DESIGN OF AN AUTOMATIC DISPENSER OF PACKED …

DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS

IN D E X


ANNEX A

Structural Sections & Profile Connections

AN N E X A


All structural sections and profile connections information has been extracted from Hepco’s

Machine Construction System Catalogue.

1. STRUCTURAL SECTIONS:

AN N E X A

2. PROFILE CONNECTIONS:



ANNEX B

Component Datasheets

AN N E X B

P R O D U C T D AT A S H E E T

ACTUATORLA30Features and options:• 12/ 24V DC permanent magnet motor• Max. thrust up to 6000 N (LA30LK)• Stainless steel piston rod• Elegant and compact construction with small installation dimensions• Protection Class: IPX0/66• Colour: Black• Speed max. 65 mm/s (LA30 S-motor with 12 mm pitch)• Low noise level• Steel construction for all bearing parts• Acme thread spindle for optimum efficiency• Extra powerful motor (S-motor)• L-motor for system actuator• IP66 (by ordering LA30 with plastic housing)• Double-acting brake - increased self-locking ability (LA30 with 6 or 9 mm pitch + LA30 S-motor with 6 or 9 mm pitch and LA30L) which ensures that all these types are fully self-locking• Potentiometer for positioning the actuator 0-1 K ohm, 0-5 K ohm or 0-10 K ohm• Reed switch (only LA30 L-motor versions): 8 pulses pr. spindle revolution• Mechanical spline function. Safety feature by using the mechanical spline, the actuator can only push• Safety nut (only in push)• Terminal cover (only LA30 L-motor versions)• Ball screw (K) (only LA30 L-motor versions)• Ball screw and safety nut (KAS) (only LA30 L-motor versions)• Ball screw, safety nut and splines (KSM) (only LA30 L-motor versions)

Usage:• Duty cycle: 10%, 2 minutes continuous use followed by 18 minutes not in use • Ambient temperature +5° to +40°C• Storage temperature -40° to +70°C• Compatible with control boxes CB8, CB12, • Should LA30 be used with a non LINAK control unit, please ask the nearest LINAK representative for further details

LA30 is a powerful actuator yet small enough to

fit most applications. The actuator can be supplied

with options such as built-in potentiometer for servo

operation or an extra powerful motor for increased

speed and strength (S-motor). In addition to

industrial and agricultural applications, the actuator

is also ideal for positioning satellite dishes.

mall

ncy

ing S-motorensures

or

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re by r can

ns)s)

ng)

Technical specifications:

The above measurements are made with the actuators connected to a stable power supply, LA30 L-motor versions with a CB12.

S = Strong motor; L = Slow motor; K = Ball screw; KAS = Ball screw, safety nut; KSM = Ball screw, safety nut, spline.

New type Spindle pitch

(mm)

Thrust max. Push(N)

Thrust max. Pull (N)

*Self-lock max. With/

without brake (N)

Typical speed 0/full load (mm/s)

Stroke length

(mm)

Typical amp. at full load

12V 24V

307xx0-4xxxx0/5xx 12 1000 1000 1000/0 48/24 50 100 150 200P 250 300 350 400P 14 7

303xx0-4xxxx0/5xx 9 1500 1500 1500/400 42/20 50 100 150P 200 250 300P 350 400 14 7

302xx0-4xxxx0/5xx 6 2000 2000 2000/500 18.5/14 50 100P 150 200P 250 300 350 400P 14 7

301xx0-xxxxx0/5xx 3 3000 3000 3000/3000 16/9 50P 100P 150 200P 250 300 350 400 14 6.4

307xx0-4xxxx1/2xx 12 1000 1000 1000/0 65/35 50 100 150 200P 250 300 350 400P 20 10

303xx0-4xxxx1/2xx 9 1800 1800 1800/0 52/25 50 100 150P 200 250 300P 350 400 20 10

302xx0-4xxxx2xx 6 2000 2000 2000/500 34/20.3 50 100P 150 200P 250 300 350 400P 18 -

302xx0-4xxxx1xx 6 2400 2400 2400/500 34/20.3 50 100P 150 200P 250 300 350 400P 9

301xx0-xxxxx1/2xx 3 3500 3000 3500/3500 17/9.5 50P 100P 150 200P 250 300 350 400 18 9

307xx0-4xxxx4xx 12 1000 1000 1000/0 26/20 50 100 150 200P 250 300 350 400P - 2.5

303xx0-4xxxx4xx 9 2000 2000 2000/0 20/13 50 100 150P 200 250 300P 350 400 - 4.4

302xx0-4xxxx4xx 6 3000 3000 3000/2000 13.8/7 50 100P 150 200P 250 300 350 400P - 4

301xx0-xxxxx4xx 3 4000 3000 4000/4000 7/4.5 50P 100P 150 200P 250 300 350 400 - 5.5

30Kxx0-0xxxx4xx 4 6000 3000 6000/n/a 8.7/5.5 - - 150 200 250 300 350 400 - 4.7

30Kxx0-1xxxx4xx 4 6000 3000 6000/n/a 8.7/5.5 - - 150 200 250 300 350 400 - 4.7

30Kxxo-3xxxx4xx 4 6000 3000 6000/n/a 8.7/5.5 - 100 150 200 250 300 350 400 - 4.7

Cables:

030 1 1 0 0 21 5 0 0 0- 0

Protection class:

Motor:

Stroke length:

Install. dim.:

Options:

Colour:

Options:

Back fixture:

0 = StandardX = Other installation dimension

- = Black

0 = NoneP = Potentiometer 1 kohm L = Potentiometer 5 Kohm only with motor 0, 1, 2, 4, 5T = Potentiometer 10 KohmR = Reedswitch only with motor 4

0 = IPX02 = IP66 with plastic house

0 = 24V1 = 24V S-motor 4 = 24V L-motor for LINAK control boxes2 = 12V S-motor 5 = 12V motor 7 = 36V motor

XXX = mm Max. with 3 & 6 mm pitch 400 mm Max. with 9 & 12 mm pitch 500 mm Min. 50 mm

1 = Safety nut RECOMMENDED0 = None 4 = Brake2 = Steel spline 5 = Brake with safety nut3 = Steel spline with safety nut

1 = Standard (01)2 = Turned 90o (02)

Actuator type: LA30

Options: 0 = None1 = LSD (Not IPX6 max. IPX4)2 = LS (Not IPX6 max. IPX4)

Spindle type: 1 = 3 mm (1-thread) LA30.12 = 6 mm (2 thread) LA30.23 = 9 mm (3-thread) LA30.34 = 4 mm (2-thread) LA30.405 = 2.5 mm (1-thread) LA30.256 = 2 mm (1-thread) LA30.207 = 12 mm (4-thread) LA30.4K = Ball spindle LA30K

Old type no.

General tolerance +/- 70 mmN = No cable when IPX0 (except reed)0 = Straight with jack plug, 2.3 m with IP-housing and 2.45 m without IP-housing1 = Straight with jack plug, 1.05 m with IP-housing and 1.2 m without IP-housing2 = Coiled with jack plug 400 mm3 = Coiled with jack plug 200 mm4 = Straight without plug 500 mm (Potentiometer)5 = Straight without plug 1200 mm (with IP66 housing)X = Other cable / length

LA30Ordering example:

Installation dimension:

LA30 L-motor + LA30 + LA30 S-motor with 3 or 6 mm pitch S + 156 mm

LA30 with spline + LA30 S-motor with 9 mm pitch S + 167 mm

LA30 with brake + LA30 S-motor with 3 or 6 mm pitch with brake S + 189 mm

LA30 with ball screw and L-motor / LA30 ball screw and safety nut S + 194 mm

LA30 L-motor with brake + LA30 S-motor 9 or 12 mm pitch with brake S + 199 mm

LA30 L-motor with ball screw, safety nut and spline S + 251 mm

Dimensions:

Plastic housing for LA30:It is possible to order a LA30 with the protection class IP66. This option requires a plastic housing. See drawings below.

The LA30 actuator is mounted with a 1.2 m / 0.5 m cable without plug.

Dimensions:

LA30 with housing mounted with LSD (protection class IPX4):

01 Standard

02 turned 90o

01 Standard 02 turned 90o

Drawing no.: LA30LSD001B

LA30 Standard:

Piston Rod eyes:

Drawing no.: LA30SNIT001B

Standard

“Crimped” piston rod eye

Piston rod without eye

(Piston rods without eyes are not tested)

F O R M O U N T I N G I N S T R U C T I O N S A N D G U I D A N C E I N U S A G E , P L E A S E S E E T H E R E L E V A N T U S E R ’ S M A N U A L S

Terms of useThe user is responsible for determining the suitability of LINAK products for specifi c application. LINAK takes great care in providing accurate and up-to-date information on its products. However, due to continuous development in order to improve its products, LINAK products are subject to frequent modifi cations and changes without prior notice. Therefore, LINAK cannot guarantee the correct and actual status of said information on its products. While LINAK uses its best efforts to fulfi l orders, LINAK cannot, for the same reasons as mentioned above, guarantee the availability of any particular product. Therefore, LINAK reserves the right to discontinue the sale of any product displayed on its website or listed in its catalogues or other written material drawn up by LINAK.All sales are subject to the Standard Terms of Sale and Delivery for LINAK. For a copy hereof, please contact LINAK.

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1-147

Metric

0 10

GUIDE RAILS & PINIONS FOR FLEXIRACKS

GUIDE RAILS

MATERIAL: Extruded Aluminum or Extruded Flexible Nylon

SPECIFICATIONS: Stock Length – 1000 mm (39.37") Longer lengths in nylon are available on special request.

PINIONS – MODULE 0.8 TO 2

MATERIAL: Acetal

ModuleNo.of

TeethP.D. D

Dia.d

Borel

HubProj.

SFace

Width

D1HubDia.

0.811.52

32322424

25.6323648

27.2343952

6 6 810

5 61112

4568

121418.324

Catalog Number

METRIC COMPONENT

A 1M 2MYHF08032A 1M 2MYHF10032A 1M 2MYHF15024A 1M 2MYHF20024

ØD1

P.D.

Sl

ØdØD

H

SS1

S4S2

S3

S5

S S1 S2 S3 S4 S5HFor

RackModule

0.811.52

0.811.52

10.3 (.406)12.3 (.484)14.3 (.563)17.3 (.681)

11 (.43)13.1 (.52)16.1 (.63) 20.6 (.81)

4.5 (1.80)5.7 (.22)7.2 (.28)8.9 (.35)

4 (.16)5.3 (.21)7 (.28)8 (.31)

4.8 (.19)5.2 (.20)5.4 (.21)6.1 (.24)

5.1 (.20)5.3 (.21)7.1 (.28)7.1 (.28)

1.8 (.070)1.8 (.070)1.8 (.070)2.3 (.091)

1.5 (.06)1.5 (.06)1.9 (.07)1.9 (.07)

1.8 (.071)2.4 (.094)2.7 (.106)2.9 (.114)

2.1 (.083)2.3 (.091)3.2 (.126)3.6 (.142)

8.4 (.331)10.4 (.409)12.4 (.488)15.4 (.606)

8 (.315) 9.8 (.386)12.3 (.484)16.8 (.661)

1 (.039) Ref.1 (.039) Ref.1 (.039) Ref.1 (.039) Ref.

1.5 (.06)1.5 (.06)1.9 (.07)1.9 (.07)

Catalog Number

METRIC COMPONENT

A 1A12MHR081000A 1A12MHR101000A 1A12MHR151000A 1A12MHR201000

A 1M12MHR081000A 1M12MHR101000A 1M12MHR151000A 1M12MHR201000

Aluminum

Nylon

NOTE: Dimensions in ( ) are inch.

I

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A 1(C,B,P)12M–XP1 of 2

3-30-8

D805 P1-140D785 P1-126D780 P1-129D777 P1-94

catalog number

meTRic comPonenT

module material

a 1c12mY04a075a 1c12mY04a150a 1c12mY04a300

a 1B12mY04a075a 1B12mY04a150a 1B12mY04a300

a 1c12mY04B075a 1c12mY04B150a 1c12mY04B300

a 1B12mY04B075a 1B12mY04B150a 1B12mY04B300

a 1P12mY04c075a 1P12mY04c150a 1P12mY04c300





a 1P12mY05c075a 1P12mY05c150a 1P12mY05c300

sFace

width

Hheight

mm

PPitch

height

LLength

mm

SteelSteelSteel

BrassBrassBrass

SteelSteelSteel

BrassBrassBrass

NylonNylonNylon

SteelSteelSteel

BrassBrassBrass

SteelSteelSteel

BrassBrassBrass

NylonNylonNylon

4.84.84.8

4.84.84.8

4.84.84.8

4.84.84.8

6.36.36.3

4.84.84.8

4.84.84.8

4.84.84.8

4.84.84.8

6.36.36.3

9.59.59.5

9.59.59.5

4.84.84.8

4.84.84.8

6.36.36.3

9.59.59.5

9.59.59.5

4.84.84.8

4.84.84.8

6.36.36.3

75150300

75150300

75150300

75150300

75150300

75150300

75150300

75150300

75150300

75150300

9.139.139.13

9.139.139.13

4.344.344.34

4.344.344.34

5.945.945.94

9.039.039.03

9.039.039.03

4.264.264.26

4.264.264.26

5.855.855.85

0.40.40.4

0.40.40.4

0.40.40.4

0.40.40.4

0.40.40.4

0.50.50.5

0.50.50.5

0.50.50.5

0.50.50.5

0.50.50.5

Continued on the next page11.27.12 JF

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ISO CLASS 820° PRESSURE ANGLE

maTeRiaL: Steel, Brass, or Nylon

Racks • mOdULE 0.4 & 0.5

1-140

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A 1(C,B,P)12M–XP2 of 2

5-24-89REV: 10.15.12 mh

D805 P1-141D785 P1-127D780 P1-130 D777 P1-95D190 P293

catalog number

meTRic comPonenT

module material





a 1P12mY08B075a 1P12mY08B150a 1P12mY08B300



a 1c12mY10c150a 1c12mY10c300a 1c12mY10c600

a 1B12mY10c150a 1B12mY10c300a 1B12mY10c600

a 1P12mY10a150a 1P12mY10a300a 1P12mY10a600

sFace

width

Hheight

PPitch

height

LLength

mm

SteelSteelSteel

BrassBrassBrass

SteelSteelSteel

BrassBrassBrass

NylonNylonNylon

SteelSteelSteel

Brass BrassBrass

SteelSteelSteel

BrassBrassBrass

NylonNylonNylon

6.36.36.3

6.36.36.3

6.36.36.3

6.36.36.3

6.36.36.3

7.97.97.9

7.97.97.9

7.97.97.9

7.97.97.9

9.59.59.5

12.712.712.7

12.712.712.7

6.3 6.3 6.3

6.3 6.3 6.3

6.3 6.3 6.3

15.915.915.9

15.915.915.9

7.9 7.9 7.9

7.9 7.9 7.9

9.5 9.5 9.5

75150300

75150300

75150300

75150300

75150300

150300600

150300600

150300600

150300600

150300600

11.9 11.9 11.9

11.9 11.9 11.9 5.56 5.56 5.56

5.56 5.56 5.56

5.56 5.56 5.56

14.8814.8814.88

14.8814.8814.88

6.94 6.94 6.94

6.94 6.94 6.94

8.53 8.53 8.53

0.80.80.8

0.80.80.8

0.80.80.8

0.80.80.8

0.80.80.8

111

111

111

111

111

Continued from the previous page

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maTeRiaL: Steel, Brass, or Nylon

Racks • mOdULE 0.8 & 1

1-14111.27.12 JF

1/9 www.ni.com

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Technical Sales

(866) [email protected]

Last Revised: 2012-07-25 22:29:08.0

Stepper Motors and Encoders

OverviewNational Instruments offers a complete stepper motion control solution – including stepper motors, drives, controllers, and software – that is easy to set up, configure, andprogram. Stepper motors available from NI offer high torque, precision, and easy connectivity to stepper motor drives. Due to their ease of use, simplified control needs, andfreedom from expensive feedback requirements, stepper motors are an excellent solution for applications such as machine control, manufacturing test, semiconductor positioning,biomedical machines, and lab automation.

Application and TechnologyStepper Motors

NEMA 17, 23, and 34 frame sizes

Up to 1710 oz-in. (12.1 N · m) holding torque

3000 rpm max speed

1.8 deg step angle

Matched with P7000 drives for high performance

Encoders

1000 counts/revolution resolution

NEMA 23 and 34 motor compatibility

Low profile 1 in. (25.4 mm) height design and easymounting

Industrial construction

Hardware

Stepper motors provide very precise, extremely cost-effective motion control. The 2-phase motors inherently move in small, precise, 1.8 degree increments at 200 steps/revolutionand are brushless and maintenancefree. Stepping action is simple to control and does not require complicated, expensive feedback devices. National Instruments also offersencoders matched to the motors for applications where position verification is required. Stepper motors are available from NI in three different National Electrical ManufacturersAssociation (NEMA) frame sizes and with either a single or a dual shaft. The motors provide optimum performance and easy connectivity when matched with the P7000 seriesstepper drives available from NI.

Support and ServicesSystem Assurance Programs

NI system assurance programs are designed to make it even easier for you to own an NI system. These programs include configuration and deployment services for your NI PXI,CompactRIO, or Compact FieldPoint system. The NI Basic System Assurance Program provides a simple integration test and ensures that your system is delivered completelyassembled in one box. When you configure your system with the NI Standard System Assurance Program, you can select from available NI system driver sets and applicationdevelopment environments to create customized, reorderable software configurations. Your system arrives fully assembled and tested in one box with your software preinstalled.When you order your system with the standard program, you also receive system-specific documentation including a bill of materials, an integration test report, a recommendedmaintenance plan, and frequently asked question documents. Finally, the standard program reduces the total cost of owning an NI system by providing three years of warrantycoverage and calibration service. Use the online product advisors at ni.com/advisor to find a system assurance program to meet your needs.

Calibration

Detailed SpecificationsFor user manuals and dimensional drawings, visit the product page resources tab on ni.com.

http://www.ni.com

2/9 www.ni.com

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Calibration

NI measurement hardware is calibrated to ensure measurement accuracy and verify that the device meets its published specifications. To ensure the ongoing accuracy of yourmeasurement hardware, NI offers basic or detailed recalibration service that provides ongoing ISO 9001 audit compliance and confidence in your measurements. To learn moreabout NI calibration services or to locate a qualified service center near you, contact your local sales office or visit ni.com/calibration.

Technical Support

Get answers to your technical questions using the following National Instruments resources.

Support - Visit ni.com/support to access the NI KnowledgeBase, example programs, and tutorials or to contact our applications engineers who are located in NI salesoffices around the world and speak the local language.

Discussion Forums - Visit forums.ni.com for a diverse set of discussion boards on topics you care about.

Online Community - Visit community.ni.com to find, contribute, or collaborate on customer-contributed technical content with users like you.

Repair

While you may never need your hardware repaired, NI understands that unexpected events may lead to necessary repairs. NI offers repair services performed by highly trainedtechnicians who quickly return your device with the guarantee that it will perform to factory specifications. For more information, visit ni.com/repair.

Training and Certifications

The NI training and certification program delivers the fastest, most certain route to increased proficiency and productivity using NI software and hardware. Training builds the skillsto more efficiently develop robust, maintainable applications, while certification validates your knowledge and ability.

Classroom training in cities worldwide - the most comprehensive hands-on training taught by engineers.

On-site training at your facility - an excellent option to train multiple employees at the same time.

Online instructor-led training - lower-cost, remote training if classroom or on-site courses are not possible.

Course kits - lowest-cost, self-paced training that you can use as reference guides.

Training memberships and training credits - to buy now and schedule training later.

Visit ni.com/training for more information.

Extended Warranty

NI offers options for extending the standard product warranty to meet the life-cycle requirements of your project. In addition, because NI understands that your requirements maychange, the extended warranty is flexible in length and easily renewed. For more information, visit ni.com/warranty.

OEM

NI offers design-in consulting and product integration assistance if you need NI products for OEM applications. For information about special pricing and services for OEMcustomers, visit ni.com/oem.

Alliance

Our Professional Services Team is comprised of NI applications engineers, NI Consulting Services, and a worldwide National Instruments Alliance Partner program of more than700 independent consultants and integrators. Services range from start-up assistance to turnkey system integration. Visit ni.com/alliance.

Detailed Specifications

NEMA 17 Motor

Electrical

Step angle 1.8 deg

Steps per revolution 200

Angular accuracy ±3%

Phases 2

Industry Standards

Industrial standards CE, UR

Sealing standards IP40

RoHS Compliance Yes

Physical

Operating temperature -20 to 40 °C

Shaft load (20,000 hours at 1,500 rpm)

15 lb (6.8 kg) at shaft center

3/9 www.ni.com

Radial

Axial push 6 lb (2.7 kg)

Axial pull 15 lb (6.8 kg)

Recommended heat sink size 10 x 10 x 1/4 in. aluminum plate

NI PartNumber

Manufacturer PartNumber

DualShaft

Drive Amps/PhaseHoldingTorque

oz-in. (N . m)

Rotor Inertiaoz-in.-s2

(kg-m x 10 )2 -3

PhaseInductance

mH

PhaseResistance

Ω ±10%

Detent Torqueoz-in. (N . m)

ThermalResistance

°C/wattMax Speed rpm

780067-01 CTP10ELF10MAA00 no

P70530

1.043

(0.30)0.0005 (0.0040)

7.7 5.251.98

(0.014)6.21

3000

780068-01 CTP10ELF10MMA00 yes780069-01 CTP11ELF11MAA00 no

1.163

(0.44)0.0008 (0.0050)

11 5.192.55

(0.018)5.44

780070-01 CTP11ELF11MMA00 yes780071-01 CTP12ELF10MAA00 no

1.080

(0.56)0.0011 (0.0070)

12 6.512.97

(0.021)4.71

780072-01 CTP12ELF11MAA0 yes

Torque versus Speed

780067-01 and 780068-01Torque versus Speed at 1.0 A



Dimensions and Wiring

NI Part NumberManufacturer Part

NumberDual Shaft

Max Length Ain. (mm)

Net Weightlb (kg)

780067-01 CTP10ELF10MAA00 no 1.37(34.7)

0.441(0.200)780068-01 CTP10ELF10MMA00 yes

780069-01 CTP11ELF11MAA00 no 1.61(40.9)

0.573(0.260)780070-01 CTP11ELF11MMA00 yes

780071-01 CTP12ELF10MAA00 no 1.92(48.8)

0.750(0.340)780072-01 CTP12ELF11MAA0 yes

NEMA 23 Motor

4/9 www.ni.com

Electrical

Step angle 1.8 deg



Phases 2

Industry Standards

Industrial standards CE, cUR, UR

RoHS Compliance Yes

Physical


Rated ambient temperature 40 °C


Radial 20 lb (9.1 kg) at shaft center

Axial push 6 lb (2.7 kg)

Axial pull 50 lb (22.7 kg)


Recommended encoder 780251-01

NI Part Number Manufacturer Part Number Dual Shaft Drive Amps/PhaseHoldingTorque

oz-in. (N . m)


(kg-m x10 )2 -3

PhaseInductance

mH

PhaseResistance

Ω ±10%

DetentTorque

oz-in. (N . m)

ThermalResistance°C/watt

MaxSpeedrpm

780073-01 T21NRLC-LNN-NS-00 no

P70360

0.40180

(1.27)0.0034

(0.0248)209 42.9

2.97(0.021)

4.64

3000

780074-01 T21NRLC-LDN-NS-00 yes780075-01 T22NRLC-LNN-NS-00 no

0.46280

(1.98)0.0056

(0.0408)209 41.4

5.95(0.042)

3.69780076-01 T22NRLC-LDN-NS-00 yes780077-01 T23NRLC-LNN-NS-00 no

0.67380

(2.68)0.0084

(0.0612)136 23.5

6.94(0.049)

3.04780078-01 T23NRLC-LDN-NS-00 yes780079-01 T21NRLH-LNN-NS-00 no

P70530

2.7180

(1.27)0.0034

(0.0248)4.6 0.85

2.97(0.021)

4.64780080-01 T21NRLH-LDN-NS-00 yes780081-01 T22NRLG-LNN-NS-00 no

2.5280

(1.98)0.0056

(0.0408)7.1 1.23

5.95(0.042)

3.69780082-01 T22NRLG-LDN-NS-00 yes780083-01 T23NRLH-LNN-NS-00 no

3.0380

(2.68)0.0034

(0.0248)6.2 1.00

6.94(0.049)

3.04780084-01 T23NRLH-LDN-NS-00 yes

Torque versus Speed







5/9 www.ni.com


NI Part Number Manufacturer Part Number Dual ShaftMax Length A

in. (mm)B Diameter

in. (mm)Net Weight

lb (kg)780073-01 T21NRLC-LNN-NS-00 no 2.21

(56.1)0.2500 (6.350)0.2495 (6.337)

1.6(0.7)780074-01 T21NRLC-LDN-NS-00 yes

780075-01 T22NRLC-LNN-NS-00 no 3.06(77.7)

0.2500 (6.350)0.2495 (6.337)

2.3(1.0)780076-01 T22NRLC-LDN-NS-00 yes

780077-01 T23NRLC-LNN-NS-00 no 4.06(103.1)

0.313 (7.940)3.2

(1.5)780078-01 T23NRLC-LDN-NS-00 yes780079-01 T21NRLH-LNN-NS-00 no 2.21

(56.1)0.2500 (6.350)0.2495 (6.337)

1.6(0.7)780080-01 T21NRLH-LDN-NS-00 yes

780081-01 T22NRLG-LNN-NS-00 no 3.06(77.7)

0.2500 (6.350)0.2495 (6.337)

2.3(1.0)780082-01 T22NRLG-LDN-NS00 yes

780083-01 T23NRLH-LNN-NS00 no 4.06(103.1)

0.313 (7.940)3.2

(1.5)780084-01 T23NRLH-LDN-NS00 yes

NEMA 34 Motor

Electrical

Step angle 1.8 deg



Phases 2

Industry Standards

Industrial standards CE, cUR, UR

RoHS Compliance Yes

Physical


6/9 www.ni.com

Rated ambient temperature 40 °C


Radial

N31, N32 65 lb (29.5 kg)

N33 110 lb (49.9 kg)

Axial

N31, N32, N33 305 lb (138.3 kg)


Recommended encoder 780252-01

NI Part Number Manufacturer Part Number Dual Shaft Drive Amps/PhaseHoldingTorque

oz-in. (N . m)


(kg-m x 10 )2 -3

PhaseInductance

mH

PhaseResistance

Ω ±10%

DetentTorque

oz-in. (N . m)

ThermalResistance

°C/wattMax Speed rpm

780085-01 N31HRLG-LNK-NS-00 no

P70360

0.86 641 (4.52) 0.0202 (0.1430) 138 16.2 18.0 (0.127) 2.65 2400780086-01 N31HRLG-LEK-M2-00 yes780087-01 N32HRLG-LNK-NS-0 no

0.95 1240 (8.76) 0.0380 (0.2680) 206 17.6 36.0 (0.254) 2.00 1800780088-01 N32HRLG-LEK-M2-00 yes780089-01 N33HRLG-LNK-NS-0 no

1.24 1710 (12.08) 0.0567 (0.4000) 144 13.0 54.0 (0.381) 1.61 1800780090-01 N33HRLG-LEK-M2-00 yes780091-01 N31HRHJ-LNK-NS-0 no

P70530

5.5 645 (4.55) 0.0202 (0.1430) 3.5 0.42 18.0 (0.127) 2.65 3000780092-01 N31HRHJ-LEK-M2-0 yes780093-01 N32HRHJ-LNK-NS-0 no

5.1 1195 (8.43) 0.0380 (0.2700) 6.5 0.63 36.0 (0.254) 2.00 3000780094-01 N32HRHJ-LEK-M2-0 yes780095-01 N33HRHJ-LNK-NS-0 no

5.0 1710 (12.07) 0.0567 (0.4000) 9.0 0.83 54.0 (0.381) 1.61 3000780096-01 N33HRHJ-LEK-M2-0 yes

Torque versus Speed




780091-01 and 780092-01Torque versus Speed at 5 A




7/9 www.ni.com

NI PartNumber

Manufacturer PartNumber

DualShaft

Max Length A in.(mm)

Bmax and min

in. (mm)

Cmax and min

in. (mm)

Dmax and min

in. (mm)

NetWeightlb (kg)

780085-01 N31HRLG-LNK-NS-00 no 3.13(79.502)

0.5000 (12.700) 0.4995(12.687)

0.1250 (3.175) 0.1230(3.124)

0.555 (14.097) 0.538(13.665)

5.0(2.27)780086-01 N31HRLG-LEK-M2-00 yes

780087-01 N32HRLG-LNK-NS-00 no 4.65(118.11)

0.5000 (12.700) 0.4995(12.687)

0.1250 (3.175) 0.1230(3.124)

0.555 (14.097) 0.538(13.665)

8.4(2.27)780088-01 N32HRLG-LEK-M2-00 yes

780089-01 N33HRLG-LNK-NS-00 no 6.13(155.70)

0.6250 (15.875) 0.6245(15.862)

0.1875 (4.763) 0.1855(4.712)

0.705 (17.907) 0.688(17.475)

11.9(5.39)780090-01 N33HRLG-LEK-M2-00 yes

780091-01 N31HRHJ-LNK-NS-00 no 3.13(79.502)

0.5000 (12.700) 0.4995(12.687)

0.1250 (3.175) 0.1230(3.124)

0.555 (14.097) 0.538(13.665)

5.0(2.27)780092-01 N31HRHJ-LEK-M2-00 yes

780093-01 N32HRHJ-LNK-NS-00 no 4.65(118.11)

0.5000 (12.700) 0.4995(12.687)

0.1250 (3.175) 0.1230(3.124)

0.555 (14.097) 0.538(13.665)

8.4(2.27)780094-01 N32HRHJ-LEK-M2-00 yes

780095-01 N33HRHJ-LNK-NS-00 no 6.13(155.70)

0.6250 (15.875) 0.6245(15.862)

0.1875 (4.763) 0.1855(4.712)

0.705 (17.907) 0.688(17.475)

11.9(5.39)780096-01 N33HRHJ-LEK-M2-00 yes

Encoders for NEMA 23 and NEMA 34 Motors

Electrical

Resolution 1000 counts/revolution

Input voltage 5 V ±10%

Input current 100 mA max (65 mA typical) with no output load

Channel configuration Quadrature A, B, and Index

Output type Differential line driver

Noise immunity Tested to BS EN61000-6-2; BS EN50081-02; BS EN61000-4-2; BSEN61000-4-3; BS EN61000-4-6; BS EN500811

Symmetry 180 deg (±18 deg) electrical

Quadrature phasing 90 deg (±22.5 deg) electrical

Minimum edge separation 67.5 deg electrical

Accuracy Within 0.017 deg mechanical or 1 arc-minute from true position

Industry Standards

Industrial standards CE

Sealing standards IP40

RoHS Compliance Yes

Physical


Model type Thru-bore

Bore size 1/4 in. (780251-01), 8 mm (780252-01)

Mounting 1.812 in. (46 mm) two-hole flex mount

Maximum frequency 200 kHz

Operating temperature 20 to 85 °C

Max shaft speed 8000 rpm

8/9 www.ni.com

Bore tolerance -0.0000 in./+0.0006 in.

User shaft tolerances

Radial runout 0.008 in. max

Axial endplay ±0.030 in. max

Starting torque 0.300 oz-in. (0.212 N . m)

Moment of inertia 6.7 x 10 oz-in.-sec (4.8 gm-cm )-5 2 2

Max acceleration 1 x 10 rad/sec5 2

Weight 3 oz typical

Storage temperature -25 to 85 °C

Humidity 98% RH noncondensing

Vibration 10 g @ 58 to 500 Hz

Shock 80 g @ 11 ms duration

Dimensions, Wiring and Timing Diagrams

Note: All dimensions have a tolerance of ±0.005 in. or ±0.01 in. unless otherwise specified.

Wire Description

Quadrature Waveform

9/9 www.ni.com

Back to Top

Glossary

amps/phase The maximum amount of current allowed through a phase of the steppermotor. Holding torque, the speed versus torque curve, andso on aredetermined when the motor is excited by this value. The specifications listedin this data sheet are adjusted for the winding configuration.

angular accuracy A percentage of the step angle that defines the accuracy of each full step.

detent torque (cogging torque) The amount of torque necessary to rotate the stepper motor one full stepwhen the motor is deenergized.

differential line driver A type of electrical digital output that can transmit digital data over a longdistance. It consists of a complementarypair of digital lines.

electrical symmetry How close each quadrature channel is to a 50 percent duty cycle when at aconstant speed.

holding torque The amount of torque necessary to rotate the stepper motor one full step(microstepping turned off) when the motor is energized at the ratedamps/phase of that motor.

minimum edge separation Defines in degrees how close (electrically) an edge on channel A can be toan edge on channel B.

NEMA National Electrical Manufacturers Association (NEMA). NEMA is aU.S.-based association that creates standards for mountings.The NEMAsize of a motor defines its shaft size and mounting configuration.

phase inductance The inductance of each phase of the stepper motor. The specifications listedin this data sheet are already adjustedfor the winding configuration.

phases A wound wire in the stepper motor that is excited with current to produceelectromagnetic force. Two or more phases work together by alternatingbetween positively energized, deenergized, and negatively energized statesto rotate the stepper motor.

quadrature phasing The electrical phase shift between channels A and B in a quadratureencoder.

step angle The distance the motor rotates each full step of the stepper motor. Alsodefined as 360 degrees divided by the steps per revolution.

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ANNEX C

2D Drawing

AN N E X C

R5.0

20°

A

200.0

R7.5

15.0 70.0

10.

75

23.

0

70.0

4.0 15.0

4.4

7.6 9.10

B

1.0

9

.4

3 x 6.0

3 x 3.0

DETALLE A ESCALA 2 : 1

1.0

6.30

DETALLE B ESCALA 5 : 1

Finger

DATE:

A3

SHEET 1SCALE 1:1

PIECE:

SUPERFICIAL FINISHING:

MATERIAL:

ALL DIMENSIONS ARE IN MM

Black plastic

26 / 8 / 2014

PTFE coating treatment


ANNEX D

Calculation Results

AN N E X D


1. SHELF SUPPORT PROFILES DEFLECTION:

In Table D. 1 is shown the deflection value of all structural sections form Hepco’s Machine

Construction System Catalogue rigidly fixed both ends. It has been used the Eq.1 formula

(page 26) for all moments of inertia.

It has been colored the deflection value in three colors for visual detection: red (d ≥ 2.0 mm),

orange (0.5 mm < d < 2.0 mm) and green (d ≤ 0.5 mm). Also it has been added a column with

each profile’s mass (lighter profiles in green and heavier profiles in red).

Structural section

Part No. T-Slot Moment of inertia

(Ixx) Mass [kg/m]

Deflection of profile (d)

20 x 20 0-132-2020 6 0.65 0.43 13.7712

20 x 40 0-132-2040 6 4.50 0.75 1.9892

30 x 30 0-132-3030 8 3.20 0.87 2.7973

30 x 60 0-132-3060 8 20.90 1.53 0.4283

30 x 90 0-132-3090 8 64.10 2.19 0.1396

40 x 40SL 0-132-4042 10 7.80 1.30 1.1476

40 x 40L 0-132-4041 10 8.40 1.40 1.0656

40 x 40 0-132-4040 10 10.20 1.70 0.8776

40 x 1NS 0-132-4001 10 9.90 1.70 0.9042

40 x 2NS 0-132-4002 10 10.30 1.70 0.8691

40 LR 0-132-4000 10 6.00 1.20 1.4919

40 x 80L 0-132-4081 10 52.60 2.10 0.1702

40 x 80 0-132-4080 10 61.40 2.60 0.1458

40 x 80 - 2NS 0-132-4082 10 55.80 2.35 0.1604

40 x 80 - 3NS 0-132-4083 10 54.50 2.32 0.1642

45 x 45SL 0-132-4547 10 10.10 1.40 0.8863

45 x 45L 0-132-4546 10 10.40 1.50 0.8607

45 x 45 0-132-4545 10 14.00 1.90 0.6394

45 x 1NS 0-132-4501 10 13.00 1.90 0.6886

45 x 2NS 0-132-4502 10 12.90 1.80 0.6939

45 LR 0-132-4500 10 7.20 1.20 1.2432

45 x 60L 0-132-4561 10 24.30 2.10 0.3684

45 x 60 0-132-4560 10 35.00 2.80 0.2558

45 x 90L 0-132-4591 10 93.60 3.13 0.0956

45 x 90 0-132-4590 10 100.90 3.60 0.0887

45 x 90 - 2NS 0-132-4592 10 96.30 3.40 0.0930

45 x 90 - 3NS 0-132-4593 10 94.40 3.40 0.0948

60 x 60L 0-132-6061 10 37.00 2.90 0.2419

60 x 60 0-132-6060 10 47.00 3.60 0.1905

AN N E X D

Structural section

Part No. T-Slot Moment of inertia

(Ixx) Mass [kg/m]

Deflection of profile (d)

60 x 90 0-132-6090 10 129.20 4.40 0.0693

80 x 80SL 0-132-8082 10 97.60 3.60 0.0917

80 x 80L 0-132-8081 10 110.70 4.10 0.0809

80 x 80 0-132-8080 10 124.40 4.70 0.0720

80 x 80 - 2NS 0-132-8001 10 102.00 3.70 0.0878

80 x 80 - 4NS 0-132-8002 10 104.00 3.70 0.0861

80 x 120 0-132-80120 10 362.00 6.40 0.0247

80 x 160 0-132-80160 10 893.00 9.10 0.0100

90 x 90L 0-132-9091 10 193.00 5.60 0.0464

90 x 90 0-132-9090 10 285.00 9.30 0.0314

Table D. 1 – Shelf support deflection

It has been highlighted in bold the structural section used for the shelves support. Specifically

it has been chosen the 60 x 60 mm structural section, it has less than 0.2 mm deflection and

an adequate mass.


2. STATIC FRICTION STUDY:

In Table D. 2 are shown all the results from the static friction study between different surfaces

and medicines. All length dimensions (L, h and b) are in centimeters and angles in degrees.

Surface Length

(L) Medicine

Rough face (Y/N)

High (h)

Base (b)

Friction coeff. (µ=h/b)

Angle (α=arctg(µ))

Friction coeff.

average

Steel 87.5

Paracetamol NO 30.1 82.2 0.3664 20.1208 º

0.4374

Paracetamol YES 36.7 79.4 0.4620 24.7985 º

Strepsils NO 37.1 79.2 0.4682 25.0874 º

Strepsils YES 38.4 78.6 0.4884 26.0310 º

Almax NO 35.4 80.0 0.4424 23.8643 º

Primperan NO 32.3 81.3 0.3972 21.6628 º

Polished steel

59.0

Paracetamol NO 15.6 56.9 0.2742 15.3317 º

0.3734


Strepsils NO 22.7 54.5 0.4168 22.6280 º

Strepsils YES 23.4 54.2 0.4320 23.3664 º

Almax NO 20.9 55.2 0.3788 20.7467 º

Primperan NO 18.4 56.1 0.3282 18.1716 º

Glass 112.0

Paracetamol NO 23.4 110.5 0.2118 11.9566 º

0.3160


Strepsils NO 33.5 107.9 0.3105 17.2481 º

Strepsils YES 41.6 104.8 0.3969 21.6504 º

Almax NO 31.6 108.4 0.2915 16.2521 º

Primperan NO 36.7 105.8 0.3468 19.1279 º

Painted wood

95.0

Paracetamol NO 25.6 91.5 0.2798 15.6330 º

0.3675


Strepsils NO 30.0 90.1 0.3328 18.4085 º

Strepsils YES 38.7 86.8 0.4461 24.0396 º

Almax NO 33.5 88.9 0.3768 20.6484 º

Primperan NO 34.8 88.4 0.3937 21.4886 º

Teflon coating

57.0

Paracetamol NO 15.0 55.0 0.2728 15.2575 º

0.3394


Strepsils NO 20.7 53.1 0.3898 21.2943 º

Strepsils YES 21.4 52.8 0.4051 22.0514 º

Almax NO 20.5 53.2 0.3854 21.0786 º

Primperan NO 13.3 55.4 0.2400 13.4934 º

Table D. 2 – Static friction study

It has been highlighted the surface used for the channels inner faces. Specifically it has been chosen the Teflon coating treatment in which it has been obtained a maximum slope angle of 22.0º.

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