Beckhoff XPlanar Operating Instructions Manual

Operating Instructions | EN

XPlanar

Planar Motor System

1/19/2021 | Version 1.0

Table of contents

Version: 1.0 ───

3XPlanar

Table of contents

Documentation notes .......................................................................................................................................... 5

Disclaimer ......................................................................................................................................................... 5

Version numbers............................................................................................................................................... 7

Scope of the documentation ............................................................................................................................. 7

Staff qualification............................................................................................................................................... 8

Safety and instruction ..................................................................................................................................... 10

Explanation of symbols ................................................................................................................................... 10

Beckhoff Services ........................................................................................................................................... 12

For your safety................................................................................................................................................... 13

Safety pictograms ........................................................................................................................................... 13

General safety instructions ............................................................................................................................. 14

Product overview............................................................................................................................................... 16

Tiles ................................................................................................................................................................ 16

Mover .............................................................................................................................................................. 19

Components.................................................................................................................................................... 22

Product characteristics.................................................................................................................................... 26

Data Matrix code............................................................................................................................................. 27

Intended use ................................................................................................................................................... 28

Technical data.................................................................................................................................................... 29

Definition ......................................................................................................................................................... 29

Boundary conditions ....................................................................................................................................... 29

Data for operation and environment ............................................................................................................... 30

Tiles ................................................................................................................................................................ 31

Mover .............................................................................................................................................................. 31

XPlanar ........................................................................................................................................................... 32

Dimensional drawings..................................................................................................................................... 34

Scope of supply ................................................................................................................................................. 41

Packaging ....................................................................................................................................................... 41

Transport and storage....................................................................................................................................... 42

Conditions ....................................................................................................................................................... 42

Long-term storage........................................................................................................................................... 42

Mechanical Installation – Part 1: Tiles ............................................................................................................. 43

Preparation ..................................................................................................................................................... 43

Tile .................................................................................................................................................................. 44

Electrical installation......................................................................................................................................... 53

Cabling............................................................................................................................................................ 53

Connection technology ................................................................................................................................... 53

Laying ............................................................................................................................................................. 53

Example circuit................................................................................................................................................ 54

Installing cables .............................................................................................................................................. 56

Grounding the machine bed............................................................................................................................ 59

System test ..................................................................................................................................................... 61

Mechanical Installation – Part 2: Mover........................................................................................................... 62

Mover .............................................................................................................................................................. 62

Commissioning.................................................................................................................................................. 78

Before commissioning..................................................................................................................................... 78

During commissioning..................................................................................................................................... 78

Prerequisites during operation ........................................................................................................................ 79

After operation ................................................................................................................................................ 79

Table of contents

4

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Maintenance and cleaning ................................................................................................................................ 80

Cleaning materials .......................................................................................................................................... 80

Intervals .......................................................................................................................................................... 81

Accessories........................................................................................................................................................ 82

Fan.................................................................................................................................................................. 82

Cover plug M8................................................................................................................................................. 82

Cover plug M12............................................................................................................................................... 82

Connector for ZC2000-0000-00xx .................................................................................................................. 83

Torque wrench ................................................................................................................................................ 83

Decommissioning.............................................................................................................................................. 84

Disassembly.................................................................................................................................................... 84

Disposal .......................................................................................................................................................... 85

Index ................................................................................................................................................................... 86

Documentation notes

Version: 1.0 ───

5XPlanar

1.1

Disclaimer

Beckhoff products are subject to continuous further development.

We reserve the right to revise the operating instructions at any time

and without prior announcement. No claims for the modification of

products that have already been supplied may be made on the basis

of the data, diagrams and descriptions in these operating instruc-

tions.

1.1.1Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, EtherCAT G®, Ether-

CAT G10®, EtherCAT P®, Safety over EtherCAT®, TwinSAFE®,

XFC®, XTS® and XPlanar® are registered and licensed trademarks

of Beckhoff Automation GmbH.

The use of other brand names or designations by third parties may

lead to an infringement of the rights of the owners of the corre-

sponding designations.

1.1.2Patents

The EtherCAT technology is protected by patent rights through the

following registrations and patents with corresponding applications

and registrations in various other countries:

• EP1590927

• EP1789857

• EP1456722

• EP2137893

• DE102015105702

EtherCAT

®

is a registered trademark and patented technology, li-

censed by Beckhoff Automation GmbH.

Documentation notes

6

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1.1.3Limitation of liability

All components in this product as described in the operating instruc-

tions are delivered in a specific configuration of hardware and soft-

ware, depending on the application regulations. Modifications and

changes to the hardware or software configuration that go beyond

the documented options are prohibited and nullify the liability of

Beckhoff Automation GmbH & Co. KG.

The following is excluded from the liability:

• Failure to observe these operating instructions

• Improper use

• Use of untrained personnel

• Use of unauthorized spare parts

1.1.4Copyright

The copying, distribution and utilization of this document as well as

the communication of its contents to others without express autho-

rization is prohibited. Offenders will be held liable for the payment of

damages.

We reserve all rights in the event of registration of patents, utility

models and designs.

Documentation notes

Version: 1.0 ───

7XPlanar

1.2

Version numbers

Provision of revision levels

On request, you can obtain a list of revision levels for changes in

the operating instructions.

• Send requests to: [email protected]

Origin of the document

These operating instructions were originally written in German. All

other languages are derived from the German original.

Product features

Only the product properties specified in the current operating in-

structions are valid. Further information given on the product pages

of the Beckhoff homepage, in emails or in other publications is not

authoritative.

1.3

Scope of the documenta-

tion

Apart from these operating instructions, the following documents are

part of the overall documentation:

XPlanar Definition

Commissioning under Twin-

CAT3

Commissioning tutorial under

TwinCAT3 including user infor-

mation on the TCDriveManager

2 and a description of the safety

function STO, Safe Torque Off

over FSoE; Safety over Ether-

CAT

Documentation notes

8

─── Version: 1.0XPlanar

1.4

Staff qualification

1.4

These operating instructions are intended for trained control and au-

tomation specialists with knowledge of the applicable and required

standards and directives.

Specialists must have knowledge of drive technology and electrical

equipment as well as knowledge of safe working on electrical sys-

tems and machines. This includes knowledge of proper setup and

preparation of the workplace as well as securing the working envi-

ronment for other persons.

The operating instructions published at the respective time of each

installation and commissioning is to be used. The products must be

used in compliance with all safety requirements, including all appli-

cable laws, regulations, provisions and standards.

Instructed person

Instructed persons have a clearly defined task area and have been

informed about the work to be carried out. Instructed persons are fa-

miliar with:

• the necessary protective measures and protective devices

• the intended use and risks that can arise from use other than for

the intended purpose

Trained person

Trained persons meet the requirements for instructed persons.

Trained persons have additionally received training from the ma-

chine manufacturer or vendor:

• machine-specific or

• plant-specific

Trained specialists

Trained specialists have received specific technical training and

have specific technical knowledge and experience. Trained special-

ists can:

• apply relevant standards and directives

• assess tasks that they have been assigned

• recognize possible hazards

• prepare and set up workplaces

Documentation notes

Version: 1.0 ───

9XPlanar

Qualified electricians

Qualified electricians have comprehensive technical knowledge

gained from a course of study, an apprenticeship or technical train-

ing. They have an understanding of control technology and automa-

tion. They are familiar with relevant standards and directives. Quali-

fied electricians can:

• independently recognize, avoid and eliminate sources of danger

• implement specifications from the accident prevention regula-

tions

• assess the work environment

• independently optimize and carry out their work

Documentation notes

10

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1.5

Safety and instruction

Read the contents that refer to the activities you have to perform

with the product. Always read the chapter For your safety in the op-

erating instructions. Observe the warnings in the chapters so that

you can handle and work with the product as intended and safely.

1.6

Explanation of symbols

Various symbols are used for a clear arrangement:

► The triangle indicates instructions that you should execute

• The bullet point indicates an enumeration

[…] The square parentheses indicate cross-references to other

text passages in the document

[+] The plus sign in square brackets indicates ordering options

and accessories

1.6.1Pictograms

In order to make it easier for you to find text passages, pictograms

and signal words are used in warning notices:

DANGER

Failure to observe will result in serious or fatal injuries.

WARNING

Failure to observe may result in serious or fatal injuries.

CAUTION

Failure to observe may result in minor or moderate injuries.

Documentation notes

Version: 1.0 ───

11XPlanar

Notes

Notes are used for important information on the product. The possi-

ble consequences of failure to observe these include:

• Malfunctions of the product

• Damage to the product

• Damage to the environment

Information

This sign indicates information, tips and notes for dealing with the

product or the software.

Examples

This symbol shows examples of how to use the product or soft-

ware.

QR-Codes

This symbol shows a QR code, via which you can watch videos or

animations. Internet access is required in order to use it.

You can read the QR code, for example, with the camera of your

Smartphone or Tablet PC. If your camera doesn't support this func-

tion you can download a free QR code reader app for your Smart-

phone. Use the Appstore for Apple operating systems or the

Google Play Store for Android operating systems.

If you cannot read the QR code on paper, make sure that the light-

ing is adequate and reduce the distance between the reading de-

vice and the paper. In the case of documentation on a monitor

screen, use the zoom function to enlarge the QR code and reduce

the distance.

Documentation notes

12

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1.7

Beckhoff Services

Beckhoff and the worldwide partner companies offer comprehensive

support and service.

1.7.1Support

The Beckhoff Support offers technical advice on the use of individ-

ual Beckhoff products and system planning. The employees support

you in the programming and commissioning of complex automation

systems.

Hotline: +49(0)5246/963-157

Fax: +49(0)5246/963-199

E-mail: [email protected]

Web: www.beckhoff.de/support

1.7.2Training

Training in Germany takes place in our training center at the Beck-

hoff headquarters in Verl, at branch offices or, by arrangement, at

the customer's premises.

Hotline: +49(0)5246/963-5000

Fax: +49(0)5246/963-95000

E-mail: [email protected]

Web: www.beckhoff.de/training

1.7.3Service

The Beckhoff Service Center supports you with after-sales services

such as on-site service, repair service or spare parts service.

Hotline: +49(0)5246/963-460

Fax: +49(0)5246/963-479

E-mail: [email protected]

Web: www.beckhoff.de/service

1.7.4Download area

In the download area you can obtain product information, software

updates, the TwinCAT automation software, documentation and

much more.

Web: www.beckhoff.de/download

1.7.5Headquarters

Beckhoff Automation GmbH & Co. KG

Hülshorstweg 20

33415 Verl

Germany

Phone: +49(0)5246/963-0

Fax: +49(0)5246/963-198

E-mail: [email protected]

Web: www.beckhoff.de

The addresses of the international Beckhoff branch offices can be

found on the Beckhoff website: http://www.beckhoff.de

For your safety

Version: 1.0 ───

13XPlanar

Read the general safety instructions in this chapter. Observe the

warnings in these operating instructions for your own safety, the

safety of others and the safety of the product.

When working with control and automation products, many dangers

can result from careless or incorrect use. Work particularly thor-

oughly, not under time pressure and responsibly towards other peo-

ple.

2.1

Safety pictograms

On Beckhoff products you will find attached or lasered safety pic-

tograms, which vary depending on the product. They serve to pro-

tect people and to prevent damage to the products. Safety pic-

tograms must not be removed and must be legible for the user.

Danger from magnetic fields

Magnetic fields at the individual XPlanar components can be dan-

gerous for people with cardiac pacemakers or magnetically conduc-

tive implants and defibrillators, for example. Data carriers or other

electronic devices in the vicinity may also be affected or destroyed.

Warning of hand injuries

The strong magnetic field of the movers can cause hand injuries if

you grip and transport the mover incorrectly. For transport outside

the system always use the transport securing device provided.

Magnetic fields warning

A mover contains strong permanent magnets. These magnets al-

ways generate a strong magnetic field, even in de-energized state.

Avoid direct contact between movers and ferromagnetic objects.

Such as assembly trolleys, tools or machine beds.

General risk warning

Improper handling of movers may result in injury. Observe the safety

instructions for handling the XPlanar unit, the safety pictograms and

these operating instructions.

For your safety

14

─── Version: 1.0XPlanar

2.2

General safety instructions

This chapter provides you with instructions on safety when handling

the product. This product is not capable of stand-alone operation

and is therefore categorized as an incomplete machine. The product

must be installed in a machine or plant by the machine manufac-

turer. Read the documentation prepared by the machine manufac-

turer.

2.2.1Before operation

Danger from magnetic fields

Magnetic fields on individual components of the XPlanar unit pose a

risk to:

• people fitted with cardiac pacemakers

• persons with magnetically conducting implants

• implanted and external defibrillators

• magnetic data storage devices, chip cards with magnetic strips

and other electronic devices

Maintain a safety distance to all magnetic parts and prevent direct

contact between magnetic parts and parts that are sensitive to inter-

ference.

Observe the requirements of BGV B 11 for electromagnetic fields

(Germany) and applicable national regulations in other countries.

Follow the Mover handling instructions

The risks due to magnetic fields referred to above particularly relate

to handling of the movers. The movers can be attracted uncontrol-

lably by contact with magnetic objects. Read the chapter on "Me-

chanical installation", [Page43] before handling the movers.

Keep the immediate environment clean

Keep your workplace and the surrounding area clean. Ensure safe

working.

Shut down and secure the machine or plant

Shut down the machine or plant. Secure the machine or plant

against being inadvertently started up.

Do not use damaged components

Adhere to the specifications from the technical data for storage,

transport and operation. Do not use damaged components.

Check safety pictograms

Check whether the designated pictograms are on the product. Re-

place missing or illegible stickers.

Observe tightening torques

Mount and repeatedly check connections and components, comply-

ing with the prescribed tightening torques.

Correctly ground electrical components or modules

Avoid electric shocks due to improper grounding of electrical compo-

nents or modules. Ground all conductive components according to

the specifications in the chapters "Electrical Installation" and "Me-

chanical Installation".

For your safety

Version: 1.0 ───

15XPlanar

Only use original packaging for further processing

When shipping, transporting, storing and packing, use the original

packaging or conductive materials.

2.2.2During operation

Observe the GND concept

During the installation, follow the common guidelines for grounding

electrical components. For grounding please refer to the chapter on

"Grounding the machine bed", [Page59].

Do not work on live electrical parts

Ensure proper connection of the protective conductor. Never loosen

electrical connections when live. Do not work on the XPlanar unit

until the voltage has dropped below 10 V. Disconnect all compo-

nents from the mains and secure them against being switched on

again.

Do not touch hot surfaces

Check the cooling of the surfaces with a thermometer. Do not touch

the components during and immediately after operation. Allow the

components to cool sufficiently after switching off.

Avoid overheating

Operate the components according to the technical specifications.

Please refer to chapter: "Technical data". Provide for sufficient cool-

ing. Switch the components off immediately if the temperature is too

high.

Do not touch any moving or rotating components

Do not touch any moving or rotating parts during operation. Fasten

all parts or components on the machine or plant.

2.2.3After operation

De-energize and switch off components before working on

them

Check the functionality of all safety-relevant devices. Secure the

working environment. Secure the machine or plant against being in-

advertently started up. See chapter: "Decommissioning"

Product overview

16

─── Version: 1.0XPlanar

3.1

Tiles

3.1

11

1

4

2

5

6

7

12

9

10

3

8

Number Explanation

1 Stator

2 Thread for mounting on the machine bed, see "Fixing points", [Page44]

3 Elongated hole for positioning with locating pins

4 Status LEDs

5 X103, fan

6 X102 OUT with status LED, EtherCAT G

7 Hole for positioning with locating pins

8 X101 IN with status LED, EtherCAT G

9 X100, power supply 24V/ 100-240V

10 Name plate

11 Basic profile

12 Cover

Product overview

Version: 1.0 ───

17XPlanar

3.1.1Name plate

3.1.1

X100

ECAT Run

ECAT Error

Aux Ok

DC Link Ok

X103X102 OUTX101 IN

7

9

8

1

4

10

11

12

13

14

15

16

17

18

19

5

6

2 3

Number Explanation

1 CE conformity

2 XML drive revision number

3 Date of manufacture - week/year

4 Product designation

5 Firmware and hardware revision

6 XML feedback revision number

7 Data Matrix code with BTN

8 Status LED DC Link OK

9 Status LED Aux OK

10 Protective earth

11 Protective earth connection

12 Status LED ECAT Error

13 Status LED ECAT Run

14 X103 fan connection output

15 X102 OUT EtherCAT connection 2 output

16 Status LED X102 OUT EtherCAT connection 2 output

17 X101 IN EtherCAT connection 1 input

18 Status LED X101 IN EtherCAT connection 1 input

19 X100 power connection input

Product overview

18

─── Version: 1.0XPlanar

3.1.2Type key

APS4322-0000 Explanation

A Product area

A = Drive Technology

P Series

P = Planar motor technology

S Product type

S = Stator

4 System

4=40mm system size

3 Coil length, as a multiple of the system size

3=3xsystem base

2 Number of quadrants in y-direction

2=2quadrants in y-direction

2 Number of quadrants in x-direction

2=2quadrants in x-direction

0000 Execution

0000=Standard

3.1.3LED status display

3.1.3

X100

ECAT Run

ECAT Error

Aux Ok

DC Link Ok

X103X102 OUTX101 IN

2

1

3

4

5

6

Number Status LED Status Meaning

1 DC Link OK Lights up blue Power supply established

2 Aux OK Lights up green Control voltage established

3 ECAT Run Lights up green EtherCatG data connection established

off in ConFig mode in TwinCAT

Error in EtherCatG data connection

4 ECAT Error Lights up red Error in EtherCatG data connection

5 X102 OUT Flashing green Data cable plugged into X102OUT

6 X101 IN Flashing green Data cable plugged into X101IN

Product overview

Version: 1.0 ───

19XPlanar

3.2

Mover

3.2

APM4220-0000

1

3

4

2

Number Explanation

1 Base body with magnetic section

2 Locating hole for mounting tools, 2x

3 Thread for mounting tools, 4x

4 Bumper

For further information on the threads and holes for mounting tools,

please refer to the chapters on "Dimensional drawings", [Page34]

and "Fixing points", [Page68].

Product overview

20

─── Version: 1.0XPlanar

APM4330-0000

andAPM4550-0000

1

6

5

2

3

4

Number Explanation

1 Base body with magnetic section

2 Thread for mounting tools, 4x

3 Locating hole for mounting tools, 2x

4 Thread for mounting tools, 4x

5 Thread for mounting tools, 1x

6 Bumper

For further information on the threads and holes for mounting tools,

please refer to the chapters on "Dimensional drawings", [Page34]

and "Fixing points", [Page68].

3.2.1Name plate

3.2.1

1

2

Number Explanation

1 Product designation

2 Data Matrix code with BTN

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Beckhoff XPlanar Operating Instructions Manual

Beckhoff XPlanar Operating Instructions Manual

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