LC Series Linear Motor User Manual, LC-UM001C-EN-P
Contents
1. Item N umber 814036 Rev C 2 4 Installation Figure 2 2 LC 30 Magnet Channel Layout Drawing L 4 025 0 010 05 50 0 216 THRU 09 50 0 375 X 5 0 0 7 OP SEE CHART FOR QTY m T 000 Track f Tak 03 183 0 6 L 1 40 0 238 ic Y 1 008 0 003 10319 SETUP m AIR GAP WILL RESULT FROM DIMENSION 3988 pon SETTING THE PLATES TO SETUP 0000 DIMENSION SHOWN 01570 00000 Table 2 B LC 30 Magnet Track Dimensions Magnet Track L Y Hole N Flatness Length Oty A TIR 100 mm 99 0 75 00 4 1 0 06 3 90 2 953 002 250 mm 249 0 225 00 10 4 0 25 9 80 8 853 010 400 mm 399 0 375 00 16 7 0 38 15 71 14 764 015 500 499 0 475 00 20 9 0 50 19 65 18 750 020 Item Number 814036 Rev C Installation 2 5 Figure 2 3 LC 50 Coil and Cooling Plate Drawing Dimensions mm in H 6 53 72 013 2 115 0 05 461 5018 8 12. FLYING LEADS 58 0 THERMISTOR CABLE 4 a POWER CORD 4 COND SHIELDED Ms x 0 8 X 15 MM TOTAL DEPTH SEE TABULATION FLYING LEADS tn THREADS START 5MM DEEP 7 SEE TABULATION 8 840 0 13 0 315 0 005 6607 33 6 2 625 13 1 4 4000 50 8 75 00 1 575 2 00 2 1 0 fF o o o o 300 99 00 COPPER TUBING 080 0558010210 SEE TA LE FOR QTY Item Number 814036 Rev C 2 8 Installation Table 2 E Coil and Cooling Plate Dimensions Coil L A B C D E F G H Hole Qty Flatness Size N A 75 x100 13400 4 0 25 5 28 0 010 75 200 23400 100 00 166 67 8 0 25 9 21 3 937 6 562 0 010 75 x 300 334 00 133 33 200 00 266 67 10 0 38 13 15 5 249 7 874 10 499 0 015 75 400 43400 133 33 233 33 300 00 366 67 12 0 64 17 09 5 249 9 186 11 811 14 436 0 025 75 x600 63400 133 33 233 33 33333 1433 33 50000 566 66 16 0 89 25 31 5 249 9 1869 13 123 17 060 19 686 22 310 0 035 75 x800 83400 13333 233 33 33333 433 33 53333 63333 70000 766 66 20 1 16 32 84 5 249 9 186 13 123 17 060 20 997 24 934 27 559 30 184 0 045 Figure 2 6 LC
3. 2 1 4 i 7 bas Ro n Size UNC UNF UNC UNF UNC UNF pan uem ram mmm Rm mmm 0 2 1 1 6 2 1 1 6 2 1 1 6 1 3 8 4 7 417 3 0 3 8 2 9 417 3 0 3 8 2 9 4 1 3 0 2 6 3 4 7 6 8 6 3 4 7 6 8 5 1 6 3 4 7 6 8 5 1 3 9 6 10 3 7 7 9 6 7 2 10 3 9 6 7 23 10 3 4 13 5 10 14 8 11 13 5 10 14 8 13 5 10 14 8 11 5 20 15 21 16 20 15 21 16 20 15 21 16 6 25 19 28 21 25 19 28 21 25 19 283 213 48 46 34 48 36 46 34 48 36 46 34 48 36 10 67 50 76 57 67 50 76 57 67 50 76 57 1 4 158 119 180 136 136 102 136 102 113 85 113 85 5 16 326 245 360 270 228 171 228 174 190 143 190 143 3 8 580 435 635 476 476 357 476 357 397 298 397 298 7 16 930 698 1 040 780 680 510 680 510 570 425 570 425 1 2 1 0420 1 530 2 250 1 690 1 690 1 270 1 690 1 270 1 410 1 060 1 410 1 060 1 All bolts must meet the specified grade or better 3 Torques based on 80 000 psi bearing s 3 Torques based on 60 000 psi bearing s 4 Torques based on 50 000 psi bearing 5 Denotes torques based on 100 00 psi tens ress under head of bolt ress under head of bolt ress under head of bolt ile stress in bolt threads up to 1 diameter To convert inch pounds to inch ounces multiply by 16 To convert inch pounds to foot pounds d
4. 0 24 J 25 00 0 1570 0000 15 0 984 0 BUTTING PLATES HOLES FOR DOWEL PIN 1 Ensure the mounting surface to which the magnet plate is to be attached 1s clear of any and all foreign material If necessary stone the mounting surface acetone or methanol may be applied as cleaning agent ATTENTION Do not clean the surface using abrasives 2 Verify that the flatness of the surface to which the magnet plate 15 to be mounted is 0 005 in Total Indicator Reading TIR per 12 0 inches This specification correlates to the overall flatness requirement of 0 005 in 127 mm 3 Prior to any component installation verity that the opening for the magnet plate and coil is dimensioned per Table 2 M ATTENTION Never try to place the motor coil assembly directly on the magnet plates Serious damage may result Due to magnetic attraction Item Number 814036 Rev C Table 2 M Opening for Motor Assembly Installation 2 17 Motor with without Cooling Plate Cooling Plate LC 30 53 72 0 13 45 72 0 13 7 115 0 005 1 800 0 005 53 72 0 13 45 72 0 13 7 115 0 005 1 800 0 005 LC 100 53 72 0 13 45 72 0 13 2 115 0 005 1 800 0 005 LC 150 61 72 0 13 49 72 0 13 2 430 0 005 1 957 0 005 LC 200 61 72 0 13 49 72 0 13 2 430 0 005 1 957 0 005 Position the moving slide to the end of travel that you wish the cable to exit
5. Refering to Figure 3 1 Measure the phase to phase ptp resistance of the three phase combinations and record the values The three readings should be approximately equal to each other Figure 3 1 Motor Coil Pon Shield AAA R ANN Motor Phases ANN Lamination Frame Motor Ground Roi X 2 Measure the phase to ground resistance for each phase The resistance to ground should be in excess of 100 megohms A lower reading may indicate an electrical problem Disconnect the field cable at the coil assembly interface and repeat procedure If any reading 15 still below 100 megohms consult Anorad as the motor may have an internal electrical problem Item Number 814036 Rev C 3 4 Troubleshooting Motor Back EMF Test Item Number 814036 Rev C Compare the phase resistance readings to the cold resistance specification of the specific coil model If the three readings are balanced but much different than specified the reason may be a special coil model or due the cable resistance if much higher To rule out the cable resistance disconnect the field cable at the coil assembly interface and repeat the procedures at the coil TIER Do not perform coil or insulation electrical stress tests Megger or Hi Pot test without first consulting with Anorad technical support or engineering Waveshape Phasing and Calculating Back EMF Constant Anorad motor phases are internally connected in a Y configurat
6. 133 33 233 33 333 33 43333 533 33 633 33 70000 766 66 20 1 16 32 84 5 249 9 186 13 123 17 060 20 997 24 934 27 559 30 184 0 045 Figure 2 4 LC 50 Magnet Track Drawing 0 60 L716 THRU 09 50 379 X 0 197 DP SEE CHART FOR L 4025 1 0010 un ETT 965 DIMENSION pu Track 1 Track 2 Og 260 Y 0084 0003 2500 i i g oz AIR GAP WILL RESULT FROM DIMENSION 03988 SETTING THE PLATES TO SETUP DIMENSION SHOWN 0 0000 Table 2 0 Magnet Track Dimensions Magnet Track L Y Hole Oty Flatness A Length TIR 100 mm 99 0 75 00 4 1 0 06 3 90 2 953 002 250 mm 249 0 225 00 10 4 0 25 9 80 8 853 010 400 mm 399 0 375 00 16 7 0 38 15 71 14 764 015 500 mm 499 0 475 00 20 9 0 50 19 65 18 750 020 Item Number 814036 Rev C Figure 2 5 LC 75 Coil and Cooling Plate Drawing Dimensions mm in Installation t REF AIR GAP 53 72 0 13 4 2 115 0 005 45 79 0 13 800 0 005 B OPTIONAL COOLING 855 L 3 PLATE ASSEMBLY 2 825 13 0 0 25 TUBING 300118 LF 5 5 5 i 06 0 10 24 CABLE
7. Making sure that the mounting face of the motor coil is clean and free of burrs install the motor under the slide Select a M5 x 0 8 bolt with a length that extends through the slide by 12 mm minimum but not more then 20 mm Tighten snugly for now bolts will be torqued once installation is complete On the opposite end of the base install the first magnet plate using M5 x 0 8 and 16 mm long SHCS Non magnetic tools and hardware beryllium copper 300 series stainless steel etc should be use If not available proceed with care since magnetic items will be attracted to the magnet plates Do not tighten bolts at this time Install additional magnet plates by placing them on the base and sliding towards the previous install plate Orient the plates such that the alignment holes are toward the same side This will ensure proper magnet polarity Move the slide which you previously mounted motor coil to over the magnet plate There may be some resistance while moving onto the plate this is normal Measure the gap between the motor and magnet using plastic shim stock The gap should be 0 79 mm 0 031 1n to 1 70 mm 0 067 in If gap is too large add appropriate brass or stainless steel shim between motor and slide If gap is to small machine the slide of place shims under the bearing pucks Once the motor is gapped properly install the remaining magnet plates The final alignment of the magnet plates are done with an aluminum st
8. peak forces from 195 7N to 9314 44 lbf to 2094 158 Other frame sizes are available with higher forces Item Number 814036 Rev C 1 2 Introduction For servo drives that require commutation feedback an optional trapezoidal digital Hall effect feedback module may be attached to the front of the motor coil The LC may also commutated via software Anorad offers a full line of compatible servo controls and drives Motor Features e Steel core design for high force density Sinusoidal flux density and low cog design yields smooth motion Robust design for heavy duty applications Modular magnet tracks permit unlimited travel Internal thermal sensor gives added motor protection Maintenance Anorad linear motors require no maintenance when operated in a relative clean environment For operation in harsh and dirty environments minimal clean is recommended every 6 months Clean the metallic debris and other contaminants from the air gap To effectively remove the metal debris use a strip of masking tape Simply put a strip of tape on the magnet track an then remove it Keeping the magnet track clean will prevent witness marks Witness marks are caused by metal debris being dragged across the surface of the stainless steel by the magnet field of the moving coil Witness marks have no effect on the performance of the motor Item Number 814036 Rev C Chapter 2 Unpacking and Inspection Installation Inspec
9. 00 766 66 40 1 16 32 84 5 249 9 186 13 123 17 060 20 997 24 934 27 559 30 184 0 045 Figure 2 12 LC 200 Magnet Track Drawing 05 50 0 216 THRU C BORE 09 50 0 375 X 5 0 10 1971 DP 50 00 SEE CHART FOR QTY m Mi NING HOLE 2450 2 17 28 0 18 SELL S DIMENSION 0502008 J F 180 00 168 00 Track 1 Track 2 7 087 1654 1O 58 B nu 6 00 0 482 0472 0236 Y 008 0003 b SETUP g 3 088 0 026 DIMENSION 0 000 AIR GAP WILL RESULT FROM 0 1570 00010 SETTING THE PLATES TO SETUP 4 0000 DIMENSION SHOWN Table 2 L Magnet Track Dimensions Magnet Track L Y Hole Oty N Flatness Length A TIR 100 mm 99 0 75 00 6 1 0 25 3 90 2 953 0 010 250 mm 249 0 225 00 15 4 0 50 9 80 8 853 0 020 400 mm 399 0 375 00 24 7 0 76 15 71 14 764 0 030 500 mm 499 0 475 00 30 9 1 0 19 65 18 70 0 040 Item Number 814036 Rev C Motor Storage Mounting Installation 2 15 Motor storage area should be clean dry vibration free and have a relatively constant temperature The coil resistance measurement checks explained in this manual should be done at time of storage If a motor is stored on equipment it should be protected from the weather All motor surfaces subject to corrosion should be protected by applying a corrosion resistant coating Motor Air Gap Maintaining the air gap is a critical aspect that a
10. 00 Track 1 7 087 16614 Track 2 mO 0 08 0 003 i 00 0980 ai 05 50 0 216 THRU 09 50 0 375 X 5 0 0 197 DP SEE CHART FOR QTY 17 26 016 10 680 0 006 7 AIR GAP WILL RESULT FROM 0 1570 0 0010 SETTING THE PLATES 10 SETUP 0 0000 DIMENSION SHOWN Table 2 Magnet Track Dimensions Magnet Track L Y Hole Qty N Flatness Length A TIR 100 mm 99 0 75 00 4 1 0 13 3 90 2 953 0 005 250 mm 249 0 225 00 10 4 0 38 9 80 8 853 0 015 400 mm 399 0 375 00 16 7 0 63 15 71 14 764 0 025 500 mm 499 0 475 00 20 9 0 90 19 65 18 70 0 035 Item Number 814036 Rev C Installation 2 13 Figure 2 11 LC 200 Coil and Cooling Plate Drawing Dimensions mm in H 6 F E 1 72 0 13 0 2430 0 005 C 4972 3013 8 957 0 005 d 33 65 REF AIR GAP Y 122 042 874 8 0 045 0 16 0 6 0 10 24 CA FLYING LEADS 100 is 9 9 o o o N m
11. 1 800 0 005 IONAL COOLING c 335 ATE ASSEMBLY 2500 _ 2 625 1325 25 TUBING F T REF AIR GAP 0 984 1 29 042 th lin 0 045 016 85 00 114 5 a 24 ain E N e 0 000 MISTOR CABLE i Ho 0301017 1 30 0 FLYING LEADS i POWER 1 18 si p L 3124 M5 X 0 8 X 15MM TOTAL DEPTH FLYING LEADS 1330 THREADS START SMM DEEP x REF 7 SEE TABULATION H 6 al F C 4 8 00 013 0 315 0 005 25 00 10 984 2 625 1305 o mi 12 50 10 492 05 50 0 216 SEE TABLE FOR QTY Item Number 814036 Rev C 0 250 OD COPPER UBING 2 6 Installation Table 2 C Coil and Cooling Plate Dimensions Coil Size L A B C D E F G H Hole Qty Flatness N A 50 x 100 134 00 4 0 25 5 28 0 010 50 x 200 234 00 100 00 166 67 8 0 25 9 21 3 937 6 562 0 010 50x 300 334 00 133 33 200 00 266 67 10 0 38 13 15 5 249 7 874 10 499 0 015 50x 400 434 00 13333 233 33 300 00 366 67 12 0 64 17 09 5 249 9 186 11 811 14 436 0 025 30 x 600 63400 133 33 233 33 333 33 433 33 50000 566 66 16 0 89 25 31 5 249 9 186 13 123 17 060 19 686 22 310 0 035 30 x 800 83400
12. 5MM TOTAL DEPTH G 1 239 THREADS START 5MM DEEP E SEE TABULATION H 6 D 1200 20134 n B 1472 0 005 L 3365 1 2825 1305 NE 1 i 1 i 1 1 I o 120 00 1 0 137 0 150 00 4 724 5 39 5 306 60 00 2 362 0 o o nd 15 00 L 30 0 19525 0 581 1 18 1375 D COPPE UBIN 05 50 0 216 SEE TABLE FOR QTY Item Number 814036 Rev C 2 12 Installation Table 2 1 LC 150 Coil and Cooling Plate Dimensions Coil L A B C D E F G H Hole Flatness Size Oty N A 150x100 134 00 6 0 25 5 28 0 010 150x200 234 00 100 00 166 67 12 0 25 9 21 3 937 6 562 0 010 150x300 334 00 133 33 200 00 266 67 15 0 38 13 15 5 249 7 874 10 499 0 015 150x400 434 00 133 33 233 33 300 00 366 67 18 0 64 17 09 5 249 9 186 11 811 14 436 0 025 150x600 634 00 133 33 233 33 333 33 433 33 500 00 566 66 24 0 89 25 31 5 249 9 186 13 123 17 060 19 686 22 310 0 035 150x800 834 00 133 33 233 33 333 33 433 33 533 33 633 33 700 00 766 66 30 1 16 32 84 5 249 9 186 13 123 17 060 20 997 24 934 27 559 30 184 0 045 Figure 2 10 LC 150 Magnet Track Layout Drawing L 0 25 0 010 50 00 2450 0 965 1 969 PLACES 1 9 50 00 1 969 MOUNTING HOLE DIMENSION 180 00 168
13. 75 Magnet Track Layout Drawing L 4 0 25 2000 5000 Mo Rang Hs 6 5 5 5 5 5 6 5 SEE CHART FOR QTY NETS dud dio 9910 12 50 3 Y 008 1009 ain UNT AIR GAP WILL RESULT FROM 0 984 9359 48 SETTING THE PLATES TO SETUP SETUP DIMENSION 0001 DIMENSION SHOWN 0 157 000 Table 2 F Magnet Track Dimensions Magnet Track L Y Hole Oty Flatness A Length TIR 100 mm 99 0 75 00 4 1 0 13 3 90 2 953 005 250 mm 249 0 225 00 10 4 0 38 9 80 8 853 015 400 mm 399 0 375 00 16 7 0 63 15 71 14 764 015 500 mm 499 0 475 00 20 9 0 90 19 65 18 750 035 Item Number 814036 Rev C Figure 2 7 LC 100 Coil and Cooling Plate Drawing Dimensions mm in tomm o MG Installation 2 9 53 72 0 13 2 115 0 005 5 72 0 13 800 0 005 NAL COOLING 25 TUBING ABLE SHIELDED LATION Se EADS TABULATION 99 65 800 019 0 315 0 005 1 325 ASSEMBLY ja REF AIR GAP 122 042 REF 60 00 12 382 1 37 50 1476 M5 0 8 X 15MM TOTAL DEPTH THREADS START SMM DEEP 1 60 00 12 382 20 00 0
14. 787 05 50 0 216 SEE TABLE FOR QTY T4 2 88 3 997 l 06 35 0 250 UBING Item Number 814036 Rev C 2 10 Installation Table 2 G Coil and Cooling Plate Dimensions Coil L A B C D E F G H Hole Oty Flatness Size N A 100 100 134 00 4 0 25 5 28 0 010 100x200 234 00 100 00 166 67 8 0 25 9 21 3 937 6 562 0 010 100x300 334 00 133 33 200 00 266 67 10 0 38 13 15 5 249 7 874 10 499 0 015 100x400 434 00 133 33 233 33 300 00 366 67 12 0 64 17 09 5 249 9 186 11 811 14 436 0 025 100x600 634 00 133 33 23333 333 33 433 33 50000 566 66 16 0 89 25 31 5 249 9 1869 13 123 17 060 19 686 22 310 0 035 100x800 834 00 133 33 23333 33333 433 33 53333 63333 700 00 766 66 20 1 16 32 84 5 249 9 186 13 123 17 060 20 997 24 934 27 559 30 184 0 045 Figure 2 8 LC 100 Magnet Track Layout Drawing 05 50 0 216 THRU C BORE 09 50 0 375 X 5 0 0 197 DP SEE CHART FOR TY L 0 25 0 010 50 00 2450 50 00 EN 1 880 132050168 1 368 MOUNTING HOLE 10 522 0 006 N PLACES DIMENSION I i T M Track 1 Track 2 9 9 9 O
15. ANORAD LC Series Linear Motors UsER MANUAL October 2006 Item Number 814036 Publication Number LC UMOO1C EN P Ly Rockwell TM Anorad Automation Important User Information Item Number 814036 Rev C Because of the variety of uses for the products described in this publication those responsible for the application and use of this motor assembly must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many vatiables and requirements associated with any particular installation Anorad does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Anorad Corporation is prohibited Throughout this manual we use notes to make you aware of safety considerations Identifies information about practices ot circumstances ATTENTION P that can lead to personal injury or death property damage ot economic loss Attention statements help you to identify a hazard avoid a hazard recognize the consequences IMPORTANT
16. Identifies information that is critical for successful application and understanding of the product Table of Contents Important s Say iu at accettate 1 Introduction Using This Manual norida a ts Sedna apas fed Andy tutus paqu alor 1 1 Product DesctpHont Dose dai ee vehat ee ad dac eed ko rn whine dp M CER 1 1 General z jan Ng AA PII OU DM ELE PME 1 1 Product Line JOesc eco ea naw REEL in a d OP 1 1 Morot A sa 1 2 RANA 1 2 Installation Unpackine and Ap sons A EU ves etr ds 2 1 Identifying the Linear Motor go da ws secon Pd rice e ta 2 2 Coil Assembly example Meque out ka ain hie 2 2 Magnet Track Only ciao Ro JR te dau te Be aq eats 2 2 Coolmo Pte vss tau teu E gat I PA E TT v equ e 2 2 Motor Drawings ec oss ex ist eee e p a vote e ERN AS ha e ERA Te MY 2 3 Motor Storage M rU 2 15 OUR sro 2 15 Motor Ait Gap rusin e oet shan eu en Me dra ed 2 15 Motor Mechanical Installation Procedure o o eve e e EA AUR A euet ete 2 15 Electrical Witino Interface Specifications X Re SD A CHO RE TORRES 2 19 Motor Hall Phasing and Sequence s guns obo capte edo a obe tc bete eb eit e iode 2 21 Operational Guideli
17. ack EMF constant VoltsRMS ptp inches inches second second Where ptz peak to zero or peak of sinewave ptp phase to phase When comparing to the published Motor Back EMF constant make sure the units correspond Otherwise convert units accordingly Consult Anorad Technical Support if necessary The magnetic plates must be butted such that the magnet polarity sequence is alternating north south throughout the whole travel Its is difficult to use the Back EMF method to check this on motor coils with multiple sets Analyzing the trapezoidal Hall effect signal over the whole travel is the best method of evaluating proper plate polarity 1 Refer to the Motor Phasing Diagram for expected Hall waveshape 2 With drive power OFF verify Hall circuit is connected to the drive per interface wiring specifications 3 Disconnect motor leads from drive 4 Turn Hall power supply ON driver power ON 5 Using an oscilloscope connect one channel between any Hall signal output and Hall signal common Troubleshooting 3 7 6 Slowly and steadily move the motor by hand in one direction over the whole travel Monitor the waveshape as you are doing this Hall signal should alternate between a high and low squarewave DC level of equal duty cycle as the Hall module passes over the alternating polarity magnets Especially at magnet plate joints ensure the squarewave shape 15 consistent Any changes or irregularities in the squarewa
18. and cause damage or injury if not well secured and insulated Insulate the connections equal to or better than the insulation on the supply conductors Properly ground the motor per selected drive manual Table 2 0 Motor Feedback Cable Hall Thermal Signals Standard Wiring Signal Type Colorfrom Signal Signal Spec Module Designation Red V 5 24Vdc Hall Supply 20 mA Black VRTN Hall signal common White 1 e rapezoidal Hall Signals 7 120 Spacing Open Trapezoidal 53 Collector Transistor rangle 24Vmax Outputs Pull up Circuit Resistor External eConsult drive manual or supplier for specific wiring instructions to the drive Wiring is phase commutation sensitive Black TR Positive Temperature Black TR Coefficient thermistor Design control circuit to trip at Thermistor 130 C as necessary lt 300 Q 25 C lt 15000 125 C gt 4000 Q 135 C Thermal Switch Blue TS Normally Closed Opens at Blue TS 130 C 102 Shield Silver Brad Cable Shield Terminate at drive end per drive manual instructions Only one type thermal sensor will be supplied with the motor Check model number to determine the Correct sensor Item Number 814036 Rev C Motor Hall Phasing and Sequence Installation 2 21 See Figure 2 15 for the standard phase and sequence relationship of the LC series motots when phased in the specific motor direction The Trapezoidal Hall
19. cable safety procedures The intent of this manual is to assist the user in the mechanical and electrical installation of the Anorad LC Series Linear Motor Read this entire manual before you attempt to install your linear motor into your motion system Doing so will familiarize you with the linear motor components and their relationship to each other and the system After installation check all system parameters to insure you have configured y y 5 your linear motor into your motion system properly Be sure to follow all instructions carefully and lastly but foremost pay special attention to safety concerns General The LC Linear Motor Series is described in this section Product features are explored and the part numbering system is explained This basic information will help you develop an understanding of the linear motor s basic configuration This configuration information is then used as the fundamental understanding required to guide you through the rest of this manual Product Line Description Anorad s LC Series of steel core linear motors represents the most advanced linear motor technology available The LC linear motor utilizes a unique patent pending laminated steel core design Coupled with the latest magnetic materials and optimized by Finite Element Analysis FEA a very high force density is achieved The LC Linear Motors ares available in models with continuous forces from 84 5 N to 5658 N 19 Ibf to 1272 lbf and
20. e 2 1 LC 30 Coil and Cooling Plate Drawing Dimensions mm in i H 6 53 72 0 13 I J 21540005 1 4 4572 0 13 B 800 0 005 OPTIONAL COOLING Fi LATE ASSEMBLY m 88 H 3185 0 25 TUBING E 0 591 3000 122 0 42 NAL 045 0 16 amp 10 5 i D WEAR E m oso s i NS PERVISTOR CABLE w uml N FLYING LEADS 09 L TA IND SHE SEE TABULATION 91 24 M5 X 0 8 X 15MM TOTAL DEPTH FLYING LEADS 1 730 THREADS START DEEP REF H 80 0 13 0 315 0 005 215 ib A 3800 1 498 1150 8 6 35 0 453 0 250 COPPER 05 50 0 216 TUBING SEE TABLE FOR QTY Table 2 A LC 30 Coil and Cooling Plate Dimensions Coil Size A B C D E F G H Hole Qty Flatness N A 30x 100 134 00 4 0 25 5 28 0 010 30x 200 234 00 100 00 166 67 8 0 25 9 21 3 937 6 562 0 010 30x 300 33400 133 33 20000 266 67 10 0 38 13 15 5 249 7 874 10 499 0 015 30x 400 434 00 133 33 23333 300 00 366 67 12 0 64 17 09 5 249 9 186 11 811 14 436 0 025 30x600 634 00 133 33 23333 333 33 433 33 500 00 566 66 16 0 89 25 31 5 249 9 186 13 123 17 060 19 686 22 310 035 30x 800 83400 133 33 23333 333 33 433 33 533 33 633 33 700 00 766 66 20 1 16 32 84 5 249 9 186 13 123 17 060 20 997 24 934 27 559 30 184 045
21. erational Guidelines ATTENTION IMPORTANT Item Number 814036 Rev C Moving parts can injure Before running the motor make sure all components are secure and magnet mounting hardware is below magnet surface Remove all unused parts from the motor travel assembly to prevent them from jamming in the motor air gap and damaging the coil or flying off and causing bodily injury Runway condition incorrect motor hall commutation witing and position feedback to servo control can cause uncontrolled speeding Keep away from the line of motor travel at all times High Voltage can kill Do not operate with protective covers removed Do not go near electrically live parts Maximum Safe Speed Linear motors are capable of very high forces accelerations and speeds The maximum obtainable acceleration and speed is based on the drive output bus voltage and current settings The allowable maximum speed is application specific and partly based on the linear motion mechanics supplied by others The customer is responsible for ensuring the servo control system safely controls the linear motor with regards to maximum safe force acceleration and speed including runaway conditions Motor Coil Thermal Protection ATTENTION Installation 2 23 LC motors with the thermal protection option will supply a signal that indicates the motor temperature limit condition This signal should be used by the motor control drive system to im
22. ffects the linear motor installation and operation Referring to Coil and Cooling Plate drawing for your specific motor By maintaining installation envelope dimension in your design the required air gap will be met Figure 2 13 Typical Mounting Side View shows a typical mounting measurement Figure 2 13 Typical Mounting Side View Optional Cooling Overall Dimensions Plate Assembly with Cooling Plate Coil e mE Overall Dimensions w o Cooling Plate Magnet Track Motor Mechanical Installation Procedure Linear motor components come with standard mounting holes Use the guidelines found in the following steps to maximize motor performance and minimize the chance of motor damage ATTENTION To avoid damage due to the magnetic attraction between plates maintain a minimum distance of five feet between the magnet plates that are being installed and magnet plates awaiting installation Ensure that the supplied protective devices i e cardboard and metal plate remain in place until the installation processes is performed Item Number 814036 Rev C 2 16 Installation Figure 2 14 Magnet Plate Installation 50 00 05 50 0 216 THRU 9 50 0 374 X 5 0 0 197 DP 248 50 00 0 97 1 969 ALIGNMENT TOOL a 1 Fee OY i REF 2 gt 0 5 0 007 0 02 03988 9
23. ion The neutral of the Y is not accessible without the use of a resistor star network This is why all measurements are performed phase to phase Each phase can consist of single windings coils or multiple sets in series or parallel Performing a Back EMF voltage magnitude and phase sequence test is a good indicator of correct internal wiring Back EMF Test ATTENTION Even with motor power disabled and leads disconnected permanent magnet motors can generate high Back EMF voltage when moving due to external forces 1 Refer to Motor Phasing Diagram on page 2 21 Certain measurements in this test will be inverted 2 Drive power OFF 3 Disconnect the motor leads from the drive 4 With a 2 channel oscilloscope compare A B to C B voltage by slowly and steadily moving the motor by hand in the specified phasing direction C B should lead A B by 60 The shapes and peak voltages should be approximately the same Note that probe common B 5 Troubleshooting 3 5 Repeat previous oscilloscope procedure comparing B C to A C In this case A C should lead B C by 60 The shapes and peak voltages should be approximately the same Note that probe common C Pay attention to the specified phasing direction Calculating the Back EMF Constant 7 The Back EMF calculation is compared to the motor s rated Back constant This check gives an indication that the electromagnetic installation aspects are correct for the magne
24. ivide by 12 Item Number 814036 Rev C Installation 2 19 Table 2 0 Recommended Seating Torques Inch Lb for Metric Bolts Bolt Size Pitch Plain Cadmium Zinc Metric Plated tM1 6 0 35 2 6 1 95 3 64 tM2 0 40 5 3 3 98 7 42 tM2 5 0 45 11 8 25 15 4 M3 0 5 19 14 25 26 6 M4 0 7 41 30 75 57 4 M5 0 8 85 63 75 119 M6 1 0 140 105 196 M8 1 25 350 262 5 490 M10 1 5 680 510 1020 Grade 12 9 150 898 1 Socket Head Cap Bolts ANSI B1 13M ISO 261 150 262 coarse series only All bolts must meet the specified grade or better t Microsize Bolt To convert inch pounds to inch ounces multiply by 16 To convert inch pounds to foot pounds divide by 12 Electrical Wiring Interface Specifications Standard Wiring Table 2 P Motor Power Cable Color from Motor Red Designation Motor Phase U A Comments e Observe White Motor Phase V B maximum applied voltage Black Motor Phase W C specification Consult drive manual or supplier for specific wiring instructions to the drive Wiring is phase commutation sensitive Green Motor Ground Terminate per drive manual instructions Shield Cable Shield Shield is not connected to the motor frame Item Number 814036 Rev C Installation ATTENTION servicing motor Disconnect input power supply before installing or Motor lead connections can short
25. ltage when moving due to external forces 1 Thermal Sensor Refer to thermal sensor signal specification on Table 2 R for resistance temperature values 2 Hall Effect Circuit Hall Signals a With drive power OFF verify Hall circuit is connected to the drive per interface wiring specifications b Disconnect motor leads from drive c Turn Hall power supply ON driver power ON d Refering to Figure 2 15 Motor Phasing Diagram Using an oscilloscope check waveforms at 1 52 and S3 while slowly and steadily moving the motor by hand in the specified phasing direction e Check for proper logic levels approximately low V high and sequence 1 leads S2 leads 53 with approximately 120 electrical degree spacing in between TIP Connect Probe common to Hall Signal Common Item Number 814036 Rev C 3 2 Troubleshooting Item Number 814036 Rev C 3 Hall to Back EMF Phasing With drive power OFF verify Hall circuit is connected to the drive pet interface wiring specifications Disconnect motor leads from drive Turn Hall power supply ON driver power ON While slowly and steadily moving the motor by hand perform the Hall signal test except this time check the motor phases are in phase with the specific Hall signal per the Motor Phasing Diagram The phase error between Hall signal and in phase Back EMF should be within 5 electrical degrees IM PO RTANT Observe Back EMF phase pola
26. m 0 000 o o o o o o o o o THERMISTOR CABLE WA 3010 17 9 3 i 5 o 9 o o FLYING LEADS 11 878 PEE TABULATION 5X 0 8 X 15MM TOTAL DEPTH FLYING LEADS m THREADS START 5MM DEEP X SEE TABULATION H 6 F t D B 0472 0 00 056 3385 12 605 1 305 1 r 175 0 20000 16 89 7 874 o o o o z 25 00 N 0 984 l 953 1375 05 50 0216 OD COPPER SEE TABLE FOR QTY TUBING Item Number 814036 Rev C 2 14 Insta lation 2 K LC 200 Coil and Cooling Plate Dimensions Coil L A B C D E F G H Hole Flatness Size Qty 200 x 100 134 00 8 0 25 5 28 0 010 200 x 200 23400 100 00 166 67 16 0 25 9 21 3 937 6 562 0 010 200 x 300 334 00 133 33 200 00 266 67 20 0 38 13 15 5 249 7 874 10 499 0 015 200 x 400 434 00 133 33 233 33 300 00 366 67 24 0 64 17 09 5 249 9 186 11 811 14 436 0 025 200 x 600 634 00 133 33 233 33 333 33 433 33 500 00 566 66 32 0 89 25 31 5 249 9 186 13 123 17 060 19 686 22 310 0 035 200 x 800 834 00 133 33 233 33 333 33 433 33 533 33 633 33 700
27. mediately shut down the motor power on an open condition Since linear motors are generally not repairable and typically highly integrated into the mechanical structure redundant motor thermal protection 15 strongly recommended 1 Typical digital drives have RMS current protection and PT or estimated temperature vs time software protection schemes These available features should be activated and set according to the motor model ratings for this application 2 The selected drive should have peak current magnitude limits that should be set according to the motor s peak current rating as a maximum 3 For drives without adjustable available motor protection features motor fuses current rating not to exceed motor continuous RMS should be installed per the Local National Electrical Code Fuses should be time delay type and rated for the drive PWM output voltage Table 2 R Thermistor and Thermal Switch Resistance vs Temperature Temperature C Resistance in Ohms Thermistor 20 to 110 lt 300 125 lt 1650 135 gt 4000 Thermal Switch 20 to 130 lt 1 gt 130 Open Item Number 814036 Rev C 2 24 Installation Item Number 814036 Rev C Chapter J Troubleshooting Hall Effect Thermal Signal Troubleshooting the module Module Troubleshooting and Replacing Even with motor power disabled and leads disconnected permanent magnet motors can generate high Back vo
28. n Identifying the Linear Motor Coil Assembly example Type LC 030 100 D 0 T TR 0 Special Configurations Blank Standard UL Rated Blank Not UL Rated UL UL Rated Cable Length 0 300 mm 1 600 mm 2 1000 mm Thermal Sensor TR Thermal Sensor TS Thermal Switch Feedback 0 none T Trapezoidal Hall Effect Cooling 0 No Cooling Winding Code D E Coil Length 100 100 mm 200 200 mm 300 300 mm 400 400 mm 600 600 mm 800 800 mm Frame Size 030 050 075 100 150 200 Model Magnet Track Only LCM 030 100 C Special Configurations Blank Standard Magnet Cover C Cover Standard Magnet Track Length 100 100 mm 250 250 mm 400 400 mm 500 500 mm Frame Size 030 050 075 100 150 200 Model Cooling Plate LCCP 030 100 AC Cooling AC Air Cooling WC Water Cooling Magnet Track Length 100 100 mm 250 250 mm 400 400 mm 500 500 mm 600 600 mm 800 800 mm Frame Size 030 050 075 100 150 200 Item Number 814036 Rev C Model Installation 2 3 Motor Layout Drawings Figur
29. nes r es eee by ouo rate bu dae ee pet RO e a e o de Sd das 2 22 Motor Colb Thermal ua a e C UO ed GAN Ra 2 23 Troubleshooting Hall Effect Thermal Signal Module Troubleshooting and Replacing 3 1 Troubleshooting the Modules tr ere Ter eee E E OR Wee eS 3 1 Removal Installation of the Hall Effect Module 3 2 Basic Motor Checks Electricals dies do d Coe OT RR Ca pts 3 3 Coil Resistance Measurements Ohmmetet i oa acr dest eir I ear odo ed rie e 3 3 Motor Back Vests eva bei ab eee dear bebes e ub ha be 3 4 Waveshape Phasing and Calculating Back EMP Constant te n CR 3 4 pack irte TR EEL OAD RG RO Se RUE 3 4 Calculating the Back EMF a exa dis o a Gor os eb a 3 5 Checking the Magnet Plate Butting Polarity os ote tee Bp RO t ri Ae e da 3 6 Item Number 814036 Rev C Item Number 814036 Rev C Chapter 1 Using This Manual Product Description Introduction This motor manual is designed to help you install integrate and start up your new Anorad Linear Motor You do not have to be an expert in motion control Howevet this manual does assume you have a fundamental understanding of basic electronics mechanics as well as motion control concepts and appli
30. r 96 B 1250 078 2 pag 7 0 984 03 908 Item Number 814036 Rev C AIR GAP WILL RESULT FROM SETUP DIMENSION SETTING THE PLATES TO SETUP DIMENSION SHOWN Table 2 H Magnet Track Dimensions 00010 1870 Magnet Track Y Hole Oty Flatness Length A TIR 100 mm 99 0 75 00 4 1 0 13 3 90 2 953 0 005 250 mm 249 0 225 00 10 4 0 38 9 80 8 853 0 015 400 mm 399 0 375 00 16 7 0 63 15 71 14 764 0 025 500 mm 499 0 475 00 20 9 0 90 19 65 18 750 0 035 Installation 2 11 Figure 2 9 LC 150 Coil and Cooling Plate Drawing Dimensions mm in H 6 D 1D 113 2 430 0005 B 72 013 357 0005 365 4L REF AIR GAP td 1 325 1 22 0 42 3000 10 045 0 16 1 181 OPTIONAL HALL EFFECT MODULE o R 1 6 00 24 FLYING LEADS 120 00 AL COOLING 18500 100 o o o LATE ASSEMBLY 18000 60 00 0 0 375 TUBING 7 087 7 283 0 03 4 000 2 362 5 MISTOR CABLE 6 owen cate n 35 ND SHIELDED 1 280 L X SE TABLA nN i M5 X 0 8 X 1
31. raight edge and the alignment tool that was supplied with the magnet plates Slightly loosen the magnet plate mounting bolts but not the ones that are covered by the motor coil Place the alignment tool in the holes each of the plates this will properly position the pitch of the plates Align the edges of the plate with the aluminum straight edge and tighten the bolts Item Number 814036 Rev C 2 18 Installation 9 10 Position the slide over the complete sections and continue aligning the remainder of the plates If the area where the magnet plates are to be installed does not allow you to use a straight edge describes above an alternate method of aligning plates can be done Space the plate by using a 0 020 plastic shim between the magnet plates tighten the bolts and then remove the shim Once all the alignment is completed totque all bolts to values listed in the tables When considering torque values for mounting hardware take into account the magnet plate mounting surface and mounting hardware Per Table 2 N secure all assemblies in place using all mounting holes ATTENTION Remove alignment tool and make certain all magnet plate mounting hardware is flush or below magnet surface to prevent damage to the coil Table 2 N Recommended Seating Torques Inch Lb for Application in Various Materials 1960 Series Socket Head Cap Bolts ANSI B18 3
32. rity Back EMF A B means Probe Tip A and Probe Common B Removal Installation of the Hall Effect Module remove Hall effect module 1 Disconnect Hall cable from the drive 2 Place two or three layers of cardboard on the magnets to prevent tools being attracted to the magnets 3 Remove the two M4 SHCS and lock washers using a 3 mm hex key To install Hall effect module 1 Place two or three layers of cardboard on the magnets to prevent tools being attracted to the magnets 2 Place module at the end of the motor 3 Install the two M4 SHCS and lock washers using a 3 mm hex key Do not over tighten 4 Remove cardboard from magnet plate 5 Connect hall cable connector 6 No further adjustment is required Basic Motor Checks Electrical Troubleshooting 3 3 ATTENTION Dangerous voltages forces and energy levels exist in servo controlled systems Extreme care must be exercised when operating maintaining or servicing the linear motor to prevent harm to personnel ot equipment Coil Resistance Measurements Ohmmeter After installation is completed and before running for the first time this procedure should be performed to ensure no damage occurred during installation Also perform this check whenever a coil electrical problem is suspected Coil at room temperature approximately 25 C Drive power OFF Ensure all motor leads phases and ground are disconnected from the drive
33. signals are used by a compatible three phase brushless servo drive to perform electronic commutation Two types of servo drive Hall based commutation techniques are possible Trapezoidal Hall Mode and Encoder Software Digital Mode with Trapezoidal Hall start up Note For optimal commutation and force generation the selected servo drive must be compatible with the LC series phasing and be wired to the motor correctly ATTENTION Incorrect Motor Hall wiring can cause runaway conditions IMPORTANT Phasing direction coil toward motor power cable or magnet assembly away from power cable Refer to LC 30 Coil and Cooling Plate Drawing on page 2 3 for specific cable locations As shown in the phasing diagram S1 in phase with C A Back EMF 52 in phase with A B Back EMF 53 in phase with B C Back EMF Phase sequence 51 leads 52 leads 53 Spacing is 120 degrees Figure 2 15 Motor Phasing Diagram Back EMF Voltage vs Hall Signals Back PM Wr SL NGA Voltage oh dal 1 4 eaNL LL Wi E CER E Digital 51 Hall Signals 5 FH 0 60 120 180 240 300 360 W U C A U V ABB V W B C Phasing direction coil toward motor power cable or magnet assembly away from power cable as shown in Figure 2 16 Item Number 814036 Rev C 2 22 Installation Figure 2 16 Positive Motor Direction When properly wired this is considered the positive direction Op
34. t motor assemblies to make certain no damage has occurred in shipment Any damage or suspected damage should be immediately documented Claims for damage due to shipment are usually made against the transportation company Also contact Anorad immediately for further advise ATTENTION Linear Motors contain powerful permanent magnets which require extreme caution during handling When handing multiple magnet plates do not allow the plates to come in contact with each other Do not disassemble the magnet plates The forces between plates are vety powerful and can cause bodily injury Persons with pacemakers or Automatic Implantable Cardiac Defibrillator AICD should maintain a minimum distance of 12 inches from magnet assemblies Additionally unless absolutely unavoidable a minimum distance of 5 feet must be maintained between magnet assemblies and other magnetic ferrous composite materials Use only non metallic instrumentation when verifying assembly dimension prior to installation e g calipers micrometers laser equipment etc Identify what options your linear motor is equipped with Ensure the information listed on the purchase order correlates to the information on the packing slip that accompanied your motor components Verify that the quantity of magnet plates received matches your job requirements Inspect the assemblies and confirm if applicable the presence of specified options Item Number 814036 Rev C 2 2 Installatio
35. t strength air gap and coil windings Since the force constant is a direct relationship to the Back EMF constant this also checks for correct force constant The calculation is based on analyzing one motor electromechanical cycle Since a problem can occur at any point along the motor travel also check that the Back EMF waveshape is consistent throughout the whole travel Reference the Back EMF test precautions Drive power OFF Disconnect the motor leads from the drive Using a storage oscilloscope connect one channel across any two phase leads Move the motor at a vety steady and constant speed in either direction by hand This is the motor s phase phase Back EMF Capture and analyze one electrical cycle Figure 3 2 Motor Back EMF Cycle N time sec Vik pk N 7 Ime sec one cycle 4 Item Number 814036 Rev C 3 6 Troubleshooting Checking the Magnet Plate Butting Polarity Item Number 814036 Rev C Mechanical displacement of one electrical cycle motor magnetic pitch 180 in inches multiplied by two Note that the published specification may already be in cycles In this case do not multiply by two Calculate Back EMF constant mechanical displacement of one cycle inches pinches TL velocity cycle time seconds dad 255 E VK pK O 5 volts V Volts ptp PE Back EMF mn inches inches Velocity Second Volts Note 0 707 B
36. ve duty cycle shape may indicate a magnet polarity problem Note which magnet plate the problem occurs If a problem is suspected first check to see if the plate alignment tool holes are always on the same side If correct contact Anorad Technical Support for further advice Item Number 814036 Rev C 3 8 Troubleshooting Item Number 814036 Rev C Troubleshooting 3 9 Item Number 814036 Rev C Anorad Rockwell Automation 100 Precision Drive Shirley NY 11967 4710 Web site http www anorad com E mail anorad anorad com Technical Support Tel 631 344 6600 Fax 631 344 6660 email techsupport anorad com Anorad Item Number 814036 Rev C October 2006 2006 Rockwell Automation Printed in the U S A
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