M Drive - Motion Control Systems

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M Drive User Guide
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Compumotor Division
Parker Hannifin Corporation
pin 88-002385-02 A
iJarkl!r
User Information
To ... u,," that the equiprne<1t des<:ribed In thiI u"", guicIe. as well I . a ll the equipment COmecled to and U&Id with
~. opiI",t • • u fullactorlty Ind larely..... eppbIbie local and ...tional <>OdN that apply to installing and opereting the
equil'fMlll must be lollowe<:!. SInce _
eRn VI", geographically and CM ch• • with tlma, M" the ...., ••
_ o .... 1b~iIy,Q
"'."';0,. _
e"",plyw"h "'_ oppIi<_ • • ' .M~ ond
~._
W.QN INGI'
~.iI<_ ,<>~,.;",
/JPPIiCalH ccxJo .nd .tNldMJl C4II r'l/suIf'" dlImllS'l' to ~t &n6'Qr Hrioln irjur'/ to persannel.
Personnel woo .'" te In... ~ and opeIate \he eq~t .~kI study l/IlIlISl' guidfl and all ,,,1.,,,,,,,Il0(l OOcUfllanl,·
lion prier 10 IrII~ an<i'Q' """rarion of the equipment.
In no .... ont win the~, 04111e &q~ blllillbitlior My h"'kkIt~al. eonsequenUal. Or IIJ)edal damage. of any
I<Jno or ""lUlu w .... ''''''' ..... h ""'JI!'ij wI ' .... ",'0''''' ,V ..... ~'uI; l. dO ... '"" ""' '' '" i" "" r Wd, ~ ......... ''''' "n" u........
of thil uH, guide O. the ~nt.
C Cr;>mpumotor DlvI.'on ot PI/rill, H.nnlnrt C""",,,,UOII, INT
_AI' RIQ"'.II~ ~ _d-
The inlCmI&tlon In Ih .....' goIde. O!d~ any appa,"I .., meltloda, techniq ...., lrod conceptS described her"", are Ih.
"...", ..... 'Y I""f"'..... " ' 1'. ",_ r.....",.."""' ..... ,." ... ~ .n<t .... y nnI hoi ~"flI<wt ~ . <>< ,_
I"" .ny (>1''1'"'''' ..m
..p",..~ authorlled by the owner tr..,oof.
$inca Parke< Compumotor eonstMtl)' .trtves to Lonproo;e aU of tt. prod\lo;tl, we , e _ the right to ~ hange thl. LIM' guide
aocl equipment ment>onOO therein at anyime wiltlooJt notH.
TechnIcal AssIstan ce e"",...t )'l1li' Ioc.II-.AtJmatlOflll<:llllOlopy centf, (ATC) or ~,rlbtJtor. or •••
._-.-
• • • • •• • •• • • ••• • • ••• • • •••• • • • ••••• • • • •••• • • ••• • •• • ••• ••• • ••
._......
EYro~
North Amerlce
(non-Gmnln ape_king):
.nd A, I.:
-.
Zl ...... ~""-
~"'""-,
5500 _
P.", 0 .....
f\of1Mr1 P."'. ell. i-I828
,~
F~S)'&1""
EngIMd SH I1 7DX
(fIOOj a58-i070
(707) ~.;J7!13
(fIOOllI3SoSne
~.
(107) 5&01-105&
E·'-IaII:
...",
;larkl!r
Automation
1>oIo.~.oom
•• '·m-l!QO.~"
« '·m·eoo-ero
Germ.ny, Ayllrl.,
SwitUlI.nd:
H.- ElKtronit< iJ<nI>tj
......
-.,·",-,,·o_.u
o.n&so OIItnburg
478,·m300
. 9-nl1·m178
COMPUHOTOR CORPORATION
tI-SERIES MOTOR/DRIVER OPERATOR'S tlANUAL
TABLE OF CONTENTS
1. INTRODUCTION
2 . INSPECIION
3. UNPACKING
...
2
•
tlUUNJ.N(; TIt!:: MOTOR AND DRIVUl
4 . 1. Standard Motor Orivar . .
4.2. Opan Fr.~a Metor Driver.
4.3. Environmlntal Con.idlrationa
5. CONNECTING AC POYER • • . . .
5.1 . Standard Motor Drivi' .
~.~. Vpen-trame Motor urlve'
6 . CHECKOUT . . . • . . . . . • •
6. 1 . Propar Torqui . . . .
6.2. Pu151 Sourca Connection
6 . 3. Pul •• Ganeution
6 . 4. CompWflotor Pul .. Caneration
7.
2
Llt1IT~O·TAAV~L "tG~l~~
•
•
•
.
8 . DYNAMIC CHARACTERISTICS OF THE COHPVMOTOR
9 . ENCODER OPTION . . . .
10 . PERtOlllC MAINTENANCE
11 . TROU!LESHOOTING .
11 . I .Hotor Faila to Turn
t1 . 2 . Nucu.
3Cu~~
D.... 1,,1I Acc.l ..... Uuu
11 . 3. Hotor f.ll. to Run Abova 20 rp. (1200 rpOl)
11 .4 . Hotor !. Jarky, NoilY or ~a .k
12. FACTORY SERVICE
13. FURTHER NOTES . . . .
SPECIFICATIONS
".
14.1.
14 . 2.
Appendix A;
Appendix !:
Appendix C;
Appendix 0;
C" ... l .. o"", • ..,too.l
~p.elfle .. tlon.
Elaetric.1 Speeifie.tionl
Dummy Load Paramat.r • . . . .
Maximum Recommendad Motor Yira Siz ••
Ylrinl Ola,r.= - Driver to Index.r
Mating Connector. and Cable.
"-p-p .... ,H .. E, COnn •• tO" Pln .... ~
Appandlx
Appandix
ApPlndix
Appandix
App.ndix
f:
C;
H:
I;
Ll.~
• ....
Circuit Bo.rd Hountln& Diman.ionl
Ha.t.ink Hountin& Dimenltonl
Driver Thermal Data . . . . . . .
End Plata H.~h.nlc.l Dlmenlion.
Eneodlr Hountln& Hola Dl=.nllona
J;
App.ndiK K, Moto .. /D .. tv.~ Di •• n.l~n.
Append1Jt L; Yarranty
..... . ... . . .
,2
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,,,
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7
7
•
,•
"""
n
n
n
12
12
12
"
II
I'
16
n
18
"
20
21
22
""
"JO
COHPUKOTOR MOTOR/DRIVER SYSTEMS
INSTALlATION AND OPERATION MANUAL
1. It.TIODUCTION
W/WU!WI
COQPUGotor Corpor.el an h•••• d• • • pee!.l .ffart in the
d.ll,n .nd con.truceion of Itl product. to a.k. th.a both
v.r •• tll ••nd ••• y to u.e. Th•••ch.n l c.l torqua produc.d
by th •• a . otor/ drlv.r. 11 c.p.bl. of dama,ln, or da.troyln,
"" ...... Ip ...." " " .1 ,1>.1, LI" l . ... ""nnecuG U: l=prOp.rly
In't.11ad. oper.t.d, or .ervlced. Only p.t.on. qu.lified In
.ervlein, .nd In.e.llln, h.,.tdou. volt.,_ .I.ctrlc.l .nd
lialted·tr.v.l •• "h.ni"el .y.te ••• hould ettempt thi.
proc.dun.
n.. C""'puaou .. 0,'" 1'..... . KOU',, · ~rl.v .. r I"~".I>' h r"""Uon. ll y
11al1.r to box.d,unic Co.p~ocor.: Th. mocor i. coapl.C.ly
unch.n,.d, .nd th. driver p.ck.,e dlff.r. only In th.t It l.ck.
the 1.r,. finn.d h•• t ,ink, ,h•• t •• t. l cov.r, .nd and connector
p.n.l wlth It ••otor .nd Ind.x.r conn.ctor•.
?
nJ~Jli:CTION
C.r.fully In.p.ct the .hlppln, t.rton(.) ror .ny .vldenc. of
phy.ic.l .bu •• or damas•• nd not••ny rlndln,. on the ~.yblll .t
the tlQ. of rec.lpt. In c.... of •• v.re d••"., it 11
r.comQend.d th.t th ••hlp •• nt b. r'J.ct.d .ntir.ly. Co.p~otor
Corp"u ...l"" ~ .......... t.. uo,o".U.h f . .. i" u ..... ito ....... , •.
3 . UNPACKINC
c.rton(e) .0 ch.t the c.bl ••
Var1fy tha [lca1pe of the
U•• e.t. In op.nln, the
lupplled .r. not cut Ot
followln, It••• ,
Q.t:t
1
1
1
1
1
pUer!ptlRD
Co.p....oto r wIth 10 f oot (3K) Driv. C.bla
Dtlv.t (Pov. r Aapllfi.r!Tr.n.l.tor) Modul.
3·wlr. AC LIne Cord (; f •• ~ (?M) ... I~h C ......" ..
Pul .. Sourc. C.bla Kit
Stand.rd Produet Lin. BroQhura
Pi"
For .n Op.n·Ft ... Kotor· Driv.r '.ck.,. v.tlfy the rec.lpt of the
COtIP1.1KOTOR CORPORATION
,
follovlnl lu,.. :
au
1
1
2
2
2
1
1
puctlptlgn
PIoCOt (vlth ",bb and ""......"COt )
Drtvat 'tlntad Clre,,!c U . . . Iy
ScravI , 4 . 40 X ] , 4
'pae.~,
I f '-
Inl",htilln
J .... pu, (hr, tYPI)
IntuUatlon tnlt.ruetlllnt
\I. .ha~,
Varley that tha aboYa Ita.1 hav. baan lneludad In YllUr .hl~ant
ler e •• h "~.r 4.lv •• ( .~e.pc efta 1nser\lecllln ..nu.I ) and chat
e..... lu .. IU not etukad , broka.. lit ochal'VI .. d.aa.,ad . It II
a ,0114 Idaa til •• va tha "nit'. ,aekln, .. tarlall In tha aVlnt a
",nlt naadl to ba ,arvrnad to COI,uaotllr .
4.
KOVNT I tiC THE HOTOI!. AND DRl VO
lbl thraa Sa rial or C ; eotor eonforl til
• Itaa a. rllliovi .
S~.,,4 ••·"
~"
~~
~" 5AE
Creda
1'" .....1'..... " ...
tlDIA
Sulu
[ u•• Sin
UU
.,""
_S·l2
,
'10·)2
)
""
'"D'
KI
Standard fr ...
_Io_n
)
Tha C...,....otor .ho",ld bI lO"'"tad rl,ld1, vlth ch. prop.r .It • • nd
,r.4& or hardv.r. at III (II",r "orDlr', .nd ch.... tor e•••• hould
b. eOnnletad to third vir. ,,"und.
Tha CompUGOto,' ••o",ntlnl lurrac •• et •••• h•• t IInk1ns dlvlea
vhl~h
~.rrl ••
'V.7 Lh.raal .ner&7 &.ner.c.4
~~
•• It
haa ~ I", .
pr....,.d II)' eha ... tor Yhln .... t _ t . d ... y ....
••el •• lv., Ind Irl thl rl."lt IIr ~ eo.pu.otor h.vt"' (,,11 pow.r
.pplt.d to ~ IOtor at .11 el. . . . .Vln wh.n not rotltlnl . Thl.
"'atl"l ta notall , Thl IOtor caape,at"rl viII drop "on.l4&r.bly
whan ch. C...,..... tor I. aovntad .
T~rat"uI
Thl Orlvlr ..y bl .ountld .oaa dlltanea (ro. the .otor Ir the
vir. Iln,th. and .1nl .... wlrl ,t'l' ll't.d In Appendlw ••r.
ob'lrvad . Kotor eabla •• tlntlona 'rl Ivai labIa (rom tha (aetory .
Kount cha Drlv.r with cha h•• tllnk (tna runntDI v.rtl"atly (or
bI.t ellgv.""IIIn "6&lt~& ( 'tr '~' ~) . • .lnl.w. .1 , In&ha. ( 1 . 6%
e.) o( el •• rane..... t l"rrDUnd the Driver on the h•• t.ink "lip and
(o ... r .Id .. .
,
H·SERIES OPERATOR'S MANUAL
Routa tha motor cabla carerully ao that mov.mant. of the motor
and any attachad lJIechani.m{.) wUI not tau" inurhnnca. In
addition, tha motor cabla Ihould ba routad IWly fr om Iquipmant
that il ,an.itive co electromagnetic int.rfirenci .
It t. nlcel.lry to mount the driver belrd h.at .ink to a metll
aurfac'l to conduct h.at .way from the pO"lr tran,i.tor.. Tha
haat aink ahould b. firmly .ttech,d to the mountln, .urf.ca to
provide ,ood tharm.l conduct ivity. It I, r,commandad th.t heat
.ink compound (Iuch a, Th.r-alloy No . 2~9) b. applild blr",en tha
h.at aink and the mount in, aurfac., particularly for the M83 and
MI06 driva •. Refer to App.ndlx E for th.rm.l d.t. on thl varieu.
drivI' avail.bl •. Thre.ded lJIountin, helll ere provld,d on the
bettom and thl 'ida of the heet .ink II .hown In Appandix C.
The end of the circuit bo.rd 0ppollta the heat aink muir .Llo be
,ecured. Splclr,, ,craw., and inlulation we.h ers have been
.uppU.d ror thll purpo ... Appendix e he. dlm.nliond det. il. en
circuit board lJIountln, hole •.
Th. meuntin, location fer the eempumotor and driver mu.t be free
lrom all l1qu1C. anc protactlC trom conCuctlve Chip. anc CUlt.
Th, .canderd eompuaotor i, not Iultabll for Ixplo.ive
,tmo'phlr•• , v.cuum beyond 10 . 2 torr, or lif, .,upport equipmenc .
The be.rin" in the motor are not ••• lad and mu.t be prot.cted
frem contaminant ......bi.nt condition. for thl Driv.r arl 32 to
1220F (0 to 500e) and 20 to 90, humidity (non·condan.in,). Th.
\..ompumotor c.n op.r.t. trOll .U to l'LI"t- lLl to ILI"\..).
Coil Iny IXCa" c.ble at the DriVer Ind 'Icura it ~irh I clbl.
t1e. Thi. e.ble e.rrle. hl,h volt.,. (lSO VDC) .nd .11 ~Ire run.
lillie confor. eo ell .ppllelble 10ciL Ileetrle.l cedi' Ind OSHA
r.qulr .... nt. . Ch.ck thlt tha lIodal numbar of the Co,"p\llloter and
thl Drlv.r hlv. the .am. cyp. numb.r (I.&. ft&)·')).
St.nd,rd Ce,"pumctor lIotor .nd indexer cabll' viII not connace
diractly to the Driv.r printed circuit bo.rd. To do this, the
,t.ndard connlctere arl rlmovad end in.ulltlon dl.pL,c.lJlant-type
rup connectotl erl undo P.rt numbarl .nd vendor name. for
~"
....
~uuu.~~,,<_
••• 1h ... "
In
"~ .... ",ll" D.
Pin connlction. to the Op.n·Fr .... Heter·Driv.r .r. II. ted in
App.ndix E.
COMPUMOTOR CORPORATION
,
to r'QOv, the .t.nd.rd aator .nd Ind.x.r eonn.ctora. Plrt
numb.r. for th ••••••• Qbli •• a.y b. fo~nd in App.ndix D.
5.
CO~'lIECTINC
AC POWER
S.l .ct •• o~re. of 117 VAC pow.r whl eh I. free froa Itn. drop
tr.n.ient volt.,. 'pik... Th. a.xi.u. current dr.w of
the v.tiou. Kotot/Dr!v.t 5y,c.Q. i. li't.d In App.ndlx S.
St.nd.rd pr.etic •• of .i~lng wire for th ••• lo.d. mu.t be
u~~.,y.~ La .1nlDl~. ~he vol~.ge orop .~ ~ne Drlver.
o~t •• nd
Rot.t. the Motor C.ble Conn.ctor unt il it . lip. into the m.r!ng
conn.ctor on the Driv.r. Turn the locking coll.r clockwl •• until
it h tight.
CA!lIION
High volt.g••• r. pr .tent on the driver circuit boerd.
Th.I. au.t b•• llow.d to ditch.tg. for five minute.
aft.r t.klng pew.r off prtor to handling thl c.rd.
T.lt
eq~lp •• nt
will b. d~.g. d If eonn.ct.d to thl Driv.r bo.rd
ullng • pow.r lin. I.ol.tlon trln.forD.r. R'p.ir of
dam." d or f.iled unit ••hould b. referred to the CompUDotor
Rep.lr D.p.rtm.nt.
wi tho~t
PrGpor
OGnnoo~lon
or
~ho
H o~or
l.
t.por.~lv.
~o
.voto °"_60 to
the Drlv.r. An Intermltt.nt Koter tonn.ttlon will d.finit.ly
t'ul. Drlv.r f.llure . Cenn.cter loc.tlon m.y be found In
App.ndlx F.
8.forl .pplyln! ppwer to the Driver boerd, verify the Driver to
H o~or
oonno_t i ono vLth on
o~.t . ~ .
K~to~
pho.o
~ln6In6 .
or o
typlt.lly ebout on. oha. Th.r•• ho~ld b, no continuity to the
oppo.it. ph ••• or .erth ,round.
H.~.rdou.
'MION
volte, •• In.id. . R.Clr In.tell.tion end
.orvlolna to
q~.lL!I.6
por •• nn.l only.
DO NOT CONNECT OR DISCONNECT TNt HOTOR FROM TMt DRIVER
~IL! paVEl IS ON.
void the verr.n ty.
To do .0 vlll dlAe,. the Drlv.r Ind
6. CHECKOUT
A dummy le.d vl th .n In.rt t •• pproxl~.tin, the one listed In
App'nd tx A for your motor .hould be mounted .Icur.ly to the motor
M.·S£RIES OPERATOR'S 1tANUAl.
.h.ft for tl.ting. Only coillt •• tyll mountlnl cl~p •• r.
r.commendld for .ecurity .nd for conc.nt ricity betw.ln the 10ld
.nd tho motor .h.ft.
Prior to In,rlizinl the Kotor/Drlv.r, •• nulily turn the
by ,r"P1nl t~. OUt.r r.01u. oI tnl oummy 10.0.
On•• hould fill the .I,nltic d.t,nt. chlr.ctlrl.tic of thi. type
of AC .ynehrono~ motor ,mploylnl p'~lnent .',net •.
e~~~um~~u~ .~.!~
om
vith '"rl"l numblr. hllaher thIn
4,0001 •••• '1' 1ue ..·".1 1nL ,u lo,,1<. bulle inco eh •
• OtOI c,bll (Pins lInd 7). Thl int, rl ock viII
not .110v pov.r to bl dlliv,rld to ch. motor
connlcto r while tho mOtor is dr,con· nleted. Thl.
I, ••• fety f l.ture to prot.et thl oplr.tor from
h."rdQul yolt"". th.t vould oth"rvi," be
p ..... "t.
I t l. l"p"r" ... " ch.c ~hh t"L ... l~ ...... L.
,upport,d .hould In extln.ion or cu. tom clb l . b.
u•• d to drlv, thl motor. Con.ult tho r.ctory for
••• i.· t.nce prior to m,kin, Iny extension or
Cu, tOll clbl ...
Motor/Drlv~r.
It i. not unu.uel for therl to be e .nlp or pop CIUlld by the in·
rUlh enerlY chlr,ln, the Kotor/Drlver pover lupply. Check thet
the rltld holdinl torque 1. prl.lnt It the Compumotor .h.ft .
Thi. m.y be doni fill. I. the 1I'ln.tic det.nt torqui viII hev.
in~rl ••• d
by . t l • • • t
en
~ .. d ...
of •••nl~~d..
A .tandard
t . r ~~.
vrlnch m.y be u•• d in pleel of tho dummy lo.d if • quick.
quentlfilble r •• ult i. desir,d . Should thl torque under power bl
lov or non.xist.nt. proce.d to Siction 11, Troubl, Shootlnl (PIse
10) .
DO NOT connlct or dl.connlct thl 1I0tor connlctor whill
thl Motor/Driv.r i, .nlrll~ed bec.u.e .n .rc vill
r.lult in the conn.ctor .ub"quently. Ind damal" tho
MotorjDrlver . To do 10 void. thl Wlrr.nty. Multiple
~nrn~.
way
~~
~nnn~~~~~
nna
a~
a
~t ••.
~~
thl . . . .
drivlr by u•• of thl R.motl Povlr Shutdown .nd ext.rn.l
.vitchl'. Conlult thl rIc tory if thl. i. rlquir.d.
6.2.
COMPUMOTOR CORPORAT ION
Pul.1 Sourc, Connlction
•
Slrnll
..'In Celer Ced.eCenneeter Fln Ne_.
Diraetien Input (+)CralnA 20 mA, TtL llval
Diraetlon Return (-)YhitIE
Step Input (+) RId! 20 mAo TTL llval
StlP Rlturn (,)!l.ekD
Ra~ota Shutd.own (+)!luIC
20 mAo TtL laval
Shutdown Raturn (')!rownf
Ch •• si, Cround. Shiald. (Dr.ln)Not connIe tId. It
Orlv.r End.
Chack thl dat. c.bl. fer continuity .nd. po •• ibl. ahortl prior to
U". U.I a d.ummy laId. ot laO ohma to an.url th.t • minimum of 20
mA 1• • vallabla to d.rlv. I.ch of ch. opto-llol,tor. in the Driver
(HP _HCPL 2530) .
6.3.
Puln Clner.tion
Sit chI pul,e ret. of your ehol.n pul'l .oure. to zaro. Connact
the Pul •• Source C.bl. to tha Drlv.r . M.ka .ure th.t the Remot.
Po~ar Shut-d.cwn II,n.l I. not •••• rt.d. (Legic.l ·0· On Pin C) .
Compumotor. arl d.e.lgnld. t o b. acellarat.d. and. d.ac.l,r.t.d..
Compumotor Corpor.tlon provldl •• eoapllt. lin. of pre.lt
lndlxlr. for er.'tln, the n.e •••• ry v.loeity pro!lll. Ind
contrcllin, tot.l dl.t.ncI movld .
Cr.du.lly Incr •••• the pul •• rat. until thl d~y lo.d bl,In. tc
rot.t.. D.e r •••• a,aln to z. ro and ch.n,. the logic .t.tl of the
Dirleticn Input . Ineun. thl pul .. r.u .nd obllrvl the ch.nge
in dirl et ion of thl Compu=otor ,h.ft. Rlturn tha PUll1 ratl to
Zl ro . Simple fr.qulney counter •• rl hllpful .t thil Ita,a to
oO.lrve V.loclty cn.nge •.
6.4.
Compumotor Pul •• Caner.tlon
If you ar. u.!n, onl of Compumotor Corporation', Pra.at Indlxer.
vith a 2S.000 .t.p per rlvolutlon Motor/Orlvl 'y.tlm. plrform the
tOllo"'1n& t • • c:
150, 110 ar 2100 Seria. Pr.,.t Ind.Ker.
l.
Set thl Kod. S",itch to "Prallt".
3.
DIll in '10.00· rlv/lee (150 or 170 Siril' or '10.000'
rev/see (2100) on the VelocIty thumbvhe.la.
4.
Oial in "+20.000' revolution. on thl Politton
(1'1
~.
~I~l •• )
Dr '00.000
.c.y.
Dapral, ·START".
7
(170
v.
thu=b~h .. h
tl00 $ •• l.~).
It · SERIES OPERATOR'S 1tAh'llAL
If u.ln, thl Ca.puaotor 2100 S.rll. Ind.x.r with RS · 212C Ca.put.r
lnt.rt.c. you ••y tr.n •• lt the follovln, the followln, comm.nd
.trln, to the 2100:
"E !Ul AID VIO 0300000 CO"
le.rrie .. R.turn)
AU of ih ••bov. vlll .cuhnn the. lIotor .t the U t i of 10
r.v/ •• c until I v.loclty of 10 r.v/ ••c. I. rl.chld (3 co=pl.t.
r.volutlon. In on. 'Icond) . Aft.r compl.tln, • tot.l ot 15
rlvolutlon~, chi IIOtor viII b.,ln to d.c.l.r.t., .t the rlt. of
10 r.v/ •• c . to I .too. ~.n .topo.d, It will hlv, compl.t.d
.x.cely 20 r.volutlon. In thr •• I.COnd •.
7 . LIKITEO·!RAVEL
1t~~lSK
Lllllt.d tr.v.l IIIc.nl.II' .r. thol' th.t viII do nOt .llow
Inflnlt. tr.v.l of the .otor. Thl . . . . ch.nl'II' includ. x-v
[.bl." tr.n.v.r 1In." l •• d .cr.v••nd .0 on . Th••••• ch.nt ....
,.n.r.lly r.quir. lo.d .ctlv.t.d .witch •• which ,I,n.l the
Ind.leIr of p.ndln, probl..... Fdlun to u.. lillit .vltch .. In
th •••• ppllc.tlon. c.n d.-.,. the u•• r'l .qulp•• nt. Appllc.tlon.
not r.qulr.ln, 11.lt Iwltch•• Ir. ,.n.r.lly rotlry Ipplle.tlonl,
'.A., rot.tln& .Irror. or turnlnl p.tt. for brolchlnl or cutting .
,.for. conn.ctlnl thl .ctull laid to thl .h,ft at the Co.pumotor,
.11 Illllt.d-trlv.l ..ch.nt •••• u.t b. prot.ct.d by the u •• a!
Il.ct rl c.l 11.lt .vltch... If Onl of the COllp~otor Pr.,.t
Indu.tI II ulld. follow thl Inltructton. Includ.d wtth tho ..
unit.. In oth.r c ...... H.lt .vttch .... t l1,nl1 the n.. d for.
controll.d d.c.l.utlon .t the lI.xlll~ ut. po. sib I. . Thh r.t •
.u.t b. conttlt.nt with lo.d In.rtl •• nd II'XIIlUll to.d of ch.
lIotor.
Not. thlt .Inc. ch. r.qulr.d 11111tt .r. not the "End·ot-Tr.v.l"
typ •• ch.y .Ult b. trlpp.d f.r .nou,h b.for. the !IIch.nlc.1 .top
to .110w the lo.d to b••• t.ly d'C'laret.~. .ntl dt.t.nc. lI'y ~.
dlt.rllined 'lIplric.lly by inltl.tln, the d.c.l.r.tion cyc l. In
the mlddl. of trev.l .nd •••• ur1nl the diet.nc. r.quir.d to .t~p.
8. OYNA1UC CIWI.ACTERISTlCS OF THE COI'IPlJMOTOl
A Co.pUllO tor It -~. rl.t nator/urlv. 1•• ~ P'ClI1 C.I. or • ny~rlo
p.r..n.ne .'Inlt .t.p IIOtor drlv.n by • 20 RNI , bl -pol.r, chopp.r
power ..pllfler, It1 ,,_pIn v.va-eh.ptn, circuitry .11ov.
II,nlftc.nt cOllo-n•• tlon for •• ny of the lI.ch.ntc.l .nd
.I.ctrl c.l lab.l.nc •• tnh.rlnt In .t.p IIOtor. . Th. dillt.ltycontroll.d proportlonln, of curr.nt , llIult.n.ou.ly b.tvI.n
.ulnpll vl nolnl' ,tV., nl,n ~or'lu•• ~ low ~I' •• <I wiLl,,,,,. LI,.
J.rrlnl .cc.l,r.tlon. of tr.dltlon.l .t.p ROtor. ,
C0It1'Ul'lOTOR CORPORATION
,
n..
pnel.lon of CoIop..-tor" po... r propoftlontn, t..ehnlq .....
yl.ld. ,Ic.ptlonal r.p •• t..bliity whll ••• Int..lnln, t.h. op.n·loop
.ccur.cy .na •••• of u•• char.ct.rl.tle of .t.pp.r .otor. . Th.
C~tor .h.r •• the dma-Ic r ••
curve of the .t.".r .otor
.nd It •• t.ll ch.r.ct.rl.tlc. . Th.t 1•• (ull torque und.r
.cc.l.r.tlon 1. davelopad .t • 1., .n,l. of ',proxl .. t.ly 1 . &0 .
Lo.dlna which C'UI••• 1.1"'1' 1., anal ... Ill r •• ult In thl .otor
10.ln, po.ltloa.
,on..
In c •••• of .... 1'. OVIr101dlna . thl rotor .. 111 10 ••• ~hronl ••
.. lth the .t.t.r .nd tha rotor ..111 .t.ll .nd .top . Th.
C~tor hal be.n d.dpd to .11_ • coati ........... ull
condition whll. ovarlo.dad .. It"""t ' - , . to tha CDI,laotor or
[h. drlv'r . The sotor ..y ..k. con.ld.r.bl. not •• wh'n .t.ll.d .
n.t. ~ .......... h"'L LIM _~o.- . It
.otor 11 .t.ll.o, "o".v.r.
the rot.tln, l'lnatlc v.ctor -u.t be .copp.d by h.lclna the In,ut
pul ••••• nd the c.u•• of thl ov.rlo.d condlclon r ... dl.d b.for.
thl Co~uaotor ..y " r •• t.rt.d .nd run .ucc ••• fully ,
t"•
U, to 1 .&0 o( dynsalc .rror und.r .cc.l.r.tlon .. Ill " r. cov.r.d
"loIn .. con.L.nL V.tU .. 1L, h •••"h.u. u,· wh.n Lb. c_puaotor 11
.to".d , Hov such .rror I. r.cov.r.d I. proportional to lo.d
friction .nd d.,.nd. on the .tlck· .ll, ch.r.ct.rl.tlc. of the
lo.d . Th. d.&r •• of r.cov.ry •• y. th.r.fore, h.v. to b.
d.t.raln.d •• plrle.lly. tf ullnl Coapu.otor. or .t.p oator. In
.ultl· •• I ••y.e •••• rio. '1'1'01' under lo.d (If .xe ••• lv.) could b•
.... p.n •• t.4 , .... in
~h.
_ ..... c,... t
... l
"'L'"
D.... lu.U"1
produc •••• 1111.1' .rror condition •• th • .ocor l ••d. the lo.d .
9 , U«:ODD. OPTtON
The
H·S.rl •• · t option Inclu4••• n optlc.l Incre .. nt.l .ncoder
.. '&)0 ..
10 h
... 'ltl. u . . l_u4 "h.h • 2J ,In _ h "0"
~.1 1"
connector , All COIpuaotor Index.r. Which lupport po.telon
t.-.cklna hav, • 2~ pin '0' connector .ockee for ~onnectlon vlth
the C...,uaotor ."ppll.d .TIe..... .- . . .c.pt for the COIp<-.tor " ..... 1
~'O .
The 1Ioda1 4)0 Ind.a .. r ..... ICre" ural",l atrlp. to ..b
.11 of te. 10,lc 1.... 1 connactlonl . Th•• ncoder cOnnlcel.n II
. .""
...
t ...I
.... 1.. . . ,
&)0 ........
S2 .
T .. _M thl. c .. ....,.~d ...
~ ...
'D"
c ...... cte r on thl end. of d . . . ncodar c.bll - . t be tlMv.d .nd. the
vl.-•• -.c be Itrlpped .nd. tinned to '.cllle.e. connection to the
Icr.v uratnill. n.. tabla
.ho... the color coda and
plnoutl (or the .ncodar c.bl • •
"1_
•
H·SERIES OPERATOR'S """>C
un
,
,,
Y01O(
'" ••
'" .-••
'"'" ,.,-
Ydlo..Io'ht/'lello..11\.e
\./ht/Blue
0<1"1"
Shield 1
Co_on
."
\./ht/Onn,e
Dnln ..-In
lleck
.,'
.-
1
3
~,
6
•
"
23
All
(yncHon
eupplied encoder. are 1000 line, d~el chennel,
output encoder-. Output dgneh eu &.11 TTL (0-5\1)
level. Encode r extlonelon ceblee should use shielded t~i.ted
peir. end the totel ceble lenlth .hould not excede 50 f eet.
Co~p~otor
co",pl1~ent.ry
10. PERIODIC MAINTENANCE
Par lodlc. lly Check the Co",pumctor ~cuntlnl bolts end .haft
co~plinl"
The b.ll baerinl' uI.d ln the Co~p~otor ara nOt
I.al.d but ere p . ~lne ntly lubricltad Ind r.quirl no "'11n t.nlncl .
Tho~o
ora no
it.~.
such aa brulha •.
.o~lea.blo
l~o.o
in
~ha
e~ mpua~t~r
o r •• lnton.n~o
The ~otor .train relief and cable .hould be in.pected at
'pprcpr i.te Intaev.ll for Ilgnl of .... ring or exca'llva forca
baing appliad to tha c.bl.. Tightan both c.ble connactors at tha
nrtv...
~h.,."
rh ... rh. n .. lv ... h •• "al,,!. h
f .... " f <l" . . . . ,,<l "I ....
and h•• a fraa flo .. of air ovar Itl antlra surface.
11. TROUBLESHOOTINC
If proble.,. dave lop in the operetion of the co",p~oto r, rerer to
..... 1,,!': 1I ...... f ")"'11'''''''' ...." ,.." ... rn 'tlonr'fy nT 'n,..lh ~
the problell:
.. h. f ... n
Motor Falls to Turn
l1.1.
Ca)
(b)
No AC po..ar. Ch.ek to lIa if tha motor 11 "'Ina to tha
touch .ftar l5 .. Inuta. of baing turned on.
I.d connectlon. or b.d clbl ••.
l~'h.n ulln, tha 430 tndexlr. chi .hield .. lra .hould be
connected to on. of tha I crl ..1 ln the ca •• of the 430 .
CO~PUMOTOR
CORPORATION
(.)
TO"" . . . . . 1 ... 1.7 1I.n oy'
eocItrol It&:Nh n.
lion.
.~" . . . . . . . . . . ,,~.
~".~
bel..n& iMlbtud by Ualc I,.v.U
UO ....... t I ............""'"1 ••..,. bale .
(d)
(.)
(t)
Ca)
Lo... h
J -...._
AC
..-r tr_ w
ltTI_ ......
_rlf,. th.t the lood un be tumod "!'NOll,. .
No ltop ol&:N1 c . . lna co D.. I ..... chock thot • pul ••
.... 1.. _ •• 10,• • n ... ..,.. 10'.. _ ..". r ..r _1" .... . curront .nd
pul •• width I •••• II.bl. (1 . 5 uo ,y f .. all1l~ 25 . .
... I.us, 500 no ... pul •• width .I"'l~ ).
DTlvo .. output h '"'Ina turned orr b,. ... _
. _ ..
Shutdovn Opt I ..... '111 , or tho Input cobl. t. tho
Drl....... __1. not be hlah (tTL 1..... 1) rolocl .... co 'I",
,.
Ilown d.. I .... At It", fu.. . ~ . .tor .nd d .. I .... viiI
H cold t. W t_h 10 at_too ofu .. tho fu.. blow.
IU.c_u AC ,....r f .... mo Drlvo ...NI dl.c_c It
fn. t:bo ...rf.u to .... Ic.b It h otto.c.hotd . 1 _ tM
fou .. Philllp.·ho.d .cr.... which roul", tho .hoot . u l
....... r .... tho 1 _ It ... or tho D.. lvor . 1 0 _ tho four
'''rov, "n tho ,hon; .d,.. or tho .1'Id plot.. . Slip oH
tho c:o.... r .nd It'lI,. .. t tho
It tho fu.. t. blovn .
r.turn ~ Yftlt to ..... ,.Ic.
f.....
NQIICE
Problna of tho Orlv... with AC 'ov.r applla •• hould
b. dono by .nyo... othor than c..pu.otOf quouno.
nt:tU
,.nonnol
lZTlIAL VOLTACU AJJ: nl$DIT and chuA 11 no
AC lIno lIobtl_ I ..
~
Ort.... .
11.2 .
'robobb C.u.. ~
nall condltl_ ''''.cato' ........ rlOld. cOOlldltl_ c"'.... ~
torquo "oqul ..... ",co, c.. aco.p .n ...... Ior.tlon
....,. or I ,ro •• at, .. cch .t lood lnortl • •nd ..otor lnortl.
lofo .. to tho C f
t .. ll·lIno coull, . A lor,... _tor
.nd/o r lowlr .ceol,r,tlon. . .y be Indlcatld .
.,.... ,1_
11. 1 .
_t. .
IIno .. 'olio t. I..... Abovl 20 11"1"
(1200 rpa)
'"'to _,. IN a " r.... pr_lo. "-t. _ ... 111<01,.. It ..... U . .
with b.djC p _tor Intonctl_ ""'tch c.n nl_loto
por_ulc. .. clllotl .... Ind atlll thl C P '-otor . 1111
.ddltion of frIction . ')'It•• cSoaponlna 0 .. _ch.nlcd
ud.oalp t • • lnlal" . .c.boftlcal .. IIOMACII _)' be ...... lud
01,,&1), .r t .. c ... tMcl_ . StoNlo ... C • _tOr 1I,"u ... ¥tll
not .11_ . . . "r .... t.dry 0""" H II"lH' (1200 rpo.) ,
11 .4,
11
II , SE11ES OI'DATCa'S I'I.4..IIaAl.
co,..",,,, hlpl, "ort.)10 1.-1 ... cMMllct_ It tM C ; _tor
.hIIt . ~hc_ct d ... ( ; _cor fl'. tIM. lNd and nrn It
.. t~ I ~ 1Nd conn.c~d . If chi ,robl •• p.r,t'tl .
•• r.le. ra,ell' I. Indlc.COd.
t" ..~y
T.
.ftYICC
til' fIr 1'..,.11' II' t I ar"'r r.,lac
I'It
Model .... Sartal ...... 1'1 If u.. ftotar &tid:
Drl ... r . Call tbJ C i nlur " ..... Ie. DIpIr_t hI' I'It",""
IUtbJrluU • • 1. Callrl",l. e.ll ceU"'t (101) " . , U" ;
.~noi ......11 u.11 ,..-_ (atIO) lU,""'"
.......... ~ e c r ....
&D4 Drt... r. fralfbt ,ra,al., tl :
1'1"""'- tIM
C
,eru, _uil'l
,
u..
COKlUMOTOI. COlIOL\TIOll'
1179 IIor~ KcDov.ll .... l ...ud
P.tllu.., C,llf,mla "'S2
Ata. : S ..·.. lc. DI~.~ .. t
..... _---
Pi . . . . . . rl ... ~ ,KU", 111, ...... plC-UII& label vtt.h
lilt.
lbI hl\lnl Katulll Ai>tbJrlutl_ ...... 1' ,uppU"', by
(
i n'lOr .
U _ fUlTHQ lIOnS
(I P _ u r c:...,.ntl ... II .... Iuud t. hi . . . h,dar I .. dl&lul
.otlon control . v. Invlt. youI' qva'tlon., co...nta, or
dtacu"lon of probl ... .
Ttl" ........
1 baa M ... d.. lpoId t. pc....l . . . . Intr~tl_ for u...
I... t vl~ mltel a"Uutl_ . SlpUlc..t "',..rNl'a, fr_ tlM
.,.utUl& ,..",_tu, _tlt-d
,n
u- a
r~r_t f.r .act , ........u
(If _I' 1)0
_ 1.. ltb u db_. r-r lpeclrlc
_1_
_n
,.."'.1., ,.1'1l,..
,....,. _
l'1li'"
call or vt'lu :
TlClmtul ....dllll'" Cr--.
C j 'ur Cerplutt ..
111' • • NcDev.ll .... 1.... r.
r.t,lYlA, Callfornl. "'S2
In Callf,mt., c,ll coll.ct : (701) 17.,12••
Dun I .. Callfornl., c,11 toll fr .. : (100) 3S' , 906.
Oper.tion:Driver _ 32·104 oF (0_40 oC) ambient
(1". m""nt.d v.n;l c.l ly , conv.c~ l gn ~uullnl .
t.mp.r-tun _ UOoF (600C) .
10 to 90, H~ldlty, Non-conden.ing
.s.~e'
driver
H.... l ...... (I"
Mo tor _ 32_104 o F (0·50 0C) ambl.nt - •• ,um•• conv.ction
cooling. M.x lmum c ••• te .. per.tur. (..... ured mid·c.se)
-
t,o~r (110~C).
10 to 90 , Humidity, Non·cond.n.lnl
~tor.g. ; .40
14.2.
to 1850 F (.40 to 85 0C)
Electric.l Sp.clric.tlon.
Inp ut Pow,r:l05 to 125 VAC 50/60
H~
with brownout prot.ction
TTL Inpu t.:l.5 to 6.0 V pull. height
500 n•• c pul •• wid th minimum
20 lOA m1nimum current
1
"I!~
.... ,.1 ..... f'",h .. r e t ..
Driver D1,.en.lon, : SI. Applndlx K
Driver ~eight: 64 oz. (1.81 kg)
Motor 01,..n.lonl:5.1 Appandlx k
Motor ~.1,ht ; Sa. T.bl.
1)
M· StR1ES OPERATOR'S MANUAL
MOTOR SPECIFICATION TABLE
HOTOR SERIES
51
MOTOR TYPE
Rotor Inertia o Z_in 2 0.4B
!I9- cm2 .088
Motor C.IIII
Temp Rise,
(Free Air)
'''''
10RPS
"
"
3.50
6.70
1. 23
135
120
10.2
1. 87
21. 5
3.92
520
.234
320
0.6~
"SO
1~0
'"
2bO
CO
"
(29)
(32)
(30)
( 30)
(36)
(34 )
,0
,0
,0
(H)
( 3 8)
"
(35)
"
(35)
"
(46 )
"
(U)
CO
(22 )
"
(30)
SO
(28)
( 33)
"
(41 )
(38)
( 60)
"
Maximum Driver
Temperature Ris.
"
61
.. .
..
"
, ,
, •
, ,.,
18
(10)
Motor Cale
Dissipation-WATTS
1 ""
, ""
7
10 RPS
Msx. Oriver Jnput
Current - AM"
Motor Wei9ht
(with cabl.)
102
1. 15
,0
"'"
MIC6
""
1.21
Ol-ln
~ ' orquill
""
"
au
(kg)
COMPUMOTOR CORPORATION
( 12)
12
..
23
(0.65)
"
(0.99)
"
"
"
"
(69)
'"
(47 )
,, -
( 4 5)
m
( 67 )
(14 )
"
( 11 )
( 21)
( 22)
( 20)
"
11
12
lS
"
"
"
"
"
51
)J
"
"
"
)J
"
"
"
"
1.,
1.,
1.3
1..
2.2
3.'
"
(2.64)
"
(3.66)
"
(1.62)
"
"
61
44 .0
8.05
'/0 0
'"
"
(l.33)
14
"
."
m
329
108
l3S
(3.83)
( 5 9)
(24 )
'"
(6.80)
Du_y Lod
Dl ... 110 •• t or
~ Alv.tnv_ Di.e
la.rtl ••
_LO~
Di . . . tar Thlet-n•••
(in I
U.I
Rotor :J
Da~ Load
101.-ln J Aepro • • (O I -la)'
4 .00
O.OU
1. 2'
,
,
4 .15
O. OU
"51- 102
1.15
7
4 .50
0 . 125
Hil- U
1. SO
1.
4 . '0
0.125
MIl-93
6. 70
5 . 10
0.125
Mil-US
10.24
"
'.00
0 . 125
"106-120
21. SO
1.20
0.125
" 106-11'
44 .00
1.50
0.125
M57-51
O.U
M51-1l
IJot.1
,."
,
..
The •• dv.-y l.,.d lnartl a. ar. arbltrar, ~ 60
_ t repr . . . . t the alal __ or the . . d __
1. . £ll.a that can be applied to the _tor .
u
Kaxl __ CUrrent
Molor Seri.1
per Ph"e IA)
M"
1
M8l
,
M106
)
Lell Than
100-200 Pt.
100 !t.120 . S") 110.S-71MI
"
"
"
..
10
11
1 . Cable run l of ov.r 200 fl. (71) Ire not
2. Vol tag.
XI
~rop
reeO~ln~.d.
per motor phil • • (elbl. length (AI. 21
1"
where R - vire reilltinc. In
oh~. ger
100 ft .
..
• loh_OOO tp
•
"
"
"
l..
Wire Siu (A!!GI
.l.'
•
.
PIA-$[ SOORCE
"
IHDElER
Dn IV[R
SHlaD
CHASSIS IORWMD
/
STEP ClITPUT •
2.2 K
He
100 •
y<0
'EO
......
Bl'
STEP RrTURH -
V
2. 2 K
GRH
DIRECTION OUTPUT
.....'
i
WHT
~
,E
-'RECT ION RETURN -
BlU
SHUTDOWN OUTPUT
SH1JTOOWN RETURJrI -
V
BRH
'
V
II"
:J¢'-~
'
~
i
J¢'<
"" 0
.....
~'
AHPHEItDt. .,./"
1126-196
17
II
II·SEkIU OPDATOl'S IWo'UAL
Appendi. D: "ettn, Connectore end Coble,
D"sr1ptlpn
Po~er
"'"
h,rne •• (~.)
.td. cord)
lI'nu(actyU[',
1 COlapuaocor 11·001S36
( . . t •• ~ith
1 AM
"01~·)
-connector
]
AltP
64D2S2·1
.) r1n u.p
]
]
Kol .. 09·SO·)031
"011,. 0.·50·010'
]
All, 640426·)
1 Pin l.u:p
(h. .lo)
·COM.ceor
J
Pin _lAp connector ( 1' ,.)4
lIotor H.rnass (S·)
("~II
Wl~
.o~Ot
1 Co.pu.otot 11·0015)4
C.bll'
lIoeor Connector {(, .. I.)
( .. t •• with .. tor c.bl.)
·co.,...ctor p1M
•
Un A... p
PIN
CU'U"I:~Of
(fe. . le)
·connlctor piM
, Pin _amp Connector
-connector pIn.
, rl" a.- ........... ~...
1 A."I'
,
,
•
,•
2~ll·1
A."I'66569 ·]
"''U'bIlO~~U·b
AII"40252·1
1 lIolo,. 09·50·)061
(USI)
lndl.,r Connector (..I.)
( .. t .. with Co.~tor
induor cabl.)
lIolo. 01·50.0105
NtI 01l1)O,2'·0
1 Aaphlnol 12'·19'
InoI ••• r
n. r ..... (~-)
Colap...otor
induor cabl.)
( .. e..
~lth
End Pl.tl A•••.Gl'
(,II .. tina connector., ..unt.d)
Dri~r
1 eo.puootot 11-01'21
iO.ululpO
tool:
O . ~O·O.lOO·
0.043.0.0"·
to12)·2
90123·5
'A•••• bly cool 11011. ~.1011·C
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CCKI'I.MOTOI. COIU'OIlATIOit
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Appen4ix E: Connector Pinout List
C1rsult !p.r4 CQnn.ctQr.
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M·S£RIES OPERATOR'S MANUAL
App~ndix
H; Driver Therm.l D.t.
Th, Opln fr~1 drivlr ~lrcutt boerd he.t .ink mult bl mounted to
• thlrm.lly conductive lurtle. th.t will elrrv IW.Y h.lt
dt •• ipltld by the powlr trln.!.tor •. Eithlr the mounting lurflel
mu.t hive ~nough lurflel Ir•• , or foreld .ir ~oollng mult c.rry
IW'y enough heet to limit the tlmper.turl r1.1 ot thl ~lr~ult
bo.rd h.. t .ink to no ..on th.n 60 lIure . . C. It thl cir~uit
rl,illi ' within In encto.url, the 1ntlrnll lir tlmplrlturl mUlt
r .... in bllow 50 d'III.1 C.
The amount o f hilt glnlrat.d by the drive t. proportion.l to the
powlr IIeHv.rlll . The ltorger motor IIrlv.. dt .. iplte lIora helt
th.n the ... aller one" I ' followl;
APPROXIMATE HEAT SINK DISSIPATION
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MH ·S l
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