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Copyright © 2008 Rockwell Automation, Inc. All rights reserved.
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MP-Series™ Integrated Multi-Axis StagesAn out-of-the-box solution for precise 2-dimensional positioning and velocity control
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 2
Topics
1. Product Line Overview
2. Application
3. Maintenance
4. Commercial Information
2. Setup and Programming
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 3
Topics
1. Product Line Overview
2. Application
3. Maintenance
4. Commercial Information
2. Setup and Programming
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 4
Product Line Overview
• The MP-SeriesTM Integrated Multi-Axis Stages are multi-axis
combinations of the MP-SeriesTM Integrated Linear Stages that were launched in August of 2007.
Center Stacked x/y Cartesian x/y Center Stacked x/z
• Delivery….scheduled for 4 weeks
• These multi-axis combinations will be launched in 3 phases.• Phase 1, will consist of 3 configurations
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 5
Product Line Overview
• Phase 2 & 3 Configurations (Late CY2009)– Cartesian x / y / z– Cartesian x / y gantry– Cartesian x / y / z gantry
• Can you obtain a phase 2 or 3 configuration before it is released?– Under special circumstances, yes
• Contact your Rockwell Automation account manager with your requirements along with the timing of your needs and the number of units needed.
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 6
Product Line Overview
• Center Stacked X/Y configuration– Designed for positioning your work piece
underneath a fixed location process such as a camera, drill, router, dispenser, etc
– Both ballscrew & linear motor actuation– Offers Payload Ratings Up To 20kg
This sort of arrangement is often manually loaded with the part to be worked on.
However, the process can be automated with the utilization of a pick and place mechanism.
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 7
Product Line Overview
• Cartesian X/Y configuration– Designed for positioning a process
above a work piece such as a camera, dispenser, or pick and place head.
– Both ballscrew & linear motor actuation
– Offers Payload Ratings Up To 25kg This sort of arrangement is often used with automatic placement of the work piece via a conveyor or pick and place mechanism.
Works well with guided rod-style actuators such as our soon-to-be-launched Medium Force Rod Style Actuator
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 8
Product Line Overview
• Center Stacked X/Z configuration– Designed for transferring a work piece from
one place to another…pick & place.– Both ballscrew & linear motor X-axis
actuation– Offers Payload Ratings Up To 20kg
This sort of arrangement is often utilized in conjunction with intersecting conveyors or with end of line conveyors where cartoning or palletizing is performed.
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 9
Product Line Overview
• What’s Unique About MP-Series Integrated Multi-Axis Stages?
– These stages are integrated with RSLogix5000 software, making it quick and easy to commission each axis
– They feature connectors that work with Allen-Bradley extension cables and Kinetix drives, saving you the time it takes to connectorize flying leads.
– The multi-axis stages are both UL recognized and CE certified.
– They will have world class delivery…shipping within 4 weeks.
Individual MPAS Stage Numbers Shown On The
Product Label On The End of Each Stage
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 10
Product Line Overview
• What’s Unique About MP-Series Integrated Multi-Axis Stages?
– You will be able to size an application for multi-axis stages in Motion Analyzer starting in Spring of 2009.
– Before Spring of 2009, contact our Applications Engineering Group at 888-772-6672 for assistance in sizing the right multi-axis stage for your application.
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 11
• MP-Series Integrated Multi-Axis Stages feature:– Availability with ballscrew actuation for applications that
require:• High levels of linear force.• Absolute linear encoders
– Availability with linear motor actuation for applications that require;
• Rapid move and settle• High speeds• Greater reliability.
– Covered with strip seals to provide you with an IP30 level of protection against dust and debris.
Product Line Overview
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 12
Product Line Overview
• MP-Series Integrated Multi-Axis Stages feature:
– Easy access for lubrication to shorten time needed for maintenance. (Use grease gun kit MPAS-GPUMP)
– Factory supplied, field replaceable cable management to allow for immediate connection to Kinetix drives.
– Pre-alignment of the two axis to 30 arc seconds for out of the box precision
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 13
Product Line Overview
• Linear guide bearings with caged balls that provide lower noise levels and increased time between lubrication.
• Heavy duty bumper springs for energy absorption in case of over travel (see manual for absorption rating).
• 230V and 460V versions.
• Small Frame MP-Series brake motors standard on all Z-axis
• CAD and solid models available for ease of design.
MP-Series Integrated Multi-Axis Stages feature:
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 14
Product Line Overview
• Part Number
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 15
Product Line Overview
• Performance Specifications
Axis TypeBi-directional
Repeatability (mm )
Linear Motor Axis (lm) 15
Ballscrew Axis (bs) 60
Center Stacked x/y
250lm x-axis / 200lm y-axis
MPMA-xABxxxxxx-xxxx
250lm x-axis / 250lm y-axis
MPMA-xACxxxxxx-xxxx
200bs x-axis / 200bs y-axis
MPMA-xAPxxxxxx-xxxx
Maximum Payload 15kg
X-axis Travel 200 to 560mm
Y-axis Travel 200 to 560mm
Maximum Payload 20kg
X-axis Travel 140 to 320mm
Y-axis Travel 140 to 320mm
Maximum Payload 20kg
X-axis Travel 180 to 660mm
Y-axis Travel 180 to 660mm
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 16
Product Line Overview
• Performance Specifications
Cartesian x/y
250lm x-axis / 200lm y-axis
MPMA-xCBxxxxxx-xxxx
250bs x-axis / 200bs y-axisMPMA-xCQxxxxxx-xxxx 15Linear Motor Axis (lm)
60Ballscrew Axis (bs)
Bi-directional Repeatability (mm )
Axis Type
15Linear Motor Axis (lm)
60Ballscrew Axis (bs)
Bi-directional Repeatability (mm )
Axis Type
Maximum Payload 20kg
X-axis Travel 320 to 920mm
Y-axis Travel 320 to 560mm
Maximum Payload 25kg
X-axis Travel 300 to 900mm
Y-axis Travel 300 to 660mm
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 17
Product Line Overview
• Performance Specifications
Center Stacked x/z
250lm x-axis / 150bs z-axisMPMA-xBDxxxxxx-xxxx
200lm x-axis / 150bs z-axisMPMA-xBExxxxxx-xxxx
200bs x-axis / 150bs z-axisMPMA-xBIxxxxxx-xxxx
15Linear Motor Axis (lm)
60Ballscrew Axis (bs)
Bi-directional Repeatability (mm )
Axis Type
15Linear Motor Axis (lm)
60Ballscrew Axis (bs)
Bi-directional Repeatability (mm )
Axis Type
Maximum Payload 20kg
X-axis Travel 320 to 920mm
Z-axis Travel 180 to 540mm
Maximum Payload 20kg
X-axis Travel 320 to 680mm
Z-axis Travel 180 to 300mm
Maximum Payload 25kg
X-axis Travel 300 to 660mm
Z-axis Travel 180 to 300mm
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 18
Product Line Overview
• Mechanical Interfaces– Payload mounting
Pilot holes
Threaded holes
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 19
Product Line Overview
• Mounting methods– T-slots (using Tnut-Bars provided)
Note:…Toe Clamps (MPAS-Toe) may be utilized….contact application engineering for details. [Must be ordered separately.]
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 20
Product Line Overview
• Design Phase Cost Savings….Buy vs. Build − By specifying Allen-Bradley multi-axis stages instead of building your own
solution, you eliminate having to select, draw, purchase and integrate hundreds of components from different suppliers.
− Also simple to size for an application thru Motion Analyzer.− And, easy to include into your machine drawings via the availability of CAD
files.
• Assembly Phase Cost Savings− By purchasing a complete solution, you eliminate the time, drawings and
documentation needed to assemble individual stages from hundreds of components
− You also eliminate the time, drawings and documentation needed to assembly and align individual stages into a multi-axis configuration.
Why Choose MP-Series Integrated Multi-Axis Stages?
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 21
Product Line Overview
Why Choose MP-Series Integrated Multi-Axis Stages?
• Commissioning Phase Cost Savings− Because these stages are part of the Rockwell Automation Integrated
Architecture, axis commissioning with RSLogix 5000 software is greatly simplified.
− You also have the ability to download the motion profiles that you used when sizing the application in Motion Analyzer
• Support Phase − You are able to draw on the experience of our Technical Consultant community
for pre- and post-sales support.− You can take advantage of existing Add-On-Instructions and face plates
already developed for Logix.
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 22
Product Line Overview
• What are your options if your needs are not met by one of our standard catalog items?
– If you need a stroke length that is in between the standard lengths, we can easily quote you a solution. Contact Application Engineering at 1-888-772-6672 Typically, delivery of such an item is around 5 weeks.
– If your application requires a stroke length that is longer than that of the longest standard item, some additional engineering analysis may be required. Contact our Applications Engineering Group at 1-888-772-6672
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 23
Product Line Overview
• What if an MP-Series Multi-Axis Integrated Stage doesn’t satisfy my application’s requirements, what can I do?– If a multi-axis stage can meet all the requirements except repeatability, you can explore
using the Anorad version of the stage….The CHMA, or High Precision Multi-axis Stages that provides more precise repeatability.
– If a multi-axis stage can not satisfy the application due to size restrictions or lack of force, you have two options:
• If it is commercially feasible (significant volume), we can look at engineering a custom stage• If a custom stage is not feasible, then we can supply a component solution in the form of the
linear motors
– Contact our Applications Engineering Group for assistance at 1-888-772-6672
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 24
Topics
1. Product Line Overview
2. Application
3. Maintenance
4. Commercial Information
2. Setup and Programming
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 25
Application – Selection and Sizing
• From a sizing perspective, MP-SeriesTM Integrated Multi-Axis Stages are virtually identical to MP-SeriesTM rotary servo motors where the performance parameters are expressed in following units:– Payload (kg)– Linear Acceleration (m/s2)– Linear Speed (m/s)
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 26
Application – Selection and Sizing
• Sizing the multi-axis stage systems will initially be supported through the assistance of Application Engineering at 888-772-6672– The Rockwell Automation Motion Control Product Selection Guide will give you an
idea of the type of configuration that may suite your needs. Pub GMC-SG001• Motion Analyzer 4.7 due out in Spring, 2009 will be capable of sizing
multi-axis stages
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 27
Application – Selection and Sizing
• Mechanism
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 28
Application – Selection and Sizing
• Solution List
Solution ListSolution List
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 29
Motion Analyzer presents the data as you would expect for a rotary servo motor except the performance is shown in linear units
Application – Selection and Sizing
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 30
Typical Applications
• Multi-Axis Stages are ideal for these types of applications:– Cartoning– On-The-Fly Cutting or Dispensing– Small Assembly– Life Science– Large Assembly and Non-Contact Cutting– Electronic and Medical Inspection & Assembly
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 31
Application – Mechanical Integration
N N0 105 359
0.75 87 3411.07 81 3352.00 69 3233.40 55 553.87 0 0
N N0.00 105 3590.75 87 3411.07 81 3353.40 55 3094.57 45 2994.98 42 2965.00 42 2955.00 0 0
Note: Nm torque values shown are converted from tested lb-in data.
A SIZE SHEET 4 OF 5
Fcont 115V
SPEED mm/sec
Fpeak 115V
SPEED mm/sec
FORCE (Open)
FORCE (Open)Fcont 230V
Fpeak 230V
DOCUMENT NUMBER
10000004249
00DESCRIPTION
MPAS-A6xxxB-ALMx2C,ESEVER.
MPAS-A6xxxB-ALMO2C Performance with 2094-AM01 at 230 VAC 3 phase Converter Input and with 2093-AM01 at 115 VAC 1 phase input,
40C Actuator Ambient(See note for continuous performance)
0
50
100
150
200
250
300
350
400
0 1 2 3 4 5 6
SPEED (m/sec)
Fo
rce
(N
)(1
.0 N
= 0
.22
48
lb)
Fpeak 115VFcont 115VFpeak 230VFcont 230V
Calculated Performance Chart
Stage without cover
Engineering Documentation for MP-Series Integrated Multi-Axis Stages
ESM (Engineering Specification – Mechanical) Provides dimensions and mounting information
ESE (Engineering Specification – Electrical) Provides performance and electrical information
Available on RA web-site in October 2008
Solid model CAD files
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 32
Topics
1. Product Line Overview
2. Application
3. Maintenance
4. Commercial Information
2. Setup and Programming
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 33
Setup with Logix/Kinetix/Ultra System
• Minimum Requirements– RSLogix 5000 Version 16 with motion database version 4.6– RSLogix 5000 v16.03 motion database does not include the MP-Series
Integrated Linear Stages. Motion database version 4.6 must be downloaded and installed manually. Ask your Allen-Bradley distributor or Rockwell Automation sales office for assistance.
– Kinetix 6000 and 2000 with firmware version 1.96.06– Ultra3000 (SERCOS interface™ and non-SERCOS ) with firmware version 1.52– MP-Series Integrated Linear Stages users manual provides instructions for setting
RSLogix 5000 motor properties
• Use the linear stage tuning procedure described in the users manual• Use home-to-current homing mode
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 34
Setup with RSLogix5000
• Settings for the Drive/Motor Tab
Table from linear stage
users manual
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 35
Homing with RSLogix5000
• Configuring HomingNew feature in
RSLogix5000 v16; carriage
homes to internal hard-stop utilizing internal springs
Direct drive linear stages have incremental encoders and must be homed after every power cycle
Drive must see this torque level for
500ms to recognize it has encountered the home hardstop
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 36
Topics
1. Product Line Overview
2. Application
3. Maintenance
4. Commercial Information
2. Setup and Programming
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 37
Maintenance
• Field replaceable components include:– Strip seals– Cable track module– Top and side covers (y or z-axis only)– Rotary motors (y or z-axis only)
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 38
Bearing lubrication ports (x4)
Maintenance
• Lubrication must be performed on linear bearings– Additional ballscrew lubrication port provided on ballscrew style MPAS– Requires grease gun kit (MPAS-GPUMP)– Greasing intervals and quantity of grease are specified in users manual
Direct Drive Linear Stage
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 39
Topics
1. Product Line Overview
2. Application
3. Maintenance
4. Commercial Information
2. Setup and Programming
Copyright © 2008 Rockwell Automation, Inc. All rights reserved. 40
Commercial Information
• Product launch: September 29th, 2008• Look for additional information and support materials:
– Selection Guide and User’s Manual– Product Profile– ESE and ESM drawings– Logix motion database– Add On Instructions (AOI) and faceplates. These AOI’s can be used to
enter, save, and execute a sequence of moves (also called path or trajectory of moves) for a 2 or 3-axis coordinated or independent system. This AOI and associated faceplates can be very helpful when applying multi-axis linear stage systems and is also applicable to other robot geometries when using Logix Kinematic functions.