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LinX Series Linear Motor - User Guide

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D-000168 Rev 02

ANCA Motion

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Summary of Contents for TUNE600BTNC

Page 1: ...i D 000168 Rev 02 ANCA Motion LinX Series Linear Motor User Guide D 000168 Rev 02 ...

Page 2: ...Page intentionally left blank ...

Page 3: ...LinX Series Linear Motor User Guide ANCA Motion D 000168 Rev 02 iii LinX Series Linear Motor User Guide Document Reference D 000168 Rev 02 Effective 25 08 2017 ANCA Motion Pty Ltd ...

Page 4: ...LinX Series Linear Motor User Guide iv D 000168 Rev 02 ANCA Motion Page intentionally left blank ...

Page 5: ...s catalogue number interpretation 2 Introduction About this user guide terms and abbreviations 10 Product Sales and Service Enquiries How to contact ANCA Motion with your enquiries 5 Specifications Electrical thermal and mechanical 6 Installation Mechanical electrical and servo drive configuration 7 Maintenance Suggested activities for a LinX system 8 Accessories Accessories for the LinX system 9 ...

Page 6: ...4 1 Cylindrical Linear Motor 8 4 2 Application 8 4 2 1 Shaft 8 4 2 2 Forcer 9 4 2 3 Brake 11 4 2 4 Vertical Applications 12 4 2 5 Support and Bearings 12 4 3 Shaft 12 4 3 1 Forcer 13 4 3 2 Cable Carrier 13 4 3 3 Servo Drive 13 4 4 Linear Encoder 14 4 5 Resolution 14 4 5 1 Magnetic Encoders 14 4 5 2 Sensors 14 4 6 End Stop Sensors 14 4 6 1 Home Sensor 14 4 6 2 Temperature Sensor 14 4 6 3 Operating ...

Page 7: ...Unpacking 27 6 1 Mechanical 27 6 2 Shaft 27 6 2 1 Forcer 29 6 2 2 Linear Encoder 31 6 2 3 Electrical 32 6 3 Motor Power and Temperature Feedback 32 6 3 1 Sensors 32 6 3 2 Electromagnetic Compatibility EMC 33 6 3 3 Servo Drive Configuration 33 6 4 Maintenance 34 7 Accessories 35 8 LinX Power Connector 35 8 1 Appendix 36 9 Motor Selection Guide 36 9 1 Application Continuous Force Calculation Example...

Page 8: ......

Page 9: ...following points must be understood and adhered to at all times Equipment operators must read the User Guide carefully and make sure of the correct procedure before operating the LinX linear motor Memorize the locations of the power and drive isolator switches so that you can activate them immediately at any time if required If two or more persons are working together establish signals so that the...

Page 10: ...arly labelled This will assist you and your colleagues in identifying possible electrical safety hazards Use cables with the minimum cross sectional area as specified in 6 3 1 Motor Power and Temperature Feedback Install cables according to local legislation and regulations as applicable Ensure the forcer will not move relative to the shaft while in contact with the motor electrical connections Mo...

Page 11: ...n written specifically to meet the needs of qualified engineers tradespersons technicians and operators Terms and Abbreviations 2 2 Trademarks 2 3 LinX is a registered trademark of ANCA Motion Pty Ltd GND Ground rms root mean square V mV Volt millivolt A mA Ampere milliampere Ω ohms AC DC Alternating Current Direct Current Hz Hertz ms millisecond AICD Automatic Implantable Cardioverter Defibrillat...

Page 12: ...and linear encoder the coils in the forcer are energized to produce relative force between the shaft and forcer The zero attractive forces between the forcer and shaft resulted from the symmetric design greatly reduces the loading requirement on support bearings The ironless design and even force over entire stroke result in very low cogging forces With the simple construction non critical air gap...

Page 13: ...esults in long motor life Efficient The extremely strong magnetic flux cylindrical design and small moving mass provide for very efficient linear motion The LinX System 3 3 Figure 3 2 The LinX system The LinX linear motor system can be broken up into the following discrete components LinX forcer Available in various forcer models The appropriate model needs to be chosen for the application LinX Sh...

Page 14: ...LinX cylindrical linear motor models are marked with an identification label The identification label contains important information about the motor including the catalogue number The catalogue number is defined as shown below TLMS 36P0 RN00 Forcer Range Family S S series Coil size 18 27 36 Connector R Right angle S Straight Coil option P Parallel H Hybrid Variant 0 Standard Housing option N Non a...

Page 15: ...Product Overview ANCA Motion D 000168 Rev 02 7 3 TLS50 0840 S Diameter 50 51mm Magnet option S Standard Length XXXX mm E g 0840 840mm Figure 3 4 Shaft Catalogue Number ...

Page 16: ...aft and the forcer therefore motion can be achieved in one of two ways The shaft can be fixed in place while the forcer moves or the forcer can be fixed while the shaft moves The method used depends on application The motor can be mounted in any orientation The cylindrical linear motor should be mounted as close as possible to the center of gravity of the load and the operating point of the machin...

Page 17: ...distance from the shaft is shown in Figure 4 1 The effects of the shaft magnetic field on surrounding components can be minimized by using non magnetic materials wherever possible Figure 4 1 Shaft magnetic field strength with distance The shaft must be mounted to ensure that concentricity with the central bore of the forcer The nominal radial air gap between the forcer and shaft of 1mm should idea...

Page 18: ...t Velocity Identify the peak velocity required for the application Available peak force may be reliant on velocity depending on the DC Bus voltage of the servo drive and the forcer model chosen Refer to 5 2 Force vs Speed Characteristics Cooling of the forcer must be considered for applications with a high continuous operating current The forcer can be natural air cooled for low duty cycle applica...

Page 19: ...rake should be considered for all applications to prevent damage to systems or users in the event of a failure or fault A brake is recommended for vertical applications regardless of whether a counter balance is used or not In applications that are deemed to require a brake it is recommended that they are applied to the bearing or aligning rod systems used with the linear motor A braking system sh...

Page 20: ...supports must clamp the shaft for a length of at least 50mm with a minimum clamping force of 8kN at each end A higher clamping force may be required if using low friction materials please contact ANCA Motion for more information The shaft support can be designed into the structure of the machine or typical shaft hangers can be used In either situation the following points must be taken into consid...

Page 21: ...rrier 4 3 3 When the forcer is the component moving relative to the servo drive it is recommended that a cable carrier is used to guide and protect cables connected to the forcer Where the machine has a very short stroke a cable carrier may not be required In all cases strain relief is recommended Refer to the cable supplier s information to ensure the cable bends and flexes within specification S...

Page 22: ...ient distance away from the shaft Installing the encoder at a minimum distance of 150mm from the surface of the shaft is recommended Sensors 4 6 End Stop Sensors 4 6 1 End stop sensors also known as limit switches are used to prevent motor travel in the case of incorrect behaviour In the event that the motor passes a defined maximum physical position the end stop sensors will be triggered which ca...

Page 23: ...e it will produce a temperature rise above ambient as described in 5 Specifications The higher the temperature of the motor s operating environment the hotter the motor will become under the same duty cycle The motor will also be subject to a temperature related reduction in the force produced Therefore it is important that the motor cooling method is carefully considered If air cooling is used en...

Page 24: ...clude a single drive and motor for each axis multiple forcers on a single shaft or two motors moving a gantry These various configurations can be combined as required for the application Single Forcer 4 8 1 Figure 4 6 Single Forcer A single drive forcer and shaft is the simplest setup Each set represents an independent axis that can be combined to create a multi axis machine ...

Page 25: ...design while providing a compact and cost effective solution Multi Forcer with a Single Drive 4 8 3 In this type of installation multiple coupled forcers are controlled by one servo drive with a single linear encoder resulting in increased output force This can be achieved either by having two or more motors each on their own shaft Parallel Forcers or by having two or more motors all on the same s...

Page 26: ...LinX Series Linear Motor User Guide 18 D 000168 Rev 02 ANCA Motion Figure 4 9 Parallel Forcers ...

Page 27: ...igure 3 2 where the motor is attached to a steel carriage via two metal brackets 2 The maximum continuous ratings for both Fluid and Air cooling are based on a winding temperature of 130 C absolute maximum This is Class B operation The windings however are manufactured with Class H materials and therefore have a safety margin of two full classes 3 The maximum peak force and current is a limitation...

Page 28: ... a maximum winding temperature of 130 C This 130 C is made up of an ambient air temperature of 25 C a winding temperature rise of 100 C and a winding hotspot allowance of 5 C Under these conditions the external surface of the forcer will reach a temperature between 75 and 80 C The performance figures for Air cooling in Section 5 1 are based on these conditions Fluid Cooling Behaviour 5 1 2 For Flu...

Page 29: ... 30000 40000 50000 60000 70000 80000 90000 100000 Force N Speed mm min TLMS 18P Force vs Speed Peak Force N 300V 25 C Peak Force N 300V 130 C Peak Force N 600V 0 500 1000 1500 2000 2500 3000 3500 0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Force N Speed mm min TLMS 27P Force vs Speed Peak Force N 300V 25 C Peak Force N 300V 130 C Peak Force N 600V ...

Page 30: ...000 30000 40000 50000 60000 70000 80000 90000 100000 Force N Speed mm min TLMS 36P Force vs Speed Peak Force N 300V 25 C Peak Force N 300V 130 C Peak Force N 600V 0 500 1000 1500 2000 2500 3000 3500 4000 0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Force N Speed mm min TLMS 36H Force vs Speed Peak Force N 300V 25 C Peak Force N 300V 130 C Peak Force N 600V 25 C Peak Force N 600V ...

Page 31: ...orcer 5 3 1 TLMS 18P TLMS 27P TLMS 36P TLMS 36H Length Lm mm 210 5 300 5 390 5 390 5 Weight kg 6 5 8 8 11 4 11 4 Shaft 5 3 2 Shaft length Ls mm Stroke s mm TLMS 18P TLMS 27P TLMS 36 P H 360 30 N A N A 390 60 420 90 450 120 30 480 150 60 510 180 90 540 210 120 30 570 240 150 60 600 270 180 90 630 300 210 120 660 330 240 150 690 360 270 180 720 390 300 210 750 420 330 240 780 450 360 270 810 480 390...

Page 32: ...780 1320 990 900 810 1350 1020 930 840 1380 1050 960 870 1410 1080 990 900 1440 1110 1020 930 1470 1140 1050 960 1500 1170 1080 990 1530 1200 1110 1020 1560 1230 1140 1050 1590 1260 1170 1080 1620 1290 1200 1110 1650 1320 1230 1140 1680 1350 1260 1170 1710 1380 1290 1200 1740 1410 1320 1230 1770 1440 1350 1260 1800 1470 1380 1290 1830 1500 1410 1320 1860 1530 1440 1350 1890 1560 1470 1380 1920 159...

Page 33: ...onnector 5 3 3 Figure 5 6 Connector Dimensions Pin Number Label 1 U Phase 2 V Phase 3 PE 4 Temperature 5 Temperature 6 W Phase Connector Case Table 5 3 Motor power pin allocation Model Recommended Ø wire gauge AWG mm 2 TLMS 18P 16 1 5 TLMS 27P 14 2 5 TLMS 36P 14 2 5 TLMS 36H 16 1 5 Table 5 4 Recommended wire gauge for motor power ...

Page 34: ...LinX Series Linear Motor User Guide 26 D 000168 Rev 02 ANCA Motion ...

Page 35: ... shaft emits a very strong magnetic field always use caution when handling To avoid injury keep fingers and other body parts clear Due to the strong magnetic nature of the shaft proximity to magnetic parts and items sensitive to magnetic fields must be considered at all times It is recommended that non magnetic packing material is used when making adjustments to the shaft to prevent the shaft bein...

Page 36: ...5 Attach the linear motor to the mountings and secure the motor Figure 6 3 Mounting the forcer WARNING When handling the magnetic shaft do not have any ferrous or magnetised material on your person this includes watches keys and electronic devices that could be attracted to the shaft ATTENTION The LinX shaft weighs approximately 15kg per metre it is recommended that a minimum of two people lift th...

Page 37: ...ve to the positive direction of the linear encoder does influence operation and the two must be matched for the motor to function Refer to 6 2 3 Linear Encoder for more information on how to align encoders Figure 6 7 Example of air cooled forcer mounting Parallel Forcers 6 2 2 1 WARNING The shaft emits a very strong magnetic field and will be attracted to other shafts Extra care should be taken wh...

Page 38: ...Servo Drive N S S N N S S N N S S N N S S N Shaft 1 N S S Figure 6 10 Armature connections for parallel forcers with a single servo drive Tandem Forcers 6 2 2 2 For tandem forcer installation there are several motor spacing and phase connections which will give the correct phase sequence in the windings The option that provides the smallest separation distance between the two motors and therefore ...

Page 39: ...turer s instructions Care should be taken with the sensitive electronics of the encoder near the strong magnetic field of the shaft Particular care should be taken with magnetic encoders as close proximity to the shaft could cause inaccuracies or damage Installing the encoder at a minimum distance of 150mm from the shaft is recommended The positive and negative directions of the linear encoder nee...

Page 40: ...hock during motor operation The power supply and temperature signal feedback are both supplied via the LinX forcer connector Connector pin allocations and recommended wire gauge can be found in section 5 3 3 Connector Please refer to the servo drive documentation for further information on how to wire in the motor power supply and temperature sensor Motor Servo Drive Temp Temp U V W P E Earth shie...

Page 41: ...ives must also be considered for EMC refer to component documentation for further information Servo Drive Configuration 6 4 In general servo drives will need the following configuration to control the LinX motor Servo drives that do not specifically support linear motors can be configured as a two pole rotary motor Configuration requirements will depend on the specific servo drive and linear encod...

Page 42: ...ing activities are recommended for periodic maintenance Ensure the forcer can move freely over the entire stroke Check for evidence of wear on the shaft that could indicate contact with the forcer Clean any accumulated debris from the shaft Check the shaft deflection is within specifications Ensure all parts are secured Check cables for signs of wear or damage Lubricate bearing if required refer t...

Page 43: ...NCA Motion D 000168 Rev 02 35 8 Accessories 8 LinX Power Connector 8 1 Part Number Description ICN 30771584 Mating connector to the LinX power connector located on the forcer Intercontec B ST A 107 FR 03 42 0136 000 ...

Page 44: ...constant velocity and deceleration in order to determine the RMS force and duty cycle Acceleration Deceleration Constant Velocity Velocity Time 1 m s 0 2 sec 1 2 sec 2 2 sec Load Mass 90kg Forcer Mass 10kg Coefficient of Friction µ 0 005 Friction Force 10N Figure 9 1 Positioning example velocity profile In this example friction is taken as a combination of the Coefficient of Friction µ and a const...

Page 45: ...next move which impacts the overall continuous force rating If the above example were to have an additional 1 second delay before the next positioning move with no force required during this period Force RMS The result is a significant reduction in the required continuous force rating of the forcer Duty Cycle Calculation 9 1 2 The duty cycle of a linear motor is defined in terms of power usage and...

Page 46: ...ntact the closest ANCA Motion Customer Service Office in your area for details ANCA Motion Pty Ltd 1 Bessemer Road Bayswater North VIC 3153 AUSTRALIA Telephone 613 9751 8900 Fax 613 9751 8901 www ancamotion com Contact Us Email sales au ancamotion com ANCA Motion Taiwan 1F No 57 37 Road Taichung Industrial Park Taichung 407 TAIWAN Telephone 886 4 2359 0082 Fax 886 4 2359 0067 www ancamotion com Co...

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