CKR Compact Modules

with Ball Rail Guides and

Toothed Belt Drive

The Drive & Control Company

X
1
9
2
10 11 12 13 14 15 16
3 4 5 6 7

X
1 8
4
2
5
3
6

8.8
S1
S3
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S2

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2

Rexroth Linear Motion Technology

Ball Rail® Guides Standard Ball Rail Systems

Super Ball Rail Systems
Ball Rail Systems with Aluminum Runner Blocks
High-Speed Ball Rail Systems
Corrosion Resistant Ball Rail Systems
Wide Ball Rail Systems
Ball Rail Systems with Integrated Measuring System
Clamping and Braking Elements for Ball Rail Systems
Racks for Ball Rail Systems
Miniature Ball Rail Systems
Roller Guides
Roller Rail™ Systems Standard Roller Rail Systems
Wide Roller Rail Systems
Heavy-Duty Roller Rail Systems
Roller Rail Systems with Integrated Measuring System
Clamping and Braking Elements for Roller Rail Systems
Racks for Roller Rail Systems
Linear Bushing Guides Linear Bushings, Linear Sets
Shafts, Shaft Supports, End Brackets
Ball Transfer Units
Other Engineering Components
Ball Screw Systems
Linear Systems Linear Motion Slides – Ball Screw Drive
– Toothed Belt Drive
Linear Modules – Ball Screw Drive
– Toothed Belt Drive
– Rack and Pinion Drive
– Pneumatic Drive
– Linear Motor
Compact Modules – Ball Screw Drive
– Toothed Belt Drive
– Linear Motor
Cartesian Motion Systems CMS – Toothed Belt Drive
Precision Modules – Ball Screw Drive
Ball Rail Tables – Ball Screw Drive
– Linear Motor
Controls, Motors, and Electrical Accessories
Electrical Cylinders
 3

Contents
A Single Solution for Many Applications 4

Product Overview (General) 6

Product Overview—Motors and Controls 8

Model Overview with Load Capacities 10

Construction 12

Technical Data—Load Capacities and Moments 14

Technical Data—Drive Data 16

Technical Data—Calculations 17

CKR 12-90 Components and Performance Data 18

CKR 12-90 Dimensional Drawings 20

CKR 15-110 Components and Performance Data 22

CKR 15-110 Dimensional Drawings 24

CKR 20-145 Components and Performance Data 26

CKR 20-145 Dimensional Drawings 28

CKR 25-200 Components 30

CKR 25-200 Performance Data 32

CKR 25-200 Dimensional Drawings 34

Switch Mounting 36

Servo Motors 40

Lubrication Connections 42

Mounting 44

Connection Elements 48

Documentation 52

Ordering Examples 54

Inquiry/Order Form 55
4

A Single Solution for Many Applications

Height

Length

Load Capacities and Moments

The Applications Static Loading

– Driving
Speed
– Tranporting

– Positioning
Complete Systems
Including Drive Unit

Switch Mounting

Accessories

Documentation
 5

40mm to 100mm

up to 5500mm

Load Capacity C up to 89,340 N

Moments ML up to 7,810 Nm
Moments Mt up to 4,460 Nm

up to 200 kg
The Solution

Rexroth
up to 5 m/s
CKR Compact
Modules
ServoMotor Type MKD or MSM with Gear Reducer,
Complete with Drive and Control

Switching without Switch Cams

along the Entire Travel Range

Clamping Fixtures, Connection

Plates, Connection Elements

Frictional Load Measurements

Positioning Accuracy
6

Product Overview
Compact Modules are precision, Construction Optional Components
ready-to-install linear systems – Extremely compact precision – Maintenance-free digital servo
offering high performance within a aluminum profile (main base drive with integrated brake and
compact envelope combined with structure) with two integrated pre-installed feedback
an economical price-to- ball rail guides for optimal – Type LP gear reducer
performance ratio and fast delivery movement of heavy loads at
– HALL REED sensors
high speeds
– Socket with terminals for
– Ready-to-install Compact
connecting switches
Modules in selectable lengths
up to Lmax – Aluminum profile cable duct for
easy mounting of switches
– Aluminum carriage available in
two lengths, depending on
application load
– Driven by a pre-tensioned
steel-cord reinforced
polyurethane toothed belt

Additional Special
Characteristics
– Identical outer dimensions,
matching accessories and
add-on components to Type
CKK Compact Modules
– Optimal movement, high load
capacity, and high rigidity
through two integrated,
pre-loaded ball rail guides
– High travel speed, with high
Economical maintenance of the
precision and low noise, over
ball rail guides through centralized
lengths up to 5500mm
lubrication (grease) system.
– Side-mounted aluminim rails Access ports are on top of the
guide the toothed belt and seal carriage and either side of the
out contaminants extrusion
– Adjustable switches over the
entire travel range; switch
activation without switch cam
(with switch cam for type
CKR 25-200)
 7

Precision alignment and secure

mounting of attachments thanks to
threaded bores and dowel pin holes
in the carriage

Idler (non-driven) end with integral

belt tensioning system. Pulley ball
bearings are lubricated for life

Pilot bore and tapped mounting Gear Reducer:

holes on drive end for simple motor A variety of gear ratios allows an
mounting optimal match between the load and
the motor inertia:
i=3
i=5
i = 10
8

Product Overview: Motors and Controls

Motor Selection
Based on the drive and control Digital Servo Motor
system Type MKD
To provide a cost-effective solution for
every customer application, several
motor/drive combinations are offered.
When calculating the size of the drive,
always take the combination of the
motor and drive unit into consideration.

MKD 25B-144 KG1

MKD 41B-144 KG1
MKD 71B-061 KG1
MKD 90B-047 KG1

Digital Servo Motor

Type MSM

MSM 030 C
MSM 040 B
 9

Digital Drive
ECODRIVE
DKC
Cost-effective solution for
single- and multi-axis systems

1
9
2
10 11 12 13 14 15 16
3 4 5 6 7
X

1 8
4
2
5
3
6
X

8.8
S1
S3

X30
S2

Ind
ram
at

AC-C
ONT
ROL
LER

Digital Drive
ECODRIVE Cs
DKC Compact, dynamic solution
for the lower end of the
performance range.

Compact Modules are available

complete with motor, drive,
and control.
10

Type Overview with Load Capacities

Type Designation (size) Type Size
Compact modules are identified by
designating the Type and the Size.
Compact Module (Example) = C K R 20 - 145
Respective structures without drive
also comply with the type and size System = C = Compact Module
designation.
Guide = K = Ball Rail Guide

Drive = R = Toothed Belt Drive

Guideway
Dimensions =
ca. (mm)

Aluminum Profile
Dimensions =
A

Type Guide Drive Compact Module

Rexroth –
Compact CKR
Modules Ball Rail Guide Toothed Belt Drive
 11

Overview of Compact Modules

with permissible loads

L C
C C

Acceptable Loads In consideration of the desired In this respect, do NOT exceed:

(Recommended values based operating life, general loads up to 20% – The maximum permissible load,
on experience and testing) of the dynamic values (C, Mt, ML ) have – The permissible drive torque,
been shown as acceptable. – The permissible speed.

Compact Module Dimension A x H (mm) Dynamic Load Capacity C (N)

short carriage long carriage

CKR 12-90 90 x 40 4,620 7,500

CKR 15-110 110 x 50 14,560 23,650

CKR 20-145 145 x 65 34,800 56,530

CKR 25-200 200 x 100 55,000 89,340

NOTE: All Compact Modules are also available without a drive.

12

Construction
5
4 3
Construction of the CKR
1 Toothed Belt
2 Drive End Assembly
1
3 Carrige Versions
– Short carriage version with two
runner blocks
– Long carriage version with four
runner blocks
4 Main Body
5 Tensioning End Assembly
(Idler End)

Additional Components:
6 Switch 7
7 Cable Duct
8 Socket Plug
8
9 Motor
10 Type LP Gear Reducer 2

10
 13

Construction of the Type LP

Gear Reducer

For all Compact Modules, a planetary

gearbox can be installed via a flange.
The flange serves as a mounting point 4
for the gearbox to the Compact Module
and as an enclosed housing for the
connection. This direct connection
eliminates the need for a coupling, 3
minimizing torsional deflection.
5
Different gear ratios are available:
i=3 (for CKR 20-145 and
2
25-200 only)
i=5
i = 10

1 Servomotor 1
2 Gear Reducer
3 Flange
4 Drive End Assembly
5 Compact Module
14

Technical Data
Load Capacities and Moments
Compact Carriage Belt Dynamic Dynamic Planar Moment Moved Maximum Specific
Module Length Type Load Moments of Inertia Mass Length Belt Stretch
y
Capacity of x x
Guideway
y
C Mt ML Ix Iy mB Lmax cspec
(N) (Nm) (Nm) (cm4) (cm4) (kg) (mm) (N/mm · m)
CKR 12-90 102 AT 3 4,620 110 16 12.8 115.3 0.32 3,000 350
156 AT 3 7,500 360 240 12.8 115.3 0.55 3,000 350
CKR 15-110 170 AT 5 14,560 370 80 32.7 282.9 0.52 4,500 875
215 AT 5 23,650 600 1,000 32.7 282.9 0.87 4,500 875
CKR 20-145 180 AT 5 34,800 1,170 260 87.5 903.9 0.99 5,500 1,225
240 AT 5 56,530 1,910 2,820 87.5 903.9 1.67 5,500 1,225
CKR 25-200 265 AT 10 55,000 2,750 360 465.6 3316.6 2.40 5,500 4,000
405 AT 10 89,340 4,460 7,810 465.6 3316.6 4.24 5,500 4,000

Stretching of Toothed Belt ∆L = (F · L)/cspec

Maximum Permissible Loads

Compact Carriage Maximum Permissible Forces Maximum Permissible Moments
Module Length
Fy1 Fy2 Fx Mt ML
(N) (N) (N) (Nm) (Nm)
CKR 12-90 102 4,620 4,120 1,195 110 16
156 7,500 6,700 2,170 180 210
CKR 15-110 170 11,200 5,600 3,240 180 40
215 18,190 9,090 5,270 300 380
CKR 20-145 180 26,760 13,380 7,760 580 130
240 43,470 21,730 12,600 950 1,080
CKR 25-200 265 42,300 21,150 12,260 1,370 180
405 68,710 34,350 19,920 2,230 3,000

Modulus of Elasticity E E = 70,000 N/mm2

Mass Mass calculation without motor and switches.

Mass formula: Mass (kg/mm) · Length L (mm) + Mass of all fixed length parts
(carriage, drive end, idler end, etc.) (kg) + (additional mass) (kg)

Compact Carriage Drive Type Mass Additional Mass

Module Length

(mm) (kg) Gear Reducer (kg)

CKR 12-90 without drive 0.0044 · L + 0.77 –
102
drive i = 1 0.0044 · L + 0.96 1.00 (LP050)
without drive 0.0043 · L + 0.96 –
156
drive i = 1 0.0043 · L + 1.15 1.00 (LP050)
CKR 15-110 without drive 0.0074 · L + 1.55 –
170
drive i = 1 0.0074 · L + 1.79 1.02 (LP050)
without drive 0.0073 · L + 1.84 –
215
drive i = 1 0.0073 · L + 2.08 1.02 (LP050)
CKR 20-145 without drive 0.0122 · L + 2.84 –
180
drive i = 1 0.0122 · L + 3.53 2.29 (LP070)
without drive 0.0122 · L + 3.47 –
240
drive i = 1 0.0122 · L + 4.16 2.29 (LP070)
CKR 25-200 without drive 0.0233 · L + 8.99 –
265
drive i = 1 0.0233 · L + 10.23 4.37 (LP090) / 11.36 (LP120)
without drive 0.0231 · L + 10.83 –
405
drive i = 1 0.0231 · L + 12.07 4.37 (LP090) / 11.36 (LP120)
 15

Note for Dynamic Load Capacities

and Moments (see table) Mt
The determination of the dynamic load
capacities and moments is based on C
100,000 m of travel.
Fy1 Fy2
However, in many cases, only 50,000
is assumed. C C
For this, the following comparison
applies: Fx Fx
Values C, Mt and ML from the table
should be multiplied by 1.26.

ML

ML

Compact Module with short carriage

ML

Compact Module with long carriage

16

Technical Data
Drive Data
Compact Module Drive Type Gear Max. Drive Lead Belt Width Tooth Max. Belt Belt
Reducer Torque Constant Type Pitch Drive Elasticity
Ratio Transmission Limit
i Ma u b T Force Fzul
(Nm) (mm/U) (mm) (mm) (N) (N)
CKR 12-90 i=1 1 8.0 90.0
Gear Reducer 5 1.6 18.0 AT 3 35 3 560 1,600
LP050 10 0.8 9.0
CKR 15-110 i=1 1 13.5 120.0
Gear Reducer 5 2.3 24.0 AT 5 50 5 705 3,500
LP050 10 1.0 12.0
CKR 20-145 i=1 1 32.5 165.0
Gear Reducer 3 9.6 55.0
AT 5 70 5 1,235 4,800
LP070 5 6.4 33.0
10 2.9 16.5
CKR 25-200 i=1 1 112.7 250.0
1 with keyway 99.8 250.0
Gear Reducer 3 24.0 83.3
LP090 5 16.0 50.0
AT 10 100 10 2,830 17,000
10 7.2 25.0
Gear Reducer 3 37.6 83.3
LP120 5 22.5 50.0
10 11.2 25.0
 17

Technical Data - Calculations

Formulas

Nominal Life Expectancy Nominal Life Expectancy in Meters:

L10 = Nominal Life Expectancy
3

( CF ) · 10
in Meters (m)
L10 = 5
L10h = Nominal Life Expectancy
m in Hours (h)
C = Dynamic Load Capacity (N)
Nominal Life Expectancy in Hours: Fm = Mean Equivalent of
Dynamic Load Capacity (N)
L10 vm = Mean Speed (m/s)
L10h =
3600 · vm

Frictional Torque

With motor mounting via flange

and coupling:
MR = MRS
MR = Frictional Torque at
Motor Shaft (Nm)
MRS = Frictional Torque of
System (Nm)

With motor mounting via gear MRLP= Frictional Torque of

reducer: MRS Gear Reducer (Nm)
MR = + MRLP i = Gear Ratio
i

Mass Moment of Inertia

For Handling:
Jfr = Mass Moment of Inertia of
6 · JM > Jfr Additional Load (kgm2)
JM = Mass Moment of Inertia of
For Machining: Motor (kgm2)
1.5 · JM > Jfr

Frictional Torque Compact Module Motor Gear Reducer i M RS MRLP

Type (Nm) (Nm)
CKR 12-90 MKD25B-144 Gear Reducer
5, 10 0.58 0.05
MSM030C LP050
CKR 15-110 MKD25B-144 Gear Reducer
5, 10 1.42 0.05
MSM030C LP050
CKR 20-145 MKD41B-144 Gear Reducer
3, 5, 10 2.04 0.14
MSM040B LP070
CKR 25-200 Gear Reducer
MKD71B-061 3, 5, 10 3.60 0.38
LP090
Gear Reducer
MKD90B-047 3, 5, 10 3.60 0.80
LP120
18

CKR 12-90 Components and Performance Data

Part Number, Length Type Guideway Drive Carriage
(and Dim. Drawing)
0364 300 00, .... mm

Shaft Without With Gear

156 mm
102 mm

Length
Length
for Motor Keyway Keyway Reducer

i=1 i=1 i = 5, 10
Without Drive OA01
none 50
(03.34.00)
With Drive (i = 1)
MA01
right
(03.34.10)
01 01 03 01 02
MA02
left
(03.34.10)

MA03
both sides 02 04
(03.34.12)

For Gear Reducers

MG01
1 Shaft
MG02
MG02
For Gear Reducers

10
MG01 (03.34.20)

01 01 02

MG04 MG03
2 Shafts

MG04 11
MG03 (03.34.20)

Gear Reducer Performance Data

Performance values for horizontal operation with Servo Motor MKD 25B-144 and Drive DKC **.*-0401)
Connection voltage: 3 x 400 V

Gear Reducer Ratio i=5 i = 10

Mass (kg) 2 4 6 8 10 2 4 6 8 10
Acceleration Time t (ms) 51 63 76 88 101 79 85 92 98 105
Acceleration Distance s (mm) 67 76 91 106 121 47 51 55 59 63
Acceleration a (m/s 2 ) 47.0 37.8 31.7 27.2 23.9 15.2 14.1 13.1 12.2 11.5
Speed v (m/s) 2.4 1.2
Repeatability (mm) 0.1 0.1
Performance values for horizontal operation with Servo Motor MSM 030C and Drive DKC **.*-0121)
Connection voltage: 1 x 230 V
Gear Reducer Ratio i=5 i = 10
Mass (kg) 2 4 6 8 10 2 4 6 8 10
Acceleration Time t (ms) 18 19 23 28 33 19 21 24 26 29
Acceleration Distance s (mm) 8 8 10 13 15 4 5 5 6 6
Acceleration a (m/s 2 ) 50.0 48.2 38.6 32.2 27.6 23.9 21.1 19.0 17.2 15.7
Speed v (m/s) 0.9 0.45
Repeatability (mm) 0.1 0.1
1)
For additional information, see catalogs "Controls, Motors, Electrical Accessories, Servo Motors" and
"DSC, ECODRIVE Cs".
 19

Motor Attachment2) Motor 1st., 2nd + 3rd Switch Documentation

Gear Reducer Motor Type Cable Duct
Socket/Plug

Measurement
Standard

Report
Report
i=5 i = 10

Without Switch
00 00
Without Cable Duct

REED Sensor 21
21 02
Frictional
Torque
HALL Sensor
22
00 PNP-NC

HALL Sensor
23
PNP-NO
01

Cable Duct 25
11 12 MKD 25 B 50

3) Socket/Plug 17
72 05
31 32 MSM 030 C
4)
73 Positioning
Accuracy
MKD 25 B 10
11 12 50

3)
72
31 32 MSM 030 C 17
73 4)
2)
Motor Attachment also available without motor (enter "00" for motor on order form)
3)
Version without Brake
4)
Version with Brake

Drive Data without Motor (i = 1)

Drive Pulley Diameter 28.65 mm
Lead Constant 90 mm
Speed up to 3 m/s
Belt Type AT 3, width 35 mm, steel-reinforced
Moment of Inertia (short carriage) (0.71 + 0.00032 · L) · 10-4 kgm2
Moment of Inertia (long carriage) (1.08 + 0.00032 · L) · 10-4 kgm2

The tables contain performance

data examples for gear reducer/motor/
drive combinations. They are intended
to serve as a guide for selection only;
exact values must be calculated on an
individual basis.
Please make sure that the selected
combination is allowed (load
capacities, moments, maximum RPMs,
motor data, etc.)
20

CKR 12-90 Dimensional Drawings

All dimensions in mm
max. travel 156 (long carriage) max. travel
Drawings not to scale
2 102 (short carriage) 2
effective stroke effective stroke
excess travel 2 2 excess travel

Ø34H7
M4 - 8 deep 49.5
1.8 deep (4x)
28
19.5

Central lubrication point for

40 L/2
grease (both sides)

28 L
59

Long Carriage
M4 - 8 deep
13.5 13.5 38 13.5 13.5 (8x)
20
31.5

Lubrication point for

156
grease, sealed with
M4 set-screw Ø 4H7 - 8 deep
(4x)
Ø10h

03.34.00 03.34.10 03.34.12

Version OA01 Versions MA01 and MA02 Version MA03

59 59
40

3P9
Ø10h6
49.5
25

31.5
2

h=3
90

90

3P9 3P9
90

31.5

31.5

h=3 h=3
2

2
25

25

Ø10h6 Ø10h6
 21

27
A

7.6

40
39
90
B

Short Carriage

M4 - 8 deep
(4x) 13.5 13.5

Lubrication point for

grease, sealed with
M4 set-screw
20

A B
3.2 4
1.8
3.2

102

4.2
5.2
4.8

Ø4H7 - 8 deep
(2x)
1.3 2

03.34.20 To calculate the length of the Compact

Versions MG01, MG02, MG03 and MG04 Module:
Motors MKD 25B and MSM 030C
L = (stroke + 2 · excess travel) + LT + 25 mm
Ø10h6
For an example of length calculation, see ordering example.
90
38

31.5
138.5 (MSM 030C)2) 63
171.5 (MSM 030C)1)
236 (MKD 25B)

54 (MKD 25B)
60 (MSM 030C)
1)
with brake
2)
without brake
22

CKR 15-110 Components and Performance Data

Part Number, Length Type Guideway Drive Carriage
(and Dim. Drawing)
0364-400-00, .... mm

Shaft Without With Gear

215 mm
170 mm

Length
Length
for Keyway Keyway Reducer
Motor
i=1 i=1 i = 5, 10
Without Drive
OA01
none 50
(03.44.00)

With Drive (i = 1)
MA01
right
(03.44.10)
01 01 03 01 02
MA02
left
(03.44.10)

MA03
both sides 02 04
(03.44.12)

For Gear Reducer

MG01
1 Shaft
MG02
MG02 10
For Gear Reducer

MG01 (03.44.20)

01 01 02

MG04 MG03
2 Shafts

MG04 11
MG03 (03.44.20)

Gear Reducer Performance Data

Performance values for horizontal operation with Servo Motor MKD 25B-144 and Drive DKC **.*-0401)
Connection Voltage: 3 x 400 V

Gear Reducer Ratio i=5 i = 10

Mass (kg) 2 4 6 8 10 3 6 9 12 15 18 21
Acceleration Time t (ms) 64 72 88 105 121 80 95 109 123 138 152 166
Acceleration Distance s (mm) 102 115 141 167 193 64 76 87 99 110 122 133
Acceleration a (m/s 2 ) 50.0 44.5 36.3 30.6 26.5 19.9 16.9 14.7 13.0 11.6 10.5 9.6
Speed v (m/s) 3.2 1.6
Repeatability (mm) 0.1 0.1
Performance values for horizontal operation with Servo Motor MSM 030C and Drive DKC **.*-0121)
Connection Voltage: 1 x 230 V

Gear Reducer Ratio i=5 i = 10

Mass (kg) 3 5 7 9 3 6 9 12 15 18 21
Acceleration Time t (ms) 24 26 32 38 21 27 32 37 43 48 54
Acceleration Distance s (mm) 14 16 19 23 6 8 10 11 13 14 16
Acceleration a (m/s 2 ) 50.0 45.7 37.1 31.2 28.1 22.5 18.7 16.0 14.0 12.5 11.2
Speed v (m/s) 1.2 0.6
Repeatability (mm) 0.1 0.1
1)
For additional information, see catalogs "Controls, Motors, Electrical Accessories, Servo Motors" and "DSC, ECODRIVE Cs".
 23

Motor Attachment 2) Motor Documentation

1st, 2nd + 3rd Switch
Gear Reducer Motor Type Cable Duct
Socket/Plug

Measurement
Standard
Report

Report
i=5 i = 10

Without Switch
00 00
Without Cable Duct

REED Sensor 21 02
Frictional
Torque
HALL Sensor
22
00 PNP NC

HALL Sensor
23
PNP NO
01

Cable Duct 25
11 12 MKD 25 B 50

3)
72 Socket/Plug 17
32 MSM 030 C 05
31 4)
73 Positioning
Accuracy
11 12 MKD 25 B 50

3)
72
31 32 MSM 030 C
4)
73

2)
Motor Attachment also available without motor (enter "00" for motor on order form)
3)
Version without Brake
4)
Version with Brake

Drive Data without Motor (i = 1)

Drive Pulley Diameter 38,20 mm
Lead Constant 120 mm
Speed up to 5 m/s
Belt Type AT 5, Width 50 mm, steel-reinforced
Moment of Inertia (short carriage) (2.91 + 0.00136 · L) · 10-4 kgm2
Moment of Inertia (long carriage) (3.80 + 0.00136 · L) · 10-4 kgm2

The tables contain performance

data examples for gear reducer/motor/
drive combinations. They are intended
to serve as a guide for selection only;
exact values must be calculated on an
individual basis.
Please make sure that the selected
combination is allowed (load
capacities, moments, maximum RPMs,
motor data, etc.)
24

CKR 15-110 Dimensional Drawings

All dimensions in mm
Drawings not to scale max. travel max. travel
215 (long carriage)
2 170 (short carriage) 2
effective stroke effective stroke
excess travel excess travel
2 2
Ø42H7
M5 - 10 deep 60.5
2 deep (4x)
35
24.5

45 L/2 Central lubrication nipple

for grease (both sides)
33 L
66

25 25 35 25 25
Long Carriage M5 - 10 deep
(8x)
34
31.5

215
Ø 6H7 - 6.5 deep
Ø14h6 (4x)

Lubrication point for

grease, sealed with
M6 set-screw

03.44.00 03.44.10 03.44.12

Version OA01 Versions MA01 and MA02 Version MA03
66 66

60.5

5P9
49

Ø14h6
25

31.5
2

h=3
110
110

5P9 5P9
110

31.5
31.5

h=3
2
25

h=3
2
25

Ø14h6 Ø14h6
 25

46 A

50
49
9.5
110
B

Short Carriage
Lubrication point for
M5 - 10 deep grease, sealed with
(4x) 25 25 M6 set-screw

A B
34

3.2 2.5

1.8
3.2

5.2
8.2
4.8

41.5 1.3 4.8

Ø 6H7 - 6.5 deep 170

(2x)

03.44.20 To calculate the length of the Compact

Versions MG01, MG02, MG03 and MG04 Module:
Motors MKD 25B and MSM 030C
L = (stroke + 2 · excess travel) + LT + 25 mm
Ø14h6
For an example of length calculation, see ordering example.
110
138.5 (MSM 030C)2) 63 29.5

31.5
171.5 (MSM 030C)1)
236 (MKD 25B)

54 (MKD 25B)
60 (MSM 030C)
1)
with brake
2)
without brake
26

CKR 20-145 Components and Performance Data

Part Number, Length Type Guideway Drive Carriage
(and Dim. Drawing)
0364-500-00, .... mm

Shaft Without With Gear

240 mm
180 mm

Length
Length
for Keyway Keyway Reducer
Motor
i=1 i=1 i = 3,5,10
Without Drive
OA01
none 50
(03.54.00)
With Drive (i = 1)
MA01
right
(03.54.10)
01 01 03 01 02
MA02
left
(03.54.10)

MA03
both sides 02 04
(03.54.12)

For Gear Reducer

MG01

1 Shaft
MG02 MG02
10
For Gear Reducer

(03.54.20)
MG01
01 01 02
MG03
2 Shafts

MG04
MG04 11
(03.54.20)
MG03

Gear Reducer Performance Data: Performance values for horizontal operation with Servo Motor MKD 41B-144 and Drive
DKC **.*-0401) Connection Voltage: 3 x 400 V
Gear Reducer Ratio i=3
Mass (kg) 3 6 9 3 6 9 3 6 9
Acceleration Time t (ms) 20 20 20 60 60 60 100 100 100
Acceleration Distance s (mm) 10 10 10 90 90 90 250 250 250
Acceleration a (m/s 2 ) 50.0 50.0 50.0 50.0 50.0 50.0 50.0 50.0 50.0
Speed v (m/s) 1.0 3.0 5.0
Repeatability (mm) 0.1

Gear Reducer Ratio i=5

Mass (kg) 6 9 12 15 18 21 24 27 30
Acceleration Time t (ms) 66 76 88 99 110 122 133 145 156
Acceleration Distance s (mm) 109 126 145 163 182 201 220 239 257
Acceleration a (m/s 2 ) 50.0 43.3 37.7 33.3 29.9 27.1 24.8 22.8 21.1
Speed v (m/s) 3.30
Repeatability (mm) 0.1

Gear Reducer Ratio i = 10

Mass (kg) 3 6 9 12 15 18 21 24 27 30
Acceleration Time t (ms) 83 89 96 102 109 116 122 129 136 142
Acceleration Distance s (mm) 68 74 79 85 90 95 101 106 112 117
Acceleration a (m/s 2 ) 20.0 18.5 17.2 16.1 15.1 14.3 13.5 12.8 12.2 11.6
Speed v (m/s) 1.65
Repeatability (mm) 0.1
1)
For additional information, see catalogs "Controls, Motors, Electrical Accessories, Servo Motors" and "DSC, ECODRIVE Cs".
 27

Motor Attachment2) Motor 1st, 2nd + 3rd Switch Documentation

Gear Reducer Motor Type Cable Duct
Socket/Plug

Measurement
Standard
Report

Report
i=3 i=5 i = 10

Without Switch
00 00
Without Cable Duct

REED Sensor 21 02
Frictional
Torque
HALL Sensor
22
00 PNP-NC

HALL-Sensor
23 01
PNP-NO

Cable Duct 25
10 11 12 MKD 41 B 10

3)
74 Socket/Plug 17
30 31 MSM 040 B 05
32 4)
75
Positioning
Accuracy
10 11 12 MKD 41 B 10

3)
74
30 31 32 MSM 040 B
75 4)
2)
Motor Attachment also available without motor
Performance values for horizontal operation with Servo Motor MSM 040B
(enter "00" for motor on order form)
and Drive DKC **.*-0181), Connection Voltage: 1 x 230 V 3)
Version without Brake
4)
Version with Brake
Gear Reducer Ratio i=5
Mass (kg) 6 9 12 15 18 6 9 12 15 18
Acceleration Time t (ms) 16 16 18 20 23 33 33 36 42 48
Acceleration Distance s (mm) 6 6 7 8 9 27 27 30 35 39
Acceleration a (m/s 2 ) 50.0 50.0 45.6 39.4 34,7 50.0 50.0 45.6 39.4 34.7
Speed v (m/s) 0.80 1.65
Repeatability (mm) 0.1
Gear Reducer Ratio i = 10
Mass (kg) 3 6 9 12 15 18 21 24 27 30
Acceleration Time t (ms) 23 27 30 33 37 40 43 47 50 53
Acceleration Distance s (mm) 10 11 12 14 15 17 18 19 21 22
Acceleration a (m/s 2 ) 35.1 30.8 27.4 24.7 22,5 20.6 19.0 17.7 16.5 15.5
Speed v (m/s) 0.8
Repeatability (mm) 0.1

Drive Data without Motor (i = 1) The tables contain performance data

Drive Pulley Diameter 52.52 mm examples for gear reducer/motor/drive
Lead Constant 165 mm combinations. They are intended to serve as
Speed bis 5 m/s a guide for selection only; exact values must
Belt Type AT 5, width 70 mm with steel reinforcement. be calculated on an individual basis. Please
Moment of Inertia (short carriage) (10.57 + 0.00317 · L) · 10-4 kgm2 make sure that the selected combination is
Moment of Inertia (long carriage) (14.49 + 0.00317 · L) · 10-4 kgm2 allowed (load capacities, moments,
maximum RPMs, motor data, etc.)
28

CKR 20-145 Dimensional Drawings

All dimensions in mm
Drawings not to scale
max. travel 240 (long carriage) max. travel
2 180 (short carriage) 2
effective stroke effective stroke
excess travel excess travel
2 2
Ø49H7
M6 - 12 deep 71.5
2.5 deep
(4x)
45
32

45 L/2 Central lubrication nipple

for grease (both sides)
30 L
64

M6 - 12 deep
30 30 40 30 30 (8x)
Long Carriage
48

Lubrication point for 240

grease, sealed with Ø 6H7 - 7.5 deep
61

M6 set-screw (4x)

Ø19h6

03.54.00 03.54.10 03.54.12

Version OA01 Versions MA01 and MA02 Version MA03
64 64
64

6P9
Ø19h6
71.5
40

61
2

h=3.5
145
145

6P9 6P9
145

61

h=3.5
61

h=3.5
2
40

2
40

Ø19h6 Ø19h6
 29

62 A

64
65
9.5
145

Short Carriage
Lubrication point for
grease, sealed with
M6 - 12 deep M6 set-screw
(4x) 30 30
48

A B
3.2 2.5
1.8
3.2

Ø 6H7 - 7.5 deep 50

(2x)

5.2
8.2
4.8

180

1.3 4.8

03.54.20 To calculate the length of the Compact

Versions MG01, MG02, MG03 and MG04 Module:
Motors MKD 41B and MSM 040 B
L = (stroke + 2 · excess travel) + LT + 25 mm
Ø19h6
145

For an example of length calculation, see ordering example.

61
37
90
157.5 (MSM 040B)2)
191.5 (MSM 040B)1)
243 (MKD 41B)

82 (MKD 41B)
80 (MSM 040B)

1)
with brake
2)
without brake
30

CKR 25-200 Components

Part Number, Length Type Guideway Drive Carriage
(and Dim. Drawing)
0364-600-00, .... mm

Shaft Without With Gear

405 mm
265 mm

Length
Length
for Keyway Keyway Reducer
Motor
i=1 i=1 i = 3,5,10
Without Drive
OA01
none 50
(03.64.00)
With Drive (i = 1)
MA01
right
(03.64.10)
01 01 03 01 02
MA02
left
(03.64.10)

MA03
both sides 02 04
(03.64.12)

For Gear Reducer

LP090
MG01 10 01 02
MG02 1 Shaft
MG02
With Gear Reducer

MG01 (03.64.20)

LP120
12 01 02
01
LP090

MG04 MG03 11 01 02
2 Shafts

MG04
(03.64.20)
MG03
LP120

13 01 02

1) Motor Attachment also available without motor (enter "00" for motor on order form)
2) Switch brackets can only be used in conjunction with connection plates.
3) Magnetic field sensors and mechanical/inductive switches cannot be used on the same side.
 31

Motor Attachment 1) Motor 1st, 2nd + 3rd Switch Documentation

Gear Reducer Motor Type Cable Duct
Switch Bracket2)

Measureent
Standard

Report
Report
i=5 i = 10

00
Without switch, socket/plug, cable
00
duct, and mounting channel
02
Frictional
Switch: Magnetic field sensor3)
Torque
Exterior switch Cable Duct
00 Length = L 25
REED Sensor 21
HALL Sensor
22 01
PNP-NC
HALL Sensor Socket/Plug
23
PNP-NO 27
10 11 12 MKD 071 B 11
Switch Type
Switch: Mechanical/Inductive 3)
20 05
21 22 Exterior switch 1 Switch bracket 16
MKD 090 B 13 Positioning
PNP-NC 11 Accuracy
30 31 32 PNP-NO 13
Mechanical 15
10 MKD 071 B 11 2 Switch bracket 26
11 12
Switch Type

20 21 22
Cable Duct
MKD 090 B 13 20
Length = L Socket/Plug 17
30 31 32

Please make sure that the

selected combination is allowed (load
capacities, moments, maximum RPMs,
motor data, etc.)
32

CKR 25-200 Performance Data

Performance Data for Gear Reducer LP 090
Performance values for horizontal operation with Servo Motor MKD 71B-061
and Drive DKC **.*-1001)
Connection Voltage: 3 x 400 V

Gear Reducer Ratio i=3

Mass (kg) 3 6 9 12 15 3 6 9 12 15
Acceleration Time t (ms) 60 60 67 74 81 60 60 111 123 136
Acceleration Distance s (mm) 90 90 100 111 122 90 90 278 308 339
Acceleration a (m/s 2 ) 50.0 50.0 45.0 40.5 36.9 50.0 50.0 45.0 40.5 36.9
Speed v (m/s) 3.00 5.00
Repeatability (mm) 0,1

Gear Reducer Ratio i=5

Mass (kg) 10 20 30 40 50 10 20 30 40 50
Acceleration Time t (ms) 61 74 87 101 114 124 151 178 205 232
Acceleration Distance s (mm) 55 67 79 91 102 228 277 327 376 425
Acceleration a (m/s 2 ) 29.5 24.2 20.6 17.9 15.8 29.5 24.2 20.6 17.9 15.8
Speed v (m/s) 1.80 3.67
Repeatability (mm) 0.1

Gear Reducer Ratio i = 10

Mass (kg) 10 20 30 40 50 10 20 30 40 50
Acceleration Time t (ms) 101 109 116 124 132 205 221 237 253 269
Acceleration Distance s (mm) 45 49 52 56 59 188 203 217 232 246
Acceleration a (m/s 2 ) 8.9 8.3 7.7 7.3 6.8 8.9 8.3 7.7 7.3 6.8
Speed v (m/s) 0.90 1.80
Repeatability (mm) 0.1

Performance values for horizontal operation with Servo Motor MKD 90B-047
and Drive DKC **.*-1001)
Connection Voltage: 3 x 400 V

Gear Reducer Ratio i=3

Mass (kg) 10 20 30 40 50 10 20 30 40 50
Acceleration Time t (ms) 74 91 107 123 139 150 182 215 248 280
Acceleration Distance s (mm) 74 91 107 123 139 302 367 433 499 564
Acceleration a (m/s 2 ) 26.9 22.1 18,7 16.3 14.4 26.9 22.1 18.7 16.3 14.4
Speed v (m/s) 2.0 4.0
Repeatability (mm) 0.1

Gear Reducer Ratio i=5

Mass (kg) 30 35 40 45 50 10 20 30 40 50
Acceleration Time t (ms) 83 92 101 110 118 168 185 203 221 239
Acceleration Distance s (mm) 50 55 61 66 71 203 224 246 267 288
Acceleration a (m/s 2 ) 11.9 11.4 10.9 10.5 10.1 14.4 13.0 11.9 10.9 10.1
Speed v (m/s) 1.20 2.40
Repeatability (mm) 0.1

Gear Reducer Ratio i = 10

Mass (kg) 10 20 30 40 50 10 20 30 40 50
Acceleration Time t (ms) 167 173 178 183 188 337 348 358 368 379
Acceleration Distance s (mm) 50 52 53 55 56 204 210 216 223 229
Acceleration a (m/s 2 ) 3.6 3.5 3.4 3.3 3,2 3.6 3.5 3.4 3.3 3.2
Speed v (m/s) 0.60 1.20
Repeatability (mm) 0.1
 33

Performance Data for Gear Reducer LP 120

Performance values for horizontal operation with Servo Motor MKD 90B-047
and Drive DKC **.*-1001)
Connection Voltage: 3 x 400 V

Gear Reducer Ratio i=3

Mass (kg) 20 30 40 50 60 20 30 40 50 60
Acceleration Time t (ms) 59 69 79 90 100 119 140 160 181 201
Acceleration Distance s (mm) 59 69 79 90 100 240 281 322 364 405
Acceleration a (m/s 2 ) 33.8 28.9 25.2 22.3 20.0 33.8 28.9 25.2 22.3 20.0
Speed v (m/s) 2.0 4.0
Repeatability (mm) 0.1

Gear Reducer Ratio i=5

Mass (kg) 20 30 40 50 60 20 30 40 50 60
Acceleration Time t (ms) 69 76 82 88 94 140 152 165 177 190
Acceleration Distance s (mm) 42 45 49 53 57 169 184 199 214 229
Acceleration a (m/s2) 17.3 15.9 14.7 13.6 12.7 17.3 15.9 14.7 13.6 12.7
Speed v (m/s) 1.20 2.40
Repeatability (mm) 0.1

Gear Reducer Ratio i = 10

Mass (kg) 20 30 40 50 60 20 30 40 50 60
Acceleration Time t (ms) 118 121 124 128 131 237 244 251 257 264
Acceleration Distance s (mm) 35 36 37 38 39 143 147 151 155 160
Acceleration a (m/s 2 ) 5.1 5.0 4.8 4.7 4.6 5.1 5.0 4.8 4.7 4.6
Speed v (m/s) 0.60 1.20
Repeatability (mm) 0.1

Drive Data without Motor (i = 1)

Drive Pulley Diameter 79.58 mm
Lead Constant 250 mm
Speed up to 5 m/s
Belt Type AT 10, Width100 mm, steel-reinforced
Moment of Inertia (short carriage) (76.18 + 0.01840 · L) · 10-4 kgm2
Moment of Inertia (long carriage) (88.87 + 0.01840 · L) · 10-4 kgm2

The tables contain performance data

examples for gear reducer/motor/drive
combinations. They are intended to serve as
a guide for selection only; exact values must
be calculated on an individual basis. Please
make sure that the selected combination is
allowed (load capacities, moments,
maximum RPMs, motor data, etc.)

1)
For additional information, see catalogs "Controls, Motors, Electrical Accessories, Servo Motors" and
"DSC, ECODRIVE Cs".
34

CKR 25-200 DImensional Drawings

All dimensions in mm
max. travel 405 (long carriage) max. travel
Drawings not to scale
2 265 (short carriage) 2
effective stroke effective stroke
excess travel excess travel
2 2
Ø68H7 M8 - 15 deep 115
2.5 deep (4x)
50
49.25

66 L/2 Central lubrication point

for grease (both sides)
53 L
104

42.5 42.5 90 42.5 42.5 M8 - 16 deep

(8x)
Long Carriage

405
61

Ø 8H7 - 10 deep
(4x)
Lubrication point for grease sealed
Ø24h6 with M8 set-screw

03.64.00 03.64.10 03.54.12

Version OA01 Versions MA01 and MA02 Version MA03

115 104 104

98.5
98.5
98.5

8P9
3

h=4
Ø24h6
40

61

8P9
200

200
200

8P9
61

61
3

3
40

40

h=4 Ø24h6 h=4 Ø24h6

 35

87
A

B C

98.5
100
84
38

150 25
D 200

A B
Short Carriage
1.3
Lubrication point for 4.8
M8 - 16 deep 42.5 42.5 grease sealed with
(4x) M8 set-screw

4.8
5.2
8.2

(38)
(84)

3.2
2.5 3.2

C D
4.9
66

20.1
14.5

12.5
8

6
11.1 10
Ø 8H7 - 10 deep 59 12
(2x)
265

03.64.20 To Calculate the Length of the Compact Module

Versions MG01, MG02, MG03 and MG04 L = (stroke + 2 · excess travel) + LT + 25 mm
Motors MKD 71B and MKD 90 B
Ø24h6 For example of length calculation, see the ordering example.
61
200

120 (LP090)
45 (LP090)
75 (LP120)

140 (LP120)
264 (MKD 71B )
313 (MKD 90B )
112 (LP090)
140 (LP120)

115 (MKD 71B )

140 (MKD 90B )
36

Switch Mounting
Overview of the Switching Magnetic Field Sensor Mechanical and Inductive Switch
System
The following switch types may be used
with Compact Modules:
– Magnetic field sensors
(Hall and Reed Sensors)
– For CKR 25-200, mechanical and
inductive switches may also be used

Different switch types cannot, however,

be used on the same side of the
Compact Module.

Switching System:
Magnetic Field Sensor
Hall Sensor and Reed Sensor
1 Socket and Plug
2 Switch
3 Cable Duct
(black anodized aluminum extrusion)

Magnetic field sensors are 3

suitable for speeds up to 2 m/s. For
safety reasons, mechanical/inductive
switches are to be used at higher
speeds (please inquire)!
Short Stroke: Pay attention to the length 1
of the socket and switch!
2

Magnetic Field Sensor

Miniature switch with potted cable:
Version:
– Hall Sensor (NC/NO) or
– Reed Sensor (Relay)
Assembly Note:
Switches may be on one side of the
compact module only (left or right), and
and should only be installed after the
compact module has been installed on
its base structure. 5
Set-screw for mounting
A cable duct is required to attach the
switches.
6
3

Switches are inserted in the upper 35

T-slot (CKR 12-90, 15-110) or the 6.5
lower T-slot (CKR 20-145, CKR
25-200) of the cable duct and Active Surface
secured with set-screws.

Hall Sensor Reed Sensor

Contact Type PNP NC / NO Contact Type Relay
Operating Voltage 3.8–30 V DC Switching Voltage max. 100 V DC
Current Draw max. 10 mA Switching Current max. 0.5 A
Output Current max. 20 mA Cable Length 2 m (10 m by request)
Cable Length 2 m (10 m by request) Housing Protection Class IP 66
Housing Protection Class IP 66 Maximum Speed 2 m/s
Short Circuit Protection No
Maximum Speed 2 m/s IMPORTANT: 2 switching points!
 37

Wiring Schematic

Hall Sensor White: +3.8 ... 30 VDC Reed Sensor

Brown
Green: Output
White

Green
Brown: OV ground

Cable Duct CKR 12-90 CKR 20-145 CKR 25-200

Function: and
– To attach and secure switches CKR 15-110
– Cable routing
3 3 13
Assembly Note:
The cable duct hooks into the T-slots
on the maing body and is secured with
set-screws.
Set-screws are included.

21.5
27.5

27.5

27.5
21.5

21.5
13 13
3

Socket and Plug 3 50 4.5 49

The socket must be installed on the 27.5
side with the switches.

PG 16
28.5

Sockets and plugs have 16 pins.

Sockets and switches are not wired.
This allows optimal assignment of the
switch positions during set-up.
One plug is included. The plug can be
installed in three directions.
Ø26

16-pin plug
60

Ordering of Switches Refer to the following table for part numbers.

and Accesories Accessories can also be ordered separately.

Pos. Part Number

for installation on: CKR 12-90, CKR 15-110, CKR 20-145, CKR 25-200
1 Socket / Plug 0375-400-00
2 Switch
– Reed Sensor 8616-009-03
– Hall Sensor PNP-NC 8616-013-03 / PNP-NO 8616-014-03
3 Cable Duct 0399-800-72
38

Switch Mounting
Mechanical and Inductive
Switches with CKR 25-200

Overview of the
Switching System
1 Socket and Plug
2 Mechanical Switch (with accessories)
3 Inductive Switch (with accessories)
4 Cable Duct (aluminum extrusion)
5 Switching Cam
(For installation on Connection Plates 3
only. For other applications, customer 4
solution required.)
5

Lubrication
Nipple
2
Short Stroke: Pay attention to 1
the length of socket and switch!

Mechanical Switch (technical data)

Repeatability ± 0.05 mm Mechanical Switch with
Accesories 20
Permissible Ambient

13.5Ł
12 +1
6
Temperature –5 °C to +80 °C

9.5
Protection Class DIN 40050 IP 67
7

Impact Time < 2 ms

Isolation Group C per VDE 0110
Nominal Voltage 250 V AC
50

Constant Current 5A
Switching Capacity at
220 V, 40-60 Hz cosϕ = 0.8 at 2 A
25
Conductive Resistance in
40
New Condition < 240 mΩ
Connection Screw connection 50
Contact System Single pole relay 60
Switching System Spring System

Inductive Switch (technical data)

Inductive Switch
Inductive switch with potted cable with Accessories
(3 x 0.14 mm2 Unitronic),
Housing Type NO
Minisensor Form A DIN 41635
Operating Voltage 10 ... 30 V DC
7
10

17
19

Residual Waveform ≤ 10 %
Load 200 mA
No-Load Current ≤ 20 mA
Switching Frequency max. 1500 Hz 22
Temperature Shift of
30
Switching Point ≤ 4 µm/K
5 35
Waveform Steepness of
Output Signal ≥ 1V/µs 45
Repeatability of the
Switching Point per EN 50008 ≤ 0.1 mm
Cable Length 3 m (10 m by request)
 39

Switch Mounting Example 20 26

2.5+0.2
0.4+0.2

25
16

58
Socket and Switch 51
– Attach the socket on the side with 50 30

12.6
the majority of the switches.

PG 16
Sockets and plugs have 16 pins.

35
Sockets and switches are not wired.
This allows optimal assignment of the
switch positions during set-up.
One plug is included. The plug can be
installed in three directions.
Ø26

16-pin Plug
60

Cable Duct
– Attaches to the side T-slots of the
main body.
The cable duct can hold up to two
cables for mechanical switches and
three cables for inductive switches.
17

Mounting screws and cable ties

included.

20

Ordering Switches and Refer to the table below for part numbers.
Accessories Accessories can also be ordered separately.

Part Numbers for Installation on CKR 25-200

Pos.
Version with Mechanical and Inductive Switches*
1 Socket / Plug 1175-001-53
2 Mechanical Switch and Mount 1175-001-51
Mechanical Switch ONLY 8453-040-16
3 Inductive Switch
- Accessories WITHOUT Switch 1175-001-52
- PNP NC 8453-040-01
- PNP NO 8453-040-03
4 Switching Cam 1175-00150
5 Cable Duct 0396-620-07

*) Switch brackets for installation on Connection Plates only. For other applications,
customer solution required.
40

Servo Motors
Type MKD
(Drawings not to scale.)

MKD 25B-144 KG1 MKD 41B-144 KG1

Part Number 8611-050-03 Part Number 8611-010-03

2.5 45
45° 45˚ 2.5 45

95
63

Ø14k6
Ø50j6
Ø
Ø40j6
Ø9k6

Ø
Ø4.5

7 8

Ø6.6
233 54 243 82
20 30

MKD 71B-061 KG1 MKD 90B-047 KG1

Part Number 8611-011-03 Part Number 8611-013-03

45 4 45 45
3 45

30 65
Ø1
Ø110j6

Ø1
Ø19k6

Ø24k6
Ø95j6

9.5
Ø9

115 14
Ø11
264 140
40 312
50

Motor Data for Servo Motors Type MKD

Motor MKD 25B-144 KG1 MKD 41B-144 KG1 MKD 71B-061 KG1 MKD 90B-047 KG1

Maximum Effective Speed RPM nmax (min-1)

Nominal Torque MN (Nm) 0.9 2.7 8.0 12
Maximum Torque Mmax (Nm)
Mass Moment of Inertia JM + JBr (10-6 kgm2) 30 + 8 170 + 16 870 + 38 4,150 + 110
Braking Torque MBr (Nm) 1.0 2.2 5.0 11
Mass with Brake mBr (kg) 2.25 4.65 9.42 14.65

See Catalog "Controls,. Motors, Electrical Accessories, and Servo Motors".

 41

Type MSM
(Drawings not to scale.)

MSM 030C-0300-NN-M0-CG1 with Brake MSM 040B-0300-NN-M0-CG1 with Brake

Part Number 8611-073-03 Part Number 8611-075-03
MSM 030C-0300-NN-M0-CG0 without Brake MSM 040B-0300-NN-M0-CG0 without Brake
Part Number 8611-072-03 Part Number 8611-074-03

45 45
45 45
3 0
0 Ø9
Ø7

Ø70h7
Ø19h6
Ø50h7
Ø14h6

6
Ø4.5

Ø6
6
171.51) 60 80
30 138.52) 191.51)
35 157.52)

1) 2)
With Brake Without Brake

Motor Data Servo Motors Type MSM

Motor MSM 030 C MSM 040 B
with Absolute Encoder with Absolute Encoder
Without Brake With Brake Without Brake With Brake
Maximum Effective Speed RPM nmax (min-1) 3000 3000 3000 3000
Nominal Torque MN (Nm) 1.3 1.3 2.4 2.4
Maximum Torque Mmax (Nm) 3.8 3.8 7.1 7.1
Mass Moment of Inertia JM + J Br (10-6 kgm2) 17 17 + 3 67 67 + 8
Braking Torque MBr (Nm) – 1.27 – 2.45
Mass with Brake mBr (kg) 1.5 1.9 3.1 3.8

NOTE: Motors are available complete For further information, see catalog
with controls. "DSC, ECODRIVE Cs".
Additional information on motors and
contols can be found in catalog
"Controls, Electrical Accessories",
"Servo Motors" and brochure MSM-
Motor data.
42

Lubrication Access Ports

The Compact Module with toothed
Connection dimensions for short carriage X
belt drive is designed for single-point
Drive ØY
grease lubrication via one of three
access ports. Center of Carriage

Central Lubrication:
b)
a) Carriage: each unit is shipped with
a set-screw sealing the access port
(size 12-90: M4, size 25-200: M8)
Note connection geometry for
Central
customer fixture when using central lubrication
lubrication port in carriage. a) ports for
b) Through side ports ØY; funnel- grease
shaped grease nipple per DIN (selectable)
3405-AM6 (size 12-90 per DIN
3405-D4, size 25-200 DIN 3405-
AM8x1) b)
When using the ports in the carriage,
the set-screw must be removed and an Center of Main Body ØY
O-ring must be installed as a seal.
L /2

Size X Y Connection dimensions for long carriage

(mm) (mm) ØY
CKR 12-90 0 8 Drive
CKR 15-110 41.5 10
CKR 20-145 50 10
CKR 25-200 59 10
b)

For short stroke versions, please contact

Bosch Rexroth for lubrication information:
a)
CKR 12-90: Stroke < 40 mm
CKR 15-110: Stroke < 50 mm
CKR 20-145: Stroke < 60 mm
CKR 25-200: Stroke < 80 mm
b)

ØY Central lubrication ports for

grease (selectable)
L /2
 43

Size A ± 0.1 B C-0.2

(mm) (mm) (mm)
CKR 12-90 10 4 1.7
ØA
CKR 15-110 10 5 1.2
CKR 20-145 10 5 1.2 Customer-supplied ØB
CKR 25-200 12,2 8 1.5 Fixture

O-Ring DIN 3771:

– Size 12-90: Ø4 x 2.5
Part Number: 8411-119-01

C
– Size 15-110 and 20-145: Ø5 x 2
Part Number: 8411-109-01
– Size 25-200: Ø8 x 2 Carriage
Part Number: 8411-008-01

O-Ring Main Body

44

Installation
Overview of Mounting and
Installation Options

Installation of a customer- Installation of a Compact Module Installation of a E2C* Automation

supplied fixture to the Compact using a connection plate and System from BRP* to a Compact
Module using a connection plate clamps Module using a connection plate
(Example: Mini-sled MSC)

Installation on Carriage
Compact Module
Clamps Connection Plate
CKR or CKK

Installation on Main Body

Installation of the Compact Installation of the Compact Installation of the Compact

Module on the customer's support Module using a connection plate Module on the MGE Aluminum
structure using clamps and clamps Structural Framing system using
a connection plate
and clamps

* E2C: Easy-2-Combine
BRP: Bosch Rexroth Pneumatics
 45

Installation
Note:
The Compact Module is installed using Installation using clamps
clamps.

Do not secure or support the

Compact Module by the drive/idler end
blocks! The weight-bearing structure is
the main body!

When installing Compact Modules,

please note the maximum tightening
torques listed in the table.

Size A B
(mm) (mm) A ± 0.1
CKR 12-90 102 112
B
CKR 15-110 126 140
CKR 20-145 161 175
CKR 25-200 222 240

Installation using T-blocks (CKR 25-200)

For size 25-200, alternative installation
is possible using T-blocks.

150±0.1

Size A B C
(mm) (mm) (mm)
CKR 12-90 76 4 11.5* Alternative installation using special machining
CKR 15-110 92 5 14* in the bottom surface of the main body
CKR 20-145 124 6 19*
CKR 25-200 119 8 16

* Through-threading/-hole
max. C

B Dowel hole or threaded

hole, max. ØB
Spacing from the
ends of the main A
body = min. 30 mm.
46

Attachment
Clamps Clamps

Recommended number of clamps:

– Type 1: 6 pieces per Meter and Side H
– Type 2: 4 pieces per Meter and Side

B
– Type 3: 3 pieces per Meter and Side

D
Countersink for
thread M
G ISO 4762

C
F quantity N

A
B

C
A
C

C
A
Type 1 Type 2 Type 3

Clamp
Compact for Type Quantity Dimension (mm) Part Number
Module Thread Holes N A B C D E F G H
1 1 25 – – 4,6 0375-310-00
3 4 87 6 25 4,6 0375-310-02
3 4 107 8,5 30 4,6 0375-310-03
CKR 12-90 M4 14.5 10.5 5
2 2 72 11 50 9 3,2 0375-310-13
2 2 62 11 40 3,2 0375-310-15
3 4 77 8.5 20 4,6 0375-310-26
3 4 107 8.5 30 4,8 0375-410-02
M5 19.3 14 7
3 4 77 8.5 20 11.5 4,8 0375-410-26
1 1 25 – – 5,3 0375-510-00
CKR 15-110
3 4 142 11 40 5,3 0375-510-02
CKR 20-145
M6 2 2 72 11 50 3,2 19.3 14 7 0375-510-09
11.5
2 2 62 11 40 3,2 0375-510-11
2 2 47 8.5 30 5,3 0375-510-23
2 2 108 19 70 16,3 1175-290-26
CKR 25-200 M8 27.5 29 19 9
2 2 88 19 50 14,8 1175-290-96
 47

T-Blocks and Bars T-Blocks Bar

(CKR 25-200)
For attaching the main body and
fixtures to the connection plate.
10

16 x 60 = 960
(10.5)
5

1000 - 2
19.5 M8

5.5
(18x)
M8

20

20
8
Recommended quantity of T-blocks: Part Number Part Number
with one threaded hole, 6 pieces per 8447-009-01 8447-008-01
meter and side

Spring (CKR 25-200)

The spring assists in positioning and
installing T-blocks.

Part Number
8412-009-02

Tightening Torques for

8.8 M4 M5 M6 M8
Fastening Screws
at Friction Class 0.125
Nm 2.7 5.5 9.5 23
Hardness Class 8.8
 48

Connection Elements
Connection Plate with Central
Lubrication Ports
Function:
– Attachment of fixtures (with T-blocks)
– Lubrication Ports on four sides
Funnel-shaped Grease
(central lubrication connection Nipple
required at only one of the four ports) DIN 3405 see table

Assembly includes:
– Connection Plate,
– Assembly hardware for attachment
to carriages.
T-Blocks are not included. Module with long carriage
Connection plates can be used with
long carriages only!

Funnel Grease Nipple per DIN 3405

Size sides back
CKR 12-90 D4 AM6
CKR 15-110 D4 AM6
CKR 20-145 AM6 AM8x1
CKR 25-200 AM8x1 AM8x1

Connection Plate

X C

ø G1 ø 0.02
D

Usable Depth: H1
for insertion of fixtures
F3
D
A

ø 0.02
F3

ø G2
Usable Depth: H2
D

for insertion of fixtures

F1
B ø 0.02
ø G3
Usable Depth: H3 F2
for insertion of
X fixtures
E1

E2

Connection dimensions for switch bracket (CKR 25-200)

M4 x 6 deep
10.3

E4
E3 43
160

Connection Plate
Size Part Number Dimensions (mm) Mass
Assembly A B C D E1 E2 E 3 E 4 F1 F2 F3 G1H7 G2H7 G3H7 H1 H2 H3 kg
CKR 12-90 0375-300-30 89 16 125 20 6.1 12.0 8.2 3.0 76 – 20 4 – 9 10 – 2.1 0.40
CKR 15-110 0375-400-30 109 16 155 20 6.1 12.0 8.2 3.0 92 76 42 5 4 9 10 10 2.1 0.56
CKR 20-145 0375-500-30 144 20 190 40 8.0 16.5 10.3 3.0 124 92 35 6 5 12 12 12 2.1 1.18
CKR 25-200 0375-600-30 198 25 335 50 10.2 20.3 12.2 5.5 119 124 41 8 6 20 16 16 3.1 4.55
 49

Centering Ring Centering Ring

The centering ring assists with Seal Part Dim. (mm)
positioning and serves as a sealing Number DH7 H1 H2+0.2

H1
H2
element for customer fixtures on the CKR 12-90 0396-604-41 9 4 2.1
connection plate. CKR 15-110 0396-604-41 9 4 2.1
CKR 20-145 0396-604-42 12 4 2.1
CKR 25-200 0396-604-43 20 6 2.1

ØD

T-Blocks
For attaching fixtures to the connection A
plate.
D

C
Springs B
Spring assist in positioning and
assembly.
M

T-Block and Spring

Compact for Dimension (mm) Part Number Part Number
Module Thread A B C D E T-Block Spring
CKR 12-90 M4 8447-014-01
6 11.5 4 1 12 8412 010 02
CKR 15-110 M5 8447-015-01
M4 8447-017-01
M5 8447-018-01
CKR 20-145 8 16 6 2 16 8412 011 02
M6 8447-019-01
M8 8447-020-01
M4 8447-012-01
M5 8447-011-01
CKR 25-200 10 19.5 10.5 5 20 8412 009 02
M6 8447-010-01
M8 8447-009-01

Tightening Torque of Fastening

Screws 8.8 M4 M5 M6 M8

At friction factor 0.125 Nm 2.7 5.5 9.5 23

Hardness class 8.8
50

Connection Elements
Overview
Connection elements are used for the simplified assembly of multi-axis units (X-Y-Axis, X-Z-Axis).
The connection system is designed to allow the connection of Compact Modules with the same size or the next smaller size.
Connection elements are sold as assemblies with all individual parts (cross-connection plate, clamps, screws, pins, and
connection brackets upon request) necessary to connect a two-axis system.

Connecting Compact Modules with a Cross-Connection Plate

Axis X-Y

Y-Axis

X-Axis

Y-Axis is fastened to the main body

(carriage travels in Y-Axis)
 51

Connecting Compact Modules with Cross-Connector Plates (X-Y-Axis)

Y-Axis is fastened to the main body (carriage travels in the Y-axis)

A = Width of Cross-Connector Plate

B = Length of Cross-Connector Plate
C = Height of Cross-Connector Plate

X-Axis
Version: Y-Axis
Compact Module Version:
with long carriage Compact Module with
long or short carriage.
Carriage travels.

Part Numbers for Cross-Connector Plate Assembly with Central Lubrication

(includes cross-connector plate, clamps, screws, pins; does NOT include centering rings)

Part numbers for Cross Connector Plate Assembly with Central Lubrication
X-Axis Y-Axis
Long carriage 1 or 2 carriages (CKK)/long or short carriage (CKR)
CKR 12–90 CKR 15–110 CKR 20–145 CKR 25–200
CKK 12–90 CKK 15–110 CKK 20–145 CKK 25–200
CKR 12–90 0391-201-15
CKR 15–110 0391-201-16 0391-201-17
CKR 20–145 0391-201-18 0391-201-19 0391-201-19
CKR 25–200 0391-201-20 0391-201-21 0391-201-21 0391-201-22

Part Number of Dimension (mm) Mass

Assembly A B C (kg)
R0391 201 15 89 125 16 0.49
R0391 201 16 109 155 16 0.65
R0391 201 17 109 155 16 0.68
R0391 201 18 144 190 20 1.35
R0391 201 19 144 190 20 1.45
R0391 201 20 198 335 25 3.94
R0391 201 21 198 335 25 4.82
R0391 201 22 198 335 25 5.24
52

Documentation
Standard Report The standard report serves as Inspection items included in the
Option 01 confirmation that the listed inspection standard report:
items have been checked and that the – Functional test of mechanical
measured values fall within the components
permitted tolerance range. – Functional test of electrical
components
– Unit matches order confirmation

Frictional Torque
Measurements for the
Complete System M (Nm)
Option 02 Forward Reverse
The frictional torque is measured along
3.2
the entire travel path.
2.4
1.6
0.8
0
0.8 t (ms)
1.6
2.4
3.2

M (Nm)
 53

Positioning Accuracy
Example
per VDI/DGQ 3441
Option 05

PS/2
Measurement points are selected at

Deviation (µm)
irregular intervals along the travel 30
path. These points allow the capture

U
of periodic positioning deviations.

PS/2
Each measurement point is 150
approached several times,
from both directions.
0
From this, the following values can

Pa
P
be calculated:

-150

400 800 1200 1600 2000 2400

Measurement path (mm)

Positioning Accuracy P The positioning accuracy is determined The positioning accuracy takes the
by the total deviation. It includes all following values into consideration:
systematic and random deviations – Postion deviation
in positioning. – Reversal range
– Variation range

Position Deviation Pa The position deviation is determined by

the maximum occurring difference
between the mean values of all
measurement points. It describes
systematic deviations.

Reversal Range U The reversal range is determined by the

difference in the mean values from both
directions of approach. The reversal
range is calculated at each
measurement point. It describes
systematic deviations.

Variation Range PS The variation range shows the effects

of random deviations. It is calculated
at each measurement point.
54

Ordering Example
Ordering Code Description
Compact Module (Part Number): R0364 300 00, 2250 mm Compact Module
CKR 12-90, length = 2250 mm
Version = MG01 With gear reducer per illustration MG01 (gear reducer on right)
Guideway = 01 Ball rail guide
Drive = 10 Drive end for use with gear reducer
Carriage = 02 Carriage with length LT = 156 mm
Motor Mount = 11 For motor MKD 25 B, i = 5
Motor = 50 Motor MKD 25 B
1st Switch = 22 HALL Sensor, PNP NC
2nd Switch = 21 REED Switch
3rd Switch = 22 HALL Sensor, PNP NC
Cable Duct = 10 Cable duct shipped uninstalled
Socket/Plug = 17 Socket/plug shipped uninstalled
Documentation = 02 Measurement report: Moment of friction
Please check to ensure that the selected combination is permitted (load capacity, torque, maximum RPMs, motor
data, etc.)!

Calculate the length L = (Stroke + 2 · excess travel) + LT + 25 mm The excess travel must be
Stroke = Maximum distance of the carriage greater than the braking
of the Compact distance. As a guideline for the
Module (all sizes): center to the outermost switch
braking distance, refer to the
activation points.
acceleration distance "s" in the
Stroke = 1500 mm
performance values tables.
LT = 156 Example CKR 12-90:
Horizontal operation with Motor
MKD 25 B,
i = 5, m = 4 kg: s = 82 mm
Excess travel > 82 (90 mm
assumed)
Example L = [(1500 + 2 · 90) + 156 + 25] mm
L = 1861 mm

Switch Installation A cable duct is required for switch installation.

Switch installation is permitted on only one side
of the Compact Module (left or right).
For further information on switch installation
and switch types, see "Switch Installation".
 55

Inquiry/Order Form
Bosch Rexroth Corporation Telephone 704/583-4338
14001 South Lakes Drive Fax 704/583-0523
Charlotte, NC 28273

Rexroth Compact Module

CKR

To be completed by customer: Inquiry / Order

Compact Module CKR _________________________________ Individual Parts:
(Part Number): ______-______-______, Length__________mm (Part Number): _______-_______-_______
Type = _______-_______-_______
Guideway =
_______-_______-_______
Drive =
_______-_______-_______
Carriage =
Motor Mount =
Motor =
1st Switch =
2nd Switch =
3rd Switch =
Cable Duct = , mm
Socket/Plug =
Documentation =

Quantity Order of:____ pcs., _____ per month, ______ per year, per order, or ____________________
Comments:

From:
Company: __________________________________ Name: ____________________________________
Address: __________________________________ Department: ____________________________________
__________________________________ Telephone: ____________________________________
__________________________________ Fax: ____________________________________
__________________________________ E-mail: ____________________________________
Bosch Rexroth Corporation
Linear Motion and
Assembly Technologies
14001 South Lakes Drive
Charlotte, NC 28273
Telephone (800) 438-5983
Facsimile (704) 583-0523
www.boschrexroth-us.com

Bosch Rexroth Corporation

Corporate Headquarters
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-6201

Bosch Rexroth Corporation

Industrial Hydraulics
2315 City Line Road
Bethlehem, PA 18017-2131
Telephone (610) 694-8300
Facsimile (610) 694-8467

Bosch Rexroth Corporation

Electric Drives and Controls
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-6201

Bosch Rexroth Corporation

Pneumatics
1953 Mercer Road
Lexington, KY 40511-1021
Telephone (859) 254-8031
Facsimile (859) 281-3491

Bosch Rexroth Corporation

Mobile Hydraulics
1700 Old Mansfield Road
Wooster, OH 44691-0394
Telephone (330) 263-3300
Facsimile (330) 263-3333

RA 82 XXX
Printed in the United States