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Rockwell Automation Allen-Bradley LDAT-S03 Series, User Manual

The Rockwell Automation Allen-Bradley LDAT-S03 Series is a cutting-edge industrial control system. For detailed instructions on installation and operation, download the free user manual from manualshive.com. This comprehensive manual will guide you through the setup and maintenance of this innovative product.

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4

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Table of Contents

Chapter 4

Commission

Required Files  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  33
Configure Your Linear Thruster. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  34
Positive Motion Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  34
Configure and Commission Your SERCOS Servo 

Drive with Logix Designer Application  . . . . . . . . . . . .  35

Configure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  35
Hookup Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  36
Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  36
Fine-Tune  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  37
Configure Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  37
Preventing Undetected and Repetitive High Energy Impacts . .  38
Prevent Reduced Dynamic Control Performance. . . . . . . . . . . . .  39

Configure Your Kinetix 6500 or Kinetix 5500 Drive 

with Logix Designer Application  . . . . . . . . . . . . . . . . . .  39

Configure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  40
Hookup Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  40
Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  40
Fine-Tune  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  41
Home  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  41

Configure Your Kinetix 300 Drive with MotionView Software  . . .  41

Configure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  41
Hook up Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  42
Tune with Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  42
Tune with Incremental Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . .  43
Fine-Tune  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  43
Home  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  44

Configure Your Ultra3000 or Kinetix 3 Drive with

Ultraware Software  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  44

Configure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  44
Hookup Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  45
Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  45
Home  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  46

Setting Travel Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  46

Slider Moving Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  47

Summary of Contents for Allen-Bradley LDAT-S03 Series

Page 1: ...AT S05xxxx EBS LDAT S05xxxx DD LDAT S05xxxx DDS LDAT S05xxxx ED LDAT S05xxxx EDS LDAT S07xxxx DB LDAT S07xxxx DBS LDAT S07xxxx EB LDAT S07xxxx EBS LDAT S07xxxx DD LDAT S07xxxx DDS LDAT S07xxxx ED LDAT...

Page 2: ...nformation 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 T...

Page 3: ...ter Features 14 Catalog Number Explanation 15 Accessories 16 Replacement Parts 18 Chapter2 Installation Before You Begin 19 Planning Your Installation 20 Prolonging Linear Thruster Life 21 Preventing...

Page 4: ...Repetitive High Energy Impacts 38 Prevent Reduced Dynamic Control Performance 39 Configure Your Kinetix 6500 or Kinetix 5500 Drive with Logix Designer Application 39 Configure 40 Hookup Test 40 Tune...

Page 5: ...n 52 Strip Cover Cleaning 53 Storage 53 Install Replacement Parts 53 Replace the Bearing 53 Replace the Encoder 54 Replace the Encoder Scale 54 Remove Encoder 60 Install the Encoder 61 Check Encoder 6...

Page 6: ...6 Rockwell Automation Publication LDAT UM001A EN P April 2016 Table of Contents Notes...

Page 7: ...ive motor combination with a Logix controller Who Should Use This Manual This manual is intended for engineers and technicians who install and wire linear thrusters It is also intended for programmers...

Page 8: ...cation 2094 UM001 Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 Ultra 3000 Digital Servo Drives Installation Manual publication 2098 IN003 Ultra 3000...

Page 9: ...ed while using a linear thruster and the precautions you can take to minimize risk Before you begin locate potential hazards by reviewing the labels shown in Figure 1 Topic Page Safety Considerations...

Page 10: ...i n e m o tio n c a n c a u s e i n j u ry S ta n d cl e a r w h e n m a ch i n e i s i n m o tio n P i t ch p o i n t K e e p cl e a r d u rin g o p e ra tio n WARNING High magnetic field exerts stro...

Page 11: ...media contact or come near the linear thruster Pitch Point Motion Hazard B The linear thruster can have suddenand fast motion Never stand in the axis of motion when under power Do not put fingers insi...

Page 12: ...volved 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 g...

Page 13: ...ear thrusters must be trained and demonstrate the competence to perform the assigned task safely ATTENTION Linear thrusters can have high accelerations sudden and fast motion Rockwell Automation is no...

Page 14: ...ries Integrated Linear Thruster LDAT S73010xx is shown 4 12 11 x4 6 14 x4 sets 8 3 Table 2 Linear Thruster Features Item Description Item Description 1 Power connector 9 Slider 2 Feedback connector 10...

Page 15: ...ic scale hiperface 1 Winding D High Speed E Low Speed Travel 010 100 mm 3 94 in 060 600 mm 23 62 in 020 200 mm 7 87 in 070 700 mm 27 56 in 030 300 mm 11 81 in 080 800 mm 31 50 in 040 400 mm 15 75 in 0...

Page 16: ...ccessories 3 4 6 5 6 5 1 2 7 1 1 1 2 3 4 7 8 Spring 1 1 Size and purchase spring according to your application needs Guidance that is provided in Kinetix Linear Motion TechnicalData publication GMC TD...

Page 17: ...S03 RODEYE 150 5 29 50 LDAT S0507 RODEYE 260 9 17 75 100 LDAT S1015 RODEYE 590 20 81 150 6 Rod Coupler Kit 30 LDAT S03 RODCPLR 290 10 05 50 LDAT S0507 RODCPLR 370 13 05 75 100 LDAT S1015 RODCPLR 1030...

Page 18: ...mm 27 56 in 030 300 mm 11 81 in 080 800 mm 31 50 in 040 400 mm 15 75 in 090 900 mm 35 43 in 050 500 mm 19 68 in Motor Coil Length 1 100 mm 3 94 in 4 400 mm 15 75 in 2 200 mm 7 87 in 6 600 mm 23 62 in...

Page 19: ...egin 19 Planning Your Installation 20 Remove the Linear Thruster from the Shipping Container 22 Install the Linear Thruster 23 Preventing Electrical Noise 21 Install the Linear Thruster 23 ATTENTION T...

Page 20: ...de environmental seal and shield termination Contact your Allen Bradley sales office or refer to the Kinetix Motion Accessories Specifications publication KNX TD004 for more information General safety...

Page 21: ...trical Noise Electromagnetic interference EMI commonly called electrical noise can reduce linear thruster performance Effective techniques to counter EMI include filtering the AC power by using shield...

Page 22: ...ng it further The lift points are not always equidistant from the center of gravity 5 Lift the linear thruster 6 Visually inspect for damage Closely examine the mounting surface frame and slider for d...

Page 23: ...mechanical stress and distortion Evenness of the mounting surface must be within 0 127 mm 0 005 in 3 Attach mounting accessories to the linear thruster 4 Attach slider end a accessory to your work lo...

Page 24: ...ns have a 20 tolerance 1 Remove M8 set screws from stator body 2 Install stator bracket with two M8 x 1 25 x 16 socket head cap screws SHCS Torque screw to 19 2 N m 14 2 lb ft 3 Screw one 3 8 in hex n...

Page 25: ...e to values shown in table 8 Screw one 3 8 in hex nut onto a spring anchor 9 Install hex nut and spring anchor assemble in the counter balance bracket Torque nut to 33 9 N m 25 0 lb ft Attach your cou...

Page 26: ...sory Install the clevis mount accessory with screws included in the kit and torque to the values shown Cat No Clevis Kit Torque max LDAT S03 LDAT 03 CLVSM or LDAT 03 CLVSF 6 8 N m 5 00 lb ft LDAT S05...

Page 27: ...cation 5 Torque the foot mount screw to linear thruster to the following values Direct Mount the Linear Thruster Follow these steps to mount the linear thruster on directly on your machine 1 Verify th...

Page 28: ...equired See the 1321 Power Conditioning Products Technical Data publication 1321 TD001 to choose a line reactor for applications that require a cable longer than 10 m 32 8 ft ATTENTION When installed...

Page 29: ...fety precautions could result in damage to equipment ATTENTION When installing a threaded DIN cable with a M4 designation an O ring must be installed in the groove that is immediately next to the body...

Page 30: ...onnector housings up to 180 Follow these steps to rotate the DIN connectors 1 Mount and fully seat a mating cable on the connector 2 Grasp the connector and the cable plug by their housings and slowly...

Page 31: ...t Pin Signal Name LDAT xxxxxxx xBx incremental encoder Signal Name LDAT xxxxxxx xDx absolute encoder 2 2 Absolute encoder is only compatible with Kinetix 300 single axis drives 1 A Sin 2 A Sin 3 B Cos...

Page 32: ...Signal Name A Phase U B Phase V C Phase W D Ground E Reserved F G H L Case Cable Shield and GND ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexing at the c...

Page 33: ...3 Drive with Ultraware Software 44 Setting Travel Limits 46 Drive Firmware Version min Software Software Version min Supplemental File min Kinetix 2000 with SERCOS 1 199 Studio 5000 Logix Designer app...

Page 34: ...end from the stator body opposite the power and feedback connectors Drive See Kinetix 2000 Kinetix 6000 Kinetix 6200 Ultra3000 with SERCOS Configure and Commission Your SERCOS Servo Drive with Logix D...

Page 35: ...igner application to configure your linear thruster refer to Additional Resources on page 8 This procedure assumes you are familiar with the Logix Designer application Configure Follow these steps to...

Page 36: ...a direct drive actuator When you tune a linear thruster it establishes a stable axis Follow these steps to tune the linear thruster Axis Properties Tab Parameter Entry Selection Drive Motor Motor Cata...

Page 37: ...r stable operation increase the velocity gain until you hear the axis oscillate and then reduce the velocity gain by one half For applications with high acceleration 30 m s s 1 2 in s s add accelerati...

Page 38: ...plement 100 Velocity Feed forward on the Axis Properties Gains tab This value reduces the Position Error during normal axis motion After performing an Auto Tune always set the Position Error Tolerance...

Page 39: ...truction or axis mechanical failures Take the following precautions to monitor the motor capacity Make sure the Position Error Tolerance is set appropriately for your axis Turn on Motor Capacity Real...

Page 40: ...From the Scaling category set the Units to mm Hookup Test If possible run hookup test before the linear thruster loads or fixtures are installed Vertical loads or external forces of more than 10 of t...

Page 41: ...ions to configure hookup test tune fine tune and configure homing for the linear thruster These procedures assume the linear thruster and a Kinetix 300 servo drive have been installed and wired as one...

Page 42: ...From the Motor category click Check Phasing Tune with Absolute Encoder The linear thruster is a direct drive actuator When you tune the linear thruster it establishes a stable axis Follow these steps...

Page 43: ...thruster with an incremental encoder 1 Attach your application load to the linear thruster 2 From the General category set the Drive Mode to Auto Tune 3 From the Dynamics category set the Feedback Fi...

Page 44: ...your linear thruster refer to Additional Resources on page 8 This procedure assumes you are familiar with Ultraware software Configure Follow these steps to configure your drive for linear thrusters 1...

Page 45: ...tely 60 mm 2 4 in 5 Verify that the Test Status displays Test Success 6 Verify that the Recommended Changes displays No Change Required Tune The linear thruster is a direct drive actuator When you tun...

Page 46: ...ftware Overtravel limits must be set according to the maximum speed of the servo drive system and the payload of the application The Deceleration Distance before the slide contacts the end of travel b...

Page 47: ...use the formula J energy in Joules M mass in motion slider 1 payload kg V maximum velocity of stage in your application m s 1 Slider Moving Mass Cat No Energy Limit J in lb Cat No Energy Limit J in l...

Page 48: ...020 xxx 10 7 23 67 LDAT S072040 xxx 10 7 23 67 LDAT S074030 xxx 12 0 26 35 LDAT S072050 xxx 12 0 26 35 LDAT S074040 xxx 13 2 29 03 LDAT S072060 xxx 13 2 29 03 LDAT S074050 xxx 14 4 31 72 LDAT S072070...

Page 49: ...S152030 xxx 23 2 51 23 LDAT S154030 xxx 29 3 64 61 LDAT S152040 xxx 26 3 57 92 LDAT S154040 xxx 32 3 71 30 LDAT S152050 xxx 29 3 64 61 LDAT S154050 xxx 35 4 77 99 LDAT S152060 xxx 32 3 71 30 LDAT S154...

Page 50: ...50 Rockwell Automation Publication LDAT UM001A EN P April 2016 Chapter 4 Commission Notes...

Page 51: ...pump kit catalog number MPAS GPUMP with tip type installed and primed Grease cartridge catalog number MPAS CART included in grease pump kit Lint free cloth Isopropyl alcohol as necessary for cleaning...

Page 52: ...r housing pushing in until firm contact with the grease fitting is made 4 Pump the handle until back pressure is felt or a maximum of two strokes is made 5 Repeat steps 1 and 3 on all grease fittings...

Page 53: ...er than two years without use lubricant replacement is recommended Install Replacement Parts Be sure to have all replacement parts and tools available before starting this procedure Read and understan...

Page 54: ...coder scale by following procedure on page 61 4 Assemble the linear thruster by following procedure on page 56 5 Check the encoder by following procedure on page 61 6 Do the Hookup test by following p...

Page 55: ...ril 2016 55 Maintenance Chapter 5 There are four screws per bearing 5 Remove the connector side stator end cap There are five screws on the perimeter of the end cap 6 Remove the slider end cap opposit...

Page 56: ...ody AssembletheLinearThruster Follow this procedure to assemble your linear thruster Use the figures from the disassemble procedure as a reference 1 Slide the slider and coil assembly into the stator...

Page 57: ...g puck screws to values shown 11 Torque the bearing rail screws to value shown in previous step 12 Attach the connectors to the stator body 13 Attach the end stop bracket to the slider assembly 14 Che...

Page 58: ...e bearing rail to the slider assembly Position the bearing pucks out of your way as necessary 2 Remove the bearing rail InstallBearing 1 Clean the bearing mounting and banking surface with isopropyl a...

Page 59: ...lb ft M3 0 9 0 67 M4 1 7 1 25 M5 4 5 3 33 M6 6 8 5 00 M7 14 7 10 83 IMPORTANT Bearing pucks for the frame 30 linear thruster do not have retained ball bearings Leave the plastic bearing retainer in p...

Page 60: ...do the following Peel off the low friction tape from the stator body and the stator cove and discard Remove Encoder 1 Remove the Allen Bradley decal from the encoder bracket 2 Remove the six screws th...

Page 61: ...sembly 5 Slide the provided shim along the encoder scale under the plastic seal into the linear thruster from the connector end 6 Insert a tool through the encoder access hole and press the encoder ag...

Page 62: ...t Remove Encoder Scale 1 Remove the scale and stainless steel backer 2 Clean the scale alignment groove with isopropyl alcohol to remove all of the adhesive residue 3 Dry thoroughly Install Encoder Sc...

Page 63: ...t accessories Review mounting instructions Metal debris or hardware on magnet surface of slider Remove debris Debris on strip cover Clean strip cover Debris or loose hardware on slider bearings Remove...

Page 64: ...g but is not up to rated speed Incorrect motor catalog number in Logix Designer application configuration Verify motor catalog number in software matches linear thruster nameplate Drive bus voltage is...

Page 65: ...ar thrusters 3 The preferred absolute feedback cables are shown onillustration These alternate absolute feedback cables can be used with LDAT Series linear thrusters 2090 CFBM7DF CDAFxx Continuous fle...

Page 66: ...rive Motor Feedback MF Connector 2090 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFx continuous flex Motor Power Cable Note 1 4 See Motor Feedback Breakout Board Installation Instruction Publication 20...

Page 67: ...90 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFx continuous flex Motor Power Cable Note 1 4 2090 XXNFMF Sxx standard or 2090 CFBM7DAFxx continuous flex flying lead Feedback Cable Note 2 Shield Green Y...

Page 68: ...Encoder LDAT Sxxxxxx xB Motor Power MP Connector 2090 K2CK D15M Drive Mounted Connector Three phase Motor Power Motor Feedback Thermostat Cable Shield Clamp Kit Motor Feedback MF Connector Kinetix 200...

Page 69: ...solute Encoder LDAT Sxxxxxx xD Motor Power MP Connector 2198 H2DCK Converter Kit Three phase Motor Power Motor Feedback Thermostat Cable Shield Clamp Kit Motor Feedback MF Connector Kinetix 5500 Drive...

Page 70: ...coder LDAT Sxxxxxx xB Motor Power MP Connector 2090 K6CK D15M Drive Mounted Connector Three phase Motor Power Motor Feedback Thermostat Cable Shield Clamp Kit Motor Feedback MF Connector Kinetix 6000...

Page 71: ...hermostat 2090 UXBB DM15 Drive Mounted Connector Ultra3000 Digital Servo Drive Cable Shield Ground Clamp Motor Feedback CN2 Connector Motor Feedback 2090 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFx...

Page 72: ...all cable secure Cable Tie Exposed shield that is secured under clamp 2090 UXBB DM15 Connector Kit 2090 KxCK D15M and LDAT CONNKIT ABS Connector Kits Exposed Shield Aligned in the Cable Channel Servic...

Page 73: ...ment 54 F feedback cables 65 firmware revision 33 force of attraction 11 G grounding 71 72 2090 UXBB DM15 connector kit 72 H home to torque homing 41 I installation configuration with 34 end of travel...

Page 74: ...instructions 12 shipping handling set screw 11 software required version 33 strip cover replacement 59 T travel limits 46 tuning Kinetix drive system 36 W warning air freight restrictions 12 automati...

Page 75: ...Rockwell Automation Publication LDAT UM001A EN P April 2016 75 Index Notes...

Page 76: ...product Use the codetorouteyourcalldirectlytoatechnicalsupport engineer http www rockwellautomation com global support direct dial page Literature Library Installation Instructions Manuals Brochures...

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