LinMot PR02-38 User manual

NTI AG / LinMot Dok-Nr. 0185-0095-E_1V0_IG_Linear_Rotary_Motors_PR02-38
Installation Guide
Linear Rotary Motors
ENG
PR02-38

Installation Guide Linear Rotary Motors ENG
Page 2 / 39 PR02-38 NTI AG / LinMot
Content
1General Information ................................................................................................................................. 4
1.1 Introduction........................................................................................................................................ 4
1.2 Explanation of Symbols..................................................................................................................... 4
1.3 Qualified Personnel ........................................................................................................................... 4
1.4 Liability............................................................................................................................................... 4
1.5 Copyright............................................................................................................................................ 4
2Safety Instructions ................................................................................................................................... 5
3Intended Use............................................................................................................................................. 7
3.1 Designation Code PR02 Linear Rotary Motors ................................................................................. 7
3.2 PR02-38 Linear Rotary Motor............................................................................................................ 7
3.3 Internal Mechanical Stops ................................................................................................................. 8
3.4 Max. Speed........................................................................................................................................ 8
3.5 Option Load Compensation MagSpring®.......................................................................................... 8
3.6 Option Hollow Shaft........................................................................................................................... 8
3.7 Option Torque Sensor ....................................................................................................................... 8
3.8 Option Force Sensor.......................................................................................................................... 9
3.9 Option angled Motor Connector (R01) ............................................................................................ 10
4Installation Instructions......................................................................................................................... 10
4.1 Operating Conditions....................................................................................................................... 10
4.2 Installation Options .......................................................................................................................... 10
4.2.1 Horizontal Installation .................................................................................................................. 10
4.2.2 Vertical Installation....................................................................................................................... 11
4.3 Mounting the Load on the Shaft ...................................................................................................... 11
4.3.1 Feather Key ................................................................................................................................. 11
4.3.2 Shaft-Hub Clamping .................................................................................................................... 12
4.4 Material Data ................................................................................................................................... 12
5Connections............................................................................................................................................ 13
5.1 Electrical Connection....................................................................................................................... 13
5.1.1 Motor Cable ................................................................................................................................. 13
5.1.2 Wiring Linear Rotary Motor.......................................................................................................... 14
5.1.3 Overview of the Connectors ........................................................................................................ 15
5.1.4 Connector Wiring Linear Rotary Motor........................................................................................ 15
5.1.5 Connector Wiring Torque Measuring Shaft ................................................................................. 16
5.1.6 Connector Wiring Force Sensor .................................................................................................. 17
5.2 Connection of Air ............................................................................................................................. 18
6Start-up.................................................................................................................................................... 19
6.1 Linear Motor and Rotary Motor........................................................................................................ 19
6.2 Default Values of the Coordinate System........................................................................................ 19
6.2.1 Angle of Rotation ......................................................................................................................... 19
6.2.2 Position........................................................................................................................................ 19
6.3 Torque Measuring Shaft .................................................................................................................. 20
6.3.1 Torque Operating Direction ......................................................................................................... 20

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NTI AG / LinMot PR02-38 Page 3 / 39
6.4 Force Sensor ................................................................................................................................... 20
6.4.1 Force Operating Direction............................................................................................................ 20
6.5 Magnetic Spring MagSpring®.......................................................................................................... 21
6.5.1 Force Direction............................................................................................................................. 21
6.6 Plug and Play Function for Linear Rotary Motors............................................................................ 21
6.7 Setting Motor Parameters................................................................................................................ 21
6.7.1 Selection of the Motor Data Files................................................................................................. 21
6.7.2 Application-specific Parameters .................................................................................................. 22
6.7.3 Inverting the Coordinate System ................................................................................................. 22
6.7.4 Selection of the Linear and Rotary Unit System.......................................................................... 24
6.7.5 Referencing the Linear Motor ...................................................................................................... 24
6.7.6 Referencing the Rotary Motor...................................................................................................... 25
6.8 Initial Setup of Torque Measuring Shaft and Force Sensor ............................................................ 25
6.8.1 Software Package „Technology Function Force Control“............................................................ 25
6.8.2 Setting Parameters for Torque / Force Control ........................................................................... 25
6.8.3 Initial Test of a Torque Measuring Shaft / Force Sensor............................................................. 27
7Accessories ............................................................................................................................................ 29
7.1 Overview.......................................................................................................................................... 29
7.2 Motor Cable ..................................................................................................................................... 30
7.3 Sensor Cable................................................................................................................................... 31
7.4 Shaft-Hub Clamping ........................................................................................................................ 31
7.4.1 Dimensions and Technical Data.................................................................................................. 32
7.4.2 Mounting...................................................................................................................................... 32
8Maintenance and Test Instructions ...................................................................................................... 33
8.1 Maintenance .................................................................................................................................... 33
8.1.1 Preventive Inspection every 6'000h............................................................................................. 33
8.1.2 Inspection after each 12'000h...................................................................................................... 33
8.1.3 Lubrication Specification.............................................................................................................. 33
8.2 Stator Checking ............................................................................................................................... 34
8.2.1 Linear Motor PS01-23x80F-HP-R................................................................................................ 34
8.2.2 Rotary Motor Stator RS01-38x51 ................................................................................................ 34
8.3 Calibration of Torque Measuring Shaft and Force Sensor.............................................................. 34
9Transport and Storage........................................................................................................................... 35
10 Dimensions......................................................................................................................................... 36
10.1 Linear Rotary Motor PR02-38x51-R_23x80F-HP-R-70-L_MS0x_TS0x_FS0x............................... 36
10.2 Connection of the Motor Cable........................................................................................................ 37
11 Declaration of Conformity and CE-marking.................................................................................... 38

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1 General Information
1.1 Introduction
This manual includes instructions for the assembly, installation, maintenance, transport, and storage of linear
rotary motors. The document is intended for electricians, mechanics, service technicians, and warehouse
staff.
Read this manual before using the product and observe the general safety instructions and those in the
relevant section at all times.
Keep these operating instructions in an accessible place and make them available to the personnel
assigned.
1.2 Explanation of Symbols
Triangular warning signs warn of danger.
Round command symbols tell what to do.
1.3 Qualified Personnel
All work such as installation, commissioning, operation and service of the product may only be carried out by
qualified personnel.
The personnel must have the necessary qualifications for the corresponding activity and be familiar with the
installation, commissioning, operation and service of the product. The manual and in particular the safety
instructions must be carefully read, understood and observed.
1.4 Liability
NTI AG (as manufacturer of LinMot and MagSpring products) excludes all liability for damages and
expenses caused by incorrect use of the products. This also applies to false applications, which are caused
by NTI AG's own data and notes, for example in the course of sales, support or application activities. It is the
responsibility of the user to check the data and information provided by NTI AG for correct applicability in
terms of safety. In addition, the entire responsibility for safety-related product functionality lies exclusively
with the user.Product warranties are void if products are used with stators, sliders, servo drives or cables not
manufactured by NTI AG unless such use was specifically approved by NTI AG.
NTI AG’s warranty is limited to repair or replacement as stated in our standard warranty policy as described
in our "terms and conditions" previously supplied to the purchaser of our equipment (please request copy of
same if not otherwise available). Further reference is made to our general terms and conditions.
1.5 Copyright
This work is protected by copyright.
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or
mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even
for training purposes, or translating, in whole or in part, without the prior written consent of NTI AG.
LinMot® is a registered trademark of NTI AG.

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NTI AG / LinMot PR02-38 Page 5 / 39
2 Safety Instructions
Pacemaker / Implanted Heart Defibrillator
Sliders could affect the functioning of pacemakers and implanted heart defibrillators. For the
duration of a strong approach to a magnetic field, these devices switch into test mode and
will not function properly.
•If you wear one of those devices keep a minimum distance of 300 mm (12ʺ) between
the pacemaker / defibrillator and the housing of the linear rotary motor.
•Inform others who wear these devices to comply with this minimum distance!
Caution - Risk of Electric Shock !
Before working, make sure that there are no high voltages.
Fast-moving Machine Parts
The sliders of LinMot linear motors are fast-moving machine parts. All necessary
precautions must be taken to prevent persons approaching the moving elements during
operation (provide covers, guards, etc.).
Automatic Restart
The motors can start automatically under certain cricumstances!
If necessary, a corresponding warning symbol must be provided and protection against
entering the hazardous area or a suitable safe electronic disconnection must be provided!
Risk of Injury due to a Defect or Fault
For areas where a defect or fault can result in substantial property damage or even serious
personal injury, additional external precautions must be taken or devices must be installed
to ensure safe operation even if a defect or fault occurs (eg. suitable safe electronic
disconnection, mechanical interlocks, barriers, etc.).
Magnetic Field
Magnets integrated in the sliders produce a strong magnetic field. They could damage TVs,
laptops, computer hard drives, credit and ATM cards, data storage media, mechanical
watches, hearing aids, and speakers.
•Keep magnets away from devices and objects that could be damaged by strong
magnetic fields.
•For the above mentioned objects, keep a minimum distance as described in the
"Pacemaker / implanted defibrillator" section.
•For non-anti-magnetic watches, keep the double minimum distance.
Burn Hazard
The shaft of LinMot linear rotary motors can reach temperatures of 80 °C, which may cause
burns upon contact.
Grounding
All metal parts that are exposed to contact during any user operation or servicing and likely
to become energized shall be reliably connected to the means for grounding.

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Effects on People
According to the current level of knowledge, magnetic fields of permanent magnets do not
have a measurable positive or negative effect on people. It is unlikely that permanent
magnets constitute a health risk, but it cannot be ruled out entirely.
•For your own safety, avoid constant contact with magnets.
•Store large magnets at least one meter away from your body.
Temperature Resistance
Keep motors away from unshielded flame or heat.
Temperature above 120°C will cause demagnetization.

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3 Intended Use
3.1 Designation Code PR02 Linear Rotary Motors
PR02-38x51 -R_23x80F-HP-R-70-Lxx_MSxx_TSxx_FSxx_xxx
Option mech. Variant / Customized
Option Force Sensor
Option Torque Sensor
Option Load Compensation / MagSpring
Option Hollow Shaft
Stroke Range
Connector Type (Linear Motor)
Linear Motor Type
Connector Type (Rotary Motor)
Rotary Motor Type
Motor Family
3.2 PR02-38 Linear Rotary Motor
LinMot linear rotary motors are direct electric drives for use in industrial and commercial installations. For
correct handling, observe the warnings listed in chap. 2.
The PR02 motor series is characterized by a slim design in which a linear and a rotary motor including
additional components are integrated in a common housing.
This features a high-precision and complex mechanical system. The optimization of the internal moving load
mass, as well as the moment of inertia, enables a dynamic movement of linear and rotating motion.
The PR02 linear rotary motor is designed for the simultaneous execution of linear and rotating movements.
This means that the rotary and linear movements can be executed simultaneously and completely
independently of each other. However, if the application permits, it is recommended to execute the rotary
movement with the linear rotary shaft retracted, if possible. The rotary and linear movements should also be
Linear Rotary
Shaft
Rotary Motor
Torque Sensor
Force Sensor
Air Connection
Sensor Cable
Linear Motor
Motor
Cable
Motor
Cable
Sensor Cable
Slider
Housing
MagSpring

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carried out one after the other. This reduces the bearing loads and achieves a longer service life of the linear
rotary shaft.
By combining linear and rotary motion, highly complex motion patterns, such as those required in sealing
and assembly applications, can be easily realized using LinMot linear rotary motors. In addition to the two
motors, further options such as an air feed-through, a magnetic spring "MagSpring", a torque sensor and a
force sensor can be integrated in the housing.
3.3 Internal Mechanical Stops
Do not drive into the internal mechanical stops!
It must be ensured that the linear motor does not move to the lower or upper internal stop
during operation, as otherwise the linear motor may be damaged! The internal stops may
only be used for homing purposes. The homing speed must not exceed the value of 0.01
m/s.
3.4 Max. Speed
The mechanically maximum permissible speed of 1500 rpm must not be exceeded.
3.5 Option Load Compensation MagSpring®
The MagSpring option is a passive load compensation based on a magnetic spring with constant force over
the functional stroke range that can be integrated into the module. MagSprings are available in various force
levels and can either push or pull the linear rotary shaft. The MagSpring option can be used to compensate
the load mass. With the correct design, the motor current and thus its power loss can be reduced, by using a
MagSpring. This makes higher cycle rates possible.
If the MagSpring is sized properly, it can move the linear rotary shaft including the load mass into a collision-
free zone in the event of current loss.
•Close to the stroke limit (idle state), the MagSpring has a reduced force to protect the
linear rotary motor from mechanical shocks in case of malfunction/control (self-
acceleration into mechanical stop).
•If the maximum defined stroke (see data sheet) is exceeded, the MagSpring function
can no longer be guaranteed.
3.6 Option Hollow Shaft
Linear rotary motors can optionally be equipped with a pneumatic connection. This allows pneumatic
compressed air or vacuum to be fed directly through the linear rotary shaft. This avoids the complex passage
of hoses around the linear rotary shaft. This option can be used, for example, to control pneumatic grippers
or to pick up parts with the help of vacuum. For more information, see chapter 4.4 Connecting the air.
•In the case of a vacuum application, it is recommended to use a unit with sufficient
power, as any air coupling points are known to produce minor losses.
•Hollow shafts are not intended for the passage of liquid media.
3.7 Option Torque Sensor
The optional, integrated torque sensor enables closed-loop torque control with target torque specification.
The measurement signal is also available to the user for the cyclical recording / evaluation of sensitive
process data (e.g. tightening torque). This makes it easy to implement high-precision, reproducible and
recordable closing & assembly processes in accordance with Industry 4.0 requirements.
Torque sensors are based on the measuring principle of strain gauges and transmit the measuring signal
and the supply voltage without contact. This enables low-wear and maintenance-free continuous operation.
With this option, a suitable, galvanically isolated measuring amplifier is automatically integrated in the linear
rotary motor and provides a measuring signal of +-10 VDC suitable for the LinMot drive.
Factory calibrations of integrated torque sensors are always carried out in the installed state. This has the
advantage that the influences of the mechanics and the linear rotary motor are included.

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•The torque measuring shaft is used to measure static as well as dynamic torques. The
sensor can measure both right-hand and left-hand loads. The measured variable is
suitable for control, regulation and monitoring tasks.
•Torque peaks exceeding the permissible overload (see specifications in the PR02 data
sheet) can lead to destruction of the torque measuring shaft. Where such peaks cannot
be safely excluded, they must be mitigated.
•When changing between right and left load, the torque sensor may show a small
hysteresis. This may cause the sensor to exceed the specified accuracy at the
changeover point.
•Simultaneously turning and measuring the force can falsify the measurement (e.g. due
to increased friction of the linear rotary shaft).
•The operating temperature range of the sensors is 5 - 45 °C. Above or below the limits,
there is a measurement error which influences the measurement results. It is
recommended to set the offset to zero before each measurement.
•The max. operating range is between 0 - 80 °C.
•For continuously precise measuring results, it is recommended to calibrate the torque
measuring shaft annually according to section 8.3.
•Recalibration is also strongly recommended after improper handling of the force
sensors (e.g. impacts on the linear rotary shaft or large overloads).
3.8 Option Force Sensor
The optional force sensor enables closed-loop force control with target force specification. The measurement
signal is also available to the user for the cyclical recording / evaluation of sensitive process data (e.g.
bounce force). This makes it easy to implement highly accurate, reproducible and recordable pressing &
assembly processes in accordance with Industry 4.0 requirements with high precision.
Force sensors are based on the measuring principle of strain gauges. They are designed to withstand
multiple mechanical overloads and still precisely detect the smallest forces. With this option, a suitable,
galvanically isolated measuring amplifier is automatically integrated in the linear rotary motor and provides a
measuring signal of +-10 VDC suitable for the LinMot drive.
Factory calibrations of integrated force sensors are always carried out in the installed state. This has the
advantage that the influences of the mechanics and the linear rotary motor are included.
•The force sensor is used to measure compressive and tensile forces. The measured
variable is suitable for control, regulation and monitoring tasks.
•Force peaks exceeding the permissible overload (see information in the PR02 data
sheet) can lead to destruction of the force sensor. Where such peaks cannot be safely
excluded, they must be mitigated.
•When changing between increasing and decreasing forces, the force sensor may show
a small hysteresis. This can lead to the sensor exceeding the specified accuracy at the
change point.
•Due to the static friction in the system, the force sensor measures more accurately if the
force vector always points in the same direction during repeated measurement
(influence of force hysteresis).
•To increase the measuring accuracy, linear rotary motors with integrated force sensor
technology are supplied without sealing lips / wipers.
•Simultaneous rotation and measurement of the force can falsify the measurement (e.g.
due to increased friction of the linear rotary shaft).
•The operating temperature range of the sensors is 5 - 45 °C. Above or below the limits,
there is a measurement error which influences the measurement results. It is
recommended to set the offset to zero before each measuring process.
•The max. operating range is between 0 - 80 °C.
•For continuously precise measurement results, it is recommended to calibrate the force
sensor annually according to section 8.3.
•Recalibration is also strongly recommended after improper handling of the force
sensors (e.g. impacts on the stroke rotating shaft or large overload).

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3.9 Option angled Motor Connector (R01)
In order to offer the user an even shorter installation length, linear rotary motors of the PR02-38 family are
optionally available with a motor angle connector. Since this option is only a mechanical variant, the function
of the motor remains the same.
•Further information can be found in the drawings in chapter 10.
•PR02-38 linear rotary motors with the angled motor connector are only available on
request.
4 Installation Instructions
4.1 Operating Conditions
Maximum ambient temperature limits:
•-10 °C…80 °C
Internal temperature sensor error occurs at:
•90 °C
Max. installation altitude
•The max. installation altitude is 4'000 m above sea level.
From 1'000 m, derating of 1 °C per 100 m is to be considered for air cooling.
4.2 Installation Options
The PR02 linear motors have a centric fit (technical data in the chapter "Dimensions") on the front so that an
exact alignment of the rotary axis is possible.
Mounting only via the front screws is generally not sufficient (vibrations, transverse load) and must be
supplemented by another support. For reasons of vibration, a support as far back as possible is preferable.
See the installation examples in the following chapter. To ensure that the motor is not installed in the
machine with tension, tolerance compensation (see next chapter) must be provided. The detailed mounting
dimensions can be found in chapter 10 "Dimensions". The corresponding CAD files are available in the
LinMot eCatalogue https://shop.linmot.com/
4.2.1 Horizontal Installation
The PR02 linear rotary motor can be mounted horizontally using the
T-slots at the bottom.
T-nuts (M4) can be used for fastening.
Ordering Information
Item
Description
Item-No.
Nut N6/M4
Nut for 6 mm T-slots with M4 thread
0150-4383

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4.2.2 Vertical Installation
The T-slots on the underside of the PR02 are used for stable
vertical mounting (see explanation above). In addition, the front of
the motor should be fixed using the 4 tapped holes. The positions of
the tapped holes can be found in the "Dimensions" section.
In order to avoid overdetermination of the different
motor bearings, the support must have a minimum
clearance. This compensates for any tolerances in the
linear rotary motor.
4.3 Mounting the Load on the Shaft
The assembly and disassembly of the load mass must not take place in the mechanical end
stops of the linear movement. An external support must be used.
4.3.1 Feather Key
The load mass is mounted either by means of a feather key or a shaft-hub clamping.
For the first mounting variant, a feather key slot is incorporated at the end of the shaft.
Ordering Information
Item
Description
Item-No.
Parallel keys deep
pattern
face side domed / DIN 6885 A / ISO R773
3x3x10, steel C 45 K, plain
0230-0602
Feather key slot

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4.3.2 Shaft-Hub Clamping
The shaft-hub clamping is a non-positive
connection which is produced by means of two
conical rings.
The use of drivers or the production of grooves is
completely eliminated. The suitable shaft-hub
clamping type can be ordered from LinMot.
Mounting instructions and ordering information can
be found in the "Accessories" chapter.
4.4 Material Data
Component
Material
Linear Rotary Shaft
Quenched and tempered steel 1.0601 / C60
Front Flange
Hard anodized aluminium 3.3206
Linear Ball Bearing
Steel
Wiper
NBR
Housing Linear Rotary Motor
Hard anodized aluminium 3.3206

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5 Connections
5.1 Electrical Connection
Only connect or disconnect the motor connector and sensor cable if no voltage is applied to
the servo drive!
Only original LinMot cables may be used for wiring the motor and sensor! Self-assembled
cables must be checked carefully before commissioning!
Incorrect motor wiring can damage the motor and/or the servo drive!
5.1.1 Motor Cable
Three types of cables are available for the linear rotary motors. The standard motor cable is intended for
stationary installation. The High-Flex cable (suitable for cable tracks) and the robot cable are used for
moving cable applications.
Wiring Linear Rotary Motor
Wiring
torque
measuring
shaft / force
sensor
Standard cable
High-flex cable
Robot cable
High-flex cable
Cable type
K05-04/05
KS05-04/05
KR05-04/05
KSS02-08
Min. bending radius
stationary
25 mm
(0.98 in)
30 mm
(1.18 in)
40 mm
(1.57 in)
35 mm
Min. bending radius
moving
Not suitable for
applications with
moving motor
cable
60 mm
No torsion
80 mm
Max. torsion:
±270° pro 0.5 m
61 mm
Approval
Cable material
acc. UL
UL / CSA 300V
UL / CSA 300V
Cable material
acc. UL
Material wire insulation
TPE-U
TPE-E
TPE-E
PP
Material cable sheath
PUR
PUR
PUR
PUR
Oil resistance
very good
very good
very good
good
Chemical resistance (to
acids, alkalis, solvents,
hydraulic fluid)
good
good
good
good
moderate for
acids
Outdoor durability
very good
very good
very good
good
Flammability
flame retardant
flame retardant
flame retardant
flame retardant

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5.1.2 Wiring Linear Rotary Motor
The following diagram shows the connection of the linear rotary motor and the options torque measuring
shaft and force sensor with the LinMot drive.

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5.1.3 Overview of the Connectors
Pos. 1: Force sensor
Pos. 2: Rotary motor
Pos. 3: Linear motor
Pos. 4: Torque sensor
5.1.4 Connector Wiring Linear Rotary Motor
View: Motor connector, plug side
Connector wiring
Linear Motor:
R-Connector
Rotary Motor:
R- Connector
Wire colour
Motor cable
Ph 1+ / Ph A
1
1
red
Ph 1- / Ph B
2
2
pink
Ph 2+ / Ph C
3
3
blue
Ph 2- / (-)
4
4 (not connected)
grey
+5VDC
A
A
white
GND
B
B
Inner shield
Sin
C
C
yellow
Cos
D
D
green
Temp.
E
E
black
Shield
Housing
Housing
Outer shield
Extension cables are double shielded. The two shields of the extension cables must not be
connected together: the inner shield of the extension cables is used as GROUND and must
be connected to GROUND*; only the outer shield must be connected to SHIELD* of the
connector.
2
41
A
B
C
D
E
3

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5.1.5 Connector Wiring Torque Measuring Shaft
View: Motor connector, plug side
Connector wiring
Torque Sensor:
M12 Connector (A-coded)
Wire colour
Sensor cable
Supply GND
1
white
Supply 24V (approx. 80 mA @ 24VDC)
2
brown
Do not connect
3
green
Torque -
4
yellow
Torque +
5
grey
AGND / reference ground for the torque
sensor signal (isolated from supply GND;
connect to reference GND of the analogue
input on the servo drive).
6
pink
Do not connect
7
blue
Do not connect
8
red
Bridges from Supply Ground and Signal Ground
•PIN 4 (force -) and PIN 1 (supply GND) are internally galvanically isolated and must not
be connected to each other. This applies to sensors with a 10-digit serial number.
Format = 0123.456.789.
•For torque sensors with 9-digit serial number (format = 123456789) PIN 4 (torque -) and
PIN 1 (supply GND) may be bridged at the supply source (not at the transducer), if
necessary, because the galvanic isolation is not present there. Make the connection as
close as possible to the drive to avoid potential differences with respect to the drive
GND
•The 24VDC supply must be protected with a 1AT fuse.
•The +24V supply must not be connected / disconnected when voltage is present. The
DC supply must not be switched on the secondary side of the power supply unit.
•It is recommended to connect pin 6 (AGND) to the reference ground of the analogue
input of the drive - in case of LinMot drives pin X4.1. realise connection as close to the
drive as possible to avoid potential differences compared to the drive GND.
•External EMC circuitry: a ceramic capacitor 100nF / 50V can optionally be soldered
between pin 4 and pin 5 on the evaluation electronics to reduce conducted interference.

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5.1.6 Connector Wiring Force Sensor
View: Motor connector, plug side
Connector wiring
Torque Sensor:
M12 Connector (A-coded)
Wire colour
Sensor cable
Supply GND
1
white
Supply 24V (approx. 50 mA @ 24VDC)
2
brown
Do not connect
3
green
Force -
4
yellow
Force +
5
grey
AGND / Reference ground for force sensor
signal (Isolated from PGND, connect to
reference GND of analog input on servo
drive.)
6
pink
Do not connect
7
blue
Do not connect
8
red
•The 24VDC supply must be protected with a 1AT fuse.
•The +24V supply must not be connected / disconnected when voltage is present. The
DC supply must not be switched on the secondary side of the power supply unit.
•It is recommended to connect pin 6 (AGND) to the reference ground of the analogue
input of the drive - in case of LinMot drives pin X4.1. realise connection as close to the
drive as possible to avoid potential differences compared to the drive GND.
•External EMC circuitry: a ceramic capacitor 100nF / 50V can optionally be soldered
between pin 4 and pin 5 on the evaluation electronics to reduce conducted interference.
Bridges from Supply Ground and Signal Ground
•PIN 4 (power -) and PIN 1 (supply GND) are internally galvanically isolated and must
not be connected to each other.

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5.2 Connection of Air
The PR02-38 is optionally equipped with an air connection. At the rear of the motor, above the electrical
connectors, there is a pneumatic push-in fitting (external hexagon M5) for a Ø 4 mm hose. Inside the motor,
a Ø 4 mm air hose is laid along the rotating shaft, which has a continuous hole diameter of Ø 2.5 mm.
This enables the user to implement pneumatic applications with an operating pressure of max. 6 bar.
In the case of vacuum application, it is recommended to use a unit with sufficient power, as experience has
shown that all air coupling points generate small losses.
Push-in fitting
External hexagon M5

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6 Start-up
Please note that linear rotary motors of the PR02 product family need at least LinMot-Talk
Version 6.7. It’s not recommended to use older LinMot-Talk versions.
6.1 Linear Motor and Rotary Motor
Linear motor and rotary motor are electrically independent units. The linear rotary motor can therefore be
commissioned sequentially. It does not matter which motor (linear motor or rotary motor) is commissioned
first.
The various parameters for the linear motor and the rotary motor are set on the drive side using the
corresponding wizard in the LinMot Talk configuration program.
Do not drive into the internal mechanical stops!
It must always be ensured that the linear motor never moves into the lower or upper internal
stop during operation, as otherwise the linear rotary motor and the force sensor may be
damaged! The inner stops may be used for homing purposes; the homing speed must not
exceed 0.01 m/s.
6.2 Default Values of the Coordinate System
6.2.1 Angle of Rotation
Looking into the shaft, the counterclockwise
counting direction of the rotation angle is defined as
positive.
6.2.2 Position
With regard to the motor, the positive counting
direction of the position is defined by retracting the
linear rotary shaft.

Installation Guide Linear Rotary Motors ENG
Page 20 / 39 PR02-38 NTI AG / LinMot
6.3 Torque Measuring Shaft
Linear rotary motors of the LinMot PR02 motor family can optionally have a torque
measuring shaft built into the module. Please make sure that the option „Torque measuring
shaft“ is selected during the ordering process. Fitting of the torque measuring shaft
afterwards is not possible.
6.3.1 Torque Operating Direction
Looking into the shaft, the anti-clockwise direction is
defined as positive.
6.4 Force Sensor
Linear rotary motors of the LinMot PR02 motor family can optionally have a force sensor
built into the module. Please make sure that the option „Force sensor“ is selected during the
ordering process. Fitting of force sensor afterwards is not possible.
6.4.1 Force Operating Direction
70 mm
Looking to the motor, the positive stroke (force)
direction is defined by retracting the linear rotary
shaft.
The direction of stroke can be changed from LinMot-Talk version 6.8 onwards. This has an
influence on the parameterization of the force sensor as the positive force direction will
change as well.
The direction of rotation can be changed from LinMot-Talk version 6.8 onwards. This has an
influence on the parameterization of the torque measuring shaft.