Isel RDH-XS, DSH-S, RDH-S, RDH-M, RSH-S Assembly Instruction Manual
Rotary units with Harmonic Drive®
RDH-XS, RDH-S, RDH-M
RSH-S
Assembly instruction with:
- Installation instructions
- Maintenance instructions
- Declaration of incorporation
for a drive system
(A partly completed machine as defined in the Machine Directive 2006/42/EC)
© isel Germany AG, April 2019, english
RDH-XS, RDH-S, RDH-M, DSH-S
Symbol
Warning
Meaning
Danger
Warning of possible serious or fatal injuries to persons
Caution !
Fatal Voltage !
The flash symbol is a clear warning of danger from electric current!
Not heeding this warning can lead to personal injuries with fatal consequences.
Warning, caution !
Warning of possible minor injuries to persons, of possible faults or destruction of the product or possible damage to property.
Not heeding the facts following this symbol (text, picture or table) can
result in serious damage to property.
Important
information or
note
Important information or note on how the product works.
About these assembly instructions
Abbreviations
MD = MachineDirective 2006/42/EC
RDH = Rotary Index Table with Harmonic Drive® Motor
RSH = Rotary Swivel Unit with Harmonic Drive® Motor
AC = Alternating Current, AC servo motor (always synchronous motor)
BDC = Brushed DC, brush type Direct Current (DC) servo motor
BLDC = Brushless DC, brushless type direct current (DC) servo motor
PDF = Portable Document Format
Terminology
In these assembly instructions "product" always refers to a Rotary Unit with Harmonic Drive.
Symbols used
In these instructions you will find various symbols which are there to alert you to important information /
facts and hazards:
Readinig the safety guidelines
Before commissioning the Rotary Units (as partly completed machines), working with them, or making
any additions or modifications to the electrical installation, it is essential you read carefully:
the safety guidelines in these assembly instructions
the safety guidelines for electric drives and control systems in the instruction manual of the
positioning module, drive controller, drive module or drive controls used.
Copyright
© isel Germany AG, January 2013
All rights reserved
Although every care has been taken to avoid printing errors and mistakes, these cannot be ruled out.
We would be grateful for any suggestions for improvements or information on possible mistakes or unclear formulation of facts and illustrations.
2 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
Note on CE compliance for partly completed machines:
isel rotary units comply with CE guidelines. They are classed as partly completed machines as defined
in the Machinery Directive 2006/42/EC and therefore do not explicitly bear the CE mark.
Only after the compliance assessment procedures for the machine have been completed is the (complete) machine or system in which these linear units are installed awarded the CE mark by the manufacturer or distributor of the machine.
All other machine parts and/or machine components to which the CE safety guidelines apply must not
be commissioned until all the relevant requirements of Machinery Directive 2006/42/EC are met.
isel Germany AG does not accept any responsibility for any modifications you make to the rotary unit.
Manufacturer:
Processing date of this documentation: January 2013
More documents from isel Germany AG:
'Nothing is so good it can't be improved upon.' In accordance with this motto, as the manufacturer, we
are constantly improving all our manuals (including operating instructions and assembly instructions) at
considerable cost to ourselves.
We are committed to doing so since this is of benefit to both you as our customers and us:
We want you to be able to work efficiently with the relevant manuals and find the information you are
looking for quickly. Many details in the manuals are the result of information we have received from our
customers.
To support you, all the manuals are available to download in PDF format on our homepage:
https://www.isel.com/en/support-downloads/manuals.html
isel
Germany AG
Bürgermeister-Ebert-Straße 40
D-36124 Eichenzell
Tel.: (06659) 981-700
Fax: (06659) 981-776
E-Mail: automation@isel.com
http://www.isel.com
In your own interest:
Please read these assembly instructions carefully and keep them in a safe place. These instructions
form an integral part of the "Rotary Unit with Harmonic Drive" product, regardless of whether these instructions are supplied/available in the form of an electronic storage medium (as PDF file on a CD, DVD
or memory stick) or as a printed version.
Please read and follow the safety guidelines in these assembly instructions.
3 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
Contents
1 General information ....................................................................................................................... 5
1.1 Safety guidelines ....................................................................................................................... 6
1.2 Proper use ................................................................................................................................. 8
1.3 Deliverables .............................................................................................................................. 8
2 Installation instructions and overview of functions................................................................... 9
2.1 Functions ................................................................................................................................... 9
2.2 Assembly / of the rotary units /drive elements ........................................................................ 10
2.3 Connector pin assignment for rotary units .............................................................................. 27
3 Commissioning, general information ........................................................................................ 28
4 Assembly of the rotary unit ........................................................................................................ 29
4.1 Mounting and adjustment instructions .................................................................................... 29
4.2 Mounting the tailstock unit ...................................................................................................... 30
5 Fault list ........................................................................................................................................ 31
6 Technical specification ............................................................................................................... 32
6.1 Mechanical data ...................................................................................................................... 32
6.2 Electrical data .......................................................................................................................... 35
7 Maintenance and cleaning .......................................................................................................... 35
7.1 Maintenance instructions ........................................................................................................ 35
7.2 Cleaning .................................................................................................................................. 35
8 Decommissioning / disposal ...................................................................................................... 36
9 CE Conformity .............................................................................................................................. 36
10 Service .......................................................................................................................................... 37
11 Warranty ....................................................................................................................................... 37
12 Declaration of incorporation according to MD 2006/42/EC ..................................................... 38
13 Index .............................................................................................................................................. 39
14 Appendix ....................................................................................................................................... 40
14.1 A1: Accessories ................................................................................................................... 40
14.2 A2: Miscellaneous ............................................................................................................... 41
4 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
1 General information
This manual contains all important information about the assembly/installation, commissioning and
maintenance of your rotary units. In addition, it provides information and important notes for your safety.
The isel-rotary units RDH - RSH are rotary modules with Harmonic Drive® Motors, which are ready to
install. They are for use mainly in machining and positioning tasks in factory automation, handling technology and light machinery construction.
These rotary units are available in different standard sizes with various gear reductions.
The options for horizontal or vertical positioning of the rotary axis on the RDH series mean users can
build a wide variety of constructions to suit their requirements.
Please note:
The product is classed as 'partly completed machine' and not a (complete) machine according
to MD 2006/42/EC.
5 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
The following guidelines on safety and danger are intended to protect you, third parties
and the product. It is essential that you follow them.
1.1 Safety guidelines
Operating environment
The surrounding medium must not have a corrosive effect on aluminium alloys, stainless steels
(1.4305) or ABS plastics.
The product has achieved Protection Type IP65 if no corrosion has been caused on the surface
of the radial shaft seal by the operating environment.
When moving the product from cold to warm conditions, allow the product to adjust to the change
in temperature for a few hours, to avoid possible damage from condensation.
Do not install the product near devices which generate powerful magnetic fields. This could
disturb some products main functions.
Avoid environments exposed to direct solar radiation, considerable heat, cold, humidity or mois-
ture.
Power supply (only applies to products with multiphase motors, brushed DC/brushless DC or
AC servo motors and a suitable motor output stage/controller)
Only connect the power supply of the multiphase motor/servo motor output stage iMD10/iMD20,
the link to the servo motor output stage iMD40 (terminals L, N, PE) or the single-axis or multiaxis controller (e.g. iMC-P/iMC-S8, MC-1 series, iPU series…) to an earthed mains socket with
a mains voltage of 230 V AC/50…60 Hz (1-phase AC power supply).
It is preferable to use for the final stage of the mulitphase motor or the final stage of the
iMD10/iMD20 servomotor the original power supply recommended by isel Germany AG (primary
power supply: 230V AC, secondary: 48V DC). Using a different, inappropriate power supply
renders the warranty null and void. In addition, using an inappropriate power supply entails risks
caused by electric current, such as electric shock, fire or short circuits!
If you notice faults, activate the EMERGENCY STOP button on the (single axis) controller, the
CNC operating panel/CNC console, the control panel/control cabinet or a handheld device. Activating the EMERGENCY STOP button interrupts the power supply to the motor output stage.
If the power supply used is damaged you must not operate it. Have a qualified technician check
and if necessary repair the product.
The rotary unit
For safety reasons you must not convert and/or modify the rotary unit on your own.
In operation, the rotary unit must not be concealed by supplies (electricity or compressed air),
objects (e.g. tools) or tarpaulins, packaging or other materials etc. (e.g. clothing), because this
can lead to mechanical damage or heat obstruction and sometimes fire.
If using a single-axis/multi-axis controller to control a linear unit (equipped with an AC, brushed
DC (BDC) or a brushless DC (BLDC) servo motor), you need to ensure that the controller or
motor output stage used (in a control cabinet or on a mounting rack) is placed in a well-ventilated
environment.
6 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
Operation
(applies only to products supplied with a motor and a suitable motor output stage or a suitable
controller, e.g. a single-axis controller)
Only if the product is assembled correctly and the motor, the tactile or inductive limit switches, the brake
and the incremental measuring system (encoder) are correctly connected to the motor output stage/controller all further operations can be successful. Next operations are parameterization, commissioning
and operation/programming of the product as a fully-functioning drive system.
The technical details of special versions may differ from the following versions.
If the product malfunctions or you are unclear about its operational status, you should consult the relevant operating instructions/assembly instructions.
https://www.isel.com/en/support-downloads/manuals.html
Here you will find instructions and information on how to check the functions you require, remove the
causes of a possible malfunction or have these removed.
You must always carry out the instructions you find completely and correctly in order to ensure the
product functions correctly.
Never allow children or other persons who are vulnerable or at risk to operate the product unsupervised.
If you are still unclear about its operational status, it is highly recommended that you consult isel Germany, quoting the type and article number or serial number.
7 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
1.2 Proper use
The rotary units serve to rotate and position securely attached loads on the output flange in an environment where there is no danger of Exploded views and in accordance with the operational and environmental conditions specified for this product. The product can be installed as required (in a horizontal,
vertical or diagonal position).
The rotary units are a partly completed machine (compare Article 2g in the MD 2006/42/EC). Here a
partly completed machine is defined as follows (quote):
'A partly completed machine is a unit which almost forms a machine but which cannot fulfil any specific
function on its own.
A drive system is a partly completed machine.
A partly completed machine is only intended to be installed into other machines or other partly completed
machines or equipment or joined together with these to form a machine as defined in this directive.'
The rotary units RDH - RSH are intended for installation into a machine or into other partly completed
machines.
The product should not be used to transport people.
Any other use than those described above is not considered correct and can lead to personal injuries
and damage to property.
1.3 Deliverables
The deliverables include:
Assembly instructions and installation explanation according to MD 2006/42/EC
Mounting materials
Accessories if required
8 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
2 Installation instructions and overview of functions
Firstly, this section provides an overview of the mechanical structure, installation or assembly of the
rotary units and a description of their functions.
The instructions for commissioning/configuring the rotary unit and its programming by users depend on
the motors used and the relevant controllers with output stages; they can be found in their documentation.
2.1 Functions
The rotary units in the series RDH and RSH have a modular design.
These rotary units are based on extremely durable Harmonic Drive® motors with their well-known high
degree of precision.
These are housed in sealed aluminum molded shell and linked to a drive directly (solid shaft) or via a
drive belt (hollow shaft).
Operating principle of the Harmonic Drive-Transmission
Harmonic Drive motors are comprised of only three concentric components:
The Circular Spline (CS), a rigid cylindrical ring with internal gearing
The Flexspline (FS), a malleable cylindrical steel bushing with external gearing
The Wave Generator (WG), an elliptical steel disk with a centric hub and thin section ball bear-
ings
The powered elliptical Wave Generator (WG) deflects the Flexspline (FS), which is engaged with the
internal gearing of the fixed Circular Spline (CS) across the ball bearings.
In turning, the WG shifts the major axis of the ellipse axis and hence the position of tooth engagement.
The FS has two teeth less than the CS, so after half a WG rotary, a relative movement the size of one
tooth occurs between FS and CS (after a complete rotary this is equal to two teeth).
Where the CS is fixed, the FS is the output element and rotates in the opposite direction.
The following advantages result from this operating principle:
Reduction ratios of 30:1 to 320:1 with a minimal construction space
Peak torque values of 0.5 to 15000 Nm
Efficiencies of over 90% under rated operating conditions
Total positioning accuracy to less than one minute of an angle
Repeatability is only a few minutes of an angle
Freedom of movement in the tooth system
Very low tooth abrasion thanks to low sliding speed between the teeth
9 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
Solid shaft
(1) Harmonic Drive Motor
(2) Aluminiummoulding shell
(3) Drive module
(4) Output flange solid shaft
(5) Cover
(6) Connection panel
(7) Rotary shaft seal
Hollow shaft
(1) Harmonic Drive Motor
(2) Aluminiummoulding shell
(3) Drive module
(4) Output flange hollow shaft
with pipe penetration
(5) Cover with penetration
and shaft seal
(6) Connection panel
(7) Rotary shaft seal
(8) Toothedbeltstage
Overview of the functions of DSH-S
* Schwenkachse = swivelaxis / Drehachse = rotationaxis
(1) Swivel module (RDH-S)
(2) Rotary axis
(3) Base plate
(4) Counterbearings
2.2 Assembly / of the rotary units /drive elements
The following illustrations, drawings and item lists illustrate the structure of the rotary units.
Options
Rotary units RDH – RSH are usually supplied ready for connection and with an integrated drive module.
The RDH-S and RDH-M units are also available as hollow shafts.
Overview of the functions using RDH-M as an example
10 / 44 April 2019
Options
RDH-M (Solid shaftoption)
RDH-M (Hollow shaft option)
RDH-M with tailstock unit RE M
Tailstock unit RE M
Art. No.: 269100 2100
(1000 mm)
Art. No.: 269100 2150
(1500 mm)
Art. No.: 269100 2200
(2000 mm)
RDH-S (Solid shaft option)
RDH-S (Hollow shaft option)
RDH-S with tailstock unit RE S
Tailstock unit RE S
Art. No.: 269100 1020
(200 mm)
Art. No.: 269100 1030
(300 mm)
Art. No.: 269100 1040
(400 mm)
Art. No.: 269100 1050
(500 mm)
RDH-M
RDH-XS, RDH-S, RDH-M, DSH-S
RDH-S
11 / 44 April 2019
RDH-XS
RDH-XS (Solid shaftoption)
RDH-XS with tailstock unit RE XS
Tailstock unit RE S
Art. No.: 269100 0020
(200 mm)
Art. No.: 269100 0030
(300 mm)
Art. No.: 269100 0040
(400 mm)
Art. No.: 269100 0050
(500 mm)
RDH-XS with tailstock unit RE XS
RDH-XS, RDH-S, RDH-M, DSH-S
RSH-S
12 / 44 April 2019
RDH-XS, RDH-S, RDH-M, DSH-S
*Raster = grid / Spannfutter = chuck
Options L A
Tailstock unit RE-XS 200 mmm
325
117
Tailstock unit RE-XS 300 mmm
425
217
Tailstock unit RE-XS 400 mmm
525
317
Tailstock unit RE-XS 500 mmm
625
417
Dimension sheetfor RDH-XS
Dimension sheet for RDH-XS tailstock unit RE XS
13 / 44 April 2019
Explodedview RDH-XS
18
30
34
Servo motorstructure
19
20
22
multiphasemotorstructure
Item list RDH-XS
Pos No.
Item number
Quantity
Name
Drawing no. 1 660500 0000
1
EZ4150 - base body - XS - processed
EZ4150
2
660500 4152
1
EZ4152 – Adapter flange XS
EZ4152 3 660500 4156
1
EZ4156 – Cover at back
EZ4156
4
660500 28782 / 660500 28783
1
DZ2878 - Connector panel - RDH-XS
DZ2878
5
660500 41582 / 660500 41583
1
EZ4158 - toothed belt disk HTD3 - Z40
EZ4158
6
660500 39432
1
EZ4159 - toothed belt disk HTD3 - Z40 with flanged wheel
EZ4159 7 898081 8201
1
Clampingbushing 8-18-11(Mädler 615708 00)
8
660500 4153
1
EZ4153 - Transmission attachment
EZ4153 9 660500 4154
1
EZ4154 - Transmission mounting
EZ4154
10
660500 4155
1
EZ4155 – Shaft Transmission entry
EZ4155
11
660500 4164
1
EZ4164 - Clamping ring
EZ4164
12
660500 41512 / 660500 41511
1
EZ4151 - Motor mounting
EZ4151
13
660500 1000 /650200 0010
1
Harmonic Drive Motor HDUC-14-xx-1U-CC (i=100 / i=50)
14
XXXXXX XXXX *
1
Motor module
15
896010 8224
2
Single-row groove ball bearings with sealing pads 608-2RS1
16
843400 0030
1
Shaft seal BABSL 45-58-7 Simrit 72 NBR902
17
616504 0722
1
Toothed belt HTD 3M CXP b=6 L216 (Z=72)
18
562015 4000
1
Inductive proximity switch Baumer IFFM08P37A6_L
19
582132
1
Magneticsensormounting
20
563005
1
Magneticsensor
21
898120 1218
1
Spieth pressure sleeve AK 12-18 L12
22
632501 0002
1
Neodymium block magnet 3 mm
23
891101 0161
6
Pan head screw DIN 912 8.8 VZ M3 x 16
24
891101 0251
6
Pan head screw DIN 912 8.8 VZ M3 x 25
25
891102 0081
6
Pan head screw DIN 912 8.8 VZ M4 x 8
26
891053 0101
1
Allen screw DIN 933 M5x10
27
891191 0065
10
Countersunk screw DIN 965 4.8 VA M 3 x 6
28
891191 0085
8
Countersunk screw DIN 965 4.8 VA M 3 x 8
29
891530 0051
2
Self-tapping screw DIN 7981 VZ 2,2 x 4,5
30
891131 0101
5
Countersunk screw DIN 7991 M 3 x 10
31
893051 0001
6
Disk DIN 125 ST 4,3
32
891378 0025
4
Grubscrew DIN 913 VA M 2 x 2
33
891371 0041
2
Grubscrew DIN 913 M 3 x 4
34
891373 0051
1
Grubscrew DIN 913 M 5 x 5
35
891375 0085
1
Grubscrew DIN 913 VA M 8 x 8
RDH-XS, RDH-S, RDH-M, DSH-S
* Item number see page 26
14 / 44 April 2019
Loading...