ckr compact modules with ball rail ... - bosch … compact modules with ball rail guides and toothed...
TRANSCRIPT
The Drive and Control Company
CKR Compact Moduleswith Ball Rail Guides andToothed Belt Drive
2 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
Rexroth Linear Motion Technology
Ball Rail Systems Standard Ball Rail SystemsSuper Ball Rail SystemsBall Rail Systems with Aluminum Runner BlocksHigh Speed Ball Rail SystemsCorrosion Resistant Ball Rail SystemsWide Ball Rail Systems
Ball Rail Systems with Integrated Measuring SystemBraking and Clamping Units for Ball Rail SystemsGear Racks for Ball Rail SystemsMiniature Ball Rail SystemseLINE Ball Rail SystemsCam Roller Guides
Roller Rail Systems Standard Roller Rail SystemsWide Roller Rail SystemsHeavy Duty Roller Rail SystemsRoller Rail Systems with Integrated Measuring SystemBraking and Clamping Units for Roller Rail SystemsGear Racks for Roller Rail Systems
Linear Bushings and Shafts Linear Bushings, Linear SetsShafts, Shaft Support Rails, Shaft Support Blocks
Ball Transfer UnitsTraditional Engineering Components
Screw Drives
Linear Motion Systems Linear Motion Slides – Ball Screw Drive– Toothed Belt Drive
Linear Modules – Ball Screw Drive– Toothed Belt Drive– Rack and Pinion Drive– Pneumatic Drive– Linear Motor
Compact Modules – Ball Screw Drive– Toothed Belt Drive
Multi-Axis Motion Systems CMS
Precision Modules – Ball Screw Drive
Ball Rail Tables – Ball Screw Drive– Linear Motor
Controllers, Motors, Electrical Accessories
Linear Actuators
3Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
ContentsA Single Solution for Many ApplicationsA Single Solution for Many ApplicationsA Single Solution for Many ApplicationsA Single Solution for Many ApplicationsA Single Solution for Many Applications 4 4 4 4 4
Product Overview (General) 6
Product Overview—Motors and Controls 8
Model Overview with Load Capacities 10
Construction 12
Technical Data—Load Capacities and Moments 14
Technical Data—Drive Data 16
Technical Data—Calculations 17
CKR 12-90 Components and Performance Data 18
CKR 12-90 Dimensional Drawings 20
CKR 15-110 Components and Performance Data 22
CKR 15-110 Dimensional Drawings 24
CKR 20-145 Components and Performance Data 26
CKR 20-145 Dimensional Drawings 28
CKR 25-200 Components 30
CKR 25-200 Performance Data 32
CKR 25-200 Dimensional Drawings 34
Switch Mounting 36
Servo Motors 40
Lubrication Connections 42
Mounting 44
Connection Elements 48
Documentation 52
Ordering Examples 54
Inquiry/Order Form 55
4 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
– Driving
– Transporting
– Positioning
The Applications
Height
Length
Load Capacities and Moments
Static Loading
Speed
Complete SystemsIncluding Drive Unit
Switch Mounting
Accessories
Documentation
A Single Solution for Many Applications
5Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
Rexroth
CKR Compact
Modules
The Solution
40mm to 100mm
up to 10,000mm
Load Capacity C up to 89,340 NMoments ML up to 7,810 NmMoments Mt up to 4,460 Nm
up to 200 kg
up to 5 m/s
ServoMotor Type MKD or MSM with Gear Reducer,Complete with Drive and Control
Switching without Switch Camsalong the Entire Travel Range
Clamping Fixtures, ConnectionPlates, Connection Elements
Frictional Load MeasurementsPositioning Accuracy
6 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
Additional SpecialCharacteristics– Identical outer dimensions,
matching accessories andadd-on components to TypeCKK Compact Modules
– Optimal movement, high loadcapacity, and high rigiditythrough two integrated,pre-loaded ball rail guides
– High travel speed, with highprecision and low noise, overlengths up to 10,000mm
– Side-mounted aluminim profilesguide the toothed belt and sealout contaminants
– Adjustable switches over theentire travel range; switchactivation without switch cam(with switch cam for typeCKR 25-200)
Product Overview
Compact Modules are precision,ready-to-install linear systemsoffering high performance within acompact envelope combined withan economical price-to-performance ratio and fast delivery
Construction– Extremely compact precision
aluminum profile (main basestructure) with two integratedball rail guides for optimalmovement of heavy loads athigh speeds
– Ready-to-install CompactModules in selectable lengthsup to Lmax
– Aluminum carriage available intwo lengths, depending onapplication load
– Driven by a pre-tensionedsteel-cord reinforcedpolyurethane toothed belt
Optional Components– Maintenance-free digital servo
drive with integrated brake andpre-installed feedback
– Type LP gear reducer– HALL REED sensors– Socket with terminals for
connecting switches– Aluminum profile cable duct for
easy mounting of switches
Economical maintenance of theball rail guides through centralizedlubrication (grease) system.Access ports are on top of thecarriage and either side of theextrusion
7Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
Pilot bore and tapped mountingholes on drive end for simple motormounting
Precision alignment and securemounting of attachments thanks tothreaded bores and dowel pin holesin the carriage
Gear Reducer:A variety of gear ratios allows anoptimal match between the load andthe motor inertia:i = 3i = 5i = 10
Idler (non-driven) end with integralbelt tensioning system. Pulley ballbearings are lubricated for life
8 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
MKD 25B-144 KG1MKD 41B-144 KG1MKD 71B-061 KG1MKD 90B-047 KG1
MSM 030 CMSM 040 B
Motor SelectionBased on the drive and controlsystem
To provide a cost-effective solution forevery customer application, severalmotor/drive combinations are offered.When calculating the size of themodule, always take the combinationof the motor and drive unit intoconsideration.
Product Overview: Motors and Controls
Digital Servo MotorType MSM
Digital Servo MotorType MKD
9Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
DKC
DKC
Digital DriveECODRIVE
Cost-effective solution forsingle- and multi-axis systems
Digital DriveECODRIVE CsCompact, dynamic solutionfor the lower end of theperformance range.
Compact Modules are availablecomplete with motor, drive,and control.
10 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
C K R
A
ca. (mm)
20 - 145
CKR
Type Size
Compact Module (Example) =
Type Designation (size)
Compact modules are identified bydesignating the Type and the Size.
Respective structures without drivealso comply with the type and sizedesignation.
Rexroth –CompactModules
System = C = Compact Module
Guide = K = Ball Rail Guide
Drive = R = Toothed Belt Drive
GuidewayDimensions =
Aluminum ProfileDimensions =
Type Overview with Load Capacities
Ball Rail Guide Toothed Belt Drive
Type Guide Drive Compact Module
11Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
H
A
C
C C L
C
CKR 20-145 145 x 65 34,800 56,530
CKR 12-90 90 x 40 4,620 7,500
CKR 15-110 110 x 50 14,560 23,650
CKR 25-200 200 x 100 55,000 89,340
Overview of Compact Moduleswith permissible loads
In consideration of the desiredoperating life, general loads up to 20%of the dynamic values (C, Mt, ML ) havebeen shown as acceptable.
Acceptable Loads(Recommended values basedon experience and testing)
In this respect, do NOT exceed:– The maximum permissible load,– The permissible drive torque,– The permissible speed.
Compact Module
short carriage long carriage
Dimension A x H (mm) Dynamic Load Capacity C (N)
12 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
9
10
8
6
7
34
2
1
5Construction of the CKR
1 Toothed Belt2 Drive End Assembly3 Carrige Versions
– Short carriage version with tworunner blocks
– Long carriage version with fourrunner blocks
4 Main Body5 Tensioning End Assembly
Additional Components:6 Switch7 Cable Duct8 Socket Plug
9 Motor10 Type LP Gear Reducer
Construction
13Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
5
4
3
2
1
Construction of the Type LPGear Reducer
For all Compact Modules, a planetarygearbox can be installed via a flange.The flange serves as a mounting pointfor the gearbox to the Compact Moduleand as an enclosed housing for theconnection. This direct connectioneliminates the need for a coupling,minimizing torsional deflection.
Different gear ratios are available:i = 3 (for CKR 20-145 and
25-200 only)i = 5i = 10
1 Servomotor2 Gear Reducer3 Flange4 Drive End Assembly5 Compact Module
14 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
Fy1 Fy2 Fx Mt ML
(N) (N) (N) (Nm) (Nm)102 4,620 4,120 1,195 110 16156 7,500 6,700 2,170 180 210170 11,200 5,600 3,240 180 40215 18,190 9,090 5,270 300 380180 26,760 13,380 7,760 580 130240 43,470 21,730 12,600 950 1,080265 42,300 21,150 12,260 1,370 180405 68,710 34,350 19,920 2,230 3,000
CKR 12-90
CKR 15-110
CKR 20-145
CKR 25-200
CKR 12-90
CKR 15-110
CKR 20-145
CKR 25-200
C Mt ML Ix Iy mB Lmax cspec
(N) (Nm) (Nm) (cm4) (cm4) (kg) (mm) (N/mm · m)
102 AT 3 4,620 110 16 12.8 115.3 0.32 3,000 350156 AT 3 7,500 360 240 12.8 115.3 0.55 3,000 350170 AT 5 14,560 370 80 32.7 282.9 0.52 4,500 875215 AT 5 23,650 600 1,000 32.7 282.9 0.87 4,500 875180 AT 5 34,800 1,170 260 87.5 903.9 0.99 5,500 1,225240 AT 5 56,530 1,910 2,820 87.5 903.9 1.67 5,500 1,225265 AT 10 55,000 2,750 360 465.6 3316.6 2.40 10,000 4,000405 AT 10 89,340 4,460 7,810 465.6 3316.6 4.24 10,000 4,000
CKR 12-90
CKR 15-110
CKR 20-145
CKR 25-200
0.0044 · L + 0.770.0044 · L + 0.960.0043 · L + 0.960.0043 · L + 1.150.0074 · L + 1.550.0074 · L + 1.790.0073 · L + 1.840.0073 · L + 2.080.0122 · L + 2.840.0122 · L + 3.530.0122 · L + 3.470.0122 · L + 4.160.0233 · L + 8.990.0233 · L + 10.230.0231 · L + 10.830.0231 · L + 12.07
102
156
170
215
180
240
265
405
(kg)–
1.00 (LP050)–
1.00 (LP050)–
1.02 (LP050)–
1.02 (LP050)–
2.29 (LP070)–
2.29 (LP070)–
4.37 (LP090) / 11.36 (LP120)–
4.37 (LP090) / 11.36 (LP120)
y
y
xx
Maximum Permissible MomentsMaximum Permissible ForcesCarriageLength
Technical Data
CarriageLength
BeltType
DynamicLoad
Capacity ofGuideway
DynamicMoments
Planar Momentof Inertia
CarriageMass
MaximumLength
SpecificBelt Stretch
Load Capacities and Moments
E = 70,000 N/mm2Modulus of Elasticity E
Mass calculation without motor and switches.Mass formula: Mass (kg/mm) · Length L (mm) + Mass of all fixed length parts
(carriage, drive end, idler end, etc.) (kg) + (additional mass) (kg)
Mass
Maximum Permissible Loads
CompactModule
CarriageLength
Drive Type
without drivedrive i = 1without drivedrive i = 1without drivedrive i = 1without drivedrive i = 1without drivedrive i = 1without drivedrive i = 1without drivedrive i = 1without drivedrive i = 1
Mass AdditionalMass of Gear
Reducer(kg)
CompactModule
CompactModule
∆L = (F · L)/cspecStretching of Toothed Belt
LT(mm)
LT(mm)
LT(mm)
15Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
Mt
Fy1 Fy2
Fx Fx
C
CC
ML
ML
ML
Note for Dynamic Load Capacitiesand Moments (see table)
The determination of the dynamic loadcapacities and moments is based on100,000 m of travel.
However, in many cases, only 50,000is assumed.For this, the following comparisonapplies:Values C, Mt and ML from the tableshould be multiplied by 1.26.
Compact Module with long carriage
Compact Module with short carriage
16 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
1 8.0 90.05 1.6 18.0
10 0.8 9.01 13.5 120.05 2.3 24.0
10 1.0 12.01 32.5 165.03 9.6 55.05 6.4 33.0
10 2.9 16.51 112.7 250.0
1 with keyway 99.8 250.03 24.0 83.35 16.0 50.0
10 7.2 25.03 37.6 83.35 22.5 50.0
10 11.2 25.0
CKR 12-90
CKR 15-110
CKR 20-145
CKR 25-200
Technical Data
Drive Data
Compact Module Drive Type GearReducer
Ratio
Max. DriveTorque
LeadConstant
BeltType
Width ToothPitch
Max. BeltDrive
TransmissionForce
BeltElasticity
Limiti Ma u b T Fzul
(Nm) (mm/U) (mm) (mm) (N) (N)i = 1
Gear ReducerLP050i = 1
Gear ReducerLP050i = 1
Gear ReducerLP070
i = 1
Gear ReducerLP090
Gear ReducerLP120
AT 3 35 3 560 1,600
AT 5 50 5 705 3,500
AT 5 70 5 1,235 4,800
AT 10 100 10 2,830 17,000
17Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
L10 = · 105 CFm
( )3
MR = MRS
CKR 12-90
CKR 15-110
CKR 20-145
CKR 25-200
5, 10 0.58 0.05
5, 10 1.42 0.05
3, 5, 10 2.04 0.14
3, 5, 10 3.60 0.38
3, 5, 10 3.60 0.80
MKD25B-144MSM030C
MKD25B-144MSM030C
MKD41B-144MSM040B
MKD71B-061
MKD90B-047
L10h = L10
3600 · vm
MR = + MRLPMRS
i
Technical Data - Calculations
Nominal Life Expectancy in Meters:
Nominal Life Expectancy in Hours:
L10 = Nominal Life Expectancyin Meters (m)
L10h
= Nominal Life Expectancyin Hours (h)
C = Dynamic Load Capacity (N)Fm = Mean Equivalent of
Dynamic Load Capacity (N)v
m= Mean Speed (m/s)
MR = Frictional Torque atMotor Shaft (Nm)
MRS = Frictional Torqueof System (see tablebelow) (Nm)
MRLP = Frictional Torque ofGear Reducer (see tablebelow) (Nm)
i = Gear Ratio
Frictional Torque
With motor mounting via gearreducer:
Formulas
Nominal Life Expectancy
With motor mounting via flangeand coupling:
Frictional Torque
Compact Module Motor Gear ReducerType
i MRS
(Nm)MRLP
(Nm)Gear Reducer
LP050Gear Reducer
LP050Gear Reducer
LP070Gear Reducer
LP090Gear Reducer
LP120
Mass Moment of InertiaFor Handling:
6 · JM > Jfr
For Machining:
1.5 · JM > Jfr
Jfr = Mass Moment of Inertia ofAdditional Load (kgm2)
JM = Mass Moment of Inertia ofMotor (kgm2)
18 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
i = 5 i = 102 4 6 8 10 2 4 6 8 10
51 63 76 88 101 79 85 92 98 10567 76 91 106 121 47 51 55 59 63
47.0 37.8 31.7 27.2 23.9 15.2 14.1 13.1 12.2 11.52.4 1.20.1 0.1
i = 5 i = 102 4 6 8 10 2 4 6 8 10
18 19 23 28 33 19 21 24 26 298 8 10 13 15 4 5 5 6 6
50.0 48.2 38.6 32.2 27.6 23.9 21.1 19.0 17.2 15.70.9 0.450.1 0.1
MG01
MG02
MG03
MG04
OA01
MA01
MA02
MA03
MG01
MG02
MG03
MG04
(03.34.00)
(03.34.10)
(03.34.10)
(03.34.12)
(03.34.20)
(03.34.20)
01 03
04
50
10
11
01 02
01 02
i = 1 i = 1
01
i = 5, 10
Shaftfor Motor
WithoutKeyway
WithKeyway
GearReducer
none
right
both sidesFo
r G
ear
Red
ucer
s
1 S
haft
2 S
hafts
Without Drive
For Gear Reducers
With Drive (i = 1)
Type(and Dim. Drawing)
Guideway Drive Carriage
Leng
th L
102
mm
Leng
th L
156
mm
Gear Reducer Performance DataPerformance values for horizontal operation with Servo Motor MKD 25B-144 and Drive DKC **.*-040Connection voltage: 3 x 400 V
Performance values for horizontal operation with Servo Motor MSM 030C and Drive DKC **.*-012Connection voltage: 1 x 230 V
left
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
CKR 12-90 Components and Performance Data
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Part Number, Length
R0364 300 00, .... mm
01
02
T T
19Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
00
21
22
23
25
17
11 12
31 32
11 12
31 32
00
50
72
72
50
73
73
3)
2)
3)
MKD 25 B
MSM 030 C
MKD 25 B
MSM 030 C
02
05
i = 5 i = 10
2)
Without SwitchWithout Cable Duct
REED Sensor
HALL SensorPNP-NC
HALL SensorPNP-NO
Cable Duct
Socket/Plug
Motor Attachment1)
Gear ReducerMotor
Motor Type
The tables contain performancedata examples for gear reducer/motor/drive combinations. They are intendedto serve as a guide for selection only;exact values must be calculated on anindividual basis.Please make sure that the selectedcombination is allowed (loadcapacities, moments, maximum RPMs,motor data, etc.)
Sta
ndar
dR
epor
t
Mea
sure
men
tR
epor
t
FrictionalTorque
PositioningAccuracy
1) Motor Attachment also available without motor (enter "00" for motor on order form)2) Version without Brake3) Version with Brake
1st., 2nd + 3rd SwitchCable Duct
Socket/Plug
Documentation
Drive Data without Motor (i = 1)28.65 mm90 mmup to 3 m/sAT 3, width 35 mm, steel-reinforced(0.71 + 0.00032 · L) · 10-4 kgm2
(1.08 + 0.00032 · L) · 10-4 kgm2
Drive Pulley DiameterLead ConstantSpeedBelt TypeMoment of Inertia (short carriage)Moment of Inertia (long carriage)
00
21
22
23
25
17
01
00
20 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
90
49.5
40
3P9
252 h=3
Ø10h6
31.5
90
59
3P9
252 h=3
3P9
252h=3
Ø10h6
Ø10h6
31.5
31.5
90
59
Ø34H7
1.8 deep
19.5 28
31.5
Ø10h
20
59
40
28 L
L / 2
13.5 13.5 13.5 13.538
156
49.5
03.34.1203.34.00 03.34.10
All dimensions in mmDrawings not to scale
excess travel excess travel
156 (long carriage)102 (short carriage)
M4 - 8 deep(4x)
M4 - 8 deep(8x)
Ø 4H7 - 8 deep(4x)
Lubrication point forgrease, sealed withM4 set-screw
Long Carriage
Central lubrication point forgrease (both sides)
max. travel2
effective stroke2
max. travel2
effective stroke2
Version MA03Version OA01 Versions MA01 and MA02
CKR 12-90 Dimensional Drawings
21Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
236
(MK
D 2
5B)
54 (MKD 25B)
171.
5 (M
SM
030
C)1
)
138.
5 (M
SM
030
C)2
)63
3890
60 (MSM 030C)
Ø10h6
31.5
A
B
20
7.6
39 40
A
1.8
3.2
B
5.2
4.2
4.8
27
90
13.5 13.5
102
3.2
1.3
4
2
03.34.20
Ø4H7 - 8 deep(2x)
M4 - 8 deep(4x)
Short Carriage
Lubrication point forgrease, sealed withM4 set-screw
Versions MG01, MG02, MG03 and MG04Motors MKD 25B and MSM 030C
To calculate the length of the CompactModule:
L = (stroke + 2 · excess travel) + LT + 25 mm
For an example of length calculation, see ordering example.
1) with brake2) without brake
22 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
i = 5 i = 102 4 6 8 10 3 6 9 12 15 18 21
64 72 88 105 121 80 95 109 123 138 152 166102 115 141 167 193 64 76 87 99 110 122 13350.0 44.5 36.3 30.6 26.5 19.9 16.9 14.7 13.0 11.6 10.5 9.6
3.2 1.60.1 0.1
i = 5 i = 103 5 7 9 3 6 9 12 15 18 21
24 26 32 38 21 27 32 37 43 48 5414 16 19 23 6 8 10 11 13 14 16
50.0 45.7 37.1 31.2 28.1 22.5 18.7 16.0 14.0 12.5 11.21.2 0.60.1 0.1
i = 1 i = 1
OA01
MA01
MA02
MA03
MG01
MG02
MG03
MG04
(03.44.00)
(03.44.10)
(03.44.10)
(03.44.12)
(03.44.20)
(03.44.20)
01
01
02
03
04
50
10
11
01 02
01 02
MG01
MG02
MG03
MG04
i = 5, 10
CKR 15-110 Components and Performance Data
Performance values for horizontal operation with Servo Motor MSM 030C and Drive DKC **.*-012Connection Voltage: 1 x 230 V
Gear Reducer Performance DataPerformance values for horizontal operation with Servo Motor MKD 25B-144 and Drive DKC **.*-040Connection Voltage: 3 x 400 V
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Shaftfor
Motor
WithoutKeyway
WithKeyway
GearReducer
none
right
both sides
For
Gea
r R
educ
er
1 S
haft
2 S
hafts
Without Drive
For Gear Reducer
With Drive (i = 1)
Part Number, Length
R0364-400-00, .... mm
Type(and Dim. Drawing)
Guideway Drive Carriage
Leng
th L
170
mm
left
01
T
Leng
th L
215
mm
T
23Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
i = 5 i = 10
11 12
31 32
11 12
31 32
00
00
01
02
05
MKD 25 B
MSM 030 C
MKD 25 B
MSM 030 C
00
21
22
23
25
17
50
72
72
50
73
73
3)
2)
3)
2)
Without SwitchWithout Cable Duct
REED Sensor
HALL SensorPNP NC
HALL SensorPNP NO
Cable Duct
Socket/Plug
Motor Attachment 1)
Gear ReducerMotor
Motor Type
Sta
ndar
dR
epor
t
Mea
sure
men
tR
epor
t
FrictionalTorque
PositioningAccuracy
1st, 2nd + 3rd SwitchCable DuctSocket/Plug
Documentation
Drive Data without Motor (i = 1)
1) Motor Attachment also available without motor (enter "00" for motor on order form)2) Version without Brake3) Version with Brake
Drive Pulley DiameterLead ConstantSpeedBelt TypeMoment of Inertia (short carriage)Moment of Inertia (long carriage)
38,20 mm120 mmup to 5 m/sAT 5, Width 50 mm, steel-reinforced(2.91 + 0.00136 · L) · 10-4 kgm2
(3.80 + 0.00136 · L) · 10-4 kgm2
The tables contain performancedata examples for gear reducer/motor/drive combinations. They are intendedto serve as a guide for selection only;exact values must be calculated on anindividual basis. Please make sure thatthe selected combination is allowed(load capacities, moments, maximumRPMs, motor data, etc.)
24 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
03.44.1203.44.00 03.44.10
4911
0
60.5
252
31.5
110
66
5P9
h=3
Ø14h6
66
5P9
Ø14h6
h=3
5P9
h=3
Ø14h6
252
252
31.5
31.5
110
M5 - 10 deep(4x)
CKR 15-110 Dimensional Drawings24
.5 3531
.5
34
Ø42H7
2 deep
45
33
66
L / 2
25 25 2535 25
215
Ø14h6
60.5
L
All dimensions in mmDrawings not to scale
excess travel excess travel
215 (long carriage)170 (short carriage)
M5 - 10 deep(8x)
Ø 6H7 - 6.5 deep(4x)
Lubrication point forgrease, sealed withM6 set-screw
Long Carriage
Central lubrication nipplefor grease (both sides)
effective stroke2
max. travel2
max. travel2
effective stroke2
Version MA03Version OA01 Versions MA01 and MA02
25Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
A
B
46
110
25 25
41.5
170
3.2
1.3
2.5
4.8
A B
34
50499.5
4.8
1.8
3.2
8.2
5.2
03.44.20
31.5
Ø14h6
236
(MK
D 2
5B)
54 (MKD 25B)
171.
5 (M
SM
030
C)1
)
138.
5 (M
SM
030
C)2
)63
29.5
110
60 (MSM 030C)
Versions MG01, MG02, MG03 and MG04Motors MKD 25B and MSM 030C
Short CarriageLubrication point forgrease, sealed withM6 set-screw
Ø 6H7 - 6.5 deep(2x)
M5 - 10 deep(4x)
To calculate the length of the CompactModule:
L = (stroke + 2 · excess travel) + LT + 25 mm
For an example of length calculation, see orderingexample.
1) with brake2) without brake
26 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
i = 33 6 9 3 6 9 3 6 9
20 20 20 60 60 60 100 100 10010 10 10 90 90 90 250 250 250
50.0 50.0 50.0 50.0 50.0 50.0 50.0 50.0 50.01.0 3.0 5.0
0.1
i = 56 9 12 15 18 21 24 27 30
66 76 88 99 110 122 133 145 156109 126 145 163 182 201 220 239 25750.0 43.3 37.7 33.3 29.9 27.1 24.8 22.8 21.1
3.300.1
i = 103 6 9 12 15 18 21 24 27 30
83 89 96 102 109 116 122 129 136 14268 74 79 85 90 95 101 106 112 117
20.0 18.5 17.2 16.1 15.1 14.3 13.5 12.8 12.2 11.61.650.1
i = 1 i = 1
OA01
MA01
MA02
MA03
MG01
MG02
MG03
MG04
(03.54.00)
(03.54.10)
(03.54.10)
(03.54.12)
(03.54.20)
(03.54.20)
01 01
02
03
04
50
10
11
01 02
MG02
MG03
MG04
01 02
i = 3,5,10
CKR 20-145 Components and Performance Data
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Shaftfor
Motor
WithoutKeyway
WithKeyway
GearReducer
none
right
both sides
For
Gea
r R
educ
er
1 S
haft
2 S
hafts
Without Drive
For Gear Reducer
With Drive (i = 1)
Type(and Dim. Drawing)
Guideway Drive Carriage
Leng
th L
180
mm
Leng
th L
240
mm
left
Gear Reducer Performance Data: Performance values for horizontal operation with Servo Motor MKD 41B-144 and DriveDKC **.*-040 Connection Voltage: 3 x 400 V
Part Number, Length
R0364-500-00, .... mm
MG01
01
T T
27Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
i = 56 9 12 15 18 6 9 12 15 18
16 16 18 20 23 33 33 36 42 486 6 7 8 9 27 27 30 35 39
50.0 50.0 45.6 39.4 34.7 50.0 50.0 45.6 39.4 34.70.80 1.65
0.1
i = 103 6 9 12 15 18 21 24 27 30
23 27 30 33 37 40 43 47 50 5310 11 12 14 15 17 18 19 21 22
35.1 30.8 27.4 24.7 22.5 20.6 19.0 17.7 16.5 15.50.80.1
52.52 mm165 mmto 5 m/sAT 5, width 70 mm with steel reinforcement.(10.57 + 0.00317 · L) · 10-4 kgm2
(14.49 + 0.00317 · L) · 10-4 kgm2
i = 3 i = 10
10 12
30 32
10 12
30 32
00
00
01
02
05
MKD 41 B
MSM 040 B
MKD 41 B
MSM 040 B
00
21
22
23
25
17
10
74
74
10
75
75
3)
2)
3)
2)
i = 5
11
31
11
31
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Without SwitchWithout Cable Duct
REED Sensor
HALL SensorPNP-NC
HALL-SensorPNP-NO
Cable Duct
Socket/Plug
Motor AttachmentGear Reducer
MotorMotor Type
Sta
ndar
dR
epor
t
Mea
sure
men
tR
epor
t
FrictionalTorque
PositioningAccuracy
1st, 2nd + 3rd SwitchCable Duct
Socket/Plug
Documentation
1) Motor Attachment also available without motor (enter "00" for motor on order form)2) Version without Brake3) Version with Brake
Performance values for horizontal operation with Servo Motor MSM 040Band Drive DKC **.*-018 Connection Voltage: 1 x 230 V
Drive Data without Motor (i = 1)Drive Pulley DiameterLead ConstantSpeedBelt TypeMoment of Inertia (short carriage)Moment of Inertia (long carriage)
The tables contain performance dataexamples for gear reducer/motor/drivecombinations. They are intended to serve asa guide for selection only; exact values mustbe calculated on an individual basis. Pleasemake sure that the selected combination isallowed (load capacities, moments, max.RPMs, motor data, etc.)
28 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
03.54.1203.54.00 03.54.10
6414
5
71.5
402
145
61
64
6P9
h=3.5
Ø19h6
402
402
6161
145
64
6P9
h=3.5
6P9
h=3.5
Ø19h6
Ø19h6
L
32
6145
48
30
Ø49H7
2.5 deep
45 L / 2
64
Ø19h6
240
30 30 3040 30
71.5
CKR 20-145 Dimensional Drawings
Version MA03Version OA01 Versions MA01 and MA02
All dimensions in mmDrawings not to scale
max. travel2
max. travel2
Lubrication point forgrease, sealed withM6 set-screw
M6 - 12 deep(8x)
Central lubrication nipplefor grease (both sides)
Long Carriage
excess traveleffective stroke
2effective stroke
2 excess travel
Ø 6H7 - 7.5 deep(4x)
240 (long carriage)180 (short carriage)
M6 - 12 deep(4x)
29Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
65649.5
4.8
1.8
3.2
8.2
5.2
62
145
30 30
A
B
50
180
3.2
1.3 4.8
2.5
A B
48
03.54.20
61
Ø19h6
243
(MK
D 4
1B)
82 (MKD 41B)
191.
5 (M
SM
040
B)1
)
157.
5 (M
SM
040
B)2
)90
3714
5
80 (MSM 040B)
M6 - 12 deep(4x)
Ø 6H7 - 7.5 deep(2x)
Short Carriage
Versions MG01, MG02, MG03 and MG04Motors MKD 41B and MSM 040 B
Lubrication point forgrease, sealed withM6 set-screw
To calculate the length of the CompactModule:
L = (stroke + 2 · excess travel) + LT + 25 mm
For an example of length calculation, see orderingexample.
1) with brake2) without brake
30 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
i = 1 i = 1
OA01
MA01
MA02
MA03
MG01
MG02
MG03
MG04
(03.64.00)
(03.64.10)
(03.64.10)
(03.64.12)
(03.64.20)
(03.64.20)
01 01
02
03
04
50
10
01 02
01 02
i = 3,5,10
12 01 02
LP09
0LP
120
1 S
haft
2 S
hafts
With
Gea
r R
educ
er
LP09
0LP
120
11 01 02
13 01 02
01
CKR 25-200 Components
Shaftfor
Motor
WithoutKeyway
WithKeyway
GearReducer
none
right
both sides
Without Drive
For Gear Reducer
With Drive (i = 1)
Type(and Dim. Drawing)
Guideway Drive Carriage
Leng
th L
265
mm
Leng
th L
405
mm
left
1) Motor Attachment also available without motor (enter "00" for motor on order form)2) Switch brackets can only be used in conjunction with connection plates.3) Magnetic field sensors and mechanical/inductive switches cannot be used on the same side.
MG03
MG04
MG01
MG02
Part Number, Length
R0364-600-00, .... mm
TT
31Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
i = 10
10 12
20 22
00
00
01
02
05
MKD 071 B
MKD 090 B
00
21
22
23
25
11
i = 5
11
2113
30 3231
10 12
20 22
MKD 071 B
MKD 090 B
1111
21
30 3231
27
11
13
15
16
26
172013
Without switch, socket/plug, cableduct, and mounting channel
REED Sensor
HALL SensorPNP-NC
HALL SensorPNP-NO
Motor Attachment 1)
Gear ReducerMotor
Motor Type
Sta
ndar
dR
epor
t
Mea
sure
ent
Rep
ort
FrictionalTorque
PositioningAccuracy
1st, 2nd + 3rd SwitchCable Duct
Switch Bracket2)
Documentation
External switch
Switch: Magnetic field sensor3)
Cable Duct
Socket/Plug
Switch: Mechanical/Inductive3)
PNP-NC
PNP-NO
Mechanical
External switch 1 Switch bracket
2 Switch brackets
Socket/Plug
Cable DuctLength = L
i = 3
32 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
i = 33 6 9 12 15 3 6 9 12 15
60 60 67 74 81 60 60 111 123 13690 90 100 111 122 90 90 278 308 339
50.0 50.0 45.0 40.5 36.9 50.0 50.0 45.0 40.5 36.93.00 5.00
0.1
i = 510 20 30 40 50 10 20 30 40 5061 74 87 101 114 124 151 178 205 23255 67 79 91 102 228 277 327 376 425
29.5 24.2 20.6 17.9 15.8 29.5 24.2 20.6 17.9 15.81.80 3.67
0.1
i = 1010 20 30 40 50 10 20 30 40 50
101 109 116 124 132 205 221 237 253 26945 49 52 56 59 188 203 217 232 2468.9 8.3 7.7 7.3 6.8 8.9 8.3 7.7 7.3 6.8
0.90 1.800.1
i = 310 20 30 40 50 10 20 30 40 5074 91 107 123 139 150 182 215 248 28074 91 107 123 139 302 367 433 499 564
26.9 22.1 18.7 16.3 14.4 26.9 22.1 18.7 16.3 14.42.0 4.0
0.1
i = 530 35 40 45 50 10 20 30 40 5083 92 101 110 118 168 185 203 221 23950 55 61 66 71 203 224 246 267 288
11.9 11.4 10.9 10.5 10.1 14.4 13.0 11.9 10.9 10.11.20 2.40
0.1
i = 1010 20 30 40 50 10 20 30 40 50
167 173 178 183 188 337 348 358 368 37950 52 53 55 56 204 210 216 223 2293.6 3.5 3.4 3.3 3,2 3.6 3.5 3.4 3.3 3.2
0.60 1.200.1
CKR 25-200 Performance Data
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Performance Data for Gear Reducer LP 090Performance values for horizontal operation with Servo Motor MKD 71B-061and Drive DKC **.*-100Connection Voltage: 3 x 400 V
Performance values for horizontal operation with Servo Motor MKD 90B-047and Drive DKC **.*-100Connection Voltage: 3 x 400 V
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
33Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
i = 320 30 40 50 60 20 30 40 50 6059 69 79 90 100 119 140 160 181 20159 69 79 90 100 240 281 322 364 405
33.8 28.9 25.2 22.3 20.0 33.8 28.9 25.2 22.3 20.02.0 4.0
0.1
i = 520 30 40 50 60 20 30 40 50 6069 76 82 88 94 140 152 165 177 19042 45 49 53 57 169 184 199 214 229
17.3 15.9 14.7 13.6 12.7 17.3 15.9 14.7 13.6 12.71.20 2.40
0.1
i = 1020 30 40 50 60 20 30 40 50 60
118 121 124 128 131 237 244 251 257 26435 36 37 38 39 143 147 151 155 1605.1 5.0 4.8 4.7 4.6 5.1 5.0 4.8 4.7 4.6
0.60 1.200.1
Performance Data for Gear Reducer LP 120Performance values for horizontal operation with Servo Motor MKD 90B-047and Drive DKC **.*-100Connection Voltage: 3 x 400 V
Gear Reducer RatioMass (kg)Acceleration Time t (ms)Acceleration Distance s (mm)Acceleration a (m/s2)Speed v (m/s)Repeatability (mm)
Drive Data without Motor (i = 1)Drive Pulley DiameterLead ConstantSpeedBelt TypeMoment of Inertia (short carriage)Moment of Inertia (long carriage)
79.58 mm250 mmup to 5 m/sAT 10, Width100 mm, steel-reinforced(76.18 + 0.01840 · L) · 10-4 kgm2
(88.87 + 0.01840 · L) · 10-4 kgm2
The tables contain performance dataexamples for gear reducer/motor/drivecombinations. They are intended to serve asa guide for selection only; exact values mustbe calculated on an individual basis. Pleasemake sure that the selected combination isallowed (load capacities, moments,maximum RPMs, motor data, etc.)
34 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
03.54.1203.64.00 03.64.10
61
49.2
5 50
Ø68H7
2.5 deep
53
66 L / 2
L104
Ø24h6
405
42.5 42.5 42.590 42.5
115
115
98.5
200
40
3
98.5
104
200
61
Ø24h6
61
Ø24h640
3
8P9
8P9
h=4
h=4
40 3
98
.5
104
20
0
61
Ø24h6
8P9
h=4
CKR 25-200 Dimensional Drawings
Version MA03Version OA01 Versions MA01 and MA02
All dimensions in mmDrawings not to scale 405 (long carriage)
265 (short carriage)max. travel
2max. travel
2
Lubrication point for grease sealedwith M8 set-screw
M8 - 16 deep(8x)
Central lubrication pointfor grease (both sides)
Long Carriage
excess traveleffective stroke
2
M8 - 15 deep(4x)
effective stroke2
excess travel
Ø 8H7 - 10 deep(4x)
35Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
4.8
3.2
5.2
(38)
3.2
1.34.8
2.5
BA
25
87
200150
38
84
A
C
D
B
100
98.5
14.5
8.2
(84)
8
12
11.1
4.9
C
12.5
6
10
20.1
D
59
42.5 42.5
66
265
03.64.20
61
Ø24h6
200
112
(LP
090)
140
(LP
120)45
(LP
090)
75 (
LP12
0)
264
(MK
D 7
1B)
313
(MK
D 9
0B)
120 (LP090)140 (LP120)
115 (MKD 71B)140 (MKD 90B)
M8 - 16 deep(4x)
Ø 8H7 - 10 deep(2x)
Short CarriageLubrication point forgrease sealed withM8 set-screw
Versions MG01, MG02, MG03 and MG04Motors MKD 71B and MKD 90 B
To Calculate the Length of the Compact ModuleL = (stroke + 2 · excess travel) + LT + 25 mm
For example of length calculation, see the orderingexample.
36 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
6.5 35
5
63
1
2
3
Switch MountingOverview of the SwitchingSystemThe following switch types may beused with Compact Modules:– Magnetic field sensors
(Hall and Reed Sensors)– For CKR 25-200, mechanical and
inductive switches may also be used
Different switch types cannot, however,be used on the same side of theCompact Module.
Magnetic Field Sensor
Switching System:Magnetic Field SensorHall Sensor and Reed Sensor1 Socket and Plug2 Switch3 Cable Duct
(black anodized aluminum extrusion)
Magnetic field sensors aresuitable for speeds up to 2 m/s. Forsafety reasons, mechanical/inductiveswitches are to be used at higherspeeds (please inquire)!Short Stroke: Pay attention to thelength of the socket and switch!
Magnetic Field SensorMiniature switch with potted cable:Version:– Hall Sensor (NC/NO) or– Reed Sensor (Relay)Assembly Note:Switches may be on one side of thecompact module only (left or right), andand should only be installed after thecompact module has been installed onits base structure.
A cable duct is required to attach theswitches.
Switches are inserted in the upperT-slot (CKR 12-90, 15-110) or thelower T-slot (CKR 20-145, CKR25-200) of the cable duct andsecured with set-screws.
Set-screw for mounting
Active Surface
PNP NC / NO3.8–30 V DCmax. 10 mAmax. 20 mA2 m (10 m by request)IP 66No2 m/s
Hall SensorContact TypeOperating VoltageCurrent DrawOutput CurrentCable LengthHousing Protection ClassShort Circuit ProtectionMaximum Speed
Reed SensorContact TypeSwitching VoltageSwitching CurrentCable LengthHousing Protection ClassMaximum Speed
Relaymax. 100 V DCmax. 0.5 A2 m (10 m by request)IP 662 m/s
IMPORTANT: 2 switching points!
Mechanical and Inductive Switch
37Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
27.5 21
.5
3
1327
.5
21.5
3
13
CKR 20-145
27.5
21.5
3
13
CKR 25-200
Ø26
PG 1
6
28.5
60
3 50 4.527.5
49
Hall Sensor
Green: Output
White: +3.8 ... 30 VDC
Brown: OV ground
Brown
White
Green
Wiring Schematic
Reed Sensor
Cable DuctFunction:– To attach and secure switches– Cable routing
Assembly Note:The cable duct hooks into the T-slots onthe maing body and is secured with set-screws.Set-screws are included.
CKR 12-90and
CKR 15-110
Ordering of Switchesand Accesories
Refer to the following table for part numbers.Accessories can also be ordered separately.
Part Numberfor installation on: CKR 12-90, CKR 15-110, CKR 20-145, CKR 25-200
Pos.
1 Socket / Plug2 Switch
– Reed Sensor– Hall Sensor
3 Cable Duct
R037540000
R347600903PNP-NC R347601003 / PNP-NO R347601203
R021CKDUCT
Socket and PlugThe socket must be installed on theside with the switches.
Sockets and plugs have 16 pins.
Sockets and switches are not wired.This allows optimal assignment of theswitch positions during set-up.
One plug is included. The plug can beinstalled in three directions.
16-pin plug
38 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
11111
33333
44444
55555
22222
20
25
40
50
60
67
50
9.5
13
.5Ł
12
+1
22
30
35
45
5
19 10 17
7
Mechanical and InductiveSwitches with CKR 25-200
Overview of theSwitching System1 Socket and Plug2 Mechanical Switch3 Inductive Switch4 Cable Duct5 Switching Cam
(For installation on Connection Platesonly. For other applications, customersolution required.)
Short Stroke: Pay attention to thelength of socket and switch!
Mechanical Switch withAccesories
Mechanical Switch (technical data)RepeatabilityPermissible AmbientTemperatureProtection ClassImpact TimeIsolationNominal VoltageConstant CurrentSwitching Capacity at220 V, 40-60 HzConductive Resistance inNew ConditionConnectionContact SystemSwitching System
Switch Mounting
Inductive Switchwith Accessories
Inductive Switch (technical data)Inductive switch with potted cable(3 x 0.14 mm2 Unitronic),Housing TypeMinisensorOperating VoltageResidual WaveformLoadNo-Load CurrentSwitching FrequencyTemperature Shift ofSwitching PointWaveform Steepness ofOutput SignalRepeatability of theSwitching Point per EN 50008Cable Length
± 0.05 mm
–5 °C to +80 °CDIN 40050 IP 67< 2 msGroup C per VDE 0110250 V AC5 A
cosϕ = 0.8 at 2 A
< 240 mΩScrew connectionSingle pole relaySpring System
NOForm A DIN 4163510 ... 30 V DC≤ 10 %200 mA≤ 20 mAmax. 1500 Hz
≤ 4 µm/K
≥ 1V/µs
≤ 0.1 mm3 m (10 m by request)
LubricationNipple
39Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
60
Ø26
50 30
35
12.6
PG
16
51
17
20
1 Socket / Plug2 Mechanical Switch and Mount
Mechanical Switch ONLY3 Inductive Switch
- Switch mount WITHOUT Switch- PNP NC- PNP NO
4 Switching Cam5 Cable Duct
Cable Duct– Attaches to the side T-slots of the
main body.The cable duct can hold up to twocables for mechanical switches andthree cables for inductive switches.
Mounting screws and cable tiesincluded.
Ordering Switches andAccessories
Refer to the table below for part numbers.Accessories can also be ordered separately.
*) Switch brackets for installation on Connection Plates only. For other applications, customer solution required.
Part Numbers for Installation on CKR 25-200Pos.
Version with Mechanical and Inductive Switches*
16-pin Plug
Switch Mounting Example
Socket and Switch– Attach the socket on the side with
the majority of the switches.Sockets and plugs have 16 pins.
Sockets and switches are not wired.This allows optimal assignment of theswitch positions during set-up.
One plug is included. The plug can beinstalled in three directions.
2.5+
0.2
58250.4+
0.2
16
20 26
R117500153R117500151R345304016
R117500152R345304001R345304003R117500150R021JDUCTL
40 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
0.9 2.7 8.0 12
30 + 8 170 + 16 870 + 38 4,150 + 1101.0 2.2 5.0 11
2.25 4.65 9.42 14.65
MKD 25B-144 KG1
2.5 45° 45˚
Ø63
Ø40
j6
Ø9k
6
Ø4.
5
20
7233 54
2.5
8
30243 82
45
Ø6.
6
Ø95
Ø50
j6
Ø14
k6
45
MKD 41B-144 KG1
3
9.5
40264 115
Ø9
5j6
Ø1
9k6
45 45
Ø9
Ø130130
Ø130
MKD 71B-061 KG1 MKD 90B-047 KG1
4
Ø11
0 j6
Ø24
k6
Ø11
45 45
14312 140
50
Ø165
Servo Motors
Motor
Maximum Effective Speed RPM nmax (min-1)Nominal Torque MN (Nm)Maximum Torque Mmax (Nm)Mass Moment of Inertia JM + JBr (10-6 kgm2)Braking Torque MBr (Nm)Mass with Brake mBr (kg)
MKD 25B-144 KG1 MKD 41B-144 KG1 MKD 71B-061 KG1 MKD 90B-047 KG1
Type MKD(Drawings not to scale.)
Motor Data for Servo Motors Type MKD
41Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
Ø6
45
Ø19
h6
Ø70
h7
Ø90
45
35
6191.51)
157.52)
80
MSM 030 C MSM 040 B
Ø4.
5
Ø14
h6
Ø50
h7
45
Ø70
45
171.51)
138.52)
3
6
3060
3000 3000 3000 30001.3 1.3 2.4 2.43.8 3.8 7.1 7.117 17 + 3 67 67 + 8– 1.27 – 2.45
1.5 1.9 3.1 3.8
Type MSM(Drawings not to scale.)
MSM 030C-0300-NN-M0-CG1 with Brake
MSM 030C-0300-NN-M0-CG0 without Brake
MSM 040B-0300-NN-M0-CG1 with Brake
MSM 040B-0300-NN-M0-CG0 without Brake
NOTE:
Motor Data Servo Motors Type MSM
Motors are available complete with controls.
Motor
Maximum Effective Speed RPM nmax (min-1)Nominal Torque MN (Nm)Maximum Torque Mmax (Nm)Mass Moment of Inertia JM + JBr (10-6 kgm2)Braking Torque MBr (Nm)Mass with Brake mBr (kg)
with Absolute Encoder with Absolute Encoder
Without Brake With Brake Without Brake With Brake
1) With Brake 2) Without Brake
42 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
CKR 12-90CKR 15-110CKR 20-145CKR 25-200
X
ØY
ØY
b)
b)
a)
0 841.5 1050 1059 10
ØY
ØY
b)
b)
a)
The Compact Module with toothedbelt drive is designed for single-pointgrease lubrication via one of threeaccess ports.
Central Lubrication:a) Carriage: each unit is shipped with a
set-screw sealing the access port(size 12-90: M4, size 25-200: M8)Note connection geometry forcustomer fixture when using centrallubrication port in carriage.
b) Through side ports ØY; funnel-shaped grease nipple per DIN3405-AM6 (size 12-90 per DIN3405-D4, size 25-200 DIN 3405-AM8x1)
When using the ports in the carriage,the set-screw must be removed and anO-ring must be installed as a seal.
Size X Y(mm) (mm)
Connection dimensions for short carriage
Connection dimensions for long carriage
Drive end
Center of Main Body
Drive end
Center of Carriage
Central lubricationports for grease
For short stroke versions, please contactBosch Rexroth for lubrication information:
CKR 12-90: Stroke < 40 mmCKR 15-110: Stroke < 50 mmCKR 20-145: Stroke < 60 mmCKR 25-200: Stroke < 80 mm
Lubrication Access Ports
Centrallubricationports forgrease
Center of Main Body
43Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
C
ØA
ØB
10 4 1.710 5 1.210 5 1.2
12.2 8 1.5
CKR 12-90CKR 15-110CKR 20-145CKR 25-200
O-Ring DIN 3771:– Size 12-90: Ø4 x 2.5
Part Number: 8411-119-01– Size 15-110 and 20-145: Ø5 x 2
Part Number: 8411-109-01– Size 25-200: Ø8 x 2
Part Number: 8411-008-01
Customer-suppliedFixture
Carriage
O-Ring Main Body
Size A ± 0.1 B C-0.2
(mm) (mm) (mm)
44 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
InstallationOverview of Mounting andInstallation Options
Installation of a E2C* AutomationSystem from BRP* to a CompactModule using a connection plate(Example: Mini-sled MSC)
Installation on Main Body
Installation on Carriage
Installation of a customer-suppliedfixture to the Compact Module usinga connection plate
Connection PlateCompact Module
CKR or CKKClamps
Installation of a Compact Moduleusing a connection plate and clamps
Installation of the Compact Moduleon the MGE Aluminum StructuralFraming system using a connectionplateand clamps
Installation of the Compact Moduleon the customer's support structureusing clamps
Installation of the Compact Moduleusing a connection plate and clamps
* E2C: Easy-2-CombineBRP: Bosch Rexroth Pneumatics
45Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
102 112126 140161 175222 240
CKR 12-90CKR 15-110CKR 20-145CKR 25-200
A B(mm) (mm)
CKR 12-90CKR 15-110CKR 20-145CKR 25-200
A B C(mm) (mm) (mm)76 4 11.5*92 5 14*
124 6 19*119 8 16
InstallationNote:The Compact Module is installed usingclamps.
Do not secure or support theCompact Module by the drive/idler endblocks! The weight-bearing structure isthe main body!
When installing Compact Modules,please note the maximum tighteningtorques listed in the table.
Size
Installation using T-blocks (CKR 25-200)
Alternative installation using special machiningin the bottom surface of the main body
Spacing from theends of the mainbody = min. 30 mm.
Dowel hole or threadedhole, max. ØB
Size
* Through-threading/-hole
For size 25-200, alternative installationis possible using T-blocks.
Installation using clamps
A
max
. C
B
150±0.1
A±0.1
B
46 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
1 1 25 – –3 4 87 6 253 4 107 8,5 302 2 72 11 502 2 62 11 403 4 77 8.5 203 4 107 8.5 303 4 77 8.5 201 1 25 – –3 4 142 11 402 2 72 11 502 2 62 11 402 2 47 8.5 302 2 108 19 702 2 88 19 50
CKR 12-90
CKR 15-110CKR 20-145
CKR 25-200
M4
M5
M6
M8
4,64,64,63,23,24,64,84,85,35,33,23,25,3
16,314,8
14.5 10.5 5
19.3 14 7
19.3 14 7
29 19 9
R037531000R037531002R037531003R037531013R037531015R037531026R037541002R037541026R037551000R037551002R037551009R037551011R037551023R117529026R117529096
ED B
CC
C
A
A
BC A
F
G
H
AttachmentClamps
Recommended number of clamps:– Type 1: 6 pieces per Meter and Side– Type 2: 4 pieces per Meter and Side– Type 3: 3 pieces per Meter and Side
Clamps
Countersink forthread MISO 4762quantity N
CompactModule
forThread
Type QuantityHoles N
Dimension (mm)A B C D E F G H
ClampPart Number
Type 1 Type 2 Type 3
9
11.5
11.5
27.5
47Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
NmNmNmNmNm 2.7 5.5 9.5 23
8.8 M4 M5 M6 M8
8
2016
x 6
0 =
960
1000
- 2
M8(18x)
R3447-009-01 R3447-008-01
10
M8
5
5.5
20
(10
.5)
19.5
Tightening Torques forFastening Screwsat Friction Class 0.125Hardness Class 8.8
T-Blocks
Recommended quantity of T-blocks:with one threaded hole, 6 pieces permeter and side
BarT-Blocks and Bars(CKR 25-200)For attaching the main body andfixtures to the connection plate.
Part NumberR3412-009-02
Spring (CKR 25-200)The spring assists in positioning andinstalling T-blocks.
Part Number Part Number
48 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
D4 AM6D4 AM6
AM6 AM8x1AM8x1 AM8x1
CKR 12-90CKR 15-110CKR 20-145CKR 25-200
CKR 12-90CKR 15-110CKR 20-145CKR 25-200
R037530030 89 16 125 20 6.1 12.0 8.2 3.0 76 – 20 4 – 9 10 – 2.1 0.40R037540030 109 16 155 20 6.1 12.0 8.2 3.0 92 76 42 5 4 9 10 10 2.1 0.56R037550030 144 20 190 40 8.0 16.5 10.3 3.0 124 92 35 6 5 12 12 12 2.1 1.18R037560030 198 25 335 50 10.2 20.3 12.2 5.5 119 124 41 8 6 20 16 16 3.1 4.55
X
X
DD
F 3
F1
C
F2
F 3
A
DE
1
E2
B
E3 43160
10.3
E4
ø 0.02
ø 0.02
ø 0.02
Connection ElementsConnection Plate with CentralLubrication PortsFunction:– Attachment of fixtures (with T-blocks)– Lubrication Ports on four sides
(central lubrication connectionrequired at only one of the four ports)
Assembly includes:– Connection Plate,– Assembly hardware for attachment
to carriages.T-Blocks are not included.Connection plates can be used withlong carriages only!
Connection Plate
ø G1Usable Depth: H1for insertion of fixtures
Connection dimensions for switch bracket (CKR 25-200)M4 x 6 deep
Size sides back
SizeConnection PlateDimensions (mm)Part Number Mass
Assembly A B C D E1 E2 E3 E4 F1 F2 F3 G1H7 G2
H7 G3H7 H1 H2 H3 kg
Funnel-shaped GreaseNippleDIN 3405 see table
Module with long carriage
ø G2Usable Depth: H2for insertion of fixtures
ø G3Usable Depth: H3for insertion offixtures
Funnel Grease Nipple per DIN 3405
49Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
CKR 12-90CKR 15-110CKR 20-145CKR 25-200
CKR 12-90CKR 15-110
CKR 20-145
CKR 25-200
R3447-014-01 R3447-015-01
R3447-017-01R3447-018-01R3447-019-01R3447-020-01R3447-012-01R3447-011-01R3447-010-01R3447-009-01
M4M5M4M5M6M8M4M5M6M8
R341201002
R341201102
R341200902
6 11.5 4 1 12
8 16 6 2 16
10 19.5 10.5 5 20
8.8 M4 M5 M6 M8
Nm 2.7 5.5 9.5 23
DM E
C
A
B
Ø D
H2
H1 R039660441 9 4 2.1
R039660441 9 4 2.1 R039660442 12 4 2.1 R039660443 20 6 2.1
Tightening Torque of FasteningScrews
At friction factor 0.125Hardness class 8.8
Seal Part Dim. (mm)Number DH7 H1 H2
+0.2
Centering Ring
T-BlocksFor attaching fixtures to the connectionplate.
SpringsSpring assist in positioning andassembly.
CompactModule
forThread
Dimension (mm)A B C D E
T-Block and SpringPart Number
T-Block
Centering RingThe centering ring assists withpositioning and serves as a sealingelement for customer fixtures on theconnection plate.
Part NumberSpring
50 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
Connection ElementsOverviewConnection elements are used for the simplified assembly of multi-axis units (X-Y-Axis, X-Z-Axis).The connection system is designed to allow the connection of Compact Modules with the same size or the next smaller size.Connection elements are sold as assemblies with all individual parts (cross-connection plate, clamps, screws, pins, andconnection brackets upon request) necessary to connect a two-axis system.
Connecting Compact Modules with a Cross-Connection Plate
X-Axis
Y-Axis
Y-Axis is fastened to the main body(carriage travels in Y-Axis)
Axis X-Y
51Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
CKR 12–90CKR 15–110CKR 20–145CKR 25–200
CKR 12–90CKK 12–90
CKR 15–110CKK 15–110
CKR 20–145CKK 20–145
CKR 25–200CKK 25–200
R039120115R039120116R039120118R039120120
R039120117R039120119R039120121
R039120119R039120121 R039120122
R039120115R039120116R039120117R039120118R039120119R039120120R039120121R039120122
0.490.650.681.351.453.944.825.24
89 125 16109 155 16109 155 16144 190 20144 190 20198 335 25198 335 25198 335 25
Connecting Compact Modules with Cross-Connector Plates (X-Y-Axis)Y-Axis is fastened to the main body (carriage travels in the Y-axis)
Part Numbers for Cross-Connector Plate Assembly with Central Lubrication(includes cross-connector plate, clamps, screws, pins; does NOT include centering rings)
X-AxisLong carriage
Y-Axis1 or 2 carriages (CKK)/long or short carriage (CKR)
Part numbers for Cross Connector Plate Assembly with Central Lubrication
Part Number ofAssembly A B C
Dimension (mm) Mass(kg)
A = Width of Cross-Connector PlateB = Length of Cross-Connector PlateC = Height of Cross-Connector Plate
X-AxisVersion:Compact Modulewith long carriage
Y-AxisVersion:Compact Module withlong or short carriage.Carriage travels.
52 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
M (Nm)
3.22.4
2.4
1.6
1.6
0.8
0.80
3.2
M (Nm)
t (ms)
The standard report serves asconfirmation that the listed inspectionitems have been checked and that themeasured values fall within thepermitted tolerance range.
Inspection items included in thestandard report:– Functional test of mechanical
components– Functional test of electrical
components– Unit matches order confirmation
Standard ReportOption 01
Frictional Torque Measurementsfor the Complete SystemOption 02The frictional torque is measured alongthe entire travel path.
Documentation
Forward Reverse
53Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
30
150
0
-150
400 800 1200 1600 2000 2400
P
U
Pa
PS/2
PS/2
Positioning Accuracy P The positioning accuracy is determinedby the total deviation. It includes allsystematic and random deviationsin positioning.
Position Deviation Pa The position deviation is determined bythe maximum occurring differencebetween the mean values of allmeasurement points. It describessystematic deviations.
Reversal Range U The reversal range is determined by thedifference in the mean values from bothdirections of approach. The reversalrange is calculated at eachmeasurement point. It describessystematic deviations.
Variation Range PS The variation range shows the effectsof random deviations. It is calculatedat each measurement point.
The positioning accuracy takes thefollowing values into consideration:– Postion deviation– Reversal range– Variation range
Positioning Accuracyper VDI/DGQ 3441Option 05Measurement points are selected atirregular intervals along the travel path.These points allow the capture ofperiodic positioning deviations.
Each measurement point isapproached several times,from both directions.
From this, the following values canbe calculated:
Dev
iatio
n (µ
m)
Example
Measurement path (mm)
54 Bosch Rexroth Corp. Linear Motion and Assembly Technologies CKR RE 82 615 (03.2006)
Ordering Example
L = (Stroke + 2 · excess travel) + LT + 25 mm
Stroke = Maximum distance of the carriagecenter to the outermost switchactivation points.
Stroke = 1500 mmLT = 156
Description
Compact ModuleCKR 12-90, length = 2250 mm
With gear reducer per illustration MG01 (gear reducer on right)
Ball rail guideDrive end for use with gear reducerCarriage with length LT = 156 mmFor motor MKD 25B, i = 5Without motorHALL Sensor, PNP NCREED SwitchHALL Sensor, PNP NCCable duct shipped uninstalledSocket/plug shipped uninstalledMeasurement report: Moment of friction
The excess travel must be greaterthan the braking distance. As aguideline, the breaking distance canbe estimated as two turns of themotor.
This can be calculated bymultiplying the lead constant of thepulley by 2, then dividing the resultby the gear reduction.
Example: CKR 12-90 with5:1 gearbox:excess travel =120mm · 2 5
Ordering Code
Compact Module (Part Number): R0364 300 00, 1777 mm
Version = MG01
Guideway = 01Drive = 10Carriage = 02Motor Mount = 11Motor = 001st Switch = 222nd Switch = 213rd Switch = 22Cable Duct = 10Socket/Plug = 17Documentation = 02
Calculate the lengthof the CompactModule:
Example L = (1500 + 2 · 48) + 156 + 25 mm
L = 1777 mm
= 48
55Bosch Rexroth Corp.Linear Motion and Assembly TechnologiesCKRRE 82 615 (03.2006)
Inquiry/Order Form
Rexroth Compact Module CKR
To be completed by customer: Inquiry / OrderCompact Module CKR _________________________________
(Part Number): ______-______-______, Length__________mm
Type =
Guideway =Drive =Carriage =
Motor Mount =Motor =
1st Switch =2nd Switch =3rd Switch =
Cable Duct = , mmSocket/Plug =Documentation =
Telephone 704/583-4338
Fax 704/583-0523
Individual Parts:
(Part Number): _______-_______-_______
_______-_______-_______
_______-_______-_______
_______-_______-_______
Bosch Rexroth Corporation14001 South Lakes DriveCharlotte, NC 28273
Quantity Order of:____ pcs., _____ per month, ______ per year, per order, or ____________________
Comments:
From:Company: __________________________________ Name: ____________________________________
Address: __________________________________ Department: ____________________________________
__________________________________ Telephone: ____________________________________
__________________________________ Fax: ____________________________________
__________________________________ E-mail: ____________________________________
Bosch Rexroth CorporationCorporate Headquarters5150 Prairie Stone ParkwayHoffman Estates, IL 60192-3707Telephone (847) 645-3600Facsimile (847) 645-6201
Bosch Rexroth CorporationIndustrial Hydraulics2315 City Line RoadBethlehem, PA 18017-2131Telephone (610) 694-8300Facsimile (610) 694-8467
Bosch Rexroth CorporationElectric Drives and Controls5150 Prairie Stone ParkwayHoffman Estates, IL 60192-3707Telephone (847) 645-3600Facsimile (847) 645-6201
Bosch Rexroth CorporationPneumatics1953 Mercer RoadLexington, KY 40511-1021Telephone (859) 254-8031Facsimile (859) 281-3491
Bosch Rexroth CorporationMobile Hydraulics1700 Old Mansfield RoadWooster, OH 44691-0394Telephone (330) 263-3300Facsimile (330) 263-3333
RE 82 615Printed in the United States
Bosch Rexroth CorporationLinear Motion andAssembly Technologies14001 South Lakes DriveCharlotte, NC 28273Telephone (800) 438-5983Facsimile (704) 583-0523www.boschrexroth-us.com