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LX-Series Iron Core Linear Servo Motors User Manual

1. RAT PEU GS Index Rockwell Automation Publication LX UM001A EN P March 2011 About This Publication Who Should Use This Manual Additional Resources Preface This manual provides detailed installation instructions for mounting wiring and maintaining your LX Series iron core linear servo motors This manual is intended for engineers or technicians directly involved in the installation wiring and maintenance of LX Series iron core linear motors If you do not have a basic understanding of linear motors contact your local Rockwell Automation sales representative for information on available training courses before using this product These documents contain additional information concerning related Rockwell Automation products Resource LX Series Iron Core Linear Servo Motor Product Profile publication LX PP001 Description Product highlights and catalog number ordering key for LX Series linear motors LX Series Iron Core Linear Servo Motor Technical Data publication LX TD001 Specification and outline drawings for LX Series linear motors Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UM001 How to install set up and troubleshoot a Kinetix 2000 drive Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 How to install set up and troubleshoot a Kinetix 6000 drive Ultra3000 Digital Servo Drives Installation Manual publication
2. ou Rating 0 Not UL Recognized U UL Recognized Cable Termination 0 Flying Leads 1 Speedtec Circular Din type Connector with Round Encoder Connector Cable Length 12600 mm 2 1000 mm Thermal Protection S Thermal Switch T Positive Temperature Coefficient PTC Thermal Sensor Feedback N No Feedback H Hall Effect trapezoidal Reserved For Future Option 0 None Winding Code D D Winding E E Winding F F Winding G G Winding Coil Length 100 134 0 mm 5 28 in 400 434 0 mm 17 09 in 200 234 0 mm 9 21 in 600 634 0 mm 25 31 in 300 334 0 mm 13 15 in 800 834 0 mm 32 84 in Frame Size 030 075 150 050 100 200 LDC x xxx xxx Bulletin Number LX Magnet Track Length 100 100 mm 4 15 in 500 500 mm 19 7 in Frame Size 030 075 150 050 100 200 Magnet Plate Designation M Magnet Plate Bulletin Number LDC xxx xxx CP LDC Cooling Plate Coil Length 100 134 0 mm 5 28 in 400 434 0 mm 17 09 in 200 234 0 mm 9 21 600 634 0 mm 25 31 in 300 334 0 mm 13 15 in 800 834 0 mm 32 84 in Frame Size 030 075 150 050 100 200 Bulletin Number LDC 14 Rockwell Automation Publication LX UM001A EN P March 2011 Linear Motor Components Component Number 1 Start Chapter2 Use the diagrams and descriptions to identify the unique compo
3. Coil 4 la Coil 2 Amplifier mm in Master Slave Phase 133 33 5 249 Red Red U White White V Black Black W 1 Master has Hall effect module 2 Slave has no Hall effect module 40 Rockwell Automation Publication LX UM001A EN P March 2011 Wire the LX Series Linear Motor Chapter 5 Cables Exit in the Center If mounting coils in tandem such that the power cables exit in the center as shown use the following table to find the mounting distance and the phase wiring Figure 4 Mounting Two Coils with Cables Exit in the Center M sl Coil 1 is the master bus Coil 1 Hall Effect Coil 2 Module Table 7 Phase Wiring for Center exit Power Cables L Coil 1 Coil Amplifier mm in Master Slave Phase 133 33 5 249 Red Black U White White V Black Red 1 Master has Hall effect module 2 Slave has no Hall effect module Rockwell Automation Publication LX UM001A EN P March 2011 y Chapter 5 42 Wire the LX Series Linear Motor Cables Exit on Opposite Ends If mounting coils in tandem such that the power cables exit opposite to each other as shown use the following table to find the mounting distance and the phase wiring Figure 5 Mounting Two Coils with Cables Exit on Opposite Ends L el Coil
4. Mechanical stops 2 Carriage heat sink 3 Encoder readhead 4 Encoder strip Linear Encoder Your linear motor components need to be integrated with a linear encoder purchased from a third party Carriage Heat Sink The linear motor coil requires a heat sink to maintain performance The heat sink requires a minimal mass and surface area as shown in LX Series Iron Core Linear Servo Motor Technical Data publication LX TD001 It can also serve as the carriage in a moving coil system or be designed into the base in a moving magnet system Rockwell Automation Publication LX UM001A EN P March 2011 17 Chapter2 Star Maintenance Motor Storage 18 Linear motors require no maintenance when operated in relatively clean environments For operation in harsh and dirty environments we recommend cleaning every 6 months Clean the metallic debris and other contaminants from the air gap Use a strip of masking tape to remove the metal debris Apply a strip of tape on the magnet track and then remove it Keeping the magnet track clean will prevent witness marks Witness marks are caused by metal debris being dragged across the surface of the stainless steel by the magnet field of the moving coil Witness marks have no effect on the performance of the motor The motor storage area should be clean dry vibration free and have a relatively constant temperature If a motor is stored on equipment it should be protected from t
5. 9 Configure your Ultra3000 drive Integral Limits Rockwell Automation Publication LX UM001A EN P March 2011 51 Chapter6 Configure and Start Up the LX Series Linear Motor 10 11 12 13 14 15 From the Workspace dialog box select Motor Click Motor Model Choose the model you created from the pull down menu If using an incremental encoder you are finished For Sin Cos encoders continue with steps 12 and 13 From the Workspace dialog box select Encoders Click Motor Encoder Interpolation Select a value from the pull down menu i File Edit View Insert Program Tools Commands Window Help Denar t amp amp xi On Line Drives Parameter Value Units Offline Unsaved Motor Encoder Interpolation x256 x i Drive E Motor Encoder Output Ba Mode Configuration Output Signal Buffered Motor Divider 4 50 Maximum Output Fregaeney 500 kHz Tuning Marker Output Gating Not Gated Encoders E Auxiliary Encoder Digital Inputs Encoder Ratio Load Motor 1 1 9 Digital Outputs Type Linear EZ Analog Outputs Lines Meter 10000 This table shows the encoder resolutions that could be achieved when using a 20 um Sin Cos encoder and different interpolation values Value Encoder Resolution X4 5 um X8 2 5 um X16 1 25 um X32 0 625 um X64 0 3125 um X128 0 15625 um X256 0 07812
6. Index Notes Rockwell Automation Publication LX UMO001A EN P March 2011 75 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Use the Worldwide Locator at http www rockwellautomation com support americas phone en html or contact Canada your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not function
7. Table 1 Safety Labels Title Location Label Details Magnetic Field The Magnetic Fields label identifies non ionizing radiation Danger MAGNETIC FELDS found in the magnet tracks Magnet tracks are constructed i with strong magnets Strong magnets can disrupt the functionality of automatic implantable cardioverter defibrillators AICD people with a pacemaker should not work near the magnet tracks Maintenance personnel working near the magnet tracks should avoid the use of metallic tools and secure items such as a badge clip and other personal effects that could be attracted by the strong magnets Strong magnets can erase magnetic media Never let credit cards or electronic media contact or come near the magnet tracks Rockwell Automation Publication LX UM001A EN P March 2011 7 Chapter 1 Safety Considerations Table 2 Identification Labels Title Location Label Details Coil Nameplate B This nameplate shows the coil catalog number serial A number operating voltage and frequency Anorad Magnet Track C ccs This nameplate shows the magnet track catalog number Nameplate ex serial number operating voltage and frequency RoHS Compliant D RoHS COMPLIANT Directive 2002 95 EC LX Series linear motor components are RoHS compliant Label Locations for LX Series Linear Motor Rockwell Automation Publication LX UM001A EN P March 2011 High En
8. Black or Red lt On Switch or ae Rie Sensor il f Power Red 2 Note 3 s S1 White E E USC s2 Blue po pe EI E ME S3 Orange e TE Ro Black 11 HL DS com lt 42 4 MN Hall Effect 13 T NN Module oe ee Bee Motor Feedback AM otor Feedbac po W lt CN2 Connector 2 H LIES lt 3i o O PN lt D qHH Li BM 148 5 0 SEN IM lt z ill JIM ENE V XX lt 8 ai ll iL Power mu I4H e e Wire as shown here using TTL Encoder Refer to low profile connector cable type appropriate for illustration lower left for proper your application grounding techniques Ground techniques for feedback cable shield Exposed shield secured under clamp 2090 UXBB DM15 Motor Feed Breakout Board 66 Rockwell Automation Publication LX UM001A EN P March 2011 Interconnect Diagrams Appendix A Figure 20 Wiring Example for Ultra3000 Drive and LXxxxxxxxxHxx0x Linear Motor with a Sin Cos Encoder grounding techniques Ground techniques for feedback cable shield Exposed shield secured under clamp 2090 UXBB DM15
9. Limits Offset Fault Actions Ta General Motion Planner Units Drive Moto Motor Feedback Aux Feedback Conversio Feedback Type Sin Cos bd Cycles Interpolation Factor Sin Cos with Hall TTL with Hall SKS Feedback Resolution Ik Counts per Millimeter Rockwell Automation Publication LX UM001A EN P March 2011 Configure and Start Up the LX Series Linear Motor Chapter 6 Figure 9 RSLogix 5000 Software Version 17 00 and Later TTL Encoder Homing Hookup l Tune Dynamics Bains Output Limits Offset Fault Actions T General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversi Feedback Type Sin Cos with Hall z Sin Cos with Hall TTL with Hall 1024 Cycles Interpolation Factor Feedback Resolution p 200 Feedback Counts per Millimeter Figure 10 RSLogix 5000 Software Version 17 00 and Later Sin Cos Encoder Homing Hookup l Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Moto Motor Feedback Aux Feedback Conversion Feedback Type Sin Cos with Hall z none Sin Cos with Hall TTL with Hall 1024 Cycles Interpolation Factor Feedback Resolution p 200 Feedback Counts per Millimeter 7 Click OK to sets the values 8 Click the Units tab 9 Using the screen image as a reference configure the parameters as shown in the Setting co
10. Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Feedback Type gt Cycles C 0 per Milimeter gt Interpolation D gt Feedback Resolution 51200 Feedback Counts per Millimeter Cancel 70 Rockwell Automation Publication LX UM001A EN P March 2011 Sin Cos Linear Encoder and Kinetix 6000 Drives Appendix B 2 From the Drive Motor tab enter these parameters values Parameter Value Comment 25600 For 40 um pitch encoder scale Driver Resolution 51200 For 20 um pitch encoder scale Drive Counts per Motor millimeter se Axis Properties motor Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Amplifier Catalog Number 2094 ACO5 MO1 Motor Catalog Number LCO50200D0TTRL Change Catalog Loop Configuration Position Serva E SE FT sy Drive Resolution Em ie Counts per Motor Millimeter 2 Calculate Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Information Attribute 1 Position Feedback Attribute 2 Motor Electrical Angle 3 From the Conversion tab enter these parameters values Parameter Comment 25600 For 40 pitch encoder scale Driver Resolution 51200 For 20 um pitch encoder scale e Axis Properties motor
11. Configure and Start Up the LX Series Linear Motor Set Up the Connection to a This diei Pi Kinetix ia ae 6200 or Kin etix 6000 Kin etix 6500 Kinetix 2000 drive for vour linear motor and encoder combination 6200 or Kinetix 2000 Drive For help in setting up vour linear motor with RSLogix 5000 software refer to Additional Resources on page 5 This procedure assumes vou are familiar with RSLogix 5000 software 1 Click the Driver Motor tab 2 Click Change Catalog and select the appropriate motor catalog number from the following list Your catalog number will have a letter append to the end to indicate what drive you are using to power it 230V drive and B 460V drive Cat No Cat No Cat No Cat No Cat No Cat No 1X0301000HboooA B LXOSO100DFbooA B LXO75100DHboooA B LXIOD100DHoooA B 1 1501000 LX200100DHXxXA B LX030100FHXxxxA B LX0501 00FHxxxxA B LX0751 00FHxxxxA B LX100100FHxxxxA B LX150100FHxxxxA B LX2001 00FHxxxxA B LX030200DHxxxxA B LX050200DHxxxxA B LX075200DHxxxxA B LX100200DHxxxxA B LX150200DHxxxxA B LX200200DHxxxxA B LX030200EH xxxxA B LX050200EHxxxxA B LX075200EHxxxxA B LX100200EHxxxxA B LX150200EHxxxxA B LX200200EHxxxxA B LX030200FHxxxxA B LX050200FHxxxxv LX075200FHxxxxA B LX100200FHxxxxA B LX150200FHxxxxA B LX200200FHxxxxA B LX030200GHxxxxA B LX050200GH xxxxv LX075200
12. 1 is the master Hall Effect Module O o o O o o OO w Coil 2 1 Table 8 Phase Wiring for Opposite End exit Power Cables L Coil 1 Coil Amplifier mm in Master Slave Phase Red Red U 100 00 3 94 White Black V Black White W Red Black U 133 33 5 249 White White V Black Red W 1 Master has Hall effect module 2 Slave has no Hall effect module Rockwell Automation Publication LX UM001A EN P March 2011 Chapter 6 Configure and Start Up the LX Series Linear Motor Introduction This section covers the set up and connection verification of a linear motor with either Kinetix 6000 Kinetix 6500 6200 Kinetix 2000 or Ultra3000 drives Topic Pages Before You Begin 43 What You Need 44 Required Files 44 Follow These Steps 45 Update the Linear Motor Database 45 Set Up the Connection to a Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 Drive 46 Set Up the Connection to an Ultra3000 Drive 51 Verify Motor Encoder Direction 53 Verify Motor Encoder Resolution 54 Verify Linear Motor Wiring and Function 54 Before You Begin This chapter assumes you have wired your linear motor and Allen Bradley drive as shown in wiring diagrams in Appendix A starting on page 59 IMPORTANT It is important that the brushless linear motor coil Hall sensor and
13. 12 XX S1 c i Yellow S2 16 WHT Yell Yellow S3 lt lt 17 4 Motor Feedback 5 WHT Gray cn CN2 Connector c 3 10 White Green IM c 6 E Green XX IM ke 5 Fi WHT Red SIN lt 4 a Red XX SIN le 3 WHT Black COS x D 2 Black lt ac XX cos ke 2090 XXNFMF Sxx or 2900 CFBM4DF CDAFKx Feedback Cable Refer to low profile connector Note 2 illustration lower left for proper grounding and shield termination COS be 1 techniques COS 4 ji SNE ISS 2 K lt sM e pres IM 3 gt W N 45V DC 8 ECOM lt 7 Sin Cos Encoder Ground techniques for feedback cable shield Exposed shield secured under clamp 2090 UXBB DM15 Motor Feed Breakout Board Rockwell Automation Publication LX UM001A EN P March 2011 65 Appendix A Interconnect Diagrams Figure 19 Wiring Example for Ultra3000 Driveand LXxxxxxxxxHxx0x Linear Motor with a TTL Encoder Ultra3000 Drive LX Series Linear Motor Coil Cable Shield Clamp Note 1 A Green Yellow lt Motor Power w W lt lt Ww A Three phase TB1 Connector v HH T pale Motor Power Red U NE lt AO TS Black or Red Thermal i TS
14. 2000 Kinetix 650 6200 or Kinetix 6000 LX Series Linear Motor Coil IAM inverter or 1A Brown AM Module lt ree phase Motor Power 3 Blue gt C Motor Power MP Connector Green Yellow lt 2090 CPWMADF xxAFxx l SNE Cable Shield IED 2090 XXNPMF xxSxx Clamp Y Motor Power Cable Note 1 Note 2 WHT Orange TS 2 1 Thermal Blue TS 14 7 Switch or N C N C lt WHT Blue 15 Sensor Yellow 16 WHT Yellow 17 Motor Feedback lt lt MF Connector WHT Gray 0 IAM AM Module Gray XX DE po 9 White Green IM 6 Green XX IM lt 5 WHT Red SIN lt 4 Red XX SINE 3 WHT Black COS ze 2 Black X COS 1 2090 5 2900 CFBMADF CDAFxx Feedback Cable Refer to low profile connector Note 2 illustration lower left for proper COS grounding and shield termination gt gt lt 1 COS 4 techniques gt K lt SIN 2 55 XX SIN 3 IM 5VDC L 8 ECOM k lt 7 Low Profile Connector Sin Cos Encoder Ground techniques for feedback cable shield Exposed shield secured 18 under clamp EN Clamp screw 2 73 Turn clamp over to hold small cables secure Note 4 Rockwell Automation Publication LX UM001A EN P March 2011 61 Appendix A Interconn
15. Click Test Feedback Move the axis by hand at least 60 mm 2 36 in when prompted When using Allen Bradley servo drives match the counting direction of your position feedback encoder to the direction the motor moves when a positive current is applied 7 Click Test Command amp Feedback Follow the on screen instructions IMPORTANT Be sure all the tests on the Hookup tab have passed before proceeding IMPORTANT When using a Kinetix 6000 or a Kinetix 2000 drive the Test Command Feedback test may pass even though the Hall effect module is not wired correctly Rockwell Automation Publication LX UM001A EN P March 2011 55 Chapter6 Configure and Start Up the LX Series Linear Motor 8 Click the Tune tab WARNING Large Position Error Tolerances such as those A calculated by the Auto Tune function in the RSLogix 5000 programming software or when configuring a new axis with the RSLogix 5000 software can lead to undetected and repetitive high energy impacts against axis end stops if proper precautions are not in place These tolerances can also lead to undetected and repetitive high energy impacts against unexpected obstructions Such impacts can lead to equipment damage and or serious injury To identify the safety concerns that you have with default Position Error Tolerance or after an Auto Tune Function go to the Rockwell Automation Knowlegebase Click Find Technical Support Answers and search for Answer ID 5
16. Data Introduction This chapter provides power thermistor and Hall effect cable connector information for the linear motor coil and Hall effect module Topic Page Linear Motor Coil Connectors 30 Hall Effect Module Connectors 31 Rockwell Automation Publication LX UM001A EN P March 2011 29 Chapter4 LX Series Linear Motor Connector Data Linear Motor Coil Connectors 30 There are two connectors on the linear motor coil catalog number LXxxxxxxxNxxxx the power connector and the thermal protection connector Power Connector The following tables identifies the power signals for the DIN style circular connector Pin Color Signal A Red U A Phase B White V B Phase C Black W C Phase D Green Yellow Ground Cable Shield Intercontec P N BKUAO90NN00420220000 Case Shield and GND Mating Connector Kit Allen Bradley 2090 KPBM4 12AA ATTENTION Properly ground the coil as described in this manual and the drive manual Thermal Protection Connector These are the feedback connector pinouts for the LX Series linear motor catalog number LXxxxxxxxxxSxxx Pin Description Signal 4 1 Thermal Switch TS 3 Thermal Switch TS l 4 Reserved These are the feedback connector pinouts for the LX Series linear motor catalog number LXxxxxxxxxx Dxxx Pin Description Signal 4 1 PTC thermistor TS 3 PTC thermistor TS C 4 Reserved Rockwell
17. ERE MI Making Your Own Extension Cables eere rre t Mounting and Wiring Two Identical Coils in Tandem Cables Exit to the Biphit i oe rin ika ee e Ere Cables Exit in the Cables Exit on Opposite Chapter 6 IntrOdUC OR orta Before You Begin ina a tele pv tal d Ro ted Motor Direction DeBip amp d cocci odes sat A a What You Deed on Ste telas du edd eroe NUES Required Piles 2252 pad tur abi ksib da ee RIS re nbi es Follow These Steps ec nt oo er Rare esaet Leute ebd pe Update Linear Motor Database rax ede see Set Up the Connection to Kinetix 6000 Kinetix 6500 6200 or ias uo tetto eod Ak oe Eee hs Set Up the Connection to an Ultra3000 Verify Motor Encoder Direction erm eee edt Verify Motor Encoder Resolution Verify Linear Motor Wiring and Additional Adjustments for Cooling Plate Option Appendix A Introductions ieri LEE ad cee eoe eem e usu ved ec ee Wiring Examples e A ER cr M EIAS Appendix B Introduction tiic oca delta Kinetix 6000 Drive Feedback Connection eee Encoder Counting RETE R MEE Set Up the Axis Properties ux coss creased ter
18. Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Taa General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Positioning Mode Conversion Constani D SIS Coama LO m Vased on 51200 Counts Motor Millimeter Cancel Rockwell Automation Publication LX UM001A EN P March 2011 71 AppendixB Sin Cos Linear Encoder and Kinetix 6000 Drives Notes 72 Rockwell Automation Publication LX UM001A EN P March 2011 A air gap 16 alignment tool 20 aluminum straight edge 20 automatic implantable cardioverter defibrillator AICD 7 bumper 10 17 burn hazard 10 C carriage 17 coil 15 coil power connector 30 commission Kinetix 2000 drive 46 Kinetix 6000 drive 46 Ultra3000 drive 51 connector 30 encoder 15 33 feedback 15 31 power 15 30 PTC thermistor 15 30 33 D description motor 15 design consideration air gap 16 bumper 17 carriage design heat sink 17 end of travel bumper 10 linear encoder 17 direction 53 E encoder resolution 54 encoder connector 33 encoder sin cos 69 end of travel bumpers 10 impact 10 end stop 17 F feedback connector 31 firmware revision 44 flying leads 35 Rockwell Automation Publication LX UM001A EN P Index H Hall effect module 15 heat sink 17 max temperature 10 installation 19 firmware 44 software 44 interconnect diagrams wiring example notes 59 L lab
19. Motor 8 On the opposite end of the base install the first magnet track using MS x 0 8 x 16 mm Socket Head Captive Screw SHCS Do not tighten screws IMPORTANT Use non magnetic tools and hardware such as beryllium copper 300 series stainless steel If not available proceed with care since ferrous items will be attracted to the magnet tracks 9 Install additional magnet tracks Place each magnet track on the base and slide towards the previously install magnet track For correct magnetic polarity the alignment holes should all be on the same side Alignment Holes 22 Rockwell Automation Publication LX UM001A EN P March 2011 Install the LX Series Linear Motor Chapter 3 10 Move the carriage with motor coil installed over the installed magnet tracks There may be some resistance while moving onto the tracks this is normal 11 Measure the gap between the motor coil and magnet track using plastic shim stock The gap should be 0 79 mm 0 031 in to 1 70 mm 0 067 in If gap is too large add a brass or a stainless steel shim between the motor coil and carriage If the gap is too small machine the slide or place shims under the bearing pucks 13 Slightly loosen the mounting screws on the exposed magnet tracks Do not loosen the magnet tracks that are covered by the motor coil Rockwell Automation Publication LX UM001A EN P March 2011 23 Chapter3 Install the LX Series Linear Motor 14
20. Motor Feed Breakout Board Rockwell Automation Publication LX UM001A EN P March 2011 Ultra3000 Drive LX Series Linear Motor Coil Cable Shield Clamp Note1 NEN Green Yellow lt Motor Power will re W plack LE w d Three phase TB1 Connector v ll 1E V White V GND Motor Power U U DOREM ERA U Red U TS Black i lt lt ie IS Black lt lt Thermal i O Switch 4 Power Red Z Je S1 White 22 m ME 1 S2 Blue Lou S3 Orange lt lt ii M ro 6 COM Black lt lt 12 a Hall Effect 13 71 5 i i Module lt _ pum Motor Feedback 1 E 05 KE CN2 Connector 2 cos XX Leg 3 SIN o 1 SIN XX gt 5 IM i 1 8 14 POWER a Wire as shown here using Sin Cos Encoder Refer to low profile connector cable type appropriate for illustration lower left for proper your application 67 Appendix A Interconnect Diagrams Notes 68 Rockwell Automation Publication LX UM001A EN P March 2011 Appendix B Sin Cos Linear Encoder and Kinetix 6000 Drives Introduction This appendix guides you through commissioning a linear motor with a Sin Cos 1V peak to peak output linear encoder Topic Page Kinetix 6000 Drive Feedback Connection 69 Encoder Counting Direction 70 Set Up the Axis Properties 70 Kinetix 6000 Drive For robust operation when interfacing your Sin Cos 1V peak to peak differential Fe e db a ck C onne cti on output linear encoder to a Kinetix
21. S EIN 1 1 4 1 POWER Leg cA P 6 Wire as shown here using Sin Cos Encoder FTE Refer to low profile connector cable type appropriate for Note 4 illustration lower left for proper your application grounding techniques Low Profile Connector Ground techniques for feedback cable shield Use 2090 K6CK D15M connector for Kinetix 6000 drives and 2090 K2CK D15M connector for Kinetix 2000 drives Clamp Exposed shield secured under clamp Clamp screw 2 Turn clamp over to hold small cables secure Rockwell Automation Publication LX UM001A EN P March 2011 63 Appendix A Interconnect Diagrams Ultra3000 Drive Motor Power TB1 Connector Cable Shield Clamp Note 1 Figure 17 Wiring Example for Ultra3000 Driveand LXxxxxxxxxHxxix Linear Motor LX Series Linear Motor Coil Three phase Motor Power Motor Feedback CN2 Connector Refer to low profile connector illustration lower left for proper grounding and shield termination techniques Ground techniques for feedback cable shield Exposed shield secured under clamp with a TTL Encoder Motor Power Cable Note 2 Brown Black lt Blue C Green Yellow B 2090 CPWMADF xxAFxx 2090 XXNPMF xxSxx WHT Orange TS c 18 Blue TS 14 N C
22. magnet tracks awaiting installation Keep the protective cardboard and the metal plate in place until the installation is complete ATTENTION Never attempt to place the coil assembly directly on A the magnet plates Strong magnetic attraction will cause uncontrolled movement causing a pinch hazard and possible damage to the components 1 Clear the magnet track mounting surface of foreign material If necessary stone the mounting surface acetone or methanol may be applied as cleaning agent IMPORTANT Do not use abrasives to clean the surface 2 Verify the flatness of the surface to which the magnet track is to be mounted Total Indicator Reading TIR is 0 127 mm 005 in per 300 mm 12 0 in TIR or runout correlates to the overall flatness requirement of the surface 20 Rockwell Automation Publication LX UM001A EN P March 2011 Install the LX Series Linear Motor Chapter 3 3 Verify the dimension of the opening for the magnet track coil and cooling plate if used Remove all burrs and clean the motor coil mounting surface 5 Position the carriage toward the end of travel where you want the cable to exit 6 Install the motor under the carriage using M5 x 0 8 bolts that extend through the slide by at least 12 mm 0 5 in but no more then 20 mm 0 7 in 7 Tighten the screws but do not torque Rockwell Automation Publication LX UM001A EN P March 2011 21 Chapter3 Install the LX Series Linear
23. safely and successfully Motor Air Gap Maintaining the air gap is critical to proper installation and operation of the linear motor components Use the coil and magnet drawings in the LX Series Iron Core Linear Servo Motor Technical Data publication LX TD001 and the cooling plate drawings in the Kinetix Motion Control Selection Guide publication GMC SG001 to calculate the installation envelope dimension Size the carriage bearings and base plate to withstand the force of attraction between the coil and magnet track By maintaining the installation envelope dimension in your design the vertical air gap requirement will be met The following diagram shows the critical dimensions Overall dimension with cooling plate 3 EN i Overall dimension without cooling plate K 1 Dm dl Item Description 1 Magnet track 2 Coil 3 Optional cooling plate assembly Rockwell Automation Publication LX UM001A EN P March 2011 Start Chapter2 Bumpers Shock Absorbers or End Stops Include in your design a mechanical stop at each end of travel Design the stops so they can prevent the moving mass from leaving its travel limits Take into consideration the maximum speed and inertia of your moving mass when designing your mechanical stops The following diagram shows a minimal system with mechanical stops Figure 2 Mechanical Stops Item Description
24. suspected damage should be immediately documented Claims for damage due to shipment are usually made against the transportation company Contact Rockwell Automation for further advice Compare the purchase order with the packing slip e Check the quantity of magnet tracks received matches your job requirements Identifv the options that came with your linear motor Inspect the assemblies and confirm the presence of specified options Rockwell Automation Publication LX UM001A EN P March 2011 19 Chapter3 Install the LX Series Linear Motor Installing Linear Motor Use one of the following procedures to install the magnet track or tracks and the Components motor coil Required Tools Aluminum straight edge Non magnetic M or M5 hex wrench Magnet channel alignment tool IMPORTANT The alignment tool is shipped attached to the cables next to the Hall effect module Remove before operating the linear motor TIP Use non magnetic tools and hardware made of beryllium copper 300 series stainless steel If these tools are not available proceed carefully as the magnet track attracts magnetic and ferrous items Mount a Single Coil with Multiple Magnet Tracks Follow these steps to install a single coil with multiple magnet tracks ATTENTION To avoid damage due to the magnetic attraction N between the magnet tracks maintain a minimum distance of 1 5 m b ft between the magnet tracks that are being installed and the
25. the linear encoder be wired correctly for proper drive commutation and servo operation to get positive motion when commutated Please read and understand Motor Direction Defined Motor Direction Defined Positive motion is dependent on encoder orientation encoder wiring and coil or magnet track motion Most linear encoders are attached to the motor coil with the encoder cable facing the same direction as the motor coil cable Wire the linear encoder such that the position feedback is positive phase A leads phase when the motor is moving in the positive direction Rockwell Automation Publication LX UMO001A EN P March 2011 43 Chapter6 Configure and Start Up the LX Series Linear Motor When the motor power and Hall sensor wiring is connected as shown in the wiring diagrams in Appendix A the positive direction of motion is defined as the motor coil moving toward its power cable This diagram shows positive motion for both a moving coil and a moving magnet track Figure 6 Motor Direction Coil Motion vA Stationary Magnet Stationary Coil Magnet Motion Wh at You Need You need a computer with RSLogix 5000 software installed and current files to support your motor Required Files Firmware revisions and software versions required to support the linear motors include the following e RSLogix 5000 software version 16 00 or later e Kinetix 2000 Kinetix 6000 Kinetix 6200 6500 multi axis drives o
26. the linear motor coil power and thermal protection cables catalog number LXxxxxxxxxxIx0x Table 5 Thermal Switch Signals Description Thermal switch Blue Thermal switch TS Hall Effect Module This table shows the signal and wire colors for the Hall effect module with flying leads Rockwell Automation catalog number LDC HALL F for LXxxxxxxF Gxxxx motor coils and Anorad part number B91781 D for LXxxxxxxD Exxxx motor coils Color Signal Signal Spec Red 5 2AVDCHallsupplv 20mA Black VRTN Hall effect signal common White S1 Blue S2 Orange S3 Silver braid Cable shield erminste at drive end per drive Rockwell Automation Publication LX UM001A EN P March 2011 Wire the LX Series Linear Motor Chapter 5 Making Your Own E lead o T P ds modules is una DIN style to Extension Cables interface wit en Bradley extension cables The following connectors kits are available for terminating flying lead coils and Hall effect modules Connector Kit Cat No 2090 KFBM7 CAAA Application Feedback flex extension cable 2090 KPBMA 12AA Power flex extension cable 2090 KFBE7 CAAA Feedback non flex extension cable 2090 KPBE7 12AA Power non flex extension cable The cable length from the coil to drive should be limited to 10 m 32 8 ft If longer cables are necessary a 1321 3Rx x series line reactor is required Refer to the 1321 Power Conditioning Products
27. 0EH xxxxA B LXO50800EHxxxxA B LX075800EHxxxxA B LX100800EHxxxxA B LX150800EHxxxxA B LX200800EHxxxxA B LX030800FHxxxxA B LXO50800FHxxxxA B LX075800FHxxxxA B LX100800FHxxxxA B LX150800FHxxxxA B LX200800FHxxxxA B B00GHxxxxA B LX200800GHxxxxA B LX030800GHxxxxA B LX050800GH xxxxA B LX075800GHxxxxA B LX100800GHxxxxA LX150 46 Rockwell Automation Publication LX UM001A EN P March 2011 Configure and Start Up the LX Series Linear Motor Chapter 6 3 Using the screen image as a reference configure the parameters as shown in the Setting column Parameter Setting Comment Loop Configuration Position Servo 200 5 encoder 500 2 um encoder 1000 1 um encoder Drive Resolution 2000 0 5 um encoder 10 000 0 1 um encoder 51200 20 um pitch Sin Cos encoder 25600 40 um pitch Sin Cos encoder Drive Counts per Motor Millimeter Real Time Axis Information Attribute 1 Position Feedback 5e Axis Properties motor Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Amplifier Catalog Number 2094 ACO5 MOT Motor Catalog Number LCO50200DOTTRL Change Catalog Loop Configuration Position Servo Drive Resolution 51200 Drive Counts per Motor Millimeter v Calculate Drive Enable Input Ch
28. 2098 IN003 Ultra3000 Digital Servo Drives Integration Manual publication 2098 IN005 How to install set up and troubleshoot an Ultra3000 drive Ultra3000 Digital Servo Drives User Manual publication 2098 UM001 Instruction on configuring Ultra3000 and Ultra5000 drives creating and configuring project source and header files and creating and running programs Motion Analyzer CD download at www http ab com e tools Drive and motor sizing with application analysis software Motion Modules in Logix5000 Control Systems User Manual publication LOGIX UM002 Information on configuring and troubleshooting your ControlLogix and CompactLogix SERCOS interface modules and using the home to torque level sequence System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Information examples and techniques designed to minimize system failures caused by electrical noise Kinetix Motion Control Selection Guide publication GMC SG001 Information about Kinetix products Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI INOO1 Characteristics application installation and maintenance of solid state controls Rockwell Automation Publication LX UM001A EN P March 2011 5 Preface Resource Allen Bradley Industrial Automation Glossary publication AG 7 1 Description A glossary of industrial a
29. 5 um X512 0 0390 um X1024 0 01953125 um 52 Rockwell Automation Publication LX UM001A EN P March 2011 Configure and Start Up the LX Series Linear Motor Chapter 6 In this section you use the monitor tags to evaluate the encoder installation Verify Motor Encoder Direction Scope _ 13 v Show Show All v Sot z Force Mask Controller Frank V13 Controller Taqs Type E Controller Fault Handler motor WatchE ventStatus Decimal fa OMAR Handler motor RegEventiArmedStatus 0 Decimal E 0 Decimal BOOL 21 68 MainProgram E otor RegE vent2ArmedStatus 0 Decimal BOOL lg Program Tags motor RegEventaStatus 0 Decimal BOOL Index l motorHomeEventArmedStatus Decimal BOOL C Unscheduled Programs motor HomeEventStatus 0 Decimal BOOL F E3 Motion Groups mi TE E g ikbar i edi tH motor DutputCamStatus 1640000 0000 Hex DINT motak HE motor OutputCamPendingStatus 16 0000_0000 DINT Ungrouped Axes EB motor DutputCamLockStatus 16 0000_0000 Hex DINT H E Trends m 6900 DINT 3 Data Types 3 otor ActualPosition Float REAL B otor StrobeActualPosition 1 8 Float REAL m 8 Predefined Bi motor StartActualPosition 206 0305 Float REAL oa Module Defined oto Average Velocity 0 0 Float REAL 5 89 I O Configuratio
30. 5937 9 Configure the parameters in the Tune tab as suggested in the Initial Setting column leaving all other tune options off for your first pass If necessary reduce the Velocity Loop Proportional Gain to maintain stability Axis Properties motor rmi xj General Motion Planner Units Drive Motor l Motor Feedback Aux Feedback Conversion Homing Hookup Dynamics Bains Output Limits Offset Fault Actions Tag Travel Limit mm Start Tuning Speed 2500 mms DANGER This tuning N procedure may cause axis motion with the controller Terque Force 150 0 Rated in program mode Direction Forward Bi directional x Damping Factor ps r Tune Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feedforward Acceleration Feedforward Torque Offset Output Filter 56 Parameter Initial Setting Units Note Travel Limit 100 mm Suggested Speed 250 mm sec Torque Force 50 90 Rated Direction Forward Bi directional Damping Factor 0 8 default Rockwell Automation Publication LX UM001A EN P March 2011 Configure and Start Up the LX Series Linear Motor Chapter 6 10 Click the Homing tab 11 From the Sequence pull down menu choose Switch Marker or Torque Level Marker when a repeatable power up position is desired Axis Properties MPMAY ioj x General Motion Planner Unit
31. 6000 drive terminate the sine and cosine signals as follows SIN 1 150 Q Resistor SIN 1 4 W 5 AM 2 CO Sr 1500 Lad Feedback Connector Resistor 2090 K6CK D15M COS 1 4 W 5 BM 4 Low Profile Connector 1N5819 or equivalent 45V DC 5 1V DC 5 4V DC 14 Add a Shottky diode for cable lengths less then 10 m 32 8 ft For systems where the cable length is less than 10 m 32 8 ft the encoder power supply from the Kinetix 6000 drive feedback connector should be dropped from its nominal 5 4 5 1 DC with the addition of a Shottky Diode see the schematic Rockwell Automation Publication LX UMO001A EN P March 2011 69 Appendix B X Sin Cos Linear Encoder and Kinetix 6000 Drives Encoder Counting Direction Normally the encoder signals will output sine leads cosine AM leads BM when the linear encoder head is moving towards its cable relative to the encoder scale SERCOS drives count this in a negative direction Set Up the Axis Properties Do these steps to install a Sin Cos linear encoder 1 From the Motor Feedback tab enter these parameters values Parameter Value Comment Feedback Type Sin Cos 25 per millimeter For 40 um pitch encoder scale Cycles 50 per millimeter For 20 um pitch encoder scale Interpolation Factor 1024 Axis Properties motor Homing Hookup l Tune Dynamics Gains Output Limits Offset Fault Actions Tag General
32. Align the magnet tracks with an aluminum straight edge and the supplied alignment tool Aluminum Straight Edge Alignment Tool 15 Place the alignment tool in the holes on each of the magnet tracks 16 Align the edges of the magnet tracks with the aluminum straight edge and tighten the bolts 17 Position the carriage over the complete sections and continue aligning the remainder of the magnet tracks TIP If space limitation prevents the use of an aluminum straight edge Place a 0 5 mm 0 020 in plastic shim between the magnet tracks tighten the bolts and then remove the shim 18 Torque all screws to the values listed in the table securing assemblies in place by using all mounting holes SHCS Torque SHCS Black Oxide Steel Stainless Steel Nem Ibeft Nem Ibeft ATTENTION Remove the alignment tool and make certain all magnet track mounting hardware is flush or below the magnet surface to prevent damage to the coil 24 Rockwell Automation Publication LX UM001A EN P March 2011 Install the LX Series Linear Motor Chapter 3 Mount a Single Coil with a Single Magnet Track Follow these steps to install a single coil with single magnet track 1 Install the magnet track by using M5 x 0 8 x 16 mm SHCS 2 Remove any burrs and clean the motor coil mounting surface 3 Install the motor coil under the carriage by using M5 x 0 8 screws that extend through the carriage by at least 12 mm 0 5 in b
33. Automation Publication LX UM001A EN P March 2011 Hall Effect Module Connectors LX Series Linear Motor Connector Data Chapter 4 The following tables show the pinouts of the LX Series linear motors with the Hall effect module catalog number LX xxxxxxxxHxxxx Feedback Connector These are the feedback connector pinouts for the LX Series linear motor catalog number LXxxxxxxxxHSxxx Pin Description Signal 1 A quad B TTL 1V p p A differential AM SIN 2 A quad B TTL 1V p p A differential AM SIN 3 A quad B TTL 1V p p B differential BM COS r 4 A quad B TTL 1V p p B differential BM COS 5 TTL index mark differential IM 6 TTL index mark differential IM 7 Reserved 8 9 Encoder and Hall sensor power 5V DC 10 Common Common 11 Reserved 12 Common Common 13 Thermal switch TS 14 Thermal switch TS 15 TTL trapezoidal Hall commutation S1 16 TTL trapezoidal Hall commutation S2 17 TTL trapezoidal Hall commutation S3 Case Shield Rockwell Automation Publication LX UM001A EN P March 2011 31 Chapter 4 32 LX Series Linear Motor Connector Data These are the feedback connector pinouts for the LX Series linear motor catalog number LXxxxxxxxxH Txxx Pin Description Signal 1 A quad B TTL 1V p p A differential AM SIN 2 A quad B TTL 1V p p A differential A
34. GHxxxxA B LX100200GHxxxxA B LX150200GH xxxxA B LX200200GHxxxxA B LX030300DHxxxxA B LX050300DHxxxxA B LX075300DHxxxxA B LX100300DHxxxxA B LX150300DHxxxxA B LX200300DH xxxxA B LX030300EHxxxxA B LXO50300EHXxxxA B LX075300EHxxxxA B LX100300EHxxxxA B LX150300EHxxxxA B LX200300EH xxxxA B LX030300FHxxxxA B LX050300FHxxxxA B LX075300FHxxxxA B LX100300FHxxxxA B LX150300FHxxxxA B LX200300FHxxxxA B LX030300GHxxxxA B LX050300GH xxxxA B LX075300GHxxxxA B LX100300GHxxxxA B LX150300GHxxxxA B LX200300GHxxxxA B LX030400DHxxxxA B LX050400DHxxxxA B LX075400DHxxxxA B LX100400DHxxxxA B LX150400DHxxxxA B LX200400DHxxxxA B LX030400EH xxxxA B LXO50400EHxxxxA B LX075400EHxxxxA B LX100400EHxxxxA B LX150400EH xxxxA B LX200400EH xxxxA B LX030400FHxxxxA B LXO50400FHxxxxA B LX075400FHxxxxA B LX100400FHxxxxA B LX150400FHxxxxA B LX200400FHxxxxA B LX030400GHxxxxA B LX050400GH xxxxA B LX075400GHxxxxv LX100400GHxxxxA B LX150400GHxxxxA B LX200400GHxxxxA B LX030600DH xxxxA B LXO50600DHxxxxv LX075600DH xxxxA B LX100600DHxxxxA B LX150600DHxxxxA B LX200600DHxxxxA B LX030600EH xxxxA B LXO50600EHxxxxA B LX075600EHxxxxA B LX100600EHxxxxA B LX150600EHxxxxA B LX200600EH xxxxA B LXO30600FHxxxxA B LXO50600FHxxxxA B LX075600FHxxxxA B LX100600FHxxxxA B LX150600FHxxxxA B LX200600FHxxxxA B LX030600GH xxxxA B LX050600GH xxxxA B LX075600GHxxxxA B LX100600GHxxxxA B LX150600GHxxxxA B LX200600GHxxxxA B LX030800DH xxxxA B LX050800DHxxxxA B LX075800DHxxxxA B LX100800DHxxxxA B LX150800DHxxxxA B LX200800DHxxxxA B LX03080
35. M SIN 3 A quad B TTL 1V p p B differential BM COS 4 A quad B TTL 1V p p B differential BM COS 5 TTL index mark differential IM 6 TTL index mark differentia IM 7 Reserved 8 9 Encoder and Hall sensor power 5V DC 10 Common Common 11 Reserved 12 13 PTC thermistor sensor TS 14 PTC thermistor sensor TS 15 TTL trapezoidal Hall commutation 1 16 TTL trapezoidal Hall commutation 52 17 TTL trapezoidal Hall commutation S3 Case Shield Rockwell Automation Publication LX UM001A EN P March 2011 Thermal Protection Connector LX Series Linear Motor Connector Data Chapter 4 These are the thermal protection connector pinouts for the LX Series linear motor catalog number LXxxxxxxxxHSxxx Pin 1 Description Thermal switch 4 Reserved 3 Thermal switch TS These are the thermal protection connector pinouts for the LX Series linear motor catalog number LXxxxxxxxxHTxxx Pin Description Signal 4 1 PTC thermistor sensor TS 3 8 1 4 Reserved 3 PTC thermistor sensor TS Encoder Connector These are the encoder connector pinouts Pin Description A quad B TTL A differential Signal AM A quad B TTL B differential TTL index mark differential IM A quad B TTL A differential AM A quad B TTL B differential BM TTL inde
36. Power Extension Cable catalog number 2090 CPWM 7DF xxAFxx or 2090 5 36 Rockwell Automation Publication LX UM001A EN P March 2011 Wire the LX Series Linear Motor Chapter 5 A ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Excessive and uneven lateral force at the cable connectors mav result in the connector s environmental seal opening and closing as the cable flexes Failure to observe these safety precautions could result in damage to the motor or encoder d For the quick connect connector push the connector on and apply a quarter turn e For the threaded connector hand tighten the knurled collar with five to six turns to fully seat the connector ATTENTION Keyed connectors must be properly aligned and hand tightened the recommended number of turns Improper alignment is indicated by the need for excessive force such as the use of tools to fully seat connectors Connectors must be fully tightened for connector seals to be effective Failure to observe these safety precautions could result in damage to the motor cables and connector components Sign al and Wire Definitions For linear motors catalog numbers LXxxxxxxxxxxx0x wire them by using the for Flying Lead Components wiring diagram on page 61 Wire colors and signal types are shown here for wire gauge information see LX Series Iron Core Linear
37. Servo Motor Technical Data publication LX TDOO1 Linear Motor Coil These are the wire colors and signals for the linear motor coil power and thermal protection cables catalog numbers LXxxxxxxxxxxx0x Table 3 Power Signals Color Signal Comments Red Motor Phase U A Observe maximum applied voltage specification e Consult the drive manual or supplier for specific White Motor Phase V B wiring instructions to the drive Wiring is phase commutation sensitive Black Motor Phase W C Green Motor Ground e Terminate per drive manual instructions e Shield is not connected to the motor frame Shield Cable Shield A ATTENTION Disconnect the input power supplv before installing or servicing the motor Motor lead connections can short and cause damage or injury if not well secured and insulated Insulate the connections equal to or better than the insulation on the supply conductors Properly ground the motor per the selected drive manual Rockwell Automation Publication LX UM001A EN P March 2011 37 Chapter 5 38 Wire the LX Series Linear Motor These are the PTC thermistor sensor wire colors and signals for the linear motor coil power and thermal protection cables catalog number LXxxxxxxxxxSx0x Table 4 PTC Thermistor Sensor Signals Description Signa Black thermistor sensor Black PTC thermistor sensor TS These are the thermal switch wire colors and signals for
38. Technical Data publication 1321 TD001 to choose a line reactor for applications requiring cable longer than 10 m 32 8 ft Rockwell Automation Publication LX UM001A EN P March 2011 39 Chapter5 Wire the LX Series Linear Motor Mounting and Wiring Two Identical Coils in Tandem This type of installation requires a custom motor database file which is available upon request Contact Application Engineering at 631 344 6600 to request this file These tables and figures show the wiring and spacing for two identical coils mechanically top mounted to the same plate and driven by one amplifier There are three configurations shown here for mounting motors in tandem power and encoder cables exiting on the right the center and on opposite ends Coils must have identical part numbers Using mismatched coils will cause a hazardous condition resulting in damage to the equipment and a possible fire Cables Exit to the Right If mounting coils in tandem such that the power cables exit both the coils on right side as shown use the following table to find the mounting distance and the phase wiring Figure 3 Mounting Two Coils with Cables Exit to the Right L Coil 1 is the master Hall Effect Module o o d Oo Coil 2 Coil 1 Table 6 Phase Wiring for Right exit Power Cables
39. Ultraware software Open your Motor Configurator Utility Select the linear motor catalog number From the Edit menu choose Duplicate Rename the Model Click Encoder Type and select either Incremental or Sin Cos ON m UD Click Lines Per Meter and enter the value The following tables list tvpical values for lines per meter Incremental Sin Cos Resolution Value Encoder Scale Pitch Value Oum 2500 100 10 000 5 um 50 000 40 um 25 000 2 ym 125 000 20 um 50 000 1 um 250 000 0 5 um 500 000 0 1 um 2 500 000 Figure 11 Incremental Encoder is Linear Motor m xj r General ir Feedback Encoder Type Incremental hd gt Standard Motor I Commutation Type Sinusoidal be Force Constant 130 29245 N Startup Type Hall Inputs Mass 21 3 Kg Hall Input Offset J0 Degrees Electrical Cycle Lenath 0 05 meters Lines Per Meter 500000 7 Integral Limits m Electrical Figure 12 Sin Cos Encoder Linear Motor ioj xj r General Feedback Force Constant 20 29245 N Mas 313 Kg Electrical Cycle Length ng as Model J LDC C050200 DHTxx_sincos20u l Encoder Type Sine Cosine Standard Motor Commutation Type Sinusoidal hd Startup Type Hall Inputs Hall Input Offset 0 Degrees Lines Per Meter 50000 7 Click Close 8 Open your Ultraware software
40. User Manual Ly TA Anorad LX Series Iron Core Linear Servo Motors Catalog Numbers LX030100x LX030200x LX030300x LX030400x LX030600x LX030800 x LX050100x LX050200x LX050300x LX050400x LX050600x LX050800 x LX075100x LX075200x LX075300x LX075400x LX075600x LX075800x LX100100x LX100200x LX100300x LX100400x LX100600x LX100800x LX150100x LX150200x LX150300x LX150400x LX150600x LX150800x LX200100x LX200200x LX200300x LX200400x LX200600x LX200800x B Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are incl
41. WHT Biue XX i e 15 Yellow 52 P 16 WHT Yellow b cU WHT lt lt Grav ECOM lt 10 Gray XX 5V DC 79 White Green IM 6 Green IM lt 5 WHT Red BM z 4 Red AX BM 3 WHT Black AM 2 Black XX AM 1 2090 2900 CFBM4DF CDAFxx Feedback Cable Note 2 AM 1 gt gt YX AM lt 7 lt lt gt gt BM 222 XX BM 5 K lt S gt IM lt 3 gt WKM es gt gt 5VDC 8 ECOM lt 7 TTL Encoder 2090 UXBB DM15 Motor Feed Breakout Board 64 Wire color shown for Renishaw RGH22 linear incremental encoder with its reference mark actuator installed Rockwell Automation Publication LX UM001A EN P March 2011 Switch or Thermal Sensor Interconnect Diagrams Appendix A Figure 18 Wiring Example for Ultra3000 Drive and 1 1 Linear Motor with a Sin Cos Encoder Ultra3000 Drive LX Series Linear Motor Coil T Brown Motor Power V Black B Three phase TB1 Connector W Blue C Motor Power L Green Yellow 2080 CPWM4DF xxAFxx Cable Shield TH J 2090 XXNPMF xxSxx Clamp PY Motor Power Cable Note 1 nM Note 2 Thermal 11 TS lt 13 Switch or N C WES N C IS lt Sensor
42. ate with forced water 0 150 Axis Properties AXIS 01 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Dutput Limits Difset Fault Actions Tag IV Hard Travel Limits Manual Adjust Soft Travel Limits Set Custom Limits Maximum Positive n mm Maximum Negative mm Position Error Tolerance 205702080 mm Position Lock Tolerance 0 001 mm Peak Torque Force Limit 270 0 Rated Continuous Torque Force Limit 120 0 Rated Cancel IMPORTANT Increasing or decreasing the motor continuous current rating does not change the drives continuous current limiting 58 Rockwell Automation Publication LX UM001A EN P March 2011 Appendix A Interconnect Diagrams Introduction This appendix provides wiring examples to assist you in wiring an LX Series linear motor to an Allen Bradley drive Topic Page Introduction 59 Wiring Examples 59 Wiring Example for Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 60 Drives and LXxxxxxxxxHxxix Linear Motor with a TTL Encoder Wiring Example for Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 61 Drives and LXxxxxxxxxHxx1x Linear Motor with a Sin Cos Encoder Wiring Example for Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 62 Drives and LXxxxx
43. by the Auto Tune function in RSLogix 5000 programming software or when configuring a new axis with RSLogix 5000 software can lead to undetected and repetitive high energy impacts against axis end stops if proper precautions are not in place These tolerances can also lead to undetected and repetitive high energy impacts against unexpected obstructions Such impacts can lead to equipment damage and or serious injury To identify the safety concerns that you have with default Position Error Tolerance or after an Auto Tune Function go to the Rockwell Automation Knowlegebase Click Find Technical Support Answers and search for Answer Id 55937 Rockwell Automation Publication LX UM001A EN P March 2011 11 Chapter 1 Safety Considerations Notes 12 Rockwell Automation Publication LX UM001A EN P March 2011 Chapter 2 Start Introduction Use this chapter to become familiar with the linear motor components their maintenance needs and their configuration Topic Page Catalog Number Explanation 14 Linear Motor Components Design Consideration Maintenance N N N N co co ep Motor Storage Rockwell Automation Publication LX UM001A EN P March 2011 13 Chapter2 Star Catalog Number An iron core linear motor is comprised of a coil and one or more magnet tracks Exp ati on The following keys show the catalog definition for the LX Series linear motors LX xxx xxx XXXXXXX
44. ecking Drive Enable Input Fault Real Time Axis Information Attribute 1 Position Feedback Y Attribute 2 Motor Electrical Angle Apply 4 Click OK 5 Click the Motor Feedback tab Rockwell Automation Publication LX UM001A EN P March 2011 47 Chapter 6 Configure and Start Up the LX Series Linear Motor 48 6 Using the screen image as a reference configure the parameters as shown in the Setting column Parameter Setting Comment version 16 TTL with Hall or Sin Cos with Hall For RSLogix 5000 software version 17 Cycles 50 5 encoder 125 2 um encoder 250 1 um encoder 500 0 5 encoder 2500 0 1 um encoder 50 20 um Sin Cos encoder 25 40 um Sin Cos encoder per Millimeters Interpolation Factor 4 TTL 1024 Sin Cos Figure 7 RSLogix 5000 Software Version 15 00 and 16 00 TTL Encoder Axis Properties Axis Upper m x Homing Hookup l Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Feedback Type TTL E L Sin Cos with Hall TTL with Hall SKS SKM SEK Cycles Interpolation Factor Feedback Resolution Jk Counts per Millimeter Figure 8 RSLogix 5000 Software Version 15 00 and 16 00 Sin Cos Encoder Axis Properties Axis Upper A Homing Hookup l Tune Dynamics Gains Output
45. ect Diagrams Figure 15 Wiring Example for Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 Drives and LXxxxxxxxxHxx0x Linear Motor with a TTL Encoder Kinetix 2000 Kinetix 6500 LX Series Linear Motor Coil 6200 or Kinetix 6000 IAM inverter or AM Module Note 3 4 Green Vellow t mi cu Black Sw Motor Power w lt Three phase MP Connector v 121 ees V White V ND Motor Power U 1 U Red U E lt Cable Shield TS BlackorRed 7 Clamp J SA SA TIS Black or Red lt Thermal Note 1 lt lt a Lr Switch or ote i Sensor Power Red Note 3 E it S1 White roi Blue NC i a J S3 Orange P LA MEN aT NE 5 1 COM Black 12 8 MER m Hall Effect 13 7H nn tei fel Module 8 FT jus 1 Motor Feedback 1100 pedese X K lt Connector 12 Hti parece 7 K IAM AM Module 3 _ M Dus lt 5 qHH 18 lt lt 8 51 JIM i Amie IM K lt 10 14 PL 3 6 MM TTL Encoder Refer to low profile connector Wire as shown here Using illustration lower left for proper cable type appropriate for grounding techniques your application Low Profile Connector Ground technique
46. el identification 8 large impacts 10 linear encoder 17 magnet channel 20 magnet track 15 maintenance 18 maximum speed 11 motor database 44 direction 53 storage 18 mount multiple motors 40 power cable 30 non magnetic 20 P perfomance 17 phase alignment two motors 40 pinout coil power 30 encoder 33 feedback 31 power connector 30 PTC thermistor 30 33 power connector 15 30 procedure cleaning magent track 18 connections 35 install magnet channel 20 power connection 30 verify encoder resolution 54 PTC thermistor connector 30 March 2011 73 Index 74 RSLogix software screen conversion 50 drive motor 46 motor feedback 47 units 49 S safety sudden motion 10 safety label location of 8 SERCOS Drive 69 setup Kinetix 2000 drive 46 Kinetix 6000 drive 46 Ultra3000 drive 51 shipping air freight restriction 9 dangerous goods declaration 9 form 902 instructions 9 shock absorber 17 software required version 44 spacing two motors 40 storage 18 T tandem motors 40 temperature max heat sink 10 tools 20 torque magnet channel 24 27 V verify direction 53 resolution 54 W warning air freight restrictions 9 automatic implantable cardioverter defibrillator AICD 7 powerful forces 7 wiring 35 wiring diagram 60 connectorized Sin Cos encoder 61 65 TTL encoder 60 64 flying lead Sin Cos encoder 63 66 67 TTL encoder 62 Rockwell Automation Publication LX UM001A EN P March 2011
47. ergy Magnets Rockwell Automation Publication LX UM001A EN P March 2011 Safety Considerations Chapter 1 Linear motor magnets contain high energy magnets that attract ferrous metals from a considerable distance Precautions must be taken while unpacking handling and shipping by air Unpacking and Handling Unpack magnet tracks one at a time Repack magnet tracks after inspection and before they are stocked or staged for installation Leave protective wrapping cardboard and flux containment plates in place until the magnet track is installed Clear the inspection and repacking area of any ferrous metals that will be attracted to or attract the magnetic assembly If magnet tracks must be unpacked at the same time maintain a distance of 1 5 m 5 ft between assemblies Air Freight Restrictions When air freighting linear motors special preparations and precautions must be taken The following information outlines the basic requirements at the publication date of this document However regulations are subject to change and additional area or carrier restrictions may be imposed Always check with your carrier or logistics specialist regarding current local regional and national transportation requirements when shipping this product Linear motor magnet tracks contain magnetized material as classified by International Air Transport Association LATA Dangerous Goods Regulations An IATA trained individual must be involved when shippin
48. g this product via domestic or international air freight Packing Instruction 902 provides information regarding the preparation of this product for air transportation Follow these regulations for general marking and labeling requirements the application of specific Magnetized Material Handling Labels and instructions for preparing the Shipper s Declaration for Dangerous Goods minimum refer to the following Dangerous Goods Regulations e Subsection 1 5 Training Subsection 3 9 2 2 Classification as Magnetized Material e Subsection 4 2 Identification as UN 2807 Magnetized Material Class 9 Packing Instruction 902 e Subsection 7 1 5 Marking e Subsection 7 2 Labeling Subsection 7 4 1 Magnetized Material Label Section 8 Shipper s Declaration for Dangerous Goods When shipped via ground in the United States these products are not considered a US D O T Hazardous Material and standard shipping procedures apply Chapter 1 Safety Considerations Vertical or Incline Installation 10 A linear motor driven system mounted vertically or on an incline will not maintain position when the power is removed Under the influence of gravity the motion platform and its payload will fall to the low end of travel Design engineers should allow for this by designing in controlled power down circuits or mechanical controls to prevent the linear motor driven system and its payload from being damaged when the power fail
49. he weather All motor surfaces subject to corrosion should be protected by applying corrosion resistant coating Rockwell Automation Publication LX UMO001A EN P March 2011 Introduction Unpacking and Inspection Chapter J Install the LX Series Linear Motor In this section you will unpack inspect and install your linear motor components by creating your own linear motor Topic Page Unpacking and Inspection 19 Installing Linear Motor Components 20 Mount a Single Coil with Multiple Magnet Tracks 20 Mount a Single Coil with a Single Magnet Track 25 Read the following guidelines to handle magnet tracks carefully A ATTENTION Linear motors contain powerful permanent magnets which require extreme caution during handling When handing multiple magnet tracks do not allow the tracks to come in contact with each other Do not disassemble the magnet tracks The forces between tracks are very powerful and can cause bodily injury Persons with pacemakers or Automatic Implantable Cardiac Defibrillator AICD should maintain a minimum distance of 0 33 m 1 ft from magnet assemblies Additionally unless absolutely unavoidable a minimum distance of 1 5 m 5 ft must be maintained between magnet assemblies and other magnetic ferrous composite materials Use only non metallic instrumentation when verifying assembly dimension prior to installation Inspect motor components and verify they are damage free Any damage or
50. ication and understanding of the product Allen Bradley Anorad CompactLogix ControlLogix Kinetix Logix5000 Rockwell Automation Rockwell Software RSLogix 5000 TechConnect Ultra3000 and Ultra5000 are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Preface Safety Considerations Start Install the LX Series Linear Motor LX Series Linear Motor Connector Data Table of Contents About This Publicatiolizceiexieodest rV MP PLURA 5 Who Should Use This Manual oed ee dred euet ae cere 5 Additional Resouces kisi 5 3555 te Pda ez Y cse iS see s 5 Chapter 1 ordi tandi re dr dig 7 ABE IT UT P 7 High Energy Magnets pi omens 9 Unpacking and NR eR A ena 9 Air Freight Restrictions ceres ora peso RU RE RAT RISUS AES 9 Vertical or Incline Installation o eire err tita 10 Operational Guidelines 11 Chapter 2 Intt bie fa NO SIT eas 13 Catalog Number Explanation zer EE eer rh Ern ad 14 Linear Motor Components Ret are 15 Design Consideration xus a SS ae nes das vs RO ROO REN FE 16 Motor paer pe mph riu a RA Y Ree etwas 16 Bumpers Shock Absorbers or End 5 17 Ee a EE OE eons du sace eti E vee No a EH PN d Nd 17 Rear Stiles hs neia tenana e ip need 17 Main
51. ies Linear Motor Coil 6200 or Kinetix 6000 IAM inverter or Brown 2 AM Module 2 n Black 2 Three phase Motor Power 3 Blue ee Motor Power MP Connector a4 Green Yellow 2090 CPWMADF xxAFxx Tu Cable Shield HD 2090 XXNPMF xxSxx Clamp KY Motor Power Cable Note 1 Note 2 Thermal 11 MINE Fi lt 7 Switch or 5 N C WHT Blus 15 Sensor Vellow 16 B WHT Yellow XX 17 Motor Feedback MF Connector g WHT Gray 10 AM AMI Module Gray XX 9 10 White Green 6 E Green WX 5 i WHT Red 4 3 Red X 3 7 WHT Black 2 Bl i ack W 1 2090 XXNFMF Sxx or 2900 CFBM4DF CDAFxx Feedback Cable Refer to low profile connector Note 2 illustration lower left for proper xi grounding and shield termination lt lt techniques gt XX m lt lt gt lt gt XC ome 4 IM A XX IN DIM 5 5VDC ead Low Profile Connector TTL Encoder Ground techniques for Use 2090 K6CK D15M connector for Kinetix 6000 drives feedback cable shield and 2090 K2CK D15M connector for Kinetix 2000 drives Clamp 7 Exposed shield secured gt under clamp q Clamp screw 2 2538 Turn clamp over to hold small cables secure 60 Rockwell Automation Publication LX UM001A EN P March 2011 Interconnect Diagrams Appendix A Figure 14 Wiring Example for Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 Drives and LIXxxxxxxxxH xxi x Linear Motor with a Sin Cos Encoder Kinetix
52. ing and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret A S Kar Plaza is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Rockwell Automation Publication LX UM001A EN P March 2011 814070 Copyright 2011 Rockwell Automation Inc All rights reserved Printed in the U S A
53. lumn Parameter Position Units Average Velocity Timebase 0 25 s You can change position units to inches or other units on this tab EXAMPLE This is an example for a 5 resolution encoder 200 drive cnts mm x 25 4 mm in Conversion Constant 5080 drive cnts in Rockwell Automation Publication LX UM001A EN P March 2011 49 Chapter6 Configure and Start Up the LX Series Linear Motor 10 Click OK to set the values 9 FE Properties motor ni x g Gans Output Limits offset FautActions Em V od 11 Click the Conversion tab 12 Using the screen image as a reference configure the parameters as shown in the Setting column Parameter Setting Comment Positioning Mode Linear Conversion Constant 200 5 encoder 500 2 um encoder 1000 1 um encoder 2000 0 5 encoder 10 0000 0 1 um encoder 51200 20 um pitch Sin Cos encoder 25600 40 um pitch Sin Cos encoder 13 Click OK Biot Millimeter 50 Rockwell Automation Publication LX UM001A EN P March 2011 Configure and Start Up the LX Series Linear Motor Chapter 6 Set Up the Connection to an This procedure configures the Ultra3000 drive for your linear motor and encoder Ultra3000 Drive combination For help using Ultraware software as it applies to setting up your linear motor refer to Additional Resources on page 5 This procedure assumes you are familiar with
54. n B motor ActualVelocity 0 0 Float REAL a g 21 3005 a j motor ActualAcceleration 0 0 Float REAL 1 Disable the drive 2 Note the ActualPostion tag value 3 Move the axis in the positive direction See page 43 for definition for positive direction 4 Verify that the ActualPostion tag value increases as the axis moves If the positive direction of travel does not match what has been defined by the motor power and Hall Sensing wiring then change the direction by rewiring the encoder by using the following table Move To Encoder Phase Drive CN2 Pin Encoder Phase Drive CN2 Pin A a 2 4 3 1 4 2 Rockwell Automation Publication LX UM001A EN P March 2011 53 Chapter6 Configure and Start Up the LX Series Linear Motor Verify Motor Encoder ai js nd the rai 2 ad p jix distance AD bv H ifi ingi ix 5000 software Resolution the software It also verifies the encoder setting in the RSLogix 5 Measure and mark a fixed distance of travel on the axis Record the ActualPosition tag value with carriage at the starting position Move the carriage to the end position Record the ActualPosition tag value Calculate the distance moved by using the record values ON eR Mo Compare the actual distance and the calculated distance If the values do not match ve
55. nents of the linear motor Figure 1 Components of Iron Core Motor Coil and Magnet Track Component Iron core motor coil LXO50200xxxxxi x Motor Coil Shown LDC M050500 Magnet Track Shown Description Copper coils are contained in an epoxv form When powered the coil interacts with the flux field of the magnet track 2 Magnet track High powered static magnets create the flux field the powered coil interacts with Encoder connector Connect your encoder here by using the connector kit catalog number LDC ENC CNCT Feedback connector Connect to your drive feedback by using either catalog number 2090 CFBM7DF CDAFxx for moving coil or 2090 XXNFMF Sxx for moving magnet Power connector Connect to your drive power by using either catalog number 2090 CPWM7DF XxAFxx for moving coil or 2090 XXNPMF xxS xx for moving magnet Thermal protection connector Connects the thermal protection signal to the feedback connector Hall effect module This module provides input signals for commutation startup Replacement catalog numbers for the Hall effect module are LDC HALL C for the LXxxxxxxxxxx1x and LDC HALL F for the LXXxxxxxxxxx0 x Rockwell Automation Publication LX UM001A EN P March 2011 15 Chapter2 Start Design Consideration 16 The information provided here is critical to using linear motor components Design your system to comply with the following points to run
56. ons could result in damage to the motor and its components 2 Connect your encoder to the encoder connector on the Hall effect module 3 Attach the motor feedback and power cables A ATTENTION Do not connect or disconnect the motor feedback cable or the power cable while power is applied It may result in unexpected motion or cause damage to the components a Ifusing a quick connect connector remove the o ring before making the connection Rockwell Automation Publication LX UM001A EN P March 2011 35 Chapter5 Wire the LX Series Linear Motor To Drive K Item b If using thread type connectors leave the o ring in place ATTENTION Remove the o ring when using a quick connect A connector The o ring will block the locking mechanism rendering it ineffective A threaded connector will fit on the male connector with or without the o ring If the o ring is not used on a threaded connector the connection will eventually vibrate loose c Align flats on each connector Do not apply excessive force when mating the cable and motor connectors If the connectors do not go together with light hand force realign and try again To User Supplied Encoder Description Power connector Feedback connector Encoder connector lw N Connect your encoder using Encoder Connector Kit catalog number LDC ENC CNCT Feedback Extension Cable catalog number 2090 CFB7DF CDAFxx or 2090 XXNFMF Sxx
57. r Ultra3000 with SERCOS multi axis drives Firmware revision 1 96 or later QCustomer Motor database LXxxx cmf RSLogix 5000 Motion Database Import Tool version 2 0 0 4 or later this tool is not compatible with Window 7 44 Rockwell Automation Publication LX UM001A EN P March 2011 Configure and Start Up the LX Series Linear Motor Chapter 6 e Ultra3000 drives without SERCOS Firmware revision 1 52 or later Ultraware Software version 1 63 or later Motor Database motor LXxxx mdb Call Anorad Tech Support 631 344 6600 to obtain the latest files Follow These Steps The following flow chart illustrates the required steps Update the Linear Motor Database page 45 Kinetix 6000 Drive Kinetix 6200 6500 Drive Ultra3000 Drive Kinetix 2000 Drive or Ultra3000 with SERCOS without SERCOS Drive Model Set Up the Connection to a i Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 Drive c page 46 page 51 Verify Motor Encoder Direction page 53 Verify Motor Encoder Resolution page 54 Verify Linear Motor Wiring and Function page 54 Upd ate the Line ar Motor Install the current Motion Database as required before commissioning your D at ab ase linear motor See the Required Files on page 44 Rockwell Automation Publication LX UM001A EN P March 2011 45 Chapter6
58. re to safely operate the linear motor created from these linear motor components ATTENTION Observe maximum safe speed Linear motors are capable of very high forces accelerations and speeds The maximum obtainable acceleration and speed is based on the drive output bus voltage and current settings The allowable maximum speed is application specific and partly based on the linear motion mechanics supplied by others ATTENTION Moving parts can cause injury Before operating the linear motor make sure all components are secure and magnet mounting hardware is below the magnet surface Remove all unused parts from the motor travel assembly to prevent them from jamming in the motor air gap and damaging the coil or flying off and causing bodily injury IMPORTANT You are responsible for making sure the servo control system safely gt controls the linear motor with regards to maximum safe force acceleration and speed including runaway conditions A runaway condition can be caused by incorrect motor hall effect and position feedback wiring resulting in violent uncontrolled motion ATTENTION Keep away from the line of motor travel at all times Always have bumpers in place and securely fastened before applying power to your linear motor ATTENTION High voltage can kill Do not operate with exposed wires Do not go near electrically live parts ATTENTION Large Position Error Tolerances such as those calculated
59. rify the resolution of the installed encoder and the values used in the Motor Feedback Conversion and Units tabs Verify Linear Motor Wiring In RSLogix 5000 software click the Homing and Hookup tabs to check that the and Function motor power Hall sensing and the encoder signal wiring is correct IMPORTANT Thefollowing components must be wired correctly for your drive and linear motor to operate properly Hall effect module Coil power wires Thermistor or thermal switch Encoder Follow these steps to verify your motor wiring and function 1 Click the Hookup tab 2 Configure the parameters The following table shows the suggested settings Parameter Suggested Setting Test Increment 60 00 mm Drive Polarity Positive 54 Rockwell Automation Publication LX UM001A EN P March 2011 Configure and Start Up the LX Series Linear Motor Chapter 6 3 Click OK Axis Properties motor nl x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Test Increment mm Test Marker Positive Test Feedback Test Command amp Feedback Drive Polarity Click Test Marker Refer to your encoder user documentation for the location and frequency of markers 5 Position the coil so that it can move 60 mm 2 36 in in the forward or reverse direction 6
60. s ATTENTION Linear motors are capable of high accelerations sudden and fast motion Rockwell Automation is not responsible for misuse or improper implementation of this equipment ATTENTION Linear motor driven systems must have end of travel bumpers They must be designed to take a large impact from uncontrolled motion The payload must be secured to the system such that it will not sheer off in the event of an impact in excess of the bumper ratings ATTENTION The Hall effect module contains an electrostatic discharge ESD sensitive device You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control precautions components can be damaged If you are not familiar with static control precautions refer to Guarding Against Electrostatic Damage publication 8000 4 5 2 or any other applicable ESD awareness handbook BURN HAZARD When the linear motors are running at their maximum rating the temperature of attached heat sinks can reach 100 C 212 F SHOCK HAZARD An assembled linear motor will generate power if the coil or magnet track is moved Unterminated power cables present an electrical shock hazard Never handle flying leads or touch power pins while moving the motor PI Rockwell Automation Publication LX UM001A EN P March 2011 Safety Considerations Chapter 1 Operational Guidelines Please read and follow the guidelines shown he
61. s Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Mode active Position Position Units Offset Position Units Seque Limit Switch Gmitob d ark or Ones orgue Lever Marker T TR Direction Reverse Brdrectional Ticraue Level p50 A SontnuGUs oria Typical linear TTL and Sin Cos encoders will home repeatability to within one count of resolution when their index mark is used TIP The Torque Level Marker is not available for the Kinetix 6500 drive or Ultra3000 drive with SERCOS There is an Add On Instruction for Home to Torque for the Kinetix 6500 drive that is available in the Sample Code Library under the title CIP Axis Home To Torque AOI Rockwell Automation Publication LX UM001A EN P March 2011 57 Chapter6 Configure and Start Up the LX Series Linear Motor Additional Adjustments for If your linear servo motor has the cooling plate option installed catalog number Co oling Plate Opti on LDC xxxxxx CP follow these steps to adjust Continuous Torque Force Limit 1 Click the Limits tab 2 Set the Continuous Torque Force Limit to reflect the motor cooling configuration For linear motors this field data entry is limited to integer values from 0 150 Cooling Option Used Value No cooling plate 0 100 Cooling plate with forced air 0 120 Cooling pl
62. s for feedback Use 2090 K6CK D15M connector for Kinetix 6000 drives and 2090 K2CK D15M connector for Kinetix 2000 drives under clamp Clamp screw 2 Turn clamp over to hold small cables secure 62 Rockwell Automation Publication LX UM001A EN P March 2011 Interconnect Diagrams Appendix A Figure 16 Wiring Example for Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 Drives and LXxxxxxxxxHxx0x Linear Motor with a Sin Cos Encoder Kinetix 2000 Kinetix 6500 6200 or Kinetix 6000 IAM inverter or AM Module Note 3 LX Series Linear Motor Coil 1 Green Yellow lt Motor Power W jJ W Black W l Three phase MP Connector v 2i MENU V White 2 V GND Motor Power 1 U Red U U mper I Thermal CableShed 1 TS Black or Red lt lt CI i TS Black or Red 25 Or Switch or amp LI Sensor Note 1 Note 3 i d Power Red i NEN 51 White mi 15 f Blue od i 1 4 S3 Orange 1H iri ee lt lt 12 BR Er Hall Effect 13L2H ON at Module 8 Hte Pig Motor Feedback T ESL 05 he MF Connector 2 COS XX k IAM AM Module 3 LLI SIN 1 SN XX 5 UI N IM 0 1 Lo M XX De
63. tenance eer rUPSDeED E ING dw NERVES 18 Motor SLOPE ceu b pa Capvt CAS QUIA cq a datas 18 Chapter 3 lnitrodimeti iiv i I EN NERONE E bad 19 Unpacking and Inispe tienta side ita Siti eas sa be 19 Installing Linear Motor Components eese 20 Required oy svete teres bun tati ue al o edu cmd bim 20 Mount a Single Coil with Multiple Magnet Tracks 20 Mount a Single Coil with a Single Magnet Track 25 Chapter 4 Introduction acd en exo s ti kuk a teg stehe eh teste eue eos s 29 Linear Motor Coll Connectots o EEG 30 Power Connector vtov a 30 Thermal Protection 30 Hall Effect Module Connectors rtr ea b 31 beedbacleC eve RUE e bd dans sash RS Romane ke 31 Thermal Protection 33 even isa etr ede Pa Ro M 33 Rockwell Automation Publication LX UM001A EN P March 2011 3 Table of Contents Wire the LX Series Linear Motor Configure and Start Up the LX Series Linear Motor Interconnect Diagrams Sin Cos Linear Encoder and Kinetix 6000 Drives Chapter 5 Introductionis ecce ATA dut Le RS IU n Connect the Linear Motor Coil 3 525 etos ber ss o es Signal and Wire Definitions for Flying Lead Components Linear Motor Coils re sees c SERO Ehe Seq EE EA Hall Effect Mod l so deos i dn RS
64. uded solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt gt gt IMPORTANT Identifies information that is critical for successful appl
65. ut no more than 20 mm 0 7 in Tighten screws but do not torque them 5 Slide the carriage assembly onto the bearing pucks Rockwell Automation Publication LX UM001A EN P March 2011 25 Chapter3 Install the LX Series Linear Motor There will be resistance from magnetic forces while moving onto the bearing pucks this is normal 6 Attach the carriage assembly to the bearing pucks 1 1 i i 7 Measure the gap between the motor and magnet by using plastic shim stock The gap should be 0 79 1 70 mm 0 031 0 067 in If the gap is too large add a brass or stainless steel shim between the motor and carriage If the gap is too small machine the carriage or place shims under the bearing pucks 26 Rockwell Automation Publication LX UM001A EN P March 2011 Install the LX Series Linear Motor Chapter 3 8 Torque all screws to the values listed in the table securing assemblies in place by using all mounting holes SHCS Torque SHCS Black Oxide Steel Stainless Steel Nem Ibeft Nem Ibeft ATTENTION Remove the alignment tool and make certain all the A magnet track mounting hardware is flush or below the magnet surface to prevent damage to the coil Rockwell Automation Publication LX UM001A EN P March 2011 27 Chapter 3 Notes 28 Install the LX Series Linear Motor Rockwell Automation Publication LX UM001A EN P March 2011 Chapter LX Series Linear Motor Connector
66. utomation terms and abbreviations Rockwell Automation Product Certification Website publication available at www http www ab com For declarations of conformity DoC currently available from Rockwell Automation National Electrical Code Published by the National Fire Protection Association of Boston MA An article on wire sizes and types for grounding electrical equipment Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative Rockwell Automation Publication LX UM001A EN P March 2011 Chapter 1 Safety Considerations Introduction This chapter describes the safety issues encountered while using a linear motor and the precautions you can take to minimize risk Potential hazards discussed here are identified by labels affixed to the device Topic Page Labels 7 High Energy Magnets 9 Vertical or Incline Installation 10 Operational Guidelines 11 Labels Here you will find the safety and identification labels affixed to your linear motor components To prevent injury and damage to the linear motor review the safety label and its details and location before using the linear motor
67. x mark differential IM 5V DC return Mating connector available as Common l part of encoder connector kit Encoder and Hall sensor power 5V DC catalog number LDC ENC CNCT Oo N omy A N Shield drain Rockwell Automation Publication LX UM001A EN P March 2011 33 Chapter 4 Notes 34 LX Series Linear Motor Connector Data Rockwell Automation Publication LX UM001A EN P March 2011 Introduction Connect the Linear Motor Coil Chapter 5 Wire the LX Series Linear Motor This section shows you how to wire your LX Series linear motor Topic Page Connect the Linear Motor Coil 35 Signal and Wire Definitions for Flying Lead Components 37 Making Your Own Extension Cables 39 Mounting and Wiring Two Identical Coils in Tandem 40 LXxxxxxxxx 1 lx Use the following procedure to connect your linear motor catalog number 1 Wire your encoder to the connector by using the Encoder Connector Kit catalog number LDC ENC CNCT and the connector data on page 33 A ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Use the Bulk Head Connector Kit catalog number LDC BULK HD for mounting these connectors Excessive and uneven lateral force at the cable connectors may result in the connector s environmental seal opening and closing as the cable flexes Failure to observe these safety precauti
68. xxxxHxxox Linear Motor with a TTL Encoder Wiring Example for Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 63 Drives and LXxxxxxxxxHxx0x Linear Motor with a Sin Cos Encoder Wiring Example for Ultra3000 Drive and LXxxxxxxxxHxx1x Linear 64 Motor with a TTL Encoder Wiring Example for Ultra3000 Drive and LXxxxxxxxxHxx1x Linear 65 Motor with a Sin Cos Encoder Wiring Example for Ultra3000 Drive and LXxxxxxxxxHxxox Linear 66 Motor with a TTL Encoder Wiring Example for Ultra3000 Drive and LXxxxxxxxxHxxox Linear 67 Motor with a Sin Cos Encoder Wiring Examples These notes apply to the wiring examples on the pages that follow Note Information 1 Use the cable shield clamp to meet CE requirements No external connection to ground is required 1 For motor cable specifications refer to the Kinetix Motion Control Selection Guide publication GMC SG001 2 TS and TS wires are black for LXxxxxxxxxxSxxx motor coils and red for LXxxxxxxxxxT xxx motor coils 3 When using the Sin Cos encoder with Kinetix 6000 drives refer to Appendix B on page 69 Rockwell Automation Publication LX UM001A EN P March 2011 59 Appendix A Interconnect Diagrams Figure 13 Wiring Example for Kinetix 6000 Kinetix 6500 6200 or Kinetix 2000 Drives and LXxxxxxxxxHxx1x Linear Motor with a TTL Encoder Kinetix 2000 Kinetix 6500 LX Ser

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