Festo EXCM-10-150, EXCM-10, EXCM-10-360, EXCM-10-300, EXCM-10-260 Mechanical Installation

Description

Mechanical
installation

8044408

1503a

[8044410]

EXCM-10

Planar surface gantry

EXCM-10

2 Festo – GDCP-EXCM-10-EN – 1503a – English

GDCP-EXCM-10-EN

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

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.

EXCM-10

Festo – GDCP-EXCM-10-EN – 1503a – English 3

Table of Contents – EXCM-10

1 Safety and requirements for product use 5......................................

1.1 Safety 5..................................................................

1.1.1 General safety instructions 5.........................................

1.1.2 Intended use 5.....................................................

1.2 Requirements for product use 6...............................................

1.2.1 Technical requirements 6............................................

1.2.2 Qualification of trained personnel 6....................................

1.2.3 Range of application and certifications 6................................

2 Transport and storage 7.....................................................

2.1 Storage conditions 7........................................................

2.2 Checking the scope of delivery 7...............................................

3 Overview 8................................................................

3.1 Characteristics 8...........................................................

3.2 Function and application 9....................................................

3.3 Functional principle 9........................................................

3.4 Design 10..................................................................

3.5 Interfaces 10...............................................................

4 Mounting and installation 11..................................................

4.1 Preparations for mounting 11..................................................

4.1.1 Gantry dimensions 11................................................

4.1.2 Adjusting the mounting position of the controller 12........................

4.1.3 Requirements of the mounting surface 13................................

4.1.4 Preparing the mounting surface 14......................................

4.2 Mounting 16................................................................

4.2.1 Inserting the gantry into the mounting surface 16..........................

4.2.2 Mounting the gantry 16...............................................

4.2.3 Guide backlash adjustment 17.........................................

4.3 Mounting extension elements 18...............................................

5 Commissioning 19...........................................................

6 Maintenance and care 20.....................................................

6.1 Cleaning 20.................................................................

6.2 Lubrication 20..............................................................

EXCM-10

4 Festo – GDCP-EXCM-10-EN – 1503a – English

7 Disassembly and repairs 21...................................................

7.1 Dismantling 21..............................................................

7.2 Repair 21..................................................................

7.3 Accessories 21..............................................................

7.4 Disposal 21................................................................

A Technical appendix 22........................................................

A.1 Technical data 22............................................................

A.1.1 General 22.........................................................

A.1.2 Mechanical 22......................................................

A.1.3 Dynamic 23........................................................

A.1.4 Operating and environmental conditions 23...............................

1 Safety and requirements for product use

Festo – GDCP-EXCM-10-EN – 1503a – English 5

1 Safety and requirements for product use

1.1 Safety

1.1.1 General safety instructions

 Observe the general safety instructions in the corresponding chapters.

Specific safety regulations can be found immediately before the task instructions.

1.1.2 Intended use

The planar surface gantry EXCM-10 is designed for executing positioning tasks within machines or auto
mated systems with a higher-order controller and is to be used as follows:
– in excellent technical condition
– in original status without unauthorised modifications
– within the limits of the product defined by the technical data

(è A.1 Technical data)

Note

Each restart results in a loss of the reference position. Homing is therefore required
after each restart.

Note

In the event of damage caused by unauthorised manipulation or other than intended
use, the guarantee is invalidated and the manufacturer is not liable for damages.

1 Safety and requirements for product use

6 Festo – GDCP-EXCM-10-EN – 1503a – English

1.2 Requirements for product use

 Make this documentation available to the design engineer, installer and personnel responsible for

commissioning the machine or system in which this product is used.

 Make sure that the specifications of the documentation are always complied with. Also read and

follow all accompanying documentation and the documentation for any associated accessories.

 Take into consideration the legal regulations applicable for the destination, as well as:

– regulations and standards
– regulations of testing organisations and insurers
– national specifications

1.2.1 Technical requirements

 All warnings and instructions in this documentation for the correct and safe use of the product must

be observed at all times.

 Comply with the connection and environmental conditions of the product and all connected com

ponents specified in the technical data (è A.1 Technical data).
Only compliance with the limit values or load limits permits operation of the product in accordance
with the relevant safety regulations.

1.2.2 Qualification of trained personnel

The product should only be installed by properly trained personnel in accordance with this documenta
tion. The trained personnel must be familiar with:
– the applicable regulations for accident protection and industrial safety
– the documentation for the product

1.2.3 Range of application and certifications

Standards and test values which the product complies with and fulfils can be found in the technical
data (è A.1 Technical data).

2 Transport and storage

Festo – GDCP-EXCM-10-EN – 1503a – English 7

2 Transport and storage

2.1 Storage conditions

If the planar surface gantry is not mounted immediately, it must be stored under the following condi
tions.

Storage conditions

Storage temperature [°C] –10 … +60
Air humidity [%] 0 … 90 (non-condensing)
Maximum storage period 60 months
Requirements of storage
location

dry, in the original packaging

Tab. 2.1

2.2 Checking the scope of delivery

1. After unpacking, check whether the product corresponds to the version you ordered.

2. Check the following parts:

Checking Possible malfunction Remedy

Plug connectors on the motor
and controller

Motor and encoder cables
loosened

Insert motor and encoder cables

Tab. 2.2

3. Check delivery for completeness.

Designation Quantity

Planar surface gantry with brief description + CD with descriptions and software 1

Terminal strip power supply, 3-pin (inserted in controller) 1
Terminal strip emergency stop, 8-pin (inserted in controller) 1

Centring sleeves 4

Tab. 2.3

3 Overview

8 Festo – GDCP-EXCM-10-EN – 1503a – English

3Overview

3.1 Characteristics

Planar surface gantry
characteristics

Code Specification

Type EXCM Planar surface gantry
Size - 10 –
Stroke of the X-axis - 150 150 mm

maximum stroke in direction of X-axis

- 260 260 mm

- 300 300 mm

- 360 360 mm

- 460 460 mm

- 700 700 mm
Stroke of the Y-axis - 110 110 mm maximum stroke in direction of Y-axis
Guidance - GF Plain-bearing guide in direction of X- and Y-axis
Motor type - ST Stepper motors
Motor attachment position - B Underneath
Controller - E1 Controller attached

Tab. 3.1

3 Overview

Festo – GDCP-EXCM-10-EN – 1503a – English 9

3.2 Function and application

The planar surface gantry contains two servo motors which drive a H-shaped circulating toothed belt.
The toothed belt moves a slide with plain-bearing guides. The position of the slide is calculated by the
controller from the encoder signals of the motors.
The motors are not directly assigned an axis (X- or Y-axis) of the planar surface gantry. Instead, the
movement of the slide towards an axis is achieved through the interaction of the two motors, which is
controlled by the controller (è Fig. 3.1).
The planar surface gantry is designed for executing positioning tasks within machines or automated
systems with a higher-order controller.

3.3 Functional principle

The planar surface gantry moves a slide in a two-dimensional space by means of a common toothed
belt.

Motor 1

Motor 2

Motor 1

Motor 2

X-axis

Y-axis

Fig. 3.1

3 Overview

10 Festo – GDCP-EXCM-10-EN – 1503a – English

3.4 Design

1

3

4

6

5

2

7

8

1 Toothed belt
2 Slide
3 Y-traverse
4 Motor 1

5 Controller
6 Motor 2
7 Back plate
8 Cover

Fig. 3.2

3.5 Interfaces

The controller interfaces are described in the separate documentation supplied with the
controller.

4 Mounting and installation

Festo – GDCP-EXCM-10-EN – 1503a – English 11

4 Mounting and installation

4.1 Preparations for mounting

4.1.1 Gantry dimensions

L2

B1

H2

L1

H1

L3

L4

Dimensions [mm]
Size B1 H1 H2

1)

L1 L2 L3 L4

EXCM-10-150 230 104.3 ±2 44.8 ±1 250 112 182 0 … 50
EXCM-10-260 230 104.3 ±2 44.8 ±1 360 112 182 0 … 50
EXCM-10-300 230 104.3 ±2 44.8 ±1 400 112 182 0 … 50
EXCM-10-360 230 104.3 ±2 44.8 ±1 460 112 182 0 … 50
EXCM-10-460 230 104.3 ±2 44.8 ±1 560 112 182 0 … 50
EXCM-10-700 230 104.3 ±2 44.8 ±1 800 112 182 0 … 50

1) Due to the plastic washers, there is a gap of about 1 mm between the mounting surface and the planar surface gantry.

Tab. 4.1

4 Mounting and installation

12 Festo – GDCP-EXCM-10-EN – 1503a – English

4.1.2 Adjusting the mounting position of the controller

The position of the controller underneath the back plate can be altered according to the respective
mounting situation.
The controller is screwed to the back plate from above by four screws. The screws engage in a slot in
the controller's housing and can thus be varied in terms of their position on the controller.
The sub-base contains six holes for reception of the mounting screws for the controller.
This results in two different positions for the mounting screws and an area in which the screws can be
inserted freely into the slot of the housing.

Note

There are plastic washers between the sub-base and controller.
 When relocating the controller, make sure that these washers are used.

Note

 When tightening the screws, please observe the maximum tightening torque of

1.0±0.1 Nm.

Front mounting position Rear mounting position

Fig. 4.1 Fig. 4.2

4 Mounting and installation

Festo – GDCP-EXCM-10-EN – 1503a – English 13

4.1.3 Requirements of the mounting surface

The following conditions must be met, otherwise the range of functions may be restricted:
– the mounting position of the planar surface gantry is horizontal
– there is a sufficiently large cut-out in the mounting surface for motors and the controller

(è 4.1.4 Preparing the mounting surface)
– there is sufficient space for movement of the planar surface gantry
– the planar surface gantry is mounted in a torsionally rigid and tension-free manner
– the bearing surface is flat (flatness  0.1 mm/m²)
– there is adequate mounting to absorb the maximum forces (è www.festo.com/catalogue)

4 Mounting and installation

14 Festo – GDCP-EXCM-10-EN – 1503a – English

4.1.4 Preparing the mounting surface

To ensure correct installation of the planar surface gantry a cut-out for motors and the controller must
be provided.

L2

L1

L3

L4

L5

L6

B1

B2

B2

H1

B3

1

2

2

1

B1

3

3

1 Mounting screw M5 (2.0 ±0.2 Nm)
2 Centring sleeve  5 mm, length 3.4 mm

3 Holes  5

H7

mm for centring sleeves,

depth 1.5 +0.2 mm

Dimensions [mm]
Size L1 L2

1)

L3 L4 L5 L6 B1 B2 B3

2)

H1

3)

EXCM-10 190 145 ±0.2 46 20 5 15 ±0.1 154 33 166 ±0.2 max. 3

1) For size EXCM-10-150, for the other sizes: L2 = maximum stroke of the size – 5 mm. (è Tab. 3.1)

2) The hole spacing of the centring sleeves has a tolerance of ±0.03 mm.

3) Only in the event that the plug connectors installed by the customer on the front of the controller protrude below the mounting

surface.

Tab. 4.2

4 Mounting and installation

Festo – GDCP-EXCM-10-EN – 1503a – English 15

Unclipping the covers

Note

When using very long screws the side covers above the toothed belt may need to be
removed.

 Unclip the retaining tab of the cover by pulling

the top edge upwards and outwards.

Fig. 4.3

 Unclip the lower retaining spring by pressing

the top edge downwards and outwards.

Fig. 4.4

 Remove the cover outwards.

Fig. 4.5

 After mounting the planar surface gantry clip the covers in place again in reverse sequence.

4 Mounting and installation

16 Festo – GDCP-EXCM-10-EN – 1503a – English

4.2 Mounting

4.2.1 Inserting the gantry into the mounting surface

Note

The motor connecting cables can be damaged when the planar surface gantry is inser
ted into the cut-out in the mounting surface.
 When inserting the planar surface gantry into the mounting surface route the motor

connecting cables around the bearing surfaces.

 Do not route the cables excessively as a result of an offset mounting position of the

controller, unplug the motor connecting cables from the controller instead and re
connect them after insertion into the mounting surface.

 When connecting the earthing screw clamp (M4) please observe the maximum tight

ening torque of 1 ±0.2 Nm.

4.2.2 Mounting the gantry

 Mount the gantry on the prepared mounting surface.

The planar surface gantry is mounted via two centring sleeves and four M5 screws
( è 4.1.4 Preparing the mounting surface).

Note

The planar surface gantry is delivered with a backlash-free setting.
 When mounting the planar surface gantry make sure that it is not distorted, because

if it is, it can change this setting.

 After mounting the planar surface gantry check the displacement force of the

Y-traverse (max. 14 N over the entire stroke). If the displacement force is too high,
the guide backlash will need to be corrected (è 4.2.3 Guide backlash adjustment).

The slots on the underside of the sub-base must not be used for mounting the planar
surface gantry.

4 Mounting and installation

Festo – GDCP-EXCM-10-EN – 1503a – English 17

4.2.3 Guide backlash adjustment

Adjustment of the guide backlash is only necessary if the planar surface gantry has been distorted
during the mounting process. If it has been mounted according to the specifications (è 4.1.3 Require
ments of the mounting surface), no adjustment is necessary. Mounting a distorted planar surface
gantry should be avoided where possible.

1. Loosen the locking screws 1 and unscrew

them through approx. 3 rotations.

2. Adjust the guide so it is free of backlash by

using the two threaded pins 2. When doing

this always check the change in shifting resist

ance (max. 14 N over the entire stroke).

3. Secure the setting by evenly tightening the

locking screws 1 with 0.2 Nm. Make sure the

setting is not changed when doing this.

4. Check the displacement force and the zero

backlash of the guide once again.

21

12

1 Locking screws
2 Threaded pins for height adjustment

Fig. 4.6

4 Mounting and installation

18 Festo – GDCP-EXCM-10-EN – 1503a – English

4.3 Mounting extension elements

L1

B1

1

2

1 Holes 5H7 mm for centring sleeves 2 Thread M4

Fig. 4.7

Dimensions [mm]
Size L1 B1

EXCM-10 30 ±0.03

1)

26 ±0.03

1)

1) The tolerance refers to the hole spacing of the centring sleeves

Tab. 4.3

Note

 Observe the following when designing and mounting extension elements:

– the limit values defined in the technical data

(è www.festo.com/catalogue)
– the maximum screw-in depth of 7 mm
– the maximum tightening torque of 1.5 ±0.3 Nm

 Mount the extension element on the slide.

Two threads and two holes for the supplied centring sleeves are provided on the slide for mounting
extension elements.

5 Commissioning

Festo – GDCP-EXCM-10-EN – 1503a – English 19

5 Commissioning

Note

Commissioning should only be carried out by specially trained personnel. The following

knowledge is required:

– Knowledge of the Festo Configuration Tool (FCT)

– Experience in installing and operating electrical control systems

Commissioning is described in separate documents.

For support in commissioning:

 Please contact your regional Festo contact person.

Further information can be found online (è www.festo.com/sp).

6 Maintenance and care

20 Festo – GDCP-EXCM-10-EN – 1503a – English

6 Maintenance and care

Caution

Squeezing of body parts and damage to the system.
Unintended starting can trigger unexpected movements.
 Before any conversion or maintenance work or inspections of the system, ensure

that the system is de-energised and locked off to prevent restarting.

Note

Maintenance work should only be conducted by properly trained personnel in accord
ance with these instructions.

6.1 Cleaning

Note

Cleaning of the system is not normally required and should only be conducted in excep
tional circumstances while taking the following requirements into account.
 When cleaning the system omit the guide elements in order to avoid impairing their

lubrication. Otherwise, the lubrication of the guide elements will need to be renewed
(è 6.2 Lubrication).

6.2 Lubrication

The system is initially lubricated during production. Subsequent lubrication is only required if the guide
elements have been degreased.

 Use a brush to coat the marked surfaces (è Fig. 6.1) of the

guide rails for the X- and Y-axis with a thin layer of grease.
(è 7.3 Accessories)

 Move the slide repeatedly along the entire stroke of both axes.

Fig. 6.1

7 Disassembly and repairs

Festo – GDCP-EXCM-10-EN – 1503a – English 21

7 Disassembly and repairs

7.1 Dismantling

Caution

Squeezing of body parts and damage to the system.

Unintended starting can trigger unexpected movements.

 Before any conversion or maintenance work or inspections of the system, ensure

that the system is de-energised and locked off to prevent restarting.

 Disconnect the planar surface gantry from the higher-order controller.
 Disassemble the planar surface gantry in accordance with the selected mounting process.

7.2 Repair

 Contact our Service department.

This way the required fine tuning and tests will be taken into special consideration.

 Information about spare parts and accessories (è www.festo.com/spareparts)

7.3 Accessories

 Please select the corresponding accessories from our catalogue

(è www.festo.com/catalogue).

Designation Type

Grease LUB-KC1

Tab. 7.1

7.4 Disposal

 When dismantling parts, please observe the instructions (è 7.1 Dismantling).

 Observe the local regulations for environmentally-friendly disposal of modules. Some

materials are listed in the technical data section to enable separate disposal of partic
ular materials (è A.1 Technical data).

 Handle the lubricants (greases, oils) in accordance with the applicable regulations

governing health and safety and hazardous materials.

 Observe the local regulations regarding waste disposal and the environment.

A Technical appendix

22 Festo – GDCP-EXCM-10-EN – 1503a – English

A Technical appendix

A.1 Technical data

A.1.1 General

Size

10

Design Planar surface gantry
Mounting position Horizontal
Type of mounting Via through-holes

Tab. A.1

Certifications

CE marking (see declaration of conformity)
(è www.festo.com)

To EU EMC Directive

1)

Declaration of incorporation (è www.festo.com) EC machinery directive 2006/42/EC

1) The device is intended for use in an industrial environment. Measures for interference suppression may need to be implemented in

residential areas.

Tab. A.2

A.1.2 Mechanical

Size 10

Materials

Base plate Aluminium
End caps
Guide pulley
Y-traverse (base material)
Slides
Clamping plate for toothed belt attachment
Guides Rail Aluminium (integrated in base profile)

Cassette Aluminium with slide elements
Coupling Aluminium with elastomer ring gear
Drive pinion Steel
Ball bearing
Toothed belt Polychloroprene with glass cord
Covers Plastic

Product weight Stroke length 150 260 300 360 460 700

[kg] 3.3 3.8 4.0 4.2 4.7 5.7

Tab. A.3

A Technical appendix

Festo – GDCP-EXCM-10-EN – 1503a – English 23

A.1.3 Dynamic

Size

10

Motor type Stepper motor
Max. acceleration [m/s2] 3
Max. speed [m/s] 0.3
Repetition accuracy [mm] ±0.1
Effect. load at max. dyn. rsp. [kg] 0.5
Max. force Z-axis Fz [N] 150
Permissible torques on the slide
Mx/My/Mz [Nm] 2.0/0.5/2.0

Condition for combined loads:

fv+

|Mx|

Mx

max

)

|My|

My

max

)

|Mz|

Mz

max

)

|Fz|

Fz

max

v 1

Torsion angle of the slide [°] ±0.15

Tab. A.4

A.1.4 Operating and environmental conditions

Size 10

Ambient temperature [°C] +10 … +45
Protection IP20
Storage temperature [°C] –10 … +60
Air humidity [%] 0 … 90 (non-condensing)
Noise level Lp

Aeq

[db (A)] 38

Duty cycle [%] 100

Tab. A.5

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.

Copyright:
Festo AG & Co. KG
Postfach
73726 Esslingen
Germany

Phone:
[phone]

Fax:
[phone]

e-mail:
[e-mail]

Internet:
www.festo.com

Original: de