PXL33 Reference & Maintenance Manual
Contents
1. Keep ferrous materials at least 100mm away from the stage A high power Neodymium Iron Boron magnet track is mounted to the underside of the PXL33 carriage Linear motors have large magnetic flux that can draw ferrous metals inside them from large distances destroy magnetic media and disrupt some electronic circuits Materials attracted to the magnets can pinch fingers and cause injury Keep ferrous materials at least 100mm away from the stage to minimize the risk of items being attracted to the magnet track In addition braking is difficult for linear motors making them inappropriate for many vertical applications Make sure no load is attached to the linear motor stage when stage is first connected to the electronics Linear motors can generate large accelerations and improper wiring to the control system can result in a high speed crash 5 2 Heat and Humidity All positioning stages are assembled and tested at 20 C Any stage calibrations are also performed at 20 C For optimum accuracy the ambient temperature should be maintained at 20 C Deviations from this nominal temperature may result in degraded accuracy performance due to thermal expansion Humidity should be less than 85 and there should be no condensation in the environment in which the stage is used Care must be taken to limit the duty cycle of the motor to maintain highest stage performance PX L 33 Reference amp Maintenance Manual 5 3 Contamination The PXL332. Positive Direction of Motion Figure 6 1 Motor commutation chart 6 5 2 Encoder Timing Diagram The following diagrams show the signal timing for the Encoder options Positive Direction of Motion Figure 6 2 Timing diagram for the encoder signals 6 5 3 Encoder Index The linear encoder reference signal index is located at the nominal center of travel and is output in both directions of travel Repeatability is guaranteed both directions The reference mark output is synchronized with the incremental channels giving it a unit of 13 PX L 33 Reference amp Maintenance Manual resolution pulse width During a homing routine the stage should travel to a limit switch transition and then start searching for the index in the opposite direction It is recommended that the homing procedure be performed as part of any power up sequence to ensure the correct datum position is recorded 6 5 4 Motor Parameters Primatics P N 9 0044 0065 Continuous Force N 9 Thermal Resistance C W Motor Constant NVW At 25 C temperature rise At 10 duty cycle and 1 second maximum T Continuous Current AMPSms 6 6 Limit Sensors Each PXL33 stage includes Forward and Reverse Limit sensors The limit sensors are part of the linear encoder Figure 6 3 shows the equivalent schematic for these switches 5to 24V DC Forward Limit Switch Reverse Limit Switch DCCOM Figure 6 3 Equivalent Limit circuit schematic T
3. fire or malfunction Never touch the motor driver or peripheral devices when the power is on or immediately after the power is turned off The high temperature of these parts may cause burns High strength magnet fields are present Keep ferrous metals at least 50mm away from the envelope extremes of the stage PX L 33 b Reference amp Maintenance Manual 4 Conventions 4 1 Direction of Motion The positive direction of motion is defined as a motion away from the cable end or motor end if applicable of a stage A positive direction of motion also signifies the encoder count is increasing The reverse limit switch is activated when the carriage moves to the cable end of the stage and the forward limit switch is activated when the carriage moves to the opposite end of the stage furthest away from the cables Figure 4 1 illustrates this convention DIRECTION DIRECTION OF INCREASING ENCODER COUNTS FORWARD LIMIT END Figure 4 1 Positive direction convention 4 2 Units of Measure Primatics uses the metric system for all specifications and dimensions All linear dimensions are specified in millimeters Accuracy repeatability resolution flatness and straightness for the PXL33 are specified in microns Load capacity is specified in kilograms and moment capacity is given in Newton meters All torque specifications are given in Newton meters Thrust specifications are given in Newtons The following table gives s
4. migration High bandwidth for quick settling Quiet operation Precision performance for a low price PXL33 gt Reference amp Maintenance Manual 3 Personal Safety Please review before installing your positioning stage Observe common industrial safety practices when installing and operating automated equipment O Have power connections made by qualified personnel Keep fingers and other items out of any opening in the stage while it is in operation since injury or damage may result Provide a safe access route and adequate room for servicing Perform the recommended periodic maintenance described in this document Verify that the work envelope is free of obstructions before the positioning stage is powered Insure that you have the feedback wired properly to the controller before applying power to the positioning stage Improper feedback connections can cause a motor run away condition that has the potential to damage the stage and injure an operator Only trained operators of the positioning stage should be allowed near the work environment If so equipped identify emergency stop circuits and actuators in the workcell Note the places in the workcell where pinch points occur and provide adequate safety clearance or safety curtain Never operate the motor in a location that could be splashed by water exposed to corrosive or flammable gases or is near combustible substances since this may cause an electric shock
5. nor den sa aa 7 5 Installation Preparations ccooccocncconcnonoconanennnnonnnonanenannonnrnnannnnrenarrnanrnanrnnanenanos 8 NE en ne O E nie et ie tint nee nl 8 52 HAL ana AMO aia dre A iaa dal 8 5 3 GOMAMIMAUOM a ci en Ed ie aie ne 9 SS SS tn de ta de a A 9 6 Installing the PXL33 Positioning Stage sms 10 6 1 Tools you will need sise 10 o ES nn an dan nan Dan na UD 10 6 3 Mounting surface preparation xs na ia nn ada 10 64 MOUNTING the Stage 2A du nn she ios 11 6 5 Electrical GOMMECIO IMS si eds 12 6 5 1 Hall Effect Commutation SEQUENCE cccccooocccncccnonccnncccnoncnnncnonancnnnononancnnnonnnnnrnnnnnnnanennnns 13 60 2 Encoder Timing DiaglaM Sd eds 13 69 ENCIMA a a e a a e da ne 13 0 04 Motor Param elec aa dl 14 6 6 UMSS A o e 14 OIM ODIOS e sat e e 16 6 7 Recommended System Test 16 7 Preventive Maintenance ccsccssccseceseesscnseesecnscnseenecnsenseonscnseensonseeseoness 17 PAJA UDCA MON a A AA 17 B SCIVO E O SO O E nn As Ae oeil 18 8 1 Troubleshootind Heli dois 18 O RA TOR 18 PX L 33 Reference amp Maintenance Manual 1 Overview This user guide is designed to help you install and maintain your PXL33 Series linear positioning stage Follow these steps to ensure correct stage installation and maximum stage life Step 1 Review this entire user manual Become familiar with all installation procedures prior to integrating your system Step 2 Review the safety summary to develop an underst
6. series is intended for clean environments free from small particulates and fluids Applications in dirty or dusty environments require the electrical optical and mechanical components to be protected Additional protection must also be used for stages that will be splashed with fluids Contact your local distributor or the factory for more information on this topic 5 4 Electrical Noise Electrical noise is the corruption of signals carried over low voltage wires Encoder signals can be corrupted resulting in sourious encoder counts thus causing the stage to drift Grounding shielding and spatial separation are all countermeasures to reduce the influences of electrical noise on performance You can minimize the potential for electrical noise by observing the following installation precautions o Physically separate low voltage conductors from those carrying high voltage o Ensure that all components are properly grounded o Ensure that all wiring is properly shielded PX L 33 Reference amp Maintenance Manual 6 Installing the PXL33 Positioning Stage 6 1 Tools you will need The PXL33 linear positioning stage uses M4x12mm minimum socket head cap screws in the base plate mounting M4 tapped holes are available for customer use for mounting payloads to the carriage 6 2 Unpacking Carefully remove the stage from its shipping crate and inspect it for evidence of shipping damage Report any damage immediately to your authorized deale
7. PX L 33 Reference amp Maintenance Manual Drimatics PXL33 Reference amp Maintenance Manual PX L 33 Reference amp Maintenance Manual ea primatics 32114 Mallard Ave PO Box 409 Tangent OR 97389 0409 U S A Phone 541 791 9678 Fax 541 791 9410 Toll Free 888 754 3111 Web Www primatics com E mail info primatics com PXL33 Manual Revision Information Revision Date Notes 9 25 14 Original Release 12 30 14 Corrected limit activation table Figure 6 4 1 20 15 New Logo and photo Notice The descriptions drawings and specifications contained herein are subject to change Primatics is not responsible for errors or omissions herein or for incidental damages in connection with the furnishing or use of this information This document shall not be reproduced photocopied or duplicated in whole or in part without prior written approval of Primatics Corporation For Specifications Dimensioned Drawings and additional information refer to the PXL33 Datasheet available from our website at www primatics com Copyright 2014 2015 by Primatics Inc All Rights Reserved Primatics the Primatics logo PrimaFlex PrimaSeal amp SimpleMatch are trademarks of Primatics Inc PX L 33 Reference amp Maintenance Manual PXL33 Manual Revision Information snss 2 2 INTFOGUGTION ADOUT ING PALIS una 5 An mb ee nie a AE 5 A mA 6 A CONVENIOS is 7 A Direciono MONO Anna ai a 7 A 2 INNS ON MEI U G ee
8. anding of standard safety practices when installing and operating automated equipment Step 3 Familiarize yourself with the conventions summary Step 4 Review installation procedures For best results follow these procedures carefully Step 5 Once you successfully complete all the installation procedures you will be ready to install and operate your stage Step 6 Review preventive maintenance section for proper lubrication schedule PX L 33 Reference amp Maintenance Manual 2 Introduction About the PXL33 The PXL33 is a low profile linear positioning stage with cross roller bearings and a linear motor drive The overall height is 33mm at the carriage Two PXL33 s can be directly XY stacked for an overall height of just 66mm It is offered with travels of 25 60 and 110mm and encoder resolutions to 10nm The PXL33 includes fixed forward and reverse limit sensors at the end of travel An encoder index is located at the nominal center of travel and is used for repeatable homing of the stage Stage performance specifications can be found www primatics com The PXL33 can be used with 3 party drives and controls Several cable assemblies are available for this purpose Feature Summary Travels of 25 60 and 110mm Low profile and compact design XY stack is only 66 mm tall Direct drive linear motor drive Non moving cables for single axes Precision linear encoder with resolution to 10nm Anti creep bearings eliminate cage
9. der and limit switches are working properly Move the stage carriage by hand in the positive direction and verify the encoder count is increasing Runaway conditions caused by mis wired encoders can result in stage damage and personal injury Move the carriage to each end of travel to ensure limit switches are working properly When closing the position loop for the first time set the torque limit of your controller to a low value and use conservative tuning gains Once the control loop is working properly payloads can be added to the stage carriage Retuning with the payload may be required for optimal performance 16 PX L 33 Reference amp Maintenance Manual 7 Preventive Maintenance Performing preventive maintenance procedures on your stage will extend its life and improve its long term performance The stage should be kept clean and a soft lint free cloth should be used wipe down the stage Do not use compressed air to spray away dust since this may force dust into crevices 7 1 Lubrication ALWAYS DISCONNECT MOTOR POWER BEFORE RE LUBRICATING THE STAGE A light instrument grade mineral oil applied to the bearings is all that is required for lubrication After power has been disconnected from the stage a light film of oil 1 or 2 drops max can be applied along the length of the crossed roller bearings when the stage is at either extreme end of travel Cycle the stage back and forth to distribute the oil and wipe off any exces
10. he forward and reverse limit sensors are factory set to give full advertised travel That is a PXL33 with 100mm of travel will travel at least 50mm in either direction from the center of travel before activating a limit sensor Each sensor is active from its activation point through the end of travel at the hard stop 14 PX L 33 Reference amp Maintenance Manual Figure 6 4 illustrates the limit sensor factory nominal default positions PXL33 025 PXL33 060 PXL33 110 Absolute hardstop Forward limit trips 14 5mm to 32mm to 57mm to 13 5mm 31mm 06mm Nominal travel Center of travel E A gt gt eee gt Nominal travel 14 5mm 32mm 5 mm Figure 6 4 Typical Limit Sensor Transition Ranges 15 PX L 33 Reference amp Maintenance Manual 6 6 1 Limit Options The Limit switches are ordered in either the Normally Closed L1 or Normally Open L2 configuration L1 When the carriage is in the normal operating range of travel both limit switches are closed When the carriage encounters a limit the switch opens The switch will close again when the carriage is moved away from the switch L2 When the carriage is in the normal operating range of travel both limit switches are open When the carriage encounters a limit the switch closes The switch will open again when the carriage is moved away from the switch 6 7 Recommended System Test Before attaching a load or applying power to your stage verify the enco
11. ome common conversions into English units Metric Unit English Unit 1 Kilogram equals 0 0685 slug 1 micron equals 0 0000394 inch 1 millimeter equals 0 0394 inch 1 Newton meter equals 8 85 in lbs 1 Newton equals 0 2248 lbs 1 Kg has a weight of 2 205 lb when g 9 8 m s PX L 33 b Reference amp Maintenance Manual 5 Installation Preparations This section outlines installation environments Unfavorable installation conditions may cause electric shock fire or breakdown Certain breakdown situations or malfunctions in particular may lead to serious injury or other consequences Assure that the unit is used under the following installation conditions Indoors free from being splashed by water No corrosive or inflammable gases present Well ventilated place minimum level of dust or waste An environmental temperature range between 0 40 C and humidity between 20 80 RH location with no condensation Note These values show the range in which operation can be carried out safely but not the environmental range in which stage accuracy can be guaranteed Stage accuracy can only be guaranteed at 20 C 1 C o Location should not be affected by electrical noise o Location should be where inspection and cleaning can be performed without difficulty O O 5 1 Linear Motors A CAUTION Extremely strong magnetic fields present Damage or injury could result from ferrous materials being attracted to the magnets
12. r Improper handling of the stage may degrade its performance Follow these guidelines when handling and mounting your stage 1 Do not drop the stage onto its mounting surface Place the stage gently on the mounting surface Impact loads can cause high spots on mounting surfaces misalignment of drive components and warping of the base 2 Do nat drill holes into the stage If additional holes are necessary contact your local distributor 3 Lift the stage by its base structure only 4 Stage disassembly and alteration unless specified otherwise may void warranty 5 Remove the red shipping brackets prior to use 6 3 Mounting surface preparation The characteristics of the surface to which the positioning stage is mounted will have a large effect on system performance An accurate and flat positioning stage will conform to the shape of the mounting surface therefore a flat mounting surface is required The flatness and straightness specifications can be affected under large loads For best results in maintaining stage specifications we suggest the following guidelines 1 Use a laboratory Grade AA granite surface plate 2 Before mounting stage inspect for burrs or dings on the stage mounting surfaces 3 Clean all mounting surfaces with acetone In the absence of a granite surface plate we recommend a base plate made of the same material as the base of the stage A mounting surface constructed out of a material different from the s
13. s For low duty cycle applications it is recommended that the linear bearings are re lubricated every 4 6 months or 500km of travel whichever comes first High duty cycle applications may require more frequent re lubrication Lubrication intervals depend on duty cycle load and ambient conditions Inspection of the bearing elements may be required to determine the proper lubrication interval The motor and linear encoder are non contact devices and do not need lubrication 17 PXL33 gt Reference amp Maintenance Manual 8 Service 8 1 Troubleshooting Help For further assistance contact the factory M F 8AM to 5PM Pacific Time 541 791 9678 541 791 9410 Toll Free 888 754 3111 E mail service primatics com 8 2 Service Should your device require factory service contact the factory for a Return Materials Authorization RMA When inquiring about an RMA please have the following information available O O O O Your contact information name phone email address Unit Serial Number Symptom of problem History of troubleshooting steps already taken Figure 8 1 Unit Serial Number Location 18
14. tage base material can introduce warping in the stage in the presence of a thermal gradient The surface flatness should match the requirements of the application a good starting point is to have the mounting surface flat to less than 5 8um 10 PX L 33 Reference amp Maintenance Manual 6 4 Mounting the Stage The 25mm amp 60mm travel stage has four mounting holes and the 110mm travel stage has eight mounting holes These can be accessed by moving the carriage to its forward and reverse limits by hand motor power off to expose the mounting holes When tightening the mounting screws tighten the center screws first then radiate outwards Figure 6 1 shows the location of the mounting holes Figure 6 1 Mounting Hole Locations 11 PX L 33 Reference amp Maintenance Manual 6 5 Electrical Connections Electrical connections to the stage are made through a single circular connector described in Table 6 1 Table 6 1 PXL33 Electrical Connector Canon circular connector size 20 shell 28 pins panel mount Function O A C E F G H J K L 12 24VDC for limits M N U V W X A c Pin A em O A SA RE G IA EJER EEK E EA SA ERA OR UA V Ww X A b cm d em 12 PX L 33 Reference amp Maintenance Manual 6 5 1 Hall Effect Commutation Sequence In the event that user amplifier and controls are being implemented use the following motor commutation timing charts
Download Pdf Manuals
Related Search