Parker Daedal 412T01LXR Product Manual
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Parker Daedal 412T01LXR Product Manual

Parker Daedal 412T01LXR Product Manual

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

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Summary of Contents for Parker Daedal 412T01LXR

  • Page 1 Daedal Manual No. 100-5322-01 Rev. 3 412LXR Series Product Manual Effective: October 1, 2009 Supersedes: February 23, 2007 Electromechanical Positioning Systems Automation...
  • Page 2 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.

  • Page 3: Table Of Contents

    412LXR Series Product Manual 412LXR Series Product Manual Table of Contents REVISION NOTES..................................4 CHAPTER 1 - INTRODUCTION ..............................5 ................................5 RODUCT ESCRIPTION ....................................5 NPACKING .................................. 6 ETURN NFORMATION ................................... 6 EPAIR NFORMATION ..............................6 ARNINGS AND RECAUTIONS ..........................

  • Page 4: Revision Notes

    412LXR Series Product Manual Revision Notes 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: Chapter 1 - Introduction

    412LXR Series Product Manual Chapter 1 - Introduction Chapter 1 - Introduction Product Description 412LXR Positioner The 412LXR is a slotless, brushless linear servo motor/square rail bearing positioner housed within a high strength, aluminum body with magnetically retained protective seals. The positioner is powered by three rails of high energy rare earth magnets.

  • Page 6: Return Information

    412LXR Series Product Manual Chapter 1 - Introduction Return Information Returns All returns must reference a “Return Material Authorization”, (RMA), number. Please call your local authorized distributor or Daedal Customer Service Department at 800-245-6903 to obtain a “RMA” number. See Daedal Catalog #8080/USA, page D34, for additional information on returns and warranty. Repair Information Out-of-Warranty Repair Our Customer Service Department repairs Out-of-Warranty products.

  • Page 7: Specification Conditions And Conversions

    412LXR Series Product Manual Chapter 1 - Introduction Specification Conditions and Conversions Specifications are Temperature Dependent Catalog specifications are obtained and measured at 20 Degrees C. Specifications at any other temperature may deviate from catalog specifications. Minimum to maximum continuous operating temperature range (with NO guarantee of any specification except motion) of a standard unit before failure is 5 - 40 Degrees C.

  • Page 8: Assembly Diagrams

    412LXR Series Product Manual Chapter 1 - Introduction Assembly Diagrams 300.0 [11.81] 100.0 [3.94] 250.0 [9.84] Ctr'd 30.0 [1.18] Ø6.8 [Ø0.27] 120.0 [4.72] Ctr'd 260.0 [10.24] 285.0 [11.22] 100.0 [3.94] 266.0 [10.47] Ctr'd 404.0 [15.91] T-Slot for M2.5 Sq. Nut 64.8 [2.55] (Limit Trigger Mtg.) Toe Clamp Mounting...

  • Page 9: Chapter 2 - 412Lxr Series Table Specifications

    412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications Chapter 2 - 412LXR Series Table Specifications Order Number Nomenclature...

  • Page 10: Dimensional Drawings

    412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications Dimensional Drawings...
  • Page 11 412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications General Table Specifications Specifications Motor Model 12 Pole Rated Load 900 kg Maximum Acceleration 5 Gs Maximum Velocity Resolution: 0.1 um 0.3 m/sec 0.5 um 1.5 m/sec 1.0 um 3.0 m/sec 5.0 um 3.0 m/sec...
  • Page 12 412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications 412LXR Series Technical Data The useful life of a linear table at full catalog specifications is dependent on the forces acting upon it. These forces include both static components resulting from payload weight, and dynamic components due to acceleration/deceleration of the load. In multi-axes applications, the primary positioner at the bottom of the stack usually establishes the load limits for the combined axes.
  • Page 13 412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications 412LXR Bearing Life VS. Load (Side) Side Bearing Load Chart The “Side Bearing Load” 100000 chart is to be used in 412LXR conjunction with the corresponding formulas on the following pages to establish the life/load for each bearing (4 per table).
  • Page 14 412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications...
  • Page 15 412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications Table A – Linear Motion Guide Bearing Life/Load Computation Positioner Loads Compute Evaluate Life On Side & tension Ps > Pt Pe = (0.5 x Pt) + Ps Side load chart Side &...

  • Page 16: 412Lxr Series Technical Data

    412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications 412LXR Series Technical Data Force/Speed Charts The chart on this page illustrates the characteristics of the 412LXR linear motor. The force/speed chart shows the characteristics of the motor with either a 170 VDC or 340 VDC bus voltage. 412LXR (12 Pole) Force/Speed Graph 340 VDC Bus 1200...

  • Page 17: Electrical Specifications

    412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications Electrical Specifications Parameter 12 Pole Units Continuous Force Continuous Current Amps Peak 1,4,8 Continuous Current Amps DC Peak Force 1000 Peak Current 19.0 Amps Peak 4,6,8 Peak Current 16.4 Amps DC Voltage Constant Volt/m/sec...
  • Page 18 412LXR Series Product Manual Chapter 3 - How to Use the 412LXR Encoder Specifications Description Specification Input Power 5 VDC +/-5% 150 mA Output (Incremental) Square wave differential line driver (EIA RS422) 2 channels A and B in E2, E3, E4, E5 options quadrature (90 ) phase shift.
  • Page 19 412LXR Series Product Manual Chapter 3 - How to Use the 412LXR Humidity 0–95%, non-condensing Shock/Vibration Shock: 15G half-sign @ 11 msec/vibration: 2G, 10-2000 Hz Protection Short Circuit Phase-to-phase, phase-to-ground Brownout AC drops below 85 VAC Over Temperature Shutdown fault at 131 F (55 UL, cUL, CE (LVD), CE (EMC) Standards...

  • Page 20: Cabling And Wiring Diagrams

    412LXR Series Product Manual Chapter 3 - How to Use the 412LXR Cabling and Wiring Diagrams Connector Pin Out and Extension Cable Wire Color Codes Motor Wires Limit/Home 6 Pin Connector 5 Pin Connector Phase A +5 to +24 VDC Phase B Negative Limit Ground...
  • Page 21 412LXR Series Product Manual Chapter 3 - How to Use the 412LXR Extension Cable Motor Connections Function Cable Wire 412LXR Circular Connector Color Male Phase A Black / White #1 Phase B Black / White #2 Phase C Black / White #3 Ground Green/Yellow Reserved...
  • Page 22 412LXR Series Product Manual Chapter 3 - How to Use the 412LXR OEM Cable Option OEM Motor Flying Leads Function Cable Wire Color PHASE A BLACK #1 PHASE B BLACK #2 PHASE C BLACK #3 GROUND GREEN/YELLOW OEM Encoder Flying Leads OEM Gemini Encoder Connector Function Cable Wire...
  • Page 23 412LXR Series Product Manual Chapter 3 - How to Use the 412LXR OEM Compax3 Encoder Connector OEM Aries Encoder Connector Function Cable Wire Pin # Function Cable Wire Pin # Color Color SENSE- WHITE/GREEN ORANGE SENSE+ WHITE/BLUE BROWN HALL 1 WHITE/BROWN GROUND BLACK...

  • Page 24: Chapter 3 - How To Use The 412Lxr

    412LXR Series Product Manual Chapter 3 - How to Use the 412LXR Chapter 3 - How to Use the 412LXR Mounting Surface Requirements Proper mounting of the 412LXR is essential to optimize product performance. All specifications are based on the following conditions: •...

  • Page 25: Side And Inverted Mounting Concerns

    412LXR Series Product Manual Chapter 3 - How to Use the 412LXR Side and Inverted Mounting Concerns Side Mounting • Cable transport modules are NOT to be used on side mounted positioners with travels greater than 600 mm due to cable drag. Inverted Mounting •...

  • Page 26: Setting Home Sensor

    412LXR Series Product Manual Chapter 3 - How to Use the 412LXR Setting Home Sensor The 412LXR is equipped with a “home” position reference sensor. This is located on the same PCB as the limit sensors and the target is located between the limit targets. This sensor is typically used in conjunction with the encoder “Z”...

  • Page 27: Cabling

    412LXR Series Product Manual Chapter 3 - How to Use the 412LXR Cabling The 412LXR is available with two (2) types of cabling: • Cable Transport Module • This is a complete cable management system including high flex ribbon cable (life rating of 20 million cycles), cable carriers, and connector system.

  • Page 28: Chapter 4 - Performance

    412LXR Series Product Manual Chapter 4 - Performance Chapter 4 - Performance Acceleration Limits Acceleration of the 412LXR is limited by four (4) factors: • Linear Bearings The Linear bearings used in the 412LXR have a continuous acceleration limit of 2 g’s. This means that the bearings are design to take repetitive acceleration of 2 g's and maintain the rated bearing life.

  • Page 29: Speed Limits

    412LXR Series Product Manual Chapter 4 - Performance Speed Limits The Maximum Speed of the 412LXR is limited by three (3) factors: • Linear Bearings The linear bearings are limited to a maximum speed of 3 meters/second. • Linear Encoder Limit The linear encoder has speed limits relative to encoder resolution;...
  • Page 30 Below is a sample program showing how to correct for slope error using variables. This example program will work with the 6K as well as the 6000 Series Parker, Compumotor Controllers. Step 2 through 3 of this program should be made a subroutine. This subroutine can then be executed for each distance.

  • Page 31: Thermal Effects On Accuracy

    412LXR Series Product Manual Chapter 4 - Performance • Step #3: We subtract the error from the original distance (880 – 0.0748) = 879.9252 mm. • Step #4: Here we simply assign the new calculated distance as our current command distance. This same program works if the slope error is negative.

  • Page 32: Thermal Effects On Repeatability

    412LXR Series Product Manual Chapter 4 - Performance Temperature Effect on Accuracy Travel (mm) 5 degrees C 10 degrees C 15 degrees C 20 degrees C 25 degrees C 30 degrees C Thermal Effects on Repeatability Repeatability will not be effected as long as the temperature remains constant. However the repeatability will be effected as the temperature changes from one level to another.

  • Page 33: Compensating For Thermal Effects

    412LXR Series Product Manual Chapter 4 - Performance Compensating for Thermal Effects How much you will have to compensate for the above thermal effects depend on the application requirements for accuracy. If your accuracy requirements are high, you either need to control base temperature or program a thermal compensation factor into your motion program.

  • Page 34: Chapter 5 - Connecting The Drive / Amplifier

    412LXR Series Product Manual Chapter 5 - Connecting the Drive / Amplifier Chapter 5 - Connecting the Drive / Amplifier Drive / Amplifier connection The images below give and overview of how to connect a 412LXR to a Gemini, Aries or Compax3 digital servo drive.
  • Page 35 412LXR Series Product Manual Chapter 5 - Connecting the Drive / Amplifier Gemini Adapter Cable • Use this cable to connect the Encoder and Hall Effect signals from an electrical panel strip to the Gemini’s 26 pin Motor Feedback connector. Function Wire Color Pin #...
  • Page 36 412LXR Series Product Manual Chapter 5 - Connecting the Drive / Amplifier External +24 VDC Supply VM25 Module +5 to +24VDC Limit/Home (Red) LXR Limit/Home Cable P/N 006-1742-0X VM25 Pin Outs** Function Wire Color* 6K Axis Number Pin # +5 to +24VDC Connect to external power supply (see above) (-) Limit Blue...

  • Page 37: Chapter 6 - Maintenance And Lubrication

    412LXR Series Product Manual Chapter 6 - Maintenance and Lubrication Chapter 6 - Maintenance and Lubrication Internal Access 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).
  • Page 38 412LXR Series Product Manual Chapter 6 - Maintenance and Lubrication • Remove the four (4) strip seal clamps by removing eight (8) M3 Socket Head Cap Screws (2pc/clamp). • Carefully pull the strip seal through the carriage. • Caution: The strip seal ends are VERY SHARP. •...
  • Page 39 412LXR Series Product Manual Chapter 6 - Maintenance and Lubrication • Remove the M3 Button Head Cap Screws that attach the side covers to the base. • Slide the side cover off the base. • The base mounting holes can now be accessed. •...

  • Page 40: Square Rail Bearing Lubrication

    412LXR Series Product Manual Chapter 6 - Maintenance and Lubrication Square Rail Bearing Lubrication See Section on Internal Access for procedure to access interior of positioner. Materials Required: Shell Alvania RL 2, Isopropyl Alcohol, Clean Cloth, Small Brush • Lubrication Type: Use Shell Alvania RL 2 pn# 003-3686-30, non-EP, lithium soap thickened greases.
  • Page 41 412LXR Series Product Manual Chapter 6 - Maintenance and Lubrication • Remove one (1) M3 Socket Head Cap Screw from the side of the carriage connector. • Pull the carriage connector off, taking care to pull straight off to avoid bending the connectors. •...
  • Page 42 412LXR Series Product Manual Chapter 6 - Maintenance and Lubrication • Remove one (1) M3 Button Head Screw from the side of the carriage connector. • Pull the carriage connector off, taking care to pull straight off to avoid bending the connectors. •...

  • Page 43: Appendix A - Understanding Linear Motors

    Construction: Designed by the Compumotor and Daedal Divisions of Parker Hannifin, the motor takes its operating principle from Parker’s slotless rotary motors which have grown popular over the past few years. The magnetic rail is simply a flat iron plate with magnets bonded to it. The forcer is unique. It begins with a coil and a “backiron”...

  • Page 44: Advantages/Disadvantages Of Slotless Linear Motors

    412LXR Series Product Manual Appendix A – Understanding Linear Motors Backiron Aluminum Cap / Mounting Plate Coil Assembly (Houses Backiron and Thermal Sensors built Coil Assembly) into Coil Assembly Hall Effect Sensors mounted to Housing Rare Earth Magnets Iron Plate “Single Row”...

  • Page 45: Appendix B - Internal Protection

    412LXR Series Product Manual Appendix B – Internal Protection Appendix B - Internal Protection The 412LXR is protected from its environment via a magnetically retained protective seal. Daedal has conducted testing to determine the degree to which the positioner is protected by using a British standard called an Ingress Protection Rating (IP Rating).
  • Page 46 412LXR Series Product Manual Appendix B – Internal Protection Product Rating All standard configurations will pass IP30 specifications with the following exception: • The cable carrier is not covered by the specification. All standard configurations, (less cable carrier), can be configured to pass IP30 specifications by utilizing the “IP ship kit”...

  • Page 47: Index

    412LXR Series Product Manual Index Index Maximum Continuous, 11 Acceleration Peak Maximum, 11 Pinning, 9 Limits, 28 Force/Speed Charts, 16 Product Rating, 46 Maximum, 11 Accuracy, 31 Gemini Repair Information, 6 Straightline, 11 Adapter Cable, 35 Repeatability, 26 Thermal Effects, 31 Drive Specifications, 18 Positional, 11 Assembly Diagrams, 8, 36...

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