Linear Stepper Motors

Transcription

1 Linear Stepper Motors 2. FORCER 4. UMBILICAL CABLE WITH POWER AND AIR HOSE (FOR AIR BEARINGS). 4. UMBILICAL CABLE WITH POWER AND AIR HOSE (FOR AIR BEARINGS). 1. PLATEN 3. MECHANICAL OR AIR BEARINGS TO GUIDE AND SUPPORT FORCER. 2. FORCER 1. PLATEN The open loop linear stepper motor provides the most economical linear motor positioning solution. There are two types of linear stepper motors, a single-axis linear stepper motor that can be stacked to provide multiple axes and the compact dual-axis linear stepper motor that provides travel along two axes in a single plane. Linear stepper motors incorporate the motor, positioning system and bearings into two components, a moving forcer and a stationary platen. 1. PLATEN The platen on the single-axis linear stepper motor is a photo-chemically etched teeth on a steel bar or tube (for unsupported spans) filled with epoxy that is ground and hard-chrome plated. The platen of a dual-axis linear stepper motor is a waffle or checkerboard arrangement of teeth etched onto a steel plate in a grid pattern. The magnetic-attractive force between the forcer and platen provides a preload for the bearing system. The integral bearing system maintains the required air gap. 2. FORCER 3. AIR BEARINGS TO GUIDE AND SUPPORT FORCER. The single-axis linear stepper motor s moving primary (forcer) is made of multiple laminated steel cores precisely slotted with teeth and permanent magnets. The coils are inserted into the laminated core assemblies, which are encapsulated in an aluminum housing. The dual-axis linear stepper motor s moving primary (forcer) is made of four single-axis assemblies. Two of the forcer assemblies are mounted in series to provide thrust along the X-axis and the other two are mounted orthogonal to the first two assemblies to provide thrust along the Y-axis. A hard-anodized aluminum housing encapsulates the lamination assemblies and the motor s surface is lapped to provide a flat air-bearing surface. Multiple forcers that move independently are available on single-axis and dual-axis linear stepper motors. 3. MECHANICAL OR AIR BEARINGS TO GUIDE AND SUPPORT FORCER The single-axis stepper is available with mechanical or air bearings. The dual-axis stepper is available only with air bearings. 117

2 4. UMBILICAL CABLE WITH POWER AND AIR HOSE (FOR AIR BEARINGS) Customer must supply power and filtered air for air bearings. 5. CLOSING THE STEPPER POSITION LOOP Stepper motors can lose position or steps at high stepping rates. A position verification sensor (PVS) can be used to close the position loop. While the motors actually run open loop the position sensing devices are used for position verification and stall detection. The PVS confirms the move matches the number of steps commanded. Baldor s PVS provides a positioning resolution of inches. This signal can be used to move the forcer to the desired position, hold the forcer in a commanded stop position, re-home the motor or shut the motor control system down. 6. LINEAR STEPPER MOTOR OPERATION Linear stepper motors divide linear distances into discrete incremental moves called steps. The size of each step is determined by the spacing of the steel teeth in the platen and how the coils are energized. Baldor 2-phase motors travel inches (0.254mm) in a single full step yielding 100 steps per inch. Baldor 4-phase motors travel inches (0.127mm) in a step. When the coils are energized in a predetermined pattern the forcer will walk its way down the platen. Reversing the pattern will reverse the direction of travel. The frequency at which the microsteps are generated determine the velocity of the forcer. Linear stepper motors produce their maximum force at zero speed. As speed increases the ability to switch winding current decreases due to motor inductance. This results in lower forces at higher speeds. 118

3 Single-Axis Stepper For open loop systems No servo tuning 1g [9.8 m/s 2 ] acceleration maximum Force to 50 Lbs. [222.4N] High repeatability in[30.5µm] Resolution = Full Step Number of Microsteps 2-phase full step in [0.25mm] 4-phase full step in [0.13mm] Multiple forcers with overlapping trajectories on a single platen Roller bearings on 0600 and 1300 series. High stiffness air bearings on 2000 and 2500 series Ceiling or wall mounted Air gap <0.001 in [25µm] Lowest cost positioning stage Required power supply: Microstepping driver The 2 or 4-phase single-axis linear stepper motor consists of a moving forcer and a stationary platen. The forcer is made of two laminated steel cores precisely slotted with teeth and a single permanent magnet. The coil is inserted into the laminated assembly. Leads are provided at the beginnings and ends of the coils. Two interconnected assemblies result in a 2-phase motor. Four interconnected assemblies result in a 4-phase motor. The laminated assembly is encapsulated in an aluminum housing. The forcer is available in different sizes, depending on the application s force requirements. The platen is a photo-chemically etched teeth on a steel bar filled with epoxy, ground and hardchrome plated. Standard mounting holes are provided on forcer and platen. The platen is available in lengths over 100 in [2.54m]. The magnetic-attractive force between the forcer and platen is used as a preload for the bearing system. The platen to forcer air gap is maintained by the integral bearing system. The customer must bring power to the forcer with an umbilical cable. 119

4 Single-Axis Linear Stepper Motor Technical Data CATALOG NO. ** Units LMSS0602-2WW0 LMSS0604-2WW0 LMSS1302-2WW0 LMSS AW0 LMSS2002-2AW0 No. of phases Static Force Lbs [N] 2.0 [8.9] 4.0 [17.8] 5.0 [22.2] 10 [44.5] 8.0 [35.6] Resistance/Coil ohms Inductance/Coil mh Amps/Phase amps Weight Lbs [kg] 0.4 [0.18] 0.6 [0.3] 0.7 [0.35] 0.9 [0.42] 0.8 [0.36] Bearing Type Wheel Wheel Wheel AIR *** AIR *** Air Bearing Rqmts CFM [L/min] N/A N/A N/A 2.5 [70.8] 3.5 [99.1] Attractive Force Lbs [N] 16 [71] 32 [142] 40 [178] 72 [320] 90 [400] CATALOG NO. ** Units LMSS2004-2AW0 LMSS2504-2WW0 LMSS2508-2WW0 Number of Phases Static Force Lbs [N] 20.0 [89.0] 25.0 [111.2] 50.0 [222.4] Resistance/Coil ohms Inductance/Coil mh Amps/Phase amps Weight Lbs [kg] 1.2 [0.54] 1.1 [0.50] 2.4 [1.1] Bearing Type AIR *** AIR *** AIR *** Air Bearing Rqmts CFM [L/min] 3.5 [99.1] 3.5 [99.1] 3.5 [99.1] Attractive Force Lbs [N] 144 [640] 180 [800] 360 [1,600] ** Four phase is available with the same force ratings and physical size *** Air bearing units use a side ball bearing for lateral guidance as standard. Side air bearings are optional and requires using a tube platen. Repeatability= in (10µm). Resolution= in (2.5µm), Cyclic error= ± in (±5µm) *dependent on drive electronics and system implementation Ball Bearing Airgap= in (38µm), Air Bearing Airgap= in (20µm), Air Pressure= psi with a 3 micron filter. All specifications are for reference only. Single-Axis Stepper Forcer Catalog Number Identification/Option Specifying Information L M S S LINEAR MOTOR Single-axis Stepper CODE FOR STACK WIDTH 06, 13, 20, 25 NO. OF STACKS NUMBER OF PHASES 2 or 4 SURFACE BEARINGS A=Air W=Wheel SIDE GUIDANCE BEARINGS A=Air W=Wheel TERMINATION 0=10ft Flying Leads

5 LMSS Series Linear Stepper Motor Forcer Dimensions Inches [mm] 121

6 LTSS Series Stepper Motor Platen Dimensions Inches [mm] Platen will be cut to length per customer specification. Bottom mounting holes pattern is as shown. A T B Weight Mass Series Catalog Number In [mm] In [mm] In [mm] (lbs/in) kg/m) 0600 Bar LTSS06WB-XXX 1.21 [30.7].35 [8.9] 0.9s6 [24.4] Bar LTSS13XB-XXX 1.96 [49.8].468 [11.9] 0.96 [24.4] Bar LTSS20XB-XXX 1.96 [49.8].468 [11.9] 0.96 [24.4] Tube LTSS20XT-XXX 1.96 [49.8].468 [24.4] 0.96 [24.4] Bar LTSS25XB-XXX 3.0 [76.2] 0.96 [24.4] 2.0 [50.8] Tube LTSS25XT-XXX 3.0 [76.2] 0.96 [24.4] 2.0 [50.8] LTSS Series Stepper Motor Platens Catalog Identification/Option Specifying Information L T S S - LINEAR MOTOR Single-axis Stepper CODE FOR STACK WIDTH 06 = 0600 Series Forcers 13 = 1300 Series Forcers 20 = 2000 Series Forcers 25 = 2500 Series Forcers TYPE OF PLATEN LENGTH (In Inches) 1 Per Customer Spec T = Tube Platen (2000 and 2500 Series only) B = Bar Platen (All Series) TYPE OF FORCER A = Air Bearing Forcers W = Wheel Bearing Forcers 1 Length rounded up to nearest whole inch. Platen with length greater than 58.0 inches will only be available in modular form. 122

7 2-Phase Forcer PIN Assignment View facing male connector. 123

8 4-Phase Forcer PIN Assignment 124

9 Dual-Axis Stepper Two-axis motion in a single plane For open position loop systems No servo tuning Acceleration to 1g [9.8 m/s 2 ] High repeatability in [5.08µm] Flatness = in/ft. [12.7µm/300m] Multiple forcers with overlapping trajectories on a single platen Resolution = Full Step Number of microsteps 2-phase full step in [0.25mm] 4-phase full step in [0.13mm] High stiffness air bearings Air gap must be <0.001 in [25µm] Mount face up or inverted. Required power supply: Microstepping driver Lowest cost dual-axis positioning stage Platens up to 37 in x 52 in [940mm x 1,320mm] Dual-axis forcer bottom view The dual-axis linear stepper motor is designed for two-axis open loop positioning. It is a two axis stage with integrated motor bearings and positioning system. The moving primary 2 or 4-phase dual-axis linear stepper motor consists of a moving forcer and a stationary platen. The forcer is made of four single-axis coil assemblies. Two of the forcer assemblies are mounted in series to provide a thrust in the X direction and the other two are mounted orthogonal (at 90 deg.) to the first two assemblies to provide thrust in the Y direction. The forcer assemblies are encapsulated in a hard anodized aluminum housing. The motor s surface is lapped to provide a flat surface for the air bearing. The floating height of the air bearing is less than in [25 µm]. The forcer is available in eight sizes, depending on the application s force requirements. The platen is a photo-chemically etched steel plate that is filled with epoxy and ground. Standard mounting holes are provided on forcer and platen. The platen is available in sizes up to 37 in x 52 in [0.24m x 0.34m]. Preload for the bearing system is provided by the magneticattractive force between the forcer and the platen. The customer must bring power to the forcer with a cable, and provide the bearing air supply. 125

10 Dual-Axis Linear Stepper Motor Technical Data CATALOG NO. Units LMDS0602-2A0 LMDS1302-2A0 LMDS2002-2A0 LMDS1304-2A0 LMDS2004-2A0 LMDS2504-2A0 *Number of Phases 2 2 2* 2* 2* 2* Static Force Lbs [N] 3.0 [13.3] 6 [26.7] 9 [40.0] 15 [66.7] 22 [98.0] 30 [133] 40 in/sec Lbs [N] 2.5 [11.1] 5 [22.2] 7 [31.1] 11.5 [51.1] 16 [71.2] 22 [98.0] Resistance/Phase ohms Inductance/Phase mh Amps/Phase amps Weight Lbs [kg] 7 [3.2] 1.1 [0.50] 1.6 [0.72] 3.2 [1.4] 4.5 [2.0] 3.3 [1.5] Airflow CFM[L/min] 1.5 [42] 2.0 [56] 2.5 [70] 3.0 [84] 3.5 [98] 4.0 [112] Attractive Force Lbs [N] 36 [160] 90 [400] 162 [720] 203 [902] 324 [1,440] 405 [1,800] * Four phase is available with the same force ratings and physical size. Repeatability= ± in (±10µm). Resolution= in (2.5µm), Cyclic error= ± in(±5µm) dependent on drive electronics and system implementation Standard Pitch in, Optional Pitch in. Air Bearing Airgap= in (20µm), Air Pressure= psi with a 3 micron filter. All specifications are for reference only. Dual-Axis Forcer Catalog Identification/Option Specifying Information L M D S - LINEAR MOTOR DUAL-AXIS STEPPER TERMINATION 0=10 ft Flying leads CODE FOR STACK WIDTH 06, 13, 20, 25 BEARINGS A=air NO. OF STACKS/FORCER NUMBER OF PHASES/FORCER 2 or 4 126

11 Dual-Axis Forcer Dimensions Inches [mm] DUAL-AXIS FORCER DIMENSIONS In [mm] CATALOG NO. A B LMDS [80.0] 1.2 [30] LMDS [96.5] 1.2 [30] LMDS [120.7] 1.2 [30] LMDS [149.4] 1.2 [30] LMDS [165.1] 1.2 [30] LMDS [177.8] 1.2 [30] 127

12 Dual-Axis Platen Catalog Identification/Option Specifying Information L T D S - - LINEAR MOTOR Dual-Axis Stepper FEATURES S = Standard Features (w/max. size) C = Custom (Size, bumpers, mtg. holes, stop, carbon steel, etc. BASE TYPE 1 = Honeycomb (All Stainless) 2 = 1" Solid Steel 3 = Special (Cast Iron, Granite, etc.) SIZE CLASS OVERALL SIZE (Inch) TRAVEL AREA (Inch) D = Double 62 X X 36 F = Full 43 X X 30 T = 3 Quarters 33 X X 30 H = Half 33 X X 20 Q = Quarter 23 X X 15 S = Sixth 18 X X E = Eighth 18 X X 10 Size Class is dependent on Base Size. Maximum dimensions for the size classes are shown. Larger size choices will fall into next size class. Usable Platen Area is 3" less than dimensions shown. 128

13 Dual-Axis Platen Dimensions Stainless Steel Platens Inches [mm] CATALOG NO. LTDS-E1-S LTDS-S1-S LTDS-Q1-S LTDS-H1-S LTDS-T1-S LTDS-F1-S LTDS-D1-S Overall Inch Length meter Overall Inch Width Meter Platen Inch Thickness mm Usable Inch Length Meter Usable Inch Width Meter Platen Lbs Weight Kg NOTE: 1. Stainless steel top, sides and bottom 2. Flatness: Top: ± inch/foot [12.7 microns/305mm] typical 3. Flatness: Bottom: ± inch/foot [127 microns/305mm] typical 4. Add 0.40 inch [12mm] thickness for bumpers (Std. on all platens with two harbor stop homing devices at right corner) 5. Parallelism of top to bottom: ± 0.10 inch [0.254mm] typical 6. Larger size platens available on request 129

14 Dual-Axis Platen Dimensions Carbon Steel Platens Inches [mm] CATALOG NO. LTDS-E2-S LTDS-S2-S LTDS-Q2-S LTDS-H2-S LTDS-T2-S LTDS-F2-S Overall Inch Length meter Overall Inch Width Meter Platen Inch Thickness mm Usable Inch Length Meter Usable Inch Width Meter Y Inch mm Z Inch mm Platen Lbs Weight Kg

15 Stepper Position Verification Sensor Provides position verification for open position loop systems Converts an open loop stepper motor system to a closed loop system Senses lost steps to the controller Operates as an incremental encoder in conjunction with the motor platen Signal can be used to shut down, re-home or move to the desired position Can be used for single and dual-axis linear stepper motors Encoder scale not required The Position Verification Sensor (PVS) provides closed loop operation of single and dual-axis linear stepper motor systems. The sensor operates as an incremental encoder in conjunction with the motor platen to recognize lost steps. The output signal can be used by the controller to shut the system down, re-home or move to the desired position. Typically, the PVS closed loop repeatability is the same as open loop repeatability. Resolution is in [0.25 mm]. Output signal is phase A/B square waves or phase A/B sinusoidal waves. The Position Verification Sensor is a factory installed option. Stepper Position Verification Sensor Technical Data CATALOG NUMBER Resolution* LMPVS in [0.25mm] Power Supply 5VDC ± 5% Output Signal Weight Construction Phase A/B Square Waves Phase A/B Sinusoidal Waves 2.75 oz [77 grams] Hard Anodized Aluminum * Controller dependent. All specifications are for reference only. 131

16 Position Verification Sensor Dimensions Inches [mm] Single-axis Stepper A in [27.11 mm] B in [18.29 mm] C in [49.85 mm] All specifications are for reference only. Dual-axis Stepper POSITION VERIFICATION SENSORS 132

17 Stepper Motor Contro l s The LinStep and LinStep+ microstepping motor controls incorporate all the features expected from a best in class product as standard. Their revolutionary design with the internal cooling tunnel consumes less panel space than other controls and keeps internal electronics cool and clean for years of reliable performance and operation. Design Specifications Direct 120Vac or 240Vac, 1 Phase Input Built in power supply 160Vdc bus with 120Vac Input Selectable current settings to 7.9 Amps 320Vdc bus with 240Vac Input User selectable current settings to 3.9 Amps Built in regenerative circuit safely absorbs energy from high mass loads Accepts step and direction Input (LinStep) Use selectable resolution Internal cooling tunnel keeps electronics cool and clean Reliable performance and operation Efficient design allows stacking to reduce panel space CE, UL, cul certified Keypad Options Keypad for HMI or as programming tool IP 65 for remote panel mount Connects to control or mounts remotely Backlit 40 character display Displays current position and I/O status Menu driver setup and help Use for diagnostics and troubleshooting Protection Features Short circuit Under voltage Regen/Overvoltage Over temperature Interlock 133

18 LinStep Single-Axis Microstepping Drivers LinStep single-axis drivers interface with Baldor step and direction indexing controls and other popular stepper controllers. 134

19 LinStep Dual-Axis Microstepping Drivers LinStep dual-axis drivers accept step and direction commands from Baldor indexing controllers and others. They are ideally suited to control Baldor dual-axis linear stepping motors. 135

20 LinStep Microstepping Drivers Baldor LinStep microstepping drivers feature an innovative cooling tunnel design that delivers an industry leading 17W/in 3 while consuming less panel space than other packaged controls. LinStep microstepping drivers readily interface with Baldor s EuroCard Family Combo, EuroCard Family Stepper, SmartStep/3, NextMove PC and NextMove PCI MINT TM motion controllers. Single-Axis Drivers Direct 120Vac and 240Vac 160Vdc and 320Vdc Bus Anti-resonance circuitry Less vibration More usable force Higher acceleration Smoother performance Efficient tunnel design Reduces panel space Improves cooling Increases component life Provides long reliable operation and performance CE, UL, cul Certified Built-in power supply Selectable resolution: Single-axis: 10-1 micron Full protection Short circuit Undervoltage Regen/Overvoltage Interlock Over temperature Dual-Axis Drivers Direct 120Vac 160Vdc Step and Direction input 1.25 MHz max step input Anti-Resonance Circuitry Less vibration More usable force Higher acceleration Smoother performance Selectable Resolution: 500 to 4 microns LED Status Indicators Steps received Fault Power on CE, UL, cul Certified Built-in regen or external option Full protection Short circuit Undervoltage Over temperature Single-Axis LinStep Driver Models Input Vac 120 Vac - 1 Ph 240 Vac - 1 Ph Input Hz 50/60 50/60 Bus Volts 170 Vdc 320 Vdc Output Catalog Catalog Amps Number Number LX1D2A03F LX1D1A07F9 Dual-Axis LinStep Driver Models Input Vac 120 Vac - 1 Ph Input Hz 50/60 Bus Volts 170 Vdc Output Catalog Amps/Driver Number 6 LX2D1A06 136

21 LinStep Technical Data Single-Axis Driver Catalog No. Description Units LX1D1A07F9 LX1D2A03F9 Input Voltage Range Vac Phases # 1 1 Input Frequency Hz 50/60 50/60 Bus Voltage Vdc Output Current Adjustable 0.1A increments amps Resolution Selectable See Table Below Efficiency Running % Motor Inductance Switch Selectable mh Low/High Low/High Switching Frequency KHz Ambient Temp (Operating Max) Deg C Storage Temp (Storage) Deg C -40 to to 80 Humidity Non Condensing % 0 to 90 0 to 90 LinStep Single-Axis Driver - Selectable Resolution Step/Rev Linear Motor Resolution* Setting Inch mm micron E E E E E E E E E E E E E E E E * Based on 2 phase 1.8 deg. motor step angle. Rest Current Settings Switch Selectable If selected, will reduce motor current to 1 amps after no motion for 20 minutes. Full current resumption upon receipt of next step pulse. Idle Current Settings Switch Selectable If selected, will reduce current to 75% of drive setting if no step pulses are received for 10msec. Full current resumption upon receipt of next step pulse. Waveform Switch Selectable Configures shape of current waveform. Default is pure sinusoid. Turn on activities -4% 3rd harmonic to improve smoothness and step to step accuracy. Inputs Shutdown Fault Output LED Indications Step, direction and shutdown optically isolated. (6.5ma min - 15 ma max) Step input: 250 nsec mid width, 2 Mhz max pulse rate, triggered on rising edge Direction: Low logic = Fwd. High Logic = Rev. A 0.4 microsec set up time required after direction change before next step pulse is sent to drive. Current Conducting = Control Disabled. Current Not Conducting = Control Enabled Optically isolated NPN, Collector (Fault+) and Emitter (Fault-) connections available Steps Received, Direction Received, Overvoltage, Thermal shutdown, Undervoltage, Interlock, Regen, Short Circuit 137

22 Protection Short Circuit Undervoltage Over Temperature Interlock Overvoltage Disable on phase to phase or phase to ground detected Disable if supply drops below 90Vac Disable if heatsink >65 C Disable if interlock connection broken 440Vac for 240Vac model Typical Connections 138

23 LinStep Technical Data Dual-Axis Driver Catalog No. Description Units LX2D1A06 Input Voltage Range Vac Input Phases # 1 Input Frequency Hz 50/60 Bus Voltage Vdc 160 Output Current Adjustable 0.1A increments amps Resolution Selectable See Table Efficiency Running % 85 Motor Inductance Switch Selectable mh Low/High Max Step Rate MHz 1.25 Temp Operating Max (ambient + rise) Deg C 65 Storage Temp Storage Deg C -40 to 80 Humidity Non Condensing % 0 to 90 LinStep Dual-Axis Driver - Selectable Resolution Step/Rev Linear Motor Resolution* Setting Inch mm micron E E E E E E E E E E E E E E E E-3 * Based on 2 phase 1.8 deg. motor step angle. Standby Switch Selectable If selected, will reduce current to 75% of drive setting if no step pulses are received for 1 sec. Rated current resumption upon receipt of next step pulse. Waveform Switch Selectable Configures shape of current waveform. Optimize smoothness and step to step accuracy. Inputs Fault Output LED Indications Step, direction and shutdown optically isolated. (6.5ma min-15ma max) Step input 400 nsec min. width, 125kHz max pulse rate, triggered on rising edge Direction Shutdown Low Logic = Fwd. High Logic = Rev. A 0.4 microsec set up time required after direction change before next step pulse is sent to drive. Logic High = Disabled Logic Low = Normal Operation Optically isolated NPN, Collector (Fault +) and Emitter (Fault ) connections available Output Off = No Faults Output on = Drive Fault Indication when ON, step input received and fault condition present. 139

24 Protection Short Circuit Undervoltage Over Temperature Overvoltage Disable on phase to phase or phase to ground detected Disable if supply drops below 90VAC Disable if heatsink >65 C 440VAC for 240VAC model Typical Connections 140

25 LinStep Driver Dimensions (Inches [mm]) Single-Axis Dual-Axis Catalog Identification/Option Specifying Information L X A - F LINEAR STEPPER CONTROL NUMBER AXES CURRENT CODE A03F9 = 3.9 Amps A07F9 = 7.9 Amps D = LinStep P = LinStep+ VOLTAGE CODE 1 = 120 Vac 2 = 240 Vac 141

26 LinStep+ Single-Axis Microstepping Indexer/Driver The LinStep+ is a complete microstepping indexer driver package. Baldor s IntelliStep programming language eases setup and application development. 142

27 LinStep+ Single-Axis Microstepping Indexer/Driver LinStep+ controls are complete linear motor microstepper indexer/driver packages, Ratings to 8 amps are available. The LinStep+ programming language and IntelliStep application software eases setup and integration. LinStep+ controls accept encoder feedback for closed loop position verification, position maintenance and stall detection. Single-Axis Microstepping Indexer/Driver Direct 120 and 240Vac 160 and 320 Vdc Bus Anti-resonance circuitry 60K memory stores up to 400 Programs High speed registration Input Go Immediate mode Provides multitasking between motor control and I/O operations User scaling of position, velocity and acceleration Accepts encoder feedback For position maintenance, stall detection and closed loop position verification Efficient tunnel design Reduces panel space, improves cooling, increases component life, provides long reliable operation and performance Built-in power supply 16 Configurable optically isolated I/O, dedicated home and 2 dedicated EOT limits 1-99 Axes of control via host RS232C communication Full protection Undervoltage Short circuit Regen/Overvoltage Interlock Over temperature CE, UL, cul Certified Single-Axis LinStep+ Indexer/Driver Models Input Vac 120 Vac - 1 Ph 240 Vac - 1 Ph Input Hz 50/60 50/60 Bus Volts 170 Vdc 320 Vdc Output Catalog Catalog Amps Number Number LX1P1A LX1P2A03F LX1P1A07F

28 LinStep+ Indexer/Driver Single-Axis Technical Data Catalog Numbers Description Units LX1P1A03-2 LX1P1A07F9-2 LX1P2A03F9-2 Input Vac Vac Input Phases # Input Hz Hz 50/60 50/60 50/60 Bus Voltage Vdc Output Amps Amps Resolution inch [mm] 5.5 x 10-5 [1.02 x 10-3 ] Motor Type 2 phase hybrid PM Efficiency % running Motor Inductance mh Switching Frequency KHz Ambient Temp deg C operating Storage Temp deg C -40 to to 80 Humidity Non Condensing % 0 to 90 0 to 90 0 to 90 Rest Current Settings Software Selectable If selected, will reduce motor current to 1 amps after no motion for 20 minutes. Full current resumption upon receipt of next step pulse. Idle Current Settings Software Selectable If selected, will reduce current to 75% of drive setting if no step pulses are received for 10msec. Full current resumption upon receipt of next step pulse. Waveform Software Selectable Configures shape of current waveform. Default is pure sinusoid. Turn on activities -4% 3rd harmonic to improve smoothness and step to step accuracy. Inputs 8 programmable, 12 Vdc or 245 Vdc compatible, optically isolated, 3.0 ma EOT limits and home min. sinking Outputs 8 programmable Open collector, 12 Vdc or 24 Vdc compatible, optically isolated, 100 ma max ea, 350 ma max sink current Encoder LED Indications Optically isolated, differential line driver, 5 Vdc, 500 KHz Max (2 MHz post quadrature) 200 ma encoder supply on-board Green Normal operation; Red Fault condition; Amber FLASH fault Protection Short Circuit Undervoltage Over Temperature Interlock Regen/Overvoltage Disable on phase-to-phase, or phase-to-ground detected Disable if supply drops below 90 Vac Disable if heatsink > 70 deg C Disable if interlock connection broken Disable if bus voltage exceeds 220 Vac on 120 Vac units, 440 Vac on 240 Vac unit 144

29 Typical Connections 145

30 LinStep+ Dual-Axis Microstepping Indexer/Driver Baldor s LinStep+ Dual-Axis indexer/drivers provide a compact economical control package for Baldor LMD s dual-axis stepper motors. 146

31 LinStep+ Dual-Axis Microstepping Indexer/Driver LinStep+ Dual-Axis controls are complete microstepping indexer/driver packages. Rated up to 6 amps per axis with.1 amp increments is standard. The LinStep+ programming language and IntelliStep application software ease setup and integration. LinStep+ controls accept encoder feedback for closed loop position verification, position maintenance and stall detection. Dual-Axis Microstepping Indexer/Driver Direct 120 Vac 160 Vdc Bus 2 Axis Control Encoder Feedback Serial Interface Optional Keypad 40 character backlit display Menu driven setup, help functions, diagnostics, motion programming Used as HMI or programming tool User scaling of position, velocity and acceleration Variable math and conditional branching 50K resolution Baldor IntelliStep application software as standard Dual-Axis LinStep+ Indexer/Driver Models Input Vac 120 Vac - 1 Ph Input Hz 50/60 Bus Volts 170 Vdc Output Amps/driver 6 Catalog Number LX2P1A

32 LinStep+ Indexer/Driver Dual-Axis Technical Data Description Units Specifications No. of Axes # 2 Input Vac Vac Input Phases # 1 Input Hz Hz 50/60 Input Current amps 2 max Bus Voltage Vdc 170 Vdc Output Amps Amps 6 amps/axis Resolution inch [mm] [ ] Motor Type 1.8 deg 2 phase hybrid PM Efficiency % running 85 Motor Inductance mh 2-60 Switching Frequency KHz 20 Ambient Temp deg C operating 0-50 Humidity Non Condensing % 0 to 90 Step, Direction and Shutdown Optically isolated, Low Signal <0.8 Vdc, High Signal >3.5 Vdc, =/ 60 ma. Active high. Outputs Drive Fault Input Position Range Velocity Range Acceleration Range Opto Compatible I/O Inputs Step pulse width is msec depending on resolution setting Optically isolated, TTL level, internal 1.0 Kohm pull-up to +5 Vdc ± 2,147,483,647 steps, absolute and incremental 1-1,250,000 steps per second G with linear stepper motor 8 positions support OPT022 digital and Grayhill analog and temperature modules 8 programmable, EOT and Home 24 Vdc max, optically isolated, can be pulled up to internal isolated 12 Vdc supply. 12 ma current required. Outputs 8 programmable Open collector, sink current per output 100 ma max, 350 ma max total sink amps Encoder Programming Optically isolated, differential, 5 Vdc, 500 KHz Max (2 MHz post quadrature) 200 ma encoder supply on board IntelliStep language. Use optional Keypad front panel or PC using Windows compatible application software. 148

33 LinStep+ Indexer/Driver Dual-Axis 149

34 LinStep+ Indexer/Driver Dimensions (Inches [mm]) Single-Axis Dual-Axis Catalog Identification/Option Specifying Information L X A F - LINEAR STEPPER CONTROL prefix NUMBER AXES 1 or 2 CURRENT CODE A03 = 3.0 amps A03F9 = 3.9 Amps A07F9 = 7.9 Amps D = LinStep P = LinStep+ VOLTAGE CODE 1 = 120 Vac 2 = 240 Vac SERIAL COMMUNICATION 2 = RS232 4 = RS

35 Baldor IntelliStep Keypad Keypad is optional Use for Setup, programming tool, or HMI 40 character easy-to-read backlit display Remote panel mountable with NEMA 4 (IP65) pro t e c t i o n Displays current position and I/O status Cable connection to single-axis LinStep+ indexer/drivers D i rect connection to dual-axis LinStep+ indexer/drivers IntelliStep Command Language Baldor s IntelliStep Command Language can be programmed with the optional IntelliStep Keypad or with the Windows PC IntelliStep motion developer. In addition to the commands listed below, the IntelliStep language includes mathematical/logical operators, built-in variables as well as setup commands. AC DA DC DE DI EA EB EN FK GH GO GI GP GT GS Acceleration Distance Absolute Distance to a Change Deceleration Distance Incremental Enable Amplifier End Block End of Program Wait for Function Key Go Home Go (Start Move Profile) Go Immediate Go Point (Linear Interpolation) Goto Program Gosub IF IF (Condition) Then IV Input Variable LP Loop Command LU Loop Until LW Loop While MC Move Continuous MS Message OT Output Command RG Registration Move SP Set Position ST Stop on Input SQ Square Root TD Time Delay VE Velocity WT Wait Command Sends ASCII text out RS-232 port 151

36 B a l d o r s IntelliStep Motion Developer For those who prefer a Windows programming environment instead of using the optional keypad to setup and program the LinStep+ controls, Baldor s Windows based application development tool as a part of our complimentary IntelliStep software. Use it to quickly set up your system and create programs using a PC. You can download programs to LinStep+ controls or retrieve an existing program from a control. 152