LinMot DM01-48-FS25 Manuel utilisateur

NTI AG / LinMot Doc-No. 0185-0168-E_1V2_IG_Force_Sensor_Modules_DM01-FS

Installation Guide

Force Sensor Modules

DM01-37-FS22 / DM01-48-FS25

Installation Guide Force Sensor Modules EN 
Page 2 / 19 DM01-37-FS22 / DM01-48-FS25 NTI AG / LinMot 
Content 
1General Information ................................................................................................................................. 3 
1 Introduction........................................................................................................................................ 3 
2 Explanation of Symbols..................................................................................................................... 3 
3 Qualified Personnel ........................................................................................................................... 3 
4 Liability............................................................................................................................................... 3 
5 Copyright............................................................................................................................................ 3 
2Safety Instructions ................................................................................................................................... 4 
3Installation Instructions........................................................................................................................... 6 
1 Operating Conditions......................................................................................................................... 6 
2 Assembling Instruction....................................................................................................................... 6 
3 Adjusting the Length of the Cable Conduit........................................................................................ 7 
3.1 DM01-23........................................................................................................................................ 7 
3.2 DM01-37........................................................................................................................................ 7 
3.3 DM01-48x150 ................................................................................................................................ 7 
3.4 DM01-48x240 ................................................................................................................................ 7 
4 Material Data ..................................................................................................................................... 8 
4Electrical Connection............................................................................................................................... 8 
1 Sensor Cable..................................................................................................................................... 8 
1.1 Technical Data............................................................................................................................... 8 
2 Pin Assignment Sensor Cable........................................................................................................... 9 
3 Force Sensor Module Wiring............................................................................................................. 9 
5Commissioning....................................................................................................................................... 10 
1 Initial Commissioning of the Force Sensor...................................................................................... 10 
1.1 Technology Function Force Control" Software Package............................................................. 10 
1.2 Setting the Parameters for Force Control at C12x0 .................................................................... 10 
1.3 Initial Testing of a Force Sensor.................................................................................................. 11 
2 Special LinMot-Talk Functions......................................................................................................... 12 
2.1 Tare Function............................................................................................................................... 12 
2.2 Speed limiter function .................................................................................................................. 13 
6Accessories ............................................................................................................................................ 14 
1 Extension Cable............................................................................................................................... 14 
7Maintenance and Test Instructions ...................................................................................................... 14 
1 Maintenance .................................................................................................................................... 14 
2 Cleaning........................................................................................................................................... 14 
3 Lubrication ....................................................................................................................................... 15 
4 Calibration........................................................................................................................................ 15 
8Transport and storage ........................................................................................................................... 15 
9Dimensions ............................................................................................................................................. 16 
1 Force Sensor Module DM01-37-FS-22 ........................................................................................... 16 
2 Force Sensor Module DM01-48-FS-25 ........................................................................................... 17 
CE Declaration of Conformity............................................................................................................... 18 
 

Installation Guide Force Sensor Modules EN

NTI AG / LinMot DM01-37-FS22 / DM01-48-FS25 Page 3 / 19

1 General Information

1.1 Introduction

This manual includes instructions for the assembly, installation, maintenance, transport, and storage of

DM01 force sensor modules. The document is intended for electricians, mechanics, service technicians, and

warehouse staff.

Read this manual before using the product and observe the general safety instructions and those in the

relevant section at all times.

Keep these operating instructions in an accessible place and make them available to the personnel

assigned.

1.2 Explanation of Symbols

Triangular warning signs warn of danger.

Round command symbols tell what to do.

1.3 Qualified Personnel

All work such as installation, commissioning, operation and service of the product may only be carried out by

qualified personnel.

The personnel must have the necessary qualifications for the corresponding activity and be familiar with the

installation, commissioning, operation and service of the product. The manual and in particular the safety

instructions must be carefully read, understood and observed.

1.4 Liability

NTI AG (as manufacturer of LinMot and MagSpring products) excludes all liability for damages and

expenses caused by incorrect use of the products. This also applies to false applications, which are caused

by NTI AG's own data and notes, for example in the course of sales, support or application activities. It is the

responsibility of the user to check the data and information provided by NTI AG for correct applicability in

terms of safety. In addition, the entire responsibility for safety-related product functionality lies exclusively

with the user.Product warranties are void if products are used with stators, sliders, servo drives or cables not

manufactured by NTI AG unless such use was specifically approved by NTI AG.

NTI AG’s warranty is limited to repair or replacement as stated in our standard warranty policy as described

in our "terms and conditions" previously supplied to the purchaser of our equipment (please request copy of

same if not otherwise available). Further reference is made to our general terms and conditions.

1.5 Copyright

This work is protected by copyright.

Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or

mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even

for training purposes, or translating, in whole or in part, without the prior written consent of NTI AG.

LinMot® and MagSpring® are registered trademarks of NTI AG.

Installation Guide Force Sensor Modules EN

Page 4 / 19 DM01-37-FS22 / DM01-48-FS25 NTI AG / LinMot

2 Safety Instructions

Contusions

Sliders contain neodynium magnets and have a strong attractive force.

Careless handling could cause fingers or skin to become pinched between two sliders.

This may lead to contusions, bruises, and bone fractures.

When handling sliders, wear thick protective gloves and keep a minimum distance between

sliders. Refer to the "Minimum distance from slider" section for minimum distance.

To reduce the risk of injury, never more than one slider should be held or transported by the

same person without packaging.

Pacemaker / Implanted Heart Defibrillator

Sliders could affect the functioning of pacemakers and implanted heart defibrillators. For the

duration of a strong approach to a magnetic field, these devices switch into test mode and

will not function properly.

•If you wear one of those devices keep the following minimum distances between the

pacemaker / defibrillator and slider:

- Min. 250 mm (10ʺ) for slider Ø 27 mm and 28 mm (PL01-27 / 28 / PL10-28)

- Min. 150 mm (6ʺ) for slider Ø 19 mm and 20 mm (PL01-19 / 20)

- Min. 100 mm (4ʺ) for slider Ø 12 mm (PL01-12)

•Inform others who wear these devices to comply with these minimum distances!

Caution - Risk of Electric Shock !

Before working, make sure that there are no high voltages.

Fast-moving Machine Parts

The sliders of LinMot linear motors are fast-moving machine parts. All necessary

precautions must be taken to prevent persons approaching the moving elements during

operation (provide covers, guards, etc.).

Automatic Restart

The motors can start automatically under certain cricumstances!

If necessary, a corresponding warning symbol must be provided and protection against

entering the hazardous area or a suitable safe electronic disconnection must be provided!

Risk of Injury due to a Defect or Fault

For areas where a defect or fault can result in substantial property damage or even serious

personal injury, additional external precautions must be taken or devices must be installed

to ensure safe operation even if a defect or fault occurs (eg. suitable safe electronic

disconnection, mechanical interlocks, barriers, etc.).

Magnetic Field

Magnets integrated in the sliders produce a strong magnetic field. They could damage TVs,

laptops, computer hard drives, credit and ATM cards, data storage media, mechanical

watches, hearing aids, and speakers.

•Keep magnets away from devices and objects that could be damaged by strong

magnetic fields.

•For the above mentioned objects, keep a minimum distance as described in the

"Pacemaker / implanted defibrillator" section.

•For non-anti-magnetic watches, keep the double minimum distance.

Installation Guide Force Sensor Modules EN

NTI AG / LinMot DM01-37-FS22 / DM01-48-FS25 Page 5 / 19

Combustibility

When machining magnets, the drilling dust could easily ignite.

Machining the sliders and the magnets they contain is not permitted.

Burn Hazard

During operation the slider can become hotter than 100 °C, which can cause burns if

touched. All necessary precautions (e.g. covers, casing, etc.) must be taken to prevent

contact with persons in the vicinity of the slider during operation.

Grounding

All metal parts that are exposed to contact during any user operation or servicing and likely

to become energized shall be reliably connected to the means for grounding.

Mechanical Handling

Neodymium magnets are brittle and heat-sensitive.

Machining the sliders and the magnets they contain is not permitted.

•Colliding magnets could crack. Sharp splinters could be catapulted for several meters

and cause eye injury.

•By machining the sliders, heat would result which demagnetizes the magnets.

Slider

Linear motor sliders consist of a high-precision, thin-walled stainless steel tube in which the

neodymium magnets are housed. The LinMot sliders should be handled with care.

Avoid contact with other sliders or iron parts as this can damage the magnets and the slider

surface. Do not grip the sliders with pliers, as this can also damage the surface. Do not use

sliders which are already damaged on the surface (scratches, deformation, etc.). This can

cause further damage to the stator.

Effects on People

According to the current level of knowledge, magnetic fields of permanent magnets do not

have a measurable positive or negative effect on people. It is unlikely that permanent

magnets constitute a health risk, but it cannot be ruled out entirely.

•For your own safety, avoid constant contact with magnets.

•Store large magnets at least one meter away from your body.

Temperature Resistance

Keep slider away from unshielded flame or heat.

Temperature above 120°C will cause demagnetization.

Installation Guide Force Sensor Modules EN

Page 6 / 19 DM01-37-FS22 / DM01-48-FS25 NTI AG / LinMot

3 Installation Instructions

3.1 Operating Conditions

•The ambient temperature limit is: 0 °C...80 °C (reduced accuracy)

•The nominal service temperature is: 5 °C...45 °C

•Max. Installation altitude: The

maximum installation altitude is 4,000 m a.s.l.

Above 1,000 m, a derating of

1 °C per 100 m must be taken into account for

air cooling.

3.2 Assembling Instruction

Be sure to observe the safety instructions in chapter 2 during assembly!

1. Dismantle cover

The cover only has to be removed for

types DM01-48. All other DM01 linear

module types do not have a cover.

2. Set mounting side

The force sensor module can be mounted on

either side of the linear module.

Due to the mechanical connection of

the slider, it is recommended to mount

the force sensor on the connector side

of the linear module. On this side, the

force is applied directly via a fixed

bearing.

3. Mount force sensor module

Apply Loctite 243 threadlocker to the threaded

holes of the force sensor module.

Then fix the module to the front plate of the

linear module with the four screws.

Tightening torque: 8.6 Nm

Finally, refit the cover (only for DM01-48

modules).

Installation Guide Force Sensor Modules EN

NTI AG / LinMot DM01-37-FS22 / DM01-48-FS25 Page 7 / 19

4. Wiring the force sensor module

The sensor cable is guided in a cable conduit.

The cable conduit can be shortened as required

(see chapter 3.3). For mounting, 2 brackets are

supplied which can be mounted on the DM01

linear module (see illustration). A drive-side

open-end extension cable is recommended for

connecting the force sensor module to servo

drives of the C11x0 and C12xx series (see

chapter Accessories). The wiring diagram is

shown in chapter 4.3.

Only connect or disconnect the sensor

cable when there is no voltage at the

servo drive!

3.3 Adjusting the Length of the Cable Conduit

All force sensors are delivered with a ready-mounted cable conduit. It is recommended that this is shortened

to an appropriate length. This length is based on the stroke and is measured from the beginning of bracket 1

to the end of bracket 2.

3.3.1 DM01-23

Stroke [mm]

100

160

220

290

350

Recommended length

of the cable conduit

[mm]

385

415

475

535

605

665

3.3.2 DM01-37

Stroke [mm]

195

295

395

495

595

Recommended length

of the cable conduit

[mm]

505

605

705

805

905

1005

3.3.3 DM01-48x150

Stroke [mm]

125

185

275

305

395

485

575

Recommended length

of the cable conduit

[mm]

475

505

565

655

685

775

865

955

3.3.4 DM01-48x240

Stroke [mm]

185

305

395

485

Recommended length

of the cable conduit

[mm]

565

595

655

865

955

Installation Guide Force Sensor Modules EN

Page 8 / 19 DM01-37-FS22 / DM01-48-FS25 NTI AG / LinMot

3.4 Material Data

Component

Material

Housing

Anodised aluminium

Front plate

Anodised aluminium

Seal

NBR 70

Cable connector

Brass nickel plated

Sensor cable (sheath)

PUR

Cable conduit

Polyamide

4 Electrical Connection

4.1 Sensor Cable

Only connect or disconnect the sensor cable when there is no voltage at the servo drive!

Use original LinMot cables for sensor wiring! Self-assembled cables must be checked

carefully before commissioning! Incorrect sensor wiring can damage the sensor and / or the

servo drive!

The force sensor has a direct cable outlet of 2 m length. Depending on the drive family, the force sensor can

be connected directly to the servo drive or extended if required. Extension cables are listed in the

"Accessories" chapter.

4.1.1 Technical Data

High-Flex Cable

Cable name

KS14-06

Minimum bending radius for

fixed installation

18 mm

Minimum bending radius

when moving

50 mm (2 in)

No torsion

Shielding

simply

Length

Approval

UL/CSA

Material wire insulation

TPE

Material cable sheath

PUR

Oil resistance

very good according to EN 50363-10-2 + VDE 0207-363-10-2

Chemical resistance

(to acids, alkalis, solvents,

hydraulic fluid)

good

Burning behaviour

Flame retardant and self-extinguishing

Installation Guide Force Sensor Modules EN

NTI AG / LinMot DM01-37-FS22 / DM01-48-FS25 Page 9 / 19

4.2 Pin Assignment Sensor Cable

Only connect or disconnect the sensor cable when there is no voltage at the servo drive!

Use original LinMot cables for sensor wiring! Self-assembled cables must be checked

carefully before commissioning! Incorrect sensor wiring can damage the sensor and / or the

servo drive!

Pin assignment

Force sensor

Core colour

Sensor cable

Supply GND

white

Do not connect

n/a

AGND

pink

Do not connect

n/a

Force+

grey

Supply 24V

brown

Do not connect

n/a

Do not connect

n/a

Force-

yellow

Connector housing

Shield

n/a

Connector scheme

(Cable outlet)

PIN 9 (power -) and PIN 1 (supply ground) are internally galvanically isolated and must not

be connected to each other.

4.3 Force Sensor Module Wiring

The following diagram shows the connection of the linear module and the force sensor option with the LinMot

Servo Drive.

Installation Guide Force Sensor Modules EN

Page 10 / 19 DM01-37-FS22 / DM01-48-FS25 NTI AG / LinMot

5 Commissioning

5.1 Initial Commissioning of the Force Sensor

An optionally mounted force sensor is a high-precision measuring device and must be

handled accordingly. Incorrect handling, e.g. driving in to the mechanical stop, will cause

collisions that may exceed the maximum force defined in the data sheet. Incorrect handling

of the measuring device can damage the sensors.

It is strongly recommended to carefully follow the initial commissioning steps and test the

correct functioning of the measuring device before using it in real application.

5.1.1 Technology Function Force Control" Software Package

If a closed control loop is to be implemented via a sensor (force control of a motor by means of sensor

feedback to the LinMot Drive), it is mandatory to order the "TF Force Control" software package (art. no.:

0150-2503).

Without this software package, it is not possible to control a specific force or to use the drive commands of

the "TF Force Control" software package.

If only the signal of the force sensor is evaluated (PLC or LinMot Drive), the software package can be

dispensed with.

5.1.2 Setting the Parameters for Force Control at C12x0

Logged into the drive, you will find all the parameters to be set in

the LinMot-Talk software under the path "Parameters -> Motion

Control SW -> Protected Technology Functions -> Analogue Force

Feedback Control".

Parameter Tree: Input Selection

Please select the following setting under "Input Selection":

•Input Selection (UPID 150Fh) = Diff Analog Input On X4.10/X4.11

Parameter Tree: Analogue Force Feedback Config

Due to the definition of the DEFAULT positive direction of the stroke, it is recommended to

invert the +-10VDC signal via software. This means that for the parameter "0V/-10V Force"

the positive maximum value and for the parameter "+10V Force" the negative maximum

value of the force sensor is set.

By changing the direction of the stroke, the setting of the parameters "0V/-10V force" and

"10V force" must also be changed.

•0V/-10V Force (UPID 1501h) = Positive maximum value (e.g. 500 N)

•10V Force (UPID 1502h) = Negative maximum value (e.g. -500 N)

•Speed Filter Time (UPID 150Ah) = 1000µs

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