Afag RA-40-2F Series User manual

Rotary axis RA-40
Operating manual

Subject to change. 2 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
1 Content
1Content..................................................................................................................................2
2Preface..................................................................................................................................4
3Safety information .................................................................................................................4
General safety information..............................................................................................4
Please observe the information in the operating instructions!.........................................4
Protection against dangerous movements......................................................................5
Explanation of symbols and signs...................................................................................5
3.4.1 Warnings..................................................................................................................5
3.4.2 Symbols ...................................................................................................................5
4Product description................................................................................................................6
Intended use...................................................................................................................6
Warranty and liability.......................................................................................................6
5Rotary axis RA-40 .................................................................................................................7
RA-40-2F........................................................................................................................8
RA-40-4F......................................................................................................................10
RA-40-2F-5E.................................................................................................................12
RA-40-4F-5E.................................................................................................................14
6Installation...........................................................................................................................16
7Connection..........................................................................................................................17
Power supplies .............................................................................................................17
Controller C11x0...........................................................................................................18
Controller C12x0...........................................................................................................20
Controller E12x0...........................................................................................................22
Controller E11x0...........................................................................................................24
Controller B1100...........................................................................................................26
Motor connector............................................................................................................28
Plug configuration encoder...........................................................................................29
7.8.1 Round connector on the module ............................................................................29
7.8.2 Encoder plug configuration on the controller..........................................................29
Electrical feed-through / Proximity switch cable-R11....................................................30
Y-distributor plug R12...................................................................................................30
Reference sensor..........................................................................................................30
86 Commissioning.................................................................................................................31
Setting speeds of the electric axes...............................................................................31
Overview electrical axes...............................................................................................31
Teaching of positions on electric axes..........................................................................32
1.1 Switching distance........................................................................................................32
1.1.1 Reference sensor with electric axes.......................................................................32
9Maintenance........................................................................................................................33
10 Repairs................................................................................................................................33
11 Component/replacement part lists.......................................................................................34
Overview motor cabel-designation-axes-controller-application.....................................34

Subject to change. 3 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
Motor cable...................................................................................................................35
Encoder ........................................................................................................................36
Controller......................................................................................................................36
12 Disposal instructions............................................................................................................37
13 Installation manual in accordance with Appendix VI (EC-RL 2006/42/EC)..........................38
14 Installation declaration for partly completed machinery (EC-RL 2006/42/EC).....................39
15 Risk assessment (EG-RL 2006/42/EG)...............................................................................40
16 Support................................................................................................................................45
17 Notes...................................................................................................................................46

Subject to change. 4 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
2 Preface
It is our aim to present all essential information contained in these operating instructions as clearly
and concisely as possible. However, please do not hesitate to contact us should you have any queries.
We are always very grateful for your suggestions.
We wish you a successful integration of our devices into your machines or systems.
3 Safety information
General safety information
The pick and place EPS devices are constructed according to the state of the art and the
acknowledged safety-related guidelines; they may only be used
for their intended purpose,
and only when in an operationally safe condition.
Please observe the information in the operating instructions!
The prerequisite for the safe handling and smooth operation of the pick and place EPS devices is
awareness of the fundamental safety standards
Every person tasked with the installation, commissioning, maintenance and operation of the pick and
place EPS devices is required to have thoroughly read and understood the entire user manual,
particularly the "safety notes" chapter.
Furthermore, the rules and regulations on accident prevention applicable at the place of
installation/operation must also be observed. Improper use may result in dangers to the life and limb
of the operator or third parties and in impairments to the machine or other assets.
In the event of faults that could impair safety, the machine must be switched off immediately and
secured to prevent restarting. The fault must then be remedied.
All work on the machines must be carried out with the machines depressurised and disconnected
from the electrical power supply.
For the operation of the machines, the user must provide protective covers, safety doors or other
safety precautions conforming to the normal safety guidelines and safety standards which prevent
people from entering or remaining in the working area of the machines during operation. The
machines may only be put into operation when the guards are securely closed.

Subject to change. 5 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
Protection against dangerous movements
Dangerous movements can occur if drives are actuated incorrectly. The drive components are
monitored so that a malfunction can be effectively ruled out. For reasons of personal safety, the risk
of injury and the risk of material damage, however, this must not be relied on exclusively. Faulty drive
movements must be anticipated until installed monitoring devices become go into effect.
Explanation of symbols and signs
The following warnings and symbols help readers understand
this manual quickly and ensure that the EMD modules can be handled
safely.
3.4.1 Warnings
Danger
This symbol draws attention to an imminently hazardous situation that will result in
serious personal injury or even death if the safety regulations are not observed.
Warning
This symbol draws attention to a potentially hazardous situation that will result in
serious personal injury or property damage if the safety
regulations are not
observed.
Caution
This symbol draws attention to a potentially hazardous situation that will result in
property damage if the safety regulations are not observed.
3.4.2 Symbols
Information sign
This symbol indicates information that contributes to better understanding.
!
!
!
INFO

Subject to change. 6 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
4 Product description
Intended use
The pick and place EPS devices are used in automation systems and are intended exclusively for
moving workpieces.
The pneumatic modules are intended exclusively for operation with compressed air (4-7 bar). Use for
any other purpose does not constitute an intended use.
The electric axes are intended exclusively for operation with original LinMot components (controllers,
cables...). Use for any other purpose does not constitute an intended use.
The intended use also includes compliance with the prescribed installation and removal instructions,
the service and maintenance conditions and observance of the specifications in the data sheets.
Warranty and liability
The "General Conditions of Sale and Delivery" of Afag GmbH shall apply in all cases.
The term of the warranty on Afag handling components and systems is:
24 months following commissioning, butnot exceeding 27 months following delivery.
Wear parts (e.g. shock absorbers) are excluded from the warranty. *
The guarantee covers the use or repair of defective Afag parts. No further claims will be
accepted.
The warranty will be voided in event of the following:
Use for other than the intended purpose
Failure to observe the information on installation, commissioning, operation and
maintenance in the operating manual
Improper installation, commissioning, operation and maintenance
Independent repairs and constructional changes without prior instruction by Afag
Automation AG/Afag Hardt GmbH
Removal of the serial number on the product
Using the module without shock absorbers, or with defective shock absorbers
Inadequate monitoring of wear parts
Failure to observe the EC Machinery Directive, accident prevention regulations, VDE
guidelines as well as the safety/installation instructions
Emergencies caused by external influence or force majeure.
*A customer has the right to a defect-free product. This is also applicable for accessories and
wear parts, if they are defective.

Subject to change. 7 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
5 Rotary axis RA-40
Allgemein
Operating temperature: 0 - 50°C
Bearing temperature: 0 - 50°C
Humidity: < 90%
Module stresses
Max. torque Mr: 10Nm
Max. press-in force Fe: 800N
Max. radial force: ±700N
Max. pulling force Fz: 350N

Subject to change. 8 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
RA-40-2F
Type RA-40-2F-30-G RA-40-2F-30-W RA-40-2F-30-G-ZE RA-40-2F-30-W-ZE
Order number 50473180 50473182 50473183 50473184
Net weight 0.69 kg 0.69 kg 0.74 kg 0.74 kg
Angle of rotation ∞∞∞∞
Max. rotational speed
280 rpm
280 rpm
280 rpm
280 rpm
Fluid passages
2
2
2
2
Continuous torque
1.2 Nm
1.2 Nm
1.2 Nm
1.2 Nm
Max. output torque 2.4 Nm 2.4 Nm 2.4 Nm 2.4 Nm
Ratio 30:1 30:1 30:1 30:1
Repeat accuracy +/- 0.0017 ° +/- 0.0017 ° +/- 0.0017 ° +/- 0.0017 °
Encoder
SV-TLL ABZ,
61440 Inc/U
SV-TLL ABZ,
61440 Inc/U
Mounting position
Type RA-40-2F-50-G RA-40-2F-50-W RA-40-2F-50-G-ZE RA-40-2F-50-W-ZE
Order number 50473185 50473186 50473187 50473188
Net weight 0.69 kg 0.69 kg 0.74 kg 0.74 kg
Angle of rotation
∞
∞
∞
∞
Max. rotational speed
140 rpm
140 rpm
140 rpm
140 rpm
Fluid passages
2
2
2
2
Continuous torque 2 Nm 2 Nm 2 Nm 2 Nm
Max. output torque 4 Nm 4 Nm 4 Nm 4 Nm
Ratio 50:1 50:1 50:1 50:1
Repeat accuracy +/- 0.0017 ° +/- 0.0017 ° +/- 0.0017 ° +/- 0.0017 °
Encoder
SV-TLL ABZ,
102400 Inc/U
SV-TLL ABZ,
102400 Inc/U
Mounting position
The technical data pertains to Afag standard test conditions. Air purity class 5 (ISO 14644-1)
Cleanroom class: 10 000 (Federal Standard 209E)
In the article description of a rotary axis the “F” stands for fluid passages and the “E” for electrical feed-through. There are two
version of motor plugs. A „G“ in the article description of the rotary axis stand for a straight and the „W“ for an angular plug. Also
see order key for RA-40.

Subject to change. 9 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
Type RA-40-2F RA-40-2F (ZE)
A
141 mm
159 mm

Subject to change. 10 Vers. 1.1 en 01.01.2019
Afag Hardt GmbH – Gewerbestraße 11 - 78739 Hardt - Phone:[phone]
Company headquarters: 78739 Hardt, Managing Director: Walter Kunz, HRB 480966 Stuttgart
RA-40-4F
Type RA-40-4F-30-G RA-40-4F-30-W RA-40-4F-30-G-ZE RA-40-4F-30-W-ZE
Order number 50473189 50473190 50473191 50473192
Net weight 0.74 kg 0.74 kg 0.79 kg 0.79 kg
Angle of rotation ∞∞∞∞
Max. rotational speed
280 rpm
280 rpm
280 rpm
280 rpm
Fluid passages
2
2
2
2
Continuous torque
1.2 Nm
1.2 Nm
1.2 Nm
1.2 Nm
Max. output torque 2.4 Nm 2.4 Nm 2.4 Nm 2.4 Nm
Ratio 30:1 30:1 30:1 30:1
Repeat accuracy +/- 0.0017 ° +/- 0.0017 ° +/- 0.0017 ° +/- 0.0017 °
Encoder
SV-TLL ABZ,
61440 Inc/U
SV-TLL ABZ,
61440 Inc/U
Mounting position
Type RA-40-4F-50-G RA-40-4F-50-W RA-40-4F-50-G-ZE RA-40-4F-50-W-ZE
Order number 50473193 50473194 50473195 50473196
Net weight 0.74 kg 0.74 kg 0.79 kg 0.79 kg
Angle of rotation
∞
∞
∞
∞
Max. rotational speed
140 rpm
140 rpm
140 rpm
140 rpm
Fluid passages
2
2
2
2
Continuous torque 2 Nm 2 Nm 2 Nm 2 Nm
Max. output torque 4 Nm 4 Nm 4 Nm 4 Nm
Ratio 50:1 50:1 50:1 50:1
Repeat accuracy +/- 0.0017 ° +/- 0.0017 ° +/- 0.0017 ° +/- 0.0017 °
Encoder
SV-TLL ABZ,
102400 Inc/U
SV-TLL ABZ,
102400 Inc/U
Mounting position
The technical data pertains to Afag standard test conditions. Air purity class 5 (ISO 14644-1)
Cleanroom class: 10 000 (Federal Standard 209E)
In the article description of a rotary axis the “F” stands for fluid passages and the “E” for electrical feed-through. There are two
version of motor plugs. A „G“ in the article description of the rotary axis stand for a straight and the „W“ for an angular plug. Also
see order key for RA-40.