// function reDo() { if (innerWidth != origWidth || innerHeight != origHeight) location.reload(); } if ((parseInt(navigator.appVersion) == 4) && (navigator.appName == "Netscape")) { origWidth = innerWidth; origHeight = innerHeight; onresize = reDo; } onerror = null; //]]>

Technical Data of the Tilting Modules

Mechanical and Electrical Data of the Tilting Modules

Category

Parameter

Unit

VRKPXYYY
YY00053

VRKPXYYY
YY00052

General data

Maximum load without restrictions

kg (lb)

0.25 (0.55)

0.5 (1.1)

Load with restrictions(1)

kg (lb)

0.25…2.5 (0.55…5.5)

0.5…5 (1.1…11)

Allocation of auxiliary axes

–

4th

Maximum torque of the 4th axis(2)

Nm (lbf-in)

7.5 (66)

20 (177)

Maximum holding torque of 4th motor

Nm (lbf-in)

5 (44)

20 (177)

Position repeatability (ISO 9283)

–

Angle: +/-0.1°

Electrical data

Mains voltage - 3-phase

Vac

480(3)

Control voltage (with brake)

Vdc

+24 (-10…+6%)

Motor 4th axis

–

SH30402P07F2000

Maximum current of 4th axis motor(4)

A

1.9

0.9

Mechanical data

Protection class

–

IP65

Gear ratio i

–

15/1

80/1

Drive parameter GearOut

–

15

80

Drive parameter GearIn

–

1

Maximum speed

1/min

600

112.5

Software parameter TcpPlateSize

mm (in)

75 (2.95)(5)

Pneumatic data

Number of pneumatic connections

–

0

Operating pressure

bar (psi)

–

Working space

Tilting 4th axis

–

+/-100°

Weight

–

kg (lb)

4.3 (9.5)

5 (11)

Material

External casing

–

Aluminum, stainless steel, steel nickel-plated, zinc nickel-plated, brass nickel-plated, FPM, EPDM

(1) Loads above the maximum load are possible with restrictions. If required, contact your local Schneider Electric service representative.

(2) When designing the gripper, be aware of any appearance of mass moments of inertia as well as friction, which could lead to exceeding the maximum torque and consequential damage.

(3) For further information, refer to Lexium 52 Hardware Guide or Lexium 62 Hardware Guide.

(4) Use the drive parameter UserDrivePeakCurrent to adjust the maximum current.

(5) This value is the distance between the suspension points of the lower arms and the center of the flange plate.

Maximum Tilting Torque

The loading capacity of the Tilting Modules is limited by the maximum tilting torque at the ball pins level.

A maximum tilting torque of 20 Nm (177 lbf-in) is to be observed at the ball pins level.

Calculate the tilting torque with the following formula:

Tilting torque [Nm (lbf-in)] = total payload [kg (lb)] x maximum acceleration [m/s² (ft/s²)] x vertical distance [m (in)]

NOTE:

  • Total payload [Nm (lbf-in)] = weight of the module + weight of the gripper + weight of the customer end product

  • Vertical distance [m (in)] = distance from the ball pins level to the total mass center point = (weight of the module [kg (lb)] x vertical distance from the ball pins to the mass center point of the module (A) [m (in)] + weight of the gripper and the customer end product [kg (lb)] x (vertical distance from the FCP (flange center point) to the mass center point of the gripper and the customer end product (C) [m (in)] + vertical distance from the ball pins to the FCP (B) [m (in)])) / total payload [kg (lb)]

1 Mass center point of the module

2 Gripper and customer end product

Dimension

Description

Unit

Tilting Module B

Tilting Module HT-B-HD

A

Vertical distance from the ball pins to the mass center point of the module

mm

(in)

54

(2.13)

55

(2.17)

B

Vertical distance from the ball pins to the FCP

mm

(in)

228

(9)

264

(10.4)

C

Vertical distance from FCP to the mass center point of the gripper and the customer end product

mm

(in)

Depends on the gripper and the customer end product