Page 1
Rotary/lifting module
EHMB
Operating
instructions
8113426
2019-05c
[8113428]
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EHMB
Translation of the original instructions
Identification of hazards and instructions on how to prevent them:
Danger
Immediate dangers which can lead to death or serious injuries
Warning
Hazards that can cause death or serious injuries
Caution
Hazards that can cause minor injuries
Other symbols:
Note
Material damage or loss of function
Recommendations, tips, references to other documentation
Essential or useful accessories
Information on environmentally sound usage
Text designations:
Activities that may be carried out in any order
1. Activities that should be carried out in the order stated
– General lists
è Result of an action/References to more detailed information
2 Festo – EHMB – 2019-05c
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EHMB
English – Rotary/lifting module EHMB
Table of contents
1 Configuration 18............................................................
2 Safety 19..................................................................
2.1 Intended use 19.............................................................
2.2 General safety information 19..................................................
2.3 Mounting and connecting 19...................................................
2.4 Qualification of specialized personnel 19.........................................
3 Function 20................................................................
4 Transport 20...............................................................
5 Mounting 21...............................................................
5.1 Mounting of motor and lifting cylinder 21.........................................
5.2 Installation of the product 22..................................................
5.3 Attachment of the payload 23..................................................
5.4 Electrical installation 23.......................................................
6 Commissioning 25...........................................................
7 Maintenance and care 26.....................................................
8 Disassembly and repair 27....................................................
9 Accessories 28..............................................................
10 Fault clearance 28...........................................................
11 Technical data 29............................................................
12 Characteristic curves 87......................................................
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EHMB
1 Configuration
For all available product documentation è www.festo.com/pk
7
6
8
5
4
3
2
1
1 Drive flange with centring holes and
threaded holes for useful load, front
2 Centring holes and threaded holes for
mounting (è 5.2 Installation of the product)
3 Threaded holes for motor mounting axial kit
4 Drive shaft for rotation
5 Through-holes for mounting (only for
EHMB-25/32)
6 Grooved-shaft guide
Fig. 1
9
aJ
aA
7 Stop nut
8 Centring sleeve (supplied, for mounting
the pneumatic cylinder)
9 Threaded hole for proximity sensor
aJ Holder with centring holes and through-holes
for connecting the cylinder (supplied)
aA Rod eye (supplied) and connecting bolts for
linear motion
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EHMB
2 Safety
2.1 Intended use
The EHMB rotary/lifting module is intended for turning and lifting payloads (e. g. with grippers).
The EHMB is not permitted for operating conditions in which vegetable and water-soluble greases or
oils can penetrate into the axis. Vegetable greases or oils can reduce the capacity of the toothed belt.
2.2 General safety information
Take due account of legislative provisions for each intended location.
Only use the product if it is in its original condition and in perfect working order.
Use the product only within the defined values (è 11 Technical data and 12 Characteristic curves).
Take into account labelling on the product.
Do not make any unauthorised modifications to the product.
Observe other applicable documents.
Take into consideration the ambient conditions at the location of use.
Protect the product during storage and operation from damaging influences. These influences in
clude:
– Wetness or moisture
– Corrosive coolant or other materials (e.g. ozone)
– UV radiation
– Oils, greases and grease-solvent vapours
– Grinding dust
– Glowing chips or sparks
2.3 Mounting and connecting
Observe tightening torques. Unless otherwise specified, the tolerance is ±20 %.
2.4 Qualification of specialized personnel
Only qualified personnel may perform installation, commissioning, maintenance and disassembly of the axis.
The qualified personnel must be familiar with installation and operation of electrical and pneumatic control
systems.
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EHMB
3 Function
The EHMB rotary/lifting module combines 2 movements, rotation and stroke, in one product. A toothed
belt transfers the rotation of a motor to a hollow shaft. The stroke of a pneumatic/electric cylinder is
transferred via a connection bolt aA to the drive flange 1 and the grooved shaft guide 6 of the EHMB.
The shafts run in ball bearings. The reference position of the rotation can be detected with the aid of an
inductive proximity sensor in the threaded hole 9. The position of the stroke is detected on the cylinder.
Note
The EHMB is not braked: If the input torque of the drive motors is not applied, the
rotary/lifting module is freely movable. Generally, self-locking of the complete system
can be achieved by the use of motors with a spring-loaded holding brake or with high
self-braking torque.
Note
Without stop nut 7 and linear drive, the shaft 6 can slip out of the seat
of the EHMB. Then a repair by Festo is required.
If the linear drive is dismantled, make sure that the stop nut is not removed.
Note
The positioning times and permitted mass moments of inertia on the drive depend to
a large extent on the flange-mounted motor.
Use Festo's “PositioningDrives” design tool to determine the best combination of
products (è www.festo.com).
Use the following motors from Festo (è www.festo.com/catalogue).
Doing this will ensure you are operating two devices that are perfectly harmonised with one another.
When using other motors:
Observe the limit values for torques and rotational speeds (è 11 Technical data).
Observe the interface geometries (e.g. for the drive shaft è www.festo.com/catalogue).
4 Transport
Take product weight into account (è 11 Technical data).
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EHMB
5 Mounting
5.1 Mounting of motor and lifting cylinder
Do not modify the screws and threaded pins if not directly re
quested to do so in these operating instructions.
To mount the motor for rotation:
Mount the motor on the rotary/lifting module in accordance
with the assembly instructions for the kit recommended in the
catalogue.
To mount the pneumatic or electric cylinder for lifting:
1. For the pneumatic cylinder, insert the supplied centring sleeve
8 into the drill hole of the holder.
2. Push cylinder into the holder and fasten 4 retaining screws (sup
plied) in the through-holes of the cylinder holderaJ. The tighten
ing torque is 5
3. Screw the rod eye aA onto the piston rod.
When attaching the cylinder holder, the rod eye should be ad
justed so that it fits onto the connecting bolt on the EHMB and
the dimension X (è Tab. 1) is observed.
4. Push the aligned rod eye aA onto the connecting bolt aB on
the EHMB.
5. Fasten the cylinder holder aJ to the threaded holes with
4 screws and 2 centring sleeves.
The cylinder holder can also be mounted on the sides (A) and (C)
of the EHMB. To attach to the side (A), the front cover must be
removed and the sensor holder (only for EHMB-20 è Fig. 7)
must be modified.
The tightening torque for the cylinder holder is summarised in
the table below.
+1
Nm.
Fig. 2
8
aJ
Fig. 3
aJ
aA
aB
(A)
(C)
Fig. 4
Size 20 25 32
Dimension X [mm] 5
+0.5
5.5
+0.5
11.5
+0.5
Screw M4 M4 M5
Tightening torque [Nm] 2.9 2.9 5.9
Centring sleeve [mm] 7x3 7x3 9x4
Tab. 1
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EHMB
5.2 Installation of the product
Note
External stops can cause the toothed belt to tear due to excessive forces.
Use only the motor controller to brake the rotation.
Note
Eccentric loads can destroy the bearing. Note that the front side (A) (è Fig. 5) is ap
proved only for attachment with a symmetric applied load.
Position the EHMB in such a way that its operating elements are
accessible.
Fasten the EHMB to the threaded holes with 4 screws and 2
centring sleeves or with the aid of kits.
Mounting to the sides (A), (B) and (C) is possible (è Fig. 5).
Tighten the mounting screws evenly. The tightening torque is
summarised in the following table.
Size 20 25 32
Screw (through-hole) – M5 M5
Screw (direct mounting) M5 M6 M6
Tightening torque M5 [Nm] 5.9 5.9 5.9
M6 [Nm] – 9.9 9.9
Centring sleeve [mm] 9x4
Tab. 1
For eccentric payloads in a vertical or sloping position:
Warning
Uncontrolled moving masses can cause personal injury and material damage (pinching).
If there is a power failure or the toothed belt breaks inside the EHMB, the payload will
slide down.
Use motors with spring-loaded holding brakes.
Check whether additional external safety measures against damage due to breaking
of the toothed belt are required (e.g. toothed latches or movable bolts).
(C)
Fig. 5
(B)
(A)
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EHMB
5.3 Attachment of the payload
Place the centre of gravity of the payload, if possible, centrically
to the drive shaft.
Attach the payload. There are 2 options here:
– with at least 2 screws and 2 centring sleeves
– with adapter kits on the drive shaft (è Assembly instruc
tions of the adapter kits)
Fig. 6
Size 20 25 32
Max. screw-in depth E [mm] 9.6 14
Bolt M6 M8
Tightening torque [Nm] 9.9 14
Centring sleeve [mm] 9x4 12x4
Tab. 2
5.4 Electrical installation
Check whether additional proximity sensors are required. There are 2 trip cams for sensing the rotation.
To set the trip cams:
Loosen the threaded pin in the trip cam.
Move the cams to the desired position.
Tighten the threaded pins (D è Fig. 9) lightly at first. After final
positioning, tighten (tightening torque: 0.7 Nm).
Screw proximity sensor (E) into the sensor bracket (F).
If necessary, the sensor bracket can be mounted off-set by 90°
(EHMB-20/32) or 180° (EHMB-25).
The following steps are to be carried out:
– Unscrew the screws (G) of the retaining ring.
– Turn retaining ring with sensor bracket.
– Screw the screws of the retaining ring back in (tightening
torque: 3 Nm).
Mountability is dependent on the attachment position of the cyl
inder and accessories.
Festo – EHMB – 2019-05c English 9
Fig. 7
(G)
(F)
(E)
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EHMB
To guarantee the switching function of the proximity sensor:
Set proximity sensor (E) so that there is a gap of X = 0.5 mm to
the cams.
Mount each proximity sensor using the supplied lock nut (tight
ening torque of the lock nuts è Operating instructions of the
proximity sensor).
To install additional trip cams (è Catalogue specifications,
è www.festo.com/catalogue).
Installing additional trip cams:
– Insert cam (C) into the cut-out on the groove of the fixture.
For the EHMB-32, this requires removal of the sensor brack
et (tightening torque when reattaching: 1.2 Nm).
– Swivel cam (C) either upwards or downwards.
– Insert additional cams into the cut-out as needed.
(E)
Fig. 8
(C)
(D)
Fig. 9
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EHMB
6 Commissioning
WARNING
Uncontrolled moving mass if there is a power failure.
Injury due to impacts or pinching.
Ensure that nobody can place his/her hand in the
path of the moving components (e.g. through pro
tective crate).
Ensure that no foreign objects are located in the
positioning range.
It should not be possible to touch the EHMB until
the load has come to complete standstill.
The cover aC serves to protect the drive shaft
(è 9 Accessories).
Note
Excessive driving torque or axial force will destroy the EHMB.
Comply with maximum permissible driving torque or axial force of the EHMB.
The motor current may need to be limited.
Note
With excessive rotation (e.g. endless rotation), the energy supply to the attachment
components may be interrupted. This can cause held loads to fall down (e.g. if the
tubing line of a pneumatic gripper comes loose).
Check whether mechanical or electric safety measures are necessary.
aC
Fig. 10
Procedure Purpose Note
1. Check travel Determining the rotation/lifting
direction of the motor
2. Homing to refer
ence switch
Festo – EHMB – 2019-05c English 11
Comparison of real situation to
the image of the control
Even with identical control, motors of the
same design can turn in opposite direc
tions due to different wiring.
Comply with operating instructions of the
motor drive system. Follow procedure
with limitation to low dynamic response
to reference switch:
1. Rotation,
2. Lifting motion
3. Combined rotary/lifting motion.
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EHMB
Procedure NotePurpose
3. Test run Checking the overall behaviour Check the following requirements:
– The rotary/lifting module moves
through the intended positioning
cycle completely.
– The rotary/lifting module stops as ex
pected.
After a successful test run, the rotary/
lifting module is ready for operation.
Tab. 3
7 Maintenance and care
WARNING
Unexpected movement of components.
Injury due to impacts or pinching.
When working on the axis, switch off the control and secure it to prevent it from
being switched back on accidentally.
Clean the product as needed using non-abrasive cleaning agents and a soft cloth.
Note
Due to its life-time lubrication, the slot shaft guide 6 moves somewhat sluggishly at
first.
After a start-up phase, the guide's friction decreases and the excess grease can be
wiped off.
To extend the service life of the linear guide:
Dismantle cam fixture (H) as follows:
– Unscrew threaded pin (SW 2).
– Slide cam fixture upwards.
Grease the ball bearing of the guide at the 3 lubrication holes
every 3000 km (grease è 9 Accessories).
The amount of grease is:
– 2.3 g (for EHMB-20)
– 4.7 g (for EHMB-25/32)
Shift the linear part backwards and forwards during lubrication.
Otherwise the grease cavities will not be filled equally.
Reassemble cam fixture (H). The tightening torque of the
threaded pin is 1 Nm.
12 Festo – EHMB – 2019-05c English
(H)
Fig. 11
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EHMB
Check whether the proximity sensors operate as desired.
Correct the position of the cams if necessary (è 5.4 Electrical installation).
Note
The lubrication intervals depend on the product load.
Shorten the lubrication intervals to half the length in case of:
– Speed 1 m/s
– Load factor 80 %
– Ambient temperature close to +40 °C
– Frequent acceleration and braking
– Dusty and dirty environment.
To optimise the service life of the toothed belt with swivel angles less than 360°:
1. Perform the following steps after every 2 million load changes:
– Dismantle the payload and rotate by 90°.
– Mount the payload again.
– Also move the trip cams by 90° in the same direction (è Fig. 9 in chapter 5.4 Electrical installation).
A different part of the toothed belt then comes into the load zone of the gears.
2. Repeat commissioning.
8 Disassembly and repair
WARNING
Unexpected movement of components.
Injury due to impacts or pinching.
When working on the product, switch off the control and secure it to prevent it from
being switched back on accidentally.
Note
The reference position is lost when the motor, trip cam or electric cylinder is dismantled.
Start homing as detailed in chapter 6 Commissioning in order to determine the new
reference position.
If repairs are required:
Send axis to Festo or contact your local Festo service centre (è www.festo.com).
Festo carries out the required repairs, fine adjustments and checks.
Information about spare parts and auxiliary means (è www.festo.com/spareparts).
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EHMB
9 Accessories
è www.festo.com/catalogue
Maintenance accessories:
Designation Part number/type
Grease gun with needle-pointed nozzle 647958/LUB-1
Lubrication adapter 705639/LUB-1-TR
Roller bearing grease LUB-KB2 from Festo
1) (è Spare parts catalogue at www.festo.com/spareparts)
Tab. 4
1)
10 Fault clearance
Malfunction Possible cause Remedy
Squeaking noises or
vibrations
Rotary/lifting
module does not
move
Drive shaft can be
turned freely
Tab. 5
Controller is set incorrectly. Change parameters.
Overloading/fatigue Send EHMB to Festo or contact the
local Festo service.
Shock absorber is defective
(if a pneumatic cylinder is used).
Load levels are too high. Reduce load mass/torques.
Mounting screws are too long. Observe max. screw-in depth
Motor is blocked. Eliminate cause
Linear guide is defective. Send EHMB to Festo or contact the
Toothed belt has broken
Clamp of the motor coupling has
loosened.
Change shock absorbers.
Reduce travel speed.
Send EHMB to Festo or contact the
local Festo service.
(è 5.3 Attachment of the payload).
local Festo service.
Check mounting, tighten clamping
screw.
1)
1)
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EHMB
11 Technical data
Size 20 25 32
Design Electromechanical rotary/lifting module with toothed
belt
Mounting position Any
Drive pinion [mm] 6 8 12
Rotation angle Infinite
Repeat accuracy, rotary
With EMMS-AS and
EMME-AS motor
With EMMS-ST motor
With MTR-DCI motor [°] ± 0.05
Gear ratio 4.5:1 4:1 3:1
Max. driving torque [Nm] 0.7 2.2 6.7
Max. output torque
No-load driving torque
Max. input speed [rpm] 1350 1200 900
Max. output speed [rpm] 300
Max. feed force
Max. speed of the linear guide [m/s] 1.5
Max. payload [kg] 3 5 8
Ambient temperature [°C] –10 … +60
Vibration tested in accordance with DIN/IEC 68/EN 60068
Shock tested in accordance with DIN/IEC 68/EN 60068
1) With constant travel profile. The specifications apply only when the motor is directly mounted. If a gearbox is also installed, the
repeat accuracy will be different.
2) Dependent on the encoder resolution
3) Output torque less friction is dependent on speed.
4) At maximum rotational speed
5) Cylinder-dependent; values with DSBC-32/40 (with ESBF-32/40, these values must be the limit)
6) Horizontal use (for vertical use and symmetric, not-eccentric configuration up to 15 kg are possible)
1)
[°] ± 0.03
2)
3)
4)
5)
[°] ± 0.08
[Nm] 3.15 8.8 20
[Nm] 0.07 0.18 0.5
[N] 480 480 750
6)
part 2-6;
0.15 mm path with 10 … 58 Hz;
2 g acceleration with 58 … 150 Hz
parts 2-27;
±15 g at 11 ms duration; 5 shocks per direction
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EHMB
Size 322520
Note on materials Contains paint-wetting impairment substances
Materials
Drive shaft Steel
Cover, housing Anodised aluminum
Drive shaft High-alloy stainless steel
Toothed belt Polychloroprene with glass fibre
Product weight
100 mm stroke [kg] 1.72 3.35 6.11
200 mm stroke [kg] 1.85 3.62 6.39
1) With constant travel profile. The specifications apply only when the motor is directly mounted. If a gearbox is also installed, the
repeat accuracy will be different.
2) Dependent on the encoder resolution
3) Output torque less friction is dependent on speed.
4) At maximum rotational speed
5) Cylinder-dependent; values with DSBC-32/40 (with ESBF-32/40, these values must be the limit)
6) Horizontal use (for vertical use and symmetric, not-eccentric configuration up to 15 kg are possible)
Tab. 6
12 Characteristic curves (at the end of the operating instructions)
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EHMB
12 Characteristic curves
Max. dynamic force Fx and Fy as a function of distance y and z
Fx
|Fx|
Fz
max
max
EHMB-20
EHMB-25
EHMB-32
|Fy|
)
Fy
max
+ Fy
max
)
|Fz|
v 1
Fz
max
Fig. 12
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EHMB
Deflection f as a function of lateral force F and stroke l
EHMB-20
EHMB-25
l = 10 mm
l = 200 mm
EHMB-32
Fig. 13
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EHMB
Max. speed v as a function of the payload m (pneumatic cylinder)
EHMB-20
EHMB-25
EHMB-32 (DYSW 1x)
EHMB-32 (DSYW 2x)
Fig. 14
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Copyright:
Festo AG & Co. KG
Ruiter Straße 82
73734 Esslingen
Germany
Phone:
+49 711 347-0
Fax:
+49 711 347-2144
Reproduction, distribution or sale of this document or communica
tion of its contents to others without express authorization is
prohibited. Offenders will be liable for damages. All rights re
served in the event that a patent, utility model or design patent is
registered.
E-mail:
service_international@festo.com
Internet:
www.festo.com
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