Parker Daedal 412T01LXR User manual

Manual No. 100-5322-01
Rev. 3
412LXR Series
Product Manual
Effective: October 1, 2009
Supersedes: February 23, 2007
Electromechanical
Positioning Systems
Automation
Daedal

412LXR Series Product Manual
2
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, Daedal Division 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, Daedal Division 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
Daedal Division
1140 Sandy Hill Road
Irwin, PA 15642
Phone: [phone]
800/245-6903
Fax: [phone]
E-mail:[email protected]
Web site: www.daedalpositioning.com

412LXR Series Product Manual
3
412LXR Series Product Manual
Table of Contents
REVISION NOTES........................................................................................................................................................................4
CHAPTER 1 - INTRODUCTION ................................................................................................................................................... 5
P RODUCT D ESCRIPTION ................................................................................................................................................................5
U NPACKING .................................................................................................................................................................................5
R ETURN I NFORMATION ..................................................................................................................................................................6
R EPAIR I NFORMATION ...................................................................................................................................................................6
W ARNINGS AND P RECAUTIONS ......................................................................................................................................................6
S PECIFICATION C ONDITIONS AND C ONVERSIONS .............................................................................................................................7
A SSEMBLY D IAGRAMS ..................................................................................................................................................................8
CHAPTER 2 - 412LXR SERIES TABLE SPECIFICATIONS........................................................................................................9
O RDER N UMBER N OMENCLATURE .................................................................................................................................................9
D IMENSIONAL D RAWINGS ..............................................................................................................................................................9
D IMENSIONAL D RAWINGS ............................................................................................................................................................ 10
412LXR S ERIES T ECHNICAL D ATA .............................................................................................................................................. 16
412LXR S ERIES T ECHNICAL D ATA .............................................................................................................................................. 16
Force/Speed Charts...........................................................................................................................................................................................16
Clean Room Preparation ...................................................................................................................................................................................16
E LECTRICAL S PECIFICATIONS ......................................................................................................................................................17
E LECTRICAL S PECIFICATIONS ......................................................................................................................................................17
C ABLING AND W IRING D IAGRAMS .................................................................................................................................................20
Connector Pin Out and Extension Cable Wire Color Codes ............................................................................................................................20
CHAPTER 3 - HOW TO USE THE 412LXR ............................................................................................................................... 24
M OUNTING S URFACE R EQUIREMENTS ..........................................................................................................................................24
M OUNTING M ETHODS .................................................................................................................................................................24
S IDE AND I NVERTED M OUNTING C ONCERNS ..................................................................................................................................25
S ETTING T RAVEL L IMIT S ENSORS ................................................................................................................................................25
S ETTING H OME S ENSOR .............................................................................................................................................................25
S ETTING H OME S ENSOR .............................................................................................................................................................26
Z C HANNEL P OSITION R EFERENCE .............................................................................................................................................. 26
G ROUNDING / S HIELDING ............................................................................................................................................................ 26
C ABLING ...................................................................................................................................................................................27
CHAPTER 4 - PERFORMANCE................................................................................................................................................. 28
A CCELERATION L IMITS ................................................................................................................................................................28
S PEED L IMITS ............................................................................................................................................................................ 29
E NCODER A CCURACY AND S LOPE C ORRECTION ............................................................................................................................29
T HERMAL E FFECTS ON A CCURACY ...............................................................................................................................................31
T HERMAL E FFECTS ON R EPEATABILITY ......................................................................................................................................... 32
C AUSES OF T EMPERATURE I NCREASES ........................................................................................................................................32
C OMPENSATING FOR T HERMAL E FFECTS ...................................................................................................................................... 33
CHAPTER 5 - CONNECTING THE DRIVE / AMPLIFIER .......................................................................................................... 34
D RIVE / A MPLIFIER CONNECTION .................................................................................................................................................. 34
CHAPTER 6 - MAINTENANCE AND LUBRICATION................................................................................................................37
I NTERNAL A CCESS P ROCEDURE .................................................................................................................................................. 37
S QUARE R AIL B EARING L UBRICATION ...........................................................................................................................................40
C ABLE M ANAGEMENT M ODULE R EPLACEMENT ..............................................................................................................................40
APPENDIX A – UNDERSTANDING LINEAR MOTORS............................................................................................................ 43
T HE L INEAR M OTOR C ONCEPT ....................................................................................................................................................43
L INEAR M OTOR B ENEFITS ...........................................................................................................................................................43
S LOTLESS L INEAR M OTOR D ESIGN .............................................................................................................................................. 43
A DVANTAGES /D ISADVANTAGES OF S LOTLESS L INEAR M OTORS ......................................................................................................44
APPENDIX B - INTERNAL PROTECTION.................................................................................................................................45
INDEX......................................................................................................................................................................................... 47

412LXR Series Product Manual Revision Notes
4
Revision Notes
Rev.2 – Effective February 23, 2007- Updated grease information to Shell Alvania RL2 was Daedal Grease
type #1
Rev.3 – Effective October 1, 2009 – Added Aries and Compax3 Cable options.

412LXR Series Product Manual Chapter 1 - Introduction
5
Chapter 1 - Introduction
Product Description
412LXR Positioner
The 412LXR is a slotless, brushless linear servo motor/square rail bearing positioner housed within a
high strength, aluminum body with magnetically retained protective seals. The positioner is powered by
three rails of high energy rare earth magnets. Load bearing members provide heavy load and moment
capacity, dynamic stiffness and precise straightness and flatness of travel. The positioner’s integral linear
encoder provides high precision, non-contact positional feedback with selectable resolutions from 0.1 to
5.0 microns. The positioner is also offered with proximity limit & home sensors, a “Quick Connect”,
extended life, and a cable transport system.
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.
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. Daedal 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 lift the positioner by cables or cable management system. Lifting postioner by cables or cable
management system may effect electrical connections and/or cable management assembly. The unit should
be lifted by the base structure only.
• 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.

412LXR Series Product Manual Chapter 1 - Introduction
6
Return Information
Returns
All returns must reference a “Return Material Authorization”, (RMA), number. Please call your local
authorized distributor or Daedal Customer Service Department at 800-245-6903 to obtain a “RMA”
number. See Daedal 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 Daedal 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
Hot Surfaces
DO NOT touch ‘carriage forcer’, (see page 7, Assembly Diagram, for component location), after high
duty operation. Unit may be too HOT to handle.
Electrical Shock
DO NOT take apart or touch any internal components of the positioner while unit is plugged into an
electrical outlet. SHUT OFF power before replacing components to avoid electrical shock.
High Magnetic Field
Unit may be HAZARDOUS to people with Pace Makers or any other 'magnetically-sensitive' medical
devices. Unit may have an effect on 'magnetically-sensitive' applications.
Ferrous Materials
The positioner's 'protective seals' MAY NOT keep out all small ferrous materials in applications with air
born metallic particles. The customer must take additional precautions in these applications to keep
positioner free of these highly magnetic particles.
Vertical Operation
The 412LXR is NOT recommended for vertical operation. The carriage and customer's load will fall in
power loss situations potentially causing product damage or personal injury.
General Safety
Because linear motors can accelerate up to 5 g's, and sometimes positioners move without warning,
keep all personnel away form dynamic travel range of positioner.

412LXR Series Product Manual Chapter 1 - Introduction
7
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 - 40 Degrees C.
Specifications are Mounting Surface Dependent
Catalog specifications are obtained and measured when the positioner is fully supported, bolted down,
and is mounted to a work surface that has a maximum flatness error of 0.013mm/300mm (0.0005”/ft).
Specifications are Point of Measurement Dependent
Catalog specifications and specifications in this manual are measured from the center of the carriage, 38
mm above the carriage surface. All measurements taken at any other location may deviate from these
values.

412LXR Series Product Manual Chapter 1 - Introduction
8
Assembly Diagrams
Model Travel “A” “B” “C” “D”
412T01 150 764 12 2 200
412T02 250 864 16 3 300
412T03 350 964 16 3 300
412T04 650 1264 24 5 500
412T05 800 1414 24 5 500
412T06 1000 1614 28 6 600
412T07 1200 1814 32 7 700
412T08 1500 2114 40 9 900
412T09 1750 2364 44 10 1000
412T10 2000 2614 50 12 1200
412T11 2500 3114 60 14 1400
412T12 3000 3614 70 17 1700
105.5 [4.15]
"A"
240.0 [9.45]
Ctr'd
100.0 [3.94]
Ctr'd
(See Holes)
"C" Spaces @100.0 = "D"
(See Notes) "C" Spaces @ 100.0 = "D" (See Notes)
64.8 [2.55]
"A/2"
300.0 [11.81]
285.0 [11.22]
313.0 [12.32]
Ctr'd
335.0 [13.19]
Ctr'd
12.3 [0.48]
100.0 [3.94]
30.0 [1.18] Ø6.8 [Ø0.27]
106.0 [4.17]
16.9 [0.67]
260.0 [10.24]
Ctr'd
120.0 [4.72]
Ctr'd
Ø8.0 [Ø0.32]
CL
CL
266.0 [10.47]100.0 [3.94]
T-Slot for M2.5 Sq. Nut
(Limit Trigger Mtg.)
"B" Mtg. Holes
M8 x 1.25 Tapped (Bottom Mounting)
M6 x 1.0 Cap (Top Mounting)
T-Slots for M5 T-Nut
Toe Clamp Mounting
Notes:
- Base mounting holes for models
412T10 and 412T12 are patterned
from one hole on centerline
- Dimensions "C" and "D" reflect
100.0 mm dimension from centerline
404.0 [15.91]
120.0 [4.72]
Ctr'd
250.0 [9.84]
Ctr'd
260.0 [10.24]
Ctr'd

412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
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Chapter 2 - 412LXR Series Table Specifications
Order Number Nomenclature

412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
10
Dimensional Drawings

412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
11
General Table Specifications
Specifications
Motor Model 12 Pole
Rated Load 900 kg
Maximum Acceleration 5 Gs
Maximum Velocity
Resolution: 0.1 um
0.5 um
1.0 um
5.0 um
0.3 m/sec
1.5 m/sec
3.0 m/sec
3.0 m/sec
Positional Repeatability
Resolution: 0.1 um
0.5 um
1.0 um
5.0 um
+/- 1.0 um
+/- 1.0 um
+/- 2.0 um
+/- 10.0 um
Maximum Force (Peak) 1000 N
225 lb.
Maximum Force
(Continuous) 355 N 80 lb.
Carriage Weight 12.3 kg
Travel Dependent Specifications
Accuracy*
Positional
Travel
(mm) 0.1, 0.5, 1.0
resolution (um) 5.0 resolution (um)
Straightline
Accuracy*
(um)
Unit Weight
(kg)
150 8 18 9 41
250 12 22 14 45
350 16 26 19 49
650 26 36 33 61
800 31 41 39 67
1000 35 45 47 75
1200 39 49 55 83
1500 44 54 64 95
1750 46 56 75 105
2000 48 58 79 113
2500 50 60 84 133
3000 50 60 84 153
* Accuracy stated is at 20 degrees C, utilizing slope correction factor provided.

412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
12
412LXR 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.
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.
Bearing Load Chart
The “Bearing Load” chart
is to be used in conjunction
with the corresponding
formulas on the following
pages to establish the life/load
for each bearing (4 per table).
Several dimensions and the
load geometry are required
for these computations. The
dimensions are referenced
below.
412LXR Carriage Life VS. Load (Normal)
1000
10000
100000
1000000
0 200 400 600 800 1000
Load (kg)
Life (km)
412LXR
412LXR Bearing Life VS. Load (Normal)
100
1000
10000
100000
0 200 400 600 800 1000
Load Per Bearing (kg)
Life Per Bearing (km)
412LXR

412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
13
d1 d2 da
12 Pole 205 192 43
Side Bearing Load
Chart
The “Side Bearing Load”
chart is to be used in
conjunction with the
corresponding formulas on
the following pages to
establish the life/load for each
bearing (4 per table). Several
dimensions and the load
geometry are required for
these computations. The
dimensions are referenced
below.
412LXR Bearing Life VS. Load (Side)
100
1000
10000
100000
0 100 200 300 400 500 600 700
Load Per Bearing (kg)
Life Per Bearing (km)
412LXR

412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
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412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
15
Table A – Linear Motion Guide Bearing Life/Load Computation
Positioner Loads Compute Evaluate Life On
Side & tension Ps > Pt
Side & tension Ps ≤Pt Pe = (0.5 x Pt) + Ps
Pe = (0.5 x Ps) + Pt Side load chart Tension chart
412LXR
Side & compression Ps > Pc
Side & compression Ps ≤Pc Pe = (0.5 x Pc) + Ps
Pe = (0.5 x Ps) + Pc Side load chart Compression chart
Example Computations
Page 13 shows this
configuration with dimensions
given here.
6.67
2
2
4
21
=






== d
d
L
PP (tension) Kgf
d1 = 205 mm
db = 130 mm
d2 = 192 mm
d3 = 50 mm
da = 43 mm
d4 = da + db = 173
6.67
2
2
4
43
−=






−== d
d
L
PP (compression) Kgf
0.37
24
1
3
31
=





⋅+== d
d
LL
PP
ss
(side load) Kgf
5.0
24
1
3
42
−=





⋅−== d
d
LL
PP
ss
(side load) Kgf
The normal and side force
components on each bearing
block are computed from the
equations as shown:
Life for each bearing needs to be evaluated
independently. For bearings with a side load,
refer to the combined equivalent loading factors
(Table A).
Example:
Bearing 3 had P
3
= 39.6 Kgf tension and P
3s
= 9.7
Kgf side load
KgfPcPsPePcPs 5.44)5.0(
=
+
×
=
⇒
≤
Refer to Bearing Life Normal Load (page 13)
Life @ 44.5 Kgf = 30,000 km
Example 1
Horizontal Translation
with Side Loads, 412LXR-
12 Pole Positioner
L = 150 Kgf
130 mm from
carriage surface;
50 mm from carriage
center.

412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
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412LXR Series Technical Data
Force/Speed Charts
The chart on this page illustrates the characteristics of the 412LXR linear motor. The force/speed chart shows the
characteristics of the motor with either a 170 VDC or 340 VDC bus voltage.
Clean Room Preparation
412LXR tables with clean room preparation were tested in Daedal’s vertical laminar flow work station which utilizes
ULPA filters to produce an environment having a cleanliness of class 1 prior to testing. Tables were tested in a
variety of orientations with sampling both below the
table and at the carriage mounting surface. Laminar
flow rate is 0.65 inches W.C.
Standard Clean Room Preparation
Stringent cleaning and handling measures
Clean room rated lubricant
Strip seal replaced with hard shell cover
412LXR (12 Pole) Force/Speed Graph
340 VDC Bus
0
200
400
600
800
1000
1200
0 1000 2000 3000 4000 5000
Speed (mm/sec)
Force (N)
Peak
Continuous

412LXR Series Product Manual Chapter 2 - 412LXR Series Table Specifications
17
Electrical Specifications
Parameter 12 Pole Units
Continuous Force
1
355 N
Continuous Current
1,4,8
6.3 Amps Peak
Continuous Current
1,7
5.5 Amps DC
Peak Force
6
1000 N
Peak Current
4,6,8
19.0 Amps Peak
Peak Current
6,7
16.4 Amps DC
Voltage Constant
3,4
65 Volt/m/sec
Force Constant
9
56.3 N/Amps Peak
Force Constant
3,4
65 N/Amps DC
Resistance
3
9.98 Ohms
Inductance
5
5.68 mH
Maximum Bus Voltage 340 Volts DC
Thermal Resist. Winding-Ambient 0.24 C/watt
Viscous Damping 40 N/m/s
Static Friction
13
50 N
Intermit Force Duration
10
160 Seconds
Peak Force Duration
11
63 Seconds
Magnetic Attraction
2
2000 N
Electrical Pitch
12
42 mm
Mass-Motor Carriage 12.3 Kg
Rated Winding Temp. 125 C/watt
Winding Class H -
1. @ 25
o
C ambient, 90
o
C Winding Temperature
2. Measured with a 0.70 mm gap
3. Measured Line to Line +/-10%
4. Value is measured peak of sine
5. +/-30% Line to Line, inductance bridge measurement @1Khz
6. Initial winding temperature must be 60
o
C or less before Peak Current is applied
7. DC current through a pair of motor phases of a trapezoidal (six state) commutated motor
8. Peak of the sinusoidal current in any phase for a sinusoidal commutated motor
9. Total motor force per peak of the sinusoidal amps measured in any phase, +/-10%
10. Maximum time duration with 2 times rated current applied with initial winding temperature at 60
o
C
11. Maximum time duration with 3 times rated current applied with initial winding temperature at 60
o
C
12. The Distance from the leading edge of the north pole to the leading edge of the next north pole
13. Average Friction over total table travel

412LXR Series Product Manual Chapter 3 - How to Use the 412LXR
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Encoder Specifications
Description Specification
Input Power 5 VDC +/-5% 150 mA
Output (Incremental)
E2, E3, E4, E5 options Square wave differential line driver (EIA RS422) 2 channels A and B in quadrature (90
o
) phase shift.
Output (Analog)
E7 option 2 Channels V
1
and V
2
differential sinusoids in quadrature (20 µm pitch) 90
o
phase shifted
Reference (Z Channel) Synchronized pulse, duration equal to one resolution bit. Repeatability of
position is unidirectional moving toward positive direction.
Maximum Speed 5.0 micron resolution = 3.0 meters/sec
1.0 micron resolution = 3.0 meters/sec
0.5 micron resolution = 1.5 meters/sec
0.1 micron resolution = 0.3 meters/sec
Analog = 3.0 meters/sec
Hall Effect Specification
Description Specifications
Input Power +5 to +24 VDC, 30 mA
Output Open collector, Current Sinking, 20 mA Max
Gemini Drive Specifications
Description Specification
Drive Input Power
Voltage
Phase
Frequency
24V Keep Alive (Optional)
96-265 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
Drive Output Power
Bus Voltage
Switching Frequency
Continuous Current
Peak Current
Commutation
170 or 340 VDC
8/16, 16/32 or 20/40 kHz (User selectable)
12 Amps
30 Amps
Sinusoidal
Command Inputs
Velocity and Torque
Position Mode
Encoder Track Mode
+/-10V
Step & Direction or CW & CCW
Allows post quadrature encoder to be used as command signals
Inputs
Enable (Required)
Reset
Pos/Neg Limits
User Faults
0-24 VDC
Outputs
Fault
At Limit
Position Error
Analog Monitors
Relay
Open collector, 300 mA sink capability
Open collector, 300 mA sink capability
Open collector, 300 mA sink capability
+/-10V scalable, 8 bit (not to be used as control functions)
Normally open, dry contact
Communications
Type
Baud Rate
Daisy Chain
RS232/RS485 (4 wire)
Fixed at 9600
Up to 98
Environmental
Temperature Still air 32
o
F (0
o
C)-113
o
F (46
o
C), moving air: 32
o
F (0
o
C)-122
o
F (50
o
C)

412LXR Series Product Manual Chapter 3 - How to Use the 412LXR
19
Humidity
Shock/Vibration 0–95%, non-condensing Shock: 15G half-sign @ 11 msec/vibration: 2G, 10-2000 Hz
Protection
Short Circuit
Brownout
Over Temperature
Phase-to-phase, phase-to-ground
AC drops below 85 VAC
Shutdown fault at 131
o
F (55
o
C)
Standards UL, cUL, CE (LVD), CE (EMC)
Limit and Home Sensor Specifications
Description Specification
Input Power +5 to +24 VDC 60 mA
Output Output form is selectable with product:
Normally Closed Current Sinking
Normally Open Current Sourcing
Normally Closed Current Sourcing
Normally Open Current Sourcing
All types Sink or Source maximum of 50 mA
Repeatability Limits: +/- 5 microns (unidirectional)
Home: See Z channel specifications

412LXR Series Product Manual Chapter 3 - How to Use the 412LXR
20
Cabling and Wiring Diagrams
Connector Pin Out and Extension Cable Wire Color Codes
Auxillary
9 Pin D-Connector
Encoder Halls
15 Pin D-Connector
10
8
7
13
15
14
12
11
8. Ground, Enc
33
14. Temp
15. Ground, Hall
+5 VDC Hall
11.
13.
12.
5
4
9
10.
9.
Hall 2
Hall 3
Temp
Hall 1 9
8
5
4
Positive Limit
2
1
6
7.
6.
4.
5.
3.
Ch Z-
Ch Z+
Ch B-
Ch B+
Ch A-
1.
2. Ch A+
+5 VDC Enc
Ground
Home
D.
E.
C.
7
62
1
Limit/Home
5 Pin Connector
Negative Limit
+5 to +24 VDC
A.
B.
Motor Wires
6 Pin Connector
User Defined
5.
User Defined
User Defined
User Defined
User Defined
8.
9.
7.
6.
User Defined
User Defined
User Defined
User Defined
2.
4.
3.
1.
Phase B
Ground
Reserved
3.
4.
2.
Phase A
1.
Reserved
Phase C
6.
5.
3
4
5
6
2
1
B
C
D
A
E