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Description
- Flexible: 5 predefined axis combinations - diverse handling tasks
- Simple: Quick product selection with LinSelect, configuration with 3D preview
- Ready to install: All components from a single source - delivered pre-assembled
- Complete: Mechanics + electric drive package incl. attachments, optional: energy chains, cables
- Time-saving, user-friendly, expandable: Smart Function Kit software
Product description
Example layout
1 X-axis/axes
2 Y-axis
3 Z-axis
4 Motor (connection e.g. via belt side drive (5), flange and coupling (6), gearing (7)
5 Timing belt side drive
6 Flange and coupling
7 Gearing
8 Cable drag chain
9 Storage tray
10 Connection elements (e.g. angle brackets, connection plate, clamping fixtures, etc.)
11 Connecting shaft
12 Cleated sheet
- For applications where a three-dimensional working range must be approached from the outside, the 3D cantilever chamber system is particularly suitable.
- In the basic axis compact modules with ball screw assembly or toothed belt drive.
- 6 sizes
Technical data
Technical notes
Maximum travel range
The travel ranges of the individual axes determine the maximum travel range of the multi-axis system as travel range limits without stroke reserves.
Any excess travel required as a safety distance in the end positions of the individual axes depends on the application and must therefore be taken into account accordingly by the user.
Therefore, the effectively usable working range is usually smaller than the maximum available travel range.
Example: Travel range 3-axis combination
Technical Data
| Type | 3SA-23 | |||||||||
| Axis | Z | Y | X | |||||||
| Linear axis | CKK-110-NN-1 | CKR-145-NN-1 | ||||||||
| BASA: do x P | 16 x 5 | 16 x 10 | 16 x 16 | 16 x 5 | 16 x 10 | 16 x 16 | - | |||
| Toothed belt: Gear ratio i | - | 3 | 5 | 10 | ||||||
| vmax | m/s | 0.38 | 0.77 | 1.23 | 0.38 | 0.77 | 1.23 | 5 | ||
| Mp_max | Nm | 6.76 | 13.51 | 16.5 | 6.76 | 7.66 | 11 | 6.7 | 3.35 | |
| amax | m/s² | 15 | ||||||||
| smin | mm | 50 | 350 | 210 | ||||||
| smax | mm | 1325 | 650 | 3000 | ||||||
| Motor attachment | Flange/coupling | Belt side drive i = 1 | Gearbox | |||||||
| Motor | MS2N04 | MS2N05 | ||||||||
| mex_max | kg | 30 | ||||||||
Values for maximum travel speed vmax, maximum drive torque MP_max and maximum payload mex_max valid at minimum travel range.
For longer travels, length-dependent reduction for vmax and MP_max for linear axes with ball screw drive as well as a reduction of mex_max depending on travel range and dynamics.
Normal operating conditions
| Type | 3SA-23 |
| Permissible ambient temperature with Rexroth servo motor 1) | 0 °C ... +40 °C |
| Permissible ambient temperature for mechanical system 2) | -10 °C ... +50 °C |
| 1) | Performance losses from 40°C |
| 2) | No passing below the dew point |
Note: Application of dirt is not permitted!
Legend
| Symbol | Description | Unit |
| amax | Maximum acceleration travel | m/s2 |
| d0 | Nominal diameter of ball screw drive | mm |
| i | Timing belt side drive gear ratio | - |
| mex_max | Maximum permissible payload of the multi-axis system | kg |
| Mp_max | Maximum drive torque | Nm |
| P | Lead | mm |
| smax | Maximum travel range | mm |
| smin | Minimum travel | mm |
| vmax | Maximum speed | m/s |
Fields of application
Application examples for multi-axis systems
| Axis combinations for almost unlimited fields of application | ||||||
 |  |  |  |  |  |  |
| Pick & Place | Positioning | Palletizing | Feeding | Moving | Parts Placement | Picking |
 |  |  |  |  |  |  |
| Stacking | Dispensing | Discharging | Sorting | Check | Mounting | Screwing |
Dimensions
Dimensional drawings
| 1) | Version: X-axis as toothed belt axis |
| 2) | Stroke |
| 1) | Stroke |
Dimensions
| Type | 3SA-23 | ||
| Rx | mm | 400.5 | |
| Ry | mm | 269 | |
| Xa | mm | 196.5 | |
| Xs | mm | 204 | |
| Bwx | mm | 227.5 | |
| Bwy | mm | 142 | |
| Bwz | mm | 140 | |
| Bez | mm | 244.5 | |
| Y1 | mm | 125 | |
| Yu | mm | 110 | |
| Xu | mm | - 20 | |
| CPx | mm | 151.5 | |
| Lma | mm | 210 | |
| ZG | mm | 230 | |
| ZM | mm | 183.5 | |
| Zo | mm | 201 | |
| Zu | mm | 125.5 | |
| LMx | max | mm | 290 |
| LMy | max | mm | 226.5 |
| LMz | max | mm | 258.5 |
Mounting
Overview
Fastening options on the relevant axes depend on the type and size of the multi-axis system.
Example: 3D cantilever chamber, type 3SA, size 30
According to the table, information on mounting the X-axis (basic axis) can be found in section "Fig. B1" for the required size CKX-200.
3SA - 3D cantilever chamber
 | Type | Size | Z-axis | X-axis (basic axis) | |||
| Z-adapter | HK |
| |||||
| Fig. | Fig. | Size | Fig. | Size | |||
| 3SA | 20 | V1-A | V1 | CKK-090 | B1 | CKX-145 | |
| 21 | V1-A | V1 | CKK-090 | B1 | CKX-145 | ||
| 22 | V1-A | V1 | CKK-110 | B1 | CKX-145 | ||
| 23 | V1-A | V1 | CKK-110 | B1 | CKX-145 | ||
| 30 | V1-A | V1 | CKK-110 | B1 | CKX-200 | ||
| 31 | V1-A | V1 | CKK-110 | B1 | CKX-200 | ||
| CKX = compact modules with ball screw assembly CKK or toothed belt drive CKR |
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 |
Z adaptation
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 |
Accessories
Clamping fixtures for Compact Modules
Clamping fixtures for Compact Modules
Ordering codes
Order overview
| Type | Short product name | Configuration and ordering |
| 3SA-23 | CMS-3SA-23-2 | Configurator |
Explanation of short product name
| Example 3SA - 3D cantilever chamber | CMS-3SA-22-2 | |
| System | CMS | Multi-axis system |
| Combination of axes | 3SA | 3D cantilever chamber |
| Size | 22 | 20 / 21 / 22 / 23 / 30 / 31 |
| Generation | 2 | Product generation 2 |
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