Schneider Electric PAS4S User Manual
PAS4•S
Portal axes with ball screw drive
Product manual
V2.01, 07.2009
MNA1MLSDM00EN, V2.01, 07.2009
www.schneider-electric.com
Important information PAS4•S
Important information
This manual is part of the product.
Carefully read this manual and observe all instructions.
Keep this manual for future reference.
Hand this manual and all other pertinent product documentation over to
all users of the product.
Carefully read and observe all safety instructions and the chapter "Before you begin - safety information".
Some products are not available in all countries.
For information on the availability of products, please consult the catalog.
Subject to technical modifications without notice.
All details provided are technical data which do not constitute warranted
qualities.
Most of the product designations are registered trademarks of their respective owners, even if this is not explicitly indicated.
2 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S Table of contents
Table of contents
Important information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Writing conventions and symbols. . . . . . . . . . . . . . . . . . . . . . . 7
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 Overview of product properties . . . . . . . . . . . . . . . . . . . . 9
1.1.1 Product family. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1.2 Features and options of the linear axis. . . . . . . . . . . . 9
1.1.3 Features of the linear guide . . . . . . . . . . . . . . . . . . . . 9
1.1.4 Motor mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2 Product overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 Type code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.4 Documentation and literature references . . . . . . . . . . . 16
1.5 Manufacturer's Declaration . . . . . . . . . . . . . . . . . . . . . . 17
2 Before you begin - safety information. . . . . . . . . . . . . . . . . . . 19
2.1 Qualification of personnel . . . . . . . . . . . . . . . . . . . . . . . 19
2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3 Basic information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4 Standards and terminology . . . . . . . . . . . . . . . . . . . . . . 21
3 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 PAS42² . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 PAS43² . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.4 PAS44² . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.5 Service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.6 Positioning accuracy and repeatability . . . . . . . . . . . . . 42
3.7 Stroke reserve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.8 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
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Portal axes with ball screw drive 3
Table of contents PAS4•S
4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.1 Preparing installation . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.2 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.2.1 Standard tightening torques. . . . . . . . . . . . . . . . . . . 47
4.2.2 Mounting the linear axis. . . . . . . . . . . . . . . . . . . . . . 48
4.2.3 Mounting the contact plate. . . . . . . . . . . . . . . . . . . . 49
4.2.4 Mounting the sensors. . . . . . . . . . . . . . . . . . . . . . . . 50
4.2.5 Mounting the motor or the gearbox . . . . . . . . . . . . . 51
4.2.6 Mounting the payload. . . . . . . . . . . . . . . . . . . . . . . . 54
4.3 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.3.1 Connecting the sensors . . . . . . . . . . . . . . . . . . . . . . 55
4.3.2 Motor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.4 Checking installation. . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.1 Commissioning procedure . . . . . . . . . . . . . . . . . . . . . . 58
6 Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 59
6.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
6.2 Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
6.2.1 Ball screw drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
6.2.2 Ball screw bearing . . . . . . . . . . . . . . . . . . . . . . . . . . 60
6.2.3 Linear guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
6.2.4 Elastomer coupling . . . . . . . . . . . . . . . . . . . . . . . . . 60
6.3 Replacing parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
6.3.1 Replacing a sensor . . . . . . . . . . . . . . . . . . . . . . . . . 61
6.3.2 Replacing the motor or the gearbox. . . . . . . . . . . . . 62
6.3.3 Replacing the elastomer coupling . . . . . . . . . . . . . . 63
6.3.4 Replacing the cover strip (and the strip deflection) . 64
4 Portal axes with ball screw drive
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PAS 4•S Table of contents
7 Accessories and spare parts . . . . . . . . . . . . . . . . . . . . . . . . . . 69
7.1 Clamping claws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
7.2 Slot nuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
7.3 Locating dowels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
7.4 T slot covers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.5 Sensors and additional parts. . . . . . . . . . . . . . . . . . . . . 72
7.5.1 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
7.5.2 Sensor extension cable . . . . . . . . . . . . . . . . . . . . . . 73
7.5.3 Sensor holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
7.5.4 Contact plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
7.6 Coupling assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
7.6.1 Elastomer spiders. . . . . . . . . . . . . . . . . . . . . . . . . . . 74
7.6.2 Clamping hubs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
7.7 Grease guns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.8 Cover strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.9 Strip deflection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.10 Cover strip clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.11 Magnetic strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
7.12 Rubber buffer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
8 Service, maintenance and disposal . . . . . . . . . . . . . . . . . . . . 81
8.1 Service address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8.2 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
8.2.1 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
8.2.2 Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
8.2.3 Lubricating the linear guide and the drive elements . 84
8.3 Shipping, storage, disposal . . . . . . . . . . . . . . . . . . . . . . 85
9 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
9.1 Terms and Abbreviations. . . . . . . . . . . . . . . . . . . . . . . . 87
10 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
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Portal axes with ball screw drive 5
Table of contents PAS4•S
6 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S Writing conventions and symbols
Writing conventions and symbols
Work steps If work steps must be performed consecutively, this sequence of steps
is represented as follows:
쮿 Special prerequisites for the following work steps
왘 Step 1
컅 Specific response to this work step
왘 Step 2
If a response to a work step is indicated, this allows you to verify that the
work step has been performed correctly.
Unless otherwise stated, the individual steps must be performed in the
specified sequence.
Bulleted lists The items in bulleted lists are sorted alphanumerically or by priority. Bul-
leted lists are structured as follows:
• Item 1 of bulleted list
• Item 2 of bulleted list
–Subitem for 2
–Subitem for 2
• Item 3 of bulleted list
Making work easier Information on making work easier is highlighted by this symbol:
Sections highlighted this way provide supplementary
information on making work easier.
SI units SI units are the original values. Converted units are shown in brackets
behind the original value; they may be rounded.
Example:
Minimum conductor cross section: 1.5 mm
2
(AWG 14)
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Portal axes with ball screw drive 7
Writing conventions and symbols PAS4•S
8 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 1 Introduction
1 Introduction
1.1 Overview of product properties
The ball screw axes are based on specially developed and particularly
torsion-resistant aluminum profiles. They excel with the their ability to
position heavy loads at changing torques with high feed forces and high
accuracy.
1.1.1 Product family
The linear axes product family consists of the following sizes:
• PAS42Sx (axis body cross section 60x60 mm)
• PAS43Sx (axis body cross section 80x80 mm)
• PAS44Sx (axis body cross section 110x110 mm)
The sizes differ in terms of outer dimensions, drive data, payload capacities and maximum stroke.
1.1.2 Features and options of the linear axis
The linear axis excels with the following features and options:
• High positioning accuracy even at great ballscrew lengths due to
several moving screw supports
• Simple integration into systems and machines due to axis bodies
with slots
• Stroke length available precise to the millimeter
• Mounting thread with counterbores for locating dowels at the carriage for reproducible mounting of the payload
• Grease nipples at the side of the carriage for external lubrication
• Distribution of the payload to up to 3 carriages
• Optional cover strip
• Motor mounting via compact coupling system
• Sensors adjustable in T slots
1.1.3 Features of the linear guide
Recirculating ball bearing guide • High acceleration
• High load capacity
• High accuracy
• Suitable for high torques
• Optimum absorption of forces by the axis body
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Portal axes with ball screw drive 9
1 Introduction PAS4•S
1.1.4 Motor mounting
The motor or the gearbox are coupled by means of a preloaded elatomer
coupling.
Figure 1.1 Motor mounting straight
10 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 1 Introduction
1.2 Product overview
2
1
17
16
15
14
13
11
10
12
3
4
5
6
7
8
9
Figure 1.2 Product overview ball screw axis
(1) Carriage
(2) End plate with ball screw shaft bearing
(3) Axis body
(4) T slot for mounting the linear axis
(5) Contact plate sensor
(6) Grease nipples, 3
(7) Sensor holder
(8) Sensor with cable and connector
(9) T-slot for fastening the sensor holder
(10) Flange for motor mounting
(11) Shaft extension
(12) Drive block
(13) Clamp fastener for cover strip
(14) Cover strip
(15) Rubber buffer
(16) Strip deflection
(17) Thread for fastening the payload
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Portal axes with ball screw drive 11
1 Introduction PAS4•S
1.3 Type code
Example PAS 4 2 S B D 1200 C 1 B A 100 S / 2 3G 0 V0 3
Product
PAS = Portal axis
Product family
4 = Basic line
Size (axis body cross section)
2 = 60; (60 x 60 mm)
3 = 80; (80 x 80 mm)
4 = 110; (110 x 110 mm)
Carriage drive element
S = Ball screw
A = Support axis (without ball screw, only
linear guide)
Type of guide
B = Recirculating ball bearing guide
Feed per revolution
B = 5 mm (size 2, 3, 4)
D = 10 mm (size 2, 3, 4)
F = 16 mm (size 2)
G = 20 mm (size 3)
H = 25 mm (size 4)
N = Support axis
Stroke
xxxx = in mm (maximum stroke per size
see Technical Data)
Limit switches
A = 2 x PNP sensors as normally closed
contacts, not wired
C = 2 x PNP sensors as normally open
contacts, not wired
E = 2 x NPN sensors as normally closed
contacts, not wired
G = 2 x NPN sensors as normally open
contacts, not wired
N = No sensors, no contact plate
Carriage
1 = Type 1
4 = Type 4
Options
B = With cover strip / without ball screw
support
C = With cover strip / one ball screw support
D = Without cover strip / one ball screw
support
E = With cover strip / two ball screw supports
F = Without cover strip / without ball
screw support
D = Without cover strip / without ball
screw support
Number of carriages
A = One
B = Two (on request)
C = Three (on request)
1)
2)
PA S 4 2 S B D 1200 C 1 B A 100 S / 2 3G 0 V0 3
4 2 S B D 1200 C 1 B A 100 S / 2 3G 0 V0 3
PA S
PA S 4
PA S 4 2
PAS 42S
PAS 42SB
PAS 42SBD
PAS 4 2 S B D 1200
PAS 4 2 S B D 1200 C
PAS 4 2 S B D 1200 C 1
PAS 4 2 S B D 1200 C 1 B
2 SBD1200C1BA100S/2 3G0V03
S B D 1200 C 1 B A 100 S / 2 3G 0 V0 3
B D 1200 C 1 B A 100 S / 2 3G 0 V0 3
D 1200 C 1 B A 100 S / 2 3G 0 V0 3
1200 C 1 B A 100 S / 2 3G 0 V0 3
C 1 B A 100 S / 2 3G 0 V0 3
1 B A 100 S / 2 3G 0 V0 3
B A 100 S / 2 3G 0 V0 3
A 100 S / 2 3G 0 V0 3
12 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 1 Introduction
Example PAS 4 2 S B D 1200 C 1 B A 100 S / 2 3G 0 V0 3
Distance between carriages
Up to 999 = in mm (xxx = with a single
carriage)
Axis drive interface
See Figure 1.3
S = With motor mounting or motor
adapter mounting
D = With shaft extension
N = Support axis
Gearbox / motor interface
1 = With motor, without gearbox (select
motor type)
2 = With motor, with gearbox (select
motor/gearbox type)
3 = Without motor, with gearbox (select
motor/gearbox type)
4 = Without motor, without gearbox
(select motor/gearbox type)
X = Without motor, without gearbox (without select motor/gearbox selection)
Gearboxes
0G = Planetary gear - PLE 40
1G = Planetary gear - PLE 60
3G = Planetary gear - PLE 80
5G = Planetary gear - PLE 120
0A = Planetary gear - WPLE 40
1A = Planetary gear - WPLE 60
3A = Planetary gear - WPLE 80
5A = Planetary gear - WPLE 120
7G = Planetary gear - PLS 70
8G = Planetary gear - PLS 90
9G = Planetary gear - PLS 115
YY = Third-party gearbox without mounting by Schneider Electric (gearbox drawing required)
ZZ = Third-party gearbox with mounting
by Schneider Electric (gearbox must be
provided)
XX = No gearbox
Mounting direction gearbox
(with clamping hub mounting screw of
adapter plate)
0 = 0 a'clock
3 = 3 a'clock
6 = 6 a'clock
9 = 9 a'clock
X = No gearbox
3)
PAS 4 2 S B D 1200 C 1 B A
PAS 4 2 S B D 1200 C 1 B A 100
PAS 4 2 S B D 1200 C 1 B A 100 S /
PAS 4 2 S B D 1200 C 1 B A 100 S / 2
PAS 4 2 S B D 1200 C 1 B A 100 S / 2 3G 0 V0 3
100 S/2 3G0 V03
S /23G0V03
2 3G 0 V0 3
3G 0V03
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Portal axes with ball screw drive 13
1 Introduction PAS4•S
Example PAS 4 2 S B D 1200 C 1 B A 100 S / 2 3G 0 V0 3
Motor / gearbox interface
V6 = Stepper motors BRS 364 / BRS 366
V8 = Stepper motors BRS 368
V9 = Stepper motors BRS 397 / BRS 39A
V0 = Stepper motors BRS 39B
V1 = Stepper motors BRS 3AC / BRS
3AD
I6 = ILS..571; ILS..572 with stepper
motor
I7 = ILS..573 with stepper motor
I9 = ILS..851; ILS..852 with stepper
motor
I8 = ILS..853 with stepper motor
E7 = DC brushless ILExx66
S6 = Servo motors SER 36• / BRH 057
S9 = Servo motors SER 39• / BRH 085
S1 = Servo motors SER 311• / BRH 110
A6 = ILA..57 with servo motors
H5 = Servo motors BSH 055•
H7 = Servo motors BSH 0701 / BSH
0702 / BMH 0701 / BMH 0702
H8 = Servo motors BSH 0703 / BMH
0703
H1 = Servo motors BSH 1001 / BSH
1002 / BSH 1003; BMH 1001 / BMH 1002
/ BMH 1003
H4 = Servo motors BSH 1004
H2 = Servo motors BSH 1401 / BSH
1402 / BSH 1403 / BSH 1404 / BMH
1401 / BMH 1402 / BMH 1403
YY = Third-party motor without mounting
by Schneider Electric (motor drawing
required)
ZZ = Third-party motor with mounting by
Schneider Electric (motor drawing
required; motor must be provided)
XX = No motor
Mounting direction motor with reference to power connection
(with clamping hub mounting screw of
adapter plate)
0 = 0 a'clock
3 = 3 a'clock
6 = 6 a'clock
9 = 9 a'clock
X = No motor
1) With 100 mm cable with connector at one end, other versions and extension cables as accessories
2) Only carriages of the same type are possible.
3) Minimum distance between 2 carriages: see dimensional drawings
PAS 4 2 S B D 1200 C 1 B A 100 S / 2 3G 0
PAS 4 2 S B D 1200 C 1 B A 100 S / 2 3G 0 V0
V0 3
3
14 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 1 Introduction
S D N
Figure 1.3 Axis drive interface
1 2/1
3/1 3/2 4
Figure 1.4 Mounting direction motor and gearbox
2/2
X
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Portal axes with ball screw drive 15
1 Introduction PAS4•S
1.4 Documentation and literature references
The following manuals belong to this product:
• Product manual, describes the technical data, installation, commissioning and the replacement of parts.
• Motor manual, describes the technical characteristics of the
motors, including correct installation and commissioning.
Source manuals The latest versions of the manuals can be downloaded from the Internet
at:
http://www.schneider-electric.com
16 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 1 Introduction
1.5 Manufacturer's Declaration
MANUFACTURER’S DECLARATION
according to EC Directive on Machinery 98/37/EG
We hereby declare that the following product:
Designation: Portal axis with toothed belt
Portal axis with spindle
Type: PAS41x, PAS42x, PAS43x, PAS44x
Product number: 73xx xxxx xxx
in the version delivered is intended for installation in a machine. Commissioning is
prohibited unless the machine meets the regulations according to the EC directives.
Please observe the safety instructions in our technical documentation.
Applied
harmonized
standards,
especially
EN ISO 12100-1:2003-11
Safety of machinery basic concepts,
principles for design
Part 1: Basic terminology, methodology
EN ISO 12100-2:2003-11
Safety of machinery basic concepts,
principles for design
Part 2: Technical principles and specifications
Applied national
Product documentation
standards and
technical
specifications,
especially
Company stamp:
Date/Signature: 30 July 2009
Name/Department: Wolfgang Brandstätter/Development
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Portal axes with ball screw drive 17
1 Introduction PAS4•S
18 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 2 Before you begin - safety information
2 Before you begin - safety information
2.1 Qualification of personnel
Only appropriately trained persons who are familiar with and understand
the contents of this manual and all other pertinent product documentation are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid hazards involved. These persons must have sufficient technical training,
knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the settings and by the mechanical, electrical and electronic equipment of the
entire system in which the product is used.
All persons working on and with the product must be fully familiar with all
applicable standards, directives, and accident prevention regulations
when performing such work.
2.2 Intended use
This product is a portal axis with mounted motor and intended for industrial use according to this manual.
The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical
data.
Prior to using the product, you must perform a risk assessment in view
of the planned application. Based on the results, the appropriate safety
measures must be implemented.
Since the product is used as a component in an entire system, you must
ensure the safety of persons by means of the design of this entire system (for example, machine design).
Operate the product only with the specified cables and accessories. Use
only genuine accessories and spare parts.
The product must NEVER be operated in explosive atmospheres (hazardous locations, Ex areas).
MNA1MLSDM00EN, V2.01, 07.2009
Portal axes with ball screw drive 19
2 Before you begin - safety information PAS4•S
2.3 Basic information
@ WARNING
GREAT MASS OR FALLING PARTS
• Consider the mass of the axis when mounting it. It may be necessary to use a crane.
• Mount the axis in such a way (tightening torque, securing screws)
that the axis and mounted parts cannot come loose even in the
case of fast acceleration or continuous vibration.
• Note that vertically installed linear axes may lower unexpectedly.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
@ WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential
failure modes of control paths and, for certain critical functions,
provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are EMERGENCY
STOP, overtravel stop, power outage and restart.
• Separate or redundant control paths must be provided for critical
functions.
• System control paths may include communication links. Consideration must be given to the implication of unanticipated transmission delays or failures of the link.
• Observe the accident prevention regulations and local safety
guidelines.
• Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service.
Failure to follow these instructions can result in death or serious
injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control
and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and
Guide for Selection, Installation for Construction and Operation of AdjustableSpeed Drive Systems.
1)
20 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 2 Before you begin - safety information
2.4 Standards and terminology
Technical terms, terminology and the corresponding descriptions in this
manual are intended to use the terms or definitions of the pertinent
standards.
In the area of drive systems, this includes, but is not limited to, terms
such as "safety function", "safe state", "fault", "fault reset", "failure", "error", "error message", "warning", "warning message", etc.
Among others, these standards include:
• IEC 61800 series: "Adjustable speed electrical power drive systems"
• IEC 61800-7 series: "Adjustable speed electrical power drive systems - Part 7-1: Generic interface and use of profiles for power drive
systems - Interface definition"
• IEC 61158 series: "Industrial communication networks - Fieldbus
specifications"
• IEC 61784 series: "Industrial communication networks - Profiles"
• IEC 61508 series: "Functional safety of electrical/electronic/programmable electronic safety-related systems"
Also see the glossary at the end of this manual.
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Portal axes with ball screw drive 21
2 Before you begin - safety information PAS4•S
22 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 3 Technical Data
3 Technical Data
See chapter 9 "Glossary" for definitions and explanations of terms see
chapter.
3.1 Ambient conditions
Ambient temperature during
operation
Ambient conditions transportation
and storage
Relative humidity The following relative humidity is permissible during operation:
Installation altitude
Vacuum Operation in vacuum is not permissible.
Temperature [°C] 0 ... +50
The environment during transport and storage must be dry and free from
dust. The maximum vibration and shock load must be within the specified limits.
Temperature [°C] -25 ... +70
Relative humidity As per IEC60721-3-3, class 3K3,
Installation altitude above mean
sea level
for linear axis without motor
non-condensing
[m] <1500
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Portal axes with ball screw drive 23
3 Technical Data PAS4•S
3.2 PAS42•
Value pairs with / without cover strip are separated by "/".
Characteristics portal axis PAS42SB
Drive element Ball screw drive (P7 as per DIN 69051 part 3)
Guide type Recirculating ball bearing guide SHS15V
Typical payload [kg] 25
Carriage type Type 1 Type 4
Carriage length [mm] 323 / 226 503 / 406
Ball screw pitch [mm] 5 10 16 5 10 16
Ball screw shaft diameter [mm] 16
Axial backlash ball screw [mm] 0.04
Maximum feed force Fx
Maximum speed of rotation of ball screw [rpm] 3000
Maximum velocity
2)
Maximum acceleration
Maximum driving torque M
Breakaway torque 0 stroke axis
Breakaway torque per additional
carriage
3)
Moment of inertia 0 stroke axis [kgcm
Moment of inertia per additional
carriage
3)
Moment of inertia per 1 m of stroke [kgcm
Moment of inertia per 1 kg of payload [kgcm
Maximum force Fy
Maximum force Fz
dynmax
dynmax
Maximum torque My
Maximum torque Mz
Max. torque Mx
dynmax
Mass 0 stroke axis [kg] 6.1 / 5.2 7.8 / 6.9
Mass per additional carriage (including
axis body and ball screw)
Mass per 1 m of stroke [kg/m] 6.9
Moving mass carriage [kg] 1.5 / 1.3 2.0 / 1.8
Maximum working stroke
Minimum stroke
Repeatability
5)
2)
Diameter motor shaft [mm] 6.35 ... 20
Axis body cross section (W x H) [mm] 60 x 60
Axial area moment of inertia (lx / ly) [mm
Modulus of elasticity (aluminum) E [N/mm2] 72000
max
2)
dynmax
dynmax
1)
1)
[N] 2980 1560 1540 2980 1560 1540
[m/s] 0.25 0.50 0.80 0.25 0.50 0.80
[m/s2]10
max
1)
3)
[Nm] 3.2 3.3 4.9 3.2 3.3 4.9
[Nm] 0.53 0.56 0.59 0.53 0.56 0.59
[Nm] 0.03 0.06 0.09 0.03 0.06 0.09
2
] 1.21 /
1.16
[kgcm2] 0.16 /
0.11
2
/m] 0.35 0.45 0.50 0.35 0.45 0.50
2
/kg] 0.006 0.025 0.065 0.006 0.025 0.065
1)
1)
1)
1)
[N] 4050
[N] 4050
[Nm] 304 668
[Nm] 304 668
1.24 /
1.19
0.19 /
0.14
1.3/ 1.24 1.29 /
1.25
0.25 /
0.19
0.24 /
0.2
1.33 /
1.28
0.28 /
0.23
1.41 /
1.35
0.36 /
0.3
[Nm] 27
[kg] 3.7 / 2.9 5.5 / 4.6
4)
[mm] 1770 / 1870 1590 / 1690
[mm] 9
[mm] ± 0.02
4
] 461960 / 598330
24 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 3 Technical Data
Characteristics portal axis PAS42SB
Maximum ambient temperature [°C] 0 ... +50
Load ratings linear guide (C
Load ratings ball screw drive (C
Service life reference magnitude
1) The maximum permissible dynamic forces and torques decrease at increasing velocities (see characteristic curves)
2) Load- and stroke-dependent
3) The carriage closest to the motor is driven.
4) Please inquire for greater stroke
5) Minimum stroke required for lubrication of the linear guide
6) Forces and torques relate to the service life reference magnitude
Characteristics support axis PAS42AB
Carriage type Type 1 Type 4
Breakaway force 0 stroke axis [N] 30
Breakaway force per additional carriage [N] 30
Mass 0 stroke axis [kg] 4.4 / 3.5 6.1 / 5.2
For further data (if applicable) see: PAS42SB
stat
/ C
) [N] 24200 / 14200
dyn
/ C
stat
6)
) [N] 19900 /
dyn
[km] 10000
14900
9100 /
7800
9200 /
7700
19900 /
14900
9100 /
7800
9200 /
7700
Fz
Mz
Fy
My
Mx
Fx
Figure 3.1 Forces and torques
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Portal axes with ball screw drive 25
3 Technical Data PAS4•S
Characteristic curves PAS42SB
Fx [N]
3500
3000
2500
2000
1500
1000
500
0
0 500 1000 1500 2000 2500 3000
A
B
C
Fydyn [N]
4400
4200
4000
3800
3600
3400
0,0 0,2 0,4 0,6 0,8
n [rpm ]
v [m/s]
M [Nm]
6
5
4
3
2
1
0
0 500 1000 1500 2000 2500 3000
Mydyn [Nm]
800
700
600
500
400
300
200
C
B
A
n [rpm]
4
1
0,0 0,2 0,4 0,6 0,8
v [m/s]
Fzdyn [N]
4400
4200
4000
3800
3600
3400
0,0 0,2 0,4 0,6 0,8
L [k m]
100000
80000
60000
40000
20000
0
0,4 0,6 0,8 1,0 1,2 1,4
v [m/s]
k
Mzdyn [Nm]
800
700
600
500
400
300
200
0,0 0,2 0,4 0,6 0,8
Mxdyn [Nm]
28
27
26
25
24
23
22
0,0 0,2 0,4 0,6 0,8
4
1
v [m/s]
v [m/s]
(1) Carriage type 1
(4) Carriage type 4
(A,B,C) Ball screw pitch A = 5 mm, B = 10 mm, C = 16 mm
26 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
PAS 4•S 3 Technical Data
nkrit [rpm]
3500
3000
2500
2000
15 0 0
10 0 0
500
0
0 500 1000 1500 2000 2500 3000 3500
0
I
II
A
LP [mm]
f [mm]
0 500 1000 1500 2000 2500 3000
0,0
0,2
0,4
0,6
0,8
1, 0
1, 2
1, 4
1, 6
Fcomp [N]
6000
5000
4000
3000
2000
10 0 0
s [mm]
0 N
25 N
50 N
10 0 N
200 N
300 N
B
C
0
0 500 1000 1500 2000 2500 3000
x [mm]
Figure 3.2 Speed of rotation of ball screw, deflection, buckling strength,
PA S4 2S B
(A) Speed of rotation of ball screw
(0,I,II) Without, 1 or 2 ball screw supports
(B) Deflection
(C) Buckling strength
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Portal axes with ball screw drive 27
3 Technical Data PAS4•S
Dimensional drawings PAS42SB
85 d 15d
74
1
c
c
d8
74
LC
A
A
LC
LP
LS
X
c
E1E0
cX8d
2
8 H7
n x
n x M5 x12
75
45
15
11.5
7.6
2.1
5
3
A-A
60
15
40
55 H7
16 g6
3
90˚
20
3
19
60
4 x
45˚
4
LC
D
F
30 30
30
62
x M5 x12
4
30
5
D
59
±0.03
45
6
170
Figure 3.3 Dimensional drawing PAS42SB
(1) Portal axis
(2) Support axis
(3) Shaft extension
(4) Drive block
(5) Section of axis
(6) Carriage type 1 (type 4 has more tapped holes for mounting)
28 Portal axes with ball screw drive
MNA1MLSDM00EN, V2.01, 07.2009
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