Festo ERMB User manual

(en) Operating
instructions
Rotary module
ERMB
8103858
2018-12a
[8103860]

ERMB
Festo ERMB 2018-12a
2
Translation of the original instructions
Identification of hazards and instructions on how to prevent them:
Danger
Immediate dangers which can lead to death or serious injuries
Warning
Hazards that can cause death or serious injuries
Caution
Hazards that can cause minor injuries
Other symbols:
Note
Material damage or loss of function
Recommendations, tips, references to other documentation
Essential or useful accessories
Information on environmentally sound usage
Text designations:
 Activities that may be carried out in any order
1. Activities that should be carried out in the order stated
– General lists
èResult of an action/References to more detailed information

ERMB
Festo ERMB 2018-12a English 3
Rotary module ERMBEnglish
Contents
1 Operating parts and connections 4................................
2 Function and application 5.......................................
3 Transport and storage 5.........................................
4 Conditions of use 6.............................................
5 Fitting 7......................................................
Fitting mechanical components 7..................................
Fitting electric components 9.....................................
Fitting electric components 10.....................................
6 Commissioning 11...............................................
Commissioning – carrying out 12...................................
7 Operation 12...................................................
8 Care and maintenance 13.........................................
9 Repairs 13.....................................................
10 Accessories 14..................................................
11 Eliminating faults 14.............................................
12 Technical specifications 15.......................................
Characteristic curves 17..........................................

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For all available product documentation èwww.festo.com/pk
1 Operating parts and connections
235641
Fig. 1
7
891 aJ
1Centring holes and threaded holes for
fastening (on 6 sides)
2Drive shaft (hollow shaft) with thread for
accessories, rear side
3Threaded holes for kits for connecting
the motor
4Drive shaft
5Drive shaft with centring holes and
threaded holes for work load, front
6Threaded hole for proximity switch
(covered)
7Toothed belt tension pulley with locking
screw for service personnel
8Through hole for fastening
9Marking hole on connector ring for switch
ing cam lying behind
aJ Holes for service personnel

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2 Function and application
A toothed belt transfers the rotary movement of a motor to a hollow shaft.
The shafts have ball bearings. The reference position of the hollow shaft can
be scanned with the aid of an inductive proximity switch in the threaded hole 6.
The rotary module type ERMB is intended for turning work loads (e. g. with
grippers). The ERMB is not permitted for application conditions in which vegetable
and water-soluble greases or oils can penetrate into the axis. Vegetable greases or
oils can reduce the capacity of the toothed belt.
Note
The ERMB is not fitted with a brake. When the input torque is not applied,
the rotary module can be moved freely. Generally self-locking of the complete
system can be achieved with motors with integrated holding brake or with high
self-braking torque.
SUse the motors specified in the Festo (ècatalogue.
www.festo.com/catalogue).
You will then be operating two devices which are especially matched to each
other.
When using other motors:
SObserve the maximum values for torques and speeds èchapter “12 Technical
specifications.”
SNote the interface geometries (e.g. for the drive shafts) ècatalogue
specifications under www.festo.com/catalogue
3 Transport and storage
STake into account the weight of the rotary module. Depending on the design
the ERMB can weigh up to 3.3 kg.
SEnsure storage conditions as follows:
– Storage times should be kept to a minimum
– cool, dry, shaded, corrosion-protected storage locations

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4 Conditions of use
Warning
Uncontrolled moving masses can cause in
jury to people or damage to property
(danger of fingers being squashed).
SApply power to the drive motor, at first
limited to low speeds and torques.
Note
The positioning times and permitted mass moments of inertia on the drive
depend to a large extent on the flange-mounted motor.
SUse the design tool “Positioning Drives” from Festo for ascertaining the
optimum combination of the products (èwww.festo.com).
Make sure that the following specifications are observed:
SCompare the maximum values specified in these operating instructions with
those of your actual application (e.g. forces, torques, temperatures, masses,
speeds).
The product can only be operated in compliance with the relevant safety
regulations if the maximum loading limits are observed.
STake into consideration the ambient conditions at the location of use.
Corrosive environments reduce the service life of the product (e.g. ozone).
SPlease comply with national and local safety laws and regulations.
SRemove transport packaging such as foils (polyethylene) and cardboard.
The packing is intended for recycling (except for: oiled paper = other waste).
SUse the product in its original state. Unauthorised modification is not per
mitted.
STake the tolerance of the tightening torques into consideration. Without
special specification the tolerance is ±20 %.
Fig. 2

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5 Fitting
Fitting mechanical components
SDo not modify the settings of screws and threaded pins if there is no request to
do this in these operating instructions.
SFit the motor onto the rotary module in
accordance with the assembly instruc
tions for the kit recommended in the cata
logue.
Fitting the product:
Note
External stops can cause the toothed belt to tear due to excessive forces.
SUse only the motor controller for braking the ERMB.
SPosition the ERMB so that all the operating parts are accessible.
SFasten the ERMB with 4 screws and
2 centring sleeves (diagonal) or with the
aid of kits to the threaded holes 1or 8.
Fastening is possible on all six side sur
faces.
Fig. 3
Fig. 4

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STighten the fastening screws evenly.
Observe the max. screw-in depth D on the base surface (èFig. 5).
ERMB-... 20 25 32
Tightening
torque
M4
M5
M6
[Nm] 2.9
5.9
–
–
5.9
9.9
–
5.9
9.9
Max. screw-
in depth D
[mm] 10
Centring
sleeves
[mm] Dia. 9x4
Fig. 5
Eccentric loads fitted in a vertical or sloping position:
Warning
Uncontrolled moving masses can cause
injury to people or damage to property
(danger of fingers being squashed).
If there is a power failure or if the toothed
belt breaks inside the ERMB, the work load
will slide down.
SMake sure that the ERMB is driven only
by motors with an integrated spring-
loaded holding brake.
SCheck whether external safety measures
against damage due to toothed-belt frac
ture are necessary (e.g. toothed latches
or moving bolts).
In this way you can prevent the work
load from sliding down.
Fig. 6

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Festo ERMB 2018-12a English 9
Fitting the work load
SPlace the centre of gravity of the work
load if possible centrically to the drive
shaft.
SFasten the work load to the drive shaft
with at least 2 screws and 2 centring
sleeves (diagonal) or with the aid of kits.
ERMB-... 20 25 32
Screw M4 M6 M6
Tightening
torque
[Nm] 2.9 9.9 9.9
Max. screw-
in depth E
[mm] 9.6 12 12
Centring
sleeves
[mm] dia.
7x3
dia.
9x4
dia.
9x4
Fig. 8
Fitting electric components
Fitting an inductive proximity switch as reference switch:
1. Turn the drive shaft until the marking
hole (A) reaches the threaded hole 6.
2. Push the clamping element (C) into the
recess intended for this.
3. Screw the proximity switch (D):
– at first into the hole 6until it touches
the switching cam (B).
– then unscrew it approx. 0.6 of a turn
(o0.6 mm).
4. Screw the threaded pin (ß2.5) into the
clamping unit (C). The tightening torque
is 0.8 Nm.
Fig. 7
Fig. 9
(A)(B)
(C)
(D)
6

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SCheck whether additional proximity switches are necessary. The scanning kit
can be used for this purpose in accordance with the section on Accessories
(ècatalogue specifications, www.festo.com/catalogue).
Turning the switching ring (E)
SScrew the switching ring with a pin into
the hole (A) as far as is desired (90° latch
ing). The drive shaft 2must be used here
as a counter hold.
Turning the holding ring (F)
Note
If the holding ring is loosened, the drive
shaft may be drawn out of the ERMB due
to excessive axial forces.
SAvoid axial forces when the holding ring
is loose.
SUnscrew:
– The 4 fastening screws out of the holding ring (F).
– Screw the holding ring into the desired position (note permitted swivel
angle).
– Screw the 4 fastening screws into the holding ring again.
The permitted swivel angle and tightening torques are as follows:
ERMB-... 20 25 32
Permitted swivel angle [°] 180 90/180/270 90/180/270
Tightening torque [Nm] 2.9 2.9 5.9
Fig. 11
Fitting electric components
Note
If used in safety-relevant applications additional measures are necessary. In
Europe, for example, the EU machine guideline standards must be observed.
Without additional measures in accordance with legally specified minimum
requirements, the product is not suitable as a safety relevant component in
control systems.
Fig. 10
2
(E)
(F)
(A)

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Festo ERMB 2018-12a English 11
6 Commissioning
Warning
Uncontrolled moving masses can cause injury
to people or damage to property (danger of
fingers being squashed).
SMake sure that:
– nobody can place his/her hand in the path
of the moving parts (e.g. by means of a
protective screen),
– there are no objects in the positioning
range.
It should not be possible to touch the ERMB
until the mass has come to a complete
stand.
Fig. 12
Note
Excessive drive torques will damage the ERMB.
SObserve the maximum permitted drive torque of the ERMB. If necessary,
the motor current must be limited.
Note
With excessive rotary movements (e.g. endless rotation) the energy supply to
the plug-in components may be interrupted.
Firmly held loads may then fall down (e.g. if the tubing of a pneumatic gripper is
loosened).
SCheck whether mechanical or electric safety measures are necessary.
1. Check travel 2. Reference run (homing) 3. Test run
Determining the direction of
movement of the motor
Adjusting the real situation
with the image in the
controller
Checking the complete
behaviour
Fig. 13: Definitions

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Commissioning – carrying out
1. Start check travel limited to low dynamics.
In spite of equal control, motors of the same type sometimes turn in the oppo
site direction due to the circuitry.
2. Start reference travel limited to low dynamics up to the reference switch in accord
ance with the operating instructions for your motor drive system.
3. Start test travel limited to low dynamics.
4. Check whether the ERMB fulfils the following requirements:
– The rotary module must be able to move through the complete intended
positioning cycle.
– The rotary module stops as expected.
7 Operation
Warning
Uncontrolled moving masses can cause injury
to people or damage to property (danger of
fingers being squashed).
SMake sure that:
– nobody can place his/her hand in the path
of the moving parts (e.g. by means of a
protective screen),
– there are no objects in the positioning
range.
It should not be possible to touch the ERMB
until the mass has come to a complete
stand.
Fig. 14
If the motor turns in the wrong direction:
Note
The reference position will be lost if the motor is dismantled.
SStart reference travel in accordance with the chapter “Commissioning”
in order to determine the new reference position.

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Festo ERMB 2018-12a English 13
8 Care and maintenance
Warning
Uncontrolled moving masses can cause injury to people or damage to property
(danger of fingers being squashed). Controller signals can cause unintentional
movements of the ERMB.
SSwitch off the controller for all maintenance work on the ERMB and protect it
from being switched on again unintentionally.
SIf necessary, clean the ERMB with a soft cloth.
Cleaning agents: all non-abrasive media.
Optimizing the service life of the toothed belt with swivel angles less than 360°:
1. Carry out the following steps after every 2 million load changes:
– Turn the switching ring (E) 90° (èchapter 5 “Fitting electric components”)
– Dismantling the work load.
– Also turn the work load 90° in the same direction.
– Mount the work load again.
A different part of the toothed belt then comes into the loading zone of the
toothed gear.
2. Repeat the commissioning.
9 Repairs
Recommendation:
SReturn the product to our repair service for overhaul.
The necessary accurate adjustments and tests will then be taken into account.

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10 Accessories
Note
SPlease select the appropriate accessories from our catalogue
www.festo.com/catalogue
11 Eliminating faults
Fault Possible cause Remedy
Squeaking
noises or
vibrations
Incorrect controller settings Modify the controller parameters
Rotary module
does not move
Loadings too high Reduce load mass
Reduce positioning speed
Send ERMB to Festo for repairs
Fastening screws too long Observe maximum screw-in depth (èchapter 5
“Fitting mechanical components”)
Motor is blocked Eliminate cause
Drive shaft can
be turned freely
Toothed belt fracture Send ERMB to Festo for repairs
Coupling to motor loosened Check fitting
Tighten clamping screw
Fig. 15

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12 Technical specifications
ERMB-... 20 25 32
Constructional design Electromechanical drive unit with toothed belt
Drive shaft diameter [mm] 6 8 12
Hollow shaft diameter [mm] 20 24 28
Rotation angle endless
Repetition accuracy:
– with EMMS-AS
– with EMMS-ST
– with MTR-DCI
[°] ±0.03
±0.08
±0.05
Transmission ratio 4.5:1 4:1 3:1
Assembly position as desired
Max. drive torque [Nm] 0.7 2.2 8.5
Max. drive torque 1) [Nm] 3.15 8.8 25.5
Idle drive torque 2) [Nm] < 0.07 < 0.18 < 0.5
Max. input speed [1/min] 1350 1200 900
Max. drive take-off speed [1/min] 300
Max. mass moment of
inertia of the work load 3)
[kgcm2]< 200 < 1200 < 3700
Toothed belt spacing [mm] 2 3 5
Ambient temperature [°C] –10 ... +60
Protection class IP20
1)Drive take-off torque minus friction depends on speed
2) at maximum speed
3) Motor-dependent; measured with MTR-DCI-...-G14

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ERMB-... 322520
– Vibration
– Shock
tested as per DIN/IEC 68/EN 60068 part 2-6;
0.15 mm path at 10 ... 58 Hz;
2 g acceleration at 58 ... 150 Hz
tested as per DIN/IEC 68/EN 60068 part 2-27;
±15 g at 11 ms duration; 5 shocks in each direction
Materials: Drive shaft, cover,
housing profile: anodised aluminium
Drive shaft: high-alloy steel,
stainless
Toothed belt: polychloroprene
with glass fibre
Weight (approx.) [kg] 0.85 1.46 3.25
1)Drive take-off torque minus friction depends on speed
2) at maximum speed
3) Motor-dependent; measured with MTR-DCI-...-G14
Fig. 16

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Characteristic curves
1 Max. static power Fx and Fy as a function of the distance y and z
ERMB-20
ERMB-25
ERMB-32
|Fx|
Fxmax
)
|Fy|
Fymax
v1

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Festo ERMB 2018-12a
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2 Max. dynamic power Fx and Fy as a function of the distance y and z
ERMB-20
ERMB-25
ERMB-32
|Fx|
Fxmax
)
|Fy|
Fymax
v1

ERMB
Festo ERMB 2018-12a 19

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tion of its contents to others without express authorization is
prohibited. Offenders will be liable for damages. All rights re
served in the event that a patent, utility model or design patent is
registered.
Copyright:
Festo SE & Co. KG
Ruiter Straße 82
73734 Esslingen
Germany
Phone:
[phone]
Fax:
[phone]
E-mail:
[e-mail]
Internet:
www.festo.com