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User Manual - Rockwell Automation

1. Kinetix 2000 or Kinetix 6000 LDL Series Linear Motor Coil TAM inverter or AM Series Linear Motor Coi Module Note 3 Cable Shield Clamp Note 1 Green Yellow lt Motor Power W 3 Black lt lt W Three phase MP Connector 21 V White 2 v Motor Power 1 U Red U lt lt nz lt lt 0 m Thermal Switch Power lt a S1 White a 52 Blue a lt lt jus d d 53 Orange lt lt pe COM Black e HalT Effect Motor Feedback 4 5 AME lt lt MF Connector MON AERE L AM X IAM AM Module i i BM eee EM XX 8 n IM 5 V X lt un keH DE Wire as shown here using TTL Encoder ble type appropriate for Refer to low profile connector eM illustration lower left for proper your application grounding techniques Low Profile Connector Use 2090 K6CK D15M for Kinetix 6000 Drives Ground techniques for and 2090 K2CK D15M for Kinetix 2000 Drives feedback cable shield Clamp Exposed shield secured under clamp Clamp screw 2 clamp over to hold small cables secure
2. 81980 UL 01070 92 0 SI uorsueuup P L 02 050 xx H3 0895 01 111 0 08 01 EN els XX LHQ 08PSZ0L 10 02 090 mM 00061 088 1 Xx 08 60 06 8 8200 790 EAE gl couse 02 080 0 08 01 xx HC 0850501 11 02 050 XX 1H3 O8POSON 101 60 0 8 81 9 0 0 08080 101 sort L18711 _ _ 86521 XX LHOSEOSON 101 266s cost 0099 00006 00 06 TC xx H 0960501 10 08 0 xx Hx 0F20S0N 101 v 8 600 0 8 00902 0008 xx HX 0v20801 101 2 c Er 08 01 Xx 1HQ 0Z1080L 101 02080 z v 00 92 00099 5 22 0 0E 8 xx HO 0Z LOSON 101 0100 92 0 Evo 080 xx HC0Z0E0L 11 S v 8 Sv 00 972 001081 7 s amp EEES 902 Xx HC OPZOEON 1d E 0008 0504 5 x 2962 XX H0 0Z10801 10 0 0 8 0094 0009 XX LHQ OZLOEON 101 ZL x ZL UI ODE x 006 uj Cur ur ur f ur ur f ur uw 302 S sseuje a neg ajge ZV IV 1 pf H 9 3 E ant 1 suonesy1aads 65 xx 1px xxx 1q1 suoisuaung 10
3. 989 0 OZLOEOWN 101 ZL X zL Ut 00 X OOE WW rm ssauje J ON 6 sajd N UNUNOJA wee 911 nay H9 0 L X 9 4 0009 962 uswal nba ssauje j 39euns UNUNOW uueu3 10 e qe1 01 19 94 0 e O EE suo suawiq Bununoyy UMOUS uoisuauiip 1095 0 sepis 108 40 L 911 000 0 0070 2 pes 4 eur Dunes 1 1 der KIBER jou aes N m 6 67 F M z000 900 SL0 00 7620 00 01 m oyog 6890 11 MUL 61 0 00 S 20 H H 20 NW 046 QV uolsuawig dniag 7860 9 002 A 1 suoisuaui jouueu JoUHeIA JOJOJAI 169011 SS lu01I 101 Appendix B Interconnect Diagrams Introduction This appendix provides wring examples to assist you in wring an LDL Series linear motors to an Allen Bradley drive Topic Page Kinetix 6000 or Kinetix 2000 Drives and LDL xxxxxxx xHT11 Linear Motor with 68 a TTL Encoder Kinetix 6000 or Kinetix 2000 Drives and LDL xxxxxxx xHT11 Linear Motor with 69 a Sin Cos Encoder Kinetix 6000 or Kinetix 2000 Drives and LDL xxxxxxx xHT20 Linear Motor with
4. 3 TTL Index Mark Differential IM 4 A Quad B TTL A Differential AM 5 A Quad B TTL B Differential BM 6 TTL Index Mark Differential IM Mating connector available a 7 SV DC Return Common part of encoder connector kit 8 Encoder and Hall Sensor 5V DC catalog number LDC ENC CNCT Power 9 Shield Drain 29 Chapter 4 Notes 30 LDL Series Linear Motor Connector Data Publication LDL UMOO1A EN P March 2009 Chapter 5 Wiring the LDL Series Linear Motor Introduction This section shows you how to wire your LDL Series linear motor Topic Page Connect the Linear Motor Coil 31 Signal and Wire Definitions for Flying Lead Components 33 Making Your Own Extension Cables 34 Mounting and Wiring Two Identical Coils in Tandem 35 Connect the Linear Motor Use the following procedure to connect your linear motor catalog Coil number LDL xxxxxxx xHT11 1 Using the Encoder Connector Kit catalog number LDC ENC CNCT and the connector data on page 29 wire your encoder to the connector Head Connector Kit catalog number LDC BULK HD for mounting these connectors ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Use Bulk Excessive and uneven lateral force at the cable connectors may result in the connector s environmental seal opening and closing as the cable flexes Failure to observe these safety precautions could result in dam
5. illustration lower left for proper grounding techniques Ground techniques for feedback cable shield Exposed shield secured under clamp Cable Tie 2090 UXBB DM15 Motor Feed Breakout Board Publication LDL UMOO1A EN P March 2009 75 Appendix B Interconnect Diagrams Notes 76 Publication LDL UM001A EN P March 2009 Appendix C Introduction Kinetix 6000 Drive Feedback Connection Publication LDL UM001A EN P March 2009 Sin Cos Linear Encoder and Kinetix 6000 Drives This appendix guides you through commissioning a linear motor with a Sin Cos 1V peak to peak output linear encoder Topic Page Kinetix 6000 Drive Feedback Connection 7 Encoder Counting Direction 78 Set Up the Axis Properties 78 For robust operation when interfacing your Sin Cos 1V peak to peak differential output linear encoder to a Kinetix 6000 drive you should terminate the sine and cosine signals as follows SIN 1 1500 Resistor SIN 1 4 W 5 AM 2 COS BM 3 150 Q Resistor COS 1 4 W 5 BM 4 1N5819 or equivalent 45V DC 5 1V DC 5 4V DC 14 14 Add a Shottky diode for cable lengths less then 10 m 32 8 ft Feedback Connector 2090 K6CK D15M Low Profile Connector For systems where the cable length is less than 10 m 32 8 ft the encoder power supply from the Kinetix 6000 drive feedback connector should be dropped from its nominal 5 4 5 1V D
6. 2 Configure the parameters The following table shows the Suggested Settings Parameter Suggested Setting Test increment 60 00 mm Drive Polarity Positive 50 Publication LDL UMOO1A EN P March 2009 Configure and Start Up the LDL Series Linear Motor Chapter 6 3 Click OK 2015 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Test Increment mm Test Marker Drive Polarity Positive Y Test Feedback Test Command amp Feedback 4 Click Test Marker to run the Test Marker test See your encoder user documentation for location and frequency of markers 5 Position the coil so that it can move 60 mm 2 36 in in the forward or reverse direction 6 Click Test Feedback to run the Test Feedback test Move the axis by hand at least 60 mm 2 36 in when prompted When using Allen Bradley servo drives match the counting direction of your position feedback encoder to the direction the motor moves when positive current is applied 7 Click Test Command amp Feedback to run the Test Command amp Feedback test Follow the on screen instructions IMPORTANT Be sure all the tests on the Hookup tab have passed before proceeding When using Kinetix 6000 and Kinetix 2000 drives the IMPORTANT Test Command Feedback test may pass even though the Hall Effect module i
7. 70 a TTL Encoder Kinetix 6000 or Kinetix 2000 Drives and LDL xxxxxxx xHT20 Linear Motor with 71 a Sin Cos Encoder Ultra3000 Drives and LDL xxxxxxx xHT11 Linear Motor with a TTL Encoder 72 Ultra3000 Drives and LDL xxxxxxx xHT11 Linear Motor with a Sin Cos Encoder 73 Ultra3000 Drives and LDL xxxxxxx xHT20 Linear Motor with a TTL Encoder 73 Ultra3000 Drives and LDL xxxxxxx xHT20 Linear Motor with a Sin Cos Encoder 75 Wiring Examples These notes apply to the wiring examples on the pages that follow Note Information 1 Use cable shield clamp in order to meet CE requirements No external connection to ground is required 2 For motor cable specifications refer to the Kinetix Motion Control Selection Guide publication GMC SG001 3 When using Sin Cos encoder with Kinetix 6000 drives refer to Appendix C on page 77 Publication LDL UM001A EN P March 2009 67 Appendix B Interconnect Diagrams Wiring Example for Kinetix 6000 or Kinetix 2000 Drives and LDL xxxxxxx xHT11 Linear Motor with a TTL Encoder Kinetix 2000 or Kinetix 60 LDL Series Linear Motor Coil IAM inverter or AM Module Boom A Motor Power Black x Three phase MP Connector Blue 2 C Motor Power Green Yellow GND 2090 CPWMADE xxAF xx Cable Shield 77 9 2090 5 Du Note 1 Mo
8. Ib eft Nem Ibe ft 16 0 11 8 10 8 8 0 9 5 7 0 6 36 4 7 Publication LDL UMOO1A EN P March 2009 Installing the LDL Series Linear Motor Chapter 3 2 Verify installation envelope dimensions See table on page 23 Mounting Configuration A Mounting Configuration B Mounting Configuration C F WI 0 10 mm 0 003 in ASA eO 9 J U 0 83 0 30 mm 0 003 0 011 in Coil Cat No Dimension H Magnet Channel Dimension W mm in Cat No mm in LDL NMO030xxx LDL x O30 xxx xxxxx 80 0 3 15 LDL NM050 xxx 36 4 1 43 LDL TM030xxx LDL x O50 xxx xxxxx 100 0 3 94 050 37 7 1 48 LDL NMO75xxx 38 05 1 50 LDL x 075xxx xxxxx 130 0 5 12 LDL TMO75xxx 39 35 1 55 3 Install the first magnet channel Tighten but do not torque screws Publication LDL UM001A EN P March 2009 23 Chapter3 Installing the LDL Series Linear Motor 4 Install additional magnet channels Place a magnet channel on the mounting surface at a distance from the previously installed magnet channel and slide it into position 5 Align the magnet channels with an aluminum straight edge and th
9. Refer to 1321 Power Conditioning Products Technical Data publication 1321 TD001 to choose a line reactor for applications requiring cable longer than 10 m 32 8 ft 34 Publication LDL UMOOTA EN P March 2009 Mounting and Wiring Two Identical Coils in Tandem Publication LDL UM001A EN P March 2009 Wiring the LDL Series Linear Motor Chapter 5 This type of installation requires custom motor database file which is available upon request Contact Application Engineering at 631 344 6600 to request this file The following tables and diagrams show the wiring and spacing for two identical coils mechanically top mounted to the same plate and driven by one amplifier There are three configurations shown here for mounting motors in tandem power and encoder cables exiting on the right the center and on opposite ends ATTENTION A Cables Exit to the Right Coils must have identical part numbers Using mis matched coils will cause a hazardous condition resulting in damage to the equipment and a possible fire If mounting coils in tandem such that the power cables exit both of the coils on right side as shown use the following table to find mounting distance and phase wiring L1 Coil 2 Coil Z1 is the master 2 Coil 1 DN IA Hall Effect Phase Wiring for Right Exit Power Cables L1 Coil 1 Coi
10. 0 5 um encoder 51200 20 um pitch Sin Cos encoder 25600 40 um pitch Sin Cos encoder 1 Requires custom database file contact Application Engineering at 631 444 6600 13 Click OK Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Positioning Mode Y Drive Counts 1 0 mm Conversion Constant 2000 based on 200 Counts Motor Millimeter Position Unwind 200000 Motor Millimeter 46 Publication LDL UMOO1A EN P March 2009 Configure and Start Up the LDL Series Linear Motor Chapter 6 Set Up the Connection to an This procedure configures the Ultra3000 drive for your linear motor and encoder combination Ultra3000 Drive Publication LDL UM001A EN P March 2009 For help using Ultraware software as it applies to setting up your linear motor refer to Additional Resources on page 7 This procedure assumes you are familiar with Ultraware software 7 Open your Motor Configurator Utility Select the linear motor catalog number From the Edit menu choose Duplicate Rename Model Click Encoder Type and select either Incremental or Sin Cos Click Lines Per Meter and the enter value The following tables list typical values for lines per meter Incremental Sin Cos Resolution Value Encoder Scale Pitch Value Wm 2500
11. 100 um 10 000 5000 40 um 25 000 2um hao 20 um 50 000 1 um 250 000 0 5 um 500 000 Incremental Encoder is Linear Motor i m x r General Feedback H5 Standard Motor Commutation Type Sinusoidal h Force Constant 30 23245 N Startup Type Haus Mass 333 Kg Hall Input Offset 0 Degrees Electrical Cycle Length meters Lines Per Meter 500000 CER Integral Limits Sin Cos Encoder iw Linear Motor ioj xj General Feedback a a C050200 DHT x sincos20u l Cni Type ae Sine Cosine Standard Motor T Commutation ae Sinusoidal Force Constant 30 23245 N Startup Type Hapus Mass Kg Hall Input Offset 0 Oo Degrees Electrical Cycle Length 58 0 05 meters lt Per Meter E 222 Limits Click Close 47 Chapter 6 48 Configure and Start Up the LDL Series Linear Motor 8 9 10 11 12 13 Open your Ultraware software Configure for your Ultra3000 drive From Workspace select Motor Click Motor Model and choose the model you created from the pull down menu If using an incremental encoder you are finished For Sin Cos encoders continue with steps12 and 13 From Workspace select Encoders Click Motor Encoder Interpolation and select a value from the pull down menu Ba Ultraware Drive Encoders QE File Edit View Insert Program Tools Commands Window He
12. Up the LDL Series Linear Motor Chapter 6 For RSLogix 5000 software version 17 xx or later use Motion Database file version 5 8 0 or later Ultra3000 drives Firmware revision 1 52 or later Motor Database motor 03 18 09 mdb or later e Motion Analyzer software version 4 7 or later Download these files from http support rockwellautomation com Contact Rockwell Automation Technical Support at 440 646 5800 for assistance The following flow chart illustrates the required steps Update Linear Motor Database Kinetix 6000 Drive or Kinetix 2000 Dri i inetix rive Drive Model Ultra3000 Drive Set up Connection to Set up the Kinetix 6000 or Connection to an Kinetix 2000 Drive Ultra3000 Drive Verify Motor Encoder Direction Verify Motor Encoder Resolution Verify Linear Motor Wiring and Function Install the current Motion Database as required before commissioning your linear motor See the Required Files on page 40 41 Chapter6 Configure and Start Up the LDL Series Linear Motor Set Up the Connection to This procedure configures the Kinetix 6000 or Kinetix 2000 drive for Kinetix 6000 or Kinetix 2000 your linear motor and encoder combination Drive For help using RSLogix 5000 software as it applies to setting up your linear motor refer to Additional Resources on page 7 This procedure assumes you are familiar with RSLogix 5000 software
13. ft for stainless steel screws 6 Install the bearing fasterners 7 Secure the assembly using all the mounting holes 26 Publication LDL UMOO1A EN P March 2009 Introduction Linear Motor Coil Connectors Publication LDL UM001A EN P March 2009 Chapter 4 LDL Series Linear Motor Connector Data This chapter provides power thermistor and Hall effect cable connector information for the linear motor coil and Hall effect module Topic Page Linear Motor Coil Connectors 27 Hall Effect Module Connectors 28 There are two connectors on the linear motor coil catalog number LDL xxxxxxxx xxT11 the power and the Positive Temperature Coefficient PTC thermistor Power Connector The following tables identify the power signals for DIN style circular connector Pin Color Signal A Red U A Phase B White V B Phase C Black W C Phase De Seen allow Ground Intercontec P N BKUAOSONNO0420220000 Case Shield Cable Shield Connector Kit Allen Bradley 2090 KPBM4 12AA and GND Properly ground the coil as described in this manual and the drive manual 21 Chapter 4 LDL Series Linear Motor Connector Data PTC Thermistor Connector Pin Description 1 Positive Temperature Coefficient PTC TS thermistor Signal 4 3 Positive Temperature Coefficient PTC thermistor S Mates with PTC thermistor 4 connecto
14. phase wiring f 1 Coil 1 is the master NE Coil 2 Coil 1 o E HS Hall Effect Phase Wiring for Opposite End Exit Power Cables L1 Coil 1 Coil 2 Amplifier mm in Master Slave Phase 90 3 54 Red Red U or Black White W 1 Master has Hall effect module 2 Slave has no Hall effect module 37 Chapter 5 Notes 38 Wiring the LDL Series Linear Motor Publication LDL UMOOTA EN P March 2009 Introduction Before You Begin Publication LDL UM001A EN P March 2009 Chapter 6 Configure and Start Up the LDL Series Linear Motor This section covers the setup and connection verification of a linear motor with either Kinetix 6000 Kinetix 2000 or an Ultra3000 drive Topic Pages Before You Begin 39 What You Need 40 Required Files 40 Follow These Steps 41 Update Linear Motor Database 4 Set Up the Connection to Kinetix 6000 or Kinetix 2000 Drive 42 Set Up the Connection to an Ultra3000 Drive 47 Verify Motor Encoder Direction 49 Verify Motor Encoder Resolution 50 Verify Linear Motor Wiring and Function 50 This chapter assumes you have wired your linear motor and Allen Bradley drive as shown on wiring diagrams in Appendix B starting on page 67 IMPORTANT It is important that the motor be wired correctly to get positive motion when commutated Please read and understan
15. qon 00 2 rr un Je T fa High Energy Magnets Linear motor magnet channels contain high energy magnets that attract ferrous metals from a considerable distance Precautions must be taken while unpacking handling and shipping by air Unpacking and Handling Unpack magnet channels one at a time Repack magnet channels after inspection and before it is stocked or staged for installation Leave 10 Publication LDL UMOO1A EN P March 2009 Safety Considerations Chapter 1 protective wrapping cardboard and flux containment plates in place until magnet channel is installed Clear the inspection and repacking area of any ferrous metals that will attracted to or attract the magnetic assembly If magnet channels must be unpacked at the same time maintain a distance of 1 5 m 5 ft between assemblies Air Freight Restrictions When air freighting linear motor special preparations and precautions must be taken The following information outlines the basic requirements at the publication date of this document However regulations are subject to change and additional area or carrier restrictions may be imposed Always check with your carrier or logistics specialist regarding current local regional and national transportation requirements when shipping this product Linear motor magnet channels contain magnetized material as classified by International Air Transport Association IATA Dangerous Goods Regul
16. 08 1846 Publication LDL UM001A EN P March 2009 PN 814062 Copyright 2009 Rockwell Automation Inc All rights reserved Printed in the U S A
17. 1 Click the Driver Motor tab 2 Click Change Catalog and select the appropriate Motor Catalogue Number from the following list Cat No LDL N030120 DHT xx LDL N030240 DHT xx LDL N030240 EHT xx LDL T030120 DHTxx LDL T030240 DHT xx LDL T030240 EHT xx LDL N050120 DHT xx LDL N050240 DHT xx LDL N050240 EHT xx L 0360 DHT xx LDL N050360 EHT xx LDL N050480 DHT xx L L L L L L L L L L L L E F r ES DL N050480 EHT xx DL T050120 DHTxx DL T050240 DHTxx DL T050240 EHTxx DL T050360 DHTxx DL T050360 EHTxx DL T050480 DHTxx DL T050480 EHTxx DL N075480 DHTxx DL N075480 EHT xx DL T075480 DHTxx DL T075480 EHTxx 42 Publication LDL UMOO1A EN P March 2009 Configure and Start Up the LDL Series Linear Motor Chapter 6 3 Using the screen image as a reference configure the parameters as shown in the Setting column Parameter Setting Comment Loop Configuration Position Servo Drive Resolution 200 5 encoder 500 2 um encoder 1000 1 um encoder 2000 0 5 um encoder 51200 20 um pitch Sin Cos encoder 25600 40 um pitch Sin Cos encoder Drive Counts per Motor Millimeter Real Time Axis Information Attribute 1 Position Feedback 1 Requires custom database file contact Application Engineering at 631 444 6600 2 Axis Properties motor Homing Hook
18. 33 25 2 77 11 08 Magnetic attraction N Ibf Fa 0 0 3 For standstill conditions multiply conti 58 1 Coils at maximum temperature 130 C 266 F mounted to an alum 2 Continuous force and current based on coil moving with all phases s inuous force and continuous c 4 Coil mountings on either of the two narrow sides reduces continuous force by 1096 5 Calculated at 11 duty cycle for 1 0 second max Some applications may produce significantly higher peak forces Call Applications Engineering 631 344 6600 for details 6 Winding parameters listed are measured line to line phase to phase 7 Currents and voltages listed are measured 0 of the sine wave unless noted as rms 8 Specifications are 10 Phase to phase inductance is 3096 rrent by 0 9 inium heat sink whose area is noted in table on page 62 and at 40 C 104 F ambient haring the same load in sinusoidal commutation Publication LDL UMOO1A EN P March 2009 Specifications and Dimensions Appendix A LDL Series Ironless Linear Motor Thick 50 mm frame size Attribute Units Symbol LDL T050120 DxTxx LDL T050240 DxTxx LDL T050240 ExT xx Force continuous 1 2 3 4 N Ibf 110 25 220 49 Force peak 9 N Ibf Fp 364 82 728 164 Thermal resistance C W 1 19 0 60 Force constant 61 7 8 m f 02 52 M Back EMF const
19. 4 TTL Encoder Ground techniques for feedback cable shield Exposed shield secured under clamp Cable Tie 2090 UXBB DM15 Motor Feed Breakout Board 72 Publication LDL UM001A EN P March 2009 Interconnect Diagrams Appendix B Wiring Example for Ultra3000 Drive and LDL xxxxxxx xHT11 Linear Motor with a Sin Cos Encoder Ultra3000 Drive LDL Series Linear Motor Coil I 1 Brown lt lt Motor Power v Black lt Three phase TB1 Connector w 3 Blue 020 Motor Power 1 14 Green Yellow En 2090 CPWMADF XxAFxx 1 GND Cable Shield HD 2090 XXNPME xxS xx Motor Power Cable ote Note 2 11 h Woas O Shk 13 Blue TS 14 Thermal N C N C lt Switch WHT Blue 51 15 l Yellow 52 WHT Yellow WHT Gray ECOM 2 10 Motor Feedback 14 Gray XX 45V DC c g CN2 Connector White Green IM 6 10 lt 5 Green W IM 5 1 WHT Red COS 4 3 Red XX cose 3 2 WHT Black SIN lt lt 2 Black X sw hi 1 2090 XXNFMF Sxx or 2900 CFBM4DF CDAFxx Feedback Cable Note 2 Refer to low profile connector illustration lower left for proper SIN 1 grounding and shield termination gt gt bo SIN lt 4 techniques COSE lt 5 gt gt lt lt sme z IM 3 LO K lt gt XX lt gt gt 5VDC 8 7 Ground techniques for
20. 6000 IAM inverter or AM Module 1 A Brown lt lt Motor Power vu Black lt lt Three phase MP Connector Blue C Motor Power L 4 Green Yellow I 2090 CPWM4DF xxAFxx JE END Cable Shield 2090 XXNPMF xxSxx Clamp Motor Power Cable Note 1 Note 2 i aa TS 13 1 Thermal ue TS 14 Switch N C WHI Blue XX ii 5 2 15 12 Yellow 52 ke 16 13 WHT Yellow XX Le 1 Motor Feedback lt Connector WHT Gray ECOM lt lt 10 Module 5 Gray XX DC 029 White Green IM 6 10 Green XX IM lt 5 WHT Red COS 3 Red XX cose 22 3 I WHT Black SIN i 2 Black XX SIN 1 2090 XXNFMF Sxx or 2900 CFBM4DF CDAFxx Feedback Cable Refer to low profile connector Note 2 illustration lower left for proper grounding and shield termination SIN lt lt 1 techniques XX SIN 4 gt gt lt lt gt gt Ke gt XX os IM 23 gt gt SL Mw Res gt gt lt Low Profile Connector Use 2090 K6CK D15M for Kinetix 6000 Drives Sin Cos Encoder Note 3 Ground techniques for feedback cable shield Clamp Exposed shield secured under clamp a Clamp screw 2 Turn clamp over to hold small cables secure Publication LDL UMOO1A EN P March 2009 69 Appendix B Interconnect Diagrams Wiring Example for Kinetix 6000 or Kinetix 2000 Drives and LDL xxxxxxx xHT20 Linear Motor with a TTL Encoder
21. 7 1090141 1eaur 559 102 591185 101 Specifications and Dimensions Appendix A IMENSIONS Magnet Channel D 200 OF 0 SI A 010705 GZ OF sruorsueunp 110 z ul 700 0 Z1 0 210709 0 SI uoisuawip 9 gt 0100 92 0 21621 0 8 08 74 01 11 101 E 098 0 sooo ero 2 0Z1SZ0W1 101 lt 8710 00 61 91670 00 8 EL 0 901 2 0100 920 21621 0 8 O87SZOWN 101 gt 608 0 88270 986 2971 7 gt 90070 L 0 0722 TA OZLSZOWN 101 a 0100 92 0 21621 0 8 08v0S50IA 1 11 S 008 0 767 0 871 009 L 590 90070 1 0 0722 TA 989 0 OZLOSOW1 101 5 1660 0091 0920 5 9 Z66 2 00 94 0100 920 21621 0 8 80881 0 08 000 101 0 880 98 6 88 1 08 5000 vL 6 689 0 OZLOSOWN 101 01070 92 0 21621 0 8 868 8L 0 08v0 0IN1 101 0080 7670 009 1 69 0 5000 1 0 0729 TA 589 v 0 0 10 0IA1 101 199 0 0091 0020 569 802 2 0096 01070 92 0 L6 ZL 00 8 86881 0 08v70 0INN7 111 0 88 0 98 6 880171 08 50070 0722 0
22. 70 Publication LDL UMOO1A EN P March 2009 Interconnect Diagrams Appendix B Wiring Example for Kinetix 6000 or Kinetix 2000 Drives and LDL xxxxxxx xHT20 Linear Motor with a Sin Cos Encoder Kinetix 2000 or Kinetix 6000 IAM inverter or AM Module LDL Series Linear Motor Coil Cable Shield Clamp Note 1 17150 Green Yellow Motor Power EE w Black w l Three phase MP Connector v 2 White LV Motor Power U 1 cr A U Red EE TS Black a Bode Lr Thermal Switch u i Power Red ji S1 White een ti 52 Blue 1 s3 Orange pn eae Black mi COM Blac 12 LL ji Hall Effect 13 1 E E Module 8rTrT mes a Motor Feedback 1 ________________________ INN COS ke MF Connector 2 m COS XX Ly IAM AM Module ii SINE ke 5 1LL Li S XX lt lt 8 keH S o L jm Fa ke 5 a O 2 POWER lt lt Sin Cos code Refer to low profile connector a Note 3 illustration lower left for proper our application grounding techniques Ground techniques for feedback cable shield Clamp Exposed shield secured under clamp Clamp screw 2 Low Profile Connecto
23. 98 IN003 Ultra3000 Digital Servo Drives Integration Manual publication 2098 005 How to install setup and troubleshoot Kinetix 6000 drive How to install setup and troubleshoot an Ultra3000 drive Ultra3000 Digital Servo Drives User Manual publication 2098 0 001 Instruction on configuring Ultra3000 and Ultra500 drives creating and configuring project source and header files and creating and running programs Motion Analyzer CD download at http ab com e tools Drive and motor sizing with application analysis software Motion Modules in Logix5000 Control Systems User Manual publication LOGIX UM002 Information on configuring and troubleshooting your ControlLogix and CompactLogix SERCOS interface modules and using the home to torque level sequence System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Kinetix Motion Control Selection Guide publication GMC SGO01 Information examples and techniques designed to minimize system failures caused by electrical noise Information about Kinetix products Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI INOO1 Characteristics application installation and maintenance of solid state controls Allen Bradley Industrial Automation Glossary publication AG 7 1 A glossary of industrial automation terms and abbreviations Rockwell Automation Product C
24. C volts with the addition of a Shottky Diode see schematic 71 Appendix C Sin Cos Linear Encoder and Kinetix 6000 Drives Encoder Counting Direction Normally the encoder signals will output sine leads cosine AM leads BM when the linear encoder head is moving towards its cable relative to the encoder scale SERCOS drives count this in a negative direction Set Up the Axis Properties When installing a Sin Cos linear encoder setup the Axis Property tabs by doing the following 1 Click the Motor Feedback tab se Axis Properties motor Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Feedback Type a T gt Cycles lt 50 per Millimeter gt Interpolation ____ gt Feedback Resolution 51200 Feedback Counts per Millimeter Cancel 2 Enter the following parameters Parameter Value Comment Feedback Type Sin Cos Cycles 25 per Millimeter For 40 u pitch encoder scale 50 per Millimeter For 20 u pitch encoder scale Interpolation Factor 1024 78 Publication LDL UMOO1A EN P March 2009 Sin Cos Linear Encoder and Kinetix 6000 Drives Appendix 3 Click the Drive Motor tab Axis Properties motor Homing Honkup Tune Dynamics Gans Output Limits FaultActions Tag General Motion Planner Units Diive Mot
25. COT ore d ee Beene diras ox teret dk 21 Unpacking and Inspection 21 Installing the Linear Motor Components 22 Required 15 22 Mount the Magnet Channel 22 Mount Motor 25 Chapter 4 litfoducton i pig assqa Presse 27 linear Motor Coil Connectors 27 Power 27 PTC Thermistor Connector 28 Hall Effect Module 0 28 Feedback 28 PTC Thermistor 29 Encoder 29 Table of Contents Wiring the LDL Series Linear Motor Configure and Start Up the LDL Series Linear Motor Specifications and Dimensions Chapter 5 ee 31 Connect Linear Motor 31 Signal and Wire Definitions for Flying Lead Components 33 Linear Motor Coils a eer 33 Hall Effect Modules o5 Vor pis eel AY RUF hss 34 Making Your Own Extension Cables 34 Mounting and Wiring Two Identical Coils in Tandem 35 Cables Exit to the Right 35 Chapter 6 dor irr T 39 Before Y
26. DL NM075480 11 64 25 66 LDL NM050120 1 87 4 12 LDL TM075120 2 94 6 48 LDL NM050480 7 48 116 49 LDL TM075480 11 76 25 93 61 AppendixA Specifications and Dimensions Carriage Weight and Heat Sink Area Requirements Required Required Cat No Heat Sink Area Carriage Plate Weight cm in 2 kg Ib LDL x030120 DHT xx 714 120 1 4 3 LDL x030240 XHT xx 1160 180 2 0 4 5 LDL x050120 DHT xx 774 120 2 7 6 LDL x050240 DHT xx 1160 180 4 0 9 LDL x050360 DHT xx 1680 260 5 9 13 LDL x050480 DHT xx 2060 320 7 3 16 LDL x075480 xHT xx 2060 320 7 3 16 Environmental Specifications Attribute Value Temperature operating ambient 0 40 C 32 104 F Temperature storage ambient 30 70 C 22 158 F Humidity relative non condensing 5 95 Liquid dust protection IP 65 Shock max 20 g peak 6 ms duration Vibration max 30 2000 Hz 2 5 g peak Certifications c UL us UL recognized to U S and Canadian safety standards UL 1004 1 and 840 File E230241 European Union 2004 108 EC EMC Directive compliant with EN 61800 3 2004 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Product Standard including specific test methods European Union 2006 95 EC Low Voltage Directive compliant with EN 60034 1 2004 Rotating Electrical Machines Part Rating and Performance e EN 60204 1 2006 Safety of Machinery E
27. LDL Series Ironless Linear Servo Motors Catalog Numbers LDL N030xxx xHT11 LDL N050xxx xHT11 LDL N075xxx xHT11 LDL T030xxx xHT11 LDL T050xxx xHT11 LDL T075xxx xHT11 LDL N030xxx xHT20 LDL N050xxx xHT20 LDL N075xxx xHT20 LDL T030xxx xHT20 LDL T050xxx xHT20 LDL T075 xxx xHT20 LDL N030xxx LDL N050xxx LDL N075xxx LDL T030 xxx LDL T050 xxx LDL T075xxx User Manual Rockwell ALLEN BRADLEY ROCKWELL SOFTWARE Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated wi
28. MOOTA EN P March 2009 thick 30 mm frame 57 thick 50 mm frame 59 thick 75 mm frame 60 storage 19 T tandem motors 35 temperature max heat sink 12 Thermal 56 thermal time constant 56 time constant 56 tools 22 torque magnet channel 22 U unpacking 21 V Publication LDL UMOOTA EN P March 2009 Index verify direction 49 motor wiring 50 resolution 50 W warning air freight restrictions 11 automatic implantable cardioverter defibrillator AICD 9 powerful forces 9 weight coil flying lead 61 magnet channel 61 wiring 31 wiring diagram 68 72 connectorized Sin Cos encoder 69 73 TTL encoder 68 72 flying lead Sin Cos encoder 71 74 75 TTL encoder 70 83 Rockwell Automation Support www rockwellautomation com Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of Faqs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you exper
29. NC CNCT 4 Feedback connector Connect to your drive feedback using either catalog number 2090 CFBM4DF CDAFxx for moving coil or 2090 XXNFMF Sxx for moving magnet 5 Power connector Connect to your drive power using either catalog number 2090 CPWM4DF xxAFxx for moving coil or 2090 XXNPMF xxS xx for moving magnet 6 Thermistor connector Connects the PTC thermistor signal to the feedback connector 7 Hall effect module This module provides input signals for commutation start up Replacement catalog numbers for the Hall effect module are LDL HALL C for LDL xxxxxxx xHT11 and LDL HALL F for LDL xxxxxxx xHT20 17 Chapter2 Start Design Consideration The information provided here is critical to using linear motor components Design your system to comply with the following points to run safe and successfully Motor Air Gap Maintaining the air gap is critical to proper installation and operation of the linear motor components Use the coil and magnet drawings in Appendix A to calculate the installation envelope dimension By maintaining installation envelope dimension in your design the vertical air gap requirement will be met The following diagram shows the critical dimensions Coil Overall dimension Magnet Channel p Bumpers Shock Absorbers or End Stops Always include in your design a mechanical stop at the ends of travel Designed them such
30. a ul 6e 0001 r spea spe Bu J ULIM MAIA SIU 0 SI S10198UU09 102 1010 JO Mala PIS 10 su0 SU uu e 8 npolN 1984 3 3 o o o fanuenb 99820 __ 96r m JUBWAJINDAJ ssauje 922115 102 Gg 2668 uo 0119 94 sepis 1104 210 1 99U919 91 10 UMOUS 00 8 820 L jeuueuo aube 0022 0009 sejou Bununoyy 9 Ly Anuenb 0 68 LOX PWN ut 6 WW 0001 sejou UNUNOJA LLVO spe37 F 1 4 E 04 age 19M0d n i I 7071 8227 d 0092 0096 ul 0001 ar 081 e spea BulA 4 0087 00 08 J0JSIWISU L V 8 2 suorsu unq 3 1 spea un 001 1 1 uorsuauing 107 1030 Jeaur ssaquoj sauias 1q1 Publication LDL UMOO1A EN P March 2009 64 Appendix A Specifications and Dimensions eBed JO do y uo y ener aes pasn 102 uo SI UONEJIJIJ8AS Z xejj uou s qe3 L 5201074 02 0 o s 1104 72 9 0tr0 0 0 910 07 92 02 0 Jojsullgu 180101 5020179 p eug 041220 Y z 19 04 0 0 08 820 04 pie 81 80 Y 180g EM iid pee piang i
31. age to the motor and its components 2 Connect your encoder to the encoder connector on the Hall effect module 3 Attach the feedback and the power cables ATTENTION Do not connect or disconnect the motor feedback cable or the power cable while power It may result in unexpected motion or cause damage to the components d Align flats on each connector Publication LDL UM001A EN P March 2009 31 Chapterb Wiring the LDL Series Linear Motor e Do not apply excessive force when mating the cable and motor connectors If the connectors do not go together with light hand force realign and try again Feedback Power Connector Connector Encoder Connector Connect your encoder using Encoder Connector Kit catalog number LDC ENC CNCT To User Supplied Encoder 2090 CPWMA4DF xxAF xx or 2090 XXNPMF xxSxx To Drive Feedback Extension Cable 2090 CFBMADF CDAFxx or 2090 XXNFMF Sxx and uneven lateral force at the cable connectors mav result in the connector s environmental seal opening and closing as the cable flexes Failure to observe these safety precautions could result in damage to the motor or encoder ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Excessive f Hand tighten the knurled collar with five to six turns to fully seat the connector Keyed connectors must be properly aligned and hand tightened the recommended n
32. al Motion Planner Units Drive Moto Motor Feedback AuxFeedback Conversion Feedback Type Si Cos with Hall z lt none gt Cycles Sin Cos with Hall TTL with Hall Interpolation Factor 1024 Feedback Resolution FI 200 Feedback Counts per Millimeter 7 Click OK to set the values 8 Click the Units tab 9 Using the screen image as a reference configure the parameters as shown in the Setting column Parameter Position Units Average Velocitv Timebase 0 25 s You can change position units to inches or other units on this tab Example for a 5 um resolution encoder 200 drive cnts mm x 25 4 mm in Conversion Constant 5080 drive cnts in Publication LDL UM001A EN P March 2009 45 Chapter6 Configure and Start Up the LDL Series Linear Motor 10 Click OK to set the values 11 2872 Axis Properties motor D gt Homing Hookup Tune Dunamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units D ve Motor Motor Feedback Aux Feedback Conversion Position Units Average Velocity Timebase 025 Seconds 11 Click the Conversion tab 12 Using the screen image as a reference configure the parameters as shown in the Setting column Parameter Setting Comment Positioning Mode Linear Conversion Constant 200 5 um encoder 500 2 ym encoder 1000 1 um encoder 2000
33. ant 9 7 8 wins e 12 2 Wi Current peak 7 ms lp 9 1 6 4 18 1 12 8 9 1 6 4 Current continuous 1 2 3 4 Apk Arms 2 7 1 3 5 5 3 9 2 7 1 9 Resistance 20 C 68 F 68 Ohms Roo 9 42 4 71 18 83 Inductance 8 mH L 18 9 35 31 Magnetic attraction N Ibf Fa 0 0 Attribute Units Symbol LDL T050360 DxTxx LDL T050480 ExT xx Force continuous 1 2 31 4 N Ibf Fc 329 74 439 99 Force peak N lbf F 1093 246 1457 327 Thermal resistance C W Rin 0 40 0 30 Force constant 61 7 8 y f 07 oh Y Back constant p p SRM M m s 72 2 Wi Current peak 5 7 A p 27 2 19 2 9 1 6 4 36 3 25 6 18 1 12 8 Current continuous 1 2 8 4 l 8 2 5 8 2 7 1 9 10 9 7 7 5 5 3 9 Resistance 20 C 68 F 8 Ohms Roo 3 14 28 25 2 35 9 42 Inductance p p 9 8 mH L 5 88 52 96 441 17 65 Magnetic attraction N Fa 0 0 1 Coi 4 Coi Publication LDL UM001A EN P March 2009 s at maximum temperature 130 C 266 F mounted to an aluminium heat sink whose area is noted in table on page 62 and at 40 C 104 F ambient 2 Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation 3 For standstill conditions multiply continuous force and continuous current by 0 9 mountings on either of the two narrow sides
34. apply test voltage Contact Application Engineering 631 344 6600 for advice on testing coils post production 2 Maximum cable length is 10 m 32 8 ft Contact Application Engineering 631 344 6600 for applications requiring longer cables Publication LDL UMOOTA EN P March 2009 Specifications and Dimensions Appendix A LDL Series Ironless Linear Motor Performance Specifications LDL Series Ironless Linear Motor Standard 30 mm frame size Attribute Units Symbol LDL N030120 D xT xx LDL N030240 D xT xx LDL N030240 ExT xx Force continuous 1 2 3 4 N Ibf Fe 63 14 126 28 Force peak 9 N If Fp 209 47 417 94 Thermal resistance C W Rih 1 73 0 86 Force constant 61 7 8 m Kr Ten Ten BA Back EMF constant p p un Ke na 13 Current peak 51 7 ms lp 9 9 7 0 19 9 14 0 9 9 7 0 Current continuous 11213114 Arms l 3 0 2 1 6 0 4 2 3 0 2 1 Resistance p p 20 C 68 F 6 8 Ohms R20 5 41 2 70 10 82 Inductance 8 mH L 8 43 4 22 16 86 Magnetic attraction N Fa 0 0 LDL Series Ironless Linear Motor Thick 30 mm frame size Attribute Units Symbol LDL T030120 D xT xx LDL T030240 D xT xx LDL T030240 ExT xx Force continuous 1 2 3 4 N Ibf Fc 72 16 144 32 Force peak 9 N If Fp 239 54 479 108 Thermal resistance C W Rih 1 31 0 65 Force constant 61 7 8 m K am am 109 Ba
35. ar electrically live parts 13 Chapter 1 Safety Considerations Large Position Error Tolerances such as those calculated by the Auto Tune function in RSLogix 5000 programming software or when configuring a new axis with RSLogix 5000 software can lead to undetected and repetitive high energy impacts against axis end stops if proper precautions are not in place These tolerances can also lead to undetected and repetitive high energy impacts against unexpected obstructions Such impacts can lead to equipment damage and or serious injury To identify the safety concerns that you have with default Position Error Tolerance or after an Auto Tune Function go to the Rockwell Automation Knowlegebase Click on Find Technical Support Answers and search for Answer Id 55937 Publication LDL UMOO1A EN P March 2009 Chapter 2 Start Introduction Use this chapter to become familiar with the linear motor components their maintenance needs and their configuration Topic Page Catalog Number Explanation 16 Linear Motor Components 17 Design Consideration 18 Maintenance 19 Motor Storage 19 Publication LDL UM001A EN P March 2009 Chapter2 Start Catalog Number An ironless linear motor is comprised of a coil and a magnet channel Explanation The following keys show the catalog definition for the linear motors LDL x xxx xxx X X xxx Cable Termination 0 Flying leads 1 Circular DIN Type connector Cabl
36. ations An IATA trained individual must be involved when shipping this product via domestic or international air freight Packing Instruction 902 provides information regarding the preparation of this product for air transportation Follow these regulations for general marking and labeling requirements the application of specific Magnetized Material Handling Labels and instructions for preparing the Shippers Declaration for Dangerous Goods As a minimum refer to the following IATA Dangerous Goods Regulations Subsection 1 5 Training e Subsection 3 9 2 2 Classification as Magnetized Material e Subsection 4 2 Identification as UN 2807 Magnetized Material Class 9 Packing Instruction 902 e Subsection 7 1 5 Marking e Subsection 7 2 Labeling e Subsection 7 4 1 Magnetized Material Label e Section 8 Shipper s Declaration for Dangerous Goods When shipped via ground in the United States these products are not considered a U S D O T Hazardous Material and standard shipping procedures apply Publication LDL UM001A EN P March 2009 11 Chapter 1 Safety Considerations Vertical or Incline Installation A linear motor driven system mounted vertically or on an incline will not maintain position when the power is removed Under the influence of gravity the motion platform and its payload will fall to the low end of travel Design engineers should allow for this by designing in controlled power down circuits or mechanical con
37. ck EMF constant 91718 un Ke 07 07 na Current peak 8 7 ms Ip 9 9 7 0 19 9 14 0 9 9 7 0 Current continuous 1112 3 4 Arms lc 3 0 2 1 6 0 4 2 3 0 2 1 Resistance p p 20 C 68 F 6 8 Ohms R20 7 15 3 57 14 29 Inductance 9 8 mH L 13 40 6 70 26 80 Magnetic attraction N Ibf Fa 0 0 1 2 3 4 5 6 7 8 Coils at maximum Continuous force a For standstill condi Calculated at 11 Winding paramete Currents and voltages listed are measured 0 peak of the sine wave unless noted as rms tions multiply continuous force and continuous current by 0 9 Coil mountings on either of the two narrow sides reduces continuous force by 10 duty cycle for 1 0 second max Some applications may produce significantly higher peak forces Call Applications Engineering 631 344 6600 for details s listed are measured line to line phase to phase Specifications are 10 Phase to phase inductance is 30 Publication LDL UM001A EN P March 2009 emperature 130 C 266 F mounted to an aluminium heat sink whose area is noted in table on page 62 and at 40 C 104 F ambient nd current based on coil moving with all phases sharing the same load in sinusoidal commutation 57 AppendixA Specifications and Dimensions LDL Series Ironless Linear Motor Standard 50 mm frame size At
38. d Motor Direction Defined Motor Direction Defined Positive motion is dependent on encoder orientation encoder wiring and coil or magnet channel motion Most linear encoders are installed with the encoder cable facing the same direction as the coil cable 39 Chapter6 Configure and Start Up the LDL Series Linear Motor Wire the linear encoder such that the position feedback is positive phase A leads phase B when the motor is moving in the positive direction When the motor power and Hall sensor wiring is connected as shown in wiring diagrams in Appendix B the positive direction of motion is defined as the motor coil moving toward its power cable This diagram shows positive motion for both a moving coil and a moving magnet channel Motor Direction Coil Motion 2 ationary Magnet Stationary Coil Magnet Motion What You Need You need a computer with RSLogix 5000 software installed and internet access Required Files Firmware revisions and software versions required to support the linear motors include the following e RSLogix 5000 software version 16 00 or later e Kinetix 2000 or Kinetix 6000 multi axis drives Firmware revision 1 96 or later For RSLogix 5000 software version 16 xx use Motion Database file version 4 17 0 or later 40 Publication LDL UMOO1A EN P March 2009 Follow These Steps Update Linear Motor Database Publication LDL UM001A EN P March 2009 Configure and Start
39. dler motor RegE vent ArmedStatus ol Decimal F pr m motor RegE vent Status ol Decimal BOOL 2 8 MainProgram motor RegE vent2 rmedStatus 0 Decimal BOOL 8 Program Tags motor RegE vent2Status 0 Decimal BODL Index motor HomeEventArmedStatus 0 Decimal BOOL 3 Unscheduled Programs motor HomeEventStatus 0 Decimal BOOL 5 SS Ray 9 molor DulpulCamStatus 1650000 0000 Hex DINT E 9 motor QutputCamPendingStatus 1680000 0000 Hex DINT Ungrouped Axes il motor DutputCamLockStatu 16 0000 0000 DINT H E Trends Stor DutputCamT ransitionStatus 1680000 00007 Hex DINT il 31 Data Types motor ActualPasition Float REAL 5 2 ac Strobe ctualPosition Float REAL Predefined motor StartActualPosition 206 0305 Float REAL Module Defined Ei motor amp verageVelocity 0 0 Float REAL 21 5 1 0 Configuration motorActualelocity 0 0 Float REAL E B 2 1756 5 sercos motor ActualAcceleration 0 0 Float REAL 81 1 2098 DSD 005 5E drive Dee em Publication LDL UM001A EN P March 2009 1 Disable the drive 2 Note the ActualPostion tag value 3 Move the axis in the positive direction See page 39 for definition for positive direction 4 Verify that the ActualPostion tag value increases as the axis moves If the positive direction of travel does not match what has been defined by the motor po
40. e Length 0 300 mm 12 45 in 1 600 mm 23 62 in 2 1000 mm 39 37 in Thermal Protection T Thermal Sensor Feedback N No Feedback H Hall Effect Trapezoidal Winding Code D D winding E E winding Coil Length 120 120 mm 4 72 in 240 240 mm 9 45 in 360 360 mm 14 17 in 480 480 mm 18 90 in Frame Size 030 050 075 Coil Designation N Standard Coil T Thick Coil Bulletin Number LDL xx xxx xxx Magnet Channel Length 120 120 mm 4 72 in 480 480 mm 18 90 in Frame Size 030 050 075 Coil Designation NM Standard Coil TM Thick Coil Bulletin Number 16 Publication LDL UMOO01A EN P March 2009 Linear Motor Components Publication LDL UM001A EN P March 2009 Stat Chapter 2 Use the diagrams and descriptions to identify the unique components of the linear motor Components of ironless Linear Motor Coil and Magnet Channel LDL N075120 XHT11 Motor Coil Shown 2 LDL NM075480 Magnet Channel Shown Q 0 0 m Component Description 1 Ironless motor coil Copper coils contained in an epoxy form When powered the coil interacts with the magnet channel 2 Magnet channel High powered static magnets create the flux field the powered coil interacts with 3 Encoder connector Connect your encoder here using connector kit catalog number LDC E
41. e alignment tool and tighten the screws a Place the alignment tool in the alignment hole at the butting end of the first two magnet channels b Align the edges of the magnet channel with the aluminum straight edge and tighten the screws c Repeat alignment between the fixed magnet channel and the next magnet channels needing alignment until all the magnet channels are tightened Alignment tool Aluminum straight edge 6 Torque all the screws to values listed in the table on page 22 7 Remove the alignment tool 24 Publication LDL UMOO1A EN P March 2009 Installing the LDL Series Linear Motor Chapter 3 Mount the Motor Coil Use M4 x 0 7 screws with a length that extends through the carriage mounting surface by minimum of 5 mm 0 197 in but not more than 7 mm 0 276 in Follow these steps to mount the motor coil 1 Clean and remove burrs from the coil mounting surface 2 Attach the motor coil to the carriage using MA x 0 7 screw Lightly tighten the screws 3 Slide the assembly on to the bearings Publication LDL UM001A EN P March 2009 25 Chapter3 Installing the LDL Series Linear Motor 4 Verify the gap between the motor and the magnet channel is 0 83 0 30 mm 0 033 0 011 in Use plastic shim stock and adjust as necessary Shim 5 Torque the M4 SCHS to 4 6 N m 3 4 Ib ft for black oxide steel screw or 3 10 Nem 2 3 Ib
42. ed and insulated Insulate the connections equal to or better than the insulation on the supply conductors Properly ground the motor per selected drive manual PTC Thermistor Signals Color Description Signal Black Positive Temperature Coefficient PTC TS thermistor Black Positive Temperature Coefficient PTC TS thermistor 33 Chapterb Wiring the LDL Series Linear Motor Hall Effect Module This table shows the signal and wire colors for Hall effect module with flying leads catalog number LDL HALL F Color Signal Signal Spec Red 5 24V DC Hall supply 20 mA Black VRTN Hall effect signal common White 51 Blue 52 53 Silver braid Cable shield Terminate at drive end per drive manual instructions Making Your Own Flying lead coil and Hall effect modules require circular DIN style Extension Cables Connector Kit Cat No 2090 KFBM4 CAAA connectors to interface with Allen Bradley extension cables The following connectors kits are available for terminating flying lead coils and Hall effect modules Application Feedback flex extension cable 2090 KPBM4 12AA Power flex extension cable 2090 KFBE7 CAAA Feedback non flex extension cable 2090 KPBE7 12AA Power non flex extension cable The cable length from the coil to drive should be limited to 10 m 32 8 ft If longer cables are necessary a 1321 3Rx x series line reactor is required
43. ertification Website publication available at http www ab com For declarations of conformity DoC currently available from Rockwell Automation National Electrical Code Published by the National Fire Protection Association of Boston MA An article on wire sizes and types for grounding electrical equipment You can view or download publications at http literature rockwellautomation com To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative Publication LDL UM001A EN P March 2009 Preface Notes 8 Publication LDL UMOO01A EN P March 2009 Chapter 1 Introduction Labels Title Location Magnetic Field Danger Publication LDL UM001A EN P March 2009 Safety Considerations This chapter describes the safety issues encountered while using a linear motor and the precautions you can take to minimize risk Potential hazards discussed here are identified by labels affixed to the device Topic Page Labels 9 High Energy Magnets 10 Vertical or Incline Installation 12 Operational Guidelines 13 Here you will find the safety and identification labels affixed to your linear motor components To prevent injury and damage to the linear motor review the safety label and its details and location before using the linear motor Safety Label Label MAGNETIC FIELDS LOCATED IN THIS AREA Can be harmfull to pacemake
44. es Please read and follow the guidelines shown here to safely operate the linear motor created from the these linear motor components ATTENTION ATTENTION IMPORTANT 545 ATTENTION ATTENTION gt gt Publication LDL UM001A EN P March 2009 Observe maximum safe speed Linear motors are capable of very high forces accelerations and speeds The maximum obtainable acceleration and speed is based on the drive output bus voltage and current settings The allowable maximum speed is application specific and partly based on the linear motion mechanics supplied by others Moving parts can cause injury Before operating the linear motor make sure all components are secure and magnet mounting hardware is below magnet surface Remove all unused parts from the motor travel assembly to prevent them from jamming in the motor air gap and damaging the coil or flying off and causing bodily injury You are responsible for making sure the servo control system safely controls the linear motor with regards to maximum safe force acceleration and speed including runaway conditions A runaway condition can be caused by incorrect motor hall effect and position feedback wiring resulting in violent uncontrolled motion Keep away from the line of motor travel at all times Always have bumpers in place and securely fastened before applying power to your linear motor High Voltage can kill Do not operate with exposed wires Do not go ne
45. ex mark is used 53 Chapter6 Configure and Start Up the LDL Series Linear Motor Notes 54 Publication LDL UMOO1A EN P March 2009 Appendix A Specifications and Dimensions Introduction This appendix provides product specifications and mounting dimensions for your LDL Series ironless linear motor components Topic Page Performance Specifications 56 General Specifications 61 Product Dimensions 63 Publication LDL UM001A EN P March 2009 55 AppendixA Specifications and Dimensions Performance These tables provide performance specifications for the LDL Series wpe ar ironless linear servo motors Specifications Common Performance Specifications These performance specifications apply to all LDI Series ironless linear servo motors Attribute Value 3 phase wye winding synchronous permanent magnet stator Motor type non ventilated linear motor Operating speed max 10 m s 32 8 ft s Operating voltage not for direct connection to AC line 230V AC rms 56 Dielectric rating of motor power connections U V W to ground for 1 0 s m 1500V AC rms 50 60 Hz Cogging torque Applied bus voltage max 2 Electrical cycle length Zero 325V DC 60 mm 2 36 in Coil temperature max 130 C 266 F nsulation class 130 C 266 F Class B Thermal time constant Ref winding to ambient 35 min Paint color Black 1 Tested during manufacturing process Do not re
46. feedback cable shield Exposed shield secured under clamp 2090 UXBB DM15 Motor Feed Breakout Board Sin Cos Encoder Wiring Example for Ultra3000 Drive and LDL xxxxxxx xHT20 Linear Motor with a TTL Encoder Publication LDL UMOO1A EN P March 2009 73 Appendix B Interconnect Diagrams Ultra3000 Drive LDL Series Linear Motor Coil Cable Shield Clamp IT Note 1 AN Green Yellow Motor Power W 3 Black L Three phase TB1 Connector V 2 CRT eee eerie fu V White GND Motor Power U 11 DORUM RE E TS Black i TS Black Thermal E Switch M 4 Power Red 2 it S1 White lt lt RR UNDE 52 Blue E 1 i 3 Orange e MM 1 t Re 12 H eee Hall Effect 3 yb Module HIM MM NE Motor Feedback illl 1 lt 1 CN2 Connector z 2 m lt 5 4 B PBM XX 5 5 1 ee x lt pen co re EM X mul 14 ee eee CO lt 6 34 I Wire as shown here using TTL Encoder Refer to low profile connector i
47. ience a problem within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your product up and running United States 1 440 646 3434 Monday Friday 8 a m 5 p m EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for the States return procedure Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 25
48. illustration lower left for proper i grounding techniques Ground techniques for feedback cable shield Exposed shield secured under clamp 2090 UXBB DM15 Motor Feed Breakout Board 74 Publication LDL UMOO1A EN P March 2009 Interconnect Diagrams Appendix B Wiring Example for Ultra3000 Drive and LDL xxxxxxx xHT20 Linear Motor with a Sin Cos Encoder Ultra3000 Drive LDL Series Linear Motor Coil Cable Shield Clamp p Note 1 NEED Green Yellow 13 W Black w d Motor Power 4 Three phase TB1 Connector voll jo V White 2 v GND Motor Power U 1 U Ern USA REIS NAFO AT ee U Red lt lt U TS Black en 0 4 18 _ Black lt Thermal I Switch Power Red St White lt lt U ne lt lt E 82 Blue lt lt i S3 Orange lt lt ni MM COM Black lt lt 7 A E Hall Effect 3 i Module TA Motor Feedback 1 COS Ive CN2 Connector cos XX 2 3 SIN lt G 4 SIN XX lt lt 8 ii 5 K lt 5 10 4 lt lt 2 14 nad POWER 6 COM 22 Wire as shown here using Sin Cos Encoder Refer to low profile connector
49. instrumentation when verifying assembly dimension prior to installation e Compare the purchase order with the packing slip e Check the quantity of magnet channels received matches your job requirements e Identify the options that came with your linear motor e Inspect the assemblies and confirm the presence of specified options 21 Chapter3 Installing the LDL Series Linear Motor Installing the Linear Motor Use the following procedures to install the magnet channel and the tor coil Components nn Required Tools e Aluminum straight edge e Non magnetic M4 or M5 hex wrench e Magnet channel alignment tool IMPORTANT The alignment tool is shipped attached to the cables next to the Hall effect module Remove before operating the linear motor TIP Non magnetic tools and hardware made of beryllium copper 300 series stainless steel and others should be used If not available proceed carefully since magnetic and ferrous items will be attracted to the magnet channel Mount the Magnet Channel 1 Select screw size and quantity The size of the Socket Head Cap Screw SHCS depends on mounting configuration The diagram shows three ways you can mount your linear motor components Mounting configuration B de rates the motor continuous force by 10 See Appendix A starting on page 66 for SHCS quantity Mounting Require Configuration SHCS B and C M5 22 SHCS Torque Black Oxide Steel Stainless Steel Nem
50. ions Motor Coil with Flying Leads Cat No Weight Approx Gat No Mat Ap LDL N030120 DHT20 0 63 1 38 LDL T050240 xHT20 1 71 3 77 LDL T030120 DHT20 0 74 1 64 LDL N050360 xHT20 2 03 4 47 LDL N030240 xHT20 1 14 2 51 LDL T050360 xHT20 2 50 5 52 LDL T030240 4HT20 1 37 3 02 LDL N050480 xHT20 2 67 5 88 LDL N050120 DHT20 0 75 1 66 LDL T050480 xHT20 3 30 7 28 LDL T050120 DHT20 0 91 2 01 LDL N075480 xHT20 3 32 7 32 LDL N050240 4HT20 1 39 3 07 LDL T075480 xHT20 4 16 9 18 Weight Specifications Motor Coil with Connectors LDL N030120 DHT11 0 83 1 83 LDL T050240 xHT11 1 91 4 21 LDL T030120 DHT11 0 94 2 07 LDL NO50360 xHT11 2 23 4 92 LDL NO30240 xHT11 1 34 2 95 LDL T050360 xHT11 2 70 5 95 LDL T030240 xHT11 1 57 3 46 LDL N050480 xHT11 3 50 7 72 LDL N050120 DHT11 0 95 2 09 LDL T050480 xHT11 4 36 9 61 LDL T050120 DHT11 1 01 2 22 LDL N075480 XHT11 3 52 7 76 LDL N050240 lt HT11 1 41 3 11 LDL T075480 xHT11 4 36 9 61 Weight Specifications Motor Magnet Channel Cat No et Approx Cat No rn Approx LDL NM030120 1 37 3 02 LDL TM050120 1 89 4 17 LDL NM030480 5 51 12 15 LDL TM050480 7 51 16 69 LDL TM030120 1 40 3 08 LDL NM075120 2 91 6 42 LDL TM030480 5 60 12 35 L
51. l 2 Amplifier mm Master Slave Phase 80 3 15 Red White U White Black Black Red W 120 4 72 Red Black U White Red V Black White W 1 Contact Application Engineering 631 344 6600 for side mounting of the coils 35 Chapter 5 36 Wiring the LDL Series Linear Motor Phase Wiring for Right Exit Power Cables L1 mm in 160 6 30 Coil 1 Coil 2 Amplifier Master Slave Phase Red Red U White White V Black Black W 1 Master has Hall effect module 2 Slave has no Hall effect module Cables Exit in the Center If mounting coils in tandem such that the power cables exit in the center as shown use the following table to find mounting distance and phase wiring Coil 1 is the master l L1 mm in 90 3 54 or 150 5 91 Coil 1 Coil 2 E Hall Effect Phase Wiring for Center Exit Power Cables Coil 1 Coil 2 Amplifier Master Slave Phase Red White U White Red V Black Black W 1 Master has Hall effect module 2 Slave has no Hall effect module Publication LDL UMOOTA EN P March 2009 Publication LDL UM001A EN P March 2009 Wiring the LDL Series Linear Motor Chapter 5 Cables Exit on Opposite Ends If mounting coils in tandem such that the power cables exit opposite to each other as shown use the following table to find mounting distance and
52. lectrical Equipment of Machines Part 1 General Requirements 1 Refer to http www ab com for Declarations of Conformity Certificates 62 Publication LDL UMOO1A EN P March 2009 Specifications and Dimensions Appendix A Product Dimensions LDL Series ironless linear motor components are designed to metric dimensions Inch dimensions are conversions from millimeters Untoleranced dimensions are for reference Publication LDL UM001A EN P March 2009 63 Specifications and Dimensions Appendix A Ly Anuenb 0 88 L OX vIN vz sejou Bununojy 24170 009 A 1 20 o 103200005 7Z0 L 8 BI 0 0092 008 gory Ore 0097 0008 V 10138uu05 8125 L g xoeqpaaJ 203290007 L 2 621 1 05 q F 3 F 1 S10 99UU0 LLLHX XXXxxxx 101 uoisuauing 102 JOJO Jeaur SS9JU0JJ 591196 1 11 ed 2 036600 8984 102 060 680 010 0 0920 092 1 00 22 F E c
53. lp JO cas rex nso co AAAA On Line Drives Offline Unsaved ap Drive gt _ Mode Configuration Output Signal Buffered Motor Divider 4 23 H Maximum Output Frequency 500 kHz 107 Tuning Marker Output Gating Not Gated AD Encoders E Auxiliary Encoder Digital Inputs Encoder Ratio Load Motor 1 1 9 Digital Outputs Type Linear EZ Analog Outputs Lines Meter 10000 4 This tables shows the encoder resolutions that could be achieved when using a 20 Sin Cos encoder and different interpolation values Encoder Resolution X4 5 um X8 2 5 um X16 1 25 um X32 0 625 um X64 0 3125 um X128 0 15625 um X256 0 078125 um X512 0 0390 um X1024 0 01953125 um Publication LDL UMOO1A EN P March 2009 Configure and Start Up the LDL Series Linear Motor Chapter 6 In this section you select controller tag and use the Verify Motor Encoder motor ActualPostion tag to evaluate the encoder installation Direction Scope Frank Vi3tcontrolle 7 Show Show All x Sot 2 3 Controller Frank 13 Controller Tags Tag Name amp Value Force Mask De 3 Controller Fault Handler motor WatchE ventStatus Decimal 53 Power Up Han
54. nts Appendix B eater e ein pur 67 WING Examiples atte EO usa da ua s 67 Appendix C Introduction 77 Kinetix 6000 Drive Feedback Connection 77 Encoder Counting Direction 78 Set Up the Axis 5 78 Index Table of Contents Notes 6 Publication LOL UMOOTA EN P March 2009 About This Publication Who Should Use This Manual Additional Resources Preface This manual provides detailed installation instructions for mounting wiring and maintaining your LDI Series Ironless Linear Servo Motors This manual is intended for engineers or technicians directly involved in the installation wiring and maintenance of LDL Series ironless linear motors If you do not have a basic understanding of linear motors contact your local Rockwell Automation sales representative for information on available training courses before using this product The following documents contain additional information concerning related Rockwell Automation products Resource Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UMD01 Description How to install setup and troubleshoot a Kinetix 2000 drive Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 Ultra3000 Digital Servo Drives Installation Manual publication 20
55. osion resistant coating 19 Chapter 2 Notes 20 Start Publication LDL UMOO01A EN P March 2009 Introduction Unpacking and Inspection Publication LDL UM001A EN P March 2009 Chapter 3 Installing the LDL Series Linear Motor The following section shows you how to safely unpack and install your linear motor components Topic Page Unpacking and Inspection 21 Installing the Linear Motor Components 22 Mount the Magnet Channel 22 Mount the Motor Coil 25 Inspect motor assemblies for damage that may have occurred in shipment Any damage or suspected damage should be immediately documented Claims for damage due to shipment are usually made against the transportation company Contact Rockwell Automation immediately for further advise ATTENTION Linear motors contain powerful permanent magnets which require extreme caution during handling When handing multiple magnet channels do not allow the channels to come in contact with each other Do not disassemble the magnet channels The forces between channels are very powerful and can cause bodily injury Persons with pacemakers or Automatic Implantable Cardioverter Defibrillator AICD should maintain a minimum distance of 0 33 m 1 ft from magnet assemblies Additionally unless absolutely unavoidable a minimum distance of 1 5 m 5 ft feet must be maintained between magnet assemblies and other magnetic or ferrous composite materials Use only non metallic
56. ou 39 Motor Direction Defined 39 What You Need 5 dE TN E ATO PS 40 Required Files 40 Follow These Ses cv b eoe tC EC ORARE 41 Update Linear Motor Database 41 Set Up Connection to Kinetix 6000 or Kinetix 2000 Drive 42 Set Up the Connection to an Ultra3000 Drive 47 Verify Motor Encoder 49 Verify Motor Encoder Resolution 50 Verify Linear Motor Wiring and Function 50 Appendix A tee d rece 55 Performance Specifications 56 Common Performance Specifications 56 LDI Series Ironless Linear Motor Performance 5 57 General Specifications un ar 61 Weight 61 Carriage Weight and Heat Sink Area Requirements 62 Environmental Specifications 62 lt 5 62 Product DIMENSIONS 63 Motor Coil Dimensions 64 Magnet Channel Dimensions 66 Publication LDL UM001A EN P March 2009 Interconnect Diagrams Sin Cos Linear Encoder and Kinetix 6000 Drives Publication LDL UM001A EN P March 2009 Table of Conte
57. r Use 2090 K6CK D15M for Kinetix 6000 Drives and 2090 K2CK D15M for Kinetix 2000 Drives Turn clamp ove small cables secure to hold Publication LDL UMOO1A EN P March 2009 11 Appendix B Interconnect Diagrams Wiring Example for Ultra Drive and LDL xxxxxxx xHT11 Linear Motor with a TTL Encoder Ultra3000 Drive LDL Series Linear Motor Coil B Back Motor Power V lt lt Three phase TB1 Connector w B Blue 22 C Motor Power 4 Green Yellow 2 2030 CPWMADF xxAFxx p HD 2090 XXNPMIF xxSx Motor Power Cable Note 2 WHT Orange 13 l Nis BIB 14 swith WHT Blue XX 51 5 r Yellow 52 WHT Yellow x pru Motor Feedback 4 CN2 Connector 6 ECOM et 14 Gray 5V DC lt 9 10 White Green IM lt lt 6 5 Green W IM P 5 4 WHT Red COS 4 3 Red cose 3 7 WHT Black SIN lt lt 2 i Black XX sw 121 2090 XXNFMF Sxx or d 2900 CFBM4DF CDAFxx Feedback Cable Refer to low profile connector Note 2 illustration lower left for proper SIN grounding and shield termination gt gt lt 1 techniques XX SIN lt 4 5 gt x COS lt 2 COS 5 gt gt IM lt lt gt gt K lt lt lt gt gt 5VDC 8 ECOM 7 ____ 2 2
58. r on Hall effect module Reserved Hall Effect Module The following tables show the pinouts the Hall effect module Connectors Feedback Connector Pin Description Signal 1 A Quad B TTL 1 V p p A Differential SIN 2 A Quad B TTL 1 V A Differential AM SIN 3 A Quad B TTL 1 V p p B Differential BM COS 4 A Quad B TTL 1 V p p B Differential BM COS 5 TTL Index Mark Differential IM 6 TTL Index Mark Differential IM 7 Reserved 8 Encoder and Hall Sensor Power 45V DC 10 Common Common 11 Reserved 12 Common Common Intercontec P N AKUA015NN00400220000 m PTC Thermistor PTC Tempe Mating Connector Kit Allen Bradley 2090 KFBM4 CAAA 14 PTC Thermistor PTC Temp 15 TTL Trapezoidal Hall Commutation 1 16 TTL Trapezoidal Hall Commutation 52 17 TTL Trapezoidal Hall Commutation 53 Case Shield 28 Publication LDL UMOO1A EN P March 2009 Publication LDL UMOO01A EN P March 2009 PTC Thermistor Connector LDL Series Linear Motor Connector Data Chapter 4 Pin Description Signal 4 1 Positive Temperature Coefficient TS thermistor C 3 97 1 4 Reserved Mates with thermistor 3 Positive Temperature Coefficient PTC TS connector on linear motor coil thermistor Encoder Connector Pin Description Signal 1 A Quad B TTL A Differential 2 A Quad B TTL B Differential
59. rd 12 bus voltage applied 56 C carriage 19 certifications 62 cogging torque 56 coil 17 coil power connector 27 coil weight connectorized 61 flying lead 61 commission Kinetix 2000 drive 42 Kinetix 6000 drive 42 Ultra 3000 drive 47 common specification 56 connector 27 encoder 17 29 feedback 17 28 power 17 27 PTC thermistor 17 28 29 cycle length electrical 56 D damaged parts 21 de rate force 22 description motor 17 design consideration air gap 18 bumper 18 carriage design heat sink 19 end of travel bumper 12 linear encoder 19 dielectric rating 56 Publication LDL UMOOTA EN P March 2009 Index dimensions coil 64 magnet channel 66 direction 49 E encoder 31 resolution 50 encoder connector 29 encoder connector kit 31 encoder sin cos end of travel bumpers 12 end of travel impact 12 end stop 18 envelope dimensions 23 environmental specifications 62 ESD components Hall effect ESD 12 F feedback connector 28 ferrous material 22 final alignment 24 firmware revision 40 flying leads 31 H Hall effect module 17 hardware requirements magnet channel 22 heat sink 19 62 max temperature 12 inspection 21 installation 21 firmware 40 motor 22 motor coil 25 software 40 insulation class 56 interconnect diagrams wiring example notes 67 L label identification 10 large impacts 12 81 Index 82 length 16 linear encoder 19 magnet channel 16 17 22 alignment 24 alignmen
60. reduces continuous force by 1096 5 Calculated at 11 duty cycle for 1 0 second max Some applications may produce significantly higher peak forces Call Applications Engineering 631 344 6600 for details 6 Winding parameters listed are measured line to line phase to phase 7 Currents and voltages listed are measured 0 of the sine wave unless noted as rms 8 Specifications are 1096 Phase to phase inductance is 30 59 AppendixA Specifications and Dimensions LDL Series Ironless Linear Motor Standard 75 mm frame size Attribute Units Symbol LDL N075480 D xTxx LDL N075480 ExT xx Force continuous 1 2 3 4 N Ibf 519 117 Force peak 9 N Ibf Fp 1723 387 Thermal resistance C W Rih 0 37 Force constant 9 7 8 m K P 1050 Wa Je qm m Current peak 91 7 A In 32 8 23 2 16 4 11 6 Current continuous 1 2 3 4 Arms 9 9 7 0 4 9 3 5 Resistance p p 20 C 68 F 6 8 Ohms 231 924 Inductance 9 8 mH L 3 60 14 40 Magnetic attraction N Ibf F4 0 0 LDL Series Ironless Linear Motor Thick 75 mm frame size Attribute Units Symbol LDL T075480 D xT xx LDL T075480 ExT xx Force continuous 1 2 3 M N Ibf 596 134 Force peak 9 N Ibf Fp 1977 444 Thermal resistance C W 0 28 Force constant 7 8 y D Back EMF constant p p 6 7 8 ins Ke A o Cu
61. rrent peak 7 A ims b 32 8 23 2 16 4 11 6 Current continuous 1 2 3 4 Arms lc 9 9 7 0 4 9 3 5 Resistance p p 20 C 68 F 6 8 Ohms 3 06 12 25 Inductance 8 mH L 5 74 2297 Magnetic attraction N Ibf Fa 0 0 1 2 3 4 5 6 7 8 60 Coi Is at maximum temperature 130 C 266 F mounted to an aluminium heat sink whose area is noted in table on page 62 and a Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation For standstill conditions multiply continuous force and continuous current by 0 9 Coi mountings on either of the two narrow sides reduces continuous force by 1096 Ca 40 104 F ambient culated at 1196 duty cycle for 1 0 second max Some applications may produce significantly higher peak forces Call Applications Engineering 631 344 6600 for details Winding parameters listed are measured line to line phase to phase Currents and voltages listed are measured 0 of the sine wave unless noted as rms Specifications are 10 Phase to phase inductance is 3096 Publication LDL UMOO1A EN P March 2009 General Specifications Publication LDL UMOO1A EN P March 2009 Specifications and Dimensions Appendix A These tables provide weight heat sink environmental for LDI Series ironless linear motors Weight Specifications Weight Specificat
62. rs and other sensitive equipment Details The Magnetic Fields label identifies non ionizing radiation found in the magnet channels Magnetic channels are constructed with strong magnets Strong magnets can disrupt the functionality of automatic implantable cardioverter defibrillators AICD people with a pacemaker should not work near the magnet channels Maintenance personnel working near the magnet channels should avoid the use of metallic tools and secure items such as badge clip and other personal effects that could be attracted by the strong magnets Strong magnets can erase magnetic media Never let credit cards or electronic media contact or come near the magnet channels Chapter 1 Safety Considerations Identification Labels Title Location Label Details Coil Name Plate This name plate shows the coil catalog number serial Quiet NO LW asua j number operating voltage and frequency pcm SERIAL NO XXXX X XXXX usa mat Magnet Channel C This name plate shows the magnet channel catalog number Name Plate Allen Bradley veu serial number CAT NO LDL XXXXXXXXX_ SERIAL NO XXXX X XXXX wwwaab com MADEINUSA RoHS Compliant LDL Series linear motor components are RoHS compliant RoHS COMPLIANT Directive 2002 95 EC Label Locations for LDL Series Linear Motor The coil shown here is upside down relative to the magnet channel so the labels are seen
63. s not wired correctly Publication LDL UM001A EN P March 2009 51 Chapter 6 Configure and Start Up the LDL Series Linear Motor 52 8 Click the Tune tab A Large Position Error Tolerances such as those calculated bv the Auto Tune function in RSLogix 5000 programming software or when configuring a new axis with RSLogix 5000 software can lead to undetected and repetitive high energv impacts against axis end stops if proper precautions are not in place These tolerances can also lead to undetected and repetitive high energv impacts against unexpected obstructions Such impacts can lead to equipment damage and or serious injurv To identify the safety concerns that you have with default Position Error Tolerance or after an Auto Tune Function go to the Rockwell Automation Knowlegebase Click Find Technical Support Answers and search for Answer Id 55937 9 Configure the parameters in the Tune tab as suggested in the Initial Setting column Leave all other tune options off for your first pass If necessary reduce the Velocity Loop Proportional Gain to maintain stability Axis Properties motor ial xl General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Travel Limit Tune Dynamics Gains Output Limits Offset Fault Actions Tag mm Start Tuning Start Tuning Speed 2500 mms DANGER This tuning procedure may cause a
64. ss Linear Servo Motors RSLogix 5000 TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Safety Considerations Start Installing the LDL Series Linear Motor LDL Series Linear Motor Connector Data Publication LDL UM001A EN P March 2009 Table of Contents Preface About This Publication 7 Who Should Use This Manual 7 Additional Resources 7 Chapter1 Taro CU G ATA uio Mcd 9 AES e Cede 9 High Energy Magnets 10 Unpacking and 0 10 Air Freight Restrictions 11 Vertical or Incline Installation 12 Operational 13 Chapter 2 uus oes Pe dd tec 15 Catalog Number Explanation 16 Linear Motor Components 17 Design Consideration 18 Motor AG Bo sa et septo eh oe e a s PSP e 18 Bumpers Shock Absorbers or End Stops 18 Linear Encoder 19 Carriage Heat 5 19 19 Motor Storages vis a i a i Pta bes 19 Chapter 3 TWAT
65. t tool 24 maintenance 19 max speed 13 max temp coil 56 motion analyzer version 40 motor database 40 direction 49 storage 19 type 56 mounting configuration 23 hardware coil 25 magnet channel 22 motor coil 25 multiple motors 35 power cable 27 screw length 25 non magnetic 22 0 operating speed 56 voltage 56 P perfomance 19 phase alignment two motors 35 pinout coil power 27 encoder 29 feedback 28 power connector 27 PTC thermistor 28 29 power connector 17 27 procedure cleaning magent channel 19 connections 31 install magnet channel 22 install motor coil 25 power connection 27 verify encoder resolution 50 verify motor wiring 50 PTC thermistor connector 28 reference documents A B automation glossary 7 drive manuals 7 SERCOS interface 7 requirements hardware requirements coil 25 magnet channel 22 25 requirements heat sink 62 RSLogix software screen conversion 46 drive motor 42 motor feedback 43 units 45 S safety burn 9 hazardous voltage 9 labels 9 strong magnets 9 sudden motion 12 screw quanitiy 22 SERCOS Drive 77 setup Kinetix 2000 drive 42 Kinetix 6000 drive 42 Ultra 3000 drive 47 shipping air freight restriction 11 dangerous goods declaration 11 form 902 instructions 11 shock absorber 18 software required version 40 spacing two motors 35 specifications common 56 environment 62 standard 30 mm frame 57 standard 50 mm frame 58 standard 75 mm frame 60 Publication LDL U
66. th any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence ATTENTION TNA Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures Allen Bradley Rockwell Automation Kinetix Ultra3000 LDL Series Ironle
67. that they can prevent the moving mass from leaving its travel limits Take into consideration the maximum speed and inertia of your moving mass when designing your mechanical Publication LDL UM001A EN P March 2009 Mechanical Stops Maintenance Motor Storage Publication LDL UM001A EN P March 2009 Stat Chapter 2 stops The following diagram shows a minimal system with mechanical stops Carriage Heat Sink Linear Encoder Your linear motor components needs to be integrated with a linear encoder purchased from a third party Carriage Heat Sink The linear motor coil requires a heat sink to maintain performance The heat sink requires a minimal mass and surface area as shown on page 62 It can as so serve as the carriage in moving coil system or be designed into the base in moving magnet system Linear motors require no maintenance when operated in a relatively clean environments For operation in harsh and dirty environments minimal cleaning is recommended every 6 months Clean the metallic debris and other contaminants from the air gap Use a strip of masking tape to effectively remove the metal debris Apply a strip of tape in the magnet channel and then remove it Motor storage area should be clean dry vibration free and have a relatively constant temperature If a motor is stored on equipment it should be protected from the weather All motor surfaces subject to corrosion should be protected by applying a corr
68. tor Power Cable Note 2 S lt lt Thermal itch Wur Blue XX NS 51 15 iR Yellow 52 ke 16 WHT Yellow XX 3 17 lt lt Motor Feedback ei MF Connector WHT Gray ECOM 10 IAM AM Module XX SV DC White Green IM lt lt 6 Green IM lt 5 WHT Red BM 4 Red 3 lt lt Black AM c 2 Black X 2090 XXNFMF Sxx or 2900 CFBM4DF CDAFxx Feedback Cable Refer to low profile connector Note 2 illustration lower left for proper grounding and shield termination AM 1 techniques gt gt XX AM lt lt 4 gt lt gt gt 2 C ke 5 IM 3 gt gt lt lt gt gt XX 6 gt 5VDC 8 y ECOM lt 7 Low Profile Connector Use 2090 K6CK D15M for Kinetix 6000 Drives and 2090 K2CK D15M for Kinetix 2000 Drives Encoder Ground techniques for feedback cable shield Clamp Exposed shield secured Ie under clamp Ki Clamp screw 2 Turn clamp over to hold small cables secure 68 Publication LDL UM001A EN P March 2009 Interconnect Diagrams Appendix B Wiring Example for Kinetix 6000 or Kinetix 2000 Drives and LDL xxxxxxx xHT11 Linear Motor with a Sin Cos Encoder Kinetix 2000 or Kinetix LDL Series Linear Motor Coil
69. tribute Units Symbol LDL N050120 DxTxx LDL N050240 DxTxx LDL N050240 ExT xx Force continuous 1 2 3 4 N Ibf Fc 96 22 191 43 Force peak 9 N Ibf Fp 317 71 635 143 Thermal resistance C W Reh 1 58 0 79 35 0 35 0 70 0 6 7 8 p Force constant 1 7 8 K 7 9 7 9 15 7 V m s 41 3 41 3 82 7 6 7 8 p Back EMF constant 10 8 Vp in s Ke 1 1 1 1 2 1 Current peak 91 7 Ak Arms Ip 9 1 6 4 18 1 12 8 9 1 6 4 Current continuous 17 2 3 4 Arms le 2 7 1 9 5 5 3 9 2 7 1 9 Resistance 20 C 68 F 6 8 Ohms Rog 7 11 3 56 14 22 Inductance 9 8 mH L 11 08 5 54 22 16 Magnetic attraction N Ibf Fa 0 0 Attribute Units Symbol LDL N050360 DxTxx LDL N050360 ExTxx LDL N050480 DxTxx LDL N050480 ExTxx Force continuous 1 2 3 4 N Ibf Fe 287 65 383 86 Force peak 5 N Ibf Fp 952 214 1269 285 Thermal resistance C W Rih 0 53 0 39 35 0 105 0 35 0 70 0 6 7 8 p Force constant B b A 7 9 23 6 7 9 15 7 Vy m s 41 3 124 0 41 3 82 7 6 7 8 p Back EMF constant 10 8 Vp in s Ke 1 1 3 2 1 1 2 1 Current peak 9 7 ApklA ms ly 27 2 1922 9 1 6 4 36 3 25 6 18 1 12 8 Current continuous 1 2 3 4 8 2 5 8 2 7 1 9 10 9 7 7 5 5 3 9 Resistance 20 C 68 F 919 Ohms Roo 2 37 21 33 1 78 7 11 Inductance p p 6 8 mH L 3 69
70. trols to prevent the linear motor driven system and its payload from being damaged when the power fails Linear motors are capable of high accelerations sudden and fast motion Rockwell Automation is not responsible for misuse or improper implementation of this equipment They must be designed to take a large impact from uncontrolled motion The payload must be secured to the system such that it will not sheer off in the event of an impact in excess of the bumper ratings ATTENTION Linear motor driven systems must have end of travel bumpers The Hall effect module contains an electrostatic discharge ESD sensitive devise You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control precautions components can be damaged If you are not familiar with static control precautions refer to Guarding Against Electrostatic Damage publication 8000 4 5 2 or any other applicable ESD awareness handbook ANTI When the linear motors are running at their maximum rating the N temperature of attached heat sink can reach 100 C 212 F An assembled linear motor will generate power if the coil or magnet channel is moved Un terminated power cables present A an electrical shock hazard Never handle flying leads or touch power pins while moving the motor Publication LDL UMOO1A EN P March 2009 Safety Considerations Chapter 1 Operational Guidelin
71. u Motor Feedback AuxFeedback Conversion Amplifier Catalog Number 2094 ACO5 MO1 sl Motor Catalog Number JLOOSOZOODOTTALT Change Catalog Loop Configuration Drive Resolution Dive Counts per W Drive Fnahle Input Checking Drive Enable Input Faut Real Time Axis Information Attribute 1 Position Feedback sl Attribute 2 Motor Electncal Angle 4 Enter the following parameters Parameter Value Comment 51200 For 20 y pitch encoder scale Drive Counts per Motor Millimeter 5 Click the Conversion tab Axis Properties motor Homing Hookup Tune Dynamics Gains Limits Offset FaultActions General Motion Planner Units Drive Motor MotorFeedback Aux Feedback Conversion Positioning Mode Drive Counts 1 0 mm Conversion Conan eei 51200 Counts Motor Milimeter 6 Enter the following parameters Parameter Comment Driver Resolution For 40 y pitch encoder scale 51200 For 20 y pitch encoder scale Publication LDL UM001A EN P March 2009 79 Appendix Sin Cos Linear Encoder and Kinetix 6000 Drives Notes 80 Publication LDL UMOO1A EN P March 2009 A air gap 18 26 alignment tool 22 24 aluminum straight edge 22 attraction 22 Automatic 21 automatic implantable cardioverter defibrillator AICD 9 beryllium copper 22 bulk head connector kit 31 bumper 12 18 burn haza
72. umber of turns Improper alignment is indicated by the need for excessive force such as the use of tools to fully seat connectors Connectors must be fully tightened for connector seals to be effective Failure to observe these safety precautions could result in damage to the motor cables and connector components 32 Publication LDL UMOOTA EN P March 2009 Signal and Wire Definitions for Flying Lead Components Publication LDL UM001A EN P March 2009 Wiring the LDL Series Linear Motor Chapter 5 For linear motors catalog numbers LDL xxxxxxx xHT20 wire using wiring diagram on page 70 Wire colors and signal types are shown here for wire gauge information see page 65 Linear Motor Coil The following shows the wire color and signals for the linear motor coil power and PTC thermistor cables catalog number LDI xxxxxxx xxT20 Power Signals Color Signal Comments Red Motor Phase U A e Observe maximum applied voltage ification White Motor Phase V B e Consult drive manual or supplier for specific Black Motor Phase W C wiring instructions to the drive Wiring is phase commutation sensitive Green Motor Ground e Terminate per drive manual instructions Shield Cable Shield e Shield is not connected to the motor frame Disconnect input power supply before installing or servicin ATTENTION put p 9 9 motor Motor lead connections can short and cause damage or injury if not well secur
73. up Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Amplifier Catalog Number 2094 01 x Motor Catalog Number LC050200D0T TRL Change Catalog Loop Configuration Position Servo Drive Resolution 51200 Drive Counts per Motor Millimeter v Calculate Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Information Attribute 1 Position Feedback E Attribute 2 Motor Electrical Angle Cancel A Click OK 5 Click the Motor Feedback tab Publication LDL UM001A EN P March 2009 43 Chapter 6 Configure and Start Up the LDL Series Linear Motor 44 6 Using the screen image as a reference configure the parameters as shown in the Setting column Parameter Setting Comment Feedback Type TTL or Sin Cos For RSLogix 5000 software V16 TTL with Hall or Sin Cos with Hall For RSLogix 5000 software V17 Cycles 50 5 um encoder 125 2 um encoder 250 1 um encoder 500 0 5 um encoder 50 20 um Sin Cos encoder 25 40 um Sin Cos encoder per Millimeters Interpolation Factor 4 mo 1024 Sin Cos 1 Requires custom database file contact Application Engineering at 631 444 6600 RSLogix 5000 Software Version 15 00 and 16 00 TTL Encoder Axis Properties Axis Upper Homing Hookup Tune Dynamics Gains Outp
74. ut Limits Offset Fault Actions Drive Motor General Motion Planner Units Feedback Type TTL Cycles Interpolation Factor Feedback Resolution TTL with Hall SKS SKM SEK Ik Counts per Millimeter Motor Feedback ol Tag Aux Feedback Conversion RSLogix 5000 Software Version 15 00 and 16 00 Sin Cos Encoder Axis Properties Axis Upper Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Ta General Motion Planner Feedback Type Cycles Interpolation Factor Feedback Resolution Sin Cos with Hall TTL with Hall SKS Units Drive Motor Sin Cos Counts per Millimeter Motor Feedback Aux Feedback Conversio Publication LDL UMOO1A EN P March 2009 Configure and Start Up the LDL Series Linear Motor Chapter 6 RSLogix 5000 Software Version 17 00 TTL Encoder Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions T General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversi Feedback Type Sin cos with Hall x Sin Cos with Hall TTL with Hall 1024 Cycles Interpolation Factor Feedback Resolution p 200 Feedback Counts per Millimeter RSLogix 5000 Software Version 17 00 Sin Cos Encoder Axis Properties MPMAX x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Gener
75. wer and Hall Sensing wiring then change the direction by re wiring the encoder using the following table Move To Encoder Phase Drive CN2 Encoder Phase Drive CN2 pin 1 3 A 2 B 4 B 3 A 1 B 4 A 2 49 Chapter6 Configure and Start Up the LDL Series Linear Motor Verify Motor Encoder This test compares the physically measured distance to the distance R luti calculated by the software It also verifies the encoder setting in the esolution RSLogix 5000 software 1 Measure and mark a fixed distance of travel on the axis 2 Record the ActualPosition tag value with carriage at the starting position 3 Move the carriage to the end position 4 Record the ActualPosition tag value 5 Calculate the distance moved using the record values 6 Compare the actual distance and the calculated distance If the values do not match verify resolution of installed encoder and the values used in the Motor Feedback Conversion and Units tabs Verify Linear Motor Wiring The Homing and Hookup tabs in RSlogix 5000 software check the dF ti motor power U V W Hall sensing signals S1 S2 S3 and the and runction encoder wiring are correct IMPORTANT The following components must be wired correctly for your drive and linear motor to operate properly e Hall Effect Module e Coil Power Wires e Thermistor e Encoder Follow this steps to verify your motor wiring and function 1 Click the Hookup tab
76. xis Torque Force 50 0 motion with the controller Rated in program mode Direction Forward Bi directional Damping Factor 08 r Tune Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feedforward IT Acceleration Feedforward Torque Offset Output Filter Cancel Apply Help Parameter Initial Setting Units Note Travel Limit 100 mm Suggested Speed 250 mm sec Torque Force 50 Rated Direction Forward Bi directional Damping Factor 0 8 _ default Publication LDL UMOO1A EN P March 2009 Configure and Start Up the LDL Series Linear Motor Chapter 6 Publication LDL UMOO01A EN P March 2009 10 Click the Homing tab 11 Choose Sequence to Switch Marker or Torque Level Marker when a repeatable power up position is desired Axis Properties x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Mode Pasition oo Position Units Offset Position Units Sequewce Limit Switch mm jer HOM Tongue Levei orgue Level Marker Reverse Bi directional Direction 75 0 Torque level Graue Typical linear TTL and Sin Cos encoders will home repeatability to within one count of resolution when their ind

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