PXY88. Reference & Maintenance Manual. PXY88 Series Linear Positioning Stages (PLG110, PLG160, PLG210) S E R I E S

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1 PXY88 Series Linear Psitining Stages PXY88 S E R I E S Reference & Maintenance Manual (PLG110, PLG160, PLG210) Linear Psitining Rtary Psitining Mtin Cntrls Engineered Slutins

32114 Mallard Ave. PO Bx 409 Tangent, OR 97389-0409 U.S.A. Phne: [541] 791-9678 Fax: [541] 791-9410 Tll Free: [888] 754-3111 Web: www.primatics.cm E-mail: inf@primatics.

2 32114 Mallard Ave. PO Bx 409 Tangent, OR U.S.A. Phne: [541] Fax: [541] Tll Free: [888] Web: PXY88 Manual Revisin Infrmatin Publicatin Date Jan 2002 March 2003 April 2005 Ntes Changed recmmended grease frm Lithium #2 t NSK Clean rm grease Updated lk & frmatting Ntice: The descriptins, drawings, and specificatins cntained herein are subject t change. Primatics is nt respnsible fr errrs r missins herein r fr incidental damages in cnnectin with the furnishing r use f this infrmatin. This dcument shall nt be reprduced, phtcpied, r duplicated, in whle r in part, withut prir written apprval f Primatics Crpratin. Fr Specificatins, Dimensined Drawings and additinal infrmatin, refer t the PXY88 Datasheet available frm ur website at Cpyright 2007 by Primatics, Inc; All Rights Reserved. Primatics, the Primatics lg, PrimaFlex, PrimaSeal & SimpleMatch are trademarks f Primatics, Inc.

3 Manual Revisin Infrmatin ) Overview ) Intrductin Abut the PXY ) Mdel Cnfiguratin ) Persnal Safety ) Cnventins ) Directin f Mtin ) Units f Measure...7 6) Installatin Preparatins ) Heat and Humidity ) Cntaminatin ) Electrical Nise...9 7) Installing the PXY88 Psitining Stage ) Tls yu will need ) Unpacking ) Munting surface preparatin ) Munting the PXY ) Electrical Cnnectins ) N Mtr Optin ) Step Mtr Optin ) Limit Optins: ) Limit Switch Adjustment ) Recmmended System Test ) Preventive Maintenance ) Lubricatin ) Trubleshting & Service ) Trubleshting Help ) Service

4 1) Overview This user guide is designed t help yu install and maintain yur PXY88 Series linear psitining stage applicatin. Fllw these steps t ensure crrect stage installatin and maximum stage life: Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Review this entire user manual. Becme familiar with all installatin prcedures prir t integrating yur system. Review the safety summary t develp an understanding f standard safety practices when installing and perating autmated equipment. Familiarize yurself with the cnventins summary. Review installatin prcedures. Fr best results, fllw these prcedures carefully. Once yu successfully cmplete all the installatin prcedures, yu will be ready t install and perate yur stage. Review preventive maintenance sectin fr prper lubricatin schedule. 3

5 2) Intrductin Abut the PXY88 The PXY88 psitining stage is a mnlithic, 2 axis mechanism designed fr precisin mvement. It incrprates precisin crss rller bearings fr stiffness, smthness and high lad capacity and is driven with a preladed 2mm lead precisin grund ballscrew selected specifically fr accuracy, repeatability, thrust, speed and life. The preladed ballscrew nut prvides high accuracy and repeatability. Many custmers chse the Primatics Mtin Drive Chassis (MDC) t pwer PXY88 stages. The MDC is a mdular system that packages mtr drivers, encder interfaces, pwer supplies and safety systems int a single chassis. It acts as an intermediary between a Galil Optima, Natinal Instruments 7344 r Delta Tau PMAC II mtin cntrl cards and a Primatics psitining stage. Pre-wired high-flex cables are available t allw a cnvenient cnnectin frm the stage t the MDC chassis. The MDC drive chassis interfaces 3 rd party cntrllers via a remvable intercnnect mdule. These intercnnect mdules cnfrm t each manufacturers intercnnect cable, and internally rute all the cmmand and I/O signals. Optinally, a Primatics psitining stage can be used with many third party cntrller and amplifier systems. In this case, a pigtailed cable is available t simplify the cnnectin between the PXY88 stage and cntrls. 4

6 3) Mdel Cnfiguratin 5

7 4) Persnal Safety Please review befre installing yur psitining stage Observe cmmn industrial safety practices when installing and perating autmated equipment. Have pwer cnnectins made by qualified persnnel. Keep fingers and ther items ut f any pening in the stage while it is in peratin since injury r damage may result. Prvide a safe access rute and adequate rm fr servicing. Perfrm the recmmended peridic maintenance described in this dcument. Verify that the wrk envelpe is free f bstructins befre the psitining stage is pwered. Insure that yu have the feedback wired prperly t the cntrller befre applying pwer t the psitining stage. Imprper feedback cnnectins can cause a mtr run-away cnditin that has the ptential t damage the stage and injure an peratr. Only trained peratrs f the psitining stage shuld be allwed near the wrk envirnment. If s equipped, identify emergency stp circuits and actuatrs in the wrkcell. Nte the places in the wrkcell where pinch pints ccur, and prvide adequate safety clearance r safety curtain. Never perate the mtr in a lcatin that culd be splashed by water, expsed t crrsive r flammable gases r is near cmbustible substances since this may cause an electric shck, fire r malfunctin. Never tuch the mtr, driver, r peripheral devices when the pwer is n r immediately after the pwer is turned ff. The high temperature f these parts may cause burns. 6

8 5) Cnventins 5.1) Directin f Mtin The psitive directin f mtin is defined as a mtin away frm the mtr end f a stage. If an ptinal encder is present, a psitive directin f mtin als signifies the encder cunt is increasing. All cables and cnnectrs are lcated at the mtr end f the stage. The reverse limit switch is lcated n the mtr end and the frward limit switch is lcated n the ppsite end f the stage. Figure 5-1 illustrates this cnventin. 5.2) Units f Measure Figure 5-1: Psitive directin cnventin Primatics uses the metric system fr all specificatins and dimensins. All linear dimensins are specified in millimeters. Accuracy, repeatability, reslutin, flatness and straightness fr the PXY is specified in micrns. Lad capacity is specified in kilgrams and mment capacity is given in Newtn-meters. All trque specificatins are given in Newtn-meters. Thrust specificatins are given in Newtns. The fllwing table gives sme cmmn cnversins int English units: Metric Unit English Unit 1 Kilgram equals slug* 1 micrn equals inch 1 millimeter equals inch 1 Newtn-meter equals 8.85 in-lbs 1 Newtn equals lbs *1 Kg has a weight f lb when g = 9.8 m / s 2 7

9 6) Installatin Preparatins This sectin utlines installatin envirnments. Unfavrable installatin cnditins may cause electric shck, fire, r breakdwn. Certain breakdwn situatins r malfunctins in particular may lead t serius injury r ther cnsequences. Assure that the unit is used under the fllwing installatin cnditins: Indrs, free frm being splashed by water N crrsive r inflammable gases present Well ventilated place, minimum level f dust r waste An envirnmental temperature range between 0-40 C, and humidity between 20-80% RH (lcatin with n cndensatin) Nte - These values shw the range in which peratin can be carried ut safely, but nt the envirnmental range in which stages accuracy can be guaranteed. Stage accuracy can be guaranteed at 20 C +/- 1 C. Lcatin shuld nt be affected by electrical nise. Lcatin shuld be where inspectin and cleaning can be perfrmed withut difficulty. 6.1) Heat and Humidity All psitining stages are assembled and tested at 20 C. Any stage calibratins are als perfrmed at 20 C. Fr ptimum accuracy the ambient temperature shuld be maintained at 20 C. Deviatins frm this nminal temperature may result in degraded accuracy perfrmance. Ballscrew driven stages are als susceptible t thermal expansin effects. The ballscrew nut can create a lcalized thermal gradient if driven at high speeds. Airflw thrugh the stage can help minimize ballnut heating. 6.2) Cntaminatin Applicatins in dirty r dusty envirnments require the electrical, ptical and mechanical cmpnents t be prtected. The PXY88 series is intended fr clean envirnments free frm small particulates and fluids. Airflw thrugh a stage must be filtered and dry. The filtratin system shuld reject particles larger than 2 micrns. Air pressures between psi are sufficient fr cnvectin cling. A typical air surce can be made suitable with the additin f an inline desiccant dryer and filter/regulatr assembly. Humidity shuld be less than 85% and there shuld be n cndensatin in the envirnment the stage is used in. 8

10 6.3) Electrical Nise Electrical nise is the crruptin f signals carried ver lw vltage wires. Encder signals can be crrupted resulting in spurius encder cunts thus causing the stage t drift. Grunding, shielding, and spatial separatin are all cuntermeasures t reduce the influences f electrical nise n perfrmance. Yu can minimize the ptential fr electrical nise by bserving the fllwing installatin precautins: Physically separate lw vltage cnductrs frm thse carrying high vltage. Ensure that all cmpnents are prperly grunded. Ensure that all wiring is prperly shielded. 7) Installing the PXY88 Psitining Stage 7.1) Tls yu will need The PXY88 linear psitining stage uses M5x18mm (minimum) scket head cap screws in the base plate munting as well as the carriage plate. 7.2) Unpacking Carefully remve the stage frm its shipping crate and inspect it fr evidence f shipping damage. Reprt any damage immediately t yur authrized dealer. Imprper handling f the stage may degrade its perfrmance. Fllw these guidelines when handling and munting yur stage. 1) D nt drp the stage nt its munting surface. Place the stage gently n the munting surface. Impact lads can cause high spts n munting surfaces, misalignment f drive cmpnents and warping f the base. 2) D nt drill hles int the stage. If additinal hles are necessary, cntact yur lcal distributr. 3) Lift the stage by its base structure nly. D nt lift by the mtr drive assembly. 4) Stage disassembly and alteratin, unless specified therwise, may vid warranty. 7.3) Munting surface preparatin The characteristics f the surface the psitining stage is munted t will have a large effect n system perfrmance. An accurate and flat psitining stage will cnfrm t the shape f its munting surface, therefre a flat munting surface is required. In the absence f a sufficiently flat surface, a three pint munting scheme can be utilized t rely n the inherent flatness f the stage. This technique can intrduce negative dynamic effects in mment lad applicatins because a large prtin f the stage base is nt in cntact with the munting surface. The flatness and straightness specificatins can be affected under large lads. Fr best results in maintaining stage specificatins we suggest the fllwing: 9

1) Use a labratry Grade AA granite surface plate 2) Befre munting stage, inspect fr burrs r dings n the stage munting surfaces 3) Clean all munting surfaces with acetne In the absence f a granite

11 1) Use a labratry Grade AA granite surface plate 2) Befre munting stage, inspect fr burrs r dings n the stage munting surfaces 3) Clean all munting surfaces with acetne In the absence f a granite surface plate, we recmmend a base plate made f the same material as the base f the stage. A munting surface cnstructed ut f a material different frm the stage base material can intrduce warping in the stage in the presence f a thermal gradient. The surface flatness shuld match the requirements f the applicatin; a gd starting pint is t have the munting surface flat t less than 5-8μm. 7.4) Munting the PXY88 The PXY88 has fur munting hles that can be accessed by mving the X-Axis t its frward and reverse limits. Figure 7-1 shws the lcatin f these munting hles. Figure 7-1: Munting Hle Lcatins 7.5) Electrical Cnnectins Electrical cnnectins t the stages are dependent n the type f mtr ptin in use. Three mtr ptins are available: N mtr, Step Mtr, Step Mtr with encder. The electrical cnnectins are different fr each ptin Ensure that the pwer cables fr the X (bttm) and Y (tp) axes are prperly ruted t minimize stress n the cables and secured s that the cables d nt get pinched by the cycling axes. Varius extensin and pigtail cables are available fr each ptin. Cntact the factry fr mre infrmatin. 10

12 7.5.1) N Mtr Optin When a mtr is nt supplied with the PXY88 stage, a single 9 psitin DSub cnnectr is munted near the mtr munting surface n each axis. This cnnectr is described in Table 7-1 belw. Table 7-1 N Mtr Optin - Signals Cnnectr (Limits, Hme) DSub 9 psitin with pins. Pin Functin 1 Limit V+ (5 t 24VDC) 2 DCCOM (Pwer Supply & Signal Cmmn) 3 Frward Limit Sensr (N.C. t DCCOM) (Open circuit upn frward limit vilatin) 4 Reverse Limit Sensr (N.C. t DCCOM) (Open circuit upn reverse limit vilatin) 5 Hme (Reserved, N.C.) 6 Nt Used 7 Nt Used 8 Nt Used 9 Nt Used 11

13 7.5.2) Step Mtr Optin When step mtrs are supplied with the PXY88 stage, each axis is terminated with 750mm length f flexible cable with a 19 psitin circular cnnectr. Table 7-2 f this cnnectr is belw. Table 7-2: Step Mtr Optin - Signals Cnnectr Circular Cnnectr, Size 16, 19 psitin, panel munt, with pins Pin Functin A Mtr A+ B Nt Used C Mtr A- D Mtr B- E Limit V+ (5 t 24VDC) F DCCOM G Frward Limit Sensr (N.C. t DCCOM) (Open circuit upn frward limit vilatin) H Reverse Limit Sensr (N.C. t DCCOM) (Open circuit upn reverse limit vilatin) J Nt Used K Nt Used L Nt Used M Signal Cable Shield P Nt Used R Mtr Shield S Hme (Reserved, N.C.) T Temp Sensr (Nt Used, Cnnected t DCCOM) U Nt Used V Nt Used 12

14 7.5.3) Step Mtr with Encder Optin When step mtrs with encders are supplied with the PXY88 stage, each axis is terminated with 750mm length f flexible cable with a 28 psitin circular cnnectr. Table 7-3 f this cnnectr is belw. Table 7-3: Step Mtr with Encder Optin - Signals Cnnectr Circular Cnnectr, Size 20, 28 psitin, panel munt, with pins Pin Functin A Mtr A+ B Mtr B+ C Mtr B- D <Key> E Encder 5V F Encder A+ G Encder A- H Encder B+ J Encder B- K Encder Shield L Limit Sensr Pwer (5 t 24VDC) M DCCOM N Hme (Reserved, N.C.) P Nt Used R Nt Used S Signal Shield T Mtr A- U Nt Used V Encder Cmmn W Encder Index + X Encder Index - Y Frward Limit Sensr (N.C. t DCCOM) (Open circuit upn frward limit vilatin) Z Reverse Limit Sensr (N.C. t DCCOM) (Open circuit upn reverse limit vilatin) a Mtr Shield b Nt Used c Nt Used d Temp Sensr (Nt Used, Cnnected t DCCOM) e Nt Used 13

15 7.6) Limit Optins: The Limit switches are rdered in either the Nrmally Clsed (L1) r Nrmally Open (L2) cnfiguratin L1: When the carriage is in the nrmal perating range f travel, bth limit switches are clsed. When the carriage encunters a limit the switch pens. The switch will clse again when the carriage is mved away frm the switch. L2: When the carriage is in the nrmal perating range f travel, bth limit switches are pen. When the carriage encunters a limit the switch clses. The switch will pen again when the carriage is mved away frm the switch. 7.7) Limit Switch Adjustment The limit switches have been preset at the factry and cannt be adjusted. 7.8) Recmmended System Test Befre attaching a lad r applying pwer t yur stage, verify the encder (if available) and limit switches are wrking prperly. Mve the stage carriage by hand in the psitive directin and verify the encder cunt is increasing. Runaway cnditins caused by miswired encders can result in stage damage and persnal injury. Mve the carriage t each end f travel t ensure limit switches are wrking prperly. When clsing the psitin lp fr the first time, set the trque limit f yur cntrller t a lw value, and use cnservative tuning gains. Once the cntrl lp is wrking prperly, paylads can be added t the stage carriage. 8) Preventive Maintenance Perfrming preventive maintenance prcedures n yur stage will extend its life and imprve its lng-term perfrmance. 8.1) Lubricatin Use clean rm grease t lubricate the ballscrew and linear guide cmpnents. We recmmend NSK grease part #GRS LG2. Fr lw duty cycle applicatins, it is recmmended that the ballscrew and linear guides are re-greased every six mnths. High duty cycle applicatins may require mre frequent re-lubricatin. Lubricatin intervals depend n duty cycle, lad and ambient cnditins. Inspectin f the drivetrain elements may be required t determine the prper lubricatin interval. Primatics ffers a grease kit that has all the necessary hardware t re-lubricate the ballscrew and linear bearings. After pwer has been discnnected frm bth axes f the stage, a light film f grease can be smeared alng the length f the ballscrew. A light film can be applied the linear bearings when the stage is at ne extreme end f travel. Cycle the stage back and frth t distribute the grease and wipe ff any excess. 14

9) Trubleshting & Service 9.1) Trubleshting Help Fr further assistance cntact the factry: M-F 8AM t 5PM Pacific Time Phne: [541] 791-9678 Fax: [541] 791-9410 Tll Free: [888] 754-3111 Web: www.

16 9) Trubleshting & Service 9.1) Trubleshting Help Fr further assistance cntact the factry: M-F 8AM t 5PM Pacific Time Phne: [541] Fax: [541] Tll Free: [888] Web: service@primatics.cm 9.2) Service Shuld yur device require factry service, cntact the factry fr a Return Materials Authrizatin (RMA). When inquiring abut an RMA please have the fllwing infrmatin available: Yur cntact infrmatin (name, phne, , address) Unit Serial Number (see Figure 9-1) Symptm f prblem Histry f trubleshting steps already taken Figure 9-1: Unit Serial Number Lcatin 15

MODELS. 2 & 4 Versions. SUITABLE FOR WET LOCATIONS in the following locations or unclassified locations:

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