Installation Manual
Contents
1. Weight Specifications Electric Cylinders weight of cylinder with non brake motor Electric Cylinder Electric Cylinder 3 Electric Cylinder 4 Cat kg lb Cat No kg tb Cat No ka tb LAR A1100B B2A 1 7 3 75 LAR A2100C B2A 3 1 6 83 LAR A3100E B2A 9 5 20 94 LAR A1200B B2A 2 0 4 41 LAR A2200C B2A 3 6 7 94 LAR A3200E B2A 10 3 22 71 LAR A1300B B2A 2 4 5 29 0 LAR A2300C B2A 4 0 8 82 TLAR A3300E B2A 11 1 24 47 LAR A1400B B2A 2 7 5 95 LAR A2400C B2A 4 5 9 92 TLAR A3400E B2A 11 9 26 23 LAR A1100E B2A 24 5 29 LAR A2600C B2A 5 4 11 90 LAR A3600E B2A 13 5 29 76 LAR A1200E B2A 2 8 6 17 2 LAR A2100F B2A 3 7 8 16 LAR A3800E B2A 15 2 33 51 LAR A1300E B2A 3 1 6 83 LAR A2200F B2A 4 1 9 04 LAR A3100H B2A 9 3 20 50 LAR A1400E B2A 3 4 7 49 2 LAR A2300F B2A 4 6 10 14 TLAR A3200H B2A 10 1 22 27 LAR A2400F B2A 5 1 11 24 TLAR A3300H B2A 10 9 24 03 LAR A2600F B2A 6 0 13 23 TLAR A3400H B2A 11 7 25 79 TLAR A3600H B2A 13 4 29 54 TLAR A3800H B2A 15 0 33 07 1 If ordering an TLAR Axxxxx B4A electric cylinder with brake add 0 2 kg 0 4 Ib 2 If ordering an TLAR Axxxxx B4A electric cylinder with brake add 0 5 kg 1 1 Ib 3 If ordering an TLAR Axxxxx B4A electric2. Op V jeje 5 091 v 11830 3 1 e LLP 8 1 LIP BLL 0580 e _ i 0060 i 90 TTN 690 EON gy ego 0910 n 0070 og 07 0910 51 101510 1 PZ suoisueuirq n fog tp jue ayons sn g m 104 1214 H 9 D Aton racioy HM 104390009 201290007 aye1g JaMog o m 61 06 68 0001 vx pz 0 0 9 Ont 9L 3 0p owes pue Zg awed 42 21329 3 59196 11 V 99 vx SA suoirsueung imensions Publication TLAR INOO1A EN P 2009 12 TL Series Electric Cylinders TL Series Electric Cylinder Dimensions frame 32 ic Cyli 1 ig P AD G1 zy WH Carne r lin mm mm mm mm mm mm mm mm mm TIN in in in in in in in in in LAR AT100B B2A 391 5 15 41 73 6 LAR AT2008 82A 49151935 289 40 Ja LAR A1300B B2A 591 5 23 29 097 044 2 01 LAR A1400B B2A 69152722 80 mae lr pente en LAR ATIOOE B2A 405
3. 52 g oz g oz 8 Rod Eye 32 PAR NE9261 70 2 47 8 Rod Eye 32 MPAR NE195582 70 2 47 corrosion 40 PAR NE9262 110 3 53 resistant 40 MPAR NE195583 110 3 53 63 PAR NE9263 210 7 41 63 MPAR NE195584 210 7 41 10 RodClevis 32 MPAR NE32954 140 4 94 9 Rod Clevis 32 MPAR NE6144 110 3 88 40 PAR NE10767 210 7 41 40 MPAR NE6145 170 6 00 63 PAR NE10768 500 17 64 63 MPAR NE6146 390 13 76 9 Rod Clevis 32 PAR NE13569 110 3 88 12 Self aligning 32 MPAR NE6140 210 7 41 corrosion Rod Coupler resistant 40 PAR NE13570 180 6 35 40 MPAR NE6141 220 7 76 63 PAR NE13571 400 14 11 63 MPAR NE6142 650 22 93 11 Coupling 32 PAR NE36125 110 3 88 Piece 40 PAR NE36126 180 6 35 63 PAR NE36127 250 8 82 Accessory Item Cat No 8 Stroke Length Weight approx mm in kg Ib 13 Rod Guide 4494 32 100 3 94 1 7 3 747 4496 200 7 87 1 9 4 19 PAR NE34497 320 12 60 2 1 4 63 PAR NE150290 400 15 75 2 3 5 07 PAR NE34500 40 100 3 94 2 7 5 95 PAR NE34502 200 7 87 3 0 6 61 PAR NE34504 320 12 60 3 4 7 49 PAR NE150291 400 15 75 3 7 8 16 PAR NE34505 500 19 68 4 0 8 82 PAR NE34514 63 100 3 94 5 9 13 01 PAR NE34516 200 7 87 6 4 14 11 PAR NE34518 320 12 60 7 0 15 43 PAR NE34519 400 15 75 7 4 16 31 4520 500 19 68 7 9 17 42 Publication TLAR INOO1A EN P
4. Pin Signal Tyco AMP 206705 2 1 U phase Red 2 V phase White 3 W phase Black 4 Reserved 5 Ground Yellow grn amp drain wires 6 Reserved 7 MBRK Yellow 8 Reserved 9 MBRK Blue sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Excessive and uneven force at the cable connector may result in damage to the housing and contacts as the cable flexes Failure to observe these safety precautions could result in damage to the motor and its components Publication TLAR INOO1A EN P May 2009 16 TL Series Electric Cylinders Commissioning This section provides guidelines for using RSLogix 5000 software to configure your electric cylinder servo drive system Required Files Firmware revisions and software versions required to support the electric cylinders include the following e RSLogix 5000 software version 16 00 or later Kinetix 2000 multi axis drives Firmware revision 1 96 or later For RSLogix 5000 software version 16 use Motion Database file version 4_18_0 or later For RSLogix 5000 software version 17 or later use Motion Database file version 5_9_0 or later Motion Analyzer software version 4 7 or later Download these files from http support rockwellautomation com Contact Rockwell Automation Technical Support at 440 646 5800 for assistance Configure Your Electric C
5. 2009 TL Series Electric Cylinders 31 Trunnion Mounting Kit Sie Nem MPAR NA163525 32 4 5 2 9 3 7 MPAR NA163526 40 8 9 5 9 6 6 MPAR NA163528 63 18 20 13 3 14 5 Coupling Piece Attachment Cat No Frame Max Torque 1 Max Torque 2 Max Torque 3 Size Nem Ibeft Nem Ibeft Nem Ibeft MPAR NE36125 32 5 9 4 35 34 25 1 12 8 8 MPAR NE36126 40 5 9 4 35 61 45 0 22 16 2 MPAR NE36127 63 9 9 7 3 148 109 2 57 42 0 1 Torque applies to mounting screws wit 2 Torque applies to lock nut on piston rod h standard threads and strength class 8 8 Apply torque to mounting screws evenly 3 Torque that coupling can transmit with coefficient of friction p 0 1 and 10 x safety margin at maximum permissible tightening torque Publication TLAR INOO1A EN P May 2009 32 TL Series Electric Cylinders Specifications TL Series Electric Cylinders General Specifications TLAR Axxxxx Attribute Construction design Frame 32 Frame 40 Frame 63 Ballscrew driven non rotating piston rod Piston rod thread M10x1 25 M12x1 25 M16x1 50 Working stroke 100 400 mm 100 600 mm 100 800 mm 3 9 15 7 in 3 9 23 6 in 3 9 31 5 in Protection against torsion guide Plain bearing guide Stroke reserve Angle of rotation at the piston rod max 0 30 0 25 0 20 mpact energy E at the end positions 0 0001 J 0
6. oz Moving IS wit 470 6 0 200 7 05 310 1093 3800340 810 285 810 1 79 0 mm stroke Moving load per 10 mm stroke 6 9 0 24 6 9 0 24 8 9 0 31 8 9 0 31 12 8 0 45 12 8 0 028 Brake Specifications Brake Response Time Electric Holding Coil Current Engage using external arc Cylinder drin X 24v DC 1 suppression device Mov 0 ms Diode 3 ms LAR A1xxxB 300 67 0 18 0 22 21 7 40 1 350 79 LAR A2xxxC 525 118 0 333 0 407 22 13 73 LAR A2xxxF 552 124 LAR A3xxxE 1414 318 0 351 0 429 42 14 86 LAR A3xxxH 707 159 1 Brake release time delay with voltage applied 2 Brake engage time delay with voltage removed and MOV used for arc suppression 3 Brake engage time delay with voltage removed and diode used for arc suppression Environmental Specifications Attribute Temperature operating ambient Value 0 40 C 32 104 F Temperature storage ambient 25 60 C 13 140 F Humidity relative non condensing 5 95 Liquid dust protection IP40 complete unit includes rod end seal and breather port Shock max 20 g peak 6 ms duration Vibration 1 for a copy of this specification 2 5 peak 30 2000 Hz Tested for one hour per Rockwell Automation specification 10000056670 Contact your distributor Publication TLAR INOO1A EN P May 2009 34 5 Electric Cylinders
7. Maximum Negative Enter value that is within the piston rod mechanical travel Publication TLAR INOO1A EN P May 2009 20 TL Series Electric Cylinders 7 Set overtravel limits according to the maximum speed of the servo drive system and the payload of the application IMPORTANT Set travel limits and direction of tuning moves in reference to piston rod starting position Leave adequate travel for the piston rod to complete its moves while tuning ATTENTION Software overtravel must be set prior to initiating tuning process Check the starting position of the piston rod and allow for adequate travel Insufficient travel while auto tuning will cause the software overtravel to trigger or an end stop impact You can determine the deceleration distance before the piston rod contacts the end of travel based on the deceleration rate of the load and the available peak force from the motor ballscrew combination Use the Motion Analyzer software to calculate the minimum deceleration distance at the maximum speed of your application IMPORTANT Do not exceed the maximum energy specified for end of travel impacts Cat No Impact Energy max TLAR x1 xxxx xxA 0 0001 J TLAR x2xxxx xxA 0 0002 J TLAR x3xxxx xxA 0 0004 J This table lists maximum velocity for end stop impact with no load Cat No 1 Mass LAR x1100B xxx 239 8 4 28 9 1 14 LAR x12
8. Provide sufficient clearances in the area of the electric cylinder for it to stay within its specified operating temperature range Refer to Specifications on page 32 for the operating temperature range Do not enclose the electric cylinder unless forced air is blown across the electric cylinder for cooling Keep other heat producing devices away from the electric cylinder IMPORTANT Position the electric cylinder so that all the operating parts are accessible and the breather port is not covered 2 Make sure the mounting surface supports the electric cylinder evenly so that it is free of mechanical stress and distortion The evenness of support surface should be lt 0 2 mm 0 008 in IMPORTANT Do not modify the settings of the screws and the threaded pins The electric cylinder must not be fastened by the front cover alone when used with high loads Heavy tensile strain may cause the screws in the cover to pull out 3 Attach mounting accessories to the electric cylinder see Accessories on page 29 Tighten the fastening screws evenly Frame 63 M8 9 5 90 Ib eft Frame 40 M6 5Nem 3 69 Ibeft Attribute M6 5Nem 3 69 Ibeft Internal thread of cover screws Tightening torque max 1 1 Unless otherwise noted the torque specification have a 20 tolerance Publication TLAR INO01A EN P 2009 TL Series Electric Cylinders 9 4 Attach
9. Tag Travel Limit Position Units tenu DANGER This tuning procedure may cause axis motion with the controller in program mode Speed 150 Position LInits s Torque Force fi 00 0 Rated Direction Forward Uni directional Damping Factor E Tune Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feedforward Acceleration Feedforward Torque Offset Output Filter Click Start Tuning to access the Motion Initiation dialog box Click Yes to begin tuning the electric cylinder RSLogix 5000 Online command may initiate motion Execute online command ATTENTION Motion occurs immediately after clicking Yes Publication TLAR INOO1A EN P 2009 24 Electric Cylinders Tuning is complete when the Tune Servo dialog box opens Online Command Tune Servo Command Status Command Complete A ait for command to complete after axis motion Check for errors if command fails 8 Click OK to exit Tuning The Tune Results dialog box opens Tune Results Position Loop Bandwidth Hertz Load Inettia Ratio 68707952 Load Inertia Motor Inertia DANGER The Bandwidth determined by the tune process is the maximum bandwidth Increasing the bandwidth may cause loop instability Cancel Help 9 If you are satisfied with the tuning results click OK otherwise continue with Calculate
10. Type NA Axial in line Mounting Accessory NP Parallel Mounting Accessory NE Rod end Accessory Actuator Type AR Actuator Rod Bulletin Number MP MP Series or TL Series Actuator Accessory Publication TLAR IN001A EN P May 2009 4 TL Series Electric Cylinders About the TL Series Electric Cylinders TL Series electric cylinders feature multi turn high resolution encoders and are available with 24V DC brakes The TL series motor rotates a ballscrew drive which converts rotary motion into linear movement This linear movement results in the piston rod extending and retracting from the electric cylinder housing IMPORTANT The TLAR Axxxxx x2A electric cylinders are non braking When there is no input torque the piston rod can be moved freely Self locking of your motion system can be achieved by using motors with an integrated brake or with high self braking torque The TL Series electric cylinders have been designed for exact positioning at high speeds 2 Item Description 1 Power connector 2 Feedback connector 3 TL Series motor 4 Motor mounting bolts 5 Actuator cylinder 6 Breather port must not be sealed or covered 7 Hollow bolts with internal treads for fastening 8 Piston rod 9 Wrench flats for counteracting torque on piston rod Publication TLAR INO01A EN P 2009 TL Series Electric Cylinders 8 Before You Begin Remove all packing material wedges an
11. and installation practices that promote electromagnetic compatibility and safety ATTENTION Unmounted electric cylinders disconnected mechanical couplings and disconnected cables are dangerous if power is applied Disassembled equipment should be appropriately identified tagged out and access to electrical power restricted locked out Failure to observe these safety precautions could result in personal injury ATTENTION Make sure that cables are installed and restrained to prevent uneven tension or flexing at the cable connectors Excessive and uneven lateral force at the cable connectors may result in the connector s environmental seal opening and closing as the cable flexes Failure to observe these safety precautions could result in damage to the electric cylinder motor and its components Publication TLAR INOO1A EN P 2009 8 TL Series Electric Cylinders ATTENTION Damage may occur to the electric cylinder bearings and the feedback device if a sharp impact to the piston rod is applied during installation Do not strike the piston rod with tools during installation or removal Do not attempt to rotate the piston rod Rotating the piston rod will break the mechanism that allows the electric cylinder to extend and retract Failure to observe these safety precautions could result in damage to the electric cylinder and its components Follow these steps to install the electric cylinder 1
12. and Configure the Loop Gain Calculate and Configure the Loop Gain Calculate a position loop bandwidth based on the actual measured inertia values from the Tune Results dialog box In this example the Tune Results dialog box shows a default Position Loop Bandwidth of 45 14153 Hz and a Load Inertia Ratio of 6 8707952 1 Calculate the Corrected Position Bandwidth Corrected Position Loop Bandwidth Initial Position Loop Bandwidth Result Initial Load Inertia Ratio Result 1 For example 5 73532 45 14153 7 8707952 Publication TLAR INOO1A EN P 2009 TL Series Electric Cylinders 25 2 Enter the Corrected Position Bandwidth value 5 73532 as the Position Loop Bandwidth 3 Click OK Tune Results Position Loop Bandwidth 5 73532 Hertz Load Inertia Ratio 68707952 Load Inertia Motor Inertia DANGER The Bandwidth determined by the tune process is the maximum bandwidth Increasing the bandwidth may cause loop instability Cancel Help 4 Answer the remaining dialog boxes to apply the values The proper Position Bandwidth results in a stable starting point from which you can adjust the gains to fit your application requirements Publication TLAR INOO1A EN P May 2009 26 TL Series Electric Cylinders Maintenance Follow these steps to maintain your electric cylinder 1 2 Remove power to the electric cylinder and lock out tag out power source Check the axial play of the piston ro
13. axis BrakeEngageDelayTime 0 018 bd and disabled to protect BrakeReleaseDelayTime 0 023 inel machine and property ResistiveBrakeContactDelay 00s ig Modifying fault actions P reference user manual for information Cancel Help IMPORTANT To prevent the rod from moving or falling when installed in a vertical orientation the Stopping Time Limit must be set to 0 99 seconds or less Click the Tune tab and enter the following parameters e Travel Limit Set to within software limits e Speed velocity Torque Force IMPORTANT Set travel limits and direction of tuning moves in reference to piston rod starting position Leave adequate travel for the piston rod to complete its moves while tuning Publication TLAR INOO1A EN P 2009 TL Series Electric Cylinders 23 ATTENTION Software overtravel must be set prior to initiating tuning process Check the piston rod starting position and allow for adequate travel Insufficient travel while auto tuning will cause the software overtravel to trigger or an end stop impact IMPORTANT Only check Torque Offset as shown below if the electric cylinder is installed in a non horizontal mount position Axis Properties MPAR ioj x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Dynamics Gains Output Limits Offset Fault Actions
14. cylinder with brake add 0 4 kg 0 9 Ib 4 If ordering an TLAR Axxxxx B4A electric cylinder with brake add 0 6 kg 1 3 Ib Actuator Cylinders weight of replacement cylinder Actuator Cylinder Weight Actuator Cylinder 1 Weight Actuator Cylinder Weight Cat No approx approx No PAR X1100B 2 43 MPAR X2100C 1 7 3 75 MPAR X3100E 3 8 8 38 PAR X1200B A 3 09 MPAR X2200C 2 2 4 85 MPAR X3200E 4 6 10 14 PAR X1300B 7 3 75 MPAR X2300C 2 6 5 73 MPAR X3300E 5 4 11 90 PAR X1400B 2 1 4 63 MPAR X2400C 3 1 6 83 MPAR X3400E 6 3 13 89 PAR X1100E 4 63 MPAR X2600C 4 0 8 82 MPAR X3600E 7 9 17 46 1200 A 3 09 MPAR X2100F 1 8 3 97 MPAR X3800E 9 5 20 94 PAR X1300E 8 3 97 MPAR X2200F 2 3 5 07 MPAR X3100H 3 8 8 38 PAR X1400E 2 1 4 63 MPAR X2300F 2 8 6 17 MPAR X3200H 4 6 10 14 MPAR X2400F 32 7 05 MPAR X3300H 5 4 11 90 MPAR X2600F 4 2 8 26 MPAR X3400H 6 3 13 89 MPAR X3600H 7 9 17 42 MPAR X3800H 9 5 20 94 1 Replacement actuator cylinder example if ordering a replacement cylinder for electric cylinder catalog number TLAR A2100C B2A the replacement actuator cylinder is catalog number MPAR X2100C Publication TLAR INOO1A EN P 2009 TL Series Electric Cylinders 35 Interconnect Diagrams This is an example diagram for wiring
15. injury or damage to property If there is a spindle nut fracture inside the electric cylinder due to wear the working mass will drop down Check whether additional external safety measures are required in order to prevent damage in the event of a spindle nut fracture Publication TLAR INOO1A EN P 2009 6 TL Series Electric Cylinders Corrosive environments reduce the service life of electric cylinders Depending on the work load the piston rod will bend Refer to the piston rod deflection specifications for limitations Motor feedback auxiliary feedback and I O connector kits are not included but can be purchased separately Factory manufactured feedback 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 selection guide for cables Preventing Electrical Noise ElectroMagnetic Interference EMD commonly called electrical noise can reduce motor performance Effective techniques to counter EMI include filtering the AC power use of shielded cables separating signal cables from power wiring and practicing good grounding techniques Follow these guidelines to avoid the effects of EMI Isolate the power transformers or install line filters on all AC input power lines Physically separate signal cables from motor cabling and power wiring Do not route signal cables with motor and po
16. your TL Series electric cylinder and Allen Bradley servo drives Wiring Example of TL Series Electric Cylinder to Kinetix 2000 Drive Kinetix 2000 TL Series Electric Cylinder IAM inverter or Motor Feedback AM Module MF Connector IAM or AM U 13 Green DATA 5 2 1 Brown 1 lt 14 5 WHT Green WY DATA 10 3 Motor Power 2 Black 2 V Three Phase 4 MP V B lt i Motor Power 22 y Gray 45VDC t 3 ue 3 23 WHT Gray XX ECOM 6 6 Esc Dune 7 GND WHT Orange XX BAT BAT 8 9 Motor Feedback 2090 CPWMG6DF 16AAxx Motor Feedback MF Power Cable without Brake 10 Connector or 2090 CPBM6DF 16Axx 11 Power Cable with Brake 12 24 n 2 Black 8 BR 23 DRAIN 4 MBRK bc ed eeu ic Enea L_ 14 Motor 3 Brake Brake White 7 3 15 pc _MBRK lt lt 2090 CFBMGDF CBAAxx Connector 1 24V DC flying lead or PWR 2 2090 CFBM6DD CCAAxx 4 premolded connector COM User Supplied Feedback Cable Use Low Profile Connector Exposed shield secured under 2090 K2CK D15M feedback only or 2090 K2CK COMBO Feedback and 10 Publication TLAR INOO1A EN P May 2009 Additional Resources These documents contain additional information concerning related Rockwell Automation products Resource Description TL Series Servo Motors Installation Instructions publication TL IN003 Information on installing TL Se
17. 0 typical 0 typical Offset Sequence mmediate Torque Level to Marker Direction N A Reverse Bi directional Torque Level 30 Greater if the system friction force or weight exceeds 30 of the Continuous Force Rating at any point in the range of motion Speed A 10 mm s 1 97 in s Return Speed A 10 mm s 0 39 in s ATTENTION Avoid excessive force while homing the electric cylinder Do not exceed 10 mm s 0 4 in s during a home routine Speeds greater than 10 mm s 0 4 in s may damage the electric cylinder when the piston rod reaches the end of travel Complete the following steps for absolute homing a Use motion direct commands to slowly jog your axis to your application s home location Do not exceed 10 mm s 0 4 in s b Issue the Motion Direct Command MAH to set the home position on your axis Parameter Hard Travel Limits Click the Limits tab Enter these parameters Entry Selection with applicable distance unit settings Check if hardware limits are in use Use the Motion Analyzer software to determine the maximum stopping distance in your application to set negative and positive limits Soft Travel Limits Check if software limits are in use Use the Motion Analyzer software to determine the maximum stopping distance in your application to set negative and positive limits Maximum Positive Enter value that is within the piston rod mechanical travel
18. 0002 J 0 0004 J E 0 5xmxv Positioning repeatability 0 02 mm 0 0008 in max Reversing backlash 0 0 05 mm 0 002 in max Duty cycle 100 Position sensing feedback Multi turn absolute encoder ype of mounting Via female threads Via accessories Mounting position Any 1 In new condition Performance Specifications o MaxFeed Continuous M 1 ax Speed Stroke Lengths Max Acceleration Cat No m s in s mm in m sec in sec LAR A1xxxB 300 67 240 54 0 15 5 9 100 3 94 200 7 87 300 11 8 1 350 79 280 63 0 50 19 7 400 15 75 LAR A2xxxC 525 118 420 94 0 25 9 8 100 3 94 200 7 87 40 300 11 8 LAR A2xxxF 800 180 520 117 0 64 25 2 400 15 75 6 0 236 600 23 62 LAR A3xxxE 2500 562 1750 393 0 50 19 7 100 3 94 200 7 87 300 11 8 63 400 15 75 LAR A3xxxH 1625 365 975 219 1 0 39 4 paa 600 23 62 800 31 50 1 Stroke length replaces xxx in each catalog number Publication TLAR IN001A EN P 2009 TL Series Electric Cylinders 33 Moving Load Specifications TLAR A1xxxB 1 TLAR A2xxxC TLAR A2xxxF TLAR A3xxxE TLAR A3xxxH Attribute Frame 32 Weight approx Frame 40 Weight approx Frame 63 Weight approx g oz g oz g
19. 001 for dimensions Mounting Accessories Weight Weight Accessory Item Cat No approx Accessory Item approx g 07 g oz 1 Foot MPAR NA174991 8 46 5 Trunnion M 210 7 41 ting Kit Mounting Kit MPAR NA174992 10 93 390 13 76 MPAR NA174993 17 99 M 890 31 39 2 Flange MPAR NA174376 8 46 2 Flange M 6 240 8 46 ounting Mounting MPAR NA174377 9 88 corrosion M 6 300 10 58 MPAR NA174379 24 34 resistant M 6 710 25 04 3 runnion MPAR NA174411 4 58 3 Trunnion M 6 150 5 29 Flange Flange MPAR NA174412 8 46 corrosion M 6 260 9 17 MPAR NA174414 21 16 resistant M 6 640 22 57 4 runnion MPAR NA32959 4 58 4 Trunnion M 6 200 7 05 Support Support MPAR NA32960 14 11 corrosion M 6 330 11 64 MPAR NA32961 16 93 resistant M 440 11 64 6 Clevis Foot MPAR NA761 7 76 7 Clevis Foot M 290 10 23 MPAR NA762 10 58 ight angle 360 12 70 MPAR NA764 20 46 M 880 31 0 Publication TLAR INOO1A EN P 2009 30 5 Electric Cylinders TL Series Electric Cylinders Rod end Accessories Accessory Item Cat No Weight Accessory Item 5 Cat Weight
20. 00B xxx 308 10 8 25 5 1 00 LAR x1300B xxx 377 13 9 23 0 0 91 LAR x1400B xxx 446 15 7 21 2 0 83 LAR x1 100E xxx 269 9 5 27 3 1 07 LAR x1200E xxx 338 11 9 24 3 0 96 TLAR x1300E xxx 407 14 36 22 2 0 87 TLAR x1400E xxx 476 16 8 20 5 0 81 TLAR x2100C xxx 399 14 1 31 7 1 25 Publication TLAR IN001A EN P May 2009 TL Series Electric Cylinders 21 Cat No 17 Mass one a max TLAR x2200C xxx 488 17 2 28 6 1 12 TLAR x2300C xxx 577 20 4 26 3 1 03 TLAR x2400C xxx 666 23 5 24 5 0 96 TLAR x2600C xxx 844 29 8 21 8 0 86 TLAR x2100F xxx 469 16 5 29 2 1 15 TLAR Xx2200F xxx 558 19 7 26 8 1 05 TLAR x2300F xxx 647 22 82 24 9 0 98 TLAR x2400F xxx 736 26 0 23 3 0 92 TLAR x2600F xxx 914 32 2 20 9 0 82 3100 938 33 1 29 2 1 15 3200 1066 37 6 27 4 1 08 3300 1194 42 1 25 9 1 02 3400 1322 46 6 24 6 0 97 3600 1578 55 7 22 5 0 86 3800 1834 64 7 20 9 0 82 TLAR x3100H xxx 938 33 1 29 2 1 149 TLAR x3200H xxx 1066 37 6 27 4 1 08 TLAR x3300H xxx 1194 42 1 25 9 1 02 TLAR x3400H xxx 1322 46 6 24 6 0 97 TLAR x3600H xxx 1578 55 7 22 5 0 88 TLAR x3800H xxx 1834 64 7 20 9 0 82 Absolute position is maintained while the motor feedback cable is connected to IMPORTANT the drive If the cab
21. 04 LAR A3600E B2A 1064 6 41 91 LAR A3800E B2A 1264 6 49 79 LAR A3100H B2A 564 6 22 23 TLAR A3200H B2A 664 6 26 17 LAR A3300H B2A 764 6 30 10 LAR A3400H B2A 864 6 34 04 TLAR A3600H B2A 1064 6 41 91 TLAR A3800H B2A 1 If ordering TLAR A3xxxx B4A actuator with brake add 23 0 mm 0 91 in to dimensions L7 and LI 2 The tolerance for this dimension is 1 0 mm 1264 6 49 79 mm 144 2 5 68 mm 86 0 3 39 0 039 in mm in 56 0 2 20 mm in 99 0 3 90 32 0 1 26 36 0 1 42 28 5 1 12 mm 214 0 8 43 370 1 46 Actuators are designed to metric dimensions Inch dimensions approximate conversions from millimeters Dimensions without tolerances are for reference Publication TLAR INOO1A EN P 2009 TL Series Electric Cylinders 15 Connector Data This table lists the signal descriptions for feedback power and brake connector pins on the electric cylinder Feedback Pin Signal Tyco AMP 206152 1 1 5 Reserved 6 Brown 7 12 Reserved 13 Data Blue 14 Data Blue black 15 21 Reserved 22 EPWR 5V Red 23 ECOM amp BAT Black 24 Shield Drain wire 25 28 Reserved Power and Brake
22. 2A TLAR x2xxxF B4A Conversion 10000 drive cnts 1 0 mm for 254000 drive cnts 1 0 in for Sonsan TLAR x3xxxH B2A TLAR x3xxxH B4A Dynamics 150 mm s default 157 5 mm s 5 91 in s default 6 20 in s peel TLAR XDX0B XA 500 mm s default 525 mm s 19 68 in s default 20 67 in s TLAR X1 TLAR X3xxxE xxA 250 mm s default 262 5 mm s 9 82 in s default 10 33 in s TLAR X2xxxC xxA 640 mm s default 672 mm s 24 61 in s default 25 84 in s 2 1000 mm s default 1050 mm s 41 34 in s default 43 41 in s 6000 mm s s 236 22 in s s Acceleration 2 Maximum 6000 mm s s 236 22 in s s Deceleration 2 laximum Use default values or adjusted for your application Acceleration Jerk laximum Deceleration Jerk Use default values or adjusted for your application 1 default value is 5 more than your actuator rated maximum speed Do not command maximum speed in your application in excess of the rated speed 2 Accelerations in excess of the following may lead to reduction of life of your actuator Publication TLAR INOO1A EN P 2009 2 Click the Homing tab TL Series Electric Cylinders 19 3 Set parameters for either absolute homing or torque level to marker homing as shown on the table Absolute Homing Torque Level to Marker Homing Parameter Value Value Mode Absolute Active Position
23. 5 15 96 109 LAR AT200EB2A 505 5 19 90 430 430 730 LAR A1300E B2A 6055 2384 239 1 69 1 287 LAR A1400E B2A 705 5 27 78 4 36 1 If ordering TLAR A1 xxxB B4A actuator with brake add 35 6 mm 1 40 in to dimensions L7 and LB If ordering TLAR A2xxxE B4A actuator with brake add 34 6 mm 1 36 in to dimensions 17 and LB 2 tolerance for this dimension is 1 0 mm 0 039 TL Series Electric Cylinder Dimensions frame 40 1 2 Electric Cylinder 170 a d AM wi Cat No mm in n n n LAR A2100C B2A 436 0 17 17 LAR A2200C B2A 536 0 21 10 LAR A2300C B2A 636 0 25 04 2400 2 736 0 28 98 2600 2 936 0 36 85 600 430 730 240 300 215 1765 300 TURO eee 2 36 1 69 287 094 118 0 85 695 1 18 LAR A2200F B2A 557 9 21 96 98 1 LAR A2300F B2A 657 9 25 90 3 86 LAR A2400F B2A 757 9 29 84 LAR A2600F B2A 957 9 37 71 1 If ordering TLAR A2xxxx B4A actuator with brake add 36 1 mm 1 42 in to dimensions L7 and LB 2 The tolerance for this dimension is 1 0 mm 0 039 Actuators are designed to metric dimensions Inch dimensions are approximate conversions f
24. TL Series Electric Cylinders Installation Instructions Catalog Numbers TLAR A1xxxB TLAR A1xxxE TLAR A2xxxC TLAR A2xxxF TLAR A3xxxE TLAR A3xxxH Topic Page Important User Information 2 Catalog Number Explanation 3 About the TL Series Electric Cylinders 4 Before You Begin 5 Install the Electric Cylinder Ji Mount the Electric Cylinder 10 Dimensions 11 Connector Data 15 Commissioning 16 Maintenance 26 Troubleshooting 27 Accessories 23 Specifications 32 Additional Resources 36 Rockwell Allen Bradley Rockwell Software Automation 2 TL Series Electric Cylinders Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulti
25. a Coupling Piece attachment catalog number MPAR NE2612x or Trunnion Mounting Kit catalog number MPAR NA1635xx see Accessories on page 29 for torque values If using a Rod Guide accessory catalog number MPAR NE3 xxx or MPAR NE150xxx adjust the guides of the work load and the electric cylinder so that they are exactly parallel This avoids excessive wear on the guide Publication TLAR INOO1A EN P 2009 10 TL Series Electric Cylinders Mount the Electric Cylinder 1 Use stainless steel fasteners to mount your electric cylinder to your application 2 Attach power and feedback cables and use a drip loop in the cable to keep liquids away from the motor Drip Loop BURN HAZARD Outer surfaces of the motor can reach high temperatures 65 C 149 F during electric cylinder operation Take precautions to prevent accidental contact with hot surfaces Failure to observe these safety precautions could result in personal injury 3 Verify the continuity and functionality of the thermal switch signals TS and TS These signals are transmitted through the feedback cable that connects the motor to its controlling drive Publication TLAR INOO1A EN P 2009 11 TL Series Electric Cylinders
26. be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt Publication TLAR INOO1A EN P 2009 TL Series Electric Cylinders 3 Catalo g Number Explanation Catalog numbers consist of various characters each of which identifies a specific version or option for that component Use the catalog numbering chart below to understa nd the configuration of your actuator TL AR xx x xxA nu te Motor Mounting 1 A Axial in line Holding Brake 2 Brake 4 24 DC Brake Feedback 1 B Multi turn absolute 17 bit encoder battery backed Mechanical Drive Screw Lead Motor Type B 3 0 mm rev 0 118 in rev C 5 0 mm rev 0 197 in rev 10 0 mm rev 0 394 12 7 mm rev 0 50 in rev H 20 0 mm rev 0 787 in rev Rod Stroke Length 100 100 mm 3 94 in 200 200 mm 7 87 in 300 300 mm 11 81 in 400 400 mm 15 75 in 600 600 mm 23 62 in 800 800 mm 31 50 in Actuator Frame Size 1 32 2 40 3 63 Voltage Rating 230V motors X Actuator cylinder replacement part refer to Actuator Cylinders on page 34 for ordering examples Actuator Type AR Actuator Rod Bulletin Number 1 TL Series his field does not apply to actuator cylinder replacement parts MP AR xxxxxx t Accessory Item Number Accessory
27. d braces from within and around the item After unpacking verify the nameplate catalog number against the purchase order 1 Remove packaging polyethylene foil and cardboard The packing materials are recycleable except for oiled paper which is waste Remove the electric cylinder carefully from its shipping container Consider the weight of the electric cylinder Depending on the design the electric cylinder can weigh up to 15 0 kg 33 07 Ib Visually inspect the electric cylinder for damage Examine the electric cylinder frame piston shaft and hollow bolts for defects Notify the carrier of shipping damage immediately ATTENTION Do not attempt to open and modify the electric cylinder Only a qualified Allen Bradley employee can service the internal working of the electric cylinder or motor Failure to observe these safety precautions could result in personal injury or damage to equipment Planning Your Installation Refer to Kinetix Motion Control Selection Guide publication GMC SG001 for the specifications and additional products referenced in this section This product be operated in compliance with the relevant safety regulations only if the maximum loading limits are observed e If you are mounting your electric cylinder in a vertical or sloping position include safety measures that will control the work load should the spindle nut fail ATTENTION Uncontrolled moving masses can cause
28. d for wear of the spindle nut Wear on the electric cylinder leads in to increased noise If a worn spindle nut breaks on a vertically or diagonally mounted electric ATTENTION 4 cylinder the work load will fall Uncontrolled moving mass cause personal injury or damage to equipment Clean the electric cylinder with a soft cloth if necessary using any non abrasive cleaning solution Lightly dampen a soft cloth with isopropyl alcohol and wipe the piston rod and seal Lubricate the piston rod with a fine layer of LUB KC1 grease from Klueber www klueber com Storage Store your electric cylinder for a minimal amount of time in a clean and dry location within Specifications on page 32 Publication TLAR INOO1A EN P 2009 TL Series Electric Cylinders 27 Troubleshooting Description Possible cause Corrective action Axial play too large Wear Replace actuator cylinder Send to Rockwell Automation for repair Squeaking noises or vibrations Distortions Check the electric cylinder is free of stress and evenly supported lt 0 2 mm 0 008 Lubricate piston rod See Maintenance on page 26 Modify positioning speed Needs tuning Modify control parameters Running noises of the spindle support with strokes 300 mm 11 81 in and high positioning speeds Normal no impairment of function Piston rod does not move Jamming in mechanical end position after travel
29. erly tuned Verify correct motor power wiring Check gain settings Amplifier may be set up improperly for electric cylinder used Check amplifier setting for number of poles voltage current resistance inductance inertia and other motor settings Actuator cannot move load Force is too large for the capacity of the electric cylinder or to much friction is present Verify force requirements Misalignment of piston rod to load Veri load alignment Amplifier has too low current capacity or is limited to too low of current capacity Veri correct amplifier and settings Electric cylinder moves or vibrates when piston rod is in motion Loose mounting Amplifier is improperly tuned wrong gain setting Check electric cylinder mounting Tune amplifier Actuator is overheating Duty cycle is higher than actuator rating Verify load forces and electric cylinder rating Actuator is being operated outside of continuous rating Adjust operation to be within continuous operation rating Amplifier is poorly tuned causing excessive current to be applied to motor Publication TLAR INOO1A EN P 2009 Check gain settings TL Series Electric Cylinders 29 Accessories The following diagram and tables show the available accessories and their weights Refer to the Kinetix Motion Control Selection Guide Publication GMC SG
30. ing at excessive speed or into end position Loosen jamming manually 1 Switch off power supply 2 Remove motor and coupling housing 3 Turn drive shaft Reduce speed for reference travel Provide software end positions at least 0 25 mm 0 01 in from the mechanical end positions stops Load is too large Reduce load mass Reduce positioning speed Return for repairs Ambient temperature too low increased breakaway torque in initial run due to increasing viscosity of the lubricants in the spindle system Reduce load mass Reduce positioning speed If necessary allow higher current with servo motors see operating instructions for the motor Increase ambient temperature Publication TLAR INOO1A EN P 2009 28 5 Electric Cylinders Description No response from electric cylinder Possible cause Controller drive not enable Corrective action Enable controller drive Controller drive faulted Reset the controller drive Improper failed wiring Check the wiring Electric cylinder is enabled but not operating or is operating erratically Feedback cable may be damaged Test the feedback cable Feedback wiring may be incorrect Verify correct feedback wiring Electric cylinder is operating but is not up to rated speeds forces otor phase are wired incorrectly or in incorrect order Amplifier may be improp
31. le is disconnected or if a motor fault is reported by the drive the absolute home position must be re established Tune Your Electric Cylinder with RSLogix 5000 Software This section shows the steps to tune electric cylinders with RSLogix 5000 software version 16 Tuning your electric cylinder requires you to calculate and configure the loop gain based on the actual measured inertia setting travel limits your application minimum deceleration is defined Publication TLAR INOO1A EN P May 2009 22 TL Series Electric Cylinders Follow these steps to tune your electric cylinder 1 2 In the Axis Properties dialog box click the Fault Actions tab Click Set Custom Stop Action TIP These parameter settings work best if the electric cylinder is installed in a horizontal table top or a wall mount vertical orientation In the Custom Stop Action Attributes dialog box set the Brake Engage and the Brake Release delay times to the values listed in Specifications on page 32 Reduce the default Stopping Time Limit from 10 seconds to 0 5 seconds Axis Properties Axis X General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Custom Stop Action Attributes Set Custom Stop Action ane p Tos StoppingTorque 200 31152 Rated StoppingTimeLimit 0 5 Ps user to ensure
32. nd the machine in which it is installed 1 Enter these parameters in the Axis Properties tabs of RSLogix 5000 software for electric cylinder Axis Properties Tab Parameter Entry Selection Drive Motor Motor Catalog Select one from the list Number 1 2 A1xxxB B4A R 1 2 A1xxxE B4A A2xxxC B2A A2xxxC B4A R A2xxxF B2A A2xxxF B4A R 2 A3xxxE B4A A3xxxH B2A R A3xxxH B4A SSS5555555555 Drive Resolution 200 000 Drive Counts per Motor Rev Publication TLAR INOO1A EN P May 2009 18 5 Electric Cylinders Axis Properties Entry Selection with applicable distance unit settings Parameter Tab Metric English Conversion Positioning Mode Linear Setting the Positioning Mode to Rotary can cause damage to the electric cylinder or the machine due to incorrect positioning Conversion 66666 667 drive cnts 1 0 mm for 1693333 3 drive cnts 1 0 in for Constant TLAR x1xxxB B2A TLAR x1xxxB B4A Conversion 20000 drive cnts 1 0 mm for 508000 drive cnts 1 0 in for constant TLAR x1 xxxE BZA TLAR x1 xxxE B4A TLAR x3xxxE B2A TLAR x3xxxE B4A Conversion 40000 drive cnts 1 0 mm for 1016000 drive cnts 1 0 in for C TLAR x2xxx0 B2A TLAR x2xxxC B4A Conversion 15748 0315 drive cnts 1 0 mm for 400000 drive cnts 1 0 in for Constan TLAR x2xxxF B
33. ng from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information 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 Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequences SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may
34. ries motors Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UM001 Information on installing configuring startup and troubleshooting a Kinetix 2000 servo drive system with a TL Series electric cylinder and Kinetix 2000 servo drive Motion Analyzer CD download at http www rockwellautomation com en e tools configuration html Drive and motor sizing with application analysis software Motion Modules in Logix5000 Control Systems User Manual publication LOGIX UM002 Information on configuring and troubleshooting your ControlLogix and CompactLogix SERCOS interface modules System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 Information examples and techniques designed to minimize system failures caused by electrical noise Kinetix Motion Control Selection Guide publication GMC SG001 Rockwell Automation Product Certification Website publication available at http www rockwellautomation com products certification Specifications motor servo drive system combinations and accessories for Kinetix motion control products For declarations of conformity DOC currently available from Rockwell Automation National Electrical Code Published by the National Fire Protection Association of Boston MA You can view or download publications at An article on wire sizes and types for grounding electrical equipment http literature rockwella
35. rod end accessories and the work load Be sure the work load center of gravity is centric to the piston rod ATTENTION Damage may occur to the electric cylinder bearings and the feedback device if sharp impact to the piston rod is applied during installation Do not strike the piston rod with tools during installation or removal Failure to observe these safety precautions could result in damage to the electric cylinder and its components IMPORTANT Do not twist or rotate the piston rod If the piston rod is rotated the absolute position of the electric cylinder will be lost and the absolute home position must be re established When fastening a rod end accessory or work load to the piston rod use two wrenches Use one wrench to tighten the mounting nut or rod end accessory and the other on the piston rod wrench flats to counter act the applied torque Be sure that the torque is not applied to the piston rod and that the piston rod does not rotate Frame Size Piston rod thread Wrench flats width 32 M10 x 1 25 10 mm 40 M12 x 1 25 13 mm 63 M18 x 1 5 17 mm Wrench Flat Do not rotate the piston rod Rotating the piston rod will break the mechanism that lets the electric cylinder extend and retract Use two wrenches to install the work load Failure to observe these safety precautions could result in damage to the electric cylinder and its components i If you are using
36. rom millimeters Dimensions without tolerances are for reference Publication TLAR INOO1A EN P 2009 13 TL Series Electric Cylinders 9 v Heq 6 70 u3 002 PLU 0 0 i 4970 071 OPIN gy orl 0870 pa1e181 st 101510 yum pue PZ suorsuauiig n m Feld snjg SRL 9 9 di EX E HM Tr 201984109 101290007 9yeJg 19M0d 6 1 06 0 6 0001 suoirsueung Y 11818 os 59 awed saapuiA9 2112914 591195 11 Publication TLAR INOO1A EN P 2009 14 TL Series Electric Cylinders TL Series Electric Cylinder Dimensions frame 63 AD HD AM 61 2 2 WH LB 1 Electric Cylinder Cat No LAR A3100E B2A 170 mm in 564 6 22 23 TLAR A3200E B2A 664 6 26 17 LAR A3300E B2A 764 6 30 10 LAR A3400E B2A 864 6 34
37. utomation com To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative Allen Bradley CompactLogix ControlLogix Kinetix Rockwell Automation RSLogix and TL Series Electric Cylinders are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication TLAR INOO1A EN P 2009 PN 814064 Copyright 2009 Rockwell Automation Inc All rights reserved Printed in the U S A
38. wer wires or over the vent openings of servo drives Ground all equipment using a single point parallel ground system that employs ground bus bars or large straps If necessary use additional electrical noise reduction techniques to reduce EMI in noisy environments Refer to System Design for Control of Electrical Noise Reference Manual publication GMC RMOOI for additional information on reducing the effects of EMI Publication TLAR IN0O1A EN P 2009 TL Series Electric Cylinders 7 Build and Route Cables Knowledgeable cable routing and careful cable construction improves system electromagnetic compatibility To build and install cables perform the following steps 1 Keep wire lengths as short as physically possible 2 Route signal cables encoder serial analog away from motor and power wiring 3 Separate cables 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 equipment ATTENTION High voltage can be present on the shield of a power cable if the shield is not grounded Make sure there is a connection to ground for any power cable shield Failure to observe these safety precautions could result in personal injury or damage to equipment Install the Electric Cylinder The installation must comply with all local regulations and use of equipment
39. ylinder Configure the electric cylinder by using the basic parameter settings described in this section Please use the procedure appropriate for your drive ATTENTION Moving parts can cause injuries Before running the electric cylinder make sure all components are secure and safe guards are in place to prevent access to the path of moving machinery Safeguards should prevent access to the electric cylinder until all motion has stopped Check that the electric cylinder is clear of foreign matter and tools Objects hit by the moving piston rod can become projectiles that can cause personnel injury or damage to the equipment IMPORTANT You are responsible to verify that the servo control system safely controls the electric cylinder with regard to maximum force acceleration and speed Publication TLAR INOO1A EN P 2009 TL Series Electric Cylinders 17 ATTENTION Before powering the electric cylinder Configure RSLogix 5000 Software for Electric Cylinder with Kinetix Drives Use the following procedure to configure the drive for your electric cylinder It is assumed the electric cylinder and a Kinetix 2000 drive are installed and wired ATTENTION Incorrect parameter settings may result in uncontrolled motion with the potential for damage to the electric cylinder Initiating a motion command on an electric cylinder with an incorrect Position mode setting may result in damage to the electric cylinder a
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