B&R ACOPOS 6D User Manual
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B&R ACOPOS 6D User Manual

B&R ACOPOS 6D User Manual

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ACOPOS 6D
User's manual
1.2.1 (November 2024)
Translation of the original documentation

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Summary of Contents for B&R ACOPOS 6D

  • Page 1 ACOPOS 6D User's manual 1.2.1 (November 2024) Translation of the original documentation...
  • Page 2 Original documentation from PMI: Planar Motor System User Manual. Planar Motor System is a registered trademark of PMI Planar Motor Incorporated. All rights reserved. 1617543091508-1.2.1 ACOPOS 6D User's manual V 1.2.1...

  • Page 3: Table Of Contents

    4.3.3.1 Order data..............................30 4.3.3.2 Technical data............................. 30 4.3.3.3 Dimension diagram and installation dimensions................31 4.3.4 8FLS3.18180.00I-1............................. 32 4.3.4.1 General information........................... 32 4.3.4.2 Order data..............................32 4.3.4.3 Technical data............................. 32 4.3.4.4 Dimension diagram and installation dimensions................33 ACOPOS 6D User's manual V 1.2.1...
  • Page 4 4.5.1.5 Cable diagram............................. 53 4.5.2 8YFLCS0002.1123A-0............................54 4.5.2.1 General information........................... 54 4.5.2.2 Order data..............................54 4.5.2.3 Technical data.............................54 4.5.2.4 Pinout................................55 4.5.3 8F1CP00X6.11110-0............................56 4.5.3.1 General information........................... 56 4.5.3.2 Order data..............................56 4.5.3.3 Technical data.............................56 4.5.3.4 Pinout................................57 ACOPOS 6D User's manual V 1.2.1...
  • Page 5 6.3 Wiring the power cable............................69 6.3.1 Wiring the segments............................69 6.3.2 Power supply connection for segments..................... 70 6.3.3 ACOPOS 6D controller power supply connection..................71 6.4 Enable wiring................................72 7 International and national certifications..............73 7.1 Mark on the module housing..........................73 7.2 EU directives and standards (CE)........................

  • Page 6: General Information

    - Shuttles: Updated technical data. - Added cables. • Chapter "Wiring": - Power supply connection for segments: Updated. - Power supply connection for ACOPOS 6D controller: Updated. • Updated images. 2023-11-07 Start of revision history publication Refers to original documentation from PMI: Planar Motor System user's manual version: Rev 1.4.1 (8/23)

  • Page 7: Reasonably Foreseeable Misuse

    • Flight and traffic control systems for passenger and freight transport • Mass transport control • Passenger transport • Health monitoring and life support systems The components of the B&R ACOPOS 6D system are only permitted to be operated with the following B&R power supply modules: • 80PS080X3.10-01 • 8B0C0320Hx00.B00-1 For technical data as well as specifications for connection and ambient conditions, see the nameplate of the components and user documentation.

  • Page 8: Instructions For Handling Strong Magnets

    ACOPOS 6D system or use the ACOPOS 6D sys- tem. • The person responsible for the system must ensure that personnel are trained in the use of the ACOPOS 6D system and how to behave during emergencies or in the event of disturbances. Danger!

  • Page 9: Hazardous Energy

    1.2.6 Hazardous energy Any energy source that presents a risk of injury to a person working on the system must be regarded as a hazardous energy source. The following hazardous energy sources are present on the ACOPOS 6D system: • Electrical •...

  • Page 10: Electrical

    • The integrator is responsible for ensuring that the ACOPOS 6D system is planned and installed in accordance with the safety requirements of applicable national standards and regulations. • The integrator of the ACOPOS 6D system is required to perform a hazard and risk as- sessment (HRA). Danger!

  • Page 11: Thermal

    • The permanent magnets in the shuttles have a strong magnetic field. • When removing a shuttle from the ACOPOS 6D system, place the shuttle in the desig- nated storage box to avoid unwanted interactions between ferromagnetic/magnetic materials and the shuttle.

  • Page 12: Environmentally Friendly Disposal

    Disposal must be carried out in accordance with applicable legal regulations. 1.3.2 Notes about disassembly The ACOPOS 6D system should be disassembled into its individual parts (e.g. segments, controllers, shut- tles) for proper recycling. The individual components should not be disassembled into their individual parts.

  • Page 13: Acopos 6D System

    ACOPOS 6D system 2 ACOPOS 6D system ACOPOS 6D shuttles offer a levitating 100% frictionless six-dimensional direct drive for fast and precise movements. • Flexibility in two dimensions over long distances • Free and dynamic definition of paths • Automated routing integrated •...

  • Page 14: Acopos 6D - Overview

    2.1 ACOPOS 6D - Overview Figure 1: ACOPOS 6D system - Overview The ACOPOS 6D system consists of segment and shuttle components as well as a controller. The modular planar motor system is a highly flexible, frictionless and maintenance-free alternative to classic linear transport systems.

  • Page 15: Performance Specification

    The current rotation power limits are listed in the table below. Shuttle Max. speed Max. acceleration Max. speed Max. acceleration without payload in rev/s without payload in rev/s² Max. payload in rev/s Max. payload in rev/s² 8FLS3.12120.00I-1 15.9 12.7 8FLS3.12180.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 16: Servicing And Maintenance

    It is recommended that the ACOPOS 6D system be inspected on a regular basis to maintain optimal working conditions of the ACOPOS 6D system. The maintenance plan below describes the regular steps that should be performed.

  • Page 17: Technical Data

    Figure 2: ACOPOS 6D controller The PWR connection is used for the power supply of the ACOPOS 6D controller. The ETH connection is used to establish a connection to a PC for the user's GUI or Ethernet application. The EIP connections support POWERLINK.

  • Page 18: Technical Data

    Operation 5 to 80%, non-condensing Storage 5 to 95% Transport 95% at 40°C Mechanical properties Dimensions Width 179 mm Height 33.1 mm Depth 147 mm Weight 1 kg Table 4: 8FLM01.0000.00I-1 - Technical data ACOPOS 6D User's manual V 1.2.1...

  • Page 19: Dimension Diagram And Installation Dimensions

    Technical data 4.1.1.4 Dimension diagram and installation dimensions Figure 3: Dimension diagram for 8FLM01.0000.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 20: Segment

    Figure 5: Underside of segment Each segment has an integrated controller that controls the movement, position and speed of the shuttles that are on the surface. This decentralized intelligence enables any arrangement and flexible expansion of the system. ACOPOS 6D User's manual V 1.2.1...

  • Page 21: 8Fli31.2424.00I-1

    Technical data 4.2.1 8FLI31.2424.00I-1 4.2.1.1 General information Segments represent the stator of the ACOPOS 6D system and are the actual stator units with integrated drives. Caution! Damage due to improper wiring Segments are only permitted to be connected in a voltage-free state! Wiring while voltage is applied will result in irreparable damage to the segments.
  • Page 22 Experimentally measured with 3/8-inch OD hose connectors installed on the segment. Several segments can be cooled in a series connection depending on the system or application parameters. ACOPOS 6D User's manual V 1.2.1...

  • Page 23: Dimension Diagram And Installation Dimensions

    Technical data 4.2.1.4 Dimension diagram and installation dimensions Figure 6: Dimension diagram for 8FLI31.2424.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 24: Shuttle

    210 x 330 x 12 8FLS3.24240.00I-1 240 x 240 x 10 8FLS3.30300.00I-1 300 x 300 x 12 8FLS3.33330.00I-1 330 x 330 x 12 8FLS3.45450.00I-1 450 x 450 x 16 14.4 8FLS3.1212H.00I-1 120 x 120 x 10 ACOPOS 6D User's manual V 1.2.1...
  • Page 25 Technical data ACOPOS 6D User's manual V 1.2.1...

  • Page 26: 8Fls3.12120.00I-1

    4.3.1 8FLS3.12120.00I-1 4.3.1.1 General information 4.3.1.2 Order data Order number Short description Figure Shuttles 8FLS3.12120.00I-1 ACOPOS 6D shuttle, S3, 120 x 120 Table 7: 8FLS3.12120.00I-1 - Order data 4.3.1.3 Technical data Order number 8FLS3.12120.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 27: Dimension Diagram And Installation Dimensions

    Technical data 4.3.1.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 20 x M4x0.7 C L SYMMETRY set by A Figure 7: Dimension diagram for 8FLS3.12120.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 28: 8Fls3.12180.00I-1

    4.3.2 8FLS3.12180.00I-1 4.3.2.1 General information 4.3.2.2 Order data Order number Short description Figure Shuttles 8FLS3.12180.00I-1 ACOPOS 6D shuttle, S3, 120 x 180 Table 9: 8FLS3.12180.00I-1 - Order data 4.3.2.3 Technical data Order number 8FLS3.12180.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 29: Dimension Diagram And Installation Dimensions

    Technical data 4.3.2.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 20 x M4x0.7 C L SYMMETRY set by A Figure 8: Dimension diagram for 8FLS3.12180.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 30: 8Fls3.12240.00I-1

    Technical data 4.3.3 8FLS3.12240.00I-1 4.3.3.1 Order data Order number Short description Figure Shuttles 8FLS3.12240.00I-1 ACOPOS 6D shuttle, S3, 120 x 240 Table 11: 8FLS3.12240.00I-1 - Order data 4.3.3.2 Technical data Order number 8FLS3.12240.00I-1 Motor characteristics Maximum speed 2 m/s Repeat accuracy Repeat accuracy Typ.

  • Page 31: Dimension Diagram And Installation Dimensions

    Technical data 4.3.3.3 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 20 x M4x0.7 C L SYMMETRY set by A Figure 9: Dimension diagram for 8FLS3.12240.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 32: 8Fls3.18180.00I-1

    4.3.4 8FLS3.18180.00I-1 4.3.4.1 General information 4.3.4.2 Order data Order number Short description Figure Shuttles 8FLS3.18180.00I-1 ACOPOS 6D shuttle, S3, 180 x 180 Table 13: 8FLS3.18180.00I-1 - Order data 4.3.4.3 Technical data Order number 8FLS3.18180.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 33: Dimension Diagram And Installation Dimensions

    Technical data 4.3.4.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 20 x M4x0.7 C L SYMMETRY set by A Figure 10: Dimension diagram for 8FLS3.18180.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 34: 8Fls3.18210.00I-1

    4.3.5 8FLS3.18210.00I-1 4.3.5.1 General information 4.3.5.2 Order data Order number Short description Figure Shuttles 8FLS3.18210.00I-1 ACOPOS 6D shuttle, S3, 180 x 210 Table 15: 8FLS3.18210.00I-1 - Order data 4.3.5.3 Technical data Order number 8FLS3.18210.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 35: Dimension Diagram And Installation Dimensions

    Technical data 4.3.5.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 20 x M4x0.7 C L SYMMETRY set by A Figure 11: Dimension diagram for 8FLS3.18210.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 36: 8Fls3.21210.00I-1

    4.3.6 8FLS3.21210.00I-1 4.3.6.1 General information 4.3.6.2 Order data Order number Short description Figure Shuttles 8FLS3.21210.00I-1 ACOPOS 6D shuttle, S3, 210 x 210 Table 17: 8FLS3.21210.00I-1 - Order data 4.3.6.3 Technical data Order number 8FLS3.21210.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 37: Dimension Diagram And Installation Dimensions

    Technical data 4.3.6.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 20 x M4x0.7 C L SYMMETRY set by A Figure 12: Dimension diagram for 8FLS3.21210.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 38: 8Fls3.21330.00I-1

    4.3.7 8FLS3.21330.00I-1 4.3.7.1 General information 4.3.7.2 Order data Order number Short description Figure Shuttles 8FLS3.21330.00I-1 ACOPOS 6D shuttle, S3, 210 x 330 Table 19: 8FLS3.21330.00I-1 - Order data 4.3.7.3 Technical data Order number 8FLS3.21330.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 39: Dimension Diagram And Installation Dimensions

    4.3.7.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 24 x M5x0.8 153.50 C L SYMMETRY set by A Figure 13: Dimension diagram for 8FLS3.21330.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 40: 8Fls3.24240.00I-1

    4.3.8 8FLS3.24240.00I-1 4.3.8.1 General information 4.3.8.2 Order data Order number Short description Figure Shuttles 8FLS3.24240.00I-1 ACOPOS 6D shuttle, S3, 240 x 240 Table 21: 8FLS3.24240.00I-1 - Order data 4.3.8.3 Technical data Order number 8FLS3.24240.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 41: Dimension Diagram And Installation Dimensions

    Technical data 4.3.8.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 20 x M4x0.7 C L SYMMETRY set by A Figure 14: Dimension diagram for 8FLS3.24240.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 42: 8Fls3.30300.00I-1

    4.3.9 8FLS3.30300.00I-1 4.3.9.1 General information 4.3.9.2 Order data Order number Short description Figure Shuttles 8FLS3.30300.00I-1 ACOPOS 6D shuttle, S3, 300 x 300 Table 23: 8FLS3.30300.00I-1 - Order data 4.3.9.3 Technical data Order number 8FLS3.30300.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 43: Dimension Diagram And Installation Dimensions

    4.3.9.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 28 x M5x0.8 138.50 C L SYMMETRY set by A Figure 15: Dimension diagram for 8FLS3.30300.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 44: 8Fls3.33330.00I-1

    4.3.10 8FLS3.33330.00I-1 4.3.10.1 General information 4.3.10.2 Order data Order number Short description Figure Shuttles 8FLS3.33330.00I-1 ACOPOS 6D shuttle, S3, 330 x 330 Table 25: 8FLS3.33330.00I-1 - Order data 4.3.10.3 Technical data Order number 8FLS3.33330.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 45: Dimension Diagram And Installation Dimensions

    4.3.10.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 28 x M5x0.8 153.50 C L SYMMETRY set by A Figure 16: Dimension diagram for 8FLS3.33330.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 46: 8Fls3.45450.00I-1

    4.3.11 8FLS3.45450.00I-1 4.3.11.1 General information 4.3.11.2 Order data Order number Short description Figure Shuttles 8FLS3.45450.00I-1 ACOPOS 6D shuttle, S3, 450 x 450 Table 27: 8FLS3.45450.00I-1 - Order data 4.3.11.3 Technical data Order number 8FLS3.45450.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 47: Dimension Diagram And Installation Dimensions

    4.3.11.4 Dimension diagram and installation dimensions 4(+0.012/+0.000) (h6 or h7 dowels recommended) 4(+0.012/+0.000) (h6 or h7 dowels recommended) C L SYMMETRY set by A 36 x M6x1.0 C L SYMMETRY set by A Figure 17: Dimension diagram for 8FLS3.45450.00I-1 ACOPOS 6D User's manual V 1.2.1...

  • Page 48: 8Fls3.1212H.00I-1

    4.3.12 8FLS3.1212H.00I-1 4.3.12.1 General information 4.3.12.2 Order data Order number Short description Figure Shuttles 8FLS3.1212H.00I-1 ACOPOS 6D shuttle, S3, 120 x 120, hygienic Table 29: 8FLS3.1212H.00I-1 - Order data 4.3.12.3 Technical data Order number 8FLS3.1212H.00I-1 Motor characteristics Maximum speed 2 m/s...

  • Page 49: Power Supply

    Using an external power supply If the ACOPOS 6D system is operated with a power supply selected by the user, it must be ensured that the power supply is galvanically isolated from the mains and that the max. output current of 60 A is not exceeded with a power supply of 58 VDC.

  • Page 50: Cables

    8YFLCL00X5.31110-0 ACOPOS 6D Link cable, segment - segment (0.5 m) 8YFLCE0002.11210-0 ACOPOS 6D controller, ETH, M12 - RJ45 network cable (2 m) 8YFLCD0002.31210-0 ACOPOS 6D controller, PLK, M12 - RJ45 PLK cable (2 m) ACOPOS 6D User's manual V 1.2.1...

  • Page 51: 8F1Cp0005.1112A-0

    0.85 kg Table 32: 8F1CP0005.1112A-0 - Technical data Values refer to the raw cable being used. At ambient temperature ≤ 60°C and conductor temperature ≤ 90°C. At an ambient temperature from -20 to 60°C. ACOPOS 6D User's manual V 1.2.1...

  • Page 52: Pinout

    Wire end sleeves Cable length: Power conductor 140 mm STO 135 mm Hose clamp Shield fixing Table 34: 8F1CP00xx.1112A-0 power supply cables - Cable construction Use of the shield fixing applies exclusively to ACOPOSmulti. ACOPOS 6D User's manual V 1.2.1...

  • Page 53: Cable Diagram

    8-pin series 915 circular connector Wire end sleeves Female (6 mm²) Black (6 mm²) (0.34 mm²) White STO+ Blue (0.34 mm²) STO- Shield connected to housing on connector side Figure 18: 8F1CP00xx.1112A-0 - Cable diagram ACOPOS 6D User's manual V 1.2.1...

  • Page 54: 8Yflcs0002.1123A-0

    4.5.2.2 Order data Order number Short description Figure Cables 8YFLCS0002.1123A-0 ACOPOS 6D controller power supply cable, length 2 m, 5x 0.34 mm², free line end, angled M12 connector. Table 35: 8YFLCS0002.1123A-0 - Order data 4.5.2.3 Technical data Order number 8YFLCS0002.1123A-0...

  • Page 55: Pinout

    22 AWG, 0.34 mm² Digital output Black 22 AWG, 0.34 mm² Digital input (11 ~ 30 VDC = "1") (-3 ~ 5 VDC = "0") Gray 22 AWG, 0.34 mm² Grounding Table 37: 8YFLCS0002.1123A-0 - Pinout ACOPOS 6D User's manual V 1.2.1...

  • Page 56: 8F1Cp00X6.11110-0

    Figure Cables 8F1CP00X6.11110-0 ACOPOS 6D power cable, length 0.6 m, 1x 8-pin female se- ries 915 straight hybrid connector, 1x 8-pin male series 915 straight hybrid connector, can be used in cable drag chains Table 38: 8F1CP00X6.11110-0 - Order data 4.5.3.3 Technical data...

  • Page 57: Pinout

    Series 915 circular connector, female (6 mm²) Black (6 mm²) White (0.34 mm²) SCE+ Blue (0.34 mm²) SCE- Shield connected to housing on connector side Figure 19: 8F1CP0xxx.1111 - Cable diagram Segment coil enable ACOPOS 6D User's manual V 1.2.1...

  • Page 58: 8Yflcl0003.31110-0

    Technical data 4.5.4 8YFLCL0003.31110-0 4.5.4.1 General information This cable is used to connect the ACOPOS 6D controller to the segment. 4.5.4.2 Order data Order number Short description Figure Cables 8YFLCL0003.31110-0 ACOPOS 6D Link cable, length 3 m, HDMI 19-pin, male Table 42: 8YFLCL0003.31110-0 - Order data...

  • Page 59: 8Yflcl00X5.31110-0

    This cable is used for the connection between segments. 4.5.5.2 Order data Order number Short description Figure Cables 8YFLCL00X5.31110-0 ACOPOS 6D Link cable, length 0.5 m, HDMI 19-pin, male Table 44: 8YFLCL00X5.31110-0 - Order data 4.5.5.3 Technical data Order number 8YFLCL00X5.31110-0 Cable construction Outer jacket...

  • Page 60: 8Yflce0002.11210-0

    4.5.6.2 Order data Order number Short description Figure Cables 8YFLCE0002.11210-0 ACOPOS 6D Ethernet cable, length 2 m, angled M12 connec- tor, straight RJ45 connector, 8-pin A-coded, flexible Table 46: 8YFLCE0002.11210-0 - Order data 4.5.6.3 Technical data Order number 8YFLCE0002.11210-0 General information Cable cross section 4x 2x 0.14 mm²...

  • Page 61: Pinout

    Technical data 4.5.6.4 Pinout 8-pin M12, A-coded - Pinout RJ45 - Pinout Table 48: 8YFLCE0002.11210-0 - Pinout 4.5.6.5 Cable diagram Figure 20: 8YFLCE0002.11210-0 - Cable diagram ACOPOS 6D User's manual V 1.2.1...

  • Page 62: 8Yflcd0002.31210-0

    4.5.7.2 Order data Order number Short description Figure Cables 8YFLCD0002.31210-0 ACOPOS 6D POWERLINK cable, length 2 m, angled M12 con- nector, straight RJ45 connector, 4-pin A-coded, flexible Table 49: 8YFLCD0002.31210-0 - Order data 4.5.7.3 Technical data Order number 8YFLCD0002.31210-0 General information Cable cross section 2x 2x 0.14 mm²...

  • Page 63: Pinout

    Technical data 4.5.7.4 Pinout 4-pin M12, A-coded - Pinout RJ45 - Pinout Table 51: 8YFLCD0002.31210-0 - Pinout 4.5.7.5 Cable diagram Figure 21: 8YFLCD0002.31210-0 - Cable diagram ACOPOS 6D User's manual V 1.2.1...

  • Page 64: Installation

    • Electrical connection for the power supply of the ACOPOS 6D system and ACOPOS 6D controller ° North America: 120 V / 60 Hz, NEMA 5-15 connection °...

  • Page 65: Assembly Steps

    2. Insert 2x 4 mm dowel pins (P1, P2) through the mounting plate and into the segment body. 3. Mount the 2x M8 screws (S1, S2). 4. Remove the 2x 4 mm dowel pins (P1, P2). 5. Mount the 2x M8 screws (S3, S4). ACOPOS 6D User's manual V 1.2.1...

  • Page 66: Installing Segment Cooling

    If segments are connected in parallel, flow equalization valves should be provided at each branch to equalize the flow rate at each segment as well as check valves at the outlet of each segment branch. Figure 24: Segment cooling in parallel connection - Diagram ACOPOS 6D User's manual V 1.2.1...

  • Page 67: Wiring

    ACOPOStrak power supply cable for ACOPOS 6D segment (5 m) 8YFLCS0002.1123A-0 ACOPOS 6D controller, power supply cable (2 m) 8YFLCE0002.11210-0 ACOPOS 6D controller, ETH, M12 - RJ45 network cable (2 m) 8YFLCD0002.31210-0 ACOPOS 6D controller, PLK, M12 - RJ45 PLK cable (2 m) 8YFLCL0003.31110-0 ACOPOS 6D Link cable, controller - segment (3 m) 6.2 ACOPOS 6D network wiring...
  • Page 68 The ACOPOS 6D controller can be connected to either data connection A or data connection C on a segment. The system will not be detected if the ACOPOS 6D controller is connected to data connection B or data connection D on a segment.

  • Page 69: Wiring The Power Cable

    1 kW power supply. Each segment and the ACOPOS 6D controller should be grounded. Any of the four threaded holes can be used as a grounding point for the segments. A separate grounding hole is provided for the ACOPOS 6D controller in the aluminum housing of the ACOPOS 6D controller.

  • Page 70: Power Supply Connection For Segments

    2. Connect the black wire to VDC feedback. 3. Connect the white wire to the high side of the Enable output device. 4. Connect the blue wire to the low side of the Enable output device. 5. Connect the shielding. ACOPOS 6D User's manual V 1.2.1...

  • Page 71: Acopos 6D Controller Power Supply Connection

    I/O device. The digital I/O functions of the ACOPOS 6D controller can be used to trigger actions to and from the ACOPOS 6D system. Observe the following instructions for connecting the power cable of the ACOPOS 6D controller to a power supply.

  • Page 72: Enable Wiring

    For example, a positively driven cutoff relay can be used and cut off the motor power when the safety circuit is opened. 24 V Segment 1 Segment 2 Segment n Figure 31: Wiring Enable with a safety switch connected to the power supply. ACOPOS 6D User's manual V 1.2.1...

  • Page 73: International And National Certifications

    We are committed to ensuring the reliability of our products in industrial environments. Information: For the certifications valid for the respective component of the ACOPOS 6D system, see the following locations: • The data sheet's technical data under "General information → Certifications"...

  • Page 74: Eu Directives And Standards (Ce)

    Electronic Equipment Directive in electrical and electronic equipment and are designed for typical industrial use. Applicable standards from this directive: EN IEC 63000:2018 Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances ACOPOS 6D User's manual V 1.2.1...

  • Page 75: Appendix A Assembly Guidelines

    9 THRU, Clearance Holes for M8 Screws 4 per stator 221, M8 Screws Drilled to 3.8mm Reamed to 232, Dowel Pins 2 per stator 240, Stator Pitch Figure 32: Spacing of the mounting holes ACOPOS 6D User's manual V 1.2.1...
  • Page 76 Appendix A 111.93 Power Cutout Water Cutout 6D Link Cutout 22.15 Figure 33: Cutouts on the segment mounting surface ACOPOS 6D User's manual V 1.2.1...

  • Page 77: Appendix B Magnetic Filed Safety Of Shuttle

    • The permanent magnets in the shuttles have a strong magnetic field. • When removing a shuttle from the ACOPOS 6D system, place the shuttle in the desig- nated storage box to avoid unwanted interactions between ferromagnetic/magnetic materials and the shuttle.
  • Page 78 120 x 120 mm shuttle (8FLS3.12120.00I-1) - Magnetic fields Figure 34: Magnetic field in tesla at underside Z = 0 mm Figure 35: Magnetic field in tesla in the vertical center plane Y = 0 mm ACOPOS 6D User's manual V 1.2.1...
  • Page 79 Appendix B 180 x 120 mm shuttle (8FLS3.12180.00I-1) - Magnetic fields Figure 36: Magnetic field in tesla at underside Z = 0 mm Figure 37: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 80 Appendix B 240 x 120 mm shuttle (8FLS3.12240.00I-1) - Magnetic fields Figure 38: Magnetic field in tesla at underside Z = 0 mm Figure 39: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 81 Appendix B 180 x 180 mm shuttle (8FLS3.18180.00I-1) - Magnetic fields Figure 40: Magnetic field in tesla at underside Z = 0 mm Figure 41: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 82 Appendix B 210 x 180 mm shuttle (8FLS3.18210.00I-1) - Magnetic fields Figure 42: Magnetic field in tesla at underside Z = 0 mm Figure 43: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 83 Appendix B 210 x 210 mm shuttle (8FLS3.21210.00I-1) - Magnetic fields Figure 44: Magnetic field in tesla at underside Z = 0 mm Figure 45: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 84 Appendix B 240 x 240 mm shuttle (8FLS3.24240.00I-1) - Magnetic fields Figure 46: Magnetic field in tesla at underside Z = 0 mm Figure 47: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 85 Appendix B 330 x 210 mm shuttle (8FLS3.21330.00I-1) - Magnetic fields Figure 48: Magnetic field in tesla at underside Z = 0 mm Figure 49: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 86 Appendix B 300 x 300 mm shuttle (8FLS3.30300.00I-1) - Magnetic fields Figure 50: Magnetic field in tesla at underside Z = 0 mm Figure 51: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 87 Appendix B 330 x 330 mm shuttle (8FLS3.33330.00I-1) - Magnetic fields Figure 52: Magnetic field in tesla at underside Z = 0 mm Figure 53: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...
  • Page 88 Appendix B 450 x 450 mm shuttle (8FLS3.45450.00I-1) - Magnetic fields Figure 54: Magnetic field in tesla at underside Z = 0 mm Figure 55: Magnetic field in tesla in the vertical center plane ACOPOS 6D User's manual V 1.2.1...

  • Page 89: Appendix C Levitation Height

    Figure 56: Influence of the shuttle levitation height on the power required to control the shuttle Figure 57: Influence of the shuttle levitation height on the available power to control the shuttle ACOPOS 6D User's manual V 1.2.1...

  • Page 90: Appendix D Segment Cooling

    Appendix D Appendix D Segment cooling Liquid cooling is not required for operating the ACOPOS 6D system but can be used for temperature-sen- sitive applications. Each segment has cooling channels integrated into the hardware's aluminum housing. The input/output connections of the cooling channels are located on the underside of the segment.

  • Page 91: Experimental Data

    65 W per segment. If lower temperatures are required for the application, parallel routing, a higher flow rate and/or lower inlet temperature should be implemented. ACOPOS 6D User's manual V 1.2.1...
  • Page 92 1 segment in series 0.74 18.5 2 segments in series 0.92 18.5 4 segments in series 1.12 18.6 8 segments in series 1.26 19.1 16 segments in series 1.47 19.5 2x 8 segments in parallel 1.09 20.7 ACOPOS 6D User's manual V 1.2.1...
  • Page 93 14°C to avoid the risk of condensation. Integrators can also consider dehumidifying the ambient air to prevent condensation. Figure 60: Dew point values ACOPOS 6D User's manual V 1.2.1...

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