CASM electric cylinders The modular electric cylinder system
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- Derek Bruce
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1 CASM electric cylinders The modular electric cylinder system CASM electric cylinders are ideally suited to performing fast and powerful linear movements. Unlike pneumatic or hydraulic cylinders, CASM electric cylinders are flexible and thus can be positioned precisely. Furthermore, due to a reduced number of components, the whole system is more cost-effective, resulting in lower energy and maintenances costs. The CASM modular concept enables easy connection to your preferred motor and control system. This can reduce design and programming costs considerably. Thanks to high-grade materials, a sealing system with IP54S level protection, and high-quality manufacturing, CASM electric cylinders can also be used long-term even under adverse conditions. The low-backlash design provides positioning precision of up to ±,1 mm. Together with various screws for different speeds and forces, CASM electric cylinders are the optimum solution for a wide variety of applications. Features Customised motor adapter Multi-option modular system Highly energy-efficient Highest levels of precision and repeatability Benefits Use your own controls and motors Easy integration and fast assembly Reduced stock Lower energy costs Worldwide service and support Very secure investment
2 SKF automation solutions Selection of the linear unit The CASM range from SKF contributes to better performing and more reliable machine operations in a wide spectrum of automated applications. Calculate constant mean load F ml F ml F n S n = constant mean load for lifetime calculation in N = force acting on push tube in N = distance travelled in mm Tailor-made solutions with very flexible choices Thanks to its modularity, the CASM can easily be integrated into your own system. Depending on the needed mechanical performance (dynamic load, speed), a wide range of motors can be selected to match the performance for your application (nominal force, linear speed, peak force, etc.). Calculate lifetime distance L 1 dist Draw the point (L 1 dist FmL) on CASM lifetime selection graph (start with smallest linear unit size) Is the point under the curve? Yes Make a motor selection No Repeat the steps with the next bigger size available How to calculate the constant mean load F ml In many cases, the magnitude of the load fluctuates. In order to calculate the equivalent actuator load, it is necessary to first determine a constant mean load F ml which has the same influence on the L screw as the actual fluctuating load. A constant mean load can be obtained from the formula below: How to calculate the lifetime distance L 1 dist The lifetime distance L 1 dist is defined as the life in km that % of a t sufficiently large group of apparently identical actuators can be expected to attain or exceed. L 1 dist = S total t L,36 ttotal L 1 dist = lifetime distance in km S total = total distance travelled per cycle (both directions) in mm t L = lifetime in hours t total = total cycle time (from one cycle to the next) in s Example: Total distance travelled per cycle: 4 mm Required lifetime: 5 years, 23 days/year 24 h/day = 27 6 hours Total cycle time: 15 s ,36 L 1 dist = = 2 65 km 15 Draw the operating point on CASM lifetime chart Example: F ml = 5 N and L1 dist = 2 65 km Nominal load (N) Replacement of pneumatics CASM electromechanical solutions are a good alternative to pneumatic systems. With energy savings of up to %, electromechanical solutions result in tremendous savings. Besides, with less maintenance needed and less contamination risks, the operating costs of electromechanical solutions are much lower than for pneumatic systems. Like pneumatic cylinders, CASM linear units comply with ISO standards which makes replacement very easy. Thanks to software monitoring, CASM actuators can be synchronized and positioning is more accurate resulting in higher process stability. F1 3 S 1 + F 3 2 S 2 + F 33 S 3 + F ml = 3 S 1 + S 2 + S 3 + (F min + 2F max ) F ml = 3 Load Load F 1 F 2 F3 S 1 S 2 S 3 Stroke F max F min Stroke Lifetime diagram 4 5 Point below the CASM 4 BN curve 6 CASM 4 BN CASM 4 BS Lifetime (km) In this example, the CASM-4-BN is the smallest possible linear unit.
3 Selection of the motor CASM Linear units To calculate the mean motor torque, we first need to calculate the mean load F m over the motor running time. Please note that the use of a motor brake can reduce the needed power of the motor. Load F 1 F 2 q 1 q 2 q 3 F m = 3 F13 q 1 + F 23 q 2 + F 3 3 q 3 F m = mean force for motor selection in N F n = force of the actuator, powered by the motor, in N q n = time needed for one movement in percent of the full cycle Example: F 1 = 7 N, t 1 = 2 s, q 1 = 1% F 2 = 5 N, t 2 = 15 s, q 2 = 75% F 3 = 3 N, t 3 = 3 s, q 3 = 15% F 3 If no brake is engaged: F max F m q 1% F m = 3 73, , ,15 = 5 N In our example, the F m mentioned in the system capabilities for the CASM 4 BN is 572 N while the application has a F m of 5 N. Therefore, the Siemens 1FK734 is the right motor for this application. When using a third-party motor When using a third-party motor, we need to calculate the minimum required rated torque and maximum torque of the motor. M L max F m MM min = F d M L max F max MM max = F d M M min = minimum rated torque required by the motor during the cycle in Nm M M max = highest torque the motor has to reach during the cycle in Nm M L max = maximum allowed input torque of the linear unit in Nm F m = mean load of the application in N F max = maximum load of the application in N F d = dynamic force of the linear unit in N In our previous example: Technical data Unit CASM LS CASM BS CASM BN Screw type Lead screw Ball screw Ball screw Screw diameter mm 1 1 Screw pitch mm 1,5 3 1 Max. dynamic force N Max. static force N Max. speed mm/s Stroke mm 5 to 4 5 to 4 5 to 4 Max. input torque* Nm,5,8 1,4 Max. input RPM* 1/min Max. acceleration m/s Duty cycle % Lifetime L 1 km 7 see chart see chart Repeatability (same direction and load) mm ±,7 ±,1 ±,1 Operating temperature C to +5 to +5 to +5 Humidity % Type of protection IP 54S 54S 54S * Speed and torque of the motor needs to be limited If the brake is engaged during the period q 2 : 4 5 M M min = = 1,31 Nm 1 55 Performance diagrams CASM F m = 3 7 3,1 +, ,15 = 337 N When using a SKF tested motor When using a SKF tested motor, make sure that the F m value mentioned in the system capabilities is equal to or higher than the calculated F m value of your application. 4 7 M M max = = 1,81 Nm 1 55 The rated torque of the motor should be at least 1,31 Nm at the needed speed, and the absolute maximum torque of the motor (or peak torque) must exceed 1,81 Nm. Attention: The dynamic torque of the motor may vary according to the speed. Please confirm that your motor is able to reach the needed speed, acceleration and max. torque for your application Force (N) Radial load (N) Nominal load (N) for CASM-4 with Siemens motor 1FK734 Unit Peak force F m CASM 4 LS N 6 6 CASM 4 BS N CASM 4 BN N Configuration For quick and easy selection, please use the Actuator Select application on Speed (mm/s) Speed force diagram CASM LS No limitation for ball screw types (max. load at max. speed) Position (mm) Radial load diagram The radial load acts perpendicular to the moving direction Lifetime diagram CASM BN CASM BS 8 1 Lifetime (Km)
4 Linear units Dimensional drawing CASM 3d M1x1, ,5 148 ±1 + Stroke , CASM Siemens motors and adapters 6h6 f7 45,5,5 M6 8,5 Slots for proximity sensor with option M In order to provide you a fully integrated system, SKF combined its actuator expertise with Siemens well-known motor knowledge. Thanks to this partnership, SKF offers a complete linear solution, including a CASM linear unit mounted with a SIEMENS 1FK7 servomotor. The Siemens motors 1FK715 and 1FK722 come with a multipole resolver, a shaft-end with no keyway and a holding brake. In addition, the 1FK722 model is equipped with a DRIVE-CLiQ interface. A rotating plug adapter simplifies the connection and cable routing in all installation positions. For more information, please visit the following sites: Motors: Frequency converters: Automation systems: Controls: Engineering software: Support worldwide: Slots for proximity sensor with option M Solutions with Siemens motor 1FK715 and compatible adapters M6 M6 Dimensional drawing Siemens motor 1FK715 1FK715 5AK71 1SH3 Motor data Unit 1FK715 Ordering key Type Screw: Lead screw 1,5 mm Ball screw 1 3 mm Ball screw 1 1 mm CASM A Stroke: 5 mm 5 1 mm 1 15 mm 15 2 mm 2 3 mm 3 4 mm 4 LS BS BN Parallel adapter kit for CASM and Siemens 1FK715 motor* 45, F7 4 M4 86 Rated power (1 K) kw,1 Rated speed min -1 6 Rated current A,85 Rated torque (1 K) Nm, Static torque (1 K) Nm,35 Peak torque Nm 1 Inertia with brake 1 4 kgm 2,12 Shaft height mm 2 Weight with brake kg 1,2 ZBE Option 1) : Motor, adapter and accessories separately delivered Motor, adapter and foot mountings 2) pre-mounted (see orientation of slots on above drawing) A M 3 3,3 1) Motor, adapter kit and accessories need to be ordered separately 2) Foot mountings pre-mounted on in-line version only 7 4,1 4 CASM LS N 3 23 CASM BS N 7 23 CASM BN N SKF Group 2 PUB MT/P EN September 2
5 Siemens motors and adapters In-line adapter kit for CASM- and Siemens 1FK715 motor* 46 4, ZBE CASM CASM Accessories 4 4 M4 Solution with Siemens motor 1FK722 and compatible adapter CASM LS N 3 23 CASM BS N 7 23 CASM BN N Foot mounting kit* Part 1 Part Note: The foot mounting between the linear unit and the adapter kit increases the length of the in-line version by 4 mm ZBE For parallel version (2x part 1) Order No ZBE For in-line version (part 1 + part 2) Dimensional drawing Siemens motor 1FK722 1FK722 5AK71 1UH3 Flange mounting kit* ZBE Motor data Unit 1FK Rated power (1 K) kw,43 Rated speed min -1 6 Rated current A 1,4 Rated torque (1 K) Nm,6 Static torque (1 K) Nm,85 Peak torque Nm 3,4 Inertia with brake 1 4 kgm 2,35 Shaft height mm 28 Weight with brake kg 2 flange kit* ZBE In-line adapter kit for CASM and Siemens 1FK722 motor* ZBE M5 64 4,4 55 CASM LS N 3 3 CASM BS N CASM BN N mounting kit* ZBE support pair 6,6 18 1,5 ZBE ,8 SKF is a registered trademark of the SKF Group SKF Group 2 PUB MT/P EN October :2 Note: to be used with trunnion flange kit or trunnion mounting kit
6 5 Accessories Swivel flange* , CASM ZBE For parallel version only CASM 4 Linear units ,5 Swivel flange with rod eye* 45 ZBE For parallel version only 6,6 1 1,5 5,5 Technical data Unit CASM 4 LS CASM 4 BS CASM 4 BN Rod clevis Rod eye M1x1,25 1,5 2 ZBE ZBE 3755 Screw type Lead screw Ball screw Ball screw Screw diameter mm 12, ,7 Screw pitch mm 2,5 5 12,7 Max. dynamic force N Max. static force N Max. speed mm/s Stroke mm 1 to 6 1 to 6 1 to 6 Max. input torque* Nm 1,2 2, 4 Max. input RPM* 1/min Max. acceleration m/s Duty cycle % Lifetime L 1 km 1 see chart see chart Repeatability (same direction and load) mm ±,7 ±,1 ±,1 Operating temperature C to +5 to +5 to +5 Humidity % Type of protection IP 54S 54S 54S 1 * Speed and torque of the motor needs to be limited 43 Performance diagrams CASM Force (N) Radial load (N) Nominal load (N) Proximity sensor 2 LED 3,15 6,2 Switching function Output signal Rated voltage Max. current Cable length Normally open PNP 24 V DC 3 ma 5 m C NO Speed (mm/s) Speed force diagram CASM 4 LS No limitation for ball screw types (max. load at max. speed) Position (mm) Radial load diagram The radial load acts perpendicular to the moving direction Lifetime diagram CASM 4 BN CASM 4 BS Lifetime (Km) SKF Group 2 PUB MT/P8 121 EN September 2
7 Linear units Dimensional drawing M12x1, ,5 28, ,5 ±1 + Stroke 3 CASM ,4 CASM 4 Siemens motors and adapters 35d 2 8h6 4f M Slots for proximity sensor with option M In order to provide you a fully integrated system, SKF combined its actuator expertise with Siemens well-known motor knowledge. Thanks to this partnership, SKF offers a complete linear solution, including a CASM linear unit mounted with a SIEMENS 1FK7 servomotor. The Siemens motors 1FK722 and 1FK734 come with a multipole resolver, a shaft-end with no keyway and a holding brake. In addition, they are equipped with a DRIVE-CLiQ interface. A rotating plug adapter simplifies the connection and cable routing in all installation positions. For more information, please visit the following sites: Motors: Frequency converters: Automation systems: Controls: Engineering software: Support worldwide: Slots for proximity sensor with option M Solutions with Siemens motor 1FK722 and compatible adapters M6 M6 Dimensional drawing Siemens motor 1FK722 1FK722 5AK71 1UH3 Motor data Unit 1FK722 Ordering key Type Screw: Lead screw 12,5 2,5 mm Ball screw 12 5 mm Ball screw 12,7 12,7 mm CASM 4 A Stroke: 1 mm 1 2 mm 2 3 mm 3 4 mm 4 5 mm 5 6 mm 6 LS BS BN Parallel adapter kit for CASM 4 and Siemens 1FK722 motor* 64 4 F7 13 Rated power (1 K) kw,43 Rated speed min -1 6 Rated current A 1,4 Rated torque (1 K) Nm,6 Static torque (1 K) Nm,85 Peak torque Nm 3,4 Inertia with brake 1 4 kgm 2,35 Shaft height mm 28 Weight with brake kg 2 ZBE Option 1) : Motor, adapter and accessories separately delivered Motor, adapter and foot mountings 2) pre-mounted (see orientation of slots on above drawing) A M 4 M5 5,3 35 1) Motor, adapter kit and accessories need to be ordered separately 2) Foot mountings pre-mounted on in-line version only 7 47,1 4 CASM 4 LS N 6 48 CASM 4 BS N CASM 4 BN N SKF Group 2 PUB MT/P8 12 EN September 2
8 Siemens motors and adapters In-line adapter kit for CASM 4 and Siemens 1FK722 motor* 64 4,4 ZBE 3755 CASM 4 CASM 4 Accessories 55 4 M5 Solution with Siemens motor 1FK734 and compatible adapter CASM 4 LS N 6 48 CASM 4 BS N CASM 4 BN N Dimensional drawing Siemens motor 1FK734 1FK734 5AK71 1UH3 Flange mounting kit* ZBE Motor data Unit 1FK Rated power (1 K) kw,63 Rated speed min -1 6 Rated current A 1,3 Rated torque (1 K) Nm 1 Static torque (1 K) Nm 1,6 Peak torque Nm 6,5 Inertia with brake 1 4 kgm 2,8 Shaft height mm 36 Weight with brake kg 4 flange kit* 72 1 ZBE Foot mounting kit* Part 1 Part ,5,5 Note: The foot mounting between the linear unit and the adapter kit increases the length of the in-line version by 4 mm ZBE For parallel version (2x part 1) ZBE For in-line version (part 1 + part 2) In-line adapter kit for CASM 4 and Siemens 1FK734 motor* ZBE ,4 4 M6 72 CASM 4 LS N 6 6 CASM 4 BS N CASM 4 BN N mounting kit* ZBE support pair ZBE SKF Group 2 PUB MT/P EN October :2 Note: to be used with trunnion flange kit or trunnion mounting kit
9 5 Accessories Swivel flange* , CASM 4 ZBE For parallel version only CASM 63 Linear units 4 5,5 Swivel flange with rod eye* 52 1 ZBE For parallel version only 6,6 12 5,5 Technical data 25 Unit CASM 63 LS CASM 63 BN CASM 63 BF Rod clevis Rod eye M12x1, ZBE ZBE Screw type Lead screw Ball screw Ball screw Screw diameter mm Screw pitch mm Max. dynamic force N Max. static force N Max. speed mm/s Stroke mm 1 to 8 1 to 8 1 to 8 Max. input torque* Nm 3,5,5 Max. input RPM* 1/min Max. acceleration m/s Duty cycle % Lifetime L 1 km 1 see chart see chart Repeatability (same direction and load) mm ±,7 ±,1 ±,1 Operating temperature C to +5 to +5 to +5 Humidity % Type of protection IP 54S 54S 54S 12 * Speed and torque of the motor needs to be limited 5 Performance diagrams CASM ,5 23 Force (N) Radial load (N) Nominal load (N) Proximity sensor 2 LED 3,15 6,2 Switching function Output signal Rated voltage Max. current Cable length Normally open PNP 24 V DC 3 ma 5 m C NO Speed (mm/s) Speed force diagram CASM 63 LS No limitation for ball screw types (max. load at max. speed) Position (mm) Radial load diagram The radial load acts perpendicular to the moving direction Lifetime diagram CASM 63 BN CASM 63 BF 8 1 Lifetime (Km) SKF Group 2 PUB MT/P8 12 EN September 2
10 Linear units Dimensional drawing Mx1,5 36,5 28, ±1 + Stroke 36 CASM 63 23,5 CASM 63 Siemens motors and adapters 45d 28 2 h6 6f7 75,5 56,5 M ,5 Slots for proximity sensor with option M In order to provide you a fully integrated system, SKF combined its actuator expertise with Siemens well-known motor knowledge. Thanks to this partnership, SKF offers a complete linear solution, including a CASM linear unit mounted with a SIEMENS 1FK7 servomotor. The Siemens motors 1FK734 and 1FK744 come with a multipole resolver, a shaft-end with no keyway and a holding brake. In addition, they are equipped with a DRIVE-CLiQ interface. A rotating plug adapter simplifies the connection and cable routing in all installation positions. For more information, please visit the following sites: Motors: Frequency converters: Automation systems: Controls: Engineering software: Support worldwide: Slots for proximity sensor with option M Solutions with Siemens motor 1FK734 and compatible adapters M8 M8 Dimensional drawing Siemens motor 1FK734 1FK734 5AK71 1UH3 Motor data Unit 1FK734 Ordering key Type Screw: Lead screw 2 4 mm Ball screw 2 1 mm Ball screw 2 2 mm CASM 63 A LS BN BF Rated power (1 K) kw,63 Rated speed min -1 6 Rated current A 1,3 Rated torque (1 K) Nm 1 Static torque (1 K) Nm 1,6 Peak torque Nm 6,5 Inertia with brake 1-4 kgm 2,8 Shaft height mm 36 Weight with brake kg 4 Stroke: 1 mm 1 2 mm 2 3 mm 3 4 mm 4 5 mm 5 6 mm 6 7 mm 7 8 mm 8 Parallel adapter kit for CASM 63 and Siemens 1FK734 motor* 78 6 F7 74,1 ZBE Option 1) : Motor, adapter and accessories separately delivered Motor, adapter and foot mountings 2) pre-mounted (see orientation of slots on above drawing) A M 4 M6 157,3 1) Motor, adapter kit and accessories need to be ordered separately 2) Foot mountings pre-mounted on in-line version only 45 58,1 4 CASM 63 LS N CASM 63 BN N CASM 63 BF N SKF Group 2 PUB MT/P EN September 2
11 Siemens motors and adapters In-line adapter kit for CASM 63 and Siemens 1FK734 motor* 78 62,4 ZBE CASM 63 CASM 63 Accessories 75 4 M6 15 Solution with Siemens motor 1FK744 and compatible adapter CASM 63 LS N CASM 63 BN N CASM 63 BF N Foot mounting kit* 13 5 Part 1 Part Note: The foot mounting between the linear unit and the adapter kit increases the length of the in-line version by 5 mm ZBE For parallel version (2x part 1) ZBE For in-line version (part 1 + part 2) Dimensional drawing Siemens motor 1FK744 1FK744 7AH71 1UH3 Flange mounting kit* ZBE Motor data Unit 1FK Rated power (1 K) kw 1,41 Rated speed min Rated current A 4, Rated torque (1 K) Nm 3 Static torque (1 K) Nm 4 Peak torque Nm 12 Inertia with brake 1-4 kgm 2 1,41 Shaft height mm 48 Weight with brake kg 8,3 flange kit* ZBE In-line adapter kit for CASM 63 and Siemens 1FK744 motor* ZBE , 2 4 M6 6 23,5 CASM 63 LS N 1 1 CASM 63 BN N CASM 63 BF N mounting kit* ZBE support pair ZBE SKF Group 2 PUB MT/P EN October :2 Note: to be used with trunnion flange kit or trunnion mounting kit
12 5 Accessories Swivel flange* 75 CASM 63 ZBE For parallel version only 18 6 Swivel flange with rod eye* ZBE For parallel version only ,5 15 6,5 21 Rod clevis 41,5 ZBE Mx1,5 Rod eye ZBE Proximity sensor 3,15 C NO 2 LED 6,2 Switching function Output signal Rated voltage Max. current Cable length Normally open PNP 24 V DC 3 ma 5 m SKF Group 2 PUB MT/P EN September 2
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