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MP-Series Integrated Linear Stage User Manual

1. 2000 Drives Cable Shield Clamp Kit N KINETIX 2000 BALL SCREW STAGES WITH IAM inverter or AM HIGH RESOLUTION FEEDBACK _ Note 1 MPAS A Bxxxx V05S xA and ME MPAS A B xxx V20S xA IAM AM swe o 1 BLACK SIN A 1 2 4 Green Yellow f D lt 2 WHT BLACK SIN 2 8l 1 COS 3 Motor Power lt lt W GND 22 uos XX cos 4 MP Connector y 2 Black B lt lt V SS 5 1 Brown A U Motor 5 gt GREEN DATA 5 6 U lt Feedback 6 5 S XX DATA 10 7 Motor Feedback pee ipie Three Phase 2 GRAY 5VDC 14 MF Connector Notes 3 5 Motor Power 10 WRAY XX ECOM 6 11 ORANGE 9VDC 7 10 13 WHT ORANGE XX IS 11 gt BLUE 13 MBRK Black G s TS T Tm 3 White F Brake COM gt gt 1 lt 2410 mE PWR 4 1 2A Refer to Low Profile Connector M illustration lower left COM User Supplied gonna 2090 XXNFMF Sxx Feedback Cable Notes 3 4 DIRECT DRIVE STAGES WITH INCREMENTAL FEEDBACK MPAS A Bxxxx ALMx2C Motor Feedback Connector IAM AM D 1 BLACK 1 2090 XXNPME xxS xx lt lt l XX AM 2 Motor Power Cabl C 1 and Labie iam ee as shown above P A lt Three Phase gt lt lt U Motor Power x Mi K Motor 9 gt GRAY 5VDC 1 Feedback 10 warea XX ECOM 6 Grounding Technique for 11 s
2. Axis Properties Tab Parameter Entry Selection with applicable distance unit settings Metric English Conversion Positioning Mode Linear Conversion Constant 200 drive counts 1 0 mm 5080 drive counts 1 0 in Hookup iU Test Increment 70 mm min for Ultra3000 drive 2 76 in min for Ultra3000 drive 20 mm Kinetix 2000 drive 0 787 in Kinetix 2000 drive 20 mm Kinetix 6000 drive 0 787 in Kinetix 6000 drive Drive Polarity Positive Positive Direction Homing Mode Active Position 0 programmable Offset 5 mm min 0 2 in min Sequence Torque Level to Marker Direction Reverse Bi directional Torque Level 80 min Greater if the system friction force or weight exceeds 80 of the Continuous Force Rating at any point in the range of motion Speed 50 mm s 1 97 in s Return Speed 10 mm s 0 39 in s Limits Hard Travel Limits Check if hardware limits are in use Use Motion Analyzer to determine the maximum stopping distance in your application to set Negative and Positive Limits Soft Travel Limits Check Use Motion Analyzer to determine the maximum stopping distance in your application to set Negative and Positive Limits Position Error 10 mm 0 394 in Tolerance Gains Feedforward Velocity 100 Gain Tune Velocity Feedforward Check 1 The Command and Feedback test accessed from the Hoo continuity for the Hall signals must be manually verified up tab does not verify the
3. Z Axis X Axis b Allen Bradley E e 5 LM e Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item 18 Rockwell Automation Publication MPMA UM001B EN P November 2010 Understanding Your Multi axis Stage Chapter 2 Figure 5 Components of XY Cantilevered Stacked Left Side Cantilever Multi axis Stages MPMA xCxxxxxxx SxC shown Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item Rockwell Automation Publication MPMA UM001B EN P November 2010 19 Chapter2 Understanding Your Multi axis Stage Identifying the Individual Linear Stages in Your Multi axis Stage MPAS xxx X XX xxx Identifying the Components of Each Linear Stage Use the following key to identify each linear stage and its options Cable X Cable carrier module identified at multi axis level Brake 2 No brake 4 24V DC brake Cover S Covered with strip seals IP30 protection Screw Lead Direct Drive 20 20 0 mm rev 0 79 in rev ball screw LM Direct drive linear motor Feedback V Multi turn high resolution encod
4. These specifications apply Center Stacked stages with 200 mm frame Pr ct Sp e cifi C ati ons and ballscrew driven X axis and 200 mm frame ballscrew driven Y axis Maximum I payload is 20 kg 44 0 Ib For heavier loads contact your Rockwell Automation Dimensions sales representative Table 17 Product Specifications Travel mm in Encoder Type Bi directional Repeatability weight JE um Approx Multi axis Linear Stage Cat No X axis Y axis Z axis X axis Y axis Z axis X axis Y axis Z axis kg Ib MPMA xAPB8B8A0 S1C 180 7 1 36 1 79 4 MPMA xAPC4C4A0 S1C 240 9 4 Multi turn high 37 9 83 4 resolution encoder Se MPMA xAPD0D0A0 S1C 300 11 8 N A absolute feedback N A 60 60 N A 39 9 87 8 128 cycle rev MPMA xAPG6G6A0 S1C 660 26 0 51 5 113 3 Table 18 Allowable Payload Based Upon X axis Acceleration and Y axis Travel X axis Acceleration 1 Y axis Travel mm in g 180 240 300 420 660 4 9 4 8 4 7 4 5 4 14 3 8 10 5 9 5 8 5 6 5 2 5 3 6 11 8 10 8 9 8 78 3 8 3 4 13 2 12 2 11 2 9 2 5 2 3 2 14 8 13 8 12 8 10 8 6 8 3 16 6 15 6 14 6 12 6 8 6 2 8 18 7 17 7 16 7 14 7 10 7 2 6 21 1 20 1 19 1 17 1 13 1 2 4 23 8 22 8 21 8 19 8 15 8 2 2 27 1 26 1 25 1 23 1 19 1 1 Acceleration values are based on the motors instantaneous and average motor temp
5. Topic Page Applicable Drives 115 About Home to Torque level Homing 16 Drive Bipolar Torque Limit Adjustment 118 Disable Soft Overtravel Limit 19 Ladder Code Example 119 Potential for Position Error 126 This information in this document applies to the following drives Drive Type Cat No Kinetix 2000 2093 AC05 MPx 2093 AM xx Kinetix 6000 2094 2094 AM xx 2094 5 2094 AMxx S 2094 2094 BM xx 2094 BC xx Mxx S 2094 BMxx S Rockwell Automation Publication MPMA UM001B EN P November 2010 115 Appendix D Home to Torque level Example About Home to Torque level Home to torque level homing is a process that references a known position by Homing 116 monitoring torque while driving an axis into a mechanical hard stop Once the actual torque level reaches or exceeds a specified torque level for a set time of 500 ms a status flag is set in the controller IMPORTANT Because the process of home to torque level requires axis motion the axis homing mode must be configured as Active Figure 18 Axis Properties Homing Tab 015 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Mode Active Position 0 0 Position Units Offset 00 Position Units equence Torque Level Limit Switch Normally
6. shy 55219 uisis s pS 3n0801 39N3 0D3S 0 OL LIWIT 30001 3910418 135 gt 008 jaaa T sed OL 218887 DisuoH uoissaidxg ainqupy 088 bo Sho WEN s2ugjsu sejodig wo duis L 55219 ayndwog 5 5 a9 4193 ASS gt 00L D3suureie q LO spar owes ped 05 somnos LEGIT ADN lt gt p lqEsiq LOROS gt 0 Buppayg Byuojyne 4 Fed suguoneiByuojyne4 SWEN bo sie eougjsu spay 5521 anjeA ASO O Buppaya Byuogyne 4 07092 Jejodig urpi pe es Esq Jejodigpimiqanbiol alnquny bo shew 5 BWEN SSE 2 anjen Waysis po ASO SE 9 oinos lt DASHUPEFED LO spas D3SHulV1Vdg owes w nos u 12163 LO Spos 05 9 321105 gt 001 5 gt D3sWwupwivq ouas x sonog 12163 noa sonos D3siureieq LO spoz gt D3sWupvivq ouas w sonos enba sssooigulayepdnbyuos LO 51 Rockwell Automation Publication MPMA UM001B EN P November 2010 122 Appendix D Home to Torque level Example Table 56 Ladder Code Example continued eq LO spoz gt Wivd onas 4524 somnos aao gt 0052 Jejodig WITDL pares somnos JeEjodigywiqenbioy aweN
7. 16 Your multi axis stage is constructed using linear stages and a cable carrier module assembly Use the following key to identify your multi axis stage and its options For details on an individual stages refer to Identifying the Individual Linear Stages in Your Multi axis Stage Cable Termination C Cable track module with IP67 circular DIN style connectors applies to all Bulletin MPMA stages Limits and Brake Options x axis y axis z axis 1 brake no limits 1 no brake limits 1 none 2 brake no limits 2 2 24V brake no limits ball screw only Protection Options Same as Bulletin MPAS Options S Covered with strip seals Z axis 10s of mm 020mm 2 20 4 1 10 3 230 5 Z axis 1005 of mm A 0mm 200 E 400mm 100 D 300mm 5 40mm 6 60mm 8 80 50mm 7 70 9 90 axis 10 of 0 0mm 2 20mm 4 1 10mm 3 30mm 5 Y axis 100s of mm A 0mm 200 E 100 D 300 mm F 40mm 6 60mm 8 80mm 50mm 7 70 9 90mm 400 mm G 600 mm 5 X axis 10s of mm 020mm 2 20mm 4 1 10mm 3 30mm 5 X axis 100s of mm A 0mm 200 400 G 600mm 1 800 mm B 100mm D 300mm F 500mm H 700mm J 900mm Bulletin MPAS Linear Stage x axis base y axis secondary z axis secondary MPAS x9xxxK L ALMSX MPAS x8xxxF E ALMS2X none MPAS x9xxxK L ALMSX MPAS x9xxxK L ALMS2X 6 60mm 8 80 7270mm
8. 103 Power Cable Dimensions Pinout and Schematic 2090 16 ss Er ORAN Ed n 103 Feedback Cable Dimensions Pinout and Schematic 2090 XXNEME SXx rere 105 Installation Maintenance and Replacement Kits 106 Introduction ts ee ney ah m uka Se Aa Per ke 111 Witing Examples a e c Sapan 111 Motor Axis Module Wiring Examples 112 faster 2 e n dece e soar de dele ears atr dtd 115 Applicable Drives 52s yos eto 115 About Home to Torque level Homing 116 Drive Bipolar Torque Limit Adjustment 118 Disable Soft Overtravel Limit 119 Ladder Code Example ceri Dem si Mdb es 119 Potential for Position Error eese 126 ntroduetiolne terae pee Stee 127 EE 131 Rockwell Automation Publication MPMA UM001B EN P November 2010 5 Table of Contents Notes 6 Rockwell Automation Publication MPMA UM001B EN P November 2010 Preface About This Publication Who Should Use This Manual Additional Resources Resource Read this preface to familiarize yourself with the rest of the manual This manual provides detailed installation instructions for mounting wiring maintaining and troubleshooting your MP Series multi axis integrated linear stage For ease of use goin
9. 70 Replace the Strip Sealy ieu des ct 71 Install the Side Cover 72 Replace the Rotary Motor 73 Ihtroductigh sisemeri eee 75 Troubleshooting During Commission and Startup 76 Operational Troubleshooting 76 Evaluate the Direct Drive Linear Stage 77 Evaluate the Ball Screw Linear Stage 77 MPMA xABxxxxxx xxx Product Specifications and Dimensions 82 Product Specifications and Dimensions 84 MPMA xAPxxxxxx xxx Product Specifications and Dimensions 86 MPMA xCBxxxxxx xxx Product Specifications and Dimensions 89 MPMA xCQxxxxxx xxx Product Specifications and Dimensions 92 MPMA xBExxxxxx xxx Product Specifications and Dimensions 94 MPMA xBIxxxxxx xxx Product Specifications and Dimensions 96 MPMA xBDxxxxxx xxx Product Specifications and Dimensions 98 4 Rockwell Automation Publication MPMA UM001B EN P November 2010 Accessories Interconnect Diagrams Home to Torque level Example Mounting Bolts and Torque Values Index Table of Contents PTG Thermal Signal uq as rrt tepore diese rbd 101 Certifications oou oe ee ere e repeto etu vade 101 epo duetionu z n eters trek teria E cela cu Soar hiya Tau 103 Interconnect Cables
10. MPMA xCBD2D2A0 xxx Cable track module for series X Y Cartesian Stacked Stages MPMA xCBD2D2A0 CBL MPMA xCBE4D2A0 xxx MPMA xCBE4D2A0 CBL MPMA xCBE4E4A0 xxx MPMA xCBE4E4A0 CBL MPMA xCBF6E4A0 xxx MPMA xCBF6E4A0 CBL MPMA xCBG8E4A0 xxx MPMA xCBG8E4A0 CBL MPMA xCBG8F6A0 xxx MPMA xCBG8F6A0 CBL MPMA xCBIOF6A0 CBL MPMA xCBJ2F6A0 xxx MPMA xCBJ2F6A0 CBL MPMA xCODODOA0 xxx Cable track module for MPMA xCO series X Y Cartesian Stacked Stages MPMA xCODODOA0 CBL MPMA xCOE2D0A0 xxx MPMA xCOE2D0A0 CBL 2 2 0 MPMA xCOE2E2A0 CBL MPMA xCOG6E2A0 xxx MPMA xCOG6E2A0 CBL MPMA xCOG6GBA0 xxx MPMA xCOG6G6A0 CBL MPMA xCOH8G6A0 xxx MPMA xCOH8G6A0 CBL MPMA xCQJOG6A0 xxx MPMA xCOJOG6A0 CBL Multi axis Linear Stage Cat No MPMA xBDD2A0B8 xxx MPMA xBDD2A0D0 xxx PMA xBDE4A0B8 xxx PMA xBDE4A0D0 xxx PMA xBDE4A0E2 xxx PMA xBDG8A0B8 xxx PMA xBDG8A0D0 xxx PMA xBDGBA0E2 xxx PMA xBDIOAOB8 xxx PMA XBDIOAODO xxx PMA xBDIOAQE2 xxx PMA xBDJ2A0D0 xxx PMA xBDJ2A0E2 xxx PMA xBDJ2A0F4 xxx Accessories Table 49 Accessory Kits for Center Multi axis X Z Cable Modules Description Cable track module for MPMA xBD series X Z Center Stacked Stages Accessory Cat No MPMA xBDD2A0B8 CBL Appendix B MPMA xBDD2A0D0 CBL MPMA xBDE4A0B8 CBL MPMA xBDE4A0D0 CBL MPMA xBDE4A0E2 CBL MPMA xBDG8A0B8 CBL
11. Ball Screw Verify the data in the Model Field is correct for your XMPAS xxxxx V20S2x ball screw linear stage Auto Motor Iden identification is enabled only for ball screw linear stages Auto Motor Iden remotely identifies the motor and then populates the model field with the appropriate motor information Direct drive linear stages do not interact with Auto Motor Iden and the model field data must be manually selected for the appropriate motor information to load 6 From the Displayed Units pull down menu choose User This programs Ultraware software to make distance moves in User Units mm or in 58 Rockwell Automation Publication MPMA UM001B EN P November 2010 Configuration Guidelines Chapter 6 7 In the Motor Encoder Units pull down menu enter the appropriate values from the tables on page 59 Velocity position and acceleration counts per unit are based on the selected User Units mm or in User Unit Scaling Parameters Distance Units for Ball Screw Linear Stages gt Metric English MPAS xxxxxx V20xxx MPAS xxxxxx V20xxx Velocity Label mm s in s Velocity Scale 6553 6 166461 44 Position Label mm in Position Scale 6553 6 166461 44 Acceleration Label mm s s in s s Acceleration Scale 6553 6 166461 44 1 User units are determined by the screw lead of the linear stage The screw lead is defined in linear units of travel per revolution For example the travel per revo
12. bo Sho souejsu spos 55219 5 5 15 ASS TYNISIYO OL SNDYOL 3910918 13S33 gt 00 LO spoz gt DASHUIWLYd owes os 39105 aao Id HYUN LO spo HIT LO spoz 105007 uono 7 sv spor spo UON HYN ssaooiQujsyepdprByuo2 LO six anosololaWOH 5 LAS 33Na3no3 949403 SINOH 31n233x3 ex q LO spoz gt Wivd ouas 14 291105 aao 20802029 10 11011350 duis somos 3942130 11003001504 sueN ainquay bo Spo souEjsu spa 55219 Wass 125 ASS 20802029 10 10113504 ped OL g 251105 L80z029 0 Joliongsoq pares w 891105 TININ 08 g sonos gt 001 Dasiureieq LO spoz gt owes 291105 12163 Or 9 sonos gt 00 LO spoz gt pastu yiya ouas wsonos 12163 95 8 2 05 gt 001 Dasuureieq LO DASHUIVLYO owes 12163 123 Rockwell Automation Publication MPMA UM001B EN P November 2010 eyed LO spoz gt Lyd onas somos BAON Pe gesiq LOVES LO SINY Byuogyne 4 pares somos suguoneiBguogyne4 HWN YBH uogisodlempwLO Sho 191 qur mo 3419 159 1
13. 181 5 254 u TU2 7 15 TU2 254 1 00 165 sl 1 00 Bumper Travel 6 5 Bumper Travel 1 os 7h I 4 07 00 0 276 Thru 82 5 3 25 4X M6 X 1 25 6H v 12 0 0 47 Dimensions are in mm in Secondary ven 4X M10 x 1 5 6H Thru 2 per end cap 5 Access point for linear bearing lubrication dio ab 24133 9 50 Ground Screw 5 x 0 8 6H mounting surface 30 0 1 18 Bumper Travel 4X 9 16 12 UNC Thru 2 per end cap d 1 leo Access point for linear bearing lubrication T TU 2 See Detail A 239 8 4 Carriage H B TU 2 I 3 f 30 0 1 18 Bumper Travel 254 e I R Clearance required for connectors 1 00 0 025 300 x 300 0 001 12 0 x 12 0 Flatness requirement for assembly at orientation shown Detail A 6 0 max 0 24 5 22 min 0 21 Quantity C Mount to base using M6 x 1 0 hardware at 120 mm spacing and the tee nut bar shipped with stacked stage Rockwell Automation Publication MPMA UM001B EN P November 2010 99 Appendix 100 Specifications and Dimensions Table 40 MPMA
14. MPMA xBDG8A0D0 CBL MPMA xBDG8A0E2 CBL MPMA xBDIOA0B8 CBL MPMA XBDIOAODO CBL MPMA XBDIOAOE2 CBL MPMA xBDJ2A0D0 CBL MPMA xBDJ2A0E2 CBL MPMA xBDJ2A0F4 CBL PMA xBED2A0B8 xxx PMA xBED2A0D0 xxx PMA xBEE4A0B8 xxx PMA xBEE4A0D0 xxx PMA xBEG8A0B8 xxx PMA xBEG8A0D0 xxx Cable track module for MPMA xBE series X Z Center Stacked Stages MPMA xBED2A0B8 CBL MPMA xBED2A0D0 CBL MPMA xBEE4A0B8 CBL MPMA xBEE4A0D0 CBL MPMA xBEG8A0B8 CBL MPMA xBEG8A0D0 CBL PMA xBID0A0B8 xxx PMA xBID0A0D0 xxx PMA xBIE2A0B8 xxx PMA xBIE2A0D0 xxx PMA xBIG6A0B8 xxx lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt PMP xBIG6A0D0 xxx Cable track module for MPMA xBI series X Z Center Stacked Stages Rockwell Automation Publication MPMA UM001B EN P November 2010 MPMA xBIDOA0B8 CBL MPMA xBIDOAQDO CBL MPMA xBIEZA0B8 CBL MPMA XBIE2A0D0 CBL MPMA xBIG6A0B8 CBL MPMP xBIG6AODO CBL 109 Appendix 110 Accessories Multi axis Linear Stage Table 50 Mounting Bar Accessory Kits for Multi axis X axis Linear Stages Description Accessory Cat No Cat No 4 Mounting Bar for X axis having B4 travel
15. WIT so spar gt spo JeaEgisA PAE SWEN ASD Je EmisA sAnISO d 321 BAISO SWEN Lo sixy ASD Esq BWEN BWEN SsE 2 sn gA wasis 39 q 02 genes gt 001 D3siureieq LO spoz gt DASHUIWLYd owes w BONDS 12163 55219 snjEA wasis 12D noa 1 1305 3 T8vN3 38 1 9331913403 NIHLIM SI NOLLISOd SIX LWHL 335 015133H2 bo shew awen eouejsu soog BWEN 55219 sn EA wasis 125 ASS 5 a S o A pst gt 00 e gt go l LI rnm io gt OOL lt DISHUNEJE G LO spoz gt D3sWurviwq ouas 129 Gi somnos ADW Paigesiq 10405 00 D3suur eie q LO spoz gt oues 4534 291105 aao JE ADIN Home to Torque level Example Appendix D palges q 1049 5520 og a aonos gt 00 lt LO spoz gt owes w 80105 lenba oguia pdn yuo y Lo Spoy noa 1 1305 31VILINI N3H1 93315134035 JYIM SIIAYYLYJAO 1305 31 OL Rockwell Automation Publication MPMA UM001B EN P November 2010 124 Appendix D Home to Torque level Example Table 58 Ladder Code Example continued gt
16. Introduction This appendix provides wiring examples to assist you in wiring an MPAS linear stage to a Allen Bradley drive Topic Page Wiring Examples 111 Motor Axis Module Wiring Examples 112 Wiring Examples The notes below apply to the wiring examples on the pages that follow Not all of the notes apply to each example Note Information 1 Cable shield clamp must be used in order to meet CE requirements No external connection to ground is required 2 The Kinetix 2000 or Kinetix 6000 axis module referenced is either an individual axis module or the same axis module that resides within an multi axis system 3 For motor cable specifications refer to the Kinetix Motion Control Selection Guide publication GMC SG001 4 MPAS Axxxxxx encoders use the 5V de supply MPAS Bxxxxxx encoders use 9V de 5 Use a flyback diode for noise suppression of the motor brake coil of an Ultra3000 drive For more information refer to System Design for Control of Electrical Noise publication GMC RM001 Rockwell Automation Publication MPMA UM001B EN P November 2010 111 Appendix Interconnect Diagrams Motor Axis Module Wiring Examples Figure 15 Wiring Examples for MP Series Integrated Linear Stages and Kinetix
17. Table 26 Allowable Payload Based Upon X axis Acceleration and Y axis Travel X axis Acceleration 1 Y axis Travel mm in g 300 420 660 4 10 0 12 0 16 0 3 8 74 5 4 14 3 6 8 5 6 5 2 5 3 4 9 8 78 3 8 3 2 11 2 9 2 5 2 3 12 8 10 8 6 8 2 8 14 6 12 6 8 6 2 6 16 7 14 7 10 7 24 19 1 171 13 1 2 2 21 8 19 8 15 8 2 25 1 23 1 19 1 1 Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded Do not exceed 1 1 m s maximum velocity of ballscrew axis Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions Table 27 Product Dimensions Appendix A 254 TL 2 TL 2 254 254 1 00 1 00 1 00 Bumper Travel j Bumper Travel Bumper Travel TE 1 5 1 4X M8 X 1 25 6H 12 0 0 47 4X 6 8 0 27 45 1 1 77 Thru Mounting holes not TU 2 442 centered on carriage 4X 9 16 12 UNC Thru 9 753 239 2 end Secondary 2 96 130 8 34 Second Access point for linear t 1 5 5 15 8 econdary
18. 2 Torque the ground screw at the lower stage to 2 Nem 18 Ibein M5 x 0 8 6H Ground Screw t Lug Braided Ground Wire 12 mm 0 5 in min 3 Forma drip loop in each cable at a point directly before it attaches to the motor Power Brake Connector Drip Loop i in Cable Rockwell Automation Publication MPMA UM001B EN P November 2010 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage Chapter 4 OR Y Axis or Z Axis Power and Feedback Cables Lables Power and Feedback Cables Lables Align flat surfaces 4 Identify the multi axis stage power and feedback cables by the labels near the connector 5 Attach the feedback cable and the combination power and brake cable to the motor ATTENTION Do not connect or disconnect the motor feedback A cable or the power and brake cable while power is applied to them Inadvertent pin connections may result in unexpected motion or result in irreversible damage to the components a Carefully align each cable connector with the respective motor connector as shown in the diagram b Do not apply excessive force when mating the cable and motor connectors If the connectors do not go together with light hand force realign and try again ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Excessive and uneven lateral force at the cable connectors may
19. Home to Torque level Example Appendix D Figure 19 Position Velocity Diagram for Torque level Homing Torque Lewel Homing vel i Salt Poriin krn Wel Ere oael Skep Homing Torque Above Threthok TRUE Homing Torque Above Threshold FALSE 1 Home fh Figure 20 Position Velocity Diagram for Torque level Marker Homing Torque Lewel Marker Homing Homlrg vel 1 Sale als Veloz E Hand Slop 2 Homing Torque Above Threshod TRUE 3 Homlrg Torque Above Thaezbhokd FALSE ard Peglzkallon tor Erceder Marker Rockwell Automation Publication MPMA UM001B EN P November 2010 117 Appendix D Home to Torque level Example Drive Bipolar Torque Limit Adjustment When homing an axis to a mechanical hard stop set the Home Torque level value above the torque value required to move the system but low enough not to cause problems with the system mechanics As part of the process of homing to a torque limit limit the Peak Torque value to a level 10 above the Home Torque value to reduce the stresses on the mechanics and to eliminate the chance of an over current error IMPORTANT The 10 value is an estimated starting point This value may need adjustment based on the application requirements Limit the Peak Torque value before issuing the homing instruction MAH and reset the Peak Torque field to the orig
20. Open Closed Active Home Sequence Group Torque Level 0 0 X Continuous Torque gt Position Units s Return Speed 0 0 Position Units s Direction Forward Bi directional Y Cancel Apply Table 51 Torque level Homing Sequence Type Description Torque Level Sets the Home Position after the output torque reaches the Torque Level value reverses direction and moves until the Homing Torque Above Threshold bit is low and the status bit sets Torque Level Marker Sets the Home Position after the output torque reaches the Torque Level value reverses direction and encounters an encoder marker When either the Torque Level or Torque Level Marker homing option is selected on the Homing tab the Torque Level field is activated in the Active Home Sequence Group The units for this field are a percentage of the continuous torque of the motor Continuous Torque limited by the drive rated current motor rated current ratio This number is interpreted in the drive as an absolute value and the range is 0 through the TorqueLimitPositive value Forward Bi directional and Reverse Bi directional are the only options for the Direction field when Torque Level or Torque Level Marker homing sequence is selected Uni directional homing is not possible because the Home to Torque level sequence relies on a mechanical hard stop Rockwell Automation Publication MPMA UM001B EN P November 2010
21. lt LO sper DASHUIWLYd owes 4 00 somos gt 00 lt D3Suul e1eq LO spoz gt DASHUIWLYd ouas Esq somos 08 gt 18020290 10 11011350 panes spog 1 11013401504 BWEN enqugx Lo shew BNIEA Wayshs S os 9 321105 lt L0 Shaye DISH WLYd owes 391105 12163 sssooiqujsyepdn5yuoz LO Spo noa 33Nanoas AWOH IZITYILINI somos a 251105 pasuureieq LO spo ouas 39105 12163 55219 SSNT A TYNIDINO SLI OL JJNYYJTOL NOILISOd JHL HIVE 135 vl l L 125 Rockwell Automation Publication MPMA UM001B EN P November 2010 Appendix D Home to Torque level Example Potential for Position Error When executinga torque limit homing procedure there is potential for a position error As mentioned earlier for the home to torque limit to complete the output torque to the motor must reach or exceed the specified torque level for a set time of 500 ms During this time the axis is against the mechanical hard stop and following error is increasing in the position loop If the Position Error Tolerance value is exceeded before completion of the homing instruction a Position Error E19 results There are two methods to limit the occurrence of an E19 Set the Position Error Tolerance value on the Limits tab of the Axis P
22. result in the connector s environmental seal opening and closing as the cable flexes Failure to observe these safety procedures could result in damage to the motor and its components Rockwell Automation Publication MPMA UM001B EN P November 2010 39 Chapter4 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage c Hand tighten the knurled collar five to six turns to fully seat each ATTENTION Keyed connectors must be properly aligned and A hand tightened the recommended number of turns Improper alignment is indicated by the need for excessive force such as the use of tools to fully seat connectors Connectors must be fully tightened for connector seals to be effective Failure to observe these safety procedures could result in damage to the motor cables and connector components About the Air Option for A ball screw linear stage may connect 2 A air supply via or air p see Component Descriptions on page 23 This can reduce the ingress of particulates Ball Screw Linear Stages ee Air supplied to the ball screw stage should not exceed 10 1 45 psi Plastic air tubing should be 6 mm 0 2362 in OD Teflon FEP tubing Ifusing only one port plug other port Maximum flow rate 15 SCFM based on 4mm ID tube and 0 5m max length About the Bra ke Option for The brakes offered as options on the ball screw linear stages are holding brakes B all crew Lin ear S
23. 37 0 TU 2 4X 07 00 0 276 Thru 1 46 825 L 62 1 3 25 4 4 L 245 EX a cA Eo 165 239 Base H H 1 6 5 zi Base ee 199 7 E 7 86 Er 130 1 7 697 EE 2 74 TU 2 4X M8 X 1 25 6H v 12 0 0 47 4 See Detail A y y 30 0 1 18 Dimensions are in mm in Bumper Travel 25 4 Clearance required for connectors 4X M10 x 1 25 Thru 1 00 at orientation shown 2 per end cap Access point for linear Detail A bearing lubrication _ L 451 nie A jr 899 Quantity Mount to base using M6 x 1 0 hardware m q at 120 mm spacing and the tee nut bar Base 0 025 300 x 300 0 001 12 0 x 12 0 shipped with stacked stage A Flatness requirement for assembly mounting surface Table 36 MPMA xBlxxxxxx xxx Dimensions A TL B TU C Stage Length Travel Stage Length Travel Mounting Locations NES X axis X axis Z axis Z axis X axis Multi axis Linear Stage Cat No mm in mm in mm in mm in Oty MPMA ABIDOAOB8 S2C 641 25 2 300 11 8 530 20 9 180 7 1 10 MPMA ABIDOAODO S2C 650 25 6 300 11 8 MPMA ABIE2A0B8 S2C 761 30 0 420 16 5 530 20 9 180 7 1 12 MPMA ABIE2A0D0 S2C 650
24. LO Tee nuts MPAPS x TNUT M6 x1 0 Securing a stage from beneath Tee Nut 5 5 48 pen the mounting surface Square Nut 2 3 30 lt Se 1 Through bolt mounting is not an option for catalog number MPAS x6xxxx xLMxxx 150 mm stages 2 The tee nut mount for a catalog number MPAS X8xxxx xxxxx 200 mm stage is a square nut in a tee slot 3 Where xis the frame size of a stage 6 MPAS x6xxxx xxxxx 150 mm 8 MPAS x8xxxx xxxxx 200 mm 9 CHPS x9xxxx xxxxx 250 mm 4 You supply the bolts Rockwell Automation Publication MPMA UMO001B EN P November 2010 35 Chapter4 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage 1 Be sure the mounting surface is clear of any and all foreign material IMPORTANT Do not use abrasives to clean the surface If necessary stone the mounting surface acetone or methanol may be applied as cleaning agent 2 Verify the flatness of the surface to which the linear stage is to be mounted The total indicator reading TIR is 0 0254 mm 0 001 in per 300 mm 12 in TIR or runout correlates to an overall flatness of a surface ATTENTION Do not attempt to move the multi axis stage by A grasping a cable junction box Moving the multi axis stage in this manner will damage it and create a pinch or crush hazard The junction box is attached to the carriage which is free to move Lifting the multi axis stage in this manner allows uncontrolled
25. Lubrication Intervals 24 Cable Carrier Replacement 24 actos vier cine eaa 25 General Safety Standards for Multi axis Stage Installations 25 UL Safety Standards for Linear Stage Installations 26 Mounting Restrictions 27 Introduction a 31 Unpacking Handling and Inspection 31 Unpacking Guidelines voter tertie meat peaches ste reete 32 Store Packaging Material usate stes eri death set em etel 35 Multi axis Stage Storage i sce cie tor Oe ete CHE HE AN 35 Mount the Multi axis Stage ans uct bua vci Na Manet EN AENEA VE Salva 35 Mount Your Application eden Rae eA Tte Mead a teoria 36 Connect the Multi axis Stage iile os tos asa er ro eR PEERS 37 Attach the Ground Strap and Interface Cables 37 About the Air Option for Ball Screw Linear Stages 40 About the Brake Option for Ball Screw Linear Stages 40 Meeting UL Installation Standards 4l Introductio aes aki Dena 43 Linear Stage Power and Feedback Connections 43 Rockwell Automation Publication MPMA UM001B EN P November 2010 3 Table of Contents Configuration Guidelines Maintenance Removing and Replacing Multi axis Stage Components Troubleshooting Specificat
26. Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item 22 Rockwell Automation Publication MPMA UM001B EN P November 2010 Understanding Your Multi axis Stage Chapter 2 Component Descriptions Component Component Description Number 1 Ground Screw and Ground Use the labeled M5 x 0 8 6H ground screw to connect the linear stage to a facility safety ground Label 2 Bearing Lubrication Ports These capped ports provide access to the linear bearings without dismantling the linear stage 3 Carriage This is where your load mounts The carriage has mounting holes and pilot guide holes 4 Top Cover This protective cover has magnetic edges that keep the upper edge of the strip seals in place 5 Side Cover These protective covers have magnetic edges that keep the lower edge of the strip seal in place 6 Cable Track Module This assembly may be a single or double track unit It contains the power 1 0 wiring for base linear stage and the secondary axis Multi axis stages with direct drive base and secondary axes will have a double cable carrier on the base axis and a single carrier on the secondary axis The cable carrier replacement modules come as a complete unit that service the base and secondary axes It facilitates quick and easy replacement of this wear item and is available as a spare part 7 Stainless
27. bearing lubrication Carr age v See Detail A 11 76 I lt Ves a 2487 86 8 e d 9 73 z J Base 6 78 A m r 8 697 P let 2 74 Cable 101 6 BE 7 Clearance 4 00 F 2157 64 8 49 Dimensions are in mm in M10 x 1 568 Thru 4 79 232 2 per end 9 13 Access point for linear bearing lubrication Detail EE 353 6 13 92 Ground Screw n 0 26 M5 x 0 8 6H gt i ee 5 6 min Quantity 0 22 15 Mount to base using M6 1 0 hardware 1l 136 1 9 4 0 025 300 x 300 0 001 12 0 x 12 0 at 120 mm spacing and the tee nut bar wW 5 36 amp Base Flatness requirement for assembly shipped with stacked stage Position of secondary Y axis carriage at center of travel of base X axis Table 28 MPMA xCQxxxxxx xxx Dimensions mounting surface A TL B TU Stage Length Travel Stage Length Travel Mounting Locations Multi axis Linear Stage X axis X axis Y axis Y axis X axis Cat No mm in mm in mm in mm in Oty MPMA ACODODOAO S1C 641 25 2 300 11 8 641 25 2 300 11 8 10 MPMA ACQE2D0A0 S1C 761 30 0 420 16 5 12 MPMA ACQE2E2A0 S1C 761 30 0 420 16 5 MPMA ACQG6E2A0 S1C 1001 39 4 660 26 0 16 MPMA ACOG6G6AO0 S1C 1001 39 4 660 26 0 866 1 1121 44 1 78
28. 1550 mi of travel whichever comes first screw linear stages every 6 months or 150 000 000 revolutions whichever comes first Rockwell Automation Publication MPMA UM001B EN P November 2010 61 Chapter7 Maintenance Lubricate the Bearing 62 Lubricate the linear stage bearings as shown and described below Use the MP Series Integrated Linear Stage grease pump kit and additional grease cartridges as necessary Figure 11 Direct Drive Linear Stage Lubrication Bearing Lubrication Ports two per end cap Figure 12 Ball Screw Linear Stage Lubrication Ball Nut Lubrication Port one per linear stage Bearing Lubrication Ports two per end cap 1 Position the carriage at end of travel and clamp it to hold the linear stage against end block ATTENTION Do not use clamp across the side panels This will deform and damage the side panels 2 Remove the lubrication port protective caps on each end cap 3 Insert the tip of the grease pump into the lubrication port pushing in until firm contact with the grease fitting is made 4 Pump the handle until back pressure is felt or a maximum of two strokes are made Rockwell Automation Publication MPMA UM001B EN P November 2010 Maintenance Chapter 7 Repeat step 3 and step 4 to the other lubrication ports Move the carriage to opposite end of travel and repeat steps 1 5 Remove the clamp Reinstall the protective caps on all the lubricat
29. 41 3 47 30 75 6 48 57 4 M5 0 8 9 6 85 7 20 63 75 13 4 119 M6 1 0 15 8 140 11 9 105 22 1 196 M8 1 25 39 5 350 29 7 262 5 55 4 490 M10 15 76 8 680 57 6 510 115 2 1020 1 Mounting hardware is ISO 898 1 socket head cap bolt that meets or exceeds ANSI B113M ISO 261 ISO 262 coarse series only 2 Microsize bolt Rockwell Automation Publication MPMA UM001B EN P November 2010 127 Appendix E 128 Mounting Bolts and Torque Values Table 60 Recommended Seating Torque for Mild Steel Rb 87 or Cast Iron Rb 83 UNC UNF Plain Cadmium Plated Plain Cadmium Plated Bolt Size 2 Nm Ibein Nm Ibein Nm Ibein Nm Ibein 0 0 24 2 1 9 0 18 1 6 9 1 0 44 3 89 9 0 53 4 7 9 0 46 4 1 9 0 34 3 0 9 2 0 71 6 3 9 0 53 4 7 9 0 76 6 8 0 58 5 1 3 1 08 9 6 9 0 81 7 2 9 1 16 10 3 9 0 87 7 7 9 4 1 52 13 5 9 1 13 10 9 1 67 14 8 9 1 2 11 8 5 2 3 20 8 17 15 2 37 21 9 1 8 16 6 2 8 25 8 2 1 19 9 3 2 28 2 4 21 8 8 5 2 46 3 8 34 9 5 4 48 9 4 1 36 9 10 7 6 67 8 5 6 50 8 6 76 9 6 4 57 8 1 4 17 8 158 9 134 119 9 20 3 180 9 15 4 136 9 5 16 36 8 326 27 7 245 9 40 7 360 9 30 5 270 9 3 8 65 5 580 49 1 435 71 7 635 53 7 476 7 16 105 930 9 78 9 698 9 117 5 1 040 9 88 1 780 9 1
30. Brake on the motor does not release Manually release brake and check that motor shaft is free to turn and the bearing feels smooth Rockwell Automation Publication MPMA UMO001B EN P November 2010 79 Chapter9 Troubleshooting Notes 80 Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions This appendix is a supplement to this document Associated Kinetix publications listed in Additional Resources on page 7 and information in product specifications may supersede the information in this appendix TPage Product Specifications and Dimensions 82 MPMA xACxxxxxx xxx Product Specifications and Dimensions 84 Product Specifications and Dimensions 86 MPMA xCBxxxxxx xxx Product Specifications and Dimensions 89 Product Specifications and Dimensions 92 Product Specifications and Dimensions 94 MPMA xBlxxxxxx xxx Product Specifications and Dimensions 96 Product Specifications and Dimensions 98 Brake Specifications for Ball Screw Linear Stage Motors 101 Environmental Specifications for Multi axis Stages 101 PTC Thermal Signal 101 Certifications 101 Rockwell Automation Publication MPMA UM001B EN P November 2010 81
31. Logix configuration 51 Logix parameters ball screw stage 54 direct drive stage 51 mounting restrictions 29 mounting surface restrictions 29 orientation restrictions 30 software 49 travel limits 63 tuning with Logix 56 Ultraware parameters ball screw stage 61 direct drive stage 61 interconnect cables 111 feedback 113 power 111 interconnect diagrams linear stage to Kinetix 2000 120 linear stage to Kinetix 6000 121 linear stage to Ultra3000 122 motor and drive wiring 120 wiring example notes 119 L lead screw 26 lighting 29 power enable requirement 28 lubrication 26 lubrication interval 26 65 ball screw 65 direct drive 65 lubrication port 25 66 magnet track 25 magnetic encoder 25 maintenance 26 bearing lubrication 66 cable carrier 26 cleaning interval 65 cover cleaning 67 cover installation 75 cover removal 75 lubrication interval 26 65 lubrication ports 66 required tools 70 rotary motor replacement 78 side cover installation 77 strip seal 74 76 strip seal cleaning 67 tools 65 motion analyzer version 49 motor coil 25 motor database 49 mounting before mounting 124 brake option 42 EMI bonding 39 fastener torque 38 feedback cable 46 47 ground strap 39 interface cable 39 40 power cable 45 pressurized air connection 42 surface flatness 37 mounting restrictions 29 30 31 mounting surface restrictions 29 0 operating temperature 109 options 22 overtemperature 110 P packaging 37 pinout fe
32. Ty illustration lower left 777 a iy for proper grounding technique Turn clamp over to hold small cables secure 2090 XXNFMF Sxx Feedback Cable Notes 3 4 under clamp Clamp screw Rockwell Automation Publication MPMA UMO001B EN P November 2010 113 Appendix Interconnect Diagrams Figure 17 Wiring Examples for MP Series Integrated Linear Stages and Ultra3000 Drives ULTRA3000 BALL SCREW STAGES WITH DIGITAL SERVO DRIVE HIGH RESOLUTION FEEDBACK cm MPAS A Bxxxx V05S xA and Cable Shield MPAS A Bxxxx V20S xA ee a Clam Not Shad 4 l sy sack f 1 WHT BLACK E 2 Green Yellow D 2 gt gt SIN 2 3 Blue W GND 3 RED COS 3 Motor Power lt lt V 4 gt gt aT AED XX COS 4 TB1 Connector in B lt Three Phase 2 5 Brown A U Motor Power 5 gt GREEN DATA 5 d 2090 XXNPMF xx S 5 10 z XX 7 Motor Feedback Motor Power Cable Motor 9 gt gt GRAY 5VDC 14 CN2 Connector Note 3 Feedback 10 S WHr GRAY _ ECOM 6 10 11 11 ORANGE 9VDC 7 13 WHT ORANGE XX IS 11 u gt gt 43 G BR 14 BLUE TS Control Interface BRK f Bas lt lt Bl dm CN1 Connector 44 White F BR 3 rake i 2d CER 2 COM 777 2090 XXNFMF Sxx Feedback Cab
33. is 012 018 024 030 036 042 054 066 078 090 or 102 Rockwell Automation Publication MPMA UM001B EN P November 2010 107 Appendix 108 Accessories Multi axis Linear Stage Cat No Table 47 Accessory Kits for Center Multi axis X Y Cable Modules Description Accessory Cat No MPMA xABC0C0A0 xxx Cable track module for MPMA xAB series X Y Center Stacked Stages MPMA xABC0C0A0 CBL MPMA xABC6C6A0 xxx MPMA xABC6C6A0 CBL MPMA xABD2D2A0 xxx MPMA xABD2D2A0 CBL MPMA xABD8D8A0 xxx MPMA xABD8D8A0 CBL MPMA xABE4E4A0 xxx MPMA xABE4E4A0 CBL MPMA xABF6F6A0 xxx MPMA xABF6F6A0 CBL MPMA xACB4B4A0 xxx Cable track module for MPMA xAC series X Y Center Stacked Stages MPMA xACB4B4A0 CBL MPMA xACCOCOA0 xxx MPMA xACCOCOAO CBL MPMA xACC6C6A0 xxx MPMA xACC6C6A0 CBL MPMA xACD2D2A0 xxx MPMA xACD2D2A0 CBL MPMA xAPB8B8A0 xxx Cable track module for MPMA xAP series X Y Center Stacked Stages MPMA xAPB8B8A0 CBL MPMA xAPC4C4A0 xxx MPMA xAPC4C4A0 CBL MPMA xAPDODOA0 xxx MPMA xAPDODOAO CBL MPMA xAPE2E2A0 xxx MPMA xAPE2E2A0 CBL MPMA xAPG6G6A0 xxx MPMA xAPG6G6A0 CBL Multi axis Linear Stage Cat No Table 48 Accessory Kits for Cartesian Multi axis X Y Cable Modules Description Accessory Cat No Rockwell Automation Publication MPMA UM001B EN P November 2010
34. procedures Recommended lubrication intervals are direct drive linear stages every 6 months or 2500 km 1550 mi of travel whichever comes first ball screw linear stages every 6 months or 150 000 000 revolutions whichever comes first Cable Carrier Replacement The cable carrier module assembly has a useful lifetime of approximately 10 000 000 cycles Refer to the Removing and Replacing Multi axis Stage Components chapter beginning on page 65 for removal and replacement procedures Rockwell Automation Publication MPMA UM001B EN P November 2010 Introduction Chapter 3 Planning a Multi axis Stage Installation Use this chapter to establish a suitable environment and physical location for your multi axis stage Topic Page General Safety Standards for Multi axis Stage Installations 25 UL Safety Standards for Linear Stage Installations 26 Mounting Restrictions 27 Environmental Factors 27 Clearance Requirements 29 Requirements to be met when mounting your multi axis stage include the following General Safety Standards for Multi axis Stage Installations General safety standards and requirements include but are not limited to the following 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 Requir
35. 12 6 N A 180 7 1 5 micron N A Multi turn high 15 N A 60 52 2 114 9 resolution resolution MPMA xBDD2A0D0 S2C 300 11 8 incremental encoder 53 9 118 7 MPMA XBDEAADBS S2C 440 17 3 ae 55 2 121 5 MPMA xBDE4A0D0 S2C 300 11 8 direct drive 128 cycle rev 56 9 125 3 only ballscrew only MPMA xBDE4A0E2 S2C 420 16 5 58 6 129 0 MPMA xBDG8A0B8 S2C 680 26 8 180 7 1 61 7 135 8 MPMA xBDG8A0D0 S2C 300 11 8 63 4 139 6 MPMA xBDG8A0E2 S2C 420 16 5 65 1 143 3 MPMA XBDIOAOB8 S2C 800 31 5 180 7 1 65 2 143 5 MPMA xBDIOA0D0 S2C 300 11 8 66 9 147 3 MPMA XBDIOAOE2 S2C 420 16 5 68 6 151 0 MPMA xBDJ2A0D0 S2C 920 36 2 300 11 8 70 0 154 1 MPMA xBDJ2A0E2 S2C 420 16 5 71 7 157 8 MPMA xBDJ2A0F4 S2C 540 21 3 73 5 161 8 Table 38 Allowable Payload Based Upon X axis Acceleration and Z axis Travel X axis Acceleration 1 Z axis Travel mm in g 180 300 420 540 8 0 5 4 23 0 6 6 44 2 7 1 0 5 6 7 5 0 3 3 4 9 4 7 7 6 0 2 5 3 12 5 10 8 9 1 5 6 2 16 0 14 3 12 6 9 1 20 3 18 6 16 9 13 4 1 0 25 4 23 7 22 0 185 1 Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded 98 Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions Appendix A Table 39 MPMA xBDxxxxxx xxx Product Dimensions
36. 2 160 1420 9 172 8 1530 9 254 2 2250 190 9 1690 9 1 Mounting hardware is 1960 series socket head cap bolt that meets o exceeds ANSI B18 3 2 Torque is based on 80 000 psi bearing stress under the head of the bolt 3 Denotes torque based on 100 000 psi tensile stress with threads up to one inch in diameter Rockwell Automation Publication MPMA UM001B EN P November 2010 Mounting Bolts and Torque Values Appendix E Table 61 Recommended Seating Torque for Brass Rb 72 UNC UNF Plain Cadmium Plated Plain Cadmium Plated Bolt Size 1 Nm Ibein Nm Ibein Nm Ibein Nm Ibein 0 x 0 24 2 1 9 0 18 1 6 9 1 0 43 3 8 9 0 33 2 9 9 0 46 4 1 0 34 3 0 9 2 0 71 6 3 9 0 53 4 7 9 0 77 6 8 9 0 58 5 1 9 3 1 08 9 6 9 0 81 7 2 9 1 16 10 3 9 0 87 7 7 9 m 1 52 13 5 9 1 1 10 8 1 67 14 8 9 1 24 11 9 5 22 20 9 1 7 15 8 2 4 21 1 8 16 8 6 2 8 25 9 2 1 19 8 3 2 28 9 2 4 21 8 8 5 2 46 9 3 8 34 5 4 48 9 4 1 36 10 7 6 67 9 5 6 50 8 6 76 9 6 4 57 1 4 15 3 136 11 5 102 15 4 136 11 5 102 5 16 25 8 228 19 3 171 25 8 228 19 3 171 3 8 53 7 476 40 3 357 53 7 476 40 3 357 7 16 76 8 680 57 6 510 76 8 680 57 6 510 1 Mounting hardware is 1960 series socket head cap bolt that meets or exceeds ANSI B18 3 2 Torque is based on 6
37. 6 S renee DATA 10 2090 XXNPMF xxS x Motor Feedback oor Poer DS Three Phase 9 GRAY 45VDC 14 5 Connector Note 3 Motor Power 10 3 WHT GRAY XX ECOM 6 10 11 tf ORANGE 9VDC 7 11 otor Resistive Th ato 13 XX_TS 11 12 Brake Connector ermos Y BLUE 3 MBRK 6 Black i G BR 6114 IS 5 Whit F j rake 15 Z BBt BE COM a User Supplied Refer to Low Profile Connector __ illustration lower left PWR Bas 24V dc 1 2 for citum LV DBRK Resistive Brake 2090 XXNFMF Sxx Feedback Cable 1 BR Notes 3 4 DBRK Connections DIRECT DRIVE STAGES WITH INCREMENTAL FEEDBACK MPAS A Bxxxx ALMx2C Motor Feedback Connector 1 1 BLACK 1 ED 4 2 gt wi BLACK XX AM 2 2090 XXNPMF xxS xx Motor Power Cable GND 3 RED BM 3 connects to Motor Power B V 4 WHT RED XX BM 4 and Cable Shield Clamp Three Phase IM as shown above 5 GREEN 5 Motor Power 6 5 gt T w GREEN XX IM 10 Motor 9 GRAY 5VDC 14 Feedback 10 5 51 waver XX ECOM 6 Grounding Technique for 11 gt gt onan Low Profile Connector Themisto 13 SH WHT ORANGE XX TS 11 onnecunnio srive 2090 K2CK D15xx shown 14 BLUE TS 15 Mi WHT BLUE XX 51 12 16 YELLOW 52 13 17 S XX 53 8 Clamp 12 COM Exposed shield secured gt IV Refer to Low Profile Connector
38. AppendixA Specifications and Dimensions Product Specifications and Dimensions Automation sales representative Table 9 MPMA xABxxxxxx xxx Product Specifications Bi directional Repeatabilit Multi axis Linear Stage Travel mm in Encoder Type iim p y Cat No X axis Y axis Z axis X axis Y axis Z axis X axis Y axis Z axis MPMA xABCOCOA0 S1C 200 7 9 MPMA xABC6C6A0 S1C 260 10 2 MPMA xABD2D2A0 S1C 320 12 6 linear encoder N A 15 15 MPMA xABD8D8A0 S1C 380 15 0 k direct drive only MPMA xABE4E4A0 S1C 440 17 3 MPMA xABF6F6A0 S1C 560 22 0 82 These specifications apply to Center Stacked X Y stages with 250 mm frame linear motor driven X axis and 200 mm frame linear motor driven Y axis Maximum payload is 15 kg 33 1 Ib For heavier loads contact your Rockwell Weight Appro kg Ib 56 4 59 2 62 1 64 4 67 3 73 1 X 24 1 30 2 36 6 41 7 48 1 60 8 Table 10 Allowable Payload Based Upon X axis Acceleration and Y axis Travel X axis Acceleration 1 Y axis Travel mm in g 200 260 320 380 440 560 1 4 0 5 ES E E 1 3 3 6 2 4 1 0 0 2 12 7 2 6 0 4 6 3 8 2 4 0 1 11 11 4 10 2 8 8 8 0 6 6 4 3 1 0 16 5 15 3 13 9 13 1 11 7 94 0 9 22 7 21 5 20 1 19 3 17 9 15 6 1 Acceleration values are based on the motors instantaneous and average
39. COUP MPAS x9xxxx XXS xx MPAS 9 COUP MPAS Axxxx1 V05S2x Motor 230V without brake for 5 mm rev ballscrew linear stage MPLS A210E VJ42AA MPAS Axxxx1 V05S4x Motor 230V with brake for 5 mm rev ballscrew linear stage MPLS A210E VJ44AA MPAS Bxxxx1 N05S2x Motor 460V without brake for 5 mm rev ballscrew linear stage MPLS B210E VJ42AA MPAS Bxxxx1 N05SAx Motor 460V with brake for 5 mm rev ballscrew linear stage MPLS B210E VJ44AA MPAS Axxxx2 V20S2x Motor 230V without brake for 20 mm rev ballscrew linear stage MPLS A220H VJ42AA MPAS Axxxx2 V20S4x Motor 230V with brake for 20 mm rev ballscrew linear stage MPLS A220H VJ44AA MPAS Bxxxx2 V20S2x Motor 460V without brake for 20 mm rev ballscrew linear stage MPLS B220H VJ42AA MPAS Bxxxx2 V20S4x Motor 460V with brake for 20 mm rev ballscrew linear stage MPLS B220H VJ44AA MPAS XOXXXX VXXS xx it strip seal for ballscrew linear stage MPAS 6xxx1 SEAL l MPAS x8 xxxx VxxS xx MPAS 8xxx1 SEAL 0 MPAS x9 xxxx VxxS xx MPAS 9xxx1 SEAL 2 MPAS XOXXXX VXXS Kit side cover for ballscrew linear stage 6 1 SIDE 1 MPAS x8 xxxx VxxS xx MPAS 8xxx1 SIDE MPAS x9 xxxx VxxS xx MPAS 9xxx1 SIDE MPAS XOXXXX VXXS xx Kit top cover for ballscrew linear stage MPAS 6xxx1 TOP MPAS x8 xxxx VxxS xx MPAS 8xxx1 TOP 2 MPAS x9 xxxx VxxS xx MPAS Qxxx1 TOP 2 1 Variable xxx mm stroke x 10 is 012 018 024 030 036 042 054 or 066 2 Variable xxx mm stroke x 10
40. E07 82 86 E11 82 E19 85 88 E20 86 E22 85 88 E23 85 88 intermittent E04 86 intermittent E07 E11 E20 85 excess carriage play 88 hookup tab 82 operational errors 82 SERCOS initialization 82 startup errors 82 tuning home to torque for Kinetix drives 123 Kinetix drive system 56 U unpacking 34 V vertical installation 12 vibration 29 109 Rockwell Automation Publication MPMA UM001B EN P November 2010 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Use the Worldwide Locator at
41. Hall Sensor wiring to a Kinetix 2000 or a Kinetix 6000 drive The wire colors and 2 Using Auto tune will reset this parameter to the default value 3 Using Velocity Feedforward will reduce position error during motion 50 Rockwell Automation Publication MPMA UM001B EN P November 2010 Configuration Guidelines Chapter 6 Ball Screw Drive Stages Enter these parameters in the Axis Properties tab of RSLogix 5000 software for ball screw linear stages catalog number MPAS xxxxxx Vxxxxx Axis Properties Tab Parameter Entry Selection with applicable distance unit settings Metric English Drive Motor Motor Catalog Number Select one from the list MPAS Axxxx1 V05S2x MPAS Axxxx1 V05S4x MPAS Axxxx2 V20S82x MPAS Axxxx2 V20S4x MPAS Bxxxx1 V05S2x MPAS Bxxxx1 V05S4x MPAS Bxxxx2 V20S2x MPAS Bxxxx2 V20S4x Drive Resolution 200 000 Drive Counts per Motor Millimeter Conversion Positioning Mode Linear ATTENTION Setting the Positioning Mode to Rotary can cause damage to the stage or the machine due to incorrect positioning Conversion Constant 10 000 drive counts 1 0 mm for 254 000 drive counts 1 0 in for Hookup Test Increment 5 mm min 0 2 in min Drive Polarity Positive Positive Direction Homing Mode Active Position 0 or programmable Offset 5 mm min 0 2 in min Sequence Torque Level to marker Direction Reverse Bi directional Torque Level 5096 min Greater if the system
42. IMPORTANT ATTENTION The Tuning and Loop Gain procedures apply only to the ball screw linear stages The Travel Limit procedures apply to direct drive and ball screw linear stages Tuning your linear stage requires you to calculate and configure the loop gain based on the actual measured inertia By setting travel limits your application minimum deceleration is defined Tune Your Linear Stage IMPORTANT ATTENTION These procedures apply only to ball screw linear stages Use the following steps to set the parameters in the Axis Properties tab of RSLogix 5000 software to tune a ball screw drive linear stage catalog number MPAS xxxxxx VxxSxx 1 In the Axis Properties dialog box choose Fault Actions tab Set Custom Stop Action Custom Stop Attributes TIP These parameter settings work best if the linear stage is installed in a horizontal table top or a wall mount vertical orientation 2 Set the Brake Engage and the Brake Release delay times to the values listed in Brake Specifications for Ball Screw Linear Stage Motors on page 101 Rockwell Automation Publication MPMA UM001B EN P November 2010 53 Chapter6 Configuration Guidelines 3 Reduce the default Stopping Time Limit from 10 seconds to 0 5 seconds Axis Properties Axis General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fa
43. MPAS TBAR B4 8 Mounting Bar for X axis having 8 travel MPAS TBAR B8 Mounting Bar for X axis having CO travel MPAS TBAR CO 4 Mounting Bar for X axis having C4 travel MPAS TBAR C4 MPMA xXXC6XXXX XXX Mounting Bar for X axis having CB travel MPAS TBAR C6 Mounting Bar for X axis having 00 travel MPAS TBAR D0 2 Mounting Bar for X axis having 02 travel MPAS TBAR D2 Mounting Bar for X axis having D8 travel MPAS TBAR D8 MPMA xxXE2 XXXX XXX Mounting Bar for X axis having E2 travel MPAS TBAR E2 4 Mounting Bar for X axis having E4 travel MPAS TBAR E4 Mounting Bar for X axis having F6 travel MPAS TBAR F6 MPMA xXXG6XXXX XXX Mounting Bar for X axis having GB travel MPAS TBAR G6 MPMA xxxG8XXXX XXX Mounting Bar for X axis having G8 travel MPAS TBAR G8 8 Mounting Bar for X axis having H8 travel MPAS TBAR H8 MPMA xXXI XXXX XXX Mounting Bar for X axis having 10 travel MPAS TBAR I0 MPMA XXxJ XXXX XXX Mounting Bar for X axis having JO travel MPAS TBAR JO 2 Mounting Bar for X axis having J2 travel MPAS TBAR J2 Rockwell Automation Publication MPMA UM001B EN P November 2010 C Interconnect Diagrams
44. Preface Multi axis Stage Safety Understanding Your Multi axis Stage Planning a Multi axis Stage Installation Mounting and Connecting the MP Series Integrated Multi axis Linear Stage Linear Stage Connector Data Table of Contents About This Publication 7 Who Should Use This Manual 7 Additional Resources 7 rodeo tos a tod ra e N 9 Sater babel ttt cy ch 10 CHAAR CCS aos x weston hec P YIN RU NEP RES NER KES 12 General os eo seine vae ae oio mS TS asus Me C D Eee 12 lE 12 Vertical or Inclined Payload 12 End of Iravellmpacts 12 Air Freight Restrictions e eee tensed eee 12 Standards a ok ea AAY oR ila pu Gla See oh leg 13 Motor Model Identification 13 Introductions s mee n docu ut 15 Identifying Your Multi axis Stage 16 Identifying the Components of Your Multi axis Stage 17 Identifying the Individual Linear Stages in Your Multi axis Stage 20 Identifying the Components of Each Linear 20 Component Descriptions 23 Maintenance Intervals 24
45. Velocity Error Integrator Friction Compensation Velocity Feedforward Acceleration Feedforward V Torque Offset Output Filter Cancel Apply Help 5 On the Tune tab click Start Tuning to access the Motion Initiation dialog box 54 Rockwell Automation Publication MPMA UM001B EN P November 2010 Configuration Guidelines Chapter 6 6 Click Yes to begin tuning the linear stage RSLogix 5000 Execute online command Yes No AN ATTENTION Motion occurs immediately after clicking Yes Tuning is complete when the Tune Servo dialog box appears dd Online command may initiate motion Online Command Tune Servo Command Status Command Complete EN ait for command to complete after axis motion Check for errors if command fails Rockwell Automation Publication MPMA UM001B EN P November 2010 55 Chapter6 Configuration Guidelines 7 Select Yes to exit Tuning and display the Tune Results dialog box Axis Properties Axis1 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag DANGER This tuning Pasition Loop Bandwidth 4514153 Hertz procedure may cause axis motion with the controller Load Inertia Ratio 6 8707952 Load Inertia Motor Inertia in program mode Compensation Offset DANGER The Bandwidth determined by the tune process is ES
46. an overhead lifting device for removing the platform from the shipping crate and lift platform by eyebolts A A ATTENTION Keep the multi axis stage horizontal cantilever multi axis stages are top heavy and will fall over if unsupported To minimize the possibility of it tipping keep the multi axis stage clamped to the platform until you are ready to install it WARNING Check 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 equipment damage For your system s specific weight refer to shipping weights on the packing slip Do not pass ropes or cables through the eye bolts in the deck Use slings with load rated hooks or shackles Lift the system a minimal amount to verify that it is properly secured and balanced before moving the equipment further The lift points on the deck may not be equidistant from the center of gravity Select or adjust the rigging lengths to compensate for the weight distribution or load Maintain the system in an upright position 32 Rockwell Automation Publication MPMA UM001B EN P November 2010 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage Chapter4 Unpack the Multi axis Stage ATTENTION Improper handling of a multi axis stage can cause A personal injury and damage to the equipment Follow these unpacking instruction to safely unpack an
47. for all integrated linear stages MPAS CART MPAS A8xxx MPAS B8 xxx MPAS 8 TNUT Kit Tee nuts 10 per package MPAS A9xxx MPAS B9xxx MPAS 9 TNUT 106 Rockwell Automation Publication MPMA UM001B EN P November 2010 Accessories Appendix B Table 45 Accessory Kits for Multi axis Direct drive Linear Stages Linear Stage Cat No Description Accessory Cat No MPAS x6 xxxx ALMS2x MPAS 6xxxB SEAL l MPAS x8xxxx ALMS2x Kit strip seal for direct drive linear stage MPAS 8xxxE SEAL 2 MPAS x9xxxx ALMS2x MPAS 9xxxK SEAL 21 MPAS x6 xxxx ALMS2x MPAS 6xxxB SIDE MPAS x8xxxx ALMS2x Kit side covers for direct drive linear stage MPAS 8xxxE SIDE 2 MPAS x9xxxx ALMS2x MPAS 9xxxK SIDE 2 MPAS x6 xxxx ALMS2x MPAS 6xxxB ToP MPAS x8xxxx ALMS2x Kit top cover for direct drive linear stage MPAS 8xxxE TOP 2 MPAS x9xxxx ALMS2x MPAS 9xxxK TOP 2 1 Variable stroke x 10 is 012 018 024 030 036 042 054 066 078 090 102 or 114 2 Variable xxx mm stroke x 10 is 014 020 026 032 038 044 056 068 080 092 104 128 152 176 or 194 Table 46 Accessory Kits for Multi axis Ballscrew Linear Stages Linear Stage Cat No Description Accessory Cat No MPAS XOXXXX VXXS Xx Coupler for ballscrew linear stage MPAS 6 COUP MPAS X8XxXX VXXS xx MPAS 8
48. from the stage drive Then use Motion Analyzer software to calculate the minimum deceleration distance at the maximum speed of your application 1 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 Table 5 Bumper Stop Energy Limits for Linear Stage End of Travel Cat No Energy Limit Cat No Energy Limit 8 20 22 7 J 201 inelb 9 20 16 5 J 146 inelb MPAS x8 xxxx ALMx2x 45 5 J 403 inelb MPAS x9 xxxx ALMx2x 35 2 J 312 inelb ATTENTION If energy greater than the bumper capacity is A anticipated in the application you must provide additional mechanical means for safely stopping the carriage To calculate kinetic energy of the carriage with your payload use the formula y 4xmxv J energy in Joules moving mass linear carriage payload kg V maximum velocity of stage in your application m s 1 If you are using Kinetix 2000 Kinetix 6000 drive you will find it useful to read and apply About Home to Torque level Homing on page 116 to your system level program IMPORTANT Home to Torque Programming should be performed only after you have tuned your drive and linear stage combination You should have successfully completed tuning by performing the steps in the table on page 53 This appendix provides information on using torque level homing t
49. http www rockwellautomation com support americas phone en html or contact Canada your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret 5 Kar Plaza Ig Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Auto
50. is the final home position The 0 5 cm is within the Soft Travel Limits set on the Limits tab Table 53 Tags Used Tag Name Data Type Description Saved_FaultConfig DINT Storage location for FaultConfigurationBits motion attributes Bit 0 soft overtravel limit checking Clear_SoftOT_Mask DINT Set to 2 This masks the off soft overtravel enable bit without changing the other configuration bits Temp_FaultConfig DINT Temporary hold word for FaultConfigurableBits SoftOT_Disabled BOOL Soft overtravel checking disabled status bit Saved_TOLim_Bipolar REAL Storage location for Peak Torque TorqueLimitBipolar HomeTQ Level REAL Home Torque Level from the Home tab in Axis Properties Temp T Lim Bipolar REAL Temporary Peak Torque for Homing 1096 higher than Home Torque Limit Axis 01 MI MAH MOTION INSTRUCTION Control for MAH instruction using a UDT Positive Overtravel REAL Max Positive Soft overtravel value Negative Overtravel REAL Max Negative Soft overtravel value Saved PostrrorTol REAL Storage location for Actual Position Error value Temp PosErrorTol REAL Temporary Position Error value for Homing Rockwell Automation Publication MPMA UM001B EN P November 2010 119 Appendix D Home to Torque level Example Figure 21 Axis Properties Homing Tab Vo Properties AXIS 01 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dy
51. motor temperature limits not being exceeded Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions Appendix A Table 11 MPMA xABxxxxxx xxx Product Dimensions 232 TL 2 j 9 13 ja TL 2 254 25 4 E 2157 254 1 00 8 49 1 00 jumper Trave Bumper Travel 536 Bumper Travel t Qu gt TUE I I I I See Detail 5 T al ij 654 2 58 I m o ate e 9 79 al EE _ oe _ 130 8 Base Brad 5 15 13 35 T Carriage ES 6 78 I b J 104 1 B e 4 10 T H 1 m H N 1 5 1177 k r 4 63 30 Ud TU 2 4X M8 X 1 25 6H v 12 0 0 47 L 4X M10 x 1 5 6H Thru 2 per end cap 4X 0 6 8 0 27 45 4 1 79 Thru L Access point for linear bearing Secondary L 254 lubrication Dimensions are in mm i
52. procedures to follow If your servo drive is Start on page Continue with page Kinetix 2000 2093 xxxx xxx 49 60 Kinetix 6000 2094 xxxx xxx x 49 Ultra3000 SERCOS 2098 DSD xxxx SE 49 N A Ultra3000 non SERCOS 2098 DSD xxxx 58 IMPORTANT If you are using a Kinetix 2000 or Kinetix 6000 drive you will find it useful to read and apply Appendix D Home to Torque level Example to your system level program This appendix provides information on using torque level homing to reference a known home position by monitoring torque while driving an axis into a mechanical hard stop 48 Rockwell Automation Publication MPMA UM001B EN P November 2010 Configure RSLogix 5000 Software for Linear Stages with Kinetix Multi axis Drives Axis Properties Tab Parameter Configuration Guidelines Chapter 6 The RSLogix 5000 software parameters provide here are for basic setup and tuning parameters of MP Series Integrated Linear Stages In Set Axis Properties in RSLogix Software the drive parameters tables for direct drive and ball screw drive linear stage are shown In Tuning Linear Stages with RSLogix 5000 Software which begins on page 53 follow tasks are covered Tune Your Linear Stage for ball screw stages only Calculate and Configure the Loop Gain for ball screw stages only Set Travel Limits for direct drive and ball screw stages Set Axis Properties in RSLogix Software Use p
53. somos i ADIN 4 panes gt OOL lt D3Suul e1ed LO spoz gt DASH Lyd ouas ped oz 391105 ADIN OByuogyney pares gt OOL lt D3suulr EJET LO spoz gt pasu Lyd oues 30 DL somos ADIN 08 a i THU Byuogyne J pares 34 suguoneiByuogyne4 SWEN 1 1305 378514 souejsu 55217 anjen 5 429 ASO 1 1405 31VILINI Q3301913N02 5 1 1305 31 lt DISHUV EJE Q LO spoz gt DASHUIVLY onas 391105 v 251005 asnos 12163 a sonos req spoz gt 12163 sno EE SNO ezieniu usis 121 Rockwell Automation Publication MPMA UM001B EN P November 2010 Home to Torque level Example Appendix D Table 55 Ladder Code Example continued gt 00 Daswureyeq LO spar DASHUIWLYd onas Esq 95 291108 ano 8020290 10 1101350 pares 11013401504 PWEN bo six souejsu spos 55219 anjen wasis 189 ASO SqQ334S YSHOIH LY ONIWOH NIHA 1 30333 NOILISOd dIOAY OL 33NW33101 30333 NOILISOd JHL N3dO 00 Lo spass D3sWulvivq ouas 55 somos aao 0 88 Jejodig wo JeEjodigywiqanbioy aynquipy bo shew
54. the maximum bandwidth Increasing the bandwidth may cause loop instability Cancel Help Calculate and Configure the Loop Gain IMPORTANT These Loop Gain procedures apply only to ball screw linear stages You must calculate a position loop bandwidth based on the actual measured inertia This is with the values from the Tune Results dialog box for a ball screw drive linear stage The Tune Results dialog box above shows a default Position Loop Bandwidth of 45 14153 Hz and a Load Inertia Ratio of 6 8707952 1 Calculate the Corrected Position Bandwidth as follows Corrected Position Loop Bandwidth Initial Position Loop Bandwidth Result Initial Load Inertia Ratio Result 1 For example 5 73532 45 14153 7 8707952 56 Rockwell Automation Publication MPMA UM001B EN P November 2010 Configuration Guidelines Chapter 6 2 Enter the Corrected Position Bandwidth value 5 73532 as the Position Loop Bandwidth and click OK Axis Properties Axis1 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Tune Results Position Loop Bandwidth s 73532 Hertz procedure may cause axis motion with the controller Load Inertia Ratio 6 8707952 Load Inertia Motor Inertia program mode Compensation Offset DANGER The Bandwidth determined by the tune process is the ma
55. the motor shaft as shown in panel B of the diagram above Mark the measured coupling position on the new motor shaft 5 Loosen the M4 SHCS in the coupling and remove the coupling from old motor shaft 6 Position the coupling on the new motor shaft align it with the mark made in step 4 and then tighten the coupling 7 Align the coupling halves and install the motor 8 Secure the motor with four M5 SHCS and lock washers 9 Torque each cap screw to 4 Nem 35 using a diagonal tightening sequence Rockwell Automation Publication MPMA UM001B EN P November 2010 73 Chapter8 Removing and Replacing Multi axis Stage Components 10 Attach the power and feedback cables to the motor by aligning the flat edges on the cable connector with that on the motor connector Power Brake Connector 74 Rockwell Automation Publication MPMA UM001B EN P November 2010 Chapter 9 Troubleshooting Introduction This chapter is divided into three sections The first section provides diagnostic tables to use only during axis commissioning Use the operational section to troubleshoot either a direct drive or ball screw linear stage after the axis is up and running and use the thermistor measurement section only when direct drive operational troubleshooting suggests it Refer to the following publications when troubleshooting a a linear stage connected to one of the following drives Kinetix 2000 Multi axis Servo Drive User
56. to minimize risk Potential hazards discussed here are identified by labels affixed to the device Topic Page Safety Labels 10 Clearances 12 General Safety 12 Heat dg Vertical or Inclined Payload 12 End of Travel Impacts 17 Air Freight Restrictions 12 Standards 13 Motor Model Identification 13 IMPORTANT Any person that teaches operates maintains or repairs these multi axis stages must be trained and demonstrate the competence to safely perform the assigned task Rockwell Automation Publication MPMA UM001B EN P November 2010 9 Chapter 1 Safety Labels Title Danger Pinch Points and Heavy Object Location A Multi axis Stage Safety Label To prevent injury and damage to the linear stage review the safety labels and the details and location for each table before using the linear stage The stages are shown individually and un stacked for clarity DANGER PINCH POINTS Moving parts inside Lockout Tagout LIFT HAZARD Two Person Lift or carry required Details The multi axis stages presents a muscle strain hazard if one person attempts to lift it When attempting to move the linear stage use a three person lift to prevent personal injury or damage to the multi axis stages To Installer There exists a Crush and Cut hazard while installing the multi axis stages The multi axis stages weigh approx 36 1 90 3 kg 79 4 198 6 10 To User The Pinc
57. to the equipment 5 WARNING Improper lifting of this product may result in personal injury or damage equipment never attempt to lift or move the multi axis stage by means other than those listed in this publication 34 Rockwell Automation Publication MPMA UM001B EN P November 2010 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage Chapter 4 Store Packaging Material Keep the crate and packing materials in case the multi axis stage needs to be returned for warranty service or stored for an extended period of time 1 Tape screws and clamp hardware to the plywood board brace 2 Put the end caps and braces in their original positions and place all packing material inside the crate Multi axis Stage Sto rage The multi axis stage storage area should be clean dry vibration free and have a relatively constant temperature Refer to Environmental Specifications for Multi axis Stages on page 101 for more detailed information Mount the Multi axis Stage Follow these steps to install a multi axis stage on its mounting surface using the supplied tee nut bars Refer to Specifications and Dimensions beginning on page 81 for detailed mounting dimensions and the number of fasteners required Torque Fastener Order Illustration User Supplies Recommended For Nem Ibfein Through Boi M5 x 1 0 x 16 mm min Uncovered stages 3 4 30 Toe clamps MPAS TOE M6 x 1 0 x 16 mm min Covered stages 5 5 48
58. xBD xxxxxx xxx Dimensions A TL B TU C Stage Length Travel Stage Length Travel Mounting Locations Multi axis Linear Stage X axis X axis Z axis Z axis X axis Cat No mm in mm in mm in mm in Qty MPMA ABDD2A0B8 S2C 761 30 0 320 12 6 530 20 9 180 7 1 12 MPMA ABDD2A0D0 S2C 650 25 6 300 11 8 MPMA ABDE4A0B8 S2C 881 34 7 440 17 3 530 20 9 180 7 1 14 MPMA ABDE4A0D0 S2C 650 25 6 300 11 8 MPMA ABDE4A0E2 S2C 770 30 3 420 16 5 MPMA ABDG8A0B8 S2C 1121 44 1 680 26 8 530 20 9 180 7 1 18 MPMA ABDG8A0D0 S2C 650 25 6 300 11 8 MPMA ABDG8A0E2 S2C 770 30 3 420 16 5 MPMA ABDIOAOB8 S2C 1241 48 9 800 31 5 530 20 9 180 7 1 20 MPMA ABDIOAODO S2C 650 25 6 300 11 8 MPMA ABDIOAOE2 S2C 770 30 3 420 16 5 MPMA ABDJ2A0D0 S2C 1361 53 6 920 36 2 650 25 6 300 11 8 22 MPMA ABDJ2A0E2 S2C 770 30 3 420 16 5 MPMA ABDJ2A0F4 S2C 890 35 0 540 21 3 MPMA BBDD2A0B8 S2C 761 30 0 320 12 6 530 20 9 180 7 1 12 MPMA BBDD2A0D0 S2C 650 25 6 300 11 8 MPMA BBDE4A0B8 S2C 881 34 7 440 17 3 530 20 9 180 7 1 14 MPMA BBDE4A0D0 S2C 650 25 6 300 11 8 MPMA BBDE4A0E2 S2C 770 30 3 420 16 5 MPMA BBDG8A0B8 S2C 1121 44 1 680 26 8 530 20 9 180 7 1 18 MPMA BBDG8A0D0 S2C 650 25 6 300 11 8 MPMA BBDG8A0E2 S2C 770 30 3 420 16
59. 0 30 7 18 MPMA ACQJOG6A0 S1C 1241 48 9 900 35 4 20 MPMA BCODODOAO S1C 641 25 2 300 11 8 641 25 2 300 11 8 10 MPMA BCOE2D0A0 S1C 761 30 0 420 16 5 12 MPMA BCOE2E2A0 S1C 761 30 0 420 16 5 MPMA BCOG6E2A0 S1C 1001 39 4 660 26 0 16 MPMA BCOG6G6A0 S1C 1001 39 4 660 26 0 MPMA BCOH8G6A0 S1C 1121 44 1 780 30 7 18 MPMA BCOJOG6A0 S1C 1241 48 9 900 35 4 20 Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication MPMA UM001B EN P November 2010 93 Appendix Specifications and Dimensions Product Specifications and These specifications apply to Center Stacked X Z stages with 200 mm frame linear motor driven X axis and 150 mm frame ballscrew driven Z axis Maximum payload is 20 kg 44 0 Ib For heavier loads contact your Rockwell Automation Weight Approx kg Ib 44 5 88 0 462 10177 46 7 102 8 48 4 106 6 51 2 112 7 52 9 116 9 Dimensions sales representative Table 29 MPMA xBExxxxxx xxx Product Specifications Bi directional en Travel mm in Encoder Type Repeatability um Multi axis Linear Stage Cat No X axis Y axis Z axis X axis Y axis Z axis X axis Y axis Z axis MPMA xBED2A0
60. 0 000 psi bearing stress under the head of the bolt 3 Denotes torques based on 100 000 psi tensile stress with threads up to one inch in diameter Rockwell Automation Publication MPMA UM001B EN P November 2010 129 Appendix E 130 Mounting Bolts and Torque Values Table 62 Recommended Seating Torque for Aluminum Rb 72 2024 T UNC UNF Plain Cadmium Plated Plain Cadmium Plated Bolt Size 2 Nm Ibein Nm Ibein Nm Ibein Nm Ibein 0 0 24 2 1 9 0 18 1 6 9 1 0 44 3 8 9 0 33 2 9 9 0 46 4 1 9 0 34 3 0v 2 0 71 6 3 9 0 53 4 7 9 0 77 6 8 0 58 5 1 3 1 08 9 6 9 0 81 7 2 9 1 16 10 3 9 0 87 7 7 9 m 1 52 13 5 9 1 1 10 9 1 67 14 8 9 1 24 11 8 5 2 3 20 8 1 7 15 2 37 21 9 1 8 16 9 6 2 8 25 8 2 1 19 8 3 2 28 9 2 37 21 9 8 5 2 46 3 8 34 9 3 2 48 9 4 1 36 9 10 7 6 67 8 5 6 50 8 6 76 9 6 4 57 9 1 4 12 8 113 9 6 85 12 8 113 9 6 85 5 16 21 5 190 16 1 143 21 5 190 16 1 143 3 8 44 8 397 33 6 298 44 8 397 33 7 298 7 16 64 4 570 48 0 425 64 4 570 48 0 425 1 2 159 3 1410 119 8 1060 159 3 1410 119 8 1060 1 Mounting hardware is 1960 series socket head cap bolt that meets or exceeds ANSI B18 3 2 Torque is based on 50 000 psi bearing stress under the head of the bolt 3 Denotes torques based on 100 000 psi te
61. 0B8 S2C 761 30 0 320 12 6 530 20 9 180 7 1 12 MPMA BBED2A0D0 S2C 650 25 6 300 11 8 MPMA BBEE4A0B8 S2C 881 34 7 440 17 3 530 20 9 180 7 1 14 MPMA BBEE4A0D0 S2C 650 25 6 300 11 8 MPMA BBEG8A0B8 S2C 1121 44 1 680 26 8 530 20 9 180 7 1 18 MPMA BBEG8A0D0 S2C 650 25 6 300 11 8 Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication MPMA UM001B EN P November 2010 95 Appendix MPMA xBbooxxx xxx Product Specifications and Dimensions Multi axis Linear Stage Cat No MPMA xBIDOA0B8 S2C Specifications and Dimensions sales representative Table 33 MPMA xBlxxxxxx xxx Product Specifications Bi directional MPMA XBIDOAODO S2C MPMA XBIE2A0B8 S2C MPMA xBIEZA0D0 S2C MPMA XBIGGA0B8 S2C MPMP xBIG6A0D0 S2C 96 Travel mm in Encoder Type Repeatability um X axis Y axis Z axis X axis Y axis Z axis X axis Y axis Z axis 300 11 8 N A 180 7 1 Multi turn high N A Multi turn high 60 N A 60 resolution resolution 300 11 8 encoder encoder absolute absolute 420 16 5 180 7 1 feedback feedback 300 11 8 128 cycle rev 128 cycle rev ballscrew only ballscrew only 660 26 0 180 7 1 300 11 8 These specifications apply to Center Stacked
62. 1 X 16AWG White Grey X ECOM EPWR 9V LA 22AWG Orange tg EPWR 9V iss X22 AWG White Orange X i TS able E C 22AW8 I we Kas 28 AWG Blue S A N C Diameter X 28AWG White Blue X 51 LOS BANG Yellow 1 y 52 BANG White Yelow X i S3 LIMIT 28 AWG Brown SEE LIMIT LIMIT X 28AWG White Brown X 1 LIMIT COM 22 AWG 22 AWG Jumper V Vd Connects 10 12 14 1 1 1 i X i 1 D fum M a1 28AWG _ ________ E Motor connector backshell 8 Denotes twisted pairing of wires L Customer must provide shielded 360 n Denotes shield wire 360 shield to ground Denotes wire splice or connection connection Heatshrink insulates wire to wire splices 1 Bend radius BR is the specified minimum bend radius for cable assemblies For standard cable BR is a one time flex application Flex cables have a much higher BR to withstand flex applications Rockwell Automation Publication MPMA UM001B EN P November 2010 105 AppendixB Accessories Installation Maintenance Accessories available for installing linear stages replacing items and performing maintenance at regular intervals are listed in the tables that follow and Replacement Kits 5 Table 44 Accessory Kits Common to All Multi axis Linear Stages Linear Stage Cat No Description Accessory Cat No Kit grease gun for all integrated linear stages MPAS GPUMP MPAS A Bxxxx Grease gun refill cartridge
63. 11 1 2 46 2 7 11 1 1 8 9 7 0 5 4 39 1 0 13 9 12 0 10 4 8 9 0 9 20 1 18 2 16 6 15 1 1 Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded 84 Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions Appendix A Table 15 MPMA xACxxxxxx xxx Product Dimensions 28 F 11 06 4 I TU2 254 264 7 254 1 Bs ja 1042 254 1 00 1 00 hd 1 00 Bumper Travel Bumper Travel 535 Bumper Travel gu 77 E 4X M8 X 1 25 6H v 12 0 0 47 Tu H 1 4X 0 6 8 0 27 45 4 1 79 Thru 4 See Detail A PM 654 s T 257 339 b ols 13 35 DT _ e Carriage 9 79 Base b Alle 1 _ _ I 1722 l _ 6 78 1 H i t i 1177 mE 1 4 63 Tu 2 Dimensions are in mm in F 4 9 16 12 UNC Thru 2 per end Secondary 4X 9 16 12 UNC Thru 2 per end cap Access point for linear bearing B Travel Access point for linear b
64. 25 6 300 11 8 MPMA ABIG6A0B8 S2C 1001 39 4 660 26 0 530 20 9 180 7 1 16 MPMA ABIG6A0D0 S2C 650 25 6 300 11 8 MPMA BBIDOAOB8 S2C 641 25 2 300 11 8 530 20 9 180 7 1 10 MPMA BBIDOAODO S2C 650 25 6 300 11 8 MPMA BBIE2A0B8 S2C 761 30 0 420 16 5 530 20 9 180 7 1 12 MPMA BBIE2A0D0 S2C 650 25 6 300 11 8 MPMA BBIG6AOB8 S2C 1001 39 4 660 26 0 530 20 9 180 7 1 16 MPMA BBIG6AODO S2C 650 25 6 300 11 8 Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication MPMA UM001B EN P November 2010 97 AppendixA Specifications and Dimensions These specifications apply Center Stacked X Z stages with 250 mm frame Pr 0 du ct Sp ec ifi C ati ons an d linear motor driven X axis and 150 mm frame ballscrew driven Z axis Maximum payload is 20 kg 44 0 Ib For heavier loads contact your Rockwell Automation Dimensions sales representative Table 37 MPMA xBD xxxxxx xxx Product Specifications Bi directional i Travel mm in Encoder Type Reneatability um Weight Multi axis Linear p y m Approx Stage Cat No X axis Y axis Z axis X axis Y axis Z axis X axis Y axis Z axis kg Ib MPMA xBDD2A0B8 S2C 320
65. 5 MPMA BBDIOAOB8 S2C 1241 48 9 800 31 5 530 20 9 180 7 1 20 MPMA BBDIOAODO S2C 650 25 6 300 11 8 MPMA BBDIOAOE2 S2C 770 30 3 420 16 5 MPMA BBDJ2A0D0 S2C 1361 53 6 920 36 2 650 25 6 300 11 8 22 MPMA BBDJ2A0E2 S2C 770 30 3 420 16 5 MPMA BBDJ2A0F4 S2C 890 35 0 540 21 3 Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication MPMA UM001B EN P November 2010 Motor Cat No MPAS xxxxxx V05xA MPAS xxxxxx V20xA Backlash brake engaged um in 100 0 004 Specifications and Dimensions Appendix A Table 41 Brake Specifications for Ball Screw Linear Stage Motors Brake Response Time Engage Engage Coil Current Suppression Suppression Holding Force at 24V dc Release via MOV via Diode N Ib A ms ms ms 5187 1166 0 46 0 56 50 20 42 1294 291 Table 42 Environmental Specifications for Multi axis Stages Attribute Ambient temperature Value 0 40 C 32 104 F Storage temperature 30 70 C 22 158 F Relative humidity 5 95 noncondensing Shock 20 g peak 6 ms duration Vibration 0 1 grms Hz 30 2000 Hz Ball screw lifetime 300 000 krevs with a 11 4 kg 25 Ib max load 1g max acceleration in a clean and dry environment with lubrication interv
66. 740 UL Standard for Safety Industrial Robots and Robotic Equipment M otor M odel identifi cati on The nameplate on ball screw driven linear stages lists the specific MP Series servo motor model used Rockwell Automation Publication MPMA UM001B EN P November 2010 13 Chapter 1 Multi axis Stage Safety Notes 14 Rockwell Automation Publication MPMA UM001B EN P November 2010 Introduction Chapter 2 Understanding Your Multi axis Stage Use this chapter to become familiar with the multi axis stage components its maintenance needs and its configuration Topic Page Identifying Your Multi axis Stage 16 Identifying the Components of Your Multi axis Stage 17 Identifying the Individual Linear Stages in Your Multi axis Stage 20 Identifying the Components of Each Linear Stage 20 Maintenance Intervals 24 Bulletin MPMA multi axis stages are comprised of custom Bulletin MPAS stages The MPAS are custom due to the different cable management requirements for stacked stage assemblies Additionally the Bulletin MPAS individual stage identifier embedded in the Bulletin MPMA catalog number does not correspond directly to the Bulletin MPAS catalog number used in the system combinations Rockwell Automation Publication MPMA UM001B EN P November 2010 15 Chapter2 Understanding Your Multi axis Stage Identifying Your Multi axis Stage MPMA xxxxxxxxx xxx
67. 9 90mm D MPAS x9xxxK L ALMS2X D none D MPAS x6xxx2 V20S4X MPAS x8xxxF E ALMS2X E MPAS x6xxx2 V20S4X MPAS x8xxx2 V20S2X none MPAS x6 xxx2 V20S4X MPAS x8xxx2 V20S2X MPAS x8xxx2 V20S2X P None Q MPAS x9xxx2 V20S2X 0 MPAS x8xxx2 V20S2X Q None Configuration A Center Stacked XY B Center Stacked XZ C Cantilever Stacked XY Left Side Cantilever Voltage A 230V Motors B 460V Motors Series Type MA Multi axis Bulletin Number 1 Applies to all stages Rockwell Automation Publication MPMA UM001B EN P November 2010 Understanding Your Multi axis Stage Chapter 2 Identifying the Components the diagrams E P E i unique z of Your Multi axis Stage multi axis stage then refer to identi ying omponents 1 tage for details of the each linear stage component Figure 3 Components of XY Center Stacked Multi axis Stage MPMA xAxxxxxxx SxC shown Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item Rockwell Automation Publication MPMA UM001B EN P November 2010 17 Chapter2 Understanding Your Multi axis Stage Figure 4 Components of XZ Center Stacked Multi axis Stage shown
68. B8 S2C 320 12 6 N A 180 7 1 5 micron N A Multi turn high 15 N A 60 E resolution resolution MPMA xBED2A0D0 S2C 300 1 1 8 incremental encoder magnetic linear absolute MPMA xBEE4A0B8 S2C 440 17 3 180 7 1 encoder feedback MPMA xBEE4A0D0 S2C 300 11 8 direct drive 128 cycle rev only ballscrew only MPMA xBEG8A0B8 S2C 680 26 8 180 7 1 MPMA xBEG8A0D0 S2C 300 11 8 Table 30 Allowable Payload Based Upon X axis Acceleration and Z axis Travel X axis Acceleration 1 Z axis Travel mm in g 180 300 1 3 0 2 1 2 2 6 0 9 1 1 5 4 3 7 1 0 8 9 7 2 0 9 13 1 11 4 1 Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded 94 Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions Appendix A Table 31 MPMA xBExxxxxx xxx Product Dimensions 181 5 TU a 7 15 TL 2 r 30 0 254 165 _ 25 4 1 18 1 00 6 5 B 1 00 Bumper Trave Bumper Travel alu Bumper Travel p r 4X 0 7 00 0 276 Thru See Detail 65 0 82 5 L 62 15 2 256 325 245 0 239 165 9 4 199 7 Base I 6 5 Carria
69. C 821 32 3 380 15 0 821 32 3 380 15 0 iu MPMA BABE4E4A0 S1C 881 34 7 440 17 3 881 34 7 440 17 3 MPMA BABF6F6A0 S1C 1001 39 4 560 22 0 1001 39 4 560 22 0 16 Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication MPMA UM001B EN P November 2010 83 AppendixA Specifications and Dimensions on LOHN apply to ue dang Y stages ae 250 a frame inear motor driven X axis and 250 mm frame linear motor driven Y axis Product Specifications and Maximum payload is 20 kg 44 0 Ib For heavier loads contact your Rockwell Dimensions Automation sales representative Table 13 MPMA xACxxxxxx xxx Product Specifications Travel mm in Encoder Type Bi directional Repeatability Weight TN um Approx Multi axis Linear Stage Cat No X axis Y axis Z axis X axis Y axis Z axis X axis Y axis Z axis kg Ib MPMA xACB4B4A0 S1C 140 5 5 62 2 136 8 5 micron resolution MPMA XACCOCOAO S1C 200 7 9 T incremental magnetic yy T 66 0 145 2 MPMA xACCBC6A0 S1C 260 10 2 Pod 69 2 152 2 MPMA XACD2D2A0 S1C 320 12 6 722 158 8 Table 14 Allowable Payload Based Upon X axis Acceleration and Y axis Travel X axis Acceleration 1 Y axis Travel mm in g 140 200 260 320 1 3
70. MA BCBIOF6A0 S1C 1241 48 9 800 31 5 1001 39 4 560 22 0 20 MPMA BCBJ2F6A0 S1C 1361 53 6 920 36 2 22 Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication MPMA UM001B EN P November 2010 91 AppendixA Specifications and Dimensions Product Specifications and Dimensions sales representative These specifications apply to Cartesian Stacked X Y stages with 250 mm frame ballscrew driven X axis and 200 mm frame ballscrew driven Y axis Maximum payload is 25 kg 55 1 Ib For heavier loads contact your Rockwell Automation Table 25 Product Specifications Travel mm in Encoder Type Bi directional Repeatability Weight ZI IE M um Approx Multi axis Linear Stage Cat No X axis Y axis Z axis X axis Y axis Z axis X axis Y axis Z axis kg Ib MPMA XCQD0D0AO S1C 300 11 8 3001118 517 1137 MPMA xCQE2D0A0 S1C 54 3 119 4 420 16 5 MPMA XCOE2E2A0 S1C Multi turn high 56 3 123 8 420 16 5 resolution encoder PLA E VM MPMA xCOG6E2A0 S1C N A absolute feedback N A 60 60 N A 61 4 135 0 660 26 0 128 cycle rev MPMA xCOH8G6A0 S1C 780 30 7 660 26 0 67 7 148 9 MPMA xCOJOG6A0 S1C 900 35 4 70 2 154 4 92
71. Manual publication 2093 UM001 Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 Ultra3000 Digital Servo Drives Installation Manual publication 2098 IN003 Ultra3000 Digital Servo Drives Integration Manual publication 2098 IN005 Topic Page Troubleshooting During Commission and Startup 76 Operational Troubleshooting 76 Rockwell Automation Publication MPMA UM001B EN P November 2010 75 Chapter9 Troubleshooting Troubleshooting During Commission and Startup Operational Troubleshooting Use this section to diagnose and correct troubles encountered while using RSLogix 5000 software to commission and startup your linear stage Description Initialization stops at SERCOS Level 3 and Logix software reports Motor Attribute Error Possible Cause Incorrect motor catalog number Corrective Action Enter correct motor catalog number Incorrect drive firmware For Kinetix 6000 and Kinetix 2000 drives verify the firmware revision is 1 96 or later For a Ultra3000 drive verify the firmware revision is 1 52 or later Using a previously defined axis Delete and recreate the axis Drive reports error E04 E11 or E07 Incorrect feedback wiring Verify feedback wiring Refer to pages 112 114 In the Hookup tab of Axis Properties click on the Test Command and Feedback button to verify wiring and commissioning of your linear stage The following
72. PMA UM001B EN P November 2010 Troubleshooting Chapter 9 Evaluate the Direct Drive Linear Stage 1 Power down the drive system 2 Disconnect the drive from the linear stage ATTENTION Lockout and tagout input power before servicing the linear stage 3 By hand move the carriage through the entire range of motion It should move free and smooth 4 Ifexcessive resistance is felt clean and relubricate the linear bearings 5 Perform the procedures for a direct drive linear stage listed in the troubleshooting tables on page 78 6 Ifthe problem persists return for factory evaluation and possible repair Evaluate the Ball Screw Linear Stage 1 Power down the drive system 2 Disconnect the drive from the linear stage ATTENTION Lockout and tagout input power before servicing the linear stage 3 Remove the rotary motor 4 By hand move the carriage through the entire range of motion It should move free and smooth TIP To make it easier to move a fine pitch stage connect an 11 mm 0 44 mm extension rod to the motor coupling Move the stage by turning the extension with a hand wrench Motor Coupling Before disconnecting mark the current position on the motor shaft 11 mm 0 44 in min diameter 150 mm 6 in approx length Rockwell Automation Publication MPMA UM001B EN P November 2010 71 Chapter9 Troubleshooting Description Kinetix 6000 drive or Kinetix 2000 drive report
73. Steel Strip Seal These replaceable flexible stainless steel strips permit the linear stage to move while isolating the internal mechanism of the linear stage from the users environment Keep the strip seals clean and never apply a lubricant as this attracts contaminants 8 Seal Guide These guides allow the strip seal to move smoothly around the carriage of the linear stage 9 Seal Strip Clamps These clamps hold the strip seal in place When replacing the seal strips they are used to position it so it lays smooth against the top and side covers 0 Magnetic Encoder This encoder readhead has a 5 micron resolution and very low maintenance needs Readhead 1 Encoder Strip Part of the encoder system that provides magnetic encoded polarities to the encoder readhead 2 Bearing These support bearings guide the carriage on the bearing rail and require periodic lubrication 3 Bearing Rail These rails provide the linear track that the carriage assembly rides on they should be kept free of debris 4 Motor Coil This coil is part of the two piece linear motor When it is excited by a drive it generates magnetic forces which interact with the magnet track creating motion LC motor coil shown here LZ motor coil is a different configuration but works the same way 5 Magnet Track This track of powerful static magnets is the other half of a linear motor LC magnet track shown LZ has a magnet channel but works the same way 6 Ball Nut Lubrication Port This capped
74. Travel mm in g 320 440 560 1 1 4 1 1 3 1 0 8 1 6 9 4 6 0 9 15 3 13 1 10 8 0 8 23 0 20 8 18 5 1 Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded Rockwell Automation Publication MPMA UM001B EN P November 2010 89 Appendix Specifications and Dimensions 4X 9 16 12 UNC Thru 2 per end cap Access point for linear bearing lubrication See Detail A Secondary Table 23 MPMA xCB xxxxxx xxx Product Dimensions 4X M8 X 1 25 6H 12 0 0 47 4X 6 8 0 27 45 1 1 77 Thru 248 7 9 79 Quantity C Mount to base using M6 x 1 0 hardware at 120 mm spacing and the tee nut bar shipped with stacked stage 90 Detail A 6 5 max 0 26 5 6 min 0 22 25 4 TU2 TL 2 254 Bumper Travel tM 1 00 7 F Bumper Travel l 1 U 2 11 li 104 1 4 10 4 10 H B SE Secondary L I 339 133 m 198 Carriage 78 p ia E Base Alten Brediey i Loa d 1 00 Bumper Travel gt jumper Trave Dimensions
75. UNE Feedback Cable Shield Low Profile Connector 13 WHI ORANGE XX TS 11 i i Q gt gt ConnecuonioDrivo 2090 K2CK D15xx shown Thermostat 14 BLUE TS 5 4 2 WHUBUE XX SI 12 16 YELLOW 82 13 7 5 WHT YELLOW XX 53 Clamp 12 COM Exposed Refer to Low Profile Connector Clamp screw Turn clamp over to old small cables secure 112 Rockwell Automation Publication MPMA UM001B EN P November 2010 illustration lower left for proper grounding technique 77 2090 XXNFMF Sxx Feedback Cable Notes 3 4 Interconnect Diagrams Appendix C Figure 16 Wiring Examples for MP Series Integrated Linear Stages and Kinetix 6000 Drives KINETIX 6000 BALL SCREW STAGES WITH IAM inverter or AM HIGH RESOLUTION FEEDBACK Note2 and Cable Shield K MPAS A Bxxxx V20SxA Cl i a m 1 gt BLACK SIN f 1 WHT BLACK M 2 T 4 Green Yellow f D 2 SIN 2 3 Blue C W 3 RED COS 3 3 Motor Power W lt GND 2 T 4 2 Black B V 4 warmed XX COS 4 Connector V lt lt gt gt 5 1 Motor 5 GREEN 5 U lt Feedback
76. User Manual Allen Bradley MP Series Integrated Multi axis Linear Stages Catalog Numbers MPMA xABxxxx S1C MPMA xACxxxx S1C MPMA xAPxxxx S1C 51 MPMA xC Oxxxx S1C MPMA xBExxxx S2C MPMA xBlxxxx S2C MPMA xBDxxxx S2C Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are 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 diagra
77. X Z stages with 200 mm frame ballscrew driven X axis and 150 mm frame ballscrew driven Z axis Maximum payload is 25 kg 55 1 Ib For heavier loads contact your Rockwell Automation Weight Approx kg Ib 37 7 83 0 39 4 86 8 397 87 4 40912 43 5 95 8 45 2 99 5 Table 34 Allowable Payload Based Upon X axis Acceleration and Z axis Travel X axis Acceleration 1 Z axis Travel mm in g 180 300 4 2 0 0 3 3 8 3 1 14 3 6 44 27 3 4 5 8 41 3 2 74 5 7 3 9 2 75 28 11 3 9 6 2 6 13 7 12 0 24 16 4 14 7 22 19 7 18 0 2 23 7 22 0 1 Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded Do not exceed 1 1 m s maximum velocity of ballscrew axis Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions Appendix A Table 35 MPMA xBlxxxxxx xxx Product Dimensions 181 5 pim r 30 0 4X M10 x 1 25 Thru 2 per end 25 4 TL 2 4 165 H TL 2 25 4 1 18 point for linear bearing 1 00 6 5 zu uw Bumper Travel lubrication Bumper Travel Bumper Travel Il 013 0 0 5 Access point for ballscrew nut lubrication
78. al Data Differential Signal Data 7 Reserved _ Reserved 8 9 5 DC 230V MPAS Encoder Power 0 230V MPAS Encoder Common 11 Reserved 460V MPAS Encoder Power 9V dc 12 460V MPAS Encoder Common Common 3 TS PTC Thermistor TS 14 TS Common TS 15 Reserved Reserved 6 17 Case Shield Shield Intercontec P N AKUA034NN00100035000 Mating Cable Allen Bradley 2090 XXNFMF Sxx Rockwell Automation Publication MPMA UM001B EN P November 2010 45 Chapterb Linear Stage Connector Data Notes 46 Rockwell Automation Publication MPMA UM001B EN P November 2010 Chapter 6 Configuration Guidelines Introduction Your multi axis stage is made from individual MP Series Integrated Linear Stages This chapter provides guidelines for using RSLogix 5000 software to configure a servo drive system with an Allen Bradley MP Series linear stage Use this section to configure the individual stages Topic Page Required Files 47 Configure Your Linear Stage 48 Configure RSLogix 5000 Software for Linear Stages with Kinetix Multi axis 49 Drives Configure Ultraware Software for Linear Stages with Ultra3000 Drives 58 Set Travel Limits 60 Program Home to Torque for Kinetix Multi axis Drives with Linear Stages 60 Required Files Firmware revisions and software versions required to support the linear stages include the following RSLogix 5000 software version 16 00 or later Kinetix 2000 or Kinetix 6000 mul
79. als that do not exceed 150 000 krevs or 3 months Cable carrier lifetime 10 000 000 cycles Direct drive linear stages require lubrication every 6 months of 5 000 km of travel Ball screw linear stages require lubrication every 3 months or 150 000 000 revolutions Use the MP Series Integrated Linear Stage grease pump kit and additional grease cartridges if needed Pressurized air ball screw only Plastic air tubing should be 6 mm 0 2362 in OD Teflon FEP tubing Air supplied to the stage should not exceed 270 kpa 40 psi Maximum flow rate 15 SCFM based on 4mm ID tube and 0 5m max length PTC Thermal Signal Temperature C F Resistance in Ohms 1 Up to 100 212 lt 750 Up to 105 221 lt 7500 Up to 110 230 gt 10 000 1 Measure the resistance of the thermistor in a direct drive linear stage on the feedback connector at pins 13 and 14 respectively see Feedback Connector for Direct Drive Linear Stage on page 44 for more information Certifications Refer to the Initiator Product Certification website http www ab com for Declarations of Conformity Certificates applicable to this product Rockwell Automation Publication MPMA UM001B EN P November 2010 101 AppendixA Specifications and Dimensions Notes 102 Rockwell Automation Publication MPMA UM001B EN P November 2010 B Accessories Introduction This chapter shows accessories for t
80. antity C Y Mount to base using M6 x 1 0 re hardware at 120 mm spacing 24 1 00 Bumper Travel Detail A 6 0 max 0 24 5 22 min 0 21 Quantity C Mount to base using M6 x 1 0 hardware at 120 mm spacing and the tee nut bar shipped with stacked stage 0 025 300 x 300 0 001 12 0 x 12 0 Flatness requirement for assembly Rockwell Automation Publication MPMA UM001B EN P November 2010 87 Appendix 88 Specifications and Dimensions Table 20 MPMA xAP xxxxxx xxx Dimensions A TL B TU C Stage Length Travel Stage Length Travel Mounting Locations IER X axis X axis Y axis Y axis X axis Multi axis Linear Stage Cat No mm in mm in mm in mm in Qty MPMA AAPB8B8A0 S1C 521 20 5 180 7 1 521 20 5 180 7 1 8 MPMA AAPC4C4A0 S1C 581 22 9 240 9 4 581 22 9 240 9 4 MPMA AAPDODOAO S1C 641 25 2 300 11 8 641 25 2 300 11 8 MPMA AAPE2E2A0 S1C 761 30 0 420 16 5 761 30 0 420 16 5 12 MPMA AAPG6G6A0 S1C 1001 39 4 660 26 0 1001 39 4 660 26 0 16 MPMA BAPB8B8A0 S1C 521 20 5 180 7 1 521 20 5 180 7 1 8 MPMA BAPC4C4A0 S1C 581 22 9 240 9 4 581 22 9 240 9 4 f MPMA BAPDODOAO S1C 641 25 2 300 11 8 641 25 2 300 11 8 MPMA BAPE2E2A0 S1C 761 30 0 420 16 5 761 30 0 420 16 5 12 MPMA BAPG6G6A0 S1C 1001 39 4 660 26 0 1001 39 4 660 26 0 16 Actuators are designed to
81. arameter settings in the following table when you configure the ControlLogix drive system for your linear stage Parameter settings differ between the direct drive and ball screw linear stages be sure to use the correct table It is assumed the MP Series linear stage and a Kinetix 2000 or Kinetix 6000 servo drive are installed and wired as one axis of a motion system ATTENTION Incorrect parameter settings may result in uncontrolled motion with the potential for damage to the stage and machine Do not set the Positioning mode to Rotary for any linear stage This will result in incorrect positioning of the linear stage Initiating a motion command on a linear stage with an incorrect Position mode setting may result in damage to the linear stage and the machine in which it is installed Direct Drive Linear Stages Enter these parameters in the Axis Properties tab of RSLogix 5000 software for direct drive linear stages catalog number MPAS xxxxxx ALMx2x Entry Selection with applicable distance unit settings Metric English Drive Motor Motor Catalog Number Select one from the list XMPAS A6xxxB ALMS2x XMPAS A8xxxE ALMS2x XMPAS A9xxxK ALMS2x XMPAS B8xxxF ALMS2x XMPAS B9xxx_ ALMS2x Drive Resolution 200 Drive Counts per Motor Millimeter Motor Feedback Feedback Type TTL with Hall Cycles 50 Per Millimeter Rockwell Automation Publication MPMA UM001B EN P November 2010 49 Chapter 6 Configuration Guidelines
82. axis stage to factory for the cover and the rotary motor replacement for the base stage Topic Page Before You Begin 66 Cable Carrier Assembly Removal Procedures 66 Cable Carrier Assembly Installation 69 Remove the Strip Seal 69 Remove the Cover 70 Install the Cover 70 Replace the Strip Seal 71 Install the Side Cover 72 Replace the Rotary Motor 73 A ATTENTION Lock out and tag out input power before servicing These procedures are not applicable to both types of linear stages Direct drive and ball screw linear stages have unique configurations Rockwell Automation Publication MPMA UM001B EN P November 2010 65 Chapter8 Removing and Replacing Multi axis Stage Components Before You Begin Assemble these tools before you begin removal and replacement procedures Torque wrench 2 5mm 3 mm 4 mm 5 mm and 6mm L shaped hex keys 0 8 mm 0 030 in shim Tin snips Loctite 222 Phillips and flat blade screwdrivers Ruler Pencil or marker Cable Carrier Assembly There are three different cable carrier removal procedures They differ by the Removal Procedures 66 types of linear stage used on the base and secondary axis Please be sure to follow the procedure appropriate for your multi axis stage The Cable Carrier Replacement diagram shows components common to all procedures WARNING Remove power from drive and disconnect extension cables before pe
83. bend radius for cable assemblies For standard cable BR is a one time flex application Flex cables have a much higher BR to withstand flex applications Rockwell Automation Publication MPMA UM001B EN P November 2010 103 Appendix B Accessories Table 43 Power Cable Pinout 2090 XXNPMF 16Sxx Pin Gauge Color Signal Designation A 6 Brown U 6 Black V 6 Blue W GND 6 Green Yellow GND F 8 White MBRK Brake G 8 Black MBRK E 8 White 1 Not used H 8 Red 2 N A N A N A SHIELD N A N A N A 104 Rockwell Automation Publication MPMA UM001B EN P November 2010 Accessories Appendix B Feedback Cable Dimensions Pinout and Schematic 2090 XXNFMF S xx You can use a cable length of up to 10 m 32 8 ft for MPAS xxxxxx ALMxxx and up to 30 m 98 4 ft for MPAS xxxxxx Vxxxxx Dimensions are in mm in DA 36 36 Start of k 57 y Bend Radius 2 2 26 1 0 Connector Diameter q 1 28AWG Violet iole NG M 28AWG Whit let N C h ite Viole N C gt 99 Bend Radius n 3 9 SIN ii 28 AWG a SIN 1 7 P Yt SIN 1 X 28AWG White Black X SIN COS gt 28AWG Red scan COS 10 cos 1 X 28AWG White Red X 1 cos 0 4 DATA 28AWG Green ee DATA A DATA 1 X 28AWG White Green X 1 1 DATA Y EPWR 5V gt ISAWG Grey p a EPWR 5V ECOM 22 ANG
84. cover of the lower stage that mount the outer cable carrier bracket Lay the outer cable carrier out flat Remove the two pan head phillips screws from junction box side cover Remove the two button head cap screws BHCS from the junction box cover Remove the junction box cover assembly Separate the motor power connector by squeezing the side tabs and pulling on the housing Do not pull on the wires Separate the feedback connector from the circuit board by pushing on the center tab and pulling on the connector housing Do not pull on the wires Remove the two SHCS from the cable carrier angle bracket Lay the cable carrier out flat and mark the location of the end bracket TIP Avoid separation of SHCS from square nut in T slot Leaving them attached will make assembly easier Loosen but do not remove the two SHCS that secure the end bracket to the base of the lower stage Slide the screws out of the bracket slots and remove the cable carrier For MPMA xxlxxxxxx SxC MPMA xxPxxxxxx SxC and MPMA xxQxxxxxx SxC Multi axis Stages Follow this procedure to remove the cable carrier assembly for a multi axis stage with a ballscrew base and ballscrew secondary axis TIP Mark the location of the end brackets before removing the cable carrier this will make it easier to align it when reinstalling Rockwell Automation Publication MPMA UM001B EN P November 2010 67 Chapter 8 68 Removing and Replacing Mu
85. d avoid damaging your multi axis stage The following procedure show you how to safely remove the stack stage from its shipping crate 1 Remove the crate cover and baces 2 Attach lifting straps to shipping platform eyebolts The angle between straps and vertical is not to exceed 45 3 Lift platform from crate using a hoist Rockwell Automation Publication MPMA UM001B EN P November 2010 33 Chapter4 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage 4 Support cantilevered or secondary stage while removing crate shipping platform ATTENTION Never use lifting straps to move the multi axis A stage Using lifting straps will deform covers and strip seals Always use a three person lift to move the multi axis stage Use a three person lift to move the multi axis stage Three Person Lift One person at each end of base stage grasping the bottom of the stage near the ends The third person will grasp the cantilevered end or top stage by the stage base only and apply only enough lift to balance the equipment The bottom stage should bare most of the weight and the top used for balance only Do not lift by the cover side covers or put pressure on the strip seals WARNING Do not remove stage shipping brackets until multi A axis stage is fully installed Removing stage shipping brackets will allow the carriages to move unexpectedly which could cause personal injury and damage
86. e resistance between pins 1 and 2 pins 2 and 3 and pins 1 and 3 and evaluate the measurements with the following criteria The resistance values will vary depending on the MPAS model but must be less than 15 Ohms The difference between the three resistance measurements must be less than 1 Ohm 2 There should be an open circuit between pins 1 2 3 and pin 4 GND If any measurement is not in range return for factory service Motor Power Connector Pin 1 Cable carrier module exceeds its useful life of 10 000 000 cycles and is starting to fail Replace cable carrier module refer to page 66 for replacement instructions Table 8 Troubleshooting Procedures for Ball Screw Linear Stages ATTENTION Lockout and tagout input power before servicing the linear stage Possible Cause Rotary motor coupling broken or slipping Corrective Action Remove rotary motor and verify integrity of coupling Excessive carriage play Motor coupling set screw is loose Tighten motor coupling set screw Ball screw end blocks have excessive wear Return stage to factory for service Drive reporting error E05 Motor is damaged Check that the phase to phase resistance of each motor phase The resistance should be equal and not shorted to ground or to the shield inetix 6000 drive or Kinetix 2000 drive reporting error E19 Ultra3000 drive reporting error E19 E22 or E23
87. earing lubrication 45 5 mper travel lubrication Detail A 9 6 5 max d 0 26 Ground Screw 5 6 min M5 x 0 8 6H 0 025 300 x 300 0 001 12 0 x 12 0 Flatness requirement for assembly mounting surface Table 16 MPMA xACxxxxxx xxx Dimensions m 0 22 T Quantity C Mount to base using M6 x 1 0 hardware at 120 mm spacing and the tee nut bar shipped with stacked stage A TL B TU C Stage Length Travel Stage Length Travel Mounting Locations Y axis X axis Multi axis Linear Stage Cat No mm in mm in mm in mm in Oty MPMA AACB4B4A0 S1C 581 22 9 140 5 5 581 22 9 140 5 5 i MPMA AACC0C0A0 S1C 641 25 2 200 7 9 641 25 2 200 7 9 MPMA AACCBC6AO0 S1C 701 27 6 260 10 2 701 27 6 260 10 2 i MPMA AACD2D2A0 S1C 761 30 0 320 12 6 761 30 0 320 12 6 MPMA BACB4B4A0 S1C 581 22 9 140 5 5 581 22 9 140 5 5 MPMA BACCOCOAO S1C 641 25 2 200 7 9 641 25 2 200 7 9 MPMA BACC6C6A0 S1C 701 27 6 260 10 2 701 27 6 260 10 2 7 MPMA BACD2D2A0 S1C 761 30 0 320 12 6 761 30 0 320 12 6 Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication MPMA UM001B EN P November 2010 85 AppendixA Specifications and Dimensions
88. echniques ATTENTION Plan the installation of your multi axis stage so A that you can perform all cutting drilling tapping and welding before installing the multi axis stage Be careful to keep any metal debris from falling into the stages Metal debris or other foreign matter can become lodged in a stage which can result in damage to the stage or its components SHOCK HAZARD To avoid hazard of electrical shock perform all mounting and wiring of the multi axis stage prior to applying power Once power is applied connector terminals may have voltage present even when not in use Attach the Ground Strap and Interface Cables A ground strap and four cable connections are the only electrical connections necessary between the multi axis stage and the drive system The flat surfaces on the power and feedback connectors should align during connection and significant resistance should not be felt when tightening either connector 1 For electrical safety connect the ground screw on the chassis of the lower linear stage to the groundbus for your system To reduce the effects of electromagnetic interference EMI bond the stage with a braided ground strap 12 mm 0 5 in wide minimum to a grounded metal surface This creates a low impedance return path for high frequency energy Rockwell Automation Publication MPMA UM001B EN P November 2010 37 Chapter 4 38 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage
89. edback cable 113 feedback connector 46 47 power cable 111 power connector 45 power connector 45 Rockwell Automation Publication MPMA UM001B EN P November 2010 pressurized air maximum 109 procedure cable carrier assembly removal 70 procedures bearing lubrication 66 brake option 42 cable drip loop 40 cover cleaning 67 emergency brake release 43 EMI bonding 39 fastener torque 38 feedback connection 46 47 ground strap 39 interface cable 39 40 positive air pressure 42 power connection 45 storing of packing material 37 strip seal cleaning 67 surface flatness 37 unpacking 33 prodecure cable carrier assembly installation 74 product certification website 110 rail 25 readhead 25 reference documents A B automation glossary 7 drive manuals 7 SERCOS interface 7 standards 27 28 ANSI NFPA 79 industrial machinery electrical standard 28 CSA CAN 7434 industrial robot safety 27 UL 1740 industrial robot safety 28 UL 3101 1 laboratory electrical equip ment 28 UL 544 medical and dental equipment UL 79 petroleum dispensing equipment 28 requirements 29 31 rotary motor 26 installation 78 torque 78 S safety bolts 10 cover 10 emergency brake release 43 end cap impact 13 hazardous voltage 10 heat 10 inclined payload 12 Index junction box 10 labels 10 pinch points 10 power enable indicator 43 sharp edges 10 strong magnets 10 sudden motion 12 uncontrolled impact 13 vertical payload 12 sa
90. ements EN60204 1 Safety of Machinery Electrical Equipment of Machines Rockwell Automation Publication MPMA UM001B EN P November 2010 25 Chapter 3 26 Planning a Multi axis Stage Installation UL Safety Standards for Linear Stage Installations Alllinear stage installations should follow Underwriters Laboratories standard UL 1740 Standard for Safety for Robots and Robotic Equipment UL 1740 covers robots and robotic equipment rated at 600V or less and intended for installation in accordance with the National Electrical Code ANSI NFPA 70 Because end user installation of a robot and robotic equipment may vary for each user application guidelines for end product installation may be evaluated to the applicable sections of ANSI RIA R15 06 Standard for Industrial Robots and Robot Systems Safety Requirements Portions of the requirements in this standard have been excerpted from the Robotic Industries Associations RIA Standard for Industrial Robots and Robot Systems Safety Requirements ANSI RIA R15 06 ANSI RIA R15 06 specifically requires two safety features be in the design Power Enable light must be installed that meets all of these conditions Must be amber or yellow in color Must not have screw type base or contain a filament Must be visible from all approaches to the work cell Must illuminate to indicate that drive power is available and motion is possible For example an Allen Brad
91. er absolute feedback 128 cycles rev A 5 micron resolution incremental magnetic linear encoder Mechanical Drive Motor Type 2 Ball screw MPLS x220H VJ4 xxx B Direct drive LZ 030 1 240 D E Direct drive LC 050 200 D F Direct drive LC 050 200 E K Direct drive LC 075 200 D L Direct drive LC 075 200 E Stroke Length XXX xxx cm Frame Size 6 150 mm 5 9 in base width 8 200 mm 7 9 in base width 9 250 mm 9 9 in base width Voltage Rating 230V AC B 460V AC Series Type AS Actuator linear stage Bulletin Number Use the diagrams and descriptions to identify individual components of each linear stages Not all components are part of the direct drive or the ball screw linear stage For example the direct drive linear stage does not have component Rotary Motor and the ball screw linear stage does not have component 15 Magnet Track 20 Rockwell Automation Publication MPMA UM001B EN P November 2010 Understanding Your Multi axis Stage Chapter 2 Figure 6 Components of the Direct Drive Linear Stage MPAS xxxxxxx ALMx2x 5 2x Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item Rockwell Automation Publication MPMA UM001B EN P November 2010 21 Chapter2 Understanding Your Multi axis Stage Figure 7 Components of the Ball Screw Linear Stage MPAS xxxxxx VxxS xx 13 2 12 4 a uy 18 17 21 2 16
92. er module exceeds its useful life of 10 000 000 cycles and is starting to fail Corrective Action Replace cable carrier module refer to page 66 for replacement instructions Intermittent reporting of error E04 by the drive 78 Ambient temperature of the stage exceeds 40 C 104 F Increase ventilation Thermistor circuit is defective Disconnect the flex cable and probe the open Junction Box At room temperature 25 C 77 F verify the resistance of the circuit is 100 200 Ohms If not in range return for factory service Check resistance between J1 pin 8 and J2 pin 2 Refer to page 101 for thermistor resistance values at other emperature ranges Cable carrier module exceeds its useful life of 10 000 000 cycles and is starting to fail Replace cable carrier module refer to page 66 for eplacement instructions Rockwell Automation Publication MPMA UM001B EN P November 2010 Description Drive reporting error E07 or E20 Drive reporting error E05 Description Carriage is not moving but the controls report axis motion Possible Cause Environment is electrically noisy and cable shield is compromised Defective motor Troubleshooting Chapter 9 Corrective Action Verify carrier cable module and extension cable shield termination are secure Disconnect the flex cable and probe the Motor Power connector white Mate N Lok in the open Junction Box 1 Measure th
93. erature limits not being exceeded Do not exceed 1 1 m s maximum velocity of ballscrew axis 86 Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions Appendix A Table 19 MPMA xAPxxxxxx xxx Product Dimensions 232 254 9 13 254 1 00 TL 2 2 1 00 Bumper i ae Bumper Tave bg bg 442 1 74 75 3 1 2 97 130 8 Base 5 15 Ep 4X 8 X 1 25 6H 12 0 0 47 4X 6 8 0 27 v 45 1 1 78 Thru Mounting holes not I centered on carriage Dim 1 1217 4 79 iie Dimensions are in mm in i 4 00 Clearance envelope required for Secondary connectors at orientation shown Secondary is not centered 66 0 26 4X M10 x 1 5 6H Thru 2 per end cap on base carriage 1 Access point for linear bearing lubrication Ground Screw 5 x 0 8 6H 210 9 8 30 mounting surface 25 4 4X M10 x 1 5 6H Thru 2 per end cap 1 00 Access point for linear bearing Bumper Travel ubrication dg 013 0 0 5 T Access point for ballscrew nut lubrication See Detail 61 5 fu 2 42 B 239 Bal H iss 515 1997 Carriage H 7 86 o le Le ta 69 7 2 74 TU 2 Qu
94. erential 2 AM White yellow A Quad B TTL A Differential 3 Brown A Quad B TTL B Differential 4 BM White Brown A Quad B TTL B Differential 5 IM Violet TTL Index Mark Differential 6 IM White Violet TTL Index Mark Differential 7 Reserved _ 8 9 5V DC White Red Encoder and Hall Sensor Power 10 Common Black Common 11 Reserved _ 2 13 PTC 1 Thermistor 14 White Black Common 5 51 White Green TTL Trapezoidal Hall Commutation 16 52 Blue TTL Trapezoidal Hall Commutation 17 S3 White Blue TTL Trapezoidal Hall Commutation Case Shield _ 1 PTC Temp is connected to Common 2 These are the wire colors for the leads on the direct drive linear stages catalog number MPAS xxxxxx ALMx2X Refer to Accessories on page 103 for wire colors of interconnect cables Intercontec P N AKUA034NN 00100035000 Mating Cable Allen Bradley 2090 XXNFMF Sxx Rockwell Automation Publication MPMA UM001B EN P November 2010 Linear Stage Connector Data Chapter 5 Table 3 Feedback Connector for Ball Screw Linear Stage Pin Signal Name MPAS Signal Description Signal Name MPAS Axxxxx 230V Bxxxxx 460V 1 Sin Analog Differential 1V p p Sint 2 Sin Analog Differential 1V p p Sin 3 Cos Analog Differential 1V p p Cos 4 Cos Analog Differential 1V p p Data 5 Data Serial Data Differential Signal Data 6 Data Seri
95. fety label location of 11 screw shaft 26 seal guide 25 seal strip 25 clamp 25 setting parameters 51 shipping air freight restriction 14 brace 37 clamp 37 container storage 37 dangerous goods declaration 14 form 902 instructions 14 shock 109 side cover installation 77 torque 77 software required version 49 specifications brake 109 humidity range 109 90 92 94 MPMA XBD xxxxxx xxx 106 102 104 MPMA xCBXXXXXx xxx 97 100 pressurized air 26 product certification 110 PTC thermal signal 110 shock and vibration 109 storage and operating temperature 109 stage connectors 45 cover installation 75 cover removal 75 rotary motor installation 78 side cover installation 77 side cover torque 77 side cover support 26 storage 37 standards EN60204 1 safety of electrical machines 27 storage 37 storage temperature 109 strip seal 25 85 guide 25 installation 76 removal 74 strip seal installation 76 Rockwell Automation Publication MPMA UM001B EN P November 2010 133 Index 134 T temperature max carriage 12 operating range 29 thermistor 110 tools for maintenance 70 travel limits 63 troubleshooting ball screw 83 carriage not moving 88 direct drive 83 error code 04 82 05 87 88
96. friction force or weight exceeds 5096 of the Continuous Force Rating at any point in the range of motion Speed 50 mm s 1 97 in s Return Speed 10 mm s 0 39 in s Absolute Home is available for ball screw linear stages For maximum range of motion position the carriage so its proximal edge is 25 4 mm 1 0 in from the inside edge of the end plate Rockwell Automation Publication MPMA UMO001B EN P November 2010 51 Chapter 6 Configuration Guidelines Axis Properties Tab Parameter Entry Selection with applicable distance unit settings Metric English Limits Hard Travel Limits Check if hardware limits are in use Use Motion Analyzer to determine the maximum stopping distance in your application to set Negative and Positive Limits Soft Travel Limits Check Use Motion Analyzer to determine the maximum stopping distance in your application to set Negative and Positive Limits Position Error 10 0 394 in Tolerance Gains Feedforward Velocity 100 Gain Tune Velocity Feedforward Check 1 Using Auto tune will reset this parameter to the default value 2 Using Velocity Feedforward will reduce position error during motion 52 Rockwell Automation Publication MPMA UM001B EN P November 2010 Configuration Guidelines Chapter 6 Tuning Linear Stages with RSLogix 5000 Software This section shows the steps to tune linear stages with RSLogix 5000 software version 16
97. g forward when referring to the entire assembly it may be called a multi axis stage Each axis of a multi axis stage is a MP Series integrated linear stage When referring to single axis it will be called a linear stage This manual is intended for engineers or technicians directly involved in the installation wiring and maintenance of multi axis stages Any person that teaches operates maintains or repairs these multi axis stages must be trained and demonstrate the competence to safely perform the assigned task If you do not have a basic understanding of multi axis stages contact your local Allen Bradley Rockwell Automation sales representative for information on available training courses before using this product Read this entire manual before you attempt to install a multi axis stage into your machine Doing so will familiarize you with the multi axis stage components and their relationship to each other and the system After installation check all system parameters to be sure you have configured your Logix control system properly Be sure to follow all instructions carefully and pay special attention to safety concerns The following documents contain additional information concerning related Allen Bradley products Description Kinetix Motion Control Selection Guide publication GMC SG001 Information about Kinetix products Kinetix 2000 Multi axis Servo Drive User Manual publication How to install setup and troub
98. ge Base bs 7 86 I e 1 1177 TU 2 s 4 63 a 4X M8 X 1 25 6H 12 0 0 47 H a 4X M10 x 1 25 Thru 1 9 2 per end cap 30 0 Access point for linear 1 18 bearing lubrication Dimensions in in 454 254 Clearance required for connectors Secondary 178 1 00 at orientation shown 4X M10 x 1 25 Thru 2 per end cap Access point for linear bearing lubrication H Detail A D 6 0 max 2413 L 0 24 9 50 522 min lt U Ground Screw 5 x 0 8 6H 0 21 s e Quantity Mount to base using M6 x 1 0 hardware 0 025 300 x 300 0 001 12 0 x 12 0 at 120 mm spacing and the tee nut bar Flatness requirement for assembly shipped with stacked stage mounting surface Table 32 MPMA xBExxxxxx xxx Dimensions A TL B TU Stage Length Travel Stage Length Travel Mounting Locations Multi axis Linear Stage X axis X axis Z axis Z axis X axis Cat No mm in mm in mm in mm in Oty MPMA ABED2A0B8 S2C 761 30 0 320 12 6 530 20 9 180 7 1 12 MPMA ABED2A0D0 S2C 650 25 6 300 11 8 MPMA ABEE4A0B8 S2C 881 34 7 440 17 3 530 20 9 180 7 1 14 MPMA ABEE4A0D0 S2C 650 25 6 300 11 8 MPMA ABEG8A0B8 S2C 1121 44 1 680 26 8 530 20 9 180 7 1 18 MPMA ABEG8A0D0 S2C 650 25 6 300 11 8 MPMA BBED2A
99. h Point label identifies a moving object hazard caused by the movement of the carriage on the multi axis stages Never put fingers hands or limbs near the multi axis stages while running motion commands Before executing any motion command check that all maintenance tools have been removed from multi axis stages All types of multi axis stages present a pinch point hazard This hazard may occur if fingers or hands come between the end cap and a moving carriage Always install shipping clamps when attempting to lift multi axis stages Lift the multi axis stages trom the base of the lower axis and keep you fingers away from the strip seals Danger Hazardous Voltage vs DANGER HAZARDOUS VOLTAGE LOCKOUT AND TAGOUT POWER BEFORE SERVICING The Hazardous Voltage label identifies the junction box as a hazardous voltage area of the multi axis stages avoid injury be sure to follow Lockout Tagout procedures before attempting maintenance on these multi axis stages Danger Strong Magnets Ic DANGER MAGNETIC FIELDS LOCATED IN THIS AREA Can be harmtul to pacemakers and other Sensitive equipment The Strong Magnets label identifies non ionizing radiation found in the multi axis stages Magnet channels inside the multi axis stages are constructed with strong magnets Strong magnets can disrupt the functionality of automatic implantable cardioverter defibrillators AICD people with a pacemaker
100. he stacked stages Topic Page Interconnect Cables 103 Installation Maintenance and Replacement Kits 106 Interconnect Cables Linear stages connect to a drive through a power and a feedback cables Power Cable Dimensions Pinout and Schematic 2090 XXNPMF 16S xx You can use a cable length of up to 10 m 32 8 ft for MPAS xxxxxx ALMxxx and up to 30 m 98 4 ft for MPAS xxxxxx Vxxxxx Brown Black Cable Shield 75 2 9 1 as overa r4 Blue Green Yellow Em n T gt X aa 22 Cable Shield X Start of Bend Radius 1 for brake wires not used for linear motor stages 142 5 59 I Ld ft 28 0 1 1 U i 16 AWG Brown i U 14 0 0 55 E 16AWG Black E V Y i 16 AWG Blue m Q GND 16AWG Green Yellow DNE TL it Ban MBRKe 1 A Y 18AWG White gt MBRK able MBRK i 18AWG MBRK Connector Diameter jd viet Diameter AE ae poe ey tcd 1 HE ty 18 6 White 1 1 i i 18AWG WE 2 N C iur poser bd T Dimensions are in mm in r r r f f T9 d ce r 4 1 Connector Backshell n 1 Denotes shield wire j 1 Denotes wire splice Heatshrink insulates wire to wire splices Shielded 360 k 1 Bend radius BR is the specified minimum
101. in mm 4 M10 x 1 5 6H Thru 2 per end cap Access point for linear bearing lubrication 411 1 16 18 Ground Screw F a M5 x 0 8 6H 1 28 0 025 300 x 300 0 001 12 0 x 12 0 93 9 Flatness requirement for assembly 3 7 Base iting surface A Position of secondary axis carriage at center of travel of base X axis Rockwell Automation Publication MPMA UM001B EN P November 2010 Specifications and Dimensions Table 24 MPMA xCB xxxxxx xxx Dimensions Appendix A A TL B TU C Stage Length Travel Stage Length Travel Mounting Locations DD X axis X axis Y axis Y axis X axis Multi axis Linear Stage Cat No mm in mm in mm in mm in Oty MPMA ACBD2D2A0 S1C 761 30 0 320 12 6 12 761 30 0 320 12 6 MPMA ACBE4D2A0 S1C 881 34 7 440 17 3 14 MPMA ACBE4E4A0 S1C MPMA ACBF6E4A0 S1C 1001 39 4 560 22 0 881 34 7 440 17 3 16 MPMA ACBG8E4A0 S1C 1121 44 1 680 26 8 18 MPMA ACBG8F6A0 S1C MPMA ACBIOF6A0 S1C 1241 48 9 800 31 5 1001 39 4 560 22 0 20 MPMA ACBJ2F6A0 S1C 1361 53 6 920 36 2 22 MPMA BCBD2D2A0 S1C 761 30 0 320 12 6 12 761 30 0 320 12 6 MPMA BCBE4D2A0 S1C 881 34 7 440 17 3 14 MPMA BCBE4E4A0 S1C MPMA BCBF6E4A0 S1C 1001 39 4 560 22 0 881 34 7 440 17 3 16 MPMA BCBG8E4A0 S1C 1121 44 1 680 26 8 18 MPMA BCBG8F6A0 S1C MP
102. inal value after homing completes Table 52 Bipolar Torque Limit Adjustment Peak TQ TORQUE Actual TQ TIME 118 Rockwell Automation Publication MPMA UM001B EN P November 2010 Disable Soft Overtravel Limit Ladder Code Example Home to Torque level Example Appendix D If the application requires the use of soft overtravel limits Limits tab to safeguard the system mechanics disable the Soft Travel Limits for the axis to home The Soft Travel Limits are disabled to prevent a fault from occurring during the homing operation but re enable them after homing completes IMPORTANT Those responsible for the application must determine when it is safe and appropriate to disable soft overtravel checking This example shows how to adjust the peak torque limit and disable the soft overtravel limit checking when homing to a torque limit The code uses a state model methodology in which each rung of code needs to complete successfully before moving to the next rung IMPORTANT Because the home to torque level sequence relies on the mechanical end of travel for operation Uni directional homing is not possible You must choose between Forward Bi directional or Reverse Bi directional Rung 11 of the ladder code checks to make sure that the axis position after homing is within the Soft Travel Limits before re enabling soft overtravel limit checking In this example a 1 15 cm Offset move is configured in the Homing tab and that
103. ing error E19 Ultra3000 drive reporting error E19 E22 or E23 Description Intermittent reporting of error E11 E07 or E20 by the drive 5 If excessive resistance is felt clean and relubricate the linear bearings 6 Perform the procedures for a ball screw linear stage listed in the troubleshooting tables on page 78 and page 79 If the problem persists return for factory evaluation and possible repair Table 6 Troubleshooting Procedures for Direct Drive or Ball Screw Linear Stages A ATTENTION Lockout and tagout input power before servicing the linear stage Possible Cause For sealed stages excess friction can be caused by contamination on the strip seal Corrective Action Clean the strip seal with a clean soft cloth wetted with isopropyl alcohol If problem persists replace strip seal Refer to Remove the Strip Seal on page 69 and Replace the Strip Seal on page 71 Stage received a large impact The ball screw or linear bearings have become misaligned or there is damage to the rails Return stage to factory for evaluation and repair Linear bearing has excess friction Refer to Evaluate the Direct Drive Linear Stage on page 77 or Evaluate the Ball Screw Linear Stage on page 77 Table 7 Troubleshooting Procedures for Direct Drive Linear Stages A ATTENTION Lockout and tagout input power before servicing the linear stage Possible Cause Cable carri
104. ion ports Cle an the Strip Se al Clean the strip seals if installed using a lint free cloth lightly saturated with isopropyl alcohol IMPORTANT Replace the strip seal if it cannot be cleaned or if an uneven or scored surface is detected during cleaning A buildup of foreign material on the strip seal degrades the performance of the linear stage This buildup coupled with rapid movement of the carrier and the resulting friction will score the surface and create a burnished appearance on the strip seal Elements that contribute to a typical buildup on the strip seals are dust grease and other contaminants normally encountered in any operating environment that is not strictly controlled Refer to the Remove the Strip Seal on page 69 and Replace the Strip Seal on page 71 when performing this task Cle an the Cover Clean the covers at the same time you clean the strip seals Use pressurized air and a lint free cloth lightly saturated with isopropyl alcohol to remove any dirt or grease Rockwell Automation Publication MPMA UM001B EN P November 2010 63 Chapter7 Maintenance Notes 64 Rockwell Automation Publication MPMA UM001B EN P November 2010 Introduction Chapter 8 Removing and Replacing Multi axis Stage Components This chapter provides procedures for user replaceable parts on the multi axis stage Procedures for the cover and the rotary motor replacement are limited to the secondary stage Return your multi
105. ions and Dimensions Introduction s ev oS qu dL 47 joi CTI MR 47 Configure Your Linear Stage eed notet eu elus leone ot eg n 48 Configure RSLogix 5000 Software for Linear Stages with Kinetix Multi axis Drives 49 Set Axis Properties in RSLogix Software 49 Tuning Linear Stages with RSLogix 5000 Software 53 Configure Ultraware Software for Linear Stages with Ulera3000 Drives oki y radi sles parece Aid dede 58 zy ua eet oL Viet oe heed 60 Program Home to Torque for Kinetix Multi axis Drives with Linear States 60 di no at dad 61 Before You Begin asha peat dei 61 Recommended Maintenance Intervals 61 Lubricate the ER P IE Eus 62 Clean the Strip Seal 63 Clean the over ossa ee ee Nes be eee to Sod aight over EE 63 Introduction eR mee code Rea vates iat LII EROR E 65 Before You ede eere IER EE UNE coh PR ERR ds 66 Cable Carrier Assembly Removal Procedures 66 Remove the Cable Carrier Assembly 67 Cable Carrier Assembly Installation 69 Remove the Strip uot ouo coven oe ee en uhaad eza 69 Remove tie Overs a s duis quae n ap 70 Install
106. ive stage Ultraware parameters 62 end of travel bumpers 63 home to torque 123 Kinetix 2000 drive 50 51 Kinetix 6000 drive 50 51 travel limits 63 tuning Kinetix 2000 system 56 Kinetix 6000 system 56 Ultra3000 direct drive parameters 61 Ultra3000 drive 50 connector ball screw feedback 47 direct drive feedback 46 power 45 cover installation 75 removal 75 side 25 top 25 torque 75 D dimensions 91 93 95 PMA XBD 107 103 105 98 101 direct drive connector pinout feedback connector 46 power connector 45 lubrication interval 65 maintenance interval 65 dust 29 lt lt lt lt lt lt lt lt emergency brake release 28 43 Rockwell Automation Publication MPMA UM001B EN P November 2010 131 Index 132 encoder strip 25 end of travel impact 12 extension cables 111 F firmware revision 49 G ground label 25 ground screw 25 H home to torque adjust bipolar limit 126 disable overtravel 127 ladder code 127 position error 134 hookup tab 82 humidity range 109 inclined installation 12 installation clearance restrictions 31 configuration with drive 50 end of travel bumpers 63 environmental restrictions 29 firmware 49 home to torque 123
107. k pinouts for circular connectors for used with standard Allen Bradley cables The direct drive and ball screw linear stages use different encoder types Consequently the feedback connector signals are different for each of these linear stage types Table 1 Power Connector Pin Color 1 Signal A Red U A Phase B White V Phase Black W Phase D Green Yellow Ground F White Brake 2 G Black Brake 2 Intercontec P N BKUAOSONNO00550003500 Case Shield Cable Shield and GND Mating Cable Allen Bradley 2090 XXNPMIF 16Sxx 1 These are the wire colors for the leads on the direct drive linear stages catalog number MPAS xxxxxx ALMx2X Wires for the ball screw linear stages catalog number MPAS xxxxxx VOxxS xX are not field accessible Refer to Accessories on page 103 for wire colors of interconnect cables 2 and Brake are available only on ball screw linear stages having a rotary motor with a brake ATTENTION Disconnect input power supply before installing or A servicing stage Properly ground the stage as described in this manual and the drive manual Rockwell Automation Publication MPMA UM001B EN P November 2010 43 Chapter 5 44 Linear Stage Connector Data Table 2 Feedback Connector for Direct Drive Linear Stage Pin Signal Name Wire Color 2 Signal Description 1 Yellow A Quad B TTL A Diff
108. ld be maintained during operation of the linear stage Rockwell Automation Publication MPMA UMO001B EN P November 2010 27 Chapter 3 28 Planning a Multi axis Stage Installation Mounting Orientations for Center and Cantilever Multi axis Stage XY MPMA xA Cxxxxxx SxC Mounting Restriction Orientation Ceiling inverted surface A ceiling mount inverted on a horizontal surface is not recommended Stages mounted in this orientation are subject to premature cable carrier failure Wall horizontal vertical or incline Use only center stacked XZ multi axis stage for wall mounting applications Mounting Orientations for Center Stacked XZ Multi axis Stage MPMA XBXXXXXX S XC Mounting Orientation Ceiling inverted surface Restriction A ceiling mount inverted on a horizontal surface is not recommended Stages mounted in this orientation are subject to premature cable carrier failure Wall horizontal vertical or incline Mount center stacked XZ multi axis stages with the ball screw driven stage in the Z axis only Application of the holding brake through the operating program settings prevents uncontrolled motion Rockwell Automation Publication MPMA UM001B EN P November 2010 Planning Multi axis Stage Installation Chapter 3 Clearance Requirements The figures depict the minimum clearances for each multi axis stage type Power and feedback cables may impose additional clearance re
109. le COM 424V meee User Supplied 24V de 1 0A max Note 5 DIRECT DRIVE STAGES WITH INCREMENTAL FEEDBACK MPAS A Bxxxx ALMx2C Motor Feedback 2090 XXNPMF xxSxx Motor Power Cable connects to Motor Power TB1 and Cable Shield Clamp as shown above CN2 Connector 1 BLACK AM 1 gt gt WHT BLACK 8 peer 2 yy AM 2 lt 4 GND 3 gt RED BM d 3 V WHT RED BM 4 FM SET Three Phase gt gt XX IM lt Motor Power GREEN Ba 6 gt WHT GREEN XX IM 10 Motor g 35 GRAY 5VDC 14 Feedback 10 5 Je wena XX ECOM 6 3 ORANGE Thermostat 20 3 WHT 0RANGE TS 11 14 BLUE TS is 15 WHT BLUE S1 12 16 y YELLOW 52 13 17 5 WHT YELLOW XX S3 8 12 s COM Refer to Low Profile Connector illustration lower left SAA for proper grounding technique 2090 XXNFMF Sxx Feedback Cable Notes 3 4 Rockwell Automation Publication MPMA UM001B EN P November 2010 Introduction Applicable Drives Appendix D Home to Torque level Example Use this appendix to become familiar with the Home to Torque level sequence in RSLogix 5000 software version 16 or later and the considerations required when using this homing method This document provides an example for a typical homing program routine The example shown does not claim to be complete and does not apply to any specific application
110. leshoot a Kinetix 2000 drive 2093 UM001 Kinetix 6000 Multi axis Servo Drive User Manual publication How to install setup and troubleshoot a Kinetix 6000 drive 2094 UM001 ControlLogix Multi Vendor Interface Module Programming More detailed information on the use of ControlLogix motion features and application Reference publication 1756 RMO04 examples ControlLogix SERCOS interface Module Installation 3 8 or 16 Axis SERCOS interface module installation instructions Instructions publication 1756 IN572 Logix 5000 Controllers Motion Instructions Reference Manual The instructions needed to program a motion application publication 1 756 RM007 ControlLogix System User Manual publication 1756 UM001 Information on configuring and troubleshooting your ControlLogix system Logix5000 Motion Modules User Manual publication LOGIX Information on configuring and troubleshooting ControlLogix motion modules UM002 Rockwell Automation Publication MPMA UM001B EN P November 2010 Preface Resource CompactLogix SERCOS Interface Module Installation Instructions publication 1768 14005 Description Information on configuring and troubleshooting a CompactLogix motion module 16 Axis PCI SERCOS Interface Card Installation Instructions publication 1784 IN041 SoftLogix SERCOS interface PCI card installation instructions SoftLogix Motion Card Setup and Configuration Manual publication 1784 UM003 Inf
111. ley 855T Control Tower Stack Light may be used with socket mount status indicators Incandescent bulbs are not permitted Provide a means of emergency movement without drive power available This should include a provision for a brake release on a ball screw linear stage For example refer to the Emergency Brake Release for Ball Screw Linear Stage Example diagram on page 41 Unique features or functions associated with the robotic application not specifically addressed in UL 1740 shall also be evaluated to other applicable standards and requirements These may include but are not limited to the following UL 3101 1 Electrical Equipment for Laboratory Use Part 1 General Requirements UL 544 Medical and Dental Equipment UL 79 Power Operated Pumps for Petroleum Product Dispensing Systems ANSI NFPA 79 Electrical Standard for Industrial Machinery Rockwell Automation Publication MPMA UM001B EN P November 2010 Planning Multi axis Stage Installation Chapter 3 Mounting Restrictions When locating your multi axis stage include the following Environmental Factors Mounting Surface Restrictions Mounting Orientations for Center and Cantilever Multi axis Stage XY MPMA xA Cxxxxxx SxC Mounting Orientations for Center Stacked XZ Multi axis Stage MPMA xBxxxxxx SxC Clearance Requirements Environmental Factors Factor Applicability Temperature The linear stage does not require any special cooling conside
112. lti axis Stage Components Remove and save for re installation any P clamps and hardware used to route cables from upper axis to lower axis Disconnect the motor power connector from the upper axis motor 3 Disconnect the feedback connector from the upper axis motor Remove the two socket head cap screws SHCS that attach the cable carrier angle bracket to the underside of the lower carriage Lay the cable carrier out flat and mark the location of the end bracket TIP Avoid separation of SHCS from square nut in T slot Leaving them attached will make assembly easier 6 Loosen but do not remove the two SHCS securing the end bracket to the base of the lower stage 7 Slide the screws out of the bracket slots and remove the cable carrier For MPMA xxBxxxxx SxC 5 Multi axis Stages Follow this procedure to remove the cable carrier assembly from a multi axis stage with a direct driver base and direct drive secondary axis TIP Mark the location of the end brackets before removing the cable carrier this will make it easier to align it when reinstalling Remove and retain for re installation any P clamps and hardware used to route cables from upper axis to lower axis Remove the four pan head phillips screws from junction box side cover of the upper stage Remove the two button head cap screws BHCS from the junction box cover Remove the junction box cover assemb
113. lution of an MPAS xxxxxx V20xxx is 20 mm rev MP Series Integrated Linear Stages with a ball screw use a feedback device that provides 128 sin cos cycles per revolution of the motor The Ultra3000 drive interpolates this signal by an additional 1024 causing the maximum count per internal motor revolution of the linear stage to be 131 072 counts rev Table 4 Direct Drive Linear Stage Distance Unit Settings User Unit Scaling Parameters Distance Units Metric English Velocity Label mm s in s Velocity Scale 200 5080 Position Label mm in Position Scale 200 5080 Acceleration Label mm s s in s s Acceleration Scale 200 5080 Rockwell Automation Publication MPMA UM001B EN P November 2010 59 Chapter6 Configuration Guidelines Set Travel Limits Cat No Energy Limit 20 37 3 J 330 inelb MPAS x6 xxxx ALMx2x Program Home to Torque for Kinetix Multi axis Drives with Linear Stages MP Series Integrated Linear Stages are designed to use the software overtravel limits available in RSLogix 5000 and Ultraware software IMPORTANT Travel Limits apply to direct drive and ball screw linear stages Set Overtravel limits according to the maximum speed of the servo drive system and the payload of the application You can determine the Deceleration Distance between the slide and the end of travel bumpers based on the combination of the Deceleration Rate of the load and the available peak force
114. ly Separate the motor power connector by squeezing the side tabs and pulling on the housing Do not pull on the wires Separate the feedback connector from the circuit board by squeezing the center tab releasing lock and pulling on the connector housing Do not pull on the wires Remove the two socket head cap screws SHCS from the cable carrier angle bracket Lay the cable carrier out flat and mark the location of the end bracket TIP Avoid separation of SHCS from square nut in T slot Leaving them attached will make assembly easier Loosen but do not remove the two SHCS securing the end bracket to the base of the upper stage Rockwell Automation Publication MPMA UM001B EN P November 2010 Removing and Replacing Multi axis Stage Components Chapter 8 10 Slide the screws out of the bracket slots and lay carrier parallel to lower stage 11 Repeat step 3 through 10 for the base stage Cable Carrier Assembly Follow the Cable Carrier Assembly Removal procedure for your multi axis stage In st all ati on in reverse adding the following steps when needed Align the cable carrier using the alignment marks made when the worn cable carrier was removed Use Loctite 222 on all hardware during installation Remove the Strip Seal Follow these directions to remove a strip seal Figure 14 Linear Stage Seal Components Strip Seal Clamp 4 M3 SHCS 2x per guide M3 SHCS 8 S
115. mation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication MPMA UM001B EN P November 2010 PN 814059 Supersedes Publication MPMA UM001A EN P October 2008 Copyright 2010 Rockwell Automation Inc All rights reserved Printed in the U S A
116. metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication MPMA UM001B EN P November 2010 Product Specifications and Dimensions Automation sales representative Specifications and Dimensions Appendix A These specifications apply to Cartesian Stacked stages with 250 mm frame linear motor driven X axis and 200 mm frame linear motor driven Y axis Maximum payload is 20 kg 44 0 Ib For heavier loads contact your Rockwell Table 21 MPMA xCB xxxxxx xxx Product Specifications Travel mm in Encoder Type Pins Weight Multi axis Linear Stage Cat No X axis Y axis Z axis X axis Y axis Z axis X axis Y axis Z axis kg Ib MPMA xCBD2D2A0 S1C 320 12 6 69 7 153 3 320 12 6 pic MPMA xCBE4D2A0 S1C 72 7 159 9 440 17 3 MPMA xCBE4E4A0 S1C 74 9 164 7 5 micron resolution cam MPMA xCBF6E4A0 S1C 560 22 0 440 17 3 S incremental magnetic T i 78 4 172 4 MPMA xCBG8E4A0 S1C linear encoder 81 4 179 0 680 26 8 direct drive only MPMA xCBG8F6A0 S1C 83 7 184 1 MPMA xCBIOF6A0 S1C 800 31 5 560 22 0 87 2 191 8 MPMA xCBJ2F6A0 S1C 920 36 2 90 3 198 6 Table 22 Allowable Payload Based Upon X axis Acceleration and Y axis Travel X axis Acceleration Y axis
117. move excess strip seal material Position the carriage at the far ends of travel Rockwell Automation Publication MPMA UM001B EN P November 2010 71 Chapter8 Removing and Replacing Multi axis Stage Components 13 Adjust the seal guide by inserting a 0 8 mm 0 030 in shim between the seal guide and the strip seal 14 Return the linear stage to service Install the Side Cover Follow these directions to install a side cover 1 Insert a side cover into the base of the linear stage by holding it with the top slightly tilted outward and hooking the bottom of the side cover in the channel near the bottom of the base TIP If installing the side cover with strip seals in place use a flat blade screwdriver to lift the side cover by inserting the screwdriver under the cover between the cover and the base 2 Starting at the end cap adjacent to the ground screw install one M4 SHCS and torque it to 4 Nem 35 Ibein 3 On the opposite end install one M3 SHCS and torque it to 2 5 Nem 20 Ibein 72 Rockwell Automation Publication MPMA UMOO01B EN P November 2010 Removing and Replacing Multi axis Stage Components Chapter 8 Replace the Rota ry Motor Follow these directions to replace a secondary stage rotary motor 1 Disconnect the motor cables 2 Remove the four M5 SHCS and lock washers that secure the motor to the linear stage 3 Remove the motor IMPORTANT Measure the position of the coupling on
118. movement of the heavy base Always use a three person lift and grasp the multi axis stage by the base axis at the end caps Keeping fingers clear of the upper axis and it carriage s path of travel Personal injury and equipment damage may occur if the linear stage is handled improperly 3 Liftthe multi axis stage onto and the prepared mounting surface and align Insert the supplied tee nut bar and center it in the T slot long stages will require multiple tee nut bars be sure to install tee nut bars in both T slots 5 Secure the linear stage by using all mounting holes Torque all mounting bolts to 3 2 Nem 48 Mount Your App lication Mount your application to the carriage using the following bolts and torque values Cat No Bolt Torque Nem Ibein MPAS X6XXXX XXXXXX M6 3 2 48 MPAS X8XXXX XXXXXX M8 10 1 90 MPAS X9XXXX XXXXXX M8 10 1 90 36 Rockwell Automation Publication MPMA UM001B EN P November 2010 Connectthe Multi axis Stage Mounting and Connecting the MP Series Integrated Multi axis Linear Stage Chapter 4 The installation procedure assumes you have prepared your system for correct electrical bonding and understand the importance of electrical bonding for correct operation of the system to which your linear stage belongs If you are unfamiliar with electrical bonding the section Attach the Ground Strap and Interface Cables briefly describes and illustrates correct system grounding t
119. ms No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures PED IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley Rockwell Software Rockwell Automation and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies
120. n 1 00 3 35 Secondary is not centered Bumper Trave 0 132 base carriage 4 M10 x 1 5 6H Thru 2 per end cap T Detail Access point for linear bearing 6 5 ubrication PP 9 0 26 L 45 4 210 9 B Ground Screw M 1 79 8 30 5 x 0 8 6H ACIO Quantity E Mount to base using M6 x 1 0 hardware s at 120 mm spacing and the tee nut bar shipped with stacked stage Base 0 025 300 300 0 001 12 0 x 12 0 A Flatness requirement for assembly mounting surface Table 12 MPMA xABxxxxxx xxx Dimensions A TL B TU C Stage Length Travel Stage Length Travel Mounting Locations Multi axis Linear Stage X axis X axis Y axis Y axis X axis Cat No mm in mm in mm in mm in Qty MPMA AABC0C0A0 S1C 641 25 2 200 7 9 641 25 2 200 7 9 10 MPMA AABCBC6AO0 S1C 701 27 6 260 10 2 701 27 6 260 10 2 u MPMA AABD2D2A0 S1C 761 30 0 320 12 6 761 30 0 320 12 6 MPMA AABD8D8A0 S1C 821 32 3 380 15 0 821 32 3 380 15 0 id MPMA AABE4E4A0 S1C 881 34 7 440 17 3 881 34 7 440 17 3 MPMA AABF6F6A0 S1C 1001 39 4 560 22 0 1001 39 4 560 22 0 16 MPMA BABCOCOA0 S1C 641 25 2 200 7 9 641 25 2 200 7 9 10 1 701 27 6 260 10 2 701 27 6 260 10 2 MPMA BABD2D2A0 S1C 761 30 0 320 12 6 761 30 0 320 12 6 MPMA BABD8D8A0 S1
121. namics Gains Output Limits Offset Fault Actions Tag Mode Position f 0 cm Offset 1 15 cm Sequence Torquelevel Limit Switch Normally Open C C Active Home Sequence Group Direction Reverse Bidirectional v Torque Level oo Continuous Torque Speed o cm s Return Speed 7 cm s Cancel Apply Help Figure 22 Axis Properties Limits Tab se Axis Properties AXIS 01 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Travel Limits Manual Adjust Travel kimis Set Custom Limits Maximum Positive 45 Maximum Negative 05 Position Error T olerance 0 6702081 Position Lock Tolerance o o cm Peak Torque Force Limit 2500 Rated Continuous Torque Force Limit fi 00 0 Rated 120 Rockwell Automation Publication MPMA UM001B EN P November 2010 Appendix D Home to Torque level Example Table 54 Ladder Code Example gt 00L G LO spoz gt Sz 291105 aao 1 Byvogyney dus somos suguoneiByuogyne4 aynquyy bo sixw S9UEEUI Shy BWEN 55212 anjen 5 125 ASS o Byuojyne 4 dus 0 z WEA 10405121 PEN Byuogyney panes somos BAC WY PASE YY WAU gt 00 D3swureie LO spoz gt 1 ouas 3q oe
122. nsile stress with threads up to one inch in diameter Rockwell Automation Publication MPMA UM001B EN P November 2010 accessibility 29 accessories 111 feedback cable 113 power cable 111 agency standards UL 1740 industrial robot safety 43 emergency brake release 28 power enable lighting 28 air port 26 ANSI NFPA 79 electrical for industrial machines 27 ANSI RIA R15 06 industrial robot multiple teaching 27 28 ball nut 26 ball screw 26 connector pinout feedback connector 47 power connector 45 lubrication port 25 maintenance interval 65 motor 26 ball screw lifetime 109 bearing 25 lubrication 25 bearing rail 25 brake specification 109 C cable carrier 25 lifetime 109 replacement 26 carriage 25 max temperature 12 catalog number identification 22 certification 110 cleaning 26 85 cleaning interval 65 67 clearance 31 clearances 31 coil 25 component description air port 26 ball nut 26 ball screw shaft 26 bearing 25 bearing rail 25 cable carrier 25 carriage 25 encoder strip 25 ground label 25 ground screw 25 lubrication ports 25 Index magnet track 25 magnetic encoder 25 motor coil 25 readhead 25 rotary motor 26 seal guide 25 seal strip clamp 25 side cover 25 side cover support 26 strip seal 25 top cover 25 components 22 configuration ball screw Logix parameters 54 ball screw stage parameters 61 ball screw with Ultraware 62 direct drive Logix parameters 51 direct dr
123. o reference a known home position by monitoring torque while driving an axis into a mechanical hard stop 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 60 Rockwell Automation Publication MPMA UM001B EN P November 2010 Chapter 7 Maintenance Introduction This chapter describes the maintenance procedures for your linear stage Topic Page Before You Begin 61 Recommended Maintenance Intervals 61 Lubricate the Bearing 62 Clean the Strip Seal 63 Clean the Cover 63 IMPORTANT Any person that teaches operates maintains or repairs these linear stages must be trained and demonstrate the competence to safely perform the assigned task Before You Begin You will need the following tools to lubricate and clean your linear stage A ATTENTION Lockout and tagout input power before servicing 0 36 m 14 in or larger clamp with soft jaws Grease pump kit catalog number MPAS GPUMP with tip type installed and primed Grease cartridge catalog number MPAS CART included in grease pump kit Airline with a maximum pressure of 68 10 psi Lint free cloth Isopropyl alcohol as necessary for cleaning Recommended Recommended maintenance and lubrication intervals are Maintenance Intervals direct drive linear stages every 6 months or 2500 km
124. or Toolkit Ultra3000 Digital Servo Drives Installation Manual publication 2098 IN003 Ultra3000 Digital Servo Drives Integration Manual publication 2098 IN005 How to install setup and troubleshoot an Ultra 3000 drive Home to Torque level Example Application Notes publication MOTION AT001 Describes RSLogix 5000 homing routines Kinetix 2000 Multi axis Servo Drive Release Notes publication 2093 RN001 Enhancements known anomalies and restrictions for your Kinetix 2000 drive firmware used with RSLogix 5000 software version 16 Kinetix 6000 Multi axis Servo Drive Release Notes publication 2094 RN007 Enhancements known anomalies and restrictions for your Kinetix 6000 drive firmware used with RSLogix 5000 software version 16 Motion Modules in Logix5000 Control Systems User Manual publication LOGIX UM002 Information on configuring and troubleshooting your ControlLogix and CompactLogix SERCOS interface modules and using the home to torque level sequence You can view or download publications at http literature rockwellautomation com To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative 8 Rockwell Automation Publication MPMA UM001B EN P November 2010 Chapter 1 Multi axis Stage Safety Introduction This chapter describes the safety issues encountered while using multi axis stages and the precautions you can take
125. ormation on configuring and troubleshooting your SoftLogix PCI card System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Information examples and techniques designed to minimize system failures caused by electrical noise Kinetix Safe off Feature Safety Reference Manual publication GMC RM002 Information examples and techniques to utilize safety related features of Kinetix drives Motion Analyzer version 4 4 or later is available at http www ab com motion software analyzer html Drive and motor sizing with application analysis software Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI INO01 Characteristics application installation and maintenance of solid state controls Rockwell Automation Product Certification Website publication available at http www ab com For declarations of conformity DoC currently available from Rockwell Automation National Electrical Code Published by the National Fire Protection Association of Boston MA An article on wire sizes and types for grounding electrical equipment Allen Bradley Industrial Automation Glossary publication AG A glossary of industrial automation terms and abbreviations Kinetix Accelerator Toolkit Brochure publication MOTION BR004 Kinetix Accelerator Toolkit Quick Start publication IASIMP Information about the Kinetix Accelerat
126. port provide access to the ball nut without dismantling the linear stage 7 Ball Screw Shaft This is part of the mechanical power system on ball screw linear stages This shaft should be kept free of debris 8 Ball Nut Transfers mechanical power from the ball screw shaft to the carriage It requires periodic lubrication 9 Side Cover Support These supports stabilize the side cover on long linear stages 20 Rotary Motor A bulletin MPLS rotary motor drives the ball screw mechanism It is a specially configured MP Series rotary motor and is available as a spare part 21 Air Port Provides an external air supply connection for a ball screw linear stage You can apply a maximum of 270 kpa 40 psi pressurized air to minimize the ingress of particulates from a dusty environment Rockwell Automation Publication MPMA UM001B EN P November 2010 23 Chapter 2 Maintenance Intervals 24 Understanding Your Multi axis Stage This section lists typical maintenance intervals for your linear stage and references the section where maintenance procedures are described IMPORTANT The suggested time period for re lubrication is only a starting point You should determine the frequency of re lubrication that is best suited to your application as an application s environment motion profile and duty cycle can effect the re lubrication time period required Lubrication Intervals Refer to the Maintenance chapter beginning on page 61 for lubrication
127. ppropriately Rockwell Automation Publication MPMA UM001B EN P November 2010 Multi axis Stage Safety Chapter 1 Figure 1 Label Locations for Direct Drive Linear Stages Product Nameplate E Rockwell Automation Publication MPMA UMO001B EN P November 2010 11 Chapter 1 Multi axis Stage Safety Clearances General Safety Heat Vertical or Inclined Payload End of Travel Impacts Air Freight Restrictions Install the multi axis stage to avoid interference with the building structures utilities other machines and equipment that may create a trapping hazard of pinch points Dress cables using the Clearance Requirements on page 29 as a guide Do not cross the path of motion or interfere with the cable carrier motion Linear stages are capable of sudden and fast motion Rockwell Automation Inc is not responsible for misuse or improper implementation of this equipment When the stages are running at their maximum rating the temperature of the carriage can reach 75 C 167 F A direct drive linear motor driven linear stage mounted vertically or on an incline will not maintain position when the power is removed Under the influence of gravity the carriage and its payload will fall to the low end of travel Design engineers should allow for this by using a ball screw driven linear stage with power off holding brake or designing in controlled power down circuits or mechanical controls to prevent the linea
128. quirements Refer to Interconnect Cables on page 103 for connector and bend radius requirements Figure 8 Minimum Clearance Requirements MPMA XBxxxxxx S xC 3 2 mm 0 125 in Clearance around entire stage Additional Clearance A ballscrew stages require 101 mm 4 in at motor end TE for connector except for wall mount stages 419 mm 16 5 in Clearance at all ends for lubrication access measured from stage base MPMA xA Cxxxxxx SxC Rockwell Automation Publication MPMA UM001B EN P November 2010 29 Chapter 3 Notes 30 Planning a Multi axis Stage Installation Rockwell Automation Publication MPMA UM001B EN P November 2010 Introduction Unpacking Handling and Inspection Chapter 4 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage This chapter provides unpacking handling and mounting instructions Topic TPage Unpacking Handling and Inspection 31 Multi axis Stage Storage 35 Mount the Multi axis Stage 35 Mount Your Application 36 Connect the Multi axis Stage 37 About the Air Option for Ball Screw Linear Stages 40 About the Brake Option for Ball Screw Linear Stages 40 Meeting UL Installation Standards 41 IMPORTANT Any person that teaches operates maintains or repairs these multi axis
129. r stage and its payload from being damaged when the power fails The internal bumpers of the linear stages are designed to take a large impact from uncontrolled motion The table on page 60 lists the energy that the bumpers can absorb before risking damage to the linear stage The carriage payload should be secured to the carriage such that it will not sheer off in the event of an impact in excess of the bumper ratings The bolts securing the end caps will not be able to sustain multiple impacts and may eventually sheer Correct the cause of the uncontrolled motion that caused the impact before continuing the use of the linear stage When air freighting multi axis stages 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 The 200 mm 250 mm direct drive linear stages catalog numbers MPAS AS8xxxE ALMx2x MPAS B8xxxF ALMx2x MPAS A9xxxK ALMx2x or MPAS B9xxxL ALMx2x contain magnetized material as classified by 12 Rockwell Automation Publication MPMA UM001B EN P November 2010 Standards Multi axis Stage Safety Chapter 1 International Air Transport Association IATA Dangero
130. rations Avoid mounting it near any heat generating objects such as a heat register Sustained average operating temperature should not be greater than 40 C 104 F nor less than 0 C 32 F Humidity Avoid excessive humidity that can cause condensation on metal surfaces and consequently stage corrosion The maximum permissible noncondensing humidity is 8096 relative Access and When possible the system should be located where sufficient working interference space is available to perform periodic maintenance Avoid installing where a trapping hazard or pinch point occurs as a result of interference with the building structures utilities and other machines and equipment Dust and airborne Avoid placing the stage in areas where excessive dust or other airborne contaminants contaminants are present Chemical fumes or vapors can cause damage to internal components Vibration The linear stage should be installed in a location free of excessive vibration Ambient light Sufficient light should be readily available to enable inspection testing and other functions to be performed on the stage Mounting Surface Restrictions Surface Restriction Flatness X axis or base stage must be bolted or clamped to a flat stable and rigid surface along its entire length Flatness deviation in the mounting surface should be less than or equal to 0 025 mm over a 300 x 300 mm 0 001 in over a 12 x 12 in area Flatness shou
131. rforming this procedure Failure to remove power could result in personal injury and equipment damage Never pull on wires when disconnecting power and feedback connectors Pulling on wires could result in damage to circuit continuity Figure 13 Cable Carrier Replacement A single linear stage shown for clarity M4 x0 7 x LG BHCS 2 M4 x 0 7 x 10 LG SHCS 2 M3 x 0 5 x 8 LG SHCS 2 Mem Description Item Description 1 Junction Box Cover 5 Angle Bracket 2 Junction Box Side Cover 6 Feedback Connector 3 Cable Carrier Module 7 Motor Power Connector 4 End Bracket Rockwell Automation Publication MPMA UM001B EN P November 2010 Removing and Replacing Multi axis Stage Components Chapter 8 Remove the Cable Carrier Assembly For MPMA xxDXxxxxxx SxC and Multi axis Stages Follow this procedure is to remove the cable carrier assembly from multi axis stage with a direct drive base axis and ballscrew secondary axis 10 11 12 13 14 TIP Mark the location of the end brackets before removing the cable carrier this will make it easier to align it when reinstalling Remove and save for re installation all P clamps and hardware used to route cables from upper axis to lower axis Disconnect the motor power connector from the upper axis motor Disconnect the feedback connector from the upper axis motor Remove the three SHCS from junction box side
132. roperties to 10 mm Modify the Position Error Tolerance value to 10 mm using a SSV instruction code You can use code similar to the code on page 122 which is used to change the Bipolar Torque Limit TIP The second method is preferred because it temporarily sets Position Error Tolerance to a value appropriate for homing to a mechanical hard stop and then resets it to the original value set in the Axis Properties dialog box Rung 6 of the ladder code opens the Position Error window This lets the Homing complete without causing a Position Error The original value is reset after Homing completes 126 Rockwell Automation Publication MPMA UM001B EN P November 2010 Introduction Mounting Bolts and Torque Values Appendix E This appendix provides typical torque values for standard and metric bolts Topic Page Recommended Seating Torque for Metric Bolts 127 Recommended Seating Torque for Mild Steel Rb 87 or Cast Iron Rb 83 128 Recommended Seating Torque for Brass Rb 72 129 Recommended Seating Torque for Aluminum Rb 72 2024 14 130 Table 59 Recommended Seating Torque for Metric Bolts Plain Cadmium Plated Zinc Bolt Size Metric Pitch Nm Ibein Nm Ibein Nm Ibein M1 6 2 0 35 0 29 2 6 0 22 1 95 0 41 3 64 M2 P 0 40 0 60 5 3 0 45 3 98 0 84 7 42 M2 5 7 0 45 1 24 11 0 93 8 25 1 74 15 4 M3 0 5 2 15 19 1 61 14 25 3 00 26 6 M4 0 7 4 6
133. s that can cause personal injury if mishandled Remove power from the linear stage and lock out and tag the power source Follow the instructions below on how to measure mark and cut new strip seals 1 Mark needed strip length 3 Make two 45 marks to centerline a a 2 Mark strip width centerline 4 Use tin snips to cut along 45 marks dig Q 3 Position the carriage at the midpoint of stage travel 10 11 12 Expose the center metal section of the carriage s seal strip guide by loosening the screws securing the end clamps and those at the carriage seal guide Thread the new strip seal point end first through the seal guides the carriage and then the end clamps Center and smooth the strip seal against the top cover and the side panel magnetic strips Using very light pressure hold the seal guide against the strip seal and then tighten the seal guide Tighten one end clamp but do not tighten the clamp on the other end Move the carriage by hand through the complete range of travel and make sure the strip seal seats smoothly against the cover and side panel magnet strips Pulling against the tightened end clamp will help to smooth the seal Once the seal lays flat and smooth against the top cover and side panel tighten the second end clamp With the outside edge of the end clamps as a guide use tin snips to cut and re
134. should not work near the linear stage Maintenance personnel working on the multi axis stages should avoid the use of metallic tools and secure items such as badge clip and other personal effects that could be attracted by the strong magnets Strong magnets can erase magnetic media Never let credit cards or floppy disks contact or come near the multi axis stages Do Not Lift by Junction Box I Do not attempt to move the multi axis stages by grasping the cable junction box Moving the multi axis stages in this manner will damage the multi axis stages and create a pinch or crush hazard The junction box is attached to the carriage which is free to move Lifting the multi axis stages in this manner will allow uncontrolled movement of the heavy base Always install shipping clamps use a three person lift and grasp the multi axis stages by the base of the lower stage at the end Caps Stay Clear Do not put hands or objects on the linear stage covers Doing so could deform the cover and damage the linear stage causing excessive wear on the cover supports or scraping noises when the linear stage is in motion Sharp Edges 10 Always remove strip seals before removing the top or side covers If it becomes necessary to remove the top or side covers or change the strip seal exercise care when working near or on the strip seal The edges of the strip seal are sharp and can cut if accidentally hit or if handled ina
135. stages must be trained and demonstrate the competence to safely perform the assigned task Inspect packaging to make certain no damage has occurred in shipment Any damage or suspected damage should be immediately documented Claims for damage due to shipment are usually made against the transportation company Contact Rockwell Automation immediately for further advice Rockwell Automation Publication MPMA UM001B EN P November 2010 31 Chapter4 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage Besure the information listed on the purchase order correlates to the information on the packing slip for your linear stage and its accessories Inspect the assemblies and confirm if applicable the presence of specified options A ATTENTION Direct drive linear stages contain powerful permanent magnets that require extreme caution during handling Do not disassemble the linear stage The forces generated by permanent magnets are very powerful and can cause bodily injury Persons with pacemakers or automatic implantable cardiac defibrillators AICD should maintain a minimum distance of 0 3 m 12 in from magnet assemblies Additionally unless absolutely unavoidable a minimum distance of 1 5 m 5 ft must be maintained between magnet assemblies and other magnetic or ferrous composite materials Calipers micrometers laser equipment and other types of instrumentation must be nonmetallic Unpacking Guidelines Use
136. ta ges They are designed to hold the carriage in place up to the rated brake holding force The brakes release when voltage is applied to the brake coil Voltage and polarity supplied to the brake must be as specified to be sure of proper brake performance The brakes are not designed to stop the movement of a linear stage Servo drive inputs should be used to stop motion The recommended method of stopping motion is to command the servo drive to decelerate to 0 mm s 0 in s and engage the brake after the servo drive has decelerated the linear stage to 0 mm s 0 in s If system main power fails the brakes can withstand use as stopping brakes However use of the brakes as stopping brakes creates rotational mechanical backlash that is potentially damaging to the system increases brake pad wear and reduces brake life The brakes are not designed nor are they intended to be used as a safety device 40 Rockwell Automation Publication MPMA UM001B EN P November 2010 Meeting UL Installation Standards Mounting and Connecting the MP Series Integrated Multi axis Linear Stage Refer to UL Safety Standards for Linear Stage Installations on page 2 for a brief description of this standard ATTENTION UL 1740 requires all linear stage installations be AN equipped as described below The design operation and verification of this implementation is the machine builders responsibility Chapter 4 Multi axis stage installations sho
137. table lists possible solutions for problems encountered while performing this test TIP Hookup test may fail if friction and weight forces exceed 2096 of the stage s continuous force rating Description Linear stage direct drive or ball screw passes Hookup test but the carriage jumps position when the axis is enabled Possible Cause Wiring of the Hall signals with relation to the motors power wiring is incorrect Corrective Action Verify wiring of Hall signals S1 S2 and S3 and power wires U V and W Direct drive linear stage fails Hookup test but wiring is known to be correct Incorrect drive firmware Verify the Kinetix 6000 drive or Kinetix 2000 drive has revision 1 96 or later firmware Verify you are using revision 16 00 or later of Logix software Use this section to diagnose and correct troubles with a direct drive or ball screw driven linear stage after it has been commissioned Read the entire section to understand the kinds of troubles you may encounter and the possible fixes The evaluation procedures for direct drive and ball screw linear stages will help you determine if faulty stage operation indicates a need to lubricate the stage or a more fundamental problem To interpret error codes reported by the drive refer to the Troubleshooting Procedures for Ball Screw Linear Stages table on page 79 or the drive manuals referenced on page 75 76 Rockwell Automation Publication M
138. tainless Steel Strip Seal 2 IMPORTANT Handle strip seal material with care The strip seal has sharp edges that can cut if mishandled 1 Loosen the strip seal clamps at each end of the linear stage 2 Carefully grasp the end of the strip seal and slide it out of the linear stage Rockwell Automation Publication MPMA UM001B EN P November 2010 69 Chapter8 Removing and Replacing Multi axis Stage Components Remove the Cover Follow these directions to remove a secondary stage cover 1 Remove strip seals following the strip seal removal procedure 2 Remove the four M4 screws securing the linear stage cover to the end caps 3 Remove the cover SHCS 2 per side ollow these directions to install a secondary stage cover Install the Cover Follow these d dary stag 1 Start at the end cap nearest the magnetic cautionary label or the MP motor and install two M4 x 25 SHCS 2 Torque the M4 x 25 SCHS to 4 Nem 35 lbein 3 Make sure the cover contacts the end cap 4 On the opposite end install two M4 x 30 SHCS and bottom out the screw The cover will not contact the end cap on this side and will float on the screw 70 Rockwell Automation Publication MPMA UM001B EN P November 2010 Removing and Replacing Multi axis Stage Components Chapter 8 Repl ace the Strip Seal Follow these directions to replace the strip seals ATTENTION Handle strip seal material with care The strip seal has sharp edge
139. ti axis drives Firmware revision 1 96 or later For RSLogix 5000 software version 16 xx use Motion Database file version 4 13 O or later For RSLogix 5000 software version 17 xx or later use Motion Database file version 5 4 0 or later Ultra3000 drives Firmware revision 1 52 or later Motion Database mdb file dated July 2007 or later Motion Analyzer software version 4 4 or later Download these files from http support rockwellautomation com Contact Rockwell Automation Technical Support at 440 646 5800 for assistance Rockwell Automation Publication MPMA UM001B EN P November 2010 47 Chapter6 Configuration Guidelines Configure Your Linear Stage Configure the linear stage by using the parameter settings described in this chapter A IMPORTANT Moving parts can injure Before running the stage make sure all components are secure Check that the linear stage is clear of foreign matter and tools Objects hit by the moving stage can cause personnel injury damage to the equipment Incorrect motor Hall or encoder wiring can cause uncontrolled motion You are responsible to verify that the servo control system safely controls the linear stage with regard to maximum force acceleration and speed The type of Allen Bradley drive connected to the linear stage determines the configuration procedure Refer to the following table to determine the configuration
140. uld follow Underwriters Laboratories standard UL 1740 Standard for Safety for Robots and Robotic Equipment A Power Enable light that illuminates when drive power is applied and motion is possible Emergency movement must be possible when drive power is not available to a ball screw linear drive with a brake The figure depicts an operator controlled circuit for a Kinetix 6000 drive that applies emergency power to release the brake Figure 9 Emergency Brake Release for Ball Screw Linear Stage Example EMERGENCY BRAKE RELEASE MOTOR BRAKE BLK SWITCH DPDT j WHT CABLE 2090 XXNPMF o7 24V RTN RTN 24V EMERGENCY BRAKE BRAKE POWER SUPPLY POWER SUPPLY KINETIX 6000 BRAKE CONNECTOR MBRK 5 MBRK 5 COM 4 PWR Q3 DBRK Q2 DBRK Rockwell Automation Publication MPMA UM001B EN P November 2010 41 Chapter4 Mounting and Connecting the MP Series Integrated Multi axis Linear Stage Notes 42 Rockwell Automation Publication MPMA UM001B EN P November 2010 Introduction Linear Stage Power and Feedback Connections Chapter 5 Linear Stage Connector Data This chapter provides power and feedback cable information for the linear stage Page 43 Topic Linear Stage Power and Feedback Connections The following tables identify the power and feedbac
141. ult Actions Tag Set Custom Stop Action Custom Stop Action Attributes 200 4292 Rated ing Madifying fault actions StoppingTimeL imit 03s REAL es user to ensure axis is BrakeEngageDelayTime 0 042 REAL bed and disabled to protect BrakeReleaseDelayTime 0 058 s REAL bnnel machine and property ResistiveBrakeContactDelay 00s REAL e reference user manual for information Cancel Help DK Cancel Help IMPORTANT To prevent the carriage from moving or falling when installed in a vertical orientation the Stopping Time Limit must be set to 0 99 seconds or less 4 Select the Tune tab in the Axis Properties dialog box and enter the following parameters Travel Limit Set to a maximum of the travel length of the linear stage Speed velocity Torque Force IMPORTANT Only check Torque Offset as shown below if the linear stage is installed in a non horizontal mount position Axis Properties 1 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Travel Limit 680 0 mm Start Tuning Speed 950 0 mm s DANGER This tuning dd procedure may cause axis motion with the controller Torque Force 100 0 Rated Direction Forward Bi directional Damping Factor 0 8 Tune in program mode Position Error Integrator
142. us Goods Regulations An IATA trained individual must be involved when shipping this product via domestic or international air freight Packing Instruction 902 provides information regarding the preparation of this product for air transportation Follow these regulations for general marking and labeling requirements the application of specific Magnetized Material Handling Labels and instructions for preparing the Shipper s Declaration for Dangerous Goods Asa minimum refer to the following IATA Dangerous Goods Regulations Subsection 1 5 Training Subsection 3 9 2 2 Classification as Magnetized Material Subsection 4 2 Identification as UN 2807 Magnetized Material Class 9 Packing Instruction 902 Subsection 7 1 5 Marking Subsection 7 2 Labeling Subsection 7 4 1 Magnetized Material Label Section 8 Shipper s Declaration for Dangerous Goods When shipped via ground in the United States these products are not considered a US D O T Hazardous Material and standard shipping procedures apply Standards and requirements applicable to this product include but are not limited to the following ANSI RIA R15 06 Industrial Robots and Robot Systems Safety Requirements Teaching Multiple Robots ANSI NFPA 79 Electrical Standard for Industrial Machinery CSA CAN Z434 Industrial Robots and Robot Systems General Safety Requirements EN60204 1 Safety of Machinery Electrical Equipment of Machines UL 1
143. ximum bandwidth Increasing the bandwidth may cause loop instability Cancel 3 Answer the remaining dialog boxes to apply the values The proper Position Bandwidth results in a stable starting point from which you may adjust the gains to fit the application requirements Rockwell Automation Publication MPMA UM001B EN P November 2010 57 Chapter6 Configuration Guidelines Configure U Itraware The following steps assume that the MP Series linear stage and an Ultra3000 Software for Linear Stag es drive are installed and wired as one axis of a motion system with Ultra3000 Drives 1 Connect a serial cable model catalog number 2090 DAP C D09x to the CN3 connector on your Ultra3000 drive 2 Apply AC input power to the Ultra3000 drive 3 Establish communication with the Ultra3000 drive and click Cancel when the Ultra3000 motor database dialog box appears Clicking Cancel causes the Ultraware software to scan for online drives When a drive is found an Online Drive icon will display in the Workspace Double click the Online Drive icon to view the main Drive setup dialog box 5 Perform the action in the following table appropriate for your type of linear stage If your linear stage is a Do this Direct drive Select your direct drive linear stage from the drop MPAS xxxxxx ALM02x down in the Motor Model dialog box and then verify the data in the Motor Field is correct for your direct drive linear stage

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