Parker Daedal 412LXR Series, Product Manual

Page 1: ...Manual No 100 5322 01 Rev 3 412LXR Series Product Manual Effective October 1 2009 Supersedes February 23 2007 Electromechanical Positioning Systems Automation Daedal ...

Page 2: ...d or used for any purpose not expressly authorized by the owner thereof Since Parker Hannifin Corporation Daedal Division constantly strives to improve all of its products we reserve the right to change this product manual and equipment mentioned therein at any time without notice For assistance contact Parker Hannifin Corporation Daedal Division 1140 Sandy Hill Road Irwin PA 15642 Phone 724 861 8...

Page 3: ... SURFACE REQUIREMENTS 24 MOUNTING METHODS 24 SIDE AND INVERTED MOUNTING CONCERNS 25 SETTING TRAVEL LIMIT SENSORS 25 SETTING HOME SENSOR 25 SETTING HOME SENSOR 26 Z CHANNEL POSITION REFERENCE 26 GROUNDING SHIELDING 26 CABLING 27 CHAPTER 4 PERFORMANCE 28 ACCELERATION LIMITS 28 SPEED LIMITS 29 ENCODER ACCURACY AND SLOPE CORRECTION 29 THERMAL EFFECTS ON ACCURACY 31 THERMAL EFFECTS ON REPEATABILITY 32 ...

Page 4: ...duct Manual Revision Notes 4 Revision Notes Rev 2 Effective February 23 2007 Updated grease information to Shell Alvania RL2 was Daedal Grease type 1 Rev 3 Effective October 1 2009 Added Aries and Compax3 Cable options ...

Page 5: ...owing guidelines for handling and mounting of your new positioner DO NOT allow the positioner to drop onto the mounting surface Dropping the positioner can generate impact loads that may result in flat spots on bearing surfaces or misalignment of drive components DO NOT drill holes into the positioner Drilling holes into the positioner can generate particles and machining forces that may effect th...

Page 6: ...e too HOT to handle Electrical Shock DO NOT take apart or touch any internal components of the positioner while unit is plugged into an electrical outlet SHUT OFF power before replacing components to avoid electrical shock High Magnetic Field Unit may be HAZARDOUS to people with Pace Makers or any other magnetically sensitive medical devices Unit may have an effect on magnetically sensitive applic...

Page 7: ...cation except motion of a standard unit before failure is 5 40 Degrees C Specifications are Mounting Surface Dependent Catalog specifications are obtained and measured when the positioner is fully supported bolted down and is mounted to a work surface that has a maximum flatness error of 0 013mm 300mm 0 0005 ft Specifications are Point of Measurement Dependent Catalog specifications and specificat...

Page 8: ... See Holes C Spaces 100 0 D See Notes C Spaces 100 0 D See Notes 64 8 2 55 A 2 300 0 11 81 285 0 11 22 313 0 12 32 Ctr d 335 0 13 19 Ctr d 12 3 0 48 100 0 3 94 30 0 1 18 Ø6 8 Ø0 27 106 0 4 17 16 9 0 67 260 0 10 24 Ctr d 120 0 4 72 Ctr d Ø8 0 Ø0 32 C L C L 266 0 10 47 100 0 3 94 T Slot for M2 5 Sq Nut Limit Trigger Mtg B Mtg Holes M8 x 1 25 Tapped Bottom Mounting M6 x 1 0 Cap Top Mounting T Slots f...

Page 9: ...412LXR Series Product Manual Chapter 2 412LXR Series Table Specifications 9 Chapter 2 412LXR Series Table Specifications Order Number Nomenclature ...

Page 10: ...412LXR Series Product Manual Chapter 2 412LXR Series Table Specifications 10 Dimensional Drawings ...

Page 11: ...1 0 um 1 0 um 2 0 um 10 0 um Maximum Force Peak 1000 N 225 lb Maximum Force Continuous 355 N 80 lb Carriage Weight 12 3 kg Travel Dependent Specifications Accuracy Positional Travel mm 0 1 0 5 1 0 resolution um 5 0 resolution um Straightline Accuracy um Unit Weight kg 150 8 18 9 41 250 12 22 14 45 350 16 26 19 49 650 26 36 33 61 800 31 41 39 67 1000 35 45 47 75 1200 39 49 55 83 1500 44 54 64 95 17...

Page 12: ...harts are used to establish the table life relative to the applied loads Table Load Chart The Table Load chart is intended to provide a rough cut evaluation life load characteristics of the carriage support bearings This curve is based on the applied load being centered on the carriage normal to the carriage mounting surface Bearing Load Chart The Bearing Load chart is to be used in conjunction wi...

Page 13: ... in conjunction with the corresponding formulas on the following pages to establish the life load for each bearing 4 per table Several dimensions and the load geometry are required for these computations The dimensions are referenced below 412LXR Bearing Life VS Load Side 100 1000 10000 100000 0 100 200 300 400 500 600 700 Load Per Bearing kg Life Per Bearing km 412LXR ...

Page 14: ...412LXR Series Product Manual Chapter 2 412LXR Series Table Specifications 14 ...

Page 15: ...0 mm d2 192 mm d3 50 mm da 43 mm d4 da db 173 6 67 2 2 4 4 3 d d L P P compression Kgf 0 37 2 4 1 3 3 1 d d L L P P s s side load Kgf 5 0 2 4 1 3 4 2 d d L L P P s s side load Kgf The normal and side force components on each bearing block are computed from the equations as shown Life for each bearing needs to be evaluated independently For bearings with a side load refer to the combined equivalent...

Page 16: ...ed in Daedal s vertical laminar flow work station which utilizes ULPA filters to produce an environment having a cleanliness of class 1 prior to testing Tables were tested in a variety of orientations with sampling both below the table and at the carriage mounting surface Laminar flow rate is 0 65 inches W C Standard Clean Room Preparation Stringent cleaning and handling measures Clean room rated ...

Page 17: ...arriage 12 3 Kg Rated Winding Temp 125 C watt Winding Class H 1 25o C ambient 90o C Winding Temperature 2 Measured with a 0 70 mm gap 3 Measured Line to Line 10 4 Value is measured peak of sine 5 30 Line to Line inductance bridge measurement 1Khz 6 Initial winding temperature must be 60o C or less before Peak Current is applied 7 DC current through a pair of motor phases of a trapezoidal six state...

Page 18: ...ollector Current Sinking 20 mA Max Gemini Drive Specifications Description Specification Drive Input Power Voltage Phase Frequency 24V Keep Alive Optional 96 265 VAC 1Ø 50 60 Hz 24 VDC 20 Drive Output Power Bus Voltage Switching Frequency Continuous Current Peak Current Commutation 170 or 340 VDC 8 16 16 32 or 20 40 kHz User selectable 12 Amps 30 Amps Sinusoidal Command Inputs Velocity and Torque ...

Page 19: ...w 85 VAC Shutdown fault at 131o F 55o C Standards UL cUL CE LVD CE EMC Limit and Home Sensor Specifications Description Specification Input Power 5 to 24 VDC 60 mA Output Output form is selectable with product Normally Closed Current Sinking Normally Open Current Sourcing Normally Closed Current Sourcing Normally Open Current Sourcing All types Sink or Source maximum of 50 mA Repeatability Limits ...

Page 20: ... 5 VDC Hall 11 13 12 5 4 9 10 9 Hall 2 Hall 3 Temp Hall 1 9 8 5 4 Positive Limit 2 1 6 7 6 4 5 3 Ch Z Ch Z Ch B Ch B Ch A 1 2 Ch A 5 VDC Enc Ground Home D E C 7 6 2 1 Limit Home 5 Pin Connector Negative Limit 5 to 24 VDC A B Motor Wires 6 Pin Connector User Defined 5 User Defined User Defined User Defined User Defined 8 9 7 6 User Defined User Defined User Defined User Defined 2 4 3 1 Phase B Grou...

Page 21: ...Z Brown 7 Ground Enc Black 8 5 VDC Hall White Blue 9 Hall 1 White Brown 10 Hall 2 White Orange 11 Hall 3 White Violet 12 Temp Yellow Orange 13 Temp Yellow Orange 14 Ground Hall White Green 15 Extension Cable Limit and Home Connections Function Cable Wire Color 412LXR Connector Male 5 Pin Connector 5 to 24 VDC Red A Negative Limit Blue B Positive Limit Orange C Home Green D Ground Black E Extension...

Page 22: ...UE Z ORANGE Z BROWN TEMP YELLOW ORANGE TEMP YELLOW ORANGE 5 HALL WHITE BLUE GROUND WHITE GREEN HALL 1 WHITE BROWN HALL 2 WHITE ORANGE HALL 3 WHITE VIOLET SHIELD GREEN YELLOW OEM Gemini Encoder Connector Function Cable Wire Color Pin 5 RED 1 GROUND BLACK 3 A WHITE 5 A YELLOW 6 B GREEN 7 B BLUE 8 Z ORANGE 9 Z BROWN 10 TEMP YELLOW ORANGE 12 TEMP YELLOW ORANGE 13 5 HALL WHITE BLUE 14 GROUND WHITE GREE...

Page 23: ...TE BROWN 9 TEMP YELLOW ORANGE 10 B BLUE 11 B GREEN 12 HALL 2 WHITE ORANGE 13 HALL 3 WHITE VIOLET 14 SHIELD SHIELD SHIELD CASE GROUND WHITE GREEN JUMPED TO 3 5 HALL WHITE BLUE JUMPED TO 5 OEM Compax3 Encoder Connector Function Cable Wire Color Pin SENSE WHITE GREEN 1 SENSE WHITE BLUE 2 HALL 1 WHITE BROWN 3 5 RED 4 TEMP YELLOW ORANGE 5 HALL 2 WHITE ORANGE 6 A YELLOW 7 A WHITE 8 HALL 3 WHITE VIOLET 9...

Page 24: ...urface can be shimmed to comply with these requirements If mounting conditions require that the table base is overhung table specifications will not be met over that portion of the table Additionally in X Y Systems the overhung portion of the Y axis may not met specifications due to the additional error caused by deflection and non support of the base Contact Daedal for guidelines on specification...

Page 25: ...own from your application requirements Velocity limits should be set in your program or in your amplifier to cause a fault if the speed exceeds this value The maximum deceleration is a factor of load and available peak force of the table Using F ma calculate maximum acceleration and then required deceleration distance See the following example for calculating maximum deceleration for an applicatio...

Page 26: ... to be toward the positive end of the table See Chapter 2 Dimensional Drawing for positive direction definition The repeatability of the Z channel is equal to 2 resolution counts of the encoder except for 0 1 micron scales which have a repeatability of 1 microns Thus the repeatability of the Z channel equals Encoder Resolution Z Channel Repeatability 5 micron 10 micron 1 micron 2 micron 0 5 micron...

Page 27: ... Replacement for replacement P N s and a detailed procedure of the replacement process Un harnessed OEM Cable System This option provides high flex round cables directly from the carriage This option is provided for applications where the design of the machine already has a cable management system Four cables come from the carriage connector motor encoder Hall effect limit home sensor and auxiliar...

Page 28: ...ting factor unless loading is significantly cantilevered causing high moment loads during accelerations Chapter 2 412LXR Series Technical Data to determine bearing load life for your application Available Motor Force This is the primary factor that reduces acceleration This is simply the amount of motor force available to produce acceleration The larger the inertial and or frictional load the lowe...

Page 29: ...d increases Chapter 2 412LXR Series Technical Data Encoder Accuracy and Slope Correction Encoder Accuracy The 412LXR Series makes use of an optical linear tape encoder for positional feedback This device consists of a readhead which is connected to the carriage and a steel tape scale which is mounted inside the base of the 412LXR The linearity of this scale is 3 microns per meter however the absol...

Page 30: ...LETE SLCORR PROGRAM DEF SLCORR DEFINE SLCORR PROGRAM VAR2 VAR1 1000 0 085 VAR2 EQUALS DESIRED DISTANCE IN METERS TIMES THE SLOPE FACTOR mm meter Step 3 VAR3 VAR1 VAR2 SUBTRACT SLOPE ERROR FROM DESIRED DISTANCE Step 4 D VAR3 SET DISTANCE AS VAR3 END END SUBROUTINE In the example above the required move distance is 880 mm But the LXR has a slope error of 0 085mm per meter This is a positive slope er...

Page 31: ... mm Accuracy microns Travel mm Accuracy microns 150 8 1200 39 250 12 1500 44 350 16 1750 46 650 26 2000 50 800 31 2500 50 1000 35 3000 50 Thermal Effects on Accuracy All specifications for the 412LXR are taken at 20 C Variation from this temperature will cause additional positional errors If the base of the 412LXR varies from this temperature the encoder scale will expand or contract thus changing...

Page 32: ... is the air temperature that surrounds the 412LXR Application or Environment Sources These are mounting surfaces or other items which produce a thermal change that effect the temperature of the 412LXR base i e Machine base with motors or other heat generating devices that heat the mounting surface and thus thermally effect the 412LXR base Motor heating from 412LXR Since the 412LXR uses a servo mot...

Page 33: ...is case the system must be exercised through its normal operating cycle The temperature of the base should be measured and recorded from the beginning cold until the base becomes thermally stable This base temperature should be used in a compensation equation Below is the fundamental thermal compensation equation Cd Id Id Te T Cd Corrected displacement mm Id Incremental displacement mm Te Thermal ...

Page 34: ...es are shown for the A4 drive only and the A5 drive controller options With an Aries or Gemini GV Drive and a 6K controller 412LXR Aries or Gemini GV Drive 6K Controller Feedback cable Motor power cable Encoder Cable Drive Cable Limit Cable With a Gemini GV6 Drive Controller 412LXR Gemini GV6 Drive GEM VM50 Breakout Module Feedback cable Motor power cable Limit cable With a Compax3 Drive Controlle...

Page 35: ...ion Wire Color Pin Encoder Wires Ch A White 5 Ch A Yellow 6 Ch B Green 7 Ch B Blue 8 Ch Z Orange 9 Ch Z Brown 10 Ground Black 3 4 5 VDC Red 1 2 Shield Green Yellow Shield Cover Hall Signal Wires Hall Gnd White Green 15 Hall 5V White Blue 14 Hall 1 White Brown 16 Hall 2 White Orange 17 Hall 3 White Violet 18 Shield Green Yellow Shield Cover Temperature Switch Temp Switch Yellow 12 Temp Switch Yello...

Page 36: ...l even pins are connected to logic ground Function Wire Color LXR Pin 5 to 24VDC Red A Limit Blue B Limit Orange C Home Green D Ground Black E LXR Limit Home Cable P N 006 1742 0X VM25 Module Color scheme of the flying leads from the Limit Home Cable P N 006 1742 0X Axes 1 4 use the first 25 pin limits home connector and axes 5 8 use the second limits home connector on the 6K External 24 VDC Suppl...

Page 37: ...ss Procedure The following procedure outlines the steps required to access the interior of the positioner Remove carriage end caps by removing eight 8 M6 Socket Head Cap Screws 4pc carriage side Pull carriage end caps off Carriage end caps on both sides of carriage must be removed Remove the two 2 strip seal cover plates ...

Page 38: ...Socket Head Cap Screws 2pc clamp Carefully pull the strip seal through the carriage Caution The strip seal ends are VERY SHARP Carefully lift one end of the top cover so that it clears the edge of the end block Push the top cover through the carriage and set aside Remove one end block by removing four 4 M6 Socket Head Cap Screws ...

Page 39: ...d tightening screws on the side with the encoder tape scale If the tape is damaged the linear encoder will not function properly and the table may run away Reassemble positioner by reversing steps Note When installing the strip seals to the unit completely tighten one clamp while the leaving the other side loose Thread but do not tighten the screws on the other end Pull the clamp away from the car...

Page 40: ...on chips etc and replenish according to inspection results Lubricant Application Locate the two grease fittings on the side of the carriage Apply one pump of grease into each fitting Move the carriage 700 mm to ensure the grease is evenly dispersed After bearings are relubricated check encoder tape scale located on inside wall of table If the tape scale is dirty clean with lint free cloth removing...

Page 41: ...avoid bending the connectors Disconnect all of the cables attached to the transport module and locate the four 4 M2 Button Head Screws at the corners of the cover plate Remove the screws and gently pull on the cover plate to reveal the internal wiring Remove two 2 M3 Button Head Cap Screws that attach the module to a T nut The T nut secures the module to the table Replacement modules are mounted b...

Page 42: ...off taking care to pull straight off to avoid bending the connectors Remove the four 4 M2 Button Head Screws that attach the connector housing top to its base Locate the limit home wire connection and disengage the connector Remove the two 2 T6 Torx Flat Head Screws that attach the limit home switch to the cable carrier Replacement switches are mounted by reversing steps ...

Page 43: ...tor increasing the stiffness is simply a matter of gain and current Thus the spring rate of a linear motor driven system can be many times that of a ball screw driven device However it must be noted that this is limited by the motor s peak force the current available and the resolution of the feedback Zero Backlash Since there are no mechanical components there is no backlash There are however res...

Page 44: ...or fatigue failures Light Weight Forcer Because of its aluminum body construction the slotless linear motor forcer weight is approximately 2 3 that of an equivalent iron core linear motor Thus resulting in higher throughput in light load applications Lower Attractive Forces The slotless design has a backiron causing attractive forces between the forcer and the rail However this attractive force is...

Page 45: ...n objects of 12 5 mm diameter and larger 3 Protection against access to hazardous parts with a tool and protection against solid foreign objects of 2 5 mm diameter and larger Second Number The second number indicates protection of internal equipment against harmful ingress of water 0 No special protection provided Note Number Indicators above represent only a partial list of IP Rating specificatio...

Page 46: ... as follows Using the supplied aluminum foil disks cover all counter bored base mounting holes that are not covered by your mounting surface The disks should be installed from the outside of the unit Depending on the travel length some disks will not be used Using the supplied aluminum foil disks plug all unused carriage mounting holes that are not covered by the load or load plate Using the suppl...

Page 47: ...ffect 27 35 44 Signal Wires 35 Specifications 18 Home Sensor Connections 23 Setting 26 Specifications 19 Home Switch 9 Horizontal Translation 15 Ingress Protection Rating 45 Internal Access Procedure 37 Internal Protection 45 Limit Sensor Connections 23 Specifications 19 Limit Switch 9 Linear Motor 43 Specifications 17 Lubrication 37 40 Maintenance 37 Maximum Obtainable Deceleration Rate 25 Motor ...