Bosch rexroth MCL Project Planning Manual
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Bosch rexroth MCL Project Planning Manual

Ironless linear motors
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MCL
Ironless Linear Motors
Project Planning Manual
R911330592
Edition 06

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Summary of Contents for Bosch rexroth MCL

  • Page 1 Ironless Linear Motors Project Planning Manual Edition 06 R911330592...
  • Page 2 Edition 06, 2020-06 tab. 1-1 "Record of revisions" on page Copyright © Bosch Rexroth AG 2020 All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial prop‐ erty rights.

  • Page 3: Table Of Contents

    Protection against pressurized systems.................... 19 Explanation of signal words and the Safety alert symbol..............20 Technical data......................21 Explanations about technical data......................21 4.1.1 Introduction............................21 4.1.2 Operating behavior..........................21 4.1.3 Description of specified sizes......................25 R911330592_Edition 06 Bosch Rexroth AG...
  • Page 4 6.1.4 Type code frame size 015......................... 64 6.1.5 Type code frame size 020......................... 66 6.1.6 Type code frame size 030......................... 68 6.1.7 Type code frame size 040......................... 70 6.1.8 Type code frame size 070......................... 72 Bosch Rexroth AG R911330592_Edition 06...
  • Page 5 Installation altitude and ambient conditions..................100 Environmental conditions during operation..................101 Type of protection..........................102 Acceptances and approvals........................ 102 9.6.1 CE..............................102 9.6.2 EAC..............................102 9.6.3 RoHS............................... 103 9.6.4 China RoHS 2..........................103 Magnetic fields............................ 103 R911330592_Edition 06 Bosch Rexroth AG...
  • Page 6 9.23 Operation at or near motor standstill....................132 Motor-control combinations..................133 10.1 General............................... 133 10.2 Motor-control combinations with NYCe 4000..................133 10.3 Motor-control combinations with IndraDrive Cs.................. 134 Motor dimensioning....................135 11.1 General procedure..........................135 Bosch Rexroth AG R911330592_Edition 06...
  • Page 7 Commissioning, operation and maintenance............. 167 14.1 General............................... 167 14.2 General requirements ........................167 14.2.1 General............................167 14.2.2 Checking all electrical and mechanical components............... 167 14.2.3 Tools..............................168 14.3 General commissioning procedure..................... 168 14.4 Parameterization..........................170 R911330592_Edition 06 Bosch Rexroth AG...
  • Page 8 Checking of motor and additional components ................185 14.8.3 Electrical check of motor components..................... 185 14.9 Operation with third-party controllers....................186 14.10 Environmental protection and disposal ....................186 14.10.1 Environmental protection......................... 186 14.10.2 Disposal............................186 Service and support....................189 Index.......................... 191 Bosch Rexroth AG R911330592_Edition 06...

  • Page 9: Introduction To The Product

    Maintenance-free drive (no wearing parts at the motor) ● Simplified machine structure For a comprehensive overview of all product groups of Bosch Rexroth Electric Drives and Controls, please refer to the online product catalog: http://www.boschrexroth.com/indradyn. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 10: Basic Features

    The motor type designation depends on the ironless primary part. The desig‐ nation is as follows: ● MCL: Motor Coreless Linear ● MCL: Motor Coreless Primary part ● MCS: Motor Coreless Secondary part Bosch Rexroth AG R911330592_Edition 06...

  • Page 11: Comparison Ironless With Ferreous Linear Motors

    Additionally wearing mechanical components are not necessary due to direct installation into the machine. Due to not existing mechanical elements, a backlash free, with minimum or without hysteresis afflicted drive train, is available. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 12: Motor Power Spectrum

    New solutions due to practice-oriented combination of motor technique with digital intelligent drive controllers with ironless linear direct drive technique are available. The spectrum of ironless linear drive technique of Bosch Rexroth realized drives with feed forces of 10 N up to 3,300 N, acceleration up to 250 m/s²...

  • Page 13: Document Structure

    DANGER Non-compliance with this safety instructions will result in death or severe per‐ sonal injury. WARNING Non-compliance with this safety instructions can result in death or severe personal injury. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 14: Further Documentation

    Further documentation To plan the drive-systems with MCL motors, it is possible that you need addi‐ tional documentation referring the used devices. Rexroth provides the com‐ plete product documentation in PDF format in the following Bosch Rexroth media directory: http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp...

  • Page 15: Standards

    Internet: http://www.din.de/beuth E-Mail:postmaster@beuth.de 1.6.6 Additional components Documentation for external systems which are connected to Bosch Rexroth components are not included in the scope of delivery and must be ordered directly from the corresponding manufacturers. 1.6.7 Your feedback Your experiences are an essential part of the improvement process of prod‐...
  • Page 16 8/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 17: Important Instructions On Use

    2.1.2 Areas of use and application Ironless linear motors MCL of Bosch Rexroth are intended for use as linear servo drive motors. For application-specific use of motors, drive controllers with various levels of power, DC bus voltage and different interfaces are available. For regulation and controlling of motors, additional sensors like length measuring systems must be connected.

  • Page 18: Inappropriate Use

    For example, they may not be operated under wa‐ ter, under extreme temperature fluctuations or extreme maximum tem‐ peratures; ● the intended application range is not explicitly approved for Bosch Rexroth motors. MCL motors are not suited to be operated directly on the power supply.

  • Page 19: Safety Instructions For Electric Drives And Controls

    R911330592_Edition 06 Bosch Rexroth AG...

  • Page 20: General Information

    You must follow these safety instructions. ● Bosch Rexroth is not liable for damages resulting from failure to observe the safety instructions. ●...

  • Page 21: Hazards By Improper Use

    Other countries: – International Organization for Standardization (ISO) – International Electrotechnical Commission (IEC) 3.2.3 Hazards by improper use ● High electrical voltage and high working current! Danger to life or seri‐ ous injury by electric shock! R911330592_Edition 06 Bosch Rexroth AG...

  • Page 22: Instructions With Regard To Specific Dangers

    ● Install the covers and guards provided for this purpose before switching ● Never touch any electrical connection points of the components while power is turned on. Bosch Rexroth AG R911330592_Edition 06...

  • Page 23: Protective Extra-Low Voltage As Protection Against Electric Shock

    Protective extra-low voltage is used to allow connecting devices with basic in‐ sulation to extra-low voltage circuits. On components of an electric drive and control system provided by Bosch Rexroth, all connections and terminals with voltages up to 50 volts are PELV...

  • Page 24: Protection Against Dangerous Movements

    If extra-low voltage circuits of devices containing voltages and circuits of more than 50 volts (e.g., the mains connection) are connected to Bosch Rexroth products, the connected extra-low voltage circuits must comply with the requirements for PELV ("Protective Extra-Low Voltage").

  • Page 25: Protection Against Electromagnetic And Magnetic Fields During Operation And Mounting

    They should seek advice from their physician. ● If overcome by possible effects on above-mentioned persons during op‐ eration of drive controllers and accessories, remove the exposed per‐ sons from the vicinity of conductors and devices. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 26: Protection Against Contact With Hot Parts

    Do not attempt to reactivate low batteries by heating or other methods (risk of explosion and cauterization). ● Do not attempt to recharge the batteries as this may cause leakage or explosion. ● Do not throw batteries into open flames. ● Do not dismantle batteries. Bosch Rexroth AG R911330592_Edition 06...

  • Page 27: Protection Against Pressurized Systems

    Environmental protection and disposal! The agents (e.g., fluids) used to operate the product might not be environmentally friendly. Dispose of agents harmful to the environment separately from other waste. Observe the national regulations of your country. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 28: Explanation Of Signal Words And The Safety Alert Symbol

    In case of non-compliance with this safety instruction, death or serious injury could occur. CAUTION In case of non-compliance with this safety instruction, minor or moderate in‐ jury could occur. NOTICE In case of non-compliance with this safety instruction, property damage could occur. Bosch Rexroth AG R911330592_Edition 06...

  • Page 29: Technical Data

    Furthermore, a continuous force characteristic curve F for installation mode B (good thermal connection) is shown. The installation modes are described Chapter 9.22 R911330592_Edition 06 Bosch Rexroth AG...
  • Page 30 DC bus voltage of 300 from MCP020 up to MCP070 or 48 V for MCP015. You will find additional notes about thermal coupling under Chap‐ ter 9.22 Notes about standstill operation in Chapter 9.23 Bosch Rexroth AG R911330592_Edition 06...
  • Page 31 Total motor resistance and inductivity halved = 1/2 x R = 1/2 x L 12,total 12,Motor 12,total 12,Motor Single arrangement Parallel arrangement Fig. 4-2: Characteristics force over velocity at single or parallel arrangment of two primary parts on one controller R911330592_Edition 06 Bosch Rexroth AG...
  • Page 32 24/197 MCL Ironless Linear Motors Technical data For parallel connection of two primary parts at one drive control‐ ler, relevant motor parameters for start-up are specified in this documentation (see Kapitel 14.4.3 on page 170). Bosch Rexroth AG R911330592_Edition 06...

  • Page 33: Description Of Specified Sizes

    S1-op‐ eration. Thermal time constant ① Chronological course of the winding temperature θ Max. winding temperature Thermal time constant Fig. 4-3: Thermal time constant Mass primary part Mass of primary part R911330592_Edition 06 Bosch Rexroth AG...

  • Page 34: Indrasize

    The engineering tool covers the entire range of Rexroth drives and motors. Calculate the characteristic curves for your ap‐ plication by using the sizing and calculation tool IndraSize: www.boschrex‐ roth.com/IndraSize Bosch Rexroth AG R911330592_Edition 06...

  • Page 35: General Technical Data

    Degree of protection MCP and MCS according to DIN EN 60034-5 (IP20 for front surface of MCP020 ... 070) RoHS conformity according to EC guidelines RoHS conform 2011/65/EG Latest amendment: 2019-12-16 Tab. 4-1: General technical data R911330592_Edition 06 Bosch Rexroth AG...

  • Page 36: Frame Size 015

    Latest amendment: 2018-04-04 Tab. 4-2: MCP015 - Technical data 4.4.2 Data sheet MCS015 Designation Symbol Unit MCS015-__-0066 MCS015-__-0099 Secondary part mass Mass secondary part, relative kg/m S_rel Latest amendment: 2012-06-21 Tab. 4-3: MCS015 - Technical data Bosch Rexroth AG R911330592_Edition 06...

  • Page 37: Motor Characteristic Curve Frame Size 015

    MCL Ironless Linear Motors 29/197 Technical data 4.4.3 Motor characteristic curve frame size 015 Fig. 4-4: Motor characteristic curve MCP015A-L040 at 48 V Fig. 4-5: Motor characteristic curve MCP015B-L040 at 48 V R911330592_Edition 06 Bosch Rexroth AG...

  • Page 38: Frame Size 020

    Latest amendment: 2019-04-09 Tab. 4-4: MCP020 - Technical data 4.5.2 Data sheet MCS020 Designation Symbol Unit MCS020-__-0120 MCS020-__-0180 MCS020-__-0300 Secondary part mass Mass secondary part, relative kg/m S_rel Latest amendment: 2012-03-29 Tab. 4-5: MCS020 - Technical data Bosch Rexroth AG R911330592_Edition 06...

  • Page 39: Motor Characteristic Curves Frame Size 020

    MCL Ironless Linear Motors 31/197 Technical data 4.5.3 Motor characteristic curves frame size 020 Fig. 4-6: Motor characteristic curves MCP020B at 300 V Fig. 4-7: Motor characteristic curves MCP020C at 300 V R911330592_Edition 06 Bosch Rexroth AG...
  • Page 40 32/197 MCL Ironless Linear Motors Technical data Fig. 4-8: Motor characteristic curves MCP020D at 300 V Bosch Rexroth AG R911330592_Edition 06...

  • Page 41: Frame Size 030

    Latest amendment: 2018-04-04 Tab. 4-6: MCP030 - Technical data 4.6.2 Data sheet MCS030 Designation Symbol Unit MCS030-__-0120 MCS030-__-0180 MCS030-__-0300 Secondary part mass Mass secondary part, relative kg/m S_rel Latest amendment: 2012-03-29 Tab. 4-7: MCS030 - Technical data R911330592_Edition 06 Bosch Rexroth AG...

  • Page 42: Motor Characteristic Curve Frame Size 030

    34/197 MCL Ironless Linear Motors Technical data 4.6.3 Motor characteristic curve frame size 030 Fig. 4-9: Motor characteristic curve MCP030B at 300 V Fig. 4-10: Motor characteristic curve MCP030C at 300 V Bosch Rexroth AG R911330592_Edition 06...
  • Page 43 MCL Ironless Linear Motors 35/197 Technical data Fig. 4-11: Motor characteristic curve MCP030D at 300 V R911330592_Edition 06 Bosch Rexroth AG...

  • Page 44: Frame Size 040

    V070 V300 V070 V300 Maximum force 1032 Continuous nominal force Maximum current 11.6 18.8 15.6 26.4 Rated current Reference voltage DC bus voltage Maximum velocity at F m/min Fmax Nominal velocity m/min Latest amendment: 2018-04-04 Bosch Rexroth AG R911330592_Edition 06...

  • Page 45: Data Sheet Mcs040

    Secondary part mass Mass secondary part, relative kg/m 10.7 S_rel Latest amendment: 2012-03-29 Tab. 4-10: MCS040 - Technical data 4.7.3 Motor characteristic curves frame size 040 Fig. 4-12: Motor characteristic curve MCP040B at 300 V R911330592_Edition 06 Bosch Rexroth AG...
  • Page 46 38/197 MCL Ironless Linear Motors Technical data Fig. 4-13: Motor characteristic curve MCP040C at 300 V Fig. 4-14: Motor characteristic curve MCP040E at 300 V Bosch Rexroth AG R911330592_Edition 06...
  • Page 47 MCL Ironless Linear Motors 39/197 Technical data Fig. 4-15: Motor characteristic curve MCP040G at 300 V R911330592_Edition 06 Bosch Rexroth AG...

  • Page 48: Frame Size 070

    V300 V050 V230 Maximum force 1712 3320 Continuous nominal force Maximum current 18.4 36.0 62.8 Rated current 15.7 Reference voltage DC bus voltage Maximum velocity at F m/min Fmax Nominal velocity m/min Latest amendment: 2018-04-04 Bosch Rexroth AG R911330592_Edition 06...

  • Page 49: Data Sheet Mcs070

    Secondary part mass Mass secondary part, relative kg/m 24.8 S_rel Latest amendment: 2012-03-29 Tab. 4-13: MCS070 - Technical data 4.8.3 Motor characteristic curve frame size 070 Fig. 4-16: Motor characteristic curve MCP070C at 300 V R911330592_Edition 06 Bosch Rexroth AG...
  • Page 50 42/197 MCL Ironless Linear Motors Technical data Fig. 4-17: Motor characteristic curve MCP070D at 300 V Fig. 4-18: Motor characteristic curve MCP070F at 300 V Bosch Rexroth AG R911330592_Edition 06...
  • Page 51 MCL Ironless Linear Motors 43/197 Technical data Fig. 4-19: Motor characteristic curve MCP070M at 300 V R911330592_Edition 06 Bosch Rexroth AG...
  • Page 52 44/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 53: Dimension Sheets

    For the installation of the motors into the machine structure, Bosch Rexroth specifies a defined installation position with tolerances. Thus, the specified size and tolerances of the air gap are maintained automatically – even if indi‐...

  • Page 54: Installation Dimensions Mcl015

    MCL Ironless Linear Motors Dimension sheets 5.1.2 Installation dimensions MCL015 Motor height Motor width Frame size 51 mm 13.5 mm 14.8 mm For tolerance details refer to the dimension sheet Tab. 5-1: MCL015 Installation dimensions and tolerances Bosch Rexroth AG R911330592_Edition 06...

  • Page 55: Installation Dimensions Mcl020

    49.5 mm For tolerance details refer to the dimension sheet Tab. 5-2: Installation dimensions and tolerances MCL020 ... 070 The specified installation dimensions with respective tolerances must always be complied with over the entire travel length. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 56: Parallelism And Symmetry Of Machine Parts

    5-1. You will find further notes regarding assembly of primary and secondary parts chapter 13 on page 159. ① Secondary part ② Primary part Fig. 5-1: Parallelism and symmetry between primary part and secondary part Bosch Rexroth AG R911330592_Edition 06...
  • Page 57 MCL Ironless Linear Motors 49/197 Dimension sheets R911330592_Edition 06 Bosch Rexroth AG...

  • Page 58: Dimensional Sheets For Mcl015

    50/197 MCL Ironless Linear Motors Dimension sheets Dimensional sheets for MCL015 Fig. 5-2: Dimensional sheets primary part MCP015 Bosch Rexroth AG R911330592_Edition 06...
  • Page 59 MCL Ironless Linear Motors 51/197 Dimension sheets Fig. 5-3: Dimensional sheets secondary part MCS015 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 60: Dimensional Sheets Mcl020

    52/197 MCL Ironless Linear Motors Dimension sheets Dimensional sheets MCL020 Fig. 5-4: Dimensional sheets primary part MCP020 Bosch Rexroth AG R911330592_Edition 06...
  • Page 61 MCL Ironless Linear Motors 53/197 Dimension sheets Fig. 5-5: Dimensional sheets secondary part MCS020 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 62: Dimensional Sheets For Mcl030

    54/197 MCL Ironless Linear Motors Dimension sheets Dimensional sheets for MCL030 Fig. 5-6: Dimensional sheets primary part MCP030 Bosch Rexroth AG R911330592_Edition 06...
  • Page 63 MCL Ironless Linear Motors 55/197 Dimension sheets Fig. 5-7: Dimensional sheets secondary part MCS030 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 64: Dimensional Sheets Mcl040

    56/197 MCL Ironless Linear Motors Dimension sheets Dimensional sheets MCL040 Fig. 5-8: Dimensional sheets primary part MCP040 Bosch Rexroth AG R911330592_Edition 06...
  • Page 65 MCL Ironless Linear Motors 57/197 Dimension sheets Fig. 5-9: Dimensional sheets secondary part MCS040 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 66: Dimensional Sheets Mcl070

    58/197 MCL Ironless Linear Motors Dimension sheets Dimensional sheets MCL070 Fig. 5-10: Dimensional sheets primary part MCP070 Bosch Rexroth AG R911330592_Edition 06...
  • Page 67 MCL Ironless Linear Motors 59/197 Dimension sheets Fig. 5-11: Dimensional sheets secondary part MCS070 R911330592_Edition 06 Bosch Rexroth AG...
  • Page 68 60/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 69: Identification

    General The type code describes the deliverable motor variants. It is the basis for se‐ lecting and ordering products from Bosch Rexroth. This applies to new prod‐ ucts as well as to spare parts and repairs.. Based on an exemplary motor, type codes are listed by which an exact deter‐...
  • Page 70 The cable output direction of the Hall unit is done to the same front side as for the power connection. The necessary length measuring system is not in the scope of delivery of Bosch Rexroth and must be provided and mounted by the machine manufac‐ turer. Electrical connection Short-text column 19 20 All primary parts are fitted with a flexible and shielded connection cable.

  • Page 71: Type Code Mcs Secondary Part

    Segment lengths Abbrev. column 11 12 13 14 Depending from the motor frame size, different secondary part lengths are available. Other designs Abbrev. column 16 17 18 19 NNNN = no other design. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 72: Type Code Frame Size 015

    64/197 MCL Ironless Linear Motors Identification 6.1.4 Type code frame size 015 Fig. 6-3: Type code primary part MCP015 Bosch Rexroth AG R911330592_Edition 06...
  • Page 73 MCL Ironless Linear Motors 65/197 Identification Fig. 6-4: Type code secondary part MCS015 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 74: Type Code Frame Size 020

    66/197 MCL Ironless Linear Motors Identification 6.1.5 Type code frame size 020 Fig. 6-5: Type code primary part MCP020 Bosch Rexroth AG R911330592_Edition 06...
  • Page 75 MCL Ironless Linear Motors 67/197 Identification Fig. 6-6: Type code secondary part MCS020 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 76: Type Code Frame Size 030

    68/197 MCL Ironless Linear Motors Identification 6.1.6 Type code frame size 030 Fig. 6-7: Type code primary part MCP030 Bosch Rexroth AG R911330592_Edition 06...
  • Page 77 MCL Ironless Linear Motors 69/197 Identification Fig. 6-8: Type code secondary part MCS030 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 78: Type Code Frame Size 040

    70/197 MCL Ironless Linear Motors Identification 6.1.7 Type code frame size 040 Fig. 6-9: Type code primary part MCP040 Bosch Rexroth AG R911330592_Edition 06...
  • Page 79 MCL Ironless Linear Motors 71/197 Identification Fig. 6-10: Type code secondary part MCS040 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 80: Type Code Frame Size 070

    72/197 MCL Ironless Linear Motors Identification 6.1.8 Type code frame size 070 Fig. 6-11: Type code primary part MCP070 Bosch Rexroth AG R911330592_Edition 06...
  • Page 81 MCL Ironless Linear Motors 73/197 Identification Fig. 6-12: Type code secondary part MCS070 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 82: Identification

    Company address Insulation system Thermal class Degree of protection by housing Manufacturing date Pole pitch Rated current Serial number Change status Rexroth barcode Material number China RoHS conformity mark Fig. 6-14: Type plate example primary part Bosch Rexroth AG R911330592_Edition 06...

  • Page 83: Identification Mcs Secondary Part

    EC declaration of conformity Maximum input voltage Company address Thermal class Degree of protection by housing Manufacturing date Serial number Change status Rexroth barcode Material number China RoHS conformity mark Fig. 6-16: Type plate example secondary part R911330592_Edition 06 Bosch Rexroth AG...

  • Page 84: Certification Mark

    MCL Ironless Linear Motors Identification 6.2.3 Certification mark Certification mark Significance Conformity with applicable EC Directives EAC stands for Eurasian Conformity. Conformity according to RoHS and China RoHS2. Tab. 6-1: Certification mark at type plate Bosch Rexroth AG R911330592_Edition 06...

  • Page 85: Accessories And Options

    (seechapter 6.1.2 "Type codes primary part MCP" on page 61). Independent from the origin order, primary parts of frame size 020 ... 070 can be converted or upgraded with a separately order‐ able Hall unit. R911330592_Edition 06 Bosch Rexroth AG...
  • Page 86 40 mA to the Hall unit must be ensured. Fig. 7-1: Signal process of an analog Hall unit Bosch Rexroth controllers use a supply voltage of 12 V for the an‐ alog Hall unit. Bosch Rexroth AG R911330592_Edition 06...
  • Page 87 Fig. 7-2: Signal course of digital Hall unit The signal amplitude of the digital Hall unit depends on the supply voltage of the open-collector circuit. Bosch Rexroth controllers use a supply voltage of 5 V. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 88: Hall Unit Assembly/Disassembly

    (DIN EN ISO 7045 - Torx) M2.5x5 MCP030 (DIN EN ISO 7045 - Torx) 0.8 Nm M2.5x5 MCP040 (DIN EN ISO 7045 - Torx) M2.5x8 MCP070 (DIN EN ISO 7045 - Torx) Tab. 7-1: Tightening torque Hall unit Bosch Rexroth AG R911330592_Edition 06...

  • Page 89: Ordering Code Separate Hall Unit

    A possible circuitry with Rexroth cables is described underchapter 8.3.4 "Connect digital Hall unit" on page 93 7.2.2 Ordering code SHL03.1 adapter box Short name SHL03.1-NNN-S-NNN Material number R911335257 Tab. 7-3: SHL03.1 adapter box order designation R911330592_Edition 06 Bosch Rexroth AG...
  • Page 90 82/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 91: Connection Technique

    Connection cable Hall unit (optional for MCP020 ... 070; seeFig.8-8) ④ Wires with wire end ferrules (wire designation acc. to DIN EN 60445) Fig. 8-1: Design of connection cable (power) on the primary part MCP R911330592_Edition 06 Bosch Rexroth AG...
  • Page 92 Flange socket or terminal boxes must also be fixed with the machine construction. From this junction, a suitable ad‐ ditional power cable can be laid to supply power through the energy chains or the machine construction. Bosch Rexroth AG R911330592_Edition 06...

  • Page 93: Assembly Connection Cable On Primary Part

    . 8.2.2 Assembly Connection cable on primary part Bosch Rexroth offers ready-made power cables to connect MCP primary part on Rexroth controllers. Also refer to chapter 8.2.3 Mount the connection cable on the flange socket (RLS1704) to connect the primary part with the power cable.

  • Page 94: Connection Power

    8.2.3 Connection power Bosch Rexroth provides ready-made power cables available for motor con‐ nection. The cables RKL4800, RKL4801, RKL4802, RKL4803 and INK0650 are optimally adjusted to our products and their most different demands. Please observe that ready-made cables or cable systems of other manufacturers may not fulfill these demands completely.
  • Page 95 Observe the notes about con‐ necting power wires inchapter on page 115. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 96: Installation Of Power Connection

    Installation with two separate power cables ● Installation with a collective power cable with bigger cross section The description of the power cables is done in the documentation "Rexroth Connection Cables", MNR R911322948 (DE) or R911322949 (EN). Bosch Rexroth AG R911330592_Edition 06...
  • Page 97 ① Drive controller ② Energy chain ③ Junction (terminal boxes) ④ Motor 1 ⑤ Motor 2 Fig. 8-7: Parallel connection, collective power cable R911330592_Edition 06 Bosch Rexroth AG...

  • Page 98: Sensors

    Connection cable power (see chapter 8.2.1 "Connection cable on primary part" on page ③ Connection cable Hall unit (optional for MCP020 ... 070) ④ Wires with wire end ferrules Fig. 8-8: Wire designation connection cable Hall unit Bosch Rexroth AG R911330592_Edition 06...
  • Page 99 Before connecting the Hall unit, take appro‐ priate measures for ESD protection ( ESD = electrostatic dis‐ charge). For more information about the Hall unit, please refer to chapter 7.1 "Hall unit" on page R911330592_Edition 06 Bosch Rexroth AG...

  • Page 100: Assembly Hall Unit Connection Cable

    12 V (BN) A+ (GY) S1 (YE) A- (YE) 0V (WH) S2 (GN) B+ (PK) 0V (WH) B- (GN) S3 (PK) Connector housing Outer shield Outer shield Tab. 8-4: Connection assignment RGS0005 for Hall unit connection Bosch Rexroth AG R911330592_Edition 06...

  • Page 101: Connect Digital Hall Unit

    75 m! ● Observe further notes about the SHL03.1 adapter box in the documentaion DOK-INDRV*-HCS01******-PRxx-xx-P, MNR R911322210 and under chapter 7.2 "Hall unit adapter box SHL03.1 for digital Hall unit" on page R911330592_Edition 06 Bosch Rexroth AG...

  • Page 102: Connect Analog Hall Unit

    Also ob‐ serve the manufacturer's instruction of the length measuring system. To connect an incremental length measuring system on a Rexroth controller or on the adapter box SHL03.1, Bosch Rexroth provides two connection ca‐ bles. ●...
  • Page 103 Envoder supply 5 V n.c. n.c. Feedback of reference potential Sense- (Sense line) Connector Outer shield housing Tab. 8-5: Connection assignment to be done on RGS0006 to connect the length measuring system on the customer-side R911330592_Edition 06 Bosch Rexroth AG...
  • Page 104 96/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 105: Application And Construction Instructions

    They are not relevant for the function and mechanical property of the motor. The motor cooling happens due to the thermal couplingof the primary part on the ma‐ chine and via the natural convection. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 106: Design Secondary Part

    Secondary parts are available in different lengths. Please also refer to the da‐ underType code. Required length of the secondary The required length L of the secondary part can be defined as follows: parts Fig. 9-3: Defining the required length of the secondary part Bosch Rexroth AG R911330592_Edition 06...

  • Page 107: Frame Size And Frame Length

    Application and construction instructions 9.2.3 Frame size and frame length For adjusting on different feed force requirements, Bosch Rexroth offers MCL motors in a modular system in different sizes and lengths. Frame sizes The designation of frame size is derived from the active height l and power of MCL.

  • Page 108: Installation Altitude And Ambient Conditions

    , but on the whole drive system, consisting of motor, drive con‐ troller and mains supply. Ensure that the reduced data are not ex‐ ceeded by your application. Bosch Rexroth AG R911330592_Edition 06...

  • Page 109: Environmental Conditions During Operation

    Operating conditions Unless otherwise specified, the values given are the values of the particular class. However, Bosch Rexroth reserves the right to adjust these values at any time based on future experiences or changed environmental factors. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 110: Type Of Protection

    The CE mark is attached to the motor type label of the motors. 9.6.2 EAC stands for Eurasian Conformity. Motors of MCL series fulfill the specified technical requirements of the EAC member states in the tariff union. The member states are Russia, Belarus and Kazakhstan. Bosch Rexroth AG R911330592_Edition 06...

  • Page 111: Rohs

    Keep magnetic data carriers, credit cards, check cards and identity cards and all ferromagnetic metal parts away from magnetic fields. Do not wear jewelry, particularly made of fer‐ romagnetic material, during work at magnetic components. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 112: Noise Emission

    For shipping by air freight of magnetic components, the limit values for mag‐ netic flux density in all directions in accordance with IATA953 must be com‐ plied with. All rotors of Bosch Rexroth synchronous motors comply with cate‐ gory I according to the figure below. Depending on their geometry and con‐...

  • Page 113: Thermal Behavior

    The thermal time constant is the period within which 63% of the final over temperature is reached. Together with the duty cycle, the correlation to Fig. and Fig. 9-10 used to define the operating modes, e.g. acc. to DIN EN 60034-1. R911330592_Edition 06 Bosch Rexroth AG...
  • Page 114 Maximum final over temperature of the motor in K emax Effective force in N (from application) Continuous nominal force of motor in N (see motor data sheet) Fig. 9-9: Expected final over temperature of the motor Bosch Rexroth AG R911330592_Edition 06...

  • Page 115: Motor Temperature Monitoring

    970 ... max. 1000 Ohm Continuous current at 100 °C 2 mA Tab. 9-5: Standard values on temperature sensors KTY84-130 The response temperatures of the sensor are ⇒110 °C pre-warning temperature ⇒130 °C shut-off temperature R911330592_Edition 06 Bosch Rexroth AG...

  • Page 116: Feed Force At Reduced Covering Between Primary And Secondary Part

    ), the reduction of the force is Inserted force reduction linear with the reduced overlap area. The following diagram illustrates the correlation between the coverage be‐ tween primary and secondary part and the resulting force reduction. Bosch Rexroth AG R911330592_Edition 06...
  • Page 117 Instabilities in the control loop can be expec‐ ted from a certain reduction of the degree of coverage onwards. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 118: Requirements On The Machine Design

    Reactive forces Initiated by acceleration, deceleration or process forces of the moved axis, reactive forces can deform the stationary machine base or cause the fixed machine base body to vibrate. Bosch Rexroth AG R911330592_Edition 06...
  • Page 119 Calculation example of the machine base body deformation Integrating the linear scale The rigidity of the length measuring system integration is particularly impor‐ tant. For explanations refer to chapter 9.14 "Length measuring system" on page 120. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 120: Protection Of The Motor Installation Space

    One or more primary parts can be controlled independently of each other. In such an arrangement, the length measuring system can also be equipped with two or more scanning heads. Fig. 9-15: Single axis arrangement of primary parts Bosch Rexroth AG R911330592_Edition 06...

  • Page 121: Several Motors Per Axis

    Depending on the application, the motors can be controlled in two different ways: ● Two or more motors at one drive controller and one linear scale (parallel connection) ● Two motors at two drive controllers and two linear scales (Gantry ar‐ rangement) R911330592_Edition 06 Bosch Rexroth AG...
  • Page 122 If possible, load stationary and arranged symmetrically with respect to the motors The determination of the distance that must be adhered depends on the di‐ rection of the cable outlet and the permissible bending radius of the power cable. Bosch Rexroth AG R911330592_Edition 06...
  • Page 123 Determining the grid dimension between the primary parts with cable outlet in the same direction The distance x between the primary parts according to Fig. 9-19 my not de‐ ceed the minimum distance x Pmin R911330592_Edition 06 Bosch Rexroth AG...
  • Page 124 Determining the distance between primary parts with cable outlets in opposite directions When determining the correct primary part distance according to Fig.9-22, only the distance between the primary part end faces (xpmin) as reference point can be used. Bosch Rexroth AG R911330592_Edition 06...
  • Page 125 When determining the correct primary part distance according to Fig.9-24, only the distance between the primary part end faces (xpmin) as reference point can be used. R911330592_Edition 06 Bosch Rexroth AG...
  • Page 126 As a con‐ sequence, this permanently existing base load may lead to a generally higher stress than a single arrangement. This must be taken into account when the drive is selected. Bosch Rexroth AG R911330592_Edition 06...

  • Page 127: Arrangement Of Secondary Parts

    The weight compensation can be pneumatic or hydraulic. Weight com‐ pensation with a counterweight is not suitable since the counterweight must also be accelerated. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 128: Length Measuring System

    The necessary length measuring system is not in the scope of de‐ livery of Bosch Rexroth and has to be provided and mounted from the machine manufacturer themselves(tab. 9-10 "Manufacturers of length measuring systems"...

  • Page 129: Linear Guiding Systems

    The used linear guiding system must be able to adjust process and acceleration force. Depending on the application, the following linear guides are employed: ● Ball or roll rail guides R911330592_Edition 06 Bosch Rexroth AG...

  • Page 130: Braking Systems And Holding Devices

    9.17 "End position shock absorber " on page 123 chapter 9.20 "Deactivation upon EMERGENCY STOP and in the event of a malfunction " on page 125 as well as in the appropri‐ ate functional description of the drive controller. Bosch Rexroth AG R911330592_Edition 06...

  • Page 131: End Position Shock Absorber

    9.19 Motor control and regulation 9.19.1 General The following figures shows a complete linear direct drive, consisting of a synchronous linear motor, length scale system, drive controller and superor‐ dinate control. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 132: Drive Controllers

    "Motor-control combinations" on page 133). 9.19.3 Control systems A master control is required for generating defined movements. Depending on the functionality of the whole machine and the used control systems, Bosch Rexroth offers different control systems.. Bosch Rexroth AG R911330592_Edition 06...

  • Page 133: Deactivation Upon Emergency Stop And In The Event Of A Malfunction

    2 - Setting velocity command value to zero with command value ramp and fil‐ 3 - Retraction Please refer to the corresponding firmware function description for additional information about the reaction to faults and the rela‐ ted parameter value assignments. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 134: Deactivation By A Master Control

    The holding brake control drops to 0 V immediately after the drive ena‐ bling signal has been removed. 9.20.5 Response to a power outage In order to be able to shut down the linear drive as fast as possible in the event of a power outage, Bosch Rexroth AG R911330592_Edition 06...
  • Page 135 The maximum possible DC bus capacity of the employed power supply module must be taken into account when additional ca‐ pacities are used in the DC bus. Do not initiate a DC voltage short-circuit when additional capacitors are employed. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 136: Short-Circuit Of Dc Bus

    9.20.6 Short-circuit of DC bus Most of the power supply modules of Bosch Rexroth permit the DC bus to be shortened when the power is switched off, which also establishes a short-cir‐ cuit between the motor phases. When the motor moves, this causes a brak‐...

  • Page 137: Velocity Resolution

    If the heat of the motor cannot be sufficiently dissipated by means of natural convection, the heat introduction via the contact surfaces into the machine construction is increased. Particularly high heat dissipation is achieved if the R911330592_Edition 06 Bosch Rexroth AG...
  • Page 138 IndraSize and for commissioning in IndraWorks. ① Available motor force ② Installation mode Fig. 9-36: Motor force dependent on thermal connection Bosch Rexroth AG R911330592_Edition 06...
  • Page 139 This mode of assembly is the worst case and it must be reckoned with a significant disability of the motor. Tab. 9-12: Explanation of installation modes R911330592_Edition 06 Bosch Rexroth AG...

  • Page 140: Operation At Or Near Motor Standstill

    To avoid damaged winding in standstill operation, limit the current or the op‐ eration duration. A possible form of an additional motor protection is the limi‐ tation of the motor current to 87% of the nominal current. Bosch Rexroth AG R911330592_Edition 06...

  • Page 141: Motor-Control Combinations

    ■ MCP015B-L040 MCP020x-Vxxx MCP030x-Vxxx MCP040x-Vxxx MCP070x-Vxxx ■ optimum combination permitted combination - reduced velocity, as DC bus voltage is reduced in relation to nominal voltage. Combination not permitted Tab. 10-1: Motor-control combinations with NYCe 4000 R911330592_Edition 06 Bosch Rexroth AG...

  • Page 142: Motor-Control Combinations With Indradrive Cs

    □ 070D-V300 ■ 070F-V050 ■ 070F-V300 ■ 070M-V050 ■ 070M-V230 ■ optimum combination □ permitted combination permitted combination - maximum force, however, reduced, as the controller is under-dimensioned. Tab. 10-2: Motor-control combination with IndraDrive Cs Bosch Rexroth AG R911330592_Edition 06...

  • Page 143: Motor Dimensioning

    Linear drive dimensioning is determined by the application-dependent char‐ acteristics of velocity and feed force and from the thermal connection. The sequence of dimensioning of linear drives is illustrated by the following figure. Fig. 11-1: General procedure of linear drives dimension R911330592_Edition 06 Bosch Rexroth AG...

  • Page 144: Basic Formulae

    (such as MS Excel or MathCad) can be used for calculating the re‐ quired variables, even with complex motion profiles. The following chapter provides a more detailed correlation for tra‐ pezoidal, triangular or sinusoidal speed curves. Bosch Rexroth AG R911330592_Edition 06...

  • Page 145: Feed Forces

    Axis angel in degrees (0°: horizontal axis; 90°C: vertical axis) Weight compensation in % Total duty cycle time in s Attractive force between primary and secondary part in N µ Friction coefficient Fig. 11-4: Determining feed forces R911330592_Edition 06 Bosch Rexroth AG...
  • Page 146 For this reason, an assumption must first be made and checked again after the motor has been selected. Fig. 11-5: Determining resulting feed forces, dependend from the mode of mo‐ tion and direction. Bosch Rexroth AG R911330592_Edition 06...
  • Page 147 Fig. 11-6: Determining resulting feed forces, dependend from the mode of mo‐ tion and direction. With horizontal axis arrangement, the weight is F = 0. Further di‐ rection-dependend base and process forces must be additionally observed. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 148: Average Velocity

    Average velocity over total cycle duration in m/s Duration velocity segment in s Total duty cycle time, including breaks and/or standstill time, in Fig. 11-8: Determining the mean velocity of triangular or trapezoidal speed pro‐ files Bosch Rexroth AG R911330592_Edition 06...

  • Page 149: Trapezoidal Velocity Profile

    = 0 or v <> 0 ● Final velocity v = 0 or v <> 0 Acceleration, initial velocity v ● Velocity v ≠ constant ● Initial velocity v ● Acceleration a = constant and positive R911330592_Edition 06 Bosch Rexroth AG...
  • Page 150 Constantly accelerated movement, initial velocity v = 0 (for trapezoi‐ dal velocity profile) Acceleration, initial velocity v ● Velocity v ≠ constant ● Initial velocity v ≠ 0 ● Acceleration a = constant and positive Bosch Rexroth AG R911330592_Edition 06...
  • Page 151 Time during constant velocity in s Distance during constant velocity in m Fig. 11-12: Constant velocity (for trapezoidal velocity profile) Brakes, final velocity v ● Velocity v ≠ constant ● Final velocity v ● Acceleration a = constant and negative R911330592_Edition 06 Bosch Rexroth AG...
  • Page 152 Constantly decelerated movement, final velocity v = 0 (for trapezoi‐ dal velocity profile) Brakes, final velocity v ● Velocity v ≠ constant ● Final velocity v ≠ 0 ● Acceleration a = constant and negative Bosch Rexroth AG R911330592_Edition 06...

  • Page 153: Trapezoidal Velocity Profile

    This velocity profile has no phase of constant velocity in contrast to trapezoi‐ dal profiles. The acceleration phase is immediately followed by the decelera‐ tion phase. This process is frequently encountered with short-stroke move‐ ments. Fig. 11-15: Trapezoidal velocity profile. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 154: Sinusoidal Velocity Profile

    (circular movement) or from the oscillating movement of one axis, e.g. during grinding. The specified variables are chiefly the motion travel s or the circle diameter 2r and the period duration T. Fig. 11-17: Insert distance and velocity of an axis at sinusoidal velocity Bosch Rexroth AG R911330592_Edition 06...
  • Page 155 11-17 "Insert distance and velocity of an axis at sinusoidal velocity" on page 146 fig. 11-18 "Calculation formular for distance and velocity of an axis for sinusoidal velocity" on page 147 results in the following calculation base: R911330592_Edition 06 Bosch Rexroth AG...
  • Page 156 Effective force at vertical or inclined axis arrangement in N EFFv Base force, e.g. friction, in N Weight force in N Fig. 11-19: Calculation formula for sinusoidal velocity profile Further direction-dependend base and process forces must be additionally observed. Bosch Rexroth AG R911330592_Edition 06...

  • Page 157: Duty Cycle And Feed Force

    Effective force or continuous force in N Maximum feed force Fig. 11-21: Approximate determination of duty cycle ED Determination of possible relative duty cycle can done with the help of fig. 11-22 "Determining the duty cycle ED" on page 150. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 158: Determining The Drive Power

    Rated power loss of the motor in W (see chapter 4 ”Technical data”) Fig. 11-23: Continuous power of the linear motor When reducing the continuous nominal force, the electric continu‐ ous power is also reduced (seefig. 11-23 "Continuous power of the linear motor" on page 150). Bosch Rexroth AG R911330592_Edition 06...

  • Page 159: Maximum Output

    Maximum force motor in N Maximum force application in N Maximum power loss of the motor in W Vmax Power loss of motor application in W Fig. 11-25: Diagram used for determining the reduced electrical power loss R911330592_Edition 06 Bosch Rexroth AG...

  • Page 160: Power Loss

    Winding resistance of the motor at 20°C in Ohm (see Chapter 4 “Technical data”) Brake retardation (negative acceleration) in m/s² Motor constant in N/A Total cycle duration in s Fig. 11-27: Energy regeneration of linear motor Prerequisites: Velocity-independent friction Bosch Rexroth AG R911330592_Edition 06...

  • Page 161: Efficiency

    11-28 "Efficiency determination for linear motors" on page 153. η Efficiency Mechanical power in W mech Power loss in W Feed force in N Velocity in m/s Fig. 11-28: Efficiency determination for linear motors R911330592_Edition 06 Bosch Rexroth AG...
  • Page 162 154/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 163: Handling, Transport And Storage

    During manufacturing, the following electrical tests are performed at linear motors of Bosch Rexroth: ● High voltage test according to DIN EN 60034-1 ● Insulation resistance testing according to DIN EN 60204-1 ● Testing for compliance with electrical characteristics R911330592_Edition 06 Bosch Rexroth AG...

  • Page 164: Transport And Storage

    156/197 MCL Ironless Linear Motors Handling, transport and storage Mechanical testing Linear motor components of Bosch Rexroth are subject to the following me‐ chanical testing: ● Shape and position tolerance according to DIN ISO 1101 ● Construction and fitting according to DIN 7157 ●...

  • Page 165: Information On Storage

    MCL Ironless Linear Motors 157/197 Handling, transport and storage Bosch Rexroth reserves the right to adjust these values at any time based on future experiences or changed environmental factors. Deviating from DIN EN 60721-3-2 permissible ambient conditions Environmental factor Unit...
  • Page 166 If the cable or the cable jacket has porous parts, replace it; > 5 years otherwise check the electric contacts to verify that they are free from corrosion Tab. 12-6: Measures before commissioning of cables and connectors that have been stored over longer periods of time Bosch Rexroth AG R911330592_Edition 06...

  • Page 167: Assembly

    ① Secondary part MCS ... ② Primary part MCP ③ Measurement system ④ Machine slide ⑤ Guidances / profile rails Fig. 13-1: Arrangement of motor components within ready-to-mount compact module CKL of Rexroth R911330592_Edition 06 Bosch Rexroth AG...

  • Page 168: Installation Of Motor Components

    MCL020 ... 070" on page 47were adhered to, the correct arrangement of both motor components to each other results. ① Secondary part ② Primary part Fig. 13-2: Aligning the motor components Bosch Rexroth AG R911330592_Edition 06...

  • Page 169: Fastening Secondary Part

    The screw-on surfaces and stop faces must be cleaned and be free of grease before the secondary parts can be screwed on the machine construction. For suitable screw selection and its tightening torques refer to the following table. R911330592_Edition 06 Bosch Rexroth AG...
  • Page 170 Loctite 243. Bosch Rexroth AG R911330592_Edition 06...

  • Page 171: Fastening The Primary Part

    2. Fasten the primary part with screws 1, 2, 3...n until the primary part lies on the slide. Fasten screws - from inside to outside - 1, 2, 3 ... x with nominal tighten‐ ing torque: R911330592_Edition 06 Bosch Rexroth AG...
  • Page 172 Use all fastening points to fasten the primary part. ● The effect of liquid screw lock Loctite 243 is damaged by loosening or re-tightening of screws (e.g. due to torque tests) and must be renewed. Bosch Rexroth AG R911330592_Edition 06...

  • Page 173: Electrical Connection

    ● The connection diagrams of the product documentation serve to create system circuit diagrams. Only the machine manufacturer's system wiring diagrams are relevant for the connection of the drive components in the machine. R911330592_Edition 06 Bosch Rexroth AG...
  • Page 174 166/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 175: Commissioning, Operation And Maintenance

    Availability and provision of required tools ● Adherence to the commissioning procedure described below 14.2.2 Checking all electrical and mechanical components Check all electrical and mechanical components prior to commissioning and pay particular attention to the following issues: R911330592_Edition 06 Bosch Rexroth AG...

  • Page 176: Tools

    14.3 General commissioning procedure The general commissioning sequence for MCL ironless synchronous linear motors is explained in the following diagram. The individual items are ex‐ plained in more detail in the chapters following thereafter. Bosch Rexroth AG R911330592_Edition 06...
  • Page 177 MCL Ironless Linear Motors 169/197 Commissioning, operation and maintenance Fig. 14-1: General commissioning procedure for synchronous linear drives R911330592_Edition 06 Bosch Rexroth AG...

  • Page 178: Parameterization

    A smaller controller can be used, if the maximum possible contin‐ uous nominal force or the maximum possible peak force of the motor is not required. In this case, re-adjust the configured cur‐ rents to the selected controller. Therefor, use Rexroth IndraSize (see Chapter 4.2 Bosch Rexroth AG R911330592_Edition 06...

  • Page 179: Entering Length Measuring System Parameter

    Linear scale for linear motors generate and interpret sinusoid signals. The sine signal period has to be entered in parameter S-0-0116, Resolution of feedback 1. Please also observe the information provided by the measuring system man‐ ufacturer for resolution of encoder signals. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 180: Entering Drive Limitations And Application-Related Parameters

    Application-related drive parameters include, for example, parameterization of the drive fault reaction. Detailed descriptions can be found in the firmware or parameter description of the drive controller used. See also chapter 14.4.4 "Entering length measuring system parameter" on page 171. Bosch Rexroth AG R911330592_Edition 06...

  • Page 181: Determining The Polarity Of The Linear Scale

    ① Force direction ② Counting direction ③ Length measuring system Fig. 14-3: Effective direction of the motor force = Counting direction of the length measuring system R911330592_Edition 06 Bosch Rexroth AG...

  • Page 182: Commutation Adjustment

    Adjustment procedure Different commutation adjustment procedures have been implemented in the firmware. The following figure shows the connection between the length measuring system used and the procedure to be applied. Bosch Rexroth AG R911330592_Edition 06...
  • Page 183 Take care when carrying out the commutation adjustment. For commutation, observe the detailed information in the documentation under chapter 14.4.4 "Entering length measuring system parameter" on page 171. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 184: Sinusoidal Procedure

    The parameter is used to enter the motor depending constants. It is not the actually commutation offset. This is displayed with‐ in parameter P-0-0521 “Effective commutation offset” after au‐ tomatic calculation. Tab. 14-4: Parameters to be checked before commutation adjustment Bosch Rexroth AG R911330592_Edition 06...

  • Page 185: Measuring Procedure: Measuring Of The Relation Between Primary And Secondary Part

    For commutation setting, this procedure requires determination of the relative position of the primary part in relation to the secondary part. This procedure has the advantage that commutation adjustment does not require any power R911330592_Edition 06 Bosch Rexroth AG...
  • Page 186 Motor constant k for commuta‐ tion adjustment in mm Primary part MCP020 24.1 MCP030 / 040 / 070 49.6 Tab. 14-6: Motor constant k for commutation adjustment Bosch Rexroth AG R911330592_Edition 06...

  • Page 187: Setting And Optimizing The Control Loop

    Defining the control loop settings requires the corresponding ex‐ pertise. The procedure for control loop optimization (current, velocity and position controller) at linear direct drives corresponds to the procedure for rotary servo drives. Only the setting limits of linear drives are higher. R911330592_Edition 06 Bosch Rexroth AG...
  • Page 188 This behavior, known as "Two-mass vibrational sys‐ tem", is mainly in the frequency range from 400 to 800 Hz. It depends on the rigidity of the mechanical system and the spatial expansion of the system. Bosch Rexroth AG R911330592_Edition 06...
  • Page 189 –3 dB. A high‐ er bandwidth leads to less attenuation of the rejection frequency! Fig. 14-8: Amplitude response of the rejection filter in relation to the bandwidth, qualitative R911330592_Edition 06 Bosch Rexroth AG...

  • Page 190: Parameter Value Assignments And Optimization Of Gantry Axes

    Polarity parameter for force, velocity and position ● Control loop parameter We have: Position controller kv factor S-0-0104 Velocity loop proportional gain S-0-0100 Fig. 14-10: Proportional gain in position and velocity control loop of both axes Bosch Rexroth AG R911330592_Edition 06...

  • Page 191: Estimating The Moved Mass Using A Velocity Ramp

    Precondition for positioning is oscillographical representation of the following parameters: ● S-0-0040, Velocity actual value ● S-0-0080, Torque/force command value For this purpose, an oscilloscope or the oscilloscope function of the drive can be used in combination with IndraWorks or NC. R911330592_Edition 06 Bosch Rexroth AG...
  • Page 192 3. Recording of Δv and Δt at constant acceleration 4. Measuring with a motor force between F and F The procedure is not suitable or suitable only to a limited extend for vertical axes due to potential direction-depending force changes. Bosch Rexroth AG R911330592_Edition 06...

  • Page 193: Maintenance And Checking Of Motor Components

    1 MΩ (MegaOhm). If this value is fallen below, re‐ placement of the primary part is recommended. If necessary, please contact the Bosch Rexroth customer service for inspection of the electrical system. R911330592_Edition 06 Bosch Rexroth AG...

  • Page 194: Operation With Third-Party Controllers

    Deliver the products "free domicile" to the following address: Bosch Rexroth AG Electric Drives and Controls Buergermeister-Dr.-Nebel-Straße 2 97816 Lohr am Main, Germany Packaging Packaging materials consist of cardboard, wood and polystyrene They can be recycled anywhere without any problem. Bosch Rexroth AG R911330592_Edition 06...
  • Page 195 Plastic parts of the products may contain flame retardants. These plastic parts are labeled according to EN ISO 1043. They have to be recycled sepa‐ rately or disposed of according to the applicable legal provisions. R911330592_Edition 06 Bosch Rexroth AG...
  • Page 196 188/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 197: Service And Support

    Detailed description of malfunction and circumstances ● Type plate specifications of the affected products, in particular type co‐ des and serial numbers ● Your contact data (phone and fax number as well as your e-mail ad‐ dress) R911330592_Edition 06 Bosch Rexroth AG...
  • Page 198 190/197 MCL Ironless Linear Motors Bosch Rexroth AG R911330592_Edition 06...

  • Page 199: Index

    MCL Ironless Linear Motors 191/197 Index Index Drive limitations..........172 Length measuring system parameter..171 Acceleration............4 Motor parameters......... 170 Acceleration capability........110 Procedure............ 168 Acceleration force..........110 Requirements..........167 Accessories............77 Tools............168 Accumulators............ 187 Commutation............77 Active height............99 Commutation adjustment......
  • Page 200 192/197 MCL Ironless Linear Motors Index Deactivation............125 Forces Deceleration force..........110 Reactive forces..........110 Degree of protection........... 27 Foreign bodies............ 97 Delivery status..........155 Frame length............99 Detent force............3 Frame lengths............. 62 Dimension sheets..........45 Frame shape............62 Dimensional sheets Frame size..........
  • Page 201 MCL Ironless Linear Motors 193/197 Index Frame size MCL015........46 Motor coupling..........110 Frame size MCL020 ... 070......47 Motor damage........... 112 Installation modes........129, 131 Motor design Installation mode A........131 Primary part........... 97 Installation mode B........131 Secondary part..........98 Installation mode C........
  • Page 202 194/197 MCL Ironless Linear Motors Index Position information..........77 Shutdown temperature........27 Position resolution........128, 129 Significant components........186 Power Skilled personnel..........159 Continuous power........150 Spare parts............61 Maximum output.......... 151 Specifications............45 Power loss........... 152 Speed..............22 Power cable............85 Standards..............
  • Page 203 MCL Ironless Linear Motors 195/197 Index Vertical axis............119 Vibrations............110 Voltage constant..........25 Warning notes........... 155 Warning temperature.......... 27 Weight compensation........119 Winding............... 62 Winding inductivity..........25 Winding protection..........90 Winding resistance..........25 Winding temperature......... 105, 107 Wire designation..........84 Wire end ferrules..........
  • Page 204 196/197 MCL Ironless Linear Motors Notes...
  • Page 205 MCL Ironless Linear Motors 197/197 Notes...
  • Page 206 Bosch Rexroth AG P.O. Box 13 57 97803 Lohr a.Main, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr a.Main, Germany Phone +49 9352 18 0 Fax +49 9352 18 8400 www.boschrexroth.com/electrics *R911330592* R911330592 DOK-MOTOR*-MCL********-PR06-EN-P...

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