Rockwell Automation Allen-Bradley LDAT-S10 Series User manual

Brand: Rockwell Automation

Model: Allen-Bradley LDAT-S10 Series

Type: User manual

This manual is also suitable for

LDAT-Series Integrated Linear Thruster

Catalog Numbers

LDAT Frame 30 LDAT Frame 50 LDAT Frame 75 LDAT Frame 100 LDAT Frame 150

LDAT-S03xxxx-DB

LDAT-S03xxxx-DBS

LDAT-S03xxxx-EB

LDAT-S03xxxx-EBS

LDAT-S03xxxx-DD

LDAT-S03xxxx-DDS

LDAT-S03xxxx-ED

LDAT-S03xxxx-EDS

LDAT-S05xxxx-DB

LDAT-S05xxxx-DBS

LDAT-S05xxxx-EB

LDAT-S05xxxx-EBS

LDAT-S05xxxx-DD

LDAT-S05xxxx-DDS

LDAT-S05xxxx-ED

LDAT-S05xxxx-EDS

LDAT-S07xxxx-DB

LDAT-S07xxxx-DBS

LDAT-S07xxxx-EB

LDAT-S07xxxx-EBS

LDAT-S07xxxx-DD

LDAT-S07xxxx-DDS

LDAT-S07xxxx-ED

LDAT-S07xxxx-EDS

LDAT-S10xxxx-DB

LDAT-S10xxxx-DBS

LDAT-S10xxxx-EB

LDAT-S10xxxx-EBS

LDAT-S10xxxx-DD

LDAT-S10xxxx-DDS

LDAT-S10xxxx-ED

LDAT-S10xxxx-EDS

LDAT-S15xxxx-DB

LDAT-S15

xxxx-DBS

LDAT-S15xxxx-EB

LDAT-S15xxxx-EBS

LDAT-S15xxxx-DD

LDAT-S15xxxx-DDS

LDAT-S15xxxx-ED

LDAT-S15xxxx-EDS

User Manual

Original Instructions

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.

Labels may also be on or inside the equipment to provide specific precautions.

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.

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).

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 3

Table of Contents

Preface

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Chapter 1

Before You Begin Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

High Energy Magnets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

When You Unpack and Handle the Linear Thruster . . . . . . . . . . . . . 11

Air Freight Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Vertical or Incline Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Additional Concerns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Linear Thruster Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Catalog Number Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Replacement Parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Chapter 2

Installation Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Planning Your Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Prolonging Linear Thruster Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Preventing Electrical Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Remove the Linear Thruster from the Shipping Container. . . . . . . . 22

Install the Linear Thruster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Install Counterbalance Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Install with Clevis Mount Accessory . . . . . . . . . . . . . . . . . . . . . . . . 26

Install with Foot Mount Accessory. . . . . . . . . . . . . . . . . . . . . . . . . . 27

Direct Mount the Linear Thruster . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Build and Route Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Attach Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Change Connector Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Chapter 3

Connector Data Feedback Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Table of Contents

Chapter 4

Commission Required Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Configure Your Linear Thruster. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Positive Motion Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Configure and Commission Your SERCOS Servo

Drive with Logix Designer Application . . . . . . . . . . . . 35

Configure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Hookup Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Fine-Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Configure Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Preventing Undetected and Repetitive High Energy Impacts . . 38

Prevent Reduced Dynamic Control Performance. . . . . . . . . . . . . 39

Configure Your Kinetix 6500 or Kinetix 5500 Drive

with Logix Designer Application . . . . . . . . . . . . . . . . . . 39

Configure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Hookup Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Fine-Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Configure Your Kinetix 300 Drive with MotionView Software . . . 41

Configure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Hook up Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Tune with Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Tune with Incremental Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Fine-Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Configure Your Ultra3000 or Kinetix 3 Drive with

Ultraware Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Configure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Hookup Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Setting Travel Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Slider Moving Mass. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 5

Table of Contents

Chapter 5

Maintenance Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Recommended Maintenance Interval . . . . . . . . . . . . . . . . . . . . . . . 51

Bearing Cleaning and Lubrication . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Strip Cover Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Install Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Replace the Bearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Replace the Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Replace the Encoder Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Remove Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Install the Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Check Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Hookup Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Remove Encoder Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Install Encoder Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Chapter 6

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Appendix A

Interconnect Diagrams Wiring Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Grounding Techniques for Feedback Cable Shield . . . . . . . . . . . . . . . 71

Index

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

6 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Table of Contents

Notes:

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 7

Preface

About This Publication

This manual provides detailed installation instructions to mount, wire, and

troubleshoot your LDAT-Series Integrated Linear Thruster, and system

integration for your drive/motor combination with a Logix controller.

Who Should Use This Manual

This manual is intended for engineers and technicians who install and wire

linear thrusters. It is also intended for programmers who are directly involved

in operation, field maintenance, and integration of the linear thruster. If you do

not have a basic understanding of the linear thruster, contact your local

Rockwell Automation sales representative for information on available courses.

8 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Preface

Additional Resources

These documents contain more information about related products from

Rockwell Automation.

You can view or download publications at

http://www.rockwellautomation.com/global/literature-library/overview.page

To order paper copies of technical documentation, contact your local

Allen-Bradley distributor or Rockwell Automation sales representative.

Resource Description

Kinetix® Linear Motion Specifications, publication GMC-TD002 Specifications, motor/servo-drive system combinations, and accessories for

Kinetix Motion Control products.

Kinetix 3 Component Servo Drives, publication 2071-UM001 How to install, configure, and troubleshoot a servo-drive system.

Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001

Kinetix 2000 Multi-axis Servo Drives User Manual, publication 2093-UM001

Kinetix 5500 Servo Drives User Manual, publication 2198-UM001

Kinetix 6000 Multi-axis Servo Drives User Manual, publication 2094-UM001

Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual,

publication 2094-UM002

Ultra™ 3000 Digital Servo Drives Installation Manual, publication 2098-IN003

Ultra™ 3000 Digital Servo Drives Integration Manual, publication 2098-IN005

Motion Analyzer software, download at http://ab.rockwellautomation.com/motion-control/

motion-analyzer-software

Drive and motor size determination with application analysis software.

SERCOS and Analog Motion Configuration User Manual, publication MOTION-UM001 Information on how to configure and troubleshoot your ControlLogix® and

CompactLogix™ SERCOS interface modules, and for using the home to torque-

level sequence.

System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

Information, examples, and techniques that are designed to minimize system

failures from electrical noise.

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines on how to install a Rockwell Automation industrial

system.

Product Certifications website, http://www.rockwellautomation.com/global/certification/

overview.page

Provides declarations of conformity, certificates, and other certification details.

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 9

Chapter 1

Before You Begin

Safety Considerations

This section describes the safety issues that are encountered while using a linear

thruster and the precautions you can take to minimize risk. Before you begin,

locate potential hazards by reviewing the labels shown in Figure 1

Topic Page

Safety Considerations 9

Labels 10

High Energy Magnets 11

When You Unpack and Handle the Linear Thruster 11

Air Freight Restrictions 12

Vertical or Incline Installation 13

Additional Concerns 13

10 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Chapter 1 Before You Begin

Labels

Review the safety labels and their locations before using the actuator to prevent

personal injury and damage to the linear thruster.

Figure 1 - Labels on Linear Thruster

WARNING

Hazardous voltage

inside.

Disconnect power

before opening.

CAUTION

Sudden machine motion can cause

injury.

Stand clear when machine is in motion.

Pitch point.

Keep clear during operation.

CAUTION

Sudden machine motion can cause

injury.

Stand clear when machine is in motion.

Pitch point.

Keep clear during operation.

WARNING

High magnetic field exerts strong

forces.

Pacemaker and ICD wearers maintain

minimum of 300 mm distance.

Tools, metal objects and surfaces can be

attracted and cut, pinch or entrap hands

and fingers.

WARNING

Hazardous voltage

inside.

Disconnect power

before opening.

CAUTION

Loosen set screw to just below flush

to free slider motion prior to operation.

When slider is free, unexpected

motion and weight shift may occur

during handling.

Tighten set screw to 2.3 N·m (20 lb·in)

to prevent movement during

installation and maintenance.

Product Nameplate

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 11

Before You Begin Chapter 1

High Energy Magnets

Linear thruster magnet tracks contain high energy magnets that attract ferrous

metals from a considerable distance. Precautions must be taken while you

unpack, handle, and ship by air.

When You Unpack and

Handle the Linear Thruster

Leave protective wrapper, cardboard, and flux containment plates in place until

linear thruster is installed. Clear the inspection and work area of any ferrous

metals that can be attracted to or attract the linear thruster. If you are working

multiple linear thrusters, maintain a distance of 1.5 m (5 ft) between each

linear thruster.

Table 1 - Safety Labels

Title

Location

Label Details

Strong Magnets A The Linear Thruster slide uses strong magnets over its entire length. The

magnetic field that is generated can disrupt the functionality of automatic

implantable cardioverter defibrillators (AICD). People with cardiac

pacemakers must not work near the linear thruster.

The strong magnets of the linear thruster slider can attract metal objects

that are in its proximity. When you handle and install the linear thruster

maintain distance between the linear thruster slider and metal surfaces or

structures. See Remove the Linear Thruster from the Shipping Container on

page 22

Maintenance personnel must avoid the use of metallic tools and secure

items such as badge clips other personnel effect that can be attracted to the

strong magnetic field.

Strong magnets can erase magnetic media. Never let credit cards or

electronic media contact or come near the linear thruster.

Pitch Point/ Motion Hazard B The linear thruster can have sudden and fast motion. Never stand in the axis

of motion when under power. Do not put fingers inside the slider. Lock out -

tag out if access to the linear thruster is required during maintenance while

the connectors are installed.

Hot Surface C Indicates that the surface can be hot enough to burn if touched.

High Voltage D Do not open linear thruster covers or right angle connectors while the cables

are connected. Lock out-tag out if access to the linear thruster is required

during maintenance while the connectors are installed.

Shipping/handling Set Screw E If you handle the linear thruster for maintenance or installation the set screw

must be tightened to 2.3 N•m (20 lb•in). The tightened screw prevents

unexpected movement of the slide and a shift in the center of gravity of the

actuator.

After installation, loosen the set screw so that the slider is free to move for

normal operation. The set screw is loose when the head of the screw is flush

with the surface of the stator housing.

WARNING

High magnetic field exerts strong

forces.

Pacemaker and ICD wearers maintain

minimum of 300 mm distance.

Tools, metal objects and surfaces can be

attracted and cut, pinch or entrap hands

and fingers.

CAUTION

Sudden machine motion can cause

injury.

Stand clear when machine is in motion.

Pitch point.

Keep clear during operation.

CAUTION

Hot surface.

Do not touch.

WARNING

Hazardous voltage

inside.

Disconnect power

before opening.

CAUTION

Loosen set screw to just below flush

to free slider motion prior to operation.

When slider is free, unexpected

motion and weight shift may occur

during handling.

Tighten set screw to 2.3 N·m (20 lb·in)

to prevent movement during

installation and maintenance.

12 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Chapter 1 Before You Begin

Air Freight Restrictions

When air freight is used for a linear motor, 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 more area or carrier restrictions can be imposed.

Always check with your carrier or logistics specialist regarding current local,

regional, and national transportation requirements when shipping this

product.

Linear thruster magnet tracks 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 general regulations to mark and label containers

to meet requirements, the application of specific 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.

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 13

Before You Begin Chapter 1

Vertical or Incline

Installation

A linear thruster driven system that is mounted vertically or on an incline

cannot maintain position when the power is removed. The force of gravity on

the motion platform and its payload causes slider to fall to the low end of travel.

Design engineers must design in controlled power down circuits or mechanical

controls to prevent the linear thruster driven system and their payload from

being damaged when the power fails.

Additional Concerns

Read and follow the following statements

IMPORTANT Any person that teaches, operates, maintains, or repairs these linear

thrusters must be trained and demonstrate the competence to perform the

assigned task safely.

ATTENTION: Linear thrusters can have high accelerations, sudden, and fast

motion. Rockwell Automation is not responsible for misuse, or improper

implementation of this equipment.

ATTENTION: Linear thrusters driven systems must have their payload

secured such that it cannot sheer off in the event of an impact in excess of

the bumper ratings.

ATTENTION: The Hall effect module and motor feedback encoder contain

electrostatic discharge (ESD) sensitive devises. Follow static-control

precautions when you install, test, service, or repair these assemblies. If you

do not follow ESD control precautions, components can be damaged. If you

are not familiar with static control precautions, refer to Guarding Against

Electrostatic Damage, publication 8000-4.5.2, or any other applicable ESD

awareness handbook.

14 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Chapter 1 Before You Begin

Linear Thruster Features

The linear thruster features a high-resolution encoder and has been designed

for exact positioning at high speeds. The linear motor extends or retracts the

slider within the stator body in response to signals received from the servo

drive.

Figure 2 - Linear Thruster Features

15 (X6)

Top View of

LDAT-Series Integrated Linear Thruster

(LDAT-S73010xx is shown)

7 (X2)

13 (x4 sets)

Bottom View of

LDAT-Series Integrated Linear Thruster

(LDAT-S73010xx is shown)

11 (x4)

14 (x4 sets)

Table 2 - Linear Thruster Features

Item Description Item Description

1 Power connector 9 Slider

2 Feedback connector 10 Clevis accessory threaded mounting holes

3 Encoder access panel 11 Side surface threaded direct-mount holes

4 Encoder alignment access 12 Shipping and handling set screw

5 Magnetic Encoder scale 13 Accessory feet bottom-mount threaded holes

6 Payload mount surface 14 Accessory feet side -mount threaded holes

7 Grease access (not applicable on frame 30) 15 Bottom surface threaded direct-mount holes

8Stator body

ATTENTION: Magnetized tools can cause damage if they come too close to

surface magnetic encoder scale tape.

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 15

Before You Begin Chapter 1

Catalog Number Explanation

The following is the catalog explanation for the LDAT-Series integrated linear

thruster.

Figure 3 - Catalog Number Explanation

See Accessories on page 16 for accessory catalog numbers.

Lubrication

Blank = Standard

Bearing Seal

Blank = Standard

Bearing Protection

Blank = No Cover

S = Strip Cover

Encoder Type

B = Incremental, magnetic scale, 5-μm resolution

D = Absolute, magnetic scale, hiperface

(1)

Winding

D = High Speed

E = Low Speed

Travel

010 = 100 mm (3.94 in.) 060 = 600 mm (23.62 in.)

020 = 200 mm (7.87 in.) 070 = 700 mm (27.56 in.)

030 = 300 mm (11.81 in.) 080 = 800 mm (31.50 in.)

040 = 400 mm (15.75 in.) 090 = 900 mm (35.43 in.)

050 = 500 mm (19.68 in.)

Motor Coil Length

1 = 100 mm (3.94 in.) 4 = 400 mm (15.75 in.)

2 = 200 mm (7.87 in.) 6 = 600 mm (23.62 in.)

3 = 300 mm (11.81 in.)

Frame Size

03 = 030 10 = 100

05 = 05 15 = 150

07 = 075

Version

S = Base Version

Bulletin Number

LDAT = LDAT-Series Integrated Linear Thruster

(1) Magnetic strip has 1 mm pole pitch. Final resolution when used with a Kinetix 300 servo drive is 0.488 μm. Absolute encoder is only compatible with Kinetix 300 single-axis drives.

LDAT - x xx x xxx -xx x x x

16 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Chapter 1 Before You Begin

Accessories

This diagram depicts the accessories available for the linear thrusters. Tables list the catalog

number and weight for each accessory. See the Kinetix Linear Motion Technical Data,

publication GMC-TD002, for dimensions.

Figure 4 - Accessories Diagram

Linear Thruster

LDAT-S07xxxx

and Accessories

Spring

(1)

(1) Size and purchase spring according to your application needs. Guidance that is provided in Kinetix Linear Motion Technical Data, publication GMC-TD002.

Table 3 - Mounting Accessories

Accessory Item Frame Cat. No. Weight, approx g (oz)

1 Foot Mount 30 LDAT-SMID-FTMOUNT 30 (1.06)

100 LDAT-SLARGE-FTMOUNT 40 (1.41)

150

2 Clevis, Male 30 LDAT-S03-CLVSM 100 (3.53)

50 LDAT-S0507-CLVSM 150 (5.29)

100 LDAT-S1015-CLVSM 370 (13.05)

150

3 Clevis, Female 30 LDAT-S03-CLVSF 75 (2.65)

50 LDAT-S0507-CLVSF 100 (3.53)

100 LDAT-S1015-CLVSF 250 (8.82)

150

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 17

Before You Begin Chapter 1

Table 4 - Slider-end Accessories

Accessory Item Frame Cat. No. Weight, approx g (oz)

4 Rod Clevis Kit 30 LDAT-S03-RODCLVS 190 (6.70)

50 LDAT-S0507-RODCLVS 320 (11.29)

100 LDAT-S1015-RODCLVS 770 (27.16)

150

5 Rod Eye Kit 30 LDAT-S03-RODEYE 150 (5.29)

50 LDAT-S0507-RODEYE 260 (9.17)

100 LDAT-S1015-RODEYE 590 (20.81)

150

6 Rod Coupler Kit 30 LDAT-S03-RODCPLR 290 (10.05)

50 LDAT-S0507-RODCPLR 370 (13.05)

100 LDAT-S1015-RODCPLR 1030 (36.33)

150

7 Horizontal Payload

Mounting Bracket

30 LDAT-S03-HPBRKT 260 (9.17)

50 LDAT-S0507-HPBRKT 430 (15.17)

100 LDAT-S10-HPBRKT 910 (32.10)

150 LDAT-S15-HPBRKT 1300 (54.86)

8 Counterbalance Kit 30 LDAT-S03-CBRKT 380 (13.4)

50 LDAT-S0507-CBRKT 600 (21.2)

100 LDAT-S10-CBRKT 950 (33.5)

150 LDAT-S15-CBRKT 1160 (40.9)

18 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Chapter 1 Before You Begin

Replacement Parts

The following is the catalog explanation for the LDAT-Series linear thruster

bearing and strip cover replacement parts.

Figure 5 - Bearing and Strip Cover Replacement Parts

Bearing or Strip Cover Identifier

BRG = Bearing

STCVR = Strip Cover

Travel

010 = 100 mm (3.94 in.) 060 = 600 mm (23.62 in.)

020 = 200 mm (7.87 in.) 070 = 700 mm (27.56 in.)

030 = 300 mm (11.81 in.) 080 = 800 mm (31.50 in.)

040 = 400 mm (15.75 in.) 090 = 900 mm (35.43 in.)

050 = 500 mm (19.68 in.)

Motor Coil Length

1 = 100 mm (3.94 in.) 4 = 400 mm (15.75 in.)

2 = 200 mm (7.87 in.) 6 = 600 mm (23.62 in.)

3 = 300 mm (11.81 in.)

Frame Size

03 = 030 10 = 100

05 = 050 15 = 150

07 = 075

Version

S = Base Version

Bulletin Number

LDAT = LDAT-Series Integrated Linear Thruster

LDAT - S xx x xxx - xxx

Table 5 - Encoder Replacement Components

Cat. No. Description

LDAT-TTL-ENC TTL Incremental Encoder

LDAT-TTL-SCALE Encoder scale tape, 170 cm (67 in.)

Table 6 - Lubrication Accessories

Cat. No. Description

MPAS-GPUMP Grease pump kit

MPAS-CART Grease cartridge

Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016 19

Chapter 2

Installation

Before You Begin

Do not remove the corrugated cardboard sleeve or foam inserts until the linear

thruster is installed, by keeping the packaging material on the linear thruster

you minimize the possibility of a tip hazard. If necessary, for accessory

installation, cut the cardboard sleeve to gain access to the slider ends.

Figure 6 - Tip Hazard from Strong Magnetic Forces

Topic Page

Before You Begin 19

Planning Your Installation 20

Remove the Linear Thruster from the Shipping Container 22

Install the Linear Thruster 23

Preventing Electrical Noise 21

Install the Linear Thruster 23

ATTENTION: To avoid personal injury and structural damage to the linear

thruster, never attempt to lift or move the linear thruster by any means other

than methods shown in this publication.

ATTENTION: High force magnets are inside the corrugated cardboard

sleeves that cover the sliders. The corrugated sleeves reduce, but do not

eliminate magnetic attraction forces.

Ferrous Surface

Slider has strong

magnetic forces.

Sliders is shown without

cardboard sleeve for

demonstration purposes.

Pinch Point

Hazard

20 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016

Chapter 2 Installation

We recommended the use of an overhead lift for removing the linear thruster

from its shipping container. For linear thrusters of frame 50 and larger use the

eye bolts supplied.

Planning Your Installation

See the Kinetix Linear Motion Specifications GMC-TD002, for the

specifications and the products that are referenced in this section.

When planning your installation consider the following.

• In your application design, include unobstructed access to the linear

thrusters shipping and handling setscrew.

• Observed maximum loading limits to operate this product in

compliance with the relevant safety regulations.

• If you are mounting your linear thruster in a vertical or sloped position,

include safety measures that control the work load if the power fails.

• Corrosive environments reduce the service life of linear thrusters.

• Factory-manufactured feedback and power cables are available in

standard cable lengths. They provide environmental seal and shield

termination. Contact your Allen-Bradley® sales office or refer to the

Kinetix Motion Accessories Specifications, publication KNX-TD004

for more information.

General safety standards and requirements include, but are not limited to, the

following:

• UL 1740 Safety of Robots and Robotic Equipment

• 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

ATTENTION: Be sure that the load ratings of the lifting device, slings, hooks,

and shackles have a lifting capacity rated equal to or greater than the load.

Failure to do so can result in personal injury and equipment damage. For

your system-specific weight, refer to the system nameplate label or weights

on the packing slip.

ATTENTION: Uncontrolled masses in motion can injure or damage to

property. If there is a power failure, the working mass drops down in vertical

or incline applications.

Check whether extra external safety measures are required to prevent

damage in the event of a power failure.

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