ALxxxx Linear Servomotors
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- Gabriella Watkins
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1 ALxxxx Linear Servomotors Primary section: Coil unit Secondary section: Magnet plate (sealed) 848
2 AL20xx Iron core motor, magnetic path width 80 mm AL24xx Iron core motor, magnetic path width 50 mm AL28xx Iron core motor, magnetic path width 130 mm Compact power packages: Linear Servomotors AL2xxx The AL2xxx Linear Servomotors complement the servomotors series and can be used wherever rotary design reaches mechanical limits during installation, or where special drive characteristics, in terms of dynamics, synchronism or acceleration, are required. Linear Servomotors are easy to set up and are not subject to mechanical wear. Moreover, there are virtually no limits on travel options. With their high acceleration characteristics, Linear Servomotors can achieve positioning velocities of up to 10 m/s with a high force constant and a very good force/mass ratio. The pole spacing is the same for all the motors of a motor series. This has the advantage that the procedure for adjusting the drive amplifiers and the adaptation to a linear encoder is always the same, which saves time during commissioning. In principle, it is possible to operate several primary sections on one magnetic track. This significantly reduces the installation and component costs and opens up application options that would not normally be considered for linear motors. AL2200 magnetic encoder system (MES) for linear motors The feedback system required by linear motors for commutation and detection of speed and position normally consists of a reading head and a graduated rule installed parallel to the travel path. The hardware requirements for the complete system increase with the length of the travel path. The AL2200 in contrast detects the magnetic field of a magnetic plate and supplies the servo drive with the incremental encoder signals for commutation and position control. The MES supplies one sine oscillation per logical motor revolution. A logical motor revolution is equivalent to the distance between two homopolar magnets, i.e. between two north poles, for example. The attainable accuracy of ±0.1 mm is sufficient for simple positioning tasks and depends to a large extent on the mechanical accuracy and position of the magnets along the travel path. Since no graduated rule has to be installed, the MES is a cost-efficient feedback solution for linear motors. Ironless AL3800 Linear Servomotors
3 AL2xxx AL20xx AL24xx AL28xx AL2xxx Linear Servomotors 850 The 3-phase Synchronous Linear Servomotors of the AL2xxx series consist of a primary section and a secondary section. The primary section contains a grooved, laminated core with inlaid copper windings. It is generally used as the moving part. The secondary section contains the steel plate with attached permanent magnets. The motors of the individual series have the same width (including magnetic plate), i.e. all motors can be operated on the same magnetic plates, in any combination. The magnetic plates are fully sealed and therefore have an almost perfectly level and robust surface. The primary sections have an IP 64 protection rating and are therefore suitable for application in harsh environments. They are equipped with a 0.5 m cable strand and optionally with pre-assembled connectors, so that they can be coupled with the servo drives either via the connector box or via plug connectors. This greatly reduces the difficulty of implementing the cabling, and makes a significant contribution to avoiding errors. In conjunction with the AX5000 Servo Drives the linear motors of the AL2xxx series are very suitable for dynamic movements, which require high acceleration values over short distances. Features accelerations up to 30 g no mechanical wear complete absence of backlash, giving stiff control response extremely precise positioning, high repeatability even, immediate force, little cogging very low thermal resistance, allowing high capacity utilisation protection from thermal overload through integrated temperature sensors Operation with the AX5000 is made extremely simple through default values. connection to the AX5000 through pre-assembled cables AL20xx velocity: 4 m/s or 10 m/s peak forces: 225 N to 1,800 N AL24xx velocity: 8 m/s peak forces: 120 N to 480 N AL28xx velocity: 2.5 m/s or 6 m/s peak forces: 1,800 N to 6,750 N operation optionally with or without water cooling AL2200 scaleless feedback system (MES) for Linear Servomotors An MES system is available as an optional accessory for monitoring the magnetic field of the permanent magnets on the magnetic plate. With the aid of an integrated electronic unit, it provides incremental encoder signals for the Servo Drives of the AX5000 series for commutation, velocity and position control. The MES provides a sine wave per 24 mm pole pitch and a precision of 1/10 mm. AL225x connector box The AL225x connector boxes facilitate wiring between linear motor and servo drive. On one side, the motor, feedback and thermal protection cables are connected. The standard motor and encoder cables are connected on the other side of the boxes.
4 AL2000 AL2000 Linear Servomotors la b h lb Dimensions b la h AL mm 98 mm 40 mm AL mm 146 mm 40 mm AL mm 195 mm 40 mm AL mm 244 mm 40 mm AL mm 290 mm 40 mm AL mm 336 mm 40 mm AL mm 468 mm 40 mm Technical drawings at Technical data AL2003 AL2006 AL2009 AL2012 AL2015 AL2018 AL2024 Winding type S N S N S N S N S N S N S Speed max. 7 m/s 3.5 m/s (N), 2.5 m/s (N), 3.5 m/s (N), 3.5 m/s (N), 3.5 m/s (N), 3.5 m/s (N), Motor configuration 3-phase synchronous Linear Servomotors ( V AC) Peak force 3 sec. (FP) 225 N 450 N 675 N 900 N 1125 N 1350 N 1800 N Peak current (IPa) 5 A 6.5 A (N), 15 A (S) 6.5 A (N), 19 A (S) 13.1 A (N), 26 A (S) 13 A (N), 33 A (S) 19.6 A (N), 41 A (S) 26 A (N), 52 A (S) Continuous force with 75 N 200 N 300 N 400 N 500 N 600 N 800 N air cooling (Fca) Continuous current with air cooling (Ica) 1.6 A 2.15 A (N), 4.3 A (S) 2.14 A (N), 6.45 A (S) 4.3 A (N), 8.6 A (S) 4.46 A (N), 10.7 A (S) 6.45 A (N), A (S) 8.6 A (N), 17.2 A (S) Force constant (Kf) 46 N/A 93 N/A (N), 46 N/A (S) 140 N/A (N), 46 N/A (S) 93 N/A (N), 46 N / A (S) 112 N/A (N), 46 N / A (S) 93 N/A (N), 44.9 N / A (S) 93 N/A (N), 46 N / A (S) Motor constant (Km) 185 N²/W 370 N²/W 570 N²/W 740 N²/W 950 N²/ W 1140 N²/W 1520 N²/ W Magnet pitch 24 mm Magnetic attraction force (Fa) 500 N 950 N 1325 N 1700 N 2075 N 2450 N 3400 N Weight of the coil (Mp) 0.9 kg 1.5 kg 2.0 kg 2.6 kg 3.2 kg 3.8 kg 5.2 kg Air gap 0.5 mm Temperature sensor PTC 1 kω Corresponding Servo Drive AX5x03 AX5x03 (N), AX5x06 (S) AX5x03 (N), AX5112 (S) AX5x06 (N), AX5112 (S) AX5x06 (N), AX5112 (S) AX5112 (N), AX5118 (S) AX5112 (N), AX5118 (S) AL y AL x-000y AL x-000y AL x-000y AL x-000y AL x-000y AL x-000y AL20xx-000x-000y coil unit Linear Servomotor, V, Fp = 225 N, Fca = 75 N Linear Servomotor, V, Fp = 450 N, Fca = 200 N Linear Servomotor, V, Fp = 675 N, Fca = 300 N Linear Servomotor, V, Fp = 900 N, Fca = 400 N Linear Servomotor, V, Fp = 1125 N, Fca = 500 N Linear Servomotor, V, Fp = 1350 N, Fca = 600 N Linear Servomotor, V, Fp = 1800 N, Fca = 800 N 851 Option x = 0: N type, x = 1: S type Option y = 0: without connector plug, y = 1: with connector plugs (motor and temperature) AL AL AL21xx-0000 magnet plate magnetic assembly (lb = 192 mm, weight 3.8 kg/m), for AL20xx motors magnetic assembly (lb = 288 mm, weight 3.8 kg/m), for AL20xx motors Options, pre-assembled cables and accessories see page 854
5 AL2400 AL2400 Linear Servomotors la b h lb Dimensions b la h AL mm 93 mm 40 mm AL mm 143 mm 40 mm AL mm 241 mm 40 mm Technical drawings at Technical data AL2403 AL2406 AL2412 Winding type S Speed max. 12 m/s Motor configuration 3-phase synchronous Linear Servomotors ( V AC) Peak force 3 sec. (FP) 120 N 240 N 480 N Peak current (IPa) 4.1 A 8.2 A 16.4 A Continuous force with 60 N 120 N 240 N air cooling (Fca) Continuous current with 1.5 A 3.0 A 6.0 A air cooling (Ica) Force constant (Kf) 39 N/A Motor constant (Km) 95 N²/W 190 N²/W 380 N²/W Magnet pitch 24 mm Magnetic attraction force (Fa) 300 N 500 N 900 N Weight of the coil (Mp) 0.6 kg 0.9 kg 1.6 kg Air gap 0.5 mm Temperature sensor PTC 1 kω Corresponding Servo Drive AX5x03 AX5x03/AX5x06 AX5x06/AX AL y AL y AL y AL24xx y coil unit Linear Servomotor, V, Fp = 120 N, Fca = 60 N Linear Servomotor, V, Fp = 240 N, Fca = 120 N Linear Servomotor, V, Fp = 480 N, Fca = 240 N S type Option y = 0: without connector plug, y = 1: with connector plugs (motor and temperature) AL AL AL AL25xx-0000 magnet plate magnetic assembly (lb = 96 mm, weight 2.1 kg/m), for AL24xx motors magnetic assembly (lb = 144 mm, weight 2.1 kg/m), for AL24xx motors magnetic assembly (lb = 384 mm, weight 2.1 kg/m), for AL24xx motors Options, pre-assembled cables and accessories see page 854
6 AL2800 AL2800 Linear Servomotors la b h lb Dimensions b la h AL mm 244 mm 45 mm AL mm 290 mm 45 mm AL mm 568 mm 45 mm (1) AL mm 852 mm 47 mm (1) Height h deviating for water-cooled variant: h = 47 mm Technical drawings at Technical data AL2812 AL2815 AL2830 AL2845 Winding type N S N S N S N S Speed max. 3 m/s (N), 6 m/s (S) 3.5 m/s (N), 6 m/s (S) 2.5 m/s (N), 6 m/s (S) 2.5 m/s (N), 6 m/s (S) Motor configuration 3-phase synchronous Linear Servomotors ( V AC) Peak force 3 sec. (FP) 1800 N 2250 N 4500 N 6750 N Peak current (IPa) 13 A (N), 26 A (S) 13.5 A (N), 33 A (S) 27 A (N), 65 A (S) 41 A (N), 98 A (S) Continuous force with 2000 N 3000 N water cooling (Fcw) Continuous force with 760 N 950 N 1900 N 2850 N air cooling (Fca) Continuous current with water cooling (Icw) 8.9 A (N), 21.5 A (S) 13.4 A (N), 32.3 A (S) Continuous current with air cooling (Ica) 4.1 A (N), 8.2 A (S) 4.2 A (N), 10.2 A (S) 8.5 A (N), 20 A (S) 12.5 A (N), 31 A (S) Force constant (Kf) 186 N/A (N), 93 N/A (S) 225 N/A (N), 93 N/A (S) 225 N/A (N), 93 N/A (S) 225 N/A (N), 93 N/A (S) Motor constant (Km) 1750 N²/W 2150 N²/W 4300 N²/W 6450 N²/W Magnet pitch 24 mm Magnetic attraction force (Fa) 3400 N 4150 N 8300 N N Weight of the coil (Mp) 5 kg 6 kg 12 kg 18 kg Air gap 0.5 mm Temperature sensor PTC 1 kω Corresponding Servo Drive AX5x06 (N), AX5112 (S) AX5x06 (N), AX5118 (S) AX5112 (N), AX5125 (S) AX5118 (N), AX5118 (S) AL28xx-000x-000y coil unit AL x-000y Linear Servomotor, V, Fp = 1800 N, FCa = 760 N AL x-000y Linear Servomotor, V, Fp = 2250 N, FCa = 950 N AL x-0000 Linear Servomotor, V, Fp = 4500 N, FCa = 1900 N AL x-0000 Linear Servomotor, V, Fp = 4500 N, FCa = 1900 N, water cooling AL x-0000 Linear Servomotor, V, Fp = 6750 N, FCa = 2850 N, water cooling 853 Option x = 0: N type, x = 1: S type Option y = 0: without connector plug, y = 1: with connector plugs (only possible with AL2812 and AL2815!) AL AL AL29xx-0000 magnet plate magnetic assembly (lb = 192 mm, weight 10.5 kg/m), for AL28xx motors magnetic assembly (lb = 288 mm, weight 10.5 kg/m), for AL28xx motors Options, pre-assembled cables and accessories see page 854
7 ALxxxx accessories Accessories for Linear Motors ALxxxx MES feedback system for Linear Servomotors The MES supplies one sine oscillation per logical motor revolution. Since no graduated rule has to be installed, the MES is an inexpensive feedback solution for linear motors. AL x Feedback system Pict. AL x magnetic encoder system (MES) for AL2000, AL2400 and AL2800 Linear Servomotors A Option x = 0: without connector plug, x = 1: with connector plug Connector box for ALxxxx The AL225x connector boxes facilitate wiring between linear motor and the Servo Drive. They are mounted on the linear slide and move with the motor. The motor cable, the thermal protection contact cable and the encoder cable are inserted into the box through cable glands and connected to the terminal strip. The temperature contact is linked to the motor and encoder cable, so that no thermal protection contact cable is required. The standard motor and encoder cables are connected on the other side of the boxes. AL225x-0001 Connector box Pict. AL connector box for AL2003-AL and AL B AL connector box for AL and AL AL connector box for AL Installation options Linear Servomotors/connector box Cable AX5000 C AX AL2250 Motor cable ZK Thermal protection ZK contact cable Encoder cable for MES ZK or absolute encoder Encoder cable for encoder ZK with zero pulse Coil and feedback system with connector plugs without connector plugs D C D 854 AL2xxx Linear Servomotor AL2xxx Linear Servomotor AL2250 connector box A B
8 ALxxxx accessories Motor cable 1.5 mm² for ALxxxx at AX5000 (1.5 A 12 A) Motor cable with 1.5 mm² wire gauge, highly flexible, for drag-chain use Pict. ZK xxxx highly flexible, drag-chain useable cable (5 million bending cycles), max. 240 m/min, max. 30 m/s², min. bending radius = 87 mm (7 x OD), max. chain length horizontal 20 m, vertical 5 m, length < 25 m, (4 x 1.5 mm² + 2 x (2 x 0.75 mm²)) E ZK example for 5 m length ZK xxxx length 25 m ZK xxxx not assembled ZK xxxx extension cable F Motor cable 2.5 mm² for ALxxxx at AX5000 (18 25 A) Motor cable with 2.5 mm² wire gauge, highly flexible, for drag-chain use Pict. ZK xxxx highly flexible, drag-chain useable cable (5 million bending cycles), max. 240 m/min, max. 30 m/s², bending radius = 95 mm (7 x OD), max. chain length horizontal 20 m, vertical 5 m, length < 25 m, (4 x 2.5 mm² + 2 x (2 x 1 mm²)) E ZK example for 5 m length ZK xxxx length 25 m ZK xxxx not assembled ZK xxxx extension cable F 855 E F
9 ALxxxx accessories Encoder cable (absolute encoder) for ALxxxx and AL2250 at AX5000 Encoder cable with 0.14 mm² wire gauge, highly flexible, for drag-chain use Pict. ZK xxxx highly flexible, drag-chain usable cable (5 million bending cycles), max. 240 m/min, max. 30 m/s², min. bending radius = 53 mm (7 x OD), max. chain length: horizontal = 20 m, vertical = 5 m, ZK (7 x 2 x 0.14 mm² + 2 x 0.5 mm²) example for 5 m length A ZK xxxx extension cable, highly dynamic, suitable as trailing cable B ZK xxxx not assembled Encoder cable (SinCos encoder with zero pulse) for ALxxxx and AL2250 at AX5000 ZK xxxx Encoder cable with 0.14 mm² wire gauge, highly flexible, for drag-chain use highly flexible, drag-chain usable cable (5 million bending cycles), max. 240 m/min, max. 30 m/s², min. bending radius = 53 mm (7 x OD), max. chain length: horizontal = 20 m, vertical = 5 m, (7 x 2 x 0.14 mm² + 2 x 0.5 mm²) Thermal protection cable for ALxxxx at AX Thermal protection cable with 0.14 mm² wire gauge, highly flexible, for drag-chain use Pict. ZK xxxx highly flexible, drag-chain usable cable (5 million bending cycles), max. 240 m/min, max. 30 m/s², min. bending radius = 38 mm (7 x OD), max. chain length: horizontal = 20 m, vertical = 5 m, (2 x 2 x 0.14 mm²) C Note: required if no connector box is used.
10 Accessories Connectors for AMxxxx, ALxxxx servomotors and cables Pict. ZS EMC thermo-protective plug (female), D-sub, 9-pin, for AL2000, AL2400, AL2800 linear motors (counterpart to thermostat contact at AX5000 Servo Drive) D ZS EMC power coupling (male), M23, 8-pin, for motor cable extension ZK x3-xxxx and ZK x4-xxx (counterpart to motor cable ZK x3-xxxx and ZK x4-xxxx) E ZS metal flange for motor cable, itec, M23 and feedback cable with itec, to adjust the connector, including sealings ZS metal flange for feedback cable, M23, to adjust the connector, including sealings F ZS EMC power connector (female), itec, 9-pin, for motor cable ZK xxxx (counterpart to motor socket AM3100/AM8100) ZS EMC power connector (female), M23, 9-pin, for motor cable ZK450x-80x3-xxxx and ZK450x-80x4-xxxx (counterpart to motor socket AM8000/AM8500) ZS EMC resolver connector (female), itec, 12-pin, for resolver cable ZK453x-8110-xxxx (counterpart to motor socket AM801x, AM802x, AM803x, AM853x) ZS EMC resolver connector (female), M23, 12-pin, for resolver cable ZK453x-8010-xxxx (counter part for motor socket AM8x4x up to AM8x7x) ZS EMC power connector (female), itec, 9-pin, for motor cable ZK450x-8022-xxxx and ZK xxxx (counter part for motor socket AM80xx/AM81xx/AM85xx with itec) A B C 857 D E F
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