Parker 401XR Series User manual

Manual No. 100-5316-01
Rev. E
401/402XR Series
Product Manual
Effective: Jan 24, 2018
Supersedes: July 30, 2013
Electromechanical
Positioning Systems

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Important User Information
The information in the product manual, including any apparatus, methods, techniques, and concepts
described herein, are the proprietary property of Parker Hannifin Corporation or its licensors, and may
not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.
Since Parker Hannifin Corporation constantly strives to improve all of its products, we reserve the right
to change this product manual and equipment mentioned therein at any time without notice.
For assistance contact:
Parker Hannifin Corporation
1140 Sandy Hill Road
Irwin, PA 15642
Phone: [phone]
800/245-6903
Fax: [phone]
E-mail:[email protected]m
Web site: www.parkermotion.com

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401/402XR Series Product Manual
Table of Contents
REVISION NOTES...............................................................................................................................................................................4
CHAPTER 1 - INTRODUCTION........................................................................................................................................................5
PRODUCT DESCRIPTION ........................................................................................................................................................................5
UNPACKING..........................................................................................................................................................................................5
RETURN INFORMATION .........................................................................................................................................................................6
REPAIR INFORMATION ..........................................................................................................................................................................6
WARNINGS AND PRECAUTIONS .............................................................................................................................................................6
SPECIFICATION CONDITIONS AND CONVERSIONS...................................................................................................................................6
ASSEMBLY DIAGRAMS..........................................................................................................................................................................7
CHAPTER 2 - 400XR SERIES TABLE SPECIFICATIONS............................................................................................................8
ORDER NUMBER NOMENCLATURE ........................................................................................................................................................8
DIMENSIONAL DRAWINGS ....................................................................................................................................................................9
GENERAL TABLE SPECIFICATIONS.......................................................................................................................................................13
401-402XR Series Technical Data........................................................................................................................................................................15
GROUND BALLSCREW DRIVE..............................................................................................................................................................15
CHAPTER 3 - COMPONENT SPECIFICATIONS.........................................................................................................................17
LINEAR ENCODERS .............................................................................................................................................................................17
Z-Channel Position Reference ..............................................................................................................................................................................17
Linear Encoder Speed Limit..................................................................................................................................................................................18
Linear Encoder Wiring Diagram..........................................................................................................................................................................18
LIMIT &HOME SENSORS ....................................................................................................................................................................19
SENSOR PACK CABLE WIRING DIAGRAM ............................................................................................................................................20
NOTE:LIMIT 2IS THE LIMIT SWITCH ON THE CONNECTOR END OF THE SENSOR PACK HOUSING..............................................................20
COUPLINGS.........................................................................................................................................................................................20
CHAPTER 4 - BASE MOUNTING PROCEDURES.......................................................................................................................22
MOUNTING SURFACE REQUIREMENTS.................................................................................................................................................22
BASE MOUNTING METHODS ...............................................................................................................................................................22
Base thru holes .....................................................................................................................................................................................................22
Riser Blocks..........................................................................................................................................................................................................22
CHAPTER 5 - COMPONENT MOUNTING PROCEDURES .......................................................................................................24
CENTER DRIVE MOTOR MOUNTING ....................................................................................................................................................24
LIMIT/HOME SWITCH MOUNTING PROCEDURE....................................................................................................................................24
CHAPTER 6 –INTERNAL ACCESS AND LUBRICATION ........................................................................................................25
INTERNAL ACCESS PROCEDURE ..........................................................................................................................................................25
SQUARE RAIL BEARING LUBRICATION................................................................................................................................................25
GROUND BALLSCREW LUBRICATION...................................................................................................................................................25
APPENDIX A - INTERNAL PROTECTION...................................................................................................................................26
Using the "IP Ship Kit".........................................................................................................................................................................................27
APPENDIX B - ACCESSORIES & SPARE PARTS.......................................................................................................................28
MOUNTING BRACKET CONFIGURATION...............................................................................................................................................28
MOUNTING BRACKET DIMENSIONS.....................................................................................................................................................29
COMPLIANCE INFORMATION.....................................................................................................................................................31

401/402XR Series Product Manual Revision Notes
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Revision Notes
Rev. 2 –Effective February 27, 2002 –Added Revision Notes, added precision information, updated order
number nomenclature, updated dimensional drawings, updated accessories & spare parts, updated
mounting bracket configurations, updated mounting bracket dimensions.
Rev 3 –Effective November 17, 2004 –Modified Limit & Home Sensors section to include new 4 wire sensor.
Updated sensor pack cable diagram for Limit 1 and Limit 2. Changed all logos to Parker only. Changed web
address to www.parkermotion.com and removed division name from company address.
Rev 4 –Effective July 30, 2013 –Clarified warnings for CE purposes.
Rev E –Effective Jan 24, 2018 –added warning of unexpected motion for CE purposes, added CE Declaration

401/402XR Series Product Manual Chapter 1 - Introduction
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Chapter 1 - Introduction
Product Description
401XR and 402XR Positioners
The 401XR and 402XR “Mini” Series positioners enhance the 400XR family of precision linear
positioners, addressing applications that involve precise positioning of smaller payloads within a
very small space envelope. These ballscrew driven positioners were developed to address the
needs of industries such as photonics, life sciences, semiconductor, and instrumentation, where
technology advancements dictate miniaturization of work envelopes.
400XR Product Family
‘Modular Flexibility’ is the attribute that clearly distinguishes the 400XR family of linear tables from
all others. This product family allows each unit to be easily configured to meet unique
requirements, from the very basic to the highly complex. Field upgrades and redesigns are easily
accommodated; simply follow the mounting procedure that ships with the desired assembly or
individual part. This compatible family of positioners offers reliable accuracy, versatility and
strength. Adapters and brackets make it easy to combine 401XR and 402XR positioners, as
required, to form multi-axis systems without special design or manufacturing. The 400XR family of
products are rugged enough to perform well in the industrial automation environment (automotive,
packaging) and yet they’re precise enough to excel in the high end semi-conductor and
instrumentation markets.
Unpacking
Unpacking
Carefully remove the positioner from the shipping crate and inspect the unit for any evidence of shipping
damage. Report any damage immediately to your local authorized distributor. Please save the shipping
crate for damage inspection or future transportation. Standard handling and lifting practices should be
employed, product may be heavy.
Incorrect handling of the positioner may adversely affect the performance of the unit in its application.
Please observe the following guidelines for handling and mounting of your new positioner.
•DO NOT allow the positioner to drop onto the mounting surface. Dropping the positioner can generate
impact loads that may result in flat spots on bearing surfaces or misalignment of drive components.
•DO NOT drill holes into the positioner. Drilling holes into the positioner can generate particles and
machining forces that may effect the operation of the positioner. Parker Hannifin Corporation will drill
holes if necessary; contact your local authorized distributor.
•DO NOT subject the unit to impact loads such as hammering, riveting, etc. Impacts loads generated by
hammering or riveting may result in flat spots on bearing surfaces or misalignment of drive components.
•DO NOT push in magnetically retained strip seals when removing positioner from shipping crate.
Damaging strip seals may create additional friction during travel and may jeopardize the ability of the
strip seals to protect the interior of the positioner.
•DO NOT submerge the positioner in liquids.
•DO NOT disassemble positioner. Unauthorized adjustments may alter the positioner’s specifications and
void the product warranty.

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Return Information
Returns
All returns must reference a “Return Material Authorization”, (RMA), number. Please call your local
authorized distributor or Parker Hannifin Corporation Customer Service Department at 800-245-6903
to obtain a “RMA” number. See Parker Hannifin Corporation Catalog #8080/USA, page D34, for
additional information on returns and warranty.
Repair Information
Out-of-Warranty Repair
Our Customer Service Department repairs Out-of-Warranty products. All returns must reference a
“RMA” number. Please call your local authorized distributor or Parker Hannifin Corporation Customer
Service Department at 800-245-6903 to obtain a “RMA” number. You will be notified of any cost prior
to making the repair.
Warnings and Precautions
Vertical Operation
Depending upon your load and ballscrew selection the carriage and load may ‘backdrive’ in power loss
situations potentially causing product damage or personal injury.
Strain Relieve Electrical Components
All electrical components (such as brakes, encoders, and limit/home switches) must be strain relieved.
Failure to strain relieve electrical wires or cables may result in component failure and/or possible
personal injury.
Pinch points
Product does have pinch areas where moving elements relative to each other come together- Take
precaution
Unexpected Motion
Product can begin motion without warning due to an electrical or controller failure.
Specification Conditions and Conversions
Specifications are Temperature Dependent
Catalog Specifications are obtained and measured at 20 Degrees C. Specifications at any other
temperature may deviate from catalog specifications. Minimum to Maximum continuous operating
temperature range (with NO guarantee of any specification except motion) of a standard unit before
failure is 5 - 70 Degrees C. Certain components can be eliminated or substituted to improve
operation at these temperatures. Positioners with low temperature or high temperature components
will be handled as specials, contact your local distributor.
Specifications are Mounting Surface Dependent
Catalog Specifications are obtained and measured when the positioner is fully supported, bolted
down (to eliminate any extrusion deviation), and is mounted to a work surface that has a maximum
flatness error of 0.013mm/300mm (0.0005”/ft).

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Specifications are Point of Measurement Dependent
Catalog Specifications and Specifications in this manual are measured in the center of the carriage,
37.5mm above the carriage surface. All measurements taken at any other location may deviate
from these values.
Assembly Diagrams

401/402XR Series Product Manual Chapter 2 - 401/402XR Series Table Specifications
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Chapter 2 - 400XR Series Table Specifications
Order Number Nomenclature

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Dimensional Drawings

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General Table Specifications
Precision Grade
Standard Grade
Common Characteristics
401XR
402XR
401XR
402XR
Performance
Bidirectional Repeatability (m)
2 mm lead
5 or 10 mm lead
+/-1.3
+/-1.3
NA
+/-1.3
+/-5
+/-12
NA
+/-12
Duty Cycle
100%
100%
100%
100%
Max Acceleration –m/sec2 (in/sec2)
20 (773)
20 (773)
20 (773)
20 (773)
Rated Capacity
Normal load –kgf (lbs)
50 (110)
100 (220)
50 (110)
100 (220)
Axial load –kgf (lbs)
2 mm lead
5 or 10 mm lead
5.5 (12.1)
15.5 (34.2)
NA
38 (84)
5.5 (12.1)
15.5 (34.2)
NA
38 (84)
Motor Sizing
Drive Screw Efficiency
80%
80%
80%
80%
Max Break-Away Torque Nm (in-oz)
0.03 (4.2)
0.086 (12.0)
0.03 (4.2)
0.086 (12.0)
Max Running Torque –Nm (in-oz)
0.028 (4.0)
0.08 (11.3)
0.028 (4.0)
0.08 (11.3)
Linear Bearing –Coefficient of Friction
0.01
0.01
0.01
0.01
Ballscrew Diameter –mm
2 mm lead
5 or 10 mm lead
6
8
NA
12
6
8
NA
12
Output Shaft Diameter –mm
5
6
5
6
Carriage Weight –kgf (lbs)
0.045 (0.1)
0.11 (0.25)
0.045 (0.1)
0.11 (0.25)
Travel
(mm)
Positional Accuracy
(m)
Straightness &
Flatness
Accuracy (m)
Input Inertia
Max Screw Speed
(Revs Per Second)
Unit Weight
(kg)
10-3 kg-cm2
401
402
401
402
401
402
401
402
P*
S
P*
S
401
402
2 mm
10 mm
5 mm
10 mm
50
10
20
-
-
20
-
0.6
-
-
-
70
-
1.0
-
100
10
20
10
20
20
20
0.9
-
12.0
-
70
70
1.2
2.3
150
12
20
12
20
20
20
1.1
-
15.0
-
70
70
1.3
2.6
200
16
30
16
30
25
25
-
4.7
20.0
-
70
70
1.5
2.8
300
18
40
18
40
25
25
-
5.2
-
25.0
70
70
1.7
3.2
400
-
-
21
40
-
30
-
-
-
29.0
-
55
-
3.8
600
-
-
25
50
-
30
-
-
-
39.0
-
30
-
4.8
*Accuracy stated is at 20oC utilizing slope correction factor provided.

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401-402XR Series Technical Data
The useful life of a linear table at full catalog specifications is dependent on the forces acting upon it. These forces include
both static components resulting from payload weight, and dynamic components due to acceleration/deceleration of the load.
In multi-axes applications, the primary positioner at the bottom of the stack usually establishes the load limits for the
combined axes. When determining load/life, it is critical to include the weight of all positioning elements that contribute to the
load supported by the primary axis. The life/load charts are used to establish the table life relative to the applied loads.
1000
10000
100000
1000000
10000000
100000000
1E+09
050 100 150 200 250 300 350 400
Life (Km)
N
Thrust Load
401XR 2mm Lead
401XR 5mm Lead
402XR 5mm Lead
402XR 10mm Lead
1000
10000
100000
1000000
10000000
100000000
1E+09
1E+10
0100 200 300 400 500 600 700 800 900 1000
Life (Km)
N
Life with Compression Load
401XR
402XR
Table Load Chart
The “Table Load”
chart is intended to
provide a rough-cut
evaluation “life/load”
characteristics of the
carriage support
bearings. This curve
is based on the
applied load being
centered on the
carriage, normal to
the carriage
mounting surface.
Thrust Load Chart
The “Thrust Load”
chart illustrates table
ballscrew life relative
to the axial load.

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Ground Ballscrew Drive
Technical Data
Topic: Maximum Screw Speed (Revs/Sec)
401
402
Travel
mm
2 mm lead
10 mm lead
5 mm lead
10 mm lead
rps
mm/s
rps
mm/s
rps
mm/s
rps
mm/s
50
70
140
-
-
-
-
-
-
100
70
140
-
-
70
350
-
-
150
70
140
-
-
70
350
-
-
200
-
-
70
700
70
350
-
-
300
-
-
70
700
-
-
70
700
400
-
-
-
-
-
-
55
550
600
-
-
-
-
-
-
30
300

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Chapter 3 - Component Specifications
Linear Encoders
Description
Specification
Input Power
5 VDC +/- 5% 150mA
Output (incremental)
Square wave differential line driver (EIA RS422) 2
channels A and B in quadrature (90) phase shift
Reference (Z channel) –see below
for additional information
Synchronized pulse, duration equal to one resolution
bit. Repeatability of position is unidirectional moving
toward non-motor end.
Positional Accuracy
+/- 3 microns after linear slope correction
Maximum Speed –see page 14 for
additional information
1.0 micron resolution = 3.0 meters/sec
0.5 micron resolution = 1.5 meters/sec
0.1 micron resolution = 0.3 meters/sec
Z-Channel Position Reference
The Z channel is an output on the encoder. Many servo controllers support this input. The Z
channel on the 401/402XR is located at mid travel. The Z channel is a unidirectional device. This
means that the final homing direction must occur in one direction. The 401/402XR is set so that the
final home direction is to be toward the non-motor end of the table. The repeatability of the Z
channel is equal to +/- 2 resolution counts of the encoder (except for 0.1 micron scales which have
a repeatability of +/-1 microns). Thus the repeatability of the “Z” channel equals:
Encoder Resolution
Z Channel Repeatability
1 micron
+/- 2 micron
0.5 micron
+/- 1 micron
0.1 micron
+/- 1 micron
NOTE: Home repeatability is also very dependent on controller input speed and homing algorithms.
The above repeatability does not include possible controller tolerance. Additionally, to achieve the
highest repeatability the final homing speed must be slow. Slower final speed usually results in
higher repeatability.
NOTE: The “Z” channel output is only one resolution count wide. Thus the on-time may be very
brief. Due to this some controllers may have difficulty reading the signal. If you are experiencing
the positioner not finding the “Z” channel during homing, try reducing final homing speed; also refer
to your controller manual for frequency rates of the “Z” channel input.

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Linear Encoder Speed Limit
The linear encoder has speed limits relative to encoder resolution; these limits are listed below:
Encoder Resolution
Maximum Velocity (2)
Required Post Quadrature Input
Bandwidth (1)
1 micron
3 meters/second
6.7 Mhz
0.5 micron
1.5 meters/second
6.7 Mhz
0.1 micron
0.3 meters/second
10 Mhz
(1) This is the bandwidth frequency that the amplifier or servo control input should have to operate properly with the encoder output at
maximum speeds. This frequency is post-quadrature, to determine pre-quadrature divide above values by 4. Above frequencies
include a safety factor for encoder tolerances and line loses.
(2) Maximum encoder speed may exceed maximum speed of positioner –See page 11, General Table Specifications, for maximum
screw speed.
Linear Encoder Wiring Diagram
Termination: Flying Leads
Function
Signal Name
Wire Color
Power
+5V
0V
Brown
White
Incremental Signal
A+
A-
B+
B-
Green
Yellow
Blue
Red
Reference
Z+
Z-
Violet
Grey
Alarm
E+
E-
Black
Orange
Set-up Signal
X
Clear
Inner Shield
Inner Shield
Bare (Connect to White Lead - 0V Ground)
Outer Shield
Outer Shield
Bare (Connect to Earth Ground)

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Limit & Home Sensors
Switch Type
Proximity
Input Power
5-30VDC, 20mA
Output
100mA (max)
Repeatability
+/- 10 microns (unidirectional)
Wire Color Code
3 Wire Sensor 4 Wire Sensor
(+) Supply Brown (+) Supply Brown
Output Black (N.O.) Normally Open Output Black
(-) Supply Blue (N.C.) Normally Closed Output White
(-) Supply Blue
Cable Length
Refer to ordering information in Appendix B
LED Color
Yellow
Switch Location
The L2-L9 limit sensors are fixed at the end of travel locations. The H2-H9 home
sensors are fixed at the center of travel.
Sensor Pack Switch
Location
The L11-L14, H11-H14 Limit/Home options are enclosed in a sensor pack that is
bolted to the side of the table. These sensors are adjustable along the length of
the sensor pack. (Wire terminates in a 5-pin connector; extension cable included)
N.O./N.C. Options
Normally Open (N.O.) switches are typically used as home sensors and are
typically located between the limit sensors. Normally Closed (N.C.) switches are
generally used as defense circuits to prevent damage to components caused by
over-travel.
Sinking/Sourcing
Options
Sinking Switches (a.k.a. NPN): The output lead of this switch provides an electrical
path to ground when activated. Sourcing Switches (a.k.a. PNP): The output lead of
this switch provides a positive (+) voltage potential relative to ground. Note: refer to
the controller’s manual for input compatibility.
Temperature Range
-14°F to +158°F
Vacuum Rating
1 x 10-3 Torr
CAUTION: REVERSING SUPPLY POTENTIAL WILL DESTROY
SENSOR
Brown: +5 to +30VDC Supply
Blue: Ground Supply
Black: Signal Output

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Sensor Pack Cable Wiring Diagram
Note: Limit 2 is the limit switch on the connector end of the sensor pack housing.
Couplings
Coupling Grade (Style): Standard Grade (Oldham)
Catalog
Coupling
Code
Bore
Diameter
(Motor Side)
Outside
Diameter
(mm)
Length
(mm)
Rated
Torque
(Nm)
Torsional
Windup
(Nm/Rad)
Misalignment Specifications
Lateral
(mm)
Axial
(mm)
Angular
C2 *
0.250"
19
22
1.69
115
+/- 0.203
+/- 0.102
+/- 0.5o