DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
IN D E X
DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
ANNEX A
Structural Sections & Profile Connections
AN N E X A
DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
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:
DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
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
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:
re by r can
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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.
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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 1c12mY05a075a 1c12mY05a150a 1c12mY05a300
a 1B12mY05a075a 1B12mY05a150a 1B12mY05a300
a 1c12mY05B075a 1c12mY05B150a 1c12mY05B300
a 1B12mY05B075a 1B12mY05B150a 1B12mY05B300
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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maTeRiaL: Steel, Brass, or Nylon
Racks • mOdULE 0.4 & 0.5
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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 1c12mY08a075a 1c12mY08a150a 1c12mY08a300
a 1B12mY08a075a 1B12mY08a150a 1B12mY08a300
a 1c12mY08B075a 1c12mY08B150a 1c12mY08B300
a 1B12mY08B075a 1B12mY08B150a 1B12mY08B300
a 1P12mY08B075a 1P12mY08B150a 1P12mY08B300
a 1c12mY10B150a 1c12mY10B300a 1c12mY10B600
a 1B12mY10B150a 1B12mY10B300a 1B12mY10B600
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
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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.
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
780069-01 and 780070-01Torque versus Speed at 1.1 A
780071-01 and 780072-01Torque 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
Steps per revolution 200
Angular accuracy ±3%
Phases 2
Industry Standards
Industrial standards CE, cUR, UR
RoHS Compliance Yes
Physical
Operating temperature -20 to 40 °C
Rated ambient temperature 40 °C
Shaft load (20,000 hours at 1,500 rpm)
Radial 20 lb (9.1 kg) at shaft center
Axial push 6 lb (2.7 kg)
Axial pull 50 lb (22.7 kg)
Recommended heat sink size 10 x 10 x 1/4 in. aluminum plate
Recommended encoder 780251-01
NI Part Number Manufacturer Part Number Dual Shaft Drive Amps/PhaseHoldingTorque
oz-in. (N . m)
Rotor Inertiaoz-in.-s2
(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
780073-01 and 780074-01Torque versus Speed at 0.36 A
780075-01 and 780076-01Torque versus Speed at 0.40 A
780077-01 and 780078-01Torque versus Speed at 0.52 A
780079-01 and 780080-01Torque versus Speed at 2.7 A
780081-01 and 780082-01Torque versus Speed at 2.5 A
780083-01 and 780084-01Torque versus Speed at 3.0 A
5/9 www.ni.com
Dimensions and Wiring
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
Steps per revolution 200
Angular accuracy ±3%
Phases 2
Industry Standards
Industrial standards CE, cUR, UR
RoHS Compliance Yes
Physical
Operating temperature -20 to 40 °C
6/9 www.ni.com
Rated ambient temperature 40 °C
Shaft load (20,000 hours at 1,500 rpm)
Radial
N31, N32 65 lb (29.5 kg)
N33 110 lb (49.9 kg)
Axial
N31, N32, N33 305 lb (138.3 kg)
Recommended heat sink size 10 x 10 x 1/4 in. aluminum plate
Recommended encoder 780252-01
NI Part Number Manufacturer Part Number Dual Shaft Drive Amps/PhaseHoldingTorque
oz-in. (N . m)
Rotor Inertiaoz-in.-s2
(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
780085-01 and 780086-01Torque versus Speed at 0.81 A
780087-01 and 780088-01Torque versus Speed at 0.88 A
780089-01 and 780090-01Torque versus Speed at 1.24 A
780091-01 and 780092-01Torque versus Speed at 5 A
780093-01 and 780094-01Torque versus Speed at 5 A
780095-01 and 780096-01Torque versus Speed at 5 A
Dimensions and Wiring
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
Operating temperature -20 to 85 °C
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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DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
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
DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
ANNEX D
Calculation Results
AN N E X D
DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
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.
DESIGN OF AN AUTOMATIC D ISPENSER OF PACK ED MEDICAMENTS
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
Paracetamol YES 22.4 54.6 0.4104 22.3127 º
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
Paracetamol YES 36.2 106.9 0.3386 18.7079 º
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
Paracetamol YES 33.4 88.9 0.3756 20.5839 º
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
Paracetamol YES 18.5 53.9 0.3431 18.9390 º
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.