ElectroMechanical Cylinder EMC
ElectroMechanical Cylinder EMC enefits High eficiency ong service life from use of SKF planetary roller screw Compact and robust structural design Modular concept with multiple combinations and options vailable for all motor brands Smart and freely programmable drive system Depending upon your choice, the EMC cylinder can be ordered in several ways: 1 simple linear unit, linear unit with motor interface, inline or parallel, to install the motor of your choice (eventually with a reduction ratio), complete actuator including the linear unit, motor interface as well as the servomotor and corresponding drive, complete actuator including the linear unit, motor interface, gear reductor and an asynchronous motor. inear unit selection Irrespectively of the coniguration requested, it always starts selecting the proper linear unit. To do so, the irst step is to calculate the mean load the linear unit will be subjected to and then follow the steps described next. Please not that in the general case, the maximum operating load should not exceed 80% of the capacity (C a ) of the screw. Calculate the cubic mean oad Draw an horizontal line on the Calculate the expected travelled EMC lifetime curve distance for the application t each intersection of this line with the linear units lifetime curves, draw vertical lines Select the EMC size corresponding to the 10 distance required Calculate the Dynamic load carrying capacity (C a ) required Select the EMC size corresponding to the C a required Verify that additional performance requirements such as linear speed, stroke are compatible with the Eventually proceed to motor selection Technical data Unit EMCx10 EMCx110 EMCx00 EMCx010 Screw type Roller screw Roller screw Roller screw Roller screw Screw diameter d mm 1 1 0 0 Screw lead P mm 10 10 Max. axial force 1) F max kn 0 0 80 80 Max. input torque for F max T max Nm 1,7 8, 87,1 161, Dynamic load carrying capacity C a kn 0,, 91,9 106, Max. linear speed V max mm/s 00 1 000 0 880 Max. rotational speed ω max rpm 6 000 6 000 80 80 Max. acceleration a max m/s 6 1 6 1 Stroke ) s mm 100 to 600 100 to 600 100 to 800 100 to 800 Internal over stroke s o mm Inertia for stroke 0 ) J EMC kgm 1,E0 1,E0,00E0,00E0 acklash s ap mm 0,0 0,0 0,0 0,0 Type of protection IPS / IP6S ) IPS / IP6S ) IPS / IP6S ) IPS / IP6S ) 1) uckling limitation for long stroke ) y 100 mm step ) For EMC1: +0,1E0 kgm by 100 mm stroke step For EMC0: +0,6E0 kgm by 100 mm stroke step ) IP 6S when air ilter port is equipped with a breather tube connected to a non contaminated dry area
With: EMC ifetime curve Cubic mean load This is the hypothetical load, constant in magnitude and direction, that would have the same inluence on the actuator life as the actual loading condition. 7 F 1 1 + F + F + F m = P 1 + + + F min + F max F m = F m [N] 60 000 0 000 0 000 0 000 0 000 10 000 8 000 EMCx010 EMCx00 EMCx110 EMCx10 0 10 100 1 000 10 000 100 000 1 000 000 1 7 17 10 dist = asic life rating [10 6 mm] Dynamic load carrying capacity (C a ) This is used to compute fatigue life of rolling element (bearings, screws). This is the axial force, constant in magnitude and direction, under which the nominal life (as deined by ISO) reaches 1 million revolutions. 7 10, distance C a = F m P 10 6 ead 10, distance = N cycles Stroke Cubic mean load oad F 1 EMC with servomotor The EMC can be ordered with servomotor. In the latter case, SKF has selected a series of motors and drives that its best the performance of the actuator to the end user application. To complete the design, several options can be selected such as absolute encoder (EnDat, Hyperface), safety brake or associated servodrive. Depending on your preferences, it is however possible to equip the EMC with the brand of servomotor of your choice to integrate best in your system. Please contact SKF to check the feasibility of your coniguration. Motor selection Once the selection of the mechanical unit size corresponding to your application is done, the next step is to select the motor size and the type of mounting. The listed motor reference is only a part of the possible conigurations. If you can t ind a coniguration that its your application performance wise, please contact SKF. F F t 1 t t t Time F max F min
With: Calculate the Thermal force, F thermal Calculate the Nominal force, F nominal Calculate the maximum speed, V max Following the linear unit selected ( page ) and the type of motor mounting, chose a motor/drive coniguration that respects the below conditions: F nominal (selected) > F nominal (calculated) F peak (selected) > F peak (application) V max (selected) > V max (application) Maximum speed (V max ) The maximum speed is the highest value reached by the application during operation. Peak force (F peak ) The peak force is the is the maximum load that could be used during a short time. Thermal force (F thermal ) The thermal force represents the equivalent thermal load the motor has to sustain during a cycle. To calculate Fthermal, it is therefore very important to consider also the resting time during the working cycles. 7 F 1 t 1 + F t + F t + F thermal = P t 1 + t + t + Drive options The performances shown in the table above are the result of a certain servo motor and drive combinations. The EMC can be offered with or without the servo drive, with the servo drive corresponding to the one in the advised coniguration or any other that would it your installation. In the case of a different combination, please contact SKF to check the effect of the different choice on the performance of the actuator. EMC with asynchronous motor The EMC with asynchronous motor is in fact the combination of a EMC linear unit, a gearbox and a smart asynchronous motor. The gearboxes are available with several ratios to either favor speed or load for any linear unit size and from packaging point of view, in parallel and right angle conigurations. The gearboxes are oil lubricated. When ordering a EMC with asynchronous motor, it is therefore important to indicate the proper coniguration so that the drains and vents are located correctly. Smart functions The asynchronous motor are equipped with a smart control box with the following features: inear speed that can be adjusted freely between 00 and 600 r/min digital inputs for changing speed and direction of movement 1 digital output for status message Integrated ramps for soft start and stop functions, to protect the system mechanics and full motor protection ess wiring thanks to electronic contactor and motor protection function Excellent energy eficiency Can be operated with an NFCcapable smartphone Nominal force (F nominal ) The nominal force is the force that can be used continuously at low speed (less than 1% of the maximum speed). F thermal F nominal = 0,7 Parameters like acceleration or inertia are not taken into account in this calculation. In the case of high dynamic cycles, or for an optimized coniguration, please contact SKF. Example table 1. Inline interface Type Reference F nominal F peak V max 1) N mm/s mm EMC S10 Table 1 101 6 1 17 77 16 188 11 10 10 6 1 17 77 8 188 11 10 10 10 9 7 8 1 8 11 10 10 10 9 7 8 9 8 11 10 10 1 97 98 16 68 11 10 106 1 97 1 00 8 68 11 10 1) For brake option, add 0 mm For absolute encoder option, add 9 mm
EMC with linear unit only E M C U 1 0 0 1 0 0 T R F x x x x x x x x x inear unit only Screw diameter Screw lead Stroke Rear attachement T F N Trunnions Front plate ack plate No attachement Front attachement R N Rod end No attachement ntirotation N ntirotation No antirotation imit switches F S M H N limit switches and 1 home switch limit switches only 1 limit switch and 1 home switch 1 limit switch only Home switch only No switch inear unit interface P N Inline interface Parallel interface No interface Ratio 10 Ratio 1:1 1 Ratio : 0 Ratio :1 NN No Gearbox Motor shaft diameter See page 78 Motor lange centering diameter See page 78 Interface capacity : Standard interface H: High interface
EMCU1xxxxxxTNNxNNN (Trunnions) Key DIN688 Roller screw grease access M 1, 17 17 ( ) M6 1 on Ø78 EMCU1xxxxxxxRxx (Rod end) Ø67 Ø0 Ø0 0 Ø 10 9 8 6, 19, 1) + Stroke 80 9 ) Ø10, 0 6, EMCU1xxxxxxNNxNNN (ack plate) 110 10 60 80 ( ) Ø10, 7 167 16 1) + Stroke EMCU1xxxxxxFNNxNNN (Front plate) 110 10 60 90 ( ) Ø10, 7 1) + Stroke 1 9 1) For antirotation option, add 0 mm EMCU0xxxxxxTNNxNNN (Trunnions) Ø8 Ø Key DIN688 Roller screw grease access M 1, Ø 0 17 ( ) M6 1 on Ø97 0 EMCU0xxxxxxxRxx (Rod end) Ø0 8 1 0 9 1) + Stroke 8 100 11 78 EMCU0xxxxxxNNxNNN (ack plate) 1 160 7 100 ( ) Ø1 EMCU0xxxxxxFNNxNNN (Front plate) 100 19 1) + Stroke 8 1 160 7 110 ( ) Ø1 1) + Stroke 19 9 1) For antirotation option, add 0 mm 6
Inline interface d D M PCD EMC Interface d D PCD M Torque max mm mm Nm 1 1019110 19 110 0 to 0 10 M8 11 10 60 1 10110 110 0 to 0 10 M8 11 10 60 0 1019110 19 110 0 to 0 10 M8 106 10 60 0 10110 110 0 to 0 10 M8 106 10 60 0 1010 10 0 to 8 16 M10 11 10 10 0 1010 10 0 to 8 16 M10 11 10 10 Standard Motor interface list ayout Inline Parallell EMC size 1 0 1 0 Ratio 1:1 1:1 1:1 : :1 1:1 : :1 enze MCS 1 1019110 1019110 P1019110 P119110 P019110 P1019110 P119110 P019110 P019110H MCS 1 1010 P1010 P1010H P110H P010H Siemens 1FK706 10110 10110 P10110 P1110 P0110 P10110 P1110 P0110 P0110H 1FK708 1010 P1010 P1010H P110H P010H Parker NX6 10110 10110 P10110 P1110 P0110 P10110 P1110 P0110 P0110H NX8 1010 P1010 P1010H P110H P010H For other motors, please contact SKF 7
Parallel interface d D M C PCD EMC Interface d D PCD M C Torque max mm mm Nm 1 P1019110 19 110 0 to 0 10 M8 67 10 0 1 P10110 110 0 to 0 10 M8 67 10 0 1 P119110 19 110 0 to 0 10 M8 67 10 1 P1110 110 0 to 0 10 M8 67 10 1 P019110 19 110 0 to 0 10 M8 67 10 0 1 P0110 110 0 to 0 10 M8 67 10 0 0 P1019110 19 110 0 to 0 10 M8 7 180 0 0 P10110 110 0 to 0 10 M8 7 180 0 0 P1010 10 0 to 8 16 M10 7 180 0 P1010H 10 0 to 8 16 M10 7 180 90 0 P1010 10 0 to 8 16 M10 7 180 0 P1010H 10 0 to 8 16 M10 7 180 90 0 P119110 19 110 0 to 0 10 M8 7 180 0 P1110 110 0 to 0 10 M8 7 180 0 P110H 10 0 to 8 16 M10 7 180 100 0 P110H 10 0 to 8 16 M10 7 180 100 0 P019110 19 110 0 to 0 10 M8 7 180 0 0 P019110H 19 110 0 to 0 10 M8 7 180 0 0 P0110H 110 0 to 0 10 M8 7 180 0 0 P010H 10 0 to 8 16 M10 7 180 70 0 P010H 10 0 to 8 16 M10 7 180 70 imit/home switches Sensor type: magnetic Technology: DC PNP imit switch to output: normally closed Home switch output: normally open 1 + 1 Supply voltage (V DC): V Consumption (m): <10 (under V DC) Max current output (m): 100 Connection: M8x1 plug Cable lenghth PUR 0, m The location of the home and limit switches can be adjusted easily on the linear unit. 8
EMC with servomotor E M C S 1 0 0 1 0 0 T R F P 1 0 1 R Y 1 Servomotor Screw diameter Screw lead Stroke Rear attachement T Trunnions F Front plate ack plate N No attachement Front attachement R Rod end N No attachement ntirotation ntirotation N No antirotation imit switches F limit switches and 1 home switch S limit switches only M 1 limit switch and 1 home switch 1 limit switch only H Home switch only N No switch inear unit interface Inline interface P Parallel interface Gearbox ratio 10 Ratio 1:1 1 Ratio : 0 Ratio :1 Motor/drive combination code see page 1011 NNN No motor required Feedback 1 Resolver bsolute encoder Hiperface bsolute encoder EnDat EM brake rake V DC N No brake Motor Drive Y Drive included N No drive Drive ieldbus CNopen DeviceNet C EtherCT D Ethernet E Powerlink MN/CN F Powerlink CN G Proibus H Proinet N No ieldbus Power and signal cables 1 m 10 m 1 m 0 m N No cable 9
EMCS1xx Motor reference E M C S 1 1 0 1 Inline interface EMCS10 EMCS110 Reference F nominal F peak V max 1) Reference F nominal F peak V max 1) N mm/s mm N mm/s mm 101 6 1 17 77 16 188 11 10 101 0 8 1 188 11 10 10 6 1 17 77 8 188 11 10 10 0 8 1 67 188 11 10 10 10 9 7 8 1 8 11 10 10 0 1 7 0 8 11 10 10 10 9 7 8 9 8 11 10 10 0 1 7 88 8 11 10 10 1 97 98 16 68 11 10 107 7 109 6 1 68 11 10 106 1 97 1 00 8 68 11 10 108 7 109 6 11 67 68 11 10 1) For brake option, add 0 mm For absolute encoder option, add 9 mm Parallel interface 7 10 67 EMCS10 EMCS110 Reference F nominal F peak V max 1) Reference F nominal F peak V max 1) N mm/s mm N mm/s mm P101 99 16 78 16 7, 116 P101 9 8 7 7, 116 P10 99 16 78 8 7, 116 P10 9 8 7 67 7, 116 P10 10 61 7 000 1 87, 116 P10 1 1 0 87, 116 P10 10 61 7 000 9 87, 116 P10 1 1 88 87, 116 P19 1 6 9 7 19 87, 116 P0 10 8 6 66 1 87, 116 P106 1 96 0 07 8 7, 116 P0 10 8 6 66 9 87, 116 1) For brake option, add 0 mm For absolute encoder option, add 9 mm 10
EMCS0xx Motor reference E M C S 0 1 0 Inline interface EMCS00 EMCS010 Reference F nominal F peak V max 1) Reference F nominal F peak V max 1) N mm/s mm N mm/s mm 10 10 66 6 6 1 8 106 10 10 68 1 67 0 8 106 10 10 10 66 6 6 9 8 106 10 10 68 1 67 88 8 106 10 101 19 79 0 9 1 1 11 10 101 10 0 7 9 0 1 11 10 10 19 79 0 9 69 1 11 10 10 10 0 7 9 8 1 11 10 10 967 69 06 11 1 11 10 107 18 1 00 1 11 10 106 866 899 69 1 11 10 108 18 1 00 8 1 11 10 1) For brake option, add 0 mm for = 116, add 8 mm for = 1 For absolute encoder option, add 9 mm for = 116, add 0 mm for = 1 Parallel interface 90 180 7 EMCS00 EMCS010 Reference F nominal F peak V max 1) Reference F nominal F peak V max 1) N mm/s mm N mm/s mm P10 10 1 8 1 9 116 P01 6 11 17 00 16 116 P10 10 1 8 9 9 116 P0 6 11 17 00 8 116 P1 0 06 6 617 108 116 P0 1 17 16 116 P16 0 06 1 116 P06 1 17 1 0 8 116 P10 98 66 96 11 88 1 P1 6 671 08 10 88 1 P106 1 880 69 88 1 P1C 6 671 9 9 8 88 1 1) For brake option, add 0 mm for = 116, add 8 mm for = 1 For absolute encoder option, add 9 mm for = 116, add 0 mm for = 1 11
EMC with asynchronous motor E M C 1 1 0 0 1 0 0 T R F P 1 9 S N synchronous motor Screw diameter Screw lead Stroke Rear attachement T Trunnions F Front plate ack plate (not available with parallel interface) N No attachement Front attachement R Rod end N No attachement ntirotation ntirotation N No antirotation imit switches F limit switches and 1 home switch S limit switches only M 1 limit switch and 1 home switch 1 limit switch only H Home switch only N No switch inear unit interface P Parallel interface evel gear Gearbox ratio See page 11 Motor selection See page 11 Smart motor S Smart asynchronous motor Feedback N No feedback EM brake Standard EM brake M Manual release brake N No brake Motor mounting position See page 1 1
EMC Motor reference E M C P 1 9 S N Parallel shaft geared motor EMC1xx 18, 19, 19 1) 61, 17 69 18 18, EMC0xx 18, 19, 19 1) 61, 17 69 18 187, 1) dd 0 mm for brake option EMC110 EMC00 Reference F nominal V 1 V i Reference F nominal V 1 V i N mm/s N mm/s P19SN 10 6 6,, 1,99 P19SN 0 196, 16,66 1,99 P187SN 1 166, 18,776 P187SN 9 77, 11, 18,776 P8SN 6 066, 1,16,867 P8SN 0 91 1, 6,8,867 1
evel geared motor EMC1xx..0SN EMC1xx..11SN 1 8, 1 10, 6 8 1 1 ) 0 9 0 1 1, EMC1xx..19SN 18, 1 10, 01 19, 1) 6 6 60 1, EMC0xx 18, 1 10, 01 19, 1) 6 6 60 17, 1) dd 0 mm for brake option EMC110 EMC00 Reference F nominal V 1 V i Reference F nominal V 1 V i N mm/s N mm/s 0SN 6 1, 80,16,11 01SN 7 8 1,7,18 11SN 11 88, 8,66 1,111 1SN 868,66 1,91 1,6 19SN 118,66 1, 1,919 19SN 8 6 1, 6,7 1,919 1
Mounting positions E M C Parallel shaft geared motor C D E F evel geared motor C D E F 1
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