Page 1
Handling system
YXC...
Description
Mechanical
installation
8044168
1506a
[8044170]
Page 2
YXC...
Translation of the original instructions
GDCP-YXC-EN
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 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.
è Result of an action/References to more detailed information.
2 Festo – GDCP-YXC-EN – 1506a – Deutsch
Page 3
YXC...
1 Safety and requirements for product use 7......................................
1.1 Technical data 7............................................................
1.1.1 Ordered strokes [mm] 7.............................................
1.2 Safety 8..................................................................
1.2.1 General safety information 8..........................................
1.3 Intended use 8.............................................................
1.3.1 Possible misuse 8..................................................
1.4 Permitted mounting position 9................................................
1.5 Requirements for product use 9...............................................
1.5.1 Obligations of the operating company 10.................................
1.5.2 Qualified specialized personnel 10......................................
1.5.3 Range of application and certifications 10................................
2 Transport and storage 11.....................................................
2.1 Transport 11................................................................
2.2 Storage conditions 11........................................................
2.3 Unpacking 11...............................................................
2.4 Transport locks 12...........................................................
2.4.1 Securing in the transport protection crate 12.............................
2.4.2 Securing when lifting 12..............................................
2.4.3 Securing during transport and mounting 18...............................
3 Overview 20................................................................
3.1 Delivery status 20...........................................................
3.1.1 Completely mounted handling system 20.................................
3.1.2 Partially mounted handling system 20...................................
3.2 Module types 20............................................................
3.2.1 X-module EHMX (including motor) 20....................................
3.2.2 Y-module EHMY (including motor) 23....................................
3.2.3 Z-module EHMZ (including motor)/DHMZ 25..............................
3.3 Handling systems 27.........................................................
3.3.1 Single-axis system YXCS 27...........................................
3.3.2 Linear gantry YXCL 28................................................
3.3.3 Planar surface gantry YXCF 29..........................................
3.3.4 Three-dimensional gantry YXCR 30......................................
3.4 Handling systems without motors 31............................................
Festo – GDCP-YXC-EN – 1506a – English 3
Page 4
YXC...
4 Installation of the single-axis systems and the linear gantries 32....................
4.1 Preparation 32..............................................................
4.1.1 Installation space 32.................................................
4.1.2 Number n of mounting components 32..................................
4.1.3 Preparation of the mounting surface 33..................................
4.2 Mounting components 34.....................................................
4.2.1 Mounting kit with adjustment possibility 34...............................
4.3 Mounting linear gantry (partially mounted) 39.....................................
4.3.1 Mounting of the Y-module EHMY-LP 40..................................
4.3.2 Mounting of the Z-module EHMZ/DHMZ 42...............................
4.4 Installation of single-axis system and linear gantry (completely mounted) 45............
5 Installation of the planar surface gantries and the three-dimensional gantries 47.......
5.1 Preparation 47..............................................................
5.1.1 Installation space 47.................................................
5.1.2 Number n of mounting components 47..................................
5.1.3 Preparation of the mounting surface 48..................................
5.2 Mounting components 52.....................................................
5.2.1 Mounting kit without adjustment possibility 52............................
5.2.2 Adjusting kit 55.....................................................
5.3 Mounting of the planar surface gantries and the three-dimensional gantries
(partially mounted) 59........................................................
5.3.1 Mounting of the X-module EHMX-RP 61..................................
5.3.2 Mounting of the Y-module EHMY-RP 68..................................
5.3.3 Mounting of the Z-module EHMZ/DHMZ 74...............................
5.4 Installation of the planar surface gantries and the three-dimensional gantries
(completely mounted) 77.....................................................
5.5 Check the alignment and structure 83............................................
5.6 Connecting shaft 84..........................................................
5.6.1 Mounting of the connecting shaft 84....................................
5.7 Motor with brake (EMMS-...-RSB/RMB) 94........................................
5.7.1 Dismounting 94.....................................................
5.7.2 Mounting 94.......................................................
6 Attachment components 95...................................................
6.1 Mounting to the Y-module 95..................................................
6.2 Mounting to the Z-module 95..................................................
4 Festo – GDCP-YXC-EN – 1506a – English
Page 5
YXC...
7 Installation 96..............................................................
7.1 Safety instructions 96........................................................
7.2 Earthing 98.................................................................
7.2.1 Earthing points 98...................................................
7.2.2 Earthing points at the single-axis system 99..............................
7.2.3 Earthing points at the linear gantry 100...................................
7.2.4 Earthing points at the planar surface gantry 101............................
7.2.5 Earthing points at the three-dimensional gantry 102.........................
7.3 Cables and hoses 103.........................................................
7.3.1 Cables 103..........................................................
7.3.2 Hoses 103..........................................................
7.3.3 Energy chain subdivision Z-modules 105..................................
7.3.4 Energy chain subdivision Y-modules 106..................................
7.3.5 Energy chain subdivision X-modules 108..................................
7.3.6 Installation 108......................................................
7.3.7 Checking the energy chain 109..........................................
8 Commissioning 110...........................................................
8.1 Safety instructions 110........................................................
8.2 Limit switches 112............................................................
8.3 Test run 112.................................................................
9 Operation 113...............................................................
9.1 Safety instructions 113........................................................
9.2 Characteristic curve of the connecting shaft 113....................................
10 Maintenance and care 114.....................................................
10.1 Safety instructions 114........................................................
10.2 Cleaning 115.................................................................
10.3 Lubrication 115..............................................................
11 Decommissioning, disassembly, disposal 116.....................................
11.1 Safety instructions 116........................................................
11.1.1 General 116.........................................................
11.1.2 Dismantling 116.....................................................
11.1.3 Disposal 116........................................................
12 Fault clearance 117...........................................................
12.1 Malfunctions and remedy 117...................................................
12.2 Repair 118..................................................................
Festo – GDCP-YXC-EN – 1506a – English 5
Page 6
YXC...
A Technical appendix 119........................................................
A.1 Technical data 119............................................................
A.1.1 Certifications 119....................................................
A.1.2 Materials 119........................................................
6 Festo – GDCP-YXC-EN – 1506a – English
Page 7
1 Safety and requirements for product use
1 Safety and requirements for product use
1.1 Technical data
Note
The technical data are contained in a separate data sheet, depending on the order.
Damage to the product from incorrect use and non-compliance with the technical data.
The separate data sheet as well as the CAD model are components of the product docu
mentation and must be downloaded as follows.
Determine order ID of the handling system (è product labelling on the Y-module).
Download data sheet and CAD model from the Festo Support Portal by specifying
the order ID (è www.festo.com/sp).
Print out data sheet and keep it together with this description.
Dimensions and other required measurements should be derived from the CAD model.
Illustrations in this description are shown as examples. The product can deviate, de
pending on the order.
1.1.1 Ordered strokes [mm]
For single-axis system and linear gantry:
Determine stroke in Y-direction (Hy) (è product labelling on the Y-module):
– Hy = stroke in Y-direction e.g. B.: EHMY-LP-EGC-120-TB-KF-1000-...
For planar surface gantry and three-dimensional gantry:
Determine width in Y-direction (By) and stroke in X-direction (Hx) (è product labelling on the
X-module):
– By = width in Y-direction e.g. B.: EHMX-EGC-120-TB-KF-1200-642-...
– Hx = stroke in X-direction e.g. B.: EHMX-EGC-120-TB-KF-1200-642-...
Festo – GDCP-YXC-EN – 1506a – English 7
Page 8
1 Safety and requirements for product use
1.2 Safety
1.2.1 General safety information
Observe all warnings in this documentation.
Observe all warnings and safety instructions for the related accessories.
1.3 Intended use
This product is a handling system and executes positioning tasks within machines or automated sys
tems with a higher-order controller.
Warning
Unexpected risks in commissioning and operation of the product in a system.
Hazard for system safety as well as for persons within range of the system.
Prepare risk evaluation of the complete system.
Use product only as follows:
– in excellent technical condition
– in its original condition, without unauthorised modifications
– within the limits of the product defined in the technical data (è 1.1 Technical data)
– in an industrial environment
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.
1.3.1 Possible misuse
Never use product as follows:
– with unauthorised modifications or alterations to the product
– outside of an industrial environment
– in an invalid mounting position
– with load limits exceeded
– without sufficient risk evaluation of the complete system
– without a safety concept for the complete system
8 Festo – GDCP-YXC-EN – 1506a – English
Page 9
1 Safety and requirements for product use
1.4 Permitted mounting position
Use product only in the following mounting positions:
Handling system Mounting position
1)
X-module Y-module Z-module
Single-axis system – Horizontal –
Linear gantry – Horizontal Ver ti cal
Planar surface gantry Horizontal Horizontal –
Three-dimensional gantry Horizontal Horizontal Ve rti cal
1) Related illustrations (è 3.2 Module types).
Note
Deviating mounting positions or overhead mounting are not permitted. Energy chains
sag due to gravity. Cables and hoses are overloaded.
Use product only in a permitted mounting position.
1.5 Requirements for product use
Provide this documentation to the following persons:
– design engineer
– installer
– commissioner of the machine or system
Comply with the specifications of the documentation. Follow all accompanying documentation and
the documentation of any associated accessories.
Take the following into consideration for the destination:
– applicable legal regulations
– regulations and standards
– regulations of the testing organisations and insurers
– national specifications
For correct and safe use, take the following into account:
– all warnings and notes
– all load limits of the product and the connected components (è 1.1 Technical data)
Festo – GDCP-YXC-EN – 1506a – English 9
Page 10
1 Safety and requirements for product use
1.5.1 Obligations of the operating company
The product is an incomplete machine.
Commissioning is prohibited until it has been established that the machinery in which it will be installed
is in compliance with the provisions of the Machinery Directive 2006/42/EC.
1.5.2 Qualified specialized personnel
Installation, mounting, commissioning, maintenance, repair and de-commissioning should only be per
formed by qualified personnel who are familiar with:
– installation and operation of electrical control systems
– installation and operation of pneumatic systems
– mounting and operation of mechatronic handling systems
– the applicable regulations for accident prevention and occupational safety
– the documentation and mode of operation of the product.
1.5.3 Range of application and certifications
Standards and test values that the product complies with and fulfills (è 1.1 Technical data).
10 Festo – GDCP-YXC-EN – 1506a – English
Page 11
2 Transport and storage
2 Transport and storage
2.1 Transport
The handling system is attached to the transport protection crate.
Note
Damage to the product due to incorrect transport.
Observe the markings for transport on the transport-protection crate.
Set the transport-protection crate on a firm and flat base.
2.2 Storage conditions
Comply with storage conditions (è 1.1 Technical data)
Storage conditions
Ambient conditions of the
storage location
2.3 Unpacking
Note
Damage to the product due to incorrect unpacking.
Observe the markings for unpacking on the transport-protection crate.
Unpack product with at least 2 persons.
Use correct tools.
Parts of the transport-protection crate are large and heavy; do not let them fall onto
the product.
Dry, solid and flat base, in original transport-protection crate
Remove marked transport protection aids (è 2.4.1 Securing in the transport protection crate).
Festo – GDCP-YXC-EN – 1506a – English 11
Page 12
2 Transport and storage
2.4 Transport locks
Three different types of transport protection locks prevent uncontrolled movement of the product dur
ing unpacking, transport to the mounting location and installation.
Note
Keep the safety components for later use, e.g. for maintenance or dismantling.
2.4.1 Securing in the transport protection crate
The product is fastened in the transport protection crate by means of labelled screws.
Caution
Transport protection aids connected to the transport protection crate are not removed
completely. Transport protection crate breaks away when the product is lifted and falls
down.
Injury due to impact or pinching. Damage to the product.
Before the product is removed from the transport protection crate:
Remove all transport protection aids marked with this symbol (screws).
2.4.2 Securing when lifting
Warning
Product is heavy. The centre of gravity is not in the middle.
Injury due to impact or pinching. Damage to the product.
When lifting the product, carry out the following actions:
Use lifting points (e.g. lifting eye bolts) on the transport component kit.
Attach transport belts as vertically as possible:
– Align lifting eye bolts in the lengthwise direction.
– Do not laterally stress lifting eye bolts.
– Apply load to lifting eye bolts evenly and in an angle of 45°.
Use appropriate lifting gear (traverse) for safe handling.
Take weight into account (è label on transport protection crate).
Take adequate safety precautions.
Assign sufficient number of people for mounting.
Adjust lifting speed.
12 Festo – GDCP-YXC-EN – 1506a – English
Page 13
2 Transport and storage
Align lifting eye bolts in the lengthwise direction apply load correctly.
Fig. 2.1
Adapt the lifting bolt orientation to the direction of force of the lifting gear:
Loosen the nuts of the lifting eye bolts.
Turn the lifting eye bolts in the respective direction of load.
Tighten the nuts of the lifting eye bolts (tightening torque: M8 = 12 Nm; M12 = 24 Nm).
Festo – GDCP-YXC-EN – 1506a – English 13
Page 14
2 Transport and storage
For the single-axis system and the linear gantry with EGC 50
To lift the handling system safely:
Use mounted transport component kit.
For the single-axis system and the linear gantry with EGC80/120/185 and EGC-HD
To lift the handling system safely:
Use mounted transport component kit.
14 Festo – GDCP-YXC-EN – 1506a – English
Page 15
2 Transport and storage
For the planar surface gantry and the three-dimensional gantry
To lift the handling system safely:
Use the following transport component kit.
2
1
3
aJ
4
5
6
7
89
1 Mounting bracket (4x)
2 Lifting eye bolt (4x)
3 Slot nut (8 … 16x)
4 Nut (4x)
5 Screw (8x)
Festo – GDCP-YXC-EN – 1506a – English 15
6 Screw (2x)
7 Cable guide (1x)
8 Slot nut (2x)
9 Stay (2x)
aJ Screw (8 … 16x)
Page 16
2 Transport and storage
Fasten lifting eye bolts to mounting brackets
with the nut.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M 8 M12
[Nm] 12 24
Attach the mounting bracket to the front sides
of the X-axes.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M4x10 M5x12 M8x16 M10x16
[Nm] 4.1 8.3 34 47
For clamping the Y-width (By):
Fasten stays with the slot nuts to the mount
ing brackets.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M5x8
[Nm] 5.9
16 Festo – GDCP-YXC-EN – 1506a – English
Page 17
2 Transport and storage
For clamping the cables and hoses:
Position cable guide on the drive side at the
stay.
Fasten the cable guide with the slot nuts.
Wrap cables and hoses around the cable
guide and clamp them with cable ties.
Screw size and tightening
torque
[Nm] 5.9
EHMX-EGC50 80 120 185
M5x8
Festo – GDCP-YXC-EN – 1506a – English 17
Page 18
2 Transport and storage
2.4.3 Securing during transport and mounting
Moving parts are secured during transport of the product to prevent them from sliding.
Danger
Moving parts are secured. Product is energised. Moving parts break free and run uncon
trollably and with high acceleration into the end position.
Injury (death) due to impact or pinching.
To place the product safely in operation:
After mounting, remove all safety components marked with this symbol before ener
gising the product.
Safety component group at the Z-module
A Z-module with motor from Festo has a brake function. There are no moving parts to secure there.
For the Z-module without motor from Festo:
For the long-stroke Z-module (EMHZ-DGEA/EHMZ-EGC), the drive shaft is clamped through a safety
component group.
For the short-stroke Z-module (EHMZ-EGSL/DHMZ-DGSL), the moving parts do not need to be secured.
The slide can move.
When removing the safety component group at the Z-module:
Warning
Moving parts are secured. Safety component group is removed. Z-axis runs uncontrol
lably and with high acceleration into the end position.
Injury due to impact or pinching. Damage to the product.
Remove the safety component group as follows:
1. Support Z-axis from below.
2. Remove safety component group.
3. Bring Z-axis slowly into the lower end position.
4. Mount motor.
18 Festo – GDCP-YXC-EN – 1506a – English
Page 19
2 Transport and storage
EHMZ-DGEA
1
1
2
1 Safety component group 2 Z-axis
EHMZ-EGC
11
2 2
1 Safety component group 2 Z-axis
2
Festo – GDCP-YXC-EN – 1506a – English 19
Page 20
3 Overview
3Overview
The handling systems are based on 3 module types: X-module, Y-module and Z-module.
All illustrations show an example for the structure of the modules and handling systems.
The actual design differs depending on size and the order.
3.1 Delivery status
Depending on the order, the handling system is shipped as follows.
3.1.1 Completely mounted handling system
All modules are connected to each other. Motors are mounted onto the modules (exception: middle
motor position for the X-module). Cables and hoses are installed. Controllers and controller accessories
accompany the shipment.
3.1.2 Partially mounted handling system
The modules are not connected to each other. Motors are mounted onto the modules (exception:
middle motor position for the X-module). Cables and hoses, controllers and controller accessories
accompany the shipment.
3.2 Module types
3.2.1 X-module EHMX (including motor)
The X-module consists of 2 parallel linear axes with a shared electric drive.
The X-module moves the Y-module along the X-axes.
Adapters are mounted on the slides of the X-axes to connect the Y-module.
Structure
The motor is connected to both X-axes through a connecting shaft. The positions of the motor and en
ergy chain are dependent on the order.
The following components are located on the motor side:
Energy chain
Multi-pin plug for sensors (optional)
20 Festo – GDCP-YXC-EN – 1506a – English
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3 Overview
Motor position right (EHMX-...-R)
8
1
7
6
5
1 Connecting shaft
2 Motor (optional)
3 Multi-pin plug/sensors (optional)
4 Energy chain
Motor position left (EHMX-...-L)
8
7
6
5
4
2
3
4
5 X-axis
6 Adapter Y-module
7 X-axis
8 Adapter Y-module
1
2
3
1 Motor (optional)
2 Connecting shaft
3 X-axis
4 Adapter Y-module
Festo – GDCP-YXC-EN – 1506a – English 21
5 X-axis
6 Adapter Y-module
7 Energy chain
8 Multi-pin plug/sensors (optional)
Page 22
3 Overview
Motor position middle (EHMX-...-M)
7
6
5
4
1 Connecting shaft with gear unit/motor
2 X-axis
3 Adapter Y-module
4 X-axis
1) Accompanying
1
2
3
1)
5 Adapter Y-module
6 Energy chain
7 Multi-pin plug/sensors (optional)
22 Festo – GDCP-YXC-EN – 1506a – English
Page 23
3 Overview
3.2.2 Y-module EHMY (including motor)
The Y-module consists of a linear axis with electric drive.
The Y-module moves the Z-module, or customer-provided attachments, along the Y-axis.
EHMY-LP: Y-module in the single-axis system or linear gantry
EHMY-RP: Y-module in the planar surface gantry or three-dimensional gantry
The main difference is the mounting option.
Handling system
Attachment of the Y-module
Single-axis system EHMY-LP on mounting surface
Linear gantry
Three-dimensional gantry EHMY-RP to X-module
Planar surface gantry
Structure
For the single-axis system and the linear gantry, the position of the motor on the Y-module is dependent
on the order.
For the planar surface gantry and the three-dimensional gantry, the position of the motor on the Y-mod
ule is dependent on the position of the motor on the X module.
Motor X-module Motor Y-module
Right Right
Middle Left
Left Left
The following components are located on the motor side:
– Input and output of the energy chain
– Multi-pin plug for sensors (optional)
Festo – GDCP-YXC-EN – 1506a – English 23
Page 24
3 Overview
Y-module for single-axis system/linear gantry EHMY-LP
3
2
1
4
1 Y-axis
2 Adapter Z-module/attachment components
3 Motor left (optional)
4 Energy chain
Y-module for planar surface gantry/three-dimensional gantry EHMY-RP
1
2
1 Y-axis
2 Adapter Z-module/attachment components
3 Motor right (optional)
4 Energy chain
4
3
24 Festo – GDCP-YXC-EN – 1506a – English
Page 25
3 Overview
3.2.3 Z-module EHMZ (including motor)/DHMZ
The Z module consists of an electric or pneumatic drive.
The Z-module moves customer-provided attachments along the Z-axis.
Structure
4
3
1 Adapter on Y-module
2 Z-axis
1
2
3 Energy chain
4 Motor (optional)
Festo – GDCP-YXC-EN – 1506a – English 25
Page 26
3 Overview
Depending on the order, a three-dimensional or linear gantry is equipped with the following Z-modules.
DHMZ-DGSL EHMZ-EGSL
2
2
1
1
EHMZ-EGC
2
1
EHMZ-DGEA (motor position left) (Motor position right)
2 2
1
1
1 Adapter on Y-module 2 Z-axis
26 Festo – GDCP-YXC-EN – 1506a – English
Page 27
3 Overview
3.3 Handling systems
A handling system consists of up to 3 modules.
Handling system X-module Y-module Z-module
Single-axis system – EHMY-LP
Linear gantry – EHMY-LP
Planar surface
EHMX
1)
EHMY-RP –
gantry
Three-dimensional
EHMX
1)
EHMY-RP EHMZ/DHMZ
gantry
1) Basic module with 2 parallel axes
2) Basic module
Observe the mounting position (è 1.4 Permitted mounting position).
3.3.1 Single-axis system YXCS
Function
The single-axis system moves a customer-provided attachment linearly.
Structure
The following figure shows an example for the fundamental structure of the single-axis system.
2)
2)
–
EHMZ/DHMZ
3
2
4
5
1
1 Y-axis
2 Energy chain
4 Adapter, attachment components
5 Mounting components
3 Motor (optional)
Festo – GDCP-YXC-EN – 1506a – English 27
Page 28
3 Overview
3.3.2 Linear gantry YXCL
Function
The linear gantry moves a customer-provided attachment within a vertical plane.
Structure
The following figure shows an example for the fundamental structure of the linear gantry.
7
6
5
4
3
2
8
1 Z-axis
2 Mounting components
3 Y-axis
4 Energy chain Y
28 Festo – GDCP-YXC-EN – 1506a – English
5 Motor Z (optional)
6 Motor Y (optional)
7 Energy chain Z
8 Adapter, attachment components
1
Page 29
3 Overview
3.3.3 Planar surface gantry YXCF
Function
The planar surface gantry moves a customer-provided attachment within a horizontal plane.
Structure
The following figure shows an example for the fundamental structure of the planar surface gantry.
3
4
5
2
1
1 X-axes
2 Energy chain X
3 Motor Y (optional)
4 Motor X (optional)
5 Connecting shaft
1) Dependent on order
6 Energy chain Y
7 Y-axis
8 Adapter, attachment components
9 Mounting components
1)
6
7
8
9
Festo – GDCP-YXC-EN – 1506a – English 29
Page 30
3 Overview
3.3.4 Three-dimensional gantry YXCR
Function
The three-dimensional gantry moves a customer-provided attachment within a space.
Structure
The following figure shows an example for the fundamental structure of the three-dimensional gantry.
5 6
4
7
3
2
1
1 X-axes
2 Mounting components
3 Energy chain X
4 Motor Y (optional)
5 Motor Z (optional)
6 Motor X (optional)
1) Dependent on order
8
9
aJ
aA
aB
1)
7 Connecting shaft
8 Energy chain Y
9 Y-axis
aJ Z-axis (electric/pneumatic)
aA Adapter, attachment components
aB Energy chain Z
30 Festo – GDCP-YXC-EN – 1506a – English
Page 31
3 Overview
3.4 Handling systems without motors
Use the following motors from Festo (recommended).
X-module EHMX
Axes Motor
EGC-50-TB-KF EMMS-AS-40-M-LS-…
EGC-80-TB-KF EMMS-AS-70-M-LS-…
EGC-120-TB-KF EMMS-AS-100-M-HS-…
EGC-185-TB-KF EMMS-AS-140-L-HS-…
Y-module EHMY
Axis Motor
EGC-50-TB-KF EMMS-AS-40-M-LS-…
EGC-80-TB-KF EMMS-AS-70-S-LS-…
EGC-120-TB-KF EMMS-AS-100-S-HS-…
EGC-125-TB-HD EMMS-AS-70-S-LS-…
EGC-160-TB-HD EMMS-AS-100-S-HS-…
EGC-185-TB-KF EMMS-AS-140-S-HS-…
EGC-220-TB-HD
Z-module EHMZ
Axis Motor
DGEA-18-TB-KF EMMS-AS-55-S-LS-...
DGEA-25-TB-KF EMMSAS70SLS…
DGEA-40-TB-KF EMMS-AS-100-S-HS-…
EGC70BSKF EMMS-AS-55-S-LS-...
EGC-80-BS-KF EMMSAS70SLS…
EGC-120-BS-KF EMMS-AS-100-S-HS-…
EGSL-35-BS-KF EMMS-ST-28-L-...
EGSL-45-BS-KF EMMS-AS-40-M-LS-...
EGSL-55-BS-KF EMMS-AS-55-S-LS-...
EGSL-75-BS-KF EMMSAS70SLS…
If you use motors from other manufacturers (not recommended):
Only use motors with comparable technical limits
(è www.festo.com/catalogue).
Comply with technical limits of the axes used in the modules
(è www.festo.com/catalogue).
Note
The product can be damaged if the technical limits are not complied with.
Festo – GDCP-YXC-EN – 1506a – English 31
Page 32
4 Installation of the single-axis systems and the linear gantries
4 Installation of the single-axis systems and the linear
gantries
Observe safety instructions
Pay attention to transport locks
(è 2.4 Transport locks).
4.1 Preparation
4.1.1 Installation space
The installation space required depends on the order.
Take dimensions from the CAD model (è 1.1 Technical data).
4.1.2 Number n of mounting components
EHMY-LP-EGC-…-KF 50 80 120 185 n
1)
HY
[mm]
475 600 450 590
476 … 950 601 … 1150 451 … 1100 591 … 1220 3
951 … 1425 1151 … 1700 1101 … 1750 1221 … 1850 4
1426 … 1900 1701 … 2250 1751 … 2400 1851 … 2480 5
– 2251 … 2800 2401 … 3050 2481 … 3110 6
– 2801 … 3350 3051 … 3700 3111 … 3740 7
– 3351 … 3900 3701 … 4350 3741 … 4370 8
– 3901 … 4450 4351 … 4500 4371 … 4500 9
– 4451 … 4500 – – 10
2)
2
EHMY-LP-EGC-…-TB-HD 125 160 220 n
1)
HY
[mm] 560 590 550 2
2)
561 … 1170 591 … 1220 551 … 1150 3
1171 … 1780 1221 … 1850 1151 … 1750 4
1781 … 2390 1851 … 2480 1751 … 2350 5
2391 … 3000 2481 … 3110 2351 … 2950 6
– 3111 … 3740 2951 … 3550 7
– 3741 … 4370 3551 … 4150 8
– 4371 … 4500 4151 … 4500 9
1) Hy = stroke in Y-direction (è 1.1 Technical data)
2) n = number of mounting components
32 Festo – GDCP-YXC-EN – 1506a – English
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4 Installation of the single-axis systems and the linear gantries
4.1.3 Preparation of the mounting surface
Ensure that the mounting surface is flat and vertical.
The required flatness depends on the length of the handling system.
Flatness Y1 [mm]
3 1000 1001 … 2000 2001 … 3000 3001 … 4000 4001 … 5000
[mm] 0.1 0.2 0.3 0.4 0.5
Prepare mounting option on mounting surface. Mounting kit of the intermediate mounting is mov
able. If required, change support spacing Y2.
EHMY-LP-EGC-...-KF 50 80 120 185
Y2
1)
2)
Hy 97 Hy 16 Hy 23 Hy + 67
Y1 / (n 1)
Dimen
sions
[mm] Y1
Y3 40
Y4 55
Z1 80 125 140 220
Z2 40
G1 M4 M6 M 8 M8
Depth of thread 9 9 13 13
G2 M8
EHMY-LP-EGC-...-HD 125 160 220
Y2
1)
2)
Hy + 60 Hy + 94 Hy + 90
Y1 / (n 1)
Dimen
sions
[mm] Y1
Y3 40
Y4 55
Z1 180 220 260
Z2 40
G1 M6 M6 M8
Depth of thread 9 9 13
G2 M 8
1) Hy = stroke in Y-direction (è 1.1 Technical data)
2) n = number of mounting components (è 4.1.2 Number n of mounting components)
Festo – GDCP-YXC-EN – 1506a – English 33
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4 Installation of the single-axis systems and the linear gantries
4.2 Mounting components
4.2.1 Mounting kit with adjustment possibility
Structure
1 Adjusting piece
2 Screw (adjusting piece)
3 Washer (adjusting piece)
4 Nut (adjusting piece)
5 Bolt (lower part)
6 Lower part
7 Screw (support profile)
8 Slot nut (support profile)
9 Washer (lower part)
aJ Screw1) (lower part)
aA Upper part
aB Screw (upper part)
2)
(1x)
(1x)
789
(1x)
(1x)
(1x)
6
(1x)
(2x)
(2x)
(4x)
(4x)
(2x)
(4x)
5
4
3
aJ
aA
2
1
Not included in delivery:
aC Washer
aD Screw M8
1) The screw and tightening torque are designed for mounting on steel.
2) Adjusting pieces (1 … 4) and screws (9 … aJ) accompany the shipment. The remaining parts are pre-assembled.
(2x)
(2x)
aD
Requirements
– Number n of mounting components is known (è 4.1.2 Number n of mounting components).
– Mounting surface is prepared (è 4.1.3 Preparation of the mounting surface).
Mounting
Warning
Incorrect attachment. Entire product moves uncontrollably.
Injury due to impact or pinching. Damage to the product.
Use screws aJ and aD with strength class of at least 8.8.
Select screws aJ und aD suitable for the installation situation.
Mount product free of distortion.
Use only the mounting kits supplied.
Lock threaded connections.
Make sure the mounting surface is sufficiently strong to absorb the maximum
forces.
aB
aC
34 Festo – GDCP-YXC-EN – 1506a – English
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4 Installation of the single-axis systems and the linear gantries
The mounting kits are pre-mounted to the
Y-module.
Check number n and support spacing Y2.
Place Y-module.
1
3
2
1 Y-module
3 Screw
2 Mounting kit
Note
In order to move the mounting kit, the screws 3 on the support profile of the energy
chain must be accessible from the reverse side after mounting.
Mount Y-module to a machine frame correspondingly.
On the reverse side:
1. Unscrew screws on the support profile of
the energy chain.
Festo – GDCP-YXC-EN – 1506a – English 35
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4 Installation of the single-axis systems and the linear gantries
On the front:
2. Unscrew screws on the upper parts.
3. Position lower part.
4. Place washers underneath the screws.
5. Using suitable screws1), lightly clamp lower
part to the mounting surface.
6. Press bolt from below into the intended
hole in the lower part.
7. Turn screw into the adjusting piece.
8. Place washer below the nut.
9. Screw nut onto the screw.
1) The accompanying screw and tightening torque are designed for mounting on steel.
36 Festo – GDCP-YXC-EN – 1506a – English
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4 Installation of the single-axis systems and the linear gantries
10.Fasten adjusting piece to the mounting sur
face with suitable screws.
11.Align Y-module horizontally as follows:
– Screw the screw on the adjusting piece
in or out.
12.Screw nut in tightly. Apply counter pressure
to screw. (Tightening torque 2.5 … 10 Nm)
Check:
– The screw has not twisted.
– The alignment has been maintained.
13.Evenly tighten screws.
Screw size and tightening
torque
EHMY-LP-EGC-...-KF EHMY-LP-EGC-...-HD
50 80 120 185 125 160 220
M3x8 M5x16 M8x20 M5x16 M8x20
[Nm] 1.7 5.9 20 5.9 20
Festo – GDCP-YXC-EN – 1506a – English 37
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4 Installation of the single-axis systems and the linear gantries
14.Evenly tighten appropriate screws1).
Screw size and tightening
1)
torque
EHMY-LP-EGC-...-KF EHMY-LP-EGC-...-HD
50 80 120 185 125 160 220
M4x16 M6x20 M8x30 M6x20 M8x30
[Nm] 2.9 14 20 14 20
1) Accompanying screw and tightening torque are designed for mounting on steel.
On the reverse side:
For mounting onto a machine frame:
15.Evenly tighten screw on the support profile
of the energy chain.
Screw size and tightening
torque
EHMY-LP-EGC-...-KF EHMY-LP-EGC-...-HD
50 80 120 185 125 160 220
M5x8 M5x8 M5x12 M5x12 M5x10 M5x10 M5x10
[Nm] 8.3 8.3
38 Festo – GDCP-YXC-EN – 1506a – English
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4 Installation of the single-axis systems and the linear gantries
4.3 Mounting linear gantry (partially mounted)
Note
Incorrect mounting can cause malfunction and material damage. Tension in the handling
system. Deterioration of the technical characteristics (service life, wear). Failure.
Have mounting be performed by qualified personnel.
Use original parts (without unauthorised modifications).
Mount parts in excellent condition (without damage).
Align axes carefully. Avoid warping, misalignment and offset.
Clean shafts/hollow shafts.
The coupling only grips without sliding on dry and grease-free shaft surfaces.
Observe tightening torques.
Tolerance for tightening torques without indication of tolerance: ± 20 %.
For products without motor or with motors without brake:
Warning
Moving parts are not secured. Moving parts run uncontrollably into the lower end posi
tion from their own dead weight.
Injury due to impact or pinching. Damage to the product.
Bring vertically or diagonally moving parts into the lower end position in a controlled
manner.
Secure vertically or diagonally moving parts.
Described is attachment of the Y-/Z modules to a linear gantry.
Pay attention to transport locks (è 2.4 Transport locks).
Structure
Linear gantry YXCL
1
2
1 Y-module 2 Z-module
Festo – GDCP-YXC-EN – 1506a – English 39
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4 Installation of the single-axis systems and the linear gantries
4.3.1 Mounting of the Y-module EHMY-LP
Structure
EHMY-LP-...-L-... (Motor position left)
2
EHMY-LP-...-R-... (Motor position right)
1
1
2
1 Y-axis 2 Mounting kits with adjustment
Requirements
– Mounting surface is prepared (è 4.1.3 Preparation of the mounting surface ).
– Transport lock in the shipping crate is removed (è 2.4.1 Securing in the transport protection crate).
– Transport lock for lifting is mounted (è 2.4.2 Securing when lifting ).
– Function of the mounting components is known (è 4.2 Mounting components).
40 Festo – GDCP-YXC-EN – 1506a – English
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4 Installation of the single-axis systems and the linear gantries
Mounting
Place Y-module slowly and carefully onto the prepared mounting surface.
Align Y-module (base module) horizontally and fasten it.
2
1
3
4
1 Y-axis
2 Mounting kit
Festo – GDCP-YXC-EN – 1506a – English 41
3 Screw set
4 Adjusting piece
Page 42
4 Installation of the single-axis systems and the linear gantries
4.3.2 Mounting of the Z-module EHMZ/DHMZ
Structure
DHMZ-DGSL EHMZ-EGSL
1
2
EHMZ-EGC
1
2
1
2
EHMZ-DGEA (motor position left) (Motor position right)
1
1
2
2
1 Z-axis 2 Adapter Y/Z
42 Festo – GDCP-YXC-EN – 1506a – English
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4 Installation of the single-axis systems and the linear gantries
Accompanying components
3
4
5
3 Cylindrical dowel pin (2x)
5 Adhesive Loctite 243
4 Screw (6x ... 8x)
Requirements
– Y-module is mounted (è 4.3.1 Mounting of the Y-module EHMY-LP).
– Transport lock in the shipping crate is removed
(è 2.4.1 Securing in the transport protection crate ).
– Transport lock for lifting is mounted (è 2.4.2 Securing when lifting ).
Mounting
1. Place Z-module slowly and carefully onto the Y-module.
2. Press cylindrical dowel pins into the drill holes
of the adapters.
3. Lock screws with adhesive.
Observe safety instructions for adhesive in the
manufacturer’s safety data sheet
(è www.festo.com/en/msds).
Festo – GDCP-YXC-EN – 1506a – English 43
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4 Installation of the single-axis systems and the linear gantries
4. Fasten the adapter Z to the adapter Y with the
screws.
Screw size and tightening
torque
[Nm] 4.1 14 34 14 34
EHMY-LP-EGC-...-KF EHMY-LP-EGC-...-HD
50 80 120 185 125 160 220
M4x10 M6x16 M8x14 M6x16 M8x14
44 Festo – GDCP-YXC-EN – 1506a – English
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4 Installation of the single-axis systems and the linear gantries
4.4 Installation of single-axis system and linear gantry (completely mounted)
Structure
Single-axis system YXCS
1
Linear gantry YXCL
1
2
1 Y-module 2 Z-module
Requirements
– Mounting surface is prepared (è 4.1.3 Preparation of the mounting surface ).
– Transport lock in the shipping crate is removed (è 2.4.1 Securing in the transport protection crate).
– Transport lock for lifting is mounted (è 2.4.2 Securing when lifting ).
– Function of the mounting components is known (è 4.2.1 Mounting kit with adjustment possibility).
Festo – GDCP-YXC-EN – 1506a – English 45
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4 Installation of the single-axis systems and the linear gantries
Installation
Place handling system slowly and carefully onto the prepared mounting surface.
Align Y-module (base module) horizontally and fasten it.
1
2
3
1 Y-axis
2 Screw set
3 Adjusting piece
46 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
5 Installation of the planar surface gantries and the three-
dimensional gantries
Observe safety instructions and notes on installation.
Pay attention to transport protection (è 2.4 Transport locks).
5.1 Preparation
5.1.1 Installation space
The installation space required depends on the order.
Take dimensions from the CAD model (è 1.1 Technical data).
5.1.2 Number n of mounting components
EHMX-EGC- 50 80 120/185 n
1)
Hx
1) Hx = stroke in X-direction (è 1.1 Technical data)
2) n = total number of mounting components for both X-axes
[mm]
475 400 450
476 … 950 401 … 1100 451 … 1100 6
951 … 1425 976 … 1550 1101 … 1750 8
1426 … 1900 1551 … 2125 1751 … 2400 10
– 2126 … 2700 2401 … 3050 12
– 2701 … 3275 3051 … 3700 14
– 3276 … 3850 3701 … 4350 16
– 3851 … 4425 4351 … 4500 18
– 4426 … 4500 – 20
2)
4
Festo – GDCP-YXC-EN – 1506a – English 47
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.1.3 Preparation of the mounting surface
For mounting kit without adjustment possibility
Ensure mounting surface is flat and horizontal:
The required flatness depends on the size of the handling system.
Flatness Y1 [mm]
3 1000 1001 … 2000 2001 … 3000
X1 [mm] 3 1000 0.1 0.2 0.3
1001 … 2000 0.2 0.4 0.6
2001 … 3000 0.3 0.6 0.9
3001 … 4000 0.4 0.8 1.2
4001 … 5000 0.5 1.0 1.5
48 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
Prepare mounting option on mounting surface.
Mounting kit is movable. If required, change dimension X2.
EHMX-EGC-
Dimensions [mm] Y1
1)
50 80 120 185
By + 108 By + 182 By + 280 By + 386
Y2 60 100 160 200
2)
X1
X2
3)
Hx + 51 Hx + 146 Hx + 224 Hx + 310
(X1 – X3) / [(n / 2) – 1]
X3 50 68 106 106
G1 M3 M5 M8 M8
Depth of thread 6 8 13 13
1) By = width in Y-direction (è 1.1 Technical data)
2) Hx = stroke in X-direction (è 1.1 Technical data)
3) n = total number of mounting components for both X-axes (è 5.1.2 Number n of mounting components)
For X-module with motor position in the middle:
Caution
Unfastened motor in the middle turns with the shaft.
Injury due to impact or pinching. Damage to the product.
Place motor outside the movement range.
Fasten gear unit sufficiently.
Prepare mounting option.
The drive shafts of the gear units and the hollow shafts must be sufficiently aligned
(è 5.6.1 Mounting of the connecting shaft).
EHMX-EGC-...-M 80 120 185
Dimensions [mm] H1 – 0.5 7.6 26.5
L 70 100 110
B
G2 M8 M10 M10
Depth of thread G2 14 16 20
Festo – GDCP-YXC-EN – 1506a – English 49
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5 Installation of the planar surface gantries and the three-dimensional gantries
For adjusting kit
Ensure flat and horizontal mounting surface: flatness 2 mm
Prepare mounting option on mounting surface.
Adjusting kit is movable. If required, change dimension X2.
EHMX-EGC- 50 80 120 185
Dimensions [mm] Y1
1)
By + 110 By + 186 By + 260 By + 395
Y2 62 104 140 209
2)
X1
X2
3)
Hx + 1 Hx + 78 Hx + 118 Hx + 204
(X1) / [(n / 2) – 1]
G1 M8
Depth of thread G1 13
1) By = width in Y-direction (è 1.1 Technical data)
2) Hx = stroke in X-direction (è 1.1 Technical data)
3) n = total number of mounting components for both X-axes (è 5.1.2 Number n of mounting components)
50 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
For X-module with motor position in the middle:
Caution
Unfastened motor in the middle turns with the shaft.
Injury due to impact or pinching. Damage to the product.
Place motor outside the movement range.
Fasten gear unit sufficiently.
Prepare adjustable mounting option.
The drive shafts of the gear units and the hollow shafts must be sufficiently aligned
(è 5.6.1 Mounting of the connecting shaft).
EHMX-EGC-...-M 80 120 185
Dimensions [mm] H2 18.5 20.6 39.5
H3 8 ± 3 8 ± 3 8 ± 3
L 70 100 110
B
G2 M8 M10 M10
Depth of thread G2 14 16 20
Festo – GDCP-YXC-EN – 1506a – English 51
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.2 Mounting components
5.2.1 Mounting kit without adjustment possibility
Structure
1 Lower part
2 Screw, lower part
3 Upper part
4 Screw, upper part
1) Screw and tightening torque are designed for mounting on steel.
Requirements
– Number n of mounting components is known (è 5.1.2 Number n of mounting components).
– Mounting surface is prepared (è 5.1.3 Preparation of the mounting surface).
Mounting
Warning
Incorrect attachment. Entire product moves uncontrollably.
Injury due to impact or pinching. Damage to the product.
Use screws 2 with strength class of at least 8.8.
Select screws 2 suitable for the installation situation.
Mount product free of distortion.
Use only the mounting kits supplied.
Secure threaded connections.
Make sure the mounting surface is sufficiently strong to absorb the maximum
forces.
(1x)
1)
(2x)
(4x)
3
(4x)
2
1
4
The mounting kits are pre-mounted to the
X-axes.
Check number n and support spacing X2.
Place X-axes
Partially mounted system è chapter 5.3 page 59
Completely mounted system è chapter 5.4 page 77.
52 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
1
1 X-axis 2 Mounting kit
1. Unscrew the screws of the upper part slightly.
2. Position mounting kit.
1
2
Festo – GDCP-YXC-EN – 1506a – English 53
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5 Installation of the planar surface gantries and the three-dimensional gantries
3. Fasten lower part to the mounting surface
1)
with suitable screws
.
4. Align X-axes exactly with each other.
Partially mounted system
è chapter 5.3 page 59
Completely mounted system
è chapter 5.4 page 77.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M3x10 M5x12 M8x20 M8x20
[Nm] 1.2 5.9 20 20
1) Accompanying screw and tightening torque are designed for mounting on steel.
5. Evenly tighten screws of the upper part.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M3x7 M5x16 M8x20 M8x20
[Nm] 1.2 5.9 20 20
54 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.2.2 Adjusting kit
Structure
1 Adjusting plate
2 Slot nut
3 Screw
1)
4 Washer
5 Square nut
6 Adjusting bolt
7 Screw
1) Screw and tightening torque are designed for mounting on steel.
(1x)
(4x)
(2x)
(2x)
(2x)
(2x)
(4x)
1
7
6
Requirements
– Number n of mounting components is known (è 5.1.2 Number n of mounting components).
– Mounting surface is prepared (è 5.1.3 Preparation of the mounting surface).
Mounting
Warning
Incorrect attachment. Entire product moves uncontrollably.
Injury due to impact or pinching. Damage to the product.
Use screws 3 with strength class of at least 8.8.
Select screws 3 suitable for the installation situation.
Mount product free of distortion.
Use only the mounting kits supplied.
Secure threaded connections.
Make sure the mounting surface is sufficiently strong to absorb the maximum
forces.
2
3
4
5
The adjusting kits are pre-mounted to the
X-axes.
Check number n and support spacing X2.
Place X-axes.
Partially mounted system
è chapter 5.3 page 59
Completely mounted system
è chapter 5.4 page 77.
Festo – GDCP-YXC-EN – 1506a – English 55
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5 Installation of the planar surface gantries and the three-dimensional gantries
1
1 X-axis 2 Adjusting kit
1. Slightly unscrew the screws on the underside.
2. Position adjusting plate.
1
2
56 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
3. Tighten screws on the underside.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M3x16 M5x25 M6x30 M6x30
[Nm] 1.2 5.9 9.9 9.9
4. Place washers under screws.
5. Place screws in the centre of the elongated
hole.
6. Lightly clamp the adjusting plate to the mount
ing surface with the screws.
7. Use spanner with t 5 mm.
If t 5 mm, the maximum height compensator is
smaller by the difference (t − 5) mm.
Festo – GDCP-YXC-EN – 1506a – English 57
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5 Installation of the planar surface gantries and the three-dimensional gantries
8. Align X-axes exactly with each other.
Partially mounted system
è chapter 5.3 page 59
Completely mounted system
è chapter 5.4 page 77.
9. Screw adjusting bolts in or out
(maximum height compensator è table).
10.Tighten screws. Apply counter pressure to the
adjusting bolt.
Check:
– The adjusting bolt has not twisted.
– The alignment has been maintained.
11.Make sure there is sufficient screw-in depth m
of the screw (è table).
Screw size and tightening
1)
torque
EHMX-EGC50 80 120 185
M5x30 M8x40
M
A
[Nm] 5.9 34
m [mm] 12 15
h [mm] 7 ± 2 8 ± 3
Max. height compensator [mm] 4 6
1) Screw, tightening torque and screw-in depth are designed for mounting on steel.
58 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.3 Mounting of the planar surface gantries and the three-dimensional gantries (partially mounted)
Note
Incorrect mounting can cause malfunction and material damage. Tension in the handling
system. Deterioration of the technical characteristics (service life, wear). Failure.
Have mounting be performed by qualified personnel.
Use original parts (without unauthorised modifications).
Mount parts in excellent condition (without damage).
Align axes carefully. Avoid warping, misalignment and offset.
Clean shafts/hollow shafts.
The coupling only grips without sliding on dry and grease-free shaft surfaces.
Observe tightening torques.
Tolerance for tightening torques without indication of tolerance: ± 20 %.
For products without motor or with motors without brake:
Warning
Moving parts are not secured. Moving parts run uncontrollably into the lower end posi
tion from their own dead weight.
Injury due to impact or pinching. Damage to the product.
Bring vertically or diagonally moving parts into the lower end position in a controlled
manner.
Secure vertically or diagonally moving parts.
Described is mounting of the X-/Y-/Z-modules to a linear gantry or three-dimensional gantry.
Pay attention to transport protection (è 2.4 Transport locks).
Festo – GDCP-YXC-EN – 1506a – English 59
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5 Installation of the planar surface gantries and the three-dimensional gantries
Structure
Planar surface gantry YXCF
1 2
Three-dimensional gantry YXCR
312
1 X-module
3 Z-module
2 Y-module
60 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.3.1 Mounting of the X-module EHMX-RP
Structure
EHMX-...-L (Motor position left)
2
EHMX-...-R (Motor position right)
1
3
1
3
2
1 X-axis
3 Connecting shaft
2 X-axis with energy chain
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5 Installation of the planar surface gantries and the three-dimensional gantries
EHMX-...-M (Motor position middle)
2
1
1 X-axis
3 Connecting shaft with motor
2 X-axis with energy chain
Accompanying components
4 Screw (12x) 5 Centring sleeve (4x)
3
4
5
62 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
Requirements
– Mounting surface is prepared (è 5.1.3 Preparation of the mounting surface).
– Transport protection in the shipping crate is removed
(è 2.4.1 Securing in the transport protection crate).
– Transport lock for lifting is mounted (è 2.4.2 Securing when lifting).
– Function of the mounting components is known
(è 5.2.1 Mounting kit without adjustment possibility/5.2.2 Adjusting kit).
Mounting
1. The slides of the X-module are blocked with motor position left/right. To be able to move the slides
for alignment:
– For motor with brake.
Remove motor (è 5.7 Motor with brake (EMMS-...-RSB/RMB).
– For motor without brake
Remove connector at the end of the respective motor cable.
2. Place X-axes slowly and carefully onto the prepared mounting surface.
Check:
– The guide rails lie inside.
1
1
1 Guide rail
3. Lightly clamp X-axis with energy chain to the mounting surface.
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5 Installation of the planar surface gantries and the three-dimensional gantries
The height offset can be adjusted only with adjusting kits. For mounting kits without ad
justment, the mounting surface must be correspondingly flat.
4. Align X-axis with energy chain to the underside.
Check: straightness 0.1 mm × (Hx/1000)
5. Fasten X-axis with energy chain to the mounting surface.
x = Hx/1000 y = By/1000
64 Festo – GDCP-YXC-EN – 1506a – English
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5 Installation of the planar surface gantries and the three-dimensional gantries
6. Align second X-axis flush with the mounted X-axis.
Check:
– Length offset ± 0.4 mm × (By/1000)
7. Lightly clamp second X-axis to the mounting surface.
8. Align underside of the second X-axis parallel in height to the mounted X-axis.
Check: height offset + 0.1 mm × (By/1000)
The height offset can be adjusted only with adjusting kits. For mounting kits without ad
justment, the mounting surface must be correspondingly flat.
9. Fasten second X-axis to the mounting surface.
1
1 Hollow shaft
x = Hx/1000 y = By/1000
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5 Installation of the planar surface gantries and the three-dimensional gantries
10.Check alignment.
Check:
– The undersides of the X-axes must lie entirely in a theoretical plane with the required flatness.
The required flatness depends on the size.
Flatness
Y1
[mm]
1)
3 1000 1001 … 2000 2001 … 3000
1)
X1
[mm] 3 1000 0.1 0.2 0.3
1001 … 2000 0.2 0.4 0.6
2001 … 3000 0.3 0.6 0.9
3001 … 4000 0.4 0.8 1.2
4001 … 5000 0.5 1.0 1.5
1) Calculation of the dimensions Y1 and X1, depending on the mounting component (è 5.1.3 Preparation of the mounting surface)
The height offset can be adjusted only with adjusting kits. For mounting kits without ad
justment, the mounting surface must be correspondingly flat.
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5 Installation of the planar surface gantries and the three-dimensional gantries
11.Mount connecting shaft (è 5.6 Connecting shaft).
On one side of the connecting shaft:
12.Open coupling.
13.Move both slides into the middle position:
– Slide offset ± 0.1 mm x (By/1000)
Note
Too much slide offset.
High wear and tension.
Align slides with each other.
x = Hx/1000 y = By/1000
14.Fasten open coupling of the connecting shaft (è 5.6 Connecting shaft).
15.Mount Y-module (è 5.3.2 Mounting of the Y-module EHMY-RP).
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.3.2 Mounting of the Y-module EHMY-RP
Structure
EHMY-RP-...-L-... (Motor position left)
2
1
EHMY-RP-...-R-... (Motor position right)
2
2
1
2
1 Y-axis 2 Adapter X/Y (2x)
Requirements
– Transport lock in the shipping crate is removed
(è 2.4.1 Securing in the transport protection crate ).
– Transport lock for lifting is mounted (è 2.4.2 Securing when lifting ).
– X-module is mounted (è 5.3.1 Mounting of the X-module EHMX-RP).
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5 Installation of the planar surface gantries and the three-dimensional gantries
Mounting
The bolts define the position of the Y-module in the Z-direction.
Have the premounted bolt 1 fastened. Do not unscrew it.
1. Unscrew screws 3 on the adapters:
– Both adapters can be moved.
11
2. Move adapters onto the position of the slides
on the X-module.
1 Bolt (2x)
2 Adapter (2x)
3 Screw (6x ... 8x)
2
3
3
3. Place Y-module onto X-module:
– Motor position of the Y-module is on the side of the energy chain on the X-module.
2
1
2
1 X-module 2 Y-module
4. Place centring sleeves (2x each) in the centring holes.
5. Fasten Y-module with the screws. Evenly tighten all screws (12x).
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5 Installation of the planar surface gantries and the three-dimensional gantries
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M4x12 M5x12 M6x20 M8x20
[Nm] 4.1 8.3 14 34
6. Position Y-module in the middle on the X-module.
1
1 X-module 2 Y-module
2
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5 Installation of the planar surface gantries and the three-dimensional gantries
The bolts define the position of the Y-module in the Z-direction.
Have the premounted bolt 1 fastened. Do not unscrew it.
Fasten the adapter on one side:
7. Tighten screws evenly.
1 Bolt (1x)
2 Adapter (1x)
3 Screw (6x ... 8x)
Screw size and tightening
torque
[Nm] 1.7 8.3 14 8.3 14
13
2
EHMY-EGC50 80 120 125 160 185 220
M3x8 M5x12 M6x16 M5x12 M6x16
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5 Installation of the planar surface gantries and the three-dimensional gantries
8. Move Y-module back and forth on the X-module one time.
9. Move Y-module into the middle.
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5 Installation of the planar surface gantries and the three-dimensional gantries
The bolts define the position of the Y-module in the Z-direction.
Have the premounted bolt 1 fastened. Do not unscrew it.
Fasten the adapter on the other side:
10.Tighten screws evenly.
1 Bolt (1x)
2 Adapter (1x)
3 Screw (6x ... 8x)
Screw size and tightening
torque
EHMY-EGC50 80 120 125 160 185 220
M3x8 M5x12 M6x16 M5x12 M6x16
[Nm] 1.7 8.3 14 8.3 14
13
2
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.3.3 Mounting of the Z-module EHMZ/DHMZ
Structure
DHMZ-DGSL EHMZ-EGSL
1
2
EHMZ-EGC
1
2
1
2
EHMZ-DGEA (motor position left) (Motor position right)
1
1
2
2
1 Z-axis 2 Adapter Y/Z
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5 Installation of the planar surface gantries and the three-dimensional gantries
Accompanying components
3
4
5
3 Cylindrical dowel pin (2x)
5 Adhesive Loctite 243
4 Screw (6x ... 8x)
Requirements
– Y-module is mounted (è 5.3.2 Mounting of the Y-module EHMY-RP).
– Connecting shaft is mounted (è 5.6 Connecting shaft).
– Transport lock in the shipping crate is removed
(è 2.4.1 Securing in the transport protection crate ).
– Transport lock for lifting is mounted (è 2.4.2 Securing when lifting ).
Mounting
1. Place Z-module slowly and carefully onto the Y-module.
2. Press cylindrical dowel pins into the drill holes
of the adapters.
3. Lock screws with adhesive.
Observe safety instructions for adhesive in the
manufacturer’s safety data sheet
(è www.festo.com/en/msds).
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5 Installation of the planar surface gantries and the three-dimensional gantries
4. Fasten the adapter Z to the adapter Y with the
screws.
Screw size and tightening
torque
[Nm] 4.1 14 34 14 34
EHMY-LP-EGC-...-KF EHMY-LP-EGC-...-HD
50 80 120 185 125 160 220
M4x10 M6x16 M8x14 M6x16 M8x14
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.4 Installation of the planar surface gantries and the three-dimensional gantries (completely mounted)
Structure
Planar surface gantry YXCF
1 2
Three-dimensional gantry YXCR
312
1 X-module
2 Y-module
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3 Z-module
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5 Installation of the planar surface gantries and the three-dimensional gantries
Requirements
– Mounting surface is prepared (è 4.1.3 Preparation of the mounting surface).
– Transport lock in the shipping crate is removed
(è 2.4.1 Securing in the transport protection crate ).
– Transport lock for lifting is mounted (è 2.4.2 Securing when lifting ).
– Function of the mounting components is known
(è 5.2.1 Mounting kit without adjustment possibility/5.2.2 Adjusting kit).
Installation
1. Place handling system slowly and carefully onto the prepared mounting surface.
x = Hx/1000 y = By/1000
2. Lightly clamp X-axis with energy chain to the mounting surface.
Straightness can be adjusted with adjusting kits. For mounting kits without adjustment
possibilities, the mounting surface must be correspondingly flat.
3. Align X-axis with energy chain to the underside.
Check: straightness 0.1 mm × (Hx/1000)
4. Fasten X-axis with energy chain to the mounting surface.
5. Align second X-axis flush with the mounted X-axis.
– Length offset ± 0.4 mm × (By/1000)
6. Lightly clamp second X-axis to the mounting surface.
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5 Installation of the planar surface gantries and the three-dimensional gantries
7. Align underside of the second X-axis parallel in height to the mounted X-axis.
Check: height offset + 0.1 mm × (By/1000)
The height offset can be adjusted with adjusting kits. For mounting kits without adjust
ment possibilities, the mounting surface must be correspondingly flat.
8. Fasten second X-axis to the mounting surface.
9. Check alignment.
Check:
– The undersides of the X-axes must lie entirely in a theoretical plane with the required flatness.
The required flatness depends on the size.
Flatness Y1
1)
[mm]
3 1000 1001 … 2000 2001 … 3000
1)
X1
[mm] 3 1000 0.1 0.2 0.3
1001 … 2000 0.2 0.4 0.6
2001 … 3000 0.3 0.6 0.9
3001 … 4000 0.4 0.8 1.2
4001 … 5000 0.5 1.0 1.5
1) Calculation of the dimensions Y1 and X1, depending on the mounting component (è 5.1.3 Preparation of the mounting surface)
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5 Installation of the planar surface gantries and the three-dimensional gantries
The height offset can be adjusted with adjusting kits. For mounting kits without adjust
ment possibilities, the mounting surface must be correspondingly flat.
Note
Incorrect mounting can cause material damage and malfunction.
Collision between Z-module and transport protection aids.
Remove all transport protection aids (è 2.4 Transport locks ).
To take tension out of the system:
The bolts define the position of the Y-module in the Z-direction.
Have the premounted bolt 1 fastened. Do not unscrew it!
On one side of the Y-module:
10.Unscrew screws3 at the adapter
13
– The adapter is movable.
1 Bolt (1x)
2 Adapter (1x)
3 Screw (6x ... 8x)
2
11.The slides of the X-module are blocked with motor position left/right. To be able to move the slides
for alignment:
– For motor with brake.
Remove motor (è 5.7 Motor with brake (EMMS-...-RSB/RMB).
– For motor without brake
Remove connector at the end of the respective motor cable.
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5 Installation of the planar surface gantries and the three-dimensional gantries
12.Move Y-module back and forth on the X-module one time.
13.Move Y-module into the middle of the X-axes.
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5 Installation of the planar surface gantries and the three-dimensional gantries
14.Tighten screws evenly.
Screw size and tightening
torque
EHMY-EGC50 80 120 125 160 185 220
M3x8 M5x12 M6x16 M5x12 M6x16
[Nm] 1.7 8.3 14 8.3 14
15.Check mechanical alignment and structure (è 5.5 Check the alignment and structure).
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.5 Check the alignment and structure
1. Check mechanical alignment and structure.
Check:
– All components are fastened (exception: motor with brake).
– The Y- and Z-axes can be moved by hand. Difficulty of movement, at individual points or con
stantly, due to misalignment, offset or tension, cannot be felt. Align handling system again, if
necessary.
For motor with brake:
2. Mount motor (è 5.7 Motor with brake (EMMS-...-RSB/RMB)/(è 5.6 Connecting shaft).
3. Execute test run (è 8 Commissioning).
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.6 Connecting shaft
5.6.1 Mounting of the connecting shaft
Structure
For motor position left/right
6
12345
1 Connecting tube (1x)
2 Screw (6x)
3 Coupling (2x)
4 Screw (2x)
5 Drive shaft (2x)
6 Plug (2x)
1)
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5 Installation of the planar surface gantries and the three-dimensional gantries
For motor position in the middle
12 3 4
1 Connecting tube (2x)
2 Screw (12x)
3 Coupling (4x)
5 Drive shaft (2x)
6 Plug1) (4x)
7 Gear unit/motor
4 Clamping screw (2x)
1) Plug only for size 185
Requirements
– X-axes of the X-module are mounted and aligned
(è 5.3.1 Mounting of the X-module EHMX-RP),
(è 5.4 Installation of the planar surface gantries and the three-dimensional gantries (completely mounted)).
– Y-module is mounted and aligned
(è 5.3.2 Mounting of the Y-module EHMY-RP),
(è 5.4 Installation of the planar surface gantries and the three-dimensional gantries (completely mounted)).
– Hollow shafts are aligned.
67
5
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5 Installation of the planar surface gantries and the three-dimensional gantries
Note
Incorrect mounting can cause material damage and malfunction.
Collision with Y-module or Z-module if the connecting shaft is mounted to the wrong side.
Mount connecting shaft only to the drive side
(è 5.3.2 Mounting of the Y-module EHMY-RP),
(è 5.4
Installation of the planar surface gantries and the three-dimensional gantries (completely mounted)).
Couplings slide if the contact surfaces are not dry and free of grease.
Clean contact surfaces on the following components:
– Connecting tube
– Couplings
– Drive shafts (leave expanding mandrel cone greased on the inside).
– Hollow shafts on the X-axes
– Drive shafts on the gear unit
Check connecting tube and couplings for
1.
excellent condition.
Check: no kinks, dents, deflections.
2. Insert a screwdriver into the cut-out.
3. Lift off covers at the hollow shafts.
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5 Installation of the planar surface gantries and the three-dimensional gantries
4. Push slide into the corresponding end position:
– The hollow shafts no longer turn when the clamping screws are tightened.
5. Push the drive shaft with the expanding man
drel as far as possible into the hollow shaft.
6. Tighten clamping screws.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M3 M5 M8 M10
[Nm] 1 7 14 60
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5 Installation of the planar surface gantries and the three-dimensional gantries
If the expanding mandrel cone is stuck, mounting is not possible. The drive shaft has a
forcing thread G
.
1
Turn screw into the thread G1.
Push out expanding mandrel cone.
Thread size EHMX-EGC-
50 80 120 185
G1 M4 M6 M10 M12
7. Unscrew the screws.
8. Lift off half-shell.
9. Push couplings as far as possible onto the
drive shafts.
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5 Installation of the planar surface gantries and the three-dimensional gantries
10.Tighten screw slightly:
è All couplings are fixed.
Only for EHMX 185
Push the plugs into the connecting tube.
3
2
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5 Installation of the planar surface gantries and the three-dimensional gantries
For motor position left/right
1. Place connecting tube into the couplings.
2. Continue with point 8. (è page 92).
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5 Installation of the planar surface gantries and the three-dimensional gantries
For motor position in the middle
Otherwise with point 8. (è page 92).
Caution
Unfastened motor in the middle turns with the connecting shaft.
Injury due to impact or pinching. Damage to the product.
Place motor outside the movement range.
Fasten gear unit sufficiently (è 5.1.3 Preparation of the mounting surface).
1. Remove feather keys (if present) from the drive shafts of the gear unit.
2. Place motor outside the movement range.
3. Place drive unit with the rating plate downward.
è Motor turns to the right (positive direction
of rotation, view from front toward the mo
tor shaft).
Gear unit turns to the right (view from left
onto the gear unit)
4. Fasten gear unit to the mounting surface.
5. Push couplings as far as possible onto the
drive shafts.
6. Tighten the screws lightly.
Check: The couplings are fixed on both sides.
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5 Installation of the planar surface gantries and the three-dimensional gantries
7. Place connecting tubes into the coupling.
8. Unscrew the coupling screws slightly.
9. Align couplings in the middle.
10.Observe push-in depth B of the shaft.
Push-in depth EHMX-EGC-
50 80 120 185
B [mm] 10.2 13.1 21.6 26
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5 Installation of the planar surface gantries and the three-dimensional gantries
11.Tighten screws.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M4x16 M5x18 M10x30 M12x40
[Nm] 4 8 50 120
12.Place half shells. Tighten screws only lightly at
first.
13.Clamp connecting tube to the half shell evenly
and symmetrically.
14.Tighten screws.
Screw size and tightening
torque
EHMX-EGC50 80 120 185
M4x16 M5x18 M10x30 M12x40
[Nm] 4 8 50 120
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5 Installation of the planar surface gantries and the three-dimensional gantries
5.7 Motor with brake (EMMS-...-RSB/RMB)
Dismounting is required only for a motor with brake so the slides can be moved to align the system.
A motor without brake can remain mounted.
5.7.1 Dismounting
For motor position left/right, the motor is located on an X-axis.
Unscrew screws.
Remove motor from the X-axis.
5.7.2 Mounting
Push motor onto the X-axis.
Check: correct position of the coupling hubs in
relation to each other.
Connect motor flanges together.
Tightening torques
M4: 3 Nm
M6: 10 Nm
M8: 18 Nm
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6 Attachment components
6 Attachment components
6.1 Mounting to the Y-module
For single-axis system and planar surface gantry:
Mount attachment components to the Y-module. The corresponding interface is taken from the CAD
model (è 1.1 Technical data).
Connect attachment components to the earth potential (è 7.2 Earthing).
6.2 Mounting to the Z-module
For linear gantry and three-dimensional gantry:
Mount attachment components to the Z-module. The corresponding interface is taken from the CAD
model (è 1.1 Technical data).
Connect attachment components to the earth potential (è 7.2 Earthing).
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7 Installation
7 Installation
7.1 Safety instructions
Note
A prerequisite for the electrical installation is a completely mounted and aligned hand
ling system.
Note
The power supply is not switched off.
Damage to the product from incorrect handling.
Never disconnect the plug connectors and electrical interfaces when powered.
Never connect the plug connectors and electrical interfaces when powered.
Observe the handling specifications for electrostatically sensitive devices.
Warning
Faulty installation of electrical components.
Injury due to electric shock. Damage to the product.
Installation may only be performed by qualified specialized personnel who are familiar
with:
– installation and operation of electrical control systems
– the documentation for the product.
Danger
Injury (death) due to electric shock.
Switch off all supply lines and verify they are free of voltage prior to mounting, in
stallation and/or maintenance work and secure them from being switched back on.
Only use power sources which guarantee reliable electrical isolation of the operating
voltage in accordance with EN 60204-1 (PELV).
Connect all PE protective conductors before commissioning.
Observe the regulations of EN 50178 and EN 60204-1 for protective earthing in
installation.
After the power supply is switched off:
Start work on plug connectors and interfaces only when the residual voltage has
fallen to a harmless level (è documentation of the controller used).
Switch the power supply back on only after completion of work.
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7 Installation
Danger
If there is an error, conducting parts are touched.
Injury (death) due to electric voltage.
Observe requirements for the electrical equipment in accordance with EN 60204-1.
Include the handling system in the system potential equalisation at the protective
Note
Installation of the pneumatic components may only be performed by qualified special
ized personnel who are familiar with:
– installation and operation of pneumatic systems.
Caution
Compressed air tubing is not mounted properly. Product is pressurised. Compressed air
tubing gets loose and lashes out.
Injury due to whipping.
Cut hoses off at right angles.
Push hoses into the fitting up to the stop.
Check hoses for tight fit.
earth connection.
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7 Installation
7.2 Earthing
7.2.1 Earthing points
There are earthing points labelled with the earth
symbol on the handling system for earthing.
The illustrations show the approximate positions of the earthing points. The positions of the earthing
points can deviate depending on the order.
For partially mounted handling systems
When mounting, the earthing points must be connected correspondingly to the accompanying earthing
cables.
For completely mounted handling systems
The earthing points are already connected to the earthing cables.
Note
Observe national regulations.
Pay attention to installation of the earthing cables in the energy chains
(è 7.3 Cables and hoses).
1. Emplace serrated washer.
2. Place cable lugs of the earthing cables between serrated washer and washer.
3. Tighten nut or bolt (tightening torque 4 Nm).
2
1
1212
1 Serrated washer 2 Washer
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7 Installation
7.2.2 Earthing points at the single-axis system
Connect earthing point 1 (protective earth connection) with low impedance to the earth potential of
the system.
Connect earthing point 2 of the Y-module with low impedance to earthing point 3 at the moment
compensator.
Connect attachment components with low impedance to earthing point 3 at the moment com
pensator.
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7 Installation
7.2.3 Earthing points at the linear gantry
Connect earthing point 1 (protective earth connection) with low impedance to the earth potential of
the system.
Connect earthing point 2 of the Y-module with low impedance to earthing point 3 at the moment
compensator.
Connect earthing point 3 at the moment compensator with low impedance to earthing point 4 of the
Z-module
Connect attachment components with low impedance to earthing point 5.
100 Festo – GDCP-YXC-EN – 1506a – English
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