PAS4•S
Portal axes with ball screw drive
Product manual
V2.01, 07.2009
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Table of contents
PAS4•S
4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4
Portal axes with ball screw drive
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PAS4•S
Table of contents
10 Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Portal axes with ball screw drive
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Table of contents
PAS4•S
6
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PAS4•S
Writing conventions and symbols
Writing conventions and symbols
Work steps If work steps must be performed consecutively, this sequence of steps
is represented as follows:
Special prerequisites for the following work steps ̈ Step 1
୵ Specific response to this work step
̈ Step 2
If a response to a work step is indicated, this allows you to verify that the
work step has been performed correctly.
Unless otherwise stated, the individual steps must be performed in the
specified sequence.
Bulleted lists The items in bulleted lists are sorted alphanumerically or by priority. Bul-
leted lists are structured as follows:
•
•
Item 1 of bulleted list
Item 2 of bulleted list
– Subitem for 2
– Subitem for 2
•
Item 3 of bulleted list
Making work easier Information on making work easier is highlighted by this symbol:
Sections highlighted this way provide supplementary
information on making work easier.
SI units SI units are the original values. Converted units are shown in brackets
behind the original value; they may be rounded.
Example:
2
Minimum conductor cross section: 1.5 mm (AWG 14)
Portal axes with ball screw drive
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Writing conventions and symbols
PAS4•S
8
Portal axes with ball screw drive
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PAS4•S
1 Introduction
1
Introduction
1.1
Overview of product properties
The ball screw axes are based on specially developed and particularly
torsion-resistant aluminum profiles. They excel with the their ability to
position heavy loads at changing torques with high feed forces and high
accuracy.
1.1.1 Product family
The linear axes product family consists of the following sizes:
•
•
•
PAS42Sx (axis body cross section 60x60 mm)
PAS43Sx (axis body cross section 80x80 mm)
PAS44Sx (axis body cross section 110x110 mm)
The sizes differ in terms of outer dimensions, drive data, payload capac-
ities and maximum stroke.
1.1.2 Features and options of the linear axis
The linear axis excels with the following features and options:
•
High positioning accuracy even at great ballscrew lengths due to
several moving screw supports
•
Simple integration into systems and machines due to axis bodies
with slots
•
•
Stroke length available precise to the millimeter
Mounting thread with counterbores for locating dowels at the car-
riage for reproducible mounting of the payload
•
•
•
•
•
Grease nipples at the side of the carriage for external lubrication
Distribution of the payload to up to 3 carriages
Optional cover strip
Motor mounting via compact coupling system
Sensors adjustable in T slots
1.1.3 Features of the linear guide
Recirculating ball bearing guide
•
•
•
•
•
High acceleration
High load capacity
High accuracy
Suitable for high torques
Optimum absorption of forces by the axis body
Portal axes with ball screw drive
9
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PAS4•S
1 Introduction
1.2
Product overview
2
1
17
16
15
14
13
12
3
11
10
4
5
6
7
8
9
Figure 1.2
Product overview ball screw axis
Carriage
(1)
(2)
(3)
End plate with ball screw shaft bearing
Axis body
(4)
(5)
(6)
T slot for mounting the linear axis
Contact plate sensor
Grease nipples, 3
(7)
Sensor holder
(8)
(9)
Sensor with cable and connector
T-slot for fastening the sensor holder
Flange for motor mounting
Shaft extension
Drive block
Clamp fastener for cover strip
Cover strip
Rubber buffer
Strip deflection
Thread for fastening the payload
(10)
(11)
(12)
(13)
(14)
(15)
(16)
(17)
Portal axes with ball screw drive
11
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1 Introduction
PAS4•S
1.3
Type code
Example
PAS
PAS
4
2
S
B D 1200 C 1 B A 100 S
/
2
3G 0 V0 3
Product
PAS = Portal axis
4
2
S
B
B
B
D 1200 C 1
D 1200 C 1
D 1200 C 1
B
B
B
A
A
A
100 S
100 S
100 S
/
2
3G 0 V0 3
Product family
4 = Basic line
PAS
PAS
4
2
S
S
/
/
2
2
3G 0 V0 3
3G 0 V0 3
Size (axis body cross section)
2 = 60; (60 x 60 mm)
4
2
3 = 80; (80 x 80 mm)
4 = 110; (110 x 110 mm)
Carriage drive element
S = Ball screw
PAS
4
2
S
B
D 1200 C 1
B
A
100 S
/
2
3G 0 V0 3
A = Support axis (without ball screw, only
linear guide)
Type of guide
PAS
PAS
4
4
2
2
S
S
B D 1200 C 1
B
B
A
A
100 S
100 S
/
/
2
2
3G 0 V0 3
3G 0 V0 3
B = Recirculating ball bearing guide
Feed per revolution
B = 5 mm (size 2, 3, 4)
D = 10 mm (size 2, 3, 4)
F = 16 mm (size 2)
G = 20 mm (size 3)
H = 25 mm (size 4)
N = Support axis
B
D 1200 C 1
Stroke
PAS
PAS
4
4
2
2
S
S
B
B
D 1200 C 1
B
B
A
A
100 S
100 S
/
/
2
2
3G 0 V0 3
3G 0 V0 3
xxxx = in mm (maximum stroke per size
see Technical Data)
1)
Limit switches
D 1200 C 1
A = 2 x PNP sensors as normally closed
contacts, not wired
C = 2 x PNP sensors as normally open
contacts, not wired
E = 2 x NPN sensors as normally closed
contacts, not wired
G = 2 x NPN sensors as normally open
contacts, not wired
N = No sensors, no contact plate
Carriage
1 = Type 1
4 = Type 4
PAS
PAS
4
4
2
2
S
S
B
B
D 1200 C 1
B
B
A
A
100 S
100 S
/
/
2
2
3G 0 V0 3
3G 0 V0 3
Options
D 1200 C 1
B = With cover strip / without ball screw
support
C = With cover strip / one ball screw sup-
port
D = Without cover strip / one ball screw
support
E = With cover strip / two ball screw sup-
ports
F = Without cover strip / without ball
screw support
D = Without cover strip / without ball
screw support
2)
Number of carriages
A = One
PAS
4
2
S
B
D 1200 C 1
B
A 100 S
/
2
3G 0 V0 3
B = Two (on request)
C = Three (on request)
12
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PAS4•S
1 Introduction
Example
PAS
4
2
S
B D 1200 C 1 B A 100 S
/
2
3G 0 V0 3
3)
Distance between carriages
PAS
4
2
S
B
D 1200 C 1
B
A
100 S
/
2
3G 0 V0 3
Up to 999 = in mm (xxx = with a single
carriage)
Axis drive interface
See Figure 1.3
S = With motor mounting or motor
adapter mounting
D = With shaft extension
N = Support axis
PAS
PAS
4
4
2
2
S
S
B
D 1200 C 1
B
A
100 S
/
/
2
3G 0 V0 3
Gearbox / motor interface
B
D 1200 C 1
B
A
100 S
2
3G 0 V0 3
1 = With motor, without gearbox (select
motor type)
2 = With motor, with gearbox (select
motor/gearbox type)
3 = Without motor, with gearbox (select
motor/gearbox type)
4 = Without motor, without gearbox
(select motor/gearbox type)
X = Without motor, without gearbox (with-
out select motor/gearbox selection)
Gearboxes
PAS
4
2
S
B
D 1200 C 1
B
A
100 S
/
2
3G 0 V0 3
0G = Planetary gear - PLE 40
1G = Planetary gear - PLE 60
3G = Planetary gear - PLE 80
5G = Planetary gear - PLE 120
0A = Planetary gear - WPLE 40
1A = Planetary gear - WPLE 60
3A = Planetary gear - WPLE 80
5A = Planetary gear - WPLE 120
7G = Planetary gear - PLS 70
8G = Planetary gear - PLS 90
9G = Planetary gear - PLS 115
YY = Third-party gearbox without mount-
ing by Schneider Electric (gearbox draw-
ing required)
ZZ = Third-party gearbox with mounting
by Schneider Electric (gearbox must be
provided)
XX = No gearbox
Mounting direction gearbox
(with clamping hub mounting screw of
adapter plate)
PAS
4
2
S
B
D 1200 C 1
B
A
100 S
/
2
3G 0 V0 3
0 = 0 a'clock
3 = 3 a'clock
6 = 6 a'clock
9 = 9 a'clock
X = No gearbox
Portal axes with ball screw drive
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1 Introduction
PAS4•S
Example
PAS
4
2
S
B D 1200 C 1 B A 100 S
B D 1200 C 1 B A 100 S
/
2
3G 0 V0 3
Motor / gearbox interface
PAS
4
2
S
/
2
3G 0 V0 3
V6 = Stepper motors BRS 364 / BRS 366
V8 = Stepper motors BRS 368
V9 = Stepper motors BRS 397 / BRS 39A
V0 = Stepper motors BRS 39B
V1 = Stepper motors BRS 3AC / BRS
3AD
I6 = ILS..571; ILS..572 with stepper
motor
I7 = ILS..573 with stepper motor
I9 = ILS..851; ILS..852 with stepper
motor
I8 = ILS..853 with stepper motor
E7 = DC brushless ILExx66
S6 = Servo motors SER 36• / BRH 057
S9 = Servo motors SER 39• / BRH 085
S1 = Servo motors SER 311• / BRH 110
A6 = ILA..57 with servo motors
H5 = Servo motors BSH 055•
H7 = Servo motors BSH 0701 / BSH
0702 / BMH 0701 / BMH 0702
H8 = Servo motors BSH 0703 / BMH
0703
H1 = Servo motors BSH 1001 / BSH
1002 / BSH 1003; BMH 1001 / BMH 1002
/ BMH 1003
H4 = Servo motors BSH 1004
H2 = Servo motors BSH 1401 / BSH
1402 / BSH 1403 / BSH 1404 / BMH
1401 / BMH 1402 / BMH 1403
YY = Third-party motor without mounting
by Schneider Electric (motor drawing
required)
ZZ = Third-party motor with mounting by
Schneider Electric (motor drawing
required; motor must be provided)
XX = No motor
Mounting direction motor with refer-
ence to power connection
(with clamping hub mounting screw of
adapter plate)
PAS
4
2
S
B
D 1200 C 1
B
A
100 S
/
2
3G 0 V0 3
0 = 0 a'clock
3 = 3 a'clock
6 = 6 a'clock
9 = 9 a'clock
X = No motor
1) With 100 mm cable with connector at one end, other versions and extension cables as accessories
2) Only carriages of the same type are possible.
3) Minimum distance between 2 carriages: see dimensional drawings
14
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1 Introduction
PAS4•S
1.4
Documentation and literature references
The following manuals belong to this product:
•
Product manual, describes the technical data, installation, com-
missioning and the replacement of parts.
•
Motor manual, describes the technical characteristics of the
motors, including correct installation and commissioning.
Source manuals The latest versions of the manuals can be downloaded from the Internet
at:
16
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PAS4•S
1 Introduction
1.5
Manufacturer's Declaration
MANUFACTURER’S DECLARATION
according to EC Directive on Machinery 98/37/EG
We hereby declare that the following product:
Designation:
Portal axis with toothed belt
Portal axis with spindle
Type:
PAS41x, PAS42x, PAS43x, PAS44x
73xx xxxx xxx
Product number:
in the version delivered is intended for installation in a machine. Commissioning is
prohibited unless the machine meets the regulations according to the EC directives.
Please observe the safety instructions in our technical documentation.
Applied
EN ISO 12100-1:2003-11
harmonized
standards,
especially
Safety of machinery basic concepts,
principles for design
Part 1: Basic terminology, methodology
EN ISO 12100-2:2003-11
Safety of machinery basic concepts,
principles for design
Part 2: Technical principles and specifications
Applied national
standards and
technical
Product documentation
specifications,
especially
Company stamp:
Date/Signature:
30 July 2009
Name/Department: Wolfgang Brandstätter/Development
Portal axes with ball screw drive
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1 Introduction
PAS4•S
18
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PAS4•S
2 Before you begin - safety information
2
Before you begin - safety information
2.1
Qualification of personnel
Only appropriately trained persons who are familiar with and understand
the contents of this manual and all other pertinent product documenta-
tion are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid haz-
ards involved. These persons must have sufficient technical training,
knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the set-
tings and by the mechanical, electrical and electronic equipment of the
entire system in which the product is used.
All persons working on and with the product must be fully familiar with all
applicable standards, directives, and accident prevention regulations
when performing such work.
2.2
Intended use
This product is a portal axis with mounted motor and intended for indus-
trial use according to this manual.
The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical
data.
Prior to using the product, you must perform a risk assessment in view
of the planned application. Based on the results, the appropriate safety
measures must be implemented.
Since the product is used as a component in an entire system, you must
ensure the safety of persons by means of the design of this entire sys-
tem (for example, machine design).
Operate the product only with the specified cables and accessories. Use
only genuine accessories and spare parts.
The product must NEVER be operated in explosive atmospheres (haz-
ardous locations, Ex areas).
Portal axes with ball screw drive
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2 Before you begin - safety information
PAS4•S
2.3
Basic information
@ WARNING
GREAT MASS OR FALLING PARTS
•
Consider the mass of the axis when mounting it. It may be neces-
sary to use a crane.
•
Mount the axis in such a way (tightening torque, securing screws)
that the axis and mounted parts cannot come loose even in the
case of fast acceleration or continuous vibration.
•
Note that vertically installed linear axes may lower unexpectedly.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
@ WARNING
LOSS OF CONTROL
•
The designer of any control scheme must consider the potential
failure modes of control paths and, for certain critical functions,
provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are EMERGENCY
STOP, overtravel stop, power outage and restart.
•
•
Separate or redundant control paths must be provided for critical
functions.
System control paths may include communication links. Consid-
eration must be given to the implication of unanticipated transmis-
sion delays or failures of the link.
•
•
Observe the accident prevention regulations and local safety
guidelines.
1)
Each implementation of the product must be individually and thor-
oughly tested for proper operation before being placed into serv-
ice.
Failure to follow these instructions can result in death or serious
injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control
and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and
Guide for Selection, Installation for Construction and Operation of Adjustable-
Speed Drive Systems.
20
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PAS4•S
2 Before you begin - safety information
2.4
Standards and terminology
Technical terms, terminology and the corresponding descriptions in this
manual are intended to use the terms or definitions of the pertinent
standards.
In the area of drive systems, this includes, but is not limited to, terms
such as "safety function", "safe state", "fault", "fault reset", "failure", "er-
ror", "error message", "warning", "warning message", etc.
Among others, these standards include:
•
IEC 61800 series: "Adjustable speed electrical power drive sys-
tems"
•
IEC 61800-7 series: "Adjustable speed electrical power drive sys-
tems - Part 7-1: Generic interface and use of profiles for power drive
systems - Interface definition"
•
IEC 61158 series: "Industrial communication networks - Fieldbus
specifications"
•
•
IEC 61784 series: "Industrial communication networks - Profiles"
IEC 61508 series: "Functional safety of electrical/electronic/pro-
grammable electronic safety-related systems"
Also see the glossary at the end of this manual.
Portal axes with ball screw drive
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2 Before you begin - safety information
PAS4•S
22
Portal axes with ball screw drive
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PAS4•S
3 Technical Data
3
Technical Data
chapter.
3.1
Ambient conditions
Ambient temperature during
operation
Temperature
[°C] 0 ... +50
Ambient conditions transportation The environment during transport and storage must be dry and free from
and storage
dust. The maximum vibration and shock load must be within the speci-
fied limits.
Temperature
[°C] -25 ... +70
Relative humidity The following relative humidity is permissible during operation:
Relative humidity
As per IEC60721-3-3, class 3K3,
non-condensing
Installation altitude
Installation altitude above mean
sea level
[m]
<1500
for linear axis without motor
Vacuum Operation in vacuum is not permissible.
Portal axes with ball screw drive
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3 Technical Data
PAS4•S
3.2
PAS42•
Value pairs with / without cover strip are separated by "/".
Characteristics portal axis
Drive element
PAS42SB
Ball screw drive (P7 as per DIN 69051 part 3)
Recirculating ball bearing guide SHS15V
Guide type
Typical payload
[kg]
25
Carriage type
Type 1
323 / 226
5
Type 4
503 / 406
5
Carriage length
[mm]
[mm]
[mm]
[mm]
[N]
Ball screw pitch
10
16
10
16
Ball screw shaft diameter
Axial backlash ball screw
16
0.04
2980
3000
0.25
10
1)
Maximum feed force Fx
1560
0.50
1540
0.80
2980
0.25
1560
0.50
1540
0.80
max
Maximum speed of rotation of ball screw [rpm]
2)
Maximum velocity
[m/s]
2
Maximum acceleration
[m/s ]
[Nm]
[Nm]
[Nm]
Maximum driving torque M
3.2
3.3
4.9
3.2
3.3
4.9
max
3)
Breakaway torque 0 stroke axis
0.53
0.03
0.56
0.06
0.59
0.09
0.53
0.03
0.56
0.06
0.59
0.09
Breakaway torque per additional
carriage
2
Moment of inertia 0 stroke axis
[kgcm ]
1.21 /
1.16
1.24 /
1.19
1.3/ 1.24 1.29 /
1.25
1.33 /
1.28
1.41 /
1.35
2
Moment of inertia per additional
carriage
[kgcm ]
0.16 /
0.11
0.19 /
0.14
0.25 /
0.19
0.24 /
0.2
0.28 /
0.23
0.36 /
0.3
2
Moment of inertia per 1 m of stroke
[kgcm /m]
0.35
0.45
0.50
0.35
0.45
0.50
2
Moment of inertia per 1 kg of payload
[kgcm /kg]
0.006
4050
4050
304
0.025
0.065
0.006
0.025
0.065
Maximum force Fy
Maximum force Fz
[N]
dynmax
dynmax
[N]
Maximum torque My
Maximum torque Mz
[Nm]
[Nm]
[Nm]
[kg]
[kg]
668
668
dynmax
304
dynmax
Max. torque Mx
27
dynmax
Mass 0 stroke axis
6.1 / 5.2
3.7 / 2.9
7.8 / 6.9
5.5 / 4.6
Mass per additional carriage (including
axis body and ball screw)
Mass per 1 m of stroke
Moving mass carriage
[kg/m]
[kg]
6.9
1.5 / 1.3
2.0 / 1.8
4)
Maximum working stroke
[mm]
[mm]
[mm]
[mm]
[mm]
1770 / 1870
9
1590 / 1690
5)
Minimum stroke
Repeatability
0.02
Diameter motor shaft
6.35 ... 20
60 x 60
Axis body cross section (W x H)
Axial area moment of inertia (lx / ly)
Modulus of elasticity (aluminum) E
4
[mm ]
461960 / 598330
72000
2
[N/mm ]
24
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PAS4•S
3 Technical Data
Characteristics portal axis
PAS42SB
Maximum ambient temperature
[°C]
[N]
0 ... +50
Load ratings linear guide (C
/ C
)
24200 / 14200
19900 / 9100 /
stat
dyn
Load ratings ball screw drive (C
/ C ) [N]
9200 /
7700
19900 / 9100 /
14900 7800
9200 /
7700
stat
dyn
14900
7800
6)
Service life reference magnitude
[km]
10000
1) The maximum permissible dynamic forces and torques decrease at increasing velocities (see characteristic curves)
2) Load- and stroke-dependent
3) The carriage closest to the motor is driven.
4) Please inquire for greater stroke
5) Minimum stroke required for lubrication of the linear guide
6) Forces and torques relate to the service life reference magnitude
Characteristics support axis
Carriage type
PAS42AB
Type 1
30
Type 4
Breakaway force 0 stroke axis
[N]
Breakaway force per additional carriage [N]
30
Mass 0 stroke axis
[kg]
4.4 / 3.5
PAS42SB
6.1 / 5.2
For further data (if applicable) see:
Fz
Mz
Fy
My
Mx
Fx
Figure 3.1
Forces and torques
Portal axes with ball screw drive
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3 Technical Data
PAS4•S
Characteristic curves PAS42SB
Fx[N]
3500
M [Nm]
6
A
C
3000
5
4
3
2
1
2500
2000
B
B
1500
A
C
1000
500
0
0
0
0
500
1000 1500 2000 2500 3000
n [rpm]
500
1000
1500
2000
2500
3000
n [rpm]
Fydyn [N]
4400
Mydyn [Nm]
800
4
700
600
500
400
300
4200
4000
3800
3600
1
3400
0,0
200
0,0
0,2
0,4
0,6
0,8
0,2
0,4
0,6
0,8
v [m/s]
v [m/s]
Fzdyn [N]
4400
Mzdyn [Nm]
800
4
700
600
500
400
300
4200
4000
3800
3600
1
3400
0,0
200
0,0
0,2
0,4
0,6
0,8
0,2
0,4
0,6
0,8
v [m/s]
v [m/s]
L [km]
Mxdyn [Nm]
28
100000
27
26
25
24
23
80000
60000
40000
20000
0
22
0,4
0,6
0,8
1,0
1,2
1,4
0,0
0,2
0,4
0,6
0,8
k
v [m/s]
(1)
(4)
(A,B,C) Ball screw pitch A = 5 mm, B = 10 mm, C = 16 mm
Carriage type 1
Carriage type 4
26
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PAS4•S
3 Technical Data
nkrit [rpm]
3500
3000
2500
2000
15 0 0
10 0 0
500
II
I
A
0
0
0
500
1000
1500
2000
2500
3000
3500
LP [mm]
f [mm]
s [mm]
3000
0
500
1000
1500
2000
2500
0,0
0,2
0,4
0,6
0,8
1, 0
1, 2
1, 4
1, 6
0 N
25 N
50 N
B
10 0 N
200 N
300 N
Fcomp [N]
6000
5000
4000
3000
2000
10 0 0
C
0
0
500
1000
1500
2000
2500
3000
x [mm]
Figure 3.2
Speed of rotation of ball screw, deflection, buckling strength,
PAS42SB
(A)
(0,I,II)
(B)
Speed of rotation of ball screw
Without, 1 or 2 ball screw supports
Deflection
(C)
Buckling strength
Portal axes with ball screw drive
27
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3 Technical Data
PAS4•S
Dimensional drawings PAS42SB
LP
85
d
c
c d15
LC
A
X
E0
E1
A
LS
1
8 d
c
LC
X
c d8
2
n x 8 H7
n x M x12
62
x M5 x12
A-A
5
15
20
3
4
19
4
5
3
7.6
3
40
60
LC
F
D
D
30
30 30 30
6
170
Figure 3.3
Dimensional drawing PAS42SB
Portal axis
Support axis
Shaft extension
Drive block
(1)
(2)
(3)
(4)
(5)
(6)
Section of axis
Carriage type 1 (type 4 has more tapped holes for mounting)
28
Portal axes with ball screw drive
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PAS4•S
3 Technical Data
Carriage type
Type 1
Type 4
Yes No
Cover strip
Yes
No
Number of ball screw supports
0, 1 or 0
2
1
2
0, 1 or 0
2
1
2
1)
Total length of portal axis
LP
LS
[mm] 466 + 369 + 399 + 429 + 646 + 549 + 579 + 609 +
X
X
X
X
X
X
X
X
Total length of support axis
[mm] 382 + 285 + 315 + 345 + 562 + 465 + 495 + 525 +
X
X
X
X
X
X
X
X
Stroke
X
[mm] See characteristics
Carriage length
LC
F
[mm] 323
[mm] 190
10
226
503
370
22
406
Profile length of carriage
Number of tapped holes for mounting
Distance between tapped holes
Limit switch position at drive end
2)
n
[mm] 30 0.03
30 0.03
E0
E1
c
[mm] 98
[mm] 98
[mm] 10
[mm] 11.5
[mm] 48.5
[mm] 90
50
65
65
80
80
98
50
65
80
Limit switch position opposite drive end
50
278
10
230
245
260
3)
Stroke reserve to mechanical stop
Length of cover strip clamp
d
11.5
48.5
90
Deflection of cover strip
D
-
-
Minimum distance between 2 carriages
35
35
1) In the case of axes with more than one carriage, you must add the carriage length (LC) and the distance between the carriages
for each additional carriage. More than 1 carriage on request.
2) Prepared for locating rings (see Accessories)
3) The stroke reserve must be increased depending on the application factors load, acceleration and velocity. The displacement dis-
tances must be taken into account in terms of the total length.
Portal axes with ball screw drive
29
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3 Technical Data
PAS4•S
3.3
PAS43•
Value pairs with / without cover strip are separated by "/".
Characteristics portal axis
Drive element
PAS43SB
Ball screw drive (P7 as per DIN 69051 part 3)
Recirculating ball bearing guide SHS20
Guide type
Typical payload
[kg]
60
Carriage type
Type 1
394 / 274
5
Type 4
604 / 484
5
Carriage length
[mm]
[mm]
[mm]
[mm]
[N]
Ball screw pitch
10
20
10
20
Ball screw shaft diameter
Axial backlash ball screw
20
0.04
3400
3000
0.25
10
1)
Maximum feed force Fx
2600
0.50
1720
1.00
3400
0.25
2600
0.50
1720
1.00
max
Maximum speed of rotation of ball screw [rpm]
2)
Maximum velocity
[m/s]
2
Maximum acceleration
[m/s ]
[Nm]
[Nm]
[Nm]
Maximum driving torque M
3.7
5.3
6.8
3.7
5.3
6.8
max
3)
Breakaway torque 0 stroke axis
0.7
0.7
0.8
0.7
0.7
0.8
Breakaway torque per additional
0.04
0.08
0.15
0.04
0.08
0.15
carriage
2
Moment of inertia 0 stroke axis
[kgcm ]
2.76 /
2.62
2.82 /
2.67
3.05 /
2.87
2.99 /
2.86
3.07 /
2.93
3.36 /
3.19
2
Moment of inertia per additional
carriage
[kgcm ]
0.46 /
0.32
0.52 /
0.37
0.75 /
0.57
0.69 /
0.56
0.77 /
0.63
1.06 /
0.89
2
Moment of inertia per 1 m of stroke
[kgcm /m]
0.95
1.10
1.15
0.95
1.10
1.15
2
Moment of inertia per 1 kg of payload
[kgcm /kg]
0.006
6360
6360
556
0.025
0.101
0.006
0.025
0.101
Maximum force Fy
Maximum force Fz
[N]
dynmax
dynmax
[N]
Maximum torque My
Maximum torque Mz
[Nm]
[Nm]
[Nm]
[kg]
[kg]
1224
1224
dynmax
556
dynmax
Max. torque Mx
60
dynmax
Mass 0 stroke axis
12.1 / 10.3
7.7 / 5.9
15.4 / 13.6
11.0 / 9.2
Mass per additional carriage (including
axis body and ball screw)
Mass per 1 m of stroke
Moving mass carriage
[kg/m]
[kg]
11.70
3.0 / 2.6
3.9 / 3.5
4)
Maximum working stroke
[mm]
[mm]
[mm]
[mm]
[mm]
3070 / 3190
11
2860 / 2980
5)
Minimum stroke
Repeatability
0.02
Diameter motor shaft
9 ... 20
Axis body cross section (W x H)
Axial area moment of inertia (lx / ly)
Modulus of elasticity (aluminum) E
80 x 80
4
[mm ]
1480060 / 1851160
72000
2
[N/mm ]
30
Portal axes with ball screw drive
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PAS4•S
3 Technical Data
Characteristics portal axis
PAS43SB
0 ... +50
Maximum ambient temperature
[°C]
[N]
Load ratings linear guide (C
/ C
)
38400 / 22300
stat
dyn
Load ratings ball screw drive (C
/ C ) [N]
25300 / 18400 / 11600 / 25300 / 18400 / 11600 /
stat
dyn
17000
13000
8600
17000
13000
8600
6)
Service life reference magnitude
[km]
10000
1) The maximum permissible dynamic forces and torques decrease at increasing velocities (see characteristic curves)
2) Load- and stroke-dependent
3) The carriage closest to the motor is driven.
4) Please inquire for greater stroke
5) Minimum stroke required for lubrication of the linear guide
6) Forces and torques relate to the service life reference magnitude
Characteristics support axis
Carriage type
PAS43AB
Type 1
40
Type 4
Breakaway force 0 stroke axis
[N]
Breakaway force per additional carriage [N]
40
Mass 0 stroke axis
[kg]
9.1 / 7.3
PAS43SB
12.4 / 10.6
For further data (if applicable) see:
Fz
Mz
Fy
My
Mx
Fx
Figure 3.4
Forces and torques
Portal axes with ball screw drive
31
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3 Technical Data
PAS4•S
Characteristic curves PAS43SB
Fx[N]
M [Nm]
7
4000
3500
3000
6
5
4
3
C
A
2500
B
B
2000
C
A
1500
1000
500
2
0
0
500
1000 1500 2000 2500 3000
n [rpm]
500
1000
1500
2000
2500
3000
n [rpm]
Fydyn [N]
6600
6400
6200
6000
5800
5600
5400
Mydyn [Nm]
1400
4
1200
1000
800
1
600
400
5200
0,0
200
0,0
0,2
0,4
0,6
0,8
1,0
0,2
0,4
0,6
0,8
1,0
v [m/s]
v [m/s]
Fzdyn [N]
Mzdyn [Nm]
1400
6600
6400
6200
6000
5800
5600
5400
4
1200
1000
800
1
600
400
5200
0,0
200
0,0
0,2
0,4
0,6
0,8
1,0
0,2
0,4
0,6
0,8
1,0
v [m/s]
v [m/s]
L [km]
Mxdyn [Nm]
100000
62
60
58
56
54
52
50
80000
60000
40000
20000
0
48
0,4
0,6
0,8
1,0
1,2
1,4
0,0
0,2
0,4
0,6
0,8
1,0
k
v [m/s]
(1)
(4)
(A,B,C) Ball screw pitch A = 5 mm, B = 10 mm, C = 20 mm
Carriage type 1
Carriage type 4
32
Portal axes with ball screw drive
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PAS4•S
3 Technical Data
nkrit [rpm]
3500
3000
2500
2000
15 0 0
10 0 0
500
II
I
A
0
0
0
500
1000
1500
2000
2500
3000
3500
4000
LP [mm]
f [mm]
s [mm]
3000
0
500
1000
1500
2000
2500
0,0
0 N
0,2
0,4
0,6
0,8
1, 0
50 N
10 0 N
200 N
B
400 N
1, 2
800 N
1, 4
Fcomp [N]
7000
6000
5000
4000
3000
C
2000
10 0 0
0
0
500
1000
1500
2000
2500
3000
3500
x [mm]
Figure 3.5
Speed of rotation of ball screw, deflection, buckling strength,
PAS43SB
(A)
(0,I,II)
(B)
Speed of rotation of ball screw
Without, 1 or 2 ball screw supports
Deflection
(C)
Buckling strength
Portal axes with ball screw drive
33
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3 Technical Data
PAS4•S
Dimensional drawings PAS43SB
LP
95
d
c
LC
X
c d 20
A
A
E0
E1
1
LS
10
d
c
LC
X
c
d
10
2
n x 10 H7
n x M x14
83
A-A
4 x M6 x12
6
15
23
3
22
4
5
3
4.5
11.25
50
80
LC
D
F
D
35 35 35 35
6
170
Figure 3.6
Dimensional drawing PAS43SB
(1)
(2)
(3)
(4)
(5)
(6)
Portal axis
Support axis
Shaft extension
Drive block
Section of axis
Carriage type 1 (type 4 has more tapped holes for mounting)
34
Portal axes with ball screw drive
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PAS4•S
3 Technical Data
Carriage type
Type 1
Type 4
Yes No
Cover strip
Yes
No
Number of ball screw supports
0, 1 or 0
2
1
2
0, 1 or 0
2
1
2
1)
Total length of portal axis
LP
LS
[mm] 569 + 449 + 489 + 529 + 779 + 659 + 699 + 739 +
X
X
X
X
X
X
X
X
Total length of support axis
[mm] 474 + 354 + 394 + 434 + 684 + 564 + 604 + 644 +
X
X
X
X
X
X
X
X
Stroke
X
[mm] See characteristics
Carriage length
LC
F
[mm] 394
[mm] 230
10
274
604
440
22
484
Profile length of carriage
Number of tapped holes for mounting
Distance between tapped holes
Limit switch position at drive end
2)
n
[mm] 35 0.03
35 0.03
E0
E1
c
[mm] 143
[mm] 143
[mm] 15
[mm] 15
[mm] 60
[mm] 90
83
103
103
123
123
143
353
15
83
103
313
123
333
Limit switch position opposite drive end
83
293
3)
Stroke reserve to mechanical stop
Length of cover strip clamp
d
15
Deflection of cover strip
D
-
60
-
Minimum distance between 2 carriages
35
90
35
1) In the case of axes with more than one carriage, you must add the carriage length (LC) and the distance between the carriages
for each additional carriage. More than 1 carriage on request.
2) Prepared for locating rings (see Accessories)
3) The stroke reserve must be increased depending on the application factors load, acceleration and velocity. The displacement dis-
tances must be taken into account in terms of the total length.
Portal axes with ball screw drive
35
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3 Technical Data
PAS4•S
3.4
PAS44•
Value pairs with / without cover strip are separated by "/".
Characteristics portal axis
Drive element
PAS44SB
Ball screw drive (P7 as per DIN 69051 part 3)
Recirculating ball bearing guide SHS25
Guide type
Typical payload
[kg]
100
Carriage type
Type 1
490 / 330
5
Type 4
760 / 600
5
Carriage length
[mm]
[mm]
[mm]
[mm]
[N]
Ball screw pitch
10
25
10
25
Ball screw shaft diameter
Axial backlash ball screw
24
0.04
3700
3000
0.25
10
1)
Maximum feed force Fx
4520
0.5
3000
1.25
3700
0.25
4520
0.5
3000
1.25
max
Maximum speed of rotation of ball screw [rpm]
2)
Maximum velocity
[m/s]
2
Maximum acceleration
[m/s ]
[Nm]
[Nm]
[Nm]
Maximum driving torque M
4.3
9.0
14.3
1.23
0.23
4.3
9.0
14.3
1.23
0.23
max
3)
Breakaway torque 0 stroke axis
1.05
0.05
1.09
0.09
1.05
0.05
1.09
0.09
Breakaway torque per additional
carriage
2
Moment of inertia 0 stroke axis
[kgcm ]
6.86 /
6.47
6.97 /
6.57
7.75 /
7.23
7.51 /
7.13
7.66 /
7.26
8.72 /
8.2
2
Moment of inertia per additional
carriage
[kgcm ]
1.21 /
0.82
1.32 /
0.92
2.1 /
1.58
1.86 /
1.48
2.01 /
1.61
3.07 /
2.55
2
Moment of inertia per 1 m of stroke
[kgcm /m]
2.00
2.30
2.40
2.00
2.30
2.40
2
Moment of inertia per 1 kg of payload
[kgcm /kg]
0.006
9040
0.025
0.158
0.006
0.025
0.158
Maximum force Fy
Maximum force Fz
[N]
dynmax
dynmax
[N]
9040
Maximum torque My
Maximum torque Mz
[Nm]
[Nm]
[Nm]
[kg]
[kg]
935
2155
2155
dynmax
935
dynmax
Max. torque Mx
89
dynmax
Mass 0 stroke axis
25.1 / 21.2
15.2 / 11.3
32.3 / 28.4
22.4 / 18.5
Mass per additional carriage (including
axis body and ball screw)
Mass per 1 m of stroke
Moving mass carriage
[kg/m]
[kg]
19.00
5.9 / 5.0
8.0 / 7.1
4)
Maximum working stroke
[mm]
[mm]
[mm]
[mm]
[mm]
2940 / 3100
13
2670 / 2830
5)
Minimum stroke
Repeatability
0.02
Diameter motor shaft
12 ... 25
Axis body cross section (W x H)
Axial area moment of inertia (lx / ly)
Modulus of elasticity (aluminum) E
110 x 110
50245408 / 6354770
72000
4
[mm ]
2
[N/mm ]
36
Portal axes with ball screw drive
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PAS4•S
3 Technical Data
Characteristics portal axis
PAS44SB
0 ... +50
Maximum ambient temperature
[°C]
[N]
Load ratings linear guide (C
/ C
)
52400 / 31700
stat
dyn
Load ratings ball screw drive (C
/ C ) [N]
30400 / 31400 / 19900 / 30400 / 31400 / 19900 /
stat
dyn
18500
22600
15000
18500
22600
15000
6)
Service life reference magnitude
[km]
10000
1) The maximum permissible dynamic forces and torques decrease at increasing velocities (see characteristic curves)
2) Load- and stroke-dependent
3) The carriage closest to the motor is driven.
4) Please inquire for greater stroke
5) Minimum stroke required for lubrication of the linear guide
6) Forces and torques relate to the service life reference magnitude
Characteristics support axis
Carriage type
PAS44AB
Type 1
50
Type 4
Breakaway force 0 stroke axis
[N]
Breakaway force per additional carriage [N]
50
Mass 0 stroke axis
[kg]
18.7 / 14.8
PAS44SB
25.9 / 22.0
For further data (if applicable) see:
Fz
Mz
Fy
My
Mx
Fx
Figure 3.7
Forces and torques
Portal axes with ball screw drive
37
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3 Technical Data
PAS4•S
Characteristic curves PAS44SB
Fx [N]
M [Nm]
5000
4500
16
14
12
10
8
B
C
4000
A
3500
B
C
3000
2500
2000
1500
1000
6
A
4
2
0
0
500
1000 1500 2000 2500 3000
n [rpm]
0
500
1000 1500 2000
2500 3000
n [rpm]
Fydyn [N]
Mydyn [Nm]
9250
9000
8750
8500
8250
8000
7750
7500
7250
2500
2250
2000
1750
1500
1250
1000
750
4
1
500
0,00
0,25
0,50
0,75
1,00
1,25
0,00
0,25
0,50
0,75
1,00
1,25
v [m/s]
v [m/s]
Fzdyn [N]
Mzdyn [Nm]
9250
9000
8750
8500
8250
8000
7750
7500
7250
2500
2250
2000
1750
1500
1250
1000
750
4
1
500
0,00
0,25
0,50
0,75
1,00
1,25
0,00
0,25
0,50
0,75
1,00
1,25
v [m/s]
v [m/s]
L [km]
M xdyn [Nm]
105
100000
100
95
90
85
80
80000
60000
40000
20000
0
75
0,4
0,6
0,8
1,0
1,2
1,4
0,00
0,25
0,50
0,75
1,00
1,25
k
v [m/s]
(1)
(4)
Carriage type 1
Carriage type 4
(A,B,C) Ball screw pitch A = 5 mm, B = 10 mm, C = 20 mm
38
Portal axes with ball screw drive
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PAS4•S
3 Technical Data
nkrit [rpm]
3500
3000
2500
2000
15 0 0
10 0 0
500
II
I
A
0
0
0
500
1000
1500
2000
2500
3000
3500
4000
LP [mm]
f [mm]
s [mm]
3500
0
500
1000
1500
2000
2500
3000
0,0
0 N
0,2
0,4
0,6
0,8
1, 0
10 0 N
200 N
500 N
B
1.000 N
1. 50 0 N
1, 2
Fcomp [N]
9000
7500
6000
4500
3000
15 0 0
C
0
0
500
1000
1500
2000
2500
3000
3500
4000
x [mm]
Figure 3.8
Speed of rotation of ball screw, deflection, buckling strength,
PAS44SB
(A)
(0,I,II)
(B)
Speed of rotation of ball screw
Without, 1 or 2 ball screw supports
Deflection
(C)
Buckling strength
Portal axes with ball screw drive
39
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3 Technical Data
PAS4•S
Dimensional drawings PAS44SB
LP
110
d
c
LC
X
c
d 25
A
E0
E1
A
1
LS
12
d
c
LC
X
c
d
12
2
3
110
n x 12 H7
A-A
n x M
8
x18
15
4 x M8 x 16
24
4
23
4
5
4.5
12.25
70
110
LC
D
D
F
45 45 45 45
6
170
Figure 3.9
Dimensional drawings PAS44SB
(1)
(2)
(3)
(4)
(5)
(6)
Portal axis
Support axis
Shaft extension
Drive block
Section of axis
Carriage type 1 (type 4 has more tapped holes for mounting)
Carriage type
Type 1
Type 4
Cover strip
Yes
No
Yes
No
Number of ball screw supports
0, 1 or 0
2
1
2
0, 1 or 0
2
1
2
1)
Total length of portal axis
LP
LS
[mm] 705 + 545 + 595 + 645 + 975 + 815 + 865 + 915 +
X
X
X
X
X
X
X
X
Total length of support axis
[mm] 594 + 434 + 484 + 534 + 864 + 704 + 754 + 804 +
X
X
X
X
X
X
X
X
Stroke
X
[mm] See characteristics
[mm] 490 330
Carriage length
LC
760
600
40
Portal axes with ball screw drive
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PAS4•S
3 Technical Data
Carriage type
Type 1
[mm] 270
Type 4
Profile length of carriage
F
n
540
2)
Number of tapped holes for mounting
Distance between tapped holes
Limit switch position at drive end
10
22
[mm] 45 0.03
45 0.03
E0
E1
c
[mm] 200
[mm] 200
[mm] 20
[mm] 20
[mm] 80
[mm] 90
120
145
145
170
170
200
470
20
120
145
415
170
440
Limit switch position opposite drive end
120
390
3)
Stroke reserve to mechanical stop
Length of cover strip clamp
d
20
Deflection of cover strip
D
-
80
-
Minimum distance between 2 carriages
40
90
40
1) In the case of axes with more than one carriage, you must add the carriage length (LC) and the distance between the carriages
for each additional carriage. More than 1 carriage on request.
2) Prepared for locating rings (see Accessories)
3) The stroke reserve must be increased depending on the application factors load, acceleration and velocity. The displacement dis-
tances must be taken into account in terms of the total length.
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3 Technical Data
PAS4•S
3.5
Service life
The service life of the product is a function of the mean forces and tor-
ques that act in the system. If multiple forces and torques act simultane-
ously, use the following formula to calculate the loading factor k.
My
Mz
Mx
Fz
Fy
+
+
+
+
= k
Mymax
Mzmax
Mymax
Fzmax
Fymax
Fz
Mz
Fy
My
Mx
Fx
Figure 3.10 Forces and torques
The service life of the axis (in km) can be approximated using the load-
ing factor and the service life - load characteristic curve.
The application-specific load values appear in the numerator.
The numerator contains the maximum permissible forces and torques.
These forces and torques decrease at increasing velocities, see char-
acteristic curves in chapter 3.
3.6
Positioning accuracy and repeatability
Positioning accuracy and repeatability depend on temperature, load and
velocity changes as well as the accuracy of the ball screw drive and the
accuracy of the switching points of the sensors.
At steady temperature, speed and load, the repeatability amounts to
0.02 mm.
42
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3 Technical Data
3.7
Stroke reserve
Stroke reserve
PAS42
PAS43
PAS44
[mm]
10
15
20
Table 3.1 Distance between limit switch and mechanical stop
See the motor manual for details on the motor.
3.8
Motor
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3 Technical Data
PAS4•S
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4 Installation
4
Installation
@ WARNING
GREAT MASS OR FALLING PARTS
•
Consider the mass of the axis when mounting it. It may be neces-
sary to use a crane.
•
Mount the axis in such a way (tightening torque, securing screws)
that the axis and mounted parts cannot come loose even in the
case of fast acceleration or continuous vibration.
•
Note that vertically installed linear axes may lower unexpectedly.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
@ WARNING
MOTOR WITHOUT BRAKING EFFECT
If power outage and faults cause the power stage to be switched off,
the motor is no longer stopped by the brake and may increase its
speed even more until it reaches a mechanical stop.
•
•
Verify the mechanical situation.
If necessary, use a cushioned mechanical stop or a suitable hold-
ing brake.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
@ CAUTION
HOT SURFACES
Depending on the operation, the surface may heat up to more than
100°C (212°F).
•
•
Do not allow contact with the hot surfaces.
Do not allow flammable or heat-sensitive parts in the immediate
vicinity.
•
•
Consider the measures for heat dissipation described.
Check the temperature during test runs.
Failure to follow these instructions can result in injury or equip-
ment damage.
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4 Installation
PAS4•S
4.1
Preparing installation
The linear axis is a precision product and must be handled with care.
Shocks and impacts may damage the guides and the ball screw drive.
This may cause inaccuracies and even premature failure.
Transport the product in its packaging as close as possible to the instal-
lation site. Do not remove the packaging until the product is at the instal-
lation site.
The linear axis may only be lifted at points A and B (see figure). The dis-
tance between the end block and point A and between the end block and
point B should be ¼ of the total length of the linear axis. If an axis with
a mounted motor is lifted, points A and B are to be moved to balance the
load. The motor must not be used to lift the load. However, support the
motor when lifting the axis.
A
B
46
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4 Installation
4.2
Mechanical installation
Accessibility for servicing When mounting the linear axis, the motor and the sensors, keep in mind
that they may have to be accessed for servicing.
Mounting position The linear axis can be installed in any position.
If a linear axis with a mounted motor is mounted in a vertical position, the
motor should be at the top. This way, the ball screw is under tension and
there is no buckling stress.
4.2.1 Standard tightening torques
Special tightening torques are applicable for mounting sensors and
elastomer couplings; these tightening torques are listed in the appropri-
ate chapters.
The following, generally applicable tightening torques apply to mounting
the payload and fastening slot nuts, clamping claws, motor and contact
plate with hex socket screws.
Thread
M3
Wrench size [mm]
M
[Nm]
Amax.
2.5
3
1.1
2.5
5
M4
M5
4
M6
5
8.5
21
42
70
M8
6
M10
M12
8
10
Table 4.1 Standard tightening torques for screws, ISO 4762 - 8.8
Portal axes with ball screw drive
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4 Installation
PAS4•S
4.2.2 Mounting the linear axis
Only mount the linear axis using the T slots at the axis body. To do so,
use clamping claws (lateral fastening) or slot nuts (bottom or lateral fas-
tening).
A selection of suitable clamping claws and slot nuts can be found in
Note the following:
•
•
•
When using motors with a cross section greater than the cross sec-
tion than the axis body, the axis must be supported or the mounting
surface must be cut out as required.
The end blocks protrude beyond the axis body at the ends. The end
blocks must not be the only parts supported by the mounting sur-
face.
If the lateral slots are used for mounting, the sensor cable cannot be
completely routed in the slots.
A
C
B
2
1
Figure 4.1
Fastening by means of clamping claws (1) and slot nuts from the
bottom (2)
Tapped hole distance
PAS42
[mm] 74
[mm] 88
[mm] 40
PAS43
96
PAS44
130
A
B
C
112
50
150
70
1)
Maximum distance
Clamping claws
Slot nuts
PAS42
PAS43
800
PAS44
1000
[mm] 600
[mm] 600
800
1000
1) Recommended values per side at medium loads
The greater the load or the demands on the running accuracy, the
shorter the distance between the slot nuts or the clamping claws must
be.
48
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4 Installation
Alignment for running accuracy Due to the manufacturing process of the extruded profiles, a linear axis
has a certain tolerance in terms in straightness and twist. The deviations
are generally well within the specifications of EN 12020-2 in the case of
the product.
Perform the following lateral alignment procedure for running accuracy.
The mounting surface must be machined smooth and flat. ̈ First, slightly tighten the screws of the slot nuts or the clamping
claws.
̈ Provide a reference plane alongside the linear axis.
̈ Place a dial gauge onto the carriage.
̈ Move the carriage and record the deviation with reference to the ref-
erence plane over the entire stroke.
̈ Correct the deviations by lateral alignment of the linear axis and by
tightening the screws appropriately. Observe the standard tighten-
ing torques 47.
4.2.3 Mounting the contact plate
A contact plate must be mounted to the carriage for the inductive sen-
sors. Fastening threads are located at both sides of the carriage.
Unless otherwise specified, the standard tightening
and additional parts" for suitable contact plates.
You need a set of Allen keys.
̈ Clean all parts you will use.
̈ Check all parts for damage; repair damages.
Procedure
̈ For mounting, select the side of the carriage that will be easily
accessible for service.
̈ Screw the contact plate to the carriage with M4 screws.
̈ Align the contact plate in parallel with the carriage so as to have the
same switching distance on both sides.
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4 Installation
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4.2.4 Mounting the sensors
@ WARNING
LOSS OF CONTROL
If unsuitable sensors are installed, ground faults or line interruptions
will be detected as an On state and will cause a failure of the protec-
tion function.
•
If possible, use normally closed contacts as limit switches so that
a wire break can be signaled as an error.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
A sensor is mounted to the axis body by means of a sensor holder. The
axis body provides a T slot for the sensor holder. This T slot has a cutout
at the end block for inserting the fastening nuts.
Unless otherwise specified, the standard tightening
You need a set of Allen keys and a feeler gauge.
̈ Clean all parts you will use.
̈ Check all parts for damage; repair damages.
̈ Check the sensor for correct type and function.
̈ Verify that your controller and your interface are suitable for the sen-
sor.
information on the sensor position..
Procedure
2 M3 hex socket screw with hex nuts are located at the sensor.
•
•
Screw (1) is used to fasten the sensor holder in the slot.
Screw (2) is used to fasten the sensor in the sensor holder.
1
3
In addition, the sensor holder features cams (3) at both sides to keep the
sensor from turning in the T slot.
2
̈ Slide each nut into the T slot at the cutout.
̈ Place the the sensor holder with the two screws into position. Leave
the two screws loose at first.
̈ Slide the sensor holder to the desired position and tighten screw (1)
1
with a torque of 0.3 Nm.
50
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4 Installation
Since the sensor operates inductively, the switching surface must have
a specific distance from the contact plate. This so-called "switching dis-
tance" amounts to 0.5 0.1 mm.
̈ Move the carriage until the contact plate is above the sensor holder.
̈ Slide the sensor through the sensor holder opening until the switch-
ing distance has been reached.
2
Measure the distance using a feeler gauge.
̈ Tighten screw (2).
̈ Finally, check the switching distance with the feeler gauge.
The slot (1) can hold up to 3 sensor cables. Suitable slot covers are
available on request.
̈ Route the sensor cable in the slot.
1
4.2.5 Mounting the motor or the gearbox
The motor or the gearbox are coupled by means of a preloaded elatomer
coupling.
The motor or the gearbox can be mounted in different arrangements
(turned in increments of 4 x 90°).
Unless otherwise specified, the standard tightening
Special tightening torques
Clamping hub
PAS42
M6 x 16
5
PAS43
M6 x 20
5
PAS44
M8 x 25
6
Screw ISO 4762 - 10.9
Wrench size
[mm]
Tightening torque
Mounting dimension
[Nm] 14
[mm] 13
14
35
14
14
Table 4.2 Tightening torques and mounting dimensions clamping hub
plings (elastomer spiders, clamping hubs).
You need a set of Allen keys and a torque wrench with hexagon socket.
̈ Clean all parts you will use.
̈ Check all parts for damage; repair damages.
NOTE: Polluted or damaged parts may cause run-out which has an ad-
verse effect on the service life of the elastomer coupling and the linear
axis.
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4 Installation
PAS4•S
Mounting the elastomer coupling The elastomer coupling has two clamping hubs which may have differ-
ent holes.
̈ Slide the matching clamping hub onto the shaft extension of the lin-
ear axis all the way to the stop.
̈ Tighten the clamping screw at the clamping hub with the tightening
̈ Fit the elastomer spider onto the clamping hub.
Slightly greasing the ring gear or the hub facilitates the fitting proc-
ess. Use only mineral oil based lubricants without additives or sili-
con based lubricants.
NOTE: If the elastomer spider can be fitted too easily (without
preloading), it must be replaced.
̈ Mount the coupling housing with the 4 screws. Verify that the cou-
pling housing has even contact.
̈ Fit the second clamping hub.
Note the installation dimension d measured to the collar, as per
d
Check the orientation of the clamping screw (1), preferably
upwards. The clamping screw is tightened at a later point in time
through the hole in the motor adapter plate.
1
̈ Fit the motor adapter plate with even contact.
Verify correct position of the hole at the side so that you can tighten
the clamping hub screw through the hole.
̈ Tighten the 4 screws.
Motor mounting only
̈ Place the motor onto the motor adapter plate with even contact.
Secure the motor to keep it from falling down.
̈ Fasten the motor to the motor adapter plate with the 4 screws and
washers.
̈ Remove the screw plug in the hole at the side of the motor adapter
plate.
̈ Tighten the screw of the clamping hub through the hole with the
̈ Close the hole with the screw plug.
52
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4 Installation
Gearbox mounting only
A flange plate (1) is required if the gearbox does not have its own flange.
̈ Mount the flange plate to the gearbox with the 4 screws.
Verify that the flange plate has even contact.
1
̈ Place the gearbox onto the motor adapted plate with even contact.
Secure the gearbox to keep it from falling down.
̈ If the gearbox has a parallel keyway, align the keyway and the slot
of the clamping hub.
̈ Fasten the gearbox with the 4 screws and washers.
̈ Remove the screw plug in the hole at the side of the motor adapter
plate.
̈ Tighten the screw of the clamping hub through the hole with the
̈ Close the hole with the screw plug.
Please refer to the gearbox manual for mounting a motor to
the gearbox.
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4 Installation
PAS4•S
4.2.6 Mounting the payload
Unless otherwise specified, the standard tightening
Mounting threads on the carriage allow you to fasten the payload.
For reproducible mounting of the payload, each thread is provided with
a counterbore for a locating dowel. See chapter 7 "Accessories and
spare parts" for suitable locating dowels.
Carriage
Carriage
Thread
Depth
PAS42
[mm] M5
[mm] 10
[mm]
PAS43
M6
PAS44
M8
12
16
Diameter counterbore for
locating dowel
8
10
12
Table 4.3 Carriage
54
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4 Installation
4.3
Electrical installation
4.3.1 Connecting the sensors
The sensors are equipped with an M8 x 1 connector.
+
+
4
1
1
4
4
1 (+)
3 (-)
PNP
3
NPN
M8
3
-
-
Figure 4.2
Connection assignment sensors
Pin
1
Description
Color
PELV supply voltage (+)
PELV supply voltage (-)
Output
BN (brown)
BU (blue)
BK (black)
3
4
The cable length is 100 mm. Extension cables are available in various
lengths as accessories, see chapter 7 "Accessories and spare parts".
4.3.2 Motor connection
See the motor manual for details on connecting the motor.
4.4
Checking installation
Verify that you have correctly installed the product after having per-
formed the above steps.
̈ Verify correct mounting and cabling of the product. In particular,
check the mains connection and the 24V connection.
Check the following:
̈ Did you connect all protective ground conductors?
̈ Do you use correct fueses?
̈ Are any live cable ends exposed?
̈ Did you properly install and connect all cables and connectors?
̈ Did you properly install the sensors?
̈ Do the sensors function as required?
̈ Is it possible to freely move the carriage with the contact plate for
the sensors along the entire travel length?
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4 Installation
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PAS4•S
5 Commissioning
5
Commissioning
@ WARNING
UNEXPECTED MOVEMENT
When the axis is operated for the first time, there is a risk of unex-
pected movements caused by possible wiring errors or unsuitable pa-
rameters.
•
Verify that that the axis is properly fastened so it cannot come
loose even in the case of fast acceleration.
•
•
Note that vertically installed linear axes may lower unexpectedly.
Verify that a functioning button for EMERGENCY STOP is within
reach.
•
Verify that the system is free and ready for the movement before
switching it on.
•
Run initial tests at reduced velocity.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
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5 Commissioning
PAS4•S
5.1
Commissioning procedure
You must also re-commission an already configured
product if you want to use it under changed operating
conditions.
̈ For commissioning, note all information provided in the manual of
the motor used and the manual of the drive used.
̈ Verify that the actual loads conform to the required and engineering
data prior to operating the product.
̈ Verify the function of the sensors. The integrated LED must indicate
the switching state correctly.
̈ Check the distance between the sensors and the mechanical stops.
The movement must be stopped by the sensors before the carriage
reaches a mechanical stop.
̈ Verify that the sensors are positioned in such a way that the move-
ment of the carriage is stopped in both directions by a sensor.
̈ Perform initial tests at reduced velocity. During these tests, verify
that the controller responds correctly to the sensors in both direc-
tions of movement.
̈ Perform a full test under realistic conditions.
58
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PAS4•S
6 Diagnostics and troubleshooting
6
Diagnostics and troubleshooting
6.1
Troubleshooting
Problem
Cause
Troubleshooting
Sensor overtraveled
Sensor
Adjust or replace sensors, see page 61
Check controller
Controller
Motor load increases, controller
Guides and/or ball screw drive under
Contact service
switches off because of overload. mechanical tension or excessive friction
caused by poor lubrication.
Noise and vibrations at high
speed of rotation of the ball screw
Speed of rotation of ball screw too high
Poor lubrication (in the case of noise)
Reduce speed of rotation of ball screw
Lubricate, see page 83
Run-out of the screw caused by impact or The ball screw must be replaced. Contact
shock
service
Running inaccuracy and noise of Poor lubrication
the guides
Lubricate, see page 83
Replace guides, contact service
Damage to the guides, for example by
shock or impact on the carriage
Carriage has backlash and posi- Backlash in ball screw drive or guides
Contact service
tions inaccurately
after a collision or poor lubrication
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6 Diagnostics and troubleshooting
PAS4•S
6.2
Inspection
Components of the linear axis may be damaged or destroyed as a result
of a collision.
̈ After a collision, inspect the drive elements, the linear guide and the
elastomer coupling for damage according to the instructions in the
following chapters.
6.2.1 Ball screw drive
̈ Check the linear axis for unusual noise and vibrations.
̈ Perform a visual inspection of the ball screw drive for damage. To
do so, remove the cover strip as described in chapter 6.3.4 "Replac-
A damaged ball screw drive must be replaced. Contact
your local sales office.
6.2.2 Ball screw bearing
̈ Check the linear axis for unusual noise and vibrations.
A damaged ball screw bearing must be replaced. Contact
your local sales office.
6.2.3 Linear guide
The linear guide consists of the guide carriage and the profile rail.
̈ Perform a visual inspection of the linear guide for damage. To do so,
remove the cover strip as described in chapter 6.3.4 "Replacing the
A damaged linear guide must be replaced. Contact your
local sales office.
6.2.4 Elastomer coupling
̈ Perform a visual inspection of the elastomer coupling for damage.
To do so, remove the motor or the gearbox as described in chapter
NOTE: A damaged elastomer coupling must be replaced. See chapter
6.3.2 "Replacing the motor or the gearbox" for the procedure.
60
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6 Diagnostics and troubleshooting
6.3
Replacing parts
Only replace the parts described. All other parts may only be replaced
by technicians trained by the manufacturer.
Carry out a complete installation for replacing the entire axis as per see
chapter 4 "Installation".
replacing parts.
6.3.1 Replacing a sensor
You can replace a sensor without changing the position of the sensor
holder.
Unless otherwise specified, the standard tightening
You need a set of Allen keys and a feeler gauge.
Procedure
̈ Loosen the M3 screw (2) at the slotted side of the sensor holder
until the sensor to be replaced can be pulled out from below.
1
3
2
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6 Diagnostics and troubleshooting
PAS4•S
6.3.2 Replacing the motor or the gearbox
@ WARNING
GREAT MASS OR FALLING PARTS
•
In the case of a vertically installed linear axis, secure the moving
parts to keep them from falling down.
•
Mount the product in such a way (tightening torque, securing
screws) that the axis and mounted parts cannot come loose even
in the case of fast acceleration or continuous vibration.
•
Note that vertically installed linear axes may lower unexpectedly.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
The motor or the gearbox are coupled by means of a preloaded elas-
tomer coupling.
Unless otherwise specified, the standard tightening
You need a set of Allen keys and a torque wrench with hexagon socket.
Dismounting, motor only
̈ Secure the motor to keep it from falling down.
̈ Remove the 4 screws and washers at the motor.
̈ Pull the motor and the clamping hub off of the motor adapter plate.
This requires a greater force of up to 450 N.
̈ Loosen the clamping screw at the clamping hub.
̈ Pull the clamping hub off the motor shaft.
Dismounting, gearbox only
See the gearbox manual for details on removing a motor
from the gearbox.
62
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6 Diagnostics and troubleshooting
̈ Remove the 4 screws and washers at the gearbox flange.
̈ Pull the gearbox and the clamping hub off of the motor adapter
plate.
This requires a greater force of up to 450 N.
̈ Loosen the clamping screw at the clamping hub.
̈ Pull the clamping hub off the gearbox shaft.
If the gearbox does not have its own flange, the flange plate (1) must be
dismounted.
̈ Remove the 4 screws at the flange plate.
̈ Remove the flange plate.
1
NOTE: If the new motor or the new gearbox has shaft dimensions differ-
ent from the old motor or gearbox, you must use a suitable new elas-
tomer coupling. See the next chapter for details on replacing an
elastomer coupling.
Please refer to the gearbox manual for mounting a motor to
the gearbox.
6.3.3 Replacing the elastomer coupling
Unless otherwise specified, the standard tightening
You need a set of Allen keys and a torque wrench with hexagon socket.
̈ Remove the 4 screws at the motor adapter plate.
̈ Remove the motor adapter plate.
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6 Diagnostics and troubleshooting
PAS4•S
̈ Dismount the coupling housing with the 4 screws.
̈ Pull the elastomer spider off of the clamping hub.
̈ Loosen the clamping screw at the clamping hub.
̈ Pull the clamping hub off the shaft extension of the linear axis.
̈ Mount the elastomer coupling as well as the motor or the gearbox
6.3.4 Replacing the cover strip (and the strip deflection)
@ WARNING
SHARP EDGES
The cover strip has sharp edges. When the cover strip is cut to length,
the edges may be particularly sharp.
•
Wear protective gloves.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
When the cover strip is worn, it is recommended that the two strip de-
flections be replaced at the same time (deflection unit with brush).
Unless otherwise specified, the standard tightening
Special tightening torques
Cover strip clamp
Screw ISO 4762 - 8.8
Wrench size
PAS41
PAS42
M4 x 8
3
PAS43
PAS44
M3 x 8
M5 x 10 M6 x 14
[mm] 2.5
[Nm] 0.6
4
5
3
Tightening torque
1.0
1.5
Table 6.1 Tightening torques cover strip clamp
64
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6 Diagnostics and troubleshooting
Clamping plate
Set screw DIN 913 - 45H
Wrench size
PAS41
PAS42
PAS43
PAS44
M3 x 10 M4 x 10 M5 x 16 M6 x 20
[mm] 2.5
[Nm] 0.2
3
4
5
Tightening torque
0.3
0.4
0.5
Table 6.2 Tightening torques clamping plate
You need a set of Allen keys and a torque wrench with hexagon socket
and a pair of tin snips.
Procedure Carry out the following steps on both ends of the carriage / linear axis.
2 set screws at the cover strip clamp fixate the clamping plate below and
the cover strip.
̈ Loosen the two set screws.
̈ Remove the cover strip clamp (1). To do so, loosen the two screws.
2
Keep the screws and the clamping plate (2) from falling down.
1
̈ Remove the rubber buffer at the strip deflection. To do so, loosen
the two screws.
̈ Remove the holding plate together with the strip deflection. To do
so, loosen the two screws.
̈ Pull out the entire cover strip.
̈ Remove the plastic unit from the housing of the strip deflection.
̈ Insert the new plastic unit into the housing of the strip deflection.
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6 Diagnostics and troubleshooting
PAS4•S
̈ Cut the new cover strip to the same length as the old cover strip
with the tin snips.
̈ Guide the new cover strip through the guide channel inside the car-
riage.
̈ Guide the new cover strip through the strip deflections.
̈ Place the holding plate for mounting the rubber buffer into position
at the strip deflection.
̈ Screw the strip deflection into place.
When doing so, align the strip deflection and the carriage.
̈ Place the cover strip over the entire length of the axis body.
Align the cover strip symmetrically so that the distance to the two
end blocks amounts to 1 ... 2 mm.
Verify that the cover strip has even contact with the magnetic strips.
̈ Fit the clamping plate (2) into place.
2
̈ Screw the cover strip clamp (1) into place with the tightening torque
1
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6 Diagnostics and troubleshooting
̈ Tighten the two set screws for holding the clamping plate with the
̈ Mount the rubber buffer with the two screws and the washers.
Test movements ̈ Run initial tests at reduced velocity.
Verify proper function of the cover strip.
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6 Diagnostics and troubleshooting
PAS4•S
68
Portal axes with ball screw drive
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PAS4•S
7 Accessories and spare parts
7
Accessories and spare parts
Contact your local sales office if order numbers are missing
or if you have questions.
7.1
Clamping claws
Order data
Description
Order no.
For mounting the linear axes
to a mounting surface.
For axis ...
PAS42
VW33MF10512
VW33MF10613
VW33MF10814
10 piece
PAS43
PAS44
Dimensional drawings
For axis
...
A
B
B1
B2
D1
D2
H
H1
L
LA1
B
Ø D1
Ø D2
mm mm mm mm mm mm mm mm mm mm
PAS42
PAS43
PAS44
18
18
18
19
24
28
14
16
20
7
10
11
15
5.5
6.6
9
16.2 5.4
21.5 6.4
76
76
76
40
40
40
8
10
22
12
B2
B1
L
A
A
LA 1
Portal axes with ball screw drive
69
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7 Accessories and spare parts
PAS4•S
7.2
7.3
70
Slot nuts
Order data
Description
Order no.
The slot nuts are
For axis ...
Slot nut
type
inserted into the T-slots
of the axis body to fas-
ten the axis or parts of
the axis.
PAS42
PAS43
PAS44
5 pieces M5 VW33MF010T5N5
6 pieces M6 VW33MF010T6N6
8 pieces M6 VW33MF010T8N6
8 pieces M8 VW33MF010T8N8
10 piece
Dimensional drawings
Slot nut type
B
D
mm
5
H
L
LA
mm
4
L
For axis ...
PAS42
mm
8
mm
4
mm
11.5
17
LA
5 pieces M5
6 pieces M6
8 pieces M6
8 pieces M8
PAS43
10.6
13.8
13.8
6
6.4
7.3
7.3
5.5
6.5
7.5
PAS44
6
23
8
23
D
H
Locating dowels
Order data
Description
Order no.
For precise and reproducible
mounting of the payload, the
locating dowels are inserted
into the holes at the carriage.
For axis
PAS42
PAS43
PAS44
VW33MF020LD01
VW33MF020LD02
VW33MF020LD03
20 piece
Dimensional drawings
D1
D2
Ø D2
Ø D1
For axis ...
PAS42
mm
5.5
6.6
9
mm
8 h6
10 h6
12 h6
PAS43
PAS44
3,8
Portal axes with ball screw drive
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7 Accessories and spare parts
PAS4•S
7.5
Sensors and additional parts
7.5.1 Sensors
Order data
Description
Order no.
XS508B1PBP01M8
With signal state indicator, 100
PNP, normally
mm cable and 3-pin M8 circular closed contact
connector, suitable for all axes
4
PNP, normally open XS508B1PAP01M8
1
3
1 piece
contact
NPN, normally
closed contact
XS508B1NBP01M8
XS508B1NAP01M8
NPN, normally
open contact
Dimensional drawings
Total length
Thread length
Cable length
LED
A
B
L
M8
[mm]
33
[mm]
25
[mm]
100
B
L
A
Technical data
Design
Cylindrical thread M8 x 1
CE
Approvals
Electrical connection (PUR cable with M8 connector)
[m]
0.10
Nominal switching distance S (in the case of steel)
[mm]
1.5
n
Hysteresis
1 to 15% of the real switching distance
Degree of protection as per IEC 60529
Temperature (storage)
IP67
[°C]
[°C]
-40 ... +85
-25 ... +70
Nickel-plated brass
Temperature (operation)
Housing material
2
Cable material
PUR, 3 x 0.12 mm , length 10 cm
Function indicator output
Function indicator supply voltage
Supply voltage (PELV)
Yellow LED
No
[V ]
12 ... 24 with reverse polarity protection
dc
Supply voltage (including residual ripple)
[V ]
10 ... 36
< 200
< 2
dc
Switching current (overload and short-circuit protection) [mA]
Voltage drop, output conducting
No-load current
[V]
[mA]
[Hz]
[ms]
[ms]
< 10
Maximum switching frequency
Switch-on time
5000
< 0.1
< 0.1
Switch-off time
72
Portal axes with ball screw drive
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7 Accessories and spare parts
7.5.2 Sensor extension cable
Order data
Description
Suitable for drag chain applications; sensor 5 m
Order no.
4
VW32SBCBGA050
VW32SBCBGA100
VW32SBCBGA200
side end 3-pin M8 circular connector, sec-
ond cable end open
1
3
10 m
20 m
1 piece
7.5.3 Sensor holder
Order data
Description
Order no.
For standard limit switch with 8 mm diameter; mova-
ble; suitable for all axes
VW33MF010M8
10 piece
7.5.4 Contact plate
Order data
Description
Order no.
For mounting to the carriage of the axis
VW33MASP1
Content
1 contact plate
2 screws
Portal axes with ball screw drive
73
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7 Accessories and spare parts
PAS4•S
7.6
Coupling assemblies
spb can transmit a greater torque than the linear axis can
accept.
Coupling assemblies are required
to mount motors to axes.
A coupling assembly consists of
the following components:
•
2 clamping hubs, one each for
ball screw end and motor end
3
2
•
1 elastomer spider, as a
decoupling element between
the hubs
1
Coupling assembly
(1) Clamping hub
(2) Elastomer spider
(3) Clamping hub
•
2 screws
7.6.1 Elastomer spiders
Order data
Description
Order no.
Decoupling element between For axis ...
the hubs
PAS42
SPM3MFR14A034
SPM3MFR20A120
SPM3MFR25A320
1 piece
PAS43
PAS44
Dimensional drawings
Ø DZ
M
M
J
DZ
mm
14
max
N
2
For axis ...
PAS42
Nm
98 Sh A 34
Nm
17
kgcm
0.013
0.067
0.15
PAS43
98 Sh A 120
98 Sh A 320
60
20
PAS44
160
25
74
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7 Accessories and spare parts
7.6.2 Clamping hubs
Order data
Description
Clamping hub
1 piece
Order no.
1)
D1 (mm)
M
(Nm)
max
Please inquire for Maximum torque
other diameters
that can be trans-
mitted
For axis ...
PAS42
6.35
8
32.5
35
SPM3MFCC06A07
SPM3MFCC08A07
SPM3MFCC09A07
SPM3MFCC10A07
SPM3MFCC11A07
SPM3MFCC12A07
SPM3MFCC14A07
SPM3MFCC16A07
SPM3MFCC19A07
SPM3MFCC20A07
SPM3MFCC12A08
SPM3MFCC14A08
SPM3MFCC19A08
SPM3MFCC20A08
SPM3MFCC22A08
SPM3MFCC24A08
SPM3MFCC25A08
SPM3MFCC12A09
SPM3MFCC14A09
SPM3MFCC19A09
SPM3MFCC20A09
SPM3MFCC22A09
SPM3MFCC24A09
SPM3MFCC25A09
9
36
10
11
12
14
41
45
50
53
2)
16
55
19
20
12
14
19
58
60
PAS43
49
54
75
20
76
22
24
25
12
14
19
20
22
24
78
85
98
PAS44
108
111
128
138
154
158
160
25
1) See dimensional drawings
2) Clamping hub with diameter for ball screw shaft extension, see dimensional drawings ball screw axis in chapter 3 "Technical
Portal axes with ball screw drive
75
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7 Accessories and spare parts
PAS4•S
Dimensional drawings
A
B
E (ISO 4762)
F
C
A
A - A
For axis
J
E
A
B
C
8
D1 D2 DK
F
...
A
2
Ø
D1
kgcm
0.15
0.55
1.22
mm Nm mm
Ø DK
1)
PAS42
PAS43
PAS44
M6
M6
M8
5
5
6
14 31 17
40 45
14
14 36 20 10
35 39 21
55 57.5 20
65 73 25
9
1) See order data
76
Portal axes with ball screw drive
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PAS4•S
7 Accessories and spare parts
7.7
Grease guns
Order data
Designation
Description
Order no.
Single-hand high-pressure grease gun With nozzle for lubricating the linear axes with Recircu- VW33MAP01
lating ball bearing guides. Suitable nozzle type D.
3
3
Volume: 120 cm ; delivery volume: 0.5 cm /stroke
Single-hand high-pressure oil gun
With nozzle for the lubrication of the linear axes with
roller. Suitable nozzle type D.
Volume: 120 cm ; delivery volume: 0.5 cm /stroke
VW33MAP02
3
3
Nozzle type D6 90°
Nozzle type D6 20°
For grease nipple type D6; nipple 90°, Ø 6 mm; length VW33MAT01
20 mm; with M4 pointed nozzle 90° lateral
For grease nipple type D6; nipple 20°, Ø 6 mm; length VW33MAT02
20 mm; with M4 pointed nozzle 20° angled
7.8
Cover strips
Order data
Description
Order no.
For axis ... Width (mm) Height
Length (m)
(mm)
PAS42
PAS43
PAS44
36
45
65
0.15
0.15
0.15
3
6
3
6
3
6
SPM3MAC36L030
SPM3MAC36L060
SPM3MAC45L030
SPM3MAC45L060
SPM3MAC65L030
SPM3MAC65L060
Portal axes with ball screw drive
77
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7 Accessories and spare parts
PAS4•S
7.9
Strip deflection
Order data
Description
Order no.
Kit with
For axis ...
PAS42
1 strip deflection
1 deflection unit with brush
1 holding plate
1 rubber buffers
4 screws
SPM3MAC2D0042
SPM3MAC3D0043
SPM3MAC4D0044
PAS43
PAS44
7.10 Cover strip clamp
Order data
Description
Order no.
Kit with
For axis ...
PAS42
1 belt deflection
1 clamping plate
2 screws
2 set screws
2 nuts
SPM3MAC1F042
SPM3MAC1F043
SPM3MAC1F044
PAS43
PAS44
7.11 Magnetic strips
Order data
Description
Order no.
2 piece
For axis ...
Width (mm) Height
Length
(m)
(mm)
PAS42
4.0
1
1.5
3
SPM3MAW1S415
SPM3MAW1S430
SPM3MAW1S460
SPM3MAW1S615
SPM3MAW1S630
SPM3MAW1S660
6
PAS43 /
PAS44
6.0
1
1.5
3
6
78
Portal axes with ball screw drive
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PAS4•S
7 Accessories and spare parts
7.12 Rubber buffer
Order data
Description
Order no.
Kit with
For axis ...
2 rubber buffers
2 holding plates
12 screws
PAS42
PAS43
PAS44
SPM3MAC2B042
SPM3MAC3B043
SPM3MAC4B044
Portal axes with ball screw drive
79
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7 Accessories and spare parts
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80
Portal axes with ball screw drive
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PAS4•S
8 Service, maintenance and disposal
8
Service, maintenance and disposal
@ DANGER
ELECTRIC SHOCK
High voltages at the motor connection may occur unexpectedly.
•
•
Verify that no voltage is present (this includes the DC bus) prior to
taking up work on the drive system.
AC voltage can couple voltage to unused conductors in the motor
cable. Insulate both ends of unused conductors in the motor
cable.
•
The motor generates voltage when the shaft is rotated. Prior to
performing any type of work on the drive system, block the motor
shaft to prevent rotation.
Failure to follow these instructions will result in death or serious
injury.
@ WARNING
GREAT MASS OR FALLING PARTS
•
Consider the mass of the axis when mounting it. It may be neces-
sary to use a crane.
•
Mount the axis in such a way (tightening torque, securing screws)
that the axis and mounted parts cannot come loose even in the
case of fast acceleration or continuous vibration.
•
Note that vertically installed linear axes may lower unexpectedly.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
8.1
Service address
If you cannot resolve an error yourself please contact your sales office.
Have the following details available:
•
•
•
•
Nameplate (type, identification number, serial number, DOM, ...)
Type of error (such as LED flash code or error number)
Previous and concomitant circumstances
Your own assumptions concerning the cause of the error
Also include this information if you return the product for inspection or re-
pair.
If you have any questions please contact your sales office.
Your sales office staff will be happy to give you the name of
a customer service office in your area.
Portal axes with ball screw drive
81
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8 Service, maintenance and disposal
PAS4•S
8.2
Maintenance
The maintenance intervals for cleaning and lubrication must be adhered
to.
̈ Include the maintenance intervals in your maintenance schedule.
8.2.1 Cleaning
Due to its design, the product is not susceptible to the ingress of con-
taminants and external objects. The guide is located inside the axis body
and it is covered.
The product must be inspected and cleaned at regular intervals.
̈ Do not use compressed air for cleaning.
̈ Remove large particles and dirt from the surface at regular inter-
vals.
̈ The anodized surface only has a limited resistance to alkaline
cleaning agents. Therefore, use only neutral cleaning agents for
cleaning.
̈ Use only damp, soft and lint-free cleaning cloths to wipe the sur-
face.
Cover strip The cover strip is teflon-coated. The friction causes abrasion on the
cover strip.
̈ Remove abrasion products at regular intervals.
82
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PAS4•S
8 Service, maintenance and disposal
8.2.2 Lubrication
CAUTION
DAMAGE DUE TO WRONG LUBRICANT
Wrong lubricants may damage the product.
•
•
Use the correct type of lubricant (grease, oil) as required by
the linear guide of the linear axis.
Note the type code.
Failure to follow these instructions can result in equipment
damage.
Lubricant is used continuously during operation of the linear axis. There-
fore, regular relubrication is mandatory.
The lubrication system is not completely tight. Therefore, small amounts
of lubricants may escape after relubrication.
Insufficient lubrication or incorrect lubricants increase wear and reduce
the service life. The following factors influence the lubrication intervals:
•
•
•
•
•
•
Dust and dirt particles
High operating temperatures
Heavy loads
Heavy vibration
Permanent short-distance positioning
High speed of rotation of ball screw
Portal axes with ball screw drive
83
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8 Service, maintenance and disposal
PAS4•S
8.2.3 Lubricating the linear guide and the drive elements
The ball screw axis is lubricated with grease from an internal reservoir.
The reservoir is factory-prefilled. The carriage features 3 grease nipples
at each side for relubrication.
•
•
The outer grease nipples are used to lubricate the linear guide.
The inner grease nipples are used to fill the drive element (ball
screw drive).
The lubrication interval depends on the load, the velocity, the cycle time
and the ambient conditions. The following recommended values apply to
lubrication intervals:
Linear guide
•
5000 km operational performance
Size
PAS42
Lubricant
Relubrication volume Strokes
3
3
3
Microlube GL 261
Microlube GL 261
Microlube GL 261
0.3 cm
0.6 cm
1.0 cm
1/4
1 1/4
2
PAS43
PAS44
Drive elements
•
•
•
100 km at a screw pitch of 5 mm
200 km at a screw pitch of 10 mm
400 km at a screw pitch of 16 mm
Size
Lubricant
Relubrication volume Strokes
3
PAS42
PAS43
PAS44
Microlube GL 261
Microlube GL 261
Microlube GL 261
1.5 cm
3.5 cm
4.5 cm
3
7
9
3
3
and lubricants.
Notes on greasing When applying the lubricant, you must not exceed a maximum flow rate.
Therefore, the minimum injection time of 3 seconds per grease gun
stroke must be adhered to.
The carriage must be moved between strokes of the grease gun to allow
the grease to distribute evenly in the lubricant reservoirs.
84
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PAS4•S
8 Service, maintenance and disposal
Procedure
Lubricating the linear guide
̈ Inject the correct type and volume of grease into the two outer
grease nipples at one side of the carriage.
Lubricating the drive element
̈ Inject the correct type and volume of grease into the center grease
nipple at one side of the carriage.
8.3
Shipping, storage, disposal
Shipping The product must be protected against shocks during transportation. If
possible, use the original packaging for shipping.
Storage The product may only be stored in spaces where the specified permis-
sible ambient conditions for room temperature and humidity are met.
Protect the product from dust and dirt.
Disposal The product consists of various materials that can be recycled and must
be disposed of separately. Dispose of the product in accordance with lo-
cal regulations.
Portal axes with ball screw drive
85
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8 Service, maintenance and disposal
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86
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PAS4•S
9 Glossary
9
Glossary
9.1
Terms and Abbreviations
Axis body The axis body is a high-strength, torsion-resistant aluminum precision
profile.
Ball screw drive The ball screw drive converts a rotary movement into a linear move-
ment. It consists of a ball screw, a ball nut with the ball recirculating el-
ements and the bearing balls. A ball screw drive has a very high
efficiency. It allows for high-precision, stiff feed movements and gener-
ates high feed forces at high positioning accuracy and repeatability.
Ball screw pitch The pitch of the ball screw shaft relates to the distance covered by the
carriage per revolution of the ball screw. The greater the pitch the higher
the maximum velocity.
The following applies to the ball screw pitch:
•
•
•
•
High pitch requires high driving torque
High pitch results in high velocity
High pitch causes high inaccuracy
High pitch implies little self-locking
Breakaway torque The breakaway torque describes the driving torque required to over-
come the static friction and that initiates the transition to sliding friction.
Buckling load Buckling is the loss of stability of the spindles when the max. permissible
feed forces whose line of application is along the spindle axis are ex-
ceeded. Exceeding the buckling load is expressed by a quickly increas-
ing change in the shape of the spindle with a deviation to the side.
Cantilever axis In the case of a cantilever axis, the carriage is stationary while the axis
body moves. Portal axes work the other way round.
Critical speed of the ball screw If the critical speed of the ball screw is exceeded, deflection of the ball
screw and resonance will occur. This will seriously affect the service life
of the ball screw drive. Ball screw supports are installed in longer ball
screw axes to increase the critical screw speed and thus the perform-
ance data.
Drive element The drive element of the linear axis is a ball screw drive.
Feed per revolution The feed per revolution is the distance the carriage covers per motor rev-
olution.
Linear guide The linear guide consists of the guide carriage and the profile rail.
Load torque The permissible load torques are calculated based on the service life of
the carriage guide. If the load torque exceeds the specified values, the
service life of the axis will be reduced.
Modulus of elasticity The modulus of elasticity is used to describe the tendency of a material
to deform along an axis when opposing forces are applied along this
axis; it is the ratio of tensile strain and tensile stress. The higher the
value, the stiffer the material.
Mounting position The linear axes can be installed in any desired position. However, all ex-
ternal forces and torques must be within the ranges of permissible val-
ues.
Portal axes with ball screw drive
87
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9 Glossary
PAS4•S
Portal axis Generic term for driven axes and support axes. In the case of a portal
axis, the axis body is stationary while the carriage moves. Cantilever
axes work the other way round.
Positioning accuracy Positioning accuracy is the tolerance between the specified position and
actual position.
Repeatability Repeatability is the accuracy with which it is possible to move to a pre-
vious position again under the same conditions.
Running accuracy Due to the manufacturing process, the extruded aluminium profiles have
a certain tolerance in terms in straightness and twist. The tolerances are
specified in EN 12020-2. To reach the desired running accuracy, the lin-
ear axis must be mounted on a precision-machined surface.
Self-locking The product is not self-locking. This means that motors with a holding
brake, a separate holding brake or suitable weight compensation for the
linear axis must be used, particularly so if axes are vertically mounted.
Sensor Inductive proximity switches are used as sensors for limit switches or ref-
erence switches. These switches are not a safety function.
Service life The service life is the distance in kilometers before the first signs of ma-
terial fatigue can be seen on the guides, the drive elements and the
bearings. Service life specifications (kilometers covered) relate to the
nominal values specified in the data sheet. If the nominal values are ex-
ceeded, the service life decreases accordingly.
Stiffness The stiffness shows information on the capacity of part that is to be po-
sitioned to move and stop at the correct position, even under load vari-
ations.
Stroke reserve The stroke reserve is the distance between a limit switch and the me-
chanical stop.
Stroke Stroke is the maximum travel of the carriage between the switching
points of the limit switches.
Support axis A support axis has a linear guide, but no drive elements. A support axis
carries loads that are applied asymmetrically to the carriage and im-
proves the stability and service life of the system.
88
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10 Index
PAS4•S
H
I
Installation
L
Lubrication
M
Manuals
Motor
Mounting
P
Q
R
Replacement
90
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PAS4•S
10 Index
S
Source
Strip deflection
T
Tightening torques
Transportation
V
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10 Index
PAS4•S
92
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