Gimatic LV SERIES User manual

ELECTRIC LINEAR ACTUATORS
LV SERIES
USER GUIDE
Version 2.1

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TABLE OF CONTENTS
1. SAFETY - General prod ct safety information
1.1.General safety
2. INTRODUCTION - Introd ction to this ser g ide
2.1.Abo t this ser g ide
2.2.Terms and abbreviations
3. PRODUCT OVERVIEW - Abo t Gimatic's prod cts: feat res and catalog e n mber interpretation
3.1.Abo t Gimatic's LV Act ators
3.2.Feat res
3.3.LV and LVP systems
3.4.LV prod ct range
3.5.Catalog e n mber interpretation
4. SYSTEM DESIGN - How to design a LV based system for yo r application
4.1.System components
4.2.Electric linear slides
4.2.1.Application
4.2.2.Slider
4.2.3.Stator
4.2.4.Weight co nter balance
4.2.5.Brake
4.2.6. Cable carrier
4.3.Servo drive
4.4.Linear encoder
4.5.Sensors
5. SPECIFICATIONS - Overall characteristics of LV linear slide
5.1.Electrical
5.2.Operative fields
5.3.Static thr sts
5.4.Mechanical
5.5.Safety loads
5.6.Deflection
6. INSTALLATION - Mechanical and electrical config ration
6.1.Unpacking
6.2.Mechanical
6.2.1.Linear encoder
6.2.2. Mo nting examples
6.3.Electrical
6.3.1.Motor power and temperat re feedback
6.3.2.Sensors
6.3.3.Electromagnetic compatibility (EMC)

6.4.Servo drive config ration
7. MAINTENANCE - S ggested activities for systems based on Gimatic's LV prod cts
8. ACCESSORIES - Available accessories
9. APPENDIX - Additional information
9.1.Application contin o s force calc lation example
9.2.D ty cycle calc lation
10. SERVICE ENQUIRIES - Information req ired for a correct enq iry
10.1. Main Application Data

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LV Electric Linear Act ators
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1. SAFETY
This man al and the warnings attached to the LV linear slides only highlight hazards that can be predicted
by Gimatic. Be aware they do not cover all possible hazards.
Gimatic shall not be responsible for any accidents ca sed by the mis se or ab se of the device by the
operator.
Safe operation of these devices is yo r own responsibility. By taking note of the safety preca tions, tips and
warnings in this man al, yo can help to ens re yo r own safety and the safety of those aro nd yo .
WARNIN
: Embedded t b lar motor shafts contain powerf l permanent magnets.
People with pacemakers, AICD or similar medical devices sho ld maintain a
minim m distance of 30 cm from the shaft.
DAN ER HI
H VOLTA E
: Ens re the power has been completely disconnected
before to ching any electrical connections. Electrical shock can ca se serio s or
fatal inj ry.
DAN ER HI H VOLTA E
: The system m st be properly gro nded before applying
power. Ens re the system has been gro nded according to Section 6.3.1 Motor
power and temperature feedback. National and local electrical codes m st be
followed. Electrical shock can ca se serio s or fatal inj ry.
WARNIN
: The shaft emits a very strong magnetic field. Always se ca tion when
handling. To avoid inj ry, keep fingers and other body parts clear.
WARNIN
: When embedded temperat re sensor (PTC) is employed a t
emperat re
val e of 95 °C m st be set as maxim m temperat re allowed for the stator d ring
driver’s programming. This is eq ivalent to the PTC val e less or eq al to 1330 Ω
(Section 4.5 Sensors). Whenever PTC connection is not possible a proper i2t
parameter has to be set by the ser d ring driver’s programming in order to
preserve ML stator from permanent damaging.

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LV Electric Linear Act ators
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1.1 eneral safety
The following points m st be nderstood and adhered to at all times:
•Eq ipment operators m st read the User G ide caref lly and make s re of the correct proced re
before operating the LV linear act ators.
•Memorize the locations of the power and drive isolator switches so that yo can activate them
immediately at any time if req ired.
•If two or more people are working together, establish signals so that they can comm nicate to
confirm safety before proceeding to another step.
•Be aware of the closest First Aid station.
•Always make s re there are no obstacles or people near the devices d ring installation and or
operation. Be aware of yo r environment and yo r s rro ndings.
•Keep the area aro nd LV act ators clean and tidy.
•Take preca tions to ens re that yo r clothing, hair or personal effects (s ch as jewelry) cannot
become entangled in the eq ipment.
•Do not t rn on any of the eq ipment witho t all safety feat res in place and known to be
f nctioning correctly. Never remove any covers or g ards nless instr cted by the proced res
described in this man al.
•Never to ch any exposed wiring, connections or fittings while the eq ipment is in operation.
•Vis ally check all switches on the operator panel before operating them.
•Do not apply any mechanical force to the LV act ators, which may ca se malf nction or fail re.
•Never attempt cleaning or inspection when the machine is operating.
•Clean or inspect the eq ipment only after isolating all power so rces.
•Only s itably q alified personnel sho ld install, operate, repair and/or replace this eq ipment.
•Ens re all external wiring is clearly labeled. This will assist yo and yo r colleag es in identifying
possible electrical safety hazards.
•Use cables with the minim m cross sectional area as specified in the Electrical Connection
specification section of this g ide.
•Install cables according to local legislation and reg lations as applicable.
•Ens re there are not moving parts of the act ator while in contact with the motor’s electrical
connections. Movement can ind ce a voltage that co ld ca se an electrical shock.

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LV Electric Linear Act ators
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2 INTRODUCTION
2.1 About this user guide
This ser g ide provides the req ired information for planning to install, installation and servicing of the LV
linear slides. It has been written specifically to meet the needs of q alified engineers, tradespersons,
technicians and operators.
2.2 Terms and abbreviations
GND
Gro nd
rms
Root mean sq are
g
Gravity m/s
2
V / mV
Volt / millivolt
A / mA
Ampere / milliampere
Ω
ohms
AC / DC
Alternating C rrent / Direct C rrent
Hz
Hertz
ms
millisecond
AICD
A tomatic Implantable Cardioverter
-
Defibrillator
EMC
Electromagnetic Compatibility
3 PRODUCT OVERVIEW
3.1 About imatic's LV actuators
The Gimatic LV act ator is a recirc lating ball bearing slide eq ipped with a 3-phase, br shless, DC,
permanent-magnet motor designed for direct-drive, high-precision and high-dynamics applications. High
efficiency and performance of Gimatic's ML linear motors meet a lightweight al mini m slide which
provides a prismatic g ide for the motion of the slider (anti-rotation), a heat dissipation f nctionality and
high stiffness in several directions. Adj stable preloading screws and long life bearings ass re low
installation and maintenance costs.

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LV Electric Linear Act ators
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3.2 Features
•High contin ative force/c rrent.
•Zero backlash – No ball screw or gearbox eliminates backlash.
•High acceleration forces – More than 400 [N] depending on model.
•Low installation and maintenance costs – Simple constr ction, T-n t grooves for fastening.
•F lly sealed – IP67 rating standard.
•Zero net attractive forces improve efficiency with no down force and extended machine life.
•D rable – Stator materials’ high ins lation class res lts in long motor life. 10 million cycles
maintenance-free.
•Efficient – The extremely strong magnetic fl x, cylindrical design and small moving mass provide for
very efficient linear motion.
3.3 LV and LVP systems
LV act ators can be combined in order to create m ltiple axis systems. F rthermore for all those
applications req iring longer strokes and/or higher stiffness along the entire stroke, Gimatic linear
act ators are also available as linear g ides (LVP25 and LVP40). These g ides can be combined with LV
act ators to create more complex str ct res (i.e. cartesian manip lators).
LV EXAMPLE APPLICATION: 2 AXIS PICK&PLACE SYSTEM
LVP SYSTEM STRUCTURE
Y
Z
LVP25
act ator
Magnetic
slider
Linear
motor
En
coder
Adj stment
screws
T
-
n t grooves
for fastening
Hardened
steel bars
M12
connection

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LV Electric Linear Act ators
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LVP+LV EXAMPLE APPLICATION: 3 AXIS PICK&PLACE SYSTEM
3.4 LV product range
LV25050
LV25100
LV25150
LV25
200
LV40050
LV40100
LV40150
LV40200
Stroke [mm]
50
100
150
200
50
100
150
200
Total mass [g]
1170
1380
1825
2185
2730
3590
4430
4865
Mass of parts
fixed to the
slider [g]
560 670 850 1050 1350 1840 2150 2420
BUS voltage
[Vdc] (peak) 72 325 72 325 72 325 72 325 72 325 72 325 72 325 72 325
Peak c rrent
[A] 7.87 3.49 7.87 3.49 5.42 2.07 5.42 2.07 19.85 8.79 19.85 8.79 15.46 6.19 15.46 6.19
Contin ative
c rrent [A] 1.57 0.49 1.57 0.49 1.48 0.48 1.48 0.48 3.09 0.94 3.09 0.94 3.38 0.98 3.38 0.98
Peak force
[N] 100 120 100 120 110 130 110 130 270 420 270 420 320 440 320 440
Contin ative
force [N] 20 17 20 17 30 30 30 30 42 45 42 45 70 70 70 70
X
Y
Z

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LV Electric Linear Act ators
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3.5 Catalogue number interpretation
Electric linear slide: ordering code example
LV25050-70ABZHALL
Motor's size: 25 [mm]
40 [mm]
Stroke: 050 [mm]
100 [mm]
150 [mm]
200 [mm]
BUS voltage: 70 (72 [V] peak)
300 (325 [V] peak)
Feedback: - (none)
ABZ (incremental encoder)
SIN (SIN/COS analog o tp t) *
Phase sensor: - (none)
HALL (Hall sensors)
(*) Under deve opment.
4 SYSTEM DESI N
4.1 System components
The design of the LV linear slide allows for simple installation in any c stom application, however to achieve
the best performance the final system m st be optimized. This chapter describes the main components to
consider when designing s ch a system.
The primary components of LV systems based are:
1. Cable carrier
2. Servo drive
3. Linear position transd cer (encoder)
Additionally the following secondary components may be req ired depending on the application:
4. Home and End-stop sensors
5. Mechanical over stroke limitation
6. Weight co nter balance device (for vertical applications)
7. Brake