THK CKRF User manual

INSTRUCTION MANUAL
THK Electrical Actuator Clean Series
CKRF
No.5040-1 (0) E
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Table of Contents
i
CKRF
1. Introduction 1-1
1-1 Acknowledgment 1-1
1-2 About this manual 1-1
1-3 How to use this product 1-2
1-4 About product support 1-2
1-5 About related instruction manuals 1-2
1-6 Product and company information 1-2
2. Safety precautions 2-1
2-1 Warning indications on safety 2-1
2-2 Safety precautions 2-1
2-3 Checking the precautions/instruction labels 2-3
3. Nameplates Display 3-1
3-1 Nameplates display and serial number 3-1
4. Specifications 4-1
4-1 Basic specification 4-1
4-2 Speed and load capacity characteristic diagram 4-2
5. Structure and Model Numbers 5-1
5-1 Structure and part names 5-1
5-2 Model configuration 5-2
6. Storage and Transportation 6-1
6-1 Precautions to be observed for safe use 6-1
6-2 Precautions to be observed for prevention of product fault or fracture 6-2
7. Installation and Operation 7-1
7-1 Precautions to be observed for safe use 7-1
7-2 Precautions to be observed for prevention of product fault or fracture 7-2
7-3 Other precautions 7-3
7-4 Motor mounting method 7-4
7-5 Base mounting method 7-7
7-6 Mounting method for objects to be mounted 7-10
7-7 Positioning pin length 7-11
7-8 How to change port positions 7-12
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Table of Contents
ii
CKRF
8.Maintenance 8-1
8-1 Precautions to be observed for safe use 8-1
8-2 Precautions to be observed for prevention of product fault or fracture 8-1
8-3 Daily inspection 8-2
8-4 Periodical inspection 8-2
8-5 Lubrication 8-2
8-6 Method for supplying grease 8-3
8-7 How to replace the strip seal 8-15
8-8 Free warranty period 8-24
8-9 Usage conditions (range) 8-24
8-10 Warranty scope 8-24
8-11 Exclusion of warranty liability 8-25
8-12 Delivery conditions 8-25
9. Appendix 9-1
9-1 Permissible input torque 9-1
9-2 Static permissible moment 9-1
9-3 Static permissible load 9-2
9-4 Permissible rotational speed 9-2
9-5 Introduction of the grease 9-3
9-6 Introduction of the grease gun unit 9-4
9-7 Suction 9-6
9-8 Suction port 9-6
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1-1
CKRF
1. Introduction
1.
Introduction
1-1 Acknowledgment
Thank you for purchasing the Clean Series CKRF.
This product is an actuator suitable for using in a clean environment.
This product is designed and manufactured to be incorporated in devices with wide range of appli-
cation including conveyance system, implementing equipment, automated assemblers, and posi-
tioning equipment, etc.
We hope our creative inventions and unique technologies contribute to your further prosperity.
1-2 About this manual
1-2-1 Intended audience
The person in charge of designing embedded systems of the product and installing, wiring, and
maintaining the product, and the person who actually uses the product.
1-2-2 Using This Manual
This manual describes correct handling methods and precautions for the product.
For the maximum performance and long life of the product, carefully read and understand this
manual to safely and correctly use the product.
If you use the printed version of this manual, be sure to keep it in the place that the audience can
refer to it when needed.
1-2-3 Notice and attention
zDo not use or handle the product in the ways that are not described in this manual.
zDo not reproduce, reprint, or lend the whole contents or a part of this manual without permission.
zPlease note that the description in this manual is subject to change without prior notice in the
future, due to improvements of the product or other reasons.
zWe have made all possible efforts to make the content of this manual accurate. However, if you
nd any mistake or uncertainty in this manual, please contact THK.
zDrawings throughout this manual are only intended as typical examples, and may differ from your
product.
zNote that THK shall not be liable for any result incurred by applying this manual, regardless of the
reason.
zThis manual is also applied to special types of product. However, the descriptions provided in the
delivery specication drawings or delivery specication documents of those special types take
precedence over this manual.
* Special types represent the products that have different materials and specications from those
of the standard products on catalogs.
1-2-4 Notation of this manual
zNotes that can lead to unsatisfactory functions, errors, or damages of the product if not observed while using the product.
zSupplementary information for the description.
zReference information for the description.
Important
Supplement
Reference
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1-2
CKRF
1. Introduction
1-3 How to use this product
zThis product must not be used for the devices or systems that are used under the situations that
may be fatal to human life.
zIf you consider using this product for special applications such as passenger movement vehicle,
medical, aerospace, nuclear power, and electric power devices or systems, be sure to consult
with THK in advance.
zThis product is manufactured under the strict quality control, however, that does not mean
that the product is free from failure. For applications to the equipment that may suffer serious
accidents or loss from the failure of this product, install safety devices or backup devices that
prevent such serious accidents or loss.
zIf you purchase this product with a motor, the applicable driver controller is TSC, TLC, or THC. Please
note that driver controllers other than the above cannot be used.
1-4 About product support
We have made all possible efforts to make the content of this manual accurate. However, if you nd
any mistake or uncertainty in this manual, please contact THK.
For the following information, please contact THK.
zTechnical support for this product
1-5 About related instruction manuals
zWhen you use the actuator CKRF, read the following instruction manuals as necessary.
· Controller series Driver controller TSC
· Controller series Driver controller TLC
· Controller series Driver controller THC
· Controller series Network unit TNU
· Controller series Setup tool D-STEP
· Controller series Digital operator TDO
1-6 Product and company information
To nd the latest product and company information, we recommend you to periodically access our
website.
zWebsite URL: https://www.thk.com/
zTechnical support website URL: http://www.tech.thk.com/
Important
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2-1
CKRF
2. Safety Precautions
2-2 Safety precautions
This section describes important precautions that you must observe.
General
zWhile this product is operating or operable, do not enter the working area of any
moving part.
Otherwise, it may cause you to touch the moving part and injure you.
zWhile the motor or sensor is energized, do not move or install this product.
Otherwise, it may cause electric shocks, or cause malfunction that could lead to injury.
Installation and operation
zIf any moving part may fall by its own weight in vertical application or the like, provide
a safeguard for preventing the part from falling.
If any moving part falls, it may cause injury or damage.
zWhile this product is operating, do not touch any moving part or rotating part.
Otherwise, it may cause your hand to be caught and injured.
Maintenance
zTurn off the machine (turning power off) before conducting any maintenance.
Otherwise, it may cause electric shocks, or cause malfunction that could lead to injury.
zIf two or more people are involved in the operation, confirm the procedures such
as sequences, signs, and abnormalities in advance, and appoint another person for
monitoring the operation.
Failure to do so may cause an unexpected accident.
Warning
2-1 Warning indications on safety
This manual uses the following warning indications according to safety matters. The descriptions
next to warning indications on safety are important messages. Be sure to observe those descrip-
tions.
Warning
"Erroneous handling may cause death or serious injury
to a person"
Caution
"Erroneous handling may cause injury to a person or
property damage only"
"Prohibitions (don't)"
"Obligations (do)"
2.
Safety precautions
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2-2
CKRF
2. Safety Precautions
General
zDo not stand on this product or the packaging box.
Otherwise, it may cause fault or damage, or cause falling that could lead to injure.
zDo not impact this product.
Otherwise, it may cause fault or damage, or injure you.
zDo not apply a load that exceeds the permissible level.
Otherwise, it may cause fault or damage, or may cause abnormal operation that could lead to
injury.
* For your reference, see the Appendix, which contains the static permissible moment and
permissible input torque for each model number.
zDo not disassemble or alter this product.
Otherwise, it may cause foreign material to enter the product, which could result in fault or
adversely affect the performance or service life. Or may cause abnormal operation that could
lead to injury.
Unpacking
zBe careful not to hit your hands or body against protruded parts.
Otherwise, it may cause injury, or cause fault or fracture.
zCheck whether the delivered product is the product you ordered.
Using a wrong product may cause malfunction that could lead to injury or fault.
zCheck whether the product has any fractured parts.
Using a fractured product may cause injury or fault.
* If you nd any defect, contact our Sales Division.
Transportation
zDo not drop or hit this product.
Otherwise, it may cause injury or fracture, or a functional loss.
zWhen transporting this product, do not hold any moving part or the cover.
Also, do not hold the side cover from the both sides.
Otherwise, it may cause the product to fall, leading to injury, or cause fault or fracture.
zWhen transporting this product, do not hold the motor, the sensor or the cable.
Otherwise, it may cause the product to fall, leading to injury, or cause fault or fracture.
zWhen carrying this product, hold the bottom face of the product.
Otherwise, it may cause the product to fall, leading to injury, or cause fault or fracture.
* See the appendix for the weight of the product.
Installation and operation
zFirmly secure this product before operating it.
Failure to do so may cause abnormal operation that could cause injury, fault or fracture.
zIf anomaly occurs, immediately stop the machine.
Failure to do so may cause abnormal operation that could cause injury, fault or fracture.
zDo not exceed the maximum speed when using the product.
Otherwise, it may cause fault or damage, or may cause abnormal operation that could lead to
injury. For your reference, see the specication (→P.4-1), which contains the maximum speed
for each model number at each stroke.
zDo not use the failed and broken product.
Otherwise, it may cause injury or machine failure.
Caution
2.
Safety precautions
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2-3
CKRF
2. Safety Precautions
2.
Safety precautions
2-3 Checking the precautions/instruction labels
This product is afxed with precautions/instruction labels. Identify them when unpacking the
product.
Fig.1 shows the afxing position.
Caution – Getting caught
Review the manual.
Please read the instruction manual.
取扱説明書をお読みください。
Review the manual.
取扱説明書をお読みください。
Review the manual.
Fig. 1 CKRF Precautions/instruction labels affixing positions
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3-1
CKRF
3. Nameplates Display
3-1 Nameplates display and serial number
Fig. 2 shows the nameplate format of the Clean Series CKRF.
TYPE No. : Actuator model
SERIAL No.: Serial number
THK Co.,LTD.
SERIAL NO. :
TYPE No. :
MADE IN JAPAN
3.
Nameplates Display
Fig. 2 CKRF Nameplate details
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4-1
CKRF
4. Specifications
4-1 Basic specification
4.
Specifications
The basic specication of CKRF is shown as follows. Do not exceed the following basic
specication when using the product. Otherwise, it may cause fault or damage, or may cause
abnormal operation that could lead to injury.
When using stepper driver controller TSC
Model
number
Ball
screw
lead
[mm]
Stroke
[mm] Motor size
Maximum load capacity*1 [kg] Maximum speed at each stroke*1 [mm/s]
Horizontal
mount
Wall
mount
Vertical
mount
Stroke
to 300 350 400 450 500 550 600 650 700 750 800
CKRF4 6 50 to 300 Stepper
motor35 6.5 6 4 300
CKRF5
6 50 to 550 Stepper
motor42
20 14.5 7.5 300 250
10 50 to 550 10 10 6 500 430
* 1 The maximum load capacity and the maximum speed vary with usage conditions. For details, see "Basic
specication" and "Speed and Load Capacity Relationship Diagram" for each model number.
When using servo driver controller TLC/THC
Model
number
Ball
screw
lead
[mm]
Stroke
[mm]
Motor
rated
output
[W]
Maximum load capacity*2 [kg] Maximum speed at each stroke*3 [mm/s]
Horizontal
mount
Wall
mount
Vertical
mount
Stroke
to 300 350 400 450 500 550 600 650 700 750 800
CKRF4 6 50 to 300 50 6 5.5 4 300
CKRF5 6 50 to 550 50 19 14 6 300 250
10 50 to 550 15 12.5 3.5 500 430
CKRF6 6 50 to 800 100 35 24 10 300 260 220 200 170 150
10 50 to 800 30 22 5 500 440 380 330 290 260
* 1 This assumes a speed at the rated motor revolution (3,000min-1).
* 2 The maximum load capacity assumes the capacity at the rated speed under 0.5 G for horizontal and wall
mounts, and 0.3 G for vertical mount.
* 3 The maximum speed is the value restricted by the motor rotational speed (at 3000 min-1) or by the permissible
rotational speed of the ball screw.
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4-2
CKRF
4. Specifications
4-2 Speed and load capacity characteristic diagram
Load capacity and maximum speed vary with usage conditions.
Use the product within the range of following characteristic diagram.
CKRF4∙∙∙∙Stepper driver controller TSC
Lead 6 mm
[Horizontal mount]
Speed [mm/s]
Load capacity [kg]
0
1
2
3
4
5
6
8
7
0 50 100 150 200 250 300 350
[Wall mount]
Speed [mm/s]
Load capacity [kg]
0
1
2
3
4
5
6
8
7
0 50 100 150 200 250 300 350
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5 [Vertical mount]
Speed [mm/s]
Load capacity [kg]
0 50 100 150 200 250 300 350
4.
Specifications
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4-3
CKRF
4. Specifications
4.
Specifications
CKRF5∙∙∙∙Stepper driver controller TSC
Lead 6 mm
[Horizontal mount]
Speed [mm/s]
Load capacity [kg]
0
5
10
15
20
25
0
50 100 150 200 250 300 350 400 450 500 550
8
[Wall mount]
Speed [mm/s]
Load capacity [kg]
0 50 100 150 200 250 300 350 400 450 500 550
0
2
4
6
8
10
12
14
16
18
14.5
[Vertical mount]
Speed [mm/s]
Load capacity [kg]
0 50 100 150 200 250 300 350 400 450 500 550
0
1
2
3
4
5
6
7
8
9
7.5
1.5
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4-4
CKRF
4. Specifications
4.
Specifications
Lead 10 mm
[Horizontal mount]
Speed [mm/s]
Load capacity [kg]
0
5
10
15
20
25
0
50 100 150 200 250 300 350 400 450 500 550
[Wall mount]
Speed [mm/s]
Load capacity [kg]
0 50 100 150 200 250 300 350 400 450 500 550
0
2
4
6
8
10
12
14
16
18
5
[Vertical mount]
Speed [mm/s]
Load capacity [kg]
0 50 100 150 200 250 300 350 400 450 500 550
0
1
2
3
4
5
6
7
8
9
0.5
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4-5
CKRF
4. Specifications
4.
Specifications
Wall mount
Speed [mm/s]
Load capacity [kg]
0
1
2
3
4
5
6
0 50 150 250100 200 300 350 400
5.5
Vertical mount
Speed [mm/s]
Load capacity [kg]
0
1
2
3
4
5
0 50 100 150 200 250 300 400350
CKRF4 (50 W)∙∙∙∙Servo driver controller TLC
Lead 6 mm
Horizontal mount
Speed [mm/s]
Load capacity [kg]
0
1
2
3
4
5
6
7
0 50 150 250 350100 200 300 400
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4-6
CKRF
4. Specifications
4.
Specifications
CKRF5 (50 W)∙∙∙∙Servo driver controller TLC
Lead 6 mm
Horizontal mount
0
5
10
15
20
25
0 50 100 150 200 250 300 350
Speed [mm/s]
Load capacity [kg]
19
14
Wall mount
0
5
10
15
20
25
0 50 100 150 200 250 300 350
Speed [mm/s]
Load capacity [kg]
Vertical mount
Speed [mm/s]
Load capacity [kg]
0
2
4
6
8
0 50 100 150 200 250 300 350
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4-7
CKRF
4. Specifications
4.
Specifications
Lead 10 mm
Horizontal mount
0
5
10
15
20
25
0 100 200 300 400 500 600
Speed [mm/s]
Load capacity [kg]
Wall mount
0
5
10
15
20
25
0 100 200 300 400 500 600
Speed [mm/s]
Load capacity [kg]
12.5
Vertical mount
0
1
2
3
4
0 100 200 300 400 500 600
Speed [mm/s]
Load capacity [kg]
3.5
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4-8
CKRF
4. Specifications
4.
Specifications
CKRF6 (100 W)∙∙∙∙Servo driver controller THC
Lead 6 mm
Horizontal mount
Speed [mm/s]
Load capacity [kg]
Wall mount
Speed [mm/s]
Load capacity [kg]
Vertical mount
Speed [mm/s]
Load capacity [kg]
0
10
20
30
40
0 50 100 150 200 250 300 350
0
5
10
15
20
25
30
0 50 100 150 200 250 300 350
0
2
4
6
8
10
12
0 50 100 150 200 250 300 350
35
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4-9
CKRF
4. Specifications
4.
Specifications
Lead 10 mm
Horizontal mount
0
10
20
30
40
0 100 200 300 400 500 600
Speed [mm/s]
Load capacity [kg]
Wall mount
0
5
10
15
20
25
0 100 200 300 400 500 600
Speed [mm/s]
Load capacity [kg]
22
Vertical mount
0
1
2
3
4
5
6
0 100 200 300 400 500 600
Speed [mm/s]
Load capacity [kg]
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5-1
CKRF
5. Structure and Model Numbers
5-1 Structure and part names
The name of each part of this product is shown in Fig. 3.
TSC specifications
Motor end cover
Table
Housing B cover
Motor cover
Table cover
Strip seal
Suction port
Base
TLC, THC specifications, without motor
Housing B cover
Housing A cover
Table cover
Table
Strip seal
Suction port
Intermediate ange
Base
Motor
Fig. 3 Structure and part names of CKRF (* CKRF6 has no base. )
* For details such as the dimensions and accuracy, see the delivery specication drawings or
catalog of Clean Series CKRF.
If you have any question, contact THK.
5.
Structure and Model Numbers
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5-2
CKRF
5. Structure and Model Numbers
5.
Structure and Model Numbers
5-2 Model configuration
The following is an example of model number coding.
CKRF (type without motor)
In the case of actuator main unit only or when the motor specied by the customer is installed
<Model configuration> Without motor type
CKRF4 - 06 - 0150 A - 0- AQ - GR-SB-R6
(1) Model number CKRF4, CKRF5, CKRF6
(2) Ball screw lead 06: 6 mm
10: 10 mm (For CKRF4, only ball screw lead 6 is applicable.)
(3) Stroke 0150 : 150 mm (50 to 800 mm, 50 mm pitch)
The maximum stroke = CKRF4:300, CKRF5:550, CKRF6:800
(4) Design symbol A
(5) With/without motor 0: Without motor
1: With motor
When selecting "0", a coupling is not provided.
When selecting "1", the motor you specify will be
installed.
* Specify the motor cable orientation separately.
(6) Intermediate ange A0
AN
AQ
AM
AP
AS
AR
AU
AT
(7) Option No symbol : None
GR : Change the cover color to gray
SB : With slider base
12: Sensor
Add "-" from left in the order of the optional symbol.
(1) (5)(4) (6)(3)(2) (7)
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