Moog LCA User manual

USERS’ MANUAL

FOR

Linear Encoder Options LCA, LCB, LCC,

LCD and LCE

AVAILABLE WITH

MOOG ADVANCED-HIGH FORCE LINEAR MOTORS

UM-103 Revision B

Date: 03/17/09

Linear Encoder Option designed by Motor Option Numbers

LCA, LCB, LCC, LCD and LCE

Moog Components Group

Springfield Operations

750 West Sproul Road

Springfield, PA 19064

Ph: 610-328-4000, Toll Free: 800-510-6885

Fx: 610-605-6216 2009

E-mail: [email protected] Web-site: www.moog.com/components

Page 1 of 21

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UM-102 3 of 21 Revision B

Table of Contents:

1. SAFETY:.................................................................................................................. 4

2. WARNINGS, CAUTIONS AND NOTES:............................................................ 4

3. SCOPE: .................................................................................................................... 7

4. INTRODUCTION:.................................................................................................. 8

4.1. Installation Sequence:................................................................................. 9

5. INFORMATION FOR DRIVE OR CONTROLLER SETUP:........................ 10

6. MECHANICAL MOUNTING NOTES:............................................................. 11

6.1. Encoder Alignment:.................................................................................. 11

6.2. Dual-Face Mounting:................................................................................ 12

6.3. End-Stops:................................................................................................. 12

6.4. Notes:........................................................................................................ 12

7. ENCODER CABLE CONNECTIONS:.............................................................. 14

7.1. Selecting the Linear Encoder Modular Cables: ........................................ 14

7.2. Wiring the Linear Encoder to the Drive with the Pigtail Cable:............... 15

7.2.1. Pigtail Lead Terminations:........................................................................ 15

7.2.2. Pigtail cable signal descriptions:............................................................... 16

7.2.2.1. Encoder and Hall Sensor Power: ...................................................... 16

7.2.2.2. Digital Quadrature Incremental Signals A and B:............................ 17

7.2.2.3. Sin/Cos signals using Option LCE: .................................................. 17

7.2.2.4. Encoder Misalignment Fault Alarm E:............................................. 17

7.2.2.5. Signal Quality / Alignment signal X:................................................ 17

7.2.2.6. Reference Mark (Z, Vo) and Limit Switch (Vq) signals:................. 18

7.2.2.7. Commutation (Hall Sensor) Connections:........................................ 19

7.2.2.8. Inner and Outer Shields: ................................................................... 20

7.2.2.9. Voltage Sense wires Vref+ and Vref-:.............................................. 20

APPENDIX-A: (REVISION HISTORY) ..................................................................... 21

UM-102 4 of 21 Revision B

WARNING: Identifies information about

practices or circumstances that can lead to

personal injury, property damage, or loss of life

if not correctly followed.

CAUTION: Identifies information about

practices or circumstances that can lead to

severe equipment damage.

Moog motors are capable of producing high forces and velocities. Always

follow appropriate safety precautions when installing and applying these motors.

Equipment should be designed and utilized to prevent personnel from coming in

contact with moving parts that could potentially cause injury.

Safety:

Read the Moog Linear Motor User’s Manual which applies to the motor you are using

before attempting to operate this device.

Read all cautions, warnings and notes before attempting to operate this device.

Follow all applicable codes and standards.

The following conventions are used on the equipment and found in this

manual. Please read all equipment labels and manuals before attempting to use Moog

Linear Motors.

Warnings, Cautions and Notes:

A WARNING identifies information that is critical for identifying and avoiding a hazard

that could lead to serious personnel injury or equipment damage.

A CAUTION identifies information that is critical to prevent permanent equipment

damage.

UM-102 5 of 21 Revision B

NOTE: Identifies information that is critical for successful

application and understanding of the product.

A NOTE identifies information that is critical for successful application and

understanding of the product.

Follow all warnings and cautions listed in this manual and in the applicable Moog Linear

Motor User’s Manual when working with Moog Components Group High Force Linear

Motors.

WARNING: Do not remove the Linear Position Sensor Cover

plates or otherwise disassemble the Linear Position

Sensor. Hands, fingers or clothing may be pinched or

caught in the moving parts.

WARNING: Do not step onto or apply lateral Loads to the Linear

Position Sensor Housing.

CAUTION: The Moog Linear Motor Bearing System is not designed

to support large lateral loads. Lateral loading of the

shaft during movement will limit bearing life and cause

Linear Position Sensor misalignment leading to loss of

position control and phasing.

CAUTION: The Moog Linear Position Sensor is not designed to

accommodate shaft rotation. An external torque applied

to the shaft will cause Linear Position Sensor

misalignment leading to loss of position control and

phasing.

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CAUTION: The Moog Linear Position Sensor contains electronic

circuitry that can be damaged by misapplication of

electrical power, or by applying electrical power of the

wrong voltage or polarity. To avoid damaging the

Linear Position Sensor, always use the correct Moog –

approved cable intended for the Drive in use. Ensure

correct sensor power supply voltage and that all

custom sensor cables are properly wired before

applying power.

CAUTION: When pigtail Linear Position Sensor cables are used

(EC series) do not leave stripped wire ends

unprotected. Shorting of the wire ends will damage the

Encoder.

CAUTION:Electrical Phasing of the Linear Position Sensor

Commutation Track is set by the factory and normally

should not require adjustment. Loosening of the

magnet track screws will allow the magnet track to

misalign, resulting in loss of commutation. Excessive

loosening of the magnet track screws will allow the

magnet track to fall toward and strike the Linear Motor

shaft necessitating repair by Moog.

CAUTION: The Moog Linear Position Sensor is not designed to

accommodate shock loads greater than 100 G. Ensure

that the shaft does not slam into either end stop.

Slamming may result in encoder misalignment and / or

damage to the Encoder.

CAUTION: The Linear Encoder Option is not designed to be

removed, aligned, adjusted, disassembled or installed

by the user.

UM-102 7 of 21 Revision B

This manual provides information for the installation of Linear Encoder

Options LCA, LCB, LCC, LCD and LCE which are available with the Moog

4020/5020 Linear Motors. For all other aspects of Linear Motor installation, please

refer to the appropriate user’s manual.

Scope:

Fig 3-1

Linear Encoder Option on a 50204C Motor.

UM-102 8 of 21 Revision B

The Linear Encoder Option is provided as a mechanically integral part of the

Linear Motor. Depending upon the motor drive system and the Linear Encoder

option specified, it provides the required Position Feedback, Commutation data,

Reference Mark, Limit switch and Encoder Fault alarm functions.

Introduction:

Typical Servo System with Moog Motor:

Moog Motor with Linear Scale Option LCX

Fig 4-1

Options LCX provide Integral Motor Position Sensing as part of the

Linear Motor System.

CAUTION: The Linear Encoder Option is not designed to be

removed, aligned, adjusted, disassembled or

installed by the user.

UM-102 9 of 21 Revision B

4.1.

Installation Sequence:

Use the following sequence when installing a Moog linear motor the Linear

Sensor Option. Those steps in bold apply specifically to this Linear Encoder

Installation manual.

1. Read the applicable motor installation manual and observe all warnings,

cautions, and notes in Sections 1 and 2 of that manual.

2. Read additionally and observe this manual’s warnings, cautions, and notes

(Sections 1 and 2 of this manual).

3. Properly mount the motor (Section 5 of the Motor Installation Manual).

4. Ensure that no lateral loads or torques are applied to the motor shaft

which will impair encoder operation (Section 6 of this manual).

5. Configure Encoder position signals and Commutation signals to indicate

positive motion consistent with positive Drive effort and positive shaft

movement (Section 7 of the Motor Installation Manual).

6. Make the Encoder cable connections (Section 7 of this manual)

7. Interconnect the motor to the control system (Section 6 of the Motor

Installation Manual).

8. Ensure good electrical shielding and grounding throughout the system

(Section 6.5 of the Motor Installation Manual).

9. Initialize the motor with the control system, limits and controller / Drive

sensing and commutation parameters for the Encoder option used) (Section

7 of the Motor Installation manual).

10. Attach the load in a manner that does not induce or cause binding when the

motor is stationary or moving (Section 5.3 of the Motor Installation Manual).

11. Tune the system for desired performance and accuracy (Section 7.4 of the

Motor Installation Manual).

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Information for Drive or Controller Setup:

The motor part number specifies the Linear Encoder Option:

CLD4020D06-LCX-T-CV

LCX is either LCA, LCB, LCC, LCD or LCE. Linear Encoder options A through E

provide different resolutions, signal types, and compatibility. The Interface Control

Drawing for the Linear Encoder option contains the relevant specifications.

Option Scale Resolution Feedback Type

LCA 5 micron 5080 cts/inch Quadrature Incremental

LCB 1 micron 25400 cts/inch Quadrature Incremental

LCC 0.5 micron 50800 cts/inch Quadrature Incremental

LCD 0.1 micron 254000 cts/inch Quadrature Incremental

LCE 20 micron See Note 1 Sin/Cos

Table 5-1. Summary of Linear Encoder Options

Note 1: Resolution of the Sin/Cos encoder depends on the level of interpolation

provided by the encoder interface of your control system.

Note that all options provide 120 degree, Positive Hall format Commutation Signals

per NEMA ICS 16.

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