LinMot PR02-52x60-R_37x120F-HP-R-100_MS00_TS00 User manual

NTI AG / LinMot Dok-Nr. 0185-0021-E_1V2_IG_Linear_Rotary_Motors_PR02
Installation Guide
Linear Rotary Motors
ENG
PR02-52

Installation Guide Linear Rotary Motors ENG
Page 2 / 24 PR02-52 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
3Installation instructions........................................................................................................................... 7
3.1 Operating conditions.......................................................................................................................... 7
3.2 Installation options............................................................................................................................. 7
3.2.1 Horizontal installation..................................................................................................................... 7
3.2.2 Vertical installation......................................................................................................................... 7
3.3 Mounting the load on the shaft .......................................................................................................... 8
3.4 Connection of air................................................................................................................................ 8
4Electrical connection ............................................................................................................................... 9
4.1 Motor cable........................................................................................................................................ 9
4.2 Wiring Linear Rotary Motor.............................................................................................................. 10
4.3 Connector Wiring Linear Rotary Motor............................................................................................ 11
4.4 Connector wiring torque measuring shaft........................................................................................ 11
5Start-up.................................................................................................................................................... 12
5.1 Linear motor and rotary motor......................................................................................................... 12
5.2 Torque measuring shaft................................................................................................................... 12
5.2.1 Torque operating direction........................................................................................................... 12
5.2.2 Software package „Technology Function Force Control“ ............................................................ 12
5.2.3 Setting the parameters ................................................................................................................ 13
6Appropriate application of the torque measuring shaft..................................................................... 13
7Accessories ............................................................................................................................................ 14
7.1 Motor cable...................................................................................................................................... 14
7.2 Sensor Cable................................................................................................................................... 15
7.3 Pneumatic Brake ............................................................................................................................. 15
7.3.1 Dimensions.................................................................................................................................. 16
7.3.2 Material data................................................................................................................................ 16
7.3.3 Operating conditions.................................................................................................................... 16
7.3.4 Mounting...................................................................................................................................... 16
7.4 Shaft-Hub Clamping ........................................................................................................................ 18
7.4.1 Dimensions and technical data.................................................................................................... 19
7.4.2 Mounting...................................................................................................................................... 19
8Maintenance and test instructions ....................................................................................................... 20
8.1 Stator checking................................................................................................................................ 20
8.1.1 Linear Motor PS01-37x120F-HP-R.............................................................................................. 20
8.1.2 Rotary Motor Stator RS01-52x60-R ............................................................................................ 20
8.2 Maintenance .................................................................................................................................... 20

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NTI AG / LinMot PR02-52 Page 3 / 24
8.2.1 Preventive inspection every 6'000h............................................................................................. 21
8.2.2 Inspection after each 12'000h...................................................................................................... 21
8.3 Calibration of torque measuring shaft.............................................................................................. 21
9Storage, transport, installation altitude ............................................................................................... 21
10 Dimensions......................................................................................................................................... 22
11 Declaration of Conformity and CE-marking.................................................................................... 23

Installation Guide Linear Rotary Motors ENG
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1 General information
1.1 Introduction
This manual includes instructions for the installation, maintenance, transport, and storage of linear rotary
motors. The document is intended for electricians, mechanics, service technicians, and warehouse staff.
Be sure to observe the general safety instructions as well as those in each chapter at all times.
Keep this manual accessible to the assigned staff.
1.2 Explanation of symbols
Triangular warning symbols warn against a danger.
Round command symbols tell what to do.
1.3 Qualified personnel
All work such as transport, installation, commissioning and service is only allowed to be carried out by
qualified personnel. Qualified personnel in the sense of the safety instructions in this documentation are
persons who are familiar with the transport, installation, assembly, commissioning and operation of the
product and who have the appropriate qualifications.
This manual must be read carefully before transport, installation, commissioning, service and all safety-
related information must be adhered to.
1.4 Liability
NTI AG (as manufacturer of LinMot linear motors 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 sole responsibility of the user to check the information and information provided by NTI AG regarding
their safety-relevant correctness. 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.

Installation Guide Linear Rotary Motors ENG
NTI AG / LinMot PR02-52 Page 5 / 24
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 access 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.

Installation Guide Linear Rotary Motors ENG
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3 Installation instructions
3.1 Operating conditions
Maximum ambient temperature limits:
-10 °C…80 °C
Internal temperature sensor error occurs at:
90 °C
3.2 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.
The following sketches show examples of different installation options. The detailed mounting dimensions
can be found in the chapter "Dimensions".
3.2.1 Horizontal installation
The PR02 linear rotary motor can be mounted horizontally using the
T-slots at the bottom.
T-nuts (M4 / M5 / M6) can be used for fastening.
Ordering information
Item
Description
Item-No.
Nut N8/M4
Nut for 8 mm T-slots with M4 thread
0150-2189
Nut N8/M6
Nut for 8 mm T-slots with M6 thread
0150-2558
3.2.2 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.

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3.3 Mounting the load on the shaft
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.
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.
3.4 Connection of air
The PR02-52 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.
R2
R2
12h9
6
5
4
Feather key slot
Push-in fitting
External hexagon M5

Installation Guide Linear Rotary Motors ENG
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4 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! Even assembled
cables may only be manufactured from the original LinMot accessories and must be
checked carefully before commissioning!
Incorrect motor wiring can damage the motor and/or the servo drive!
4.1 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 Rotory Motor
Wiring
torque
measuring shaft
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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4.2 Wiring Linear Rotary Motor
The following schema shows the connection of the linear actuator and the torque measuring shaft with the
LinMot Drive.

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4.3 Connector Wiring Linear Rotary Motor
View: Motor connector, plug side
Connector wiring
Linear Motor:
R-Connector
Rotary Motor:
R- Connector
Wire color
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.
4.4 Connector wiring torque measuring shaft
View: Motor connector, plug side
Connector wiring
Torque Sensor:
M12 Connector (A-coded)
Wire color
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
Do not connect
6
pink
Do not connect
7
blue
Do not connect
8
red
PIN 4 (torque -) and PIN 1 (ground supply) are internally galvanically isolated; bridging
at the power source (not at the transducer) if required.
External EMC circuitry
A ceramic capacitor 100nF / 50V can be soldered between pins 4 - 5 on the evaluation
to avoid wirebound interference.
2
41
A
B
C
D
E
3

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5 Start-up
Bitte beachten Sie, dass Motoren der PR02 Familie erst ab LinMot-Talk Version 6.7
vollständig unterstützt werden. Es wird daher dringend empfohlen, keine ältere LinMot-Talk
Version zu verwenden.
5.1 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 may be damaged! The inner
stops may be used for homing purposes; the homing speed must not exceed 0.01 m/s.
5.2 Torque measuring shaft
Stroke rotary modules 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.
5.2.1 Torque operating direction
Looking into the shaft, the anti-clockwise direction is defined as
positive.
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.
5.2.2 Software package „Technology Function Force Control“
If a closed control loop is implemented via the torque measuring shaft (torque control of the torque motor via
feedback of the torque measuring shaft to the LinMot Drive), the "TF Force Control" software package (Art.
No.: 0150-2503) must be ordered. Without this software package it is not possible to control to a certain
torque or the operation commands of the force control cannot be used.
If the signal of the torque measuring shaft is only evaluated (PLC or LinMot Drive), the software package is
not necessary.

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5.2.3 Setting the parameters
Logged into the drive, you will find all parameters to be set in the LinMot-Talk software under the path
"Parameters -> Motion Control SW -> Protected Technology Functions -> Analog Force Feedback Control".
Step 1: Input Selection
Please select the following setting under "Input Selection":
Input Selection (UPID 150Fh) = Diff Analog Input On X4.10/X4.11
Step 2: Analog Force Feedback Config
Due to the definition of the DEFAULT positive direction of rotation, it is recommended to use
the +-10VDC signal via software. This means that with -10VDC the positive maximum value
and with +10VDC the negative maximum value of the torque measuring shaft is set.
0V/-10V Force (UPID 1501h) = Positiver Maximalwert (z.B. 2.5Nm)
10V Force (UPID 1502h) = Negativer Maximalwert (z.B. -2.5Nm)
Speed Filter Time (UPID 150Ah) = 1000us
Acceleration Filter Time (UPID 150Dh) = 1000us
Step 3: Force Control Parameters
The parameters for the torque control loop are set here. A PID controller, a few pilot parameters (FF
parameters) and a parameter for limiting the maximum control current (Force Ctrl Max Current) are available
for this purpose.
Recommendation:
To begin with, work with a pure I-controller to prevent the motor from oscillating during
torque control.
Limit the maximum control current in order to avoid damage if incorrect handling occurs
during commissioning.
6 Appropriate application of the torque measuring shaft
The torque measuring shaft is used to measure static and dynamic torques. The sensor can measure both
right and left load. The measured variable is suitable for control and regulation tasks.
Torque peaks beyond the permissible overload (see specifications in the PR02 data sheet) can lead to the
destruction of the torque measuring shaft. If peaks cannot be safely excluded, they must be intercepted.
The working temperature range of the sensors is 5 - 45 °C. Above or below the limits there is a
measurement error which influences the measurement results.
The max. operating range is between 0 - 80 °C.
For continuously precise measurement results it is recommended to calibrate the torque measuring shaft
every 2 years according to section 8.3.

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7 Accessories
7.1 Motor cable
Standard cable
Item
Description
Item-No.
K05-W/R-2
Motor Cable W/R, 2 m
0150-2119
K05-W/R-4
Motor Cable W/R, 4 m
0150-2120
K05-W/R-6
Motor Cable W/R, 6 m
0150-2121
K05-W/R-8
Motor Cable W/R, 8 m
0150-2122
K05-W/R-
Motor Cable K05-W/R, Custom length
0150-3262
Item
Description
Item-No.
K05-Y/R-2
Motor Cable Y/R, 2 m
0150-2421
K05-Y/R-4
Motor Cable Y/R, 4 m
0150-2422
K05-Y/R-6
Motor Cable Y/R, 6 m
0150-2423
K05-Y/R-8
Motor Cable Y/R, 8 m
0150-2424
K05-Y-Fe/R-
Motor Cable K05-Y-Fe/R, Custom length
0150-3501
Trailing Chain Cable
Item
Description
Item-No.
KS05-W/R-4
Trailing Chain Cable W/R, 4 m
0150-2106
KS05-W/R-6
Trailing Chain Cable W/R, 6 m
0150-2131
KS05-W/R-8
Trailing Chain Cable W/R, 8 m
0150-2107
KS05-W/R-
Trailing Chain Cable KS05-W/R, Custom length
0150-3256
Item
Description
Item-No.
KS05-Y/R-4
Trailing Chain Cable Y/R, 4 m
0150-2433
KS05-Y/R-6
Trailing Chain Cable Y/R, 6 m
0150-2434
KS05-Y/R-8
Trailing Chain Cable Y/R, 8 m
0150-2435
KS05-Y-Fe/R-
Trailing Chain Cable KS05-Y-Fe/R, Custom
length
0150-3507

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Robot Cable
Item
Description
Item-No.
KR05-W/R-
Robot Cable KR05-W/R, Custom length
0150-3336
KR05-Y-Fe/R-
Robot Cable KR05-Y-Fe/R, Custom length
0150-3512
7.2 Sensor Cable
Ordering informationen
Item
Description
Item-No.
KSS02-08-./M12A8-10
Sensor Cable for PR02, 10m, open cable end
0150-2959
7.3 Pneumatic Brake
As an option, a brake can be mounted on the motor shaft. The pneumatic brake is controlled by the servo
drive. To open and close the brake, a valve is also required.
The brake acts on the shaft and is released by compressed air.
The brake has only a holding function and is not designed to slow or stop dynamic
movements.
No use for safety devices!
Not approved as safety element!

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Ordering information
Item
Description
Item-No.
RS02-BK52
Holding-Brake-Kit for PR02-52 Linear Rotary Motor
0150-2987
7.3.1 Dimensions
Brake
Retention
Force
[N]
Ø D3
[mm]
Ø D4
[mm]
F
[mm]
G
H1
[mm]
H2
[mm]
H3
[mm]
HB01-37
600
20
25
17
G 1/8“
76
45.5
25.5
7.3.2 Material data
Component
Material
Housing
Anodized aluminium
Clamp jaws
High quality brass
Piston
POM
Spring
Spring steel
Seals
NBR/Ultrathan
7.3.3 Operating conditions
Medium: Filtered compressed air (40 µm), unoiled or oiled
Operating pressure: 4 - 6 bar
Ambient temperature: 10 °C…80 °C
7.3.4 Mounting
Please attend to the safety instructions in chapter 2 during the assembling!

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1. Remove the flange bearing..
The flange bearing is dismantled using a fork wrench SW
36.
2. Mount flange base and shaft seal.
First insert the shaft seal into the groove of the flange and
then screw the flange firmly to the front.
3. Insert the brake.
Push the brake into the opening of the brake flange.
4. Fasten the brake flange.
The brake flange with the applied brake can be rotated
360° and positioned as required. Then fasten with 4
hexagonal screws.
Tightening torque: 10 Nm
360°

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5. Remove the mounting screw for the air connection.
If the motor shaft can be moved easily, the mounting screw
can be removed. The shaft is then clamped. Instead of the
mounting screw, a compressed air connection is now
made.
When pressure is applied, the brake is released and the
shaft can be moved again.
The air pressure for the brake can be controlled using the
LinMot servo drives and a valve.
Attention! Before the motor is moved, make sure that the
brake is completely vented!
The brake may only be applied when the motor is at a
standstill!
7.4 Shaft-Hub Clamping
Since both rotary and linear movements are carried out with linear motors, a type of shaft load attachment
must be selected which can absorb both torques and forces in the longitudinal direction. A friction-locked
connection is created with the aid of a shaft-hub clamping.
Ordering information
Item
Description
Item-No.
RS01-SS12x22
Shaft-hub clamping for 12mm shaft
0230-0101
RS01-SS20x38
Shaft-hub clamping for 20mm shaft
0230-0100

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7.4.1 Dimensions and technical data
Item
For shaft
T
[Nm]
Fax
[kN]
TA
[Nm]
D
[mm]
Weight
[g]
RS01-SS12x22
12 mm
24
4
1.2
22H9
22
T = transmittable torque at Fax = 0.
Fax = transmittable axial force at T = 0.
TA= fastening torque of the screws.
D = external exposure tolerance.
Item
For shaft
T
[Nm]
Fax
[kN]
TA
[Nm]
D
[mm]
Weight
[g]
RS01-SS20x38
20 mm
179
17
10
38H9
100
T = transmittable torque at Fax = 0.
Fax = transmittable axial force at T = 0.
TA= fastening torque of the screws.
D = external exposure tolerance.
7.4.2 Mounting
The shaft-hub clamping has to sit inside the bore by at least the clamp lenght (13 mm,
resp. 21 mm).
Slightly oil the shaft-hub clamping before mounting, do not use molybdenum disulphide
or fat.
Tighten screws opposite each other 180 degrees offset in several steps to tightening
torque TA(see above for details).

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8 Maintenance and test instructions
8.1 Stator checking
The following tables show the resistive value between the different connector pins for each stator type. If the
value is not within a range of +/- 10% the stator may be damaged (temperature of the stator for all
measurements: 20°C).
8.1.1 Linear Motor PS01-37x120F-HP-R
Configuration
Pins
Resistance
Phase 1+ / Phase 1-
Pin 1 / Pin 2
2.6 Ω
Phase 2+ / Phase 2-
Pin 3 / Pin 4
2.6 Ω
5V / GND
Pin A / Pin B
155 Ω
Sensor Sine / GND
Pin C / Pin B
33 kΩ
Sensor Cosine / GND
Pin D / Pin B
33 kΩ
Temp. Sensor / GND
Pin E / Pin B
10 kΩ
Phase / GND
Pin 1,2,3,4 / Pin B
>20 MΩ
All Pin / Shield
Pin 1-E / Housing
>20 MΩ
8.1.2 Rotary Motor Stator RS01-52x60-R
Configuration
Pins
Resistance
Phase A / Phase B
Pin 1 / Pin 2
3 
Phase A / Phase C
Pin 1 / Pin 3
3 
5V / GND
Pin A / Pin B
155 
Sensor Sinus / GND
Pin C / Pin B
33 k
Sensor Cosine / GND
Pin D / Pin B
33 k
Temp. Sensor / GND
Pin E / Pin B
10 k
Phase / GND
Pin 1,2,3,4 / Pin B
>20 M
All Pin / Sheild
Housing
>20 M
8.2 Maintenance
The linear rotary motors are provided with initial lubrication at the factory. Maintenance / cleaning is only
necessary if the motors are heavily soiled.
Under normal industrial, Central European conditions (5-day week with 8 hours of operation per day), one
inspection at the recommended interval is sufficient.
The inspection cycle must be shortened if there are heavy motor loads or deviating conditions. These
conditions are e.g.:
Permanent fouling
Direct sunshine
Low Humidity
Outdoor operation
Increased operating temperature
Other special environmental conditions
Maintenance or disassembly of the linear rotary motors may only be carried out by trained companies:
LinMot
Companies qualified by LinMot