User Manual LDC-Series Iron Core Linear Servo Motors Catalog Numbers LDC-C030xxx-xHT11, LDC-C050xxx-xHT11, LDC-C075xxx-xHT11,LDC-C100xxx-xHT11, LDC-C150xxx-xHT11 LDC-C030xxx-xHT20, LDC-C050xxx-xHT20, LDC-C075xxx-xHT20, LDC-C100xxx-xHT20, LDC-C150xxx-xHT20 LDC-M030xxx, LDC-M050xxx, LDC-M075xxx, LDC-M100xxx, LDC-M150xxx, LDC-030-xxx-CP, LDC-050-xxx-CP, LDC-050-xxx-CP, LDC-075-xxx-CP, LDC-100-xxx-CP, LDC-150-xxx-CP
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://www.rockwellautomation.com/literature/) describes some important differences between solid-state equipment and hard-wired electromechanical devices.
Summary of Changes This manual contains new and updated information. New and Updated Information This table contains the changes made to this revision.
Summary of Changes Notes: 4 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Table of Contents Preface About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Chapter 1 Safety Considerations Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Chapter 5 Wire the LDC-Series Linear Motor Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connect the Linear Motor Coil. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Signal and Wire Definitions for Flying Lead Components . . . . . . . . . . . Linear Motor Coil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hall Effect Module . . . . . . . . . . . . . .
Table of Contents Appendix B Interconnect Diagrams Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Wiring Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Appendix C Sin/Cos Linear Encoder and Kinetix 6000 Drives Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Kinetix 6000 Drive Feedback Connection. . .
Table of Contents Notes: 8 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Preface About This Publication This manual provides detailed installation instructions for mounting, wiring, and maintaining your LDC-Series iron core linear servo motors. Who Should Use This Manual This manual is intended for engineers or technicians directly involved in the installation, wiring, and maintenance of LDC-Seriesiron core linear motors.
Preface Resource Description Rockwell Automation Product Certification Website, publication available at http://www.ab.com For declarations of conformity (DoC) currently available from Rockwell Automation National Electrical Code. Published by the National Fire Protection Association of Boston, MA. An article on wire sizes and types for grounding electrical equipment Industrial Automation Wiring and Grounding Provides general guidelines for installing a Guidelines, publication 1770-4.
Chapter 1 Safety Considerations Introduction This chapter describes the safety issues encountered while using a linear motor and the precautions you can take to minimize risk. Potential hazards discussed here are identified by labels affixed to the device. Labels Topic Page Labels 11 High Energy Magnets 13 Vertical or Incline Installation 14 Operational Guidelines 15 Here you will find the safety and identification labels affixed to your linear motor components.
Chapter 1 Safety Considerations Table 2 - Identification Labels Title Location Label Details Coil Nameplate B This nameplate shows the coil catalog number, serial number, operating voltage, and frequency. Magnet Track Nameplate C This nameplate shows the magnet track catalog number, serial number, operating voltage, and frequency. RoHS Compliant D LDC-Series linear motor components are RoHS compliant.
Safety Considerations High Energy Magnets Chapter 1 Linear motor magnets contain high energy magnets that attract ferrous metals from a considerable distance. Precautions must be taken while unpacking, handling, and shipping by air. Unpacking and Handling Unpack magnet tracks one at a time. Repack magnet tracks after inspection and before they are stocked or staged for installation. Leave protective wrapping, cardboard, and flux containment plates in place until the magnet track is installed.
Chapter 1 Safety Considerations Vertical or Incline Installation A linear motor driven system mounted vertically or on an incline will not maintain position when the power is removed. Under the influence of gravity, the motion platform and its payload will fall to the low end of travel. Design engineers should allow for this by designing in controlled power-down circuits or mechanical controls to prevent the linear motor driven system and its payload from being damaged when the power fails.
Safety Considerations Operational Guidelines Chapter 1 Please read and follow the guidelines shown here to safely operate the linear motor created from these linear motor components. ATTENTION: Observe maximum safe speed. Linear motors are capable of very high forces, accelerations, and speeds. The maximum obtainable acceleration and speed is based on the drive output (bus voltage and current settings).
Chapter 1 Safety Considerations Notes: 16 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Chapter 2 Start Introduction Use this chapter to become familiar with the linear motor components, their maintenance needs, and their configuration.
Chapter 2 Start Catalog Number Explanation An iron core linear motor is comprised of a coil and one or more magnet tracks. The following keys show the catalog definition for the LDC-Series linear motors.
Start Linear Motor Components Chapter 2 Use the diagrams and descriptions to identify the unique components of the linear motor. Figure 1 - Components of Iron Core Motor Coil and Magnet Track 1 LDC-C075120-xHT11 Motor Coil Shown 2 LDC-M050500 Magnet Track Shown 7 6 5 4 3 Component Number Component Description 1 Iron core motor coil Copper coils are contained in an epoxy form. When powered, the coil interacts with the flux field of the magnet track.
Chapter 2 Start Design Consideration The information provided here is critical to using linear motor components. Design your system to comply with the following points to run safely and successfully. Motor Air Gap Maintaining the air gap is critical to proper installation and operation of the linear motor components. Use the coil, and magnet drawing in Appendix A on page 61 to calculate the installation envelope dimension.
Start Chapter 2 Bumpers, Shock Absorbers, or End Stops Include in your design a mechanical stop at each end of travel. Design the stops so they can prevent the moving mass from leaving its travel limits. Take into consideration the maximum speed and inertia of your moving mass when designing your mechanical stops. The following diagram shows a minimal system with mechanical stops.
Chapter 2 Start Maintenance Linear motors require no maintenance when operated in relatively clean environments. For operation in harsh and dirty environments, we recommend cleaning every 6 months. Clean the metallic debris and other contaminants from the air gap. Use a strip of masking tape to remove the metal debris. Apply a strip of tape on the magnet track and then remove it. Keeping the magnet track clean will prevent witness marks.
Chapter 3 Install the LDC-Series Linear Motor Introduction In this section you will unpack, inspect, and install your linear motor components by creating your own linear motor. Unpacking and Inspection Topic Page Unpacking and Inspection 23 Installing Linear Motor Components 24 Mount a Single Coil with Multiple Magnet Tracks 24 Mount a Single Coil with a Single Magnet Track 29 Read the following guidelines to handle magnet tracks carefully.
Chapter 3 Install the LDC-Series Linear Motor Installing Linear Motor Components Use one of the following procedures to install the magnet track or tracks and the motor coil. Required Tools • Aluminum straight edge • Non-magnetic M4 or M5 hex wrench • Magnet channel alignment tool IMPORTANT TIP The alignment tool is shipped attached to the cables next to the Hall effect module. Remove before operating the linear motor.
Install the LDC-Series Linear Motor Chapter 3 3. Verify the dimension of the opening for the magnet track, coil, and cooling plate if used. 4. Remove all burrs and clean the motor coil mounting surface. 5. Position the carriage toward the end of travel where you want the cable to exit. 6. Install the motor under the carriage, using M5 x 0.8 bolts that extend through the slide by at least 12 mm (0.5 in.), but no more then 20 mm (0.7 in.). 7. Tighten the screws but do not torque.
Chapter 3 Install the LDC-Series Linear Motor 8. On the opposite end of the base, install the first magnet track using M5 x 0.8 x 16 mm Socket Head Captive Screw (SHCS). Do not tighten screws. IMPORTANT Use non-magnetic tools and hardware such as beryllium copper, 300 series stainless steel. If not available proceed with care since ferrous items will be attracted to the magnet tracks. 9. Install additional magnet tracks.
Install the LDC-Series Linear Motor Chapter 3 10. Move the carriage with motor coil installed over the installed magnet tracks. There may be some resistance while moving onto the tracks, this is normal. 11. Measure the gap between the motor coil and magnet track using plastic shim stock. The gap should be 0.79 mm (0.031 in.) to 1.70 mm (0.067 in.). If gap is too large, add a brass or a stainless steel shim between the motor coil and carriage.
Chapter 3 Install the LDC-Series Linear Motor 14. Align the magnet tracks with an aluminum straight edge, and the supplied alignment tool. Aluminum Straight Edge Alignment Tool 15. Place the alignment tool in the holes on each of the magnet tracks. 16. Align the edges of the magnet tracks with the aluminum straight edge and tighten the bolts. 17. Position the carriage over the complete sections and continue aligning the remainder of the magnet tracks.
Install the LDC-Series Linear Motor Chapter 3 Mount a Single Coil with a Single Magnet Track Follow these steps to install a single coil with single magnet track. 1. Install the magnet track by using M5 x 0.8 x 16 mm SHCS. 2. Remove any burrs and clean the motor-coil mounting surface. 3. Install the motor coil under the carriage, by using M5 x 0.8 screws that extend through the carriage by at least 12 mm (0.5 in.), but no more than 20 mm (0.7 in.). 4. Tighten screws but do not torque them. 5.
Chapter 3 Install the LDC-Series Linear Motor There will be resistance from magnetic forces while moving onto the bearing pucks; this is normal. 6. Attach the carriage assembly to the bearing pucks. 7. Measure the gap between the motor and magnet by using plastic shim stock. The gap should be 0.79…1.70 mm (0.031…0.067 in.). If the gap is too large, add a brass or stainless steel shim between the motor and carriage. If the gap is too small, machine the carriage or place shims under the bearing pucks.
Install the LDC-Series Linear Motor Chapter 3 8. Torque all screws to the values listed in the table, securing assemblies in place by using all mounting holes. SHCS Torque SHCS Black Oxide Steel N•m (lb•ft) Stainless Steel N•m (lb•ft) M5 9.5 (7.0) 6.36 (4.7) ATTENTION: Remove the alignment tool and make certain all the magnet-track mounting hardware is flush or below the magnet surface to prevent damage to the coil.
Chapter 3 Install the LDC-Series Linear Motor Notes: 32 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Chapter 4 LDC-Series Linear Motor Connector Data Introduction This chapter provides power, thermistor, and Hall effect cable-connector information for the linear motor coil and Hall effect module.
Chapter 4 LDC-Series Linear Motor Connector Data Linear Motor Coil Connectors There are two connectors on the linear motor coil, catalog number LDC-xxxxxxxx-xxT11; the power connector and the Positive Temperature Coefficient (PTC) thermistor. Power Connector The following tables identifies the power signals for the DIN-style circular connector.
LDC-Series Linear Motor Connector Data Hall Effect Module Connectors Chapter 4 The following tables show the pinouts of the LDC-Series linear motors with the Hall effect module, catalog number LDC-xxxxxxx- xHTxx. Feedback Connector These are the feedback connector pinouts .
Chapter 4 LDC-Series Linear Motor Connector Data PTC Thermistor Connector These are the thermal protection connector pinouts . Pin Description Signal 1 PTC thermistor sensor + TS+ 4 Reserved – 3 PTC thermistor sensor - TS- 4 3 1 Mates with PTC thermistor connector on linear motor coil. Encoder Connector These are the encoder connector pinouts.
Chapter 5 Wire the LDC-Series Linear Motor Introduction This section shows you how to wire your LDC-Series linear motor. Connect the Linear Motor Coil Topic Page Connect the Linear Motor Coil 37 Signal and Wire Definitions for Flying Lead Components 40 Making Your Own Extension Cables 41 Mounting and Wiring Two Identical Coils in Tandem 42 Use the following procedure to connect your linear motor, catalog number LDC-xxxxxxx-xHT11. 1.
Chapter 5 Wire the LDC-Series Linear Motor b. If using thread type connectors, leave the o-ring in place. ATTENTION: Remove the o-ring when using a quick-connect connector. The o-ring will block the locking mechanism, rendering it ineffective. A threaded connector will fit on the male connector with or without the o-ring. If the o-ring is not used on a threaded connector, the connection will eventually vibrate loose. c. Align flats on each connector.
Wire the LDC-Series Linear Motor Chapter 5 ATTENTION: Be 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 motor or encoder. d.
Chapter 5 Wire the LDC-Series Linear Motor Signal and Wire Definitions for Flying Lead Components For linear motors, catalog numbers LDC-xxxxxxx-xxT20, wire them by using the wiring diagram on page 79. Wire colors and signal types are shown here; for wire gauge information see page 71. Linear Motor Coil These are the wire colors and signals for the linear motor-coil power and thermal protection cables, catalog numbers LDC-xxxxxxx-xxT20.
Wire the LDC-Series Linear Motor Chapter 5 Hall Effect Module This table shows the signal and wire colors for the Hall effect module with flying leads, catalog number LDC-HALL-F. Making Your Own Extension Cables Color Signal Signal Spec Red +V 5…24V DC Hall supply, 20 mA. Black VRTN Hall effect signal common. White S1 Blue S2 Orange S3 Silver braid Cable shield – Terminate at drive end per drive manual instructions.
Chapter 5 Wire the LDC-Series Linear Motor Mounting and Wiring Two Identical Coils in Tandem This type of installation requires a custom motor-database file, which is available upon request. Contact Application Engineering at 631.344.6600 to request this file. These tables and figures show the wiring and spacing for two identical coils mechanically top mounted to the same plate and driven by one amplifier.
Wire the LDC-Series Linear Motor Chapter 5 Cables Exit in the Center If mounting coils in tandem, such that the power cables exit in the center as shown, use the following table to find the mounting distance and the phase wiring. Figure 4 - Mounting Two Coils with Cables Exit in the Center Coil #1 is the master. L Coil #1 Hall Effect Module Coil #2 Table 6 - Phase Wiring for Center-exit Power Cables L mm (in.) Coil # 1 Master(1) Coil # 2 Slave(2) Amplifier Phase 133.33 (5.
Chapter 5 Wire the LDC-Series Linear Motor Cables Exit on Opposite Ends If mounting coils in tandem such that the power cables exit opposite to each other as shown, use the following table to find the mounting distance and the phase wiring. Figure 5 - Mounting Two Coils with Cables Exit on Opposite Ends L Coil #1 is the master. Coil #2 Coil #1 Table 7 - Phase Wiring for Opposite End-exit Power Cables L mm (in.) 100.00 (3.94) 133.33 (5.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor Introduction Before You Begin This section covers the set up and connection verification of a linear motor with either Kinetix 6000, Kinetix 6500/6200, Kinetix 2000, or Ultra3000 drives.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor When the motor power and Hall sensor wiring is connected as shown in the wiring diagrams in Appendix A, the positive direction of motion is defined as the motor coil moving toward its power cable. This diagram shows positive motion for both a moving coil and a moving magnet track.
Configure and Start Up the LDC-Series Linear Motor Chapter 6 • Ultra3000 drives –Firmware revision 1.52 or later –Motor Database, motor_03_18_09.mdb or later – Motion Analyzer software, version 4.7 or later Download these files from http://www.rockwellautomation.com/support. Contact Rockwell Automation Technical Support at 440.646.5800 for assistance. Follow These Steps The following flow chart illustrates the required steps.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor Set Up the Connection to a Kinetix 6000, Kinetix 6500/ 6200, or Kinetix 2000 Drive This procedure configures the Kinetix 6000, Kinetix 6500/ 6200, or Kinetix 2000 drive for your linear motor and encoder combination. For help in setting up your linear motor with RSLogix 5000 software, refer to Additional Resources on page 9. This procedure assumes you are familiar with RSLogix 5000 software. 1. Click the Driver/Motor tab. 2.
Configure and Start Up the LDC-Series Linear Motor Chapter 6 Using the screen image as a reference, configure the parameters as shown in the Setting column. Parameter Setting Comment Loop Configuration Position Servo – 200 5 µm encoder 500 2 µm encoder 1000 1 µm encoder 2000 0.5 µm encoder 10,000 0.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor 5. Using the screen image as a reference, configure the parameters as shown in the Setting column. Parameter Setting Comment Feedback Type TTL or Sin/Cos For RSLogix 5000 software, version 16 TTL with Hall or Sin/Cos with Hall For RSLogix 5000 software, version 17 50 5 µm encoder 125 2 µm encoder 250 1 µm encoder 500 0.5 µm encoder 2500 0.
Configure and Start Up the LDC-Series Linear Motor Chapter 6 Figure 9 - RSLogix 5000 Software, Version 17.00 and Later, TTL Encoder Figure 10 - RSLogix 5000 Software, Version 17.00 and Later, Sin/Cos Encoder 6. Click OK to sets the values. 7. Click the Units tab. 8. Using the screen image as a reference, configure the parameters as shown in the Setting column. Parameter Setting Position Units mm Average Velocity Timebase 0.25 s You can change position units to inches, or other units, on this tab.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor 9. Click OK to set the values. 10. Click the Conversion tab. 11. Using the screen image as a reference, configure the parameters as shown in the Setting column. Parameter Setting Comment Positioning Mode Linear – Conversion Constant 200 5 µm encoder 500 2 µm encoder 1000 1 µm encoder 2000 0.5 µm encoder 10,0000 0.1 µm encoder 51200 20 µm pitch Sin/Cos encoder 25600 40 µm pitch Sin/Cos encoder 12. Click OK.
Configure and Start Up the LDC-Series Linear Motor Set Up the Connection to an Ultra3000 Drive Chapter 6 This procedure configures the Ultra3000 drive for your linear motor and encoder combination. For help using Ultraware software as it applies to setting up your linear motor, refer to Additional Resources on page 9. This procedure assumes you are familiar with Ultraware software. 1. Open your Motor Configurator Utility. 2. Select the linear motor catalog number. 3. From the Edit menu, choose Duplicate.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor 10. From the Workspace dialog box, select Motor. 11. Click Motor Model. 12. Choose the model you created from the pull-down menu. If using an incremental encoder, you are finished. For Sin/Cos encoders, continue with steps 12 and 13. 13. From the Workspace dialog box, select Encoders. 14. Click Motor Encoder Interpolation. 15. Select a value from the pull-down menu.
Configure and Start Up the LDC-Series Linear Motor Verify Motor Encoder Direction Chapter 6 In this section, you use the monitor tags to evaluate the encoder installation. 1. Disable the drive. 2. Note the ActualPostion tag value. 3. Move the axis in the positive direction. See page 45 for definition for positive direction. 4. Verify that the ActualPostion tag value increases as the axis moves.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor Verify Motor Encoder Resolution This test compares the physically measured distance to the distance calculated by the software. It also verifies the encoder setting in the RSLogix 5000 software. 1. Measure and mark a fixed distance of travel on the axis. 2. Record the ActualPosition tag value with carriage at the starting position. 3. Move the carriage to the end position. 4. Record the ActualPosition tag value. 5.
Configure and Start Up the LDC-Series Linear Motor Chapter 6 3. Click OK. 4. Click Test Marker. Refer to your encoder user documentation for the location and frequency of markers. 5. Position the coil so that it can move 60 mm (2.36 in.) in the forward or reverse direction. 6. Click Test Feedback. Move the axis by hand at least 60 mm (2.36 in.) when prompted.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor 8. Click the Tune tab. WARNING: Large Position Error Tolerances, such as those calculated by the Auto Tune function in the RSLogix 5000 programming software, or when configuring a new axis with the RSLogix 5000 software, can lead to undetected and repetitive high-energy impacts against axis end stops if proper precautions are not in place.
Configure and Start Up the LDC-Series Linear Motor Chapter 6 10. Click the Homing tab. 11. From the Sequence pull-down menu, choose Switch-Marker, or Torque Level-Marker when a repeatable power-up position is desired. Typical linear TTL and Sin/Cos encoders will home repeatability to within one count of resolution when their index mark is used.
Chapter 6 Configure and Start Up the LDC-Series Linear Motor Additional Adjustments for Cooling Plate Option If your linear servo motor has the cooling plate option installed, catalog number LDC-xxxxxx-CP, follow these steps to adjust Continuous Torque/Force Limit. 1. Click the Limits tab. 2. Set the Continuous Torque/Force Limit to reflect the motor cooling configuration. For linear motors, this field data entry is limited to integer values from 0…150%.
Appendix A Specifications and Dimensions Introduction This appendix provides product specifications and mounting dimensions for your LDC-Series iron core linear servo motor components Topic Page Performance Specifications 62 General Specifications 68 Product Dimensions 71 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 61
Appendix A Specifications and Dimensions Performance Specifications These tables provide performance specifications for the LDC-Series iron core linear servo motors. Common Performance Specifications These performance specifications apply to all LDC-Series iron core linear servo motors. Attribute Value Motor type 3 phase, wye winding, synchronous permanent magnet stator, non-ventilated linear motor Operating speed, max 10 m/s (32.
Specifications and Dimensions Appendix A Performance Specifications Motor performance specifications are with sinusoidal commutation. Cooling options include NC (no cooling), AC (air cooling), and WC (water cooling). Table 8 - LDC-Series Iron Core Linear Motors (30 mm frame size) Attribute Units Symbol LDC-C030100-DxTxx LDC-C030200-DxTxx LDC-C030200-ExTxx NC AC WC NC AC WC NC AC WC 93 (21) 111 (25) 148 (33) 185 (42) 222 (50) 148 (33) 185 (42) 222 (50) 0.72 0.50 1.12 0.72 0.
Vp/m/s (Vp/in/s) Apk (A rms) Apk (Arms) Ohms mH N (lbf) Back EMF constant p-p (5) (6) (7) Current, peak (4) (6) Current, continuous (1) (2) (3) (6) Resistance p-p @ 20 °C (68 °F) (5) (7) Inductance p-p (5) (7) Magnetic attraction (8) Fa L R20 Ic Ip Ke Kf Rth Fp Fc 690 (155) 36 3.76 3.9 (2.8) 11.7 (8.3) 35.8 (0.91) 30.3 (6.8) 1.44 302 (68) 119 (27) NC 4.9 (3.5) 0.92 149 (34) AC 5.9 (4.2) 0.64 179 (40) WC 1379 (310) 18 1.88 7.9 (5.6) 23.3 (16.5) 35.8 (0.91) 30.3 (6.
Ohms Resistance p-p @ 20 °C (68 °F) (5) (7) (1) (2) (3) (4) (5) (6) (7) (8) N (lbf) Fa L R20 Ic Ip Ke Kf Rth Fp Fc 0.37 435 (98) AC 0.26 523 (117) WC 523 (117) NC 2000 (450) 24 2.47 7.7 (5.4) 22.9 (16.2) 53.7 (1.37) 45.5 (10.2) 9.6 (6.8) 11.5 (8.1) 95 9.88 3.8 (2.7) 11.5 (8.1) 107.5 (2.73) 91.0 (20.5) 4.8 (3.4) 5.7 (4.1) 2999 (674) 16 1.65 11.5 (8.1) 35.6 (25.1) 53.7 (1.37) 45.5 (10.2) 0.39 0.58 348 (78) NC 0.58 0.26 523 (117) WC 14.4 (10.2) 0.
°C/W Thermal resistance Apk (Arms) Ohms mH N (lbf) Current, continuous (1) (2) (3) (6) Resistance p-p @ 20 °C (68 °F) (5) (7) Inductance p-p (5) (7) Magnetic attraction (8) Fa L R20 Ic Ip Ke Kf Rth Fp Fc 0.21 843 (190) AC 0.15 1012 (227) WC 899 (202) NC 3930 (883) 20 2.04 11.1 (7.9) 34.3 (24.2) 71.7 (1.82) 60.7 (13.6) 13.9 (9.8) 16.7 (11.8) 184 18.36 3.7 (2.6) 11.4 (8.1) 215.0 (5.46) 182.0 (40.9) 4.6 (3.3) 5.6 (3.9) 5240 (1178) 15 1.53 14.8 (10.5) 45.7 (32.
N (lbf) °C/W N/Apk (lbf/Apk) Vp/m/s (Vp/in/s) Apk (A rms) Apk (Arms) Ohms mH N (lbf) Force, peak (4) Thermal resistance Force constant (5) (6) (7) Back EMF constant p-p (5) (6) (7) Current, peak (4) (6) Current, continuous (1) (2) (3) (6) Resistance p-p @ 20 °C (68 °F) (5) (7) Inductance p-p (5) (7) Magnetic attraction (8) Fa L R20 Ic Ip Ke Kf Rth Fp Fc 7860 (1768) 22 2.12 14.1 (10.0) 45.2 (32.0) 107.5 (2.73) 91.0 (20.5) 0.20 3498 (786) 1281 (288) NC 17.6 (12.4) 0.
Appendix A Specifications and Dimensions Table 13 - These tables provide weight, heat sink, environmental, and cooling plate specifications for LDC-Series iron core linear motors. General Specifications Weight Specification Table 14 - Weight Specifications - Motor Coil with Flying Leads and Cooling Plate Cat. No. Coil Weight, approx. kg (lb) Cat. No. Cooling Plate Weight, approx. kg (lb) Coil and Cooling Plate (combined) Weight, approx. kg (lb) LDC-C030100-DHT20 1.41 (3.1) LDC-030-100-CP 0.
Specifications and Dimensions Appendix A Table 16 - Weight Specifications - Motor Magnet Track Cat. No. Magnet Track Weight, approx. kg (lb) LDC-M030100 0.47 (1.02) LDC-M050100 0.66 (1.46) LDC-M075100 0.90 (1.98) LDC-M100100 1.14 (2.51) LDC-M150100 1.62 (3.57) LDC-M030500 2.35 (5.12) LDC-M050500 3.32 (7.28) LDC-M075500 4.5 (9.92) LDC-M100500 5.7 (12.57) LDC-M150500 8.08 (17.81) Carriage Weight and Heat Sink Area Requirements Cat. No. Required Heat Sink Area cm2 (in.
Appendix A Specifications and Dimensions Cooling Plate Flow Rate Specifications Cat. No. Coil Cat. No. Cooling Plate Air Flow Rate (1) L/min (ft3/hr) Water Flow Rate (3) bar (psi) LDC-C030100-xxxxx LDC-030-100-CP N/A (2) N/A (2) LDC-C030200-xxxxx LDC-030-200-CP N/A (2) N/A (2) LDC-C050100-xxxxx LDC-050-100-CP N/A (2) 0.41 (6) LDC-050-200-CP N/A (2) 0.48 (7) LDC-050-300-CP N/A (2) 0.55 (8) LDC-075-200-CP N/A (2) 0.48 (7) LDC-075-300-CP N/A (2) 0.
Specifications and Dimensions Product Dimensions Appendix A LDC-Series iron core linear servo motor components are designed to metric dimensions. Inch dimensions are conversions from millimeters. Untoleranced dimensions are for reference.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 W W M H M H M5 x 0.8 15 (0.59) total depth, threads start at 5 (0.20). See table for hole quantity. M5 x 0.8 15 (0.59) total depth, threads start at 5 (0.20). See table for hole quantity. E L D C B A 66.67 (2.625) Thermistor Cables Flying Leads Motor Power Flying Leads Hall Effect Module Flying Leads Cooling plate assembly shown for reference. See table on page 73 for flatness of coil mounting surface. 1000 ±20 (39.4 ±0.8) 33.
– – C mm (in.) – – – – – – D mm (in.) – – – – – – – – E mm (in.) – – – – – – – – – – – F mm (in.) 133.33 (5.249) 233.33 (9.186) 333.33 (13.123) 433.33 (17.060) 500.00 (19.686) 566.66 (22.310) 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – 133.33 (5.249) 200.00 (7.874) 266.67 (10.499) – 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – 133.33 (5.249) 200.00 (7.874) 266.67 (10.499) – 100.00 (3.937) 166.67 (6.562) – 133.33 (5.249) 200.00 (7.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 185.00 +1.00 -0.00 (7.283 +0.039 -0.000) 32.50 (1.280) 60.00 (2.362) 120.00 (4.724) Refer to the table on page 75 for lettered 32.50 (1.280) 185.00 +1.00 - 0.00 120.00 (4.724) (7.283 +0.039 60.00 -0.000) (2.362) L E D C B A Cooling plate Hall Effect Module Flying Leads Thermistor Cables Flying Leads Motor Power Flying Leads 1000 ± 20 (39.4 ± 0.8) 30.00 (1.181) 33.65 assembly shown (1.325) for reference.
L mm (in.) 434.0 (17.09) 634.0 (25.31) Cat. No. LDC-C150400-xHTxx LDC-C150600-xHTxx 133.33 (5.249) 133.33 (5.249) A mm (in.) 233.33 (9.186) 233.33 (9.186) B mm (in.) 333.33 (13.123) 300.00 (11.811) C mm (in.) 433.33 (17.060) 366.67 (14.436) D mm (in.) 500.00 (19.686) – E mm (in.) Table 18 - LDC-Series Iron Core Linear Motor Coil Dimensions (LDC-C150xxx-xHTxx) 566.66 (22.310) – F mm (in.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 130.0 (5.12) 180.0 (7.09) LDC-M100500 LDC-M150500 Tolerance for L dimension is ±0.25 mm (±0.010 in.). Tolerance for Y dimension is ±0.08 mm (±0.003 in.). Tolerance for H dimension is ±0.16 mm (±0.006 in.). Specified flatness is in the free state. 105.0 (4.13) LDC-M075500 (1) (2) (3) (4) 80.0 (3.15) 60.0 (2.36) LDC-M030500 LDC-M050500 180.0 (7.09) LDC-M150100 475.00 (18.70) 130.0 (5.12) LDC-M100100 499.0 (19.65) 105.0 (4.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 – B mm (in.) – C mm (in.) – – – – – – A – – 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – 133.33 (5.249) 233.33 (9.186) 333.33 (13.123) 433.33 (17.060) 500.00 (19.686) 566.66 (22.310) LDC-100-600-CP 634.0 (25.31) – – – – – – – – F mm (in.) – 66.67 (2.625) M mm (in.) T mm (in.) 4.0 (0.157) S T 60.00 20.00 73.4 (2.362) (0.787) (2.89) 40.00 17.50 50.8 (1.575) (0.689) (2.00) 25.00 12.50 38.1 (0.
Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 B mm (in.) C mm (in.) D mm (in.) E mm (in.) B 133.33 (5.249) 233.33 (9.186) 333.33 (13.123) 433.33 (17.060) 500.00 (19.686) A mm (in.) C LDC-150-600-CP 634.0 (25.31) L mm (in.) See table for hole quantity. Ø 5.50 (0.216) L D 133.33 (5.249) 233.33 (9.186) 300.00 (11.811) 366.67 (14.436) – 15.00 (0.591) 60.00 (2.362) E LDC-150-400-CP 434.0 (17.09) Cat. No. 120.00 (4.724) F 66.67 (2.625) 566.66 (22.310) – F mm (in.
Appendix B Interconnect Diagrams Introduction Wiring Examples This appendix provides wring examples to assist you in wring an LDC-Series linear motor to an Allen-Bradley drive.
Appendix B Interconnect Diagrams Figure 20 - Wiring Example for Kinetix 6000, Kinetix 6500/6200 or Kinetix 2000 Drives and LDC-xxxxxxx-xHT11 Linear Motor with a TTL Encoder Kinetix 2000, Kinetix 6500/ 6200 or Kinetix 6000 IAM (inverter) or AM Module U V Motor Power W (MP) Connector LDC-Series Linear Motor Coil Brown Black 1 2 Blue Green/Yellow 3 4 11 12 13 8 6 14 10 5 4 3 2 1 WHT/Orange Blue N/C WHT/Blue Yellow WHT/Yellow GND Motor Power Cable Note 2 TS+ N/C WHT/Gray TSS1 S2 S3 ECOM +5V DC IMIM
Interconnect Diagrams Appendix B Figure 21 - Wiring Example for Kinetix 6000, Kinetix 6500/6200or Kinetix 2000 Drives and LDC-xxxxxxx-xHT11 Linear Motor with a Sin/Cos Encoder Kinetix 2000, Kinetix 6500/ 6200 or Kinetix 6000 IAM (inverter) or AM Module U Motor Power (MP) Connector V W LDC-Series Linear Motor Coil Brown Black 1 2 A B C Blue Green/Yellow 3 4 Three-phase Motor Power GND 2090-CPWM4DF-xxAFxx, 2090-XXNPMF-xxSxx Cable Shield Clamp Motor Power Cable Note 2 11 12 13 8 Motor Feedback (MF
Appendix B Interconnect Diagrams Figure 22 - Wiring Example for Kinetix 6000, Kinetix 6500/6200 or Kinetix 2000 Drives and LDC-xxxxxxx-xHT20 Linear Motor with a TTL Encoder Motor Power (MP) Connector Motor Feedback (MF) Connector (IAM/AM) Module W V U LDC-Series Linear Motor Coil Green/Yellow 4 3 2 1 W V U Black W White V Red U TS+ TS - Black Black 11 12 13 8 1 2 3 4 5 10 14 6 Hall Effect Module AM+ AMBM+ BMIM+ IMPOWER COM Wire as shown here using cable type appropriate for your applicat
Interconnect Diagrams Appendix B Figure 23 - Wiring Example for Kinetix 6000, Kinetix 6500/6200 or Kinetix 2000 Drives and LDC-xxxxxxx-xHT20 Linear Motor with a Sin/Cos Encoder Kinetix 2000, Kinetix 6500/ 6200 or Kinetix 6000 IAM (inverter) or AM Module LDC-Series Linear Motor Coil Cable Shield Clamp Note 1 Motor Feedback (MF) Connector (IAM/AM) Module W V U W V U Black W White V Red U TS+ TS - Black Black GND Three-phase Motor Power Thermal Switch Power Red White S1 Blue S2 Orange S3 COM
Appendix B Interconnect Diagrams Figure 24 - Wiring Example for Ultra3000 Drive and LDC-xxxxxxx-xHT11 Linear Motor with a TTL Encoder LDC-Series Linear Motor Coil Ultra3000 Drive Motor Power (TB1) Connector Brown Black U V A B C Blue Green/Yellow W GND 2090-CPWM4DF-xxAFxx, 2090-XXNPMF-xxSxx Cable Shield Clamp Note 1 Motor Power Cable Note 2 11 Motor Feedback (CN2) Connector 12 13 8 6 14 10 5 4 3 2 1 TS+ WHT/Orange Blue N/C WHT/Blue Yellow WHT/Yellow N/C WHT/Gray TSS1 S2 S3 ECOM +5V DC IM
Interconnect Diagrams Appendix B Figure 25 - Wiring Example for Ultra3000 Drive and LDC-xxxxxxx-xHT11 Linear Motor with a Sin/Cos Encoder LDC-Series Linear Motor Coil Ultra3000 Drive Motor Power (TB1) Connector Brown Black U V Blue Green/Yellow W Cable Shield Clamp Note 1 Three-phase Motor Power GND 2090-CPWM4DF-xxAFxx, 2090-XXNPMF-xxSxx Motor Power Cable Note 2 11 12 13 8 Motor Feedback (CN2) Connector A B C 6 14 10 5 4 3 2 1 TS+ WHT/Orange Blue N/C WHT/Blue Yellow WHT/Yellow N/C WHT/Gra
Appendix B Interconnect Diagrams Figure 26 - Wiring Example for Ultra3000 Drive and LDC-xxxxxxx-xHT20 Linear Motor with a TTL Encoder Ultra3000 Drive LDC-Series Linear Motor Coil Cable Shield Clamp Note 1 Green/Yellow W V U W V U Black W White V Red U TS+ TS - Black Black Thermal Switch Power Red White S1 Blue S2 Orange S3 COM Black 11 12 13 8 Motor Feedback 1 (CN2) Connector 2 3 4 5 10 14 6 Hall Effect Module AM+ AMBM+ BMIM+ IMPOWER COM Wire as shown here using cable type appropriate for
Interconnect Diagrams Appendix B Figure 27 - Wiring Example for Ultra3000 Drive and LDC-xxxxxxx-xHT20 Linear Motor with a Sin/Cos Encoder Ultra3000 Drive LDC-Series Linear Motor Coil Cable Shield Clamp Note 1 Green/Yellow Motor Feedback (CN2) Connector W V U W V U Black W White V Red U TS+ TS - Black Black Three-phase GND Motor Power Thermal Switch Power Red White S1 Blue S2 Orange S3 COM Black 11 12 13 8 1 2 3 4 5 10 14 6 Hall Effect Module COS+ COSSIN+ SINIM+ IMPOWER COM Wire as sho
Appendix B Interconnect Diagrams Notes: 88 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Appendix C Sin/Cos Linear Encoder and Kinetix 6000 Drives Introduction Kinetix 6000 Drive Feedback Connection This appendix guides you through commissioning a linear motor with a Sin/Cos 1V peak-to-peak output linear encoder.
Appendix C Sin/Cos Linear Encoder and Kinetix 6000 Drives Encoder Counting Direction Normally, the encoder signals will output sine-leads-cosine (AM leads BM) when the linear encoder head is moving towards its cable, relative to the encoder scale. SERCOS drives count this in a negative direction. Set Up the Axis Properties When installing a Sin/Cos linear encoder, setup the Axis Property tabs by doing the following. 1. Click the Motor Feedback tab. 2. Enter the following parameters.
Sin/Cos Linear Encoder and Kinetix 6000 Drives Appendix C 3. Click the Drive/Motor tab. 4. Enter the following parameters. Parameter Value Comment Driver Resolution 25600 For 40 µ pitch encoder scale. 51200 For 20 µ pitch encoder scale. Motor Millimeter – Drive Counts per 5. Click the Conversion tab. 6. Enter the following parameters. Parameter Value Comment Driver Resolution 25600 For 40 µ pitch encoder scale. 51200 For 20 µ pitch encoder scale.
Appendix C Sin/Cos Linear Encoder and Kinetix 6000 Drives Notes: 92 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
Index A air gap 20 alignment tool 24 aluminum straight edge 24 automatic implantable cardioverter defibrillator (AICD) 11 B bumper 14, 21 burn hazard 14 C carriage 21 coil 19 coil power connector 34 commission Kinetix 2000 drive 48 Kinetix 6000 drive 48 Ultra3000 drive 53 common specification 62 connector 34 encoder 19, 36 feedback 19 power 19, 34 PTC thermistor 19, 36 D description motor 19 design consideration air gap 20 bumper 21 carriage design heat sink 21 end of travel bumper 14 linear encoder 21 d
Index R RSLogix software screen conversion 52 drive/motor 48 motor feedback 49 units 51 T tandem motors 42 temperature max heat sink 14 tools 24 torque magnet channel 28, 31 S safety sudden motion 14 safety label location of 12 SERCOS Drive 89 setup Kinetix 2000 drive 48 Kinetix 6000 drive 48 Ultra3000 drive 53 shipping air freight restriction 13 dangerous goods declaration 13 form 902 instructions 13 shock absorber 21 software required version 46 spacing two motors 42 specifications common 62 storage 22
Index Notes: Rockwell Automation Publication LDC-UM001B-EN-P - March 2011 95
Index 96 Rockwell Automation Publication LDC-UM001B-EN-P - March 2011
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