APPLICATION NOTE: INTEGRATING SERIES C&D MOTORS WITH ALLEN-BRADLEY ULTRA 3000i DRIVES AN-0130 Rev B Date: August 6, 2009 Model Numbers with LCB Option 40202C 40204C 40206C 40202D 40204D 40206D 50202C 50204C 50206C 50202D 50204D 50206D Moog Components Group Springfield Operations 750 West Sproul Road Springfield, PA 19064 Ph: 610-328-4000, Toll Free: 800-510-6855 Fx: 610-605-6216 2009 E-mail: mcg@moog.com Web-site: www.moog.
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Table of Contents: 1. SAFETY:......................................................................................................................... 5 2. WARNINGS, CAUTIONS AND NOTES:................................................................... 5 3. SCOPE: ........................................................................................................................... 7 4. EQUIPMENT AND INTERCONNECTIONS:........................................................... 4.1.
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AN-0130 1 4 of 22 Revision B Safety: The Moog motor is capable of producing high forces and velocities. Always follow appropriate safety precautions when installing and applying these motors. Equipment should be designed and utilized to prevent personnel from coming in contact with moving parts and electrical contacts that could potentially cause injury. Read all cautions, warnings and notes before attempting to operate these devices.
AN-0130 5 of 22 Revision B The following is a list of warnings and cautions that must be observed when working with Moog High Force Linear Motors. ! WARNING: This equipment contains HIGH ENERGY PERMANENT MAGNETS. Do not attempt to disassemble. Serious damage to property or injury to person may result. Keep ferrous materials away from the motor. ! WARNING: Improper Servo tuning can cause uncontrolled motion of the Moog motor.
AN-0130 3. 6 of 22 Revision B Scope: This manual contains the basic information needed to use Moog C&D series motors with Allen-Bradley Ultra 3000i Intelligent Positioning Drives to run basic motion profiles. The basic systems outlined in this manual include: 1) The standard response IP-2C system for applications not requiring high precision, or with large masses. 2) The high response IP-2D system for applications requiring high precision and high accelerations.
4. Equipment and Interconnections: This section describes the equipment and interconnections in the Standard Response C and High Response D Series systems.
4.1. Moog Integration Packages The Moog Integration Packages IP-2C and IP-2D are all-inclusive packages consisting of an Allen Bradley Ultra 3000i Drive, Interconnection Cables, Control Pendant, 24 VDC Power Supply and Software needed to run a Moog “C” or “D” series Linear Motor with the LCB encoder option.
4.1.2. High Response “D” System (IP-2D) Components: Component 1. Motor (one of): Part Number 50202DxxT-LCB-CV 50204DxxT-LCB-CV 50206DxxT-LCB-CV 40202DxxT-LCB-CV 40204DxxT-LCB-CV 40206DxxT-LCB-CV 2. Integration Package 1C: a. Motor Drive: b. Motor Drive Cable: c. Feedback Cable: d. Temp Sensor Cable: e. Communication Cable: f. Ultraware Software: g. Moog Data Disk: h. Motor Users Manual: i. Linear Encoder Users Manual: j. Application Note: k. Control Pendant : l.
4.2.2. Installing Ultraware: Installing Ultraware is very similar to installing most standard software. Follow the Allen-Bradley installation instructions contained in Allen-Bradley Publication 2098-IN002A-EN-P (Provided with Ultraware). Be sure to install a “typical” setup type not “compact”. Installation Instructions: http://www.ab.com/manuals/gmc/2098-IN002A-EN-P-JUN00.pdf 4.2.3.
Figure 4.4 Interconnections of IP-2C / IP-2D systems.
4.4.1. Power Cable Termination Factory supplied motor power cables (MPC-30-25-3 for “C” series systems or MPC-60-25-3 for “D” series systems) are designed to be terminated at the drive during installation. A small portion of the cable jacket is removed which exposes the shield braid. The exposed area must be clamped to the front of the drive chassis (refer to Figure 4.2.2.
4.4.3.1. Pendant Connection: The Control Pendant is wired to a 44-pin connector for CN1 no additional connection is needed on the pendant. 4.4.3.2. 24VDC Power: The drive I/O requires a separate 24 VDC power supply. Connect the 24VDC power supply to the Pigtail on the 44-pin CN1 connector. 4.4.3.3. Over Temperature Sense Cable: One end of the Over Temperature Sense cable TSC-01-25 is prewired to the 44pin CN1 connector. Connect the other end to the motor Over Temperature Sense connector on the motor.
5. Creating Basic Motion with the System: After the system has been connected per section 4 and all the relevant Allen-Bradley instructions contained in the Ultra 3000i Installation Manual 2098-IN003C-EN-P have been followed the system is ready to begin motion. At this point the Moog motor should not be connected to any load and the shaft should be fully retracted. Before applying power ensure that no damage or injury will occur if shaft moves rapidly to full extension. Installation Manual: http://www.ab.
7. The system will again give an information message stating that presets are ignored. Select OK . 8. The system will begin to search for attached drives. After the software has counted to 3 select Stop Scan. 9. At this point the system should show a series of folders each with a drive in the work space. The top folder is On-Line Drives containing a 3k drive with bottom folder Off-Line Drives containing 3k MOOG-Demo. 10. Drag and drop the Off-Line Drive 3k MOOG-Demo onto the On-Line Drive 3k icon. 11.
5.1.3. Inserting Moog Motor Parameters: Power up the drive and Establish communications between the host computer and the Allen-Bradley drive in accordance with Allen-Bradley Ultraware Users Manual 2098-UM001D-EN-P. Drive communication is described in Chapter 1. Communication is established when a 3K Ultra Drive icon appears on the tree. Users Manual: http://www.ab.com/manuals/gmc/2098-UM001D-EN-P-AUG01.pdf Load the appropriate Moog motor into the Ultra 3000i drive: 1. Click on the Windows Start button 2.
NOTE: When the load is attached the shaft moving mass will need to be changed to the total mass of the shaft plus load. 5.2. Setting Initial Tuning Values: Basic tuning parameters need to be set in the Ultra 3000i drive to for basic motion to occur. The Moog motor parameters need to be loaded into the Ultra 3000i drive. This is accomplished through the following steps: 1. Open the Tuning window by clicking on Tuning icon under Ultra 5K. 2. Expand the Velocity Regulator Gains by clicking on the + .
5.3.1. Description of Pendant: 1. Disable/Enable: In the Disable position the system is disabled from moving electronically by the drive. When put into the Enable position the drive will find home initially and will be ready for a commanded sequence. 2. Enable Fault Indicator: Green indicates the system is enabled and ready to start a sequence. Red indicates a fault has occurred. Off indicates that the system is not enabled or has no power. 3.
6. Tuning System: The tuning parameters entered in Section 5.3 are basic parameters used to create motion that is not necessarily precise. The system should be tuned in accordance with the AllenBradley instructions. Do not expect the system to have precise motion with the initial tuning parameters. ! AN-0130 WARNING: Improper Servo tuning can cause uncontrolled motion of the Moog motor.
Appendix-A: (Revision History) ECO # 0130 AN-0130 Revision A B Change Initial Release Change to Moog 21of 22 Date 12/09/03 8/10/09 Revision
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