Rockwell Automation Allen-Bradley MP Series User Manual
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Rockwell Automation Allen-Bradley MP Series User Manual

Rockwell Automation Allen-Bradley MP Series User Manual

Integrated multi-axis linear stages
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MP-Series Integrated Multi-axis Linear Stages
Catalog Numbers MPMA-xABxxxx-S1C, MPMA-xACxxxx-S1C, MPMA-xAPxxxx-S1C, MPMA-xCBxxxx-S1C,
MPMA-xCQxxxx-S1C, MPMA-xBExxxx-S2C, MPMA-xBIxxxx-S2C, MPMA-xBDxxxx-S2C

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  • Page 1 User Manual MP-Series Integrated Multi-axis Linear Stages Catalog Numbers MPMA-xABxxxx-S1C, MPMA-xACxxxx-S1C, MPMA-xAPxxxx-S1C, MPMA-xCBxxxx-S1C, MPMA-xCQxxxx-S1C, MPMA-xBExxxx-S2C, MPMA-xBIxxxx-S2C, MPMA-xBDxxxx-S2C...

  • Page 2: Important User Information

    In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

  • Page 3: Table Of Contents

    Introduction........... . . 43 Linear Stage Power and Feedback Connections ..... 43 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 4 MPMA-xBExxxxxx-xxx Product Specifications and Dimensions..94 MPMA-xBIxxxxxx-xxx Product Specifications and Dimensions ..96 MPMA-xBDxxxxxx-xxx Product Specifications and Dimensions ..98 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 5 ..............131 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 6 Table of Contents Notes: Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 7: About This Publication

    If you do not have a basic understanding of multi-axis stages, contact your local Allen-Bradley/Rockwell Automation sales representative for information on available training courses before using this product. Read this entire manual before you attempt to install a multi-axis stage into your machine.
  • Page 8 Characteristics, application, installation, and maintenance of solid state controls SGI-IN001 Maintenance of Solid State Controls, publication Rockwell Automation Product Certification Website, publication For declarations of conformity (DoC) currently available from Rockwell Automation http://www.ab.com available at National Electrical Code. Published by the National Fire An article on wire sizes and types for grounding electrical equipment Protection Association of Boston, MA.

  • Page 9: Introduction

    Air Freight Restrictions Standards Motor Model Identification IMPORTANT Any person that teaches, operates, maintains, or repairs these multi- axis stages must be trained and demonstrate the competence to safely perform the assigned task. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 10: Safety Labels

    The edges of the strip seal are sharp and can cut if accidentally hit or if handled inappropriately. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 11 PI N CH pa rts ins M ov ing /T ag ou Loc ko ut ZA RD LI FT HA rs on Lif Tw o Pe y re qu ire or ca rr Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 12: Clearances

    Do not cross the path of motion or interfere with the cable carrier motion. General Safety Linear stages are capable of sudden and fast motion. Rockwell Automation, Inc. is not responsible for misuse, or improper implementation of this equipment. Heat When the stages are running at their maximum rating, the temperature of the ºC...

  • Page 13: Standards

    • EN60204-1, Safety of Machinery. Electrical Equipment of Machines • UL 1740, UL Standard for Safety Industrial Robots and Robotic Equipment Motor Model Identification The nameplate on ball screw driven linear stages lists the specific MP-Series servo motor model used. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 14 Chapter 1 Multi-axis Stage Safety Notes: Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 15: Introduction

    Additionally, the Bulletin MPAS individual stage identifier embedded in the Bulletin MPMA catalog number does not correspond directly to the Bulletin MPAS catalog number used in the system combinations. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 16: Identifying Your Multi-Axis Stage

    B = Center Stacked XZ C = Cantilever Stacked XY (Left Side Cantilever) Voltage A = 230V Motors B = 460V Motors Series Type MA = Multi-axis Bulletin Number (1) Applies to all stages. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 17: Identifying The Components Of Your Multi-Axis Stage

    Figure 3 - Components of XY Center Stacked Multi-axis Stage (MPMA- xAxxxxxxx-SxC shown) Y-Axis X- Axis Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 18 Understanding Your Multi-axis Stage Figure 4 - Components of XZ Center Stacked Multi-axis Stage (MPMA-xBxxxxxx-SxC shown) Z-Axis X-Axis Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 19 Figure 5 - Components of XY Cantilevered Stacked (Left Side Cantilever) Multi-axis Stages (MPMA- xCxxxxxxx-SxC shown) Y-Axis X- Axis Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 20: Identifying The Individual Linear Stages In Your Multi-Axis Stage

    Not all components are part of the direct drive or the ball screw linear stage. For example, the direct drive linear stage does not have component - Rotary Motor and the ball screw linear stage does not have component 15 - Magnet Track. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 21 Figure 6 - Components of the Direct Drive Linear Stage (MPAS-xxxxxxx-ALMx2x) 9 (4x) 2 (4x) 5 (2x) 7 (2x) 8 (4x) 12 (4x) 13 (2x) Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 22 9 (4x) 2 (4) 5 (2) 7 (2) 8 (4) 13 (2) 12 (4) 21 (2) Refer to Component Descriptions beginning on page 23 for the name and description of each numbered item. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 23: Component Descriptions

    Provides an external air supply connection for a ball screw linear stage. You can apply a maximum of 270 kpa (40 psi) pressurized air to minimize the ingress of particulates from a dusty environment. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 24: Maintenance Intervals

    Cable Carrier Replacement The cable carrier module assembly has a useful lifetime of approximately 10,000,000 cycles. Refer to the Removing and Replacing Multi-axis Stage Components chapter beginning on page 65 for removal and replacement procedures. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 25: Introduction

    Requirements - Teaching Multiple Robots · ANSI/NFPA 79, Electrical Standard for Industrial Machinery · CSA/CAN Z434, Industrial Robots and Robot Systems- General Safety Requirements · EN60204-1, Safety of Machinery. Electrical Equipment of Machines Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 26: Ul Safety Standards For Linear Stage Installations

    · UL 3101-1, Electrical Equipment for Laboratory Use; Part 1: General Requirements · UL 544, Medical and Dental Equipment · UL 79, Power Operated Pumps for Petroleum Product Dispensing Systems · ANSI/NFPA 79, Electrical Standard for Industrial Machinery Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 27: Mounting Restrictions

    0.025 mm over a 300 x 300 mm (0.001 in. over a 12 x 12 in.) area. Flatness should be maintained during operation of the linear stage. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 28 Wall - horizontal Mount center stacked XZ multi-axis stages with the ball screw driven stage vertical or incline in the Z-axis only. Application of the holding brake through the operating program settings prevents uncontrolled motion. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 29: Clearance Requirements

    101 mm (4 in.) at motor end Is Required for for connector, except for wall mount stages. Power and Feedback Cables. 419 mm (16.5 in.) Clearance at all ends for lubrication access, measured from stage base. MPMA-xA/Cxxxxxx-SxC Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 30 Chapter 3 Planning a Multi-axis Stage Installation Notes: Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 31: Introduction

    Inspect packaging to make certain no damage has occurred in shipment. Any Inspection damage or suspected damage should be immediately documented. Claims for damage due to shipment are usually made against the transportation company. Contact Rockwell Automation immediately for further advice. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 32: Unpacking Guidelines

    The lift points on the deck may not be equidistant from the center of gravity. Select or adjust the rigging lengths to compensate for the weight distribution or load. Maintain the system in an upright position. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 33 1. Remove the crate cover and baces. 2. Attach lifting straps to shipping platform eyebolts. The angle between straps and vertical is not to exceed 45°. 45° 3. Lift platform from crate using a hoist. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 34 WARNING: Improper lifting of this product may result in personal injury or damage equipment, never attempt to lift or move the multi-axis stage by means other than those listed in this publication. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 35: Store Packaging Material

    (2) The tee nut mount for a catalog number MPAS-x8xxxx-xxxxx (200 mm) stage is a square nut in a tee slot. (3) Where x is the frame size of a stage, 6 = MPAS-x6xxxx-xxxxx (150 mm), 8 = MPAS-x8xxxx-xxxxx (200 mm), 9 = CHPS-x9xxxx-xxxxx (250 mm). (4) You supply the bolts. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 36: Mount Your Application

    3.2 N•m (48 lb•in). Mount Your Application Mount your application to the carriage using the following bolts and torque values: Cat. No. Bolt Torque N•m (lb•in) MPAS-x6xxxx-xxxxxx 3.2 (48) MPAS-x8xxxx-xxxxxx 10.1 (90) MPAS-x9xxxx-xxxxxx 10.1 (90) Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 37: Connect The Multi-Axis Stage

    To reduce the effects of electromagnetic interference (EMI), bond the stage with a braided ground strap, 12 mm (0.5 in.) wide minimum, to a grounded metal surface. This creates a low-impedance return path for high-frequency energy. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 38 Braided Ground Wire 12 mm (0.5 in.) min. 3. Form a drip loop in each cable at a point directly before it attaches to the motor. Align Flat Surfaces Power/Brake Connector Drip Loop in Cable Feedback Connector Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 39 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 procedures could result in damage to the motor and its components. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 40: About The Air Option For Ball Screw Linear Stages

    However, use of the brakes as stopping brakes creates rotational mechanical backlash that is potentially damaging to the system, increases brake pad wear, and reduces brake life. The brakes are not designed nor are they intended to be used as a safety device. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 41: Meeting Ul Installation Standards

    Figure 9 - Emergency Brake Release for Ball Screw Linear Stage Example EMERGENCY KINETIX 6000 BRAKE RELEASE BRAKE CONNECTOR MOTOR BRAKE SWITCH DPDT MBRK- MBRK+ MOTOR CABLE 2090-XXNPMF DBRK- EMERGENCY BRAKE BRAKE POWER DBRK+ POWER SUPPLY SUPPLY Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 42 Chapter 4 Mounting and Connecting the MP-Series Integrated Multi-axis Linear Stage Notes: Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 43: Introduction

    (2) Brake+ and Brake- are available only on ball screw linear stages having a rotary motor with a brake. ATTENTION: Disconnect input power supply before installing or servicing stage. Properly ground the stage as described in this manual and the drive manual. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 44 (2) These are the wire colors for the leads on the direct drive linear stages (catalog number MPAS-xxxxxx- ALMx2X). Refer to Accessories on page 103 for wire colors of interconnect cables. Intercontec P/N AKUA034NN00100035000 Mating Cable Allen-Bradley 2090-XXNFMF-Sxx Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 45 230V MPAS Encoder Common Reserved 460V MPAS Encoder Power +9V dc 460V MPAS Encoder Common Common PTC Thermistor Common Reserved – Reserved Case Shield – Shield Intercontec P/N AKUA034NN00100035000 Mating Cable Allen-Bradley 2090-XXNFMF-Sxx Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 46 Chapter 5 Linear Stage Connector Data Notes: Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 47: Introduction

    – Motion Database (.mdb) file, dated July 2007 or later • Motion Analyzer software, version 4.4 or later Download these files from http://support.rockwellautomation.com. Contact Rockwell Automation Technical Support at (440) 646-5800 for assistance. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 48: Configure Your Linear Stage

    Appendix D, Home to Torque-level Example, to your system-level program. This appendix provides information on using torque-level homing to reference a known (home) position by monitoring torque while driving an axis into a mechanical hard-stop. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 49: Configure Rslogix 5000 Software For Linear Stages With Kinetix Multi-Axis

    Entry/Selection, with applicable distance unit settings Metric English Drive/Motor Motor Catalog Number Select one from the list xMPAS-A6xxxB-ALMS2x xMPAS-A8xxxE-ALMS2x xMPAS-A9xxxK-ALMS2x xMPAS-B8xxxF-ALMS2x xMPAS-B9xxxL-ALMS2x Drive Resolution Drive Counts per Motor Millimeter Motor Feedback Feedback Type TTL with Hall Cycles Millimeter Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 50 (1) The Command and Feedback test, accessed from the Hookup tab, does not verify the Hall Sensor wiring to a Kinetix 2000 or a Kinetix 6000 drive. The wire colors and continuity for the Hall signals must be manually verified. (2) Using Auto-tune will reset this parameter to the default value. (3) Using Velocity Feedforward will reduce position error during motion. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 51 Absolute Home is available for ball screw linear stages. For maximum range of motion, position the carriage so its proximal edge is 25.4 mm (1.0 in.) from the inside edge of the end plate. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 52 0.394 in. Tolerance Gains Feedforward Velocity 100% Gain Tune Velocity Feedforward Check (1) Using Auto-tune will reset this parameter to the default value. (2) Using Velocity Feedforward will reduce position error during motion. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 53: Tuning Linear Stages With Rslogix 5000 Software

    (table top) or a wall mount (vertical) orientation. 2. Set the Brake Engage and the Brake Release delay times to the values listed Brake Specifications for Ball Screw Linear Stage Motors page 101. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 54 Only check Torque Offset, as shown below, if the linear stage is installed in a non-horizontal mount position. 5. On the Tune tab, click Start Tuning to access the Motion Initiation dialog box. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 55 Chapter 6 Configuration Guidelines 6. Click Yes to begin tuning the linear stage. ATTENTION: Motion occurs immediately after clicking Yes. Tuning is complete when the Tune Servo dialog box appears. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 56 45.14153 Hz, and a Load Inertia Ratio of 6.8707952. 1. Calculate the Corrected Position Bandwidth as follows: Corrected Position Loop Bandwidth = (Initial Position Loop Bandwidth Result/(Initial Load Inertia Ratio Result +1) For example, 5.73532 = 45.14153 / 7.8707952. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 57 Loop Bandwidth and click OK. 3. Answer the remaining dialog boxes to apply the values. The proper Position Bandwidth results in a stable starting point, from which you may adjust the gains to fit the application requirements. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 58: Configure Ultraware Software For Linear Stages With Ultra3000 Drives

    6. From the Displayed Units pull-down menu, choose User. This programs Ultraware software to make distance moves in User Units (mm or in.). Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 59 Table 4 - Direct Drive Linear Stage Distance Unit Settings User Unit Scaling Parameters Distance Units Metric English Velocity Label mm/s in./s Velocity Scale 5080 Position Label Position Scale 5080 Acceleration Label mm/s/s in./s/s Acceleration Scale 5080 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 60: Set Travel Limits

    (1) Velocity and kinetic energy can be much higher due to uncontrolled, worst-case motion that is only constrained by the length of stroke and the power capacity of the motor-drive pairing. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 61: Introduction

    Maintenance Intervals • direct drive linear stages every 6 months or 2500 km (1550 mi) of travel, whichever comes first • ball screw linear stages every 6 months or 150,000,000 revolutions, whichever comes first Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 62: Lubricate The Bearing

    3. Insert the tip of the grease pump into the lubrication port, pushing in until firm contact with the grease fitting is made. 4. Pump the handle until back pressure is felt, or a maximum of two strokes are made. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 63: Clean The Strip Seal

    Clean the Cover Clean the covers at the same time you clean the strip seals. Use pressurized air and a lint free cloth lightly saturated with isopropyl alcohol to remove any dirt or grease. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 64 Chapter 7 Maintenance Notes: Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 65: Introduction

    Replace the Rotary Motor ATTENTION: Lock out and tag out input power before servicing. These procedures are not applicable to both types of linear stages. Direct drive and ball screw linear stages have unique configurations. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 66: Before You Begin

    M4 x 0.7 x 10 LG SHCS (2) M3 x 0.5 x 8 LG SHCS (2) Item Description Item Description Junction Box Cover Angle Bracket Junction Box Side Cover Feedback Connector Cable Carrier Module Motor Power Connector End Bracket Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 67: Remove The Cable Carrier Assembly

    Follow this procedure to remove the cable carrier assembly for a multi-axis stage with a ballscrew base and ballscrew secondary axis. Mark the location of the end brackets before removing the cable carrier, this will make it easier to align it when reinstalling. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 68 Avoid separation of SHCS from square nut in T-slot. Leaving them attached will make assembly easier. 9. Loosen, but do not remove, the two SHCS securing the end bracket to the base of the upper stage. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 69: Cable Carrier Assembly Installation

    1. Loosen the strip seal clamps at each end of the linear stage. 2. Carefully grasp the end of the strip seal and slide it out of the linear stage. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 70: Remove The Cover

    4. On the opposite end install two M4 x 30 SHCS and bottom out the screw. The cover will not contact the end cap on this side and will float on the screw. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 71: Replace The Strip Seal

    11. With the outside edge of the end clamps as a guide, use tin snips to cut and remove excess strip seal material. 12. Position the carriage at the far ends of travel. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 72: Install The Side Cover

    2. Starting at the end cap adjacent to the ground screw, install one M4 SHCS and torque it to 4 N•m (35 lb•in). 3. On the opposite end install one M3 SHCS and torque it to 2.5 N•m (20 lb•in). Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 73: Replace The Rotary Motor

    7. Align the coupling halves and install the motor. 8. Secure the motor with four M5 SHCS and lock washers. 9. Torque each cap screw to 4 N•m (35 lb•in) using a diagonal tightening sequence. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 74 10. Attach the power and feedback cables to the motor, by aligning the flat edges on the cable connector with that on the motor connector. Align Flat Surfaces Power/Brake Connector Drip Loop in Cable Feedback Connector Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 75: Introduction

    • Kinetix 6000 Multi-axis Servo Drive User Manual, publication 2094- UM001 • Ultra3000 Digital Servo Drives Installation Manual, publication 2098- IN003 • Ultra3000 Digital Servo Drives Integration Manual, publication 2098- IN005 Topic Page Troubleshooting During Commission and Startup Operational Troubleshooting Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 76: Troubleshooting During Commission And Startup

    To interpret error codes reported by the drive, refer to the Troubleshooting Procedures for Ball Screw Linear Stages table on page or the drive manuals referenced on page Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 77: Evaluate The Direct Drive Linear Stage

    Motor Coupling Before disconnecting, mark the current position on the motor shaft. Extension Rod 11 mm (0.44 in.) min. diameter 150 mm (6 in.) approx. length Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 78 101 for thermistor resistance values at other temperature ranges. Cable carrier module exceeds its useful life of Replace cable carrier module; refer to page 10,000,000 cycles and is starting to fail. replacement instructions. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 79 Brake on the motor does not release. Manually release brake, and check that motor shaft is free to drive reporting error E19. turn and the bearing feels smooth. Ultra3000 drive reporting error E19, E22, or E23. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 80 Chapter 9 Troubleshooting Notes: Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 81 MPMA-xCQxxxxxx-xxx Product Specifications and Dimensions MPMA-xBExxxxxx-xxx Product Specifications and Dimensions MPMA-xBIxxxxxx-xxx Product Specifications and Dimensions MPMA-xBDxxxxxx-xxx Product Specifications and Dimensions Brake Specifications for Ball Screw Linear Stage Motors Environmental Specifications for Multi-axis Stages PTC Thermal Signal Certifications Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 82: Mpma-Xabxxxxxx-Xxx Product Specifications And Dimensions

    — — — — 11.4 10.2 16.5 15.3 13.9 13.1 11.7 22.7 21.5 20.1 19.3 17.9 15.6 Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 83 440 (17.3) 881 (34.7) 440 (17.3) MPMA-BABF6F6A0-S1C 1001 (39.4) 560 (22.0) 1001 (39.4) 560 (22.0) Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 84: Mpma-Xacxxxxxx-Xxx Product Specifications And Dimensions

    Y-axis Travel mm (in.) X-axis Acceleration — — — — 13.9 12.0 10.4 20.1 18.2 16.6 15.1 (1) Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 85 260 (10.2) 701 (27.6) 260 (10.2) MPMA-BACD2D2A0-S1C 761 (30.0) 320 (12.6) 761 (30.0) 320 (12.6) Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 86: Mpma-Xapxxxxxx-Xxx Product Specifications And Dimensions

    These specifications apply to Center Stacked X/Y stages with 200 mm frame Product Specifications and ballscrew driven X-axis and 200 mm frame ballscrew driven Y-axis. Maximum payload is 20 kg (44.0 lb). For heavier loads, contact your Rockwell Automation Dimensions sales representative.
  • Page 87 Mount to base using M6 x 1.0 hardware (8.30) at 120 mm spacing and the tee-nut bar shipped with stacked stage. 0.025 / 300 x 300 (0.001 / 12.0 x 12.0) Base Flatness requirement for assembly mounting surface. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 88 420 (16.5) 761 (30.0) 420 (16.5) MPMA-BAPG6G6A0-S1C 1001 (39.4) 660 (26.0) 1001 (39.4) 660 (26.0) Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 89: Mpma-Xcbxxxxxx-Xxx Product Specifications And Dimensions

    Table 22 - Allowable Payload Based Upon X-axis Acceleration and Y-axis Travel Y-axis Travel mm (in.) X-axis Acceleration — 15.3 13.1 10.8 23.0 20.8 18.5 (1) Acceleration values are based on the motors instantaneous and average motor temperature limits not being exceeded. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 90 0.025 / 300 x 300 (0.001 / 12.0 x 12.0) 93.9 Flatness requirement for assembly (3.7) Base mounting surface. Position of secondary (Y) axis carriage at center of travel of base (X) axis. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 91 MPMA-BCBI0F6A0-S1C 1241 (48.9) 800 (31.5) 1001 (39.4) 560 (22.0) MPMA-BCBJ2F6A0-S1C 1361 (53.6) 920 (36.2) Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 92: Mpma-Xcqxxxxxx-Xxx Product Specifications And Dimensions

    These specifications apply to Cartesian Stacked X/Y stages with 250 mm frame Product Specifications and ballscrew driven X-axis and 200 mm frame ballscrew driven Y-axis. Maximum payload is 25 kg (55.1 lb). For heavier loads, contact your Rockwell Automation Dimensions sales representative.
  • Page 93 1001 (39.4) 660 (26.0) MPMA-BCQH8G6A0-S1C 1121 (44.1) 780 (30.7) MPMA-BCQJ0G6A0-S1C 1241 (48.9) 900 (35.4) Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 94: Mpma-Xbexxxxxx-Xxx Product Specifications And Dimensions

    These specifications apply to Center Stacked X/Z stages with 200 mm frame Product Specifications and linear motor driven X-axis and 150 mm frame ballscrew driven Z-axis. Maximum payload is 20 kg (44.0 lb). For heavier loads, contact your Rockwell Automation Dimensions sales representative.
  • Page 95 MPMA-BBEG8A0B8-S2C 1121 (44.1) 680 (26.8) 530 (20.9) 180 (7.1) MPMA-BBEG8A0D0-S2C 650 (25.6) 300 (11.8) Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 96: Mpma-Xbixxxxxx-Xxx Product Specifications And Dimensions

    These specifications apply to Center Stacked X/Z stages with 200 mm frame Product Specifications and ballscrew driven X-axis and 150 mm frame ballscrew driven Z-axis. Maximum payload is 25 kg (55.1 lb). For heavier loads, contact your Rockwell Automation Dimensions sales representative.
  • Page 97 MPMA-BBIG6A0B8-S2C 1001 (39.4) 660 (26.0) 530 (20.9) 180 (7.1) MPMA-BBIG6A0D0-S2C 650 (25.6) 300 (11.8) Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 98: Mpma-Xbdxxxxxx-Xxx Product Specifications And Dimensions

    These specifications apply to Center Stacked X/Z stages with 250 mm frame Product Specifications and linear motor driven X-axis and 150 mm frame ballscrew driven Z-axis. Maximum payload is 20 kg (44.0 lb). For heavier loads, contact your Rockwell Automation Dimensions sales representative.
  • Page 99 Mount to base using M6 x 1.0 hardware at 120 mm spacing and the tee-nut bar 0.025 / 300 x 300 (0.001 / 12.0 x 12.0) shipped with stacked stage. Base Flatness requirement for assembly mounting surface. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 100 650 (25.6) 300 (11.8) MPMA-BBDJ2A0E2-S2C 770 (30.3) 420 (16.5) MPMA-BBDJ2A0F4-S2C 890 (35.0) 540 (21.3) Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 101: Ptc Thermal Signal

    14 respectively; see Feedback Connector for Direct Drive Linear Stage on page 44 for more information. Certifications Refer to the Initiator Product Certification website, http://www.ab.com, for Declarations of Conformity Certificates applicable to this product. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 102 Appendix A Specifications and Dimensions Notes: Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 103: Introduction

    Bend radius (BR) is the specified minimum bend radius for cable assemblies. For standard cable, BR is a one- time flex application. Flex cables have a much higher BR to withstand flex applications. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 104 Appendix B Accessories Table 43 - Power Cable Pinout (2090-XXNPMF-16Sxx) Gauge Color Signal Designation Brown Black Blue Green/Yellow White MBRK+ Brake Black MBRK- White Not used SHIELD Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 105: Feedback Cable Dimensions, Pinout, And Schematic

    Bend radius (BR) is the specified minimum bend radius for cable assemblies. For standard cable, BR is a one- time flex application. Flex cables have a much higher BR to withstand flex applications. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 106: Installation, Maintenance, And Replacement Kits

    Accessory Cat. No. Kit, grease gun for all integrated linear stages. MPAS-GPUMP MPAS-A/Bxxxx Grease gun refill cartridge for all integrated linear stages. MPAS-CART MPAS-A8xxx, MPAS-B8xxx MPAS-8-TNUT Kit, Tee-nuts (10 per package). MPAS-A9xxx, MPAS-B9xxx MPAS-9-TNUT Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 107 (1) Variable xxx (mm stroke x 10) is 012, 018, 024, 030, 036, 042, 054, or 066. (2) Variable xxx (mm stroke x 10) is 012, 018, 024, 030, 036, 042, 054, 066, 078, 090, or 102. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 108 MPMA-xCBF6E4A0-CBL MPMA-xCBG8E4A0-xxx MPMA-xCBG8E4A0-CBL MPMA-xCBG8F6A0-xxx MPMA-xCBG8F6A0-CBL MPMA-xCBI0F6A0-xxx MPMA-xCBI0F6A0-CBL MPMA-xCBJ2F6A0-xxx MPMA-xCBJ2F6A0-CBL MPMA-xCQD0D0A0-xxx Cable track module for MPMA-xCQ series X/Y Cartesian Stacked Stages MPMA-xCQD0D0A0-CBL MPMA-xCQE2D0A0-xxx MPMA-xCQE2D0A0-CBL MPMA-xCQE2E2A0-xxx MPMA-xCQE2E2A0-CBL MPMA-xCQG6E2A0-xxx MPMA-xCQG6E2A0-CBL MPMA-xCQG6G6A0-xxx MPMA-xCQG6G6A0-CBL MPMA-xCQH8G6A0-xxx MPMA-xCQH8G6A0-CBL MPMA-xCQJ0G6A0-xxx MPMA-xCQJ0G6A0-CBL Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 109 MPMA-xBED2A0B8-CBL MPMA-xBED2A0D0-xxx MPMA-xBED2A0D0-CBL MPMA-xBEE4A0B8-xxx MPMA-xBEE4A0B8-CBL MPMA-xBEE4A0D0-xxx MPMA-xBEE4A0D0-CBL MPMA-xBEG8A0B8-xxx MPMA-xBEG8A0B8-CBL MPMA-xBEG8A0D0-xxx MPMA-xBEG8A0D0-CBL MPMA-xBID0A0B8-xxx Cable track module for MPMA-xBI series X/Z Center Stacked Stages MPMA-xBID0A0B8-CBL MPMA-xBID0A0D0-xxx MPMA-xBID0A0D0-CBL MPMA-xBIE2A0B8-xxx MPMA-xBIE2A0B8-CBL MPMA-xBIE2A0D0-xxx MPMA-xBIE2A0D0-CBL MPMA-xBIG6A0B8-xxx MPMA-xBIG6A0B8-CBL MPMP-xBIG6A0D0-xxx MPMP-xBIG6A0D0-CBL Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 110 Mounting Bar for X-axis having H8 travel MPAS-TBAR-H8 MPMA-xxxI0xxxx-xxx Mounting Bar for X-axis having I0 travel MPAS-TBAR-I0 MPMA-xxxJ0xxxx-xxx Mounting Bar for X-axis having J0 travel MPAS-TBAR-J0 MPMA-xxxJ2xxxx-xxx Mounting Bar for X-axis having J2 travel MPAS-TBAR-J2 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 111: Introduction

    MPAS-Axxxxxx encoders use the +5V dc supply. MPAS-Bxxxxxx encoders use +9V dc. Use a flyback diode for noise suppression of the motor brake coil of an Ultra3000 drive. For more information, refer to System Design for Control of Electrical Noise, publication GMC-RM001. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 112: Motor/Axis Module Wiring Examples

    Exposed shield secured Refer to Low Profile Connector under clamp illustration (lower left) Clamp screw for proper grounding technique. Turn clamp over to hold 2090-XXNFMF-Sxx Feedback Cable small cables secure Notes 3, 4 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 113 Exposed shield secured Refer to Low Profile Connector under clamp illustration (lower left) Clamp screw for proper grounding technique. Turn clamp over to hold 2090-XXNFMF-Sxx Feedback Cable small cables secure Notes 3, 4 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 114 WHT/GREEN +5VDC Motor GRAY Feedback ECOM WHT/GRAY – ORANGE WHT/ORANGE Thermostat BLUE WHT/BLUE YELLOW WHT/YELLOW Refer to Low Profile Connector illustration (lower left) for proper grounding technique. 2090-XXNFMF-Sxx Feedback Cable Notes 3, 4 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 115: Introduction

    Potential for Position Error Applicable Drives This information in this document applies to the following drives: Drive Type Cat. No. Kinetix 2000 2093-AC05-MPx, 2093-AMxx Kinetix 6000 2094-ACxx-Mxx, 2094-AMxx, 2094-ACxx-Mxx-S, 2094-AMxx-S, 2094-BCxx-Mxx, 2094-BMxx, 2094-BCxx-Mxx-S, 2094-BMxx-S Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 116: About Home To Torque-Level Homing

    Forward Bi-directional and Reverse Bi-directional are the only options for the Direction field when Torque Level or Torque Level - Marker homing sequence is selected. Uni-directional homing is not possible, because the Home to Torque- level sequence relies on a mechanical hard-stop. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 117 Appendix D Home to Torque-level Example Figure 19 - Position/Velocity Diagram for Torque-level Homing Figure 20 - Position/Velocity Diagram for Torque-level - Marker Homing Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 118: Drive Bipolar Torque Limit Adjustment

    Limit the Peak Torque value before issuing the homing instruction (MAH) and reset the Peak Torque field to the original value after homing completes. Table 52 - Bipolar Torque Limit Adjustment Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 119: Disable Soft Overtravel Limit

    Control for MAH instruction (using a UDT) Positive_Overtravel REAL Max Positive Soft-overtravel value Negative_Overtravel REAL Max Negative Soft-overtravel value Saved_PosErrorTol REAL Storage location for Actual Position Error value Temp_PosErrorTol REAL Temporary Position Error value for Homing Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 120 Appendix D Home to Torque-level Example Figure 21 - Axis Properties - Homing Tab Figure 22 - Axis Properties - Limits Tab Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 121 Appendix D Home to Torque-level Example Table 54 - Ladder Code Example Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 122 Appendix D Home to Torque-level Example Table 55 - Ladder Code Example, continued Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 123 Appendix D Home to Torque-level Example Table 56 - Ladder Code Example, continued Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 124 Appendix D Home to Torque-level Example Table 57 - Ladder Code Example, continued Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 125 Appendix D Home to Torque-level Example Table 58 - Ladder Code Example, continued Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 126: Potential For Position Error

    Axis Properties dialog box. Rung 6 of the ladder code opens the Position Error window. This lets the Homing complete without causing a Position Error. The original value is reset after Homing completes. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 127: Introduction

    55.4 (490) 76.8 (680) 57.6 (510) 115.2 (1020) (1) Mounting hardware is ISO 898/1 socket head cap bolt that meets or exceeds ANSI B113M, ISO 261, ISO 262 (coarse series only). (2) Microsize bolt. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 128 (1) Mounting hardware is 1960-series socket head cap bolt that meets or exceeds ANSI B18.3. (2) Torque is based on 80,000 psi bearing stress under the head of the bolt. (3) Denotes torque based on 100,000 psi tensile stress, with threads up to one inch in diameter. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 129 (1) Mounting hardware is 1960-series socket head cap bolt that meets or exceeds ANSI B18.3. (2) Torque is based on 60,000 psi bearing stress under the head of the bolt. (3) Denotes torques based on 100,000 psi tensile stress with threads up to one inch in diameter. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 130 (1) Mounting hardware is 1960-series socket head cap bolt that meets or exceeds ANSI B18.3. (2) Torque is based on 50,000 psi bearing stress under the head of the bolt. (3) Denotes torques based on 100,000 psi tensile stress with threads up to one inch in diameter. Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 131 25 lubrication interval 65 bearing rail 25 maintenance interval 65 cable carrier 25 dust 29 carriage 25 encoder strip 25 ground label 25 ground screw 25 emergency brake release 28 lubrication ports 25 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 132 Ultra3000 122 motor and drive wiring 120 pinout wiring example notes 119 feedback cable 113 feedback connector 46 power cable 111 power connector 45 lead screw 26 power connector 45 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 133 109 cover 10 strip seal 25 emergency brake release 43 end cap impact 13 guide 25 hazardous voltage 10 installation 76 heat 10 removal 74 strip seal installation 76 inclined payload 12 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...
  • Page 134 88 unpacking 34 direct drive 83 error code E04 82 E05 87 E07 82 vertical installation 12 E11 82 vibration 29 E19 85 E20 86 E22 85 E23 85 intermittent E04 86 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010...

  • Page 136: Rockwell Automation Support

    Rockwell Automation representative. New Product Satisfaction Return Rockwell Automation tests all of its products to 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.

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