Rockwell-automation MPAS Integrated Linear Stages User Manual

MP-Series Integrated Linear StagesCatalog Numbers MPAS-A6xxx1-V05SxA, MPAS-A6xxx2-V20SxA, MPAS-A8xxx1-V05SxA, MPAS-A8xxx2-V20SxA, MPAS-A9xxx1-V05SxA,

10 Rockwell Automation Publication MP-UM001D-EN-P - September 2013PrefaceAdditional ResourcesThese documents contain additional information concerning

100 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix E Home to Torque-level ExampleFigure 35 - Ladder Code Example, cont

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 101Home to Torque-level Example Appendix EFigure 36 - Ladder Code Example, cont

102 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix E Home to Torque-level ExamplePotential for Position Error When exe

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 103Appendix FMounting Bolts and Torque Values This appendix provides typical torque va

104 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix F Mounting Bolts and Torque ValuesTable 19 - Recommended Seating Torque fo

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 105Mounting Bolts and Torque Values Appendix FTable 20 - Recommended Seating Torque fo

106 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix F Mounting Bolts and Torque ValuesTable 21 - Recommended Seating Torque fo

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 107IndexAaccessibility 25accessories 83cable carrier 84coupler 83grease cartridge 83gr

108 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Indexstage specific 84connector pinoutfeedback connector 40power connector 39dimens

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 109Indexmountingbefore mounting 92brake option 37EMI bonding 35fastener illustrations

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 11Chapter 1Safety Topic PageSafety Labels 12Clearances 13General Safety 13Heat 14V

110 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Indexstageconnectors 39cover installation 64cover removal 63rotary motor installati

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 111IndexNotes:

Publication MP-UM001D-EN-P - September 2013Supersedes Publication MP-UM001C-EN-P - November 2010 Copyright © 2013 Rockwell Automation, Inc. All rights

12 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 1 SafetySafety LabelsTo prevent injury and damage to the linear stage, revie

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 13Safety Chapter 1Figure 1 - Label Locations for Direct Drive Linear Stages Figure 2 -

14 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 1 SafetyHeat When the stage is running at its maximum rating, the temperatur

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 15Safety Chapter 1As a minimum, refer to the following IATA Dangerous Goods Regulation

16 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 1 SafetyNotes:

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 17Chapter 2Understanding Your Linear Stage Topic PageIdentifying Your Linear Stage 18I

18 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 2 Understanding Your Linear StageIdentifying Your Linear Stage Use the follo

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 19Understanding Your Linear Stage Chapter 2Identifying the Components of Your Linear S

Important User InformationRead this document and the documents listed in the additional resources section about installation, configuration, and opera

20 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 2 Understanding Your Linear StageFigure 4 - Components of the Ball Screw Lin

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 21Understanding Your Linear Stage Chapter 2Component Descriptions Item Name Notes1 Gro

22 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 2 Understanding Your Linear StageMaintenance Intervals This section lists ty

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 23Chapter 3Planning Your Installation Requirements to be met when mounting your linear

24 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 3 Planning Your InstallationUL Safety Standards for Linear Stage Installatio

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 25Planning Your Installation Chapter 3• Environmental Factors • Mounting Surface Restr

26 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 3 Planning Your InstallationMounting Orientations for Ball Screw Linear Stag

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 27Chapter 4Mounting and ConnectingUnpacking, Handling, and Inspection Inspect packagin

28 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 4 Mounting and ConnectingUnpacking ProcedureThe following tools are recommen

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 29Mounting and Connecting Chapter 4• For stages 1 meter (39.3 in.) or longer, use supp

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 3Summary of ChangesThis manual contains new and updated information. Changes throughou

30 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 4 Mounting and ConnectingStore Packaging Material Keep the carton and packin

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 31Mounting and Connecting Chapter 4For example, if you are mounting an MPAS-B8194F-ALM

32 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 4 Mounting and ConnectingFigure 8 - Through Bolt MountingAn uncovered linear

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 33Mounting and Connecting Chapter 4Figure 10 - Tee Nut Mounting Tee nuts are used to

34 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 4 Mounting and Connecting3. Lift the linear stage onto the prepared mounting

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 35Mounting and Connecting Chapter 4Attach the Ground Strap and Interface Cables A grou

36 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 4 Mounting and Connecting3. Form a drip loop in each cable at a point direct

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 37Mounting and Connecting Chapter 4c. Fully seat the feedback connector and the power/

38 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 4 Mounting and ConnectingMeeting UL Installation Standards for the Linear St

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 39Chapter 5Connector Data Linear Stage Power and Feedback ConnectionsThe following tab

4 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Summary of ChangesNotes:

40 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 5 Connector DataTable 4 - Feedback Connector for Direct Drive Linear Stage P

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 41Connector Data Chapter 5Table 5 - Feedback Connector for Ball Screw Linear Stage Pin

42 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 5 Connector DataPTC Thermal SignalTemperature °C (°F) Resistance in Ohm

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 43Chapter 6Configuration Guidelines Required Files Firmware revisions and software ver

44 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 6 Configuration GuidelinesThe type of Allen-Bradley drive connected to the l

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 45Configuration Guidelines Chapter 6Configuring the Logix Designer Application for Lin

46 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 6 Configuration GuidelinesMotor Feedback Feedback Type TTL with Hall Cycles

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 47Configuration Guidelines Chapter 6Ball Screw Drive Stages Set these parameters in th

48 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 6 Configuration GuidelinesTuning Linear Stages by Using the Logix Designer A

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 49Configuration Guidelines Chapter 62. Set the Brake Engage and the Brake Release dela

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 5Table of ContentsPrefaceAbout This Publication. . . . . . . . . . . . . . . . . . . .

50 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 6 Configuration Guidelines 5. On the Tune tab, click Start Tuning to access

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 51Configuration Guidelines Chapter 6 Calculate and Configure the Loop Gain You must ca

52 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 6 Configuration Guidelines3. Answer the remaining dialog boxes to apply the

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 53Configuration Guidelines Chapter 6Configuring Ultraware Software for Linear Stages w

54 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 6 Configuration GuidelinesTable 7 - Direct Drive Linear Stage Distance Unit

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 55Configuration Guidelines Chapter 6Setting Travel Limits MP-Series Integrated Linear

56 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 6 Configuration GuidelinesHome to Torque Programming for Kinetix Multi-axis

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 57Chapter 7MaintenanceBefore You BeginUse the following tools to lubricate and clean y

58 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 7 MaintenanceBearing Lubrication Lubricate the linear stage bearings as show

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 59Maintenance Chapter 77. Remove the clamp. 8. Reinstall the protective caps on all th

6 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Table of ContentsChapter 5Connector DataLinear Stage Power and Feedback Connections .

60 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 7 MaintenanceNotes:

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 61Chapter 8Removing and Replacing Components Before You BeginAssemble these tools b

62 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 8 Removing and Replacing ComponentsCable Carrier Assembly Removal Follow the

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 63Removing and Replacing Components Chapter 8Align the cable carrier by using the alig

64 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 8 Removing and Replacing ComponentsCover InstallationFollow these directions

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 65Removing and Replacing Components Chapter 89. Move the carriage by hand through the

66 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 8 Removing and Replacing ComponentsRotary Motor Replacement Follow these dir

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 67Removing and Replacing Components Chapter 810. Attach the power and feedback cables

68 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 8 Removing and Replacing ComponentsNotes:

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 69Chapter 9Troubleshooting This chapter is divided into three sections:• Use the diagn

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 7Table of ContentsAppendix BAccessories Installation, Maintenance, and Replacement Kit

70 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 9 TroubleshootingOperational Troubleshooting Use this section to diagnose an

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 71Troubleshooting Chapter 9Direct Drive Linear Stage Evaluation Procedure 1. Power dow

72 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 9 Troubleshooting5. If excessive resistance is felt, clean and relubricate t

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 73Troubleshooting Chapter 9Table 11 - Troubleshooting for Ball Screw Linear Stages Dri

74 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Chapter 9 TroubleshootingNotes:

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 75Appendix ADimensions Associated Kinetix publications listed in Additional Resources

76 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix A DimensionsFigure 16 - MP-Series Linear Stages (MPAS-A/B6xxx1/2-VxxSxA)7.6

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 77Dimensions Appendix AFigure 17 - MP-Series Linear Stages (MPAS-A/B8xxx1/2-VxxSxA)232

78 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix A DimensionsFigure 18 - MP-Series Linear Stages (MPAS-A/B9xxx1/2-VxxSxA)281

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 79Dimensions Appendix AFigure 19 - MP-Series Linear Stages (MPAS-A6xxxB-ALMx2C)(4X) M6

8 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Table of Contents

80 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix A DimensionsFigure 20 - MP-Series Linear Stages (MPAS-A/B8xxxx-ALMx2C)25.4(

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 81Dimensions Appendix AFigure 21 - MP-Series Linear Stages (MPAS-A/B9xxxx-ALMx2C)s25.4

82 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix A DimensionsNotes:

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 83Appendix BAccessories Installation, Maintenance, and Replacement Kits Accessories av

84 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix B AccessoriesSide Covers Replacement Kits MPAS-6xxx1-SIDE xxx = cm stroke:

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 85Appendix CStacking StagesThis appendix provides information about center-stacked sta

86 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix C Stacking StagesSpecifications for Stacked Stages Linear stage specificati

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 87Appendix DInterconnect Diagrams This appendix provides wiring examples to assist you

88 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix D Interconnect DiagramsMotor/Axis Module Wiring Examples Figure 23 - Wiring

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 89Interconnect Diagrams Appendix DFigure 24 - Wiring Examples for MP-Series Linear Sta

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 9PrefaceRead this preface to familiarize yourself with the rest of the manual. About T

90 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix D Interconnect DiagramsFigure 25 - Wiring Examples for MP-Series Linear Sta

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 91Appendix EHome to Torque-level ExampleUse this appendix to become familiar with the

92 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix E Home to Torque-level ExampleAbout Home to Torque-level HomingHome

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 93Home to Torque-level Example Appendix EFigure 27 - Position/Velocity Diagram

94 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix E Home to Torque-level ExampleDrive Bipolar Torque Limit AdjustmentW

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 95Home to Torque-level Example Appendix EDisable Soft Overtravel LimitIf the ap

96 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix E Home to Torque-level ExampleFigure 30 - Axis Properties - Homing T

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 97Home to Torque-level Example Appendix EFigure 32 - Ladder Code Example0123

98 Rockwell Automation Publication MP-UM001D-EN-P - September 2013Appendix E Home to Torque-level ExampleFigure 33 - Ladder Code Example, conti

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 99Home to Torque-level Example Appendix EFigure 34 - Ladder Code Example, conti