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Description
- Based on a Cartesian multi-axis system, this mechatronic solution moves components or workpieces precisely and reliably in a defined space.
- Proven Rexroth linear axes from the mechatronic building system with currently 36 structural design types available with connection elements and optional cable drag chains and cables are combined with innovative control technology and software to create a perfectly tailored system solution. Everything from a single source.
- Easy design & product selection with LinSelect and the online configuration with 3D preview.
- Plug & Produce thanks to commissioning wizard and automatic parameterization.
- Process configuration requires no knowledge of programming.
Product description
Features:
| EASY PRODUCT SELECTION
|  |
| PLUG & PRODUCE
|  |
| ZERO PROGRAMMING
|  |
| OPEN INTERFACES
|  |
The mechatronic building system of the Smart Function Kit for Handling is suitable for a wide range of positioning and handling tasks.
Pre-selected mechanical and electrical components as well as software are bundled in various kits. 36 structural design types from 5 different axis arrangements are available for selection.
The Smart Function Kit can be used as stand-alone solution or incorporated in superior systems via OPC UA.
Hardware
1 X- axis/axes
2 Y- axis
3 Z-axis
4 Motor (connection e.g. via belt side drive (5), Flange and coupling (6), Gear box (7)
5 Belt side drive
6 Flange and coupling
7 Gear box
8 Cable drag chain with cables
9 Storage tray
10 Connection elements (e.g. angle brackets, connection plate, clamping fixtures, etc.)
11 Connection shaft
12 Cleated sheet
13 ctrlX Drive and ctrlX Drive and drive controller with integrated ctrlX Core drive controller (with preinstalled software package and SFK4H app)
14 I/O modules (optional)
Technical details about the multi-axis system, motors, motor attachment, cable drag chain, etc. can be found here
Software:
The Smart Function Kit for Handling app/software is the basis for our Smart Function Kit and provides the customer with various advantages, which we would now like to discuss in more detail.
Easy commissioning (Plug & Produce and Fast Commissioning):
- Preinstalled software
- The wizard guides users through commissioning in a step-by-step manner
- Automatic loading of the hardware configuration thanks to reading of the motor encoder memories
- Automatic parameterization of the drive controllers
- Guided referencing of the individual axes
| Figure: Commissioning, system architecture |
Easy programming (zero programming):
- Intuitive graphical programming
- Extensible command library
- Program blocks are strung together via drag & drop
- Validation of program parameters
- No programming knowledge required
- Visualization on the web HMI
| Figure: Programming |
Web HMI dashboard:
- Usable on various end devices with web capability and from 10" display diagonal
- Everything in view thanks to a wide range of information such as system status and diagnostic messages, program change and jog mode
- Program management
- Current process data such as position, speed, acceleration, etc. are also displayed.
| Figure: Web HMI dashboard |
Neben der Smart Function Kit for Handling App gibt es noch eine Reihe von Apps die vorinstalliert zu Verfügung stehen. Hier unterscheidet man zwischen Standard und optionalen Apps.
Technical data
Mechanical base
Mechanical base is the multi-axis construction kit with 36 structural design types in 5 different axis arrangements…
The compact modules CKK 090/110/145/200, CKR110/145/200 and MKR 065/080/100 modules are used for this.
Overview table of multi-axis system
| Overview of versions |  |  |  |  |  | ||||||
| Description | 2 HA - 2D cantilever surface | 2HB - 2D area gantry | 3SA - 3D cantilever chamber | 3SB - 3D gantry | 2VA - 2D linear gantry | ||||||
| Number of axes | 2 | 2 | 3 | 3 | 2 | ||||||
| Combination of axes | 2HA | 2HB | 3SA | 3SB | 2VA | ||||||
| Number of sizes | 8 | 6 | 6 | 8 | 8 | ||||||
| Max. payload => depending on size, travel range and dynamics. | 25 - 82 kg | 25 - 100 kg | 10 - 32,5 kg | 10 - 70 kg | 10 - 61 kg | ||||||
| Travel range | mm | min | max | min | max | min | max | min | max | min | max |
| Axis | X | 150 | 3000 | 60 | 3000 | 150 | 3000 | 60 | 3000 | - | - |
| Y | 200 | 1200 | 80 | 3000 | 200 | 880 | 80 | 2753 | 210 | 3000 | |
| Z | - | - | - | - | 40 | 1325 | 60 | 1590 | 40 | 1590 | |
Servo motors MS2N
| Figure: MS2N motor |
- Five sizes from MS2N03 to MS2N07
- Smooth shaft without shaft seal
- Multiturn encoder
- Advanced encoder (C) in conjunction with 1-cable connection (AcuroLink interface)
- Protection class IP64
- With and without holding brake
- Separate ground terminal available in the area of the motor flange (assignment if required)
The connection is made via a belt side drive, flange coupling and gearbox
Motor attachment
| Linear axes | Compact modules with ball screw assembly CKK | Compact modules with toothed belt drive CKR | Linear modules with toothed belt drive MKR |
| Sizes | CKK-090-NN-1 | CKR-110-NN-1 | MKR-065-NN-3 |
| CKK-110-NN-1 | CKR-145-NN-1 | MKR-080-NN-3 | |
| CKK-145-NN-1 | CKR-200-NN-1 | MKR-110-NN-3 | |
| CKK-200-NN-1 |
|
| |
| Motor attachment | Flange/coupling | Gearbox | Gearbox |
 |  |  | |
| Timing belt side drive | |||
 |
Please note that the size and design of the motors and motor attachments depend on the structural design type.
More details on the multi-axis system used can be found here
Drive controller as well as ctrlX Drive and ctrlX Core controller
Figure: Drive controller ctrlX and overview of apps
| 1) | Scope of delivery |
| 2) | optional |
- ctrlX DRIVE drive controller of the latest generation
- ctrlX CORE controller integrated
- Open interface for i4.0 via OPC-UA
- Modules for connection to higher-level controller
- ReST programming interface
- Preinstalled engineering and runtime apps - easy to expand individually
Please note that the choice of controllers depends on the selected axis system.
Interfaces
OPC-UA interface
- OPC-UA = Open Platform Communications – Unified Architecture
- Open communication standard for data exchange and networking of plants and subsystems with each other and with higher-level IT systems (horizontal and vertical networking).
- Smart Function Kit for Handling with integrated OPC-UA server
- Faster integration of the Smart Function Kit for Handling into the plant and IT architecture
- Access to data and functions of the Smart Function Kit for Handling, independent of the platform or language
HTTP Rest API interface
- REST= REpresentational State Transfer architecture (= status-free, resource-based)
- Easy communication with the Smart Function Kit for Handling from an IT system (e.g. web interface, high-level language program, server)
- Getting and posting messages for HTTP communication with the Smart Function Kit for Handling (data exchange in JSON format)
- Requesting and creating programs
- Remote access to system settings of the Smart Press Kit (e.g. I/O assignment, IP address)
- Suitable for all data that is to be read or written once (= "non-live" data)
Safety
Scope of delivery by Bosch Rexroth:
Incomplete machine without CE mark according to MRL
Duty of the customer (as machine manufacturer):
Compliance with the requirements according to MD (e.g. risk assessment, safety concept, protective safeguards, CE approval)
Possible safety concept:
- Protective enclosure of the hazardous area
- Use of safe door switches (possibly with guard locking) with relay e.g.: PILZ safety relay 750105 + PILZ safety switch 504220
- Wiring of the relay to HCS01 STO inputs
Safety category 4 with performance level (PL) achievable.
STO cannot be used via ProfiSAFE, etc., Connection only by means of hardware wiring
Cable management
Multi-axis systems are also optionally available with energy chains. With plenty of free cross-sections in the cable drag chains for your own cable guide.
Possible cable management options
 | Cable drag chain with cable (for single cable connection):In the scope of delivery the cable drag chain, storage trays and the entire fastening material are included and completely mounted to the multi-axis system. With cables connected (plug connection), which are routed in the cable drag chains to the output of the storage tray of the basic axis. The cable ends and the motor of the basic axis are designed with a plug connection thus offering the option of connecting cables to the controller. |
 | Cable drag chain without cables:In the scope of delivery the cable drag chain, storage trays and the entire fastening material are included and completely mounted to the multi-axis system. All motors without motor cables.
|
 | Without cable drag chain, without cables:The multi-axis system is designed without a cable drag chain and cables
|
| Figures of possible cable management options | |
The design and dimensions of the cable drag chains depend on the selected multi-axis system.
More details on the multi-axis system and cable drag chain used can be found here
Components
ctrlX DRIVE
ctrlX DRIVE
- From a simpler axis with command value specification to an axis-integrated motion system
- Scalable power of ctrlX DRIVE servo drives from 6 to 375 Apeak and ctrlX DRIVE servo motors from 3.7 to 692 Nmpeak
- Space-saving design: Suitable for 300 mm control cabinets, 25 mm width per axis, 30% more compact motors
- Plug & Play: ctrlX DRIVE servo drives and ctrlX DRIVE servo motors with single-cable technology
- Ideal adaptation to machine requirements thanks to a broad motor range: rotative, linear, kit or housing
Compact Modules with ball screw drive
CKK
Compact Modules with ball screw drive
CKK
- Drive via precision Rexroth Ball Screw Assembly
- Screw support for the realization of high speeds on long assembly lengths for CKK-200
- Protection of installation elements through a cover plate and two cover strips;
Optionally increased protection with "Resist" cover. - Repeatability of up to ± 05 mm
- Four different lube versions
Compact Modules with toothed belt drive
CKR
Compact Modules with toothed belt drive
CKR
- Realization of greater lengths of up to 10000 mm
- Pre-tensioned toothed belt
- Intelligent toothed belt guide protects inner components
- Repeatability of up to ± 0.05 mm
- Four different lube versions
Linear Modules with toothed belt drive
MKR
Linear Modules with toothed belt drive
MKR
- Linear Module with a Ball Rail system and toothed belt drive
- The integrated, backlash-free Rexroth ball rail system enables large masses to be moved at high speed due to the high load ratings and optimal travel
- High-performance toothed belt in the largest possible width for high drive torques with simultaneously high rigidity
- Available in six sizes in lengths up to 9800 mm
- Repeatability of up to ± 0.05 mm
IndraDyn S ‒ servomotors MS2N
IndraDyn S ‒ servomotors MS2N
Mounting
Mechanical interfaces (Z-axis adapter) and clamping fixtures for fastening to the basic axis
Fastening with clamping fixtures
Position and number of the clamping fixtures can be taken from the configured 3D CAD model
Fig. B1
Attention! Do not secure or support the compact module at the end enclosures or cross ties! The frame is the load-bearing part!
| Size | I | J |
| mm | mm | |
| CKX-110 | 126 | 140 |
| CKX-145 | 161 | 175 |
| CKX-200 | 222 | 240 |
Fig. B2
Do not secure or support the linear module at the end enclosures!
The frame is the load-bearing part!
| Size | I | J |
| (mm) | (mm) | |
| MKR-065 | 81,0 | 95,0 |
| MKR-080 | 96,0 | 110,0 |
| MKR-110 | 132,0 | 150,0 |
Accessories
Mechanical interfaces (Z-axis adapter) and clamping fixtures for fastening to the basic axis
Z-Adaption
Fig. V1 HK
| 1) | ØB1 x B2 deep (6x) |
| 2) | ØB3 x B4 deep |
| Size | A | B1 | B2 | ØB3H7 | B4 | H1 | L1 | L2±0,01 | L3 | L4 | L5 | L6 |
| min | ||||||||||||
| mm | mm | mm | mm | mm | mm | mm | mm | mm | mm | mm | mm | |
| CKK-090 | 90 | M4 | 7,5 | 9 | 2,1 | 32,0 | 20 | 40 | 10 | 30 | 35 | 76 |
| CKK-110 | 110 | M5 | 9,0 | 9 | 2,1 | 38,0 | 20 | 40 | 10 | 30 | 35 | 92 |
| CKK-145 | 145 | M6 | 13,0 | 12 | 2,1 | 43,5 | 20 | 40 | 10 | 30 | 35 | 124 |
Fig. V1-A Z-adapter
| 1) | 6 bores Ø D2 |
| 2) | 2 centering rings D1 |
| Size | B1 | B2 | B3 | H1 | H2 | H3 | H4 | ⌀ D1 | ⌀ D2 |
| mm | mm | mm | mm | mm | mm | mm | mm | mm | |
| CKK-090 | 40 | 76 | 89 | 32,0 | 42 | 54 | 61 | 9H7 | 5,5 |
| CKK-110 | 40 | 90 | 109 | 38,0 | 48 | 62 | 70 | 9H7 | 6,6 |
| CKK-145 | 60 | 125 | 144 | 43,5 | 58 | 78 | 90 | 12H7 | 9,0 |
Fastening with clamping fixtures
Position and number of clamping pieces can be taken from the configured 3D CAD model
Fig. B1
Attention! Do not fasten or support the compact module at the end enclosures or cross ties! The frame is the load-bearing part!
| 1) | Countersink for thread M ISO 4762, number N |
| Size | for thread M | N | A | B | C | D | E | F | G | H | I | J | Part number |
| mm | mm | mm | mm | mm | mm | mm | mm | mm | mm | ||||
| CKX-110 | M6 | 2 | 62 | 11,0 | 40 | 11,5 | 5,3 | 19,3 | 14,0 | 7,0 | 126 | 140 | R0375 510 34 |
| CKX-145 | M6 | 2 | 62 | 11,0 | 40 | 11,5 | 5,3 | 19,3 | 14,0 | 7,0 | 161 | 175 | R0375 510 34 |
| CKX-200 | M6 | 2 | 78 | 19,0 | 40 | 27,5 | 14,8 | 29 | 19,0 | 9,0 | 222 | 240 | R1175 290 97 |
Fig. B2
Do not fasten or support the linear module at the end enclosures!
The frame is the load-bearing part!
| 1) | Countersink for thread M ISO 4762, number N |
| Size | Countersink ISO 4762 for | N | A | B | C | D | E | F | H | I | J | Part number |
| mm | mm | mm | mm | mm | mm | mm | mm | mm | ||||
| MKR-065 | M6 | 2 | 78 | 14,0 | 50 | 20,0 | 11,5 | 20 | 7,0 | 81,0 | 95,0 | R1175 190 24 |
| MKR-080 | M6 | 2 | 78 | 14,0 | 50 | 20,0 | 11,5 | 20 | 7,0 | 96,0 | 110,0 | R1175 190 24 |
| MKR-110 | M6 | 2 | 108 | 19,0 | 70 | 27,5 | 16,5 | 29 | 9,0 | 132,0 | 150,0 | R1175 290 26 |
Clamping fixtures for Compact Modules
Clamping fixtures for Compact Modules
Clamping fixtures for Linear Modules
Clamping fixtures for Linear Modules
Downloads
 | Multi-axis systems Catalog | R999001309 | 2021-03-01 | English | PDF | 10.6MB Product Groups: Linear axes and electromechanical cylinders, Multi-axis systems Multi-axis systems |
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