Rockwell Automation LDL Ironless Linear Servo Motors User Manual

LDL-Series Ironless Linear Servo Motors

Catalog Numbers LDL-N030xxx-xHT11, LDL-N050xxx-xHT11, LDL-N075xxx-xHT11, LDL-T030xxx-xHT11, LDL-T050xxx-xHT11, LDL-T075xxx-xHT11,

LDL-N030xxx-xHT20, LDL-N050xxx-xHT20, LDL-N075xxx-xHT20, LDL-T030xxx-xHT20, LDL-T050xxx-xHT20, LDL-T075xxx-xHT20,

LDL-N030xxx, LDL-N050xxx, LDL-N075xxx, LDL-T030xxx, LDL-T050xxx, LDL-T075xxx User Manual

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Saf ety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 Rockwell Automation sales office or online at http://literature.rockwellautomation.com 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.

available from your local

) describes some important differences

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.

IMPORTANT

ATTENTION

Identifies information that is critical for successful application and understanding of the product.

Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence

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.

Allen-Bradley, Rockwell Automation, Kinetix, Ultra3000, LDL-Series Ironless Linear Servo Motors, RSLogix 5000, and TechConnect are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Safety Considerations

Start

Notes:

6 Publication LDL-UM001A-EN-P - March 2009

Preface

About This Publication

This manual provides detailed installation instructions for mounting, wiring, and maintaining your LDL-Series Ironless Linear Servo Motors.

Who Should Use This

This manual is intended for engineers or technicians directly involved in the installation, wiring, and maintenance of LDL-Series ironless

Manual

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.

Additional Resources

The following documents contain additional information conce rning 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

How to install, setup, and troubleshoot a Kinetix 2000 drive

How to install, setup, and troubleshoot a Kinetix 6000 drive

How to install, setup, and troubleshoot an Ultra3000 drive

Ultra3000 Digital Servo Drives Integration Manual, publication

2098-IN005

Ultra3000 Digital Servo Drives User Manual, publication

2098-UM001

Motion Analyzer CD, download at http://ab.com/e-tools. Drive and motor sizing with application analysis software Motion Modules in Logix5000 Control Systems User Manual,

publication

System Design for Control of Electrical Noise Reference Manual, publication

Kinetix Motion Control Selection Guide, publication GMC-SG001 Information about Kinetix products Safety Guidelines for the Application, Installation, and

Maintenance of Solid State Controls, publication Allen-Bradley Industrial Automation Glossary, publication AG-7.1 A glossary of industrial automation terms and abbreviations Rockwell Automation Product Certification Website, publication

available at National Electrical Code. Published by the National Fire

Protection Association of Boston, MA.

LOGIX-UM002

GMC-RM001

SGI-IN001

http://www.ab.com

Instruction on configuring Ultra3000 and Ultra500 drives, creating and configuring project, source, and header files and creating and running programs.

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

Characteristics, application, installation, and maintenance of solid state controls

For declarations of conformity (DoC) currently available from Rockwell Automation

An article on wire sizes and types for grounding electrical equipment

You can view or download publications at

http://literature.rockwellautomation.com. To order paper copies of

technical documentation, contact your local Rockwell Automation distributor or sales representative.

7Publication LDL-UM001A-EN-P - March 2009 7

Preface

Notes:

8 Publication LDL-UM001A-EN-P - March 2009

Safety Considerations

Chapter

1

Introduction

Labels

Title Location Label Details

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 identif ied by label s affixed to the device.

Topic Page

Labels 9 High Energy Magnets 10 Vertical or Incline Installation 12 Operational Guidelines 13

Here you will find the safety and identification labels affixed to your linear motor components. To prevent injury and damage to the linear motor, review the safety label and its de tails and locati on before using the linear motor.

Safety Label

Magnetic Field Danger

9Publication LDL-UM001A-EN-P - March 2009 9

A The Magnetic Fields label identifies non-ionizing radiation

DANGER

MAGNETIC FIELDS LOCATED IN THIS AREA. Can be harmfull to pacemakers and other sensitive equipment.

found in the magnet channels. Magnetic channels are constructed with strong magnets. Strong magnets can disrupt the functionality of automatic implantable cardioverter defibrillators (AICD); people with a pacemaker should not work near the magnet channels. Maintenance personnel working near the magnet channels should avoid the use of metallic tools and secure items such as badge clip and other personal effects that could be attracted by the strong magnets. Strong magnets can erase magnetic media. Never let credit cards or electronic media contact or come near the magnet channels.

Chapter 1 Safety Considerations

Title Location Label Details

Coil Name Plate B This name plate shows the coil catalog number, serial

Identification Labels

www.ab.com

CAT. NO. LDL-XXXXXXX-XHTXX SERIAL NO. XXXX-X-XXXX

CLASS B, 230 VAC, 0-167 Hz, 3Ø E230241 MADE IN USA

number operating voltage and frequency.

Magnet Channel Name Plate

RoHS Compliant D LDL-Series linear motor components are RoHS compliant.

C This name plate shows the magnet channel catalog number,

CAT. NO. LDL-XXXXXXXXX SERIAL NO. XXXX-X-XXXX

www.ab.com

RoHS COMPLIANT

Directive 2002/95/EC

MADE IN USA

serial number.

Label Locations for LDL-Series Linear Motor

The coil shown here is upside down relative to the magnet channel so the

MAGNETIC FIELDS LOCATED IN THIS AREA. Can be harmfull to pacemakers and other sensitive equipment.

D

DANGER

A

labels are seen.

B

CAT. NO. LDL-C050200-DHT11

SERIAL NO. XXXXX-X-XXXX

m

o .c b

w.a w w

IANT

L

P

OM

Directive 2002/95/EC

oHS C

R

z, 3Ø

H

A

-167 US

, 0 C

IN

E

VA

D

30

A

, 2

B

S

M

S

41

LA

02

C

23 E

MADE IN USA

CAT. NO. LDL-NM075600 SERIAL NO. XXXX-X-XXXX

SERIES A

w.ab.com

w

C

High Energy Magnets

Linear motor magnet channels contain high energy magnets that attract ferrous metals from a considerable distance. Precautions must be taken while unpacking, handling, and shipping by air.

Unpacking and Handling

Unpack magnet channels one at a time. Repack magnet channels after inspection and before it is stocked or staged for installation. Leave

10 Publication LDL-UM001A-EN-P - March 2009

Safety Considerations Chapter 1

protective wrapping, cardboard and flux containment plates in place until magnet channel is installed. Clear the inspection and repacking area of any ferrous metals that will attracted to or attract the magnetic assembly. If magnet channels must be unpacked at the same time maintain a distance of 1.5 m (5 ft) between assemblies.

Air Freight Restrictions

When air freighting linear motor special preparations and precautions must be taken. The following information outlines the basic requirements at the publication d at e of th is 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 ship ping this product.

Linear motor magnet channels 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.

As 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.

Publication LDL-UM001A-EN-P - March 2009 11

Chapter 1 Safety Considerations

Vertical or Incline Installation

A linear motor driven system mounted vertically or on an incline will not maintain position when the power is removed. Under the influence of gravity the motion platform and its payload will fall to the low end of travel. Design engineers should allow for this by designing in controlled power down circuits or mechanical 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 devise. You are required to follow static-control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control precautions, components can be damaged. If you are not familiar with static control precautions, refer to Guarding Against Electrostatic Damage, publication 8000-4.5.2

, or any other applicable ESD

awareness handbook.

BURN HAZARD

When the linear motors are running at their maximum rating the temperature of attached heat sink can reach 100 ºC (212 ºF).

SHOCK HAZARD

An assembled linear motor will generate power if the coil or magnet channel is moved. Un-terminated power cables present an electrical shock hazard. Never handle flying leads or touch power pins while moving the motor.

12 Publication LDL-UM001A-EN-P - March 2009

Safety Considerations Chapter 1

Operational Guidelines

Please read and follow the guidelines shown here to safely operate the linear motor created from the these linear motor component s .

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 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.

IMPORTANT

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.

ATTENTION

A runaway condition can be caused by incorrect motor, hall effect, and position feedback wiring resulting in violent uncontrolled motion.

Keep away from the line of motor travel at all times. Always have bumpers in place and securely fastened before applying power to your linear motor.

High Voltage can kill. Do not operate with exposed wires. Do not go near electrically live parts.

Publication LDL-UM001A-EN-P - March 2009 13

Chapter 1 Safety Considerations

WARNING

Large Position Error Tolerances, such as those calculated by the Auto Tune function in RSLogix 5000 programming software, or when configuring a new axis with RSLogix 5000 software, can lead to undetected and repetitive high energy impacts against axis end stops if proper precautions are not in place. These tolerances can also lead to undetected and repetitive high energy impacts against unexpected obstructions. Such impacts can lead to equipment damage and/or serious injury.

To identify the safety concerns that you have with default Position Error Tolerance or after an Auto-Tune Function go to the Rockwell Automation Knowlegebase Click on Find Technical Support Answers and search for Answer Id 55937.

.

14 Publication LDL-UM001A-EN-P - March 2009

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 16 Linear Motor Components 17 Design Consideration 18 Maintenance 19 Motor Storage 19

15Publication LDL-UM001A-EN-P - March 2009 15

Chapter 2 Start

Catalog Number Explanation

An ironless linear motor is comprised of a coil and a magnet channel. The following keys show the catalog definition for the linear motors.

LDL - x xxx xxx - x x x x x

Cable Termination

0 = Flying leads 1 = Circular DIN-Type connector

Cable Length

0 = 300 mm (12.45 in.) 1 = 600 mm (23.62 in.) 2 = 1000 mm (39.37 in.)

Thermal Protection

T = PTC Thermal Sensor

Feedback

N = No Feedback H = Hall Effect (Trapezoidal)

Winding Code

D = D winding E = E winding

Coil Length

120 = 120 mm (4.72 in.) 240 = 240 mm (9.45 in.) 360 = 360 mm (14.17 in.) 480 = 480 mm (18.90 in.)

Frame Size

030 050 075

Coil Designation

N = Standard Coil T = Thick Coil

Bulletin Number

LDL - xx xxx xxx

Magnet Channel Length

120 = 120 mm (4.72 in.) 480 = 480 mm (18.90 in.)

Frame Size

030 050 075

Coil Designation

NM = Standard Coil TM = Thick Coil

Bulletin Number

16 Publication LDL-UM001A-EN-P - March 2009

Start Chapter 2

Linear Motor Components

6

5

4

3

Use the diagrams and descriptions to identify the uniq ue compo nents of the linear motor .

Components of Ironless Linear Motor Coil and Magnet Channel

1

LDL-N075120-xHT11

7

CAT. NO. LDL-NM075600 SERIAL NO. XXXX-X-XXXX

SERIES A

.com

w.ab

w

Motor Coil Shown

MADE IN USA

MAGNETIC FIELDS LOCATED IN THIS AREA. Can be harmfull to pacemakers and other sensitive equipment.

DANGER

LDL- NM075480

2

Magnet Channel Shown

Component Number

Component Description

1 Ironless motor coil Copper coils contained in an epoxy form. When powered,

the coil interacts with the magnet channel.

2 Magnet channel High powered static magnets create the flux field the

powered coil interacts with.

3 Encoder connector Connect your encoder here using connector kit, catalog

number LDC-ENC-CNCT.

4 Feedback connector Connect to your drive feedback using either catalog number

2090-CFBM4DF-CDAFxx (for moving coil) or 2090-XXNFMF-Sxx (for moving magnet).

5 Power connector Connect to your drive power using either catalog number

2090-CPWM4DF-xxAFxx (for moving coil) or 2090-XXNPMF-xxSxx (for moving magnet).

6 Thermistor connector Connects the PTC thermistor signal to the feedback

connector.

7 Hall effect module This module provides input signals for commutation

start-up. Replacement catalog numbers for the Hall effect module are LDL-HALL-C for LDL-xxxxxxx-xHT11 and LDL-HALL-F for LDL-xxxxxxx-xHT20.

Publication LDL-UM001A-EN-P - March 2009 17

Chapter 2 Start

Design Consideration

The information provided here is critical to using linear motor components. Design your system to comply with the following points to run safe and successfully.

Motor Air Gap

Maintaining the air gap is critical to proper installation and operation of the linear motor components. Use the coil, and magnet drawings in

Appendix A

maintaining installation envelope dimension in your design the vertical air gap requirement will be met. The following diagram show s the critical dimensions.

to calculate the installation envelope dimension. By

Coil

Overall dimension

Magnet Channel

Bumpers, Shock Absorbers, or End Stops

Always include in your design a mechanical stop at the ends of travel. Designed them such that they can prevent the moving mass from leaving its travel limits. Take into consideration the maximum speed and inertia of your moving mass when designing your mechanical

18 Publication LDL-UM001A-EN-P - March 2009

Start Chapter 2

stops. The following diagram shows a minimal system with mechanical stops.

Carriage/Heat Sink

Mechanical Stops

Encoder strip

Encoder readhead

Linear Encoder

Your linear motor components needs to be integrated with a linear encoder purchased from a third party.

Carriage/Heat Sink

The linear motor coil requires a heat sink to maintain performance. The heat sink requires a minimal mass and surface area as shown on

page 62

designed into the base in moving magnet system.

. It can as so serve as the carriage in moving coil system or be

Maintenance

Motor Storage

Publication LDL-UM001A-EN-P - March 2009 19

Linear motors require no maintenance when operated in a relatively clean environments. For operation in harsh and dirty environments, minimal cleaning is recommended every 6 months.

Clean the metallic debris and other contaminants from the air gap. Use a strip of masking tape to effectively remove the metal debris. Apply a strip of tape in the magnet channel and then remove it.

Motor storage area should be clean, dry, vibration free, and have a relatively constant temperature. If a motor is stored on equipment, it should be protected from the weather. All motor surfaces subject to corrosion should be protected by applying a corrosion resistant coating.

Chapter 2 Start

Notes:

20 Publication LDL-UM001A-EN-P - March 2009

Chapter

Installing the LDL-Series Linear Motor

3

Introduction

Unpacking and Inspection

The following section shows you how to safely unpack and install your linear motor components.

Topic Page

Unpacking and Inspection 21 Installing the Linear Motor Components 22 Mount the Magnet Channel 22 Mount the Motor Coil 25

Inspect motor assemblies for damage that may have occurred in shipment. Any damage or suspected damage should be immediately documented. Claims for damage due to shipment are usually made against the transportation company. Contact Rockwell Automation immediately for further advise.

ATTENTION

Linear motors contain powerful permanent magnets which require extreme caution during handling. When handing multiple magnet channels do not allow the channels to come in contact with each other. Do not disassemble the magnet channels. The forces between channels are very powerful and can cause bodily injury. Persons with pacemakers or Automatic Implantable Cardioverter Defibrillator (AICD) should maintain a minimum distance of 0.33 m (1 ft) from magnet assemblies. Additionally, unless absolutely unavoidable, a minimum distance of 1.5 m (5 ft) feet must be maintained between magnet assemblies and other magnetic or ferrous composite materials. Use only non-metallic instrumentation when verifying assembly dimension prior to installation

• Compare the purchase order with the packing slip.

• Check the quantity of magnet channels received matches your

job requirements.

• Identify the options that came with your linear motor.

• Inspect the assemblies and confirm the presence of specified

options.

21Publication LDL-UM001A-EN-P - March 2009 21

Chapter 3 Installing the LDL-Series Linear Motor

Installing the Linear Motor Components

Use the following procedures to install the magnet channel and the motor coil.

Required Tools:

• Aluminum straight edge

• Non-magnetic M4 or M5 hex wrench

• Magnet channel alignment tool

IMPORTANT

TIP

The alignment tool is shipped attached to the cables next to the Hall effect module. Remove before operating the linear motor.

Non-magnetic tools and hardware made of beryllium copper, 300 series stainless steel, and others should be used. If not available, proceed carefully since magnetic and ferrous items will be attracted to the magnet channel.

Mount the Magnet Channel

1. Select screw size and quantity.

The size of the Socket Head Cap Screw (SHCS) depends on mounting configuration. The diagram shows three ways you can mount your linear motor components. Mounting configuration B de-rates the motor continuous force by 10%. See Appendix A starting on page 66

Mounting Configuration

A M6 16.0 (11.8) 10.8 (8.0) B and C M5 9.5 (7.0) 6.36 (4.7)

for SHCS quantity.

Require SHCS

SHCS Torque Black Oxide Steel

N•m (lb•ft)

Stainless Steel

N•m (lb•ft)

22 Publication LDL-UM001A-EN-P - March 2009

Installing the LDL-Series Linear Motor Chapter 3

2. Verify installation envelope dimensions.

See table on page 23.

Mounting Configuration A Mounting Configuration B Mounting Configuration C

J

Coil Cat. No. Dimension H

mm (in.)

LDL-x 030xxx-xxxxx 80.0 (3.15)

LDL-x 050xxx-xxxxx 100.0 (3.94)

LDL-x 075xxx-xxxxx 130.0 (5.12)

W1

0.83 ±0.30 mm (0.003 ±0.011 in.)

Magnet Channel Cat. No.

LDL-NM030xxx LDL-NM050xxx

LDL-TM030xxx LDL-TM050xxx

LDL-NM075xxx 38.05 (1.50) LDL-TM075xxx 39.35 (1.55)

0.10 mm (0.003 in.)

Dimension W

mm (in.)

36.4 (1.43)

37.7 (1.48)

3. Install the first magnet channel.

Tighten but do not torque screws.

Publication LDL-UM001A-EN-P - March 2009 23

Chapter 3 Installing the LDL-Series Linear Motor

4

4. Install additional magnet channels.

Place a magnet channel on the mounting surface at a distance from the previously installed magnet channel and slide it into position.

2

3

5. Align the magnet channels with an aluminum straight edge and

the alignment tool and tighten the screws. a. Place the alignment tool in the alignment hole at the butting

end of the first two magnet channels.

b. Align the edges of the magnet channel with the aluminum

straight edge and tighten the screws.

c. Repeat alignment between the fixed magnet channel and the

next magnet channels needing alignment until all the magnet channels are tightened.

Alignment tool

Aluminum straight edge

6. Torque all the screws to values listed in the table on page 22

.

7. Remove the alignment tool.

24 Publication LDL-UM001A-EN-P - March 2009

Installing the LDL-Series Linear Motor Chapter 3

Mount the Motor Coil

Use M4 x 0.7 screws with a length that extends through the carriage mounting surface by minimum of 5 mm (0.197 in.), but not more than 7 mm (0.276 in.).

Follow these steps to mount the motor coil.

1. Clean and remove burrs from the coil mounting surface.

2. Attach the motor coil to the carriage using M4 x 0.7 screw

Lightly tighten the screws.

.

3. Slide the assembly on to the bearings.

Publication LDL-UM001A-EN-P - March 2009 25

Chapter 3 Installing the LDL-Series Linear Motor

Shim

4. Verify the gap between the motor and the magnet channel is

0.83

±0.30 mm (0.033 ±0.011 in.).

Use plastic shim stock and adjust as necessary.

5. Torque the M4 SCHS to 4.6 N•m (3.4 lb•ft) for black oxide steel

screw or 3.10 N•m (2.3 lb•ft) for stainless steel screws.

6. Install the bearing fasterners.

7. Secure the assembly using all the mounting holes.

26 Publication LDL-UM001A-EN-P - March 2009

Chapter

A

CB

D

E

H

L

F

G

4

LDL-Series Linear Motor Connector Data

Introduction

Linear Motor Coil Connectors

This chapter provides power, thermistor, and Hall effect cable connector information for the linear motor coil and Hall effect module.

Topic Page

Linear Motor Coil Connectors 27 Hall Effect Module Connectors 28

There are two connectors on the linear motor coil, catalog number LDL-xxxxxxxx-xxT11, the power and the Positive Temperature Coefficient (PTC) thermistor.

Power Connector

The following tables identify the power signals for DIN style circular connector.

Pin Color Signal

A Red U (A) Phase B White V (B) Phase C Black W (C) Phase D Green/Yellow Ground Case Shield Cable Shield

and GND

ATTENTION

Properly ground the coil as described in this manual and the

Intercontec P/N BKUA090NN00420220000

Mating Connector Kit Allen-Bradley 2090-KPBM4-12AA

drive manual.

27Publication LDL-UM001A-EN-P - March 2009 27

Chapter 4 LDL-Series Linear Motor Connector Data

1

4

3

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

PTC Thermistor Connector

Pin Description Signal

Hall Effect Module Connectors

Pin Description Signal

1 A Quad B TTL (1 V p-p), + A Differential AM+ (SIN+) 2 A Quad B TTL (1 V p-p), - A Differential AM- (SIN-) 3 A Quad B TTL (1 V p-p), + B Differential BM+ (COS+) 4 A Quad B TTL (1 V p-p), - B Differential BM- (COS+) 5 TTL + Index Mark Differential IM+

1 Positive Temperature Coefficient (PTC)

TS+

thermistor +

3 Positive Temperature Coefficient (PTC)

thermistor -

4– Reserved

TS-

Mates with PTC thermistor connector on Hall effect module.

The following tables show the pinouts the Hall effect module.

Feedback Connector

6 TTL - Index Mark Differential IM7 Reserved – 8 9 Encoder and Hall Sensor Power +5V DC 10 Common Common 11 Reserved – 12 Common Common

13

PTC Thermistor PTC Temp+

Intercontec P/N AKUA015NN00400220000

Mating Connector Kit Allen-Bradley 2090-KFBM4-CAAA

14 PTC Thermistor PTC Temp15 TTL - Trapezoidal Hall Commutation S1 16 TTL - Trapezoidal Hall Commutation S2 17 TTL - Trapezoidal Hall Commutation S3 Case Shield –

28 Publication LDL-UM001A-EN-P - March 2009

PTC Thermistor Connector

4

31

4

1

3

6

9

7

LDL-Series Linear Motor Connector Data Chapter 4

Pin Description Signal

1 Positive Temperature Coefficient (PTC)

TS+

thermistor + 4 Reserved – 3 Positive Temperature Coefficient (PTC)

TS-

thermistor -

Encoder Connector

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

Mates with PTC thermistor connector on linear motor coil.

Mating connector available a part of encoder connector kit catalog number LDC-ENC-CNCT.

Publication LDL-UM001A-EN-P - March 2009 29

9 Shield Drain –

Chapter 4 LDL-Series Linear Motor Connector Data

Notes:

30 Publication LDL-UM001A-EN-P - March 2009

Chapter

Wiring the LDL-Series Linear Motor

5

Introduction

Connect the Linear Motor Coil

This section shows you how to wire your LDL-Series linear motor.

Topic Page

Connect the Linear Motor Coil 31 Signal and Wire Definitions for Flying Lead Components 33 Making Your Own Extension Cables 34 Mounting and Wiring Two Identical Coils in Tandem 35

Use the following procedure to connect your linear motor, catalog number LDL-xxxxxxx-xHT11.

1. Using the Encoder Connector Kit, catalog number

LDC-ENC-CNCT, and the connector data on page 29 encoder to the connector.

ATTENTION

Be sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors. Use Bulk Head Connector Kit, catalog number LDC-BULK-HD, for mounting these connectors.

, wire your

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 feedback and the power cables.

ATTENTION

d. Align flats on each connector.

31Publication LDL-UM001A-EN-P - March 2009 31

Do not connect or disconnect the motor feedback cable or the power cable while power. It may result in unexpected motion or cause damage to the components.

Chapter 5 Wiring the LDL-Series Linear Motor

e. Do not apply excessive force when mating the cab le and

motor connectors. If the connectors do not go together with light hand force, realign and try again.

Feedback Power Connector

Power Extension Cable 2090-CPWM4DF-xxAFxx or 2090-XXNPMF-xxSxx

Feedback Extension Cable 2090-CFBM4DF-CDAFxx or 2090-XXNFMF-Sxx

ATTENTION

Be sure that cables are installed and restrained to prevent

Connector

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.

Encoder Connector

Connect your encoder using Encoder Connector Kit, catalog number LDC-ENC-CNCT.

To User Supplied Encoder

To Drive

f. 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.

32 Publication LDL-UM001A-EN-P - March 2009

Wiring the LDL-Series Linear Motor Chapter 5

Signal and Wire Definitions

For linear motors, catalog numbers LDL-xxxxxxx-xHT20, wire using wiring diagram on page 70

for Flying Lead Components

here, for wire gauge information see page 65

Linear Motor Coil

The following shows the wire color and signals for the linear motor coil power and PTC thermistor cables, catalog number LDL-xxxxxxx-xxT20.

Power Signals

. Wire colors and signal types are shown

.

Color Signal Comments

Red Motor Phase U (A) • Observe maximum applied voltage White Motor Phase V (B) Black Motor Phase W (C)

Green Motor Ground • Terminate per drive manual instructions. Shield Cable Shield

specification.

• Consult drive manual or supplier for specific wiring instructions to the drive. Wiring is phase/commutation sensitive.

• Shield is not connected to the motor frame.

ATTENTION

Disconnect input power supply before installing or servicing 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 selected drive manual.

PTC Thermistor Signals

Color Description Signal

Black Positive Temperature Coefficient (PTC)

thermistor +

Black Positive Temperature Coefficient (PTC)

thermistor -

TS+

TS-

Publication LDL-UM001A-EN-P - March 2009 33

Chapter 5 Wiring the LDL-Series Linear Motor

Hall Effect Module

This table shows the signal and wire colors for Hall effect module with flying leads, catalog number LDL-HALL-F.

Color Signal Signal Spec

Red +V 5…24V DC Hall supply, 20 mA. Black VRTN Hall effect signal common.

Making Your Own Extension Cables

White S1 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-KFBM4-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 1321 Power Conditioning Products Technical Data, publication 1321-TD001

, to choose a line reactor for

applications requiring cable longer than 10 m (32.8 f t).

34 Publication LDL-UM001A-EN-P - March 2009

Wiring the LDL-Series Linear Motor Chapter 5

Mounting and Wiring Two Identical Coils in Tandem

This type of installation requires custom motor database file which is available upon request. Contact Application Engineering at

631.344.6600 to request this file.

The following tables and diagrams show the wiring and spacing for

(1)

two identical coils mechanically top mounted

to the same plate and driven by one amplifier. There are three configurations shown here for mounting motors in tandem: power and encoder cables exiting on the right, the center, and on opposite ends.

ATTENTION

Coils must have identical part numbers. Using mis-matched coils will cause a hazardous condition resulting in damage to the equipment and a possible fire.

Cables Exit to the Right

If mounting coils in tandem, such that the power cables exit both of the coils on right side as shown, use the following table to find mounting distance and phase wiring.

L1

Coil #2

Phase Wiring for Right Exit Power Cables

L1

mm (in.)

80 (3.15) Red White U

120 (4.72) Red Black U

Coil # 1

(1)

Master

White Black V Black Red W

White Red V Black White W

Coil # 2

(2)

Slave

Coil #1 is the master

Coil #1

Hall Effect

Amplifier Phase

(1) Contact Application Engineering (631.344.6600) for side mounting of the coils.

Publication LDL-UM001A-EN-P - March 2009 35

Chapter 5 Wiring the LDL-Series Linear Motor

Phase Wiring for Right Exit Power Cables

L1

mm (in.)

Coil # 1 Master

(1)

Slave

(2)

Coil # 2

Amplifier Phase

160 (6.30) Red Red U

White White V Black Black W

(1) Master has Hall effect module. (2) Slave has no Hall effect module.

Cables Exit in the Center

If mounting coils in tandem, such that the power cables exit in the center, as shown, use the following table to find mounting distance and phase wiring.

Coil #1 is the master

Coil #1

L1

Coil #2

Hall Effect

Phase Wiring for Center Exit Power Cables

L1

mm (in.)

90 (3.54) or 150 (5.91)

Coil # 1 Master

(1)

Coil # 2 Slave

(2)

Red White U White Red V Black Black W

(1) Master has Hall effect module. (2) Slave has no Hall effect module.

Amplifier Phase

36 Publication LDL-UM001A-EN-P - March 2009

Wiring the LDL-Series Linear Motor Chapter 5

Cables Exit on Opposite Ends

If mounting coils in tandem, such that the power cables exit opposite to each other, as shown, use the following table to find mounting distance and phase wiring.

Coil #1 is the master

Coil #2

Phase Wiring for Opposite End Exit Power Cables

L1

mm (in.)

90 (3.54) or 150 (5.91)

Coil # 1 Master

(1)

Coil # 2 Slave

(2)

Red Red U White Black V Black White W

(1) Master has Hall effect module. (2) Slave has no Hall effect module.

Coil #1

Hall Effect

Amplifier Phase

Publication LDL-UM001A-EN-P - March 2009 37

Chapter 5 Wiring the LDL-Series Linear Motor

Notes:

38 Publication LDL-UM001A-EN-P - March 2009

Chapter

6

Configure and Start Up the LDL-Series Linear Motor

Introduction

Before You Begin

This section covers the setup and connection verification of a linear motor with either Kinetix 6000, Kinetix 2000, or an Ultra3000 drive.

Topic Pages

Before You Begin 39 What You Need 40 Required Files 40 Follow These Steps 41 Update Linear Motor Database 41 Set Up the Connection to Kinetix 6000 or Kinetix 2000 Drive 42 Set Up the Connection to an Ultra3000 Drive 47 Verify Motor Encoder Direction 49 Verify Motor Encoder Resolution 50 Verify Linear Motor Wiring and Function 50

This chapter assumes you have wired your linear motor and Allen-Bradley drive as shown on wiring diagrams in Appendix starting on page 67

.

B

IMPORTANT

It is important that the motor be wired correctly to get positive motion when commutated. Please read and understand Motor Direction Defined

.

Motor Direction Defined

Positive motion is dependent on encoder o rient ation, encoder wiring, and coil or magnet channel motion.

Most linear encoders are installed with the encoder cable facing the same direction as the coil cable.

39Publication LDL-UM001A-EN-P - March 2009 39

Chapter 6 Configure and Start Up the LDL-Series Linear Motor

Wire the linear encoder such that the position feedback is positive (phase A+ leads phase B+) when the motor is moving in the positive direction.

When the motor power and Hall sensor wiring is connected as sh own in wiring diagrams in Appendix defined as the motor coil moving toward its power cable. This diagram shows positive motion for both a moving coil and a moving magnet channel.

Motor Direction

B, the positive direction of motion is

Coil Motion

What You Need

Required Files

Stationary Magnet

Stationary Coil

Magnet Motion

You need a computer with RSLogix 5000 software installed and internet access.

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

40 Publication LDL-UM001A-EN-P - March 2009

Configure and Start Up the LDL-Series Linear Motor Chapter 6

– For RSLogix 5000 software, version 17.xx or later

use Motion Database file, version 5_8_0 or later

• Ultra3000 drives

– Firmware revision 1.52 or later – Motor Database, motor_03_18_09.mdb or later

• Motion Analyzer software, version 4.7 or later

Follow These Steps

Download these files from http://support.rockwellautomation.com

. Contact Rockwell Automation Technical Support at 440.646.5800 for assistance.

The following flow chart illustrates the required steps.

Update Linear Motor Database

Kinetix 6000 Drive or Kinetix 2000 Drive

Set-up Connection to Kinetix 6000 or Kinetix 2000 Drive

Drive Model?

Verify Motor Encoder Direction

Ultra3000 Drive

Set up the Connection to an Ultra3000 Drive

Verify Motor Encoder Resolution

Verify Linear Motor Wiring and Function

Update Linear Motor

Install the current Motion Database, as required, before commissioning your linear motor. See the Required Files

on page 40.

Database

Publication LDL-UM001A-EN-P - March 2009 41

Chapter 6 Configure and Start Up the LDL-Series Linear Motor

Set Up the Connection to Kinetix 6000 or Kinetix 2000 Drive

This procedure configures the Kinetix 6000 or Kinetix 2000 drive for your linear motor and encoder combination.

For help using RSLogix 5000 software as it applies to setting up your linear motor, refer to Additional Resources

on page 7. This procedure

assumes you are familiar with RSLogix 5000 software.

1. Click the Driver/Motor tab.

2. Click Change Catalog and select the appropriate Motor

Catalogue Number from the following list.

Cat. No.

LDL-N030120-DHTxx LDL-N030240-DHTxx LDL-N030240-EHTxx LDL-T030120-DHTxx LDL-T030240-DHTxx LDL-T030240-EHTxx LDL-N050120-DHTxx LDL-N050240-DHTxx LDL-N050240-EHTxx LDL-N050360-DHTxx LDL-N050360-EHTxx LDL-N050480-DHTxx LDL-N050480-EHTxx LDL-T050120-DHTxx LDL-T050240-DHTxx LDL-T050240-EHTxx LDL-T050360-DHTxx LDL-T050360-EHTxx LDL-T050480-DHTxx LDL-T050480-EHTxx LDL-N075480-DHTxx LDL-N075480-EHTxx LDL-T075480-DHTxx LDL-T075480-EHTxx

42 Publication LDL-UM001A-EN-P - March 2009

Configure and Start Up the LDL-Series Linear Motor Chapter 6

3. Using the screen image as a reference, configure the parameters

as shown in the Setting column.

Parameter Setting Comment

Loop Configuration Position Servo – Drive Resolution 200 5 µm encoder

500 2 µm encoder 1000 1 µm encoder 2000 0.5 µm encoder 51200

25600 40 µm pitch Sin/Cos encoder Drive Counts per Motor Millimeter – Real Time Axis Information Attribute 1 Position Feedback –

(1) Requires custom database file contact Application Engineering at 631.444.6600.

20 µm pitch Sin/Cos encoder

(1)

4. Click OK.

5. Click the Motor Feedback tab.

Publication LDL-UM001A-EN-P - March 2009 43

Chapter 6 Configure and Start Up the LDL-Series Linear Motor

6. Using the screen image as a reference, configure the parameters

as shown in the Setting column.

Parameter Setting Comment

Feedback Type TTL or Sin/Cos For RSLogix 5000 software,V16

Cycles 50 5 µm encoder

per Millimeters – Interpolation Factor 4 TTL

TTL with Hall or Sin/Cos with Hall For RSLogix 5000 software, V17

125 2 µm encoder 250 1 µm encoder 500 0.5 µm encoder

50

25 40 µm Sin/Cos encoder

1024 Sin/Cos

20 µm Sin/Cos encoder

(1)

(1) Requires custom database file contact Application Engineering at 631.444.6600.

RSLogix 5000 Software Version 15.00 and 16.00 TTL Encoder

RSLogix 5000 Software Version 15.00 and 16.00 Sin/Cos Encoder

44 Publication LDL-UM001A-EN-P - March 2009

Configure and Start Up the LDL-Series Linear Motor Chapter 6

RSLogix 5000 Software Version 17.00 TTL Encoder

RSLogix 5000 Software Version 17.00 Sin/Cos Encoder

7. Click OK to set the values.

8. Click the Units tab.

9. Using the screen image as a reference, configure the parameters

as shown in the Setting column.

Parameter Setting

Position Units mm Average Velocity Timebase 0.25 s

You can change position units to inches, or other units, on this tab.

Example for a 5 µm resolution encoder:

200 drive cnts/mm x 25.4 mm/in. Conversion Constant = 5080 drive cnts/in.

Publication LDL-UM001A-EN-P - March 2009 45

Chapter 6 Configure and Start Up the LDL-Series Linear Motor

10. Click OK to set the values.

11. Click the Conversion tab.

12. Using the screen image as a reference, configure the parameters

as shown in the Setting column.

Parameter Setting Comment

Positioning Mode Linear – Conversion Constant 200 5 µm encoder

500 2 µm encoder 1000 1 µm encoder 2000 0.5 µm encoder 51200

25600 40 µm pitch Sin/Cos encoder

(1) Requires custom database file contact Application Engineering at 631.444.6600.

20 µm pitch Sin/Cos encoder

13. Click OK.

(1)

46 Publication LDL-UM001A-EN-P - March 2009

Configure and Start Up the LDL-Series Linear Motor Chapter 6

Set Up the Connection to an

This procedure configures the Ultra3000 drive for your linear motor and encoder combination.

Ultra3000 Drive

For help using Ultraware software as it applies to setting up your linear motor, refer to Additional Resource s assumes you are familiar with Ultraware software.

on page 7. This procedure

1. Open your Motor Configurator Utility.

2. Select the linear motor catalog number.

3. From the Edit menu choose Duplicate.

4. Rename Model.

5. Click Encoder Type and select either Incremental or Sin/Cos .

6. Click Lines Per Meter and the enter value.

The following tables list typical values for lines per meter.

Incremental Sin/Cos Resolution Value Encoder Scale Pitch Value

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

Incremental Encoder

Sin/Cos Encoder

7. Click Close.

Publication LDL-UM001A-EN-P - March 2009 47

Chapter 6 Configure and Start Up the LDL-Series Linear Motor

8. Open your Ultraware software.

9. Configure for your Ultra3000 drive.

10. From Workspace select Motor.

11. Click Motor Model and choose the model yo u created from the

pull-down menu.

If using an incremental encoder, you are finished. For Sin/Cos encoders continue with steps12 and 13.

12. From Workspace select Encoders.

13. Click Motor Encoder Interpolation and select a value from the

pull-down menu.

This tables shows the encoder resolutions that could be achieved when using a 20 µ 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

48 Publication LDL-UM001A-EN-P - March 2009

Configure and Start Up the LDL-Series Linear Motor Chapter 6

Verify Motor Encoder Direction

In this section you select controller tag, and use the motor_ActualPostion tag 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 39

for definition for positive direction.

4. Verify that the ActualPostion tag value increases as the axis

moves.

If the positive direction of travel does not match what has been defined by the motor power and Hall Sensing wiring, then change the direction by re-wiring the encoder 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

Publication LDL-UM001A-EN-P - March 2009 49

Chapter 6 Configure and Start Up the LDL-Series Linear Motor

Verify Motor Encoder Resolution

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 using the record values.

6. Compare the actual distance and the calculated distance.

If the values do not match, verify resolution of installed encoder and the values used in the Motor Feedback, Co nversion, and Units tabs.

Verify Linear Motor Wiring and Function

The Homing and Hookup tabs in RSlogix 5000 software check the motor power (U, V, W), Hall sensing signals (S1, S2, S3) and the encoder wiring are correct.

IMPORTANT

Follow this 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

The following components must be wired correctly for your drive and linear motor to operate properly:

• Hall Effect Module

• Coil Power Wires

• Thermistor

• Encoder

Test increment 60.00 mm Drive Polarity Positive

50 Publication LDL-UM001A-EN-P - March 2009

Configure and Start Up the LDL-Series Linear Motor Chapter 6

3. Click OK.

4. Click Test Marker… to run the Test Marker test.

See your encoder user documentation for location and frequency of markers.

5. Position the coil so that it can move 60 mm (2.36 in.) in the

forward or reverse direction.

6. Click Test Feedback… to run the Test Feedback test.

Move the axis by hand at least 60 mm (2.36 in.) when prompted.

When using Allen-Bradley servo drives match the counting direction of your position feedback encoder to the directi on th e motor moves when positive current is applied.

7. Click Test Command & Feedback… to run the Test Command &

Feedback test.

Follow the on-screen instructions.

IMPORTANT

Be sure all the tests on the Hookup tab have passed before proceeding.

When using Kinetix 6000 and Kinetix 2000 drives, the Test Command Feedback test may pass even though the Hall Effect module is not wired correctly.

Publication LDL-UM001A-EN-P - March 2009 51

Chapter 6 Configure and Start Up the LDL-Series Linear Motor

8. Click the Tune tab.

WARNING

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.

9. Configure the parameters in the Tune tab as suggested in the

Initial Setting column. Leave all other tune options off for your first pass. If necessary, reduce the Velocity Loop Proportional Gain to maintain stability.

.

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)

52 Publication LDL-UM001A-EN-P - March 2009

Configure and Start Up the LDL-Series Linear Motor Chapter 6

10. Click the Homing tab.

11. Choose Sequence to 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 inde x mark is used.

Publication LDL-UM001A-EN-P - March 2009 53

Chapter 6 Configure and Start Up the LDL-Series Linear Motor

Notes:

54 Publication LDL-UM001A-EN-P - March 2009

Specifications and Dimensions

Appendix

A

Introduction

This appendix provides product specifications and mounting dimensions for your LDL-Series ironless linear motor components.

Topic Page

Performance Specifications 56 General Specifications 61 Product Dimensions 63

55Publication LDL-UM001A-EN-P - March 2009 55

Appendix A Specifications and Dimensions

Performance Specifications

Attribute Value

Motor type

Operating speed, max 10 m/s (32.8 ft/s) Operating voltage, (not for direct connection to AC line) 230V AC rms

Dielectric rating of motor power connections (U,V,W), to ground for 1.0 s Cogging torque Zero

Applied bus voltage, max Electrical cycle length 60 mm (2.36 in.) Coil temperature, max 130 °C (266 °F) Insulation class 130 °C (266 °F) Class B Thermal time constant, Ref, winding to ambient 35 min

These tables provide performance specifications for the LDL-Series ironless linear servo motors.

Common Performance Specifications

These performance specifications apply to all LDL-Series ironless linear servo motors.

3 phase, wye winding, synchronous permanent magnet stator, non-ventilated linear motor

(1)

1500V AC rms, 50/60 Hz

(2)

325V DC

Paint color Black

(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). Contact Application Engineering (631.344.6600) for applications requiring longer cables.

56 Publication LDL-UM001A-EN-P- March 2009

Specifications and Dimensions Appendix A

LDL-Series Ironless Linear Motor Performance Specifications

LDL-Series Ironless Linear Motor (Standard 30 mm frame size)

Attribute Units Symbol LDL-N030120-DxTxx LDL-N030240-DxTxx LDL-N030240-ExTxx

Force, continuous

Force, peak

(5)

(1) (2) (3) (4)

N (lbf)

Thermal resistance °C/W

Force constant

(6) (7) (8)

N/A (lbf/Apk)

pk

F

c

F

p

R

th

K

f

63 (14) 126 (28)

209 (47) 417 (94)

1.73 0.86

21.0 (4.7)

42.0 (9.4)

Back EMF constant p-p

Current, peak

(5) (7)

Current, continuous

(6) (7) (8)

(1) (2) (3) (4)

Resistance p-p @ 20 °C (68 °F)

Inductance p-p

(6) (8)

Vp/m/s (Vp/in/s)

A

pk

A

pk (Arms

Ohms

mH L 8.43 4.22 16.86

Magnetic attraction N (lbf)

(A

rms

K

e

)I

p

)I

c

R

20

F

a

24.8 (0.6)

49.6 (1.3)

9.9 (7.0) 19.9 (14.0) 9.9 (7.0)

3.0 (2.1) 6.0 (4.2) 3.0 (2.1)

5.41 2.70 10.82

0 (0)

LDL-Series Ironless Linear Motor (Thick 30 mm frame size)

Attribute Units Symbol LDL-T030120-DxTxx LDL-T030240-DxTxx LDL-T030240-ExTxx

Force, continuous

Force, peak

(5)

(1) (2) (3) (4)

N (lbf)

Thermal resistance °C/W

Force constant

Back EMF constant p-p

Current, peak

Current, continuous

(6) (7) (8)

(5) (7)

(6) (7) (8)

(1) (2) (3) (4)

Resistance p-p @ 20 °C (68 °F)

Inductance p-p

(6) (8)

N/A (lbf/Apk)

Vp/m/s

/in/s)

(V

p

A

pk

A

pk (Arms

Ohms

mH L 13.40 6.70 26.80

pk

(A

)I

rms

)I

F

c

F

p

R

th

K

f

K

e

p

c

R

20

72 (16) 144 (32)

239 (54) 479 (108)

1.31 0.65

24.1 (5.4)

28.5 (0.7)

24.1 (5.4)

28.5 (0.7)

48.2 (10.8)

56.9 (1.4)

9.9 (7.0) 19.9 (14.0) 9.9 (7.0)

3.0 (2.1) 6.0 (4.2) 3.0 (2.1)

7.15 3.57 14.29

Magnetic attraction N (lbf)

(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 62, and at 40 °C (104 °F) ambient. (2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation. (3) For standstill conditions, multiply continuous force and continuous current by 0.9. (4) Coil mountings on either of the two narrow sides reduces continuous force by 10%. (5) Calculated at 11% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details. (6) Winding parameters listed are measured line-to-line (phase-to-phase). (7) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms. (8) Specifications are ±10%. Phase-to-phase inductance is ±30%.

F

a

0 (0)

Publication LDL-UM001A-EN-P - March 2009 57

Appendix A Specifications and Dimensions

LDL-Series Ironless Linear Motor (Standard 50 mm frame size)

Attribute Units Symbol

Force, continuous

Force, peak

(5)

(1) (2) (3) (4)

N (lbf)

Thermal resistance °C/W

Force constant

Back EMF constant p-p

Current, peak

Current, continuous

(6) (7) (8)

(5) (7)

(1) (2) (3) (4)

Resistance p-p @ 20 °C (68 °F)

Inductance p-p

(6) (8)

N/A (lbf/Apk)

Vp/m/s

/in/s)

(V

p

A

pk

A

pk (Arms

(6) (8)

Ohms

mH L 11.08 5.54 22.16

Magnetic attraction N (lbf)

pk

(A

)I

rms

)I

F

c

F

p

R

th

K

f

K

e

p

c

R

20

F

a

Attribute Units Symbol

Force, continuous

Force, peak

(5)

(1) (2) (3) (4)

N (lbf)

Thermal resistance °C/W

Force constant

(6) (7) (8)

N/A (lbf/Apk)

pk

F

c

F

p

R

th

K

f

LDL-N050120-DxTxx LDL-N050240-DxTxx LDL-N050240-ExTxx

96 (22) 191 (43)

317 (71) 635 (143)

1.58 0.79

35.0 (7.9)

41.3 (1.1)

35.0 (7.9)

41.3 (1.1)

70.0 (15.7)

82.7 (2.1)

9.1 (6.4) 18.1 (12.8) 9.1 (6.4)

2.7 (1.9) 5.5 (3.9) 2.7 (1.9)

7.11 3.56 14.22

0 (0)

LDL-N050360-DxTxx LDL-N050360-ExTxx LDL-N050480-DxTxx LDL-N050480-ExTxx

287 (65) 383 (86)

952 (214) 1269 (285)

0.53 0.39

35.0 (7.9)

105.0 (23.6)

35.0 (7.9)

70.0 (15.7)

(6) (8)

Vp/m/s

/in/s)

(V

p

A

(A

pk

A

pk (Arms

Ohms

)I

rms

)I

K

e

p

c

R

20

mH L 3.69 33.25 2.77 11.08

F

a

Back EMF constant p-p

Current, peak

(5) (7)

Current, continuous

(6) (7) (8)

(1) (2) (3) (4)

Resistance p-p @ 20 °C (68 °F)

Inductance p-p

(6) (8)

Magnetic attraction N (lbf)

(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 62, and at 40 °C (104 °F) ambient. (2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation. (3) For standstill conditions, multiply continuous force and continuous current by 0.9. (4) Coil mountings on either of the two narrow sides reduces continuous force by 10%. (5) Calculated at 11% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details. (6) Winding parameters listed are measured line-to-line (phase-to-phase). (7) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms. (8) Specifications are ±10%. Phase-to-phase inductance is ±30%.

41.3 (1.1)

124.0 (3.2)

41.3 (1.1)

82.7 (2.1)

27.2 (19.2) 9.1 (6.4) 36.3 (25.6) 18.1 (12.8)

8.2 (5.8) 2.7 (1.9) 10.9 (7.7) 5.5 (3.9)

2.37 21.33 1.78 7.11

0 (0)

58 Publication LDL-UM001A-EN-P- March 2009

Specifications and Dimensions Appendix A

LDL-Series Ironless Linear Motor (Thick 50 mm frame size)

Attribute Units Symbol

Force, continuous

Force, peak

(5)

(1) (2) (3) (4)

N (lbf)

Thermal resistance °C/W

Force constant

Back EMF constant p-p

Current, peak

Current, continuous

(6) (7) (8)

(5) (7)

(1) (2) (3) (4)

Resistance p-p @ 20 °C (68 °F)

Inductance p-p

(6) (8)

N/A (lbf/Apk)

Vp/m/s (Vp/in/s)

A

pk

A

pk (Arms

(6) (8)

Ohms

mH L 18 9 35.31

Magnetic attraction N (lbf)

pk

(A

)I

rms

)I

F

c

F

p

R

th

K

f

K

e

p

c

R

20

F

a

Attribute Units Symbol

Force, continuous

Force, peak

(5)

(1) (2) (3) (4)

N (lbf)

Thermal resistance °C/W

Force constant

(6) (7) (8)

N/A (lbf/Apk)

pk

F

c

F

p

R

th

K

f

LDL-T050120-DxTxx LDL-T050240-DxTxx LDL-T050240-ExTxx

110 (25) 220 (49)

364 (82) 728 (164)

1.19 0.60

40.2 (9.0)

47.4 (1.2)

40.2 (9.0)

47.4 (1.2)

80.4 (18.1)

94.9 (2.4)

9.1 (6.4) 18.1 (12.8) 9.1 (6.4)

2.7 (1.9) 5.5 (3.9) 2.7 (1.9)

9.42 4.71 18.83

0 (0)

LDL-T050360-DxTxx LDL-T050360-ExTxx LDL-T050480-DxTxx LDL-T050480-ExTxx

329 (74) 439 (99)

1093 (246) 1457 (327)

0.40 0.30

40.2 (9.0)

120.5 (27.1)

40.2 (9.0)

80.4 (18.1)

(6) (8)

Vp/m/s (Vp/in/s)

A

(A

pk

A

pk (Arms

Ohms

)I

rms

)I

K

e

p

c

R

20

mH L 5.88 52.96 4.41 17.65

F

a

Back EMF constant p-p

Current, peak

(5) (7)

Current, continuous

(6) (7) (8)

(1) (2) (3) (4)

Resistance p-p @ 20 °C (68 °F)

Inductance p-p

(6) (8)

Magnetic attraction N (lbf)

(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 62, and at 40 °C (104 °F) ambient. (2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation. (3) For standstill conditions, multiply continuous force and continuous current by 0.9. (4) Coil mountings on either of the two narrow sides reduces continuous force by 10%. (5) Calculated at 11% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details. (6) Winding parameters listed are measured line-to-line (phase-to-phase). (7) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms. (8) Specifications are ±10%. Phase-to-phase inductance is ±30%.

47.4 (1.2)

142.3 (3.6)

47.4 (1.2)

94.9 (2.4)

27.2 (19.2) 9.1 (6.4) 36.3 (25.6) 18.1 (12.8)

8.2 (5.8) 2.7 (1.9) 10.9 (7.7) 5.5 (3.9)

3.14 28.25 2.35 9.42

0 (0)

Publication LDL-UM001A-EN-P - March 2009 59

Appendix A Specifications and Dimensions

LDL-Series Ironless Linear Motor (Standard 75 mm frame size)

Attribute Units Symbol LDL-N075480-DxTxx LDL-N075480-ExTxx

Force, continuous

Force, peak

(5)

(1) (2) (3) (4)

N (lbf)

Thermal resistance °C/W

Force constant

(6) (7) (8)

N/A (lbf/Apk)

pk

F

c

F

p

R

th

K

f

519 (117)

1723 (387)

0.37

52.5 (11.8)

105.0 (23.6)

Back EMF constant p-p

Current, peak

(5) (7)

Current, continuous

(6) (7) (8)

(1) (2) (3) (4)

Resistance p-p @ 20 °C (68 °F)

Inductance p-p

(6) (8)

Vp/m/s

/in/s)

(V

p

A

pk

A

pk (Arms

Ohms

mH L 3.60 14.40

Magnetic attraction N (lbf)

(A

)I

rms

)I

K

e

p

c

R

20

F

a

62.0 (1.6)

124.0 (3.2)

32.8 (23.2) 16.4 (11.6)

9.9 (7.0) 4.9 (3.5)

2.31 9.24

0 (0)

LDL-Series Ironless Linear Motor (Thick 75 mm frame size)

Attribute Units Symbol LDL-T075480-DxTxx LDL-T075480-ExTxx

Force, continuous

Force, peak

(5)

(1) (2) (3) (4)

N (lbf)

Thermal resistance °C/W

Force constant

Back EMF constant p-p

Current, peak

Current, continuous

(6) (7) (8)

(5) (7)

(6) (7) (8)

(1) (2) (3) (4)

Resistance p-p @ 20 °C (68 °F)

Inductance p-p

(6) (8)

N/A (lbf/Apk)

Vp/m/s

/in/s)

(V

p

A

pk

A

pk (Arms

Ohms

mH L 5.74 22.97

Magnetic attraction N (lbf)

pk

(A

rms

F

c

F

p

R

th

K

f

K

e

)I

p

)I

c

R

20

F

a

596 (134)

1977 (444)

0.28

60.3 (13.5)

71.2 (1.8)

120.5 (27.1)

142.3 (3.6)

32.8 (23.2) 16.4 (11.6)

9.9 (7.0) 4.9 (3.5)

3.06 12.25

0 (0)

(1) Coils at maximum temperature, 130 °C (266 °F), mounted to an aluminium heat sink whose area is noted in table on page 62, and at 40 °C (104 °F) ambient. (2) Continuous force and current based on coil moving with all phases sharing the same load in sinusoidal commutation. (3) For standstill conditions, multiply continuous force and continuous current by 0.9. (4) Coil mountings on either of the two narrow sides reduces continuous force by 10%. (5) Calculated at 11% duty cycle for 1.0 second max. Some applications may produce significantly higher peak forces. Call Applications Engineering (631.344.6600) for details. (6) Winding parameters listed are measured line-to-line (phase-to-phase). (7) Currents and voltages listed are measured 0-peak of the sine wave unless noted as rms. (8) Specifications are ±10%. Phase-to-phase inductance is ±30%.

60 Publication LDL-UM001A-EN-P- March 2009

Specifications and Dimensions Appendix A

General Specifications

These tables provide weight, heat sink, environmental for LDL-Series ironless linear motors.

Weight Specifications

Weight Specifications - Motor Coil with Flying Leads

Cat. No.

LDL-N030120-DHT20

LDL-T030120-DHT20

LDL-N030240-xHT20

LDL-T030240-xHT20

LDL-N050120-DHT20

LDL-T050120-DHT20

LDL-N050240-xHT20

Weight, Approx.

kg (lb)

0.63 (1.38)

0.74 (1.64)

1.14 (2.51)

1.37 (3.02)

0.75 (1.66)

0.91 (2.01)

1.39 (3.07)

Cat. No.

LDL-T050240-xHT20

LDL-N050360-xHT20

LDL-T050360-xHT20

LDL-N050480-xHT20

LDL-T050480-xHT20

LDL-N075480-xHT20

LDL-T075480-xHT20

Weight Specifications - Motor Coil with Connectors

Weight, Approx.

kg (lb)

1.71 (3.77)

2.03 (4.47)

2.50 (5.52)

2.67 (5.88)

3.30 (7.28)

3.32 (7.32)

4.16 (9.18)

Cat. No.

LDL-N030120-DHT11

LDL-T030120-DHT11

LDL-N030240-xHT11

LDL-T030240-xHT11

LDL-N050120-DHT11

LDL-T050120-DHT11

LDL-N050240-xHT11

Weight, Approx.

kg (lb)

0.83 (1.83)

0.94 (2.07)

1.34 (2.95)

1.57 (3.46)

0.95 (2.09)

1.01 (2.22)

1.41 (3.11)

Cat. No.

LDL-T050240-xHT11

LDL-N050360-xHT11

LDL-T050360-xHT11

LDL-N050480-xHT11

LDL-T050480-xHT11

LDL-N075480-xHT11

LDL-T075480-xHT11

Weight, Approx.

kg (lb)

1.91 (4.21)

2.23 (4.92)

2.70 (5.95)

3.50 (7.72)

4.36 (9.61)

3.52 (7.76)

4.36 (9.61)

Weight Specifications - Motor Magnet Channel

Cat. No.

LDL-NM030120 1.37 (3.02) LDL-TM050120 1.89 (4.17) LDL-NM030480 5.51 (12.15) LDL-TM050480 7.57 (16.69) LDL-TM030120 1.40 (3.08) LDL-NM075120 2.91 (6.42) LDL-TM030480 5.60 (12.35) LDL-NM075480 11.64 (25.66) LDL-NM050120 1.87 (4.12) LDL-TM075120 2.94 (6.48) LDL-NM050480 7.48 (116.49) LDL-TM075480 11.76 (25.93)

Weight, Approx.

kg (lb)

Cat. No.

Weight, Approx.

kg (lb)

Publication LDL-UM001A-EN-P - March 2009 61

Appendix A Specifications and Dimensions

Carriage Weight and Heat Sink Area Requirements

Required

Cat. No.

LDL-x030120-DHTxx 774 (120) 1.4 (3) LDL-x030240-xHTxx 1160 (180) 2.0 (4.5) LDL-x050120-DHTxx 774 (120) 2.7 (6) LDL-x050240-DHTxx 1160 (180) 4.0 (9) LDL-x050360-DHTxx 1680 (260) 5.9 (13) LDL-x050480-DHTxx 2060 (320) 7.3 (16) LDL-x075480-xHTxx 2060 (320) 7.3 (16)

Heat Sink Area

2

(in.2)

cm

Required Carriage Plate Weight

kg (lb)

Environmental Specifications

Attribute Value

Temperature, operating ambient 0…40 °C (32…104 °F) Temperature, storage ambient -30…70 °C (-22…158 °F) Humidity, relative non-condensing 5…95% Liquid/dust protection IP 65 Shock, max. 20 g peak, 6 ms duration Vibration, max 30…2000 Hz, 2.5 g peak

Certifications

Certification

(when product is marked) c-UL-us UL recognized to U.S. and Canadian safety standards (UL 1004-1 and 840 File E230241).

CE

(1) Refer to http://www.ab.com for Declarations of Conformity Certificates.

(1)

Standards

European Union 2004/108/EC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product Standard including specific test methods.

European Union 2006/95/EC Low Voltage Directive compliant with:

• EN 60034-1:2004 Rotating Electrical Machines, Part I: Rating and Performance.

• EN 60204-1:2006 Safety of Machinery – Electrical Equipment of Machines, Part 1: General

Requirements.

62 Publication LDL-UM001A-EN-P- March 2009

Specifications and Dimensions Appendix A

Product Dimensions

LDL-Series ironless linear motor components are designed to metric dimensions. Inch dimensions are conversions from millimeters. Untoleranced dimensions are for reference.

Publication LDL-UM001A-EN-P - March 2009 63

Appendix A Specifications and Dimensions

Motor Coil Dimensions

Magnet channel

shown for reference.

J

0.83±0.30

T

Air Gap

(0.033±.011)

Feedback

Power

Connector

Dimensions are in mm (in.)

C

D

E

F

Thermistor Cable

Flying Leads

1000 mm (39.37 in.)

28.00

(1.102)

80.00

(3.150)

A

B

Power Cable

Flying Leads

1000 mm (39.37 in.)

8.5 (0.33),

Mounting holes

M4 x 0.7

22.00

38.00

60.00

quantity A1.

G

(0.866)

(1.496)

Typical

(2.362)

I

Hall Effect Module

Flying Leads

1000 mm (39.37 in.)

32.00

H

0.260 (0.010)

Coil Face Runout (T.I.R.)

(1.260)

350

(13.9)

(24)

600

Encoder

Connector

28.00

(1.102)

80.00

(3.150)

A

B

C

D

E

F

8.5 (0.33),

quantity A1.

M4 x 0.7

Mounting holes

26.00

35.00

(1.024)

(1.378)

L

4.50 (0.177)

LDL-Series Ironless Linear Motor Coil Dimension (LDL-xxxxxxx-xHT20) with Flying Leads

26.00

35.00

(1.024)

(1.378)

L

4.50 (0.177)

Refer to table on page 65 for coil mounting surface flatness requirement.

7 (0.28)

quantity A2.

Mounting holes

typical both sides,

M4 x 0.7

Dimensions for side view of linear motor coil with connectors is identical to this view with flying leads.

LDL-Series Ironless Linear Motor Coil Dimension (LDL-xxxxxxx-xHT11) with Connectors

64 Publication LDL-UM001A-EN-P- March 2009

Specifications and Dimensions Appendix A

Flatness

mm/300 x 300 (in./12 x 12)

(AWG)

2

Power Cable Gauge

mm

A2

Qty

0.25 (0.010)

0.50 (20)

0.75 (18)

0.64 (0.025)

0.75 (18)

(9.685)

(7.087)

8.30 (0.33)

100.00

(3.937)

90.50

(3.563)

366.00

300.00

320.00

12 6 0.38 (0.015)

8.30 (0.33)

(14.409)

(11.811)

––

(12.598)

16 8

486.00

(19.134)

420.00

(16.535)

440.00

(17.323)

360.00

(14.173)

320.00

(12.598)

8.30 (0.33)

130.00

(5.118)

115.50

(4.547)

10.80 (0.43)

Static Bend Radius

mm (in.)

Cable Dia.

mm (in.)

A1

Qty

42

T

mm (in.)

8.30 (0.33)

(1)

mm (in.)

J

I

mm (in.)

126.00

H

mm (in.)

60.00

G

mm (in.)

F

mm (in.)

E

mm (in.)

D

mm (in.)

(4.961)

(2.362)

80.00

(3.149)

70.50

(2.776)

8.30 (0.33)

84

8.30 (0.33)

246.00

(9.685)

180.00

(7.087)

42

126.00

(4.961)

60.00

(2.362)

84

8.30 (0.33)

246.00

180.00

240.00

LDL-T050480-xHTxx 10.80 (0.43) 0.50 (20)

200

120.00

496.0

(9.449)

(7.874)

(4.724)

(19.53)

LDL-N075480-DHTxx

LDL-N075480-EHTxx 0.50 (20)

LDL-T075480-DHTxx

LDL-T075480-EHTxx 0.50 (20)

(1) Tolerance for J dimension is ±0.26 mm (0.010 in.).

Cable Specifications

Shield Type

(AWG)

2

Gauge

mm

Conductors

(1)

Cable

4 0.52 (20) Braid 6.4 (0.25) 17.0 (0.67)

4 0.82 (18) Braid 7.0 (0.28) 18.0 (0.70)

(2)

Thermistor 2 0.20 (26) None 4.0 (0.16) 10.0 (0.40)

Power

Hall Module 6 0.13 (24) Foil 5.0 (0.20) 15.0 (0.59)

(1) All cables are non-flex.

(2) Power cable specification is dependent on coil used. See Power Cable Gauge column in the table on the top of this page.

C

mm (in.)

LDL-Series Ironless Linear Motor Coil Dimensions (LDL-xxxx-xHTxx)

B

mm (in.)

A

L

Cat. No.

––––––

mm (in.)

136.0

mm (in.)

LDL-N030120-DHTxx

––––

200.00

120.00

(5.35)

256.0

LDL-T030120-DHTxx 10.80 (0.43)

LDL-N030240-xHTxx

(7.874)

(4.724)

(10.08)

LDL-T030240-xHTxx 10.80 (0.43)

––––––

136.0

(5.35)

LDL-N050120-DHTxx

––––

200

(7.874)

120.0

(4.724)

256.0

(10.08)

LDL-T050120-DHTxx 10.80 (0.43)

LDL-T050240-xHTxx

240.00

(9.449)

200

(7.874)

120.00

(4.724)

376.0

(14.80)

LDL-N050480-DHTxx

LDL-N050360-xHTxx 10.80 (0.43)

LDL-T050360-xHTxx

LDL-N050240-xHTxx 10.80 (0.43)

LDL-N050480-EHTxx 0.50 (20)

Publication LDL-UM001A-EN-P - March 2009 65

Appendix A Specifications and Dimensions

LDL

S

i

I

l

Li

M

t

M

t

Ch

l

Di

i

Magnet Channel Dimensions

Dimensions are in mm (in.)

G

25.00

Setup Dimension

(0.984)

H

T

W

- 0.00 (-0.000)

T DP Both Sides

Ø 4.00 (0.157) +0.06 (+0.002)

60.00

(2.362)

Mounting Hole Dimensions

60.00

(2.362)

Mounting Hole Dimensions

Flatness

(3)

Y

Hole

N

M

(2)

L

mm/300 x 300 (in./12 x 12)

mm (in.)

Qty

1 2 95.00 (3.740) 0.13 (0.005)

mm (in.)

119.00 (4.685)

14.00 (0.551)

119.00 (4.685) 1 2 95.00 (3.740) 0.13 (0.005)

1 2 95.00 (3.74) 0.13 (0.005)

119.00 (4.685)

14.00 (0.551)

119.00 (4.685) 1 2 94.00 (3.740) 0.13 (0.005)

1 2 95.00 3.740) 0.13 (0.005)

119.00 (4.685)

19.00 (0.748)

119.00 (4.685) 1 2 95.00 (3.740) 0.13 (0.005)

D

mm (in.)

Gap will result from setting the

plates to setup dimension shown.

Ø10.00 (0.394)

See table for hole quantity.

(1)

G

mm (in.)

9.86 (0.388) 18.90 (0.744)

M6 x 1.0-6H thru

See table for hole quantity.

T

Refer to table for magnet channel mounting surface flatness requirement.

mm (in.)

9.86 (0.388) 18.90 (0.744)

9.86 (0.388) 20.55 (0.809)

ons

mens

anne

L

Y

Ø 5.00 (0.197) Thru

agne or

o

60.00

(2.362)

near

N Places

60.00

ess ron

9.50

es er

-

66 Publication LDL-UM001A-EN-P- March 2009

(0.374)

M

17.50

29.5

(0.689)

(1.16)

29.5

D

(2.362)

N Places

(1.16)

H

mm (in.)

W

mm (in.)

Cat. No.

56.00 (2.205) 6.35 (0250)

37.80 (1.1488)

LDL-NM030120

LDL-NM030480 479.00 (18.858) 7 8 455.00 (17.913) 0.26 (0.010)

40.65 (1.600) 12.57 (0.494) 20.33 (0.800)

LDL-TM030120

LDL-TM030480 479.00 (18.858) 7 8 455.00 (17.913) 0.26 (0.010)

76.00 (2.992) 6.35 (0.250)

37.80 (1.488)

LDL-NM050120

LDL-NM050480 479.00 18.858) 7 8 455.00 (17.913) 0.26 (0.010)

40.65 (1.600) 12.57 (0.494) 20.33 (0.800)

LDL-TM050120

LDL-TM050480 479.00 (18.858) 7 8 455.00 (17.913) 0.26 (0.010)

LDL-NM075120

41.1 (1.62)

LDL-NM075480 479.00 (18.858) 7 8 455.00 (17.913) 0.26 (0.010)

106.0 (4.173) 8.00 (0.315)

43.7 (1.72) 12.57 (0.494) 21.85 (0.860)

LDL-TM075120

LDL-TM075480 479.00 (18.858) 7 8 455.00 (17.913) 0.26 (0.010)

) Tolerance for G dimension is +0.35 mm (+0.012 in.), -0.12 mm (-0.004 in.).

) Tolerance for L dimension is ±0.25 mm (±0.010 in.).

) Tolerance for Y dimension is ±0.05 mm (±0 in.002 in.).

Interconnect Diagrams

Appendix

B

Introduction

Wiring Examples

This appendix provides wring examples to assist you in wring an LDL-Series linear motors to an Allen-Bradley drive.

Topic Page

Kinetix 6000 or Kinetix 2000 Drives and LDL-xxxxxxx-xHT11 Linear Motor with a TTL Encoder

Kinetix 6000 or Kinetix 2000 Drives and LDL-xxxxxxx-xHT11 Linear Motor with a Sin/Cos Encoder

Kinetix 6000 or Kinetix 2000 Drives and LDL-xxxxxxx-xHT20 Linear Motor with a TTL Encoder

Kinetix 6000 or Kinetix 2000 Drives and LDL-xxxxxxx-xHT20 Linear Motor with a Sin/Cos Encoder

Ultra3000 Drives and LDL-xxxxxxx-xHT11 Linear Motor with a TTL Encoder 72 Ultra3000 Drives and LDL-xxxxxxx-xHT11 Linear Motor with a Sin/Cos Encoder 73 Ultra3000 Drives and LDL-xxxxxxx-xHT20 Linear Motor with a TTL Encoder 73 Ultra3000 Drives and LDL-xxxxxxx-xHT20 Linear Motor with a Sin/Cos Encoder 75

These notes apply to the wiring examples on the pages that follow.

68

69

70

71

Note Information

1

Use cable shield clamp in order to meet CE requirements. No external connection to ground is required.

2

For motor cable specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001.

3

When using Sin/Cos encoder with Kinetix 6000 drives refer to Appendix C on

page 77

.

67Publication LDL-UM001A-EN-P- March 2009 67

Appendix B Interconnect Diagrams

Wiring Example for Kinetix 6000 or Kinetix 2000 Drives and LDL-xxxxxxx-xHT11 Linear Motor with a TTL Encoder

Kinetix 2000 or Kinetix 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 and shield termination techniques.

Low Profile Connector

(Use 2090-K6CK-D15M for Kinetix 6000 Drives and 2090-K2CK-D15M for Kinetix 2000 Drives.)

LDL-Series Linear Motor Coil

1

U

2

V

3

W

4

Brown Black

Blue

Green/Yellow

2090-CPWM4DF-xxAFxx, 2090-XXNPMF-xxSxx

A B C

Three-phase Motor Power

GND

Motor Power Cable

Note 2

N/C

2090-XXNFMF-Sxx or

2900-CFBM4DF-CDAFxx

N/C

WHT/Orange

Blue

WHT/Blue

Yellow

WHT/Yellow

WHT/Gray

Gray

White/Green

Green

WHT/Red

Red

WHT/Black

Black

11

12 13

8

6

14 10

5 4

3

2 1

TS+

TS-

S1 S2 S3

ECOM

+5V DC

IMIM+

BM-

BM+ AM-

AM+

13 14

15 16 17

10

9 6 5 4 3 2 1

Thermal Switch

Feedback Cable

Note 2

AM+

AM-

BM+

BM-

IM+

IM+5VDC ECOM

1

4 2 5 3 6 8 7

TTL Encoder

Ground techniques for feedback cable shield.

Clamp

Exposed shield secured under clamp.

Clamp screw (2)

Turn clamp over to hold small cables secure.

68 Publication LDL-UM001A-EN-P- March 2009

Interconnect Diagrams Appendix B

Wiring Example for Kinetix 6000 or Kinetix 2000 Drives and LDL-xxxxxxx-xHT11 Linear Motor with a Sin/Cos Encoder

Kinetix 2000 or Kinetix

6000 IAM (inverter) or

AM Module

Motor Power (MP) Connector

U V

W

Cable Shield Clamp Note 1

11

12 13

Motor Feedback (MF) Connector (IAM/AM) Module

8

6 14 10

5

4

3

2

1

Refer to low profile connector illustration (lower left) for proper grounding and shield termination techniques.

Low Profile Connector

(Use 2090-K6CK-D15M for Kinetix 6000 Drives and 2090-K2CK-D15M for Kinetix 2000 Drives.)

LDL-Series Linear Motor Coil

1

2

3

4

Brown Black

Blue

Green/Yellow

2090-CPWM4DF-xxAFxx, 2090-XXNPMF-xxSxx

A B

Three-phase Motor Power

C

GND

Motor Power Cable

Note 2

TS+

TS-

S1 S2 S3

ECOM

+5V DC

IM-

IM+

COS-

COS+

SIN-

SIN+

13

14 15

16 17

10

9 6 5 4 3 2 1

Thermal Switch

N/C

WHT/Orange

Blue

WHT/Blue

Yellow

WHT/Yellow

WHT/Gray

Gray

White/Green

Green

WHT/Red

Red

WHT/Black

Black

N/C

2090-XXNFMF-Sxx or

2900-CFBM4DF-CDAFxx

Feedback Cable

Note 2

SIN+

SINCOS+ COS-

IM+ IM-

+5VDC ECOM

1 4 2

5 3

6

8 7

Sin/Cos Encoder Note 3

Ground techniques for feedback cable shield.

Clamp

Exposed shield secured under clamp.

Clamp screw (2)

Turn clamp over to hold small cables secure.

Publication LDL-UM001A-EN-P- March 2009 69

Appendix B Interconnect Diagrams

Wiring Example for Kinetix 6000 or Kinetix 2000 Drives and LDL-xxxxxxx-xHT20 Linear Motor with a TTL Encoder

Kinetix 2000 or Kinetix 6000

IAM (inverter) or AM

Module

Note 3

Cable Shield Clamp Note 1

Motor Power (MP) Connector

Motor Feedback (MF) Connector (IAM/AM) Module

W

V

U

11 12 13

8

1

2 3 4

5

10 14

6

Refer to low profile connector illustration (lower left) for proper grounding techniques.

LDL-Series Linear Motor Coil

4

3

2

1

Green/Yellow

W V U

TS+ TS -

Black

White

Red

Black Black

W

V

U

GND

Three-phase Motor Power

Thermal Switch

Power

Red

White

S1

Blue

S2

Orange

S3

Black

COM

Hall Effect

Module

AM+ AM-

BM+

BM-

IM+

IM-

POWER COM

Wire as shown here using cable type appropriate for

Linear Encoder

TTL Encoder

your application.

Low Profile Connector

Ground techniques for feedback cable shield.

(Use 2090-K6CK-D15M for Kinetix 6000 Drives and 2090-K2CK-D15M for Kinetix 2000 Drives.)

Clamp

Exposed shield secured under clamp.

Clamp screw (2)

Turn clamp over to hold small cables secure.

70 Publication LDL-UM001A-EN-P- March 2009

Interconnect Diagrams Appendix B

Wiring Example for Kinetix 6000 or Kinetix 2000 Drives and LDL-xxxxxxx-xHT20 Linear Motor with a Sin/Cos Encoder

Kinetix 2000 or Kinetix 6000

IAM (inverter) or AM

Module

Cable Shield Clamp Note 1

Motor Power (MP) Connector

W

V U

11 12 13

8

Motor Feedback (MF) Connector (IAM/AM) Module

3 4

5 10 14

6

Refer to low profile connector illustration (lower left) for proper grounding techniques.

LDL-Series Linear Motor Coil

4

3

2

1

Green/Yellow

W V U

TS+ TS -

Black

White

Red

Black Black

W

V

U

Three-phase

GND

Motor Power

Thermal Switch

Power

Red

White

S1

Blue

S2

Orange

S3

Black

COM

Hall Effect

Module

1 2

Wire as shown here using cable type appropriate for your application.

COS+ COS-

SIN+ SIN-

IM+ IM-

POWER COM

Linear Encoder

Sin/Cos Encoder Note 3

Low Profile Connector

Ground techniques for feedback cable shield.

(Use 2090-K6CK-D15M for Kinetix 6000 Drives and 2090-K2CK-D15M for Kinetix 2000 Drives.)

Clamp

Exposed shield secured under clamp.

Clamp screw (2)

Turn clamp over to hold small cables secure.

Publication LDL-UM001A-EN-P- March 2009 71

Appendix B Interconnect Diagrams

Ultra3000 Drive

Wiring Example for Ultra Drive and LDL-xxxxxxx-xHT11 Linear Motor with a TTL Encoder

LDL-Series Linear Motor Coil

Motor Power (TB1) Connector

Cable Shield Clamp Note 1

Motor Feedback (CN2) Connector

Refer to low profile connector illustration (lower left) for proper grounding and shield termination techniques.

1

U

2

V

3

W

4

11

12 13

8

6 14 10

5

4

3

2

1

WHT/Orange

N/C

WHT/Yellow

White/Green

WHT/Black

Refer to low profile connector illustration (lower left) for proper grounding and shield termination techniques.

Blue

WHT/Blue

Yellow

WHT/Gray

Gray

Green

WHT/Red

Red

Black

Brown Black

Blue

Green/Yellow

2090-CPWM4DF-xxAFxx, 2090-XXNPMF-xxSxx

Motor Power Cable

Note 2

Motor Power Cable

Note 2

2090-XXNFMF-Sxx or

2900-CFBM4DF-CDAFxx

Feedback Cable

Note 2

N/C

TS+

TS-

ECOM

+5V DC

IM-

IM+

COS-

COS+

SIN-

SIN+

SINCOS+ COS-

IM+

IM+5VDC ECOM

A B

Three-phase

Motor Power

C

Motor Power

GND

13

S1 S2 S3

14 15

16 17

10

9 6 5 4 3 2 1

1 4 2

5 3 6 8 7

Thermal

Switch

TTL Encoder

TTL Encoder Wire color shown for Renishaw

RGH22 linear incremental encoder

Ground techniques for feedback cable shield.

with its reference mark actuator installed.

Exposed shield secured under clamp.

2090-UXBB-DM15

Cable Tie

Motor Feed Breakout Board

72 Publication LDL-UM001A-EN-P- March 2009

Interconnect Diagrams Appendix B

Wiring Example for Ultra3000 Drive and LDL-xxxxxxx-xHT11 Linear Motor with a Sin/Cos Encoder

Ultra3000 Drive

Motor Power (TB1) Connector

Cable Shield Clamp Note 1

Motor Feedback (CN2) Connector

1

U

2

V

3

W

4

N/C

WHT/Orange

WHT/Blue

WHT/Yellow

WHT/Gray

White/Green

WHT/Black

11

12 13

8

6 14 10

5

4

3

2

1

Refer to low profile connector illustration (lower left) for proper grounding and shield termination techniques.

Blue

Yellow

Gray

Green

WHT/Red

Red

Black

Brown Black

Blue

Green/Yellow

2090-CPWM4DF-xxAFxx, 2090-XXNPMF-xxSxx

Motor Power Cable

Note 2

2090-XXNFMF-Sxx or

2900-CFBM4DF-CDAFxx

Feedback Cable

Note 2

N/C

ECOM

+5V DC

COS-

COS+

SIN-

SIN+

SIN+ SINCOS+

COS-

IM+ IM-

+5VDC

ECOM

TS+

TS-

S1 S2 S3

IM-

IM+

LDL-Series Linear Motor Coil

A

B

Three-phase Motor Power

C

GND

13

14 15

16 17

10

9 6 5 4 3 2 1

1

4 2 5 3 6 8 7

Thermal Switch

Sin/Cos Encoder

Ground techniques for feedback cable shield.

Exposed shield secured under clamp.

2090-UXBB-DM15

Cable Tie

Motor Feed Breakout Board

Wiring Example for Ultra3000 Drive and LDL-xxxxxxx-xHT20 Linear Motor with a TTL Encoder

Publication LDL-UM001A-EN-P- March 2009 73

Appendix B Interconnect Diagrams

Ultra3000 Drive

Cable Shield Clamp Note 1

Motor Power (TB1) Connector

Motor Feedback (CN2) Connector

W

V U

11 12

13

8 1

2 3 4

5

10 14

6

Refer to low profile connector illustration (lower left) for proper grounding techniques.

LDL-Series Linear Motor Coil

4

3

2

1

Green/Yellow

W V U

TS+ TS -

Black

White

Red

Black Black

W

V

U

GND

Three-phase Motor Power

Thermal Switch

Power

Red

White

S1

Blue

S2

Orange

S3

Black

COM

Hall Effect

Module

AM+ AM-

BM+ BM-

IM+ IM-

Linear Encoder

Wire as shown here using cable type appropriate for

POWER COM

TTL Encoder

your application.

Ground techniques for feedback cable shield.

Exposed shield secured under clamp.

2090-UXBB-DM15

Cable Tie

Motor Feed Breakout Board

74 Publication LDL-UM001A-EN-P- March 2009

Interconnect Diagrams Appendix B

Wiring Example for Ultra3000 Drive and LDL-xxxxxxx-xHT20 Linear Motor with a Sin/Cos Encoder

Ultra3000 Drive

Cable Shield Clamp Note 1

Motor Power (TB1) Connector

Motor Feedback (CN2) Connector

W

V U

11 12 13

8

1

2

3

4

5 10 14

6

Refer to low profile connector illustration (lower left) for proper grounding techniques.

LDL-Series Linear Motor Coil

4

3

2

1

Green/Yellow

W V U

TS+ TS -

Black

White

Red

Black Black

W

V

U

GND

Three-phase Motor Power

Thermal Switch

Power

Red

White

S1

Blue

S2

Orange

S3

Black

COM

Hall Effect

Module

COS+ COS-

SIN+ SIN-

IM+ IM-

Linear Encoder

Wire as shown here using cable type appropriate for

POWER COM

Sin/Cos Encoder

your application.

Ground techniques for feedback cable shield.

Exposed shield secured under clamp.

2090-UXBB-DM15

Cable Tie

Motor Feed Breakout Board

Publication LDL-UM001A-EN-P- March 2009 75

Appendix B Interconnect Diagrams

Notes:

76 Publication LDL-UM001A-EN-P- March 2009

Appendix

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 77 Encoder Counting Direction 78 Set Up the Axis Properties 78

For robust operation when interfacing your Sin/Cos 1V peak-to-peak differential output linear encoder to a Kinetix 6000 drive, you should terminate the sine and cosine signals as follows.

SIN+

SIN-

COS+

COS-

150 7

Resistor

1/4 W, 5%

150 7

Resistor

1/4 W, 5%

AM+

AM-

BM+

BM-

1

2

3

Feedback Connector

2090-K6CK-D15M

4

Low Profile Connector

1N5819,

(~5.1V DC)

Add a Shottky diode for cable

lengths less then 10 m (32.8 ft).

or equivalent

(5.4V DC)+5V DC

14

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 volts with the addition of a Shottky Diode, see schematic.

77Publication LDL-UM001A-EN-P - March 2009 77

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 parameter s.

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 –

78 Publication LDL-UM001A-EN-P - March 2009

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.

Publication LDL-UM001A-EN-P - March 2009 79

Appendix C Sin/Cos Linear Encoder and Kinetix 6000 Drives

Notes:

80 Publication LDL-UM001A-EN-P - March 2009

Index

A

air gap 18, 26

alignment tool

aluminum straight edge

attraction

Automatic

automatic implantable cardioverter

22, 24

22

21

defibrillator (AICD)

9

B

beryllium copper 22

bulk head connector kit

bumper

burn hazard

bus voltage, applied

12, 18

12

31

56

C

carriage 19

certifications

cogging torque

17

coil

coil power connector

coil weight

connectorized flying lead

commission

Kinetix 2000 drive Kinetix 6000 drive Ultra-3000 drive

common specification

connector

encoder feedback power PTC thermistor

cycle length, electrical

62

56

27

61

42 42

47

56

27

17, 29

17, 28

17, 27

17, 28, 29

56

D

damaged parts 21

de-rate force

description

motor

design consideration

air gap bumper carriage design, heat sink end of travel bumper linear encoder

dielectric rating

22

17

18

19

12

19

56

dimensions

coil

64

magnet channel

direction

49

66

E

encoder 31

resolution

encoder connector encoder connector kit encoder sin/cos end of travel bumpers end of travel impact end stop envelope dimensions environmental specifications ESD components

Hall effect ESD

50

29

31

77

12

18

23

12

F

feedback connector 28 ferrous material final alignment firmware revision flying leads

22

24

40

31

H

Hall effect module 17 hardware requirements

magnet channel

heat sink

19, 62

max temperature

22

12

I

inspection 21 installation

firmware motor motor coil software

insulation class interconnect diagrams

wiring example notes

21

40

22

25

40

56

67

L

label

identification

large impacts

10

12

62

Publication LDL-UM001A-EN-P - March 2009 81

Index

length 16 linear encoder

19

M

magnet channel 16, 17, 22

alignment alignment tool

maintenance max. speed max. temp

coil

motion analyzer version motor

database direction storage type

mounting

configuration hardware

motor coil multiple motors power cable screw length

24

19

13

56

40

49

19

56

23

25

coil magnet channel

25

35

27

25

22

N

non-magnetic 22

O

operating

speed

56

voltage

P

perfomance 19 phase alignment

two motors

pinout

coil power encoder feedback power connector PTC thermistor

power connector procedure

cleaning magent channel connections

35

27

29

28

27 28, 29 17, 27

31

40

19

install magnet channel install motor coil power connection verify encoder resolution verify motor wiring

PTC thermistor connector

25

27

50

R

reference documents

A-B automation glossary drive manuals SERCOS interface

requirements

hardware requirements

coil magnet channel

requirements heat sink RSLogix software screen

conversion drive/motor motor feedback

45

units

7

25

22, 25

62

46

42

43

S

safety

9

burn hazardous voltage

9

labels strong magnets sudden motion

screw quanitiy SERCOS Drive setup

Kinetix 2000 drive Kinetix 6000 drive Ultra-3000 drive

shipping

air freight restriction dangerous goods declaration form 902 instructions

shock absorber software

required version

spacing

two motors

specifications

common environment standard 30 mm frame standard 50 mm frame standard 75 mm frame

56

9

12

22

77

42 42

47

11

18

40

35

62

22

50

28

7

11

57 58 60

82 Publication LDL-UM001A-EN-P - March 2009

Index

thick 30 mm frame 57 thick 50 mm frame thick 75 mm frame

storage

19

T

tandem motors 35 temperature

max heat sink

Thermal thermal time constant time constant tools torque

56

22

magnet channel

12

56

22

U

unpacking 21

V

59 60

56

verify

direction motor wiring resolution

49

50

W

warning

air freight restrictions automatic implantable cardioverter

defibrillator (AICD)

powerful forces

weight

coil flying lead magnet channel

31

wiring wiring diagram

connectorized

Sin/Cos encoder TTL encoder

flying lead

Sin/Cos encoder TTL encoder

68, 72

11

9

61

69, 73

68, 72

71, 74, 75

70

9

Publication LDL-UM001A-EN-P - March 2009 83

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For an additional level of technical phone support for installation, configuration, and troubleshooting, we offer TechConnect support programs. For more information, contact your local di st ri buto r or Rockwe l l Aut oma ti on representative, or visit

http://support.rockwellautomation.com, you can

http://support.rockwellautomation.com.

Installation Assistance

If you experience a problem within the first 24 hours of installation, please review the information that's contained in this manual. Y ou can also contact a special Customer Support number for initial help in getting your product up and running.

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Monday – Friday, 8 a.m. – 5 p.m. EST

Outside United States

Please contact your local Rockwell Automation representative for any technical support issues.

New Product Satisfaction Return

Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.

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Outside United States

Please contact your local Rockwell Automation representative for the return procedure.

Publication LDL-UM001A-EN-P - March 2009 85 PN 814062

Rockwell Automation LDL Ironless Linear Servo Motors User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

Table of Contents

Notes:

Preface

About This Publication

Additional Resources

Safety Considerations

Introduction

Labels

High Energy Magnets

Vertical or Incline Installation

Operational Guidelines

Start

Introduction

Catalog Number Explanation

Linear Motor Components

Design Consideration

Maintenance

Motor Storage

Installing the LDL-Series Linear Motor

Introduction

Unpacking and Inspection

Installing the Linear Motor Components

LDL-Series Linear Motor Connector Data

Introduction

Linear Motor Coil Connectors

Hall Effect Module Connectors

Wiring the LDL-Series Linear Motor

Introduction

Connect the Linear Motor Coil

Making Your Own Extension Cables

Mounting and Wiring Two Identical Coils in Tandem

Configure and Start Up the LDL-Series Linear Motor

Introduction

Before You Begin

Motor Direction Defined

Motor Direction

What You Need

Required Files

Follow These Steps

Update Linear Motor Database

Set Up the Connection to Kinetix 6000 or Kinetix 2000 Drive

RSLogix 5000 Software Version 15.00 and 16.00 TTL Encoder

RSLogix 5000 Software Version 15.00 and 16.00 Sin/Cos Encoder

RSLogix 5000 Software Version 17.00 TTL Encoder

RSLogix 5000 Software Version 17.00 Sin/Cos Encoder

Incremental Encoder

Sin/Cos Encoder

Verify Motor Encoder Direction

Verify Motor Encoder Resolution

Verify Linear Motor Wiring and Function

Specifications and Dimensions

Introduction

Performance Specifications

General Specifications

Product Dimensions

Interconnect Diagrams

Introduction

Wiring Examples

Sin/Cos Linear Encoder and Kinetix 6000 Drives

Introduction

Kinetix 6000 Drive Feedback Connection

Encoder Counting Direction

Set Up the Axis Properties

Index