Rockwell Automation LZ Series User Manual
ANORAD
LZ Series Linear Motors
USER MANUAL
Publication LZ-UM001A-EN-P
January 2008
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Safety Guidelines for the Application, Installation and
Maintenance of Solid State Controls, publication SGI-1.1, available from your local
Rockwell Automation sales office or online at http://literature.rockwellautomation.com
. It
describes some important differences between solid state equipment and hard-wired
electromechanical devices. Because of this difference, and also because of the wide
variety of uses for solid state equipment, all persons responsible for applying this
equipment must satisfy themselves that each intended application of this equipment is
acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or
consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes.
Because of the many variables and requirements associated with any particular
installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual
use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of
information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written
permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety
considerations.
WARNING
Identifies information about practices or circumstances that can
cause an explosion in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.
IMPORTANT
ATTENTION
Identifies information 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 consequences.
SHOCK HAZARD
Labels may be on or inside the equipment, for example, a drive or
motor, to alert people that dangerous voltage may be present.
BURN HAZARD
Labels may be on or inside the equipment, for example, a drive or
motor, to alert people that surfaces may reach dangerous
temperatures.
Allen-Bradley, CompactLogix, ControlLogix, DriveExplorer, Kinetix, MP-Series, Rockwell Automation, RSLogix, RSLogix 5000, SoftLogix,
SCANport, and Ultra3000 are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Understanding and Caring for Your
Linear Motor
Installation
Table of Contents
Preface
About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Who Should Use This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Chapter 1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Motor Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Identifying Your Linear Motor Components . . . . . . . . . . . . . . . . . . . . . 9
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Motor Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 2
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Unpacking and Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Installing the Linear Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Mount the Magnet Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Motor Coil Mounting Hardware Requirements. . . . . . . . . . . . . . . 14
Mount the Motor Coil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Motor Power and Feedback Cable Signal Names . . . . . . . . . . . . . . . . 15
Motor-Hall Phasing and Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Positive Motor Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Motor Coil Thermal Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Operational Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Chapter 3
Troubleshooting
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Hall Effect Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Hall Effect Circuit - Hall Signals Test. . . . . . . . . . . . . . . . . . . . . . . 21
Hall to Back EMF Phasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
PTC Thermal Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Motor Coil Electrical Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Motor Back EMF Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Back EMF Wave Comparison Test . . . . . . . . . . . . . . . . . . . . . . . . 24
Check Measured Back EMF to Specification. . . . . . . . . . . . . . . . . 25
Checking the Magnet Channel Butting Polarity . . . . . . . . . . . . . . . . . . 26
Chapter 4
Hall Effect Module Removal and
Replacement
3 Publication LZ-UM001A-EN-P - January 2008
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Hall Effect Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Remove the Hall Effect Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Install the Hall Effect Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4
Specifications and Dimensions
Mounting Bolts and Torque Values
Index
Appendix A
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Trapezoidal Hall Effect Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Positive Temperature Coefficient (PTC) Thermistor . . . . . . . . . . 32
Environmental Specifications for LZ Linear Motors . . . . . . . . . . 32
LZ Series Linear Motor Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Appendix B
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Publication LZ-UM001A-EN-P - January 2008
Read this preface to familiarize yourself with the manual.
Preface
About This Publication
Who Should Use This Manual
This manual provides detailed installation instructions for mounting, wiring,
maintaining, and troubleshooting your LZ Linear Motor.
This manual is intended for engineers or technicians directly involved in the
installation, wiring, and maintenance of this LZ linear motor. Any person that
teaches, operates, maintains, or repairs these linear motors must be trained and
demonstrate the competence to safely perform the assigned task.
If you do not understand linear motors, contact your local Anorad/Rockwell
Automation sales representative for information on available training courses
before using this product.
Read this entire manual before you attempt to install your LZ linear motor into
your motion system. This will familiarize you with the linear motor
components, their relationship to each other and the system.
After installation, check the configuration of the system parameters to be sure
they are properly set for using the linear motor in your motion system.
Be sure to follow all instructions carefully and pay special attention to safety
concerns.
Additional Resources
Resource Description
Kinetix 2000 Multi-axis Servo Drive User Manual,
publication 2093-UM001
Kinetix 6000 Multi-axis Servo Drive User Manual,
publication 2094-UM001
LZ Family of Linear Motors Brochure, publication
PMC-BR001
Ultra3000 Installation Manual, publication
2098-IN003
The following documents contain additional information concerning related
Anorad and Allen-Bradley products.
Information on wiring, configuring, operating, and
troubleshooting a Kinetix 2000 drive.
Information on wiring, configuring, operating, and
troubleshooting a Kinetix 6000 drive.
Provide detailed specifications and ordering information for
the LZ series linear motors.
Information on wiring, configuring, operating, and
troubleshooting a Ultra3000 drive.
5 Publication LZ-UM001A-EN-P - January 2008
6
Publication LZ-UM001A-EN-P - January 2008
Chapter
Understanding and Caring for Your Linear Motor
1
Introduction
Product Description
The LZ Linear Motor Series description and maintenance is given in this
section. Product features are explored and the part numbering system is
explained. This information will help you develop an understanding of the
linear motor’s basic configuration.
Topic Page
Product Description 7
Identifying Your Linear Motor Components 9
Maintenance 10
Motor Storage 10
The LZ Linear Motor diagram on page 8 shows the LZ linear motor major
components.
Anorad's LZ Series of epoxy core linear motors are made with the latest
magnetic materials and optimized by Finite Element Analysis (FEA) achieving
a very high force density. The LZ Linear Motors are available in models with
continuous forces from 68 N…850 N (15 lbf …191 lbf), and peak forces from
342 N…4250 N (77 lbf … 955 lbf).
7 Publication LZ-UM001A-EN-P - January 2008
8 Understanding and Caring for Your Linear Motor
LZ Linear Motor
Coil Power Cable
Thermistor Cable
Hall Effect Module
(Optional)
Coil Assembly Top
Mounting Holes (x 4)
Never attempt to disassemble
magnet channel
Coil Assembly Side
Mounting Holes (x 2)
Through Holes for mounting
Magnet Channel Assembly
Coil Assembly
Magnet Channel
Assembly
For use with
Magnet Channel Alignment Tool
(x2)
For servo drives that require commutation feedback, an optional trapezoidal
(digital) Hall effect feedback module may be attached to the front of the motor
coil. The LZ linear motor may also be commutated via software. Anorad and
Rockwell Automation offers a full line of compatible servo controls and drives.
Motor Features
• High-performance, optimized design.
• 30% higher force density as compared to standard ironless motors.
• Zero-cogging.
• Wide range of coil and magnet options.
• Peak force range from 350…4000 N.
• Continuous force from 70…900 N.
• Ideal for constant scanning application.
Publication LZ-UM001A-EN-P - January 2008
Understanding and Caring for Your Linear Motor 9
Identifying Your Linear Motor Components
Use the following key to identify your linear stage and its options coil and
magnet assemblies.
LZ - xxx - x - xxx - x - x - x - xx - x
Cable Length
0 = 300 mm,
1 = 600 mm,
2 = 1000 mm
Thermal Protection
0 = None
TR = PTC Thermal Sensor
Hall Feedback
0 = No Feedback
T = Trapezoidal Hall Effect
Cooling Option
0 = No Cooling
Winding Code
D = Y Configuration
E = Y Configuration
Δ Configuration
F =
G = Δ Configuration
Coil Length
120 = 120 mm
240 - 240 mm
360 = 360 mm
480 = 480 mm
Configuration
0 = Match to ’0’ Option Magnet Channel
T = Match to ’T’ Option Magnet Channel
HT = Match to ’HT’ Option Magnet Channel
Magnet Length
030 = 30 mm
050 = 50 mm
075 = 75 mm
100 = 100 mm
Bulletin Number
LZM - xxx - x - xxx
Magnet Channel Length
120 = 120mm,
180 = 180mm
240 = 240mm
480 = 480mm
600 = 600mm
Configuration
0 = Match to ’0’ Option Coil
T = Match to ’T’ Option Coil
HT = Match to ’HT’ Option Coil
Magnet Length
030 = 30 mm
050 = 50 mm
075 = 75 mm
100 = 100 mm
Bulletin Number
Publication LZ-UM001A-EN-P - January 2008
10 Understanding and Caring for Your Linear Motor
Maintenance
Motor Storage
Anorad linear motors require no maintenance when operated in a relatively
clean environment. 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. To
effectively remove the metal debris use a strip of masking tape. Simply put a
strip of tape in the magnet channel and then remove it.
Keeping the magnet channel clean will prevent witness marks. Witness marks
are caused by metal debris being dragged across the surface of the magnet by
the magnet field of the moving coil. Witness marks have no effect on the
performance of the motor.
Store the motor in a clean, dry, and vibration free environment it should be
kept at relatively constant temperature. The coil resistance measurement
checks explained in this manual should be done at time of storage. If a motor
is stored on the equipment, it should be protected from the weather.
Publication LZ-UM001A-EN-P - January 2008
Installation
Chapter
2
Introduction
Unpacking and Inspection
Use the following section to guide you through installation and start-up of
your LZ linear motor.
Topic Page
Unpacking and Inspection 12
Installing the Linear Motor 12
Motor Power and Feedback Cable Signal Names 15
Motor-Hall Phasing and Sequence 17
Positive Motor Direction 18
Motor Coil Thermal Protection 19
Operational Guidelines 20
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 Anorad 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.
11 Publication LZ-UM001A-EN-P - January 2008
12 Installation
Installing the Linear Motor
Use the following procedures to install the magnet channel and the motor coil
to create a linear motor.
Mount the Magnet Channel
The required tools are:
Use M6 SHCS for channel mounting configuration A, or M5 SHCS for
channel mounting configuration B and C see diagram on page 14. See
Specifications and Dimensions starting on page 31 for quantity.
Use the follow steps to safely install your magnet channel on to the mounting
surface.
• magnet channel alignment tool (supplied).
• aluminum straight edge.
• non-magnetic M4 or M5 hex wrench.
ATTENTION
To avoid injury or damage from unexpected motion of the
channel caused by the magnetic attraction between channels,
maintain a minimum distance of 1.2 m (5 ft) between the
channel that are being installed and the channels awaiting
installation. Leave protective cardboard and conductive metal
plates in place until the installation is performed.
1. Be sure to the mounting surface is clear of any and all of foreign matter.
ATTENTION
If necessary the surface maybe stoned (acetone or methanol may be
used as cleaning agent).
2. Verify the flatness of the surface to which the magnet channel is to be
mounted.
The total indicator reading (TIR) is 0.127 mm (0.005 in.) per 300 mm
(12 in.). TIR or runout, correlates to an overall flatness of a surface.
Do not use abrasives to clean the surface.
Publication LZ-UM001A-EN-P - January 2008
Installation 13
A
B
0.83± 0.40
(0.033
±
0.015)
0.10 (.003)
Mounting Configuration A Mounting Configuration B Mounting Configuration C
3. Verify that the mounting configuration for the magnet channel and coil
fits in envelope dimensions shown in diagram.
Catalog Number A
mm (in.)
LZM-030LZM-050LZM-075LZM-100-
x-xxx-x-x-x-x-x 80.0 (3.15)
x-xxx-x-x-x-x-x 100.0 (3.94)
x-xxx-x-x-x-x-x 130.0 (5.12)
x-xxx-x-x-x-x-x 155.0 (6.10)
Catalog Number B
mm (in.)
LZM-030-0-
xxx-x-x-x-x-x
36.4 (1.43)
LZM-050-0-xxx-x-x-x-x-x
LZM-030-T-
xxx-x-x-x-x-x
37.7 (1.48)
LZM-050-T-xxx-x-x-x-x-x
LZM-030-HT-
xxx-x-x-x-x-x
43.15 (1.70)
LZM-050-HT-xxx-x-x-x-x-x
LZM-075-0-
LZM-100-0-xxx-x-x-x-x-x
LZM-075-T-
xxx-x-x-x-x-x
xxx-x-x-x-x-x
38.05 (1.50)
39.35 (1.55)
LZM-100-T-xxx-x-x-x-x-x
LZM-075-HT-
xxx-x-x-x-x-x
43.15 (1.70)
LZM-100-HT-xxx-x-x-x-x-x
Publication LZ-UM001A-EN-P - January 2008
14 Installation
4. Install the first magnet channel using M6 SHCS for mounting
configuration A, or M5 SHCS for mounting configuration B and C.
TIP
Non-magnetic tools and hardware such as 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.
5. Do not tighten bolts at this time. Install additional magnet channels by
placing them on the mounting surface at a distance from the previously
installed magnet channel, and then slide it towards its final location.
6. The final alignment of the magnet channels is done with an aluminum
straight edge and the alignment tool.
Place the alignment tool in the alignment holes on each of the channels
as shown in diagram. Align the edges of the channel with the aluminum
straight edge and tighten the bolts.
Mounting
Surfaces
Publication LZ-UM001A-EN-P - January 2008
Use magnet channel alignment
tool to set spacing of magnet channels.
(Part Number B91330)
Aluminum Straight Edge
Motor Coil Mounting Hardware Requirements
Select M4 x 0.7 bolts with a length that extends through your machine slide by
5 mm minimum, but not more then
7 mm.
Installation 15
Mount the Motor Coil
Follow these procedures to mount the motor coil to your machine slide.
1. Be sure the motor coil mounting face is clean and free of burrs.
2. Position the slide at the end of travel where the cable is to exit.
Motor Power and Feedback
The following tables show the motor power and feedback cable signal names.
These cables are not suitable for continuous flexing operation and should be
Cable Signal Names
terminated and connected to flex type cables for any continuous flex
operation.
3. Using M4 x 0.7 bolts with a length
Mounting Hardware Requirements.
as defined by previously in Motor Coil
Lightly tighten bolts.
4. Using plastic shim stock measure the gap between the motor and
magnet. The gap should be 0.83
± 0.4 (0.033 ± 0.15).
5. Torque all bolts to values listed on the tables in Appendix B. When
considering torque values for mounting hardware, take into account the
magnet channel mounting surface material and mounting hardware.
Secure assemblies in place using all mounting holes.
IMPORTANT
Improper wiring can lead to the motor not responding to
commutation commands, run away conditions, or the motor
performing at about half its specified force.
Motor Power Cable Signals
Color from Motor Designation Comments
Red Motor Phase U (A) • Observe maximum
White Motor Phase V (B)
Black Motor Phase W (C)
Green/Yellow Motor Ground •Terminate per drive
Shield Cable Shield
Publication LZ-UM001A-EN-P - January 2008
applied voltage
specification.
• Consult drive manual or
supplier for specific
wiring instructions to
the drive. Wiring is
phase-commutation
sensitive.
manual instructions.
•Shield is not connected
to the motor frame.
16 Installation
ATTENTION
Disconnect the input power supply before installing or servicing
the motor.
The motor lead connections can short and cause damage or
injury if not well secured and insulated.
Insulate the connections, equal to or better than the insulation
on the supply conductors.
Properly ground the motor per the selected drive manual.
Feedback Cable Signals
Signal Type Color from
Module
Trapezoidal
Hall
Effect
Circuit
Shield Silver Brad Cable Shield Terminate at the drive end per the
Thermistor Black
Red +V 5-24Vdc Hall Supply, 20 mA.
Black VRTN Hall signal common.
White S1
Blue S2
Orange S3
Black
Signal
Designation
TR+
TR-
Comment
• Trapezoidal Hall Signals, 120
Spacing, Open Collector
Transistor (24Vmax) Outputs
(Pull-up Resistor External).
• Consult the drive manual or
supplier for specific wiring
instructions to the drive.
Wiring is phase-commutation
sensitive.
drive manual instructions.
Positive Temperature Coefficient
(PTC) thermistor.
o
Publication LZ-UM001A-EN-P - January 2008
Installation 17
Motor-Hall Phasing and Sequence
The LZ linear motor family is compatible with off-the-shelf brushless motor
servo drives. The servo drive will see them as a two-pole motor with a full
electrical cycle of 60 millimeters (360 degrees equivalent rotary motion).
The brushless motor drives and controls must have two control functions for
suitable commutation of a linear motor.
• Upon power-up, the servo drive must be able learn where the motor
electrical coil phases are with respect to the north and south magnetic
fields, and align its three phase drive current accordingly.
• The servo drive must be able to control the direction and magnitude of
current through the three phases of the coil as it moves across the
magnetic field.
Linear motors with Hall sensors (LZ -xxx-x xxx-x-x-T-x-x) can be used for
Hall commutation feedback with brushless motor servo drives. See the
relationship of the digital Hall signals to the back EMF of the motor coils in
the diagram on page 18. These signals can be used in two ways:
• When using Hall-start-up, upon power-up, the brushless servo drive
reads the state of the three digital Hall signals to approximate the motor
coil location with respect to the magnetic field. The drive then switches
to a fine sinusoidal commutation based on a the high resolution linear
encoder feedback. A high resolution in encoder must be install in your
system to use this feature.
• Some drives will perform trapezoidal commutation based solely on the
feedback from the digital Hall signals.
IMPORTANT
As shown in the phasing diagram:
S1 is in phase with W-U back EMF
S2 is in phase with U-V back EMF
S3 is in phase with V-W back EMF
Phase sequence = S1 leads S2 leads S3. Spacing is 120 degrees.
ATTENTION
IMPORTANT
For optimal commutation and force generation, the selected
brushless servo motor drive must be compatible with the LZ
series phasing, and be wired to the motor coil correctly.
Incorrect motor and Hall wiring can cause runaway conditions.
Phasing direction = the coil toward the motor power cable or
the magnet assembly away from the power cable.
Publication LZ-UM001A-EN-P - January 2008
18 Installation
Motor Phasing Diagram
Back EMF Voltage vs. Hall Signals
Back
EMF
Voltage
Digital
Hall
Signals
W-U
U-V
V-W
S1
S2
S3
Positive Motor Direction
Linear Travel mm (in.)
0° 60° 120° 180°
60 (2.36)
240°
300°
360°
Phasing direction = the coil toward motor power cable for moving coil
configuration as shown in Positive Motor Direction or the magnet assembly
away from power cable for moving magnet configuration.
When properly wired this is considered the positive direction.
Coil Motion
Stationary Magnet
Publication LZ-UM001A-EN-P - January 2008
Installation 19
Motor Coil Thermal Protection
ATTENTION
• Typical digital drives have “RMS” current protection and I
estimated temperature vs. time software protection schemes. These
available features should be activated and set according to the motor
model ratings for there application.
• The selected drive should have
should be set according to the motor’s peak current rating, as a
maximum.
• For drives without adjustable or available motor protection features,
motor fuses (current rating not to exceed motor continuous RMS)
should be installed per the Local and National Electrical Code. The
fuses should be time-delay type and rated for the drive PWM output
voltage.
LZ linear motors with the thermal protection option will supply
a signal that indicates the motor temperature limit condition.
This signal should be used by the motor control or drive system
to immediately shut down the motor power on an open
condition. Since linear motors are generally not repairable, and
typically highly integrated into the mechanical structure,
redundant motor thermal protection is strongly recommended.
± peak current magnitude limits that
2
T or
• Design control circuit to trip at 130°C as necessary.
Temperature °C (°F) Resistance in Ohms
Up to 25 (77) ≤ 300
Up to 125 (257) ≤ 1500
Up to 135 (275) ≥ 4000
Publication LZ-UM001A-EN-P - January 2008
20 Installation
Operational Guidelines
After installing the motor and before powering up your system for the first
time, performed the Motor Coil Electrical Test on page 23 to verify motor
condition.
ATTENTION
Moving parts can injure. Before running the motor, make sure
all components are secure and the 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.
Run away condition: incorrect motor-hall (commutation) wiring
and position feedback (position encoder) to servo control can
cause uncontrolled speeding.
Keep away from the line of motor travel at all times.
High Voltage can kill. Do not operate with protective covers
removed. Do not go near electrically live parts.
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.
IMPORTANT
You are responsible for ensuring the servo control system safely
controls the linear motor with regards to maximum safe force,
acceleration and speed, including runaway conditions.
Publication LZ-UM001A-EN-P - January 2008
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