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User Manual
CHPS-Series Linear Stage
Catalog Numbers CHPS-150, CHPS-200, CHPS-250
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
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.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Allen-Bradley, Kinetix, Rockwell Software, Rockwell Automation, Ultra are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
New and Updated
Information
Summary of Changes
This manual contains new and updated information. Changes throughout this revision are marked by change bars, as shown to the right of this paragraph.
This table contains the changes made to this revision.
Topic
Corrected catalog numbers
Added maximum velocity for Kinetix 6500 and Kinetix 300 Drives
Page
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
3
Summary of Changes
Notes:
4
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Stage Safety
Understanding Your Stage
Planning the Stage Installation
Mounting the Stage
Connector Data
Preface
Chapter 1
Chapter 2
Identifying the Components of Your Stage . . . . . . . . . . . . . . . . . . . . . . . . . 16
Component Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Recommended Maintenance Interval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Chapter 3
General Safety Standards for Stage Installations . . . . . . . . . . . . . . . . . 21
Chapter 4
Unpacking, Handling, and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Before You Begin the Mechanical Installation. . . . . . . . . . . . . . . . . . . 28
Mount Your Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Chapter 5
Kinetix Servo Drive Compatible Connectors . . . . . . . . . . . . . . . . . . . . . . . 34
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
5
Table of Contents
6
Connecting the Stage
Operation Guidelines and Limit
Configuration
Troubleshooting
Maintenance
Removing and Replacing Stage
Components
Chapter 6
Attaching the Ground Strap and Interface Cables . . . . . . . . . . . . . . . 40
TTL Differential Encoder Output Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Sine/Cos Encoder Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Motor and Hall Phasing and Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Chapter 7
Calculating the Stopping Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Overtravel Limit Sensor Position Adjustment . . . . . . . . . . . . . . . . . . . 51
Chapter 8
Motor Coil Resistance Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Chapter 9
Optical Encoder Scale Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Chapter 10
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Table of Contents
Specifications and Dimensions
Accessories
Stacking Stages
Appendix A
Performance Specifications for 325V CHPS-Series Stage . . . . . . . . 70
Performance Specifications for 325V or
650V CHPS-Series Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Accuracy Specification for the CHPS-Series Stage. . . . . . . . . . . . . . . 73
PTC Thermistor Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Maximum Velocity for Allen-Bradley Drives. . . . . . . . . . . . . . . . . . . . 74
Environmental Specifications for CHPS-Series Stages . . . . . . . . . . . 75
CHPS-Series Stage Travel versus Weight Specifications . . . . . . . . . 75
CHPS-Series Stage Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . 83
Appendix B
(catalog number 2090-XXNPMF-16Sxx) . . . . . . . . . . . . . . . 85
(catalog number 2090-XXNFMF-Sxx). . . . . . . . . . . . . . . . . . 86
Installation, Maintenance, and Replacement Kits . . . . . . . . . . . . . . . . . . . 87
Appendix C
Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware
Software
Appendix D
Wiring the CHPS-Series Stage to the Ultra3000 Drive . . . . . . . . . . . . . . 91
Creating a CHPS-Series Stage Motor File . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Recommended Start-up Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
CHPS-Series Stage and Ultra3000 Drive Troubleshooting Reference. 96
Encoder Counting Polarity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Oscilloscope Diagram for Ultra3000 Drive . . . . . . . . . . . . . . . . . . . . . 98
Commutation Diagnostics Utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Self-sensing Commutation and Startup. . . . . . . . . . . . . . . . . . . . . . . . 100
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
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Table of Contents
Appendix E
Mounting Bolts and Torque Values
Index
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Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Preface
Read this preface to familiarize yourself with the manual.
About This Publication
This manual provides detailed installation instructions for mounting, wiring, maintaining, and troubleshooting your CHPS-Series Linear Motor Driven
Stage.
Who Should Use This Manual
This manual is intended for engineers or technicians directly involved in the installation, wiring, and maintenance of stages. Any person that teaches, operates, maintains, or repairs these stages must be trained and demonstrate the competence to safely perform the assigned task.
If you do not understand the linear motor stages, contact your local Rockwell
Automation sales representative for information on training courses before using this product.
Read this entire manual before you attempt to install your stage into your motion system. This familiarizes you with the stage components, their relationship to each other and the system.
After installation, check the configuration of the system parameters to be sure they are properly set for the stage in your motion system.
Follow all instructions carefully and pay special attention to safety concerns.
Additional Resources
These documents contain additional information concerning related products from Rockwell Automation.
Resource Description
High Precision Linear Motor Driven Stages Selection Guide, publication CHPS-SG001
Kinetix® 2000 Multi-axis Servo Drive User Manual, publication 2093-UM001
Provides product specifications, ratings, certifications, system interface, and wiring diagrams to aid in product selection.
Describes how to configure and use Kinetix 2000 multi-axis servo drives.
Kinetix 6000 Multi-axis Servo Drive User Manual, publication
2094-UM001
Describes how to configure and use Kinetix 6000 multi-axis servo drives.
LZ Family of Linear Motors Brochure, publication PMC-BR001 Provides product specifications, outline drawing, ratings, and wiring information to aid in product selection.
LC Family of Linear Motors Brochure, publication PMC-BR002 Provides product specifications, outline drawing, ratings, and wiring information to aid in product selection.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
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Preface
Notes:
10
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Chapter
1
Stage Safety
Topic
Page
IMPORTANT
Any person that teaches, operates, maintains, or repairs these linear stages must be trained and demonstrate the competence to safely perform the assigned task.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
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Chapter 1
Stage Safety
Safety Labels
Location Title
A Danger-Pinch Points and Heavy Objects
Label
B Danger-Hazardous
Voltage
C Danger-Strong
Magnets
D Do Not Lift by
Junction Box
E Stay Clear
F Sharp Edges
To prevent injury and damage to the stage, review the safety labels and their warning details and location before using the stage.
Details
The linear stage presents a muscle strain hazard if one person attempts to lift it. When attempting to move the linear stage use a two-person-lift to prevent personal injury or damage to the linear stage.
To Installer - There exists a Crush and Cut hazard while installing the linear stage. The linear stage weighs from 13…63 kg (28…140 lb).
To User - The Pinch Point label identifies a moving object hazard, caused by the movement of the carriage on the linear stage. Never put fingers, hands, or limbs near the linear stage while running motion commands. Before executing any motion command, check that all maintenance tools have been removed from linear stage.
All types of linear stages, especially uncovered, present a pinch point hazard. This hazard may occur if fingers or hands come between the end cap and a moving carriage. Always lift the linear stage by the base and keep fingers and hands away from the opening and edges parallel to the carriage.
The Hazardous Voltage label identifies the junction box as a hazardous voltage area of the linear stage. To avoid injury be sure to follow Lockout-
Tagout procedures before attempting maintenance on these linear stages.
The Strong Magnets label identifies non-ionizing radiation found in the linear stage. Magnet channels inside the linear stage are constructed with strong magnets. Strong magnets can disrupt the functionality of automatic implantable cardioverter defibrillators (AICD); people with a pacemaker should not work near the linear stage. Maintenance personnel working on the linear stage should avoid the use of metallic tools and secure items such as badge clip and other personal effects that could be attracted by the strong magnets. Strong magnets can erase magnetic media. Never allow credit cards or floppy disks to contact or come near the linear stage.
Do not attempt to move the linear stage by grasping the cable junction box.
Moving the linear stage in this manner will damage the linear stage and create a pinch or crush hazard. The junction box is attached to the carriage, which is free to move. Lifting the linear stage in this manner will allow uncontrolled movement of the heavy base. Always use a two-person lift and grasp the linear stage by the base at the end caps. Always keep fingers clear of the carriage’s path of travel.
Do not put hands or objects on the linear stage cover. Doing so could deform the cover and damage the linear stage, causing excessive wear on the cover supports or scraping noises when the linear stage is in motion.
Always remove strip seals before removing the top or side covers. If it becomes necessary to remove the top or side covers or change the strip seal, exercise care when working near or on the strip seal. The edges of the strip seal are sharp and can cut if accidentally hit or if handled inappropriately.
12
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Figure 1 - Warning Label Locations
A
PINCH P
OINTS
Moving pa rts inside
Lockout
/ Tagout
LIFT HA
ZARD
Two Pe rson Lift or carry r equired
Stage Safety
Chapter 1
E
F
AG
CA
Ca pac sen sitiv
NE
TED
ha ake
DANG
TIC FIE
IN
TH
LD rm rs a qu ful ipm
IS A
to
ot en
RE he
ER
DANGE
R
VOLTAG
E
OUS
LOCKO
TAGOU
UT AND
T POWE
R
SERVIC ING
BEFORE
C
F
D
See Safety Labels on page 12 to identify call out letters.
B
Clearances
General Safety
Install the stage to avoid interference with the building, structures, utilities, other machines and equipment that can create a trapping hazard of pinch points.
Dress cables by using the
diagram on
Do not cross the path of motion or interfere with the cable carrier motion.
Stages are capable of sudden and fast motion. Always Lockout-Tagout stage systems before doing maintenance. Systems integrated with stages must contain interlock mechanisms that prevent motion while users are accessing the stage.
Rockwell Automation is not responsible for misuse, or improper implementation of their equipment.
Heat
When running the stage at its maximum rating, the temperature of the slide can reach 75
ºC (167 ºF).
Vertical or Incline Payload
A vertically or inclined mounted stage does not maintain position with the power removed. Under the influence of gravity, the slide and its payload falls to the low end of travel. Design engineers must design in controlled power down circuits or mechanical controls to prevent the stage and its payload from being damaged when the power fails.
End Cap Impacts
The internal bumpers of the stage are designed to absorb a large impact from
uncontrolled motion. The table on page 53 lists the energy that the bumpers can
absorb before risking damage to the stage. The payload must be secured to the slide such that it does not sheer off in the event of an impact in excess of the bumper ratings.
The bolts securing the end caps are not be able to sustain multiple impacts and can eventually sheer. Correct the cause of the uncontrolled motion that caused the impact before continuing the use of the stage.
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13
Chapter 1
Stage Safety
Air Freight Transportation
When air freighting stages special preparations and precautions must be taken.
The following information outlines the basic requirements at the publication date of this document. However, regulations are subject to change and additional area or carrier restrictions can be imposed. Check with your carrier or logistics specialist regarding current local, regional, and national transportation requirements when shipping this product.
The 200 mm or a 250 mm stages contain magnetized material, as classified by
International Air Transport Association (IATA) Dangerous Goods Regulations.
An IATA trained individual must be involved when shipping this product via domestic or international air freight. Packing Instruction 902 provides information regarding the preparation of this product for air transportation.
Follow these regulations for general marking and labeling requirements, the application of Magnetized Material Handling Labels, and instructions for preparing the Shipper's Declaration for Dangerous Goods.
As a minimum, refer to the following IATA Dangerous Goods Regulations:
• Subsection 1.5: Training
• Subsection 3.9.2.2: Classification as Magnetized Material
• Subsection 4.2: Identification as UN 2807, Magnetized Material, Class 9,
Packing Instruction 902
• Subsection 7.1.5: Marking
• Subsection 7.2: Labeling
• Subsection 7.4.1: Magnetized Material Label
• Section 8: Shipper’s Declaration for Dangerous Goods
When shipped via ground in the United States, these products are not considered a U.S. D.O.T. Hazardous Material and standard shipping procedures apply.
Standards
Standards and requirements applicable to this product include, but are not limited to, the following:
• ANSI/RIA R15.06, Industrial Robots and Robot Systems Safety
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
Motor Model Identification
The nameplate lists the motor model for the stage.
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Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Understanding Your Stage
Topic
Identifying the Components of Your Stage
Recommended Maintenance Interval
Page
Chapter
2
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
15
Chapter 2
Understanding Your Stage
Identifying the Components of Your Stage
Use the diagrams and descriptions to identify individual stage components.
Figure 2 - Components of Your Linear Stage
4
3
2 (4x)
1
6
7 (2x)
8
9 (2x)
10 (4x)
5 (4x)
15
6
14 (4x)
13
12
11
17
16 (2x)
21
20
18
19
16
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Understanding Your Stage
Chapter 2
18
19
16
17
20
21
13
14
15
5
6
7
8
9
10
11
12
3
4
1
2
Component
Number
Component Description
Component Description
Ground Screw and Ground Label Use the labeled M5 x 0.8 - 6H ground screw to connect to the linear stage to a facility safety ground.
Bearing Lubrication Ports These capped ports provide access to the linear bearings without dismantling the stage. In addition these tapped holes
(M10 x 15. -6H) can be used to secure lifting hooks (not provided)
Stage Slide
Stage Cover
Your application hardware mounts to this slide by using provide mounting holes.
If the strip seals are used this protective cover the stage has magnetic edges to keep the upper edge of the strip seals in place.
Seal Guide
Cable Carrier Module
Stage Side Cover
Side Cover Support
Stainless Steel Strip Seal
These guides lets the strip seal to move smoothly around the stage slide.
Facilitates quick and easy replacement. Replace the cable carrier module every 10 million cycles.
If the strip seals are used this protective cover the stage has magnetic edges to keep the lower edge of the strip seals in place.
These supports are used on long stages to stabilize the side cover.
Strip Seal Clamps
Index Mark
Optical Encoder Readhead
These replaceable, flexible stainless steel strips permit the stage to move while isolating the internal mechanism of the stage from environmental contaminants.
These clamps hold the strip seal in place. When replacing the strip seals, they are used to position it so it lays smooth against the top and side stage covers.
Part of the encoder system that provides a home location for the encoder.
This encoder readhead comes in various resolutions and requires little maintenance.
The TTL encoder option provides quadrature incremental position feedback with a differential signal on a RS-422.
Encoder Scale
Bearing
Motor Coil
Bearing Rail
Magnet Track
Limit Blade
Limit Sensor
Hall Sensor Module
Bumper Stop
The Sine/Cosine encoder option provides a 1 volt peak-to-peak sine and cosine output at a period of 20 μm. The Sine/Cosine encoder is also known as an analog encoder.
Part of the encoder system that provides an optical pattern to be read by the encoder readhead. It must be kept free of contamination for proper operation.
These support bearings guide the slide on the bearing rail, they require periodic lubrication.
This coil is part of the two piece linear motor. When excited by a linear drive, it generates magnetic forces that interact with the magnet track creating motion. LC linear motor option shown. LZ linear motors have a different configuration.
These rails provide the linear track that the slide assembly rides on, they must be kept free of debris.
This track of powerful static magnets is the other half of a linear motor. LC linear motor option shown. LZ linear motor option has a magnet channel.
Provides a mechanical trigger to the limit sensor.
These optional sensors output a signal when the limit blade passes in front of them. The position of these sensors can be
.
Three Hall sensors in this module are provide for commutation startup and phase alignment. They can also be use for trapezoidal commutation of the motor.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
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Chapter 2
Understanding Your Stage
Recommended Maintenance
Interval
Under normal stage use, follow these lubrication guidelines.
IMPORTANT
You determine the frequency of re-lubrication that is best suited to your application as an application's environment, motion profile, and duty cycle can effect the re-lubrication time period required.
Lubricate the stage every 6 months or 2500 km (1550 mi) of travel, which ever comes first. Use the MPAS grease gun kit and grease cartridge (catalog numbers
MPAS-GPUMP and MPAS-CART respectively). See maintenance section for lubrication procedures.
Refer to Maintenance beginning on page 59 for lubrication procedures.
Identifying Your Stage
Use the following key to identify the options that your stage is equipped with. Be sure the information listed on the purchase order correlates to the information on the packing slip that accompanied your stage components. Inspect the assemblies and confirm, if applicable, the presence of specified options.
CHPS - A 6 054 A - F LM C 2 C
Bulletin Number
Voltage
A= 230V AC
Frame Size
6= 150 mm base
Stroke
Travel lengths start at 6 cm and are available in 6 cm increments.
For example: 006 for 6 cm travel or 054 for 54 cm travel.
Maximum travel = 120 cm.
Motor
A= LZ-030-T-120-D
B= LZ-030-T-240-D
C= LZ-030-T-240-E
Feedback
F= 1.0 micron incremental optical encoder, with integral index mark
G= 0.5 micron incremental optical encoder, with integral index mark
H= 0.1 micron incremental optical encoder, with integral index mark
I= 1V p-p sine/cosine encoder, 20 μm signal period, with integral index mark
Cable Management and Termination
A = No Cables or Cable Carrier (Slide Junction Box only)
B = Cables with Flying Leads and Cable Carrier
(1)
C = Cables with Kinetix MPF Connectors and Cable Carrier
(1)
D = Cables with D-Connectors and Cable Carrier
(1)
Limits
2 = No limits
5 = Two end of travel limits
Protection
S = Covered with strip seals (IP 30)
(2)(3)
C = Covered without strip seals
(2)
O = Open without any cover, without strip seals
LM Specifier
LM = Linear Motor
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Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Understanding Your Stage
Chapter 2
CHPS - A 8 054 F - F LM C 2 C
Bulletin Number
Voltage
A= 230V AC
B= 460V AC (LC motors only)
Frame Size
8= 200 mm base
Stroke
For -100 and -120 motor coil lengths
Travel lengths start at 6 cm and are available in 6 cm increments.
For example: 006 for 6 cm travel or 054 for 54 cm travel.
Maximum travel = 126 cm.
Travel lengths start at 8 cm and are available in 6 cm increments.
For -200 or -240 motor coil lengths.
For example: 008 for 8 cm travel or 020 for 20 cm travel.
Maximum travel = 122 cm.
Motor
A= LZ-030-T-120-D
B= LZ-030-T-240-D
C = LZ-030-T-240-E
D= LC-050-100-D
E= LC-050-200-D
F= LC-050-200-E
Cable Management and Termination
A = No Cables or Cable Carrier (Slide Junction Box only)
B = Cables with Flying Leads and Cable Carrier
(1)
C = Cables with Kinetix MPF Connectors and Cable Carrier
(1)
D = Cables with D-Connectors and Cable Carrier
(1)
Limits
2 = No limits
5 = Two end of travel limits
Protection
S = Covered, with strip seals (IP 30)
(2)(3)
C = Covered, without strip seals
(2)
O = Open, without cover, without strip seals
LM Specifier
LM = Linear Motor
Feedback
F = 1.0 micron incremental optical encoder, with integral index mark
G = 0.5 micron incremental optical encoder, with integral index mark
H = 0.1 micron incremental optical encoder, with integral index mark
I = 1V p-p sine/cosine encoder, 20 μm signal period, with integral
index mark
CHPS - A 9 054 G - F LM C 2 C
Bulletin Number
Voltage
A= 230V AC
B= 460V AC (LC motors only)
Frame Size
9= 250 mm base
Stroke
Travel lengths start at 8 cm and are available in 6 cm increments.
For example: 008 for 8 cm travel or 020 for 20 cm travel.
Maximum travel = 122 cm.
Motor
G = LZ-050-T-120-D
H = LZ-050-T-240-D
I = LZ-050-T-240-E
J = LC-075-100-D
K = LC-075-200-D
L = LC-075-200-E
(1) Not for upside down mounting.
(2) Contact Applications Engineering for upside down mounting.
(3) Strip seal and covers required for wall mount applications.
Cable Management and Termination
A = No Cables or Cable Carrier (Slide Junction Box only)
B = Cables with Flying Leads and Cable Carrier
(1)
C = Cables with Kinetix MPF Connectors and Cable Carrier
(1)
D = Cables with D-Connectors and Cable Carrier
(1)
Limits
2 = No limits
5 = Two end of travel limits
Protection
S = Covered, with strip seals (IP 30)
(2)(3)
C = Covered, without strip seals
(2)
O = Open, without cover, without strip seals
LM Specifier
LM = Linear Motor
Feedback
F = 1.0 micron incremental optical encoder, with integral index mark
G = 0.5 micron incremental optical encoder, with integral index mark
H = 0.1 micron incremental optical encoder, with integral index mark
I = 1V p-p sine/cosine encoder, 20 μm signal period, with integral
index mark
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
19
Chapter 2
Understanding Your Stage
Notes:
20
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Chapter
3
Planning the Stage Installation
Stage Mounting
Requirements
Topic
General Safety Standards for Stage Installations
Page
Requirements to be met when mounting your CHPS-Series stage include the following.
General Safety Standards for Stage Installations
General safety standards and requirements include, but are not limited to, the following:
• ANSI/RIA R15.06, Industrial Robots and Robot Systems Safety
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
Mounting Restrictions
When locating your CHPS-Series stage include the following.
• Environmental Factors
• Mounting Surface Restrictions
• Mounting Orientation
• Clearance Requirements
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
21
Chapter 3
Planning the Stage Installation
Environmental Factors
Factor Applicability
Temperature The stage does not require any special cooling considerations. Avoid mounting it near any heat generating objects, such as a heat register. Sustained average temperature must not be greater than 40 °C (104 °F), nor less than 0 °C (32 °F).
Humidity Avoid excessive humidity. Condensation on metal surfaces can cause stage corrosion. The maximum permissible humidity is 80% relative.
Access and Interference When possible, locate the system where sufficient working space is available to perform periodic maintenance.
Avoid installing where a trapping hazard or pinch point occurs as a result of interference with the building, structures, utilities, and other machines and equipment.
Dust and airborne contaminants
Avoid placing the stage in areas where excessive dust or other airborne contaminants are present. Chemical fumes or vapors can cause damage to internal components.
Vibration
Ambient Light
Install the stage in a location free of excessive vibration.
Have sufficient light readily available to enable inspection, testing and other functions to be performed on the stage.
Mounting Surface Restrictions
Mounting Orientation Restriction
Surface Stages are to be bolted or clamped to a flat, stable, and rigid surface along its entire length. Flatness deviation in the mounting surface must be less than or equal to
0.025 mm over a 300 x 300 mm (0.001 in. over a 12 x 12 in.) area.
Flatness must be maintained during operation of the stage.
Ceiling - inverted surface A ceiling mount (inverted on a horizontal surface) is not recommended. Stages mounted in this orientation are subject to premature cable carrier failure.
Wall - horizontal Horizontal wall mount stages must be installed with the cable carrier below the stage.
Stages mounted horizontally on a wall must have a travel of 1 m (3.28 ft) or less. Stages with a travel length greater than 1 m (3.28 ft) are subject to premature cable carrier failure.
Wall - vertical or incline Stages mounted vertically on a wall must have a travel of 1 m (3.28 ft) or less. Stages with a travel length greater than 1 m (3.28 ft) are subject to premature cable carrier failure.
22
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Planning the Stage Installation
Chapter 3
Clearance Requirements
The figures depict the minimum clearances for each stage type.
Power and feedback cables can impose additional clearance requirements. Refer to
Interconnect Cables on page 85
for connector and bend radius requirements.
Figure 3 - Minimum Clearance Requirements
Covered Stage: 419 mm (16.5 in.)
Clearance on Both Ends for Lubrication Access
Uncovered Stage: 3.2 mm (0.125 in.)
Clearance All Around
Cabling: 19 mm (0.75 in.) Clearance for Cable Routing
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
23
Chapter 3
Planning the Stage Installation
Notes:
24
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Chapter
4
Mounting the Stage
Topic
Unpacking, Handling, and Inspection
Before You Begin the Mechanical Installation
Determine the Number of Fasteners Required
Determine the Type of Fastener to Use
Page
IMPORTANT
Any person that teaches, operates, maintains, or repairs these stages must be trained and demonstrate the competence to safely perform the assigned task.
Unpacking, Handling, and
Inspection
Inspect packaging to make certain no damage occurred in shipment. Document any damage or suspected damage. Claims for damage due to shipment are usually made against the transportation company. If you suspect damage, contact
Rockwell Automation immediately for further advice.
Be sure the information listed on the purchase order correlates to the information on the packing slip for your stage and its accessories.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
25
Chapter 4
Mounting the Stage
Inspect the assemblies and confirm, if applicable, the presence of specified options.
ATTENTION: Linear motor driven stages contain powerful permanent magnets that require extreme caution during handling. Do not disassemble the stage.
The forces generated by permanent magnets are very powerful and can cause bodily injury.
Persons with pacemakers or automatic implantable cardiac defibrillators (AICD) must maintain a minimum distance of 0.3 m (12 in.) from magnet assemblies.
Additionally, unless absolutely unavoidable, a minimum distance of 1.5 m (5 ft) must be maintained between magnet assemblies and other magnetic or ferrous composite materials. Calipers, micrometers, laser equipment, and other types of instrumentation must be nonmetallic.
Unpacking Procedure
The following tools are recommended for unpacking the stage:
• Utility knife
• 2.5 mm, 5 mm, and 6 mm hex keys
• Packing tape
1. Place carton on flat stable surface with the tape seam side facing you.
2. Use a utility knife to score the packing tape on the edges of the carton.
3. Lift center cover to reveal the stage.
Users Manual
26
Desiccant
4. Remove the packing end caps.
Packing End Caps
ATTENTION: Never attempt a single-person lift. Personal injury and equipment damage can occur if the linear stage is handled improperly.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Mounting the Stage
Chapter 4
5. Remove the linear stage from the packaging supports.
• For stages shorter than 1 meter (39.3 in.), use two people and lift the linear stage by grasping the base near the end caps only.
• For stages 1 meter (39.3 in.) or longer, use support straps at the 1/4 and 3/4 length points to avoid distorting the base. Use this support system whenever the linear stage must be lifted.
1/4 1/4 1/4 1/4
End Cap Support Straps End Cap
6. Move the linear stage to a solid support surface before removing the shipping brace.
ATTENTION: The carriage is free to move once the shipping brace is removed.
Use additional care when handling the linear stage after the brace is removed.
Unexpected carriage movement can cause personal injury.
7. Remove the four socket head cap screws (SHCS) from the shipping brace.
8. Lift the shipping brace off the stage and set it aside.
M6 x 30 SHCS (2x) for
CHPS-x6xxxx-xLxxx (150 mm)
M8 x 30 SHCS (2x) for
CHPS-x8xxxx-xLxxx (200 mm) and
CHPS-x9xxxx-xLxxx (250 mm)
Shipping Brace
M6 x 75 SHCS (2x) for
CHPS-x6xxxx-xLxxx (150 mm)
M6 x 75 SHCS (2x) for
CHPS-x8xxxx-xLxxx (200 mm) or
CHPS-x9xxxx-xLxxx (250 mm)
Shipping Clamp
M3 SHCS, washer, and nut (4x)
9. Remove the plastic wrap enclosing the stage and set it aside.
10. Remove the four SHCS that secure the shipping clamp.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
27
Chapter 4
Mounting the Stage
Stage Storage
Mounting the Stage
28
11. Remove the four square nuts loosened in the previous step, by sliding each nut to the end of channel.
Store Packaging Material
Keep the carton in case the unit needs to be returned for warranty service or stored for an extended period of time.
1. Tape screws and clamp hardware to the shipping brace.
2. Put end caps in their original positions on the center cover and place all packing material inside the carton.
3. Lightly tape carton closed and store in dry place.
Store the stage in area that is clean, dry, vibration free, and at a relatively constant temperature. Refer to Environmental Specifications for CHPS-Series Stage on
for more detailed information.
This section discusses mounting methods for your stage.
Before You Begin the Mechanical Installation
The machine designer is most qualified to determine the number and type of fasteners to use for mounting the stage. The following information is a guide for the decision-making process.
Determine the Number of Fasteners Required
The length of the stage determines the number of mounting fasteners that are required.
Use one of the following equations to calculate the required mounting hardware.
Figure 4 - Fasteners Required for Stages with 150 mm and 200 mm frame size (CHPS-x6xxxxxLMxxx and CHPS-x8xxx-xLMxxx)
fasteners =
stroke (cm)
12
+ 26 (cm)
round down + 1
×
2
Figure 5 - Fasteners Required for Stages 250 mm frame size (CHPS-x9xxx-xLMxxx)
fasteners =
-----------------------------------------------------------
round down +1
×
2 or example, if you are mounting an CHPS-B8194F-ALM02C stage.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Fastener
Through Bolt
(1)
Order
–
Mounting the Stage
Chapter 4
1940 mm stroke length = 194.0 cm fasteners =
12
=
230
19.167
12
= fasteners = round down = 19
19 + 1 = 20
×
2 = 40 fasteners
Determine the Type of Fastener to Use
Three types of fasteners that can be used to mount the stage.
• Through bolts
• Toe clamps
• Tee nut or square nut
Toe clamps are supplied with the catalog number CHPS-
x6xxx stages, and covered types of the catalog number CHPS-
x8xxx and CHPS-x9xxx stages.
Refer to the Mounting Fastener Options table for an illustration of each fastener
type.
Table 1 - Mounting Fastener Options
Illustration User Supplies
(4)
M5 x 1.0 x 16 mm min
Recommended For
Uncovered stages
Torque
N•m (lbf•in)
2.3 (30)
Toe clamps MPAS-TOE M6 x 1.0 x 16 mm min Covered stages 5.5 (48)
Tee nuts
(2)
MPAS-x-TNUT
(3)
M6 x1.0
Securing a stage from beneath the mounting surface.
Tee Nut 6.7 (60)
Square Nut 2.3 (30)
(1) Through bolt mounting is not an option for catalog number CHPS-x6xxxx-xLMxxx (150 mm) stages.
(2) The tee nut mount for a catalog number CHPS-x8xxxx-xxxxx (200 mm) stage is a square nut in a tee slot.
(3) Where x is the frame size of a stage, 6 = CHPS-x6xxxx-xxxxx (150 mm), 8 = CHPS-x8xxxx-xxxxx (200 mm), 9 = CHPS-x9xxxx-xxxxx (250 mm).
(4) You supply the bolts.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
29
Chapter 4
Mounting the Stage
Figure 6 - Through Bolt Mounting
IMPORTANT
Through bolt mounting is not available for the catalog number
CHPS-x6xxxx-xxxxx (150 mm) stages.
An uncovered stage is a good candidate for through bolt mounting.
For covered stages, toe clamps are the easiest method for mounting. On sides of the base secure a toe clamps every 120 mm (4.72 in) by using M6 SHCS as shown in the
diagram. Use slots formed into outside edge of the stage base.
Figure 7 - Toe Clamps Mounting
120 mm
(4.72 in.)
30
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Mounting the Stage
Chapter 4
Tee nuts are used to mount the stage from underneath. Insert the tee nuts every
120 mm (4.72 in.) in tee slots on the bottom of the unit. Secure the tee nuts by using M6 SHCS as shown in
diagram.
Figure 8 - Tee Nut Mounting
T-Slots
Mounting the Stage
Follow these steps to install a stage on its mounting surface.
1. Be sure the mounting surface is clear of any and all foreign material.
IMPORTANT
Do not use abrasives to clean the surface.
If necessary, stone the mounting surface (acetone or methanol can be applied as cleaning agent).
2. Verify that the flatness of the surface that the stage is to be mounted.
The total indicator reading (TIR) is 0.0254 mm (0.001 in.) per 300 mm
(120 in.). TIR or runout, correlates to an overall flatness of a surface.
3. Lift the stage onto the prepared mounting surface
ATTENTION: Do not attempt to move the stage by grasping the cable junction box. Moving the stage in this manner can damage the stage and create a pinch or crush hazard. The junction box is attached to the carrier that is free to move.
Lifting the stage in this manner causes uncontrolled movement of the heavy base. Always use a two person lift and grasp the stage by the base at the end caps keeping fingers clear of the carrier’s path of travel.
The two lubrication ports on each end cap (four total) are M10 x1.5 tapped through holes and can be used to install lifting hooks supplied by the customer.
Personal injury and equipment damage can occur if stage is handled improperly.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
31
Chapter 4
Mounting the Stage
4. Align the stage on the mounting surface, and insert the correct number of mounting bolts. Refer to CHPS-Series Stage Dimensions beginning on
page 77 for detailed mounting dimensions.
5. Secure the stage by using all mounting holes. Torque bolts to the values
shown in the Mounting Fastener Options table on page 29
.
Mount Your Application
Mount your application to the slide by using the following bolts and torque values:
Cat. No.
CHPS-x6xxxx-xLMxxx
CHPS-x8xxxx-xLMxxx
CHPS-x9xxxx-xLMxxx
Bolt
M6
M8
M8
Torque
N•m (lb•in)
3.2 (48)
10.1 (90)
10.1 (90)
32
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Connector Data
Topic
Kinetix Servo Drive Compatible Connectors
Chapter
5
Page
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
33
Chapter 5
Connector Data
Kinetix Servo Drive
Compatible Connectors
The following tables identify the power and feedback pinouts for the Intercontec circular connectors for use with standard Allen Bradley connectors.
Pin Color Wire
7
8
5
6
3
4
1
2
15
16
13
14
11
12
9
10
Yellow
White/yellow
Brown
White/Brown
Violet
White/Violet
Reserved
Reserved
White/Red
Black
Reserved
Green
White/Black
White/Green
Blue
17 White/Blue
Case Shield
(1) PTC Temp- is connected to Common.
PTC Temp+
(1)
Common
S1
S2
S3
Shield
A+
A-
B+
B-
B
C
Pin
A
Color
Red
White
Black
Signal
U (A) Phase
V (B) Phase
W (C) Phase
D Green/Yellow Ground
Case Shield Cable
With Incremental Encoder
Signal
Designations
Signal Description
Index Mark+
Index Mark-
—
—
+5V DC
Common
—
TTL - Differential
TTL - Differential
TTL - Differential
TTL - Differential
TTL - Differential
TTL - Differential
—
—
Encoder and Hall Sensor Power
—
—
A
L
B C
G
F
H
E
D
Index+
Index-
Reserved
Reserved
+5V DC
Common
Reserved
Sin+
Sin-
Cos+
Cos-
Intercontec P/N BKUA090NN000550003500
Mating Cable: Allen-Bradley 2090-XXNPMF-16Sxx
With Analog Encoder
Signal
Designations
Signal Description
Analog Differential 1V p-p
Analog Differential 1V p-p
Analog Differential 1V p-p
Analog Differential 1V p-p
Differential Pulse 1V p-p
Differential Pulse 1V p-p
—
—
Encoder and Hall Sensor Power
—
—
PTC Thermistor
—
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
—
PTC Temp+
Common
S1
S2
S3
Shield
(1)
PTC Thermistor
—
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
—
34
10
11 12
9
16
1
13
8
15
7
17
6
5
14
4
2
3
Intercontec P/N AKUA034NN00100035000
Mating Cable: Allen-Bradley 2090-XXNFMF-Sxx
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Connector Data
Chapter 5
D-Type Connectors
The following tables identify the power and feedback pinouts for D-shell connectors that enable custom cables to be used.
Pin
A1
A2
A3
A4
Case
Color
Red
White
Black
Green/Yellow
Signal
U (A) phase
V (B) phase
W (C) phase
Ground
M
A1 A2 A3
A4
Positronic P/N CBD9W4M20000-1702.0
Mating Connector:
Positronic P/N CBD9W4F20000-1701.0
Pin
13
14
15
16
17
9
10
11
12
7
8
5
6
3
4
1
2
Color Wire
Yellow
Brown
Violet
White/Red
Reserved
With Incremental Encoder
Signal
Designations
Signal Description
A+
B+
Index Mark +
+5V DC
—
White/Green
Green
Reserved
White Blue
Green/Yellow
White/Yellow
White/Brown
White/Violet
Black,
White/Black
Reserved
22
23
24
25
18
19
20
21
Blue
Reserved
—
S2
—
(1) PTC Temp- is connected to Common.
S1
PTC Temp+
(1)
—
S3
Shield
A-
B-
Index Mark-
Common
TTL - Differential
TTL - Differential
TTL - Differential
Encoder and Hall Sensor Power
—
TTL - Trapezoidal Hall
PTC Thermistor
—
TTL - Trapezoidal Hall
—
TTL - Differential
TTL - Differential
TTL - Differential
—
—
TTL - Trapezoidal Hall
—
With Analog Encoder
Signal Designations
Sin+
Cos+
Index+
+5V DC
—
S1
PTC Temp+*
—
S3
Shield
Sin-
Cos-
Index-
Common
—
S2
—
Signal Description
Analog Differential 1V p-p
Analog Differential 1V p-p
Differential Pulse 1V p-p
Encoder and Hall Sensor Power
—
TTL - Trapezoidal Hall
PTC Thermistor
—
TTL - Trapezoidal Hall
Analog Differential 1V p-p
Analog Differential 1V p-p
Differential Pulse 1V p-p
—
—
TTL - Trapezoidal Hall
—
1
1
14
25
13
M
Connector Part Number AMP P/N 207464-2
Mating Connector Part Number AMP P/N 5205207-1
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
35
Chapter 5
Connector Data
Flying Leads
The following tables identify the power and feedback pinouts for flying lead this option lest you to use your own connectors.
ATTENTION: Disconnect input power supply before installing or servicing stage
Stage lead connections can short and cause damage or injury if not well secured and insulated.
Insulate the connections, equal to or better than the insulation on the supply conductors.
Properly ground the stage as described in the drive manual.
Color
Red
White
Black
Green/Yellow
Signal
U (A) phase
V (B) phase
W (C) phase
Ground
Yellow
White/Yellow
Brown
White/Brown
Violet
White/Violet
Red
White/Red
Black
White/Black
Green
White/Green
Blue
White/Blue
Green/Yellow
Color Wire
With Incremental Encoder
Signal
Designations
A+
Signal Description
TTL - Differential
A-
B+
B-
Index Mark+
TTL - Differential
TTL - Differential
TTL - Differential
TTL - Differential
Index Mark-
+5V
+5V
Common
Common
PTC Temp+
S1
S2
S3
Shield
(1)
TTL - Differential
Encoder and Hall Sensor Power
Encoder and Hall Sensor Power
—
—
PTC Thermistor
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
—
(1) PTC Temp- is connected to Common.
With Analog Encoder
Signal
Designations
Sin+
Signal Description
Analog - Differential 1V p-p
Sin-
Cos+
Cos-
Index+
Analog - Differential 1V p-p
Analog - Differential 1V p-p
Analog - Differential 1V p-p
Differential Pulse 1V p-p
Index-
+5V
+5V
Common
Common
PTC Temp+
S1
S2
S3
Shield
(1)
Differential Pulse 1V p-p
Encoder and Hall Sensor Power
Encoder and Hall Sensor Power
—
—
PTC Thermistor
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
—
36
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Junction Box Connectors
Connector Data
Chapter 5
The following diagram and tables identify the power and feedback pinouts of the junction box connector, use this information to make custom cables
A
B
Pin 1
9
D C
12
6
8
16
7
Pin 1
E
4
Pin 1
D
E
B
C
Item Description
A J1 Feedback connector, output to flex cable, Mating connector is a Molex P/N 43025-1600
J2 Thermistor signal connector, the input from side
J3 Hall signal connector, input from side
J4 Encoder signal connector, input from side
Mating power connector AMP 359780-1
Signals from slide
Header 2X6 Right Angle
J4
8
9
10
11
12
6
7
4
5
1
2
3
ENCA+
ENCB+
INDEX+
POSLIM
GND
SHIELD
ENCA-
ENCB-
INDEX-
NEGLIM
5V
Header 2X3, Right Angle
J3
6
5
4
3
2
1
HALLS1
HALLS3
5V
SHIELD
HALLS2
GND
Header 2, Right Angle
J2
2
1
TEMP+
GND
SHIELD
HALLS3
ENCA+
ENCB+
INDEX+
POSLIM
GND
HALLS1
HALLS2
ENCA-
ENCB-
INDEX-
NEGLIM
5V
TEMP+
Header 2x8, Vertical
To flexible feedback cable
14
15
16
10
11
12
13
7
8
5
6
9
3
4
1
2
J1
TP1
Shield terminates to mounting hole
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
37
Chapter 5
Connector Data
Table 2 - Junction Box Power Connector
2
3
Pin
1
4
Color
Red
White
Black
Green/Yellow
Table 3 - Junction Box J1 Connector
Signal
U (A) phase
V (B) phase
W (C) phase
Ground
Pin
9
10
5
8
3
4
1
2
13
15
11
12
16
(1) PTC Temp- is connected to Common.
Shield
S3
A+
B+
S1
S2
Index Mark+
Common
A-
B-
Index Mark-
+5V
PTC Temp+
(1)
With Incremental Encoder
Signal Designation Signal Description
—
TTL - Trapezoidal Hall
TTL - Differential
TTL - Differential
TTL - Differential
—
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
TTL - Differential
TTL - Differential
TTL - Differential
Encoder and Hall Sensor Power
PTC Thermistor
With Analog Encoder
Signal
Designation
Shield
S3 -
Sin+
Cos+
S1
S2
Index+
Common
Sin-
Cos-
Index-
+5V
PTC Temp+
(1)
Signal Description
—
TTL - Trapezoidal Hall
Analog - Differential 1V p-p
Analog - Differential 1V p-p
Differential Pulse 1V p-p
—
TTL - Trapezoidal Hall
TTL - Trapezoidal Hall
Analog - Differential 1V p-p
Analog - Differential 1V p-p
Differential Pulse 1V p-p
Encoder and Hall Sensor Power
PTC Thermistor
Limit Sensor Flying Leads
The limit sensor option comes with flying leads, regardless of the power and feedback termination option ordered.
Color
Brown
Black
Blue
(1) Load- is connected to 0V.
Signal Description
+V
Load+
0V
(1)
38
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Chapter
6
Connecting the Stage
Connecting the Stage
Topic
Attaching the Ground Strap and Interface Cables
TTL Differential Encoder Output Signal
Sine/Cos Encoder Output Signals
Motor and Hall Phasing and Sequence
Page
The installation procedure assumes you prepared your system for correct electrical bonding and understand the importance of electrical bonding for correct operation of the system. If you are unfamiliar with electrical bonding, the
section Attaching the Ground Strap and Interface Cables briefly describes and
illustrates correct system grounding techniques.
ATTENTION: Plan the installation of your stage so that you can perform all cutting, drilling, tapping, and welding with it removed. Be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the stage, that can result in damage to components.
SHOCK HAZARD: To avoid hazard of electrical shock, perform all mounting and wiring of the stage prior to applying power. Once power is applied, connector terminals can have voltage present even when not in use.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
39
Chapter 6
Connecting the Stage
Attaching the Ground Strap and Interface Cables
The only electrical connections necessary between the stage and the drive system are the ground strap and the two cables.
1. For electrical safety, connect the ground screw on the chassis of the stage to the ground bus for your system.
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.
2. Torque the ground screw at the stage to 2 N•m (18 lb•in)
40
M5 x 0.8 -6H
Ground Screw
Lug
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
stage. Refer to the Connecting Kinetix Type Motor and Feedback Cables
diagram for a visual example.
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 can 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 CHPS-UM001D-EN-P - July 2014
Connecting the Stage
Chapter 6
4. Attach the feedback cable, and the power cable to the stage.
ATTENTION: Do not connect or disconnect the stage feedback cable, or the power cable while power is applied to them.
Inadvertent pin connections can result in unexpected motion or result in irreversible damage to the components.
For Kinetix type connectors. a. Carefully align each cable connector with the respective motor connector as shown in Figure 1. b. Do not apply excessive force when mating the cable and stage connectors. If the connectors do not go together with light hand force, realign and try again.
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 can 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.
c. Hand tighten the knurled collar five to six turns to fully seat each connector.
ATTENTION: Keyed connectors must be properly aligned and handtightened the recommended number of turns.
Improper alignment is indicated by the need for excessive force, such as the use of tools, to fully seat connectors.
Connectors must be fully tightened for connector seals to be effective.
Failure to observe these safety procedures could result in damage to the motor, cables, and connector components.
Figure 9 - Connecting Kinetix Type Motor and Feedback Cables
Align flat surfaces.
Align flat surfaces.
Feedback
Connector
Power Connector
Cable
Drip Loop
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
41
Chapter 6
Connecting the Stage
Thermal Protection
Connect the stage PTC thermistor signal to the drive or control system to create a thermal protection system.
PTC Thermistor Signal Characteristics
Temperature °C (°F)
Up to 100 (212)
Up to 105 (221)
Up to 110 (221)
Resistance in Ohms
≤
750
≤
7500
≥
10,000
ATTENTION: PTC thermistor supplies a signal that indicates the stage temperature limit condition. Connect this signal to control system or drive system so it shuts down the stage power upon reaching a limit condition.
Multiple levels of stage thermal protection are strongly recommend.
The following thermal protection methods are also recommended.
• Typically digital drives use RMS current protection and or estimated temperature vs. time (I
2
T) software protection schemes. Activated and set these available features according to the stage model ratings for your application.
• Set the maximum value of ± peak-current-magnitude limits of your drive to the stage’s peak-current rating.
• For drives without stage protection features, install stage fuses (current rating not to exceed stage continuous RMS) according to local and
National Electrical Code. Uses time-delay type fuses that are rated for the drive PWM output voltage.
42
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Optional Limit Sensors
Connecting the Stage
Chapter 6
Two limit sensors, positive overtravel (OT) and negative OT, provide electrical
protection for stage overtravel. Their physical location is shown in Component
Description diagram on page 16 they and can be adjusted up to 30 mm (1.2 in.)
toward the center of travel. The electric characteristics are shown here.
• Input Power: 12
…
28V DC, 15 mA circuit draw + 50 mA maximum sourcing = 65 mA total.
• Output: PNP, Open collector Normally Closed, 50 mA maximum sourcing.
Brown
+ V
Main
Circuit
Black
Limit
Blue
+V com
Figure 10 - Limit Sensor Orientation
Adjustable
Negative OT Limit on this side
Limit Sensor cables exit here
Adjustable
Positive OT Limit on this side
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
43
Chapter 6
Connecting the Stage
TTL Differential Encoder
Output Signal
44
Use the following information to connect a stage with a TTL Differential Encoder.
The incremental encoder typically have the following quadrature edge separation.
Encoder
μm
Typical Edge Separation
ns
1 100
0.5
@ Maximum Velocity
m/s
5
(1)
90 3
0.1
90 0.7
(1) Speeds based on 3 m maximum cable length and a minimum readhead input of 5V.
To calculate the minimum recommended counter frequency for 1
μ m and
0.5
μ m encoders, use the following formula.
Counter clock frequency (MHz) = resolution
( μ
( m
)
)
×
4 (safety factor)
The minimum recommend counter frequency for the 0.1
μ m encoder is 12 MHz.
Figure 11 - TTL Differential Encoder Timing Diagram
Incremental 2 channels A and B in quadrature (90° phase shifted)
Quadrature edge separation
ENC A+
ENC B+
Reference
Index
Mark +
Figure 12 - TTL Differential Encoder Termination
Readhead
ENC A +,
ENC B +,
& Index Mark +
Index Mark pulse in synchronised to one position count. Repeatability of position
(uni-directional) is maintained if temperature is 15…35 °C (59…95 °F) and speed is <250 mm/s (9.8 in./s).
Drive or
Controller
Square wave differential line driver to EIA RS422A
120 Ω
(1)
Standard RS422A line receive circuit
(1) Total termination resistance in ohms.
ENC A -,
ENC B -,
& Index Mark -
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Sine/Cos Encoder Output
Signals
Connecting the Stage
Chapter 6
Use the following information to connect a stage with a Sine/Cosine Encoder option to a drive or controller that processes sine/cosine position feedback.
The sine/cos encoder amplitude is 0.90V p-p minimum up to 2 meters per second. 0.60V p-p up to 4 meters per second.
Figure 13 - Sine/Cos Encoder Timing
Incremental 2 channels V1 and V2 differential sinusoids in quadrature (90° phase shifted)
20 μm
Sine = (V1+)-(V1-)
90°
0.6 …1.2V p-p with green
LED indication and
120 Ω termination
Cosine = (V2+)-(V2-)
Reference
(V0+)-(V0-)
-18º
0º
108º
0.8…1.2V p-p
Differential pulse V0 - 18°…108°
Duration 126° (electrical) Repeatability of position (uni-directional) is maintained if temperature is 15…35 °C and speed is <250 mm/s
Recommended termination = 120 Ω resistors, V0, V1, V2.
Figure 14 - Sine/Cos Encoder Termination
Readhead
ENC A +,
ENC B +,
& Index Mark +
Drive or
Controller
120 Ω
(1)
ENC A -,
ENC B -,
& Index Mark -
(1) Total termination resistance in ohms.
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45
Chapter 6
Connecting the Stage
Hall Effect Circuit
Use the following information to connect the Hall Effect circuit to your servo drive.
• Input power: 5
…
24 V DC, 10 mA maximum
• Output: NPN, Open Collector, 10 mA maximum
V+
Hall Signal
Rp
Isink
Hall S1
Hall S2
Hall S3
Drive
Isink = 10 mA Maximum
Rp = External pull-up resistor
Motor and Hall Phasing and
Sequence
Consult drive manual or supplier for wiring instructions for your drive. Motor wiring is phase and commutation sensitive. Motor Phasing Diagram shows the standard phase and sequence relationship of the motor when phased in the positive direction. The Hall signals are used by a compatible three-phasebrushless servo drive to perform electronic commutation. Two types of servo drive Hall-based commutation techniques are possible, Trapezoidal Hall Mode and Encoder Software Mode with Hall startup. For optimal commutation and force generation, the selected servo drive must be compatible with the motor phasing and be wired correctly.
• Observe maximum applied voltage specification.
• Consult drive manual or supplier for drive wiring instructions. Wiring is phase and commutation sensitive.
• Terminate per drive manual instructions.
• Hall Signals, 120 o
Spacing, Open Collector Transistor 24V maximum.
• Refer to CHPS-Series Stage Connector Data starting on
termination options, pin, and wire designations.
ATTENTION: Incorrect motor, Hall, or encoder wiring can cause runaway conditions.
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As shown in the Motor Phasing Diagram:
S1 in phase with W-U Back EMF
S2 in phase with U-V Back EMF
S3 in phase with V-W Back EMF
Phase sequence = S1 leads S2 leads S3. Spacing is 120°.
Figure 15 - Motor Phasing Diagram
Back EMF Voltage vs. Hall Signals
Connecting the Stage
Chapter 6
W-U
Back
EMF
Voltage
U-V
V-W
S1
Digital
Hall
Signals
S2
S3
Linear Travel mm (in.)
0° 60° 120° 180° 240° 300° 360°
Motor Type
50 (1.97)
LC
60 (2.36) LZ
Phasing direction = Slide toward positive end block,
IMPORTANT Phasing direction = Positive stage direction.
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47
Chapter 6
Connecting the Stage
Stage Positive Direction
Stage positive direction is defined by a location of a Slide End Cap.
Slide End Cap + Slide = Slide Assembly
(+)
Positive Direction
(-)
48
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Chapter
7
Operation Guidelines and Limit Configuration
Introduction
Operational Guidelines
This chapter gives you operational guidelines and limit sensor position adjustment procedures.
Topic
Calculating the Stopping Distance
Overtravel Limit Sensor Position Adjustment
Page
Please read the following notices about using your stage.
ATTENTION: A runway condition is caused by incorrect motor, Hall, or encoder wiring. It results in uncontrolled speeding of the stage. Keep away from the line of travel while commissioning the stage.
IMPORTANT
The customer is responsible for ensuring the servo control system safely controls the stage with regards to maximum force, acceleration, speed, and preventing runaway conditions.
ATTENTION: Stages are capable of very high forces, accelerations and speeds.
Moving parts can cause personnel injury. Before running the stage, make sure all components are secure.
Check that the stage travel and air gap is clear of foreign matter and tools.
Objects hit by the moving stage can cause personnel injury or damage to the equipment.
ATTENTION: Do not operate the stage with protective covers removed. Do not go near electrically live parts. High voltages can cause personal injury or death.
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49
Chapter 7
Operation Guidelines and Limit Configuration
Travel Limits
CHPS-Series stages offer three methods for containing slide travel: software travel limits, optional overtravel limit sensors, and standard bumpers stops. For safest operation use all three.
Set software travel limits and overtravel limit sensors according to the maximum speed of the servo drive system and the payload of the application. You can determine the Deceleration Distance between the slide and the end-of-travel bumpers based on the combination of the Deceleration Rate of the load, and the available peak force from the stage-drive. Do a calculation similar to the one in
Calculating the Stopping Distance for your application.
Bumper Stop on the stage can stop the slide up to the ratings listed in the table on
IMPORTANT
Bumper stops are not intended as range of motion stops, but they can stop the moving slide up to the ratings listed in
Calculating the Stopping Distance
In the following example we calculate the stopping distance for a 10 kg payload on a CHPS-x8xE-xLMxxxx stage driven by a Kinetix 6000 drive (2094-xxxxx) by using the specification found in
Appendix A . Substitute values for your system as
necessary.
Known Values:
Slide Moving Mass = 10.32 kg
Payload = 10 kg
Maximum Programmable Velocity
(1)
, Vmax = 2 m/s
Available Peak Force
(2)
= 600 N @ 23.2 A o-pk
Start with:
Total Moving Mass = m = Payload + Stage Moving Mass
= 10 kg + 10.23 kg = 22.23 kg
50
So the maximum deceleration rate, Dmax is 26.99 m/s
2
.
(1) Velocity and kinetic energy can be much higher due to a uncontrolled worst-case motion constrained by the stroke and power capacity of the motor drive paring only.
(2) Approximation only; actual peak force typically decreases as speed increases.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Calculate the deceleration time, T d
.
Operation Guidelines and Limit Configuration
Chapter 7
Use T d
to calculate the deceleration distance.
Therefore, you set the software travel limits to 74 mm.
IMPORTANT
Velocity and deceleration distance can be much higher due to an uncontrolled worst-case motion constrained by the stroke and power capacity of the motordrive paring only.
Drive Current Limitation
Your available peak force can be limited by your drive’s peak current.
For example a drive with a peak rating of 15 A o-pk has available peak force 386 N.
Here is the calculation:
Overtravel Limit Sensor Position Adjustment
Maximum stage travel is defined as the distance the slide can travel between end caps such that the bumper stop can touch the end cap but not be compress. You can shorten the slide travel up to 30 mm (1.18 in.) by adjusting the overtravel limit sensor.
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51
Chapter 7
Operation Guidelines and Limit Configuration
To adjust overtravel limit sensor:
1. Measure location from end block to the inside tip of the overtravel limit sensor.
Bumper Stop
End Block
Slide
Limit Blade
Overtravel Limit Sensor
2. Loosen screw and slide the overtravel limit sensor toward center of stage. It can be adjusted up to 30 mm.
Correct
Make adjustments without compressing the bumper.
Bumper Stop
Slide
End Block
Limit Blade
Overtravel Limit Sensor
Original position
Can cause programming anomaly.
Slide
39 mm adjust
up to 30 mm
End Block
Limit Blade
Overtravel Limit Sensor
IMPORTANT
Do not adjust the switch more than 30 mm. Doing so can cause a programming anomaly.
3. Redress the limit sensor cables with the cable clips. Make sure wires are neatly against the base and do not interfere with the motion of the limit blade.
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Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Operation Guidelines and Limit Configuration
Chapter 7
Bumper Stops
In addition to software overtravel limits and limit sensors the end of travel bumper stops can stop the slide up to the ratings listed. Bumper stops are not intended to be used as range of motion stops.
Table 4 - Bumper Stop Energy Limits for Stage End of Travel
Cat. No.
CHPS-x6xxxx-xLMxxx
CHPS-x8xxxx-xLMxxx
CHPS-x9xxxx-xLMxxx
Bumper Stop Energy Limit
37.3 J (330 in•lb)
45.5 J (403 in•lb)
35.2 J (312 in•lb)
ATTENTION: If energy greater than the bumper capacity is anticipated in the application, provide additional mechanical means for safely stopping the slide.
To calculate kinetic energy of the slide with your payload use the formula
J in jules
M = moving mass in kg (slide + payload)
V = maximum velocity of stage in your application in m/s
(1)
(1) Velocity and kinetic energy can be much higher due to a uncontrolled worst-case motion constrained by the stroke and power capacity of the motor drive pairing only.
(1)
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53
Chapter 7
Operation Guidelines and Limit Configuration
Notes:
54
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Chapter
8
Troubleshooting
Before You Begin
PTC Thermal Signal
Hall Effect Module
Topic
Motor Coil Resistance Measurements
Page
The following test equipment is required:
• Ohm meter
• Two-channel storage oscilloscope
At ambient room temperature, approximately 25 ° C (77 °F), check that the resistance measurement between PTC Temp+ and Common (pins 13 and 14, respectively) on the feedback connector is
≤
750
Ω
.
The table lists increase in resistance at higher temperatures outside the normal operating temperature envelope.
Table 5 - PTC Thermistor Signal Characteristics
Temperature °C (°F)
Up to 100 (212)
Up to 105 (221)
Up to 110 (230)
Resistance in Ohms
≤
750
≤
7500
≥
10,000
Use this procedure to verify the Hall Effect module is operating properly.
1. With drive power OFF, verify the Hall circuit is properly connected to the drive by using stage and drive interface wiring specifications.
2. Disconnect stage power leads from the drive.
3. Apply power to the Hall device by setting the drive control power to ON.
4. Use an oscilloscope to check waveforms at S1, S2 and S3 at the feedback connector.
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55
Chapter 8
Troubleshooting
Move the slide slowly and steadily by hand in the specified phasing direction to generate the Hall waveform.
5. Check for proper logic levels (approximately 0V = low, V+= high) and correct signal sequence (S1 leads S2, and S2 leads S3) with approximately
120° electrical spacing between signal transitions.
Hall Effect Leads
Color
White/Green
Blue
White/Blue
Name
S1
S2
S3
Signal Description
Trapezoidal Hall, TTL-Single
Trapezoidal Hall, TTL-Single
Trapezoidal Hall, TTL-Single
Figure 16 - Hall Signals Waveforms
S1
S2
S3
0° 60° 120° 180°
240° 300°
360°
TIP
Connect the common probe from the scope to the Hall signal common.
To determine the location of the signal common, refer to the Stage Power and
Feedback Connections beginning on page 40 .
6. Before assuming a Hall module fault check Hall field wiring or drive Hall circuit interface.
56
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Hall to Back EMF Phasing
Troubleshooting
Chapter 8
Verify the Hall to Back EMF Phasing with this procedure.
1. With drive power OFF.
2. Verify the Hall circuit is connected to the drive as describe in the CHPS-
Series Connector Data beginning on
3. Disconnect the stage motor power leads from the drive.
EXAMPLE
To observe W-U Back EMF phase polarity, connect oscilloscope probe tip to the W phase and the common probe to the U phase.
4. Apply power to the Hall device by setting the drive control power to ON.
5. Slowly and steadily move the stage by hand to perform the Hall signal test, except this time check the motor phases are in-phase with the Hall signal as
shown in the Motor Phasing Schematic on page 58
.
Make sure the phase error between Hall signal and in-phase Back EMF does not exceed ± 5 electrical degrees.
6. If poor results were obtained in step 5 repeat the test at the stage power terminations to check field wiring
ATTENTION: Dangerous voltages, forces and energy levels exist in servo controlled systems. Extreme care must be exercised when operating, maintaining or servicing the stage to prevent harm to personnel or equipment.
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57
Chapter 8
Troubleshooting
Motor Coil Resistance
Measurements
If a motor coil electrical problem is suspected perform this check.
1. Let the coil attain ambient room temperature, approximately 25 °C
(77 °F).
2. Verify the drive power is OFF.
3. Disconnect all stage leads (phases and ground) from the drive.
4. Measure the phase-to-phase (ptp) resistance of the phase combinations (U to V, V to W, and W to U) and record the values.
Verify these three readings are approximately equal to each other.
Figure 17 - Motor Phasing Schematic
R ptn
Shield
R ptp
U
V
W
Motor Phases
Lamination
Frame
Motor Ground
R ptp
= R ptn
X 2
Compare the phase resistance readings to the cold resistance specification of the coil model. See
CHPS-Series Stage Technical Specifications
on
If the three readings are balanced but vary from the specified reading, the reason can be a special coil model. Cable resistance can cause the result to be significantly higher.
5. To rule out the cable resistance, disconnect the stage cable and repeat the procedure this time at the stage motor power termination at the junction box.
6. Measure and verify the phase-to-ground resistance for each phase is
>100 MΩ. A lower reading indicates a potential electrical problem.
To rule out a field cable problem disconnect the stage cable and repeat the procedure this time at stage motor power termination.
If any reading with the cable disconnected is
≤
100 MΩ, consult Rockwell
Automation; the stage can have an internal electrical problem
IMPORTANT
Do not perform coil or insulation electrical stress tests (Megger or Hi-Pot test) without consulting Rockwell Automation technical support.
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Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Before You Begin
Chapter
9
Maintenance
Topic Page
Optical Encoder Scale Maintenance
IMPORTANT
Any person that teaches, operates, maintains, or repairs these stages must be trained and demonstrate the competence to safely perform the assigned task.
The following tools are required to lubricate and clean your stage.
ATTENTION: Lockout tagout power before servicing.
• 0.5 m (14 in.) or larger clamp with soft jaws.
• Grease (catalog number MPAS-CART).
• Grease gun kit (catalog number MPAS-GPUMP) with tip type installed and primed.
• Air line with maximum pressure of 10 psi.
• Lint free cloth.
• A few drops of isopropyl alcohol if necessary for cleaning encoder scale.
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59
Chapter 9
Maintenance
Lubricate the Bearing
Your stage requires lubrication every 6 months or 2500 km (1550 mi) of travel, which ever comes first. Use the MPAS grease gun kit and grease cartridge, catalog numbers MPAS-GPUMP and MPAS-CART respectively.
Optical Encoder Scale
Maintenance
60
Bearing Lubrication Ports (2x per end cap)
1. Position slide at end of travel and clamp it to hold the stage against end cap.
ATTENTION: Do not use clamp across the side panels. This can deform and damage the side panels.
2. Remove the lubrication port protective caps.
3. Insert the tip of grease gun in the lubrication port. Push in until contact with bearing grease nipple is felt.
4. Pump handle until back pressure is felt or two strokes are completed.
5. Repeat steps 3 and 4 to the second bearing on this side.
6. Move slide to opposite end of travel and repeat steps 1
…
5.
7. Remove clamp.
8. Reinstall the protective caps on all the lubrication ports.
1. If installed remove strip seal and side cover on the side opposite the cable carrier.
2. Clear any coarse or abrasive particles with a clean air line with maximum pressure of 10 psi.
3. Clean scale with a clean dry cloth. Avoid the use of solvents.
4. If necessary use isopropyl alcohol sparingly, apply with a wetted cloth by using a gentle wiping action.
5. Reinstall side cover and strip seal, if used.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Strip Seal Cleaning
Cover Cleaning
Maintenance
Chapter 9
Clean the strip seals, if installed, by using a lint free cloth lightly saturated with isopropyl alcohol
IMPORTANT
Replace the strip seal if it cannot be cleaned, or if an uneven or scored surface is detected during cleaning.
A buildup of foreign material on the strip seal degrades the performance of the linear stage. This buildup coupled with rapid movement of the slide and the resulting friction can score the surface and create a burnished appearance on the strip seal
Elements contributing to a typical buildup on the strip seals are dust, grease, and other contaminates normally encountered in any operating environment that is not strictly controlled.
Refer to the Strip Seal Removal procedure on page 65
Replacement procedure on page 66 when performing this task.
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.
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61
Chapter 9
Maintenance
Notes:
62
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Chapter
10
Removing and Replacing Stage Components
Before You Begin
Cable Carrier Module
Removal
Topic
Cable Carrier Module Installation
The following tools are required before you begin removal and replacement procedures.
• Torque wrench
• Phillips head screw driver
• 2.5 mm hex wrench
• 3 mm hex wrench
• 4 mm hex wrench
• Fine-point permanent marker
• Tin snips
• Loctite 222
Use this procedure to remove the cable carrier module assembly.
TIP
Mark the location of the end bracket before removing the cable carrier, this makes it easier to align the carrier when re-installing.
1. Remove the four (4) pan head screws from junction box side cover.
2. Remove the two (2) button head cap screws (BHCS) from the junction box cover.
Page
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
63
Chapter 10
Removing and Replacing Stage Components
3. Remove junction box cover assembly.
ATTENTION: Never pull on wires when disconnecting power and feedback connectors. Damage to the connector can occur.
4. Separate motor power connector by squeezing the side tabs and pulling on the housing. Do not pull on the wires
Figure 18 - Cable Carrier Module Replacement
Junction Box Cover
M3 0.5 X8 LG Phillips Pan Head Screws (4x)
Junction Box Side Cover
M4 X 0.7 X 8 LG BHCS (2x)
Cable Carrier Module
M4 X 0.7 X 10 LG SHCS (2x)
Cable Carrier Module
Installation
M3 X 0.5 X 8 LG SHCS (2x)
End Bracket
Angle Bracket
Motor Power Connector
Feedback Connector
5. Separate the feedback connector from the circuit board by pushing on the center tab and pulling up on the connector housing. Do not pull on wires.
6. Remove the two (2) SHCS from the angle bracket.
7. Lay the cable carrier out flat and mark the location of the end bracket on the base.
8. Loosen but do not remove the two (2) SHCS that secure the end bracket to the stage base.
9. Remove cable carrier.
Align the cable carrier module with the marks made before removing and follow cable carrier removal procedure in reverse.
64
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Strip Seal Removal
Figure 19 - Stage Seal Components .
Seal Guide (4x)
Removing and Replacing Stage Components
Chapter 10
Strip Seal Clamp (4x)
Stage Cover Removal
3M SHCS (2x per guide)
3M SHCS (8x)
Stainless Steel
Strip Seal (2x)
IMPORTANT
Handle strip seal material with care. The strip seal has sharp edges that can cut if mishandled
1. Loosen the strip seal clamps at each end of the stage.
2. Carefully grasp the end of the strip seal and slide it out of the stage.
1. Remove strip seals following strip seal removal procedure.
2. Remove the (4) M4 screws securing the stage cover to the end caps.
3. Remove cover.
Figure 20 - Cover Removal
Stage Side Cover Removal
1. Remove strip seals following strip seal removal procedure.
2. Remove the (2) M4 x.07 screws securing the side cover to the end caps.
3. Remove side cover by dropping it down so the lower lip clears the channel.
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65
Chapter 10
Removing and Replacing Stage Components
Strip Seal Replacement
ATTENTION: Handle strip seal material with care. Strip seal has sharp edges that can cause personal injury if mishandled.
1. Remove power from unit and Lockout-Tagout the power source.
2. Follow the instructions below on how to measure, mark, and cut new strip seals.
1) Mark needed strip length.
3) Make two 45° marks to centerline.
2) Mark strip width centerline.
4) Use tin snips to cut along 45° marks.
3. Position slide at middle of travel.
4. Loosen end clamps and screws on one seal guide enough to expose center metal section of guide.
5. Thread new strip seal, point end first, through the seal guides, slide and end clamps.
6. Center and smooth strip seal against top cover and side panel magnetic strips.
7. With very light pressure hold the seal guide against the strip seal and tighten the seal guide.
8. Tighten only one end clamp.
9. Move the slide by hand through travel and make sure the strip seal seats smoothly against the cover and side panel magnet strips. Pulling against the tightened end clamp to help smooth the seal.
10. Once the seal lays flat and smooth against the top cover and side panel, tighten the second end clamp.
11. With the outside edge of the end clamps as a guide, use tin snips to cut and remove excess strip seal material.
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Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Removing and Replacing Stage Components
Chapter 10
12. Position slide at the far ends of travel and re-adjust seal guide by inserting a
0.8 mm (0.015 in.) shim between seal guide and strip seal.
Strip Seal
Stage Cover Installation
Side Cover Installation
Seal Guide
13. Return stage to service.
0.8 mm (0.015 in.) Shim
1. Starting at the end cap with the magnetic warning label. Install (2)
M3 x 25 SHCS and torque to 4 N•m (35 lbf•in). Make sure the cover makes contact with the end cap.
2. On the opposite end install (2) M3 x 30 SHCS and bottom out the screw.
The cover does not contact the end cap on this side it floats on the screw.
1. Insert side cover into the stage base by holding it with the top slightly tilted outward and hooking bottom in the channel near bottom of the base.
2. Starting at the end cap with the magnetic warning label or the MP motor.
Install (1) M4 x 0.7 x 30 LG SHCS and torque to 4 N•m (35 lb•in). Make sure the side cover makes contact with the end cap.
3. On the opposite end install (1) M4 x 0.7 x 30 LG SHCS and torque
2.26 N•m (20 lb•in). The side cover does not contact the end cap on this side.
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67
Chapter 10
Removing and Replacing Stage Components
Notes:
68
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Appendix
A
Specifications and Dimensions
This appendix is a supplement to this document. Associated Kinetix publications listed in
Additional Resources on page 9 and information in product
specifications can supersede the information in this appendix.
Topic
Static and Static Moment Loads
Performance Specifications for 325V CHPS-Series Stage
Performance Specifications for 325V or 650V CHPS-Series Stage
Accuracy Specification for the CHPS-Series Stage
Maximum Velocity for Allen-Bradley Drives
Environmental Specifications for CHPS-Series Stages
CHPS-Series Stage Travel versus Weight Specifications
CHPS-Series Stage Technical Specifications
Page
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
69
Appendix A Specifications and Dimensions
Static and Static Moment
Loads
The figure depicts the Static and Static Moment Loads in the tables that follow.
Table 6 - Static and Static Moment Loads on Linear Stages
Pitch Moment Load
Reverse
Radial Force Load Radial Force Load
Yaw Moment Load
70
Lateral Force Load
Roll Moment Load
The static moment and force ratings shown in the tables are the maximum permissible values possible before permanent damage to the linear stage can occur. To determine the estimated L10 bearing and ball screw life of CHPS-Series
Integrated Linear Stages, use Motion Analyzer software version 4.4 or later.
Performance Specifications for 325V CHPS-Series Stage
Maximum cable length 10 m (33 ft). Please contact Applications Engineering concerning application requiring longer cables.
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Specifications and Dimensions Appendix A
Table 7 - Performance Specifications for 150 mm frame size CHPS-Series Linear Stages
Cat. No.
CHPS-A6xxxA-xLMxxx
CHPS-A6xxxB-xLMxxx
CHPS-A6xxxC-xLMxxx
Slide Mass
kg (lb)
4.64 (10.23)
6.48 (14.28)
6.48 (14.28)
Continuous
(1)
A rms (Ao-pk)
2.3 (3.3)
4.7 (6.6)
2.3 (3.3)
(2)
N (lbf)
80 (18)
160 (36)
Peak Maximum
Static Load
(3)
A rms (Ao-pk)
7.0 (9.9)
160 (36) 14.0 (19.9)
7.0 (9.9)
(1) Measured at 20 °C (68 °F) ambient.
(2) For covered and sealed stages derate by 10%
(3) Values apply to bearing rating only. Contact Applications Engineering for structural considerations.
Thrust
N (lbf)
239 (54)
479 (108) kN (lbf)
38.0 (8722)
38.0 (8722)
479 (108) 38.0 (8722)
Pitch Yaw
kN (lbf) N•m (ft•lb)
71 (52)
128 (94)
183 (134)
327 (241)
128 (94) 327 (241)
Roll
N•m (ft•lb)
97 (71)
97 (71)
97 (71)
Table 8 - Performance Specifications for 200 mm frame size CHPS-Series Linear Stages
Cat. No.
CHPS-A8xxxA-xLMxxx
CHPS-A8xxxB-xLMxxx
CHPS-A8xxxC-xLMxxx
Slide Mass
kg (lb)
6.58 (14.5)
Continuous
A rms (Ao-pk) N (lbf)
4.59 (10.1) 2.1 (3.0)
4.2 (6.0)
6.58 (14.5) 2.1 (3.0)
(1) (2)
72 (16)
144 (32)
144 (32)
Peak Maximum
Static Load
(3)
A rms (Ao-pk)
6.3 (8.9)
12.6 (17.9)
6.3 (8.9)
(1) Measured at 20 °C (68 °F) ambient.
(2) For covered and sealed stages derate by 10%.
(3) Values apply to bearing rating only, Contact Applications Engineering for structural considerations.
Thrust Pitch
N (lbf)
215 (48)
431 (97) kN (lb)
66 (14836)
66 (14836)
431 (97) 66 (14836) kN (lbf)
171 9126)
270 (199)
270 (199)
Yaw
N•m (ft•lb)
412 (304)
620 (457)
620 (457)
Roll
N•m (ft•lb)
270 (199)
270 (199)
270 (199)
Performance Specifications for 250 mm frame size CHPS-Series Linear Stages
Cat. No.
CHPS-A9xxxG-xLMxxx
CHPS-A9xxxH-xLMxxx
CHPS-A9xxxI-xLMxxx
Slide Mass
kg (lb)
Continuous
(1)(2)
A rms (Ao-pk) N (lbf)
8.58 (18.9) 1.9 (2.7)
9.62 (21.2) 3.8 (5.4)
9.62 (21.2) 1.9 (2.7)
109 (25)
219 (49)
219 (49)
Peak Maximum
Static Load
(3)
Max Static Moment Loads
Thrust
A rms (Ao-pk) N (lbf) kN (lbf)
Pitch
kN (lbf)
Yaw
N•m (ft•lb)
Roll
N•m (ft•lb)
5.8 (8.2)
11.5 (16.3)
5.8 (8.2)
(1) Measured at 20 °C (68 °F) ambient.
(2) For covered and sealed stages derate by 10%.
(3) Values apply to bearing rating only. Contact Applications Engineering for structural considerations.
328 (74)
656 (147)
656 (147)
93.6 (21042)
93.6 (21042)
93.6 (21042)
170 (125)
324 (239)
324 (541)
385 (283)
734 (541)
734 (541)
508 (375)
508 (375)
508 (375)
Performance Specifications for 325V or 650V CHPS-Series Stage
Maximum cable length 10 m (33 ft). Please contact Applications Engineering concerning application requiring longer cables.
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71
Appendix A Specifications and Dimensions
Table 9 - Performance Specifications for 200 mm frame size CHPS-Series Linear Stages
Cat. No.
CHPS-x8xxxD-xLMxxx
CHPS-x8xxxE-xLMxxx
CHPS-x8xxxF-xLMxxx
Slide Mass
kg (lb)
5.64 (12.4)
8.34 (18.4)
8.34 (18.4)
Continuous
(1)(2)
A rms (Ao-pk)
3.1 (4.3)
6.2 (8.7)
3.1 (4.3)
Static
Load
(3)
N (lbf) A rms (Ao-pk)
132 (30) 8.3 (11.7)
Thrust
N (lbf)
302 (68) kN (lbf)
66 (14836)
Pitch
kN (lbf)
171 9126)
Yaw
N•m (ft•lb)
412 (304)
265 (60) 16.5 (23.3)
265 (60) 8.2 (11.6)
600 (135)
600 (135)
66 (14836)
66 (14836)
270 (199)
270 (199)
620 (457)
620 (457)
Roll
N•m (ft•lb)
270 (199)
270 (199)
270 (199)
(1) Measured at 20 °C (68 °F) ambient.
(2) For covered and sealed stages derate by 10%.
(3) Values apply to bearing rating only. Contact Applications Engineering for structural considerations.
Performance Specifications for 250 mm frame size CHPS-Series Linear Stages
Cat. No.
CHPS-x9xxxJ-xLMxxx
CHPS-x9xxxK-xLMxxx
CHPS-x9xxxL-xLMxxx
Slide Mass Continuous
(1)(2)
Peak Maximum
Static Load
(3)
kg (lb) A rms (Ao-pk) N (lbf)
11.54 (25.4) 3.0 (4.2) 385 (87)
A rms (Ao-pk)
8.1 (11.5)
Thrust
N (lbf)
882 (198) kN (lbf)
93.6 (21042)
Pitch
kN (lbf)
170 (125)
Yaw
N•m (ft•lb)
385 (283)
9.69 (21.4) 3.0 (4.2)
11.54 (25.4) 6.0 (8.5)
193 (43)
385 (87)
8.1 (11.5)
16.2 (22.9)
441 (99)
882 (198)
93.6 (21042)
93.6 (21042)
324 (239)
324 (541)
734 (541)
734 (541)
Roll
N•m (ft•lb)
508 (375)
508 (375)
508 (375)
(1) Measured at 20 °C (68 °F) ambient.
(2) For covered and sealed stages derate by 10%.
(3) Values apply to bearing rating only. Contact Applications Engineering for structural considerations.
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Specifications and Dimensions Appendix A
General Stage Specifications
The following sections contain general specifications.
Accuracy Specification for the CHPS-Series Stage
Cat. No
CHPS-xxxxxx-FLMxxx
CHPS-xxxxxx-GLMxxx
CHPS-xxxxxx-HLMxxx
CHPS-xxxxxx-ILMxxx
Repeatability
μm (in.)
±1.0
±1.5
±2.0
Interpolation
Dependent
Accuracy
μm (in.)
(1)(2)(3)
±3 μm/25 mm NTE ±10 μm/300 mm
(±0.0001 in./1 in. NTE ±0.0004 in./12 in.)
Straightness and Flatness
μm (in.)
(3)
±3 μm/25 mm NTE ±8 μm/300 mm
(±0.0001 in./1 in. NTE ±0.0003 in./12 in.)
(1) Non-cumulative. For higher performance or software error mapping, please contact Applications Engineering.
(2) Accuracy specification is based upon a 5 kg test load, measured 35 mm above the center of the slide, fully supported on a granite surface.
(3) Based upon a fully supported and clamped in place unit, mounted on a rigid surface with flatness of 0.012/300 x 300 mm, NTE 0.025 mm overall (0.0004/12 x 12 in., NTE
0.001 in. overall)
Commutation Sensor
Description
Input Power
Output
Specifications
5…24V DC, 10 mA max.
NPN, open collector, 10 mA max.
Limit Sensor Specification
Description
Input Power
Output
Specifications
12…28V DC, 15 mA max.
PNP, open collector, normally closed 50 mA max.sourcing
PTC Thermistor Specifications
Temp °C (°F)
Up To 100 (212)
Up To 105 (221)
Up To 110 (230)
Resistance (Ohm)
Less than 750
Less than 7500
Greater than 10,000
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Appendix A Specifications and Dimensions
Encoder Specifications
Type
Digital
Analog
Signal
Power Supply
A/B/Index
Sine/Cosine
Integral Index Mark
Specification
5V DC ±5%
RS422 Differential Line Driver
0.6…1.2V p-p Differential Analog
Differential Pulse 0.8…1.3V p-p
IMPORTANT
Contact Application Engineering for third party drives and controllers. The controls need to meet a minimum recommended counter clock frequency that varies with encoder type and resolution and required peak speed.
Maximum Velocity for Allen-Bradley Drives
Table 10 - Maximum Velocity for 150 mm frame size CHPS-Series Linear Stages with Allen-Bradley
Drives
Incremental Encoder Option
Digital
Resolution
Sine/Cosine
Period
μm/count
1
0.5
0.1
—
μm
—
—
—
20
3.0
0.7
4.0
Velocity, max
m/s
5.0
Maximum Velocity
Ultra™ 3000 and
Ultra5000 Drives
Kinetix 2000 and
Kinetix 6500 Drives
m/s
4.0
2.0
0.5
2.0
m/s
4.0
2.0
—
2.0
0.7
—
2.0
Kinetix 6000
Drive
m/s
1.5
—
—
—
Kinetix 300
Drive
m/s
2.0
Table 11 - Maximum Velocity for 200 and 250 mm frame size CHPS-Series Linear Stages with
Allen-Bradley Drives
Incremental Encoder Option
Digital
Resolution
Sine/Cosine
Period
μm/count
1
0.5
0.1
—
μm
—
—
—
20
(1) LC motor option only.
3.0
0.7
4.0
Velocity, max
m/s
5.0
m/s
4.0
2.0
0.5
2.0
Maximum Velocity
Ulta3000 and
Ultra5000 Drives
Kinetix 2000 and
Kinetix 6500 Drives
m/s
4.0
2.0
0.5
2.0
(1)
0.7
—
2.0
Kinetix 6000
Drive
m/s
1.5
—
—
—
Kinetix 300
Drive
m/s
2.0
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Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Specifications and Dimensions Appendix A
Environmental Specifications for CHPS-Series Stages
Attribute Value
Ambient temperature 0...40 °C (32...104 °F)
Storage temperature
Relative humidity
-30...70 °C (-22...158 °F)
5…95% non-condensing
Shock
Vibration
Cable carrier lifetime
20 g peak, 6 ms duration
0.1 grms @ Hz, 30…2000 Hz
10,000,000 cycles
CHPS-Series Stage Travel versus Weight Specifications
CHPS-Series Stage (150 mm frame size)
Unit Mass
35
30
25
20
45
40
15
10
5
0
LZ-030-T-240-X
LZ-030-T-120-D
Travel Length
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75
Appendix A Specifications and Dimensions
76
CHPS-Series Stage (200 mm frame size)
Unit Mass
35
30
25
20
15
10
Travel Length
LC-050-100-D
LZ-030-T-120-D
Unit Mass
30
25
40
35
20
15
Travel Length
CHPS-Series Stage (250 mm frame size)
Unit Mass
70
60
50
40
30
20
10
0
Travel Length
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
LC-050-200-X
LZ-030-T-240-X
LZ-050-T-240-X
LZ-050-T-120-D
LC-075-200-X
LC-075-100-D
Specifications and Dimensions Appendix A
CHPS-Series Stage
Dimensions
(4X) M6 x 1.0-6H 12.0 (0.47)
30.5 (1.20)
Mechanical
Overtravel
25.0
(0.98)
Stage are designed to metric dimensions. Inch dimensions are conversions from millimeters. Dimensions without tolerances are for reference.
Figure 21 - CHPS-A6xxxA-xLMxxx
Slide
239
(9.41)
165
(6.50)
30
(1.18)
Travel
30.5 (1.20)
Mechanical
Overtravel
25.0
(0.98)
165
(6.50)
167
(6.57)
8.5
(0.33)
32.0
(1.26)
See Detail A
46.8
(1.84)
181.5
(7.15)
238.6
(9.39)
92.0
(3.62)
150
(5.9)
(4X) Ø 7.0 (0.28) Thru
Pilot Hole
115
(4.53)
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for lubricating linear bearings.
Provision to use lifting hooks (not provided).
Ground Screw
M5 x 0.8-6H
123.8
(4.88)
30.0
(1.18)
Detail A 7.6
(0.30)
9.3 (0.37)
Depth, max
Toe Clamp is standard for covered stages. Mount to base using M6 x1.0 socket cap screw.
62
(2.44)
350.0
(13.87)
+ Travel
T-Nut Mount to base using
M6 x1.0 hardware
(optional accessory).
Travel Length mm (in.)
Increments 60 (2.36)
Bracket located ±51 (2.0) from center of travel.
120 (4.72)
Toe Clamp/T-Nut Spacing
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77
Appendix A Specifications and Dimensions
(4X) M6 x 1.0-6H 12.0 (0.47)
30.5 (1.20)
Mechanical
Overtravel
25.0
(0.98)
165
(6.50)
Figure 22 - CHPS-A6xxxB/C-xLMxxx
Slide
339
(13.35)
165
(6.50)
87
(3.42)
Travel
See Detail A
46.8
(1.84)
181.5
(7.15)
238.6
(9.39)
8.5
(0.33)
32.0
(1.26)
92.0
(3.62)
150
(5.9)
(4X) Ø 7.0 (0.28) Thru
Pilot Hole
130
(5.12)
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for lubricating linear bearings.
Provision to use lifting hooks (not provided).
Ground Screw
M5 x 0.8-6H
123.8
(4.88)
30.0
(1.18)
Detail A 7.6
(0.30)
9.3 (0.37)
Depth, max
Toe Clamp is standard for covered stages. Mount to base using M6 x1.0 socket cap screw.
104.5
(4.11)
450.0
(17.71)
+ Travel
T-Nut Mount to base using
M6 x1.0 hardware
(optional accessory).
Travel Length mm (in.)
Increments 60 (2.36)
Bracket located ±51 (2.0) from center of travel.
30.5 (1.20)
Mechanical
Overtravel
25.0
(0.98)
167
(6.57)
120 (4.72)
Toe Clamp/T-Nut Spacing
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Specifications and Dimensions Appendix A
Figure 23 - CHPS-x8xxxA/D-xLMxxx
(4X) M8 x 1.25-6H
(4X) Ø 6.8 (0.27)
12.0 (0.47)
45.2 (1.78) Thru
25.4 (1.0)
Mechanical Overtravel
28.0
(1.10)
25.4
(1.0)
Slide
239
(9.41)
130.8
(5.15)
215.7
(8.49)
166.6
(6.56)
(2X) Ø 5.5 (0.22) Thru
Pilot Hole
44
(1.72)
Travel
25.4 (1.0)
Mechanical Overtravel
25.4
(1.0)
216.7
(8.53)
See Detail A
46.8
(1.84)
232
(9.13)
288.9
(11.38)
8.5
(0.33)
37.8
(1.49)
130.8
(5.15)
200
(7.9)
Detail A
55.4
(2.18)
120
(4.72)
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for lubricating linear bearings.
Provision to use lifting hooks (not provided).
56
(2.20)
Ø 5.8 (0.23) Thru
Ø 9.7 (0.38) Thru
340
(13.4)
+ Travel
14.2 (0.56)
120 (4.72)
Toe Clamp/
Square Nut Spacing
Ground Screw
M5 x 0.8-6H
105.5
(4.15)
30.0
(1.38)
Bracket located ±51 (2.0) from center of travel.
5.2
(0.206)
6.0 (0.24)
Depth, max
Toe Clamp is standard for covered stages. Mount to base using M6 x1.0 socket cap screw.
Square Nut
Mount to base using M6 x1.0 hardware
(optional accessory).
Travel
Increments
Length mm (in.)
60 (2.36)
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79
Appendix A Specifications and Dimensions
CHPS-x8xxxB/C/E/F-xLMxxx
(4X) M8 x 1.25-6H
(4X) Ø 6.8 (0.27)
12.0 (0.47)
45.2 (1.78) Thru
25.4 (1.0)
Mechanical Overtravel
28.0
(1.10)
25.4
(1.0)
215.7
(8.49)
166.6
(6.56)
Slide
339
(13.35)
130.8
(5.15)
(2X) Ø 5.5 (0.22) Thru
Pilot Hole
104
(4.09)
Travel
25.4 (1.0)
Mechanical Overtravel
25.4
(1.0)
216.7
(8.53)
See Detail A
46.8
(1.84)
232
(9.13)
288.9
(11.38)
8.5
(0.33)
37.8
(1.49)
130.8
(5.15)
200
(7.9)
Detail A
55.4
(2.18)
120
(4.72)
(4X) M10 x 1.5-6H Thru (2 per end cap)
Access point for lubricating linear bearings.
Provision to use lifting hooks (not provided).
116.3
(4.58)
Ø 5.8 (0.23) Thru
Ø 9.7 (0.38) Thru
440
(17.35)
+ Travel
14.2 (0.56)
120 (4.72)
Toe Clamp/
Square Nut Spacing
Ground Screw
M5 x 0.8-6H
105.5
(4.15)
30.0
(1.38)
Bracket located ±51 (2.0) from center of travel.
5.2
(0.206)
6.0 (0.24)
Depth, max
Toe Clamp is standard for covered stages. Mount to base
Travel
Square Nut
Mount to base using M6 x1.0 hardware
Length mm (in.)
Increments 60 (2.36)
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Specifications and Dimensions Appendix A
Figure 24 - CHPS-x9xxxG/J-xLMxxx
(4X) M8 x 1.25-6H
(4X) Ø 6.8 (0.27)
12.0 (0.47)
45.2 (1.78) Thru
25.4 (1.0)
Mechanical Overtravel
28.0
(1.10)
25.4
(1.0)
Slide
279
(10.98)
130.8
(5.15)
264.7
(10.42)
208.6
(8.21)
(2X) Ø 5.5 (0.22) Thru
Pilot Hole
Travel
44
(1.73)
25.4 (1.0)
Mechanical Overtravel
25.4
(1.0)
265.7
(10.46)
See Detail A
46.8
(1.84)
281
(11.06)
338.14
(13.31)
8.5
(0.33)
38.3
(1.51)
172.2
(6.78)
249
(9.8)
Detail A
55.4
(2.18)
(4X) 9/16-12 UNC Thru (2 per end cap)
Access point for lubricating linear bearings.
Provision to use lifting hooks (not provided).
120
(4.72)
Ground Screw
M5 x 0.8-6H
30.0
(1.18)
56.2
(2.22)
Ø 5.8 (0.23) Thru
Ø 9.7 (0.38) Thru 14.2 (0.56)
120 (4.72)
Toe Clamp/T-Nut Spacing
380.6
(14.96)
+ Travel
105.4
(4.15)
Bracket located ±51 (2.0) from center of travel.
5.6
(0.22)
6.5 (0.26)
Depth, max
Toe Clamp is standard for covered stages. Mount to base using M6 x1.0 socket cap screw.
Travel
Increments
T-Nut
Mount to base using M6 x 1.0 hardware
(optional accessory).
Length mm (in.)
60 (2.36)
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81
Appendix A Specifications and Dimensions
Figure 25 - CHPS-x9xxxH/I/K/L-xLMxxx
(4X) M8 x 1.25-6H
(4X) Ø 6.8 (0.27)
12.0 (0.47)
45.2 (1.78) Thru
25.4 (1.0)
Mechanical Overtravel
28.0
(1.10)
25.4
(1.0)
Slide
339
(13.35)
130.8
(5.15)
264.7
(10.42)
208.6
(8.21)
(2X) Ø 5.5 (0.22) Thru
Pilot Hole
Travel
104
(4.09)
25.4 (1.0)
Mechanical Overtravel
25.4
(1.0)
265.7
(10.46)
See Detail A
46.8
(1.84)
281
(11.06)
338.14
(13.31)
8.5
(0.33)
38.3
(1.51)
172.2
(6.78)
249
(9.8)
Detail A
55.4
(2.18)
(4X) 9/16-12 UNC Thru (2 per end cap)
Access point for lubricating linear bearings.
Provision to use lifting hooks (not provided).
120
(4.72)
Ground Screw
M5 x 0.8-6H
30.0
(1.18)
116
(4.58)
Ø 5.8 (0.23) Thru
Ø 9.7 (0.38) Thru 14.2 (0.56)
120 (4.72)
Toe Clamp/T-Nut Spacing
440.6
(17.35)
+ Travel
105.4
(4.15)
Bracket located ±51 (2.0) from center of travel.
5.6
(0.22)
6.5 (0.26)
Depth, max
Toe Clamp is standard for covered stages. Mount to base using M6 x1.0 socket cap screw.
Travel
Increments
T-Nut
Mount to base using M6 x 1.0 hardware
(optional accessory).
Length mm (in.)
60 (2.36)
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Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Specifications and Dimensions Appendix A
CHPS-Series Stage Technical
Specifications
Use this specification to make stage dependent calculations.
Cat. No.
CHPS-A6xxxA-xLMxxx
CHPS-A6xxxB-xLMxxx
CHPS-A6xxxC-xLMxxx
CHPS-A8xxxA-xLMxxx
CHPS-A8xxxB-xLMxxx
CHPS-A8xxxC-xLMxxx
CHPS-x8xxxD-xLMxxx
CHPS-x8xxxE-xLMxxx
CHPS-x8xxxF-xLMxxx
CHPS-A9xxxG-xLMxxx
CHPS-A9xxxH-xLMxxx
CHPS-A9xxxI-xLMxxx
CHPS-x9xxxJ-xLMxxx
CHPS-x9xxxK-xLMxxx
CHPS-x9xxxL-xLMxxx
Total Moving
Mass kg (lb)
5.39 (11.85)
7.09 (15.6)
7.09 (15.6)
6.70 (14.73)
8.87 (19.52)
8.87 (19.52)
7.57 (16.65)
10.23 (22.5)
10.23 (22.5)
8.56 (18.84)
10.70 (23.53)
10.70 (23.53)
10.02 (22.04)
13.16 (28.95)
13.16 (28.95)
9.4
4.7
18.8
4.9
14.3
3.8
1.9
7.5
2.5
9.9
3.6
14.3
7.2
3.6
Coil Resistance (p - p)
@25 °C (77 °F) @100 °C (212 °F)
Ohms
7.2
Ohms
9.3
4.6
18.6
9.3
4.6
18.6
4.9
2.4
9.8
12.2
6.1
24.5
6.4
3.2
12.8
Force Constant
30.3 (6.81)
60.7 (13.64)
40.2 (9.04)
40.2 (9.04)
80.4 (18.07)
45.5 (10.29)
45.5 (10.29)
91.0 (20.46)
N/A
0 - peak
(lbf/A
0 - peak
)
24.1 (5.42)
24.1 (5.42)
48.2 (10.83)
24.1 (5.42)
24.1 (5.42)
48.2 (10.83)
30.3 (6.81)
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83
Appendix A Specifications and Dimensions
Notes:
84
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Appendix
B
Accessories
Topic
Installation, Maintenance, and Replacement Kits
Page
Interconnect Cables
75 (2.9)
75 (2.9)
Start of Bend Radius
142 (5.59)
Power Cable Dimensions (catalog number 2090-XXNPMF-16Sxx)
The maximum cable length of 10 m (32.8 ft).
Dimensions are in mm (in.)
Cable Shield
(overall)
Brown
Black
Blue
Green/Yellow
BR+
BR-
Bend Radius1
Cable Shield
(for brake wires, not used for linear motor stages)
28.0 (1.1)
14.0 (0.55)
Connector
Diameter
Cable
Diameter
E
H F G
L
A
C
B
L
E
H
F
G
A
B
C
16 AWG BROWN
16 AWG BLACK
16 AWG BLUE
16 AWG GRN/YEL
18 AWG WHITE
18 AWG BLACK
18 AWG WHITE
18 AWG RED
SHIELD
U
V
W
1
2
BR+
BR -
1 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. BR can vary on user-fabricated cables.
B
C
Pin
A
GND
Gauge
16
16
16
16
Color
Brown
Black
Blue
Green/Yellow
Signal Designation
U
V
W
GND
Pin
F
G
E
H
L
SHIELD
18
18
N/A
Gauge
18
18
Color
White
Black
White
Red
N/A
1
2
Signal Designation
BR+
BR-
Not used for CHPS
Stages
N/A
Feedback Cable Dimensions (catalog number 2090-XXNFMF-Sxx)
The maximum cable length of 10 m (32.8 ft).
Dimensions are in mm (in.)
54
(2.1)
Start of
Bend Radius
57
(2.2)
26
(1.0)
99
(3.9)
10
(0.4)
Bend Radius
1
Connector
Diameter
Cable
Diameter
2
3
1
13
12
4
14 1715
5
6
11
16
10
9
7
8
10
11
13
5
6
9
3
4
1
2
14
15
16
17
7
8
12
I -
+5V
COM
+9V
TS+
TS -
A+
A -
B+
B -
I+
S1
S2
S3
MTR RRAME
ABS
COM
28 AWG BLACK
28 AWG WHITE/BLACK
28 AWG RED
28 AWG WHITE/RED
28 AWG GREEN
28 AWG WHITE/GREEN
16 AWG GRAY
16 AWG WHITE/GRAY
22 AWG ORANGE
22 AWG WHITE/ORANGE
28 AWG BLUE
28 AWG WHITE /BLUE
28 AWG YELLOW
28 AWG WHITE/YELLOW
28 AWG BROWN
28 AWG WHITE/BROWN
DRAIN
1 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. BR can vary on user-fabricated cables.
Installation, Maintenance, and
Replacement Kits
Accessories available for installing stages, replacing items, and performing maintenance at regular intervals are listed in the tables that follow.
Description
Grease Pump Maintenance Kit
Grease Cartridge
Toe Clamp Installation Kit
Tee Nut Installation Kit
Cable Carrier Modules
Strip Seal Replacement Kits
Side Covers Replacement Kit
Top Cover Replacement Kit
Accessories
Cat. No
MPAS-GPUMP
MPAS-CART
MPAS-TOE
MPAS-6-TNUT
MPAS-8-TNUT
MPAS-9-TNUT
MPAS-6xxxB-CABLE
MPAS-8xxxE-CABLE
MPAS-9xxxK-CABLE
MPAS-6xxxB-SEAL
MPAS-8xxxE-SEAL
MPAS-9xxxK-SEAL
MPAS-6xxxB-SIDE
MPAS-8xxxE-SIDE
MPAS-9xxxK-SIDE
MPAS-6xxxB-TOP
MPAS-8xxxE-TOP
MPAS-9xxxK-TOP
Comments
Includes grease pump, one grease cartridge, and all necessary tips.
Refill cartridge for grease pump.
10 toe clamps per package
10 Tee nuts per package xxx = cm stroke:
012, 018, 024, 030, 036, 042, 054, 066, 078, 090, 102, or 114 xxx = cm stroke:
014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194 xxx = cm stroke:
014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194 xxx = cm stroke:
012, 018, 024, 030, 036, 042, 054, 066, 078, 090, 102, or 114 xxx = cm stroke:
014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194 xxx = cm stroke:
014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194 xxx = cm stroke:
012, 018, 024, 030, 036, 042, 054, 066, 078, 090, 102, or 114 xxx = cm stroke:
014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194 xxx = cm stroke:
014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194 xxx = cm stroke:
012, 018, 024, 030, 036, 042, 054, 066, 078, 090, 102, or 114 xxx = cm stroke:
014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194 xxx = cm stroke:
014, 020, 026, 032, 038, 044, 056, 068, 080, 092, 104, 128, 152, 176, or 194
Notes:
Stage Stacking
Appendix
C
Stacking Stages
This appendix provides information about center-stacked stage configurations.
Topic
Specifications for Stacked Stages
Page
Certain combinations of MPAS linear stages are designed to be stacked on top of one another. Stacking forms an X-Y axis arrangement. A center-stack arrangement mounts the top axis in the middle of the bottom axis. The top stage is centered on the bottom stage.
Table 12 - Stacking Stages
The MPAS-x6xxxx is capable of mounting to the top of another MPAS-x6xxxx by bolting through toe-clamps to the slide on the bottom stage.
The MPAS-x8xxxx is capable of mounting to the top of either a MPAS-x8xxxx or a MPAS-x9xxxx by bolting through the slide on the bottom stage and into T-nut slots on the top stage.
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Appendix C Stacking Stages
Specifications for Stacked
Stages
Linear stage specifications are based on mounting the stage to a precision base along the entire length of the stage, and MPAS stage specifications follow this convention. In the case of stacked stages, the top axis is no longer supported along its entire length, and this alters both the precision and the load carrying capability of that stage. Furthermore, linear stage specifications are based on a specified test payload with a low center of gravity that is centered on the carriage. Deviations from the test payload condition can impact the performance of both the top and bottom linear stages.
The following table provides information about the payload that the top stage, or axis, can carry without derating the life of its bearings from those specified for the same stage mounted as a single-axis stage on a precision base.
Table 13 - Centered Stack Combinations Not Requiring Derating
Y-axis Travel Mass of Payload
(1)
Catalog Numbers of
Centered Stack Linear Stages
MPAS-x6xxxx on MPAS-x6xxxx
Ball Screw or Direct Drive
MPAS-x8xxxx on MPAS-x8xxxx
Direct Drive
MPAS-x8xxxx on MPAS-x9xxxx
Direct Drive
MPAS-x8xxxx on MPAS-x8xxxx
Ball Screw
MPAS-x8xxxx on MPAS-x9xxxx
Ball Screw
(1) Payload is based solely on bearing and structure limitations.
For other stacking arrangements, please contact Rockwell Automation
Application Engineering.
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Appendix
D
Start-up Guide for CHPS-Series Stage with Ultra3000
Drive and Ultraware Software
Using This Appendix
This appendix is a supplement to CHPS-Series stage and Kinetix drive manuals.
The information in the current product manuals supersedes this appendix.
Topic
Wiring the CHPS-Series Stage to the Ultra3000 Drive
Creating a CHPS-Series Stage Motor File
CHPS-Series Stage and Ultra3000 Drive Troubleshooting Reference
Page
This appendix is for use with CHPS-Series stages. This document addresses
CHPS-Series stage-motor file parameter values and commutation wiring. Basic start-up test procedures and troubleshooting information is also given.
IMPORTANT
Motor, commutation, feedback parameters, and wiring affect commutation, and must be correct for proper motor-drive operation. Improper setup can cause stage control problems including erratic behavior, bad spots, runaway, and thermal failure.
Wiring the CHPS-Series Stage to the Ultra3000 Drive
The CHPS-Series stage has four termination options. The Kinetix/MPF option is recommended for plug & play to Kinetix and Ultra family servo drives.
Kinetix MPF interconnect cable makes it easy to wire the stage and set-up commutation with the Ultra3000 Drive. The wiring for non-Logix Ultra3000 drives and Logix® version Ultra3000 drives are the same.
If you are not using Kinetix/MPF termination option, properly wire the stage to the Ultra drive by using the following connectivity information. Refer to the
CHPS-Series Stage Connector Data for additional information.
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Appendix D Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software
Connector Data Summary
CHPS-Series Stage Signal Designation
Motor phase U
Motor phase V
Motor phase W
Encoder A+ (digital) or Sin+ (analog)
Encoder A - (digital) or Sin - (analog)
Encoder B+ (digital) or Cos+ (analog)
Encoder B - (digital) or Cos - (analog)
Hall S1
Hall S2
Hall S3
U
V
Ultra3000 Drive
Terminal or Pin
W
CN2-1
CN2-2
CN2-3
CN2-4
CN2-12
CN2-13
CN2-8
Signal Designation
Motor phase U
Motor phase V
Motor phase W
Encoder A+ (digital) or Sin+ (analog)
Encoder A - (digital) or Sin - (analog)
Encoder B+ (digital) or Cos+ (analog)
Encoder B - (digital) or Cos - (analog)
Hall S1
Hall S2
Hall S3
Linear Motor File Parameters
The following guide supplements the information found in the Ultra3000 drive manuals. Some of the motor parameters are critical for commutation and motor protection. Incorrect entry of theses motor parameters can cause motor problems,
Ultraware assumes a linear motor is functionally equivalent to a rotary motor.
However, the functional equivalent to a rotary motor is a complete linear motor driven stage. To account for the difference, the parameters highlighted in bold in
the Linear Motor Parameter File (.mdb extension)
table shown below must be adjusted to stage level specifications.
Creating a CHPS-Series Stage
Motor File
Complete CHPS-Series stage motor specifications are in the linear motor specifications information contained in this manual or the motor’s data sheet.
Identify the stage motor option for your CHPS-Series stage and use the corresponding data.
Conversion Factors:
• Ultra3000 drive ampere units are measured at the peak of the sine wave, not RMS. Standard CHPS-Series stage motors are rated both ways. Be sure to select the correct value. If necessary, use the following conversion.
ampere peak = 1.4 x RMS
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Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software Appendix D
• All Ultra drive electrical parameters are defined phase-to-phase. Standard
CHPS-Series stage motors are specified phase-to-phase. If necessary, use the following conversion.
phase-to-phase = 2 x phase-to-neutral
Table 14 - Linear Motor Parameter File (.mdb extension)
Parameter
Force Constant
Mass
Electrical Cycle Length
Resistance
Inductance
Rated Voltage
Flux Saturation table
Maximum Speed
Intermittent Current:
Continuous Current
Max Current Boost
Encoder Type
Commutation Type
Startup Type
Hall Input Offset
Lines/Meter
Integral Limits
Integral Thermostat kg m
Units
N/A
0-peak
Ohms mH
V AC
— m/s
A
0-peak
A
0-peak
—
—
—
— degrees
— lines/m
—
—
Enter
Motor’s linear region force constant
Motor model coil mass
0.05 for LC motors or
0.06 for LZ motors
Motor’s cold resistance
Motor’s inductance
Drive’s input AC voltage.
—
Lowest maximum velocity
Motor’s peak current rating
Comment
Convert if necessary. Standard CHPS-Series stage motors specify the correct unit value.
Standard CHPS-Series stages are intended for moving coil (slide) use.
Standard CHPS-Series stage motors specify the electrical cycle length in mm.
Electrical cycle equals 2 x magnet pitch.
Motor’s continuous current rating Use the motor rating in the CHPS-Series Stage Selection Guide. Do not use the values from the Motor Product Profile. For CHPS-Series stages with cover and seals option, derate the base value by 10%.
0%
Select applicable type per CHPS-
Series stage option code
Sinusoidal
Desired commutation mode
0
For standard CHPS-Series stages without forced cooling.
Use Incremental for digital encoder or Sine/Cosine for analog encoder. Sine/Cosine requires additional set up per the Ultra3000 Drive manual.
The recommended and default setting Hall Inputs and has no motion on startup.
For self-sensing, refer to the section on Self-Sensing Commutation and Startup.
For standard CHPS-Series stage motor models.
250,000
500,000
2,500,000
12,500
Unchecked
Check
Phase-to-phase directly from motor specifications.
Phase-to-phase directly from motor specifications.
LC motors are rated up to 460V AC.
LZ motors are rated up to 230V AC.
For stages with 0.1 um encoder option, the maximum drive input is 115V AC.
Leave default values.
Choose the lowest maximum velocity between the encoder or the application restriction. The encoder maximum velocity for the Ultra3000 drive is found in the
CHPS-Series stage specifications.
Use the motor rating in the CHPS-Series Stage Selection Guide. Do not use the values from the Motor Product Profile. The CHPS-Series LZ motors are restricted to
3x continuous current. Consult with an application engineer if you are considering increasing this value.
Enter the encoder lines per meter of travel. Lines are pre-quadrature resolution.
Alternatively, for incremental encoders, calculate the counts/meter and divide by
4 to get lines/meter.
Following are the values for the standard CHPS-Series stage encoders:
1 μm/count incremental
0.5 μm/count incremental
0.1 μm/count incremental
Analog sin/cos, 20 μm period
For the standard CHPS-Series stage limits option. The standard limits option is not compatible with the CN2 input circuit that expects an NPN open collector limit signal.
For the standard CHPS-Series stage motor options. The PTC thermistor signal is compatible with the Ultra3000 drive thermal input circuit.
Except for very earliest Ultra Drives.
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Appendix D Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software
Table 14 - Linear Motor Parameter File (.mdb extension)
Parameter
Software Protection
Thermal Protection
Rth(w-a)
Units
—
º
C /W
Enter
—
Calculate
Thermal Protection
Cth(w-a)
W/s/
º
C Calculate
Comment
—
The thermal resistance with the winding at ambient temperature:
For LC motors, enter the rated thermal resistance value, multiply by 1.1 for covered and sealed stages.
For 150 frame stage that use only LZ motor, enter the rated thermal resistance value.
For 200 and 250 frame stages:
LZ motors, enter 1.1x the rated thermal resistance value.
In addition for all stages with LZ motors, multiply this value again by 1.1 for a covered and sealed stage.
Energy absorption: Cth = tm/Rth where tm is the motor's thermal time constant in seconds. Leave the value as found if a valid LC or LZ file is used.
If necessary, use the following tm values based on the heat sink size and cooling method:
LC motors: tm = 1800 (seconds)
LZ motors: tm = 1200 (seconds)
Recommended Start-up
Sequence
Follow these steps for optimal motor commutation, performance, overcurrent, and overtemperature protection.
1. Set General Axis Parameters (.udb file extension) a. Auto Motor Iden = disabled for linear motors.
b. Motor Model: select as needed.
c. Total Moving Mass in kg = coil mass or magnet mass + moving structure mass+ moving cable assembly mass + customer load.
d. Current Limits in Amperes peak - set as needed for the application. The drive uses the lowest value between the drive rating and the motor rating.
e. Display Precision - Set to 2 decimal places.
f. User Current Fault in Amperes peak - this is the continuous current. Set as needed for the application. The drive uses the lowest value between drive rating and the motor rating. To avoid nuisance tripping of the fastacting protection, it can need to be set slightly higher.
2. Follow instructions from the standard drive manual and other applicable documentation. Pay special attention to electrical noise control by using cable shielding, shield termination, grounding, and bonding.
3. Wiring must match the CHPS-Series stage and Ultra drive connectivity table provided on
page 92 . Incorrect wiring or Hall offset combinations
can result in motor motion that has excessive force ripple and increased current, temperature, or reduced force per unit of current.
4. Verify that the correct motor file is selected or correct custom motor parameter values are entered.
5. User Current Fault parameter - this value must not exceed the CHPS-
Series stage motor’s continuous current rating.
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Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software Appendix D
6. Current Limit parameters - the positive and negative current limit, must not exceed the CHPS-Series stage motor’s intermittent current rating. Set per the application requirements.
7. Verify correct encoder polarity and test distance count. Encoder must count in positive direction when CHPS-Series stage is moving in the
positive stage direction as shown in Stage Positive Direction on page 48
.
Also see
CHPS-Series Stage and Ultra3000 Drive Troubleshooting
on
page 96 . Incorrect encoder sequencing can cause a runaway
motor condition or incorrect commutation.
8. Perform Commutation Diagnostics only if enough free +/- travel distance is available. You can guarantee optimal commutation only by doing oscilloscope verification.
You can use the following checks for non-optimal commutation verification. These tests cannot detect bad spots and other anomalies.
• Use Current Control Panel mode to give a small positive current command. Verify the stage moves in the positive direction.
• Check for consistent force resistance over whole travel by pushing the slide to multiple locations.
• Check that the amount of current to move the load and overcome friction forces at a low steady speed are correct.
• The motor’s force constant (Kf ) can also be verified with a force gauge.
The Ultraware software command units for current scaling are in
A
0-peak
/V.
9. When current mode tests successfully, perform auto velocity or manual velocity tuning with the Ultraware oscilloscope function, do this even if you are using current mode to control your application. This further evaluates commutation and check for a good step response.
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Appendix D Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software
CHPS-Series Stage and
Ultra3000 Drive
Troubleshooting Reference
The section contains troubleshooting reference for the CHPS-Series stage and
Ultra3000 drive combination.
Positive Phasing Direction
Positive stage direction = slide moving towards junction box or cable exit end as shown here.
Slide End Cap + Slide = Slide Assembly
(-)
(+)
Positive Direction
Encoder Counting Polarity
Encoder must count in positive direction when moving in the positive direction.
IMPORTANT
Incorrect encoder sequencing can cause a runaway motor condition or incorrect commutation.
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Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software Appendix D
Oscilloscope Verification
Correct stage and Ultra3000 drive wiring yields the phase relationship shown in
Hall Oscilloscope Diagram.
Figure 26 - Hall Oscilloscope Diagram
S1
S2
S3
0° 60° 120° 180° 240° 300° 360°
• Data capture direction - stage positive phasing direction as shown in
Positive Phasing Direction on page 96.
• S1 leads S2 leads S3, 120° electrical spacing.
• For standard stages have following phase relationship:
S1 in phase with W-U
S2 in phase with U-V
S3 in phase with V-W
• Hall probe GND to Hall common and, for W-U for example, coil probe tip = W and probe GND = U
• If wiring is correct the causes for incorrect phasing are:
– non-standard coil or Hall assembly
– coil electrical problem
– Hall module electrical or mechanical problem
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Appendix D Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software
Oscilloscope Diagram for Ultra3000 Drive
Motor with Hall offset = 0°
While moving slide in positive direction.
BEMF
Hall
0° 60° 120° 180° 240° 300° 360°
Ultra Drive phasing pairs:
S1 vs. W-U
S2 vs. U-V
S3 vs. V-W
Ultra3000 Drive
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Reference Information
Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software Appendix D
Refer to these sections for information about the following:
•
Commutation Diagnostics Utility
•
Self-sensing Commutation and Startup
•
•
•
•
Commutation Diagnostics Utility
This test utility is intended for custom motors that do not have verified optimal phasing information. It can be used instead of the Ultraware oscilloscope based phasing method given in the Ultra3000 Drive Manual
(1)
. The test utility can make false recommendations if the test set-up current level is too low, or an obstruction is encountered during the test motion. The CHPS-Series stage wiring must not deviate from the standard wiring. Do not use the utility if the free travel distance of the application is less than the required ± test motion.
These are the pre-test requirements.
1. Check for mechanical problems with the stage assembly.
2. Use a test current value high enough to overcome non-acceleration forces of stiction and friction, cable drag, magnetic attraction. A typical value used is 15…20%. But values as high as 40% can be necessary.
3. Verify the free travel range from motor starting position is at least two magnet pitches or 1 electrical cycle, in the negative direction, and four magnet pitches or 2 electrical cycles, in the positive direction.
(1) The phasing diagram in the drive manual is for phase-to-neutral measurements. This requires use of a balanced resistor Y network to create a virtual neutral. Alternatively, the phase-to-phase diagrams and procedures in the Ultra 100/200 can be used because they are equivalent to each other after the phase shift correction is made.
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Appendix D Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software
100
Self-sensing Commutation and Startup
This type of commutation does not use the Hall effect sensor. Motors with a Hall effect sensor connection can be set to self-sensing commutation, the Hall effect signals are ignored. Self-sensing start-up is not commutation diagnostics. You can perform commutation diagnostics at any time on Hall effect or self-sensing motors. Self-sensing start-up refers to the motor motion initialization that is executed automatically after every power-up and enabling of the system. It synchronizes the arbitrary encoder position or count to the drive’s initial commutation angle.
This is the self-sensing start-up sequence:
• Enable is activated.
• Motor locks into detent or zero force position > up to ± one magnet pitch
(½ electrical cycle) of motion jerk.
• After jerk motion settles out in 1 or 2 seconds, motor executes a slow speed test move of approximately two magnet pitches or one electrical cycle in the positive direction.
• Drive disables, ready for normal operation.
During this startup, the drive evaluates the test motion. A fault indicates that the motor motion was not as expected. Possible reasons include the following:
• Mechanical problem with the stage such as excessive stiction, friction, or cable drag.
• Obstruction during test motion.
• Incorrect coil or encoder wiring.
• Encoder or signal problems, device fault, wiring problem, noise.
• During startup, the drive uses a fixed 1/6 of the peak motor or drive current, whichever is lower.
Ultraware software version 1.3 with firmware revision 1.16 (or greater) has improved functionality with proper alignment under any single obstruction:
• If during the positive test move, after detent, an obstruction is encountered, a test move is done in the opposite direction after reinitializing the new detent.
• If an obstruction prevents the motor from going to the real detent, for example, detent past negative hard stop, the Ultra drive senses a false detent during the test move due to false alignment. After re-initializing of the new detent a second test move is done in the positive direction.
• The self-sensing routine can take 2x longer because of obstructions.
• If a second obstruction is detected during whole routine, such as low test current or too high friction, the test faults.
• The new versions lets a user programmable test current value.
• Limit signals sent to the Ultra Drive are ignored during self-sensing startup.
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Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software Appendix D
The following in an example of a CHPS-Series stage custom motor file created in
Ultraware Motor Database utility.
For linear stages with a size 200 frame, LZ-030-T-120-D linear motor, 1 μm encoder, cover/seals, and no integral limits.
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Appendix D Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software
Main Screen Setup
On this screen, enter CHPS-Series stage motor file, Current Limits not-toexceed motor file, Display Precision, and access the Current Control Panel.
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Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software Appendix D
Motor Screen
On this screen, enter Total Moving Mass, check for correct Motor Model and parameters, and access the Motor Feedback Diagnostics Utility.
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103
Appendix D Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software
Faults Screen
On this screen, enter the continuous current in User Current Fault field, not to exceed the motor file continuous current value.
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Appendix
E
Mounting Bolts and Torque Values
M3
M4
M5
M6
M8
M10
Bolt Size (Metric)
(1)
M1.6
(2)
M2
(2)
M2.5
(2)
Table 15 - Recommended Seating Torque for Metric Bolts
0.5
0.7
0.8
1.0
Pitch
0.35
0.40
0.45
1.25
1.5
Plain
N•m (lbf•in)
0.29 (2.6)
0.60 (5.3)
1.24 (11)
2.15 (19)
4.6 (41)
9.6 (85)
15.8 (140)
39.5 (350)
76.8 (680)
Cadmium Plated
N•m (lbf•in)
0.22 (1.95)
0.45 (3.98)
0.93 (8.25)
1.61 (14.25)
3.47 (30.75)
7.20 (63.75)
11.9 (105)
29.7 (262.5)
57.6 (510)
Zinc
N•m (lbf•in)
0.41(3.64)
0.84 (7.42)
1.74 (15.4)
3.00 (26.6)
6.48 (57.4)
13.4 (119)
22.1 (196)
55.4 (490)
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.
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Appendix E Mounting Bolts and Torque Values
Table 16 - Recommended Seating Torque for Mild Steel Rb 87 or Cast Iron Rb 83
#10
1/4
5/16
3/8
7/16
1/2
#4
#5
#6
#8
Bolt Size
(1), (2)
#0
#1
#2
#3
Plain
N•m (lbf•in)
—
0.44 (3.89)
(3)
0.71 (6.3)
(3)
1.08 (9.6)
(3)
1.52 (13.5)
(3)
2.3 (20)
(3)
2.8 (25)
(3)
5.2 (46)
(3)
7.6 (67)
(3)
17.8 (158)
(3)
36.8 (326)
(3)
65.5 (580)
(3)
105 (930)
(3)
160 (1,420)
(3)
UNC
Cadmium Plated
N•m (lbf•in)
—
0.53 (4.7)
(3)
0.53 (4.7)
(3)
0.81 (7.2)
(3)
1.13 (10)
(3)
1.7 (15)
(3)
2.1 (19)
(3)
3.8 (34)
(3)
5.6 (50)
(3)
13.4 (119)
(3)
27.7 (245)
(3)
49.1 (435)
78.9 (698)
(3)
172.8 (1,530)
(3)
Plain
N•m (lbf•in)
0.24 (2.1)
(3)
0.46 (4.1)
(3)
0.76 (6.8)
(3)
1.16 (10.3)
(3)
1.67 (14.8)
(3)
2.37 (21)
(3)
3.2 (28)
(3)
5.4 (48)
(3)
8.6 (76)
(3)
20.3 (180)
(3)
40.7 (360)
(3)
71.7 (635)
117.5 (1,040)
(3)
254.2 (2,250)
UNF
Cadmium Plated
N•m (lbf•in)
0.18 (1.6)
(3)
0.34 (3.0)
(3)
0.58 (5.1)
(3)
0.87 (7.7)
(3)
1.2 (11)
(3)
1.8 (16)
(3)
2.4 (21)
(3)
4.1 (36)
(3)
6.4 (57)
(3)
15.4 (136)
(3)
30.5 (270)
(3)
53.7 (476)
88.1 (780)
(3)
190.9 (1,690))
(3)
(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.
106
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Mounting Bolts and Torque Values Appendix E
Table 17 - Recommended Seating Torque for Brass Rb 72
#3
#4
#5
#6
#8
Bolt Size
(1), (2)
#0
#1
#2
#10
1/4
5/16
3/8
7/16
Plain
N•m (lbf•in)
—
0.43(3.8)
(3)
0.71 (6.3)
(3)
1.08 (9.6)
(3)
1.52 (13.5)
(3)
2.2 (20)
(3)
2.8 (25)
(3)
5.2 (46)
(3)
7.6 (67)
(3)
15.3 (136)
25.8 (228)
53.7 (476)
76.8 (680)
UNC
Cadmium Plated
N•m (lbf•in)
—
0.33 (2.9)
(3)
0.53 (4.7)
(3)
0.81 (7.2)
(3)
1.1 (10)
(3)
1.7 (15)
(3)
2.1 (19)
(3)
3.8 (34)
5.6 (50)
(3)
11.5 (102)
19.3 (171)
40.3 (357)
57.6 (510)
Plain
N•m (lbf•in)
0.24 (2.1)
(3)
0.46 (4.1)
0.77 (6.8)
(3)
1.16 (10.3)
(3)
1.67 (14.8)
(3)
2.4 (21)
(3)
3.2 (28)
(3)
5.4 (48)
(3)
8.6 (76)
(3)
15.4 (136)
25.8 (228)
53.7 (476)
76.8 (680)
UNF
Cadmium Plated
N•m (lbf•in)
0.18 (1.6)
(3)
0.34 (3.0)
(3)
0.58 (5.1)
(3)
0.87 (7.7)
(3)
1.24 (11)
(3)
1.8 (16)
(3)
2.4 (21)
(3)
4.1 (36)
(3)
6.4 (57)
(3)
11.5 (102)
19.3 (171)
40.3 (357)
57.6 (510)
(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 CHPS-UM001D-EN-P - July 2014
107
Appendix E Mounting Bolts and Torque Values
Table 18 - Recommended Seating Torque for Aluminum Rb 72 (2024-T
4
)
#6
#8
#10
1/4
5/16
3/8
7/16
1/2
#2
#3
#4
#5
Bolt Size
(1), (2)
#0
#1
Plain
N•m (lbf•in)
—
0.44 (3.8)
(3)
0.71 (6.3)
(3)
1.08 (9.6)
(3)
1.52 (13.5)
(3)
2.3 (20)
(3)
2.8 (25)
(3)
5.2 (46)
(3)
7.6 (67)
(3)
12.8 (113)
21.5 (190)
44.8 (397)
64.4 (570)
159.3 (1,410)
UNC
Cadmium Plated
N•m (lbf•in)
—
0.33 (2.9)
(3)
0.53 (4.7)
(3)
0.81 (7.2)
(3)
1.1 (10)
(3)
1.7 (15)
(3)
2.1 (19)
(3)
3.8 (34)
(3)
5.6 (50)
(3)
9.6 (85)
16.1 (143)
33.6 (298)
48.0 (425)
119.8 (1,060)
Plain
N•m (lbf•in)
0.24 (2.1)
(3)
0.46 (4.1)
(3)
0.77 (6.8)
(3)
1.16 (10.3)
(3)
1.67 (14.8)
(3)
2.37 (21)
(3)
3.2 (28)
(3)
3.2 (48)
(3)
8. 6 (76)
(3)
12.8 (113)
21.5 (190)
44.8 (397)
64.4 (570)
159.3 (1,410)
UNF
Cadmium Plated
N•m (lbf•in)
0.18 (1.6)
(3)
0.34 3.0v
0.58 (5.1)
(3)
0.87 (7.7)
(3)
1.24 (11)
(3)
1.8 (16)
(3)
2.37 (21)
(3)
4.1 (36)
(3)
6.4 (57)
(3)
9.6 (85)
16.1 (143)
33.7 (298)
48.0 (425)
119.8 (1,060)
(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.
108
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Index
A
accessibility
accessories
feedback interconnect cable
power interconnect cable
accuracy specifications
ambient temperature
defined
analog differential encoder
ANSI/NFPA 79 - electrical for industrial machines
ANSI/RIA R15.06 - industrial robot, multiple teaching
B
bearing
lubrication ports
bearing lubrication
bearing rail
bolt through
C
cable carrier module
about
installation
lifetime
replacement
center-stacked stage
clamps
cleaning
cover
strip seal
clearance
coil resistance
commutation
commutation sensor specifications
component description
bearing
lubrication ports
bearing rail
cable carrier module
cover
index mark
limit blade
optical encoder readhead
optical encoder scale
side cover
side cover support
slide
strip seal
strip seal clamp
strip seal guide
components
connector pinout
d-type
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Kinetix feedback
power
connectors
feedback
power
flying lead termination
counter clock frequency
cover
cleaning
installation
removal
torque
D
dimensions
150 mm
,
200 mm
,
250 mm
,
direction
drip loop
dust
E
edge separation
EMI
encoder
analog differential
maintenance
TTL differential
encoder scale
maintenance
optical encoder scale
example
fastener calculation
stopping distance calculation
Ultraware custom motor file
extension cables
F
fastener
quanity calculation
square nut
tee nut
through bolt
toe clamp
feedback interconnect cable
flatness specifications
flying lead termination
force constant
109
Index
110
G
ground
screw
torque
strap
grounding
H
Hall effect circuit
Hall effect module
Hall phasing
heat
high-frequency energy
humidity
humidity range
I
incline payload
index mark
installation clearance requirements
K
Kinetix
connector
interconnect cables
Ultra3000 drive set-up
L
lighting
limit blade
limit sensor
setting
signals wires
specification
wiring
lubrication
M
maintenance
bearing lubrication
cable carrier installation
cable carrier module removal
cover installation
removal
torque
optical encoder scale
replacement kits
side cover installation
removal
torque
strip seal
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014 installation
removal
maitenance
metric bolts
torque
motor file
creating
motor phasing
mounting
before mounting
bolt through
ceiling
incline
inverted
square nut
square nuts
surface
surface restrictions
tee nut
through bolt
toe clamp
vertical
wall
O
operating temperature
operational guidelines
optical encoder readhead
sin/cos encoder
TTL encoder
options
orientation
overtravel
P
packaging material
storage
packing
air transportion restrictions
unpacking
pitch
polarity
encoder counting
positive direction
power interconnect cables
procdeure
cover cleaning
lubrication
procedure
connecting stage
drip loop
EMI bonding
grounding
number of fasteners
stage storage
store packing material
strip seal cleaning
PTC thermal signal
Index
PTC thermistor
resistance values
R
readhead
reference documents
standards
CSA/CAN Z434 - industrial robot safety
repeatability specifications
requirements
restrictions
roll
clearance
mounting
S
safety
bolts
cover
end caps
hazardous voltage
heat
impacts
junction box
labels
pinch points
sharp edges
strong magnets
sudden motion
seal guide
shearing bolts
shipping
brace
clamp
container storage
dangerous goods declaration
form 902 instructions
shock
side cover
installation
removal
torque
side cover support
sin/cos encoder
slide
specifications
commutation sensor
flatness
humidity range
limit sensor
repeatability
shock and vibration
storage and operating temperature
straightness
technical
travel vs. weight
150 mm frame
200 mm frame
250 mm frame
square nut
,
spacing
stacking of stages
stage
cover
side cover
slide
storage
standards
EN60204-1 safety of electrical machines
static load, rotational movement definitions
stoping distance
storage
storage temperature
straightness specifications
strip seal
about
clamps
cleaning
guide
installation
T
temperature
temperature max.
thermal protection
through bolt
toe clamp
,
spacing
torque
cover
ground screw
side cover
values for different metals
total moving mass
trapezoidal Hall mode
travel vs. weight specifications
150 mm frame
200 mm frame
250 mm frame
troubleshooting
Hall effect module
Hall to back EMF phasing
motor coil resistance measurements
PTC thermal signal
TTL differential encoder
TTL encoder
U
Ultra3000 drive
set-up
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
111
Index
Ultraware
.mbd file
commutation diagnostics utility
self-sensing commutation and start-up
start-up
verification
V
vertical payload
vibration
W
wiring
Hall effect
limit sensor
sin/cos encoder
TTL differential encoder
Ultra3000 drive
yaw
Y
112
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Notes:
Index
Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
113
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Rockwell Automation provides technical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support you can find technical and application notes, sample code, and links to software service packs. You can also visit our Support Center at https://rockwellautomation.custhelp.com/ for software updates, support chats and forums, technical information, FAQs, and to sign up for product notification updates.
In addition, we offer multiple support programs for installation, configuration, and troubleshooting. For more information, contact your local distributor or Rockwell Automation representative, or visit http://www.rockwellautomation.com/services/online-phone .
Installation Assistance
If you experience a problem within the first 24 hours of installation, review the information that is contained in this manual. You can contact Customer Support for initial help in getting your product up and running.
United States or Canada 1.440.646.3434
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, or contact your local
Rockwell Automation representative.
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Publication CHPS-UM001D-EN-P - July 2014
Supersedes Publication CHPS-UM001C-EN-P - November 2010 Copyright © 2014 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.
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Table of contents
- 1 CHPS-Series Linear Stage User Manual, publication CHPS-UM001-EN-P
- 3 Summary of Changes
- 3 New and Updated Information
- 5 Table of Contents
- 9 Preface
- 9 About This Publication
- 9 Who Should Use This Manual
- 9 Additional Resources
- 11 Chapter 1
- 11 Stage Safety
- 12 Safety Labels
- 13 Figure 1 - Warning Label Locations
- 13 Clearances
- 13 General Safety
- 13 Heat
- 13 Vertical or Incline Payload
- 13 End Cap Impacts
- 14 Air Freight Transportation
- 14 Standards
- 14 Motor Model Identification
- 15 Chapter 2
- 15 Understanding Your Stage
- 16 Identifying the Components of Your Stage
- 16 Figure 2 - Components of Your Linear Stage
- 17 Component Description
- 18 Recommended Maintenance Interval
- 18 Identifying Your Stage
- 21 Chapter 3
- 21 Planning the Stage Installation
- 21 Stage Mounting Requirements
- 21 General Safety Standards for Stage Installations
- 21 Mounting Restrictions
- 22 Environmental Factors
- 22 Mounting Surface Restrictions
- 23 Clearance Requirements
- 23 Figure 3 - Minimum Clearance Requirements
- 25 Chapter 4
- 25 Mounting the Stage
- 25 Unpacking, Handling, and Inspection
- 26 Unpacking Procedure
- 28 Store Packaging Material
- 28 Stage Storage
- 28 Mounting the Stage
- 28 Before You Begin the Mechanical Installation
- 28 Determine the Number of Fasteners Required
- 28 Figure 4 - Fasteners Required for Stages with 150 mm and 200 mm frame size (CHPS-x6xxxx- xLMxxx and CHPS-x8xxx-xLMxxx)
- 28 Figure 5 - Fasteners Required for Stages 250 mm frame size (CHPS-x9xxx-xLMxxx)
- 29 Determine the Type of Fastener to Use
- 29 Table 1 - Mounting Fastener Options
- 30 Figure 6 - Through Bolt Mounting
- 30 Figure 7 - Toe Clamps Mounting
- 31 Figure 8 - Tee Nut Mounting
- 31 Mounting the Stage
- 32 Mount Your Application
- 33 Chapter 5
- 33 Connector Data
- 34 Kinetix Servo Drive Compatible Connectors
- 35 D-Type Connectors
- 36 Flying Leads
- 37 Junction Box Connectors
- 38 Table 2 - Junction Box Power Connector
- 38 Table 3 - Junction Box J1 Connector
- 38 Limit Sensor Flying Leads
- 39 Chapter 6
- 39 Connecting the Stage
- 39 Connecting the Stage
- 40 Attaching the Ground Strap and Interface Cables
- 41 Figure 9 - Connecting Kinetix Type Motor and Feedback Cables
- 42 Thermal Protection
- 43 Optional Limit Sensors
- 43 Figure 10 - Limit Sensor Orientation
- 44 TTL Differential Encoder Output Signal
- 44 Figure 11 - TTL Differential Encoder Timing Diagram
- 44 Figure 12 - TTL Differential Encoder Termination
- 45 Sine/Cos Encoder Output Signals
- 45 Figure 13 - Sine/Cos Encoder Timing
- 45 Figure 14 - Sine/Cos Encoder Termination
- 46 Hall Effect Circuit
- 46 Motor and Hall Phasing and Sequence
- 47 Figure 15 - Motor Phasing Diagram
- 48 Stage Positive Direction
- 49 Chapter 7
- 49 Operation Guidelines and Limit Configuration
- 49 Introduction
- 49 Operational Guidelines
- 50 Travel Limits
- 50 Calculating the Stopping Distance
- 51 Drive Current Limitation
- 51 Overtravel Limit Sensor Position Adjustment
- 53 Bumper Stops
- 53 Table 4 - Bumper Stop Energy Limits for Stage End of Travel
- 55 Chapter 8
- 55 Troubleshooting
- 55 Before You Begin
- 55 PTC Thermal Signal
- 55 Table 5 - PTC Thermistor Signal Characteristics
- 55 Hall Effect Module
- 56 Figure 16 - Hall Signals Waveforms
- 57 Hall to Back EMF Phasing
- 58 Motor Coil Resistance Measurements
- 58 Figure 17 - Motor Phasing Schematic
- 59 Chapter 9
- 59 Maintenance
- 59 Before You Begin
- 60 Lubricate the Bearing
- 60 Optical Encoder Scale Maintenance
- 61 Strip Seal Cleaning
- 61 Cover Cleaning
- 63 Chapter 10
- 63 Removing and Replacing Stage Components
- 63 Before You Begin
- 63 Cable Carrier Module Removal
- 64 Figure 18 - Cable Carrier Module Replacement
- 64 Cable Carrier Module Installation
- 65 Strip Seal Removal
- 65 Figure 19 - Stage Seal Components .
- 65 Stage Cover Removal
- 65 Figure 20 - Cover Removal
- 65 Stage Side Cover Removal
- 66 Strip Seal Replacement
- 67 Stage Cover Installation
- 67 Side Cover Installation
- 69 Appendix A
- 69 Specifications and Dimensions
- 70 Static and Static Moment Loads
- 70 Table 6 - Static and Static Moment Loads on Linear Stages
- 70 Performance Specifications for 325V CHPS-Series Stage
- 71 Table 7 - Performance Specifications for 150 mm frame size CHPS-Series Linear Stages
- 71 Table 8 - Performance Specifications for 200 mm frame size CHPS-Series Linear Stages Performance Specifications for 250 mm frame size CHPS-Series Linear Stages
- 71 Performance Specifications for 325V or 650V CHPS-Series Stage
- 72 Table 9 - Performance Specifications for 200 mm frame size CHPS-Series Linear Stages
- 73 General Stage Specifications
- 73 Accuracy Specification for the CHPS-Series Stage
- 73 Commutation Sensor
- 73 Limit Sensor Specification
- 73 PTC Thermistor Specifications
- 74 Encoder Specifications
- 74 Maximum Velocity for Allen-Bradley Drives
- 74 Table 10 - Maximum Velocity for 150 mm frame size CHPS-Series Linear Stages with Allen-Bradley Drives
- 74 Table 11 - Maximum Velocity for 200 and 250 mm frame size CHPS-Series Linear Stages with Allen-Bradley Drives
- 75 Environmental Specifications for CHPS-Series Stages
- 75 CHPS-Series Stage Travel versus Weight Specifications
- 77 CHPS-Series Stage Dimensions
- 77 Figure 21 - CHPS-A6xxxA-xLMxxx
- 78 Figure 22 - CHPS-A6xxxB/C-xLMxxx
- 79 Figure 23 - CHPS-x8xxxA/D-xLMxxx
- 81 Figure 24 - CHPS-x9xxxG/J-xLMxxx
- 82 Figure 25 - CHPS-x9xxxH/I/K/L-xLMxxx
- 83 CHPS-Series Stage Technical Specifications
- 85 Appendix B
- 85 Accessories
- 85 Interconnect Cables
- 85 Power Cable Dimensions (catalog number 2090-XXNPMF-16Sxx)
- 86 Feedback Cable Dimensions (catalog number 2090-XXNFMF-Sxx)
- 87 Installation, Maintenance, and Replacement Kits
- 87 Accessories
- 89 Appendix C
- 89 Stacking Stages
- 89 Stage Stacking
- 89 Table 12 - Stacking Stages
- 90 Specifications for Stacked Stages
- 90 Table 13 - Centered Stack Combinations Not Requiring Derating
- 91 Appendix D
- 91 Start-up Guide for CHPS-Series Stage with Ultra3000 Drive and Ultraware Software
- 91 Using This Appendix
- 91 Wiring the CHPS-Series Stage to the Ultra3000 Drive
- 92 Linear Motor File Parameters
- 92 Creating a CHPS-Series Stage Motor File
- 93 Table 14 - Linear Motor Parameter File (.mdb extension)
- 94 Recommended Start-up Sequence
- 96 CHPS-Series Stage and Ultra3000 Drive Troubleshooting Reference
- 96 Positive Phasing Direction
- 96 Encoder Counting Polarity
- 97 Oscilloscope Verification
- 97 Figure 26 - Hall Oscilloscope Diagram
- 98 Oscilloscope Diagram for Ultra3000 Drive
- 99 Reference Information
- 99 Commutation Diagnostics Utility
- 100 Self-sensing Commutation and Startup
- 102 Main Screen Setup
- 103 Motor Screen
- 104 Faults Screen
- 105 Appendix E
- 105 Mounting Bolts and Torque Values
- 105 Table 15 - Recommended Seating Torque for Metric Bolts
- 106 Table 16 - Recommended Seating Torque for Mild Steel Rb 87 or Cast Iron Rb 83
- 107 Table 17 - Recommended Seating Torque for Brass Rb 72
- 108 Table 18 - Recommended Seating Torque for Aluminum Rb 72 (2024-T4)
- 109 Index
- 114 Back Cover