Tolomatic IMA Series Manual de usuario

2700-4001_22 IMA Manual 1 Last Revision: 12/14/2021

MANUAL

For Installation, Maintenance

and Operation

IMA Series Actuators

LINEAR SOLUTIONS MADE EASY

2700-4001_22 IMA Manual 2 Last Revision: 12/14/2021

Original instructions in English. Translations in community languages supplied as required.

Information furnished is believed to be accurate and reliable. However, Tolomatic assumes no responsibility for its

use or for any errors that may appear in this document.

Tolomatic reserves the right to change the design or operation of the equipment described herein and any

associated motion products without notice. Information in this document is subject to change without notice.

2700-4001_22 IMA Manual 3 Last Revision: 12/14/2021

CONTENTS

CONTENTS....................................................................................................................................................................................3

LIST OF FIGURES & TABLES ......................................................................................................................................................5

1: SAFETY .....................................................................................................................................................................................7

•1.0 SAFETY ......................................................................................................................................................................7

•1.1 SAFETY SYMBOLS .......................................................................................................................................................7

•1.2 SAFETY CONSIDERATIONS ...........................................................................................................................................8

2: IMA PRODUCT OVERVIEW....................................................................................................................................................10

•2.0 GENERAL DESCRIPTION.............................................................................................................................................10

•2.1 PRODUCT FEATURES.................................................................................................................................................10

•2.2 INSTALLATION ...........................................................................................................................................................10

•2.3 CABLE ROUTING........................................................................................................................................................11

•2.4 ACTUATOR ORIENTATION...........................................................................................................................................11

•2.5 EMC WIRING GUIDELINES .........................................................................................................................................12

•2.6 MOTION CONTROL SYSTEM SELECTION RECOMMENDATIONS.......................................................................................12

•2.7 IDENTIFICATION LABEL...............................................................................................................................................12

•2.5 CERTIFICATION .........................................................................................................................................................12

•2.6 MANUFACTURER .......................................................................................................................................................12

3: IMA ACTUATOR PRODUCT CONFIGURATION....................................................................................................................13

•3.1 TOLOMATIC IMA ACTUATOR SERIES CONFIGURATION .................................................................................................13

•3.2 STANDARD CONFIGURATIONS AND OPTIONS................................................................................................................13

•3.2.1 SCREW SELECTION ................................................................................................................................................15

•3.2.2 MOTOR VOLTAGE...................................................................................................................................................15

•3.2.3 INTERNAL HOLDING BRAKE OPTION.........................................................................................................................15

•3.2.4 STANDARD MOUNTING OPTIONS .............................................................................................................................15

•3.2.5 MOUNTING OPTIONS ..............................................................................................................................................15

•3.2.6 STANDARD ROD END..............................................................................................................................................15

•3.2.7 ROD END OPTIONS ................................................................................................................................................16

•3.2.8 OTHER OPTIONS ....................................................................................................................................................16

•3.2.9 SPECIAL OPTIONS ..................................................................................................................................................16

•3.2.10 FEEDBACK DEVICE ...............................................................................................................................................16

•3.2.11 CABLE &CONNECTOR(S)......................................................................................................................................16

•3.2.12 SERVO DRIVE ......................................................................................................................................................17

•3.2.13 ROCKWELL AUTOMATION PARTNERNETWORK™PROGRAM....................................................................................17

4: IMA MECHANICAL INSTALLATION ......................................................................................................................................18

•4.1 TOLOMATIC IMA ACTUATOR SYSTEM CONFIGURATION ................................................................................................18

•4.2 GENERAL OPERATION ...............................................................................................................................................18

•4.3 COLD TEMPERATURE STARTUP PROCEDURE ..............................................................................................................19

•4.4 PLANNING YOUR INSTALLATION..................................................................................................................................19

•4.4.1 ALIGNMENT............................................................................................................................................................20

•4.4.2 SIDE LOAD CONSIDERATIONS..................................................................................................................................20

•4.5 MECHANICAL INSTALLATION INSTRUCTIONS.................................................................................................................20

•4.6 MOUNTING................................................................................................................................................................22

•4.5 FIELD INSTALLATION OF ARO (ANTI ROTATION)OPTION..............................................................................................23

5: ELECTRICAL INSTALLATION ...............................................................................................................................................25

•5.1 CONNECTOR ORIENTATION........................................................................................................................................25

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•5.2 FEEDBACK INFORMATION ...........................................................................................................................................25

•5.3 FEEDBACK COMMUTATION .........................................................................................................................................26

•5.4 FEEDBACK COMMUTATION DETAILS............................................................................................................................26

•5.5 FEEDBACK SPECIFICATIONS.......................................................................................................................................29

•5.6 THERMAL SENSOR SPECIFICATIONS ...........................................................................................................................30

•5.7 CONNECTOR PINOUTS...............................................................................................................................................31

•5.7.1 TOLOMATIC STANDARD -DT1 .................................................................................................................................31

•

5.7.2

LLEN

RADLEY

OTOR

ERIES

DA1

.............................................................................................................36

•

5.7.3

LLEN

RADLEY

OTOR

ERIES

DA2

..............................................................................................................37

•

5.7.4

OSCH

EXROTH

MSK

OTOR

ERIES

DB1

.........................................................................................................38

•

5.7.5

ONTROL

ECHNIQUES

OTOR

ERIES

DE1

..................................................................................................39

•

5.7.6

ONTROL

ECHNIQUES

OTOR

ERIES

DE2

...................................................................................................41

•

5.7.7

ENZE

MCS

OTOR

ERIES

DL1

.........................................................................................................................42

•

5.7.8

IEMENS

OTOR

ERIES

DS1

.........................................................................................................................44

6: IMA OPERATION AND START UP CONSIDERATIONS .......................................................................................................45

•6.1 ATTACHING CABLES &HOMING /MECHANICAL TRAVEL LIMITS.....................................................................................45

•6.2 BRAKE......................................................................................................................................................................45

7: IMA REPAIR AND MAINTENANCE........................................................................................................................................47

•7.1 LUBRICATION ............................................................................................................................................................47

•7.2 PERIODIC MAINTENANCE ...........................................................................................................................................47

•7.3 PROCEDURE FOR LUBRICATION ..................................................................................................................................50

•7.4 TOLOMATIC IMA MAINTENANCE AND REPAIR ..............................................................................................................50

•7.5 STORAGE RECOMMENDATIONS ..................................................................................................................................52

APPENDIX A: SPECIFICATIONS ...............................................................................................................................................53

•A.1 ACTUATOR SPECIFICATIONS ......................................................................................................................................53

•A.2 MOTOR SPECIFICATIONS:..........................................................................................................................................53

•A.3 BRAKE SPECIFICATIONS ............................................................................................................................................53

•A.4 SPEED VS THRUST GRAPHS ......................................................................................................................................53

•A.5 CALCULATING RMS THRUST AND VELOCITY FOR CONTINUOUS DUTY: .........................................................................53

•A.6 CRITICAL SPEED .......................................................................................................................................................54

•A.7 BALL &ROLLER SCREW LIFE.....................................................................................................................................54

•A.8 STANDARD THERMAL SWITCH SPECIFICATIONS............................................................................................................54

APPENDIX B: TROUBLESHOOTING PROCEDURE.................................................................................................................55

APPENDIX C: WARRANTY ........................................................................................................................................................56

•C.1 WARRANTY ..............................................................................................................................................................56

APPENDIX D: DECLARATION OF CONFORMITY ....................................................................................................................58

2700-4001_22 IMA Manual 5 Last Revision: 12/14/2021

LIST OF FIGURES &TABLES

Figure 1.1: Do not carry IMA by connectors or cables. ..................................................................................................................9

Figure 2.1: Tolomatic IMA Actuator ..............................................................................................................................................10

Figure 2.2: IMA major components ..............................................................................................................................................10

Figure 2.3: Recommended routing of Tolomatic IMA Actuator cabling. .......................................................................................11

Figure 2.4: 1. & 2. Recommended IMA thrust rod orientation is down or horizontal. 3. Due to increased risk of contamination

and ingress never orient the IMA actuator with the thrust rod up.................................................................................................11

Figure 2.2: Tolomatic IMA Actuator identification label. ...............................................................................................................12

Figure 3.1: Tolomatic IMA Actuator ordering codes and descriptions..........................................................................................14

Figure 3.2: Standard mounting for the IMA is four (4) threaded holes on the front face (rod end) of the actuator.......................15

Figure 3.3: Optional mounting for the Tolomatic IMA Actuator.....................................................................................................15

Figure 3.4: Standard rod end for the IMA is internal threads........................................................................................................15

Figure 3.5: Rod End Options for the Tolomatic IMA Actuator ......................................................................................................16

Figure 4.1: Typical connections for a single-axis system with an Tolomatic IMA Actuator with optional brake to a RSW servo

system drive .................................................................................................................................................................................18

Figure 4.2: Side load must not exceed maximum values represented by the lines in the graph..................................................20

Figure 4.3: Do not carry IMA by connectors or cables. ................................................................................................................21

Figure 4.4: Use straps and winch to position heavy IMA actuator................................................................................................21

Figure 4.5: Hold thrust rod stationary using a wrench on the flats of the rod end when attaching accessories, linkages or load to

the actuator. Two wrenches are used here: The crescent wrench prevents the thrust rod from rotating, the torque wrench will

fasten the spherical rod eye option to the actuator rod end. Torque values provided in Table 4.1 ..............................................22

Table 4.1: Rod end torque recommendations ..............................................................................................................................22

Table 4.2: Tapped hole torque recommendations........................................................................................................................23

Table 4.3: Mounting Plate (MP2) Clearance Hole Bolt and Torque Requirements (Minimum Fastener Grade 8.8)....................23

Table 4.4: Front Flange Mount (FFG) Clearance Hole Bolt and Torque Requirements (Minimum Fastener Grade 8.8).............23

Figure 4.6: View of ARO (Anti Rotate Option)..............................................................................................................................23

Figure 5.3: Connector rotation. Note that the Tolomatic standard connectors may be rotated from -90° to +180° allowing for

cables to connect toward the front (rod end, as manufactured), to either side, both sides, or back of actuator. .........................25

Figure 5.4: Drawing of box mount connectors used on some Tolomatic IMA Actuators. .............................................................25

2700-4001_22 IMA Manual 6 Last Revision: 12/14/2021

Figure 5.5: Thrust rod movement relative to motor rotation .........................................................................................................26

Figure 5.6: Back EMF Voltage vs Electrical Angle .......................................................................................................................27

Figure 5.7: Back EMF Voltage Phase to Phase vs Electrical Angle.............................................................................................27

Figure 5.8: Hall Alignment ............................................................................................................................................................28

Figure 5.9: Motor rotational position at 0......................................................................................................................................28

Figure 5.10: Motor rotational position at 90..................................................................................................................................29

Figure 6.1: Fastest Engage / Disengage time, least protection....................................................................................................45

Figure 6.2: Increased Engage / Disengage time, best protection.................................................................................................46

Figure 7.1: Roller Screw Lubrication Interval Graph.....................................................................................................................48

Figure 7.1: A standard grease zerk allows periodic relubrication for Tolomatic IMA Actuators. This can be done without

removing the actuator from its installation. ...................................................................................................................................50

2700-4001_22 IMA Manual 7 Last Revision: 12/14/2021

1: SAFETY

1.0 Safety

1.1 Safety Symbols

General

Read completely through the applicable sections of the manual before the equipment/unit is unpacked, installed or

operated. Pay careful attention to all of the dangers, warnings, cautions and notes stated in the manual.

Serious injury to persons or damage to the equipment may result if the information in the manual is not followed.

Safety Symbols

Items that are specifically marked DANGER, WARNING, CAUTION, PROHIBITIVE, MANDATORY ACTION, or

NOTE! are arranged in a hierarchical system and have the following meaning:

Indicates a very hazardous situation which, if not avoided, could result in death or serious injury. This signal word

is limited to the most extreme situations.

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.

Indicates a potentially hazardous situation which, if not avoided, may result in property damage, minor or moderate

injury.

Indicates Prohibited Action

Indicates Mandatory Action

Information that requires special attention is stated here.

WARNING! Normal operating temperature of weld actuator can range from 135 degrees F (57°C) to 175 degrees

F (79°C).

2700-4001_22 IMA Manual 8 Last Revision: 12/14/2021

1.2 Safety Considerations

Proper and Safe Use of Product

Fail Safe e-Stop Recommendations

A means for a fail safe e-stop is highly recommended to ensure equipment and personal safety. The e-stop should

provide a means to remove main power from the actuator to cease and prevent any unwanted motion.

Device Damage Prevention

To prevent permanent damage to the device, proper care should be taken not to exceed published voltage,

current, temperature, and load/force ratings. In addition, proper mechanical assembly and proper wiring should be

verified and safety measures checked before applying power to the complete equipment package.

The only field maintenance that may be performed on the IMA include lubrication and replacement of the rod wiper.

All other repair or maintenance for the IMA must be performed at Tolomatic.

Personal Safety

During normal operation the actuator can become hot, especially the motor housing. It is highly recommended to

display proper safety notices and implement proper safety measures to prevent contact with hot surfaces. In

addition, the case ground should be tied to an earth ground to prevent the presence of case voltage.

During normal operation, the actuator rod travels in and out creating a possible pinch point.

Proper guarding and signage must be used prevent entry into possible pinch zones and contact with hot surfaces.

It is highly recommended to display proper safety notices and implement proper safety measures to prevent

contact with hot surfaces.

Handling and Unpacking

When unpacking and handling the actuator, care should be taken not to drop the actuator as this can damage the

connectors, internal electronics, or cause misalignment of the actuator feedback device. Damage the internal

mechanical components may cause poor performance or render the actuator non-functional. Since this is an

electromechanical device, proper ESD measures should be taken to avoid static electricity from contacting the

signal and power lines of the device. as this can damage the internal mechanical components rendering the

actuator damaged or non-functional.

Packing and Transport

Package actuator to prevent damage during transport. It is recommended that the actuator be returned in its

original packaging. If the original packaging is not available, the follow these recommendations.

1. Foam in place if possible.

2. Reinforce ends of box with multiple layers of cardboard or wood to prevent the actuator

from breaking through the packaging during shipment.

3. Support the connectors or cables so that enough packaging or foam is in place to

prevent shipping damage.

4. It is best to ship one unit per container because individual items that are not isolated

with stable packaging (foam in place) from each other often get damaged during

shipment.

5. When shipping more than one unit in a single container, it is recommended to foam in

place to prevent damage during shipping to both the units and the packaging.

6. Add the RMA on the outside of the packaging. Failure to do so will delay processing.

2700-4001_22 IMA Manual 9 Last Revision: 12/14/2021

Figure 1.1: Do not carry IMA by connectors or cables.

The Tolomatic IMA Actuator weight range is approximately 3.0 to 42 kg ( 6.6 to 93 lb). Special care must be taken

when lifting this device. Do not carry by the connectors or cables. The connectors are not rated to support the

weight of the actuator.

Modifications to the Equipment

The manufacturer takes no responsibility whatsoever if the equipment is modified or if the equipment is used in any

way beyond performance specifications. Unauthorized modifications or changes to the equipment are strictly

forbidden, and void all warranties.

Repair and Maintenance

All power and supply media must be shut OFF before any work is performed on any equipment that is associated

with the Tolomatic IMA Actuator. The only field maintenance that may be performed on the Tolomatic IMA Actuator

is lubrication. All other repair or maintenance for the Tolomatic IMA Actuator must be performed at Tolomatic.

Requirement Regarding Personnel

All personnel must be completely informed regarding all safety regulations and the function of the equipment.

Risk Area and Personnel

When installed, pinch points are generated capable of high damaging forces. The risk area surrounding the

Tolomatic IMA Actuator must either be enclosed or clearly marked, including display signage in accordance with all

applicable national and international legal requirements. The risk area must be protected by a safety system that

stops the equipment if anyone enters the risk area. Personnel who enter the risk area must be authorized, trained

and qualified for the different tasks inside the risk area.

2700-4001_22 IMA Manual 10 Last Revision: 12/14/2021

2: IMA PRODUCT OVERVIEW

2.0 General Description

Tolomatic IMA Actuators

Figure 2.1: Tolomatic IMA Actuator

The IMA is a compact, durable, high force rod-style actuator. The IMA integrates a servo motor into the mechanical

design to minimize the overall envelope. The patented design allows for easy re-lubrication without disassembly for

extremely long service life.

2.1 Product Features

Figure 2.2: IMA major components

2.2 Installation

The IMA is a compact high force screw drive servo actuator. The IMA provides linear motion of the moveable rod

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