with IndraMotion Control - Industrial Bearing S · 2012. 7. 24. · Optional: Manual control unit...

The Drive & Control Company

Cartesian Motion Systems CMSwith IndraMotion Control

R310EN 2625 (2006.10)

Bosch Rexroth AG

Linear Motion and Assembly TechnologiesBall Rail SystemsRoller Rail SystemsLinear Bushings and ShaftsBall Screw DrivesLinear Motion SystemsBasic Mechanical ElementsManual Production SystemsTransfer Systems

3Bosch Rexroth AGR310EN 2625 (2006.10) CMS

Cartesian Motion Systems CMSProduct Overview 4

Axis Systems 10

1-axis systems 10

2-axis systems X-Y 16

2-axis systems X-Z 18

3-axis systems X-Y-Z 22

Technical Data Notes 26

Mechanical Components 28

Compact Modules CKK 28

Electronic Components 30

ECODRIVE Cs 30

IndraMotion Control for CMS 31

Application Examples and Training Systems 34

Installation 35

User Support 39

4 Bosch Rexroth AG CMS R310EN 2625 (2006.10)

Product Overview

A single solution for manyapplications

Common sense in mechanical engi-neeringThe French philosopher René Descartes introduced the adjective "Cartesian" that we use in linear technology, as well as in other fields, to describe the Cartesian coordinate system with X, Y and Z axes. Descartes also said that "…Common sense is the most fairly distributed thing in the world, for each one thinks he is so well-endowed with it that even those who are hardest to satisfy in all other matters are not in the habit of desiring more of it than they already have". What does this mean for us?

By applying common sense in the de-velopment of Cartesian robot systems, we have arrived at a quick and cost-ef-fective solution:

Take a simple standardized linear motion system, combine it with a motor, con-trols, connection elements, cables, and with our experience, and you will arrive at a factory-built, pre-configured motion system that meets the specific needs of the user.

Here‘s how it worksThe machine engineer no longer has to order a variety of linear components that must then be integrated into his design. Instead, he can order a complete and matched "Cartesian system" with 1, 2 or 3 axes by a single part number.

The user can select exactly the combina-tion he needs for his requirements from a wide range of axis configurations. He then receives a pre-programmed and tested solution, and all it takes to cus-tomized it to the task in hand is entering the appropriate positioning data for the application.


Minimum effort – maximum efficiencyThis approach yields some real advant-ages: There are significant time savings because the entire planning phase is considerably shorter and the assembly time needed for these motion systems is close to zero, since these individual high-precision components are not shipped piece by piece, but as a complete unit.

The system includes the Rexroth CMS with servo motor and drive, field bus interface, cable management, and – as an optional feature - positioning or path control.

It goes without saying that the set-up effort for these preconfigured Cartesian systems is much less than with conven-tional systems, saving the user time, cost and stress.

The complete solution from a single sourceRexroth offers not only these motion sys-tems, but also ideal products for setting up base frames and guard enclosures. For the user, this means a complete sys-tem solution from a single source, and with extremely narrow tolerance limits.

Worldwide service network for on-site serviceBosch Rexroth AG operates a close-knit sales and service network around the globe. Wherever Rexroth products are used, the designer and manufacturer are nearby, providing expert advice and ex-perience and a full range of replacement and accessory parts to ensure trouble-free operation.

Interface problems - solvedWhen it comes to the drive interface, Rexroth Cartesian motion systems can be readily adapted to your requirements. The following interfaces are available: Profibus-DP, SERCOS, Device-Net and CANopen.

IndraMotion for CMS is a PLC based control system for coordinated multi-axis movements based on PLCopen motion control.

6 Bosch Rexroth AG

Home (0/0/0)

P5 (700/500/350)

CMS R310EN 2625 (2006.10)

Various configurations for simple and fastplanning

Factory base settingsPre-parameterized servo drive with Profibus DB, SERCOS, CANopen and DeviceNet interfaces

–

Durable mechanical componentsOptimum travel, high load capacities and high stiffness through two integrated preloaded ball rail guidesBall screw drive with preloaded nut system

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–

Integrated AC-servomotorAbsolute encoder (no reference cycle needed)Holding brake

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Any length available (up to maximum stroke)Completely assembled and pinnedOptimized combination of motor and servo-drivePrecise alignment and secure mounting of customer attach-ments using threaded holes and pin holes in the carriageSimple connection to the mounting base with clamping fixtures and connection plates (compatible with Bosch Rexroth Structural Framing - MGE product line)Complete assembly including cable managementProtection of internal components by polyurethane sealing stripsAssembly and test run of the complete systemCAD files to be generated

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Other outstanding features

The system solution for time-optimized point-to-point multi-axis movementThe CMS Cartesian Motion System with IndraMotion offers minimum machine cycles and thus maximum productivity through time-optimized rotation. Operating, teaching and programming the system is easy and straightforward. With engineering costs slashed to a minimum, the turnkey solution with open-source software is also extremely flexible when it comes to customizing it to specific requirements. Its total scalability ensures optimum efficiency in all applications.

Outstanding versatilityTypical application areas for CMS Cartesian Motion Systems with IndraMotion include:

Handling operations, e.g. parts removal systems for injection molding machines or machine toolsAssembly, logistics, palletizing, pick and placeGeneral and simple types of cutting machinesSpecial machinery, and many more

The unique, flexible and scalable concept makes CMS and IndraMotion an ideal system solution.

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IndraMotion for CMS is a PLC based control system for coordinated multi-axis movements based on PLCopen motion control.

Sequential function chart for motion processesFlexible motion programmingTeaching and definition of travel motionsWith optional software, PLC functionality usable with IEC 61131-3 compliant IndraLogic sequence controlManual control unit (optional) VEH 30 or HD 06

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–

Z coordinate

Y coordinate

X coordinate

Ideal travel curveTravel curve with conventional PLCTravel curve with IndraMotion for CMS

Programmable blended motion ensures minimum posi-tioning times

Product Overview

For further information regarding assembly and start-up see "Assembly Instructions for CMS Cartesian Motion Systems".

�Bosch Rexroth AG

Ethernet

Profibus

R310EN 2625 (2006.10) CMS

1-axis systems 2-axis systems 3-axis systems

Pre-parameterized control system L20 with IndraMotion for CMS. Ready for use, easy to program, and optionally upgradable.

Industrial control and display device VCP08.2

Cartesian Motion Systems

Optional: Manual control unit VEH 30


For each of the models shown here, a special selection of drive sizes and variations is listed on the following pages. Each model is supplied with a matching motor/servo drive combination, completely assembled, tested and prepared for a problem-free start-up.

Product Overview

1-axis systemsCarriage travels

Model type

Motor connected via flangeand coupling

CT10 Page 10

Motor mounted vialeft side drive

CT11 Page 12

Motor mounted viaright side drive

CT12 Page 14


3-axis systems Model type

X-axis, carriage travelsY-axis, carriage travelsZ-axis, carriage travels

CT30 Page 22

X-axis, carriage travelsY-axis, carriage travelsZ-axis, frame travels

CT31 Page 24

2-axis systems Model type

X-axis, carriage travelsY-axis, carriage travels

CT20 Page 16

X-axis, carriage travelsZ-axis, carriage travels

CT21 Page 18

X-axis, carriage travelsZ-axis, frame travels

CT22 Page 20

10 Bosch Rexroth AGH

2

H3

H1

L1 L2

Lx

A

A

L3

L4

B1

B2

A – A

CMS R310EN 2625 (2006.10)

Cable length (LK) to servo drive listed from here .For connection dimensions, see "Installation".

Axis zero-point(factory set)

Stroke X

Dimensions

Model types:R035� 310 00-CT10R035� 410 00-CT10R035� 510 00-CT10

Carriage travelsMotor connected via flange and coupling

LubricationAxis lubrication via carriage and frame possible

(See "Mechanical Components")

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1-axis systems

Model type Dimensions (mm)L1 L2 L3 L4 B1 B2 H1 H2 H3

R035� 310 00-CT10 280.5 95.0 128.5 33.5 90.0 30.0 40.0 81.0 19.5R035� 410 00-CT10 284.5 119.5 157.5 38 110.0 0.0 50.0 107.0 41.5R035� 510 00-CT10 321.0 145.0 190.0 45 145.0 0.0 65.0 127.0 43.0

Axis Systems

11Bosch Rexroth AG

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R0357 410 00 - CT10 - 500 - 0 - 0 - 0 - 3 - 11 - 01

R310EN 2625 (2006.10) CMS

Technical data

Positioning times tp

tp Positioning time of the axis

For a more detailed explanation, see"Technical Data Notes".

Weight calculation(Without servo drive and loading)

Stroke (mm)

CMS R0357 410 00 - CT10 with:Stroke X-axis = 500 mmCable length to servo drive is 3 mServo drive interface: Profibus-DP

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Ordering example

Ordering key

Velocity

Time

Model type Profilewidth

Ball maximum stroke

Accel-eration

Velocity maximum loadingscrewdrive a v horizontal vertical

mm do x P mm m/s2 m/s kg kgR035� 310 00-CT10 90 12 x 10 400 15 0.5 18 18R035� 410 00-CT10 110 16 x 16 800 15 0.8 20 20R035� 510 00-CT10 145 20 x 20 1000 10 1.01) 45 35

for stroke X > 800 mm: velocity = 0.8 m/s1)

Stroke X tp for Model typeR035� 310 00-CT10 R035� 410 00-CT10 R035� 510 00-CT10

mm s s s50 0.21 – –

100 0.31 0.26 –150 0.41 0.32 0.33200 0.51 0.38 0.38300 0.71 0.51 0.48400 0.91 0.63 0.58500 – 0.76 0.68600 – 0.88 0.78700 – 1.01 0.88800 – 1.13 0.98900 – – 1.18

1000 – – 1.46

Model type Weight (kg)R035� 310 00 - CT10 0.0055 · Stroke X + 5.5R035� 410 00 - CT10 0.0092 · Stroke X + 7.5R035� 510 00 - CT10 0.0178 · Stroke X + 15

Ordering information:

R035� x10 00 - CT10 - X - 0 - 0 - 0 - LK - ... - 01Model typeStroke X-axis (mm)Cable length from linear axis to servo drive (m) LKmax = 35 mInterface 10 ... SERCOS 12 ... CANopenServo drive 11 ... Profibus-DP 13 ... DeviceNet

14 ... IndraMotion controlDocumentation

12 Bosch Rexroth AG

H2

H1

L5

L1

L2 L3

Lx

A

A

L4

B1

B2

B3

A – A

CMS R310EN 2625 (2006.10)

1-axis systemsModel types:R035� 310 00-CT11R035� 410 00-CT11R035� 510 00-CT11


Stroke X

Carriage travelsMotor mounted via left side drive



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Model type Dimensions (mm)L1 L2 L3 L4 L5 B1 B2 B3 H1 H2

R035� 310 00-CT11 212.0 95.0 128.5 33.5 69.0 90.0 134.5 27.5 40.0 70.0R035� 410 00-CT11 212.0 119.5 157.5 38 73.5 110.0 136.0 29.0 50.0 70.0R035� 510 00-CT11 245.0 145.0 190.0 45 93.5 145.0 170.5 44.5 65.0 93.5

Dimensions

Axis Systems

13Bosch Rexroth AG

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R0357 510 00 - CT11 - 600 - 0 - 0 - 0 - 3 - 11 - 01

R310EN 2625 (2006.10) CMS

Technical data





Stroke (mm)


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Ordering example

Ordering key

Velocity


Ball max. stroke

Accelera-tion

Velocity maximumscrew loadingdrive a v horizontal vertical




mm s s s50 0.21 – –

100 0.31 0.30 –150 0.41 0.40 0.25200 0.51 0.49 0.30300 0.71 0.68 0.40400 0.91 0.87 0.50500 – 1.05 0.60600 – 1.24 0.70700 – 1.43 0.80800 – 1.62 0.90900 – – 1.21

1000 – – 1.33

Model type Weight (kg)R035� 310 00 - CT11 0.0055 · Stroke X + 5R035� 410 00 - CT11 0.0092 · Stroke X + 7R035� 510 00 - CT11 0.0178 · Stroke X + 15


R035� x10 00 - CT11 - X - 0 - 0 - 0 - LK - ... - 01Model TypeStroke X-Axis (mm)Cable length from linear axis to servo drive (m) LKmax = 35 mInterface 10 ... SERCOS 12 ... CANopenServo drive 11 ... Profibus-DP 13 ... DeviceNet


Time

14 Bosch Rexroth AG

H2

H1

L1

B1

L2 L3

Lx

A

A

L4

L5

B1

B2

B3

A – A

CMS R310EN 2625 (2006.10)

1-axis systemsModel types:R035� 310 00-CT12R035� 410 00-CT12R035� 510 00-CT12


Stroke X

Carriage travelsMotor mounted via right side drive



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Model type Dimensions (mm)L1 L2 L3 L4 L5 B1 B2 B3 H1 H2

R035� 310 00-CT12 212.0 95.0 128.5 33.5 69.0 90.0 134.5 27.5 40.0 70.0R035� 410 00-CT12 212.0 119.5 157.5 38 73.5 110.0 136.0 29.0 50.0 70.0R035� 510 00-CT12 245.0 145.0 190.0 45 93.5 145.0 170.5 44.5 65.0 93.5

Dimensions

Axis Systems

15Bosch Rexroth AG

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R0357 510 00 - CT12 - 600 - 0 - 0 - 0 - 3 - 11 - 01

R310EN 2625 (2006.10) CMS

Technical data





Stroke (mm)


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Ordering example

Ordering key

Velocity


Ball max. stroke

Accelera-tion

Velocity maximumscrew loadingdrive a v horizontal vertical




mm s s s50 0.21 – –

100 0.31 0.30 –150 0.41 0.40 0.25200 0.51 0.49 0.30300 0.71 0.68 0.40400 0.91 0.87 0.50500 – 1.05 0.60600 – 1.24 0.70700 – 1.43 0.80800 – 1.62 0.90900 – – 1.21

1000 – – 1.33

Model type Weight (kg)R035� 310 00 - CT12 0.0055 · Stroke X + 5R035� 410 00 - CT12 0.0092 · Stroke X + 7R035� 510 00 - CT12 0.0178 · Stroke X + 15


R035� x10 00 - CT12 - X - 0 - 0 - 0 - LK - ... - 01Model typeStroke X-axis (mm)Cable length from linear axis to servo drive (m) LKmax = 35 mInterface 10 ... SERCOS 12 ... CANopenServo drive 11 ... Profibus-DP 13 ... DeviceNet


Time

16 Bosch Rexroth AG

H2

H1

(H1)

H6

H5

H4

H3

90

L1

L6

L2 L3

L5

Lx L4

Lx/2

B7

B1

B5 B

6

B8

B4

�

�

CMS R310EN 2625 (2006.10)

Y-Axis zero-point(factory set)

Stroke X

X-axis zero-point(factory set)

Hub YS

trok

e Y

Clamping surfaceClamping surface

Note: The carriage can also travel theadded distance B6, as long ascustomer fixtures do not come incontact with any interfering surfaces.

Cable length (LK) to servo drive listed from here . For connection dimensions, see "Installation".

... Travel range

2-axis systems X-YModel types:R035� 420 00-CT20R035� 520 00-CT20

X-axis: Carriage travelsY-axis: Carriage travels

LubricationX-axis via connecting angle (both sides) and frame possibleY-axis via carriage and frame possible


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Model type Dimensions (mm)L1 L2 L3 L4 L5 L6 B1 B4 B5 B6 B� B8 H1 H2 H3 H4 H5 H6

R035� 420 00-CT20 284.5 61.0 216.0 38 183.0 40.0 110.0 128.5 94.0 130.0 59.0 165.0 50.0 107.0 41.5 90.0 125.0 204.0R035� 520 00-CT20 321.0 73.0 262.0 45 188.0 50.0 145.0 157.5 127.0 171.5 75.0 216.0 65.0 127.0 43.0 110.0 161.0 249.0

Dimensions

Axis Systems

1�Bosch Rexroth AG

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R0357 520 00 - CT20 - 600 - 200 - 0 - 0 - 3 - 11 - 01

R310EN 2625 (2006.10) CMS

Maximum loading andpositioning times tp

Model type R035� 520 00-CT20


Technical data




Stroke (mm)

CMS R0357 520 00 - CT20 with:Stroke X-Axis = 600 mmStroke Y-Axis = 200 mmCable length to servo drive is 3 mServo drive interface: Profibus-DP

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Ordering example

Ordering key

Velocity

Time

Model type Axis Profile width

Ball maximum stroke

Accelera-tion

Velocityscrewdrive a v

mm do x P mm m/s2 m/sR035� 420 00-CT20 X 110 16 x 16 800 15 0.8

Y 90 12 x 10 400 15 0.5R035� 520 00-CT20 X 145 20 x 20 1000 10 1.01)

Y 110 16 x 16 700 15 0.53


X-axis Y-axisStroke tp Stroke tp maximum loading2)

mm s mm s kg– – 50 0.21 10

100 0.26 100 0.31 10150 0.32 150 0.41 10200 0.38 200 0.51 10300 0.51 300 0.71 8400 0.63 400 0.91 8500 0.76 – – –600 0.88 – – –700 1.01 – – –800 1.13 – – –

Model Type Weight (kg)R035� 420 00 - CT20 0.0096 · Stroke X + 0.0055 · Stroke Y + 16R035� 520 00 - CT20 0.0182 · Stroke X + 0.0092 · Stroke Y + 28


R035� x20 00 - CT20 - X - Y - 0 - 0 - 0 - LK - ... - 01Model TypeStroke X-axis (mm)Stroke Y-axis (mm)Cable length from linear axis to servo drive (m) LKmax = 35 mInterface 10 ... SERCOS 12 ... CANopenServo drive 11 ... Profibus-DP 13 ... DeviceNet


X-axis Y-axisStroke tp Stroke tp maximum loading2)

mm s mm s kg– – 100 0.30 20

150 0.33 150 0.40 20200 0.38 200 0.49 20300 0.48 300 0.68 20400 0.58 400 0.87 20500 0.68 500 1.05 15600 0.78 600 1.24 10700 0.88 700 1.43 5800 0.98 – – –900 1.18 – – –

1000 1.46 – – –

The maximum loading is only dependent on stroke Y.2)

18 Bosch Rexroth AG

Z

X

H2

H7

H8

H1

+Z

0

H9

B1

90

H10

H3

B9

B10

B11

B12

L2L1

Lx

Lx/2

L5

L3

L4

+Z

0

–Z0

+Z0

Z0 > 0

Z0 = 0

Z0 = 0

–Z0

Z0 < 0

CMS R310EN 2625 (2006.10)

2-axis systems X-ZModel types:R035� 420 00-CT21R035� 520 00-CT21

X-axis: Carriage travelsZ-axis: Carriage travels

LubricationX-axis via connecting angle (both sides) and frame possible Z-axis via carriage and frame possible


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Dimensions

Z-axis zero-point(factory set)

X-axis zero point(factory set) Clamping surface

Clamping surface

Overrun Stroke X

Str

oke

Z


... Travel range

Model type Dimensions (mm)L1 L2 L3 L4 L5 B1 B9 B10 B11 B12 H1 H2 H3 H� H8 H9 H10 Z0 (from ... to)

R035� 420 00-CT21 284.5 119.5 157.5 38 90.0 110.0 125.0 40.0 21.5 77.5 50.0 107.0 41.5 280.5 95.0 128.5 33.5 -2.5 to (Stroke Z+69.5)R035� 520 00-CT21 321.0 145.0 190.0 45 110.0 145.0 153.5 50.0 42.5 104.0 65.0 127.0 43.0 284.5 119.5 157.5 38.0 -9 to (Stroke Z+80)

Axis Systems

Clamping surface

19Bosch Rexroth AG

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R0357 520 00 - CT21 - 500 - 0 - 200 - 80 - 3 - 11 - 01

R310EN 2625 (2006.10) CMS




Technical data




Stroke (mm)

CMS R0357 520 00 - CT21 with:Stroke X-axis = 500 mmStroke Z-axis = 200 mmOffset Z-axis Z0 = 80 mmCable length to servo drive is 3 mServo drive interface: Profibus-DP

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Ordering example

Ordering key

Velocity

Time


Ball maximum stroke

Accelera-tion



Z 90 12 x 10 400 15 0.5R035� 520 00-CT21 X 145 20 x 20 1000 10 1.01)

Z 110 16 x 16 700 15 0.8


X-axis Z-axisStroke tp Stroke tp maximum loading2)

mm s mm s kg– – 50 0.21 12

100 0.26 100 0.31 12150 0.32 150 0.41 12200 0.38 200 0.51 12300 0.51 300 0.71 10400 0.63 400 0.91 10500 0.76 – – –600 0.88 – – –700 1.01 – – –800 1.13 – – –

Model type Weight (kg)R035� 420 00 - CT21 0.0096 . Stroke X + 0.0055 . Stroke Z + 14R035� 520 00 - CT21 0.0182 . Stroke X + 0.0092 . Stroke Z + 24


R035� x20 00 - CT21 - X - 0 - Z - Z0 - LK - ... - 01Model typeStroke X-axis (mm)Stroke Z-axis (mm)Offset of Z-axis (mm)Cable length from linear axis to servo drive (m) LKmax = 35 mInterface 10 ... SERCOS 12 ... CANopenServo drive 11 ... Profibus-DP 13 ... DeviceNet



mm s mm s kg– – 100 0.26 20

150 0.33 150 0.32 20200 0.38 200 0.38 20300 0.48 300 0.51 20400 0.58 400 0.63 20500 0.68 500 0.76 20600 0.78 600 0.88 20700 0.88 700 1.01 20800 0.98 – – –900 1.18 – – –

1000 1.46 – – –

The maximum loading is only dependent on stroke Z.2)

20 Bosch Rexroth AG

Z

X

H2

H3

B1

90

H7

H1

H9

H8

L1 L2 L3

L4Lx

Lx/2

B9

B10

B11

B12

L5

CMS R310EN 2625 (2006.10)


X-axis zero-point (factory set)

Clampingsurface

Clampingsurface

Overrun Stroke X

Str

oke

Z


... Travel range

2-axis systems X-ZModel types:R035� 420 00-CT22R035� 520 00-CT22

X-axis: Carriage travelsZ-axis: Frame travels

LubricationX-axis via connecting angle (both sides) and frame possibleZ-axis via connecting angle (both sides) and frame possible


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Dimensions

Model type Dimensions (mm)L1 L2 L3 L4 L5 B1 B9 B10 B11 B12 H1 H2 H3 H� H8 H9

R035� 420 00-CT22 284.5 119.5 157.5 38 90.0 110.0 125.0 40.0 19.5 77.5 50.0 107.0 41.5 280.5 223.5+Stroke Z 67.0R035� 520 00-CT22 321.0 145.0 190.0 45 110.0 145.0 153.5 50.0 41.5 104.0 65.0 127.0 43.0 284.5 277.0+Stroke Z 73.5

Axis Systems

21Bosch Rexroth AG

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R0357 520 00 - CT22 - 500 - 0 - 200 - 0 - 3 - 11 - 01

R310EN 2625 (2006.10) CMS




Technical data




Stroke (mm)

CMS R0357 520 00 - CT22 with:Stroke X-axis = 500 mmStroke Z-axis = 200 mmCable length to servo drive is 3 mServo drive interface: Profibus-DP

––––

Ordering example

Ordering key

Velocity

Time


Ball maximumstroke

Accelera-tion



Z 90 12 x 10 400 15 0.5R035� 520 00-CT22 X 145 20 x 20 1000 10 1.01)

Z 110 16 x 16 700 15 0.8



mm s mm s kg– – 50 0.21 10

100 0.26 100 0.31 10150 0.32 150 0.41 10200 0.38 200 0.51 10300 0.51 300 0.71 10400 0.63 400 0.91 10500 0.76 – – –600 0.88 – – –700 1.01 – – –800 1.13 – – –

Model type Weight (kg)R035� 420 00 - CT22 0.0096 . Stroke X + 0.0055 . Stroke Z + 14R035� 520 00 - CT22 0.0182 . Stroke X + 0.0092 . Stroke Z + 24


R035� x20 00 - CT22 - X - 0 - Z - 0 - LK - ... - 01Model typeStroke X-axis (mm)Stroke Z-axis (mm)Cable length from linear axis to servo drive (m) LKmax = 35 mInterface 10 ... SERCOS 12 ... CANopenServo drive 11 ... Profibus-DP 13 ... DeviceNet



mm s mm s kg– – 100 0.26 11

150 0.33 150 0.32 11200 0.38 200 0.38 10300 0.48 300 0.51 9400 0.58 400 0.63 8500 0.68 500 0.76 7600 0.78 600 0.88 6700 0.88 700 1.01 5800 0.98 – – –900 1.18 – – –

1000 1.46 – – –

The maximum loading is only dependent on stroke Z.2)

22 Bosch Rexroth AG

Z

X

Y

127

280,

5

65 95

12

8,5

145

161

33,5

(65)

110

+Z

0

90

216

149,

5 98

,5

43

90

337

45

21,5

40

77,5

(98,5)

321

125

Lx

Lx/2

2

+Z

0

–Z0

+Z0

Z0 > 0

Z0 = 0

Z0 = 0

–Z0

Z0 < 0

CMS R310EN 2625 (2006.10)

3-axis systems X-Y-Z Model types:R035� 530 00-CT30

X-axis: Carriage travelsY-axis: Carriage travelsZ-axis: Carriage travels

Lubrication:X-axis via connecting angle (both sides) and frame possible Y-axis via connecting angle (both sides) and frame possible Z-axis via carriage and frame possible


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–

–

Dimensions



ClampingSurface

ClampingSurface

Ove

r-ru

n

Stroke X

Stro

ke Z

(Stroke Y)

Str

oke

Y

Y-axis zero-point(factory set)

(Stroke X)

Cable length (LK) to servo drive listed from here .For connection dimensions, see "Installation". Z0: from –102 to (Stroke Z –28) mm

... Travel range

Axis Systems

Clamping surface

23Bosch Rexroth AG

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R0357 530 00 - CT30 - 700 - 300 - 100 - 50 - 2 - 11 - 01

R310EN 2625 (2006.10) CMS


Model Type R035� 530 00-CT30

Technical data




Stroke (mm)

CMS R0357 530 00 - CT30 with:Stroke X-axis = 700 mmStroke Y-axis = 300 mmStroke Z-axis = 100 mmOffset Z-Axis Z0 = 50 mmCable length to servo drive is 2 mServo drive interface: Profibus-DP

––––––

Ordering example

Ordering key

Velocity

Time


Ball maximum Stroke

Accelera-tion


mm do x P mm m/s2 m/sR035� 530 00-CT30 X 145 20 x 20 1000 10 1.01)

Y 110 16 x 16 500 15 0.53Z 90 12 x 10 300 5 0.5

for stroke X > 800 mm: velocity = 0,8 m/s1)

Model type Weight (kg)R035� 530 00-CT30 0.0182 . Stroke X + 0.0096 . Stroke Y + 0.0055 . Stroke Z + 34.5


R035� 530 00 - CT30 - X - Y - Z - Z0 - LK - ... - 01Model typeStroke X-axis (mm)Stroke Y-axis (mm)Stroke Z-axis (mm)Offset Z-axis (mm)Cable length from linear axis to servo drive (m) LKmax = 35 mInterface 10 ... SERCOS 12 ... CANopenServo drive 11 ... Profibus-DP 13 ... DeviceNet


The maximum loading is only dependent on stroke Y and stroke Z.2)

Y-axis Stroke (mm) 100 150 200 300 400 500Z-axis Stroke (mm) maximum loading2) (kg)

50 12 12 12 10 8 6100 12 12 12 10 8 6150 12 12 12 10 8 6200 12 12 12 10 8 6250 10 10 10 10 8 6300 10 10 10 10 8 6

X-axis Y-axis Z-axisStroke tp Stroke tp Stroke tp

mm s mm s mm s– – – – 50 0.28– – 100 0.30 100 0.38

150 0.33 150 0.40 150 0.48200 0.38 200 0.49 200 0.58300 0.48 300 0.68 300 0.78400 0.58 400 0.87 – –500 0.68 500 1.05 – –600 0.78 – – – –700 0.88 – – – –800 0.98 – – – –900 1.18 – – – –

1000 1.46 – – – –

24 Bosch Rexroth AG

Z

X

Y

321

337

45

90

127

43 65

32,5

161

(65)

77,5

19,5

40

(98,5)

110

280,

5

149,

5

216

145

90

98,5

125

Lx

Lx/2

2

CMS R310EN 2625 (2006.10)




Clampingsurface

Clamping surface

Ove

r-ru

n

Stroke X

Stro

ke Z

(Stroke Y)

Str

oke

Y

Y-axis zero-point(factory set)

(Stroke X)

223,

5 +

Str

oke

Z

... Travel range

3-axis systems X-Y-ZModel types:R035� 530 00-CT31

X-axis: Carriage travelsY-axis: Carriage travelsZ-axis: Frame travels

LubricationX-axis via connecting angle (both sides) and frame possible Y-axis via connecting angle (both sides) and frame possible Z-axis via connecting angle (both sides) and frame possible


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–

–

–

Dimensions

Axis Systems

25Bosch Rexroth AG

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R0357 530 00 - CT31 - 600 - 300 - 200 - 0 - 2 - 11 - 01

R310EN 2625 (2006.10) CMS



Technical data




Stroke (mm)

CMS R0357 530 00 - CT31 with:Stroke X-axis = 600 mmStroke Y-axis = 300 mmStroke Z-Axis = 200 mmCable length to servo drive is 2 mServo drive interface: Profibus-DP

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Ordering example

Ordering key

Velocity

Time

Model type Axis Profile width Ball maximum stroke

Accelera-tion


mm do x P mm m/s2 m/sR035� 530 00-CT31 X 145 20 x 20 1000 10 1.01)

Y 110 16 x 16 500 15 0.53Z 90 12 x 10 300 5 0.5


Model type Weight (kg)R035� 530 00-CT31 0.0182 . Stroke X + 0.0096 . Stroke Y + 0.0055 . Stroke Z + 34.5


R035� 530 00 - CT31 - X - Y - Z - 0 - LK - ... - 01Model typeStroke X-Axis (mm)Stroke Y-Axis (mm)Stroke Z-Axis (mm)Cable length from linear axis to servo drive (m) LKmax = 35 mInterface 10 ... SERCOS 12 ... CANopenServo drive 11 ... Profibus-DP 13 ... DeviceNet


The maximum loading is only dependent on stroke Y and stroke Z.2)

Y-axis Stroke (mm) 100 150 200 300 400 500Z-axis Stroke (mm) maximum loading2) (kg)

50 12 12 12 10 8 6100 12 12 12 10 8 6150 12 12 12 10 8 6200 12 12 12 10 8 6250 10 10 10 10 8 6300 10 10 10 10 8 6

X-axis Y-axis Z-axisStroke tp Stroke tp Stroke tp

mm s mm s mm s– – – – 50 0.28– – 100 0.30 100 0.38

150 0.33 150 0.40 150 0.48200 0.38 200 0.49 200 0.58300 0.48 300 0.68 300 0.78400 0.58 400 0.87 – –500 0.68 500 1.05 – –600 0.78 – – – –700 0.88 – – – –800 0.98 – – – –900 1.18 – – – –

1000 1.46 – – – –

26 Bosch Rexroth AG

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CMS R310EN 2625 (2006.10)

The technical data are valid for most applications and use under normal operating conditions:

The positioning time describes the time needed to reach a position under maximum load with maximum acceleration and velocity. It consists of the acceleration time, the time at constant velocity and the braking time. The positioning time values shown here always relate to a single axis. The values for multi-axis systems can be determined by approximation. The positioning time is always given in calculated values. The calculation method used is based on system travel under maximum load, with the load-carrying and lower axis being connected via the shortest possible lever arm. Deviations from actual values of a given application are possible. The influence of the mounting base is not taken into consideration.

Common formulas:

Ambient temperature: +10 °C to +30 °CStroke greater than minimum strokeNo significant dirtNo shavings, water etc.No impacting loads

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Profile width The profile width describes the width of the frame of the CMS single axis.

Loading The listed values describe the maximum permissible load for the load-carrying axis with the mass centered on the carriage or frame.

Positioning time tp

v Velocity (m/s)a Acceleration (m/s2)tp Total positioning time (s)tB Acceleration time, braking time (s)tk Time at constant velocity (s)Stroke Effective stroke (mm)sB Acceleration distance, braking distance (mm)sk Portion of distance at constant velocity (mm)

Velocity

Time

Profile width Minimum strokemm mm90 50

110 100145 150

Profile width

Frame

Technical Data Notes

Stroke = sk + 2 · sBtB = v /asB = 0.5 · v · tB · 1000tk = tp – 2 · tBsk = stroke – 2 · sB

All the technical data and permissible travel ranges are given as maximum values. They are related to the respective mounting position shown.

2�Bosch Rexroth AGR310EN 2625 (2006.10) CMS

CMS linear modules are to be used only for their intended purpose. Follow all guide-lines for accident prevention, as well as equipment and electrical safety regulations. If required, additional customer-supplied guarding is to be installed. Assembly, start-up, and maintenance are to be performed only by fully trained personnel.

The values relate to the weight of the complete CMS unit, not including control mod-ules, cables to the servo drive and the transported load.

Weight

Cable routing for power supply lines

The cable drag chains are shipped with the cable routing shown. The open cross sections are available for customer wiring. Unused divider walls can be removed or relocated. The minimum bending radius of the cable drag chain is 75 mm.

When determining the cable length to the servo drive, factor in the length needed in the control cabinet.

Warning!c

Divider wallGeneral applicationonly for X-axis of X-Y-Z-units


Cost-effective maintenance using centrallubrication (grease)

Two lubrication ports on each side for funnel grease nipple DIN 3405-D3Both carriages require lubricationLubrication point at half module lengthLubrication from one side possible (optional)

–

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Lubrication through the frame

Compact high-precision aluminum profile with two integrated ball rail guidesPrecision ball screw drive, tolerance class T7 DIN 69051, with preloaded nut systemFixed bearing end housing with double bearings for high linear speedsFloating bearing end housing with double thrust angular contact bearings for high linear speedsTwo carriages with integrated runner blocksDurable aluminum cover plate and two steel-belted polyurethane seals protect internal elementsCost-effective maintenance using central lubrication (grease, proven lubricants such as Dynalub 510 and Dynalub 520)Maintenance free digital AC-servo drives with integrated brake and absolute en-coderMotor mounting with flange and coupling or belt drive

For details, see the "Compact Modules" catalog

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–

–

–

Design Compact Modules are ready-to-mount precision linear guide systems offering high performance in a compact design. The price-performance ratio is excellent, delivery times are short.

Mechanical Components

Compact-Modules CKK

29Bosch Rexroth AG

12

3 4

5

R310EN 2625 (2006.10) CMS

Recommended lubricant:

Lube ports for customer solution

Customersolution

O-RingØ3x1 mmDIN 3771Part numberR3411 001 01

Carriage

Lubrication through the carriage Connection geometry for customer solution using the central lubrication ports on the carriage. When using this hole, the set-screw must be removed and a sealingO-ring inserted. Both carriages require lubrication, for which one connection percarriage is sufficient. For additional dimensions, see "Installation".

Profile width Lubricant Part number90 Dynalub 520, 400 g - cartridge R3416-043-00110 and 145 Dynalub 510, 400 g - cartridge R3416-037-00

Lubrication through connecting angles

Both carriages can be lubricated through one funnel grease nipple DIN 3405-AM6 per axis.

2-axis systems(Model type shown: CT22)

Lube nipple for the X-axisLube nipple for the Z-axis

1�2�

3-axis systems(Model type shown: CT31)

Lube nipple for the X-axisLube nipple for the Y-axisLube nipple for the Z-axis

3�4�5�


ECODRIVE CsECODRIVE Cs is the name of an ex-tremely compact range of system-capable AC servo drives.

Equipped with the interfaces SERCOSPROFIBUS-DPCANopen or DeviceNet

this drive system is ideally suited to complex multi-axis systems as well as intelligent single-axis systems connected through digital communication. Input voltage: 1x230 V 50-60 Hz

Shipping condition:Pre-set parameters

Axis specific zero-point and end point limits are pre-setPre-set positioning options (selection through field bus control word)All mechanical axis data parameter-ized in the drive

Accessories, including:RS232 connection cable for customer-specific settingLine filterDocumentation on CD-ROMDriveTop start-up software

Optional accessories:Printed documentation

Drive, German R1130 896 44Drive, English R1130 896 45

The motors are optimally matched tothe drive control units. A holding brakeand absolute encoder are standardcomponents of CMS systems.

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–

–

–

–

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Servo drive withSERCOS interface

Nominal profile width

90, 110 145

Servo drive with mit Profibus-DP, DeviceNet and

CANopen InterfacesAll Nominal profile widths

Dimension (mm)Nom. profile width A1 A2 Depth90 55 79 170110 55 79 170145 70 94 170

Electronic Components

31Bosch Rexroth AG

Ethernet

Profibus

EcoDrive Cs

IndraLogic L20

R310EN 2625 (2006.10) CMS

IndraMotion Control for CMSEasy, pre-parameterized, quick start-up

A rich functionality:Coordinated, time-optimized point-to-point movements with 6-axis kinematics (3 main axes and 3 orientation axes):

Blended movementsContinuous joggingIncremental joggingTeach-in positionDefinitionSingle blockVelocity overrideDiagnosticsSoftware limit switchMovements with machine coordinates

––––––––––

Reduced programming effort:Very simple programming with user-friendly command selectionSelf-explanatory command syntax256 programs (on flash card)10 programs online in the memory200 blocks per program1)

50 position points per program1)

100 integer variables100 real variablesProgram backup via FTP, Ethernet or card readerDefault setting (can be changed by supplier or user by means of optional software).

–

––––––––1)

User-friendly operation via VCP08.2:Simple motion programmingTeach-in

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Outstanding performance in production environments:Time-optimized point-to-point motion through blended move-mentsIncreased productivity through quick program inputUser-friendly command syntax

–

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Control and display device VCP08.2 with IM-CMS

Hub and PC with IndraWorks, Indra-Logic and IndraMotion for CMS (not required for the basic logic function)

Cartesian motion system

32 Bosch Rexroth AG

R = 10MOVE VIA P2MOVE P3

Y

X

P3P2

P1

R

P1

P3

P2

P4

l1

CMS R310EN 2625 (2006.10)

Example Blending 2 axes Cartesian kinematics with up to 3 axes

Command syntax:

Electronic Components

IndraMotion Control for CMSProgram example "Move part"

Task: The gripper is in the home position (P1). Parts on the conveyor belt are recog-nized by a light barrier (I 1).The Z-axis moves downward (P2), the gripper (Q1) is locked.The part is moved via P1 and P3 to P4, where it is deposited. Then the gripper returned to the home position.

Program DescriptionQ1 = 0 Open gripper (home position)Move P1 Move on P1 (home position)Label 1 Jump labelWait I1 =1 Wait for light barrierMove P2 Move down to P2Q1 = 1 Lock gripperR=40 Blend with r = 40mmMove via P1 Move via P1Movevia P3 Move via P3Move P4 Move to P4 (stack)Q1=0 Open gripperMove via P3 Move via P3Move P1 Move to P1 (home position)JMP Label 1 Jump to label 1

Command block

Movement: Parameter: I/O access: Organization:MOVE Pxx V_PTP = xxx% OUTPUTxx = 0/1 WAIT x.xx (sec)

MOVE_REL Pxx A = xxx% IF Ex = 0/1 THEN

MOVE VIA Pxx R = xx (mm) WAIT INPUTxx = 0/1 LABELxx

MOVE_REL VIA Pxx REAL_VAR_ = x.x JMP LABELxx

MOVE Pxx TIL Ex = 0/1 INT_VAR_ = xxx OUTPUT ON PATH xx.xx (mm) xx = 0/1 IF INT_VARx = xx THEN

MOVE_REL Pxx TIL Ex = 0/1 INC INT_VAR_xx IF INT_VARx > xx THEN

MOVE Ax = xx.xx DEC INT_VAR_xx IF INT_VARx < xx THEN

MOVE VIA Ax = xx.xx OVERRIDE IF X > xx.xx THEN

MOVE Ax = Pxx IF X < xx.xx THEN

MOVE VIA X = Pxy

33Bosch Rexroth AG

50

350

50

100

150

100

600

350600

VCP08.2

148,5

148,

5

10,510,5

148,

5

148,5

123,

0

175,4

126,

772

,075

,9

75,97

120

Stop

Reset S1

139155

205

199

205

15550

a

b

R310EN 2625 (2006.10) CMS

Scope of deliveryControl L20 with plug accessories and firmwareControl and display device VCP08.2

–

–

Components and Ordering

Accessories (optional) Description Type Part numberControl cabinet Control cabinet for installation of

the pre-parameterized IndraMotion components

1- axis systems2- axis systems3- axis systems

R1131 010 60R1131 020 60R1131 030 60

Add-on components for IM-CMS (for customer-specific expansion and customization of the menu layout)

Software IndraWorks IndraLogic CD650 R1135 400 05Software VI-Composer 02VRS SWA-VIC*PC-INB-02VRS-DO-CD650 R1135 400 60Ethernet cable for 5 m stroke Ethernet cable for 5 m stroke R1130 695 70IM-CMS Software SWD-IM*ML*-LHA-01V04-DO-CD650-COPY R1135 400 70

Inputs 16 digital inputs 24 V 3L 48.8 mm R-IB IL 24 DI 161) R1130 896 62Input plug for 3-pin connector R-IB IL SCN-12-ICP2) R1130 896 632 analog inputs R-IB IL AI 2/SF R1130 896 64

Inputs 2 analog outputs R-IB IL AO 2/U/BP R1130 896 654 digital outputs R-IB IL 24 DO 4 R1130 896 70

I/O accessories Shield connector analog I/O 1 wire R-IB IL SCN-6 SHIELD R1130 896 66Shield connector analog I/O 2 wires R-IB IL SCN-6 SHIELD-TWIN R1130 896 68Output plugs R-IB IL SCN-12-OCP R1130 896 71

3-pin connector1 plug for 4 inputs, 3 for 16; 10/unit, colored

1)2)

In the case of multi-axis systems, the IndraMotion control for CMS is also or-dered via ordering code 14 (see ordering key).

Control and display device VCP08.2

Mounting cut-out

Mounting cut-out b) Front platea)

Control L20

Control cabinet accessories (example)

Left sidewall Front Right sidewall

IndraMotion software for CMS (in-stalled)Documentation on DVD

–

–

Ethernet connecting cable (L20-VCP08.2)Profibus cable

–

–

Blower

Filter


Application Examples and Training Systems

3-axis test unit

2-axis training unit

Handling system

Machining center

35Bosch Rexroth AG

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R310EN 2625 (2006.10) CMS

Installation

Lube Port M3 (4x)

Mounting attachments to the carriage

Mounting attachments to the frame

For profile width110 and 145

For profile width 90

Profile Width

Pro

file

wid

th

Dimension (mm)Profile width A1 A2 A3 A4 A5 B1 B2 M D90 65 100 27 35 6.0 54 8 M4 - 7 deep Ø4 - 6 deep110 85 124 30 39 6.5 66 10 M5 - 10 deep Ø5 - 10 deep145 100 149 36 49 7.0 88 12 M6 - 12 deep Ø6 - 10 deep

Dimension (mm)Profile width H C1 C2 E1 E2 E3 F1 F2 G1 G2 G390 40 2.0 4.0 7.6 4.2 5.2 1.3 3.2 1.8 3.2 4.8110 50 2.5 4.8 9.5 5.2 8.2 1.3 3.2 1.8 3.2 4.8145 65 2.5 4.8 9.5 5.2 8.2 1.3 3.2 1.8 3.2 4.8

36 Bosch Rexroth AG

AB

max

. E

C

CMS R310EN 2625 (2006.10)

Fixing of the CMS to the mounting baseThe CMS is fixed to the mounting base using clamping fixtures. Alternatively, the CMS can also screwed or bolted in place. In this case, threads or pin holes must be cut into the frame base.

These special machining op-erations are not part of the standard supply scope. They must either be done by the customer or ordered separately.

Do not mount or support the CMS by the end blocks! The frame is the main stress-bearing structure! The maximum tightening torque given in the table must not be exceeded.

c

c

Clamping fixtures Recommended number of clamping fixtures:1- hole type: 6 per meter and side4- hole type: 3 per meter and side

––

Model type R035� 4xx xx – Profile width 110Model type R035� 5xx xx – Profile width 145

Model type R035� 3xx xx – Profile width 90

Countersink for M4 ISO 4762 Countersink for M5

ISO 4762

Countersink for M6 ISO 4762

Dimension (mm)Model type Profile width A B C D E1)

R035� 3xx xx 90 102 112 76 4 7.5R035� 4xx xx 110 126 140 92 5 9.0R035� 5xx xx 145 161 175 124 6 13.0

Maximal pin hole or thread depth1)

Tightening torque of fastening screws at friction factor 0.125

M4 M5 M6

8.8 Nm 2.7 5.5 9.5

Part numberR0375 310 00 R0375 310 02 R0375 310 03

Part number

R0375 410 02 R0375 510 00 R0375 510 02

Pin hole or thread max. ØD

Distance from frame ends:min. 30 mm

Installing

3�Bosch Rexroth AG

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R310EN 2625 (2006.10) CMS

The connection elements shown allow the quick and simple adaptation of the CMS to profiles and support stands made from Rexroth Basic Mechanical Elements (BME). The connection elements are shipped as an assembly with all the parts needed for installing the CMS.Further information is contained in our Basic Mechanical Elements (BME) catalog.

Countersink for M4ISO 4762

Countersink for M6ISO 4762

Clamping fixture kits serve for quick installation of the CMS on suitable sub-structures. The screw spacing is set up for 40- and 50-series profiles. The CMS is mounted to the frame.

AssemblyAlign the mounting framePre-install clamping kitsPosition the CMSWhen screwing the CMS in place, observe the maximum tightening torques from the tableRecommended number of clamping fixtures: 3 pieces per meter on each side (design the support structure accordingly!)

Scope of Delivery—Clamping fixture kits:2 Clamping fixture4 Socket head cap screws4 Sliding blocks

••••

•

–––

Installing the CMS on stands built using components from the Rexroth Basic Mechanical Elements (BME) program.

Clamping fixture kits

Model type Dimensions (mm) Weight Part number of kitProfile series T L kg

R035� 3xx xx,.. 50 50 72 0.09 R0391 200 8240 40 62 0.08 R0391 200 83

R035� 4xx xx,.. 50 50 72 0.11 R0391 200 84R035� 5xx xx,.. 40 40 62 0.10 R0391 200 85

38 Bosch Rexroth AG

C

404550

B

A E107

27

CMS R310EN 2625 (2006.10)

Connection plate kits are designed for 40, 45 and 50 series profiles. The plates are mounted to the frame.

AssemblyAlign the frameMount the connection plates to the framePosition the compact modules Observe the maximum tightening torques from the tableRecommended number of connection plates: 3 per meter

Scope of delivery-Connection plate kits1 Connection Plate4 Clamping fixtures12 Socket head cap screws8 T-nuts4 Washers4 Sliding blocks

••

••

•

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Connection plate kits

Tightening torque of fastening screws at friction factor 0.125

M4 M6 M8

8.8 Nm 2.7 9.5 23

Dimensions (mm) Part number of kitA B C E

145 20 145 70 R0391 201 91145 20 145 70 R0391 201 92145 20 180 70 R0391 201 93

Installation


User Support

Which formats does the 3D-CADmodel create?

Nativ Pro/ENGINEER IGES (3D) STEP (3D) DXF (2D) TIFF or JPG (image file)

More information can be found on our website at:www.boschrexroth.com/brl

–––––

3D-CAD model generator for Linear Motion SystemsOur online model generator lets you easily configure 3D-CAD files on the Internet.

CanadaBosch Rexroth Canada Corp.3426 Mainway DriveBurlington, Ontario L7M 1A8Tel. +1 905 335-5511Fax +1 905 335-4184

USABosch Rexroth Corporation14001 South Lakes DriveCharlotte, NC 28273Tel. +1 800 REXROTH +1 800 739 7684Fax +1 704 583 0523

AustraliaBosch Rexroth Pty. Ltd.3 Valediction RoadKings Park, NSW 2148, SydneyTel. +61 2 9831 7788Fax +61 2 9831 5553

Great Britain Bosch Rexroth LimitedCromwell RoadSt. Neots, HuntingdonCambs. PE19 2ES Tel. +44 1480 223 298Fax +44 1480 470 789

Bosch Rexroth AGLinear Motion and Assembly TechnologiesErnst-Sachs-Straße 10097424 Schweinfurt, GermanyTel. +49 9721 937-0 Fax +49 9721 937-275www.boschrexroth.com/brl

Your concessionary

© Bosch Rexroth AG 2006Printed in Germany - p 2006/-/-/-Cartesian Motion Systems CMSwith IndraMotion ControlR310EN 2625 (2006.10) EN • BRL/MKT2

Subject to technical modifications

SingaporeBosch Rexroth Pte. Ltd.15D Tuas Road638520 SingaporeTel. +65 6861 8733Fax +65 6861 1825

with IndraMotion Control - Industrial Bearing S · 2012. 7. 24. · Optional: Manual control unit...

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