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TRITEX II DC Series Actuators

1. SPECIFICATIONS CONTACT CARRIER MATERIAL NTLON CONTACT MATERIAL PLATING HOUSING ERIAL PLATING X SHIELD GROUND RATED CURRENT A CONNECTED RATED VOLTAGE V TO HOUSINC S CONDUCTOR INSULATION MATERIAL SCC OUTER JACKET MATERIAL COLOR PVC YELLOW WHITE NUMBER OF CONDUCTORS AWG 4x12 AWG 4x18 AWG BLACK FR EE RE ae OR TEENS CENE Sp ORANCE DRAIN SHIELD 18 AWG FOIL AND TINNED COFPER BRAID RED TEMPERATURE RANGE 40 C to 105 C 40 F to 221 F WHITE BLACK RED BLACK PROTECTION CLASS Il IJ OU uwi E Ho ou M gl TTICO xxx Communications Cable JC Tritex II DC Powered Installation 56 02 29 12 PN 49220 REV B Exlar Corporation Communication Converters When connecting the Tritex RS 485 port to PC a communication converter will typically be required Exlar offers a USB to RS 485 converter with an M8 connector ready to connect to the Tritex port Model CBL T2USB485 M8 xxx This converter is not isolated and is not recommended for permanent installation Caution If another master is on the network such as PLC or HMI this converter must be removed from the RS 485 end Leaving it connected with the USB end unconnected will load down the RS 485 network and not allow it to function CAUTION po not DISCONNECT WHEN CIRCUIT IS LIVE CUSTOMER SUPPLIED PART 2020XXXX Power Supply TTPS1048 Power Supply Introduction The TTPS1048 is an unregulated power supply wit
2. 0 004 0 10 00 025 15 67 P54 IP65 2 Stack 2B8 50 5000 503 2237 829 3688 8 33 241 6 251 1117 415 1846 16 67 423 4 126 560 207 921 33 33 846 6 215 3 75 6 150 10 i254 12 300 8 5 4 hs 3 in stroke 1 stack add 1 Ih per inch of stroke add 3 lbs per stack add 3 Ins for brake kg 1 8 kg 75 mm stroke 1 stack add 0 5 kg per 25 mm of stroke add 1 4 kg per stroke add 1 4 kg for brake 14 5 3 Stack 3B8 40 4000 N A N A N A 327 1455 465 2068 13 33 538 6 163 725 232 1032 26 67 677 4 21 5 15 TDM X075 Linear Actuator Performance Specifications Backlash in mm Lead Accuracy Maximum Radial Load Environmental Rating Std Lead Continuous Stall Force 0 1 Peak Stall Force Max Speed 48 VDC Continuous Stall Force 0 2 Peak Stall Force Max Speed 48 VDC Continuous Stall Force 0 5 Peak Stall Force Max Speed 48 VDC Drive Current Continuous Stall Force Available Stroke Lengths in mm Approximate Weight Maximum Continuous Power Supply Current Power supply current is based on software current limit not thermal limit Consideration for peak current should also be considered when sizing power supplies Rating based on 40 C ambient conditions Tritex II DC Powered Installation PN 49220 REV B in ft mm 300 mm k Stator RPM amp 48 VDC Ibf N Ibf N in sec mm sec Ibf N Ibf N in sec mm sec Ibf N I
3. Its main use is for power conditioning and distribution especially where multiple Tritex II DC units have a common power supply and or shunt regulator Features are as follows e Dual input power connections for daisy chain connection of main power and logic power to multiple drives e Additional ground PE distribution with dual terminals on supply side e Blocking diode with removable bypass link e Inductor and additional bus capacitance to reduce ripple current at power supply e Main power fuse e Side by side terminals for all four drive power cable conductors e Shunt blocking diode with removeable bypass link e Dual terminals for daisy chain connection of shunt to multiple drives e Quick connect main power terminals capable of handling 10 AWG 4 mm wire e Din rail or flat panel mounting Configuration J1 six power terminals and J2 two signal ternminals on the left side connect to the power source All have dual terminals for daisy chain connection of multiple devices They are Pwr Pwr PE at J1 and Logic Pwr at J2 Maximum current at Pwr is 30A with current limit or fuse protection at the source Logic Pwr should be fused at 2A at its source which may be from the Same power supply or a separate one J3 six power terminals on the right side connect to the Tritex Il DC as BusPwr PwrCom Logic Pwr and PE The other two terminals are for daisy chain connection to the positive side of a shunt regulator
4. RX Receive RX M12 4 D M12 4 D Coded Coded M12 D coded straight through cord set Conversion from M12 D coded to 8 way modular straight through cord set Shielded or Unshielded Cables The Tritex can be used with either shielded or un shielded Ethernet cables If a shielded cable is used it is important that the shield is not connected at the Tritex M12 end of the cable Off the shelf shielded Ethernet cables with M12 connectors usually connect the shield through the M12 connector coupling nut be sure the shied is not connected to the Tritex end of the coupling nut The Tritex M12 connector is in direct contact with the enclosure which is connected directly to PE Typically the shield should be connected to PE at the switch or hub end only Connecting the shield at both ends can cause ground loop noise on the shield which can degrade communication performance For more details on the installation of an Industrial Ethernet network download the EtherNet IP Media Planning and Installation Manual found in the EtherNetlP library at www ODVA org ed Tritex II DC Powered Installation 45 02 29 12 PN 49220 REV B Exlar Corporation EMC Considerations Tritex actuators are designed not to create or be affected by electromagnetic interference in most applications Under extreme conditions there may be unwanted electromagnetic interaction between the Tritex actuator and other equipment It is the responsibility of the inst
5. DC Supply Power Cable Shield 24 48 V 4 Power Logic _ ES oE Ka I O Power Supply 24 V Other PE Equipment GND Grounding Diagram 30 02 20 12 Exlar Corporation Power Supply Connections Power Connector pin out M23 Connectors or P Connector option Pin for I or P Wire Color for B Connection connector option option and TTIPC cable Front view or B Bus Power 12 48 VDC Brown KEE Black Outer Yellow Outer connector option Jacket Jacket or Rie s Re Battery connection for Remote Abs Pos Absolute feedback Only with AF option and remote mount battery backup typically only with connector option Power Connections on Terminal board 75mm and 90 mm Terminal Minimum Wire Label for Nor G Ga Bus Power 12 48VDC Bust 12 COMMON Logic Power 12 T LOGIC T Tritex H DC Powered Installation 31 02 29 12 PN 49220 REV B Exlar Corporation Tritex Input and Output VViring Input Output Connections with M23 connectors 19 pin I O connector for or P connector options Pin for I or Wire Color code TTIOC Front view Il or B p cable connector option connector and B connector option ege FUNCTION White Yellow White Red 3 4 White Black 5 T NPUS5 5 Red Black NPUT6 7 Red Green NPU7 8 RedYelw NPUB Bei Fiela VO Power 24v 6 fei OUTPUT2 12 Note for IA4 option Inputs 5 6 7 amp 8 and O
6. The foregoing warranty shall also apply to products or parts which have been repaired or replaced pursuant to such warranty and within the period of time in accordance with Seller s stated warranty No person including any agent or representative of Exlar is authorized to make any representation or warranty on behalf of Exlar concerning any products manufactured by Exlar except to refer purchasers to this warranty Tritex II DC Powered Installation 2 02 29 12 PN 49220 REV B Exlar Corporation Table of Contents SAFETY CONSIDERATIONS EE 5 CSA En dE Re e EEN 7 EU Declaration of Conformity for CE Mark ccscsscsccsccsccccsccsccccnccsccccsccsceccnccsceccnccnceccscscescnccscescnccscescescscesceees 8 TRITEX PRODUCT OVERVIEW csmitesmnttmetmeennn tam sttmimeimes nn nt mates stttmeime en ns ts 9 System overview shown with SIO Ethernet Option Board ccssccsssccsssccsssccesccnscscnscccessececsecesesecsecessesesees 10 MICE ed CH 11 60mm frame top exiting connections shown with 90 deg M23 connectors eere eene eee eene nnns 11 General SDeciliCat DES ieitenisa i abornioEdeU 105 5DUPIS ODREVIS ENDE FII Ex NAE P DUM TNR ISSN FRI OT MEER UM PIER DUE 12 lara dE CN 13 TDM TDX075 Specifications eene 13 REISEN 14 RDM RDG090 Ted e EE 15 Extended Temperature De ratinp EHENEeugeee gege ee eebe eege MER LER RE TAN EN PIN EU 16 INSTALLATION RE 17 Mechanical Installati n E 17 KODICILO re rc tee csc ec ec ks onc S Ne
7. 644 321 DIM 1 Stack Stalor 2 Stack Stator 3 Stack Stator DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator 2 Stage Gearhead 2 Stage Gearhead 2 Stage Gearhead 2 Stage Gearhead 2 Stage Gearhead 2 Stage Gearhead A 10 479 266 11 729 298 12 979 830 A 11 189 284 12 439 316 13 680 348 Tritex II DC Powered Installation 21 02 29 12 PN 49220 REV B Exlar Corporation RDMO090 Dimensions T475 18mmf h amp 3 1492 31485 fire op 03 04B 0 100 0 M 212 MPT G M20 x 1 5 Without Brake Option With Brake Option DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator A 7 80 195 3 8 60 220 7 9 69 246 1 A 9 0 228 6 10 00 254 0 11 00 279 4 RDGO090 Dimensions N NE NPT UG M20x13 3385 3 1402 i ai 4485 57 ooo Sne Without Brake Option With Brake Option DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator 1 Stage Gearhead 1 Stage Gearhead 1 Stage Gearhead 1 Stage Gearhead 1 Stage Gearhead 1 Stage Gearhead A 10 80 274 3 11 80 299 7 1280 325 1 A 12 13 308 1 13 11 333 0 14 11 358 4 DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator 2 Stage Gearhead 2 Stage Gearhead 2 Stage Gearhead 2 Stage Gearhead 2 Stage Gearhead 2 Stage Gearhead A 12 06 306 3 13 06 331 7 14 06 357 1 A 13 37 339 6 14 37 365 0 15 37 380 4 Tritex II DC Po
8. IA4 option also includes four isolated digital inputs and 3 isolated digital outputs this is a reduction from the 8 inputs and 4 outputs available on the standard LO board The 4 20mA input is a 2 wire circuit A small amount of power from 4 20mA signal is used to generate the internal power supplies needed for the isolation of the input section This allows the input to float with the Transmitter or loop power supply without inference from the other Actuator grounds or commons The power supply starts up when the input reaches 3mA When the 4 20mA loop is unpowered the software reads an off scale high value that should be configured to indicate a Loss of Signal condition 4 20mA input connection Tritex IA4 SSS SS SSS cles Option External Controller or Transmitter 4 20mA Output 24VV 4 20mA Input elg To CPU 24V Com EEN us i Connection to High Side Controller EC eee Ee El Tritex IA4 Option External Controller I I 4 20mA Output I vv 420m input H iz i i AID HS i To CPU l Converter ig d i i I 24V Com Connection to Low Side Controller Tritex II DC Powered Installation 42 02 29 12 PN 49220 REV B Exlar Corporation 4 20mA Input specifications Input Range 2mA to 22mA Loss of Signal condition 2 0mA Voltage drop at 20mA 11V typ Input Resolution 214 bits over 4 20mA range 4 20mA Output The 4 20mA output is a 2 w
9. II DC Powered Installation 23 02 29 12 PN 49220 REV B Exlar Corporation current Peak loads and regen will depend on the application Ripple current can adversely affect some power supplies Note This section does not pertain to an I O or Holding Brake Power Supply The I O supplies have different limits and it is often inappropriate to use the same supply for all See section on I O Supply Power supply sizing for motion is based mainly on maximum mechanical power delivered to the load which is force times velocity for linear or torque times angular velocity for rotary The power supply has to provide this power which is rated voltage times maximum current plus about 20 to cover losses Either regulated or unregulated power supplies can be used for the bus and logic power Different considerations pertain to each type and each has advantages and disadvantages Exlar offers a 48V unregulated supply rated at 10 amps continuous output TTPS1048 see Accessories section It can deliver about 450W continuous output power Due to its higher output voltage at light load it may be necessary to connect to a higher voltage tap such as the 132V tap for 120V operation This supply requires an external fuse in the AC input Unregulated AC DC Power Supplies Tritex Il DC operates well from a transformer isolated unregulated DC power supply This type of supply should be sized and connected such that the maximum output voltage under high line a
10. San seient Su Oa oS 34 Digital IHDUES ee ee re eae cn ates A ree ci etapa coral ee eee 34 Act ator Brake ODUON WEE 36 Analog Eeer ee 37 Analog EIERE 37 Berl ue Ui te en CN 39 Meeffe e CN 40 IA4 Option rd 42 AF Option Absolute Tei EE 44 Ethernet Options EIP TCP or Profinet cccccccesecccccssecccesecccsesececeuseceeeueecesseneceseuseceseueceeseneceeseuseseseuecetsenecets 45 EMC Considerations oet aen s veta este O EDISON oS eel me UM Esto Sta HESS I DIOE 46 TROUBLESHOOTING PROCEDURES euer 47 Maintenance Procedures for Roller Screw Re Greasing e c eee eee eee eene eene enne tense eher eese stereo sete eo en 48 BIS ASSEMMONY E E DID LLLI LLL UU TIT 48 L bricatiom EN Leg ae tel EE 49 Grease REMC W EE 49 RE GS SEM al 50 Maintenance Procedures for Complete Re Greasing ccccsccscsccsccsccccsccsccccnccsceccsccsccccsccsceccnccncescnscscescncescccnes 51 BIG e EE 51 Lubrication EN ae Ce EE 52 ee sis nenes tu deed 52 KEE 53 ACCESSORIES iuditio hn FEES cor iots situ secs ecaeeususaswansnadanoueie Disttsiit semi 55 El 55 RS ale Ee 55 EUREC SOC POWE 8 0 PE corr 56 TTICO xxx Communications Cable esses eene nennen nnns tese saee tesa e esent esses ens 56 Communication ConVerters eoe e ERN eege ERES CU Nux E EP ERR ONT OS Une SET ERR Ee ege ege 57 Power SUDDIV cetacis 57 VIPSIOMS Power Supply INEFOC
11. The negative side of the shunt regulator connects to the open PwrCom terminal on the left side The red wire labelled Power Link from J5 to J6 connects Pwr to BusPwr through fuse F1 If a blocking diode is required to prevent regen power from flowing back to the power supply the Power Link can be clipped out at J5 and J6 which then allows the internal blocking diode to operate Re installing a link is possible but obviously much more difficult The blue wire labelled Shunt Link from J7 to J8 bypasses a steering diode to the shunt regulator If the shunt regulator serves multiple drives the Shunt Link should be clipped out at J7 and J8 on each Power Distribution and Surge Filter device connected to the shunt regulator If there is only one drive connected to the shunt regulator the Shunt Link should be left in place to get full benefit from the capacitance at the TTSR1shunt regulator Tritex II DC Powered Installation 61 02 29 12 PN 49220 REV B Exlar Corporation The device comes vvith mounting feet for top hat or G style DIN rails and panel mounting ears When mounting to a panel the DIN rail feet can be clipped or cut off without dis assembling the device Specifications Fuse 20A Bussmann type ABC or equivalent with recommended 12 AWG cable to drive Inductance for ripple current reduction 15 uH Maximum Current for daisy chain distribution 30A Size 4 25 wide x 4 5 long along rail x 3 deep with rail feet inche
12. gland off Pry spots are located on each side of the gland to aid in removal 4 When the seal gland is removed the open end of the roller screw internally threaded cylinder ITC is visible The roller screw can be removed by turning it counter clockwise and threading it out of the cylinder It may be necessary to keep the roller screw cylinder from turning to remove the screw Tritex H DC Powered Installation 48 02 29 12 PN 49220 REV B Exlar Corporation Lubrication Maintenance Exlar recommends using Mobilith SHC 220 a high performance extreme pressure grease Grease lubricated units will require periodic inspection and renewal of the roller screw grease The table below shows the recommended grease renewal period RMS rotational Recommended Grease Renewal Period hours speed RPM CASE TEMP 65 C 149 F CASE TEMP 80 C 176 F 10 000 5 000 8 500 4 250 1000 6 000 3 000 1500 3 500 1 750 Grease Renewal The angular contact thrust bearings located in the front of the actuator the roller screw cylinder and the roller screw assembly are the components that require grease They require a coating of grease They do not need to be packed with grease Excess grease requires more torque from the motor when returned to operation and does not improve the lubrication of the unit Tritex II DC Powered Installation 49 02 29 12 PN 49220 REV B Exlar Corporation 1 Use a brush to work approximately 0 5 in of grease for e
13. product s has been improperly stored installed used or maintained or if Buyer has permitted any unauthorized modifications adjustments and or repairs to such product s Seller s obligation hereunder is limited solely to repairing or replacing at its opinion at the factory any product s or parts thereof which prove to Seller s satisfaction to be defective as a result of defective materials or workmanship and within the period of time in accordance with the Seller s stated product warranty see Terms and Conditions at www exlar com provided however that written notice of claimed defects shall have been given to Exlar within thirty 30 days from the date of any such defect is first discovered The product s claimed to be defective must be returned to Exlar transportation prepaid by Buyer with written specification of the claimed defect Evidence acceptable to Exlar must be furnished that the claimed defects were not caused by misuse abuse or neglect by anyone other than Exlar Components such as seals wipers bearings brakes bushings gears splines and roller screw parts are considered wear parts and must be inspected and serviced on a regular basis Any damage caused by failure to properly lubricate Exlar products and or to replace wear parts at appropriate times is not covered by this warranty Uses of components under load to the extent of their expected life according to typical ratings are not covered by this warranty Any dam
14. should be installed to protect the power supply See Power Supply Wiring Diagrams section below Regenerative energy due to deceleration spring action or gravity on the mechanical load will increase bus voltage and attempt to drive energy backward into a power supply Regulated supplies may trip on overvoltage or recover slowly after being out of regulaton causing a dip in output voltage at the end of a regen event It may be necessary to use a blocking diode to allow the bus voltage at the drive to rise above normal supply voltage without any reverse current Exlar offers a Power Distribution and Surge Filter assembly that includes a blocking diode TDCESF1 see Accessories section See the section below on Handling Regen Energy Another aspect of BLDC drive loads is that it tends to take pulses of current at twice internal switching frequency creating high ripple current Some regulated supplies may not be able to tolerate high ripple current depending on the final filter capacitors The Power Distribution and Surge Filter assembly includes a small inductor that reduces ripple current The blocking diode if used also reduces ripple current Power wiring or power cables more than 30 ft 10 m long provide enough impedance to reduce ripple current as well Contact Exlar applications support for additional information Power from Battery Systems Tritex Il DC is designed to be powered directly from 12V and 24V lead acid batteries in vehicles Rege
15. the battery and unplug the harness from the 2 pin connector Replacement assembly is Exlar PN 42712 Replacement with any other battery will violate UL and CSA certification For 60 mm actuators there is no removable cover the battery is mounted remotely The replacement battery only is Exlar PN Travel limitations The counter has a range of 4096 motor revolutions therefore the actuator must operate within this range and if the actuator is moved beyond this limit a home position must be re established Speed limitations When power is off and the counter is under battery backup the maximum rom the counter can track is 2100 rpm Tritex II DC Powered Installation 44 02 29 12 PN 49220 REV B Exlar Corporation Ethernet Options EIP TCP or ProfiNet The Ethernet Option provides an Ethernet rated M12 connector for connection to the Network at the rear of the actuator An IP 67 4 pole M12 D coded connector is used this type of connector must only be used with 2 pair cables When the Ethernet connection is made via an Ethernet switch or hub a straight though cable set must be used If there is a single node connection direct from the Ethernet PC PLC to the Tritex then a crossover cable may be required Some PC Ethernet cards have capability to detect a crossover connection See Expert Software section for setup of Tritex Ethernet parameters Cord sets Pin Signal Name E 1 Transmit TX 2 Transmit TX 3 Receive
16. the motor to a an abrupt stop and engage the brake then after a 3 sec delay the drive will be disabled Brake Release Active status can be assigned to an output the brake can be manually released overriding the drives control of the brake by assigning the Brake override Input function to an Input See l O Assignment section of the Software In some cases it may be required to release the brake without DC motor power applied in this case 24 V volts must be supplied to brake 24V as well as the logic 24 power supply for the Brake override input to function Field I O 24 Customer interlocks Field UO Comm Brake connections Tritex II DC Powered Installation 36 02 29 12 PN 49220 REV B Exlar Corporation Analog Input An analog input is provided for use as a position velocity or current command Differential input range is 10V to 10V Input range on Analog IN is 15V to 15V with respect to BUS Input range of Analog IN is 15V to 12V with respect to BUS Due to voltage drop in the wiring to BUS the analog signal must be wired differentially with a return wire to the analog signal source See software section for configuration of the analog input and analog positioning parameters External Controller Single Point Panel Ground Ground on Power Connector Single Point Panel Ground Analog input wiring from voltage or current control external controller Note Analog input reference from an external cont
17. the power resistor The shunt regulator automatically turns the power resistor on and off as necessary to regulate the voltage sometimes up to several hundred Hertz Description The TTSR1 shunt regulator is designed to work with four quadrant regenerative servo amplifiers During braking most of the stored mechanical energy is fed back into the power supply which charges the output capacitor to a higher voltage If the charge reaches the amplifiers over voltage shutdown point motor control and braking will cease To ensure smooth braking of large inertial loads with use of a shunt regulator is recommended If the Tritex indicates an overvoltage fault there is an need for a shunt regulator This regulator is designed to operate with power supplies that can gt 75 Volts without damage or shutdown typically and unregulated supply Operation When the DC bus reaches the shunt voltage of 77V the voltage comparator unit turns on the electronic switch which connects the R1 power resistor across the DC bus This power resistor dissipates the energy from the DC bus After the bus voltage is reduced to less than the shunt voltage setting the resistor is disconnected from the bus A small hysteresis loop allows time between switching If the voltage goes above 85V the Tritex will trip on a High Bus Voltage fault and disable the drive See Faults section Specifications Fuse 3A motor delay rated 250 VAC Filter Capacitance 1200 uF Dissipatio
18. top exiting connections shown with 90 deg M23 connectors Communications Connector Field wiring access M23 I O I 4 connector M23 Power connector Ethernet Optional 75 amp 90 mm frame rear exiting connectors shown with M23 connectors Tritex H DC Powered Installation 11 02 29 12 PN 49220 REV B Exlar Corporation General Specifications Drive Specification for all Tritex II DC Models with embedded drives Embedded Drive Specifications Input Voltage 12 24VDC nominal for CSA certified installation Bus and Logic 12 48VDC nominal for general use Internal logic remains active with Bus or Logic power at 9V min 12 24V nominal 30V max 9V min Supply Models with brakes require 24V 10 for brake operation es a ee Las Options Digital Inputs BEEN Opto isolated 0 5V or 0 2mA OFF 8 30V or 3mA ON programmable functions Digital Outputs 4 3 Opto isolated 1V max ON state voltage drop 100mA max continuous load short circuit amp overload protect programmable functions Analog Input 10V differential input Isolated 4 20 mA with Programmable as position 13 bit resolution 214 bit resolution velocity or torque command ext power 12V max drop 22mA Analog Output 0 10V 11 bit resolution Isolated 4 20 ma 12 bit Programmable functions resolution ext power OV lift off 21mA Serial Interface RS 485 Modbus RTU protocol max baud rate 38 4k Isolated Sinusoidal 10kHz PWM 0 001 revolu
19. 1 5 TDM X075 Front Rear or Front and Rear Flange Mount POWER AND I O I M N 1 2 NPT G M20 1 5 3inch 75 mm 6inch 150 mm 10inch 250mm 12 inch 300 mm 14 inch 350 mm 18 inch 450 mm DIM stroke in mm stroke ln mm stroke in mm stroke in mm stroke in mm stroke in mm A 10 45 265 4 1345 341 6 17 45 443 2 19 45 494 0 21 45 544 8 25 45 646 4 B 5 62 142 8 862 218 0 12 2 320 6 14 62 371 4 16 62 422 2 20 62 523 8 C 3 00 76 2 8 00 203 2 10 00 254 0 12 00 304 8 14 00 355 6 18 00 457 2 D 11 87 8015 1487 377 7 18 87 479 3 20 87 530 1 29 87 580 9 26 87 682 5 Note Add 1 61 inches to dimensions B and D if ordering a brake Tritex II DC Powered Installation 20 02 20 12 PN 49220 REV B Exlar Corporation RDMO60 Dimensions p pnz Without Brake Option With Brake Option DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator A 7 146 185 1 8 396 213 3 9 646 245 0 A 7 856 199 5 9 106 231 3 10 356 263 0 RDGO060 Dimensions GK 1 mmi jai a 1 6681 1 6675 m2 758 0 Eommig ll Without Brake Option With Brake Option DIM 1 Stack Stalor 2 Stack Stator 3 Stack Stator DIM 1 Stack Stator 2 Stack Stator 3 Stack Stator 1 Stage Gearhead 1 Stage Gearhead 1 Stage Gearhead 1 Stage Gearhead 15tage Gearhead 1 Stage Gearhead A 9 434 240 10 684 271 11 934 303 A 10 144 258 11 304 289 12
20. 9 65 a B 240 gd 360 H E 89 J 5 62 142 75 d Ex K 2 500 63 50 be L 1 565 3g oz Tritex II DC Powered Installation 58 02 29 12 PN 49220 REV B Exlar Corporation Shunt Regulator TISR1 Shunt Regulator Option Transient over voltage problems are quickly solved using shunt regulators that clamp regeneration voltage to safe levels These simple devices can increase system reliability by stabilizing voltage fluctuations and eliminate over voltage shutdowns The purpose of a shunt regulator is to burn off excess regeneration energy that is produced when a drive brings a large load to a stop Mechanical braking systems use friction to stop a load and convert kinetic energy into heat Servo drives on the other hand are very efficient power converters typically over 98 They convert electrical energy from the motor to the power supply just as efficiently as when they convert energy from the power supply to the motor During a rapid deceleration or the deceleration of a large load enough excess energy can be transferred to shut down the drive or damage the power supply A shunt regulator clamps the power supply voltage to a set level and prevents unexpected shutdown or damage It monitors the power supply voltage and if the voltage exceeds the set limit the shunt regulator bleeds oft the extra voltage through a power resistor The shunt regulator is only active when the voltage exceeds the set level otherwise no current passes through
21. O voltage under the 30 Volt limit Notice there is no external diode isolating the power supply from the Bus voltage For this example set the User Overvoltage Fault Limit to 33 V The Tritex shunt regulator will attempt to limit the Bus Voltage to 30 Volts 90 of 33V to protect the power supply from overvoltage faults amp shutdowns and the I O from overvoltage If the regen energy is too large the shunt regulator will turn off to protect itself and a high bus voltage fault will occur at 33 V disabling the drive and protecting the power supply and l O circuits Fuse 24V DC Fuse AC Input Regulated Power Supply Power Power Common Connector GND Field I O Common I O Fuse Connector Unregulated supplies often have very large capacitors that can store regen energy if allowed to be backdriven This characteristic can be used in conjunction with the internal shunt resistor and regulator The shunt operating point is set to the working voltage of the capacitors Regen energy is stored in the capacitor until its voltage rises to the shunt operating point Then the internal shunt accepts up to 10 J of additional energy Tritex II DC Powered Installation 26 02 29 12 PN 49220 REV B Exlar Corporation Handling Regen Energy External Shunt Resistor and Regulator For applications lowering vertical loads or decelerating a large inertia or working to hold back some force regen energy will exceed the ability of the internal
22. OCO I0 AU Unused ml BO OOOOOO00 I 4Q Input XI EO BEER EEE MI O AU Unused BC EENHNNHENN C TI Input 8 ol BE OI 75 4 Brake U Unused Bo J5 Brake U Shield PD o gO 1 0 Common Shield esi mo 1 0 Common Shield PE GI MO Shield Pb o MEO SIO and Ethernet Option IA4 Option UO Power Supply The digital inputs and outputs are optically isolated from the other power supplies If it is desired to maintain this isolation a separate power supply must be used with an output within the range of 10V to 30V DC Tritex II DC Powered Installation 33 02 29 12 PN 49220 REV B Exlar Corporation Two Power Supply Configuration Fuse E Stop Fuse 12 to 48 V DC Fuse Power AC Input Power Supply Connector Power Common GND 12 to 24 DC Regulated T Field I O Power AC Input I O Power Supply O Connector Field I O GND 2 power supply configuration maintaining I O Isolation Single Power Supply Configuration For applications not requiring I O isolation a single power supply can be used however the supply must be a regulated to 30 V or less CAUTION The single power supply configuration cannot be used when bus power supply is greater than 30V When a single power supply configuration is used A for bus power and I O power a blocking diode must be added to prevent the I O voltage from rising above 30V due to regen energy Fuse E Stop Fuse 24V DC Fuse Regulated RC p
23. REV B Exlar Corporation Troubleshooting Procedures This section provides you vvith guidelines and hints on troubleshooting various problems that may be encountered during installation and operation of your Tritex Series actuator Symptom Trouble Possible Cause Troubleshooting Procedure No response from actuator 1 Check drive for faults that may indicate problem via I O or Expert software 2 Check to insure that drive is powered and enabled 3 Check for proper wiring Actuator seems to be 1 Drive may be improperly tuned Check all gain settings enabled receiving current 2 Check for load irregularities or excess compliance but is not operating or is operating erratically Actuator cannot move load 1 Load is too large for the capacity of the actuator or too much friction is present 2 Excessive side load 3 Misalignment of output rod to load 4 Current limit in drive is set too low 5 Power supply has too low of current capacity Actuator housing moves or 1 Check actuator mounting Insure that the actuator is vibrates when shaft is in securely mounted motion 2 Drive is improperly tuned wrong gain settings Output rod rotates during 1 Install Exlar anti rotation assembly or incorporate anti motion and thus does not rotation into the application provide proper linear motion Actuator is overheating 1 Insufficient cooling for application requirements Contact Exlar engineering 2 Ambient temperature is too hi
24. T FATE TRITEX II DC Series Actuators Models TDM TDX 60 amp 75 RDM RDG 60 amp 90 48V DC LINEAR amp ROTARY ACTUATOR INSTALLATION SERVICE MANUAL Lei C EtherNet IP conformance tested 163694 Information furnished by Exlar Corporation is believed to be accurate and reliable However no responsibility is assumed by Exlar Corporation for its use Exlar reserves the right to change the design and operation of the equipment described herein and any associated motion products that may appear in this document Information in this document pertaining to equipment not furnished by Exlar should be confirmed by that equipment manufacturer Exlar assumes no responsibility for changes to information by other manufacturers or errors in that information or the description of that information Information in this document is subject to change without notice Tritex II DC Powered Installation 1 02 29 12 PN 49220 REV B Exlar Corporation Warranty and Limitation of Liability Exlar warrants its product s to the original purchaser and in the case of original equipment manufacturers to their original customer to be free from defects in material and workmanship and to be made in accordance with Exlar s specifications for the product s as published at the time of purchase unless otherwise agreed to in writing by an authorized Exlar representative In no event however shall Exlar be liable or have any responsibility under such warranty if the
25. UCTION EE 57 SEENEN 59 TISRL SHONE RES UTON OD ON E 59 Power Distribution and KETTEN 61 TDCESF1 Power Distribution and Surge Filter Accessory ssssccccccsssececceceeseccccceeeceeseeaseceesseueaseeessaeaeecessageeeeeees 61 Tritex II DC Powered Installation 4 02 29 12 PN 49220 REV B Exlar Corporation Safety Considerations VVARNING CAUTION VVARNING VVARNING VVARNING A As with any electro mechanical device safety must be considered during the installation and operation of your Tritex Series actuator Throughout this manual you will see paragraphs marked with CAUTION and WARNING signs as shown below Warning indicates the information following is essential to avoiding a safety hazard Caution indicates the information following is necessary for avoiding a risk of damage to the product or other equipment General Failure to follow safe installation guidelines can cause death or serious injury The voltages used in the product can cause severe electric shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to the product The installation must comply with all relevant safety legislation in the country of use The forces created by actuator could be lethal or cause severe injury if proper protection is not provided to keep personnel away from moving components System Design and safety for personnel The actuator is intended as a component for p
26. aches the bottom it will become difficult to turn and the motor and bearings will begin to rotate with it The roller screw is now fully inserted into the cylinder 2 Place a small amount of seal lubricant on the inside surface of the seal bushing assembly 3 Carefully slide the bushing seal assembly over the actuator rod end The seal is a tight fit on the rod end Take care not to damage the seal on the threads of the extending rod Standard TLM Series rods have a chamfer to provide a lead in for replacement of the seal and bushing The mounting screws should have a low or medium strength thread locker added such as Loctite 222MS The mounting screws torque values are as follows Tritex 60 amp 75 10 in lbs 0 83 Ibf ft 1 13 N m 4 If your actuator has an external anti rotate mechanism slide the rod or rods of the anti rotate mechanism through the front flange and into the guide bushing or bushings mounted to the rear of the flange Position the extending rod so that the wrench flats are parallel to the long side of the flange Slide the cross member assembly of the anti rotate mechanism over the end of the rod and onto the wrench flats Tighten the two screws that clamp the assembly to the actuator rod Tritex II DC Powered Installation 50 02 29 12 PN 49220 REV B Exlar Corporation Maintenance Procedures for Complete Re Greasing Disassembly Refer to the exploded view on the following page 1 Remove the actuator assem
27. age due to excessive loading is not covered by this warranty Costs for shipment of units returned to the factory for warranty repairs are the responsibility of the customer Exlar will return ship all warranty repairs or replacements via UPS Ground at no cost to the customer For international customers Exlar will return ship warranty repairs or replacements via UPS Expedited Service and cover the associated shipping costs Any VAT or local country taxes are the responsibility of the customer The foregoing warranty is in lieu of all other warranties except as Title whether expressed or implied including without limitation any warranty of merchantability or of fitness for any particular purpose other than as expressly set forth and to the extent specified herein and is in lieu of all other obligations or liabilities on the part of Exlar Seller s maximum liability with respect to these terms and conditions and any resulting sale arising from any cause whatsoever including without limitation breach of contract or negligence shall not exceed the price specified herein of the product s giving rise to the claim and in no event shall Exlar be liable under this warranty otherwise for special incidental or consequential damages whether similar or dissimilar of any nature arising or resulting from the purchase installation removal repair operation use or breakdown of the product s or any other cause whatsoever including negligence
28. al components of the actuator Tritex II DC Powered Installation 17 02 29 12 PN 49220 REV B Exlar Corporation Cable Routing Over time liquid contaminants such as oil and cleaning solutions will run down the cables and into any exposed connectors To minimize the introduction of contaminants to the connector route the cables so that there is a loop in the cable just prior to its attachment to the connector Two examples are shown below depending on the orientation of the connectors Units mounted in such a way that the connectors are on the bottom surface of the actuator require no looping y O I wy NA Hy Top Mount Side Mount Loop Loop Cables should be supported approximately every 12 inches 30 cm and arranged to avoid pull on the connectors Standard cables are intended for fixed installation only and are not flex duty rated Care should be taken in routing to minimize flex or twist in the cable on clevis and trunion mounted actuators As long as cables are shielded cables may be routed side by side Standard cables offered by Exlar are shielded Power cable routing length should be minimized if over 30 feet 9 m long due to voltage drop Tritex II DC Powered Installation 18 02 29 12 PN 49220 REV B Exlar Corporation Dimensions TDM X060 Double Side Mount or Extended Tie Rod Mount Single Si
29. aller to ensure that the complete system meets all relevant EMC electromagnetic compatibility emission and immunity requirements Tritex Embedded drives are designed to be IEC EN 61800 3 2004 08 compliant when using shielded cables Some installations may require an external filter See section on TDCESF1 accessory General EMC guidelines that should be followed when installing and designing a system include e House all components in conductive enclosures e Connect components using shielded cables grounded to the component enclosures see figure on next page e Ground components using the single point grounding scheme described in the Grounding section of this manual e When necessary remove paint from mating surfaces that may prevent a good ground connection from being made e Make ground connections as short as possible and use flat braided cable when available to create low impedance ground connections e Keep cable runs as short as possible and power and signal cables as far apart as possible only crossing them at right angles as described in the Cable Routing section of this manual RS 485 8 PC Kg Converter PS Power Supply Connect Power Cable Shield to Tritex Enclosure and Power Supply Enclosure I Connect I O Cable Shield to Tritex Enclosure Connect RS 485 Cable Shield to Tritex Enclosure Tritex Actuator a Cable Shield Grounding Example Tritex II DC Powered Installation 46 02 29 12 PN 49220
30. bf N in sec mm sec Amps 1 Stack 1B8 30 3000 653 2905 1106 4920 5 00 127 327 1455 553 2460 10 00 254 131 683 221 83 25 00 i635 18 5 0 004 0 10 001 025 15 67 IP54 IP65 2 Slack 2B8 30 3000 955 4248 1307 5814 5 00 127 478 2126 653 2905 10 00 254 191 850 261 1161 25 00 635 22 5 3 75 6 150 10 254 12 300 14 355 18 450 11 Ibs 3 in stroke acd 1 Ib per inch of strecke add 3 lbs per stack add 3 Ibs for brake 3 Stack 3B8 20 2000 N A N A N A 754 3354 1030 4582 6 67 169 4 302 1343 412 1833 16 67 423 4 22 5 q 5 mm stroke 1 stack add U 5 kg per 25 mm ot stroke add 1 4 kg per stroke add 1 4 kg tor brake Amps 1 Steck 11 2 Stack 18 3 Stack 18 02 29 12 Exlar Corporation RDM RDGO060 Specifications RDMO060 Rotary Motor Torque and Speed Ratings Stator RPM at 48 VDC Continuous Stall Torque Ihf4n Nm Peak Stall Torque Ibn Nm Drive Current amp Continuous Stall Force Amps Maximum Continuous Power Supply Current Amps 1 Stack 1B8 50 5000 7 3 0 82 14 1 58 14 75 H 2 Stack 2B8 50 5000 10 143 15 1 69 21 5 11 Power supply current is based on software current limit not thermal limit Consideration for peak current should also be considered when sizng power supplies For output torque of RDG gearmotors multiply by ratio and efficiency Please note maximum allowable output torqu
31. bf in Nm 2000 RPM Ibf in Nm RDG090 004 44 2078 234 8 600 67 8 552 62 4 504 56 9 RDG090 005 54 1798 203 1 715 87 6 714 80 7 652 73 7 RDG090 010 104 1126 127 2 890 100 6 20 92 7 750 84 7 RDG090 016 164 2078 234 8 012 103 4 30 94 7 763 86 2 RDG090 020 20 2078 234 8 980 110 7 900 101 7 820 92 6 RDG090 025 254 1798 203 1 1250 141 2 1150 130 1050 118 6 RDG090 040 40 1 2078 234 8 1200 135 6 1107 125 1013 114 4 RDG090 050 50 1798 203 1 1550 169 4 1434 162 1317 148 8 RDG090 100 100 1 1126 127 2 1100 124 3 1100 124 3 1100 124 3 Two torque ratings for the RNG gaarmotors are given in the table ahove The left hand columns give the maximum peak allowable output torque for the indicated ratios of each size RDG gearmotor This is not the rated output torque of the motor multiplied by the ratio of the reducer It is possible to select a configuration of the motor selection and gear ratio such that the rated motor torque multiplied by the gear ratio exceeds these ratings It is the responsibility of the user to ensure that the settings of the system do not allow these values to be exceeded The right hand columns give the output torque at the indicated speed which will result in 10 000 hour life L10 The setup of the system will determine the actual output torque and speed RDG090 Gearing Reflected Inertia Backlash and Efficiency Single Reduction Double Reduction Single Double Reduct
32. bly from the machine by disconnecting the cables main rod coupling and actuator mounting bolts or fasteners 2 If your unit does not have an external anti rotate assembly skip this step Loosen the two machine screws that clamp the anti rotate cross member to the actuator output rod Slide the anti rotate mechanism forward and off the actuator 3 Remove the rear tie rod nuts from the back of the actuator A The end cap houses the Tritex drive and control Extreme care should be taken when removing the tie rod nuts or tie rods so as not to twist or pull on the drive section of the actuator Do not disconnect the wiring between the drive and the actuator Do not pinch wires when housing is reassembled 4 If your actuator does not have a front flange skip this step Slide the front flange forward and off the actuator The tie rods will remain attached to the front flange 5 When the face plate is removed the thrust bearing and the open end of the roller screw internally threaded cylinder ITC are visible The roller screw can be removed by turning it counter clockwise and threading it out of the cylinder It may be necessary to keep the roller screw cylinder from turning to remove the screw Tritex II DC Powered Installation 51 PN 49220 02 29 12 REV B Exlar Corporation Lubrication Maintenance Exlar recommends using Mobilith SHC 220 a high performance extreme pressure grease Grease lubricated units will require pe
33. cations that produce frequent or continuous motor movement with power off use of the 24V control logic back should be considered see the Control Logic Power Supply section above Constant high or low temperatures can also shorten battery life If your application is exposed to temperatures below 20 deg C contact Exlar application engineering Battery Location For 75 mm and 90 actuators the battery is located under the removable wiring access cover For 60 mm actuators and motors the option includes a remote mount battery assembly PN 48224 which must be mounted externally The battery connections to the actuator are made through the power connector see power connections section for details on battery connection 60 mm Remote Battery Assembly Low battery voltage When the battery voltage gets below 2V a battery fault will be generated This fault is typically set to a warning status on the Fault Enable tab of the System Set page The warning status can then be assigned to one of the outputs The battery voltage can be displayed on the Diagnostic page while on line with the actuator When battery voltage gets too low to maintain the count value the Homed Status will be off on the subsequent power up requiring the actuator to be re homed A low or dead battery does not keep the system from running it just means a Home is required WARNING Replacing the battery For 75 and 90 mm actuators with a removable wiring access cover simply remove
34. ction Reduction 10Arcmin 13Arcmin 91 86 02 29 12 Exlar Corporation RDM RDGO090 Specifications Stator 1 Stack 1B8 33 2 Stack 2B8 18 3 Stack 3B8 14 RPM at 48 VDC 3300 1800 1400 Continuous Stall Torque Ibf in Nm 18 2 03 32 3 62 A 4 75 Peak Stall Torque Ibf in Nm 26 2 94 44 4 97 58 5 55 Drive Current Continuous Stall Force Amps 22 22 27 Maximum Gontinuous Power Supply Current Amps 18 18 18 Power supply current is based on software current limit not thermal limit Consideration for peak current should also be considered when sizing power supplies For output torque of RDG gearmotors multiply by ratio and efficiency Please note maximum allowable output torques found at bottom of page Ratings based on 40 C ambient conditions RDM RDGOOO Inertia Stator 1 Stack 2 Stack 3 Stack RPI 50 100 250 500 1000 RDM Motor Armature Inertia 5 lb in sec 0 00054 0 00097 0 00140 Ibf 389 309 221 180 143 kg zm 0 609 1 09 1 58 NI 730 4375 1010 801 636 RDG Gearmotor Armature Inertia Ibf in sec 0 00114 0 00157 0 00200 Side load ratings shown above are for 10 000 hour beering life kg 2m 1 29 1 77 2 26 at 25 mm from motor face at given rpm Add armature inertia ta gearing inerti for total inertia RDGO090 Gearmotor Mechanical Ratings Maximum Allowable Output Output Torque at Motor Speed for 10 000 Hour Life Model Ratio lorque Set by User Ibf in Nm 1000 RPM Ibf in Nm 1500 RPM I
35. d and is short protected at 500mA with automatic reset after the short fault is removed I O Connector External wiring of outputs for connection to PLC or any load Tritex II DC Powered Installation SCH 02 29 12 PN 49220 REV B Exlar Corporation Digital Output Specifications Operating voltage range 0 to 30V DC On state maximum continuous current 100mA On state voltage drop 50mA DV typical Short circuit protection autoreset Actuator Brake Option The actuators may be ordered with a brake option This Brake is intended as a Parking Brake and is not intended for use as Stopping Brake The brake engages when the brake voltage is removed Brake voltage is 24V dc 10 Since the Brake and I O power supplies are interconnected use of a brake places additional voltage and power constraints on the I O supply The negative side of the brake is connected to the Field I O common The Brake 24v can be connected directly to Field I O 24 or through customer interlocks When Brake 24 is applied the brake follows the Tritex Enable function with time delays added Starting from a disabled status with brake engaged when the drive enables the brake will release after a time of 0 3 secs This allow time for the motor current to become active and hold the load before releasing the brake Starting from the enabled state with the brake released when the drive is disabled for any reason the drive will immediately apply full current bringing
36. d energy from deceleration Likewise if an overly aggressive move profile results in significant following error there can be velocity overshoot followed by deceleration that causes unnecessary regen energy to reach the internal shunt resistor As shipped from the factory the internal regulator is set to a value to protect the Tritex from an overvoltage fault condition 85 V this parameter will not require adjustment as long as the power supply can be back driven to 85V like most unregulated 48 V supplies or can handle all the regen energy like most battery applications or is isolated with a blocking diode For other applications the built in regulator can be adjusted to restrict bus voltage to a level that will protect the power supply from regen energy Set the User Overvoltage Fault Limit Parameter found in Expert software on the System Set up page Limits tab to a value that the power supply can tolerate The Tritex shunt regulator will operate at 90 of the User Overvoltage Fault Limit value The drive will trip with a High Bus Voltage fault at the User Overvoltage Fault Limit value or at 85 V whichever is lower The default setting of O is a special case that means the factory parameter values of 85 V for trip and 76 5 V for shunt operation will be used In the example below a single 24 volt supply is used to power bus logic and Field l O the logic power is derived internally from the bus power the 24 Volt regulated supply will keep the I
37. de Mount On This Side 1 500 000 ESE dr 120 UNC e4 D K 6mm 4 000 013 Y 6mm Dim A amp D 2500 0000 0005 Y 250 TDM X060 Side Trunnion Mount or Rear Clevis Mount 01 50 DSN 4 38 1 1 00 T G1 0002 001 Q 25mm 03 em 3inch 75 mm 6inch 150mm 10inch 250mm 13 inch 300 mm stroke in mm stroke in mm stroke in mm stroke in mm A 9 79 248 7 12 79 324 9 16 79 426 5 18 79 477 3 B 5 62 142 8 8 62 218 9 12 62 320 6 14 62 371 4 C 3 00 76 2 6 00 152 4 10 00 254 0 12 00 304 8 D 11 10 281 9 14 10 358 1 18 10 459 7 20 10 510 5 Note Add 1 748 inches to dimensions A B and D If ordering a brake Tritex II DC Powered Installation 19 PN 49220 REV B 1 54 39 0 75 19 1 C 205 500 002 001 G 12mm 05 03 02 29 12 Exlar Corporation TDM X075 Double Side Mount or Extended Tie Rod Mount POWER AND VO 75 M23 19 5 8 D 14 20 UNC pp J amp K MB x 1 0 Fi ni amp n 4 PP amp W Bx Lt 7 mm S 5 30 J amp ETS Qmm 000 073 F 8mm S amp D 2500 0000 0005 F 250 N 3 2 NPT G M202 1 5 TDM X075 Side Trunnion Mount or Rear Clevis Mount SR 1 25 2 56 31 5 85 0 ae ae 1 500 T 67 0004 001 On 25mm BON POWER AND O n MZ ICH 26 750 D02 001 G f 20mm 00 07imm N 1 2 NPT G M203
38. e bus power Fuse E Stop Fuse 12 24 48VDC Fuse AC Input Un Regulated P Power Supply Power Common GND Un Regulated Power Supply for Logic and Bus power Fuse Logic Power E Stop Fuse 12 24 48VDC Fuse AC Input ec 100 V Power Common GND Regulated Power Supply for Logic and Bus power with diode isolation and optional extra capacitance Tritex II DC Powered Installation 27 02 29 12 PN 49220 REV B Exlar Corporation E Stop Bus Povver 12 24 48 V DC i Fuse AC Input Un Regulated Shunt Power Supply Regulator Power Common GND Un Regulated Power Supply for Logic and Bus power with a shunt regulator such as Exlar TTSR1 CAUTION Reversing polarity of the Bus Power and Power Common will cause a short circuit which must be protected by the input fuse See fusing below If a fuse is not installed the drive could be permanently damaged Power Supply Wiring and Fusing Fuse Wire 20 Amp 125V DC Bussmann type ABC or similar 2 Amp 125V DC Bussmann type ABC or similar Bus Power 12 gauge 4 mm 18 gauge 1 5 mm Logic Power 12 gauge wire is recommended for bus power to reduce voltage drop across the wire during peak power demands If the application does not require high peak or continuous power the wire gauge can be reduced with a corresponding reduction in fuse rating WARNING If the wire gauge for bus power is reduced t
39. e guide bushing or bushings mounted to the rear of the flange Position the extending rod so that the wrench flats are parallel to the long side of the flange Slide the cross member assembly of the anti rotate mechanism over the end of the rod and onto the wrench flats Tighten the two screws that clamp the assembly to the actuator rod Tritex II DC Powered Installation 54 PN 49220 02 29 12 REV B Exlar Corporation Accessories Cables TTIOC xxx I O Cable SPECIFICALONS WHITE YELLOW CONTACT CARRIER MATERIAL COLOR NYLON or PBT GRAY WHITE RED MOLCED HEAD MAT RIAL COLOR THERMOPLASTIC PUR aT OS ea CONTACT MATERIAL PLATING BRASS GOLD WH ITE BLACK iw FAL wiry SAL Tn JA BiB are rer 2 ED BLACR COUPLING NUT MATERIAL PLATING me ATED CURRENT A GREEN RATED ue RATED VOLTAGE V OUTER JACKET MATERIAL COLOR CONDUCTOR INSULATION MATERIAL NUMBER OF CONDUCTORS AWG 18x22 AWG 2x22 AWG DRAIN ORANGE SHIELD BRAID ALUMINUM FOIL SHIELD T C BRAID WHITE BROWN TEMPERATURE RANGE AU C to 105 C 40 F to 221 F WHITE GRANGE WHITE BLUE PROTECTION CLASS IEC IP87 LIGHT RED Heol g ll dH II JO n oN I I CO OO C SHIELD TO NUT h b b b b wc west L L L3 JO 0 UNS 5 OD UE Hn Hn gd gi AA DZ H DS c COPMIECTOL Tritex II DC Powered Installation 55 02 29 12 PN 49220 REV B Exlar Corporation TTIPC xxx Power Cable
40. e oil provide outstanding protection against wear rust corrosion and high or low temperature degradation Mobilith SHC allows for very low starting and running torque values Its operating range is 40 degrees C to 177 degrees C 40 degrees F to 350 degrees F However in installation below O degrees C the is stiffer using some of the motors available torque for cold temperature operation contact Exlar Application Engineer for lubrication options See Maintenance section for detail on disassembly for greasing Mounting Configurations The standard configurations available are Rear Clevis Side Mount Side Trunion and Front Flange See Model Mask and ordering guide in Overview section General drawings are shown in the product section guide Mounting and Operating Considerations Every effort should be made to minimize misalignment Any misalignment will decrease the life of the components within the actuator and also may create problems within the application associated with misalignment A Excessive side load on the output rod of the actuator will dramatically reduce the life of the actuator and should be avoided completely Side load can be caused from misalignment or loading that is not in line with the actuator output rod A Care should be taken not to exceed the physical travel limits of TDM Series Actuators Doing so will cause the actuator to end crash internally End crashes can physically damage the roller screw and the intern
41. eececs Internal RS 485 Circuit CAUTION A It is important that the RS 485 REF is connected to the circuit common of the converters 485 output Failure to connect could cause damage to the drive the converter or the PC port Gin cs Drain connected internally to PE 485A a 7 RS 485 CD 485B RS 485 REF TTCOM xxx Exlar Cable Typical RS 485 connection to external converter Tritex II DC Powered Installation 40 02 29 12 PN 49220 REV B Exlar Corporation Connecting multiple Tritex actuators to a Modbus Master Host Modbus Master Tritex 1 Tritex 2 Tritex n 32 max PC HMI PLC etc 485 485 Ref sN 1 I Important considerations e Always use 3 conductors RS485 RS485 and Reference e A twisted pair for 485 and 485 is preferred e RS485 is a multi drop network as opposed to a star therefore keep the drop stub to each actuator as short as possible When using the 8 mm connector use a T connector such as the Exlar PN TT458SP e A termination resistor is not usually required Tritex II DC Powered Installation 41 02 29 12 PN 49220 REV B Exlar Corporation IA4 Option board connections 4 20mA Isolated I O IA4 Option The IA4 option board replaces the standard I O board and provides one 4 20mA isolated analog input and one 4 20mA isolated analog output these I O circuits are isolated from each other as well as all other actuator LO grounds and commons The
42. es found at bottom of page Ratings based on 40 C ambient conditions RDM RDGO60 Inertia 2 Stack 0 000413 0 466 0 000401 Stator 1 Stack ROM Motor Armature Inertia 5 lb in sec 0 000237 kg cm2 0 268 RDG Gearmotor Armature Inertia bf in sec 0 000226 e cm 0 255 Add armature inertia to gearing inertia for total inertia RDG060 Gearmotor Mechanical Ratings 0 453 RPM 50 100 It 185 155 N 867 690 Side load ratings shown above are for 10 000 hour bearing life at 25 mm from motor face at given rpm 3 Stack 3B8 40 4000 13 1 47 18 2 03 21 5 13 Radial Load and Bearing Life 250 500 1000 114 an 2 607 400 320 Maximum Allowable Output Torque Set by User bf i1 Mm Model Ratio ADG060 004 4 1 603 68 1 RDGO60 005 5 1 522 58 9 RDGOG0 010 10 1 327 36 9 RDGO060 016 16 1 603 68 1 ADG060 020 20 1 603 68 1 ARDG060 025 25 1 522 58 9 ADGOGO 040 40 1 603 68 1 ADG060 050 50 1 522 58 9 RDGOGO0 100 100 1 327 36 9 1000 RPM Ibt in Nm Output Torque at Motor Speed for 10 000 Hour Life 144 16 2 170 19 2 200 22 6 224 25 3 240 27 1 275 81 1 208 32 5 340 38 4 320 36 1 1500 RPM Ibi in Nm 104 11 7 125 14 1 140 15 8 160 18 1 170 19 2 200 22 6 208 23 5 245 27 7 280 31 6 2000 RPM Ibf in Nm 88 9 9 105 11 9 120 13 6 136 15 4 146 16 5 180 20 3 180 20 3 210 23 7 240 27 1 T
43. g assembly 3 Carefully slide the face plate and bushing seal assembly over the actuator rod end while guiding the tie rods through the holes in the rear end cap of the actuator The seal is a tight fit on the rod end Take care not to damage the seal on the threads of the extending rod Standard Tritex rods have a chamfer to provide a lead in for replacement of the seal and bushing Be sure that the faceplate seats completely and squarely on the front of the actuator The inner surface of the faceplate provides the pre loading for the bearings and it is important that it is properly seated Units With a Front Flange Replace the faceplate as described above Remount front flange by sliding tie rods through the holes in the faceplate and through the holes in the rear end cap Pilot the flange on the pilot diameter located on the front of the faceplate Tritex II DC Powered Installation 53 02 29 12 PN 49220 REV B Exlar Corporation 4 Replace the rear tie rod vvashers and nuts and tighten to the proper torque Tighten the nuts simultaneously by partially tightening each in an opposing corner pattern until each is torqued to the rated value as follows Tritex 60 30 Ibf in 2 5 Ibf ft 3 39 N m Tritex 80 amp 90 90 Ibf in 7 5 Ibf ft 10 16 N m Tritex 115 240 Ibf in 20 Ibf ft 27 12 N m 5 If your actuator has an external anti rotate mechanism slide the rod or rods of the anti rotate mechanism through the front flange and into th
44. gh 3 Actuator is being operated outside of continuous ratings 4 Amplifier is poorly tuned causing excessive unnecessary current to be applied to motor Check Gain settings 5 Over Voltage limit set too low causing internal shunt control to remain active Tritex II DC Powered Installation 47 02 29 12 PN 49220 REV B Exlar Corporation Maintenance Procedures for Roller Screw Re Greasing If your actuator has a preloaded roller screw do not remove it from the cylinder Preloaded screws require special tooling and procedures for proper disassembly and reassembly Contact Exlar Corporation to arrange for maintenance of a preloaded screw actuator Disassembly Refer to the exploded view on the following page 1 Remove the actuator assembly from the machine by disconnecting the cables main rod coupling and actuator mounting bolts or fasteners 2 If your unit does not have an external anti rotate assembly skip this step Loosen the two machine screws that clamp the anti rotate cross member to the actuator output rod Slide the anti rotate mechanism forward and off the actuator A The end cap houses the Tritex drive and control Extreme care should be taken when removing the tie rod nuts or tie rods so as not to twist or pull on the drive section of the actuator Do not disconnect the wiring between the drive and the actuator 3 Remove the screws holding the seal gland to the face plate With the screws removed pull the seal
45. h 48 VDC nominal output 10 Amps Transformer taps allow connection to 108 120 132 216 240 264 VAC nominal input Standard Features Bobbin Wound Transformer Computer Grade Capacitors 100V rating is sufficient for regen handles high ripple Floating Output Allows grounding at any appropriate point in circuit Full Rated to 55 degrees Celsius Open Frame Construction Must be installed in a separate enclosure Secondary Fuse Protection 50 amp 200 volt full bridge rectifier Specifications AC Input 108 120 132 216 240 264 VAC 47 63 Hz Output Ripple 3 RMS at full rated load Efficiency Full Load 80 typical UL Recognized for USA and Canada File Number E133338 TUV Rheinland licensed Certificate no R 9675002 Tritex II DC Powered Installation 57 02 29 12 PN 49220 REV B Exlar Corporation Complies with the requirements of standard EN 60590 and low voltage directive 2 23 EEC TTPS1048 Power Supply Output Voltage Typical DC Output Voltage Nominal Input Voltage Model No Load Voltage Half Load Voltage Full Load Voltage Full Load Amps TTPS1048 TTPS1048 Dimensions Overall Size 3 00 x 5 52 x 4 62 28 60mm x 142 75mm x 117 35mm Weight 18 Ibs Note 2 Optional location for additional Rectifier TB DLA MTO HOLES At di e a MEN 250 X O2 TERMINAL ET INCH mum bo a A amp 80 2385 H 8 25 208 55 n G d 9 40 D a bd 117 35 E 3 750 GR IS K d F 38
46. he fuse Amp rating must also be reduced in accordance with wire size type and local regulations Tritex II DC Powered Installation 28 PN 49220 02 29 12 REV B Exlar Corporation Shielding For best EMC practices the power and I O cable shields should be connected to the enclosure at the entry exit point This is most easily accomplished with EMC type cable glands Tape or heat shrink applied to cable end CAUTION Always apply tape or heat shrink to the end of the shield to prevent stands of the braided shield from breaking off and shorting internal electronics When the I connector option and Exlar cables are used this function is included in the cable connector construction at the actuator end NPT Connections When the connector option N is selected not available on TDM X060 or RDM G060 models the Power and I O wiring access holes are machined for 72 inch NPT fittings Teflon tape or the equivalent must be used to seal the NPT thread connections NPT Fittings with Teflon tape for thread sealing Tritex II DC Powered Installation 20 02 29 12 PN 49220 REV B Exlar Corporation Grounding VVARNING properly grounded using a single point grounding method The actuator and all power supply PEs and negative connections must be Incoming AC Supply Tritex II DC Powered Installation PN 49220 REV B Single point GND bonded to enclosure Actuator Ground amp
47. ind the bearing that is visible as well Use the following amounts of grease for each size roller screw and bearing Tritex 60 0 5 in Tritex 80 amp 90 0 75 in Tritex 115 1 0 in Reassembly 1 Rethread the roller screw into the internally threaded cylinder ITC It is a multiple start screw and this is not always easy DO NOT FORCE THE ROLLER SCREW INTO THE CYLINDER It is best to have the actuator vertical with the open end of the roller screw cylinder facing up Position the roller screw above the cylinder so that it is aligned axially with the ITC Slowly turn the roller screw 1 4 to 1 2 a turn counterclockwise with it in contact with the ITC This will help to align the threads on the roller screw with the threads in the ITC Rotate the roller screw clockwise and it should begin to thread into the cylinder If it does not turn freely remove it and begin again When threading the screw into the cylinder it will roll freely into the actuator When it reaches the portion of the cylinder that contains the motor magnets the roller screw will be more difficult to turn because of the magnetic field of the magnets THIS IS NORMAL Continue to thread the roller screw into the cylinder When it reaches the bottom it will become difficult to turn and the motor and bearings will begin to rotate with it The roller screw is now fully inserted into the cylinder 2 Place a small amount of seal lubricant on the inside surface of the seal bushin
48. ion Reduction Gear Stages Ibf in sec kg cm Gear Stages Ibf in sec kg cm 44 0 0000154 474 16 1 0 000115 0 130 Backlash at 1 i i 54 0 0000100 x 204 25 4 0 0000756 3 aa Rated Torque nN nm p zx us 2 p Efficiency 9196 8690 10 1 0 0000265 0 0300 40 1 50 1 100 1 0 0000203 0 0230 RDMO090 Motor and RDG090 Gearmotor Weights RDMOSO RDG OSO with RDG OSO with Added Weight without Gears 1 Stage Gearing 2 Stage Gearing for Brake 1 Stack Stator Ib Kd 12 5 5 7 20 5 8 3 23 5 10 7 2 Stack Stator Ib kg 15 5 7 0 23 5 10 7 26 5 12 3 1 4 3 Stack Stator Ib kg 18 5 8 4 26 5 12 0 29 5 13 4 Tritex II DC Powered Installation 15 02 29 12 PN 49220 REV B Exlar Corporation Extended Temperature De rating curve The specifications are based on 402 C ambient conditions The actuators maybe operated in ambient up to 65 C with continuous torque force de rating See the chart below LH o of Available Continuous Torque vs Ambient Temperature orque 110 100 90 DU r0 DU 50 40 20 15 10 5 D 5 10 15 20 25 30 35 40 45 50 55 60 65 Tritex II DC Povvered Installation 16 02 29 12 PN 49220 REV B Exlar Corporation Installation Mechanical Installation Lubrication The TLM and TSM Series actuators are shipped from the factory fully greased and ready for installation Exlar recommends using Mobilith SHC 220 a high performance extreme pressure grease The unique physical properties of the synthetic bas
49. ire circuit it requires an external loop supply of 12 to 30V DC to generate the isolated supply voltages needed The Tritex circuit requires 8V to operate therefore the max impedance the output can drive is dependent on the loop supply voltage If the drive is powered down the output goes to an off scale low output approximately 2mA 2000 2000 2000 External Controller 4 20mA Input Tritex IA4 D A L rter Loop Supply Option 12 30V i iB Loop i Conv Ei From CPU Supply l ER 4 20mA Output Ss 4 20mA Output Connection 4 20mA Output Specifications Outout Current Range 3 21mA Load Range 200 to 11000 see table above Output resolution 12 bits Update rate Tritex II DC Powered Installation 43 02 29 12 PN 49220 REV B Exlar Corporation AF Option Absolute Feedback The Tritex absolute feedback consists of the combination of the standard hall feedback and a low power battery backed counter The counter will track the motor s position as long the battery voltage is present Battery life information The battery can provide power to counter for about 1 5 years of power off time so for an application that has power applied 50 of the time the expected battery life would be approximately 3 years more than 50 power on time longer life less power on time shorter life With power off movement of the motor causes extra battery power consumption and will shorten battery life for appli
50. l installation requirements on the protective earth conductor for high leakage current equipment The ground connections shown in this manual must be followed Fuses and Branch circuit protection The Integral solid state short circuit protection does not provide branch circuit protection Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes or equivalent Fuses or over current protection must be provided at the input in accordance with the instructions in the manual Caution Hot Surface Risk of Burn Tritex II DC Powered Installation 6 PN 49220 REV B 02 29 12 Exlar Corporation CSA Certified Product SB C US 163694 The Tritex II DC Linear and Rotary Actuators are marked as shown after passing a rigorous set of design and testing criteria developed by CSA International C22 2 No 139 This label indicates that CSA certifies this product to be safe when installed according to the installation guidelines and used with the scope of the product specifications The conditions of acceptability required by CSA are e The drive voltage rating range and maximum current operating rating Current Adc 12 24 Vdc 18 0A max e Installation Requirements Hazardous Location Class Division 2 Group A B C D installations 72 rigid conduit with NPT connections must be used For NPT connections the power wires must be UL approved copper
51. levant EU Directives listed belovv EU EMC Directive 2004 108 EC using the relevant section of the following EU standards and other normative documents EMC IEC EN 61800 3 2004 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Requirements and Specific Test Methods Note 1 The above products operate at less then 75 VDC and thus are not subject to the requirements of the Low Voltage Directive Les e A any February 28 2012 Date of Issue John Wiegers Director of Electrical Engineering European Contact Exlar GmbH Frankfurter Str 107 65479 Raunheim Germany Tritex II DC Powered Installation 8 02 29 12 PN 49220 REV B Exlar Corporation TritexTM Product Overvievv The Exlar Tritex Series of electric actuators combines an integrated brushless servo motor amplifier and motion controller Optionally the system can be configured for remote mounting of the amplifier and motion control I O 12 48V DC Digital and Analog LO Power Supply Connections Ethernet Communication Port Optional RS 485 Communication Port e e E a ae i ce a P d E z P dd E un a V Se EE E E a gi e d Be E e P e F E Ge Lef ei BS Fd Integrated actuator servo motor amplifier and motion control Note 48V Nominal for full speed except CSA certified installations 24V and 12V Nominal will result in reduced speeds The Tritex actuators are available in linear and rotary versions wi
52. m 17 Mounting Configurations esgcdivctseiiseacticesccatenesuneedsauesatoaruasencdiatacddoeuedsadaceastanstessyeaucedeasvoansaeade elvenwedssaasaboatvanseeacduauaudes 17 Mounting and Operating Considerations nennen nen nnne sna annees annes naar nnns 17 OR ONE ETE Eme 18 Mil IONS eee T 19 Electrical Ikea 23 Lana OCI d SERRE NEN T Temm 23 Main Power Supply Selecton 23 Unregulated AC DC Power Supplies essen nennen nnnnnnnnnn eene enne n nnn nnne nasse een 24 Regulated AC DC Power Supplies enne nemnnnnnnnnn nennen nennen nnn nnn nnns esses eene 24 Power from Battery Systems 25 Handling Regen Energy Internal Shunt Resistor and Regulator 000nnnnosseennsssseeresssrerssssrerssserrrssssereessseereeo 25 Handling Regen Energy External Shunt Resistor and Regulator 000annnoosnennsssseeresssrerssssrerosserresssrsreresseereeo 27 Logic ECHT EE 27 le TE 29 age dn E 29 Tritex II DC Powered Installation 3 02 29 12 PN 49220 REV B Exlar Corporation UIA accents tetes mitat etat a caress ce eee eins tent cm estats actes tem ele tes 30 Power Supply CONMMCCEIONS EE 31 Tritex Input and Output WIFIIIB mts ee ae wi mU Da Ex Ee 32 Input Output CONNECTIONS ucciso m d oressies a eei ates N ue dense baden er Pi tnu estes ei dcs tds 33 l O POWER CTT EE 33 Two Power Supply Contieuration este a op e P DER eege 34 Single Power Supply Configuration i itt oot Ee ER Pob Co set obi
53. minal connection on J5 under the access cover on 75mm and 90 mm models The serial interface is two wire opto isolated RS 485 network The actuator supports the Modbus RTU protocol for access to all drive parameters see Modbus Parameter Reference The Default baud rate is 19 2k The default Modbus address is 1 8mm communications connector 8mm communications connector Front view Field Wiring Terminations 8mm For Standard I O Pin Function number Ji 5 485 COM Bust Common Logic PE I Shield 2 D P8 ice Pos Input 1 MO 4 lBattery Input 2 w Ce w Output 1 Input 3 w P Output 2 Input 4 ji w Output 3 Input Bo iD Output 4 Input eo O U Input N MED el N Brake AU ef Common Input 98 w Shield PE c Shield PE G Optional RS 485 Field Wiring for 5 mm and 90 mm Tritex II DC Powered Installation 39 02 29 12 PN 49220 REV B Exlar Corporation PC Communications VVhen using the Expert softvvare for set up and diagnostics an RS485 converter vvill be required to interface betvveen one of the PC communication ports and the RS 485 This can be either a USB to 485 converter such as the Exlar CBL T2USB485 M8 or any other standard 485 converter See Accessories section 3 3V isolated Receive Data High speed ADM3072E _Recelve Transmit isolation Transmit Data 3 3V isolated return II M H Pesososeocccosececcccososcepoeceeececesceoccec
54. n Capabilities 95W Resistance 5 Ohms Size 8 00 x 4 25 x 2 63 inches 203 2 x 108 0 x 66 7 mm Weight 0 8 Ibs 0 36 kg Tritex II DC Powered Installation 59 02 29 12 PN 49220 REV B Exlar Corporation Wiring Detail RED WIRE TO SERVO AMP es VOLTAGE COMPARATOR SWITCH GND BLACK WIRE VALUE DEPENDS ON MODEL SEE BELOW XX TTSR1 Dimensions oa eu 7 ncn M duu 7 93 Le Z 300L190 50 eX DEIBLS 041 0 23016 351 SYM Ei P i 7 D 8128L 20 64 E 0 646L16 41 ex FULL R A HIBHEST FONT IM REFERENCE FROM BASE PLATE SURFACE amp HIGHEST FONT I 2 30 EJI 1 TIBERSIONS JN Col ARE IN MM Tritex II DC Powered Installation 60 02 29 12 PN 49220 REV B Exlar Corporation Povver Distribution and Surge Filter TDCESF1 Povver Distribution and Surge Filter Accessory This accessory was designed to eliminate surge transients across and lines on a DC power source in order to pass EMC testing as a stand alone device It will seldom if ever be needed for that purpose because the Tritex II DC device will be connected to a power source that does not pass this type of transient The only time this could occur is if the DC source is far away such as in an adjacent building and the negative side is connected to ground locally and at its source In general it will not be needed to construct a system that will pass all transient immunity tests for EMC compliance at the system level
55. n energy and ripple current are not generally of concern with battery applications of this type Battery systems generally will be able to supply peak power to the actuator The average power may be a consideration in sizing the charging circuits for the battery system Other battery powered applications are possible but would require additional engineering considerations The product has not been tested for immunity to load dump conditions An external voltage clamp designed specifically for load dump protection may be necessary on 24V systems Handling Regen Energy Internal Shunt Resistor and Regulator Tritex II DC has a built in controller and small internal shunt resistor that can handle up to 10 joules of energy at a time as long as average power does not exceed 8W Though not high capacity it is adequate to handle the inertia for many linear and geared applications and for some low inertia rotary applications It is usually inadequate to handle energy from a vertical Tritex II DC Powered Installation 25 02 29 12 PN 49220 REV B Exlar Corporation load or spring return The controller vvill turn off the shunt upon reaching either energy or povver limits If there is more regen energy the bus voltage will rise resulting in a high bus fault Note A poorly tuned system may have some oscillation that results in the bus voltage pumping up and down enough to turn on the shunt This reduces the available capacity for handling expecte
56. nd light load conditions does not exceed the drive maximum voltage rating 48V 10 For instance when using the TTPS1048 power supply if the line voltage ever rises above 120V AC the supply should be connected for 132V AC operation to lower the output voltage by 996 Unregulated supplies have the advantage of being able to supply peak currents without overloading and will not trip on high voltage Unregulated supplies have larger capacitance at the output especially when compared to regulated switching supplies providing greater energy recovery and storage during regen and tolerating high ripple current See section on regen for more information on handling energy from regeneration They have the disadvantage of output voltage droop as the current rises Unregulated supplies are usually rated only by continuous output current For a very short time not exceeding 1 second they can typically output up to 20096 of continuous current Voltage droop may be significant above continuous voltage rating which can reduce maximum speed One sizing technique is to calculate the required average power over the worst 5 second interval in a machine cycle add 20 and use that to the determine continuous rated output power for an unregulated supply Regulated AC DC Power Supplies Most AC DC power supplies available today are regulated switching power supplies They are generally not designed to directly power brushless DC BLDC drives but can do so with s
57. only wires 12 AWG 300 Vac minimum rating and 105 C minimum rating For other non hazardous installations Use the above connection method or Cable with connector assemblies or Cables with cable glands are permitted When an AC to DC power supply is used to supply main power then the power supply must be agency approved and provided with its own enclosure Ifa customer requires an additional 24 Vdc power supply to provide power to the Digital I O 4 20mA I O or the Analog Input then it must be a recognized or listed Class 2 Power Supply The full ratings are at 40C ambient temperature Derate the input current linearly above the 40 C ambient temperature to 14 0Adc at maximum ambient temperature of 65 C These conditions of acceptability only apply to units with a CSA mark on the product label For additional information on cable installations or part numbers contact Exlar Corporation Tritex II DC Powered Installation 1 02 29 12 PN 49220 REV B Exlar Corporation Declaration of Conformity Manufacturer s Name Exlar Corporation Manufacturer s Address 18400 West 77 Street Chanhassen MN 55317 USA declares that the product Product Name TDM TDX RDM RDG Powered Actuators Complete Model Listing Below Models TDM060 TDX060 RDM060 RDG060 TDM075 TDX075 RDM090 RDG090 to vvhich this declaration relates meets the essential health and safety requirements and is in conformity vvith the re
58. pecial consideration for the load that BLDC drives present to the supply and the overload characteristics of the power supply These supplies provide very good output voltage regulation as well as high efficiency and smaller size and weight compared with unregulated linear supplies Tritex II DC Powered Installation 24 02 29 12 PN 49220 REV B Exlar Corporation Due to overcurrent protection regulated supplies must generally be rated for the peak power required by the drive Because the supplies limit output current fuses between power supply and drive may not be able to interrupt fault current to the drive The power supply must have output current foldback and or output cycling on overload Foldback is where the output current limit is reduced more or less proportionally with the output voltage Output cycling removes all output power on overload and waits a few seconds before attempting to restore power limiting average power during faults Fuses can still be very useful in isolating a fault when a large power supply is used to power several loads Where conditions of use by an approval agency require fuse protection the fuses must be installed even if they would not immediately clear a fault CAUTION During deceleration of the load the energy generated from the motor and the load will increase the bus voltage and could possibly damage the output of a regulated power supply If a regulated power supply is used for bus power a blocking diode
59. riodic inspection and renewal of the bearing and roller screw grease The table below shows the recommended grease renewal period RMS rotational Recommended Grease Renewal Period hours speed RPM CASE TEMP 65 C 149 F CASE TEMP 80 C 176 F 10 000 5 000 8 500 4 250 1000 6 000 3 000 1500 3 500 1 750 Grease Renewal The angular contact thrust bearings located in the front of the actuator the roller screw cylinder and the roller screw assembly are the components that require grease They require a coating of grease They do not need to be packed with grease Excess grease requires more torque from the motor when returned to operation and does not improve the lubrication of the unit Tritex II DC Powered Installation 52 02 29 12 PN 49220 REV B Exlar Corporation 1 Use a brush to work approximately 0 5 in of grease for every 3 inches of stroke length into the roller screw cylinder Be sure to cover all of the threaded areas of the cylinder 2 Use a brush to work grease in to the roller screw assembly Be sure to cover all the threaded surfaces of the screw assembly This can be accomplished by applying grease to a few places on the roller screw assembly and rotating the components repeatedly in both directions to work the grease into the assembly 3 Force grease into the front of the thrust bearing assembly Make a concerted effort to insure that the grease is well worked in Grease must reach the bearing just beh
60. rofessional incorporation into complete equipment or a system If installed incorrectly the actuator may present a safety hazard The actuator uses high voltages and currents carries a high level of stored electrical energy and is used to control equipment which can cause injury Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation commissioning and maintenance must be carried out by personnel who have the necessary training and experience They must read this safety information and this manual carefully None of the functions or features of the Tritex actuator may be used to ensure safety of personnel i e they must not be used for safety related functions For example the actuators enable disable brake stop start and forward reverse functions are not sufficient for use in safety critical applications without additional independent channels of protection Careful consideration must be given to the functions of the actuator which might result in a hazard either through their intended behavior or through incorrect operation due to a fault In any application where a malfunction of the actuator or its control system could lead to or allow damage loss or injury a risk analysis must be carried out and where necessary further measures taken to reduce the risk for example a failsafe brake in case of loss of ac
61. roller must be referenced to single point ground to prevent damage to the analog input circuit Analog Input Specifications Voltage Input Range 10V to 10V 100 k ohm 13 bits over full 10V to 10V range 0 5 msec Analog Output A 0 10V analog output is provided The function of this output is programmable It can be used for position velocity or current monitoring The intent of this output is to provide a monitor type value not a control value meaning the performance is not intended for the user to close a high speed position loop around this signal Tritex II DC Powered Installation 37 02 29 12 PN 49220 REV B Exlar Corporation The Analog Reference terminal should only be connected when used with an isolated or differential input DO NOT CONNECT TO A GROUNDED POINT EXTERNALLY Analog Out AR Transient Suppressor I I I I I o eee si Ee EE ES a Analog Ref See note above g I Single Point Panel GND Ground Ground on Power Single Point Connector Panel Ground Analog Current Output Specifications Description Specification Current Output Range 0 10V Load Range 20KO Min Output resolution 11 bits Tritex II DC Powered Installation 38 PN 49220 REV B 02 20 12 Exlar Corporation Communications Serial communication to the actuator is provided through the 8mm Communication connector on the front of the actuator and also via ter
62. s 110 x 108 x 75 mm Weight 0 4 Ibs 0 2 kg Simplified Schematic INPUT POWER BLOCKING DIODE 12 48V F1 ABC Style D1 100v 204 PWR LE sa d 3 PWR PWR COM C POWER LINK RED PWR COM C PE GND SURGE FILTER PE GND LOGIC POWER 300v se 12 48V J2 1 LES LOGIC POWER LOGIC POWER 124 300Y Tritex II DC Powered Installation 62 PN 49220 REV B SHUNT LINK BLUE S SHUNT STEERING DRIVE POWER D2 100v 204 DIODE 3 2 J3 6 SHUNT SHUNT 15uH 20 5A BUS PWR 12 48V POWER COMMON C LOGIC POWER 12 48V PE GND PE 300 02 29 12 Exlar Corporation
63. shunt resistor and power supply to dissipate or store it The TTSR1 Shunt Regulator can handle at least two hundred joules of energy at up to 95 Watt average power It has a fixed operating voltage of 77V so the power supply must be able to be back driven to more than this voltage or a blocking diode is required The TDCESF1Power Distribution and Surge Filter accessory may be used to simplify wiring when an external shunt regulator is used with single or multiple Tritex II DC Logic Power Supply A logic power supply can be used to maintain the control and position information with bus power removed This power supply is optional and requires about 2 Watts of power It is wired to the Logic Power terminal and Power Common terminal if it is not connected the logic power will come the bus power Note that the main power and logic power share a return path Logic Power can be the same wide range as the main power supply 12V 24V or 48V nominal and can handle the regen voltages that appear on the main supply A single supply may be used for both with a relay contact in series with the main supply positive connection to remove bus power Power Supply Wiring Diagrams WARNING All installations should provide a method of removing bus power during an emergency stop condition The actuator enable function should not be relied on for this function when equipment or personnel safety is required Disconnect only the bus power do not disconnect th
64. th integrated amplifier and motion control Rotary Frame Size Std Capacity High Capacity fotar moter Gearmotor TDMO60 TDX060 RDMO060 RDG060 TDM75 TDX75 RDMO90 RDG090 All of the required power components and motion processor are contained in the actuator housing Tritex II DC Powered Installation 9 02 29 12 PN 49220 REV B Exlar Corporation BUS Povver BUS BUS Power Supply e Logic Power 12 24V Analog Output 0 10 V Analog Output Reference Analog Input NN Differential 10V to 10V yK RS 485 Ethernet IP Fee Optional System overview shown with SIO Ethernet Option Board Tritex II DC Powered Installation 10 02 29 12 PN 49220 REV B Exlar Corporation Tritex Configurations The models TDM TDX RDM amp RDG include the drive and motion controller integrated into the rear of the actuator Various power and I O connections are available 60 mm frame sizes have top exiting 90 deg M23 connectors shown below or embedded leads connection options 75mm and 90mm frame sizes have rear exiting connectors and a top access cover for field wiring Connector option include straight M23 connectors shown below NPT or M20 threaded holes or embedded leads Customized connection options are also available See ordering section for model mask information M23 I O ae connector Oa M23 Power n e connector Ethernet Optional pom Communications Connector 60mm frame
65. tion Std Feedback Accuracy 0 002 revolution Std Feedback Continuous and peak output current is dependent on actuator Environmental Ambient Temperature for rated output 40 C Maximum Operating Temperature Range 0 65 C with power de rating Humidity 10 95 non condensing Altitude 3000 m above sea level maximum Tritex II DC Powered Installation 12 02 29 12 PN 49220 REV B Exlar Corporation TDM TDX060 Specifications TDM X060 Linear Actuator Performance Specifications Backlash in mm Lead Accuracy in ft mm 300 mm Maximum Radial Load Ib M Environmental Rating Std Lead Continuous Stall Force 0 1 Peak Stall Force Max Speed 48 VDC Continuous Stall Force 0 2 Peak Stall Force Max Speed 48 VDC Continuous Stall Force 0 4 Peak Stall Force Max Speed 48 VDC Drive Current Continuous Stall Force Available Stroke Lengths in mm Approximate Weight Maximum Continuous Power Supply Current Power supply current is based on software current limit not thermal Imit Consideration for peak current should also be considered when sizing power supplies Rating based on 40 C ambient conditions TDM TDX075 Specifications Stator RPM amp 48 VDC Ibf N lof N in sec mm sec Ibf N Ibf N in sec mm sec Ibf N Ibf N in sec mm sec Amps Amps 1 Stack 1B8 50 5000 367 1632 734 3265 8 33 211 6 183 814 367 1632 16 67 423 4 92 409 183 814 33 33 846 6 14 75
66. tuator braking power Never attempt to connect or disconnect the actuator with power applied Dangerous voltages may be present Damage to equipment and injury to personnel can result Many amplifiers have voltage present for a considerable time period after incoming power is removed Take care to insure that the amplifier has discharged all power Tritex II DC Powered Installation 5 02 29 12 PN 49220 REV B Exlar Corporation VVARNING Caution Supply isolation The AC supply or high voltage DC supply must be removed from the actuator using an approved isolation device or disconnect before any servicing work is performed other than adjustments to the settings or parameters specified in the manual The actuator contains capacitors which remain charged to a potentially lethal voltage after the supply has been removed If connected by plug and socket A special hazard may exist where the actuator is incorporated into a system which is connected to the AC supply by a plug and socket When unplugged the pins of the plug may be connected to the drive input which is only separated from the charge stored in the bus capacitor It is the responsibility of the user to avoid any possibility of electric shock from the pins if they are accessible Grounding High Leakage Current the event of a fault This equipment has high earth leakage current You must comply with local safety regulations with respect to minimum size and specia
67. ut Power Supply i 200 V if required Power Power Common Connector GND I O onnector Field Field I O Common Common 1A Field VO Power C Single Power Supply Configuration Digital Inputs Tritex digital inputs are optically isolated from drive main power but have a common negative side SIO and Ethernet options have 8 inputs the IA4 option has 4 inputs They require a Tritex II DC Powered Installation 34 02 29 12 PN 49220 REV B Exlar Corporation positive voltage to turn on so are compatible with sourcing outputs only Each input can be assigned to any of the internal input functions see software section Pe Input 1 8 Contact or PLC output UO Comm I O Connector Input wiring external Digital Input Specifications Description Specification On state current 10V min 24V nominal 30V maximum Nominal Impedance 24V d Okt Update rate 1msec typical Digital Outputs The Tritex digital outputs are optically isolated from drive main povver but have a common positive side SIO and Ethernet options have 4 outputs the IA4 option has 3 outputs These outputs are sourcing only they provide a positive voltage when on The outputs have short circuit and thermal protection and protection against inductive kick at turn off Each output can be assigned to any of the internal output functions see software manual CAUTION Each output is rated to continuously drive a 100mA loa
68. utput 4 are removed The Analog voltage input and output are replaced with 4 20 mA input and output Tritex II DC Powered Installation 32 02 29 12 REV B Exlar Corporation Input Output Connections Terminal board connections for 75 mm and 90mm onl J3 J2 J Terminal Terminal Terminal 1 INPUT 1 Field I O Com Analog IN INPUT 2 INPUT 2 INPUT 3 Analog OUT 5 D DE BrakePower 2 1 AnalogIN o3 NE NM 5 1 2 3 4 5 INPUT 4 Field I O Power Analog REF INPUTS 5 Ou RS 485 6 SINPUTG 6 Ou3 06 RS 485 er 85 RS 485 COM 5 mej 8 ow 8 L PE Pin header P8 used for Absolute Position Battery connector Note for IA4 option Inputs 5 6 7 amp 8 and Output 4 are removed The Analog voltage input and output are replaced with 4 20 mA input and output Field Hiring Terminations Field Wiring Terminations For Standard 1 0 For 41 20mA I O Option J1 O Bus Common Logic PE Bus Common Logic PE c an PB t c PE J3 tl Ew Q s Pos a tt55 ui ME di Input 1 BI O 66 5 Ge Battery Input 1 EO 7 LET Battery Input 2 NI BO 89995552 o Output 1 Input 2 XI MO JTTHITE Bl o output 1 Input Swi BO ag gg T T M Output 2 Input 3 wv E OO AAA GL E un M Output 2 C C C C ouo E tligwawe Input tal mO EE EX amp amp v Output 3 Input tal MO 234840368 wOutput 3 Input Sul BO 2 3 4 5 6738 wv Output 4 Unused MIO in Unused Input o BI CO OOOOOO
69. very 3 inches of stroke length into the roller screw cylinder Be sure to cover all of the threaded areas of the cylinder 2 Use a brush to work grease in to the roller screw assembly Be sure to cover all the threaded surfaces of the screw assembly This can be accomplished by applying grease to a few places on the roller screw assembly and rotating the components repeatedly in both directions to work the grease into the assembly Reassembly 1 Rethread the roller screw into the internally threaded cylinder ITC It is a multiple start screw and this is not always easy DO NOT FORCE THE ROLLER SCREW INTO THE CYLINDER It is best to have the actuator vertical with the open end of the roller screw cylinder facing up Position the roller screw above the cylinder so that it is aligned axially with the ITC Slowly turn the roller screw 1 4 to 1 2 a turn counterclockwise with it in contact with the ITC This will help to align the threads on the roller screw with the threads in the ITC Rotate the roller screw clockwise and it should begin to thread into the cylinder If it does not turn freely remove it and begin again When threading the screw into the cylinder it will roll freely into the actuator When it reaches the portion of the cylinder that contains the motor magnets the roller screw will be more difficult to turn because of the magnetic field of the magnets THIS IS NORMAL Continue to thread the roller screw into the cylinder When it re
70. wered Installation dd 02 29 12 PN 49220 REV B Exlar Corporation Electrical Installation Introduction All of the required power components and motion processor are contained in the actuator or drive housing BUS Power BUS BUS Power Supply 12 24V Input 1 Logic UO Supply ead O CEELEELEECEEET Pree PIP Input 5 Re Analog Output Gu Input 6 rrr vunn E Input 7 B Be nalog Input iy el Differential 10V to 10V MM Ei G A i Main Power Supply Selection The Tritex actuator requires DC power from a power supply or batteries The actuator will operate on voltages from 12 48V DC nominal The continuous operating range is 10 53V DC If the bus voltage rises above 85 V DC a High Bus Fault will occur and the drive will disable The voltage threshold may be set lower through a user parameter where appropriate to protect a power supply from overvoltage during regen The power supply output current rating depends on the maximum actuator power required for the installation A 48V supply will allow the motor to deliver maximum rated speed specifications in Overview section a 24V supply will allow the motor to deliver 72 the maximum rated speed and a 12V Supply will allow the motor to deliver 74 the maximum rated speed Power supply selection and connection is complicated by three factors associated with variable speed servo drives high peak loads power regeneration regen and switching frequency ripple Tritex
71. wo torque ratings for the RDG gearmotors are given in the table above The left hand columns give the maximum peak allowable output torque for the indicated ratios of each size RDG gearmotor This is not the rated output torque of the motor multialied by the ratio of the reducer It is pcssible to select a configuraticn of the motor selection and gear ratio such that the rated motor torque multiplied by the gear ratio exceeds these ratings It is the responsibility of the user to ensure that the settings of the system do not allow these values to be exceeded The right hand columns give the output torque at the indicated speed which will result in 10 000 hour life L10 The setup of the system will determine the actual output torque and speed RDGO60 Gearing Reflected Inertia Backlash and Efficiency Single Reduction Gear Stages lbf in sec kg cm Gear Stages 4 1 0 0000132 0 149 16 1 5 1 0 000008 7 0 00984 203 25 1 10 1 0 0000023 0 00261 40 1 50 1 100 1 Double Reduction Ibf in sec 0 0000121 0 0000080 0 0000021 Backlash at 1 Rated Torque Efficiency RDM060 Motor and RDG060 Gearmotor Weights RDMO060 RDGO6O with without Gears 1 Stage Gearing 1 Stack Stator Ib Kg 3 0 1 4 T 5 3 4 2 Stack Stator Ib Kg 4 1 1 3 8 6 3 9 3 Stack Stator Ib Kg 5 2 2 4 9 7 4 4 Tritex II DC Powered Installation PN 49220 REV B RDGO6O with 2 Stage Gearing 9 3 4 2 10 4 4 7 11 5 5 2 Single Double Redu

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