Afag RA-40-2F Series User manual

Assembly instructions EN RA-40-2F - RA-40-4F Date 30.10.2021 Version 2.0 1–56
Assembly and operating instructions
Rotational axis
RA-40
Translation of the Original Assembly Instructions EN
RA-40-2F
RA-40-4F

2 – 56 Assembly instructions EN RA-40-2F - RA-40-4F Date 30.10.2021 Version 2.0
Dear Customer
Thank you for choosing our products and placing your trust and confidence in
our company!
These assembly and operating instructions contain all essential information you
need about your product. Our aim is to provide the required information as
concisely and clearly as possible. If, however, you still have any questions on
the contents or suggestions, please do not hesitate to contact us. We are always
grateful for any feedback.
Our team will also be glad to answer any further question you may have
regarding the rotational axis or other options.
We wish you every success with our products!
With kind regards
Your Afag team
© Subject to modifications
The rotational axes have been designed by Afag according to the state of the
art. Due to the constant technical development and improvement of our
products, we reserve the right to make technical changes at any time.
Updates of our documentations
Unlike the printed documents, our digital instructions manuals, product data
sheets and catalogues are being continuously updated on our website.
Please keep in mind that the digital documents on our website are always the
latest versions.
© Copyright 2021 Afag Engineering GmbH
All contents of the present assembly and operating instructions, in particular the
texts, photographs and graphics, are protected by copyright. All rights reserved.
No part of these assembly and operating instructions may be reproduced,
distributed (made available to third parties), or transmitted in any form or by any
means, including photocopying, recording, or other electronic or mechanical
methods, without the prior written permission of Afag.
Afag Engineering GmbH
Gewerbestraße 11
DE-78739 Hardt (Germany)
Tel.: [phone]
e-mail: [e-mail]
Internet: www.afag.com

Table of contents
Assembly instructions EN RA-40-2F - RA-40-4F Date 30.10.2021 Version 2.0 3–56
Table of contents
1General .................................................................................................................... 6
1.1 Contents and purpose of these assembly instructions................................. 6
1.2 Explanation of symbols................................................................................. 6
1.3 Additional symbols........................................................................................ 7
1.4 Applicable documents .................................................................................. 8
1.5 Warranty ....................................................................................................... 8
1.6 Liability.......................................................................................................... 8
2Safety instructions................................................................................................. 9
2.1 General ......................................................................................................... 9
2.2 Intended use ................................................................................................. 9
2.3 Foreseeable misuse ..................................................................................... 9
2.4 Obligations of the operator and the personnel ........................................... 10
2.4.1 Observe the assembly instructions ...................................................... 10
2.4.2 Obligations of the operating company.................................................. 10
2.4.3 Obligations of the personnel ................................................................ 11
2.5 Personnel requirements ............................................................................. 11
2.5.1 Personnel qualification ......................................................................... 11
2.6 Personal protective equipment (PPE) ........................................................ 12
2.7 Changes and modifications ........................................................................ 12
2.8 General hazards / residual risks................................................................. 13
2.8.1 General hazards at the workplace ....................................................... 13
2.8.2 Danger due to electricity ...................................................................... 14
2.8.3 Danger due to strong magnetic fields. ................................................. 14
2.8.4 Danger due to high temperatures ........................................................ 14
2.8.5 Mechanical hazards ............................................................................. 15
3Technical data ...................................................................................................... 16
3.1 Rotational axis RA-40-2F ........................................................................... 16
3.1.1 Dimensional drawing RA-40-2F ........................................................... 16
3.1.2 Technical data RA-40-2F ..................................................................... 17
3.1.3 Dimensional drawing RA-40-2F-5E...................................................... 18
3.1.4 Technical data RA-40-2F-5F................................................................ 19
3.2 Rotational axis RA-40-4F ........................................................................... 20
3.2.1 Dimensional drawing RA-40-4F ........................................................... 20
3.2.2 Technical data RA-40-4F ..................................................................... 21
3.2.3 Dimensional drawing RA-40-4F-5E...................................................... 22
3.2.4 Technical data RA-40-4F-5F................................................................ 23
3.3 Module stresses ......................................................................................... 24
4Transport, packaging and storage ..................................................................... 25
4.1 Safety instructions for transport.................................................................. 25
4.2 Scope of supply .......................................................................................... 25

Table of contents
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4.3 Transport .................................................................................................... 26
4.4 Packaging ................................................................................................... 26
4.5 Storage ....................................................................................................... 26
5Design and description ....................................................................................... 27
5.1 Structure rotational axis.............................................................................. 27
5.2 Product description..................................................................................... 27
6Installation, assembly and setting ..................................................................... 28
6.1 Safety instructions for installation and assembly ....................................... 28
6.2 Assembly and attachment .......................................................................... 28
6.2.1 Mounting material................................................................................. 28
6.2.2 Tightening torques................................................................................ 29
6.3 Connection ................................................................................................. 30
6.3.1 Power supplies ..................................................................................... 30
6.3.2 Servo controller .................................................................................... 31
6.3.3 Axis controller C11x0 ........................................................................... 32
6.3.4 Axis controller C12x0 ........................................................................... 34
6.3.5 Axis controller E12x0 ........................................................................... 36
6.3.6 Motor connector ................................................................................... 38
6.4 Pin assignment (encoder) .......................................................................... 39
6.4.1 Round plug on the module .................................................................. 39
6.4.2 SUB-D connector on the controller ...................................................... 39
6.4.3 Electrical feedthrough/initiator cable extension R11 ............................ 40
6.4.4 Y-distribution connector R12................................................................ 40
6.4.5 Reference sensor ................................................................................. 40
6.5 Programming .............................................................................................. 41
6.6 Settings....................................................................................................... 41
6.6.1 Speed electric axes .............................................................................. 41
6.6.2 Switching distance - reference sensor for electric axes....................... 42
7Commissioning .................................................................................................... 43
7.1 Safety instructions for commissioning ........................................................ 43
7.2 Commissioning of the modules .................................................................. 43
8Fault elimination................................................................................................... 44
8.1 Safety instructions for troubleshooting ....................................................... 44
8.2 Fault causes and remedy ........................................................................... 44
9Maintenance and repair ....................................................................................... 45
9.1 General notes ............................................................................................. 45
9.2 Safety instructions for maintenance and repair .......................................... 45
9.3 Maintenance activities and maintenance intervals..................................... 45
9.3.1 Overview of the maintenance points .................................................... 46
9.3.2 Lubrication............................................................................................ 46
9.3.3 Further maintenance ............................................................................ 46
9.4 Spare parts lists.......................................................................................... 47

Table of contents
Assembly instructions EN RA-40-2F - RA-40-4F Date 30.10.2021 Version 2.0 5–56
9.4.1 Servo controller .................................................................................... 47
9.4.2 Encoder ................................................................................................ 47
9.4.3 Overview motor cable (axis controller application) .............................. 48
9.4.4 Motor cable........................................................................................... 49
9.5 Repair and overhaul ................................................................................... 50
10 Decommissioning, disassembly, disposal........................................................ 51
10.1 Safety instructions for decommissioning and disposal............................... 51
10.2 Decommissioning ....................................................................................... 51
10.3 Disposal...................................................................................................... 51
11 Declaration of incorporation............................................................................... 52

General
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1 General
1.1 Contents and purpose of these assembly instructions
These assembly instructions contain important information on assembly,
commissioning, functioning and maintenance of the rotational axis RA-40 to
ensure safe and efficient handling and operation.
Consistent compliance with these assembly instructions will ensure:
permanent operational reliability of the rotational axis,
optimal functioning of the rotational axis,
timely detection and elimination of defects (thereby reducing maintenance
and repair costs)
Prolonging of the rotational axis service life.
The illustrations in this manual shall provide you with a basic understanding of
the module and may vary from the actual design of your module.
1.2 Explanation of symbols
The safety notes are marked by a pictogram and a signal word. The safety notes
describe the extent of the hazard.
DANGER
Danger!
This safety note indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
WARNING
Warning!
This safety note points out a potentially hazardous situation which, if not
avoided, could result in death or serious injury.
CAUTION
Caution!
This safety note points out a potentially dangerous situation which, if not
avoided, can result in minor or slight injuries.
NOTICE
This safety note points out a potentially dangerous situation which, if not
avoided, can cause substantial damage to property and the environment.

General
Assembly instructions EN RA-40-2F - RA-40-4F Date 30.10.2021 Version 2.0 7–56
This note contains important additional information as well as useful tips for
safe, efficient and trouble-free operation of the rotational axis.
Further warning signs:
Where applicable, the following standardised symbols are used in this manual
to point out the various potential health risks.
Warning
- Dangerous electrical voltage.
Warning
- Risk of injury from contact with hot surfaces.
Warning
-
Risk of hand and finger injury due to uncontrolled
movements of
components.
Warning
- Magnetic field
Warning
- back injury due to heavy lifting.
Warning
- Risk of injury as a result of parts being flung out!
Warning
-high noise levels
1.3 Additional symbols
In these assembly instructions the following symbols are used to highlight
instructions, results, references, etc.
Symbol Description
1. Instructions (steps ...)
 Results of actions
 References to sections
 Enumerations not ordered

General
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1.4 Applicable documents
Each rotational axis is accompanied by a safety information sheet. This
information sheet must be read carefully by every person who carries out work
on and with the rotational axis.
1.5 Warranty
The warranty terms for Afag handling components and handling systems are
the following:
24 months from initial operation and up to a maximum of 27 months from
delivery.
Wear parts are excluded from the warranty (The customer is entitled to a
product free of defects. This does also apply to defective accessories and
wear parts. Normal wear and tear are excluded from the warranty.
The warranty covers the replacement or repair of defective Afag parts. Further
claims are excluded.
The warranty shall expire in the following cases:
Improper use of the module.
Non-observance of the instructions regarding assembly, commissioning,
operation and maintenance of the module.
Improper assembly, commissioning, operation and maintenance.
Repairs and design changes carried out without prior technical instructions
of Afag.
Removing the serial number from the product.
Inadequate checking of wear parts.
Non-observance of the EC Machinery Directive, the Accident Prevention
Regulations, the Standards of the German Electrotechnology Association
(VDE) and these safety and assembly instructions.
1.6 Liability
No changes shall be made to the rotational axis unless described in this
instructions manual or approved in writing by Afag.
Afag accepts no liability for unauthorized changes or improper assembly,
installation, commissioning, operation, maintenance or repair work.

Safety instr
uctions
Assembly instructions EN RA-40-2F - RA-40-4F Date 30.10.2021 Version 2.0 9–56
2 Safety instructions
2.1 General
This chapter provides an overview of all important safety aspects to ensure safe
and proper use of the rotational axis and optimal protection of personnel.
Safe handling and trouble-free operation of the module requires knowledge of
the basic safety regulations.
Every person carrying out installation, commissioning, maintenance work or
operating the module must have read and understood the complete user
manual, especially the chapter on safety instructions.
Beyond this, there are rules and regulations regarding accident prevention that
are applicable to the place of installation which must be observed.
Improper use may result in danger to life and limb of the user or third parties or
in damage to the automation system or other material assets.
Failure to follow the directions and safety instructions given in this instructions
manual may result in serious hazards.
2.2 Intended use
The rotary axes are used in automation systems and are used to move
workpieces in non-hazardous environments and in the ambient and operating
conditions defined for these modules (Chapter 3 Technical data).
The rotational axes are designed exclusively for gripping payloads that do not
pose any danger to persons, property, or the environment during manipulation.
In combination with other modules the modules can be used as a pick & place
station.
Any use beyond the described purpose is not in accordance with the intended
use.
The intended use of the module also includes:
observance of all instructions given in this instructions manual.

compliance with the inspection and maintenance work and the
specifications in the data sheets,
using only original spare parts.
2.3 Foreseeable misuse
Any use other than or beyond the intended use described above is considered
a misuse of the rotational axis.
Especially the following use is considered a misuse:
Use in potentially explosive atmospheres

Safety instructions
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Risks can occur if the module is not used as intended. In the event of
damages caused by improper use the following shall apply:
the operating company shall be solely responsible for such damage, and
Afag does not accept any liability for damage caused by improper use.
2.4 Obligations of the operator and the personnel
2.4.1 Observe the assembly instructions
A basic prerequisite for safe and proper handling of the rotational axis is a good
knowledge of the basic safety instructions.
These assembly instructions, in particular the safety instructions contained
therein, must be observed by all persons working with the rotational axis.
2.4.2 Obligations of the operating company
In addition to the safety instructions given in this manual, the operating company
must comply with the safety, accident prevention and environmental protection
regulations valid for the field of application of the rotational axis.
The operating company is required to use only personnel who:
have the necessary professional qualifications and experience,
are familiar with the basic rules regarding occupational safety and accident
prevention,
have been instructed in the correct handling of the rotational axis,
have read and understood these assembly instructions.
The operating company is also required to:
monitor on an ongoing basis that the personnel work safely considering any
potential hazard involved and the assembly instructions are observed,
ensure that the assembly instructions are always kept at hand at the
installation in which the modules are mounted,
observe and communicate universally applicable laws and regulations
regarding accident prevention and environmental protection,
provide the necessary personal protective equipment (e.g., protective
gloves) and instruct the personnel to wear it.
WARNING
Risk of injury if the module is not used as intended!
The improper use of the rotational axis poses a potential hazard to the
personnel.
The rotational axes may only be used in a technically perfect condition in
accordance with its intended use and the instructions in this manual as well
as in compliance with the safety requirements!
Any malfunctions, particularly those that could impair s
afety, must be
eliminated immediately!

Safety instructions
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2.4.3 Obligations of the personnel
All personnel working with the modules are required to:
read and observe these assembly instructions, especially the chapter on
safety,
observe the occupational safety and accident prevention regulations,
observe all safety and warning signs on the rotational axis,
refrain from any activity that might compromise safety and health.
In addition, the personnel must wear the personal protective equipment
required for carrying out their work. (Chapter 2.6).
2.5 Personnel requirements
2.5.1 Personnel qualification
The activities described in the assembly instructions require specific requisites
at the level of professional qualifications of the personnel.
Personnel not having the required qualification will not be able to asses the risks
that may arise from the use of the rotational axis thus exposing himself and
others to the risk of serious injury. Therefore, only qualified personnel may be
permitted to carry out the described activities on the rotational axis.
Persons whose ability to react is restricted due to the intake of medication or the
like must not interact with the rotational axis.
These installation instructions are intended for skilled personnel (installers,
system integrators, maintenance personnel, technicians), electricians and
operating personnel.
The following is a description of the professional skills (qualifications) required
for carrying out the different activities:
Qualified personnel:
Qualified personnel with appropriate training who are qualified due to their
special know-how and fully familiar with the machine and who have been given
instructions on how to carry out the task entrusted to them safely.
Qualified electrician:
Persons who have obtained their electrical qualifications through appropriate
professional training and complementary courses that enables them to identify
risks and prevent possible hazards resulting from electricity.
Operator (trained personnel):
Authorized persons
who due to their specialized professional training,
expertise and experience are capable of identifying risks and preventing
possible hazards arising from the use of the machine.

Safety instructions
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2.6 Personal protective equipment (PPE)
The personal protective equipment serves to protect the personnel from hazards
affecting their safety and health at work.
When working on/with the rotational axis, the personnel must wear the personal
protective equipment assigned by the safety officer of the operating company or
as required by safety regulations. In addition, the personnel is required to:
wear the personal protective equipment provided by the operating company
(employer),
check the personal protective equipment for proper condition, and
immediately notify the person responsible on site of any defects found on the
personal protective equipment.
Personal protective equipment and the respective mandatory signs:
Protective clothing is a close-
fitting clothing specifically
designed to protect personnel from hazards during work.
Protective gloves
are specifically designed to protect the
personnel against hand injuries (such as cuts, abrasion,
burns).
Safety shoes
are specifically designed to protect the
personnel against foot injuries from crushing, falling objects or
slipping on slippery surfaces.
Hearing protectors
are required to protect the personnel
against excessive noise levels to prevent noise-
induced
hearing loss.
2.7 Changes and modifications
No changes may be made to the rotational axis which have not been described
in these assembly instructions or approved in writing by Afag.
Afag accepts no liability for unauthorised changes or improper assembly,
installation, commissioning, maintenance or repair work.
The rotational axis may not be changed or modified in any way, except with
the prior written consent of Afag.

Safety instructions
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2.8 General hazards / residual risks
Despite the safe design of the rotational axis and the technical protective
measures taken, there still remain residual risks that cannot be avoided, and
which present a non-obvious residual risk when operating the module.
Observe the safety instructions in this chapter and in the other sections of this
manual to avoid damage to property and dangerous situations for the personnel.
2.8.1 General hazards at the workplace
The rotational axis has been built according to the state-of-the-art and the
applicable health and safety requirements. However, improper use of the
rotational axis may cause the following hazards to the personnel:
danger to life and limb of the operator or third parties,
on the rotational axes themselves,
property damage.
Always keep the assembly instructions ready at hand at the workplace!
Furthermore, the following apply:
the general and local regulations on accident prevention and environmental
protection,
the safety information sheet for the rotational axis.
WARNING
Danger - Do not use in unsuitable environment!
The rotational axes are designed for use in non explosive atmospheres.
Do not use the modules in potentially explosive atmospheres!
WARNING
Risk of injuries due to uncontrolled parts movements!
When connecting and operating the rotational axes, unexpected movements
can lead to serious injuries and/or damage to property.
Only qualified personnel may work with or on the rotational axis.
CAUTION
Risk of injury due to high noise exposure!
The noise level of the rotational axis at full load operation is below 78 dB(A).
Depending on the add-
ons, the environment and the resonance of the
protective device theses values may be exceeded and expose the operator
to a higher noise level.
The operating company is responsible for ensuring that the permissible
noise levels are observed.

Safety instructions
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2.8.2 Danger due to electricity
2.8.3 Danger due to strong magnetic fields.
2.8.4 Danger due to high temperatures
CAUTION
Risk of injury from being caught!
Rotative movements of the module can catch pieces of clothing, hair or
materials and injure people.
Maintenance and care should only be carried out by qualified personnel.
Wear personal protective equipment!
DANGER
Danger! Risk of electric shock!
If work on electrical components is required, ensure that the work is carried
out properly, failure to do so will cause serious or fatal injuries.
Work on the machine's electrical equipment may only be performed by
skilled electrician or trained personnel under the supervision of a skilled
electrician in accordance with all relevant electrical regulations.
Only work on electrical systems when they are de-energised!
DANGER
Danger due to strong magnetic fields.
Due to the strong magnetic fields, electronic devices such as pacemakers
can be disturbed or their function impaired.
Persons with a pacemaker must keep a safety distance of at least 0.2 [m]
cm.
The system must be provided with appropriate warning signs.
The personnel shall be instructed accordingly
CAUTION
Danger of injury from hot surfaces.
During operation, maintenance and repair of the rotational axis, the surface
heats up to 60°C.
Wear protective gloves!
Before touching hot surfaces without protective gloves, make sure they
have cooled down to ambient temperature.

Safety instructions
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2.8.5 Mechanical hazards
CAUTION
Danger of injury by moving components!
Limbs can be injured by moving components (bruises, contusions, broken
bones)!
Work on and with the rotational axis may only be carried out by qualified
personnel.
Never reach into the system during normal operation!
Provide suitable protective enclosure.

Technical data
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3 Technical data
3.1 Rotational axis RA-40-2F
3.1.1 Dimensional drawing RA-40-2F
Fig. 1 Dimensional drawing rotational axis RA-40-2F

Technical data
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3.1.2 Technical data RA-40-2F

Technical data
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3.1.3 Dimensional drawing RA-40-2F-5E
Fig. 2 Dimensional drawing rotational axis RA-40-2F-5F

Technical data
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3.1.4 Technical data RA-40-2F-5F

Technical data
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3.2 Rotational axis RA-40-4F
3.2.1 Dimensional drawing RA-40-4F
Fig. 3 Dimensional drawing rotational axis RA-40-4F