User Manual
LDC-Series Iron Core Linear Servo Motors
Catalog Numbers
LDC-C030xxx-xHT11, LDC-C050xxx-xHT11, LDC-C075xxx-xHT11,LDC-C100xxx-xHT11,
LDC-C150xxx-xHT11
LDC-C030xxx-xHT20, LDC-C050xxx-xHT20, LDC-C075xxx-xHT20, LDC-C100xxx-xHT20,
LDC-C150xxx-xHT20
LDC-M030xxx, LDC-M050xxx, LDC-M075xxx, LDC-M100xxx, LDC-M150xxx,
LDC-030-xxx-CP, LDC-050-xxx-CP, LDC-050-xxx-CP, LDC-075-xxx-CP, LDC-100-xxx-CP,
LDC-150-xxx-CP
Important User Information
IMPORTANT
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
your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/
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 diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
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.
available from
) describes some
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.
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, CompactLogix, ControlLogix, Kinetix, LD C-Series, Logix5000, Rockwell Automation, Rockwell Software, TechConnect, Ultra3000, and Ultra5000 are trademark s of Rockwell Automation, Inc
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Summary of Changes
This manual contains new and updated information.
New and Updated Information
This table contains the changes made to this revision.
Topic Page
Updated SIN and COS signal names 81
Updated SIN and COS signal names 85
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 3
Summary of Changes
Notes:
4 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Table of Contents
Preface
Safety Considerations
Start
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
High Energy Magnets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Unpacking and Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Air Freight Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Vertical or Incline Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Operational Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Linear Motor Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Design Consideration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Motor Air Gap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Bumpers, Shock Absorbers, or End Stops . . . . . . . . . . . . . . . . . . . . . . . 21
Linear Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Carriage/Heat Sink. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Motor Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Install the LDC-Series Linear
Motor
LDC-Series Linear Motor
Connector Data
Chapter 3
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Unpacking and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Installing Linear Motor Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Required Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Mount a Single Coil with Multiple Magnet Tracks . . . . . . . . . . . . . . 24
Mount a Single Coil with a Single Magnet Track . . . . . . . . . . . . . . . . 29
Chapter 4
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Linear Motor Coil Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
PTC Thermistor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Hall Effect Module Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Feedback Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
PTC Thermistor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Encoder Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 5
Table of Contents
Chapter 5
Wire the LDC-Series Linear
Motor
Configure and Start Up the
LDC-Series Linear Motor
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Connect the Linear Motor Coil. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Signal and Wire Definitions for Flying Lead Components . . . . . . . . . . . 40
Linear Motor Coil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Hall Effect Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Making Your Own Extension Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Mounting and Wiring Two Identical Coils in Tandem . . . . . . . . . . . . . . 42
Cables Exit to the Right . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Cables Exit in the Center. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Cables Exit on Opposite Ends . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Chapter 6
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Motor Direction Defined. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Required Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Update the Linear Motor Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Set Up the Connection to a Kinetix 6000, Kinetix 6500/6200, or
Kinetix 2000 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Set Up the Connection to an Ultra3000 Drive . . . . . . . . . . . . . . . . . . . . . . 53
Verify Motor Encoder Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Verify Motor Encoder Resolution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Verify Linear Motor Wiring and Function. . . . . . . . . . . . . . . . . . . . . . . . . . 56
Additional Adjustments for Cooling Plate Option . . . . . . . . . . . . . . . . . . 60
Appendix A
Specifications and Dimensions
6 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Performance Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Common Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Weight Specification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Carriage Weight and Heat Sink Area Requirements . . . . . . . . . . . . . 69
Cooling Plate Flow Rate Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 70
Product Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Motor Coil Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Magnet Track Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Cooling Plate Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Appendix B
Table of Contents
Interconnect Diagrams
Sin/Cos Linear Encoder and
Kinetix 6000 Drives
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Wiring Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Appendix C
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Kinetix 6000 Drive Feedback Connection. . . . . . . . . . . . . . . . . . . . . . . . . . 89
Encoder Counting Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Set Up the Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 7
Table of Contents
Notes:
8 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Preface
About This Publication
Who Should Use This Manual
Additional Resources
This manual provides detailed installation instructions for mounting, wiring, and
maintaining your LDC-Series iron core linear servo motors.
This manual is intended for engineers or technicians directly involved in the
installation, wiring, and maintenance of LDC-Seriesiron core linear motors.
If you do not have a basic understanding of linear motors, contact your local
Rockwell Automation sales representative for information on available training
courses before using this product.
These documents contain additional information concerning related Rockwell
Automation products.
Resource Description
Kinetix 2000 Multi-axis Servo Drive User
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
How to install, set up, and troubleshoot a
Kinetix 2000 drive
How to install, set up, and troubleshoot a
Kinetix 6000 drive
How to install, set up, and troubleshoot an
Ultra3000 drive
Ultra3000 Digital Servo Drives User
Manual, publication 2098-UM001
Motion Analyzer CD, download at
.http://www.ab.com/e-tools
Motion Modules in Logix5000 Control
Systems User Manual,
publication LOGIX-UM002
System Design for Control of Electrical
Noise Reference Manual,
publication GMC-RM001
Kinetix Motion Control Selection Guide,
publication GMC-SG001
Safety Guidelines for the Application,
Installation, and Maintenance of Solid State
Controls, publication SGI-IN001
Allen-Bradley Industrial Automation
Glossary, publication AG-7.1
Instruction on configuring Ultra3000 and
Ultra5000 drives, creating and configuring
project, source, and header files, and
creating and running programs
Drive and motor sizing with application
analysis software
Information on configuring and
troubleshooting your ControlLogix and
CompactLogix SERCOS interface modules,
and using the home to torque-level
sequence
Information, examples, and techniques
designed to minimize system failures
caused by electrical noise
Information about Kinetix products
Characteristics, application, installation,
and maintenance of solid state controls
A glossary of industrial automation terms
and abbreviations
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 9
Preface
Resource Description
Rockwell Automation Product Certification
Website, publication available at
http://www.ab.com
National Electrical Code. Published by the
National Fire Protection Association of
Boston, MA.
Industrial Automation Wiring and Grounding
Guidelines, publication 1770-4.1
For declarations of conformity (DoC)
currently available from Rockwell
Automation
An article on wire sizes and types for
grounding electrical equipment
Provides general guidelines for installing a
Rockwell Automation industrial system
You can view or download publications at http://www.rockwellautomation.com/
literature/. To order paper copies of technical documentation, contact your local
Rockwell Automation distributor or sales representative.
10 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Safety Considerations
DANGER
MAGNETIC FIELDS
LOCATED IN THIS AREA.
Can be harmfull to
pacemakers and other
sensitive equipment.
Chapter
1
Introduction
Labels
Table 1 - Safety Labels
Title Location Label Details
Magnetic Field
Danger
This chapter describes the safety issues encountered while using a linear motor
and the precautions you can take to minimize risk. Potential hazards discussed
here are identified by labels affixed to the device.
Topic Page
Labels 11
High Energy Magnets 13
Vertical or Incline Installation 14
Operational Guidelines 15
Here you will find the safety and identification labels affixed to your linear motor
components. To prevent injury and damage to the linear motor, review the safety
label and its details and location before using the linear motor
A The Magnetic Fields label identifies non-ionizing radiation
found in the magnet tracks. Magnet tracks are constructed
with strong magnets. Strong magnets can disrupt the
functionality of automatic implantable cardioverter
defibrillators (AICD); people with a pacemaker should not
work near the magnet tracks. Maintenance personnel
working near the magnet tracks should avoid the use of
metallic tools and secure items, such as a badge clip and
other personal effects, that could be attracted by the strong
magnets. Strong magnets can erase magnetic media. Never
let credit cards or electronic media contact or come near the
magnet tracks.
.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 11
Chapter 1 Safety Considerations
D
C
B
A
Table 2 - Identification Labels
Title Location Label Details
Coil Nameplate B This nameplate shows the coil catalog number, serial
number, operating voltage, and frequency.
Magnet Track
Nameplate
RoHS Compliant D LDC-Series linear motor components are RoHS compliant.
C This nameplate shows the magnet track catalog number,
serial number, operating voltage, and frequency.
RoHS COMPLIANT
Directive 2002/95/EC
Label Locations for LDC-Series Linear Motor
12 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Safety Considerations Chapter 1
High Energy Magnets
Linear motor magnets contain high energy magnets that attract ferrous metals
from a considerable distance. Precautions must be taken while unpacking,
handling, and shipping by air.
Unpacking and Handling
Unpack magnet tracks one at a time. Repack magnet tracks after inspection and
before they are stocked or staged for installation. Leave protective wrapping,
cardboard, and flux containment plates in place until the magnet track is
installed. Clear the inspection and repacking area of any ferrous metals that will
be attracted to or attract the magnetic assembly. If magnet tracks must be
unpacked at the same time, maintain a distance of 1.5 m (5 ft) between
assemblies.
Air Freight Restrictions
When air freighting linear motors special preparations and precautions must be
taken. The following information outlines the basic requirements at the
publication date of this document. However, regulations are subject to change
and additional area or carrier restrictions may be imposed. Always check with
your carrier or logistics specialist regarding current local, regional, and national
transportation requirements when shipping this product.
Linear motor magnet tracks contain magnetized material, as classified by
International Air Transport Association (IATA) Dangerous 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.
At a 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 U.S. D.O.T. Hazardous Material and standard shipping procedures apply.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 13
Chapter 1 Safety Considerations
Vertical or Incline Installation
A linear motor driven system mounted vertically or on an incline will not
maintain position when the power is removed. Under the influence of gravity, the
motion platform and its payload will fall to the low end of travel. Design
engineers should allow for this by designing in controlled power-down circuits or
mechanical controls to prevent the linear motor driven system and its payload
from being damaged when the power fails.
ATTENTION: Linear motors are capable of high accelerations, sudden
and fast motion. Rockwell Automation is not responsible for misuse, or
improper implementation of this equipment.
ATTENTION: Linear motor driven systems must have end of travel
bumpers. They must be designed to take a large impact from uncontrolled
motion. The payload must be secured to the system such that it will not
sheer off in the event of an impact in excess of the bumper ratings.
ATTENTION: The Hall effect module contains an electrostatic discharge
(ESD) sensitive device. You are required to follow static-control
precautions when you install, test, service, or repair this assembly. If you
do not follow ESD control precautions, components can be damaged. If
you are not familiar with static control precautions, refer to Guarding
Against Electrostatic Damage, publication 8000-4.5.2
applicable ESD awareness handbook.
, or any other
BURN HAZARD: When the linear motors are running at their maximum
rating, the temperature of attached heat sinks can reach 100 ºC (212 ºF).
SHOCK HAZARD: An assembled linear motor will generate power if the
coil or magnet track is moved. Unterminated power cables present an
electrical shock hazard. Never handle flying leads or touch power pins
while moving the motor.
14 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Safety Considerations Chapter 1
IMPORTANT
Operational Guidelines
Please read and follow the guidelines shown here to safely operate the linear
motor created from these linear motor components.
ATTENTION: Observe maximum safe speed. Linear motors are capable
of very high forces, accelerations, and speeds. The maximum obtainable
acceleration and speed is based on the drive output (bus voltage and
current settings). The allowable maximum speed is application specific
and partly based on the linear motion mechanics supplied by others.
ATTENTION: Moving parts can cause injury. Before operating the linear
motor, make sure all components are secure and magnet mounting
hardware is below the magnet surface. Remove all unused parts from the
motor travel assembly to prevent them from jamming in the motor air gap
and damaging the coil or flying off and causing bodily injury.
You are responsible for making sure the servo control system safely
controls the linear motor with regards to maximum safe force,
acceleration, and speed, including runaway conditions.
A runaway condition can be caused by incorrect motor, hall effect, and
position feedback wiring resulting in violent uncontrolled motion.
ATTENTION: Keep away from the line of motor travel at all times.
Always have bumpers in place and securely fastened before applying
power to your linear motor.
ATTENTION: High voltage can kill. Do not operate with exposed wires.
Do not go near electrically live parts.
ATTENTION: Large Position Error Tolerances, such as those calculated by
the Auto Tune function in RSLogix 5000 programming software, or when
configuring a new axis with RSLogix 5000 software, can lead to
undetected and repetitive high energy impacts against axis end stops if
proper precautions are not in place. These tolerances can also lead to
undetected and repetitive high energy impacts against unexpected
obstructions. Such impacts can lead to equipment damage and/or serious
injury.
To identify the safety concerns that you have with default Position Error
Tolerance or after an Auto-Tune Function go to the Rockwell Automation
Knowlegebase. Click Find Technical Support Answers and search for
Answer Id 55937.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 15
Chapter 1 Safety Considerations
Notes:
16 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Start
Chapter
2
Introduction
Use this chapter to become familiar with the linear motor components, their
maintenance needs, and their configuration.
Topic Page
Catalog Number Explanation 18
Linear Motor Components 19
Design Consideration 20
Maintenance 22
Motor Storage 22
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 17
Chapter 2 Start
Cable Termination
0 = Flying Leads
1 = Circular DIN-Type Connector
Cable Length
0 = 300 mm
1 = 600 mm
2 = 1000 mm
Thermal Protection
T = PTC Thermal Sensor and Switch
Feedback
N = No Feedback
H = Hall Effect (Trapezoidal)
Winding Code
D = D Winding
E = E Winding
Coil Length
100 = 100 mm (4.15 in.) 400 = 400 mm (16.60 in.)
200 = 200 mm (8.30 in.) 600 = 600 mm (23.62 in.)
300 = 300 mm (12.45 in.)
Frame Size
030 075 150
050 100
Coil Designation
C = Standard Coil
Bulletin Number
LDC
LDC - x xxx xxx - x x x x x
LDC - x xxx xxx
Magnet Track Length
100 = 100 mm (4.15 in.)
500 = 500 mm (19.7 in.)
Frame Size
030 075 150
050 100 200
Magnet Plate Designation
M = Magnet Plate
Bulletin Number
LDC
Cooling Plate
Coil Length
100 = 134.0 mm (5.28 in.)
200 = 234.0 mm (9.21 in.)
300 = 334.0 mm (13.15 in.)
400 = 434.0 mm (17.09 in.)
600 = 634.0 mm (25.31 in.)
800 = 834.0 mm (32.84 in.)
Frame Size
030 075 150
050 100 200
Bulletin Number
LDC
LDC - xxx - xxx - CP
Catalog Number Explanation
An iron core linear motor is comprised of a coil and one or more magnet tracks.
The following keys show the catalog definition for the LDC-Series linear motors.
18 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Start Chapter 2
1
2
3
5
6
7
LDC-M050500
Magnet Track Shown
LDC-C075120-xHT11
Motor Coil Shown
4
Linear Motor Components
Use the diagrams and descriptions to identify the unique components of the
linear motor.
Figure 1 - Components of Iron Core Motor Coil and Magnet Track
Component
Number
1 Iron core motor coil
2 Magnet track High powered static magnets create the flux field the powered coil interacts with.
3 Encoder connector
4 Feedback connector
5 Power connector
6 Thermal protection connector Connects the thermal protection signal to the feedback connector.
7 Hall effect module
Component Description
Copper coils are contained in an epoxy form. When powered, the coil interacts with
the flux field of the magnet track.
Connect your encoder here by using the connector kit, catalog number LDC-ENCCNCT.
Connect to your drive feedback by using either catalog number 2090-CFBM7DFCDAFxx (for moving coil) or 2090-XXNFMF-Sxx (for moving magnet).
Connect to your drive power by using either catalog number 2090-CPWM7DFxxAFxx (for moving coil) or 2090-XXNPMF-xxSxx (for moving magnet).
This module provides input signals for commutation startup. Replacement catalog
numbers for the Hall effect module are LDC-HALL-C for the LDC-xxxxxxx-xHT1 and
LDC-HALL-F for the LDC-xxxxxxx-xHT20.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 19
Chapter 2 Start
Overall dimension with cooling plate.
Overall dimension
without cooling plate.
1
2
3
Design Consideration
The information provided here is critical to using linear motor components.
Design your system to comply with the following points to run safely and
successfully.
Motor Air Gap
Maintaining the air gap is critical to proper installation and operation of the
linear motor components. Use the coil, and magnet drawing in Appendix A
page 61
to calculate the installation envelope dimension. Size the carriage,
bearings, and base plate to withstand the force of attraction between the coil and
magnet track. By maintaining the installation envelope dimension in your design,
the vertical air gap requirement will be met. The following diagram shows the
critical dimensions.
on
Item Description
1 Magnet track
2Coil
3 Optional cooling plate assembly
20 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Start Chapter 2
1
1
3
4
2
Bumpers, Shock Absorbers, or End Stops
Include in your design a mechanical stop at each end of travel. Design the stops so
they can prevent the moving mass from leaving its travel limits. Take into
consideration the maximum speed and inertia of your moving mass when
designing your mechanical stops. The following diagram shows a minimal system
with mechanical stops.
Figure 2 - Mechanical Stops
Item Description
1 Mechanical stops
2 Carriage/heat sink
3 Encoder readhead
4 Encoder strip
Linear Encoder
Your linear motor components need to be integrated with a linear encoder
purchased from a third party.
Carriage/Heat Sink
The linear motor coil requires a heat sink to maintain performance. The heat sink
requires a minimal mass and surface area as shown on page 69
the carriage in a moving coil system or be designed into the base in a moving
magnet system.
. It can also serve as
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 21
Chapter 2 Start
Maintenance
Motor Storage
Linear motors require no maintenance when operated in relatively clean
environments. For operation in harsh and dirty environments, we recommend
cleaning every 6 months.
Clean the metallic debris and other contaminants from the air gap. Use a strip of
masking tape to remove the metal debris. Apply a strip of tape on the magnet
track and then remove it. Keeping the magnet track clean will prevent witness
marks. Witness marks are caused by metal debris being dragged across the surface
of the stainless steel by the magnet field of the moving coil. Witness marks have
no effect on the performance of the motor.
The motor storage area should be clean, dry, vibration free, and have a relatively
constant temperature. If a motor is stored on equipment, it should be protected
from the weather. All motor surfaces subject to corrosion should be protected by
applying a corrosion resistant coating.
22 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Chapter
Install the LDC-Series Linear Motor
3
Introduction
Unpacking and Inspection
In this section you will unpack, inspect, and install your linear motor components
by creating your own linear motor.
Topic Page
Unpacking and Inspection 23
Installing Linear Motor Components 24
Mount a Single Coil with Multiple Magnet Tracks 24
Mount a Single Coil with a Single Magnet Track 29
Read the following guidelines to handle magnet tracks carefully.
ATTENTION: Linear motors contain powerful permanent magnets
which require extreme caution during handling. When handing
multiple magnet tracks do not allow the tracks to come in contact
with each other. Do not disassemble the magnet tracks. The forces
between tracks are very powerful and can cause bodily injury.
Persons with pacemakers or Automatic Implantable Cardiac
Defibrillator (AICD) should maintain a minimum distance of 0.33 m
(1 ft) from magnet assemblies. Additionally, unless absolutely
unavoidable, a minimum distance of 1.5 m (5 ft) must be
maintained between magnet assemblies and other magnetic/
ferrous composite materials. Use only non-metallic
instrumentation when verifying assembly dimension prior to
installation.
Inspect motor components and verify they are damage free. 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 for further advice:
• Compare the purchase order with the packing slip.
• Check the quantity of magnet tracks received matches your job
requirements.
• Identify the options that came with your linear motor.
• Inspect the assemblies and confirm the presence of specified options.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 23
Chapter 3 Install the LDC-Series Linear Motor
IMPORTANT
TIP
IMPORTANT
Installing Linear Motor Components
Use one of the following procedures to install the magnet track or tracks and the
motor coil.
Required Tools
• Aluminum straight edge
• Non-magnetic M4 or M5 hex wrench
• Magnet channel alignment tool
The alignment tool is shipped attached to the cables next to the
Hall effect module. Remove before operating the linear motor.
Use non-magnetic tools and hardware made of beryllium
copper, 300 series stainless steel. If these tools are not
available, proceed carefully as the magnet track attracts
magnetic and ferrous items.
Mount a Single Coil with Multiple Magnet Tracks
Follow these steps to install a single coil with multiple magnet tracks.
ATTENTION: To avoid damage due to the magnetic attraction
between the magnet tracks, maintain a minimum distance of 1.5 m
(5 ft) between the magnet tracks that are being installed and the
magnet tracks awaiting installation. Keep the protective cardboard
and the metal plate in place until the installation is complete.
ATTENTION: Never attempt to place the coil assembly directly on
the magnet plates. Strong magnetic attraction will cause
uncontrolled movement causing a pinch hazard and possible
damage to the components.
1. Clear the magnet track mounting surface of foreign material.
If necessary stone the mounting surface, acetone or methanol may be
applied as cleaning agent.
Do not use abrasives to clean the surface.
2. Verify the flatness of the surface to which the magnet track is to be
mounted.
Total Indicator Reading (TIR) is 0.127 mm (.005 in.) per
300 mm (12.0 in.). TIR or runout correlates to the overall flatness
requirement of the surface.
24 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Install the LDC-Series Linear Motor Chapter 3
3. Verify the dimension of the opening for the magnet track, coil, and cooling
plate if used.
4. Remove all burrs and clean the motor coil mounting surface.
5. Position the carriage toward the end of travel where you want the cable to
exit.
6. Install the motor under the carriage, using M5 x 0.8 bolts that extend
through the slide by at least 12 mm (0.5 in.), but no more then
20 mm (0.7 in.).
7. Tighten the screws but do not torque.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 25
Chapter 3 Install the LDC-Series Linear Motor
IMPORTANT
3
2
Alignment Holes
8. On the opposite end of the base, install the first magnet track using
M5 x 0.8 x 16 mm Socket Head Captive Screw (SHCS).
Do not tighten screws.
Use non-magnetic tools and hardware such as beryllium copper,
300 series stainless steel. If not available proceed with care
since ferrous items will be attracted to the magnet tracks.
9. Install additional magnet tracks.
Place each magnet track on the base and slide towards the previously install
magnet track. For correct magnetic polarity the alignment holes should all
be on the same side.
26 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Install the LDC-Series Linear Motor Chapter 3
Shim
4
5
6
10. Move the carriage with motor coil installed over the installed magnet
tracks.
There may be some resistance while moving onto the tracks, this is normal.
11. Measure the gap between the motor coil and magnet track using plastic
shim stock.
The gap should be 0.79 mm (0.031 in.) to 1.70 mm (0.067 in.).
If gap is too large, add a brass or a stainless steel shim between the motor
coil and carriage. If the gap is too small, machine the slide or place shims
under the bearing pucks.
12. Install the remaining magnet tracks in the order shown.
13. Slightly loosen the mounting screws on the exposed magnet tracks.
Do not loosen the magnet tracks that are covered by the motor coil.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 27
Chapter 3 Install the LDC-Series Linear Motor
Aluminum Straight Edge
Alignment Tool
TIP
14. Align the magnet tracks with an aluminum straight edge, and the supplied
alignment tool.
15. Place the alignment tool in the holes on each of the magnet tracks.
16. Align the edges of the magnet tracks with the aluminum straight edge and
tighten the bolts.
17. Position the carriage over the complete sections and continue aligning the
remainder of the magnet tracks.
If space limitation prevents the use of an aluminum
straight edge. Place a 0.5 mm (0.020 in.) plastic shim
between the magnet tracks, tighten the bolts, and then
remove the shim.
18. Torque all screws to the values listed in the table, securing assemblies in
place by using all mounting holes.
SHCS Torque
SHCS
M5 9.5 (7.0) 6.36 (4.7)
Black Oxide Steel
N•m (lb•ft)
ATTENTION: Remove the alignment tool and make certain all
magnet-track mounting hardware is flush or below the magnet
surface to prevent damage to the coil.
Stainless Steel
N•m (lb•ft)
28 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Install the LDC-Series Linear Motor Chapter 3
Mount a Single Coil with a Single Magnet Track
Follow these steps to install a single coil with single magnet track.
1. Install the magnet track by using M5 x 0.8 x 16 mm SHCS.
2. Remove any burrs and clean the motor-coil mounting surface.
3. Install the motor coil under the carriage, by using M5 x 0.8 screws that
extend through the carriage by at least 12 mm (0.5 in.), but no more than
20 mm (0.7 in.).
4. Tighten screws but do not torque them.
5. Slide the carriage assembly onto the bearing pucks.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 29
Chapter 3 Install the LDC-Series Linear Motor
Shim
There will be resistance from magnetic forces while moving onto the
bearing pucks; this is normal.
6. Attach the carriage assembly to the bearing pucks.
7. Measure the gap between the motor and magnet by using plastic shim
stock.
The gap should be 0.79…1.70 mm (0.031…0.067 in.). If the gap is too
large, add a brass or stainless steel shim between the motor and carriage. If
the gap is too small, machine the carriage or place shims under the bearing
pucks.
30 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Install the LDC-Series Linear Motor Chapter 3
8. Torque all screws to the values listed in the table, securing assemblies in
place by using all mounting holes.
SHCS Torque
SHCS
M5 9.5 (7.0) 6.36 (4.7)
Black Oxide Steel
N•m (lb•ft)
Stainless Steel
N•m (lb•ft)
ATTENTION: Remove the alignment tool and make certain all the
magnet-track mounting hardware is flush or below the magnet
surface to prevent damage to the coil.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 31
Chapter 3 Install the LDC-Series Linear Motor
Notes:
32 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Chapter
4
LDC-Series Linear Motor Connector Data
Introduction
This chapter provides power, thermistor, and Hall effect cable-connector
information for the linear motor coil and Hall effect module.
Topic Page
Linear Motor Coil Connectors 34
Hall Effect Module Connectors 35
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 33
Chapter 4 LDC-Series Linear Motor Connector Data
Mating Connector Kit Allen-Bradley 2090-KPBM4-12AA
Intercontec P/N BKUA090NN00420220000
A
CB
D
E
H
L
F
G
1
4
3
Linear Motor Coil Connectors
There are two connectors on the linear motor coil, catalog number
LDC-xxxxxxxx-xxT11; the power connector and the Positive Temperature
Coefficient (PTC) thermistor.
Power Connector
The following tables identifies the power signals for the DIN-style circular
connector.
PinColor Signal
A Red U (A) Phase
B White V (B) Phase
C Black W (C) Phase
D Green/Yellow Ground
Case Shield
Cable Shield
and GND
ATTENTION: Properly ground the coil as described in this manual
and the drive manual.
PTC Thermistor Connector
The following tables identifies the power signals for the PTC connector.
Pin Description Signal
1 PTC thermistor + TS+
3 PTC thermistor - TS4– Reserved
Mates with PTC thermistor
connector on Hall effect
module.
34 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
LDC-Series Linear Motor Connector Data Chapter 4
Intercontec P/N AKUA015NN00400220000
Mating Connector Kit Allen-Bradley 2090-KFBM4-CAAA
Hall Effect Module Connectors
Pin Description Signal
1 A quad B TTL (1V p-p), + A differential AM+ (SIN+)
2 A quad B TTL (1V p-p), - A differential AM- (SIN-)
3 A quad B TTL (1V p-p), + B differential BM+ (COS+)
4 A quad B TTL (1V p-p), - B differential BM- (COS+)
5 TTL + index mark differential IM+
6 TTL - index mark differential IM7
Reserved –
8
9 Encoder and Hall sensor power +5V DC
10 Common Common
11 Reserved –
The following tables show the pinouts of the LDC-Series linear motors with the
Hall effect module, catalog number LDC-xxxxxxx- xHTxx.
Feedback Connector
These are the feedback connector pinouts .
11
1
12
13
16
10
2
9
3
17
1415
4
8
6
7
5
12 Common Common
13 PTC thermistor sensor + TS+
14 PTC thermistor sensor - TS15 TTL - trapezoidal Hall commutation S1
16 TTL - trapezoidal Hall commutation S2
17 TTL - trapezoidal Hall commutation S3
Case Shield –
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 35
Chapter 4 LDC-Series Linear Motor Connector Data
4
31
4
1
3
6
9
7
Mating connector available as
part of encoder connector kit,
catalog number LDC-ENC-CNCT.
PTC Thermistor Connector
These are the thermal protection connector pinouts .
Encoder Connector
These are the encoder connector pinouts.
Pin Description Signal
1 PTC thermistor sensor + TS+
4Reserved –
3 PTC thermistor sensor - TS-
Mates with PTC thermistor
connector on linear motor coil.
Pin Description Signal
1 A quad B TTL, + A differential AM+
2 A quad B TTL, + B differential BM+
3 TTL + index mark differential IM+
4 A quad B TTL, - A differential AM5 A quad B TTL, - B differential BM6 TTL - index mark differential IM7 5V DC return Common
8 Encoder and Hall sensor power +5V DC
9 Shield drain –
36 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Wire the LDC-Series Linear Motor
Chapter
5
Introduction
Connect the Linear Motor Coil
This section shows you how to wire your LDC-Series linear motor.
Topic Page
Connect the Linear Motor Coil 37
Signal and Wire Definitions for Flying Lead Components 40
Making Your Own Extension Cables 41
Mounting and Wiring Two Identical Coils in Tandem 42
Use the following procedure to connect your linear motor, catalog number
LDC-xxxxxxx-xHT11.
1. Wire your encoder to the connector by using the Encoder Connector Kit,
catalog number LDC-ENC-CNCT, and the connector data on page 35
ATTENTION: Be sure that cables are installed and restrained to
prevent uneven tension or flexing at the cable connectors. Use the
Bulk Head Connector Kit, catalog number LDC-BULK-HD, for
mounting these connectors.
Excessive and uneven lateral force at the cable connectors may
result in the connector’s environmental seal opening and closing
as the cable flexes.
Failure to observe these safety precautions could result in damage
to the motor and its components.
.
2. Connect your encoder to the encoder connector on the Hall effect
module.
3. Attach the motor feedback and power cables.
ATTENTION: Do not connect or disconnect the motor feedback
cable or the power cable while power is applied. It may result in
unexpected motion or cause damage to the components.
a. If using a quick-connect connector, remove the o-ring before making
the connection.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 37
Chapter 5 Wire the LDC-Series Linear Motor
3
1
2
4
6
5
To User Supplied Encoder
To Drive
b. If using thread type connectors, leave the o-ring in place.
ATTENTION: Remove the o-ring when using a quick-connect
connector. The o-ring will block the locking mechanism, rendering
it ineffective.
A threaded connector will fit on the male connector with or without
the o-ring. If the o-ring is not used on a threaded connector, the
connection will eventually vibrate loose.
c. Align flats on each connector.
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 For the quick-connect connector, push the
connector on and apply a quarter turn.
Item Description
1 Power connector
2 Feedback connector
3 Encoder connector
4 Connect your encoder using Encoder Connector Kit, catalog
5 Feedback Extension Cable, catalog number 2090-CFB7DF-CDAFxx or 2090-
6 Power Extension Cable, catalog number 2090-CPWM7DF-xxAFxx or 2090-
38 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
number LDC-ENC-CNCT
XXNFMF-Sxx
XXNPMF-xxSxx
Wire the LDC-Series Linear Motor Chapter 5
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
result in the connector’s environmental seal opening and closing
as the cable flexes. Failure to observe these safety precautions
could result in damage to the motor or encoder.
d. For the threaded connector, hand-tighten the knurled collar with five to
six turns to fully seat the connector.
ATTENTION: Keyed connectors must be properly aligned and
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 precautions could result in damage
to the motor, cables, and connector components.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 39
Chapter 5 Wire the LDC-Series Linear Motor
Signal and Wire Definitions for Flying Lead Components
For linear motors, catalog numbers LDC-xxxxxxx-xxT20, wire them by using the
wiring diagram on page 79
gauge information see page 71
Linear Motor Coil
These are the wire colors and signals for the linear motor-coil power and thermal
protection cables, catalog numbers LDC-xxxxxxx-xxT20.
Table 3 - Power Signals
. Wire colors and signal types are shown here; for wire
.
Color Signal Comments
Red Motor Phase U (A) • Observe maximum applied voltage specification.
White Motor Phase V (B)
Black Motor Phase W (C)
Green Motor Ground • Terminate per drive manual instructions.
Shield Cable Shield
ATTENTION: Disconnect the input power supply before installing or
servicing the motor. Motor lead connections can short and cause damage
or injury if not well secured and insulated. Insulate the connections, equal
to or better than the insulation on the supply conductors. Properly ground
the motor per the selected drive manual.
• Consult the drive manual or supplier for specific
wiring instructions to the drive. Wiring is phase/
commutation sensitive.
• Shield is not connected to the motor frame.
These are the PTC thermistor sensor wire colors and signals for the linear motor
coil power and thermal protection cables, catalog number LDC-xxxxxxx-xxT20.
Table 4 - PTC Thermistor Sensor Signals
Color Description Signal
Black PTC thermistor sensor + TS+
Black PTC thermistor sensor - TS-
40 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Wire the LDC-Series Linear Motor Chapter 5
Hall Effect Module
This table shows the signal and wire colors for the Hall effect module with flying
leads, catalog number LDC-HALL-F.
Color Signal Signal Spec
Red +V 5…24V DC Hall supply, 20 mA.
Black VRTN Hall effect signal common.
White S1
Making Your Own Extension Cables
Blue S2
Orange S3
Silver braid Cable shield
–
Terminate at drive end per drive
manual instructions.
Flying lead coil and Hall effect modules require circular DIN-style connectors to
interface with Allen-Bradley extension cables. The following connectors kits are
available for terminating flying lead coils and Hall effect modules.
Connector Kit Cat. No. Application
2090-KFBM7-CAAA Feedback flex extension cable
2090-KPBM4-12AA Power flex extension cable
2090-KFBE7-CAAA Feedback non-flex extension cable
2090-KPBE7-12AA Power non-flex extension cable
The cable length from the coil to drive should be limited to 10 m (32.8 ft). If
longer cables are necessary, a 1321-3Rx-x series line reactor is required. Refer to
the 1321 Power Conditioning Products Technical Data, publication 1321-
TD001, to choose a line reactor for applications requiring cable longer than 10 m
(32.8 ft).
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 41
Chapter 5 Wire the LDC-Series Linear Motor
Coil #1
Coil #2
Coil #1 is the master.
Hall Effect
Module
L
Mounting and Wiring Two Identical Coils in Tandem
This type of installation requires a custom motor-database file, which is available
upon request. Contact Application Engineering at 631.344.6600 to request this
file.
These tables and figures show the wiring and spacing for two identical coils
mechanically top mounted to the same plate and driven by one amplifier. There
are three configurations shown here for mounting motors in tandem: power and
encoder cables exiting on the right, the center, and on opposite ends.
Coils must have identical part numbers. Using mismatched coils
will cause a hazardous condition resulting in damage to the
equipment and a possible fire.
Cables Exit to the Right
If mounting coils in tandem, such that the power cables exit both the coils on
right side, as shown, use the following table to find the mounting distance and the
phase wiring.
Figure 3 - Mounting Two Coils with Cables Exit to the Right
Table 5 - Phase Wiring for Right-exit Power Cables
L
mm (in.)
133.33 (5.249) Red Red U
(1) Master has Hall effect module.
(2) Slave has no Hall effect module.
42 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Coil # 1
(1)
Master
White White V
Black Black W
Coil # 2
(2)
Slave
Amplifier
Phase
Wire the LDC-Series Linear Motor Chapter 5
Coil #1
Coil #2
Coil #1 is the master.
Hall Effect
Module
L
Cables Exit in the Center
If mounting coils in tandem, such that the power cables exit in the center as
shown, use the following table to find the mounting distance and the phase
wiring.
Figure 4 - Mounting Two Coils with Cables Exit in the Center
Table 6 - Phase Wiring for Center-exit Power Cables
L
mm (in.)
133.33 (5.249) Red Black U
(1) Master has Hall effect module.
(2) Slave has no Hall effect module.
Coil # 1
(1)
Master
White White V
Black Red W
Coil # 2
Slave
(2)
Amplifier
Phase
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 43
Chapter 5 Wire the LDC-Series Linear Motor
Coil #1
Coil #2
Coil #1 is the master.
Hall Effect
Module
L
Cables Exit on Opposite Ends
If mounting coils in tandem such that the power cables exit opposite to each other
as shown, use the following table to find the mounting distance and the phase
wiring.
Figure 5 - Mounting Two Coils with Cables Exit on Opposite Ends
Table 7 - Phase Wiring for Opposite End-exit Power Cables
L
mm (in.)
100.00 (3.94)
133.33 (5.249)
(1) Master has Hall effect module.
(2) Slave has no Hall effect module.
Coil # 1
(1)
Master
Red Red U
White Black V
Black White W
Red Black U
White White V
Black Red W
Coil # 2
Slave
(2)
Amplifier
Phase
44 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Chapter
IMPORTANT
6
Configure and Start Up the LDC-Series Linear Motor
Introduction
Before You Begin
This section covers the set up and connection verification of a linear motor with
either Kinetix 6000, Kinetix 6500/6200, Kinetix 2000, or Ultra3000 drives.
Topic Pages
Before You Begin 45
What You Need 46
Required Files 46
Follow These Steps 47
Update the Linear Motor Database 47
Set Up the Connection to a Kinetix 6000, Kinetix 6500/6200, or Kinetix 2000 Drive 48
Set Up the Connection to an Ultra3000 Drive 53
Verify Motor Encoder Direction 55
Verify Motor Encoder Resolution 56
Verify Linear Motor Wiring and Function 56
This chapter assumes you have wired your linear motor and Allen-Bradley drive
as shown in wiring diagrams in Appendix A
starting on page 61.
It is important that the brushless linear motor coil, Hall sensor, and the
linear encoder be wired correctly for proper drive commutation and servo
operation to get positive motion when commutated.
Please read and understand Motor Direction Defined
.
Motor Direction Defined
Positive motion is dependent on encoder orientation, encoder wiring, and coil or
magnet track motion.
Most linear encoders are attached to the motor coil with the encoder cable facing
the same direction as the motor coil cable.
Wire the linear encoder such that the position feedback is positive (phase A+
leads phase B+) when the motor is moving in the positive direction.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 45
Chapter 6 Configure and Start Up the LDC-Series Linear Motor
Coil Motion
Stationary Magnet
Stationary Coil
Magnet Motion
When the motor power and Hall sensor wiring is connected as shown in the
wiring diagrams in Appendix A
motor coil moving toward its power cable. This diagram shows positive motion
for both a moving coil and a moving magnet track.
Figure 6 - Motor Direction
, the positive direction of motion is defined as the
What You Need
You need a computer with RSLogix 5000 software installed and current files to
support your motor.
Required Files
Firmware revisions and software versions required to support the linear motors
include the following:
• RSLogix 5000 software, version 16.00 or later
• Kinetix 2000 or Kinetix 6000 multi-axis drives
– Firmware revision 1.96 or later
– For RSLogix 5000 software, version 16.xx
use Motion Database file, version 4_17_0 or later
– For RSLogix 5000 software, version 17.xx or later
use Motion Database file, version 5_8_0 or later
46 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Configure and Start Up the LDC-Series Linear Motor Chapter 6
Update the Linear Motor Database
Verify Motor Encoder
Resolution
Set Up the Connection to a
Kinetix 6000, Kinetix 6500/
6200, or Kinetix 2000 Drive
Verify Motor Encoder
Direction
Verify Linear Motor
Wiring and Function
Set Up the Connection to an
Ultra3000 Drive
Drive Model?
Ultra3000 Drive
Kinetix 6000 Drive,
Kinetix 6200/6500 Drive,
or Kinetix 2000 Drive
page 56
page 56
page 55
page 53page 48
page 47
• Ultra3000 drives
–Firmware revision 1.52 or later
–Motor Database, motor_03_18_09.mdb or later
– Motion Analyzer software, version 4.7 or later
Follow These Steps
Download these files from http://www.rockwellautomation.com/support
.
Contact Rockwell Automation Technical Support at 440.646.5800 for assistance.
The following flow chart illustrates the required steps.
Update the Linear Motor
Database
Install the current Motion Database, as required, before commissioning your
linear motor. See the Required Files
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 47
on page 46.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor
Set Up the Connection to a Kinetix 6000, Kinetix 6500/ 6200, or Kinetix 2000 Drive
This procedure configures the Kinetix 6000, Kinetix 6500/ 6200, or
Kinetix 2000 drive for your linear motor and encoder combination.
For help in setting up your linear motor with RSLogix 5000 software, refer to
Additional Resources
on page 9. This procedure assumes you are familiar with
RSLogix 5000 software.
1. Click the Driver/Motor tab.
2. Click Change Catalog and select the appropriate motor catalog number
from the following list.
Your catalog number will have a letter append to the end to indicate what
drive you are using to power it: A = 230V drive and B = 460V drive.
Cat. No. Cat. No.
LDC-C030100-DHTxxA LDC-C030100-DHTxxB
LDC-C030200-DHTxxA LDC-C030200-DHTxxB
LDC-C030200-EHTxxA LDC-C030200-EHTxxB
LDC-C050100-DHTxxA LDC-C050100-DHTxxB
LDC-C050200-DHTxxA LDC-C050200-DHTxxB
LDC-C050200-EHTxxA LDC-C050200-EHTxxB
LDC-C050300-DHTxxA LDC-C050300-DHTxxB
LDC-C050300-EHTxxA LDC-C050300-EHTxxB
LDC-C075200-DHTxxA LDC-C075200-DHTxxB
LDC-C075200-EHTxxA LDC-C075200-EHTxxB
LDC-C075300-DHTxxA LDC-C075300-DHTxxB
LDC-C075300-EHTxxA LDC-C075300-EHTxxB
LDC-C075400-DHTxxA LDC-C075400-DHTxxB
LDC-C075400-EHTxxA LDC-C075400-EHTxxB
LDC-C100300-DHTxxA LDC-C100300-DHTxxB
LDC-C100300-EHTxxA LDC-C100300-EHTxxB
LDC-C100400-DHTxxA LDC-C100400-DHTxxB
LDC-C100400-EHTxxA LDC-C100400-EHTxxB
LDC-C100600-DHTxxA LDC-C100600-DHTxxB
LDC-C100600-EHTxxA LDC-C100600-EHTxxB
LDC-C150400-DHTxxA LDC-C150400-DHTxxB
LDC-C150400-EHTxxA LDC-C150400-EHTxxB
LDC-C150600-DHTxxA LDC-C150600-DHTxxB
LDC-C150600-EHTxxA LDC-C150600-EHTxxB
LDC-C030100-DHTxxA LDC-C030100-DHTxxB
LDC-C030200-DHTxxA LDC-C030200-DHTxxB
48 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Configure and Start Up the LDC-Series Linear Motor Chapter 6
Using the screen image as a reference, configure the parameters as shown in
the Setting column.
Parameter Setting Comment
Loop Configuration Position Servo –
200 5 µm encoder
500 2 µm encoder
1000 1 µm encoder
Drive Resolution
Drive Counts per Motor Millimeter –
Real Time Axis Information
Attribute 1 Position Feedback –
2000 0.5 µm encoder
10,000 0.1 µm encoder
51200 20 µm pitch Sin/Cos encoder
25600 40 µm pitch Sin/Cos encoder
3. Click OK.
4. Click the Motor Feedback tab.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 49
Chapter 6 Configure and Start Up the LDC-Series Linear Motor
5. Using the screen image as a reference, configure the parameters as shown in
the Setting column.
Parameter Setting Comment
Feedback Type TTL or Sin/Cos For RSLogix 5000 software,
TTL with Hall or Sin/Cos with Hall For RSLogix 5000 software,
Cycles 50 5 µm encoder
125 2 µm encoder
250 1 µm encoder
500 0.5 µm encoder
2500 0.1 µm encoder
50 20 µm Sin/Cos encoder
25 40 µm Sin/Cos encoder
per Millimeters –
Interpolation Factor 4 TTL
1024 Sin/Cos
version 16
version 17
Figure 7 - RSLogix 5000 Software, Version 15.00 and 16.00, TTL Encoder
Figure 8 - RSLogix 5000 Software, Version 15.00 and 16.00, Sin/Cos Encoder
50 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Configure and Start Up the LDC-Series Linear Motor Chapter 6
EXAMPLE
Figure 9 - RSLogix 5000 Software, Version 17.00 and Later, TTL Encoder
Figure 10 - RSLogix 5000 Software, Version 17.00 and Later, Sin/Cos Encoder
6. Click OK to sets the values.
7. Click the Units tab.
8. Using the screen image as a reference, configure the parameters as shown in
the Setting column.
Parameter Setting
Position Units mm
Average Velocity Timebase 0.25 s
You can change position units to inches, or other units, on this tab.
This is an example for a 5 µm resolution encoder:
200 drive cnts/mm x 25.4 mm/in.
Conversion Constant = 5080 drive cnts/in.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 51
Chapter 6 Configure and Start Up the LDC-Series Linear Motor
9. Click OK to set the values.
10. Click the Conversion tab.
11. Using the screen image as a reference, configure the parameters as shown in
the Setting column.
Parameter Setting Comment
Positioning Mode Linear –
Conversion Constant 200 5 µm encoder
500 2 µm encoder
12. Click OK.
1000 1 µm encoder
2000 0.5 µm encoder
10,0000 0.1 µm encoder
51200 20 µm pitch Sin/Cos encoder
25600 40 µm pitch Sin/Cos encoder
52 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Configure and Start Up the LDC-Series Linear Motor Chapter 6
Set Up the Connection to an Ultra3000 Drive
This procedure configures the Ultra3000 drive for your linear motor and encoder
combination.
For help using Ultraware software as it applies to setting up your linear motor,
refer to Additional Resources
with Ultraware software.
on page 9. This procedure assumes you are familiar
1. Open your Motor Configurator Utility.
2. Select the linear motor catalog number.
3. From the Edit menu, choose Duplicate.
4. Rename the Model.
5. Click Encoder Type and select either Incremental or Sin/Cos.
6. Click Lines Per Meter and enter the value.
The following tables list typical values for lines per meter.
Incremental Sin/Cos
Resolution Value Encoder Scale Pitch Value
10 µm 25,000 100 µm 10,000
5 µm 50,000 40 µm 25,000
2 µm 125,000 20 µm 50,000
1 µm 250,000
0.5 µm 500,000
0.1 µm 2,500,000
Figure 11 - Incremental Encoder
Figure 12 - Sin/Cos Encoder
7. Click Close.
8. Open your Ultraware software.
9. Configure your Ultra3000 drive.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 53
Chapter 6 Configure and Start Up the LDC-Series Linear Motor
10. From the Workspace dialog box, select Motor.
11. Click Motor Model.
12. Choose the model you created from the pull-down menu.
If using an incremental encoder, you are finished. For Sin/Cos encoders,
continue with steps 12 and 13.
13. From the Workspace dialog box, select Encoders.
14. Click Motor Encoder Interpolation.
15. Select a value from the pull-down menu.
This table shows the encoder resolutions that could be achieved when
using a 20 μm Sin/Cos encoder and different interpolation values.
Value Encoder Resolution
X4 5 µm
X8 2.5 µm
X16 1.25 µm
X32 0.625 µm
X64 0.3125 µm
X128 0.15625 µm
X256 0.078125 µm
X512 0.0390 µm
X1024 0.01953125 µm
54 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Configure and Start Up the LDC-Series Linear Motor Chapter 6
Verify Motor Encoder Direction
In this section, you use the monitor tags to evaluate the encoder installation.
1. Disable the drive.
2. Note the ActualPostion tag value.
3. Move the axis in the positive direction.
See page 45
for definition for positive direction.
4. Verify that the ActualPostion tag value increases as the axis moves.
If the positive direction of travel does not match what has been defined by
the motor power and Hall Sensing wiring, then change the direction by
rewiring the encoder by using the following table.
Move To
Encoder Phase Drive CN2, Pin Encoder Phase Drive CN2, Pin
A+ 1 B+ 3
A- 2 B- 4
B+ 3 A+ 1
B- 4 A- 2
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 55
Chapter 6 Configure and Start Up the LDC-Series Linear Motor
IMPORTANT
Verify Motor Encoder Resolution
Verify Linear Motor Wiring and Function
This test compares the physically measured distance to the distance calculated by
the software. It also verifies the encoder setting in the RSLogix 5000 software.
1. Measure and mark a fixed distance of travel on the axis.
2. Record the ActualPosition tag value with carriage at the starting position.
3. Move the carriage to the end position.
4. Record the ActualPosition tag value.
5. Calculate the distance moved by using the record values.
6. Compare the actual distance and the calculated distance.
If the values do not match, verify the resolution of the installed encoder
and the values used in the Motor Feedback, Conversion, and Units tabs.
In RSLogix 5000 software, click the Homing and Hookup tabs to check that the
motor power, Hall sensing, and the encoder signal wiring is correct.
The following components must be wired correctly for your drive and
linear motor to operate properly:
• Hall effect module
• Coil power wires
• Thermistor or thermal switch
• Encoder
Follow these steps to verify your motor wiring and function.
1. Click the Hookup tab.
2. Configure the parameters.
The following table shows the suggested settings.
Parameter Suggested Setting
Test Increment 60.00 mm
Drive Polarity Positive
56 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Configure and Start Up the LDC-Series Linear Motor Chapter 6
IMPORTANT
IMPORTANT
3. Click OK.
4. Click Test Marker.
Refer to your encoder user documentation for the location and frequency
of markers.
5. Position the coil so that it can move 60 mm (2.36 in.) in the forward or
reverse direction.
6. Click Test Feedback.
Move the axis by hand at least 60 mm (2.36 in.) when prompted.
When using Allen-Bradley servo drives, match the counting direction of
your position feedback encoder to the direction the motor moves when a
positive current is applied.
7. Click Test Command & Feedback.
Follow the on-screen instructions.
Be sure all the tests on the Hookup tab have passed before
proceeding.
When using a Kinetix 6000 or a Kinetix 2000 drive, the Test
Command Feedback test may pass even though the Hall effect
module is not wired correctly.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 57
Chapter 6 Configure and Start Up the LDC-Series Linear Motor
8. Click the Tune tab.
9. Configure the parameters in the Tune tab as suggested in the Initial Setting
column, leaving all other tune options off for your first pass.
If necessary, reduce the Velocity Loop Proportional Gain to maintain
stability.
WARNING: Large Position Error Tolerances, such as those
calculated by the Auto Tune function in the RSLogix 5000
programming software, or when configuring a new axis with the
RSLogix 5000 software, can lead to undetected and repetitive
high-energy impacts against axis end stops if proper precautions
are not in place. These tolerances can also lead to undetected and
repetitive high-energy impacts against unexpected obstructions.
Such impacts can lead to equipment damage and/or serious injury.
To identify the safety concerns that you have with default Position
Error Tolerance or after an Auto Tune Function, go to the Rockwell
Automation Knowlegebase. Click Find Technical Support Answers
and search for Answer ID 55937.
Parameter Initial Setting Units Note
Travel Limit 100 mm Suggested
Speed 250 mm/sec –
Torque/Force 50 % Rated –
Direction Forward Bi-directional – –
Damping Factor 0.8 – (default)
58 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Configure and Start Up the LDC-Series Linear Motor Chapter 6
10. Click the Homing tab.
11. From the Sequence pull-down menu, choose Switch-Marker, or Torque
Level-Marker when a repeatable power-up position is desired.
Typical linear TTL and Sin/Cos encoders will home repeatability to
within one count of resolution when their index mark is used.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 59
Chapter 6 Configure and Start Up the LDC-Series Linear Motor
IMPORTANT
Additional Adjustments for Cooling Plate Option
If your linear servo motor has the cooling plate option installed, catalog number
LDC-xxxxxx-CP, follow these steps to adjust Continuous Torque/Force Limit.
1. Click the Limits tab.
2. Set the Continuous Torque/Force Limit to reflect the motor cooling
configuration.
For linear motors, this field data entry is limited to integer values from
0…150%.
Cooling Option Used Value
No cooling plate 0…100%
Cooling plate with forced air 0…120%
Cooling plate with forced water 0…150%
Increasing or decreasing the motor continuous current rating does not
change the drives’ continuous current limiting.
60 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Specifications and Dimensions
Appendix
A
Introduction
This appendix provides product specifications and mounting dimensions for
your LDC-Series iron core linear servo motor components
Topic Page
Performance Specifications 62
General Specifications 68
Product Dimensions 71
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 61
Appendix A Specifications and Dimensions
Performance Specifications
These tables provide performance specifications for the LDC-Series iron core
linear servo motors.
Common Performance Specifications
These performance specifications apply to all LDC-Series iron core linear servo
motors.
Attribute Value
Motor type 3 phase, wye winding, synchronous permanent magnet
Operating speed, max 10 m/s (32.8 ft/s)
Operating voltage, (not for direct connection to AC line) 460V AC rms
Dielectric rating of motor power connections (U,V,W), to ground for 1.0 s
Cogging torque < 5% of the continuous force
Applied bus voltage, max
Electrical cycle length 50 mm (1.9685 in.)
Coil temperature, max 130 °C (266 °F)
Insulation class 130 °C (266 °F) Class B
Thermal time constant, Ref, winding to ambient 45 min
Paint color Black
(2)
(1)
stator, non-ventilated linear motor
2500V AC rms 50/60 Hz
650V DC
(1) Tested during manufacturing process. Do not re-apply test voltage. Contact Application Engineering (631.344.6600) for advice on testing coils post production.
(2) Maximum cable length is 10 m (32.8 ft). Consult Application Engineering (631.344.6600) for applications requiring longer cables.
62 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Specifications and Dimensions Appendix A
Performance Specifications
Motor performance specifications are with sinusoidal commutation. Cooling
options include NC (no cooling), AC (air cooling), and WC (water cooling).
Table 8 - LDC-Series Iron Core Linear Motors (30 mm frame size)
Attribute Units Symbol LDC-C030100-DxTxx LDC-C030200-DxTxx LDC-C030200-ExTxx
NC AC WC NC AC WC NC AC WC
(4)
(5) (6) (7)
(4) (6)
(5) (7)
(1) (2) (3)
(5) (6) (7)
(1) (2) (3) (6)
(8)
(5) (7)
N
(lbf)
N
(lbf)
N/A
pk
(lbf/Apk)
Vp/m/s
(Vp/in/s)
A
pk
(A
rms
A
pk
(A
rms
Ohms R
F
c
F
p
th
K
f
K
e
I
p
)
I
c
)
20
74
(17)93(21)
188
(42)
111
(25)
148
(33)
375
(84)
185
(42)
222
(50)
148
(33)
2.24 1.43 1.00 1.12 0.72 0.50 1.12 0.72 0.50
18.2
(4.1)
21.5
(0.55)
12.1
(8.6)
4.1
(2.88)
5.1
(3.6)
6.1
(4.3)
18.2
(4.1)
21.5
(0.55)
24.3
(17.1)
8.1
(5.8)
10.2
(7.2)
12.2
(8.6)
36.4
(8.2)
43.0
(1.09)
12.1
(8.6)
4.1
(2.9)
2.256 1.128 4.51
mH L 21.6 10.8 43.0
N
(lbf)
F
a
393
(88)
786
(177)
185
(42)
5.1
(3.6)
222
(50)
6.1
(4.3)
Force, continuous
Force, peak
Thermal resistance °C/W R
Force constant
Back EMF constant p-p
Current, peak
Current, continuous
Resistance p-p @ 20 °C (68 °F)
Inductance p-p
Magnetic attraction
(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 69, and at 40 °C (104 °F) ambient.
(2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation.
(3) For standstill conditions, multiply continuous force and continuous current by 0.9.
(4) Calculated at 20% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details.
(5) Winding parameters listed are measured line-to-line (phase-to-phase).
(6) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms.
(7) Specifications are ±10%. Phase-to-phase inductance is ±30%.
(8) All specifications are at the standard reference air gap as shown in the drawing on page 73
and page 75.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 63
Appendix A Specifications and Dimensions
544
(122)
453
(102)
363
(82)
544
(122)
453
(102)
363
(82)
941
(212)
359
(81)
299
(67)
240
(54)
92.4
(20.8)
30.8
(6.9)
60.7
(13.6)
109.1
36.4
71.7
(2.77)
(0.92)
(1.82)
12.0
35.9
11.6
(8.5)
(25.4)
(8.2)
5.9
4.9
3.9
17.7
14.7
11.8
5.9
4.9
3.9
(4.2)
(3.5)
(2.8)
(12.5)
(10.4)
(8.3)
(4.2)
(3.5)
(2.8)
2069
(465)
359
(81)
299
(67)
240
(54)
600
(135)
179
(40)
149
(34)
NC AC WC NC AC WC NC AC WC NC AC WC NC AC WC
119
(27)
302
(68)
c
p
F
F
N
(lbf)
N
Table 9 - LDC-Series Iron Core Linear Motors (50 mm frame size)
(3)
(2)
(1)
(lbf)
(4)
30.3
1.44 0.92 0.64 0.71 0.46 0.32 0.71 0.46 0.32 0.48 0.31 0.21 0.48 0.31 0.21
30.3
th
K
N/A
(7)
(6)
(5)
f
pk
(6.8)
(6.8)
)
pk
(lbf/A
35.8
35.8
e
K
/m/s
p
V
(7)
(6)
(5)
(0.91)
(0.91)
/in/s)
p
(V
11.8
(8.4)
9.9
(7.0)
23.3
(16.5)
7.9
(5.6)
5.9
(4.2)
4.9
(3.5)
11.7
(8.3)
3.9
(2.8)
3.76 1.88 7.52 1.25 11.28
p
c
I
I
)
)
rms
pk
A
(6)
(4)
rms
(A
Apk(A
Ohms R
(7)
(5)
(6)
(3)
(2)
(1)
1379
(310)
690
(155)
20
a
F
mHL36187212 108
N
(lbf)
(8)
(7)
(5)
and page 75.
Attribute Units Symbol LDC-C050100-DxTxx LDC-C050200-DxTxx LDC-C050200-ExTxx LDC-C050300-DxTxx LDC-C050300-ExTxx
Force, continuous
Force, peak
Thermal resistance °C/W R
Force constant
Back EMF constant p-p
Current, peak
Current, continuous
Resistance p-p @ 20 °C (68 °F)
Inductance p-p
Magnetic attraction
(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 69, and at 40 °C (104 °F) ambient.
(2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation.
(3) For standstill conditions, multiply continuous force and continuous current by 0.9.
(4) Calculated at 20% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details.
(5) Winding parameters listed are measured line-to-line (phase-to-phase).
(6) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms.
64 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
(7) Specifications are ±10%. Phase-to-phase inductance is ±30%.
(8) All specifications are at the standard reference air gap as shown in the drawing on page 73
1045
871
697
1045
871
697
784
653
523
784
(235)
(196)
(157)
(235)
(196)
(157)
(176)
(147)
(117)
(176)
Specifications and Dimensions Appendix A
11.5
(8.1)
9.6
(6.8)
91.0
(20.5)
107.5
(2.73)
23.7
(16.8)
7.7
(5.4)
23.0
(16.2)
19.1
(13.5)
45.5
(10.2)
53.7
(1.37)
47.4
161.2
(4.10)
(33.5)
15.3
(10.8)
5.7
(4.1)
4.8
(3.4)
11.9
(8.4)
3.8
(2.7)
17.2
(12.2)
3999
(899)
1824
(410)
136.5
(30.7)
653
523
523
435
(147)
(117)
(117)
(98)
14.4
(10.2)
45.5
(10.2)
53.7
(1.37)
35.6
1368
(308)
(25.1)
11.5
5.7
4.8
(8.1)
(4.1)
(3.4)
, and at 40 °C (104 °F) ambient.
2999
(674)
and page 75.
91.0
(20.5)
107.5
(2.73)
11.5
53.7
e
K
/m/s
p
V
(1.37)
/in/s)
p
(V
(6)
(4)
22.9
p
I
pk
A
(8.1)
3.8
(2.7)
11.5
(8.1)
9.6
(6.8)
(16.2)
7.7
(5.4)
2.47 9.88 1.65 14.82 1.24 4.94
2000
(450)
20
c
I
)
)
rms
rms
(A
Apk(A
Ohms R
(7)
(5)
(6)
(3)
(2)
(1)
a
F
mH L 24 95 16 142 12 47
N
(lbf)
(8)
(7)
(5)
348
(78)
523
(117)
435
(98)
NC AC WC NC AC WC NC AC WC NC AC WC NC AC WC NC AC WC
LDC-C075200-DxTxx LDC-C075200-ExTxx LDC-C075300-DxTxx LDC-C075300-ExTxx LDC-C075400-DxTxx LDC-C075400-ExTxx
Table 10 - LDC-Series Iron Core Linear Motors (75 mm frame size)
(3)
(2)
(1)
348
c
F
N
(78)
882
(198)
0.58 0.37 0.26 0.58 0.37 0.26 0.39 0.25 0.17 0.39 0.25 0.17 0.29 0.19 0.13 0.29 0.19 0.13
45.5
(10.2)
th
(7)
(6)
(5)
f
K
pk
N/A
)
pk
(lbf/A
(7)
(6)
(5)
p
F
(lbf)
N
(lbf)
(4)
Attribute Units Symbol
Force, continuous
Force, peak
Thermal resistance °C/W R
Force constant
Back EMF constant p-p
Current, peak
Current, continuous
Resistance p-p @ 20 °C (68 °F)
Magnetic attraction
Inductance p-p
(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 69
(2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation.
(3) For standstill conditions, multiply continuous force and continuous current by 0.9.
(4) Calculated at 20% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details.
(5) Winding parameters listed are measured line-to-line (phase-to-phase).
(6) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms.
(7) Specifications are ±10%. Phase-to-phase inductance is ±30%.
(8) All specifications are at the standard reference air gap as shown in the drawing on page 73
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 65
Appendix A Specifications and Dimensions
2023
(455)
1686
(379)
1349
2023
1686
1349
1349
1124
899
1349
(303)
(455)
(379)
(303)
(303)
(253)
(202)
(303)
3534
121.3
(27.3)
143.3
(794)
60.7
(13.6)
71.7
121.3
(27.3)
143.3
(3.64)
(1.82)
(3.64)
34.3
68.5
22.8
(24.2)
(48.4)
(16.1)
16.7
13.9
11.1
33.3
27.8
22.2
11.1
9.3
7.4
22.2
(11.8)
(9.8)
(7.9)
(23.6)
(19.7)
(15.7)
(7.9)
(6.5)
(5.2)
(15.7)
7860
(1767)
Table 11 - LDC-Series Iron Core Linear Motors (100 mm frame size)
LDC-C100300-DxTxx LDC-C100300-ExTxx LDC-C100400-DxTxx LDC-C100400-ExTxx LDC-C100600-DxTxx LDC-C100600-ExTxx
NC AC WC NC AC WC NC AC WC NC AC WC NC AC WC NC AC WC
(3)
(2)
(1)
1124
899
1012
843
674
1012
843
674
c
F
N
(253)
(202)
(227)
(190)
(152)
(227)
(190)
(152)
(lbf)
2356
1767
F
N
(4)
p
(530)
(397)
(lbf)
0.33 0.21 0.15 0.33 0.21 0.15 0.25 0.16 0.11 0.25 0.16 0.11 0.17 0.11 0.07 0.17 0.11 0.07
th
(7)
(6)
(5)
60.7
182.0
60.7
f
K
pk
N/A
(13.6)
(40.9)
(13.6)
)
pk
(lbf/A
(7)
(6)
(5)
71.7
215.0
71.7
e
K
/m/s
p
V
(1.82)
(5.46)
(1.82)
/in/s)
p
(V
(6)
(4)
45.7
11.4
34.3
p
I
pk
A
(32.3)
(8.1)
(24.2)
)
rms
(A
(6)
(3)
(2)
(1)
18.5
14.8
5.6
4.6
3.7
16.7
13.9
11.1
c
I
pk
A
(13.1)
(10.5)
(3.9)
(3.3)
(2.6)
(11.8)
(9.8)
(7.9)
)
rms
(A
(7)
(5)
2.04 18.36 1.53 6.12 1.02 4.08
20
Ohms R
, and at 40 °C (104 °F) ambient.
5240
(1178)
and page 75.
3930
(883)
a
F
mH L 20 184 15 61 10 41
N
(lbf)
(8)
(7)
(5)
Attribute Units Symbol
Force, peak
Thermal resistance °C/W R
Force constant
Back EMF constant p-p
Force, continuous
Current, peak
Current, continuous
Resistance p-p @ 20 °C (68 °F)
Inductance p-p
Magnetic attraction
(2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation.
(3) For standstill conditions, multiply continuous force and continuous current by 0.9.
(4) Calculated at 20% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details.
(5) Winding parameters listed are measured line-to-line (phase-to-phase).
(6) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms.
(7) Specifications are ±10%. Phase-to-phase inductance is ±30%.
(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 69
(8) All specifications are at the standard reference air gap as shown in the drawing on page 73
66 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
2882
2402
1922
2882
2402
(648)
(540)
(432)
(648)
(540)
182.0
Specifications and Dimensions Appendix A
15.8
(11.2)
13.2
(9.3)
(40.9)
215.0
(5.46)
33.9
(24.0)
10.6
(7.5)
31.7
(22.4)
26.4
(18.7)
Table 12 - LDC-Series Iron Core Linear Motors (150 mm frame size)
NC AC WC NC AC WC NC AC WC NC AC WC
1922
(432)
5246
(1179)
1922
(432)
1601
(360)
1281
(288)
1922
(432)
1601
(360)
1281
(288)
3498
(786)
c
p
F
F
N
(lbf)
N
(lbf)
(3)
(2)
(1)
(4)
91.0
(20.5)
107.5
(2.73)
67.8
(47.9)
21.1
(14.9)
10.6
(7.5)
8.8
(6.2)
182.0
(40.9)
215.0
(5.46)
22.6
(16.0)
7.0
(5.0)
21.1
(14.9)
17.6
(12.4)
0.20 0.13 0.09 0.20 0.13 0.09 0.13 0.09 0.06 0.13 0.09 0.06
91.0
(20.5)
107.5
(2.73)
45.2
(32.0)
14.1
(10.0)
2.12 8.48 1.41 5.65
th
f
e
p
c
I
I
)
)
rms
(A
rms
pk
A
(A
Ohms R
(7)
(5)
(6)
(3)
(2)
(1)
pk
A
(6)
(4)
(7)
(6)
(5)
K
pk
N/A
)
(lbf/A
K
pk
/in/s)
/m/s
p
p
(V
V
(7)
(6)
(5)
11790
(2652)
and page 75.
7860
(1768)
20
a
F
mH L 22 86 14 58
N
(lbf)
(8)
(7)
(5)
Attribute Units Symbol LDC-C150400-DxTxx LDC-C150400-ExTxx LDC-C150600-DxTxx LDC-C150600-ExTxx
Force, peak
Thermal resistance °C/W R
Force constant
Back EMF constant p-p
Current, peak
Current, continuous
Force, continuous
Resistance p-p @ 20 °C (68 °F)
Magnetic attraction
Inductance p-p
(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 69, and at 40 °C (104 °F) ambient.
(2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation.
(3) For standstill conditions, multiply continuous force and continuous current by 0.9.
(4) Calculated at 20% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details.
(5) Winding parameters listed are measured line-to-line (phase-to-phase).
(6) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms.
(7) Specifications are ±10%. Phase-to-phase inductance is ±30%.
(8) All specifications are at the standard reference air gap as shown in the drawing on page 73
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 67
Appendix A Specifications and Dimensions
General Specifications
Cat. No.
Coil
LDC-C030100-DHT20 1.41 (3.1) LDC-030-100-CP 0.12 (0.26) 1.53 (3.4)
LDC-C030200-xHT20 2.27 (5.0) LDC-030-200-CP 0.20 (0.44) 2.47 (5.4)
LDC-C050100-DHT20 2.05 (4.5) LDC-050-100-CP 0.15 (0.32) 2.19 (4.8)
LDC-C050200-xHT20 3.18 (7.0) LDC-050-200-CP 0.25 (0.55) 3.43 (7.6)
LDC-C050300-xHT20 4.55 (10.0) LDC-050-300-CP 0.36 (0.79) 4.91 (10.8)
LDC-C075200-xHT20 4.55 (10.0) LDC-075-200-CP 0.39 (0.85) 4.93 (10.9)
LDC-C075300-xHT20 6.36 (14.0) LDC-075-300-CP 0.56 (1.23) 6.92 (15.2)
LDC-C075400-xHT20 8.18 (18.0) LDC-075-400-CP 0.73 (1.60) 8.91 (19.6)
LDC-C100300-xHT20 7.73 (17.0) LDC-100-300-CP 0.73 (1.60) 8.46 (18.6)
LDC-C100400-xHT20 10.0 (22.0) LDC-100-400-CP 0.96 (2.10) 10.96 (24.1)
LDC-C100600-xHT20 15.45 (34.0) LDC-100-600-CP 1.39 (3.05) 16.84 (37.0)
LDC-C150400-xHT20 14.55 (32.0) LDC-150-400-CP 1.93 (4.24) 16.47 (36.2)
LDC-C150600-xHT20 21.36 (47.0) LDC-150-600-CP 2.86 (6.29) 24.22 (53.3)
Weight, approx.
kg (lb)
Table 13 - These tables provide weight, heat sink, environmental, and cooling
plate specifications for LDC-Series iron core linear motors.
Weight Specification
Table 14 - Weight Specifications - Motor Coil with Flying Leads and Cooling Plate
Cat. No.
Cooling Plate
Weight, approx.
kg (lb)
Coil and Cooling Plate (combined)
Weight, approx.
kg (lb)
Table 15 - Weight Specifications - Motor Coil with Connectors and Cooling Plate
Cat. No.
Coil
LDC-C030100-DHT11 1.61 (3.55) LDC-030-100-CP 0.12 (0.26) 1.73 (3.81)
LDC-C030200-xHT11 2.47 (5.44) LDC-030-200-CP 0.20 (0.44) 2.67 (5.89)
LDC-C050100-DHT11 2.25 (4.96) LDC-050-100-CP 0.15 (0.32) 2.40 (5.29)
LDC-C050200-xHT11 3.38 (7.45) LDC-050-200-CP 0.25 (0.55) 3.63 (8.00)
LDC-C050300-xHT11 4.75 (10.47) LDC-050-300-CP 0.36 (0.79) 5.11 (11.3)
LDC-C075200-xHT11 4.75 (10.47) LDC-075-200-CP 0.39 (0.85) 5.14 (11.33)
LDC-C075300-xHT11 6.56 (14.46) LDC-075-300-CP 0.56 (1.23) 7.12 (15.70)
LDC-C075400-xHT11 8.38 (18.47) LDC-075-400-CP 0.73 (1.60) 9.11 (20.08)
LDC-C100300-xHT11 7.91 (17.4) LDC-100-300-CP 0.73 (1.60) 8.64 (18.6)
LDC-C100400-xHT11 10.2 (22.5) LDC-100-400-CP 0.96 (2.10) 11.16 (24.60)
LDC-C100600-xHT11 15.65 (34.5) LDC-100-600-CP 1.39 (3.05) 17.04 (37.57)
LDC-C150400-xHT11 14.75 (32.5) LDC-150-400-CP 1.93 (4.24) 16.68 (36.74)
LDC-C150600-xHT11 21.56 (47.5) LDC-150-600-CP 2.86 (6.29) 24.42 (53.79)
Weight, approx.
kg (lb)
Cat. No.
Cooling Plate
Weight, approx.
kg (lb)
Coil and Cooling Plate (combined)
Weight, approx.
kg (lb)
68 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Specifications and Dimensions Appendix A
Table 16 - Weight Specifications - Motor Magnet Track
Cat. No.
Magnet Track
LDC-M030100 0.47 (1.02)
LDC-M050100 0.66 (1.46)
LDC-M075100 0.90 (1.98)
LDC-M100100 1.14 (2.51)
LDC-M150100 1.62 (3.57)
LDC-M030500 2.35 (5.12)
LDC-M050500 3.32 (7.28)
LDC-M075500 4.5 (9.92)
LDC-M100500 5.7 (12.57)
LDC-M150500 8.08 (17.81)
Weight, approx.
kg (lb)
Carriage Weight and Heat Sink Area Requirements
Cat. No. Required Heat Sink Area
LDC-C030100-DHTxx 150 X 200 (6 X 8) 1.1 (2.6)
LDC-C030200-xHTxx 150 X 300 (6 X 12) 1.6 (3.6)
LDC-C050100-DHTxx 200 X 200 (8 X 8) 1.8 (4)
LDC-C050200-xHTxx 200 X 300 (8 X 12) 2.7 (6)
LDC-C050300-xHTxx 200 X 400 (8 X 16) 3.6 (8)
LDC-C075200-xHTxx 250 X 300 (10 X 12) 5.4 (12)
LDC-C075300-xHTxx 250 X 400 (10 X 16) 7.3 (16)
LDC-C075400-xHTxx 250 X 500 (10 X 20) 9.1 (20)
LDC-C100300-xHTxx 300 X 400 (12 X 16) 8.7 (19.2)
LDC-C100400-xHTxx 300 X 500 (12 X 20) 10.9 (24)
LDC-C100600-xHTxx 300 X 750 (12 X 30) 19.6 (43.2)
LDC-C150400-xHTxx 400 X 500 (16 X 20) 21.8 (48)
LDC-C150600-xHTxx 400 X 750 (16 X 30) 32.7 (72)
cm
2
(in.2)
Required Carriage Plate
Weight, approx.
kg (lb)
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 69
Appendix A Specifications and Dimensions
Cooling Plate Flow Rate Specifications
Cat. No.
Coil
Cat. No.
Cooling Plate
Air Flow Rate
L/min (ft3/hr)
LDC-C030100-xxxxx LDC-030-100-CP N/A
LDC-C030200-xxxxx LDC-030-200-CP N/A
LDC-C050100-xxxxx LDC-050-100-CP N/A
LDC-C050200-xxxxx LDC-050-200-CP N/A
LDC-C050300-xxxxx LDC-050-300-CP N/A
LDC-C075200-xxxxx LDC-075-200-CP N/A
LDC-C075300-xxxxx LDC-075-300-CP N/A
LDC-C075400-xxxxx LDC-075-400-CP N/A
(2)
(2)
(2)
(2)
(2)
(2)
(2)
(2)
(1)
Water Flow Rate
bar (psi)
N/A
N/A
0.41 (6)
0.48 (7)
0.55 (8)
0.48 (7)
0.55 (8)
0.69 (10)
(2)
(2)
LDC-C100300-xxxxx LDC-100-300-CP 61.4 (130) 0.69 (10)
LDC-C100400-xxxxx LDC-100-400-CP N/A
(2)
0.83 (12)
LDC-C100600-xxxxx LDC-100-600-CP 47.2 (100) 0.97 (14)
LDC-C150400-xxxxx LDC-150-400-CP N/A
LDC-C150600-xxxxx LDC-150-600-CP N/A
(1) These are the flow rates required to maintain air pressure at 0.689 bar (10 lb/in.2).
(2) This flow rate is not available. Call Application Engineering (631-344-6600) for assistance.
(3) These are the flow rates required to maintain water pressure at 3.8 L/min (1 gal/min).
(4) These are the flow rates required to maintain water pressure at 7.57 L/min (2 gal/min).
(2)
(2)
0.83 (12)
0.93 (13.5)
(3)
(4)
(4)
70 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Specifications and Dimensions Appendix A
Product Dimensions
LDC-Series iron core linear servo motor components are designed to metric
dimensions. Inch dimensions are conversions from millimeters. Untoleranced
dimensions are for reference.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 71
Appendix A Specifications and Dimensions
Cooling plate
assembly
shown for
reference.
Hall Effect Module
Flying Leads
Thermistor Cables
Flying Leads
Motor Power
Flying Leads
See table on page 73
for flatness
of coil mounting surface.
Magnet track
shown for
reference.
Dimensions are in mm (in.)
Refer to the table
on page 73
for
lettered
These dimensions
are critical to
maintain the proper
air gap.
See table on page 73 for flatness
of coil mounting surface.
Feedback Connector
Magnet track
shown for
reference.
Cooling plate
assembly
shown for
reference.
Power Connector
Encoder Connector
Dimensions are in mm (in.)
These dimensions
are critical to
maintain the proper
air gap.
Refer to the table
on page 73
for
lettered
(1.800 ± 0.005)
45.72 ± 0.13
(2.115 ± 0.005)
53.72 ± 0.13
(2.115 ± 0.005)
45.72 ± 0.13
(1.800 ± 0.005)
(1.325)
33.65
66.67
(2.625)
A
B
30.00
(1.181)
R (ref.)
(1.230)
31.24
1000 ±20
(39.4 ±0.8)
53.72 ± 0.13
33.65
66.67
A
B
(1.325)
(2.625)
600
(24)
350
R (ref.)
(13.9)
31.24
30.00
(1.230)
(1.181)
C
D
E
F
Motor Coil Dimensions
Figure 13 - LDC-Series Iron Core Linear Motor Coil Dimensions (LDC-C030/050/075/100xxx-xHT20) with Flying Leads
C
L
D
L
E
F
Figure 14 - LDC-Series Iron Core Linear Motor Coil Dimensions (LDC-C030/050/075/100xxx-xHT11) with Connectors
See table for hole quantity.
M5 x 0.8 15 (0.59) total depth,
threads start at 5 (0.20).
H
H
M
W
M
W
M5 x 0.8 15 (0.59) total depth,
threads start at 5 (0.20).
See table for hole quantity.
72 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Hole
R
M
H
F
Qty
4
mm (in.)
60.00
mm (in.)
25.00
mm (in.)
mm (in.)
(2.362)
(0.984)
(0.591)
4
80.00
30.00
(3.150)
(1.181)
(0.984)
8
105.00
35.00
(4.134)
(1.378)
(1.575)
10
130.00
37.50
Specifications and Dimensions Appendix A
(5.118)
(1.476)
(2.362)
E
mm (in.)
D
mm (in.)
C
mm (in.)
B
mm (in.)
Table 17 - LDC-Series Iron Core Linear Motor Coil Dimensions (LDC-C030/050/075/100xxx-xHTxx)
A
mm (in.)
(1)
W
mm (in.)
––––––15.00
––––––25.00
(2.559)
(3.346)
100.00 (3.937)166.67 (6.562)––––40.00
133.33 (5.249) 200.00 (7.874) 266.67 (10.499) – – – 60.00
(4.331)
(5.315)
Cat. No. L
mm (in.)
LDC-C030100-DHTxx 134.0 (5.28) 65.00
LDC-C030200-xHTxx 234.0 (9.21)100.00 (3.937)166.67 (6.562)–––– 8
LDC-C050100-DHTxx 134.0 (5.28) 85.00
LDC-C050200-xHTxx 234.0 (9.21)100.00 (3.937)166.67 (6.562)–––– 8
LDC-C050300-xHTxx 334.0 (13.15) 133.33 (5.249) 200.00 (7.874) 266.67 (10.499) – – – 10
LDC-C075200-xHTxx 234.0 (9.21) 110.00
LDC-C075300-xHTxx 334.0 (13.15) 133.33 (5.249) 200.00 (7.874) 266.67 (10.499) – – – 10
LDC-C075400-xHTxx 434.0 (17.09) 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – – 12
LDC-C100300-xHTxx 334.0 (13.15) 135.00
LDC-C100400-xHTxx 434.0 (17.09) 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – – 12
LDC-C100600-xHTxx 634.0 (25.31) 133.33 (5.249) 233.33 (9.186) 333.33 (13.123) 433.33 (17.060) 500.00 (19.686) 566.66 (22.310) 16
(1) Tolerance for W dimension is +1.00 mm (+0.039 in.), -0.00 mm (-0.000 in.).
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 73
61.72 ± 0.13
(2.430 ± 0.005)
49.72 ± 0.13
(1.957 ± 0.005)
33.65
(1.325)
66.67
(2.625)
A
B
C
D
E
F
30.00
(1.181)
1000 ± 20
(39.4 ± 0.8)
M5 x 0.8 15 (0.59) total depth,
threads start at 5 (0.20).
See table for hole quantity.
32.50
(1.280)
L
60.00
(2.362)
120.00
(4.724)
185.00 +1.00
- 0.00
-0.000)
31.24
(1.230)
180.00
(7.087)
Ref.
See table on page 75 for flatness of
coil mounting surface.
Cooling plate
assembly shown
for reference.
Dimensions are in mm (in.)
Magnet track
shown for
reference.
Hall Effect Module
Flying Leads
Thermistor Cables
Flying Leads
Motor Power
Flying Leads
These dimensions are
critical to maintain the
proper air gap.
Refer to the table on
page 75 for lettered
dimensions.
See table on page 75 for flatness
of coil mounting surface.
Feedback Connector
Magnet track
shown for
reference.
Cooling plate
assembly shown
for reference.
Encoder Connector
Power Connector
Dimensions are in mm (in.)
These dimensions are
critical to maintain
the proper air gap.
Refer to the table
on page 75
for
lettered
Appendix A Specifications and Dimensions
(1.957 ± 0.005)
49.72 ± 0.13
61.72 ± 0.13
(2.430 ± 0.005)
33.65
(1.325)
66.67
(2.625)
A
B
180.00
(7.087)
600
(24)
Ref.
350
(13.9)
31.24
30.00
(1.23)
(1.181)
Figure 15 - LDC-Series Iron Core Linear Motor Coil Dimensions (LDC-C0150xxx-xHT20) with Flying Leads
74 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Figure 16 - LDC-Series Iron Core Linear Motor Coil Dimensions (LDC-C150xxx-xHT11) with Connectors
C
D
E
F
60.00
(2.362)
(4.724)
120.00
-0.00
-0.000)
185.00 +1.00
(7.283 +0.039
L
See table for hole quantity.
M5 x 0.8 15 (0.59) total depth,
threads start at 5 (0.20).
32.50
(1.280)
Hole
F
E
Specifications and Dimensions Appendix A
Qty
mm (in.)
mm (in.)
D
mm (in.)
C
mm (in.)
B
mm (in.)
Table 18 - LDC-Series Iron Core Linear Motor Coil Dimensions (LDC-C150xxx-xHTxx)
A
mm (in.)
Cat. No. L
mm (in.)
LDC-C150400-xHTxx 434.0 (17.09) 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – – 18
LDC-C150600-xHTxx 634.0 (25.31) 133.33 (5.249) 233.33 (9.186) 333.33 (13.123) 433.33 (17.060) 500.00 (19.686) 566.66 (22.310) 24
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 75
Ø 9.50 (0.375) 5.0 (0.20)
50.00
(1.969)
24.50
(0.965)
50.00
(1.969)
25.00
(0.984)
6.00
(0.236)
12.50
(0.492)
Ø 3.99 +0.03
-0.00
(0.157 +0.001
-0.000)
L
Y
H
T
M
W
Ø 5.50 (0.216)
Gap will result from setting the plates to
setup dimensions shown.
Mounting Hole
Dimensions
Setup Dimension
See table for flatness of
coil mounting surface.
Dimensions are in mm (in.)
N Places
N Places
See table for hole quantity.
Appendix A Specifications and Dimensions
(4)
Flatness
mm/300 x 300 (in./12 x 12)
(0.002)
(0.005)
(0.20)
(0.035)
Qty
N Hole
T
mm (in.)
(3)
mm (in.)
H
M
mm (in.)
W
mm (in.)
Magnet Track Dimensions
Figure 17 - LDC-Series Iron Core Linear Motor Coil Magnet Track Dimensions
(2)
mm (in.)
Y
(1)
mm (in.)
Cat. No. L
LDC-M030100 99.0 (3.90) 75.00 (2.953) 60.0 (2.36) 48.00 (1.890) 13.26 (0.522) 8.00 (0.315) 1 4 0.06
76 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
LDC-M050100 80.0 (3.15) 68.00 (2.677)
LDC-M075100 105.0 (4.13) 93.00 (3.661) 0.13
LDC-M100100 130.0 (5.12) 118.00 (4.646)
LDC-M150100 180.0 (7.09) 168.00 (6.614) 17.26 (0.680) 12.00 (0.472)
LDC-M030500 499.0 (19.65) 475.00 (18.70) 60.0 (2.36) 48.00 (1.890) 13.26 (0.522) 8.00 (0.315) 9 20 0.50
LDC-M050500 80.0 (3.15) 68.00 (2.677)
LDC-M075500 105.0 (4.13) 93.00 (3.661) 0.90
LDC-M100500 130.0 (5.12) 118.00 (4.646)
LDC-M150500 180.0 (7.09) 168.00 (6.614) 17.26 (0.680) 12.00 (0.472)
(1) Tolerance for L dimension is ±0.25 mm (±0.010 in.).
(2) Tolerance for Y dimension is ±0.08 mm (±0.003 in.).
(3) Tolerance for H dimension is ±0.16 mm (±0.006 in.).
(4) Specified flatness is in the free state.
OD copper
Dimensions are in mm (in.)
See table for quantity.
Specifications and Dimensions Appendix A
Hole
Qty
4
(0.315 ± 0.005)
8.00 ± 0.13
33.65
(1.325)
66.67
(2.625)
A
B
W
T
Ø 6.35 (0.250)
S
4.0
30.0
(1.18)
(0.157)
S
T
M
H
F
E
mm
(in.)
mm
(in.)
mm
(in.)
mm
(in.)
mm (in.)
mm (in.)
5.25
27.5
11.50
(0207)
(1.08)
(0.453)
(0.591)
4
5.95
38.1
12.50
(0.234)
(1.50)
(0.492)
(0.984)
8
12.10
50.8
17.50
(0.476)
(2.00)
(0.689)
(1.575)
10
13.30
73.4
20.00
0.524)
(2.89)
(0.787)
(2.362)
C
D
E
F
Cooling Plate Dimensions
Figure 18 - LDC-Series Iron Core Linear Motor Coil Cooling Plate Dimensions (LDC-030/050/075/100-xxx-CP)
L
Ø 5.50 (0.216)
D
C
B
A
W
mm (in.)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
mm (in.)
––– – – – 15.00
(1.496)
––– – – – 25.00
(1.969)
100.00 (3.937) 166.67 (6.562) – – – – 40.00
(2.953)
133.33 (5.249) 200.00 (7.874) 266.67 (10.499) – – – 60.00
(3.937)
H
M
Cat. No. L
LDC-030-100-CP 134.0 (5.28) 38.00
LDC-030-200-CP 234.0 (9.21) 100.00 (3.937) 166.67 (6.562) – – – – 8
LCC-050-100-CP 134.0 (5.28) 50.00
LDC-050-200-CP 234.0 (9.21) 100.00 (3.937) 166.67 (6.562) – – – – 8
LCC-050-300-CP 334.0 (131.15) 133.33 (5.249) 200.00 (7.874) 266.67 (10.499) – – – 10
LDC-075-200-CP 234.0 (9.21) 75.00
LDC-075-300-CP 334.0 (131.15) 133.33 (5.249) 200.00 (7.874) 266.67 (10.499) – – – 10
LDC-075-400-CP 434.0 (17.09) 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – – 12
LDC-100-300-CP 334.0 (131.15) 100.00
LDC-100-400-CP 434.0 (17.09) 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – – 12
LDC-100-600-CP 634.0 (25.31) 133.33 (5.249) 233.33 (9.186) 333.33 (13.123) 433.33 (17.060) 500.00 (19.686) 566.66 (22.310) 16
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 77
Appendix A Specifications and Dimensions
Dimensions are in mm (in.)
See table for hole quantity.
OD Copper Tubing
12.00 ± 0.13
(0.472 ± 0.005)
150.00
(5.906)
137.0
33.65
(5.39)
(1.325)
Ø 9.525 (0.3750)
30.0
(1.18)
Hole
Qty
66.67
(2.625)
A
F
mm (in.)
Figure 19 - LDC-Series Iron Core Linear Motor Coil Cooling Plate Dimensions (LDC-150-xxx-CP)
B
C
E
mm (in.)
D
E
F
L
Ø 5.50 (0.216)
D
C
B
A
mm (in.)
mm (in.)
mm (in.)
mm (in.)
15.00
(0.591)
120.00
(4.724)
60.00
(2.362)
78 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Cat. No. L
mm (in.)
LDC-150-400-CP 434.0 (17.09) 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – – 18
LDC-150-600-CP 634.0 (25.31) 133.33 (5.249) 233.33 (9.186) 333.33 (13.123) 433.33 (17.060) 500.00 (19.686) 566.66 (22.310) 24
Interconnect Diagrams
Appendix
B
Introduction
Wiring Examples
This appendix provides wring examples to assist you in wring an LDC-Series
linear motor to an Allen-Bradley drive.
Topic Page
Kinetix 6000, Kinetix 6500/6200 or Kinetix 2000 Drives and LDC-xxxxxxx-xHT11 Linear
Motor with a TTL Encoder
Kinetix 6000, Kinetix 6500/6200 o or Kinetix 2000 Drives and LDC-xxxxxxx-xHT11 Linear
Motor with a Sin/Cos Encoder
Kinetix 6000, Kinetix 6500/6200 o or Kinetix 2000 Drives and LDC-xxxxxxx-xHT20 Linear
Motor with a TTL Encoder
Kinetix 6000 or Kinetix 2000 Drives and LDC-xxxxxxx-xHT20 Linear Motor with a
Sin/Cos Encoder
Ultra3000 Drives and LDC-xxxxxxx-xHT11 Linear Motor with a TTL Encoder 84
Ultra3000 Drives and LDC-xxxxxxx-xHT11 Linear Motor with a Sin/Cos Encoder 85
Ultra3000 Drives and LDC-xxxxxxx-xHT20 Linear Motor with a TTL Encoder 86
Ultra3000 Drives and LDC-xxxxxxx-xHT20 Linear Motor with a Sin/Cos Encoder 87
80
81
82
83
These notes apply to the wiring examples on the pages that follow.
Note Information
1 Use cable shield clamp in order to meet CE requirements. No external connection to ground
is required.
2 For motor cable specifications, refer to the Kinetix Motion Control Selection Guide,
publication GMC-SG001
3 When using Sin/Cos encoder with Kinetix 6000 drives refer to Introduction
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 79
.
on page 89.
Appendix B Interconnect Diagrams
Kinetix 2000, Kinetix 6500/
6200 or Kinetix 6000
IAM (inverter) or
AM Module
Motor Power
(MP) Connector
Cable Shield
Clamp
Note 1
Motor Feedback
(MF) Connector
(IAM/AM) Module
Motor Power Cable
Note 2
Feedback Cable
Note 2
Refer to low profile connector
illustration (lower left) for proper
grounding and shield termination
techniques.
Low Profile Connector
TTL Encoder
Turn clamp over to hold
small cables secure.
Clamp
Clamp screw (2)
Ground techniques for
feedback cable shield.
Exposed shield secured
under clamp.
LDC-Series Linear Motor Coil
Three-phase
Motor Power
Thermal
Switch
Figure 20 - Wiring Example for Kinetix 6000, Kinetix 6500/6200 or Kinetix 2000
Drives and LDC-xxxxxxx-xHT11 Linear Motor with a TTL Encoder
1
U
2
V
3
W
4
11
12
13
8
6
14
10
5
4
3
2
1
WHT/Orange
N/C
Blue
WHT/Blue
Yellow
WHT/Yellow
WHT/Gray
Gray
White/Green
Green
WHT/Red
Red
WHT/Black
Black
Brown
Black
Blue
Green/Yellow
2090-CPWM4DF-xxAFxx,
2090-XXNPMF-xxSxx
2090-XXNFMF-Sxx or
2900-CFBM4DF-CDAFxx
TS+
N/C
TS-
S1
S2
S3
ECOM
+5V DC
IMIM+
BMBM+
AMAM+
A
B
C
GND
13
14
15
16
17
10
9
6
5
4
3
2
1
80 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
(Use 2090-K6CK-D15M connector for Kinetix 6000 drives
and 2090-K2CK-D15M connector for Kinetix 2000 drives.)
AM+
AMBM+
BMIM+
IM-
+5VDC
ECOM
1
4
2
5
3
6
8
7
Interconnect Diagrams Appendix B
A
B
C
COS+
COS-
SIN+
SIN-
IM+
IM-
+5VDC
ECOM
SIN+
SIN-
IM+
IM-
+5V DC
ECOM
TS-
N/C
N/C
TS+
S3
S2
S1
Green
White/Green
Gray
WHT/Gray
Blue
WHT/Blue
Yellow
WHT/Yellow
WHT/Orange
Red
WHT/Red
COS+
COS-
Black
WHT/Black
4
3
2
1
Green/Yellow
Blue
Black
Brown
GND
W
V
U
(Use 2090-K6CK-D15M connector for Kinetix 6000 drives
and 2090-K2CK-D15M connector for Kinetix 2000 drives.)
10
9
6
5
3
4
2
1
1
4
2
5
3
6
8
7
15
13
14
16
17
2090-CPWM4DF-xxAFxx,
2090-XXNPMF-xxSxx
2090-XXNFMF-Sxx or
2900-CFBM4DF-CDAFxx
1
2
3
4
5
10
14
6
11
12
13
8
Kinetix 2000, Kinetix 6500/
6200 or Kinetix 6000 IAM
(inverter) or
AM Module
Motor Power
(MP) Connector
Cable Shield
Clamp
Motor Feedback
(MF) Connector
(IAM/AM) Module
Motor Power Cable
Note 2
Feedback Cable
Note 2
Refer to low profile connector
illustration (lower left) for proper
grounding and shield termination
techniques.
Low Profile Connector
Sin/Cos Encoder
Turn clamp over to hold
small cables secure.
Clamp
Clamp screw (2)
Ground techniques for
feedback cable shield.
Exposed shield secured
under clamp.
LDC-Series Linear Motor Coil
Three-phase
Motor Power
Thermal
Switch
Note 3
Figure 21 - Wiring Example for Kinetix 6000, Kinetix 6500/6200or Kinetix 2000 Drives
and LDC-xxxxxxx-xHT11 Linear Motor with a Sin/Cos Encoder
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 81
Appendix B Interconnect Diagrams
W
V
U
W
V
U
AM+
AM-
BM+
BM-
IM+
IM-
POWER
COM
4
3
2
1
Green/Yellow
Black
White
Red
GND
W
V
U
(Use 2090-K6CK-D15M connector for Kinetix 6000 drives
and 2090-K2CK-D15M connector for Kinetix 2000 drives.)
TS+
TS -
Black
Black
White
Red
Black
Power
S1
S2
S3
COM
Blue
Orange
1
2
3
4
5
10
14
6
11
12
13
8
Kinetix 2000, Kinetix 6500/
6200 or Kinetix 6000 IAM
(inverter) or AM Module
Note 3
Motor Power
(MP) Connector
Cable Shield
Clamp
Note 1
Motor Feedback
(MF) Connector
(IAM/AM) Module
Refer to low profile connector
illustration (lower left) for proper
grounding techniques.
Low Profile Connector
TTL Encoder
Turn clamp over to hold
small cables secure.
Clamp
Clamp screw (2)
Ground techniques for
feedback cable shield.
Exposed shield secured
under clamp.
LDC-Series Linear Motor Coil
Three-phase
Motor Power
Hall Effect
Module
Wire as shown here using
cable type appropriate for
your application.
Linear Encoder
Thermal
Switch
Figure 22 - Wiring Example for Kinetix 6000, Kinetix 6500/6200 or Kinetix 2000
Drives and LDC-xxxxxxx-xHT20 Linear Motor with a TTL Encoder
82 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Interconnect Diagrams Appendix B
W
V
U
W
V
U
COS+
COS-
SIN+
SIN-
IM+
IM-
POWER
COM
4
3
2
1
Green/Yellow
Black
White
Red
GND
W
V
U
(Use 2090-K6CK-D15M connector for Kinetix 6000 drives
and 2090-K2CK-D15M connector for Kinetix 2000 drives.)
TS+
TS -
Black
Black
White
Red
Black
Power
S1
S2
S3
COM
Blue
Orange
1
2
3
4
5
10
14
6
11
12
13
8
Kinetix 2000, Kinetix 6500/
6200 or Kinetix 6000 IAM
(inverter) or AM Module
Motor Power
(MP) Connector
Cable Shield
Clamp
Note 1
Motor Feedback
(MF) Connector
(IAM/AM) Module
Refer to low profile connector
illustration (lower left) for proper
grounding techniques.
Low Profile Connector
Sin/Cos Encoder
Note 3
Turn clamp over to hold
small cables secure.
Clamp
Clamp screw (2)
Ground techniques for
feedback cable shield.
Exposed shield secured
under clamp.
LDC-Series Linear Motor Coil
Three-phase
Motor Power
Hall Effect
Module
Wire as shown here using
cable type appropriate for
your application.
Linear Encoder
Thermal
Switch
Figure 23 - Wiring Example for Kinetix 6000, Kinetix 6500/6200 or Kinetix 2000
Drives and LDC-xxxxxxx-xHT20 Linear Motor with a Sin/Cos Encoder
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 83
Appendix B Interconnect Diagrams
A
B
C
AM+
AMBM+
BM-
IM+
IM-
+5VDC
ECOM
BM+
BM-
IM+
IM-
+5V DC
ECOM
TS-
N/C
N/C
TS+
S3
S2
S1
Green
White/Green
Gray
WHT/Gray
Blue
WHT/Blue
Yellow
WHT/Yellow
WHT/Orange
Red
WHT/Red
AM+
AM-
Black
WHT/Black
Green/Yellow
Blue
Black
Brown
GND
W
V
U
10
9
6
5
3
4
2
1
1
4
2
5
3
6
8
7
15
13
14
16
17
2090-CPWM4DF-xxAFxx,
2090-XXNPMF-xxSxx
2090-XXNFMF-Sxx or
2900-CFBM4DF-CDAFxx
1
2
3
4
5
10
14
6
11
12
13
8
Cable Shield
Clamp
Note 1
Motor Power Cable
Note 2
Feedback Cable
Note 2
Refer to low profile connector
illustration (lower left) for proper
grounding and shield termination
techniques.
Wire color shown for Renishaw
RGH22 linear incremental encoder
with its reference mark actuator
installed.
TTL Encoder
Three-phase
Motor Power
Thermal
Switch
Ultra3000 Drive
Motor Power
(TB1) Connector
Motor Feedback
(CN2) Connector
2090-UXBB-DM15
Motor Feed Breakout Board
Cable Tie
Ground techniques for
feedback cable shield.
Exposed shield secured
under clamp.
LDC-Series Linear Motor Coil
Figure 24 - Wiring Example for Ultra3000 Drive and LDC-xxxxxxx-xHT11 Linear
Motor with a TTL Encoder
84 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Interconnect Diagrams Appendix B
Ultra3000 Drive
Motor Power
(TB1) Connector
Cable Shield
Clamp
Note 1
Motor Feedback
(CN2) Connector
Motor Power Cable
Note 2
Feedback Cable
Note 2
Refer to low profile connector
illustration (lower left) for proper
grounding and shield termination
techniques.
2090-UXBB-DM15
Motor Feed Breakout Board
Sin/Cos Encoder
Cable Tie
Ground techniques for
feedback cable shield.
Exposed shield secured
under clamp.
LDC-Series Linear Motor Coil
Three-phase
Motor Power
Thermal
Switch
Figure 25 - Wiring Example for Ultra3000 Drive and LDC-xxxxxxx-xHT11 Linear
Motor with a Sin/Cos Encoder
U
V
W
11
12
13
8
6
14
10
5
4
3
2
1
WHT/Orange
N/C
Blue
WHT/Blue
Yellow
WHT/Yellow
WHT/Gray
Gray
White/Green
Green
WHT/Red
Red
WHT/Black
Black
Brown
Black
Blue
Green/Yellow
2090-CPWM4DF-xxAFxx,
2090-XXNPMF-xxSxx
2090-XXNFMF-Sxx or
2900-CFBM4DF-CDAFxx
TS+
TS-
N/C
S1
S2
S3
ECOM
+5V DC
IMIM+
SIN-
SIN+
COSCOS+
A
B
C
13
14
15
16
17
10
9
6
5
4
3
2
1
GND
COS+
COS-
SIN+
SIN-
IM+
IM+5VDC
ECOM
1
4
2
5
3
6
8
7
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 85
Appendix B Interconnect Diagrams
W
V
U
W
V
U
AM+
AM-
BM+
BM-
IM+
IM-
POWER
COM
Green/Yellow
Black
White
Red
GND
W
V
U
TS+
TS -
Black
Black
White
Red
Black
Power
S1
S2
S3
COM
Blue
Orange
1
2
3
4
5
10
14
6
11
12
13
8
2090-UXBB-DM15
Cable Shield
Clamp
Note 1
Refer to low profile connector
illustration (lower left) for proper
grounding techniques.
TTL Encoder
LDC-Series Linear Motor Coil
Three-phase
Motor Power
Hall Effect
Module
Wire as shown here using
cable type appropriate for your
application.
Linear Encoder
Thermal
Switch
Ultra3000 Drive
Motor Power
(TB1) Connector
Motor Feedback
(CN2) Connector
Motor Feed Breakout Board
Cable Tie
Ground techniques for
feedback cable shield.
Exposed shield secured
under clamp.
Figure 26 - Wiring Example for Ultra3000 Drive and LDC-xxxxxxx-xHT20 Linear
Motor with a TTL Encoder
86 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Interconnect Diagrams Appendix B
W
V
U
W
V
U
COS+
COS-
SIN+
SIN-
IM+
IM-
POWER
COM
Green/Yellow
Black
White
Red
GND
W
V
U
TS+
TS -
Black
Black
White
Red
Black
Power
S1
S2
S3
COM
Blue
Orange
1
2
3
4
5
10
14
6
11
12
13
8
2090-UXBB-DM15
Cable Shield
Clamp
Note 1
Refer to low profile connector
illustration (lower left) for proper
grounding techniques.
Sin/Cos Encoder
LDC-Series Linear Motor Coil
Three-phase
Motor Power
Hall Effect
Module
Wire as shown here using
cable type appropriate for
your application.
Linear Encoder
Thermal
Switch
Ultra3000 Drive
Motor Power
(TB1) Connector
Motor Feedback
(CN2) Connector
Motor Feed Breakout Board
Cable Tie
Ground techniques for
feedback cable shield.
Exposed shield secured
under clamp.
Figure 27 - Wiring Example for Ultra3000 Drive and LDC-xxxxxxx-xHT20 Linear
Motor with a Sin/Cos Encoder
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 87
Appendix B Interconnect Diagrams
Notes:
88 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Appendix
BM+
BM-
AM+
AM-
150 Ω
1/4 W, 5%
150 Ω
1/4 W, 5%
4
3
2
1
1N5819,
14
(~5.1V DC)
(5.4V DC)+5V DC
COS-
COS+
SIN+
SIN-
2090-K6CK-D15M
Feedback Connector
Low Profile Connector
Add a Shottky diode for cable
lengths less then 10 m (32.8 ft).
or equivalent
Resistor
Resistor
C
Sin/Cos Linear Encoder and Kinetix 6000 Drives
Introduction
Kinetix 6000 Drive Feedback Connection
This appendix guides you through commissioning a linear motor with a Sin/Cos
1V peak-to-peak output linear encoder.
Topic Page
Kinetix 6000 Drive Feedback Connection 89
Encoder Counting Direction 90
Set Up the Axis Properties 90
For robust operation when interfacing your Sin/Cos 1V peak-to-peak differential
output linear encoder to a Kinetix 6000 drive, you should terminate the sine and
cosine signals as follows.
For systems where the cable length is less than 10 m (32.8 ft), the encoder power
supply from the Kinetix 6000 drive feedback connector should be dropped from
its nominal 5.4…5.1V DC with the addition of a Shottky Diode, see schematic.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 89
Appendix C Sin/Cos Linear Encoder and Kinetix 6000 Drives
Encoder Counting Direction
Set Up the Axis Properties
Normally, the encoder signals will output sine-leads-cosine (AM leads BM) when
the linear encoder head is moving towards its cable, relative to the encoder scale.
SERCOS drives count this in a negative direction.
When installing a Sin/Cos linear encoder, setup the Axis Property tabs by doing
the following.
1. Click the Motor Feedback tab.
2. Enter the following parameters.
Parameter Value Comment
Feedback Type Sin/Cos –
Cycles 25 per Millimeter For 40 µ pitch encoder scale.
50 per Millimeter For 20 µ pitch encoder scale.
Interpolation Factor 1024 –
90 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Sin/Cos Linear Encoder and Kinetix 6000 Drives Appendix C
3. Click the Drive/Motor tab.
4. Enter the following parameters.
Parameter Value Comment
Driver Resolution 25600 For 40 µ pitch encoder scale.
51200 For 20 µ pitch encoder scale.
Drive Counts per Motor Millimeter –
5. Click the Conversion tab.
6. Enter the following parameters.
Parameter Value Comment
Driver Resolution 25600 For 40 µ pitch encoder scale.
51200 For 20 µ pitch encoder scale.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 91
Appendix C Sin/Cos Linear Encoder and Kinetix 6000 Drives
Notes:
92 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Index
A
air gap 20
alignment tool
aluminum straight edge
automatic implantable cardioverter
24
24
defibrillator (AICD)
11
B
bumper 14, 21
burn hazard
14
C
carriage 21
coil
19
coil power connector
commission
Kinetix 2000 drive
Kinetix 6000 drive 48
Ultra3000 drive
common specification
connector
34
encoder
19, 36
feedback 19
power
19, 34
PTC thermistor
34
48
53
62
19, 36
D
description
motor
19
design consideration
air gap
20
bumper
21
carriage design
heat sink
end of travel bumper
linear encoder
direction
55
21
14
21
E
encoder
resolution
encoder connector
encoder sin/cos
end of travel
bumpers
impact
end stop
56
36
89
14
14
21
F
firmware revision 46
flying leads
37
H
Hall effect module 19
heat sink
21
max temperature
14
I
installation 23
firmware
software 46
interconnect diagrams
wiring example notes
46
L
label
identification
large impacts
linear encoder
12
14
21
M
magnet channel 24
magnet track
maintenance
maximum speed
motor
database
direction 55
storage
mount
multiple motors
power cable
19
22
15
46
22
42
34
N
non-magnetic 24
P
perfomance 21
phase alignment
two motors
pinout
coil power
encoder
power connector
PTC thermistor
power connector
procedure
cleaning magent track
connections
install magnet channel
power connection
verify encoder resolution
PTC thermistor connector
42
34
36
34
36
19, 34
37
34
79
22
24
56
36
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 93
Index
R
RSLogix software screen
conversion
drive/motor
motor feedback
units
52
48
49
51
S
safety
sudden motion
safety label
location of
SERCOS Drive 89
setup
Kinetix 2000 drive
Kinetix 6000 drive
Ultra3000 drive
shipping
air freight restriction
dangerous goods declaration
form 902 instructions
shock absorber 21
software
required version
spacing
two motors
specifications
common
storage 22
14
12
48
48
53
13
46
42
62
13
13
T
tandem motors 42
temperature
max heat sink
tools 24
torque
magnet channel
14
28, 31
V
verify
direction
resolution 56
55
W
warning
air freight restrictions
automatic implantable cardioverter
defibrillator (AICD)
powerful forces
wiring 37
wiring diagram
connectorized
flying lead
80
Sin/Cos encoder
TTL encoder
Sin/Cos encoder
TTL encoder
13
11
81, 85
80, 84
83, 86, 87
82
11
94 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Notes:
Index
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 95
Index
96 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
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