TL-Series Electric Cylinders

Transcription

1 Installation Instructions Original Instructions TL-Series Electric Cylinders Catalog Numbers TLAR-A1xxxB, TLAR-A1xxxE, TLAR-A2xxxC, TLAR-A2xxxF, TLAR-A3xxxE, TLAR-A3xxxH Topic Page Summary of Changes 1 Catalog Number Explanation 2 About the TL-Series Electric Cylinders 3 Before You Begin 4 Install the Electric Cylinder 5 Mount the Electric Cylinder 7 Dimensions 8 Connector Data 12 Commissioning 13 Maintenance 22 Storage 22 Troubleshooting 23 Accessories 24 General Specifications 39 Performance Specifications with Kinetix 3/35 (2V-class) Drives 46 Performance Specifications with Kinetix 3 (2V-class) Drives 5 Performance Specifications with Kinetix 2 (2V-class) Drives 53 Additional Resources 56 Summary of Changes This publication contains new and updated information as indicated in the following table. Topic Page The Bulletin TLAR electric cylinders are discontinued and all product specifications are archived in this publication. Throughout Added General Specifications that were removed from the Kinetix Linear Motion Specifications Technical Data, publication KNX-TD2. 39 Added Performance Specifications with Kinetix 3/35 (2V-class) Drives that were removed from the Kinetix 3 and Kinetix 35 Drive Systems Design 46 Guide, publication KNX-RM4. Added Performance Specifications with Kinetix 3 (2V-class) Drives that were removed from the Kinetix 3 Drive Systems Design Guide, 5 publication KNX-RM5. Added Performance Specifications with Kinetix 2 (2V-class) Drives that were removed from the Kinetix 2 Drive Systems Design Guide, 53 publication KNX-RM6.

2 Catalog Number Explanation Catalog numbers consist of various characters, each identifies a specific version or option for that component. Use the catalog numbering chart below to understand the configuration of your actuator. TL AR - xx xxx x - Bx A Motor Mounting (1) A = Axial (in-line) Holding Brake (1) 2 = No Brake 4 = 24V DC Brake Feedback (1) B = Multi-turn, absolute 17-bit encoder, battery backed Mechanical Drive/Screw Lead, Motor Type B = 3. mm/rev (.118 in./rev) C = 5. mm/rev (.197 in./rev) E = 1. mm/rev (.394 in./rev) F = 12.7 mm/rev (.5 in./rev) H = 2. mm/rev (.787 in./rev) Rod Stroke Length 1 = 1 mm (3.94 in.) 2 = 2 mm (7.87 in.) 3 = 3 mm (11.81 in.) 4 = 4 mm (15.75 in.) 6 = 6 mm (23.62 in.) 8 = 8 mm (31.5 in.) Actuator Frame Size 1 = 32 2 = 4 3 = 63 Voltage Class/Designator A = 23V motors X = Actuator cylinder replacement part (refer to Actuator Cylinders on page 45 for ordering examples) Actuator Type AR = Actuator Rod Bulletin Number TL-Series (1) This field does not apply to actuator cylinder replacement parts. MP AR - xx xxxxxx Accessory Item Number Accessory Type NA = Axial (in-line) Mounting Accessory NP = Parallel Mounting Accessory NE = Rod-end Accessory Actuator Type AR = Actuator Rod Bulletin Number MP = MP-Series or TL-Series Actuator Accessory 2 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

3 About the TL-Series Electric Cylinders TL-Series electric cylinders feature multi-turn high-resolution encoders and are available with 24V DC brakes. The TL-Series motor rotates a ball screw drive that converts rotary motion into linear movement. This linear movement results in the piston rod extending and retracting from the electric cylinder housing. IMPORTANT The TLAR-Axxxxx-x2A electric cylinders are non-braking. When there is no input torque, the piston rod can be moved freely. You can achieve self-locking of your motion system by using motors with an integrated brake or with high self-braking torque. The TL-Series electric cylinders have been designed for exact positioning at high speeds (x4) (x4) 8 9 Item Description 1 Power connector 2 Feedback connector 3 TL-Series motor 4 Motor mounting bolts 5 Actuator cylinder 6 Breather port (must not be sealed or covered) 7 Hollow bolts with internal treads for fastening 8 Piston rod 9 Wrench flats for counteracting torque on piston rod Rockwell Automation Publication TLAR-IN1D-EN-P - May 218 3

4 Before You Begin Remove all packing material, wedges, and braces from within and around the item. After unpacking, verify the nameplate catalog number against the purchase order. 1. Remove packaging polyethylene foil and cardboard. The packing materials are recyclable, except for oiled paper that is waste. 2. Remove the electric cylinder carefully from its shipping container. Consider the weight of the electric cylinder. Depending on the design, the electric cylinder can weigh up to 15. kg (33.7 lb). 3. Visually inspect the electric cylinder for damage. 4. Examine the electric cylinder frame, piston shaft, and hollow bolts for anomalies. 5. Notify the carrier of shipping damage immediately. ATTENTION: Do not attempt to open and modify the electric cylinder. Only a qualified Allen-Bradley employee can service the internal working of the electric cylinder or motor. Failure to observe these safety precautions could result in personal injury or damage to equipment. Planning Your Installation See Kinetix Linear Motion Specifications, publication KNX-TD2, for the specifications and more products that are referenced in this section: This product can be operated in compliance with the relevant safety regulations, only if the maximum loading limits are observed. If you are mounting your electric cylinder in a vertical or sloping position, include safety measures that control the work load, if the spindle nut fails. Corrosive environments reduce the service life of electric cylinders. Depending on the work load, the piston rod can bend. See the piston-rod deflection specifications for limitations. Motor feedback, auxiliary feedback, and I/O connector kits are not included, but can be purchased separately. Factory manufactured feedback and power cables are available in standard cable lengths. They provide environmental sealing and shield termination. Contact your Rockwell Automation sales office or refer to the selection guide for cables. Electric Cylinders with Brake Option ATTENTION: The electric-cylinder is not intended to be used in applications where side-loading occurs. Loads must be guided and supported. Align the load with the line-of-motion of the piston rod. Side loading reduces the lifetime of the electric-cylinder. ATTENTION: Uncontrolled moving masses can injure or damage to property. If there is a spindle nut fracture inside the electric cylinder due to wear, the working mass drops down. Check whether more external safety measures are required to prevent damage in the event of a spindle nut fracture. The brake option on this servo motor is a spring-set holding brake that releases when voltage is applied to the brake coil. A separate power source is required to disengage the brake. The servo motor controller can apply the power source or it can be done manual operator control. If system main power fails, holding brakes can withstand occasional use as stopping brakes. However, it creates rotational mechanical backlash that is potentially damaging to the system, increases brake wear, and reduces brake life. An unpowered electric cylinder requires a brake to maintain its position if the force on the actuator exceeds the Back Drive that is listed in Kinetix Linear Motion Specifications Technical Data, publication KNX-TD2. A brake can be use with the actuator to keep it from back driving, typically in vertical applications. A brake can be used for safety reasons or for energy savings, allowing the actuator to hold position when unpowered. IMPORTANT Holding brakes are not designed to stop rotation of the motor shaft, nor are they intended to be used as a safety device. They are designed to hold a motor shaft at rpm for up to the rated brake holding torque. The recommended method of preventing motor shaft rotation is a four-step process: first, command the servo drive to rpm; second, verify that the motor is at rpm; third, engage the brake; and fourth, disable the drive. Disabling the drive removes the potential for brake wear that is caused by a badly tuned servo system oscillating the shaft. 4 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

5 Preventing Electrical Noise Electromagnetic interference (EMI), commonly called electrical noise, can reduce motor performance. Effective techniques to counter EMI include filtering the AC power, using shielded cables, separating the signal cables from power wiring, and practicing good grounding techniques. Follow these guidelines to avoid the effects of EMI: Isolate the power transformers or install line filters on all AC input power lines. Physically separate signal cables from motor cables and power wiring. Do not route signal cables with motor and power wires, or over the vent openings of servo drives. Ground all equipment by using a single-point parallel ground system that employs ground bus bars or large straps. If necessary, use more electrical noise reduction techniques to reduce EMI in noisy environments. See System Design for Control of Electrical Noise Reference Manual, publication GMC-RM1, for more information on reducing the effects of EMI. Build and Route Cables Knowledgeable cable routing and careful cable construction improves system electromagnetic compatibility (EMC). Follow these steps to build and install cables. 1. Keep wire lengths as short as physically possible. 2. Route signal cables (encoder, serial, analog) away from motor and power wiring. 3. Separate cables by.3 m (1 ft) minimum for every 9 m (3 ft) of parallel run. 4. Ground both ends of the encoder cable shield and twist the signal wire pairs to prevent electromagnetic interference (EMI) from other equipment. ATTENTION: High voltage can be present on the shield of a power cable, if the shield is not grounded. Make sure that there is a connection to ground for any power cable shield. Failure to observe these safety precautions could result in personal injury or damage to equipment. Install the Electric Cylinder The installation must comply with all local regulations and use of equipment and installation practices that promote electromagnetic compatibility and safety. ATTENTION: Unmounted electric cylinders, disconnected mechanical couplings, and disconnected cables are dangerous if power is applied. Appropriately identify disassembled equipment (tagged-out) and access to electrical power restricted (locked-out). Failure to observe these safety precautions could result in personal injury. ATTENTION: Make sure that cables are installed and restrained to prevent uneven tension or flexion at the cable connectors. Excessive and uneven lateral force at the cable connectors can result in the connector environmental seal opening and closing as the cable flexes. Failure to observe these safety precautions could result in damage to the electric cylinder motor and its components. ATTENTION: Damage can occur to the electric cylinder bearings and the feedback device if a sharp impact to the piston rod is applied during installation. Do not strike the piston rod with tools during installation or removal. Do not attempt to rotate the piston rod. Rotating the piston rod breaks the mechanism that lets the electric cylinder extend and retract. Failure to observe these safety precautions could result in damage to the electric cylinder and its components. Rockwell Automation Publication TLAR-IN1D-EN-P - May 218 5

6 Follow these steps to install the electric cylinder. 1. Provide sufficient clearances in the area of the electric cylinder for it to stay within its specified operating temperature range. See Kinetix Linear Motion Specifications Technical Data, publication KNX-TD2, for the operating temperature range. Do not enclose the electric cylinder unless forced air is blown across the electric cylinder for cooling. Keep other heat producing devices away from the electric cylinder. IMPORTANT Position the electric cylinder so that all operating parts are accessible and the breather port is not covered. 2. Make sure that the mounting surface supports the electric cylinder evenly so that it is free of mechanical stress and distortion. The evenness of support surface must be.2 mm (.8 in.). ATTENTION: Do not modify the settings of the screws and the threaded pins. Do not fasten the electric cylinder by the front cover alone when used with high loads. Heavy tensile strain can cause the screws in the cover to pull out. 3. Attach mounting accessories to the electric cylinder, see Accessories on page 24. Tighten the fastening screws evenly. Attribute Frame 32 Frame 4 Frame 63 Internal thread of cover screws M6 M6 M8 Torque, max (1) 5 N m (3.69 lb ft) (1) Unless otherwise noted, the torque specification has a ±2% tolerance. 5 N m (3.69 lb ft) 4. Attach rod-end accessories and the work load. Be sure that the work load center of gravity is centric to the piston rod. 9 N m (5.9 lb ft) ATTENTION: Damage can occur to the electric cylinder bearings and the feedback device if sharp impact to the piston rod is applied during installation. Do not strike the piston rod with tools during installation or removal. Failure to observe these safety precautions could result in damage to the electric cylinder and its components. IMPORTANT Do not twist or rotate the piston rod. If the piston rod is rotated, the absolute position of the electric cylinder is lost and the absolute home position must be re-established. When fastening a rod-end accessory or work load to the piston rod, use two wrenches. Use one wrench to tighten the mounting nut or rodend accessory and the other, on the piston-rod wrench flats, to counter act the applied torque. Be sure that the torque is not applied to the piston rod and that the piston rod does not rotate. Frame Size Piston Rod Thread Wrench Flats Width 32 M1 x mm 4 M12 x mm 63 M16 x mm Wrench Flat ATTENTION: Do not rotate the piston rod during installation. Rotating the piston rod breaks the mechanism that lets the electric cylinder extend and retract. Use two wrenches to install the work load. Failure to observe these safety precautions could result in damage to the electric cylinder and its components. If you are using a coupling piece attachment, catalog number MPAR-NE3612x, or trunnion mounting kit, catalog number MPAR- NA1635xx, see page 26 for torque values. If you are using a rod guide accessory, catalog number MPAR-NE34xxx or MPAR-NE15xxx, adjust the guides of the work load and the electric cylinder so that they are exactly parallel. By making the components parallel, you avoid excessive wear on the guide. 6 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

7 Mount the Electric Cylinder 1. Use stainless steel fasteners to mount your electric cylinder to your application. 2. Attach power and feedback cables and use a drip loop in the cable to keep liquids away from the motor. Power Connector Feedback Connector Drip Loop BURN HAZARD: Outer surfaces of the motor can reach high temperatures, 65 C (149 F), during electric cylinder operation. Take precautions to prevent accidental contact with hot surfaces. Failure to observe these safety precautions can result in personal injury. ATTENTION: Consider electric-cylinder surface temperature when selecting motor-mating connections and cables. Failure to observe these safety precautions can result in personal injury or damage to equipment. ATTENTION: Keyed connectors must be properly aligned and hand-tightened the recommended number of turns. Improper connector alignment requires excessive force, such as the need for t tools to fully seat connectors. Failure to observe these safety precautions could result in damage to the motor and cable, and their components. ATTENTION: Be sure that cables are installed and restrained to prevent uneven tension or flexion at the cable connectors. Excessive and uneven force at the cable connector can result in damage to the housing and contacts as the cable flexes. Failure to observe these safety precautions can result in damage to the motor and its components. Rockwell Automation Publication TLAR-IN1D-EN-P - May 218 7

8 Dimensions TL-Series Electric Cylinders Dimensions (frame 32 and 4) E TG E TG M6 (x4) 6. (.24) (x4) See Detail A Power/Brake Connector Feedback Connector L1 AM Flat for Wrench Ø16. (.63) h9 M1x1.25 Ø3. (1.18) d (.47) 1 WH VD G GI L2+ + = Plus Stroke Length ZJ+ L7 Dimensions ZJ and L7 are with piston rod fully retracted. 16. (.63) Ø35. (1.38) d11 Detail A Frame 32 Ø2. (.79) h9 Dimensions are in 1 (39.4) ±5 (1.97) LB M12x (.63) 13 P Detail A Frame (.63) AD HD 8 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

9 TL-Series Electric Cylinder Dimensions (frame 32) Electric Cylinder Cat. No. L7 (1) LB (1) P AD HD AM G G1 L1 L2 ZJ (2) VD WH E TG TLAR-A11B-B2A (15.41) TLAR-A12B-B2A (19.35) TLAR-A13B-B2A (23.29) 73.5 (2.89) 4. (1.57) 31.1 (1.22) 51.1 (2.1) TLAR-A14B-B2A (27.22) TLAR-A11E-B2A 45.5 (15.96) 22. (.87) 24. (.94) 26. (1.2) 18. (.71) 122. (4.8) 148. (5.83) 1. (.39) 26. (1.2) 45.5 (1.79) 32.5 (1.28) TLAR-A12E-B2A 55.5 (19.9) TLAR-A13E-B2A 65.5 (23.84) 76.1 (3.) 6. (2.36) 43. (1.69) 73. (2.87) TLAR-A14E-B2A 75.5 (27.78) (1) If ordering TLAR-A1xxxB-B4A actuator with brake, add 35.4 mm (1.39 in.) to dimensions L7 and LB. If ordering TLAR-A2xxxE-B4A actuator with brake, add 34.6 mm (1.36 in.) to dimensions L7 and LB. (2) The tolerance for this dimension is ±1. mm (.39 in.). TL-Series Electric Cylinder Dimensions (frame 4) Electric Cylinder Cat. No. L7 (1) LB (1) P AD HD AM G G1 L1 L2 ZJ (2) VD WH E TG TLAR-A21C-B2A 436. (17.17) TLAR-A22C-B2A 536. (21.1) TLAR-A23C-B2A 636. (25.4) 76.1 (3.) TLAR-A24C-B2A 736. (28.98) TLAR-A26C-B2A 936. (36.85) TLAR-A21F-B2A (18.3) 6. (2.36) 43. (1.69) 73. (2.87) 24. (.94) 28.5 (1.12) 3. (1.18) 21.5 (.85) (5.77) (6.95) 1.5 (.41) 3. (1.18) 54. (2.13) 38. (1.5) TLAR-A22F-B2A (21.96) TLAR-A23F-B2A (25.9) TLAR-A24F-B2A (29.84) 98.1 (3.86) TLAR-A26F-B2A (37.71) (1) If ordering TLAR-A2xxxx-B4A actuator with brake, add 34.6 mm (1.36 in.) to dimensions L7 and LB. (2) The tolerance for this dimension is ±1. mm (.39 in.). Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication TLAR-IN1D-EN-P - May 218 9

10 TL-Series Electric Cylinders Dimensions (frame 63) E TG E TG M8 (x4) 8. (.31) (x4) Power/Brake Connector Feedback Connector AM Flat for Wrench See Detail A L1 WH VD G GI L2+ + = Plus Stroke Length ZJ+ L7 Dimensions ZJ and L7 are with piston rod fully retracted. Ø45. (1.77) d11 Dimensions are in 1 (39.4) ±5 (1.97) LB Ø28. (1.1) h9 M16x1.5 P 17. (.67) AD HD 1 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

11 TL-Series Electric Cylinder Dimensions (frame 63) Electric Cylinder Cat. No. L7 (1) LB (1) P AD HD AM G G1 L1 L2 ZJ (2) VD WH E TG TLAR-A31E-B2A (22.23) TLAR-A32E-B2A (26.17) TLAR-A33E-B2A (3.1) TLAR-A34E-B2A (34.4) TLAR-A36E-B2A (41.91) TLAR-A38E-B2A (49.79) TLAR-A31H-B2A (22.23) (5.68) 86. (3.39) 56. (2.2) 99. (3.9) 32. (1.26) 34. (1.34) 36. (1.42) 28.5 (1.12) 177. (6.97) 214. (8.43) 15. (.59) 37. (1.46) 75.5 (2.97) 56.5 (2.22) TLAR-A32H-B2A (26.17) TLAR-A33H-B2A (3.1) TLAR-A34H-B2A (34.4) TLAR-A36H-B2A (41.91) TLAR-A38H-B2A (49.79) (1) If ordering TLAR-A3xxxx-B4A actuator with brake, add 23. mm (.91 in.) to dimensions L7 and LB. (2) The tolerance for this dimension is ±1. mm (.39 in.). Actuators are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rockwell Automation Publication TLAR-IN1D-EN-P - May

12 Connector Data This table lists the signal descriptions for feedback, power, and brake connector pins on the electric cylinder. Pin Signal 1 5 Reserved 6 BAT+ Brown 7 12 Reserved 13 Data+ Blue 14 Data- Blue/black Reserved 22 EPWR 5V Red 23 ECOM & BAT- Black 24 Shield Drain wire Reserved Tyco AMP Power and Brake Pin Signal 1 U phase Red 2 V phase White 3 W phase Black 4 Reserved 5 Ground 6 Reserved 7 MBRK+ Yellow 8 Reserved 9 MBRK- Blue Yellow/green and drain wires Tyco AMP ATTENTION: Be sure that cables are installed and restrained to prevent uneven tension or flexion at the cable connectors. Excessive and uneven force at the cable connector can result in damage to the housing and contacts as the cable flexes. Failure to observe these safety precautions could result in damage to the motor and its components. 12 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

13 Commissioning This section provides guidelines for using the Studio 5 Logix Designer application to configure your electric cylinder servo-drive system. Required Files Firmware revisions and software versions that are required to support the electric cylinders include the following: Kinetix 2 multi-axis drives Firmware revision 1.96 or later Studio 5 Logix Designer application For RSLogix 5 software, version 16.xx, Use Motion Database file, version 4_18_ or later For RSLogix 5 software, version 17.xx or later, Use Motion Database file, version 5_9_ or later Kinetix 3 component servo drive Connected Components Workbench software Kinetix 35 single-axis EtherNet/IP servo drive Logix Designer application Kinetix 3 EtherNet/IP Indexing Servo Drive Logix Designer application Motion Analyzer software, version 4.7 or later Download these files from Configure Your Electric Cylinder Configure the electric cylinder by using the basic parameter settings that are described in this section. Use the procedure appropriate for your drive. ATTENTION: Moving parts can cause injuries. Before running the electric cylinder, make sure that all components are secure and safe guards are in place to prevent access to the path of moving machinery. Safeguards must prevent access to the electric cylinder until all motion has stopped. Check that the electric cylinder is clear of foreign matter and tools. Objects hit by the moving piston rod can become projectiles that cause personnel injury or damage to the equipment. IMPORTANT You are responsible to verify that the servo control system safely controls the electric cylinder regarding maximum force, acceleration, and speed. Rockwell Automation Publication TLAR-IN1D-EN-P - May

14 Configure the Logix Designer Application for Electric Cylinder with Kinetix Drives Use the following procedure to configure the drive for your electric cylinder. It is assumed that the electric cylinder and a Kinetix 2 or Kinetix 35 drive are installed and wired. ATTENTION: Incorrect parameter settings can result in uncontrolled motion, with the potential for damage to the electric cylinder. Initiating a motion command on an electric cylinder with an incorrect Position mode setting can result in damage to the electric cylinder, and the machine in which it is installed. 1. Open the Logix Designer application. 2. On the Axis Properties tabs, enter these parameters for your electric cylinder. Axis Properties Tab Parameter Entry/Selection Drive/Motor Select one from this list TLAR -A1xxxB-B2A TLAR -A1xxxB-B4A TLAR -A1xxxE-B2A TLAR -A1xxxE-B4A TLAR -A2xxxC-B2A Motor Catalog Number TLAR -A2xxxC-B4A TLAR -A2xxxF-B2A TLAR -A2xxxF-B4A TLAR -A3xxxE-B2A TLAR -A3xxxE-B4A TLAR -A3xxxH-B2A TLAR -A3xxxH-B4A Drive Resolution 2, Drive Counts per Motor Rev Entry/Selection, with applicable distance unit settings Axis Properties Tab Parameter Metric English Conversion Positioning Mode Linear Setting the Positioning Mode to Rotary can damage to the electric cylinder or the machine due to incorrect positioning. Conversion Constant Conversion Constant Conversion Constant Conversion Constant Conversion Constant drive cnts/1. mm for drive cnts/1. in. for TLAR-x1xxxB-B2A TLAR-x1xxxB-B4A 2 drive cnts/1. mm for 58 drive cnts/1. in. for TLAR-x1xxxE-B2A TLAR-x1xxxE-B4A TLAR-x3xxxE-B2A TLAR-x3xxxE-B4A 4 drive cnts/1. mm for 116 drive cnts/1. in. for TLAR-x2xxxC-B2A TLAR-x2xxxC-B4A drive cnts/1. mm for 4 drive cnts/1. in. for TLAR-x2xxxF-B2A TLAR-x2xxxF-B4A 1 drive cnts/1. mm for 254 drive cnts/1. in. for TLAR-x3xxxH-B2A TLAR-x3xxxH-B4A 14 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

15 Axis Properties Tab Dynamics Parameter Entry/Selection, with applicable distance unit settings Metric English 15 mm/s (default mm/s) 5.91 in/s (default 6.2 in/s) TLAR-x1xxxB-xxA 5 mm/s (default 525 mm/s) in/s (default 2.67 in/s) Maximum Speed (1) TLAR-x1xxxE-xxA TLAR-x3xxxE-xxA 25 mm/s (default mm/s) 9.82 in/s (default 1.33 in/s) TLAR-x2xxxC-xxA 64 mm/s (default 672 mm/s) in/s (default in/s) TLAR-x2xxxF-xxA 1 mm/s (default 15 mm/s) in/s (default in/s) TLARx3xxxH-xxA Maximum Acceleration (2) 6 mm/s/s in/s/s Maximum Deceleration (2) 6 mm/s/s in/s/s Maximum Acceleration Jerk Maximum Deceleration Jerk Use default values, or adjust for your application. Use default values, or adjust for your application. (1) The default value is 5% more than your actuator rated maximum speed. Do not command maximum speed in your application in excess of the rated speed. (2) Accelerations in excess of the following can lead to reduction of life of your actuator. 3. Click the Homing tab. 4. Set parameters for either absolute homing or torque level-to-marker homing as shown in the table. Parameter Absolute Homing Torque Level-to-Marker Homing Value Value Mode Absolute Active Position, typical, typical Offset N/A mm Sequence Immediate Torque Level-to-Marker Direction N/A Reverse Bi-directional Torque Level N/A 3%, min Greater if the system friction, force, or weight exceeds 3% of the Continuous Rating at any point in the range of motion Speed N/A 1mm/s (1.97in/s) Return Speed N/A 1mm/s (.39in/s) ATTENTION: Avoid excessive force while homing the electric cylinder. Do not exceed 1 mm/s (.4 in/s) during a home routine. Speeds greater than 1 mm/s (.4 in/s) can damage the electric cylinder when the piston rod reaches the end of travel. 5. Do the following for absolute homing. a. Use motion direct commands to jog your axis slowly to the home location; do not exceed 1 mm/s (.4 in/s). a. Issue the Motion Direct Command (MAH) to set the home position on your axis. 6. Click the Limits tab. Rockwell Automation Publication TLAR-IN1D-EN-P - May

16 7. Enter these parameters. Parameter Hard Travel Limits Soft Travel Limits Maximum Positive Maximum Negative Entry/Selection, with Applicable Distance Unit Settings Check if hardware limits are in use. Use Motion Analyzer to determine the maximum stopping distance in your application to set negative and positive limits. Check if software limits are in use. Use Motion Analyzer to determine the maximum stopping distance in your application to set negative and positive limits. Enter a value that is within the piston-rod mechanical travel. Enter a value that is within the piston-rod mechanical travel. 8. Set overtravel limits according to the maximum speed of the servo drive system and the payload of the application. ATTENTION: Software overtravel must be set before you initiate the tuning process. Check the starting position of the piston rod and allow for adequate travel. Insufficient travel while auto tuning causes the software overtravel to trigger or an end-stop impact. IMPORTANT Set travel limits and direction of tuning moves in reference to the piston rod starting position. Leave adequate travel for the piston rod to complete its moves while tuning. You can determine the deceleration distance before the piston rod contacts the end of travel that is based on the deceleration rate of the load, and the available peak force from the motor/ballscrew combination. Use Motion Analyzer to calculate the minimum deceleration distance at the maximum speed of your application. IMPORTANT Do not exceed the maximum energy that is specified for end-of-travel impacts. Impact Energy Cat. No. TLAR-x1xxxx-xxA TLAR-x2xxxx-xxA TLAR-x3xxxx-xxA Impact Energy, max.1 J.2 J.4 J This table lists maximum velocity for end-stop impact with no load. End-stop Impact Cat. No. Extracted Mass g (oz) Impact Velocity, max mm/s (in/s) TLAR-x11B-xxx 239 (8.4) 28.9 (1.14) TLAR-x12B-xxx 38 (1.8) 25.5 (1.) TLAR-x13B-xxx 377 (13.9) 23. (.91) TLAR-x14B-xxx 446 (15.7) 21.2 (.83) TLAR-x11E-xxx 269 (9.5) 27.3 (1.7) TLAR-x12E-xxx 338 (11.9) 24.3 (.96) TLAR-x13E-xxx 47 (14.36) 22.2 (.87) TLAR-x14E-xxx 476 (16.8) 2.5 (.81) TLAR-x21C-xxx 399 (14.1) 31.7 (1.25) TLAR-x22C-xxx 488 (17.2) 28.6 (1.12) TLAR-x23C-xxx 577 (2.4) 26.3 (1.3) TLAR-x24C-xxx 666 (23.5) 24.5 (.96) TLAR-x26C-xxx 844 (29.8) 21.8 (.86) TLAR-x21F-xxx 469 (16.5) 29.2 (1.15) TLAR-x22F-xxx 558 (19.7) 26.8 (1.5) TLAR-x23F-xxx 647 (22.82) 24.9 (.98) TLAR-x24F-xxx 736 (26.) (.92) TLAR-x26F-xxx 914 (32.2) 2.9 (.82) 16 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

17 End-stop Impact (continued) Cat. No. Extracted Mass g (oz) Impact Velocity, max mm/s (in/s) TLAR-x31E-xxx 938 (33.1) 29.2 (1.15 TLAR-x32E-xxx 166 (37.6) 27.4 (1.8) TLAR-x33E-xxx 1194 (42.1) 25.9 (1.2) TLAR-x34E-xxx 1322 (46.6) 24.6 (.97) TLAR-x36E-xxx 1578 (55.7) 22.5 (.86) TLAR-x38E-xxx 1834 (64.7) 2.9 (.82) TLAR-x31H-xxx 938 (33.1) 29.2 (1.149) TLAR-x32H-xxx 166 (37.6) 27.4 (1.8) TLAR-x33H-xxx 1194 (42.1) 25.9 (1.2) TLAR-x34H-xxx 1322 (46.6) 24.6 (.97) TLAR-x36H-xxx 1578 (55.7) 22.5 (.88) TLAR-x38H-xxx 1834 (64.7) 2.9 (.82) IMPORTANT Absolute position is maintained while the motor feedback cable is connected to the drive. If the cable is disconnected or if the drive reports a motor fault the absolute home position must be reestablished. Tune Your Electric Cylinder with the Logix Designer Application This section shows the steps to tune electric cylinders with the Logix Designer application: Tuning your electric cylinder requires you to calculate and configure the loop gain based on the actual measured inertia. By setting travel limits, your application minimum deceleration is defined. Follow these steps to tune your electric cylinder. 1. In the Axis Properties dialog box, click the Fault Actions tab. 2. Click Set Custom Stop Action. TIP These parameter settings work best if the electric cylinder is installed in a horizontal (table top) or a wall mount (vertical) orientation. 3. In the Custom Stop Action Attributes dialog box, set the Brake Engage and the Brake Release delay times to the values listed in Kinetix Linear Motion Specifications Technical Data, publication KNX-TD2. 4. Reduce the default Stopping Time Limit seconds. IMPORTANT To prevent the rod from moving or falling when installed in a vertical orientation, the Stopping Time Limit must be set to.99 seconds or less. Rockwell Automation Publication TLAR-IN1D-EN-P - May

18 5. Click Close. 6. Click the Tune tab and enter the following parameters: Travel Limit - Set to within software limits Speed (velocity) Torque/ IMPORTANT Set travel limits and direction of tuning moves in reference to the piston rod starting position. Leave adequate travel for the piston rod to complete its moves while tuning. ATTENTION: Software overtravel must be set before you initiate the tuning process. Check the piston-rod starting position and allow for adequate travel. Insufficient travel while auto tuning causes the software overtravel to trigger or an end stop impact. 7. Click Start Tuning. The Motion Initiation dialog box is displayed. 8. Click Yes. ATTENTION: Motion occurs immediately after you click Yes. Tuning is complete when the Tune Servo dialog box appears. 9. Click OK. 18 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

19 The Tune Results dialog box appears. 1. If you are satisfied with the tuning results, click OK; otherwise, continue with Calculate and Configure the Loop Gain. Calculate and Configure the Loop Gain Calculate a position loop bandwidth that is based on the actual measured inertia values from the Tune Results dialog box. In this example, the Tune Results dialog box shows a default Position Loop Bandwidth of Hz, and a Load Inertia Ratio of Calculate the Corrected Position Bandwidth. Corrected Position Loop Bandwidth = (Initial Position Loop Bandwidth Result/(Initial Load Inertia Ratio Result +1) For example, = / In the Position Loop Bandwidth box, type Click OK. 4. Click OK on the remaining dialog boxes to apply the values. The proper Position Bandwidth results in a stable starting point; from that point, you can adjust the gains to fit your application requirements. Rockwell Automation Publication TLAR-IN1D-EN-P - May

20 Configure and Tune Your Kinetix 3 Drive for an Electric Cylinder with MotionView On Board Software In this section, you use the MotionView OnBoard software to configure and tune your electric cylinder. Configure Your Kinetix 3 Drive These steps assume that an electric cylinder and the Kinetix 3 drive are installed and wired as one axis of a motion system. For help using the Kinetix 3 drive as it applies to configuring your electric cylinder, refer to Additional Resources on page 56. This procedure assumes that you are familiar with the Kinetix 3 drive. 1. Open the MotionView OnBoard software. 2. From the Drive Organizer, click Motor. 3. Verify that your electric cylinder model is displayed in the Motor Model field. 4. Click Change Motor. The motor model automatically updates to the correct model number. 5. Click OK, then Click Yes. 6. Verify that the motor model matches the electric cylinder model that is connected to the drive. 7. From the Drive Organizer, choose General. 8. From the Drive Mode pull-down menu, choose Indexing. 9. Enter the Accel Limit, Decel Limit, and the User Units by using values from the following table. User Units can be entered in rev/mm or rev/in. Your choice determines the unit of measure for the axis. Cat. No. Accel/Decel Limits rpm/s 1. From the Drive Organizer, click Homing. 11. Enter values from the following table. These values are recommended; your application can require different values. User Units rev/mm (rev/in.) TLAR-x1xxxB-Bxx ( ) TLAR-x1xxxE-Bxx 36.1 (2.54) TLAR-x2xxxC-Bxx 72.2 (5.8) TLAR-x2xxxF-Bxx (2.) TLAR-x3xxxE-Bxx 36.1 (2.54) TLAR-x3xxxH-Bxx 18.5 (1.27) Parameter Metric English Home Accel/Decel 1. mm/s in/s 2 Home Offset. mm. in. Home Velocity Fast 1. mm/s.3937 in/s Home Velocity Slow 1. mm/s.3937 in/s Home Switch Input B1 2 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

21 12. Select the recommend homing method, ID = 33, Home to marker, Reverse. 13. Click Start Homing. 14. Set overtravel limits according to the maximum speed of the servo drive system and the payload of the application. IMPORTANT Set travel limits and direction of tuning moves in reference to the piston rod starting position. Leave adequate travel for the piston rod to complete its moves while tuning. ATTENTION: Software overtravel must be set before you initiate the tuning process. Check the starting position of the piston rod and allow for adequate travel. Insufficient travel while auto tuning causes the software overtravel to trigger an end-stop impact. ATTENTION: Care must be taken not to exceed the physical travel limits of the electric cylinder. If you exceed the physical travel limits the electric cylinder and impact the mechanical end-of-stroke you can physically damage the screw and internal components of the electric cylinder. You can determine the deceleration distance before the piston rod contacts the end of travel based on the deceleration rate of the load, and the peak force available from the motor/screw combination. Use Motion Analyzer to calculate the minimum deceleration distance at the maximum speed of your application. IMPORTANT A positive-direction move command denotes a rod extend operation; a negative-direction move command denotes a retract operation. Tune Your Electric Cylinder 1. Open the MotionView OnBoard software. 2. Disable the motor. 3. From the Drive Organizer, choose General. 4. From the Drive Mode pull-down menu, choose Autotune. 5. Enable the motor. 6. From the Drive Organizer, choose Dynamics. 7. Click Autotune. Rockwell Automation Publication TLAR-IN1D-EN-P - May

22 The Autotune dialog box appears with the default set to Velocity Tuning. 8. Check Velocity Tuning or Position Tuning or both. 9. Click Start. 1. To accept the new tuning value, click Yes. Configure and Tune Your Kinetix 3 Drive for an Electric Cylinder with Connected Components Workbench or Ultraware Software To configure and tune your Kinetix 3 drive by using Connected Components Workbench software or Ultraware software, refer to the Kinetix 3 Component Servo Drives User Manual, publication 271-UM1. Maintenance Follow these steps to maintain your electric cylinder. 1. Remove power to the electric cylinder and lockout tag-out the power source. 2. Check the axial play of the piston rod for wear of the spindle nut. Wear on the electric cylinder leads to increased noise. ATTENTION: If a worn spindle nut breaks on a vertically or diagonally mounted electric cylinder, the work load falls. Uncontrolled moving mass can cause personal injury or damage equipment. 3. Clean the electric cylinder with a soft cloth, if necessary, by using any non-abrasive cleaning solution. 4. Lightly dampen a soft cloth with isopropyl alcohol and wipe the piston rod and seal. 5. Lubricate the piston rod with a fine layer of LUB-KC1 grease from Klueber at Storage Store your electric cylinder for a minimal amount of time in a clean and dry location within specifications found in the Kinetix Linear Motion Specifications Technical Data, publication KNX-TD2. 22 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

23 Troubleshooting Use the Troubleshooting table to troubleshoot your linear actuator. Description Possible cause Corrective action Axial play too large. Squeaking noises or vibrations. Piston rod does not move. No response from electric cylinder. Electric cylinder is enabled but not operating or is operating erratically. Electric cylinder is operating but is not up to rated speeds/ forces. Actuator cannot move load. Electric cylinder moves or vibrates when piston rod is in motion. Actuator is overheating. Wear. Distortions. Needs tuning. Running noises of the spindle support (with strokes 3 mm (11.81 in.) and high positioning speeds). Jamming in mechanical end position, after traveling at excessive speed or into end position. Load is too large. Ambient temperature too low (increased breakaway torque in initial run due to increasing viscosity of the lubricants in the spindle system). Controller/drive not enable. Controller/drive faulted. Improper/failed wiring. Feedback cable is damaged. Feedback wiring is incorrect. Motor phase are wired incorrectly or in incorrect order. Amplifier is improperly tuned. Amplifier is set up improperly for electric cylinder used. is too large for the capacity of the electric cylinder or too much friction is present. Misalignment of piston rod to load. Amplifier has too low current capacity or is limited to too low of current capacity. Loose mounting. Amplifier is improperly tuned- wrong gain setting. Duty cycle is higher than actuator rating. Actuator is being operated outside of continuous rating. Amplifier is poorly tuned, causing excessive current to be applied to motor. Replace actuator cylinder. Send to Rockwell Automation for repair. Check the electric cylinder is free of stress and evenly supported.2 mm (.8 in.). Lubricate piston rod. See Maintenance on page 22. Modify positioning speed. Modify control parameters. Normal, no impairment of function. Loosen jamming manually. 1. Switch off power supply. 2. Remove motor and coupling housing. 3. Turn drive shaft. Reduce speed for reference travel. Provide software end positions, at least.25 mm (.1 in.) from the mechanical end positions (stops). Reduce load mass. Reduce positioning speed. Return for repairs. Reduce load mass. Reduce positioning speed. If necessary, allow higher current with servo motors (see operating instructions for the motor). Increase ambient temperature. Enable controller/drive. Reset the controller/drive. Check the wiring. Test the feedback cable. Verify correct feedback wiring. Verify correct motor power wiring. Check gain settings. Check amplifier setting for number of poles, voltage, current, resistance, inductance, inertia, and other motor settings. Verify force requirements. Verify load alignment. Verify correct amplifier and settings. Check electric cylinder mounting. Tune amplifier. Verify load forces and electric cylinder rating. Adjust operation to be within continuous operation rating. Check gain settings. Rockwell Automation Publication TLAR-IN1D-EN-P - May

24 Accessories The following diagram and tables show the available accessories and their weights. Mounting accessory dimensions begin on page Mounting Accessories Accessory Item 1 Foot Mounting Kit Flange Mounting Flange Mounting (corrosion resistant) Trunnion Flange Trunnion Flange (corrosion resistant) Trunnion Support Trunnion Support (corrosion resistant) 5 Trunnion Mounting Kit Frame Cat. No. Weight, Approx g (oz) 32 MPAR-NA (8.46) 4 MPAR-NA (1.93) 63 MPAR-NA (17.99) 32 MPAR-NA (8.46) 4 MPAR-NA (9.88) 63 MPAR-NA (24.34) 32 MPAR-NA (8.46) 4 MPAR-NA (1.58) 63 MPAR-NA (25.4) 32 MPAR-NA (4.58) 4 MPAR-NA (8.46) 63 MPAR-NA (21.16) 32 MPAR-NA (5.29) 4 MPAR-NA (9.17) 63 MPAR-NA (22.57) 32 MPAR-NA (4.58) 4 MPAR-NA (14.11) 63 MPAR-NA (16.93) 32 MPAR-NA (7.5) 4 MPAR-NA (11.64) 63 MPAR-NA (11.64) 32 MPAR-NA (7.41) 4 MPAR-NA (13.76) 63 MPAR-NA (31.39) Item Dimensions page 27 page 27 page 28 page 28 page 29 page Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

25 Mounting Accessories (continued) Accessory Item 6 Clevis Foot Clevis Foot (right angle) Rod Eye Rod Eye (corrosion resistant) Rod Clevis Rod Clevis (corrosion resistant) 1 Rod Clevis 11 Coupling Piece 12 Self-aligning Rod Coupler Frame Cat. No. Weight, Approx g (oz) 32 MPAR-NA (7.76) 4 MPAR-NA (1.58) 63 MPAR-NA (2.46) 32 MPAR-NA (1.23) 4 MPAR-NA (12.7) 63 MPAR-NA (31.) 32 MPAR-NE (2.47) 4 MPAR-NE (3.53) 63 MPAR-NE (7.41) 32 MPAR-NE (2.47) 4 MPAR-NE (3.53) 63 MPAR-NE (7.41) 32 MPAR-NE (3.88) 4 MPAR-NE (6.) 63 MPAR-NE (13.76) 32 MPAR-NE (3.88) 4 MPAR-NE (6.35) 63 MPAR-NE (14.11) 32 MPAR-NE (4.94) 4 MPAR-NE (7.41) 63 MPAR-NE (17.64) 32 MPAR-NE (3.88) 4 MPAR-NE (6.35) 63 MPAR-NE (8.82) 32 MPAR-NE (7.41) 4 MPAR-NE (7.76) 63 MPAR-NE (22.93) Item Dimensions page 3 page 31 page 32 page 33 page 33 page 34 page 34 page 35 Rockwell Automation Publication TLAR-IN1D-EN-P - May

26 TL-Series Electric Cylinders Rod-end Accessories (continued) Accessory Item (1) 13 Rod Guide Cat. No. Frame Stroke Length mm (in) Weight, Approx kg MPAR-NE (3.94) 1.7 (3.747) MPAR-NE (7.87) 1.9 (4.19) 32 MPAR-NE (12.6) 2.1 (4.63) MPAR-NE (15.75) 2.3 (5.7) MPAR-NE345 1 (3.94) 2.7 (5.95) MPAR-NE (7.87) 3. (6.61) MPAR-NE (12.6) 3.4 (7.49) MPAR-NE (15.75) 3.7 (8.16) MPAR-NE (19.68) 4. (8.82) MPAR-NE (3.94) 5.9 (13.1) MPAR-NE (7.87) 6.4 (14.11) MPAR-NE (12.6) 7. (15.43) MPAR-NE (15.75) 7.4 (16.31) MPAR-NE (19.68) 7.9 (17.42) (1) See Rod Guide Dimensions-on page 36. Trunnion Mounting Kit Cat. No. Frame Size Torque N m (lb ft) MPAR-NA ( ) MPAR-NA ( ) MPAR-NA ( ) Coupling Piece Attachment Cat. No. Frame Size Max Torque (1) N m (lb ft) Max Torque (2) N m (lb ft) Max Torque (3) N m (lb ft) MPAR-NE (4.35) 34 (25.1) 12 (8.8) MPAR-NE (4.35) 61 (45.) 22 (16.2) MPAR-NE (7.3) 148 (19.2) 57 (42.) (1) Torque applies to mounting screws with standard threads and strength class 8.8. Apply torque evenly to mounting screws. (2) Torque applies to lock nut on piston rod. (3) Torque that the coupling can transmit with coefficient of friction μ =.1 and 1 x safety margin at maximum permissible tightening torque. 26 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

27 Mounting Accessory Dimensions Foot Mounting Kit Dimensions are in AU AO Frame 32 ØAB 7. (.28) ØD1 6.6 (.26) TR US 4 1. (.39) 9. (.35) L1 2x Ø D1 THRU. 2x Ø AB (.39) 9. (.35) AT AH H2 H1 SA+ XJ+ + = Plus Stroke Length B3 B2 B1 Cat. No. (1) Frame AH AO AT AU B1 B2 B3 H1 H2 TR US XJ SA L1 MPAR-NA (1.26) 6.5 (.26) 4. (.16) 24. (.94) 1 (3.94) 84. (3.31) 66.1 (2.6) 17.5 (.69) 26.1 (1.3) 32. (1.26) 45. (1.77) 16 (4.17) 14 (4.9) 32. (1.26) MPAR-NA (1.42) 9. (.35) 4. (.16) 28. (1.1) 13 (5.12) 18 (4.25) 85.2 (3.35) 15.7 (.62) 23.3 (.92) 36. (1.42) 54. (2.13) (5.1) (5.2) 34. (1.34) MPAR-NA (1.97) 12.5 (.49) 5. (.2) 32. (1.26) 15 (5.91) 128 (5.4) 14.8 (4.13) 22.9 (.9) 3.4 (1.2) 5. (1.97) 75. (2.95) (6.2) (6.) 41. (1.61) (1) Material is galvanized steel and subject to low corrosion stress. Contains no copper, PTFE, or silicone. Flange Mounting Attachment 4x Ø FB W Dimensions are in E R TF UF MF Attachment includes: 1 Flange mounting 4 Mounting bolts Cat. No. (1) Cat. No. (2) Corrosion Resistant Frame E FB H13 MF R TF UF MPAR-NA MPAR-NA (1.77) 7. (.28) 1. (.39) 32. (1.26) 64. (2.52) 8. (3.15) MPAR-NA MPAR-NA (2.13) 9. (.35) 1. (.39) 36. (1.42) 72. (2.83) 9. (3.54) MPAR-NA MPAR-NA (2.95) 9. (.35) 12. (.47) 5. (1.97) 1 (3.94) 12 (4.72) (1) Material is galvanized steel and subject to moderate corrosion stress. Contains no copper, PTFE, or silicone. (2) Material is high-alloy steel for environments requiring higher corrosion resistance. Contains no copper, PTFE, or silicone. Rockwell Automation Publication TLAR-IN1D-EN-P - May

28 Trunnion Flange Attachment TL TM TL XH Dimensions are in US TD C2 (2) C3 (2) TK Attachment includes: 1 Trunnion mounting 4 Mounting bolts Cat. No. (1) Cat. No. (2) Corrosion Resistant Frame C2 C3 TD e9 TK TL TM US MPAR-NA MPAR-NA (2.8) 86. (3.39) 12. (.47) 16. (.63) 12. (.47) 5. (1.97) 45. (1.77) MPAR-NA MPAR-NA (3.43) 15 (4.13) 16. (.63) 2. (.79) 16. (.63) 63. (2.48) 54. (2.13) MPAR-NA MPAR-NA (4.57) 136 (5.35) 2. (.79) 24. (.94) 2. (.79) 9. (3.54) 75. (2.95) (1) Material is special steel casting and subject to moderate corrosion stress. Contains no copper, PTFE, or silicone. (2) Material is electrolytically-polished special steel casting for environments requiring higher corrosion resistance. Contains no copper, PTFE, or silicone. (3) These dimensions are drawn to the trunnion support blocks as shown on page 29 (not included with the trunnion flange attachment). Trunnion Support Block Attachments CR Dimensions are in FS H1 NH DA TH UL KE Attachment includes two trunnion supports as shown. FK FN HB Cat. No. (1) Frame CR D11 DA H13 FK (2) FN FS H1 HB H13 KE NH TH (3) UL MPAR-NA (.47) 11. (.43) 15. (.59) 3. (1.18) 1.5 (.41) 15. (.59) 6.6 (.26) 6.8 (.27) 18. (.71) 32. (1.26) 46. (1.81) MPAR-NA (.63) 15. (.59) 18. (.71) 36. (1.42) 12. (.47) 18. (.71) 9. (.35) 9. (.35) 21. (.83) 36. (1.42) 55. (2.17) MPAR-NA (.79) 18. (.71) 2. (.79) 4. (1.57) 13. (.51) 2. (.79) 11. (.43) 11. (.43) 23. (.91) 42. (1.65) 65. (2.56) (1) Material is anodized aluminum and subject to moderate corrosion stress. Plain bearing: Polymer. Contains no copper, PTFE, or silicone. (2) Tolerance for this dimension is ±.1 mm (±.39 in.). (3) Tolerance for this dimension is ±.2 mm (±.79 in.). 28 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

29 Trunnion Support Block (corrosion resistant) Attachments 2x Ø HB H1 CR FS NH Dimensions are in TH UL Attachment includes two trunnion supports as shown. FK FN Cat. No. (1) Frame CR D11 FK (2) FN FS H1 HB H13 NH TH (3) UL MPAR-NA (.47) 15. (.59) 3. (1.18) 1.5 (.41) 15. (.59) 6.6 (.26) 18. (.71) 32. (1.26) 46. (1.81) MPAR-NA (.63) 18. (.71) 36. (1.42) 12. (.47) 18. (.71) 9. (.35) 21. (.83) 36. (1.42) 55. (2.17) MPAR-NA (.79) 2. (.79) 4. (1.57) 13. (.51) 2. (.79) 11. (.43) 23. (.91) 42. (1.65) 65. (2.56) (1) Material is high-alloy steel for environments requiring higher corrosion resistance. Contains no copper, PTFE, or silicone. (2) Tolerance for this dimension is ±.1 mm (±.39 in.). (3) Tolerance for this dimension is ±.2 mm (±.79 in.). Trunnion Mounting Attachment Dimensions are in TL B1 TM C2 (5) C3 (5) + = Plus Stroke Length + 1/2 = Plus Stroke Length TL Ø TD UW XG XV + 1/2 XJ + Cat. No. (1) (2) Frame B1 C2 C3 TD e9 TL TM UW XG XJ XV Tightening Torque N m (lb in) MPAR-NA (1.18) 71. (2.8) 86. (3.39) 12. (.47) 12. (.47) 5. (1.97) 65. (2.56) 65. (2.56) 17 (4.21) 86. (3.39) 4. (35.4) (3) MPAR-NA (1.26) 87. (3.43) 15 (4.13) 16. (.63) 16. (.63) 63. (2.48) 75. (2.95) 74.5 (2.93) 13.5 (5.14) 12.5 (4.4) 8. (7.7) (3) MPAR-NA (1.61) 116 (4.57) 136 (5.35) 2. (.79) 2. (.79) 9. (3.54) 15 (4.13) 91.5 (3.6) (6.2) (4.9) 18. (159) (4) (1) Material is tempered steel and subject to moderate corrosion stress. (2) You can attach the trunnion mounting kit anywhere along the cylinder barrel. (3) Tolerance for this tightening torque value is +1. N m (+8.8 lb in). (4) Tolerance for this tightening torque value is +2. N m (+17.7 lb in). (5) These dimensions are drawn to the trunnion support blocks as shown on page 28 (not included with the trunnion mounting attachment). Rockwell Automation Publication TLAR-IN1D-EN-P - May

30 Clevis Foot (pin) Attachment CL Dimensions are in EK CM MR GL HB FL LE Attachment includes: 1 Clevis foot 1 Pivot pin (2) 1 Retaining clip RF UK RG UX S1 Cat. No. (1) Frame CL CM EK FL GL HB LE MR RF RG S1 UK UX MPAR-NA (1.1) 14.1 (.56) 1. (.39) 32. (1.26) 16. (.63) 6.8 (.27) 24. (.94) 12. (.47) 42. (1.65) 2. (.79) 4.8 (.19) 56. (2.2) 36. (1.42) MPAR-NA (1.18) 16.1 (.63) 12. (.47) 36. (1.42) 2. (.79) 6.8 (.27) 26. (1.2) 14. (.55) 44. (1.73) 26. (1.2) 5.8 (.23) 58. (2.28) 41.5 (1.63) MPAR-NA (1.57) 21.1 (.83) 16. (.63) 5. (1.97) 25. (.98) 9. (.35) 38. (1.5) 17. (.67) 56. (2.2) 31. (1.22) 7.8 (.31) 7. (2.76) 47. (1.85) (1) Material is nodular graphite cast iron for environments requiring moderate corrosion resistance. Contains no copper, PTFE, or silicone. (2) The pivot pin is secured against rotation with a dowel pin. 3 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

31 Clevis Foot (right-angle) Attachment EM MR CK GL LE Dimensions are in Attachment includes: 1 Clevis foot 1 Pivot pin (5) 1 Retaining clip HB EB UK RF CL CM H3 S1 RG UX H2 FL H1 Cat. No. (1) Frame CK h9 CL CM (2) EB EM FL (3) GL (3) H1 (4) H2 H3 HB LE MPAR-NA (.39) 27. (1.6) 14.2 (.56) 11. (.43) 25. (.98) 32. (1.26) 22. (.87) 45. (1.77) 9. (.35) 14. (.55) 6.6 (.26) 18. (.71) MPAR-NA (.47) 31. (1.22) 16.2 (.64) 11. (.43) 25. (.98) 36. (1.42) 22. (.87) 52. (2.5) 9. (.35) 15. (.59) 6.6 (.26) 22. (.87) MPAR-NA (.63) 41. (1.61) 21.2 (.83) 15. (.59) 36. (1.42) 5. (1.97) 38. (1.5) 71. (2.8) 12. (.47) 2. (.79) 9. (.35) 28. (1.1) (1) Material is nodular graphite cast iron for environments requiring moderate corrosion resistance. (2) Tolerance for this dimension is +.2 mm (+.8 in.). (3) Tolerance for this dimension is ±.3 mm (±.12 in.) for Frame 32. Tolerance is js14 for Frame 4 and Frame 63. (4) Tolerance for this dimension is ±.5 mm (±.19 in.) for Frame 32 and Frame 4. (5) The pivot pin is secured against rotation with a dowel pin. Cat. No. Frame MR RF (1) RG (1) S1 UK UX MPAR-NA (.49) 4. (1.57) 29. (1.14) 4.8 (.19) 56. (2.2) 45. (1.77) MPAR-NA (.59) 4. (1.57) 29. (1.14) 5.8 (.23) 56. (2.2) 45. (1.77) MPAR-NA (.71) 57. (2.24) 47. (1.85) 7.8 (.31) 75. (2.95) 65. (2.56) (1) Tolerance for this dimension is ±.3 mm (±.12 in.) for Frame 32. Tolerance is js14 for Frame 4 and Frame 63. Rockwell Automation Publication TLAR-IN1D-EN-P - May

32 Rod-end Accessory Dimensions Components are designed to metric dimensions. Inch dimensions are approximate conversions from millimeters. Dimensions without tolerances are for reference. Rod-eye Attachment CE Dimensions are in EF D1 Attachment includes: 1 Rod eye 1 Hex nut FL1 EU Z AV FL2 B1 EN CN KK Cat. No. (1) Cat. No. (2) Corrosion Resistant Frame AV (3) B1 CE CN H7 D1 EF (4) EN EU Z Angle FL1 mm FL2 mm MPAR- NE9261 MPAR- NE (.79) 5. (.2) 43. (1.69) 1. (.39) 19. (.75) 14. (.55) 14. (.55) 1.5 (.41) MPAR- NE9262 MPAR- NE (.87) 6. (.24) 5. (1.97) 12. (.47) 22. (.87) 16. (.63) 16. (.63) 12. (.47) MPAR- NE9263 MPAR- NE (1.1) 8. (.31) 64. (2.52) 16. (.63) 27. (1.6) 21. (.83) 21. (.83) 15. (.59) (1) Material is galvanized steel and subject to moderate corrosion stress. Contains no copper, PTFE, or silicone. (2) Material is high-alloy steel for environments requiring higher corrosion resistance. Contains no copper, PTFE, or silicone. (3) Tolerance for this dimension is -2. mm (-.79 in.). (4) Tolerance for this dimension is ±.5 mm (±.2 in.). 32 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

33 Rod Clevis Attachment LE Dimensions are in D1 KK CM B2 CK CE CV Attachment includes: 1 Rod clevis 1 Hinged spring pin 1 Hex nut FL1 B1 B3 Cat. No. (1) Frame B1 B2 B3 CE (2) CK (3) H9 CM CV D1 LE (4) FL1 mm KK MPAR-NE (.2) 26. (1.2) 2. (.79) 4. (1.57) 1. (.39) 1. (5) (.39) 12. (.47) 18. (.71) 2. (.79) 17 M1x1.25 MPAR-NE (.24) 31. (1.22) 24. (.94) 48. (1.89) 12. (.47) 12. (6) (.47) 14. (.55) 2. (.79) 24. (.94) 19 M12x1.25 MPAR-NE (.31) 39. (1.54) 32. (1.26) 64. (2.52) 16. (.63) 16. (6) (.63) 19. (.75) 26. (1.2) 32. (1.26) 24 M16x1.5 (1) Material is galvanized steel and subject to moderate corrosion stress. Contains no copper, PTFE, or silicone. (2) Tolerance for this dimension is ±.4 (.16 in.). (3) Tolerance for this dimension is H9. (4) Tolerance for this dimension is ±.5 (.19 in.). (5) Tolerance for this dimension is B13. (6) Tolerance for this dimension is a range between mm ( in.). Rod Clevis Attachment (corrosion resistant) CM LE KK Dimensions are in B2 D1 CV CK CE Attachment includes: 1 Rod clevis 1 Pivot pin 1 Hex nut B3 B1 FL1 Cat. No. (1) Frame B1 B2 B3 CE (2) CK H9 CM CV D1 LE (3) FL1 mm KK MPAR-NE (.2) 27. (1.6) 2. (.79) 4. (1.57) 1. (.39) 1. (4) (.39) 12. (.47) 18. (.71) 2. (.79) 16 M1x1.25 MPAR-NE (.24) 33. (1.3) 24. (.94) 48. (1.89) 12. (.47) 12. (5) (.47) 14. (.55) 2. (.79) 24. (.94) 18 M12x1.25 MPAR-NE (.31) 43. (1.69) 32. (1.26) 64. (2.52) 16. (.63) 16. (5) (.63) 19. (.75) 26. (1.2) 32. (1.26) 24 M16x1.5 (1) Material is high-alloy steel for environments requiring higher corrosion resistance. Contains no copper, PTFE, or silicone. (2) Tolerance for this dimension is ±.4 (.16 in.). (3) Tolerance for this dimension is ±.5 (.19 in.). (4) Tolerance for this dimension is B13. (5) Tolerance for this dimension is a range between mm ( in.). Rockwell Automation Publication TLAR-IN1D-EN-P - May

34 Rod Clevis (threaded rod) Attachment 12 B2 CM CV CK L4 LE 3 T1 CE L2 L3 KK D1 Attachment includes: 1 Rod clevis 1 Pivot pin (2) 1 Retaining clip 5 5 Dimensions are in Use the rod clevis in combination with the rod eye for spherical mounting of cylinders. B3 B1 Rod Clevis Rod Eye Cat. No. (1) Frame B1 B2 d12 B3 CE CK F7/h9 CM B12 CV D1 L2 L3 L4 LE T1 KK MPAR- NE (.13) 28. (1.1) 2. (.79) 78. (3.7) 1. (.39) 14. (.55) 12. (.47) 18. (.71) 53. (2.9) 5. (1.97) 11. (.43) 2. (.79) 3. (.12) M1x1.25 MPAR- NE (.17) 3. (1.18) 25. (.98) 92. (3.62) 12. (.47) 16. (.63) 16. (.63) 19. (.75) 58. (2.28) 55. (2.17) 12. (.47) 26. (1.2) 3. (.12) M12x1.25 MPAR- NE (.17) 4. (1.57) 35. (1.38) 18 (4.25) 16. (.63) 21. (.83) 21. (.83) 24. (.94) 65. (2.56) 62. (2.44) 14. (.55) 31. (1.22) 3. (.12) M16x1.5 (1) Material is galvanized steel and subject to moderate corrosion stress. Contains no copper, PTFE, or silicone. (2) The pivot pin is secured against rotation with a dowel pin. Coupling Piece Attachment A 4x Ø D3 FL1 B4 B2 Dimensions are in Attachment includes: 1 Flange plate 1 Threaded coupling T1 B3 B1 A D1 H2 H1 SECTION A - A D2 KK (1) (2) Cat. No. Frame B1 B2 B3 B4 D1 (3) D2 D3 H13 H1 H2 T1 FL1 mm KK MPAR-NE (1.57) 35. (1.38) 3. (1.18) 25. (.98) 17. (.67) 26. (1.2) 5.5 (.22) 2. (.79) 1. (.39).1 (.4) 15 M1x1.25 MPAR-NE (1.97) 4. (1.57) 4. (1.57) 3. (1.18) 17. (.67) 26. (1.2) 5.5 (.22) 22. (.87) 12. (.47).1 (.4) 15 M12x1.25 MPAR-NE (2.36) 45. (1.77) 48. (1.89) 33. (1.3) 22. (.87) 34. (1.34) 6.6 (.26) 25. (.98) 12. (.47).1 (.4) 19 M16x1.5 (1) Material is galvanized steel and subject to moderate corrosion stress. Contains no copper, PTFE, or silicone. (2) Coupling is for non-rotating piston rods with male threads. You can use these coupling pieces to connect a cylinder with a non-rotating piston rod to another component with a defined orientation, without rotating either the cylinder or the other component. (3) Tolerance for this dimension is -.2 mm (-.8 in.). 34 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

35 Self-aligning Rod Coupler Attachment FL4 KK B1 D3 L6 L5 KK FL2 Dimensions are in D1 Attachment includes: 1 Self-aligning rod coupler 1 Hex nut FL3 L1 L4 L2 L3 4 4 D2 FL1.2 (.8 in.) max Angular Compensation Radial Compensation of Central Axis Cat. No. (1) Frame B1 D1 D2 D3 L1 L2 L3 L4 L5 L6 MPAR- NE (.2) 21.4 (.84) 32. (1.26) 13.8 (.54) 69.5 (2.74) 49.5 (1.95) 9. (.35) 34. (1.34) 23. (.91) 31. (1.22) MPAR-NE (.24) 21.4 (.84) 32. (1.26) 13.8 (.54) 74.5 (2.93) 5.5 (1.99) 1. (.39) 34. (1.34) 24. (.94) 32. (1.26) MPAR-NE (.31) 33.8 (1.33) 45. (1.77) 22. (.87) 13 (4.6) 71. (2.8) 1. (.39) 53. (2.9) 32. (1.26) 44.5 (1.75) Cat. No. (1) Frame FL1 mm FL2 mm FL3 mm FL4 mm Radial Deviation MPAR-NE ±.7 (±.27) M1x1.25 MPAR-NE ±.7 (±.27) M12x1.25 MPAR-NE ±1. (±.39) M16x1.5 (1) Material is galvanized steel and subject to moderate corrosion stress. Contains no copper, PTFE, or silicone. KK Rockwell Automation Publication TLAR-IN1D-EN-P - May

36 Rod Guide Dimensions L11 L1 + + = Plus Stroke Length Dimensions are in D3 L12 Compensating Coupling for Radial and Axial Misalignment D4 SECTION A - A L15 L4 L13 L14 L12 You can drill additional mounting holes along these axes as required. B2 L5 L6 D6 B1 FL1 D2 H4 L12 H2 B3 D1 KK B4 H1 H3 L12 L1 L9 L2 + L11 + = Plus Stroke Length Piston Rod Cylinder Shown for Reference L16 L16 D2 Frame B1 (1) B2 B3 (2) B4 (3) D1 D2 D3 D4 D6 h6 H1 H2 H3 (2) H4 (2) KK (1.97) 45. (1.77) 74. (2.91) 5.5 (1.99) 44. (1.73) M6 11. (.43) 6.6 (.26) 12. (.47) 97. (4) (3.82) 9. (3.54) 61. (2.4) 78. (3.7) M1x (2.28) 54. (2.13) 87. (3.43) 58.5 (2.3) 44. (1.73) M6 11. (.43) 6.6 (.26) 16. (.63) 115 (4) (4.53) 11 (4.33) 69. (2.72) 84. (3.31) M12x (3.35) 8. (3.15) 119 (4.69) 85.5 (3.37) 6. (2.36) M8 15. (.59) 9. (.35) 2. (.79) 152 (5) (5.98) 145 (5.71) 1 (3.94) 15 (4.13) M16x1.5 (1) Tolerance for this dimension is -.3 mm (-.12 in.). (2) Tolerance for this dimension is ±.2 mm (±.8 in.). (3) Tolerance for this dimension is ±.3 mm (±.12 in.). (4) Tolerance for this dimension is -.4 mm (-.16 in.). (5) Tolerance for this dimension is -.5 mm (-.19 in.). Frame L1 L2 L4 L5 L6 L9 L1 L11 L12 (1) L13 (1) L14 (1) L15 L16 FL1 mm (6.1) 67. (2) (2.64) 125 (4.92) 24. (.94) 76. (2.99) 2. (.79) 12. (.47) 4.3 (.17) 32.5 (1.28) 7.3 (2.77) 78. (3.7) 6.5 (.26) 12. (.47) (6.69) 75. (2) (2.95) 14 (5.51) 28. (1.1) 81. (3.19) 22. (.87) 12. (.47) 11. (.43) 38. (1.5) 84. (3.31) 6.5 (.26) 14. (.55) (8.66) 89. (3) (3.5) 182 (7.17) 34. (1.34) 111 (4.37) 25. (.98) 15. (.59) 15.3 (.6) 56.5 (2.22) 15 (4.13) 9. (.35) 16. (.63) 19 (1) Tolerance for this dimension is ±.2 mm (±.8 in.). (2) Tolerance for this dimension is +5. mm (+.197 in.). (3) Tolerance for this dimension is +1. mm (+.394 in.). 36 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

37 Rod Guide Specifications Rod guides protect ISO standard cylinders from torsion when subjected to radial or torsional side loads. They provide high-precision guidance for workpiece handling and other handling applications. Rod Guides for Fixed Strokes Rod Guide Cat. No. Frame 32 Stroke Cat. No. Frame 4 Stroke Cat. No. Frame 63 Stroke MPAR-NE ( ) MPAR-NE ( ) MPAR-NE ( ) MPAR-NE ( ) MPAR-NE ( ) MPAR-NE ( ) MPAR-NE ( ) MPAR-NE ( ) MPAR-NE ( ) MPAR-NE ( ) MPAR-NE15291 MPAR-NE ( ) 1 5 ( ) MPAR-NE34519 MPAR-NE ( ) 1 5 ( ) Material Specifications Recirculating Ball-bearing Guide Item Attribute Value (1) 1 Yoke Plate Aluminium 2 Coupling Steel 3 Guide Aluminium 4 Bearing Steel 5 Guide Rods Steel (1) Contains no copper, PTFE, or silicone. Rockwell Automation Publication TLAR-IN1D-EN-P - May

38 Maximum Working Load (F) as a Function of Cantilever Extension A A X S A = Cantilever Extension X = Distance for Center of Gravity of Working Load S = Center of Gravity of Working Load Maximum Load s (frame 32) F A + X (mm) Maximum Load s (frame 4) F A + X (mm) Maximum Load s (frame 63) F A + X (mm) 38 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

39 General Specifications TL-Series Electric Cylinders Rod Load Ratings Electric cylinders must have the weight of the load supported and guided separately so that only axial force (no radial load) is required of the piston rod throughout the complete extend and retract motion. If some residual radial and/or torsional loading remains unavoidable, a rod guide can be added. Refer to Motion Analyzer software, version 4.7 or later, for assistance when making these calculations and to determine when a rod guide is needed. Maximum Permissible Lateral s Fy max and Fz max on the Piston Rod If there are two or more forces and torques acting simultaneously on the piston rod, the following equations must be true: [Fy] Fy max [Fx] [Mx] + [Fz] [My] Fz max + [Mz] My max + Mz max 1 Fx max Mx max Horizontal Mounting Position 1 5 Vertical Mounting Position 1 5 Fy, Fz, Fy, Fz, l (mm) l (mm) Load Ratings TL-Series (frame 32) TL-Series (frame 4) TL-Series (frame 63) TL-Series Electric Cylinders Attribute Frame 32 Frame 4 Frame 63 Fx max (static) 6 N (135 lb) 14 N (315 lb) 37 N (832 lb) Mx max 1 N m (8.8 lb in) 1 N m (8.8 lb in) 1.5 N m (13.3 lb in) My max, Mz max 8 N m (7.7 lb in) 2 N m (177 lb in) 27 N m (239 lb in) Rockwell Automation Publication TLAR-IN1D-EN-P - May

40 TL-Series Electric Cylinders Piston Rod Deflection Specifications These specifications are for determining the amount of shaft deflection to expect from a given load. Piston-rod deflection specifications are a function of stroke length. F f TL-Series Electric Cylinders (frame 32) l f (mm) mm (.83 in.) deflection at stroke limit of 188 mm (7.4 in.) for 45 N (1.1 lb) load l (mm) Lateral F = N Lateral F = 1 N (2.25 lb) Lateral F = 2 N (4.5 lb) Lateral F = 45 N (1.1 lb) TL-Series Electric Cylinders (frame 4) f (mm) mm (.75 in.) deflection at stroke limit of 185 mm (7.28 in.) for 155 N (34.8 lb) load l (mm) Lateral F = N Lateral F = 2 N (4.5 lb) Lateral F = 3 N (6.74 lb) Lateral F = 4 N (8.99 lb) Lateral F = 115 N (25.85 lb) TL-Series Electric Cylinders (frame 63) f (mm) mm (.122 in.) deflection at stroke limit of 389 mm (15.31 in.) for 95 N (21.36 lb) load l (mm) Lateral F = N Lateral F = 2 N (4.5 lb) Lateral F = 3 N (6.74 lb) Lateral F = 4 N (8.99 lb) Lateral F = 95 N (21.36 lb) 4 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

41 TL-Series Electric Cylinders Life Specifications Electric cylinder life specifications (running performance) are based on a combination of tested and calculated data. If the parameters of your application are different, your results can be different. The achievable running performance, expressed as L (km), is a function of mean feed force F, according to DIN as shown below and illustrated on page 42. Refer to Motion Analyzer software, version 4.7 or later, for assistance when making these calculations and determining the running performance for your application. Calculation of the Feed Fx The peak feed force value must not exceed the maximum feed force within a movement cycle. In the case of vertical operation, the peak value is generally achieved during the acceleration phase of the upwards stroke. If the maximum feed force is exceeded, you can increase wear and shorten the service life of the ballscrew. The maximum speed must likewise not be exceeded. During operation, the continuous feed force can be briefly exceeded up to the maximum feed force. The continuous feed force must, however, be adhered to when averaged over a movement cycle. Mean Feed Speed (to DIN ) q vxm = vx x vx1 x q1 + vx2 x q2 vx3 x q3 1 + vx (mm/s) vx1 vx2 vx3 Fx and Vx Fxm Fx max Vx max vx max vxm Fx cont q1 q2 q (1%) q3 Mean Feed (to DIN ) 3 Fxm = Fx 3 vx x q = vxm x 1 3 Fxm = Fx1 3 x vx1 x q1 + Fx2 3 x vx2 x q2 + Fx3 3 x vx3 x q3 + vxm 1 vxm 1 vxm 1 F x = Feed V x = Feed Speed Fx Fx1 q1 Fx 2 q2 q (1%) Fx 3 q3 Fx max Fxm F xm = Mean Feed V xm = Mean Feed Speed F xmax = Maximum Feed V xmax = Maximum Feed Speed F xcont = Continuous Feed q = % of Time Rockwell Automation Publication TLAR-IN1D-EN-P - May

42 The achievable running performance, L (km), is a function of mean feed force F, according to DIN as illustrated in the figures below. TL-Series Electric Cylinders (frame 32) F L (km) TLAR-A1xxxB TLAR-A1xxxE TL-Series Electric Cylinders (frame 4) F L (km) TLAR-A2xxxC TLAR-A2xxxF TL-Series Electric Cylinders (frame 63) F L (km) TLAR-A3xxxE TLAR-A3xxxH 42 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

43 TL-Series Electric Cylinders General Specifications Attribute Frame 32 Frame 4 Frame 63 Construction design Ballscrew servo-driven non-rotating piston rod (1) Piston rod thread M1x1.25 M12x1.25 M16x1.5 Working stroke 1 mm (3.94 in.) 2 mm (7.87 in.) 3 mm (11.81 in.) 4 mm (15.75 in.) (1) The maximum rotational force (Mx) applied in the application is limited as specified in Load Ratings on page 39. (2) In new condition. 1 mm (3.94 in.) 2 mm (7.87 in.) 3 mm (11.81 in.) 4 mm (15.75 in.) 6 mm (23.62 in.) 1 mm (3.94 in.) 2 mm (7.87 in.) 3 mm (11.81 in.) 4 mm (15.75 in.) 6 mm (23.62 in.) 8 mm (31.5 in.) Protection against torsion/guide Plain bearing guide Stroke reserve mm Angle of rotation at the piston rod, max ±.3 ±.25 ±.2 Impact energy (E) at the end positions E=.5 x m x v2.1 J.2 J.4 J Positioning repeatability, max ±.2 mm (.8 in.) Reversing backlash, max (2).5 mm (.2 in.) Duty cycle 1% Position sensing (feedback) Multi-turn absolute encoder Type of mounting Mounting position Via female threads Via accessories Any TL-Series Electric Cylinders Motor Brake Specifications Electric Cylinder Cat. No. Holding N Coil Current at 24V DC A Release ms Brake Response Time Engage (by using external arc suppression device) MOV ms Diode ms TLAR-A1xxxB 3 (67) TLAR-A1xxxE 35 (79) TLAR-A2xxxC 525 (118) TLAR-A2xxxF 552 (124) TLAR-A3xxxE 1414 (318) TLAR-A3xxxH 77 (159) Rockwell Automation Publication TLAR-IN1D-EN-P - May

44 TL-Series Electric Cylinders Performance Specifications Electric Cylinder (1) Cat. No. Frame Peak Feed N Continuous Stall N Speed, max m/s (in/s) TLAR-A1xxxB-BxA 32 TLAR-A1xxxE-BxA 35 (79) 28 (63).5 (19.7) TLAR-A2xxxC-BxA Stroke Lengths 3 (67) 24 (54).15 (5.9) 1 (3.94) 2 (7.87) 4 TLAR-A2xxxF-BxA 8 (18) 52 (117).64 (25.2) TLAR-A3xxxE-BxA 3 (11.81) 4 (15.75) 525 (118) 42 (94).25 (9.8) 1 (3.94) 2 (7.87) 63 TLAR-A3xxxH-BxA 1625 (365) 975 (219) 1. (39.4) 3 (11.81) 4 (15.75) 6 (23.62) 25 (562) 175 (393).5 (19.7) 1 (3.94) 2 (7.87) 3 (11.81) 4 (15.75) 6 (23.62) 8 (31.5) Acceleration, max m/s 2 (in/s 2 ) 6. (236) (1) Stroke length replaces xxx in each catalog number. TL-Series Electric Cylinders Moving Load Specifications Attribute TLAR-A1xxxB TLAR-A1xxxE TLAR-A2xxxC TLAR-A2xxxF TLAR-A3xxxE TLAR-A3xxxH Frame 32, Weight, approx g (oz) Frame 4, Weight, approx g (oz) Frame 63, Weight, approx g (oz) Moving load with mm stroke 17 (6.) 2 (7.5) 31 (1.93) 38 (13.4) 81 (28.57) 81 (1.79) Moving load per 1 mm stroke 6.9 (.24) 6.9 (.24) 8.9 (.31) 8.9 (.31) 12.8 (.45) 12.8 (.28) Weight Specifications Electric Cylinder Cat. No. Weight, Approx kg Electric Cylinder Cat. No. (1) If ordering an TLAR-A1xxxB-B2A electric cylinder with brake, add.2 kg (.4 lb). (2) If ordering an TLAR-A1xxxE-B2A electric cylinder with brake, add.5 kg (1.1 lb). (3) If ordering an TLAR-A2xxxx-B2A electric cylinder with brake, add.4 kg (.9 lb). (4) If ordering an TLAR-A3xxxx-B2A electric cylinder with brake, add.6 kg (1.3 lb). Weight, Approx (3) kg Electric Cylinder Cat. No. Weight, Approx (4) kg TLAR-A11B-B2A 1.7 (3.75) (1) TLAR-A21C-B2A 3.1 (6.83) TLAR-A31E-B2A 9.5 (2.94) TLAR-A12B-B2A 2. (4.41) (1) TLAR-A22C-B2A 3.6 (7.94) TLAR-A32E-B2A 1.3 (22.71) TLAR-A13B-B2A 2.4 (5.29) (1) TLAR-A23C-B2A 4. (8.82) TLAR-A33E-B2A 11.1 (24.47) TLAR-A14B-B2A 2.7 (5.95) (1) TLAR-A24C-B2A 4.5 (9.92) TLAR-A34E-B2A 11.9 (26.23) TLAR-A11E-B2A 2.4 (5.29) (2) TLAR-A26C-B2A 5.4 (11.9) TLAR-A36E-B2A 13.5 (29.76) TLAR-A12E-B2A 2.8 (6.17) (2) TLAR-A21F-B2A 3.7 (8.16) TLAR-A38E-B2A 15.2 (33.51) TLAR-A13E-B2A 3.1 (6.83) (2) TLAR-A22F-B2A 4.1 (9.4) TLAR-A31H-B2A 9.3 (2.5) TLAR-A14E-B2A 3.4 (7.49) (2) TLAR-A23F-B2A 4.6 (1.14) TLAR-A32H-B2A 1.1 (22.27) TLAR-A24F-B2A 5.1 (11.24) TLAR-A33H-B2A 1.9 (24.3) TLAR-A26F-B2A 6. (13.23) TLAR-A34H-B2A 11.7 (25.79) TLAR-A36H-B2A 13.4 (29.54) TLAR-A38H-B2A 15. (33.7) 44 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

45 Actuator Cylinders (weight of replacement cylinder) Actuator Cylinder (1) Cat. No. (1) Replacement actuator cylinder example, if ordering a replacement cylinder for electric cylinder catalog number TLAR-A21C-B2A, the replacement actuator cylinder is catalog number MPAR-X21C. Compatible Cables Weight, Approx kg Actuator Cylinder (1) Cat. No. Weight, Approx kg Actuator Cylinder Cat. No. Weight, Approx kg MPAR-X11B 1.1 (2.43) MPAR-X21C 1.7 (3.75) MPAR-X31E 3.8 (8.38) MPAR-X12B 1.4 (3.9) MPAR-X22C 2.2 (4.85) MPAR-X32E 4.6 (1.14) MPAR-X13B 1.7 (3.75) MPAR-X23C 2.6 (5.73) MPAR-X33E 5.4 (11.9) MPAR-X14B 2.1 (4.63) MPAR-X24C 3.1 (6.83) MPAR-X34E 6.3 (13.89) MPAR-X11E 1.1 (4.63) MPAR-X26C 4. (8.82) MPAR-X36E 7.9 (17.46) MPAR-X12E 1.4 (3.9) MPAR-X21F 1.8 (3.97) MPAR-X38E 9.5 (2.94) MPAR-X13E 1.8 (3.97) MPAR-X22F 2.3 (5.7) MPAR-X31H 3.8 (8.38) MPAR-X14E 2.1 (4.63) MPAR-X23F 2.8 (6.17) MPAR-X32H 4.6 (1.14) MPAR-X24F 3.2 (7.5) MPAR-X33H 5.4 (11.9) MPAR-X26F 4.2 (9.26) MPAR-X34H 6.3 (13.89) MPAR-X36H 7.9 (17.42) MPAR-X38H 9.5 (2.94) Threaded Plastic (M6) Cable Plugs TLAR-Axxxx Electric Cylinders Threaded Plastic Connectors 29-CPWM6DF-16AAxx (standard, non-flex) power-only cables 29-CPBM6DF-16AAxx (standard, non-flex) power-with-brake cables 29-CFBM6DF-CBAAxx (standard, non-flex) flying-lead, feedback cables 29-CFBM6DD-CCAAxx (standard, non-flex) drive-end connector, feedback cables Refer to the Kinetix Motion Accessories Technical Data, publication KNX-TD4, for cable specifications. Rockwell Automation Publication TLAR-IN1D-EN-P - May

46 Performance Specifications with Kinetix 3/35 (2V-class) Drives This section provides system combination information for the Kinetix 3/35 drives when matched with TL-Series electric cylinders. Included are power/brake and feedback cable catalog numbers, system performance specifications, and the optimum force/velocity curves. Bulletin TLAR Cable Combinations Electric Cylinder Cat. No. (2V-class) Motor Power/Brake Cable Motor Feedback Cable (1) TLAR-A1xxxB TLAR-A1xxxE TLAR-A2xxxC TLAR-A2xxxF TLAR-A3xxxE TLAR-A3xxxH 29-CPWM6DF-16AAxx (standard, non-flex) (without brake) 29-CPBM6DF-16AAxx (standard, non-flex) (with brake) 29-CFBM6DF-CBAAxx (standard, non-flex) Absolute High-resolution Feedback (1) The TLY-Axxxx-B motors with 17-bit high-resolution encoder feedback (mounted to the electric cylinder) require the 29-CFBM6DF-CBAAxx flying-lead feedback cable and 29-K2CK-D15M connector kit with 29-DA-BAT2 battery. For cable configuration illustrations and feature descriptions, by catalog number, refer to Compatible Cables on page 45. Cable length xx is in meters. Refer to the Kinetix Motion Accessories Technical Data, publication KNX-TD4, for standard cable lengths. Performance Specifications (non-brake) with Kinetix 3/35 (2V-class) Drives Electric Cylinder Cat. No. Speed, max mm/s (in/s) System Continuous Stall Current Amps -pk System Continuous Stall N System Peak Stall Current Amps -pk System Peak Stall N TLAR-A1xxxB (53.9) (67.4).36 TLAR-A1xxxE (62.9) (78.7).14 TLAR-A2xxxC (94.4) (118).15 TLAR-A2xxxF (144) (18).35 TLAR-A3xxxE (45) (562).93 TLAR-A3xxxH (292) (365).93 Motor Rated Output kw Kinetix 3/35 2V-class Single-phase or Three-phase Drives 297-V33PR1-xx 297-V32PR-xx 297-V31PR-xx 297-V33PR1-xx 297-V32PR-xx 297-V31PR-xx 297-V33PR1-xx 297-V32PR-xx 297-V31PR-xx 297-V33PR1-xx 297-V32PR-xx 297-V31PR-xx 297-V33PR5-xx 297-V32PR4-xx 297-V33PR5-xx 297-V32PR4-xx Performance specification data and curves reflect nominal system performance of a typical system with actuator at 4 C (14 F) and drive at 4 C (14 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. 46 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

47 Performance Specifications (brake) with Kinetix 3/35 (2V-class) Drives Electric Cylinder Cat. No. Speed, max mm/s (in/s) System Continuous Stall Current Amps -pk System Continuous Stall N System Peak Stall Current Amps -pk System Peak Stall N TLAR-A1xxxB (53.9) (67.4).36 TLAR-A1xxxE (62.9) (78.7).14 TLAR-A2xxxC (94.4) (118).15 TLAR-A2xxxF (144) (18).35 TLAR-A3xxxE (45) (562).93 TLAR-A3xxxH (292) (365).93 Motor Rated Output kw Kinetix 3/35 2V-class Single-phase or Three-phase Drives 297-V33PR1-xx 297-V32PR-xx 297-V31PR-xx 297-V33PR1-xx 297-V32PR-xx 297-V31PR-xx 297-V33PR1-xx 297-V32PR-xx 297-V31PR-xx 297-V33PR1-xx 297-V32PR-xx 297-V31PR-xx 297-V33PR5-xx 297-V32PR4-xx 297-V33PR5-xx 297-V32PR4-xx Performance specification data and curves reflect nominal system performance of a typical system with actuator at 4 C (14 F) and drive at 4 C (14 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. Rockwell Automation Publication TLAR-IN1D-EN-P - May

48 Kinetix 3/35 (2V-class) Drives/TL-Series Electric Cylinder Curves V31PR, 297-V32PR, or 297-V33PR1 and TLAR-A1xxxB-B2A Intermittent curve represents three-phase or single-phase inputs V31PR, 297-V32PR, or 297-V33PR1 and TLAR-A1xxxB-B4A (brake) Intermittent curve represents three-phase or single-phase inputs V31PR, 297-V32PR, or 297-V33PR1 and TLAR-A1xxxE-B2A Intermittent curve represents three-phase or single-phase inputs V31PR, 297-V32PR, or 297-V33PR1 and TLAR-A1xxxE-B4A (brake) Intermittent curve represents three-phase or single-phase inputs V31PR, 297-V32PR, or 297-V33PR1 7 and TLAR-A2xxxC-B2A Intermittent curve represents three-phase or single-phase inputs V31PR, 297-V32PR, or 297-V33PR1 and TLAR-A2xxxC-B4A (brake) Intermittent curve represents three-phase or single-phase inputs = Intermittent operating region = Continuous operating region Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

49 Kinetix 3/35 (2V-class) Drives/TL-Series Electric Cylinder Curves (continued) V31PR, 297-V32PR, or 297-V33PR1 and TLAR-A2xxxF-B2A V31PR, 297-V32PR, or 297-V33PR1 and TLAR-A2xxxF-B4A (brake) Intermittent curve represents three-phase or single-phase inputs Intermittent curve represents three-phase or single-phase inputs V32PR4 or 297-V33PR5 and TLAR-A3xxxE-B2A V32PR4 or 297-V33PR5 and TLAR-A3xxxE-B4A (brake) Intermittent curve represents three-phase or single-phase inputs Intermittent curve represents three-phase or single-phase inputs V32PR4 or 297-V33PR5 and TLAR-A3xxxH-B2A V32PR4 or 297-V33PR5 and TLAR-A3xxxH-B4A (brake) Intermittent curve represents three-phase or single-phase inputs. 4 Intermittent curve represents three-phase or single-phase inputs = Intermittent operating region = Continuous operating region Rockwell Automation Publication TLAR-IN1D-EN-P - May

50 Performance Specifications with Kinetix 3 (2V-class) Drives This section provides system combination information for the Kinetix 3 drives when matched with TL-Series (2V-class) electric cylinders. Included are power/brake and feedback cable catalog numbers, system performance specifications, and the optimum force/velocity curves. Bulletin TLAR Cable Combinations Electric Cylinder Motor Power/Brake Cable Motor Feedback Cable (1) TLAR-A1xxxB TLAR-A1xxxE TLAR-A2xxxC TLAR-A2xxxF TLAR-A3xxxE TLAR-A3xxxH 29-CPWM6DF-16AAxx (standard, non-flex) (without brake) 29-CPBM6DF-16AAxx (standard, non-flex) (with brake) 29-CFBM6DF-CBAAxx (standard, non-flex) Absolute High-resolution Feedback (1) The TLY-Axxxx-B motors with 17-bit high-resolution encoder feedback (mounted to the electric cylinder) require 29-CFBM6DF-CBAAxx flying-lead feedback cables and 271-TBMF connector kit (with customer-supplied battery). For cable configuration illustrations and feature descriptions, by catalog number, refer to Compatible Cables beginning on page 45. Cable length xx is in meters. Refer to the Kinetix Motion Accessories Technical Data, publication KNX-TD4, for standard cable lengths. Bulletin TLAR (non-brake) Performance Specifications with Kinetix 3 Drives Electric Cylinder Speed, max mm/s (in/s) System Continuous Stall Current Amps -pk System Continuous Stall N Bulletin TLAR (brake) Performance Specifications with Kinetix 3 Drives System Peak Stall Current Amps -pk System Peak Stall N Rated Output kw Kinetix 3 2V-class Drives TLAR-A1xxxB (53.9) (67.4) AP TLAR-A1xxxE (62.9) (78.7) AP2 TLAR-A2xxxC (94.4) (118) AP2 TLAR-A2xxxF (144) (18) AP4 TLAR-A3xxxE 5 2 (45) (562) 271-A TLAR-A3xxxH 1 13 (292) (365) 271-A15 Electric Cylinder Speed, max mm/s (in/s) System Continuous Stall Current Amps -pk System Continuous Stall N System Peak Stall Current Amps -pk System Peak Stall N Rated Output kw Kinetix 3 2V-class Drives TLAR-A1xxxB (53.9) (67.4) AP TLAR-A1xxxE (62.9) (78.7) AP2 TLAR-A2xxxC (94.4) (118) AP2 TLAR-A2xxxF (144) (18) AP4 TLAR-A3xxxE 5 2 (45) (562) 271-A TLAR-A3xxxH 1 13 (292) (365) 271-A15 Performance specification data and curves reflect nominal system performance of a typical system with actuator at 4 C (14 F) and drive at 5 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. 5 Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

51 Kinetix 3 (2V-class) Drives/TL-Series Electric Cylinder Curves AP and TLAR-A1xxxB-B2A AP and TLAR-A1xxxB-B4A (Brake) AP2 and TLAR-A1xxxE-B2A AP2 and TLAR-A1xxxE-B4A (Brake) AP2 and TLAR-A2xxxC-B2A AP2 and TLAR-A2xxxC-B4A (Brake) = Intermittent operating region = Continuous operating region Rockwell Automation Publication TLAR-IN1D-EN-P - May

52 Kinetix 3 (2V-class) Drives/TL-Series Electric Cylinder Curves (continued) AP4 and TLAR-A2xxxF-B2A AP4 and TLAR-A2xxxF-B4A (Brake) A1 and TLAR-A3xxxE-B2A A1 and TLAR-A3xxxE-B4A (Brake) A15 and TLAR-A3xxxH-B2A A15 and TLAR-A3xxxH-B4A (Brake) = Intermittent operating region = Continuous operating region Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

53 Performance Specifications with Kinetix 2 (2V-class) Drives This section provides system combination information for the Kinetix 2 (2V class) drives when matched with TL-Series (2Vclass) electric cylinders. Included are power/brake and feedback cable catalog numbers, system performance specifications, and the optimum force/velocity curves. Electric Cylinder Cable Combinations Electric Cylinder Motor Power/Brake Cable Motor Feedback Cable (1) TLAR-A1xxxB TLAR-A1xxxE TLAR-A2xxxC TLAR-A2xxxF TLAR-A3xxxE TLAR-A3xxxH 29-CPWM6DF-16AAxx (standard, non-flex) (without brake) 29-CPBM6DF-16AAxx (standard, non-flex) (with brake) 29-CFBM6DF-CBAAxx (standard, non-flex) Absolute High-resolution Feedback (1) TLY-Axxxx-B motors with 17-bit high-resolution encoder feedback (mounted to the electric cylinder) require the 29-CFBM6DF-CBAAxx flying-lead feedback cable and 29-K2CK-D15M connector kit with 29-DA-BAT2 battery. For cable configuration illustrations and feature descriptions, by catalog number, refer to Compatible Cables beginning on page 45. Cable length xx is in meters. Refer to the Kinetix Motion Accessories Technical Data, publication KNX-TD4, for standard cable lengths. Electric Cylinder (non-brake) Performance Specifications with Kinetix 2 Drives Electric Cylinder Speed, max mm/s (in/s) System Continuous Stall Current Amps -pk System Continuous Stall N Electric Cylinder (brake) Performance Specifications with Kinetix 2 Drives System Peak Stall Current Amps -pk System Peak Stall N Rated Output kw Kinetix 2 2V-class Drives TLAR-A1xxxB (53.9) (67.4) AMP2 TLAR-A1xxxE (62.9) (78.7) AMP5 TLAR-A2xxxC (94.4) (118).15 TLAR-A2xxxF (144) (18) AM1 TLAR-A3xxxE 5 2 (45) (562) AM2 TLAR-A3xxxH 1 13 (292) (365) Electric Cylinder Speed, max mm/s (in/s) System Continuous Stall Current Amps -pk System Continuous Stall N System Peak Stall Current Amps -pk System Peak Stall N Rated Output kw Kinetix 2 2V-class Drives TLAR-A1xxxB (53.9) (67.4) AMP2 TLAR-A1xxxE (62.9) (78.7) AMP5 TLAR-A2xxxC (94.4) (118).15 TLAR-A2xxxF (144) (18) AM1 TLAR-A3xxxE 5 2 (45) (562) AM2 TLAR-A3xxxH 1 13 (292) (365) Performance specification data and curves reflect nominal system performance of a typical system with actuator at 4 C (14 F) and drive at 5 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. Rockwell Automation Publication TLAR-IN1D-EN-P - May

54 Kinetix 2 Drives/TL-Series Electric Cylinder Curves AMP2 and TLAR-A1xxxB-B2A Intermittent curve represents three-phase and single-phase inputs AMP2 and TLAR-A1xxxB-B4A (Brake) Intermittent curve represents three-phase and single-phase inputs AMP5 and TLAR-A1xxxE-B2A Intermittent curve represents three-phase and single-phase inputs AMP5 and TLAR-A1xxxE-B4A (Brake) Intermittent curve represents three-phase and single-phase inputs AMP5 and TLAR-A2xxxC-B2A Intermittent curve represents three-phase and single-phase inputs AMP5 and TLAR-A2xxxC-B4A (Brake) Intermittent curve represents three-phase and single-phase inputs = Intermittent operating region = Continuous operating region Rockwell Automation Publication TLAR-IN1D-EN-P - May 218

55 Kinetix 2 Drives/TL-Series Electric Cylinder Curves (continued) AM1 and TLAR-A2xxxF-B2A AM1 and TLAR-A2xxxF-B4A (Brake) Intermittent curve represents three-phase and single-phase inputs Intermittent curve represents three-phase and single-phase inputs AM2 and TLAR-A3xxxE-B2A AM2 and TLAR-A3xxxE-B4A (Brake) Intermittent curve represents three-phase and single-phase inputs Intermittent curve represents three-phase and single-phase inputs AM2 and TLAR-A3xxxH-B2A AM2 and TLAR-A3xxxH-B4A (Brake) Intermittent curve represents three-phase and single-phase inputs Intermittent curve represents three-phase and single-phase inputs = Intermittent operating region = Continuous operating region Rockwell Automation Publication TLAR-IN1D-EN-P - May

56 Additional Resources These documents contain more information concerning related products from Rockwell Automation. Resource TL-Series Servo Motors Installation Instructions, publication TL-IN3 Kinetix 2 Multi-axis Servo Drive User Manual, publication 293-UM1 Kinetix 3 Component Servo Drives User Manual, publication 271-UM1 Kinetix 3 EtherNet/IP Indexing Servo Drives User Manual, publication 297-UM1 Kinetix 35 Single-axis EtherNet/IP Servo Drives User Manual, publication 297-UM2 Motion Analyzer System Sizing and Selection Tool website System Design for Control of Electrical Noise Reference Manual, publication GMC-RM1 Kinetix Motion Control Selection Guide, publication KNX-SG1 Description Information on installing TL-Series motors. Information on installing, configuring, starting up and troubleshooting a Kinetix 2 servo drive system with a TL-Series electric cylinder and Kinetix 2 servo drive. Information on installing, configuring, starting up, and troubleshooting a Kinetix 3 servo drive system with a TL-Series electric cylinder and Kinetix 3 servo drive. Information on installing, configuring, starting up, and troubleshooting a Kinetix 3 servo drive system with a TL-Series electric cylinder and Kinetix 3 servo drive. Information on installing, configuring, startup, and troubleshooting a Kinetix 35 servo drive system with a TL-Series electric cylinder and Kinetix 35 servo drive. Comprehensive motion application sizing tool used for analysis, optimization, selection, and validation of your Kinetix Motion Control system. Information, examples, and techniques that are designed to minimize system failures that are caused by electrical noise. Specifications, motor/servo-drive system combinations, and accessories for Kinetix motion control products. You can view or download publications at To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative. Rockwell Automation Support For technical support, visit At the end of its life, this equipment should be collected separately from any unsorted municipal waste. Rockwell Automation maintains current product environmental information on its website at Allen-Bradley, Connected Components Workbench, Kinetix, MP-Series, Rockwell Automation, Rockwell Software, RSLogix 5, Studio 5 Logix Designer, and TL-Series are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies. Rockwell Otomasyon Ticaret A.Ş., Kar Plaza İş Merkezi E Blok Kat: İçerenköy, İstanbul, Tel: +9 (216) Publication TLAR-IN1D-EN-P - May 218 Supersedes Publication TLAR-IN1C-EN-P September 215 Copyright 218 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.