Macron Dynamics MSA series User manual

BELT DRIVEN ACTUATOR BASICS
USER GUIDE
MAINTENANCE MANUAL
Macron Dynamics, Inc.

Introduction
Guarantee Statement Of Assurance
Thank you for purchasing another quality product from Macron Dynamics, Inc. Every effort has been taken to assure this product was manufactured to the
highest industry standards of quality, precision and performance. Macron Dynamics products are subject to a 1 year (from date of shipment) limited warranty for defects in
material and workmanship.
Guarantee
Unless otherwise stated herein, Seller will repair or replace, without charge, f.o.b. shipping point, any parts proven to Seller’s satisfaction and upon Seller’s
examination to have been defective in material or workmanship when furnished to the original purchaser. Product must be used in an automation system engineered or
approved by Seller. In addition, deterioration or wear caused by abuse, maintenance neglect, severe eccentric loading, overloading, chemical or abrasive action, or excessive
heat shall not constitute defects.
Equipment and accessories not of the Seller’s manufacture are warranted only to the extent that they are warranted by the manufacturers, and this warranty is
applicable only if the defect was the result of normal use, application and service, and is void if the product or any part hereof was tampered with, repaired or altered by any
person other than the factory or authorized repair station.
THERE ARE NO OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING THAT OF MERCHANTABILITY AND OF FITNESS FOR A PARTICULAR USE.
Under no circumstances shall seller be liable for any loss of profit or for special, consequential or exemplary damages over and apart from the repair or replacement of Seller’s
part.
The laws of the State of Pennsylvania shall govern this warranty and any controversy or claim arising from it or its interpretation.
Any controversy or claim arising out of or relating to this warranty, its interpretation, or any breach thereof, which cannot be amicably resolved between Seller and the original
purchaser with sixty (60) days of written notice by the aggrieved party to the other, shall be finally settled by binding arbitration submitted to the three (3) arbitrators selected
from the panels of the arbitrators of the American Arbitration Association in accordance with the rules and regulations of the American Arbitration Association sitting in
Philadelphia, Pennsylvania, with each party to pay its own cost. Authorization for return must be received from Macron Dynamics Inc., before returning any equipment for
inspection or warranty repair.
Warning
Macron Dynamics actuators are intended for industrial use only and should not be used to lift, support, or otherwise transport human cargo, unless you have a
written statement from Macron Dynamics, Inc. that the actuator unit as used in your application is suitable for lifting human cargo.

Why Belt driven Actuators
•Length
•Speed
•Acceleration
•Reliability
•Repeatability
•Quiet
•Capacity
•Timing

Elements of a Belt driven Actuator
•The Drive system
•A belt / a pulley / a tensioning system
•Provides repeatability
•Structural beam member
•Aluminum extrusion provides length flexibility
and strength
•Guidance system
•Provides accuracy of position and location
•The Cart
•Coupled with the guidance system provides load
carrying support
•Styles
•Rail & track rollers (angular contact bearings)
•Plastic rollers w/ needle bearings
•Profile rail w/ re-circulating ball slide
•Solid plastic block / extrusion profile matched
economy glide
•Motor & Gearbox – end user provided

Product Identification label
Each product has an identification label for recording the
part number, serial number and date of manufacture.
•P/N [part numbers] are a string of letters and
numbers that identify your product. The first 3
letters indicate the family of product. The next 3
letters or numbers indicate the type of actuator or
system. The balance of letters and numbers are
unique identifiers for your product construction.
This part number is important for requesting any
information or technical support for your product.
•S/N [serial number] is a unique number for
traceability of materials and manufacturing history
information.
•Date – year and week of shipment.
•Major family reference ID
•MSA – MacSTANDARD single axis systems
•MDS – Dual systems aka. X/X’
•MGS – Linear Robot 2 & 3 axis Gantry systems
•MCS – Linear Robot 3 axis Cartesian systems

Product Cautionary notes!
•Macron products may ship as factory assembled modules that
require further field assembly. Please follow all assembly
instructions provided using hardware and fasteners specified by
Macron.
•Motor assembly to Actuator and Gantry systems require care to
ensure proper alignment. Follow Macron gearbox or motor mount
instructions along with Motor manufacturer guidelines. Torque all
hardware according to specifications.
•If T-slot sensors are used for limits of travel and or homing
functions, test the operation and switching function prior to full
scale power up. Adjust sensor flag gap settings if required.
•During initial start up and operation of the motor drive system,
adjust motor torque limits and system speeds to low levels until
entire system has been adjusted and de-bugged. Many motors and
drive systems can deliver performance that may exceed the
capacity of the Macron actuators and damage can result.
•Belt tension is the most important consideration for proper
actuator performance and long life. Macron actuator belt tension
is preset at the factory prior to shipment [nominal room
temperature]. This belt tension may change during shipment or
long duration shelf storage due to temperature changes. In
addition, belt tension may change after a system inadvertent
crash. Please see MQD-TD-01-01 Belt tensioning tool & tensioning
process for guidance.
•Long travel actuators and gantry systems require support structure
under the lowest axis [typically called the X axis] to prevent
deflection and ensure system repeatability.
•Only use Macron replacement part kits for actuator and gantry
system maintenance and repair. Our components are unique and
have been designed to meet our demanding product performance
requirements.
•Machines and motor drive systems must be properly grounded to
prevent ED [Electrical Discharge] induced damage to Actuator
bearings.

Preventive Maintenance
Macron actuator and gantry systems require a few
simple maintenance procedures to prolong the
system life and operation.
•Belt tension monitoring and tension setting
Reference process- MQD-TD-01-01
•Lubrication of linear rails & bearings
Reference process- MQD-TD-07-00 &
MQD-TD-06-01
•Cart adjustment & pre-loading
Reference process- MQD-TD-11-00
•Replacement parts kits
See specific Actuator & Gantry system
detail guide sections for suggested parts, proper part
numbers and replacement instructions.

Belt tension
Belt tension is the most critical element of the performance of Macron belt driven
Actuators and Linear Robot gantry systems. Proper belt tension ensures that the tooth
of the belt and tooth of the pulley mesh smoothly for precise repeatability and near
zero backlash performance.
Macron has developed an novel approach to measuring and setting the belt tension
using a special tool with precision spaced rods with bubble level indicator and a
standard commercial torque wrench [20 – 250 in-lb. range]. Please reference technical
document MQD-TD-01-01 for detailed instruction. Macron has determined a specific
torque setting for each belt width and travel distance. When the tool is positioned on
the belt and the torque wrench is set and turned at the recommended in-lb. setting,
proper tension is achieve when the bubble level is centered and the torque wrench
releases. Standard tolerance on the torque wrench setting is +/- 5 lbs.
Belt tension should be checked at the following frequency-
•At initial assembly and integration of the Actuator or Linear Robot
•After 24-48 hours of duty cycle running.
•At any time the Macron logo on the belt shows signs of smearing or erasure.
•After any system crash such as exceeding travel limits and striking hard stops or
equivalent improper use of the system.
•PM frequency
•Normal temperatures – every 3 months
•Wide temperature variation applications - monthly

Lubrication
The pulley assemblies, both drive and idler do not require lubrication. The radial
bearings used in these assemblies are permanently lubricated and sealed. Dis-
assembly of these pulley assemblies will result in permanent damage to the
component parts and is not recommended.
The guidance systems do require lubrication to prevent wear and prolong the life of
the components. There are multiple styles of guidance used in Macron Actuators and
Linear Robots. Each requires a different lubricant and application frequency.
Styles:
•Round rail guides with track rollers mounted to Carts-
•track roller bearings are permanently lubricated and sealed.
•Round rails are hard chrome plated. Due to the possibility of Tribocorrosion, a film of
lightweight oil is recommended. The carts are designed with an integrated felt wiper to
absorb and apply this oil while constantly cleaning the rail. Add 10 drops of oil to each
wiper felt on a monthly basis for PM. We suggest the wipers are changed every 6 months
in normal environments [3 months in dirty environments]. Reference Macron MQD-TD-
06-01
•Profile rail with linear bearing blocks-
•Bearing blocks require lubrication by injecting grease into the fitting on the end of each
block. The grease is a commercially available item. Please see Macron MQD-TD-07-00
for formula to determine lubrication frequency based on application duty cycle and the
proper lubricant required.
•Plastic roller carts-
•Polymer tires ride inside the aluminum extrusion profile. The radial needle bearings are
permanently greased and re-lubrication is not recommended.

Cart adjustment & preloading
The Cart systems on Macron Actuators and Linear Robot gantry systems are factory
set for smooth motion and to ensure uniform repeatability. There are multiple cart
styles across the Macron product line. Each style will require a different method of
adjustment. Carts rarely require adjustment by a user. In applications of high shock
loading, excessive vibration, or environments with abrasive dusting, play may develop
between tracking rollers and the guide rails. This play may be corrected by adjusting
the pre-load of the cart. Cart adjustment and preloading is required for any cart
replacement. Reference Macron document MQD-TD-11-00 for guidance. This
document may be found in the appendix of this guide.
Styles:
•Round rail guides with track rollers mounted to Carts-
•There are 4 or more track rollers on a cart assembly. One side of the cart has fixed roller
positions. The opposite roller has an eccentric axle which when rotated will change the
position of the roller relative to the rail.
•Profile rail with linear bearing blocks-
•No cart adjustment is required for the life of the linear bearing blocks.
•Plastic roller carts-
•Polymer tires ride inside the aluminum extrusion profile. Cart pitch and yaw are pre-set
and rarely require adjustment except after a cart replacement.