Rockwell Automation Allen-Bradley LDAT-S03 Series Скачать руководство пользователя страница 71

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

Interconnect Diagrams

Appendix A

Figure 15 - Wiring Examples for a Linear Thruster to an Ultra3000 Drive

Grounding Techniques for
Feedback Cable Shield

Use the grounding techniques that are shown in

Figure 16

when attaching your

feedback connector.

V
U

GND

AM+

AM-
BM+

BM-
IM+

IM-

+5VDC

ECOM

10
14

TS-

–

TS+

COM

14
15
16
17
12

D
C
B
A

4
3
2
1

V
U

Motor Power

(TB1) Connector

LDAT-Series Integrated Linear Thruster

with Incremental Encoder

LDAT-S

xxxxxx-x

Three-phase
Motor Power

Thermostat

2090-UXBB-DM15

Drive Mounted

Connector

Ultra3000 Digital

Servo Drive

Cable Shield

Ground Clamp

Motor Feedback
(CN2) Connector

Motor

Feedback

2090-CPWM7DF-

(standard)

or 2090-CPWM7DF-

(continuous-flex)

Motor Power Cable

Note 1, 4

2090-XXNFMF-S

(standard)

2090-CFBM7DAF

(continuous-flex)

(flying-lead) Feedback Cable

Note 2

Shield

Green/Yellow

Blue

Black

Brown

BLACK

WHT/BLACK

RED

WHT/RED

GREEN

WHT/GREEN

GRAY

WHT/GRAY

ORANGE

WHT/ORANGE

BLUE

WHT/BLUE

YELLOW

WHT/YELLOW

See

Figure 16 on page 72

for proper grounding

technique.

Table 17 - Connector Kits for Drive and Linear Thruster Combinations

Drive

Linear Thruster Encoder Type

Use Connector Kit

Kinetix 300

Absolute

LDAT-CONNKIT-ABS

Kinetix 5500

2198-H2DCK

Kinetix 300

Incremental

2090-K2CK-D15M

Kinetix 2000

Kinetix 6000

2090-K6CK-D15M

Ultra3000

2090-UXBB-DM15

Содержание Allen-Bradley LDAT-S03 Series

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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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