with IndraMotion Control - Bosch Rexroth...Bosch Rexroth Coporation 3 Cartesian Motion Systems CMS R310A 2625 (2007.03) CMS Product Overview 4 Axis Systems 10 1-axis systems 10 2-axis

Cartesian Motion Systemswith IndraMotion Control

The Drive & Control Company

2 Bosch Rexroth Corporation

Linear Motion and Assembly Technologies

Ball Rail Systems Roller Rail Systems Linear Bushings and Shafts

Ball Screw Drives Linear Motion Systems Basic Mechanical Elements

Manual Production Systems Assembly Conveyors VarioFlow Conveyors

CMS R310A 2625 (2007.03)

3Bosch Rexroth Coporation

Cartesian Motion Systems CMS

R310A 2625 (2007.03) CMS

Product 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 Corporation CMS R310A 2625 (2007.03)

Product Overview

Common sense in mechanical engi-neering

The French philosopher René Descartes introduced the adjective "Cartesian" that we use in linear technology, as well as in other fi elds, 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 an extremely precise, fast and cost-effective solution.

Take a simple standardized linear motion system, combine it with a motor, controls, connection elements, cables, and with our experience, you will arrive at a factory-built, pre-confi gured motion system that meets the specifi c needs of the user.

Here‘s how it works

The machine engineer no longer has to select, specify and 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 using a single part number.

The user can select exactly the combina-tion he needs for his requirements from a wide range of axis confi gurations. He then receives a pre-programmed and tested solution requiring only his positioning data and programming sequence to fully custo-mize the ysstem to the task at hand.

5Bosch Rexroth CoporationR310A 2625 (2007.03) CMS

Minimum effort – maximum effi ciency

Pre-confi gured Rexroth Cartesian Ro-bots offer the user real and tangible advantages. These systems have been proven to provide signifi cant cost and time savings due to dramatic reductions in planning, procurement, design and assembly stages. All systems are shipped complete and ready to provide immediate return on investment.

All Rexroth CMS systems ship complete with all mechanical actuators, servo mo-tors, drive amplifi ers, fi eld bus interface, cable management and an optioanl logic controller.

The complete solution from a single source

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

Worldwide service network for on-site service

Bosch Rexroth 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 experience 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: Profi bus-DP, SERCOS, Device-Net and CANopen and Parallel (optional).

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


Home (0/0/0)

P5 (700/500/350)

CMS R310A 2625 (2007.03)

Various confi gurations for simple and fastplanning

Factory base settingsPre-parameterized servo drive with Profi bus DB, SERCOS, CANopen and DeviceNet and Parallel interfaces

–

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

–

–Integrated AC-servomotor

Absolute encoder (no reference cycle needed)Holding brake

––

The system solution for time-optimized point-to-point multi-axis movement

The 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 simple and straightforward. With engineering costs slas-hed to a minimum, the turnkey solution with open-source software is also extremely fl exible when it comes to customizing it to specifi c requirements. Its total scalability ensures optimum effi ciency 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 machinesDispensing, welding and packaging machinerySpecial machinery, and many more

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

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

Sequential function chart for motion processesFlexible motion programmingTeaching and defi nition of travel motionsWith optional software, PLC functionality usable with IEC 61131-3 compliant IndraLogic sequence controlManual control unit (optional) VCH 08

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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 positioning times

Product Overview

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

Other outstanding featuresAny 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 fi xtures and connection plates (compatible with Bosch Rexroth Structural Framing - MGE product line)fully assembled including cable managementProtection of internal components by polyurethanesealing stripsFully commissioned and pre-tested Pre-confi gure online, with instant generation of 2D or 3D CAD fi les for easy planning.

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–

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VCP08.2


Ethernet

Profi bus

R310A 2625 (2007.03) CMS

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

Industrial control and display device Optional: Hand-held HMI - VCH 08

Cartesian Motion Systems

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


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 systems Carriage travels

Model type

Motor connected via fl ange and coupling

CT10 Page 10

Motor mounted via left side drive

CT11 Page 12

Motor mounted via right side drive

CT12 Page 14


3-axis systems Model type

X-axis, carriage travels Y-axis, carriage travels Z-axis, carriage travels

CT30 Page 22

X-axis, carriage travels Y-axis, carriage travels Z-axis, frame travels

CT31 Page 24

2-axis systems Model type

X-axis, carriage travels Y-axis, carriage travels

CT20 Page 16

X-axis, carriage travels Z-axis, carriage travels

CT21 Page 18

X-axis, carriage travels Z-axis, frame travels

CT22 Page 20

10 Bosch Rexroth CorporationH

2

H3

H1

L1 L2

Lx

A

A

L3

L4

B1

B2

A – A

CMS R310A 2625 (2007.03)

Cable length (LK) to servo drive listed from here .For connection dimensions, see "Installation" on page 35

Axis zero-point(factory set)

Stroke X

Dimensions

Model types:R0357 310 00-CT10R0357 410 00-CT10R0357 510 00-CT10

Carriage travelsMotor connected via fl ange andcoupling

LubricationAxis lubrication via carriage and frame possible

See "Mechanical Components" on page 29

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–

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

R0357 310 00-CT10 280.5 95.0 128.5 33.5 90.0 30.0 40.0 81.0 19.5R0357 410 00-CT10 284.5 119.5 157.5 38 110.0 0.0 50.0 107.0 41.5R0357 510 00-CT10 321.0 145.0 190.0 45 145.0 0.0 65.0 127.0 43.0

Axis Systems


��

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R310A 2625 (2007.03) CMS

Positioning times tp

tp Positioning time of the axis

For a more detailed explanation, see"Technical Data Notes" on page 26

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: Profi bus-DP

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Ordering key

Velocity

Time

Model type Profi lewidth

Ball maximumstroke

Accel-eration

Velocity maximum loadingscrewdrive a v horizontal vertical

(mm) do x P mm m/s2 m/s kg kgR0357 310 00-CT10 90 12 x 10 400 15 0.5 18 18R0357 410 00-CT10 110 16 x 16 800 15 0.8 20 20R0357 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 typeR0357 310 00-CT10 R0357 410 00-CT10 R0357 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)R0357 310 00 - CT10 0.0055 · Stroke X + 5.5R0357 410 00 - CT10 0.0092 · Stroke X + 7.5R0357 510 00 - CT10 0.0178 · Stroke X + 15

R0357 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 ... Profi bus-DP 13 ... DeviceNet

14 ... IndraMotion controlDocumentation

12 Bosch Rexroth CorporationH

2

H1

L5

L1

L2 L3

Lx

A

A

L4

B1

B2

B3

A – A

CMS R310A 2625 (2007.03)



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

R0357 310 00-CT11 212.0 95.0 128.5 33.5 69.0 90.0 134.5 27.5 40.0 70.0R0357 410 00-CT11 212.0 119.5 157.5 38 73.5 110.0 136.0 29.0 50.0 70.0R0357 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

1-axis systems


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��

R310A 2625 (2007.03) CMS


For a more detailed explanation, see

Weight calculation


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Velocity


Ball max. stroke

Accelera-tion

Velocity maximumscrew loadingdrive a v horizontal vertical

mm do x P mm m/s2 m/s kg kgR0357 310 00-CT11 90 12 x 10 400 15 0.5 18 10R0357 410 00-CT11 110 16 x 16 800 15 0.53 20 12R0357 510 00-CT11 145 20 x 20 1000 10 1.01) 35 25



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)R0357 310 00 - CT11 0.0055 · Stroke X + 5R0357 410 00 - CT11 0.0092 · Stroke X + 7R0357 510 00 - CT11 0.0178 · Stroke X + 15

R0357 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 ... Profi bus-DP 13 ... DeviceNet


Time

(Without servo drive and loading)

"Technical Data Notes" on page 26

Ordering key


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


H2

H1

L1

B1

L2 L3

Lx

A

A

L4

L5

B1

B2

B3

A – A

CMS R310A 2625 (2007.03)

1-axis systems



Stroke X

Carriage travelsMotor mounted via right side drive



––

–


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

R0357 310 00-CT12 212.0 95.0 128.5 33.5 69.0 90.0 134.5 27.5 40.0 70.0R0357 410 00-CT12 212.0 119.5 157.5 38 73.5 110.0 136.0 29.0 50.0 70.0R0357 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


��

��

R310A 2625 (2007.03) CMS



For a more detailed explanation, see

Weight calculation


–––

Velocity



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)R0357 310 00 - CT12 0.0055 · Stroke X + 5R0357 410 00 - CT12 0.0092 · Stroke X + 7R0357 510 00 - CT12 0.0178 · Stroke X + 15

R0357 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 ... Profi bus-DP 13 ... DeviceNet


Time

"Technical Data Notes" on page 26


Ordering key


Ball max. stroke

Accelera-tion

Velocity maximumscrew loadingdrive a v horizontal vertical

mm do x P mm m/s2 m/s kg kgR0357 310 00-CT11 90 12 x 10 400 15 0.5 18 10R0357 410 00-CT11 110 16 x 16 800 15 0.53 20 12R0357 510 00-CT11 145 20 x 20 1000 10 1.01) 35 25


�

�

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 R310A 2625 (2007.03)

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 fi xtures do not come incontact with any interfering surfaces.

Cable length (LK) to servo drive listed from here . For connection dimensions, see "Installation" on page 35

... Travel range

Model types:R0357 420 00-CT20R0357 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 B7 B8 H1 H2 H3 H4 H5 H6

R0357 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 90.0 125.0 204.0R0357 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


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��

R310A 2625 (2007.03) CMS

Model type Axis Profi le width

Ball maximum stroke

Accelera-tion

Velocityscrewdrive a v

mm do x P mm m/s2 m/sR0357 420 00-CT20 X 110 16 x 16 800 15 0.8

Y 90 12 x 10 400 15 0.5R0357 520 00-CT20 X 145 20 x 20 1000 10 1.01)

Y 110 16 x 16 700 15 0.53

Maximum loading andpositioning times tp

Model type R0357 520 00-CT20


Technical data



Weight calculation

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

–––

Velocity

Time

The maximum loading is only dependent on stroke Y.1)

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)R0357 420 00 - CT20 0.0096 · Stroke X + 0.0055 · Stroke Y + 16R0357 520 00 - CT20 0.0182 · Stroke X + 0.0092 · Stroke Y + 28

Servo drive interface: Profi bus-DP–

R0357 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 ... Profi bus-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 – – –

Ordering key


2) The maximum loading is only dependent on stroke Y


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 R310A 2625 (2007.03)


X-axis: Carriage travelsZ-axis: Carriage travels

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


––

–

–

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 H7 H8 H9 H10 Z0 (from ... to)

R0357 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)R0357 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


��

��

R310A 2625 (2007.03) CMS







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: Profi bus-DP

–––––

Ordering example

Ordering key

Velocity

Time


Ball maximumstroke

Accelera-tion



Z 90 12 x 10 400 15 0.5R0357 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)R0357 420 00 - CT21 0.0096 . Stroke X + 0.0055 . Stroke Z + 14R0357 520 00 - CT21 0.0182 . Stroke X + 0.0092 . Stroke Z + 24

Ordering information:

R0357 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 ... Profi bus-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 – – –


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

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


Z

X

H2

H3

B1

90

H7

H1

H9

H8

L1 L2 L3

L4Lx

Lx/2

B9

B10

B11

B12

L5

CMS R310A 2625 (2007.03)



Clampingsurface

Clampingsurface

Overrun Stroke X

Str

oke

Z

Cable length (LK) to servo drive listedfrom here . For connection dimensions,see "Installation" on page 35

... Travel range

2-axis systems X-Z


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 H7 H8 H9

R0357 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 67.0R0357 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


��

��

R310A 2625 (2007.03) CMS







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: Profi bus-DP

––––

Ordering example

Ordering key

Velocity

Time


Ball maximumstroke

Accelera-tion



Z 90 12 x 10 400 15 0.5R0357 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)R0357 420 00 - CT22 0.0096 . Stroke X + 0.0055 . Stroke Z + 14R0357 520 00 - CT22 0.0182 . Stroke X + 0.0092 . Stroke Z + 24


R0357 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 ... Profi bus-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 – – –

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


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


Z

X

Y

127

280.

5

65

9512

8.5

145

161

33.5

(65)

110

+Z

0

90

216

149.

598

.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 R310A 2625 (2007.03)

3-axis systems X-Y-Z

Model types:R0357 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" on page 35 Z0: from –102 to (Stroke Z –28) mm

... Travel range

Axis Systems

Clamping surface


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��

R310A 2625 (2007.03) CMS


Model Type R0357 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: Profi bus-DP

––––––

Ordering example

Ordering key

Velocity

Time


Ball maximum Stroke

Accelera-tion


mm do x P mm m/s2 m/sR0357 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

Model type Weight (kg)R0357 530 00-CT30 0.0182 . Stroke X + 0.0096 . Stroke Y + 0.0055 . Stroke Z + 34.5


R0357 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 ... Profi bus-DP 13 ... DeviceNet


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

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 – – – –

R0357 530 00 - CT30 - 700 - 300 - 200 - 100 - 50 - 2 - 11 - 01


321

337

45

90

127

43

65

32.5

161

(65)

77.5

19.5

40

(98.5)11

0

280.

5

149.

5

216

145

90

98.5125

Lx

Lx/2

2

Z

X

Y

CMS R310A 2625 (2007.03)

Cable length (LK) to servo drive listed fromhere . For connection dimensions, see"Installation" on page 35



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-Z

Model types:R0357 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


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R310A 2625 (2007.03) 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: Profi bus-DP

–––––

Ordering example

Ordering key

Velocity

Time

Model type Axis Profi le width Ball maximumstroke

Accelera-tion


mm do x P mm m/s2 m/sR0357 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)R0357 530 00-CT31 0.0182 . Stroke X + 0.0096 . Stroke Y + 0.0055 . Stroke Z + 34.5


R0357 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 ... Profi bus-DP 13 ... DeviceNet


for stroke X > 800 mm: velocity = 0.8 m/sThe maximum loading is only dependent on stroke Y and stroke Z.

1)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 – – – –

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


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CMS R310A 2625 (2007.03)

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 infl uence of the mounting base is not taken into consideration.

Common formulas:

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

–––––

Profi le width The profi le 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

Profi le width Minimum strokemm mm90 50

110 100145 150

Profi le 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.


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

Cable management is 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 bend radius of the cable carrier 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 application only for X-axis of X-Y-Z-units

Note!


Cost-effective maintenance using centrallubrication (grease)

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

–

–––

Lubrication through the frame

Compact high-precision aluminum profi le 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 Maintenance free digital AC-servo drives with integrated brake and absolute en-coderMotor mounting with fl ange 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 per-formance in a compact design. The price-to-performance ratio is excellent and delivery times are short.

Mechanical Components

Compact-Modules CKK


12

3 4

5

R310A 2625 (2007.03) CMS

Lube ports for customer solution

CustomersolutionO-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 suffi cient. For additional dimensions, see "Installation" on page 38.

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

12

3-axis systems(Model type shown: CT31)

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

345


5.2 5.2

CMS R310A 2625 (2007.03)

ECODRIVE Cs

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

Equipped with the interfaces SERCOSPROFIBUS-DPCANopen or DeviceNet Parallel/Analog (available option upon request)

this drive system is ideally suited for 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 specifi c zero-point and end point limits are pre-setPre-set positioning options (selection through fi eld bus control word)All mechanical axis data parameter-ized in the drive

Accessories, including:RS232 connection cable for cus-tomer-specifi c settingLine fi lterDocumentation on CD-ROMDriveTop start-up software

Optional accessories:Printed documentation

Drive - R1130 896 45

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

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–

–

–

–

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–

Servo drive withSERCOS interface

Nominal profi le width

90, 110 145

Servo drive with Profi bus-DP, DeviceNet and

CANopen InterfacesAll Nominal profi le widths

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

Electronic Components


IndraMotion Control for CMS

Easy, 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 positionDefi nitionSingle blockVelocity overrideDiagnosticsSoftware limit switchMovements with machine coordinates

––––––––––

Reduced programming effort:Very simple programming with user-friendly command selectionSelf-explanatory command syntax256 programs (on fl ash 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-interface

––

Outstanding performance in production environments:Time-optimized point-to-point motion through blended movementsIncreased 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

EcoDrive CS

Profi bus

IndraLogic L20


R = 10MOVE VIAMOVE P3

YP2

P1

R

CMS R310A 2625 (2007.03)

Example Blending 2 axes Cartesian kinematics with up to 3 cordinated linear axes

Command syntax:

Electronic Components

IndraMotion Control for CMS

Program 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 returns to the home position.

Program DescriptionQ1 = 0 Open gripper (home position)Move P1 Move on P1 (home position)Label 1 Jump label (loop)Wait I1 =1 Wait for light barrierMove P2 Move down to P2Q1 = 1 Close 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


139155

205

199

205

15550

R310A 2625 (2007.03) CMS

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

–

–

Accessories (optional) Description Type Part numberAdd-on components for IM-CMS (for customer-specifi c 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 ordered via ordering code 14 (see ordering key).

Control and display device VCP08.2Control L20

IndraMotion software for CMS (in-stalled)Documentation on DVDEthernet connecting cable

–

––

(L20-VCP08.2)Profi bus cable–

Components and Ordering


Application Examples and Training Systems

2-axis test unit

Handling system

2-axis training unit

Machining Center


�

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R310A 2625 (2007.03) CMS

Installation

Lube Port M3 (4x)

Mounting attachments to the carriage

Mounting attachments to the frame

For profi le width110 and 145

For profi le width 90

Profi le Width

Pro

fi le

wid

thDimension (mm)Profi le 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)Profi le 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


..

.

CMS R310A 2625 (2007.03)

Attaching the CMS to the mounting base

The CMS is fi xed to the mounting base using clamping fi xtures. Alternatively, the CMS can also be 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 below must not be exceeded.

c

c

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

––

Model type R0357 4xx xx – Profi le width 110Model type R0357 5xx xx – Profi le width 145

Model type R0357 3xx xx – Profi le width 90

Countersink for M4ISO 4762



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

R0357 3xx xx 90 102 112 76 4 7.5R0357 4xx xx 110 126 140 92 5 9.0R0357 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


The connection elements shown allow for quick and simple adaptation of the CMS to profi les and support stands made from Rexroth Aluminum Structural Framing (MGE).The connection elements are shipped as an assembly with all the parts needed for installing the CMS.Further information is contained in our Aluminum Structural Framing (MGE) Catalog.



Clamping fi xture kits serve for quick installation of the CMS onto suitable substructures. The screw spacing is set up for 40- and 50-series profi les. 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 table on page 38Recommended number of clamping fi xtures:3 pieces per meter on each side (design the support structureaccordingly!)

Scope of Delivery—Clamping fi xture kits:2 Clamping fi xture4 Socket head cap screws4 Sliding blocks

••••

•

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

Clamping fi xture kits

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

R0357 3xx xx,.. 50 50 72 0.09 R0391 200 8240 40 62 0.08 R0391 200 83

R0357 4xx xx,.. 50 50 72 0.11 R0391 200 84R0357 5xx xx,.. 40 40 62 0.10 R0391 200 85

Table


C

404550

B

A E107

27

CMS R310A 2625 (2007.03)

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

AssemblyAlign the frameMount the connection plates to the framePosition the compact modules Observe the maximum tightening torques listed in the table belowRecommended number of connection plates: 3 per meter

Scope of delivery-Connection plate kits1 Connection Plate4 Clamping fi xtures12 Socket head cap screws8 T-nuts4 Washers4 Sliding blocks

••

••

•

––––––

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 fi le)

More information can be found on our website at:www.boschrexroth.com/business_units/brl/en/downloads/3d_confi gurator/index.jsp

–––––

3D-CAD model generator for Linear Motion SystemsOur online model generator lets you easily confi gure 3D-CAD fi les on the Internet.

Bosch Rexroth CorporationCorporate Headquarters5150 Prairie Stone ParkwayHoffman Estates, IL 60192-3707Telephone (847) 645-3600Facsimile (847) 645-6201

Bosch Rexroth CorporationIndustrial Hydraulics2315 City Line RoadBethlehem, PA 18017-2131Telephone (610) 694-8300Facsimile (610) 694-8467

Bosch Rexroth CorporationElectric Drives and Controls5150 Prairie Stone ParkwayHoffman Estates, IL 60192-3707Telephone (847) 645-3600Facsimile (847) 645-6201

Bosch Rexroth CorporationPneumatics1953 Mercer RoadLexington, KY 40511-1021Telephone (859) 254-8031Facsimile (859) 281-3491

Bosch Rexroth CorporationMobile Hydraulics1700 Old Mansfield RoadWooster, OH 44691-0394Telephone (330) 263-3300Facsimile (330) 263-3333

Printed in the United StatesR310A 2625

Bosch Rexroth CorporationLinear Motion andAssembly Technologies14001 South Lakes DriveCharlotte, NC 28273Telephone (800) 438-5983Facsimile (704) 583-0523www.boschrexroth-us.com

Documents

with IndraMotion Control - Bosch Rexroth...Bosch Rexroth Coporation 3 Cartesian Motion Systems CMS R310A 2625 (2007.03) CMS Product Overview 4 Axis Systems 10 1-axis systems 10 2-axis