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LDAT-Series Integrated Linear Thrusters

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3. 92U919 91 ON OSL W 1 axons 9215 1030W Jajsniu 4 061 suorsuaung Rockwell Automation Publication LDAT INOOTA EN P August 2012 LDAT Series Integrated Linear Thrusters 31 8889 L 8EZL 759 006 3 0609515 1VCT1 659 L 8E9L SLE 008 XXX 0809S LS IVQ1 909 1866 9 27 002 XX 0109515 1V 1 79 96 18601 9 7 009 XXX 0909S LS IVQ1 80791 56996 99880 2061 8975 8661 461 006 009 X0 0509515 IvG1 7287 L 8EZL 151 007 0 09515 11 1899 L 8ELL 8 1 006 2 0509515 1 18 09 L 8 01 6 002 XXX 0Z09S LS IVQ1 66 95 L 8 6 6 001 XX 0L09515 1VCT1 66 09 178661 856 006 XIX 06OPS LS IVQT 0995 L 8EvL SLE 008 MAX OBOPSLS IVQI 89 25 L 8EEL 9 10 004 XXX 0L0PS LS IVQ1 7287 L 8EZL 9 20 009 090 15 1 1 98801 56992 0 6 00 07266 18 L 8ELL 61 005 00 XAX OSOPSLS IVII 8 0 18601 0751 007 JAX DPOPSLS IVQI 6 9 L 8 6 811 006 XAX DEOPS LS 1vCT 00766 17858 61 002 XXX OZOPSLS IVQI 90 62 L 8EZ 65 001 XIX DLOPSLS IVQT 1 92U919 91 ON 1 OSL JWEJJ W 1 240135 9215 1030 1935 11 1 061 suoisuawiq Rockwell Automation Publication LDAT INOO1A EN P August 2012 32 LDAT Series Integrated Linear Thrusters Connector Dat
4. LDAT Series Integrated Linear Thrusters 77 Environmental Specifications Attribute LDAT Series Linear Thrusters Temperature operating ambient 0 40 C 32 104 F Temperature storage ambient 30 70 22 158 F Humidity relative noncondensing 5 95 Liquid dust protection IP30 strip cover option only Shock max 20 g peak 6 ms duration Vibration max 2 5 peak 30 2000 Hz 1 Tested for one hour per Rockwell Automation specification 10000056670 Contact your distributor for a copy of this specification Rockwell Automation Publication LDAT INOO1A EN P August 2012 78 LDAT Series Integrated Linear Thrusters Additional Resources These documents contain additional information concerning related products from Rockwell Automation Resource Description Kinetix Linear Motion Specifications publication GMC TD002 Specifications motor servo drive system combinations and accessories for Kinetix Motion Control products Kinetix 3 Component Servo Drives publication 2071 UM001 Kinetix 300 EtherNet IP Indexing Servo Drives User Manual publication 2097 UM001 Kinetix 2000 Multi axis Servo Drives User Manual publication 2093 UM001 Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 Ultr
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6. 68 LDAT Series Integrated Linear Thrusters Remove Encoder 1 Remove the Allen Bradley decal from the encoder bracket C LA 2 2 Remove the six screws that secure the encoder bracket to the stator body by using a Torx T10 driver IMPORTANT Use only the proper size and type of driver to remove the encoder bracket screws or you will damage the screw heads 3 Remove the encoder bracket assembly This exposes the encoder connector 4 Disconnect the encoder 5 Remove the encoder from encoder bracket Install the Encoder 1 Remove the two MB set screws furthermost from the connectors on top of stator body This allows access to the encoder screws while encoder is installed 2 Loosely install the new encoder on encoder bracket Orient the encoder on the encoder bracket such that the cables exit towards the feedback connector 3 Connect the encoder cable 4 Install the encoder bracket assembly Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 69 5 Slide the provided shim along the encoder scale under the plastic seal into the linear thruster from the connector end 6 Inserta tool through the encoder access hole and press the encoder against the shim 7 Tighten the encoder screws with a 2 5 mm hex driver 8 Remove the shim It should be difficult to return the shim beneath the encoder once removed 9 Move
7. Remove the slider assembly and coil completely from the stator body Assemble the Linear Thruster Follow this procedure to assemble your linear thruster Use the figures from the disassemble procedure as a reference 1 2 3 Slide the slider and coil assembly into the stator body Connect the encoder connectors when they are close enough Carefully stuff the feedback then power cables into the stator body ATTENTION The coil is held to the magnet track on the slider by the magnetic forces Do not allow it to move or attempt to move it while attempting repairs Moving the coil will make reassembly difficult Be sure the cables are not touching the slide assembly ATTENTION Be sure the cables do not come in contact with the slider assembly when completing the assembly Contact with moving parts will cause damage to the cables and premature failure of the linear thruster Loosely attach the coil to the stator body Rockwell Automation Publication LDAT INOOTA EN P August 2012 64 LDAT Series Integrated Linear Thrusters 99 SS 10 12 13 14 15 16 17 Align the first bearing puck to the first set of bearing mounting holes on the connector side of the stator body Loosely install the bearing puck screws Slide another bearing puck on to the bearing rail Align with set mounting holes next to the previous bearing puck Loosely attach the bearing puck Repeat step 7 9 until all the
8. 6 el XX IM 110 Motor S gt 9 506 iM Feedback 10 55 ECOM 6 11 ell ORANGE Thermostat 13 XX TSI 11 14 BLUE IS 5 T 15 wear XC st jihu 16 gt YELLOW 52 13 gt gt WHT YELLOW XX Ab H 8 gt gt 77 2090 XXNFMF Sxx standard 2090 CFBM7DAFxx continuous flex flying lead Feedback Cable Note 2 Rockwell Automation Publication LDAT INOOTA EN P August 2012 74 LDAT Series Integrated Linear Thrusters Wiring Examples for a Linear Thruster to an Ultra3000 Drive 2090 CPWM7DF xxAAxx standard Ultra3000 Digital LDAT Series Integrated Linear Servo Drive or Thruster with Incremental Encoder amm l 2090 UXBB DM15 Drive Cable Shield Mounted Ground Clamp te 1 Connector 0 Shield 1 kai gt gt Black 1 04 reen fellow D lt 2 WHT BLACK XX 2 3 Motor Power w B Blue 2 ap ND BM 3 4 1 Connector v Black 2 V Three phase 4 ssi WHIRE XX 4 5 1 Brown y Motor Power 6 L I 1Z EA 111225 Fi 7 Motor Feedback Motor 5 5 10 8 CN2 Connector Feedback gt GRAY xw 14 x Sle XX 6 11 gt WHT ORANGE XX me Thermostat BLUE T
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10. LDAT Series Integrated Linear Thrusters 45 From the Homing category enter the following Parameter Value Home Accel Decel 1000 mm s s Home Offset 10mm Home Velocity Fast 25 mm s Home Velocity Slow 5mm s Home Method Switch Marker chose one appropriate for your application Configure Your Servo Drive with Ultraware Software These steps assume that a linear thruster and a Ultra3000 or Kinetix 3 drive are installed and wired as one axis of a motion system For help using Ultraware software as it applies to setting up your linear thruster refer to Additional Resources on page 78 This procedure assumes you are familiar with Ultraware software Configure Follow these steps to configure your drive for linear thrusters 1 2 SU Connect serial cable to your drive Apply AC input power to the drive When communication with the drive is established the motor database dialog box opens Click Cancel Ultraware software begins scanning for online drives When a drive is found an Online Drive icon opens in the Workspace Double click the Online Drive icon to view the main Drive setup dialog box From the Workspace select Motor category Change the parameter Auto Motor Iden to Disabled From the Motor Model pull down menu select your linear thruster catalog number Rockwell Automation Publication LDAT INOOTA EN P August 2012 46 LDAT Series Integrated Linear Thrust
11. 505 1 011 010 505 1 7 0 01 0 1 11 vol XAX OLOLEOS IVCI ON 0 Rockwell Automation Publication LDAT INOOTA EN P August 2012 22 LDAT Series Integrated Linear Thrusters spue yoq Bununoui pua Jap V eyed 9 01 XIW Xf Uen 5 GUNUNOW 6077 00 6 0 1079 auereap Mo 312165 1 051 00 8 I 9 ____ 00726 72081 236101 Ue gt ypeqpaay pue amod ry 1 450 9891 10129100 J2M0d c9 17 6718 00 0CL peqpaa4 V Bununoyy 3309 Jo MALA 9500 pue 500 uorne asy L UOHIpuo USED e SI 0015 pua tpea 1 UI ZL jeuonippe uy pua JE Ul Z Q 0 af L ADUEJSIP ZL 006 1 JOJe Ula ed 190 02 X sz LX BW sasn Bununow SMADS de peau 1 205 play naubeui U IH ENOLLNALIV 99 d TN gt 100 jeuondo N0W13 GIW IV C1 N sajo ununow OLAXYI O L X9W H 6
12. torque Implement a program that brings your axis to a controlled stop before axis MotorCapacity reaches 10096 Rockwell Automation Publication LDAT INOO1A EN P August 2012 40 LDAT Series Integrated Linear Thrusters Configure Your Kinetix 6500 EtherNet IP Servo Drive with RSLogix 5000 Software For each linear thruster that is powered by a Kinetix 6500 servo drive use the next four sections to configure hookup test tune fine tune and set up homing for the linear thruster These procedure assumes the linear thruster and a Kinetix 6500 servo drive has been installed and wired as one axis of the motion system For help using RSLogix 5000 software as it applies to setting up your linear thruster refer to Additional Resources on page 78 This procedure assumes you are familiar with RSLogix 5000 software Configure Follow these steps to configure your drive for the linear thruster 1 Loosen the shipping and handling set screw till it is just flush with the stator body surface Run the RSLogix 5000 software Complete the basic system configuration to create an axis From the Motor category click Change Catalog Select your linear thruster from the Change Catalog Number dialog box Ov ow ge o From the Scaling category set the Units to mm Hookup Test If possible run hookup test before the linear thruster loads or fixtures are installed Vertical loads or external forces of more than 1096 of the rated load may pr
13. with Logo on Top SUM Bios Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 19 ATTENTION Make sure cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Excessive and uneven lateral force at the cable connectors may result in the connector s environmental seal opening and closing as the cable flexes Failure to observe these safety precautions could result in damage to the linear thruster motor and its components 3 Forma drip loop in the cable to keep liquids away from the connectors 4 Verify the continuity and functionality of the thermal switch signals TS and TS These signals are transmitted through the feedback cable that connects the motor to its controlling drive Change Connector Orientation You can rotate the circular DIN connector housings up to 180 As Manufactured Follow these steps to rotate the DIN connectors 1 Mount and fully seat a mating cable on the connector 2 Grasp the connector and the cable plug by their housings and slowly rotate them to the outside of the motor If necessary repeat these steps for the other connector feedback or power brake ATTENTION Only apply force to the connectors do not apply force to the cable Do not use tools for example pliers and vise grips to assist with the rotation of the connect
14. 7 1 25 5 4 5 3 33 M6 6 8 5 00 M7 14 7 10 83 5 Slide one bearing puck on to the bearing rail IMPORTANT Bearing pucks for the frame 30 linear thruster do not have retained ball bearings Leave the plastic bearing retainer in place until you are ready to assemble the puck to the rail To assemble the frame 30 bearing pucks do the following Butt the plastic retainer against end of the rail b Slide the bearing from the retainer to the rail Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 67 Remove Strip Cover Refer to this figure when removing the strip cover Top View of LDAT Series Integrated Linear Thruster e LDAT 573010xx is shown Item Description Description 1 Stator cover End damp 2 Stator cover low friction tape 5 Slider cover 3 Stator body low friction tape 1 Remove the M3 x 0 5 x 6 mm flat head cap screws and the stator cover 2 Remove the M3 x 0 5 x 6 mm button head cap screws and the end clamps 3 Carefully slide the slider cover from the assembly ATTENTION The slider cover has sharp edges Use care when handling 4 Ifyou are removing the strip cover to lubricate the linear thruster you are finished 5 Ifyou are replacing the strip cover do the following Peel off the low friction tape from the stator body and the stator cove and discard Rockwell Automation Publication LDAT INOOTA EN P August 2012
15. 8 ft Attach Motor Cables Use this procedure to attach the power and feedback cables after the linear thruster is mounted 1 Carefully align each cable connector with the respective linear thruster connector as shown in the diagram ATTENTION Keyed connectors must be properly aligned and hand tightened the recommended number of turns Improper connector alignment is indicated by the need for excessive force to seat connectors For example the need to use tools to fully seat connectors Failure to observe these safety precautions could result in damage to equipment ATTENTION When installing a threaded DIN cable with M4 designation an 0 ring must be installed in the groove immediately adjacent to the body of the linear thruster connector This O ring dampens the effects of vibration at the cable to linear thruster connection Cables requiring 0 rings include 2090 XXNFMF Sxx standard non flex feedback cables ATTENTION When installing cables with a SpeedTec DIN connector with M7 designation remove the 0 ring 2 Fully seat the feedback connector and the power brake connector e Hand tighten the collar of a threaded DIN connector six turns e Hand tighten the collar of a SpeedTec M7 connector one quarter turn Power Connector Feedback Connector D Flat Surface with Logo on Top Flat Surface
16. S7 LX BW XP 6961 Bununow 0005 gt 6600 0887 0069 720 09 EW XC oMoq 0057 6155 00 sel 081 33620 UB 10 2 4 0 gt 11876 pue 4 gt Tu 60 70 0882 0081 1029000 5 00 061 6 F 99 0155 ers 66 00 0rL EM o o e 10P3UU0 1060 0058 V 12190 995 E Bununoy woyog Jo 401 006 511 19421264 3JEMpJEU 2500 pue 500 YUM asf o mans de peau 1920 X6 LX OLW S Aaniuenb sasn use e UI passauduioo 10 SI 4015 uau pue tpea Ul S O ZL euonippe uy pua 11 Z O c f oyeuuxoidde 0 dp L play 2naubew NOLLN3LIV 100 jeuondo Nn0W13 399v 1 IVCT N Bununoyy 0 TLAX HO STLX8W 7 f 9868 DUVA wn Wi Y 0006 1907 ii oq 0626 i 1 1 1 jeord q d 01061 spua 4104 Jot 0079 SPUB 1001001 jj P Den 1 l aons z L I dois us Bununoy Jo mal
17. Sxx standard 2090 CFBM7DAFxx continuous flex flying lead Feedback Cable Note 2 Rockwell Automation Publication LDAT INOO1A EN P August 2012 72 LDAT Series Integrated Linear Thrusters Wiring Example of a Linear Thrusters to a Kinetix 300 Drive 2090 CPWM7DF xxAAxx standard Kinetix 300 Drive or 2090 CPWM7DF xxAFx LDAT Series Integrated i 2090 K2CK D15M continuous flex Linear Thruster with Motor Power Cable Incremental Encoder Connector Kit Note 1 4 LDAT Sxxxxxx xB 1 S 1 Three phase 2 55 WHT BLACK AM 2 Shield Motor Power m m 3 2 l Green Yellow D lt 2 1 5 WHT RED XX BM 4 Motor Power Blue 3 W C W clgND 5 GREEN IM 5 4 Black 6 WHT GREEN IM 10 5 Brown 0 9 GRAY 5VDC 14 6 U Motor gt 7 Motor Feedback lt Feedback T 2 8 MF Connector gt L ORANGE 9 e 13 WHT ORANGE XX TS 11 14 yle 15 12 777 Thermostat 15 WHI BUE XX 51 12 Cable Shield 16 YELLOW 52 13 13 gt gt 14 11 gt WHTNMELOW XX 83 8 15 1255 COM 777 2090 XXNFMF Sxx standard 2090 CFBM
18. Verify motor catalog number in software matches linear thruster nameplate Motor wiring Check motor power cable for short circuit Linear thruster is operating but is not up to rated speed Incorrect motor catalog number in RSLogix software configuration Drive bus voltage is too low Verify motor catalog number in software matches linear thruster nameplate Check drive has rated bus voltage Linear thruster cannot move load Force is too large for the capacity of the linear thruster and drive Verify force requirements Verify that the drive can support linear thruster continuous and peak current requirements Incorrect motor catalog Number in RSLogix Software configuration Verify motor catalog number in software matches linear thruster nameplate Kinetix 300 drive displays E07 while using linear thruster with absolute feedback option Not using correct feedback connector accessory Rockwell Automation Publication LDAT INOO1A EN P August 2012 Install un terminated motor feedback cable with LDAT CONKIT ABS connector kit LDAT Series Integrated Linear Thrusters 57 Accessories This diagram depicts the accessories available for the linear thrusters Tables list the catalog number and weight for each accessory Refer to the Kinetix Linear Motion Technical Data publication GMC TD002 for dimensions Linear Thruster LDAT SO7xxxx and Accessories 1 Size and purchase spri
19. WHT BLUE XX 5 12 YELLOW 5 13 WHT YELLOW 5 8 177 2090 XXNFMF Sxx standard 2090 CFBM7DAFxx continuous flex flying lead Feedback Cable Note 2 Grounding Techniques for Feedback Cable Shield Use 2090 K2CK D15M connector with these drives Kinetix 2000 Kinetix 300 and linear thruster with incremental encoder Use LDAT CONNKIT ABS connector with the Kinetix 300 drive and a linear thruster with an absolute encoder Use 2090 K6CK D15M connector with the Kinetix 6000 drive Clamp Expose shield secured under clamp Clamp Screw 2 Turn clamp over to hold small cable secure Use 2090 UXBB DM15 connector with Ultra3000 drives Exposed shield secured under clamp Cable Tie Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 75 Specifications Linear Thruster Weights linear Thruster Weight Linear Thruster Weight Linear Thruster Weight frame 30 Cat No approx frame 30 Cat No approx frame 30 Cat No approx kg Ib kg Ib kg Ib LDAT S031010 xx 6 9 15 2 LDAT S032010 xx 9 7 21 5 LDAT S033010 xx 12 6 26 9 LDAT S031020 xx 7 5 16 6 LDAT S032020 xx 10 3 22 8 LDAT S033020 xx 13 2 30 4 LDAT S031030 xx 8 1 17 9 LDAT S032030 xx 10 9 24 1 LDAT S033030 xx 13 8 31 7 LDAT S031040 xx 8
20. WOJJOQ UI AX MADS de peau 134205 0128 19 01 XOW Xp 000 unu OZ x SZ LX QW Xr sasn Bununous savejd N Bununow sia jeuondo 6 rm 100 jeuondo NNOWL4 GIW L 1 T D d b JW 081 916101 Ue 10329 1102 889 peqpaaj pue i 5 5 5 H 1 2 g ws vv 170 5 Y 00081 0021 00 059 820 0006 5 5 87709 i 00706 3 JIL alenbs rot peqpaaJ 801 Suddiys SEN g 4 5 Y 118380 395 OSTE gt 2 1 gt Bununojy 03309 Jo Bununoy apis JO 03309 05 awed suoisuauig 13JSNIUL 1 1 amp suoisuauiiq Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 21 00170 58 66 066 1 58 86 01970 699 770 7 515 u 579 26 SL coz 6958798 61 815 8 67917 8601 01766 990850 61 191 6 0 2 EIT V W 1 910135 007 006 00z 001 007 006 00c 001 007 00 00 001 32U319 91 9215 1030W 0606605 XXX QVOCEOS 0006605 XXX OVOLEOS XXX OCOLEOS 06 51051910 0 0 0 1 11 XXX Qc0 0s IVQ1 XXX 0LOEEOS IVCI 050
21. applications with very high acceleration gt 30 m s s 1 2 in s s add acceleration feed forward e For linear thrusters with long travel gt 500 mm 20 in or with large mass attached to the slider you may notice the axis is vibrating or resonating after AutoTune If it does use the Output screen to add a low pass filter or a notch filter to remove the resonance Set up Homing Enter these parameters to set up homing for the linear thruster Parameter Entry Selection Mode Active Position 0 typical Offset 10mm Sequence Torque Level Marker Direction Reverse Bi directional Torque Level 20 min Greater if the system friction force or weight exceeds 30 of the Continuous Force Rating at any point in the range of motion Speed 5mm s Return Speed 10 mm s 1 The 10mm offset sets the home position to an axis location clear of the spring stops ATTENTION Avoid excessive force while homing the linear thruster Do not exceed 100 mm s 4 0 in s during a home routine Speeds greater than 100 mm s 4 0 in s may damage the linear thruster when the slider reaches the end of travel Rockwell Automation Publication LDAT INOOTA EN P August 2012 38 LDAT Series Integrated Linear Thrusters Preventing Undetected and Repetitive High Energy Impacts To prevent high energy impacts take normal motion system precautions and make sure the Position Error Tolerance is suitable for your application
22. bearing pucks are installed Torque the bearing puck screws to values shown Mounting Torque Screw Size Nem Ibein M3 1 1 10 M4 2 8 25 5 4 5 40 M6 9 5 84 M8 24 212 Torque the bearing rail screws to value shown in previous step Attach the connectors to the stator body Attach the end stop bracket to the slider assembly Check the cable clearance in stator body Slide the slider assembly and verify the cables do not come in contact with it Attach the stator end cap If your linear thruster has the strip cover option install the cover by following the Remove Strip Cover procedure on page 67 in reverse Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 65 Remove Bearing 1 Remove the screws securing the bearing rail to the slider assembly Position the bearing pucks out of your way as necessary 2 Remove the bearing rail Install Bearing 1 Clean the bearing mounting and banking surface with isopropyl alcohol and a soft clean cloth 2 install the new bearing rail Rockwell Automation Publication LDAT INOO1A EN P August 2012 66 LDAT Series Integrated Linear Thrusters 3 Bank the bearing rail against the bearing alignment surface 4 Torque to values shown in the table starting from the center screws alternating each side Bearing Screw Torque Size Nem lb ft M3 0 9 0 67 M4 1
23. of sudden and fast Hazard motion Never stand in the axis of motion when Sudden machine motion can cause under power Do not put fingers inside the slider injury P Sardi clear when machine is in motion Lock out tag out if access to the linear thruster is Pitch point required during maintenance while the connectors Keep clear during operation are installed Hot Surface C Indicates that the surface can be hot enough to burn if touched Hot surface Do not touch Do not open linear thruster covers or right angle connectors while the cables are connected Lock Hazardous voltage out tag out if access to the linear thruster is required 45 during maintenance while the connectors are High Voltage D Disconnect power before opening installed When handling the linear thruster during maintenance or installation the set screw must be ta o mero opor tightened to 2 3 20 Ib in to prevent moion and wet yor unexpected movement of the slide and weight shift during handi Torten setana oza m obr of the linear thruster After installation loosen the set screw ed so that the slider is free to move for normal operation The set screw is loose when the head of the screw is flush with the surface of the stator housing Shipping handling E Set Screw High Energy Magnets Linear thruster magnet tracks contain high energy magnets that attr
24. provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback United States Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication 01 002 available at http www rockwellautomation com literature Allen Bradley ControlLogix CompactLogix Kinetix MP Series Rockwell Software RSLogix Rockwell Automation TechConnect and Ultra are trademarks of Rockwell Automation Inc Rockwell Otomasyon Ticaret A S Kar Plaza Merkezi Blok Kat 6 34752 erenk y istanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europc Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication LDAT INOO1A EN P August 2012 814072 Copyright 2012 Rockwell Automation Inc All rights reserved Printed in the U S A
25. the slider from spring stop to spring stop to verify that the encoder does not rub the scale 10 Replace the two 8 set screws Check Encoder Run RSlogix 5000 software Click Controller test category Click Controller tags Click to expand the axis for you linear thruster Click Monitor Tags tab Qs We He Ou A Locate the axis tag ActualPosition You will monitor this tag while doing the next step 7 Move the linear thruster through its entire range of motion Verify the position readout does not miscount Rockwell Automation Publication LDAT INOO1A EN P August 2012 70 LDAT Series Integrated Linear Thrusters Hookup Test MV 1 Ps Run RSlogix 5000 software Double click on the axis to show the Axis Properties for your linear thruster Click Hookup tab Set Test Increment to 60 mm Click Test Feedback Follow prompts to complete the test Remove Encoder Scale 1 Remove the scale and stainless steel backer 2 Clean the scale alignment groove with isopropyl alcohol to remove all of the adhesive residue 3 Dry thoroughly Install Encoder Scale 1 Place the paper backed scale into the groove 2 Mark off a length that is 0 8 mm 0 03 in shorter than the encoder scale groove length 3 Repeat step 2 with the stainless steel backer 4 Remove the paper backing from the stainless steel backer and place the backer in the groove IMPORTANT Lay the stainless steel backer flat to the slider I
26. 0 89 o 9 S 5 OLD 15 0008 00791 000 0001 Y i H 821 5 o E 00 56 J 9 2 m 001 9009 00 09 SEN 24045 Z L dois E W Bununoy woyog Jo mal 3309 0 X H9 0 LX9W sina 240140 de SMaDS de peau 1900 02 X sz LX BW sasn 100 jeuondo INNOWL4 GIW 1VG1 92619 y sajoy 0017 lt PEE OL AX Q9 LX9W LL LL 23 089 665 gt 927 007091 op 211 4 0 ooo wi l 1 Le pad 880 arenbs 001 SET lost SEIZ 00 8 la W gt 1 UNUNOJ apis JO mal WOJJ0g SZ pue 0 SUCISUBWIQ 19151411 jeaur Rockwell Automation Publication LDAT INOOTA EN P August 2012 LDAT Series Integrated Linear Thrusters 23 1550 81611 261 006 XXX 0SOvSOS IVCI 0c9 0v 8 LEOL 61 00v XXX OvOPSOS IVGI 908501 56992 2 600 0 266 29995 8 LE6 SLL 00 007 XXX 0t0vS0S IV T 9v LC 818 6 1 002 XXX 070050S 1V01 60880 816 69 001 XXX OLOPSOS IVGI 029 07 8 LEOL 61 006 XXX 0S0 S0S LV01 88999 8 L 6 251 007 XX 0v0 S0S IVQT 0017 S8 ES 0190 6599 81578 56917 520
27. 0 4 LDAT 5106070 xx 72 1 159 0 LDAT S103020 xx 38 0 83 8 LDAT S104050 xx 52 1 114 8 LDAT 5106080 xx 74 1 163 3 LDAT S103030 xx 40 0 88 1 LDAT 5104060 xx 54 119 2 LDAT 5106090 xx 76 1 167 7 Linear Thruster Weight Linear Thruster Weight Linear Thruster Weight frame 150 Cat approx frame 150 Cat No approx frame 150 Cat No approx kg Ib kg Ib kg Ib LDAT S152010 xx 38 6 85 1 LDAT S153040 xx 58 6 129 2 LDAT S154070 xx 78 6 173 3 LDAT S152020 xx 41 6 91 7 LDAT 5153050 xx 61 7 135 9 LDAT S154080 xx 81 7 180 0 LDAT S152030 xx 44 6 98 4 LDAT S153060 xx 64 7 142 6 LDAT S154090 xx 84 7 186 7 LDAT S152040 xx 47 7 105 1 LDAT S153070 xx 67 7 149 3 LDAT S156010 xx 82 4 181 7 LDAT S152050 xx 50 7 111 8 LDAT S152080 xx 70 8 156 0 LDAT S156020 xx 85 5 188 4 LDAT S152060 xx 53 7 118 5 LDAT S152090 xx 73 8 162 7 LDAT S156030 xx 88 5 195 1 LDAT S152070 xx 56 8 125 2 LDAT 5154010 xx 60 4 133 2 LDAT S156040 xx 91 5 201 8 LDAT S152080 xx 59 8 131 9 LDAT S154020 xx 63 4 139 9 LDAT S156050 xx 94 6 208 5 LDAT S152090 xx 62 9 138 6 LDAT 5154030 xx 66 5 146 6 LDAT S156060 xx 97 6 215 1 LDAT S153010 xx 49 5 109 2 LDAT S154040 xx 69 5 153 3 LDAT S156070 xx 100 6 221 8 LDAT S153020 xx 52 6 115 9 LDAT S154050 xx 72 5 159 9 LDAT S156080 xx 103 7 228 5 LDAT S153030 xx 55 6 122 6 LDAT 5154060 xx 75 6 166 6 LDAT S156090 xx 106 7 235 2 Rockwell Automation Publication LDAT INOO1A EN P August 2012
28. 1300 54 86 8 Counterbalance Kit 30 DAT S03 CBRKT 380 13 4 50 DAT S0507 CBRKT 600 21 2 75 100 DAT S10 CBRKT 950 33 5 150 DAT S15 CBRKT 1160 40 9 Rockwell Automation Publication LDAT INO01A EN P August 2012 LDAT Series Integrated Linear Thrusters 59 Replacement Parts This is the catalog explanation for the LDAT Series linear thruster bearing and strip cover replacement parts Bearing and Strip Cover Replacement Parts LDAT S xx x XXX 11 11 RES Bearing or Strip Cover Identifier BRG Bearing STCVR Strip Cover Travel 010 100 mm 3 94in 060 600 mm 23 62 in 020 200 mm 7 87in 070 700 mm 27 56 in 030 300 mm 11 81 080 800 mm 31 50 in 040 400 mm 15 75 090 900 mm 35 43 in 050 500 mm 19 68 in Motor Coil Length 1 100 mm 3 94 in 4 400 mm 15 75 in 2 200 mm 7 87 in 6 600 mm 23 62 in 3 300 mm 11 81 in Frame Size 03 030 10 100 05 050 15 150 07 075 Version 5 Base Version Bulletin Number LDAT LDAT Series Integrated Linear Thruster Encoder Replacement Components Cat No Description LDAT TTL ENC TTL Incremental encoder LDAT TTL SCALE Encoder scale tape 170 cm 67 in Cat No Description MPAS GPUMP Grease pump kit MPAS CART Grease cartridge Rockwell Automation Publication LDAT INOO1A EN P August 2012 60 LDAT Series Integrated Linear Thrusters In
29. 154060 xxx 38 4 84 68 LDAT S152070 xxx 35 4 77 99 LDAT S154070 xxx 41 4 91 36 LDAT S152080 xxx 38 4 84 68 LDAT S154080 xxx 44 5 98 05 LDAT S152090 xxx 41 4 91 36 LDAT 5154090 xxx 47 5 104 74 LDAT S153010 xxx 20 2 44 54 LDAT S156010 xxx 29 3 64 61 LDAT S153020 xxx 23 2 51 23 LDAT S156020 xxx 32 3 71 30 LDAT S153030 xxx 26 3 57 92 LDAT 5156030 xxx 35 4 77 99 LDAT S153040 xxx 29 3 64 61 LDAT S156040 xxx 38 4 84 68 LDAT S153050 xxx 32 3 71 30 LDAT S156050 xxx 41 4 91 36 LDAT S153060 xxx 35 4 77 99 LDAT 5156060 xxx 44 5 98 05 LDAT S153070 xxx 38 4 84 68 LDAT 5156070 xxx 47 5 104 74 LDAT S153080 xxx 41 4 91 36 LDAT 5156080 xxx 50 5 111 43 LDAT S153090 xxx 44 5 98 05 LDAT 5156090 xxx 53 6 118 12 Rockwell Automation Publication LDAT INOOTA EN P August 2012 52 LDAT Series Integrated Linear Thrusters Maintenance In this section you will find information on lubrication cleaning and storing your linear thruster Lubrication Your linear thruster has been lubricated at the factory and is ready for installation Use the appropriate lubrication interval shown below for schedule estimates or use Motion Analyzer software to calculate the recommenced re grease schedule for the linear thruster Before You Begin You will need the following tools to clean and lubricate your linear stage ATTENTION Lockout and tagout input power before servicing e Grease pump kit catalog number MPAS GPUMP with tip
30. 21 02757 99 70 818 SLL 006 00 XX 0E0ESOS IVCI 608 8C 8 LEZ 6 1 002 XXX 070ES0S LV01 1890 BLED 69 001 XXX 0L0ESOS IVQT 899 8716 0761 006 XXX 0S0750S LV01 9PL7E 818 61 00v 070 905 1 01 860 EL OL ZEE 60880 B LEZ SLL 00 002 XXX 0 07S0S LV01 C8 vC BLED 6 1 002 XXX 070750S LV01 16600 8 LES 69 001 0106405 14 1 PL TE 818 261 006 XXX OSOLSOS IVCI 608 8C 8 LEZ 61 00v XXX OvOLSOS IVGI 0651 5886 7707 SE LS 1916 02262 22870 819 SLL 006 001 001505 1 01 16600 8 166 6 002 0201405 1 1 86691 816 69 001 0101606 1 1 UI UI UI 32091991 ON 1 05 Y W 1 940435 9215 1010 05 Rockwell Automation Publication LDAT INOOTA EN P August 2012 24 LDAT Series Integrated Linear Thrusters 0210 058 uy 0197 5699 uy 9 00 002 X 0 0 L05 INm 9 18 00 009 XAX 090E 0S IVG1 29 09 81601 1 61 005 j 050 05 IN d 89 98 16 151 00 006 xo oroELos IN 670 18 81 00 XAX DEOELOS IVQI 1882 8151 6 2 002 xo oco 105 IN 8159 6 001 Xo 0L0EZ05 IC1 OSY 8 LELL 9 42 001 xo oLozLos Iqm 29 09 81601 950 009 00 0902 05 1 8999 166 61 005 XAX DSOZZOS IVQT 6D
31. 32 LDAT 5054040 xxx 10202 53 LDAT S052050 xxx 93 20 42 LDAT S054050 xx 11 2 24 64 Frame 75 TDATCat No Slider Moving Mass kg b TDATCat No Slider Moving Mass kg lb TDATSO7201000x 71156 LDAT S073070 xxx 15 6 34 40 LDAT S072020 xxx 83 1830 LDAT S074010 xxx 9 5 20 99 LDAT S072030 xxx 9 5 20 99 LDAT S074020 xxx 10 7 23 67 LDAT S072040 xxx 10 7 23 67 LDAT S074030 xxx 12 0 26 35 LDAT S072050 xxx 12 0 26 35 LDAT S074040 xxx 13 2 29 03 LDAT S072060 xxx 13 2 29 03 LDAT S074050 xxx 14 4 31 72 LDAT S072070 xxx 14 4 31 72 LDAT S074060 xxx 15 6 34 40 LDAT S073010 xxx 83 1830 LDAT S074070 xxx 16 8 37 08 LDAT S073020 xxx 955 20 99 LDAT S076010 xxx 12 0 26 35 LDAT S073030 xxx 10 7 23 67 LDAT S076020 xxx 13 2 29 03 LDAT S073040 xxx 12 0 26 35 LDAT S076030 xxx 14 4 31 72 LDAT S073050 xxx 13 2 29 03 LDAT S076040 xxx 15 6 34 40 LDAT S073060 xxx 14 4 31 72 LDAT S076050 xxx 16 8 37 08 Rockwell Automation Publication LDAT INOO1A EN P August 2012 50 LDAT Series Integrated Linear Thrusters Frame 100 LDAT Cat No Slider Moving Mass kg Ib LDAT Cat No Slider Moving Mass kg Ib LDAT S102010 xxx 11 3 24 84 LDAT S104010 xxx 15 2 33 59 LDAT S102020 xxx 13 3 29 21 LDAT S104020 xxx 17 2 37 96 LDAT S102030 xxx 15 2 33 59 LDAT S104030 xxx 19 2 42 34 LDAT
32. 4030 19 SMIUL 1 001 awed suoisuawig Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 28 V 89 18611 XX 0609015 1VG1 6779 L 8E9L XX 0809015 1V 1 6509 178661 XX 0 09015 1V 1 79 95 18691 XX 0909015 1VG1 ECirv 56996 99880 02251 89 24 009 XX 05090LS 1VG1 Vect XX 0709015 1V 1 1899 XX 0 09015 1VG1 8 0 18601 XX 02090LS 1VG1 6699 L 8 6 Xx 01090LS 1VG1 9909 18661 060015 1 1 79 95 XX 080vOLS 1VG1 89 25 L 8EEL Xx 0 0vOLS 1VG1 18621 XX 090701S 1VG1 99101 567992 01600 02065 1977 L 8ELL 00 XX 0SOvOLS 1VG1 18 09 178601 0909015 1 1 6699 L 8 6 0609015 1401 0069 11858 XX 020vOLS 1VG1 90 62 186 XX 0LOrOLS IVCT 92919491 3 001 SWEJJ 94045 9215 1030 1 Jeaur 001 awed Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 29 spua 4104 10 2304 puo V ee 0148 H9 SC LX BW XP 6961 5 0052 6070 1 001 1 1094 OD 1 MOQ 182
33. 7 19 2 LDAT S032040 xx 11 6 25 5 LDAT S033040 xx 14 4 31 7 Linear Thruster Weight Linear Thruster Weight Linear Thruster Weight frame 50 Cat No approx frame 50 Cat No approx frame 50 Cat No approx kg Ib kg Ib kg Ib LDAT S051010 xx 10 3 22 7 LDAT S052030 xx 16 5 36 4 LDAT S053050 xx 22 7 50 1 LDAT S051020 xx 11 3 24 8 LDAT S052040 xx 17 5 38 5 LDAT S054010 xx 23 3 51 3 LDAT S051030 xx 12 2 26 9 LDAT S052050 xx 18 4 40 6 LDAT S054020 xx 24 2 53 4 LDAT S051040 xx 13 2 29 0 LDAT S053010 xx 18 9 41 6 LDAT S054030 xx 25 2 55 5 LDAT S051050 xx 14 1 317 LDAT S053020 xx 19 8 43 7 LDAT S054040 xx 26 1 57 6 LDAT S052010 xx 14 6 32 2 LDAT S053030 xx 20 8 45 8 LDAT S054050 xx 27 1 59 7 LDAT S052020 xx 15 6 34 3 LDAT S053040 xx 21 8 48 0 Linear Thruster Weight Linear Thruster Weight Linear Thruster Weight frame 75 Cat No approx frame 75 Cat No approx frame 75 Cat No approx kg Ib kg Ib kg Ib LDAT 5072010 xx 17 7 39 1 LDAT S073040 xx 26 6 58 7 LDAT S074070 xx 35 5 78 2 LDAT S072020 xx 18 9 41 8 LDAT S073050 xx 27 8 61 4 LDAT S076010 xx 38 6 85 1 LDAT S072030 xx 20 2 44 4 LDAT S073060 xx 29 1 64 1 LDAT S076020 xx 39 8 87 7 LDAT S072040 xx 21 4 47 1 LDAT S073070 xx 28 2 62 1 LDAT S076030 xx 41 0 90 4 LDAT S072050 xx 22 6 49 8 LDAT S074010 xx 30 3 66 8 LDAT S076040 xx 42 2 93 1 LDAT S072060 xx 23 8 52 2 LDAT S074020 xx 29 4 64 8 LDAT S076050 xx 43 5 95 8 LDAT S072070 xx 25 0 55 2 LDAT
34. 7DAFxx continuous flex flying lead Feedback Cable Note 2 LDAT Series Integrated Linear Thruster with Absolute Encoder 0 LDAT CONKIT ABS Connector Kit Three phase Motor Power 1 LACK SIN 1 D 2 27 TBLAK XX SIN 2 2090 CPWM7DF xxMAxx standard ESI i 2090 CPWM7DF xxAFx continuous flex 9 3 sul RE 05 3 Power Cable 4 55 WHURD XX 05 4 Same connection as above lt 5 GREEN DATA 5 gt gt Note 1 4 lt lt 6 3 WHT GREEN XX DATA 10 9 gt gt GRAY 10 WRUGRMY XX EM 11 ORANGE 9VDC 7 Thermostat 32 2 WHT ORANGE XX TS 11 Q gt gt ubi M BUE 15 12 COM y gt 2090 CFBM7DF CEAAxx standard 2090 CFBM7DD CEAAxx standard 2090 CFBM7DF CEAFxx continuous flex 2090 CFBM7DD CEAFxx continuous flex flying lead Feedback Cable Note 3 Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 73 Wiring Example for a Linear Thrusters and a Kinetix 2000 Drive Cable Shield Clamp Kit Kinetix 2000 Motor Power MP Connector Motor Feedback MF Connector IAM inverter or AM Green Yellow LDAT Series Integrated Linear Thruster with Incremental Blue Black gt Brown V 2090 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFx continuous flex Motor Pow
35. A EN P August 2012 LDAT Series Integrated Linear Thrusters 11 Remove the Linear Thruster from the Shipping Container 1 Consider the weight of the linear thruster Depending on the design the linear thruster can weigh up to 106 7 kg 235 2 Ib ATTENTION Linear thrusters that exceed 22 7 kg 50 0 Ib require a two man lift Do not lift the linear thruster by the slider Use supplied eye bolts when ever possible Attach two eye bolts to connector side of the linear thruster Select or adjust the rigging lengths to compensate for the weight distribution ATTENTION Do not pass ropes or cables through the eye bolts Use hooks or shackles with load rated slings The angle between the lifting cables must not exceed 45 angle from vertical as shown Maintain the linear thruster in a balanced position Test lift the linear thruster a minimal amount Verify that it is properly secured and balanced before moving it further The lift points may not be equidistant from the center of gravity ATTENTION Do not loosen the shipping and handling set screw until the linear thruster is installed in your application The slider is free to move once the shipping set screw is loosened Use additional care when working with the linear thruster after the set screw is loosened Unexpected slider movement can cause personal injury 5 Lift the linear thruster 6 Visually inspect the linear thruster for damage Closely exa
36. Follow these steps to home the linear thruster 1 From Workspace select Mode Configuration Homing 2 Setthe parameters to the following values QU ON VU e Parameter Value Home Type Home to Current Value Back to Marker Auto Start Homing on Enable Inactive Home Sensor Back off Inactive Homing Velocity 0 0100 m s Homing Accel Decel Offset Move Distance 1 0000 m s s 2000 0000 counts Stop Home Decel 1 0000 m s s Home Sensor Polarity Active Going Transition Home Position 0 000 counts Creep Velocity 0 0100 m s Home Current Value 2 0000 Amps If linear thruster does not move to negative spring stop during homing it may be necessary to increase the Home Current Value From the Workspace select Indexing Set the parameter Auto Start Index to Off Click Indexing Control Panel Click Enable Drive Click Start Homing The linear thruster moves to the negative spring stop and returns to the home position The In Position and At Home display indicators turn yellow Rockwell Automation Publication LDAT INOO1A EN P August 2012 48 LDAT Series Integrated Linear Thrusters Setting Travel Limits Linear thrusters are designed to use the software overtravel limits available in RSLogix 5000 and Ultraware software Overtravel limits should be set according to the maximum speed of the servo drive system and the payload of the application The Deceleration Distance before the
37. Installation Instructions B Allen Bradley LDAT Series Integrated Linear Thrusters Catalog Numbers LDAT Frame 30 LDAT Frame 50 LDAT Frame 75 LDAT Frame 100 LDAT Frame 150 LDAT S03xxxx DB LDAT SOSxxxx DB LDAT SO7xxxx DB LDAT S10xxxx DB LDAT S15xxxx DB LDAT S03xxxx DBS LDAT SOSxxxx DBS LDAT SO7xxxx DBS LDAT S10xxxx DBS LDAT S15xxxx DBS LDAT SO3xxxx EB LDAT SO5xxxx EB LDAT SO7xxxx EB LDAT S10xxxx EB LDAT S15xxxx EB LDAT S03xxxx EBS LDAT SOSxxxx EBS LDAT SO7xxxx EBS LDAT S10xxxx EBS LDAT S15xxxx EBS LDAT S03xxxx DD LDAT SOSxxxx DD LDAT SO7xxxx DD LDAT S10xxxx DD LDAT S15xxxx DD LDAT S03xxxx DDS LDAT SOSxxxx DDS LDAT SO7xxxx DDS LDAT S10xxxx DDS LDAT S15xxxx DDS LDAT SO3xxxx ED LDAT SO5xxxx ED LDAT SO7xxxx ED LDAT S10xxxx ED LDAT S15xxxx ED LDAT SO3xxxx EDS LDAT SO5xxxx EDS LDAT SO7xxxx EDS LDAT S10xxxx EDS LDAT S15xxxx EDS Topic Page Important User Information 2 Safety Considerations 3 Catalog Number Explanation 7 About the LDAT Series Integrated Linear Thruster 8 Before You Begin 9 Install the Linear Thruster 12 Dimensions 20 Connector Data 32 Commissioning 33 Maintenance 52 Troubleshooting 55 Accessories 57 Replacement Parts 59 Install Replacement Parts 60 Interconnect Diagrams 71 Specifications 75 Additional Resources 78 Rockwell B Allen Bradley Rockwell Software Automation 2 LDAT Series Integrated Linear Thrusters Important User I
38. Normal motion system precautions include the following e Interlocks for access e Range of motion hardware and software limits In addition you should complete these tasks e Determine limit positions based on maximum speed and load and stopping distance at peak capability of motor or drive You can use Motion Analyzer to determine these positions Program the position error fault action to Disable Drive default or Stop Program the Limits tab in Axis Properties to reduce the Position Error Tolerance Typically a value less than 10 mm 0 39 in is achievable without causing nuisance Position Error E19 faults e In higher speed applications implement 10096 Velocity Feed forward on the Axis Properties Gains tab This value reduces the Position Error during normal axis motion e After performing an Auto Tune always set the Position Error Tolerance back to the established reduced values ATTENTION Motor capacity may be exceeded by load changes obstructions or equipment dynamic responses When a closed loop servo system is operating changes in loads obstructions or equipment dynamic response can cause motor capacity to be exceeded Under these conditions the Kinetix 6000 and Kinetix 2000 drives fold back the current to the motor to prevent thermal damage Typically the fold back causes a closed loop servo system to operate with reduced dynamic control performance particularly when accelerating and deceleratin
39. S074030 xx 30 6 67 5 LDAT S076060 xx 44 7 98 5 LDAT S073010 xx 23 0 50 7 LDAT S074040 xx 31 8 70 2 LDAT S076070 xx 45 9 101 2 LDAT S073020 xx 24 2 53 3 LDAT S074050 xx 33 1 72 9 LDAT S073030 xx 25 4 56 0 LDAT S074060 xx 34 3 75 6 Rockwell Automation Publication LDAT INOO1A EN P August 2012 76 LDAT Series Integrated Linear Thrusters linear Thruster Weight Linear Thruster Weight Linear Thruster Weight frame 100 Cat No approx frame 100 Cat No approx frame 100 Cat No approx kg Ib kg Ib kg Ib LDAT S102010 xx 27 9 61 5 0 5103040 42 0 92 1 LDAT 5104070 xx 56 0 123 3 LDAT S102020 xx 29 9 65 8 LDAT 5103050 xx 44 0 96 9 LDAT 5104080 xx 58 0 127 9 LDAT S102030 xx 31 9 70 2 LDAT S103060 xx 45 9 101 3 LDAT 5104090 xx 60 0 132 3 LDAT S102040 xx 33 8 74 6 LDAT 5103070 xx 47 9 105 6 LDAT 5106010 xx 60 2 132 7 LDAT S102050 xx 35 8 79 0 LDAT 5102080 x 49 9 110 0 LDAT 5106020 xx 62 2 137 1 LDAT S102060 xx 37 8 83 4 0 5102090 51 9 114 4 LDAT 5106030 xx 64 2 141 5 LDAT S102070 xx 39 8 87 7 LDAT S104010 xx 44 1 97 3 LDAT 5106040 xx 66 1 145 8 LDAT S102080 xx 41 8 92 1 LDAT 5104020 xx 46 1 101 7 LDAT 5106050 xx 68 1 150 2 LDAT S102090 xx 43 8 96 9 LDAT 5104030 xx 48 1 106 1 LDAT 5106060 xx 70 1 154 6 LDAT S103010 xx 36 0 79 4 LDAT S104040 xx 50 1 11
40. S102040 xxx 17 2 37 96 LDAT S104040 xxx 21 2 46 72 LDAT S102050 xxx 19 2 42 34 LDAT S104050 xxx 23 2 51 09 LDAT S102060 xxx 21 2 46 72 LDAT S104060 xxx 25 2 55 47 LDAT S102070 xxx 23 2 51 09 LDAT S104070 xxx 27 1 59 84 LDAT S102080 xxx 25 2 55 47 LDAT S104080 xxx 29 1 64 22 LDAT S102090 xxx 27 1 59 84 LDAT S104090 xxx 31 1 68 60 LDAT S103010 xxx 13 3 29 21 LDAT S106010 xxx 19 2 42 34 LDAT S103020 xxx 15 2 33 59 LDAT S106020 xxx 21 2 46 72 LDAT S103030 xxx 17 2 37 96 LDAT 5106030 xxx 23 2 51 09 LDAT S103040 xxx 19 2 42 34 LDAT S106040 xxx 25 2 55 47 LDAT S103050 xxx 21 2 46 72 LDAT 5106050 xxx 27 1 59 84 LDAT S103060 xxx 23 2 51 09 LDAT 5106060 xxx 29 1 64 22 LDAT S103070 xxx 25 2 55 47 LDAT 5106070 xxx 31 1 68 60 LDAT S103080 xxx 27 1 59 84 LDAT 5106080 xxx 33 1 72 97 LDAT S103090 xxx 29 1 64 22 LDAT 5106090 xxx 35 1 77 35 Rockwell Automation Publication LDAT INOOTA EN P August 2012 LDAT Series Integrated Linear Thrusters 51 Frame 150 LDAT Cat No Slider Moving Mass kg Ib LDAT Cat No Slider Moving Mass kg Ib LDAT S152010 xxx 17 2 37 85 LDAT 5154010 xxx 23 2 51 23 LDAT S152020 xxx 20 2 44 54 LDAT S154020 xxx 26 3 57 92 LDAT S152030 xxx 23 2 51 23 LDAT 5154030 xxx 29 3 64 61 LDAT S152040 xxx 26 3 57 92 LDAT S154040 xxx 32 3 71 30 LDAT S152050 xxx 29 3 64 61 LDAT 5154050 xxx 35 4 77 99 LDAT S152060 xxx 32 3 71 30 LDAT S
41. Tune The linear thruster is a direct drive actuator Tuning the linear thruster establishes a stable axis ATTENTION Before you tune your linear thruster read and understand Preventing Undetected and Repetitive High Energy Impacts and Preventing Reduced Dynamic Control Performance on page 39 Follow these steps to tune the linear thruster 1 Attach your application load to the linear thruster 2 From the Tune tab enter the following recommended tuning parameters Parameter Entry Selection Travel Limit 100mm Speed 500 mm s Torque Force 100 Direction Forward Bi directional Damping Factor 0 8 default For preliminary Autotune do not check tune parameter boxes 3 Click Start Tuning You can fine tune the linear thruster for your specific application requirements by using the suggestions made in the next section Rockwell Automation Publication LDAT INOOTA EN P August 2012 LDAT Series Integrated Linear Thrusters 37 Fine Tune Use the Gains tab to fine tune your linear thruster The following bullets show you how to get the best results e For precise positioning applications add position integral gain and increase the position proportional gain as necessary e For stiffer and more precise tracking of motion profiles increase the velocity gain e For stable operation increase the velocity gain until you hear the axis oscillate and then reduce the velocity gain by one half e For
42. a This table lists the signal descriptions for connector pins on the linear thruster Feedback Power and Brake Pin Signal Name Signal Name Pin Signal Name LDAT xxxxxxx xBx LDAT xxxxxxx xDx incremental encoder absolute encoder 1 A Sin A Phase U 2 A Sin B Phase V 3 B Cos C Phase W 4 B Cos D Ground 5 Index Data E Reserved 6 Index Data F 7 Reserved Reserved G BEDCO91NN00000202000 8 H 9 45V DC L 10 Common Common Case Cable Shield and GND 11 Reserved 9V DC gt 12 Reserved 15 TU 154 4 15 7 1 15 51 Reserved 16 52 17 53 Case Shield Shield 1 The normally closed thermal switch opens at 100 C 212 F 2 Absolute encoder is only compatible with Kinetix 300 single axis drives 3 Power pins C and D may be labeled as U V W and GND respectively Reserved pins E and H may be numbered 1 or 2 ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Excessive and uneven lateral force at the cable connector may result in damage to the housing and contacts as the cable flexes Failure to observe these safety precautions could result in damage to the motor and its components Rockwell Automation Publication LDAT INOOTA EN P August 2012 LDAT Series Integrated Linear Thrusters 33 Commissioning This section provides guideline
43. a3000 Digital Servo Drives Installation Manual publication 2098 14003 Ultra3000 Digital Servo Drives Integration Manual publication 2098 14005 How to install set up and troubleshoot a servo drive system Motion Analyzer software download at http www rockwellautomation com en e tools Drive and motor sizing with application analysis software SERCOS and Analog Motion Configuration User Manual publication MOTION UM001 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 RMO01 Information examples and techniques designed to minimize system failures caused by electrical noise You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 79 Notes Rockwell Automation Publication LDAT INOO1A EN P August 2012 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals technical and application not
44. act ferrous metals from a considerable distance Precautions must be taken while unpacking handling and shipping by air Rockwell Automation Publication LDAT IN001A EN P August 2012 LDAT Series Integrated Linear Thrusters 5 Unpacking and Handling Leave protective wrapping cardboard and flux containment plates in place until linear thruster is installed Clear the inspection and repacking area of any ferrous metals that will be attracted to or attract the linear thruster If you are working multiple linear thrusters maintain a distance of 1 5 m 5 ft between each linear thruster Air Freight Restrictions When air freighting linear thruster 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 thruster magnet track contain magnetized material as classified by International Air Transport Association Dangerous Goods Regulations An 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 thes
45. afety label and its details and location before using the actuator Labels on the Linear Thruster Rockwell Automation Publication LDAT INOOTA EN P August 2012 4 LDAT Series Integrated Linear Thrusters Safety Labels Title Label Details gt Location The linear thruster slide uses strong magnets over its entire length The magnetic field generated can disrupt the functionality of automatic implantable cardioverter defibrillators AICD People with cardiac pacemakers should not work near the linear thruster High magnetic field exerts strong The strong magnets of the linear thruster slider will forces attract metal objects that up are in its proximity Pacemaker end IGO wearers maintain During handling and installation maintain distance minimum of 300 mm distance 5 Tools metal objects and surfaces can be between the linear thruster slider and metal and out pinen or antapi mounting surfaces or structures Refer to Remove and fingers the Linear Thruster from the Shipping Container on page 11 Maintenance personnel should avoid the use of metallic tools and secure items such as badge clips other personnel effect that could be attracted to the strong magnetic field Strong magnets can erase magnetic media Never let credit cards or electronic media contact or come near the linear thruster Strong Magnets Pitch Point Motion B The linear thruster is capable
46. all it by following the next steps Carefully slide the slider cover the through the plastic end caps centering it on the linear thruster ATTENTION The slider cover has sharp edges Use care when handling Clean all screws and apply fresh Loctite 242 to them 8 Install the end clamps with the M3 x 0 5 x 6 mm button head cap screws 10 Install the stator cover with the M3 x 0 5 x 6 mm flat head cap screws Torque all screws to 1 1 Nem 10 lbein Rockwell Automation Publication LDAT INOO1A EN P August 2012 54 LDAT Series Integrated Linear Thrusters Strip Cover Cleaning Clean the strip cover if installed using a lint free cloth lightly saturated with isopropyl alcohol IMPORTANT Replace the strip cover if it cannot be cleaned or if an uneven or scored surface is detected during cleaning A buildup of foreign material on the strip cover degrades the performance of the linear thruster This buildup coupled with rapid movement of the slider and the resulting friction will Score the surface and create a burnished appearance on the strip cover Elements contributing to a typical buildup on the strip covers are dust grease and other contaminants normally encountered in any operating environment that is not strictly controlled Storage Store your linear thruster for a minimal amount of time in a clean and dry location within the Environmental Specifications on page 77 Observe these conditions when storin
47. ar thruster to move in the negative direction 1 Position the slider in the center of travel Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 43 2 From the Motor category set the Feedback Encoder parameters to the following Parameter Value Resolution x1 20 um Resolution x4 5ym Halls order 3 Inverted Checked B lead A for forward Unchecked 3 From the Motor category click Check Phasing Tune with Absolute Encoder The linear thruster is a direct drive actuator Tuning the linear thruster establishes a stable axis ATTENTION Before you tune your linear thruster read and understand Preventing Undetected and Repetitive High Energy Impacts and Preventing Reduced Dynamic Control Performance on page 39 Follow these steps to tune the linear thruster with an absolute encoder We recommend you check Position Tuning and Velocity Tuning Set the Travel Limit to 50 0 User Units Click Start 1 Attach your application load to the linear thruster 2 From the General category set the Drive Mode to Auto Tune 3 From the Dynamics category set the Feedback Filter to On 4 Enable drive 5 Click Autotuning 6 7s 8 The linear thruster will oscillate 9 To accept the autotune parameters click Yes 10 Adjust the Gain Scaling by adding 1 11 Setthe Feed back Filter to Off Rockwell Automation Publication LDAT INOO1A EN P Aug
48. ation LDAT INOOTA EN P August 2012 42 LDAT Series Integrated Linear Thrusters Configure Your Kinetix 300 EtherNet IP Servo Drive with MotionView Software For each linear thruster that is powered by a Kinetix 300 servo drive use the next four sections to configure hookup test tune fine tune and set up homing for the linear thruster These procedure assumes the linear thruster and a Kinetix 300 servo drive has been installed and wired as one axis of the motion system Linear thrusters with the absolute encoder option require the use of the supplied feedback connector LDAT CONKTT ABS For help using MotionView software as it applies to setting up your linear thruster refer to Additional Resources on page 78 This procedure assumes you are familiar with MotionView software Configure Follow these steps to configure your drive for linear thrusters 1 Loosen the shipping and handling set screw till it is just flush with the stator body surface 2 Run the MotionView software rad From the Motor category click Change Motor For linear thruster with absolute encoders skip to step 6 From the Vendor pull down menu select Allen Bradley Linear 5 From the Motor Model pull down menu select your linear thruster catalog number 6 Click Update Drive 7 Click Yes Hook up Test Follow these steps to do a hookup test for the linear thruster with an incremental encoder ATTENTION This procedure causes the line
49. ded DIN for an absolute or incremental encoder 4 Use motor power cables with 14 AWG conductors for these linear thruster catalog numbers LDAT S076xxx Dxx LDAT S106xxx Dxx LDAT S156xxx Dxx All other linear thruster use power cables with 16 AWG conductors Wiring Example of a Linear Thrusters to a Kinetix 3 Drive 10 12 13 14 15 16 17 18 19 20 Referto Motor Feedback Breakout Board Installation Instruction Publication 2071 1003 f di 2090 CPWM7DF xxAAxx standard anne technique Kinetix 3 Drive or 2090 CPWM7DF xxAFx LDAT Series Integrated 1 continuous flex Linear Thruster with 2071 TBMF Motor Power Cable Incremental Encoder Motor Feedback Note 1 4 Breakout Board Shield 1 BLACK AM 3 T Green Yellow D lt 2 gt WHT BLACK M 4 Motor Power w Blue Ce w Leow gt RED BM 5 MP Connector Black B 22 Three phase WHIRED 6 Brown u Motor Power 5 GREEN M 1 U lt 6 gt gt Motor Feedback ed 8 GRAY 20 WHT GRAY MF Connector pla 55 ECOM p Cable 13 gt WHT ORANGE 15 2 Shield 14 BLUE 15 Thermostat 15 n WHTBUE XX 10 16 gt YELLOW 52 14 175 gt 3 16 12 gt COM 77 2090 XXNFMF
50. dy opposite the power and feedback connectors Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 35 Configure and Commission Your SERCOS Servo Drive with RSLogix 5000 Software For each linear thruster that is powered by a Kinetix 2000 Kinetix 6000 Kinetix 6200 or an Ultra3000 servo drive use the next four sections to configure hookup test tune fine tune and set up homing for the linear thruster These procedure assumes the linear thruster and a Kinetix 2000 Kinetix 6000 Kinetix 6200 or an Ultra3000 servo drive has been installed and wired as one axis of the motion system For help using RSLogix 5000 software as it applies to setting up your linear thruster refer to Additional Resources on page 78 This procedure assumes you are familiar with RSLogix 5000 software Configure Follow these steps to configure your drive for the linear thruster Loosen shipping and handling set screw till it is just flush with the stator body surface Run the RSLogix 5000 software Complete the basic system configuration to create an axis Right click on your axis and select Properties WU Ue oom Set these values in the appropriate Axis Properties tab of RSLogix 5000 software ATTENTION Incorrect parameter settings may result in uncontrolled motion with the potential for damage to the linear thruster Setting the Positioning Mode to Rotary can cause damage to t
51. e regulations for general marking and labeling requirements the application of specific Magnetized Material Handling Labels and instructions for preparing the Shipper s Declaration for Dangerous Goods 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 Shippers Declaration for Dangerous Goods When shipped via ground in the United States these products are not considered U S D O T Hazardous Material and standard shipping procedures apply Rockwell Automation Publication LDAT INO01A EN P August 2012 6 LDAT Series Integrated Linear Thrusters Vertical or Incline Installation linear thruster driven system mounted vertically or on an incline will not maintain position when the power is removed Under the influence of gravity the motion platform and its payload will fall to the low end of travel Design engineers should allow for this by designing in controlled power down circuits or mechanical controls to prevent the linear thruster driven system and its payload from being damaged when the power fails IMPORTANT Any person that teaches operates maintains or repairs these linear thruster must be tra
52. e slider within the linear thruster housing The linear thrusters have been designed for exact positioning at high speeds Top View of LDAT Series Integrated Linear Thruster LDAT S73010xx is shown 14 x4 sets Bottom View of 10 X4 LDAT Series Integrated Linear Thruster LDAT S73010xx is shown Item Description Item Description 1 Power connector 9 Slider 2 Feedback connector 10 Clevis accessory threaded mounting holes 3 Encoder access panel 11 Side surface threaded direct mount holes 4 Encoder alignment access 12 Shipping and handling set screw 5 Magnetic Encoder scale 13 Accessory feet bottom mount threaded holes 6 Payload mounting surface 14 Accessory feet side mount threaded holes 7 Grease access not applicable on frame 30 15 Bottom surface threaded direct mount holes 8 Stator body ATTENTION Magnetized tools can cause damage if they come too close to surface magnetic encoder scale tape Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 9 Before You Begin ATTENTION To avoid personal injury and structural damage to the linear thruster never attempt lift or move the linear thruster by any means other than those listed in this publication Keep the packaging material on the linear thruster to minimize the possibility of it tipping Do not remove any of the corrugated or foam inserts until the linear thruster is at the insta
53. ent openings of servo drives e Ground all equipment by using a single point parallel ground system that employs ground bus bars or large straps If necessary use additional electrical noise reduction techniques to reduce EMI in noisy environments Refer to System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 for additional information on reducing the effects of EMI Install the Linear Thruster The installation must comply with all local and national safety and electrical codes and use of equipment and installation practices that promote electromagnetic compatibility and safety Only qualified service personnel may install or service a linear thruster ATTENTION Do not loosen the shipping and handling set screw until the linear thruster is installed in its application ATTENTION Install linear thruster to avoid interference with buildings structures utilities other machines and equipment may create a trapping hazard or pinch points Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 13 ATTENTION Unmounted linear thrusters disconnected mechanical couplings and disconnected cables are dangerous if power is applied Appropriately identify tag out disassembled equipment and restrict lock out access to electrical power Failure to observe these safety precautions could result in personal injury Follow these steps to prepa
54. er Cable Note 1 4 Encoder Motor Feedback LDAT Sjo0000c xB MF Connector IAM AM 1 BLACK AM 1 7 WHT BLACK XX AM 2 21 1 eno 3y BM 3 lt Three phase a y wmmo XX BM U Motor Power 5 GREEN IM 5 V 6 gt WHI GREEN XX IM 10 gt 9 gt GRAY 35VDC 14 Feedback D S SL vene 6 ORANGE Thermostat 13 WHI ORANGE TS 11 14 gt TS 15 55 wewe XC st 12 16 gt YELLOW 52 13 n 5 S weweuow XX ES 21 8 gt 2090 XXNFMF Sxx standard or 2090 CFBM7DAFxx continuous flex flying lead Feedback Cable Wiring Examples for a Linear Thruster and a Kinetix 6000 Drive Kinetix 6000 Cable Shield Clamp Kit Motor Power MP Connector Motor Feedback MF Connector IAM inverter or AM 2090 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFx continuous flex Motor Power Cable Note 1 4 Shield Green Yellow Blue Black lt jil Brown Note 2 LDAT Series Integrated Linear Thruster with Incremental Encoder LDAT Siocoonc xB Motor Feedback MF Connector IAM AM 1 gt BLACK 1 D 2 2 5 WHUBACK XX 7 c ay RED 3 lt lt Three phase 4 yy waited 4 A U Motor Pi 5 GREEN 5 lt
55. ers Hookup Test Run the hookup test before the linear thruster loads or fixtures are installed Vertical loads or external forces of more than 1096 of the rated load may prevent the hookup test from passing even though the unit is wired correctly Follow these steps to do the hookup test for the linear thruster 1 From the Motor category click Commutation Diagnostics 2 Setthe parameter Test Current to 2596 3 Click Start Test The slider will move approximately 60 mm 2 4 in 4 Verify that the Test Status displays Test Success 5 Verify that the Recommended Changes displays No Change Required Tune The linear thruster is a direct drive actuator Tuning the linear thruster establishes a stable axis ATTENTION Before you tune your linear thruster read and understand Preventing Undetected and Repetitive High Energy Impacts and Preventing Reduced Dynamic Control Performance on page 39 Follow these steps to tune the linear thruster 1 From the Workspace select Tuning 2 Click Autotuning 3 Set the parameters to the following values Parameter Value Motor Direction Bi Directional Maximum Distance 10000 counts Step Current 1096 4 Click Start Autotune The Velocity Regulator Gains changes to reflect autotune values The Autotune Complete status indicator turns yellow Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 47 Home
56. es sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools You can also visit our Knowledgebase at http www rockwellautomation com knowledgebase for FAQs technical information support chat and forums software updates and to sign up for product notification updates For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support support Installation Assistance If you experience 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 or Canada 1 440 646 3434 Use the Worldwide Locator at Outside United States or z Ganada http www rockwellautomation com support americas phone en html or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures Contact your distributor You must
57. event hookup test from passing even though the unit is wired correctly Follow steps to do a hookup test for the linear thruster 1 Setthe Test Distance to 60 mm 2 Click Start 3 Verify that the Motor Polarity Feedback Polarity and Motion Polarity are normal Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 41 Tune The linear thruster is a direct drive actuator Tuning the linear thruster establishes a stable axis ATTENTION Before you tune your linear thruster read and understand Preventing Undetected and Repetitive High Energy Impacts and Preventing Reduced Dynamic Control Performance on page 39 Follow these steps to tune the linear thruster 1 Attach your application load to the linear thruster 2 From the Autotune category enter the following recommended tuning parameters Parameter Entry Selection Application Type Basic Loop Response Medium Load Coupling Compliant 3 Click Start Fine Tune Use the facilities in the Tune Velocity Position and Accelerations Loop categories to meet your specific application requirements Home The Kinetix 6500 drive does not support Home to Torque homing Use this link to the Sample Code Library to download the AOI file called CIP Home to Torque http samplecode rockwellautomation com idc groups public documents webassets sc legal info hcst dID 275636 Rockwell Automation Public
58. f the scale is not flat the encoder scale will rub on the encoder 5 Remove the paper backing from the encoder scale tape and place the scale tape on the stainless steel backer Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 71 Interconnect Diagrams These wiring examples are for a linear thruster specifically Allen Bradley servo drives Note Description 1 The preferred power cables are shown on illustration These are alternate power cables that can be used with LDAT Series linear thrusters 2090 CPWM4DF xxAFxx Continuous flex threaded DIN with power only 2090 XXNPMF 16Sxx Non flex threaded DIN with power and brake 2090 CPBM7DF 16AAxx SpeedTek with power and brake 2090 CPBM7DF 16AFxx Continuous flex SpeedTek with power and brake 2 The preferred incremental feedback cables are shown on illustration 2090 CFBM4DF CDAFxx continuous flex threaded DIN for an absolute or incremental encoder is an alternate incremental feedback cables that can be used with LDAT Series linear thrusters 3 The preferred absolute feedback cables are shown on illustration These are alternate absolute feedback cables that can be used with LDAT Series linear thrusters 2090 CFBM7DF CDAFxx Continuous flex SpeedTek for an absolute or incremental encoder 2090 XXNFMF Sxx Non flex threaded DIN for an absolute or incremental encoder 2090 CFBM4DF CDAFxx Continuous flex threa
59. fety system that stops the equipment if anyone enters the risk area Personnel who enter the risk area must be authorized trained and qualified for any task performed inside the risk area Build and Route Cables Knowledgeable cable routing and careful cable construction improves system electromagnetic compatibility EMC To build and install cables perform these steps Separate 1 Keep wire lengths as short as possible 2 Route signal cables encoder or serial away from motor and power wiring 3 4 Ground cables by 0 3 m 1 ft minimum for every 9 m 30 ft of parallel run both ends of the encoder cable shield and twist the signal wire pairs to prevent electromagnetic interference EMI from other equipment ATTENTION High voltage can be present on the shield of a power cable if the shield is not grounded Make sure there is a connection to ground for any power cable shield Failure to observe these safety precautions could result in personal injury or damage to equipment Rockwell Automation Publication LDAT INOO1A EN P August 2012 18 LDAT Series Integrated Linear Thrusters The cable length from the linear thruster to the drive should be limited to 10 m 32 8 ft If longer cables are necessary a 1321 3Rx x series line reactor is required Refer to the 1321 Power Conditioning Products Technical Data publication 1321 70001 to choose line reactor for applications requiring cable longer than 10 m 32
60. g If the reduced dynamic control results in undesirable Position Error and the Position Error Tolerance is set to a relatively large value such as the default value the increase in Position Error may go undetected If proper precautions are not in place this could lead to equipment damage and or serious injury Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 39 Preventing Reduced Dynamic Control Performance prevent reduced dynamic control you should take normal motion system precautions and monitor the drive s motor capacity Normal motion system precautions include Interlocks for access Range of motion hardware and software limits Use Motion Analyzer to size your Motor Drive combination with sufficient margin We recommend that you monitor motor capacity when commissioning the axis Additionally you should monitor the drive s motor capacity in case of unexpected obstruction or axis mechanical failures Take the following steps to monitor the motor capacity Make sure the Position Error Tolerance is set appropriately for your axis Turn on Motor Capacity Real Time Attribute on the Axis Properties Drive Motor tab Determine your worst case expected axis MotorCapacity during normal axis operation In your application run time code monitor the axis MotorCapacity real time attribute Drive Foldback occurs when axis MotorCapacity reaches 10896 of rated continuous
61. g the linear thruster e Be sure the equipment is in good working order before storing Perform repairs maintenance and inspections before storing equipment Store the equipment in a suitable storage position horizontal that will prevent damage to the connectors and electronics e After six months of storage cycle the linear thruster two complete strokes to redistribute the internal lubricants After storage for a period longer than two years without use lubricant replacement is recommended contact Rockwell Automation Technical Support Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 55 Troubleshooting Use this table to troubleshoot your linear thruster Troubleshooting Linear Thrusters Description Noises or vibrations Excess slider friction or rubbing Possible Cause Linear thruster mounting is not fastened properly Load or mounting accessory fixture is not Corrective Action Verify correct mounting and torques Linear thruster is not mounted to a flat rigid surface per mounting guidelines Improper fastening of mounting feet accessories Metal debris or hardware on magnet surface of slider Debris on strip cover fastened properly Linear thruster not tuned Tune linear thruster Bearing wear Replace bearings Review mounting guidelines Review mounting instructions Remove debris Clean strip cover Deb
62. he linear thruster or the machine due to incorrect positioning Axis Properties Tab Parameter Entry Selection Drive Motor Motor Catalog Number Select your linear thruster catalog number Drive Resolution 200 000 drive counts motor millimeter Attribute 1 Position Error recommended Attribute 2 TorqueFeedback recommended Units Position Units mm Conversion Positioning Mode Linear Conversion Constant 200 000 0 drive counts 1 0 mm The LDAT linear thrusters display a different suffix depending on the servo drive you are using Systems using a 230V drive show linear thruster with _ A suffix and those using a 460V drive will show _B suffix EXAMPLE LDAT S031020 Bx_A catalog numbers are shown when 230V drive is selected LDAT S031020 Bx_B catalog numbers are shown when 460V drive is selected Rockwell Automation Publication LDAT INOO1A EN P August 2012 36 LDAT Series Integrated Linear Thrusters Hookup Test Run the hookup test before the linear thruster loads or fixtures are installed Vertical loads or external forces of more than 1096 of the rated load may prevent the hookup test from passing even though the unit is wired correctly Follow these steps to do the hookup test for the linear thruster 1 From the Hookup Axis Properties tab enter the following Parameter Entry Selection 60mm Test Increment Drive Polarity Positive 2 Click Test Command amp Feedback
63. ication m s 0 1 Velocity and kinetic energy can be much higher due to uncontrolled worst case motion that is only constrained by the length of stroke and the power capacity of the motor drive pairing Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 49 Slider Moving Mass Frame 30 TDATCat No _ Slider Moving Mass kg b TDATCat No Slider Moving Mass kg lb TDATSO310100x 128623 LDAT S032030 xxx 46 10 23 LDAT S031020 xxx 3 4 7 56 LDAT S032040 xx 5 2 11 57 LDAT S031030 xxx 4 0 8 90 LDAT 5033010 xxx 4048 90 LDAT S031040 xxx 46 10 23 LDAT S033020 xx 4 6 10 23 LDAT S032010 xxx 3 4 7 56 LDAT S033030 xx 5 2 11 57 LDAT S032020 xxx 4 0 8 90 LDAT S033040 xx 5 9 12 91 Frame 50 TDATCat No Slider Moving Mass kg b TDATCat No Slider Moving Mass kg Ib 71 5051010 45089 LDAT S053010 xxx 64 14 10 LDAT S051020 xxx 54 11 99 LDAT S053020 xx 7 4 16 21 LDAT S051030 xxx 64 14 10 LDAT S053030 xx 83 18 32 LDAT S051040 xxx 74 16 21 LDAT S053040 xx 9 3 20 42 LDAT S051050 xxx 83 1832 LDAT S053050 xx 1022 53 LDAT S052010 xxx 54 11 99 LDAT S054010 xx 7 4 16 21 LDAT S052020 xxx 6 4 1410 LDAT S054020 xx 83 18 32 LDAT S052030 xxx 74 16 21 LDAT S054030 xx 9 3 20 42 LDAT S052040 xxx 83 18
64. inear thrusters with absolute encoders are only compatible with Kinetix 300 drives The type of Allen Bradley drive connected to the linear thruster determines the configuration procedure The following table to shows you the configuration procedures to follow Drive Refer to Kinetix 2000 Configure and Commission Your SERCOS Servo Drive with RSLogix 5000 Software on page 35 Kinetix 6000 Kinetix 6200 Ultra3000 with SERCOS Kinetix 6500 Configure Your Kinetix 6500 EtherNet IP Servo Drive with RSLogix 5000 Software on page 40 Kinetix 300 Configure Your Kinetix 300 EtherNet IP Servo Drive with MotionView Software on page 42 Ultra3000 and Kinetix 3 Configure Your Servo Drive with Ultraware Software on 45 ATTENTION Moving parts can cause injuries Before running the linear thruster make sure all components are secure and safe guards are in place to prevent access to the path of moving machinery Safeguards should prevent access to the linear thruster until all motion has stopped Check that the linear thruster is clear of foreign matter and tools Objects hit by the moving thrust rod can become projectiles that can cause personal injury or damage to the equipment IMPORTANT You must verify that the servo control system safely controls the linear thruster with regard to maximum force acceleration and speed Positive Motion Direction Positive motion is defined as the slider extending from the stator bo
65. ined and demonstrate the competence to safely perform the assigned task ATTENTION Linear thrusters are capable of high accelerations sudden and fast motion Rockwell Automation is not responsible for misuse or improper implementation of this equipment gt ATTENTION Linear thrusters driven systems must have 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 gt ATTENTION The Hall effect module and motor feedback encoder contain an electrostatic discharge ESD sensitive devises 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 gt BURN HAZARD When the linear thruster are running at their maximum rating the temperature of attached heat sink can reach 100 C 212 F gt SHOCK HAZARD An assembled linear thruster will generate power if the coil or magnet track is moved Un terminated power cables present an electrical shock hazard Never handle flying leads or touch power pins while moving the motor gt Rockwell Automation Publication LDAT INOOTA EN P August 2012 LDAT Series Integrated Linear Thrusters 7 Catal
66. is manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequences SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures PPPP IMPORTANT Identifies information that is critical for successful application and understanding of the product Rockwell Automation Publication LDAT INOOTA EN P August 2012 LDAT Series Integrated Linear Thrusters 3 Safety Considerations This section describes the safety issues encountered while using a linear thruster and the y 5 precautions you can take to minimize risk Potential hazards discussed here are identified by labels affixed to the device Labels Here you will find the safety and identification labels affixed to your linear thruster To prevent injury and damage to the linear thruster review the s
67. llation area Leave corrugated cardboard tube on slider until the linear thruster has been installed in its final location If necessary for accessory installation cut the cardboard sleeve to gain access to the slider ends Sliders shown without cardboard sleeve for demonstration purposes Slider has Strong Magnetic Forces Pinch Point Hazard Ferrous Surface ATTENTION High force magnets are located inside the corrugated cardboard tubes that cover the sliders The corrugated tubes reduce but does not eliminate magnetic attraction forces Overhead lifting is the recommended method for removing the linear thruster from its container Eye bolts are supplied with linear thrusters of frame 50 and larger and are taped to one of the slider protective tubes ATTENTION Be sure that the load ratings of the lifting device slings hooks and shackles have a lifting capacity rated equal to or greater than the load Failure to do so may result in personal injury and or equipment damage For your system s specific weight refer to the system nameplate label or shipping weights on the packing slip Rockwell Automation Publication LDAT INOOTA EN P August 2012 10 LDAT Series Integrated Linear Thrusters Planning Your Installation Refer to the Kinetix Linear Motion Specifications GMC TD002 for the specifications and additional products referenced in this section Include unobstructed access to the linear thrusters ship
68. mine the mounting surface frame and slider for defects Notify the carrier of shipping damage immediately Rockwell Automation Publication LDAT INOO1A EN P August 2012 12 LDAT Series Integrated Linear Thrusters Prolonging Linear Thruster Life Thoughtful design and proper maintenance can increase the life ofa linear thruster Follow these guidelines to maximize the life of a linear thruster especially within a food processing environment e Always provide a drip loop in each cable to carry liquids away from the connection to the motor e If design requirements permit provide shields that protect the motor housing slider and their junctions from contamination by foreign matter or fluids Inspect the bearings and strip cover if equipped for damage or wear on a regular basis If damage or excessive wear is observed replace the item Preventing Electrical Noise Electromagnetic interference EMI commonly called electrical noise can reduce linear thruster performance Effective techniques to counter EMI include filtering the AC power by using shielded cables separating signal cables from power wiring and practicing good grounding techniques Follow these guidelines to avoid the effects of EMI e Isolate the power transformers or install line filters on all AC input power lines e Separate signal cables from motor cabling and power wiring Do not route signal cables with motor and power wires or over the v
69. nformation 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 SGl 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application ofthis equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability 15 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 th
70. ng according to your application needs Guidance provided in Kinetix Linear Motion Technical Data publication GMC TD002 Mounting Accessories Accessory Item Frame Cat No Weight approx 07 1 Foot Mount 30 50 DAT SMID FTMOUNT 30 1 06 75 100 DAT SLARGE FTMOUNT 40 1 41 150 2 Clevis Male 30 LDAT S03 CLVSM 100 3 53 50 DAT S0507 CLVSM 150 5 29 75 100 DAT S1015 CLVSM 370 13 05 150 Rockwell Automation Publication LDAT INOOTA EN P August 2012 58 LDAT Series Integrated Linear Thrusters Mounting Accessories continued Accessory Item Frame Cat No Weight approx 07 3 Clevis Female 30 LDAT S03 CLVSF 75 2 65 50 LDAT S0507 CLVSF 100 3 53 75 100 LDAT S1015 CLVSF 250 8 82 150 Slider end Accessories Accessory Item Frame Cat No Weight approx g 0z 4 Rod Clevis Kit 30 AT S03 RODCLVS 190 6 70 50 AT S0507 RODCLVS 320 11 29 75 100 AT S1015 RODCLVS 770 27 16 150 5 Rod Eye Kit 30 AT S03 RODEYE 150 5 29 50 AT S0507 RODEYE 260 9 17 75 100 AT S1015 RODEYE 590 20 81 150 6 Rod Coupler Kit 30 LDAT S03 RODCPLR 290 10 05 50 AT S0507 RODCPLR 370 13 05 75 100 AT S1015 RODCPLR 1030 36 33 150 7 Horizontal Pavload 30 AT S03 HPBRKT 260 9 17 Mounting Bracket 50 50507 430 15 17 75 100 DAT S10 HPBRKT 910 32 10 150 DAT S15 HPBRKT
71. o attach a rod eye rod clevis or payload bracket to the slider Cat No Torque max 1 LDAT S03 LDAT S05 6 8 5 Ib ft LDAT S07 LDAT S10 14 7 Nem 10 83 Ib ft LDAT S15 1 Unless otherwise noted torque specifications have a 20 tolerance Rockwell Automation Publication LDAT INOOTA EN P August 2012 14 LDAT Series Integrated Linear Thrusters If installing counterbalance kit install counter balance end bracket between slider end cap and slider end accessory Complete counter balance kit installation by following steps in Install Counterbalance Kit on page 14 Install Counterbalance Kit Follow these steps to install the counter balance kit Unless otherwise noted torque specifications have a 20 tolerance q 1 Remove 8 set screws from stator body 2 Install stator bracket with two 8 x 1 25 x 16 socket head cap screws SHCS Torque screw to 19 2 Nem 14 2 Ibeft 3 Screw one 3 8 in hex nut onto a spring anchor 4 Install hex nut and spring anchor assemble in one of the three threaded mount locations Torque nut to 33 9 Nem 25 0 Ibeft 5 Remove three screws that secure the slider end cap and discard Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 15 6 Install the counter balance and slider end cap the screws that came with the kit 7 Torque to values shown in table LDAT Frame Size 51 1 To
72. og Number Explanation This is the catalog explanation for the LDAT Series integrated linear thruster 1 Lubrication Blank Standard Bearing Seal Blank Standard Bearing Protection Blank No Cover 5 Strip Cover Encoder Type Incremental magnetic scale 5 um resolution Absolute magnetic scale hiperface 0 Winding High Speed Low Speed Travel 010 100 mm 3 94in 060 600 mm 23 62 in 020 200 mm 7 87 070 700 mm 27 56 in 030 300 11 81 in 080 800 mm 31 50 in 040 400 mm 15 75 in 090 900 mm 35 43 in 050 500 mm 19 68 in Motor Coil Length 1 100 mm 3 94 in 4 400 mm 15 75 in 2 200 mm 7 87 in 6 600 mm 23 62 in 3 300 mm 11 81 in Frame Size 03 030 10 100 05 050 15 150 07 075 Version 5 Base Version Bulletin Number LDAT LDAT Series Integrated Linear Thruster Magnetic strip has 1 mm pole pitch Final resolution when used with a Kinetix 300 servo drive is 0 488 um Absolute encoder is only compatible with Kinetix 300 single axis drives See Accessories on page 57 for accessory catalog numbers Rockwell Automation Publication LDAT INOOTA EN P August 2012 8 LDAT Series Integrated Linear Thrusters About the LDAT Series Integrated Linear Thruster LDAT Series integrated linear thrusters feature high resolution encoders The linear motor extends or retracts th
73. or Failure to observe these safety precautions could result in personal injury or damage to equipment Rockwell Automation Publication LDAT INOO1A EN P August 2012 uonipuo yse e ui passaiduuoo jjN SI dogs UBUM pua pea 6 0 ZL jeuonippe uy pua ut 70 01 df 1 Ul ZL 008 194211922 T spua yoq 2214 3 ae peu aso0 1003 YLM UONINeD esp UD _5 de peau 1920 g 4 Bununoui puo play UDIH NOLIN3LIV unu OZ X SC LXgW x sasn Dununour sejd y ursajoH Bununoy Y 180 mE 100 OLAX U9 0 LX9W 560 066 X H9 O LX OW Xb 61 lt 5 41055927 0 ji hi 1 anualajay 1 059 e s X 12 163 23 BED 00691 00 1 00 SZL WTO 09 a X EW X2 e 3242121 JMOQ 5 o o na eda BARS df o gt 6097 9049 409 Jod 81 00 09 MART 0018 ayons g L lt 901501 Bununojy 09 Jo
74. ping and handling setscrew in your application design This product can be operated in compliance with the relevant safety regulations only if the maximum loading limits are observed If you are mounting your linear thruster in a vertical or sloping position include safety measures that will control the work load should the power fail ATTENTION Uncontrolled moving masses can cause injury or damage to property If there is a power failure the working mass will drop down Check whether additional external safety measures are required to prevent damage in the event of a power failure Corrosive environments reduce the service life of linear thrusters Factory manufactured feedback and power cables are available in standard cable lengths They provide environmental sealing and shield termination Contact your Allen Bradley sales office or refer to the Kinetix Motion Accessories Specifications publication GMC TD004 for additional information General safety standards and requirements include but are not limited to the following UL 1740 Safety of Robots and Robotic Equipment ANSI RIA R15 06 Industrial Robots and Robot Systems Safety Requirements Teaching Multiple Robots ANSI NFPA 79 Electrical Standard for Industrial Machinery CSA CAN 7434 Industrial Robots and Robot Systems General Safety Requirements EN60204 1 Safety of Machinery Electrical Equipment of Machines Rockwell Automation Publication LDAT INOO1
75. re the linear thruster for installation on the machine 1 Provide sufficient clearances in the area of the linear thruster for it to stay within its specified operating temperature range Refer to Specifications on page 75 for the operating temperature range Do not enclose the linear thruster unless forced air is blown across the linear thruster for cooling Keep other heat producing devices away from the linear thruster Make sure the mounting surface supports the linear thruster evenly so that it is free of mechanical stress and distortion Evenness of the mounting surface must be within 0 127 mm 0 005 in Attach mounting accessories shown on page 57 to the linear thruster If you are installing with this accessory Refer to this table or procedure Clevis mount Install with Clevis Mount Accessory on page 16 Foot mount Install with Foot Mount Accessory on page 16 None Direct Mount the Linear Thruster on page 17 Attach slider end accessories see on page 58 to the work load as outlined below Be sure the work load center of gravity is centric to the slider ATTENTION Damage may occur to the linear thruster bearings and the feedback device if sharp impact to the slider is applied during installation Do not strike the slider with tools during installation or removal Failure to observe these safety precautions could result in damage to the linear thruster and its components Use these torque values t
76. re to disassemble your linear thruster TIP Use non magnetic tools and hardware made of beryllium copper 300 series stainless steel these tools are not available proceed carefully as the magnet track attracts magnetic and ferrous items 1 Ifyour linear thruster has the strip cover option follow Remove Strip Cover procedure on page 67 2 Loosen the shipping and handling set screw 3 Remove the coil screws Remove the bearing screws There are four screws per bearing Rockwell Automation Publication LDAT INOO1A EN P August 2012 62 LDAT Series Integrated Linear Thrusters 5 Remove the connector side stator end cap There are five screws on the perimeter of the end cap 7 Remove the end stop bracket 8 Remove screws that mount the power and feedback connectors to the stator body 9 Slide the connectors out of the stator body Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 63 10 11 12 Slide the slider and coil assembly from the stator body until the internal encoder connector is exposed Complete this step without affecting the position of the coil on the slider ATTENTION The coil is held to the magnet track on the slider by the magnetic forces Do not allow it to move or attempt to move it while attempting repairs Moving the coil will make reassembly difficult Disconnect the internal encoder connector
77. ris or loose hardware on slider bearings Remove debris from using masking tape Bearing wear Replace bearings No response from linear thruster Controller or drive not enabled Enable controller and drive Controller or drive faulted Reset the controller or drive Improper or failed wiring Verify correct wiring Linear thruster is enabled but operating erratically or not at all Motor Feedback Cable connection may be faulty or intermittent Run Hookup Test verify wiring Encoder magnetic strip is damaged Verify function of linear encoder over full range of travel If a particular location is malfunctioning replace incremental encoder magnetic scale If using an absolute encoder return for repair Rockwell Automation Publication LDAT INOO1A EN P August 2012 56 LDAT Series Integrated Linear Thrusters Troubleshooting Linear Thrusters continued Description Linear thruster is operating but is not up to rated force Actuator is overheating Possible Cause Unexpectedly high moving mass or acceleration Corrective Action Verify moving load mass and acceleration are within specification and adjust as necessary Unexpectedly high force Verify mechanical alignment with external guidance Incorrect drive Verify that the drive can support linear thruster continuous and peak current requirements Incorrect motor catalog Number in RSLogix Software configuration
78. rque N m Ib in S2 52 Torque N m Ib in 30 M8 x1 25 x 40 13 5 10 0 M6x1 0x 30 9 0 6 6 50 M10x1 5 x 50 33 9 25 0 75 M10x1 5 x 30 33 9 25 0 100 12 x1 75 60 54 8 40 4 150 M14 22 05 x 60 84 7 62 5 8 Screw one 3 8 in hex nut onto a spring anchor 9 Install hex nut and spring anchor assemble in the counter balance bracket Torque nut to 33 9 Nem 25 0 Ibeft Attach your counter balance spring between the two spring anchor pins Rockwell Automation Publication LDAT INOOTA EN P August 2012 16 LDAT Series Integrated Linear Thrusters Install with Clevis Mount Accessory Install the clevis mount accessory with screws included in the kit and torque to the values shown Cat No Clevis Kit Torque max LDAT S03 LDAT 03 CLVSM or LDAT 03 CIVSF 6 8 Nem 5 00 Ib ft LDAT S05 LDAT 0507 CLVSM or LDAT 0507 CIVSF LDAT S10 LDAT 1015 CLVSM or 14 7 Nem 10 83 lb ft basi LDAT 1015 CIVSF Install with Foot Mount Accessorv Follow these steps to mount the linear thruster on vour application with the foot mount accessory 1 Verify the mounting surface flatness The mounting surface must be flat or shimmed flat to the mounting surface of the linear thruster within 0 127 mm 0 005 in to avoid distortion and damage to the actuator housing Loosely install the all of the foot mounts on to your application with your fasteners Loosely install linear thruster to foot mounts by
79. s for using RSLogix 5000 and MotionView software to configure your linear thruster servo drive system Required Files Firmware revisions and software versions required to support the linear thrusters include the following Drive Firmware Software Software Supplemental File Version min Version min min Kinetix 2000 with SERCOS 1 199 RSLogix 16 xx LDAT 7 6 12 cmf Kinetix 6000 with SERCOS 1 120 Ultra 3000 with SERCOS 1 52 Kinetix 6200 1 040 18 xx Kinetix 6500 2 006 19 xx Kinetix 300 1 067 MotionView n a RSLogix software version 17 xx with Add on profiles ti Ultra3000 152 Ultraware 1 84 Motion Database mdb June 2012 Kinetix 3 2 10 1 See Kinetix 300 EtherNet IP Indexing Servo Drives User Manual publication 2097 UM001 You can use Motion Analyzer software version 6 0 or later as required Download these files from http www rockwellautomation com support Contact Rockwell Automation Technical Support at 440 646 5800 for assistance Rockwell Automation Publication LDAT INOOTA EN P August 2012 34 LDAT Series Integrated Linear Thrusters Configure Your Linear Thruster Configure the linear thruster by using the basic parameter settings described in this section Use the procedure appropriate for your motion axis LDAT Sxxxxxx xB linear thrusters with incremental encoders are compatible with all Kinetix drives and have a default resolution of 5 um LDAT Sxxxxxx xD l
80. slide contacts the end of travel bumpers can be determined based on the Deceleration Rate of the load and the available peak force from the stage drive combination Then use Motion Analyzer software to calculate the minimum deceleration distance at the maximum speed of your application 1 Software overtravel limits are preferred for these reasons e Hard wired overtravel limit switches are typically located in a position that does not allow the linear stage to decelerate before mechanical damage occurs e Software overtravel limit switches can be precisely set based on maximum speed and load inertia The stage will come to a complete stop before physical damage occurs In addition to software overtravel limits the end of travel bumpers for the linear stage will stop the carriage up to the ratings listed in the table Bumper Stop Energy Limits for Linear Thruster End of Travel CatNo EnergyLimitJ in lb Cat No Energy Limit J in Ib LDAT SO3xxxx LDAT S1 0x0 8 19 72 50 LDAT SOSAx 2 5 22 48 LDAT S150x 19 2 170 00 LDAT SO7xxxx ATTENTION If energy greater than the bumper capacity is anticipated in the application you must provide additional mechanical means for safely stopping the slider To calculate kinetic energy of the carriage with your payload use the formula 7 xMx y J energy in Joules moving mass linear carriage payload kg V maximum velocity of stage in your appl
81. stall Replacement Parts Be sure to have all replacement parts and tools available before starting this procedure Read and understand procedures before attempting repair any part of the linear thruster You will require a set of hex wrenches to preform most tasks You will require a T10 Torx driver to replace the encoder Replace the Bearing 1 2 3 4 Disassemble the linear thruster by following procedure on page 60 Remove the bearing by following procedure on page 65 Install the bearing by following procedure on page 65 Assemble the linear thruster by following procedure on page 63 Replace the Encoder 1 2 3 4 Remove the encoder by following procedure on page 68 Install the encoder by following procedure on page 68 Check the encoder by following procedure on page 69 Runthe Hookup test by following procedure on page 70 Replace the Encoder Scale 1 2 3 4 5 6 Disassemble the linear thruster by following procedure on page 60 Remove the encoder scale by following procedure on page 70 Mount the encoder scale by following procedure on page 68 Assemble the linear thruster by following procedure on page 63 Check the encoder by following procedure on page 69 Do the Hookup test by following procedure on page 70 Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 61 Disassemble the Linear Truster Follow this procedu
82. type installed and primed Grease cartridge catalog number MPAS CART included in grease pump kit e Lint free cloth e Isopropyl alcohol as necessary for cleaning TIP A grease gun typically delivers one gram of lubricant for one pump of the gun Recommended Maintenance Interval Recommended maintenance and lubrication interval for frame 50 75 100 and 150 linear thrusters is every 6 months or 5000 km of travel whichever comes first Frame 30 linear thrusters are lubricated for life Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 53 Bearing Lubrication Lubricate the linear thruster bearings as shown and described below Use the MP Series Integrated Linear Stage grease pump kit catalog number MPAS GPUMP and additional grease cartridges as necessary Lubrication Access LDAT Series Integrated Linear Thruster LDAT S73010x xxS is shown with strip cover removed If your linear thruster has the strip cover option remove it by following the procedure on page 67 Clean grease from the bearing by using clean lint free cloth and isopropyl alcohol Place the grease pump on the grease fitting just inside the stator housing pushing in until firm contact with the grease fitting is made Pump the handle until back pressure is felt or a maximum of two strokes is made Repeat steps 1 and 3 on all grease fittings If your linear thruster has a strip cover inst
83. using two of the supplied screws per foot mount Tighten mounting fasteners to your application Torque the foot mount screw to linear thruster to the following values Cat No Foot Mount Torque max 1 LDAT S03 LDAT S05 LDAT MID FTMOUNT 4 5 Nem 3 33 Ibein LDAT S07 LDAT S10 LDAT LARGE FTMOUNT 6 8 Nem 5 00 Ib in LDAT S15 1 Unless otherwise noted torque specifications have a 20 tolerance Rockwell Automation Publication LDAT INOO1A EN P August 2012 LDAT Series Integrated Linear Thrusters 17 Direct Mount the Linear Thruster Follow these steps to mount the linear thruster on directly on your machine 1 Verify the mounting surface flatness The mounting surface must be flat or shimmed flat to the mounting surface of the linear thruster within 0 127 mm 0 005 in to avoid distortion and damage to the actuator housing Install and evenly tighten the steel fasteners so the linear thruster Torque the steel fasteners evenly to following values Cat No LDAT S03 LDAT S05 507 Torque 4 5 Nem 3 33 Ibein LDAT S10 LDAT 515 6 8 Nem 5 00 Ib in ATTENTION When installed pinch points with high forces are created that have the potential for causing physical damage The risk area surrounding the linear thruster must be enclosed or clearly marked including signage in accordance with national and international requirements The risk area must be protected by a sa
84. ust 2012 44 LDAT Series Integrated Linear Thrusters Tune with Incremental Encoder The linear thruster is a direct drive actuator Tuning the linear thruster establishes a stable axis ATTENTION Before you tune your linear thruster read and understand Preventing Undetected and Repetitive High Energy Impacts and Preventing Reduced Dynamic Control Performance on page 39 Follow these steps to tune the linear thruster with an incremental encoder 10 Attach your application load to the linear thruster From the General category set the Drive Mode to Auto Tune From the Dynamics category set the Feedback Filter to On Set the Feedback Filter Time Constant to 1 ms Enable the drive Click Autotuning We recommend you check Position Tuning and Velocity Tuning Set the Travel Limit to 50 0 User Units Click Start The linear thruster will oscillate accept the autotune parameters click Yes Fine Tune To increase the precision of the positioning of your linear thruster use the Position I Gain and increase the Position I Limit to a value 1 Home To home your linear thruster with an incremental encoder you must have a home switch installed We recommend you wire a home switch to Input Follow these steps to home the linear thruster 1 2 Disable the axis From the General category set Drive Mode to Indexing Rockwell Automation Publication LDAT INOO1A EN P August 2012

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