UM-103 Linear Encoders Options
Contents
1. Don t strip any ends that you will not be using This may result in short circuits or other misconnections which will damage the Linear Encoder circuitry 13 of 21 Revision B 7 Encoder Cable Connections Encoder cables are available from Moog in standard configurations compatible with major Drive manufacturers A pigtail version is also available which allows custom wiring to suit other Drives If you are using one of the Drives for which a standard cable is available plug the Circular connector end of the cable into the Encoder connector on the Motor and the other end into the Drive The position and commutation connections should at this point be properly wired Motor End Typical Sensor Cable Drive End Encoder Connector Drive and Temp Sense connectors Figure 7 1 Modular Cables connect the Drive Amplifier with the Linear Motor 7 1 Selecting the Linear Encoder Modular Cables Modular Cables Wiring can be greatly simplified if a Drive or Amplifier is used for which a Moog standard cable already exists See Moog product literature to select a cable on the basis of Drive model and required cable length UM 102 14 of 21 Revision B 7 2 Wiring the Linear Encoder to the Drive with the Pigtail Cable If you cannot use a modular cable connect the drive using the following pigtail cable FSC EC XX where XX 02 10 or 25 corresponds to cable length in feet Figure 7 2 Pigtail Cable provides t2. 0 degree Positive Hall format Commutation Signals per NEMA ICS 16 UM 102 10 of 21 Revision B 6 Mechanical Mounting Notes 6 1 Encoder Alignment The Linear Encoder Option provides Position Feedback Commutation data Indexing and Home switch functions required to control the Motor With the encoder option encoder and Hall device heads are mounted together on one end of the motor shaft The heads move with the shaft and read positional and commutation data from separate stationary tracks mounted to the encoder rail Position ee ee E I Linear icale Fig 6 1 Side loads and Torques may impair encoder alignment Linear bearings within the encoder rail physically align the heads and shaft with the stationary tracks These bearings also prevent shaft rotation Do not allow loads to apply torque or lateral loads to the shaft during installation or use Do not apply lateral loads to the Encoder Rail housing Excessive Torque or Lateral Loads will cause binding or reduce the life of the bearings within the encoder rail and result in misalignment of the encoder Encoder heads are aligned at the factory before shipping and should not be adjusted by the user UM 102 11 of 21 Revision B 6 2 Dual Face Mounting Dual Face Mounting can only be utilized without an integral Moog position sensor For information on Dual Face Mounting please refer to the appropriate Moog user s manual 6 3 End Stops Two End
3. BLE Ge ee F gaT BLI HIE seus BLU E CPN ELE GRMN RLE WHT iain IELI RED BLK GRN aa ey REO GLE GRN GND BLE EED GENH GND OLE RED GRMN RLK WHT BL WHT 5 a FHI REL GEN mA Nite RHT BED GEN P WHI BLE RED 5y Wie WHT BLEYRED Hie fHI RED os ea RHI RED WHI WHE AUTO BLU ae 33 Yrel EENE AU BLUARED __ 4 Vref BLU ARED __ ee BLU BLE WHT 56 AA ELU BLE WHT RREO O BRED AA CABLE OPEN aem e AUKA CABLE DPEN O AINE By ALB Bre AMP 7072691 AMP 470758041 6 POS SIZE 17 28 POS SEE 17 REFER TU RENISHAW RGH DATA SHEET REF L 517 01p2 09 a REFER TO RENISHAY RGH DATA SHEET REF L 8517 62 03 a TOR RGHZ2D X Z amp Y OR RGH41 READ HEADS FOR RGH OR RGHESB REAC HEAD Figure 7 3 Pinouts and Wire Colors for the FSC EC XX Cable LCX Encoder option e776 A Encoder and Hall Sensor Power The Position Sensor requires DC Power at 5 0 V 5 at the Encoder Cable leads providing at least 100 mA DC The Encoder power supply is applied to 5V and GND at pins 1 and 2 respectively The Hall sensor head is powered separately from the Encoder and requires DC Power at 5 0 V 5 at the Encoder Cable leads providing at least 20 mA DC The Hall sensor power supply is applied to 5V and GND at pins 17 and 18 respectively If both Hall sensor and Encoder are used connect both grounds and 5V pins UM 102 16 of 21 Revision B Ts 2 2 2 Digital Quadrature Incremental Signals A
4. MOOC COMPONENTS GROUP USERS MANUAL FOR Linear Encoder Options LCA LCB LCC LCD and LCE AVAILABLE WITH MooG ADVANCED HIGH FORCE LINEAR MOTORS UM 103 Revision B Date 03 17 09 Linear Encoder Option designed by Motor Option Numbers LCA LCB LCC LCD and LCE Moog Components Group Springfield Operations 750 West Sproul Road Springfield PA 19064 Ph 610 328 4000 Toll Free 800 510 6885 Fx 610 605 6216 2009 E mail mcg moog com Web site www moog com components PAGE INTENTIONALLY LEFT BLANK Page 1 of 21 Table of Contents L SAVEL peronda EEE EERE 4 2 WARNINGS CAUTIONS AND NOTES essssssssssooocsosssosesssssessssssssssssosssssssses 4 3 SCOPE wassacavasceesusatiastuassassesstasavasusecuussuscstussucaeaesedaasevsausecunsetoauedesacasestacsesvestaceteaancs 7 As INTRODUCTION cciana eee N ETOT EIEEE A 8 4 1 Installation SCQUCICC inate cata n pees Sn anda aye aioieadaMeanoess 9 5 INFORMATION FOR DRIVE OR CONTROLLER SETUP 0000 10 MECHANICAL MOUNTING NOTES sscctadsesctiestes cecedsecacietsstsctadecscteeedessecacanacch 11 6 1 Enc der AH SMMC its esseid a a a 11 6 2 D ak Face VIO Uti sesin dsene eelaienctecsen iets stvasadsereteetaien 2 6 3 Po ESOP Re OP renee E E ere nny env Arey etc renner 12 6 4 NORS et eerste saeco naan neice ee T E ete ee een 12 7 ENCODER CABLE CONNECT IONS cccccssssscssssscssccsscssscssssssssssssssssssceees 14 7 1 Selecting the Linear Enc
5. Stops are provided on the Moog Motor The internal End Stop is not to be removed by the user Pasition z Hall Internal ENS Endstop Head Kndstop Linear peale Fig 6 2 LCX Option provides an internal End Stop 6 4 Notes WARNING Standard End Stops shipped with Moog motors are not designed for large loads Thicker End Stops with threaded mounting holes are available if needed WARNING Do not remove the Linear Position Sensor Cover plates or otherwise disassemble the Linear Position Sensor Do not operate the Moog Linear Motor with Linear Position Sensor option when the Linear Position Sensor cover plates are removed Hands fingers or clothing may be pinched or caught in the moving parts UM 102 12 of 21 Revision B OO OP UM 102 WARNING Do not step onto or apply lateral Loads onto the Linear Position Sensor Housing CAUTION The Moog Linear Position Sensor is not designed to accommodate shaft rotation An external torque applied to the shaft will cause Linear Position Sensor misalignment leading to loss of position control and phasing CAUTION The Moog Linear Position Sensor is not designed to accommodate shock loads greater than 100 G Ensure that the shaft does not slam into either end stop Repeated slamming will result in encoder misalignment or malfunction CAUTION The FSC LC XX cable is terminated on the Drive End with colored insulated wire leads These leads are supplied with unstripped ends
6. and B Encoder options LCA LCB LCC and LCD provide Differential Mode Digital Quadrature Incremental Encoder data lines A A B and B These O to 5V TTL level signals connect to both single ended and Differential mode A quad B inputs and are electrically compatible with the industry standard RS 422 transmission protocol using the 26LS31 Buffer IC per Figure 7 4 iE C Figure 7 4 Digital Quadrature and Analog Quadrature Sin Cos signals 7 2 2 2 Sin Cos signals using Option LCE Encoder option LCE provides Differential Mode Quadrature Sin Cos Incremental Encoder data lines V1 V1 V2 and V2 These 0 3 1 2Vpp signals connect to both single ended and industry standard Differential mode Sin Cos inputs per Figure 7 4 7 2 2 4 Encoder Misalignment Fault Alarm E Encoder options LCA LCB LCC and LCD provide a HIGH state on TTL level Differential alarm outputs E when the optical encoder signal falls below 45 nominal range Tidal Signal Quality Alignment signal X Signal Quality pin X 1s provided only for encoder setup and alignment and is not generally required by the Motor User See the Installation manual for the Renishaw series RGH Encoder Heads for more information UM 102 17 of 21 Revision B 122 0 Reference Mark Z Vo and Limit Switch Va signals A Differential Mode TTL Level 0 5 V voltage signal active HIGH provides an accurate absolute position reference to designate the
7. ctively UM 102 20 of 21 Revision B Appendix A Revision History ECO Revision ___ Change Date 0112 A Initial Release April 1 2003 B Moog Update March 17 2009 UM 102 21 of 21 Revision B
8. ermination to most compatible Drives 7 2 1 Pigtail Lead Terminations CAUTION The FSC EC XX cable is terminated on the Drive End with colored insulated wire leads These leads are supplied with stripped ends Trim or insulate any ends that you will not be using Failure to do so may result in short circuits or other misconnections which will damage the Linear Encoder circuitry The FSC LC XX cable is a 30 Conductor cable per AWM 2464 The Drive End is terminated in colored leads of 24 Gauge When stripped these can be terminated to Terminal Blocks pins or sockets as required by the Drive connectors UM 102 15 of 21 Revision B 7 2 2 Pigtail cable signal descriptions In addition to sensor power five general types of signals are accessed by the Linear Encoder connector Position Hall Fault Signal Quality Reference Mark and Index Additional auxiliary pins are reserved for future use Identify and wire the Encoder Power and signals for Position Commutation Encoder Fault Reference Mark and Index functions per Figure 7 4 and the following signal descriptions Drive Connector Motor Connector Drive Connector Motor Connector LOA B D OUTPUT LCE OUTPUT FIN PED BLE WH REO BLE WH ToT ony EEL adel z r aif RED ho 5 At nt Ti il J a ETE pot HTE z L Lok tot GRR BLE Se GRN BLE i g LE cae ED pe BLK RED i JR Eji arg On BLE an ORE a BEG O O O y yO RED O Z O Z O O am PEDE A RED
9. f the wire ends will damage the Encoder Electrical Phasing of the Linear Position Sensor Commutation Track is set by the factory and normally should not require adjustment Loosening of the magnet track screws will allow the magnet track to misalign resulting in loss of commutation Excessive loosening of the magnet track screws will allow the magnet track to fall toward and strike the Linear Motor shaft necessitating repair by Moog The Moog Linear Position Sensor is not designed to accommodate shock loads greater than 100 G Ensure that the shaft does not slam into either end stop Slamming may result in encoder misalignment and or damage to the Encoder 6 of 21 Revision B 3 Scope This manual provides information for the installation of Linear Encoder Options LCA LCB LCC LCD and LCE which are available with the Moog 4020 5020 Linear Motors For all other aspects of Linear Motor installation please refer to the appropriate user s manual Fig 3 1 Linear Encoder Option on a 50204C Motor UM 102 7 of 21 Revision B 4 Introduction The Linear Encoder Option is provided as a mechanically integral part of the Linear Motor Depending upon the motor drive system and the Linear Encoder option specified it provides the required Position Feedback Commutation data Reference Mark Limit switch and Encoder Fault alarm functions CAUTION The Linear Encoder Option is not designed to be removed aligned adjusted disa
10. hroughout the system Section 6 5 of the Motor Installation Manual 9 Initialize the motor with the control system limits and controller Drive sensing and commutation parameters for the Encoder option used Section 7 of the Motor Installation manual 10 Attach the load in a manner that does not induce or cause binding when the motor is stationary or moving Section 5 3 of the Motor Installation Manual 11 Tune the system for desired performance and accuracy Section 7 4 of the Motor Installation Manual UM 102 9 of 21 Revision B 5 Information for Drive or Controller Setup The motor part number specifies the Linear Encoder Option CLD4020D06 LCX T CV LCX is either LCA LCB LCC LCD or LCE Linear Encoder options A through E provide different resolutions signal types and compatibility The Interface Control Drawing for the Linear Encoder option contains the relevant specifications Option LCA LCB LCC LCD LCE Table 5 1 Summary of Linear Encoder Options Scale 5 micron 1 micron 0 5 micron 0 1 micron 20 micron Resolution 5080 cts inch 25400 cts inch 50800 cts inch 254000 cts inch See Note 1 Feedback Type Quadrature Incremental Quadrature Incremental Quadrature Incremental Quadrature Incremental Sin Cos Note 1 Resolution of the Sin Cos encoder depends on the level of interpolation provided by the encoder interface of your control system Note that all options provide 12
11. oder Modular Cables cccccccsseesseeeeeeeeeeees 14 aD Wiring the Linear Encoder to the Drive with the Pigtail Cable 15 Leaks Poil ead Terminit ONS asec wes to ratte E an Pete ner alaes 15 TORA Pigtail cable signal GESChPUONS 5 ctnceicununicccnenGoriehtonicuemaacGus 16 12 2 l Encoder and Hall Sensor POWer cerinsrseman orena 16 T Digital Quadrature Incremental Signals A and B eeeeeeeeee 17 AA Sin Cos signals using Option LCE ssessssssssseesssssssceersssssssseeeresssss 17 dso Encoder Misalignment Fault Alarm E ccccccccccccsssseeeeeeeeeeeeeees 17 122 3 Signal Quality Alignment signal X20 cessseseeeceeeeeeeeseeeeeeeees 17 7 22 0 Reference Mark Z Vo and Limit Switch Vq signals 18 yeas Commutation Hall Sensor Connections cc eee cceeeseeeceeeeeeee 19 T2 28 Inner ant 101 es geo a od C6 Cs iere a T 20 lel Voltage Sense wires Vref and Vref cccccssesseescceceeeeestesseeeeees 20 APPENDIX A REVISION HISTORY ccccccsccssccscccccccccsccccccccccscccceccscccccscceees 21 UM 102 3 of 21 Revision B 1 Safety Moog motors are capable of producing high forces and velocities Always follow appropriate safety precautions when installing and applying these motors Equipment should be designed and utilized to prevent personnel from coming in contact with moving parts that could potentially cause injury Read the Moog Linear Moto
12. r User s Manual which applies to the motor you are using before attempting to operate this device Read all cautions warnings and notes before attempting to operate this device Follow all applicable codes and standards 2 Warnings Cautions and Notes The following conventions are used on the equipment and found in this manual Please read all equipment labels and manuals before attempting to use Moog Linear Motors WARNING Identifies information about practices or circumstances that can lead to personal injury property damage or loss of life if not correctly followed A WARNING identifies information that is critical for identifying and avoiding a hazard that could lead to serious personnel injury or equipment damage CAUTION Identifies information about practices or circumstances that can lead to severe equipment damage A CAUTION identifies information that is critical to prevent permanent equipment damage UM 102 4 of 21 Revision B NOTE Identifies information that is critical for successful application and understanding of the product A NOTE identifies information that is critical for successful application and understanding of the product Follow all warnings and cautions listed in this manual and in the applicable Moog Linear Motor User s Manual when working with Moog Components Group High Force Linear Motors WARNING Do not remove the Linear Position Sensor Cover plates or otherwise disa
13. rated Mid stroke shaft position The Reference Mark is designated Z in options LCA LCB LCC and LCD and Vo in option LCE COUTPUT DRIVE CIRCUIT OV C 10k vq TERMINATION ce OPEN COLLECTOR Figure 7 5 Electrical ports for Reference Mark and Limit Switch signals A Limit Switch signal Vq is pulled low by a single ended Open Collector TTL Level 0 to 5V signal when the shaft is within 0 25 inches 10 mm of either End of Rated Stroke shaft position as shown in Figure 7 6 E TABLI i IN DIM D SEE TABLE A DIM C SEE TABLE 1 TABLE DIM B DIM C DIM D FULLY EXTENDE POSITION 5 Limit Switch 6 Reference Mark Figure 7 6 Reference Mark Limit Switch Location UM 102 18 of 21 Revision B The Reference Mark is Synchronous with both Digital and Analog Quadrature signal phase Repeatability of the Reference mark is limited in Digital and Analog sensors by one quadrature Line Count or by 0 18 degrees of Sin Cos signal phase respectively INVERSE SIGNAL NOT SHOWN FOR CLARITY REFERENCE MARE Figure 7 7 Reference Mark Signal is synchronous with Quadrature Encoder Signals The Limit Switch signal Vq is asynchronous with respect to the Quadrature Encoder signal phase Repeatability of the Limit Switch positions is 0 0 1 mm 004 inches T22 T Commutation Hall Sensor Connections O to 5V TTL level Differential mode Hall sensor signal
14. s are electrically compatible with the industry standard RS 422 transmission protocol using the 26LS31 Buffer IC These signals are compatible with Drive Hall sensor inputs equipped with or without pull up resistors iE C Figure 7 8 Hall Sensor Outputs UM 102 19 of 21 Revision B 7 2 2 9 Inner and Outer Shields Inner and Outer shields mitigate the effects of electrical noise on the encoder signal In typical installations the inner shield is connected to encoder and or Hall input signal Ground and the outer shield to the Drive Controller chassis OUTER SHIELD a INNER SHIELD E SIGNAL WIRES ENCODER DRIVE Figure 7 9 Inner and Outer Shield connections Grounding and Shielding of the Drive cables are also important for safety and for proper sensor electrical noise immunity For more detail in system Grounding and Shielding please see the Moog Linear Motor User s Manual CAUTION Poor ground or shield connections or wiring can cause unpredictable motion and could damage the motor control system or machine 7 2 2 9 Voltage Sense wires Vref and Vref In Option LCE Vref and Vref provide remote voltage sensing for regulation of the Encoder Power Supply to compensate for Encoder Power Supply voltage drop in long encoder cables If remote sensing is not provided in the Drive Vref and Vref can be used as additional paralleled encoder power conductors by connecting Vref and Vref to Ground and 5V respe
15. ssemble the Linear Position Sensor Hands fingers or clothing may be pinched or caught in the moving parts WARNING Do not step onto or apply lateral Loads to the Linear Position Sensor Housing CAUTION The Moog Linear Motor Bearing System is not designed to support large lateral loads Lateral loading of the shaft during movement will limit bearing life and cause Linear Position Sensor misalignment leading to loss of position control and phasing CAUTION The Moog Linear Position Sensor is not designed to accommodate shaft rotation An external torque applied to the shaft will cause Linear Position Sensor misalignment leading to loss of position control and phasing UM 102 5 of 21 Revision B O Q29 _O UM 102 CAUTION CAUTION CAUTION CAUTION CAUTION The Moog Linear Position Sensor contains electronic circuitry that can be damaged by misapplication of electrical power or by applying electrical power of the wrong voltage or polarity To avoid damaging the Linear Position Sensor always use the correct Moog approved cable intended for the Drive in use Ensure correct sensor power supply voltage and that all custom sensor cables are properly wired before applying power The Linear Encoder Option is not designed to be removed aligned adjusted disassembled or installed hv the riser When pigtail Linear Position Sensor cables are used EC series do not leave stripped wire ends unprotected Shorting o
16. ssembled or installed by the user Typical Servo System with Moog Motor Phase A Servo E Helo Controller Contro Amp Position Commutation Position amp Hall gensor Head Linear scale Moog Motor with Linear Scale Option LCX Fig 4 1 Options LCX provide Integral Motor Position Sensing as part of the Linear Motor System UM 102 8 of 21 Revision B 4 1 Installation Sequence Use the following sequence when installing a Moog linear motor the Linear Sensor Option Those steps in bold apply specifically to this Linear Encoder Installation manual 1 Read the applicable motor installation manual and observe all warnings cautions and notes in Sections 1 and 2 of that manual 2 Read additionally and observe this manual s warnings cautions and notes Sections 1 and 2 of this manual 3 Properly mount the motor Section 5 of the Motor Installation Manual 4 Ensure that no lateral loads or torques are applied to the motor shaft which will impair encoder operation Section 6 of this manual 5 Configure Encoder position signals and Commutation signals to indicate positive motion consistent with positive Drive effort and positive shaft movement Section 7 of the Motor Installation Manual 6 Make the Encoder cable connections Section 7 of this manual 7 Interconnect the motor to the control system Section 6 of the Motor Installation Manual 8 Ensure good electrical shielding and grounding t
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