engineering mannesmann Rexroth GTP Planetary Gearboxes for Mounting to AC Motors Project Planning Manual DOK-GEAR**-GTP********-PRJ1-EN-P Indramat

Transcription

1 engineering mannesmann Rexroth GTP Planetary Gearboxes for Mounting to AC Motors Project Planning Manual DOK-GEAR**-GTP********-PRJ1-EN-P Indramat

2 About this documentation Title Type of documentation Document code Replaces Internal file reference The purpose of this document Editing sequence GTP Planetary Gearboxes for Mounting to AC Motors Project Planning Manual DOK-GEAR**-GTP********-PRJ1-EN-P Mappe 08/ GetriebeGTP This document supports the selection of a GTP gearbox the clarification of technical details the mechanical integration of the garbox into the machine the specification of order numbers Designation of previous editions Status Comments /95 1st edition DOK-GEAR**-GTP********-PRJ1-EN-P 03/97 Exception MAC, MDD and MHD motors. Changes in technical data and dimensions. Copyright Published by Validity INDRAMAT GmbH, 1995 Copying this document and giving it to others and the use or communication of the contents hereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights reserved in the event of the grant of a patent or the registration of a utitlity model or design (DIN 34-1). INDRAMAT GmbH, Abt. ENA (JL/UW) All rights are reserved with respect to the content of this documentation and the availability of the product. 2 GTP Planetary Gearboxes in AC Motors

3 Table of Contents Table of Contents Page 1. Introducing the Product 5 2. Dimensioning and selecting Dimensioning Selecting Technical information Ambient conditions Mechanical Features Possible combinations of GTP planetary gearboxes and AC motors Planetary gearbox GTP Technical data Permissible shaft load, single-stage Permissible shaft load, two-stage Dimensional data, single-stage Dimensional data, two-stage Available versions Planetary gearbox GTP Technical data Permissible shaft load, single-stage Permissible shaft load, two-stage Dimensional data, single-stage Dimensional data, two-stage Available versions GTP Planetary Gearboxes in AC Motors

4 Table of Contents 6. Planetary gearbox GTP Technical data Permissible shaft load, single-stage Permissible shaft load, two-stage Dimensional data, single-stage Dimensional data, two-stage Available versions Planetary gearbox GTP Technical data Permissible shaft load, single-stage Permissible shaft load, two-stage Dimensional data, single-stage Dimensional data, two-stage Available versions Planetary gearbox GTP Technical data Permissible shaft load, single-stage Permissible shaft load, two-stage Dimensional data, single-stage Dimensional data, two-stage Available versions Order information Servicing guidelines Contacting Customer Service Fault Report GTP Planetary Gearboxes in AC Motors

5 1. Introducting the Product 1. Introducing the Product Areas of application Ratings GTP planetary gearboxes intended for mounting to AC motors together with INDRAMAT drive controllers represent a cost-effective automatization system for manifold industrial applications. They are especially well-suited for use in rack and pinion and toothed belt drives in handling systems with high speeds and accelerations (e.g., loaders and robotics) Gear output nominal torque in Nm Gear ratio GTP 200 GTP 140GTP 110 GTP 095 GTP 070 K01GPX1P.fh5 Fig1.1: Nominal torque ratings of the GTP for mounting to an AC motor Functional principle GTP planetary gearboxes offer coaxial inputs and outputs.the output shaft of the AC motor is connected to the sun wheel of the planetary gearbox with the use of a coupling component. 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 which also results in a compact construction. GTP Planetary Gearboxes in AC Motors

6 1. Introducting the Product High level of operating reliability High performance data Easy mounting to the machine Maintenance-free operation due to use of life-time lubricated bearings. Can be used in adverse environmental conditions because the housing is completely sealed as per protection category IP 65 A gear tooth system with low backlash because of honed gear wheel pairs High torsional strength as the load is distributed over three planet pinions A high degree of efficiency due to application of the planet pinion principle Noise is kept to a very low level due to the helical gear wheel pairs High dynamic performance due to favorable torque-inertia ratio The compact construction means light weight Pinions and belt pulleys can be directly mounted onto the shaft because the design of the bearing assembly makes the application of high radial loads possible Mounting can be in any orientation because all bearings and gear teeth are lubricated The flange version permits drill holes in the flange as per design B5 (DIN section 1, edition dated 08/77) The output elements can be mounted in two different ways: force-locked shaft-hub connection by means of a plain output shaft form-fitting shaft-hub connection by means of an output shaft with keyway 6 GTP Planetary Gearboxes in AC Motors

7 2. Dimensioning and selecting 2. Dimensioning and selecting 2.1. Dimensioning Applications in which GTP planetary gearboxes are advantageously used can be broken down into the following typical velocity-time diagrams: triangular velocity variation with latency operation with constant velocity and latency operation with trapezoidal velocity variation and latency These variant velocity-time diagrams are essentially the criteria of the design. Triangular operation with dead time This operating mode is typical of all feed movements with high dynamics such as generally can be found in drum feed mechanisms of the tin, paper, synthetics or packaging industries. velocity v time t DGdrei Fig. 2.1: Speed-time diagram for triangular operation The design with this operating mode is primarily determined by the required maximum torque M max and the effective torque M eff. Constant velocity with dead time This operating mode is typical of all feed movements commonly seen in winding units, roller drives and dosage devices in machines for the tin, paper, synthetics or packaging industries. velocity v or speed n time t DGkons Fig. 2.2: Velocity-time diagram for operation at constant velocity The design with this operating mode is primarily determined by the required continuous torque M dn and mean velocity v mean or mean speed n mean. GTP Planetary Gearboxes in AC Motors

8 2. Dimensioning and selecting Trapezoidal operations with dead time This operating mode is typical for most feed movements. It is most common in loaders and handling systems in almost all areas of industry. velocity v or speed n time t DGtrap Fig. 2.3: Velocity-time diagram for trapezoidal operations The criteria for this operating mode are primarily determined by the maximum torque M max required during acceleration phases, the effective torque M eff over the total cycle time and the average velocity v mean or speed n mean Selecting Drive-determining variables Design criteria Selecting the drive, i.e., the most suitable motor/gearbox combination operated by a drive controller, means fixing the relevant variables which basically determine the drive such as: frictional torque weight torque finishing torque acceleration torque effective torque required velocity A motor-gearbox operated by a drive controller must meet the following: it must be possible to achieve the required speed the continuous torque must be greater than the effective 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 torque the required ramp-up time must be less than 400 ms In addition, the following must also be taken into consideration with respect to the gearbox: maximum motor torque must be smaller than maximum gear input torque and maximum motor speed must be smaller than maximum permissible gear input speed 8 GTP Planetary Gearboxes in AC Motors

9 3. Technical information 3. Technical information 3.1. Ambient conditions Maximum amb. temperature and installation elevation The data listed in the performance ratings are achieved under the following conditions: amb. temperature: 0 to +45 C. installation elevation: 0 to 1000 meters above sea level The power ratings drop as can be seen in the diagram in Figure 3.1 under other than these conditions. If the amb. temperature is not maintained and the installation elevations are higher, then it is necessary to multiply the power ratings by the two factors. 1 Load capacity with ambient temperatures higher than 45 C Load capacity with installation elevations higher than 1000 meters load factor f T 0.8 load factor f H ambient temperature in C installation above sea level in meters DGTemp Fig. 3.1: Load capacities given higher amb. temperatures and installation elevations Protection category As per DIN VDE 0470, section 1 (edition dated 11/92), the AC motor with mounted GTP planetary gearbox is protected by the housing against: contact with parts carrying voltage or parts moving entry of foreign objects and water The protection categories are fixed with the use of the letters IP (international protection) and two numbers. The code is IP 65 for GTP planetary gearboxes mounted to AC motors and applies to: the housing of motor and gearbox which are screwed together the output shaft of the gearbox the power and feedback connections of the motor, assuming proper mounting The first number defines the category of protection which prevents contact and entry of foreign objects. The 6 means: protection against dust penetration (dust-proof) complete protection against contact The second number defines the category of protection for water. The 5 means: protection against a jet of water ejected out of a nozzle (jet of water) from all directions against the machine (housing) GTP Planetary Gearboxes in AC Motors

10 3. Technical information Housing coat Operating mode The coating is basically a prime coat. An additional coat with a thickness of no more than 40 µm can be applied. The prime coat is resistant to: weathering, yellowing and chalking, diluted acids and soda solutions. If frequently steam cleaned, then the coating could peel off the housing. GTP planetary gearboxes are suited for operating mode S4 as per DIN VDE 0530 (intermittent operations affecting the warm-up procedure). ON time may not exceed 60%. T ED = A + T B x 100% T S ED = ON time in % T A = warm-up time in s T B = finishing time in s T S = duty cycle time The number of cycles may not exceed 1000 per hour. A cycle is defined as one traversing procedure consisting of one acceleration and one braking procedure. The GTP's are not suited for other operating modes, in particular, the S1 operating mode (continuous operations). power loss over a period of time speed line over a period of time power loss Pv speed n n = speed P V = loss T A = warm-up time T B = processing time T s = duty cycle time T A T B T s time t DGbetrGTP Fig. 3.2 : Operating mode S4 as per DIN VDE 0530 Model and orientation 3.2. Mechanical Features Indramat GTP planetary gearboxes are built in mounting version B05 for flange mounting. Any orientation may be chosen. The orientations depicted in Figure 3.3 as per DIN IEC 34-7 (edition dated12/92) may be selected. Gearbox Permissible mounting orientation!!! Important mounting guideline!!! model as per DIN IEC 34-7 Vertical mounting position IM V3 When mounting the gearbox in the IM V3 orientation (vertical, output B05 shaft up) make sure that liquids do not collect at the output shaft. Otherwise, over longer periods of time, the liquids will probably penetrate into the shaft. IM B5 IM V1 IM V3 Fig. 3.3: Permissible mounting orientations 10 GTP Planetary Gearboxes in AC Motors

11 3. Technical information Output shaft The output shaft of the planetary gearboxes is available in the following variations: Plain output shaft (standard) For friction-locked shaft-hub connections. This achieves excellent smooth running and a backlash-free connection between shaft and hub. We recommend the use of output shafts with friction-locked shafthub connections. or Output shaft with keyway as per DIN 6885, sheet 1 (edition 8/68) For form-fitting shaft-hub connections. This type of connection is suited for lesser demands and absorbing torque from a constant direction. It requires an additional axial linking of the hub. A center bore with winding is situated at the small end on the gearbox output shaft for this purpose. Shaft load To check the shaft load, both the axial and radial shaft loads must be checked individually: The radial shaft load -- dependent on -- point of application of the force and average speed is depicted in the diagrams in section Technical data. The nominal bearing service life was based on 30,000 working hours (bearing calculations as per DIN ISO 281, edition dated 12/90). The axial shaft load is outlined in section Technical data. Mounting output components The nut for the keyed end for pre-stressing the gearbox 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. MZanbau Fig. 3.4: Mounting the output components GTP Planetary Gearboxes in AC Motors

12 3. Technical information 3.3. Possible combinations of GTP planetary gearboxes and AC motors The following table specifies the possible combinations of GTP planetary gearbox and INDRAMAT AC motors. Gearbox Motor type GTP 070 MKD 025, MKD 041, MHD 041 GTP 095 MKD 041, MHD 041, MKD 071, MHD 071, MDD 071, MAC 071, MKD 090, MDD 090, MAC 090 GTP 110 MKD 071, MHD 071, MDD 071, MAC 071, MKD 090, MDD 090, MAC 090, MHD 093, MDD 093, MAC 093 GTP 140 MKD 090, MDD 090, MAC 090, MHD 093, MDD 093, MAC 093 MHD 112, MKD 112, MDD 112, MAC 112, MHD 115, MDD 115, MAC 115 GTP 200 MHD 112, MKD 112, MDD 112, MAC 112, MHD 115, MDD 115, MAC 115 To ensure that the GTPs can be mounted to AC motors, the motors must have a plain shaft. 12 GTP Planetary Gearboxes in AC Motors

13 4. Planetary gearbox GTP Planetary gearbox GTP Technical data Geardependent data Designation Symbol Unit GTP 070 Gear single-stage two-stage ratio i Maximum input speed 1) n in min Nominal input torque M in Nm Maximum input torque 2) M in,max Nm Maximum output speed n out min Nominal output torque M out,nenn Nm Maximum output torque 2) M out,max Nm Moment of inertia 3) J kgcm Torsional stiffness 4) D Nm/rad ) : theoretically possible gearbox input speed 2) : is available for a maximum of 400ms 3) : Mass moment of inertia of the gearbox including the coupling component to the motor as relates to the gearbox input side 4) : Torsional stiffness of the gearbox respective the gearbox output side given a fixed gearbox input side Fig. 4.1: Gear-dependent data GTP 070 General data Designation Symbol Unit GTP 070 single-stage two-stage Efficiency η % Backlash ϕ arcmin <= 6 <= 10 Service life L 10h h Lubrication - Service life of lubrication Allowable amb. temperature T Um C Noise level Lp db(a) < 65 Protection category - IP 65 Weight m kg 2 6 Mounting to MKD 025, MKD 041, MHD 041 1) : as relates to the gearbox output side with 2% of the gearbox nominal output torque and a fixed gearbox input side Fig. 4.2: General data GTP 070 GTP Planetary Gearboxes in AC Motors

14 4. Planetary gearbox GTP Permissible shaft load, single-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X MZWell70 Fig. 4.3: Point of application of force at the output shaft of the gearbox Permissible radial force F radial in N n out = 100 min n out = 200 min -1 n out = 300 min -1 n out = 500 min -1 n out = 1000 min -1 nout = 1500 min -1 nout = 2000 min x in mm : load limit for output shaft with keyway : permissible radial force x : distance between the outside of the nut for the keyed end and the point of application of force of the radial force n out : average output RPM (averaged over a cycle, average arithmetic value) Calculations based on: operating hours as nominal bearing service life L 10h For radial forces,erf, situated above the values in the diagram, nominal bearing service life is reduced as follows: F 3 R L 10h = ,erf Given an axial load on the output shaft, then the permissible radial force is increased by a factor of 1.3 FRo = 1.3 FR DGWell70 Fig. 4.4: Permissible shaft load GTP 070, single-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force 14 GTP Planetary Gearboxes in AC Motors

15 4. Planetary gearbox GTP Permissible shaft load, two-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X MZWell70z Fig. 4.5: Point of application of force at the output shaft of the gearbox Permissible radial force F radial in N n out = 100 min -1 n out = 200 min -1 n out = 300 min -1 n out = 500 min -1 n out = 1000 min -1 nout = 1500 min x in mm : load limit for output shaft with keyway : permissible radial force x : distance between outside of the nut for the keyed end and the point of application of the radial force n out : average output speed (average value averaged over one cycle) Calculations based on: operating hours as nominal bearing service lifespan L 10h For radial force,erf which exceed the values in the diagram for nominal bearing service life drops as follows: L 10h = ,erf 3 If there is no axial load on the output shaft, then the permissible radial load can be increased by a factor of 1.3 o = 1.3 K04GPX1P.fh5 Fig. 4.6: Permissible shaft load GTP 070, two-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force GTP Planetary Gearboxes in AC Motors

16 4. Planetary gearbox GTP Dimensional data, single-stage Ø60 h7 Ø16 k6 K ø B A 1) ) For dimension A see relevant motor Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimension table Dim. B K Motor MKD MKD MHD Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M5 per DIN 332, sec. 2, ed P9 DIN DS M5 Matching key: DIN 6885-A 5 x 5 x 22, must be ordered separately. t = M02GPX1P.fh5 Fig. 4.7: Dimensional data GTP 070, single-stage 16 GTP Planetary Gearboxes in AC Motors

17 4. Planetary gearbox GTP Dimensional data, two-stage ,6 100 Ø 70h7 Ø 22k6 K B A 1) ) For dimension A see relevant motor Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimensions dim B K Motor MKD MKD MHD Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M12 per DIN 332, sec. 2, ed P9 DIN DS M8 Matching key: DIN 6885-A 6 x 6 x 28, must be ordered separately. t = M03GPX1P.fh5 Fig. 4.8: Dimensional data GTP 070, two-stage GTP Planetary Gearboxes in AC Motors

18 4. Planetary gearbox GTP Available versions Type codes: Example: G T P M A Name Planetary gearbox GTP 2. Size / design 070-M0 3. Number of gears single-stage 1 two-stage 2 4. Gear ratio single-stage: two-stage: Version output shaft with keyway output shaft plain A B 6. Motor designation MKD MKD 041, MHD T01GPX1P.fh5 Fig. 4.9: Available versions of planetary gearbox GTP 070 using type codes 18 GTP Planetary Gearboxes in AC Motors

19 5. Planetary gearbox GTP Planetary gearbox GTP 095 Geardependent data 5.1. Technical data Designation Symbol Unit GTP 095 Gear single-stage two-stage ratio i Maximum input velocity 1) n in min Nominal input torque M in Nm Maximum input torque 2) M in,max Nm Maximum output velocity n out min Nominal output torque M out,nenn Nm Maximum output torque 2) M out,max Nm Moment of inertia 3) J kgcm Torsional stiffness 4) D Nm/rad ) : theoretically possible gearbox input speed 2) : is available for a maximum of 400ms 3) : Mass moment of inertia of the gearbox including the coupling component to the motor as relates to the gearbox input side 4) : Torsional stiffness of the gearbox respective the gearbox output side given a fixed gearbox input side Fig. 5.1: Gear-dependent data GTP 095 General data Designation Symbol Unit GTP 095 single-stage two-stage Efficiency η % Backlash ϕ arcmin <= 10 1) <= 15 1) Service life L 10h h Lubrication - Lubrication for life Permissible amb. temp. T Um C Noise level Lp db(a) < 65 Protection category - IP 65 Weight m kg 4 10 For mounting of MKD 041, MHD 041, MKD 071 MHD 071, MDD 071, MAC 071 MKD 090, MDD 090, MAC 090 1) : as relates to the gearbox output side with 2% of the gearbox nominal output torque and a fixed gearbox input side Fig. 5.2: General data GTP 095 GTP Planetary Gearboxes in AC Motors

20 5. Planetary gearbox GTP Permissible shaft load, single-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X MZWell95 Fig. 5.3: Point of application of force at the output shaft of the gearbox Permissible radial force F radial in N n out = 100 min -1 n out = 200 min -1 n out = 300 min -1 n out = 500 min -1 n out = 1000 min -1 nout = 1500 min Calculations based on: operating hours as nominal bearing service life L 10h For radial forces,erf which exceed the values in the diagram nominal bearing service life drops as follows:,erf x in mm : load limit for output shaft with keyway : permisisble radial force x : distance between outside of the nut for the keyed end and the point of application of force of the radial force n out : average output speed (averaged over cycle, average arithmetic value) L 10h = If there is no axial load on the output shaft, then the permissible radial load can be increased by a factor of 1.3 o = 1.3 DGWell95 Fig. 5.4: Permissible shaft load GTP 095, single-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force 20 GTP Planetary Gearboxes in AC Motors

21 5. Planetary gearbox GTP Permissible shaft load, two-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X MZWell95z Fig. 5.5: Point of application of force at the output shaft of the gearbox Permissible radial force F radial in N n out = 100 min -1 n out = 200 min -1 n out = 300 min -1 n out = 500 min -1 n out = 1000 min If there is no axial load on the output shaft, permissible radial force increases by a factor of 1.3 x in mm : load limit for output shaft with keyway : permissible radial force x : distance between outside of key and point of application of radial force n out : average output spoeed (arithmetic average value) Calcualtions based on: operating hours as nominal bearing lifespan L 10h For radial force,erf which exceed the values in the diagram, nominal bearing lifespan rops as follows: L 10h = ,erf 3 o = 1.3 K05GPX1P.fh5 Fig. 5.6: Permissible shaft load GTP 095, two-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force GTP Planetary Gearboxes in AC Motors

22 5. Planetary gearbox GTP Dimensional data, single-stage Ø70 h7 Ø22 k6 K ø6, B A 1) ø ) For dimension A see relevant motor documentation. Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimensions Motor dim B K MKD 041, MH D MKD 071, MHD 071 MDD 071, MAC MKD 090, MDD 090 MAC Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M8 per DIN 332, sec. 2, ed ,5+0,1 6 P9 DIN DS M8 Matching key: DIN 6885-A 6 x 6 x 28, must be ordered separately. t = M04GPX1P.fh5 Fig. 5.7: Dimensional data GTP 095, single-stage 22 GTP Planetary Gearboxes in AC Motors

23 5. Planetary gearbox GTP Dimensional data, two-stage Ø 90h7 Ø 32k6 K 88 1) For dimension A see relevant motor documentation. 184 B A 1) Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimensions Motor dim B K MKD 041, MHD MKD 071, MHD 071 MDD 071, MAC MKD 090, MDD 090 MAC Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M12 per DIN 332, sec. 2, ed P9 DIN DS M12 Matching key: DIN 6885-A 10 x 8 x 50, must be ordered separately. t = M05GPX1P.fh5 Fig. 5.8: Dimensional data GTP 095, two-stage GTP Planetary Gearboxes in AC Motors

24 5. Planetary gearbox GTP Available versions Type codes: 1. Name Planetary gearbox Example: GTP G T P M A Size / design 095-M0 3. Number of gearstages single-stage 1 two-stage 2 4. Gear ratio single-stage: two-stage: Design output shaft with keyway output shaft plain A B 6. Motor designation MKD 041, MHD MKD 071, MHD 071, MDD 071, MAC MKD 090, MDD 090 1), MAC ) Cannot be combined with liquid-cooled motors. T02GPX1P.fh5 Fig. 5.9: Available versions of planetary gearbox GTP 095 using type codes 24 GTP Planetary Gearboxes in AC Motors

25 6. Planetary gearbox GTP Planetary gearbox GTP 110 Geardependent data 6.1. Technical data Designation Symbol Unit GTP 110 Gear single-stage two-stage ratio i Maximum input speed 1) n in min Nominal input torque M in Nm Maximum input torque 2) M in,max Nm Maximum output velocity n out min Nominal output torque M out,nenn Nm Maximum output torque 2) M out,max Nm Moment of inertia 3) J kgcm Torsional stiffness 4) D Nm/rad ) : theoretically possible gearbox input speed 2) : is available for a maximum of 400ms 3) : Mass moment of inertia of the gearbox including the coupling component to the motor as relates to the gearbox input side 4) : Torsional stiffness of the gearbox respective the gearbox output side given a fixed gearbox input side Fig. 6.1: Gear-dependent data GTP 110 General data Designation Symbol Unit GTP 110 single-stage two-stage Efficiency η % Backlash ϕ arcmin <= 6 1) <= 10 1) Service life L 10h h Lubrication - Service life of lubrication Allowable amb. temperature T Um C Noise level Lp db(a) < 65 Protection category - IP 65 Weight m kg 6 19 Mounting to MKD 071, MHD 071, MDD 071, MAC 071 MKD 090, MDD 090, MAC 090 MHD 093, MDD 093, MAC 093 1) : as relates to the gearbox output side with 2% of the gearbox nominal output torque and a fixed gearbox input side Fig. 6.2: General data GTP 110 GTP Planetary Gearboxes in AC Motors

26 6. Planetary gearbox GTP Permissible shaft load, single-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X Fig. 6.3:Point of application of force at the output shaft of the gearbox MZWell110 Permissible radial force F radial in N n out = 100 min -1 n out = 200 min -1 n out = 300 min -1 n out = 500 min -1 n out = 1000 min If there is no axial load on the output shaft, permissible radial force increases by a factor of 1.3 x in mm : load limit for output shaft with keyway : permissible radial force x : distance between outside of key and point of application of radial force n out : average output spoeed (arithmetic average value) Calcualtions based on: operating hours as nominal bearing lifespan L 10h For radial force,erf which exceed the values in the diagram, nominal bearing lifespan rops as follows: L 10h = ,erf 3 FRo = 1.3 FR K05GPX1P.fh5 Fig. 6.4: Permissible shaft load GTP 110, single-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force 26 GTP Planetary Gearboxes in AC Motors

27 6. Planetary gearbox GTP Permissible shaft load, two-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X MZWell110z Fig. 6.5: Point of application of force at the output shaft of the gearbox Permissible radial force F radial in N n out = 100 min -1 n out = 200 min -1 n out = 300 min -1 n out = 500 min -1 n out = 1000 min x in mm : load limit for output shaft with keyway : permissible radial force x : distance between outside of the nut for the keyed end and the point of application of the radial force n out : average output speed (average value averaged over one cycle) Calculations based on: operating hours as nominal bearing service lifespan L 10h For radial force,erf which exceed the values in the diagram for nominal bearing service life drops as follows: L 10h = ,erf 3 If there is no axial load on the output shaft, then the permissible radial load can be increased by a factor of 1.3 o = 1.3 K06GPX1P.fh5 Fig. 6.6: Permissible shaft load GTP 110, two-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force GTP Planetary Gearboxes in AC Motors

28 6. Planetary gearbox GTP Dimensional data, single-stage Ø90 h7 Ø32 k6 K ø B A 1) ø ) For dimension A see relevant motor documentation. Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimensions Motor dim B K MKD 071, MHD 071 MDD 071, MAC MKD 090, MDD 090 MAC 090, MDD 093, MAC 093 MHD Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M12 per DIN 332, sec. 2, ed P9 DIN DS M12 Matching key: DIN 6885-A 10 x 8 x 50, must be ordered separately. t = M06GPX1P.fh5 Fig. 6.7: Dimensional data GTP 110, single-stage 28 GTP Planetary Gearboxes in AC Motors

29 6. Planetary gearbox GTP Dimensional data, two-stage Ø 112h7 Ø 40k6 K B A 1) ) For dimension A see relevant motor documentation. Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimensions Motor dim B K MKD 071, MHD 071 MDD 071, MAC MKD 090, MDD 090 MAC 090, MDD 093, MAC 093 MHD Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M16 per DIN 332, sec. 2, ed ,2 12P9 DIN DS M16 Matching key: DIN 6885-A 12 x 8 x 70, must be ordered separately. t = M07GPX1P.fh5 Fig. 6.8: Dimensional data GTP 110, two-stage GTP Planetary Gearboxes in AC Motors

30 6. Planetary gearbox GTP Available versions Type codes: 1. Name Planetary gearbox Example: GTP G T P M A Size / design 110-M0 3. Number of gearstages single-stage 1 two-stage 2 4. Gear ratio single-stage: two-stage: Design output shaft with keyway output shaft plain A B 6. Motor designation MKD 071, MHD 071, MDD 071, MAC MKD 090, MDD 090, MAC 090, MDD 093 1), MAC MHD ) Cannot be combined with liquid-cooled motors. T03GPX1P.fh5 Fig. 6.9: Available versions of planetary gearbox GTP 110 using type codes 30 GTP Planetary Gearboxes in AC Motors

31 7. Planetary gearbox GTP Planetary gearbox GTP Technical data Geardependent data Designation Symbol Unit GTP 140 Gear single-stage two-stage verhältnis i Maximum input velocity 1) n in min Nominal input torque M in Nm Maximum input torque 2) M in,max Nm Maximum output velocity n out min Nominal output torque M out,nenn Nm Maximum output torque 2) M out,max Nm Moment of inertia 3) J kgcm Torsional stiffness 4) D Nm/rad ) : theoretically possible gearbox input speed 2) : is available for a maximum of 400ms 3) : Mass moment of inertia of the gearbox including the coupling component to the motor as relates to the gearbox input side 4) : Torsional stiffness of the gearbox respective the gearbox output side given a fixed gearbox input side Fig. 7.1: Gear-dependent data GTP 140 General data Designation Symbol Unit GTP 140 single-stage two-stage Efficiency η % Backlash ϕ arcmin <= 6 1) <= 10 1) Service life L 10h h Lubrication - Service life of lubrication Allowable amb. temperature T Um C Noise level Lp db(a) < 65 Protection category - IP 65 Weight m kg Mounting to MKD 090, MDD 090, MAC 090 MHD 093, MDD 093, MAC 093 MHD 112, MKD 112, MDD 112, MAC 112 MHD 115, MDD 115, MAC 115 1) : as relates to the gearbox output side with 2% of the gearbox nominal output torque and a fixed gearbox input side Fig. 7.2: General data GTP 140 GTP Planetary Gearboxes in AC Motors

32 7. Planetary gearbox GTP Permissible shaft load, single-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X MZWell140 Fig. 7.3: Point of application of force at the output shaft of the gearbox Permissible radial force F radial in N n out = 100 min -1 n out = 200 min -1 n out = 300 min -1 n out = 500 min -1 n out = 1000 min x in mm : load limit for output shaft with keyway : permissible radial force x : distance between outside of the nut for the keyed end and the point of application of the radial force n out : average output speed (average value averaged over one cycle) Calculations based on: operating hours as nominal bearing service lifespan L 10h For radial force,erf which exceed the values in the diagram for nominal bearing service life drops as follows: L 10h = ,erf 3 If there is no axial load on the output shaft, then the permissible radial load can be increased by a factor of 1.3 o = 1.3 K06GPX1P.fh5 Fig. 7.4: Permissible shaft load GTP 140, single-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force 32 GTP Planetary Gearboxes in AC Motors

33 7. Planetary gearbox GTP Permissible shaft load, two-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X MZWell140z Fig. 7.5: Point of application of force at the output shaft of the gearbox Permissible radial force F radial in N n out = 100 min n out = 200 min -1 n out = 300 min -1 n out = 500 min n out = 700 min x in mm : load limit for output shaft with keyway : permissible radial force x : distance between outside of the nut for the keyed end and the point of application of the radial force n out : average output speed (average value averaged over one cycle) Calculations based on: operating hours as nominal bearing service lifespan L 10h For radial force,erf which exceed the values in the diagram for nominal bearing service life drops as follows: L 10h = ,erf 3 If there is no axial load on the output shaft, then the permissible radial load can be increased by a factor of 1.3 FRo = 1.3 FR K07GPX1P.fh5 Fig. 7.6: Permissible shaft load GTP 140, two-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force GTP Planetary Gearboxes in AC Motors

34 7. Planetary gearbox GTP Dimensional data, single-stage Ø112 h7 Ø40 k6 K ø B A 1) ø ) For dimension A see relevant motor documentation. Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimensions Motor dim B K MKD 090, MDD 090 MAC 090, MDD 093, MAC 093 MHD MHD 112, MKD 112 MDD 112, MAC MDD 115, MAC 115 MHD Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M16 per DIN 332, sec. 2, ed ,2 DIN DS M16 12 P9 Matching key: DIN 6885-A 12 x 8 x 70, must be ordered separately. t = M08GPX1P.fh5 Fig. 7.7: Dimensional data GTP 140, single-stage 34 GTP Planetary Gearboxes in AC Motors

35 7. Planetary gearbox GTP Dimensional data, two-stage Ø 145h7 Ø 55k6 K B A 1) ) For dimension A see relevant motor documentation. Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimensions Motor dim B K MKD 090, MDD 090 MAC 090, MDD 093, MAC 093 MHD MHD 112, MKD 112 MDD 112, MAC MDD 115, MAC 115 MHD Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M20 per DIN 332, sec. 2, ed ,2 16P9 DIN DS M20 Matching key: DIN 6885-A 16 x 10 x 70, must be ordered separately. t = M09GPX1P.fh5 Fig. 7.8: Dimensional data GTP 140, two-stage GTP Planetary Gearboxes in AC Motors

36 7. Planetary gearbox GTP Available versions Type code: Example: G T P M A Name Planetary gearbox GTP 2. Size / design 140-M0 3. Number of gearstages single-stage 1 two-stage 2 4. Gear ratio single-stage: two-stage: Design output shaft with keyway A output shaft plain B 6. Motor deisgnation MKD 090, MDD 090, MAC 090, MDD 093, MAC MHD 112, MKD 112, MDD 112, MAC 112, MDD 115, MAC MHD MHD T04GPX1P.fh5 Fig. 7.9: Available versions of planetary gearbox GTP 140 using type codes 36 GTP Planetary Gearboxes in AC Motors

37 8. Planetary gearbox GTP Planetary gearbox GTP Technical data Geardependent data Designation Symbol Unit GTP 200 Gear single-stage two-stage ratio i Maximum input velocity 1) n in min Nominal input torque M in Nm Maximum input torque 2) M in,max Nm Maximum output velocity n out min Nominal output torque 2) M out,nenn Nm Maximum output torque M out,max Nm in preparation Moment of inertia 3) J kgcm Torsional stiffness 4) D Nm/rad ) : theoretically possible gearbox input speed 2) : is available for a maximum of 400ms 3) : Mass moment of inertia of the gearbox including the coupling component to the motor as relates to the gearbox input side 4) : Torsional stiffness of the gearbox respective the gearbox output side given a fixed gearbox input side Fig. 8.1: Gear-dependent data GTP 200 General data Designation Symbol Unit GTP 200 single-stage two-stage Efficiency η % 95 Backlash ϕ arcmin <= 6 1) Service life L 10h h Lubrication - lubr. serv. life Allowable amb. temperature T Um C Noise level Lp db(a) < 65 Protection category - IP 65 Weight m kg 28 in preparation Mounting to MHD 112, MKD 112, MDD 112, MAC 112 MHD 115, MDD 115, MAC 115 1) : as relates to the gearbox output side with 2% of the gearbox nominal output torque and a fixed gearbox input side Fig. 8.2: General data GTP 200 GTP Planetary Gearboxes in AC Motors

38 8. Planetary gearbox GTP Permissible shaft load, single-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X Fig. 8.3: Point of application of force at the output shaft of the gearbox MZWell200 Permissible radial force F radiall in N n out = 100 min n out = 200 min -1 n out = 300 min -1 n out = 500 min n out = 700 min x in mm : load limit for output shaft with keyway : permissible radial force x : distance between outside of the nut for the keyed end and the point of application of the radial force n out : average output speed (average value averaged over one cycle) Calculations based on: operating hours as nominal bearing service lifespan L 10h For radial force,erf which exceed the values in the diagram for nominal bearing service life drops as follows: L 10h = ,erf 3 If there is no axial load on the output shaft, then the permissible radial load can be increased by a factor of 1.3 o = 1.3 K07GPX1P.fh5 Fig. 8.4: Permissible shaft load GTP 200, single-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force 38 GTP Planetary Gearboxes in AC Motors

39 8. Planetary gearbox GTP Permissible shaft load, two-stage FR FA FA = permissible axial force FR = permissible radial force X = distance X Fig. 8.5: Point of application of force at the output shaft of the gearbox MZWell200z Permissible radial force F radiall in preparation Fig. 8.6: Permissible shaft load GTP 200, two-stage Permissible axial force F axial F A = 0.5 * F A = permissible axial force = permissible radial force GTP Planetary Gearboxes in AC Motors

40 8. Planetary gearbox GTP Dimensional data, single-stage ,2 16 P9 Ø145 h7 Ø55 k6 K ø B A 1) ø ) For dimension A see relevant motor Position accuracy of concentricity, excentricity and coaxiality to the shaft per DIN tolerance class N, ed Dimensions Motor dim B K MHD 112, MKD 112 MDD 112, MAC MDD 115, MAC 115 MHD Output shaft plain shaft (preferred type), center per DIN 332, sec. 1, form A, ed with keyway as per DIN 6885, sh. 1, ed (Attention! balanced with half key.) Center hole DS M20 per DIN 332, sec. 2, ed Matching key: DIN 6885-A 16 x 10 x 70, must be ordered separately. t = M10GPX1P.fh5 Fig. 8.7: Dimensional data GTP 200, single-stage 40 GTP Planetary Gearboxes in AC Motors

41 8. Planetary gearbox GTP Dimensional data, two-stage in preparation Fig. 8.8: Dimensional data GTP 200, two-stage GTP Planetary Gearboxes in AC Motors

42 8. Planetary gearbox GTP Available versions Type code: Example: G T P M A Name Planetary gearbox GTP 2. Size / design 200-M0 3. Number of gearstages single-stage 1 two-stage 1) 2 4. Gear ratio single-stage: two-stage: Design output shaft with keyway output shaft plain A B 6. Motor designation MHD 112, MKD 112, MDD 112, MAC 112, MDD 115, MAC MHD ) in preparation T05GPX1P.fh5 Fig. 8.9: Available versions of planetary gearbox GTP 200 using type codes 42 GTP Planetary Gearboxes in AC Motors

43 9. Order information 9. Order information The planetary gearbox must be entered as a sub-item of the servo motor. A complete unit consisting of a GTP planetary gearbox and an AC motor is delivered. When ordering the motor, also note that the output shaft of the motor must be entered as a plain shaft. Example of how to order: 1 1 AC servo motor type: MKD 090B-047-GG0-KN Planetary gearbox type: GTP 140-M01-005B06 for mounting to item 1 GTP Planetary Gearboxes in AC Motors

44 10. Service guidleines 10. Servicing guidelines Contacting Customer Service INDRAMAT Customer Service can be reached at the customary European office hours at your nearest INDRAMAT Service Office, outside of the usual hours, please use the Service-Hotline number at the hours indicated: Service Hotline Telephone: or Monday through Friday 7 a.m. to 11 p.m. CET Saturday 8 a.m. to 8 p.m. CET Sundays and holidays 9 a.m. to 7 p.m. CET For a rapid and reliable elimination of problems and faults, we would request that you do the following prior to contacting INDRAMAT customer service: note the type codes of the respective drive controller, motor and gearbox clarifiy the problem and note fault and diagnostics displays. If you return a gearbox, then please complete the Fault Report found in this document (section 10.2) and include it. This will help us to more quickly clarify whether the problem is caused by the system itself or the application. 44 GTP Planetary Gearboxes in AC Motors

45 10. Service guidleines Fault Report Made out by: Co. / Location Date Type of gear: Serial no.: Type of motor: Serial no.: Mach. type: Mach. no.: Mach. manuf.: Comm. date: Date of problem: Operating duration: Fault: increased noise leaky gears gears blocked broken output shaft other Description of the problem: Cause: unknown improper handling collision other Operating conditions average on time/day: am/pm cycle/hour Mounting orientation: horizontal vertical, output shaft up vertical, output shaft down other TBstör op. mode: S reverse op. ambient temperature: C output situation: pinion for rack oper. belt pulley own output component other Fig. 10.1: Fault report GTP Planetary Gearboxes in AC Motors

46 Notes 46 GTP Planetary Gearboxes in AC Motors

47 Notes GTP Planetary Gearboxes in AC Motors

48 Indramat