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Rockwell Automation Allen-Bradley LDAT Series, Руководство по установке

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34

     LDAT-Series Integrated Linear Thrusters

Rockwell Automation Publication LDAT-IN001B-EN-P - March 2020

Configure and Commission Your SERCOS Servo Drive with RSLogix 5000 Software 

For each linear thruster that is powered by a Kinetix 2000, Kinetix 6000, Kinetix 6200, or an 
Ultra3000 servo drive, use the next four sections to configure, hookup test, tune, fine tune and 
set up homing for the linear thruster. 

These procedure assumes the linear thruster and a Kinetix 2000, Kinetix 6000, Kinetix 6200, or 
an Ultra3000 servo drive has been installed and wired as one axis of the motion system.

For help using RSLogix 5000 software as it applies to setting up your linear thruster, refer to 

Additional Resources

 on 

page 77

. This procedure assumes you are familiar with RSLogix 5000 

software. 

Configure

Follow these steps to configure your drive for the linear thruster. 

1.

Loosen shipping and handling set screw till it is just flush with the stator body surface.

2.

Run the RSLogix 5000 software.

3.

Complete the basic system configuration to create an axis.

4.

Right-click on your axis and select Properties. 

5.

Set these values in the appropriate Axis Properties tab of RSLogix 5000 software.  

The LDAT linear thrusters display a different suffix depending on the servo drive you are 
using. Systems using a 230V drive show linear thruster with a _A suffix and those using a 
460V drive will show _B suffix.  

ATTENTION: 

Incorrect parameter settings may result in uncontrolled motion, with the 

potential for damage to the linear thruster. Setting the Positioning Mode to Rotary can 
cause damage to the linear thruster or the machine due to incorrect positioning.

Axis Properties Tab

Parameter

Entry/Selection

Drive/Motor

Motor Catalog Number

Select your linear thruster catalog number

Drive Resolution

200,000 drive counts /motor millimeter

Attribute 1

Position Error (recommended)

Attribute 2

TorqueFeedback (recommended)

Units

Position Units

mm

Conversion

Positioning Mode

Linear

Conversion Constant

200,000.0 drive counts /1.0 mm

EXAMPLE

LDAT -S031020-Bx_A catalog numbers are shown when 230V drive is selected.

LDAT -S031020-Bx_B catalog numbers are shown when 460V drive is selected.

Содержание Allen-Bradley LDAT Series

Страница 1: ...x DD LDAT S05xxxx DD LDAT S07xxxx DD LDAT S10xxxx DD LDAT S15xxxx DD LDAT S03xxxx DDS LDAT S05xxxx DDS LDAT S07xxxx DDS LDAT S10xxxx DDS LDAT S15xxxx DDS LDAT S03xxxx ED LDAT S05xxxx ED LDAT S07xxxx E...

Страница 2: ...ameplate D E C B A B L o r e m W ARN IN G Ha za rd ou s vo lta ge in sid e Di sc on ne ct po w er be fo re op en in g CA U TI O N Su dd en m ac hin e m ot ion ca n ca us e inj ur y Sta nd cle ar wh en...

Страница 3: ...ower Do not put fingers inside the slider Lock out tag out if access to the linear thruster is required during maintenance while the connectors are installed Hot Surface C Indicates that the surface c...

Страница 4: ...ct Linear thruster magnet track contain magnetized material as classified by International Air Transport Association IATA Dangerous Goods Regulations An IATA trained individual must be involved when s...

Страница 5: ...ponsible for misuse or improper implementation of this equipment ATTENTION Linear thrusters driven systems must have the payload must be secured to the system such that it will not sheer off in the ev...

Страница 6: ...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 090 900 mm 35 43 in...

Страница 7: ...pping and handling set screw 5 Magnetic Encoder scale 13 Accessory feet bottom mount threaded holes 6 Payload mounting surface 14 Accessory feet side mount threaded holes 7 Grease access not applicabl...

Страница 8: ...ION To avoid personal injury and structural damage to the linear thruster never attempt lift or move the linear thruster by any means other than those listed in this publication ATTENTION High force m...

Страница 9: ...ack and power cables are available in standard cable lengths They provide environmental sealing and shield termination Contact your Allen Bradley sales office or refer to the Kinetix Motion Accessorie...

Страница 10: ...ng it further The lift points may not be equidistant from the center of gravity 5 Lift the linear thruster 6 Visually inspect the linear thruster for damage Closely examine the mounting surface frame...

Страница 11: ...Follow these guidelines to avoid the effects of EMI Isolate the power transformers or install line filters on all AC input power lines Separate signal cables from motor cabling and power wiring Do no...

Страница 12: ...entric to the slider Use these torque values to attach a rod eye rod clevis or payload bracket to the slider ATTENTION Unmounted linear thrusters disconnected mechanical couplings and disconnected cab...

Страница 13: ...llCounterbalanceKit Follow these steps to install the counter balance kit Unless otherwise noted torque specifications have a 20 tolerance 1 Remove M8 set screws from stator body 2 Install stator brac...

Страница 14: ...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 counter balance spring between the two sprin...

Страница 15: ...ctuator housing 2 Loosely install the all of the foot mounts on to your application with your fasteners 3 Loosely install linear thruster to foot mounts by using two of the supplied screws per foot mo...

Страница 16: ...by 0 3 m 1 ft minimum for every 9 m 30 ft of parallel run 4 Ground both ends of the encoder cable shield and twist the signal wire pairs to prevent electromagnetic interference EMI from other equipme...

Страница 17: ...dTec M7 connector one quarter turn ATTENTION Keyed connectors must be properly aligned and hand tightened the recommended number of turns Improper connector alignment is indicated by the need for exce...

Страница 18: ...sings and slowly rotate them to the outside of the motor If necessary repeat these steps for the other connector feedback or power brake ATTENTION Make sure cables are installed and restrained to prev...

Страница 19: ...Reference M6 x 1 0 6h x 7 0 Mounting Holes in N places LDAT MID FTMOUNT optional foot mounting uses 4X M8 x1 25 x 20 min socket head cap screw Optional Clevis Mounting Holes 4X M6 x 1 0 6h x 7 0 Feed...

Страница 20: ...85 1 530 4 LDAT S031020 xxx 200 7 9 525 4 20 69 LDAT S031030 xxx 300 11 8 625 4 24 62 LDAT S031040 xxx 400 15 7 725 4 28 56 LDAT S032010 xxx 200 100 3 9 525 4 20 69 332 70 13 098 66 35 2 612 53 85 2 1...

Страница 21: ...x 6 0 24 A 70 00 2 76 160 00 6 30 142 00 5 59 C 38 00 1 50 Square 26 35 1 04 Typical 22 35 0 88 M 53 85 2 120 120 00 4 72 Reference Optional Clevis Mounting Holes 4X M6 x 1 0 6H x 7 0 35 1 Up to appro...

Страница 22: ...0 xxx 200 100 3 9 531 8 20 935 332 70 13 098 66 35 2 612 53 85 2 120 LDAT S052020 xxx 200 7 9 631 8 24 872 LDAT S052030 xxx 300 11 8 731 8 28 809 LDAT S052040 xxx 400 15 7 831 8 32 746 LDAT S052050 xx...

Страница 23: ...2020 xxx 200 7 9 631 8 24 87 LDAT S072030 xxx 300 11 8 731 8 28 81 LDAT S072040 xxx 400 15 7 831 8 32 75 LDAT S072050 xxx 500 19 7 931 8 36 68 LDAT S072060 xxx 600 23 6 1031 8 40 62 LDAT S072070 xxx 7...

Страница 24: ...9 7 1131 8 44 56 LDAT S074060 xxx 600 23 6 1231 8 48 49 LDAT S074070 xxx 700 27 6 1331 8 52 43 LDAT S076010 xxx 600 100 3 9 931 8 36 68 732 70 28 85 366 350 14 42 LDAT S076020 xxx 200 7 9 1031 8 40 62...

Страница 25: ...346 56 50 2 224 Square 23 10 0 909 140 00 5 512 Reference M8 x 1 25 6H x 12 0 Mounting Holes in N places M8 x 1 25 6H x 12 0 Mounting Holes in N places LDAT LARGE FTMOUNT optional foot mounting uses...

Страница 26: ...7 838 1 33 00 LDAT S102050 xx 500 19 7 938 1 36 93 LDAT S102060 xx 600 23 6 1038 1 40 87 LDAT S102070 xx 700 27 6 1138 1 44 81 LDAT S102080 xx 800 31 5 1238 1 48 74 LDAT S102090 xx 900 35 4 1338 1 52...

Страница 27: ...1338 1 52 68 LDAT S104080 xx 800 31 5 1438 1 56 62 LDAT S104090 xx 900 35 4 1538 1 60 55 LDAT S106010 xx 600 100 3 9 938 1 36 93 732 70 28 846 366 35 14 423 LDAT S106020 xx 200 7 9 1038 1 40 87 LDAT S...

Страница 28: ...Up to approximately 5 mm 0 2 in overtravel at each end An additional 12 7 mm 0 5 in overtravel each end when stop is fully compressed in a crash condition 26 35 1 037 Typical 172 00 6 772 190 00 7 480...

Страница 29: ...1 33 00 LDAT S152050 xxx 500 19 7 938 1 36 93 LDAT S152060 xxx 600 23 6 1038 1 40 87 LDAT S152070 xxx 700 27 6 1138 1 44 81 LDAT S152080 xxx 800 31 5 1238 1 48 74 LDAT S152090 xxx 900 35 4 1338 1 52 6...

Страница 30: ...338 1 52 68 LDAT S154080 xxx 800 31 5 1438 1 56 62 LDAT S154090 xxx 900 35 4 1538 1 60 55 LDAT S156010 xxx 600 100 3 9 938 1 36 93 732 7 28 846 366 35 14 423 LDAT S156020 xxx 200 7 9 1038 1 40 87 LDAT...

Страница 31: ...Reserved 6 Index Data F 7 Reserved Reserved G 8 H 9 5V DC L 10 Common Common Case Cable Shield and GND 11 Reserved 9V DC 12 Reserved 13 TS 1 1 The normally closed thermal switch opens at 100 C 212 F T...

Страница 32: ...wnload these files from http www rockwellautomation com support Contact Rockwell Automation Technical Support at 440 646 5800 for assistance Drive Firmware Version min Software Software Version min Su...

Страница 33: ...o Kinetix 2000 Kinetix 6000 Kinetix 6200 Ultra3000 withSERCOS Configure and CommissionYour SERCOS Servo Drive with RSLogix 5000 Softwareon page 34 Kinetix 6500 ConfigureYour Kinetix 6500 EtherNet IP S...

Страница 34: ...Complete the basic system configuration to create an axis 4 Right click on your axis and select Properties 5 Set these values in the appropriate Axis Properties tab of RSLogix 5000 software The LDAT...

Страница 35: ...shes a stable axis Follow these steps to tune the linear thruster 1 Attach your application load to the linear thruster 2 From the Tune tab enter the following recommended tuning parameters 3 Click St...

Страница 36: ...h large mass attached to the slider you may notice the axis is vibrating or resonating after AutoTune If it does use the Output screen to add a low pass filter or a notch filter to remove the resonanc...

Страница 37: ...gher speed applications implement 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 th...

Страница 38: ...ommissioning the axis Additionally you should monitor the drive s motor capacity in case of unexpected obstruction or axis mechanical failures Take the following steps to monitor the motor capacity Ma...

Страница 39: ...0 software Configure Follow these steps to configure your drive for the linear thruster 1 Loosen the shipping and handling set screw till it is just flush with the stator body surface 2 Run the RSLogi...

Страница 40: ...e Tune Velocity Position and Accelerations Loop categories to meet your specific application requirements Home The Kinetix 6500 drive does not support Home to Torque homing Use this link to the Sample...

Страница 41: ...o setting up your linear thruster refer to Additional Resources on page 77 This procedure assumes you are familiar with MotionView software Configure Follow these steps to configure your drive for lin...

Страница 42: ...al category set the Drive Mode to Auto Tune 3 From the Dynamics category set the Feedback Filter to On 4 Enable drive 5 Click Autotuning 6 We recommend you check Position Tuning and Velocity Tuning 7...

Страница 43: ...nd you check Position Tuning and Velocity Tuning 8 Set the Travel Limit to 50 0 User Units 9 Click Start The linear thruster will oscillate 10 To accept the autotune parameters click Yes FineTune To i...

Страница 44: ...ur drive for linear thrusters 1 Connect a serial cable to your drive 2 Apply AC input power to the drive When communication with the drive is established the motor database dialog box opens 3 Click Ca...

Страница 45: ...Verify that the Test Status displays Test Success 5 Verify that the Recommended Changes displays No Change Required Tune The linear thruster is a direct drive actuator Tuning the linear thruster esta...

Страница 46: ...ameter Auto Start Index to Off 5 Click Indexing Control Panel 6 Click Enable Drive 7 Click Start Homing The linear thruster moves to the negative spring stop and returns to the home position The In Po...

Страница 47: ...damage occurs Software overtravel limit switches can be precisely set based on maximum speed and load inertia The stage will come to a complete stop before physical damage occurs In addition to softwa...

Страница 48: ...AT S052010 xxx 5 4 11 99 LDAT S054010 xxx 7 4 16 21 LDAT S052020 xxx 6 4 14 10 LDAT S054020 xxx 8 3 18 32 LDAT S052030 xxx 7 4 16 21 LDAT S054030 xxx 9 3 20 42 LDAT S052040 xxx 8 3 18 32 LDAT S054040...

Страница 49: ...T S104060 xxx 25 2 55 47 LDAT S102070 xxx 23 2 51 09 LDAT S104070 xxx 27 1 59 84 LDAT S102080 xxx 25 2 55 47 LDAT S104080 xxx 29 1 64 22 LDAT S102090 xxx 27 1 59 84 LDAT S104090 xxx 31 1 68 60 LDAT S1...

Страница 50: ...S154060 xxx 38 4 84 68 LDAT S152070 xxx 35 4 77 99 LDAT S154070 xxx 41 4 91 36 LDAT S152080 xxx 38 4 84 68 LDAT S154080 xxx 44 5 98 05 LDAT S152090 xxx 41 4 91 36 LDAT S154090 xxx 47 5 104 74 LDAT S15...

Страница 51: ...thruster BeforeYouBegin You will need the following tools to clean and lubricate your linear stage Grease pump kit catalog number MPAS GPUMP with tip type installed and primed Grease cartridge catalo...

Страница 52: ...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 If your linear thruster has a strip cover install it by following t...

Страница 53: ...connectors and electronics After six months of storage cycle the linear thruster two complete strokes to redistribute the internal lubricants After storage for a period longer than two years without...

Страница 54: ...unting feet 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 beari...

Страница 55: ...ter is operating but is not up to rated speed Incorrect motor catalog number in RSLogix software configuration Verify motor catalog number in software matches linear thruster nameplate Drive bus volta...

Страница 56: ...MID FTMOUNT 30 1 06 50 75 100 LDAT SLARGE FTMOUNT 40 1 41 150 2 Clevis Male 30 LDAT S03 CLVSM 100 3 53 50 LDAT S0507 CLVSM 150 5 29 75 100 LDAT S1015 CLVSM 370 13 05 150 Linear Thruster LDAT S07xxxx a...

Страница 57: ...Eye Kit 30 LDAT 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 S1...

Страница 58: ...e tape 170 cm 67 in Cat No Description MPAS GPUMP Grease pump kit MPAS CART Grease cartridge Bearing or Strip Cover Identifier BRG Bearing STCVR Strip Cover Travel 010 100 mm 3 94 in 060 600 mm 23 62...

Страница 59: ...page 64 3 Install the bearing by following procedure on page 64 4 Assemble the linear thruster by following procedure on page 62 ReplacetheEncoder 1 Remove the encoder by following procedure on page...

Страница 60: ...ster has the strip cover option follow Remove Strip Cover procedure on page 66 2 Loosen the shipping and handling set screw 3 Remove the coil screws 4 Remove the bearing screws There are four screws p...

Страница 61: ...emove the connector side stator end cap There are five screws on the perimeter of the end cap 6 Remove the slider end cap opposite the connector side 7 Remove the end stop bracket 8 Remove screws that...

Страница 62: ...ct the encoder connectors when they are close enough 3 Carefully stuff the feedback then power cables into the stator body Be sure the cables are not touching the slide assembly 4 Loosely attach the c...

Страница 63: ...til all the bearing pucks are installed 11 Torque the bearing puck screws to values shown 12 Torque the bearing rail screws to value shown in previous step 13 Attach the connectors to the stator body...

Страница 64: ...Bearing 1 Remove the screws securing the 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 mounti...

Страница 65: ...bearing puck on to the bearing rail Bearing Screw Size Torque N m 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 h...

Страница 66: ...ng the strip cover to lubricate the linear thruster you are finished 5 If you are replacing the strip cover do the following Peel off the low friction tape from the stator body and the stator cove and...

Страница 67: ...encoder 5 Remove the encoder from encoder bracket InstalltheEncoder 1 Remove the two M8 set screws furthermost from the connectors on top of stator body This allows access to the encoder screws while...

Страница 68: ...m It should be difficult to return the shim beneath the encoder once removed 9 Move the slider from spring stop to spring stop to verify that the encoder does not rub the scale 10 Replace the two M8 s...

Страница 69: ...lignment groove with isopropyl alcohol to remove all of the adhesive residue 3 Dry thoroughly InstallEncoderScale 1 Place the paper backed scale into the groove 2 Mark off a length that is 0 8 mm 0 03...

Страница 70: ...atalog numbers LDAT S076xxx Dxx LDAT S106xxx Dxx LDAT S156xxx Dxx All other linear thruster use power cables with 16 AWG conductors AM AM BM BM IM IM 5VDC ECOM BLUE WHT BLUE GREEN WHT GREEN GRAY WHT G...

Страница 71: ...xxxx xB Three phase Motor Power Motor Feedback Thermostat 2090 K2CK D15M Connector Kit Motor Power MP Connector MotorFeedback MF Connector 2090 XXNFMF Sxx standard or 2090 CFBM7DAFxx continuous flex f...

Страница 72: ...Kit Kinetix 2000 IAM inverter or AM Motor Power MP Connector Motor Feedback MF Connector 2090 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFx continuous flex Motor Power Cable Note 1 4 LDAT Series Inte...

Страница 73: ...onnector 2090 CPWM7DF xxAAxx standard or 2090 CPWM7DF xxAFx continuous flex Motor Power Cable Note 1 4 LDAT Series Integrated Linear Thruster with Incremental Encoder LDAT Sxxxxxx xB 2090 UXBB DM15 Dr...

Страница 74: ...24 2 53 4 LDAT S051040 xx 13 2 29 0 LDAT S053010 xx 18 9 41 6 LDAT S054030 xx 25 2 55 5 LDAT S051050 xx 14 1 31 7 LDAT S053020 xx 19 8 43 7 LDAT S054040 xx 26 1 57 6 LDAT S052010 xx 14 6 32 2 LDAT S05...

Страница 75: ...38 0 83 8 LDAT S104050 xx 52 1 114 8 LDAT S106080 xx 74 1 163 3 LDAT S103030 xx 40 0 88 1 LDAT S104060 xx 54 1 119 2 LDAT S106090 xx 76 1 167 7 LinearThruster frame 150 Cat No Weight approx kg lb Line...

Страница 76: ...ature operating ambient 0 40 C 32 104 F Temperature storage ambient 30 70 C 22 158 F Humidity relative noncondensing 5 95 Liquid dust protection IP30 strip cover option only Shock max 20 g peak 6 ms d...

Страница 77: ...vo Drives User Manual publication 2097 UM001 Kinetix 2000 Multi axis Servo Drives User Manual publication 2093 UM001 Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 Kinetix 620...

Страница 78: ...itial help in getting your product up and running NewProductSatisfactionReturn Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturi...

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