Beckhoff XPlanar Operating Instructions Manual Download Page 1

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Operating Instructions | EN

XPlanar

Planar Motor System

1/19/2021 | Version 1.0

Summary of Contents for XPlanar

Page 1: ...Operating Instructions EN XPlanar Planar Motor System 1 19 2021 Version 1 0...

Page 2: ......

Page 3: ...hnical data 29 Definition 29 Boundary conditions 29 Data for operation and environment 30 Tiles 31 Mover 31 XPlanar 32 Dimensional drawings 34 Scope of supply 41 Packaging 41 Transport and storage 42...

Page 4: ...Planar Maintenance and cleaning 80 Cleaning materials 80 Intervals 81 Accessories 82 Fan 82 Cover plug M8 82 Cover plug M12 82 Connector for ZC2000 0000 00xx 83 Torque wrench 83 Decommissioning 84 Dis...

Page 5: ...T G Ether CAT G10 EtherCAT P Safety over EtherCAT TwinSAFE XFC XTS and XPlanar are registered and licensed trademarks of Beckhoff Automation GmbH The use of other brand names or designations by third...

Page 6: ...nullify the liability of Beckhoff Automation GmbH Co KG The following is excluded from the liability Failure to observe these operating instructions Improper use Use of untrained personnel Use of una...

Page 7: ...ly the product properties specified in the current operating in structions are valid Further information given on the product pages of the Beckhoff homepage in emails or in other publications is not a...

Page 8: ...uirements including all appli cable laws regulations provisions and standards Instructed person Instructed persons have a clearly defined task area and have been informed about the work to be carried...

Page 9: ...r technical train ing They have an understanding of control technology and automa tion They are familiar with relevant standards and directives Quali fied electricians can independently recognize avoi...

Page 10: ...gement The triangle indicates instructions that you should execute The bullet point indicates an enumeration The square parentheses indicate cross references to other text passages in the document The...

Page 11: ...ode via which you can watch videos or animations Internet access is required in order to use it You can read the QR code for example with the camera of your Smartphone or Tablet PC If your camera does...

Page 12: ...emises Hotline 49 0 5246 963 5000 Fax 49 0 5246 963 95000 E mail training beckhoff com Web www beckhoff de training 1 7 3Service The Beckhoff Service Center supports you with after sales services such...

Page 13: ...fields at the individual XPlanar components can be dan gerous for people with cardiac pacemakers or magnetically conduc tive implants and defibrillators for example Data carriers or other electronic d...

Page 14: ...Follow the Mover handling instructions The risks due to magnetic fields referred to above particularly relate to handling of the movers The movers can be attracted uncontrol lably by contact with magn...

Page 15: ...eing switched on again Do not touch hot surfaces Check the cooling of the surfaces with a thermometer Do not touch the components during and immediately after operation Allow the components to cool su...

Page 16: ...mounting on the machine bed see Fixing points Page 44 3 Elongated hole for positioning with locating pins 4 Status LEDs 5 X103 fan 6 X102 OUT with status LED EtherCAT G 7 Hole for positioning with loc...

Page 17: ...nation 5 Firmware and hardware revision 6 XML feedback revision number 7 Data Matrix code with BTN 8 Status LED DC Link OK 9 Status LED Aux OK 10 Protective earth 11 Protective earth connection 12 Sta...

Page 18: ...ction 0000 Execution 0000 Standard 3 1 3LED status display 3 1 3 X100 ECAT Run ECAT Error Aux Ok DC Link Ok X103 X102 OUT X101 IN 2 1 3 4 5 6 Number Status LED Status Meaning 1 DC Link OK Lights up bl...

Page 19: ...Explanation 1 Base body with magnetic section 2 Locating hole for mounting tools 2 x 3 Thread for mounting tools 4 x 4 Bumper For further information on the threads and holes for mounting tools pleas...

Page 20: ...x 3 Locating hole for mounting tools 2 x 4 Thread for mounting tools 4 x 5 Thread for mounting tools 1 x 6 Bumper For further information on the threads and holes for mounting tools please refer to t...

Page 21: ...ase 2 2 x system base 3 3 x system base 5 5 x system base b Length of magnetic surface in y direction as a multiple of the system base 2 2 x system base 3 3 x system base 5 5 x system base c 0 blank 0...

Page 22: ...ined via the type key and can be ordered separately or preconfigured as a complete system 3 3 1Tile A system consists of individual tiles that are combined in a machine bed to form a stator surface Th...

Page 23: ...nts enable mounting of workpiece carriers and attached parts Two APM4220 0000 movers can be moved bidirectionally or over take each other on an APS4322 0000 tile APM4330 0000 The next size up in the A...

Page 24: ...or T connectors The star distributors are available in the following versions ZC2000 0000 0018 The 4 way star distributor supplies power to up to four tiles Plug 4 x M12 K coded 5 m supply cable ZC200...

Page 25: ...n tiles and the control cabinet and is available in different lengths Plug RJ45 to M12 X coded Order number Explanation ZK1096 8191 0xxx 0xxx cable length 0005 0 5 m cable 0100 10 m cable ZK1096 8181...

Page 26: ...namically via traveling magnetic fields No impurities Spreading of impurities is avoided thanks to contact free move ments High flexibility The tiles can be used to create areas of different sizes de...

Page 27: ...a does not support this fea ture you can download a free QR code reader app or barcode reader app Use the Appstore for Apple operating systems or the Google Playstore for Android operating systems Int...

Page 28: ...oma tion software Read the entire drive system documentation This translation of the original instructions Translation of the original instructions for the control computer Complete machine documentat...

Page 29: ...how accurately the system positions when ap proaching a position from the two directions bidirectionally The standstill repeatability is to be evaluated as the average difference between the actual po...

Page 30: ...ion 2K3 according to EN 60721 Ambient temperature during operation 5 to 40 C Ambient temperature during transport 25 to 65 C Ambient temperature during storage 25 to 65 C Power derating For site altit...

Page 31: ...ition resolution m 1 X Y Z 0 001 A B C Dimensions mm 240 x 240 x 66 4 5 Mover Mover APM4220 APM4330 APM4550 Velocity m s 2 Acceleration without payload m s2 10 Maximum payload at 1 mm flight height kg...

Page 32: ...V A 3 65 Power consumption per tile in standby without mover at 24 V W 6 in standby without mover at mains volt age W 2 Maximum continuous W 240 Maximum short term W 400 Tiles per power supply 1 to 10...

Page 33: ...m 5 Average feed force in direction of move ment in the XY plane N 15 Repeatability XY axis m 50 Z axis m 60 A axis mrad 1 5 0 086 B axis mrad 1 5 0 086 C axis mrad 1 5 0 086 Synchronization accuracy...

Page 34: ...u have the possibility to download the dimensional drawings and 3D models of the individual components from the Beckhoff website www beckhoff de download 4 7 1Tiles All figures in millimeters APS4322...

Page 35: ...echnical data Version 1 0 35 XPlanar 4 7 2Mover All figures in millimeters APM4220 0000 M4 x 6 4x 86 113 12 1 86 4 H7 x 4 5 2x 98 APM4330 0000 M4 x 6 4x 128 155 M4 x 6 4x 32 4 H7 x 8 2x M6 32 12 1 140...

Page 36: ...Technical data 36 Version 1 0 XPlanar APM4550 0000 208 235 M4 x 6 4x 32 M4 x 6 4x M6 32 4 H7 x 8 2x 12 1 220...

Page 37: ...Technical data Version 1 0 37 XPlanar 4 7 3Machine bed sample design All figures in millimeters 1 x 1 240 240 5 H7 0 000 0 012 2x 216 120 214 194 6 4 6x 183 4 141...

Page 38: ...0 8 0 8 1 3 4 5 2 Number Name 1 Drilling pattern for fastening with two screws 2 Position of the elongated hole in the tile 3 Drilling pattern for fastening with four screws 4 Position of the locatin...

Page 39: ...ersion 1 0 39 XPlanar 4 7 4Frame sample design All figures in millimeters A A 1 2 A A 240 0 1 240 0 1 80 0 1 170 0 1 80 0 1 170 0 1 207 3 0 1 220 4 0 1 R 4 480 214 0 1 6 80x 3 3 80x 3 5 80x 6 0 1 12 R...

Page 40: ...Technical data 40 Version 1 0 XPlanar 4 7 5Assembly aid sample design All figures in millimeters 226 0 2 238 6 226 0 2 278 5 5 4x 12...

Page 41: ...ent immediately 5 1 Packaging Instructions for handling are printed on the packaging Carton Symbol Explanation This is the correct position for the packaging Protect the packaging against wetness The...

Page 42: ...id damage to individ ual XPlanar components Observe the following chapters and main tain the following conditions Climate category 2K3 according to EN 60721 Temperature 25 C to 65 C maximum fluctuatio...

Page 43: ...1 1Technical aids You need the following aids for the mechanical installation Suitable torque wrench Suitable screwdrivers Soft faced hammer Lint free cloth 7 1 2Machine bed The machine bed is not pa...

Page 44: ...ion and load on the tile four or six screws can be used for fastening 7 2 1Fixing points 7 2 1 2 1 1 4 1 1 3 3 X Y X100 ECAT Run ECAT Error Aux Ok DC Link Ok X103 X102 OUT X101 IN Number Name 1 Thread...

Page 45: ...pins 2 for fixing the tiles depends on the height X of the machine bed 3 Beckhoff recommends the following screw depths in the tile The M6 screws 1 for fastening the tiles should protrude be tween 6...

Page 46: ...load on the tile four or six screws can be used for fastening To fasten the tile with six screws all six mounting holes have to be used With two screws 2 1 2 Fasten the tile 1 with two screws 2 Observ...

Page 47: ...e point of origin is the same for each tile Insert the tile according to the following description An incorrectly installed tile leads to problems with the mover control via the software 1 X Y Z Z Z Z...

Page 48: ...r tile 1 with the hole and the elongated hole on the locating pins 2 Note the tile orientation 2 1 2 Fasten the additional tile 1 with two four or six screws 2 Observe tightening torques Component Tig...

Page 49: ...nner due to power failure or system control faults Secure the stator surface with a mechanical safeguard against uncontrolled de tachment of the mover Serious or even fatal injuries may result if this...

Page 50: ...ilitates the use of the XPlanar in cleanrooms and in the pharmaceutical and food in dustries The surface must not be thicker than 0 5 mm It must be non mag netic and have low electrical conductivity B...

Page 51: ...loads Ensure that there is sufficient clearance below the machine bed or that the tiles are adequately ventilated Insufficient cooling can cause damage to components due to heat accumulation Beckhoff...

Page 52: ...rs 3 and four screws 4 Observe tightening torques Components Tightening torque Nm Screws M4 x 40 3 1 2 Plug the connector 1 into port X103 2 of the tile 1 Tighten the locking thread 1 of the connector...

Page 53: ...validate the warranty For proper application and assembly we recommend Wiring in accordance with applicable regulations and standards Use the pre assembled and shielded Beckhoff cables for power and E...

Page 54: ...EL9227 5500 Overcurrent protection terminal 24 V DC 2 channel max 10 A Channel 1 5A Channel 2 5A A1 A2 21 22 Q1 1 5 1 9 N 1 9 L3 1 9 L2 1 9 L1 N 1 0 L3 1 0 L2 1 0 L1 1 0 N1 N2 1 2 F1 C 16 A Q1 1 5 3 4...

Page 55: ...l installation Version 1 0 55 XPlanar 8 4 1X100 pin assignment 8 4 1 2 1 3 4 5 Number Identification Signal 1 Brown L 100 240 V 2 Blue N 100 240 V 3 Red 24 V 4 White GND 24 V 5 Green yellow PE Protect...

Page 56: ...ot the machine bed Depending on the star distributor up to six tiles can be connected to the power cable 2 1 Connect the connector of the power cable 1 to port X100 2 of the tile Secure the cables cor...

Page 57: ...scription not the machine bed or the power ca bles 8 5 3 1Tile to control cabinet 8 5 3 1 2 1 Connect the M12 connector 1 of the EtherCAT G cable ZK1096 8191 0xxx to port X101 IN 2 Connect the RJ45 co...

Page 58: ...nector 1 to port X101 IN If used screw connector 2 to port X102 OUT Observe tightening torques Components Tightening torque Nm Connector of the EtherCAT G ca ble 0 5 8 5 4Cover plug Beckhoff recommend...

Page 59: ...se of wide connections with large contact surfaces Wide earth straps are suitable for this The table below illustrates typical suitable connectors 1 2 3 Number Connector 1 Copper rail 2 Earth strap wi...

Page 60: ...8 6 1Painted surfaces 8 6 1 3 2 1 4 5 Ground the painted surface with spring washer 1 washer 2 contact washer 3 nut 4 and screw 5 8 6 2Unpainted surfaces 8 6 2 2 1 3 4 Ground the unpainted surface wi...

Page 61: ...ction of all tiles 2 2 1 Connect the entire XPlanar system 1 to the mains supply First connect only 24 V Check the tile function Make sure that the LEDs 2 light up Aux Ok DC Link Ok ECAT Run ECAT Erro...

Page 62: ...ake two movers out of the box and the distance between the movers is too small the movers can attract each other If the movers attract each other and collide serious injuries to the fingers from crush...

Page 63: ...the distance between the movers is too small the movers may attract each other If the movers attract each other and collide serious injuries to the fingers from crushing and in the eyes from splinter...

Page 64: ...Mechanical Installation Part 2 Mover 64 Version 1 0 XPlanar 3 2 1 Remove the mover 1 with transport securing device 2 from the fixing packaging 3...

Page 65: ...inters can result Transport the mover with the safety pictogram facing up wards Always transport the movers with the safety pictograms facing upwards The underside of the mover must be in the transpor...

Page 66: ...of origin of the tile When placing the movers make sure that the XY axes of the mover 1 correspond to the XY axes of the tile The point of origin of the tile is used for orientation For more informati...

Page 67: ...side of the mover for adhesive deposits Check the underside of the mover for adhesive deposits and clean it if necessary Adhesive deposits can cause damage to the tile surface 2 1 3 Take the mover 1 o...

Page 68: ...possible Keeping the tool weight down as far as possible Not to exceed the outer dimensions of the mover Center the weight in the middle of the mover 9 1 4 1Fixing points Depending on the mover versi...

Page 69: ...f movers are attracted by metallic and magnetic parts serious in juries to the fingers from crushing and in the eyes from splinters can result Carry a single mover in its transport securing device dir...

Page 70: ...e or support beckhoff com 9 1 5 1Preparation Before you start coupling movers you must provide a suitable frame assembly aids and screws Frames assembly aids and screws are not part of the scope of su...

Page 71: ...have the correct length to avoid damage to the workplace and tiles The screws must not protrude from the frame X 1 10 mm 3 2 The length of the screws 1 for fastening the assembly aid 2 de pends on th...

Page 72: ...s can result Movers contain strong permanent magnets The permanent magnets are arranged in so called Halbach ar rays which ensure that the magnetic field on the underside of the mover is significantly...

Page 73: ...ct tools The permanent magnets on the underside of the movers are now exposed and can attract tools used to remove the bumpers 1 1 2 Remove two screws 1 Remove a bumper 2 Remove further bumpers in the...

Page 74: ...e same orientation different mover orientations are not permitted Note the orientation Before covering the first mover with an assembly aid note the ori entation of the mover in the frame 2 1 Place th...

Page 75: ...id 2 and four screws 3 to prevent it from falling out Insert and secure further movers in the same way WARNING Two persons are required for turning the frame Two persons are required for turning the f...

Page 76: ...e frame Two persons are required for turning and carrying the frame with the attached assembly aids The underside of the movers is per manently magnetic and can attract other movers mover cou plings o...

Page 77: ...es from splinters Note the alignment of the mover coupling When placing the mover coupling make sure that the XY axes of the movers correspond to the XY axes of the tiles see chapter on Mover alignmen...

Page 78: ...grounding Remove ferromagnetic objects near the movers Ensure that there are no foreign objects in the XPlanar plane that could lead to a collision Make sure the surfaces are not contaminated 10 2 Dur...

Page 79: ...r dust Check temperature development Observe recommended maintenance intervals Check function of safety devices 10 4 After operation WARNING Ensure safe condition of the machine system Make sure that...

Page 80: ...r heavier soiling on the XPlanar components isopropanol can be applied to a clean lint free cloth Never apply the cleaning agent di rectly to the XPlanar components Applying cleaning agents to the XPl...

Page 81: ...e mechanical dynamics due to mounted devices and movements We have provided you with a list of maintenance work and intervals for the associated components below The intervals are based on the total o...

Page 82: ...4 x washers 4 x screws M4 x 40 12 2 Cover plug M8 12 2 The M8 cover plugs can be used to seal unused X103 ports on the tiles ZS5000 0010 Scope 50 x cover plugs M8 IP67 Direct link to the data sheet 1...

Page 83: ...rt for defective connectors on the star distributors ZC2000 0000 00xx 1 x connector M12 K coded ZS2020 2721 12 5 Torque wrench 12 5 OH0C6B Nm 0 5 1 7 For controlled screw mounting of the connectors wi...

Page 84: ...of the box and the distance between the movers is too small the movers can attract each other If the movers attract each other and collide serious injuries to the fingers from crushing and in the eye...

Page 85: ...and rechargeable batteries Batteries and rechargeable batteries may also be marked with the crossed out trash can symbol You must separate these compo nents from the waste and are legally obliged to r...

Page 86: ...vals 81 Mechanical protection 49 Mover Alignment 66 APM4220 0000 23 APM4330 0000 23 APM4550 0000 23 Coupling 70 Degrees of freedom 21 Placing 66 Transport 65 Unpacking 63 N Name plate Mover 20 Tile 17...

Page 87: ...CAT G cable 58 Fan 51 Power cable 56 Tiles 46 48 Tiles Alignment 47 Fixing materials 45 Fixing points 44 Mounting 45 Tool Mounting 69 Transport 42 Transport securing device 65 72 Type key Mover 21 Til...

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Page 89: ...Beckhoff Automation GmbH Co KG H lshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com More Information www beckhoff com xplanar...

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