TLAR-IN001 - Rockwell Automation
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1. 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 Class Designator 230V motors X Actuator cylinder replacement part refer to Actuator Cylinders on page 35 for ordering examples Actuator Type AR Actuator Rod Bulletin Number TL Series his field does not apply to actuator cylinder replacement parts A t Accessory Item Number Accessory Type 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 Rockwell Automation Publication TLAR INOO1C EN P September 2015 4 TLSeries 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 ball screw drive that 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 You can achieve self locking of your motion system by using motors with an integrated brake or with high self braking torque The TL Series electric cylinders have2. TLSeries Electric Cylinders 19 4 Set parameters for either absolute homing or torque level to marker homing as shown in the table Parameter Absolute Homing Torque Level to Marker Homing Value Value Mode Absolute Active Position 0 typical 0 typical Offset N A 0 Sequence Immediate Torque Level to Marker Direction N A Reverse Bi directional Torque Level N A 30 min Greater if the system friction force or weight exceeds 30 of the Continuous Force Rating at any point in the range of motion Speed N A 10 mm s 1 97 in s Return Speed N 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 can damage the electric cylinder when the piston rod reaches the end of travel 5 Do the following for absolute homing a Use motion direct commands to jog your axis slowly to the home location do not exceed 10 mm s 0 4 in s a Issue the Motion Direct Command MAH to set the home position on your axis 6 Click the Limits tab Enter these parameters Parameter Entry Selection with Applicable Distance Unit Settings Hard Travel Limits 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
3. www rockwellautomation com support Configure Your Electric Cylinder Configure the electric cylinder by using the basic parameter settings that are described in this section Use the procedure appropriate for your drive ATTENTION Moving parts can cause injuries Before running the electric cylinder make sure that all components are secure and safe guards are in place to prevent access to the path of moving machinery Safeguards must 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 cause personnel injury or damage to the equipment IMPORTANT Youare responsible to verify that the servo control system safely controls the electric cylinder regarding maximum force acceleration and speed Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSeries Electric Cylinders 17 Configure the Logix Designer Application for Electric Cylinder with Kinetix Drives Use the following procedure to configure the drive for your electric cylinder It is assumed that the electric cylinder and a Kinetix 2000 or Kinetix 350 drive are installed and wired ATTENTION Incorrect parameter settings can 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 s
4. 86 TLAR x3800E xxx 834 64 7 20 9 0 82 TLAR x3100H xxx 938 33 1 29 2 1 149 TLAR x3200H xxx 066 37 6 27 4 1 08 TLAR x3300H xxx 194 42 1 25 9 1 02 TLAR x3400H xxx 322 46 6 24 6 0 97 TLAR x3600H xxx 578 55 7 22 5 0 88 TLAR x3800H xxx 834 64 7 20 9 0 82 IMPORTANT Absolute position is maintained while the motor feedback cable is connected to the drive If the cable is disconnected or if the drive reports a motor fault the absolute home position must be reestablished Tune Your Electric Cylinder with the Logix Designer Application This section shows the steps to tune electric cylinders with the Logix Designer application e Tuning your electric cylinder requires you to calculate and configure the loop gain based on the actual measured inertia e By setting travel limits your application minimum deceleration is defined Follow these steps to tune your electric cylinder 1 In the Axis Properties dialog box click the Fault Actions tab 2 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 Rockwell Automation Publication TLAR INOOTC EN P September 2015 22 TLSeries Electric Cylinders 3 4 In the Custom Stop Action Attributes dialog box set the Brake Engage and the Brake Release delay times to the values listed in Kinetix Linear Motion Spec
5. NE6145 170 6 00 63 MPAR NE10768 500 17 64 63 MPAR NE6146 390 13 76 9 Rod Clevis 32 MPAR NE13569 110 3 88 12 Self aligning 32 MPAR NE6140 210 7 41 corrosion Rod Coupler resistant 40 MPAR NE13570 180 6 35 40 MPAR NE6141 220 7 76 63 MPAR NE13571 400 14 11 63 MPAR NE6142 650 22 93 11 Coupling Piece 32 MPAR NE36125 110 3 88 40 MPAR NE36126 180 6 35 63 MPAR NE36127 250 8 82 Rockwell Automation Publication TLAR INOO1C EN P September 2015 34 TLSeries Electric Cylinders TL Series Electric Cylinders Rod end Accessories continued Accessory Item Cat No Z Stroke Length Weight Approx S mm in kg Ib 13 Rod Guide MPAR NE34494 32 100 3 94 1 7 3 747 MPAR NE34496 200 7 87 1 9 4 19 MPAR NE34497 320 12 60 2 1 4 63 MPAR NE150290 400 15 75 2 3 5 07 MPAR NE34500 40 100 3 94 2 7 5 95 MPAR NE34502 200 7 87 3 0 6 61 MPAR NE34504 320 12 60 3 4 7 49 MPAR NE150291 400 15 75 3 7 8 16 MPAR NE34505 500 19 68 4 0 8 82 MPAR NE34514 63 100 3 94 5 9 13 01 MPAR NE34516 200 7 87 6 4 14 11 MPAR NE34518 320 12 60 7 0 15 43 MPAR NE34519 400 15 75 74 16 31 MPAR NE34520 500 19 68 7 9 17 42 Trunnion Mounting Kit Cat No Frame Torque Size Nem Ib ft MPAR NA163525 32 4 5 29 3 7 MPAR NA163526 40 8 9 5 9 6 6 MPAR NA163528 63 18 20 13 3 14 5
6. P Use Low Profile Connector 2090 K2CK D15M feedback only or 2090 K2CK COMBO feedback and 10 Use 2090 K2CK D15M 3 6V battery 2090 DA BAT2 required for use with TLAR Axxxxx B electric cylinders high resolution 17 bit encoders Turn clamp over to hold small cables secure Rockwell Automation Publication TLAR INOOTC EN P September 2015 38 TLSeries Electric Cylinders Wiring Example of TL Series Electric Cylinder to Kinetix 350 Drive Kinetix 300 2090 CPWM6DF 16AAxx TL Series Electric Servo Drive Power Cable without Brake or Cylinder 2090 CPBM6DF 16Axx Power Cable with Brake Three Phase oP9ERAZSS Motor Power I GREEN YELLOW 5 lt lt 2090 K2CK D15M 3 Motor Power y BLUE 3 ax lap Connector Kit 4 MP Connector y BLACK 2 lt lt 5 U BROWN 1 LU B BROWN DATA 5 6 lt gt gt 14 SS WHT BROWN DATA 10 s Motor Motor 2 GRAY 5VDC 14 9 Feedback Feedback 23 51 WHI GRAY 6 10 6_sy _ ORANGE BAT BAT 11 MF Connector WHT ORANGE BAT BAT 12 m B BLACK BR p y is X WHITE lt lt BR il Brake 2090 CFBM6DF CBAAxx tliz flying lead or a MTR_BRAKE z OH BL Ground 2090 CFBM6DD CCAAxx Onn ctor MTR_BRAKE PE Shield premolded connector qu ie F
7. TLAR INOO1C EN P September 2015 TL Series Electric Cylinders 27 9 Enter the Accel Limit Decel Limit and the User Units by using values from the following table User Units can be entered in rev mm or rev in Your choice determines the unit of measure for the axis Cat No Accel Decel Limits User Units rpm s rev mm rev in TLAR x1xxxB Bxx 120000 33333 8 46667 TLAR x1xxxE Bxx 36000 10000 2 54000 TLAR x2xxxC Bxx 72000 20000 5 08000 TLAR x2xxxF Bxx 28346 0 07874 2 00000 TLAR x3xxxE Bxx 36000 10000 2 54000 TLAR x3xxxH BxXx 18000 05000 1 27000 10 From the Drive Organizer click Homing 11 Enter values from the following table These values are recommended your application can require different values Parameter Metric English Home Accel Decel 10 0000 mm s 0 3937 in s Home Offset 0 0000 mm 0 0000 in Home Velocity Fast 10 0000 mm s 0 3937 in s Home Velocity Slow 10 0000 mm s 0 3937 in s Home Switch Input B1 12 Select the recommend homing method ID 33 Home to marker Reverse 13 Description Home Accel Decel Home Offset Home Velocity Fast Home Velocity Slow Home Switch Homing Status Start Homing ID Home Method 33 IMarker 25 Switch Slow 7 Switch Slow 29 Switch Fast 33 Marker 34 Marker 35 Immediate Click Start Homing Value 10 0000 0 0000 10 0000 10 0000 Input B1 Homed Direction Reverse Forw
8. been designed for exact positioning at high speeds Item Description 1 Power connector 2 Feedback connector 3 TLSeries 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 Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSeries Electric Cylinders 5 Before You Begin Remove all packing material wedges and braces from within and around the item After unpacking verify the nameplate catalog number against the purchase order Remove packaging polyethylene foil and cardboard The packing materials are recyclable except for oiled paper that 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 anomalies 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 Yo
9. cylinder and Kinetix 300 servo drive Kinetix 350 Single axis EtherNet IP Servo Drives User Manual publication 2097 UM002 Information on installing configuring startup and troubleshooting a Kinetix 350 servo drive system with a TLSeries electric cylinder and Kinetix 350 servo drive Motion Analyzer download at http ab rockwellautomation com Motion Control Motion Analyzer S oftware tab2 Drive and motor sizing with application analysis software Motion Modules LogixS000 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 RM001 Information examples and techniques that are designed to minimize system failures that are caused by electrical noise Kinetix Motion Control Selection Guide publication GMC SG001 Product Certifications website http www rockwellautomation com rockwellautomation certificatio n overview page Specifications motor servo drive system combinations and accessories for Kinetix motion control products For declarations of conformity DOC currently available from Rockwell Automation You can view or download publications at http www rockwellautomation com literature order paper copies of technical documentation contact your local Allen Bradley distr
10. 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 a value that is within the piston rod mechanical travel Maximum Negative Enter a value that is within the piston rod mechanical travel Rockwell Automation Publication TLAR INOOTC EN P September 2015 20 TLSeries Electric Cylinders 8 Set overtravel limits according to the maximum speed of the servo drive system and the payload of the application ATTENTION Software overtravel must be set before you initiate the tuning process Check the starting position of the piston rod and allow for adequate travel Insufficient travel while auto tuning causes the software overtravel to trigger or an end stop impact IMPORTANT _ Set travel limits and direction of tuning moves in reference to the piston rod starting position Leave adequate travel for the piston rod to complete its moves while tuning You can determine the deceleration distance before the piston rod contacts the end of travel that is 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 that is specified for end of travel impacts Impact Energy I
11. the electric cylinder evenly so that it is free of mechanical stress and distortion The evenness of support surface must be lt 0 2 mm 0 008 in ATTENTION Do not modify the settings of the screws and the threaded pins Do not fasten the electric cylinder by the front cover alone when used with high loads Heavy tensile strain can cause the screws in the cover to pull out 3 Attach mounting accessories to the electric cylinder see Accessories on page 32 Tighten the fastening screws evenly Attribute Frame 40 Frame 63 Internal thread of cover screws M6 M6 M8 Torque 5 Nem 5 Nem 9 N m 3 69 Ib ft 3 69 Ib ft 5 90 lb ft 1 Unless otherwise noted the torque specification has a 20 tolerance Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSeries Electric Cylinders 9 Attach rod end accessories and the work load Be sure that the work load center of gravity is centric to the piston rod ATTENTION Damage can 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 00 not twist or rotate the piston rod If the piston rod is rotated the absolute position of the electric cylinder is lost and t
12. 00 drive cnts 1 0 in for TLAR x2xxxC B2A TLAR x2xxxC B4A Conversion Constant 15748 0315 drive cnts 1 0 mm for 400000 drive cnts 1 0 in for TLAR x2xxxF B2A TLAR x2xxxF B4A Conversion Constant 10000 drive cnts 1 0 mm for 254000 drive cnts 1 0 in for TLAR x3xxxH B2A TLAR x3xxxH B4A Dynamics Maximum Speed 150 mm s default 157 5 mm s 5 91 in s default 6 20 in s TLAR X1xxxB xxA 500 mm s default 525 mm s 19 68 in s default 20 67 in s TLAR x1xxxE xxA 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 TLAR x2xxxF xxA 000 mm s default 1050 mm s 41 34 in s default 43 41 in s TLARx3xxxH xxA Maximum Acceleration 2 6000 mm s s 236 22 in s s Maximum Deceleration 2 6000 mm s s 236 22 in s s Maximum Use default values or adjust for your application Acceleration Jerk Maximum Use default values or adjust for your application Deceleration Jerk 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 can lead to reduction of life of your actuator Rockwell Automation Publication TLAR INOO1C EN P September 2015 3 Click the Homing tab
13. 16 TLAR A3800E B2A 5 2 33 51 TLAR A1300E B2A 3 1 6 83 2 TLAR A2200F B2A 4 1 9 04 TLAR A3100H B2A 9 3 20 50 TLAR A1400E B2A 34 749 9 TLAR A2300F B2A 4 6 10 14 TLAR A3200H B2A 0 1 22 27 TLAR A2400F B2A 5 1 11 24 TLAR A3300H B2A 0 9 24 03 TLAR A2600F B2A 6 0 13 23 TLAR A3400H B2A 1 7 25 79 TLAR A3600H B2A 3 4 29 54 TLAR A3800H B2A 5 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 electric 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 Cat No Approx Cat No Approx Cat No Approx kg Ib kg Ib kg Ib MPAR X1100B 1048 0100 17479 MPARJGTO0E 38 8 38 MPAR X1200B 4 3 09 MPAR X2200C 2 2 4 85 MPAR X3200E 4 6 10 14 MPAR X1300B J 345 MPAR X2300C 2 6 5 73 MPAR X3300E 5 4 11 90 MPAR X1400B 2 1 4 63 MPAR X2400C 3 1 6 83 MPAR X3400E 6 3 13 89 MPAR X1100E 1 4 63 MPAR X2600C 4 0 8 82 MPAR X3600E 7 9 17 46 MPAR X1200E 4 3 09 MPAR X2100F 1 8 3 97 MPAR X3800E 9 5 20 94 MPAR X1300E 8 3 97 MPAR X2200F 23 5 07 MPAR X3100H 3 8 8 38 MPAR X1400E 2 1 4 63 MPAR X2300F 2 8 6 17 MPAR X3200H 4 6 10 14 MPAR X2400F 3 2 7 05 MPAR X3300H 5 4 11 90 MPAR
14. Coupling Piece Attachment Cat No Frame Max Torque 0 Max Torque 0 Max Torque 8 Size Nem Ib ft Ib ft Nem Ib ft 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 with standard threads and strength class 8 8 Apply torque to mounting screws evenly 2 Torque applies to lock nut on piston rod 3 Torque that coupling can transmit with coefficient of friction 0 1 and 10 x safety margin at maximally permissible tightening torque Rockwell Automation Publication TLAR INOO1C EN P September 2015 TL Series Electric Cylinders 35 Weight Specifications Electric Cylinders weight of cylinder with non brake motor Electric Cylinder Weight Approx Electric Cylinder Weight Electric Cylinder Weight Cat No kg Ib Cat No Approx 9 Cat No Approx 9 kg Ib kg Ib TLAR A1100B B2A 17 3 75 0 TLAR A2100C B2A 3 1 6 83 TLAR A3100E B2A 9 5 20 94 TLAR A1200B B2A 2 0 4 41 0 TLAR A2200C B2A 3 6 7 94 TLAR A3200E B2A 0 3 22 71 TLAR A1300B B2A 24 5 29 0 TLAR A2300C B2A 4 0 8 82 TLAR A3300E B2A 1 1 24 47 TLAR A1400B B2A 27 5 95 0 TLAR A2400C B2A 4 5 9 92 TLAR A3400E B2A 1 9 26 23 TLAR A1100E B2A 24 5 29 2 TLAR A2600C B2A 5 4 11 90 TLAR A3600E B2A 3 5 29 76 TLAR A1200E B2A 28 6 17 2 TLAR A2100F B2A 3 7 8
15. GRAY EOM 1 VVV YY ORANGE BAT BAT WHT ORANGE XX BAT BAT pec SHIELD See Motor Feedback Breakout Board Installation Instruction Publication 2071 003 for proper grounding technique 2090 CFBM6DF CBAAxx flying lead or 2090 CFBM6DD CCAAxx with drive end connector Feedback Cable Rockwell Automation Publication TLAR INOOTC EN P September 2015 40 TL Series Electric Cylinders Additional Resources These documents contain more information concerning related products from Rockwell Automation Resource Description TL Series Servo Motors Installation Instructions publication 003 Information on installing TL Series motors Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UM001 Information on installing configuring starting up and troubleshooting a Kinetix 2000 servo drive system with a TL Series electric cylinder and Kinetix 2000 servo drive Kinetix 3 Component Servo Drives User Manual publication 2071 UM001 Information on installing configuring starting up and troubleshooting a Kinetix 3 servo drive system with a TLSeries electric cylinder and Kinetix 3 servo drive Kinetix 300 EtherNet IP Indexing Servo Drives User Manual publication 2097 UM001 Information on installing configuring starting up and troubleshooting a Kinetix 300 servo drive system with a TLSeries electric
16. Installation Instructions TL Series Electric Cylinders Allen Bradley Catalog Numbers TLAR A1xxxB TLAR A1xxxE TLAR A2xxxC TLAR A2xxxF TLAR A3xxxE TLAR A3xxxH Topic Page Catalog Number Explanation 3 About the TL Series Electric Cylinders 4 Before You Begin 5 Install the Electric Cylinder 7 Mount the Electric Cylinder 10 Dimensions 1 Connector Data 15 Commissioning 16 Maintenance 29 Storage 30 Troubleshooting 30 Accessories 32 Interconnect Diagrams 36 Additional Resources 40 Rockwell Allen Bradley Rockwell Software Automation 2 lt Electric Cylinders Important User Information Read this document and the documents listed in the additional resources section about installation configuration and operation of this equipment before you install configure operate or maintain this product Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes laws and standards Activities including installation adjustments putting into service use assembly disassembly and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In no event will Rockwell Automation Inc be respon
17. September 2015 26 5 Electric Cylinders Configure and Tune Your Kinetix 300 Drive for an Electric Cylinder with MotionView On Board Software In this section you use the MotionView OnBoard software to configure and tune your electric cylinder Configure Your Kinetix 300 Drive These steps assume that an electric cylinder and the Kinetix 300 drive are installed and wired as one axis of a motion system For help using the Kinetix 300 drive as it applies to configuring your electric cylinder refer to Additional Resources on page 40 This procedure assumes that you are familiar with the Kinetix 300 drive 1 Open the MotionView OnBoard software 2 From the Drive Organizer click Motor 3 Verify that your electric cylinder model is displayed in the Motor Model field 4 Click Change Motor The motor model automatically updates to the correct model number M Motionview OnBoard 3 34 RW Test 240 10 91 84 188 DISABLED Allen Bradley Kinetix 300 Connect Save Configuration Load Configuration Restore Defaults RW Test 240 10 91 Motor General Change Motor Communication Ethernet EtherNet IP 5 Click OK then Click Yes 6 Verify that the motor model matches the electric cylinder model that is connected to the drive 7 From the Drive Organizer choose General 8 From the Drive Mode pull down menu choose Indexing Rockwell Automation Publication
18. TLAR A3100H B2A TLAR A3200H B2A TLAR A3300H B2A TLAR A3400H B2A TLAR A3600H B2A TLAR A3800H B2A 17 1 ate a mm in mm in mm in mm in md mm mm in 664 6 26 17 764 6 30 10 864 6 34 04 1064 6 41 91 12686 4979 86 0 560 90 0 360 55 2140 sasaa 5 8 39 02 89 1 26 Jas 1 12 0843 664 6 26 17 764 6 30 10 864 6 34 04 1064 6 41 91 1 If ordering TLAR A3xxxx B4A actuator with brake add 23 0 mm 0 91 in to dimensions L7 and LB 2 The tolerance for this dimension is 1 0 mm 0 039 in WH mm 370 1 46 Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSeries 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 1 25 Reserved 6 BAT Brown Tew 12 Reserved 13 Data Blue 14 Data Blue black 15 21 Reserved 2 EPWR 5V Red 23 ECOM amp BAT Black 24 Shield Drain wire 25 28 Reserved Signal 1 U phase Red 2 V phase White 3 W phase Black 4 Reserved 5 Ground Yellow green and drain wires 6 Reserved 7 MBRK Yellow 8 Rese
19. X2600F 4 2 9 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 Rockwell Automation Publication TLAR INOOTC EN P September 2015 36 5 Electric Cylinders Interconnect Diagrams This is an example diagram for wiring 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 MF o AM Module Three Phase Connector IAM or AM 1 E Motor Power 13 GREEN DATA 5 2 BROWN 1 U gt 14 WHT GREEN X DATA 10 3 Motor Power BLACK 2 lt MP Connector 2 GRAY 5VDC 14 4 MP BLUE 3 w gt 5 lt WHT GRAY 6 6 V ORANGE BAT 7 L GND WHT ORANGE BAT BAT Motor Feedback 2090 CPWMGDF 16AAxx 9 MF Connector Power Cable without Brake or Motor Feedback 10 2090 CPBM6DF 16Axx Power 11 Cable with Brake 12 24 i 13 2 BLACK 8 4 Motor MERE 1 Brake 3 WHITE 7 s 2090 CFBM6DF CBAA 77 1 24V DC flying lead or Connector
20. ard Reverse Reverse Reverse Forward nla Units User Units User Units User Units User Units Sec Logix Type Home to marker Home to sensor Home to sensor Home to sensor Home to marker Home to marker nla Min 0 0000 104038 5083501 0 0000 0 0000 Home Sensor Polarity nla X Inactive Falling Inactive Falling ActivelRising nla nla nla Rockwell Automation Publication TLAR INOOTC EN P September 2015 28 TLSeries Electric Cylinders 14 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 the piston rod starting position Leave adequate travel for the piston rod to complete its moves while tuning ATTENTION Software overtravel must be set before you initiate the tuning process Check the starting position of the piston rod and allow for adequate travel Insufficient travel while auto tuning causes the software overtravel to trigger an end stop impact ATTENTION Care must be taken not to exceed the physical travel limits of the electric cylinder If you exceed the physical travel limits the electric cylinder and impact the mechanical end of stroke you can physically damage the screw and internal components of the electric cylinder You can determine the deceleration distance before the piston rod contacts the end of trav
21. at No TLAR A1100B B2A TLAR A1200B B2A TLAR A1300B B2A TLAR A1400B B2A TLAR A1100E B2A TLAR A1200E B2A TLAR A1300E B2A TLAR A1400E B2A 170 391 5 15 41 491 5 19 35 591 5 23 29 109 1 4 30 110 7 4 36 31 1 511 1 22 2 01 220 26 0 18 0 148 0 26 0 0 87 1 02 0 71 5 83 1 02 43 0 730 1 69 2 87 1 If ordering TLAR A1xxxB 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 L7 and LB 2 The tolerance for this dimension is 1 0 mm 0 039 in TL Series Electric Cylinder Dimensions frame 40 Electric Cylinder 170 1807 Cat mm in mm in TLAR AZ100C B2A 436 0 17 17 TLAR A200C B2A 536 0 21 10 TLAR A2300C B2A 636 0 25 04 im TLAR A2400 B2A 736 0 28 98 TLAR A2600C B2A 936 0 36 85 TLAR A2100 82A 4579 1843 TLAR A2200F B2A 557 9 21 96 TLAR A2300F B2A 657 9 25 90 n TLAR A2400F B2A 757 9 29 84 TLAR A2600F B2A 9579 37 71 60 0 2 36 AD HD AM 61 u 10 WH mm in mm mm mm in mm in mm in mm 43 0 730 24 0 30 0 215 176 5 30 0 1 69 2 87 0 94 1 18 0 85 6 95 1 18 1 If ordering TLAR A2xxxx B4A actuator with brake add 36 1 mm 1 42 in to dimensions L7 and LB 2 The toleranc
22. ation TLAR INOO1C EN P September 2015 TLSeries Electric Cylinders 23 Axis Properties tabades General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit 50 mm Start Tuning Speed 150 mm s DANGER This tuning i procedure may cause axis Torque Force 1000 Rated pes fox Direction Forward Bi directional Damping Factor 7 Tune Position Eror integrator Velocity Error Integrator Friction Compensation Velocity Feedforward Acceleration Feedforward Torque Offset Output Filter 7 Click Start Tuning The Motion Initiation dialog box is displayed 8 Click Yes RSLogix 5000 P Online command may initiate motion Execute online command ATTENTION Motion occurs immediately after clicking Yes Tuning is complete when the Tune Servo dialog box appears Online Command Tune Servo Command Status Command Complete ait for command to complete after axis motion Check for errors if command fails 9 Click OK Rockwell Automation Publication TLAR INOO1C EN P September 2015 24 TLSeries Electric Cylinders The Tune Results dialog box appears Tune Results Position Loop Bandwidth CERESES Hertz Load Inertia Ratio 68707352 Load Inertia Motor Inertia DANGER The Bandwidth determined by the tune proc
23. ay 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 be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures ARC FLASH HAZARD Labels may be on or inside the equipment for example a motor control center to alert people to potential Arc Flash Arc Flash will cause severe injury or death Wear proper Personal Protective Equipment PPE Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment PPE gt gt Rockwell Automation Publication TLAR INOOTC EN P September 2015 TL Series Electric Cylinders 3 Catalog Number Explanation Catalog numbers consist of various characters each identifies a specific version or option for that component Use the catalog numbering chart below to understand the configuration of your actuator TL AR xx xxx A Axial in line 1 Holding Brake 2 No Brake x 4 Motor Mounting 0 4 24V DC Brake x Feedback 1 Multi turn absolute 17 bit encoder battery backed Mechanical Drive Screw Lead Motor Type 3 0 mm rev 0 118 in rev C 5 0 mm rev 0 197 in rev E 10 0 mm rev 0 394 in rev F 12 7 mm rev 0 50 in rev 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
24. continued Accessory Item Cat No Weight Accessory Item Cat No Weight Approx g oz g oz 3 Trunnion Flange 32 MPAR NA174411 130 4 58 3 Trunnion Flange 32 MPAR NA161852 150 5 29 corrosion 40 MPAR NA174412 240 8 46 resistant 40 MPAR NA161853 260 9 17 63 MPAR NA174414 600 21 16 63 MPAR NA161855 640 22 57 4 Trunnion 32 MPAR NA32959 130 4 58 4 Trunnion 32 MPAR NA161874 200 7 05 Support Support 40 MPAR NA32960 400 14 11 corrosion 40 MPAR NA161875 330 11 64 istant 63 MPAR NA32961 480 1693 Finem 63 MPAR NAT61876 440 17 64 6 Foot 32 MPAR NA31761 220 7 76 7 Foot 32 MPAR NA31768 290 10 23 right angle 40 MPAR NA31762 300 10 58 T 40 MPAR NA31769 360 12 70 63 MPAR NA31764 580 20 46 63 MPAR NA31771 880 31 0 TL Series Electric Cylinders Rod end Accessories Accessory Item Cat No Weight Accessory Item Cat No Weight Approx g 02 g oz 8 Rod Eye 32 MPAR NE9261 70 2 47 8 Rod Eye 32 MPAR NE195582 70 2 47 corrosion 40 MPAR NE9262 110 3 53 resistant 40 MPAR NE195583 110 3 53 63 MPAR NE9263 210 7 41 63 MPAR NE195584 210 7 41 10 Rod Clevis 32 MPAR NE32954 140 4 94 9 Rod Clevis 32 MPAR NE6144 110 3 88 40 MPAR NE10767 210 7 41 40 MPAR
25. d running United States or Canada 1 440 646 3434 Use the Worldwide Locator at Outside United States or 2 Canada http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback United States Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Allen Bradley ControlLogix CompactLogix Connected Components Workbench Kinetix MP Series Studio 5000 Logix Designer Rockwell Automation Rockwell Software RSLogix and TL Series are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Rockwell Otomasyon Ticaret 5 Kar Plaza M
26. e for this dimension is 1 0 mm 0 039 in Actuators are designed to metric dimensions Inch dimensions are approximate conversions from millimeters Dimensions without tolerances are for reference Rockwell Automation Publication TLAR INOO1C EN P September 2015 13 TLSeries Electric Cylinders 9 6 0 V jrexog 0500 90 Os POW 0110 090 st 101610 1 pue 7 suolsuawig 4 ipua1 0 Ye HZ 6 Abus JONS 14 0 ux 8 m 15 D TO NS NI 14 lt HM J0pauuo Jopauuo yoeqpae4 3ye1g 19M0d 061 08 65 0001 x L 0 08 V Heg 995 px 8W 91 suoisuawig 3 sropurf uper S M S IL Rockwell Automation Publication TLAR INOO1C EN P September 2015 14 TLSeries Electric Cylinders TL Series Electric Cylinder Dimensions frame 63 Electric Cylinder Cat No TLAR A3100E B2A TLAR A3200E B2A TLAR A3300E B2A TLAR A3400E B2A TLAR A3600E B2A TLAR A3800E B2A
27. ed to prevent uneven tension or flexion at the cable connectors Excessive and uneven lateral force at the cable connectors can result in the connector 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 ATTENTION Damage can 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 breaks the mechanism that lets the electric cylinder 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 Provide sufficient clearances in the area of the electric cylinder for it to stay within its specified operating temperature range See Kinetix Linear Motion Specifications Technical Data publication GMC TD002 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 operating parts are accessible and the breather port is not covered 2 Make sure that the mounting surface supports
28. eedback Cable Clamp Use Low Profile Connector 2090 K2CK D15M only feedback or 2090 K2CK COMBO Use 2090 K2CK D15M 3 6V battery 2090 DA BAT2 required for use with TLAR Axxxxx B electric cylinders high resolution 17 bit encoders Exposed shield secured under clamp Clamp Clamp 5 2 ampsciews 2 Turn clamp over to hold small cables secure Rockwell Automation Publication TLAR IN001C EN P September 2015 Feedback and 10 TLSeries Electric Cylinders 39 Wiring Example of TL Series Electric Cylinder to Kinetix 3 Drive 2090 CPBM6DF 16AAxx Kinetix 3 Servo Motor Power and Brake Cable Drive Use 2090 CPWMGDF 16AAax Cylinder with 0 cable for non brake applications High Resolution 1 Feedback 2 1 5 Motor Power BLUE 3 qe MP Connector BLACK 2 lt H three phase 8 0 BROWN 11 lt Motor Power 9 10 11 Motor Feedback 12 MF Connector Motor Feedback 5 Y m 9 E 16 WHITE 7 MBRK 17 0 00 im 19 Motor Brake 20 48 WIRT Kr pe Shield 24V DC Clamp User Supplied 24V DC 24V DCCOM TL Series Electric 2071 TBMF Motor Feedback Breakout Board with battery installed BROWN DATA f 10 WHT BROWN DATA 13 GRAY 5VDC 20 WHT
29. el based on the deceleration rate of the load and the peak force available from the motor screw combination Use Motion Analyzer software to calculate the minimum deceleration distance at the maximum speed of your application IMPORTANT A positive direction move command denotes a rod extend operation a negative direction move command denotes a retract operation Tune Your Electric Cylinder WV abe Us Open the MotionView OnBoard software Disable the motor From the Drive Organizer choose General From the Drive Mode pull down menu choose Autotune Enable the motor From the Drive Organizer choose Dynamics Click Autotune Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSeries Electric Cylinders 29 The Autotune dialog box appears with the default set to Velocity Tuning ot j 1 Enable switch should be enabled 2 During auto tuning motor shaft can rotate Do not touch it 3 Select input parameters for auto tuning 4 Hit Start Auto tuning button when ready 5 Verify return parameters in dialog box before accepting it B Accept or decline new parameters Position Tuning Velocity Tuning 8 Check Velocity Tuning or Position Tuning or both 9 Click Start 10 To accept the new tuning value click Yes Configure and Tune Your Kinetix 3 Drive for an Electric Cylinder with Connected Components Workbench or Ultraware Software To configure and tune your Kin
30. erkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 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 NV Pegasus Park De Kleetlaan 12a 1831 Diegem 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 IN001C EN P September 2015 PN 814064 Supersedes Publication TLAR IN001B EN P Feburary 2014 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A
31. es Electric Cylinders Troubleshooting continued Description Possible cause Corrective action Actuator is overheating Duty cycle is higher than actuator Verify load forces and electric cylinder rating rating Actuator is being operated outside of Adjust operation to be within continuous continuous rating operation rating Amplifier is poorly tuned causing Check gain settings excessive current to be applied to motor Accessories The following diagram and tables show the available accessories and their weights Refer to the Kinetix Motion Control Selection Guide publication 5 001 for dimensions Mounting Accessories Accessory Item Cat No Weight Accessory Item Cat No Weight Approx g oz 5 g oz 1 Foot Mounting 32 MPAR NA174991 240 8 46 5 Trunnion 32 163525 210 7 41 Kit Mounting Kit 40 MPAR NA174992 310 10 93 40 MPAR NA163526 390 13 76 63 MPAR NA174993 510 17 99 63 MPAR NA163528 890 31 39 2 Flange 32 MPAR NA174376 240 8 46 2 Flange Mounting 32 MPAR NA161846 240 8 46 Mounting corrosion Rr 40 MPAR NA174377 280 9 88 resistant 40 MPAR NA161847 300 10 58 63 MPAR NA174379 690 24 34 63 MPAR NA161849 710 25 04 Rockwell Automation Publication TLAR IN001C EN P September 2015 TL Series Electric Cylinders 33 Mounting Accessories
32. ess is the maximum bandwidth Increasing the bandwidth may cause loop instability Cancel 10 Ifyou satisfied with the tuning results click OK otherwise continue with Calculate and Configure the Loop Gain Calculate and Configure the Loop Gain Calculate a position loop bandwidth that is 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 2 In the Position Loop Bandwidth box type 5 73532 Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSeries Electric Cylinders 25 3 Click OK Tune Results Position Loop Bandwidth 5 73532 Hertz Load Inertia Ratio 6 8707952 Load Inertia Motor Inertia DANGER The Bandwidth determined by the tune process is the maximum bandwidth Increasing the bandwidth may cause loop instability Cancel 4 Click OK on the remaining dialog boxes to apply the values The proper Position Bandwidth results in a stable starting point from that point you can adjust the gains to fit your application requirements Rockwell Automation Publication TLAR INOO1C EN P
33. etix 3 drive by using Connected Components Workbench software or Ultraware software refer to the Kinetix 3 Component Servo Drives User Manual publication 2071 0 001 Maintenance Follow these steps to maintain your electric cylinder 1 Remove power to the electric cylinder and lockout tag out the power source 2 Check the axial play of the piston rod for wear of the spindle nut Wear on the electric cylinder leads to increased noise ATTENTION If a worn spindle nut breaks on a vertically or diagonally mounted electric cylinder the work load falls Uncontrolled moving mass can cause personal injury or damage equipment 3 Clean the electric cylinder with a soft cloth if necessary by using any non abrasive cleaning solution Rockwell Automation Publication TLAR INOOTC EN P September 2015 30 5 Electric Cylinders 4 Lightly dampen a soft cloth with isopropyl alcohol and wipe the piston rod and seal 5 Lubricate the piston rod with a fine layer of LUB KC 1 grease from Klueber http www klueber com Storage Store your electric cylinder for a minimal amount of time in a clean and dry location within specifications found in the Kinetix Linear Motion Specifications Technical Data publication GMC TD002 Troubleshooting Use the Troubleshooting table to troubleshoot your linear actuator Troubleshooting Description Possible cause Corrective action Axial play too large Wear Replace actua
34. etting can result in damage to the electric cylinder and the machine in which it is installed 1 Open the Logix Designer application 2 On the Axis Properties tabs enter these parameters for your electric cylinder Axis Properties Tab Drive Motor Parameter Motor Catalog Number TLAR 1 TLAR A1xxxi TLAR TLAR TLAR TLAR TLAR TLAR Entry Selection Select one from this list TLAR A1xxxB B2A TLAR A1xxxB B4A E B2A E B4A TLAR A2xxxC B2A TLAR A2xxxC B4A 2 4 E B2A E B4A H B2A H B4A Drive Resolution 200 000 Drive Counts per Motor Rev Rockwell Automation Publication TLAR INOOTC EN P September 2015 18 TL Series Electric Cylinders Axis Properties Tab Conversion Parameter Positioning Mode Entry Selection with applicable distance unit settings Metric Linear English Setting the Positioning Mode to Rotary can damage to the electric cylinder or the machine due to incorrect positioning Conversion Constant 66666 667 drive cnts 1 0 mm for 1693333 3 drive cnts 1 0 in for TLAR x1xxxB B2A TLAR x1xxxB B4A Conversion Constant 20000 drive cnts 1 0 mm for 508000 drive cnts 1 0 in for TLAR x1xxxE B2A TLAR x1xxxE B4A TLAR x3xxxE B2A TLAR x3xxxE B4A Conversion Constant 40000 drive cnts 1 0 mm for 10160
35. from electric cylinder Controller drive not enable 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 is damaged Test the feedback cable Feedback wiring is incorrect Verify correct feedback wiring Electric cylinder is operating but is not up to rated speeds forces Motor phase are wired incorrectly or in incorrect order Verify correct motor power wiring Amplifier is improperly tuned Check gain settings Amplifier is 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 too much friction is present Verify force requirements Misalignment of piston rod to load Verify load alignment Amplifier has too low current capacity or is limited to too low of current capacity Verify correct amplifier and settings Electric cylinder moves or vibrates when piston rod is in motion Loose mounting Check electric cylinder mounting Amplifier is improperly tuned wrong gain setting Tune amplifier Rockwell Automation Publication TLAR INOOTC EN P September 2015 32 TLSeri
36. he 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 M10x 1 25 10mm 40 M12x 1 25 13mm 63 16 1 5 17mm Wrench Flat ATTENTION Do not rotate the piston rod during installation Rotating the piston rod breaks the mechanism that lets the electric cylinder extend and retract Use two wrenches to install the work load 48 Failure to observe these safety precautions could result in damage to the electric cylinder and its components If you are using a coupling piece attachment catalog number MPAR NE3612x or trunnion mounting kit catalog number MPAR NA1635xx see Accessories on page 32 for torque values If you are using a rod guide accessory catalog number MPAR NE34xxx or MPAR NE150xxx adjust the guides of the work load and the electric cylinder so that they are exactly parallel By making the components parallel you avoid excessive wear on the guide Rockwell Automation Publication TLAR INOOTC EN P September 2015 10 TL Series Electric Cylinders Mount the Electric Cylinder 1 Use stainless steel fasteners to mount your electr
37. ibutor or Rockwell Automation sales representative Rockwell Automation Publication TLAR INOO1C EN P September 2015 TL Series Electric Cylinders 41 Notes Rockwell Automation Publication TLAR INOO1C EN P September 2015 42 TL Series Electric Cylinders Notes Rockwell Automation Publication TLAR INOO1C EN P September 2015 TL Series Electric Cylinders 43 Notes Rockwell Automation Publication TLAR INOO1C EN P September 2015 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical and application notes sample code and links to software service packs You can also visit our Support Center at https rockwellautomation custhelp com for software updates support chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple support programs for installation configuration and troubleshooting For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com services online phone Installation Assistance If you experience a problem within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your product up an
38. ic 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 Feedback Connector Power Connector 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 can result in personal injury ATTENTION Consider electric cylinder surface temperature when selecting motor mating connections and cables Failure to observe these safety precautions can result in personal injury or damage to equipment ATTENTION Keyed connectors must be properly aligned and hand tightened the recommended number of turns Improper connector alignment requires excessive force such as the need for t tools to fully seat connectors Failure to observe these safety precautions could result in damage to the motor and cable and their components ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexion at the cable connectors Excessive and uneven force at the cable connector can result in damage to the housing and contacts as the cable flexes Failure to observe these safety precautions can result in damage to the motor and its components Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSe
39. ifications Technical Data publication GMC T D002 Reduce the default Stopping Time Limit 10 0 5 seconds General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Set Custom Stop Action StoppingTorque 200 31152 Rated StoppingTimeLimit 05s Modifying fault actions bs user to ensure axis is BrakeEngageDelayTime 00185 bd and disabled to protect BrakeReleaseDelayTime 0 023 s nel machine and property ResistiveBrakeContactDelay 00s P reference user manual for information Close Cancel IMPORTANT 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 Close Click the Tune tab and enter the following parameters e Travel Limit Set to within software limits e Speed velocity e Torque Force IMPORTANT _ Set travel limits and direction of tuning moves in reference to the piston rod starting position Leave adequate travel for the piston rod to complete its moves while tuning ATTENTION Software overtravel must be set before you initiate the tuning process Check the piston rod starting position and allow for adequate travel Insufficient travel while auto tuning causes the software overtravel to trigger or an end stop impact Rockwell Automation Public
40. mpact Energy max TLAR X1xxxx 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 End stop Impact Cat No Extracted Mass Impact Velocity max g oz mm s in s TLAR x1100B xxx 239 8 4 28 9 1 14 TLAR x1200B xxx 308 10 8 25 5 1 00 TLAR x1300B xxx 377 13 9 23 0 0 91 TLAR x1400B xxx 446 15 7 21 2 0 83 TLAR x1100E xxx 269 9 5 27 3 1 07 TLAR 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 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 Rockwell Automation Publication TLAR INOO1C EN P September 2015 TL Series Electric Cylinders 21 End stop Impact continued Cat No Extracted Mass Impact Velocity max g oz mm s in s TLAR x2600C xxx 844 29 8 21 8 0 86 TLAR x2100F xxx 469 16 5 29 2 1 15 TLAR x2200F 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 TLAR x3100E xxx 938 33 1 29 2 1 15 TLAR x3200E xxx 066 37 6 27 4 1 08 TLAR x3300E xxx 194 42 25 9 1 02 TLAR x3400E xxx 322 46 6 24 6 0 97 TLAR x3600E xxx 578 55 7 22 5 0
41. nstruction improves system electromagnetic compatibility EMC Follow these steps to build and install cables 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 that 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 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 Appropriately identify disassembled equipment tagged out and access to electrical power restricted locked out Failure to observe these safety precautions could result in personal injury Rockwell Automation Publication TLAR INOOTC EN P September 2015 8 5 Electric Cylinders ATTENTION Make sure that cables installed and restrain
42. power cables are available in standard cable lengths They provide environmental sealing and shield termination Contact your Rockwell Automation sales office or refer to the selection guide for cables Electric Cylinders with Brake Option The brake option on this servo motor is a spring set holding brake that releases when voltage is applied to the brake coil A separate power source is required to disengage the brake The servo motor controller can apply the power source or it can be done manual operator control If system main power fails holding brakes can withstand occasional use as stopping brakes However it creates rotational mechanical backlash that is potentially damaging to the system increases brake wear and reduces brake life An unpowered electric cylinder requires a brake to maintain its position if the force on the actuator exceeds the Back Drive Force that is listed in Kinetix Linear Motion Specifications Technical Data publication GMC TD002 A brake can be use with the actuator to keep it from back driving typically in vertical applications A brake can be used for safety reasons or for energy savings allowing the actuator to hold position when unpowered IMPORTANT Holding brakes are not designed to stop rotation of the motor shaft nor are they intended to be used as a safety device They are designed to hold a motor shaft at 0 rpm for up to the rated brake holding torque The recommended method of preventing moto
43. pwp 12A may 2090 CFBM6DD CCAAxx 4 4 premolded connector COM User Supplied Feedback Cable Use Low Profile Connector 2090 K2CK D15M feedback only or 2090 K2CK COMBO Use 2090 2 015 Feedback and 10 Exposed shield that is secured under clamp Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSeries Electric Cylinders 37 Wiring Example of TL Series Electric Cylinder to Kinetix 300 Drive 10 11 12 13 14 15 300 Servo Drive Motor Power W MP Connector V U Motor Feedback MF Connector 24V DC 24V DC COM 24V Power Supply Exposed shield that is secured under clamp Clamp Screws 2 Clamp 2090 CPWMGDF 16AAKx TL Series Electric Power Cable without Brake or Cylinder 2090 CPBM6DF 16AxxPower y Cable with Brake Three Phase 2090 K2CK D15M A Motor Power Connector Kit GREEN YELLOW 5 lt BLUE 3 DATA 5 BLACK 2 24 Sp wmmom X o 0 BROWN GM Motor 2 5 8 Feedback 6 BAT WHT ORANGE W BAT BAT 24 SHIELD BLACK 2 ele nee ware Brake 2090 CFBM6DF CBAAxx flying lead or F Ground 2090 CFBM6DD CCAAxx premolded connector e Feedback Cable am
44. r shaft rotation is a four step process first command the servo drive to 0 rpm second verify that the motor is at 0 rpm third engage the brake and fourth disable the drive Disabling the drive removes the potential for brake wear that is caused by a badly tuned servo system oscillating the shaft Rockwell Automation Publication TLAR INOO1C EN P September 2015 TLSeries Electric Cylinders 7 Preventing Electrical Noise Electromagnetic interference EMI commonly called electrical noise can reduce motor performance Effective techniques to counter EMI include filtering the AC power using shielded cables separating the signal cables from power wiring and practicing good grounding techniques Follow these guidelines to avoid the effects of EMI e Isolate the power transformers or install line filters on all AC input power lines e Physically separate signal cables from motor cables and power wiring Do not route signal cables with motor and power wires or over the vent openings of servo drives e Ground all equipment by using a single point parallel ground system that employs ground bus bars or large straps If necessary use more electrical noise reduction techniques to reduce EMI in noisy environments See System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for more information on reducing the effects of EMI Build and Route Cables Knowledgeable cable routing and careful cable co
45. ries Electric Cylinders 11 90 091 5 1 Qpsuej LLP BEL 1 3 m yea 09 0 V ej voeg i gt ST LXCLW 9 ST LXOLW 690 6 6 70 690 64 90 0910 De nm 0910 m 0910 papenai St poi 001510 uM 1 pue fz suoisuauiiq A 7 tpuaJM 1041214 uua sn g 0 8 19 9 pa Allen Grady E HM ayelg JaMog 10129000 061 OS e 0001 x vc0 09 Y gx OW 91 suoisuaung Op pue zg 212913 suoisuawiq Rockwell Automation Publication TLAR INOOTC EN P September 2015 12 TLSeries Electric Cylinders TL Series Electric Cylinder Dimensions frame 32 B AD HD AM 2 wu mm in mm in mm in mm in mm in mm in mm in mm in mm in 73 5 2 89 76 1 Electric Cylinder C
46. rved 9 MBRK Blue Tyco AMP 206152 1 Tyco AMP 206705 2 ATTENTION Be sure that cables are installed and restrained to prevent uneven tension or flexion at the cable connectors Excessive and uneven force at the cable connector can 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 Rockwell Automation Publication TLAR INOOTC EN P September 2015 16 TL Series Electric Cylinders Commissioning This section provides guidelines for using the Studio 5000 Logix Designer application to configure your electric cylinder servo drive system Required Files Firmware revisions and software versions that are required to support the electric cylinders include the following e Kinetix 2000 multi axis drives Firmware revision 1 096 or later Studio 5000 Logix Designer application For RSLogix 5000 software version 16 xx Use Motion Database file version 4_18_0 or later For RSLogix 5000 software version 17 xx or later Use Motion Database file version 5 9 0 or later e Kinetix 3 component servo drive Connected Components Workbench software Kinetix 350 single axis EtherNet IP servo drive Logix Designer application Kinetix 300 EtherNet IP Indexing Servo Drive Logix Designer application e Motion Analyzer software version 4 70 or later Download these files from http
47. sible or liable for indirect or consequential damages resulting 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 WARNING 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 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 consequence gt gt IMPORTANT Identifies information that is critical for successful application and understanding of the product Labels may also be on or inside the equipment to provide specific precautions SHOCK HAZARD Labels m
48. tor 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 in Lubricate piston rod See Maintenance on page 29 Modify positioning speed Needs tuning Modify control parameters Running noises of the spindle Normal no impairment of function support with strokes 300 mm 11 81 in and high positioning speeds Rockwell Automation Publication TLAR INOO1C EN P September 2015 TL Series Electric Cylinders 31 Troubleshooting continued Description Piston rod does not move Possible cause Jamming in mechanical end position after traveling at excessive speed or into end position Corrective action 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 No response
49. ur Installation See Kinetix Linear Motion Specifications publication GMC TD002 for the specifications and more products that are referenced in this section This product can be operated in compliance with the relevant safety regulations only if the maximum loading limits are observed ATTENTION The electric cylinder is not intended to be used in applications where side loading occurs Loads must be guided and supported Align the load with the line of motion of the piston rod Side loading reduces the lifetime of the electric cylinder If you are mounting your electric cylinder in a vertical or sloping position include safety measures that control the work load if the spindle nut fails ATTENTION Uncontrolled moving masses can injure or damage to property If there is a spindle nut fracture inside the electric cylinder due to wear the working mass drops down Check whether more external safety measures are required to prevent damage in the event of a spindle nut fracture Corrosive environments reduce the service life of electric cylinders Depending on the work load the piston rod can bend See the piston rod deflection specifications for limitations Motor feedback auxiliary feedback and I O connector kits are not included but can be purchased separately Rockwell Automation Publication TLAR INOOTC EN P September 2015 6 5 Electric Cylinders e Factory manufactured feedback
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