Parker LCR Series User manual

MANUAL NO. 102-4109-01
REV E
EFFECTIVE : May 18, 2018
SUPERCEDES : July 11, 2014

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For assistance contact:
Parker Hannifin Corporation
Electro Mechanical Division
1140 Sandy Hill Road
Irwin , PA 15642
Ph 724-861-8200
800-245-6903
E-mail : [email protected]
www.parkermotion.com

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LCR22/LC30 Series Product Manual
Chapter 1 Introduction………………………………….………………………………………………….5
Product Description………………………………………………………………………….……5
Unpacking………………………………………………………………………………………...5
Warranty Repair……………………………………………………………………………….….6
Warnings Precautions………………………………………………………………………….....6
Specification Conditions………………………………………………………………………….7
Chapter 2 LCR Specifications……………………………………………………………….…………….9
Configurable Part Number………………………………………………………………………..9
LCR22 Screw Drive Dimensional Drawing…………………………...……………………..…10
LCR30 Belt Drive Dimensional Drawing……………………………...……………………..…11
LCR22 Screw Drive Dimensional Drawing…………………………...……………………..…12
LCR30 Belt Drive Dimensional Drawing…………………………...……………………..…....13
LCR22 Idler Dimensional Drawing…………………………………..……………………...…14
LCR30 Idler Dimensional Drawing………………………………...……………………..…….14
LCR22 Screw Drive Performance Specifications……………………………………………….15
LCR30 Screw Drive Performance Specifications……………………………………………….15
LCR22 Belt Drive Performance Specifications……...………………………………………….17
LCR30 Belt Drive Performance Specifications…...…………………………………………….17
Chapter 3 Component Specifications………………………………………………………………….…19
Motor Specifications.…………………………………………………………………………....20
Stepper Motor Encoder Specifications………………………………………………………….21
Limit Home Switch Specifications……………………………………………………………...22
LCR22 Screw Drive Reflected Inertias…………………………………………………………23
LCR22 Maximum Allowable Speeds…………………………………………………………...23
LCR30 Screw Drive Reflected Inertias…………………………………………………………23
LCR30 Screw Drive Maximum Allowable Speeds…………...………………………………...23
Chapter 4 Set up and Usage…………………………………………………………………….………...25
Base Mounting ………………………………………………………………………………….25
Coupling Installation Screw Drives……………………………………………………………..25
Payload Mounting……………………………………………………………………………….26
Moment Load Pre-Cautions……………………………………………………………………..26
Limit/Home Adjustment………………………………………………………………………...27
Chapter 5 Maintenance and Repair…………………………………………...………………………....28
Lubrication………………………………………………………………………………………28
LCR22 Belt Drive Motor Mounting……..……………………………………………………...28
LCR30 Belt Drive Motor Mounting……..……………………………………………………...29
LCR Belt Drive Tensioning……………………………………………………………………..30
Strip Seal Replacement………………………………………………………………………….33
Accessories & Spare Parts List…………………………………………………………………..34
Chapter 6 Compliance Documents……………………………………………………………………… 36

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REVISON NOTES_____________________________________________________________________
REV 1 INITIAL RELEASE 5-15-11
REV 2 Rebranded drive as P2 3/2013
REV 3 Fixed some missed Ion references, added CE warnings 1/29/14
REV 4 Wrap update, LCR changes 7/14/14
REV E C slot sensor update - p. 22,27,34

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Chapter 1 - Introduction
Product Description
LCR Positioner
Unpacking
Unpacking
Carefully remove the positioner from the shipping container and inspect the unit for any evidence of shipping
damage. Report any damage immediately to your local authorized distributor. Please save the shipping con-
tainer for damage inspection or future transportation.
Incorrect handling of the positioner may adversely affect the performance of the unit in its application. Stand-
ard handling and lifting practices should be employed, product may be heavy.
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 im-
pact 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 machin-
ing forces that may effect the operation of the positioner. Parker 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 compo-
nents.
DO NOT lift the positioner by cables or cable management system. Lifting positioner 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 expose positioner to mist, spray or submersion in liquids.
DO NOT disassemble positioner. Unauthorized adjustments may alter the positioner’s specifications and
void the product warranty.
Thank you for your interest in the Light Capacity Rodless (LCR) series miniature actuators. The
LCR is designed for maximum flexibility to deliver the most value for the customer. The LCR is ideal
for Maldiplate, Titer tray, and slide automation , as well as any light weight payload. The “off the shelf”
product will significantly reduce design , procurement, inspection, and handling time; in turn bringing
your product to market faster. The following user guide will direct you in any needed maintenance
items and basic features of the LCR series. If you have any questions or challenges please call our
factory support team at 800-245-6903.

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Return Information
Returns
All returns must reference a “Return Material Authorization” (RMA) number. Please call your local author-
ized distributor or Parker Customer Service Department at 800-245-6903 to obtain a “RMA” number.
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 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 rotary motor coils located on the MX45S after high duty operation. Motor
temperature may approach 60°C. The unit itself may become warm or hot to the touch.
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.
Pinch Points
Unit may have a pinch point because the top extends over the base of the table. Proper care
should be exercised.
Vertical Operation
Depending upon your load and screw selection the carriage and load may ‘backdrive’ in pow-
er loss situations potentially causing product damage or personal injury.
General Safety
Sometimes positioners move without warning, keep all personnel away from dynamic travel
range of positioner.
Strain Relieve Electrical Components
All electrical components (such as motor, 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.
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.
Moving Cables
If the LCR cables are to be moving, the use of high flex cabling to insure long life is
recommended.

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Specification Conditions
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:
0.001mm/300mm (0.00004”/ft)
Table will operate with work surface of 0.100mm/300mm flatness or worse, but performance speci-
fications will be significantly effected.
Specifications Are Point of Measurement Dependent
Catalog specifications and specifications in this manual are measured from the center of the car-
riage, 38 mm above the carriage surface. All measurements taken at any other location may devi-
ate from these values.
Specifications Are Load Mounting Dependent
Catalog specifications are obtained and measured when the customer load is fixed to the carriage
mounting surface(s) and has a flatness of equal to or less than 0.0025mm (0.0001”). The table will
operate with customer load surface greater than 0.0025mm (0.0001”) flatness, but performance
specifications will be significantly effected.

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P2 DRIVE

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Chapter 2 - LCR Specifications
LCR– How to Order

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Dimensional Drawings– LCR22 Leadscrew Drive
Travel (mm)
(in 25 mm. increments)
Min Max
LCR 22 - Screw 25 150
Motor Mounts
Motor Opon "M" "L" Descripon
N08 26.5 0NEMA 8 motor mount N11 31.8 0NEMA 11 motor mount M11 31.8 62.5 NEMA 11 stepper motor

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Dimensional Drawings– LCR30 Leadscrew Drive
Travel (mm)
(in 25 mm. increments)
Min Max
LCR 30 - Screw 25 600
Motor Mounts
Motor Opon "M" "L" Descripon
N11 30.6 0NEMA 11 motor mount N17 31.2 0NEMA 17 motor mount M11 30.6 62.5 NEMA 11 stepper motor M17 31.2 51 NEMA 17 stepper motor

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Dimensional Drawing– LCR22 Belt Drive
Motor Mounts
Motor Opon "M" "L" Descripon
N16 39.3 0SM16 motor mount N17 35.3 0NEMA 17 motor mount M16 39.3 137 SM162AE-N10N servo motor M17 34.3 58.2 NEMA 17 stepper motor
Travel
(in 25 mm. increments)
Min Max
LCR 22 - Belt 25 500

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Dimensional Drawings– LCR30 Belt Drive
Travel
(in 25 mm. increments)
Min Max
LCR 30 - Belt 25 1000
Motor Mounts
Motor Opon "M" "L" Descripon
N16 46.3 0SM16 motor mount N17 44.8 0NEMA 17 motor mount N23 44.3 0NEMA 23 motor mount M16 46.3 137 SM162AE-N10N servo motor M17 44.8 58.2 NEMA 17 stepper motor M23 44.3 73 NEMA 23 stepper motor

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Specicaon Units LCR22 LCR30
Grade S (Square Rail) B (Bushing) S (Square Rail) B (Bushing)
Bidireconal Repeatability mm ± 0.1 ± 0.2 ± 0.1 ± 0.2
Duty Cycle %100 100 100 100
Max Acceleraon m/s220 20 20 20
Normal Load N45 25 90 45
Moment Load *
Nm
Roll 0.9 0.1 2.6 0.3
Yaw 20.3 6.5 0.8
Pitch 2.5 0.8 8.2 1.5
Max Axial Load N25 25 70 70
Screw Eciency
%
2.0 mm Lead 50 50 50 50
10.0 mm Lead - - 70 70
Breakaway Torque Nm 0.02 0.03 0.03 (2mm lead)
0.05(10mm lead)
0.04 (2mm lead)
0.09(10mm lead)
Screw Diameter mm 3.3 3.3 6.4 6.4
Coecient of Fricon 0.02 0.10 0.02 0.10
Carriage Weight N0.2 0.2 0.5 0.5
Base Moment of Inera
mm4
Ixx 10,332 10,332 39,778 36,162
Iyy 11,808 11,808 46,273 42,066
Performance Specifications– LCR Screw Driven
Posioner Weight- Screw Driven LCR Nema 11 Nema 17
LCR22
Unit Weight (Basic Unit with 0 travel)- Kgf(lbs) 0.394 (0.867) NA
Weight of Addional Travel Length- Kgf/mm (lbs/mm) 0.001 (0.002) NA
LCR30
Unit Weight (Basic Unit with 0 travel)- Kgf(lbs) 0.660 (1.452) 0.759 (1.670)
Weight of Addional Travel Length- Kgf/mm (lbs/mm) 0.002 (0.004) 0.002 (0.004)
• Moment loading : Moment ratings are reduced ,when multiple moments/forces are applied , see page 26.

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LCR Screw-Driven Specifications
Linear Speed Versus Thrust Graphs
Performance Graph Notes:
To simplify application, the different aspects of positioner performance including motor torque, motor speed, screw efficiency,
friction, safety margin, etc. have been consolidated into these speed versus thrust graphs. To make a selection first use the X axis
scale of the different graphs to identify a screw lead that will deliver the desired peak velocity. Next, using the specific screw
lead graph, identify the motor with enough torque to deliver the needed thrust to lift or accelerate the load.
*Maximum speed with Parker P2 stepper drive at 24 VDC. To achieve faster speeds, motor must be connected to a
drive with active damping, electronic viscosity or other advanced anti-resonance zone features.

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Performance Specifications– LCR Belt Driven
Specicaon Units LCR22 LCR30
Grade S (Square Rail) B (Bushing) S (Square Rail) B (Bushing)
Bidireconal Repeatability mm ± 0.5 ± 0.5 ± 0.5 ± 0.5
Duty Cycle %100 100 100 100
Max Acceleraon m/s220 20 20 20
Max. Linear Speed mm/s 675 675 825 825
Normal Load N45.0 25.0 90.0 45.0
Moment Load*
Nm
Roll 0.9 0.1 2.6 0.3
Yaw 2.0 0.3 6.5 0.8
Pitch 2.5 0.8 8.2 1.5
Max Axial Load N25 25 45 45
Linear Travel/Rev mm 44.0 44.0 58.0 58.0
Breakaway Torque Nm 0.075 0.075 0.085 0.085
Coecient of Fricon 0.02 0.10 0.02 0.10
Carriage Weight N0.2 0.2 0.5 0.5
Base Moment of Inera
mm4
Ixx 11,365 10,332 39,778 36,162
Iyy 12,989 11,808 46,273 42,066
Posioner Weight- Belt Driven LCR Nema 17 Nema 23
LCR22
Unit Weight (Basic Unit with 0 travel)- Kgf(lbs) 0.635 (1.397) 0.712( 1.566)
Weight of Addional Travel Length- Kgf/mm (lbs/mm) 0.025 (0.055) 0.025 (0.055)
LCR30
Unit Weight (Basic Unit with 0 travel)- Kgf(lbs) 1.121 (2.466) 1.198 (2.636)
Weight of Addional Travel Length- Kgf/mm (lbs/mm) 0.035 (0.077) 0.035 (0.077)
* Moment loading : Moment ratings are reduced ,when multiple moments/forces are applied , see page 26.

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Performance Graph Notes:
To simplify application, the different aspects of positioner performance including motor torque, motor speed, efficiency,
friction, safety margin, etc. have been consolidated into these speed versus thrust graphs. To make a selection first use the X axis
scale of the different graphs to identify a screw lead that will deliver the desired peak velocity. Next, using the specific screw
lead graph, identify the motor with enough torque to deliver the needed thrust to lift or accelerate the load.

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Chapter 3– Component Specifications
LCR Motor Information
Stepper Motor Switching Sequence
CCW A+ A- B+ B-
Step 1 +- +-
Step 2 +- - +
Step 3 - +- +
Step 4 - ++-
Note: Viewed from Front Sha End
LCR Motor Specicaons M11 Screw M17 Screw M17 Belt M23 Belt M16E1
P/N 003-4457-08 P/N 003-4457-10 P/N 003-4457-12 P/N 003-4653-01 P/N SM162AE-F10N
Rated Torque mN-M100 360 440 990 330/990(PEAK)
Rated Current (rms) Amps/Phase 0.67 1.67 1.67 2.33 2.6(Peak of Sine)
Max Current (peak) Amps/Phase 0.94 2.36 2.36 3.29 7.8(Peak of Sine)
Rated Resistance Ohms/Phase 8.6 8.6 1.6 0.88 6.5
Rated Inductance mH 6.7 3.2 3.2 2.7 1.39
Rotor Inera g-cm218 61 68 275 180
# Phases 22224 pole
Step Angle Degrees 1.8 1.8 1.8 1.8 na
P/N Placement Motor A+ A- B+ B-
M11 Screw LCR22/30 Screw Drive NEMA11 Red Blue Green Black
Red Yellow Grey Green
M17 Screw LCR30 Screw Drive NEMA17 Red Blue Green Black
M17 Belt LCR22/30 Belt Drive NEMA17 Red Blue Green Black
M23 Belt LCR30 Belt Drive NEMA23 Black Red White Green
Servo Motor Connector Pin Outs
Stepper Motor Wire Color Code
M16 POWER CONNECTOR
PIN# COLOR FUNCTION
1RED/YELLOW PHASE A
2WHITE/YELLOW PHASE B
3BLACK/YELLOW PHASE C
4GREEN/YELLOW GROUND
STEPPER MOTOR CONNECTOR
PIN# FUNCTION
1A+
2A-
3B+
4B-
M16 Connecon Feedback Code
Wire Color Funcon
Red Vcc
Black & Red/ Blue Ground
Yellow/ Brown CH A +
White/ Yellow CH A -
Brown CH B +
White CH B -
Green Index +
Yellow Index -
Gray/ Brown Brake
White/ Gray Brake
Pink/ Brown Temp +
White/ Pink Temp -
Blue Hall Ground
Violet Hall +5V
White/ Green Hall 1
Brown/ Green Hall 2
Gray/ Pink Hall 3

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Motor Information
006-2357-(1.0/3.0) Stepper Motor Power Extension Cable
Connector
Pin Funcon
Pin 1 A+
Pin 2 A-
Pin 3 B+
Pin 4 B-
Motor Cable Connector Pin Out