceleration torques the required ramp-up time must remain within the limits of the relevant drive the ON time of the GTS must be less than 60% of the technical data specified for S5 intermittent operation mode Note: Also, note the following about the gearbox the maximum motor torque must be smaller than the maximum gear input torque and the maximum motor speed must be smaller than maximum allowable gear input speed.

11 Projekt Planning Manual Technical Data Technical Data 3.1 Ambient Conditions Maximum Ambient Temperature and Installation Elevation The performance data specified is achieved under the following conditions: Ambient temperature: 0 to +45 Elevation: 0 to 1000 meters above sea level Power ratings drop, as can be seen below, under other than those conditions. If the ambient temperature is not maintained and installation elevations are higher, then it is necessary to multiply the power ratings by the two factors. 1 Load at higher ambient temperatures than 45 C 1 0,8 Load at installation elevations higher than 1000 m load factor ft 0,8 load factor fh 0,6 0, ambient temp. in C install. elev. above sea level DGTemp Fig. 3-1: Load capacities with higher ambient temperatures and greater installation elevations

12 3-2 Technical Data Projekt Planning Manual Protection Category As per DIN VDE 0470 Sec. 1 (ed ), the AC motor with mounted GTS gearbox is protected by the housing against contact with parts carrying voltage or moving parts penetration of foreign objects and water. The protection categories are defined with IP (international protection) and two numbers. The code for AC motors with GTS are IP 65 for housing of motor and gearbox IP 64 for output shaft of the gearbox IP 65 for the power and feedback connections of the motor with correct mounting The first number specifies the degree of protection against contact and penetration of extrinsic objects. A 6 thus means protection against penetration by dust (dust proof) complete contact protection. The second number describes the protection against water. A 5 thus means protection against a jet of water emitting from a nozzle from all directions against the machine (housing), and a 4 means protection against water coming from all directions against the housing. Gearbox used in areas subject to explosion hazards Rexroth Indramat assumes neither liability nor guarantee for gearboxes used in areas that are subject to explusion hazards. The manufacturer of the installation is responsible for the use in such areas. The gearboxes supplied by Rexroth Indramat have not been tested to satisfy standards in such areas. Gearboxes that can be used in areas subject to explosion hazards are not available from Rexroth Indramat.

13 Projekt Planning Manual Technical Data 3-3 Housing Finish The finish is a basic prime coat. An additional coat is possible but may not exceed a max. 40 µm. The coating is resistant to weathering, yellowing and chalking and against acids and caustic solutions. Operating mode S1 (Continous operation) Planetary gearboxes GTS are suited as per DIN VDE 0530 for S1 operation.

14 3-4 Technical Data Projekt Planning Manual Operating mode S5 (Intermittent mode) Planetary gearboxes of the GTS type are suited as per DIN VDE 0530 for operating mode S5 (intermittent mode with decel). ON time may not exceed 60%. ED: ON tme in % T A: ramp up in s T B: processing time in s T Br: decel time in s T S: duty cycle in s ED T + T + = T T A B Br S 100% 60% The number of cycles must not exceed 1,000 per hour. A cycle is defined as one traversing action consisting of one acceleration and one deceleration procedure. n chronological power loss chronological speed P V T A T B T Br T s time n = speed P V = power loss T A = ramp up time T B = processing time T Br = decel time T s = duty cycle time DGbetr Fig. 3-2: Operating mode S5 (intermittent mode with electronic braking) Derating with an increased number of cycles If more than 1,000 cycles per hour are needed, then the following derating applies to torque and power data. 1,0 derating factor kl 0, number of cycles per 1/h DGSPProjLast Fig. 3-3: Derating with higher number of cycles

15 Projekt Planning Manual Technical Data Mechanical Features Construction, Mounting Orientation Indramat s GTS gearboxes are built in B05 form for flange mounting. As per DIN IEC 34-7 (ed ) the orientations as illustrated in Fig. 3-4 are possible. Allowed mounting orientations as per DIN IEC 34-7 IM B5 IM V1 IM V3 zuleinbau.fh7 Fig. 3-4: Permissible mounting orientations Note: When mounting the gearbox in the IM V3 orientation it becomes necessary to prevent liquids collecting at the output shaft as otherwise these will possibly, over time, penetrate into the machine.

16 3-6 Technical Data Projekt Planning Manual Lubrication Lubrication depends on mounting orientation The amount of oil needed to lubricate the gearbox depends upon the mounting orientation. The amount of oil in the gearbox at delivery is adjusted to that orientation which was ordered. It is necessary, therefore, to specify an orientation. Oil changes The gearboxes for S5 operations are service-life lubricated with highquality synthetic oils. Nonetheless, it is recommended to change the all about every 10,000 operating hours (see document Planetary gearboxes GTS Service Notes ). The gearboxes for S1 mode are lubricated for life. Maintenance work is not necessary. Output Shaft The output shaft of the planetary gearbox is available in the following variants: Plain shaft (standard) for form-fitting shaft-hub connections. This achieves excellent smooth running and a backlash-free connection between shaft and hub. Note: We recommend the use of output shafts with friction-locked shaft-hub connections. or Output shaft with keyway per DIN 6885, sh. 1, (ed ) for form-fitting shaft-hub connections. This type of connection is suited for less stringent demands and for absorbing torque from a constant direction. It requires an additional axial link for the hub. A center bore with winding is situated at the small end of the gearbox output shaft for this purpose. Shaft Load The axial and radial shaft loads must be individually checked: The radial shaft load depends on the point of application of force and mean speed This data can be found in the diagrams in the "Technical Data. The nominal bearing service life equals about 30,000 operating hours (bearing calculations based on DIN ISO 281, ed ). The axial shaft load is listed in the Technical Data.

17 Projekt Planning Manual Technical Data 3-7 Mounting Output Components The nut for the keyed end used for pre-stressing the gerbox output bearing may not be used as a limit stop for the output components. All axial forces must be conducted directly over the output shaft into the gearbox. Fig. 3-5: Mounting output components MZanbau

18 3-8 Technical Data Projekt Planning Manual 3.3 Possible Combinations of GTS Planetary Gearboxes with AC Motors The following table clearly identifies the best combinations of GTS planetary gearbox and AC motors. Planetary Motor type gearbox MAC MKD MHD MDD MKE MHP 2AD ADP ADF 2) MKD025 MKE035 GTS060 MKD041 MHD041 MKE045 MHP041 GTS075 MAC063 MKD041 MHD041 MKE045 MHP041 MDD065 MAC071 MKD071 MHD071 MDD071 MHP071 GTS100 MKD041 MHD041 MKE045 MHP041 MAC063 MDD065 MAC071 MKD071 MHD071 MDD071 MHP071 MAC090 MKD090 MHD090 MDD090 MHP090 MAC093 MHD093 MDD093 MKE096 MHP093 GTS140 MAC071 MKD071 MHD071 MDD071 MHP071 MAC090 MKD090 MHD090 MDD090 MHP090 MAC093 MHD093 MDD093 MKE096 MHP093 MAC112 MKD112 MHD112 MDD112 MHP112 MAC115 MDD115 MKE116 GTS180 MAC090 MKD090 MHD090 MDD090 MHP090 2AD100 ADF100 MAC093 MHD093 MDD093 MKE096 MHP093 2AD101 MAC112 MKD112 MHD112 MDD112 MHP112 2AD104 ADP104 ADF104 MAC115 MHD115 1) MDD115 MKE116 MHP115 1) GTS210 MAC093 MHD093 MDD093 MHP093 2AD100 ADF100 MAC112 MKD112 MHD112 MDD112 MHP112 2AD101 MAC115 MHD115 MDD115 MKE116 MHP115 2AD104 ADP104 ADF104 2AD132 ADP134 ADF132 2AD134 ADF134 GTS240 2) MAC115 MHD115 MDD115 MHP115 2AD100 ADF100 1) Only single-stage gearboxes 2) Not for S1 continuous operation mode (C version). 2AD101 2AD104 ADP104 ADF104 2AD132 ADF132 2AD134 ADP134 ADF134 2AD160 1) 2AD164 1) ADP164 Fig. 3-6: Possible gearbox/motor combinations with GTS gearboxes Note: The AC servo motors must be equipped with a plain output shaft for mounting the GTS planetary gearboxes.

19 Projekt Planning Manual Planetary Gearbox GTS Planetary Gearbox GTS Technical Data Ratio dependent data (only for S5 intermittent operation mode possible) Designation Symbol Unit GTS 060-MIV single-stage two-stage Ratio i max. input speed n in,max min max. input torque 1) M in,max Nm max. output speed n out,max min max. output torque 1) M out,max Nm max. output power P out,max kw nominal input speed n in,nominal min nominal output torque M out,nominal Nm Inertia 2) when mounted to motors: 025 / 035 J kgcm Inertia 2) when mounted to motors: 041 / 045 1) max cycles/hoursour 2) moment of inertia of gearbox as relates to input side J kgcm Fig. 4-1: Ratio dependent data GTS 060 Designation Symbol Unit GTS 060 single-stage two-stage Efficiency η % Backlash 1) arcmin 6 ( 4) 2) 8 ( 6) 2) Torsional stiffness 3) D Nm/rad Service life L 10h h >30000 Lubricant - - synthetic oil with viscosity of VG 220 allowable ambient temperature Allowed gearbox housing temperature in the MIV version T Um C T G C Noise level Lp db (A) 68 4) Protection category - - IP 65 5) Weight m kg Mechanically combinable with motor size General data 1) references gear output side at ±2% nominal output torque or gear and fixed gear input side 2) bracket values apply to limited gear backlash 3) Torsional stiffness of gear or gear output side with fixed gear output side 4) at gear input speed of 3000 min -1 5) output shaft leadthrough excepted which is IP 64 Fig. 4-2: General data GTS / 035 / 041 / 045

20 4-2 Planetary Gearbox GTS 060 Projekt Planning Manual 4.2 Allowed Shaft Loads Load: n out F A r F R n out = mean output speed (mean value determined with cycle) FA = allowed axial force FR = allowed radial force r = distance of axis force to shaft center x = distance of radial force to shaft nut x Axial forced allowed in terms of distance x and mean speed n out : FA in N F R in N n out 100 min min min min min x in mm load limit of output shaft with keyway load limit for plain output shaft calculation base : oper. hrs. as nominal bearing service life L 10h ; max. distance of axial force to shaft center r - 48 mm Higher loads: For shaft loads that exceed diagram values, nominal bearing service life can be calculated as follows: F 3,33 R F 3,33 A L 10h = or L F 10h = R,erf F A,erf 1,20 Limits may not be exceeded. Corrective factor for greater distances of axial force to shaft center In the event of the above, multiply the axial force FA determined above and radial force FR with the following factor: corr. factor 1,00 0,80 0, r in mm MZWell60 Fig. 4-3: Allowed Shaft Loads GTS 060

21 Projekt Planning Manual Planetary Gearbox GTS Sizes center drill hole per DIN 332, shl. 2, form DR M5-12, ø 60 g6 ø 30 ø16 k6 Ø 58,5 Motor 5, "B" Dim. "A" see size sheet Concentricity of shaft end, coaxility and excentricity of conn. flange as per DIN 42955, tolerance class R Option: output shaft with keyway flanged motor size dim. "B" single dim. "B" two h Oil tapping screws 1 x DIN 906-M6 type plate Mounting opening to connect motor and gearbox. After mounting, these openings are closed with a plastic plug that is flush with the housing. Fig. 4-4: Sizes GTS 060 MBGTS60

22 4-4 Planetary Gearbox GTS 060 Projekt Planning Manual 4.4 Available versions Abbrev. Column 1. Product group 1.1 GTS = GTS Example: G T S M O A Size = Mounting orientation 3.1 B = MO 3.2 V1 or V = VO 4. Number of stages 4.1 single stage = two stage = 2 5. Transmission ratio 5.1 single stage: e.g., = two stage: e.g., = Driven shaft 6.1 with key = A 6.2 plain = B 6.3 with key, restricted gear reversal = C 6.4 plain, restricted gear reversal = D 7. Designation of mounted motor Motor size Product group MHD MHP MKD MKE Illustration example: Planety gearbox Planetary Motor Tlgts060.fh7 Fig. 4-5: Available versions of planetary Gearbox GTS 060 in terms of type codes

23 Projekt Planning Manual Planetary Gearbox GTS Planetary Gearbox GTS Technical Data Ratio dependent data for S5 intermittent operation mode Designation Symbol Unit GTS 075-M/V single-stage two-stage Ratio i max. input speed n in,max min max. input torque 1) M in,max Nm max. output speed n out,max min max. output torque 1) M out,max Nm max. output power P out,max kw nominal input speed n in,nom. min nominal output torque M out,nom. Nm Inertia 2) when mounted to motors: 041 / 045 / 063 / 065 J kgcm Inertia 2) when mounted to motors: 071 1) with max cycles/hours 2) moment of inertia of gearbox as relates to input side J kgcm Fig. 5-1: Ratio dependent data GTS 075

24 5-2 Planetary Gearbox GTS 075 Projekt Planning Manual Ratio dependent data for Continous operation S1 Designation Symbol Unit GTS 075-C single-stage Ratio i twostage nominal input speed n in,nom. min Nominal input torque M in,nom. Nm ,6 5,6 2,5 2,0 nominal output speed n out,nom. min nominal output torque M out,nom. Nm nominal output power P out,nom. kw max. input speed 1) n in,max min max. input torque 1) M in,max Nm Inertia 2) J kgcm ) for max. 1 s 2) moment of inertia of gearbox as relates to input side Fig. 5-2: Ratio dependent data GTS 075 Designation Symbol Unit GTS 075 single-stage two-stage Efficiency η % Backlash 1) arcmin 6 ( 4) 2) 8 ( 6) 2) Torsional stiffness 3) D Nm/rad Service life L 10h h >30000 Lubricant - - synthetic oil with viscosity of VG 220 or greases allowable ambient temperature permissible gear housing temperature with MIV-Version with S1 mode T Um C T G C Noise level Lp db (A) 68 4) Protection category - - IP 65 5) Weight m kg Mechanically combinable with motor size General data 1) references gear output side at ±2% nominal output torque or gear and fixed gear input side 2) bracket values apply to limited gear backlash, not available in C version (S1 mode) 3) Torsional stiffness of gear or gear output side with fixed gear output side 4) at gear input speed of 3000 min -1 5) output shaft leadthrough excepted which is IP 64. Fig. 5-3: General data GTS / 045 / 063 / 065 / 071/

25 Projekt Planning Manual Planetary Gearbox GTS Allowed Shaft Loads Lastverhältnisse: F R n out F A r n out = mean output speed (arithmetic average) FA FR = allowed axial force = allowed radial force x r x = distance of axial force to shaft center = distance of radial force to shaft nut Allowed shaft load as dependent on distance x and average speed n out : F A in N FR in N n out 100 min min min min min x in mm limit load for output shaft with keyway limit load for plain output shaft Calculation basis : operating hours as nominal bearing service life L 10h ; max. distance of axial force to shaft center - 33 mm Greater loads: For greater shaft loads determine nominal service life as follows: L 10h = F R F R,erf 3,33 or L 10h = F A F A,erf 3,33 Do not exceed limit loads. Corrective factor with greater distances of axial force to shaft center Given greater distances of axial force to shaft center multiple above axial force F A and radial force F R with the following factor: 1,20 corrective factor 1,00 0,80 0, Fig. 5-4: Allowed Shaft Loads GTS r in mm MZWell75

26 5-4 Planetary Gearbox GTS 075 Projekt Planning Manual 5.3 Sizes center drill hole per DIN 332, sh. 2, form DR M ø 70 g6 ø 38 ø 22 k6 Ø 74 Motor 3 6, "B" Dim."A" see motor sizing 76 Concentricity of shaft end, coaxiality and excentricty of connecting flange as per DIN 42955, tolerance class R Option: Output shaft with keyway Flanged motor size Dim. "B" single Dim. "B" two 126,5 126,5 126,5 126,5 126, h9 24, Oil tapping screw 1 x DIN 906-M6 with GTS075-M/V (GTS075-C w/o) type plate Mounting opening to connector and gearbox. After mounting, openings are sealed with plastic plug and are flush with housing. MBGTS75 Fig. 5-5: Sizes GTS 075

27 Projekt Planning Manual Planetary Gearbox GTS Available versions Abbrev. Column Example: G T S M O A Product group 1.1 GTS = GTS 2. Size = Mounting orientation and operating mode 3.1 S1 continuous duty B = CO V = CO V = CO 3.2 S5 cycle mode B = MO V1 or V = VO 4. Number of stages 4.1 single stage = two stage = 2 5. Transmission ratio single stage: e.g., = two stage: e.g., = Driven shaft 6.1 with key = A 6.2 plain = B 6.3 with key, restricted gear reversal = C plain, restricted gear reversal = D 2 7. Designation of mounted motor Motor size Product group MAC MDD MHD MHP MKD MKE Note: 1 Transmission ratio "003" not available with operating mode "S5 cycle mode" Transmission ratio "050" not available with operating mode "S1 continuous duty" 2 Driven shaft "C" and "D" not available with operating mode "S1 continuous duty" 4 0 Permissible combinations mounting possible transmissions restricted orientation and single stage two stage gear reversal operating mode CO 3, 4, 5, 7, No MO 4, 5, 7, 10 20, 50 Yes VO 4, 5, 7, 10 20, 50 Yes Illustration example: Planetary gearbox Planetary Motor Tlgts.fh7 Fig. 5-6: Available versions of planetary gearbox GTS 075 in terms of type codes

28 5-6 Planetary Gearbox GTS 075 Projekt Planning Manual

29 Projekt Planning Manual Planetary Gearbox GTS Planetary Gearbox GTS Technical Data Ratio dependent data for S5 intermittent operation mode Designation Symbol Unit GTS 100-M/V single-stage two-stage Ratio i max. input speed n in,max min max. input torque 1) M in,max Nm max. output speed n out,max min max. output torque 1) M out,max Nm max. output power P out,max kw nominal input speed n in,nom. min nominal output torque M out,nom. Nm Inertia 2) when mounted to motor size: 041 / 045 / 063 / 065 J kgcm Inertia 2) when mounted to motor size: 071 Inertia 2) when mounted to motor size: 090 / 093 / 096 1) with max cycles/hours 2) moment of inertia of gearbox as relates to input side J kgcm J kgcm Fig. 6-1: Ratio dependent data GTS 100

30 6-2 Planetary Gearbox GTS 100 Projekt Planning Manual Ratio dependent data for Continous operation S1 Designation Symbol Unit GTS 100-C single-stage Ratio i twostage nominal input speed n in,nom. min Nominal input torque M in,nom. Nm nominal output speed n out,nom. min nominal output torque M out,nom. Nm nominal output power P out,nom. kw max. input speed 1) n in,max min max. input torque 1) M in,max Nm Inertia 2) J kgcm ) for max. 1 s 2) moment of inertia of gearbox as relates to input side Fig. 6-2: Ratio dependent data GTS 100 Designation Symbol Unit GTS 100 single-stage two-stage Efficiency η % Backlash 1) arcmin 4 ( 2) 2) 6 ( 4) 2) Torsional stiffness 3) D Nm/rad Service life L 10h h >30000 Lubricant - - synthetic oil with viscosity of VG 220 or greases allowable ambient temperature permissible gear housing temperature MIV-Version C-Version T Um C T G C Noise level Lp db (A) 70 4) Protection category - - IP 65 5) Weight m kg Mechanically combinable with motor size General data 1) references gear output side at ±2% nominal output torque or gear and fixed gear input side 2) bracket values apply to limited gear backlash, not available in C version (S1 mode) 3) Torsional stiffness of gear or gear output side with fixed gear output side 4) at gear input speed of 3000 min -1 5) output shaft leadthrough excepted which is IP 64 Fig. 6-3: General data GTS / 045 / 063 / 065 / 071 / 090 / 093 / 096

31 Projekt Planning Manual Planetary Gearbox GTS Allowed Shaft Loads Load: F R n out F A r n out = mean output speed (mean value determined with cycle) FA = allowed axial force FR = allowed radial force r x = distance of axis force to shaft center = distance of radial force to shaft nut x Axial forced allowed in terms of distance x and mean speed n out : F A in N F R in N n out 100 min min min min min x in mm load limit of output shaft with keyway load limit for plain output shaft calculation base : oper. hrs. as nominal bearing service life L 10h ; max. distance of axial force to shaft center r - 48 mm Higher loads: For shaft loads that exceed diagram values, nominal bearing service life can be calculated as follows: F 3,33 R L 10h = or L F 10h = R,erf F 3,33 A F A,erf Limits may not be exceeded. Corrective factor for greater distances of axial force to shaft center In the event of the above, multiply the axial force FA determined above and radial force FR with the following factor: 1,20 corr. factor 1,00 0,80 0, r in mm Fig. 6-4: Allowed Shaft Loads GTS 100 MZWell100

32 6-4 Planetary Gearbox GTS 100 Projekt Planning Manual 6.3 Sizes center drill hole per DIN 332, sh. 2, Form DR M ,5 4 4 ø 90 g6 ø 55 ø 32 k6 ø 99 Motor "B" Dim. "A" see size sheet Concentricity of shaft end, coaxility and excentricity of conn. flange as per DIN 42955, tolerance class R Option: output shaft with keyway h9 flanged motor size dim. "B" single dim. "B" two 146,5 146,5 146,5 146,5 146,5 146,5 146,5 146, Oil tapping screws 3 x DIN 906-M12x1,5 in GTS100-M/V (GTS100-C w/o) Oil tapping screws 1 x DIN 906-M8x1 type plates Mounting opening for connecting motor and gearbox. After mounting, these openings are sealed with plastic plugs that are flush with the housing. Fig. 6-5: Sizes GTS 100 MBGTS100

33 Projekt Planning Manual Planetary Gearbox GTS Available versions Abbrev. Column Example: G T S M O A Product group 1.1 GTS = GTS Size = Mounting orientation and operating mode 3.1 S1 continuous duty B = CO V = CO V = CO 3.2 S5 cycle mode B = MO V1 or V = VO 4. Number of stages 4.1 single stage = two stage = 2 5. Transmission ratio single stage: e.g., = two stage: e.g., = Driven shaft 6.1 with key = A 6.2 plain = B 6.3 with key, restricted gear reversal = C plain, restricted gear reversal = D 2 Illustration example: Planetary gearbox Planetary Motor 7. Designation of mounted motor Motor size Product group MAC MDD MHD MHP MKD MKE Note: Transmission ratio "003" not available with operating mode "S5 cycle mode" Transmission ratio "050" not available with operating mode "S1 continuous duty" Driven shaft "C" and "D" not available with operating mode "S1 continuous duty" only for motors with liquid cooling only for motors without liquid cooling Permissible combinations mounting possible transmissions restricted orientation and single stage two stage gear reversal operating mode CO 3, 4, 5, 7, No MO 4, 5, 7, 10 20, 50 Yes VO 4, 5, 7, 10 20, 50 Yes Tlgts100.fh7 Fig. 6-6: Available versions of planetary gearbox GTS 100 in terms of type codes

34 6-6 Planetary Gearbox GTS 100 Projekt Planning Manual

35 Projekt Planning Manual Planetary Gearbox GTS Planetary Gearbox GTS Technical Data Ratio dependent data for S5 intermittent operation mode Designation Symbol Unit GTS 140-M/V single-stage two-stage Ratio i max. input speed n in,max min max. input torque 1) M in,max Nm max. output speed n out,max min max. output torque 1) M out,max Nm max. output power P out,max kw nominal input speed n in,nom. min nominal output torque M out,nom. Nm Inertia 2) when mounted to motor size 071 J kgcm Inertia 2) when mounted to motor size 090 / 093 / 096 Inertia 2) when mounted to motor size 112 / 115 / 116 1) with max cycles/hours 2) moment of inertia of gearbox as relates to input side J kgcm J kgcm Fig. 7-1: Ratio dependent data GTS 140

36 7-2 Planetary Gearbox GTS 140 Projekt Planning Manual Ratio dependent data for Continous operation S1 Designation Symbol Unit GTS 140-C single-stage Ratio i twostage nominal input speed n in,nom. min nominal input torque M in,nom. Nm nominal output speed n out,nom. min nominal output torque M out,nom. Nm nominal output power P out,nom. kw max. input speed 1) n in,max min max. input torque 1) M in,max Nm Inertia 2) J kgcm ) for max. 1 s 2) moment of inertia of gearbox as relates to input side Fig. 7-2: Ratio dependent data GTS 140 Designation Symbol Unit GTS 140 single-stage two-stage Efficiency η % Backlash 1) arcmin 4 ( 2) 2) 6 ( 4) 2) Torsional stiffness 3) D Nm/rad Service life L 10h h >30000 Lubricant - - synthetic oil with viscosity of VG 220 or greases allowable ambient temperature permissible gear housing temperature with MIV-Version with C-Version T Um C T G C Noise level Lp db (A) 70 4) Protection category - - IP 65 5) Weight m kg Mechanically combinable with motor size General data 1) references gear output side at ±2% nominal output torque or gear and fixed gear input side 2) bracket values apply to limited gear backlash, not available in C version (S1 mode) 3) Torsional stiffness of gear or gear output side with fixed gear output side 4) at gear input speed of 3000 min -1 5) Output shaft leadthrough excepted which is IP 64 Fig. 7-3: General data GTS / 090 / 093 / 096 / 112 / 115 / 116

37 Projekt Planning Manual Planetary Gearbox GTS Allowed Shaft Loads Load: F R F A r n out = mean output speed (mean value determined with cycle) FA = allowed axial force n out FR r x = allowed radial force = distance of axis force to shaft center = distance of radial force to shaft nut x Axial forced allowed in terms of distance x and mean speed n out : FA in N F R in N n out x in mm 100 min min min min min -1 load limit of output shaft with keyway load limit for plain output shaft calculation base : oper. hrs. as nominal bearing service life L 10h ; max. distance of axial force to shaft center r - 48 mm Higher loads: For shaft loads that exceed diagram values, nominal bearing service life can be calculated as follows: F 3,33 R F 3,33 L 10h = or L A 10h = F R,erf F A,erf Limits may not be exceeded. Corrective factor for greater distances of axial force to shaft center In the event of the above, multiply the axial force FA determined above and radial force FR with the following factor: 1,20 corr. factor 1,00 0,80 0, r in mm MZWell140 Fig. 7-4: Allowed Shaft Loads GTS140

38 7-4 Planetary Gearbox GTS 140 Projekt Planning Manual 7.3 Sizes center drill hole per DIN 332, sh. 2, Form DR M ø 130 g6 ø 70 ø 40 k6 ø 124 Motor x M8 x 1 "B" Dim. "A" see size sheet 141 Concentricity of shaft end, coaxility and excentricity of conn. flange as per DIN 42955, tolerance class R Option: output shaft with keyway h9 flanged motor size dim. "B" single 144,5 144,5 144,5 144,5 144,5 144,5 144,5 184,5 184,5 184,5 184,5 184,5 184,5 148,5 43 dim. "B" two Oil tapping screws 3 x DIN 906-M12x1,5 in GTS100-M/V (GTS100-C w/o) Oil tapping screws 1 x DIN 906-M8x1 type plates Mounting opening for connecting motor and gearbox. After mounting, these openings are sealed with plastic plugs that are flush with the housing. Fig. 7-5: Sizes GTS 140 MBGTS140

39 Projekt Planning Manual Planetary Gearbox GTS Available Versions Abbrev. Column Example: G T S M O A Product group 1.1 GTS = GTS 2. Size = Mounting orientation and operating mode 3.1 S1 continuous duty B = CO V = CO V = CO 3.2 S5 cycle mode B = MO V1 or V = VO 4. Number of stages 4.1 single stage = two stage = 2 5. Transmission ratio single stage: e.g., = two stage: e.g., = Driven shaft 6.1 with key = A 6.2 plain = B 6.3 with key, restricted gear reversal = C 6.4 plain, restricted gear reversal = D 2 2 Illustration example: Planetary gearbox Planetary gearbox Motor 7. Designation of mounted motor Motor size Product group MAC MDD MHD MHP MKD MKE Note: Transmission ratio 003 not available with operating mode S5 cycle mode Transmission ratio 050 not available with operating mode S1 continuous duty Driven shaft C and D not available with operating mode S1 continuous duty only for motors with liquid cooling only for motors without liquid cooling Permissible combinations mounting possible transmissions restricted orientation and single stage two stage gear reversal operating mode CO 3, 4, 5, 7, No MO 4, 5, 7, 10 20, 50 Yes VO 4, 5, 7, 10 20, 50 Yes Tlgts140.fh7 Fig. 7-6: Available versions of planetary gearbox GTS 140 in terms of type codes

40 7-6 Planetary Gearbox GTS 140 Projekt Planning Manual

41 Projekt Planning Manual Planetary Gearbox GTS Planetary Gearbox GTS Technical Data Ratio dependent data for S5 intermittent operation mode Designation Symbol Unit GTS 180-M/V single-stage two-stage Ratio i max. input speed n in,max min max. input torque 1) M in,max Nm max. output speed n out,max min max. output torque 1) M out,max Nm max. output power P out,max kw nominal input speed n in,nom. min nominal output torque M out,nom. Nm Inertia 2) when mounted to motor size: 090 / 093 / 096 / 100 / 101 / 104 / 112 / 115 / 116 J kgcm ) with max cycles/hours 2) moment of inertia of gearbox as relates to input side Fig. 8-1: Ratio dependent data GTS 180

42 8-2 Planetary Gearbox GTS 180 Projekt Planning Manual Ratio dependent data for Continous operation S1 Designation Symbol Unit GTS 180-C single-stage Ratio i twostage nominal input speed n in,nom. min Nominal input torque M in,nom. Nm nominal output speed n out,nom. min nominal output torque M out,nom. Nm nominal output power P out,nom. kw 21, max. input speed 1) n in,max min max. input torque 1) M in,max Nm Inertia 2) J kgcm ) for max. 1 s 2) moment of inertia of gearbox as relates to input side Fig. 8-2: Ratio dependent data GTS 180 Designation Symbol Unit GTS 180 single-stage two-stage Efficiency η % Backlash 1) arcmin 4 ( 2) 2) 6 ( 4) 2) Torsional stiffness 3) D Nm/rad Service life L 10h h >30000 Lubricant - - synthetic oil with viscosity of VG 220 or greases allowable ambient temperature permissible gear housing temperature with MIV-Version with C-Version T Um C T G C Noise level Lp db (A) 70 4) Protection category - - IP 65 5) Weight m kg Mechanically combinable with motor size General data 1) references gear output side at ±2% nominal output torque or gear and fixed gear input side 2) bracket values apply to limited gear backlash, not available in C version (S1 mode) 3) Torsional stiffness of gear or gear output side with fixed gear output side 4) at gear input speed of 3000 min -1 5) output shaft leadthrough excepted which is IP 64 Fig. 8-3: General data GTS / 093 / 096 / 100 / 101 / 104 / 112 / 115 / 116

43 Projekt Planning Manual Planetary Gearbox GTS Allowed Shaft Loads Load: F A F R n out r n out = mean output speed (mean value determined with cycle) FA = allowed axial force FR = allowed radial force x r x = distance of axis force to shaft center = distance of radial force to shaft nut Axial forced allowed in terms of distance x and mean speed n out : FA in N F R in N x in mm n out 100 min min min min min -1 load limit of output shaft with keyway load limit for plain output shaft calculation base : oper. hrs. as nominal bearing service life L 10h ; max. distance of axial force to shaft center r - 48 mm Higher loads: For shaft loads that exceed diagram values, nominal bearing service life can be calculated as follows: F 3,33 R L 10h = or L F 10h = R,erf F 3,33 A F A,erf Limits may not be exceeded. Corrective factor for greater distances of axial force to shaft center In the event of the above, multiply the axial force FA determined above and radial force FR with the following factor: 1,20 corr. factor 1,00 0,80 0, r in mm MZWell180 Fig. 8-4: Allowed Shaft Loads GTS 180

44 8-4 Planetary Gearbox GTS 180 Projekt Planning Manual 8.3 Sizes center drill hole per DIN 332, sh. 2, Form DR M ø 160 g6 ø 90 ø 55 k6 ø 180 Motor "B" Dim. "A" see size sheet 182 Concentricity of shaft end, coaxility and excentricity of conn. flange as per DIN 42955, tolerance class R Option: output shaft with keyway h9 flanged motor size /101/ dim. "B" single dim. "B" two 203,5 203,5 203,5 203,5 203,5 203,5 203, Oil tapping screws 3 x DIN 906-M12x1,5 in GTS100-M/V (GTS100-C w/o) Oil tapping screws 1 x DIN 906-M8x1 type plates Mounting opening for connecting motor and gearbox. After mounting, these openings are sealed with plastic plugs that are flush with the housing. Fig. 8-5: Sizes GTS 180 MBGTS180

45 Projekt Planning Manual Planetary Gearbox GTS Available versions Abbrev. Column Example: G T S M O A Product group 1.1 GTS = GTS 2. Size = 180 Illustration example: Planetary gearbox 3. Mounting orientation and operating mode 3.1 S1 continuous duty B = CO V = CO V = CO 3.2 S5 cycle mode B = MO V = V V = V3 4. Number of stages 4.1 single stage = two stage = 2 5. Transmission ratio single stage: e.g., = two stage: e.g., = Driven shaft 6.1 with key = A 6.2 plain = B with key, restricted gear reversal = C 2 plain, restricted gear reversal = D 2 Planetary Motor 7. Designation of mounted motor Motor size Product group 7.1 2AD ADF ADP MAC MDD MHD MHP MKD MKE Note: Transmission ratio "003" not available with operating mode "S5 cycle mode" Transmission ratio "050" not available with operating mode "S1 continuous duty" Driven shaft "C" and "D" not available with operating mode "S1 continuous duty" only for motors with liquid cooling only for motors without liquid cooling only available with single stage gearbox Permissible combinations mounting possible transmissions restricted orientation and single stage two stage gear reversal operating mode CO 3, 4, 5, 7, No MO 4, 5, 7, 10 20, 50 Yes V1 4, 5, 7, 10 20, 50 Yes V3 4, 5, 7, 10 20, 50 Yes Tlgts180.fh7 Fig. 8-6: Available versions of planetary gearbox GTS 180 using type codes

46 8-6 Planetary Gearbox GTS 180 Projekt Planning Manual

47 Projekt Planning Manual Planetary Gearbox GTS Planetary Gearbox GTS Technical Data Ratio dependent data Designation Symbol Unit GTS 210-M/V single-stage two-stage Ratio i max. input speed n in,max min max. input torque 1) M in,max Nm max. output speed n out,max min max. output torque 1) M out,max Nm max. output power P out,max kw nominal input speed n in,nom. min nominal output torque M out,nom. Nm Inertia 2) J kgcm ) with max cycles/hours 2) moment of inertia of gearbox as relates to input side Fig. 9-1: Ratio dependent data GTS 210 Ratio dependent data for Continous operation S1 Designation Symbol Unit GTS 210-C single-stage twostage Ratio i nominal input speed n in,nom. min Nominal input torque M in,nom. Nm max. output speed n out,nom. min nominal output torque M out,nom. Nm nominal output power P out,nom. kw 27, max. input speed 1) n in,max min max. input torque 1) M in,max Nm Inertia 2) J kgcm 2 106, ) for max. 1 s 2) moment of inertia of gearbox as relates to input side Fig. 9-2: Ratio dependent data GTS 210