The transportation, pushing and length measurement systems have been miniaturized through the use of a linear motor. Maximum stroke 50mm

Transcription

1 Card Motor LAT3 Series The transportation, pushing and length measurement systems have been miniaturized through the use of a linear motor. Weight 13 g Stroke: 1 mm Thickness 9mm Maximum pushing force 6 N Pushing a miniature load Positioning repeatability ±5 µm Positioning a workpiece Pushing measurement accuracy ±1 µm Parts measurement Load mass: 1 g, Stroke: 5 mm Maximum operating frequency 5 cpm Rejection of non-conforming products etc. Example) Pushing a probe pin Example) Lens focusing Maximum stroke 5mm (Measured value is displayed) Linear guide Easy programming (Cycle time entry) Just input 3 parameters: Positioning time, Target position, Load mass. Serial communication Modbus compatible Displacement sensor Linear motor RoHS 3 functions in 1 unit 887 LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2

2 Card Motor LAT3 Series Compact and lightweight Model LAT3-1 LAT3-2 LAT3-3 LAT3-5 W [mm] 5 L [mm] W H [mm] 9 12 Weight [g] Cable Mounting The cable connector does not protrude above the actuator. Table Connector Actuator cable Card Motor Dowel pin holes for locating the workpiece Four tapped holes for mounting the workpiece L Dowel pin holes for locating the actuator body Four tapped holes for mounting the actuator body Workpiece Mounting The table is provided with dowel pin holes for locating the workpiece as standard equipment. H Stopper (to prevent the table from separating from the actuator) Body Mounting 2 body mounting options Workpiece mounting (Tapped holes) Two dowel pin holes for locating the workpiece Bottom mounting (Tapped holes) Two dowel pin holes for locating the actuator body Series Variations Stroke Sensor Linear guide Pushing Model (Optical linear encoder) Positioning Pushing Linear motor repeatability measurement Resolution Type Type Accuracy Accuracy Horizontal Maximum instantaneous thrust LAT3F 1.25 µm ±5 µm ±1 µm LAT3M 5 µm Moving magnet Linear guide with type linear motor circulating balls Up to 6 N ±2 µm ±4 µm 1 g LAT3 3 µm ±9 µm ±1 µm The pushing and maximum load mass changes with the stroke. For details, refer to the specifications on page 91. Linear encoder sensor head (Fixed side) 888 Linear guide Permanent magnet Coil Rail Top mounting (Through hole) Structure and Working Principle Linear encoder scale (Moving side) Table The permanent magnet is mounted on the bottom side of the table, and the coil is mounted on the top surface of the rail. When current is supplied to the coil, a north pole (N) is generated in the middle of the top surface of the coil. This north pole attracts the south pole (S) of the permanent magnet on the left and repels the north pole on the right, and these attracting and repelling forces generate the thrust force. Therefore, thrust force is applied to the table in the right direction, and the table moves to the right. When current is applied to the coil in the reverse direction, a south pole will be generated in the middle of the top surface of the coil. Similarly, a thrust force will be applied to the table in the left direction, and the table moves to the left. Force Permanent magnet Table Moves in the right direction Force S N N Rail S Maximum load mass S Vertical Up to 1 g Coil Moves in the left direction N Maximum speed 4 mm/s

3 Start-up time is reduced greatly with a system that is ready-to-use and easy to set up. The functions described below makes the start-up quick and easy. Parallel Input/Output Status Check Function The status of the parallel input signals can be checked, or the parallel output signals can be activated manually using a PC. PC Built-in Operation Patterns Positioning Operation (Absolute Relative) Speed Current position Speed Positioning time Positioning time Speed entry method Cycle time entry method Target position Absolute: The table moves to the target position with reference to the origin position and stops there. Relative : The table moves to the target position with reference to the current position and stops there. Pushing Operation (Absolute Relative) Speed entry method Cycle time entry method Low speed Pushing Target position The table moves to a position close to the target position, decelerates to low speed and starts pushing after the table has come in contact with the workpiece. CN3 Controller Selection of operation type Parallel input/output signals CN5 Cycle Time Entry Method Step Data Input Operating condition Step data Function for measuring and differentiation of work pieces The size of the workpiece can be measured based on the table stopping position by driving the table until it comes into contact with the workpiece. The work pieces can be differentiated or checked for quality using parallel output signals that correspond to preset table position ranges. Furthermore, using the multi-counter (optional accessory: refer to page 919) A B makes it possible to display the table position and output up to 31 preset points. Card Motor LAT3 Series A B PLC Only target position and positioning time need to be entered, so there is no need to enter the speed, acceleration and deceleration. (Using the speed entry method allows you to enter the speed, acceleration and deceleration.) The Card Motor operation type and condition are preset in the step data. The Card Motor is operated according to the contents of the selected preset step data number. PLC 889 LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2

4 Card Motor LAT3 Series Application Examples of Card Motor The applications described below are just a few examples. When using the Card Motor, select an appropriate model by carefully checking the specifications. Examples of Positioning Applications Sensor head movement and positioning Component movement and positioning Electronic component pick and place Component supply to tape Component separation (escapement) Workpiece alignment Examples of Measurement Applications Measurement of workpiece height Measurement of glass substrate thickness (multiple points) Measurement of cable outside diameter Measurement of tape thickness 89

5 Card Motor LAT3 Series Examples of High Frequency Actuation Alignment of components on pallet by vibration Distribution of work pieces Examples of Pushing Applications Pushing of work pieces (soft touch) Positioning of work pieces Cutting of resin mold component runners Tape alignment Switch inspection High-density layout LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 891

6 A Selection Procedure for Positioning Operation (Refer to pages 894 to 896 for Fig.1, 2, 3, 4, 5 and Table 1, 2, 3.) Selection Procedure Formula / Data Selection Example 1 Operating conditions List the operating conditions with consideration to the mounting orientation and shape of the workpiece. Select an actuator temporarily. 2 Select a model temporarily based on the required positioning repeatability and stroke LAT3 Series Model Selection 1 Check the load mass and load factor. Find the allowable load mass Wmax [g] from the graph. * Confirm that the applied load mass W [g] does not exceed the allowable load mass. From Table 1, find the correction values for the distances to the moment center. Calculate the static moment M [N m]. From Table 3, find the allowable moment Mmax [N m]. Calculate the load factor αn for the static moments. * Confirm that the total sum of the guide load factors for the static moments does not exceed 1. Check the positioning time. Find the shortest positioning time Tmin [ms] from the graph. * Confirm that the positioning time Tp [ms] is longer than the shortest positioning time. Stroke St [mm] Load mass W [g] Mounting orientation Mounting angle θ [ ] Fig.2 Amount of overhang Ln [mm] Fig.1 Correction values for the distances to the moment center An [mm] Fig.1 Table 1 Positioning time Tp [ms] Positioning repeatability [μm] Table 2 From Table 2, temporarily select the LAT3-2, which satisfies the positioning repeatability 1 μm and the minimum stroke that satisfies the stroke St = 15 Model LAT3-1 LAT3F-1 LAT3-2 LAT3F-2 LAT3-3 LAT3F-3 LAT3M-5 LAT3F-5 Stroke [mm] Positioning repeatability [μm] ±9 ±5 ±9 ±5 ±9 ±5 ±2 ±5 Measuring accuracy [μm] Table weight [g] Wmax Fig.2 W An Table 1 M = W/1 9.8 (Ln + An)/1 Mmax Table 3 α = M/Mmax Σαp + αy + αr 1 Tmin Fig.3 Tp Wmax Tmin 15 mm 3 g Horizontal table mounting θ = L1 = 1 mm L2 = 3 mm L3 = 35 mm Tp = 2 ms 1 μm Allowable load mass Wmax [g] Card Motor Load Movement LAT3-1, -2 direction Mounting angle θ LAT (Horizontal) Mounting angle θ [ ] (Vertical) From Table 1, A1 = 32.5 Shortest positioning time Tmin [ms] L3 L2 + A2 A1 + L1 From Fig. 2: θ =, find Wmax = 1 As W = 3 < Wmax = 1, the selected model can be used. Pitch moment Mp = 3/1 x 9.8 ( )/1 =.66 From Table 3, Mpmax =.3 αp =.66/.3 =.22 Roll moment Mr = 3/1 x 9.8 x 35/1 =.13 From Table 3, Mrmax =.2 αr =.13/.2 =.52 Σαn = =.74 1, thus, the selected model can be used. From Fig. 3: St = 15 and W = 3, find Tmin = 15 As Tp = 2 Tmin = 15, the selected model can be used W = Stroke(Positioning distance) St [mm]

7 L2 + A2 Model Selection LAT3 Series Selection Procedure for Pushing Operation Selection Procedure Formula / Data Selection Example 1 Operating conditions List the operating conditions with consideration to the mounting orientation and shape of the workpiece. * When operating the product in a vertical direction, consider the effect of the table weight on the Card Motor (See Table 2) and the weight of the workpiece to find out the pushing force of the Card Motor. Select an actuator temporarily. 2 Select a model temporarily based on the required measuring accuracy and stroke Check the load mass and moment. Find the allowable load mass Wmax [g] from the graph. * Confirm that the applied load mass W [g] does not exceed the allowable load mass. From Table 1, find the correction values for the distances to the moment center. Calculate the static moment M [N m]. From Table 3, find the allowable moment Mmax [N m]. Calculate the load factor αn for the static moments. * Confirm that the total sum of the guide load factors for the static moments does not exceed 1. Check the positioning time. Find the shortest positioning time Tmin [ms] from the graph. * Confirm that the positioning time Tp [ms] is longer than the minimum positioning time. Check the pushing force. Calculate the duty ratio [%]. Find the allowable thrust setting value from the graph. From Fig. 5, find the allowable pushing force Fmax [N] generated at the required pushing position and for the allowable thrust setting value. Confirm that the pushing force F [N] does not exceed the allowable pushing force. Stroke St [mm] Load mass W [g] Mounting orientation Mounting angle θ [ ] Amount of overhang (L1, L2, L3) [mm] Fig.1 Correction values for the distances to the moment center An [mm] Fig.1 Table 1 Measuring accuracy [μm] Positioning time Tp [ms] Pushing force F [N] Pushing position [mm] Pushing direction Positioning time + Pushing time Ta [s] Cycle time Tb [s] Table 2 Time while pushing force is applied Position Ta Tb Time Allowable thrust setting [N] L1 + A1 Model LAT3-1 LAT3F-1 LAT3-2 LAT3F-2 LAT3-3 LAT3F-3 LAT3M-5 LAT3F-5 Stroke [mm] Positioning repeatability [μm] ±9 ±5 ±9 ±5 ±9 ±5 ±2 ±5 Measuring accuracy [μm] Table weight [g] Wmax Fig.2 W An Table 1 M = W/1 9.8 (Ln + An)/1 Mmax Table 3 α = M/Mmax Σαp + αy + αr 1 Tmin Fig.3 Tp Tmin Duty ratio = Ta/Tb x 1 Fig.4 F Wmax Fmax 8 mm 5 g Horizontal table mounting θ = L1 = 3 mm L2 = 1 mm L3 = mm 1 μm Tp = 15 ms 4 N 4 mm Pushing direction away from the connector 4 s 1 s From Table 2, temporarily select the LAT3F-1, which satisfies the measuring accuracy 1 μm and the minimum stroke that satisfies the stroke St = 8 From Fig. 2: θ =, find Wmax = 5 As W = 5 < Wmax = 5, the selected model can be used. From Table 1, A1 = 22.5 Pitch moment Mp = 5/1 x 9.8 ( )/1 =.26 From Table 3, Mpmax =.2 Σαn =.13 αp =.26/.2 = Ambient temperature 2 5 C 1 2 C 4 C L3 1, thus, the selected model can be used. From Fig. 3: St = 8 and W = 5, find Tmin = 1 As Tp = 15 Tmin = 1, the selected model can be used. Duty ratio = 4/1 x 1 = 4% From Fig. 4: LAT3-1 and 4% duty ratio, find the allowable thrust setting value = 4.2 Duty ratio [%] From Fig. 5: LAT3-1, pushing direction away from the connector at pushing position 4 mm, find Fmax = 4.5 As F = 4 Fmax = 4.5, the selected model can be used. 893 LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2

8 LAT3 Series Model Selection 2 Selection Caution 1. The temperature increase of the Card Motor varies depending on the duty ratio and the heat dissipation properties of the base it is mounted onto. If the temperature of the Card Motor becomes high, reduce the duty ratio by increasing the cycle time, or improve the heat transfer properties of the mounting base and the surroundings. 2. The pushing force generated by the Card Motor varies in relation to the thrust setting value depending on the pushing position and the pushing direction. Refer to Fig. 5 for details. Fig. 1 Amount of Overhang: Ln [mm], Correction Value for Distances to Moment Center: An [mm] Mounting orientation Mp: Pitching My: Yawing Mr: Rolling Horizontal Mp W L1 A1 My W L1 A1 Mr Mr W W L2 L3 A2 Table 1 Correction Value for Distances to Moment Center: An [mm] Model A1 A2 LAT LAT LAT LAT L2 A2 L3 Vertical Mp My W W A Fig. 2 Allowable Load Mass: Wmax [g] Allowable load mass Wmax [g] Shortest positioning time Tmin [ms] (Horizontal) LAT3-1, -2 LAT3-3 Card Motor Load Movement direction Mounting angle θ (Vertical) Mounting angle θ [ ] Fig. 3 Shortest Positioning Time (Reference): Tmin [ms] LAT3- LAT3M- LAT3F- Load mass 1 g 7 g 5 g g 1 g 5 g Stroke (Positioning distance) St [mm] Operating conditions Model: LAT3- Mounting orientation: Horizontal/Vertical Step data input version: Cycle time entry method (Triangular movement profile) 894 Shortest positioning time Tmin [ms] Load mass 1 g 5 g 7 g g 1 g 3 g Stroke (Positioning distance) St [mm] Operating conditions Model: LAT3M- Mounting orientation: Horizontal/Vertical Step data input version: Cycle time entry method (Triangular movement profile) * LAT3-5 can be used only at the horizontal mounting angle ( ). Shortest positioning time Tmin [ms] Load mass 1 g 5 g 7 g 3 g 1 1 g g Stroke (Positioning distance) St [mm] Operating conditions Model: LAT3F- Mounting orientation: Horizontal/Vertical Step data input version: Cycle time entry method (Triangular movement profile)

9 Model Selection LAT3 Series Fig. 4 Allowable Thrust Setting Value LAT3-1 Allowable thrust setting [N] Ambient temperature Duty ratio Duty [%] LAT3-2 Allowable thrust setting [N] C 2 C 4 C 2 Ambient temperature Duty ratio Duty [%] LAT3-3 Allowable thrust setting [N] C 2 C 4 C 2 Ambient temperature Duty ratio Duty [%] LAT C 2 C 4 C Fig. 5 Pushing direction away from the connector Pushing force Pushing force [N] Pushing force [N] Pushing force [N] Connector side Pushing Force: F [N] Characteristics (Reference) Opposite side of the connector Operating conditions Mounting orientation: Horizontal table mounting Thrust setting value: Minimum, continuous, instantaneous maximum of each model. Table start position: Retracted end (Connector side) Pushing direction: Away from the connector Pushing position: Positioning distance from the connector side, retracted end LAT Pushing position [mm] LAT3-2 Thrust setting value: 5 Thrust setting value: 3 Thrust setting value: 1 Thrust setting value: 4.8 Thrust setting value: 2.8 Thrust setting value: Pushing position [mm] LAT3-3 Thrust setting value: 3.9 Thrust setting value: 2.6 Thrust setting value: Pushing position [mm] Pushing direction toward the connector Pushing force [N] Pushing force [N] Pushing force [N] Pushing force Connector side Opposite side of the connector Operating conditions Mounting orientation: Horizontal table mounting Thrust setting value: Minimum, continuous, instantaneous maximum of each model. Table start position: Extended end (Opposite side of the connector) Pushing force direction: Toward the connector Pushing position: Positioning distance from the connector side, retracted end LAT3-1 Thrust setting value: 5 Thrust setting value: 3 Thrust setting value: Pushing position [mm] LAT3-2 Thrust setting value: 4.8 Thrust setting value: 2.8 Thrust setting value: Pushing position [mm] LAT3-3 Thrust setting value: Thrust setting value: Thrust setting value: Pushing position [mm] LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 Allowable thrust setting [N] 2 1 Ambient temperature 5 C 2 C 4 C Duty ratio Duty [%] LAT3-5 Pushing force [N] 3 Thrust setting value: 2 2 Thrust setting value: 1.5 Thrust setting value: Pushing position [mm] LAT3-5 Pushing force [N] Thrust setting value: 2 Thrust setting value: 1.5 Thrust setting value: Pushing position [mm] 895

10 LAT3 Series Table Displacement (Reference) Displacement through the entire stroke when a load is applied to the point indicated by the arrow Table displacement due to pitch moment load Table displacement due to yaw moment load Table displacement due to roll moment load 4 A1 4 A1 4 LAT3-1, -2, -3, -5 LAT3-1, -2, -3, -5 LAT3-1, -2, -3, -5 Table displacement [mm] Load [N] Table displacement [mm].8.6 LAT LAT3-1, -2, Load [N] Table displacement [mm] Load [N] Table 2 Table 3 Model Stroke: St [mm], Positioning Repeatability [µm], Measuring Accuracy [µm], Table Weight [g] Model LAT3-1 LAT3F-1 LAT3-2 LAT3F-2 LAT3-3 LAT3F-3 LAT3M-5 LAT3F-5 Stroke [mm] Positioning repeatability [µm] ±9 ±5 ±9 ±5 ±9 ±5 ±2 ±5 Measuring accuracy [µm] Table weight [g] Allowable Moment: Mmax [N m] Pitch moment/yaw moment Mpmax, Mymax Roll moment Mrmax LAT LAT LAT LAT

11 Card Motor Controller LATCA Series System Construction/General Purpose I/O Provided by customer PLC VCard Motor LAT3 Series Actuator cable (Option)V LATH1-m Provided by customer Controller power supply 24 VDC Note) Note) When conformity to UL is required, the electric actuator and controller should be used with a UL131 Class 2 power supply. Controller setting software To CN1 To CN2 VPower supply plug (Accessory) <Applicable cable size> AWG2 (.5 mm 2 ) VCard Motor controller (Option) LATCA To CN5 To CN3 Separately sold products Communication cablev VI/O cable (Option) LATH5-m LATH2-m To CN4 Counter plug (Accessory) Power supply for I/O signal 24 VDC Note) VCounter cable* LATH3-m LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 PC (Provided by customer) VController setting kit LATC-W2 Contents q Controller setting software w Controller setting cable (Communication cable, USB cable) VUSB cable (A-mini B type) VMulti-counter CEU5 Power supply for Multi-counter 24 VDC/1 VAC * Option: Can be ordered in the How to Order for the Card Motor. * Accessory: Attached to the controller * Separately sold products: Order separately. Refer to pages 918 to 92 for details. 897

12 Card Motor Controller LATCA Series System Construction/Pulse Signal Provided by customer PLC VCard Motor LAT3 Series Power supply for I/O signal 24 VDC Note) VCard Motor controller (Option) VI/O cable (Option) LATH5-m Actuator cable (Option)V LATH1-m To CN5 To CN4 Counter plug (Accessory) To CN3 To CN2 Provided by customer Controller power supply 24 VDC Note) Note) When conformity to UL is required, the electric actuator and controller should be used with a UL131 Class 2 power supply. To CN1 VPower supply plug (Accessory) <Applicable cable size> AWG2 (.5 mm 2 ) LATCA Separately sold products Controller setting software Communication cablev VCounter cable* LATH3-m PC (Provided by customer) VController setting kit LATC-W2 Contents q Controller setting software w Controller setting cable (Communication cable, USB cable) VUSB cable (A-mini B type) VMulti-counter CEU5 Power supply for Multi-counter 24 VDC/1 VAC * Option: Can be ordered in the How to Order for the Card Motor. * Accessory: Attached to the controller * Separately sold products: Order separately. Refer to pages 918 to 92 for details. 898

13 Card Motor Controller LATCA Series System Construction/Serial Communication (One Controller) Provided by customer Separately sold products Master equipment (PLC etc.) PLC RS485 (Modbus protocol compliant) or RS485 Original protocol Provided by customer Controller power supply 24 VDC Note) Note) When conformity to UL is required, the electric actuator and controller should be used with a UL131 Class 2 power supply. or VCommunication cable (Separately sold product) LATH6-m Counter plug (Accessory) To CN1 Controller setting software PC (Provided by customer) VController setting kit LATC-W2 Contents q Controller setting software w Controller setting cable (Communication cable, USB cable) To CN4 To CN3 VPower supply plug (Accessory) <Applicable cable size> AWG2 (.5 mm 2 ) VCard Motor controller (Option) LATCA To CN3 To CN2 VUSB cable (A-mini B type) Communication cablev VActuator cable (Option) LATH1-m LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 VCard Motor LAT3 Series * Option: Can be ordered in the How to Order for the Card Motor. * Accessory: Attached to the controller * Separately sold products: Order separately. Refer to pages 918 to 92 for details. 899

14 Card Motor Controller LATCA Series System Construction/Serial Communication (2 to 16 Controllers) Provided by customer Master equipment (PLC etc.) PLC RS485 (Modbus protocol compliant) or RS485 Original protocol BranchV communication cable (Separately sold product) LATH7-m VCable between branches (Separately sold product) -CG2-m VBranch connector (Separately sold product) -CGD VTerminating resistor connector (Separately sold product) -CGR Communication cablev (Separately sold product) -CG1-m VCard Motor controller (Option) LATCA Counter plug (Accessory) To CN4 To CN4 Up to 16 controllers are connectable To CN4 Provided by customer Controller power supply 24 VDC Note) Note) When conformity to UL is required, the electric actuator and controller should be used with a UL131 Class 2 power supply. To CN3 To CN2 To CN3 To CN2 To CN3 To CN1 VPower supply plug (Accessory) <Applicable cable size> AWG2 (.5 mm 2 ) Actuator cable (Option)V LATH1-m To CN1 VPower supply plug (Accessory) <Applicable cable size> AWG2 (.5 mm 2 ) To CN1 To CN2 VPower supply plug (Accessory) <Applicable cable size> AWG2 (.5 mm 2 ) VCard Motor LAT3 Series * Option: Can be ordered in the How to Order for the Card Motor. * Accessory: Attached to the controller * Separately sold products: Order separately. Refer to pages 918 to 92 for details. 9

15 Card Motor LAT3 Series Note 1) Continuous thrust can be generated and maintained continuously. Maximum instantaneous thrust is the maximum peak thrust that can be generated. Refer to Fig. 4 Allowable thrust setting value (Page 895) and to Fig. 5 Pushing force characteristics (Page 895). Note 2) When mounted on a base with good heat dissipating capacity at 2 C ambient temperature. Note 3) The pushing force varies depending on the operating environment, pushing direction and table position. Refer to Fig. 5 Pushing force characteristics (Page 895). How to Order LAT3 F 1 1 AN 1 Card Motor Sensor resolution Nil 3 μm M 5 μm F 1.25 μm Stroke Stroke Model 1 mm 2 mm 3 mm 5 mm LAT3 LAT3M LAT3F : Compatible : Not compatible Actuator cable length Nil Without cable 1 1 m 3 3 m 5 5 m D I/O cable specification change Nil No specification change X152 Without shield Note 4) Note 1) Refer to page 94 (LATCA) for detailed specifications of the controller. Note 2) If Without controller has been selected, the I/O cable is also not included. Therefore it is not possible to select the I/O cable for this option. If the I/O cable is required, please order separately. (Refer to page 917, [I/O cable] for details.) Note 3) The DIN rail is not included. If the DIN rail is required, please order separately. (Refer to page 95, DIN rail and DIN rail mounting adapter for details.) Note 4) The included I/O cable is changed from LATH5 to LATH2 (normally LATH5). Specifications Model LAT3-1 LAT3F-1 LAT3-2 LAT3F-2 LAT3-3 LAT3F-3 LAT3M-5 LAT3F-5 Stroke [mm] Motor Guide Sensor Type Moving magnet type linear motor Maximum instantaneous thrust [N] Note 1) 2) 3) Continuous thrust [N] Note 1) 2) 3) Type Linear guide with circulating balls Maximum load mass [g] Horizontal: 1, Vertical: 1 Horizontal: 1, Vertical: 5 Horizontal: 1, Vertical: Not possible Type Optical linear encoder (incremental) Resolution [μm] Origin position signal None Provided None Provided None Provided Provided Pushing Pushing speed [mm/s] 6 operation Thrust setting value Note 1) 2) 3) 1 to 5 1 to to to 2 Positioning operation Controller mounting Nil Screw mounting D Note 3) DIN rail mounting I/O cable length Nil Without cable 1 1 m 3 3 m 5 5 m Note 1) Controller Nil Without controller AN With controller LATCA (NPN) AP With controller LATCA (PNP) Positioning resolution [μm] Positioning Note 4) 5) ±9 ±5 ±9 ±5 ±9 ±5 ±2 ±5 repeatability [μm] Measurement Accuracy [μm] Note 4) 5) ±1 ±1 ±1 ±1 ±1 ±1 ±4 ±1 Maximum speed [mm/s] Note 6) 4 Operating temperature range [ C] 5 to 4 (No condensation) Operating humidity range [%] 35 to 85 (No condensation) Weight [g] Note 7) Table weight [g] Note 2) Note 4) When the temperature of the Card Motor is 2 C. Note 5) The accuracy after mounting the Card Motor may vary depending on the mounting conditions, operating conditions and environment, so please calibrate it with the equipment used in your application. Note 6) The maximum speed varies depending on the operating conditions (load mass, positioning distance). Note 7) The weight of the Card Motor itself. Controllers and cables are not included. 91 LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2

16 LAT3 Series Dimensions LAT3 - (Rail dowel pin hole) E Stroke: A G 2 ±.1 Note 2) +.3 ø3 depth 1.5 Table dowel pin hole (Fix this part of the cable.) Minimum cable bending radius (R43) 5 49 (Table width) 32 Rail Table H B D ø5.2 2 Note 2) depth 1.5 Actuator cable Note 1) C x M3 x.5 depth 2.5 Table mounting screw hole F Note 1) 4 x M3 x.5 depth 2 Rail mounting screw hole 24 Note 2) +.3 ø3 depth 2 Rail dowel pin hole ± depth 2 Note 2) Note 1) Refer to page 922 regarding Specific Product Precautions for the mounting screws. Note 2) The length of the part of the dowel pin inserted into the positioning hole should be shorter than the specified depth. Note 3) This drawing shows the origin position. Note 4) The origin positions G and H are reference dimensions (guide). Refer to page 916 for details on the origin position. [mm] Model Stroke Table dimensions Rail dimensions Origin position Note 4) A B C D E F G H LAT LAT LAT

17 Card Motor LAT3 Series Dimensions LAT3-5 (Rail dowel pin hole) G Stroke : A E 2 ±.1 Note 2) ø3 + depth 15 Table dowel pin hole (Fix this part of the cable.) Minimum cable bending radius (R43) LEF LEJ 5 49 (Table width) 32 Rail H Table B D Note 2) depth 1.5 Actuator cable ø5.2 2 LEL LEM LES Note 1) C x M3 x.5 depth 2.5 Table mounting screw hole LEPY LEPS LER 12 LEH F Note 1) 4 x M3 x.5 depth 2 Rail mounting screw hole -X5 LEFS LEJS 25A- Note 2) +.3 ø3 depth 2 Rail dowel pin hole 25 1 ± Note 2) depth 2 Note 1) Refer to page 922 regarding Specific Product Precautions for the mounting screws. Note 2) The length of the part of the dowel pin inserted into the positioning hole should be shorter than the specified depth. Note 3) This drawing shows the origin position. Note 4) The origin positions G and H are reference dimensions (guide). Refer to page 916 for details on the origin position. [mm] Stroke Table dimensions Rail dimensions Origin position Note 4) Model A B C D E F G H LAT S SS-T Y Motorless LAT LZ LC3F2 93

18 Card Motor Controller (Step Data Input Type/Pulse Input Type) LATCA Series How to Order LATCA N Controller for the Card Motor Parallel I/O N NPN P PNP Note 1) I/O cable LATH5-m is supplied. The actuator cable, the counter cable and the controller setting cable are not supplied with the controller. Refer to pages 917 to 92 for options. Note 2) The DIN rail is not included. If the DIN rail is required, please order separately. (Refer to page 95.) Note 3) The included I/O cable is changed from LATH5 to LATH2 (normally LATH5). Specifications I/O cable specification change Nil No specification change X152 Without shield Note 3) Option Nil Screw mounting D Note 2) DIN rail mounting I/O cable (with shield) length Nil Without cable 1 1 m 3 3 m 5 5 m Note 1) Model LATCA Setting method Note 1) Step data input type Pulse input type Compatible actuator Number of axis Card Motor LAT3 series Power supply Note 2) Power supply voltage: 24 VDC ±1%, Current consumption Note 3) : Rated 2 A (Peak 3 A), Power consumption Note 3) : 48 W (Maximum 72 W) Control system Movement mode Note 1) Either the step data input type or pulse input type can be selected after purchase. Note 2) Do not use a power supply of inrush current limited type for the controller. Note 3) Rated current: Current consumption when continuous thrust is generated. Peak current: Current consumption when maximum instantaneous thrust is generated. Note 4) Specification for the connection of the separately sold multi-counter (CEU5). Note 5) Cables are not included. Note 6) This setting software is not supplied with the controller. Order it separately (Refer to page 92 for details). Note 7) Setting cable is included with the controller setting kit. 1 axis Closed loop Positioning operation, Pushing operation Number of step data 15 points 4 points Parallel input Parallel output Pulse input mode Pulse signal input maximum frequency Position display output Note 4) A-phase Serial communication LED indicator Cooling method Operating temperature range Operating humidity range Insulation resistance Weight Note 5) Screw Controller setting kit Note 6) LATC-W2 Setting cable Note 7) -W2-C, 6 inputs (Optically isolated) 4 outputs (Optically isolated, open collector output) Pulse and direction control mode CW and CCW control mode Quadrature control mode 1 khz (Open collector) 2 khz (Differential) and B-phase pulse signals, RESET signal (NPN open collector output) RS485 (Modbus protocol compliant), RS485 (Original protocol) 2 LED s (Green and Red) Natural air-cooling to 4 C (No condensation) 9% or less (No condensation) Between case and FG: 5 MΩ (5 VDC) mounting: 13 g, DIN rail mounting: 15 g -W2-U (Same cable as included with -W2) 94

19 Controller LATCA Series How to Mount a) Screw mounting (LATCA- ) (Installation with two M4 screws) b) DIN rail mounting (LATCA- D) (Installation with the DIN rail) DIN rail is locked. Mounting direction Ground wire Ground wire Ground wire LEF LEJ DIN rail LEL LEM LES LEPY LEPS LER Mounting direction A Hook the controller on the DIN rail and press the lever of section A in the arrow direction to lock it. DIN rail mounting adapter LEH -X5 LEFS LEJS 25A- DIN rail AXT1-DR- *For, enter a number from the No. line in the table below. Refer to the dimensions on page 96 for the mounting dimensions. L Dimension L 12.5 (Pitch) (35) (25) (1.5) No L No L S SS-T Y Motorless LAT LZ LC3F2 DIN rail mounting adapter -D (with 2 mounting screws) The DIN rail mounting adapter can be retrofitted onto a screw mounting type controller. 95

20 LATCA Series Dimensions a) Screw mounting (LATCA- ) Power supply LED (Green) When the LED is lit: Power When the LED is flashing: Alarm Alarm LED (Red) (When the LED is lit or flashing: Alarm) ø4.5 for body mounting CN5: Parallel I/O connector CN4: Counter connector CN3: Serial I/O connector CN2: Motor connector CN1: Power supply connector 4.6 for body mounting b) DIN rail mounting (LATCA- D) Refer to page 95 for L dimension and part number of DIN rail (81.7) 66 1 (11.5) (When the DIN rail mounting adapter is in unlocked position) (When the DIN rail mounting adapter is in locked position) (91.7) Note) When two or more controllers are used, the space between the controllers should be 1 mm or more. 96

21 Controller LATCA Series Wiring Example The power supply plug is an accessory (supplied with the controller). Power Supply Connector: CN1 Use an AWG2 (.5 mm 2 ) cable for connecting the power supply plug to a 24 VDC power supply. Power Supply Connector Terminal Terminal name Function Details Power supply plug The negative ( ) power supply terminal to the controller. Power DC1( ) Power ( ) is also supplied to the Card Motor via the supply( ) internal circuit of the controller and actuator cable. DC1(+) The counter plug is an accessory Counter Connector: CN4 (supplied with the controller). Use the counter cable (LATH3- ) for connecting the counter to the Counter Connector Terminal counter plug. Name Details Cable color PhaseB Connect to the phase B wire of the counter cable. White PhaseA Connect to the phase A wire of the counter cable. Red GND Connect to the GND wire of the counter cable. Light gray RESET Connect to the Reset wire of the counter cable. Yellow FG Connect to the FG wire of the counter cable. Green Parallel I/O Connector: CN5 NPN Main circuit Internal resistance 1 [kω] Pulse input internal circuit Power supply(+) CN5 A1 A2 A3 A4 A5 A6 A7 A8 A9 A1 B1 B2 B3 B4 B5 B6 B7 B8 B9 B1 The positive (+) power supply terminal to the controller. Power (+) is also supplied to the Card Motor via the internal circuit of the controller and actuator cable. 24 VDC power supply for the input signals The power supply can be either polarity. 24 VDC power supply for the output signals Maximum output current 1 ma Pulse input circuit DC1( ) DC1(+) Main circuit Internal resistance 1 [kω] Pulse input internal circuit CN5 A1 A2 A3 A4 A5 A6 A7 A8 A9 A1 B1 B2 B3 B4 B5 B6 B7 B8 B9 B1 PhaseB PhaseA GND RESET FG Counter plug Use the I/O cable (LATH5- ) to connect a PLC, etc., to the CN5 parallel I/O connector. The wiring is specific to the type of parallel I/O (NPN or PNP). Refer to the wiring diagrams below for correct wiring of NPN and PNP type controllers. PNP 24 VDC power supply for the input signals The power supply can be either polarity. 24 VDC power supply for the output signals Maximum output current 1 ma Pulse input circuit LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 Note) When using the controller by the step data input type, do not wire as there is an internal circuit to use terminals B7 to B1 as the pulse signal input terminals. 97

22 LATCA Series Wiring Example Step Data Input Type Input/Output Signal Terminal no. Input/Output Function Details A1 COM Connect a 24 VDC power supply for the input signals. (Polarity is reversible) A2 IN Selection of step data number A3 IN1 specified by a Bit No. A4 IN2 (combinations of IN to IN3) A5 IN3 Input A6 DRIVE Command to drive the motor A7 SV Command to turn the servo motor A8 NC Not connected A9 NC Not connected A1 NC Not connected B1 DC2(+) Connect the 24 V power supply terminal for the output signals. B2 DC2( ) Connect the V power supply terminal for the output signals. B3 BUSY when the actuator is moving Note 1) Output B4 ALARM when an alarm has been generated Note 2) B5 OUT Select an output function among BUSY, INP, B6 OUT1 INFP, INF, AREA A and AREA B. Note 3) B7 NC Not connected B8 NC Not connected Input B9 NC Not connected B1 NC Not connected Note 1) Other output functions can also be assigned to the BUSY output. Note 2) This output signal turns when power is supplied to the controller, but turns in alarm condition (N.C.). Note 3) INP is set as a default for OUT, and INF for OUT1. Pulse Input Type Input/Output Signal Terminal no. Input/Output Function Details A1 COM Connect a 24 VDC power supply for the input signals. (Polarity is reversible) A2 IN Selection of step data number specified by a Bit No. A3 IN1 (combinations of IN and IN1) A4 SETUP Instruction to return to origin A5 CLR Deviation reset Input A6 TL Instruction to pushing operation A7 SV Command to turn the servo motor A8 NC Not connected A9 NC Not connected A1 NC Not connected B1 DC2(+) Connect the 24 V power supply terminal for the output signals. B2 DC2( ) Connect the V power supply terminal for the output signals. B3 BUSY when the actuator is moving Note 1) Output B4 ALARM when an alarm has been generated Note 2) B5 OUT Select an output function among BUSY, INP, B6 OUT1 INFP, INF, AREA A and AREA B. Note 3) B7 PP+ B8 PP Input B9 NP+ Connect the pulse input signal Note 4) B1 NP Note 1) Other output functions can also be assigned to the BUSY output. Note 2) This output signal turns when power is supplied to the controller, but turns in alarm condition (N.C.). Note 3) INP is set as a default for OUT, and INF for OUT1. Note 4) The function assignment changes according to the pulse input mode. Pulse Input Circuit Example Pulse signal output of positioning unit is open collector output PP+ PP NP+ NP B7 B8 B9 B1 Pulse signal power supply (24 V or 5 VDC) OUT and OUT1 Optional Output Functions Note) Name Details BUSY when the actuator is moving Note 1) when the table is within the INP output range INP of the current Target Position. when the table is within the positioning INFP repeatability range of the actuator for the current Target Position. when the pushing force is within the INF Threshold Force Value. AREA A, AREA B when the table is within the set Area Ranges. Note) One output function can be selected for each OUT and OUT1. Pulse Input Internal Circuit Main circuit R1 <No. 1> R2 <No. 2> R3 <No. 3> R1 <No. 4> R2 <No. 5> R3 <No. 6> Pulse and direction control mode H PP L NP Counts by L CW and CCW control mode H PP L Pulse input signal switch Counts by L B7 B8 B9 B1 Signal input method Pulse input signal power supply voltage Pulse input signal switch setting Current limiting resistor R specifications (a) Open 24 VDC ±1% No. 2 & No. 5:, Others: R2 = 1.5 kω (b) collector input 5 VDC ±5% No. 1 & No. 4:, Others: R1 = 22 Ω (c) Differential input No. 3 & No. 6:, Others: R3 = 12 Ω (a) Open collector input (24 V) (b) Open collector input (5 V) (c) Differential input Change the switch in the controller according to the pulse input signal power supply voltage. For differential input, connect the positioning unit using the line driver which is equivalent to DS26C31T. Pulse Input Mode Table moves to opposite side of connector Table moves to connector side Pulse signal output of positioning unit is differential output PP+ PP NP+ NP 98 B7 B8 B9 B1 NP Quadrature control mode H PP L NP Counts by H and L

23 Controller LATCA Series Signal Timing (When step data input type is selected) Return to Origin Power supply Input Output Power supply Input Output IN to 3 SV DRIVE BUSY OUT (INP) ALARM Speed The Alarm output turns after the controller has been initialized. IN to 3 SV DRIVE BUSY Speed The SV input turns after the ALARM output has turned. ALARM is expressed as negative-logic circuit. Positioning Operation OUT (INP) AREA Signal Table position Output Set the step data number. Return to origin The controller scans the step data number. 24 V V mm/s The INP output turns after the return to origin has been completed. The controller scans the step data number. Positioning operation 24 V V mm/s The INP output turns when the Card Motor table is within the INP output range of the "Target Position". The INP signal will turn again if the table moves outside the INP output range. AREA B (Position 2) AREA B (Position 1) AREA A (Position 2) AREA A (Position 1) AREA A AREA B Select the AREA signal for the parallel output (OUT or OUT1). Caution Use a 2 msec interval or more between input signals, and maintain the signal state for at least 2 msec. Turn the SV signal first after that the ALARM signal has turned after power has been supplied to the controller. If the SV signal is already, the operation will not start for safety reasons. Keep the DRIVE signal turned until the next operation instruction is given except when stopped during operation. When the DRIVE signal is turned during positioning operation, the table of the Card Motor stops, and holds the position. When the DRIVE signal is turned during pushing operation, the pushing operation is completed and this position is retained. Pushing Operation Power supply Input Output Alarm Reset Input Output SV ALARM IN to 3 SV DRIVE BUSY OUT1 (INF) Speed Set the step data number. The controller scans the step data number. Pushing operation 24 V V mm/s The INF output turns when the pushing force exceeds the set "threshold" pushing force value. The INF signal turns when the DRIVE signal is turned. Alarm out Alarm reset Remove the cause of the alarm. ALARM is expressed as negative-logic circuit. LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 99

24 LATCA Series Signal Timing (When pulse input type is selected) Return to Origin Power supply Input Output IN to 1 SV SETUP BUSY OUT (INP) ALARM SV input after ALARM output SETUP input after INP output 24 V V Positioning Operation Set the step data number. Power supply Input Output IN to 1 SV PP NP BUSY OUT (INP) The controller scans the step data number. Start of pulse input 24 V V Speed after controller system initialization ALARM is expressed as negative-logic circuit. Return to origin OUT (INP) and BUSY output after return to origin has been completed. mm/s Speed Positioning operation mm/s OUT (INP) output turns in the condition where the pulse input signal is not input for 1 ms or more continuously, and the deviation from the target value becomes the positioning width or less. Caution Turn the SV signal first after that the ALARM signal has turned after power has been supplied to the controller. If the SV signal is already, the operation will not start for safety reasons. During the return to origin, do not input a pulse input signal until the SETUP signal has turned. Pulse input signals input while the SETUP signal is turned will be invalidated. Do not input the pulse input signals PP and NP at the same time in the CW and CCW control mode. When changing the moving direction of the actuator, be sure to leave an interval of 1 [msec] or more, and input a pulse signal of reverse direction. After the IN and IN1 signals are changed, leave an interval of 1 ms or more, then input a pulse input signal. When the amount of movement is less than the following count, positioning control will not be performed. Input a pulse input signal that is equal to or more than the following count. LAT3 : 3 counts, LAT3F : 4 counts Pushing Operation Set the step data number. Power supply Input The controller scans the step data number. IN to 1 SV PP NP TL Start of pulse input 24 V V Operation after Pushing Operation Power supply Input IN to 1 SV PP NP TL Set the step data number. The controller scans the step data number. 24 V V Output BUSY OUT (INP) OUT1 (INF) Output BUSY OUT (INP) OUT1 (INF) OUT (INP) output is always when TL signal is. Speed 6 mm/s mm/s Speed Pushing operation Positioning operation mm/s When TL input turns, the speed slows down to 6 mm/s (Pushing operation start). AREA Signal Table position Output AREA B (Position 2) AREA B (Position 1) AREA A (Position 2) AREA A (Position 1) AREA A AREA B OUT1 (INF) output turns when the generated force exceeds the trigger LV of the INF signal. Select the AREA signal for the parallel output (OUT or OUT1). 91 When TL input turns, OUT1 (INF) signal turns. Alarm Reset Input Output SV ALARM Alarm out When the target value by the pulse input signal conforms to the current location, the pushing operation ends and starts the positioning operation. Alarm reset Remove the cause of the alarm. ALARM is expressed as negative-logic circuit.

25 Controller LATCA Series Serial Communication Communication Specifications Protocol Note 1) Original, Item Details Modbus Communication data ASCII, RTU Note 2) 3) Node type Error checking Frame size Communication method Communication speed Data bit Parity Stop bit Flow control Note 1) The protocol is recognized automatically. Note 2) RTU is only compatible with Modbus. Note 3) Modbus protocol automatically recognizes both ASCII and RTU. Slave (Controller) None Variable length: Max. 128 bytes RS485, asynchronous system 192 bps 8 bit Even parity Function qsetting of step data The contents of the step data such as the target position and positioning time can be set. wacquisition of operation information Information such as the status of a parallel I/O signal and table position can be acquired. estep data operation Without inputting a parallel I/O signal, the step data number can be selected from the communication device of the PLC, etc. via serial communication to specify the operation. rdirect operation Operation can be executed by setting the target position, positioning time, etc. each time. Caution Use the controller setting software to set the basic settings (refer to the following) of the controller. 1. Select input type. 2. Card Motor product number 3. Return to origin method 4. Step data input method 5. Card Motor mounting orientation 6. Set the controller ID. (Set to 1 at the time of shipment) 7. Select output signal. 1 bit None LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 911 A

26 LATCA Series Step Data Setting Methods and Movement Profiles There are two methods for setting the step data in the Card Motor controller as described below. Cycle time entry method Speed entry method To operate the table based on the target position and positioning time, or to operate it at high frequency. The speed, acceleration and deceleration are calculated automatically after the target position and positioning time have been set. To operate the table at a constant speed. The table moves to the set target position based on the set speed, acceleration and deceleration. Cycle Time Entry Method (Positioning Operation) Setting items: Target position [mm] Positioning time [s] Calculate the positioning distance S [mm] between the start position and the target position. The table will move to the target position based on the set positioning time tp [s] according to a triangular movement profile as shown in the diagram on the right. * It is not necessary to enter the speed, acceleration and deceleration since they are calculated automatically by the Card Motor Controller Setting Software. Load mass [g] Speed Vc Acceleration Aa Positioning distance S Speed [mm/s] Positioning time tp Time [s] The positioning time should be set longer than the shortest positioning time shown in Fig. 3 on page 894 with consideration to the load mass during the operation. If there is overshoot or vibration, set the positioning time longer. Speed Entry Method (Positioning Operation) Setting items: Target position [mm] Speed [mm/s] Acceleration [mm/s 2 ] Deceleration [mm/s 2 ] Load mass [g] Calculate the positioning distance S [mm] between the start position and the target position. The table will move to the target position based on the set speed Vc [mm/s], acceleration Aa [mm/s 2 ] and deceleration Ad [mm/s 2 ] according to a trapezoidal movement profile as shown in the diagram on the right. Refer to the equations below for how to calculate the acceleration, constant velocity and deceleration times and distances. Acceleration time: ta = Vc / Aa [s] Deceleration time: td = Vc / Ad [s] Acceleration distance: Sa =.5 x Aa x ta 2 [mm] Deceleration distance: Sd =.5 x Ad x td 2 [mm] Distance with constant velocity: Sc = S Sa Sd [mm] Time with constant velocity: tc = Sc / Vc [s] Positioning time: tp = ta + tc + td [s] (Add settling time to the positioning time to obtain the real cycle time.) * The settling time varies depending on the positioning distance and load mass..15 seconds (.25 seconds for the load mass of 5 g or more) at maximum can be used as a reference value. The acceleration and deceleration should be smaller than the maximum acceleration/deceleration with consideration to the load mass during the operation as specified in the diagram on the right. Caution If the acceleration/deceleration is low, the table may not reach the set speed due to a triangular movement profile. Max. acceleration/deceleration [mm/s 2 ] Speed [mm/s] Acceleration Aa Speed Vc Positioning distance S Deceleration Ad ta tc td Time [s] tp 7 6 LAT3-1 5 LAT3-2 4 LAT3-3 3 LAT Load mass [g] 912

27 Controller LATCA Series Cycle Time Entry The controller automatically calculates the speed, acceleration and deceleration after the user has entered how many seconds it should take for the Card Motor table to move to the target position. Therefore, there is no need to enter the speed, acceleration and deceleration. Cycle Time Entry Method Step 1 Basic settings Set each item described below and register it to the controller by clicking [Setup]. A [Card Motor Product Number]: Enter the product number of the connected Card Motor. B [Return to Origin Method]: Select origin method and position. C [Card Motor Mounting Orientation]: Select horizontal or vertical. D [Step Data Input Method]: Select cycle time entry method D A B Step 2 C Setting of the operating conditions -Selection of operation type- ESelect the [Step Data Setup] tab. FSelect Operation type. Position For transporting a workpiece to a specific position For applying force to a workpiece or for Pushing measuring the size of a workpiece F E G H J I Download the completed settings Step 4 After the operating conditions have been set, KClick the [Download] button to complete the settings. K Motorless LEFS LEJS 25A- S SS-T Y Step 3 Setting of the operating conditions LEF -Entering of the operating values- LEJ <Positioning operation> Items to enter LEL G Target position [mm] H Positioning time [s] Distance from the origin position (or current position) to the target position Time required to move to the target position LEM I Load mass [g] Select the approximate weight of jigs or workpieces mounted on the Card Motor table. LES <Pushing operation> LEPY Items to enter LEPS G Target position [mm] LER J Thrust setting value H Positioning time [s] + Force to be applied LEH I Load mass [g] -X5 LAT LZ LC3F2 * Refer to the Operation Manual for details. 913

28 LATCA Series Operation Modes The Card Motor controller has two operation modes as described below. Position Pushing For transporting a workpiece to a specific position For applying force to a workpiece or for measuring the size of a workpiece Positioning Operation Cycle Time Entry Method: The acceleration and deceleration are automatically calculated based on the set positioning time, and the table moves according to a triangular movement profile q and stops at the set target position w. Speed Entry Method: The table moves based on the set acceleration, speed and deceleration according to a trapezoidal movement profile q and stops at the target position w. qmoves at high speed Target position Speed [mm/s] q High speed Positioning time [s] w Stop Target position Movement profile for the Cycle Time Entry Method (Triangular) w Stops at the target position Rail Table Workpiece Speed [mm/s] Acceleration q High speed Constant speed Deceleration w Stop Target position Movement profile for the Speed Entry Method (Trapezoidal) Pushing Operation Cycle Time Entry Method: The acceleration and deceleration are automatically calculated based on the set positioning time, and the table moves according to a triangular movement profile close to the target position q, and continues to move at low speed (6 mm/s) until it comes into contact with the workpiece w. After the table has come into contact with the workpiece the Card Motor presses the workpiece e. Speed Entry Method: The table moves based on the set acceleration, speed and deceleration according to a trapezoidal movement profile close to the target position q, and continues to move at low speed (6 mm/s) until it comes into contact with the workpiece w. After the table has come into contact with the workpiece the Card Motor presses the workpiece e. Speed [mm/s] q High speed Positioning time [s] w Low speed Target position e Press Movement profile for the Cycle Time Entry Method (Triangular) Target position e Press qmoves at high speed wlow speed Speed [mm/s] q High speed w Low speed e Press Target position Rail Table Jig Workpiece Movement profile for the Speed Entry Method (Trapezoidal) Caution For pushing operations, set the target position at least 1 mm away from the position where the table or the pushing tool comes into contact with the workpiece. Otherwise, the table may hit the workpiece at a speed exceeding the specified 6 mm/s pushing speed, which could damage the workpiece and Card Motor. The pushing force varies from the thrust setting value depending on the operating environment, pushing direction and table position. The thrust setting value is a nominal value. Calibrate the thrust setting value according to the application requirements. 914

29 A COM B COM DC12V GND F.G. R.S. HOLD COM COUNT PRESET FUNC. AC1~24VCOM OUT1OUT2OUT3OUT4OUT5S.STOP A COM B COM DC12V GND F.G. R.S. HOLD COM MULTI COUNTER:CEU5 COUNT PRESET FUNC. LEFT LEFT AC1~24VCOM OUT1OUT2OUT3OUT4OUT5S.STOP RD RD A COM B COM DC12V GND F.G. R.S. HOLD COM COUNT PRESET FUNC. LEFT AC1~24VCOM OUT1OUT2OUT3OUT4OUT5S.STOP RD UP DOWN SD UP DOWN SD UP DOWN SD RIGHT SG RIGHT SG RIGHT SG Controller LATCA Series Operation Modes Length measurement, differentiation and quality judgement of work pieces are possible using the multi-counter (optional accessory: refer to page 919) and the AREA outputs of the controller. The amount of table movement is detected by the sensor (encoder) built into the Card Motor for measuring the size of work pieces. q Touch the reference plane with the tool and reset the counter. w Return the tool. Reference plane Jig Tool Length Measurement Card Motor e Touch the workpiece Workpiece dimension with the tool to measure the size of it. (The counter displays and outputs the length.) Workpiece CEU5 Multi-counter Settings Card Motor model LAT3-l LAT3F-l Encoder resolution [μm] Note) Connected model MANUAL Multiplication factor X4 X1 X2 X4 Value per 1 pulse Decimal point position **.**** *.***** Input signal 2PHASE Note) The decimal numbers will not be displayed when the resolution is set to ".125", because the CEU5 multi-counter has a 6-digit display. Controller Workpiece Quality Judgement and Differentiation MULTI COUNTER:CEU5 MULTI COUNTER:CEU5 MODE MODE MODE SEL. Multi-counter (Accessory) SEL. SEL. SET SET SET RS232C or BCD signal output Caution The multi-counter may lose pulses when a long counter cable is used or the Card Motor is driven at high speed. The area output range preset in the controller is compared with the table position, and the AREA output signals are activated by the controller when the table is within the set range. These signals are used for quality judgement and differentiation of workpieces. Workpiece quality judgement Table position AREA A signal Tolerance range Time AREA A signal at stop Judgement results Judgement OK NG LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 Workpiece differentiation Table position AREA A signal AREA B signal Workpiece B range Workpiece A range AREA A signal at stop Time It is possible to output up to 31 preset points using the multi-counter (optional accessory: refer to page 919). Judgement results AREA B signal at stop Workpiece A Workpiece B 915

30 LATCA Series Return to Origin The Card Motor uses an incremental type sensor (linear encoder) to detect the position of the table. Therefore it is necessary to return the table to the origin position after the power has been turned on. There are three [Return to Origin] methods as stated below. In any of the methods, the origin position () will be set at the connector side. When the table is moved away from the connector toward the opposite side, after the [Return to Origin] has been performed, the new position of the table is added in the controller (incremental positive direction). q Retracted end position (Connector side) w Extended end position e Sensor origin The default origin position is set to the connector side [Retracted End Position]. The table is moved toward the connector side, returns.3 mm and the origin position () is set at.3 mm away from the mechanical end stop of the table at the connector side. After [Return to Origin] is completed, the table stops at the origin position. An external jig is used to stop the table of the Card Motor when the [Return to Origin] is performed. The table is moved to the opposite side of the connector, returns.3 mm and the origin position is set at.3 mm away from the mechanical end stop of the table at the opposite side of the connector. After [Return to Origin] is completed, the table stops at the maximum stroke end (A). This method is used to achieve high positioning repeatability accuracy of the origin position. Only the LAT3F-, which is equipped with a origin position signal (Z-pulse) in the sensor, can be used with this method. The origin position is set based on the Z-pulse from the integrated sensor (linear encoder). The table is moved to the Z-pulse of the integrated sensor, and the origin position of the table is set at a certain distance (J) away from the Z-pulse when the [Return to Origin] is performed. After [Return to Origin] is completed, the table stops at the sensor origin signal position. If the table is returned to the origin position by the mechanical end stopper installed in the Card Motor, the origin position will be set to the position shown below. Stroke: A Maximum stroke position Origin position Mechanical end stopper (Extended end) Mechanical end stopper (Retracted end).3.3 Table Opposite side of the connector Connector side Rail H J q The stopping position of the table when returning to the origin position on the connector side ethe stopping position of the table when returning to the sensor origin position w The stopping position of the table when returning to the origin position on the opposite side of the connector Model A H J Note) LAT LAT LAT LAT Note) Only for the LAT3F- 916 Caution The origin position varies depending on the return to origin position method. Adjust according to the specific equipment used with this product. If the return to origin position is performed using an external jig or workpiece to stop the table, the origin position may be set outside of the travel range. Do not set the target position of the step data outside of the Card Motor movable range. It may damage the workpieces and the Card Motor.

31 Controller LATCA Series Options [Actuator cable] LATH1 1 Cable length (L) 1 1 m 3 3 m 5 5 m (7) [I/O cable (with shield)] LATH5 1 Cable length (L) 1 1 m 3 3 m 5 5 m (18) Actuator side (25.5) Note) The actuator cable is direction dependent. Make sure to connect the Card Motor side of the cable to the Card Motor and vice versa. There is a small raised area on the connector for the controller. [I/O cable (without shield)] This is used when inputting/outputting a general-purpose I/O signal. LATH2 1 Cable length (L) 1 1 m 3 3 m 5 5 m Conductor size: AWG28 Parallel I/O Plug Terminal List Terminal no. Function Terminal no. Function A1 COM B1 DC2(+) A2 IN B2 DC2( ) A3 IN 1 B3 BUSY A4 IN 2 B4 ALARM A5 IN 3 B5 OUT A6 DRIVE B6 OUT 1 A7 SV B7 NC A8 NC B8 NC A9 NC B9 NC A1 NC B1 NC (18.6) (15.4) Polarized key Color polarity indication A1 (Red) The cable is shielded. This is used when inputting a pulse input signal. Controller side (18.6) Controller side (1) L Conductor size: AWG28 Shield A1 B1 Parallel I/O Plug Terminal List (Pulse input type) Terminal no. Function Insulation color Dot mark Dot color Terminal no. Function Insulation color Dot mark Dot color A1 COM Light Red B1 DC2(+) Light Red M MM A2 IN brown Black B2 DC2( ) brown Black A3 IN1 Red B3 BUSY Red Yellow M Yellow MM A4 SETUP Black B4 ALARM Black A5 CLR Light Red B5 OUT Light Red M MM A6 TL green Black B6 OUT1 green Black A7 SV Red B7 Note1) PP+ Red Gray M Gray MM A8 NC Black B8 Note1) PP Black A9 NC Red B9 Note1) NP+ Red White M White MM A1 NC Black B1 Note1) NP Black B1 (ø5.2) (1) L (6) L View C Actuator Controller Fused C Actuator cable I/O cable Controller side Raised area I/O cable (25.5) PLC side Fused (1) Fused Fused (1) (21) PLC side Controller PLC A B (9) A1 (Red) A1 (Red) B1 (Red) Note 1) When using the controller for the step data input type, do not wire output terminals B7 to B1. It can cause a failure as there is an internal circuit used as a pulse signal input terminal. Note 2) When a step data input type is selected for input type of the controller, the function of each terminal differs from the list on the left. Refer to the LATH2 when using the controller for the step data input type. 917 LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2

32 LATCA Series Options [Counter cable] LATH3 1 Cable length (L) 1 1 m 3 3 m 5 5 m Controller side (7) (4) Wiring Diagram Terminal no. Circuit Cable color 1 PhaseB White 2 PhaseA Red 3 GND Light gray 4 RESET Yellow 5 FG Green (ø6.8) L 1 Controller Brown Multi-counter side (8) Counter cable White Blue Red Black Yellow Green (7) Multi-counter 1: indicates a twisted pair cable. [Communication cable] LATH6 1 Cable length (L) Communication Plug Terminal List 1 1 m Terminal no. Function Insulation color 1 NC 2 NC 3 SD+ White 4 SD Black 5 NC 6 NC NC 8 NC Connector case FG Shield [Branch communication cable] LATH7 1 Cable length (L) Branch Communication Plug Terminal List 1 1 m Terminal no. Function Insulation color 1 NC 2 2 SD+ White 3 FG Shield SD Black 4 Controller System Construction Branch communicationv cable (Separately sold product) LATH7-m Communication cablev (Separately sold product) -CG1-m Counter plug (Accessory) To CN4 To CN3 Communication cable PLC VCable between branches (Separately sold product) -CG2-m VBranch connector (Separately sold product) -CGD V Terminating resistor connector (Separately sold product) -CGR To CN4 To CN3 To CN2 VCard Motor controller (Option) LATCA Up to 16 controllers are connectable To CN2 [Cable] [Branch connector] CG 1 L CGD Cable type 1 Communication cable 2 Cable between branches 918 Cable length K.3 m L.5 m 1 1 m Communication cable Cable between branches Branch connector [Terminating resistor] CGR

33 Controller LATCA Series Options [Multi-counter] This counter displays the table position of the Card Motor and performs preset outputs according to the program (preset data and output form, etc.) when measuring. The RS-232C can be used to send the table position to a PLC or PC or to set the Multi-counter. CEU5 Wiring Example Multi-counter CEU5 Terminal Block Name Cable color Power voltage Nil 1 to 24 VAC D 24 VDC External output Nil RS-232C B RS-232C + BCD Output transistor Nil NPN open collector output P PNP open collector output Provided by customer Counter cable LATH3-24 x M3 x.5 A COM B COM DC12V GND F.G. R.S. HOLD COM BANK1 BANK2 MULTI COUNTER:CEU5 UP COUNT PRESET FUNC. Controller LATCA Counter Plug Cable color Name LEFT MODE AC1~24VCOM OUT1OUT2OUT3OUT4OUT5S.STOP 7 1 x ø ±.2 Specifications Model CEU5 - Mounting method Surface mounting (Fixed by DIN rail or screw) Operation mode Operating mode, Data setting mode, Function setting mode Display LCD with backlight Number of digits 6 digits Counting speed 1 khz Insulation resistance Between case and AC line: 5 VDC, 5 MΩ or more Ambient temperature to +5 C (No freezing) Ambient humidity 35 to 85% RH (No condensation) Weight 35 g or less Refer to Best Pneumatics No. 2-3 and the Operation Manual for details. A COM B COM Red Black White Blue 12 VDC GND F.G. RESET HOLD COM BANK1 BANK2 Green Yellow White Red Light gray Yellow Green PhaseB PhaseA GND RESET F.G. 125 RD DOWN SEL. SD RIGHT SG SET RS-232C ± (DIN rail mounting) BCD output connector LEF LEJ LEL LEM LES LEPY LEPS LER LEH -X5 Motorless LEFS LEJS 25A- S SS-T Y LAT LZ LC3F2 919

34 LATCA Series Options [Controller setting kit] LATC-W2 Controller Contents wcommunication cable e USB cable q Controller setting software PC q Controller setting software (CD-ROM): LATC-W2-S w Communication cable: -W2-C e USB cable: -W2-U Controller setting kit (Japanese and English are available.) Screen Example (Step data input type) Basic Parameter Setup Compatible Controller/Driver Step data input type/pulse input type LATCA Series Hardware Requirements OS IBM PC/AT compatible machine running Windows 8.1 (32-bit and 64-bit), Windows 7 (32-bit and 64- bit). Communication interface USB 1.1 or USB 2. ports Display XGA (124 x 768) Windows 7 and Windows 8.1 are registered trademarks of Microsoft Corporation. Refer to SMC website for version upgrade information, smcworld.com Function Status display for parallel input signals and manual output of parallel output signals Entering of driven actuator Select input type (Step data input type/pulse input type) Setting of the step data operating conditions Jog, constant speed and distance movements and test operation Monitoring of operation status (parallel input/output signals, position, speed and thrust) Step Data Setup Model selection of the Card Motor connected to controller Selection of return to origin method Selection of entry method (Cycle time entry method/speed entry method) Monitor/Test Creation of 15 point step data Save/Open file of step data Setting step data to controller (Upload) Confirming step data set in controller (Download) Setting target position and positioning time (Cycle time entry method) Setting target position, speed, acceleration and deceleration (Speed entry method) I/O Setup Confirming set step data Can be used to jog and move at a constant rate. Operation confirmation of step data using PC Monitoring current position, current speed, and input/output status of parallel I/O 92 Confirming input status of parallel I/O Manual output of parallel I/O Selection of output signal of parallel I/O