GTM/GTMR Series High-Precision Gearboxes for Servo Motors

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1 Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics GTM/GTMR Series High-Precision Gearboxes for Servo Motors The Drive & Control Company

2 2 Benefits Technical Data Configuration and Selection Bosch Rexroth Precision in motion Planetary and hypoid gearboxes from Rexroth have many innovative benefits for use in a broad variety of applications. Installed in environments from machine tools to printing machines, these robust, compact systems provide precision in motion. The GTM in-line planetary gearbox has been designed for direct mounting to servo motors in high-precision applications. A wide range and modular construction make it possible to use the GTM in all factory automation applications. In the GTM in-line planetary gearbox, the servo motor is connected to the sun gear of the gearbox. This sun gear drives three planetary gears that rest in pinion cages. The planet gears revolve inside a ring gear, which is machined directly into the case of the gearbox, for unparalleled rigidity. The GTMR right-angle hypoid gearbox has been designed for highly-dynamic servo motors and allows for single-stage transmission ratios of up to 15:1. For ratios greater than 15:1, a primary, planetary stage is added without increasing the physical size of the gearbox. Rexroth GTM and GTMR Benefits: Low noise: Cavities create noise, and our internal cavity is smaller. The Rexroth GTM and GTMR series are rated up to 10dB lower than our closest competition. Robust: Compared with other gearboxes of the same size, the Rexroth GTM and GTMR use the largest tapered roller bearings possible. This allows for both higher radial and axial loads and gives the bearings longer life. Low operating temperatures: The tapered roller bearings act as a pump, so that the minimum amount of oil can be used in vertical, horizontal or angled applications. This design allows the Rexroth GTM and GTMR to generate less friction and less heat. Safety and reliability: The cold-fusion process between the coupling and driving gear allows high emergencystop torque for maximum safety and reliability. The Rexroth GTM and GTMR specify 1,000 emergency stops before loss of accuracy, compared with one time for competitive gearboxes. GTM and GTMR gearboxes can be fully integrated with Rexroth s complete line of motors and drives.

3 Benefits Technical Data Configuration and Selection Bosch Rexroth 3 Product overview GTM Series In-Line Planetary Gearboxes Solid output shaft with or without keyway Ratios from 3:1 to 100:1 Maximum input speeds up to 10,000 rpm Nominal output torque up to 3,000 Nm GTMR-S Series Right-Angle, Solid-Shaft Hypoid Gearboxes Solid output shaft with or without keyway Zero-backlash, metal-bellows input coupling can be fit to any servo motor Ratios from 3:1 to 100:1 (ratios 30:1 and higher use planetary gearing for the first stage and hypoid gearing for the second stage) Nominal output torque up to 1,440 Nm GTMR-H Series Right-Angle, Hollow-Shaft Hypoid Gearboxes Hollow output shaft with high-quality shrink ring to ensure zero backlash Zero-backlash, metal-bellows input coupling can be fit to any servo motor Ratios from 3:1 to 100:1 (ratios 30:1 and higher use planetary gearing for the first stage and hypoid gearing for the second stage) Nominal output torque up to 1,440 Nm GTMR-D Series Right-Angle, Dual-Shaft Hypoid Gearboxes Dual coaxial output shafts Zero-backlash, metal-bellows input coupling can be fit to any servo motor Ratios from 3:1 to 100:1 (ratios 30:1 and higher use planetary gearing for the first stage and hypoid gearing for the second stage) Nominal output torque up to 1,440 Nm

4 4 Benefits Technical Data Configuration and Selection Bosch Rexroth GTM Series In-Line Planetary Gearboxes 1. The robust output shaft ensures the highest possible axial loads. 2. High radial force capability is made possible through the use of large tapered roller bearings. 3. High accuracy is achieved through the use of highlyaccurate, precision-ground gearing. 4. Robust Viton seals ensure permanent IP65 integrity. 5. High torsional rigidity is achieved from an optimized sun gear with stable support for the planetary gears at both ends. 6. Low-noise operations are the result of optimized gear shapes. 7. Compact design is accomplished by using separated drive bearings. 8. A special galvanic surface treatment makes the casing environmentally resistant. 9. Hermetically-sealed casing is accomplished by using cap screws rather than simple plugs. 10. An integrated surface-treated ring-gear assists in the lubrication of the planetary gears. 11. High acceleration torque capabilities are achieved by enforcing precision internal machining tolerances. 12. Low gear temperatures and minimized losses are the result of using the smallest possible seal diameters. 13. The compression coupling ensures backlash-free power transmission. 14. A dual-stage version of the GTM in-line planetary gearbox is available for ratios greater than 10:1 (up to 100:1).

5 Benefits Technical Data Configuration and Selection Bosch Rexroth GTMR Series Right-Angle Hypoid Gearboxes 1. Newly-designed Gleason hypoid gearing provides for high transmission ratios and exact regulating accuracies. 2. Reduced backlash is the result of optimized manufacturing techniques. 3. Maintenance-free thanks to lifetime lubrication. 4. High-quality tapered roller bearings ensure a high tilt resistance and ideal bearing loads. 5. Backlash-free torque transmission is achieved by using a frictional connection between shaft and hub. 6. One-piece, light-weight, castaluminum casing provides for highest stiffness. 7. Optimized contact pattern of the hypoid gearing results in even tooth loads. 8. High efficiency - up to 96%. 9. The GTMR right-angle hypoid gearbox is available in a dual stage version for ratios greater than 15:1 (up to 100:1). Worm More sliding action, higher torque throughput, but lower mechanical efficiency More rolling action, lower torque throughput, but higher mechanical efficiency Hypoid Spiral Bevel The placement of the input gear along the arc of the driven gear has a significant impact on load-carrying capabilities and mechanical efficiency.

6 6 Benefits Technical Data Configuration and Selection Bosch Rexroth GTM In-Line Planetary Gearbox, single stage Technical Data i Size: GTM GTM GTM GTM GTM GTM Nominal output torque T 2N (Nm) 3 N/A N/A Also applicable for S1operation Emergency stop torque 1) T 2Not (Nm) 3 N/A N/A Max. acceleration torque 2) T 2B (Nm) 3 N/A N/A Max. input speed n 1Max (rpm) 3 N/A N/A Nominal input speed n 1N (rpm) 3 N/A N/A Backlash standard (arcmin) < 6 < 6 < 4 < 4 < 4 < 4 Backlash reduced < 3 < 3 < 2 < 2 < 2 < 2 Torsional rigidity C t (Nm/ arcmin) Moments of inertia i 1 (kg cm 2 ) 3 N/A N/A Max. axial force F A (N) Max. radial force 3) F R (N) Lifetime L h (h) > > > > > > Efficiency η > 97 % > 97 % > 97 % > 97 % > 97 % > 97 % Weight m (kg) Operating noise at L p (db(a)) < 63 < 68 < 68 < 72 < 72 < 72 (n an = 3000 rpm) Lubrication Surface protection Installation position Operating temperature Direction of rotation Lifetime lubrication, closed system Aluminum and galvanically-treated steel Any, always interchangeable - 10 C to + 90 C Same as input and output speed Type of protection IP 65 1) Max times in gearbox lifetime. 2) At a maximum of 1000 cycles per hour, otherwise refer to the correction factor on page 13. Percentage of the overall running time less than 5% and duration of the impulse under 0.3 sec. 3) Resultant force at center of output shaft at output speed of 300 rpm.

7 Benefits Technical Data Configuration and Selection Bosch Rexroth 7 Size: Dimensions (mm) GTM GTM GTM GTM GTM GTM DR M5 M8 M12 M16 M20 M20 D 1 (g6) D D 3(k6) D D D 6 *(F7) Min Max F V * L 1 ** L 2 (+0.5) L L L 6 ** Min Max L 7 ** L L L13** Min L L L L L22** T A *** Nm D7/D8/D9 Motor connection dimensions for all common servomotors are available *F V = Pretensioning force **Dimensions depending on motor. ***T A = Tight torque for pully B-B A-A B L7 F V D8 T A L13 D1 D2 D3 max. D6 D7 45 D9 DR 90 L2 L12 L3 L22 B L4 L6 Centering DIN 332 (G) Optionally with key as per DIN 6885 sheet 1 C-C A L1 L15 L14 C L11 L16 D5 L17 C D4 A

8 8 Benefits Technical Data Configuration and Selection Bosch Rexroth GTM In-Line Planetary Gearbox, two stage Technical Data i Size: GTM GTM GTM GTM GTM Nominal output torque T 2N (Nm) 16, 20, 35, 40, Also applicable for S1operation 25, Emergency stop torque 1) T 2Not (Nm) 16, 20, 35, 40, , Max. acceleration torque 2) T 2B (Nm) 16, 20, 35, 40, , Max. input speed n 1Max (rpm) , 25, , 50, 70, Nominal input speed n 1N (rpm) , 25, , 50, 70, Backlash standard (arcmin) < 8 < 8 < 6 < 6 < 6 Backlash reduced < 6 < 6 < 4 < 4 < 4 Torsional rigidity C t (Nm/ arcmin) Moments of inertia l 1 (kg cm 2 ) 16* Max. axial force F A (N) Max. radial force 3) F R (N) Lifetime L h (h) > > > > > Efficiency η [%] > 94 % > 94 % > 94 % > 94 % > 94 % Weight m (kg) Operating noise at L p [db(a)] < 63 < 68 < 68 < 72 < 72 (n an = 3000 rpm) Lubrication Surface protection Installation position Operating temperature Direction of rotation Lifetime lubrication, closed system Aluminum and galvanically-treated steel Any, always interchangeable - 10 C to + 90 C Same as input Degree of protection IP 65 *Preliminary 1) Max times in gearbox lifetime. 2) At a maximum of 1000 cycles per hour, with the dynamic factor K2. Page 13 to be taken into consideration in any other case. 3) Resultant force at center of output shaft at output speed of 300 rpm.

9 Benefits Technical Data Configuration and Selection Bosch Rexroth 9 Size: Dimensions (mm) GTM GTM GTM GTM GTM DR M5 M8 M12 M16 M20 D 1 (g6) D D 3(k6) D D D 6 *(F7) Min Max L 1* L 2 (+0.5) L L L 6 * Min Max L 7 * L L L13* Min L L L L L22* D7/D8/D9 Adaptations available for all common servomotors; dimensions are variable. Please request specific installation drawing. *Dimensions depending on motor. B-B A-A B L7 T A F V L13 D8 D1 D2 D3 L15 L14 C L16 max. D6 D7 45 D9 DR 90 L2 L12 L3 L22 B Centering DIN 332 (G) Optionally with key as per DIN 6885 sheet 1 A L4 L1 L6 D5 L11 L17 C D4 A

10 10 Benefits Technical Data Configuration and Selection Bosch Rexroth GTMR Right-Angle Hypoid Gearbox Size: Technical Data i GTMR GTMR GTMR GTMR GTMR GTMR Nominal output torque T 2N (Nm) 3, 4, 5, 6, 8, 10, 40, 50, , Emergency stop torque 1) T 2Not (Nm) 3, 4, 5, 6, 8, 10, 40, 50, , Max. acceleration torque 2) T 2B (Nm) 3, 4, 5, 6, 8, 10, 40, 50, , Max. input speed n 1Max (rpm) 3, 4, 5, 6, 8, 10, 12, , 40, 50, 70, Nominal input speed n 1N (rpm) 3, 4, 5, 6, 8, 10, 12, , 40, 50, 70, Backlash standard Ø (arcmin) 3, 4, 5, 6, 8, 10, 12, 15 < 5 < 5 < 4 < 4 < 4 < 4 30, 40, 50, 70, 100 < 7 < 7 < 6 < 6 < 6 < 6 Backlash reduced 3, 4, 5, 6, 8, 10, 12, 15 < 3 < 3 < 2 < 2 < 2 < 2 30, 40, 50, 70, 100 < 4 < 4 < 3 < 3 < 3 < 3 Torsional rigidity C 1 (Nm/ arcmin) Moments of inertia l 1 (kg/cm 2 ) , 40, 50, 70, Max. axial force F A (N) Max. radial force 3) F R (N) Idling torque (n1 = 3000 rpm) T 01 (Nm) Lifetime L h (h) > > > > > > Efficiency η 3, 4, 5, 6, 8, 10 > 96 % > 96 % > 96 % > 96 % > 96 % > 96 % 12, 15 > 93 % > 93 % > 93 % > 93 % > 93 % > 93 % 30, 40, 50, 70, 100 > 92 % > 92 % > 92 % > 92 % > 92 % > 92 % Weight m (kg) 3, 4, 5, 6, 8, 10, 12, , 40, 50, 70, Operating noise L [db(a)] < 66 < 66 < 68 < 68 < 70 < 72 Lubrication Surface protection Installation position Operating temperature Direction of rotation Lifetime lubrication, closed system Prime coat RAL dull black any - 10 C to C Same as motor Type of protection IP 64 1) Max times in gearbox lifetime. 2) At a maximum of 1000 cycles per hour, with the correction factor to be taken into consideration in any other case. 3) Resultant force: center of output shaft at output speed of 400 rpm.

11 B Benefits Technical Data Configuration and Selection Bosch Rexroth 11 Dimensions (mm) Size: GTMR GTMR GTMR GTMR GTMR GTMR A B f s f g h h k 2 M6 M8 M10 M12 M16 M16 l 1 23/26/30 26/30/40 30/40/50 40/50/60 50/60/80 60/80/80 l m n o p p q s u x f 1 55 x x x x x x x x x x x x x x x x Ø b(g6) Ø d w (H7) Ø d s (f7) Ø d 1 9/11/14 11/14/19 14/19/24 19/24/32 24/32/38 32/38/48 Ø d 2 (k6) Ø k Ø v Ø v, Ø w, s, m Dimensions are motor specific Ø w s g A g f1 s f2 p 2 p2 n k2 d2 12 p 2 p 2 q m+0.5 b Ø v b p1 p1 GTMR-SL connected to motor p1 B p1 dw hs h1 h0 dw ds * * *hollow shaft requires shrink ring l1 d1 Øw u Design HL Design HR Design SL Design SR Design SD

12 12 Benefits Technical Data Configuration and Selection Bosch Rexroth Determine cycle duration (s) Cycle duration = ta + tb + tc + td [s] Determine on-time (s) EZ = ta + tb + tc [min] Determine duty cycle (ta + tb + tc) ED = (ta + tb + tc + td) * 100 [%] Determine of no. of cycles/hr 3600 Nos. of cycles = [per hour] cycle duration (s) Determine dynamic factor kl kl from diagram 1 Select suitable ratio possible input speed i = max. output speed Select lower ratio or decrease input speed no n 1max n 1 Max. i from catalog n 1Max from catalog n 1max =i * max. speed during load collective [rpm] yes Select larger gearbox size or different ratio Determine peak output acceleration torque T 2max Duration percentage of peak torque E max [%] Determine frequency factor k2 Determine permissible peak output acceleration torque T 2Bzul T 2max = max. torque during load collective [Nm] duration of max. torque T 2max E max = cycle duration * 100 [%] k2 from diagram 2 T 2Bzul = T 2N * kl * k2 [Nm] T 2N from catalog no T 2max T 2Bzul yes no T 2not T 2Not T 2not depending on application yes T 2Not from catalog Continuous duty Determine mean output speed n 1m no n 1m n 1N yes ED 60% EZ 20 min no Cyclic duty 3 2a n 2m = 3 * t a + n 2b 3 * t b + n 2n 3 * t (n t a + t b t n n) [rpm] n 1m = i * n 2m [rpm] yes n 1N from catalog Determine mean output acceleration torque T 2m 3 T 2m = n 2a* t a (n 2a * t a * T 2a 3 +n 2b * t b * T 2b n 2n* t n * T 2n ) 3 [Nm] + n 2b* tb n 2n* t n no T 2m T 2N no yes Determine bearing load at output F r F R F a F A yes Selection completed F R,F A from catalog F a = axial force on output shaft F r = resultant radial force acting on center of output shaft

13 Benefits Technical Data Configuration and Selection Bosch Rexroth 13 Diagram 1: Dynamic factor k1 For the peak torques caused by short acceleration times with high cycle rates, the dynamic factor needs to be considered. For applications with fewer than 1,000 cycles per hour and for continuous duties, the dynamic factor k1 = 1.0. Diagram 2: Frequency factor k2 There is a substantial influence of high output torques on the gearbox lifetime. The frequency factor takes into account the duration percentage of maximum acceleration torque of the total cycle. For continuous duties, the frequency factor k2 = 1.0. Dynamic Factor k1 Frequency Factor k Number of cycles (per hour) E max (%) Typical load collective at gearbox output T 2not T 2B T 2not T 2N T 2a =T 2max T 2b T 2c n 2Max n 2N n 2b n 2a = n 2c = 1 /2 * n2b t a t b EZ t c t d Start Cycle duration Stop

14 14 Benefits Technical Data Configuration and Selection Bosch Rexroth Gearbox ordering method Example: G T M R N N A Gearbox Model 1.1 High-precision in-line planetary gear reducer = GTM 1.2 High-precision right-angle hypoid gear reducer = GTMR 2. Frame Size 2.1 GTM Series = 060, 075, 100, 140, 180, GTMR Series = 090, 115, 140, 170, 215, Output Shaft Direction/Orientation For GTM Series: 3.1 Solid Shaft (standard) = NN For GTMR Series: 3.2 Solid Shaft on Left preferred = SL 3.3 Solid Shaft on Right = SR 3.4 Solid Shaft on Left and Right (dual shaft) = SD 3.5 Hollow Shaft on Left (shrink ring on right) preferred = HL 3.6 Hollow Shaft on Right (shrink ring on left) = HR 4. Number of Stages 4.1 GTM Ratio: 3, 4, 5, 7, = GTM Ratio: 20, 25, 35, 40, 50, 70, = GTMR Ratio: 3, 4, 5, 6, 8, 10, 12, = GTMR Ratio: 30, 40, 50, 70, = 2 5. Reduction Ratio 5.1 Example 7: = Keyway/Backlash Options 6.1 Shaft w/keyway; Standard Backlash (not available with GTMR-H) = A 6.2 Smooth shaft; Standard Backlash = B 6.3 Shaft w/keyway; Reduced Backlash (not available with GTMR-H) = C 6.4 Smooth shaft; Reduced Backlash = D 7. Motor Designation (see chart below for Rexroth Motors) *** 100/ 132/ 160/ AD ** 13** ADF ADP ** 13** MAC MDD /07* 06/07* 09/08* 09/08* MHD MHP MKD MKE * If liquid cooled. ** Limited to single-stage reduction. *** For third-party motors, please contact Bosch Rexroth.

15 Benefits Technical Data Configuration and Selection Bosch Rexroth 15 Bosch Rexroth. The Drive & Control Company Rexroth leads the industry in the design and development of products, equipment, and devices that control movement in machinery. We have built strong partnerships with our customers, who rely on us for solutions that deliver consistency, accuracy, and repeatability in their equipment. Our drive and control solutions improve the performance and throughput of our customers machines, while making them easier to operate and maintain. World-class solutions Rexroth s drive and control solutions are based on its complete range of best-in-class products, its applications engineering expertise, and its comprehensive knowledge of machines and the environments in which they work. Each Rexroth product is backed with sales and service offices in more than 80 countries around the world. Bosch Rexroth Corporation is organized into six divisions: Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics Electric Drives and Controls Partnerships start with knowing your business To better address your unique challenges, our products are segmented into five industryspecific system solutions: Machine Tool Food & Packaging Printing & Converting General Automation Mounting/Handling/Car Body With our expertise in your industry, we are better able to partner with you to provide solutions that meet your demands for productivity, performance, and reliability. It all begins with an initial assessment involving the engineering, and even the physics of the application. Then, based on those objectives, and our experience in your markets, we design a solution that delivers the throughput, quality, precision, and performance required. As a result of our solid heritage and our diverse technical portfolio, Rexroth has emerged as one of the world s foremost providers of servo-based motion control systems. Our tradition of product excellence and our longstanding commitment to open systems allows us to offer total solutions for all of your drive and control needs. Our products have been successfully integrated into large and small machine control operations around the world.

16 Bosch Rexroth Corporation Electric Drives and Controls 5150 Prairie Stone Parkway Hoffman Estates, IL Telephone (847) Facsimile (847) Bosch Rexroth Corporation Corporate Headquarters 5150 Prairie Stone Parkway Hoffman Estates, IL Telephone (847) Facsimile (847) Bosch Rexroth Corporation Industrial Hydraulics 2315 City Line Road Bethlehem, PA Telephone (610) Facsimile (610) Bosch Rexroth Corporation Linear Motion and Assembly Technologies 816 E. Third Street Buchanan, MI Telephone (616) Facsimile (616) Bosch Rexroth Corporation Pneumatics 1953 Mercer Road Lexington, KY Telephone (859) Facsimile (859) Bosch Rexroth Corporation Mobile Hydraulics 1700 Old Mansfield Road Wooster, OH Telephone (330) Facsimile (330) EN 01/03 Printed in the United States