Boschrexroth 74200EN 01-03
Boschrexroth 74200EN 01-03
Boschrexroth 74200EN 01-03
Pneumatics
Service Automation
Mobile Hydraulics
Precision in motion
Planetary and hypoid gearboxes from Rexroth have many innovative benefits for use in a broad variety of applications. Installed in environments from machine tools to printing machines, these robust, compact systems provide precision in motion.
The GTM in-line planetary gearbox has been designed for direct mounting to servo motors in high-precision applications. A wide range and modular construction make it possible to use the GTM in all factory automation applications. In the GTM in-line planetary gearbox, the servo motor is connected to the sun gear of the gearbox. This sun gear drives three planetary gears that rest in pinion cages. The planet gears revolve inside a ring gear, which is machined directly into the case of the gearbox, for unparalleled rigidity. The GTMR right-angle hypoid gearbox has been designed for highly-dynamic servo motors and allows for single-stage transmission ratios of up to 15:1. For ratios greater than 15:1, a primary, planetary stage is added without increasing the physical size of the gearbox.
Rexroth GTM and GTMR Benefits: Low noise: Cavities create noise, and our internal cavity is smaller. The Rexroth GTM and GTMR series are rated up to 10dB lower than our closest competition. Robust: Compared with other gearboxes of the same size, the Rexroth GTM and GTMR use the largest tapered roller bearings possible. This allows for both higher radial and axial loads and gives the bearings longer life. Low operating temperatures: The tapered roller bearings act as a pump, so that the minimum amount of oil can be used in vertical, horizontal or angled applications. This design allows the Rexroth GTM and GTMR to generate less friction and less heat. Safety and reliability: The cold-fusion process between the coupling and driving gear allows high emergencystop torque for maximum safety and reliability. The Rexroth GTM and GTMR specify 1,000 emergency stops before loss of accuracy, compared with one time for competitive gearboxes.
GTM and GTMR gearboxes can be fully integrated with Rexroths complete line of motors and drives.
Product overview
GTM Series In-Line Planetary Gearboxes Solid output shaft with or without keyway
Ratios from 3:1 to 100:1 Maximum input speeds up to 10,000 rpm Nominal output torque up to 3,000 Nm
GTMR-S Series Right-Angle, Solid-Shaft Hypoid Gearboxes Solid output shaft with or without keyway
Zero-backlash, metal-bellows input coupling can be fit to any servo motor Ratios from 3:1 to 100:1 (ratios 30:1 and higher use planetary gearing for the first stage and hypoid gearing for the second stage) Nominal output torque up to 1,440 Nm
GTMR-H Series Right-Angle, Hollow-Shaft Hypoid Gearboxes Hollow output shaft with high-quality shrink ring to ensure zero backlash
Zero-backlash, metal-bellows input coupling can be fit to any servo motor Ratios from 3:1 to 100:1 (ratios 30:1 and higher use planetary gearing for the first stage and hypoid gearing for the second stage) Nominal output torque up to 1,440 Nm
GTMR-D Series Right-Angle, Dual-Shaft Hypoid Gearboxes Dual coaxial output shafts
Zero-backlash, metal-bellows input coupling can be fit to any servo motor Ratios from 3:1 to 100:1 (ratios 30:1 and higher use planetary gearing for the first stage and hypoid gearing for the second stage) Nominal output torque up to 1,440 Nm
10
5 12 11 13
3 6 14
3.
4.
5.
8 9
More sliding action, higher torque throughput, but lower mechanical efficiency
Hypoid
Spiral Bevel
The placement of the input gear along the arc of the driven gear has a significant impact on load-carrying capabilities and mechanical efficiency.
GTM 075
N/A 85 100 85 60 N/A 280 330 280 200 N/A 170 200 170 110 N/A 5000 6300 8000 10000 N/A 3000 4000 5000 6000
<6 <3
GTM 100
120 170 200 170 120 400 560 660 560 400 220 340 400 340 220 4000 4000 5000 6300 8000 2300 2500 3000 4000 5000
<4 <2
GTM 140
280 420 500 420 280 840 1260 1500 1260 840 560 840 1000 840 560 3200 3200 4000 5000 6300 1800 2000 2500 3000 4000
<4 <2
GTM 180
720 1020 1200 1020 720 2160 3060 3600 3060 2160 1440 2040 2400 2040 1440 2500 2500 3200 4000 5000 1300 1500 2000 2500 3000
<4 <2
GTM 240
1800 2500 3000 2500 1800 5400 7500 9000 7500 5400 3000 5000 6000 5000 3600 2000 2000 2500 3000 3500 800 1000 1200 1500 2000
<4 <2
T2N (Nm)
3 4 5 7 10 3 4 5 7 10 3 4 5 7 10 3 4 5 7 10 3 4 5 7 10
1)
T2Not (Nm)
2)
T2B (Nm)
n1Max (rpm)
n1N (rpm)
(arcmin)
3.5
8.2
24
48
149
340
Moments of inertia
Max. axial force Max. radial force Lifetime Efficiency Weight Operating noise at (nan = 3000 rpm) Lubrication Surface protection Installation position Operating temperature Direction of rotation Type of protection
3)
m (kg) Lp (dB(A))
97 % 1.6
< 63
97 % 2.9
< 68
97 % 5.7
< 68
97 % 11.5
< 72
97 % 27
< 72
97 % 62
< 72
Lifetime lubrication, closed system Aluminum and galvanically-treated steel Any, always interchangeable - 10 C to + 90 C Same as input and output speed IP 65
1) Max. 1000 times in gearbox lifetime. 2) At a maximum of 1000 cycles per hour, otherwise refer to the correction factor on page 13. Percentage of the overall running time less than 5% and duration of the impulse under 0.3 sec. 3) Resultant force at center of output shaft at output speed of 300 rpm.
GTM 060
M5 60 20 16 5.5 68 6 14 6.5 129.5 28 20 7.7 15 30 3.5 62 2 62 22 3 5 18 4.5 5.5
GTM 075
M8 70 28 22 6.6 85 14 24 17 155.7 36 20 8 23 40 4.5 76 2 80 28 4 6 24.5 7.5 23
GTM 100
M12 90 40 32 9 120 19 32 40 193.1 58 30 10 30 50 5.5 101 2 106 50 4 10 35 8.5 79
GTM 140
M16 130 45 40 11 165 24 38 75 245.6 82 30 12.5 32 60 5.3 141 3 141 70 5 12 43 7.5 195
GTM 180
M20 160 60 55 13 215 32 48 120 290 82 30 22 45 82 8 182 3 182 70 5 16 59 9 390
GTM 240
M20 200 95 85 17 290 42 60 120 399.5 130 40 30 55 110 8 242 3 242 110 7.5 22 90 10 390
*FV = Pretensioning force **Dimensions depending on motor. ***TA = Tight torque for pully
B
B-B A-A
L7
L13
D2
D9
D1
D3
DR 90 L2
L12 B L3 L4
Centering DIN 332 (G) Optionally with key as per DIN 6885 sheet 1 C-C
L22 L6
L1 A
L15 L16
L14
C
D5
L17 A
D4
L11
D7
TA
max. D6
FV
D8
45
i
T2N (Nm) 16, 20, 35, 40, 70 25, 50 100 16, 20, 35, 40, 70 25, 50 100 16, 20, 35, 40, 70 25, 50 100 16 20, 25, 35 40, 50, 70, 100 16 20, 25, 35 40, 50, 70, 100
GTM 075
85 100 60 280 330 200 170 200 110 5000 6300 10000 3000 4000 6000
<8 <6
GTM 100
170 200 120 560 660 400 340 400 220 4000 5000 8000 2500 3000 5000
<6 <4
GTM 140
420 500 280 1260 1500 840 840 1000 560 3200 4000 6300 2000 2500 4000
<6 <4
GTM 180
1020 1200 720 3060 3600 2160 2040 2400 1440 2500 3200 5000 1500 2000 3000
<6 <4
1)
T2Not (Nm)
2)
T2B (Nm)
n1Max (rpm)
n1N (rpm)
(arcmin)
3.5
8.2
24
48
149
Moments of inertia
0.12 0.12 0.12 0.12 0.10 0.10 0.10 0.10 3200 2700
> 20000 > 94
0.47 0.47 0.47 0.47 0.47 0.47 0.46 0.46 4500 3700
> 20000 > 94
1.59 1.56 1.54 1.53 1.44 1.44 1.44 1.44 7000 6700
> 20000 > 94
5.35 5.29 5.25 5.21 4.96 4.96 4.94 4.94 10000 9200
> 20000 > 94
7.25 6.95 6.70 6.53 5.51 5.45 5.42 5.39 15000 14000
> 20000 > 94
Max. axial force Max. radial force Lifetime Efficiency Weight Operating noise at (nan = 3000 rpm) Lubrication Surface protection Installation position Operating temperature Direction of rotation Degree of protection
3)
[%]
m (kg) Lp [dB(A)]
2.2
< 63
3.8
< 68
7.5
< 68
15.0
< 72
35.0
< 72
Lifetime lubrication, closed system Aluminum and galvanically-treated steel Any, always interchangeable - 10 C to + 90 C Same as input IP 65
*Preliminary
1) Max. 1000 times in gearbox lifetime. 2) At a maximum of 1000 cycles per hour, with the dynamic factor K2. Page 13 to be taken into consideration in any other case. 3) Resultant force at center of output shaft at output speed of 300 rpm.
GTM 060
M5 60 20 16 5.5 68 6 14 153.0 28 20 7.7 15 30 3.5 62 2 62 22 3 5 18 4.5
GTM 075
M8 70 28 22 6.6 85 14 24 182.2 36 20 8 23 40 4.5 76 2 80 28 4 6 24.5 7.5
GTM 100
M12 90 40 32 9 120 19 32 236.0 58 30 10 30 50 5.5 101 2 106 50 4 10 35 8.5
GTM 140
M16 130 45 40 11 165 24 38 296.0 82 30 12.5 32 60 5.3 141 3 141 70 5 12 43 7.5
GTM 180
M20 160 60 55 13 215 24 38 335.2 82 30 22 45 82 8 182 3 182 70 5 16 59 9
Adaptations available for all common servomotors; dimensions are variable. Please request specific installation drawing.
B
B-B A-A
L7
L13
TA
FV
D8
D2 D1 D3 D7
DR 90
Centering DIN 332 (G) Optionally with key as per DIN 6885 sheet 1
L15 L16
L14
D9
L17 A
D4
L11
45
10
i
3, 4, 5, 6, 8, 10, 40, 50, 70 12,15 30 100 3, 4, 5, 6, 8, 10, 40, 50, 70 12,15 30 100 3, 4, 5, 6, 8, 10, 40, 50, 70 12, 15 30 100 3, 4, 5, 6, 8, 10, 12,15 30, 40, 50, 70, 100 3, 4, 5, 6, 8, 10, 12, 15 30, 40, 50, 70, 100 3, 4, 5, 6, 8, 10, 12, 15 30, 40, 50, 70, 100 3, 4, 5, 6, 8, 10, 12, 15 30, 40, 50, 70, 100 C1 (Nm/ arcmin) l1 (kg/cm2) 3 4 5 6 8 10 12 15 30, 40, 50, 70, 100
GTMR 090
35 25 35 35 70 50 70 70 53 38 53 53 8000 6000 6000 3000
<5 <7 <3 <4
GTMR 115
70 50 70 70 140 100 140 140 105 75 105 105 8000 6000 6000 3000
<5 <7 <3 <4
GTMR 140
140 95 140 140 280 190 280 280 210 143 210 210 7000 6000 5000 3200
<4 <6 <2 <3
GTMR 170
260 180 260 260 520 360 520 520 390 270 390 390 6000 6000 4000 3200
<4 <6 <2 <3
GTMR 215
720 510 540 550 1440 1020 1440 1440 1080 765 780 1000 5000 6000 3000 2800
<4 <6 <2 <3
GTMR 260
1440 1020 1200 1300 2880 2040 2880 2880 2160 1530 1680 2160 4500 4500 2500 2500
<4 <6 <2 <3
1)
T2Not (Nm)
2)
T2B (Nm)
n1Max (rpm)
n1N (rpm)
Backlash standard
(arcmin)
Backlash reduced
Torsional rigidity
3.5
17.5
39
103
210
Moments of inertia
0.43 0.31 0.24 0.22 0.18 0.16 0.15 0.14 0.16 1650 3300
1.10 0.77 0.63 0.56 0.47 0.43 0.41 0.39 0.18 2450 4900
2.50 1.80 1.40 1.30 1.10 1.00 0.93 0.89 0.41 3600 7200
6.70 4.70 3.80 3.40 2.80 2.50 2.40 2.30 0.49 5000 10000
24.0 16.0 13.0 11.0 8.60 7.50 6.90 6.30 0.97 7500 15000
72.0 48.0 37.0 28.0 24.0 20.0 18.0 16.0 3.78 11250 22500
> 30000
3, 4, 5, 6, 8, 10 12, 15 30, 40, 50, 70, 100 3, 4, 5, 6, 8, 10, 12, 15 30, 40, 50, 70, 100
> 96 > 93
Weight
m (kg)
Operating noise Lubrication Surface protection Installation position Operating temperature Direction of rotation Type of protection
L [dB(A)]
Lifetime lubrication, closed system Prime coat RAL 9005 - dull black any - 10 C to + 100 C Same as motor IP 64
1) Max. 1000 times in gearbox lifetime. 2) At a maximum of 1000 cycles per hour, with the correction factor to be taken into consideration in any other case. 3) Resultant force: center of output shaft at output speed of 400 rpm.
11
GTMR 090
60 90 71.5 80 13.5 20 23 M6 23/26/30 35
GTMR 115
80 115 79.5 90 8.5 22 25 M8 26/30/40 40
GTMR 140
100 140 93 110 8 26 29 M10 30/40/50 50
GTMR 170
120 170 107 130 8 29 33 M12 40/50/60 60
GTMR 215
146 215 127 175 10 32 37 M16 50/60/80 90
GTMR 260
196 260 159 220 10 34 40 M16 60/80/80 110
g s
f1
B p1
p1
p1
GTMR-SL connected to motor
p1 B
f2 n d2 12
p2 p2 k2 p2 p2 q m+0.5
w u
hs dw
h1 h0
dw
ds
*
*hollow shaft requires shrink ring
* d1
l1
Design HL
Design HR
Design SL
Design SR
Design SD
12
Determine cycle duration (s) Determine on-time (s) Determine duty cycle Determine of no. of cycles/hr Determine dynamic factor kl Select suitable ratio
Nos. of cycles
no
n1max n1 Max.
n1Max from catalog n1max = i * max. speed during load collective [rpm]
yes Determine peak output acceleration torque T2max Select larger gearbox size or different ratio Duration percentage of peak torque Emax [%] Determine frequency factor k2 Determine permissible peak output acceleration torque T2Bzul T2max = max. torque during load collective [Nm] Emax =
duration of max. torque T2max cycle duration
* 100 [%]
no
T2max T2Bzul
yes
T2not T2Not
no
yes Continuous duty yes Determine mean output speed n1m no Cyclic duty no
n1m n1N ED 60% EZ 20 min
n2m =
[rpm]
n2a * ta *T2a3 + n2b * tb * T2b3 +...+n2n* tn * T2n3 n2a* ta + n2b* tb +...+ n2n* tn
)[Nm]
no
T2m T2N
Fa = axial force on output shaft Fr = resultant radial force acting on center of output shaft
13
For the peak torques caused by short acceleration times with high cycle rates, the dynamic factor needs to be considered. For applications with fewer than 1,000 cycles per hour and for continuous duties, the dynamic factor k1 = 1.0.
Diagram 2: Frequency factor k2
1.0 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0.0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
There is a substantial influence of high output torques on the gearbox lifetime. The frequency factor takes into account the duration percentage of maximum acceleration torque of the total cycle. For continuous duties, the frequency factor k2 = 1.0.
Emax (%)
T2c
ta
tb EZ
tc
td
Start
Cycle duration
Stop
14
1. 1.1 1.2 2. 2.1 2.2 3. 3.1 3.2 3.3 3.4 3.5 3.6 4. 4.1 4.2 4.3 4.4 5. 5.1 6. 6.1 6.2 6.3 6.4 7.
Gearbox Model High-precision in-line planetary gear reducer = GTM High-precision right-angle hypoid gear reducer = GTMR Frame Size GTM Series . . . . . . . . . . . . . . . = 060, 075, 100, 140, 180, 240 GTMR Series . . . . . . . . . . . . . . = 090, 115, 140, 170, 215, 260 Output Shaft Direction/Orientation
For GTM Series:
Solid Shaft on Left preferred . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = SL Solid Shaft on Right . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = SR Solid Shaft on Left and Right (dual shaft) . . . . . . . . . . . . . . . . . . . . . . = SD Hollow Shaft on Left (shrink ring on right) preferred . . . . . . . . . . . . . . = HL Hollow Shaft on Right (shrink ring on left) . . . . . . . . . . . . . . . . . . . . . . = HR Number of Stages GTM Ratio: 3, 4, 5, 7, 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1 GTM Ratio: 20, 25, 35, 40, 50, 70, 100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 2 GTMR Ratio: 3, 4, 5, 6, 8, 10, 12, 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1 GTMR Ratio: 30, 40, 50, 70, 100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 2 Reduction Ratio Example 7:1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 007 Keyway/Backlash Options Shaft w/keyway; Standard Backlash (not available with GTMR-H) . . . . . . . . . . . . . . . . . . . = A Smooth shaft; Standard Backlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = B Shaft w/keyway; Reduced Backlash (not available with GTMR-H) . . . . . . . . . . . . . . . . . . . . = C Smooth shaft; Reduced Backlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = D Motor Designation (see chart below for Rexroth Motors) ***
025 2AD ADF ADP MAC MDD MHD MHP MKD MKE 02 02 02
037
041 03 03 03 03 03
047 14
063 04
065 04
071 05 05 05 05 05
090 06
093 06
098 06
100/ 104 09 08 09
112 09
115 09
131 15 15
132/ 134 11 11 11
06/07* 06/07* 06 06 06 16 16
09/08* 09/08* 09 09 09 19 19
* If liquid cooled. ** Limited to single-stage reduction. *** For third-party motors, please contact Bosch Rexroth.
15
World-class solutions
Rexroths drive and control solutions are based on its complete range of best-in-class products, its applications engineering expertise, and its comprehensive knowledge of machines and the environments in which they work. Each Rexroth product is backed with sales and service offices in more than 80 countries around the world. Bosch Rexroth Corporation is organized into six divisions: Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics
Electric Drives and Controls
To better address your unique challenges, our products are segmented into five industryspecific system solutions: Machine Tool Food & Packaging Printing & Converting General Automation Mounting/Handling/Car Body With our expertise in your industry, we are better able to partner with you to provide solutions that meet your demands for productivity, performance, and reliability. It all begins with an initial assessment involving the engineering, and even the physics of the application. Then, based on those objectives, and our experience in your markets, we design a solution that delivers the throughput, quality, precision, and performance required.
As a result of our solid heritage and our diverse technical portfolio, Rexroth has emerged as one of the worlds foremost providers of servo-based motion control systems. Our tradition of product excellence and our longstanding commitment to open systems allows us to offer total solutions for all of your drive and control needs. Our products have been successfully integrated into large and small machine control operations around the world.
Bosch Rexroth Corporation Electric Drives and Controls 5150 Prairie Stone Parkway Hoffman Estates, IL 60192-3707 Telephone (847) 645-3600 Facsimile (847) 645-6201 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 Linear Motion and Assembly Technologies 816 E. Third Street Buchanan, MI 49107 Telephone (616) 695-0151 Facsimile (616) 695-5363 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
74200 EN 01/03